@1580314552.14PST = =tMAIN =mMAIN_scheduler @PST1580314553.90 #"core_reset"Sent BREAK +2 #t@43890 receive with ifg=0x10, ie=0xFD #@44526 receive with ifg=0x10, ie=0xFD + #@45183 receive with ifg=0x10, ie=0xFD + #@45820 receive with ifg=0x10, ie=0xFD #@46467 receive with ifg=0x10, ie=0xFD + #@47114 receive with ifg=0x10, ie=0xFD #@47761 receive with ifg=0x10, ie=0xFD + #@48088 receive with ifg=0x80, ie=0xFD + #@2095 idle with ifg=0x00, ie=0x75 #ESP2 v3.40 I2C Gateway v3.20 +8 #ESP2 v3.40 I2C Gateway v3.20 for core bus +229 #Configuration for waldo 12/2/19 brent@mbari.org\ /home/esp/esp2/type/shallow/waldo/configure.rb\ +266 .Gate.setWakeString! "\\r\\nRING\\r\\n",15 +63 "Can"\\z\ 11 + \\z\ 11 #tPolling Can every 10:00 +124 "sampler") +2 ) +2 "core"  + "collection"' +2 ' +2 "core"  +2 "processing"% +2 % +2 "core"  +5 "collection"' 9\ +2 ' 0\ +2 ' -\ +3 "processing"% 9\ +2 % 2\ +2 % *\ +2 % 0\ +3 "sampler")&\ +2 "collection"'% +3 "core" % 5:;\ +2 .tCS.configure :default +2 "collection"'#P d@b +2 .tCS.hold + "collection"'+ +4 "core" + + .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%% +3 "core" %Ԧ\ + .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +2 "core" %ڰjg \ g +2 .tSS.configure :default +2 "sampler")#.0X ESP.ready? + "collection"'% +3 "core" % 6<.\ +2 "sampler")% +4 "core" %ڰii \ g + "manipulator"&% +3 "core" %\  } { +2 "manipulator"&& +3 "core" &  +2 "storage"(& +3 "core" &  \  +2 "storage"(% +3 "core" %S \ + "collection"'& +3 "core" &7<\  +2 "processing"%& +3 "core" &W\  +2 "processing"%% +3 "core" %ԦG\ +545 #t-> Arm +3 "manipulator"& & +3 "core" & ,  +2 "manipulator"&!% +4 "core" %\  1 { +212 #t-> Elbow + "manipulator"&"& +3 "core" & a  +256 #t-> Hand +885 #-> Forearm + "manipulator"&#% +3 "core" %\   { +1054 #t-> Elbow.list +1548 #-> Forearm.list +4185 #-> Forearm.Garage +3 .Forearm.seek Garage + "manipulator"&$'p +91 "core" ' +2 "manipulator"&%% +3 "core" %ς ; C +2279 #t-> Forearm.clear +2 .Forearm.seek :clear +2 "manipulator"&&'\ +92 "core" ' +2 "manipulator"&'% +3 "core" %\  > +1159 #t-> Arm.garage +2 "manipulator"&(& +3 "core" & R  +2 "manipulator"&)% +3 "core" %\  % +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&*(.A +177 "core" ( + "manipulator"&+& +4 "core" &.I   +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &,& +3 "core" &.I   + .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek :garage + "manipulator"&-'p +54 "Can"u\ 44 +20 "core" '  +2 !to:Slide::Error\ :@axisName" Forearm: mesg")Forearm speedErr at PC + 4474 counts: @replyo:I2C::Servo::AbsMove3Reply : @channeli: @statusIS:I2C::Servo::Status: enabledT: pastRLSF: pastFLSF:pastThresholdF: lostF: homeF: positioni: velocityi: currenti:pwmi:erri: inPressi : outPressi :deltaPressi : voltagef12.147308787432499;: @type2F: @sourcei+:@destinationi%: @error: speedErr: @tagi2:@checkpoint: omitted:bt["2/home/esp/esp2/lib/schedule.rb:513:in `raise'"2/home/esp/esp2/lib/slide.rb:581:in `raiseErr'"7/home/esp/esp2/lib/slide.rb:341:in `unlimitedSeek'"5/home/esp/esp2/lib/thread.rb:51:in `recoverable'"7/home/esp/esp2/lib/slide.rb:314:in `unlimitedSeek'"./home/esp/esp2/lib/slide.rb:305:in `seek'",/home/esp/esp2/lib/slide.rb:349:in `to'"8/home/esp/esp2/lib/slide.rb:69:in `inConfiguration'",/home/esp/esp2/lib/slide.rb:349:in `to'"0/home/esp/esp2/utils/misc.rb:91:in `extend'",/home/esp/esp2/utils/misc.rb:35:in `to'"8/home/esp/esp2/utils/misc.rb:39:in `method_missing'"(ESP):10:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +4139 #-> Forearm.retract +2 .Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&.'\ +83 "core" ' +2 "manipulator"&/% +3 "core" %\  ;  +1848 #t-> Hand.close +2 .Hand.close + "manipulator"&0/ +16 "core" / +2765 #t-> delay 5; 3.times{Hand.open; Hand.close} +2 .delay 5 seconds +502 .Hand.open +2 "manipulator"&11 +66 "core" 1 + .tHand.close +2 "manipulator"&2/ +72 "core" / + .tHand.open +2 "manipulator"&31 +72 "core" 1 + .tHand.close +2 "manipulator"&4/ +72 "core" / + .tHand.open +2 "manipulator"&51 +72 "core" 1 + .tHand.close +2 "manipulator"&6/ +72 "core" / +747 #t-> delay 5; 5.times{Hand.open; Hand.close} +2 .delay 5 seconds +502 .Hand.open +2 "manipulator"&71 +72 "core" 1 + .tHand.close +2 "manipulator"&8/ +72 "core" / + .tHand.open +2 "manipulator"&91 +72 "core" 1 + .tHand.close +2 "manipulator"&:/ +72 "core" / + .tHand.open +2 "manipulator"&;1 +72 "core" 1 + .tHand.close +2 "manipulator"&/ +72 "core" / + .tHand.open +2 "manipulator"&?1 +72 "core" 1 + .tHand.close +2 "manipulator"&@/ +72 "core" / +21975 #t-> delay 5; 5.times{Hand.open; Hand.close} +2 .delay 5 seconds +502 .Hand.open +2 "manipulator"&A1 +69 "core" 1 + .tHand.close +2 "manipulator"&B/ +72 "core" / + .tHand.open +2 "manipulator"&C1 +85 "core" 1 + .tHand.close +2 "manipulator"&D/ +97 "core" / + .tHand.open +2 "manipulator"&E1 +84 "core" 1 + .tHand.close +2 "manipulator"&F/ +72 "core" / + .tHand.open +2 "manipulator"&G1 +72 "core" 1 + .tHand.close +2 "manipulator"&H/ +72 "core" / + .tHand.open +2 "manipulator"&I1 +72 "core" 1 + .tHand.close +2 "manipulator"&J/ +72 "core" / +24891 "Can"\ -- +29175 #t-> Arm.PC +2 "manipulator"&K& +3 "core" &.] J + "manipulator"&L% +4 "core" % \    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :PC +2 "manipulator"&M( +139 "core" ( +2 "manipulator"&N& +3 "core" &'  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &O& +2 "core" &'  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&P'Њ +87 "core" ' +2 "manipulator"&Q& +3 "core" &'  +2 "manipulator"&R% +4 "core" %Ѝ  k +30552 "Can"\ 00 +23995 #t-> Forearm + "manipulator"&S% +3 "core" %Ѝ ! k +762 #t-> Forearm.retract +2 .Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&T'\ +90 "core" ' +2 "manipulator"&U% +3 "core" %\   n +428 #t-> Forearm +2 "manipulator"&V% +3 "core" %\  n +1757 #t-> delay 5; 5.times{Hand.open; Hand.close} +2 .delay 5 seconds +502 .Hand.open +2 "manipulator"&W1 +71 "core" 1 + .tHand.close +2 "manipulator"&X/ +72 "core" / + .tHand.open +2 "manipulator"&Y1 +72 "core" 1 + .tHand.close +2 "manipulator"&Z/ +72 "core" / +34 .tHand.open +9 "manipulator"&[1 +69 "core" 1 + .tHand.close +2 "manipulator"&\\/ +72 "core" / + .tHand.open +2 "manipulator"&]1 +72 "core" 1 +2 .tHand.close +2 "manipulator"&^/ +71 "core" / + .tHand.open +2 "manipulator"&_1 +72 "core" 1 + .tHand.close +2 "manipulator"&`/ +72 "core" / +31660 "Can"\ // +35185 #t-> Forearm.extended + !o:NoMethodError : mesgu:NameError::message2undefined method `extended' for Forearm:Slide: name: extended: args[:bt[ "8/home/esp/esp2/lib/slide.rb:387:in `method_missing'"(ESP):21:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +229 #-> Forearm.extend +2 !o:ArgumentError: mesg"(wrong number of arguments (0 for 1):bt[ "(ESP):22:in `extend'"(ESP):22:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +427 #-> Forearm + "manipulator"&a% +3 "core" % \   n +315 #t-> Forearm.lis +2 !o:NoMethodError : mesgu:NameError::message-undefined method `lis' for Forearm:Slide: name:lis: args[:bt[ "8/home/esp/esp2/lib/slide.rb:387:in `method_missing'"(ESP):24:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'"0/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52 +339 #-> Forearm.list +1756 #-> Forearm.PC +2 .Forearm.seek PC +2 "manipulator"&b'Њ +95 "core" ' +2 "manipulator"&c% +3 "core" %Џ   +21639 "Can"\ 33 +60002 \ 43 +60003 \ 33 +20602 #t-> Arm.list +1523 #-> Arm +2 "manipulator"&d& +3 "core" &'  +2 "manipulator"&e% +4 "core" %Џ   +1633 #t-> Forearm.list +4351 #-> Arm.CC +2 "manipulator"&f& +3 "core" &'  +2 "manipulator"&g% +3 "core" %Џ x  +2 .tForearm.seek :retract +2 "manipulator"&h'\ +99 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek :CC + "manipulator"&i( +350 "core" ( + "manipulator"&j& +4 "core" & . + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &k& +3 "core" &  . + .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&l'Ϥ +102 "core" ' +4 "manipulator"&m& +4 "core" & * . +2 "manipulator"&n% +3 "core" %  x +9904 #t-> Arm.PC +2 "manipulator"&o& +3 "core" &  . + "manipulator"&p% +4 "core" % A x +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&q'\ +95 "core" ' + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek :PC + "manipulator"&r( +349 "core" ( +2 "manipulator"&s& +3 "core" & g +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &t& +2 "core" &  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&u'Њ +104 "core" ' +2 "manipulator"&v& +3 "core" &  +2 "manipulator"&w% +3 "core" %  +1161 #t-> Forearm.retract + .Forearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&x'\ +89 "core" ' +2 "manipulator"&y% +3 "core" %\  S r +1420 #t-> delay 5; 10.times{Hand.open; Hand.close} +2 .delay 5 seconds +502 .Hand.open +3 "manipulator"&z1 +71 "core" 1 + .tHand.close +2 "manipulator"&{/ +72 "core" / + .tHand.open +2 "manipulator"&|1 +72 "core" 1 + .tHand.close +2 "manipulator"&}/ +72 "core" / + .tHand.open +2 "manipulator"&~1 +72 "core" 1 + .tHand.close +2 "manipulator"&/ +72 "core" / + .tHand.open +2 "manipulator"&1 +72 "core" 1 +4 .tHand.close + "manipulator"&/ +70 "core" / + .tHand.open +2 "manipulator"&1 +72 "core" 1 + .tHand.close +2 "manipulator"&/ +72 "core" / + .tHand.open +2 "manipulator"&1 +72 "core" 1 + .tHand.close +2 "manipulator"&/ +85 "core" / + .tHand.open +2 "manipulator"& 1 +84 "core" 1 + .tHand.close +2 "manipulator"& / +72 "core" / +4 .tHand.open + "manipulator"& 1 +70 "core" 1 + .tHand.close +2 "manipulator"&/ +72 "core" / + .tHand.open +2 "manipulator"&1 +72 "core" 1 + .tHand.close +2 "manipulator"&/ +72 "core" / + .tHand.open +2 "manipulator"&1 +72 "core" 1 + .tHand.close +2 "manipulator"&/ +72 "core" / +1521 #t-> delay 5; 10.times{Hand.open; Hand.close} +2 .delay 5 seconds +502 .Hand.open +4 "manipulator"&1 +71 "core" 1 + .tHand.close +2 "manipulator"&/ +72 "core" / + .tHand.open +2 "manipulator"&1 +72 "core" 1 + .tHand.close +2 "manipulator"&/ +72 "core" / + .tHand.open +2 "manipulator"&1 +72 "core" 1 + .tHand.close +2 "manipulator"&/ +72 "core" / + .tHand.open +2 "manipulator"&1 +72 "core" 1 +4 .tHand.close + "manipulator"&/ +70 "core" / + .tHand.open +2 "manipulator"&1 +72 "core" 1 + .tHand.close +2 "manipulator"& / +72 "core" / + .tHand.open +2 "manipulator"&!1 +72 "core" 1 + .tHand.close +2 "manipulator"&"/ +72 "core" / + .tHand.open +2 "manipulator" +72 "core" 1 + .tHand.close +2 "manipulator"&%/ +73 "core" / + .tHand.open + "manipulator"&1 +72 "core" 1 + .tHand.close +2 "manipulator"&'/ +72 "core" / + .tHand.open +2 "manipulator"&$1 +72 "core" 1 + .tHand.close +2 "manipulator"&(/ +72 "core" / + .tHand.open +2 "manipulator"&)1 +72 "core" 1 + .tHand.close +2 "manipulator"&+/ +72 "core" / +12534 "Can"\ 00 +4763 #t-> delay 5; 10.times{Hand.open; Hand.close} +2 .delay 5 seconds +502 .Hand.open +4 "manipulator"&,1 +70 "core" 1 + .tHand.close +2 "manipulator"&-/ +72 "core" / + .tHand.open +2 "manipulator"&1 +72 "core" 1 + .tHand.close +2 "manipulator"&&/ +72 "core" / + .tHand.open +2 "manipulator"&/1 +72 "core" 1 + .tHand.close +2 "manipulator"&0/ +72 "core" / + .tHand.open +2 "manipulator"&11 +85 "core" 1 +2 .tHand.close +2 "manipulator"&2/ +71 "core" / + .tHand.open +2 "manipulator"&31 +72 "core" 1 + .tHand.close +2 "manipulator"&4/ +72 "core" / + .tHand.open +2 "manipulator"&51 +72 "core" 1 + .tHand.close +2 "manipulator"&6/ +72 "core" / + .tHand.open +2 "manipulator"&71 +72 "core" 1 + .tHand.close +2 "manipulator"&8/ +72 "core" / + .tHand.open +2 "manipulator"&91 +72 "core" 1 + .tHand.close +2 "manipulator"&:/ +72 "core" / + .tHand.open +2 "manipulator"&;1 +72 "core" 1 + .tHand.close +2 "manipulator"&/ +72 "core" / +1536 #t-> Arm +2 "manipulator"&?& +3 "core" &  +2 "manipulator"&@% +4 "core" % \  C r +1094 #t-> Arm.CC +2 "manipulator"&A& +3 "core" &  +2 "manipulator"&B% +3 "core" % \   r +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :CC +2 "manipulator"&C( +352 "core" ( + "manipulator"&D& +4 "core" & s . + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &E& +2 "core" &  . +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&F'Ϥ +96 "core" ' +2 "manipulator"&G& +3 "core" &  . +2 "manipulator"&H% +3 "core" %Ϯ   +561 #t-> delay 5; 10.times{Hand.open; Hand.close} +2 .delay 5 seconds +502 .Hand.open +3 "manipulator"&I1 +69 "core" 1 + .tHand.close +2 "manipulator"&J/ +72 "core" / + .tHand.open +2 "manipulator"&K1 +72 "core" 1 + .tHand.close +2 "manipulator"&L/ +72 "core" / + .tHand.open +2 "manipulator"&N1 +72 "core" 1 + .tHand.close +2 "manipulator"&O/ +72 "core" / + .tHand.open +2 "manipulator"&Q1 +72 "core" 1 +4 .tHand.close + "manipulator"&R/ +70 "core" / + .tHand.open +2 "manipulator"&*1 +72 "core" 1 + .tHand.close +2 "manipulator"&./ +72 "core" / + .tHand.open +2 "manipulator"&S1 +72 "core" 1 + .tHand.close +2 "manipulator"&U/ +109 "core" / + .tHand.open +2 "manipulator"&P1 +72 "core" 1 + .tHand.close +2 "manipulator"&V/ +72 "core" / + .tHand.open +2 "manipulator"&W1 +72 "core" 1 + .tHand.close +2 "manipulator"&X/ +72 "core" / + .tHand.open +2 "manipulator"&Y1 +72 "core" 1 + .tHand.close +2 "manipulator"&Z/ +72 "core" / + .tHand.open +2 "manipulator"&[1 +72 "core" 1 + .tHand.close +2 "manipulator"&\\/ +72 "core" / +1889 #t-> delay 5; 10.times{Hand.open; Hand.close} +2 .delay 5 seconds +503 .Hand.open +4 "manipulator"&]1 +65 "core" 1 + .tHand.close +2 "manipulator"&^/ +72 "core" / + .tHand.open +2 "manipulator"&_1 +72 "core" 1 + .tHand.close +2 "manipulator"&`/ +72 "core" / + .tHand.open +2 "manipulator"&a1 +72 "core" 1 + .tHand.close +2 "manipulator"&c/ +72 "core" / + .tHand.open +2 "manipulator"&T1 +72 "core" 1 + .tHand.close +2 "manipulator"&d/ +72 "core" / + .tHand.open +2 "manipulator"&e1 +72 "core" 1 + .tHand.close +2 "manipulator"&f/ +72 "core" / + .tHand.open +2 "manipulator"&g1 +72 "core" 1 + .tHand.close +2 "manipulator"&b/ +72 "core" / + .tHand.open +2 "manipulator"&M1 +72 "core" 1 + .tHand.close +2 "manipulator"&j/ +72 "core" / +3 .tHand.open +2 "manipulator"&k1 +70 "core" 1 + .tHand.close +2 "manipulator"&m/ +72 "core" / + .tHand.open +2 "manipulator"&n1 +72 "core" 1 + .tHand.close +2 "manipulator"&h/ +72 "core" / + .tHand.open +2 "manipulator"&o1 +72 "core" 1 + .tHand.close +2 "manipulator"&p/ +72 "core" / +418 #t-> delay 5; 10.times{Hand.open; Hand.close} +2 .delay 5 seconds +502 .Hand.open +3 "manipulator"&l1 +75 "core" 1 + .tHand.close +2 "manipulator"&i/ +72 "core" / + .tHand.open +2 "manipulator"&s1 +72 "core" 1 + .tHand.close +2 "manipulator"&t/ +72 "core" / + .tHand.open +2 "manipulator"&v1 +72 "core" 1 + .tHand.close +2 "manipulator"&w/ +72 "core" / + .tHand.open +2 "manipulator"&q1 +72 "core" 1 +3 .tHand.close +2 "manipulator"&y/ +70 "core" / + .tHand.open +2 "manipulator"&u1 +72 "core" 1 + .tHand.close +2 "manipulator"&z/ +72 "core" / + .tHand.open +2 "manipulator"&{1 +72 "core" 1 + .tHand.close +2 "manipulator"&|/ +72 "core" / + .tHand.open +2 "manipulator"&}1 +72 "core" 1 + .tHand.close +2 "manipulator"&~/ +72 "core" / +3 .tHand.open +2 "manipulator"&1 +70 "core" 1 + .tHand.close +2 "manipulator"&/ +72 "core" / + .tHand.open +2 "manipulator"&1 +72 "core" 1 + .tHand.close +2 "manipulator"&/ +72 "core" / + .tHand.open +2 "manipulator"&1 +72 "core" 1 + .tHand.close +2 "manipulator"&/ +72 "core" / +1375 #t-> delay 5; 10.times{Hand.open; Hand.close} +2 .delay 5 seconds +503 .Hand.open +3 "manipulator"&1 +67 "core" 1 + .tHand.close +2 "manipulator"& / +72 "core" / + .tHand.open +2 "manipulator"& 1 +72 "core" 1 + .tHand.close +2 "manipulator"& / +84 "core" / + .tHand.open +2 "manipulator"&1 +72 "core" 1 + .tHand.close +2 "manipulator"&/ +72 "core" / + .tHand.open +2 "manipulator"&1 +85 "core" 1 + .tHand.close +2 "manipulator"&/ +72 "core" / + .tHand.open +2 "manipulator"&1 +72 "core" 1 + .tHand.close +2 "manipulator"&/ +72 "core" / + .tHand.open +2 "manipulator"&1 +72 "core" 1 + .tHand.close +2 "manipulator"&/ +72 "core" / + .tHand.open +2 "manipulator"&1 +72 "core" 1 + .tHand.close +2 "manipulator"&/ +72 "core" / +4 .tHand.open + "manipulator"&1 +70 "core" 1 + .tHand.close +2 "manipulator"&/ +72 "core" / + .tHand.open +2 "manipulator"&1 +72 "core" 1 + .tHand.close +2 "manipulator"&/ +72 "core" / + .tHand.open +2 "manipulator"& 1 +72 "core" 1 + .tHand.close +2 "manipulator"&!/ +72 "core" / +2302 #t-> delay 5; 10.times{Hand.open; Hand.close} +2 .delay 5 seconds +502 .Hand.open +3 "manipulator"&"1 +191 "core" 1 + .tHand.close +2 "manipulator"&#/ +72 "core" / + .tHand.open +2 "manipulator"&%1 +72 "core" 1 + .tHand.close +2 "manipulator"&/ +72 "core" / + .tHand.open +2 "manipulator"&'1 +72 "core" 1 + .tHand.close +2 "manipulator"&$/ +72 "core" / +3 .tHand.open + "manipulator"&(1 +71 "core" 1 + .tHand.close +2 "manipulator"&)/ +72 "core" / + .tHand.open +2 "manipulator"&+1 +72 "core" 1 + .tHand.close +2 "manipulator"&,/ +72 "core" / + .tHand.open +2 "manipulator"&-1 +72 "core" 1 + .tHand.close +2 "manipulator"&/ +72 "core" / + .tHand.open +2 "manipulator"&&1 +72 "core" 1 + .tHand.close +2 "manipulator"&// +72 "core" / + .tHand.open +2 "manipulator"&01 +72 "core" 1 + .tHand.close +2 "manipulator"&1/ +72 "core" / + .tHand.open +2 "manipulator"&21 +72 "core" 1 + .tHand.close +2 "manipulator"&3/ +72 "core" / + .tHand.open +2 "manipulator"&41 +72 "core" 1 + .tHand.close +2 "manipulator"&5/ +72 "core" / +7050 #t-> delay 5; 20.times{Hand.open; Hand.close} +2 .delay 5 seconds +502 .Hand.open +3 "manipulator"&61 +68 "core" 1 + .tHand.close +2 "manipulator"&7/ +72 "core" / + .tHand.open +2 "manipulator"&81 +97 "core" 1 + .tHand.close +2 "manipulator"&9/ +84 "core" / + .tHand.open +2 "manipulator"&:1 +135 "core" 1 + .tHand.close +2 "manipulator"&;/ +259 "core" / + .tHand.open +2 "manipulator"&<1 +72 "core" 1 + .tHand.close +2 "manipulator"&=/ +160 "core" / + .tHand.open +2 "manipulator"&>1 +197 "core" 1 + .tHand.close +2 "manipulator"&?/ +84 "core" / +3 .tHand.open + "manipulator"&@1 +384 "core" 1 + .tHand.close +2 "manipulator"&A/ +72 "core" / + .tHand.open +2 "manipulator"&B1 +72 "core" 1 +3 .tHand.close +2 "manipulator"&r/ +70 "core" / + .tHand.open +2 "manipulator"&D1 +72 "core" 1 + .tHand.close +2 "manipulator"&E/ +72 "core" / + .tHand.open +2 "manipulator"&G1 +72 "core" 1 + .tHand.close +2 "manipulator"&H/ +72 "core" / + .tHand.open +2 "manipulator"&x1 +72 "core" 1 + .tHand.close +2 "manipulator"&I/ +72 "core" / + .tHand.open +2 "manipulator"&J1 +72 "core" 1 + .tHand.close +2 "manipulator"&K/ +72 "core" / + .tHand.open +2 "manipulator"&L1 +72 "core" 1 + .tHand.close +2 "manipulator"&N/ +72 "core" / + .tHand.open +2 "manipulator"&O1 +72 "core" 1 + .tHand.close +2 "manipulator"&Q/ +72 "core" / + .tHand.open +2 "manipulator"&R1 +72 "core" 1 +3 .tHand.close +2 "manipulator"&*/ +70 "core" / + .tHand.open +2 "manipulator"&.1 +72 "core" 1 + .tHand.close +2 "manipulator"&S/ +72 "core" / + .tHand.open +2 "manipulator"&U1 +72 "core" 1 + .tHand.close +2 "manipulator"&P/ +72 "core" / + .tHand.open +2 "manipulator"&V1 +72 "core" 1 + .tHand.close +2 "manipulator"&W/ +72 "core" / +3 .tHand.open + "manipulator"&X1 +71 "core" 1 + .tHand.close +2 "manipulator"&Y/ +72 "core" / + .tHand.open +2 "manipulator"&Z1 +72 "core" 1 + .tHand.close +2 "manipulator"&[/ +72 "core" / + .tHand.open +3 "manipulator"&\\1 +71 "core" 1 + .tHand.close +2 "manipulator"&]/ +72 "core" / +21974 "Can"\ // +60003 \ // +9705 #t-> delay 5; 20.times{Hand.open; Hand.close} +2 .delay 5 seconds +502 .Hand.open +2 "manipulator"&^1 +74 "core" 1 + .tHand.close +2 "manipulator"&_/ +72 "core" / + .tHand.open +2 "manipulator"&`1 +72 "core" 1 + .tHand.close +2 "manipulator"&a/ +72 "core" / + .tHand.open +2 "manipulator"&c1 +72 "core" 1 + .tHand.close +2 "manipulator"&T/ +72 "core" / + .tHand.open +2 "manipulator"&d1 +72 "core" 1 +3 .tHand.close +2 "manipulator"&e/ +70 "core" / + .tHand.open +2 "manipulator"&f1 +72 "core" 1 + .tHand.close +35 "manipulator"&g/ +77 "core" / + .tHand.open +2 "manipulator"&b1 +72 "core" 1 + .tHand.close +2 "manipulator"&M/ +72 "core" / + .tHand.open +2 "manipulator"&j1 +72 "core" 1 + .tHand.close +2 "manipulator"&k/ +72 "core" / +3 .tHand.open +2 "manipulator"&m1 +70 "core" 1 + .tHand.close +2 "manipulator"&n/ +72 "core" / + .tHand.open +2 "manipulator"&h1 +72 "core" 1 + .tHand.close +2 "manipulator"&o/ +72 "core" / + .tHand.open +2 "manipulator"&p1 +72 "core" 1 + .tHand.close +2 "manipulator"&l/ +72 "core" / + .tHand.open +2 "manipulator"&i1 +72 "core" 1 + .tHand.close +2 "manipulator"&s/ +72 "core" / + .tHand.open +2 "manipulator"&t1 +72 "core" 1 + .tHand.close +2 "manipulator"&v/ +72 "core" / + .tHand.open +2 "manipulator"&w1 +72 "core" 1 + .tHand.close +2 "manipulator"&q/ +72 "core" / + .tHand.open +2 "manipulator"&y1 +72 "core" 1 + .tHand.close +2 "manipulator"&u/ +72 "core" / +3 .tHand.open + "manipulator"&z1 +71 "core" 1 + .tHand.close +2 "manipulator"&{/ +72 "core" / + .tHand.open +2 "manipulator"&|1 +72 "core" 1 + .tHand.close +2 "manipulator"&}/ +72 "core" / + .tHand.open +2 "manipulator"&~1 +72 "core" 1 + .tHand.close +2 "manipulator"&/ +72 "core" / + .tHand.open +2 "manipulator"&1 +72 "core" 1 +3 .tHand.close +2 "manipulator"&/ +70 "core" / + .tHand.open +2 "manipulator"&1 +72 "core" 1 + .tHand.close +2 "manipulator"&/ +72 "core" / + .tHand.open +2 "manipulator"&1 +72 "core" 1 + .tHand.close +2 "manipulator"&/ +72 "core" / +20294 #t-> delay 5; 100.times{Hand.open; Hand.close} +2 .delay 5 seconds +502 .Hand.open +2 "manipulator"& 1 +74 "core" 1 + .tHand.close +2 "manipulator"& / +72 "core" / + .tHand.open +2 "manipulator"& 1 +72 "core" 1 + .tHand.close +2 "manipulator"&/ +72 "core" / + .tHand.open +2 "manipulator"&1 +72 "core" 1 + .tHand.close +2 "manipulator"&/ +72 "core" / + .tHand.open +2 "manipulator"&1 +72 "core" 1 +3 .tHand.close + "manipulator"&/ +71 "core" / + .tHand.open +2 "manipulator"&1 +72 "core" 1 + .tHand.close +2 "manipulator"&/ +72 "core" / + .tHand.open +2 "manipulator"&1 +72 "core" 1 + .tHand.close +2 "manipulator"&/ +72 "core" / + .tHand.open +2 "manipulator"&1 +72 "core" 1 + .tHand.close +2 "manipulator"&/ +72 "core" / +2 .tHand.open +2 "manipulator"&1 +71 "core" 1 + .tHand.close +2 "manipulator"&/ +72 "core" / + .tHand.open +2 "manipulator"&1 +72 "core" 1 + .tHand.close +2 "manipulator"& / +72 "core" / + .tHand.open +2 "manipulator"&!1 +72 "core" 1 + .tHand.close +2 "manipulator"&"/ +72 "core" / + .tHand.open +2 "manipulator" +72 "core" 1 + .tHand.close +2 "manipulator"&%/ +72 "core" / + .tHand.open +2 "manipulator"&1 +72 "core" 1 + .tHand.close +2 "manipulator"&'/ +72 "core" / + .tHand.open +2 "manipulator"&$1 +72 "core" 1 + .tHand.close +2 "manipulator"&(/ +72 "core" / + .tHand.open +2 "manipulator"&)1 +72 "core" 1 + .tHand.close +2 "manipulator"&+/ +72 "core" / +2 .tHand.open +2 "manipulator"&,1 +71 "core" 1 + .tHand.close +2 "manipulator"&-/ +72 "core" / + .tHand.open +2 "manipulator"&1 +72 "core" 1 + .tHand.close +2 "manipulator"&&/ +72 "core" / + .tHand.open +2 "manipulator"&/1 +72 "core" 1 + .tHand.close +2 "manipulator"&0/ +72 "core" / + .tHand.open +2 "manipulator"&11 +72 "core" 1 +2 .tHand.close +2 "manipulator"&2/ +71 "core" / + .tHand.open +2 "manipulator"&31 +72 "core" 1 + .tHand.close +2 "manipulator"&4/ +72 "core" / + .tHand.open +2 "manipulator"&51 +72 "core" 1 + .tHand.close +2 "manipulator"&6/ +72 "core" / + .tHand.open +2 "manipulator"&71 +72 "core" 1 + .tHand.close +2 "manipulator"&8/ +72 "core" / +3 .tHand.open +2 "manipulator"&91 +70 "core" 1 + .tHand.close +2 "manipulator"&:/ +72 "core" / + .tHand.open +2 "manipulator"&;1 +72 "core" 1 + .tHand.close +2 "manipulator"&/ +72 "core" / + .tHand.open +2 "manipulator"&?1 +72 "core" 1 + .tHand.close +2 "manipulator"&@/ +72 "core" / + .tHand.open +2 "manipulator"&A1 +72 "core" 1 + .tHand.close +2 "manipulator"&B/ +72 "core" / + .tHand.open +2 "manipulator"&r1 +72 "core" 1 + .tHand.close +2 "manipulator"&D/ +72 "core" / + .tHand.open +2 "manipulator"&E1 +72 "core" 1 + .tHand.close +2 "manipulator"&G/ +72 "core" / +3 .tHand.open + "manipulator"&H1 +71 "core" 1 + .tHand.close +2 "manipulator"&x/ +72 "core" / + .tHand.open +2 "manipulator"&I1 +72 "core" 1 + .tHand.close +2 "manipulator"&J/ +72 "core" / + .tHand.open +2 "manipulator"&K1 +72 "core" 1 + .tHand.close +2 "manipulator"&L/ +72 "core" / + .tHand.open +2 "manipulator"&N1 +72 "core" 1 +3 .tHand.close + "manipulator"&O/ +71 "core" / + .tHand.open +2 "manipulator"&Q1 +72 "core" 1 + .tHand.close +2 "manipulator"&R/ +72 "core" / + .tHand.open +2 "manipulator"&*1 +72 "core" 1 + .tHand.close +2 "manipulator"&./ +72 "core" / + .tHand.open +2 "manipulator"&S1 +72 "core" 1 + .tHand.close +2 "manipulator"&U/ +72 "core" / +2 .tHand.open +2 "manipulator"&P1 +71 "core" 1 + .tHand.close +2 "manipulator"&V/ +72 "core" / + .tHand.open +2 "manipulator"&W1 +72 "core" 1 + .tHand.close +2 "manipulator"&X/ +72 "core" / + .tHand.open +2 "manipulator"&Y1 +72 "core" 1 + .tHand.close +2 "manipulator"&Z/ +72 "core" / + .tHand.open +2 "manipulator"&[1 +72 "core" 1 + .tHand.close +2 "manipulator"&\\/ +72 "core" / + .tHand.open +2 "manipulator"&]1 +72 "core" 1 + .tHand.close +2 "manipulator"&^/ +72 "core" / + .tHand.open +2 "manipulator"&_1 +72 "core" 1 + .tHand.close +2 "manipulator"&`/ +72 "core" / + .tHand.open +2 "manipulator"&a1 +72 "core" 1 + .tHand.close +2 "manipulator"&c/ +72 "core" / +3 .tHand.open +2 "manipulator"&T1 +70 "core" 1 + .tHand.close +2 "manipulator"&d/ +72 "core" / + .tHand.open +2 "manipulator"&e1 +72 "core" 1 + .tHand.close +2 "manipulator"&f/ +72 "core" / + .tHand.open +2 "manipulator"&g1 +72 "core" 1 + .tHand.close +2 "manipulator"&b/ +72 "core" / + .tHand.open +2 "manipulator"&M1 +72 "core" 1 +2 .tHand.close +2 "manipulator"&j/ +71 "core" / + .tHand.open +2 "manipulator"&k1 +72 "core" 1 + .tHand.close +2 "manipulator"&m/ +72 "core" / + .tHand.open +2 "manipulator"&n1 +72 "core" 1 + .tHand.close +2 "manipulator"&h/ +72 "core" / + .tHand.open +2 "manipulator"&o1 +72 "core" 1 + .tHand.close +2 "manipulator"&p/ +72 "core" / +3 .tHand.open + "manipulator"&l1 +71 "core" 1 + .tHand.close +2 "manipulator"&i/ +72 "core" / + .tHand.open +2 "manipulator"&s1 +72 "core" 1 + .tHand.close +2 "manipulator"&t/ +72 "core" / + .tHand.open +2 "manipulator"&v1 +72 "core" 1 + .tHand.close +2 "manipulator"&w/ +72 "core" / + .tHand.open +2 "manipulator"&q1 +72 "core" 1 + .tHand.close +2 "manipulator"&y/ +72 "core" / + .tHand.open +2 "manipulator"&u1 +72 "core" 1 + .tHand.close +2 "manipulator"&z/ +72 "core" / + .tHand.open +2 "manipulator"&{1 +72 "core" 1 + .tHand.close +2 "manipulator"&|/ +72 "core" / +10 .tHand.open + "manipulator"&}1 +77 "core" 1 + .tHand.close +2 "manipulator"&~/ +72 "core" / +3 .tHand.open + "manipulator"&1 +71 "core" 1 + .tHand.close +2 "manipulator"&/ +72 "core" / + .tHand.open +2 "manipulator"&1 +72 "core" 1 + .tHand.close +2 "manipulator"&/ +72 "core" / + .tHand.open +2 "manipulator"&1 +72 "core" 1 + .tHand.close +2 "manipulator"&/ +72 "core" / + .tHand.open +2 "manipulator"&1 +72 "core" 1 +2 .tHand.close +2 "manipulator"& / +71 "core" / + .tHand.open +2 "manipulator"& 1 +72 "core" 1 + .tHand.close +2 "manipulator"& / +72 "core" / + .tHand.open +2 "manipulator"&1 +72 "core" 1 + .tHand.close +2 "manipulator"&/ +72 "core" / + .tHand.open +2 "manipulator"&1 +72 "core" 1 + .tHand.close +2 "manipulator"&/ +72 "core" / + .tHand.open +2 "manipulator"&1 +72 "core" 1 + .tHand.close +2 "manipulator"&/ +72 "core" / + .tHand.open +2 "manipulator"&1 +72 "core" 1 + .tHand.close +2 "manipulator"&/ +72 "core" / + .tHand.open +2 "manipulator"&1 +72 "core" 1 + .tHand.close +2 "manipulator"&/ +72 "core" / + .tHand.open +2 "manipulator"&1 +72 "core" 1 +3 .tHand.close + "manipulator"&/ +71 "core" / + .tHand.open +2 "manipulator"&1 +72 "core" 1 + .tHand.close +2 "manipulator"&/ +72 "core" / + .tHand.open +2 "manipulator"& 1 +72 "core" 1 + .tHand.close +2 "manipulator"&!/ +72 "core" / + .tHand.open +2 "manipulator"&"1 +72 "core" 1 + .tHand.close +2 "manipulator"&#/ +72 "core" / +3 .tHand.open + "manipulator"&%1 +71 "core" 1 + .tHand.close +2 "manipulator"&/ +72 "core" / + .tHand.open +2 "manipulator"&'1 +72 "core" 1 + .tHand.close +2 "manipulator"&$/ +72 "core" / + .tHand.open +2 "manipulator"&(1 +72 "core" 1 + .tHand.close +2 "manipulator"&)/ +72 "core" / + .tHand.open +2 "manipulator"&+1 +72 "core" 1 +3 .tHand.close +2 "manipulator"&,/ +70 "core" / + .tHand.open +2 "manipulator"&-1 +72 "core" 1 + .tHand.close +2 "manipulator"&/ +72 "core" / + .tHand.open +2 "manipulator"&&1 +72 "core" 1 + .tHand.close +2 "manipulator"&// +72 "core" / + .tHand.open +2 "manipulator"&01 +72 "core" 1 + .tHand.close +2 "manipulator"&1/ +72 "core" / + .tHand.open +2 "manipulator"&21 +72 "core" 1 + .tHand.close +2 "manipulator"&3/ +72 "core" / + .tHand.open +2 "manipulator"&41 +72 "core" 1 + .tHand.close +2 "manipulator"&5/ +72 "core" / + .tHand.open +2 "manipulator"&61 +72 "core" 1 + .tHand.close +2 "manipulator"&7/ +72 "core" / + .tHand.open +2 "manipulator"&81 +72 "core" 1 +2 .tHand.close + "manipulator"&9/ +72 "core" / + .tHand.open +2 "manipulator"&:1 +72 "core" 1 + .tHand.close +2 "manipulator"&;/ +72 "core" / + .tHand.open +2 "manipulator"&<1 +72 "core" 1 + .tHand.close +2 "manipulator"&=/ +72 "core" / + .tHand.open +2 "manipulator"&>1 +72 "core" 1 + .tHand.close +2 "manipulator"&?/ +72 "core" / +2 .tHand.open +2 "manipulator"&@1 +71 "core" 1 + .tHand.close +2 "manipulator"&A/ +72 "core" / + .tHand.open +2 "manipulator"&B1 +72 "core" 1 + .tHand.close +2 "manipulator"&r/ +72 "core" / + .tHand.open +2 "manipulator"&D1 +72 "core" 1 + .tHand.close +2 "manipulator"&E/ +72 "core" / + .tHand.open +2 "manipulator"&G1 +72 "core" 1 +2 .tHand.close + "manipulator"&H/ +72 "core" / + .tHand.open +2 "manipulator"&x1 +72 "core" 1 + .tHand.close +2 "manipulator"&I/ +72 "core" / + .tHand.open +2 "manipulator"&J1 +72 "core" 1 + .tHand.close +2 "manipulator"&K/ +72 "core" / + .tHand.open +2 "manipulator"&L1 +72 "core" 1 + .tHand.close +2 "manipulator"&N/ +72 "core" / + .tHand.open +2 "manipulator"&O1 +72 "core" 1 + .tHand.close +2 "manipulator"&Q/ +72 "core" / + .tHand.open +2 "manipulator"&R1 +72 "core" 1 + .tHand.close +2 "manipulator"&*/ +72 "core" / + .tHand.open +2 "manipulator"&.1 +72 "core" 1 + .tHand.close +2 "manipulator"&S/ +72 "core" / + .tHand.open +2 "manipulator"&U1 +72 "core" 1 +2 .tHand.close + "manipulator"&P/ +72 "core" / + .tHand.open +2 "manipulator"&V1 +72 "core" 1 + .tHand.close +2 "manipulator"&W/ +72 "core" / + .tHand.open +2 "manipulator"&X1 +72 "core" 1 + .tHand.close +2 "manipulator"&Y/ +72 "core" / + .tHand.open +2 "manipulator"&Z1 +72 "core" 1 + .tHand.close +2 "manipulator"&[/ +72 "core" / +2 .tHand.open +2 "manipulator"&\\1 +71 "core" 1 + .tHand.close +2 "manipulator"&]/ +72 "core" / + .tHand.open +2 "manipulator"&^1 +72 "core" 1 + .tHand.close +2 "manipulator"&_/ +72 "core" / +10942 "Can"\ // +60003 \ // +60003 \ 0/ +60003 \ // +5398 #t-> delay 5; 100.times{Hand.open; Hand.close} +2 .delay 5 seconds +502 .Hand.open +2 "manipulator"&`1 +70 "core" 1 + .tHand.close +2 "manipulator"&a/ +72 "core" / + .tHand.open +2 "manipulator"&c1 +72 "core" 1 + .tHand.close +2 "manipulator"&T/ +72 "core" / + .tHand.open +2 "manipulator"&d1 +72 "core" 1 + .tHand.close +2 "manipulator"&e/ +72 "core" / + .tHand.open +2 "manipulator"&f1 +72 "core" 1 +2 .tHand.close +2 "manipulator"&g/ +71 "core" / + .tHand.open +2 "manipulator"&b1 +72 "core" 1 + .tHand.close +2 "manipulator"&M/ +72 "core" / + .tHand.open +2 "manipulator"&j1 +72 "core" 1 + .tHand.close +2 "manipulator"&k/ +72 "core" / + .tHand.open +2 "manipulator"&m1 +72 "core" 1 + .tHand.close +2 "manipulator"&n/ +72 "core" / +2 .tHand.open +2 "manipulator"&h1 +71 "core" 1 + .tHand.close +2 "manipulator"&o/ +72 "core" / + .tHand.open +2 "manipulator"&p1 +109 "core" 1 + .tHand.close +2 "manipulator"&l/ +72 "core" / + .tHand.open +2 "manipulator"&i1 +72 "core" 1 + .tHand.close +2 "manipulator"&s/ +72 "core" / + .tHand.open +2 "manipulator"&t1 +72 "core" 1 + .tHand.close +2 "manipulator"&v/ +72 "core" / + .tHand.open +2 "manipulator"&w1 +72 "core" 1 + .tHand.close +2 "manipulator"&q/ +72 "core" / + .tHand.open +2 "manipulator"&y1 +72 "core" 1 + .tHand.close +2 "manipulator"&u/ +72 "core" / + .tHand.open +2 "manipulator"&z1 +72 "core" 1 + .tHand.close +2 "manipulator"&{/ +72 "core" / +2 .tHand.open +2 "manipulator"&|1 +71 "core" 1 + .tHand.close +2 "manipulator"&}/ +72 "core" / + .tHand.open +2 "manipulator"&~1 +72 "core" 1 + .tHand.close +2 "manipulator"&/ +72 "core" / + .tHand.open +2 "manipulator"&1 +72 "core" 1 + .tHand.close +2 "manipulator"&/ +72 "core" / + .tHand.open +2 "manipulator"&1 +72 "core" 1 +2 .tHand.close +2 "manipulator"&/ +71 "core" / + .tHand.open +2 "manipulator"&1 +72 "core" 1 + .tHand.close +2 "manipulator"&/ +72 "core" / + .tHand.open +2 "manipulator"& 1 +72 "core" 1 + .tHand.close +2 "manipulator"& / +72 "core" / + .tHand.open +2 "manipulator"& 1 +72 "core" 1 + .tHand.close +2 "manipulator"&/ +72 "core" / +2 .tHand.open +2 "manipulator"&1 +71 "core" 1 + .tHand.close +2 "manipulator"&/ +72 "core" / + .tHand.open +2 "manipulator"&1 +72 "core" 1 + .tHand.close +2 "manipulator"&/ +72 "core" / + .tHand.open +2 "manipulator"&1 +72 "core" 1 + .tHand.close +2 "manipulator"&/ +72 "core" / + .tHand.open +2 "manipulator"&1 +72 "core" 1 + .tHand.close +2 "manipulator"&/ +72 "core" / + .tHand.open +2 "manipulator"&1 +72 "core" 1 + .tHand.close +2 "manipulator"&/ +72 "core" / + .tHand.open +2 "manipulator"&1 +72 "core" 1 + .tHand.close +2 "manipulator"&/ +72 "core" / + .tHand.open +2 "manipulator"&1 +72 "core" 1 + .tHand.close +2 "manipulator"& / +72 "core" / +2 .tHand.open +2 "manipulator"&!1 +71 "core" 1 + .tHand.close +2 "manipulator"&"/ +72 "core" / + .tHand.open +2 "manipulator" +72 "core" 1 + .tHand.close +2 "manipulator"&%/ +72 "core" / + .tHand.open +2 "manipulator"&1 +72 "core" 1 + .tHand.close +2 "manipulator"&'/ +72 "core" / + .tHand.open +2 "manipulator"&$1 +72 "core" 1 +2 .tHand.close + "manipulator"&(/ +72 "core" / + .tHand.open +2 "manipulator"&)1 +72 "core" 1 + .tHand.close +2 "manipulator"&+/ +72 "core" / + .tHand.open +2 "manipulator"&,1 +72 "core" 1 + .tHand.close +2 "manipulator"&-/ +72 "core" / + .tHand.open +2 "manipulator"&1 +72 "core" 1 + .tHand.close +2 "manipulator"&&/ +72 "core" / +2 .tHand.open + "manipulator"&/1 +72 "core" 1 + .tHand.close +2 "manipulator"&0/ +72 "core" / + .tHand.open +2 "manipulator"&11 +72 "core" 1 + .tHand.close +2 "manipulator"&2/ +72 "core" / + .tHand.open +2 "manipulator"&31 +72 "core" 1 + .tHand.close +2 "manipulator"&4/ +72 "core" / + .tHand.open +2 "manipulator"&51 +72 "core" 1 + .tHand.close +2 "manipulator"&6/ +72 "core" / + .tHand.open +2 "manipulator"&71 +72 "core" 1 + .tHand.close +2 "manipulator"&8/ +72 "core" / + .tHand.open +2 "manipulator"&91 +72 "core" 1 + .tHand.close +2 "manipulator"&:/ +72 "core" / + .tHand.open +2 "manipulator"&;1 +72 "core" 1 + .tHand.close +2 "manipulator"&/ +72 "core" / + .tHand.open +2 "manipulator"&?1 +72 "core" 1 + .tHand.close +2 "manipulator"&@/ +72 "core" / + .tHand.open +2 "manipulator"&A1 +72 "core" 1 + .tHand.close +2 "manipulator"&B/ +72 "core" / + .tHand.open +2 "manipulator"&r1 +72 "core" 1 +2 .tHand.close +2 "manipulator"&D/ +71 "core" / + .tHand.open +2 "manipulator"&E1 +72 "core" 1 + .tHand.close +2 "manipulator"&G/ +72 "core" / + .tHand.open +2 "manipulator"&H1 +72 "core" 1 + .tHand.close +2 "manipulator"&x/ +72 "core" / + .tHand.open +2 "manipulator"&I1 +72 "core" 1 + .tHand.close +2 "manipulator"&J/ +72 "core" / +2 .tHand.open +2 "manipulator"&K1 +71 "core" 1 + .tHand.close +2 "manipulator"&L/ +72 "core" / + .tHand.open +2 "manipulator"&N1 +72 "core" 1 + .tHand.close +2 "manipulator"&O/ +72 "core" / + .tHand.open +2 "manipulator"&Q1 +72 "core" 1 + .tHand.close +2 "manipulator"&R/ +72 "core" / + .tHand.open +2 "manipulator"&*1 +72 "core" 1 + .tHand.close +2 "manipulator"&./ +72 "core" / + .tHand.open +2 "manipulator"&S1 +72 "core" 1 + .tHand.close +2 "manipulator"&U/ +72 "core" / + .tHand.open +2 "manipulator"&P1 +72 "core" 1 + .tHand.close +2 "manipulator"&V/ +72 "core" / + .tHand.open +2 "manipulator"&W1 +72 "core" 1 + .tHand.close +2 "manipulator"&X/ +72 "core" / +2 .tHand.open +2 "manipulator"&Y1 +71 "core" 1 + .tHand.close +2 "manipulator"&Z/ +72 "core" / + .tHand.open +2 "manipulator"&[1 +72 "core" 1 + .tHand.close +2 "manipulator"&\\/ +72 "core" / + .tHand.open +2 "manipulator"&]1 +72 "core" 1 + .tHand.close +2 "manipulator"&^/ +72 "core" / + .tHand.open +2 "manipulator"&_1 +72 "core" 1 +2 .tHand.close +2 "manipulator"&`/ +71 "core" / + .tHand.open +2 "manipulator"&a1 +72 "core" 1 + .tHand.close +2 "manipulator"&c/ +72 "core" / + .tHand.open +2 "manipulator"&T1 +72 "core" 1 + .tHand.close +2 "manipulator"&d/ +72 "core" / + .tHand.open +2 "manipulator"&e1 +72 "core" 1 + .tHand.close +2 "manipulator"&f/ +72 "core" / + .tHand.open +2 "manipulator"&g1 +72 "core" 1 + .tHand.close +32 "manipulator"&b/ +80 "core" / + .tHand.open +2 "manipulator"&M1 +72 "core" 1 + .tHand.close +2 "manipulator"&j/ +72 "core" / + .tHand.open +2 "manipulator"&k1 +72 "core" 1 + .tHand.close +2 "manipulator"&m/ +72 "core" / + .tHand.open +2 "manipulator"&n1 +72 "core" 1 + .tHand.close +2 "manipulator"&h/ +72 "core" / + .tHand.open +2 "manipulator"&o1 +72 "core" 1 + .tHand.close +2 "manipulator"&p/ +72 "core" / + .tHand.open +2 "manipulator"&l1 +72 "core" 1 + .tHand.close +2 "manipulator"&i/ +72 "core" / + .tHand.open +2 "manipulator"&s1 +72 "core" 1 + .tHand.close +2 "manipulator"&t/ +72 "core" / +2 .tHand.open + "manipulator"&v1 +72 "core" 1 + .tHand.close +2 "manipulator"&w/ +72 "core" / + .tHand.open +2 "manipulator"&q1 +72 "core" 1 + .tHand.close +2 "manipulator"&y/ +72 "core" / + .tHand.open +2 "manipulator"&u1 +72 "core" 1 + .tHand.close +2 "manipulator"&z/ +72 "core" / + .tHand.open +2 "manipulator"&{1 +72 "core" 1 + .tHand.close +2 "manipulator"&|/ +72 "core" / + .tHand.open +2 "manipulator"&}1 +72 "core" 1 + .tHand.close +2 "manipulator"&~/ +72 "core" / + .tHand.open +2 "manipulator"&1 +72 "core" 1 + .tHand.close +2 "manipulator"&/ +72 "core" / + .tHand.open +2 "manipulator"&1 +72 "core" 1 + .tHand.close +2 "manipulator"&/ +72 "core" / +2 .tHand.open + "manipulator"&1 +72 "core" 1 + .tHand.close +2 "manipulator"&/ +72 "core" / + .tHand.open +2 "manipulator"&1 +72 "core" 1 + .tHand.close +2 "manipulator"& / +72 "core" / + .tHand.open +2 "manipulator"& 1 +72 "core" 1 + .tHand.close +2 "manipulator"& / +72 "core" / + .tHand.open +2 "manipulator"&1 +72 "core" 1 +2 .tHand.close + "manipulator"&/ +72 "core" / + .tHand.open +2 "manipulator"&1 +72 "core" 1 + .tHand.close +2 "manipulator"&/ +72 "core" / + .tHand.open +2 "manipulator"&1 +72 "core" 1 + .tHand.close +2 "manipulator"&/ +72 "core" / + .tHand.open +2 "manipulator"&1 +72 "core" 1 + .tHand.close +2 "manipulator"&/ +72 "core" / +2 .tHand.open + "manipulator"&1 +72 "core" 1 + .tHand.close +2 "manipulator"&/ +72 "core" / + .tHand.open +2 "manipulator"&1 +72 "core" 1 + .tHand.close +2 "manipulator"&/ +72 "core" / + .tHand.open +2 "manipulator"&1 +72 "core" 1 + .tHand.close +2 "manipulator"&/ +72 "core" / + .tHand.open +2 "manipulator"& 1 +72 "core" 1 + .tHand.close +2 "manipulator"&!/ +72 "core" / + .tHand.open +2 "manipulator"&"1 +72 "core" 1 + .tHand.close +2 "manipulator"&#/ +72 "core" / + .tHand.open +2 "manipulator"&%1 +72 "core" 1 + .tHand.close +2 "manipulator"&/ +72 "core" / + .tHand.open +2 "manipulator"&'1 +72 "core" 1 + .tHand.close +2 "manipulator"&$/ +72 "core" / +2 .tHand.open + "manipulator"&(1 +72 "core" 1 + .tHand.close +2 "manipulator"&)/ +72 "core" / + .tHand.open +2 "manipulator"&+1 +72 "core" 1 + .tHand.close +2 "manipulator"&,/ +72 "core" / + .tHand.open +2 "manipulator"&-1 +72 "core" 1 + .tHand.close +2 "manipulator"&/ +72 "core" / + .tHand.open +2 "manipulator"&&1 +72 "core" 1 +2 .tHand.close +2 "manipulator"&// +71 "core" / + .tHand.open +2 "manipulator"&01 +72 "core" 1 + .tHand.close +2 "manipulator"&1/ +72 "core" / + .tHand.open +2 "manipulator"&21 +72 "core" 1 + .tHand.close +2 "manipulator"&3/ +72 "core" / + .tHand.open +2 "manipulator"&41 +72 "core" 1 + .tHand.close +2 "manipulator"&5/ +72 "core" / +2 .tHand.open +2 "manipulator"&61 +71 "core" 1 + .tHand.close +2 "manipulator"&7/ +72 "core" / + .tHand.open +2 "manipulator"&81 +72 "core" 1 + .tHand.close +2 "manipulator"&9/ +72 "core" / +39029 "Can"\ 00 +60002 \ 00 +60003 \ 00 +60003 \ 00 +60003 \ 00 +60003 \ 00 +60002 \ 00 +60003 \ 00 +60003 \ 00 +60003 \ 00 +30623 #t-> delay 5; 25.times{Hand.open; Hand.close} +2 .delay 5 seconds +502 .Hand.open +2 "manipulator"&:1 +65 "core" 1 + .tHand.close +2 "manipulator"&;/ +72 "core" / + .tHand.open +2 "manipulator"&<1 +72 "core" 1 + .tHand.close +2 "manipulator"&=/ +72 "core" / + .tHand.open +2 "manipulator"&>1 +72 "core" 1 + .tHand.close +2 "manipulator"&?/ +85 "core" / + .tHand.open +2 "manipulator"&@1 +72 "core" 1 +2 .tHand.close + "manipulator"&A/ +72 "core" / + .tHand.open +2 "manipulator"&B1 +84 "core" 1 + .tHand.close +2 "manipulator"&r/ +85 "core" / + .tHand.open +2 "manipulator"&D1 +84 "core" 1 + .tHand.close +2 "manipulator"&E/ +72 "core" / + .tHand.open +2 "manipulator"&G1 +122 "core" 1 + .tHand.close +2 "manipulator"&H/ +72 "core" / + .tHand.open +2 "manipulator"&x1 +72 "core" 1 + .tHand.close +2 "manipulator"&I/ +72 "core" / + .tHand.open +2 "manipulator"&J1 +85 "core" 1 + .tHand.close +2 "manipulator"&K/ +84 "core" / + .tHand.open +2 "manipulator"&L1 +85 "core" 1 + .tHand.close +2 "manipulator"&N/ +72 "core" / +2 .tHand.open + "manipulator"&O1 +72 "core" 1 + .tHand.close +2 "manipulator"&Q/ +72 "core" / + .tHand.open +2 "manipulator"&R1 +72 "core" 1 + .tHand.close +2 "manipulator"&*/ +72 "core" / + .tHand.open +2 "manipulator"&.1 +72 "core" 1 + .tHand.close +2 "manipulator"&S/ +72 "core" / + .tHand.open +2 "manipulator"&U1 +72 "core" 1 + .tHand.close +2 "manipulator"&P/ +72 "core" / + .tHand.open +2 "manipulator"&V1 +72 "core" 1 + .tHand.close +2 "manipulator"&W/ +72 "core" / +32 .tHand.open +9 "manipulator"&X1 +71 "core" 1 + .tHand.close +2 "manipulator"&Y/ +72 "core" / + .tHand.open +2 "manipulator"&Z1 +72 "core" 1 + .tHand.close +2 "manipulator"&[/ +85 "core" / + .tHand.open +2 "manipulator"&\\1 +72 "core" 1 + .tHand.close +2 "manipulator"&]/ +72 "core" / + .tHand.open +2 "manipulator"&^1 +72 "core" 1 + .tHand.close +2 "manipulator"&_/ +72 "core" / + .tHand.open +2 "manipulator"&`1 +72 "core" 1 + .tHand.close +2 "manipulator"&a/ +72 "core" / + .tHand.open +2 "manipulator"&c1 +72 "core" 1 + .tHand.close +2 "manipulator"&T/ +72 "core" / + .tHand.open +2 "manipulator"&d1 +72 "core" 1 + .tHand.close +2 "manipulator"&e/ +72 "core" / + .tHand.open +2 "manipulator"&f1 +72 "core" 1 + .tHand.close +2 "manipulator"&g/ +72 "core" / + .tHand.open +2 "manipulator"&b1 +72 "core" 1 + .tHand.close +2 "manipulator"&M/ +72 "core" / +2 .tHand.open +2 "manipulator"&j1 +71 "core" 1 + .tHand.close +2 "manipulator"&k/ +72 "core" / +3008 #t-> delay 5; 25.times{Hand.open; Hand.close} +2 .delay 5 seconds +502 .Hand.open +2 "manipulator"&m1 +73 "core" 1 + .tHand.close +2 "manipulator"&n/ +72 "core" / + .tHand.open +2 "manipulator"&h1 +72 "core" 1 + .tHand.close +2 "manipulator"&o/ +72 "core" / + .tHand.open +2 "manipulator"&p1 +72 "core" 1 + .tHand.close +2 "manipulator"&l/ +72 "core" / + .tHand.open +2 "manipulator"&i1 +72 "core" 1 +2 .tHand.close +2 "manipulator"&s/ +71 "core" / + .tHand.open +2 "manipulator"&t1 +72 "core" 1 + .tHand.close +2 "manipulator"&v/ +72 "core" / + .tHand.open +2 "manipulator"&w1 +72 "core" 1 + .tHand.close +2 "manipulator"&q/ +72 "core" / + .tHand.open +2 "manipulator"&y1 +72 "core" 1 + .tHand.close +2 "manipulator"&u/ +72 "core" / +2 .tHand.open +2 "manipulator"&z1 +71 "core" 1 + .tHand.close +2 "manipulator"&{/ +72 "core" / + .tHand.open +2 "manipulator"&|1 +72 "core" 1 + .tHand.close +2 "manipulator"&}/ +72 "core" / + .tHand.open +2 "manipulator"&~1 +72 "core" 1 + .tHand.close +2 "manipulator"&/ +72 "core" / + .tHand.open +2 "manipulator"&1 +72 "core" 1 +2 .tHand.close +2 "manipulator"&/ +71 "core" / + .tHand.open +2 "manipulator"&1 +72 "core" 1 + .tHand.close +2 "manipulator"&/ +72 "core" / + .tHand.open +2 "manipulator"&1 +72 "core" 1 + .tHand.close +2 "manipulator"&/ +72 "core" / + .tHand.open +2 "manipulator"& 1 +72 "core" 1 + .tHand.close +2 "manipulator"& / +72 "core" / +2 .tHand.open + "manipulator"& 1 +72 "core" 1 + .tHand.close +2 "manipulator"&/ +72 "core" / + .tHand.open +2 "manipulator"&1 +72 "core" 1 + .tHand.close +2 "manipulator"&/ +72 "core" / + .tHand.open +2 "manipulator"&1 +72 "core" 1 + .tHand.close +2 "manipulator"&/ +72 "core" / + .tHand.open +2 "manipulator"&1 +72 "core" 1 +2 .tHand.close +2 "manipulator"&/ +71 "core" / + .tHand.open +2 "manipulator"&1 +72 "core" 1 + .tHand.close +2 "manipulator"&/ +72 "core" / + .tHand.open +2 "manipulator"&1 +72 "core" 1 + .tHand.close +2 "manipulator"&/ +72 "core" / + .tHand.open +2 "manipulator"&1 +72 "core" 1 + .tHand.close +2 "manipulator"&/ +72 "core" / +2 .tHand.open +2 "manipulator"&1 +71 "core" 1 + .tHand.close +2 "manipulator"& / +72 "core" / + .tHand.open +2 "manipulator"&!1 +72 "core" 1 + .tHand.close +2 "manipulator"&"/ +72 "core" / + .tHand.open +2 "manipulator" +72 "core" 1 + .tHand.close +2 "manipulator"&%/ +72 "core" / + .tHand.open +2 "manipulator"&1 +72 "core" 1 +2 .tHand.close +2 "manipulator"&'/ +71 "core" / +17683 "Can"\ 10 +60003 \ 00 +60003 \ 00 +60003 \ 00 +60003 \ 00 +60002 \ 00 +60003 \ 00 +60003 \ 00 +60003 \ 00 +60002 \ 00 +60003 \ 00 +60003 \ 00 +60003 \ 00 +57573 #t-> exit +4 #mEXIT @1580340335.78PST @1580340682.32PST = =tMAIN =mMAIN_scheduler @PST1580340684.02 #"core_reset"Sent BREAK +2 #t@19675 sendCRC with ifg=0x20, ie=0x7F #@21509 sendCRC with ifg=0x08, ie=0x5F + #@12246 idle with ifg=0x84, ie=0x75 + #@12919 select with ifg=0x10, ie=0xF5 #@13558 receive with ifg=0x10, ie=0xFD + #@14194 receive with ifg=0x10, ie=0xFD #@14828 receive with ifg=0x10, ie=0xFD + #@15155 receive with ifg=0x80, ie=0xFD + #@4837 idle with ifg=0x00, ie=0x75 #ESP2 v3.40 I2C Gateway v3.20 +9 #ESP2 v3.40 I2C Gateway v3.20 for core bus +235 #Configuration for waldo 12/2/19 brent@mbari.org\ /home/esp/esp2/type/shallow/waldo/configure.rb\ +249 .Gate.setWakeString! "\\r\\nRING\\r\\n",15 +62 "Can"\ 32 \ 32 + #tPolling Can every 10:00 +124 "sampler") +2 ) + "core"  +2 "collection"' +2 ' +2 "core"  +2 "processing"% + % +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ + % 2\ +2 % *\ +2 % 0\ +3 "sampler")&\ +3 "collection"'% +2 "core" % AGg\ +2 .tCS.configure :default +2 "collection"'#P d@b +2 .tCS.hold + "collection"'+ +4 "core" + + .tCS.configure :default +2 "collection"'#P d@b +3 "processing"%% +2 "core" %Ԧ\ + .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +2 "core" %ڰus \ g +2 .tSS.configure :default +2 "sampler")#.0X ESP.ready? +2 "collection"'% +3 "core" % BFp\ +2 "sampler")% +4 "core" %ڰur \ g + "manipulator"&% +3 "core" %W U o +2 "manipulator"&& +3 "core" &Ԋ G 4 + "storage"(& +4 "core" &   ! \  + "storage"(% +3 "core" %S \ +2 "collection"'& +3 "core" &BFj\  +2 "processing"%& +3 "core" & \  + "processing"%% +4 "core" %Ԧ\ +9705 #t-> ESP.ready! +2 "collection"' % +4 "core" % BF|\ +2 "sampler")!% +5 "processing"%"% +2 "manipulator"&#% +8 "core" %ڰts \ g + %Ԧ\ + %W  o +2 "manipulator"&$& +4 "core" &Ԋ P 4 + "storage"(%& +3 "core" &   \  +2 "storage"(&% +3 "core" %S   9\ +2 "collection"''& +3 "core" &CFk\  + "processing"%(& +4 "core" &\  +2 "collection"') +2 "core"  +2 "collection"'* +3 "core"  +2 "collection"'+ +3 "core"  + "processing"%, +3 "core"  +2 "processing"%- +2 "core"  +2 "processing"%. +3 "core"  +2 "processing"%/ +2 "core"  +2 "sampler")0 +3 "core"  + "collection"'1% +4 "core" % DGo\ +2 "processing"%2% +3 "core" %Ԧ \ +2 "sampler")3% +3 "core" %ڰur \ g +2 "collection"'4& +4 "core" &AF|\  + "processing"%5& +4 "core" &\  +2 "manipulator"&6% +3 "core" %W o +2 "manipulator"&7& +3 "core" &Ԋ ^ 4 +2 "storage"(8& +3 "core" &  !\  +2 "storage"(9% +3 "core" %S  !\ +2 "collection"':9 +3 "core" 9Z@ +2 "processing"%;9 +2 "core" 9;> +686 #t-> ESP.shutdown +3 ."shutdown"CS.coast +2 #tAsleep / Shutdown + "collection"'5 +3 ."shutdown"SS.coast + "sampler")5 +2 ."shutdown"CC.coast + "collection"'6 +2 ."shutdown"PC.coast +2 "processing"%6 +2 ."shutdown"Forearm.coast + "manipulator"&5 +3 ."shutdown"Elbow.coast + "manipulator"&6 +2 ."shutdown"SC.coast + "storage"(6 +3 ."shutdown"SE.coast + "storage"(5 +36 ."shutdown"Gate.power :core,:OFF +2 .Gate.power :raw,:OFF + #Shutdown +631 #t-> ESP.ready! +3 #Powering core bus +504 .Gate.power :raw,:ON +3 "sampler") +24 )< +2 "core"  + "collection"' +3 '= +3 "core"  + "processing"% +2 %> +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ + % 2\ +2 % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'?% +2 "core" %ACe\ +2 .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%@% +3 "core" % \ + .tPS.configure :default +2 "processing"%#A d`xb +2 "sampler")A% +3 "core" %ru \ + .tSS.configure :default +2 "sampler")#.0X +4977 #t-> access 1 +3 .SE.seek :down +2 "storage"(v'I +3 "core" ' +2 "manipulator"&w% +3 "core" %\ 2 +2 "manipulator"&x& +3 "core" &   +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 5 +2 "storage"(y(; +506 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (z& +2 "core" &; \ +16067 #t-> access 2 +2 .SE.seek :down +2 "storage"({'I +4 "core" ' + "manipulator"&|% +4 "core" %\ C +2 "manipulator"&}& +3 "core" & o  +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 6 +2 "storage"(~(K +188 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (& +2 "core" &K \  +3399 #t-> access 3 +2 .SE.seek :down +2 "storage"('I +2 "core" ' +2 "manipulator"&% +4 "core" %\ & + "manipulator"&& +4 "core" &   + .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 7 +2 "storage"(([c +186 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (& +2 "core" &[b \ \  +2180 #t-> access 4 +2 .SE.seek :down +2 "storage"('I +3 "core" ' + "manipulator"& % +4 "core" %\ u +2 "manipulator"& & +3 "core" & *  +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 1 +2 "storage"( ( +978 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (& +2 "core" & }\ +3430 #t-> access 5 +2 .SE.seek :down +2 "storage"('I +3 "core" ' + "manipulator"&% +4 "core" %\  +2 "manipulator"&& +3 "core" & -  +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 2 +2 "storage"(( +188 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (& +2 "core" &  n p Z\  +3760 #t-> access 6 +2 .SE.seek :down +2 "storage"('I +3 "core" ' + "manipulator"&% +4 "core" %\ s +2 "manipulator"&& +3 "core" & ]  +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 3 +2 "storage"((z +190 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (& +2 "core" &z D\  +2980 #t-> access 7 +2 .SE.seek :down +2 "storage"('I +3 "core" ' + "manipulator"&% +4 "core" %\  +2 "manipulator"&& +3 "core" & &  +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 4 +2 "storage"( (, +182 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 ("& +2 "core" &, \  +3761 #t-> CC +2 "collection"'!& +3 "core" &CFo\  +402 "Can"\ 99 +2197 #t-> CC.loadFlush +2 #Loading FlushPuck into Collection Clamp from FlushPuck::Garage +2 "collection"'#& +2 "core" &CGt\  +2 .tHand.open + "manipulator"&$1 +73 "core" 1 +2 "manipulator"&%& +3 "core" & r a  +2 "manipulator"&&% +3 "core" % \  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek FlushPuck::Garage +2 "manipulator"&'(.A +176 "core" ( + "manipulator"&(& +4 "core" &.@ q & +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &)& +2 "core" &.@ [ & +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :garage +2 "manipulator"&*'p +97 "core" ' + .tHand.close +2 "manipulator"&+/ +73 "core" / +2 "manipulator"&,& +3 "core" &.@ y  & +2 "manipulator"&-% +3 "core" % ς ' 7 +2 .tForearm.seek :retract +2 "manipulator"&.'\ +100 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"&/( +276 "core" ( + "manipulator"&0& +4 "core" & i - +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &1& +2 "core" & > - +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&2'Ϥ +96 "core" ' +2 "manipulator"&3& +3 "core" &  - +2 "manipulator"&4% +4 "core" %ϥ   + "collection"'5& +4 "core" &CFn\  +2 "collection"'6& +4 "core" &CGe\  +2 .tCC.seek :closed +2 "collection"'7(Y +5 "core" &DG`\  +10 &6DFi\ - +9 &gAF]\ B +10 &fxDHm\ P +9 &)`CFm\ P +9 &_CGa\ P +10 &aBHj\ O +9 &ncBFh\ P +9 &2_DGg\ O +10 &]AGg\ P +9 &[BGe\ O +10 & y]@Dh\ O +9 &"9`BEf\ P +9 &#bCFn\ P +10 &%aAHa\ P +9 &']AHa\ P +10 &)AaEF_\ P +9 &+bBFh\ O +9 &,]DFi\ O +10 &._FFb\ O +9 &0J`BHg\ O +9 &2 _BGb\ O +10 &3dCH`\ P +9 &5^CFl\ P +9 &7QeAGh\ P +10 &9dCG\\\ O +9 &:aBFd\ O +10 &<cCF[\ O +9 &>Z^BFZ\ O +9 &@]CGh\ P +10 &A^EF^\ O +9 &CfBJ\\\ P +9 &EacAGV\ P +10 &G"gCHL\ P +9 &HuCH`\ R +10 &JEIT\ T +9 &LSDIX\ {W +9 &N EFV\ s[ +10 &OHJS\ s\\ +9 &QFIN\ s\\ +10 &SIEHT\ n] +9 &U FK]\ p] +9 &VFKN\ p] +10 &XEJV\ sJ +9 &Y3EIX\ |(v +9 &YmEI^\ J +2 ( + "collection"'6& +3 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 2.16 + "collection"'8& +3 "core" &YlGJX\ J +2 .tHand.open + "manipulator"&91 +68 "core" 1 +2 "manipulator"&:% +3 "core" % ϥ   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&;'\ +94 "core" ' +3 "collection"'& +3 "core" &YlEJX\ J +1241 #t-> PC.loadFlush +2 #Loading FlushPuck into Processing Clamp from Collection Clamp +2 "processing"%& +3 "core" &\  + "manipulator"&\ & +4 "core" & # ( +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek CC +2 "manipulator"& ( +17 "core" ( + "manipulator"&& +4 "core" &\ ; ? +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +2 "core" &\ g ? +2 .tForearm.seek CC +2 "manipulator"&'Ϥ +97 "core" ' + .tHand.close +2 "manipulator"&/ +67 "core" / +2 .tCC.seek :open + "collection"'<( +434 "core" ( + "manipulator"&=& +4 "core" &\  ? ' +2 "manipulator"&>% +3 "core" % ϐ y +2 .tForearm.seek :retract + "manipulator"&?'\ +93 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC + "manipulator"&@( +347 "core" ( + "manipulator"&A& +4 "core" &  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &B& +2 "core" & / +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&C'Њ +97 "core" ' +2 "manipulator"&D& +3 "core" & M +2 "manipulator"&E% +3 "core" %Ё +2 "processing"%F& +4 "core" &\  +2 "processing"%G& +4 "core" &\  +2 .tPC.seek :closed +2 "processing"%H(Y +3 "core" &\  +10 &5\ , +10 &e\ A +9 &a\ P +9 &$_\ P +10 &e\ P +9 &c\ O +9 &k`\ O +10 &,e\ P +9 &b\ P +10 &_\ P +9 & qa\ P +9 &"3b\ P +10 &#`\ P +9 &%e\ P +9 &'z`\ P +10 &)<e\ P +9 &*_\ P +10 &,`\ O +9 &.a\ P +9 &0Cd\ P +10 &2`\ P +9 &3c\ P +9 &5e\ O +10 &7Mb\ O +9 &9b\ O +10 &:c\ P +9 &<b\ P +9 &>T_\ P +10 &@]\ O +9 &Ab\ O +9 &C_\ P +10 &E\\`\ P +9 &Gg\ P +10 &Hg\ P +9 &Js\ Q +9 &LX\ T +10 &N\ {V +9 &O\ wV +9 &Q\ }V +10 &SZ\ V +9 &U\ ~V +10 &V\ zV +9 &X~\ 8 +9 &Y`/}\ U +10 &Y0\ 5 +2 ( + "processing"%G& +3 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.44 + "processing"%I& +3 "core" &Y.\ 5 +2 .tHand.open + "manipulator"&J1 +70 "core" 1 +2 "manipulator"&K% +4 "core" % Ѐ { +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&M'\ +102 "core" ' +11 "processing"%L& +3 "core" &Y.\ 5 +677 #t-> Flush.garage +2 #Garaging FlushPuck in Processing Clamp +2 "manipulator"&N& +3 "core" &  2 + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 "manipulator"&O( +3 "core" ( +2 "manipulator"&P& +3 "core" & * +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &Q& +3 "core" & + +2 .tForearm.seek PC + "manipulator"&T'Њ +96 "core" ' + .tHand.close +2 "manipulator"&W/ +72 "core" / +2 .tPC.seek :open + "processing"%X( +434 "core" ( + "manipulator"&Z& +4 "core" & Z +2 "manipulator"&]% +3 "core" % Ѝ k +2 .tForearm.seek :retract +2 "manipulator"&R'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek :garage +2 "manipulator"&`(.A +130 "core" ( +2 "manipulator"&b& +3 "core" &.: Y  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &d& +3 "core" &.: G  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek :garage +2 "manipulator"&c'p +104 "core" ' +2 .tHand.open + "manipulator"&S1 +66 "core" 1 +2 "manipulator"&Y% +3 "core" % z p $ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&^'\ +110 "core" ' +992 #t-> shuffle +2550 #-> require 'shuffe' +2 !o:LoadError: mesg"#no such file to load -- shuffe:bt[ "(ESP):17:in `require'"(ESP):17:in `irb_binding'"A/opt/mbari/lib/ruby/1.8/irb/workspace.rb:52:in `irb_binding'" (null):0 +395 #-> require 'shuffle' +1380 #-> shuffle + #Shuffling pucks in tube 1 of [1..7] +2 #Loading generic puck from tube 1 into Collection Clamp + "collection"'g& +3 "core" &BFy\ +2 "manipulator"&h% +4 "core" %\   9 +2 "storage"(i% +3 "core" %J \ +2 "storage"(j. +2 "core" .(, +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 1 +2 "storage"(k( +501 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (l& +2 "core" & \ +2 "manipulator"&m& +3 "core" &.: R  +2 "manipulator"&n% +3 "core" %\  ` 9 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 1 + "manipulator"&o( +180 "core" ( +2 "manipulator"&p& +3 "core" & D +2 "storage"(q& +4 "core" & \ + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 700 counts +2 "manipulator"&r'W +88 "core" ' +2 "storage"(s& +3 "core" & \ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(t'j +258 "core" ' + "storage"(u- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (w& +3 "core" & \ +2 "manipulator"&x& +3 "core" & +2 .tElbow.seek 1 + "manipulator"&[( +3 "core" ( +2 "manipulator"&\\& +3 "core" &  +2 "storage"(z& +3 "core" & \ +2 .tForearm.seek 1 + 300 counts +2 "manipulator"&|' +16 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&}/ +66 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +4 "storage"(v'I +5 "core" &  +2 "manipulator"&y% +3 "core" % ϻ e +2 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +130 "core" ' + ."downElevator"SE.coast + "storage"(5 +25 "core" ( +2 "manipulator"&& +3 "core" & 3 0 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &{& +3 "core" & o 0 + .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&~'Ϥ +98 "core" ' +3 "manipulator"& & +4 "core" &  0 +2 "manipulator"& % +3 "core" %ϣ   +2 "collection"'& +3 "core" &BGq\ +2 "collection"'& +5 "core" &DCz\ +2 .tCC.seek :closed +2 "collection"'(Y +4 "core" &AGo\  +9 &.~BEs\ +z +10 &bCF{\ ? +9 &k}AFu\ O +9 &-b@Gr\ O +10 &e?F|\ O +9 &cAGz\ O +9 &shBE{\ O +10 &5`CGz\ O +9 &gAFz\ O +10 &bBE{\ O +9 & |c@Fy\ N +9 &"=dBGs\ O +10 &#bAH\ O +9 &%g@Gz\ O +9 &'eBH\ N +10 &)FdDH\ N +9 &+c@F\ O +10 &,cCF\ N +9 &.aAG\ N +9 &0N`AE\ N +10 &2_CH\ N +9 &3dBF\ O +9 &5`AE\ N +10 &7UbBE\ O +9 &9dCF\ O +10 &:_BF\ O +9 &<^BF\ O +9 &>]]BG\ O +10 &@bAG\ O +9 &A_BE\ O +9 &CcAFy\ O +10 &EdeBF{\ O +9 &G%jEGs\ O +10 &Hv@Eu\ Q +9 &JDHk\ T +9 &LPCJw\ Y +10 &NEIz\ Z +9 &OEG\ Z +9 &QGIx\ [\ +10 &SOBG\ \\ +9 &UEI\ \\ +10 &VEJ\ \\ +9 &XEJ\ I +9 &Y5GI\ 't +10 &YnEI\ I +2 ( + "collection"'& +3 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 2.16 + .Hand.open + "manipulator"&1 +76 "core" 1 +3 "manipulator"&% +4 "core" % ϣ h d  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'\ +103 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 1 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"& % +3 "core" %\  $  +2 "storage"(% +3 "core" %L \ +2 "storage"(. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +3 .tSC.seek 1 + "storage"(( +4 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (& +2 "core" & 4\  +2 "manipulator"&& +3 "core" & 0 +2 "manipulator"&% +4 "core" %\    + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 +2 "manipulator"&( +156 "core" ( +2 "manipulator"&"& +4 "core" & _  + "storage"(& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 700 counts + "manipulator"&'W +98 "core" ' +2 "storage"(!& +3 "core" & \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(#'j +274 "core" ' + "storage"($- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (%& +2 "core" & L\  +2 "manipulator"&&& +3 "core" &   +2 .tElbow.seek 1 +2 "manipulator"&(( +2 "core" ( +2 "manipulator"&)& +3 "core" &   +2 "storage"(_& +3 "core" & \  +2 .tForearm.seek 1 + 300 counts +2 "manipulator"&+' +23 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&,/ +66 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&-& +2 "storage"(a'I +6 "core" &   + "manipulator"&*% +4 "core" % I 2 +2 .tForearm.seek :retract +2 "manipulator"&0'\ +93 "core" ' +2 .tElbow.seek PC +2 "manipulator"&1( +141 "core" ' + ."downElevator"SE.coast + "storage"(5 +109 "core" ( +2 "manipulator"&'& +4 "core" &  l +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &3& +3 "core" & U l + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC + "manipulator"&4'Њ +97 "core" ' +2 "manipulator"&5& +4 "core" &  l + "manipulator"&.% +4 "core" %Д   +2 "processing"%f& +3 "core" &(\ +3 "processing"%8& +4 "core" &\ +2 .tPC.seek :closed +2 "processing"%9(Y +3 "core" &\ +10 &\ #` +9 &wT\ 9 +9 &~\ M +10 &]\ P +9 &C` \ P +10 &\\\ O +9 &`\ O +9 &_\ O +10 &M]\ O +9 &_\ O +9 &]\ O +10 &!]\ O +9 &#U_\ O +10 &%^\ O +9 &&_!\ O +9 &(^'\ O +10 &*]^&\ O +9 &,]*\ O +9 &-^$\ O +10 &/]!\ O +9 &1dZ*\ O +10 &3&[\ O +9 &4\\)\ O +9 &6_)\ P +10 &8k^ \ P +9 &:-^(\ P +9 &;^'\ O +10 &=^\ O +9 &?uY%\ O +10 &A7]'\ O +9 &B\\-\ O +9 &D_4\ O +10 &F{f5\ P +9 &H<d,\ P +9 &Il5\ Q +10 &Kx-\ R +9 &Mp4\ V +10 &O47\ U +9 &P9\ V +9 &R5\ U +10 &Ty3\ V +9 &V<5\ U +9 &W8\ M +10 &Y0H9\ c +9 &Y Q1\ 7 +5 ( +2 "processing"%8& +3 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.53 + .Hand.open +2 "manipulator"&:1 +3 "core" &Y33\ 7 +65 1 + "manipulator"&% +4 "core" % Б  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +37 "manipulator"&6'\ +104 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%2& +4 "core" &Y3K\ 7 + #tImaging generic puck in Processing Clamp while storing it to tube 1 +2 "manipulator"&% +3 "core" %\ { D  +2 "storage"(\ % +3 "core" %R 1 0 \ +2 "storage"(. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +3 .tSC.seek 1 + "storage"(( +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (& +3 "core" & > @ ,\  + "manipulator"&/& +4 "core" & / l +2 "manipulator"&;% +3 "core" %\    +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 +2 "manipulator"&7( +267 "core" ( +2 "manipulator"&=& +3 "core" & @  +2 "storage"(>& +4 "core" & U U Z\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 700 counts +2 "manipulator"&'W +92 "core" ' +2 "storage"( & +4 "core" & 3 * \  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(A'j +294 "core" ' + "storage"(B- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 "manipulator"&D& +3 "core" &  H  +2 "storage"(E& +3 "core" &   b\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 1 +2 "manipulator"&F'Λ +34 "core" ' + .tElbow.hold +2 "manipulator"&?, +3 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(e- +2 "core" -' +2 .tSE.seek 1.02 Pucks below Top Plate +3 "storage"(I' +37 "core" ' +2 "manipulator"&J% +3 "core" %Σf y  +2 "storage"(K& +3 "core" & T\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 1 + 308 counts +2 "manipulator"&G' +19 "core" ' +2 "manipulator"&L& +3 "core" &  G  +2 "storage"(C& +4 "core" & V V U\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 700 counts +2 "manipulator"&N'W +20 "core" ' +2 .tSE.seek 2.02 Pucks below Top Plate +2 "storage"(P' +43 "core" ' +2 "manipulator"&Q& +4 "core" & ~ )  + "manipulator"&W% +4 "core" %W { < +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&@'\ +88 "core" ' +2 .tElbow.seek PC +2 "manipulator"&M( +255 "core" ( +2 "manipulator"&H& +4 "core" &  L y +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &Z& +3 "core" & {  y + .tForearm.seek PC +2 "manipulator"&]'Њ +88 "core" ' + .tHand.close +2 "manipulator"&b/ +67 "core" / +2 .tPC.seek :open + "processing"%d( +428 "core" ( + "storage"(T& +4 "core" & 0 / =\  +2 "manipulator"&O& +3 "core" & 9 y +2 "manipulator"&S% +3 "core" % Ћ \\ 8 +2 .tForearm.seek :retract +2 "manipulator"&Y'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 +2 "manipulator"&R( +267 "core" ( +2 "manipulator"&c& +3 "core" & E  +2 "storage"(g& +3 "core" &   \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 700 counts +2 "manipulator"&h'W +109 "core" ' +2 .tHand.open + "manipulator"&i1 +73 "core" 1 +2 "storage"(j- +3 "core" -' +2 .tSE.seek 1.78 Pucks below Top Plate +2 "storage"( ' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(l' +53 "core" ' + #tLights, camera, ACTION! +2 "storage"(m- +3 "core" -' +2 "storage"(n& +3 "core" & \  +2 "manipulator"&p& +3 "core" &   +2 .tElbow.seek 1 +2 "manipulator"&q( +8 "core" ( +2 "manipulator"&s& +3 "core" & \\  +2 "storage"(`& +4 "core" & z i ^\  +2 .tForearm.seek 1 + 700 counts + "manipulator"&^'W +12 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek 1.89 Pucks below Top Plate +2 "storage"(u'4 +63 "core" ' +2 "manipulator"&w& +4 "core" & 2  + "storage"(x& +4 "core" & t u 1\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 1 +2 "manipulator"&\\'Λ +34 "core" ' + .tElbow.hold +2 "manipulator"&z, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 2.07 Pucks below Top Plate +2 "storage"(' +22 "core" ' +2 "manipulator"&}% +4 "core" %έp b  + "storage"(& +4 "core" & Q\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 1 + 318 counts +2 "manipulator"&y' +18 "core" ' +2 "manipulator"&o& +4 "core" &   + "storage"(r& +4 "core" & = 4 \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 700 counts +2 "manipulator"&'W +29 "core" ' +2 "storage"({% +4 "core" %( U W |\ +2 ."downElevator"SE.seek :down +4 "storage"(t'I +99 (|% +3 "core" %]4 R S T\ T[ + "manipulator"& % +4 "core" %[ * @ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& '\ +102 "core" ' +31 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast "storage"(6 +3 "collection"'& +4 "core" &YlEH\ I +2 #tStoring generic puck in Collection Clamp to tube 1 + "manipulator"&[% +4 "core" %\  + "storage"(v% +4 "core" %X \ +2 "storage"(. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 1 +2 "storage"(<( +2 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +2 (& +3 "core" & H\  +2 "manipulator"&& +3 "core" &   +2 .tElbow.seek 1 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&& +3 "core" & T  +2 "storage"( & +3 "core" & 2\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 700 counts + "manipulator"&'W +101 "core" ' +2 "storage"(& +4 "core" & \  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('j +278 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +2 "core" & S  +2 "storage"(~& +3 "core" & u V\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 1 +2 "manipulator"&"'Λ +33 "core" ' +2 .tElbow.hold + "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(k- +3 "core" -' +2 .tSE.seek 2.03 Pucks below Top Plate + "storage"(!' +29 "core" ' +2 "manipulator"&% +3 "core" %ΤT  +2 "storage"(& +3 "core" & \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 1 + 309 counts +2 "manipulator"&$' +19 "core" ' +2 "manipulator"&%& +3 "core" &   +2 "storage"(&& +4 "core" & T T /\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 700 counts +2 "manipulator"&)'W +25 "core" ' +2 .tSE.seek 3.03 Pucks below Top Plate +2 "storage"(_' +52 "core" ' +2 "manipulator"&,& +4 "core" &   + "manipulator"&-% +4 "core" %X , V +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&*'\ +101 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +154 "core" ( +3 "manipulator"&& +3 "core" & G + +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &#& +3 "core" & x + +37 .tForearm.seek CC +10 "manipulator"&+'Ϥ +93 "core" ' + .tHand.close +2 "manipulator"&'/ +75 "core" / +2 .tCC.seek :open + "collection"'3( +433 "core" ( +2 "storage"((& +3 "core" & I\  +2 "storage"(5& +3 "core" & \  +2 "manipulator"&.& +4 "core" & + + "manipulator"&f% +4 "core" % Ϣ M  + .tForearm.seek :retract +2 "manipulator"&a'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 +2 "manipulator"&0( +155 "core" ( +2 "manipulator"&X& +3 "core" & Y  +2 "storage"(:& +4 "core" & l\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.seek 1 +2 "manipulator"&'Λ +103 "core" ' + .tElbow.hold +2 "manipulator"&8, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&21 +75 "core" 1 +2 "manipulator"&% +4 "core" % Ω q < +2 "storage"(\ & +3 "core" & = :\  +2 .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 1 + 314 counts +2 "manipulator"&' +15 "core" ' +2 "manipulator"&& +3 "core" & B  +2 "storage"(/& +4 "core" & 5\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 700 counts + "manipulator"&;'W +17 "core" ' +2 "storage"(4% +4 "core" % Q\ +2 ."downElevator"SE.seek :down +3 "storage"('I +100 (=% +3 "core" % 0 9\ UY + "manipulator"&>% +4 "core" %z B +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&1'\ +90 "core" ' +31 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast + "storage"(6 +3 #tShuffling pucks in tube 2 of [1..7] + #Loading generic puck from tube 2 into Collection Clamp + "collection"' & +4 "core" &BE~\ +2 "manipulator"&6% +4 "core" %\ \   + "storage"(B% +4 "core" %I i\ +2 "storage"(D. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 2 +2 "storage"(E( +192 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (e& +3 "core" &  \  + "manipulator"&J& +4 "core" & 2  +2 .tElbow.seek 2 +2 "manipulator"&K( +27 "core" ( +2 "manipulator"&L& +3 "core" &\  F +2 "storage"(C& +4 "core" &  s\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&Q'a +92 "core" ' +2 "storage"(W& +4 "core" &  \  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('j +286 "core" ' + "storage"(7- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (A& +3 "core" &  G\  + "manipulator"&F& +4 "core" &\ - @ +2 .tElbow.seek 2 + "manipulator"&G( +3 "core" ( +2 "manipulator"&I& +3 "core" &\ Z @ +2 "storage"(N& +3 "core" &  "\  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&H' +28 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&Z/ +69 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&?& +3 "storage"(b'I +5 "core" &\  @ +2 "manipulator"&@% +3 "core" % ) # +2 .tForearm.seek :retract +2 "manipulator"&9'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&T( +147 "core" ' + ."downElevator"SE.coast + "storage"(5 +8 "core" ( +2 "manipulator"&O& +3 "core" &  1 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &S& +2 "core" & Y 1 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&]'Ϥ +91 "core" ' +2 "manipulator"&c& +4 "core" &  1 + "manipulator"&g% +4 "core" %ϡ j E +2 "collection"'M& +3 "core" &CF~\ +3 "collection"'i& +4 "core" &BG\ +2 .tCC.seek :closed +2 "collection"'j(Y +4 "core" &CG\  +9 &-}AF\ +z +10 &cCG{\ ? +9 &l|BF\ O +10 &._BF{\ N +9 &`BE}\ N +9 &a@F\ N +10 &seBG\ O +9 &6aCF\ N +9 &bCF|\ O +10 &`@Fx\ O +9 & |_DEz\ N +10 &"?]DGs\ N +9 &$bAFu\ N +9 &%bBG{\ O +10 &'^?El\ N +9 &)E`@E|\ O +9 &+dAHv\ N +10 &,aCGp\ N +9 &.`CFq\ N +10 &0O\\@F\ N +9 &2`DEq\ O +9 &3bAFs\ O +10 &5bDFp\ O +9 &7UcDGo\ O +9 &9_AGj\ N +10 &:_BHl\ N +9 &<_AEn\ N +10 &>^]AFk\ N +9 &@ bBFz\ N +9 &A`CFq\ N +10 &CcCFy\ O +9 &EeeCG|\ O +9 &G&jAGp\ O +10 &H~CH|\ Q +9 &JDF}\ U +10 &LQEHv\ X +9 &NDG}\ wZ +9 &ODHy\ u[\ +10 &QGH{\ t[ +9 &SMBG|\ r\\ +9 &UFI|\ t\\ +10 &VCIu\ r] +9 &XEIx\ tI +10 &Y5GK}\ }'t +9 &YlCIy\ I + ( +2 "collection"'i& +2 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 2.20 +2 .Hand.open + "manipulator"&m1 +70 "core" 1 +2 "manipulator"&n% +4 "core" % ϡ p M E +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&p'\ +98 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%Y& +4 "core" &\ +2 "manipulator"&s% +3 "core" %\ /  +2 "storage"(`% +4 "core" %N X\ + "storage"(w. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 2 +2 "storage"(x( +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (P& +2 "core" &  X\  +2 "manipulator"&}& +3 "core" &  1 +2 "manipulator"&% +4 "core" %\ s  + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"& ( +156 "core" ( +2 "manipulator"&o& +3 "core" &   +2 "storage"(r& +4 "core" &  \  + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&{'a +97 "core" ' +2 "storage"(R& +3 "core" &  Y\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(h'j +284 "core" ' + "storage"(l- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (|& +2 "core" &  Z ` x\  +2 "manipulator"& & +3 "core" &   +2 .tElbow.seek 2 +2 "manipulator"&^( +3 "core" ( +2 "manipulator"&q& +3 "core" & ~  +2 "storage"(u& +3 "core" &  v x [\  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&\\' +25 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +71 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&y& +3 "storage"(['I +5 "core" &   +2 "manipulator"&v% +3 "core" % ] +2 .tForearm.seek :retract +2 "manipulator"&'\ +105 "core" ' +2 .tElbow.seek PC + "manipulator"&( +151 "core" ' + ."downElevator"SE.coast + "storage"(5 +92 "core" ( +3 "manipulator"&& +3 "core" & M +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" & V +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&'Њ +88 "core" ' +2 "manipulator"& & +4 "core" & ? + "manipulator"&% +4 "core" %Ѝ  E +2 "processing"%& +3 "core" &3\ +2 "processing"%t& +5 "core" &5\ +2 .tPC.seek :closed +2 "processing"%(Y +5 "core" &\  +9 &+z$\ +{ +9 &b\ ? +10 &c}\ P +9 &&Z\ O +9 &]\ O +10 &^\ O +9 &mY!\ O +10 &/]$\ O +9 &]\ O +9 &_\ O +10 & t_\ O +9 &"6]\ O +9 &#\\\ O +10 &%]\ O +9 &'|_\ O +10 &)?\\ \ O +9 &+]\ O +9 &,]#\ O +10 &.]\ O +9 &0F`\ O +10 &2_ \ O +9 &3_\ O +9 &5]\ O +10 &7M]\ O +9 &9_\ O +9 &:]\ O +10 &<]\ O +9 &>W`\ O +9 &@]\ N +10 &A[\ N +9 &C_\ O +49 &E^`\ O +12 &Gj\ P +2 &Hi\ P + &Jv \ Q + &LU\ ~U + &N\ yV +3 &O\ yV +6 &Q\ {U +10 &S[\ U +9 &U\ }U +9 &V\ {U +10 &X} \ 8 +9 &Y`/~\ U +9 &Y.\ 4 +2 ( +2 "processing"%t& +2 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.51 + .Hand.open +2 "manipulator"&z1 +75 "core" 1 +2 "manipulator"& % +4 "core" % Ѝ E + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +91 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%& +4 "core" &Y.\ \ 4 +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&~% +3 "core" %\  ~ 5 o +2 "storage"(k% +4 "core" %L v q\ +2 "storage"(. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 2 + "storage"(( +4 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +4 (%& +3 "core" &  T J \  +3 "manipulator"&&& + ."raiseStack"SE.reconfigure :place +5 "storage"(#].K-0-\ b +2 "core" & x ! +2 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&,( + "storage"(-'j +5 "core" ( + "manipulator"&& +4 "core" & 1 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" & d +2 .tForearm.seek PC +2 "manipulator"&'Њ +89 "core" ' + .tHand.close +2 "manipulator"&"/ +71 "core" / +2 .tPC.seek :open +2 "processing"%$( +85 "core" ' +2 "storage"(!- +3 "core" -'j + ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(' +39 "core" ' +293 ( + "storage"(#& +4 "core" &  F\  +2 "manipulator"&)& +3 "core" & q +2 "manipulator"&% +3 "core" % Љ } F +2 .tForearm.seek :retract +2 "manipulator"&''\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&*( +262 "core" ( +2 "manipulator"&& +3 "core" & P +2 "storage"((& +4 "core" &  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&5'a +98 "core" ' + .tHand.open +2 "manipulator"&.1 +66 "core" 1 +2 "storage"(f- +3 "core" -' +2 .tSE.seek -0.22 Pucks below Top Plate +2 "storage"(X' +27 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(:' +54 "core" ' + #tLights, camera, ACTION! +2 "storage"(+- +3 "core" -' +2 "storage"(& +3 "core" &  e K \  +2 "manipulator"&2& +3 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&( +8 "core" ( +2 "manipulator"&\ & +3 "core" & \ +2 "storage"(& +4 "core" &  s k p\  +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&/'a +18 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(4'V +63 "core" ' +2 "manipulator"&a& +4 "core" & * + "storage"(=& +4 "core" &  y [ Z\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&>'Υ +37 "core" ' + .tElbow.hold +2 "manipulator"&0, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"('@ +24 "core" ' +2 "manipulator"& % +4 "core" %Ϋm   +2 "storage"(6& +3 "core" &  \  +2 .tForearm.force -20 "manipulator"&5 +3 .tForearm.seek 2 + 306 counts +2 "manipulator"&B' +21 "core" ' +2 "manipulator"&D& +4 "core" &  +2 "storage"(& +3 "core" &  y L\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&_'a +26 "core" ' +2 "storage"(;% +4 "core" %F \ +2 ."downElevator"SE.seek :down +4 "storage"(e'I +100 (J% +3 "core" %5 K T I\ U] + "manipulator"&L% +4 "core" %g  X +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +3 "manipulator"&C'\ +89 "core" ' +61 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast +2 "storage"(6 +2 "collection"'& +4 "core" &YkDJf\ I +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&<% +4 "core" %\   \ g +2 "storage"(W% +3 "core" %P \ +2 "storage"(8. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 2 +2 "storage"(1( +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (7& +2 "core" &  h\  +2 "manipulator"&A& +4 "core" &  + .tElbow.seek 2 +2 "manipulator"&F( +8 "core" ( +2 "manipulator"&I& +3 "core" &   +2 "storage"(N& +4 "core" &  f\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&Z'a +97 "core" ' +2 "storage"(?& +3 "core" &  B\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(@'j +283 "core" ' + "storage"(K- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&Q& +2 "core" &   +2 "storage"(O& +3 "core" &  Q U 8\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 + "manipulator"&S'Υ +40 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(H- +2 "core" -' +2 .tSE.seek 0.03 Pucks below Top Plate +2 "storage"(c' +27 "core" ' +2 "manipulator"&g% +3 "core" %α\\  +2 "storage"(M& +3 "core" &  A\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 2 + 312 counts +2 "manipulator"&G' +15 "core" ' +2 "manipulator"&b& +3 "core" &   +2 "storage"(9& +4 "core" &  w k C\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&3'a +28 "core" ' +2 .tSE.seek 1.03 Pucks below Top Plate +2 "storage"(m' +47 "core" ' +2 "manipulator"&n& +4 "core" & K  +2 "manipulator"&Y% +3 "core" %a c K +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&s'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&i( +154 "core" ( +2 "manipulator"&`& +4 "core" & " / +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &w& +2 "core" &  / +2 .tForearm.seek CC +2 "manipulator"&P'Ϥ +93 "core" ' + .tHand.close +2 "manipulator"&}/ +69 "core" / +2 .tCC.seek :open + "collection"'( +436 "core" ( + "storage"(]& +4 "core" &  \  +2 "storage"(o& +3 "core" &  o\  +2 "manipulator"&r& +3 "core" & > . +2 "manipulator"&E% +3 "core" % ϝ 8 5 +2 .tForearm.seek :retract +2 "manipulator"&R'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&T( +154 "core" ( +2 "manipulator"&p& +3 "core" & Q  +2 "storage"(l& +4 "core" &  K\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.seek 2 + "manipulator"&|'Υ +110 "core" ' + .tElbow.hold +2 "manipulator"& , +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&q1 +76 "core" 1 +2 "manipulator"&u% +5 "core" % έ c A G + "storage"(& +4 "core" &  w u W\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 308 counts +38 "manipulator"&y' +30 "core" ' +2 "manipulator"&v& +3 "core" & C  +2 "storage"( & +4 "core" &  n\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&{'a +24 "core" ' +2 "storage"(h% +4 "core" %\ \  x\ +2 ."downElevator"SE.seek :down +3 "storage"(\\'I +100 (% +2 "core" %2 _\ TY +2 "manipulator"&% +4 "core" %]  z +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&^'\ +90 "core" ' +50 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast + "storage"(6 +3 #tShuffling pucks in tube 3 of [1..7] + #Loading generic puck from tube 3 into Collection Clamp + "collection"' & +4 "core" &BE_\ +2 "manipulator"&% +5 "core" %\   + "storage"(% +4 "core" %T\ '\ ( X\ +2 "storage"([. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +3 .tSC.seek 3 + "storage"((z +191 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (d& +2 "core" &| C\  +2 "manipulator"&z& +4 "core" &   +2 .tElbow.seek 3 +2 "manipulator"& ( +2 "core" ( +2 "manipulator"&& +3 "core" & U  +2 "storage"(~& +4 "core" &| b\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&k' +100 "core" ' +2 "storage"(t& +4 "core" &| 1\  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('j +292 "core" ' + "storage"(%- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (&& +3 "core" &| y\  + "manipulator"&& +4 "core" &   +2 .tElbow.seek 3 + "manipulator"&( +3 "core" ( +2 "manipulator"&& +3 "core" & 0  +2 "storage"("& +3 "core" &| P\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&x'l +25 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&!/ +69 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"('I +6 "core" &   + "manipulator"&% +4 "core" % a   +2 .tForearm.seek :retract +2 "manipulator"&-'\ +99 "core" ' +2 .tElbow.seek CC +2 "manipulator"&#( +145 "core" ' + ."downElevator"SE.coast + "storage"(5 +10 "core" ( +2 "manipulator"&)& +3 "core" & > , +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" & , + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'Ϥ +96 "core" ' +2 "manipulator"&& +4 "core" & N , +2 "manipulator"&(% +3 "core" %ϙ  +2 "collection"',& +4 "core" &CGo\ +2 "collection"'.& +4 "core" &BDj\ +3 .tCC.seek :closed +2 "collection"'f(Y +5 "core" &BGi\ +8 &6AHl\ #b +9 &T?Fn\ 8 +9 &@Go\ L +10 &_CFh\ N +9 &Uc@Fa\ O +10 &aAFj\ N +9 &_CEm\ N +9 &_@Ed\ N +10 &_]@Df\ N +9 & _ACl\ N +9 &_AFk\ N +10 &!\\CFd\ N +9 &#f`AFa\ N +10 &%(]@F^\ N +9 &&c?Da\ N +9 &(cBGk\ N +10 &*maBEc\ O +9 &,0_BE\\\ N +9 &-`@Fd\ N +10 &/b@Dl\ N +9 &1w_@Eh\ N +10 &39`BEd\ N +9 &4cCFc\ O +9 &6aBDi\ N +10 &8aBGd\ N +9 &:@b@Fo\ N +10 &<`BGg\ O +9 &=`AGl\ N +9 &?`AFf\ N +10 &AH]BEj\ N +9 &C\ `CHp\ N +9 &Dc@Fl\ N +10 &FjBFc\ O +9 &HKoAEk\ P +9 &JCFp\ R +10 &KCGj\ W +9 &MvCIo\ Y +10 &O5AHk\ Z +9 &PDIn\ z[\ +9 &RBHg\ u\\ +10 &TvGHm\ v\\ +9 &V8EFg\ u\\ +9 &WCIi\ v] +10 &YRHBIk\ 1 +9 &YyCGl\ L +5 ( +2 "collection"'.& +3 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 2.18 + .Hand.open +2 "manipulator"&+1 +3 "core" &YoCHn\ L +65 1 +2 "manipulator"&% +4 "core" % ϙ z   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&2'\ +99 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%\ & +4 "core" &4\ +2 "manipulator"&'% +3 "core" %\ `  +2 "storage"(% +4 "core" %J \ \ + "storage"(a. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 3 +2 "storage"(=(z +2 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +2 (& +3 "core" &| \  +2 "manipulator"& & +3 "core" & , +2 "manipulator"&6% +3 "core" %\ U  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&X( +147 "core" ( +2 "manipulator"&D& +3 "core" & U  +2 "storage"(& +4 "core" &| %\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&*' +89 "core" ' +2 "storage"(;& +3 "core" &| \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(5'j +278 "core" ' + "storage"(:- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (J& +2 "core" &| | g\  +2 "manipulator"&L& +3 "core" & B  +2 .tElbow.seek 3 +2 "manipulator"&/( +95 "core" ( +2 "manipulator"&& +3 "core" & :  +2 "storage"(4& +3 "core" &| "\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&>'l +26 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&B/ +77 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(<'I +6 "core" & #  + "manipulator"&W% +4 "core" % ψ E +2 .tForearm.seek :retract +2 "manipulator"&8'\ +92 "core" ' +2 .tElbow.seek PC + "manipulator"&( +165 "core" ' +2 ."downElevator"SE.coast + "storage"(5 +79 "core" ( +2 "manipulator"&7& +3 "core" & 1 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &A& +3 "core" & W +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&I'Њ +98 "core" ' +2 "manipulator"&N& +4 "core" &  + "manipulator"&_% +4 "core" %Њ 9 +2 "processing"%?& +3 "core" & \ +3 "processing"%e& +4 "core" & \ +2 .tPC.seek :closed +2 "processing"%(Y +3 "core" &\ +9 & '$\ #b +10 &U#\ 8 +9 &\ M +9 &[\ O +10 &Y] \ O +9 &Z\ O +10 &[\ O +9 &Z \ O +9 &aW\ O +10 &#[\ O +9 &]\ O +9 &!^\ O +10 &#i\\\ O +9 &%+\\\ O +10 &&b\ \ O +9 &(\\ \ O +9 &*q]\ \ O +10 &,2_\ \ O +9 &-] \ O +9 &/b \ O +10 &1x]\ O +9 &3:\\\ O +10 &4] \ O +9 &6`\ \ O +9 &8] \ O +10 &:C] \ O +9 &<] \ O +9 &=`\ O +10 &?Z\ O +9 &AK]\ O +10 &C] \ N +9 &D_ \ O +9 &Fc \ P +10 &HQb \ O +9 &Jj \ P +9 &K \ R +10 &M \ V +9 &OH \ U +10 &Q \ U +9 &R \ U +9 &T\ \ U +10 &VP\ U +9 &X \ G +9 &Y3D \ "h +9 &Y9\ \ 2 +6 ( +2 "processing"%e& +3 #tProcessing Clamp onSpring/offSpring for 10/26 samples, on/off torque 1.49 +41 .Hand.open +10 "manipulator"&01 +3 "core" &Y%\ 2 +73 1 + "manipulator"&C% +4 "core" % Ї % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&K'\ +95 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%Q& +4 "core" &Y%%\ 2 + #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&O% +3 "core" %\ y /  +2 "storage"(H% +3 "core" %; s v P\ +2 "storage"(g. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 3 +2 "storage"(M(z +2 "core" ( + .tSC.reconfigure :loose +3 "storage"($.(\ 1~b +3 (b& +2 "manipulator"&9& +4 "core" &| u r\  +4 ."raiseStack"SE.reconfigure :place +2 "storage"(#].K-0-\ b +2 "core" &  < +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&n( + "storage"(Y'j +5 "core" ( + "manipulator"&Z& +4 "core" & R +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &F& +3 "core" & y C +2 .tForearm.seek PC +2 "manipulator"&@'Њ +94 "core" ' + .tHand.close +2 "manipulator"&S/ +77 "core" / +2 .tPC.seek :open +2 "processing"%G( +105 "core" ' +2 "storage"(c- +3 "core" -'j + ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(`' +40 "core" ' +275 ( +2 "storage"(w& +4 "core" &| e y S\  +2 "manipulator"&3& +3 "core" & ( +2 "manipulator"&% +3 "core" % Є '  +2 .tForearm.seek :retract +2 "manipulator"&}'\ +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&s( +267 "core" ( +2 "manipulator"&j& +3 "core" & P  +2 "storage"(]& +3 "core" &| \ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&o' +99 "core" ' +2 .tHand.open + "manipulator"&r1 +78 "core" 1 +2 "storage"(E- +3 "core" -' +2 .tSE.seek -0.22 Pucks below Top Plate +2 "storage"(p' +27 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(l' +53 "core" ' + #tLights, camera, ACTION! +2 "storage"(P- +3 "core" -' +2 "storage"(i& +3 "core" &| S V P\  +2 "manipulator"&q& +3 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&u( +3 "core" ( +2 "manipulator"&& +3 "core" &   +2 "storage"(v& +4 "core" &| S S F\  +2 .tForearm.seek 3 + 700 counts + "manipulator"& ' +14 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(R'V +63 "core" ' +2 "manipulator"&h& +4 "core" &   + "storage"(T& +4 "core" &| w v I\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&'@ +38 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(|'@ +25 "core" ' +2 "manipulator"& % +4 "core" %OY  + "storage"(y& +4 "core" &| \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 315 counts +2 "manipulator"&'{ +18 "core" ' +2 "manipulator"&& +4 "core" & g  + "storage"([& +4 "core" &| o t u\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&m' +31 "core" ' +2 "storage"({% +4 "core" %C G\ +2 ."downElevator"SE.seek :down +4 "storage"(d'I +100 (z% +3 "core" %5 Y u u\ U] + "manipulator"&% +4 "core" % D +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&~'\ +91 "core" ' +59 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast +2 "storage"(6 +2 "collection"'\\& +4 "core" &YoCHk\ L +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&1% +4 "core" %\ G  + "storage"(t% +4 "core" %V ;\ + "storage"( . +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 3 +2 "storage"(^(z +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (%& +2 "core" &| !\  +2 "manipulator"&&& +3 "core" & P  +2 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( + "manipulator"&& +4 "core" &   +2 "storage"("& +3 "core" &| <\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&!' +97 "core" ' +2 "storage"(& +3 "core" &| \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('j +277 "core" ' + "storage"( - +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&k& +2 "core" & O  +2 "storage"()& +3 "core" &| K\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&'@ +39 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(x- +2 "core" -' +2 .tSE.seek 0.03 Pucks below Top Plate +2 "storage"(' +30 "core" ' +2 "manipulator"&(% +3 "core" %SW | +2 "storage"(,& +4 "core" &|  >\  + .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 319 counts +2 "manipulator"&' +21 "core" ' +2 "manipulator"&& +3 "core" &   +2 "storage"(-& +4 "core" &| .\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&' +28 "core" ' +2 .tSE.seek 1.03 Pucks below Top Plate +2 "storage"(+' +41 "core" ' +2 "manipulator"&& +4 "core" &   + "manipulator"&\ % +4 "core" %  [ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&''\ +100 "core" ' +2 .tElbow.seek CC +2 "manipulator"&.( +154 "core" ( + "manipulator"&& +4 "core" &  - +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &a& +40 "core" & B - +10 .tForearm.seek CC + "manipulator"&'Ϥ +91 "core" ' + .tHand.close +2 "manipulator"& / +76 "core" / +2 .tCC.seek :open + "collection"'6( +434 "core" ( +2 "storage"(& +3 "core" &| \\\  +2 "storage"(D& +3 "core" &| \  +2 "manipulator"&& +4 "core" & * +2 "manipulator"&% +3 "core" % ϥ F  +2 .tForearm.seek :retract +2 "manipulator"&;'\ +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&#( +155 "core" ( +2 "manipulator"&2& +3 "core" &   +2 "storage"(:& +4 "core" &|\ \ \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.seek 3 +2 "manipulator"&J'@ +109 "core" ' + .tElbow.hold +2 "manipulator"&L, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +65 "core" 1 +2 "manipulator"&4% +4 "core" % Pd h u +2 "storage"(B& +3 "core" &| w w <\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 3 + 316 counts + "manipulator"&'| +23 "core" ' +2 "manipulator"&W& +3 "core" & '  +2 "storage"(X& +4 "core" &|\ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&*' +29 "core" ' +2 "storage"(5% +4 "core" %\  2\ +2 ."downElevator"SE.seek :down +3 "storage"(>'I +100 (7% +3 "core" %e6 .\ TY + "manipulator"&A% +4 "core" % + F +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&/'\ +100 "core" ' +42 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast "storage"(6 +3 #tShuffling pucks in tube 4 of [1..7] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'N& +4 "core" &AGe\ +2 "manipulator"&_% +3 "core" %\    +2 "storage"(?% +4 "core" %Y   \ + "storage"(<. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +3 .tSC.seek 4 + "storage"(8(, +184 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 ($& +2 "core" &, \  +2 "manipulator"&0& +3 "core" & /  +2 .tElbow.seek 4 +2 "manipulator"&C( +16 "core" ( +2 "manipulator"&e& +3 "core" & )  +2 "storage"(Q& +4 "core" &, \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&O' +92 "core" ' +2 "storage"(H& +3 "core" &, <\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(g'j +291 "core" ' + "storage"(b- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (9& +3 "core" &, K\  + "manipulator"&Z& +4 "core" & 1  + .tElbow.seek 4 +2 "manipulator"&F( +3 "core" ( + "manipulator"&I& +4 "core" &   + "storage"(S& +4 "core" &, _\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&='@ +17 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +69 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&c& +3 "storage"(K'I +5 "core" &   +2 "manipulator"&% +3 "core" % C  p +2 .tForearm.seek :retract +2 "manipulator"&Y'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&w( +150 "core" ' + ."downElevator"SE.coast + "storage"(5 +8 "core" ( +2 "manipulator"&3& +3 "core" & C 0 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" & I 0 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&@'Ϥ +94 "core" ' +2 "manipulator"&j& +4 "core" &  0 + "manipulator"&]% +4 "core" %Ϙ 4 Q +2 "collection"'n& +3 "core" &@Er\ +3 "collection"'r& +4 "core" &@Fp\ +4 .tCC.seek :closed + "collection"'E(Y +5 "core" &AGl\ +8 & )?Gn\ #a +9 &U@Gh\ 8 +9 &BGl\ M +10 &[AFo\ N +9 &__AGj\ N +9 &!_BEl\ N +10 &`CFo\ N +9 &\\CEn\ N +10 &j]BFo\ M +9 &+^BGm\ N +9 &\\AHo\ N +10 &!]BFl\ M +9 &#q_@Gk\ N +9 &%3aAFo\ N +10 &&`BEp\ N +9 &(eBEo\ N +10 &*xaAFo\ N +9 &,;_DGl\ N +9 &-bBEn\ N +10 &/]AGn\ N +9 &1_AGl\ M +9 &3C`AFm\ N +10 &5bBGn\ N +9 &6bCEk\ N +10 &8bDGl\ N +9 &:KaAFl\ N +9 &< ]AHk\ N +10 &=_BGo\ N +9 &?_CFj\ N +9 &AS]CGf\ N +10 &CcCGm\ N +9 &DeDEj\ O +10 &Fm@Gl\ O +9 &HTuCFm\ P +9 &J DGl\ S +10 &KCHk\ W +9 &MDHf\ Y +9 &O>EIj\ Z +10 &PEHk\ [ +9 &RDJb\ [ +10 &TEGl\ \\ +9 &VBFIk\ \\ +9 &XDIj\ \\ +10 &YZHDIl\ . +9 &Y}EHj\ N +5 ( +2 "collection"'r& +3 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 2.21 + .Hand.open +2 "manipulator"&P1 +3 "core" &YsBKk\ N +68 1 +2 "manipulator"&i% +4 "core" % Ϙ p  Q +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&q'\ +94 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%}& +4 "core" &%\ +2 "manipulator"&% +3 "core" %\ ~ } +2 "storage"(v% +4 "core" %V a\ + "storage"(h. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 4 + "storage"(T(, +4 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (`& +2 "core" &, S\  +2 "manipulator"& & +4 "core" & z / + "manipulator"&y% +4 "core" %\ O } +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&p( +157 "core" ( +2 "manipulator"&& +3 "core" & =  +2 "storage"([& +3 "core" &, 2\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&{' +99 "core" ' +2 "storage"(s& +3 "core" &, \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(o'j +283 "core" ' + "storage"(l- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (z& +2 "core" &, \  +2 "manipulator"&& +3 "core" & d  +2 .tElbow.seek 4 +2 "manipulator"& ( +2 "core" ( +2 "manipulator"&u& +3 "core" &   +2 "storage"(R& +3 "core" &, )\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&'@ +22 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +65 "core" / +43 ."downElevator"SE.seek :down +10 "manipulator"&\\& +3 "storage"(1'I +6 "core" & Z  + "manipulator"&t% +4 "core" % D e . +2 .tForearm.seek :retract +2 "manipulator"& '\ +93 "core" ' +2 .tElbow.seek PC +2 "manipulator"&|( +162 "core" ' + ."downElevator"SE.coast + "storage"(5 +90 "core" ( +3 "manipulator"&%& +4 "core" & t + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &&& +2 "core" &  t +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&'Њ +93 "core" ' +2 "manipulator"&"& +4 "core" & O t +2 "manipulator"&m% +3 "core" %Д  +2 "processing"%& +3 "core" &$\ +3 "processing"%d& +4 "core" &&\ +2 .tPC.seek :closed +2 "processing"%M(Y +4 "core" & \  +10 &.x \ +z +9 &b \ ? +10 &c|\ \ O +9 &%Z \ O +9 &Z\ \ O +10 &Z \ O +9 &mW\ N +9 &/\\ \ N +10 &Y \ O +9 &] \ O +10 & t` \ O +9 &"6Z \ O +9 &#Y\ \ O +10 &%Z\ \ O +9 &'|Z \ O +9 &)>^\ \ O +10 &*` \ O +9 &,[ \ N +9 &.\\ \ N +10 &0E^ \ O +9 &2]\ \ O +10 &3\\ \ O +9 &5` \ O +9 &7N]\ O +10 &9] \ O +9 &:\\ \ O +10 &<[ \ O +9 &>V^ \ O +9 &@]\ \ O +10 &A_ \ O +9 &C` \ O +9 &E^` \ O +10 &Gf \ O +9 &Hd \ O +10 &Jo \ Q +9 &L[ \ R +9 &N \ U +10 &O \ V +9 &Q \ U +9 &S\\ \ U +10 &U\ U +9 &V \ U +10 &X\ 3 +9 &Yq7r\ 8 +8 ( +2 &Y~ \ + + "processing"%d& +3 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.50 + .Hand.open +2 "manipulator"&1 +76 "core" 1 +2 "manipulator"&~% +3 "core" % Д  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +95 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%k& +4 "core" &Y~ \ + +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&)% +3 "core" %\  0 l +2 "storage"(x% +4 "core" %: \ +2 "storage"((. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +3 .tSC.seek 4 + "storage"(,(, +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (& +2 "manipulator"&-& +6 "core" &, q t \  +4 ."raiseStack"SE.reconfigure :place +2 "storage"(#].K-0-\ b +2 "core" &  t +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&( + "storage"(\ 'j +5 "core" ( +2 "manipulator"&!& +3 "core" & F t +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" & t +2 .tForearm.seek PC +2 "manipulator"&'Њ +91 "core" ' + .tHand.close +2 "manipulator"&/ +67 "core" / +2 .tPC.seek :open +2 "processing"%( +88 "core" ' +2 "storage"(- +3 "core" -'j + ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(' +39 "core" ' +292 ( + "storage"(a& +4 "core" &, w x e\  +2 "manipulator"&& +3 "core" & 6 t +2 "manipulator"&% +3 "core" % Е E +2 .tForearm.seek :retract +2 "manipulator"& '\ +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&'( +270 "core" ( +2 "manipulator"&f& +3 "core" &   +2 "storage"(& +3 "core" &, \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&D' +92 "core" ' + .tHand.open +2 "manipulator"&1 +72 "core" 1 +2 "storage"(- +3 "core" -' +2 .tSE.seek -0.22 Pucks below Top Plate +2 "storage"(2' +26 "core" ' +3 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(:' +55 "core" ' + #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(.& +3 "core" &, o\ ~ +2 "manipulator"&& +3 "core" &   +2 .tElbow.seek 4 +2 "manipulator"&4( +3 "core" ( +2 "manipulator"&B& +3 "core" & [  +2 "storage"(W& +3 "core" &, 6 7 A\  +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&X' +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(5'V +62 "core" ' +2 "manipulator"&;& +4 "core" &   + "storage"(7& +4 "core" &, z 3\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&A' +38 "core" ' + .tElbow.hold +2 "manipulator"&#, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(J'@ +34 "core" ' +2 "manipulator"&N% +4 "core" % O + "storage"(& +4 "core" &, \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 312 counts +2 "manipulator"&_'L +11 "core" ' +2 "manipulator"&?& +4 "core" & N  + "storage"(<& +4 "core" &, o o \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&+' +26 "core" ' +2 "storage"(*% +4 "core" %E W\ +2 ."downElevator"SE.seek :down +4 "storage"($'I +99 (0% +3 "core" %3 U U U\ U^ + "manipulator"&e% +4 "core" % @ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Q'\ +92 "core" ' +60 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 "collection"'>& +4 "core" &YsDIk\ N +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&^% +3 "core" %\ f  +2 "storage"(H% +4 "core" %X %\ +2 "storage"(L. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 4 +2 "storage"(/(, +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (b& +2 "core" &, ^\  +2 "manipulator"&9& +4 "core" &  + .tElbow.seek 4 +2 "manipulator"&Z( +4 "core" ( +2 "manipulator"&I& +3 "core" & `  +2 "storage"(S& +4 "core" &, \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&' +90 "core" ' +2 "storage"(c& +4 "core" &, D\  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('j +277 "core" ' +2 "storage"(C- +3 "core" -' +2 .tSE.configure :default +48 "storage"(#QK-0-\ b +4 "manipulator"&O& +2 "core" & D  +2 "storage"(3& +3 "core" &, \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&' +36 "core" ' + .tElbow.hold +2 "manipulator"&g, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(=- +2 "core" -' +2 .tSE.seek 0.02 Pucks below Top Plate +2 "storage"(j' +26 "core" ' +2 "manipulator"&]% +3 "core" % Q < ~ +2 "storage"(n& +4 "core" &, T\  + .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 312 counts +2 "manipulator"&F'L +24 "core" ' +2 "manipulator"&K& +3 "core" & L  +2 "storage"(Y& +4 "core" &, y y V\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&6' +20 "core" ' +2 .tSE.seek 1.02 Pucks below Top Plate +2 "storage"(P' +42 "core" ' +2 "manipulator"&i& +4 "core" & 7  +2 "manipulator"&}% +3 "core" % 7 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&v( +145 "core" ( +2 "manipulator"&r& +3 "core" & = % +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &h& +3 "core" & ( % +2 .tForearm.seek CC + "manipulator"&`'Ϥ +92 "core" ' + .tHand.close +2 "manipulator"& / +69 "core" / +2 .tCC.seek :open + "collection"'y( +433 "core" ( + "storage"(@& +4 "core" &, _\  +2 "storage"(& +3 "core" &, L\  +2 "manipulator"&[& +3 "core" &  $ +2 "manipulator"&8% +3 "core" % ϝ d ( +2 .tForearm.seek :retract +2 "manipulator"&s'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&w( +153 "core" ( +2 "manipulator"&q& +3 "core" & V  +2 "storage"(l& +4 "core" &,\ \ \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.seek 4 +2 "manipulator"&z' +109 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&u1 +67 "core" 1 +2 "manipulator"&R% +4 "core" % $t 8 ^ ^ n + "storage"(& +4 "core" &, y y p\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 316 counts + "manipulator"&\\'P +22 "core" ' +2 "manipulator"&t& +3 "core" & k h r  +2 "storage"(p& +3 "core" &, P\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&{' +24 "core" ' +2 "storage"(o% +4 "core" %\ \ \ +2 ."downElevator"SE.seek :down +3 "storage"('I +100 (%% +2 "core" %|6 \ TZ +2 "manipulator"&&% +4 "core" % [ a x +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& '\ +95 "core" ' +48 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast "storage"(6 +3 #tShuffling pucks in tube 5 of [1..7] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'"& +4 "core" &@Ek\ +2 "manipulator"&m% +3 "core" %\  p q n  +2 "storage"(% +4 "core" %W\ \  3\ +2 "storage"(1. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +3 .tSC.seek 5 + "storage"( (; +193 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (G& +2 "core" &; O\ +2 "manipulator"&& +3 "core" &  j C  +2 .tElbow.seek 5 +2 "manipulator"&~( +3 "core" ( + "manipulator"&k& +4 "core" & c b _  + "storage"()& +4 "core" &; n\ +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&d', +104 "core" ' +2 "storage"(x& +3 "core" &; \ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(('j +281 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (-& +3 "core" &; \ + "manipulator"&!& +4 "core" & d g {  + .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( + "manipulator"&& +4 "core" & i o f  + "storage"(& +4 "core" &; l\ +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&T'Ϝ +24 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +68 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&|& +3 "storage"( 'I +6 "core" & v   +2 "manipulator"&M% +3 "core" % Ϡ v e +2 .tForearm.seek :retract +2 "manipulator"&\ '\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&a( +150 "core" ' + ."downElevator"SE.coast + "storage"(5 +6 "core" ( +2 "manipulator"&& +3 "core" & \\ {0 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" & t {1 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'Ϥ +95 "core" ' +2 "manipulator"&f& +4 "core" & U x1 + "manipulator"&% +4 "core" %  xD +2 "collection"'& +3 "core" &CH\\\ +2 "collection"'& +5 "core" &DE^\ +2 .tCC.seek :closed +2 "collection"'(Y +5 "core" &AF`\ +9 & 0CFf\ #b +9 &VCGi\ 8 +10 &DGe\ M +9 &^BFb\ N +9 &a_CGb\ N +10 &#`EHh\ N +9 &_DEc\ N +10 &^CGm\ M +9 &k\\CHm\ M +9 &-]DFd\ M +10 &]AFk\ M +9 &!]@Ed\ M +9 &#r_AGi\ N +10 &%4bAGa\ N +9 &&`AGd\ N +10 &(dAHh\ N +9 &*{_CFk\ M +9 &,<^AGl\ N +10 &-_BGi\ N +9 &/]DGj\ N +9 &1_DGf\ N +10 &3D_BGi\ N +9 &5aAGm\ M +10 &6`BFj\ N +9 &8`BGk\ N +9 &:M`BIg\ M +10 &<_?Gk\ M +9 &=^@Gk\ N +9 &?bBDc\ N +10 &AU\\BGh\ M +9 &CaCFm\ N +10 &DcAFb\ N +9 &FiBHb\ O +9 &HWpBGY\ O +10 &JBGX\ S +9 &KDG^\ W +9 &M~DHa\ Z +10 &OACHV\ Z +9 &PEHN\ [\ +10 &RCHS\ [ +9 &TDH]\ \\ +9 &VCCHT\ \\ +10 &XFHW\ \\ +9 &Y]GCKJ\ , +9 &Y DGQ\ N +5 ( +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 2.20 + .Hand.open +2 "manipulator"&1 +3 "core" &YrEKZ\ N +72 1 + "manipulator"&.% +4 "core" % \  yD +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%B& +4 "core" & \ +2 "manipulator"&W% +3 "core" %\  \  ~ 9 +46 "storage"( % +7 "core" %T \ +2 "storage"(;. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +3 .tSC.seek 5 + "storage"(7(; +4 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (& +2 "core" &; v\  +2 "manipulator"&N& +4 "core" & \  ] ~0 +2 "manipulator"&% +3 "core" %\  ^  9 +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&2( +159 "core" ( +2 "manipulator"&?& +4 "core" & U  + "storage"(<& +4 "core" &; 2\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +3 "manipulator"&*', +97 "core" ' +2 "storage"('& +4 "core" &; =\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(D'j +277 "core" ' +2 "storage"(:- +3 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (0& +2 "core" &; l L\  +2 "manipulator"&e& +4 "core" & 8 9   + .tElbow.seek 5 +2 "manipulator"&X( +3 "core" ( + "manipulator"&4& +4 "core" & ? :   + "storage"(5& +4 "core" &; | | o\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&A'Ϝ +29 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&_/ +75 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&>& +2 "storage"(^'I +5 "core" & Q  +2 "manipulator"&H% +3 "core" % ϱ n +2 .tForearm.seek :retract +2 "manipulator"&L'\ +91 "core" ' +3 .tElbow.seek PC +2 "manipulator"&J( +163 "core" ' + ."downElevator"SE.coast + "storage"(5 +90 "core" ( +2 "manipulator"&b& +3 "core" &\ 6 }O +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &9& +3 "core" &\  k }O +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&I'Њ +89 "core" ' +2 "manipulator"&S& +4 "core" & ; {O + "manipulator"&+% +4 "core" %В 4 zL +2 "processing"%c& +4 "core" &&\ +2 "processing"%$& +4 "core" &&\ +2 .tPC.seek :closed +2 "processing"%,(Y +4 "core" &\ \  +10 &.y\ \ +z +9 &b \ ? +9 &h|\ O +10 &+Y\ \ O +9 &\\ \ O +9 &\\ \ N +10 &rZ \ N +9 &4] \ N +10 &W \ N +9 &[ \ N +9 & y] \ O +10 &"<\\\ \ N +9 &#\\ \ O +10 &%Z \ O +9 &'\\ \ N +9 &)D\\ \ N +10 &+Z \ O +9 &,] \ O +9 &._ \ O +10 &0Ja \ O +9 &2 ^ \ O +10 &3]\ O +9 &5_\ O +9 &7S^ \ O +10 &9_\ \ O +9 &:` \ O +9 &<\\ \ O +10 &>[b\ O +9 &@Z \ O +9 &AY \ N +10 &C]\ N +9 &Ea` \ O +10 &G"c \ P +9 &Hg \ P +9 &Js \ Q +10 &LZ \ T +9 &N \ U +9 &O\ U +10 &Q\ \ U +9 &Sa \ U +10 &U# \ U +9 &V\ \ U +9 &X|\ \ 6 +10 &Yb0~\ \ R +9 &Y) \ 3 +2 ( + "processing"%$& +3 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.50 + .Hand.open + "manipulator" +67 "core" 1 +2 "manipulator"&Q% +3 "core" % В r ` g L +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&C'\ +102 "core" ' +2 .tSC.coast + "storage"(6 +3 "processing"%O& +4 "core" &Y' \ 3 + #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&3% +3 "core" %\ d l } +2 "storage"(=% +3 "core" %Z W\ +2 "storage"(]. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 5 + "storage"(n(; +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +4 (K& + "manipulator"&Y& +5 "core" &; x x \  +2 & _ c O +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +2 "storage"(#].K-0-\ b +2 .tElbow.seek PC +5 "manipulator"&i( +2 ."raiseStack"SE.seek :beamBreak +2 "storage"(}'j +3 "core" ( + "manipulator"&& +4 "core" & d f { O + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Z& +3 "core" & p g O + .tForearm.seek PC +2 "manipulator"&'Њ +91 "core" ' + .tHand.close +2 "manipulator"&/ +72 "core" / +2 .tPC.seek :open +2 "processing"%F( +91 "core" ' +2 "storage"(j- +3 "core" -'j + ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(r' +39 "core" ' +286 ( + "storage"(h& +4 "core" &; !\  +2 "manipulator"&6& +3 "core" &  yO +2 "manipulator"&g% +3 "core" % К  y +2 .tForearm.seek :retract +2 "manipulator"& '\ +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&( +277 "core" ( +2 "manipulator"&E& +3 "core" & h m  +2 "storage"(@& +3 "core" &; J\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&', +91 "core" ' +2 .tHand.open +2 "manipulator"&[1 +68 "core" 1 +2 "storage"(8- +3 "core" -' +2 .tSE.seek -0.22 Pucks below Top Plate +2 "storage"(q' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(l' +53 "core" ' + #tLights, camera, ACTION! +2 "storage"(`- +3 "core" -' +2 "storage"(v& +3 "core" &; W W \\\  +2 "manipulator"&u& +3 "core" & .  +2 .tElbow.seek 5 +2 "manipulator"&R( +8 "core" ( +2 "manipulator"&& +3 "core" &   +2 "storage"(t& +4 "core" &; ~\  +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&p', +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(o'V +63 "core" ' +2 "manipulator"&s& +3 "core" & r q   +2 "storage"(%& +4 "core" &; O\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&&'p +38 "core" ' + .tElbow.hold +2 "manipulator"&w, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(z'@ +24 "core" ' +2 "manipulator"&"% +4 "core" %Y & ) + "storage"(\\& +4 "core" &; \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 315 counts +2 "manipulator"&m'ϫ +20 "core" ' +2 "manipulator"&& +4 "core" & d _   + "storage"(1& +4 "core" &; G\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&P', +23 "core" ' +2 "storage"({% +52 "core" %G '\ +2 ."downElevator"SE.seek :down +4 "storage"(G'I +99 (% +3 "core" %3 t n \ U\\ + "manipulator"&k% +4 "core" %0 | 4 n +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&)'\ +89 "core" ' +63 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast "storage"(6 +3 "collection"'& +4 "core" &YrCG]\ N +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&/% +4 "core" %\  v x F \ j +2 "storage"(x% +3 "core" %V \ +2 "storage"(. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +3 .tSC.seek 5 + "storage"( (; +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (& +2 "core" &; \  +2 "manipulator"&-& +3 "core" & u  +2 .tElbow.seek 5 +2 "manipulator"&!( +3 "core" ( +2 "manipulator"&& +3 "core" &   +2 "storage"(& +3 "core" &; \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&', +95 "core" ' +2 "storage"(|& +3 "core" &; =\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(M'j +285 "core" ' + "storage"(~- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&d& +2 "core" &  +2 "storage"(& +4 "core" &; \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&'p +37 "core" ' + .tElbow.hold +2 "manipulator"&(, +3 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(T- +2 "core" -' +2 .tSE.seek 0.03 Pucks below Top Plate +2 "storage"(f' +26 "core" ' +2 "manipulator"&% +3 "core" %xL r t + +2 "storage"(& +3 "core" &; y\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 308 counts +2 "manipulator"&'Ϥ +22 "core" ' +2 "manipulator"& & +3 "core" &   +2 "storage"(\ & +4 "core" &; | \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&y', +20 "core" ' +2 .tSE.seek 1.03 Pucks below Top Plate +2 "storage"(' +46 "core" ' +2 "manipulator"&.& +4 "core" & p  + "manipulator"&B% +4 "core" %!  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&W'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +160 "core" ( +2 "manipulator"& & +4 "core" &  . +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &;& +3 "core" & R . + .tForearm.seek CC +2 "manipulator"&'Ϥ +90 "core" ' + .tHand.close +2 "manipulator"&N/ +66 "core" / +2 .tCC.seek :open + "collection"'( +433 "core" ( + "storage"(& +4 "core" &; \  +2 "storage"(?& +3 "core" &; \  +2 "manipulator"&<& +3 "core" & G . +2 "manipulator"& % +3 "core" % ϡ + E +2 .tForearm.seek :retract +2 "manipulator"&''\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&a( +160 "core" ( +2 "manipulator"&& +3 "core" &   +2 "storage"(:& +3 "core" &;\ \ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.seek 5 + "manipulator"&0'p +112 "core" ' + .tElbow.hold +2 "manipulator"&e, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&41 +71 "core" 1 +3 "manipulator"&5% +4 "core" % y| 8 / + "storage"(_& +4 "core" &; v J\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 309 counts + "manipulator"&>'ϥ +20 "core" ' +2 "manipulator"&H& +3 "core" & _  +2 "storage"(2& +3 "core" &; \  \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&*', +28 "core" ' +2 "storage"(D% +4 "core" %\ \  '\ +2 ."downElevator"SE.seek :down +3 "storage"(A'I +100 (b% +2 "core" %8 l\ U\\ +2 "manipulator"&9% +4 "core" % ] r +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&X'\ +90 "core" ' +51 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast "storage"(6 +3 #tShuffling pucks in tube 6 of [1..7] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'S& +4 "core" &BFd\ +2 "manipulator"&+% +3 "core" %\   \ k +2 "storage"(c% +3 "core" %X I O\ +2 "storage"(^. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 6 +2 "storage"(L(K +187 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (& +2 "core" &K R\  +2 "manipulator"&#& +3 "core" & Z  +2 .tElbow.seek 6 +2 "manipulator"&Q( +13 "core" ( +2 "manipulator"&O& +3 "core" & X y +2 "storage"(3& +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&$' +97 "core" ' +2 "storage"(=& +3 "core" &K J\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(]'j +289 "core" ' + "storage"(K- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (Y& +3 "core" &K :\  + "manipulator"&& +4 "core" &  y + .tElbow.seek 6 +2 "manipulator"&Z( +3 "core" ( + "manipulator"&I& +4 "core" & \\ y +2 "storage"(& +3 "core" &K &\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&7'V +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&j/ +76 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&J& +2 "storage"(C'I +6 "core" &  y + "manipulator"&,% +4 "core" % b X +2 .tForearm.seek :retract +2 "manipulator"&}'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&h( +150 "core" ' + ."downElevator"SE.coast + "storage"(5 +4 "core" ( +2 "manipulator"&6& +3 "core" & k 0 +47 .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +2 &g& +3 "core" &  0 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'Ϥ +91 "core" ' +3 "manipulator"&E& +4 "core" & k 0 +2 "manipulator"&@% +3 "core" %ϧ [ [ +2 "collection"'i& +4 "core" &BGa\ +2 "collection"'[& +5 "core" &BEa\ +2 .tCC.seek :closed +2 "collection"'8(Y +3 "core" &AD_\ +9 & 0CEb\ #a +9 &U@Gh\ 8 +9 &AGe\ L +10 &[CGa\ N +9 &^^BEd\ N +9 &]@Eh\ N +10 &_CEc\ N +9 &]AHh\ M +10 &fZCF`\ N +9 &(ZAF`\ N +9 &\\BF`\ M +10 &!\\CFa\ M +9 &#n^BFm\ N +9 &%0a@Hn\ N +10 &&^AGc\ N +9 &(`BI_\ M +9 &*w`BFl\ M +10 &,9]CFj\ M +9 &-bAHa\ N +10 &/`AG`\ M +9 &1}bBIi\ N +9 &3@^BHc\ N +10 &5_AEg\ N +9 &6`BEj\ M +9 &8`BGi\ N +10 &:I`AF]\ M +9 &< ^AG_\ M +10 &=_AG]\ M +9 &?^BFV\ M +9 &AP_CET\ N +10 &CaBEX\ N +9 &DcCGP\ N +9 &FgAG^\ N +10 &HSkCGX\ O +9 &J BHU\ S +10 &KCFV\ W +9 &MzAHN\ Z +9 &O<EGV\ Z +10 &PCGW\ [ +9 &RBGU\ [ +9 &T|DHV\ }\\ +10 &V?CG\\\ }\\ +9 &WEI[\ {] +10 &YVGBHR\ 2 +9 &YwDJP\ K +5 ( +2 "collection"'[& +3 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 2.22 + .Hand.open +2 "manipulator"&`1 +3 "core" &YnDJS\ K +68 1 + "manipulator"&v% +4 "core" % ϧ q V [ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&u'\ +100 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%& +4 "core" &%\ +2 "manipulator"&t% +3 "core" %\ -  +2 "storage"( % +4 "core" %Y 5\ + "storage"(s. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 6 +2 "storage"(%(K +2 "core" ( + .tSC.reconfigure :loose +3 "storage"($.(\ 1~b +2 (r& +2 "core" &K L\  +2 "manipulator"&"& +4 "core" & 0 0 +2 "manipulator"&\\% +3 "core" %\ t  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&q( +159 "core" ( +2 "manipulator"&& +3 "core" & 9  +2 "storage"(1& +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&{' +98 "core" ' +2 "storage"(& +4 "core" &K q\  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('j +286 "core" ' + "storage"(l- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (p& +2 "core" &K (\  +2 "manipulator"&& +3 "core" & [  +2 .tElbow.seek 6 +2 "manipulator"&k( +3 "core" ( + "manipulator"&R& +4 "core" &   +2 "storage"(o& +3 "core" &K ,\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&&'V +25 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&m/ +77 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +2 "storage"(/'I +6 "core" & 1  +2 "manipulator"&x% +3 "core" % x +2 .tForearm.seek :retract +2 "manipulator"&'\ +88 "Can"\ HG +3 "core" ' +2 .tElbow.seek PC + "manipulator"&z( +165 "core" ' + ."downElevator"SE.coast + "storage"(5 +90 "core" ( +2 "manipulator"&& +3 "core" & k 4 \\ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &-& +3 "core" & W \\ + .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&'Њ +98 "core" ' +2 "manipulator"&& +4 "core" & i \\ + "manipulator"&P% +4 "core" %Ѝ s +2 "processing"%|& +3 "core" &%\ +3 "processing"%G& +4 "core" &'\ +2 .tPC.seek :closed +2 "processing"%n(Y +4 "core" & \  +10 &0} \ *y +9 &b \ ? +10 &hy \ O +9 &+U\ \ O +9 &[\ N +10 &\\\ O +9 &rY\ \ N +10 &3Z\ O +9 &[ \ O +9 &[ \ O +10 & x`\ O +9 &":Z \ O +9 &#[ \ O +10 &%\\ \ O +9 &'Z\ N +10 &)C[ \ O +9 &+\\ \ O +9 &,\\\ O +10 &.Z\ \ O +9 &0I\\ \ O +9 &2 \\ \ O +10 &3[ \ O +9 &5[\ O +10 &7Q\\ \ O +9 &9]\ P +9 &:Z\ O +10 &<Y\ O +9 &>[]\ O +9 &@W \ O +10 &AY\ O +9 &C]\ O +10 &Ea`\ O +9 &G g\ P +9 &Hk\ Q +10 &J|\ S +9 &LW \ xU +9 &N\ zV +10 &O\ yV +9 &Q\ }U +10 &S_\ {U +9 &U! \ yU +9 &V\ \ {U +10 &X\ 4 +9 &Yl2m\ D +8 ( +2 &Y}$ \ 3 + "processing"%G& +3 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.54 + .Hand.open +2 "manipulator"&w1 +70 "core" 1 +2 "manipulator"&)% +3 "core" % Ђ y  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&~'\ +97 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%d& +4 "core" &Y}$\ \ 3 + #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&% +3 "core" %\   +2 "storage"(T% +3 "core" %X y x r\ +2 "storage"(. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 6 + "storage"((K +3 "core" ( + .tSC.reconfigure :loose +3 "storage"($.(\ 1~b +3 ( & +3 "core" &K e w \  +2 "manipulator"&\ & +4 ."raiseStack"SE.reconfigure :place +3 "storage"(#].K-0-\ b +2 "core" & - \\ +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&.( + "storage"(B'j +5 "core" ( + "manipulator"&& +4 "core" & \\ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &!& +3 "core" &  6 \\ +2 .tForearm.seek PC +2 "manipulator"&M'Њ +93 "core" ' +2 .tHand.close +2 "manipulator"&/ +75 "core" / +2 .tPC.seek :open +2 "processing"%( +88 "core" ' +2 "storage"(f- +3 "core" -'j + ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"( ' +39 "core" ' +290 ( +2 "storage"(;& +4 "core" &K H\  +2 "manipulator"&y& +3 "core" &  \\ +2 "manipulator"&(% +3 "core" % y 7 * +2 .tForearm.seek :retract + "manipulator"&N'\ +102 "core" ' + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&W( +276 "core" ( +2 "manipulator"&& +3 "core" & R  +2 "storage"(& +4 "core" &K \  + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&?' +95 "core" ' +2 .tHand.open +2 "manipulator"&<1 +68 "core" 1 +2 "storage"( - +3 "core" -' +2 .tSE.seek -0.22 Pucks below Top Plate +2 "storage"(' +27 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(:' +55 "core" ' + #tLights, camera, ACTION! +50 "storage"(- +3 "core" -' +2 "storage"(& +3 "core" &K V V \  +2 "manipulator"&4& +3 "core" & I  +2 .tElbow.seek 6 +2 "manipulator"&5( +4 "core" ( +2 "manipulator"&_& +3 "core" & ?  +2 "storage"(H& +4 "core" &K ] _ \  +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&2' +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(D'V +63 "core" ' +2 "manipulator"&'& +4 "core" &   + "storage"(b& +4 "core" &K u\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&9'* +36 "core" ' + .tElbow.hold +2 "manipulator"&a, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(0'@ +25 "core" ' +2 "manipulator"&S% +4 "core" %7] t +2 "storage"(>& +3 "core" &K \  +2 .tForearm.force -20 "manipulator"&5 +3 .tForearm.seek 6 + 313 counts +2 "manipulator"&+'c +22 "core" ' +2 "manipulator"&c& +4 "core" & n p l +2 "storage"(^& +3 "core" &K >\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts +2 "manipulator"&' +23 "core" ' +4 "storage"(*% +5 "core" %H \ +2 ."downElevator"SE.seek :down +4 "storage"('I +99 (#% +3 "core" %3 x u \ U] + "manipulator"&O% +4 "core" % 0 ot +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&3'\ +90 "core" ' +61 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast +2 "storage"(6 +2 "collection"'A& +4 "core" &YnDHb\ K +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"& % +4 "core" %\  t p +2 "storage"(=% +3 "core" %G \ +2 "storage"(e. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +3 .tSC.seek 6 + "storage"(X(K +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (K& +2 "core" &K \  +2 "manipulator"&Y& +3 "core" & s +2 .tElbow.seek 6 +2 "manipulator"&( +8 "core" ( +2 "manipulator"&I& +4 "core" &  s + "storage"(& +4 "core" &K )\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts +2 "manipulator"&j' +91 "core" ' +2 "storage"(J& +4 "core" &K `\  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(,'j +301 "core" ' +2 "storage"(Q- +3 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&$& +2 "core" & V W r e +2 "storage"(6& +4 "core" &K !\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&g'* +36 "core" ' + .tElbow.hold +2 "manipulator"&], +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(7- +2 "core" -' +3 .tSE.seek 0.05 Pucks below Top Plate + "storage"(Z' +25 "core" ' +2 "manipulator"&E% +3 "core" %3\\ A  +2 "storage"(@& +3 "core" &K \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 6 + 309 counts +2 "manipulator"&i'_ +21 "core" ' +2 "manipulator"&C& +4 "core" & c n @  + "storage"(}& +4 "core" &K z y \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts +2 "manipulator"&' +25 "core" ' +2 .tSE.seek 1.05 Pucks below Top Plate +2 "storage"(`' +38 "core" ' +2 "manipulator"&v& +4 "core" & q r   + "manipulator"&% +4 "core" % s s   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&t'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&[( +160 "core" ( +4 "manipulator"& & +4 "core" & O z1 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &s& +2 "core" &  y1 +2 .tForearm.seek CC +2 "manipulator"&r'Ϥ +94 "core" ' + .tHand.close +2 "manipulator"&"/ +69 "core" / +2 .tCC.seek :open + "collection"'\\( +433 "core" ( + "storage"(& +4 "core" &K X\  +2 "storage"(& +3 "core" &K 3\  +2 "manipulator"&1& +3 "core" & ; t1 +2 "manipulator"&L% +3 "core" % ϒ  u! +2 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&h( +161 "core" ( +2 "manipulator"&u& +3 "core" & i o X  +2 "storage"(l& +3 "core" &K \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.seek 6 + "manipulator"&p'* +107 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&R1 +76 "core" 1 +3 "manipulator"&o% +4 "core" % =~  , + "storage"(m& +4 "core" &K _ ] p\  + .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 6 + 319 counts +2 "manipulator"&'i +18 "core" ' +2 "manipulator"&x& +4 "core" & G v + "storage"(q& +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&{' +20 "core" ' +2 "storage"(% +4 "core" % o\ +2 ."downElevator"SE.seek :down +3 "storage"(&'I +99 (% +3 "core" %4 s\ U[ + "manipulator"&-% +4 "core" %\ \  T  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&k'\ +91 "core" ' +49 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 #tShuffling pucks in tube 7 of [1..7] +2 #Loading generic puck from tube 7 into Collection Clamp + "collection"'& +4 "core" &BHn\ +2 "manipulator"&P% +3 "core" %\ 8 G }  +2 "storage"(|% +3 "core" %G\ \  \ +2 "storage"(/. +3 "core" . + .tSC.reconfigure :tight +3 "storage"($\ .(\ 1~b +2 .tSC.seek 7 +2 "storage"(([c +187 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (F& +2 "core" &[`" a\ \  +2 "manipulator"&w& +3 "core" & 7 6   +2 .tElbow.seek 7 +46 "manipulator"&)( +45 "core" ( +2 "manipulator"&d& +3 "core" & 3 q 8 z +2 "storage"(& +3 "core" &[`" \ \  +3 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 700 counts +2 "manipulator"&T' +98 "core" ' +2 "storage"(G& +4 "core" &[`" {\ \  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('j +286 "core" ' +2 "storage"( - +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (\ & +3 "core" &[` ^\ \  +2 "manipulator"&& +3 "core" & f d z z + .tElbow.seek 7 +2 "manipulator"&!( +3 "core" ( +2 "manipulator"&& +4 "core" & ` m " z +2 "storage"(& +3 "core" &[` \ \  +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&%'N +25 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&f/ +76 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&z& +6 "storage"(~'I +3 "core" & ) wz +2 "manipulator"&n% +4 "core" % @  w +2 .tForearm.seek :retract + "manipulator"&B'\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&;( +149 "core" ' + ."downElevator"SE.coast + "storage"(5 +4 "core" ( + "manipulator"&y& +4 "core" & F K. +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &(& +3 "core" & [ K. +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&M'Ϥ +91 "core" ' +2 "manipulator"&& +4 "core" &  D. + "manipulator"&% +4 "core" %ϛ m ES +2 "collection"'.& +3 "core" &AHg\ +2 "collection"'<& +5 "core" &AGd\ +2 .tCC.seek :closed +2 "collection"' (Y +3 "core" &DF`\ +9 & .CDb\ #a +9 &UCEe\ 8 +10 &AFi\ L +9 &ZAD`\ N +10 &d^CEg\ M +9 &&_@El\ M +9 &]AFf\ N +10 &ZCGi\ N +9 &l^CGh\ M +9 &/[BGj\ M +10 &_@Gl\ N +9 &!]CGm\ N +10 &#s\\AFg\ N +9 &%5bAGe\ N +9 &&b@Ge\ N +10 &(b@Fj\ N +9 &*{`@Fm\ N +9 &,>_BEl\ M +10 &-ZCGj\ N +9 &/ZCFj\ M +10 &1]CGl\ M +9 &3F]CEd\ M +9 &5_CEi\ N +10 &6^BFh\ M +9 &8_AGj\ N +9 &:N]CGc\ M +10 &<\\CGi\ N +9 &=_CE[\ N +10 &?ZBGX\ N +9 &AUYCG^\ N +9 &C\\BF[\ N +10 &DbCDa\ O +9 &FcBHb\ O +9 &HYiAG[\ O +10 &J~AIb\ R +9 &KCD\\\ V +10 &MDHZ\ Y +9 &O?EGg\ [ +9 &QBJS\ [ +10 &RDGK\ \\ +9 &TCJb\ \\ +9 &VCEHf\ \\ +10 &XCI_\ \\ +9 &Y\\GDH^\ . +10 &Y}DI]\ N +5 ( +2 "collection"'<& +3 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 2.21 + .Hand.open +2 "manipulator"&1 +3 "core" &YrDHU\ N +65 1 +2 "manipulator"&N% +4 "core" % ϛ h JS +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 7 into Processing Clamp + "processing"%4& +4 "core" & \ +2 "manipulator"&_% +3 "core" %\    VW +2 "storage"(H% +3 "core" %X \ +2 "storage"('. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 7 +2 "storage"(b([c +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 ( & +2 "core" &[` A\  +2 "manipulator"&& +4 "core" &  [ V. + "manipulator"&S% +4 "core" %\   N VW +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 + "manipulator"&>( +157 "core" ( +2 "manipulator"&c& +4 "core" & o / v +2 "storage"(^& +3 "core" &[` \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 700 counts + "manipulator"&*' +100 "core" ' +2 "storage"(W& +3 "core" &[` D\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(?'j +278 "core" ' + "storage"(:- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (#& +2 "core" &[` w\  +2 "manipulator"&O& +3 "core" & ' . T d +2 .tElbow.seek 7 +2 "manipulator"&2( +8 "core" ( + "manipulator"&5& +4 "core" & F > F e +2 "storage"(D& +3 "core" &[` =\  +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&9'N +17 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&+/ +67 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&A& +5 "storage"( 'I +3 "core" & o o ? l +2 "manipulator"&=% +3 "core" % H h j k lT +2 .tForearm.seek :retract +2 "manipulator"&e'\ +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&0( +162 "core" ' + ."downElevator"SE.coast + "storage"(5 +95 "core" ( +3 "manipulator"&K& +3 "core" &  L TU +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &Y& +3 "core" & $ o UU +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&I'Њ +97 "core" ' +2 "manipulator"&& +4 "core" & 9 9 H 6U + "manipulator"&% +4 "core" %Ѝ . + 5 +2 "processing"%J& +3 "core" &\ \ +2 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%(Y +3 "core" &\ +9 & /\ \ #b +10 &U\ \ 8 +9 &~ \ L +10 &W\ O +9 &VZ\ O +9 &Z \ O +10 &W \ O +9 &Y \ O +9 &`W\ N +10 &!Y \ O +9 &Z\ O +10 &!] \ O +9 &#h[ \ N +9 &%)Z \ O +10 &&\\\ \ O +9 &(] \ O +9 &*o\\\ \ O +10 &,1X\ \ O +9 &-Z \ O +10 &/^ \ O +9 &1t\\ \ P +9 &37Z \ O +10 &4\\\ P +9 &6\\ \ O +9 &8}Y\ \ O +10 &:>\\\ P +9 &<Z\ \ O +10 &=\\\ \ P +9 &?Y \ O +9 &AHZ\ \ O +10 &C Y\ O +9 &D]\ O +9 &Fc\ \ ~P +10 &HM` \ P +9 &J i\ \ Q +10 &K| \ R +9 &M\ \ {V +9 &OD\ \ {V +10 &Q \ |V +9 &R\ xU +9 &T \ |U +10 &VL \ zV +9 &X  \ ~I +10 &Y;N\ \ x!g +9 &Y+ \ 2 +2 ( + "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.50 + .Hand.open + "manipulator"&a1 +67 "core" 1 +2 "manipulator"&3% +3 "core" % І ^ D 8 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Q'\ +99 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%$& +4 "core" &Y$\ 2 + #tImaging generic puck in Processing Clamp while storing it to tube 7 +2 "manipulator"&6% +3 "core" %\   H +2 "storage"(7% +3 "core" %K > 7 \ +2 "storage"(E. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 7 +2 "storage"(@([c +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +4 (C& +2 "manipulator"&}& +4 "core" &[` / ' %\  +2 & g HU +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +4 "storage"(#].K-0-\ b + "manipulator"&v( +5 ."raiseStack"SE.seek :beamBreak +2 "storage"('j +3 "core" ( + "manipulator"&j& +4 "core" & 2 HU +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +50 "core" & a HU +3 .tForearm.seek PC +2 "manipulator"&,'Њ +94 "core" ' + .tHand.close +2 "manipulator"&g/ +72 "core" / +3 .tPC.seek :open + "processing"%i( +29 "core" ' +2 "storage"(Z- +3 "core" -'j + ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"( ' +43 "core" ' +344 ( + "storage"(s& +4 "core" &[` u x /\  +2 "manipulator"&& +3 "core" & BU +2 "manipulator"&]% +3 "core" % А } 3 B +2 .tForearm.seek :retract +2 "manipulator"&"'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&t( +274 "core" ( +2 "manipulator"&8& +3 "core" & Q 6  g +2 "storage"(& +4 "core" &[` \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 700 counts +2 "manipulator"&' +93 "core" ' + .tHand.open +2 "manipulator"&11 +77 "core" 1 +2 "storage"(L- +3 "core" -' +2 .tSE.seek -0.22 Pucks below Top Plate +2 "storage"(u' +25 "core" ' +3 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(l' +54 "core" ' + #tLights, camera, ACTION! +2 "storage"(r- +3 "core" -' +2 "storage"([& +3 "core" &[` `\  +2 "manipulator"&R& +3 "core" & ? > G _ +2 .tElbow.seek 7 +2 "manipulator"&o( +8 "core" ( +2 "manipulator"&m& +3 "core" & # 8 _ +2 "storage"(x& +4 "core" &[` | j \  +2 .tForearm.seek 7 + 700 counts +2 "manipulator"&q' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"('V +62 "core" ' +2 "manipulator"&& +4 "core" & 4 1 % _ + "storage"(& +4 "core" &[` w v \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&-'" +39 "core" ' + .tElbow.hold +2 "manipulator"&h, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(p'@ +25 "core" ' +2 "manipulator"&% +4 "core" %] 9 9  6 + "storage"(& +4 "core" &[` Y\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 294 counts +2 "manipulator"&P'H +20 "core" ' +2 "manipulator"&|& +4 "core" & | x  +2 "storage"(/& +3 "core" &[` m t 9\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 700 counts +2 "manipulator"&`' +23 "core" ' +2 "storage"({% +4 "core" %G "\ +2 ."downElevator"SE.seek :down +4 "storage"(F'I +99 (w% +3 "core" %3 V \\ T\ V_ +2 "manipulator"&&% +3 "core" % } , p +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&X'\ +95 "core" ' +55 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 "collection"'d& +3 "core" &YrDGJ\ N +2 #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"&% +4 "core" %\  n h  +2 "storage"(G% +3 "core" %B X\ +2 "storage"(. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +3 .tSC.seek 7 + "storage"(k([c +4 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 ( & +2 "core" &[` 9\  +2 "manipulator"&\ & +4 "core" & j p '  +2 .tElbow.seek 7 + "manipulator"&( +8 "core" ( +2 "manipulator"&& +4 "core" & s t  + "storage"(& +4 "core" &[` n\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 700 counts + "manipulator"&f' +103 "core" ' +2 "storage"(z& +3 "core" &[` V\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(n'j +278 "core" ' +2 "storage"()- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&T& +2 "core" & q r  +2 "storage"(y& +3 "core" &[` 0\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 +2 "manipulator"&('" +40 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(%- +2 "core" -' +2 .tSE.seek 0.03 Pucks below Top Plate +2 "storage"(' +28 "core" ' +2 "manipulator"&% +3 "core" %1Y   1 +2 "storage"(.& +3 "core" &[` \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 7 + 315 counts +2 "manipulator"&!'] +23 "core" ' +2 "manipulator"&~& +3 "core" & b n T  +2 "storage"(B& +4 "core" &[` z w J\  + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 700 counts +2 "manipulator"&\\' +24 "core" ' +2 .tSE.seek 1.03 Pucks below Top Plate +2 "storage"(' +52 "core" ' +2 "manipulator"&N& +4 "core" & |  + "manipulator"&4% +4 "core" % |  v +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&_'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&H( +153 "core" ( +2 "manipulator"&<& +4 "core" & 9 8 ( +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &'& +3 "core" & 5 7 ' +2 .tForearm.seek CC + "manipulator"& 'Ϥ +91 "core" ' + .tHand.close +2 "manipulator"&/ +67 "core" / +2 .tCC.seek :open + "collection"'S( +434 "core" ( + "storage"(M& +4 "core" &[` W\  +2 "storage"(c& +3 "core" &[` h\  +2 "manipulator"&^& +3 "core" &\ \  O ~' +2 "manipulator"&% +3 "core" % ϛ\ \  P ~H +2 .tForearm.seek :retract +2 "manipulator"&W'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&;( +154 "core" ( +2 "manipulator"&& +3 "core" & o h   +2 "storage"(:& +4 "core" &[` a\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.seek 7 +2 "manipulator"&#'" +106 "core" ' + .tElbow.hold +2 "manipulator"&O, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&51 +68 "core" 1 +48 "manipulator"&D% +6 "core" % 2  TM + "storage"(+& +4 "core" &[` % # d\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 316 counts + "manipulator"&A'^ +20 "core" ' +2 "manipulator"&=& +4 "core" & n p (  + "storage"(>& +4 "core" &[` F\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 700 counts +2 "manipulator"&*' +24 "core" ' +2 "storage"(?% +4 "core" % e\ +2 ."downElevator"SE.seek :down +3 "storage"(9'I +100 (K% +2 "core" %b6 '\ U\\ +2 "manipulator"&Y% +4 "core" % }  t  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&2'\ +92 "core" ' +50 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast "storage"(6 +25646 #t-> 10.times {ESP.shutdown; delay 5; ESP.ready!; require 'shuffle'; shuffle} +2 ."shutdown"CS.coast +3 #tAsleep / Shutdown + "collection"'5 +2 ."shutdown"SS.coast +2 "sampler")5 +2 ."shutdown"CC.coast + "collection"'6 +2 ."shutdown"PC.coast + "processing"%6 +3 ."shutdown"Forearm.coast + "manipulator"&5 +3 ."shutdown"Elbow.coast + "manipulator"&6 +36 ."shutdown"Gate.power :core,:OFF +2 .Gate.power :raw,:OFF + #Shutdown + .tdelay 5 seconds +503 #Powering core bus +478 .Gate.power :raw,:ON +2 "sampler") +43 ) +3 "core"  + "collection"' +3 ' +2 "core"  +2 "processing"% +2 %J +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ + % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"' % +2 "core" %@H~\ +2 .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%e% +3 "core" %!\ + .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +2 "core" %vs +2 .tSS.configure :default +2 "sampler")#.0X^]BC|\ O +9 &@!bBF{\ N +9 &A`BDt\ N +10 &CbBCt\ O +9 &EdcBCs\ O +9 &G&dDF|\ O +10 &HqCFr\ Q +9 &JCFk\ T +10 &LRCEq\ X +9 &NCFr\ wZ +9 &OCHm\ [ +10 &QCFl\ [ +9 &SMCFs\ }] +9 &UBHu\ \\ +10 &VEFq\ \\ +9 &XCHu\ I +10 &Y5DJm\ &q +9 &YcEIr\ I +2 ( + "collection"'y& +3 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 2.22 + .Hand.open + "manipulator"&1 +76 "core" 1 +2 "manipulator"&.% +4 "core" % ϣ I K +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&~'\ +89 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 1 into Processing Clamp + "processing"%B& +4 "core" &/\  +2 "manipulator"&N% +3 "core" %\   E l +2 "storage"(4% +4 "core" %R U U 7\ +2 "storage"(f. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 1 +2 "storage"(( +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (n& +2 "core" & @ ? <\  +2 "manipulator"&(& +4 "core" &  F/ + "manipulator"&!% +4 "core" %\   F l +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 +2 "manipulator"&( +156 "core" ( +2 "manipulator"&<& +3 "core" & m < m +2 "storage"('& +4 "core" & y z 7\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 700 counts +2 "manipulator"&\\'W +90 "core" ' +2 "storage"(& +3 "core" & U T U\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('j +272 "core" ' +2 "storage"(_- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +2 "core" & % J\  +2 "manipulator"&M& +3 "core" & H H  h +2 .tElbow.seek 1 +2 "manipulator"&c( +2 "core" ( +2 "manipulator"&^& +3 "core" & K N  h +2 "storage"(& +3 "core" & W U P\  +2 .tForearm.seek 1 + 300 counts +2 "manipulator"&' +27 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&:/ +73 "core" / +2 ."downElevator"SE.seek :down +5 "manipulator"& & +5 "storage"(H'I +4 "core" & r t +2 "manipulator"&5% +4 "core" %  u + .tForearm.seek :retract +2 "manipulator"&D'\ +93 "core" ' +2 .tElbow.seek PC +2 "manipulator"&+( +140 "core" ' + ."downElevator"SE.coast + "storage"(5 +112 "core" ( +2 "manipulator"&=& +3 "core" & i  K +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &>& +3 "core" & | M +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&W'Њ +97 "core" ' +2 "manipulator"&?& +4 "core" & m . +2 "manipulator"&;% +3 "core" %Ћ 4 . +2 "processing"%K& +3 "core" &"\  +2 "processing"%Y& +5 "core" &/\  +2 .tPC.seek :closed +2 "processing"%#(Y +3 "core" &0\  +10 &I2\ %i +9 &tV1\ ~9 +10 &.\ N +9 &Y/\ O +9 &J\\.\ O +10 & \\0\ O +9 &Y0\ O +10 &_/\ O +9 &RY/\ O +9 &[&\ O +10 &_/\ O +9 &!^1\ O +9 &#Z[0\ O +10 &%[.\ O +9 &&_/\ O +10 &([&\ N +9 &*a]!\ O +9 &,#\\*\ O +10 &-\\+\ O +9 &/_+\ O +9 &1j_.\ O +10 &3+]/\ O +9 &4\\1\ O +10 &6\\(\ O +9 &8q\\.\ O +9 &:4Y.\ O +10 &;\\+\ O +9 &=Y'\ O +9 &?zW,\ O +10 &A;\\)\ O +9 &CY)\ N +10 &D^.\ O +9 &Fc2\ O +9 &HBb/\ P +10 &Jm3\ Q +9 &Kw0\ R +9 &Mx4\ U +10 &O8/\ V +9 &P1\ V +10 &R/\ U +9 &T,\ U +9 &VB-\ U +10 &X+\ I +9 &Y6Q1\ #k +9 &Y| *\ - +2 ( +2 "processing"%Y& +2 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.55 + .Hand.open +2 "manipulator"&A1 +69 "core" 1 +2 "manipulator"&% +3 "core" % Њ = ' 2 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&*'\ +93 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%9& +4 "core" &Y| \ - + #tImaging generic puck in Processing Clamp while storing it to tube 1 +2 "manipulator"&k% +3 "core" %\  O +2 "storage"(U% +3 "core" %J \ +2 "storage"(V. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +3 .tSC.seek 1 + "storage"(S( +3 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +2 (i& +3 "core" & 6\  +2 "manipulator"&2& +3 "core" &  O +2 "manipulator"&O% +3 "core" %\ - O +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 +2 "manipulator"&( +268 "core" ( +2 "manipulator"&& +4 "core" & 8 3 r d\ +2 "storage"(J& +3 "core" & V W _\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 700 counts +2 "manipulator"& 'W +102 "core" ' +2 "storage"(e& +3 "core" & w <\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('j +283 "core" ' + "storage"(a- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&3& +3 "core" & q\ + "storage"($& +4 "core" & : : !\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 1 +2 "manipulator"&6'Λ +35 "core" ' + .tElbow.hold +2 "manipulator"&7, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(- +2 "core" -' +3 .tSE.seek 1.02 Pucks below Top Plate +2 "storage"(E' +28 "core" ' +2 "manipulator"&C% +3 "core" %ΜN m n l +2 "storage"(}& +3 "core" & =\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 1 + 301 counts +49 "manipulator"&' +25 "core" ' +2 "manipulator"&j& +4 "core" &    + "storage"(I& +4 "core" & X W M\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 700 counts + "manipulator"&b'W +20 "core" ' +2 .tSE.seek 2.02 Pucks below Top Plate +2 "storage"(g' +46 "core" ' +2 "manipulator"&Z& +4 "core" &   +2 "manipulator"&0% +3 "core" %@ N +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +89 "core" ' +2 .tElbow.seek PC +2 "manipulator"&]( +251 "core" ( +2 "manipulator"&,& +3 "core" &  f +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &  f + .tForearm.seek PC +2 "manipulator"&Q'Њ +93 "core" ' + .tHand.close +2 "manipulator"&L/ +74 "core" / +2 .tPC.seek :open + "processing"%R( +434 "core" ( +2 "storage"("& +3 "core" & & * /\  +2 "manipulator"&& +4 "core" & f +2 "manipulator"&x% +3 "core" % Ѓ | V  +2 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 +2 "manipulator"&8( +256 "core" ( +2 "manipulator"&r& +3 "core" & t {  # +2 "storage"(& +4 "core" & T V G\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 700 counts +2 "manipulator"&'W +90 "core" ' + .tHand.open +2 "manipulator"&u1 +74 "core" 1 +2 "storage"(|- +3 "core" -' +2 .tSE.seek 1.78 Pucks below Top Plate +2 "storage"(/' +22 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(t' +54 "core" ' + #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(w& +3 "core" & \  +2 "manipulator"&&& +3 "core" & | Y  +2 .tElbow.seek 1 +2 "manipulator"&1( +27 "core" ( +2 "manipulator"&o& +3 "core" & | j  M +2 "storage"([& +4 "core" & ~ L\  +2 .tForearm.seek 1 + 700 counts + "manipulator"&m'W +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek 1.89 Pucks below Top Plate +2 "storage"(-'4 +62 "core" ' +2 "manipulator"&P& +4 "core" & s q / M + "storage"(d& +4 "core" & A A u\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 1 +2 "manipulator"&G'Λ +35 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 2.07 Pucks below Top Plate +2 "storage"(v' +23 "core" ' +2 "manipulator"& % +4 "core" %ΝO / 0 u d +2 "storage"(\ & +3 "core" & \  +2 .tForearm.force -20 "manipulator"&5 +3 .tForearm.seek 1 + 302 counts +2 "manipulator"&' +22 "core" ' +2 "manipulator"&l& +4 "core" & { } : ( +2 "storage"(q& +3 "core" & 4 = j\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 700 counts +2 "manipulator"&'W +25 "core" ' +2 "storage"(F% +4 "core" % V D D\  +2 ."downElevator"SE.seek :down +4 "storage"(@'I +100 (p% +4 "core" %z+  W\ U] +2 "manipulator"&X% +3 "core" %a s u * d +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&)'\ +102 "core" ' +26 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 "collection"'T& +4 "core" &YbDFT\ I +2 #tStoring generic puck in Collection Clamp to tube 1 + "manipulator"&% +4 "core" %\ + +2 "storage"(% +4 "core" %K z y ,\ + "storage"(`. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 1 +2 "storage"( ( +2 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (& +3 "core" & 1 =\  + "manipulator"&.& +4 "core" & u ) +2 .tElbow.seek 1 +2 "manipulator"&B( +9 "core" ( +2 "manipulator"&N& +4 "core" &  i + "storage"(4& +4 "core" & V V\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 700 counts +2 "manipulator"&y'W +92 "core" ' +2 "storage"(f& +4 "core" & x h \  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(n'j +269 "core" ' + "storage"((- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&!& +3 "core" & r t , i + "storage"(h& +4 "core" & V X\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 1 +2 "manipulator"&<'Λ +33 "core" ' + .tElbow.hold +2 "manipulator"&', +3 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"({- +2 "core" -' +2 .tSE.seek 2.03 Pucks below Top Plate +2 "storage"(' +29 "core" ' +2 "manipulator"&z% +3 "core" %ΩI T W ` f +2 "storage"(~& +3 "core" & O\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 1 + 314 counts +2 "manipulator"&_' +11 "core" ' +2 "manipulator"& & +3 "core" & r  0 +2 "storage"(M& +4 "core" & ' +\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 700 counts + "manipulator"&^'W +34 "core" ' +2 .tSE.seek 3.03 Pucks below Top Plate +2 "storage"(' +48 "core" ' +2 "manipulator"&:& +4 "core" & s s # 0 + "manipulator"& % +4 "core" %E n r " i +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&5'\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +163 "core" ( +2 "manipulator"&\\& +3 "core" & C 0 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" & t 0 +2 .tForearm.seek CC + "manipulator"&'Ϥ +91 "core" ' + .tHand.close +2 "manipulator"&=/ +75 "core" / +2 .tCC.seek :open + "collection"'>( +434 "core" ( +2 "storage"(c& +3 "core" & 0\  +48 "storage"(?& +4 "core" & J\  +2 "manipulator"&;& +3 "core" & |  J 0 +2 "manipulator"&K% +4 "core" % ϝ | t @ + .tForearm.seek :retract +2 "manipulator"&H'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 +2 "manipulator"&D( +156 "core" ( +2 "manipulator"&& +4 "core" & } Q  + "storage"(A& +4 "core" & @\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.seek 1 +2 "manipulator"&'Λ +109 "core" ' + .tElbow.hold +2 "manipulator"&9, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&k1 +69 "core" 1 +3 "manipulator"&U% +4 "core" % Ψq M r +2 "storage"(V& +3 "core" &   \  +2 .tForearm.force -20 "manipulator"&5 +3 .tForearm.seek 1 + 313 counts +2 "manipulator"&Y' +25 "core" ' +2 "manipulator"&i& +4 "core" & ~ p w + "storage"(2& +4 "core" &  8\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 700 counts +2 "manipulator"&O'W +20 "core" ' +2 "storage"(W% +4 "core" %  "\ +2 ."downElevator"SE.seek :down +3 "storage"('I +100 (% +3 "core" %.  #\ U] + "manipulator"&J% +4 "core" %L  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&+'\ +90 "core" ' +31 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast "storage"(6 +3 #tShuffling pucks in tube 2 of [1..7] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'e& +4 "core" &BC\ +2 "manipulator"&*% +3 "core" %\ r ] +2 "storage"(a% +4 "core" %E \ +2 "storage"(3. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +3 .tSC.seek 2 + "storage"($( +187 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (& +2 "core" &  \  +2 "manipulator"&C& +4 "core" & = w + .tElbow.seek 2 +2 "manipulator"&}( +11 "core" ( +2 "manipulator"&j& +4 "core" & ~ N  + "storage"(I& +4 "core" &  9\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&Z'a +96 "core" ' +2 "storage"(0& +3 "core" &  P\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"( 'j +284 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &  ~ g `\  +2 "manipulator"&6& +3 "core" & q r 5  +2 .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( + "manipulator"&E& +4 "core" &  + "storage"(b& +4 "core" &  l `\  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&,' +30 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +76 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&7& +4 "storage"(L'I +6 "core" &   +2 "manipulator"&% +3 "core" % F +2 .tForearm.seek :retract +2 "manipulator"&#'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&"( +149 "core" ' + ."downElevator"SE.coast + "storage"(5 +6 "core" ( +2 "manipulator"&& +4 "core" &  \\ / + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &x& +2 "core" & / +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&Q'Ϥ +102 "core" ' +2 "manipulator"&r& +4 "core" & 3 / + "manipulator"&% +4 "core" %Ϩ E +2 "collection"']& +3 "core" &DGx\ +4 "collection"'u& +4 "core" &BE\ +2 .tCC.seek :closed +2 "collection"'|(Y +4 "core" &CCw\  +10 &0BEw\ +z +9 &cCF~\ ? +10 &s{AD|\ O +9 &7\\BCr\ N +10 &_CFw\ N +9 &_BE|\ N +9 &|_CFu\ N +10 &>]AD{\ N +9 &_BEp\ N +9 &_CFu\ N +10 & ]@Dn\ N +9 &"G`BCr\ N +10 &$ ^BFa\ N +9 &%_BCq\ N +9 &']BGp\ N +10 &)OaBDw\ N +9 &+_CFg\ N +9 &,\\BE^\ N +10 &.]ADk\ N +9 &0W_CDj\ N +10 &2]AFe\ N +9 &3_BCd\ N +9 &5_CEj\ N +10 &7``@Fj\ N +9 &9!_@Dc\ N +9 &:^AEc\ N +10 &<_@Ej\ N +9 &>f]CEe\ N +10 &@)]AFc\ N +9 &A\\AEc\ N +9 &CcCDf\ N +10 &Emc@Dh\ O +9 &G.gAFd\ O +9 &HqBF^\ P +10 &JCEg\ S +9 &LXCFf\ Y +10 &NDEj\ Z +9 &OBGl\ |[\ +9 &QDGk\ [ +10 &SVEHa\ \\ +9 &UDG_\ \\ +9 &VDGd\ \\ +10 &XDFh\ I +9 &Y+EHh\ )z +9 &YwBEf\ P +2 ( +2 "collection"'u& +2 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 2.25 +2 .Hand.open + "manipulator"&1 +73 "core" 1 +2 "manipulator"&w% +4 "core" % Ϩ ! +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&&'\ +95 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%& +4 "core" &&\ +2 "manipulator"&o% +3 "core" %\   +2 "storage"([% +4 "core" %E Q\ +2 "storage"(P. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 2 +2 "storage"(d( +2 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +2 (g& +3 "core" &  K\  +2 "manipulator"& & +3 "core" &  T / +2 "manipulator"&\ % +3 "core" %\  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&/( +157 "core" ( +2 "manipulator"&l& +3 "core" & | t   +2 "storage"(q& +4 "core" &  %\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&8'a +106 "core" ' +2 "storage"(F& +3 "core" &  Y f \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('j +276 "core" ' + "storage"(t- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (p& +2 "core" &  | X\  +2 "manipulator"&X& +3 "core" & r r =  +2 .tElbow.seek 2 +2 "manipulator"&m( +3 "core" ( + "manipulator"&1& +4 "core" & v | J  +2 "storage"(-& +3 "core" &  \  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&G' +27 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&T/ +71 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +3 "storage"('I +5 "core" & v k U  +2 "manipulator"&% +3 "core" % v | ~  +49 .tForearm.seek :retract +3 "manipulator"&`'\ +95 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +109 "core" ' + ."downElevator"SE.coast + "storage"(5 +140 "core" ( +3 "manipulator"&.& +4 "core" & t t  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &v& +2 "core" & y E +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&N'Њ +99 "core" ' +2 "manipulator"&4& +4 "core" & f m +2 "manipulator"&% +3 "core" %А g o +2 "processing"%f& +4 "core" &\ +2 "processing"%@& +5 "core" &$\ +2 .tPC.seek :closed +2 "processing"%S(Y +3 "core" &!\ +9 & -#\ #a +10 &T#\ 8 +9 &} \ L +9 &\\"\ O +10 &VY%\ O +9 &Y"\ O +10 &X\ O +9 &Z&\ N +9 &_X%\ N +10 & Z&\ O +9 &Z#\ O +9 &!]%\ O +10 &#dZ%\ O +9 &%'\\%\ O +10 &&[$\ O +9 &(Z\ O +9 &*m['\ O +10 &,0\\!\ O +9 &-Z \ N +9 &/]"\ O +10 &1tZ#\ O +9 &36\\#\ O +10 &4\\#\ yP +9 &6]#\ P +9 &8|\\#\ O +10 &:>\\ \ O +9 &<Z%\ O +9 &=[ \ O +10 &?Z!\ O +9 &AGX \ O +10 &CZ!\ O +9 &D^\ xP +9 &Ff&\ P +10 &HLc \ P +9 &J n#\ Q +9 &K"\ yT +10 &M \ {V +9 &OB#\ pV +10 &Q"\ zV +9 &R"\ U +9 &T!\ U +10 &VK$\ V +9 &X "\ H +9 &Y1B\ $l +10 &Y6"\ 3 +5 ( +2 "processing"%@& +3 #tProcessing Clamp onSpring/offSpring for 10/26 samples, on/off torque 1.53 + .Hand.open +2 "manipulator"&1 +3 "core" &Y%!\ 3 +74 1 + "manipulator"&)% +4 "core" % Ћ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&('\ +97 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%!& +4 "core" &Y%!\ 3 + #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&h% +3 "core" %\   +2 "storage"({% +4 "core" %P   \ +2 "storage"(z. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +3 .tSC.seek 2 + "storage"(~( +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +4 ( & +2 "manipulator"&M& +4 "core" &  >\  +4 ."raiseStack"SE.reconfigure :place +2 "storage"(#].K-0-\ b +2 "core" &  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"(:'j +3 "manipulator"& ( +3 "core" ( + "manipulator"&y& +4 "core" & ] + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &B& +3 "core" &  + .tForearm.seek PC +2 "manipulator"&n'Њ +92 "core" ' + .tHand.close +2 "manipulator"& + \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&>'a +23 "core" ' +2 .tSE.seek 1.03 Pucks below Top Plate +2 "storage"(' +41 "core" ' +2 "manipulator"&w& +4 "core" &  +2 "manipulator"&% +3 "core" %d  k +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&o'\ +102 "core" ' +2 .tElbow.seek CC +2 "manipulator"&u( +162 "core" ( +2 "manipulator"&[& +3 "core" & t | V 0 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &P& +2 "core" & | ~ 0 +2 .tForearm.seek CC +2 "manipulator"&g'Ϥ +88 "core" ' + .tHand.close +2 "manipulator"& / +74 "core" / +2 .tCC.seek :open + "collection"'\ ( +433 "core" ( + "storage"(Q& +4 "core" &  '\  +2 "storage"(l& +3 "core" &  G\  +2 "manipulator"&q& +3 "core" & | 0 +2 "manipulator"&$% +4 "core" % ϖ | G 7 + .tForearm.seek :retract +2 "manipulator"&F'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&"( +42 "Can"\ 33 +112 "core" ( +2 "manipulator"&&& +4 "core" & { s 0  + "storage"(t& +4 "core" &  x\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.seek 2 +2 "manipulator"&p'Υ +108 "core" ' + .tElbow.hold +2 "manipulator"&X, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&11 +66 "core" 1 +2 "manipulator"&-% +4 "core" % ηs s +2 "storage"(T& +3 "core" &    i\  +3 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 2 + 318 counts +2 "manipulator"&' +21 "core" ' +2 "manipulator"&& +3 "core" &) { ] \ +2 "storage"(/& +4 "core" &  3\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&8'a +22 "core" ' +2 "storage"(% +4 "core" % \ +2 ."downElevator"SE.seek :down +3 "storage"(G'I +100 (.% +3 "core" %b3 n w\ U\\ + "manipulator"&v% +4 "core" %i r r " d +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&m'\ +94 "core" ' +48 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast "storage"(6 +3 #tShuffling pucks in tube 3 of [1..7] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'4& +4 "core" &AFx\ +2 "manipulator"&% +4 "core" %\ q o   + "storage"(f% +4 "core" %Z \ +2 "storage"(. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 3 +2 "storage"(`(z +190 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (R& +2 "core" &~ q S\ +2 "manipulator"&& +4 "core" &) r q  \ +2 .tElbow.seek 3 +2 "manipulator"&)( +17 "core" ( +2 "manipulator"&!& +4 "core" & v } R  + "storage"(@& +4 "core" &~ %\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&h' +99 "core" ' +2 "storage"({& +4 "core" &~ \ + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(z'j +282 "core" ' + "storage"( - +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (M& +2 "core" &~ W\ +2 "manipulator"&y& +3 "core" & =  +2 .tElbow.seek 3 +2 "manipulator"&B( +3 "core" ( + "manipulator"&N& +3 "core" &  +2 "storage"(<& +4 "core" &~ O\ +2 .tForearm.seek 3 + 300 counts + "manipulator"&d'l +15 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +73 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +3 "storage"(('I +5 "core" & v u  +2 "manipulator"&S% +3 "core" % c s t a +2 .tForearm.seek :retract +2 "manipulator"&:'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +151 "core" ' + ( +2 ."downElevator"SE.coast +3 "manipulator"&^& +2 "storage"(5 +5 "core" & , +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &'& +3 "core" & , +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&n'Ϥ +93 "core" ' +2 "manipulator"&%& +4 "core" & } , +2 "manipulator"&c% +3 "core" %Ϟ |   +2 "collection"' & +3 "core" &@EZ\ +2 "collection"';& +5 "core" &CD[\ +2 .tCC.seek :closed +4 "collection"'K(Y +3 "core" &ACb\ +8 & .@C^\ #a +9 &TBC]\ l8 +9 &~CE[\ yL +10 &]CCf\ O +9 &S\\AEm\ O +9 &[@D\\\ N +10 &\\BF]\ O +9 &[@EM\ O +10 &^YCFT\ N +9 &ZBD[\ O +9 &ZBD`\ N +10 &!ZCBc\ N +9 &#eYAC^\ N +9 &%'YAFS\ N +10 &&[DEV\ N +9 &(]CEY\ O +10 &*m]AF\\\ N +9 &,/ZBE_\ N +9 &-]CD`\ N +10 &/[CEc\ N +9 &1s]@D\\\ O +9 &38YADY\ N +10 &4_CE`\ O +9 &6\\BC^\ N +10 &8}\\AFb\ N +9 &:?_BCc\ N +9 &<]BGa\ N +10 &=\\BEc\ O +9 &?[BFZ\ N +9 &AGWADe\ N +10 &CYCGa\ O +9 &D]AE]\ uO +10 &FbBE[\ O +9 &HLeCCZ\ O +9 &JxCF\\\ uS +10 &KCE[\ lW +9 &MsDFc\ kZ +9 &O2DHa\ r[\ +10 &PCHh\ n[ +9 &RDFe\ r\\ +10 &TtCGg\ n\\ +9 &V6CGd\ n\\ +9 &WEG`\ h] +10 &YQJDF[\ 1 +9 &YyCEd\ J +5 ( +2 "collection"';& +3 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 2.26 +2 .Hand.open + "manipulator"&1 +3 "core" &YkCHa\ J +62 1 +2 "manipulator"&% +4 "core" % Ϟ   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +48 "manipulator"&k'\ +95 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%V& +4 "core" &\ +2 "manipulator"&=% +3 "core" %\ \  +2 "storage"(i% +4 "core" %S ' . `\ + "storage"(H. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +3 .tSC.seek 3 + "storage"((z +12 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (\\& +3 "core" &y 7 < |\ + "manipulator"&e& +4 "core" & w , +2 "manipulator"&*% +3 "core" %\ \ t I  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&( +153 "core" ( +2 "manipulator"&3& +4 "core" & ~ } Y  + "storage"(Y& +4 "core" &y #  \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&O' +104 "core" ' +3 "storage"(5& +4 "core" &y   \ + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(?'j +295 "core" ' +2 "storage"(A- +3 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (C& +3 "core" &y \ + "manipulator"&j& +4 "core" & !  +2 .tElbow.seek 3 +2 "manipulator"&2( +9 "core" ( +2 "manipulator"&U& +3 "core" & t  +2 "storage"(W& +4 "core" &y  $\ +2 .tForearm.seek 3 + 300 counts + "manipulator"&J'l +24 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&a/ +73 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +3 "storage"( 'I +5 "core" & s t * +2 "manipulator"&0% +4 "core" % Y r r  8 + .tForearm.seek :retract +2 "manipulator"&9'\ +93 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +160 "core" ' + ."downElevator"SE.coast + "storage"(5 +95 "core" ( +2 "manipulator"&& +3 "core" & v t " u +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" & s ~ ] u +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&E'Њ +90 "core" ' +2 "manipulator"&b& +4 "core" &  u +2 "manipulator"&% +3 "core" %А E +2 "processing"%7& +3 "core" &%\ +2 "processing"%& +5 "core" &%\ +2 .tPC.seek :closed +2 "processing"%~(Y +4 "core" &%\  +7 & -'\ u#a +10 &T~&\ ^8 +9 &&\ M +10 &Y%\ zO +9 &O\\#\ |O +9 &W#\ ~O +10 &Z%\ }O +9 &Y\ |O +9 &WW!\ xO +10 &W"\ yO +9 &["\ xP +10 &!Y\ uP +9 &#^Z\ uP +9 &%!X\ uO +10 &&Z\ sO +9 &(Z\ qO +9 &*fZ\ qP +10 &,(\\\ qP +9 &-[\ tP +10 &/_\ qP +9 &1n]\ sP +9 &30W\ tP +10 &4W\ tP +9 &6[\ vO +9 &8vZ\ mP +10 &:8Y\ oP +9 &;\\\ lP +10 &=Y\ mP +9 &?~[ \ mP +9 &A@[\ rP +10 &CW\ vP +9 &DY\ tP +9 &F_\ pP +10 &HF_\ oP +9 &Jf\ mQ +10 &K|\ gS +9 &My\ ^W +9 &O;\ dW +10 &P\ ]W +9 &R\ kV +9 &T\ gV +10 &VE\ bV +9 &X\ eK +10 &Y7P\ a#l +9 &Y~%\ 0 +2 ( + "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 10/26 samples, on/off torque 1.50 + .Hand.open + "manipulator"&D1 +76 "core" 1 +2 "manipulator"&I% +3 "core" % А v % E +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&}'\ +93 "core" ' +2 .tSC.coast + "storage"(6 +3 "processing"%Z& +4 "core" &Y~\ 0 + #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&% +4 "core" %\    + "storage"(,% +4 "core" %D  ~\ +2 "storage"(. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 3 +2 "storage"(](z +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (L& +2 "manipulator"&#& +6 "core" &y \  +3 ."raiseStack"SE.reconfigure :place +2 "storage"(#].K-0-\ b +2 "core" & V u +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(w'j +2 "manipulator"&( +5 "core" ( + "manipulator"&& +4 "core" & h u +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &6& +3 "core" & % u +2 .tForearm.seek PC +2 "manipulator"&'Њ +95 "core" ' + .tHand.close +2 "manipulator"&x/ +76 "core" / +2 .tPC.seek :open +2 "processing"%( +71 "core" ' +2 "storage"(r- +3 "core" -'j + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"([' +49 "core" ' +300 ( + "storage"(P& +4 "core" &y h x [\  +2 "manipulator"&>& +3 "core" & T u +2 "manipulator"& % +3 "core" % Џ    +2 .tForearm.seek :retract +2 "manipulator"& '\ +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&o( +267 "core" ( +2 "manipulator"&|& +3 "core" &  +2 "storage"(Q& +4 "core" &y 4\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&l' +92 "core" ' + .tHand.open +2 "manipulator"&q1 +77 "core" 1 +2 "storage"($- +3 "core" -' +2 .tSE.seek -0.22 Pucks below Top Plate +2 "storage"(&' +35 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(t' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(g- +3 "core" -' +2 "storage"(u& +3 "core" &y W S -\  +2 "manipulator"&1& +3 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&-( +8 "core" ( +2 "manipulator"&T& +3 "core" & f +2 "storage"(& +4 "core" &y h O\  +2 .tForearm.seek 3 + 700 counts + "manipulator"&/' +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"('V +63 "core" ' +2 "manipulator"&F& +4 "core" & q p  + "storage"(.& +4 "core" &y g\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&v'@ +38 "core" ' + .tElbow.hold +2 "manipulator"&", +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(p'@ +25 "core" ' +2 "manipulator"&4% +4 "core" %K. 0 0 cZ + "storage"(& +50 "core" &y 6\  +3 .tForearm.force -20 "manipulator"&5 +3 .tForearm.seek 3 + 311 counts +2 "manipulator"&'w +23 "core" ' +2 "manipulator"&f& +4 "core" & } u I  +2 "storage"(& +3 "core" &y V U k\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&' +28 "core" ' +2 "storage"(8% +4 "core" %F p ] M\ +2 ."downElevator"SE.seek :down +4 "storage"(R'I +99 (% +3 "core" %6 w f L\ V_ + "manipulator"&!% +4 "core" % B +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&@'\ +93 "core" ' +57 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast + "storage"(6 +3 "collection"'G& +3 "core" &YjDGR\ J +2 #tStoring generic puck in Collection Clamp to tube 3 +2 "manipulator"&+% +3 "core" %\ \ [  +2 "storage"({% +3 "core" %G , / \ +2 "storage"(X. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 3 +2 "storage"(m(z +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 ( & +2 "core" &y ? @ U\  +2 "manipulator"&M& +4 "core" & E  +2 .tElbow.seek 3 +2 "manipulator"&y( +10 "core" ( +2 "manipulator"&N& +4 "core" &   + "storage"(<& +4 "core" &y \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&' +92 "core" ' +2 "storage"(& +4 "core" &y i\  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(S'j +284 "core" ' + "storage"()- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&h& +3 "core" & w u |  + "storage"(^& +4 "core" &y \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&''@ +33 "core" ' + .tElbow.hold +2 "manipulator"&z, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(d- +2 "core" -' +2 .tSE.seek 0.03 Pucks below Top Plate +2 "storage"(%' +32 "core" ' +2 "manipulator"&c% +3 "core" %SI o i Q j +2 "storage"( & +4 "core" &y \ y + .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 319 counts +2 "manipulator"&B' +19 "core" ' +2 "manipulator"&(& +3 "core" &$ ~ t +2 "storage"(:& +4 "core" &y % $ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&\ ' +27 "core" ' +2 .tSE.seek 1.03 Pucks below Top Plate +2 "storage"(' +49 "core" ' +2 "manipulator"&& +4 "core" &$ w t 8 t + "manipulator"&;% +4 "core" % n L +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&V'\ +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&=( +159 "core" ( +2 "manipulator"&i& +4 "core" & M 0 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &H& +3 "core" & 0 + .tForearm.seek CC +2 "manipulator"&\\'Ϥ +94 "core" ' + .tHand.close +2 "manipulator"&e/ +69 "core" / +2 .tCC.seek :open + "collection"'*( +433 "core" ( + "storage"(n& +4 "core" &y x \  +2 "storage"(3& +3 "core" &y w { \  +2 "manipulator"&Y& +3 "core" & {  0 +2 "manipulator"&`% +3 "core" % Ϙ ~   +2 .tForearm.seek :retract +2 "manipulator"&5'\ +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&( +159 "core" ( +2 "manipulator"&k& +3 "core" & }   +2 "storage"(A& +4 "core" &y \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.seek 3 +2 "manipulator"&C'@ +108 "core" ' + .tElbow.hold +2 "manipulator"&j, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&U1 +78 "core" 1 +3 "manipulator"&W% +4 "core" % T[ L o + "storage"(a& +4 "core" &y \  +2 .tForearm.force -20 "manipulator"&5 +3 .tForearm.seek 3 + 320 counts +2 "manipulator"&'π +21 "core" ' +2 "manipulator"&0& +3 "core" && d w +2 "storage"(& +4 "core" &y C\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&O' +24 "core" ' +2 "storage"(?% +4 "core" % \ +2 ."downElevator"SE.seek :down +3 "storage"(J'I +100 (% +2 "core" %[4 y z t\ U] +2 "manipulator"&% +4 "core" % | 9 e +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&2'\ +94 "core" ' +47 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast "storage"(6 +3 #tShuffling pucks in tube 4 of [1..7] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'b& +4 "core" &BEi\ +2 "manipulator"&% +3 "core" %\ r s '  +2 "storage"(7% +4 "core" %Z \ +2 "storage"( . +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +3 .tSC.seek 4 + "storage"(9(, +185 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (_& +2 "core" &, o\  +2 "manipulator"&D& +3 "core" && 2 w +2 .tElbow.seek 4 +2 "manipulator"&I( +34 "core" ( +2 "manipulator"&Z& +3 "core" &\ c > +2 "storage"(& +4 "core" &, \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&' +113 "core" ' +2 "storage"(,& +3 "core" &, \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('j +288 "core" ' + "storage"(L- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (#& +2 "core" &, \  +2 "manipulator"&& +5 "core" & r r # < + .tElbow.seek 4 +2 "manipulator"&6( +3 "core" ( +2 "manipulator"&E& +3 "core" &\ | L < +2 "storage"(x& +3 "core" &, \  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&'@ +21 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +49 .tHand.close +2 "manipulator"&r/ +73 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +3 "storage"(}'I +5 "core" & t t 4 < +2 "manipulator"&~% +4 "core" % B r -  +2 .tForearm.seek :retract +2 "manipulator"&w'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&P( +147 "core" ' + ."downElevator"SE.coast + "storage"(5 +6 "core" ( +2 "manipulator"&>& +4 "core" & v 1 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +2 "core" & 1 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'Ϥ +96 "core" ' +2 "manipulator"&|& +4 "core" & f d 6 1 +2 "manipulator"&Q% +3 "core" %ϭ f g r +2 "collection"'& +4 "core" &DC_\ +2 "collection"'q& +5 "core" &DDs\ +2 .tCC.seek :closed +2 "collection"'$(Y +5 "core" &BH\\\  +9 &/~AEk\ +z +10 &cCFa\ ? +9 &pxBGn\ O +9 &4XAEk\ N +10 &[BGd\ N +9 &ZCD_\ N +10 &y\\AH\\\ N +9 &<XBD]\ N +9 &YAC[\ M +10 &ZBFh\ N +9 & \\AE\\\ N +9 &"EXCFY\ N +10 &$ZBFg\ N +9 &%_CFk\ N +10 &'ZDEb\ N +9 &)M\\BD]\ N +9 &+^AEe\ N +10 &,YAFi\ M +9 &.ZAFf\ N +9 &0U]DEf\ N +10 &2ZBDZ\ M +9 &3\\CD^\ N +10 &5\\DEa\ N +9 &7\\]BGX\ N +9 &9\\CEY\ N +10 &:\\@F[\ N +9 &<\\CE`\ N +9 &>e[BC_\ N +10 &@&]BD\\\ N +9 &AZBF\\\ N +10 &CaCC[\ N +9 &Ej_@Ec\ O +9 &G+eCF\\\ O +10 &HuBG[\ Q +9 &JCF[\ T +9 &LVEGd\ X +10 &NCG[\ {Z +9 &OEG[\ x[\ +10 &QEGZ\ s\\ +9 &SSEH\\\ s\\ +9 &UDF[\ t\\ +10 &VCG^\ r] +9 &XDGb\ rJ +9 &Y1FGa\ z)y +10 &YsEGY\ N +2 ( + "collection"'q& +3 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 2.30 + .Hand.open + "manipulator"&g1 +76 "core" 1 +2 "manipulator"&u% +5 "core" % ϭ  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&1'\ +96 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 4 into Processing Clamp + "processing"% & +4 "core" &\ +2 "manipulator"&T% +4 "core" %\  t s  H +2 "storage"(% +3 "core" %K T [ ;\ +2 "storage"(F. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 4 +2 "storage"(.(, +2 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +2 ([& +3 "core" &, W X 0\  +2 "manipulator"&4& +3 "core" & o s > 1 +2 "manipulator"&% +3 "core" %\  s t % H +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&&( +151 "core" ( +2 "manipulator"&f& +4 "core" & \ + "storage"(& +4 "core" &, o m \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&o' +98 "core" ' +2 "storage"(l& +4 "core" &, \  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(t'j +285 "core" ' +2 "storage"(8- +3 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (/& +3 "core" &, @ @ \  + "manipulator"&& +4 "core" & 2 +2 .tElbow.seek 4 + "manipulator"&!( +4 "core" ( + "manipulator"&-& +4 "core" &  +2 "storage"(& +3 "core" &, V V $\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&v'@ +22 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&/ +78 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&G& +5 "storage"(+'I +4 "core" & w u +2 "manipulator"&{% +4 "core" % > w t 7 5 + .tForearm.seek :retract +2 "manipulator"&X'\ +99 "core" ' +2 .tElbow.seek PC +2 "manipulator"&p( +155 "core" ' + ."downElevator"SE.coast + "storage"(5 +92 "core" ( +3 "manipulator"& & +3 "core" & q u +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &M& +2 "core" & q ) +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&N'Њ +100 "core" ' +2 "manipulator"&<& +4 "core" & z t 2 +2 "manipulator"&% +3 "core" %Ћ s s I +2 "processing"%& +4 "core" &\ +2 "processing"%R& +4 "core" &\ +2 .tPC.seek :closed +2 "processing"%](Y +4 "core" &#\  +10 &.x&\ +z +9 &b'\ }? +10 &ey%\ ~P +9 &(X!\ O +9 &Z$\ O +10 &Z \ O +9 &nX"\ O +9 &0Z \ O +10 &V"\ O +9 &X!\ O +10 & v\\"\ O +9 &"7Z\ O +9 &#Y \ O +10 &%X \ O +9 &'~Z"\ O +9 &)@[ \ O +10 &+Y!\ O +9 &,Y!\ O +10 &.Z\ O +9 &0G\\\ O +9 &2\ W\ O +10 &3[\ O +9 &5\\ \ O +9 &7OZ\ O +10 &9Y\ O +9 &:\\\ P +10 &<Z\ O +9 &>W\\\ O +9 &@Z \ O +10 &A]\ O +9 &CZ\ O +10 &E^\\\ P +9 &G `\ P +9 &Hb\ P +10 &Jm\ Q +9 &L\\~\ }S +9 &N\ tV +10 &O\ vV +9 &Q\ wV +10 &S\\\ xV +9 &U\ wV +9 &V\ wU +10 &X~\ |4 +9 &Yn4n \ ~@ +8 ( +2 &Y|$\ \ 2 +2 "processing"%R& +2 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.51 + .Hand.open +2 "manipulator"&"1 +76 "core" 1 +2 "manipulator"&@% +3 "core" % Ћ m Z +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&)'\ +90 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%h& +4 "core" &Y|#\ 2 + #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&^% +4 "core" %\   s + "storage"(d% +4 "core" %Z   \ +2 "storage"(c. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 4 +2 "storage"( (, +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 ((& +3 "core" &, '\  +2 "manipulator"&:& +4 ."raiseStack"SE.reconfigure :place +4 "storage"(#].K-0-\ b +2 "core" &  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"('j +2 "manipulator"&;( +5 "core" ( + "manipulator"&& +4 "core" &  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &y& +3 "core" & F +2 .tForearm.seek PC + "manipulator"&S'Њ +94 "core" ' + .tHand.close +2 "manipulator"&'/ +69 "core" / +2 .tPC.seek :open +2 "processing"%B( +81 "core" ' +2 "storage"(%- +3 "core" -'j + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(i' +41 "core" ' +294 ( + "storage"(H& +4 "core" &, 2 0 \  +2 "manipulator"&\ & +3 "core" & > +2 "manipulator"&z% +3 "core" % М { 0 +2 .tForearm.seek :retract +2 "manipulator"&e'\ +91 "core" ' +2 .tElbow.reconfigure :tight +50 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&V( +271 "core" ( +2 "manipulator"&K& +4 "core" & >  + "storage"(n& +4 "core" &, F R w\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&3' +91 "core" ' + .tHand.open +2 "manipulator"&Y1 +66 "core" 1 +3 "storage"(`- +3 "core" -' +2 .tSE.seek -0.22 Pucks below Top Plate +2 "storage"(k' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(A' +44 "core" ' + #tLights, camera, ACTION! +2 "storage"(\\- +3 "core" -' +2 "storage"(=& +3 "core" &, B\  +2 "manipulator"&U& +4 "core" & t  +2 .tElbow.seek 4 +2 "manipulator"&W( +3 "core" ( + "manipulator"&a& +4 "core" & @  +2 "storage"(0& +4 "core" &, #\  +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&' +13 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(?'V +66 "core" ' +2 "manipulator"&5& +4 "core" & F  + "storage"(& +4 "core" &, V V a\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&' +37 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(C'@ +27 "core" ' +2 "manipulator"&b% +4 "core" %C I G \\ h +2 "storage"(& +3 "core" &, q\ ~ +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 305 counts +2 "manipulator"&'E +20 "core" ' +2 "manipulator"&7& +4 "core" & { P  +2 "storage"( & +3 "core" &, S V "\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&' +27 "core" ' +2 "storage"(O% +4 "core" %E y x <\ +2 ."downElevator"SE.seek :down +4 "storage"(_'I +99 (D% +4 "core" %4 $ + +\ U^ + "manipulator"&Z% +4 "core" % u  ] +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +103 "core" ' +47 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 "collection"'J& +4 "core" &YuDHM\ N +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&m% +4 "core" %\  -  +2 "storage"(,% +3 "core" %P \ +2 "storage"(j. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +3 .tSC.seek 4 + "storage"(2(, +2 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (L& +2 "core" &, \  +2 "manipulator"&#& +3 "core" &   +2 .tElbow.seek 4 +2 "manipulator"&( +13 "core" ( +2 "manipulator"&E& +4 "core" &   + "storage"(x& +4 "core" &, \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +3 "manipulator"&r' +105 "core" ' +2 "storage"(& +4 "core" &, s j S\  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(~'j +283 "core" ' +2 "storage"(I- +3 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & s q :  + "storage"(>& +4 "core" &, 2 6\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"& ' +37 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(- +2 "core" -' +3 .tSE.seek 0.02 Pucks below Top Plate + "storage"(|' +32 "core" ' +2 "manipulator"&Q% +3 "core" %9 . ' & al +2 "storage"(& +3 "core" &, \  e\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 294 counts +2 "manipulator"&6': +20 "core" ' +2 "manipulator"&}& +4 "core" & u | > [ + "storage"(w& +4 "core" &, U Z U\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&*' +20 "core" ' +2 .tSE.seek 1.02 Pucks below Top Plate +2 "storage"(g' +46 "core" ' +2 "manipulator"&u& +4 "core" &  [ +2 "manipulator"& % +3 "core" %о  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&q'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&T( +166 "core" ( +2 "manipulator"&& +3 "core" & ) 3 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &F& +3 "core" & 3 +2 .tForearm.seek CC + "manipulator"&['Ϥ +100 "core" ' + .tHand.close +2 "manipulator"&4/ +66 "core" / +2 .tCC.seek :open + "collection"'( +437 "core" ( + "storage"(& +4 "core" &, =\  +2 "storage"(f& +3 "core" &, c\  +2 "manipulator"&& +3 "core" & { D 2 +2 "manipulator"&9% +3 "core" % ϙ { = h +2 .tForearm.seek :retract +2 "manipulator"&l'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&P( +153 "core" ( +2 "manipulator"&1& +3 "core" & } | ; +2 "storage"(8& +4 "core" &, ^\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.seek 4 +2 "manipulator"&/' +111 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&-1 +77 "core" 1 +2 "manipulator"&% +5 "core" % !W a y - h + "storage"(& +4 "core" &,   J\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 313 counts +2 "manipulator"&G'M +20 "core" ' +2 "manipulator"&{& +4 "core" & r w 8  + "storage"(&& +4 "core" &, \\\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&o' +41 "core" ' +2 "storage"(t% +3 "core" % \  z\ +3 ."downElevator"SE.seek :down +47 "storage"(v'I +55 ( % +2 "core" %40 \ U[ +2 "manipulator"&M% +5 "core" % a + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&!'\ +89 "core" ' +100 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast "storage"(6 +3 #tShuffling pucks in tube 5 of [1..7] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'<& +4 "core" &BEg\ +2 "manipulator"&% +3 "core" %\   f  +2 "storage"(% +4 "core" %U \  \  +2 "storage"(+. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 5 + "storage"(X(; +189 "core" ( + .tSC.reconfigure :loose +3 "storage"($.(\ 1~b +2 (& +3 "core" &; X\  + "manipulator"&"& +4 "core" &   +2 .tElbow.seek 5 + "manipulator"&@( +11 "core" ( +2 "manipulator"&h& +4 "core" & 1  + "storage"(^& +4 "core" &; $\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&d', +95 "core" ' +2 "storage"(R& +4 "core" &; 0\  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(c'j +293 "core" ' +2 "storage"((- +3 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (:& +3 "core" &; V ^ \  + "manipulator"&& +4 "core" & q u \\  +2 .tElbow.seek 5 +2 "manipulator"&y( +3 "core" ( + "manipulator"&N& +4 "core" & | z  +2 "storage"('& +3 "core" &; w w \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&.'Ϝ +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&%/ +72 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&p& +4 "storage"()'I +5 "core" & O  +2 "manipulator"&]% +3 "core" % Ϙ V +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&H( +149 "core" ' + ."downElevator"SE.coast + "storage"(5 +14 "core" ( +2 "manipulator"&\ & +4 "core" & ~ 1 , + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &z& +2 "core" & { r # , +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&S'Ϥ +98 "core" ' +2 "manipulator"&K& +4 "core" & l q T , +2 "manipulator"&n% +3 "core" %ϭ e h +3 "collection"';& +4 "core" &CEw\ +3 "collection"'Y& +4 "core" &DE^\ +2 .tCC.seek :closed +2 "collection"'`(Y +4 "core" &@Gj\ +8 & &BEk\ #b +10 &WCEh\ 8 +9 &AFd\ M +9 &ZAFg\ N +10 &V[@F]\ N +9 &ZCF\\\ O +9 &ZBF]\ N +10 &YDDd\ N +9 &^WBE\\\ N +10 & XBEd\ N +9 &YBFe\ N +9 &!YBDk\ N +10 &#gZDFi\ N +9 &%(ZBG]\ N +9 &&[BGe\ N +10 &(\\BDf\ N +9 &*nZBGg\ N +10 &,0YBDf\ N +9 &-YBFk\ N +9 &/YBEg\ N +10 &1vY@Ek\ N +9 &38YDGh\ N +9 &4\\BEl\ N +10 &6WAFk\ N +9 &8}\\BEi\ N +10 &:>ZBEj\ O +9 &<YBCj\ N +9 &=ZCCc\ N +10 &?YBF`\ O +9 &AHXDEk\ N +9 &C\ ZDF\\\ N +10 &D`BFa\ O +9 &FbBFZ\ O +10 &HLeCH`\ O +9 &J}CF`\ S +9 &KCF_\ ~W +10 &MrDIX\ uZ +9 &O2DG\\\ t[\ +9 &PCGZ\ q\\ +10 &REH[\ r\\ +9 &TrCGX\ n] +10 &V5DHa\ o] +9 &WBG]\ n] +9 &YPIEH\\\ 2 +10 &YtFGY\ L +5 ( +2 "collection"'Y& +3 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 2.30 +2 .Hand.open + "manipulator"&\\1 +3 "core" &Y`EHW\ L +71 1 +2 "manipulator"&=% +4 "core" % ϭ u +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&U'\ +92 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%a& +4 "core" &+\ +2 "manipulator"&0% +3 "core" %\  % m +2 "storage"(e% +4 "core" %S W W \ +2 "storage"(5. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +3 .tSC.seek 5 + "storage"((; +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (i& +2 "core" &; W U *\  +2 "manipulator"&b& +4 "core" & , + "manipulator"&% +4 "core" %\  } 3 m +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&k( +151 "core" ( +2 "manipulator"&7& +4 "core" & u } T + "storage"( & +4 "core" &; x y 5\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&O', +92 "core" ' +2 "storage"(V& +3 "core" &; W e G\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(3'j +278 "core" ' +2 "storage"(A- +3 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (D& +2 "core" &;  \  +2 "manipulator"&Z& +4 "core" & w r  + .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( + "manipulator"&W& +4 "core" & v } 4 + "storage"(?& +4 "core" &;\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&'Ϝ +15 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +66 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&J& +4 "storage"(m'I +5 "core" & v { +2 "manipulator"&,% +3 "core" % ϗ t q # i +2 .tForearm.seek :retract +2 "manipulator"&j'\ +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&C( +166 "core" ' + ."downElevator"SE.coast + "storage"(5 +95 "core" ( +3 "manipulator"&L& +3 "core" &  K +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &#& +3 "core" & x K +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&E'Њ +96 "core" ' +2 "manipulator"&x& +4 "core" & i p w K +2 "manipulator"&% +3 "core" %Д l W 9 +2 "processing"%& +3 "core" &\ +2 "processing"%_& +5 "core" &&\ +2 .tPC.seek :closed +2 "processing"% (Y +4 "core" &-\ +8 & /&\ $c +10 &U}#\ s8 +9 &||'\ rL +9 &W\ {O +10 &PY#\ zP +9 &Z!\ xO +10 &W \ zP +9 &W"\ wP +9 &YU$\ zO +10 &U$\ yO +9 &W#\ yO +9 &!Y#\ uP +10 &#`X"\ rP +9 &%"W$\ uP +10 &&W#\ oP +9 &(U%\ wO +9 &*iW!\ rO +10 &,+Y\ sO +9 &-V\ qP +9 &/]"\ sP +10 &1pU!\ vP +9 &33X$\ sO +10 &4Y!\ uO +9 &6Y!\ wO +9 &8x[!\ yP +10 &::V \ qP +9 &;W\ tO +9 &=X \ rO +10 &?W\ rP +9 &ACY\ zO +10 &CY!\ wP +9 &DZ"\ oP +9 &F`#\ uP +10 &HH`!\ xP +9 &Jh$\ tQ +9 &K\ kT +10 &M|\ dV +9 &O=\ cW +10 &P"\ hW +9 &R\ hV +9 &T\ kV +10 &VF!\ gV +9 &X \ _L +9 &Y:P$\ b#k +10 &Y%\ p0 + ( +2 "processing"%_& +3 #tProcessing Clamp onSpring/offSpring for 10/26 samples, on/off torque 1.55 .Hand.open +2 "manipulator"&1 +75 "core" 1 +2 "manipulator"&% +3 "core" % В ^ +49 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&I'\ +94 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%& +4 "core" &Y\ 0 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&>% +4 "core" %\ I  + "storage"(% +4 "core" %; \ +2 "storage"(Q. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 5 +2 "storage"((; +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +4 (}& +3 "core" &; z\  + "manipulator"&w& +5 ."raiseStack"SE.reconfigure :place +2 "storage"(#].K-0-\ b +2 "core" & ` K +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +4 .tElbow.seek PC +2 "storage"(u'j + "manipulator"& ( +5 "core" ( +2 "manipulator"&r& +3 "core" & > K +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" & H K +2 .tForearm.seek PC +2 "manipulator"&~'Њ +90 "core" ' + .tHand.close +2 "manipulator"& / +72 "core" / +2 .tPC.seek :open +2 "processing"%6( +82 "core" ' +2 "storage"(|- +3 "core" -'j + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(' +39 "core" ' +295 ( + "storage"(F& +4 "core" &; V U R\  +2 "manipulator"&*& +3 "core" & K +2 "manipulator"&% +4 "core" % Г F + .tForearm.seek :retract +2 "manipulator"&4'\ +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&q( +273 "core" ( +2 "manipulator"&$& +3 "core" &  d \ +2 "storage"(& +4 "core" &; w y @\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts +2 "manipulator"&f', +92 "core" ' + .tHand.open +2 "manipulator"&1 +70 "core" 1 +2 "storage"(9- +3 "core" -' +2 .tSE.seek -0.22 Pucks below Top Plate +2 "storage"(1' +26 "core" ' +3 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(8' +53 "core" ' + #tLights, camera, ACTION! +2 "storage"([- +3 "core" -' +2 "storage"(T& +3 "core" &; \ r +2 "manipulator"&-& +3 "core" & $ \ +2 .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&& +4 "core" &  \ +2 "storage"({& +3 "core" &; h i H\ l +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&&', +4 "core" ' + .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(l'V +63 "core" ' +2 "manipulator"&t& +4 "core" & ( \ + "storage"( & +4 "core" &; S U .\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&P'p +35 "core" ' + .tElbow.hold +2 "manipulator"&M, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(/'@ +31 "core" ' +2 "manipulator"&G% +4 "core" %΀U i n k +2 "storage"(<& +3 "core" &; ,\ x +2 .tForearm.force -20 "manipulator"&5 +3 .tForearm.seek 5 + 316 counts +2 "manipulator"&'Ϭ +19 "core" ' +2 "manipulator"&& +4 "core" & w } d  +2 "storage"(+& +3 "core" &; 9 ? 3\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts +2 "manipulator"&g', +24 "core" ' +2 "storage"(o% +4 "core" %B R T H\ +2 ."downElevator"SE.seek :down +4 "storage"('I +99 ("% +3 "core" %0   (\ V_ + "manipulator"&h% +4 "core" %2 , e +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&^'\ +89 "core" ' +60 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 "collection"'v& +4 "core" &YbEIY\ L + #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&2% +3 "core" %\  S \ d +2 "storage"(R% +3 "core" %H \ +2 "storage"(. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 5 +2 "storage"(!(; +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 ((& +2 "core" &; x { `\  +2 "manipulator"&:& +4 "core" &   + .tElbow.seek 5 +2 "manipulator"&( +12 "core" ( +2 "manipulator"&N& +4 "core" & L  + "storage"('& +4 "core" &; y w U\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&%', +92 "core" ' +2 "storage"(p& +4 "core" &; S X 3\  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(]'j +276 "core" ' + "storage"(@- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&d& +3 "core" & q | 2  + "storage"(\ & +4 "core" &;   S\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&z'p +35 "core" ' + .tElbow.hold +2 "manipulator"&c, +3 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(.- +2 "core" -' +2 .tSE.seek 0.03 Pucks below Top Plate +2 "storage"(K' +40 "core" ' +2 "manipulator"&n% +3 "core" %΂S n n 6 l +2 "storage"(y& +3 "core" &; \ v +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 318 counts +2 "manipulator"&;'Ϯ +21 "core" ' +2 "manipulator"&)& +3 "core" & L z +2 "storage"(& +4 "core" &; 1 1 g\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&', +26 "core" ' +2 .tSE.seek 1.03 Pucks below Top Plate +2 "storage"(\\' +51 "core" ' +2 "manipulator"&=& +4 "core" & ! z + "manipulator"&a% +4 "core" %+ V g +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&0'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&e( +158 "core" ( +2 "manipulator"&Y& +4 "core" &  / +2 .tElbow.reconfigure :loose +48 "manipulator"&$ &.,(#b +3 &5& +3 "core" &  U / +2 .tForearm.seek CC +2 "manipulator"&i'Ϥ +95 "core" ' + .tHand.close +2 "manipulator"&b/ +69 "core" / +2 .tCC.seek :open + "collection"'( +433 "core" ( +2 "storage"(S& +3 "core" &; : =\  +2 "storage"(7& +3 "core" &; 2 3\  +2 "manipulator"& & +4 "core" & g p y . +2 "manipulator"&X% +3 "core" % Ϭ n e +2 .tForearm.seek :retract +2 "manipulator"&V'\ +103 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&H( +161 "core" ( +2 "manipulator"&U& +4 "core" &   + "storage"(A& +4 "core" &; \\\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.seek 5 +2 "manipulator"&D'p +104 "core" ' + .tElbow.hold +2 "manipulator"&Z, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&W1 +67 "core" 1 +3 "manipulator"&?% +4 "core" % ΀z - v +2 "storage"(& +3 "core" &; I\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 316 counts +2 "manipulator"&J'Ϭ +21 "core" ' +2 "manipulator"&,& +4 "core" & { T d + "storage"(k& +4 "core" &; v x 4\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&O', +24 "core" ' +2 "storage"(3% +4 "core" % J\ +2 ."downElevator"SE.seek :down +3 "storage"('I +100 (L% +3 "core" %f6 W W T\ U^ + "manipulator"&#% +4 "core" %, - m +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' +52 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast "storage"(6 +3 #tShuffling pucks in tube 6 of [1..7] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'x& +4 "core" &@Dx\ +2 "manipulator"&% +4 "core" %\ ' } +2 "storage"(% +3 "core" %Y H\ +2 "storage"(m. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +3 .tSC.seek 6 + "storage"(j(K +187 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (B& +2 "core" &K" _\ \  +2 "manipulator"&& +3 "core" & d +2 .tElbow.seek 6 +2 "manipulator"&( +13 "core" ( +2 "manipulator"&_& +4 "core" &   + "storage"(& +4 "core" &K" \ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts +2 "manipulator"&>' +91 "core" ' +2 "storage"(& +4 "core" &K" E\ \  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(Q'j +281 "core" ' + "storage"(}- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (w& +2 "core" &K" <\ \  +2 "manipulator"&r& +3 "core" &   +2 .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&E& +3 "core" & l  +2 "storage"( & +3 "core" &K! 5\ \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&'V +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&|/ +65 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&C& +4 "storage"(I'I +6 "core" & u w  +2 "manipulator"& % +3 "core" % ^ s s " +2 .tForearm.seek :retract +2 "manipulator"&u'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&F( +146 "core" ' + ( +2 ."downElevator"SE.coast +3 "manipulator"&*& +2 "storage"(5 +6 "core" & s w # & + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" & y } & +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&~'Ϥ +95 "core" ' +2 "manipulator"&$& +4 "core" & | { P & +2 "manipulator"&% +3 "core" %ϙ t t ; +2 "collection"' & +4 "core" &CCl\ +2 "collection"'& +5 "core" &ACp\ +2 .tCC.seek :closed +2 "collection"'9(Y +3 "core" &BGp\  +10 &0}BFr\ *y +9 &cAC|\ ? +10 &qxAEn\ O +9 &5[AEm\ N +9 &ZBBo\ N +10 &\\CDh\ N +9 &z_CFb\ N +10 &=VCFj\ N +9 &]DDf\ N +9 &ZCDj\ N +10 & WCDg\ M +9 &"FZCGj\ M +9 &$]DFj\ N +10 &%[@Ei\ M +9 &'ZBEi\ N +10 &)L^BFh\ N +9 &+XCFh\ N +9 &,WBGi\ N +10 &.]DFm\ N +9 &0U]BDh\ N +9 &2]CEj\ N +10 &3^CEk\ N +9 &5ZAEh\ N +10 &7\\_BFi\ N +9 &9[CEl\ N +9 &:ZBEg\ M +10 &<ZAFh\ N +9 &>e]CEh\ N +9 &@'WBF`\ N +10 &AW@Gh\ N +9 &C]DGj\ N +10 &El_AFj\ N +9 &G,cBFg\ O +9 &HmBEY\ P +10 &JCFa\ S +9 &LWCGg\ X +9 &NEFa\ Z +10 &OCGZ\ }Z +9 &QDFh\ z[ +10 &SSDF[\ x\\ +9 &UEGj\ x\\ +9 &VCEb\ w] +10 &XFGd\ xI +9 &Y2CHc\ 'v +9 &YhEGb\ O +2 ( +2 "collection"'& +2 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 2.29 + .Hand.open + "manipulator"&[1 +70 "core" 1 +2 "manipulator"&T% +4 "core" % ϙ r + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract + "manipulator"&-'\ +96 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"%& +3 "core" &0\ +2 "manipulator"&{% +4 "core" %\ r t [  + "storage"(4% +4 "core" %J V V U\ + "storage"(t. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 6 +2 "storage"( (K +2 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +2 (& +3 "core" &K X W W\  +2 "manipulator"&G& +3 "core" & t u \\ & +2 "manipulator"&<% +3 "core" %\ r p   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&1( +157 "core" ( +2 "manipulator"&& +4 "core" &   + "storage"(+& +4 "core" &K z x u\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&o' +109 "core" ' +2 "storage"(q& +3 "core" &K  A\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(f'j +286 "core" ' + "storage"(8- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ("& +3 "core" &K ( / B\  + "manipulator"&h& +4 "core" & d  + .tElbow.seek 6 +2 "manipulator"&&( +3 "core" ( +2 "manipulator"&& +3 "core" & I  +2 "storage"(l& +3 "core" &K ' 4 \  +48 .tForearm.seek 6 + 300 counts +3 "manipulator"&P'V +22 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +77 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&v& +3 "storage"(2'I +6 "core" &   +2 "manipulator"&R% +3 "core" % W q r  ( +2 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' +2 .tElbow.seek PC +2 "manipulator"&/( +161 "core" ' + ."downElevator"SE.coast + "storage"(5 +87 "core" ( +2 "manipulator"&(& +4 "core" & u q  + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &:& +2 "core" & r t  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&N'Њ +88 "core" ' +2 "manipulator"&'& +4 "core" & Z +2 "manipulator"&g% +3 "core" %Њ A +2 "processing"%p& +4 "core" &\ +2 "processing"%& +4 "core" & \ +3 .tPC.seek :closed + "processing"%(Y +4 "core" &\  +10 &-x%\ +{ +9 &b%\ y? +10 &ev$\ {O +9 &'Z \ O +9 &Z$\ O +10 &Z!\ O +9 &lX$\ O +10 &/V&\ O +9 &W#\ O +9 &W$\ O +10 & tZ"\ O +9 &"7Y#\ O +9 &#Z"\ O +10 &%Z%\ P +9 &'|Z"\ O +10 &)>W%\ O +9 &+\\\ O +9 &,Z \ O +10 &.V \ O +9 &0F^$\ O +9 &2\\!\ O +10 &3Y%\ O +9 &5]$\ O +10 &7N]#\ O +9 &9]\ O +9 &:Z$\ P +10 &<Y \ P +10 &>V\\ \ O +9 &@W \ O +9 &A\\ \ O +9 &C_ \ O +10 &E]` \ P +9 &Gg"\ Q +9 &Hi!\ Q +10 &J{#\ {S +9 &LS#\ tV +9 &N \ rV +10 &O \ sV +9 &Q\ sV +10 &S[!\ tV +9 &U\ uV +9 &V\ tV +10 &Xv\ {: +9 &Y`1\ xT +9 &Y*\ 3 +2 ( +2 "processing"%& +2 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.57 + .Hand.open +2 "manipulator"&M1 +69 "core" 1 +2 "manipulator"&^% +4 "core" % Њ e  A +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&@'\ +89 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%d& +4 "core" &Y(\ 3 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&\ % +3 "core" %\   t +2 "storage"(.% +4 "core" %Z   \ +2 "storage"(n. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +3 .tSC.seek 6 + "storage"(y(K +5 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +4 ()& +4 "manipulator"&& + "core" &K  \  +4 ."raiseStack"SE.reconfigure :place +3 "storage"(#].K-0-\ b +2 "core" &  +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(='j + "manipulator"&a( +5 "core" ( + "manipulator"&%& +4 "core" & + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" &  + .tForearm.seek PC +2 "manipulator"&]'Њ +94 "core" ' + .tHand.close +2 "manipulator"&z/ +67 "core" / +2 .tPC.seek :open +2 "processing"%;( +79 "core" ' +2 "storage"(K- +3 "core" -'j + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(Y' +40 "core" ' +298 ( + "storage"(5& +4 "core" &K \  +2 "manipulator"&& +3 "core" & +2 "manipulator"&c% +4 "core" % Ј ~  + .tForearm.seek :retract +2 "manipulator"&b'\ +97 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&0( +281 "core" ( +2 "manipulator"&`& +3 "core" & L  +2 "storage"(S& +4 "core" &K   ]\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&7' +93 "core" ' + .tHand.open +2 "manipulator"& 1 +70 "core" 1 +2 "storage"(X- +3 "core" -' +2 .tSE.seek -0.22 Pucks below Top Plate +2 "storage"(U' +27 "core" ' +3 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(A' +44 "core" ' + #tLights, camera, ACTION! +2 "storage"(i- +3 "core" -' +2 "storage"(e& +3 "core" &K [\ r +2 "manipulator"&W& +4 "core" &   +2 .tElbow.seek 6 + "manipulator"&?( +12 "core" ( +2 "manipulator"&& +4 "core" &  | + "storage"(,& +4 "core" &K t\ p +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&k' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"(3'V +62 "core" ' +2 "manipulator"&V& +4 "core" &  | + "storage"(L& +4 "core" &K   \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&#'* +38 "core" ' + .tElbow.hold +2 "manipulator"&H, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(D'@ +35 "core" ' +2 "manipulator"&x% +4 "core" %)9 O I  hp +2 "storage"(J& +3 "core" &K n _\ j + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 299 counts +2 "manipulator"&'U +12 "core" ' +2 "manipulator"&& +4 "core" &  g +2 "storage"(m& +3 "core" &K ( . )\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts +2 "manipulator"&\\' +18 "core" ' +2 "storage"(O% +4 "core" %H V 9 \ +2 ."downElevator"SE.seek :down +4 "storage"(B'I +99 (% +3 "core" %2   \ V_ + "manipulator"&_% +4 "core" % , +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' +59 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast "storage"(6 +3 "collection"'& +4 "core" &YhDE[\ O +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&!% +4 "core" %\   +2 "storage"(% +4 "core" %[ y x ^\ +2 "storage"(Z. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +3 .tSC.seek 6 + "storage"((K +4 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (}& +2 "core" &K y y \  +2 "manipulator"&w& +4 "core" & + g +2 .tElbow.seek 6 +2 "manipulator"&r( +10 "core" ( +2 "manipulator"&E& +4 "core" & ; + "storage"( & +4 "core" &K w x Z\  +47 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts +2 "manipulator"&|' +105 "core" ' +2 "storage"(C& +4 "core" &K \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"( 'j +278 "core" ' +2 "storage"(- +3 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&>& +3 "core" & 5 +2 "storage"(*& +3 "core" &K X T D\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&'* +35 "core" ' + .tElbow.hold +2 "manipulator"&Q, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(- +2 "core" -' +2 .tSE.seek 0.05 Pucks below Top Plate +3 "storage"($' +27 "core" ' +2 "manipulator"&% +4 "core" %=? Q P d gx + "storage"( & +4 "core" &K x r\ q + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 319 counts +2 "manipulator"&'i +19 "core" ' +2 "manipulator"&I& +4 "core" & * T + "storage"(u& +4 "core" &K   \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&' +17 "core" ' +2 .tSE.seek 1.05 Pucks below Top Plate +2 "storage"([' +48 "core" ' +2 "manipulator"&T& +4 "core" & ; T + "manipulator"&% +4 "core" % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&{'\ +99 "core" ' +2 .tElbow.seek CC +2 "manipulator"&4( +154 "core" ( +2 "manipulator"&& +4 "core" &  % +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &t& +3 "core" & {  % +2 .tForearm.seek CC +2 "manipulator"&'Ϥ +92 "core" ' + .tHand.close +2 "manipulator"&G/ +67 "core" / +2 .tCC.seek :open + "collection"'<( +437 "core" ( +2 "storage"(~& +3 "core" &K .\  +2 "storage"(& +3 "core" &K !\  +2 "manipulator"&+& +4 "core" & % + "manipulator"&j% +4 "core" % ϒ  + .tForearm.seek :retract +2 "manipulator"&q'\ +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&F( +181 "core" ( +2 "manipulator"&-& +4 "core" & z ^  + "storage"(8& +4 "core" &K Z\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.seek 6 + "manipulator"&"'* +112 "core" ' + .tElbow.hold +2 "manipulator"&h, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&1 +73 "core" 1 +3 "manipulator"&l% +4 "core" % :d  r + "storage"(& +4 "core" &K \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 316 counts +2 "manipulator"&v'f +22 "core" ' +2 "manipulator"&R& +3 "core" & { ~ +2 "storage"(1& +4 "core" &K `\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts +2 "manipulator"&o' +30 "core" ' +2 "storage"(f% +4 "core" % ;\ +2 ."downElevator"SE.seek :down +3 "storage"(P'I +100 ((% +3 "core" %s3 \ U\\ + "manipulator"&:% +4 "core" % s r 4 H +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&&'\ +93 "core" ' +48 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast "storage"(6 +3 #tShuffling pucks in tube 7 of [1..7] +2 #Loading generic puck from tube 7 into Collection Clamp + "collection"''& +4 "core" &BEz\ +2 "manipulator"&g% +3 "core" %\   +2 "storage"(p% +4 "core" %Z \  +2 "storage"(2. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 7 + "storage"(([c +184 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (6& +2 "core" &[a \  E\  +2 "manipulator"&M& +4 "core" & = +2 .tElbow.seek 7 + "manipulator"&^( +3 "core" ( +2 "manipulator"&d& +4 "core" & M + "storage"(\ & +4 "core" &[a \  0\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 700 counts +2 "manipulator"&.' +99 "core" ' +2 "storage"(n& +4 "core" &[a \  \  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('j +292 "core" ' + "storage"()- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &[a \  + "manipulator"&%& +4 "core" & p o * + .tElbow.seek 7 +2 "manipulator"&( +3 "core" ( + "manipulator"&N& +4 "core" & } t 7 +2 "storage"(z& +3 "core" &[a \  +2 .tForearm.seek 7 + 300 counts +2 "manipulator"& 'N +27 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&K/ +76 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&/& +5 "storage"(@'I +4 "core" & s ! +2 "manipulator"&% +4 "core" % 9 t + .tForearm.seek :retract +3 "manipulator"&='\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&5( +147 "core" ' + ."downElevator"SE.coast + "storage"(5 +4 "core" ( +2 "manipulator"&& +3 "core" & u | E . + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &c& +3 "core" & x e . + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&]'Ϥ +107 "core" ' +2 "manipulator"&`& +4 "core" &  [ . + "manipulator"&S% +4 "core" %Ϩ u } )  +3 "collection"'a& +4 "core" &CDo\ +2 "collection"' & +4 "core" &EEm\ +2 .tCC.seek :closed +2 "collection"'X(Y +4 "core" &AE[\  +10 &/zCEd\ *y +9 &dBFk\ ? +10 &nwAEd\ O +9 &2ZDDc\ N +9 &ZBC]\ N +10 &_CGd\ N +9 &x^?Ek\ N +10 &;\\AFn\ M +9 &ZACh\ N +9 &\\DFh\ N +10 & ZBEi\ M +9 &"BYCEj\ N +9 &$^BDm\ M +10 &%ZCDi\ N +9 &'YEFj\ M +10 &)K\\@Di\ M +9 &+ ]CEn\ N +9 &,[AEi\ M +10 &.ZCFh\ M +9 &0R[BGl\ N +9 &2\\AFk\ N +10 &3_CFk\ N +9 &5_AGk\ N +10 &7Y^DGk\ N +9 &9[BGg\ M +9 &:ZBF[\ N +10 &<^CE]\ M +9 &>cYDF\\\ M +9 &@%ZBF\\\ M +10 &A\\BEd\ M +9 &C_BF_\ N +10 &Ej_CE_\ N +9 &G+bCGc\ N +9 &HkAD\\\ O +10 &JCEb\ S +9 &LVCF\\\ W +9 &NCD`\ Z +10 &OCF_\ [ +53 &QEGk\ [ + &SQBGi\ \\ +2 &UCEc\ \\ + &VEF[\ \\ + &XEG[\ I &Y3FFe\ )y +7 &YaCDc\ I +2 ( +2 "collection"' & +2 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 2.24 +2 .Hand.open + "manipulator"&i1 +69 "core" 1 +2 "manipulator"&e% +4 "core" % Ϩ ?  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&W'\ +94 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 7 into Processing Clamp +2 "processing"%& +3 "core" &\ +2 "manipulator"&,% +4 "core" %\ p p +2 "storage"(b% +4 "core" %O *\ + "storage"(V. +4 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +3 .tSC.seek 7 + "storage"(L([c +3 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +2 (Y& +3 "core" &[a G\  +2 "manipulator"&x& +3 "core" & z u . +2 "manipulator"&J% +3 "core" %\ n q  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&U( +152 "core" ( +2 "manipulator"&& +4 "core" & V + "storage"(m& +4 "core" &[a _\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 700 counts +2 "manipulator"&O' +89 "core" ' +2 "storage"(0& +3 "core" &[a \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(7'j +285 "core" ' + "storage"(A- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &[a y w O\  + "manipulator"&_& +4 "core" & ~ p +2 .tElbow.seek 7 + "manipulator"&k( +4 "core" ( + "manipulator"&?& +4 "core" & y  +2 "storage"(3& +3 "core" &[a i i \  +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&#'N +25 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +71 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +4 "storage"(!'I +5 "core" & W +2 "manipulator"&% +3 "core" % d  +2 .tForearm.seek :retract +2 "manipulator"&Z'\ +89 "core" ' +2 .tElbow.seek PC +2 "manipulator"&D( +166 "core" ' + ."downElevator"SE.coast + "storage"(5 +89 "core" ( +3 "manipulator"&}& +3 "core" & r q I u +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &w& +2 "core" & p s u +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&E'Њ +89 "core" ' +2 "manipulator"& & +4 "core" & u +2 "manipulator"&\\% +3 "core" %Ѐ w w 8 +2 "processing"%C& +4 "core" &\ +2 "processing"%B& +4 "core" &\ +2 .tPC.seek :closed +2 "processing"%y(Y +4 "core" &%\ +9 & %'\ #b +9 &V(\ 8 +10 & \ M +9 &Y\ O +10 &[Y!\ O +9 &Y$\ N +9 &Y#\ O +10 &X%\ O +9 &dW%\ N +9 &$\\$\ O +10 &]"\ O +9 &!\\!\ O +10 &#jY%\ O +9 &%-Z#\ O +9 &&Z#\ O +10 &(Y \ O +9 &*sZ"\ O +9 &,4Y"\ O +10 &-Z%\ O +9 &/\\&\ O +9 &1{Z"\ O +10 &3=Z!\ O +9 &5Z\ N +10 &6\\ \ O +9 &8\\ \ O +9 &:DZ\ O +10 &<Z\ O +9 &=Z \ O +9 &?X\ N +10 &AMY \ O +9 &C[$\ O +10 &D]\ O +9 &Fc\ P +9 &HRd"\ P +10 &Jg \ P +9 &K}#\ S +10 &M\ ~V +9 &OI\ U +9 &Q \ ~V +10 &R!\ U +9 &T\ U +9 &VP\ V +10 &X \ H +9 &Y5D\ !e +9 &Y?\ 6 +6 ( +2 "processing"%B& +3 #tProcessing Clamp onSpring/offSpring for 10/26 samples, on/off torque 1.52 + .Hand.open +2 "manipulator"&H1 +3 "core" &Y+\ 6 +70 1 + "manipulator"&% +4 "core" % Ѐ  8 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%>& +4 "core" &Y+ \ 6 +2 #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"&*% +3 "core" %\ \ v  +2 "storage"(% +4 "core" %Q U V q\ +2 "storage"(. +3 "core" . + .tSC.reconfigure :tight +3 "storage"($\ .(\ 1~b +2 .tSC.seek 7 + "storage"( ([c +2 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (I& +3 "core" &[a V U D\  +2 "manipulator"&u& +2 ."raiseStack"SE.reconfigure :place +4 "storage"(#].K-0-\ b +3 "core" & H u +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&T( +2 "storage"('j +4 "core" ( +2 "manipulator"&|& +3 "core" & R u +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &r& +3 "core" & | u +2 .tForearm.seek PC +2 "manipulator"& 'Њ +89 "core" ' + .tHand.close +2 "manipulator"&/ +74 "core" / +3 .tPC.seek :open + "processing"%( +82 "core" ' +2 "storage"($- +3 "core" -'j + ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(' +43 "core" ' +295 ( + "storage"(t& +4 "core" &[a \  +2 "manipulator"&& +3 "core" & n 0 u +2 "manipulator"&Q% +3 "core" %  y D G +2 .tForearm.seek :retract +2 "manipulator"&G'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&{( +269 "core" ( +2 "manipulator"&9& +3 "core" & Q  +2 "storage"(~& +4 "core" &[a @\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 700 counts +2 "manipulator"&' +90 "core" ' + .tHand.open +2 "manipulator"&+1 +70 "core" 1 +2 "storage"(j- +3 "core" -' +2 .tSE.seek -0.22 Pucks below Top Plate +2 "storage"(-' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +3 "storage"(8' +53 "core" ' + #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(4& +3 "core" &[a s \  +2 "manipulator"&& +4 "core" & D  + .tElbow.seek 7 +2 "manipulator"&l( +10 "core" ( +2 "manipulator"&& +3 "core" & .  +2 "storage"(R& +4 "core" &[a  \  +2 .tForearm.seek 7 + 700 counts +2 "manipulator"&1' +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(f'V +62 "core" ' +2 "manipulator"&q& +4 "core" &   + "storage"((& +4 "core" &[a %\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +48 "manipulator"&:'" +36 "core" ' + .tElbow.hold +2 "manipulator"&F, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"("'@ +34 "core" ' +2 "manipulator"&'% +4 "core" %'U 3 p + "storage"(v& +4 "core" &[a \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 7 + 305 counts +2 "manipulator"&g'S +12 "core" ' +2 "manipulator"&p& +4 "core" &  d +2 "storage"(2& +4 "core" &[a $\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 700 counts +2 "manipulator"&[' +27 "core" ' +2 "storage"(o% +4 "core" %D 2\ +2 ."downElevator"SE.seek :down +3 "storage"(6'I +100 (M% +4 "core" %7 \\ U\ T\\ + "manipulator"&d% +4 "core" %  j +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&\ '\ +109 "core" ' +40 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast "storage"(6 +3 "collection"'P& +4 "core" &Y_EF@\ I +2 #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"&% +4 "core" %\  $  +2 "storage"(n% +3 "core" %V \ +2 "storage"(h. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +3 .tSC.seek 7 + "storage"(&([c +2 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 ()& +2 "core" &[a \  +2 "manipulator"&& +3 "core" & 3 d +2 .tElbow.seek 7 +2 "manipulator"&%( +9 "core" ( +2 "manipulator"&N& +4 "core" &  w + "storage"(z& +4 "core" &[a <\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 700 counts +2 "manipulator"&K' +100 "core" ' +2 "storage"(/& +4 "core" &[a \  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('j +284 "core" ' + "storage"(^- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&.& +3 "core" &  w +2 "storage"(& +3 "core" &[a w\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 +2 "manipulator"&c'" +37 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"( - +3 "core" -' +2 .tSE.seek 0.03 Pucks below Top Plate + "storage"(`' +32 "core" ' +2 "manipulator"&S% +3 "core" %5? < H c h{ +2 "storage"(a& +4 "core" &[a \  + .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 7 + 319 counts +2 "manipulator"&'a +19 "core" ' +2 "manipulator"&@& +4 "core" & | h V + "storage"(=& +4 "core" &[a \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 700 counts +2 "manipulator"&<' +20 "core" ' +2 .tSE.seek 1.03 Pucks below Top Plate +2 "storage"(i' +48 "core" ' +2 "manipulator"&e& +4 "core" & S V +2 "manipulator"&% +3 "core" % \ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&,'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&b( +158 "core" ( +2 "manipulator"& & +3 "core" & V 1 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &V& +3 "core" & 1 +2 .tForearm.seek CC + "manipulator"&Y'Ϥ +93 "core" ' + .tHand.close +2 "manipulator"&x/ +67 "core" / +2 .tCC.seek :open + "collection"'J( +436 "core" ( +2 "storage"(]& +3 "core" &[a G\  +2 "storage"(& +3 "core" &[a \  +2 "manipulator"&m& +3 "core" & q / +2 "manipulator"&% +4 "core" % ϱ & + .tForearm.seek :retract +2 "manipulator"&0'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&5( +162 "core" ( +2 "manipulator"&W& +3 "core" & (  +2 "storage"(A& +4 "core" &[a \  {\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.seek 7 +2 "manipulator"&'" +108 "core" ' + .tElbow.hold +2 "manipulator"&_, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&?1 +68 "core" 1 +2 "manipulator"&3% +5 "core" % 3n : u +2 "storage"(& +3 "core" &[a   <\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 317 counts + "manipulator"&'_ +21 "core" ' +2 "manipulator"&& +3 "core" & u w $ J +2 "storage"(U& +4 "core" &[a C\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 700 counts +2 "manipulator"&O' +34 "core" ' +2 "storage"(7% +4 "core" %\ T\ +2 ."downElevator"SE.seek :down +3 "storage"(#'I +100 (}% +3 "core" %3 \ UZ + "manipulator"&w% +4 "core" % _  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&k'\ +101 "core" ' +39 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast "storage"(6 +4 ."shutdown"CS.coast +2 #tAsleep / Shutdown + "collection"'5 +3 ."shutdown"SS.coast + "sampler")5 +2 ."shutdown"CC.coast + "collection"'6 +3 ."shutdown"PC.coast + "processing"%6 +3 ."shutdown"Forearm.coast + "manipulator"&5 +2 ."shutdown"Elbow.coast + "manipulator"&6 +37 ."shutdown"Gate.power :core,:OFF +2 .Gate.power :raw,:OFF #Shutdown +2 .tdelay 5 seconds +502 #Powering core bus +482 .Gate.power :raw,:ON +2 "sampler") +25 )  +3 "core"  + "collection"' +2 '\\ +3 "core"  +2 "processing"% +2 %C +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ + % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'!% +2 "core" %AFa\ +2 .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%Z% +3 "core" % \ + .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler");% +2 "core" %ts +2 .tSS.configure :default +2 "sampler")#.0X% +2 "core" %  +2 .tForearm.configure :loose +2 "manipulator"&#Q@2^d^b +2 &*& +3 "core" &  + .tElbow.configure :tight +2 "manipulator"&$&.,(\ #b +5 "storage"(& +2 "core" & 4\ +2 .tSC.configure :loose +2 "storage"($.(\ 1~b +2 (B% +3 "core" % m j <\ + .tSE.configure :default +2 "storage"(#QK-0-\ b +2 .tCH.coast +2 "collection"'  +2 "core" + .tCH.configure :default +2 "collection"'\ 2 + .tPH.coast +2 "processing"%I  +3 "core" + .tPH.configure :default + "processing"%\ 2 +2 #tAll dwarf controllers running firmware version 3.85 +2 "sampler") +10 "collection"'u% +3 "core" %AGi\ +2 "processing"%|% +2 ."rdySampler"Intake.select :close +4 "manipulator"&r% + ."rdySampler"Exhaust.select :close +4 .CTV.dial :air + "collection"'E  +3 "core" %&\ + % Y + +2 ."rdyProcessing"PSV.dial :air +2 "manipulator"&% +2 ."rdySampler"CSV.dial :waste1 +4 "processing"%L  + "collection"'$ +4 "core" %  + +4 ."rdyProcessing"PS.reconfigure :default +2 .tForearm.reconfigure :loose +3 "processing"%#A d`xb +4 "manipulator"&#@2^d^b +2 ."rdyProcessing"PS.home.seek 0ml +4 .tForearm.home.seek :retract +2 "processing"%D'Ԥ +4 "manipulator"&'\ +2 "core" +2 ."rdySampler"SSV.dial :spit,avoiding: :exhaust + "sampler")y +3 "core"  +2 "sampler")  +5 "core" +2 ."readyCS"CS.reconfigure :fast +4 ."rdySampler"SS.reconfigure :default +2 "collection"'#d @b +3 "sampler")#.0X +3 "processing"%G& +2 "collection"'q& +6 "core" & \ + &CGp\ +2 ."openPC"PC.reconfigure :default +3 .tCC.reconfigure :default +3 "processing"%$x2 ^22b +2 "collection"'$x2 ^22b +3 ."openPC"PC.home.seek :open +3 .tCC.home.seek :open +2 "processing"%(( +4 "collection"'( +276 "core" ( +2 ( +2 #tShuffling pucks in tube 1 of [1..7] +2 #Loading generic puck from tube 1 into Collection Clamp + "collection"'-& +4 "core" &CFy\  + .tHand.open +2 "manipulator"&'1 +71 "core" 1 +13 "manipulator"&v% +4 "core" % \ v f + "storage"(p% +4 "core" %K J u\  + "storage"(2. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 1 +2 "storage"({( +193 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (& +2 "core" &\ $\  3\ +2 "manipulator"&8& +4 "core" & t w  +2 .tElbow.seek 1 +2 "manipulator"&o( +36 "core" ( +2 "manipulator"&1& +3 "core" & t  \ +2 "storage"(M& +4 "core" &\ "\  s\ +2 .tForearm.seek 1 + 700 counts +2 "manipulator"&d'W +95 "core" ' +2 "storage"(l& +4 "core" &\ \  F\ + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(f'j +260 "core" ' +2 "storage"(:- +3 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (g& +3 "core" & \ +2 "manipulator"&P& +3 "core" & e d j \ +2 .tElbow.seek 1 +2 "manipulator"&( +3 "core" ( + "manipulator"&n& +4 "core" & c `  \ +2 "storage"(h& +3 "core" &\  \ +2 .tForearm.seek 1 + 300 counts +3 "manipulator"&"' +28 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&)/ +71 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +4 "storage"(N'I +5 "core" & x w 7 \ +2 "manipulator"&z% +3 "core" % t t  +2 .tForearm.seek :retract +2 "manipulator"&['\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&/( +133 "core" ' + ."downElevator"SE.coast + "storage"(5 +26 "core" ( +2 "manipulator"&6& +4 "core" & a [ " + + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +2 "core" & d a  + +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&F'Ϥ +91 "core" ' +5 "manipulator"&\ & +4 "core" & h e ] + +2 "manipulator"&^% +4 "core" %ϟ c d : S +2 "collection"'.& +3 "core" &AEq\  +3 "collection"'& +4 "core" &BFl\  +2 .tCC.seek :closed +2 "collection"' (Y +5 "core" &BFl\ \  +9 &6BGo\ , +10 &hAFk\ A +9 &rsADk\ N +10 &5ZCEt\ N +9 &ZCEq\ M +9 &\\CEt\ M +10 &{_BFr\ N +9 &=YAFk\ N +9 &[DGi\ M +10 &XCFe\ N +9 & ZCEc\ M +9 &"FYAFi\ M +10 &$[AFm\ M +9 &%ZCFq\ N +10 &'YCGl\ M +9 &)N[@Fb\ M +9 &+YBGd\ N +10 &,ZCGb\ N +9 &.]AFa\ M +9 &0V\\CGZ\ M +10 &2]AG\\\ M +9 &3YCGb\ N +10 &5]DF^\ N +9 &7\\]DE[\ N +9 &9 ZFEZ\ M +10 &:YAHY\ N +9 &<\\CEd\ N +9 &>fXCHj\ M +10 &@'XAF^\ N +9 &AZBGe\ N +10 &C\\CGk\ N +9 &Em_@Hc\ N +9 &G-bCHk\ N +10 &HjCHn\ O +9 &JEGk\ S +10 &LWCHj\ X +9 &NEHi\ Y +9 &OBHn\ [ +10 &QEIm\ [\ +9 &SSEJj\ \\ +9 &UEIk\ \\ +10 &VEHk\ \\ +9 &XEIl\ I +9 &Y0DIr\ 't +10 &YpDHk\ L + ( +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 8/30 samples, on/off torque 2.29 + .Hand.open + "manipulator"&S1 +67 "core" 1 +2 "manipulator"&a% +3 "core" % ϟ z $ S +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&@'\ +96 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 1 into Processing Clamp + "processing"%=& +4 "core" & \  +2 "manipulator"&e% +3 "core" %\ e d  +2 "storage"(% +4 "core" %L \ +2 "storage"(K. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +3 .tSC.seek 1 + "storage"(%( +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (& +2 "core" & x\  +2 "manipulator"&c& +3 "core" & d c C + +2 "manipulator"&% +4 "core" %\ d c   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 +2 "manipulator"&`( +157 "core" ( +2 "manipulator"& & +4 "core" &  +47 "storage"(V& +5 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 700 counts +2 "manipulator"&<'W +94 "core" ' +2 "storage"(& +4 "core" & \  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +5 .tSE.seek :beamBreak + "storage"(x'j +269 "core" ' +2 "storage"(,- +3 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (X& +3 "core" & *\  +2 "manipulator"&]& +3 "core" & z B  +2 .tElbow.seek 1 +2 "manipulator"&( +3 "core" ( + "manipulator"&m& +4 "core" & ~ i  +2 "storage"(& +4 "core" & /\  +2 .tForearm.seek 1 + 300 counts + "manipulator"&W' +28 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&A/ +75 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&Y& +5 "storage"(b'I +4 "core" & s t -  +2 "manipulator"&?% +4 "core" % p r  +2 .tForearm.seek :retract +2 "manipulator"&3'\ +96 "core" ' +4 .tElbow.seek PC +2 "manipulator"&( +134 "core" ' + ."downElevator"SE.coast + "storage"(5 +115 "core" ( +2 "manipulator"&& +3 "core" & | q ] +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &U& +3 "core" & | +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&7'Њ +97 "core" ' +2 "manipulator"&0& +4 "core" & e c G +2 "manipulator"&}% +3 "core" %Ў a W +2 "processing"%w& +4 "core" &'\  +2 "processing"%5& +5 "core" &$\  +2 .tPC.seek :closed +2 "processing"%(Y +3 "core" & \  +9 &G\ %h +9 &oV\ \ 9 +10 &{\ \ M +9 &]\ O +10 &GY\ O +9 &\ Z \ N +9 &Z \ N +10 &\\\ O +9 &O] \ O +9 &\\ \ O +10 &Z \ O +9 &!\\ \ O +10 &#W] \ O +9 &%X \ O +9 &&] \ N +10 &(Z\ \ N +9 &*_\\ \ O +9 &,!X \ O +10 &-Z \ O +9 &/\\ \ O +10 &1f] \ O +9 &3)[ \ O +9 &4^ \ O +10 &6\\ \ N +9 &8oZ \ O +9 &:2\\\ \ N +10 &;[ \ O +9 &=Y \ O +10 &?xZ \ N +9 &A:Z \ N +9 &BZ\ O +10 &D\\ \ O +9 &F|b \ P +9 &H>` \ P +10 &Ih \ P +9 &Kv \ R +10 &Mr\ V +9 &O4 \ V +9 &P\ \ V +10 &R \ U +9 &Tz \ V +9 &V< \ V +10 &W \ N +9 &Y0B~\ \ $l +9 &Y9 \ 2 +6 ( +2 "processing"%5& +3 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.54 +2 .Hand.open + "manipulator"&1 +3 "core" &Y% \ 2 +70 1 + "manipulator"&i% +4 "core" % Ѝ 1 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&O'\ +93 "core" ' +3 .tSC.coast + "storage"(6 +3 "processing"%#& +4 "core" &Y%\ 2 + #tImaging generic puck in Processing Clamp while storing it to tube 1 +2 "manipulator"&&% +3 "core" %\  I _ +2 "storage"(s% +4 "core" %K &\ + "storage"(. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 1 +2 "storage"(J( +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (& +2 "core" & \  +2 "manipulator"&k& +3 "core" & e +2 "manipulator"&_% +4 "core" %\  f _ +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 1 + "manipulator"& ( +267 "core" ( +2 "manipulator"&\\& +4 "core" &  \ + "storage"(C& +4 "core" & E\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 700 counts +2 "manipulator"&!'W +96 "core" ' +2 "storage"(Z& +3 "core" & 3\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(;'j +286 "core" ' + "storage"(H- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &  \ +2 "storage"(>& +3 "core" & 9\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 1 +2 "manipulator"&*'Λ +35 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(B- +3 "core" -' +2 .tSE.seek 1.02 Pucks below Top Plate +2 "storage"(' +41 "core" ' +2 "manipulator"&I% +3 "core" %Ω^ B . e +2 "storage"(u& +4 "core" &\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 1 + 314 counts + "manipulator"&r' +22 "core" ' +2 "manipulator"&|& +4 "core" &  \ + "storage"(E& +4 "core" & y x n\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 700 counts + "manipulator"&'W +22 "core" ' +2 .tSE.seek 2.02 Pucks below Top Plate +2 "storage"(L' +45 "core" ' +2 "manipulator"&$& +4 "core" &  \ +2 "manipulator"&y% +3 "core" %R  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' +4 .tElbow.seek PC +2 "manipulator"&Q( +255 "core" ( +2 "manipulator"& & +3 "core" & } f +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &~& +2 "core" & s 9 f +2 .tForearm.seek PC +2 "manipulator"&D'Њ +89 "core" ' + .tHand.close +2 "manipulator"&j/ +72 "core" / +2 .tPC.seek :open + "processing"%( +434 "core" ( + "storage"(R& +4 "core" & \  +2 "manipulator"&q& +3 "core" & e a  f +2 "manipulator"&G% +4 "core" % К d e E G + .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 + "manipulator"&9( +271 "core" ( +2 "manipulator"&& +3 "core" &   +2 "storage"(-& +4 "core" & A\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 700 counts +2 "manipulator"&''W +103 "core" ' +3 .tHand.open +2 "manipulator"&v1 +69 "core" 1 +2 "storage"(p- +3 "core" -' +2 .tSE.seek 1.77 Pucks below Top Plate +2 "storage"(2' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(' +53 "core" ' + #tLights, camera, ACTION! +2 "storage"(8- +3 "core" -' +2 "storage"(1& +3 "core" &   \  +2 "manipulator"&M& +4 "core" & t r  +40 .tElbow.seek 1 +10 "manipulator"&+( +8 "core" ( +2 "manipulator"&l& +3 "core" & t # +2 "storage"(4& +4 "core" &  W\  +2 .tForearm.seek 1 + 700 counts +2 "manipulator"&'W +13 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek 1.89 Pucks below Top Plate + "storage"(:'2 +58 "core" ' +2 "manipulator"&g& +4 "core" & | > + "storage"(P& +4 "core" & \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 1 +2 "manipulator"&n'Λ +32 "core" ' + .tElbow.hold +2 "manipulator"&h, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 2.07 Pucks below Top Plate +3 "storage"(T' +19 "core" ' +2 "manipulator"&)% +4 "core" %ίn X X e +2 "storage"(& +3 "core" & = > S\  +2 .tForearm.force -20 "manipulator"&5 +3 .tForearm.seek 1 + 320 counts +2 "manipulator"&z' +22 "core" ' +2 "manipulator"&o& +4 "core" & ~ J +2 "storage"(d& +3 "core" & p\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 700 counts +2 "manipulator"&6'W +25 "core" ' +3 "storage"( % +4 "core" %" \ +2 ."downElevator"SE.seek :down +4 "storage"(f'I +99 ("% +3 "core" %E/ \ T[ +2 "manipulator"&\ % +3 "core" %a | * C +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&^'\ +94 "core" ' +33 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast "storage"(6 +3 "collection"'.& +4 "core" &YeBHc\ L +2 #tStoring generic puck in Collection Clamp to tube 1 + "manipulator"&% +4 "core" %\  +2 "storage"(N% +4 "core" %P ^\ + "storage"([. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 1 +2 "storage"(( +4 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (S& +3 "core" & L\  + "manipulator"&a& +4 "core" & +2 .tElbow.seek 1 +2 "manipulator"&=( +3 "core" ( +2 "manipulator"&e& +3 "core" &  +2 "storage"(& +3 "core" & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 700 counts +2 "manipulator"&'W +96 "core" ' +2 "storage"(K& +4 "core" & \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('j +269 "core" ' + "storage"(c- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & }  + "storage"(F& +4 "core" & \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 1 +2 "manipulator"& 'Λ +37 "core" ' + .tElbow.hold +2 "manipulator"&V, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"({- +2 "core" -' +2 .tSE.seek 2.03 Pucks below Top Plate +2 "storage"(/' +27 "core" ' +2 "manipulator"&% +3 "core" %΢U   E ` +2 "storage"(@& +4 "core" &  \  + .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 1 + 307 counts +2 "manipulator"&,' +22 "core" ' +2 "manipulator"&X& +3 "core" & {  +2 "storage"(]& +4 "core" & 5\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 700 counts +2 "manipulator"&m'W +25 "core" ' +2 .tSE.seek 3.03 Pucks below Top Plate +2 "storage"(' +46 "core" ' +2 "manipulator"&A& +4 "core" & x  + "manipulator"&Y% +4 "core" %Y  S Y +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&?'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&`( +161 "core" ( +2 "manipulator"&<& +3 "core" & c ^ - +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &x& +3 "core" & X ] - +2 .tForearm.seek CC + "manipulator"&W'Ϥ +91 "core" ' + .tHand.close +2 "manipulator"&/ +69 "core" / +2 .tCC.seek :open + "collection"'U( +434 "core" ( +2 "storage"(& +3 "core" &\ \ \  +2 "storage"(0& +3 "core" & \ 1\  +2 "manipulator"&}& +4 "core" & q f w - + "manipulator"&w% +4 "core" % ϒ e c I +2 .tForearm.seek :retract +2 "manipulator"&b'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 +2 "manipulator"&3( +158 "core" ( +2 "manipulator"&(& +3 "core" &  +2 "storage"(& +4 "core" & \  h\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.seek 1 +2 "manipulator"&i'Λ +107 "core" ' + .tElbow.hold +2 "manipulator"&#, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&&1 +74 "core" 1 +5 "manipulator"&5% +4 "core" % Ω{ y o 2 j + "storage"(s& +4 "core" & \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 1 + 314 counts + "manipulator"&' +12 "core" ' +2 "manipulator"&& +3 "core" & v | (  +2 "storage"(k& +4 "core" &  ^\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 700 counts + "manipulator"&_'W +19 "core" ' +2 "storage"(7% +4 "core" %   \ +2 ."downElevator"SE.seek :down +3 "storage"(%'I +100 (\\% +3 "core" %C6\ \ &\ UZ + "manipulator"&C% +4 "core" %N x } A +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +87 "core" ' +34 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 #tShuffling pucks in tube 2 of [1..7] + #Loading generic puck from tube 2 into Collection Clamp +2 "collection"'Z& +4 "core" &DGf\ + "manipulator"&O% +4 "core" %\  l +2 "storage"(H% +4 "core" %Y @ @ M\ +2 "storage"(. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +3 .tSC.seek 2 + "storage"(>( +186 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (B& +3 "core" &  < A \  + "manipulator"&I& +48 "core" & g  +5 .tElbow.seek 2 + "manipulator"&u( +3 "core" ( +2 "manipulator"&|& +3 "core" &  +2 "storage"(E& +4 "core" &  4 = \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&$'a +95 "core" ' +2 "storage"(y& +4 "core" &  *  \  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(!'j +283 "core" ' +2 "storage"( - +3 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (;& +3 "core" &  g\  + "manipulator"&*& +4 "core" & |  + .tElbow.seek 2 +4 "manipulator"&r( +3 "core" ( +2 "manipulator"&& +3 "core" & |   +2 "storage"(& +3 "core" & \ \  <\  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"& ' +22 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&~/ +71 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +4 "storage"(j'I +6 "core" & v s  +2 "manipulator"&% +3 "core" % g p +2 .tForearm.seek :retract +2 "manipulator"&'\ +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&R( +156 "core" ' + ."downElevator"SE.coast + "storage"(5 +4 "core" ( +2 "manipulator"&q& +3 "core" & g j d . +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &G& +3 "core" & g f , . +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&D'Ϥ +95 "core" ' +5 "manipulator"&& +4 "core" & : 9 . +2 "manipulator"&-% +4 "core" %ϗ 6 8 H  +2 "collection"'Q& +3 "core" &CGo\ +3 "collection"'v& +4 "core" &AFp\ +2 .tCC.seek :closed +2 "collection"'p(Y +3 "core" &AGk\  +10 &1~@Gn\ *x +9 &bAFk\ > +10 &ox?F`\ N +9 &2ZCJd\ M +9 &\\BFX\ M +10 &_DHX\ N +9 &w]CHc\ N +10 &;UBF\\\ M +9 &[BE`\ M +9 &WCFY\ M +10 & ZDGi\ N +9 &"B\\BG_\ M +9 &$YCFf\ M +10 &%YBGh\ N +9 &']CDg\ M +9 &)J^BGc\ M +10 &+ YDFZ\ M +9 &,\\AGW\ M +10 &.ZAFX\ N +9 &0RZBGf\ M +9 &2]CGc\ M +10 &3_AH`\ M +9 &5ZAFi\ N +10 &7X]DFb\ N +9 &9ZBGg\ M +9 &:[AFi\ N +10 &<\\AE`\ N +9 &>a[BGj\ N +9 &@#[CEk\ N +10 &AZCGo\ M +9 &C\\AEr\ N +10 &Ej^BFk\ M +9 &G)bAEj\ N +9 &HjBGm\ O +10 &JCIm\ R +9 &LTCHk\ X +9 &NEIl\ X +10 &OCHk\ Z +9 &QEHl\ [ +10 &SQCHl\ [ +9 &UEIk\ \\ +9 &VFHo\ \\ +10 &XDGl\ H +9 &Y2DGi\ )z +9 &YlDIj\ L +2 ( +2 "collection"'v& +2 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 2.29 + .Hand.open +2 "manipulator"&81 +76 "core" 1 +4 "manipulator"&1% +4 "core" % ϗ g M  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&M'\ +102 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"&l% +4 "core" %\ }  + "storage"(4% +4 "core" %Y B\  +2 "storage"(g. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 2 +2 "storage"(P( +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (L& +2 "core" &  \  +2 "manipulator"&2& +3 "core" &  x . +2 "manipulator"&)% +4 "core" %\ { +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&( +158 "core" ( +2 "manipulator"&o& +3 "core" & { ~ [ , +2 "storage"(d& +4 "core" &  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"& 'a +102 "core" ' +2 "storage"(9& +4 "core" &  5\  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(''j +284 "core" ' +2 "storage"(- +3 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ("& +3 "core" &  \  + "manipulator"&\ & +4 "core" & x 8 + +2 .tElbow.seek 2 + "manipulator"&( +17 "core" ( +2 "manipulator"&+& +3 "core" & {  H +2 "storage"(:& +4 "core" &  @\  +2 .tForearm.seek 2 + 300 counts + "manipulator"&n' +25 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&./ +68 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +4 "storage"(z'I +3 "core" &\ h K H +2 "manipulator"&N% +3 "core" % ϻ  } s ? +2 .tForearm.seek :retract +2 "manipulator"&['\ +94 "core" ' +2 .tElbow.seek PC +2 "manipulator"&S( +160 "core" ' + ."downElevator"SE.coast + "storage"(5 +105 "core" ( +4 "manipulator"&a& +4 "core" & h p K D +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &T& +3 "core" & o q D + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&e'Њ +101 "core" ' +2 "manipulator"&& +4 "core" &\ \  d ~D +2 "manipulator"&6% +3 "core" %Ё\ \  @  +2 "processing"%K& +4 "core" &%\ +2 "processing"%f& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%J(Y +4 "core" & \ +8 &7 \ $c +9 &T\ \ 7 +10 &}\ L +9 &Y \ O +10 &QX\ O +9 &W\ \ O +9 &W\ O +10 &W\ N +9 &ZV \ N +9 &\\ \ O +10 &] \ O +9 &!^ \ O +10 &#aX\ \ O +9 &%$Y\ \ N +9 &&Z\ O +10 &(\\\ \ N +9 &*hZ\ \ O +9 &,,X \ N +10 &-Y \ N +9 &/\\ \ O +10 &1rZ \ N +9 &32Z\ O +9 &4X \ O +10 &6[ \ N +9 &8yZ \ O +9 &:;Y \ O +10 &;Z \ N +9 &=Z \ O +10 &?W\ N +9 &ADX \ N +9 &C\\ \ O +10 &D]\ O +9 &Fb\ P +9 &HI` \ O +10 &Jm \ Q +9 &K \ T +10 &M| \ V +9 &O>\ V +9 &Q\ V +10 &R\ V +9 &T\ V +9 &VG\ U +10 &X\ H +9 &Y0E\ #j +10 &Y5\ 4 +5 ( +2 "processing"%f& +3 #tProcessing Clamp onSpring/offSpring for 10/26 samples, on/off torque 1.56 + .Hand.open +2 "manipulator"&h1 +3 "core" &Y*\ 4 +67 1 + "manipulator"&^% +4 "core" %  s " +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +3 "manipulator"&c'\ +94 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%& +4 "core" &Y*\ 4 + #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&F% +4 "core" %\ \ r s D  + "storage"({% +4 "core" %O \ + "storage"(. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 2 +2 "storage"(@( +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +4 (X& + "manipulator"&]& +5 "core" &  \  +2 & x D +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +49 "storage"(#].K-0-\ b +4 "manipulator"&A( +5 ."raiseStack"SE.seek :beamBreak +2 "storage"(Y'j +2 "core" ( +2 "manipulator"&& +3 "core" & y K D +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &=& +3 "core" & r s  D +2 .tForearm.seek PC +2 "manipulator"&'Њ +95 "core" ' +4 .tHand.close +2 "manipulator"& / +70 "core" / +2 .tPC.seek :open +2 "processing"%,( +76 "core" ' +2 "storage"(/- +3 "core" -'j + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(<' +34 "core" ' +307 ( +4 "storage"(x& +4 "core" &  C\  +2 "manipulator"&m& +3 "core" & b X D +2 "manipulator"&V% +4 "core" % Б d [  +2 .tForearm.seek :retract + "manipulator"&'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&?( +109 "Can"\ \ BA +161 "core" ( +2 "manipulator"& & +4 "core" &   + "storage"(& +4 "core" &  4\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&0'a +94 "core" ' +4 .tHand.open +2 "manipulator"&}1 +74 "core" 1 +2 "storage"(w- +3 "core" -' +2 .tSE.seek -0.22 Pucks below Top Plate +2 "storage"((' +33 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(' +53 "core" ' + #tLights, camera, ACTION! +2 "storage"(W- +3 "core" -' +2 "storage"(`& +3 "core" & \  +2 "manipulator"&&& +4 "core" & M + .tElbow.seek 2 +2 "manipulator"&5( +8 "core" ( +2 "manipulator"&s& +4 "core" &   + "storage"(& +4 "core" & \  +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&k'a +17 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(7'V +59 "core" ' +2 "manipulator"&b& +4 "core" & r s &  + "storage"(\\& +4 "core" &  \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&C'Υ +38 "core" ' + .tElbow.hold +2 "manipulator"&3, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(i'@ +24 "core" ' +2 "manipulator"&Z% +4 "core" %άd a  J +2 "storage"(O& +3 "core" &  # " \  +2 .tForearm.force -20 "manipulator"&5 +3 .tForearm.seek 2 + 307 counts +2 "manipulator"&H' +18 "core" ' +2 "manipulator"&& +4 "core" & z U  +2 "storage"(& +3 "core" &  #\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&'a +24 "core" ' +2 "storage"(_% +4 "core" %I \ +6 ."downElevator"SE.seek :down +3 "storage"(B'I +100 (I% +3 "core" %4 E\ U\\ + "manipulator"&|% +4 "core" %d } } @ _ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&E'\ +93 "core" ' +56 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 "collection"'%& +4 "core" &YeAGT\ L +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&% +4 "core" %\  } l  +2 "storage"(y% +3 "core" %E e\ +2 "storage"(#. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 2 +2 "storage"(( +3 "core" ( + .tSC.reconfigure :loose +3 "storage"($.(\ 1~b +2 ( & +3 "core" &  A\  + "manipulator"&;& +4 "core" & ~  8  +2 .tElbow.seek 2 +2 "manipulator"&*( +3 "core" ( + "manipulator"&& +4 "core" & ~ y  +2 "storage"(& +3 "core" &  \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&~'a +104 "core" ' +2 "storage"(& +4 "core" &  T\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('j +282 "core" ' + "storage"(u- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&$& +3 "core" & r  + "storage"(q& +3 "core" &  I\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&G'Υ +36 "core" ' + .tElbow.hold +2 "manipulator"&!, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"( - +2 "core" -' +2 .tSE.seek 0.03 Pucks below Top Plate +2 "storage"(' +32 "core" ' +2 "manipulator"&-% +3 "core" %ΰ]  . T +2 "storage"(Q& +3 "core" &    p\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 2 + 311 counts +2 "manipulator"&r' +25 "core" ' +2 "manipulator"&j& +5 "core" & u } _  +3 "storage"(& +7 "core" &  w\  +4 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek 2 + 700 counts +4 "manipulator"&U'a +26 "core" ' +4 .tSE.seek 1.03 Pucks below Top Plate +4 "storage"(8' +51 "core" ' +4 "manipulator"&1& +8 "core" & U  +3 "manipulator"&% +8 "core" %V x D +4 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +5 .tForearm.seek :retract +3 "manipulator"&v'\ +91 "core" ' +2 .tElbow.seek CC + "manipulator"&l( +161 "core" ( +2 "manipulator"&4& +3 "core" & T 0 0 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &g& +3 "core" & H  0 + .tForearm.seek CC +2 "manipulator"&L'Ϥ +92 "core" ' + .tHand.close +2 "manipulator"&2/ +66 "core" / +2 .tCC.seek :open + "collection"')( +437 "core" ( + "storage"(D& +4 "core" & \ #\  \  +2 "storage"(o& +3 "core" & \ \ \  +2 "manipulator"&d& +3 "core" &\ \  Q / +2 "manipulator"&>% +4 "core" % Ϛ\ \  V W + .tForearm.seek :retract +2 "manipulator"&9'\ +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&R( +161 "core" ( +2 "manipulator"&M& +3 "core" & c b # +47 "storage"(& +6 "core" &    \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.seek 2 +2 "manipulator"&"'Υ +107 "core" ' + .tElbow.hold +2 "manipulator"&\ , +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&+1 +74 "core" 1 +5 "manipulator"&:% +4 "core" % θ{ 9 U! + "storage"(.& +4 "core" &  \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 319 counts +2 "manipulator"&' +21 "core" ' +2 "manipulator"&N& +4 "core" & p m j " + "storage"(& +4 "core" & \ '\ ( #\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"& 'a +25 "core" ' +2 "storage"('% +4 "core" %  G\ +2 ."downElevator"SE.seek :down +3 "storage"(n'I +100 (a% +3 "core" %2 x\ TZ + "manipulator"&T% +4 "core" %g d b Y +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' +50 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast "storage"(6 +3 #tShuffling pucks in tube 3 of [1..7] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'& +4 "core" &BEf\ +2 "manipulator"&6% +4 "core" %\ u  +2 "storage"(K% +3 "core" %Q   ;\ +2 "storage"(z. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +3 .tSC.seek 3 + "storage"([(z +190 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (& +2 "core" &{\  T\  +2 "manipulator"&h& +4 "core" & | 1 " + .tElbow.seek 3 +2 "manipulator"&^( +16 "core" ( +2 "manipulator"&& +3 "core" &\ a c G +2 "storage"(F& +4 "core" &{ \  J\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&{' +96 "core" ' +2 "storage"(f& +3 "core" &{\  S\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('j +283 "core" ' + "storage"(X- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (]& +3 "core" &{ U\  + "manipulator"&& +4 "core" &\ ` d 3 E +2 .tElbow.seek 3 + "manipulator"&=( +4 "core" ( +2 "manipulator"&e& +3 "core" &\ e c z E +2 "storage"(P& +3 "core" &{ V\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"& 'l +24 "core" ' +3 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&S/ +72 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&/& +5 "storage"(c'I +4 "core" &\ }  E +2 "manipulator"&J% +4 "core" % } y + .tForearm.seek :retract +3 "manipulator"&Y'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&x( +142 "core" ( +2 "manipulator"&m& +4 "core" & c c 8 & + ' + ."downElevator"SE.coast +3 .tElbow.reconfigure :loose + "storage"(5 +4 "manipulator"&$ &.,(#b +3 &V& +2 "core" & ^ d & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'Ϥ +98 "core" ' +2 "manipulator"& & +4 "core" & o l M & +2 "manipulator"&% +3 "core" %ϵ \\ Y $ +2 "collection"'A& +4 "core" &?Gh\ +2 "collection"'}& +4 "core" &BFg\ +2 .tCC.seek :closed +6 "collection"'w(Y +3 "core" &AFi\ +5 &AGr\ 5 +9 &8G|BFf\ 0 +10 &_q@Fo\ E +9 &c@En\ N +10 &^BDg\ M +9 &^CFj\ N +9 &I[AF_\ N +10 & \\DFf\ N +9 &YAEj\ M +9 &\\CGk\ M +10 &RZCGg\ M +9 &![BGn\ M +10 &"\\CGf\ M +9 &$XBFj\ M +9 &&YYCEi\ N +10 &(ZBFd\ N +9 &)ZAFi\ N +9 &+[BHg\ M +10 &-cWBE_\ M +9 &/#ZDFf\ N +10 &0ZAGf\ M +9 &2^CFZ\ M +9 &4j_CEi\ M +10 &6,YAEf\ M +9 &7^CGa\ M +9 &9ZCHS\ M +10 &;rYBF\\\ M +9 &=4^BHb\ M +10 &>\\AGb\ M +9 &@ZBHZ\ M +9 &B{WAFW\ M +10 &D;`AG^\ N +9 &E]AGj\ N +9 &GaCEg\ N +10 &I|mBFZ\ O +9 &K2DFd\ T +10 &LEFX\ X +9 &NDHd\ Z +9 &PdDFb\ Z +10 &R%BHX\ [ +9 &SCJ_\ \\ +9 &UDGi\ \\ +10 &WgEHk\ \\ +9 &Y zDGc\ 0 +10 &Y&EG[\ U +8 ( +2 &YoCHf\ M +2 "collection"'}& +2 #tCollection Clamp onSpring/offSpring for 8/30 samples, on/off torque 2.20 + .Hand.open +2 "manipulator"&W1 +76 "core" 1 +4 "manipulator"&`% +4 "core" % ϵ l | +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&&'\ +90 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%& +4 "core" & \ +2 "manipulator"&s% +4 "core" %\  g d Y q + "storage"(% +4 "core" %B \ +2 "storage"(b. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 3 +2 "storage"(\\(z +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (<& +2 "core" &{ x\  +2 "manipulator"&Z& +3 "core" & e d = & +2 "manipulator"&O% +4 "core" %\  e g 9 q +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 + "manipulator"&(( +147 "core" ( +2 "manipulator"&& +3 "core" & }  +2 "storage"(& +3 "core" &{ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&_' +106 "core" ' +2 "storage"(?& +3 "core" &{ \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(0'j +283 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (I& +2 "core" &{ $\  +2 "manipulator"&|& +3 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&k( +3 "core" ( + "manipulator"&5& +4 "core" & q  +2 "storage"(7& +3 "core" &{ \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&C'l +28 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&H/ +76 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&%& +5 "storage"('I +4 "core" &   +2 "manipulator"&y% +4 "core" % { + .tForearm.seek :retract +2 "manipulator"&#'\ +104 "core" ' +2 .tElbow.seek PC +2 "manipulator"&i( +150 "core" ' + ."downElevator"SE.coast + "storage"(5 +109 "core" ( +3 "manipulator"& & +4 "core" & d e = M +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &;& +3 "core" & e f  M + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +49 "manipulator"&'Њ +89 "core" ' +2 "manipulator"&& +4 "core" & I = M +2 "manipulator"&% +3 "core" %Ё H E % J +2 "processing"%& +4 "core" &:\ +2 "processing"%B& +4 "core" &6\ +2 .tPC.seek :closed +2 "processing"%@(Y +4 "core" &\  +10 &0}"\ +z +9 &c!\ ? +10 &iy\ O +9 &,X\ O +10 &\\\ O +9 &Y\ O +9 &s\\ \ N +10 &5Z \ N +9 &Y \ O +9 &W \ N +10 & {[\ N +9 &"=Z\ N +10 &#Z\ N +9 &%]\ \ O +9 &'\\\ O +10 &)E\\\ N +9 &+Z\ N +9 &,Y\ N +10 &.X \ O +9 &0M\\ \ N +10 &2[ \ O +9 &3^\ O +9 &5Y\ O +10 &7TY \ O +9 &9Y \ O +9 &:Z\ \ N +10 &<Y \ N +9 &>\\\\ \ O +10 &@\\ \ O +9 &AY \ N +9 &C^ \ O +10 &Ee\\ \ N +9 &G#e \ P +9 &Hf \ P +10 &Jk\ \ P +9 &L\\\ T +10 &N \ V +9 &O\ \ V +9 &Q \ V +10 &Sa \ U +9 &U" \ U +9 &V \ V +10 &X{v \ ? +9 &Ye)n \ T +10 &Y~A\ ; +2 ( + "processing"%B& +3 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.53 + .Hand.open + "manipulator"&31 +72 "core" 1 +2 "manipulator"&E% +4 "core" % Ё  J + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&u'\ +92 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%$& +4 "core" &Y~?\ ; +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&q% +3 "core" %\ y { F  +2 "storage"( % +4 "core" %X \ + "storage"(-. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 3 +2 "storage"(Q(z +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (j& +2 "manipulator"&& +5 "core" &{ { 2\  +2 & | U M +3 ."raiseStack"SE.reconfigure :place +3 .tElbow.reconfigure :tight +3 "storage"(#].K-0-\ b +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&1( +4 "storage"('j +3 "core" ( +2 "manipulator"&~& +3 "core" & ~ ! M +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &*& +3 "core" & {  M +2 .tForearm.seek PC +2 "manipulator"&'Њ +92 "core" ' + .tHand.close +2 "manipulator"&G/ +77 "core" / +2 .tPC.seek :open +2 "processing"%r( +80 "core" ' +2 "storage"(- +3 "core" -'j + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(4' +39 "core" ' +301 ( + "storage"(g& +4 "core" &{ \  +2 "manipulator"&U& +3 "core" & S  M +2 "manipulator"&!% +4 "core" % y C 7 " + .tForearm.seek :retract +2 "manipulator"&2'\ +94 "core" ' +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&v( +273 "core" ( +2 "manipulator"&p& +3 "core" & } t N +2 "storage"(D& +4 "core" &{ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&o' +91 "core" ' + .tHand.open +2 "manipulator"&d1 +66 "core" 1 +2 "storage"(>- +3 "core" -' +2 .tSE.seek -0.22 Pucks below Top Plate +2 "storage"(M' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +4 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(' +52 "core" ' + #tLights, camera, ACTION! +2 "storage"(L- +3 "core" -' +2 "storage"(l& +3 "core" &{  \  +2 "manipulator"&+& +3 "core" & q t ' +2 .tElbow.seek 3 +2 "manipulator"&:( +3 "core" ( +2 "manipulator"&.& +4 "core" & +2 "storage"(N& +3 "core" &{  <\  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&' +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"(''V +62 "core" ' +2 "manipulator"&9& +4 "core" & | | + "storage"(a& +4 "core" &{ t\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&T'@ +41 "core" ' + .tElbow.hold +2 "manipulator"&R, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"("'@ +25 "core" ' +2 "manipulator"&% +4 "core" %HC $ , 7 ] + "storage"(& +4 "core" &{ &\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 308 counts +2 "manipulator"&6't +21 "core" ' +2 "manipulator"&K& +4 "core" & Y +2 "storage"(z& +3 "core" &{ 9\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&8' +29 "core" ' +2 "storage"( % +4 "core" %F j\ +2 ."downElevator"SE.seek :down +4 "storage"('I +99 (h% +3 "core" % 3 \ U] +2 "manipulator"&% +3 "core" % | K +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&F'\ +92 "core" ' +56 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 "collection"'n& +4 "core" &YoDHJ\ M +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&% +4 "core" %\  p s  \ e +2 "storage"(f% +4 "core" %I \ + "storage"(\ . +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 3 +2 "storage"((z +4 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (X& +2 "core" &{ {\  +2 "manipulator"&]& +4 "core" & r s  +2 .tElbow.seek 3 +2 "manipulator"&( +2 "core" ( +2 "manipulator"&e& +4 "core" & |  I + "storage"(P& +4 "core" &{ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&S' +91 "core" ' +2 "storage"(/& +4 "core" &{ Q\  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(J'j +285 "core" ' + "storage"(^- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&{& +2 "core" & 6 +2 "storage"(m& +3 "core" &{ -\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&V'@ +39 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"( - +3 "core" -' +49 .tSE.seek 0.03 Pucks below Top Plate +2 "storage"( ' +26 "core" ' +2 "manipulator"&% +3 "core" %SH  D +2 "storage"(A& +3 "core" &{ $\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 319 counts +2 "manipulator"&=' +22 "core" ' +2 "manipulator"&c& +4 "core" &  { S + "storage"(Y& +4 "core" &{ G\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&)' +27 "core" ' +2 .tSE.seek 1.03 Pucks below Top Plate +2 "storage"(W' +49 "core" ' +2 "manipulator"&`& +4 "core" & | z G +2 "manipulator"&% +3 "core" % z ~ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&s'\ +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&}( +161 "core" ( +3 "manipulator"&& +4 "core" & \\ h ; / + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &b& +2 "core" & ] Z / +2 .tForearm.seek CC +2 "manipulator"&<'Ϥ +93 "core" ' + .tHand.close +2 "manipulator"&Z/ +72 "core" / +2 .tCC.seek :open + "collection"'O( +437 "core" ( +2 "storage"(& +3 "core" &{ P\  +2 "storage"(& +3 "core" &{ @\  +2 "manipulator"&& +4 "core" &  |/ +2 "manipulator"&[% +3 "core" % Ϟ  |" +2 .tForearm.seek :retract +2 "manipulator"&?'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&x( +150 "core" ( +2 "manipulator"&&& +3 "core" & r |  +2 "storage"(& +4 "core" &{\ \  p\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.seek 3 +2 "manipulator"&I'@ +115 "core" ' + .tElbow.hold +2 "manipulator"&|, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&51 +71 "core" 1 +2 "manipulator"&7% +6 "core" % G] 9 4 r a +2 "storage"(H& +3 "core" &{ R R M\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 307 counts + "manipulator"&%'s +21 "core" ' +2 "manipulator"&y& +4 "core" &   + "storage"((& +4 "core" &{\ \ # .\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&_' +24 "core" ' +2 "storage"(0% +4 "core" %\  \ +2 ."downElevator"SE.seek :down +3 "storage"(C'I +100 ( % +3 "core" %|5 \ U[ + "manipulator"&;% +4 "core" % [ ` +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&k'\ +92 "core" ' +47 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast + "storage"(6 +3 #tShuffling pucks in tube 4 of [1..7] + #Loading generic puck from tube 4 into Collection Clamp + "collection"'& +4 "core" &CCk\ +2 "manipulator"&% +4 "core" %\ \  +2 "storage"(% +3 "core" %L   #\ +2 "storage"(. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +3 .tSC.seek 4 + "storage"(#(, +190 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (,& +3 "core" &, \  W\  + "manipulator"&3& +4 "core" & \\  +2 .tElbow.seek 4 + "manipulator"&E( +18 "core" ( +2 "manipulator"&$& +4 "core" & { s _  + "storage"(q& +4 "core" &,\ \ =\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"& ' +94 "core" ' +2 "storage"(B& +3 "core" &,\ \  f\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(-'j +284 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (j& +2 "core" &, I\  +2 "manipulator"&~& +4 "core" &  + .tElbow.seek 4 +2 "manipulator"&*( +3 "core" ( + "manipulator"&& +4 "core" & w _  +2 "storage"(G& +3 "core" &, \\\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&\\'@ +26 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&/ +77 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&i& +6 "storage"(u'I +4 "core" &   + "manipulator"&@% +4 "core" % H t } B +2 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&g( +153 "core" ' + ."downElevator"SE.coast +2 "storage"(5 +3 "core" ( + "manipulator"&U& +4 "core" & e d $ / + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &!& +2 "core" & ^ d  / +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'Ϥ +97 "core" ' +2 "manipulator"&p& +4 "core" & b d / +2 "manipulator"&D% +3 "core" %ϙ \\ c +2 "collection"'1& +4 "core" &DGn\ +4 "collection"'d& +5 "core" &BGx\ +2 .tCC.seek :closed +2 "collection"'>(Y +4 "core" &CFj\  +10 &/y@Gr\ *y +9 &d@Dn\ ? +9 &rwCGm\ O +10 &7XDGp\ M +9 &]@Gu\ N +9 &[BFi\ M +10 &}]CEe\ M +9 &?YBFo\ M +10 &[BEp\ N +9 &ZADx\ M +9 & ZAGx\ M +10 &"G[AGs\ M +9 &$\ YDFx\ M +9 &%^BFv\ M +10 &']AFn\ M +9 &)O]CHo\ M +9 &+YBFp\ M +10 &,ZCHx\ M +9 &.]CFd\ M +10 &0XZAGl\ M +9 &2[DGb\ M +9 &3]DDi\ M +10 &5]AGk\ N +9 &7^\\BGs\ N +9 &9!YBGg\ M +10 &:ZBFg\ M +9 &<\\AH\\\ N +10 &>fZBHX\ N +9 &@(ZEG[\ N +9 &AYCFe\ M +10 &C_AGj\ N +9 &En_CF]\ N +10 &G-d?F[\ O +9 &HoCG^\ P +9 &JBHZ\ T +10 &LXDGW\ X +9 &NDGY\ Z +9 &OBHM\ Z +10 &QFJV\ \\ +9 &STBGa\ \\ +9 &UEH\\\ \\ +10 &VEIW\ ] +9 &XFHa\ I +10 &Y0BK]\ )y +9 &YsFLW\ N +2 ( +2 "collection"'d& +2 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 2.31 + .Hand.open + "manipulator"&L1 +73 "core" 1 +3 "manipulator"&l% +3 "core" % Ϛ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&+'\ +95 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%.& +4 "core" & \ +2 "manipulator"&N% +3 "core" %\  W W  +2 "storage"(2% +4 "core" %T ?\  + "storage"(9. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 4 +2 "storage"(a(, +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (4& +2 "core" &, D\  +50 "manipulator"&& +3 "core" & b Z / +2 "manipulator"&% +3 "core" %\  c Z  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&M( +158 "core" ( +2 "manipulator"&K& +4 "core" & } 1  + "storage"(z& +4 "core" &, :\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"& ' +98 "core" ' +2 "storage"(v& +4 "core" &, d\  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(o'j +283 "core" ' +2 "storage"(- +3 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (h& +3 "core" &, r\  +2 "manipulator"&& +3 "core" & &  +2 .tElbow.seek 4 + "manipulator"&( +4 "core" ( +2 "manipulator"&:& +3 "core" &   +2 "storage"('& +4 "core" &, \  +2 .tForearm.seek 4 + 300 counts + "manipulator"&T'@ +32 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&6/ +77 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&n& +5 "storage"('I +4 "core" & [  +2 "manipulator"&f% +4 "core" % W +2 .tForearm.seek :retract +2 "manipulator"&\ '\ +94 "core" ' +3 .tElbow.seek PC +2 "manipulator"&"( +157 "core" ' + ."downElevator"SE.coast + "storage"(5 +97 "core" ( +2 "manipulator"&X& +4 "core" & U ` + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &]& +3 "core" & | ' ` + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&e'Њ +89 "core" ' +2 "manipulator"&P& +4 "core" & i m F ` + "manipulator"&8% +4 "core" %Ћ Z b 8 9 +2 "processing"%/& +3 "core" &5\ +3 "processing"%& +4 "core" & \ +2 .tPC.seek :closed +2 "processing"%Q(Y +3 "core" &\ \ +10 &.x$\ *y +9 &b"\ ? +10 &ky!\ O +9 &.W\ O +10 &[\ O +9 &X\ O +9 &uZ\ N +10 &7Z \ N +9 &[ \ N +9 &X \ N +10 & }\\\ N +9 &"?[\ N +10 &$[ \ N +9 &%Z \ N +9 &'Z\ \ O +10 &)F]\ O +9 &+W\ O +9 &,X \ N +10 &.Y \ O +9 &0M^ \ O +10 &2Y \ O +9 &3Z \ N +9 &5Y\ O +10 &7WY \ N +9 &9\\\ \ O +9 &:Y \ O +10 &<Y\ \ O +9 &>_\\ \ N +10 &@!X \ N +9 &AW \ O +9 &C\\\ \ O +10 &Ee_\ \ O +9 &G&d \ O +9 &Hb\ O +10 &Jj\ \ Q +9 &Lb \ S +10 &N\ V +9 &O \ V +9 &Q\ \ V +10 &Sb\ \ U +9 &U#\ \ V +9 &V \ V +10 &X|t\ = +9 &Yc'j\ \ W +9 &Y6 \ 8 +2 ( +2 "processing"%& +2 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.51 + .Hand.open +2 "manipulator"&R1 +72 "core" 1 +2 "manipulator"&F% +4 "core" % Ћ  9 + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&^'\ +93 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%{& +4 "core" &Y3\ 8 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&m% +3 "core" %\ \   +2 "storage"( % +4 "core" %W T\ +2 "storage"(. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +3 .tSC.seek 4 + "storage"(A(, +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (c& +4 "manipulator"&Y& +2 "core" &, y ~ 4\  +4 ."raiseStack"SE.reconfigure :place +3 "storage"(#].K-0-\ b +2 "core" & ` +2 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&`( + "storage"('j +6 "core" ( + "manipulator"&S& +4 "core" & R ` + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +3 "core" & v b ` +2 .tForearm.seek PC + "manipulator"&J'Њ +90 "core" ' + .tHand.close +2 "manipulator"&V/ +69 "core" / +2 .tPC.seek :open +2 "processing"%=( +86 "core" ' +2 "storage"( - +3 "core" -'j + ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(' +39 "core" ' +291 ( + "storage"(b& +4 "core" &, \  +2 "manipulator"&)& +3 "core" & Y f % ` +2 "manipulator"&% +4 "core" % Е a Z F + .tForearm.seek :retract +2 "manipulator"&Z'\ +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&s( +261 "core" ( +2 "manipulator"&w& +3 "core" & { ] ` +2 "storage"(& +4 "core" &, \  + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&' +98 "core" ' + .tHand.open +3 "manipulator"&1 +76 "core" 1 +2 "storage"([- +3 "core" -' +2 .tSE.seek -0.22 Pucks below Top Plate +2 "storage"(&' +25 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(' +53 "core" ' + #tLights, camera, ACTION! +2 "storage"(<- +3 "core" -' +2 "storage"(}& +3 "core" &, q\  +2 "manipulator"&5& +3 "core" & { ` +2 .tElbow.seek 4 +2 "manipulator"&7( +24 "core" ( +2 "manipulator"&H& +3 "core" &  +2 "storage"(y& +4 "core" &,  \  + .tForearm.seek 4 + 700 counts +2 "manipulator"&(' +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(0'V +66 "core" ' +2 "manipulator"&?& +4 "core" & Y + "storage"( & +4 "core" &, \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&;' +41 "core" ' + .tElbow.hold +2 "manipulator"&x, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(I'@ +28 "core" ' +2 "manipulator"&% +3 "core" %; f ^ * j +2 "storage"(%& +4 "core" &, \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 309 counts +2 "manipulator"&'I +18 "core" ' +2 "manipulator"&& +4 "core" & 3 +2 "storage"(& +3 "core" &, b\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&W' +23 "core" ' +2 "storage"(_% +6 "core" %I p\ +2 ."downElevator"SE.seek :down +49 "storage"(,'I +54 (3% +3 "core" %3 +\ U] + "manipulator"&$% +4 "core" % t q V w +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +3 "manipulator"&q'\ +91 "core" ' +107 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast "storage"(6 +3 "collection"'C& +4 "core" &YuDHS\ N +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&% +4 "core" %\ x s >  +2 "storage"(B% +4 "core" %J C\ +2 "storage"(|. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +3 .tSC.seek 4 + "storage"(k(, +4 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (& +3 "core" &, {\  + "manipulator"&j& +4 "core" & s r +2 .tElbow.seek 4 + "manipulator"&~( +8 "core" ( +2 "manipulator"&& +4 "core" & u }   +2 "storage"(G& +3 "core" &, I\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&' +97 "core" ' +2 "storage"(i& +4 "core" &, \  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(@'j +282 "core" ' + "storage"(E- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"& & +3 "core" & y   + "storage"(U& +4 "core" &, \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&!' +37 "core" ' + .tElbow.hold +2 "manipulator"&-, +3 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(\\- +3 "core" -' +2 .tSE.seek 0.02 Pucks below Top Plate +2 "storage"(p' +29 "core" ' +2 "manipulator"&D% +3 "core" %F D 9 P f +2 "storage"(1& +3 "core" &,   \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 309 counts +2 "manipulator"&*'I +21 "core" ' +2 "manipulator"&u& +3 "core" & x e  +2 "storage"(& +4 "core" &, ~\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&O' +31 "core" ' +3 .tSE.seek 1.02 Pucks below Top Plate +3 "storage"(L' +46 "core" ' +2 "manipulator"&l& +4 "core" &  +2 "manipulator"&.% +3 "core" %ж p +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&N'\ +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&d( +158 "core" ( +2 "manipulator"&2& +3 "core" & n h / +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &9& +3 "core" & d d K / +2 .tForearm.seek CC + "manipulator"&4'Ϥ +94 "core" ' + .tHand.close +2 "manipulator"&/ +68 "core" / +3 .tCC.seek :open +2 "collection"'( +431 "core" ( +2 "storage"(& +3 "core" &,\ \ \ \  +2 "storage"(K& +3 "core" &, l\  +2 "manipulator"&z& +3 "core" & c _ / +2 "manipulator"&#% +4 "core" % Ϝ W X  + .tForearm.seek :retract +2 "manipulator"&v'\ +99 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&g( +158 "core" ( +2 "manipulator"&+& +3 "core" & t   +2 "storage"(& +4 "core" &,   V\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.seek 4 +2 "manipulator"&h' +106 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&:1 +72 "core" 1 +2 "manipulator"&'% +4 "core" % 'q F 0 z +2 "storage"(6& +3 "core" &, C\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 319 counts +2 "manipulator"&n'S +15 "core" ' +2 "manipulator"&f& +3 "core" & s } A  +2 "storage"(M& +4 "core" &,   b\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"& ' +29 "core" ' +2 "storage"(o% +4 "core" %  `\ +2 ."downElevator"SE.seek :down +3 "storage"(T'I +100 (X% +3 "core" %j8 \\\ U[ + "manipulator"&]% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +101 "core" ' +38 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast "storage"(6 +3 #tShuffling pucks in tube 5 of [1..7] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'P& +4 "core" &BFs\ +2 "manipulator"&8% +3 "core" %\  +2 "storage"(/% +4 "core" %E = @ d\ +2 "storage"(. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +3 .tSC.seek 5 + "storage"(\ (; +185 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (r& +2 "core" &;   \  +2 "manipulator"&R& +3 "core" & N  +2 .tElbow.seek 5 +2 "manipulator"&F( +3 "core" ( +2 "manipulator"&{& +4 "core" & 1  +2 "storage"(m& +3 "core" &;   \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"& ', +94 "core" ' +3 "storage"(& +3 "core" &;  1\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('j +279 "core" ' + "storage"(c- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (Y& +2 "core" &;\ -\  +2 "manipulator"&S& +3 "core" & u g  +2 .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( + "manipulator"&e& +3 "core" & s  +2 "storage"(V& +3 "core" &;\ @\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&a'Ϝ +21 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"& / +75 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&"& +3 "storage"(^'I +7 "core" & r   + "manipulator"&Q% +4 "core" % ϒ } r : +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&b( +145 "core" ' +3 ."downElevator"SE.coast + "storage"(5 +11 "core" ( +2 "manipulator"&)& +4 "core" & q t ` + + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" & ~ } + +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&J'Ϥ +98 "core" ' +2 "manipulator"&w& +4 "core" & z + +2 "manipulator"&% +3 "core" %ϰ v { Y p +2 "collection"'`& +4 "core" &@Ft\ +2 "collection"'& +5 "core" &AGs\ +2 .tCC.seek :closed +2 "collection"'[(Y +4 "core" &BGs\ +9 & .AFq\ $c +9 &V@Fo\ 7 +9 &AEw\ L +10 &ZBFq\ M +9 &bZBFr\ M +9 &$XBGt\ M +10 &ZBGw\ N +9 &YBGx\ M +10 &kWBGo\ M +9 &,XBGs\ M +9 &Y@Gw\ M +10 &!ZAEo\ M +9 &#rZBEw\ M +9 &%5XCFw\ M +10 &&ZCFq\ N +9 &(ZCGt\ M +10 &*z\\BGw\ M +9 &,<XBFt\ M +9 &-ZAFs\ M +10 &/YBGp\ M +9 &1WCGo\ M +9 &3D[BGq\ M +10 &5ZAGl\ M +9 &6WBHo\ M +10 &8Y@Fl\ N +9 &:L[AFm\ M +9 &<WDHl\ M +10 &=\\BHl\ M +9 &?ZCGm\ M +9 &ASYAFo\ N +10 &C[AFg\ M +9 &D]DGl\ M +10 &FbCGl\ N +9 &HXeCGj\ O +9 &J}AHv\ Q +10 &KDHl\ V +9 &M~DHf\ Z +9 &O@CHg\ Z +10 &PEH\\\ [ +9 &REH[\ [ +10 &TCIi\ \\ +9 &VACI[\ \\ +9 &XEHZ\ ] +10 &Y[IEIj\ , +9 &Y\ DHf\ P +5 ( +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 2.31 + .Hand.open +2 "manipulator"&<1 +3 "core" &YsEJb\ P +62 1 + "manipulator"&}% +4 "core" % ϰ  p +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&5'\ +90 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%Z& +4 "core" & \ +2 "manipulator"&H% +4 "core" %\  x  \ e + "storage"(y% +4 "core" %O \ +2 "storage"(?. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 5 +2 "storage"( (; +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (& +2 "core" &; \  +2 "manipulator"&&& +4 "core" & z A + + "manipulator"&% +4 "core" %\  | 7 \ e +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&%( +159 "core" ( +2 "manipulator"&& +4 "core" & P  + "storage"(& +4 "core" &; \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&s', +97 "core" ' +2 "storage"(_& +3 "core" &; \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('j +278 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (3& +2 "core" &; \  +2 "manipulator"&$& +4 "core" &   + .tElbow.seek 5 +2 "manipulator"&(( +3 "core" ( + "manipulator"&7& +4 "core" &   + "storage"(0& +4 "core" &; D\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&;'Ϝ +25 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +71 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&C& +6 "storage"('I +3 "core" &  + "manipulator"&B% +4 "core" % ϝ  +2 .tForearm.seek :retract +2 "manipulator"&|'\ +94 "core" ' +2 .tElbow.seek PC +2 "manipulator"&I( +160 "core" ' + ."downElevator"SE.coast + "storage"(5 +95 "core" ( +2 "manipulator"&& +4 "core" &  K W + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &j& +2 "core" & | W +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&'Њ +94 "core" ' +2 "manipulator"&G& +4 "core" & c k - W +2 "manipulator"&W% +4 "core" %В g g U  +2 "processing"%i& +4 "core" &.\ +2 "processing"%,& +4 "core" &&\ +2 .tPC.seek :closed +2 "processing"%A(Y +3 "core" &\ \ +10 &.x \ *y +10 &b\ ? +9 &hx \ O +9 &+W \ O +10 &\\ \ O +9 &Z\ \ O +9 &qV\ \ O +10 &3\\\ \ O +9 &Y\ O +10 &V\ N +9 & yZ\ \ O +9 &";W \ O +10 &#W \ O +9 &%X \ O +9 &'V \ O +10 &)C] \ O +9 &+W \ O +10 &,Y \ N +9 &.X\ \ N +9 &0K\\\ O +10 &2Z \ N +9 &3Z \ O +9 &5] \ O +10 &7SX \ O +9 &9[ \ O +10 &:\\ \ O +9 &<Y \ N +9 &>[[\ O +10 &@Z\ \ O +9 &AW\ \ N +9 &C^ \ O +10 &Ea] \ O +9 &G#b \ O +10 &Hc \ P +9 &Jp\ Q +9 &LY\ U +10 &N \ V +9 &O \ V +9 &Q \ V +10 &S] \ V +9 &U! \ U +10 &V\ U +9 &Xx\ 9 +9 &Ye5 \ P +10 &Y \ . +2 ( +2 "processing"%,& +2 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.54 + .Hand.open + "manipulator"&x1 +66 "core" 1 +2 "manipulator"&q% +4 "core" % В ?  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&E'\ +102 "core" ' + .tSC.coast + "storage"(6 +3 "processing"% & +4 "core" &Y\ . + #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&U% +3 "core" %\ T +2 "storage"(\\% +4 "core" %Y R\ + "storage"(D. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 5 +2 "storage"(1(; +2 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +4 (u& +3 "core" &; v\  +2 "manipulator"&& +2 ."raiseStack"SE.reconfigure :place +4 "storage"(#].K-0-\ b +3 "core" & e W +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&l( "storage"(.'j +6 "core" ( + "manipulator"&& +4 "core" & 3 W + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &~& +2 "core" & y W +2 .tForearm.seek PC +2 "manipulator"&@'Њ +95 "core" ' + .tHand.close +2 "manipulator"&!/ +69 "core" / +2 .tPC.seek :open +2 "processing"%*( +82 "core" ' +2 "storage"(p- +3 "core" -'j + ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(2' +40 "core" ' +295 ( + "storage"(9& +4 "core" &; \  +2 "manipulator"&O& +3 "core" & ~ r W +2 "manipulator"&-% +3 "core" % w z  p +2 .tForearm.seek :retract +2 "manipulator"&'\ +103 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&N( +275 "core" ( +2 "manipulator"&>& +3 "core" & U +2 "storage"(& +4 "core" &; [\  + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&K', +90 "core" ' + .tHand.open +2 "manipulator"&z1 +74 "core" 1 +49 "storage"(#- +5 "core" -' +2 .tSE.seek -0.22 Pucks below Top Plate + "storage"(+' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(' +53 "core" ' + #tLights, camera, ACTION! +2 "storage"(4- +3 "core" -' +2 "storage"(d& +3 "core" &; \  +2 "manipulator"&:& +3 "core" & q r R +2 .tElbow.seek 5 +2 "manipulator"&'( +3 "core" ( +2 "manipulator"&6& +3 "core" & s r +2 "storage"(f& +3 "core" &; j\  +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&M', +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(o'V +62 "core" ' +2 "manipulator"&v& +4 "core" & + "storage"(X& +4 "core" &; L\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +3 "manipulator"&]'p +37 "core" ' +3 .tElbow.hold + "manipulator"&g, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(h'@ +33 "core" ' +2 "manipulator"&P% +4 "core" %Y R v +2 "storage"(n& +59 "core" &;   \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 315 counts +2 "manipulator"&8'ϫ +19 "core" ' +2 "manipulator"&/& +4 "core" & + "storage"(& +4 "core" &; \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts +2 "manipulator"&L', +25 "core" ' +2 "storage"( % +4 "core" %F I\ +2 ."downElevator"SE.seek :down +3 "storage"(r'I +100 (R% +2 "core" %5 )\ U\\ +2 "manipulator"&{% +5 "core" %1 | w ! Y + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&m'\ +98 "core" ' +52 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast "storage"(6 +3 "collection"'T& +4 "core" &YrCGS\ P +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&k% +4 "core" %\   +2 "storage"(% +3 "core" %V \ +2 "storage"(. +3 "core" . + .tSC.reconfigure :tight +3 "storage"($\ .(\ 1~b +3 .tSC.seek 5 + "storage"((; +3 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +2 (c& +3 "core" &; \  +2 "manipulator"&Y& +3 "core" &  +2 .tElbow.seek 5 +2 "manipulator"&S( +3 "core" ( + "manipulator"&e& +4 "core" & = +2 "storage"(V& +3 "core" &; \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts +2 "manipulator"& ', +92 "core" ' +2 "storage"("& +4 "core" &; R\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(Q'j +279 "core" ' + "storage"(F- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"& & +3 "core" &  + "storage"()& +4 "core" &; 7\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&'p +36 "core" ' +2 .tElbow.hold +2 "manipulator"&, +3 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(a- +2 "core" -' +2 .tSE.seek 0.03 Pucks below Top Plate +2 "storage"(w'\ +27 "core" ' +2 "manipulator"&% +3 "core" %΂_ U w +2 "storage"(`& +3 "core" &;   \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 318 counts +2 "manipulator"&'Ϯ +19 "core" ' +2 "manipulator"&^& +3 "core" &  ~ +2 "storage"(& +4 "core" &; \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&', +18 "core" ' +2 .tSE.seek 1.03 Pucks below Top Plate +2 "storage"(<' +51 "core" ' +2 "manipulator"&}& +4 "core" & s t  + "manipulator"&Z% +4 "core" %H ~ b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&H'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&y( +146 "core" ( +2 "manipulator"&?& +3 "core" & x $ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" & } $ $ +2 .tForearm.seek CC + "manipulator"&'Ϥ +101 "core" ' +2 .tHand.close +2 "manipulator"&&/ +73 "core" / +2 .tCC.seek :open + "collection"'( +433 "core" ( +2 "storage"(J& +3 "core" &; I\  +2 "storage"(& +3 "core" &; h\  +2 "manipulator"&& +3 "core" & f g B "y +2 "manipulator"&\ % +3 "core" % ύ e d E +2 .tForearm.seek :retract +2 "manipulator"&_'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&b( +158 "core" ( +2 "manipulator"&5& +4 "core" & y x + "storage"(& +4 "core" &;   m\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.seek 5 +2 "manipulator"&3'p +108 "core" ' + .tElbow.hold +2 "manipulator"&$, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&71 +72 "core" 1 +3 "manipulator"&0% +4 "core" % ΄ . |> +2 "storage"(& +3 "core" &; J\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 5 + 320 counts + "manipulator"&C'ϰ +22 "core" ' +2 "manipulator"&B& +3 "core" & u +2 "storage"(%& +4 "core" &;   3\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&s', +25 "core" ' +2 "storage"(% +4 "core" %   7\ +2 ."downElevator"SE.seek :down +3 "storage"(;'I +100 (% +2 "core" %5 \  =\ UZ +2 "manipulator"&j% +4 "core" %, s y l \\ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&('\ +91 "core" ' +51 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast "storage"(6 +3 #tShuffling pucks in tube 6 of [1..7] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'G& +50 "core" &CEv\ +3 "manipulator"&W% +4 "core" %\ \ t 9  +2 "storage"(i% +3 "core" %T 8 ?\ +2 "storage"(. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +3 .tSC.seek 6 + "storage"(|(K +187 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (=& +3 "core" &K\ \  d\ \ +2 "manipulator"&x& +3 "core" & r r  u +2 .tElbow.seek 6 +2 "manipulator"&q( +10 "core" ( +2 "manipulator"& & +4 "core" & s { / z + "storage"(U& +4 "core" &K\ \  6\ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts +2 "manipulator"&,' +93 "core" ' +2 "storage"(\\& +4 "core" &K \  Z\ \ + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(D'j +286 "core" ' +2 "storage"(u- +3 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &K \ \ + "manipulator"&& +4 "core" & z +2 .tElbow.seek 6 + "manipulator"&~( +3 "core" ( +2 "manipulator"&& +3 "core" & z +2 "storage"(!& +3 "core" &K\ \  R\ \ +2 .tForearm.seek 6 + 300 counts +2 "manipulator"& 'V +17 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +4 .tHand.close + "manipulator"&p/ +67 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&I& +3 "storage"(E'I +6 "core" & w w z +2 "manipulator"&A% +3 "core" % V q q  g +2 .tForearm.seek :retract +2 "manipulator"&.'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&9( +151 "core" ' + ."downElevator"SE.coast + "storage"(5 +6 "core" ( +2 "manipulator"&O& +4 "core" &   3 0 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &-& +2 "core" & {  0 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +3 "manipulator"&@'Ϥ +97 "core" ' +2 "manipulator"&>& +4 "core" & Z a  0 +2 "manipulator"&% +3 "core" %Ϯ c ` +2 "collection"'l& +4 "core" &CGw\ +2 "collection"'z& +4 "core" &AFo\ +3 .tCC.seek :closed + "collection"'#(Y +5 "core" &AEl\ +7 &?En\ 6 +10 &<G@Ek\ 1 +9 &js@Es\ E +9 &bCFm\ N +10 &XAFw\ M +9 &WAFk\ N +9 &XYAGq\ M +10 &WBGm\ M +9 &YCGr\ M +10 &YCHl\ M +9 &`YDGx\ M +9 &!!XBFo\ N +10 &"ZAGt\ M +9 &$]AHo\ M +9 &&h]DHv\ M +10 &(*\\BHo\ M +9 &)\\AGp\ M +10 &+ZDFp\ M +9 &-qZAGw\ M +9 &/2YCFw\ M +10 &0ZBGv\ M +9 &2\\BGs\ M +9 &4w]BGw\ N +10 &6;WCHv\ M +9 &7_BHt\ N +10 &9\\CEn\ M +9 &;WCGv\ M +9 &=B]@Ek\ M +10 &?[CFu\ M +9 &@ZAEm\ M +9 &BWDDo\ M +10 &DHaCFl\ N +9 &F ^CFj\ M +10 &GbBGj\ N +9 &InBIs\ P +9 &K=BHu\ U +10 &LCGg\ Y +9 &NAHl\ Z +9 &PqDGk\ [ +10 &R0BEh\ \\ +9 &SCIk\ \\ +10 &UCHp\ \\ +9 &WtCIk\ \\ +9 &YzCGk\ 0 +10 &Y FHo\ a +9 ( + &Y}DGj\ T +2 "collection"'z& +2 #tCollection Clamp onSpring/offSpring for 8/30 samples, on/off torque 2.28 + .Hand.open +2 "manipulator"&1 +70 "core" 1 +2 "manipulator"&4% +4 "core" % ϭ y +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&d'\ +95 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%:& +4 "core" &\ +2 "manipulator"&6% +3 "core" %\ }   +2 "storage"(f% +4 "core" %H ?\ +2 "storage"(v. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +3 .tSC.seek 6 + "storage"(X(K +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (2& +2 "core" &K U\  +2 "manipulator"&P& +4 "core" & }  0 + "manipulator"&+% +4 "core" %\ \ ~   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&n( +158 "core" ( +2 "manipulator"&N& +4 "core" & t y   + "storage"(/& +4 "core" &K '\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&' +106 "core" ' +2 "storage"(K& +3 "core" &K O\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('j +282 "core" ' +2 "storage"( - +3 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (M& +3 "core" &K I\  + "manipulator"&R& +4 "core" & r  +2 .tElbow.seek 6 + "manipulator"&'( +3 "core" ( +2 "manipulator"&{& +3 "core" & h  +2 "storage"(o& +3 "core" &K \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&]'V +26 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&8/ +77 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&T& +4 "storage"(k'I +5 "core" &   +2 "manipulator"&% +3 "core" % \\  +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +2 .tElbow.seek PC +2 "manipulator"&h( +160 "core" ' + ."downElevator"SE.coast + "storage"(5 +95 "core" ( +2 "manipulator"&c& +3 "core" & ~ ~ 7 M +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &Y& +3 "core" & } z M +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&e'Њ +89 "core" ' +2 "manipulator"&V& +4 "core" & } ~ Q M + "manipulator"&L% +4 "core" %Ў | ~ / O +2 "processing"%"& +3 "core" &+\ +3 "processing"%r& +4 "core" &.\ +2 .tPC.seek :closed +2 "processing"%1(Y +4 "core" & \  +10 &/|\ +z +9 &a \ > +10 &fx\ O +9 &)W\ N +9 &Y \ N +10 &Y \ N +9 &oW\ N +9 &0\\ \ O +10 &Y \ O +9 &V\ \ O +10 & vW\ O +9 &"8Y \ O +9 &#\\ \ O +10 &%X \ O +9 &'~Z\ O +9 &)@W\ O +10 &+Y \ N +9 &,X\ \ O +10 &.[ \ O +9 &0G] \ O +9 &2 Y \ N +10 &3[ \ O +9 &5\\ \ O +9 &7O\\\ \ O +10 &9Z \ N +9 &:Z \ O +10 &<W \ O +9 &>YZ\ \ N +9 &@T \ N +10 &AZ\ \ O +9 &C_ \ O +9 &E]b \ P +10 &Gc\ \ P +9 &Hl \ Q +10 &J} \ S +9 &LS\ \ V +9 &N \ W +10 &O\ V +9 &Q\ \ V +9 &SZ\ V +10 &U \ U +9 &V\ \ U +10 &Xy\ 9 +9 &Y`0 \ U +9 &Y.\ \ 4 +2 ( +2 "processing"%r& +2 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.59 + .Hand.open + "manipulator"&g1 +73 "core" 1 +2 "manipulator"&m% +3 "core" % Ў z 8 O +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&F'\ +92 "core" ' + .tSC.coast + "storage"(6 +3 "processing"% & +4 "core" &Y.\ 4 + #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&)% +3 "core" %\  w +2 "storage"(a% +4 "core" %Z w\ + "storage"(. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +51 .tSC.seek 6 + "storage"(`(K +3 "core" ( + .tSC.reconfigure :loose +3 "storage"($.(\ 1~b +3 (^& +3 "core" &K y z =\  +2 "manipulator"&& +2 ."raiseStack"SE.reconfigure :place +7 "storage"(#].K-0-\ b +3 "core" & ` M +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&}( +4 "storage"(Z'j +4 "core" ( + "manipulator"& & +4 "core" &  M +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &S& +2 "core" & P M +2 .tForearm.seek PC +2 "manipulator"&Q'Њ +92 "core" ' + .tHand.close +2 "manipulator"&/ +65 "core" / +3 .tPC.seek :open +2 "processing"%( +105 "core" ' +2 "storage"(w- +3 "core" -'j + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(?' +40 "core" ' +274 ( + "storage"(& +4 "core" &K o\  +2 "manipulator"&& +3 "core" & ~  M +2 "manipulator"&% +4 "core" % Ѐ }  / + .tForearm.seek :retract +2 "manipulator"&&'\ +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&H( +278 "core" ( +2 "manipulator"&[& +3 "core" & #  +2 "storage"(J& +3 "core" &K A\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&' +103 "core" ' + .tHand.open +2 "manipulator"&1 +77 "core" 1 +2 "storage"(\ - +3 "core" -' +2 .tSE.seek -0.22 Pucks below Top Plate +2 "storage"(5' +30 "core" ' +3 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(' +53 "core" ' + #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(y& +3 "core" &K \  +2 "manipulator"&7& +3 "core" & 2  +2 .tElbow.seek 6 +2 "manipulator"&0( +3 "core" ( +2 "manipulator"&& +3 "core" &   +2 "storage"(B& +3 "core" &K J\  +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&%' +15 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"('V +59 "core" ' +2 "manipulator"&_& +4 "core" &  + "storage"(& +4 "core" &K \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&j'* +35 "core" ' + .tElbow.hold +2 "manipulator"&b, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(3'@ +29 "core" ' +2 "manipulator"&G% +4 "core" %4Q u +2 "storage"(C& +3 "core" &K   |\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 310 counts +2 "manipulator"&<'` +22 "core" ' +2 "manipulator"&W& +4 "core" &  +2 "storage"(i& +4 "core" &K O\  + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&' +25 "core" ' +2 "storage"(s% +4 "core" %D \ +2 ."downElevator"SE.seek :down +4 "storage"(='I +99 (x% +3 "core" %3 J\ U^ + "manipulator"& % +4 "core" % p o c +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&;'\ +95 "core" ' +56 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 "collection"'U& +4 "core" &Y}EHK\ T +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&% +4 "core" %\  o  +2 "storage"(\\% +3 "core" %J \ +2 "storage"($. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +3 .tSC.seek 6 +2 "storage"(((K +4 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (u& +2 "core" &K }\  +2 "manipulator"&& +4 "core" & q s $  + .tElbow.seek 6 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&& +4 "core" & Q  + "storage"(!& +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&p' +95 "core" ' +2 "storage"(I& +4 "core" &K Q\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(A'j +285 "core" ' +2 "storage"(q- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&,& +3 "core" &  + "storage"(O& +4 "core" &K \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&-'* +33 "core" ' + .tElbow.hold +2 "manipulator"&D, +3 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"( - +2 "core" -' +2 .tSE.seek 0.05 Pucks below Top Plate +2 "storage"(>' +28 "core" ' +2 "manipulator"&% +3 "core" %>] w +2 "storage"(l& +3 "core" &K  &\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 6 + 320 counts +2 "manipulator"&~'j +21 "core" ' +2 "manipulator"&E& +3 "core" & -  +2 "storage"(.& +4 "core" &K U\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts +2 "manipulator"&' +28 "core" ' +2 .tSE.seek 1.05 Pucks below Top Plate +2 "storage"(' +40 "core" ' +2 "manipulator"&4& +4 "core" & x 4  + "manipulator"&:% +4 "core" %  ( R +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&6'\ +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&f( +149 "core" ( +2 "manipulator"&z& +4 "core" & 5 # +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &v& +3 "core" &  # +2 .tForearm.seek CC + "manipulator"&2'Ϥ +93 "core" ' + .tHand.close +2 "manipulator"&P/ +69 "core" / +2 .tCC.seek :open + "collection"'+( +433 "core" ( +2 "storage"(@& +3 "core" &K\ \ 8\  +2 "storage"(N& +3 "core" &K \  \  +2 "manipulator"&/& +50 "core" & { X # +2 "manipulator"&|% +3 "core" % ϸ g s  +2 .tForearm.seek :retract +2 "manipulator"&K'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&9( +154 "core" ( +2 "manipulator"&d& +4 "core" & ~  e  + "storage"( & +4 "core" &K\ \ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.seek 6 +2 "manipulator"&M'* +109 "core" ' + .tElbow.hold +2 "manipulator"&R, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&{1 +69 "core" 1 +3 "manipulator"&o% +4 "core" % <t  z +2 "storage"(8& +3 "core" &K $\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 6 + 318 counts +2 "manipulator"&T'h +22 "core" ' +2 "manipulator"&& +4 "core" &   + "storage"(n& +4 "core" &K G E\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&' +21 "core" ' +2 "storage"(% +4 "core" %   \ +2 ."downElevator"SE.seek :down +3 "storage"(]'I +100 (c% +3 "core" %c4 3\ TZ + "manipulator"&Y% +4 "core" % p r  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&''\ +100 "core" ' +42 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast "storage"(6 +3 #tShuffling pucks in tube 7 of [1..7] +2 #Loading generic puck from tube 7 into Collection Clamp + "collection"'V& +4 "core" &AGe\ +2 "manipulator"&L% +4 "core" %\  + "storage"("% +4 "core" %Y @ 7 ]\ +2 "storage"(k. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 7 +2 "storage"(([c +187 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (*& +2 "core" &[`" \ \  +2 "manipulator"&g& +4 "core" &   + .tElbow.seek 7 +2 "manipulator"&m( +24 "core" ( +2 "manipulator"& & +4 "core" & } r ( U + "storage"()& +4 "core" &[`" \ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 700 counts +2 "manipulator"&a' +87 "core" ' +2 "storage"(r& +3 "core" &[`" E\ \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('j +288 "core" ' +2 "storage"(^- +3 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &[`! \ \  + "manipulator"& & +4 "core" &\ R +2 .tElbow.seek 7 +2 "manipulator"&S( +4 "core" ( +2 "manipulator"&e& +3 "core" &\ y > R +2 "storage"(& +4 "core" &[`" \ \  +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&X'N +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&h/ +65 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&w& +2 "storage"(F'I +6 "core" &\ t v * Q +2 "manipulator"&1% +4 "core" % B s t ( +2 .tForearm.seek :retract +2 "manipulator"&Z'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +148 "core" ' + ( +2 ."downElevator"SE.coast +4 "manipulator"&& + "storage"(5 +6 "core" & t t 5 & + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" & r m ` & +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&Q'Ϥ +100 "core" ' +2 "manipulator"&[& +4 "core" & J & +2 "manipulator"&J% +3 "core" %ϟ Y  +2 "collection"'}& +4 "core" &BFt\ +2 "collection"'& +4 "core" &AFw\ +2 .tCC.seek :closed +2 "collection"'\ (Y +5 "core" &BFx\ +7 &DDt\ 4 +10 &8F}AFl\ 1 +9 &es?Em\ E +9 & cCGr\ N +10 &\\@Fh\ N +9 &X>Gq\ M +9 &SWBEm\ M +10 &]AFo\ N +9 &WAGl\ M +10 &YBHv\ M +9 &ZYBDp\ N +9 &!WBFn\ M +10 &"ZADn\ N +9 &$ZBFw\ N +9 &&b[?Gw\ N +10 &($[BFy\ N +9 &)ZCEv\ N +10 &+YADr\ M +9 &-lZBGo\ M +9 &/-YAHv\ M +10 &0\\AGp\ M +9 &2Z@Ev\ M +9 &4tZCGs\ M +10 &65]AGs\ M +9 &7_@Gc\ N +10 &9[AGj\ N +9 &;{YAFe\ M +9 &==WAFg\ M +10 &>VDHg\ M +9 &@\\BF`\ M +9 &BZBEe\ N +9 &DD\\BGe\ N +10 &F_AFi\ N +10 &GcBHc\ N +9 &InAFb\ P +9 &K9AD\\\ T +10 &LCHY\ Y +9 &NAHZ\ Z +9 &PmEFZ\ Z +10 &R,CHY\ [ +9 &SCGN\ \\ +10 &UBF^\ \\ +9 &WpEF_\ \\ +9 &YzBHZ\ 0 +10 &Y"FJ^\ [ +8 ( +2 &YxDH_\ R +2 "collection"'& +2 #tCollection Clamp onSpring/offSpring for 8/30 samples, on/off torque 2.23 + .Hand.open +2 "manipulator"&1 +70 "core" 1 +2 "manipulator"&y% +4 "core" % Ϟ r f ] +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&7'\ +95 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 7 into Processing Clamp + "processing"%&& +4 "core" & \ +2 "manipulator"&% +3 "core" %\ s j y  +2 "storage"(B% +4 "core" %@ \ +2 "storage"(_. +3 "core" . + .tSC.reconfigure :tight +3 "storage"($\ .(\ 1~b +2 .tSC.seek 7 +2 "storage"(([c +2 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (?& +2 "core" &[` Q\  +2 "manipulator"&G& +3 "core" & { ~ & +2 "manipulator"&C% +3 "core" %\ {  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&5( +158 "core" ( +2 "manipulator"&W& +3 "core" & ~ ~ V p +2 "storage"(i& +4 "core" &[` i\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 700 counts +2 "manipulator"&s' +101 "core" ' +2 "storage"(H& +4 "core" &[` 8\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('j +285 "core" ' +2 "storage"(- +3 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (x& +3 "core" &[` \  + "manipulator"& & +4 "core" & O p +2 .tElbow.seek 7 + "manipulator"&%( +3 "core" ( +2 "manipulator"&0& +3 "core" & A p +2 "storage"(& +3 "core" &[` \  +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&j'N +22 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&W]\ O +9 &@W\ O +9 &A[\ N +10 &C\\\ O +9 &E_]\ O +10 &Gb\ P +9 &Hb\ O +9 &Jk\ Q +10 &LX\ T +9 &N\ V +9 &O\ W +10 &Q\ U +9 &S[\ V +9 &U\ V +10 &V\ V +9 &X\ 4 +10 &Yl3p\ C +8 ( +2 &Y \ 0 +2 "processing"%=& +2 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.53 + .Hand.open +2 "manipulator"&b1 +66 "core" 1 +2 "manipulator"&;% +3 "core" % } } l t +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&q'\ +98 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%,& +4 "core" &Y\ 0 + #tImaging generic puck in Processing Clamp while storing it to tube 7 +2 "manipulator"&O% +4 "core" %\   + "storage"( % +4 "core" %Y %\ +2 "storage"(. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 7 +2 "storage"(l([c +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (E& +2 "manipulator"&.& +4 "core" &[` ?\  +4 ."raiseStack"SE.reconfigure :place +3 "storage"(#].K-0-\ b +2 "core" & b c +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&4( +4 "storage"(:'j +3 "core" ( +2 "manipulator"&p& +3 "core" & w c +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" & } A c +2 .tForearm.seek PC +2 "manipulator"&A'Њ +91 "core" ' + .tHand.close +2 "manipulator"&-/ +76 "core" / +3 .tPC.seek :open +2 "processing"%~( +80 "core" ' +2 "storage"(>- +3 "core" -'j + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(z' +41 "core" ' +298 ( + "storage"(v& +4 "core" &[` A\  +2 "manipulator"&& +3 "core" & d c  c +2 "manipulator"&D% +3 "core" % Б Z W E +2 .tForearm.seek :retract +2 "manipulator"&P'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&6( +273 "core" ( +2 "manipulator"&#& +3 "core" & f \ +2 "storage"(@& +4 "core" &[` 6\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 700 counts +2 "manipulator"&N' +103 "core" ' + .tHand.open +2 "manipulator"&/1 +65 "core" 1 +2 "storage"(|- +3 "core" -' +2 .tSE.seek -0.22 Pucks below Top Plate +2 "storage"(d' +26 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"( ' +53 "core" ' + #tLights, camera, ACTION! +2 "storage"(2- +3 "core" -' +2 "storage"(f& +3 "core" &[`  Y\  +2 "manipulator"&{& +3 "core" &  \ +2 .tElbow.seek 7 +2 "manipulator"&o( +7 "core" ( +2 "manipulator"&8& +4 "core" & 9 + "storage"(& +4 "core" &[`  o\  +2 .tForearm.seek 7 + 700 counts +2 "manipulator"&n' +13 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"('V +58 "core" ' +2 "manipulator"&K& +4 "core" & z + "storage"(c& +4 "core" &[` 2\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&Y'" +39 "core" ' + .tElbow.hold +2 "manipulator"&9, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(M'@ +26 "core" ' +2 "manipulator"&V% +4 "core" %)U  i V + "storage"(T& +4 "core" &[`  }\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 307 counts +2 "manipulator"&L'U +18 "core" ' +2 "manipulator"&"& +4 "core" & D +2 "storage"(k& +3 "core" &[` J\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 700 counts +2 "manipulator"&' +27 "core" ' +2 "storage"(% +4 "core" %H ^\ +2 ."downElevator"SE.seek :down +3 "storage"(*'I +100 (g% +3 "core" %8 \ V^ + "manipulator"& % +4 "core" % m +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&)'\ +92 "core" ' +56 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 "collection"']& +4 "core" &YlCIU\ R +2 #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"&(% +3 "core" %\ \  + "storage"(r% +4 "core" %F `\ +2 "storage"(R. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 7 +2 "storage"('([c +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (^& +2 "core" &[` \  +2 "manipulator"&& +4 "core" & + .tElbow.seek 7 +2 "manipulator"& ( +4 "core" ( + "manipulator"&e& +4 "core" & + "storage"(& +4 "core" &[` \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 700 counts +2 "manipulator"&h' +93 "core" ' +2 "storage"(w& +4 "core" &[` \  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(1'j +285 "core" ' + "storage"(m- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&a& +49 "core" & x | ? +3 "storage"(& +4 "core" &[` g\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&'" +37 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(X- +2 "core" -' +2 .tSE.seek 0.03 Pucks below Top Plate +2 "storage"([' +30 "core" ' +2 "manipulator"&J% +3 "core" %3V ? P +2 "storage"(}& +4 "core" &[`  # \  + .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 7 + 317 counts +2 "manipulator"&S'_ +25 "core" ' +2 "manipulator"&F& +4 "core" & r + "storage"(Z& +4 "core" &[` \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 700 counts + "manipulator"&+' +29 "core" ' +2 .tSE.seek 1.03 Pucks below Top Plate +2 "storage"(' +46 "core" ' +2 "manipulator"&y& +4 "core" & } +2 "manipulator"&&% +3 "core" % { 5 D +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +105 "core" ' +2 .tElbow.seek CC +2 "manipulator"&B( +151 "core" ( +2 "manipulator"&& +3 "core" & t f  0 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &_& +2 "core" & b Z  0 +2 .tForearm.seek CC +2 "manipulator"&?'Ϥ +91 "core" ' + .tHand.close +2 "manipulator"&G/ +75 "core" / +2 .tCC.seek :open + "collection"'C( +434 "core" ( +2 "storage"(Q& +3 "core" &[`\ \ c\  +2 "storage"(W& +3 "core" &[`\ \  A\  +2 "manipulator"&i& +4 "core" &\  6 }/ + "manipulator"&% +4 "core" % ϖ ! } +2 .tForearm.seek :retract + "manipulator"&H'\ +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&( +157 "core" ( +2 "manipulator"&7& +3 "core" & {  +2 "storage"(& +4 "core" &[`   W\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.seek 7 +2 "manipulator"&x'" +109 "core" ' + .tElbow.hold +2 "manipulator"& , +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&01 +77 "core" 1 +3 "manipulator"&% +4 "core" % 4{ \  / 1 +2 "storage"(<& +3 "core" &[` Z\  +2 .tForearm.force -20 "manipulator"&5 +3 .tForearm.seek 7 + 318 counts +2 "manipulator"&U'` +22 "core" ' +2 "manipulator"&\\& +4 "core" &\ \  p ~ + "storage"(5& +4 "core" &[` N\ 9\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 700 counts +2 "manipulator"&s' +27 "core" ' +2 "storage"(% +4 "core" %  \ +2 ."downElevator"SE.seek :down +3 "storage"(j'I +100 (u% +2 "core" %{4 @\ TZ +2 "manipulator"&% +4 "core" % X 3 Q +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&%'\ +94 "core" ' +47 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast "storage"(6 +4 ."shutdown"CS.coast +2 #tAsleep / Shutdown +2 "collection"'5 +3 ."shutdown"SS.coast + "sampler")5 +2 ."shutdown"CC.coast +2 "collection"'6 +2 ."shutdown"PC.coast + "processing"%6 +3 ."shutdown"Forearm.coast + "manipulator"&5 +3 ."shutdown"Elbow.coast + "manipulator"&6 +37 ."shutdown"Gate.power :core,:OFF +2 .Gate.power :raw,:OFF + #Shutdown + .tdelay 5 seconds +503 #Powering core bus +500 .Gate.power :raw,:ON +2 "sampler") +44 )! +2 "core"  + "collection"' +3 ' +3 "core"  + "processing"% +2 %I +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +3 "processing"% 9\ +3 % 2\ + % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +2 "core" %DGj\ +2 .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%$% +3 "core" % \ + .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +2 "core" %ut +2 .tSS.configure :default +2 "sampler")#.0X +5 "core" % 2 + + +2 .tForearm.reconfigure :loose +4 ."rdyProcessing"PS.reconfigure :default +4 ."rdySampler"SSV.dial :spit,avoiding: :exhaust +3 "manipulator"&#@2^d^b + "processing"%#A d`xb +3 "sampler")3 +2 .tForearm.home.seek :retract +4 ."rdyProcessing"PS.home.seek 0ml + "manipulator"&q'\ +2 "processing"%`'Ԥ +3 "core"  +2 "sampler"):  +4 "core" +2 ."readyCS"CS.reconfigure :fast +3 ."rdySampler"SS.reconfigure :default +3 "collection"'#d @b +3 "sampler")#.0XWBDi\ N +10 &[CEl\ N +9 &VAEh\ N +10 & VBEh\ M +9 &"FWCGh\ N +9 &$YAFm\ N +10 &%YBFh\ N +9 &'YADe\ N +9 &)NYBCg\ N +10 &+\\BEf\ N +9 &,WCEe\ N +10 &.Z?CX\ N +9 &0VWBEg\ N +9 &2Z@Dq\ N +10 &3ZBDl\ N +9 &5Z@Eh\ N +9 &7\\[BDa\ N +10 &9WBDW\ N +9 &:XAFb\ N +10 &<Y@Gj\ N +9 &>fWADf\ N +9 &@'ZBDj\ N +10 &AWDF_\ N +9 &C\\CFb\ N +9 &Ek]BFb\ O +10 &G-aAEd\ O +9 &HgBFV\ P +10 &JAF_\ T +9 &LWCE`\ |X +9 &NDEc\ {Z +10 &OEFh\ y[\ +9 &QBF^\ x\\ +9 &SRDG`\ u] +10 &UCEb\ z\\ +9 &VCGh\ t] +10 &XAEf\ uJ +9 &Y+EHc\ *z +9 &YsCFi\ P +2 ( + "collection"'& +3 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 2.31 + .Hand.open + "manipulator"&J1 +67 "core" 1 +2 "manipulator"&}% +4 "core" % Ϧ !  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&F'\ +102 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 1 into Processing Clamp + "processing"%Z& +4 "core" &\  +2 "manipulator"&y% +3 "core" %\   +2 "storage"(&% +4 "core" %U _ ]\  + "storage"(h. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 1 +2 "storage"( ( +2 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (1& +2 "core" & I 7 x\  +2 "manipulator"&& +4 "core" & . + "manipulator"&S% +4 "core" %\   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 +2 "manipulator"&[( +150 "core" ( +2 "manipulator"&& +4 "core" & g + "storage"(_& +4 "core" & X Y\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 700 counts +2 "manipulator"&+'W +99 "core" ' +2 "storage"(& +3 "core" & 6 : N\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(G'j +276 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (\ & +3 "core" &   T\  + "manipulator"&Q& +4 "core" & r ' +2 .tElbow.seek 1 + "manipulator"&W( +3 "core" ( +2 "manipulator"&i& +3 "core" & t }  +2 "storage"(& +3 "core" & % & \  +2 .tForearm.seek 1 + 300 counts +2 "manipulator"&7' +22 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +71 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&?& +4 "storage"(B'I +5 "core" & l +2 "manipulator"&0% +3 "core" % b +2 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&<( +143 "core" ' + ."downElevator"SE.coast + "storage"(5 +109 "core" ( +2 "manipulator"&\\& +5 "core" & z  c + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &5& +2 "core" & { c +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&'Њ +96 "core" ' +2 "manipulator"&H& +4 "core" & o b c + "manipulator"&u% +4 "core" %Њ   _ +2 "processing"%& +3 "core" &\  +3 "processing"%& +4 "core" &\  +2 .tPC.seek :closed +2 "processing"%x(Y +3 "core" &!\ \  +10 &4y&\ t+| +10 &d\ t@ +9 &Ty#\ vP +9 &W"\ }O +10 &\\%\ |P +9 &Z!\ }P +9 &^W"\ {O +10 & X\ zO +9 &W\ {O +10 &Z"\ yP +9 & e\\!\ xP +9 &"'[ \ {P +10 &#Y\ zP +9 &%U\ zO +9 &'oV \ {O +10 &)0Z\ wO +9 &*Y\ xO +10 &,X\ yP +9 &.vZ\ zO +9 &08Y \ {O +10 &1Y\ {O +9 &3Z\ {O +9 &5~Y\ {O +10 &7@X\ {O +9 &9X\ xO +10 &:W\ wO +9 &<Y\ wP +9 &>F\\\ vP +10 &@\ T\ yO +9 &AU\ qO +10 &CW\ uP +9 &EMZ\ qP +9 &G c\ uQ +10 &H_\ pQ +9 &Jk\ qR +56 &LJ\ pT +5 &N\ dX + &O\ nW +2 &Q\ uV +5 &SK\ uW &U \ qW + &V\ eV +5 &X\ r9 +9 &Y]-w \ t\\ +10 &Y3\ \ 7 +2 ( + "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.53 + .Hand.open +2 "manipulator"&U1 +71 "core" 1 +2 "manipulator"&% +4 "core" % Ј ^ $ + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&s'\ +91 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%j& +4 "core" &Y1\ 7 +2 #tImaging generic puck in Processing Clamp while storing it to tube 1 + "manipulator"&'% +3 "core" %\   n +2 "storage"(t% +4 "core" %H R\ +2 "storage"(. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +3 .tSC.seek 1 + "storage"(C( +4 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (~& +3 "core" & \  + "manipulator"&%& +4 "core" &  c +2 "manipulator"& % +3 "core" %\   n +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 +2 "manipulator"&!( +267 "core" ( +2 "manipulator"&& +4 "core" &  + "storage"(I& +4 "core" & 1 }\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 700 counts +2 "manipulator"&'W +95 "core" ' +2 "storage"($& +3 "core" & 7\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('j +286 "core" ' +2 "storage"(b- +3 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&;& +3 "core" &  +2 "storage"(,& +3 "core" & &\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek 1 +2 "manipulator"&O'Λ +36 "core" ' + .tElbow.hold +2 "manipulator"& , +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(=- +3 "core" -' +2 .tSE.seek 1.02 Pucks below Top Plate +3 "storage"(' +28 "core" ' +2 "manipulator"&E% +3 "core" %άU\ \  M ~ +2 "storage"(.& +4 "core" & L\ } +2 .tForearm.force -20 "manipulator"&5 +3 .tForearm.seek 1 + 317 counts +2 "manipulator"&' +23 "core" ' +2 "manipulator"&p& +4 "core" & O  +2 "storage"(& +3 "core" & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 700 counts +2 "manipulator"&-'W +21 "core" ' +2 .tSE.seek 2.02 Pucks below Top Plate +2 "storage"(' +46 "core" ' +2 "manipulator"&>& +4 "core" &   +2 "manipulator"&3% +3 "core" %L | +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&:'\ +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&D( +250 "core" ( +2 "manipulator"&A& +4 "core" &  { +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &@& +3 "core" &  { + .tForearm.seek PC +2 "manipulator"&`'Њ +90 "core" ' + .tHand.close +2 "manipulator"&|/ +75 "core" / +2 .tPC.seek :open + "processing"%{( +428 "core" ( + "storage"(P& +4 "core" &  \  +2 "manipulator"&K& +3 "core" & | ] { +2 "manipulator"&% +4 "core" % Ѕ C + .tForearm.seek :retract +2 "manipulator"&q'\ +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 +2 "manipulator"&#( +267 "core" ( +2 "manipulator"&2& +3 "core" & }  `  +2 "storage"(V& +4 "core" & k\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 700 counts +2 "manipulator"&T'W +95 "core" ' +2 .tHand.open +2 "manipulator"&d1 +76 "core" 1 +2 "storage"("- +3 "core" -' +2 .tSE.seek 1.78 Pucks below Top Plate +2 "storage"(k' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(6' +50 "core" ' + #tLights, camera, ACTION! +2 "storage"(N- +3 "core" -' +2 "storage"(g& +3 "core" & \ { +2 "manipulator"& & +3 "core" & r s   +2 .tElbow.seek 1 +2 "manipulator"&/( +8 "core" ( +2 "manipulator"&o& +3 "core" & | x -  +2 "storage"(f& +4 "core" & e\ { +2 .tForearm.seek 1 + 700 counts +2 "manipulator"&8'W +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek 1.89 Pucks below Top Plate +2 "storage"(Y'3 +64 "core" ' +2 "manipulator"&L& +4 "core" & s c  + "storage"(]& +4 "core" & !  \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 1 + "manipulator"&r'Λ +33 "core" ' + .tElbow.hold +2 "manipulator"&4, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 2.07 Pucks below Top Plate +2 "storage"(R' +20 "core" ' +2 "manipulator"&^% +4 "core" %ΨX e { + "storage"(& +4 "core" & F W 6\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 1 + 313 counts +2 "manipulator"&' +24 "core" ' +2 "manipulator"& & +4 "core" & s x #  +2 "storage"(n& +3 "core" & @ ? \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 700 counts +2 "manipulator"&*'W +27 "core" ' +2 "storage"(l% +4 "core" %" [ W\ +2 ."downElevator"SE.seek :down +4 "storage"('I +99 (M% +3 "core" %~.   >\ U^ + "manipulator"&)% +4 "core" %U  H W +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&m'\ +92 "core" ' +42 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast "storage"(6 +3 "collection"'a& +4 "core" &YrEFO\ P +2 #tStoring generic puck in Collection Clamp to tube 1 + "manipulator"&(% +4 "core" %\  " I +2 "storage"(e% +3 "core" %X x x a\ +2 "storage"(. +3 "core" . + .tSC.reconfigure :tight +3 "storage"($\ .(\ 1~b +2 .tSC.seek 1 + "storage"(z( +3 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (J& +2 "core" & U ` P\  +2 "manipulator"&}& +3 "core" &   +2 .tElbow.seek 1 +48 "manipulator"&Z( +34 "core" ( +2 "manipulator"&y& +4 "core" &  H : + "storage"(& +4 "core" & U :\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 700 counts + "manipulator"&&'W +95 "core" ' +2 "storage"(h& +4 "core" & ^ Z\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(1'j +273 "core" ' +2 "storage"(- +3 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&S& +3 "core" & r q ! : +2 "storage"(9& +3 "core" &   {\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 1 +2 "manipulator"&'Λ +32 "core" ' + .tElbow.hold +2 "manipulator"&_, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(- +2 "core" -' +2 .tSE.seek 2.03 Pucks below Top Plate +2 "storage"(' +29 "core" ' +2 "manipulator"&w% +4 "core" %ΨT @ { + "storage"(F& +4 "core" & I\  + .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 1 + 313 counts +2 "manipulator"&' +16 "core" ' +2 "manipulator"&\ & +4 "core" & t | %  + "storage"(Q& +4 "core" & X V \\\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 700 counts +2 "manipulator"&i'W +28 "core" ' +2 .tSE.seek 3.03 Pucks below Top Plate +2 "storage"(' +52 "core" ' +2 "manipulator"&& +4 "core" &  +2 "manipulator"&?% +3 "core" % 2 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&0'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&[( +146 "core" ( +2 "manipulator"&+& +4 "core" & F % +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &G& +2 "core" & d % +2 .tForearm.seek CC +2 "manipulator"&7'Ϥ +100 "core" ' + .tHand.close +2 "manipulator"&\\/ +75 "core" / +2 .tCC.seek :open + "collection"'5( +433 "core" ( + "storage"(W& +4 "core" & \  +2 "storage"(H& +3 "core" & 1\  +2 "manipulator"&u& +4 "core" &  V % +2 "manipulator"&% +3 "core" % ϙ b u +2 .tForearm.seek :retract +2 "manipulator"&B'\ +90 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 +2 "manipulator"&( +153 "core" ( +2 "manipulator"&c& +3 "core" & s  +2 "storage"(U& +4 "core" & ^\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.seek 1 +2 "manipulator"&'Λ +108 "core" ' + .tElbow.hold +2 "manipulator"&j, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&'1 +72 "core" 1 +2 "manipulator"&t% +4 "core" % Ϊq l ^ 3 ~ +2 "storage"(& +3 "core" &   \  +2 .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 1 + 315 counts +2 "manipulator"&' +13 "core" ' +2 "manipulator"&~& +3 "core" & v | : r +2 "storage"(%& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 700 counts + "manipulator"& 'W +28 "core" ' +2 "storage"(% +4 "core" % e\ +2 ."downElevator"SE.seek :down +3 "storage"( 'I +100 (% +3 "core" %1 =\ UZ + "manipulator"&I% +4 "core" %ѓ 4 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&<'\ +91 "core" ' +32 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast "storage"(6 +3 #tShuffling pucks in tube 2 of [1..7] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'$& +4 "core" &@Dl\ +2 "manipulator"&s% +4 "core" %\ r p   +2 "storage"(b% +3 "core" %Y \ +2 "storage"(;. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +3 .tSC.seek 2 + "storage"(,( +186 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (=& +2 "core" &  \  +2 "manipulator"&E& +4 "core" & q s  r + .tElbow.seek 2 +2 "manipulator"&.( +11 "core" ( +2 "manipulator"&p& +3 "core" & ~ t 7  +2 "storage"(& +4 "core" &  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&>'a +92 "core" ' +2 "storage"(3& +4 "core" &  .\  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('j +281 "core" ' +2 "storage"(!- +3 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &  \  +2 "manipulator"&O& +3 "core" & {  +2 .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( + "manipulator"&& +4 "core" & &  +2 "storage"(-& +3 "core" &  H\  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&A' +28 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&@/ +75 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"& & +3 "storage"(|'I +5 "core" &   +2 "manipulator"&:% +3 "core" % 3 +2 .tForearm.seek :retract +2 "manipulator"&x'\ +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&P( +153 "core" ' + ."downElevator"SE.coast +2 "storage"(5 +10 "core" ( +2 "manipulator"&K& +3 "core" & | < . +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" & g . +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&`'Ϥ +101 "core" ' +2 "manipulator"&2& +4 "core" &  . + "manipulator"&V% +4 "core" %Ͽ  m +3 "collection"'D& +4 "core" &BE\ +2 "collection"'d& +5 "core" &BFs\ +2 .tCC.seek :closed + "collection"'"(Y +4 "core" &BEk\ +9 &6ABl\ $c +10 &UACV\ 7 +9 &ACh\ L +9 &ZCCd\ N +10 &^Y@CP\ M +9 & ZBE_\ M +9 &\\@C\\\ N +10 &ZCEO\ M +9 &fYBD`\ M +9 &(YADb\ M +10 &ZAD[\ M +9 &!ZAE\\\ M +10 &#oYCCT\ M +9 &%/\\CFR\ N +9 &&ZBEY\ N +10 &(WAE]\ N +9 &*vWAFX\ M +9 &,8U@D]\ M +10 &-VCDT\ N +50 &/XBEY\ N + &1~ZBE[\ M +5 &3?WDDf\ N + &5[?D\\\ M + &6YBDX\ M &8ZCD`\ N +7 &:G]BEl\ N +10 &< ZAEh\ N +9 &=WBD\\\ N +10 &?\\AD[\ M +9 &APW@F\\\ M +9 &CZCBY\ M +10 &D]AEZ\ N +9 &F^BD`\ N +10 &HSbBDa\ O +9 &J {CG[\ R +9 &KBE]\ V +10 &M{DE[\ Y +9 &O:CF`\ Z +9 &PCIV\ [ +10 &REE\\\ \\ +9 &T|BFh\ \\ +9 &V>DHc\ ~\\ +10 &WCFg\ \\ +9 &YUIDF]\ 1 +10 &YsEGX\ M +5 ( +2 "collection"'d& +3 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 2.28 +2 .Hand.open + "manipulator"&N1 +3 "core" &YbEG^\ M +74 1 +2 "manipulator"&g% +4 "core" % Ͽ I m +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"& '\ +94 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%o& +3 "core" &\ +2 "manipulator"&q% +4 "core" %\  ; a +2 "storage"(f% +4 "core" %J 2\ + "storage"(L. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 2 +2 "storage"(]( +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (^& +2 "core" &  m i \  +2 "manipulator"&& +4 "core" & ~ c . +2 "manipulator"&% +3 "core" %\  S a +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&k( +21 "Can"\ >> +126 "core" ( +2 "manipulator"& & +4 "core" & /  + "storage"(n& +4 "core" &  @\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&l'a +97 "core" ' +2 "storage"(#& +4 "core" &  5\  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(T'j +283 "core" ' + "storage"(6- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (M& +2 "core" &  t w J\  +2 "manipulator"&)& +3 "core" & l  +2 .tElbow.seek 2 +2 "manipulator"&8( +3 "core" ( + "manipulator"&/& +4 "core" &   + "storage"(Y& +4 "core" &  v k Y\  +2 .tForearm.seek 2 + 300 counts + "manipulator"&r' +24 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&a/ +73 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +5 "storage"(('I +4 "core" &   +2 "manipulator"&e% +4 "core" % t x q ( + .tForearm.seek :retract +3 "manipulator"&'\ +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&J( +161 "core" ' + ."downElevator"SE.coast + "storage"(5 +94 "core" ( +2 "manipulator"&}& +3 "core" & N +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &R& +2 "core" & N +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&y'Њ +89 "core" ' +2 "manipulator"&& +4 "core" & ~ C N + "manipulator"&*% +4 "core" %В  A  +2 "processing"%h& +3 "core" &\ +2 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%C(Y +4 "core" &'\  +10 &-v"\ *y +9 &b%\ ? +10 &dx"\ O +9 &'T \ O +10 &Y \ O +9 &Y%\ O +9 &mU!\ O +10 &/Y&\ O +9 &Z%\ O +9 &W&\ O +10 & s]$\ O +9 &"6Z$\ O +10 &#Z \ O +9 &%Y$\ O +9 &'|W%\ O +10 &)>Y$\ O +9 &+X'\ O +9 &,Y"\ O +10 &.Y#\ O +9 &0E\\#\ O +10 &2Z#\ O +9 &3X"\ O +9 &5Z\ O +10 &7MW\ O +9 &9Z \ O +9 &:[\ O +10 &<Y!\ O +9 &>VZ \ O +10 &@X \ O +9 &AX\ O +9 &C[\ O +10 &E[^"\ P +9 &Gc"\ P +9 &He!\ Q +10 &Jn\ Q +9 &LS \ ~V +10 &N\ |V +9 &O\ {W +9 &Q\ {V +10 &SZ\ |V +9 &U\ {V +9 &V \ {V +10 &X~!\ 4 +9 &Yk4m\ D +9 ( +2 &Y{.\ 4 +2 "processing"%& +2 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.56 + .Hand.open +2 "manipulator"&41 +75 "core" 1 +2 "manipulator"&m% +3 "core" % В y !  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +90 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%S& +4 "core" &Y{.\ 4 +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&9% +3 "core" %\  % s +2 "storage"(% +4 "core" %E > = 9\ +2 "storage"(w. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +3 .tSC.seek 2 + "storage"(F( +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (\ & +4 "core" &    m\  + "manipulator"&Q& +3 ."raiseStack"SE.reconfigure :place +5 "storage"(#].K-0-\ b +3 "core" &  N +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&( + "storage"(?'j +5 "core" ( +2 "manipulator"&&& +3 "core" &  N +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &Z& +3 "core" &  N + .tForearm.seek PC +2 "manipulator"&1'Њ +91 "core" ' + .tHand.close +2 "manipulator"&/ +72 "core" / +3 .tPC.seek :open + "processing"%( +80 "core" ' +2 "storage"(- +3 "core" -'j + ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(+' +45 "core" ' +292 ( + "storage"(G& +4 "core" &    \  +2 "manipulator"&i& +3 "core" & } N +2 "manipulator"&_% +3 "core" % Ќ | | @ H +2 .tForearm.seek :retract +2 "manipulator"&\\'\ +101 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&0( +274 "core" ( +2 "manipulator"&X& +3 "core" &  +2 "storage"(W& +4 "core" &  %  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&H'a +103 "core" ' + .tHand.open +2 "manipulator"&u1 +75 "core" 1 +2 "storage"(- +3 "core" -' +2 .tSE.seek -0.22 Pucks below Top Plate +2 "storage"(c' +35 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(U' +53 "core" ' + #tLights, camera, ACTION! +2 "storage"(7- +3 "core" -' +2 "storage"([& +3 "core" &  \ w +2 "manipulator"&'& +3 "core" & +2 .tElbow.seek 2 +2 "manipulator"&t( +3 "core" ( +2 "manipulator"&& +3 "core" & P +2 "storage"(~& +3 "core" &  \ v +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&%'a +14 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"('V +63 "core" ' +2 "manipulator"&B& +4 "core" & x } U +48 "storage"(& +5 "core" &    P\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&I'Υ +34 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"('@ +28 "core" ' +2 "manipulator"&$% +4 "core" %ΰN a z + "storage"(s& +4 "core" &  '\ x +2 .tForearm.force -20 "manipulator"&5 +3 .tForearm.seek 2 + 311 counts +2 "manipulator"&b' +24 "core" ' +2 "manipulator"&& +4 "core" & } q B  +2 "storage"(;& +4 "core" &    \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'a +18 "core" ' +2 "storage"( % +4 "core" %I ' 4 #\ +2 ."downElevator"SE.seek :down +4 "storage"(='I +99 (E% +3 "core" %3 %  \ V` +2 "manipulator"&p% +4 "core" %m 6 +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +58 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 "collection"' & +4 "core" &YaCE>\ M + #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&z% +3 "core" %\ r p   +2 "storage"(3% +4 "core" %S ? @ X\ + "storage"(j. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +3 .tSC.seek 2 + "storage"(<( +2 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (!& +2 "core" &  ? ? D\  +2 "manipulator"&& +4 "core" & u t ;  + .tElbow.seek 2 +2 "manipulator"&O( +11 "core" ( +2 "manipulator"&& +4 "core" & v } Q  + "storage"(-& +4 "core" &  2 <\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&@'a +93 "core" ' +2 "storage"( & +4 "core" &  5 ; p\  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(:'j +284 "core" ' + "storage"(.- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&>& +3 "core" &  + "storage"(K& +4 "core" & \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&'Υ +35 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(A- +2 "core" -' +2 .tSE.seek 0.03 Pucks below Top Plate +2 "storage"(2' +32 "core" ' +2 "manipulator"&V% +3 "core" %ΩQ K v +2 "storage"(& +4 "core" &  4\ { + .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 2 + 304 counts +2 "manipulator"&D' +21 "core" ' +2 "manipulator"&|& +3 "core" & w ~   +2 "storage"(x& +4 "core" &  A > \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&5'a +25 "core" ' +2 .tSE.seek 1.03 Pucks below Top Plate +2 "storage"(N' +41 "core" ' +2 "manipulator"&g& +4 "core" & s s &  + "manipulator"&o% +4 "core" %e q r  c +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&q'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&d( +152 "core" ( +2 "manipulator"&f& +4 "core" & K ( +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &L& +3 "core" & 7 ( + .tForearm.seek CC +2 "manipulator"&^'Ϥ +97 "core" ' + .tHand.close +2 "manipulator"&/ +77 "core" / +2 .tCC.seek :open + "collection"'( +433 "core" ( +2 "storage"(`& +3 "core" &  \  +2 "storage"( & +3 "core" &  y { j\  +2 "manipulator"&n& +3 "core" & 8 7 & +2 "manipulator"&,% +3 "core" % Ϯ 7 9 +2 .tForearm.seek :retract +2 "manipulator"&#'\ +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&P( +156 "core" ( +2 "manipulator"& & +3 "core" & v } i  +2 "storage"(6& +4 "core" &  g\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.seek 2 +2 "manipulator"&M'Υ +106 "core" ' + .tElbow.hold +2 "manipulator"&), +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&/1 +69 "core" 1 +2 "manipulator"&Y% +4 "core" % ζ{  p +2 "storage"(a& +3 "core" &    .\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 317 counts +2 "manipulator"&' +23 "core" ' +2 "manipulator"&e& +3 "core" & ~ 9 R +2 "storage"(k& +4 "core" &  4\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&l'a +17 "core" ' +2 "storage"(T% +4 "core" % X\ +2 ."downElevator"SE.seek :down +3 "storage"(r'I +100 (}% +2 "core" %N3 C\ U\\ +2 "manipulator"&R% +4 "core" %e [ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&8'\ +87 "core" ' +55 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast "storage"(6 +3 #tShuffling pucks in tube 3 of [1..7] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'& +4 "core" &ACi\ +2 "manipulator"&*% +3 "core" %\  o o \ k +2 "storage"(h% +4 "core" %X [\ +2 "storage"((. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 3 +2 "storage"((z +190 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 ({& +2 "core" &{ o\  +2 "manipulator"&4& +3 "core" & o R +2 .tElbow.seek 3 +2 "manipulator"&m( +20 "core" ( +2 "manipulator"&S& +4 "core" & } s Z  + "storage"(9& +4 "core" &{ -\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&' +103 "core" ' +2 "storage"(& +3 "core" &{ z z \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +48 "storage"(w'j +279 "core" ' +3 "storage"(\ - +3 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (Q& +3 "core" &{ @ >\  + "manipulator"&&& +4 "core" & t s #  + .tElbow.seek 3 +2 "manipulator"&Z( +15 "core" ( +2 "manipulator"&y& +3 "core" & z s ; +2 "storage"(& +4 "core" &{ 4 > 5\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&]'l +24 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +66 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&J& +4 "storage"('I +3 "core" & } : +2 "manipulator"&C% +3 "core" % r }  \ +2 .tForearm.seek :retract +2 "manipulator"&?'\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&G( +147 "core" ( +3 "manipulator"&i& +3 "core" ' + & g o ] . +2 ."downElevator"SE.coast +3 .tElbow.reconfigure :loose + "storage"(5 +2 "manipulator"&$ &.,(#b +4 &_& +3 "core" & e f  . +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&1'Ϥ +100 "core" ' +2 "manipulator"&X& +4 "core" & o g b - +2 "manipulator"&W% +3 "core" %Ϸ d f U x +2 "collection"'& +4 "core" &BC\ +2 "collection"'u& +4 "core" &AD}\ +2 .tCC.seek :closed +2 "collection"'(Y +4 "core" &@Dq\  +10 &0}AEe\ *y +9 &cBEm\ ? +10 &luCDa\ O +9 &0VADf\ N +9 &YBF_\ N +10 &YCD]\ N +9 &uYAEa\ N +9 &8WBDi\ N +10 &W@Ef\ N +9 &WCE`\ N +10 & WBGZ\ M +9 &"@XCCh\ N +9 &$YAEj\ N +10 &%YCDk\ N +9 &'WBEc\ N +9 &)HYCBd\ N +10 &+\ X@C_\ N +9 &,WBDg\ N +10 &.W@Da\ N +9 &0QUCE_\ N +9 &2WADk\ M +10 &3YBCa\ N +9 &5YBC]\ N +9 &7WZCEh\ N +10 &9[BDi\ N +9 &:YCEe\ N +10 &<Y@Ea\ N +9 &>_X@EX\ N +9 &@ WDDa\ O +10 &AWBE_\ N +9 &C[CGY\ N +9 &Ee]BEY\ O +10 &G(\\@D_\ O +9 &HeCF[\ P +10 &J@E\\\ }T +9 &LP@Eb\ kY +9 &N AE\\\ o[ +10 &OFF_\ h[ +9 &QCE^\ s\\ +9 &SLBD`\ l] +10 &UCE\\\ r] +9 &VBGa\ i^ +10 &XDGP\ iJ +9 &Y6DF_\ j'v +9 &YcCHY\ M +2 ( +2 "collection"'u& +2 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 2.36 + .Hand.open + "manipulator"&71 +77 "core" 1 +3 "manipulator"&[% +4 "core" % Ϸ 5 x +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&''\ +94 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%\\& +4 "core" &\ +2 "manipulator"&% +4 "core" %\ e b l  +2 "storage"(~% +3 "core" %S U R \ +2 "storage"(B. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 3 +2 "storage"((z +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (+& +2 "core" &{ a n \  +2 "manipulator"&c& +3 "core" & i o - +2 "manipulator"&$% +3 "core" %\ Y V @  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&s( +167 "core" ( +2 "manipulator"&& +4 "core" &\ 8 J + "storage"(0& +4 "core" &{ x y g\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&;' +93 "core" ' +2 "storage"(H& +3 "core" &{ e ` \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"( 'j +283 "core" ' + "storage"(U- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (E& +3 "core" &{ 2 : J\  + "manipulator"&p& +4 "core" &\ {  G + .tElbow.seek 3 +2 "manipulator"&%( +3 "core" ( +2 "manipulator"&t& +3 "core" &\  G +2 "storage"(& +3 "core" &{ U Q d\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&I'l +17 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&b/ +76 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"& & + "storage"(z'I +6 "core" &\ G +2 "manipulator"&3% +4 "core" % b  B P + .tForearm.seek :retract +2 "manipulator"&j'\ +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +159 "core" ' + ."downElevator"SE.coast + "storage"(5 +106 "core" ( +3 "manipulator"&!& +4 "core" & w  > K + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 && +2 "core" & d h > K +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&'Њ +96 "core" ' +2 "manipulator"&-& +4 "core" & = K + "manipulator"&% +4 "core" %Б f K +2 "processing"% & +3 "core" & \ +3 "processing"%=& +4 "core" &#\ +2 .tPC.seek :closed +2 "processing"%F(Y +3 "core" &$\  +10 &-v+\ +z +9 &c%\ x? +10 &hv$\ yO +9 &(\\$\ P +9 &Y"\ O +10 &Y \ P +9 &oV!\ O +9 &1X%\ O +10 &W\ P +9 &W\ O +10 & vZ\ P +9 &"9Y!\ O +9 &#U!\ O +10 &%Z\ O +9 &'Y \ O +9 &)@X!\ P +10 &+W\ O +9 &,U\ O +10 &.U\ O +9 &0IW\ O +9 &2\ U\ P +10 &3Y\ P +9 &5Y\ P +9 &7RT \ O +10 &9[\ \ O +9 &:Z\ P +10 &<Y \ O +9 &>YZ \ O +9 &@W\ O +10 &AT\ O +9 &CX\ O +9 &E`Z\ P +10 &G _ \ P +9 &Hb\ ~Q +10 &Jk \ |R +9 &LW\ uV +9 &N\ rW +10 &O\ rW +9 &Q \ rW +9 &S\\ \ tW +10 &U \ rV +9 &V\ uV +10 &Xv\ }: +9 &Ya1 \ yW +9 &Y%\ 3 +2 ( + "processing"%=& +3 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.54 + .Hand.open + "manipulator"&1 +67 "core" 1 +2 "manipulator"&% +3 "core" % Ќ z y +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&.'\ +96 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%>& +4 "core" &Y#\ 3 + #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&K% +3 "core" %\ r ]  +2 "storage"(A% +4 "core" %Z 4 :\ + "storage"(V. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 3 +2 "storage"((z +2 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (|& +3 "core" &{ & / ?\  +2 "manipulator"&x& +4 ."raiseStack"SE.reconfigure :place +3 "storage"(#].K-0-\ b +2 "core" & o q  K +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +4 .tElbow.seek PC +2 "storage"(g'j + "manipulator"&o( +5 "core" ( + "manipulator"&@& +4 "core" &  K +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &O& +5 "core" & s r  K + .tForearm.seek PC +2 "manipulator"&:'Њ +93 "core" ' + .tHand.close +2 "manipulator"&/ +76 "core" / +3 .tPC.seek :open +48 "processing"%D( +30 "core" ' +2 "storage"(2- +3 "core" -'j + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(f' +34 "core" ' +359 ( + "storage"(L& +4 "core" &{   :\  +2 "manipulator"&5& +4 "core" & X [ K + "manipulator"&% +4 "core" % Љ _ \\ " \ +4 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&q( +269 "core" ( +2 "manipulator"&"& +4 "core" & q T + "storage"(`& +4 "core" &{ 2 5\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"& ' +101 "core" ' + .tHand.open +2 "manipulator"&n1 +74 "core" 1 +2 "storage"(,- +3 "core" -' +2 .tSE.seek -0.22 Pucks below Top Plate +2 "storage"( ' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(6' +53 "core" ' + #tLights, camera, ACTION! +2 "storage"(^- +3 "core" -' +2 "storage"(d& +4 "core" &{ &\  +2 "manipulator"&/& +3 "core" & R +2 .tElbow.seek 3 +2 "manipulator"&Y( +3 "core" ( + "manipulator"&a& +4 "core" & % +2 "storage"(e& +3 "core" &{ \  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&k' +13 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"(T'V +63 "core" ' +2 "manipulator"&#& +4 "core" & i + "storage"(}& +4 "core" &{ w y V\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&R'@ +35 "core" ' + .tElbow.hold +2 "manipulator"&P, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(M'@ +35 "core" ' +2 "manipulator"&% +4 "core" %PB 0 0 [ b +2 "storage"(& +3 "core" &{ q d m\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 316 counts +2 "manipulator"&*'| +15 "core" ' +2 "manipulator"&h& +4 "core" & ~ O  +2 "storage"((& +3 "core" &{ @ # 6\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&N' +33 "core" ' +2 "storage"(l% +4 "core" %D D U 8\ +2 ."downElevator"SE.seek :down +3 "storage"({'I +100 (4% +5 "core" %w5 t\ Wc + "manipulator"&S% +4 "core" %)  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&9'\ +88 "core" ' +61 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast "storage"(6 +3 "collection"'r& +4 "core" &YbCHG\ M +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&<% +4 "core" %\  V r + "storage"(% +4 "core" %[ z z G\ +2 "storage"(). +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 3 +2 "storage"(8(z +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (\ & +2 "core" &{ Z ^\  +2 "manipulator"&Q& +4 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&&( +11 "core" ( +2 "manipulator"&y& +4 "core" &  + "storage"(& +4 "core" &{ _ `\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&' +96 "core" ' +2 "storage"(J& +4 "core" &{ S W P\  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(C'j +288 "core" ' +2 "storage"(m- +3 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & }  + "storage"(i& +4 "core" &{ ! <\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&_'@ +35 "core" ' + .tElbow.hold +2 "manipulator"&w, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(]- +2 "core" -' +3 .tSE.seek 0.03 Pucks below Top Plate + "storage"(X' +32 "core" ' +2 "manipulator"&W% +3 "core" %SF 0 2 & c +2 "storage"(& +3 "core" &{ #\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 319 counts +2 "manipulator"&Z' +19 "core" ' +2 "manipulator"&& +3 "core" &   ~  +2 "storage"(?& +4 "core" &{ v d\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&' +22 "core" ' +2 .tSE.seek 1.03 Pucks below Top Plate +2 "storage"(7' +49 "core" ' +2 "manipulator"&[& +4 "core" &  q q   +2 "manipulator"&\\% +3 "core" % r r S +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&u'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +158 "core" ( +3 "manipulator"&~& +3 "core" & c a m + +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &B& +3 "core" & b Y + +2 .tForearm.seek CC + "manipulator"&+'Ϥ +96 "core" ' + .tHand.close +2 "manipulator"&c/ +69 "core" / +2 .tCC.seek :open + "collection"'$( +433 "core" ( + "storage"(1& +4 "core" &{ C\  +2 "storage"(& +3 "core" &{ F\  +2 "manipulator"&0& +3 "core" & 9 : + +2 "manipulator"&% +3 "core" % ϶ 8 8 +2 .tForearm.seek :retract +2 "manipulator"&H'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&G( +156 "core" ( +2 "manipulator"&'& +3 "core" &  +2 "storage"(U& +4 "core" &{ \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(#b +2 .tForearm.seek 3 +2 "manipulator"&E'@ +108 "core" ' + .tElbow.hold +2 "manipulator"&p, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&t1 +78 "core" 1 +3 "manipulator"&% +4 "core" % T\\ b  \ h +41 "storage"(b& +11 "core" &{ ]\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 320 counts +2 "manipulator"& 'π +20 "core" ' +2 "manipulator"&3& +4 "core" & y @ s + "storage"(s& +4 "core" &{ )\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&;' +29 "core" ' +2 "storage"( % +4 "core" % -\ +2 ."downElevator"SE.seek :down +3 "storage"(I'I +100 (!% +2 "core" %l6 W U i\ U] +2 "manipulator"&% +4 "core" % r 4 F +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&%'\ +95 "core" ' +45 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast + "storage"(6 +2 #tShuffling pucks in tube 4 of [1..7] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'-& +4 "core" &BD{\ +2 "manipulator"&% +5 "core" %\ \ t   +2 "storage"( % +4 "core" %L \ +2 "storage"(z. +3 "core" . + .tSC.reconfigure :tight +3 "storage"($\ .(\ 1~b +2 .tSC.seek 4 +2 "storage"(j(, +186 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (& +3 "core" &, 0\  + "manipulator"&& +4 "core" & { C s + .tElbow.seek 4 +3 "manipulator"&( +15 "core" ( +2 "manipulator"&>& +3 "core" & { r d  +2 "storage"(K& +4 "core" &, \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&A' +106 "core" ' +2 "storage"(=& +3 "core" &, \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(V'j +281 "core" ' +2 "storage"(|- +3 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (x& +2 "core" &, H\  +2 "manipulator"&@& +3 "core" & 0  +2 .tElbow.seek 4 +2 "manipulator"&O( +3 "core" ( + "manipulator"&& +4 "core" & W  +2 "storage"(& +3 "core" &, M\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&'@ +22 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&2/ +74 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(.'I +6 "core" &  +2 "manipulator"&F% +4 "core" % D x " +2 .tForearm.seek :retract +2 "manipulator"&g'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&L( +148 "core" ' + ."downElevator"SE.coast + "storage"(5 +10 "core" ( +2 "manipulator"&5& +4 "core" & f i a / + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" & c d T / +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&:'Ϥ +91 "core" ' +2 "manipulator"&"& +4 "core" & e e  / + "manipulator"&`% +4 "core" %Ϣ b d  : +2 "collection"'o& +4 "core" &ADx\ +2 "collection"'n& +5 "core" &BCx\ +3 .tCC.seek :closed +2 "collection"',(Y +4 "core" &BCn\ +8 &5BDk\ $d +10 &U?Ek\ 8 +9 &}ADa\ L +9 &VAD]\ N +10 &fZ@Bd\ M +9 &(YADe\ M +9 &[AEa\ N +10 &YCDk\ N +9 &mWBEi\ N +10 &/W@Cl\ N +9 &ZBFl\ M +9 &!Y@Eg\ N +10 &#vV?Ee\ M +9 &%8YCC`\ M +9 &&WBEg\ N +9 &(W>Dk\ M +10 &*~YBFh\ M +10 &,@ZABj\ M +9 &.[CDg\ M +9 &/UACi\ M +10 &1U@Cl\ N +9 &3H[?Dg\ M +9 &5\ ZAEj\ M +10 &6\\CDZ\ N +9 &8XDDb\ N +10 &:P\\AC\\\ M +9 &<WCDd\ N +9 &=Z@F]\ N +10 &?YABZ\ N +9 &AXZ@CY\ M +9 &C^ADi\ N +10 &D]CEb\ N +9 &FbAFY\ O +10 &HXjCES\ P +9 &JCFZ\ R +9 &KBGZ\ W +10 &MAGX\ ~[ +9 &O?CFY\ ~[ +9 &QAFV\ }[ +10 &RCGW\ |\\ +9 &TCGO\ }\\ +10 &VCEF\\\ z] +9 &XBFN\ }\\ +9 &YZGDHW\ 1 +10 &YxEF\\\ P +5 ( +2 "collection"'n& +3 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 2.33 + .Hand.open +2 "manipulator"&^1 +3 "core" &YeEHY\ P +71 1 +2 "manipulator"&d% +4 "core" % Ϣ h A : +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&/'\ +95 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%a& +4 "core" &&\ +2 "manipulator"&% +4 "core" %\ d n W  + "storage"(e% +4 "core" %F S U R\ +2 "storage"(#. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 4 +2 "storage"(}(, +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (f& +2 "core" &, ` V\  +2 "manipulator"&& +4 "core" & p q / +2 "manipulator"&% +3 "core" %\ n g  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"& ( +156 "core" ( +2 "manipulator"&h& +3 "core" & y | -  +2 "storage"((& +4 "core" &, '\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&q' +97 "core" ' +2 "storage"(l& +4 "core" &, W\  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"( 'j +284 "core" ' +2 "storage"(6- +3 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (4& +2 "core" &, Y e\  +2 "manipulator"&S& +4 "core" & ?  + .tElbow.seek 4 +2 "manipulator"&k( +3 "core" ( +2 "manipulator"&Y& +3 "core" &   +2 "storage"(T& +3 "core" &, \  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&R'@ +24 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&*/ +76 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&r& +5 "storage"(<'I +3 "core" & m  +2 "manipulator"&% +3 "core" % @ +2 .tForearm.seek :retract +2 "manipulator"&)'\ +95 "core" ' +2 .tElbow.seek PC +2 "manipulator"&M( +157 "core" ' + ."downElevator"SE.coast + "storage"(5 +101 "core" ( +2 "manipulator"&\ & +3 "core" & ~ a +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &Q& +3 "core" &  | L a +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&y'Њ +96 "core" ' +2 "manipulator"&& +4 "core" & ? a + "manipulator"&N% +4 "core" %Д ; 9 +2 "processing"%J& +3 "core" &#\ +3 "processing"%{& +4 "core" &\ +2 .tPC.seek :closed +2 "processing"%(Y +4 "core" &)\ \ +10 &.v-\ *y +9 &b,\ |? +10 &cw\ {P +9 &'T\ O +9 &Y!\ P +10 &W&\ O +9 &lV\ O +9 &.Z\ O +10 &W\ O +51 &W\ P +4 & sZ!\ }P + &"5W\ ~P + &#Y#\ ~O + &%Y\ ~O +3 &'|U\ O +4 &)>U \ O +10 &+X!\ O +9 &,Y\ O +10 &.U\ O +9 &0EY!\ P +9 &2Y \ P +10 &3W&\ P +9 &5Y\ O +9 &7NY\ O +10 &9V\ O +9 &:U\ P +10 &<W\ P +9 &>VV\ O +9 &@U\ O +10 &AR\ O +9 &CW\ O +9 &E^Y\ O +10 &G_\ P +9 &H`!\ P +10 &Jg\ Q +9 &LZ~\ |S +9 &N\ uW +10 &O\ xW +9 &Q\ wV +9 &SZ\ xV +10 &U\ xV +9 &V\ yV +10 &X~\ {4 +9 &Yo5n \ ~? +8 ( +2 &Y"\ / +2 "processing"%{& +2 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.53 + .Hand.open +2 "manipulator"&P1 +76 "core" 1 +2 "manipulator"&9% +4 "core" % Б o + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&m'\ +92 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%& +4 "core" &Y"\ / +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&i% +4 "core" %\ \ t r f  +2 "storage"(]% +3 "core" %J 1 0 Q\ +2 "storage"(W. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +3 .tSC.seek 4 + "storage"((, +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (& +2 "manipulator"&?& +4 "core" &,   \  +3 ."raiseStack"SE.reconfigure :place +3 "storage"(#].K-0-\ b +2 "core" & t | b a +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&[( +3 "storage"(\\'j +36 "core" ( +2 "manipulator"&& +4 "core" & [ r + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &&& +2 "core" & l r +2 .tForearm.seek PC +2 "manipulator"&C'Њ +96 "core" ' + .tHand.close +2 "manipulator"&_/ +69 "core" / +3 .tPC.seek :open +2 "processing"%Z( +50 "core" ' +2 "storage"(X- +3 "core" -'j + ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(~' +40 "core" ' +329 ( + "storage"(B& +4 "core" &, D X\  +2 "manipulator"&& +3 "core" & ~ ~ q +2 "manipulator"&w% +4 "core" % Й ~ + .tForearm.seek :retract +2 "manipulator"&c'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&u( +265 "core" ( +2 "manipulator"&& +4 "core" & { v &  + "storage"(1& +4 "core" &, V Y s\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&' +90 "core" ' + .tHand.open +2 "manipulator"&01 +76 "core" 1 +2 "storage"(- +3 "core" -' +2 .tSE.seek -0.22 Pucks below Top Plate +2 "storage"('' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +3 "storage"(U' +53 "core" ' + #tLights, camera, ACTION! +2 "storage"(+- +3 "core" -' +2 "storage"(& +3 "core" &, a ]\  +2 "manipulator"&t& +4 "core" & k  + .tElbow.seek 4 +2 "manipulator"&( +9 "core" ( +2 "manipulator"&b& +3 "core" &   +2 "storage"(3& +4 "core" &, X V Y\  +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&s' +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(H'V +70 "core" ' +2 "manipulator"& & +4 "core" & (  + "storage"(G& +4 "core" &, z x !\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&!' +37 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(E'@ +26 "core" ' +2 "manipulator"&-% +4 "core" %&5 3 1 _f + "storage"( & +4 "core" &, O G\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 4 + 318 counts +2 "manipulator"&'R +26 "core" ' +2 "manipulator"& & +4 "core" & T  +2 "storage"(z& +3 "core" &, z &\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&7' +19 "core" ' +2 "storage"(;% +4 "core" %G { V\ +2 ."downElevator"SE.seek :down +4 "storage"('I +99 (% +3 "core" %5 ? A j\ V_ + "manipulator"&>% +4 "core" % $ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&K'\ +101 "core" ' +52 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 "collection"'I& +3 "core" &YeCGW\ P +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&8% +4 "core" %\ 8 +2 "storage"(=% +3 "core" %W \  +2 "storage"(p. +3 "core" . + .tSC.reconfigure :tight +3 "storage"($\ .(\ 1~b +2 .tSC.seek 4 +2 "storage"(%(, +2 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +2 (|& +3 "core" &, 6\  +2 "manipulator"&x& +3 "core" & 3  +2 .tElbow.seek 4 +2 "manipulator"&@( +9 "core" ( +2 "manipulator"&& +4 "core" & +  + "storage"(& +4 "core" &, \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&2' +96 "core" ' +2 "storage"(& +4 "core" &, \  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(F'j +273 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&A& +2 "core" & $  +2 "storage"(5& +3 "core" &, w w &\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&' +36 "core" ' + .tElbow.hold +2 "manipulator"&V, +3 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +2 .tSE.seek 0.02 Pucks below Top Plate +2 "storage"("' +26 "core" ' +2 "manipulator"&`% +3 "core" %(;   `s +2 "storage"(o& +3 "core" &, o h\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 320 counts +2 "manipulator"&O'T +22 "core" ' +2 "manipulator"&.& +3 "core" & B g +2 "storage"(g& +4 "core" &, ] V\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +48 "manipulator"&$' +22 "core" ' +2 .tSE.seek 1.02 Pucks below Top Plate +2 "storage"(^' +46 "core" ' +2 "manipulator"&d& +4 "core" & r p \ g +2 "manipulator"&a% +3 "core" % r s  Z +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&n( +157 "core" ( +3 "manipulator"&e& +4 "core" & o h N 2 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &#& +2 "core" & f b ; 2 +2 .tForearm.seek CC +2 "manipulator"&f'Ϥ +91 "core" ' + .tHand.close +2 "manipulator"&/ +69 "core" / +2 .tCC.seek :open + "collection"'( +433 "core" ( +2 "storage"(:& +3 "core" &, \  +2 "storage"(h& +3 "core" &, \\\  +2 "manipulator"&(& +4 "core" & \\ ] / + "manipulator"&j% +4 "core" % ϣ X [  8 +2 .tForearm.seek :retract +2 "manipulator"&l'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&L( +150 "core" ( +2 "manipulator"&/& +4 "core" & } k \ + "storage"(6& +4 "core" &, ?\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.seek 4 +2 "manipulator"&4' +107 "core" ' + .tElbow.hold +2 "manipulator"&S, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&Y1 +71 "core" 1 +2 "manipulator"&T% +4 "core" % (c o z j +2 "storage"(*& +3 "core" &, X\  +3 .tForearm.force -20 "manipulator"&5 +3 .tForearm.seek 4 + 320 counts +2 "manipulator"&r'T +23 "core" ' +2 "manipulator"&& +3 "core" & {  +2 "storage"( & +4 "core" &, \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&q' +26 "core" ' +2 "storage"( % +4 "core" % \ +2 ."downElevator"SE.seek :down +3 "storage"(R'I +100 (\ % +3 "core" %^4 \ U] + "manipulator"&Q% +4 "core" % N  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&k'\ +87 "core" ' +55 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast "storage"(6 +3 #tShuffling pucks in tube 5 of [1..7] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'& +4 "core" &@Di\ +2 "manipulator"&N% +4 "core" %\ r q  +2 "storage"(J% +3 "core" %Y \ +2 "storage"(<. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +3 .tSC.seek 5 + "storage"()(; +187 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (D& +2 "core" &; \  +2 "manipulator"&P& +3 "core" & 4  +2 .tElbow.seek 5 +2 "manipulator"&9( +13 "core" ( +2 "manipulator"&& +3 "core" &  !  +2 "storage"(i& +4 "core" &; p\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts +2 "manipulator"&{', +99 "core" ' +2 "storage"(]& +3 "core" &; Z\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(W'j +278 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (?& +2 "core" &; y | u\  +2 "manipulator"&& +4 "core" &   +2 .tElbow.seek 5 + "manipulator"&&( +3 "core" ( +2 "manipulator"&y& +3 "core" &   +2 "storage"(_& +3 "core" &; 6\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&}'Ϝ +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&X/ +67 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&M& +5 "storage"(m'I +3 "core" &  +2 "manipulator"&% +3 "core" % Ϡ +2 .tForearm.seek :retract +2 "manipulator"&\\'\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&B( +147 "core" ' + ."downElevator"SE.coast + "storage"(5 +14 "core" ( +2 "manipulator"&& +4 "core" & a Z 0 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &w& +2 "core" & d d 4 0 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&C'Ϥ +100 "core" ' +2 "manipulator"&& +4 "core" & p n 0 + "manipulator"&1% +4 "core" %ϻ d f } +2 "collection"'[& +4 "core" &ACj\ +2 "collection"'0& +5 "core" &@D{\ +2 .tCC.seek :closed +2 "collection"'(Y +4 "core" &ADf\  +10 &/}ADf\ +z +10 &cACo\ > +9 &qvBDi\ N +9 &4YBEk\ N +10 &\\ACp\ N +9 &YADj\ N +9 &{WBDk\ M +10 &>VBCj\ M +9 &Y@Co\ M +10 &UCEk\ N +9 & WACg\ M +9 &"EU@Cj\ M +10 &$YCCn\ M +9 &%\\BDi\ N +9 &'Z@Eo\ M +10 &)LWBFi\ N +9 &+[CEj\ M +9 &,UCDh\ M +10 &.[BDk\ N +9 &0UXADg\ M +10 &2W@Cl\ M +9 &3ZAFl\ N +9 &5Y@Eg\ M +10 &7\\]ADg\ N +9 &9WCDj\ M +9 &:YAD`\ M +10 &<\\AFj\ M +9 &>eXACi\ M +10 &@&ZBGf\ N +9 &AYCEg\ M +9 &C\\BEi\ N +10 &El]CDd\ N +9 &G-_BD\\\ N +10 &HgAF[\ O +9 &JAE_\ S +9 &LVDEV\ X +10 &NCF`\ Z +9 &OBEc\ [ +9 &QDFY\ [ +10 &SPBFb\ {] +9 &UCGb\ }\\ +10 &VCDY\ |] +9 &XBEZ\ |I +9 &Y2CFZ\ )y +9 &YnCGY\ L +3 ( +2 "collection"'0& +2 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 2.32 + .Hand.open +2 "manipulator"&+1 +66 "core" 1 +2 "manipulator"&% +4 "core" % ϻ k ~ E } +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&t'\ +89 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%b& +4 "core" &#\ +2 "manipulator"&c% +3 "core" %\  X ^ r +2 "storage"(3% +4 "core" %H y\ + "storage"( . +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 5 +2 "storage"(G(; +2 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +2 (~& +3 "core" &; y z \  +2 "manipulator"&-& +3 "core" & b d 0 +2 "manipulator"& % +3 "core" %\  W ^ r +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&'( +158 "core" ( +2 "manipulator"& & +3 "core" &  } +2 "storage"(z& +69 "core" &; D\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&;', +97 "core" ' +48 "storage"(u& +6 "core" &; n \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('j +278 "core" ' +2 "storage"(U- +3 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &; . 2 j\  + "manipulator"&>& +4 "core" & | 6 } +2 .tElbow.seek 5 +2 "manipulator"&s( +3 "core" ( +2 "manipulator"&& +3 "core" & W } +2 "storage"(H& +4 "core" &; X U \  +2 .tForearm.seek 5 + 300 counts + "manipulator"&!'Ϝ +30 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +78 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&I& +3 "storage"(8'I +6 "core" &  } +2 "manipulator"&=% +4 "core" % ϰ  + .tForearm.seek :retract +2 "manipulator"&p'\ +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&E( +164 "core" ' + ."downElevator"SE.coast + "storage"(5 +92 "core" ( +2 "manipulator"&|& +3 "core" & | \\ o +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &x& +2 "core" & v | = o +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&'Њ +95 "core" ' +2 "manipulator"&& +4 "core" & K ; o +2 "manipulator"&7% +3 "core" %Џ 3 6 @ +3 "processing"%& +3 "core" & \ +3 "processing"%& +4 "core" &\ +2 .tPC.seek :closed +2 "processing"%(Y +4 "core" &%\  +10 &.w&\ +z +9 &b\ {? +9 &fv\ |O +10 &'W"\ O +9 &X!\ P +10 &W \ O +9 &oU\ O +9 &2W\ N +10 &W"\ O +9 &U\ O +9 & uZ\ O +10 &"6Y\ P +9 &#Y\ O +10 &%X\ O +9 &'}W\ \ O +9 &)?W\ O +10 &+U\ O +9 &,Y\ O +9 &.T \ O +10 &0GY\ O +9 &2Y\ P +10 &3[ \ O +9 &5Z\ O +9 &7OZ\ O +10 &9W\ P +9 &:X\ }P +9 &<[ \ }O +10 &>WY\ |O +9 &@U\ {O +10 &AS\ |O +9 &CZ \ zP +9 &E]]\ zP +10 &G`\ \ zQ +9 &H_\ wQ +9 &Jj\ pR +10 &LU \ fV +9 &N\ iW +10 &O\ rW +9 &Q\ \ iW +9 &SY\ fW +10 &U\ gW +9 &V\ bW +9 &Xy\ m9 +10 &Ya1\ dT +9 &Y%\ \ 3 +2 ( + "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.54 + .Hand.open + "manipulator"&1 +67 "core" 1 +2 "manipulator"&K% +4 "core" % Ў v | q +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%A& +4 "core" &Y$ \ 3 + #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&5% +4 "core" %\   q + "storage"(% +4 "core" %Z 4 ;\ + "storage"(`. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 5 +2 "storage"(o(; +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (.& +2 "manipulator"&g& +4 "core" &;   u\  +4 ."raiseStack"SE.reconfigure :place +2 "storage"(#].K-0-\ b +3 "core" &  o +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"(d'j +3 "manipulator"&a( +3 "core" ( +2 "manipulator"&2& +4 "core" &  o + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &@& +2 "core" &  o +2 .tForearm.seek PC +2 "manipulator"&F'Њ +98 "core" ' + .tHand.close +2 "manipulator"&/ +76 "core" / +2 .tPC.seek :open +2 "processing"%O( +72 "core" ' +2 "storage"("- +3 "core" -'j + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(e' +45 "core" ' +302 ( + "storage"(#& +4 "core" &; 5 ) \  +2 "manipulator"&$& +3 "core" & z R o +2 "manipulator"&V% +3 "core" %  r ~ 1 s +2 .tForearm.seek :retract +2 "manipulator"&'\ +104 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&( +272 "core" ( +2 "manipulator"&,& +3 "core" & A +2 "storage"(:& +3 "core" &; @ 4 X\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&h', +98 "core" ' + .tHand.open +2 "manipulator"&(1 +66 "core" 1 +2 "storage"(j- +3 "core" -' +2 .tSE.seek -0.22 Pucks below Top Plate +2 "storage"(/' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(6' +53 "core" ' + #tLights, camera, ACTION! +2 "storage"(f- +3 "core" -' +2 "storage"(n& +3 "core" &; 9 8 R\  +2 "manipulator"&Y& +3 "core" & O +2 .tElbow.seek 5 +2 "manipulator"&T( +3 "core" ( +2 "manipulator"&*& +3 "core" &  +2 "storage"(& +3 "core" &; ` q \  +2 .tForearm.seek 5 + 700 counts +2 "manipulator"& ', +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"( 'V +68 "core" ' +2 "manipulator"&l& +4 "core" & * + "storage"(\ & +4 "core" &; _ _ \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&Q'p +36 "core" ' + .tElbow.hold +2 "manipulator"&L, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(4'@ +27 "core" ' +3 "manipulator"&% +4 "core" %zJ / 0 + c +2 "storage"(r& +3 "core" &; \ n +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 310 counts +2 "manipulator"&N'Ϧ +12 "core" ' +2 "manipulator"&J& +4 "core" &   +2 "storage"(<& +3 "core" &; V [\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts +2 "manipulator"&^', +28 "core" ' +2 "storage"(q% +4 "core" %C ] h\ +2 ."downElevator"SE.seek :down +4 "storage"(D'I +99 (P% +3 "core" %1 ; 5 )\ V_ +2 "manipulator"&% +3 "core" %c p s t +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&i'\ +92 "core" ' +58 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast +2 "storage"(6 +3 "collection"'R& +3 "core" &YmCFM\ L +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&%% +4 "core" %\ s r D  +48 "storage"(]% +5 "core" %S "\ +2 "storage"(S. +3 "core" . + .tSC.reconfigure :tight +3 "storage"($\ .(\ 1~b +2 .tSC.seek 5 +2 "storage"(k(; +2 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (& +3 "core" &; 9\  + "manipulator"&?& +4 "core" & u q G  +2 .tElbow.seek 5 +2 "manipulator"&( +11 "core" ( +2 "manipulator"&y& +4 "core" & $  + "storage"(_& +4 "core" &; \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&X', +99 "core" ' +2 "storage"(M& +4 "core" &; \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('j +285 "core" ' + "storage"(9- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&{& +3 "core" &   + "storage"(& +4 "core" &; w w \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&w'p +35 "core" ' + .tElbow.hold +2 "manipulator"&W, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(}- +3 "core" -' +2 .tSE.seek 0.03 Pucks below Top Plate +2 "storage"(' +28 "core" ' +2 "manipulator"&1% +3 "core" %|D  { +2 "storage"([& +3 "core" &; !\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 312 counts +2 "manipulator"&&'Ϩ +16 "core" ' +2 "manipulator"&m& +4 "core" & + y + "storage"(\\& +4 "core" &; k o r\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&', +37 "core" ' +3 .tSE.seek 1.03 Pucks below Top Plate +2 "storage"(+' +49 "core" ' +2 "manipulator"&& +4 "core" & w Z y +2 "manipulator"&b% +3 "core" %1 0 S +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&c'\ +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&3( +160 "core" ( +2 "manipulator"& & +3 "core" & k , +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &0& +3 "core" & { z , +2 .tForearm.seek CC +2 "manipulator"&~'Ϥ +92 "core" ' + .tHand.close +2 "manipulator"&-/ +77 "core" / +2 .tCC.seek :open +2 "collection"' ( +435 "core" ( +2 "storage"(C& +3 "core" &; %\  +2 "storage"( & +3 "core" &; h\  +2 "manipulator"&z& +3 "core" & |  , +2 "manipulator"&)% +4 "core" % ϵ | < + .tForearm.seek :retract +2 "manipulator"&B'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&u( +156 "core" ( +2 "manipulator"&t& +3 "core" & u } P  +2 "storage"(U& +4 "core" &; Y\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.seek 5 +2 "manipulator"&'p +108 "core" ' + .tElbow.hold +2 "manipulator"&>, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +73 "core" 1 +2 "manipulator"&H% +4 "core" % |r s b r  +2 "storage"(& +3 "core" &; U W r\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 312 counts +2 "manipulator"&I'Ϩ +13 "core" ' +2 "manipulator"&=& +4 "core" & y u  N + "storage"('& +4 "core" &; \  ,\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts +2 "manipulator"&;', +30 "core" ' +2 "storage"(% +4 "core" % \ \ +2 ."downElevator"SE.seek :down +3 "storage"(!'I +100 (|% +4 "core" %z5 \ U[ + "manipulator"&x% +4 "core" %X k +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&s'\ +91 "core" ' +48 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast "storage"(6 +3 #tShuffling pucks in tube 6 of [1..7] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'& +4 "core" &ADf\ +2 "manipulator"&7% +3 "core" %\ s r   +2 "storage"(% +4 "core" %L\ \  ~\ +2 "storage"(8. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 6 +2 "storage"(p(K +184 "core" ( + .tSC.reconfigure :loose +3 "storage"($.(\ 1~b +2 (Z& +3 "core" &K \ \ +2 "manipulator"&& +3 "core" & p n A N +2 .tElbow.seek 6 + "manipulator"&K( +13 "core" ( +2 "manipulator"&A& +4 "core" & D y + "storage"(5& +4 "core" &K Q\ \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&' +106 "core" ' +2 "storage"(`& +4 "core" &K t\ \ + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('j +294 "core" ' + "storage"(.- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (g& +2 "core" &K !\ \ +2 "manipulator"&2& +3 "core" & s r  y +2 .tElbow.seek 6 +2 "manipulator"&@( +3 "core" ( + "manipulator"&& +4 "core" & t x  y + "storage"(& +4 "core" &K >\ \ +2 .tForearm.seek 6 + 300 counts + "manipulator"&G'V +23 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&"/ +74 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&E& +6 "storage"('I +4 "core" & z w y +2 "manipulator"&% +3 "core" % ` q r   +2 .tForearm.seek :retract +2 "manipulator"&d'\ +92 "core" ' +3 .tElbow.seek CC +2 "manipulator"&#( +148 "core" ' + ."downElevator"SE.coast + "storage"(5 +14 "core" ( +2 "manipulator"&$& +3 "core" & / +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &V& +2 "core" & K / +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&F'Ϥ +91 "core" ' +2 "manipulator"&,& +4 "core" & | F / +2 "manipulator"&:% +3 "core" %Ϭ z J +2 "collection"'a& +4 "core" &ACl\ +48 "collection"'(& +5 "core" &@Dw\ +2 .tCC.seek :closed +2 "collection"'j(Y +4 "core" &CE\\\  +10 &0}BDe\ *y +9 &d@Dh\ ? +9 &ou@Ei\ O +10 &4YACe\ M +9 &\\CFk\ N +9 &V?Fi\ M +10 &yW@Dm\ N +9 &=TBFa\ M +10 &YCF\\\ N +9 &XBDl\ N +9 & WCFj\ N +10 &"CXADk\ N +9 &$ZDDl\ N +9 &%ZAD`\ N +10 &'WBEb\ M +9 &)K\\BEi\ N +10 &+ YBFb\ N +9 &,Z@Dg\ M +9 &.ZDDi\ M +10 &0TUADi\ M +9 &2WBE^\ M +9 &3\\BDc\ N +10 &5[BFm\ M +9 &7\\Z@Dh\ M +10 &9YBDZ\ M +9 &:WCDa\ N +9 &<\\BD[\ M +10 &>dXCDU\ M +9 &@%ZAET\ N +9 &AWAD\\\ N +10 &C]CF\\\ N +9 &Ek\\AER\ N +10 &G,_CEZ\ N +9 &HiBEX\ P +9 &JCFW\ S +10 &LVCFP\ X +9 &NAEO\ Z +9 &ODGL\ }[\ +10 &Q@DY\ {[ +9 &SOCEZ\ x] +10 &UCGY\ y\\ +9 &VBIY\ w\\ +9 &XCG`\ xI +10 &Y4DFR\ 't +9 &YcEFV\ L + ( +2 "collection"'(& +3 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 2.33 + .Hand.open + "manipulator"&f1 +67 "core" 1 +2 "manipulator"&n% +4 "core" % Ϭ J + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Y'\ +94 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%*& +4 "core" &"\ +2 "manipulator"&% +4 "core" %\  z a + "storage"(% +4 "core" %G w v 7\ +2 "storage"(l. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 6 +2 "storage"(\ (K +2 "core" ( +3 .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (e& +2 "core" &K W X \  +2 "manipulator"&& +4 "core" & / +2 "manipulator"&r% +3 "core" %\  }  a +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +2 "manipulator"&/( +155 "core" ( +2 "manipulator"&J& +4 "core" & &  + "storage"(<& +4 "core" &K t\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&q' +92 "core" ' +2 "storage"(& +3 "core" &K u x A\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(h'j +284 "core" ' +2 "storage"(6- +3 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (P& +3 "core" &K W\  + "manipulator"&& +4 "core" & s p   +2 .tElbow.seek 6 + "manipulator"& ( +7 "core" ( +2 "manipulator"&T& +3 "core" & } s < u +2 "storage"( & +3 "core" &K   B\  +3 .tForearm.seek 6 + 300 counts + "manipulator"&Q'V +22 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&N/ +66 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&R& +5 "storage"(%'I +3 "core" & u q U u +2 "manipulator"&]% +3 "core" % ] r q  $ +2 .tForearm.seek :retract +2 "manipulator"&4'\ +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&S( +163 "core" ' + ."downElevator"SE.coast + "storage"(5 +86 "core" ( +3 "manipulator"&& +4 "core" & t \\ y + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &?& +2 "core" & } } y +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&y'Њ +87 "core" ' +2 "manipulator"&_& +4 "core" & ; y + "manipulator"&^% +4 "core" %Ќ z B +2 "processing"%M& +3 "core" &\ | +3 "processing"%D& +4 "core" &!\ +2 .tPC.seek :closed +2 "processing"%o(Y +3 "core" &\  +9 & &\ x#b +10 &V\ k8 +9 &~}!\ lM +9 &U"\ {P +10 &NX\ {O +9 &T\ tO +10 &R\ vP +9 &W\ vP +9 &WP\ xO +10 &Y\ \ pP +9 &U\ pP +9 &!Y\ mP +10 &#^V\ qO +9 &%U\ rP +10 &&Y\ xP +9 &(V\ mP +9 &*dV\ kP +10 &,&W\ mP +9 &-V\ rP +9 &/[\ mP +10 &1lW\ mP +9 &3.W \ lP +10 &4W\ zO +9 &6Z\ zP +9 &8uU\ wP +10 &:7U\ xP +9 &;U\ tP +9 &=V\ yP +10 &?~R\ uO +9 &A?X\ qP +10 &C[ \ oP +9 &D]\ pQ +9 &F^\ hQ +10 &HAg\ iR +9 &Jp\ mS +9 &K\ gW +10 &Mv\ dX +9 &O9\ dW +10 &P\ kW +9 &R\ `W +9 &T\ cW +10 &VA\ cW +9 &X\ bK +9 &Y3L\ [ d +10 &Y|F\ s: +5 ( +2 "processing"%D& +3 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.67 + .Hand.open +2 "manipulator"&L1 +3 "core" &Y|C\ |: +65 1 + "manipulator"&i% +4 "core" % Ќ j  B +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&9'\ +93 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%{& +4 "core" &Y|C\ : +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&% +3 "core" %\   \ j +2 "storage"(}% +4 "core" %I   \ + "storage"(1. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 6 +2 "storage"([(K +2 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +4 (m& + "manipulator"&\\& +5 "core" &K \  +2 & F y +4 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +4 "storage"(#].K-0-\ b +3 "manipulator"&$&.,(\ #b +5 .tElbow.seek PC +2 "manipulator"&( +3 ."raiseStack"SE.seek :beamBreak +2 "storage"(b'j +2 "core" ( +2 "manipulator"&X& +3 "core" &  y +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &  y +2 .tForearm.seek PC +2 "manipulator"&'Њ +92 "core" ' + .tHand.close +2 "manipulator"&w/ +66 "core" / +2 .tPC.seek :open +2 "processing"%&( +87 "core" ' +2 "storage"(- +3 "core" -'j + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"( ' +40 "core" ' +290 ( + "storage"(0& +4 "core" &K  f\  +2 "manipulator"&& +3 "core" & | : y +2 "manipulator"&W% +3 "core" % Љ 2 +2 .tForearm.seek :retract +2 "manipulator"&-'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&c( +278 "core" ( +2 "manipulator"&& +3 "core" & ~ v ^  +2 "storage"(C& +3 "core" &K 5 2 7\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"& ' +99 "core" ' + .tHand.open +2 "manipulator"&z1 +70 "core" 1 +2 "storage"()- +3 "core" -' +2 .tSE.seek -0.22 Pucks below Top Plate +2 "storage"(t' +25 "core" ' +3 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(U' +52 "core" ' + #tLights, camera, ACTION! +2 "storage"(~- +3 "core" -' +2 "storage"(3& +3 "core" &K  {\ q +2 "manipulator"&& +3 "core" &  +2 .tElbow.seek 6 +2 "manipulator"&H( +10 "core" ( +48 "manipulator"&& +6 "core" & p  + "storage"(=& +4 "core" &K \  i\  +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&'' +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"('V +65 "core" ' +2 "manipulator"&B& +4 "core" & Z  + "storage"(|& +4 "core" &K z m i\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&x'* +32 "core" ' + .tElbow.hold +2 "manipulator"&u, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"('@ +44 "core" ' +2 "manipulator"&% +4 "core" %8Y | +2 "storage"(I& +3 "core" &K z\  +2 .tForearm.force -20 "manipulator"&5 +4 .tForearm.seek 6 + 314 counts + "manipulator"&7'd +21 "core" ' +2 "manipulator"&& +4 "core" & { } 9 l +2 "storage"(8& +3 "core" &K y O\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&+' +25 "core" ' +2 "storage"(;% +4 "core" %D } { -\ +2 ."downElevator"SE.seek :down +4 "storage"(Z'I +100 (% +4 "core" %5 K X P\ V_ + "manipulator"&A% +4 "core" % P d +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&5'\ +94 "core" ' +54 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast "storage"(6 +3 "collection"'!& +4 "core" &YbCF[\ L +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&k% +4 "core" %\ u w 7  +2 "storage"(`% +3 "core" %F A\ +2 "storage"(>. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 6 + "storage"(s(K +3 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (.& +2 "core" &K M\  +2 "manipulator"&g& +4 "core" & o d l + .tElbow.seek 6 +2 "manipulator"&2( +9 "core" ( +2 "manipulator"&& +4 "core" & * t + "storage"(& +4 "core" &K V\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&"' +95 "core" ' +2 "storage"(E& +4 "core" &K <\  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('j +282 "core" ' + "storage"(K- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & o 7 t + "storage"($& +4 "core" &K t w o\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&V'* +34 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(G- +2 "core" -' +2 .tSE.seek 0.05 Pucks below Top Plate +2 "storage"(,' +28 "core" ' +2 "manipulator"&:% +3 "core" %=;  yy +2 "storage"(a& +3 "core" &K e e :\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 6 + 319 counts +2 "manipulator"&@'i +19 "core" ' +2 "manipulator"&& +3 "core" &  t \\ +2 "storage"(d& +10 "core" &K V S \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"& ' +28 "core" ' +2 .tSE.seek 1.05 Pucks below Top Plate +2 "storage"(f' +40 "core" ' +2 "manipulator"&n& +4 "core" & r s  \\ +2 "manipulator"&*% +3 "core" % r s ! ^ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +155 "core" ( +2 "manipulator"&l& +4 "core" & ` - +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &(& +3 "core" & - +2 .tForearm.seek CC + "manipulator"&e'Ϥ +90 "core" ' + .tHand.close +2 "manipulator"&/ +66 "core" / +2 .tCC.seek :open + "collection"'r( +436 "core" ( +2 "storage"(F& +3 "core" &K !\  +2 "storage"(J& +3 "core" &K 4\  +2 "manipulator"&<& +3 "core" & { / * +2 "manipulator"&p% +3 "core" % ϣ ~ } Z ( +2 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&#( +159 "core" ( +2 "manipulator"&Y& +3 "core" & u { ? { +2 "storage"(6& +4 "core" &K \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.seek 6 +2 "manipulator"&P'* +109 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&T1 +69 "core" 1 +2 "manipulator"& % +5 "core" % =_ ^  } +2 "storage"(N& +3 "core" &K   7\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 6 + 319 counts +2 "manipulator"&R'i +19 "core" ' +2 "manipulator"&]& +3 "core" & ~ 1 I +2 "storage"(/& +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&q' +35 "core" ' +2 "storage"(h% +4 "core" % \ +2 ."downElevator"SE.seek :down +3 "storage"(Q'I +100 (% +2 "core" %b5 }\ U\\ +2 "manipulator"&?% +4 "core" % t r  \\ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& '\ +94 "core" ' +47 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast +2 "storage"(6 +2 #tShuffling pucks in tube 7 of [1..7] +2 #Loading generic puck from tube 7 into Collection Clamp + "collection"'_& +4 "core" &BEf\ +2 "manipulator"&^% +3 "core" %\ \ o q   +2 "storage"(M% +4 "core" %W O\ + "storage"(%. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +3 .tSC.seek 7 + "storage"(4([c +192 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (O& +2 "core" &[c" M\ \  +2 "manipulator"&L& +4 "core" & u  I +2 .tElbow.seek 7 +2 "manipulator"&i( +4 "core" ( +47 "manipulator"&{& +5 "core" & t q I +2 "storage"(& +4 "core" &[c" \ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 700 counts +2 "manipulator"&}' +103 "core" ' +2 "storage"(1& +4 "core" &[c" \ \  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(D'j +286 "core" ' +2 "storage"(\\- +3 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +4 (m& +3 "core" &[c! ` _\ \  + "manipulator"&X& +4 "core" & : I + .tElbow.seek 7 +2 "manipulator"&( +4 "core" ( + "manipulator"&y& +4 "core" & 9 I +2 "storage"(w& +3 "core" &[c! y v \ \  +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&\ 'N +23 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +70 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&S& +4 "storage"(9'I +5 "core" & | ? I + "manipulator"&o% +4 "core" % T  +2 .tForearm.seek :retract +2 "manipulator"&b'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&0( +147 "core" ' + ."downElevator"SE.coast + "storage"(5 +17 "core" ( +2 "manipulator"&& +3 "core" & } C - +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &W& +2 "core" & - +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'Ϥ +96 "core" ' +3 "manipulator"&& +4 "core" & { 3 - + "manipulator"&C% +4 "core" %Ϯ | ?  +2 "collection"'& +3 "core" &@Em\ +3 "collection"'z& +4 "core" &AEi\ +2 .tCC.seek :closed +2 "collection"')(Y +4 "core" &@DY\  +10 &0}BCf\ *y +9 &cBC\\\ > +10 &huCDZ\ O +9 &*XBC\\\ N +10 &YAEY\ N +9 &X@E^\ N +9 &rYBD_\ N +10 &4SBCa\ N +9 &TAFg\ N +9 &TCCk\ N +10 & zTCCl\ N +9 &";UBCj\ N +10 &#W@Dd\ N +9 &%YBEb\ N +9 &'WBEa\ M +10 &)CX?D_\ N +9 &+WDEa\ N +9 &,TBD]\ N +10 &.WBEa\ M +9 &0LWCFd\ N +10 &2 ZCEZ\ N +9 &3YAFW\ N +9 &5YAFT\ N +10 &7TYBE^\ N +9 &9XAF_\ N +9 &:WBE\\\ N +10 &<VCFi\ N +9 &>[XADZ\ N +10 &@WBD_\ N +9 &AUBDU\ N +9 &C[DEe\ N +10 &Eb^@Df\ N +9 &G$]BF`\ N +9 &HgAG^\ P +10 &JCFY\ S +9 &LMCEY\ wX +10 &NCGZ\ f[ +9 &ODGX\ e[ +9 &QDGc\ u[ +10 &SHCF\\\ r] +9 &U DEZ\ s\\ +9 &VCGX\ o] +10 &XCGS\ jI +9 &Y3CGW\ p+ +10 &YnBG[\ L +2 ( +2 "collection"'z& +2 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 2.36 + .Hand.open +2 "manipulator"&~1 +66 "core" 1 +2 "manipulator"&3% +3 "core" % ϭ 9  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&'\ +104 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 7 into Processing Clamp + "processing"%& +4 "core" &%\ +2 "manipulator"&-% +3 "core" %\ y ~ U +2 "storage"(=% +4 "core" %H T W :\ +2 "storage"(B. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +3 .tSC.seek 7 + "storage"(|([c +4 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 ( & +2 "core" &[c b b O\  +2 "manipulator"&t& +4 "core" &  D - +2 "manipulator"&% +3 "core" %\ s +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&I( +161 "core" ( +2 "manipulator"&c& +4 "core" &  f + "storage"(& +4 "core" &[c q l \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 700 counts +2 "manipulator"&8' +91 "core" ' +2 "storage"(;& +3 "core" &[c { ~ \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"( 'j +278 "core" ' +2 "storage"(U- +3 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &[c R Y\  +2 "manipulator"&A& +4 "core" & p r . f + .tElbow.seek 7 +2 "manipulator"&'( +3 "core" ( + "manipulator"&H& +5 "core" & } { D f + "storage"(& +4 "core" &[c U W o\  +2 .tForearm.seek 7 + 300 counts + "manipulator"&x'N +25 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&7/ +71 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&!& +2 "storage"(k'I +6 "core" & G f +2 "manipulator"&`% +4 "core" % K : +2 .tForearm.seek :retract +2 "manipulator"&>'\ +89 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +160 "core" ' + ."downElevator"SE.coast + "storage"(5 +90 "core" ( +3 "manipulator"&.& +4 "core" & ] + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &g& +2 "core" & ] +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&'Њ +105 "core" ' +2 "manipulator"&& +4 "core" &  ] + "manipulator"&+% +4 "core" %З |  +2 "processing"%E& +3 "core" &\ +3 "processing"%Z& +4 "core" & \ +2 .tPC.seek :closed +2 "processing"%[(Y +3 "core" &#\  +10 &-v&\ +z +9 &b"\ ? +10 &jv$\ O +9 &+X \ O +9 &Z"\ O +10 &Y\ O +9 &rW\ O +10 &3Y\ O +9 &X\ O +9 &Z\ O +10 & yZ\ O +9 &";U\ O +9 &#Y\ O +10 &%U\ O +9 &'X\ O +10 &)CX\ O +9 &+T\ O +9 &,X \ O +10 &.X\ O +9 &0KZ\ O +9 &2 Y\ P +10 &3Y\ P +9 &5Y\ O +10 &7SY\ O +9 &9V\ O +9 &:Y\ O +10 &<X\ O +9 &>[Y\ O +9 &@W\ O +10 &AW\ N +9 &CY\ O +10 &Eb\\\ P +9 &G$`\ P +9 &Hd\ Q +10 &Jj\ Q +9 &L\\\ U +9 &N\ W +10 &O\ W +9 &Q\ V +10 &Sa\ U +9 &U!\ V +9 &V\ V +10 &X}u\ < +9 &Yc.\ S +8 &Y0\ 6 +3 ( +2 "processing"%Z& +2 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.55 + .Hand.open +2 "manipulator"&u1 +66 "core" 1 +2 "manipulator"&5% +3 "core" % З k  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&K'\ +89 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%& +4 "core" &Y.\ 6 + #tImaging generic puck in Processing Clamp while storing it to tube 7 +2 "manipulator"&$% +3 "core" %\   \ k +2 "storage"(G% +3 "core" %B @ A 9\ +2 "storage"(:. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 7 +2 "storage"(a([c +2 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +4 (& +3 "core" &[c ? A c\  +2 "manipulator"&d& +2 ."raiseStack"SE.reconfigure :place +4 "storage"(#].K-0-\ b +3 "core" &  ] +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +4 .tElbow.seek PC +2 "storage"(n'j + "manipulator"&*( +4 "core" ( +48 "manipulator"&"& +6 "core" & m ] + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &2& +2 "core" & P ] +2 .tForearm.seek PC +2 "manipulator"&'Њ +92 "core" ' + .tHand.close +2 "manipulator"&V/ +77 "core" / +2 .tPC.seek :open +2 "processing"%@( +24 "core" ' +2 "storage"(,- +3 "core" -'j + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(l' +44 "core" ' +348 ( + "storage"((& +4 "core" &[c P\  +2 "manipulator"& & +4 "core" & { A ] + "manipulator"&% +4 "core" % Ћ ~ 4  +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&( +268 "core" ( +2 "manipulator"&j& +3 "core" & #  +2 "storage"(F& +4 "core" &[c l\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 700 counts + "manipulator"&J' +91 "core" ' + .tHand.open +2 "manipulator"&<1 +74 "core" 1 +2 "storage"(p- +3 "core" -' +2 .tSE.seek -0.22 Pucks below Top Plate +2 "storage"(Y' +35 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(6' +53 "core" ' + #tLights, camera, ACTION! +2 "storage"(e- +3 "core" -' +2 "storage"(& +3 "core" &[c z ]\  +2 "manipulator"&T& +4 "core" &   + .tElbow.seek 7 +2 "manipulator"& ( +8 "core" ( +2 "manipulator"&N& +3 "core" & S  +2 "storage"(]& +3 "core" &[c Y\  +2 .tForearm.seek 7 + 700 counts +2 "manipulator"&/' +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(h'V +69 "core" ' +2 "manipulator"&& +4 "core" & w ;  + "storage"(& +4 "core" &[c I\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&?'" +38 "core" ' + .tElbow.hold +2 "manipulator"&#, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(P'@ +28 "core" ' +2 "manipulator"&R% +4 "core" %"A 4 x + "storage"(_& +4 "core" &[c \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 300 counts +2 "manipulator"&^'N +18 "core" ' +2 "manipulator"&M& +4 "core" & | s * +2 "storage"(%& +3 "core" &[c z x 5\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 700 counts +2 "manipulator"&f' +30 "core" ' +2 "storage"(q% +4 "core" %A \ +2 ."downElevator"SE.seek :down +4 "storage"(O'I +99 (L% +3 "core" %\ 5 U T W\ U^ + "manipulator"&{% +4 "core" % O v +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +3 "manipulator"&Q'\ +101 "core" ' +48 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast +2 "storage"(6 +2 "collection"'& +4 "core" &Ym@GQ\ L +2 #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"&s% +4 "core" %\  +2 "storage"(1% +3 "core" %P A\ +2 "storage"(. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +3 .tSC.seek 7 + "storage"( ([c +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (\\& +2 "core" &[c \  +2 "manipulator"&m& +4 "core" &  + .tElbow.seek 7 +2 "manipulator"&X( +35 "core" ( +2 "manipulator"&y& +4 "core" & } l + "storage"(w& +4 "core" &[c S\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 700 counts +2 "manipulator"&' +87 "core" ' +2 "storage"(S& +4 "core" &[c S\  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(o'j +284 "core" ' + "storage"(i- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&}& +3 "core" & O j + "storage"(& +4 "core" &[c R U \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&W'" +31 "core" ' + .tElbow.hold +2 "manipulator"&D, +3 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 "storage"(\ - +2 "core" -' +2 .tSE.seek 0.03 Pucks below Top Plate +2 "storage"(' +31 "core" ' +2 "manipulator"&C% +3 "core" %6Y Y | +2 "storage"(& +3 "core" &[c \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 7 + 320 counts +2 "manipulator"&'b +19 "core" ' +2 "manipulator"&9& +3 "core" & { } J  +2 "storage"(b& +4 "core" &[c V V `\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 700 counts + "manipulator"&r' +29 "core" ' +2 .tSE.seek 1.03 Pucks below Top Plate +2 "storage"(~' +49 "core" ' +2 "manipulator"&3& +4 "core" & q r \  + "manipulator"&% +4 "core" % r r +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&-'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&z( +158 "core" ( +2 "manipulator"&=& +4 "core" & d c 3 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &B& +3 "core" & c d  3 +2 .tForearm.seek CC + "manipulator"& 'Ϥ +95 "core" ' + .tHand.close +2 "manipulator"&t/ +77 "core" / +2 .tCC.seek :open + "collection"'( +436 "core" ( +2 "storage"(& +3 "core" &[c 1 >\  +2 "storage"(c& +3 "core" &[c ; @ +\  +2 "manipulator"&& +3 "core" & V ` S 2 +2 "manipulator"&4% +3 "core" % ϝ Z Z & +2 .tForearm.seek :retract +2 "manipulator"&;'\ +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&0( +156 "core" ( +2 "manipulator"&& +3 "core" & r z $  +2 "storage"(U& +4 "core" &[c 2\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.seek 7 +40 "manipulator"&'" +119 "core" ' + .tElbow.hold +2 "manipulator"&A, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&H1 +64 "core" 1 +3 "manipulator"&% +4 "core" % /h k +2 "storage"(7& +3 "core" &[c\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 7 + 313 counts +2 "manipulator"&!'[ +21 "core" ' +2 "manipulator"&`& +4 "core" &  f + "storage"(I& +4 "core" &[c -\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 700 counts +3 "manipulator"&8' +28 "core" ' +2 "storage"( % +4 "core" % \ +2 ."downElevator"SE.seek :down +3 "storage"(x'I +100 (.% +3 "core" %l5 L\ U] + "manipulator"&g% +4 "core" % q p i +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&''\ +103 "core" ' +37 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast "storage"(6 +4 ."shutdown"CS.coast +2 #tAsleep / Shutdown +2 "collection"'5 +2 ."shutdown"SS.coast + "sampler")5 +3 ."shutdown"CC.coast + "collection"'6 +3 ."shutdown"PC.coast + "processing"%6 +2 ."shutdown"Forearm.coast + "manipulator"&5 +3 ."shutdown"Elbow.coast + "manipulator"&6 +37 ."shutdown"Gate.power :core,:OFF +2 .Gate.power :raw,:OFF + #Shutdown + .tdelay 5 seconds +502 #Powering core bus +474 .Gate.power :raw,:ON +2 "sampler") +22 ) +2 "core"  +2 "collection"' +3 '+ +3 "core"  + "processing"% +2 %E +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ + % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'k% +2 "core" %AC^\ +2 .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%>% +3 "core" %\ + .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")&% +2 "core" %tr +2 .tSS.configure :default +2 "sampler")#.0XCHn\ \\ +9 &XCHf\ \\ +10 &YYHBHe\ . +9 &Y }EGh\ N +5 ( +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 2.29 + .Hand.open +2 "manipulator"&C1 +3 "core" &YqCIf\ N +65 1 + "manipulator"&% +4 "core" % ϡ s \\ 7 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&9'\ +92 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 1 into Processing Clamp + "processing"%b& +4 "core" &\  +2 "manipulator"&3% +3 "core" %\  j ` +2 "storage"(% +4 "core" %D \ +2 "storage"(. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +3 .tSC.seek 1 + "storage"(X( +4 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (o& +2 "core" & b\  +2 "manipulator"&W& +4 "core" & Q / + "manipulator"&% +4 "core" %\  v y @ ` +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 +2 "manipulator"&( +155 "core" ( +2 "manipulator"&=& +4 "core" &   + "storage"(B& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 700 counts + "manipulator"&r'W +98 "core" ' +2 "storage"(D& +4 "core" & +\  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(t'j +272 "core" ' + "storage"(-- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ()& +2 "core" & { | $\  +2 "manipulator"&& +3 "core" & r  +2 .tElbow.seek 1 +2 "manipulator"&c( +3 "core" ( + "manipulator"&& +4 "core" &   +2 "storage"(4& +3 "core" & *\  +2 .tForearm.seek 1 + 300 counts +2 "manipulator"&' +26 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&U/ +76 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"& & +4 "storage"(z'I +3 "core" &   +2 "manipulator"&H% +3 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +2 .tElbow.seek PC +2 "manipulator"&7( +138 "core" ' + ."downElevator"SE.coast + "storage"(5 +105 "core" ( +2 "manipulator"&`& +3 "core" &  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &I& +3 "core" & M +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"& 'Њ +95 "core" ' +2 "manipulator"&;& +4 "core" & t ~ - + "manipulator"&.% +4 "core" %z r O  +2 "processing"%g& +3 "core" &\  +3 "processing"%0& +4 "core" &\  +2 .tPC.seek :closed +2 "processing"%(Y +3 "core" &,\ \  +10 &5|%\ +| +9 &e \ @ +10 &_w \ P +9 &$V"\ O +9 &Z#\ O +10 &Z$\ O +9 &jZ"\ O +10 &,Z%\ O +9 &Z"\ O +9 &X%\ O +10 & q[$\ O +9 &"4X!\ O +9 &#Y#\ O +10 &%\\"\ O +9 &'zW!\ O +10 &)<[%\ O +9 &*Y&\ O +9 &,X$\ N +10 &.Y%\ O +9 &0CZ!\ O +9 &2Y$\ O +10 &3Y \ O +9 &5Y\ O +10 &7KY!\ O +9 &9 Z \ O +9 &:Y \ O +10 &<Y#\ O +9 &>SZ\ O +9 &@W\ N +10 &AW\ O +9 &C\\\ O +10 &E[[\ O +9 &Gc \ P +9 &Ha\ P +10 &Jk\ Q +9 &LU"\ T +9 &N\ W +10 &O#\ V +9 &Q \ V +10 &SV\ V +9 &U\ U +9 &V\ U +10 &Xz \ 6 +9 &Y^-m\ !a +9 &Y.\ 6 +2 ( +2 "processing"%0& +2 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.52 + .Hand.open +2 "manipulator"&!1 +69 "core" 1 +2 "manipulator"&~% +3 "core" % z y   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&8'\ +94 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%x& +4 "core" &Y*\ 6 +2 #tImaging generic puck in Processing Clamp while storing it to tube 1 +2 "manipulator"& % +3 "core" %\ >  +2 "storage"(v% +3 "core" %I [\ +2 "storage"(. +3 "core" . + .tSC.reconfigure :tight +3 "storage"($\ .(\ 1~b +2 .tSC.seek 1 + "storage"(( +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (@& +2 "core" & { | w\  +2 "manipulator"&'& +4 "core" &  + "manipulator"&A% +4 "core" %\   +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 1 + "manipulator"&( +264 "core" ( +2 "manipulator"&+& +4 "core" &  + "storage"(E& +4 "core" & l v \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 700 counts + "manipulator"&k'W +92 "core" ' +2 "storage"(>& +3 "core" & L\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(&'j +284 "core" ' + "storage"(u- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&5& +3 "core" &  + "storage"(& +4 "core" & R F \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 1 +2 "manipulator"&$'Λ +37 "core" ' + .tElbow.hold +2 "manipulator"&G, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(:- +3 "core" -' +2 .tSE.seek 1.02 Pucks below Top Plate + "storage"(Z' +29 "core" ' +2 "manipulator"&% +3 "core" %ά_ r q  +2 "storage"(d& +4 "core" & H\  +47 .tForearm.force -20 +3 "manipulator"&5 +3 .tForearm.seek 1 + 317 counts +2 "manipulator"&"' +18 "core" ' +2 "manipulator"&2& +4 "core" & g + "storage"(& +4 "core" & U S Y\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 700 counts +2 "manipulator"&|'W +19 "core" ' +2 .tSE.seek 2.02 Pucks below Top Plate +2 "storage"(V' +39 "core" ' +2 "manipulator"&,& +4 "core" & w  +2 "manipulator"&% +3 "core" %T ~ " +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&n'\ +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +252 "core" ( +2 "manipulator"&& +4 "core" &  e + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &F& +2 "core" & x e +2 .tForearm.seek PC +2 "manipulator"&['Њ +92 "core" ' + .tHand.close +2 "manipulator"&p/ +69 "core" / +2 .tPC.seek :open + "processing"%T( +434 "core" ( +2 "storage"(N& +3 "core" & Y\  +2 "manipulator"&& +4 "core" & t 9 e + "manipulator"&]% +4 "core" % y s u ? . +2 .tForearm.seek :retract +2 "manipulator"&K'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 +2 "manipulator"&j( +266 "core" ( +2 "manipulator"&e& +4 "core" &  + "storage"(R& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 700 counts +2 "manipulator"&_'W +101 "core" ' +2 .tHand.open +2 "manipulator"&Y1 +66 "core" 1 +2 "storage"(M- +3 "core" -' +2 .tSE.seek 1.77 Pucks below Top Plate +2 "storage"(%' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(' +52 "core" ' + #tLights, camera, ACTION! +2 "storage"(J- +3 "core" -' +2 "storage"(L& +4 "core" & \  + "manipulator"&{& +4 "core" & ` +2 .tElbow.seek 1 +2 "manipulator"&<( +7 "core" ( +2 "manipulator"& & +3 "core" &  +2 "storage"(& +4 "core" & \  +2 .tForearm.seek 1 + 700 counts +2 "manipulator"&'W +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek 1.89 Pucks below Top Plate +2 "storage"(?'1 +57 "core" ' +2 "manipulator"&^& +4 "core" & j +2 "storage"(& +3 "core" & 1\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 1 +2 "manipulator"&*'Λ +40 "core" ' + .tElbow.hold +2 "manipulator"&1, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 2.07 Pucks below Top Plate +2 "storage"(' +20 "core" ' +2 "manipulator"&\\% +4 "core" %ΞY c c + "storage"(m& +4 "core" & Y\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 1 + 303 counts +2 "manipulator"&w' +19 "core" ' +2 "manipulator"&6& +4 "core" &   +2 "storage"(/& +3 "core" & T\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 700 counts +2 "manipulator"&h'W +24 "core" ' +2 "storage"(O% +4 "core" %! \ +2 ."downElevator"SE.seek :down +4 "storage"(a'I +99 (P% +4 "core" %- w n C\ U[ +2 "manipulator"&Q% +4 "core" %_ E w + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&i'\ +92 "core" ' +35 ' +2 ."downElevator"SE.coast +3 "storage"(5 +4 .tSC.coast + "storage"(6 +3 "collection"'}& +4 "core" &YjEFW\ N + #tStoring generic puck in Collection Clamp to tube 1 +2 "manipulator"&s% +3 "core" %\   Q +2 "storage"(y% +4 "core" %S s\  + "storage"(f. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 1 +2 "storage"(l( +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (C& +2 "core" & Y\  +2 "manipulator"&& +4 "core" & A  + .tElbow.seek 1 +2 "manipulator"&b( +4 "core" ( +2 "manipulator"&3& +3 "core" & H  +2 "storage"(& +3 "core" & N\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 700 counts +2 "manipulator"&'W +95 "core" ' +2 "storage"(& +4 "core" & \  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(o'j +270 "core" ' + "storage"(W- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & 9  + "storage"(#& +4 "core" & w x J\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 1 +2 "manipulator"&='Λ +37 "core" ' + .tElbow.hold +2 "manipulator"&B, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(q- +3 "core" -' +2 .tSE.seek 2.03 Pucks below Top Plate +2 "storage"(D' +28 "core" ' +2 "manipulator"&S% +3 "core" %ΜU d d +2 "storage"(9& +4 "core" & {\  + .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 1 + 301 counts +2 "manipulator"&-' +16 "core" ' +2 "manipulator"&)& +3 "core" &   +2 "storage"(& +4 "core" & G\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 700 counts + "manipulator"&'W +26 "core" ' +2 .tSE.seek 3.03 Pucks below Top Plate +2 "storage"(4' +52 "core" ' +2 "manipulator"&U& +4 "core" &   + "manipulator"& % +4 "core" %Q k  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&H'\ +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +160 "core" ( +2 "manipulator"&r& +4 "core" & B , + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &t& +2 "core" & % , +2 .tForearm.seek CC +2 "manipulator"&'Ϥ +92 "core" ' + .tHand.close +2 "manipulator"&`/ +73 "core" / +2 .tCC.seek :open + "collection"'I( +416 "Can"\ DD +64 "core" ( + "storage"(c& +4 "core" & \  +2 "storage"(;& +4 "core" & ]\  + "manipulator"&.& +4 "core" & q q  , +2 "manipulator"&g% +3 "core" % ϒ } g > +2 .tForearm.seek :retract +2 "manipulator"&z'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 +2 "manipulator"&( +146 "core" ( +2 "manipulator"&& +4 "core" &  + "storage"(!& +4 "core" & \  S\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(#b +2 .tForearm.seek 1 +2 "manipulator"&~'Λ +106 "core" ' + .tElbow.hold +2 "manipulator"&x, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"& 1 +71 "core" 1 +3 "manipulator"&v% +4 "core" % έz 8 8 +2 "storage"(0& +3 "core" & y x V\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 1 + 318 counts +2 "manipulator"&' +15 "core" ' +2 "manipulator"&@& +3 "core" & 6 +2 "storage"('& +4 "core" & k\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 700 counts +2 "manipulator"&A'W +41 "core" ' +2 "storage"( % +4 "core" %\ \ \ +2 ."downElevator"SE.seek :down +3 "storage"(X'I +100 (+% +3 "core" %3 a\ TX + "manipulator"&E% +4 "core" %i  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&7'\ +90 "core" ' +33 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast "storage"(6 +3 #tShuffling pucks in tube 2 of [1..7] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'>& +4 "core" &BDw\ +2 "manipulator"&8% +4 "core" %\  | + "storage"(u% +4 "core" %Z   W\ +2 "storage"(5. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 2 +2 "storage"(( +190 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (:& +3 "core" &  X\  + "manipulator"&& +4 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&d( +3 "core" ( + "manipulator"&2& +4 "core" &  +2 "storage"(& +3 "core" &  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&,'a +101 "core" ' +2 "storage"(& +4 "core" &  g\  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(k'j +278 "core" ' +2 "storage"(- +3 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (&& +3 "core" &  .\  + "manipulator"&$& +4 "core" & N + .tElbow.seek 2 +2 "manipulator"&"( +3 "core" ( + "manipulator"&Z& +4 "core" &  + "storage"(|& +4 "core" &  \  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +28 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&F/ +69 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&G& +3 "storage"(p'I +5 "core" & ? +2 "manipulator"&n% +3 "core" % 8 +2 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&N( +149 "core" ' + ."downElevator"SE.coast + "storage"(5 +7 "core" ( +2 "manipulator"&& +4 "core" & n h - + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &]& +2 "core" & p & - +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&['Ϥ +95 "core" ' +2 "manipulator"&e& +4 "core" & y { 7 - +2 "manipulator"&R% +3 "core" %Ϩ z t [ +2 "collection"'& +4 "core" &BF\ +2 "collection"'Y& +5 "core" &>Dt\ +2 .tCC.seek :closed +5 "collection"'M(Y +3 "core" &BEx\ +6 &@D}\ 6 +10 &8F|BDz\ 1 +9 &es@Et\ E +9 & cADn\ N +10 &XBDl\ N +9 &XBDo\ M +9 &RYADt\ M +10 &\\BFl\ N +9 &W@Ej\ M +10 &UAFl\ M +9 &ZU@Gq\ M +9 &!UAHl\ M +10 &"W@Eo\ N +9 &$[AFo\ M +10 &&aWCFw\ N +9 &($VBGy\ M +9 &)V>Fx\ N +10 &+YBEw\ N +9 &-iW?Gx\ N +9 &/,UCDo\ M +10 &0[?Es\ M +9 &2\\@Ft\ N +10 &4p[BFq\ N +9 &64XDEn\ M +9 &7]CGo\ N +10 &9WDFj\ N +9 &;z[BFl\ M +9 &=;\\ADs\ N +10 &>ZAEq\ M +9 &@UAEm\ N +10 &BYBGm\ N +9 &DD\\ADj\ M +9 &F^BFq\ N +10 &GbADh\ N +9 &ImBEh\ P +9 &K6CEn\ U +10 &LAIl\ Y +9 &NCGn\ Z +10 &PjBFi\ [\ +9 &R+CGl\ [ +9 &SDIi\ ] +10 &UBIi\ \\ +9 &WlCEl\ ~] +9 &YyAG_\ 0 +10 &Y!CHi\ X +8 ( +2 &YsDG`\ O + "collection"'Y& +3 #tCollection Clamp onSpring/offSpring for 8/30 samples, on/off torque 2.27 + .Hand.open +2 "manipulator"&J1 +70 "core" 1 +2 "manipulator"&L% +4 "core" % ϧ g  \ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&{'\ +103 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 2 into Processing Clamp + "processing"% & +4 "core" &\ +2 "manipulator"&K% +4 "core" %\ 1 + "storage"(% +4 "core" %E @\ + "storage"(^. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 2 +2 "storage"(( +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (V& +2 "core" &  $\  +2 "manipulator"&\\& +3 "core" &  - +2 "manipulator"&m% +3 "core" %\ < +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&%( +155 "core" ( +2 "manipulator"&6& +4 "core" & &  + "storage"(/& +4 "core" &  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&O'a +91 "core" ' +2 "storage"(j& +3 "core" &  \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(_'j +285 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (P& +2 "core" &  X V u\  +2 "manipulator"&Q& +3 "core" & a  +2 .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( + "manipulator"&<& +4 "core" &   +2 "storage"(?& +3 "core" &  y \  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&*' +34 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&}/ +76 "core" / +3 ."downElevator"SE.seek :down +51 "manipulator"&s& +3 "storage"(w'I +5 "core" &   +2 "manipulator"&y% +4 "core" %  + .tForearm.seek :retract +3 "manipulator"&f'\ +89 "core" ' +2 .tElbow.seek PC +2 "manipulator"&C( +163 "core" ' + ."downElevator"SE.coast + "storage"(5 +89 "core" ( +3 "manipulator"&& +3 "core" & ; ` +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" &  ` +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&3'Њ +102 "core" ' +2 "manipulator"&& +4 "core" & | u = ` +2 "manipulator"&h% +3 "core" %Ї q p 2 +2 "processing"%& +4 "core" &!\ +2 "processing"%a& +4 "core" &"\ +2 .tPC.seek :closed +2 "processing"%(Y +4 "core" &2\  +10 &-w,\ +z +10 &c \ ? +9 &fu#\ O +9 &(T\ O +10 &Y"\ O +9 &X\ O +10 &mV!\ O +9 &/X\ O +9 &W!\ O +10 &X!\ P +9 & uZ"\ O +9 &"7U%\ O +10 &#X \ O +9 &%U \ O +10 &'~Y \ O +9 &)@X\ O +9 &+Y!\ P +9 &,X#\ O +10 &.W%\ P +9 &0GY\ O +10 &2 Z\ O +9 &3Z!\ O +10 &5Y \ O +9 &7OY \ O +9 &9Y\ P +10 &:Y\ O +9 &<V\ O +9 &>VW\ P +10 &@U\ O +9 &AU \ N +10 &CY\ O +9 &E^\\\ P +9 &G`\ P +10 &Hd\ Q +9 &Jm \ R +9 &LU\ }V +10 &N \ |V +9 &O\ |V +10 &Q\ }V +9 &S[ \ ~V +9 &U\ |V +10 &V\ |V +9 &Xx\ 9 +9 &Ya1\ T +10 &Y.\ 5 + ( +2 "processing"%a& +3 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.56 .Hand.open +2 "manipulator"&11 +69 "core" 1 +2 "manipulator"&i% +3 "core" % Ѕ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&W'\ +98 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%& +4 "core" &Y.\ 5 + #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&#% +3 "core" %\   +2 "storage"(q% +4 "core" %D ? @ z\ + "storage"(S. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +3 .tSC.seek 2 + "storage"(9( +2 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 ()& +3 "core" &  > ? /\  +2 "manipulator"&& +4 ."raiseStack"SE.reconfigure :place +4 "storage"(#].K-0-\ b +3 "core" & + ` + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&U( + "storage"( 'j +4 "core" ( +2 "manipulator"&& +3 "core" & b ` +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &b& +3 "core" & D ` +2 .tForearm.seek PC +2 "manipulator"&o'Њ +96 "core" ' + .tHand.close +2 "manipulator"&=/ +72 "core" / +2 .tPC.seek :open +2 "processing"%-( +76 "core" ' +2 "storage"(D- +3 "core" -'j + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(r' +43 "core" ' +298 ( + "storage"(t& +4 "core" &   \  +2 "manipulator"&& +3 "core" & r t D ` +2 "manipulator"&B% +3 "core" % Ѕ | u s  +2 .tForearm.seek :retract +2 "manipulator"&`'\ +91 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&H( +264 "core" ( +2 "manipulator"&\ & +3 "core" & ^ \ +2 "storage"(c& +4 "core" &  \  + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&;'a +105 "core" ' + .tHand.open +2 "manipulator"&.1 +69 "core" 1 +2 "storage"(g- +3 "core" -' +2 .tSE.seek -0.22 Pucks below Top Plate +2 "storage"(' +23 "core" ' +3 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(!' +55 "core" ' + #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(& +3 "core" &  s\  +2 "manipulator"& & +3 "core" &  \ +2 .tElbow.seek 2 +2 "manipulator"&v( +4 "core" ( +2 "manipulator"&0& +3 "core" & k \ +2 "storage"(@& +4 "core" &  V U ]\  +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&''a +4 "core" ' + .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"( 'V +62 "core" ' +2 "manipulator"&z& +4 "core" & q \ + "storage"(+& +4 "core" &  v y U\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&E'Υ +38 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(~'@ +25 "core" ' +2 "manipulator"&>% +4 "core" %γg { o B + "storage"(& +4 "core" &  \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 314 counts +2 "manipulator"&8' +22 "core" ' +2 "manipulator"&u& +4 "core" &  \ +2 "storage"(5& +3 "core" &  V V _\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&4'a +21 "core" ' +2 "storage"(A% +4 "core" %I #\ +2 ."downElevator"SE.seek :down +4 "storage"(:'I +99 (% +3 "core" %2 4 ;\ V_ + "manipulator"&2% +4 "core" %b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +57 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast "storage"(6 +3 "collection"'X& +4 "core" &YsBIW\ O +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&l% +4 "core" %\ \ l  +2 "storage"(% +3 "core" %F <\ +2 "storage"(x. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +3 .tSC.seek 2 + "storage"(7( +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (& +3 "core" &  l s K\  + "manipulator"&&& +4 "core" & 1 \ +2 .tElbow.seek 2 + "manipulator"&$( +9 "core" ( +2 "manipulator"&Z& +3 "core" & 1 +2 "storage"(|& +4 "core" &  V V\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&F'a +101 "core" ' +2 "storage"(G& +4 "core" &  d v !\  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(n'j +277 "core" ' +3 "storage"(d- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&,& +3 "core" &  + "storage"(& +4 "core" &  , 0\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&]'Υ +36 "core" ' + .tElbow.hold +2 "manipulator"&k, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(- +2 "core" -' +3 .tSE.seek 0.03 Pucks below Top Plate + "storage"(e' +27 "core" ' +2 "manipulator"&R% +3 "core" %Ω\\ |  +2 "storage"(& +4 "core" &  \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 304 counts +2 "manipulator"&"' +12 "core" ' +2 "manipulator"&p& +4 "core" &  + "storage"(& +4 "core" &  y \\ w\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&I'a +28 "core" ' +2 .tSE.seek 1.03 Pucks below Top Plate +2 "storage"(J' +53 "core" ' +2 "manipulator"&L& +4 "core" & 0 +2 "manipulator"& % +3 "core" %a  Q +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&Y'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&K( +161 "core" ( +2 "manipulator"&& +4 "core" & H , +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &^& +3 "core" &  , +2 .tForearm.seek CC +2 "manipulator"&V'Ϥ +95 "core" ' + .tHand.close +2 "manipulator"&\\/ +69 "core" / +2 .tCC.seek :open +2 "collection"'m( +432 "core" ( +2 "storage"([& +3 "core" &  A\  +2 "storage"(6& +3 "core" &  \  +2 "manipulator"&/& +4 "core" & r p  , + "manipulator"&% +4 "core" % ϭ s s  + .tForearm.seek :retract +2 "manipulator"&j'\ +103 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&N( +153 "core" ( +2 "manipulator"&{& +3 "core" &   +2 "storage"(& +4 "core" & \  w\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.seek 2 +2 "manipulator"&P'Υ +106 "core" ' + .tElbow.hold +2 "manipulator"&Q, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&<1 +75 "core" 1 +3 "manipulator"&?% +4 "core" % δ O +2 "storage"(}& +3 "core" &  R U .\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 315 counts + "manipulator"&s' +22 "core" ' +2 "manipulator"&y& +4 "core" &   + "storage"(%& +4 "core" &  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&O'a +20 "core" ' +2 "storage"(_% +4 "core" % \ +2 ."downElevator"SE.seek :down +3 "storage"(*'I +100 (% +3 "core" %4 \ TZ + "manipulator"&% +4 "core" %Z % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +86 "core" ' +56 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast "storage"(6 +3 #tShuffling pucks in tube 3 of [1..7] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'& +4 "core" &BEv\ +2 "manipulator"&h% +4 "core" %\  \ b +2 "storage"(% +3 "core" %X 8\ +2 "storage"(w. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +3 .tSC.seek 3 + "storage"(f(z +193 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (T& +2 "core" &|\ \ [\ +2 "manipulator"&1& +4 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&i( +2 "core" ( +2 "manipulator"&& +3 "core" & 5  +2 "storage"(#& +4 "core" &| C\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&q' +96 "core" ' +2 "storage"(a& +3 "core" &| X\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(S'j +281 "core" ' + "storage"()- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &| T T b\ +2 "manipulator"&& +3 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&b( +3 "core" ( + "manipulator"&3& +4 "core" & Q  +2 "storage"(=& +3 "core" &| U U V\ +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'l +24 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&D/ +71 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&C& +3 "storage"(W'I +5 "core" & ]  +2 "manipulator"&% +4 "core" % v y + .tForearm.seek :retract +2 "manipulator"& '\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&t( +149 "core" ' + ."downElevator"SE.coast + "storage"(5 +9 "core" ( +2 "manipulator"&& +3 "core" & t A 0 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &B& +3 "core" & u z 0 + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&o'Ϥ +108 "core" ' +2 "manipulator"&\ & +4 "core" & | t $ / +2 "manipulator"&c% +3 "core" %Ϫ r s ' % +2 "collection"'U& +4 "core" &AD\ +3 "collection"'.& +5 "core" &AE\ +2 .tCC.seek :closed + "collection"'g(Y +5 "core" &AE{\ +8 & -AF\ $c +9 &V~@Gp\ 8 +10 &{>Fw\ L +9 &W@Gw\ N +9 &^WAGy\ N +10 & WADx\ N +9 &WBGt\ N +9 &UBEz\ M +10 &hT@Fu\ M +9 &)U@Et\ N +10 &YAFu\ N +9 &!UAFq\ N +9 &#oW@Fw\ N +10 &%0V@Fu\ N +9 &&XBGy\ N +9 &(XBEx\ N +10 &*xWBDz\ M +9 &,9UBEw\ N +10 &-ZAEy\ N +9 &/T?Hz\ N +9 &1WACt\ M +10 &3AX?Fx\ N +9 &5YCGx\ N +9 &6WCGu\ N +10 &8XBFv\ N +9 &:IYAEv\ N +10 &< W@Fw\ M +9 &=X@Er\ N +9 &?WBFv\ N +10 &AQW@Fo\ N +9 &C[BFr\ N +9 &D[BFx\ O +10 &F]@Dw\ N +9 &HU`AFr\ O +10 &JuBFm\ Q +9 &KCHu\ tV +9 &MyCFr\ `[ +10 &O:CGs\ m[\ +9 &PEGm\ h\\ +9 &RDEt\ n\\ +10 &T{CGn\ l] +9 &V<DEh\ d] +10 &WCG_\ ]] +9 &YVJDHj\ 1 +8 &YsBHj\ M +6 ( +2 "collection"'.& +3 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 2.32 + .Hand.open +2 "manipulator"&1 +3 "core" &YbDHl\ M +69 1 +2 "manipulator"&% +4 "core" % Ϫ ] % +2 .tForearm.reconfigure :loose +48 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract + "manipulator"& '\ +98 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%0& +4 "core" &0\ +2 "manipulator"&`% +3 "core" %\  } } _  +2 "storage"(@% +4 "core" %R V V S\ +2 "storage"(z. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +3 .tSC.seek 3 + "storage"(+(z +4 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (r& +3 "core" &| ; 5 [\  + "manipulator"&>& +4 "core" & |  / +2 "manipulator"&% +3 "core" %\  {  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&( +160 "core" ( +2 "manipulator"&u& +4 "core" &   + "storage"(5& +4 "core" &| { v n\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&A' +97 "core" ' +3 "storage"(H& +4 "core" &| } { \  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(;'j +284 "core" ' +2 "storage"(!- +3 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &|   N\  + "manipulator"&2& +4 "core" & `  +2 .tElbow.seek 3 + "manipulator"&'( +3 "core" ( +2 "manipulator"&v& +3 "core" & /  +2 "storage"( & +3 "core" &|   Y\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&E'l +21 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&X/ +71 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&8& +5 "storage"(l'I +4 "core" & &  +2 "manipulator"&% +4 "core" % b 4 y +2 .tForearm.seek :retract +2 "manipulator"&x'\ +92 "core" ' +3 .tElbow.seek PC +2 "manipulator"&~( +159 "core" ' + ."downElevator"SE.coast + "storage"(5 +95 "core" ( +2 "manipulator"&& +3 "core" & 2 e +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &&& +3 "core" &  e +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&Z'Њ +97 "core" ' +2 "manipulator"&|& +4 "core" & r q $ e +2 "manipulator"&4% +3 "core" %А q r +2 "processing"%G& +3 "core" &"\  +2 "processing"%:& +5 "core" &2\  +2 .tPC.seek :closed +2 "processing"%9(Y +5 "core" &-\  +9 &,u4\ h+| +10 &c.\ U@ +9 &es.\ bP +9 &)Q0\ rO +10 &U2\ kP +9 &U/\ dP +10 &nR-\ rP +9 &0T"\ wP +9 &U$\ wP +10 &T/\ xO +9 & uX"\ vP +9 &"9U%\ vO +10 &#V\ pO +9 &%U#\ kP +10 &'}T$\ iP +9 &)?V#\ nP +9 &+T(\ tO +10 &,T#\ xP +9 &.S#\ wO +9 &0GU!\ oP +10 &2U%\ fP +9 &3W\ eP +10 &5V\ eP +9 &7PU$\ uP +9 &9Y!\ tP +10 &:Y \ tP +9 &<X#\ uP +9 &>XZ\ vP +10 &@R\ xO +9 &AT\ vO +10 &CX\ uP +9 &E`X\ uP +9 &G^\ oQ +10 &H_\ mQ +9 &Jj \ aR +9 &LW#\ \\V +10 &N"\ \\X +9 &O\ _X +10 &Q\ UW +9 &S[ \ gW +9 &U\ cW +10 &V\ _X +9 &Xx \ o: +9 &Y_-\ tZ +10 &Y.\ 6 + ( +2 "processing"%:& +3 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.58 .Hand.open +2 "manipulator"&1 +66 "core" 1 +2 "manipulator"&% +3 "core" % Њ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&d'\ +95 "core" ' +2 .tSC.coast + "storage"(6 +3 "processing"%,& +4 "core" &Y*\ 6 + #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&% +3 "core" %\ \ E  +2 "storage"(% +3 "core" %K .\ +2 "storage"(R. +3 "core" . + .tSC.reconfigure :tight +3 "storage"($\ .(\ 1~b +2 .tSC.seek 3 + "storage"((z +4 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +4 (p& +2 "manipulator"&& +4 "core" &|\  +2 & G e +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC + "storage"(#].K-0-\ b +3 "manipulator"&L( +4 ."raiseStack"SE.seek :beamBreak + "storage"( 'j +3 "core" ( + "manipulator"&F& +4 "core" &  e + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &$& +2 "core" & ^ e +2 .tForearm.seek PC +2 "manipulator"&n'Њ +89 "core" ' + .tHand.close +2 "manipulator"&]/ +68 "core" / +2 .tPC.seek :open +2 "processing"%"( +86 "core" ' +2 "storage"(e- +3 "core" -'j + ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(' +39 "core" ' +295 ( + "storage"(^& +4 "core" &| , >\  +2 "manipulator"&I& +3 "core" &  e +2 "manipulator"&k% +3 "core" % Ї l L +2 .tForearm.seek :retract +2 "manipulator"&\\'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&Y( +270 "core" ( +2 "manipulator"&M& +3 "core" & J +2 "storage"([& +4 "core" &| T T U\  + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&6' +95 "core" ' +2 .tHand.open +2 "manipulator"&/1 +68 "core" 1 +2 "storage"(- +3 "core" -' +2 .tSE.seek -0.22 Pucks below Top Plate +2 "storage"({' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(' +53 "core" ' + #tLights, camera, ACTION! +2 "storage"(V- +3 "core" -' +2 "storage"(K& +3 "core" &| D\ x +2 "manipulator"&<& +3 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&?( +4 "core" ( +2 "manipulator"&}& +3 "core" &  +2 "storage"(y& +4 "core" &| \ v +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&%' +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(_'V +62 "core" ' +2 "manipulator"&j& +4 "core" & o o  + "storage"(& +4 "core" &| D R x\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'@ +39 "core" ' + .tElbow.hold +2 "manipulator"&N, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(P'@ +25 "core" ' +49 "manipulator"&% +4 "core" %CR p + "storage"(s& +4 "core" &| c\ p + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 303 counts +2 "manipulator"&h'o +18 "core" ' +2 "manipulator"&& +4 "core" & Y +2 "storage"(w& +3 "core" &|   I\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&J' +28 "core" ' +2 "storage"(O% +3 "core" %E = > R\ +3 ."downElevator"SE.seek :down +3 "storage"(T'I +100 (1% +3 "core" %7   \ V_ + "manipulator"&% +4 "core" % C 6 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&#'\ +94 "core" ' +57 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast "storage"(6 +3 "collection"'*& +4 "core" &YbDH_\ M +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&7% +4 "core" %\ )  +2 "storage"(a% +3 "core" %Z V V a\ +2 "storage"(Q. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +3 .tSC.seek 3 + "storage"((z +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 ()& +3 "core" &| U U _\  +2 "manipulator"&& +3 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( + "manipulator"&3& +4 "core" &  +2 "storage"(=& +3 "core" &| V T N\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&D' +95 "core" ' +2 "storage"(C& +4 "core" &| Y f H\  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('j +283 "core" ' + "storage"(i- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&q& +3 "core" & R + "storage"(& +4 "core" &| u y\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&B'@ +37 "core" ' + .tElbow.hold +2 "manipulator"&S, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(- +2 "core" -' +2 .tSE.seek 0.03 Pucks below Top Plate +2 "storage"(\ ' +35 "core" ' +2 "manipulator"&c% +3 "core" %BV r +2 "storage"(b& +4 "core" &| Y\  + .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 302 counts +2 "manipulator"&U'n +16 "core" ' +2 "manipulator"&W& +4 "core" & E + "storage"( & +4 "core" &| V V\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&m' +20 "core" ' +2 .tSE.seek 1.03 Pucks below Top Plate +2 "storage"(' +52 "core" ' +2 "manipulator"&& +4 "core" & # + "manipulator"&.% +4 "core" % & +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&0'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&`( +160 "core" ( +2 "manipulator"&@& +4 "core" & }  1 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &z& +3 "core" &   1 + .tForearm.seek CC +2 "manipulator"&r'Ϥ +93 "core" ' + .tHand.close +2 "manipulator"&>/ +66 "core" / +2 .tCC.seek :open + "collection"'( +437 "core" ( +2 "storage"(o& +3 "core" &|  \  +2 "storage"(u& +3 "core" &| z z \  +2 "manipulator"&5& +3 "core" & ` c 1 +2 "manipulator"&f% +4 "core" % Ϙ _ d + .tForearm.seek :retract +2 "manipulator"&H'\ +99 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&t( +159 "core" ( +2 "manipulator"& & +3 "core" & 3  +2 "storage"(!& +4 "core" &| x\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.seek 3 +2 "manipulator"&'@ +109 "core" ' + .tElbow.hold +2 "manipulator"&2, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&v1 +66 "core" 1 +2 "manipulator"& % +5 "core" % Ol u +2 "storage"(X& +3 "core" &|  u\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 315 counts +2 "manipulator"&8'{ +15 "core" ' +2 "manipulator"&& +4 "core" &  + "storage"(& +4 "core" &| V\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&A' +17 "core" ' +2 "storage"(;% +4 "core" % o\ +2 ."downElevator"SE.seek :down +3 "storage"(E'I +100 (% +2 "core" %q8  \ U] +2 "manipulator"&&% +4 "core" % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&''\ +100 "core" ' +39 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 #tShuffling pucks in tube 4 of [1..7] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'|& +4 "core" &BEp\ +2 "manipulator"&4% +4 "core" %\  + "storage"(G% +4 "core" %T $\ +2 "storage"(l. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 4 +2 "storage"(x(, +188 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (-& +2 "core" &, \  +2 "manipulator"&& +3 "core" & \  +2 .tElbow.seek 4 +2 "manipulator"&( +14 "core" ( +2 "manipulator"&,& +3 "core" & J  +2 "storage"(& +4 "core" &, \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&' +98 "core" ' +2 "storage"(R& +3 "core" &, n\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(:'j +286 "core" ' + "storage"(p- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &, ` U \  + "manipulator"&F& +4 "core" & q p %  + .tElbow.seek 4 +2 "manipulator"&$( +3 "core" ( + "manipulator"&Z& +4 "core" & ~ v D  +2 "storage"(]& +3 "core" &, x y l\  +2 .tForearm.seek 4 + 300 counts +47 "manipulator"&+'@ +27 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&e/ +70 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&~& +4 "storage"(d'I +3 "core" &   +2 "manipulator"&9% +3 "core" % 4  +2 .tForearm.seek :retract +2 "manipulator"& '\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&^( +147 "core" ' + ."downElevator"SE.coast + "storage"(5 +9 "core" ( +2 "manipulator"&I& +4 "core" & z s 0 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &k& +2 "core" & { G 0 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&n'Ϥ +102 "core" ' +2 "manipulator"&M& +4 "core" & } = 0 +2 "manipulator"&[% +3 "core" %ϡ +2 "collection"'L& +4 "core" &>Ex\ +3 "collection"'/& +4 "core" &?Gw\ +2 .tCC.seek :closed +2 "collection"'(Y +4 "core" &BEx\  +11 &1}BE|\ *y +9 &d@Gk\ ? +9 &pu@Ek\ O +10 &4WADx\ N +9 &UBEx\ N +9 &W?Cq\ N +10 &z\\BDt\ N +9 &=SDBs\ M +10 &W?Ft\ M +9 &U?Ey\ N +9 & TACr\ N +10 &"DZ@Fn\ N +9 &$U@Ew\ N +9 &%WCFz\ N +10 &'W@Dx\ N +9 &)L[BFw\ N +10 &+Z@Gr\ N +9 &,TADx\ M +9 &.WBDv\ N +10 &0UYAFz\ M +9 &2W?Ey\ M +9 &3X?Dr\ N +10 &5[AHw\ N +9 &7[WCCz\ N +10 &9YCCw\ N +9 &:VAHm\ N +9 &<XBEw\ M +10 &>dW@Fx\ N +9 &@&Z@Gy\ N +9 &AY@Fw\ M +10 &C]AFx\ N +9 &Ej[AFn\ N +10 &G,`@Fl\ N +9 &HnAFr\ P +9 &JBGs\ T +10 &LUCEj\ X +9 &NCFo\ zZ +9 &O@Fp\ w[ +10 &QCIq\ w[ +9 &SQAGk\ t\\ +10 &UCEl\ u\\ +9 &VAHj\ p] +9 &XCGi\ tJ +10 &Y0CGa\ |)y +9 &YsBHj\ O + ( +2 "collection"'/& +3 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 2.35 + .Hand.open + "manipulator"&V1 +70 "core" 1 +2 "manipulator"&K% +4 "core" % Ϣ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&<'\ +92 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%}& +4 "core" &/\ +2 "manipulator"&y% +4 "core" %\ \ ~ I  + "storage"(\\% +4 "core" %E\ +2 "storage"(j. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 4 +2 "storage"((, +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (& +2 "core" &,  1\  +2 "manipulator"&{& +3 "core" & } / +2 "manipulator"&% +3 "core" %\ \ | 5  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&s( +159 "core" ( +2 "manipulator"&& +4 "core" & [ + "storage"(w& +4 "core" &, 6\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&Y' +98 "core" ' +2 "storage"(6& +4 "core" &,\  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('j +285 "core" ' +2 "storage"(O- +3 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (%& +3 "core" &,\  + "manipulator"&1& +4 "core" &  +2 .tElbow.seek 4 + "manipulator"&( +3 "core" ( +2 "manipulator"&?& +3 "core" & # +2 "storage"(_& +3 "core" &, n\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&'@ +30 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&h/ +68 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&*& +3 "storage"(7'I +5 "core" & P +2 "manipulator"&a% +3 "core" % F 0 +2 .tForearm.seek :retract +2 "manipulator"&Q'\ +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&P( +164 "core" ' + ."downElevator"SE.coast + "storage"(5 +91 "core" ( +3 "manipulator"&)& +4 "core" & q - b + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" & q t + b +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&3'Њ +98 "core" ' +2 "manipulator"&=& +4 "core" & ` d  b +2 "manipulator"&J% +3 "core" %{ W Y +2 "processing"%C& +3 "core" &1\ +2 "processing"%T& +5 "core" &0\ +2 .tPC.seek :closed +2 "processing"%(Y +3 "core" &1\ +9 & %5\ ~#b +9 &U2\ a9 +9 &~y.\ aM +10 &R1\ iP +9 &UU'\ iP +9 &U,\ vP +10 &T'\ wO +9 &U#\ xO +10 &^U \ wP +9 & W\ vP +9 &Y#\ uP +10 &!Y"\ uP +9 &#fY"\ sP +10 &%(X"\ tP +9 &&Y\ rP +9 &(V!\ oP +10 &*nU%\ rP +9 &,0T!\ uP +9 &-T#\ jO +10 &/V\ fP +9 &1tU\ dP +9 &37V$\ tP +10 &4T!\ vO +9 &6U\ tP +10 &8~V\ uP +9 &:@U\ uP +9 &<S\ uP +10 &=Y\ tP +9 &?U\ wP +10 &AHU\ tP +9 &C\ U\ vP +9 &D[\ tP +10 &F\\\ sP +9 &HM`!\ sQ +9 &J e\ nQ +10 &Kr \ pS +9 &M!\ ]W +9 &OB!\ jW +10 &Q!\ jW +9 &R\ iV +10 &T\ gV +9 &VK\ cW +9 &X \ aH +10 &Y1Bz\ o%o +9 &Y7\ 3 +5 ( +2 "processing"%T& +3 #tProcessing Clamp onSpring/offSpring for 10/26 samples, on/off torque 1.54 + .Hand.open +2 "manipulator"&N1 +3 "core" &Y#\ 3 +74 1 + "manipulator"&#% +4 "core" % z  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&i'\ +96 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%q& +4 "core" &Y#\ 3 + #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&% +3 "core" %\ A  +2 "storage"(% +4 "core" %V   \ + "storage"(c. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 4 +2 "storage"(b(, +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (W& +2 "manipulator"& & +6 "core" &, $\  +2 & W b +2 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 "storage"(#].K-0-\ b +2 .tElbow.seek PC +5 "manipulator"&( +2 ."raiseStack"SE.seek :beamBreak +2 "storage"(.'j +3 "core" ( + "manipulator"&D& +4 "core" &  b +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" & p b +2 .tForearm.seek PC +2 "manipulator"&'Њ +90 "core" ' + .tHand.close +2 "manipulator"&B/ +77 "core" / +2 .tPC.seek :open +2 "processing"%U( +77 "core" ' +2 "storage"(\ - +3 "core" -'j + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(@' +39 "core" ' +304 ( + "storage"(z& +4 "core" &,  a\  +2 "manipulator"&m& +3 "core" & x : b +2 "manipulator"&S% +3 "core" % Ї ) E +2 .tForearm.seek :retract +49 "manipulator"&>'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&0( +275 "core" ( +2 "manipulator"&g& +3 "core" & <  +2 "storage"(o& +4 "core" &,  S\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&u' +89 "core" ' + .tHand.open +2 "manipulator"&51 +69 "core" 1 +3 "storage"(f- +3 "core" -' +2 .tSE.seek -0.22 Pucks below Top Plate +2 "storage"( ' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(!' +53 "core" ' + #tLights, camera, ACTION! +2 "storage"(r- +3 "core" -' +2 "storage"(`& +4 "core" &, H\  + "manipulator"&v& +4 "core" & ;  +2 .tElbow.seek 4 +2 "manipulator"& ( +2 "core" ( +2 "manipulator"&X& +4 "core" & [  + "storage"(& +4 "core" &, g 2\  +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&' +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(;'V +67 "core" ' +2 "manipulator"&H& +4 "core" &   + "storage"(& +4 "core" &,   H\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&&' +39 "core" ' + .tElbow.hold +2 "manipulator"&t, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"('@ +24 "core" ' +2 "manipulator"&|% +4 "core" %9 m lq +2 "storage"(8& +3 "core" &, d e\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 311 counts +2 "manipulator"&4'K +14 "core" ' +2 "manipulator"&G& +4 "core" & 1  +2 "storage"(l& +3 "core" &, % , \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&' +37 "core" ' +2 "storage"(A% +4 "core" %I   3\ +2 ."downElevator"SE.seek :down +4 "storage"(-'I +99 (% +3 "core" %5 \ V` + "manipulator"&,% +4 "core" % P E +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +57 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 "collection"'E& +4 "core" &YrCH]\ O +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&% +4 "core" %\   Z +2 "storage"(R% +3 "core" %X W U W\ +2 "storage"(2. +3 "core" . + .tSC.reconfigure :tight +3 "storage"($\ .(\ 1~b +2 .tSC.seek 4 + "storage"('(, +3 "core" ( + .tSC.reconfigure :loose +3 "storage"($.(\ 1~b +2 (p& +3 "core" &, U V \  +2 "manipulator"&& +3 "core" &   +2 .tElbow.seek 4 + "manipulator"&F( +9 "core" ( +2 "manipulator"&Z& +4 "core" & 8  + "storage"(]& +4 "core" &, V U w\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&e' +93 "core" ' +2 "storage"(~& +4 "core" &, V S n\  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(9'j +283 "core" ' +2 "storage"(- +3 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &   + "storage"(I& +4 "core" &, $ z\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&k' +34 "core" ' + .tElbow.hold +2 "manipulator"&:, +3 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(+- +2 "core" -' +2 .tSE.seek 0.02 Pucks below Top Plate +2 "storage"(M' +39 "core" ' +2 "manipulator"&[% +3 "core" %&Q b q +2 "storage"(L& +3 "core" &, x % ;\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 318 counts +2 "manipulator"&$'R +19 "core" ' +2 "manipulator"&d& +4 "core" & /  + "storage"( & +4 "core" &,   !\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&' +20 "core" ' +2 .tSE.seek 1.02 Pucks below Top Plate +2 "storage"(V' +49 "core" ' +2 "manipulator"&K& +4 "core" & a  + "manipulator"&}% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&y'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&\\( +164 "core" ( +2 "manipulator"&/& +4 "core" & @ / +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &j& +3 "core" & / +2 .tForearm.seek CC + "manipulator"&'Ϥ +91 "core" ' + .tHand.close +2 "manipulator"&{/ +74 "core" / +2 .tCC.seek :open + "collection"'( +436 "core" ( +2 "storage"(n& +3 "core" &, | %\  +2 "storage"(& +3 "core" &, p k \  +2 "manipulator"&w& +3 "core" &   2 / +2 "manipulator"&x% +3 "core" % ϡ   9 +2 .tForearm.seek :retract +2 "manipulator"&6'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 + "manipulator"&^( +150 "core" ( +2 "manipulator"&<& +3 "core" & P +2 "storage"(O& +4 "core" &, x x W\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.seek 4 + "manipulator"&%' +110 "core" ' + .tElbow.hold +2 "manipulator"&1, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&?1 +66 "core" 1 +2 "manipulator"&_% +4 "core" % 'e  t +2 "storage"(h& +3 "core" &, ;\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 319 counts +2 "manipulator"&*'S +22 "core" ' +2 "manipulator"&a& +3 "core" &   +2 "storage"(s& +4 "core" &, M\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&Y' +28 "core" ' +2 "storage"(% +48 "core" % \\ x \ +5 ."downElevator"SE.seek :down +3 "storage"('I +99 ()% +2 "core" %3 V S B\ U\\ +2 "manipulator"&% +4 "core" % " J +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +104 "core" ' +39 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast "storage"(6 +3 #tShuffling pucks in tube 5 of [1..7] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'=& +4 "core" &BEx\ +2 "manipulator"&J% +3 "core" %\ , +2 "storage"(C% +4 "core" %Z E\ +2 "storage"(7. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 5 + "storage"(Q(; +191 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 ("& +3 "core" &; W ^ \  + "manipulator"&N& +4 "core" & :  +2 .tElbow.seek 5 + "manipulator"&#( +3 "core" ( +2 "manipulator"&q& +3 "core" & 8  +2 "storage"(& +4 "core" &; V V p\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&T', +97 "core" ' +2 "storage"(& +4 "core" &;  \  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(c'j +290 "core" ' +2 "storage"( - +3 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (W& +3 "core" &; ?\  + "manipulator"&D& +4 "core" & r  8  +2 .tElbow.seek 5 +2 "manipulator"&( +2 "core" ( +2 "manipulator"&3& +3 "core" & w } K  +2 "storage"(B& +3 "core" &; G\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&'Ϝ +28 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&\ / +77 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&P& +3 "storage"(i'I +5 "core" & &  +2 "manipulator"&% +3 "core" % ϭ  +2 .tForearm.seek :retract +2 "manipulator"&.'\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&z( +146 "core" ' + ."downElevator"SE.coast + "storage"(5 +12 "core" ( +2 "manipulator"&m& +4 "core" & t s 3 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &S& +2 "core" &  ~ 3 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'Ϥ +99 "core" ' +2 "manipulator"&g& +4 "core" & b d 3 + "manipulator"&o% +4 "core" %Ϭ Y Z +3 "collection"'& +3 "core" &AFv\ +3 "collection"'5& +4 "core" &?Ev\ +2 .tCC.seek :closed +2 "collection"'f(Y +4 "core" &BFz\ +9 & -@F\ #a +9 &T@D\ r8 +9 &zBDz\ sL +10 &WCC~\ zO +9 &OUBFx\ zN +9 &Y@Go\ yO +10 &X@Dq\ yO +9 &UDGr\ rO +9 &XQADo\ zN +10 &VBEm\ vO +9 &UBEn\ N +10 &!WAFj\ oN +9 &#`U@Fp\ N +9 &%W?Ej\ pO +9 &&VBFx\ oO +10 &(TAEv\ vO +9 &*gSCEv\ rN +10 &,*TCEy\ yN +9 &-W@Ez\ N +10 &/U>Dy\ N +9 &1pVCEx\ N +9 &31WAFw\ N +10 &4ZBFm\ jO +9 &6VAFx\ zN +9 &8vZ@Gt\ |O +10 &:9XAFy\ N +9 &;YADx\ ~N +10 &=ZEGo\ |N +9 &?~ZDGs\ {O +9 &AAU@Er\ {N +10 &CZDEx\ |O +9 &D]AFm\ vO +9 &F\\AGr\ uO +10 &HEcBGq\ sP +9 &JvBEt\ lR +10 &KAGx\ gX +9 &MlAGt\ gZ +9 &O,BGj\ i[\ +10 &PDHu\ Z\\ +9 &RDHr\ S] +9 &TkCFn\ U] +10 &V.DHk\ b] +9 &WCHn\ _] +10 &YGHEIn\ u2 +9 &Y DGs\ xL +5 ( + "collection"'5& +4 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 2.39 + .Hand.open +2 "manipulator"&r1 +3 "core" &YmCGm\ L +62 1 +2 "manipulator"&`% +4 "core" % ϫ {  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&v'\ +97 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%X& +4 "core" &\ +2 "manipulator"&% +4 "core" %\ { C  +2 "storage"(>% +3 "core" %G  _\ +2 "storage"(H. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 5 +2 "storage"((; +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (@& +3 "core" &; d\  + "manipulator"&|& +4 "core" & z  H 3 +2 "manipulator"&8% +3 "core" %\ |  O  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"& ( +148 "core" ( +2 "manipulator"&G& +3 "core" & + +2 "storage"(l& +4 "core" &; @ @ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&A', +89 "core" ' +2 "storage"(0& +3 "core" &;  X\  +3 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(u'j +277 "core" ' + "storage"(!- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &; G\  +2 "manipulator"&,& +3 "core" & R +2 .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( + "manipulator"& & +4 "core" & ~  + "storage"(;& +4 "core" &;  %\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&&'Ϝ +21 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&4/ +73 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&E& +2 "storage"('I +6 "core" &  +2 "manipulator"&R% +3 "core" % ϝ | +2 .tForearm.seek :retract +2 "manipulator"&2'\ +94 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +160 "core" ' + ."downElevator"SE.coast + "storage"(5 +100 "core" ( +2 "manipulator"&p& +3 "core" & y \\ 7 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" & 5 7 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&Z'Њ +101 "core" ' +2 "manipulator"&]& +4 "core" & b ` 7 +2 "manipulator"&% +3 "core" %Ў _ d +2 "processing"%~& +3 "core" & \ +3 "processing"%-& +4 "core" &$\ +2 .tPC.seek :closed + "processing"%b(Y +4 "core" &(\  +10 &,v%\ o+| +9 &c\ f@ +10 &_u"\ rP +9 &$T\ |O +10 &W\ |O +9 &W\ |O +9 &jW!\ {O +10 &*W%\ zP +9 &U$\ {O +9 &Y#\ yO +10 & pY"\ xP +9 &"2W#\ wP +10 &#T!\ vO +9 &%U\ nP +9 &'xQ\ jP +10 &):V\ jP +9 &*W\ uO +9 &,U\ rO +10 &.U#\ qO +9 &0BU\ rP +10 &2X\ pP +9 &3U\ qO +9 &5U\ mP +10 &7IV\ eP +9 &9 V\ nP +9 &:S\ qP +10 &<U\ lP +9 &>RX\ nP +10 &@Q\ qO +9 &AT\ kP +9 &C[\ nP +10 &EXY\ kP +9 &G\\\ uQ +9 &Hc\ vQ +10 &Jh\ uR +9 &LQ\ fV +10 &N\ aW +9 &O\ `X +9 &Q\ cW +10 &SU\ `W +9 &U\ jW +9 &V\ iW +10 &Xy\ l7 +9 &Y]*c\ m!` +10 &Y5\ \ y9 +2 ( +2 "processing"%-& +2 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.59 + .Hand.open +2 "manipulator"&t1 +68 "core" 1 +3 "manipulator"&% +4 "core" % Ї M +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%& +4 "core" &Y1 \ z9 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&I% +4 "core" %\ B  + "storage"(+% +4 "core" %Y !\ +2 "storage"([. +3 "core" . + .tSC.reconfigure :tight +3 "storage"($\ .(\ 1~b +2 .tSC.seek 5 + "storage"(L(; +4 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +4 (d& +3 "core" &; y\  +3 ."raiseStack"SE.reconfigure :place +3 "manipulator"& & +4 "storage"(#].K-0-\ b +2 "core" &  7 +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&K( +4 "storage"(}'j +4 "core" ( + "manipulator"&e& +4 "core" & & 7 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &F& +3 "core" & v 7 +2 .tForearm.seek PC +2 "manipulator"&9'Њ +89 "core" ' + .tHand.close +2 "manipulator"&k/ +75 "core" / +3 .tPC.seek :open +2 "processing"%$( +81 "core" ' +2 "storage"(M- +3 "core" -'j + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(/' +39 "core" ' +298 ( + "storage"(j& +4 "core" &;\  +2 "manipulator"&& +3 "core" &  L 7 +2 "manipulator"&:% +4 "core" % Е | & F + .tForearm.seek :retract +2 "manipulator"&{'\ +94 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&y( +285 "core" ( +2 "manipulator"&& +4 "core" &   + "storage"(n& +4 "core" &; O\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&', +98 "core" ' + .tHand.open +2 "manipulator"&w1 +74 "core" 1 +2 "storage"(x- +3 "core" -' +2 .tSE.seek -0.22 Pucks below Top Plate +2 "storage"(<' +28 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(O' +53 "core" ' + #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(\\& +3 "core" &; A ? W\ g +2 "manipulator"&?& +4 "core" & Z  +2 .tElbow.seek 5 + "manipulator"&_( +4 "core" ( + "manipulator"&h& +4 "core" & | i  +2 "storage"(a& +4 "core" &; b\ w +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&s', +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"('V +62 "core" ' +2 "manipulator"&6& +4 "core" & m d {  + "storage"(^& +4 "core" &; \ \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&)'p +37 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(%'@ +26 "core" ' +2 "manipulator"&*% +4 "core" %a , t +2 "storage"(=& +3 "core" &; P\ { +2 .tForearm.force -20 "manipulator"&5 +3 .tForearm.seek 5 + 315 counts +2 "manipulator"&J'ϫ +21 "core" ' +2 "manipulator"&C& +4 "core" &  +2 "storage"(7& +3 "core" &; >\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts +2 "manipulator"&V', +24 "core" ' +2 "storage"(Y% +4 "core" %H \ +2 ."downElevator"SE.seek :down +4 "storage"("'I +99 (N% +3 "core" %3 \ Vb + "manipulator"&q% +4 "core" %/ ? m +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' +57 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast +2 "storage"(6 +2 "collection"'& +4 "core" &YmFG[\ L +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&'% +4 "core" %\  ,  +2 "storage"(% +3 "core" %Z   \ +2 "storage"(1. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +3 .tSC.seek 5 + "storage"((; +4 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 ( & +2 "core" &; _\  +2 "manipulator"&W& +4 "core" & +2 .tElbow.seek 5 +2 "manipulator"&D( +9 "core" ( +2 "manipulator"&3& +4 "core" &   + "storage"(B& +4 "core" &; \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&\ ', +100 "core" ' +2 "storage"(P& +4 "core" &;  B\  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('j +284 "core" ' + "storage"(#- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&T& +3 "core" &  + "storage"(m& +4 "core" &;   b\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&S'p +39 "core" ' + .tElbow.hold +2 "manipulator"&c, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +2 .tSE.seek 0.03 Pucks below Top Plate +2 "storage"(g' +28 "core" ' +2 "manipulator"&o% +3 "core" %tT u q +2 "storage"(& +3 "core" &; E J \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 304 counts +2 "manipulator"&'Ϡ +19 "core" ' +2 "manipulator"&i& +3 "core" & \  +2 "storage"(.& +4 "core" &;   \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts +2 "manipulator"&', +30 "core" ' +2 .tSE.seek 1.03 Pucks below Top Plate +2 "storage"(r' +46 "core" ' +2 "manipulator"&`& +4 "core" & P  + "manipulator"&X% +4 "core" %6 A 6 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&>( +155 "core" ( +4 "manipulator"&5& +4 "core" & E 1 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &H& +2 "core" & 1 +2 .tForearm.seek CC +2 "manipulator"&@'Ϥ +95 "core" ' + .tHand.close +2 "manipulator"&|/ +72 "core" / +2 .tCC.seek :open + "collection"'8( +433 "core" ( +2 "storage"(& +3 "core" &; V F \  +2 "storage"(G& +4 "core" &; = 6 n\  +2 "manipulator"&l& +3 "core" & m f n 0 +2 "manipulator"&Q% +3 "core" % Ϭ e f R +2 .tForearm.seek :retract +2 "manipulator"&0'\ +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&z( +158 "core" ( +2 "manipulator"&v& +4 "core" & + "storage"(!& +4 "core" &; z z %\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(#b +2 .tForearm.seek 5 +2 "manipulator"&'p +106 "core" ' + .tElbow.hold +2 "manipulator"&,, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"& 1 +66 "core" 1 +2 "manipulator"&;% +4 "core" % ΂}  x) +2 "storage"(4& +3 "core" &; z S\  +3 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 318 counts +2 "manipulator"&E'Ϯ +12 "core" ' +2 "manipulator"&R& +3 "core" & M | +2 "storage"( & +4 "core" &; w x +\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts +2 "manipulator"&A', +19 "core" ' +2 "storage"(u% +4 "core" % y y B\ +2 ."downElevator"SE.seek :down +3 "storage"(&'I +100 (p% +2 "core" %g5 2 * q\ U^ +2 "manipulator"&% +4 "core" %* ; +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' +51 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast "storage"(6 +3 #tShuffling pucks in tube 6 of [1..7] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"']& +4 "core" &CDu\ +2 "manipulator"&% +4 "core" %\ 1 ~ + "storage"(~% +4 "core" %Z Q D 5\ +2 "storage"(. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +3 .tSC.seek 6 + "storage"(2(K +186 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (U& +2 "core" &K" ^ f _\ \  +2 "manipulator"&t& +4 "core" & . | + .tElbow.seek 6 +2 "manipulator"&( +10 "core" ( +2 "manipulator"&& +3 "core" & `  +2 "storage"(I& +4 "core" &K" y y y\ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&+' +101 "core" ' +2 "storage"(-& +4 "core" &K" c\ \  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(['j +281 "core" ' + "storage"(d- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +3 "core" &K"  p\ \  + "manipulator"&e& +4 "core" & S  + .tElbow.seek 6 +2 "manipulator"&F( +3 "core" ( + "manipulator"&Z& +4 "core" & J  + "storage"(k& +4 "core" &K"  \ \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&'V +28 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&M/ +71 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +3 "storage"('I +6 "core" &   +2 "manipulator"&b% +3 "core" % V  +2 .tForearm.seek :retract +2 "manipulator"&}'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&j( +149 "core" ' + ."downElevator"SE.coast + "storage"(5 +9 "core" ( +2 "manipulator"&& +4 "core" & u ~ m 2 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &:& +2 "core" & ~ 2 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&9'Ϥ +96 "core" ' +2 "manipulator"&& +4 "core" & d a 2 +2 "manipulator"&n% +3 "core" %Ϫ a W +2 "collection"'K& +4 "core" &@D|\ +2 "collection"'w& +5 "core" &?Dt\ +3 .tCC.seek :closed +3 "collection"'x(Y +3 "core" &AHv\ +6 &BFt\ 6 +10 &7G}@Ey\ n1 +9 &`qBGx\ nE +9 &bCFq\ uO +10 &UAFx\ N +9 &W@Go\ N +9 &HRAFu\ N +10 & W@Gs\ wO +9 &T@Ho\ zN +10 &WBEk\ N +9 &PU@Fs\ zN +9 &!Q@Ex\ }N +10 &"WBFu\ {O +9 &$WDEo\ zN +9 &&XX@Gx\ N +10 &(UBEw\ |N +9 &)RAEr\ xN +10 &+U>Gx\ N +9 &-aUCFp\ }N +9 &/"WBEw\ }N +10 &0T@Gs\ xO +9 &2UBFw\ ~N +9 &4hXAHw\ }N +10 &6*SCFn\ |N +9 &7WAEt\ N +10 &9W@Fp\ O +9 &;pWAGn\ }N +9 &=2WAFl\ {N +10 &>XCFk\ {N +9 &@YBEo\ N +9 &BxVCFj\ N +10 &D9\\AEm\ O +9 &EXAFk\ }O +10 &G]AEh\ wP +9 &IziCGh\ xP +9 &K.BEj\ rU +10 &LBGj\ `Z +9 &NBFm\ j[ +9 &PaCHj\ e\\ +10 &R CGj\ a] +9 &SCGl\ `] +10 &UCH`\ `^ +9 &WcDIX\ X^ +9 &Y zBFd\ i1 +10 &Y&DIj\ fV +9 ( + &YqCGj\ N +2 "collection"'w& +2 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 2.36 + .Hand.open +2 "manipulator"&1 +67 "core" 1 +2 "manipulator"&\\% +4 "core" % Ϩ l +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&?'\ +97 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%h& +4 "core" &\ +2 "manipulator"&{% +3 "core" %\  q r  N +2 "storage"(a% +4 "core" %S , / m\ +2 "storage"(6. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +3 .tSC.seek 6 + "storage"(^(K +2 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +2 (/& +3 "core" &K 2 4\  + "manipulator"&*& +4 "core" & | 2 +2 "manipulator"&=% +3 "core" %\  z c N +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&<( +157 "core" ( +2 "manipulator"&C& +4 "core" & >  + "storage"(7& +4 "core" &K y x U\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&Y' +95 "core" ' +2 "storage"(y& +3 "core" &K W U \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('j +286 "core" ' + "storage"(O- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (N& +2 "core" &K \ \  +2 "manipulator"&q& +3 "core" & t t @  +2 .tElbow.seek 6 +2 "manipulator"&s( +3 "core" ( + "manipulator"&_& +51 "core" & r r :  +2 "storage"(& +3 "core" &K\  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&)'V +23 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&J/ +65 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +4 "storage"(''I +6 "core" & i p p  +2 "manipulator"&% +3 "core" % R r s   +2 .tForearm.seek :retract +2 "manipulator"&1'\ +106 "core" ' +2 .tElbow.seek PC +2 "manipulator"&%( +148 "core" ' + ."downElevator"SE.coast + "storage"(5 +118 "core" ( +3 "manipulator"& & +3 "core" & & @ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &W& +3 "core" &  @ + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&3'Њ +98 "core" ' +2 "manipulator"&B& +4 "core" & z @ +2 "manipulator"&V% +3 "core" %Б } } +2 "processing"%P& +3 "core" &\ i +3 "processing"%"& +4 "core" &\ s +2 .tPC.seek :closed +2 "processing"%L(Y +5 "core" &!\  +9 &-u+\ j+{ +10 &a\ a? +9 &cu"\ dP +9 &%T \ lP +10 &U#\ kP +9 &U#\ kO +9 &mS$\ mO +10 &.U%\ lP +9 &V$\ jP +10 &T%\ lO +9 & sV \ jP +9 &"5T"\ jP +10 &#U!\ jP +9 &%T#\ `P +9 &'zT \ bP +10 &)<U#\ fP +9 &*S\ eP +10 &,T \ hP +9 &.P#\ iP +9 &0DU\ ]P +10 &2R \ eP +9 &3W#\ iP +9 &5V\ hP +10 &7NU\ lP +9 &9Y\ iP +10 &:T\ cP +9 &<U\ `Q +9 &>SU\ [Q +10 &@S\ aP +9 &AV\ cP +9 &CW\ gP +10 &EZ\\\ fQ +9 &G`\ eQ +10 &Hf \ gR +9 &J}\ `U +9 &LQ\ bW +10 &N\ ^X +9 &O\ ^X +9 &Q\ \\X +10 &SY\ dW +9 &U\ aW +10 &V\ ZX +9 &X\ `7 +9 &Ya,r\ kW +10 &Y~> \ y: +2 ( +2 "processing"%"& +2 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.65 + .Hand.open + "manipulator"&1 +76 "core" 1 +2 "manipulator"&% +3 "core" % Ѓ e  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&#'\ +91 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%T& +4 "core" &Y~<\ : +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&m% +3 "core" %\  y +2 "storage"(% +4 "core" %[  )\ +2 "storage"(o. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +3 .tSC.seek 6 + "storage"((K +2 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (i& +3 "core" &K E\  +2 "manipulator"&.& +2 ."raiseStack"SE.reconfigure :place +6 "storage"(#].K-0-\ b +2 "core" &  @ +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&`( + "storage"(X'j +5 "core" ( +2 "manipulator"&\ & +4 "core" & z " @ + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &D& +2 "core" & z  @ +2 .tForearm.seek PC +2 "manipulator"&'Њ +90 "core" ' + .tHand.close +2 "manipulator"&S/ +72 "core" / +2 .tPC.seek :open +2 "processing"%( +82 "core" ' +2 "storage"(g- +3 "core" -'j + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(5' +43 "core" ' +292 ( + "storage"(H& +4 "core" &K  y\  +2 "manipulator"&& +3 "core" & = @ +2 "manipulator"&c% +3 "core" %   : +2 .tForearm.seek :retract +2 "manipulator"&|'\ +91 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&( +269 "core" ( +2 "manipulator"&f& +3 "core" &  +2 "storage"(& +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&G' +100 "core" ' + .tHand.open +2 "manipulator"&l1 +69 "core" 1 +2 "storage"(Q- +3 "core" -' +2 .tSE.seek -0.22 Pucks below Top Plate +2 "storage"(v' +25 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(!' +53 "core" ' + #tLights, camera, ACTION! +2 "storage"(@- +3 "core" -' +2 "storage"(>& +3 "core" &K  \ ;\ ^ +2 "manipulator"& & +4 "core" & \\ + .tElbow.seek 6 +2 "manipulator"&;( +3 "core" ( +2 "manipulator"&4& +4 "core" & m +2 "storage"(R& +3 "core" &K < Q\ a +2 .tForearm.seek 6 + 700 counts +2 "manipulator"& ' +19 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(u'V +70 "core" ' +2 "manipulator"&0& +4 "core" & r r  + "storage"(p& +4 "core" &K 1 4 \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&'* +36 "core" ' + .tElbow.hold +2 "manipulator"&z, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"('@ +29 "core" ' +2 "manipulator"&]% +4 "core" %;? nz + "storage"(E& +4 "core" &K \ | + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 6 + 317 counts +2 "manipulator"&'g +19 "core" ' +2 "manipulator"&~& +4 "core" &   +2 "storage"(& +4 "core" &K ^ \\ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts +2 "manipulator"&r' +35 "core" ' +2 "storage"(A% +4 "core" %A V S 3\ +2 ."downElevator"SE.seek :down +3 "storage"(U'I +100 (t% +3 "core" %4   \ V` +2 "manipulator"&% +4 "core" %  O +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&I'\ +147 "core" ' + ."downElevator"SE.coast + "storage"(5 +19 "core" ' + .tSC.coast + "storage"(6 +3 "collection"'&& +4 "core" &YrCHV\ N +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&% +3 "core" %\   +2 "storage"(-% +4 "core" %G W d ]\ +2 "storage"(,. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +3 .tSC.seek 6 + "storage"((K +4 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (d& +2 "core" &K X X (\  +2 "manipulator"& & +4 "core" & T  + .tElbow.seek 6 +2 "manipulator"&e( +3 "core" ( +2 "manipulator"&Z& +51 "core" &   + "storage"(k& +4 "core" &K W W z\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&M' +97 "core" ' +2 "storage"(& +4 "core" &K @ @ \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(b'j +283 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&+& +3 "core" & r s   +2 "storage"(& +3 "core" &K H\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&:'* +37 "core" ' + .tElbow.hold +2 "manipulator"&[, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +2 .tSE.seek 0.05 Pucks below Top Plate +2 "storage"(' +29 "core" ' +2 "manipulator"&n% +4 "core" %=D E o + "storage"(K& +4 "core" &K d\ ~ +2 .tForearm.force -20 "manipulator"&5 +3 .tForearm.seek 6 + 319 counts +2 "manipulator"&F'i +20 "core" ' +2 "manipulator"&& +3 "core" &   +2 "storage"(}& +4 "core" &K   G\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&8' +28 "core" ' +2 .tSE.seek 1.05 Pucks below Top Plate +2 "storage"(' +41 "core" ' +2 "manipulator"&\\& +4 "core" &   +2 "manipulator"&h% +3 "core" %  T +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&{'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&a( +145 "core" ( +2 "manipulator"&w& +4 "core" & _ & +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &6& +3 "core" & y / & +2 .tForearm.seek CC + "manipulator"&/'Ϥ +94 "core" ' + .tHand.close +2 "manipulator"&*/ +66 "core" / +2 .tCC.seek :open + "collection"'=( +433 "core" ( +2 "storage"(9& +3 "core" &K T K M\  +2 "storage"(C& +3 "core" &K < 3 \\\  +2 "manipulator"&7& +3 "core" & { & +2 "manipulator"&2% +4 "core" % Ϫ v | d + .tForearm.seek :retract +2 "manipulator"&y'\ +104 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&j( +156 "core" ( +2 "manipulator"&?& +3 "core" &  p +2 "storage"(O& +4 "core" &K ' 0 0\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.seek 6 +2 "manipulator"&N'* +106 "core" ' + .tElbow.hold +2 "manipulator"&q, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&_1 +71 "core" 1 +3 "manipulator"&% +4 "core" % <x ] w +2 "storage"(J& +3 "core" &K \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 318 counts + "manipulator"&'h +19 "core" ' +2 "manipulator"&& +3 "core" & ! j +2 "storage"(<& +4 "core" &K { f\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&Y' +29 "core" ' +2 "storage"(% +4 "core" % $\ +2 ."downElevator"SE.seek :down +3 "storage"()'I +100 ( % +3 "core" %_4 R T /\ V^ + "manipulator"&W% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&s'\ +88 "core" ' +54 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast "storage"(6 +3 #tShuffling pucks in tube 7 of [1..7] +2 #Loading generic puck from tube 7 into Collection Clamp + "collection"'B& +4 "core" &?Es\ +2 "manipulator"&V% +4 "core" %\  R n + "storage"(P% +4 "core" %Y z y A\ +2 "storage"('. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 7 +2 "storage"(1([c +189 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 ($& +2 "core" &[a" \ \  +2 "manipulator"&& +4 "core" &  j +2 .tElbow.seek 7 +2 "manipulator"&( +32 "core" ( +2 "manipulator"&T& +3 "core" &\ ( R +2 "storage"(m& +4 "core" &[a" +\ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 700 counts + "manipulator"&' +103 "core" ' +2 "storage"("& +3 "core" &[a" !\ \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(o'j +279 "core" ' +2 "storage"(i- +3 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (.& +3 "core" &[a! ^ V *\ \  + "manipulator"&\ & +4 "core" &\ N +2 .tElbow.seek 7 + "manipulator"&D( +5 "core" ( + "manipulator"&3& +4 "core" &  A +2 "storage"(S& +3 "core" &[a! w { L\ \  +3 .tForearm.seek 7 + 300 counts +2 "manipulator"&^'N +22 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&g/ +70 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&%& +3 "storage"(#'I +6 "core" & N ? + "manipulator"&L% +4 "core" % U o v t  + .tForearm.seek :retract +2 "manipulator"&X'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&H( +147 "core" ' + ."downElevator"SE.coast + "storage"(5 +8 "core" ( +2 "manipulator"&& +3 "core" & p  / +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &c& +3 "core" & } / + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'Ϥ +92 "core" ' +2 "manipulator"&f& +5 "core" & ~ t / +2 "manipulator"&% +3 "core" %Ϫ } ~ + +2 "collection"'`& +3 "core" &BDs\ +2 "collection"'l& +5 "core" &@Ew\ +2 .tCC.seek :closed +2 "collection"'Q(Y +4 "core" &@Eo\ +7 &6@Fu\ $c +10 &V@Eu\ 7 +9 &}ACn\ L +10 &WBEl\ N +9 &^UBEh\ N +9 &!UCDn\ M +10 &VAFm\ M +9 &T@Ew\ M +9 &fQBFo\ N +10 &(UAHo\ N +9 &TDFn\ M +10 &!T@Er\ M +9 &#nW@Du\ N +9 &%/XBFr\ N +10 &&VCBi\ M +9 &(VBFl\ M +9 &*vY@Ep\ N +10 &,8UCDm\ N +9 &-TDGw\ M +10 &/UAHx\ M +9 &1YBFj\ M +9 &3@U@Gs\ N +10 &5UBFq\ N +9 &6TCFv\ N +9 &8TCGs\ N +10 &:HUBHi\ N +8 &< TDFo\ M +11 &=VCFl\ N +54 &?Y>Gl\ N +4 &AQXAFc\ M +6 &CWAF\\\ N +2 &DZ@Fd\ N + &F[@G]\ O &HRhBFV\ P + &JsBF_\ Q +7 &KAFd\ |V +9 &MyBGq\ sZ +9 &O9BFc\ n[\ +10 &P@GX\ g\\ +9 &RCGa\ ^] +9 &TxBHX\ e] +10 &V<BH[\ j] +9 &WDGX\ i] +10 &YVHBHK\ 2 +9 &YrEGM\ L +5 ( +2 "collection"'l& +3 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 2.38 +2 .Hand.open + "manipulator"&@1 +3 "core" &YbBFc\ L +75 1 + "manipulator"&>% +4 "core" % Ϫ  + +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& '\ +96 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 7 into Processing Clamp + "processing"%4& +4 "core" &\ +2 "manipulator"&R% +4 "core" %\  +2 "storage"(|% +3 "core" %L \ +2 "storage"(0. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 7 +2 "storage"(p([c +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (5& +2 "core" &[a  \  +2 "manipulator"&]& +4 "core" &  R / +2 "manipulator"&v% +3 "core" %\ } } L  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&E( +154 "core" ( +2 "manipulator"&~& +4 "core" &   + "storage"(& +4 "core" &[a \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 700 counts + "manipulator"&' +96 "core" ' +2 "storage"(A& +4 "core" &[a \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(G'j +285 "core" ' +2 "storage"(!- +3 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (t& +2 "core" &[a <\  +2 "manipulator"&& +4 "core" &   +2 .tElbow.seek 7 + "manipulator"& ( +4 "core" ( +2 "manipulator"&;& +3 "core" &   +2 "storage"(u& +3 "core" &[a O\  +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&'N +24 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +74 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&&& +5 "storage"('I +5 "core" & 6  + "manipulator"&% +4 "core" % W & +2 .tForearm.seek :retract +2 "manipulator"&-'\ +94 "core" ' +2 .tElbow.seek PC +2 "manipulator"&,( +160 "core" ' + ."downElevator"SE.coast + "storage"(5 +98 "core" ( +3 "manipulator"&d& +4 "core" & P + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +2 "core" & ~ U P +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&Z'Њ +97 "core" ' +2 "manipulator"&k& +4 "core" & m i h P + "manipulator"&r% +4 "core" %А e f N +2 "processing"%& +3 "core" &\ l +2 "processing"%U& +6 "core" &\ o +2 .tPC.seek :closed + "processing"%(Y +4 "core" &\ o\ +10 &-t'\ X+{ +10 &a~&\ W? +9 &cs%\ `P +9 &&T%\ oO +10 &W"\ rP +9 &X#\ mO +9 &lT#\ iO +10 &-T\ eP +9 &T \ eP +10 &S \ jP +9 & rY\ fP +9 &"4T\ dP +10 &#T\ cP +9 &%U\ fP +10 &'{S \ jP +9 &)>U\ hO +9 &*T\ gP +10 &,R\ kP +9 &.U\ oO +9 &0FW\ oO +10 &2V\ mP +9 &3Y\ lP +10 &5S\ kP +9 &7MT\ mP +9 &9Y \ pP +10 &:X \ lP +9 &<R\ nP +9 &>US\ kP +10 &@Q\ tO +9 &AW \ rO +10 &CU \ qP +9 &E\\W\ jP +9 &G`\ pP +10 &H_\ \ fQ +9 &Jj\ dR +9 &LT\ jV +10 &N \ gX +9 &O\ eX +9 &Q\ kW +10 &SZ\ pV +9 &U\ lV +10 &V\ gV +9 &X{\ n8 +9 &Y_-r\ mX +10 &Y- \ w6 + ( +2 "processing"%U& +2 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.58 + .Hand.open +2 "manipulator"&z1 +73 "core" 1 +2 "manipulator"&I% +3 "core" % Ї B +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +94 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%+& +4 "core" &Y*\ 6 + #tImaging generic puck in Processing Clamp while storing it to tube 7 +2 "manipulator"&% +4 "core" %\  + "storage"(% +4 "core" %P \ +2 "storage"(n. +3 "core" . + .tSC.reconfigure :tight +3 "storage"($\ .(\ 1~b +2 .tSC.seek 7 + "storage"(K([c +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (& +3 "core" &[a ~\  +2 "manipulator"&}& +2 ."raiseStack"SE.reconfigure :place +6 "storage"(#].K-0-\ b +3 "core" &  P +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +2 "storage"(\\'j +4 "manipulator"&h( +4 "core" ( + "manipulator"&M& +4 "core" &  P +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &e& +2 "core" & j P +2 .tForearm.seek PC +2 "manipulator"&b'Њ +95 "core" ' + .tHand.close +2 "manipulator"&:/ +74 "core" / +2 .tPC.seek :open +2 "processing"%F( +72 "core" ' +2 "storage"(- +3 "core" -'j + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(w' +45 "core" ' +299 ( + "storage"(6& +4 "core" &[a . 9 [\  +2 "manipulator"&8& +3 "core" & ~ ~ P +2 "manipulator"&[% +3 "core" % А z { +2 .tForearm.seek :retract +2 "manipulator"&*'\ +94 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&{( +273 "core" ( +2 "manipulator"&x& +3 "core" & O  +2 "storage"(9& +3 "core" &[a w w $\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 700 counts +2 "manipulator"&C' +87 "core" ' + .tHand.open +2 "manipulator"&71 +75 "core" 1 +2 "storage"(2- +3 "core" -' +2 .tSE.seek -0.22 Pucks below Top Plate +2 "storage"(?' +30 "core" ' +3 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(O' +53 "core" ' + #tLights, camera, ACTION! +2 "storage"(/- +3 "core" -' +2 "storage"(a& +3 "core" &[a \  +2 "manipulator"&_& +3 "core" & E  +2 .tElbow.seek 7 +2 "manipulator"&( +7 "core" ( +2 "manipulator"&J& +3 "core" & i  +2 "storage"(& +4 "core" &[a S\ ~ +2 .tForearm.seek 7 + 700 counts +2 "manipulator"&<' +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"('V +62 "core" ' +2 "manipulator"&y& +4 "core" & c  + "storage"( & +4 "core" &[a x \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +49 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 +2 "manipulator"&W'" +38 "core" ' + .tElbow.hold +2 "manipulator"&j, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(N'@ +35 "core" ' +2 "manipulator"&B% +4 "core" %3Z y s +2 "storage"(& +3 "core" &[a '\ { + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 317 counts +2 "manipulator"&V'_ +23 "core" ' +2 "manipulator"&P& +4 "core" & i  +2 "storage"('& +3 "core" &[a ? > s\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 700 counts +2 "manipulator"&' +36 "core" ' +2 "storage"(Y% +4 "core" %G ; R 9\ +2 ."downElevator"SE.seek :down +3 "storage"($'I +100 (% +3 "core" %8 $ & (\ V` + "manipulator"&T% +4 "core" % >  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&m'\ +92 "core" ' +58 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast "storage"(6 +3 "collection"')& +4 "core" &YbBHW\ L +2 #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"&% +4 "core" %\ ;  +2 "storage"("% +3 "core" %Y y v q\ +2 "storage"(q. +3 "core" . + .tSC.reconfigure :tight +3 "storage"($\ .(\ 1~b +2 .tSC.seek 7 +2 "storage"(s([c +2 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (i& +2 "core" &[a t v -\  +2 "manipulator"&.& +4 "core" &   +2 .tElbow.seek 7 +2 "manipulator"&\ ( +9 "core" ( +2 "manipulator"&3& +4 "core" & b  + "storage"(S& +4 "core" &[a y w "\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 700 counts +2 "manipulator"&g' +101 "core" ' +2 "storage"(%& +4 "core" &[a  L\  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(L'j +283 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & Z  + "storage"(& +4 "core" &[a r 1\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 +2 "manipulator"&c'" +37 "core" ' + .tElbow.hold +2 "manipulator"&o, +3 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(^- +3 "core" -' +2 .tSE.seek 0.03 Pucks below Top Plate +2 "storage"(f' +28 "core" ' +2 "manipulator"&% +3 "core" %1T r +2 "storage"(`& +4 "core" &[a *\ v + .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 7 + 315 counts +2 "manipulator"&D'] +26 "core" ' +2 "manipulator"&#& +4 "core" &   + "storage"(X& +4 "core" &[a 6 C '\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 700 counts + "manipulator"&=' +22 "core" ' +2 .tSE.seek 1.03 Pucks below Top Plate +2 "storage"(@' +47 "core" ' +2 "manipulator"&>& +4 "core" & ;  + "manipulator"&4% +4 "core" % P k +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&l'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&R( +152 "core" ( +2 "manipulator"&|& +4 "core" & % +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &0& +3 "core" &  % + .tForearm.seek CC +2 "manipulator"&5'Ϥ +93 "core" ' + .tHand.close +2 "manipulator"&]/ +65 "core" / +2 .tCC.seek :open + "collection"'v( +434 "core" ( +2 "storage"(& +3 "core" &[a k\  +2 "storage"(~& +4 "core" &[a '\  + "manipulator"&& +4 "core" & }  % +2 "manipulator"&1% +3 "core" % Ϧ y & * +2 .tForearm.seek :retract +2 "manipulator"&A'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&H( +157 "core" ( +2 "manipulator"& & +4 "core" &  a + "storage"(!& +4 "core" &[a \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.seek 7 +2 "manipulator"&t'" +102 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&;1 +71 "core" 1 +2 "manipulator"&u% +4 "core" % 6 M =  |j +2 "storage"(& +3 "core" &[a   V\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 7 + 320 counts + "manipulator"&&'b +14 "core" ' +2 "manipulator"&& +3 "core" & b [ +2 "storage"(E& +4 "core" &[a S\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 700 counts + "manipulator"&' +24 "core" ' +2 "storage"(G% +4 "core" % \ +2 ."downElevator"SE.seek :down +3 "storage"('I +100 (d% +2 "core" %k6 H\ U] +2 "manipulator"& % +4 "core" % K Y +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& '\ +102 "core" ' +38 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast "storage"(6 +4 ."shutdown"CS.coast +3 #tAsleep / Shutdown + "collection"'5 +3 ."shutdown"SS.coast + "sampler")5 +2 ."shutdown"CC.coast + "collection"'6 +3 ."shutdown"PC.coast + "processing"%6 +3 ."shutdown"Forearm.coast + "manipulator"&5 +2 ."shutdown"Elbow.coast + "manipulator"&6 +37 ."shutdown"Gate.power :core,:OFF +2 .Gate.power :raw,:OFF #Shutdown +2 .tdelay 5 seconds +502 #Powering core bus +502 .Gate.power :raw,:ON +2 "sampler") +40 )k +2 "core"  + "collection"' +3 'r +3 "core"  + "processing"% +2 % +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ + % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +2 "core" %ACo\ +2 .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%-% +3 "core" %\ + .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")% +2 "core" %rt \ +2 .tSS.configure :default +2 "sampler")#.0X +2 .tForearm.configure :loose +2 "manipulator"&#Q@2^d^b +2 && +3 "core" &  + .tElbow.configure :tight +2 "manipulator"&$&.,(\ #b +5 "storage"(& +2 "core" & \ +2 .tSC.configure :loose +2 "storage"($.(\ 1~b +2 (U% +3 "core" % \ + .tSE.configure :default +2 "storage"(#QK-0-\ b +2 .tCH.coast +2 "collection"'n  +2 "core" + .tCH.configure :default +2 "collection"'\ 2 +2 .tPH.coast + "processing"%  +3 "core" + .tPH.configure :default + "processing"%\ 2 +2 #tAll dwarf controllers running firmware version 3.85 +2 "sampler") +10 "collection"'}% +3 "core" %BDe\ +2 ."rdySampler"Intake.select :close +4 "processing"%M% + "manipulator"&e% +3 ."rdySampler"Exhaust.select :close +3 .CTV.dial :air +2 "collection"'Z  +2 "core" %\ +2 % K +2 ."rdyProcessing"PSV.dial :air +3 "manipulator"&:% +2 "processing"%p  +5 "core" + % ? + +3 ."rdyProcessing"PS.reconfigure :default +2 ."rdySampler"CSV.dial :waste1 +4 .tForearm.reconfigure :loose + "processing"%#A d`xb +2 "collection"' +3 "manipulator"&#@2^d^b +5 ."rdyProcessing"PS.home.seek 0ml +3 .tForearm.home.seek :retract + "processing"%,'Ԥ +3 "manipulator"&'\ +2 "core" + ."rdySampler"SSV.dial :spit,avoiding: :exhaust +2 "sampler") +3 "core"  +2 "sampler")\\  +4 "core" +2 ."readyCS"CS.reconfigure :fast +4 ."rdySampler"SS.reconfigure :default +2 "collection"'#d @b +3 "sampler")#.0X% +3 "core" %\  q r l +2 "storage"(4% +4 "core" %J   \ +2 "storage"(g. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 1 +2 "storage"(\ ( +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (L& +2 "core" &  c\  +2 "manipulator"&c& +3 "core" & q # ' +2 "manipulator"&D% +4 "core" %\  r t l +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 +47 "manipulator"&f( +150 "core" ( +2 "manipulator"&|& +4 "core" & q + "storage"(0& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 700 counts +2 "manipulator"&='W +93 "core" ' +2 "storage"(o& +3 "core" &  \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(]'j +270 "core" ' +2 "storage"(l- +3 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (Q& +3 "core" &\  + "manipulator"&& +4 "core" & + .tElbow.seek 1 +2 "manipulator"&~( +3 "core" ( +2 "manipulator"&& +3 "core" & v  R +2 "storage"(1& +4 "core" &   }\  +2 .tForearm.seek 1 + 300 counts + "manipulator"& ' +19 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&!/ +77 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&5& +5 "storage"(R'I +4 "core" & 7 +2 "manipulator"&;% +4 "core" % 3 . +2 .tForearm.seek :retract +2 "manipulator"&u'\ +94 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +138 "core" ' + ."downElevator"SE.coast + "storage"(5 +122 "core" ( +3 "manipulator"&& +3 "core" & t t  Z +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &E& +3 "core" & r r  Z +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&G'Њ +91 "core" ' +2 "manipulator"&A& +4 "core" & w  Z + "manipulator"&d% +4 "core" %Џ |  +2 "processing"% & +3 "core" &0\ } +2 "processing"%H& +5 "core" &1\ v +2 .tPC.seek :closed +2 "processing"%t(Y +4 "core" &2\ o +8 &F/\ c&k +9 &gX.\ f9 +9 &z%\ `N +10 &tU&\ hP +9 &7W#\ qP +9 &T\ eP +10 &T(\ iP +9 &~U"\ iP +10 &?V"\ jP +9 &U \ oP +9 &U \ dP +10 &!Y!\ _P +9 &#GV$\ vP +10 &%\ U$\ yP +9 &&U"\ wP +9 &(X \ uP +10 &*PY!\ tP +9 &,V\ dP +9 &-U!\ ^Q +10 &/O"\ bP +9 &1UW$\ dQ +9 &3V!\ kP +10 &4X \ aP +9 &6W"\ bP +10 &8^T\ cP +9 &:!U$\ dP +9 &;U \ gP +10 &=V!\ fP +9 &?gQ!\ fP +9 &A)U\ aP +10 &BU\ fP +9 &DZ\ _Q +10 &Fl]\ _Q +9 &H-[!\ `Q +9 &Ib \ rQ +10 &Kr\ XT +9 &Ma\ SX +10 &O" \ \\X +9 &P\ WX +9 &R\ ^W +10 &Tj\ [W +9 &V+\ YX +9 &W\ ZV +10 &Y<Ee\ q ` +9 &YO\ v9 +5 ( +2 "processing"%H& +3 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.58 + .Hand.open +2 "manipulator"&&1 +3 "core" &Y1\ {9 +71 1 + "manipulator"&@% +4 "core" % Џ q (  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%& +4 "core" &Y1\ \ m9 +2 #tImaging generic puck in Processing Clamp while storing it to tube 1 + "manipulator"&s% +4 "core" %\  * \ k +2 "storage"((% +3 "core" %S b ] \ +2 "storage"( . +3 "core" . + .tSC.reconfigure :tight +3 "storage"($\ .(\ 1~b +2 .tSC.seek 1 + "storage"(v( +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (F& +2 "core" & w x U\  +2 "manipulator"& & +4 "core" &  Z + "manipulator"&% +4 "core" %\   \ k +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 1 +2 "manipulator"&k( +268 "core" ( +2 "manipulator"&r& +3 "core" &  <  +2 "storage"(& +4 "core" & V\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 700 counts +2 "manipulator"&'W +101 "core" ' +2 "storage"(-& +3 "core" & T U a\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('j +284 "core" ' + "storage"(z- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&I& +3 "core" & n  + "storage"(+& +4 "core" & 3\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 1 +2 "manipulator"&'Λ +33 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(U- +2 "core" -' +3 .tSE.seek 1.02 Pucks below Top Plate + "storage"(n' +41 "core" ' +2 "manipulator"&% +4 "core" %ά] _ x + "storage"(}& +4 "core" & - : X\ b + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 1 + 317 counts + "manipulator"&M' +17 "core" ' +2 "manipulator"&e& +3 "core" & "  +2 "storage"(:& +4 "core" &  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 700 counts +2 "manipulator"&p'W +24 "core" ' +2 .tSE.seek 2.02 Pucks below Top Plate +2 "storage"(Z' +40 "core" ' +2 "manipulator"&& +4 "core" & r  +2 "manipulator"&% +3 "core" %L Q +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&\\'\ +90 "core" ' +2 .tElbow.seek PC +2 "manipulator"&[( +256 "core" ( +2 "manipulator"&b& +4 "core" &  G +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &9& +3 "core" &  G +2 .tForearm.seek PC + "manipulator"&,'Њ +94 "core" ' + .tHand.close +2 "manipulator"&2/ +75 "core" / +2 .tPC.seek :open + "processing"%_( +428 "core" ( + "storage"(*& +4 "core" & &\  +2 "manipulator"&y& +3 "core" & } ~ G +2 "manipulator"&% +3 "core" % Ж ~ } +2 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 +2 "manipulator"&x( +139 "Can"\ FF +137 "core" ( + "manipulator"&/& +3 "core" &   +2 "storage"(?& +4 "core" & : = K\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 700 counts +2 "manipulator"&B'W +91 "core" ' +2 .tHand.open + "manipulator"&1 +69 "core" 1 +2 "storage"({- +3 "core" -' +3 .tSE.seek 1.77 Pucks below Top Plate + "storage"(P' +26 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(C' +53 "core" ' + #tLights, camera, ACTION! +46 "storage"(O- +6 "core" -' +2 "storage"(& +4 "core" & \ q + "manipulator"&<& +4 "core" & G  + .tElbow.seek 1 +2 "manipulator"&7( +9 "core" ( +2 "manipulator"&& +3 "core" &   +2 "storage"(a& +4 "core" & x i \ m +2 .tForearm.seek 1 + 700 counts +2 "manipulator"&J'W +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek 1.89 Pucks below Top Plate +2 "storage"(W'2 +57 "core" ' +2 "manipulator"&V& +4 "core" &   + "storage"()& +4 "core" & 3 - j\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 1 +2 "manipulator"&"'Λ +33 "core" ' + .tElbow.hold +2 "manipulator"&q, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 2.07 Pucks below Top Plate + "storage"(h' +22 "core" ' +2 "manipulator"&i% +4 "core" %ΡZ t + "storage"(.& +4 "core" & \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 1 + 306 counts +2 "manipulator"&S' +26 "core" ' +2 "manipulator"&Y& +4 "core" &   +2 "storage"(T& +3 "core" & ' 0 %\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 700 counts +2 "manipulator"&$'W +20 "core" ' +3 "storage"(K% +4 "core" %# Y D \\\ +3 ."downElevator"SE.seek :down +3 "storage"('I +99 (N% +3 "core" %4/   \ U^ + "manipulator"&m% +4 "core" %A  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +36 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast "storage"(6 +3 "collection"'& +4 "core" &YqEGQ\ O +2 #tStoring generic puck in Collection Clamp to tube 1 + "manipulator"&% +4 "core" %\ /  +2 "storage"(3% +3 "core" %H U T S\ +2 "storage"(. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 1 +2 "storage"(w( +4 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (& +3 "core" & & - \  +2 "manipulator"&`& +3 "core" & {  +2 .tElbow.seek 1 +2 "manipulator"&X( +34 "core" ( +2 "manipulator"&>& +4 "core" &  7 + "storage"(4& +4 "core" & 0 / 0\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 700 counts + "manipulator"&g'W +92 "core" ' +2 "storage"(& +4 "core" & = ; \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(L'j +275 "core" ' + "storage"(c- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&D& +3 "core" &  u 7 7 + "storage"(j& +4 "core" & * 1 \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 1 +2 "manipulator"&|'Λ +32 "core" ' + .tElbow.hold +2 "manipulator"&0, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"('- +3 "core" -' +2 .tSE.seek 2.03 Pucks below Top Plate +2 "storage"(%' +28 "core" ' +2 "manipulator"&o% +3 "core" %άT r +2 "storage"(#& +4 "core" & l\ r + .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 1 + 317 counts +2 "manipulator"&l' +24 "core" ' +2 "manipulator"&Q& +4 "core" & '  + "storage"(& +4 "core" & A\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 700 counts +2 "manipulator"&'W +17 "core" ' +2 .tSE.seek 3.03 Pucks below Top Plate +2 "storage"(1' +48 "core" ' +2 "manipulator"&!& +4 "core" & z  + "manipulator"&5% +4 "core" %P N +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&;'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&f( +156 "core" ( +2 "manipulator"&=& +4 "core" & { / +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &]& +3 "core" & / + .tForearm.seek CC +2 "manipulator"& 'Ϥ +94 "core" ' + .tHand.close +2 "manipulator"&/ +72 "core" / +2 .tCC.seek :open + "collection"'E( +434 "core" ( +2 "storage"(~& +3 "core" & 1\  +2 "storage"(A& +3 "core" & \  +2 "manipulator"&d& +3 "core" & ~ t / +2 "manipulator"& % +3 "core" % ϡ  ~ , +2 .tForearm.seek :retract +2 "manipulator"&R'\ +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 +2 "manipulator"&u( +157 "core" ( +2 "manipulator"& & +3 "core" & <  +2 "storage"(&& +4 "core" & x\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.seek 1 + "manipulator"&@'Λ +109 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&s1 +78 "core" 1 +3 "manipulator"&H% +4 "core" % έt ` w + "storage"((& +4 "core" & J\  +2 .tForearm.force -20 "manipulator"&5 +3 .tForearm.seek 1 + 318 counts +2 "manipulator"& ' +20 "core" ' +2 "manipulator"&F& +3 "core" &  b +2 "storage"( & +4 "core" & 4\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 700 counts + "manipulator"&'W +29 "core" ' +2 "storage"(G% +4 "core" % \ +2 ."downElevator"SE.seek :down +3 "storage"(\ 'I +100 (r% +3 "core" %0  H\ UZ + "manipulator"&% +4 "core" %c s m - +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +103 "core" ' +17 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast "storage"(6 +3 #tShuffling pucks in tube 2 of [1..7] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'-& +4 "core" &?Dg\ +2 "manipulator"&% +3 "core" %\  , ' +2 "storage"(z% +4 "core" %H \ + "storage"(I. +4 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +3 .tSC.seek 2 + "storage"(+( +188 "core" ( +47 .tSC.reconfigure :loose +4 "storage"($.(\ 1~b +3 (U& +2 "core" &  J\  +2 "manipulator"&& +3 "core" &  b +2 .tElbow.seek 2 +2 "manipulator"&}( +11 "core" ( +2 "manipulator"&e& +4 "core" & X  + "storage"(:& +4 "core" &  V\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'a +94 "core" ' +2 "storage"(& +4 "core" &  N\  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('j +285 "core" ' +2 "storage"(k- +3 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +4 "core" &  f Z\  +2 "manipulator"&& +3 "core" & q q  +2 .tElbow.seek 2 + "manipulator"&M( +4 "core" ( + "manipulator"&n& +4 "core" & p k  +2 "storage"(p& +3 "core" &  v 9\  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&b' +25 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&9/ +65 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +3 "storage"(2'I +5 "core" & <  +2 "manipulator"&\\% +3 "core" % @ +2 .tForearm.seek :retract +2 "manipulator"&t'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&*( +151 "core" ' + ."downElevator"SE.coast + "storage"(5 +12 "core" ( +2 "manipulator"&y& +4 "core" & t s / + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" & } E / +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&,'Ϥ +97 "core" ' +2 "manipulator"&/& +4 "core" & S / +2 "manipulator"&?% +3 "core" %Ϡ w  +2 "collection"'[& +4 "core" &@E~\ +3 "collection"'& +4 "core" &>Dm\ +2 .tCC.seek :closed +2 "collection"'{(Y +4 "core" &ACr\  +9 &0}ADz\ *y +10 &b?Ev\ > +9 &ltBCn\ O +9 &1WACh\ M +10 &W@Dk\ M +9 &V@Cg\ M +9 &vZ?Da\ N +10 &8UDDh\ N +9 &W>Cf\ N +10 &T?Ch\ M +9 & TCBg\ M +9 &"?YACk\ N +10 &$U@Dh\ N +9 &%ZBCi\ N +9 &'U@Bi\ N +10 &)GYBCg\ N +9 &+\ UBDl\ N +10 &,W@Dj\ N +9 &.TACn\ N +9 &0PUACk\ N +10 &2YCEl\ N +9 &3VAFj\ N +9 &5U?Ck\ N +10 &7VWACg\ N +9 &9T@Eh\ N +10 &:V?Ck\ N +9 &<W@Dl\ N +9 &>_UAEl\ N +10 &@ VACj\ N +9 &ARADk\ zN +9 &CYADj\ O +10 &Ef[BEk\ N +9 &G&ZBDj\ zO +10 &HeAEj\ wP +9 &J@Ek\ |T +9 &LOBDh\ cY +10 &N ADd\ q[ +9 &OBG[\ n[\ +9 &QCDe\ k\\ +10 &SK@Ck\ l] +9 &UBFj\ h] +10 &VBEX\ q] +9 &XBF^\ nJ +9 &Y5FEi\ u(w +10 &Y_FDc\ K +2 ( +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 2.38 + .Hand.open + "manipulator"&O1 +69 "core" 1 +2 "manipulator"&% +4 "core" % Ϡ u +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%<& +4 "core" &!\ | +2 "manipulator"&% +3 "core" %\  b r +2 "storage"(a% +4 "core" %U .\ +2 "storage"(V. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +3 .tSC.seek 2 + "storage"()( +2 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +2 (Z& +3 "core" &  \ -\  +2 "manipulator"&P& +3 "core" & / +2 "manipulator"&i% +3 "core" %\  t } E r +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +2 "manipulator"&.( +156 "core" ( +2 "manipulator"&Y& +3 "core" & 7  +2 "storage"(T& +4 "core" &  %\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&K'a +86 "core" ' +2 "storage"(x& +3 "core" &  \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(B'j +284 "core" ' + "storage"(C- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (N& +2 "core" &    \  +2 "manipulator"&m& +4 "core" & -  + .tElbow.seek 2 +2 "manipulator"&J( +3 "core" ( +2 "manipulator"&7& +3 "core" &   +2 "storage"(W& +3 "core" &    \  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&"' +22 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +68 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +3 "storage"(3'I +5 "core" & +  +2 "manipulator"&S% +3 "core" % . +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +158 "core" ' + ."downElevator"SE.coast + "storage"(5 +89 "core" ( +2 "manipulator"&`& +4 "core" & q +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &h& +2 "core" &  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&>'Њ +90 "core" ' +2 "manipulator"&4& +4 "core" & = + "manipulator"&$% +4 "core" %Д  +2 "processing"%& +4 "core" &'\ +2 "processing"%& +5 "core" &$\ +2 .tPC.seek :closed + "processing"%v(Y +5 "core" &/\ z +8 & ,3\ t#b +9 &U}3\ m8 +10 &~{3\ lM +9 &T3\ iP +10 &RT)\ wP +9 &V!\ zP +9 &U*\ xP +10 &X%\ wO +9 &[R\ tO +9 &U\ iP +10 &U"\ qO +9 &!W$\ oP +10 &#bU#\ kP +9 &%$T$\ uP +9 &&U!\ wP +10 &(W \ zP +9 &*kY!\ zO +9 &,-S#\ {O +10 &-U#\ xO +9 &/Z\ qP +10 &1sU\ vO +9 &33Z!\ sP +9 &4R"\ vO +10 &6U \ tO +9 &8zT \ rP +9 &:<U\ pP +10 &;W\ mP +9 &=U\ oO +10 &?S\ rP +9 &ADT%\ lP +9 &CT&\ jP +10 &DW!\ \\Q +9 &FZ\ nQ +9 &HH_"\ kQ +10 &Jh\ eR +9 &K!\ WV +10 &M{\ ^X +9 &O=\ \\X +9 &P\ fX +10 &R\ _W +9 &T\ jW +9 &VE\ `X +10 &X\ fL +9 &Y8M\ ^"i +9 &Y{2\ x5 +2 ( +2 "processing"%& +2 #tProcessing Clamp onSpring/offSpring for 10/26 samples, on/off torque 1.58 + .Hand.open +2 "manipulator"&q1 +66 "core" 1 +2 "manipulator"&% +3 "core" % Д k "  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&c'\ +104 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%D& +4 "core" &Y{+ \ 5 +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&j% +3 "core" %\ { +2 "storage"('% +4 "core" %H   \ +2 "storage"(o. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +3 .tSC.seek 2 + "storage"(#( +2 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (Q& +3 "core" &   \  +2 "manipulator"&& +4 ."raiseStack"SE.reconfigure :place +3 "storage"(#].K-0-\ b +2 "core" & / +49 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&!( +4 "storage"(5'j +3 "core" ( + "manipulator"&g& +4 "core" & % +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &X& +3 "core" & +2 .tForearm.seek PC +2 "manipulator"&L'Њ +89 "core" ' + .tHand.close +2 "manipulator"&|/ +75 "core" / +2 .tPC.seek :open +2 "processing"%l( +78 "core" ' +2 "storage"(%- +3 "core" -'j + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(=' +34 "core" ' +308 ( + "storage"(]& +4 "core" &   \  +2 "manipulator"&& +3 "core" & t +2 "manipulator"&0% +4 "core" % И y s ) ; +2 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&;( +270 "core" ( +2 "manipulator"&^& +3 "core" & +2 "storage"(~& +4 "core" &    \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&A'a +100 "core" ' + .tHand.open +2 "manipulator"&d1 +71 "core" 1 +2 "storage"( - +3 "core" -' +2 .tSE.seek -0.22 Pucks below Top Plate +2 "storage"( ' +25 "core" ' +3 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(&' +53 "core" ' + #tLights, camera, ACTION! +2 "storage"( - +3 "core" -' +2 "storage"(f& +3 "core" &  < J 1\ c +2 "manipulator"&s& +4 "core" & G + .tElbow.seek 2 +2 "manipulator"&H( +4 "core" ( + "manipulator"&(& +4 "core" & @ +2 "storage"(F& +3 "core" &  / ; 9\ c +2 .tForearm.seek 2 + 700 counts +2 "manipulator"& 'a +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +3 "storage"(G'V +69 "core" ' +2 "manipulator"&R& +4 "core" & s r  + "storage"(r& +27 "core" &  W U T\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&'Υ +35 "core" ' + .tElbow.hold +2 "manipulator"&u, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(@'@ +25 "core" ' +2 "manipulator"&-% +4 "core" %ΪS s +2 "storage"(& +3 "core" &  z { \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 2 + 305 counts +2 "manipulator"&z' +17 "core" ' +2 "manipulator"& & +4 "core" &   +2 "storage"(I& +3 "core" &  y y G\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&1'a +31 "core" ' +2 "storage"(% +4 "core" %G { '\ +2 ."downElevator"SE.seek :down +4 "storage"(U'I +99 (% +3 "core" %7 ; ) '\ V_ +2 "manipulator"&e% +4 "core" %M ? U +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&\ '\ +88 "core" ' +61 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 "collection"'w& +4 "core" &YbCE\\\ K +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&:% +4 "core" %\  J t +2 "storage"(% +3 "core" %Y \ +2 "storage"(. +3 "core" . + .tSC.reconfigure :tight +3 "storage"($\ .(\ 1~b +2 .tSC.seek 2 +2 "storage"(( +2 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (k& +2 "core" &  j\  +2 "manipulator"&& +4 "core" &   + .tElbow.seek 2 +2 "manipulator"&( +11 "core" ( +2 "manipulator"&n& +4 "core" & : + "storage"(p& +4 "core" &  2\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&9'a +110 "core" ' +2 "storage"(& +4 "core" &  9\  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(\\'j +284 "core" ' + "storage"(}- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &  + "storage"(y& +4 "core" &  t j $\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&'Υ +34 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(b- +2 "core" -' +2 .tSE.seek 0.03 Pucks below Top Plate +2 "storage"(/' +28 "core" ' +2 "manipulator"&?% +3 "core" %βS s +2 "storage"([& +4 "core" &  \ v + .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 2 + 313 counts +2 "manipulator"&M' +19 "core" ' +2 "manipulator"&2& +3 "core" & 4  +2 "storage"(t& +4 "core" &    \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&E'a +28 "core" ' +2 .tSE.seek 1.03 Pucks below Top Plate +2 "storage"(O' +40 "core" ' +2 "manipulator"&& +4 "core" &   +2 "manipulator"&<% +3 "core" %B . +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&a( +157 "core" ( +2 "manipulator"&V& +4 "core" &  / +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" & | / +2 .tForearm.seek CC +2 "manipulator"&Z'Ϥ +103 "core" ' + .tHand.close +2 "manipulator"&P/ +66 "core" / +2 .tCC.seek :open + "collection"'i( +436 "core" ( + "storage"(,& +4 "core" &  \  +2 "storage"(Y& +3 "core" &   \  +2 "manipulator"&T& +3 "core" & r q  , +2 "manipulator"&+% +4 "core" % Ϛ r q  + .tForearm.seek :retract +2 "manipulator"&x'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +40 "manipulator"&*( +165 "core" ( +2 "manipulator"&& +3 "core" &   +2 "storage"(C& +4 "core" &  W\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.seek 2 +2 "manipulator"&N'Υ +109 "core" ' + .tElbow.hold +2 "manipulator"&m, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&71 +75 "core" 1 +2 "manipulator"&W% +4 "core" % βw Y y +2 "storage"(& +3 "core" &  \ z +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 2 + 313 counts +2 "manipulator"&' +20 "core" ' +2 "manipulator"&S& +4 "core" &( l k + "storage"(.& +4 "core" &  / 0 f\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&K'a +26 "core" ' +2 "storage"(B% +4 "core" % U K .\ +2 ."downElevator"SE.seek :down +4 "storage"("'I +99 (`% +3 "core" %6   \ V_ + "manipulator"&h% +4 "core" %k V S +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&J'\ +95 "core" ' +48 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast + "storage"(6 +3 #tShuffling pucks in tube 3 of [1..7] + #Loading generic puck from tube 3 into Collection Clamp + "collection"'4& +4 "core" &>Bh\ +2 "manipulator"&$% +4 "core" %\   r +2 "storage"(% +4 "core" %Y V V B\ +2 "storage"(3. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +3 .tSC.seek 3 + "storage"((z +186 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (_& +2 "core" &z \  +2 "manipulator"&q& +4 "core" &(  k +2 .tElbow.seek 3 +2 "manipulator"&( +31 "core" ( +2 "manipulator"&D& +3 "core" & \\ S +2 "storage"(j& +4 "core" &z x 4\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&' +102 "core" ' +2 "storage"('& +4 "core" &z ~\  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(o'j +279 "core" ' +2 "storage"(Q- +3 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &z " &\  + "manipulator"&g& +4 "core" &\  I + .tElbow.seek 3 +2 "manipulator"&X( +3 "core" ( + "manipulator"&>& +4 "core" &\  I +2 "storage"()& +3 "core" &z   \  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&|'l +22 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&%/ +78 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +5 "storage"(c'I +4 "core" &\ v u . I +2 "manipulator"&v% +4 "core" % i s s " + .tForearm.seek :retract +2 "manipulator"&5'\ +104 "core" ' +2 .tElbow.seek CC +2 "manipulator"&]( +141 "core" ' + ."downElevator"SE.coast + "storage"(5 +15 "core" ( +2 "manipulator"&& +4 "core" & t q # / + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &0& +2 "core" & q q  / +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&L'Ϥ +99 "core" ' +3 "manipulator"&^& +4 "core" & p g w / +2 "manipulator"&~% +3 "core" %ϭ d b / +2 "collection"'!& +4 "core" &BCm\ +2 "collection"'d& +4 "core" &BBr\ +3 .tCC.seek :closed +2 "collection"' (Y +3 "core" &AEc\  +10 &/{BBh\ x+z +9 &cACf\ r? +10 &gsBEj\ oO +9 &*U@Ch\ |O +9 &VBB`\ yN +10 &TBCa\ zN +9 &pUACm\ wO +10 &2R@Cj\ wO +9 &S@Bk\ wN +9 &Q@Ei\ xN +10 & yP@Dj\ yN +9 &";UAAf\ vN +9 &#RCDi\ yN +10 &%TBBg\ vN +9 &'UBEi\ sO +10 &)BTBCb\ rO +9 &+QACk\ wN +9 &,O@Dg\ |N +10 &.TBDg\ zO +9 &0JSBC`\ xO +9 &2 TACh\ vO +10 &3UACk\ yO +9 &5RACe\ uO +9 &7SVAC_\ vN +10 &9RABn\ yN +9 &:UBDg\ zO +10 &<TADc\ wO +9 &>[RCEk\ sN +9 &@S@Cg\ vN +10 &AV>DZ\ oO +9 &CY?BQ\ rO +9 &EbWCC[\ tO +10 &G$WADY\ qO +9 &HbBEh\ qP +10 &JBC`\ jS +9 &LMBDZ\ [Y +9 &NBEa\ Z[ +10 &OBFb\ Z\\ +9 &QCDW\ X\\ +9 &SG@EN\ V] +10 &U\ AEW\ \\] +9 &VBFf\ V^ +10 &XCER\ _J +9 &Y4CDK\ e*~ +9 &YmCFR\ N +2 ( +2 "collection"'d& +2 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 2.43 + .Hand.open + "manipulator"& 1 +77 "core" 1 +2 "manipulator"&f% +4 "core" % Ϫ u x P +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&s'\ +97 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%(& +4 "core" &\ y +2 "manipulator"&% +4 "core" %\  s } b G + "storage"(F% +4 "core" %Z \ + "storage"(R. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 3 +2 "storage"(r(z +2 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (=& +2 "core" &z \  +2 "manipulator"&-& +4 "core" & p s / + "manipulator"& % +4 "core" %\  p o G +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&( +164 "core" ( +2 "manipulator"& & +4 "core" &   + "storage"(I& +4 "core" &z A\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&;' +101 "core" ' +2 "storage"(& +4 "core" &z W\  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(A'j +294 "core" ' +2 "storage"(&- +3 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &z a [ \  + "manipulator"&e& +4 "core" &   + .tElbow.seek 3 +2 "manipulator"& ( +25 "core" ( +2 "manipulator"&H& +4 "core" &\ Z H + "storage"(G& +4 "core" &z m\  +2 .tForearm.seek 3 + 300 counts + "manipulator"&'l +22 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&z/ +70 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&w& +2 "storage"(:'I +6 "core" &\ 7 F +2 "manipulator"&% +4 "core" % t u  + .tForearm.seek :retract +3 "manipulator"&'\ +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"&@( +156 "core" ' + ."downElevator"SE.coast + "storage"(5 +106 "core" ( +2 "manipulator"&k& +4 "core" & t  p +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" & w P p +48 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&n'Њ +97 "core" ' +2 "manipulator"&p& +4 "core" & d b  o +2 "manipulator"&1% +3 "core" %Ќ e d +2 "processing"%& +4 "core" &\ i +2 "processing"%U& +4 "core" &\ l +2 .tPC.seek :closed +2 "processing"%#(Y +4 "core" &\ u\ +9 &-u%\ Y+{ +10 &b&\ a? +9 &[s\ dP +9 &S\ mP +10 &U!\ gP +9 &T\ fP +10 &cS"\ iP +9 &%T!\ gP +9 &S \ lO +10 &U\ hP +9 & iW\ iP +9 &"+V\ cP +10 &#T \ eP +9 &%U \ dQ +10 &'rS \ fP +9 &)4U\ dP +9 &*U\ fP +10 &,R \ bP +9 &.zV!\ cP +9 &0:U\ _Q +10 &1R\ gP +9 &3U\ ^P +10 &5V \ cP +9 &7CU\ cP +9 &9W\ \ bQ +10 &:U \ aP +9 &<U \ bQ +9 &>KV\ \ gP +10 &@R\ cP +9 &AS\ fP +10 &CU\ cP +9 &ERY\ gQ +9 &G\\\ fQ +10 &H`\ _Q +9 &Jf\ bR +9 &LL\ ZV +10 &N\ ]X +9 &O\ \ cX +10 &Q \ dW +9 &SP\ fW +9 &U\ aW +10 &V\ \ cW +9 &X\ f7 +9 &Y^-p\ h\\ +10 &Y9\ p8 +2 ( + "processing"%U& +3 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.58 + .Hand.open + "manipulator"&u1 +69 "core" 1 +2 "manipulator"&\ % +4 "core" % Ђ q % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&}'\ +97 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%& +4 "core" &Y4\ s8 +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 + "manipulator"&y% +4 "core" %\  E  + "storage"(b% +4 "core" %N \ + "storage"(?. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 3 +2 "storage"([(z +2 "core" ( + .tSC.reconfigure :loose +3 "storage"($.(\ 1~b +3 (2& +3 "core" &z n N R\  +2 "manipulator"&t& +4 ."raiseStack"SE.reconfigure :place +3 "storage"(#].K-0-\ b +2 "core" & . o +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"('j +2 "manipulator"&<( +5 "core" ( + "manipulator"&9& +4 "core" & z o + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" & U o + .tForearm.seek PC +2 "manipulator"&\\'Њ +92 "core" ' + .tHand.close +2 "manipulator"&/ +75 "core" / +3 .tPC.seek :open +2 "processing"%M( +75 "core" ' +2 "storage"(/- +3 "core" -'j + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(V' +38 "core" ' +306 ( + "storage"(& +4 "core" &z {\  +2 "manipulator"&E& +3 "core" & } r o +2 "manipulator"&% +3 "core" % } 9 +2 .tForearm.seek :retract +2 "manipulator"&P'\ +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&( +267 "core" ( +2 "manipulator"&{& +4 "core" &   + "storage"(,& +4 "core" &z ! # -\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&Y' +96 "core" ' + .tHand.open +2 "manipulator"&T1 +71 "core" 1 +2 "storage"(+- +3 "core" -' +2 .tSE.seek -0.22 Pucks below Top Plate +2 "storage"(Z' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(' +44 "core" ' + #tLights, camera, ACTION! +2 "storage"(C- +3 "core" -' +2 "storage"(a& +3 "core" &z /\ u +2 "manipulator"&7& +3 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&W( +3 "core" ( +2 "manipulator"&& +3 "core" & !  +2 "storage"(S& +3 "core" &z \ | +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&.' +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(B'V +67 "core" ' +2 "manipulator"&x& +4 "core" & r n  + "storage"(`& +4 "core" &z   Z\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&h'@ +38 "core" ' + .tElbow.hold +2 "manipulator"&*, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(N'@ +29 "core" ' +2 "manipulator"&4% +4 "core" %>I  q + "storage"(& +4 "core" &z /\ } + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 298 counts +2 "manipulator"&$'j +20 "core" ' +2 "manipulator"&& +4 "core" &&   +2 "storage"(3& +3 "core" &z ' 3\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&O' +23 "core" ' +2 "storage"(K% +4 "core" %G 4 =\ +2 ."downElevator"SE.seek :down +4 "storage"(_'I +99 (q% +3 "core" %7   w\ Va + "manipulator"&D% +4 "core" % E [ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&j'\ +92 "core" ' +58 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 "collection"'"& +3 "core" &YqBDI\ N +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&% +4 "core" %\  ; X + "storage"('% +4 "core" %V U W z\ +2 "storage"(m. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 3 +2 "storage"(J(z +4 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (Q& +2 "core" &z W S A\  +2 "manipulator"&& +4 "core" &&   + .tElbow.seek 3 +2 "manipulator"&g( +13 "core" ( +2 "manipulator"&>& +4 "core" &  \ + "storage"()& +4 "core" &z V U +\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&%' +98 "core" ' +2 "storage"(& +4 "core" &z 2 6\  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(v'j +284 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & s o  \ + "storage"(& +4 "core" &z  \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&0'@ +35 "core" ' + .tElbow.hold +2 "manipulator"&o, +3 "core" , +2 .tElbow.reconfigure :tight +47 "manipulator"&$&.,(\ #b +5 "storage"(|- +2 "core" -' +2 .tSE.seek 0.03 Pucks below Top Plate +2 "storage"(^' +27 "core" ' +2 "manipulator"&~% +4 "core" %?Q s + "storage"(!& +4 "core" &z \ w + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 299 counts +2 "manipulator"&X'k +15 "core" ' +2 "manipulator"&c& +4 "core" &'   + "storage"(5& +4 "core" &z # # {\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +3 "manipulator"&i' +16 "core" ' +2 .tSE.seek 1.03 Pucks below Top Plate +2 "storage"( ' +49 "core" ' +2 "manipulator"&f& +4 "core" &'   +2 "manipulator"&(% +3 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&d'\ +102 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +148 "core" ( +2 "manipulator"&F& +4 "core" & k ( +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &R& +3 "core" &  ( +2 .tForearm.seek CC + "manipulator"&='Ϥ +98 "core" ' + .tHand.close +2 "manipulator"&-/ +72 "core" / +2 .tCC.seek :open + "collection"' ( +433 "core" ( +2 "storage"(L& +3 "core" &z #\  +2 "storage"( & +3 "core" &z \  +2 "manipulator"&I& +4 "core" & [ m A ( + "manipulator"&% +4 "core" % ϕ a [ 2 +2 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&]( +149 "core" ( +2 "manipulator"&s& +3 "core" &   +2 "storage"(&& +4 "core" &z \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.seek 3 +2 "manipulator"&'@ +112 "core" ' + .tElbow.hold +2 "manipulator"&e, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&H1 +66 "core" 1 +2 "manipulator"&G% +4 "core" % JU 4 s +2 "storage"(z& +3 "core" &z \  +3 .tForearm.force -20 "manipulator"&5 +3 .tForearm.seek 3 + 310 counts +2 "manipulator"&w'v +18 "core" ' +2 "manipulator"&& +4 "core" &  + "storage"(& +4 "core" &z \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&;' +23 "core" ' +2 "storage"(A% +4 "core" % n\ +2 ."downElevator"SE.seek :down +3 "storage"('I +100 (k% +3 "core" %f4 f W F\ V^ + "manipulator"&% +4 "core" % \ p +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& '\ +94 "core" ' +48 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast "storage"(6 +3 #tShuffling pucks in tube 4 of [1..7] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'p& +4 "core" &@A|\ +2 "manipulator"&1% +4 "core" %\ ?  + "storage"(% +4 "core" %Y \ +2 "storage"(:. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 4 +2 "storage"((, +187 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (l& +2 "core" &, \  +2 "manipulator"&u& +3 "core" & +2 .tElbow.seek 4 +2 "manipulator"&\ ( +18 "core" ( +2 "manipulator"&& +4 "core" &   + "storage"(y& +4 "core" &, )\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&b' +103 "core" ' +2 "storage"(U& +3 "core" &, k\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(?'j +278 "core" ' +2 "storage"(2- +3 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (t& +3 "core" &, q z A\  + "manipulator"&9& +4 "core" &  + .tElbow.seek 4 +2 "manipulator"&( +3 "core" ( + "manipulator"&n& +4 "core" &   + "storage"(& +4 "core" &, o y ^\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&r'@ +24 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&// +68 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&@& +2 "storage"(}'I +6 "core" & s   +2 "manipulator"&#% +4 "core" % : v F  +2 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +149 "core" ' + ."downElevator"SE.coast + "storage"(5 +10 "core" ( +2 "manipulator"&E& +3 "core" & 2 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" & d 2 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&\\'Ϥ +91 "core" ' +2 "manipulator"&{& +4 "core" & o g : 2 + "manipulator"&,% +4 "core" %ϧ c c  ( +2 "collection"'<& +3 "core" &?Co\ +2 "collection"'T& +5 "core" &?Cm\ +2 .tCC.seek :closed +2 "collection"'+(Y +5 "core" &@Ba\ +9 &6AEd\ $d +9 &V~?Dh\ 7 +9 &}?D_\ L +10 &T@Ci\ N +9 &]Y@Cd\ N +10 & T?De\ M +9 &UBCi\ M +9 &TACg\ M +10 &fVACk\ M +9 &(R@Dp\ M +9 &T?Bh\ M +10 &!XADg\ M +9 &#lY>Ck\ N +10 &%0T@Dk\ M +9 &&VAFk\ N +9 &(V?Dh\ N +10 &*vS?Dh\ M +9 &,9T@E\\\ M +9 &-YABh\ M +10 &/S?Bk\ M +9 &1~V@Dh\ M +10 &3?Y@C_\ N +9 &5Z@Cb\ N +9 &6WACe\ M +10 &8U?Bk\ M +9 &:HWBDh\ M +9 &< W@C[\ N +10 &=YADh\ N +9 &?WADX\ N +10 &AOSAD`\ N +9 &CW?Cj\ N +9 &DZACa\ N +10 &F_@EX\ O +9 &HQhACZ\ P +9 &J {AEQ\ R +10 &KADJ\ |W +9 &MwBEX\ m[ +10 &O9CDY\ k[ +9 &P@GL\ c\\ +9 &RCFF\ f\\ +10 &TwDDI\ c] +9 &V9AE[\ d] +9 &WCEN\ c] +10 &YSHCEG\ x2 +9 &YrCEF\ M +5 ( +2 "collection"'T& +3 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 2.35 + .Hand.open +2 "manipulator"&C1 +3 "core" &YbCFL\ M +72 1 + "manipulator"&a% +4 "core" % ϧ 0 ( +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&7'\ +98 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%& +3 "core" &&\ +2 "manipulator"&S% +4 "core" %\ | ;  + "storage"(P% +4 "core" %Y > > T\ + "storage"(x. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 4 +2 "storage"(`(, +50 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +2 (V& +3 "core" &, = > P\  +2 "manipulator"&4& +3 "core" & } ~ 1 +2 "manipulator"&% +3 "core" %\   +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&Z( +160 "core" ( +2 "manipulator"&& +4 "core" &  m + "storage"(3& +4 "core" &, W V L\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&K' +94 "core" ' +2 "storage"(& +4 "core" &, \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(Y'j +283 "core" ' +2 "storage"(- +3 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (q& +3 "core" &, T S \  + "manipulator"&D& +4 "core" & & m +2 .tElbow.seek 4 +2 "manipulator"&.( +2 "core" ( +2 "manipulator"&W& +3 "core" & Z m +2 "storage"(B& +4 "core" &, } y W\  +2 .tForearm.seek 4 + 300 counts + "manipulator"&h'@ +21 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&$/ +77 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&"& +5 "storage"('I +4 "core" &  m +2 "manipulator"&'% +4 "core" % F  4 +2 .tForearm.seek :retract + "manipulator"&m'\ +96 "core" ' +3 .tElbow.seek PC +2 "manipulator"&N( +158 "core" ' + ."downElevator"SE.coast + "storage"(5 +90 "core" ( +2 "manipulator"&Q& +3 "core" & x q +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" & s r " +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&>'Њ +88 "core" ' +2 "manipulator"&)& +4 "core" & Y + "manipulator"&O% +4 "core" %В w : +2 "processing"%& +3 "core" &*\ +2 "processing"%_& +5 "core" &"\ +2 .tPC.seek :closed + "processing"%[(Y +4 "core" &.\ \ +10 &-v9\ +z +9 &b.\ x? +10 &cv(\ yP +9 &'T'\ O +9 &W\ O +10 &X\ O +9 &lU"\ O +9 &.T!\ O +10 &Y%\ O +9 &Y$\ O +10 & sZ$\ P +9 &"5X"\ P +9 &#W\ P +10 &%T$\ O +9 &'|Y%\ O +9 &)>Y#\ O +10 &+Y\ O +9 &,W\ O +10 &.Y \ P +9 &0EX\ P +9 &2U\ O +10 &3T\ O +9 &5T\ P +9 &7MY#\ P +10 &9U\ O +9 &:U\ O +10 &<U\ O +9 &>VU\ O +9 &@U\ O +10 &AT\ O +9 &CW\ O +9 &E^Y\ O +10 &G^\ P +9 &Ha \ P +10 &Jg\ ~Q +9 &LX \ wT +9 &N\ pW +10 &O\ qX +9 &Q\ rV +9 &SX\ rW +10 &U\ rV +9 &V\ qV +10 &X\ r5 +9 &Yd,g\ xW +9 &Y:\ 9 +2 ( +2 "processing"%_& +2 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.55 + .Hand.open + "manipulator"&*1 +67 "core" 1 +2 "manipulator"&j% +3 "core" % В i : +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +104 "core" ' +2 .tSC.coast + "storage"(6 +3 "processing"%& +4 "core" &Y6\ 9 + #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&% +3 "core" %\ x ]  +2 "storage"(|% +4 "core" %N \ + "storage"(~. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 4 +2 "storage"(!(, +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +4 (c& + "manipulator"&5& +5 "core" &, \  +2 &  # +4 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 "storage"(#].K-0-\ b +2 "manipulator"&f( +5 ."raiseStack"SE.seek :beamBreak +2 "storage"(('j +2 "core" ( +2 "manipulator"&%& +3 "core" & ~ r +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &g& +3 "core" & { N +2 .tForearm.seek PC +2 "manipulator"&v'Њ +88 "core" ' + .tHand.close +2 "manipulator"&0/ +71 "core" / +2 .tPC.seek :open +2 "processing"%X( +86 "core" ' +2 "storage"(^- +3 "core" -'j + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(F' +40 "core" ' +294 ( + "storage"(R& +4 "core" &, J U \\\  +2 "manipulator"&i& +3 "core" & p p +2 "manipulator"&o% +4 "core" % Л r q ) G + .tForearm.seek :retract +2 "manipulator"&-'\ +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&d( +273 "core" ( +2 "manipulator"& & +3 "core" & B  +2 "storage"(L& +4 "core" &, V V i\  + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"& ' +98 "core" ' + .tHand.open +2 "manipulator"&I1 +74 "core" 1 +2 "storage"(- +3 "core" -' +2 .tSE.seek -0.22 Pucks below Top Plate +2 "storage"(s' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(&' +51 "core" ' + #tLights, camera, ACTION! +2 "storage"(=- +3 "core" -' +2 "storage"(& +3 "core" &, \ z +2 "manipulator"&H& +3 "core" & X  +2 .tElbow.seek 4 +2 "manipulator"&G( +5 "core" ( +2 "manipulator"&z& +3 "core" &   +2 "storage"(& +4 "core" &, _\ z +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(A'V +67 "core" ' +2 "manipulator"&& +4 "core" &   + "storage"(k& +4 "core" &, ? ? k\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&' +38 "core" ' + .tElbow.hold +2 "manipulator"&], +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"('@ +26 "core" ' +2 "manipulator"&p% +4 "core" %2 mb + "storage"(w& +4 "core" &,  \ m + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 305 counts +2 "manipulator"&1'E +12 "core" ' +2 "manipulator"&& +4 "core" &  +2 "storage"(:& +3 "core" &, > > F\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"& ' +27 "core" ' +2 "storage"(;% +52 "core" %C   +\ +2 ."downElevator"SE.seek :down +4 "storage"(l'I +99 (u% +3 "core" %7  C\ V` + "manipulator"&% +4 "core" %  J +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&y'\ +89 "core" ' +59 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast "storage"(6 +3 "collection"'& +4 "core" &YbBFP\ M +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&J% +4 "core" %\  U p +2 "storage"(U% +3 "core" %F U W \ +2 "storage"(e. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 4 + "storage"( (, +3 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +2 (2& +3 "core" &, S V #\  +2 "manipulator"&t& +3 "core" & "  +2 .tElbow.seek 4 +2 "manipulator"&9( +9 "core" ( +2 "manipulator"&n& +4 "core" & _  +2 "storage"(& +3 "core" &, T S H\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&/' +96 "core" ' +2 "storage"(@& +4 "core" &, h x }\  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(#'j +275 "core" ' + "storage"(\ - +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&b& +3 "core" & &  +2 "storage"(E& +3 "core" &,  K\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&' +35 "core" ' + .tElbow.hold +2 "manipulator"&?, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(r- +3 "core" -' +2 .tSE.seek 0.02 Pucks below Top Plate +2 "storage"({' +27 "core" ' +2 "manipulator"&,% +3 "core" %D ] p +2 "storage"(<& +3 "core" &, \ t +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 306 counts +2 "manipulator"&'F +14 "core" ' +2 "manipulator"&}& +4 "core" & . S +2 "storage"(& +3 "core" &, # # '\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"& ' +20 "core" ' +2 .tSE.seek 1.02 Pucks below Top Plate +2 "storage"(C' +51 "core" ' +2 "manipulator"&a& +4 "core" &  S +2 "manipulator"&% +3 "core" %  | +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&T'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&S( +158 "core" ( +2 "manipulator"&P& +4 "core" & J 1 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &x& +3 "core" & ~ $ 1 + .tForearm.seek CC +2 "manipulator"&V'Ϥ +95 "core" ' + .tHand.close +2 "manipulator"&4/ +67 "core" / +2 .tCC.seek :open + "collection"'( +433 "core" ( + "storage"(\\& +4 "core" &, U 9 \  +2 "storage"(& +3 "core" &, = ; W\  +2 "manipulator"&3& +3 "core" & } / 0 +2 "manipulator"&% +4 "core" % ϕ | r <  +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&( +158 "core" ( +2 "manipulator"&7& +3 "core" & Q  +2 "storage"(& +4 "core" &, \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.seek 4 +2 "manipulator"&q' +109 "core" ' + .tElbow.hold +2 "manipulator"&D, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&W1 +77 "core" 1 +3 "manipulator"&B% +4 "core" % #V g t +3 "storage"($& +7 "core" &, \  +3 .tForearm.force -20 + "manipulator"&5 +5 .tForearm.seek 4 + 315 counts +3 "manipulator"&"'O +19 "core" ' +2 "manipulator"&'& +3 "core" & < k +2 "storage"(Z& +4 "core" &, z z A\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&K' +36 "core" ' +2 "storage"(Y% +4 "core" % y\ +2 ."downElevator"SE.seek :down +3 "storage"(h'I +100 (Q% +2 "core" %62 '\ V_ +2 "manipulator"&% +4 "core" % ? M +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&.'\ +94 "core" ' +45 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 #tShuffling pucks in tube 5 of [1..7] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"')& +4 "core" &@Cz\ +2 "manipulator"&O% +3 "core" %\   Z +2 "storage"(% +3 "core" %F   \ +2 "storage"(. +3 "core" . + .tSC.reconfigure :tight +3 "storage"($\ .(\ 1~b +2 .tSC.seek 5 + "storage"(m(; +188 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (M& +2 "core" &;! x v\  +2 "manipulator"&*& +4 "core" & ? k + .tElbow.seek 5 +2 "manipulator"&j( +12 "core" ( +2 "manipulator"&& +3 "core" & Q x +2 "storage"(& +4 "core" &; N\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&_', +96 "core" ' +2 "storage"(|& +3 "core" &; -\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(~'j +284 "core" ' + "storage"(c- +3 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (5& +2 "core" &; \  +2 "manipulator"&%& +3 "core" &  x +2 .tElbow.seek 5 +2 "manipulator"&g( +3 "core" ( + "manipulator"&>& +4 "core" &  x + "storage"(0& +4 "core" &; \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&`'Ϝ +21 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&^/ +69 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&N& +2 "storage"('I +6 "core" & \\ x +2 "manipulator"&[% +3 "core" % Ϧ u u ) +2 .tForearm.seek :retract +2 "manipulator"&('\ +104 "core" ' +46 .tElbow.seek CC +4 "manipulator"&R( +92 "core" ' + ."downElevator"SE.coast + "storage"(5 +67 "core" ( +2 "manipulator"&i& +4 "core" & m g [ . + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &o& +2 "core" & m q . +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&v'Ϥ +106 "core" ' +2 "manipulator"& & +4 "core" & m p < . +2 "manipulator"&L% +3 "core" %ϯ d o u  +2 "collection"'f& +4 "core" &?Dz\ } +2 "collection"'I& +5 "core" &@Dv\ +2 .tCC.seek :closed +2 "collection"'(Y +3 "core" &ADj\  +10 &0{>Ci\ g+{ +9 &d@Cn\ q? +10 &qq?Fe\ yO +9 &5RAD]\ N +10 &U?Bf\ N +9 &UACj\ M +9 &|UAAh\ N +10 &?QABk\ M +9 &T?Ck\ N +9 &W@Aj\ N +10 & Q@Di\ N +9 &"FT?Ci\ N +10 &$TBCn\ |N +9 &%U?Ci\ tO +9 &'U@Cl\ sN +10 &)LU@Ch\ uN +9 &+TACg\ N +9 &,S?Dk\ N +10 &.TADm\ N +9 &0TU?Cl\ sN +10 &2U@Di\ uO +9 &3UADl\ N +9 &5U?Bj\ N +10 &7[U@Bk\ ~O +9 &9U@Dg\ ~N +9 &:Q@Cl\ yN +10 &<WAFi\ {N +9 &>dV@Cj\ yN +10 &@&WBCh\ {N +9 &AT@B\\\ N +9 &CZBD`\ xO +10 &EkWBDe\ qO +9 &G,ZBEZ\ pO +9 &HeBCZ\ mP +10 &JBCW\ oT +9 &LWBEW\ cX +10 &NBEZ\ ]\\ +9 &OAF\\\ f[ +9 &QACP\ b] +10 &SPADZ\ _] +9 &UADS\ ]] +9 &VADU\ Y^ +10 &XCDO\ bJ +9 &Y/BDO\ l(w +9 &YgAFP\ P +2 ( +2 "collection"'I& +2 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 2.41 +2 .Hand.open + "manipulator"&=1 +70 "core" 1 +2 "manipulator"&% +4 "core" % Ϯ   +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&H'\ +103 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%z& +4 "core" &\ +2 "manipulator"&-% +4 "core" %\  s   + "storage"(% +4 "core" %B   Q\ +2 "storage"(. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 5 +2 "storage"(k(; +2 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (F& +3 "core" &;   \  + "manipulator"&p& +4 "core" &  s . +2 "manipulator"&w% +3 "core" %\  u z  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&s( +149 "core" ( +2 "manipulator"&& +4 "core" &  + "storage"(:& +5 "core" &;  [\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&;', +97 "core" ' +2 "storage"(d& +4 "core" &;  i\  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"( 'j +278 "core" ' + "storage"(&- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &; '\  + "manipulator"&u& +4 "core" &  +2 .tElbow.seek 5 + "manipulator"&( +3 "core" ( +2 "manipulator"&G& +3 "core" &  +2 "storage"(A& +3 "core" &; \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&'Ϝ +27 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&1/ +76 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(J'I +6 "core" & 8 +2 "manipulator"&U% +4 "core" % |  9 + .tForearm.seek :retract +2 "manipulator"&e'\ +98 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +154 "core" ' + ."downElevator"SE.coast + "storage"(5 +104 "core" ( +2 "manipulator"&2& +3 "core" & _ d +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &t& +2 "core" & z d +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&n'Њ +108 "core" ' +2 "manipulator"&& +4 "core" & | ~ T d + "manipulator"& % +4 "core" %К p r / +2 "processing"%@& +3 "core" &\ +3 "processing"%l& +4 "core" &\ +2 .tPC.seek :closed +2 "processing"%!(Y +5 "core" &\ \ +9 &.v'\ q+z +9 &a$\ a? +10 &as$\ ^P +9 &$T"\ vO +9 &W"\ sP +10 &V%\ qP +9 &iQ$\ rP +10 &,T'\ lO +9 &V%\ iP +9 &T"\ iP +10 & qW!\ rP +9 &"3R \ pP +9 &#U \ nP +10 &%S!\ mP +9 &'yT$\ jP +10 &);T%\ iP +9 &*S#\ hO +9 &,S \ iP +10 &.Q\ kP +9 &0AU \ hP +9 &2U#\ hP +10 &3U\ nP +9 &5U#\ yO +10 &7LU\ sO +9 &9 U\ nP +9 &:U\ sP +10 &<T\ qO +9 &>SU\ nP +9 &@V\ mP +10 &AW\ mP +9 &CY\ lP +10 &EXX\ iQ +9 &G]\ tP +9 &H`\ mQ +10 &Jj\ oR +9 &LQ\ `V +9 &N \ cX +10 &O\ bX +9 &Q\ dW +10 &SU\ aW +9 &U\ fW +9 &V\ kW +10 &X}\ l6 +9 &Yc/h\ nQ +9 &Y|3\ |8 +2 ( +2 "processing"%l& +2 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.59 + .Hand.open + "manipulator"&]1 +73 "core" 1 +2 "manipulator"&y% +3 "core" % К y O +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&\ '\ +95 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%b& +4 "core" &Y|3\ y8 + #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&E% +3 "core" %\   z +2 "storage"(r% +3 "core" %B  J\ +2 "storage"(,. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 5 +2 "storage"(<(; +2 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +2 (}& +3 "core" &;  D\  +2 "manipulator"&& +2 ."raiseStack"SE.reconfigure :place +6 "storage"(#].K-0-\ b +3 "core" &  d +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +4 "manipulator"&a( +3 "storage"('j +2 "core" ( +2 "manipulator"&/& +3 "core" & * d +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &9& +3 "core" &  d + .tForearm.seek PC +2 "manipulator"&#'Њ +96 "core" ' + .tHand.close +2 "manipulator"&/ +75 "core" / +2 .tPC.seek :open +2 "processing"%( +72 "core" ' +2 "storage"({- +3 "core" -'j + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(P' +33 "core" ' +315 ( + "storage"(x& +4 "core" &; \  +2 "manipulator"& & +3 "core" & |  d +2 "manipulator"&?% +3 "core" % Л z D +2 .tForearm.seek :retract +2 "manipulator"&4'\ +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&T( +273 "core" ( +2 "manipulator"&+& +3 "core" &   +2 "storage"(\\& +4 "core" &;\  + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&', +95 "core" ' + .tHand.open +48 "manipulator"&31 +69 "core" 1 +3 "storage"(- +3 "core" -' +2 .tSE.seek -0.22 Pucks below Top Plate +2 "storage"(7' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(' +53 "core" ' + #tLights, camera, ACTION! +2 "storage"(V- +3 "core" -' +2 "storage"(S& +3 "core" &; @ L }\ g +2 "manipulator"&W& +3 "core" & x  +2 .tElbow.seek 5 +2 "manipulator"&B( +3 "core" ( +2 "manipulator"&$& +3 "core" & >  +2 "storage"('& +3 "core" &; k ] N\ l +2 .tForearm.seek 5 + 700 counts +3 "manipulator"&Z', +12 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"('V +61 "core" ' +2 "manipulator"&Y& +4 "core" & !  + "storage"(& +4 "core" &; ; @ \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&Q'p +40 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(q'@ +26 "core" ' +2 "manipulator"&"% +4 "core" %xD  + p +2 "storage"()& +3 "core" &;  \ q + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 308 counts +2 "manipulator"&O'Ϥ +23 "core" ' +2 "manipulator"&& +4 "core" & C  +2 "storage"(& +3 "core" &;   \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&C', +23 "core" ' +2 "storage"(K% +4 "core" %F & #\ +2 ."downElevator"SE.seek :down +4 "storage"(M'I +99 (*% +4 "core" %8\ Wa +2 "manipulator"&% +3 "core" %+ # m +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' +60 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 "collection"'h& +4 "core" &YfBER\ P +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"& % +4 "core" %\  R q +2 "storage"(|% +3 "core" %K T U _\ +2 "storage"(D. +3 "core" . + .tSC.reconfigure :tight +3 "storage"($\ .(\ 1~b +2 .tSC.seek 5 + "storage"(.(; +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (c& +3 "core" &; 7 E \  +2 "manipulator"&5& +3 "core" &   +2 .tElbow.seek 5 +2 "manipulator"&%( +11 "core" ( +2 "manipulator"&>& +4 "core" & I  + "storage"(0& +4 "core" &; > > X\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&^', +98 "core" ' +2 "storage"(N& +4 "core" &; : < \  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(['j +283 "core" ' +2 "storage"(j- +3 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&_& +3 "core" & (  + "storage"(~& +4 "core" &;   F\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&`'p +36 "core" ' + .tElbow.hold +2 "manipulator"&i, +3 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(o- +3 "core" -' +2 .tSE.seek 0.03 Pucks below Top Plate +2 "storage"( ' +31 "core" ' +2 "manipulator"&L% +3 "core" %}S = s +2 "storage"(g& +4 "core" &; }\ n + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 313 counts + "manipulator"&f'ϩ +18 "core" ' +2 "manipulator"&& +4 "core" & f q + "storage"((& +4 "core" &;  q\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&', +26 "core" ' +2 .tSE.seek 1.03 Pucks below Top Plate +2 "storage"(=' +41 "core" ' +2 "manipulator"&& +4 "core" & Y q +2 "manipulator"&z% +3 "core" %d " +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&I'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&-( +165 "core" ( +2 "manipulator"&& +4 "core" & v  0 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" & 4 0 + .tForearm.seek CC +2 "manipulator"&F'Ϥ +92 "core" ' + .tHand.close +2 "manipulator"&p/ +72 "core" / +2 .tCC.seek :open + "collection"'w( +433 "core" ( + "storage"(v& +4 "core" &; > , \  +2 "storage"(& +3 "core" &; $ f\  +2 "manipulator"&:& +3 "core" & |  / +2 "manipulator"&m% +3 "core" % Ϣ } s . 5 +2 .tForearm.seek :retract +2 "manipulator"&d'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&R( +150 "core" ( +2 "manipulator"&H& +3 "core" & 7 +2 "storage"(&& +4 "core" &; { w .\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(#b +2 .tForearm.seek 5 +2 "manipulator"&'p +110 "core" ' + .tElbow.hold +2 "manipulator"&u, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&G1 +68 "core" 1 +2 "manipulator"&A% +4 "core" % }n q x +2 "storage"(1& +3 "core" &; \ | +2 .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 313 counts +2 "manipulator"&'ϩ +12 "core" ' +2 "manipulator"&U& +3 "core" & )  +2 "storage"(s& +4 "core" &; U U v\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&;', +20 "core" ' +2 "storage"( % +4 "core" % t f $\ +2 ."downElevator"SE.seek :down +3 "storage"('I +100 (2% +3 "core" %^1  B\ U^ + "manipulator"&t% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +48 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 #tShuffling pucks in tube 6 of [1..7] +48 #Loading generic puck from tube 6 into Collection Clamp +2 "collection"'& +4 "core" &ACk\ +2 "manipulator"& % +4 "core" %\   + "storage"(@% +4 "core" %Z 3 > B\ +2 "storage"(J. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +3 .tSC.seek 6 + "storage"(e(K +194 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (X& +3 "core" &K! ~ \ \  + "manipulator"&]& +4 "core" & J  +2 .tElbow.seek 6 + "manipulator"&y( +19 "core" ( +2 "manipulator"&b& +4 "core" & O  + "storage"(E& +4 "core" &K" z \ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&r' +104 "core" ' +2 "storage"(l& +4 "core" &K" 5\ \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(,'j +281 "core" ' +2 "storage"(}- +3 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &K l J ,\ \  + "manipulator"&/& +4 "core" &   +2 .tElbow.seek 6 +2 "manipulator"&9( +3 "core" ( + "manipulator"&n& +4 "core" &   + "storage"(& +4 "core" &K | J\ \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&k'V +23 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&{/ +70 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +5 "storage"(\ 'I +4 "core" & q  +2 "manipulator"&!% +4 "core" % U   +2 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&x( +146 "core" ' + ."downElevator"SE.coast + "storage"(5 +9 "core" ( +2 "manipulator"& & +4 "core" & { w U , + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &?& +2 "core" & y 7 , +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&#'Ϥ +97 "core" ' +2 "manipulator"&+& +4 "core" & b _  , +2 "manipulator"&\\% +3 "core" %ϧ V X +2 "collection"'a& +4 "core" &=Cs\ +2 "collection"'3& +4 "core" &ADg\ +3 .tCC.seek :closed +2 "collection"'(Y +4 "core" &@Bk\ +7 &?Bs\ 6 +9 &9H~ACr\ {1 +10 &crACi\ uE +9 &_@C_\ {O +9 &RAB]\ ~N +10 &VADj\ ~N +9 &MS@Dj\ ~N +9 &V?Dn\ N +10 &R?Af\ N +9 &RAEi\ }N +9 &URADb\ |N +10 &!RBCk\ }N +9 &"V?Bl\ {N +10 &$T@Bi\ }N +9 &&]RCDh\ ~N +9 &(T@Bj\ N +10 &)RBEl\ ~N +9 &+O@Ej\ N +9 &-fR@Bi\ N +10 &/(S@Dl\ ~N +9 &0T?El\ N +10 &2T@Dk\ N +9 &4mRBDj\ N +9 &6.TBEj\ O +10 &7UADk\ ~N +9 &9VBEc\ N +9 &;uT@Ck\ N +10 &=6U@Dj\ O +9 &>T@Ck\ {O +10 &@TBDk\ ~N +9 &B}RCDl\ }N +9 &D=YAEh\ yO +10 &FUCDi\ {O +9 &GZBCc\ {O +10 &I}jBEf\ sQ +9 &K3ADc\ iU +9 &LCDd\ ]Z +10 &NBEk\ ]\\ +9 &PeBH]\ [\\ +9 &R%BD_\ [] +10 &SBE]\ [^ +9 &UCGY\ ]] +9 &WgBCW\ [^ +10 &Y{@DT\ h1 +9 &Y"CFb\ eX +10 ( + &YhAE^\ {Q +2 "collection"'3& +2 #tCollection Clamp onSpring/offSpring for 8/30 samples, on/off torque 2.37 +2 .Hand.open + "manipulator"&41 +67 "core" 1 +2 "manipulator"&V% +4 "core" % Ϧ ! +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&S'\ +95 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%W& +4 "core" &%\ ~ +2 "manipulator"&$% +4 "core" %\ \ | y >  + "storage"('% +4 "core" %P C\ +2 "storage"(Y. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +3 .tSC.seek 6 + "storage"((K +2 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +2 (P& +3 "core" &K \  +2 "manipulator"&"& +3 "core" & u z H , +2 "manipulator"&)% +3 "core" %\ \ ~ z  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&7( +157 "core" ( +2 "manipulator"&& +4 "core" & 1 } + "storage"(& +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&K' +98 "core" ' +2 "storage"(T& +4 "core" &K\  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('j +285 "core" ' +2 "storage"(- +3 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (*& +3 "core" &K \  + "manipulator"&& +4 "core" & } +2 .tElbow.seek 6 + "manipulator"&Z( +4 "core" ( +2 "manipulator"&B& +3 "core" & 3 } +2 "storage"(& +3 "core" &K g Z \  +3 .tForearm.seek 6 + 300 counts + "manipulator"&Q'V +21 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&O/ +74 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&h& +6 "storage"( 'I +4 "core" & c } +2 "manipulator"&|% +3 "core" % Z  / +2 .tForearm.seek :retract +2 "manipulator"&D'\ +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&q( +164 "core" ' + ."downElevator"SE.coast + "storage"(5 +92 "core" ( +3 "manipulator"&c& +4 "core" & o q " _ + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &5& +2 "core" & t m _ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&>'Њ +99 "core" ' +2 "manipulator"&0& +4 "core" & c d _ + "manipulator"&C% +4 "core" %Г V U $ +2 "processing"%N& +3 "core" &\ d +3 "processing"%M& +4 "core" &\ i +2 .tPC.seek :closed +2 "processing"%<(Y +4 "core" &$\ e +10 &-x&\ S+| +10 &b%\ Q@ +9 &Zu#\ `Q +9 &O&\ qO +10 &U"\ lP +9 &T!\ kP +10 &dW%\ mP +9 &&W%\ oP +9 &U!\ hP +10 &T#\ cP +9 & iV$\ ^Q +9 &"+S#\ `Q +10 &#T\ bP +9 &%U#\ fP +10 &'rT"\ aP +9 &)4T"\ aP +9 &*R\ fP +10 &,T\ fP +9 &.yU\ bQ +9 &0<T\ iP +10 &1U!\ lP +9 &3V!\ nP +10 &5U\ mP +9 &7DT\ jP +9 &9W\ jP +10 &:T\ eQ +9 &<Q\ kP +9 &>LU\ bP +10 &@ R\ eQ +9 &AT\ dP +10 &CW\ cP +9 &ER[\ cQ +9 &Gb\ gR +10 &Hh \ `R +9 &Jz\ YU +9 &LF\ SX +10 &N\ XX +9 &O\ SX +10 &Q\ TX +9 &SO\ YX +9 &U\ [X +10 &V\ ^W +9 &X~\ _7 +9 &Yk4n\ cF +9 ( +2 &Y{+\ y6 +2 "processing"%M& +2 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.66 + .Hand.open +2 "manipulator"&1 +76 "core" 1 +2 "manipulator"&% +3 "core" % Ѕ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&j'\ +96 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%_& +4 "core" &Y{+\ z6 + #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&~% +3 "core" %\   +2 "storage"(o% +4 "core" %Z U\ + "storage"(L. +3 "core" . +49 .tSC.reconfigure :tight +3 "storage"($\ .(\ 1~b +2 .tSC.seek 6 +2 "storage"(g(K +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +4 (& +2 "manipulator"&(& +5 "core" &K \  + &  _ +4 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 "storage"(#].K-0-\ b +2 "manipulator"&( +5 ."raiseStack"SE.seek :beamBreak +2 "storage"(z'j +2 "core" ( +2 "manipulator"&^& +4 "core" &  _ + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &%& +3 "core" &  _ + .tForearm.seek PC +2 "manipulator"&['Њ +93 "core" ' +2 .tHand.close +2 "manipulator"&`/ +75 "core" / +2 .tPC.seek :open +2 "processing"%f( +75 "core" ' +2 "storage"( - +3 "core" -'j + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(' +33 "core" ' +307 ( +2 "storage"(& +4 "core" &K % * \  +2 "manipulator"&& +3 "core" &  _ +2 "manipulator"&i% +3 "core" % Ќ 5 +2 .tForearm.seek :retract +2 "manipulator"&p'\ +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&I( +266 "core" ( +2 "manipulator"&& +3 "core" &   +2 "storage"(v& +4 "core" &K 7 A \  + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&' +103 "core" ' +2 .tHand.open +2 "manipulator"&:1 +66 "core" 1 +2 "storage"(m- +3 "core" -' +2 .tSE.seek -0.22 Pucks below Top Plate +2 "storage"(H' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(&' +53 "core" ' + #tLights, camera, ACTION! +2 "storage"(F- +3 "core" -' +2 "storage"(-& +3 "core" &K J\ p +2 "manipulator"&G& +3 "core" & y  +2 .tElbow.seek 6 +2 "manipulator"&A( +18 "core" ( +2 "manipulator"&1& +4 "core" & +  + "storage"(U& +4 "core" &K } { p\ n +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&s' +16 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"( 'V +68 "core" ' +2 "manipulator"&d& +4 "core" &   + "storage"(2& +4 "core" &K &  \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&t'* +37 "core" ' + .tElbow.hold +2 "manipulator"&R, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"('@ +31 "core" ' +2 "manipulator"&% +4 "core" %'9 H ot + "storage"(& +4 "core" &K \ s +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 6 + 297 counts +2 "manipulator"&='S +24 "core" ' +2 "manipulator"& & +4 "core" &   +2 "storage"(@& +3 "core" &K 5 2 ,\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts +2 "manipulator"&J' +27 "core" ' +3 "storage"(;% +4 "core" %? 3 ; \ +2 ."downElevator"SE.seek :down +3 "storage"(X'I +100 (]% +3 "core" %1   O\ V_ + "manipulator"&% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&.'\ +91 "core" ' +59 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 "collection"'b& +4 "core" &YjCER\ Q +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&E% +4 "core" %\  ] U + "storage"(l% +4 "core" %R v u i\ +2 "storage"(u. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 6 +2 "storage"((K +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (}& +2 "core" &K Y j O\  +2 "manipulator"&& +4 "core" &   + .tElbow.seek 6 +2 "manipulator"&/( +11 "core" ( +2 "manipulator"&n& +4 "core" & I  + "storage"(& +4 "core" &K [ W 5\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&{' +92 "core" ' +2 "storage"(& +4 "core" &K V U j\  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(!'j +282 "core" ' + "storage"(y- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&r& +3 "core" &   + "storage"( & +4 "core" &K   _\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&?'* +35 "core" ' + .tElbow.hold +2 "manipulator"&,, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(k- +3 "core" -' +2 .tSE.seek 0.05 Pucks below Top Plate +2 "storage"(+' +23 "core" ' +2 "manipulator"&\\% +3 "core" %79 < om +2 "storage"(a& +3 "core" &K ~ \ p +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 6 + 313 counts +2 "manipulator"&9'c +21 "core" ' +2 "manipulator"&\ & +4 "core" &  X + "storage"(& +4 "core" &K   \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&w' +25 "core" ' +2 .tSE.seek 1.05 Pucks below Top Plate +2 "storage"(4' +41 "core" ' +2 "manipulator"&V& +4 "core" &  X + "manipulator"&W% +4 "core" %  h +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&$'\ +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&'( +165 "core" ( +2 "manipulator"&3& +4 "core" & s u @ + +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &Y& +3 "core" & s r " + + .tForearm.seek CC +2 "manipulator"&P'Ϥ +94 "core" ' + .tHand.close +2 "manipulator"&"/ +68 "core" / +2 .tCC.seek :open + "collection"')( +433 "core" ( + "storage"(#& +4 "core" &K X\  +2 "storage"(& +50 "core" &K p p\  +2 "manipulator"&& +3 "core" & ~  + +2 "manipulator"&e% +3 "core" % Ϛ  | J  +2 .tForearm.seek :retract +2 "manipulator"&T'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&x( +156 "core" ( +2 "manipulator"&S& +4 "core" & ,  + "storage"(& +4 "core" &K '\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.seek 6 +2 "manipulator"&*'* +103 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&B1 +72 "core" 1 +2 "manipulator"&% +4 "core" % ; 5 zD +2 "storage"(O& +3 "core" &K   B\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 6 + 317 counts +2 "manipulator"&h'g +22 "core" ' +2 "manipulator"&|& +4 "core" & [ > + "storage"(7& +4 "core" &K W\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts +2 "manipulator"&K' +30 "core" ' +2 "storage"(% +4 "core" % !\ +2 ."downElevator"SE.seek :down +3 "storage"(Q'I +100 (c% +3 "core" %Y4 \ U] + "manipulator"&5% +4 "core" % ' > +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Z'\ +92 "core" ' +49 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 #tShuffling pucks in tube 7 of [1..7] + #Loading generic puck from tube 7 into Collection Clamp +2 "collection"'0& +3 "core" &@Cj\ +2 "manipulator"&C% +4 "core" %\ 3  +2 "storage"(N% +4 "core" %Y \ + "storage"( . +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +3 .tSC.seek 7 + "storage"(D([c +191 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (& +2 "core" &[b" *\ \  +2 "manipulator"&& +4 "core" & G > +2 .tElbow.seek 7 +2 "manipulator"&( +24 "core" ( +2 "manipulator"&_& +4 "core" & M + "storage"(~& +4 "core" &[b" \ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 700 counts +2 "manipulator"&M' +89 "core" ' +2 "storage"(o& +3 "core" &[b" \ \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(L'j +281 "core" ' +2 "storage"(- +3 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ((& +2 "core" &[b" W d A\ \  +2 "manipulator"&^& +4 "core" &  + .tElbow.seek 7 +2 "manipulator"&%( +22 "core" ( + "manipulator"&>& +4 "core" & r | . ^ +2 "storage"(& +3 "core" &[b! v x ^\ \  +4 .tForearm.seek 7 + 300 counts +2 "manipulator"&`'N +25 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"& / +72 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&q& +6 "storage"(j'I +4 "core" &  [ +2 "manipulator"&<% +3 "core" % \\ ! +2 .tForearm.seek :retract +2 "manipulator"&z'\ +91 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +141 "core" ( +2 "manipulator"&& +3 "core" &  & +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &i& + "core" ' +2 ."downElevator"SE.coast +4 "storage"(5 +2 "core" & r o & +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&['Ϥ +99 "core" ' +3 "manipulator"&& +4 "core" &   & +2 "manipulator"&v% +3 "core" %ϟ  +2 "collection"'& +4 "core" &ACp\ +2 "collection"':& +5 "core" &?Dx\ +2 .tCC.seek :closed +2 "collection"'m(Y +3 "core" &ACp\  +10 &0|?Dk\ *y +9 &cAC\\\ > +10 &orADf\ N +9 &3UCAn\ M +9 &S>Bf\ M +10 &SAAj\ M +9 &yS@Cf\ M +9 &<Q@Dh\ M +10 &U@Bh\ M +9 &RAAg\ M +10 & VBCm\ M +9 &"BUCDf\ N +9 &$U@Cg\ N +10 &%X@Dn\ M +9 &'RBCl\ M +9 &)KRBDk\ M +10 &+ SAEk\ M +9 &,QCDj\ M +10 &.WBEk\ M +9 &0SWAA]\ M +9 &2UBCk\ N +10 &3WBFi\ M +9 &5XBBj\ N +9 &7ZV?Dg\ N +10 &9U?Cl\ N +9 &:R?Bb\ M +10 &<X?Bi\ M +9 &>bSBDf\ N +9 &@$U?Ch\ N +10 &AU?Cg\ N +9 &CWBDb\ N +9 &EjZ@Be\ N +10 &G+]?E`\ N +9 &HgACa\ O +10 &JBEZ\ S +9 &LUCEh\ X +9 &NBC\\\ }Z +10 &OCDg\ |[ +9 &QBDX\ z[ +9 &SNAE\\\ w] +10 &U?DP\ x\\ +9 &VBFY\ v] +10 &XADS\ xI +9 &Y3AEO\ ~*| +9 &Y_CED\ K +2 ( + "collection"':& +3 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 2.42 + .Hand.open + "manipulator"&F1 +73 "core" 1 +2 "manipulator"&-% +3 "core" % ϟ k j +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&G'\ +89 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 7 into Processing Clamp + "processing"%p& +4 "core" & \ +2 "manipulator"&1% +3 "core" %\  u B n +2 "storage"(U% +4 "core" %Y v v >\ + "storage"(d. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +3 .tSC.seek 7 + "storage"(2([c +2 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +2 (& +3 "core" &[b x v t\  + "manipulator"&H& +4 "core" &  & + "manipulator"&% +4 "core" %\   v n +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&( +152 "core" ( +2 "manipulator"& & +3 "core" &   +2 "storage"(@& +4 "core" &[b 9\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 700 counts +2 "manipulator"&I' +100 "core" ' +2 "storage"(;& +3 "core" &[b V\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('j +278 "core" ' +2 "storage"(&- +3 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (]& +3 "core" &[b T Y +\  + "manipulator"&& +4 "core" &   + .tElbow.seek 7 +2 "manipulator"&s( +3 "core" ( + "manipulator"&A& +4 "core" & G  +2 "storage"( & +3 "core" &[b a c\  +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&t'N +24 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&=/ +66 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&b& +2 "storage"(E'I +7 "core" & Q  +2 "manipulator"&l% +3 "core" % J  / +48 .tForearm.seek :retract +3 "manipulator"&u'\ +98 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +105 "core" ' + ."downElevator"SE.coast + "storage"(5 +153 "core" ( +2 "manipulator"&}& +3 "core" & y v K ] +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" & q s : ] +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +3 "manipulator"&n'Њ +96 "core" ' +2 "manipulator"&& +4 "core" & { P ] +2 "manipulator"&J% +3 "core" %В ~ { S +2 "processing"%& +4 "core" &$\ +2 "processing"%X& +5 "core" &#\ +2 .tPC.seek :closed +2 "processing"%g(Y +5 "core" &!\  +9 &-v(\ +{ +10 &c%\ {? +9 &gt!\ |P +9 &*S\ O +10 &Y+\ O +9 &V#\ P +10 &qU"\ O +9 &2U#\ O +9 &V#\ O +10 &T%\ O +9 & wV \ P +9 &";T$\ O +10 &#X$\ O +9 &%X!\ O +10 &'W%\ P +9 &)BW\ O +9 &+T\ O +10 &,T\ O +9 &.X\ O +9 &0IT\ P +10 &2 W \ P +9 &3T\ O +10 &5Y\ O +9 &7RV\ O +9 &9Y \ O +10 &:Y\ O +9 &<Y\ O +9 &>YW \ P +10 &@U\ O +9 &AU\ P +10 &CW\ \ O +9 &EaY \ P +9 &G!`\ P +10 &H_\ P +9 &Ji\ R +9 &LZ \ xU +10 &N\ sX +9 &O\ tW +10 &Q\ uW +9 &S] \ uV +9 &U\ sV +10 &V\ uV +9 &X~\ y4 +9 &Yk2j\ |E +9 ( +2 &Yz0\ 6 + "processing"%X& +3 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.56 + .Hand.open +2 "manipulator"&R1 +72 "core" 1 +2 "manipulator"&.% +3 "core" % А d B +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&y'\ +92 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%r& +4 "core" &Yz0\ 6 +2 #tImaging generic puck in Processing Clamp while storing it to tube 7 + "manipulator"& % +3 "core" %\ i  +2 "storage"(k% +4 "core" %E   \ +2 "storage"(\\. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 7 + "storage"(a([c +4 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +4 (\ & +3 "core" &[b \  +2 "manipulator"&& +5 ."raiseStack"SE.reconfigure :place +2 "storage"(#].K-0-\ b +2 "core" & p ] +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak + "manipulator"&V( +2 "storage"(W'j +6 "core" ( + "manipulator"&{& +4 "core" & D ] +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &/& +3 "core" &  ] +2 .tForearm.seek PC +2 "manipulator"&!'Њ +91 "core" ' + .tHand.close +2 "manipulator"&?/ +69 "core" / +2 .tPC.seek :open +2 "processing"%9( +85 "core" ' +2 "storage"(+- +3 "core" -'j + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(3' +40 "core" ' +292 ( + "storage"(Y& +4 "core" &[b   \  +2 "manipulator"&w& +3 "core" & { = ] +2 "manipulator"&,% +3 "core" % Џ | K ' +2 .tForearm.seek :retract +2 "manipulator"&"'\ +94 "core" ' +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&$( +271 "core" ( +2 "manipulator"&& +3 "core" & B +2 "storage"(#& +4 "core" &[b < > 5\  + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 700 counts +2 "manipulator"&' +90 "core" ' + .tHand.open +2 "manipulator"&1 +73 "core" 1 +2 "storage"(e- +3 "core" -' +2 .tSE.seek -0.22 Pucks below Top Plate +2 "storage"(S' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(' +55 "core" ' + #tLights, camera, ACTION! +2 "storage"(P- +3 "core" -' +2 "storage"('& +3 "core" &[b \ s +2 "manipulator"&B& +3 "core" &  +2 .tElbow.seek 7 +2 "manipulator"&( +10 "core" ( +2 "manipulator"&O& +4 "core" & < \ + "storage"(|& +4 "core" &[b >\ t +2 .tForearm.seek 7 + 700 counts +2 "manipulator"&7' +24 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"('V +62 "core" ' +2 "manipulator"&T& +4 "core" &  \ + "storage"(c& +4 "core" &[b C 1 V\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&5'" +37 "core" ' + .tElbow.hold +2 "manipulator"&x, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(*'@ +26 "core" ' +2 "manipulator"&h% +3 "core" %/D { y b p +2 "storage"(0& +4 "core" &[b | w 6\ m + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 7 + 313 counts +2 "manipulator"&C'[ +16 "core" ' +2 "manipulator"&N& +4 "core" &   +2 "storage"( & +3 "core" &[b &\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 700 counts +2 "manipulator"&4' +26 "core" ' +2 "storage"(K% +4 "core" %G   \ +2 ."downElevator"SE.seek :down +3 "storage"('I +100 (% +3 "core" %2  ?\ U_ + "manipulator"&_% +4 "core" % E l +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&~'\ +94 "core" ' +57 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 "collection"'Q& +4 "core" &YaBFR\ K +2 #tStoring generic puck in Collection Clamp to tube 7 + "manipulator"&% +3 "core" %\ ;  +2 "storage"(o% +4 "core" %Z 0 + d\ +2 "storage"(. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +3 .tSC.seek 7 + "storage"(Z([c +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (& +2 "core" &[b   I\  +2 "manipulator"&(& +4 "core" &   +2 .tElbow.seek 7 +2 "manipulator"&^( +28 "core" ( +2 "manipulator"&>& +4 "core" &\ | ~ 6 Q + "storage"(& +4 "core" &[b   a\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 700 counts +2 "manipulator"& ' +98 "core" ' +2 "storage"(q& +4 "core" &[b 4 & C\  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(<'j +283 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +50 "manipulator"&M& +3 "core" &\ D Q +2 "storage"(& +3 "core" &[b {\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&i'" +35 "core" ' + .tElbow.hold +2 "manipulator"&L, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(`- +3 "core" -' +2 .tSE.seek 0.03 Pucks below Top Plate +2 "storage"('\ +31 "core" ' +2 "manipulator"&v% +4 "core" %&I { q + "storage"(& +4 "core" &[b \ r +2 .tForearm.force -20 "manipulator"&5 +3 .tForearm.seek 7 + 304 counts +2 "manipulator"&%'R +19 "core" ' +2 "manipulator"&j& +4 "core" & "  + "storage"(z& +4 "core" &[b   G\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 700 counts + "manipulator"&)' +21 "core" ' +2 .tSE.seek 1.03 Pucks below Top Plate +2 "storage"(F' +45 "core" ' +2 "manipulator"&-& +4 "core" &   +2 "manipulator"&p% +3 "core" % # +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&1'\ +88 "core" ' +2 .tElbow.seek CC +2 "manipulator"&U( +151 "core" ( +2 "manipulator"&d& +3 "core" & y } N ' +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &:& +3 "core" & r s  ' +2 .tForearm.seek CC +2 "manipulator"&'Ϥ +95 "core" ' + .tHand.close +2 "manipulator"&H/ +70 "core" / +2 .tCC.seek :open + "collection"'( +433 "core" ( +2 "storage"([& +3 "core" &[b w \  +2 "storage"( & +3 "core" &[b \  +2 "manipulator"&@& +3 "core" & } } ' +2 "manipulator"&D% +4 "core" % ϧ {  + .tForearm.seek :retract +2 "manipulator"&;'\ +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&( +155 "core" ( +2 "manipulator"&G& +3 "core" & B  +2 "storage"(&& +4 "core" &[b \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.seek 7 +2 "manipulator"&]'" +110 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&A1 +66 "core" 1 +2 "manipulator"& % +4 "core" % 5k 2 w +2 "storage"(=& +3 "core" &[b 2\  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 7 + 319 counts + "manipulator"&b'a +18 "core" ' +2 "manipulator"&l& +3 "core" & $ b +2 "storage"(& +4 "core" &[b { o B\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 700 counts +2 "manipulator"&I' +27 "core" ' +2 "storage"(% +4 "core" % \ +2 ."downElevator"SE.seek :down +3 "storage"(t'I +100 (}% +3 "core" %w7 T U Z\ U] + "manipulator"&% +4 "core" %  X +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&s'\ +93 "core" ' +47 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast "storage"(6 +4 ."shutdown"CS.coast +3 #tAsleep / Shutdown + "collection"'5 +3 ."shutdown"SS.coast + "sampler")5 +2 ."shutdown"CC.coast +2 "collection"'6 +2 ."shutdown"PC.coast + "processing"%6 +3 ."shutdown"Forearm.coast + "manipulator"&5 +3 ."shutdown"Elbow.coast + "manipulator"&6 +37 ."shutdown"Gate.power :core,:OFF +2 .Gate.power :raw,:OFF + #Shutdown + .tdelay 5 seconds +503 #Powering core bus +509 .Gate.power :raw,:ON +3 "sampler") +38 ) +2 "core"  +2 "collection"' +2 'J +3 "core"  + "processing"% +3 % +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ + % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'E% +2 "core" %>Es\ +2 .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%u% +3 "core" % \ + .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler")f% +2 "core" %ss +2 .tSS.configure :default +2 "sampler")#.0X'I +6 "core" &   + "manipulator"&% +4 "core" % X +2 .tForearm.seek :retract +2 "manipulator"&4'\ +90 "core" ' +4 .tElbow.seek CC +2 "manipulator"&q( +132 "core" ' + ."downElevator"SE.coast + "storage"(5 +12 "core" ( +2 "manipulator"&& +4 "core" & { u $ + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &a& +2 "core" & } t U $ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&x'Ϥ +92 "core" ' +3 "manipulator"&~& +4 "core" & | Y $ +2 "manipulator"&% +3 "core" %ϟ  : +2 "collection"'M& +4 "core" &BF\  +2 "collection"'& +4 "core" &AC\  +2 .tCC.seek :closed +2 "collection"'`(Y +5 "core" &CE\  +10 &4AE\ +} +9 &fAF\ ? +10 &TqAE\ N +9 &TAE\ M +9 &X@C\ M +10 &Y?C\ M +9 &^WAC\ M +9 & U@F\ M +10 &V@E\ M +9 &W?B\ M +10 & gWAE\ M +9 &")WAE\ M +9 &#XCF\ M +10 &%Y@G}\ M +9 &'mW>E~\ M +9 &)0YAE\ M +10 &*WAB\ M +9 &,UAE\ M +10 &.vWAE\ M +9 &08VBE|\ M +9 &1WAE\ M +10 &3XAD}\ M +9 &5}ZADt\ M +9 &7?WAEp\ M +10 &9TAEv\ M +9 &:XAG\ M +10 &<UAE~\ M +9 &>GXCDs\ M +9 &@\ TAEo\ M +10 &AXAEm\ M +9 &C\\AFm\ M +9 &EOZADl\ M +10 &G\\BEo\ M +9 &HdAGl\ O +10 &J?En\ R +9 &L:AEs\ W +9 &MBEw\ Z +10 &OCFv\ Z +9 &QsCGx\ \\ +9 &S4CDt\ \\ +10 &TBFw\ \\ +9 &VBFs\ \\ +10 &X{BGw\ I +9 &Y{<AGx\ 'w +9 &Y~CEw\ U +2 ( + "collection"'& +3 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 2.35 + .Hand.open + "manipulator"&v1 +67 "core" 1 +2 "manipulator"&% +4 "core" % ϟ , : + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&j'\ +93 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 1 into Processing Clamp + "processing"%z& +4 "core" &|4\  +2 "manipulator"&-% +4 "core" %\ \ q p   + "storage"(p% +4 "core" %O #\ +2 "storage"( . +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +3 .tSC.seek 1 + "storage"(^( +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (<& +2 "core" & {\  +2 "manipulator"&i& +3 "core" & s t  $ +2 "manipulator"&%% +4 "core" %\ \ q m K  + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 +2 "manipulator"&( +151 "core" ( +2 "manipulator"&d& +4 "core" & ,  + "storage"(:& +4 "core" & ]\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 700 counts + "manipulator"&)'W +97 "core" ' +2 "storage"(L& +4 "core" & \  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(H'j +272 "core" ' + "storage"(1- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (m& +3 "core" & \  + "manipulator"&[& +4 "core" & s  +2 .tElbow.seek 1 + "manipulator"& ( +3 "core" ( +2 "manipulator"&@& +3 "core" & 9  +2 "storage"(D& +3 "core" & P\  +2 .tForearm.seek 1 + 300 counts +2 "manipulator"&G' +23 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&&/ +72 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +3 "storage"(U'I +5 "core" & w u -  +2 "manipulator"&A% +3 "core" % s q * +2 .tForearm.seek :retract +2 "manipulator"& '\ +94 "core" ' +2 .tElbow.seek PC +2 "manipulator"&=( +140 "core" ' + ."downElevator"SE.coast + "storage"(5 +115 "core" ( +3 "manipulator"&l& +3 "core" & ~ H J +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" & { r @ J +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&'Њ +102 "core" ' + "Can"\ JJ +3 "manipulator"&;& +3 "core" & p f D J +2 "manipulator"&}% +4 "core" %Ћ d c ? +2 "processing"%& +3 "core" &|0\  +3 "processing"%& +4 "core" &|4\  +2 .tPC.seek :closed +2 "processing"%](Y +5 "core" &|B\  +9 &6=\ ,~ +10 &e.\ @ +9 &Mt:\ P +10 &V<\ O +9 &W5\ O +9 &T8\ O +10 &WV9\ O +9 &U:\ O +9 &Z:\ O +10 &Z%\ O +9 & ^Z-\ P +10 &"!W)\ O +9 &#T$\ O +9 &%Y$\ O +10 &'hX%\ O +9 &))W \ O +9 &*T(\ P +10 &,W&\ P +9 &.pU#\ O +10 &01Y"\ O +9 &1Y$\ O +9 &3U \ O +10 &5wT!\ O +9 &79T#\ O +9 &8U#\ O +10 &:T$\ O +9 &<U\ O +10 &>AX%\ O +9 &@U&\ O +9 &AW \ O +10 &CX\ O +53 &EIY \ O +4 &G_$\ Q +5 &H`%\ Q &Jg!\ Q +2 &LC\ T + &M\ |X + &O\ }W +9 &Q$\ }W +9 &SD%\ V +9 &U$\ W +10 &V\ W +9 &X\ > +10 &Y^-\ ^ +9 &Y- \ 5 +2 ( + "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.56 + .Hand.open +2 "manipulator"&b1 +68 "core" 1 +2 "manipulator"&F% +4 "core" % І T + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&I'\ +92 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%t& +4 "core" &Y*\ 5 +2 #tImaging generic puck in Processing Clamp while storing it to tube 1 + "manipulator"&Z% +4 "core" %\   x +2 "storage"(6% +3 "core" %S U V }\ +2 "storage"(8. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +3 .tSC.seek 1 + "storage"(( +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (9& +3 "core" & _ `\  + "manipulator"&s& +4 "core" &  J +2 "manipulator"&% +3 "core" %\   x +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 +2 "manipulator"&( +276 "core" ( +2 "manipulator"&J& +4 "core" & Z + "storage"(& +4 "core" & [\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 700 counts + "manipulator"&E'W +100 "core" ' +2 "storage"(u& +4 "core" &  { P\  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(f'j +286 "core" ' +2 "storage"(R- +3 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&.& +3 "core" & U +2 "storage"(r& +3 "core" & _ [ J\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 1 +2 "manipulator"& 'Λ +38 "core" ' + .tElbow.hold +2 "manipulator"&k, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(X- +3 "core" -' +3 .tSE.seek 1.02 Pucks below Top Plate + "storage"(\\' +28 "core" ' +2 "manipulator"&\ % +3 "core" %ΩT t w +2 "storage"(& +4 "core" & ~\  + .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 1 + 314 counts +2 "manipulator"&/' +21 "core" ' +2 "manipulator"&{& +4 "core" &   + "storage"(n& +4 "core" & y z ,\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 700 counts +2 "manipulator"&?'W +26 "core" ' +2 .tSE.seek 2.02 Pucks below Top Plate +2 "storage"(2' +40 "core" ' +2 "manipulator"&+& +4 "core" & 3  +2 "manipulator"&% +3 "core" %X s b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&W'\ +93 "core" ' +2 .tElbow.seek PC +2 "manipulator"&,( +248 "core" ( +2 "manipulator"&!& +4 "core" & . + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &#& +2 "core" & 5 +2 .tForearm.seek PC +2 "manipulator"&y'Њ +90 "core" ' + .tHand.close +2 "manipulator"&e/ +67 "core" / +2 .tPC.seek :open + "processing"%B( +431 "core" ( + "storage"("& +4 "core" & \  +2 "manipulator"&T& +3 "core" & r s # +2 "manipulator"&|% +3 "core" % И { u @ C +2 .tForearm.seek :retract +2 "manipulator"&g'\ +92 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 +2 "manipulator"&( +269 "core" ( +2 "manipulator"&P& +3 "core" & c  +2 "storage"(S& +4 "core" & ;\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 700 counts +2 "manipulator"&h'W +92 "core" ' + .tHand.open +2 "manipulator"&01 +77 "core" 1 +2 "storage"(N- +3 "core" -' +2 .tSE.seek 1.77 Pucks below Top Plate +2 "storage"( ' +20 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(K' +53 "core" ' + #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(& +3 "core" & \  +2 "manipulator"&_& +4 "core" & _  + .tElbow.seek 1 +2 "manipulator"&( +4 "core" ( + "manipulator"&& +4 "core" & x  + "storage"('& +4 "core" & F\  +2 .tForearm.seek 1 + 700 counts +2 "manipulator"&O'W +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek 1.89 Pucks below Top Plate +2 "storage"(5'2 +59 "core" ' +2 "manipulator"&C& +4 "core" & s q B  + "storage"(Q& +4 "core" &  W\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 1 +2 "manipulator"&V'Λ +34 "core" ' + .tElbow.hold +2 "manipulator"&o, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 2.07 Pucks below Top Plate +2 "storage"(' +20 "core" ' +2 "manipulator"&% +4 "core" %ΕR  s +2 "storage"((& +3 "core" &  O\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 1 + 294 counts +2 "manipulator"&' +21 "core" ' +2 "manipulator"&& +4 "core" & e  +2 "storage"(7& +4 "core" & Q\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 700 counts +2 "manipulator"&'W +24 "core" ' +2 "storage"(a% +4 "core" %" ?\ +2 ."downElevator"SE.seek :down +4 "storage"('I +99 (*% +4 "core" %R. w h H\ T[ +2 "manipulator"&~% +3 "core" %c ; J +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +104 "core" ' +24 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast +2 "storage"(6 +2 "collection"'M& +4 "core" &YzCE^\ U +2 #tStoring generic puck in Collection Clamp to tube 1 + "manipulator"&% +4 "core" %\ ! +2 "storage"(>% +4 "core" %S \ \ + "storage"(4. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 1 +2 "storage"(c( +2 "core" ( + .tSC.reconfigure :loose +3 "storage"($.(\ 1~b +2 (v& +3 "core" & \  + "manipulator"&& +43 "core" & C  +9 .tElbow.seek 1 +2 "manipulator"&z( +32 "core" ( +2 "manipulator"&-& +4 "core" &\ [ U + "storage"(p& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 700 counts +2 "manipulator"& 'W +100 "core" ' +2 "storage"(& +4 "core" & Q\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(<'j +271 "core" ' +2 "storage"(i- +3 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&%& +3 "core" &\ p r  U +2 "storage"(x& +3 "core" & \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 1 +2 "manipulator"&d'Λ +32 "core" ' + .tElbow.hold +2 "manipulator"&:, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"($- +3 "core" -' +2 .tSE.seek 2.03 Pucks below Top Plate +2 "storage"(L' +28 "core" ' +2 "manipulator"&q% +4 "core" %ΨU s + "storage"(j& +4 "core" & \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 1 + 313 counts +2 "manipulator"&1' +18 "core" ' +2 "manipulator"&m& +3 "core" & |   +2 "storage"([& +4 "core" & x \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 700 counts +2 "manipulator"&@'W +21 "core" ' +2 .tSE.seek 3.03 Pucks below Top Plate +2 "storage"(D' +52 "core" ' +2 "manipulator"&&& +4 "core" &   + "manipulator"&% +4 "core" %W  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&A'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +161 "core" ( +2 "manipulator"&)& +4 "core" & % - +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &H& +3 "core" & - +2 .tForearm.seek CC + "manipulator"&G'Ϥ +97 "core" ' + .tHand.close +2 "manipulator"&l/ +73 "core" / +2 .tCC.seek :open + "collection"'( +434 "core" ( +2 "storage"( & +3 "core" & ?\  +2 "storage"(;& +3 "core" & u\  +2 "manipulator"&}& +4 "core" & m y H - + "manipulator"&% +4 "core" % ϵ W a Y +2 .tForearm.seek :retract +2 "manipulator"&U'\ +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 +2 "manipulator"& ( +156 "core" ( +2 "manipulator"&3& +4 "core" &   + "storage"(b& +4 "core" &\ \ \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.seek 1 +2 "manipulator"&F'Λ +107 "core" ' + .tElbow.hold +2 "manipulator"&t, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&Z1 +66 "core" 1 +2 "manipulator"&6% +4 "core" % Ϋz F 6 { +2 "storage"(8& +3 "core" & U U T\  + .tForearm.force -20 +3 "manipulator"&5 +2 .tForearm.seek 1 + 316 counts +2 "manipulator"&' +19 "core" ' +2 "manipulator"&9& +3 "core" & u k +2 "storage"(s& +4 "core" &\ \  h\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 700 counts +2 "manipulator"&'W +23 "core" ' +2 "storage"(% +4 "core" %\ \  @\ +2 ."downElevator"SE.seek :down +3 "storage"(^'I +100 (J% +2 "core" % 2 >\ TW +2 "manipulator"&% +4 "core" %Y 6 n +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&='\ +94 "core" ' +28 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast "storage"(6 +3 #tShuffling pucks in tube 2 of [1..7] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'u& +4 "core" &CCo\ +2 "manipulator"&I% +3 "core" %\   +2 "storage"(R% +4 "core" %X   h\ +2 "storage"(.. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 2 +2 "storage"(r( +188 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (X& +3 "core" &  R\  + "manipulator"&\ & +4 "core" & k +2 .tElbow.seek 2 + "manipulator"&( +12 "core" ( +2 "manipulator"&{& +3 "core" &   +2 "storage"(n& +4 "core" &  {\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&+'a +98 "core" ' +2 "storage"(& +3 "core" & \  ;\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(E'j +281 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (f& +2 "core" &  V\  +2 "manipulator"& & +3 "core" & )  +2 .tElbow.seek 2 +2 "manipulator"&/( +3 "core" ( +2 "manipulator"&\\& +3 "core" & /  +2 "storage"(?& +3 "core" &  *\  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&!' +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&#/ +66 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&k& +3 "storage"(e'I +5 "core" & '  +2 "manipulator"&W% +3 "core" %  ) +2 .tForearm.seek :retract +2 "manipulator"&]'\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&"( +147 "core" ' + ."downElevator"SE.coast + "storage"(5 +14 "core" ( +2 "manipulator"&T& +4 "core" & x * + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &|& +2 "core" & * +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&y'Ϥ +91 "core" ' +2 "manipulator"&P& +4 "core" & J * + "manipulator"&S% +4 "core" %Ϙ | +2 "collection"',& +3 "core" &?D~\ +2 "collection"'0& +5 "core" &AD\ +2 .tCC.seek :closed +2 "collection"'N(Y +5 "core" &AD\ +8 &5>D\ #c +10 &VAD\ 8 +9 &y?Ez\ L +10 &U@Dz\ M +9 &hW>Eu\ M +9 &)W@Er\ M +10 &VADo\ M +9 &U?Eq\ M +9 &pT@Fm\ M +10 &3UCDj\ M +9 &V?Eq\ M +10 &!WAEs\ M +9 &#yW@Fn\ M +9 &%:XAFv\ M +10 &&W?Eo\ M +52 &(WADu\ M +4 &*V?Fs\ M + &,AU?E|\ M +4 &.U@Dx\ M + &/V?Ep\ M + &1WAFr\ M +2 &3HWAEs\ N +10 &5 YAEx\ M +9 &6WAFv\ N +9 &8WDEt\ M +10 &:RZ=Fy\ M +9 &<W@Et\ M +10 &=W@Dr\ M +9 &?Y?Et\ M +9 &AYWAEi\ M +10 &CY?Ev\ N +9 &D\\CEr\ M +9 &FZAEv\ M +10 &H^`@Fu\ N +9 &JxCEe\ Q +10 &KBEp\ V +9 &MBGw\ Z +9 &ODBFs\ Z +10 &QAFx\ [ +9 &RBHu\ [ +9 &TAGs\ \\ +10 &VF?Ft\ \\ +9 &XDFs\ \\ +10 &Y_ICGp\ )z +9 &YCGj\ ] +8 ( +2 &YsBGi\ W +2 "collection"'0& +2 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 2.34 + .Hand.open +2 "manipulator"&1 +67 "core" 1 +2 "manipulator"&% +4 "core" % Ϙ M | +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&_'\ +92 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%& +4 "core" &7\ +2 "manipulator"&'% +4 "core" %\ \ t u *  +2 "storage"(g% +3 "core" %U \ +2 "storage"(C. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +3 .tSC.seek 2 +2 "storage"(Q( +2 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (& +2 "core" &  \  +2 "manipulator"&(& +4 "core" & * + "manipulator"&2% +4 "core" %\ \ }  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&( +158 "core" ( +2 "manipulator"& & +4 "core" & 7  + "storage"(7& +4 "core" &  H\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&a'a +94 "core" ' +2 "storage"(& +3 "core" &  4\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(h'j +276 "core" ' +2 "storage"(K- +3 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (*& +3 "core" &  v 4\  + "manipulator"&~& +4 "core" & \  +2 .tElbow.seek 2 + "manipulator"&O( +4 "core" ( + "manipulator"&& +3 "core" & 2  +2 "storage"(5& +4 "core" &  y \  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&V' +31 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&M/ +66 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +3 "storage"('I +5 "core" & K  +2 "manipulator"&>% +3 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&4'\ +93 "core" ' +2 .tElbow.seek PC +2 "manipulator"&v( +160 "core" ' + ."downElevator"SE.coast + "storage"(5 +98 "core" ( +3 "manipulator"&& +3 "core" &  * G +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" & } ` G +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&-'Њ +103 "core" ' +2 "manipulator"&p& +4 "core" & n b O G + "manipulator"&% +4 "core" %Ѝ d f P +2 "processing"%& +3 "core" &.\ +2 "processing"%& +5 "core" &#\ +2 .tPC.seek :closed +2 "processing"%(Y +4 "core" &4\ +9 & -:\ #a +9 &T1\ 8 +10 &}{3\ L +9 &U#\ O +9 &SW \ O +10 &W&\ O +9 &U\ O +9 &W"\ P +10 &[T#\ O +9 &X2\ P +10 &X(\ P +9 &!Y&\ P +9 &#bW$\ O +10 &%$Y$\ O +9 &&X&\ O +9 &(W$\ O +10 &*jY)\ O +9 &,+Y!\ P +10 &-W)\ O +9 &/Z$\ O +9 &1rY&\ O +10 &34Y"\ O +9 &4W!\ P +9 &6W"\ O +10 &8{Y#\ O +9 &:<X"\ O +10 &;Y#\ O +9 &=W%\ O +9 &?Q\ O +10 &AFV \ O +9 &CW%\ O +9 &D[%\ P +10 &F^+\ P +9 &HIa%\ P +10 &Jh \ Q +9 &K"\ T +9 &M|\ ~W +10 &O?-\ }V +9 &P\ ~W +9 &R\ V +10 &T\ V +9 &VG!\ V +10 &X\ }I +9 &Y2G\ !e +9 &YF\ 6 +5 ( +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 10/26 samples, on/off torque 1.56 + .Hand.open +2 "manipulator"&o1 +3 "core" &Y*\ 6 +74 1 + "manipulator"&% +4 "core" % Љ : +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&i'\ +96 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%%& +4 "core" &Y*\ 6 + #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&x% +3 "core" %\   \ j +2 "storage"($% +4 "core" %I ` d\ +2 "storage"(q. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 2 +2 "storage"(j( +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +4 (m& +2 "manipulator"&[& +4 "core" &  U W\  +4 ."raiseStack"SE.reconfigure :place +2 "storage"(#].K-0-\ b +2 "core" &  G +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&&( +4 "storage"('j +3 "core" ( +2 "manipulator"& & +3 "core" &  G +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &z& +3 "core" & h G + .tForearm.seek PC +2 "manipulator"&<'Њ +91 "core" ' + .tHand.close +2 "manipulator"&d/ +66 "core" / +3 .tPC.seek :open +2 "processing"%1( +88 "core" ' +2 "storage"(L- +3 "core" -'j + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"()' +42 "core" ' +289 ( + "storage"(H& +4 "core" &  } \ \  +2 "manipulator"&@& +3 "core" & G +2 "manipulator"&:% +3 "core" % Ќ , 9 +2 .tForearm.seek :retract +2 "manipulator"&l'\ +103 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&A( +267 "core" ( +2 "manipulator"&`& +3 "core" & C +2 "storage"( & +4 "core" &  \  + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&;'a +100 "core" ' + .tHand.open +2 "manipulator"&}1 +69 "core" 1 +2 "storage"(- +3 "core" -' +2 .tSE.seek -0.22 Pucks below Top Plate +2 "storage"(3' +25 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(b' +53 "core" ' + #tLights, camera, ACTION! +2 "storage"(G- +3 "core" -' +2 "storage"(& +3 "core" &  U\  +2 "manipulator"&Z& +3 "core" & +2 .tElbow.seek 2 +2 "manipulator"&6( +4 "core" ( +2 "manipulator"&8& +4 "core" &  + "storage"(9& +4 "core" &  \  +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&s'a +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"('V +110 "core" ' +2 "manipulator"&U& +4 "core" & ? + "storage"(J& +4 "core" &  \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&'Υ +37 "core" ' + .tElbow.hold +2 "manipulator"& , +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(F'@ +28 "core" ' +2 "manipulator"&u% +4 "core" %βU > t +2 "storage"(I& +3 "core" &  \  +2 .tForearm.force -20 "manipulator"&5 +3 .tForearm.seek 2 + 313 counts +2 "manipulator"&R' +19 "core" ' +2 "manipulator"&& +4 "core" & : +2 "storage"(.& +3 "core" &  ;\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&D'a +30 "core" ' +2 "storage"(% +4 "core" %J G\ +2 ."downElevator"SE.seek :down +3 "storage"(X'I +100 (\ % +3 "core" %8 U V \ U^ +2 "manipulator"&{% +4 "core" %d  A +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&n'\ +93 "core" ' +53 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 "collection"'^& +4 "core" &YsBGa\ W +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&c% +4 "core" %\   +2 "storage"(% +3 "core" %E 1\ +2 "storage"(t. +3 "core" . + .tSC.reconfigure :tight +3 "storage"($\ .(\ 1~b +2 .tSC.seek 2 + "storage"(=( +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (& +2 "core" &  ^\  +2 "manipulator"&f& +3 "core" &  +2 .tElbow.seek 2 +2 "manipulator"& ( +13 "core" ( +2 "manipulator"&\\& +4 "core" & 4  + "storage"(?& +4 "core" &  (\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&#'a +90 "core" ' +2 "storage"(k& +4 "core" &  C\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(W'j +285 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&+& +3 "core" & )  + "storage"(T& +4 "core" &  { 9\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&|'Υ +35 "core" ' + .tElbow.hold +2 "manipulator"&E, +3 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(!- +2 "core" -' +2 .tSE.seek 0.03 Pucks below Top Plate +2 "storage"(P' +28 "core" ' +2 "manipulator"&S% +3 "core" %ζT v t +2 "storage"(,& +3 "core" &  \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 2 + 317 counts +2 "manipulator"&/' +19 "core" ' +2 "manipulator"&e& +3 "core" & Y  +2 "storage"(]& +4 "core" &  :\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&'a +30 "core" ' +2 .tSE.seek 1.03 Pucks below Top Plate +2 "storage"(' +49 "core" ' +2 "manipulator"&& +4 "core" &   + "manipulator"&% +4 "core" %b  D +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&''\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&g( +164 "core" ( +2 "manipulator"&C& +3 "core" & ` 1 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &0& +3 "core" & z R 1 +2 .tForearm.seek CC +2 "manipulator"&'Ϥ +93 "core" ' + .tHand.close +2 "manipulator"&(/ +76 "core" / +2 .tCC.seek :open + "collection"'2( +433 "core" ( +2 "storage"(y& +3 "core" &  \  +2 "storage"( & +3 "core" &  \  +2 "manipulator"&7& +3 "core" & {  1 +2 "manipulator"&r% +3 "core" % ϑ q   +2 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&"( +161 "core" ( +2 "manipulator"&_& +3 "core" &   +2 "storage"(K& +4 "core" & \ \ \ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.seek 2 +2 "manipulator"&*'Υ +106 "core" ' + .tElbow.hold +2 "manipulator"&~, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +72 "core" 1 +3 "manipulator"&5% +4 "core" % ζ{ $ y + "storage"(M& +4 "core" &  x p /\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 317 counts +2 "manipulator"&' +23 "core" ' +2 "manipulator"&>& +4 "core" &) | { > _ +2 "storage"(& +3 "core" & \ \  &\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&a'a +20 "core" ' +2 "storage"(h% +4 "core" %\ \  (\ +2 ."downElevator"SE.seek :down +3 "storage"(V'I +100 (% +3 "core" %a8 \ U[ + "manipulator"&% +4 "core" %V 2 +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&O'\ +94 "core" ' +48 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast "storage"(6 +3 #tShuffling pucks in tube 3 of [1..7] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'p& +4 "core" &@Es\ +2 "manipulator"&% +3 "core" %\ @  +2 "storage"(% +4 "core" %W \  C\ +2 "storage"(. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 3 +2 "storage"(4(z +190 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (B& +2 "core" &y \ o\ +2 "manipulator"&o& +4 "core" &)  _ + .tElbow.seek 3 +2 "manipulator"&( +11 "core" ( +2 "manipulator"&%& +4 "core" &   + "storage"(x& +4 "core" &w H\ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&' +99 "core" ' +2 "storage"($& +4 "core" &w\ \  \ +47 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(q'j +286 "core" ' +2 "storage"(m- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +3 ([& +3 "core" &w ~\ + "manipulator"& & +4 "core" &   + .tElbow.seek 3 +2 "manipulator"&z( +11 "core" ( +2 "manipulator"&-& +4 "core" & > + "storage"(d& +4 "core" &w \ +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&Q'l +23 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&L/ +74 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&v& +5 "storage"(i'I +5 "core" & h o + "manipulator"&% +4 "core" % u g p Q  +2 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&H( +150 "core" ' + ."downElevator"SE.coast + "storage"(5 +5 "core" ( +2 "manipulator"&@& +4 "core" & }  @ . + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &:& +2 "core" & { | . +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&<'Ϥ +100 "core" ' +3 "manipulator"&`& +4 "core" & H . +2 "manipulator"& % +3 "core" %ϰ $ +2 "collection"'&& +4 "core" &@Cz\ +2 "collection"'}& +5 "core" &AD\ +2 .tCC.seek :closed +2 "collection"'(Y +4 "core" &AE\  +9 &1|AFr\ *x +9 &b>Ew\ > +10 &us@Em\ N +9 &7W@Dm\ M +9 &WAGo\ M +10 &W@Dm\ M +9 &~VBEy\ M +10 &ATADv\ M +9 &SAEn\ M +9 &UAGw\ M +10 & U@Br\ M +9 &"HY@Ew\ M +9 &$\ W@Fx\ M +10 &%WBEv\ M +9 &'UBEo\ M +10 &)QU@Dz\ M +9 &+UBEp\ L +9 &,TAEu\ M +10 &.U@Er\ M +9 &0XYAFu\ M +9 &2V@Et\ M +10 &3W?Es\ M +9 &5W@Es\ M +10 &7aWACw\ M +9 &9#VADp\ M +9 &:V@Dt\ M +10 &<Y@Eo\ M +9 &>hW?Eq\ M +9 &@*WBFp\ M +10 &AW?Fr\ M +9 &CYBDu\ M +10 &EnZ@Dr\ N +9 &G1YAEw\ M +9 &HbBDu\ O +10 &JBGq\ R +9 &L\\AFw\ W +10 &N@Fv\ Z +9 &OBHw\ Z +9 &QAEw\ [ +10 &SV@Fs\ [ +9 &UAGt\ \\ +9 &VBGs\ \\ +10 &XCGk\ I +9 &Y1BFl\ (x +9 &YhCEs\ P +2 ( +2 "collection"'}& +2 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 2.38 +2 .Hand.open + "manipulator"&G1 +73 "core" 1 +2 "manipulator"&% +4 "core" % ϰ  + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&Z'\ +93 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%8& +4 "core" &*\ +2 "manipulator"&9% +3 "core" %\   +2 "storage"(l% +4 "core" %D \ +2 "storage"(U. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +3 .tSC.seek 3 + "storage"(J(z +4 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 ()& +2 "core" &w S\  +2 "manipulator"&3& +4 "core" & [ . + "manipulator"&u% +4 "core" %\  ?  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&I( +151 "core" ( +2 "manipulator"&& +4 "core" & 5  + "storage"(.& +4 "core" &w #\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&A' +91 "core" ' +2 "storage"(;& +3 "core" &w I\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(b'j +284 "core" ' +2 "storage"(- +3 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (\ & +3 "core" &w w | \\\  + "manipulator"&{& +4 "core" &   +2 .tElbow.seek 3 + "manipulator"&s( +3 "core" ( +2 "manipulator"&6& +3 "core" & L  +2 "storage"(& +3 "core" &w /\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'l +24 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&R/ +76 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&^& +3 "storage"(c'I +5 "core" & R  +2 "manipulator"&% +3 "core" % p V +2 .tForearm.seek :retract +2 "manipulator"&t'\ +95 "core" ' +2 .tElbow.seek PC +2 "manipulator"&F( +159 "core" ' + ."downElevator"SE.coast + "storage"(5 +93 "core" ( +3 "manipulator"&& +3 "core" & y t  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &f& +3 "core" & y s - +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&\\'Њ +96 "core" ' +2 "manipulator"&?& +4 "core" & { F + "manipulator"&D% +4 "core" %~  5 +2 "processing"%k& +3 "core" &9\ +3 "processing"%X& +4 "core" &2\ +2 .tPC.seek :closed +2 "processing"%j(Y +3 "core" &/\ +10 & &4\ #b +9 &U}4\ 8 +9 &|.\ M +10 &Y+\ O +9 &TW#\ O +10 &W%\ O +9 &U%\ O +9 &V#\ P +10 &\\U"\ O +9 &V\ O +9 &X.\ P +10 &!W)\ O +9 &#cU%\ O +10 &%%X \ O +9 &&W%\ O +9 &(V&\ P +10 &*kX \ O +9 &,-Y(\ O +9 &-V$\ O +10 &/T \ O +9 &1sY!\ O +10 &34X \ P +9 &4U&\ O +9 &6V\ O +10 &8|T\ O +9 &:<X\ P +9 &;W\ O +10 &=Y\ O +9 &?T\ O +10 &AFV \ O +9 &C U\ O +9 &DZ\ P +10 &F_ \ P +9 &HJ^ \ P +9 &J\ g\ Q +10 &K|!\ T +9 &M}\ W +10 &O?\ W +9 &Q \ W +9 &R\ V +10 &T\ V +9 &VH\ V +9 &X \ I +10 &Y1E\ #i +9 &Y; \ 4 +5 ( +2 "processing"%X& +3 #tProcessing Clamp onSpring/offSpring for 10/26 samples, on/off torque 1.56 + .Hand.open +2 "manipulator"& 1 +3 "core" &Y*\ 4 +87 1 + "manipulator"&n% +4 "core" % z p > +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%+& +3 "core" &Y*\ 4 +2 #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&T% +3 "core" %\ \ H  +2 "storage"(!% +3 "core" %H w x o\ +2 "storage"(S. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 3 +2 "storage"(,(z +3 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (e& +3 "core" &w Z h t\  +2 "manipulator"&]& +2 ."raiseStack"SE.reconfigure :place +5 "storage"(#].K-0-\ b +2 "core" & , +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +3 "manipulator"&( "storage"('j +4 "core" ( +2 "manipulator"&#& +4 "core" & j + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +2 "core" & D +2 .tForearm.seek PC +2 "manipulator"&W'Њ +92 "core" ' + .tHand.close +2 "manipulator"&|/ +83 "core" / +48 .tPC.seek :open +4 "processing"%/( +27 "core" ' +2 "storage"(P- +3 "core" -'j + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(C' +34 "core" ' +354 ( + "storage"(0& +4 "core" &w \  +2 "manipulator"&& +3 "core" & e +2 "manipulator"&E% +4 "core" % v ' + .tForearm.seek :retract +2 "manipulator"&('\ +107 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&'( +270 "core" ( +2 "manipulator"&N& +4 "core" & @ + "storage"(y& +4 "core" &w k\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"& ' +103 "core" ' + .tHand.open +2 "manipulator"&71 +66 "core" 1 +2 "storage"(r- +3 "core" -' +2 .tSE.seek -0.22 Pucks below Top Plate +2 "storage"(_' +28 "core" ' +3 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(K' +53 "core" ' +2 #tLights, camera, ACTION! + "storage"(- +3 "core" -' +2 "storage"(g& +3 "core" &w T\  +2 "manipulator"&& +4 "core" &  +2 .tElbow.seek 3 +2 "manipulator"&5( +3 "core" ( + "manipulator"&M& +4 "core" &  +2 "storage"(>& +3 "core" &w o\  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&' +17 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(h'V +61 "core" ' +2 "manipulator"&& +4 "core" & q u p + "storage"(& +4 "core" &w V\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&'@ +38 "core" ' + .tElbow.hold +2 "manipulator"&", +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(*'@ +35 "core" ' +2 "manipulator"&p% +4 "core" %Q? \\ ow + "storage"(& +4 "core" &w H\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 3 + 317 counts +2 "manipulator"&'} +22 "core" ' +2 "manipulator"&& +4 "core" &'   +2 "storage"(& +3 "core" &w $\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&' +28 "core" ' +2 "storage"(a% +4 "core" %A [\ +2 ."downElevator"SE.seek :down +4 "storage"(B'I +99 (o% +3 "core" %7 y e H\ V_ +2 "manipulator"&%% +4 "core" %  F +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&x'\ +100 "core" ' +46 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 "collection"'V& +4 "core" &YnAG`\ P +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&=% +4 "core" %\  +2 "storage"($% +3 "core" %B \ +2 "storage"(~. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +3 .tSC.seek 3 + "storage"(O(z +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (m& +2 "core" &w )\  +2 "manipulator"&[& +4 "core" &'   + .tElbow.seek 3 +2 "manipulator"& ( +14 "core" ( +2 "manipulator"&-& +3 "core" & W +2 "storage"(d& +4 "core" &w V\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&L' +102 "core" ' +2 "storage"(v& +4 "core" &w i\  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('j +284 "core" ' +2 "storage"(- +3 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &  + "storage"(@& +4 "core" &w /\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&:'@ +38 "core" ' + .tElbow.hold +2 "manipulator"&q, +3 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(Q- +2 "core" -' +2 .tSE.seek 0.03 Pucks below Top Plate +2 "storage"(`'\ +31 "core" ' +2 "manipulator"& % +3 "core" %EJ r +2 "storage"(&& +3 "core" &w 1\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 305 counts +2 "manipulator"&z'q +22 "core" ' +2 "manipulator"&i& +3 "core" &( 4  +2 "storage"(& +4 "core" &w $\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&2' +23 "core" ' +2 .tSE.seek 1.03 Pucks below Top Plate +2 "storage"(G' +49 "core" ' +2 "manipulator"&& +4 "core" &(   + "manipulator"&8% +4 "core" %  j +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&9'\ +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&l( +162 "core" ( +2 "manipulator"&}& +3 "core" & M 1 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &U& +3 "core" & h 1 +2 .tForearm.seek CC + "manipulator"&)'Ϥ +92 "core" ' + .tHand.close +2 "manipulator"&3/ +71 "core" / +2 .tCC.seek :open + "collection"'u( +433 "core" ( + "storage"(<& +4 "core" &w `\  +2 "storage"(& +3 "core" &w \  +2 "manipulator"&.& +3 "core" & j n O 1 +2 "manipulator"&4% +3 "core" % ϓ c d U  +2 .tForearm.seek :retract +2 "manipulator"&;'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&H( +162 "core" ( +2 "manipulator"&Z& +3 "core" & r  6 +2 "storage"(& +4 "core" &w i\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.seek 3 +2 "manipulator"&\ '@ +111 "core" ' + .tElbow.hold +2 "manipulator"&{, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&61 +67 "core" 1 +42 "manipulator"&% +12 "core" % QW x s + "storage"(R& +4 "core" &w 5 = \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 317 counts +2 "manipulator"&^'} +18 "core" ' +2 "manipulator"&& +4 "core" &"   + "storage"(I& +4 "core" &w\ \ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&A' +38 "core" ' +2 "storage"(b% +4 "core" %\ \ 9\ +2 ."downElevator"SE.seek :down +3 "storage"('I +100 (% +3 "core" %m4 \ U[ + "manipulator"&f% +4 "core" %  Z +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&s'\ +101 "core" ' +41 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast "storage"(6 +3 #tShuffling pucks in tube 4 of [1..7] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'?& +4 "core" &@Eu\ +2 "manipulator"&D% +3 "core" %\ K +2 "storage"(k% +4 "core" %W   \  +2 "storage"(c. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 4 +2 "storage"(t(, +185 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (1& +2 "core" &, +\  +2 "manipulator"& & +4 "core" &"   +2 .tElbow.seek 4 +2 "manipulator"&n( +20 "core" ( +2 "manipulator"&X& +4 "core" & P  + "storage"(+& +4 "core" &, r\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&T' +104 "core" ' +2 "storage"(!& +3 "core" &, *\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(S'j +283 "core" ' +2 "storage"(e- +3 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (]& +3 "core" &, S\  + "manipulator"&#& +4 "core" & 8  +2 .tElbow.seek 4 + "manipulator"& ( +3 "core" ( +2 "manipulator"&\\& +3 "core" & r   +2 "storage"(|& +3 "core" &, $\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&J'@ +25 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&P/ +74 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&F& +4 "storage"('I +5 "core" & :  +2 "manipulator"&j% +4 "core" % B t  + .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&0( +146 "core" ' + ."downElevator"SE.coast + "storage"(5 +13 "core" ( +2 "manipulator"&& +3 "core" & y | G , +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &E& +2 "core" & m " , +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&W'Ϥ +99 "core" ' +2 "manipulator"&N& +4 "core" & d n , +2 "manipulator"&y% +3 "core" %ϫ f n [ +2 "collection"'& +4 "core" &?Dm\ +3 "collection"'7& +5 "core" &@Ew\ +2 .tCC.seek :closed +2 "collection"'r(Y +4 "core" &BCo\ +8 &5>Fn\ $c +9 &T}BEx\ 7 +9 &|@Es\ L +10 &TAEl\ M +9 &`SABu\ M +9 &"W?Du\ M +10 &U@Eu\ M +9 &T@Ew\ M +10 &hT@Es\ M +9 &*T@Dt\ M +9 &R?Ey\ M +10 &!U@G{\ M +9 &#pU?Fy\ M +9 &%3R@Dt\ M +10 &&WBFw\ M +9 &(V?Fz\ M +10 &*xUDEx\ M +9 &,;V?Gx\ M +9 &-U?Di\ M +10 &/UAFv\ M +9 &1UCBu\ M +9 &3AV@Fw\ N +10 &5WBEw\ N +9 &6U?Dx\ M +10 &8YAFl\ M +9 &:JW?Fw\ M +9 &< R@Cl\ M +10 &=VBDi\ M +9 &?S@Ds\ M +9 &ARUBFi\ M +10 &CX@Fk\ M +9 &D_BEn\ N +10 &F\\AEl\ N +9 &HUgBHk\ O +9 &J{BC`\ R +10 &KCEf\ V +9 &M{AFk\ Z +9 &O;@Gj\ [ +10 &PCFg\ [ +9 &RBE`\ \\ +10 &T}BE^\ \\ +9 &V@BHe\ \\ +9 &XBF\\\ \\ +10 &YYIDF]\ . +9 &YxBGe\ O +5 ( +2 "collection"'7& +3 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 2.40 + .Hand.open +2 "manipulator"&1 +3 "core" &YeCE`\ O +62 1 + "manipulator"&g% +4 "core" % Ϫ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%M& +4 "core" & \ +2 "manipulator"&(% +3 "core" %\ {  +2 "storage"(>% +4 "core" %O M\ + "storage"(. +4 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +3 .tSC.seek 4 + "storage"((, +2 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +2 (C& +3 "core" &, p\  +2 "manipulator"&p& +3 "core" & | y , +2 "manipulator"&% +3 "core" %\  } ~  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&_( +157 "core" ( +2 "manipulator"&& +3 "core" &   +2 "storage"(& +4 "core" &, \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&'' +95 "core" ' +2 "storage"(a& +3 "core" &, o\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"( 'j +275 "core" ' +2 "storage"(K- +3 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (o& +2 "core" &, S\  +2 "manipulator"&%& +3 "core" & #  +2 .tElbow.seek 4 +2 "manipulator"&( +3 "core" ( + "manipulator"&5& +3 "core" & )  +2 "storage"(h& +3 "core" &, 7\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&'@ +23 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +74 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&V& +6 "storage"(='I +4 "core" & &  + "manipulator"&$% +4 "core" % > w v 8  +2 .tForearm.seek :retract +2 "manipulator"&~'\ +98 "core" ' +2 .tElbow.seek PC +2 "manipulator"&*( +153 "core" ' + ."downElevator"SE.coast + "storage"(5 +102 "core" ( +2 "manipulator"&m& +4 "core" & z  o +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &[& +3 "core" & a o +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&-'Њ +96 "core" ' +2 "manipulator"&d& +4 "core" & a c o + "manipulator"&% +4 "core" %Ђ V V +2 "processing"%v& +3 "core" &\ +3 "processing"%B& +4 "core" & \ +2 .tPC.seek :closed +2 "processing"%,(Y +5 "core" &#\  +10 &-v \ +{ +9 &b\ ? +9 &ju#\ O +10 &+U!\ O +52 &W"\ O +4 &W\ O + &qU \ O + &4Y\ O &W \ O + &W\ O +6 & yZ\ O +10 &";Y\ O +9 &#W\ O +9 &%T\ O +10 &'V \ O +9 &)DX\ O +9 &+W\ O +10 &,Y\ O +9 &.W\ O +10 &0KU \ O +9 &2 Y\ O +9 &3W \ O +10 &5Y\ O +9 &7TV\ O +9 &9X\ O +10 &:X\ O +9 &<Y\ O +10 &>[W\ O +9 &@U\ O +9 &AW\ O +10 &CW\ O +9 &EcX\ \ O +9 &G$_\ P +10 &H` \ P +9 &Jj\ Q +10 &L]\ T +9 &N\ W +9 &O\ W +10 &Q\ V +9 &S]\ W +9 &U \ V +10 &V\ V +9 &Xw\ 8 +10 &Ya/\ V +9 &Y.\ 4 +2 ( +2 "processing"%B& +2 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.54 + .Hand.open + "manipulator"&"1 +73 "core" 1 +2 "manipulator"&x% +4 "core" %  o  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%& +4 "core" &Y. \ 4 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&@% +4 "core" %\  { + "storage"(Q% +4 "core" %L T T 7\ +2 "storage"( . +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 4 +2 "storage"(&(, +2 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (i& +2 "manipulator"&& +4 "core" &, ^ X\  +3 ."raiseStack"SE.reconfigure :place +3 "storage"(#].K-0-\ b +2 "core" & g o +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak + "manipulator"&( +2 "storage"(8'j +5 "core" ( +2 "manipulator"&L& +3 "core" &  o +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 & & +3 "core" & f o +2 .tForearm.seek PC +2 "manipulator"&'Њ +94 "core" ' + .tHand.close +2 "manipulator"&:/ +77 "core" / +3 .tPC.seek :open + "processing"%z( +74 "core" ' +2 "storage"(`- +3 "core" -'j + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(}' +43 "core" ' +299 ( + "storage"(U& +4 "core" &, z \  +2 "manipulator"&2& +3 "core" & } \ o +2 "manipulator"&q% +4 "core" % Б ~   + .tForearm.seek :retract +2 "manipulator"&3'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&9( +278 "core" ( +2 "manipulator"&& +3 "core" &   +2 "storage"(<& +4 "core" &, ^\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&' +115 "core" ' + .tHand.open +2 "manipulator"&.1 +66 "core" 1 +2 "storage"(4- +3 "core" -' +2 .tSE.seek -0.22 Pucks below Top Plate +2 "storage"(Z' +25 "core" ' +3 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(' +54 "core" ' + #tLights, camera, ACTION! +2 "storage"()- +3 "core" -' +2 "storage"(l& +3 "core" &, S\  +2 "manipulator"&6& +3 "core" &   +2 .tElbow.seek 4 +2 "manipulator"&( +13 "core" ( +2 "manipulator"&R& +3 "core" & 0 n +2 "storage"(& +4 "core" &, l\  +2 .tForearm.seek 4 + 700 counts + "manipulator"&I' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(;'V +63 "core" ' +2 "manipulator"&b& +4 "core" &  n + "storage"(H& +4 "core" &, H\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"&' +36 "core" ' + .tElbow.hold +2 "manipulator"&f, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(\ '@ +33 "core" ' +2 "manipulator"&^% +4 "core" %#E ` q +2 "storage"(?& +3 "core" &, 2\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 315 counts +2 "manipulator"&D'O +19 "core" ' +2 "manipulator"&k& +4 "core" &  U +2 "storage"(c& +3 "core" &, \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&G' +21 "core" ' +2 "storage"(A% +4 "core" %G Z\ +2 ."downElevator"SE.seek :down +4 "storage"(1'I +99 ( % +3 "core" %4 w )\ V_ + "manipulator"&X% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&+'\ +90 "core" ' +61 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 "collection"'& +4 "core" &YfCF\\\ O + #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&O% +3 "core" %\ - v +2 "storage"(!% +3 "core" %K <\ +2 "storage"({. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 4 + "storage"(s(, +3 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +2 (e& +3 "core" &, \  +2 "manipulator"&]& +4 "core" & U +2 .tElbow.seek 4 +2 "manipulator"&#( +9 "core" ( +2 "manipulator"&\\& +4 "core" & ( _ + "storage"(|& +4 "core" &, C\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&P' +109 "core" ' +2 "storage"(F& +4 "core" &, \  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(j'j +283 "core" ' + "storage"(n- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&T& +3 "core" & 6 _ +2 "storage"(& +3 "core" &, \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&E' +34 "core" ' + .tElbow.hold +2 "manipulator"&S, +3 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"(J- +2 "core" -' +2 .tSE.seek 0.02 Pucks below Top Plate +2 "storage"(N' +28 "core" ' +2 "manipulator"&y% +3 "core" %!Q r +2 "storage"(& +3 "core" &, n\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 313 counts +2 "manipulator"& 'M +16 "core" ' +2 "manipulator"&& +3 "core" & m F +2 "storage"(& +4 "core" &, +\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +50 .tForearm.seek 4 + 700 counts +2 "manipulator"&u' +33 "core" ' +2 .tSE.seek 1.02 Pucks below Top Plate +2 "storage"(' +46 "core" ' +2 "manipulator"&g& +4 "core" & 7 F +2 "manipulator"&M% +3 "core" % " N +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&('\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&>( +166 "core" ( +2 "manipulator"&7& +4 "core" &  1 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" &  ~  1 +2 .tForearm.seek CC +2 "manipulator"&C'Ϥ +92 "core" ' + .tHand.close +2 "manipulator"&p/ +68 "core" / +2 .tCC.seek :open + "collection"'( +433 "core" ( +2 "storage"(W& +3 "core" &, 7\  +2 "storage"(& +3 "core" &, \  +2 "manipulator"&& +4 "core" & |  0 +2 "manipulator"&t% +3 "core" % Ϥ e l f " +2 .tForearm.seek :retract +2 "manipulator"&a'\ +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&0( +159 "core" ( +2 "manipulator"&& +4 "core" &   + "storage"(K& +4 "core" &, g\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.seek 4 +2 "manipulator"&o' +108 "core" ' + .tElbow.hold +2 "manipulator"&%, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&51 +75 "core" 1 +3 "manipulator"&h% +4 "core" % (e  u +2 "storage"(& +3 "core" &, : 1\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 4 + 320 counts + "manipulator"&V'T +23 "core" ' +2 "manipulator"&$& +3 "core" & | r  M +2 "storage"(_& +4 "core" &, \ \\\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&'' +20 "core" ' +2 "storage"( % +4 "core" %\ \  \ +2 ."downElevator"SE.seek :down +3 "storage"('I +100 (m% +3 "core" %g6 \ U[ + "manipulator"&[% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +47 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast "storage"(6 +3 #tShuffling pucks in tube 5 of [1..7] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'d& +4 "core" &@Eo\ +2 "manipulator"&% +4 "core" %\  u ,  + "storage"(v% +4 "core" %X\ \ \ +2 "storage"(=. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 5 +2 "storage"(~(; +192 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (/& +2 "core" &; \  +2 "manipulator"&"& +4 "core" & V M + .tElbow.seek 5 +2 "manipulator"&x( +11 "core" ( +2 "manipulator"&& +3 "core" &  o +2 "storage"(@& +4 "core" &; ]\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&B', +99 "core" ' +2 "storage"(Q& +3 "core" &; \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"( 'j +285 "core" ' + "storage"(i- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &; K\  +2 "manipulator"&L& +4 "core" & w o  o + .tElbow.seek 5 +2 "manipulator"& ( +3 "core" ( +2 "manipulator"&-& +4 "core" & p w  o + "storage"(:& +4 "core" &; W\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&'Ϝ +26 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&`/ +75 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&*& +4 "storage"('I +5 "core" &  o +2 "manipulator"&,% +3 "core" % Ϝ ? +2 .tForearm.seek :retract +2 "manipulator"&8'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&U( +147 "core" ' + ."downElevator"SE.coast + "storage"(5 +17 "core" ( +2 "manipulator"&2& +4 "core" & } r $ 0 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &q& +2 "core" & {  0 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'Ϥ +95 "core" ' +2 "manipulator"&& +4 "core" & j 0 + "manipulator"&<% +4 "core" %ϙ {  +3 "collection"'& +3 "core" &ABi\ +2 "collection"'.& +5 "core" &AEh\ +2 .tCC.seek :closed +2 "collection"'4(Y +4 "core" &@Dq\ +9 &6?El\ $c +9 &V@Cs\ 7 +10 &{?Dp\ L +9 &UAFq\ M +10 &gV@Et\ M +9 &*S@Ex\ M +9 &U@Fx\ M +10 &TBGr\ M +9 &qTAEv\ M +9 &3TCGo\ M +10 &U?Cr\ M +9 &!U@Dv\ L +10 &#wVCCm\ M +9 &%8W@Dr\ N +9 &&VBDt\ M +10 &(UACw\ M +9 &*UADo\ M +9 &,BTBEp\ M +10 &.U@Fv\ M +9 &/U?Ep\ M +10 &1UBEm\ M +9 &3JWAFh\ M +9 &5 WADp\ M +10 &6U?Ek\ M +9 &8SADo\ M +9 &:RVBDj\ M +10 &<U?Fj\ M +9 &=WBFg\ M +10 &?YAEb\ M +9 &AYV@Fe\ M +9 &CW?Fi\ N +10 &D\\AF^\ M +9 &FZBDW\ M +9 &H^`AF[\ N +10 &JwBE_\ Q +9 &KBFU\ V +10 &MADe\ Z +9 &OEBEQ\ Z +9 &QAFX\ [\ +10 &RAET\ \\ +9 &TAGQ\ \\ +9 &VEBHM\ \\ +10 &XAFR\ \\ +9 &Y`HBGX\ ){ +10 &Y\ CHU\ T +5 ( +2 "collection"'.& +3 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 2.35 + .Hand.open +2 "manipulator"&)1 +3 "core" &Y{CCL\ T +74 1 + "manipulator"&l% +4 "core" % ϙ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&6'\ +93 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%3& +4 "core" &'\ +2 "manipulator"&R% +3 "core" %\  z  +2 "storage"(% +4 "core" %M y y f\ +2 "storage"(b. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +3 .tSC.seek 5 + "storage"(H(; +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (}& +2 "core" &; V d\  +2 "manipulator"&^& +4 "core" & ~ } 0 +2 "manipulator"&?% +3 "core" %\  q |  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 + "manipulator"&Z( +153 "core" ( +2 "manipulator"&k& +3 "core" &  +2 "storage"(c& +4 "core" &; '\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +48 "manipulator"&A', +94 "core" ' +2 "storage"(9& +3 "core" &; s\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('j +285 "core" ' +2 "storage"(- +3 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +3 "core" &; x y H\  + "manipulator"&X& +4 "core" &  +2 .tElbow.seek 5 + "manipulator"&I( +4 "core" ( +2 "manipulator"&& +3 "core" &  +2 "storage"(;& +4 "core" &; h n\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&'Ϝ +26 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"&D/ +71 "core" / +3 ."downElevator"SE.seek :down +5 "manipulator"&& +3 "storage"(O'I +6 "core" & s t +2 "manipulator"&!% +3 "core" % ϥ q q )  +2 .tForearm.seek :retract +2 "manipulator"&{'\ +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"&\ ( +158 "core" ' + ."downElevator"SE.coast + "storage"(5 +94 "core" ( +3 "manipulator"&e& +4 "core" & n + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &]& +2 "core" & w | n +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&\\'Њ +99 "core" ' +2 "manipulator"&|& +4 "core" & d c + "manipulator"&G% +4 "core" %Г W W +2 "processing"%F& +4 "core" &!\ +2 "processing"%1& +4 "core" &!\ +2 .tPC.seek :closed +2 "processing"%&(Y +4 "core" & \ +8 &\ %$\ #b +10 &V$\ 8 +9 &~~&\ M +9 &W%\ O +10 &YX\ O +9 &W#\ O +10 &W \ O +9 &W"\ P +9 &aU$\ O +10 &"W#\ O +9 &Y$\ O +9 &![ \ P +10 &#hX$\ O +9 &%*Z!\ O +10 &&W\ O +9 &(W%\ O +9 &*pZ!\ O +10 &,2W!\ O +9 &-X!\ P +9 &/Y\ O +10 &1xZ\ O +9 &3:Y\ O +10 &4T"\ O +9 &6W\ O +9 &8X\ O +10 &:BX\ O +9 &<U\ O +9 &=Y\ O +10 &?U \ O +9 &AJU \ O +10 &C W\ O +9 &DW\ P +9 &F\\\ P +10 &HOa\ P +9 &Jf \ Q +9 &K \ T +10 &M\ xW +9 &OD \ {W +10 &Q\ zW +9 &R\ \ {W +9 &T \ {W +10 &VM\ }V +9 &X \ |H +9 &Y4D\ #i +10 &YC \ 7 +5 ( +2 "processing"%1& +3 #tProcessing Clamp onSpring/offSpring for 10/26 samples, on/off torque 1.54 + .Hand.open +2 "manipulator"&f1 +3 "core" &Y1\ 7 +67 1 + "manipulator"&+% +4 "core" % А H +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&n'\ +94 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%T& +4 "core" &Y1\ 7 + #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&% +3 "core" %\ \   +2 "storage"(J% +4 "core" %Y A @ Z\ +2 "storage"(y. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +3 .tSC.seek 5 + "storage"((; +4 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +4 (& +2 "manipulator"&& +5 "core" &; 5 ? j\  + & p +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +4 "storage"(#].K-0-\ b +2 "manipulator"&g( +4 ."raiseStack"SE.seek :beamBreak +3 "storage"(M'j +2 "core" ( + "manipulator"&P& +4 "core" &  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &#& +3 "core" & E +2 .tForearm.seek PC +2 "manipulator"&j'Њ +95 "core" ' + .tHand.close +2 "manipulator"&E/ +72 "core" / +3 .tPC.seek :open + "processing"% ( +82 "core" ' +2 "storage"(N- +3 "core" -'j + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(7' +39 "core" ' +299 ( + "storage"(& +4 "core" &; Y W\  +2 "manipulator"&u& +3 "core" & r N +2 "manipulator"&S% +3 "core" % К ~ ~ ? +2 .tForearm.seek :retract +2 "manipulator"&p'\ +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&(( +274 "core" ( +2 "manipulator"&r& +4 "core" & 1 \ +2 "storage"(W& +3 "core" &; *\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&', +95 "core" ' + .tHand.open +2 "manipulator"&1 +76 "core" 1 +2 "storage"(t- +3 "core" -' +2 .tSE.seek -0.22 Pucks below Top Plate +2 "storage"(' +26 "core" ' +3 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(K' +53 "core" ' + #tLights, camera, ACTION! +2 "storage"(C- +3 "core" -' +2 "storage"(>& +3 "core" &; z \  +2 "manipulator"&5& +3 "core" & R \ +2 .tElbow.seek 5 +2 "manipulator"&h( +3 "core" ( +2 "manipulator"&& +4 "core" &  \ +2 "storage"($& +3 "core" &; X\  +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&_', +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate + "storage"( 'V +64 "core" ' +2 "manipulator"&a& +4 "core" &  \ + "storage"(m& +4 "core" &; \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&['p +38 "core" ' + .tElbow.hold +2 "manipulator"&0, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(o'@ +24 "core" ' +2 "manipulator"&d% +4 "core" %΀T r + "storage"(V& +4 "core" &; \ \  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 5 + 316 counts +2 "manipulator"&'Ϭ +23 "core" ' +2 "manipulator"&v& +4 "core" &   +2 "storage"(=& +3 "core" &; y y \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts +2 "manipulator"&', +24 "core" ' +2 "storage"('% +4 "core" %G w \ +2 ."downElevator"SE.seek :down +4 "storage"(/'I +99 ("% +3 "core" %2 3 1 !\ V_ + "manipulator"&% +4 "core" %  r +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&@'\ +92 "core" ' +59 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 "collection"'& +4 "core" &YzBEO\ T +49 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&s% +4 "core" %\  +2 "storage"(Q% +3 "core" %G %\ +2 "storage"(%. +3 "core" . + .tSC.reconfigure :tight +3 "storage"($\ .(\ 1~b +2 .tSC.seek 5 +2 "storage"((; +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (i& +3 "core" &; D\  + "manipulator"&& +4 "core" &   +2 .tElbow.seek 5 + "manipulator"&L( +18 "core" ( +2 "manipulator"&-& +4 "core" &   + "storage"(:& +4 "core" &; \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts +2 "manipulator"&`', +99 "core" ' +2 "storage"(*& +4 "core" &; a\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(,'j +279 "core" ' + "storage"(x- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&B& +2 "core" &   +2 "storage"(2& +3 "core" &; f u \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&q'p +37 "core" ' + .tElbow.hold +2 "manipulator"& , +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(- +2 "core" -' +2 .tSE.seek 0.03 Pucks below Top Plate +2 "storage"(' +31 "core" ' +2 "manipulator"&<% +3 "core" %}S r +2 "storage"(& +4 "core" &; Y\  + .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 313 counts +2 "manipulator"& 'ϩ +23 "core" ' +2 "manipulator"&& +4 "core" & S  + "storage"(8& +4 "core" &; q R\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts +2 "manipulator"&', +28 "core" ' +2 .tSE.seek 1.03 Pucks below Top Plate +2 "storage"()' +48 "core" ' +2 "manipulator"&l& +4 "core" & r 0  + "manipulator"&3% +4 "core" %*  _ N +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&R'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&.( +161 "core" ( +2 "manipulator"&& +4 "core" & } 0 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &b& +3 "core" & } + 0 + .tForearm.seek CC +2 "manipulator"&}'Ϥ +95 "core" ' + .tHand.close +2 "manipulator"&^/ +75 "core" / +2 .tCC.seek :open + "collection"'?( +437 "core" ( +2 "storage"(& +3 "core" &; \  +2 "storage"(k& +3 "core" &; \  +2 "manipulator"&c& +3 "core" & _ [ / +2 "manipulator"&~% +3 "core" % ϡ ] ^  +2 .tForearm.seek :retract +2 "manipulator"&U'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&9( +158 "core" ( +2 "manipulator"&6& +3 "core" & Z } +2 "storage"(& +4 "core" &; b\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(#b +2 .tForearm.seek 5 +2 "manipulator"& 'p +109 "core" ' + .tElbow.hold +2 "manipulator"&X, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&1 +70 "core" 1 +2 "manipulator"&;% +4 "core" % {r : w +3 "storage"(D& +3 "core" &; A @ e\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 311 counts +2 "manipulator"&'ϧ +19 "core" ' +2 "manipulator"&!& +3 "core" & s 4 +2 "storage"(Z& +4 "core" &; \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts +2 "manipulator"&A', +32 "core" ' +2 "storage"(% +4 "core" %\ ^\ +2 ."downElevator"SE.seek :down +3 "storage"('I +100 (e% +3 "core" %5 \ U[ + "manipulator"&]% +4 "core" % v u  [ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&I'\ +90 "core" ' +52 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast +2 "storage"(6 +2 #tShuffling pucks in tube 6 of [1..7] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'|& +4 "core" &AFm\ +2 "manipulator"&G% +3 "core" %\  +2 "storage"(F% +4 "core" %Z\ $\ ' \ + "storage"(O. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +3 .tSC.seek 6 + "storage"({(K +187 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (z& +2 "core" &K% \  +2 "manipulator"&f& +4 "core" &  4 +2 .tElbow.seek 6 +2 "manipulator"&+( +33 "core" ( +2 "manipulator"&T& +3 "core" &~\ r y 3 J +2 "storage"(& +4 "core" &K" [\ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&J' +97 "core" ' +2 "storage"(1& +4 "core" &K" M\ \  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(y'j +286 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &K w \ \  +2 "manipulator"&P& +3 "core" &~\ | ' J +2 .tElbow.seek 6 +2 "manipulator"&#( +22 "core" ( +2 "manipulator"&\\& +4 "core" & J  +2 "storage"(E& +3 "core" &K \ \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&H'V +18 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&N/ +77 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&\ & +2 "storage"(n'I +7 "core" & r s ?  +2 "manipulator"&&% +3 "core" % U r v 9 Y +2 .tForearm.seek :retract +2 "manipulator"&M'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +147 "core" ' + ."downElevator"SE.coast + "storage"(5 +11 "core" ( +2 "manipulator"&u& +4 "core" & p t  2 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &S& +2 "core" & z s Y 2 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&j'Ϥ +97 "core" ' +3 "manipulator"&r& +4 "core" & | 2 +2 "manipulator"&W% +3 "core" %ϙ x +48 "collection"'g& +4 "core" &AFk\ +3 "collection"'& +4 "core" &@Fn\ +2 .tCC.seek :closed +2 "collection"'t(Y +4 "core" &BFm\ +9 &5>Du\ #c +9 &V~@Do\ 7 +10 &{?Em\ L +9 &UADv\ M +9 &aWCCp\ M +10 &#U?Ek\ M +9 &U>Dp\ M +9 &Q@Eq\ M +10 &kT?Fs\ M +9 &,T?Dx\ M +9 &UAFr\ M +10 &!U@Fw\ M +9 &#qUADr\ M +10 &%4WAGr\ M +9 &&V?Fk\ M +9 &(UABm\ M +10 &*yUBEn\ M +9 &,<QAFu\ M +9 &-UBDv\ M +10 &/U?Ex\ M +9 &1U?Dp\ M +10 &3CVADo\ M +9 &5Y@Gq\ M +9 &6U@Fk\ M +10 &8SAGl\ M +9 &:KW@Dh\ M +10 &< U?El\ N +9 &=VAFr\ M +9 &?W@Ej\ M +10 &ATR@F]\ M +9 &CWBD[\ N +9 &D[BCi\ M +10 &FYADg\ M +9 &HY_@Fd\ N +10 &Jt?Fe\ Q +9 &KBFa\ V +9 &M}BHb\ Z +10 &O??Fg\ Z +9 &P@Dc\ [\ +9 &R?EM\ \\ +10 &T~BFY\ \\ +9 &V@BEU\ \\ +9 &XADZ\ \\ +10 &YZIBGc\ - +9 &YyCFX\ O +5 ( +2 "collection"'& +4 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 2.36 + .Hand.open +2 "manipulator"&C1 +3 "core" &Yq@Eb\ O +67 1 + "manipulator"&>% +4 "core" % ϙ j +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&5'\ +89 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 6 into Processing Clamp + "processing"%& +4 "core" &\ +2 "manipulator"&p% +4 "core" %\  { ~ m + "storage"($% +4 "core" %M R\ +2 "storage"(a. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +3 .tSC.seek 6 + "storage"(m(K +2 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +2 (7& +3 "core" &K x { q\  +2 "manipulator"&d& +3 "core" & ~ ~ y 2 +2 "manipulator"&V% +3 "core" %\  ~ ~ m +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&( +151 "core" ( +2 "manipulator"&v& +4 "core" &   + "storage"(=& +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts +2 "manipulator"&'' +91 "core" ' +2 "storage"((& +4 "core" &K \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('j +283 "core" ' +2 "storage"(K- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +2 ("& +3 "core" &K Y S k\  +2 "manipulator"&& +3 "core" & v   +2 .tElbow.seek 6 +2 "manipulator"&_( +7 "core" ( + "manipulator"&h& +4 "core" &  +2 "storage"( & +4 "core" &K x z =\  +2 .tForearm.seek 6 + 300 counts + "manipulator"&['V +24 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +75 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +3 "storage"(s'I +5 "core" &   +2 "manipulator"&o% +3 "core" % f * +2 .tForearm.seek :retract +2 "manipulator"&Q'\ +91 "core" ' +2 .tElbow.seek PC +2 "manipulator"&%( +164 "core" ' + ."downElevator"SE.coast + "storage"(5 +86 "core" ( +2 "manipulator"&i& +3 "core" & v { B +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +3 "core" & q s  + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&-'Њ +100 "core" ' +2 "manipulator"&:& +4 "core" & | f + "manipulator"&% +4 "core" %Ё | u s +2 "processing"%*& +3 "core" &(\ +2 "processing"%/& +5 "core" &*\ +2 .tPC.seek :closed +2 "processing"%(Y +4 "core" &/\ +7 & &2\ #b +10 &V'\ 8 +9 &~}\ M +9 &Y\ O +10 &OU\ O +9 &W\ O +10 &U"\ N +9 &V \ O +9 &XT"\ N +10 &W"\ O +9 &W%\ O +9 &!Y\ O +10 &#]W"\ O +9 &% W#\ O +10 &&W"\ O +9 &(Z"\ O +9 &*gY"\ O +10 &,*W$\ N +9 &-W\ O +9 &/W\ N +10 &1nY!\ O +9 &31X\ O +10 &4Y\ O +9 &6U\ O +9 &8xV\ N +10 &::W\ N +9 &;W\ O +9 &=U!\ O +10 &?T\ N +9 &A@Y \ O +10 &CZ\ O +9 &D_\ P +9 &Fa\ P +10 &HCe\ Q +9 &Jq\ R +9 &K\ V +10 &Mw!\ W +9 &O8\ W +10 &P\ W +9 &R\ V +9 &T!\ V +10 &VC\ V +9 &X\ I +8 &Y1I\ b +10 &Y Q\ 8 +5 ( +2 "processing"%/& +3 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.65 +2 .Hand.open + "manipulator"&01 +3 "core" &Y1\ 8 +64 1 + "manipulator"&@% +4 "core" % Ё ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&x'\ +105 "core" ' +2 .tSC.coast + "storage"(6 +3 "processing"%B& +4 "core" &Y1\ 8 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&2% +3 "core" %\ ) +2 "storage"(% +4 "core" %Z R T U\ +2 "storage"(<. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +3 .tSC.seek 6 + "storage"((K +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (& +3 "core" &K U U m\  +2 "manipulator"&8& +2 ."raiseStack"SE.reconfigure :place +6 "storage"(#].K-0-\ b +2 "core" & # +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +2 "manipulator"&l( +5 "storage"(3'j +2 "core" ( +2 "manipulator"&`& +3 "core" &  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &L& +2 "core" & ] +2 .tForearm.seek PC +2 "manipulator"&,'Њ +94 "core" ' + .tHand.close +2 "manipulator"&q/ +65 "core" / +2 .tPC.seek :open +2 "processing"% ( +87 "core" ' +2 "storage"(- +3 "core" -'j + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(' +40 "core" ' +290 ( + "storage"(b& +4 "core" &K J\  +2 "manipulator"&& +3 "core" &  +2 "manipulator"& % +3 "core" % Ї  +2 .tForearm.seek :retract +2 "manipulator"&^'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&R( +315 "core" ( + "manipulator"&4& +4 "core" &   +2 "storage"(& +3 "core" &K 4\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&k' +107 "core" ' + .tHand.open +2 "manipulator"&c1 +75 "core" 1 +2 "storage"(~- +3 "core" -' +2 .tSE.seek -0.22 Pucks below Top Plate +2 "storage"(6' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(' +53 "core" ' + #tLights, camera, ACTION! +2 "storage"(}- +3 "core" -' +2 "storage"(.& +3 "core" &K c c \  +2 "manipulator"&& +3 "core" &   +47 .tElbow.seek 6 +5 "manipulator"&;( +3 "core" ( +2 "manipulator"&D& +3 "core" &   +2 "storage"(!& +4 "core" &K ^ U \  +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&Z' +18 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"('V +59 "core" ' +2 "manipulator"&U& +4 "core" & H  +2 "storage"(e& +3 "core" &K R S ]\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +2 "manipulator"&]'* +35 "core" ' + .tElbow.hold +2 "manipulator"&9, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"( '@ +27 "core" ' +2 "manipulator"&% +4 "core" %7D \\ p +2 "storage"(|& +3 "core" &K \  +2 .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 313 counts + "manipulator"&G'c +24 "core" ' +2 "manipulator"&F& +4 "core" & w r   +2 "storage"(O& +3 "core" &K U U 4\  +4 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&)' +20 "core" ' +2 "storage"(A% +4 "core" %C \ +2 ."downElevator"SE.seek :down +4 "storage"(z'I +99 (f% +3 "core" % 4 A @ \ U^ +2 "manipulator"&T% +3 "core" % ] +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +58 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast "storage"(6 +3 "collection"'& +4 "core" &YqAGd\ O +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&% +4 "core" %\ \   +2 "storage"(1% +4 "core" %N w \ +2 "storage"(X. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 6 +2 "storage"(I(K +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (& +2 "core" &K y (\  +2 "manipulator"&& +4 "core" &   +2 .tElbow.seek 6 +2 "manipulator"&P( +10 "core" ( +2 "manipulator"&\\& +4 "core" & 5  + "storage"(E& +4 "core" &K )\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&N' +96 "core" ' +2 "storage"(\ & +4 "core" &K D\  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(&'j +283 "core" ' + "storage"(+- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&J& +3 "core" &   + "storage"(u& +4 "core" &K U T \\\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&S'* +32 "core" ' + .tElbow.hold +2 "manipulator"&y, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(H- +2 "core" -' +3 .tSE.seek 0.05 Pucks below Top Plate + "storage"(r' +22 "core" ' +2 "manipulator"&W% +3 "core" %2I q +2 "storage"(g& +3 "core" &K Y\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 6 + 308 counts +2 "manipulator"&#'^ +16 "core" ' +2 "manipulator"&n& +3 "core" & 9 u +2 "storage"(M& +4 "core" &K z y `\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts +2 "manipulator"&?' +18 "core" ' +2 .tSE.seek 1.05 Pucks below Top Plate +2 "storage"(C' +49 "core" ' +3 "manipulator"&>& +4 "core" & u + "manipulator"&% +4 "core" % % +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&p'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&$( +164 "core" ( +2 "manipulator"&a& +3 "core" & I - +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" & ~ - +2 .tForearm.seek CC + "manipulator"&7'Ϥ +91 "core" ' + .tHand.close +2 "manipulator"&d/ +67 "core" / +2 .tCC.seek :open + "collection"'V( +434 "core" ( + "storage"(j& +4 "core" &K \  +2 "storage"(v& +3 "core" &K \  +2 "manipulator"&=& +3 "core" & p | ; - +2 "manipulator"&{% +3 "core" % ϥ ~  g J +2 .tForearm.seek :retract +2 "manipulator"&('\ +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&( +157 "core" ( +2 "manipulator"&5& +3 "core" & U  +2 "storage"(K& +4 "core" &K [\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.seek 6 +2 "manipulator"&"'* +105 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&h1 +68 "core" 1 +2 "manipulator"& % +4 "core" % 6} ; y% +2 "storage"(& +3 "core" &K " \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 6 + 312 counts + "manipulator"&'b +23 "core" ' +2 "manipulator"&o& +4 "core" & x p  L + "storage"(& +4 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts +2 "manipulator"&'' +21 "core" ' +2 "storage"(% +4 "core" % &\ +2 ."downElevator"SE.seek :down +3 "storage"(['I +100 (i% +3 "core" %t5 Y\ U[ + "manipulator"&% +4 "core" % H +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&_'\ +92 "core" ' +48 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 #tShuffling pucks in tube 7 of [1..7] +2 #Loading generic puck from tube 7 into Collection Clamp + "collection"':& +4 "core" &ADw\ +2 "manipulator"&% +4 "core" %\ \ $  + "storage"(*% +4 "core" %Z \  V\ +2 "storage"(s. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 7 +2 "storage"(Q([c +187 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 ( & +2 "core" &[c" \ \  +2 "manipulator"&0& +4 "core" &  L +47 .tElbow.seek 7 +3 "manipulator"&@( +4 "core" ( + "manipulator"&B& +4 "core" & 6 L +2 "storage"(2& +3 "core" &[c" 3\ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 700 counts +2 "manipulator"&/' +99 "core" ' +2 "storage"(& +4 "core" &[c" \ \  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(<'j +284 "core" ' +2 "storage"(- +3 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (8& +3 "core" &[c! z x *\ \  + "manipulator"&`& +14 "core" &  L + .tElbow.seek 7 +2 "manipulator"&L( +4 "core" ( + "manipulator"&-& +4 "core" & G L +2 "storage"(q& +3 "core" &[c! o p \ \  +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&m'N +19 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +77 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&%& +4 "storage"(x'I +5 "core" & f L +2 "manipulator"&% +4 "core" % E / G + .tForearm.seek :retract +2 "manipulator"&3'\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&b( +148 "core" ' + ."downElevator"SE.coast + "storage"(5 +15 "core" ( +2 "manipulator"&& +4 "core" & z t / + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +2 "core" & ~ ~ / +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&,'Ϥ +101 "core" ' +3 "manipulator"&l& +4 "core" & c n \\ / +2 "manipulator"&4% +3 "core" %Ϫ \\ W  +2 "collection"'& +4 "core" &@D}\ +2 "collection"'c& +4 "core" &@E|\ +2 .tCC.seek :closed +2 "collection"'~(Y +4 "core" &AD\ +9 & .@Ez\ $c +10 &V}>Fu\ 7 +9 &yAEr\ L +9 &UAFu\ N +10 &eTA@o\ M +9 &&W@Es\ N +9 &T@Dw\ N +10 &SACo\ N +9 &lR>Fl\ N +10 &.SBDm\ N +9 &TAFw\ N +9 &!S?Fo\ N +10 &#uQCEw\ M +9 &%7TADx\ M +9 &&WB@v\ N +10 &(T@Ev\ N +9 &*|T?Fw\ N +10 &,@OAFw\ M +9 &.V?Cr\ M +9 &/QBEt\ M +10 &1Q?Et\ N +9 &3GWAEx\ M +9 &5 UAEo\ M +10 &6W?Dt\ N +9 &8WBEr\ M +10 &:NWADt\ N +9 &<VAEw\ M +9 &=TBFk\ M +10 &?WAEh\ N +9 &AWWAFk\ M +9 &CVBCg\ M +10 &DZACp\ N +9 &FZCGj\ N +10 &HZbAFk\ O +9 &Ju?Fo\ Q +9 &K?Fp\ |V +10 &MBFr\ sZ +9 &O@BGj\ u[ +9 &PAGh\ r\\ +10 &RBFp\ r\\ +9 &TAH]\ o] +10 &VBAGg\ q] +9 &XBHh\ p] +9 &Y]JBF]\ *} +10 &Y\ AFh\ R +5 ( +2 "collection"'c& +3 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 2.38 + .Hand.open +2 "manipulator"&}1 +3 "core" &YuAGp\ R +68 1 + "manipulator"&.% +4 "core" % Ϩ n C +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 7 into Processing Clamp + "processing"%^& +4 "core" &%\ +2 "manipulator"&D% +3 "core" %\ \ } }  +2 "storage"(!% +4 "core" %E !  u\ +2 "storage"(U. +3 "core" . + .tSC.reconfigure :tight +3 "storage"($\ .(\ 1~b +2 .tSC.seek 7 + "storage"(e([c +4 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (& +2 "core" &[c " # H\  +2 "manipulator"&6& +4 "core" & ~  / + "manipulator"&% +4 "core" %\ \ r z  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&|( +158 "core" ( +2 "manipulator"&F& +4 "core" &   + "storage"(O& +4 "core" &[c ] V\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 700 counts +2 "manipulator"&A' +97 "core" ' +2 "storage"(R& +3 "core" &[c < [ \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(k'j +276 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (f& +2 "core" &[c ' # \  +2 "manipulator"&T& +4 "core" & o q   + .tElbow.seek 7 +2 "manipulator"&Z( +3 "core" ( + "manipulator"&;& +4 "core" & | n S  +2 "storage"(& +3 "core" &[c ? 4 \  +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&]'N +26 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +75 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&G& +5 "storage"('I +4 "core" & u s   +2 "manipulator"&1% +4 "core" % R q  + .tForearm.seek :retract +2 "manipulator"&X'\ +97 "core" ' +2 .tElbow.seek PC +2 "manipulator"& ( +157 "core" ' + ."downElevator"SE.coast + "storage"(5 +102 "core" ( +2 "manipulator"&& +4 "core" & } ~ Q V +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 && +3 "core" & ~ } w V +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&\\'Њ +91 "core" ' +2 "manipulator"&E& +4 "core" & x { G V +2 "manipulator"&)% +3 "core" %Љ   +2 "processing"%\ & +4 "core" &+\ +2 "processing"%z& +5 "core" &)\ +2 .tPC.seek :closed +2 "processing"%(Y +4 "core" &:\  +10 &,u/\ s+| +9 &c,\ k@ +9 &iu8\ pP +10 &-T*\ yO +9 &Y2\ uP +10 &U'\ tP +9 &rS(\ vP +9 &5S%\ vO +10 &U#\ vO +9 &U \ uO +9 & zW\ tP +10 &"<T%\ tP +9 &#U)\ vO +9 &%U+\ vO +10 &'U)\ uO +9 &)ET%\ {O +10 &+V\ zP +9 &,Z"\ zP +9 &.S!\ vP +10 &0MU\ {O +9 &2V\ ~O +9 &3U\ ~O +10 &5Y\ }O +9 &7TT\ ~P +10 &9T$\ ~O +9 &:U$\ }O +9 &<U\ }O +10 &>]Y\ }O +9 &@U\ }O +9 &AV\ }O +10 &CW%\ ~P +9 &EdX%\ }P +10 &G$_#\ zP +9 &H_"\ uQ +9 &Jk\ qR +10 &L\\#\ kU +9 &N\ jX +9 &O\ kX +10 &Q\ nW +9 &S_\ jW +10 &U \ jW +9 &V\ rW +9 &Xt\ w; +10 &Yb2\ tY +9 &Y%\ 2 +2 ( +2 "processing"%z& +2 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.58 + .Hand.open + "manipulator"&91 +76 "core" 1 +2 "manipulator"&% +4 "core" % Љ s q  + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&+'\ +93 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%J& +4 "core" &Y#\ 2 + #tImaging generic puck in Processing Clamp while storing it to tube 7 +2 "manipulator"&u% +3 "core" %\ Z  +2 "storage"(H% +4 "core" %O ! \ + "storage"(W. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 7 +2 "storage"(g([c +2 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (n& +3 "core" &[c   \  +3 "manipulator"&M& +3 ."raiseStack"SE.reconfigure :place +3 "storage"(#].K-0-\ b +2 "core" &  V +2 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +2 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +51 "manipulator"&>( +4 "storage"('j +3 "core" ( + "manipulator"&N& +4 "core" & 5 V + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +2 &P& +3 "core" &  V +2 .tForearm.seek PC +2 "manipulator"&&'Њ +91 "core" ' + .tHand.close +2 "manipulator"&S/ +70 "core" / +2 .tPC.seek :open +2 "processing"%#( +84 "core" ' +2 "storage"(r- +3 "core" -'j + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(a' +41 "core" ' +295 ( +2 "storage"(& +3 "core" &[c   g\  +2 "manipulator"&?& +4 "core" & y { M V + "manipulator"&y% +4 "core" % Н } ~ ^  +2 .tForearm.seek :retract +2 "manipulator"&d'\ +92 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&p( +271 "core" ( +2 "manipulator"&t& +3 "core" & +  +2 "storage"(j& +4 "core" &[c  `\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 700 counts + "manipulator"&v' +96 "core" ' + .tHand.open +2 "manipulator"&=1 +66 "core" 1 +2 "storage"({- +3 "core" -' +2 .tSE.seek -0.22 Pucks below Top Plate +2 "storage"(5' +36 "core" ' +3 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(K' +54 "core" ' + #tLights, camera, ACTION! +2 "storage"(7- +3 "core" -' +2 "storage"($& +3 "core" &[c Z\ t +2 "manipulator"&h& +3 "core" & "  +2 .tElbow.seek 7 +2 "manipulator"& ( +8 "core" ( +2 "manipulator"&& +3 "core" &   +2 "storage"(o& +3 "core" &[c K\ s +2 .tForearm.seek 7 + 700 counts +3 "manipulator"&' +18 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"('V +63 "core" ' +2 "manipulator"&(& +4 "core" &  + "storage"(i& +4 "core" &[c V V $\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 7 +2 "manipulator"&'" +35 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate + "storage"("'@ +34 "core" ' +2 "manipulator"&:% +4 "core" %-I y q +2 "storage"(& +3 "core" &[c b\ t +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 7 + 311 counts +2 "manipulator"&'Y +17 "core" ' +2 "manipulator"&*& +4 "core" & 0  +2 "storage"(s& +3 "core" &[c 1 3\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 700 counts +2 "manipulator"&C' +19 "core" ' +2 "storage"('% +4 "core" %H * >\ +2 ."downElevator"SE.seek :down +4 "storage"( 'I +99 (0% +3 "core" %3  \ U_ + "manipulator"&B% +4 "core" %  +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&2'\ +91 "core" ' +57 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast "storage"(6 +3 "collection"'[& +4 "core" &YuDD^\ R +2 #tStoring generic puck in Collection Clamp to tube 7 +2 "manipulator"&I% +3 "core" %\ &  +2 "storage"(% +3 "core" %D F R \ +2 "storage"(. +3 "core" . + .tSC.reconfigure :tight +3 "storage"($\ .(\ 1~b +2 .tSC.seek 7 + "storage"(_([c +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (& +3 "core" &[c @ : \  +2 "manipulator"&8& +3 "core" &   +2 .tElbow.seek 7 +2 "manipulator"&`( +29 "core" ( +2 "manipulator"&-& +4 "core" & { ~ [ d + "storage"(q& +4 "core" &[c * $ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 700 counts +2 "manipulator"&' +95 "core" ' +2 "storage"(%& +4 "core" &[c ! C\  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('j +280 "core" ' + "storage"(@- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&/& +3 "core" & z c + "storage"(& +4 "core" &[c /\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 +2 "manipulator"& '" +37 "core" ' + .tElbow.hold +2 "manipulator"&<, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(m- +3 "core" -' +2 .tSE.seek 0.03 Pucks below Top Plate + "storage"(l' +29 "core" ' +2 "manipulator"&4% +3 "core" %4E 8 o +2 "storage"(L& +3 "core" &[c s\ } +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 7 + 318 counts +2 "manipulator"&'` +20 "core" ' +2 "manipulator"&x& +3 "core" & q   +2 "storage"(3& +4 "core" &[c < 5 Q\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 700 counts + "manipulator"&V' +20 "core" ' +2 .tSE.seek 1.03 Pucks below Top Plate +2 "storage"(}' +51 "core" ' +2 "manipulator"&.& +4 "core" &   + "manipulator"&^% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +3 "manipulator"&D'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&c( +152 "core" ( +3 "manipulator"&!& +3 "core" & w } + . +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &U& +3 "core" & u { d . +2 .tForearm.seek CC + "manipulator"&'Ϥ +100 "core" ' + .tHand.close +2 "manipulator"&6/ +67 "core" / +2 .tCC.seek :open + "collection"'( +433 "core" ( +2 "storage"(,& +3 "core" &[c ?\  +2 "storage"(F& +3 "core" &[c V\  +2 "manipulator"&O& +3 "core" & a c  - +2 "manipulator"&Q% +3 "core" % ϟ e c  +2 .tForearm.seek :retract +2 "manipulator"&R'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 7 +2 "manipulator"&b( +156 "core" ( +2 "manipulator"&& +3 "core" & z u ;  +2 "storage"(& +4 "core" &[c \  +46 .tElbow.reconfigure :limp +5 "manipulator"&$ ,(#b +2 .tForearm.seek 7 +2 "manipulator"&f'" +110 "core" ' + .tElbow.hold +2 "manipulator"&T, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&;1 +75 "core" 1 +2 "manipulator"&% +4 "core" % 3k v +2 "storage"(& +3 "core" &[c   H\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 7 + 317 counts +2 "manipulator"&G'_ +25 "core" ' +2 "manipulator"&1& +4 "core" & t { 6 ` + "storage"(|& +4 "core" &[c \\\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 700 counts + "manipulator"&A' +21 "core" ' +2 "storage"(k% +4 "core" % #\ +2 ."downElevator"SE.seek :down +4 "storage"(]'I +99 (% +3 "core" %o4 X\ U[ + "manipulator"&% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Z'\ +90 "core" ' +50 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast "storage"(6 +4 ."shutdown"CS.coast +2 #tAsleep / Shutdown + "collection"'5 +4 ."shutdown"SS.coast + "sampler")5 +2 ."shutdown"CC.coast +2 "collection"'6 +2 ."shutdown"PC.coast + "processing"%6 +3 ."shutdown"Forearm.coast + "manipulator"&5 +3 ."shutdown"Elbow.coast + "manipulator"&6 +37 ."shutdown"Gate.power :core,:OFF +2 .Gate.power :raw,:OFF #Shutdown +2 .tdelay 5 seconds +502 #Powering core bus +470 .Gate.power :raw,:ON +4 "sampler") +54 )E +3 "core"  +2 "collection"' +2 ') +3 "core"  +2 "processing"% +2 %\  +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ + % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +2 "core" %?Gp\ +2 .tCS.configure :default +2 "collection"'#P d@b +2 "processing"%X% +3 "core" %\ + .tPS.configure :default +2 "processing"%#A d`xb +3 "sampler") % +2 "core" %tr  +2 .tSS.configure :default +2 "sampler")#.0X'I +54 "core" ' +2 .tSC.reconfigure :sloppy +2 "storage"($-.(\ 1~b +2 .tSC.home.seek :initial +2 "storage"(=( +179 "core" ' +32 ' + ."rdyProcessing"PS.coast + "processing"%5 +894 "core" ( +2 "manipulator"&{& +3 "core" &d r t ' +2 .tForearm.seek :retract +2 "manipulator"&7'\ +17 "core" ' + .tElbow.seek :hammer +2 "manipulator"&$( +119 "core" ( +2 "manipulator"&h& +3 "core" & $  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek retracted +2 "manipulator"&d'\ +3 "core" ' +2 "manipulator"&% +3 "core" %\ s +3 "processing"%o& +2 "collection"'(& +6 "core" &#\ + &AG\ +2 ."openPC"PC.reconfigure :default +3 .tCC.reconfigure :default +3 "processing"%$x2 ^22b +2 "collection"'$x2 ^22b +4 .tCC.home.seek :open + ."openPC"PC.home.seek :open +2 "collection"'i( +2 "processing"%a( +277 "core" ( + ( +3 #tShuffling pucks in tube 1 of [1..7] + #Loading generic puck from tube 1 into Collection Clamp + "collection"':& +4 "core" &BCx\  +2 .tHand.open + "manipulator"&51 +73 "core" 1 +2 "manipulator"&% +3 "core" % \  m e +2 "storage"(*% +4 "core" %N   \  + "storage"(s. +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 1 +2 "storage"('( +134 "Can"\ cc +50 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (p& +2 "core" & !  (\  +2 "manipulator"&v& +3 "core" &   +2 .tElbow.seek 1 +2 "manipulator"&K( +26 "core" ( +2 "manipulator"&0& +3 "core" & q \\ h +2 "storage"(B& +4 "core" & ! P @\  +2 .tForearm.seek 1 + 700 counts +2 "manipulator"&'W +89 "core" ' +2 "storage"( & +3 "core" &\ \  \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('j +260 "core" ' +2 "storage"(- +3 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +4 ([& +2 "core" & g\  +2 "manipulator"&& +3 "core" &  g +2 .tElbow.seek 1 +2 "manipulator"&I( +3 "core" ( +2 "manipulator"&& +3 "core" & g +2 "storage"(& +3 "core" & s\  +2 .tForearm.seek 1 + 300 counts +2 "manipulator"&"' +22 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +65 "core" / +3 ."downElevator"SE.seek :down +51 "manipulator"&8& +4 "storage"(-'I +3 "core" & p q ] +2 "manipulator"&q% +3 "core" % r ! +2 .tForearm.seek :retract +2 "manipulator"&C'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&%( +132 "core" ' + ."downElevator"SE.coast + "storage"(5 +12 "core" ( +2 "manipulator"& & +4 "core" & | ) # + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &g& +2 "core" & w  # +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek CC +2 "manipulator"&'Ϥ +91 "core" ' +2 "manipulator"&2& +4 "core" & { C # +2 "manipulator"&@% +3 "core" %Ϟ t ~  W +2 "collection"'/& +4 "core" &@C~\  +2 "collection"'& +5 "core" &@B\  +2 .tCC.seek :closed +2 "collection"'m(Y +5 "core" &@Dx\  +9 &5@D|\ , +9 &h?C\ @ +10 &op?C{\ N +9 &3WBCz\ M +10 &WCF~\ M +9 &T@C\ M +9 &zUBB}\ M +10 &=U@D~\ L +9 &W=D~\ L +9 &VCC\ L +10 & U?C|\ M +9 &"DY@C\ M +10 &$W?B|\ L +9 &%X>C}\ M +9 &'W>Cx\ M +10 &)LY@C~\ M +9 &+W@Cv\ L +9 &,VAE}\ L +10 &.WADv\ M +9 &0TYBBo\ M +10 &2UACq\ M +9 &3WADv\ M +9 &5WACk\ M +10 &7\\UACj\ M +9 &9WACk\ M +9 &:WADe\ M +10 &<Z@Cj\ M +9 &>dW@Ei\ M +10 &@&W@Cn\ M +9 &AWBDc\ L +9 &CZ?Dk\ M +10 &Ej]>Dl\ M +9 &G+Z@Ci\ N +9 &He?Dk\ N +10 &JACl\ S +9 &LU@Dn\ W +10 &NBFk\ Y +9 &OBEi\ Z +9 &QBEq\ [\ +10 &SPADm\ \\ +9 &UBCh\ [ +9 &VAEj\ \\ +10 &XADk\ I +9 &Y0BEk\ (x +10 &YjCGl\ P +2 ( +2 "collection"'& +2 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 2.36 + .Hand.open + "manipulator"&41 +73 "core" 1 +2 "manipulator"&L% +4 "core" % Ϟ S W +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&x'\ +93 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 1 into Processing Clamp + "processing"%3& +4 "core" &)\  +2 "manipulator"&.% +4 "core" %\ \ x  + "storage"(^% +4 "core" %O T\ +2 "storage"(. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +3 .tSC.seek 1 + "storage"(`( +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (& +2 "core" & 0\  +2 "manipulator"& & +4 "core" & z r 4 # +2 "manipulator"&% +3 "core" %\ z P  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 +2 "manipulator"&l( +147 "core" ( +2 "manipulator"&!& +4 "core" & ) + "storage"(U& +4 "core" & `\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 700 counts +2 "manipulator"&V'W +99 "core" ' +2 "storage"(<& +3 "core" & K\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(6'j +270 "core" ' +2 "storage"(D- +3 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (~& +3 "core" & \  + "manipulator"&,& +4 "core" & b +2 .tElbow.seek 1 +2 "manipulator"&F( +10 "core" ( + "manipulator"&O& +4 "core" &  \ +2 "storage"(Q& +3 "core" & 6\  +2 .tForearm.seek 1 + 300 counts +2 "manipulator"&' +30 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +71 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +4 "storage"(c'I +3 "core" & R \ +2 "manipulator"&;% +3 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +138 "core" ' + ."downElevator"SE.coast + "storage"(5 +120 "core" ( +2 "manipulator"&1& +4 "core" & ~ z ] \\ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &|& +3 "core" & ~ { \\ + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&k'Њ +98 "core" ' +2 "manipulator"&R& +4 "core" & _ c \\ + "manipulator"&% +4 "core" %Џ X W +2 "processing"%& +3 "core" &\  +3 "processing"%b& +4 "core" &\ \  +2 .tPC.seek :closed +2 "processing"%f(Y +5 "core" &\  +9 &4{(\ +} +10 &e \ @ +9 &Pt\ P +9 &W!\ O +10 &Y$\ O +9 &U$\ O +10 &XV!\ O +9 &W\ P +9 &V!\ O +10 &X\ P +9 & _Y!\ P +9 &""X\ O +10 &#T\ O +9 &%Y\ O +10 &'hX#\ O +9 &)*W\ O +9 &*V\ O +10 &,Y\ O +9 &.pX\ O +9 &01W\ P +10 &1W\ O +9 &3Z$\ O +10 &5wW\ P +9 &7:W \ O +9 &8T \ O +10 &:Y\ O +9 &<W\ O +9 &>CT\ O +10 &@T \ O +9 &AU\ O +10 &CW \ O +9 &EIY \ P +9 &G\ _\ P +10 &H`\ P +9 &Jh\ Q +9 &LD \ T +10 &M \ W +9 &O\ W +10 &Q \ W +9 &SF\ V +9 &U \ V +10 &V\ V +9 &X \ : +9 &Y]0\ X +10 &Y+\ 5 + ( +2 "processing"%b& +3 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.56 .Hand.open +2 "manipulator"&G1 +72 "core" 1 +2 "manipulator"&}% +3 "core" % Ќ s +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&A'\ +95 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%]& +4 "core" &Y* \ 5 + #tImaging generic puck in Processing Clamp while storing it to tube 1 +2 "manipulator"&_% +3 "core" %\   a +2 "storage"(Y% +3 "core" %R c\ +2 "storage"(w. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 1 +2 "storage"(( +2 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +2 (#& +3 "core" & w B\  +2 "manipulator"&Z& +3 "core" & \\ \\ +2 "manipulator"&T% +3 "core" %\  a +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 1 + "manipulator"&E( +285 "core" ( +2 "manipulator"&)& +3 "core" & @ e +2 "storage"(\ & +4 "core" & l i \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 700 counts +2 "manipulator"&'W +92 "core" ' +2 "storage"(X& +3 "core" & | y y\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"( 'j +283 "core" ' + "storage"(9- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" &  e +2 "storage"(J& +3 "core" & & ? \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 1 +2 "manipulator"&u'Λ +33 "core" ' + .tElbow.hold +2 "manipulator"&z, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(H- +2 "core" -' +2 .tSE.seek 1.02 Pucks below Top Plate +2 "storage"(W' +32 "core" ' +3 "manipulator"&n% +52 "core" %έd  x +2 "storage"(M& +3 "core" & I\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 1 + 318 counts +2 "manipulator"&P' +22 "core" ' +2 "manipulator"&N& +4 "core" & s  + "storage"(\\& +4 "core" & Y T\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 700 counts +2 "manipulator"&S'W +18 "core" ' +2 .tSE.seek 2.02 Pucks below Top Plate +2 "storage"(e' +38 "core" ' +2 "manipulator"& & +4 "core" & (  +2 "manipulator"&r% +3 "core" %T i ~ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +89 "core" ' +2 .tElbow.seek PC +2 "manipulator"&y( +259 "core" ( +2 "manipulator"&&& +4 "core" &  W + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &j& +2 "core" & L W +2 .tForearm.seek PC +2 "manipulator"&+'Њ +96 "core" ' + .tHand.close +2 "manipulator"&{/ +77 "core" / +2 .tPC.seek :open + "processing"%h( +431 "core" ( +2 "storage"(& +3 "core" & R\  +2 "manipulator"&(& +4 "core" & y  W + "manipulator"&o% +4 "core" % t | J g +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 +2 "manipulator"&t( +273 "core" ( +2 "manipulator"&7& +3 "core" & y \ +2 "storage"(:& +4 "core" & \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 700 counts +2 "manipulator"&5'W +95 "core" ' +2 .tHand.open +2 "manipulator"&1 +68 "core" 1 +2 "storage"(*- +3 "core" -' +2 .tSE.seek 1.77 Pucks below Top Plate +2 "storage"(s' +27 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(p' +51 "core" ' + #tLights, camera, ACTION! +2 "storage"(v- +3 "core" -' +2 "storage"(0& +3 "core" & ,\  +2 "manipulator"&B& +3 "core" &  \ +2 .tElbow.seek 1 +2 "manipulator"&=( +3 "core" ( +2 "manipulator"& & +4 "core" & H \ +2 "storage"($& +3 "core" &  L\  +2 .tForearm.seek 1 + 700 counts +2 "manipulator"&d'W +3 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +3 .tSE.seek 1.89 Pucks below Top Plate +2 "storage"('2 +69 "core" ' +2 "manipulator"&[& +4 "core" &  \ + "storage"(& +4 "core" & :\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 1 +2 "manipulator"&'Λ +33 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 2.07 Pucks below Top Plate +2 "storage"(>' +20 "core" ' +2 "manipulator"&% +4 "core" %Π^ 7 s + "storage"(8& +4 "core" & Q\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 1 + 305 counts +2 "manipulator"&q' +17 "core" ' +2 "manipulator"&K& +3 "core" & B  +2 "storage"(& +4 "core" & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 700 counts +2 "manipulator"& 'W +24 "core" ' +2 "storage"(g% +4 "core" %" \\\ +2 ."downElevator"SE.seek :down +4 "storage"('I +99 ("% +3 "core" %0 A\ T[ + "manipulator"&2% +4 "core" %Q - u +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&@'\ +93 "core" ' +37 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast "storage"(6 +3 "collection"'/& +4 "core" &YhCD_\ P +2 #tStoring generic puck in Collection Clamp to tube 1 + "manipulator"&I% +4 "core" %\ \   +2 "storage"(-% +4 "core" %W \ +2 "storage"(C. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 1 +2 "storage"(i( +2 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (4& +3 "core" & ~\  + "manipulator"&L& +4 "core" & e  +2 .tElbow.seek 1 + "manipulator"&3( +13 "core" ( +2 "manipulator"&.& +4 "core" & R  + "storage"(^& +16 "core" & O\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 700 counts +2 "manipulator"&'W +93 "core" ' +2 "storage"(& +4 "core" & \  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('j +270 "core" ' +2 "storage"( - +3 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +3 "core" & r   + "storage"(& +4 "core" & \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 1 +2 "manipulator"&!'Λ +32 "core" ' + .tElbow.hold +2 "manipulator"&U, +3 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 "storage"('- +2 "core" -' +2 .tSE.seek 2.03 Pucks below Top Plate +2 "storage"(<' +29 "core" ' +2 "manipulator"&%% +3 "core" %ΧU s +2 "storage"(x& +4 "core" & \  + .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 1 + 312 counts +2 "manipulator"&D' +17 "core" ' +2 "manipulator"&~& +4 "core" & Y k + "storage"(,& +4 "core" & =\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 700 counts + "manipulator"&O'W +23 "core" ' +2 .tSE.seek 3.03 Pucks below Top Plate +2 "storage"(Q' +51 "core" ' +2 "manipulator"&& +4 "core" &  k + "manipulator"&% +4 "core" %a  i +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&;'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&l( +160 "core" ( +2 "manipulator"&V& +4 "core" & ~ } p / +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &6& +3 "core" & | / + .tForearm.seek CC +2 "manipulator"&'Ϥ +93 "core" ' + .tHand.close +2 "manipulator"&1/ +70 "core" / +47 .tCC.seek :open +4 "collection"'|( +432 "core" ( +2 "storage"(F& +3 "core" & @\  +2 "storage"(R& +4 "core" & \  + "manipulator"&& +4 "core" & ~ ~ } . + "manipulator"&% +4 "core" % Ϭ  } * +2 .tForearm.seek :retract +2 "manipulator"&c'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 +2 "manipulator"&( +150 "core" ( +2 "manipulator"&a& +4 "core" &  + "storage"(G& +4 "core" &\  V\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(#b +2 .tForearm.seek 1 +2 "manipulator"&}'Λ +109 "core" ' + .tElbow.hold +2 "manipulator"&], +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&_1 +72 "core" 1 +2 "manipulator"&Y% +4 "core" % Ωh  v +2 "storage"(b& +4 "core" & - ' <\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 1 + 314 counts +2 "manipulator"&w' +23 "core" ' +2 "manipulator"&#& +4 "core" & ;  + "storage"(Z& +4 "core" & \ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 700 counts + "manipulator"&T'W +23 "core" ' +2 "storage"(k% +4 "core" %\ \ '\ +2 ."downElevator"SE.seek :down +3 "storage"(`'I +100 ()% +3 "core" %0 +\ TY + "manipulator"&\ % +4 "core" %Y  l +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' +28 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast "storage"(6 +3 #tShuffling pucks in tube 2 of [1..7] +2 #Loading generic puck from tube 2 into Collection Clamp + "collection"'X& +4 "core" &@Dv\ +2 "manipulator"&A% +3 "core" %\ x C  +2 "storage"(9% +4 "core" %M   \ +2 "storage"(. +3 "core" . + .tSC.reconfigure :tight +3 "storage"($\ .(\ 1~b +2 .tSC.seek 2 + "storage"(J( +195 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (H& +2 "core" & \ \  |\ +2 "manipulator"&n& +3 "core" & S  +2 .tElbow.seek 2 +2 "manipulator"&M( +10 "core" ( +2 "manipulator"&N& +4 "core" &   + "storage"(\\& +4 "core" & \ \  \ +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"& 'a +93 "core" ' +2 "storage"(r& +3 "core" & \  ?\ +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('j +278 "core" ' +2 "storage"(E- +3 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ( & +3 "core" & \ + "manipulator"&u& +4 "core" &  + .tElbow.seek 2 +2 "manipulator"&P( +3 "core" ( + "manipulator"&W& +4 "core" & ~  + "storage"(S& +4 "core" & \ +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&&' +28 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&j/ +66 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&z& +4 "storage"({'I +3 "core" &  +2 "manipulator"&% +3 "core" % & +2 .tForearm.seek :retract +2 "manipulator"&f'\ +102 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +141 "core" ' + ."downElevator"SE.coast + "storage"(5 +20 "core" ( +2 "manipulator"&(& +3 "core" & } } 2 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &o& +2 "core" &  2 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&+'Ϥ +99 "core" ' +2 "manipulator"&7& +4 "core" & d b 0 2 +2 "manipulator"&:% +3 "core" %ϡ [ X +2 "collection"'y& +5 "core" &?Cu\ +2 "collection"'& +5 "core" &@Bz\ +2 .tCC.seek :closed +2 "collection"'*(Y +3 "core" &@Bl\  +10 &1}@Be\ *y +9 &c@Eo\ > +10 &ss@Bd\ N +9 &6W@Cj\ M +10 &Y?Bi\ M +9 &V@Bd\ M +9 &}V?A]\ M +10 &@U?Cc\ M +9 &TCCk\ M +9 &UACc\ M +10 & T>Cj\ M +9 &"GW?Bi\ M +10 &$ WACg\ M +9 &%XBCm\ M +9 &'WABj\ M +10 &)NWABl\ M +9 &+V@Da\ M +9 &,U>Bk\ M +10 &.V@Ak\ M +9 &0XUBDi\ M +10 &2YBAi\ M +9 &3W?Ch\ M +9 &5WABl\ M +10 &7^W@Ag\ M +9 &9 V@Aj\ M +9 &:VACk\ M +10 &<W@Bh\ M +9 &>gS@Dg\ M +10 &@)V@Bg\ M +9 &AV@@k\ M +9 &CZ@Ek\ N +10 &El[BCi\ N +9 &G0[ACj\ M +9 &HeAD\\\ O +10 &JBDX\ R +9 &LWBCR\ X +10 &N?DR\ Z +9 &OCEb\ Z +9 &Q@CR\ [ +10 &SSCEZ\ \\ +9 &UADR\ \\ +9 &V@ET\ \\ +10 &XBBS\ I +9 &Y)BDT\ *{ +10 &YpBEV\ O +2 ( +2 "collection"'& +2 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 2.36 + .Hand.open + "manipulator"&v1 +73 "core" 1 +2 "manipulator"&0% +4 "core" % Ϟ o  + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract + "manipulator"&B'\ +94 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 2 into Processing Clamp + "processing"% & +4 "core" &\ +2 "manipulator"&$% +3 "core" %\ | ~  +2 "storage"(% +4 "core" %W 7\  +2 "storage"([. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +3 .tSC.seek 2 + "storage"(( +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (e& +2 "core" &  B\  +2 "manipulator"&& +3 "core" & ~ q x 2 +2 "manipulator"&8% +4 "core" %\ } "  + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&s( +159 "core" ( +2 "manipulator"&K& +3 "core" &   +2 "storage"(& +4 "core" &  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&g'a +92 "core" ' +2 "storage"(t& +3 "core" &  $\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(5'j +278 "core" ' + "storage"(p- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ("& +2 "core" &  x y ;\  +2 "manipulator"&2& +3 "core" &  +2 .tElbow.seek 2 +2 "manipulator"&d( +3 "core" ( + "manipulator"&=& +4 "core" & } w  +2 "storage"(& +3 "core" &  y v X\  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +25 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&// +72 "core" / +3 ."downElevator"SE.seek :down +50 "manipulator"&I& +6 "storage"(q'I +4 "core" &   + "manipulator"&-% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&C'\ +95 "core" ' +2 .tElbow.seek PC +2 "manipulator"&4( +160 "core" ' + ."downElevator"SE.coast + "storage"(5 +104 "core" ( +2 "manipulator"&L& +4 "core" &  ~ ^ C + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &>& +2 "core" & q } C +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&.'Њ +102 "core" ' +2 "manipulator"&^& +4 "core" &  C +2 "manipulator"& % +3 "core" %М y # } +2 "processing"%& +4 "core" & \ +2 "processing"%& +5 "core" &\ +2 .tPC.seek :closed +2 "processing"%(Y +4 "core" & \ +7 & -%\ $c +10 &T$\ 8 +9 &~z$\ L +10 &X \ O +9 &UU&\ O +9 &U&\ N +10 &W!\ O +9 &U"\ O +9 &]U"\ O +10 &Z\ O +9 &W\ O +10 &!X \ O +9 &#dW\ O +9 &%'V\ O +10 &&W\ O +9 &(V\ N +9 &*lV\ O +10 &,/W\ O +9 &-U\ O +10 &/X\ O +9 &1uX\ O +9 &36X\ O +10 &4U\ O +9 &6U \ O +9 &8~V\ N +10 &:>W\ O +9 &<V\ O +10 &=W\ O +9 &?W \ O +9 &AGT \ O +10 &CU\ \ O +9 &DZ\ P +9 &F]\ P +10 &HK`\ \ P +9 &J k\ Q +10 &K \ U +9 &M}\ W +9 &O@\ V +10 &Q\ W +9 &R\ V +9 &T\ V +10 &VI\ V +9 &X\ \ J +10 &Y9N\ "i +9 &Y|*\ 2 +2 ( +2 "processing"%& +2 #tProcessing Clamp onSpring/offSpring for 10/26 samples, on/off torque 1.58 + .Hand.open +2 "manipulator"&1 +65 "core" 1 +2 "manipulator"&@% +3 "core" % М m  } +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"& '\ +96 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%& +4 "core" &Y|$\ 2 +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&% +4 "core" %\  / p + "storage"('% +4 "core" %Y v w {\ +2 "storage"(%. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +3 .tSC.seek 2 + "storage"(x( +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +4 (~& +2 "manipulator"&,& +5 "core" &  y U\  + & d C +4 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 "storage"(#].K-0-\ b +4 "manipulator"&( +4 ."raiseStack"SE.seek :beamBreak +2 "storage"('j +2 "core" ( + "manipulator"&& +4 "core" & & C +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &3& +3 "core" &  C +2 .tForearm.seek PC +2 "manipulator"&'Њ +95 "core" ' + .tHand.close +2 "manipulator"&!/ +72 "core" / +3 .tPC.seek :open +2 "processing"%D( +79 "core" ' +2 "storage"(<- +3 "core" -'j + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(V' +41 "core" ' +296 ( + "storage"(6& +4 "core" &  X f %\  +2 "manipulator"&O& +3 "core" & Z d C +2 "manipulator"&U% +3 "core" % Л ` b +2 .tForearm.seek :retract +2 "manipulator"&1'\ +105 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&;( +256 "core" ( +2 "manipulator"&m& +3 "core" &  ] +2 "storage"(F& +3 "core" &  \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&R'a +98 "core" ' + .tHand.open +2 "manipulator"&1 +71 "core" 1 +2 "storage"(- +3 "core" -' +2 .tSE.seek -0.22 Pucks below Top Plate +2 "storage"(a' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(G' +53 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(l& +3 "core" &  \  +2 "manipulator"&_& +3 "core" & % \\ +2 .tElbow.seek 2 +2 "manipulator"&Y( +4 "core" ( +2 "manipulator"&b& +3 "core" & I \\ +2 "storage"(#& +4 "core" &  \  +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&Z'a +3 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(k'V +62 "core" ' +2 "manipulator"&c& +4 "core" &  \\ + "storage"()& +4 "core" &  j\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek 2 +2 "manipulator"&\ 'Υ +34 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(}'@ +26 "core" ' +2 "manipulator"&X% +4 "core" %ε^ d s + "storage"(A& +4 "core" &   -\  + .tForearm.force -20 +2 "manipulator"&5 +2 .tForearm.seek 2 + 316 counts +2 "manipulator"&9' +21 "core" ' +2 "manipulator"&& +4 "core" &  u { ( , +2 "storage"(w& +3 "core" &  P\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&Q'a +24 "core" ' +2 "storage"(T% +4 "core" %I \ +2 ."downElevator"SE.seek :down +4 "storage"(H'I +99 (n% +3 "core" %4 x v \ V_ + "manipulator"&N% +4 "core" %i  a +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&\\'\ +151 "core" ' + ."downElevator"SE.coast + "storage"(5 +4 "core" ' + .tSC.coast + "storage"(6 +2 "collection"'`& +4 "core" &Yr@FM\ O +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&i% +3 "core" %\  p q  +2 "storage"(r% +4 "core" %M >\ +2 "storage"(]. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 2 +2 "storage"(( +2 "core" ( + .tSC.reconfigure :loose +3 "storage"($.(\ 1~b +2 (E& +3 "core" &  O\  +2 "manipulator"& & +3 "core" &  q q , +2 .tElbow.seek 2 +2 "manipulator"&u( +17 "core" ( +2 "manipulator"&W& +4 "core" & ~ ~ ~ + "storage"(S& +4 "core" &  ]\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&j'a +88 "core" ' +2 "storage"(z& +4 "core" &  \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +49 "storage"('j +278 "core" ' +2 "storage"(M- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"& & +2 "core" & 1 +2 "storage"((& +4 "core" &  \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&o'Υ +36 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(&- +3 "core" -' +2 .tSE.seek 0.03 Pucks below Top Plate +2 "storage"(7' +30 "core" ' +2 "manipulator"&:% +3 "core" %ΨS s +2 "storage"(y& +4 "core" &  \  + .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 2 + 303 counts +2 "manipulator"&P' +17 "core" ' +2 "manipulator"&{& +4 "core" &$  z + "storage"(f& +4 "core" &  "\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&|'a +25 "core" ' +2 .tSE.seek 1.03 Pucks below Top Plate +2 "storage"(v' +47 "core" ' +2 "manipulator"&0& +4 "core" &$  z +2 "manipulator"& % +3 "core" %W  m +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&$'\ +100 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +162 "core" ( +3 "manipulator"&& +3 "core" & 1 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &[& +2 "core" & r t ] 1 +2 .tForearm.seek CC +2 "manipulator"&e'Ϥ +89 "core" ' + .tHand.close +2 "manipulator"&/ +73 "core" / +2 .tCC.seek :open + "collection"'8( +434 "core" ( +2 "storage"(+& +3 "core" &  L\  +2 "storage"(K& +3 "core" &  \  +2 "manipulator"&& +3 "core" & g n | 1 +2 "manipulator"&J% +3 "core" % ϓ y p M = +2 .tForearm.seek :retract +2 "manipulator"&t'\ +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 2 +2 "manipulator"&( +159 "core" ( +2 "manipulator"&B& +3 "core" &   +2 "storage"(p& +4 "core" & \ \  \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.seek 2 +2 "manipulator"&"'Υ +106 "core" ' + .tElbow.hold +2 "manipulator"&2, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&=1 +77 "core" 1 +3 "manipulator"&% +4 "core" % γ n y0 +2 "storage"(/& +3 "core" &  \  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 2 + 314 counts + "manipulator"&I' +25 "core" ' +2 "manipulator"&-& +3 "core" &5 | t * Q +2 "storage"(s& +4 "core" & \ \ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +2 "manipulator"&g'a +23 "core" ' +2 "storage"(5% +4 "core" %\ \  w\ +2 ."downElevator"SE.seek :down +3 "storage"('I +100 (L% +3 "core" %6 Q\ U[ + "manipulator"&>% +4 "core" %m u  S +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&d'\ +88 "core" ' +53 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast "storage"(6 +3 #tShuffling pucks in tube 3 of [1..7] +2 #Loading generic puck from tube 3 into Collection Clamp + "collection"'^& +4 "core" &?Cf\ +2 "manipulator"& % +4 "core" %\  : q + "storage"(% +4 "core" %V   ?\ +2 "storage"(q. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 3 +2 "storage"(C(z +192 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (h& +2 "core" &} \  +2 "manipulator"&& +3 "core" &5  Q +2 .tElbow.seek 3 +2 "manipulator"&@( +27 "core" ( +2 "manipulator"&& +3 "core" &  * +2 "storage"(& +4 "core" &}\ }\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&'' +91 "core" ' +2 "storage"(%& +3 "core" &} y\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('j +282 "core" ' + "storage"(~- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (,& +2 "core" &} \  +2 "manipulator"&& +3 "core" &  * +2 .tElbow.seek 3 +2 "manipulator"&3( +3 "core" ( + "manipulator"&.& +4 "core" &  * +2 "storage"(!& +3 "core" &} H\  +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'l +21 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&Dr\ +2 .tCC.seek :closed +4 "collection"'(Y +3 "core" &?Cl\ +7 &6?Ao\ $c +10 &U}BDo\ 7 +9 &|?Cq\ L +9 &UABo\ M +10 &cV?Bo\ M +9 &&V@Cq\ M +9 &U@Dh\ M +10 &TAAa\ M +9 &mW?Ci\ M +10 &/S@Ei\ M +9 &U?Ej\ L +9 &!W@Dg\ M +10 &#uV=Bl\ M +9 &%7W?Eh\ M +9 &&UABg\ M +10 &(V?Dk\ M +9 &*|TBBk\ M +10 &,?UCBl\ M +9 &.T@Dk\ M +9 &/U?Bh\ M +10 &1T?Ef\ M +9 &3GU@Dj\ M +9 &5 WADl\ M +10 &6UAEi\ M +9 &8V?Dk\ L +10 &:NWCCl\ M +9 &<V@Ej\ M +9 &=Z@Di\ M +10 &?W@Eg\ M +9 &AVW@Ck\ M +9 &CWBBm\ M +9 &DZ@Cj\ M +10 &FZ?Cl\ M +10 &H[bBDl\ N +9 &JuBDZ\ Q +9 &KACh\ U +10 &M@Ek\ Y +9 &O?BDl\ Z +9 &QDGg\ Z +10 &R@El\ [ +9 &TCDj\ \\ +10 &VBBFj\ \\ +9 &XDEf\ \\ +9 &Y[IBDU\ - +10 &YCEd\ O +5 ( +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 2.37 +2 .Hand.open + "manipulator"&1 +3 "core" &YuAEc\ O +74 1 +2 "manipulator"&l% +50 "core" % ϴ C +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&_'\ +93 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 3 into Processing Clamp + "processing"%b& +4 "core" &\ +2 "manipulator"&#% +3 "core" %\  q r  Z +2 "storage"(1% +4 "core" %Q #\ +2 "storage"(c. +3 "core" . + .tSC.reconfigure :tight +3 "storage"($\ .(\ 1~b +2 .tSC.seek 3 +2 "storage"()(z +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (V& +3 "core" &} X\  + "manipulator"&X& +4 "core" & q s \ % +2 "manipulator"&A% +3 "core" %\  p r  Z +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +2 "manipulator"&a( +164 "core" ( +2 "manipulator"&& +4 "core" & 8  + "storage"(w& +4 "core" &} \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&T' +99 "core" ' +3 "storage"(;& +4 "core" &} ;\  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(R'j +286 "core" ' +2 "storage"(G- +3 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (n& +3 "core" &} \  + "manipulator"&N& +4 "core" & !  +2 .tElbow.seek 3 + "manipulator"&Z( +13 "core" ( + "manipulator"&Y& +4 "core" & L +2 "storage"(k& +4 "core" &} [\  +2 .tForearm.seek 3 + 300 counts + "manipulator"&\ 'l +29 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&9/ +75 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&`& +4 "storage"(i'I +5 "core" & L +2 "manipulator"&r% +4 "core" % o  + .tForearm.seek :retract +2 "manipulator"&]'\ +94 "core" ' +2 .tElbow.seek PC +2 "manipulator"&}( +160 "core" ' + ."downElevator"SE.coast + "storage"(5 +98 "core" ( +2 "manipulator"&E& +3 "core" & ~ r " ] +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 & & +3 "core" & ~ ~ > ] + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&W'Њ +96 "core" ' +2 "manipulator"&S& +4 "core" & q n ] + "manipulator"&Q% +4 "core" %Ў e e +2 "processing"%z& +4 "core" &"\ +2 "processing"%H& +4 "core" &\ +2 .tPC.seek :closed +2 "processing"%x(Y +4 "core" &1\ \ +9 &.v3\ +z +9 &b+\ ? +10 &dv"\ P +9 &)T#\ O +10 &W"\ O +9 &W!\ O +9 &nY$\ O +10 &0W\ O +9 &V \ O +9 &W$\ O +10 & uX"\ O +9 &"8T#\ O +9 &#W"\ O +10 &%V!\ O +9 &'V!\ O +10 &)@Z#\ O +9 &+W"\ O +9 &,Z#\ O +10 &.W%\ O +9 &0GX#\ O +9 &2 W \ O +10 &3T \ O +9 &5W\ O +10 &7OW\ O +9 &9W\ O +9 &:Y\ O +10 &<W\ O +9 &>WW\ O +9 &@T\ O +10 &AW\ O +9 &CW\ O +10 &E^X\ P +9 &Ga\ P +9 &H]\ Q +10 &Jh\ R +9 &LU\ V +9 &N\ W +10 &O\ W +9 &Q\ W +10 &SY\ W +9 &U\ W +9 &V\ V +10 &Xy\ 6 +9 &Y`.o\ U +9 &Y}9 \ 8 +2 ( +2 "processing"%H& +2 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.54 + .Hand.open +2 "manipulator"&1 +75 "core" 1 +2 "manipulator"&\\% +3 "core" % Ї p + +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&M'\ +98 "core" ' +2 .tSC.coast + "storage"(6 +3 "processing"% & +4 "core" &Y}7\ 8 + #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&(% +3 "core" %\ G  +2 "storage"(&% +4 "core" %R W U b\ + "storage"(:. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 3 +2 "storage"(y(z +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +4 ({& +2 "manipulator"&f& +4 "core" &} W U r\  +2 &  ] +4 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +3 "storage"(#].K-0-\ b +5 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +4 .tElbow.seek PC +2 "storage"(0'j + "manipulator"& ( +5 "core" ( +2 "manipulator"&j& +3 "core" &  ] +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &u& +3 "core" &  ] +2 .tForearm.seek PC +2 "manipulator"&'Њ +94 "core" ' + .tHand.close +2 "manipulator"&o/ +69 "core" / +2 .tPC.seek :open +2 "processing"%P( +79 "core" ' +2 "storage"(7- +3 "core" -'j + ."raiseStack"SE.configure :default +2 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(' +52 "core" ' +286 ( + "storage"([& +4 "core" &} { { Q\  +2 "manipulator"&|& +3 "core" &   l ] +2 "manipulator"&% +4 "core" % Ї ~ |  + .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 + "manipulator"&$( +269 "core" ( +2 "manipulator"&*& +3 "core" &  +2 "storage"(+& +4 "core" &} ]\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&K' +95 "core" ' +2 .tHand.open +2 "manipulator"&1 +75 "core" 1 +2 "storage"(J- +3 "core" -' +2 .tSE.seek -0.22 Pucks below Top Plate +2 "storage"(B' +23 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(p' +44 "core" ' + #tLights, camera, ACTION! +2 "storage"(e- +3 "core" -' +2 "storage"(& +3 "core" &} 3\  +2 "manipulator"&=& +4 "core" & | 8 + .tElbow.seek 3 +2 "manipulator"&( +3 "core" ( +2 "manipulator"&/& +3 "core" & s { ) +2 "storage"(-& +3 "core" &} 2\  +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&s' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(5'V +62 "core" ' +2 "manipulator"&t& +3 "core" & ^ +2 "storage"(L& +4 "core" &} @\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 3 +2 "manipulator"&>'@ +41 "core" ' + .tElbow.hold +2 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +49 "storage"("'@ +35 "core" ' +2 "manipulator"&^% +4 "core" %;; U ns + "storage"(I& +4 "core" &} $\  +2 .tForearm.force -20 "manipulator"&5 +3 .tForearm.seek 3 + 295 counts +2 "manipulator"& 'g +20 "core" ' +2 "manipulator"&& +4 "core" && ~ (  +2 "storage"(q& +4 "core" &} V\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&v' +25 "core" ' +3 "storage"(g% +4 "core" %E R\ +3 ."downElevator"SE.seek :down +3 "storage"(h'I +100 (% +3 "core" %8 x W\ U^ + "manipulator"&% +4 "core" %  i +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +89 "core" ' +59 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast "storage"(6 +3 "collection"'& +4 "core" &Yu@FP\ O +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&% +4 "core" %\  7 m +2 "storage"(%% +3 "core" %G \ +2 "storage"(2. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 3 +2 "storage"(d(z +2 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (~& +3 "core" &} R\  +2 "manipulator"&,& +3 "core" && J  +2 .tElbow.seek 3 +2 "manipulator"&( +23 "core" ( +2 "manipulator"&.& +4 "core" & % - + "storage"(!& +4 "core" &} *\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&<' +95 "core" ' +2 "storage"(4& +4 "core" &} A\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('j +282 "core" ' + "storage"(@- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&'& +3 "core" & o > - + "storage"(O& +4 "core" &} v w e\  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&U'@ +35 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(- +3 "core" -' +2 .tSE.seek 0.03 Pucks below Top Plate +2 "storage"(m' +31 "core" ' +2 "manipulator"&F% +3 "core" %TJ {  p +2 "storage"(& +3 "core" &} :\  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 3 + 320 counts +2 "manipulator"&3'π +21 "core" ' +2 "manipulator"& & +4 "core" &% s z   + "storage"(& +4 "core" &} <\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"&8' +26 "core" ' +2 .tSE.seek 1.03 Pucks below Top Plate +2 "storage"(' +48 "core" ' +2 "manipulator"&l& +4 "core" &%   + "manipulator"&% +4 "core" % r \ Y +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&b'\ +93 "core" ' +2 .tElbow.seek CC +2 "manipulator"&#( +162 "core" ( +2 "manipulator"&1& +4 "core" & A / +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &c& +3 "core" & { j / +2 .tForearm.seek CC + "manipulator"&V'Ϥ +97 "core" ' + .tHand.close +2 "manipulator"&X/ +77 "core" / +2 .tCC.seek :open + "collection"'A( +433 "core" ( +2 "storage"(& +3 "core" &} L\  +2 "storage"(& +3 "core" &} \  +2 "manipulator"&w& +4 "core" & e e  / + "manipulator"&C% +4 "core" % ϸ [ [ +2 .tForearm.seek :retract + "manipulator"&;'\ +98 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 3 +2 "manipulator"&6( +159 "core" ( +2 "manipulator"&_& +3 "core" & Z  +2 "storage"(G& +4 "core" &}\ \  \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.seek 3 +2 "manipulator"&n'@ +111 "core" ' + .tElbow.hold +2 "manipulator"&N, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&Y1 +69 "core" 1 +3 "manipulator"&k% +4 "core" % RT l s + "storage"(9& +4 "core" &} B A r\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 3 + 318 counts +2 "manipulator"&`'~ +21 "core" ' +2 "manipulator"&r& +3 "core" & d v +2 "storage"(a& +4 "core" &}\ \ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts + "manipulator"&T' +25 "core" ' +2 "storage"(R% +4 "core" %\ *\  5\ +2 ."downElevator"SE.seek :down +4 "storage"(\ 'I +100 (E% +3 "core" %t8 S\ U\\ + "manipulator"& % +4 "core" % 7 \\ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Z'\ +100 "core" ' +41 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast +2 "storage"(6 +2 #tShuffling pucks in tube 4 of [1..7] +2 #Loading generic puck from tube 4 into Collection Clamp + "collection"'S& +4 "core" &@Eg\ +2 "manipulator"&Q% +4 "core" %\    +2 "storage"(z% +3 "core" %S  \ +2 "storage"(i. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +3 .tSC.seek 4 + "storage"(](, +185 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (D& +2 "core" &, \  \  +2 "manipulator"&& +4 "core" &  v +2 .tElbow.seek 4 + "manipulator"&\\( +38 "core" ( +2 "manipulator"& & +3 "core" & @  +2 "storage"(H& +4 "core" &, \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&(' +98 "core" ' +2 "storage"(&& +3 "core" &, \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(:'j +286 "core" ' +2 "storage"(f- +3 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 ({& +3 "core" &, \  + "manipulator"&j& +4 "core" &   +2 .tElbow.seek 4 + "manipulator"&u( +22 "core" ( +2 "manipulator"&W& +4 "core" & &  +2 "storage"(o& +3 "core" &, O\  +48 .tForearm.seek 4 + 300 counts +3 "manipulator"&)'@ +27 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&7/ +74 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&}& +4 "storage"(M'I +5 "core" & k o  +2 "manipulator"&x% +4 "core" % ? } r 8 + .tForearm.seek :retract +3 "manipulator"&0'\ +98 "core" ' +2 .tElbow.seek CC +2 "manipulator"&[( +146 "core" ' + ."downElevator"SE.coast + "storage"(5 +13 "core" ( +2 "manipulator"&|& +4 "core" & | } v , + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" & } { , +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'Ϥ +98 "core" ' +2 "manipulator"&*& +4 "core" & m , +2 "manipulator"&+% +3 "core" %ϧ +2 "collection"' & +4 "core" &AD\ +3 "collection"'& +4 "core" &>Av\ +3 .tCC.seek :closed + "collection"'J(Y +4 "core" &@Bj\ +9 &5BBe\ $d +10 &V{>B_\ 7 +9 &{AAk\ L +9 &T@Ce\ M +10 &jU@Dg\ M +9 &-VBBh\ M +9 &T?Ch\ M +10 &T@Cj\ M +9 &rU?Cg\ M +10 &6T?Cr\ L +9 &U@Bs\ L +9 &!U@Dh\ L +10 &#{V@Dg\ M +9 &%<U@Bh\ M +9 &&WAAk\ M +10 &(W@Bl\ L +9 &*V@Ce\ M +10 &,ES?Ck\ M +9 &.TBDl\ M +9 &/T@Cl\ M +10 &1T@Bl\ M +10 &3MU@Ck\ M +9 &5W@Ck\ M +9 &6X<Cl\ M +9 &8UABk\ M +10 &:UV@Cf\ M +9 &<W@Ak\ M +9 &=VADk\ M +10 &?YBBh\ M +9 &A\\V@Ek\ M +9 &CZ@FX\ M +10 &DXCDf\ M +9 &F]AC_\ N +10 &H_eCDd\ O +9 &J}@DW\ R +9 &KAD\\\ V +10 &M@C`\ Y +9 &OFBGU\ Z +9 &QADW\ [ +10 &RADR\ [ +9 &T@DR\ \\ +10 &VHACN\ \\ +9 &X @FV\ \\ +9 &YbICEJ\ (x +10 &Y ?EQ\ Q +5 ( +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 2.38 + .Hand.open +2 "manipulator"&e1 +3 "core" &YwDBR\ Q +71 1 +2 "manipulator"&% +4 "core" % ϫ \\ +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&='\ +94 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 4 into Processing Clamp + "processing"%/& +4 "core" &\ +2 "manipulator"&-% +3 "core" %\ {   +2 "storage"(% +4 "core" %X L\ +2 "storage"(t. +3 "core" . + .tSC.reconfigure :tight +3 "storage"($\ .(\ 1~b +2 .tSC.seek 4 + "storage"(L(, +4 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (& +2 "core" &, \  +2 "manipulator"&B& +4 "core" & } ~ , +2 "manipulator"&^% +3 "core" %\ | ~ ?  +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 + "manipulator"&I( +158 "core" ( +2 "manipulator"&& +4 "core" &  + "storage"($& +4 "core" &, i\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&q' +95 "core" ' +2 "storage"(K& +3 "core" &, -\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(p'j +283 "core" ' + "storage"(g- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (s& +2 "core" &, z w Q\  +2 "manipulator"&& +4 "core" & s + .tElbow.seek 4 +2 "manipulator"&( +3 "core" ( + "manipulator"&& +4 "core" & s +2 "storage"(5& +89 "core" &, B\  +2 .tForearm.seek 4 + 300 counts + "manipulator"&>'@ +37 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tHand.close + "manipulator"& / +66 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +4 "storage"('I +5 "core" & / +2 "manipulator"&%% +3 "core" % G  F +2 .tForearm.seek :retract +2 "manipulator"&2'\ +93 "core" ' +2 .tElbow.seek PC +2 "manipulator"&"( +162 "core" ' +2 ."downElevator"SE.coast +2 "storage"(5 +107 "core" ( +2 "manipulator"&~& +3 "core" & K n +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &,& +3 "core" &  m +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&.'Њ +89 "core" ' +2 "manipulator"&!& +4 "core" &   m + "manipulator"&v% +4 "core" %Ў v u T C +2 "processing"%4& +3 "core" &#\ +3 "processing"%h& +4 "core" &%\ +2 .tPC.seek :closed +2 "processing"%y(Y +4 "core" &$\ +9 & %#\ #a +9 &V|&\ 8 +9 &~}$\ M +10 &V"\ O +9 &YW#\ O +9 &W%\ O +10 &U$\ O +9 &V \ O +10 &bS \ O +9 &$V$\ O +9 &X%\ O +10 &!X\ O +9 &#iW\ O +9 &%,Y\ O +10 &&W \ O +9 &(W \ O +10 &*rW\ O +9 &,3W\ O +9 &-S\ O +10 &/V\ O +9 &1yU\ O +9 &3;Y\ O +10 &4U\ O +9 &6R\ O +10 &8U\ O +9 &:DW\ O +9 &<W\ O +10 &=W\ O +9 &?T\ O +9 &ALU\ O +10 &CV\ O +9 &DY\ O +10 &F\\\ P +9 &HQ]\ P +9 &Jc\ Q +10 &Kv\ S +9 &M\ W +9 &OE\ W +10 &Q\ W +9 &R\ V +10 &T\ V +9 &VO\ V +9 &X\ E +10 &Y8Dt\ "e +9 &YF\ 6 +5 ( +2 "processing"%h& +3 #tProcessing Clamp onSpring/offSpring for 10/26 samples, on/off torque 1.56 + .Hand.open +2 "manipulator"&1 +3 "core" &Y+\ 6 +65 1 + "manipulator"&% +4 "core" % Ў K C +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&@'\ +91 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%'& +4 "core" &Y+\ 6 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&O% +3 "core" %\ Q +2 "storage"(% +4 "core" %Y l '\ + "storage"(F. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +3 .tSC.seek 4 + "storage"((, +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 ( & +3 "core" &, z \  +2 "manipulator"&& +2 ."raiseStack"SE.reconfigure :place +4 "storage"(#].K-0-\ b +3 "core" & $ l +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +4 .tElbow.seek PC +2 "storage"(l'j + "manipulator"&( +4 "core" ( +2 "manipulator"&<& +4 "core" & ? l + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" & K l +2 .tForearm.seek PC +2 "manipulator"&'Њ +92 "core" ' +2 .tHand.close +2 "manipulator"&U/ +71 "core" / +2 .tPC.seek :open +2 "processing"%3( +80 "core" ' +2 "storage"(m- +3 "core" -'j + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(1' +40 "core" ' +300 ( + "storage"(c& +4 "core" &, N\  +2 "manipulator"&8& +3 "core" & q r \ l +2 "manipulator"&% +51 "core" % Ѕ r p  +2 .tForearm.seek :retract +2 "manipulator"&X'\ +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&b( +264 "core" ( +2 "manipulator"&& +4 "core" & ? + "storage"(& +4 "core" &, \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&' +98 "core" ' +2 .tHand.open +2 "manipulator"&w1 +73 "core" 1 +2 "storage"(C- +3 "core" -' +2 .tSE.seek -0.22 Pucks below Top Plate +2 "storage"(_' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(G' +53 "core" ' + #tLights, camera, ACTION! +2 "storage"(V- +3 "core" -' +2 "storage"(#& +3 "core" &, \  +2 "manipulator"&Y& +4 "core" & r v S +2 .tElbow.seek 4 +2 "manipulator"&k( +3 "core" ( + "manipulator"&9& +4 "core" & u z  +2 "storage"(r& +4 "core" &, u\  +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&a' +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +3 "storage"(R'V +65 "core" ' +2 "manipulator"&;& +4 "core" & u ~ T + "storage"(E& +4 "core" &, x x \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 4 +2 "manipulator"& ' +35 "core" ' + .tElbow.hold +2 "manipulator"&6, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(n'@ +25 "core" ' +2 "manipulator"&S% +4 "core" %' l m lS +2 "storage"(`& +3 "core" &, ?\  +2 .tForearm.force -20 "manipulator"&5 +3 .tForearm.seek 4 + 278 counts +2 "manipulator"&Q'* +21 "core" ' +2 "manipulator"&z& +4 "core" & r q \  +2 "storage"(i& +3 "core" &, %\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 4 + 700 counts +2 "manipulator"&' +18 "core" ' +2 "storage"(T% +4 "core" %F \ +2 ."downElevator"SE.seek :down +4 "storage"(D'I +99 (% +3 "core" %4 y p 5\ U^ + "manipulator"& % +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&H'\ +91 "core" ' +60 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast "storage"(6 +3 "collection"'\ & +4 "core" &YvCFX\ Q +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&d% +4 "core" %\ \   +2 "storage"(&% +4 "core" %R \ +2 "storage"(N. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +3 .tSC.seek 4 + "storage"(Z(, +3 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (f& +3 "core" &, M\  + "manipulator"&{& +4 "core" &   +2 .tElbow.seek 4 +2 "manipulator"&j( +11 "core" ( +2 "manipulator"&W& +4 "core" & 5  + "storage"(o& +4 "core" &, F\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +2 "manipulator"&7' +98 "core" ' +2 "storage"(}& +4 "core" &, =\  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(x'j +279 "core" ' + "storage"(\\- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&(& +3 "core" & 4  +2 "storage"(|& +3 "core" &, N\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&' +32 "core" ' + .tElbow.hold +2 "manipulator"&:, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"()- +2 "core" -' +2 .tSE.seek 0.02 Pucks below Top Plate +2 "storage"(*' +30 "core" ' +2 "manipulator"&+% +3 "core" %&J n r +2 "storage"( & +4 "core" &, J\  + .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 318 counts +2 "manipulator"&u'R +21 "core" ' +2 "manipulator"&M& +3 "core" &  z &  +2 "storage"(0& +4 "core" &, \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts + "manipulator"&A' +28 "core" ' +2 .tSE.seek 1.02 Pucks below Top Plate +2 "storage"(e' +47 "core" ' +2 "manipulator"&& +4 "core" & r )  +2 "manipulator"&/% +3 "core" % E T +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +3 "manipulator"&-'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +149 "core" ( + "manipulator"&& +4 "core" & ~  & +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &t& +3 "core" & |  & +2 .tForearm.seek CC +2 "manipulator"&'Ϥ +97 "core" ' + .tHand.close +2 "manipulator"&B/ +77 "core" / +2 .tCC.seek :open + "collection"'^( +433 "core" ( + "storage"(& +4 "core" &, s\  +2 "storage"(& +3 "core" &, `\  +2 "manipulator"&$& +3 "core" & g f ? $ +2 "manipulator"&]% +3 "core" % ϖ [ e 0 +2 .tForearm.seek :retract +2 "manipulator"&K'\ +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +2 "manipulator"&[( +152 "core" ( +2 "manipulator"&=& +3 "core" &   +2 "storage"(g& +4 "core" &,\ '\ & +\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.seek 4 +2 "manipulator"&s' +112 "core" ' + .tElbow.hold +2 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open + "manipulator"&1 +68 "core" 1 +2 "manipulator"&5% +4 "core" % #V  t +2 "storage"( & +3 "core" &, A A "\  +3 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 4 + 315 counts +2 "manipulator"&'O +22 "core" ' +2 "manipulator"&%& +3 "core" & | u 1 } +2 "storage"(I& +4 "core" &,\ \ D\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +46 "manipulator"&q' +23 "core" ' +2 "storage"(p% +4 "core" %  0\ +2 ."downElevator"SE.seek :down +3 "storage"(>'I +100 (~% +3 "core" %g6 \ T[ + "manipulator"&,% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' +50 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast + "storage"(6 +2 #tShuffling pucks in tube 5 of [1..7] +2 #Loading generic puck from tube 5 into Collection Clamp + "collection"'!& +4 "core" &@Az\ +2 "manipulator"&v% +4 "core" %\   +2 "storage"(4% +4 "core" %I   0\ + "storage"(. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 5 +2 "storage"(2(; +188 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (P& +2 "core" &; S\  +2 "manipulator"&& +4 "core" &  } +2 .tElbow.seek 5 +2 "manipulator"&( +12 "core" ( +2 "manipulator"&'& +4 "core" & =  + "storage"(O& +4 "core" &; \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts +2 "manipulator"&', +97 "core" ' +2 "storage"(F& +3 "core" &; H\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(h'j +286 "core" ' +2 "storage"( - +3 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &; \  + "manipulator"&<& +4 "core" &   + .tElbow.seek 5 +2 "manipulator"&( +3 "core" ( + "manipulator"&.& +4 "core" &   + "storage"(U& +4 "core" &; \  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&L'Ϝ +22 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&m/ +75 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&"& +3 "storage"(@'I +5 "core" & ~ x U  +2 "manipulator"&y% +3 "core" % Ϟ q p   +2 .tForearm.seek :retract +2 "manipulator"&l'\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&c( +147 "core" ' + ."downElevator"SE.coast + "storage"(5 +6 "core" ( +2 "manipulator"&8& +4 "core" & | s L / + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" & } ~ / +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'Ϥ +100 "core" ' +2 "manipulator"&& +4 "core" & 9 / + "manipulator"&% +4 "core" %Ϥ ~  +2 "collection"'& +4 "core" &?Dv\ +3 "collection"'w& +4 "core" &>Cq\ +2 .tCC.seek :closed +2 "collection"'C(Y +4 "core" &>Cp\  +10 &1~@Dr\ *y +10 &dAAf\ > +9 &vr>Cc\ N +10 &;R@Bk\ M +9 &UAC]\ M +9 &U>Dk\ L +10 &U>Bk\ M +9 &DT?Ci\ L +9 &U@Ch\ M +10 &WABn\ M +9 & R@Cr\ M +10 &"LU@Bj\ L +9 &$ V>Eh\ M +9 &%WABg\ M +10 &'U@Cf\ M +9 &)SV@Bl\ M +9 &+SBDl\ M +10 &,TABj\ M +9 &.S@Bj\ M +10 &0[U@Ch\ M +9 &2U@Cj\ L +9 &3W?Ch\ M +10 &5V?Dk\ M +9 &7cV@Di\ M +9 &9$TABi\ M +10 &:T?Dj\ M +9 &<T@Ej\ M +10 &>jU@Cm\ M +9 &@,U?Bl\ M +9 &AV?C`\ M +10 &CY@D\\\ M +9 &Ep\\>Dc\ N +9 &G1\\?Bk\ N +10 &HdBC[\ O +9 &JBBb\ R +10 &L]?Dg\ W +9 &NAEd\ Z +9 &OAD]\ Z +10 &QCFg\ [\ +9 &SVCEW\ \\ +9 &UCF`\ [ +10 &VBEZ\ \\ +9 &XACd\ I +10 &Y'@EX\ , +9 &Yj@Fa\ P +2 ( +2 "collection"'w& +2 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 2.40 + .Hand.open + "manipulator"&V1 +73 "core" 1 +2 "manipulator"&#% +4 "core" % Ϥ c +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&Y'\ +103 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 5 into Processing Clamp + "processing"%9& +4 "core" &\ +2 "manipulator"&X% +4 "core" %\ s { : +2 "storage"(r% +3 "core" %R )\ +2 "storage"(;. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 5 +2 "storage"(E(; +4 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (1& +3 "core" &; U\  + "manipulator"&S& +4 "core" & w q W . + "manipulator"&`% +4 "core" %\ ~ t +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&_( +157 "core" ( +2 "manipulator"&z& +3 "core" & ?  +2 "storage"(i& +4 "core" &; K\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&T', +90 "core" ' +2 "storage"(b& +3 "core" &; s\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('j +285 "core" ' + "storage"(G- +4 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &; \ \  +2 "manipulator"& & +4 "core" & A  + .tElbow.seek 5 +2 "manipulator"&a( +3 "core" ( + "manipulator"&k& +4 "core" & ]  + "storage"(R& +4 "core" &; 5\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"& 'Ϝ +14 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&\ / +68 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&Q& +5 "storage"(d'I +4 "core" & J  +2 "manipulator"&&% +4 "core" % Ϥ  e +2 .tForearm.seek :retract +2 "manipulator"&N'\ +92 "core" ' +2 .tElbow.seek PC +2 "manipulator"&n( +159 "core" ' + ."downElevator"SE.coast + "storage"(5 +93 "core" ( +2 "manipulator"&f& +3 "core" & t t  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &{& +3 "core" & r r  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek PC +2 "manipulator"&W'Њ +86 "core" ' +2 "manipulator"&o& +4 "core" & e + "manipulator"&% +4 "core" %Ў G +2 "processing"%}& +3 "core" &9\ +3 "processing"%D& +5 "core" &1\ +2 .tPC.seek :closed +3 "processing"%(Y +3 "core" &/\ +7 &8\ 3 +9 &5Iy/\ 0 +9 &Yo'\ E +10 &`.\ O +9 &T%\ O +9 &|T"\ N +10 &<T#\ O +9 &T!\ O +10 &Q#\ O +9 &U \ O +9 &EU!\ O +10 &!V#\ O +9 &"U$\ O +9 &$U\ O +10 &&MU\ O +9 &(S!\ O +10 &)V$\ O +9 &+T\ O +9 &-TV\ O +10 &/U\ O +9 &0U\ O +9 &2W#\ O +10 &4\\T!\ O +9 &6U\ O +10 &7U\ O +9 &9T"\ O +9 &;eU"\ O +10 &=&S!\ O +9 &>T!\ O +9 &@W\ O +10 &BmV \ O +9 &D/Y\ O +10 &E\\\ P +9 &G]\ P +9 &Iqb \ P +10 &K+t\ S +9 &L\ V +9 &N\ W +10 &Pe\ W +9 &R) \ V +10 &S\ V +9 &U\ V +9 &Wo\ V +10 &X^u\ 4 +9 &Yz[\ 8 +5 ( +2 "processing"%D& +3 #tProcessing Clamp onSpring/offSpring for 9/27 samples, on/off torque 1.63 +48 .Hand.open +3 "manipulator"&61 +3 "core" &Y{1\ 7 +64 1 + "manipulator"&H% +4 "core" % Ў \\  G +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&\\'\ +93 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%(& +4 "core" &Y{1\ 7 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&|% +3 "core" %\ C  +2 "storage"()% +4 "core" %B x x k\ + "storage"(+. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 5 +2 "storage"( (; +2 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (M& +3 "core" &; d o \  +3 "manipulator"&0& + ."raiseStack"SE.reconfigure :place +5 "storage"(#].K-0-\ b +2 "core" & B +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"('j +2 "manipulator"&/( +5 "core" ( + "manipulator"&7& +4 "core" &  +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &j& +2 "core" &  +2 .tForearm.seek PC +2 "manipulator"&x'Њ +95 "core" ' + .tHand.close +2 "manipulator"&/ +76 "core" / +3 .tPC.seek :open +2 "processing"%u( +68 "core" ' +2 "storage"(*- +3 "core" -'j + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(' +42 "core" ' +308 ( + "storage"(t& +4 "core" &; _\  +2 "manipulator"&A& +3 "core" & } } b +2 "manipulator"&:% +3 "core" % Е ~   +2 .tForearm.seek :retract +2 "manipulator"&B'\ +96 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&-( +275 "core" ( +2 "manipulator"&J& +3 "core" & .  +2 "storage"(& +4 "core" &; -\  + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&', +98 "core" ' + .tHand.open +2 "manipulator"&$1 +71 "core" 1 +2 "storage"(]- +3 "core" -' +2 .tSE.seek -0.22 Pucks below Top Plate +2 "storage"(=' +25 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(g' +50 "core" ' + #tLights, camera, ACTION! +2 "storage"(- +3 "core" -' +2 "storage"(& +3 "core" &; k\  +2 "manipulator"&& +3 "core" &  +2 .tElbow.seek 5 +2 "manipulator"&5( +3 "core" ( +2 "manipulator"& & +4 "core" &   +2 "storage"(%& +3 "core" &; w\  +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&I', +4 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(K'V +63 "core" ' +2 "manipulator"&p& +4 "core" & $  + "storage"([& +4 "core" &; X\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&~'p +35 "core" ' + .tElbow.hold +2 "manipulator"&,, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(s'@ +34 "core" ' +2 "manipulator"&% +4 "core" %~b  u +2 "storage"(!& +3 "core" &;\  +2 .tForearm.force -20 "manipulator"&5 +3 .tForearm.seek 5 + 314 counts +2 "manipulator"&v'Ϫ +21 "core" ' +2 "manipulator"&4& +4 "core" & ~  p +2 "storage"(& +3 "core" &; \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts +2 "manipulator"&e', +25 "core" ' +2 "storage"(q% +4 "core" %F @\ +2 ."downElevator"SE.seek :down +4 "storage"(P'I +99 (% +3 "core" %3 l o \ U] + "manipulator"&'% +4 "core" %4  T +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&O'\ +90 "core" ' +60 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast +2 "storage"(6 +2 "collection"'>& +4 "core" &YfBDS\ P +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&Z% +4 "core" %\   \ e +2 "storage"(F% +3 "core" %E M\ +2 "storage"(. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 5 + "storage"((; +4 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 ( & +2 "core" &; r\  +2 "manipulator"&& +4 "core" &  p +2 .tElbow.seek 5 +2 "manipulator"&<( +32 "core" ( +2 "manipulator"&.& +4 "core" & { } 5 k + "storage"(U& +4 "core" &; u\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +2 "manipulator"&m', +95 "core" ' +2 "storage"("& +4 "core" &; \  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(y'j +278 "core" ' +2 "storage"(- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&& +2 "core" & | \\ i +2 "storage"(8& +3 "core" &; w z \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek 5 +2 "manipulator"&'p +36 "core" ' + .tElbow.hold +2 "manipulator"&h, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(L- +2 "core" -' +2 .tSE.seek 0.03 Pucks below Top Plate +2 "storage"(' +30 "core" ' +2 "manipulator"&% +3 "core" %΁^ I t +2 "storage"(& +3 "core" &; \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 5 + 317 counts +2 "manipulator"&'ϭ +22 "core" ' +2 "manipulator"&@& +4 "core" & s x l  + "storage"(l& +4 "core" &; '\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts + "manipulator"&^', +28 "core" ' +2 .tSE.seek 1.03 Pucks below Top Plate +2 "storage"(V' +51 "core" ' +2 "manipulator"&#& +4 "core" & p s M  + "manipulator"&9% +4 "core" % q r h +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&w'\ +90 "core" ' +47 .tElbow.seek CC +3 "manipulator"&X( +152 "core" ( +2 "manipulator"&r& +3 "core" & + / +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &;& +2 "core" & | G / +2 .tForearm.seek CC +2 "manipulator"&1'Ϥ +93 "core" ' + .tHand.close +2 "manipulator"&S/ +68 "core" / +2 .tCC.seek :open + "collection"'`( +434 "core" ( +2 "storage"(& +3 "core" &; \  +2 "storage"(z& +3 "core" &; \  +2 "manipulator"&i& +3 "core" & d Z / +2 "manipulator"&2% +4 "core" % ϥ Y a  +2 .tForearm.seek :retract +2 "manipulator"&b'\ +93 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +2 "manipulator"&c( +156 "core" ( +2 "manipulator"&Y& +3 "core" & F +2 "storage"(G& +4 "core" &;\ \ $ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.seek 5 +2 "manipulator"&'p +108 "core" ' + .tElbow.hold +2 "manipulator"& , +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&k1 +65 "core" 1 +2 "manipulator"&R% +4 "core" % wt ^ x +2 "storage"(\ & +3 "core" &; T Z >\  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 5 + 307 counts +2 "manipulator"&Q'ϣ +22 "core" ' +2 "manipulator"&&& +4 "core" & | t  : + "storage"(_& +4 "core" &; \  R\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts +2 "manipulator"&T', +21 "core" ' +2 "storage"(% +4 "core" %\  3\ +2 ."downElevator"SE.seek :down +3 "storage"( 'I +100 (f% +3 "core" %`3 |\ TZ + "manipulator"&{% +4 "core" %, ) +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&a'\ +90 "core" ' +51 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast "storage"(6 +3 #tShuffling pucks in tube 6 of [1..7] +2 #Loading generic puck from tube 6 into Collection Clamp + "collection"'o& +4 "core" &@Cw\ +2 "manipulator"&% +4 "core" %\   t + "storage"(}% +4 "core" %Z   D\ +2 "storage"(d. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 6 +2 "storage"(N(K +186 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (3& +2 "core" &K" y\ \  +2 "manipulator"&6& +4 "core" &  : +2 .tElbow.seek 6 +2 "manipulator"&H( +30 "core" ( +2 "manipulator"&D& +4 "core" &~\ x r _ D + "storage"((& +4 "core" &K" \ \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&|' +116 "core" ' +2 "storage"()& +3 "core" &K" :\ \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"(+'j +281 "core" ' +2 "storage"(M- +3 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (0& +3 "core" &K! U\ \  + "manipulator"&7& +4 "core" &\ } : C + .tElbow.seek 6 +2 "manipulator"&j( +17 "core" ( + "manipulator"&W& +4 "core" & | P $ +2 "storage"(& +3 "core" &K! /\ \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&E'V +20 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&*/ +68 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&n& +4 "storage"(\\'I +5 "core" & v  !u +2 "manipulator"&% +3 "core" % X q " +2 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' +2 .tElbow.seek CC +2 "manipulator"&t( +147 "core" ' + ."downElevator"SE.coast + "storage"(5 +8 "core" ( +2 "manipulator"&A& +3 "core" & u  - +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &:& +2 "core" &  - +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&x'Ϥ +100 "core" ' +3 "manipulator"&J& +4 "core" &  |  - +2 "manipulator"&% +3 "core" %ϱ ~ z b l +2 "collection"'/& +4 "core" &@By\ +2 "collection"'$& +4 "core" &BDy\ +2 .tCC.seek :closed +2 "collection"'](Y +4 "core" &?B}\ +8 &5CD~\ $d +10 &U{@Bz\ 7 +9 &{=Dm\ L +10 &TABn\ M +9 &eU?Cl\ M +9 &'U@Bf\ M +10 &T?Cm\ M +9 &T@Am\ L +9 &nT@Ch\ M +10 &/W@Bg\ M +9 &TABi\ M +10 &!WACm\ M +9 &#vU@Em\ M +9 &%7UABr\ M +10 &&UADm\ M +9 &(V@Cm\ M +9 &*}U?Ds\ M +10 &,@TADj\ M +9 &.V@Do\ M +10 &/XABl\ M +9 &1UACj\ M +9 &3HU?Cj\ M +10 &5\ V@Dk\ M +9 &6U@Bi\ M +9 &8UACp\ M +10 &:PU@Ck\ M +9 &<XBBi\ M +10 &=VBDl\ M +9 &?UBCm\ M +9 &AWV=El\ M +10 &CV>Cj\ M +9 &DZADg\ N +9 &F\\ADj\ M +10 &H\\`@C`\ N +9 &JuBDe\ Q +10 &KAEk\ U +9 &MAAf\ Z +9 &O@ADk\ Z +10 &QBDk\ [ +9 &RBDk\ [\ +9 &TACk\ \\ +10 &VCBEk\ \\ +9 &X?Eg\ \\ +10 &Y^I@Bd\ ){ +9 &YDEj\ R +5 ( +2 "collection"'$& +3 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 2.36 + .Hand.open +2 "manipulator"&1 +3 "core" &YjCCi\ R +65 1 +2 "manipulator"&% +4 "core" % ϱ  l +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 6 into Processing Clamp + "processing"% & +4 "core" &,\ +2 "manipulator"&%% +3 "core" %\  | J r +2 "storage"(B% +4 "core" %R \ +2 "storage"(p. +2 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +3 .tSC.seek 6 + "storage"([(K +4 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (& +2 "core" &K i\  +2 "manipulator"&& +4 "core" & - + "manipulator"&!% +4 "core" %\  r +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 + "manipulator"&=( +156 "core" ( +2 "manipulator"&4& +4 "core" & c  + "storage"(& +4 "core" &K Z\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&q' +100 "core" ' +2 "storage"(-& +3 "core" &K \  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('j +282 "core" ' +2 "storage"(g- +3 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +2 "core" &K I\  +2 "manipulator"&'& +3 "core" &   +2 .tElbow.seek 6 +49 "manipulator"&I( +4 "core" ( + "manipulator"&5& +4 "core" & W  + "storage"(K& +4 "core" &K \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&~'V +20 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&v/ +71 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&>& +4 "storage"(Z'I +6 "core" & #  +2 "manipulator"&F% +4 "core" % _ { ) ) + .tForearm.seek :retract +3 "manipulator"&'\ +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"&s( +157 "core" ' + ."downElevator"SE.coast + "storage"(5 +95 "core" ( +2 "manipulator"& & +4 "core" &   + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 && +2 "core" & r q  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&.'Њ +93 "core" ' +2 "manipulator"&U& +4 "core" & { - +2 "manipulator"&e% +3 "core" % { * +2 "processing"%"& +4 "core" &"\ +2 "processing"%P& +4 "core" &'\ +2 .tPC.seek :closed +2 "processing"% (Y +4 "core" &0\ +9 & -5\ #b +9 &U|0\ 8 +10 &~z.\ L +9 &U,\ O +10 &VU#\ O +9 &W'\ O +9 &T$\ O +10 &V \ O +9 &^U"\ O +9 &X \ O +10 &X\ O +9 &!U"\ O +9 &#dX&\ O +10 &%&W\ O +9 &&W"\ O +10 &(V\ O +9 &*mW"\ O +9 &,/X!\ O +10 &-W%\ O +9 &/X$\ O +9 &1vW\ O +10 &38W%\ O +9 &4U\ O +10 &6V\ O +9 &8~U\ O +9 &:?W\ O +10 &<V\ O +9 &=V\ O +9 &?T\ O +10 &AGW \ O +9 &C\\!\ O +10 &D[(\ P +9 &F`!\ P +9 &HIb#\ Q +10 &Jt#\ S +9 &K%\ W +9 &M~\ W +10 &O?\ W +9 &Q \ W +10 &R\ W +9 &T!\ W +9 &VH%\ W +10 &X\ \ J +9 &Y:P$\ $n +9 &Y\ + +2 ( +2 "processing"%P& +2 #tProcessing Clamp onSpring/offSpring for 10/26 samples, on/off torque 1.60 +2 .Hand.open + "manipulator"&,1 +69 "core" 1 +2 "manipulator"&O% +3 "core" %  m c * +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&'\ +95 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%& +4 "core" &Y\ + +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 + "manipulator"&8% +3 "core" %\ w  +2 "storage"(L% +4 "core" %R u l \ +2 "storage"(. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +3 .tSC.seek 6 + "storage"((K +4 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +4 (@& +2 "manipulator"&l& +5 "core" &K p\  + &  +4 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 "storage"(#].K-0-\ b +4 "manipulator"&#( +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(9'j +2 "core" ( + "manipulator"&m& +4 "core" & / +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &<& +3 "core" &  +2 .tForearm.seek PC +2 "manipulator"&y'Њ +89 "core" ' + .tHand.close +2 "manipulator"&/ +65 "core" / +3 .tPC.seek :open +2 "processing"%( +88 "core" ' +2 "storage"(- +3 "core" -'j + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +2 ."raiseStack"SE.seek :place +2 "storage"(r' +40 "core" ' +288 ( + "storage"(;& +4 "core" &K b\  +2 "manipulator"&^& +3 "core" & b +2 "manipulator"&h% +3 "core" % З v y U M +2 .tForearm.seek :retract +2 "manipulator"&S'\ +94 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&w( +277 "core" ( +2 "manipulator"&C& +3 "core" & S  +2 "storage"(& +4 "core" &K M\  + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&z' +105 "core" ' + .tHand.open +2 "manipulator"&i1 +65 "core" 1 +2 "storage"(2- +3 "core" -' +2 .tSE.seek -0.22 Pucks below Top Plate +2 "storage"(Y' +26 "core" ' +3 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(G' +52 "core" ' + #tLights, camera, ACTION! +2 "storage"(1- +3 "core" -' +2 "storage"(X& +3 "core" &K { x D\  +2 "manipulator"&k& +4 "core" & ,  + .tElbow.seek 6 +2 "manipulator"&R( +3 "core" ( +2 "manipulator"&\ & +4 "core" & Y  + "storage"(&& +4 "core" &K z \  +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&_' +27 "core" ' +2 .tSE.reconfigure :gently +2 "storage"(#QK-0-\ b +2 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"('V +63 "core" ' +2 "manipulator"&b& +4 "core" &   + "storage"(f& +4 "core" &K \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&{'* +37 "core" ' + .tElbow.hold +2 "manipulator"&c, +4 "core" , + .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +2 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"('@ +34 "core" ' +2 "manipulator"&o% +4 "core" %+9 a oq + "storage"(Q& +4 "core" &K \  +2 .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 6 + 301 counts +2 "manipulator"&'W +21 "core" ' +2 "manipulator"&}& +4 "core" & g  +2 "storage"(d& +3 "core" &K \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&V' +25 "core" ' +2 "storage"(T% +4 "core" %F .\ +2 ."downElevator"SE.seek :down +3 "storage"(3'I +100 (6% +3 "core" %5 n t A\ U] +2 "manipulator"&D% +4 "core" %  m +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&('\ +92 "core" ' +55 ' + ."downElevator"SE.coast + "storage"(5 +2 .tSC.coast + "storage"(6 +3 "collection"' & +3 "core" &Yj>EV\ R +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&% +4 "core" %\ \   +2 "storage"()% +3 "core" %B \ +2 "storage"( . +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +3 .tSC.seek 6 + "storage"(a(K +4 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (M& +2 "core" &K H\  +2 "manipulator"&0& +4 "core" &   +2 .tElbow.seek 6 +46 "manipulator"&7( +15 "core" ( +2 "manipulator"&W& +4 "core" & 9  + "storage"(& +4 "core" &K k\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts + "manipulator"&*' +104 "core" ' +2 "storage"(n& +4 "core" &K W\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('j +287 "core" ' +2 "storage"(H- +3 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 "manipulator"&|& +3 "core" &   +2 "storage"(A& +4 "core" &K \  + .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +2 "manipulator"&:'* +32 "core" ' + .tElbow.hold +2 "manipulator"&+, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 "storage"(E- +3 "core" -' +2 .tSE.seek 0.05 Pucks below Top Plate + "storage"(J' +31 "core" ' +2 "manipulator"&% +4 "core" %:P r + "storage"(/& +4 "core" &K \  + .tForearm.force -20 + "manipulator"&5 +2 .tForearm.seek 6 + 316 counts +2 "manipulator"&j'f +13 "core" ' +2 "manipulator"&\\& +4 "core" & : ] + "storage"(& +4 "core" &K "\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&`' +27 "core" ' +2 .tSE.seek 1.05 Pucks below Top Plate +2 "storage"(' +40 "core" ' +2 "manipulator"&& +4 "core" &  ] +2 "manipulator"& % +3 "core" %  k +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&%'\ +94 "core" ' +2 .tElbow.seek CC +2 "manipulator"&B( +158 "core" ( +3 "manipulator"&p& +3 "core" & 1 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &$& +3 "core" & q ~ T 1 +2 .tForearm.seek CC + "manipulator"&'Ϥ +93 "core" ' + .tHand.close +2 "manipulator"&/ +69 "core" / +2 .tCC.seek :open + "collection"'!( +433 "core" ( +2 "storage"(x& +3 "core" &K {\  +2 "storage"(4& +3 "core" &K M\  +2 "manipulator"&& +4 "core" & V U . + "manipulator"&N% +4 "core" % ϴ \\ U o  +2 .tForearm.seek :retract +2 "manipulator"&-'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tElbow.seek 6 +2 "manipulator"&t( +169 "core" ( +2 "manipulator"&& +3 "core" &~ u | h 2 +2 "storage"(g& +4 "core" &K\ \  \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +2 .tForearm.seek 6 +2 "manipulator"&'* +109 "core" ' + .tElbow.hold +2 "manipulator"&', +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 .tHand.open +2 "manipulator"&51 +75 "core" 1 +3 "manipulator"&K% +4 "core" % 8h Z v + "storage"(v& +4 "core" &K _ `\  + .tForearm.force -20 + "manipulator"&5 +3 .tForearm.seek 6 + 314 counts + "manipulator"&>'d +24 "core" ' +2 "manipulator"&F& +3 "core" & ~ ~ 7  +2 "storage"(=& +4 "core" &K\ \  \  +2 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +5 .tForearm.seek 6 + 700 counts +4 "manipulator"&q' +21 "core" ' +4 "storage"(% +8 "core" % \ $\ ' V\ +4 ."downElevator"SE.seek :down +7 "storage"(~'I +98 ( % +3 "core" %!6 ?\ U[ + "manipulator"&% +4 "core" %  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&I'\ +90 "core" ' +52 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast "storage"(6 +4 #tShuffling pucks in tube 7 of [1..7] + #Loading generic puck from tube 7 into Collection Clamp + "collection"'U& +4 "core" &ACg\ +2 "manipulator"&e% +4 "core" %\ \   +2 "storage"("% +4 "core" %Q P H\ + "storage"(Z. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +3 .tSC.seek 7 + "storage"(([c +63 #"brent"Session Begun +126 "core" ( + .tSC.reconfigure :loose +3 "storage"($.(\ 1~b +4 (u& +4 "core" &[b" 4\ \  +2 "manipulator"&,& +4 "core" & :  + .tElbow.seek 7 +3 "manipulator"&O( +4 "core" ( +2 "manipulator"&& +4 "core" & K  +2 "storage"(8& +3 "core" &[b" \ \  +2 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 700 counts +2 "manipulator"&L' +98 "core" ' +2 "storage"(P& +3 "core" &[b" R\ \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +5 .tSE.seek :beamBreak +2 "storage"('j +260 #"brent"-> showlog 500 +27 "core" ' +5 "storage"(@- +8 "core" -' +4 .tSE.configure :default +8 "storage"(#QK-0-\ b +8 (l& +8 "core" &[c \  +4 "manipulator"&m& +3 "core" & t u a  +2 .tElbow.seek 7 +3 "manipulator"&<( +5 "core" ( + "manipulator"&.& +4 "core" & m v  +2 "storage"(& +3 "core" &[c $\  +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&['N +22 "core" ' + .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +74 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&s& +5 "storage"('I +3 "core" & q t %  +2 "manipulator"& % +4 "core" % X p q ( + .tForearm.seek :retract +3 "manipulator"&9'\ +97 "core" ' +2 .tElbow.seek CC +4 "manipulator"&;( +144 "core" ' + ."downElevator"SE.coast +2 "storage"(5 +12 "core" ( +2 "manipulator"&^& +3 "core" & y } * 2 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +4 &h& +2 "core" & ~ | M 2 +2 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +3 "manipulator"&y'Ϥ +93 "core" ' +3 "manipulator"&C& +4 "core" & }  2 +2 "manipulator"&% +3 "core" %Ϙ  ~ 8 o +2 "collection"'#& +4 "core" &BC\ +2 "collection"'i& +51 "core" &?C\ +4 &?C\ + &@C}\ +5 .tCC.seek :closed +2 "collection"'2(Y +6 "core" &ADy\ + &BCy\ + &BB|\ + &@C\ &ABw\  +6 &/yADu\ +z +10 &dACz\ > +9 &ur?Ey\ N +9 &:T@Ca\ M +10 &V@En\ M +9 &U@Cb\ M +10 &Y@C\\\ M +9 &BTADj\ M +9 &XACi\ M +10 &TBCr\ M +9 & T?Cl\ L +9 &"JV?Do\ M +10 &$ UAFq\ M +9 &%WCBn\ M +10 &'V@Am\ M +9 &)RWBCs\ M +9 &+VACq\ L +10 &,V?Cr\ M +9 &.TBCs\ M +9 &0ZUACl\ M +10 &2Y@Dl\ M +9 &3VCCk\ L +10 &5WBDl\ M +9 &7bW@Dj\ M +9 &9$T?Dp\ M +10 &:UACj\ M +9 &<TACk\ M +9 &>jW>Dk\ M +10 &@,WABk\ M +9 &AWBDk\ L +10 &C[@Bk\ M +9 &EpY?Ei\ M +9 &G2]@Dj\ M +10 &HeCDe\ O +9 &J@Ee\ S +9 &L]@Ci\ W +10 &N@Fi\ Z +9 &O?EV\ Z +10 &QBC\\\ [\ +9 &SVCEd\ \\ +9 &UAEk\ [\ +10 &VACk\ \\ +9 &XADj\ H +9 &Y,BE\\\ )y +10 &Yr>E^\ O +2 ( + "collection"'i& +3 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 2.37 + .Hand.open +5 "manipulator"&11 +69 "core" 1 +2 "manipulator"&X% +4 "core" % Ϙ C o + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +2 "manipulator"&k'\ +93 "core" ' + .tSC.coast +2 "storage"(6 +4 #tLoading generic puck from tube 7 into Processing Clamp +3 "processing"%\ & +4 "core" &4\ +2 "manipulator"&&% +4 "core" %\ { e +2 "storage"(S% +3 "core" %S \ +2 "storage"(b. +2 "core" . +2 .tSC.reconfigure :tight +3 "storage"($\ .(\ 1~b +4 .tSC.seek 7 + "storage"(f([c +4 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +4 (r& +3 "core" &[c F\  + "manipulator"&Y& +4 "core" & | Z 2 +2 "manipulator"&o% +3 "core" %\ } ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek 7 +2 "manipulator"&Q( +155 "core" ( +2 "manipulator"&}& +4 "core" & N  + "storage"(d& +4 "core" &[c n\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 7 + 700 counts +2 "manipulator"&w' +100 "core" ' +2 "storage"(T& +4 "core" &[c /\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(z'j +280 "core" ' +2 "storage"(G- +3 "core" -' + .tSE.configure :default +4 "storage"(#QK-0-\ b +3 (6& +3 "core" &[c w u ,\  + "manipulator"&D& +4 "core" &  y a  +2 .tElbow.seek 7 +2 "manipulator"&_( +17 "core" ( + "manipulator"&R& +4 "core" & K I +2 "storage"(& +3 "core" &[c  1\  +2 .tForearm.seek 7 + 300 counts +3 "manipulator"&{'N +27 "core" ' + .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +74 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"& & +4 "storage"('I +6 "core" & t w  G +2 "manipulator"&)% +3 "core" % 5 } u D B +2 .tForearm.seek :retract +3 "manipulator"& '\ +93 "core" ' +3 .tElbow.seek PC +4 "manipulator"&( +157 "core" ' + ."downElevator"SE.coast +2 "storage"(5 +99 "core" ( +2 "manipulator"&M& +3 "core" & { s ' +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +4 &0& +2 "core" & t y 1 +2 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&W'Њ +90 "core" ' +2 "manipulator"&& +4 "core" & | + "manipulator"&V% +4 "core" %Г ^ L +2 "processing"%n& +3 "core" &3\ +3 "processing"%3& +5 "core" &*\ +2 .tPC.seek :closed + "processing"%(Y +6 "core" &7\ \ +8 &.v<\ +z +10 &b8\ ? +9 &nv7\ P +9 &1U4\ O +10 &W7\ O +9 &W3\ N +10 &xU3\ O +9 &;V6\ N +9 &W.\ O +10 &W/\ O +9 & X(\ O +9 &"@W'\ O +10 &$W&\ P +9 &%U#\ O +10 &'U*\ O +9 &)JU2\ O +9 &+ U.\ O +10 &,W*\ O +9 &.U&\ O +9 &0PY#\ O +10 &2W$\ O +9 &3W)\ O +10 &5S+\ O +9 &7YV%\ O +9 &9V%\ O +10 &:V \ O +9 &<U$\ N +9 &>bW$\ O +10 &@$T-\ O +9 &AT*\ O +10 &CZ#\ O +9 &Eg\\)\ P +9 &G(`)\ P +10 &H_%\ P +9 &Jg&\ Q +9 &L_3\ U +10 &N)\ W +9 &O)\ W +10 &Q"\ W +9 &Sb(\ W +9 &U$*\ W +10 &V\ W +9 &X{p\ @ +9 &Yh$V\ U +10 &Y~G\ ? + ( +2 "processing"%3& +3 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.57 .Hand.open +5 "manipulator"&c1 +69 "core" 1 +2 "manipulator"&(% +3 "core" % Г L +2 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract + "manipulator"&H'\ +95 "core" ' +2 .tSC.coast +2 "storage"(6 +4 "processing"%|& +4 "core" &Y~L\ ? + #tImaging generic puck in Processing Clamp while storing it to tube 7 +2 "manipulator"&A% +5 "core" %\    +2 "storage"(E% +4 "core" %O U T l\ +2 "storage"(. +2 "core" . +2 .tSC.reconfigure :tight +4 "storage"($\ .(\ 1~b +3 .tSC.seek 7 +2 "storage"(/([c +3 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +5 (\\& +2 "manipulator"&& +6 "core" &[c V V b\  + &  +3 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +7 "manipulator"&$&.,(\ #b +2 "storage"(#].K-0-\ b +4 .tElbow.seek PC +4 "manipulator"&( +5 ."raiseStack"SE.seek :beamBreak +2 "storage"( 'j +4 "core" ( +2 "manipulator"&*& +3 "core" & ' +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +4 &7& +3 "core" & ^ +2 .tForearm.seek PC +3 "manipulator"&'Њ +92 "core" ' + .tHand.close +4 "manipulator"&:/ +65 "core" / +2 .tPC.seek :open +4 "processing"%j( +80 "core" ' +2 "storage"(J- +3 "core" -'j + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"(p' +43 "core" ' +290 ( + "storage"($& +4 "core" &[c 5\  +2 "manipulator"&`& +3 "core" & ~  +2 "manipulator"&+% +3 "core" % Ќ | D ( +2 .tForearm.seek :retract +3 "manipulator"&'\ +94 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +5 .tElbow.seek 7 +4 "manipulator"&%( +272 "core" ( +2 "manipulator"&]& +3 "core" & L  +2 "storage"(x& +3 "core" &[c "\  +2 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 700 counts +3 "manipulator"&4' +98 "core" ' +2 .tHand.open +2 "manipulator"&1 +68 "core" 1 +2 "storage"(N- +3 "core" -' +2 .tSE.seek -0.22 Pucks below Top Plate +3 "storage"(' +24 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +5 .tSE.seek -0.83 Pucks below Top Plate +4 "storage"(g' +54 "core" ' +2 #tLights, camera, ACTION! +2 "storage"(- +4 "core" -' +2 "storage"(B& +3 "core" &[c \  +2 "manipulator"&5& +3 "core" &   +2 .tElbow.seek 7 +50 "manipulator"&K( +10 "core" ( +2 "manipulator"&v& +3 "core" & Y  +2 "storage"(F& +4 "core" &[c ;\  +2 .tForearm.seek 7 + 700 counts +3 "manipulator"&=' +20 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +4 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"('V +64 "core" ' +2 "manipulator"&-& +4 "core" &   + "storage"( & +4 "core" &[c \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +4 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 +3 "manipulator"&t'" +41 "core" ' + .tElbow.hold +4 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +5 .tSE.reconfigure :default +2 "storage"(#QK-0-\ b +4 .tSE.seek 0.07 Pucks below Top Plate +3 "storage"('@ +30 "core" ' +2 "manipulator"&>% +4 "core" %(J k q +2 "storage"(U& +3 "core" &[c -\  +3 .tForearm.force -20 + "manipulator"&5 +5 .tForearm.seek 7 + 306 counts +2 "manipulator"&e'T +20 "core" ' +2 "manipulator"&"& +4 "core" & n p +2 "storage"(Z& +3 "core" &[c 0\  +2 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 700 counts +3 "manipulator"&' +21 "core" ' +2 "storage"(q% +4 "core" %E A\ +2 ."downElevator"SE.seek :down +4 "storage"(u'I +99 (,% +3 "core" %O3 y w q\ U] + "manipulator"&% +4 "core" % h +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +3 "manipulator"&8'\ +93 "core" ' +54 ' + ."downElevator"SE.coast +2 "storage"(5 +3 .tSC.coast + "storage"(6 +4 "collection"'~& +4 "core" &YkADQ\ O +2 #tStoring generic puck in Collection Clamp to tube 7 +2 "manipulator"&a% +5 "core" %\   m + "storage"(P% +4 "core" %L 3\ +2 "storage"('. +2 "core" . +2 .tSC.reconfigure :tight +3 "storage"($\ .(\ 1~b +4 .tSC.seek 7 +2 "storage"(I([c +4 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +4 (@& +2 "core" &[c J\  +2 "manipulator"&l& +4 "core" & 8 p + .tElbow.seek 7 +3 "manipulator"&m( +35 "core" ( +2 "manipulator"&.& +4 "core" & Z - + "storage"(& +4 "core" &[c e\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 7 + 700 counts +3 "manipulator"&' +99 "core" ' +2 "storage"(s& +4 "core" &[c ^\  + .tSE.reconfigure :pick +4 "storage"(#]K-0-\ b +5 .tSE.seek :beamBreak + "storage"( 'j +286 "core" ' + "storage"(O- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +4 "manipulator"&L& +3 "core" & w u 4 , +2 "storage"(^& +3 "core" &[c .\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(#b +4 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek 7 +3 "manipulator"&h'" +33 "core" ' + .tElbow.hold +4 "manipulator"&, +3 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +4 "storage"([- +3 "core" -' +2 .tSE.seek 0.03 Pucks below Top Plate +2 "storage"(C' +33 "core" ' +2 "manipulator"&% +3 "core" %4T r +2 "storage"(#& +3 "core" &[c  \  +2 .tForearm.force -20 + "manipulator"&5 +5 .tForearm.seek 7 + 318 counts + "manipulator"&<'` +21 "core" ' +2 "manipulator"&& +4 "core" & W  + "storage"(9& +4 "core" &[c -\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 7 + 700 counts +2 "manipulator"&!' +21 "core" ' +3 .tSE.seek 1.03 Pucks below Top Plate +4 "storage"(1' +45 "core" ' +2 "manipulator"&X& +5 "core" &   + "manipulator"&\ % +4 "core" %  x +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +2 "manipulator"&i'\ +94 "core" ' +2 .tElbow.seek CC +4 "manipulator"&&( +160 "core" ( +2 "manipulator"&S& +3 "core" & } 1 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &b& +3 "core" & z N 1 +2 .tForearm.seek CC +3 "manipulator"&r'Ϥ +94 "core" ' + .tHand.close +3 "manipulator"&Y/ +76 "core" / +3 .tCC.seek :open +3 "collection"'o( +437 "core" ( + "storage"(y& +4 "core" &[c @\  +2 "storage"(}& +3 "core" &[c \  +2 "manipulator"&d& +3 "core" & s | O 1 +2 "manipulator"&% +4 "core" % ϓ q p 6 ; + .tForearm.seek :retract +3 "manipulator"&T'\ +98 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek 7 +2 "manipulator"&;( +164 "core" ( +2 "manipulator"&k& +3 "core" & ~ X  +2 "storage"(G& +4 "core" &[c\ \ \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +4 .tForearm.seek 7 +3 "manipulator"&6'" +112 "core" ' + .tElbow.hold +4 "manipulator"&D, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&R1 +70 "core" 1 +2 "manipulator"&% +4 "core" % 3h { w +2 "storage"(& +3 "core" &[c ] X \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 7 + 317 counts +2 "manipulator"& '_ +23 "core" ' +2 "manipulator"&)& +4 "core" & |  P + "storage"(Q& +4 "core" &[c\ \  \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 7 + 700 counts +2 "manipulator"&w' +21 "core" ' +2 "storage"(z% +4 "core" % \  \ +2 ."downElevator"SE.seek :down +4 "storage"({'I +99 (M% +3 "core" %4 W\ U[ + "manipulator"&0% +4 "core" %  +2 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&_'\ +95 "core" ' +42 ' + ."downElevator"SE.coast + "storage"(5 +4 .tSC.coast + "storage"(6 +6 ."shutdown"CS.coast +3 #tAsleep / Shutdown +2 "collection"'5 +4 ."shutdown"SS.coast +2 "sampler")5 +4 ."shutdown"CC.coast +2 "collection"'6 +4 ."shutdown"PC.coast +2 "processing"%6 +4 ."shutdown"Forearm.coast + "manipulator"&5 +4 ."shutdown"Elbow.coast +2 "manipulator"&6 +38 ."shutdown"Gate.power :core,:OFF +2 .Gate.power :raw,:OFF +2 #Shutdown +3 .tdelay 5 seconds +140 "Can"\ k +364 #tPowering core bus +514 .Gate.power :raw,:ON +4 "sampler") +27 ) +2 "core"  +2 "collection"' +2 'V +3 "core"  +2 "processing"% + %n +3 "core"  +4 "collection"' 9\ +3 ' 0\ + ' -\ +5 "processing"% 9\ +2 % 2\ + % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'% +2 "core" %@Dk\ +2 .tCS.configure :default +2 "collection"'#P d@b +4 "processing"% % +4 "core" %$\ +2 .tPS.configure :default +2 "processing"%#A d`xb +4 "sampler")% +2 "core" %rrw +2 .tSS.configure :default +2 "sampler")#.0XE|\  +2 .tHand.open + "manipulator"&>1 +73 "core" 1 +2 "manipulator"&%% +3 "core" % \  m S  +2 "storage"(U% +3 "core" %S\ \ \ +2 "storage"(". +3 "core" .( +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +4 .tSC.seek 1 +2 "storage"(Z( +189 "core" ( + .tSC.reconfigure :loose +3 "storage"($.(\ 1~b +4 (4& +2 "core" & 6 ? ;\ +2 "manipulator"&q& +4 "core" & o )  + .tElbow.seek 1 +3 "manipulator"&g( +23 "core" ( +2 "manipulator"&,& +3 "core" &\ d N +2 "storage"(& +4 "core" &   [\ +2 .tForearm.seek 1 + 700 counts +3 "manipulator"&='W +108 "core" ' +2 "storage"(K& +3 "core" & % 6 3\ +2 .tSE.reconfigure :pick +5 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('j +267 "core" ' +2 "storage"(t- +3 "core" -' + .tSE.configure :default +4 "storage"(#QK-0-\ b +3 (e& +3 "core" & \ s\ +2 "manipulator"&~& +3 "core" &\ s s  N +2 .tElbow.seek 1 +2 "manipulator"&a( +25 "core" ( + "manipulator"&P& +4 "core" & z G  +2 "storage"('& +3 "core" &\ \  %\ +2 .tForearm.seek 1 + 300 counts +3 "manipulator"&' +23 "core" ' + .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&@/ +75 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&l& +6 "storage"(.'I +3 "core" & h  + "manipulator"&% +4 "core" % +2 .tForearm.seek :retract +3 "manipulator"&'\ +93 "core" ' +2 .tElbow.seek CC +4 "manipulator"&s( +128 "core" ' + ."downElevator"SE.coast +2 "storage"(5 +24 "core" ( +2 "manipulator"&u& +3 "core" & } = * +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +4 &/& +3 "core" & | * + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek CC +2 "manipulator"&'Ϥ +99 "core" ' +3 "manipulator"&8& +4 "core" & l e 1 * +2 "manipulator"&O% +3 "core" %ϥ o i i  +2 "collection"'L& +4 "core" &AD\  +2 "collection"'^& +5 "core" &>C\  +2 .tCC.seek :closed +3 "collection"'[(Y +5 "core" &@E\  +6 &AE\ = +10 &K~@D\ 2 +9 &Gw?C\ F +9 &[?C\ M +10 &W?Dz\ M +9 &yZAE~\ M +9 &;YAE\ M +10 &Z@D\ M +9 &U@E~\ M +10 &T@D\ M +9 &CX@F\ M +9 &!V@B\ M +10 &"VBF}\ L +9 &$W?D\ L +9 &&KW?E\ M +10 &( YAD{\ M +9 &)X@A|\ M +10 &+T@Ez\ M +9 &-STBG|\ M +9 &/UACv\ M +10 &0VAEy\ L +9 &2V@Dy\ L +9 &4[W@Fq\ M +10 &6TCEn\ M +9 &7W@Cl\ L +10 &9V?Dm\ L +9 &;dUAG{\ L +9 &=&WBDo\ L +10 &>V?Ep\ M +9 &@Z?Do\ M +10 &BkU@Eu\ M +9 &D,ZACt\ M +9 &EZ@Du\ N +10 &G]@Fy\ N +9 &IkjAEy\ O +9 &K!@Ex\ T +10 &LBFx\ Y +9 &NBEw\ Y +9 &PT@Fx\ Z +10 &RAGv\ [ +9 &SAFo\ \\ +10 &UAFw\ [ +9 &WWAEx\ \\ +9 &Xz>Fy\ . +10 &Y3BEx\ [ +8 ( +2 &YZ@Ex\ F + "collection"'^& +3 #tCollection Clamp onSpring/offSpring for 8/30 samples, on/off torque 2.31 +2 .Hand.open +4 "manipulator"&1 +70 "core" 1 +2 "manipulator"&#% +4 "core" % ϥ   + .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' +48 .tSC.coast +2 "storage"(6 +5 #tLoading generic puck from tube 1 into Processing Clamp +4 "processing"%9& +5 "core" &-\  +2 "manipulator"&X% +3 "core" %\ \ ~ | d  +2 "storage"(\ % +4 "core" %Z K\ +2 "storage"(. +2 "core" . +2 .tSC.reconfigure :tight +3 "storage"($\ .(\ 1~b +4 .tSC.seek 1 + "storage"(m( +4 "core" ( +2 .tSC.reconfigure :loose +3 "storage"($.(\ 1~b +4 ( & +3 "core" & \  +2 "manipulator"&h& +4 "core" &  E ) + "manipulator"&<% +4 "core" %\ \ w 8  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek 1 +2 "manipulator"&C( +157 "core" ( +2 "manipulator"&S& +4 "core" & } T  + "storage"(b& +4 "core" & t\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 1 + 700 counts +2 "manipulator"&!'W +105 "core" ' +4 "storage"(& +4 "core" & \  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +5 .tSE.seek :beamBreak +2 "storage"(Y'j +273 "core" ' +2 "storage"(i- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +4 (2& +3 "core" & \  + "manipulator"&y& +4 "core" &   + .tElbow.seek 1 +3 "manipulator"&}( +4 "core" ( +2 "manipulator"&d& +3 "core" &  +2 "storage"(& +3 "core" & \  +2 .tForearm.seek 1 + 300 counts +3 "manipulator"&k' +23 "core" ' + .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&G/ +71 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&r& +4 "storage"(&'I +6 "core" & q q  +2 "manipulator"&R% +3 "core" % y Z \ +2 .tForearm.seek :retract +3 "manipulator"&'\ +109 "core" ' +2 .tElbow.seek PC +4 "manipulator"&( +123 "core" ' + ."downElevator"SE.coast +2 "storage"(5 +136 "core" ( +2 "manipulator"&)& +3 "core" & q v U +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +4 &Q& +2 "core" & p p F U +2 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&z'Њ +95 "core" ' +2 "manipulator"&T& +4 "core" & b b U + "manipulator"&M% +4 "core" %Ѕ d d +2 "processing"%0& +3 "core" & \  +2 "processing"%;& +5 "core" &\  +2 .tPC.seek :closed +3 "processing"%6(Y +5 "core" &\  +7 &G\ %h +10 &sW\ 9 +9 &y\ M +9 &W \ O +10 &HZ \ O +9 & W \ N +9 &U \ N +10 &W\ O +9 &PX\ O +10 &Y\ O +9 &W\ O +9 &!X\ \ N +10 &#XX \ O +9 &%W \ O +9 &&Y\ \ N +10 &(W \ O +9 &*bW\ N +10 &,#X\ \ O +9 &-W \ N +9 &/X\ O +10 &1iU\ O +9 &3+W\ O +9 &4U\ O +10 &6V\ O +9 &8qZ\ O +10 &:4W\ N +9 &;V\ O +9 &=U\ O +10 &?yT\ O +9 &A;X\ O +9 &BV\ O +10 &DZ\ O +9 &F~^\ P +10 &HA^\ O +9 &Ie\ Q +9 &Kw\ R +10 &Mr\ W +9 &O2\ W +9 &P\ W +10 &R\ V +9 &Tz\ V +10 &V<\ V +9 &W\ M +9 &Y1H\ b +10 &Y O\ 7 +5 ( +2 "processing"%;& +3 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.60 +2 .Hand.open +4 "manipulator"& 1 +5 "core" &Y1\ 7 +62 1 + "manipulator"&1% +4 "core" % Ѕ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +2 "manipulator"&w'\ +98 "core" ' +3 .tSC.coast +2 "storage"(6 +5 "processing"%{& +4 "core" &Y1\ 7 +2 #tImaging generic puck in Processing Clamp while storing it to tube 1 + "manipulator"&I% +5 "core" %\  -  +2 "storage"(% +3 "core" %V -\ +2 "storage"(?. +3 "core" . + .tSC.reconfigure :tight +4 "storage"($\ .(\ 1~b +3 .tSC.seek 1 +2 "storage"(o( +5 "core" ( + .tSC.reconfigure :loose +4 "storage"($.(\ 1~b +3 (j& +2 "core" & 2\  +2 "manipulator"&_& +3 "core" & q U +2 "manipulator"&D% +4 "core" %\  `  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 1 +2 "manipulator"&( +275 "core" ( +2 "manipulator"&V& +3 "core" &  +2 "storage"(n& +4 "core" & K\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 1 + 700 counts +3 "manipulator"&'W +99 "core" ' +2 "storage"( & +4 "core" & o\  + .tSE.reconfigure :pick +5 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('j +280 "core" ' +2 "storage"(c- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +4 "manipulator"&(& +3 "core" &  + "storage"(|& +4 "core" & (\  + .tElbow.reconfigure :limp +4 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek 1 +3 "manipulator"&A'Λ +33 "core" ' + .tElbow.hold +4 "manipulator"&3, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 "storage"(E- +3 "core" -' +2 .tSE.seek 1.02 Pucks below Top Plate +2 "storage"(' +39 "core" ' +2 "manipulator"&% +4 "core" %έa [ y + "storage"(\\& +4 "core" & &\  + .tForearm.force -20 + "manipulator"&5 +5 .tForearm.seek 1 + 318 counts +2 "manipulator"&7' +21 "core" ' +2 "manipulator"&*& +4 "core" &  '  + "storage"(W& +4 "core" & )\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 1 + 700 counts +2 "manipulator"&:'W +28 "core" ' +2 .tSE.seek 2.02 Pucks below Top Plate +3 "storage"(f' +40 "core" ' +2 "manipulator"&J& +4 "core" &  S  +2 "manipulator"&H% +37 "core" %O a U +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +5 "manipulator"& '\ +91 "core" ' +2 .tElbow.seek PC +4 "manipulator"&+( +273 "core" ( +2 "manipulator"&& +3 "core" &   +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +4 &x& +2 "core" & 5  +2 .tForearm.seek PC +3 "manipulator"&'Њ +101 "core" ' + .tHand.close +2 "manipulator"&N/ +79 "core" / +2 .tPC.seek :open +3 "processing"%5( +432 "core" ( + "storage"(v& +4 "core" & \  +2 "manipulator"&-& +4 "core" & -  + "manipulator"&F% +4 "core" % } )  +2 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 1 +50 "manipulator"&]( +267 "core" ( +2 "manipulator"&& +3 "core" & } c +2 "storage"(& +4 "core" & I\  +2 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 700 counts +3 "manipulator"&>'W +99 "core" ' + .tHand.open +4 "manipulator"&%1 +70 "core" 1 +2 "storage"(U- +3 "core" -' +2 .tSE.seek 1.77 Pucks below Top Plate +3 "storage"("' +25 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +4 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(4' +54 "core" ' + #tLights, camera, ACTION! +3 "storage"(q- +4 "core" -' +2 "storage"(,& +3 "core" &   \  +2 "manipulator"&& +4 "core" & " +2 .tElbow.seek 1 +2 "manipulator"&( +5 "core" ( +2 "manipulator"&K& +4 "core" &  + "storage"(B& +4 "core" &   \  +2 .tForearm.seek 1 + 700 counts +3 "manipulator"&'W +4 "core" ' +2 .tSE.reconfigure :gently +4 "storage"(#QK-0-\ b +3 .tSE.seek 1.89 Pucks below Top Plate +2 "storage"(t'1 +62 "core" ' +2 "manipulator"&e& +4 "core" &  + "storage"(~& +4 "core" & N\  + .tElbow.reconfigure :limp +4 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek 1 +2 "manipulator"&'Λ +37 "core" ' + .tElbow.hold +3 "manipulator"&P, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +4 "storage"(#QK-0-\ b +3 .tSE.seek 2.07 Pucks below Top Plate +2 "storage"('' +22 "core" ' +2 "manipulator"&@% +4 "core" %ΠZ I s +2 "storage"(l& +3 "core" & # # N\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 1 + 305 counts +2 "manipulator"&' +21 "core" ' +2 "manipulator"&g& +4 "core" &   +2 "storage"(=& +3 "core" & .\  +2 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 700 counts +3 "manipulator"&u'W +25 "core" ' +2 "storage"(/% +8 "core" %" 9\ +2 ."downElevator"SE.seek :down +4 "storage"('I +99 (% +3 "core" %6 \ U[ + "manipulator"&8% +4 "core" %S  u +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +2 "manipulator"&O'\ +93 "core" ' +34 ' + ."downElevator"SE.coast + "storage"(5 +4 .tSC.coast + "storage"(6 +6 "collection"'L& +3 "core" &Y[CIU\ F +2 #tStoring generic puck in Collection Clamp to tube 1 +2 "manipulator"&a% +6 "core" %\ \ K  + "storage"(.% +4 "core" %O b\ +2 "storage"(. +2 "core" . +2 .tSC.reconfigure :tight +3 "storage"($\ .(\ 1~b +4 .tSC.seek 1 + "storage"( ( +5 "core" ( + .tSC.reconfigure :loose +4 "storage"($.(\ 1~b +3 (& +2 "core" & \  +2 "manipulator"&#& +4 "core" &   +2 .tElbow.seek 1 +2 "manipulator"&9( +17 "core" ( +2 "manipulator"&^& +4 "core" & 3 + "storage"(X& +4 "core" & W\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 1 + 700 counts +3 "manipulator"&\ 'W +106 "core" ' +2 "storage"(& +4 "core" & \  Q\  + .tSE.reconfigure :pick +4 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +3 "storage"( 'j +274 "core" ' + "storage"(h- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +4 "manipulator"&<& +3 "core" &  + "storage"(& +4 "core" & \  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +4 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek 1 +3 "manipulator"&S'Λ +36 "core" ' + .tElbow.hold +4 "manipulator"&b, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 "storage"(Z- +3 "core" -' +2 .tSE.seek 2.03 Pucks below Top Plate +2 "storage"(' +27 "core" ' +2 "manipulator"&s% +3 "core" %ΫI v q +2 "storage"(& +4 "core" &   y\  + .tForearm.force -20 + "manipulator"&5 +5 .tForearm.seek 1 + 316 counts + "manipulator"&i' +21 "core" ' +2 "manipulator"&2& +4 "core" & 0  + "storage"(y& +4 "core" & \  +2 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 700 counts +3 "manipulator"&d'W +29 "core" ' +2 .tSE.seek 3.03 Pucks below Top Plate +3 "storage"(' +43 "core" ' +2 "manipulator"&G& +4 "core" & c  + "manipulator"&r% +4 "core" %M 3 Q +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +2 "manipulator"&R'\ +96 "core" ' +2 .tElbow.seek CC +4 "manipulator"&C( +167 "core" ( +3 "manipulator"&!& +4 "core" & w y % . +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &Y& +3 "core" & } _ . +2 .tForearm.seek CC +3 "manipulator"&k'Ϥ +97 "core" ' + .tHand.close +2 "manipulator"&)/ +79 "core" / +2 .tCC.seek :open +3 "collection"'Q( +434 "core" ( +2 "storage"(}& +3 "core" & <\  +2 "storage"(T& +3 "core" & \  +2 "manipulator"&M& +4 "core" & X ` . + "manipulator"&0% +4 "core" % ϶ X d + .tForearm.seek :retract +2 "manipulator"&&'\ +99 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek 1 +2 "manipulator"&( +161 "core" ( +2 "manipulator"&p& +4 "core" & + "storage"( & +4 "core" &   ,\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(#b +4 .tForearm.seek 1 +2 "manipulator"&1'Λ +106 "core" ' + .tElbow.hold +4 "manipulator"&{, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&;1 +58 #"brent"-> hidelog +12 "core" 1 +4 "manipulator"&I% +4 "core" % Ψ}  x' + "storage"(& +4 "core" & \  +2 .tForearm.force -20 "manipulator"&5 +3 .tForearm.seek 1 + 313 counts +2 "manipulator"&?' +19 "core" ' +2 "manipulator"&j& +3 "core" &   O +2 "storage"(_& +4 "core" &\ \  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 700 counts + "manipulator"&D'W +29 "core" ' +2 "storage"(z% +4 "core" % 8 ;\ +49 ."downElevator"SE.seek :down +3 "storage"(m'I +100 (V% +3 "core" %2 \ X\ TX + "manipulator"&n% +4 "core" %I a T +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' +27 ' + ."downElevator"SE.coast + "storage"(5 +3 .tSC.coast + "storage"(6 +3 #tShuffling pucks in tube 2 of [1..7] + #Loading generic puck from tube 2 into Collection Clamp + "collection"' & +4 "core" &ADx\ +2 "manipulator"&w% +4 "core" %\ \ 5  +2 "storage"(c% +3 "core" %H 2 3\ +2 "storage"((. +3 "core" . + .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +3 .tSC.seek 2 + "storage"(|( +190 "core" ( + .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (E& +3 "core" & \ \ \  + "manipulator"&& +4 "core" &  O +2 .tElbow.seek 2 + "manipulator"&\\( +10 "core" ( +2 "manipulator"&*& +4 "core" & h ` + "storage"(W& +4 "core" & \ \  -\  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +2 "manipulator"&J'a +98 "core" ' +2 "storage"(H& +3 "core" & \ \  0\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak + "storage"('j +284 "core" ' +2 "storage"(- +3 "core" -' + .tSE.configure :default +2 "storage"(#QK-0-\ b +3 (& +3 "core" &  \  +2 "manipulator"&A& +3 "core" & s q ) ` +2 .tElbow.seek 2 + "manipulator"&7( +4 "core" ( + "manipulator"&& +4 "core" & u |  ` +2 "storage"(:& +3 "core" &  m\  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +29 "core" ' +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tHand.close +2 "manipulator"&x/ +72 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&3& +4 "storage"(N'I +3 "core" & J ` +2 "manipulator"& % +3 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&6'\ +89 "core" ' +2 .tElbow.seek CC +2 "manipulator"&v( +155 "core" ' + ."downElevator"SE.coast +2 "storage"(5 +7 "core" ( +2 "manipulator"&-& +4 "core" & p { 3 + .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &F& +2 "core" & y 3 +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC + "manipulator"&'Ϥ +30 #"brent"-> CC.dwarf.version +70 "core" ' +2 "manipulator"&& +4 "core" & { 3 +2 "manipulator"&% +3 "core" %ϣ {  +2 "collection"'+& +4 "core" &@Eq\ +3 "collection"'%& +4 "core" &BFp\ +2 .tCC.seek :closed +2 "collection"'U(Y +4 "core" &>En\ +9 &8@Fl\ $d +9 &WACx\ 7 +9 &|AEv\ L +10 &T@By\ M +9 &hWBEn\ M +9 &+UBDr\ M +10 &W@Cy\ M +9 &VAEn\ M +10 &rR?El\ L +9 &3U@Fj\ M +9 &RAFv\ M +10 &!U?Ey\ L +9 &#yU@Du\ M +9 &%;T@Ew\ M +10 &&UAEx\ M +9 &(W@Du\ M +10 &*S?Ew\ M +9 &,CQ@Ew\ M +9 &.U@Dp\ L +10 &/U@Cw\ M +9 &1S@Dv\ M +9 &3LUAEv\ L +10 &5 V@Dv\ M +9 &6TADp\ M +10 &8U@Cm\ L +9 &:SUAGq\ M +9 &<W@Dj\ M +10 &=XBEk\ M +9 &?UAEv\ L +9 &A[U@Fr\ M +10 &CZBCl\ M +9 &DYBDm\ N +10 &FZBDj\ N +9 &H__BGh\ N +9 &JvBFh\ Q +10 &KCEi\ U +9 &MBH_\ Z +9 &OD@De\ Z +10 &QCG`\ [ +9 &RBGi\ [ +10 &TAEg\ [ +9 &VGAEf\ \\ +9 &X@Fe\ \\ +10 &Y_ICGb\ )z +9 &Y\ BG\\\ R +5 ( +2 "collection"'%& +3 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 2.40 +2 .Hand.open + "manipulator"&q1 +3 "core" &YvCGZ\ R +65 1 +2 "manipulator"&,% +4 "core" % ϣ  +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' + .tSC.coast + "storage"(6 +3 #tLoading generic puck from tube 2 into Processing Clamp + "processing"%& +4 "core" &'\ +2 "manipulator"&K% +4 "core" %\  | ; m + "storage"(B% +4 "core" %V \ + "storage"(e. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +3 .tSC.seek 2 + "storage"(~( +2 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +2 (f& +3 "core" &  \  +2 "manipulator"&@& +3 "core" & | < 3 +2 "manipulator"&l% +3 "core" %\  | } D m +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 + "manipulator"&"( +160 "core" ( +2 "manipulator"&g& +4 "core" &   +2 "storage"(=& +3 "core" &  \  +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts + "manipulator"&]'a +93 "core" ' +2 "storage"(/& +4 "core" &  \  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(>'j +157 #"brent"-> PC.dwarf.version +123 "core" ' +2 "storage"(4- +3 "core" -' +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +2 (& +3 "core" &  /\  +2 "manipulator"&8& +3 "core" & !  +2 .tElbow.seek 2 +2 "manipulator"&( +3 "core" ( + "manipulator"&& +4 "core" & A  + "storage"(t& +4 "core" &  L\  +2 .tForearm.seek 2 + 300 counts +2 "manipulator"&' +23 "core" ' + .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&L/ +71 "core" / +3 ."downElevator"SE.seek :down +3 "manipulator"&& +5 "storage"(a'I +3 "core" & ;  +2 "manipulator"&.% +3 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +159 "core" ' + ."downElevator"SE.coast + "storage"(5 +98 "core" ( +2 "manipulator"&'& +3 "core" & = g +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +3 &#& +2 "core" & g +2 .tForearm.reconfigure :tight +2 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC + "manipulator"&^'Њ +95 "core" ' +2 "manipulator"&X& +4 "core" & u r & g + "manipulator"&u% +4 "core" %Г | } \\ +2 "processing"%& +3 "core" &\ +3 "processing"%& +4 "core" &\ \ +2 .tPC.seek :closed +2 "processing"%o(Y +5 "core" & \ \ +9 &.w\ +z +10 &c \ ? +9 &ft \ O +10 &*S \ N +9 &W \ O +9 &U\ O +10 &pQ\ N +9 &2U \ N +9 &V \ O +10 &W \ N +9 & wV \ O +10 &"9X\ O +9 &#U\ O +9 &%R\ O +10 &'T\ N +9 &)AW\ O +9 &+U\ O +10 &,R\ O +9 &.W\ O +10 &0IW\ O +9 &2 W\ N +9 &3T\ N +10 &5W\ O +9 &7QV\ O +9 &9U\ O +10 &:R\ N +9 &<R\ O +10 &>ZX\ N +9 &@R\ N +9 &AR\ N +10 &CW\ O +9 &EaZ\ O +9 &G `\ P +10 &H`\ P +9 &Jm\ Q +10 &LU\ V +9 &N\ V +9 &O\ W +10 &Q\ V +9 &S[\ V +9 &U\ V +52 &V\ W +4 &X{\ 9 + &Ya1\ T + &Y+\ 6 ( + &Y+\ 6 + &Y+\ 6 +2 "processing"%& +2 #tProcessing Clamp onSpring/offSpring for 8/26 samples, on/off torque 1.60 + .Hand.open +2 "manipulator"&P1 +70 "core" 1 +2 "manipulator"&O% +4 "core" % Г f B + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +2 .tForearm.seek :retract +2 "manipulator"&h'\ +95 "core" ' + .tSC.coast + "storage"(6 +3 "processing"%<& +4 "core" &Y+\ 6 +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 + "manipulator"&% +55 "core" %\    +2 "storage"(Z% +3 "core" %C @\ +2 "storage"(s. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +2 .tSC.seek 2 +2 "storage"(( +2 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +3 (2& +2 "manipulator"&y& +4 "core" &  \  +4 ."raiseStack"SE.reconfigure :place +2 "storage"(#].K-0-\ b +2 "core" &  g +3 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +2 ."raiseStack"SE.seek :beamBreak +4 .tElbow.seek PC + "storage"(G'j +4 "manipulator"&r( +4 "core" ( +2 "manipulator"&\ & +4 "core" &  g +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +2 &9& +3 "core" &  g +2 .tForearm.seek PC +2 "manipulator"& 'Њ +94 "core" ' + .tHand.close +2 "manipulator"&S/ +72 "core" / +2 .tPC.seek :open +2 "processing"%i( +74 "core" ' +2 "storage"(- +3 "core" -'j + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(!' +41 "core" ' +43 #"brent"-> showlog +258 "core" ( +2 "storage"(Y& +4 "core" &  \  + "manipulator"&d& +4 "core" & z + g +2 "manipulator"&b% +3 "core" % Ж { 9  +2 .tForearm.seek :retract +3 "manipulator"&)'\ +95 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek 2 + "manipulator"&R( +271 "core" ( +2 "manipulator"&[& +3 "core" & * +2 "storage"(}& +4 "core" &  `\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 2 + 700 counts +2 "manipulator"&T'a +92 "core" ' +2 .tHand.open +3 "manipulator"&M1 +75 "core" 1 +2 "storage"(0- +3 "core" -' +2 .tSE.seek -0.22 Pucks below Top Plate +3 "storage"(p' +28 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +4 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"( ' +54 "core" ' + #tLights, camera, ACTION! +3 "storage"(k- +4 "core" -' +2 "storage"(C& +3 "core" &  z\  +2 "manipulator"&;& +3 "core" &  +2 .tElbow.seek 2 +3 "manipulator"&I( +12 "core" ( +2 "manipulator"&& +3 "core" & $ +2 "storage"(j& +4 "core" &  7\  +2 .tForearm.seek 2 + 700 counts +3 "manipulator"&_'a +5 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +4 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(z'V +63 "core" ' +2 "manipulator"&&& +4 "core" & F + "storage"(& +4 "core" &  [\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(#b +4 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&V'Υ +36 "core" ' + .tElbow.hold +4 "manipulator"&n, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +4 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(1'@ +35 "core" ' +2 "manipulator"&?% +4 "core" %ζh  u +2 "storage"( & +3 "core" &  9\  +2 .tForearm.force -20 + "manipulator"&5 +5 .tForearm.seek 2 + 317 counts + "manipulator"&w' +25 "core" ' +2 "manipulator"&c& +4 "core" & q p  +2 "storage"((& +3 "core" &  H\  +2 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 2 + 700 counts +3 "manipulator"&'a +22 "core" ' +2 "storage"(D% +4 "core" %I $\ +2 ."downElevator"SE.seek :down +4 "storage"(E'I +99 (% +3 "core" %82 A\ U\\ + "manipulator"&*% +4 "core" %K  +2 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +3 "manipulator"&W'\ +94 "core" ' +54 ' + ."downElevator"SE.coast +2 "storage"(5 +3 .tSC.coast + "storage"(6 +5 "collection"'m& +4 "core" &YvEGO\ R +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"& % +5 "core" %\    +2 "storage"(H% +4 "core" %K M\ + "storage"({. +3 "core" . +2 .tSC.reconfigure :tight +4 "storage"($\ .(\ 1~b +3 .tSC.seek 2 +2 "storage"(( +3 "core" ( +2 .tSC.reconfigure :loose +3 "storage"($.(\ 1~b +4 (& +2 "core" &  \  +2 "manipulator"&& +4 "core" & >  +2 .tElbow.seek 2 +2 "manipulator"&A( +16 "core" ( +2 "manipulator"&& +4 "core" & B + "storage"(:& +4 "core" &  \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 2 + 700 counts +2 "manipulator"&x'a +101 "core" ' +3 "storage"(3& +4 "core" &  \  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +5 .tSE.seek :beamBreak +2 "storage"( 'j +279 "core" ' +2 "storage"(\\- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +4 "manipulator"&J& +3 "core" &  + "storage"(-& +4 "core" &  \  + .tElbow.reconfigure :limp +4 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek 2 +3 "manipulator"&F'Υ +36 "core" ' + .tElbow.hold +4 "manipulator"&, +3 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +4 "storage"(- +3 "core" -' +2 .tSE.seek 0.03 Pucks below Top Plate +2 "storage"('\ +32 "core" ' +2 "manipulator"&% +3 "core" %βP . q +2 "storage"(7& +3 "core" &  i\  +2 .tForearm.force -20 + "manipulator"&5 +5 .tForearm.seek 2 + 313 counts + "manipulator"&+' +20 "core" ' +2 "manipulator"&N& +4 "core" &   + "storage"(6& +4 "core" &  -\  +2 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +3 "manipulator"&Q'a +30 "core" ' +3 .tSE.seek 1.03 Pucks below Top Plate +4 "storage"(q' +47 "core" ' +2 "manipulator"&,& +4 "core" & !  + "manipulator"&% +4 "core" %Z D Q +49 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&K'\ +91 "core" ' +2 .tElbow.seek CC +4 "manipulator"&B( +161 "core" ( +2 "manipulator"&e& +3 "core" &  / +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +4 &%& +2 "core" & ~ d / +2 .tForearm.seek CC +3 "manipulator"&f'Ϥ +92 "core" ' + .tHand.close +3 "manipulator"&@/ +72 "core" / +2 .tCC.seek :open +4 "collection"'l( +431 "core" ( +2 "storage"(& +3 "core" & \ \  )\  +2 "storage"(g& +4 "core" & \ \  X\  + "manipulator"&=& +4 "core" & |  . + "manipulator"&|% +4 "core" % Ϥ | ~ d 5 +2 .tForearm.seek :retract +2 "manipulator"&/'\ +93 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek 2 +2 "manipulator"&v( +151 "core" ( +2 "manipulator"&& +4 "core" & )  + "storage"(4& +4 "core" &    G\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +4 .tForearm.seek 2 +3 "manipulator"&'Υ +108 "core" ' + .tElbow.hold +4 "manipulator"&8, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&1 +73 "core" 1 +2 "manipulator"&t% +4 "core" % ι~ K y( +2 "storage"(L& +3 "core" &  1\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 320 counts +2 "manipulator"&' +23 "core" ' +2 "manipulator"&.& +3 "core" &( x r  +2 "storage"("& +4 "core" &  P ! >\  +2 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +3 "manipulator"&]'a +21 "core" ' +2 "storage"(>% +4 "core" % ! $ i\ +2 ."downElevator"SE.seek :down +4 "storage"('I +99 ('% +3 "core" %6\ \  \ TZ + "manipulator"&#% +4 "core" %Z  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +2 "manipulator"&'\ +89 "core" ' +51 ' + ."downElevator"SE.coast + "storage"(5 +4 .tSC.coast +2 "storage"(6 +4 #tShuffling pucks in tube 3 of [1..7] +2 #Loading generic puck from tube 3 into Collection Clamp +5 "collection"'X& +4 "core" &@Ew\ +2 "manipulator"&u% +4 "core" %\   \ j +2 "storage"(% +4 "core" %Y B A \ +2 "storage"(a. +2 "core" . +2 .tSC.reconfigure :tight +3 "storage"($\ .(\ 1~b +4 .tSC.seek 3 +2 "storage"((z +192 "core" ( + .tSC.reconfigure :loose +4 "storage"($.(\ 1~b +3 (5& +3 "core" &x  ? K\ +2 "manipulator"&P& +3 "core" &(   +2 .tElbow.seek 3 +2 "manipulator"&O( +13 "core" ( +2 "manipulator"&<& +4 "core" & "  + "storage"(& +4 "core" &x   \ +2 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +3 "manipulator"&' +102 "core" ' +3 "storage"(Z& +4 "core" &x   @\ + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +5 .tSE.seek :beamBreak + "storage"(s'j +283 "core" ' +2 "storage"(2- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +4 (y& +3 "core" &x S\ + "manipulator"&\ & +4 "core" &   +2 .tElbow.seek 3 +2 "manipulator"&9( +4 "core" ( +2 "manipulator"&^& +3 "core" &   +2 "storage"(~& +3 "core" &x\ \ \ +2 .tForearm.seek 3 + 300 counts +3 "manipulator"&S'l +24 "core" ' + .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +78 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +5 "storage"(h'I +3 "core" & s s "  +2 "manipulator"&o% +4 "core" % s r t  +2 .tForearm.seek :retract +2 "manipulator"&G'\ +105 "core" ' +2 .tElbow.seek CC +4 "manipulator"&Y( +134 "core" ' + ."downElevator"SE.coast +2 "storage"(5 +19 "core" ( +2 "manipulator"&d& +4 "core" & { v 0 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +4 &b& +3 "core" & K 0 + .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +3 "manipulator"& 'Ϥ +99 "core" ' +2 "manipulator"&[& +4 "core" & | E 0 +2 "manipulator"&}% +3 "core" %ϙ z ~ j +2 "collection"'r& +4 "core" &BEm\ +2 "collection"'M& +5 "core" &AFp\ +2 .tCC.seek :closed +3 "collection"'0(Y +5 "core" &CDi\ +7 &@Ch\ 5 +9 &@G}?Eh\ 1 +9 &mr?F\\\ E +10 &\\BEj\ M +9 &VBDm\ M +10 &Y?Cn\ M +9 &\\UADv\ M +9 &W@Ev\ L +10 &W?Fr\ M +9 &UAEj\ M +9 &dV?Fi\ M +10 &!'R@Dp\ L +9 &"T@Dn\ M +10 &$S@Fm\ M +9 &&lXAEk\ M +9 &(.T@Dv\ M +10 &)R@Ep\ L +9 &+T@El\ L +9 &-tX@Ej\ M +10 &/7W@Fr\ L +9 &0UADm\ L +10 &2YAEf\ M +9 &4|TBEg\ M +9 &6>R@Dh\ M +10 &8UAEk\ M +9 &9R>Dj\ L +9 &;TBCh\ L +10 &=FT?Ca\ M +9 &?T?E_\ M +10 &@S>D\\\ L +9 &BU?E`\ M +9 &DM\\CEZ\ M +10 &FY@FS\ M +9 &G_CEV\ M +9 &Ih?EX\ O +10 &KBAET\ T +9 &L@GV\ X +10 &N?FZ\ Z +9 &PuADY\ Z +9 &R5BEU\ [ +10 &SBEN\ \\ +9 &UBEN\ [ +9 &WyBEN\ [ +10 &YzBEN\ / +9 &Y"@FN\ _ +9 ( +2 &YfBGP\ O +2 "collection"'M& +2 #tCollection Clamp onSpring/offSpring for 8/30 samples, on/off torque 2.34 +2 .Hand.open +5 "manipulator"&k1 +69 "core" 1 +2 "manipulator"&C% +3 "core" % ϙ  +2 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&;'\ +93 "core" ' + .tSC.coast +2 "storage"(6 +4 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%)& +5 "core" & \ + "manipulator"&% +4 "core" %\ } 9  +2 "storage"(j% +3 "core" %I 5\ +2 "storage"(&. +3 "core" . + .tSC.reconfigure :tight +4 "storage"($\ .(\ 1~b +3 .tSC.seek 3 +2 "storage"((z +4 "core" ( + .tSC.reconfigure :loose +4 "storage"($.(\ 1~b +3 (!& +2 "core" &x S\  +2 "manipulator"&p& +3 "core" & ~ } 0 +2 "manipulator"&?% +4 "core" %\  }  + .tElbow.reconfigure :tight +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +3 "manipulator"& ( +163 "core" ( +2 "manipulator"&c& +4 "core" & s { i 7 + "storage"((& +4 "core" &x \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 3 + 700 counts +2 "manipulator"&R' +105 "core" ' +2 "storage"(D& +3 "core" &x \  +2 .tSE.reconfigure :pick +4 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +48 "storage"(T'j +282 "core" ' +2 "storage"( - +3 "core" -' + .tSE.configure :default +4 "storage"(#QK-0-\ b +3 (& +3 "core" &x s\  + "manipulator"&_& +4 "core" &  4 +2 .tElbow.seek 3 +2 "manipulator"&*( +5 "core" ( + "manipulator"&I& +3 "core" &  4 +2 "storage"(z& +4 "core" &x \  +2 .tForearm.seek 3 + 300 counts +3 "manipulator"&V'l +25 "core" ' + .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&w/ +76 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&m& +6 "storage"( 'I +3 "core" & l 3 + "manipulator"&H% +4 "core" % a , +2 .tForearm.seek :retract +3 "manipulator"&{'\ +94 "core" ' +2 .tElbow.seek PC +4 "manipulator"&1( +155 "core" ' + ."downElevator"SE.coast +2 "storage"(5 +131 "core" ( +2 "manipulator"&& +4 "core" &  Y + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +4 && +3 "core" & > Y + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +3 "manipulator"&'Њ +90 "core" ' +2 "manipulator"&:& +4 "core" & z ^ X +2 "manipulator"&% +3 "core" %Ў t t 7 D +2 "processing"%3& +4 "core" &"\ +2 "processing"%E& +4 "core" &&\ +2 .tPC.seek :closed +2 "processing"%(Y +6 "core" & \ +7 & .\ $c +10 &Ux\ 7 +9 &~{\ \ L +9 &T \ N +10 &XU \ N +9 &V \ N +9 &U \ N +10 &U\ N +9 &aR\ N +10 &"W \ N +9 &W\ N +9 &!V\ N +10 &#hX\ N +9 &%*U\ N +9 &&R\ N +10 &(T\ O +9 &*pU\ N +10 &,2U\ N +9 &-V\ N +9 &/V\ O +10 &1xU\ N +9 &3:S\ N +9 &4W\ N +10 &6U\ O +9 &8T\ N +10 &:CR\ N +9 &<W\ N +9 &=U\ N +10 &?Q\ N +9 &AJT\ N +9 &C R\ N +10 &DW\ O +9 &F\\\ O +10 &HM^\ P +9 &Jb\ P +9 &K\ S +10 &M\ V +9 &OC\ V +10 &Q\ W +9 &R\ V +9 &T\ V +10 &VL\ V +9 &X\ F +9 &Y0@s\ )y +10 &Y0\ 0 +5 ( +2 "processing"%E& +3 #tProcessing Clamp onSpring/offSpring for 10/26 samples, on/off torque 1.59 +2 .Hand.open +6 "manipulator"&n1 +3 "core" &Y \ 0 +69 1 + "manipulator"&W% +4 "core" % Ў x N D +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +2 "manipulator"&\\'\ +93 "core" ' + .tSC.coast +2 "storage"(6 +4 "processing"%J& +4 "core" &Y \ 0 + #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&-% +6 "core" %\  \ h +2 "storage"(% +3 "core" %H \ +2 "storage"(. +2 "core" . +2 .tSC.reconfigure :tight +3 "storage"($\ .(\ 1~b +4 .tSC.seek 3 + "storage"(7(z +4 "core" ( +2 .tSC.reconfigure :loose +3 "storage"($.(\ 1~b +4 (N& +2 "manipulator"&6& +4 "core" &x \  +4 ."raiseStack"SE.reconfigure :place +3 "storage"(#].K-0-\ b +3 "core" & 2 X +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +3 ."raiseStack"SE.seek :beamBreak +4 "manipulator"&,( +3 "storage"('j +5 "core" ( + "manipulator"&x& +4 "core" & R X +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &A& +3 "core" & X +2 .tForearm.seek PC +3 "manipulator"& 'Њ +90 "core" ' + .tHand.close +4 "manipulator"&F/ +70 "core" / +2 .tPC.seek :open +4 "processing"%+( +74 "core" ' +2 "storage"(- +3 "core" -'j + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"(e' +46 "core" ' +293 ( + "storage"(%& +4 "core" &x \  +2 "manipulator"&Q& +3 "core" &  X +2 "manipulator"&% +3 "core" % Є  @ +2 .tForearm.seek :retract +3 "manipulator"&@'\ +90 "core" ' +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek 3 +2 "manipulator"&K( +260 "core" ( +2 "manipulator"&U& +4 "core" & * \ + "storage"(& +4 "core" &x !\  +2 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +3 "manipulator"&g' +102 "core" ' + .tHand.open +3 "manipulator"&=1 +68 "core" 1 +2 "storage"(|- +3 "core" -' +2 .tSE.seek -0.22 Pucks below Top Plate +3 "storage"(' +36 "core" ' +15 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +4 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(4' +53 "core" ' + #tLights, camera, ACTION! +3 "storage"(f- +4 "core" -' +2 "storage"(B& +3 "core" &x M\  +2 "manipulator"&& +3 "core" & - \ +2 .tElbow.seek 3 +3 "manipulator"&t( +10 "core" ( +2 "manipulator"&L& +3 "core" &  \ +2 "storage"(.& +4 "core" &x #\  +2 .tForearm.seek 3 + 700 counts +3 "manipulator"&"' +13 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +4 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(>'V +64 "core" ' +2 "manipulator"&/& +4 "core" & p q \ +2 "storage"('& +3 "core" &x S\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +4 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +3 "manipulator"&#'@ +38 "core" ' + .tElbow.hold +4 "manipulator"&v, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +4 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"('@ +27 "core" ' +2 "manipulator"&X% +4 "core" %G@ * o + "storage"(& +4 "core" &x G\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 307 counts +3 "manipulator"&u's +20 "core" ' +2 "manipulator"&& +7 "core" &"   +4 "storage"(a& +8 "core" &x X\  +4 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 3 + 700 counts +3 "manipulator"&q' +21 "core" ' +2 "storage"(]% +4 "core" %I \ +2 ."downElevator"SE.seek :down +4 "storage"(5'I +99 (P% +3 "core" %4 \ U] + "manipulator"&<% +4 "core" %  v +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +2 "manipulator"&'\ +90 "core" ' +58 ' + ."downElevator"SE.coast + "storage"(5 +4 .tSC.coast + "storage"(6 +4 "collection"'& +5 "core" &Yg@EK\ O + #tStoring generic puck in Collection Clamp to tube 3 +5 "manipulator"&% +6 "core" %\   n +2 "storage"(Z% +3 "core" %J k\ +2 "storage"(8. +2 "core" . +49 .tSC.reconfigure :tight +4 "storage"($\ .(\ 1~b +4 .tSC.seek 3 + "storage"((z +5 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +4 (2& +3 "core" &x \  + "manipulator"&y& +4 "core" &"   +2 .tElbow.seek 3 +2 "manipulator"&\ ( +35 "core" ( +2 "manipulator"&^& +4 "core" & | s - h + "storage"(~& +4 "core" &x 5\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 3 + 700 counts +2 "manipulator"&' +111 "core" ' +2 "storage"(& +4 "core" &x R\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +3 "storage"(o'j +279 "core" ' +2 "storage"(O- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +4 "manipulator"&& +3 "core" & ' g +2 "storage"(d& +3 "core" &x ^\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +4 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek 3 +2 "manipulator"&b'@ +40 "core" ' + .tElbow.hold +4 "manipulator"&s, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 "storage"(S- +3 "core" -' +2 .tSE.seek 0.03 Pucks below Top Plate +2 "storage"([' +30 "core" ' +2 "manipulator"&}% +3 "core" %;? ^ nv +2 "storage"(r& +4 "core" &x $ \  + .tForearm.force -20 + "manipulator"&5 +5 .tForearm.seek 3 + 295 counts + "manipulator"&9'g +25 "core" ' +2 "manipulator"&h& +4 "core" &) t  ) + "storage"(G& +4 "core" &x \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 3 + 700 counts +2 "manipulator"&l' +21 "core" ' +2 .tSE.seek 1.03 Pucks below Top Plate +3 "storage"(k' +53 "core" ' +2 "manipulator"&C& +4 "core" &)  ) +2 "manipulator"&)% +3 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +2 "manipulator"&M'\ +91 "core" ' +2 .tElbow.seek CC +4 "manipulator"&( +144 "core" ( +2 "manipulator"&j& +4 "core" & < % + .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +3 &&& +2 "core" & % +2 .tForearm.seek CC +3 "manipulator"&!'Ϥ +96 "core" ' + .tHand.close +3 "manipulator"&p/ +76 "core" / +2 .tCC.seek :open +3 "collection"'?( +434 "core" ( +2 "storage"( & +3 "core" &x\ \  *\  +2 "storage"(c& +3 "core" &x\ \ \  +2 "manipulator"&(& +4 "core" & { : % + "manipulator"&% +4 "core" % Ϙ  G +2 .tForearm.seek :retract +2 "manipulator"&D'\ +95 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek 3 +2 "manipulator"&Y( +151 "core" ( +2 "manipulator"&;& +3 "core" &  +2 "storage"( & +4 "core" &x\ \ S\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(#b +4 .tForearm.seek 3 +2 "manipulator"&'@ +111 "core" ' + .tElbow.hold +4 "manipulator"&_, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&I1 +66 "core" 1 +2 "manipulator"&z% +7 "core" % TT  s + "storage"(w& +4 "core" &x Y V %\  + .tForearm.force -20 + "manipulator"&5 +5 .tForearm.seek 3 + 320 counts +2 "manipulator"&m'π +21 "core" ' +2 "manipulator"&H& +3 "core" & |   +2 "storage"( & +4 "core" &x   \  +2 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&R' +25 "core" ' +2 "storage"(T% +4 "core" %  =\ +2 ."downElevator"SE.seek :down +4 "storage"(V'I +99 (% +3 "core" %4 \ U[ + "manipulator"&% +4 "core" % t w \\ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +2 "manipulator"&*'\ +95 "core" ' +46 ' + ."downElevator"SE.coast + "storage"(5 +5 .tSC.coast + "storage"(6 +4 #tShuffling pucks in tube 4 of [1..7] +2 #Loading generic puck from tube 4 into Collection Clamp +4 "collection"':& +5 "core" &ACm\ +2 "manipulator"&% +3 "core" %\   8 +2 "storage"(3% +4 "core" %Y @ @ \ + "storage"( . +3 "core" . +2 .tSC.reconfigure :tight +4 "storage"($\ .(\ 1~b +3 .tSC.seek 4 + "storage"({(, +185 "core" ( + .tSC.reconfigure :loose +3 "storage"($.(\ 1~b +4 (i& +2 "core" &,\ \  ~\  +2 "manipulator"&n& +4 "core" &   +2 .tElbow.seek 4 +2 "manipulator"&W( +41 "core" ( +2 "manipulator"&J& +3 "core" & ; , +2 "storage"(E& +4 "core" &,\ %\  `\  +2 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +3 "manipulator"&-' +105 "core" ' +2 "storage"(& +3 "core" &,\  \  +2 .tSE.reconfigure :pick +5 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('j +280 "core" ' +2 "storage"(N- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +4 (6& +3 "core" &, \  +4 "manipulator"&x& +3 "core" & s r , +2 .tElbow.seek 4 +2 "manipulator"&A( +26 "core" ( + "manipulator"&& +4 "core" & K v +2 "storage"(F& +3 "core" &, \  \  +2 .tForearm.seek 4 + 300 counts +3 "manipulator"&'@ +24 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tHand.close + "manipulator"&/ +68 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&1& +3 "storage"(\\'I +8 "core" & o | ! v +2 "manipulator"&% +3 "core" % G p q   +2 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' +2 .tElbow.seek CC +4 "manipulator"&%( +144 "core" ' + ."downElevator"SE.coast +2 "storage"(5 +5 "core" ( + "manipulator"&Q& +4 "core" & & + .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +3 && +2 "core" & ~ & +2 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +3 "manipulator"& 'Ϥ +101 "core" ' +5 "manipulator"&U& +4 "core" & f m & +2 "manipulator"&% +3 "core" %Ϫ d d ^ +2 "collection"',& +4 "core" &?Em\ +50 "collection"'=& +5 "core" &BEl\ +2 .tCC.seek :closed +3 "collection"'|(Y +5 "core" &ACm\ +6 &@Cx\ 3 +10 &8F~ADm\ 1 +9 &ht@Dq\ E +9 &]BFr\ N +10 &V?Ev\ M +9 &U?Ew\ M +9 &YWBDs\ M +10 &W@Ew\ M +9 &V@Cw\ M +10 &WAFp\ M +9 &aWAEt\ M +9 &!$RBEq\ L +10 &"U?El\ M +9 &$T?En\ L +9 &&hU@Ep\ M +10 &(,TAFn\ L +9 &)T@Fi\ L +10 &+TBDn\ M +9 &-qWAEj\ M +9 &/2WAFl\ M +10 &0T@@j\ L +9 &2UBEa\ M +10 &4xU@Fk\ M +9 &6:UAEj\ M +9 &7VACj\ M +10 &9W@Ei\ M +9 &;R@Ek\ M +9 &=DUAEj\ L +10 &?UAE_\ M +9 &@Y?DX\ M +9 &BXBDa\ M +10 &DIZAG`\ M +9 &F\ ]CFX\ N +10 &GcAG`\ N +9 &IqADV\ P +9 &K<@FV\ U +10 &LAET\ Y +9 &NBFS\ Y +10 &PpBDX\ [ +9 &R2AEV\ [ +9 &SBHH\ \\ +10 &UDHU\ \\ +9 &WtCGM\ \\ +9 &Y{CF^\ / +10 &Y"BF]\ b +8 ( +2 &YiBHV\ Q + "collection"'=& +3 #tCollection Clamp onSpring/offSpring for 8/30 samples, on/off torque 2.33 +2 .Hand.open +4 "manipulator"&f1 +67 "core" 1 +2 "manipulator"&@% +4 "core" % Ϧ  + .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&B'\ +104 "core" ' + .tSC.coast +2 "storage"(6 +4 #tLoading generic puck from tube 4 into Processing Clamp +3 "processing"%& +4 "core" &\ +2 "manipulator"&L% +4 "core" %\ q s  + "storage"(.% +4 "core" %F \ + "storage"(/. +3 "core" . +2 .tSC.reconfigure :tight +3 "storage"($\ .(\ 1~b +4 .tSC.seek 4 + "storage"('(, +5 "core" ( + .tSC.reconfigure :loose +3 "storage"($.(\ 1~b +4 (e& +2 "core" &, \  +2 "manipulator"&& +4 "core" & v 2 & +2 "manipulator"&X% +3 "core" %\ @ +2 .tElbow.reconfigure :tight +5 "manipulator"&$&.,(\ #b +2 .tElbow.seek 4 +3 "manipulator"&( +150 "core" ( +2 "manipulator"&& +4 "core" & U \ + "storage"(a& +4 "core" &, 5\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 4 + 700 counts +2 "manipulator"&K' +95 "core" ' +3 "storage"(g& +4 "core" &, \  +2 .tSE.reconfigure :pick +4 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(]'j +279 "core" ' +2 "storage"(4- +3 "core" -' + .tSE.configure :default +4 "storage"(#QK-0-\ b +3 (P& +3 "core" &, Y\  + "manipulator"&"& +4 "core" & q \ + .tElbow.seek 4 +3 "manipulator"&<( +4 "core" ( + "manipulator"&t& +4 "core" & Z \ +2 "storage"(>& +3 "core" &, [\  +2 .tForearm.seek 4 + 300 counts +3 "manipulator"&#'@ +22 "core" ' + .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&u/ +76 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +5 "storage"('I +4 "core" & v r ~ \ +2 "manipulator"&Z% +4 "core" % = q q  . + .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' +2 .tElbow.seek PC +4 "manipulator"&8( +157 "core" ' + ."downElevator"SE.coast +2 "storage"(5 +108 "core" ( +2 "manipulator"&2& +4 "core" & } < \\ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +4 &y& +2 "core" & z 8 \\ +2 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&q'Њ +98 "core" ' +2 "manipulator"&^& +4 "core" & i n O \\ +2 "manipulator"&~% +3 "core" %Б f d = +2 "processing"%& +3 "core" &\ \ +2 "processing"%5& +5 "core" & \ +2 .tPC.seek :closed +3 "processing"%7(Y +5 "core" &\ \ +7 & \ 3 +9 &;Gz\ 1 +9 &eq\ E +10 &` \ O +9 &R \ N +10 &W\ O +9 &MV\ N +9 &T \ O +10 &R \ O +9 &V\ \ O +9 &TW \ O +10 &!U\ O +9 &"U \ N +10 &$Y\ \ O +9 &&\\U\ O +9 &(R\ N +10 &)U\ N +9 &+W\ O +9 &-dV\ O +10 &/&T\ O +9 &0X\ O +10 &2W\ O +9 &4lR\ O +9 &6/X\ N +10 &7S\ O +9 &9R\ N +9 &;uU\ N +10 &=7X\ N +9 &>T\ N +10 &@W\ N +9 &B}V\ N +9 &D>Y\ O +10 &EY\ O +9 &G^\ O +9 &I_\ P +10 &K>p\ Q +9 &L\ V +10 &N\ V +9 &Pu\ V +9 &R8\ V +10 &S\ V +9 &U\ V +9 &W~\ V +10 &Xf\ + +9 &Y}j\ ; +9 ( +2 &Y7\ 7 +2 "processing"%5& +2 #tProcessing Clamp onSpring/offSpring for 9/27 samples, on/off torque 1.60 +2 .Hand.open +4 "manipulator"&v1 +69 "core" 1 +2 "manipulator"&% +3 "core" % Њ q " +2 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&O'\ +97 "core" ' +3 .tSC.coast +2 "storage"(6 +5 "processing"%& +4 "core" &Y7\ 7 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 + "manipulator"&d% +5 "core" %\ \   +2 "storage"(S% +4 "core" %Y 5\ + "storage"(}. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +4 .tSC.seek 4 + "storage"(r(, +5 "core" ( + .tSC.reconfigure :loose +3 "storage"($.(\ 1~b +5 (h& + "manipulator"&G& +5 "core" &, x w \  +2 &  \\ +4 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 "storage"(#].K-0-\ b +2 .tElbow.seek PC +5 "manipulator"&C( +4 ."raiseStack"SE.seek :beamBreak +2 "storage"()'j +4 "core" ( +2 "manipulator"&& +4 "core" &  \\ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +4 &\ & +3 "core" & H \\ + .tForearm.seek PC +3 "manipulator"&o'Њ +90 "core" ' + .tHand.close +3 "manipulator"&b/ +77 "core" / +2 .tPC.seek :open +4 "processing"%9( +74 "core" ' +2 "storage"([- +3 "core" -'j + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"(j' +42 "core" ' +297 ( + "storage"(&& +4 "core" &, \  +2 "manipulator"&l& +3 "core" & t \\ +2 "manipulator"&s% +4 "core" % Г  E D + .tForearm.seek :retract +2 "manipulator"&p'\ +95 "core" ' +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tElbow.seek 4 +5 "manipulator"&M( +275 "core" ( +2 "manipulator"&0& +3 "core" & c  +2 "storage"( & +4 "core" &, !\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 4 + 700 counts +2 "manipulator"&c' +95 "core" ' +3 .tHand.open +2 "manipulator"&(1 +67 "core" 1 +2 "storage"(- +3 "core" -' +2 .tSE.seek -0.22 Pucks below Top Plate +3 "storage"(;' +26 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +5 .tSE.seek -0.83 Pucks below Top Plate +4 "storage"( ' +51 "core" ' + #tLights, camera, ACTION! +4 "storage"(!- +3 "core" -' +2 "storage"(& +3 "core" &,  \  +2 "manipulator"&I& +3 "core" &   +2 .tElbow.seek 4 +50 "manipulator"&z( +5 "core" ( +2 "manipulator"&w& +4 "core" & =  + "storage"(H& +4 "core" &,  X\  +2 .tForearm.seek 4 + 700 counts +3 "manipulator"& ' +14 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +4 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(T'V +64 "core" ' +2 "manipulator"&D& +4 "core" & S  +2 "storage"(& +3 "core" &, [\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&' +36 "core" ' + .tElbow.hold +4 "manipulator"&Y, +4 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +4 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"('@ +27 "core" ' +2 "manipulator"&:% +4 "core" %(? 8 ox +2 "storage"(m& +3 "core" &, .\  +2 .tForearm.force -20 "manipulator"&5 +5 .tForearm.seek 4 + 320 counts +2 "manipulator"&'T +21 "core" ' +4 "manipulator"&3& +4 "core" & :  +2 "storage"( & +4 "core" &, \  +2 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +3 "manipulator"&k' +28 "core" ' +2 "storage"(R% +4 "core" %@ \ +2 ."downElevator"SE.seek :down +4 "storage"(i'I +99 (n% +3 "core" %4 \ U] +2 "manipulator"&J% +3 "core" %п  b +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +3 "manipulator"&E'\ +94 "core" ' +53 ' + ."downElevator"SE.coast + "storage"(5 +4 .tSC.coast +2 "storage"(6 +4 "collection"'V& +4 "core" &YjBFG\ Q + #tStoring generic puck in Collection Clamp to tube 4 +2 "manipulator"&% +5 "core" %\ \ E  +2 "storage"(% +3 "core" %J J\ +2 "storage"(_. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +4 .tSC.seek 4 +3 "storage"(*(, +4 "core" ( + .tSC.reconfigure :loose +3 "storage"($.(\ 1~b +4 (N& +2 "core" &, \  +2 "manipulator"&6& +4 "core" &   + .tElbow.seek 4 +3 "manipulator"&x( +9 "core" ( +2 "manipulator"&& +4 "core" &   + "storage"(F& +4 "core" &, \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 4 + 700 counts +2 "manipulator"&' +93 "core" ' +4 "storage"(1& +4 "core" &, \  + .tSE.reconfigure :pick +4 "storage"(#]K-0-\ b +5 .tSE.seek :beamBreak + "storage"('j +277 "core" ' + "storage"(W- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +4 "manipulator"&-& +3 "core" & w  + "storage"(Q& +4 "core" &, \\\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +4 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek 4 + "manipulator"&' +38 "core" ' + .tElbow.hold +4 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 "storage"(- +3 "core" -' +2 .tSE.seek 0.02 Pucks below Top Plate +2 "storage"(U' +37 "core" ' +2 "manipulator"&% +3 "core" %( s o  lO +2 "storage"(,& +3 "core" &, \  +2 .tForearm.force -20 + "manipulator"&5 +5 .tForearm.seek 4 + 310 counts + "manipulator"&A'J +21 "core" ' +2 "manipulator"&\\& +4 "core" & { u 2  + "storage"(& +4 "core" &, \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 4 + 700 counts +2 "manipulator"&?' +22 "core" ' +5 .tSE.seek 1.02 Pucks below Top Plate +4 "storage"(f' +49 "core" ' +2 "manipulator"&@& +4 "core" &   +2 "manipulator"&% +3 "core" %   +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +2 "manipulator"&='\ +94 "core" ' +2 .tElbow.seek CC +4 "manipulator"&L( +165 "core" ( +2 "manipulator"&.& +3 "core" & > 1 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +4 &/& +2 "core" & 1 +2 .tForearm.seek CC +3 "manipulator"&e'Ϥ +92 "core" ' + .tHand.close +2 "manipulator"&/ +74 "core" / +2 .tCC.seek :open +3 "collection"'X( +434 "core" ( +2 "storage"( & +3 "core" &,\ \  +2 "storage"(& +4 "core" &, \  q\  + "manipulator"&a& +4 "core" & z | 1 + "manipulator"&{% +4 "core" % ϧ ~ } ? +2 .tForearm.seek :retract +3 "manipulator"&g'\ +92 "core" ' +4 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&%( +153 "core" ( +2 "manipulator"&B& +4 "core" & T + "storage"(4& +4 "core" &, #  T\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +4 .tForearm.seek 4 +3 "manipulator"&P' +108 "core" ' + .tElbow.hold +4 "manipulator"&", +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&t1 +79 "core" 1 +2 "manipulator"&>% +4 "core" % (k | v +2 "storage"(u& +3 "core" &, h k \  + .tForearm.force -20 +2 "manipulator"&5 +5 .tForearm.seek 4 + 320 counts + "manipulator"&'T +26 "core" ' +2 "manipulator"&Z& +4 "core" & { t 1  + "storage"(& +4 "core" &,\ &\ ) \  +2 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +3 "manipulator"&K' +21 "core" ' +2 "storage"(]% +4 "core" %   j\ +2 ."downElevator"SE.seek :down +4 "storage"(#'I +99 (2% +3 "core" %8\ \  |\ U[ + "manipulator"&y% +4 "core" % ) ~ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +3 "manipulator"&<'\ +104 "core" ' +35 ' + ."downElevator"SE.coast +2 "storage"(5 +3 .tSC.coast + "storage"(6 +5 #tShuffling pucks in tube 5 of [1..7] +2 #Loading generic puck from tube 5 into Collection Clamp +3 "collection"'^& +6 "core" &>Du\ +2 "manipulator"&~% +3 "core" %\    +2 "storage"(% +4 "core" %Y C A \ + "storage"(. +3 "core" . +2 .tSC.reconfigure :tight +3 "storage"($\ .(\ 1~b +3 .tSC.seek 5 +3 "storage"((; +192 "core" ( + .tSC.reconfigure :loose +3 "storage"($.(\ 1~b +4 (+& +2 "core" &; \ \  R\  +2 "manipulator"&v& +49 "core" &   +4 .tElbow.seek 5 +2 "manipulator"&( +14 "core" ( +2 "manipulator"&& +4 "core" & Q  + "storage"(5& +4 "core" &; \ \ \  +2 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts +4 "manipulator"&d', +100 "core" ' +2 "storage"(S& +4 "core" &; \  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +5 .tSE.seek :beamBreak +3 "storage"(}'j +286 "core" ' +2 "storage"(h- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +4 (G& +3 "core" &; \  +2 "manipulator"&& +3 "core" & u v ;  +2 .tElbow.seek 5 +2 "manipulator"&\ ( +5 "core" ( + "manipulator"&q& +4 "core" & k  +2 "storage"(b& +4 "core" &; d\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&''Ϝ +27 "core" ' + .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&[/ +71 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&8& +6 "storage"(O'I +2 "core" & ,  +2 "manipulator"&7% +4 "core" % Ϭ  +2 .tForearm.seek :retract +3 "manipulator"&)'\ +90 "core" ' +2 .tElbow.seek CC +4 "manipulator"&&( +147 "core" ( + ' +2 ."downElevator"SE.coast +3 "manipulator"&l& +5 "storage"(5 +3 "core" & w t 6 & +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &s& +3 "core" & o q  & +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek CC +2 "manipulator"&o'Ϥ +100 "core" ' +2 "manipulator"&0& +4 "core" & y & +2 "manipulator"& % +3 "core" %ϛ w  +2 "collection"'C& +4 "core" &@Dw\ +2 "collection"'(& +5 "core" &@Ey\ +2 .tCC.seek :closed +3 "collection"'(Y +5 "core" &?Ex\ +5 &@D\ 5 +9 &<G{AF\ 0 +10 &grCEq\ E +9 &]@Du\ M +9 &V@Dp\ L +10 &VBEu\ M +9 &UW?Do\ M +10 &W@Gu\ L +9 &R@Ds\ M +9 &XAEx\ M +10 &]VAEv\ M +9 &! R@Cx\ L +9 &"UADx\ L +10 &$UADx\ L +9 &&fUAGw\ L +10 &('R@Fy\ M +9 &)RAFw\ M +9 &+WADu\ M +10 &-mU?Ex\ M +9 &//RCEv\ M +9 &0S@Ex\ L +10 &2UAFp\ M +9 &4uZCEo\ M +10 &67T@Ep\ M +9 &7U?Ck\ M +9 &9T?Dr\ M +10 &;}QBGn\ M +9 &=?YCGm\ M +9 &?W@Dk\ M +10 &@Y?Fi\ M +9 &BYCEg\ M +9 &DGYAEh\ M +10 &FZ>Es\ M +9 &G`AFt\ N +10 &Ik@El\ O +9 &K:?Eg\ T +9 &LBEj\ Y +10 &NADi\ Y +9 &Pm?E]\ Z +10 &R/AE\\\ Z +9 &SAEf\ \\ +9 &UCG\\\ [ +10 &WpBGc\ \\ +9 &YzCHc\ / +9 &Y BGf\ ] +10 ( + &YrBG]\ O +2 "collection"'(& +2 #tCollection Clamp onSpring/offSpring for 8/30 samples, on/off torque 2.34 + .Hand.open +6 "manipulator"&!1 +72 "core" 1 +2 "manipulator"&% +3 "core" % ϛ  +2 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&I'\ +98 "core" ' +3 .tSC.coast + "storage"(6 +5 #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%p& +6 "core" &1\ + "manipulator"&w% +4 "core" %\  +2 "storage"(H% +3 "core" %R \ +2 "storage"(D. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +4 .tSC.seek 5 + "storage"((; +4 "core" ( +2 .tSC.reconfigure :loose +3 "storage"($.(\ 1~b +3 (j& +3 "core" &; \  +2 "manipulator"&;& +3 "core" & & +2 "manipulator"&:% +3 "core" %\  +2 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&m( +154 "core" ( +2 "manipulator"&M& +4 "core" &   + "storage"(3& +4 "core" &; \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 5 + 700 counts +2 "manipulator"& ', +99 "core" ' +2 "storage"(c& +3 "core" &; (\  +2 .tSE.reconfigure :pick +5 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(R'j +278 "core" ' + "storage"( - +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +4 (n& +3 "core" &; \  + "manipulator"&J& +4 "core" & R  +2 .tElbow.seek 5 +2 "manipulator"& ( +4 "core" ( +2 "manipulator"&z& +3 "core" & )  +2 "storage"(T& +3 "core" &; $\  +2 .tForearm.seek 5 + 300 counts +3 "manipulator"&'Ϝ +29 "core" ' + .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +70 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&V& +6 "storage"('I +2 "core" &   +2 "manipulator"&% +4 "core" % ϥ + +2 .tForearm.seek :retract +3 "manipulator"&_'\ +102 "core" ' +2 .tElbow.seek PC +4 "manipulator"&( +145 "core" ' + ."downElevator"SE.coast +2 "storage"(5 +114 "core" ( +3 "manipulator"&N& +5 "core" & q p  L + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +4 &6& +2 "core" & m d L +2 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&'Њ +100 "core" ' +2 "manipulator"&F& +4 "core" & h q ~ L +2 "manipulator"&k% +4 "core" %Џ e _ e +2 "processing"%1& +3 "core" &6\ +2 "processing"%i& +5 "core" &5\ +2 .tPC.seek :closed +2 "processing"%r(Y +6 "core" &\ +7 & .\ #a +9 &U~\ 8 +10 &~w!\ L +9 &T\ O +9 &[T\ N +10 &T\ N +9 &T \ N +9 &T\ N +10 &cT\ N +9 &%T \ N +10 &U\ \ O +9 &!T \ O +9 &#kT\ N +10 &%-T\ \ N +9 &&U \ O +9 &(W\ O +10 &*rW\ O +9 &,4R \ O +10 &-U\ \ N +9 &/U\ \ O +9 &1{T\ N +10 &3<U\ O +9 &4W \ O +9 &6W \ O +10 &8R \ N +9 &:CT\ O +10 &<U \ N +9 &=U \ N +9 &?S\ \ N +10 &ALR \ O +9 &CS \ O +9 &DX \ O +10 &F^ \ P +9 &HQ] \ P +10 &Jg \ Q +9 &K~ \ T +9 &M \ W +10 &OC \ W +9 &Q \ W +9 &R\ V +10 &T\ V +9 &VL \ W +10 &X\ F +9 &Y4As\ )w +9 &Y(\ 1 +2 ( + "processing"%i& +3 #tProcessing Clamp onSpring/offSpring for 10/26 samples, on/off torque 1.60 + .Hand.open +4 "manipulator"&Y1 +73 "core" 1 +2 "manipulator"&E% +3 "core" % Ѝ d +2 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&W'\ +103 "core" ' + .tSC.coast +2 "storage"(6 +4 "processing"%-& +4 "core" &Y$\ 1 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&Q% +5 "core" %\  +2 "storage"(% +4 "core" %O H\ + "storage"(. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +4 .tSC.seek 5 +2 "storage"(,(; +5 "core" ( + .tSC.reconfigure :loose +3 "storage"($.(\ 1~b +4 (\\& +3 "core" &; K\  +2 "manipulator"&& +2 ."raiseStack"SE.reconfigure :place +5 "storage"(#].K-0-\ b +3 "core" & O L +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +51 .tElbow.seek PC +4 "manipulator"&@( +5 ."raiseStack"SE.seek :beamBreak +2 "storage"('j +4 "core" ( + "manipulator"&& +4 "core" & ' L +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &x& +3 "core" & J L +2 .tForearm.seek PC +3 "manipulator"&'Њ +93 "core" ' + .tHand.close +4 "manipulator"&/ +73 "core" / +2 .tPC.seek :open +4 "processing"%A( +69 "core" ' +2 "storage"(U- +3 "core" -'j + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"(.' +46 "core" ' +298 ( +4 "storage"(/& +4 "core" &; :\  + "manipulator"&?& +4 "core" & ~ ~ 9 L +2 "manipulator"&% +3 "core" % І ~ ~ 0 +2 .tForearm.seek :retract +3 "manipulator"&'\ +104 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek 5 +2 "manipulator"&=( +275 "core" ( +2 "manipulator"&|& +3 "core" & / +2 "storage"( & +4 "core" &; \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 5 + 700 counts +2 "manipulator"&', +111 "core" ' +3 .tHand.open +2 "manipulator"&a1 +77 "core" 1 +2 "storage"({- +3 "core" -' +2 .tSE.seek -0.22 Pucks below Top Plate +3 "storage"(B' +36 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +4 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(4' +54 "core" ' + #tLights, camera, ACTION! +3 "storage"(e- +4 "core" -' +2 "storage"(L& +3 "core" &; \  +2 "manipulator"&t& +3 "core" &  +2 .tElbow.seek 5 +3 "manipulator"&>( +4 "core" ( +2 "manipulator"&u& +3 "core" & E +2 "storage"(Z& +3 "core" &; ]\  +2 .tForearm.seek 5 + 700 counts +3 "manipulator"&', +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +4 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(]'V +62 "core" ' +2 "manipulator"&g& +4 "core" & p q  + "storage"(2& +4 "core" &; D\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(#b +4 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +3 .tForearm.seek 5 +2 "manipulator"&y'p +36 "core" ' + .tElbow.hold +4 "manipulator"&%, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +4 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(P'@ +35 "core" ' +2 "manipulator"&^% +4 "core" %΂d  u + "storage"(& +4 "core" &; Q\  + .tForearm.force -20 +2 "manipulator"&5 +4 .tForearm.seek 5 + 318 counts +3 "manipulator"&~'Ϯ +23 "core" ' +2 "manipulator"&& +4 "core" & 7  +2 "storage"(& +3 "core" &; \  +2 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 5 + 700 counts +5 "manipulator"&f', +25 "core" ' +2 "storage"(K% +4 "core" %G \ +2 ."downElevator"SE.seek :down +4 "storage"(+'I +99 (v% +3 "core" %73 Z\ U] + "manipulator"&#% +4 "core" %6  d +2 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +3 "manipulator"&*'\ +94 "core" ' +55 ' + ."downElevator"SE.coast + "storage"(5 +4 .tSC.coast +2 "storage"(6 +4 "collection"'& +4 "core" &YrBHa\ O + #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&5% +6 "core" %\   W +2 "storage"(S% +3 "core" %O %\ +2 "storage"(". +3 "core" . + .tSC.reconfigure :tight +4 "storage"($\ .(\ 1~b +3 .tSC.seek 5 + "storage"(<(; +4 "core" ( +2 .tSC.reconfigure :loose +3 "storage"($.(\ 1~b +4 (h& +3 "core" &; ]\  +2 "manipulator"&G& +3 "core" &   +2 .tElbow.seek 5 +2 "manipulator"&( +29 "core" ( +2 "manipulator"&q& +4 "core" &\ [ K + "storage"(b& +4 "core" &; \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 5 + 700 counts +2 "manipulator"&[', +91 "core" ' +3 "storage"(8& +4 "core" &; \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +3 "storage"(7'j +279 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +4 "manipulator"&d& +3 "core" &\ x + K +2 "storage"(l& +3 "core" &; b\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(#b +4 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek 5 +3 "manipulator"&s'p +36 "core" ' + .tElbow.hold +4 "manipulator"&}, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 "storage"('- +2 "core" -' +2 .tSE.seek 0.03 Pucks below Top Plate +3 "storage"(0' +33 "core" ' +2 "manipulator"& % +3 "core" %΁_ E t +2 "storage"(C& +3 "core" &;  v\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 317 counts +2 "manipulator"&\ 'ϭ +20 "core" ' +2 "manipulator"&O& +3 "core" & /  +2 "storage"()& +4 "core" &; ;\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 5 + 700 counts +2 "manipulator"&X', +28 "core" ' +2 .tSE.seek 1.03 Pucks below Top Plate +4 "storage"(!' +50 "core" ' +2 "manipulator"&& +4 "core" & p r   +2 "manipulator"&p% +3 "core" %3 p p D +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +2 "manipulator"&('\ +97 "core" ' +2 .tElbow.seek CC +4 "manipulator"&w( +157 "core" ( +2 "manipulator"&H& +3 "core" & | q 0 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &D& +3 "core" & {  0 +2 .tForearm.seek CC +3 "manipulator"&j'Ϥ +93 "core" ' + .tHand.close +2 "manipulator"&;/ +75 "core" / +3 .tCC.seek :open +3 "collection"':( +434 "core" ( +2 "storage"(o& +3 "core" &;\ \  6\  +2 "storage"(M& +3 "core" &; \  m\  +2 "manipulator"&3& +4 "core" & m f < 0 + "manipulator"&% +4 "core" % ϵ W [   + .tForearm.seek :retract +3 "manipulator"&c'\ +96 "core" ' +2 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +41 "manipulator"&&( +161 "core" ( +2 "manipulator"&I& +4 "core" & t  +2 "storage"( & +3 "core" &;   r\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(#b +4 .tForearm.seek 5 +3 "manipulator"&n'p +109 "core" ' + .tElbow.hold +4 "manipulator"&J, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&z1 +66 "core" 1 +2 "manipulator"&T% +4 "core" % ΁w k y +2 "storage"(& +3 "core" &; \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 5 + 317 counts +2 "manipulator"&V'ϭ +23 "core" ' +2 "manipulator"&& +4 "core" &  + "storage"(m& +4 "core" &;   O\  +2 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts +3 "manipulator"& ', +25 "core" ' +4 "storage"(R% +4 "core" %   \ +2 ."downElevator"SE.seek :down +5 "storage"('I +99 (N% +3 "core" %8 \ U[ + "manipulator"&6% +4 "core" %. > h +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +2 "manipulator"& '\ +95 "core" ' +42 ' + ."downElevator"SE.coast + "storage"(5 +4 .tSC.coast + "storage"(6 +5 #tShuffling pucks in tube 6 of [1..7] +2 #Loading generic puck from tube 6 into Collection Clamp +4 "collection"'F& +5 "core" &@Do\ +2 "manipulator"&k% +4 "core" %\   +2 "storage"(1% +3 "core" %B @ @ m\ +2 "storage"(. +3 "core" . + .tSC.reconfigure :tight +4 "storage"($\ .(\ 1~b +3 .tSC.seek 6 +2 "storage"(_(K +192 "core" ( +3 .tSC.reconfigure :loose +3 "storage"($.(\ 1~b +4 (9& +2 "core" &K! m\ \  +2 "manipulator"&Y& +4 "core" &  + .tElbow.seek 6 +3 "manipulator"&E( +17 "core" ( +2 "manipulator"&-& +4 "core" &   + "storage"(i& +4 "core" &K! ~\ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 6 + 700 counts +2 "manipulator"&Q' +98 "core" ' +2 "storage"(& +3 "core" &K"\ \ \ X\ \  +2 .tSE.reconfigure :pick +4 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +3 "storage"('j +287 "core" ' +2 "storage"(\\- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +4 (& +3 "core" &K \ \  +2 "manipulator"&& +3 "core" &   +2 .tElbow.seek 6 +2 "manipulator"&x( +5 "core" ( + "manipulator"&& +4 "core" &   +2 "storage"(& +5 "core" &K! \ \  +2 .tForearm.seek 6 + 300 counts +2 "manipulator"&'V +23 "core" ' + .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&U/ +69 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +6 "storage"(W'I +2 "core" & s r \\  +2 "manipulator"&r% +4 "core" % S t s M % +2 .tForearm.seek :retract +3 "manipulator"&'\ +107 "core" ' +2 .tElbow.seek CC +4 "manipulator"&/( +134 "core" ' + ."downElevator"SE.coast +2 "storage"(5 +26 "core" ( +2 "manipulator"&?& +3 "core" & z $ 2 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +4 && +3 "core" &  2 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +3 "manipulator"&'Ϥ +90 "core" ' +4 "manipulator"&|& +4 "core" & } s 0 2 + "manipulator"& % +4 "core" %ϟ t s ^ Q +2 "collection"'@& +4 "core" &?Eo\ +2 "collection"'a& +4 "core" &@Ct\ +2 .tCC.seek :closed +3 "collection"'{(Y +5 "core" &?E{\ +8 &6@B\ $e +9 &WAF\ 8 +9 &w?Ds\ L +10 &UBDk\ M +9 &nT?Ek\ M +10 &0QBEv\ M +9 &Q@En\ M +9 &RAEm\ L +10 &vVBEs\ M +9 &8V@Dm\ M +9 &W@Fs\ M +10 &!T@Et\ M +9 &#TBDs\ L +10 &%@UBAw\ M +9 &'SAGq\ M +9 &(SBEw\ M +10 &*R=Fw\ M +9 &,HRCEw\ M +9 &.\ RACy\ M +10 &/T@Fy\ L +9 &1T?Gu\ M +10 &3OX=Ct\ M +9 &5V@Fs\ M +9 &6UAEm\ L +10 &8UACw\ M +9 &:WX?En\ M +9 &<R?Do\ M +10 &=TAEt\ M +9 &?X@Fn\ M +10 &A`RAEv\ M +9 &C"U@Dl\ M +9 &DYCEk\ M +10 &F\\AFq\ M +9 &HcbADk\ N +9 &Ju?Ej\ Q +10 &KAEj\ U +9 &M@Dq\ Z +10 &OJ@En\ Z +9 &Q@Fl\ [\ +9 &RBFl\ [ +10 &T@Fg\ \\ +9 &VLBFk\ \\ +9 &XBFc\ \\ +10 &YfG?Ei\ 'u +9 &YAEa\ Q +5 ( +2 "collection"'a& +3 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 2.40 +2 .Hand.open +6 "manipulator"&1 +3 "core" &YjCHg\ Q +66 1 + "manipulator"&e% +4 "core" % ϟ 9 Q +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +3 "manipulator"&L'\ +92 "core" ' + .tSC.coast +2 "storage"(6 +4 #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"%t& +5 "core" &5\ +2 "manipulator"&u% +3 "core" %\  ~ \ j +2 "storage"(Z% +4 "core" %W d\ +2 "storage"(g. +2 "core" . +2 .tSC.reconfigure :tight +3 "storage"($\ .(\ 1~b +4 .tSC.seek 6 + "storage"(2(K +4 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +4 (.& +3 "core" &K \  +2 "manipulator"&B& +3 "core" &  ~ { 2 +2 "manipulator"&^% +3 "core" %\  ~  ? \ j +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek 6 +2 "manipulator"&( +163 "core" ( +2 "manipulator"&& +3 "core" &  c +2 "storage"(& +4 "core" &K F\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 6 + 700 counts +2 "manipulator"&=' +93 "core" ' +2 "storage"(K& +4 "core" &K H\  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +5 .tSE.seek :beamBreak +2 "storage"('j +288 "core" ' +2 "storage"(4- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +4 (& +3 "core" &K &\  + "manipulator"&v& +4 "core" &  c +2 .tElbow.seek 6 +2 "manipulator"&#( +4 "core" ( +2 "manipulator"&>& +3 "core" &  c +2 "storage"(]& +3 "core" &K \  +2 .tForearm.seek 6 + 300 counts +3 "manipulator"&y'V +26 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tHand.close +2 "manipulator"&~/ +67 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +5 "storage"(5'I +3 "core" & r v 5 c +2 "manipulator"&S% +3 "core" % T q q   +2 .tForearm.seek :retract +3 "manipulator"&P'\ +94 "core" ' +2 .tElbow.seek PC +4 "manipulator"&"( +158 "core" ' + ."downElevator"SE.coast +2 "storage"(5 +136 "core" ( +2 "manipulator"&h& +3 "core" &4 w v ' +50 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +4 &G& +2 "core" &4 s +2 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&q'Њ +89 "core" ' +2 "manipulator"&b& +4 "core" &4 +2 "manipulator"&f% +3 "core" %Џ } v s = +2 "processing"%8& +4 "core" &\ +2 "processing"%+& +4 "core" &\ +2 .tPC.seek :closed +3 "processing"%,(Y +5 "core" &\ +7 & \ 2 +9 &:H| \ 1 +9 &bp~ \ E +10 &_ \ O +9 &S \ N +10 &T \ O +9 &IT \ N +9 & U \ N +10 &T\ \ O +9 &T \ O +9 &PT\ \ O +10 &!R\ N +9 &"S \ N +10 &$U \ O +9 &&YQ \ N +9 &(W \ O +10 &)U\ O +9 &+T \ O +9 &-`U\ \ O +10 &/#W \ N +9 &0R \ O +10 &2V\ O +9 &4iQ \ N +9 &6+R \ N +10 &7Q\ \ O +9 &9T \ O +9 &;qW \ N +10 &=3Q \ N +9 &>R \ N +10 &@T\ \ O +9 &BxU\ \ O +9 &D9Y\ \ O +10 &E_ \ P +9 &Ga \ P +9 &Ixm \ Q +10 &K0 \ U +9 &L\ W +9 &N\ W +10 &Pp\ W +9 &R4 \ V +10 &S\ V +9 &U\ V +9 &Wz\ V +10 &X`~\ + +9 &Y}n\ ; +9 ( +2 &Y. \ 6 +2 "processing"%+& +2 #tProcessing Clamp onSpring/offSpring for 9/27 samples, on/off torque 1.70 +2 .Hand.open +4 "manipulator"&%1 +78 "core" 1 +2 "manipulator"&*% +4 "core" % Џ L = + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' + .tSC.coast +2 "storage"(6 +4 "processing"%d& +5 "core" &Y. \ 6 + #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&l% +6 "core" %\   + "storage"('% +4 "core" %J _\ + "storage"( . +3 "core" . +2 .tSC.reconfigure :tight +3 "storage"($\ .(\ 1~b +4 .tSC.seek 6 + "storage"(C(K +5 "core" ( + .tSC.reconfigure :loose +3 "storage"($.(\ 1~b +4 (O& +2 "manipulator"&)& +4 "core" &K /\  +4 ."raiseStack"SE.reconfigure :place +3 "storage"(#].K-0-\ b +3 ."raiseStack"SE.seek :beamBreak +2 "storage"('j +4 "core" &4 G +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek PC +2 "manipulator"&p( +22 "core" ( +2 "manipulator"&[& +4 "core" & \\ y + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +4 && +2 "core" & \\ y +2 .tForearm.seek PC +3 "manipulator"&7'Њ +101 "core" ' +3 .tHand.close +2 "manipulator"&s/ +77 "core" / +2 .tPC.seek :open +3 "processing"%\ ( +28 "core" ' +2 "storage"(0- +3 "core" -'j + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"(H' +43 "core" ' +343 ( + "storage"(D& +4 "core" &K K\  +2 "manipulator"&X& +3 "core" & g d [ f +2 "manipulator"&}% +4 "core" % Ѐ d f < + .tForearm.seek :retract +3 "manipulator"&;'\ +96 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek 6 + "manipulator"&(( +267 "core" ( +2 "manipulator"&& +3 "core" &  ) +2 "storage"(o& +4 "core" &K H\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 6 + 700 counts +2 "manipulator"&M' +100 "core" ' +2 .tHand.open +3 "manipulator"&31 +71 "core" 1 +2 "storage"(- +3 "core" -' +2 .tSE.seek -0.22 Pucks below Top Plate +3 "storage"(j' +26 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +4 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(I' +52 "core" ' + #tLights, camera, ACTION! +3 "storage"( - +4 "core" -' +2 "storage"(w& +3 "core" &K }\  +2 "manipulator"&z& +3 "core" &   5 ) +2 .tElbow.seek 6 +3 "manipulator"&T( +22 "core" ( +2 "manipulator"&& +3 "core" & } ~ *  +2 "storage"(& +4 "core" &K \  +2 .tForearm.seek 6 + 700 counts +3 "manipulator"&m' +4 "core" ' +2 .tSE.reconfigure :gently +4 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(R'V +64 "core" ' +2 "manipulator"&c& +4 "core" &  + "storage"(N& +4 "core" &K Z\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(#b +4 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek 6 +3 "manipulator"&6'* +33 "core" ' +2 .tElbow.hold +4 "manipulator"&&, +4 "core" , + .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +4 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(n'@ +27 "core" ' +2 "manipulator"&F% +4 "core" %/P s r + "storage"(V& +4 "core" &K  \  + .tForearm.force -20 +2 "manipulator"&5 +4 .tForearm.seek 6 + 305 counts +3 "manipulator"&k'[ +21 "core" ' +2 "manipulator"&1& +4 "core" & {  m +2 "storage"(& +3 "core" &K S\  +2 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts +3 "manipulator"&!' +30 "core" ' +4 "storage"( % +4 "core" %G \ \ +2 ."downElevator"SE.seek :down +4 "storage"(9'I +99 (Y% +3 "core" %;1 U\ U\\ + "manipulator"&-% +4 "core" %  n +2 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&i'\ +98 "core" ' +50 ' + ."downElevator"SE.coast +2 "storage"(5 +3 .tSC.coast + "storage"(6 +5 "collection"'& +4 "core" &YjDG_\ Q + #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&<% +5 "core" %\   +2 "storage"(% +3 "core" %E \ +2 "storage"(J. +3 "core" . + .tSC.reconfigure :tight +4 "storage"($\ .(\ 1~b +3 .tSC.seek 6 +2 "storage"( (K +3 "core" ( +3 .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +4 (\\& +3 "core" &K \  +2 "manipulator"&& +3 "core" & * m +2 .tElbow.seek 6 +2 "manipulator"&( +53 "core" ( +2 "manipulator"&& +4 "core" &  + "storage"(& +4 "core" &K \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 6 + 700 counts +2 "manipulator"&U' +100 "core" ' +3 "storage"(& +4 "core" &K S\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +5 .tSE.seek :beamBreak +2 "storage"(r'j +285 "core" ' + "storage"(E- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +4 "manipulator"&Q& +3 "core" & ;  +2 "storage"(?& +3 "core" &K ^\  + .tElbow.reconfigure :limp +4 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek 6 +43 "manipulator"&'* +42 "core" ' + .tElbow.hold +4 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 "storage"(- +3 "core" -' +2 .tSE.seek 0.05 Pucks below Top Plate +2 "storage"(|' +31 "core" ' +2 "manipulator"& % +4 "core" %4D  q + "storage"(@& +4 "core" &K \  + .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 6 + 310 counts +3 "manipulator"&x'` +20 "core" ' +3 "manipulator"&W& +4 "core" & v . f +2 "storage"(& +3 "core" &K \  +2 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +3 "manipulator"&:' +26 "core" ' +2 .tSE.seek 1.05 Pucks below Top Plate +3 "storage"(' +43 "core" ' +2 "manipulator"&e& +4 "core" &  f +2 "manipulator"&t% +3 "core" %  k +2 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&a'\ +94 "core" ' +2 .tElbow.seek CC +4 "manipulator"&u( +162 "core" ( +2 "manipulator"&Z& +3 "core" & | 3 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +4 &g& +2 "core" &  | L 3 +2 .tForearm.seek CC +3 "manipulator"&.'Ϥ +92 "core" ' + .tHand.close +3 "manipulator"&B/ +74 "core" / +2 .tCC.seek :open +3 "collection"'^( +435 "core" ( +2 "storage"(& +3 "core" &K\ \ "\  +2 "storage"(& +3 "core" &K -\  +2 "manipulator"&& +4 "core" & V _ 2 + "manipulator"&_% +4 "core" % Ϙ X W  ; +2 .tForearm.seek :retract +2 "manipulator"&K'\ +99 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek 6 +2 "manipulator"&/( +161 "core" ( +2 "manipulator"&L& +3 "core" & } _  +2 "storage"(4& +4 "core" &K   Y\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(#b +4 .tForearm.seek 6 +3 "manipulator"&'* +108 "core" ' + .tElbow.hold +4 "manipulator"&v, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open +3 "manipulator"&>1 +77 "core" 1 +2 "manipulator"&]% +4 "core" % ;k \ w +2 "storage"(~& +3 "core" &K n y\  +2 .tForearm.force -20 "manipulator"&5 +5 .tForearm.seek 6 + 317 counts +3 "manipulator"&'g +23 "core" ' +2 "manipulator"&S& +3 "core" & s p I +2 "storage"(& +4 "core" &K\ \  \  +2 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts +2 "manipulator"&=' +22 "core" ' +2 "storage"(% +4 "core" %   \ +2 ."downElevator"SE.seek :down +4 "storage"(y'I +99 (#% +2 "core" %2\ \ \ TZ +2 "manipulator"&h% +4 "core" % ( +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +2 "manipulator"&G'\ +103 "core" ' +36 ' + ."downElevator"SE.coast + "storage"(5 +4 .tSC.coast +2 "storage"(6 +4 #tShuffling pucks in tube 7 of [1..7] +2 #Loading generic puck from tube 7 into Collection Clamp +5 "collection"'b& +4 "core" &@Gm\ + "manipulator"&5% +4 "core" %\ X +2 "storage"(f% +3 "core" %I A ? m\ +2 "storage"(8. +3 "core" . +2 .tSC.reconfigure :tight +3 "storage"($\ .(\ 1~b +3 .tSC.seek 7 +3 "storage"(P([c +188 "core" ( + .tSC.reconfigure :loose +4 "storage"($.(\ 1~b +3 (A& +2 "core" &[a" U\ \  +2 "manipulator"&%& +4 "core" & + I +2 .tElbow.seek 7 +2 "manipulator"&*( +30 "core" ( +2 "manipulator"&d& +4 "core" & = " + "storage"(+& +4 "core" &[a!\  O\ \  +2 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 700 counts +3 "manipulator"&l' +94 "core" ' +3 "storage"('& +4 "core" &[a! \  R\ \  +2 .tSE.reconfigure :pick +4 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"( 'j +296 "core" ' +2 "storage"(O- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +4 ()& +3 "core" &[a s\ \  + "manipulator"&[& +4 "core" & . " +2 .tElbow.seek 7 +2 "manipulator"&( +15 "core" ( +2 "manipulator"&q& +3 "core" & t } ` k +2 "storage"(2& +3 "core" &[a z\ \  +2 .tForearm.seek 7 + 300 counts +3 "manipulator"&s'N +25 "core" ' + .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&0/ +74 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&"& +6 "storage"('I +2 "core" & Z h +2 "manipulator"&,% +4 "core" % D & + .tForearm.seek :retract +3 "manipulator"&'\ +95 "core" ' +2 .tElbow.seek CC +4 "manipulator"&D( +144 "core" ' + ."downElevator"SE.coast +2 "storage"(5 +7 "core" ( +2 "manipulator"&X& +4 "core" &   $ - + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &}& +3 "core" & q - +2 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +3 "manipulator"&7'Ϥ +101 "core" ' +2 "manipulator"&& +4 "core" & k g  - +2 "manipulator"&o% +3 "core" %ϫ Z a +2 "collection"'p& +4 "core" &CEv\ +2 "collection"'3& +5 "core" &?C}\ +2 .tCC.seek :closed +3 "collection"'(Y +5 "core" &@Eu\ +7 &@Dm\ 4 +10 &;G{@D|\ 1 +9 &grADp\ E +9 & ]?F^\ N +10 &U@Cm\ M +9 &UADk\ M +9 &VR?El\ M +10 &UADk\ L +9 &S@Fo\ L +9 &TAEs\ M +10 &^W@Dm\ M +9 &! Q?Ds\ M +10 &"UBDt\ L +9 &$UCDn\ M +9 &&fUADl\ M +10 &((RADo\ M +9 &)TBEw\ L +9 &+T?Ft\ M +10 &-nV@Eq\ M +9 &/0R@Et\ M +10 &0TAFj\ L +9 &2UBEj\ M +9 &4wVBFk\ L +10 &67UCEj\ M +9 &7V>Fi\ M +10 &9RBEf\ M +9 &;~TBFk\ M +9 &=?XADh\ M +10 &?UAEZ\ M +9 &@T@Eh\ M +9 &BVAEk\ M +10 &DFZBDf\ M +9 &F\\@D]\ N +10 &G^?Fb\ N +9 &IlAGc\ P +9 &K;BG[\ T +10 &LBDT\ X +9 &NBFQ\ Y +9 &PoBDY\ Z +10 &R0CGS\ Z +9 &SBFN\ \\ +10 &UCF[\ \\ +9 &WsCGU\ [ +9 &YyBFP\ / +10 &Y!BHK\ U +8 ( +2 &Yf?ES\ N +2 "collection"'3& +2 #tCollection Clamp onSpring/offSpring for 8/30 samples, on/off torque 2.33 +2 .Hand.open +4 "manipulator"& 1 +67 "core" 1 +2 "manipulator"&w% +3 "core" % ϧ x +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +2 "manipulator"&z'\ +95 "core" ' + .tSC.coast +2 "storage"(6 +4 #tLoading generic puck from tube 7 into Processing Clamp +3 "processing"%;& +5 "core" & \ +2 "manipulator"&% +3 "core" %\ } ~  +49 "storage"(% +5 "core" %I \ + "storage"(c. +3 "core" . +2 .tSC.reconfigure :tight +3 "storage"($\ .(\ 1~b +4 .tSC.seek 7 + "storage"(N([c +4 "core" ( + .tSC.reconfigure :loose +4 "storage"($.(\ 1~b +4 (H& +2 "core" &[a \  +2 "manipulator"&j& +4 "core" & ~  - +2 "manipulator"&F% +3 "core" %\ ~   +2 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +3 "manipulator"&V( +157 "core" ( +2 "manipulator"&1& +4 "core" &   + "storage"(& +4 "core" &[a \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 7 + 700 counts +2 "manipulator"&(' +92 "core" ' +2 "storage"( & +4 "core" &[a Q\  + .tSE.reconfigure :pick +4 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +3 "storage"(M'j +283 "core" ' +2 "storage"(I- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +4 (Y& +3 "core" &[a Q\  +2 "manipulator"&m& +3 "core" &   +2 .tElbow.seek 7 +2 "manipulator"&-( +5 "core" ( +2 "manipulator"&T& +3 "core" & ;  +2 "storage"(R& +3 "core" &[a Z\  +2 .tForearm.seek 7 + 300 counts +3 "manipulator"&6'N +16 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tHand.close + "manipulator"&k/ +71 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +4 "storage"(<'I +5 "core" & ,  +2 "manipulator"&% +4 "core" % K  h +2 .tForearm.seek :retract +3 "manipulator"&J'\ +93 "core" ' +2 .tElbow.seek PC +4 "manipulator"&n( +158 "core" ' + ."downElevator"SE.coast +2 "storage"(5 +100 "core" ( +2 "manipulator"&\\& +4 "core" & z K X +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +4 && +2 "core" & X +2 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&'Њ +91 "core" ' +2 "manipulator"&& +4 "core" & y ~ L X +2 "manipulator"&!% +3 "core" %Ѝ } ~ G +2 "processing"%& +3 "core" & \ +2 "processing"%9& +5 "core" &\ \ +2 .tPC.seek :closed +3 "processing"%C(Y +6 "core" &\ \ +7 & -\ #a +10 &V}\ 8 +9 &~x \ L +10 &T \ O +9 &[T \ N +9 &R\ N +10 &W \ N +9 &U\ N +9 &dV\ N +10 &%V\ N +9 &T\ N +10 &!T\ N +9 &#kR\ N +9 &%-R\ N +10 &&R\ N +9 &(U\ O +9 &*rU\ O +10 &,4U\ O +9 &-R\ N +10 &/S\ O +9 &1zU\ O +9 &3=S\ N +10 &4Q\ N +9 &6R\ N +9 &8R\ N +10 &:DU\ O +9 &<R\ N +10 &=R\ O +9 &?T\ O +9 &AMU\ N +10 &CW\ O +9 &DZ\ O +9 &FZ\ O +10 &HQ^\ P +9 &J`\ P +10 &K{\ T +9 &M\ V +9 &OD\ W +10 &Q\ W +9 &R\ V +9 &T\ V +10 &VN\ V +9 &X\ E +10 &Y5Bs\ %n +9 &Y5\ 5 +5 ( +2 "processing"%9& +4 "Can"\ KK + #tProcessing Clamp onSpring/offSpring for 10/26 samples, on/off torque 1.62 + .Hand.open +5 "manipulator"&&1 +4 "core" &Y*\ 5 +68 1 + "manipulator"&i% +4 "core" % Ѝ g T G +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&E'\ +96 "core" ' + .tSC.coast +2 "storage"(6 +4 "processing"%Q& +4 "core" &Y*\ 5 + #tImaging generic puck in Processing Clamp while storing it to tube 7 +2 "manipulator"&?% +5 "core" %\ -  +2 "storage"(% +3 "core" %S /\ +2 "storage"( . +3 "core" . + .tSC.reconfigure :tight +4 "storage"($\ .(\ 1~b +3 .tSC.seek 7 +2 "storage"(@([c +4 "core" ( + .tSC.reconfigure :loose +4 "storage"($.(\ 1~b +3 (W& +3 "core" &[a #\  +2 "manipulator"&& +2 ."raiseStack"SE.reconfigure :place +7 "storage"(#].K-0-\ b +3 "core" &  X +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +4 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +4 "storage"(e'j +3 "manipulator"&t( +6 "core" ( +2 "manipulator"&U& +3 "core" &  X +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 && +3 "core" & ? X +2 .tForearm.seek PC +2 "manipulator"&r'Њ +94 "core" ' + .tHand.close +4 "manipulator"&/ +76 "core" / +2 .tPC.seek :open +4 "processing"%x( +64 "core" ' +2 "storage"(|- +3 "core" -'j + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"(Z' +45 "core" ' +304 ( + "storage"(g& +4 "core" &[a \  +2 "manipulator"&:& +3 "core" & ~  o X +2 "manipulator"&% +3 "core" % Ѕ z } 9 +2 .tForearm.seek :retract +3 "manipulator"&B'\ +96 "core" ' +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek 7 +2 "manipulator"&a( +272 "core" ( +2 "manipulator"&{& +3 "core" & | M +2 "storage"(& +4 "core" &[a D\  + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 7 + 700 counts +3 "manipulator"&' +94 "core" ' + .tHand.open +3 "manipulator"&1 +71 "core" 1 +2 "storage"(_- +3 "core" -' +2 .tSE.seek -0.22 Pucks below Top Plate +2 "storage"(L' +25 "core" ' +3 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +4 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(4' +55 "core" ' + #tLights, camera, ACTION! +3 "storage"(.- +4 "core" -' +2 "storage"(u& +3 "core" &[a  \  +2 "manipulator"&>& +3 "core" &  +2 .tElbow.seek 7 +2 "manipulator"&]( +5 "core" ( + "manipulator"&~& +4 "core" & C +2 "storage"(S& +3 "core" &[a  O\  +2 .tForearm.seek 7 + 700 counts +3 "manipulator"&' +15 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +4 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"('V +64 "core" ' +2 "manipulator"&K& +4 "core" & M + "storage"(#& +4 "core" &[a \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(#b +4 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek 7 +3 "manipulator"&h'" +37 "core" ' + .tElbow.hold +4 "manipulator"&/, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +4 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"('@ +35 "core" ' +2 "manipulator"&b% +4 "core" %#Z A t +2 "storage"(& +3 "core" &[a $ % \\\  +2 .tForearm.force -20 "manipulator"&5 +5 .tForearm.seek 7 + 301 counts +42 "manipulator"&5'O +29 "core" ' +2 "manipulator"&f& +4 "core" & 5  + "storage"(8& +4 "core" &[a F\  +2 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 700 counts +3 "manipulator"&' +21 "core" ' +2 "storage"(=% +4 "core" %E S\ +2 ."downElevator"SE.seek :down +4 "storage"(A'I +98 (%% +3 "core" %>4 S\ U] +2 "manipulator"&d% +3 "core" % G +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +2 "manipulator"&+'\ +88 "core" ' +61 ' + ."downElevator"SE.coast + "storage"(5 +4 .tSC.coast + "storage"(6 +5 "collection"'y& +3 "core" &YgBE\\\ N +2 #tStoring generic puck in Collection Clamp to tube 7 +2 "manipulator"& % +5 "core" %\   \ j +2 "storage"('% +4 "core" %S \ +2 "storage"(v. +2 "core" . +2 .tSC.reconfigure :tight +4 "storage"($\ .(\ 1~b +3 .tSC.seek 7 +2 "storage"(G([c +5 "core" ( + .tSC.reconfigure :loose +3 "storage"($.(\ 1~b +4 (O& +2 "core" &[a \  +2 "manipulator"&)& +4 "core" &  +2 .tElbow.seek 7 +3 "manipulator"&[( +12 "core" ( +2 "manipulator"&q& +4 "core" & \  + "storage"(2& +4 "core" &[a X\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 7 + 700 counts +3 "manipulator"&0' +91 "core" ' +2 "storage"("& +4 "core" &[a \  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +5 .tSE.seek :beamBreak +2 "storage"(,'j +280 "core" ' +2 "storage"(*- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +4 "manipulator"&l& +3 "core" & +  +2 "storage"(X& +3 "core" &[a \  + .tElbow.reconfigure :limp +4 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek 7 +3 "manipulator"&}'" +36 "core" ' + .tElbow.hold +4 "manipulator"& , +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 "storage"(s- +3 "core" -' +2 .tSE.seek 0.03 Pucks below Top Plate +3 "storage"(' +27 "core" ' +2 "manipulator"&o% +3 "core" %2I g r +2 "storage"(p& +4 "core" &[a  \  + .tForearm.force -20 + "manipulator"&5 +5 .tForearm.seek 7 + 316 counts +2 "manipulator"&'^ +20 "core" ' +2 "manipulator"&& +4 "core" & S w + "storage"(& +4 "core" &[a h\  +2 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 7 + 700 counts +3 "manipulator"&^' +19 "core" ' +2 .tSE.seek 1.03 Pucks below Top Plate +3 "storage"( ' +46 "core" ' +2 "manipulator"&w& +4 "core" & L w + "manipulator"&;% +4 "core" % N +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +2 "manipulator"&3'\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +166 "core" ( +2 "manipulator"&& +4 "core" & { u 2 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +4 &c& +3 "core" & z 2 +2 .tForearm.seek CC +2 "manipulator"&H'Ϥ +99 "core" ' + .tHand.close +2 "manipulator"&j/ +78 "core" / +2 .tCC.seek :open +3 "collection"'F( +432 "core" ( +2 "storage"(7& +3 "core" &[a\ $\ \  +2 "storage"(1& +4 "core" &[a\ \  \  + "manipulator"&& +4 "core" & {  / +2 "manipulator"&P% +3 "core" % ϙ q ~ @ v +2 .tForearm.seek :retract +2 "manipulator"& '\ +93 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek 7 +2 "manipulator"&D( +166 "core" ( +2 "manipulator"&z& +3 "core" &  j +2 "storage"(I& +4 "core" &[a   \\\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(#b +4 .tForearm.seek 7 +3 "manipulator"&Y'" +110 "core" ' + .tElbow.hold +3 "manipulator"&m, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&T1 +68 "core" 1 +2 "manipulator"&R% +4 "core" % .n 4 w +2 "storage"(k& +3 "core" &[a >\  + .tForearm.force -20 +2 "manipulator"&5 +4 .tForearm.seek 7 + 312 counts +3 "manipulator"&'Z +20 "core" ' +2 "manipulator"&& +4 "core" &  < + "storage"(V& +4 "core" &[a   \  +2 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 700 counts +3 "manipulator"&(' +21 "core" ' +2 "storage"(M% +4 "core" %  ! \ +2 ."downElevator"SE.seek :down +4 "storage"(6'I +99 (\\% +3 "core" %4 g\ U[ +2 "manipulator"&% +3 "core" %  x +2 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&-'\ +101 "core" ' +37 ' + ."downElevator"SE.coast + "storage"(5 +4 .tSC.coast + "storage"(6 +6 ."shutdown"CS.coast +2 #tAsleep / Shutdown +3 "collection"'5 +4 ."shutdown"SS.coast + "sampler")5 +4 ."shutdown"CC.coast +2 "collection"'6 +3 ."shutdown"PC.coast + "processing"%6 +5 ."shutdown"Forearm.coast +2 "manipulator"&5 +4 ."shutdown"Elbow.coast +2 "manipulator"&6 +38 ."shutdown"Gate.power :core,:OFF +2 .Gate.power :raw,:OFF +3 #Shutdown +3 .tdelay 5 seconds +504 #Powering core bus +498 .Gate.power :raw,:ON +3 "sampler") +30 ) +2 "core"  + "collection"' +3 '! +3 "core"  + "processing"% +2 % +3 "core"  +4 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ + % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"'<% +2 "core" %@Cr\ +2 .tCS.configure :default +3 "collection"'#P d@b +3 "processing"%J% +4 "core" %\ + .tPS.configure :default +3 "processing"%#A d`xb +3 "sampler")\ % +3 "core" %sq  + .tSS.configure :default +3 "sampler")#.0X +2 .tElbow.configure :tight +2 "manipulator"&$&.,(\ #b +6 "storage"(?& +2 "core" & r } \ +2 .tSC.configure :loose +2 "storage"($.(\ 1~b +4 (% +2 "core" % u t 8\ +2 .tSE.configure :default +2 "storage"(#QK-0-\ b +4 .tCH.coast + "collection"'  +3 "core" +2 .tCH.configure :default +2 "collection"'\ 2 +51 .tPH.coast +2 "processing"%W  +4 "core" + .tPH.configure :default + "processing"%\ 2 +4 #tAll dwarf controllers running firmware version 3.85 +2 "sampler") +11 "collection"'% +3 "core" %BDh\ +2 ."rdySampler"Intake.select :close +5 "processing"%U% + "manipulator"&% +3 ."rdySampler"Exhaust.select :close +4 .CTV.dial :air +3 "collection"'  +4 "core" % \ + % +2 "manipulator"&% + ."rdyProcessing"PSV.dial :air +5 "processing"%N  +4 "core" + %  +3 .tForearm.reconfigure :loose +2 ."rdySampler"CSV.dial :waste1 +4 "manipulator"&#@2^d^b +3 "collection"'| +3 .tForearm.home.seek :retract +3 "manipulator"&n'\ +4 "core" + +2 ."rdySampler"SSV.dial :spit,avoiding: :exhaust +2 ."rdyProcessing"PS.reconfigure :default +3 "sampler")E +3 "processing"%#A d`xb +4 "core"  +2 ."rdyProcessing"PS.home.seek 0ml +2 "sampler")C  +2 "processing"%e'Ԥ +6 "core" +2 ."readyCS"CS.reconfigure :fast +3 ."rdySampler"SS.reconfigure :default +4 "collection"'#d @b +3 "sampler")#.0X& +4 "core" &  z + .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek retracted +2 "manipulator"&~'\ +5 "core" ' +2 "manipulator"&B% +4 "core" %\  4 - +2 "processing"%S& +2 "collection"'K& +6 "core" &\ + &?Cs\ +2 ."openPC"PC.reconfigure :default +3 .tCC.reconfigure :default +5 "processing"%$x2 ^22b +4 "collection"'$x2 ^22b +2 ."openPC"PC.home.seek :open +3 .tCC.home.seek :open +4 "processing"%#( + "collection"'Z( +278 "core" ( ( +3 #tShuffling pucks in tube 1 of [1..7] + #Loading generic puck from tube 1 into Collection Clamp +4 "collection"'L& +6 "core" &AB|\  + .tHand.open +2 "manipulator"&b1 +77 "core" 1 +2 "manipulator"&% +3 "core" % \  f q - +2 "storage"(a% +4 "core" %N \  + "storage"(. +3 "core" .( +2 .tSC.reconfigure :tight +3 "storage"($\ .(\ 1~b +4 .tSC.seek 1 +2 "storage"(f( +189 "core" ( + .tSC.reconfigure :loose +3 "storage"($.(\ 1~b +4 (8& +2 "core" &\ \  ~\ +2 "manipulator"&4& +4 "core" & H z +2 .tElbow.seek 1 +2 "manipulator"&=( +44 "core" ( +2 "manipulator"&& +3 "core" & F +2 "storage"(]& +4 "core" &\ \  \ +2 .tForearm.seek 1 + 700 counts +2 "manipulator"&%'W +95 "core" ' +2 "storage"(d& +3 "core" & 1\ +2 .tSE.reconfigure :pick +5 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"('j +261 "core" ' +2 "storage"(h- +3 "core" -'} + .tSE.configure :default +4 "storage"(#QK-0-\ b +3 (5& +3 "core" & <\ +2 "manipulator"&y& +3 "core" & } q G +2 .tElbow.seek 1 +2 "manipulator"& ( +9 "core" ( +2 "manipulator"&'& +4 "core" & t ~ @  + "storage"(v& +4 "core" & )\ +2 .tForearm.seek 1 + 300 counts +3 "manipulator"&' +28 "core" ' + .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&O/ +71 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&)& +6 "storage"(q'I +2 "core" & #  +2 "manipulator"&2% +4 "core" %  +2 .tForearm.seek :retract +2 "manipulator"&'\ +95 "core" ' +2 .tElbow.seek CC +4 "manipulator"&"( +125 "core" ' + ."downElevator"SE.coast +2 "storage"(5 +35 "core" ( +2 "manipulator"&A& +3 "core" & t ~ N / +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +4 &@& +3 "core" & { p / + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek CC +2 "manipulator"&/'Ϥ +102 "core" ' +3 "manipulator"&+& +4 "core" & |  / +2 "manipulator"&*% +4 "core" %ϟ }  O +2 "collection"'l& +3 "core" &ABo\  +3 "collection"'X& +6 "core" &BE{\  +2 .tCC.seek :closed + "collection"'s(Y +6 "core" &@D|\  +5 &CAv\ > +10 &J|ACu\ 2 +9 &EtADy\ F +9 &Z>Dp\ M +10 &V?Cq\ M +9 &vU@Cs\ M +9 &7Y@Ct\ M +10 &WABs\ M +9 &W@Dr\ M +10 &UADu\ L +9 &@U?Bw\ M +9 &!W@De\ M +10 &"Y=Bt\ M +9 &$W@Do\ M +9 &&HW=Ch\ M +10 &( Y?Cc\ M +9 &)T>EX\ L +10 &+UAB[\ M +9 &-PX?Ca\ M +9 &/VBD`\ L +10 &0VBCf\ M +9 &2VACg\ M +9 &4WZ@DU\ M +10 &6VCBX\ M +9 &7XBCg\ M +10 &9TACd\ M +9 &;`UBCh\ M +9 &=!YCD^\ M +10 &>U@EZ\ M +9 &@Z?Ca\ M +9 &BhW@C]\ M +10 &D*ZBCZ\ M +9 &E\\ACZ\ M +10 &G]ADY\ N +9 &IijBC[\ O +9 &K@BZ\ T +10 &LBE[\ X +9 &NCD[\ Y +9 &PQDE\\\ Z +10 &RBDY\ [ +9 &SBE_\ [ +10 &UBDb\ [ +9 &WTCCZ\ \\ +9 &XzBDW\ / +10 &Y0AEb\ W +8 ( +2 &YdCB[\ G +2 "collection"'X& +2 #tCollection Clamp onSpring/offSpring for 8/30 samples, on/off torque 2.29 +2 .Hand.open +5 "manipulator"&o1 +69 "core" 1 +2 "manipulator"&p% +3 "core" % ϟ S +2 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +106 "core" ' + .tSC.coast +2 "storage"(6 +4 #tLoading generic puck from tube 1 into Processing Clamp +2 "processing"%& +5 "core" & \  +2 "manipulator"&w% +4 "core" %\ +2 "storage"(;% +3 "core" %K \ +2 "storage"(0. +3 "core" . + .tSC.reconfigure :tight +4 "storage"($\ .(\ 1~b +3 .tSC.seek 1 +2 "storage"([( +5 "core" ( + .tSC.reconfigure :loose +3 "storage"($.(\ 1~b +4 (,& +2 "core" & #\  +2 "manipulator"&}& +3 "core" & / +2 "manipulator"&% +3 "core" %\ +2 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek 1 +2 "manipulator"&( +157 "core" ( +2 "manipulator"&& +4 "core" &   + "storage"(c& +4 "core" & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 1 + 700 counts +3 "manipulator"&^'W +102 "core" ' +2 "storage"( & +3 "core" & z\  +2 .tSE.reconfigure :pick +5 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +48 "storage"(j'j +277 "core" ' + "storage"(3- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +4 (& +3 "core" & .\  + "manipulator"&7& +4 "core" &   +2 .tElbow.seek 1 +2 "manipulator"&1( +5 "core" ( + "manipulator"&& +4 "core" & @  +2 "storage"(P& +3 "core" & #\  +2 .tForearm.seek 1 + 300 counts +3 "manipulator"&z' +24 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tHand.close +2 "manipulator"&I/ +76 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&H& +6 "storage"('I +3 "core" & q s $  + "manipulator"&T% +4 "core" % r s $  +2 .tForearm.seek :retract +3 "manipulator"&R'\ +98 "core" ' +2 .tElbow.seek PC +4 "manipulator"&k( +131 "core" ' + ."downElevator"SE.coast +2 "storage"(5 +127 "core" ( +2 "manipulator"&& +4 "core" & { ~ ' W + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +4 &V& +2 "core" & r z W +2 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&M'Њ +99 "core" ' +2 "manipulator"& & +4 "core" & b _ W + "manipulator"&\\% +4 "core" %Џ U X D +2 "processing"%& +3 "core" &&\  +2 "processing"%D& +5 "core" &%\  +2 .tPC.seek :closed +3 "processing"%Y(Y +5 "core" &\  +7 &I\ &j +10 &{W}\ 9 +9 &x \ N +9 &S \ O +10 &RR \ O +9 &U\ O +10 &T\ O +9 &S\ O +9 &[T\ O +10 &U\ N +9 &U\ O +9 &!V\ O +10 &#cU\ O +9 &%%T\ O +10 &&X\ O +9 &(U\ O +9 &*kU\ O +10 &,,S\ O +9 &-T\ O +9 &/U\ O +10 &1sT\ O +9 &35U\ O +10 &4T\ N +9 &6U\ O +9 &8zU\ O +10 &:=T\ O +9 &;T\ O +9 &=T\ N +10 &?T\ O +9 &AET\ O +10 &CW\ O +9 &DZ\ O +9 &F\\\ P +10 &HI_\ P +9 &J e\ Q +9 &Kx\ S +10 &M{\ W +9 &O>\ V +10 &P\ W +9 &R\ W +9 &T\ W +10 &VF\ V +9 &X \ G +9 &Y/C|\ &q +10 &Y4\ 3 +5 ( +2 "processing"%D& +3 #tProcessing Clamp onSpring/offSpring for 10/26 samples, on/off torque 1.59 +2 .Hand.open +4 "manipulator"&1 +5 "core" &Y$\ 3 +72 1 + "manipulator"& % +4 "core" % Ѝ  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +3 "manipulator"&('\ +96 "core" ' +2 .tSC.coast + "storage"(6 +5 "processing"%6& +4 "core" &Y$\ 3 +2 #tImaging generic puck in Processing Clamp while storing it to tube 1 + "manipulator"&G% +6 "core" %\ W  +2 "storage"(`% +3 "core" %H y \ +2 "storage"($. +2 "core" . +2 .tSC.reconfigure :tight +3 "storage"($\ .(\ 1~b +4 .tSC.seek 1 + "storage"(F( +4 "core" ( +2 .tSC.reconfigure :loose +3 "storage"($.(\ 1~b +4 (x& +3 "core" & y y J\  +2 "manipulator"&-& +3 "core" & J W +2 "manipulator"&m% +3 "core" %\   +2 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek 1 +2 "manipulator"&( +278 "core" ( +2 "manipulator"&!& +3 "core" &   +2 "storage"(& +4 "core" & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 1 + 700 counts +3 "manipulator"&<'W +102 "core" ' +2 "storage"(J& +3 "core" & \  +2 .tSE.reconfigure :pick +4 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(\ 'j +287 "core" ' +2 "storage"(&- +3 "core" -' + .tSE.configure :default +4 "storage"(#QK-0-\ b +3 "manipulator"&i& +3 "core" &   +2 "storage"(Q& +3 "core" &  J\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +4 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +3 .tForearm.seek 1 +2 "manipulator"&9'Λ +37 "core" ' + .tElbow.hold +4 "manipulator"&?, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 "storage"(- +3 "core" -' +2 .tSE.seek 1.02 Pucks below Top Plate + "storage"( ' +41 "core" ' +2 "manipulator"&W% +3 "core" %ήR  u +2 "storage"(& +4 "core" & \  + .tForearm.force -20 + "manipulator"&5 +5 .tForearm.seek 1 + 319 counts +2 "manipulator"&' +21 "core" ' +2 "manipulator"&U& +4 "core" &\  { + "storage"(& +4 "core" & x 3\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 1 + 700 counts +3 "manipulator"&'W +31 "core" ' +2 .tSE.seek 2.02 Pucks below Top Plate +4 "storage"(N' +40 "core" ' +2 "manipulator"&|& +4 "core" &\ A { +2 "manipulator"&E% +3 "core" %I >  +2 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&C'\ +92 "core" ' +2 .tElbow.seek PC +4 "manipulator"&( +258 "core" ( +2 "manipulator"&r& +3 "core" & 0 E +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +4 && +2 "core" &  E +2 .tForearm.seek PC +3 "manipulator"&e'Њ +96 "core" ' + .tHand.close +2 "manipulator"&_/ +77 "core" / +2 .tPC.seek :open +3 "processing"%>( +429 "core" ( +2 "storage"(B& +3 "core" &  %\  +2 "manipulator"&K& +4 "core" & d f E + "manipulator"&S% +4 "core" % Л d f  + .tForearm.seek :retract +3 "manipulator"&n'\ +96 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek 1 +2 "manipulator"&{( +275 "core" ( +2 "manipulator"&.& +3 "core" & i  +2 "storage"(L& +4 "core" & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 1 + 700 counts +3 "manipulator"&b'W +92 "core" ' +2 .tHand.open +3 "manipulator"&1 +69 "core" 1 +2 "storage"(a- +3 "core" -' +2 .tSE.seek 1.77 Pucks below Top Plate +3 "storage"(' +29 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +5 .tSE.seek 1.17 Pucks below Top Plate +3 "storage"(8' +53 "core" ' + #tLights, camera, ACTION! +3 "storage"(4- +4 "core" -' +2 "storage"(& +3 "core" &  \  +2 "manipulator"&]& +3 "core" &   +2 .tElbow.seek 1 +3 "manipulator"&( +4 "core" ( +2 "manipulator"&d& +4 "core" & W  + "storage"(u& +4 "core" &  e\  +2 .tForearm.seek 1 + 700 counts +3 "manipulator"&~'W +4 "core" ' +41 .tSE.reconfigure :gently +12 "storage"(#QK-0-\ b +4 .tSE.seek 1.89 Pucks below Top Plate +2 "storage"(h'1 +65 "core" ' +2 "manipulator"&5& +4 "core" &   + "storage"(y& +4 "core" & #\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +4 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek 1 +2 "manipulator"&''Λ +36 "core" ' + .tElbow.hold +3 "manipulator"&t, +5 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +4 "storage"(#QK-0-\ b +3 .tSE.seek 2.07 Pucks below Top Plate +2 "storage"(v' +22 "core" ' +2 "manipulator"&O% +4 "core" %ΤU r +2 "storage"()& +3 "core" & \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 1 + 309 counts +2 "manipulator"&2' +21 "core" ' +3 "manipulator"&=& +4 "core" & E  +2 "storage"(%& +3 "core" & \  +2 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 700 counts +3 "manipulator"&A'W +27 "core" ' +2 "storage"(@% +4 "core" %! O\ +2 ."downElevator"SE.seek :down +4 "storage"('I +99 (% +3 "core" %{4 }\ U] +2 "manipulator"&+% +3 "core" %V B Y +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +2 "manipulator"& '\ +92 "core" ' +34 ' + ."downElevator"SE.coast + "storage"(5 +4 .tSC.coast +2 "storage"(6 +4 "collection"'*& +4 "core" &YdCFc\ G +2 #tStoring generic puck in Collection Clamp to tube 1 +2 "manipulator"&l% +5 "core" %\ \ X  +2 "storage"(q% +3 "core" %O :\ +2 "storage"(. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +4 .tSC.seek 1 +2 "storage"(Z( +5 "core" ( + .tSC.reconfigure :loose +3 "storage"($.(\ 1~b +3 (o& +3 "core" & r\  +2 "manipulator"&p& +4 "core" & O  + .tElbow.seek 1 +3 "manipulator"&( +27 "core" ( +2 "manipulator"&X& +4 "core" & ~ d : + "storage"(w& +4 "core" & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 1 + 700 counts +3 "manipulator"&;'W +91 "core" ' +3 "storage"(0& +4 "core" & \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +3 "storage"(,'j +275 "core" ' + "storage"(}- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +4 "manipulator"&& +3 "core" & : + "storage"(/& +4 "core" & A\  + .tElbow.reconfigure :limp +4 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek 1 +3 "manipulator"&'Λ +33 "core" ' + .tElbow.hold +4 "manipulator"&c, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 "storage"(f- +3 "core" -' +2 .tSE.seek 2.02 Pucks below Top Plate +2 "storage"( ' +32 "core" ' +2 "manipulator"&"% +3 "core" %ΩU j r +2 "storage"(& +4 "core" & \  + .tForearm.force -20 + "manipulator"&5 +5 .tForearm.seek 1 + 314 counts +2 "manipulator"&3' +20 "core" ' +2 "manipulator"&& +4 "core" &  + "storage"(7& +4 "core" & 6\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 1 + 700 counts +3 "manipulator"&'W +25 "core" ' +2 .tSE.seek 3.02 Pucks below Top Plate +4 "storage"(P' +42 "core" ' +2 "manipulator"&I& +4 "core" & s  +2 "manipulator"&H% +3 "core" %_  y h g +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +2 "manipulator"&T'\ +95 "core" ' +2 .tElbow.seek CC +4 "manipulator"&( +156 "core" ( +2 "manipulator"&^& +3 "core" & | Z 0 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +4 &j& +2 "core" & { u p 0 +2 .tForearm.seek CC +3 "manipulator"&z'Ϥ +93 "core" ' + .tHand.close +2 "manipulator"&/ +76 "core" / +2 .tCC.seek :open +4 "collection"'V( +436 "core" ( + "storage"(1& +4 "core" & \  +2 "storage"( & +3 "core" & \  +2 "manipulator"&\\& +4 "core" & Z W ] / + "manipulator"&% +4 "core" % ϭ e h G 5 +2 .tForearm.seek :retract +3 "manipulator"&'\ +97 "core" ' +2 .tElbow.reconfigure :tight +5 "manipulator"&$&.,(\ #b +2 .tElbow.seek 1 +3 "manipulator"&R( +159 "core" ( +2 "manipulator"&#& +3 "core" &    +2 "storage"(& +4 "core" &\  '\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +4 .tForearm.seek 1 +3 "manipulator"& 'Λ +106 "core" ' + .tElbow.hold +4 "manipulator"&6, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&D1 +68 "core" 1 +2 "manipulator"&G% +4 "core" % Ω  yB +2 "storage"(`& +3 "core" & d z \  + .tForearm.force -20 +2 "manipulator"&5 +3 .tForearm.seek 1 + 314 counts +3 "manipulator"&$' +19 "core" ' +2 "manipulator"&x& +3 "core" & | t D c +2 "storage"(-& +4 "core" & \  \  +2 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 700 counts +3 "manipulator"&m'W +24 "core" ' +2 "storage"(M% +4 "core" %\ \ % 6\ +2 ."downElevator"SE.seek :down +4 "storage"(['I +99 (!% +3 "core" %=/ b\ TX + "manipulator"&% +4 "core" %_  w +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +2 "manipulator"&k'\ +95 "core" ' +23 ' + ."downElevator"SE.coast + "storage"(5 +4 .tSC.coast +2 "storage"(6 +4 #tShuffling pucks in tube 2 of [1..7] +2 #Loading generic puck from tube 2 into Collection Clamp +4 "collection"'J& +5 "core" &ADz\ +2 "manipulator"&(% +3 "core" %\ B  +2 "storage"(&% +4 "core" %C   \ +2 "storage"(i. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +4 .tSC.seek 2 + "storage"(Q( +191 "core" ( + .tSC.reconfigure :loose +3 "storage"($.(\ 1~b +4 (& +2 "core" &  o\  +2 "manipulator"&W& +4 "core" &  c + .tElbow.seek 2 +2 "manipulator"&( +13 "core" ( +2 "manipulator"&U& +3 "core" &   +2 "storage"(& +4 "core" &  %\  +48 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +3 "manipulator"&|'a +92 "core" ' +2 "storage"(E& +4 "core" &  :\  + .tSE.reconfigure :pick +4 "storage"(#]K-0-\ b +5 .tSE.seek :beamBreak +2 "storage"(<'j +279 "core" ' +2 "storage"(- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +4 (\ & +3 "core" &  \  +2 "manipulator"&9& +3 "core" & q s R  +2 .tElbow.seek 2 +3 "manipulator"&( +4 "core" ( + "manipulator"& & +4 "core" & s {   +2 "storage"(& +3 "core" &  \  +2 .tForearm.seek 2 + 300 counts +3 "manipulator"&r' +22 "core" ' + .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +71 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&?& +6 "storage"(_'I +3 "core" & 9  +2 "manipulator"&C% +4 "core" % u v Z / + .tForearm.seek :retract +3 "manipulator"&Y'\ +97 "core" ' +2 .tElbow.seek CC +4 "manipulator"&B( +146 "core" ' + ."downElevator"SE.coast +2 "storage"(5 +16 "core" ( +2 "manipulator"&K& +4 "core" & s | / + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +4 &S& +2 "core" & s } / +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek CC +3 "manipulator"&e'Ϥ +92 "core" ' +2 "manipulator"&.& +4 "core" & ~ w [ / +2 "manipulator"&L% +3 "core" %Ϯ | y V +2 "collection"'& +4 "core" &@Cg\ +2 "collection"'& +4 "core" &?Bs\ +2 .tCC.seek :closed +3 "collection"'a(Y +5 "core" &?Bo\ +6 &@Cm\ 6 +10 &6H?De\ 1 +9 &bq>Er\ E +10 &_@Bb\ N +9 &VAC\\\ M +9 &U@Eh\ M +10 &PTABi\ M +9 &T?Bk\ M +9 &SACc\ L +10 &U?Di\ M +9 &YUABk\ M +10 &!W@Bl\ M +9 &"U@Do\ M +9 &$U@Ct\ M +10 &&aUACk\ M +9 &("WBBi\ M +9 &)T?Dl\ M +10 &+U@Ch\ M +9 &-hW?Aj\ M +10 &/+UABg\ M +9 &0UCBh\ M +9 &2UABk\ M +10 &4pV@Ck\ M +9 &61UCCh\ M +9 &7W@Fk\ M +10 &9U@Ch\ M +9 &;wTADe\ M +10 &=9UBCg\ M +9 &>UACk\ M +9 &@UBCd\ M +10 &B~UAE`\ N +9 &DAY?Dd\ M +9 &FY?Ci\ M +10 &G\\?Cg\ N +9 &Ij>Bg\ O +10 &K5@EX\ T +9 &LAFZ\ Y +9 &NADc\ Z +10 &PhBFe\ [ +9 &R)AC\\\ [\ +9 &SADW\ \\ +10 &UCEZ\ [ +9 &WlCEY\ \\ +10 &Y{BFG\ / +9 &Y#BEP\ T +8 ( +2 &YnCFR\ M +2 "collection"'& +2 #tCollection Clamp onSpring/offSpring for 8/30 samples, on/off torque 2.34 +2 .Hand.open +4 "manipulator"&41 +77 "core" 1 +2 "manipulator"&% +3 "core" % Ϯ  V +2 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&]'\ +91 "core" ' + .tSC.coast +2 "storage"(6 +4 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%n& +5 "core" &)\ + "manipulator"&d% +4 "core" %\  { u 4 m +2 "storage"(u% +3 "core" %O <\ +2 "storage"(5. +3 "core" . + .tSC.reconfigure :tight +4 "storage"($\ .(\ 1~b +3 .tSC.seek 2 + "storage"(y( +4 "core" ( +2 .tSC.reconfigure :loose +3 "storage"($.(\ 1~b +4 (N& +2 "core" &  6\  +2 "manipulator"&& +3 "core" & } } / +2 "manipulator"&O% +3 "core" %\   ~ m +3 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +3 "manipulator"&)( +167 "core" ( +2 "manipulator"&{& +4 "core" &  & + "storage"(=& +4 "core" &  ^\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 2 + 700 counts +2 "manipulator"&%'a +95 "core" ' +2 "storage"(b& +3 "core" &  ^\  +2 .tSE.reconfigure :pick +5 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(@'j +280 "core" ' +2 "storage"(8- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +4 (& +3 "core" &  \  + "manipulator"&+& +4 "core" & 3 & +2 .tElbow.seek 2 +2 "manipulator"&~( +11 "core" ( + "manipulator"&& +4 "core" & i  +2 "storage"(h& +3 "core" &  (\  +2 .tForearm.seek 2 + 300 counts +3 "manipulator"&'' +30 "core" ' + .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&*/ +71 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&2& +6 "storage"(l'I +3 "core" &   +2 "manipulator"&q% +3 "core" %  ~ +2 .tForearm.seek :retract +3 "manipulator"&'\ +102 "core" ' +2 .tElbow.seek PC +4 "manipulator"&o( +148 "core" ' + ."downElevator"SE.coast +2 "storage"(5 +115 "core" ( +2 "manipulator"&v& +4 "core" & q ' d +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &p& +3 "core" & s r $ d +2 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&X'Њ +89 "core" ' +2 "manipulator"&w& +4 "core" & } x 8 d + "manipulator"&A% +4 "core" %Ї } ~ J +2 "processing"%0& +3 "core" & \ +3 "processing"%& +4 "core" &\ +2 .tPC.seek :closed +2 "processing"%F(Y +5 "core" &\ +8 & - \ $d +9 &U|\ 8 +9 &~x \ L +10 &U \ O +9 &ZW \ O +10 &W\ O +9 &V \ N +9 &T \ N +10 &bT \ O +9 &$X \ O +9 &T \ O +10 &!U \ O +9 &#jT\ \ O +10 &%-T \ N +9 &&U \ O +9 &(V\ \ N +10 &*sT \ N +9 &,5T\ \ N +9 &-U \ O +10 &/U \ N +9 &1zT \ O +10 &3=T\ N +9 &4T\ N +9 &6T\ N +10 &8S\ O +9 &:DW\ O +9 &<S\ O +10 &=T\ N +9 &?T\ O +10 &AMV\ N +9 &CV\ O +9 &DY\ O +10 &F^\ P +9 &HQ]\ P +9 &Jf\ Q +10 &K\ U +9 &M\ W +10 &OD\ W +9 &Q\ W +9 &R\ V +10 &T\ W +9 &VN\ V +9 &X\ F +10 &Y2@r\ (v +9 &Y8\ 1 +5 ( +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 10/26 samples, on/off torque 1.61 +2 .Hand.open +6 "manipulator"&t1 +3 "core" &Y'\ 1 +72 1 + "manipulator"& % +4 "core" % Ї o a J +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +2 "manipulator"&}'\ +95 "core" ' + .tSC.coast +2 "storage"(6 +4 "processing"%& +4 "core" &Y'\ 1 + #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&/% +5 "core" %\ Y  +2 "storage"(f% +4 "core" %Q v x \ + "storage"(". +3 "core" . +2 .tSC.reconfigure :tight +3 "storage"($\ .(\ 1~b +4 .tSC.seek 2 + "storage"(( +4 "core" ( +2 .tSC.reconfigure :loose +3 "storage"($.(\ 1~b +4 (& +4 "manipulator"&7& +3 "core" &  _ W z\  +4 ."raiseStack"SE.reconfigure :place +3 "storage"(#].K-0-\ b +4 "core" & d +2 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +4 "storage"(I'j +2 "manipulator"&H( +6 "core" ( + "manipulator"&;& +4 "core" & V d +48 .tElbow.reconfigure :loose +5 "manipulator"&$ &.,(#b +4 && +3 "core" & ` d + .tForearm.seek PC +3 "manipulator"&,'Њ +95 "core" ' +2 .tHand.close +2 "manipulator"&/ +77 "core" / +2 .tPC.seek :open +4 "processing"%3( +14 "core" ' +2 "storage"( - +3 "core" -'j + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +3 "storage"(^' +42 "core" ' +356 ( +3 "storage"(j& +3 "core" &  \  +2 "manipulator"&& +4 "core" & z  d + "manipulator"&c% +4 "core" % Є  }  +2 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek 2 +2 "manipulator"&T( +273 "core" ( +2 "manipulator"&s& +4 "core" &  c  + "storage"(1& +4 "core" &  b\  +2 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +3 "manipulator"& 'a +108 "core" ' +2 .tHand.open +4 "manipulator"&\\1 +77 "core" 1 +2 "storage"(- +3 "core" -' +2 .tSE.seek -0.22 Pucks below Top Plate +3 "storage"(#' +24 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +4 .tSE.seek -0.83 Pucks below Top Plate +3 "storage"(' +52 "core" ' + #tLights, camera, ACTION! +3 "storage"(z- +4 "core" -' +2 "storage"(& +3 "core" &  \  +2 "manipulator"&D& +4 "core" & M  + .tElbow.seek 2 +3 "manipulator"&G( +9 "core" ( +2 "manipulator"&`& +3 "core" & C  +2 "storage"(x& +4 "core" &  \  +2 .tForearm.seek 2 + 700 counts +3 "manipulator"&-'a +4 "core" ' +2 .tSE.reconfigure :gently +4 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(M'V +62 "core" ' +2 "manipulator"&& +4 "core" &   + "storage"(!& +4 "core" &  O\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(#b +4 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +2 "manipulator"&'Υ +38 "core" ' + .tElbow.hold +4 "manipulator"&R, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +4 .tSE.seek 0.07 Pucks below Top Plate +3 "storage"( '@ +30 "core" ' +2 "manipulator"&J% +3 "core" %γU r +2 "storage"((& +4 "core" &   \  +2 .tForearm.force -20 + "manipulator"&5 +5 .tForearm.seek 2 + 314 counts +2 "manipulator"&$' +23 "core" ' +2 "manipulator"&&& +4 "core" & s ~ 2 s +2 "storage"(i& +3 "core" &  \  +2 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 2 + 700 counts +3 "manipulator"&P'a +26 "core" ' +3 "storage"(m% +4 "core" %E K\ +2 ."downElevator"SE.seek :down +4 "storage"('I +99 (W% +3 "core" %2 x v L\ U^ + "manipulator"&U% +4 "core" %k h ? +2 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +3 "manipulator"&'\ +89 "core" ' +58 ' + ."downElevator"SE.coast + "storage"(5 +4 .tSC.coast +2 "storage"(6 +4 "collection"'[& +4 "core" &YmEE_\ M +2 #tStoring generic puck in Collection Clamp to tube 2 + "manipulator"&Z% +5 "core" %\  1 8 +2 "storage"(E% +4 "core" %Q P\ + "storage"(6. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +4 .tSC.seek 2 +2 "storage"(k( +5 "core" ( + .tSC.reconfigure :loose +3 "storage"($.(\ 1~b +3 (& +3 "core" &  g\  +2 "manipulator"&\ & +4 "core" &  s +2 .tElbow.seek 2 +3 "manipulator"&9( +30 "core" ( +2 "manipulator"& & +4 "core" &\  R + "storage"(& +4 "core" &  }\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 2 + 700 counts +2 "manipulator"&'a +94 "core" ' +2 "storage"(?& +4 "core" &  ?\  +2 .tSE.reconfigure :pick +5 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(C'j +279 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +4 "manipulator"&|& +3 "core" &\  , Q +2 "storage"(K& +3 "core" &  k\  + .tElbow.reconfigure :limp +4 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek 2 +4 "manipulator"&S'Υ +36 "core" ' + .tElbow.hold +4 "manipulator"&<, +3 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +4 "storage"(r- +2 "core" -' +2 .tSE.seek 0.03 Pucks below Top Plate +3 "storage"(.' +29 "core" ' +2 "manipulator"&L% +3 "core" %ΪS M q +2 "storage"(& +3 "core" &  \  +2 .tForearm.force -20 + "manipulator"&5 +5 .tForearm.seek 2 + 305 counts + "manipulator"&' +21 "core" ' +2 "manipulator"&_& +3 "core" & x   +2 "storage"(Y& +4 "core" &  "\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 2 + 700 counts +2 "manipulator"&V'a +25 "core" ' +3 .tSE.seek 1.03 Pucks below Top Plate +3 "storage"(4' +47 "core" ' +2 "manipulator"&& +4 "core" & r q S  +2 "manipulator"&n% +3 "core" %f q o 2 n +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +2 "manipulator"&'\ +91 "core" ' +2 .tElbow.seek CC +4 "manipulator"&d( +153 "core" ( +2 "manipulator"&u& +3 "core" & }  3 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &5& +3 "core" & ~  ~ 3 +2 .tForearm.seek CC +3 "manipulator"&N'Ϥ +92 "core" ' + .tHand.close +2 "manipulator"&/ +77 "core" / +3 .tCC.seek :open +3 "collection"'O( +433 "core" ( + "storage"(e& +4 "core" &  \  +2 "storage"({& +3 "core" &  \  +2 "manipulator"&=& +4 "core" &\  d b . + "manipulator"&Q% +4 "core" % ϡ _ e  + .tForearm.seek :retract +2 "manipulator"&b'\ +97 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek 2 + "manipulator"&B( +178 "core" ( +2 "manipulator"&]& +3 "core" & u { F 9 +2 "storage"(8& +4 "core" & \ \  \  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(#b +42 .tForearm.seek 2 +11 "manipulator"&'Υ +109 "core" ' + .tElbow.hold +4 "manipulator"&+, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&1 +68 "core" 1 +2 "manipulator"&h% +4 "core" % άb ' t +2 "storage"(*& +3 "core" &  W U J\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 2 + 307 counts +2 "manipulator"&2' +25 "core" ' +2 "manipulator"&q& +4 "core" &) ~ \  +3 "storage"()& +3 "core" &  \  \  +2 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +3 "manipulator"&%'a +22 "core" ' +2 "storage"(@% +4 "core" %\ \ ( \ +3 ."downElevator"SE.seek :down +4 "storage"(''I +99 (v% +3 "core" %8 \ U\\ + "manipulator"&p% +4 "core" %b i z +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +2 "manipulator"&~'\ +101 "core" ' +39 ' + ."downElevator"SE.coast +2 "storage"(5 +4 .tSC.coast + "storage"(6 +4 #tShuffling pucks in tube 3 of [1..7] +2 #Loading generic puck from tube 3 into Collection Clamp +5 "collection"'w& +4 "core" &@Ej\ +2 "manipulator"&A% +4 "core" %\  +2 "storage"(0% +4 "core" %W   \ +2 "storage"(l. +2 "core" . +2 .tSC.reconfigure :tight +3 "storage"($\ .(\ 1~b +4 .tSC.seek 3 + "storage"((z +191 "core" ( +3 .tSC.reconfigure :loose +5 "storage"($.(\ 1~b +3 (>& +3 "core" &x\ \  6\ +3 "manipulator"&t& +5 "core" &)   + .tElbow.seek 3 +3 "manipulator"& ( +20 "core" ( +2 "manipulator"&& +4 "core" & H  + "storage"(& +4 "core" &x\ \ !\ +2 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +3 "manipulator"&/' +90 "core" ' +2 "storage"(f& +4 "core" &x\ \  R\ + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +5 .tSE.seek :beamBreak + "storage"("'j +281 "core" ' +2 "storage"(- +3 "core" -' + .tSE.configure :default +4 "storage"(#QK-0-\ b +3 (7& +3 "core" &x j\ +2 "manipulator"&;& +3 "core" & | (  +2 .tElbow.seek 3 +2 "manipulator"&( +5 "core" ( + "manipulator"&X& +4 "core" & }   +2 "storage"(y& +3 "core" &x ?\ +2 .tForearm.seek 3 + 300 counts +2 "manipulator"&'l +26 "core" ' + .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"& / +76 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&o& +6 "storage"(}'I +3 "core" & X  + "manipulator"&F% +4 "core" % e +2 .tForearm.seek :retract +3 "manipulator"&I'\ +91 "core" ' +2 .tElbow.seek CC +4 "manipulator"&j( +150 "core" ' +2 ."downElevator"SE.coast +2 "storage"(5 +4 "core" ( +2 "manipulator"&& +3 "core" & { O & +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &c& +3 "core" & ? & +2 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +3 "manipulator"&,'Ϥ +100 "core" ' +3 "manipulator"&s& +4 "core" & p g : & +2 "manipulator"&1% +3 "core" %Ϭ d d % +2 "collection"'H& +4 "core" &@Cq\ +2 "collection"'\\& +4 "core" &AAq\ +2 .tCC.seek :closed +3 "collection"'(Y +6 "core" &ABl\ +6 &BDy\ 5 +9 &=H{@Dt\ 0 +10 &gr@Ck\ D +9 & b@Ae\ N +9 &WABj\ M +10 &U@Cg\ M +9 &RW@Cl\ M +9 &UABb\ L +10 &T?Dd\ L +9 &UAEj\ L +10 &ZUADn\ M +9 &!WABo\ M +9 &"TABi\ M +10 &$UACp\ M +9 &&bUADl\ M +9 &($W>Eq\ M +10 &)RBCk\ M +9 &+TCCh\ L +10 &-jUBCi\ M +9 &/,SBCl\ M +9 &0UAEl\ M +10 &2YABh\ M +9 &4qW@Cg\ M +9 &63UACk\ M +10 &7W?Ei\ M +9 &9TABk\ M +10 &;zUBCi\ M +9 &=;ZACj\ M +9 &>VABg\ M +10 &@UAEk\ L +9 &BUACl\ M +9 &DBY@Cj\ M +10 &FW>C]\ M +9 &G\\?Dj\ M +10 &Ig@Ck\ O +9 &K8@Cl\ T +9 &LBBl\ X +10 &N@Ce\ Z +9 &Pj@Fd\ Z +9 &R*CGg\ [\ +10 &SAEl\ \\ +9 &UBDh\ \\ +10 &WmBEj\ \\ +9 &Y{AE_\ / +9 &Y$DDT\ S +10 ( + &Yc@C[\ L +2 "collection"'\\& +2 #tCollection Clamp onSpring/offSpring for 8/30 samples, on/off torque 2.34 +2 .Hand.open +6 "manipulator"&z1 +77 "core" 1 +3 "manipulator"&% +4 "core" % ϫ j v A + .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +3 "manipulator"&'\ +104 "core" ' + .tSC.coast +2 "storage"(6 +4 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%D& +5 "core" &\ + "manipulator"&`% +4 "core" %\  p r   +2 "storage"(x% +3 "core" %T *\ +2 "storage"(. +3 "core" . + .tSC.reconfigure :tight +4 "storage"($\ .(\ 1~b +4 .tSC.seek 3 + "storage"(!(z +4 "core" ( +2 .tSC.reconfigure :loose +3 "storage"($.(\ 1~b +4 (^& +2 "core" &x \  +2 "manipulator"&#& +4 "core" & s p & + "manipulator"&J% +4 "core" %\  s r $  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek 3 + "manipulator"&(( +162 "core" ( +2 "manipulator"&&& +3 "core" &\ d G +2 "storage"(i& +4 "core" &x n\  +2 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +2 "manipulator"&T' +96 "core" ' +2 "storage"(m& +3 "core" &x 7\  +2 .tSE.reconfigure :pick +4 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"( 'j +286 "core" ' +2 "storage"(- +3 "core" -' + .tSE.configure :default +4 "storage"(#QK-0-\ b +3 (W& +3 "core" &x v y \  + "manipulator"&-& +4 "core" &\ | ~ G +2 .tElbow.seek 3 + "manipulator"&U( +5 "core" ( +2 "manipulator"&G& +3 "core" &\ | G +2 "storage"(M& +3 "core" &x } q \  +2 .tForearm.seek 3 + 300 counts +3 "manipulator"&'l +26 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tHand.close +2 "manipulator"&$/ +78 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&[& +3 "storage"(Z'I +6 "core" &\ { G +2 "manipulator"&E% +4 "core" % v | L  +2 .tForearm.seek :retract +2 "manipulator"&6'\ +92 "core" ' +2 .tElbow.seek PC +4 "manipulator"& ( +158 "core" ' + ."downElevator"SE.coast +2 "storage"(5 +107 "core" ( +2 "manipulator"&& +3 "core" & x  a +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +4 &\ & +2 "core" & { : a +2 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +49 "manipulator"& 'Њ +143 "core" ' +2 "manipulator"&& +4 "core" & b c . a + "manipulator"&P% +4 "core" %В c d +2 "processing"%?& +4 "core" &5\ +2 "processing"%& +4 "core" &6\ +2 .tPC.seek :closed +3 "processing"%(Y +6 "core" &\ +7 &4\ $c +10 &U}\ 8 +9 &~y\ L +9 &Q \ O +10 &]R \ N +9 &T\ \ O +10 &U \ N +9 &U \ N +9 &eU \ N +10 &&U \ O +9 &W \ O +9 &!S \ O +10 &#lS\ \ O +9 &%.Q \ O +10 &&S\ \ O +9 &(Q\ \ O +9 &*uT \ N +10 &,7U\ \ N +9 &-U \ O +9 &/Y \ O +10 &1}T\ \ N +9 &3>U\ O +10 &5R\ O +9 &6S \ O +9 &8R\ O +10 &:GT\ N +9 &< T\ N +9 &=U\ O +10 &?U\ O +9 &AMT\ O +10 &CR\ O +9 &DW\ O +9 &F\\\ P +10 &HR_\ P +9 &Jc\ Q +9 &K|\ T +10 &M\ W +9 &OF\ W +10 &Q\ W +9 &R\ V +9 &T\ V +10 &VP\ V +9 &X\ E +9 &Y5As\ 'r +10 &Y3\ 3 +5 ( +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 10/26 samples, on/off torque 1.61 +2 .Hand.open +6 "manipulator"&R1 +3 "core" &Y$\ 3 +66 1 + "manipulator"&% +4 "core" % Ћ W +2 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +96 "core" ' + .tSC.coast +2 "storage"(6 +4 "processing"%|& +4 "core" &Y$\ 3 + #tImaging generic puck in Processing Clamp while storing it to tube 3 +2 "manipulator"&K% +5 "core" %\   +2 "storage"(r% +4 "core" %Y y 0\ +2 "storage"(L. +3 "core" . + .tSC.reconfigure :tight +4 "storage"($\ .(\ 1~b +3 .tSC.seek 3 +2 "storage"((z +5 "core" ( + .tSC.reconfigure :loose +3 "storage"($.(\ 1~b +5 (_& + "manipulator"&Y& +6 "core" &x z | "\  + & f a +4 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +4 "storage"(#].K-0-\ b +2 .tElbow.seek PC +5 "manipulator"&( +4 ."raiseStack"SE.seek :beamBreak +3 "storage"(n'j +4 "core" ( + "manipulator"&& +4 "core" & b a +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +4 &9& +3 "core" &  a + .tForearm.seek PC +3 "manipulator"&C'Њ +95 "core" ' +2 .tHand.close +2 "manipulator"&S/ +73 "core" / +2 .tPC.seek :open +4 "processing"%( +72 "core" ' +2 "storage"(.- +3 "core" -'j + ."raiseStack"SE.configure :default +4 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(u' +44 "core" ' +300 ( + "storage"(5& +4 "core" &x ~ \  +2 "manipulator"&V& +4 "core" & c e F a + "manipulator"&<% +4 "core" % Б o a &  + .tForearm.seek :retract +3 "manipulator"&'\ +97 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek 3 +2 "manipulator"&( +269 "core" ( +2 "manipulator"&a& +3 "core" &  +2 "storage"(e& +4 "core" &x d\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 3 + 700 counts +2 "manipulator"&{' +90 "core" ' +2 .tHand.open +2 "manipulator"&=1 +75 "core" 1 +2 "storage"(Q- +3 "core" -' +2 .tSE.seek -0.22 Pucks below Top Plate +3 "storage"(]' +27 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +5 .tSE.seek -0.83 Pucks below Top Plate +3 "storage"(8' +55 "core" ' + #tLights, camera, ACTION! +3 "storage"(N- +4 "core" -' +2 "storage"(d& +3 "core" &x 2\  +2 "manipulator"&& +3 "core" &  +2 .tElbow.seek 3 +3 "manipulator"&h( +10 "core" ( +2 "manipulator"&*& +3 "core" &  +2 "storage"(q& +4 "core" &x )\  +2 .tForearm.seek 3 + 700 counts +3 "manipulator"&)' +5 "core" ' + .tSE.reconfigure :gently +4 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate +3 "storage"(@'V +63 "core" ' +2 "manipulator"&b& +4 "core" & p s + "storage"(v& +4 "core" &x n\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +3 .tForearm.seek 3 +2 "manipulator"&p'@ +36 "core" ' + .tElbow.hold +4 "manipulator"&B, +4 "core" , + .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +4 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"('@ +26 "core" ' +2 "manipulator"&w% +3 "core" %NT A q +2 "storage"(2& +4 "core" &x  \  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 314 counts +2 "manipulator"&A'z +21 "core" ' +2 "manipulator"&0& +4 "core" &"   +2 "storage"(l& +3 "core" &x b\  +2 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +3 "manipulator"&4' +22 "core" ' +3 "storage"(%% +4 "core" %E \ +2 ."downElevator"SE.seek :down +4 "storage"(>'I +99 (t% +3 "core" %4 ;\ U^ + "manipulator"&% +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +3 "manipulator"&'\ +91 "core" ' +57 ' + ."downElevator"SE.coast + "storage"(5 +4 .tSC.coast +2 "storage"(6 +4 "collection"''& +5 "core" &Yc?FW\ L +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&k% +5 "core" %\   +2 "storage"(f% +4 "core" %I \ +2 "storage"(+. +3 "core" . + .tSC.reconfigure :tight +3 "storage"($\ .(\ 1~b +4 .tSC.seek 3 +2 "storage"(~(z +5 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +4 (& +3 "core" &x \  +2 "manipulator"&7& +3 "core" &" -  +2 .tElbow.seek 3 +3 "manipulator"&;( +34 "core" ( +2 "manipulator"&X& +4 "core" & k + "storage"(y& +4 "core" &x $\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 3 + 700 counts +2 "manipulator"& ' +90 "core" ' +2 "storage"(o& +4 "core" &x F\  +2 .tSE.reconfigure :pick +4 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(F'j +284 "core" ' + "storage"( - +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +4 "manipulator"&/& +3 "core" &  s g + "storage"(& +4 "core" &x m *\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +4 .tForearm.seek 3 +2 "manipulator"&c'@ +36 "core" ' + .tElbow.hold +4 "manipulator"&", +3 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +50 "storage"(- +4 "core" -' +2 .tSE.seek 0.03 Pucks below Top Plate +3 "storage"(s' +32 "core" ' +2 "manipulator"&1% +4 "core" %TU  p + "storage"(& +4 "core" &x e\  + .tForearm.force -20 + "manipulator"&5 +5 .tForearm.seek 3 + 320 counts +3 "manipulator"&H'π +20 "core" ' +2 "manipulator"&}& +4 "core" && v | . . +2 "storage"(I& +4 "core" &x )\  +2 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +3 "manipulator"&O' +21 "core" ' +2 .tSE.seek 1.03 Pucks below Top Plate +3 "storage"(z' +48 "core" ' +2 "manipulator"&& +4 "core" && C . +2 "manipulator"&\\% +3 "core" % s  +2 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +3 "manipulator"&D'\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&`( +161 "core" ( +2 "manipulator"&x& +3 "core" & { / +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +4 && +2 "core" &  } P / +2 .tForearm.seek CC +3 "manipulator"&^'Ϥ +92 "core" ' + .tHand.close +2 "manipulator"&#/ +67 "core" / +2 .tCC.seek :open +3 "collection"'J( +435 "core" ( +2 "storage"(,& +3 "core" &x =\  +2 "storage"(&& +4 "core" &x J\  + "manipulator"&i& +4 "core" & U ` / + "manipulator"&% +4 "core" % Ϩ ] W / +2 .tForearm.seek :retract +3 "manipulator"&m'\ +93 "core" ' +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek 3 +2 "manipulator"&j( +163 "core" ( +2 "manipulator"&& +4 "core" & . z + "storage"(& +4 "core" &x\ \ \  + .tElbow.reconfigure :limp +4 "manipulator"&$ ,(#b +3 .tForearm.seek 3 +3 "manipulator"&W'@ +111 "core" ' + .tElbow.hold +4 "manipulator"&-, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open +3 "manipulator"&G1 +77 "core" 1 +2 "manipulator"&M% +4 "core" % DV : r +2 "storage"($& +3 "core" &x 3 = @\  +2 .tForearm.force -20 "manipulator"&5 +5 .tForearm.seek 3 + 304 counts +2 "manipulator"&['p +25 "core" ' +2 "manipulator"&E& +4 "core" & v Z + "storage"((& +4 "core" &x\  7\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 3 + 700 counts +2 "manipulator"&T' +20 "core" ' +2 "storage"( % +4 "core" %\ \  \ +2 ."downElevator"SE.seek :down +5 "storage"('I +99 (% +3 "core" %6 o\ TZ + "manipulator"&\ % +4 "core" % C  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +2 "manipulator"&U'\ +92 "core" ' +47 ' + ."downElevator"SE.coast +2 "storage"(5 +3 .tSC.coast +2 "storage"(6 +4 #tShuffling pucks in tube 4 of [1..7] +2 #Loading generic puck from tube 4 into Collection Clamp +3 "collection"'Z& +6 "core" &BDy\ +2 "manipulator"&% +3 "core" %\ q  +2 "storage"(P% +4 "core" %S   {\ +2 "storage"(?. +3 "core" . + .tSC.reconfigure :tight +4 "storage"($\ .(\ 1~b +3 .tSC.seek 4 +2 "storage"(6(, +187 "core" ( + .tSC.reconfigure :loose +3 "storage"($.(\ 1~b +4 (3& +4 "core" &, \  + "manipulator"&R& +4 "core" & N Z + .tElbow.seek 4 +3 "manipulator"&( +15 "core" ( +2 "manipulator"&|& +4 "core" &  + "storage"(& +4 "core" &, >\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 4 + 700 counts +2 "manipulator"&K' +94 "core" ' +2 "storage"(r& +3 "core" &, r\  +2 .tSE.reconfigure :pick +4 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(L'j +286 "core" ' + "storage"(_- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +4 (Y& +2 "core" &, !\  +2 "manipulator"&& +4 "core" & -  + .tElbow.seek 4 +3 "manipulator"&9( +4 "core" ( +2 "manipulator"& & +3 "core" &   +2 "storage"(S& +3 "core" &, q\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&!'@ +18 "core" ' +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tHand.close + "manipulator"&./ +68 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"& & +6 "storage"('I +2 "core" &   +2 "manipulator"&% +4 "core" % 4  +2 .tForearm.seek :retract +3 "manipulator"&n'\ +94 "core" ' +2 .tElbow.seek CC +4 "manipulator"&5( +147 "core" ' + ."downElevator"SE.coast +2 "storage"(5 +12 "core" ( +2 "manipulator"&V& +4 "core" & ~ u U . + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +4 &<& +2 "core" & } } } . +2 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&C'Ϥ +104 "core" ' +2 "manipulator"&a& +4 "core" & z > . +3 "manipulator"&e% +3 "core" %ϩ v z q +2 "collection"'& +4 "core" &CDq\ +2 "collection"'=& +6 "core" &CDr\ +2 .tCC.seek :closed +2 "collection"'Q(Y +6 "core" &@Dp\ +5 &ADp\ 7 +9 &;G|@Bn\ 1 +9 &gr?Dp\ E +10 & ^?Cq\ M +9 &U@Dl\ M +9 &UACj\ M +10 &TTBBk\ M +9 &TBEn\ M +10 &R?Am\ M +9 &U@Cq\ M +9 &\\W?Df\ M +10 &!S@Di\ M +9 &"WACk\ M +9 &$T@Dl\ M +10 &&dU@Ck\ M +9 &('T@Cn\ M +10 &)T?Ci\ L +9 &+T@Bl\ M +9 &-mT?Ei\ M +10 &/.W@Bl\ M +9 &0UBCk\ M +9 &2T@Dk\ M +10 &4tVBDk\ M +9 &65UBFk\ M +10 &7WBCm\ M +9 &9UABk\ M +9 &;|TBDl\ M +10 &=>UBCk\ M +9 &?T@E`\ M +9 &@T@Cd\ M +10 &BWBDc\ M +9 &DDZ?Cj\ N +10 &FY@El\ N +9 &G`BEf\ N +9 &Ip@Dd\ P +10 &K7BDY\ U +9 &L@Fb\ Y +9 &NCFW\ Z +10 &PiBEi\ \\ +9 &R-CE^\ [\ +10 &SCF]\ ] +9 &UCEZ\ \\ +9 &WnBEM\ ] +10 &YzEEV\ 0 +9 &YCES\ Y +9 ( +2 &YuADS\ Q +2 "collection"'=& +2 #tCollection Clamp onSpring/offSpring for 8/30 samples, on/off torque 2.36 +2 .Hand.open +5 "manipulator"&N1 +68 "core" 1 +2 "manipulator"&d% +3 "core" % Ϫ # +2 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +92 "core" ' + .tSC.coast +2 "storage"(6 +4 #tLoading generic puck from tube 4 into Processing Clamp +2 "processing"%& +6 "core" &\ +2 "manipulator"&*% +3 "core" %\   2 o +2 "storage"(q% +4 "core" %Z \ + "storage"(b. +3 "core" . +2 .tSC.reconfigure :tight +3 "storage"($\ .(\ 1~b +4 .tSC.seek 4 +49 "storage"(v(, +6 "core" ( + .tSC.reconfigure :loose +3 "storage"($.(\ 1~b +4 (u& +3 "core" &, @\  + "manipulator"&]& +4 "core" & u . +2 "manipulator"&w% +3 "core" %\  y 7 o +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek 4 +2 "manipulator"&2( +157 "core" ( +2 "manipulator"&0& +4 "core" &   + "storage"(l& +4 "core" &, =\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 4 + 700 counts +3 "manipulator"&' +97 "core" ' +3 "storage"(%& +4 "core" &, \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +5 .tSE.seek :beamBreak + "storage"({'j +285 "core" ' +2 "storage"(8- +3 "core" -' + .tSE.configure :default +4 "storage"(#QK-0-\ b +3 (t& +3 "core" &, } w i\  +2 "manipulator"&& +3 "core" &   +2 .tElbow.seek 4 + "manipulator"&)( +6 "core" ( +2 "manipulator"&h& +3 "core" & S  +2 "storage"(@& +3 "core" &, \  +2 .tForearm.seek 4 + 300 counts +3 "manipulator"&p'@ +23 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tHand.close +3 "manipulator"&A/ +70 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&'& +6 "storage"(k'I +2 "core" & p t x  +2 "manipulator"&f% +4 "core" % G p g ) +2 .tForearm.seek :retract +3 "manipulator"&'\ +110 "core" ' +2 .tElbow.seek PC +4 "manipulator"&+( +138 "core" ' + ."downElevator"SE.coast +2 "storage"(5 +120 "core" ( +2 "manipulator"&& +3 "core" & x = W +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +4 &7& +2 "core" & | p  W +2 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&X'Њ +97 "core" ' +2 "manipulator"&y& +4 "core" & d a W +2 "manipulator"&4% +3 "core" %Є X ^ +2 "processing"%o& +3 "core" &\ +2 "processing"%>& +5 "core" &\ +2 .tPC.seek :closed +3 "processing"%(Y +5 "core" & \ +6 & \ 5 +10 &8Fv \ 1 +9 &ar}\ \ E +9 &`\ O +10 &Q\ N +9 &U\ \ O +10 &IR \ N +9 & S\ N +9 &R \ N +10 &R\ O +9 &OQ \ O +9 &!S \ O +10 &"S \ O +9 &$S \ N +10 &&XR \ O +9 &(Q \ O +9 &)T\ \ N +10 &+T\ \ O +9 &-_W\ \ O +9 &/"T \ O +10 &0W \ O +9 &2U\ O +10 &4iR\ N +9 &6*S\ O +9 &7R\ O +10 &9R\ O +9 &;pV\ O +9 &=3R\ N +10 &>R\ O +9 &@R\ O +10 &BxU\ O +9 &D:U\ O +9 &EY\ P +10 &GZ\ O +9 &I{^\ P +10 &K8n\ R +9 &L\ |V +9 &N\ }W +10 &Po\ }W +9 &R3\ }V +9 &S\ |W +10 &U\ |V +9 &Wy\ |V +9 &Xc\ * +10 &Y~m\ : +8 ( +2 &Y.\ 4 +2 "processing"%>& +2 #tProcessing Clamp onSpring/offSpring for 9/27 samples, on/off torque 1.61 +2 .Hand.open +5 "manipulator"&B1 +75 "core" 1 +2 "manipulator"&% +3 "core" % Ђ p +2 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"& '\ +98 "core" ' +2 .tSC.coast + "storage"(6 +5 "processing"%/& +5 "core" &Y.\ 4 + #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&% +5 "core" %\    +2 "storage"(% +3 "core" %E > ? h\ +2 "storage"(1. +3 "core" . + .tSC.reconfigure :tight +4 "storage"($\ .(\ 1~b +3 .tSC.seek 4 +2 "storage"((, +4 "core" ( + .tSC.reconfigure :loose +3 "storage"($.(\ 1~b +4 (}& +3 "core" &, ; 2\  +2 "manipulator"&I& +3 ."raiseStack"SE.reconfigure :place +6 "storage"(#].K-0-\ b +3 "core" & J W +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +4 .tElbow.seek PC +4 "storage"('j +5 "manipulator"&\\( +3 "core" ( +2 "manipulator"& & +3 "core" & ] W +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +4 &;& +3 "core" & S W +2 .tForearm.seek PC +2 "manipulator"&F'Њ +98 "core" ' + .tHand.close +4 "manipulator"&c/ +68 "core" / +2 .tPC.seek :open +4 "processing"%H( +70 "core" ' +2 "storage"(s- +3 "core" -'j + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"(x' +43 "core" ' +303 ( + "storage"(& +4 "core" &, V \\ h\  +2 "manipulator"&O& +3 "core" & c d W +2 "manipulator"&"% +3 "core" % Ї f [ \ +2 .tForearm.seek :retract +3 "manipulator"&#'\ +96 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek 4 +2 "manipulator"&D( +280 "core" ( +2 "manipulator"&& +3 "core" &  +2 "storage"(,& +4 "core" &, B\  + .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 4 + 700 counts +2 "manipulator"&&' +101 "core" ' + .tHand.open +3 "manipulator"&i1 +66 "core" 1 +2 "storage"(- +3 "core" -' +2 .tSE.seek -0.22 Pucks below Top Plate +3 "storage"(' +25 "core" ' + .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +4 .tSE.seek -0.83 Pucks below Top Plate +3 "storage"(' +54 "core" ' + #tLights, camera, ACTION! +3 "storage"(^- +4 "core" -' +2 "storage"(`& +3 "core" &, [\  +2 "manipulator"&G& +3 "core" &  +2 .tElbow.seek 4 +3 "manipulator"&M( +4 "core" ( +2 "manipulator"&$& +3 "core" &  +2 "storage"(E& +3 "core" &, P\  +2 .tForearm.seek 4 + 700 counts +3 "manipulator"&(' +19 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +4 .tSE.seek -0.11 Pucks below Top Plate +3 "storage"( 'V +70 "core" ' +2 "manipulator"&m& +4 "core" & q o + "storage"(& +4 "core" &, y w b\  + .tElbow.reconfigure :limp +4 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek 4 +2 "manipulator"&\ ' +39 "core" ' + .tElbow.hold +3 "manipulator"&j, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +4 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(W'@ +27 "core" ' +2 "manipulator"&Z% +4 "core" %! l o jI + "storage"([& +4 "core" &, ?\  +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 4 + 310 counts +2 "manipulator"&'J +22 "core" ' +2 "manipulator"&P& +4 "core" & s | 6  +2 "storage"(?& +3 "core" &, =\  +2 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +49 "manipulator"&z' +25 "core" ' +2 "storage"(T% +4 "core" %H \ +2 ."downElevator"SE.seek :down +4 "storage"(3'I +99 (R% +3 "core" %/5 e W\ U^ + "manipulator"&|% +4 "core" %  +2 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +3 "manipulator"&'\ +103 "core" ' +47 ' + ."downElevator"SE.coast +2 "storage"(5 +4 .tSC.coast "storage"(6 +5 "collection"'& +5 "core" &YvBII\ Q +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&~% +6 "core" %\ Q +2 "storage"(r% +4 "core" %W \ +2 "storage"(-. +3 "core" . + .tSC.reconfigure :tight +4 "storage"($\ .(\ 1~b +3 .tSC.seek 4 + "storage"(U(, +5 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +4 (_& +3 "core" &, \  +2 "manipulator"&Y& +3 "core" &   +2 .tElbow.seek 4 +2 "manipulator"&( +10 "core" ( +2 "manipulator"& & +4 "core" & q  + "storage"(S& +4 "core" &, \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 4 + 700 counts +3 "manipulator"&.' +91 "core" ' +2 "storage"( & +4 "core" &, O\  +2 .tSE.reconfigure :pick +4 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"('j +276 "core" ' +2 "storage"(- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +4 "manipulator"&K& +3 "core" & s /  + "storage"(V& +4 "core" &, X\  + .tElbow.reconfigure :limp +4 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek 4 +3 "manipulator"&<' +39 "core" ' + .tElbow.hold +4 "manipulator"&L, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 "storage"(!- +3 "core" -' +2 .tSE.seek 0.02 Pucks below Top Plate +2 "storage"(a' +28 "core" ' +2 "manipulator"&9% +3 "core" %&( v u c kS +2 "storage"(e& +4 "core" &, .\  + .tForearm.force -20 + "manipulator"&5 +5 .tForearm.seek 4 + 318 counts +2 "manipulator"&'R +16 "core" ' +2 "manipulator"&& +4 "core" & >  + "storage"(n& +4 "core" &, <\  +2 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +3 "manipulator"&J' +29 "core" ' +3 .tSE.seek 1.02 Pucks below Top Plate +4 "storage"(N' +57 "core" ' +2 "manipulator"&d& +4 "core" &   + "manipulator"&% +4 "core" % #  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +2 "manipulator"&*'\ +104 "core" ' +2 .tElbow.seek CC +4 "manipulator"&=( +163 "core" ( +2 "manipulator"&q& +3 "core" & ! + +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +4 &b& +2 "core" & f p + +2 .tForearm.seek CC +3 "manipulator"&u'Ϥ +89 "core" ' + .tHand.close +3 "manipulator"&]/ +67 "core" / +2 .tCC.seek :open +3 "collection"'w( +432 "core" ( +2 "storage"(C& +3 "core" &, ?\  +2 "storage"(0& +3 "core" &, \  +2 "manipulator"&l& +4 "core" & t z + + "manipulator"&6% +4 "core" % Ϛ   4 + .tForearm.seek :retract +3 "manipulator"&%'\ +95 "core" ' +2 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +2 "manipulator"&5( +159 "core" ( +2 "manipulator"&& +4 "core" &   + "storage"(8& +4 "core" &,\ \ \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(#b +4 .tForearm.seek 4 +3 "manipulator"&t' +108 "core" ' + .tElbow.hold +4 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&h1 +75 "core" 1 +2 "manipulator"&@% +4 "core" % (k V w +2 "storage"(A& +3 "core" &, V U c\  +2 .tForearm.force -20 "manipulator"&5 +6 .tForearm.seek 4 + 320 counts + "manipulator"&''T +21 "core" ' +2 "manipulator"&f& +3 "core" & ~ \\ +2 "storage"(2& +4 "core" &, }\  +2 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +3 "manipulator"&' +21 "core" ' +2 "storage"({% +4 "core" %\ \ ( -\ +2 ."downElevator"SE.seek :down +4 "storage"(p'I +99 (% +3 "core" %6 \ U[ + "manipulator"&7% +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +2 "manipulator"&)'\ +93 "core" ' +47 ' + ."downElevator"SE.coast + "storage"(5 +4 .tSC.coast +2 "storage"(6 +4 #tShuffling pucks in tube 5 of [1..7] +2 #Loading generic puck from tube 5 into Collection Clamp +3 "collection"'y& +6 "core" &AEk\ +2 "manipulator"&4% +3 "core" %\ \ 4  +2 "storage"(o% +4 "core" %C\ \  \ +2 "storage"(k. +3 "core" . + .tSC.reconfigure :tight +4 "storage"($\ .(\ 1~b +3 .tSC.seek 5 +2 "storage"((; +187 "core" ( + .tSC.reconfigure :loose +4 "storage"($.(\ 1~b +3 (& +3 "core" &; \  + "manipulator"&B& +4 "core" &  \\ + .tElbow.seek 5 +3 "manipulator"&( +13 "core" ( +2 "manipulator"&/& +4 "core" & ) t + "storage"(>& +4 "core" &; \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 5 + 700 counts +2 "manipulator"&', +90 "core" ' +2 "storage"(& +4 "core" &; \  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +5 .tSE.seek :beamBreak + "storage"(1'j +289 "core" ' + "storage"(}- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +4 (I& +2 "core" &; \  +2 "manipulator"& & +4 "core" &  t + .tElbow.seek 5 +2 "manipulator"&;( +5 "core" ( +2 "manipulator"&X& +4 "core" & t t + "storage"(c& +4 "core" &; M\  +2 .tForearm.seek 5 + 300 counts +2 "manipulator"&v'Ϝ +26 "core" ' + .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&s/ +68 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&+& +2 "storage"( 'I +7 "core" & i t + "manipulator"&% +52 "core" % ϵ  +2 .tForearm.seek :retract +3 "manipulator"&'\ +95 "core" ' +2 .tElbow.seek CC +4 "manipulator"&( +98 "core" ' + ."downElevator"SE.coast +2 "storage"(5 +63 "core" ( +2 "manipulator"&O& +4 "core" & ] ] 3 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +4 &"& +2 "core" & Y ^  3 +2 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&F'Ϥ +95 "core" ' +2 "manipulator"&& +4 "core" & | f 3 +2 "manipulator"&,% +3 "core" %Ϙ  8 +2 "collection"'\\& +4 "core" &?Bc\ +3 "collection"'i& +4 "core" &AEj\ +2 .tCC.seek :closed +2 "collection"'(Y +6 "core" &ABk\ +8 &6?Bd\ $d +10 &VBDj\ 7 +9 &{ABj\ L +9 &U?Dl\ M +10 &iU@Cb\ M +9 &+UBDj\ M +10 &SABl\ M +9 &R@Bn\ L +9 &sR?Ci\ L +10 &4TABk\ M +9 &SBDn\ L +9 &!TBCg\ M +10 &#{TBDk\ L +9 &%;UBDj\ M +10 &&U?Cl\ M +9 &(TBBg\ L +9 &*T@Fe\ M +10 &,ERBEg\ L +9 &.UAAd\ M +9 &/TCDj\ L +10 &1UADh\ M +9 &3LU@Bh\ M +10 &5 WACe\ M +9 &6U?C]\ M +9 &8UADj\ M +10 &:SUAEb\ M +9 &<S?E[\ M +9 &=UABO\ M +10 &?U@DO\ M +9 &A\\TBCb\ M +10 &CYBCW\ M +9 &DWADY\ M +9 &FY@BN\ M +10 &H`_AEK\ N +9 &JuBEW\ Q +9 &KAB]\ U +10 &MAD^\ Z +9 &OFCDG\ Z +10 &QACE\ [ +9 &RCFP\ \\ +9 &TBEN\ \\ +10 &VEAE;\ ] +9 &XCCG\ \\ +9 &Y`HAEP\ *| +10 &YCDA\ S +5 ( +2 "collection"'i& +3 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 2.40 +2 .Hand.open +6 "manipulator"&^1 +3 "core" &YwCFI\ S +63 1 + "manipulator"&`% +4 "core" % ϙ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +2 "manipulator"&G'\ +95 "core" ' +2 .tSC.coast + "storage"(6 +5 #tLoading generic puck from tube 5 into Processing Clamp +2 "processing"%#& +5 "core" &\ +2 "manipulator"&$% +4 "core" %\ \ z p h  + "storage"(E% +4 "core" %V u v j\ +2 "storage"(m. +2 "core" . +2 .tSC.reconfigure :tight +4 "storage"($\ .(\ 1~b +3 .tSC.seek 5 +2 "storage"((; +4 "core" ( + .tSC.reconfigure :loose +3 "storage"($.(\ 1~b +4 (x& +2 "core" &; V T\  +2 "manipulator"&& +4 "core" & }  2 + "manipulator"&Z% +4 "core" %\ \ t z  +2 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek 5 +2 "manipulator"&[( +160 "core" ( +2 "manipulator"&P& +4 "core" & 8  + "storage"(?& +4 "core" &; \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 5 + 700 counts +2 "manipulator"&D', +94 "core" ' +2 "storage"(&& +4 "core" &; H\  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +5 .tSE.seek :beamBreak + "storage"('j +281 "core" ' +2 "storage"(T- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +4 ((& +3 "core" &; y y }\  + "manipulator"&R& +4 "core" &   +2 .tElbow.seek 5 +2 "manipulator"&M( +5 "core" ( + "manipulator"&|& +4 "core" & Q  +2 "storage"( & +3 "core" &; k m \  +2 .tForearm.seek 5 + 300 counts +3 "manipulator"&\ 'Ϝ +27 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tHand.close + "manipulator"&/ +70 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +2 "storage"(~'I +7 "core" & 2  + "manipulator"&r% +4 "core" % ϶  +2 .tForearm.seek :retract +2 "manipulator"&W'\ +105 "core" ' +2 .tElbow.seek PC +4 "manipulator"&-( +144 "core" ' + ."downElevator"SE.coast +2 "storage"(5 +150 "core" ( +2 "manipulator"&_& +4 "core" &.  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +4 &Y& +2 "core" &. " +2 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"& 'Њ +95 "core" ' +2 "manipulator"&S& +4 "core" &. y u D +2 "manipulator"&z% +3 "core" %В ~ } +2 "processing"% & +4 "core" &&\ +2 "processing"%3& +4 "core" &$\ +2 .tPC.seek :closed +3 "processing"%(Y +6 "core" & \ +6 &\ 0 +9 &3G| \ 1 +10 &\\q\ E +9 &`\ \ P +9 &R \ N +10 &T\ N +9 &DT\ N +10 &S\ N +9 &T\ O +9 &U\ O +10 &JS\ O +9 &! T\ O +9 &"T\ O +10 &$T\ O +9 &&SS\ O +10 &(Q\ O +9 &)T\ O +9 &+T\ O +10 &-ZT\ O +9 &/T\ O +9 &0S\ O +10 &2T\ O +9 &4cR\ O +10 &6%S\ O +9 &7R\ N +9 &9S\ O +10 &;kT\ O +9 &=-R\ O +9 &>R\ O +10 &@P\ O +9 &BtR\ N +10 &D3W\ O +9 &EY\ P +9 &G]\ P +10 &Iuc\ Q +9 &K1r\ S +9 &L\ yW +10 &N\ |W +9 &Pj\ |W +10 &R-\ }W +9 &S\ }W +9 &U\ }W +10 &Ws\ |W +9 &Xb\ + +9 &Y}s\ ; +9 ( +2 &Y*\ 5 + "processing"%3& +3 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.66 +2 .Hand.open +4 "manipulator"&j1 +72 "core" 1 +2 "manipulator"&% +3 "core" % В q  +2 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' + .tSC.coast + "storage"(6 +5 "processing"%K& +4 "core" &Y*\ 5 +2 #tImaging generic puck in Processing Clamp while storing it to tube 5 + "manipulator"&V% +5 "core" %\ \ .  +2 "storage"(!% +4 "core" %B 2 ;\ +2 "storage"(9. +3 "core" . + .tSC.reconfigure :tight +4 "storage"($\ .(\ 1~b +3 .tSC.seek 5 +2 "storage"(e(; +5 "core" ( + .tSC.reconfigure :loose +3 "storage"($.(\ 1~b +5 (& +2 "manipulator"&n& +5 "core" &; @ A ?\  + &.  +3 .tElbow.reconfigure :tight +3 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 "storage"(#].K-0-\ b +3 .tElbow.seek PC +5 "manipulator"&d( +4 ."raiseStack"SE.seek :beamBreak +2 "storage"('j +16 "core" ( +2 "manipulator"&.& +4 "core" & < + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +4 && +3 "core" & H + .tForearm.seek PC +3 "manipulator"&'Њ +103 "core" ' + .tHand.close +4 "manipulator"&\  +2 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts +2 "manipulator"&N', +22 "core" ' +3 "storage"(% +4 "core" %I L\ +3 ."downElevator"SE.seek :down +4 "storage"('I +99 (B% +3 "core" % 1 Z o \ U] + "manipulator"&/% +4 "core" %!  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +2 "manipulator"&>'\ +95 "core" ' +56 ' + ."downElevator"SE.coast + "storage"(5 +4 .tSC.coast + "storage"(6 +5 "collection"'p& +4 "core" &YwCDY\ S +2 #tStoring generic puck in Collection Clamp to tube 5 + "manipulator"&U% +5 "core" %\   +2 "storage"(% +3 "core" %K .\ +2 "storage"(. +3 "core" . +2 .tSC.reconfigure :tight +3 "storage"($\ .(\ 1~b +4 .tSC.seek 5 + "storage"()(; +6 "core" ( + .tSC.reconfigure :loose +4 "storage"($.(\ 1~b +3 (}& +2 "core" &; d\  +2 "manipulator"&I& +4 "core" &   + .tElbow.seek 5 +3 "manipulator"& ( +11 "core" ( +2 "manipulator"&X& +4 "core" & @  + "storage"(c& +63 "core" &; \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 5 + 700 counts +3 "manipulator"&s', +99 "core" ' +3 "storage"(+& +4 "core" &; '\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +5 .tSE.seek :beamBreak + "storage"('j +281 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +4 "manipulator"&& +3 "core" & h  + "storage"(1& +4 "core" &; 5\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +4 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +4 .tForearm.seek 5 +2 "manipulator"&O'p +38 "core" ' + .tElbow.hold +4 "manipulator"&", +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 "storage"(v- +3 "core" -' +2 .tSE.seek 0.03 Pucks below Top Plate +2 "storage"(' +30 "core" ' +2 "manipulator"&,% +3 "core" %}K  q +2 "storage"(;& +4 "core" &; >\  + .tForearm.force -20 + "manipulator"&5 +5 .tForearm.seek 5 + 313 counts +2 "manipulator"&\\'ϩ +21 "core" ' +2 "manipulator"& & +4 "core" &  l + "storage"(& +4 "core" &; s n\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 5 + 700 counts +2 "manipulator"&w', +29 "core" ' +3 .tSE.seek 1.03 Pucks below Top Plate +4 "storage"(^' +49 "core" ' +2 "manipulator"&`& +4 "core" &  l + "manipulator"&#% +4 "core" % : f +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +2 "manipulator"&i'\ +94 "core" ' +2 .tElbow.seek CC +4 "manipulator"&$( +166 "core" ( +2 "manipulator"&E& +3 "core" & } * . +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &m& +3 "core" & { ! . +2 .tForearm.seek CC +2 "manipulator"&x'Ϥ +97 "core" ' + .tHand.close +3 "manipulator"&/ +68 "core" / +2 .tCC.seek :open +3 "collection"'Z( +435 "core" ( + "storage"(F& +4 "core" &; &\  +2 "storage"(P& +3 "core" &; O\  +2 "manipulator"&?& +3 "core" & |  . +2 "manipulator"&% +3 "core" % Ϗ ~  X +2 .tForearm.seek :retract +3 "manipulator"&&'\ +99 "core" ' +2 .tElbow.reconfigure :tight +5 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +3 "manipulator"&( +160 "core" ( +2 "manipulator"&G& +3 "core" &  v +2 "storage"(T& +4 "core" &;\ \  i\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(#b +4 .tForearm.seek 5 +3 "manipulator"&('p +109 "core" ' + .tElbow.hold +4 "manipulator"&R, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open + "manipulator"&|1 +78 "core" 1 +2 "manipulator"& % +4 "core" % ΁} K y% +2 "storage"(& +3 "core" &; W T T\  + .tForearm.force -20 +2 "manipulator"&5 +4 .tForearm.seek 5 + 317 counts +3 "manipulator"&'ϭ +22 "core" ' +2 "manipulator"&r& +4 "core" & 4 < + "storage"([& +4 "core" &;\  n\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 5 + 700 counts +2 "manipulator"&D', +26 "core" ' +2 "storage"(% +4 "core" %\ p\ +2 ."downElevator"SE.seek :down +4 "storage"(\ 'I +99 (M% +3 "core" %3 \ U[ + "manipulator"&_% +4 "core" %4 y 4 S +41 .tForearm.reconfigure :loose +12 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +2 "manipulator"&Y'\ +91 "core" ' + ' +2 ."downElevator"SE.coast +2 "storage"(5 +4 .tSC.coast + "storage"(6 +5 #tShuffling pucks in tube 6 of [1..7] +2 #Loading generic puck from tube 6 into Collection Clamp +3 "collection"'S& +6 "core" &@Ej\ +2 "manipulator"&z% +4 "core" %\   p +2 "storage"( % +3 "core" %U\ \  \ +2 "storage"(~. +3 "core" . + .tSC.reconfigure :tight +4 "storage"($\ .(\ 1~b +3 .tSC.seek 6 + "storage"(W(K +191 "core" ( + .tSC.reconfigure :loose +4 "storage"($.(\ 1~b +4 (H& +3 "core" &K! \ \  + "manipulator"&j& +4 "core" &  < +2 .tElbow.seek 6 +2 "manipulator"&( +42 "core" ( +2 "manipulator"&K& +4 "core" & 9  + "storage"(3& +4 "core" &K! `\ \  +2 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts +2 "manipulator"&V' +99 "core" ' +2 "storage"(!& +4 "core" &K! \ \  + .tSE.reconfigure :pick +4 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(9'j +283 "core" ' +2 "storage"(- +3 "core" -' + .tSE.configure :default +4 "storage"(#QK-0-\ b +3 (n& +3 "core" &K -\ \  +2 "manipulator"&.& +3 "core" & f  +2 .tElbow.seek 6 +2 "manipulator"&( +25 "core" ( +2 "manipulator"& & +3 "core" &  w +2 "storage"(<& +4 "core" &K \ \  +2 .tForearm.seek 6 + 300 counts +3 "manipulator"&'V +20 "core" ' + .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&a/ +69 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&-& +6 "storage"('I +2 "core" & - w +2 "manipulator"&% +4 "core" % [ u : +2 .tForearm.seek :retract +3 "manipulator"&'\ +98 "core" ' +2 .tElbow.seek CC +4 "manipulator"&b( +141 "core" ' + ."downElevator"SE.coast +2 "storage"(5 +12 "core" ( +2 "manipulator"&J& +4 "core" & ~ ~ 0 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +4 &L& +3 "core" & o 0 + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek CC +3 "manipulator"&'Ϥ +91 "core" ' +2 "manipulator"&Q& +4 "core" & | u 3 0 +2 "manipulator"&C% +3 "core" %ϡ ~ } R +2 "collection"'d& +3 "core" &BB_\ +3 "collection"'l& +4 "core" &>DW\ +2 .tCC.seek :closed +3 "collection"'6(Y +6 "core" &BCQ\ +5 &AC_\ 6 +10 &<GzAF`\ 1 +9 &hrABc\ E +10 & ]@C`\ N +9 &TAEb\ M +9 &U@Cg\ M +10 &UTAEf\ M +9 &TABg\ M +9 &U?Da\ M +10 &T>Ci\ M +9 &]RBD\\\ M +10 &! RCC`\ M +9 &"T?C[\ M +9 &$TACe\ M +10 &&fU@DX\ M +9 &()TAEY\ L +9 &)TADZ\ M +10 &+TBDY\ M +9 &-nWBDY\ M +10 &/0T@BS\ M +9 &0WCDY\ M +9 &2T@CY\ M +10 &4uWBFX\ M +9 &67U@DZ\ M +9 &7WBDQ\ M +10 &9VBDX\ M +9 &;}TAE^\ M +10 &=@UBDZ\ M +9 &?TDE_\ M +9 &@UAD[\ M +10 &BU@BW\ M +9 &DFYBCb\ M +9 &FWAE\\\ N +10 &GZCDV\ N +9 &IjAFU\ O +10 &K:?Ca\ T +9 &LBE_\ Y +9 &NAFV\ [ +10 &PkAFS\ ~[ +9 &R,BCQ\ }\\ +9 &SAFT\ {] +10 &UBDX\ }\\ +9 &WpAEV\ {\\ +10 &YzDED\ / +9 &Y!AEJ\ R +9 ( + &YlCCX\ M +2 "collection"'l& +2 #tCollection Clamp onSpring/offSpring for 8/30 samples, on/off torque 2.36 +2 .Hand.open +4 "manipulator"&u1 +73 "core" 1 +2 "manipulator"&=% +4 "core" % ϡ q R +2 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&h'\ +94 "core" ' + .tSC.coast +2 "storage"(6 +4 #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"%]& +6 "core" & \ +2 "manipulator"&A% +3 "core" %\ y ~  +2 "storage"(f% +4 "core" %N x s 6\ +2 "storage"(%. +2 "core" . +2 .tSC.reconfigure :tight +3 "storage"($\ .(\ 1~b +4 .tSC.seek 6 + "storage"((K +6 "core" ( + .tSC.reconfigure :loose +3 "storage"($.(\ 1~b +4 (q& +3 "core" &K U V \  + "manipulator"&y& +4 "core" & ~ } ] 0 +2 "manipulator"&% +3 "core" %\ s o h  +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek 6 +2 "manipulator"&'( +160 "core" ( +2 "manipulator"&o& +3 "core" & p } +2 "storage"(k& +4 "core" &K M\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +7 .tForearm.seek 6 + 700 counts +5 "manipulator"&*' +111 "core" ' +2 "storage"(& +3 "core" &K \  +2 .tSE.reconfigure :pick +4 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(0'j +285 "core" ' + "storage"(8- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +4 (B& +3 "core" &K Q I \  + "manipulator"&/& +4 "core" & 9 } +2 .tElbow.seek 6 + "manipulator"&2( +6 "core" ( + "manipulator"&@& +4 "core" & A } +2 "storage"({& +3 "core" &K &\  +2 .tForearm.seek 6 + 300 counts +3 "manipulator"&7'V +24 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tHand.close +2 "manipulator"&4/ +70 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&p& +6 "storage"(U'I +2 "core" & r  } +2 "manipulator"&% +4 "core" % L { d  +2 .tForearm.seek :retract +3 "manipulator"&t'\ +97 "core" ' +2 .tElbow.seek PC +4 "manipulator"&( +154 "core" ' + ."downElevator"SE.coast +2 "storage"(5 +105 "core" ( +2 "manipulator"&}& +3 "core" & y  S +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +4 &I& +2 "core" & S +2 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&X'Њ +98 "core" ' +2 "manipulator"&N& +4 "core" & c n  S + "manipulator"&c% +4 "core" %Ї X [ +2 "processing"%+& +3 "core" &\ +3 "processing"%& +4 "core" &\ +2 .tPC.seek :closed +2 "processing"%e(Y +6 "core" &\ +8 & $\ #b +9 &W}\ {8 +10 &y\ }M +9 &Q\ O +9 &VU\ O +10 &R\ O +9 &U\ O +9 &U\ O +10 &_R\ O +9 &V\ O +10 &T\ O +9 &!T\ O +9 &#fR\ O +10 &%)T\ O +9 &&T\ O +9 &(U\ O +10 &*oR\ O +9 &,1Q\ O +10 &-R\ O +9 &/S\ O +9 &1vS\ O +10 &38R\ O +9 &4R\ O +9 &6R\ O +10 &8R\ O +9 &:AR\ O +10 &<S\ O +9 &=T\ O +9 &?R\ O +10 &AIT\ O +9 &C X\ O +9 &DY\ P +10 &F]\ P +9 &HJa\ Q +10 &Jr\ S +9 &K\ xW +9 &M~\ xW +10 &O?\ zX +9 &Q\ yW +9 &R\ zV +10 &T\ yW +9 &VJ\ zV +10 &X \ {H +9 &Y1C\ %n +9 &Y;\ 6 +5 ( +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 10/26 samples, on/off torque 1.67 +2 .Hand.open +6 "manipulator"&51 +3 "core" &Y*\ 6 +72 1 + "manipulator"&>% +4 "core" %  - +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +49 "manipulator"&'\ +100 "core" ' + .tSC.coast +2 "storage"(6 +4 "processing"%& +4 "core" &Y*\ 6 + #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&1% +5 "core" %\    +2 "storage"(v% +3 "core" %Y 3 2\ +2 "storage"(,. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +4 .tSC.seek 6 +2 "storage"(;(K +5 "core" ( + .tSC.reconfigure :loose +3 "storage"($.(\ 1~b +4 ( & +2 "manipulator"&& +6 "core" &K +  4\  + &  S +4 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +4 "manipulator"&$&.,(\ #b +4 "storage"(#].K-0-\ b +3 .tElbow.seek PC +4 "manipulator"&`( +5 ."raiseStack"SE.seek :beamBreak +2 "storage"(#'j +4 "core" ( +2 "manipulator"&s& +3 "core" & D S +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +4 & & +3 "core" &  S +2 .tForearm.seek PC +3 "manipulator"&'Њ +92 "core" ' + .tHand.close +4 "manipulator"&O/ +76 "core" / +2 .tPC.seek :open +4 "processing"%\\( +76 "core" ' +2 "storage"(- +3 "core" -'j + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"(E' +42 "core" ' +295 ( + "storage"(m& +4 "core" &K W ;\  +2 "manipulator"&w& +3 "core" &  { f S +2 "manipulator"&"% +4 "core" % І ~ { K + .tForearm.seek :retract +3 "manipulator"&'\ +96 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek 6 +2 "manipulator"&i( +268 "core" ( +2 "manipulator"&& +4 "core" & { t c 4 + "storage"(F& +4 "core" &K V U C\  +2 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts +3 "manipulator"&P' +91 "core" ' +2 .tHand.open +2 "manipulator"&?1 +78 "core" 1 +2 "storage"(- +3 "core" -' +2 .tSE.seek -0.22 Pucks below Top Plate +3 "storage"(G' +29 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +4 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(T' +46 "core" ' + #tLights, camera, ACTION! +3 "storage"(x- +4 "core" -' +2 "storage"($& +3 "core" &K \  +2 "manipulator"&|& +3 "core" & 2 4 +2 .tElbow.seek 6 +3 "manipulator"& ( +24 "core" ( +2 "manipulator"&& +3 "core" &   +2 "storage"(r& +4 "core" &K 2\  +2 .tForearm.seek 6 + 700 counts +2 "manipulator"&[' +5 "core" ' +2 .tSE.reconfigure :gently +4 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"('V +62 "core" ' +2 "manipulator"&&& +4 "core" &   + "storage"(M& +4 "core" &K w ?\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(#b +4 .tForearm.reconfigure :loose +5 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +3 "manipulator"&_'* +34 "core" ' + .tElbow.hold +4 "manipulator"&, +4 "core" , + .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +4 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(('@ +35 "core" ' +2 "manipulator"&S% +4 "core" %1U s r + "storage"(& +4 "core" &K A\  +2 .tForearm.force -20 + "manipulator"&5 +5 .tForearm.seek 6 + 307 counts +2 "manipulator"&z'] +24 "core" ' +2 "manipulator"& & +4 "core" & s | V a +2 "storage"(~& +3 "core" &K ] _ 6\  +2 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 6 + 700 counts +2 "manipulator"&^' +21 "core" ' +2 "storage"(D% +4 "core" %F +\ +2 ."downElevator"SE.seek :down +4 "storage"(H'I +99 (j% +3 "core" %4 1 5 \ V_ + "manipulator"&K% +5 "core" % ! + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +2 "manipulator"&\ '\ +89 "core" ' +59 ' + ."downElevator"SE.coast +2 "storage"(5 +2 .tSC.coast +3 "storage"(6 +4 "collection"'3& +4 "core" &Yl@FE\ M + #tStoring generic puck in Collection Clamp to tube 6 +2 "manipulator"&)% +5 "core" %\  % p +2 "storage"(!% +3 "core" %S \ +2 "storage"(R. +3 "core" . + .tSC.reconfigure :tight +4 "storage"($\ .(\ 1~b +3 .tSC.seek 6 +2 "storage"(Y(K +4 "core" ( +2 .tSC.reconfigure :loose +3 "storage"($.(\ 1~b +3 (& +4 "core" &K \  +2 "manipulator"&n& +3 "core" & + a +2 .tElbow.seek 6 +3 "manipulator"&.( +12 "core" ( +2 "manipulator"& & +4 "core" & M  + "storage"(<& +4 "core" &K \  +2 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 6 + 700 counts +3 "manipulator"&a' +100 "core" ' +3 "storage"(-& +4 "core" &K \  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('j +287 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +4 "manipulator"&V& +3 "core" & C  + "storage"(J& +4 "core" &K V W 2\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +4 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek 6 +2 "manipulator"&L'* +34 "core" ' + .tElbow.hold +4 "manipulator"&9, +3 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +4 "storage"(- +2 "core" -' +2 .tSE.seek 0.05 Pucks below Top Plate +3 "storage"(Q' +31 "core" ' +2 "manipulator"&C% +3 "core" %=I  q +2 "storage"(d& +3 "core" &K ~\  +2 .tForearm.force -20 + "manipulator"&5 +5 .tForearm.seek 6 + 319 counts +2 "manipulator"&'i +20 "core" ' +2 "manipulator"&& +3 "core" &  P +2 "storage"(& +4 "core" &K y y )\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 6 + 700 counts +2 "manipulator"&Z' +32 "core" ' +2 .tSE.seek 1.05 Pucks below Top Plate +3 "storage"(u' +47 "core" ' +2 "manipulator"&=& +4 "core" & ; P + "manipulator"&]% +4 "core" % v r T +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +2 "manipulator"&l'\ +95 "core" ' +2 .tElbow.seek CC +4 "manipulator"&A( +156 "core" ( +2 "manipulator"&f& +3 "core" & ~ 3 ( +2 .tElbow.reconfigure :loose +48 "manipulator"&$ &.,(#b +7 &%& +2 "core" &  } " ( +2 .tForearm.seek CC +3 "manipulator"&q'Ϥ +3 "Can"\ EE +94 "core" ' + .tHand.close +3 "manipulator"&y/ +79 "core" / +2 .tCC.seek :open +4 "collection"'( +430 "core" ( +2 "storage"(& +4 "core" &K U\  +2 "storage"(o& +3 "core" &K \  +2 "manipulator"&k& +4 "core" &  | ( + "manipulator"&W% +4 "core" % ϭ z |  +2 .tForearm.seek :retract +3 "manipulator"&b'\ +104 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek 6 +2 "manipulator"&( +155 "core" ( +2 "manipulator"&h& +4 "core" & +  + "storage"(8& +4 "core" &K\ \  0\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +4 .tForearm.seek 6 +3 "manipulator"&B'* +109 "core" ' + .tElbow.hold +4 "manipulator"&/, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&@1 +68 "core" 1 +3 "manipulator"&{% +4 "core" % =k  v +2 "storage"(4& +3 "core" &K & % 3\  + .tForearm.force -20 +2 "manipulator"&5 +4 .tForearm.seek 6 + 319 counts +2 "manipulator"&p'i +18 "core" ' +2 "manipulator"&& +4 "core" & | c k + "storage"('& +4 "core" &K\  ]\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 6 + 700 counts +2 "manipulator"&*' +58 "core" ' +2 "storage"(0% +4 "core" % \ +2 ."downElevator"SE.seek :down +4 "storage"(7'I +99 (}% +2 "core" %5 \ U\\ +2 "manipulator"&I% +4 "core" %  e +2 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&2'\ +96 "core" ' +42 ' + ."downElevator"SE.coast + "storage"(5 +4 .tSC.coast + "storage"(6 +5 #tShuffling pucks in tube 7 of [1..7] +2 #Loading generic puck from tube 7 into Collection Clamp +3 "collection"'N& +6 "core" &?Dn\ + "manipulator"&c% +4 "core" %\ s   +2 "storage"(+% +3 "core" %I J\ +2 "storage"(U. +3 "core" . + .tSC.reconfigure :tight +3 "storage"($\ .(\ 1~b +4 .tSC.seek 7 +2 "storage"(t([c +194 "core" ( + .tSC.reconfigure :loose +4 "storage"($.(\ 1~b +3 (& +3 "core" &[e w\  + "manipulator"&5& +4 "core" &  k +2 .tElbow.seek 7 +2 "manipulator"&>( +4 "core" ( +2 "manipulator"&& +3 "core" & 3 k +2 "storage"(& +4 "core" &[e \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 7 + 700 counts +2 "manipulator"&1' +106 "core" ' +2 "storage"(v& +3 "core" &[e &\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +5 .tSE.seek :beamBreak +2 "storage"(,'j +286 "core" ' + "storage"( - +4 "core" -' + .tSE.configure :default +4 "storage"(#QK-0-\ b +3 (& +3 "core" &[e *\  + "manipulator"&s& +4 "core" & ) k +2 .tElbow.seek 7 +2 "manipulator"& ( +5 "core" ( + "manipulator"&X& +4 "core" & T k + "storage"(O& +4 "core" &[e \  +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&'N +25 "core" ' + .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +75 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +6 "storage"('I +2 "core" & s s k +2 "manipulator"&e% +4 "core" % U q p   +2 .tForearm.seek :retract +2 "manipulator"&#'\ +94 "core" ' +2 .tElbow.seek CC +4 "manipulator"&m( +146 "core" ' + ."downElevator"SE.coast +2 "storage"(5 +15 "core" ( +2 "manipulator"&w& +4 "core" & { t J 2 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +4 &"& +3 "core" &  ~ T 2 + .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&'Ϥ +100 "core" ' +3 "manipulator"&& +4 "core" & ~ | 3 2 +2 "manipulator"&F% +3 "core" %Ϛ   e +2 "collection"'`& +4 "core" &?Am\ +2 "collection"'?& +5 "core" &?Ah\ +2 .tCC.seek :closed +2 "collection"'(Y +6 "core" &CEc\ +6 &@Ck\ 8 +9 &AG{@Ch\ 0 +10 &kr?D_\ E +9 &]ADa\ M +9 &V?Ac\ M +10 &U?Ch\ M +9 &XU?Bh\ M +9 &W?Bf\ M +10 &SCDk\ L +9 &UBDq\ M +10 &_W?Cl\ M +9 &!"QCCk\ M +9 &"UBCk\ M +10 &$XADk\ M +9 &&gV?Di\ M +9 &(+TBCh\ L +10 &)UBCf\ M +9 &+TACd\ L +10 &-qTBCa\ L +9 &/1TBDh\ M +9 &0T@Cf\ L +10 &2UACk\ M +9 &4xWCDl\ M +9 &6:UAE^\ M +10 &7Z?EZ\ M +9 &9U?Eb\ M +10 &;S@DZ\ M +9 &=BUACP\ M +9 &?WACW\ M +10 &@U@DL\ M +9 &BUAEK\ M +10 &DGZAC]\ N +9 &F\ \\CDU\ M +9 &G]?DO\ N +10 &Ij@DV\ P +9 &K=BCM\ T +9 &LADQ\ Y +10 &NBEF\ Z +9 &Pn@FH\ [\ +10 &R-@CF\ \\ +9 &SBDF\ ] +9 &UADO\ \\ +10 &Wp@CK\ ] +9 &YzCCC\ 0 +9 &YBDD\ \\ +9 ( +2 &YvAEC\ S +2 "collection"'?& +2 #tCollection Clamp onSpring/offSpring for 8/30 samples, on/off torque 2.34 +2 .Hand.open +5 "manipulator"&x1 +72 "core" 1 +2 "manipulator"&$% +3 "core" % Ϛ V +2 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&|'\ +104 "core" ' + .tSC.coast +2 "storage"(6 +3 #tLoading generic puck from tube 7 into Processing Clamp +2 "processing"%& +6 "core" &%\ + "manipulator"&% +4 "core" %\ +2 "storage"(r% +3 "core" %N *\  +2 "storage"(&. +2 "core" . +2 .tSC.reconfigure :tight +3 "storage"($\ .(\ 1~b +4 .tSC.seek 7 + "storage"(M([c +4 "core" ( +2 .tSC.reconfigure :loose +3 "storage"($.(\ 1~b +4 (E& +3 "core" &[e y z 8\  + "manipulator"&G& +4 "core" & ^ 2 + "manipulator"&S% +4 "core" %\ | & +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +3 "manipulator"&( +160 "core" ( +2 "manipulator"& & +3 "core" & B  +2 "storage"(~& +4 "core" &[e &\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 7 + 700 counts +3 "manipulator"&i' +98 "core" ' +2 "storage"(D& +3 "core" &[e ~\  +2 .tSE.reconfigure :pick +5 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(P'j +279 "core" ' + "storage"(T- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +4 (j& +2 "core" &[e z x ,\  +2 "manipulator"&[& +3 "core" & L  +2 .tElbow.seek 7 +3 "manipulator"&K( +4 "core" ( + "manipulator"& & +4 "core" &   +49 "storage"(& +4 "core" &[e y v c\  +2 .tForearm.seek 7 + 300 counts +2 "manipulator"&_'N +21 "core" ' + .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&z/ +69 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&3& +6 "storage"()'I +3 "core" &  +2 "manipulator"&!% +3 "core" % P k L +2 .tForearm.seek :retract +3 "manipulator"&R'\ +96 "core" ' +2 .tElbow.seek PC +4 "manipulator"&(( +157 "core" ' + ."downElevator"SE.coast +2 "storage"(5 +101 "core" ( +3 "manipulator"&& +4 "core" & | z \\ A + .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +3 &n& +3 "core" & } ~ A +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +3 "manipulator"& 'Њ +101 "core" ' +2 "manipulator"&<& +4 "core" & A +2 "manipulator"&^% +3 "core" % +2 "processing"%-& +4 "core" &(\ +2 "processing"%H& +4 "core" &#\ +3 .tPC.seek :closed +2 "processing"%;(Y +6 "core" &\ +7 & &\ #` +10 &U| \ 8 +9 &v \ L +9 &P \ O +10 &]U \ N +9 &R \ N +10 &R \ N +9 &U\ \ O +9 &eU \ N +10 &'S \ N +9 &V \ O +9 &!T\ N +10 &#lQ \ O +9 &%.U\ O +10 &&Q\ O +9 &(P\ N +9 &*tR\ O +10 &,6R\ O +9 &-S\ N +9 &/T\ O +10 &1|V\ O +9 &3>Q\ O +10 &5Q\ O +9 &6R\ N +9 &8R\ N +10 &:FS\ O +9 &<U\ O +9 &=U\ O +10 &?Q\ N +9 &ANQ\ O +10 &CQ\ O +9 &DW\ O +9 &F[\ P +10 &HR[\ P +9 &Jc\ Q +9 &Kx\ T +10 &M\ W +9 &OE\ }W +10 &Q\ W +9 &R\ V +9 &T\ W +10 &VO\ V +9 &X\ E +9 &Y9Ex\ !d +10 &YC\ : +5 ( +2 "processing"%H& +3 #tProcessing Clamp onSpring/offSpring for 10/26 samples, on/off torque 1.62 +2 .Hand.open +5 "manipulator"&1 +5 "core" &Y:\ : +68 1 + "manipulator"&\ % +4 "core" %  g ? +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' + .tSC.coast +2 "storage"(6 +4 "processing"%V& +4 "core" &Y:\ : + #tImaging generic puck in Processing Clamp while storing it to tube 7 +2 "manipulator"&J% +5 "core" %\   +2 "storage"(% +4 "core" %Y " ! \ +2 "storage"(C. +2 "core" . +2 .tSC.reconfigure :tight +4 "storage"($\ .(\ 1~b +3 .tSC.seek 7 + "storage"(d([c +39 "core" ( + .tSC.reconfigure :loose +4 "storage"($.(\ 1~b +4 (& +2 "manipulator"&& +5 "core" &[e "  n\  + &  A +4 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 "storage"(#].K-0-\ b +3 .tElbow.seek PC +5 "manipulator"&=( +5 ."raiseStack"SE.seek :beamBreak +2 "storage"(]'j +4 "core" ( + "manipulator"&a& +4 "core" &  A +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +4 &.& +3 "core" &  A +2 .tForearm.seek PC +2 "manipulator"&'Њ +96 "core" ' + .tHand.close +4 "manipulator"&L/ +67 "core" / +2 .tPC.seek :open +4 "processing"%( +77 "core" ' +2 "storage"(Q- +3 "core" -'j + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"(f' +44 "core" ' +298 ( +2 "storage"(%& +4 "core" &[e   x\  +2 "manipulator"&Z& +3 "core" & e [ 0 A +2 "manipulator"&9% +3 "core" % З ` Y  +2 .tForearm.seek :retract +3 "manipulator"&y'\ +106 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek 7 +2 "manipulator"&l( +272 "core" ( +2 "manipulator"&6& +4 "core" & D  + "storage"(& +4 "core" &[e v v e\  +2 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 700 counts +3 "manipulator"&o' +93 "core" ' +2 .tHand.open +4 "manipulator"&k1 +65 "core" 1 +2 "storage"(W- +3 "core" -' +2 .tSE.seek -0.22 Pucks below Top Plate +3 "storage"(h' +25 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +5 .tSE.seek -0.83 Pucks below Top Plate +4 "storage"(8' +54 "core" ' + #tLights, camera, ACTION! +3 "storage"(q- +5 "core" -' + "storage"(A& +4 "core" &[e \ | +2 "manipulator"&@& +3 "core" &   +2 .tElbow.seek 7 +2 "manipulator"&{( +11 "core" ( +2 "manipulator"&4& +3 "core" & .  +2 "storage"(& +4 "core" &[e \\\ } +2 .tForearm.seek 7 + 700 counts +3 "manipulator"&'' +16 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +4 .tSE.seek -0.11 Pucks below Top Plate +3 "storage"(b'V +69 "core" ' +2 "manipulator"&0& +4 "core" &   + "storage"(& +4 "core" &[e | z \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(#b +4 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek 7 +2 "manipulator"&}'" +37 "core" ' + .tElbow.hold +4 "manipulator"&I, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate +3 "storage"(B'@ +27 "core" ' +2 "manipulator"&p% +4 "core" %)P q + "storage"(N& +4 "core" &[e u s j\  + .tForearm.force -20 +2 "manipulator"&5 +5 .tForearm.seek 7 + 307 counts +2 "manipulator"&c'U +20 "core" ' +2 "manipulator"&+& +4 "core" & D ^ +2 "storage"(U& +3 "core" &[e 8 1 H\  +2 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 700 counts +3 "manipulator"&u' +32 "core" ' +2 "storage"(*% +4 "core" %H L V U\ +2 ."downElevator"SE.seek :down +5 "storage"('I +98 (5% +3 "core" %#1 !\ V` +2 "manipulator"&% +4 "core" % s v H +2 .tForearm.reconfigure :loose +2 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +3 "manipulator"&'\ +95 "core" ' +55 ' + ."downElevator"SE.coast + "storage"(5 +4 .tSC.coast +2 "storage"(6 +4 "collection"'7& +4 "core" &YuCHN\ S + #tStoring generic puck in Collection Clamp to tube 7 +2 "manipulator"&Y% +5 "core" %\  x r  +2 "storage"(v% +3 "core" %Y y w W\ +2 "storage"(/. +3 "core" . +2 .tSC.reconfigure :tight +3 "storage"($\ .(\ 1~b +4 .tSC.seek 7 + "storage"(2([c +4 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +4 ( & +3 "core" &[e V U R\  +2 "manipulator"&& +3 "core" & q r  ^ +2 .tElbow.seek 7 +50 "manipulator"&s( +37 "core" ( +2 "manipulator"&X& +4 "core" &\ v D + "storage"(O& +4 "core" &[e W W i\  +2 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 700 counts +3 "manipulator"&' +99 "core" ' +2 "storage"(& +4 "core" &[e { w i\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +3 "storage"(e'j +285 "core" ' +2 "storage"(>- +3 "core" -' + .tSE.configure :default +4 "storage"(#QK-0-\ b +3 "manipulator"&1& +3 "core" &\ O D +2 "storage"(w& +3 "core" &[e # $ #\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +5 .tForearm.seek 7 +4 "manipulator"&"'" +34 "core" ' + .tElbow.hold +4 "manipulator"&,, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 "storage"(- +3 "core" -' +2 .tSE.seek 0.03 Pucks below Top Plate +3 "storage"(' +29 "core" ' +2 "manipulator"& % +4 "core" %/P ~ S p + "storage"(F& +4 "core" &[e w f %\  + .tForearm.force -20 + "manipulator"&5 +5 .tForearm.seek 7 + 313 counts +2 "manipulator"&`'[ +21 "core" ' +2 "manipulator"&& +4 "core" &   + "storage"(#& +4 "core" &[e . ' C\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 7 + 700 counts +3 "manipulator"&' +25 "core" ' +3 .tSE.seek 1.03 Pucks below Top Plate +3 "storage"(x' +47 "core" ' +2 "manipulator"&$& +4 "core" &   +2 "manipulator"&?% +3 "core" % ! +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +3 "manipulator"&'\ +95 "core" ' +2 .tElbow.seek CC +4 "manipulator"&( +161 "core" ( +2 "manipulator"&r& +3 "core" & m d g 3 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +4 &&& +2 "core" & a X ^ 3 +2 .tForearm.seek CC +3 "manipulator"&E'Ϥ +102 "core" ' + .tHand.close +2 "manipulator"&G/ +72 "core" / +2 .tCC.seek :open +3 "collection"'S( +432 "core" ( + "storage"(& +4 "core" &[e \  +2 "storage"( & +3 "core" &[e \  +2 "manipulator"&~& +4 "core" & ~ ~ 1 + "manipulator"&t% +4 "core" % Ϙ { t +2 .tForearm.seek :retract +3 "manipulator"&D'\ +106 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek 7 +2 "manipulator"&m( +158 "core" ( +2 "manipulator"&|& +4 "core" &   + "storage"(T& +4 "core" &[e\ s\  + .tElbow.reconfigure :limp +4 "manipulator"&$ ,(#b +3 .tForearm.seek 7 +3 "manipulator"&j'" +108 "core" ' + .tElbow.hold +4 "manipulator"&[, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"& 1 +77 "core" 1 +2 "manipulator"&% +4 "core" % 3k  v +2 "storage"(z& +3 "core" &[e f\  + .tForearm.force -20 +2 "manipulator"&5 +4 .tForearm.seek 7 + 317 counts +2 "manipulator"&3'_ +22 "core" ' +2 "manipulator"&!& +4 "core" & ~ 7 \\ +2 "storage"(& +3 "core" &[e i\  +2 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 700 counts +3 "manipulator"&i' +30 "core" ' +2 "storage"(P% +3 "core" % F\ +3 ."downElevator"SE.seek :down +3 "storage"(_'I +99 (% +3 "core" %1 (\ TZ + "manipulator"&n% +4 "core" % r s  ] +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +2 "manipulator"&K'\ +93 "core" ' +47 ' + ."downElevator"SE.coast + "storage"(5 +4 .tSC.coast + "storage"(6 +5 ."shutdown"CS.coast +2 #tAsleep / Shutdown +3 "collection"'5 +4 ."shutdown"SS.coast + "sampler")5 +4 ."shutdown"CC.coast + "collection"'6 +4 ."shutdown"PC.coast + "processing"%6 +4 ."shutdown"Forearm.coast +2 "manipulator"&5 +3 ."shutdown"Elbow.coast + "manipulator"&6 +38 ."shutdown"Gate.power :core,:OFF +2 .Gate.power :raw,:OFF +3 #Shutdown +2 .tdelay 5 seconds +503 #Powering core bus +480 .Gate.power :raw,:ON +3 "sampler") +11 )< +2 "core"  +2 "collection"' +2 '^ +4 "core"  + "processing"% +3 %- +2 "core"  +5 "collection"' 9\ +2 ' 0\ +2 ' -\ +4 "processing"% 9\ +2 % 2\ + % *\ +2 % 0\ +4 "sampler")&\ +2 "collection"')% +2 "core" %?Dn\ +2 .tCS.configure :default +2 "collection"'#P d@b +4 "processing"%R% +4 "core" %\ + .tPS.configure :default +3 "processing"%#A d`xb +3 "sampler")\\% +3 "core" %vq + .tSS.configure :default +3 "sampler")#.0X% +3 "core" %Ϸ | P +2 "collection"'1& +4 "core" &@E\ +2 "collection"'w& +4 "core" &?D}\ +2 .tCC.seek :closed +3 "collection"'(Y +5 "core" &@Bx\ +7 &CADq\ &i +10 &hXCCz\ 8 +9 &w>Eu\ M +10 &T@Ew\ N +9 &DT?C{\ M +9 &SCCx\ M +10 &S?B}\ M +9 &UBE}\ M +9 &KRAE{\ N +10 &S@C}\ M +9 &P@E}\ M +10 &!T?D~\ M +9 &#TV@B{\ M +9 &%W@C{\ M +10 &&V?Ep\ M +9 &(VBCw\ M +9 &*\\U@C{\ M +10 &,R@Cp\ N +9 &-TABo\ M +10 &/Q@Ct\ M +9 &1dU@Ce\ M +9 &3&S>Eh\ M +10 &4U@Df\ M +9 &6W?C`\ M +9 &8lRCCg\ M +10 &:/S?Cg\ M +9 &;SBCi\ M +10 &=S@Fh\ M +9 &?sUBCf\ N +9 &A5T?Ck\ N +10 &BWADi\ M +9 &DX?C`\ N +9 &F{Y=Df\ N +10 &H;^@Ek\ N +9 &Iu@Eh\ Q +10 &KBEh\ V +9 &M_?Ca\ qZ +9 &OAD`\ u[\ +10 &PAE`\ x\\ +9 &RAD^\ ~\\ +9 &T_CEj\ ~] +10 &V!BFd\ ] +9 &WBGk\ \\ +10 &Y@N@Dc\ 6 +9 &Y @E\\\ Y +5 ( +2 "collection"'w& +3 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 2.40 +2 .Hand.open +4 "manipulator"& 1 +5 "core" &YBCb\ Y +63 1 + "manipulator"&F% +4 "core" % Ϸ E +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' + .tSC.coast + "storage"(6 +5 #tLoading generic puck from tube 1 into Processing Clamp +2 "processing"%#& +5 "core" &%\  +2 "manipulator"&$% +3 "core" %\    G  +2 "storage"(?% +3 "core" %C # " \ +2 "storage"(. +3 "core" . + .tSC.reconfigure :tight +4 "storage"($\ .(\ 1~b +4 .tSC.seek 1 + "storage"(s( +4 "core" ( +2 .tSC.reconfigure :loose +3 "storage"($.(\ 1~b +4 (e& +3 "core" &   \  + "manipulator"&"& +4 "core" &  y  - +3 "manipulator"&`% +3 "core" %\  ~ } Z  +2 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek 1 +3 "manipulator"&( +162 "core" ( +2 "manipulator"&r& +4 "core" & { r + "storage"(&& +4 "core" & : = \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 1 + 700 counts +2 "manipulator"&'W +100 "core" ' +2 "storage"(,& +3 "core" & > B +\  +2 .tSE.reconfigure :pick +5 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(G'j +275 "core" ' +2 "storage"(- +3 "core" -' + .tSE.configure :default +4 "storage"(#QK-0-\ b +3 (& +3 "core" & 0\  + "manipulator"&& +4 "core" &  +2 .tElbow.seek 1 +2 "manipulator"& ( +17 "core" ( +2 "manipulator"&~& +4 "core" & s _ < + "storage"(t& +4 "core" & #\  +2 .tForearm.seek 1 + 300 counts +2 "manipulator"&|' +23 "core" ' + .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&T/ +69 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&E& +5 "storage"('I +3 "core" & } H < +2 "manipulator"& % +4 "core" % ϭ < + .tForearm.seek :retract +3 "manipulator"&'\ +94 "core" ' +2 .tElbow.seek PC +4 "manipulator"&z( +136 "core" ' + ."downElevator"SE.coast +2 "storage"(5 +125 "core" ( +3 "manipulator"&!& +4 "core" &   M Q + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +4 && +2 "core" &  ~ Q +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +50 "manipulator"&D'Њ +102 "core" ' +2 "manipulator"&P& +3 "core" & c ` Q +2 "manipulator"&% +4 "core" %Џ W W +2 "processing"%m& +3 "core" & \ t +3 "processing"%n& +4 "core" &#\ v +2 .tPC.seek :closed +3 "processing"%j(Y +6 "core" & \ v +7 &G\ k'm +10 &|Z~ \ j: +9 &w \ sO +9 &Q \ {O +10 &[T \ }O +9 &T\ \ {O +10 &T\ {O +9 &U\ yO +9 &aR \ yP +10 &#U \ uP +9 &U \ uP +9 &!R\ rO +10 &#jQ\ jO +9 &%*S\ \ fP +10 &&S\ xP +9 &(R\ }O +9 &*rU\ |O +10 &,3S\ zP +9 &-U\ zO +9 &/Q\ nP +10 &1zQ\ kO +9 &3;R\ kP +10 &4O\ pO +9 &6P\ lP +9 &8O\ |O +10 &:DT\ |O +9 &<T\ |P +9 &=R\ }P +10 &?Q\ |O +9 &AMO\ }O +10 &C S\ zP +9 &DW\ rP +9 &FZ\ fQ +10 &HQY\ yP +9 &Jd\ vR +9 &Ks\ hT +10 &M\ ]X +9 &OC\ _X +10 &Q\ cX +9 &R\ sW +9 &T\ vW +10 &VN\ wW +9 &X\ wJ +9 &Y6F\ x a +10 &YG\ 7 +5 ( +2 "processing"%n& +3 #tProcessing Clamp onSpring/offSpring for 10/26 samples, on/off torque 1.60 +2 .Hand.open +6 "manipulator"&31 +3 "core" &Y1\ 7 +72 1 + "manipulator"&x% +4 "core" % Ў 7 +2 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&i'\ +98 "core" ' + .tSC.coast +2 "storage"(6 +4 "processing"%_& +4 "core" &Y1\ 7 +2 #tImaging generic puck in Processing Clamp while storing it to tube 1 + "manipulator"&2% +5 "core" %\ v  +2 "storage"(g% +4 "core" %C  \ +2 "storage"(:. +2 "core" . +2 .tSC.reconfigure :tight +3 "storage"($\ .(\ 1~b +4 .tSC.seek 1 +2 "storage"(S( +5 "core" ( + .tSC.reconfigure :loose +4 "storage"($.(\ 1~b +3 (& +2 "core" & % ! \  +2 "manipulator"&K& +3 "core" & e Q +2 "manipulator"&[% +4 "core" %\ ^  +2 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek 1 +3 "manipulator"&<( +276 "core" ( +2 "manipulator"&^& +3 "core" & A  +2 "storage"(-& +4 "core" & 2 0 \  +2 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 700 counts +3 "manipulator"&)'W +99 "core" ' +2 "storage"(R& +4 "core" & < V ;\  + .tSE.reconfigure :pick +4 "storage"(#]K-0-\ b +5 .tSE.seek :beamBreak + "storage"(\\'j +288 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +4 "manipulator"&\ & +3 "core" & &  +2 "storage"(V& +3 "core" &  s\  +2 .tElbow.reconfigure :limp +2 "manipulator"&$ ,(#b +4 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +3 .tForearm.seek 1 +2 "manipulator"&H'Λ +37 "core" ' +2 .tElbow.hold +2 "manipulator"&J, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +4 "storage"(- +3 "core" -' +2 .tSE.seek 1.02 Pucks below Top Plate +3 "storage"(C' +31 "core" ' +2 "manipulator"&% +3 "core" %Ϊ^  v +2 "storage"(& +4 "core" & l\ z + .tForearm.force -20 + "manipulator"&5 +5 .tForearm.seek 1 + 315 counts + "manipulator"&.' +26 "core" ' +2 "manipulator"&a& +4 "core" & } [  + "storage"(M& +4 "core" &   \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 1 + 700 counts +2 "manipulator"&L'W +28 "core" ' +2 .tSE.seek 2.02 Pucks below Top Plate +4 "storage"( ' +40 "core" ' +2 "manipulator"&Q& +4 "core" & |  +2 "manipulator"&;% +3 "core" %F i +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +2 "manipulator"&]'\ +93 "core" ' +2 .tElbow.seek PC +4 "manipulator"&9( +260 "core" ( +2 "manipulator"&& +4 "core" &  T + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +4 && +2 "core" & + T +2 .tForearm.seek PC +3 "manipulator"&('Њ +93 "core" ' + .tHand.close +2 "manipulator"&W/ +72 "core" / +2 .tPC.seek :open +3 "processing"%@( +429 "core" ( +2 "storage"(4& +3 "core" &  \  +2 "manipulator"&0& +3 "core" & Y d T +2 "manipulator"&% +4 "core" % v d Y + .tForearm.seek :retract +3 "manipulator"&'\ +95 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek 1 +2 "manipulator"&6( +271 "core" ( +2 "manipulator"&q& +3 "core" &  \ +2 "storage"(h& +4 "core" & P 9 R\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 1 + 700 counts +2 "manipulator"&p'W +91 "core" ' +2 .tHand.open +2 "manipulator"&N1 +77 "core" 1 +2 "storage"(+- +3 "core" -' +2 .tSE.seek 1.77 Pucks below Top Plate +3 "storage"(U' +21 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +4 .tSE.seek 1.17 Pucks below Top Plate +2 "storage"(o' +52 "core" ' + #tLights, camera, ACTION! +3 "storage"(*- +4 "core" -' +2 "storage"(5& +3 "core" & \ u +2 "manipulator"&'& +3 "core" &  \ +2 .tElbow.seek 1 +3 "manipulator"&k( +4 "core" ( +2 "manipulator"&{& +4 "core" &  \ + "storage"(A& +4 "core" & H\  +2 .tForearm.seek 1 + 700 counts +3 "manipulator"&y'W +5 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +3 .tSE.seek 1.89 Pucks below Top Plate +3 "storage"(}'0 +63 "core" ' +2 "manipulator"&c& +4 "core" & 5 \ + "storage"(7& +4 "core" & c\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek 1 +2 "manipulator"&v'Λ +39 "core" ' + .tElbow.hold +4 "manipulator"&=, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +4 "storage"(#QK-0-\ b +2 .tSE.seek 2.07 Pucks below Top Plate +3 "storage"(B' +22 "core" ' +2 "manipulator"& % +4 "core" %Ε] r +2 "storage"(& +3 "core" & \  +2 .tForearm.force -20 + "manipulator"&5 +5 .tForearm.seek 1 + 294 counts +2 "manipulator"&X' +23 "core" ' +2 "manipulator"&8& +4 "core" & { s  \ +2 "storage"(& +3 "core" & \\ S T\  +2 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 1 + 700 counts +3 "manipulator"&'W +21 "core" ' +3 "storage"(d% +4 "core" %" { z \ +2 ."downElevator"SE.seek :down +5 "storage"(b'I +99 (/% +12 "core" %V2   \ V^ + "manipulator"&% +4 "core" %U F +2 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +3 "manipulator"&Y'\ +95 "core" ' +22 ' + ."downElevator"SE.coast +2 "storage"(5 +3 .tSC.coast + "storage"(6 +5 "collection"'>& +5 "core" &YBGT\ Y + #tStoring generic puck in Collection Clamp to tube 1 +2 "manipulator"&1% +6 "core" %\   +2 "storage"(u% +3 "core" %K U T U\ +2 "storage"(O. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +4 .tSC.seek 1 +2 "storage"(( +5 "core" ( + .tSC.reconfigure :loose +3 "storage"($.(\ 1~b +3 ( & +4 "core" & W U i\  + "manipulator"&F& +4 "core" &  \ +2 .tElbow.seek 1 +3 "manipulator"&#( +4 "core" ( +2 "manipulator"&w& +4 "core" &  \ +2 "storage"($& +4 "core" & V W h\  +2 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 700 counts +3 "manipulator"&?'W +91 "core" ' +2 "storage"(& +4 "core" & < T g\  +2 .tSE.reconfigure :pick +2 "storage"(#]K-0-\ b +5 .tSE.seek :beamBreak +2 "storage"(e'j +270 "core" ' +2 "storage"("- +3 "core" -' + .tSE.configure :default +4 "storage"(#QK-0-\ b +3 "manipulator"&`& +3 "core" & 5 \ +2 "storage"(I& +3 "core" &   \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(#b +4 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek 1 +3 "manipulator"&r'Λ +37 "core" ' + .tElbow.hold +4 "manipulator"&&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 "storage"(l- +2 "core" -' +2 .tSE.seek 2.02 Pucks below Top Plate +3 "storage"(,' +30 "core" ' +2 "manipulator"&% +3 "core" %ΘR ~ q +2 "storage"(& +4 "core" & \ { + .tForearm.force -20 + "manipulator"&5 +5 .tForearm.seek 1 + 297 counts +2 "manipulator"&' +21 "core" ' +2 "manipulator"&& +4 "core" & } u  \ + "storage"(& +4 "core" & A ? =\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 1 + 700 counts +3 "manipulator"&~'W +21 "core" ' +2 .tSE.seek 3.02 Pucks below Top Plate +3 "storage"(t' +53 "core" ' +2 "manipulator"&T& +4 "core" & \ +2 "manipulator"&E% +3 "core" %@  +2 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +3 "manipulator"& '\ +92 "core" ' +2 .tElbow.seek CC +4 "manipulator"&( +157 "core" ( +2 "manipulator"&& +4 "core" & ~ w A 1 +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +4 &G& +3 "core" & | | 1 +2 .tForearm.seek CC +2 "manipulator"&|'Ϥ +101 "core" ' + .tHand.close +3 "manipulator"&!/ +69 "core" / +2 .tCC.seek :open +3 "collection"'( +435 "core" ( +2 "storage"( & +3 "core" & Q\  +2 "storage"(& +3 "core" & y\  +2 "manipulator"&P& +3 "core" &  c _  - +2 "manipulator"&% +4 "core" % Ϙ U [ + .tForearm.seek :retract +3 "manipulator"&m'\ +94 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek 1 +2 "manipulator"&( +179 "core" ( +2 "manipulator"&f& +3 "core" &\ N +2 "storage"(3& +4 "core" & `\  + .tElbow.reconfigure :limp +4 "manipulator"&$ ,(#b +3 .tForearm.seek 1 +3 "manipulator"&x'Λ +107 "core" ' + .tElbow.hold +4 "manipulator"&_, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tHand.open +2 "manipulator"&n1 +67 "core" 1 +3 "manipulator"&2% +4 "core" % έ [ x: + "storage"(g& +4 "core" &   \  + .tForearm.force -20 +2 "manipulator"&5 +4 .tForearm.seek 1 + 318 counts +2 "manipulator"&:' +25 "core" ' +2 "manipulator"&& +4 "core" &\ x  N + "storage"(K& +4 "core" & \  +2 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 1 + 700 counts +2 "manipulator"&['W +19 "core" ' +2 "storage"(D% +4 "core" % k\ +2 ."downElevator"SE.seek :down +4 "storage"(s'I +99 (^% +3 "core" %B. \ TY + "manipulator"&-% +4 "core" %Z w ] +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +3 "manipulator"&z'\ +90 "core" ' +29 ' + ."downElevator"SE.coast + "storage"(5 +4 .tSC.coast +2 "storage"(6 +4 #tShuffling pucks in tube 2 of [1..7] +2 #Loading generic puck from tube 2 into Collection Clamp +3 "collection"'R& +6 "core" &ACm\ +2 "manipulator"&i% +3 "core" %\  D p +2 "storage"(% +4 "core" %I \ + "storage"(\ . +3 "core" . +2 .tSC.reconfigure :tight +3 "storage"($\ .(\ 1~b +4 .tSC.seek 2 + "storage"(V( +192 "core" ( + .tSC.reconfigure :loose +5 "storage"($.(\ 1~b +2 (& +3 "core" &  \  +2 "manipulator"&& +3 "core" &\ v r r N +2 .tElbow.seek 2 +2 "manipulator"&( +19 "core" ( +2 "manipulator"&a& +4 "core" & = + "storage"(M& +4 "core" &  q\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 2 + 700 counts +3 "manipulator"&Q'a +91 "core" ' +2 "storage"(;& +3 "core" &  \  +2 .tSE.reconfigure :pick +5 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"()'j +293 "core" ' + "storage"(<- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +4 (\\& +3 "core" &  _ \\\  + "manipulator"&H& +4 "core" & u w 5 +2 .tElbow.seek 2 + "manipulator"&.( +18 "core" ( +2 "manipulator"&C& +4 "core" & } u v  +2 "storage"(L& +3 "core" &  w y I\  +2 .tForearm.seek 2 + 300 counts +3 "manipulator"&' +15 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tHand.close + "manipulator"&/ +79 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&J& +5 "storage"(W'I +4 "core" & 4  +2 "manipulator"&]% +3 "core" %  ^ +2 .tForearm.seek :retract +3 "manipulator"&j'\ +94 "core" ' +2 .tElbow.seek CC +50 "manipulator"&4( +101 "core" ' + ."downElevator"SE.coast +2 "storage"(5 +61 "core" ( +2 "manipulator"&0& +3 "core" & r z 0 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +4 && +2 "core" & n ~ 0 +2 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&('Ϥ +100 "core" ' +3 "manipulator"&q& +4 "core" & } r 0 +2 "manipulator"&h% +3 "core" %϶ { d +2 "collection"'9& +4 "core" &BC\ +2 "collection"'N& +5 "core" &>Cr\ +2 .tCC.seek :closed +2 "collection"'+(Y +6 "core" &?Cp\ +7 &ACm\ 4 +9 &;H}@Ap\ 1 +10 &grACl\ E +9 & ]@Bi\ N +10 &Q@Ei\ M +9 &TBDe\ M +9 &SR@Cj\ M +10 &UACg\ M +9 &RADj\ M +9 &TABf\ M +10 &\\T@Ei\ M +9 &!RAEh\ M +10 &"TACi\ M +9 &$T?Cf\ M +9 &&cTCCj\ M +10 &('P@Bn\ M +9 &)SAAj\ M +9 &+SBBj\ M +10 &-mR>Cl\ M +9 &//S?Ck\ M +10 &0SACl\ M +9 &2T@Cl\ M +9 &4rUBEk\ N +10 &65T@Dk\ M +9 &7S>Dk\ M +9 &9V@Cj\ M +10 &;{T?Bc\ M +9 &=<TADk\ N +10 &>TBCj\ M +9 &@TADd\ N +9 &BTABW\ M +10 &DDZ?C`\ N +9 &F[@Cj\ N +9 &GZ>Fi\ N +10 &IhAC]\ O +9 &K7ADW\ U +10 &L@F^\ Z +9 &N?C[\ Z +9 &PjADX\ |[ +10 &R+?EZ\ z\\ +9 &SAD_\ x] +9 &UADZ\ z\\ +10 &WmBEZ\ u] +9 &Y|AFa\ 0 +9 &YBFc\ ] +9 ( +2 &YxCD[\ T + "collection"'N& +3 #tCollection Clamp onSpring/offSpring for 8/30 samples, on/off torque 2.36 +2 .Hand.open +6 "manipulator"&*1 +71 "core" 1 +2 "manipulator"&5% +4 "core" % ϶ h + .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&''\ +103 "core" ' + .tSC.coast +2 "storage"(6 +4 #tLoading generic puck from tube 2 into Processing Clamp +2 "processing"%{& +5 "core" &\  +2 "manipulator"&% +3 "core" %\ +2 "storage"(A% +4 "core" %R \ +2 "storage"(c. +3 "core" . + .tSC.reconfigure :tight +4 "storage"($\ .(\ 1~b +3 .tSC.seek 2 +2 "storage"(7( +5 "core" ( + .tSC.reconfigure :loose +4 "storage"($.(\ 1~b +3 ( & +2 "core" & \  +2 "manipulator"& & +4 "core" & 0 + "manipulator"&% +4 "core" %\ +2 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +3 "manipulator"&U( +152 "core" ( +2 "manipulator"&8& +4 "core" & V  + "storage"(& +4 "core" &   f\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 2 + 700 counts +2 "manipulator"&6'a +92 "core" ' +2 "storage"(d& +4 "core" &   X\  + .tSE.reconfigure :pick +5 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(p'j +284 "core" ' +2 "storage"(o- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +4 (/& +3 "core" &  =\  + "manipulator"&y& +4 "core" & } r 4  +2 .tElbow.seek 2 +2 "manipulator"&( +5 "core" ( + "manipulator"&k& +4 "core" & } q ]  +2 "storage"(}& +3 "core" &  K\  +2 .tForearm.seek 2 + 300 counts +3 "manipulator"&v' +30 "core" ' + .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&>/ +77 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&1& +6 "storage"(X'I +3 "core" & K  + "manipulator"&u% +4 "core" % L +2 .tForearm.seek :retract +3 "manipulator"&O'\ +96 "core" ' +2 .tElbow.seek PC +4 "manipulator"& ( +155 "core" ' + ."downElevator"SE.coast +2 "storage"(5 +105 "core" ( +3 "manipulator"&B& +4 "core" & | y a ^ + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +4 &F& +2 "core" &  ~ L ^ +2 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&w'Њ +101 "core" ' +2 "manipulator"&$& +4 "core" & x  ^ +2 "manipulator"&% +3 "core" %З E +2 "processing"%& +3 "core" &%\ +2 "processing"%b& +5 "core" &%\ +2 .tPC.seek :closed +3 "processing"%S(Y +5 "core" & \ ~ +7 & % \ |#a +10 &Tz \ c8 +9 &~y \ iM +9 &U \ O +11 &TT\ \ O +9 &S \ O +9 &R\ O +9 &R \ O +9 &[S \ O +10 &T \ O +9 &T \ O +9 &!R\ O +10 &#bT\ O +9 &%$T\ O +10 &&S\ O +9 &(T\ O +9 &*kT\ O +10 &,-S\ O +9 &-T\ O +9 &/U\ O +10 &1qT\ P +9 &35T\ O +10 &4T\ O +9 &6S\ O +9 &8zS\ O +10 &:<S\ O +9 &;Q\ O +9 &=S\ O +10 &?R\ O +9 &AER\ O +10 &CT\ O +9 &DY\ P +9 &F[\ P +10 &HH]\ Q +9 &J e\ Q +9 &K\ yU +10 &My\ tX +9 &O<\ tW +10 &P\ rX +9 &R\ sW +9 &T\ pW +10 &VD\ lX +9 &X\ iL +9 &Y9P\ d#m +10 &Y*\ 2 + ( +2 "processing"%b& +2 #tProcessing Clamp onSpring/offSpring for 10/26 samples, on/off torque 1.63 +2 .Hand.open +5 "manipulator"&=1 +78 "core" 1 +2 "manipulator"&Y% +3 "core" % З g +2 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&"'\ +91 "core" ' + .tSC.coast +2 "storage"(6 +4 "processing"%`& +3 "core" &Y(\ z2 +2 #tImaging generic puck in Processing Clamp while storing it to tube 2 +2 "manipulator"&I% +5 "core" %\ $ +2 "storage"(l% +4 "core" %S (\ + "storage"(. +3 "core" . +2 .tSC.reconfigure :tight +3 "storage"($\ .(\ 1~b +4 .tSC.seek 2 + "storage"(( +5 "core" ( + .tSC.reconfigure :loose +3 "storage"($.(\ 1~b +4 (& +2 "manipulator"&& +5 "core" &  ^\  +2 & ) ^ +4 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 "storage"(#].K-0-\ b +3 .tElbow.seek PC +5 "manipulator"&T( +5 ."raiseStack"SE.seek :beamBreak +2 "storage"(E'j +4 "core" ( + "manipulator"&?& +4 "core" & J ^ +2 .tElbow.reconfigure :loose +2 "manipulator"&$ &.,(#b +4 &#& +3 "core" & 0 ^ +2 .tForearm.seek PC +3 "manipulator"&e'Њ +90 "core" ' + .tHand.close +4 "manipulator"&r/ +70 "core" / +2 .tPC.seek :open +4 "processing"%( +77 "core" ' +2 "storage"(,- +3 "core" -'j + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +3 "storage"(' +45 "core" ' +293 ( + "storage"(G& +4 "core" &  d\  +2 "manipulator"&~& +3 "core" & s ^ +2 "manipulator"&&% +3 "core" % Д { > 5 +2 .tForearm.seek :retract +3 "manipulator"&!'\ +95 "core" ' +2 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +3 "manipulator"& ( +274 "core" ( +2 "manipulator"&& +3 "core" & +2 "storage"( & +4 "core" &  d\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 2 + 700 counts +2 "manipulator"&'a +92 "core" ' + .tHand.open +50 "manipulator"&P1 +72 "core" 1 +3 "storage"(- +3 "core" -' +2 .tSE.seek -0.22 Pucks below Top Plate +3 "storage"(f' +27 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +4 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(3' +54 "core" ' + #tLights, camera, ACTION! +3 "storage"(|- +4 "core" -' +2 "storage"(& +3 "core" &  / \ d +2 "manipulator"&n& +4 "core" &  + .tElbow.seek 2 +3 "manipulator"&2( +5 "core" ( +2 "manipulator"&g& +4 "core" & * + "storage"(& +4 "core" &  0\ q +2 .tForearm.seek 2 + 700 counts +3 "manipulator"&K'a +4 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +4 .tSE.seek -0.11 Pucks below Top Plate +3 "storage"(D'V +64 "core" ' +2 "manipulator"&m& +4 "core" & v t $ + "storage"(^& +4 "core" &   +\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(#b +4 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek 2 +3 "manipulator"&-'Υ +37 "core" ' + .tElbow.hold +3 "manipulator"&, +5 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +4 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(x'@ +29 "core" ' +2 "manipulator"&R% +4 "core" %αk q u +2 "storage"(i& +3 "core" &  C\ t +2 .tForearm.force -20 + "manipulator"&5 +5 .tForearm.seek 2 + 312 counts +2 "manipulator"&' +24 "core" ' +2 "manipulator"&:& +4 "core" & . +2 "storage"(\ & +3 "core" &  @ @ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 2 + 700 counts +3 "manipulator"&t'a +24 "core" ' +2 "storage"([% +4 "core" %B H A t\ +2 ."downElevator"SE.seek :down +4 "storage"('I +99 (% +3 "core" % 5 \ Wb + "manipulator"&a% +4 "core" %g  h +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +2 "manipulator"&M'\ +101 "core" ' +49 ' + ."downElevator"SE.coast + "storage"(5 +4 .tSC.coast +2 "storage"(6 +4 "collection"'s& +3 "core" &YxBFC\ T +2 #tStoring generic puck in Collection Clamp to tube 2 +2 "manipulator"&% +5 "core" %\  +2 "storage"(;% +3 "core" %V R\ +2 "storage"(_. +3 "core" . + .tSC.reconfigure :tight +4 "storage"($\ .(\ 1~b +4 .tSC.seek 2 + "storage"(z( +4 "core" ( +2 .tSC.reconfigure :loose +3 "storage"($.(\ 1~b +3 (<& +3 "core" &  )\  +2 "manipulator"&\\& +4 "core" & M +2 .tElbow.seek 2 +3 "manipulator"&H( +4 "core" ( +2 "manipulator"&C& +4 "core" & V +2 "storage"(L& +3 "core" & \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 2 + 700 counts +3 "manipulator"&'a +92 "core" ' +2 "storage"(J& +4 "core" &  t\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(]'j +278 "core" ' +2 "storage"(- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +4 "manipulator"&Q& +3 "core" & t r > + "storage"()& +4 "core" & \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(#b +4 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek 2 +4 "manipulator"&'Υ +34 "core" ' + .tElbow.hold +4 "manipulator"&0, +3 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +4 "storage"(- +2 "core" -' +2 .tSE.seek 0.03 Pucks below Top Plate +3 "storage"(.' +30 "core" ' +2 "manipulator"&q% +4 "core" %ζh 7 t + "storage"(h& +4 "core" &  \ { + .tForearm.force -20 +2 "manipulator"&5 +4 .tForearm.seek 2 + 317 counts +2 "manipulator"&9' +25 "core" ' +2 "manipulator"&W& +3 "core" & z M +2 "storage"(j& +4 "core" &    \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 2 + 700 counts +2 "manipulator"&'a +25 "core" ' +2 .tSE.seek 1.03 Pucks below Top Plate +4 "storage"(*' +55 "core" ' +2 "manipulator"&5& +4 "core" &  +2 "manipulator"&{% +3 "core" %c  s +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +2 "manipulator"&N'\ +95 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +159 "core" ( +2 "manipulator"&A& +3 "core" &  N 2 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +4 &c& +2 "core" & i n l 2 +2 .tForearm.seek CC +3 "manipulator"& 'Ϥ +94 "core" ' + .tHand.close +2 "manipulator"& / +69 "core" / +2 .tCC.seek :open +3 "collection"'( +435 "core" ( + "storage"((& +4 "core" &    \  +2 "storage"(8& +3 "core" &  u\  +2 "manipulator"&& +3 "core" & ^ e ( 1 +2 "manipulator"&V% +3 "core" % ϫ e d   +2 .tForearm.seek :retract +3 "manipulator"&d'\ +101 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 2 +3 "manipulator"&4( +162 "core" ( +2 "manipulator"&'& +4 "core" & v }  + "storage"(o& +4 "core" &    <\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(#b +4 .tForearm.seek 2 +3 "manipulator"&/'Υ +109 "core" ' + .tElbow.hold +4 "manipulator"&y, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tHand.open + "manipulator"&k1 +76 "core" 1 +2 "manipulator"&}% +4 "core" % ε} x, +2 "storage"(>& +3 "core" &  S S .\  + .tForearm.force -20 + "manipulator"&5 +5 .tForearm.seek 2 + 316 counts +2 "manipulator"&1' +23 "core" ' +2 "manipulator"&u& +3 "core" & { t @  +2 "storage"(U& +4 "core" &  S T /\  +2 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 2 + 700 counts +3 "manipulator"&6'a +21 "core" ' +2 "storage"(p% +4 "core" % @\ +2 ."downElevator"SE.seek :down +4 "storage"(v'I +99 (B% +2 "core" %6 2 7\ V_ +2 "manipulator"&F% +4 "core" %L % +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' +46 ' + ."downElevator"SE.coast +41 "storage"(5 +12 .tSC.coast + "storage"(6 +5 #tShuffling pucks in tube 3 of [1..7] +2 #Loading generic puck from tube 3 into Collection Clamp +3 "collection"'$& +6 "core" &ACu\ +2 "manipulator"&% +4 "core" %\ \   +2 "storage"(% +3 "core" %M \ +2 "storage"(X. +3 "core" . + .tSC.reconfigure :tight +3 "storage"($\ .(\ 1~b +4 .tSC.seek 3 +2 "storage"(O(z +193 "core" ( + .tSC.reconfigure :loose +4 "storage"($.(\ 1~b +3 (@& +3 "core" &z ,\ + "manipulator"&=& +4 "core" & I  +2 .tElbow.seek 3 + "manipulator"&Y( +6 "core" ( + "manipulator"&`& +4 "core" &   +2 "storage"(b& +3 "core" &z \ +2 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +3 "manipulator"&I' +100 "core" ' +2 "storage"(l& +4 "core" &z -\ + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +5 .tSE.seek :beamBreak +2 "storage"('j +286 "core" ' +2 "storage"(- +3 "core" -' + .tSE.configure :default +4 "storage"(#QK-0-\ b +3 (& +3 "core" &z E\ + "manipulator"&?& +4 "core" &   + .tElbow.seek 3 +3 "manipulator"&#( +5 "core" ( + "manipulator"&w& +4 "core" &   +2 "storage"(r& +3 "core" &z %\ +2 .tForearm.seek 3 + 300 counts +3 "manipulator"&7'l +24 "core" ' +2 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&,/ +75 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"& & +6 "storage"("'I +2 "core" & g u   +2 "manipulator"&S% +4 "core" % s u r  +2 .tForearm.seek :retract +2 "manipulator"&E'\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&G( +146 "core" ' + ."downElevator"SE.coast +2 "storage"(5 +18 "core" ( +2 "manipulator"&~& +4 "core" & j [ 1 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +4 &&& +2 "core" & ` T } 1 +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek CC +2 "manipulator"&e'Ϥ +101 "core" ' +3 "manipulator"&& +4 "core" & b d & 1 +2 "manipulator"& % +3 "core" %Ϭ Y \\ +2 "collection"'T& +4 "core" &?Eo\ +2 "collection"'P& +4 "core" &?E|\ +2 .tCC.seek :closed +2 "collection"'(Y +6 "core" &?Cs\ +8 &5@Cu\ $d +10 &W{@Fn\ 7 +9 &y@Bn\ L +9 &T@Cq\ N +10 &dPACo\ M +9 &'R>Df\ M +10 &R?Da\ M +9 &NACe\ M +9 &lQACg\ M +10 &.OAB`\ M +9 &T>Bb\ M +9 &!S?Bh\ M +10 &#tT@Em\ M +9 &%5VBEg\ N +9 &&SADa\ M +10 &(O?Ek\ M +9 &*|T@Ce\ M +10 &,>RABi\ M +9 &-RACi\ N +9 &/O@Eh\ M +10 &1T@Dl\ M +9 &3EU@Ci\ N +9 &5V>Cl\ N +10 &6TADk\ N +9 &8Q?Bl\ M +10 &:NR@Bm\ M +9 &<TBFh\ N +9 &=S?Bl\ N +10 &?QABg\ M +9 &AWRBEf\ M +9 &CU@Bi\ N +10 &DY@Dh\ N +9 &FW@Eh\ N +10 &HY\\@Cd\ O +9 &JpADh\ Q +9 &KAC]\ xV +10 &M}AE_\ i[ +9 &O=BC_\ d[ +10 &PBDX\ `] +9 &RAE[\ b] +9 &T@F[\ e] +10 &V?BFe\ b] +9 &XBEe\ \\] +9 &YYIBCV\ v0 +10 &Yw@D`\ ~P +5 ( +2 "collection"'P& +3 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 2.39 +2 .Hand.open +6 "manipulator"&!1 +3 "core" &YnDFa\ P +66 1 + "manipulator"&|% +4 "core" % ϫ h ^ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' + .tSC.coast +2 "storage"(6 +4 #tLoading generic puck from tube 3 into Processing Clamp +2 "processing"%n& +6 "core" &9\ y + "manipulator"&g% +4 "core" %\  } ~ l +2 "storage"(% +3 "core" %M &\ +2 "storage"(m. +3 "core" . + .tSC.reconfigure :tight +4 "storage"($\ .(\ 1~b +3 .tSC.seek 3 +2 "storage"(^(z +5 "core" ( + .tSC.reconfigure :loose +3 "storage"($.(\ 1~b +4 (& +3 "core" &z @\  + "manipulator"&R& +4 "core" & ~ } 1 +2 "manipulator"&f% +3 "core" %\  | ~ l +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek 3 +2 "manipulator"&i( +166 "core" ( +2 "manipulator"&:& +4 "core" & z t = W + "storage"(\ & +4 "core" &z  J\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 3 + 700 counts +2 "manipulator"& ' +102 "core" ' +2 "storage"([& +3 "core" &z S\  +2 .tSE.reconfigure :pick +4 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"('j +276 "core" ' +2 "storage"(3- +3 "core" -' + .tSE.configure :default +4 "storage"(#QK-0-\ b +3 (& +3 "core" &z   \  + "manipulator"&K& +4 "core" & s q ? V +2 .tElbow.seek 3 +2 "manipulator"&a( +5 "core" ( + "manipulator"&2& +4 "core" & z r ] V +2 "storage"(D& +3 "core" &z   \  +2 .tForearm.seek 3 + 300 counts +3 "manipulator"&-'l +24 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tHand.close + "manipulator"&/ +74 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&s& +6 "storage"('I +2 "core" & ~ { A V +2 "manipulator"&;% +4 "core" % g ~  + .tForearm.seek :retract +3 "manipulator"&_'\ +92 "core" ' +2 .tElbow.seek PC +4 "manipulator"&x( +158 "core" ' + ."downElevator"SE.coast +2 "storage"(5 +125 "core" ( +2 "manipulator"&<& +4 "core" & 5  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +4 &\\& +2 "core" &   +2 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +3 "manipulator"&C'Њ +90 "core" ' +2 "manipulator"&L& +4 "core" & q x   +2 "manipulator"&t% +3 "core" %І | r O I +2 "processing"%J& +3 "core" &"\ +3 "processing"%& +4 "core" &\ +2 .tPC.seek :closed +2 "processing"%(Y +6 "core" &\ +6 &\ 1 +10 &/Gy\ p1 +9 &Wp} \ kF +10 &\\ \ tP +9 &Q\ yO +9 &}R\ \ xO +10 &@Q \ vO +9 &R \ uO +9 &Q\ uO +10 &Q\ uO +9 &FR\ vO +10 &!U\ qO +9 &"T\ qO +9 &$T \ tO +10 &&NR \ yO +9 &(O\ xO +9 &)U \ wO +10 &+S \ wP +9 &-VS \ {O +10 &/P\ \ |O +9 &0P\ {O +9 &2Q\ {O +10 &4_O \ qO +9 &6T\ hP +9 &7O\ bP +10 &9P\ jO +9 &;eQ\ iP +10 &='P\ dP +9 &>P\ gO +9 &@O\ jP +10 &BnO\ gO +9 &D-T\ fP +9 &EU\ iP +10 &GZ\ kQ +9 &Ip\\\ dQ +10 &K-o\ jS +9 &L\ WX +9 &N\ gX +10 &Pd\ kX +9 &R(\ qX +9 &S\ mW +10 &U\ lX +9 &Wo\ lW +10 &X`s\ w0 +9 &Yym\ t> +9 ( + &Y}A\ {: + "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 9/27 samples, on/off torque 1.67 +2 .Hand.open +4 "manipulator"&1 +76 "core" 1 +2 "manipulator"&M% +4 "core" % І ' I + .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +2 "manipulator"&'\ +97 "core" ' + .tSC.coast + "storage"(6 +5 "processing"%Q& +5 "core" &Y}A\ m: + #tImaging generic puck in Processing Clamp while storing it to tube 3 +49 "manipulator"&)% +8 "core" %\  % \ d +2 "storage"(% +3 "core" %M G\ +2 "storage"(q. +2 "core" . +2 .tSC.reconfigure :tight +3 "storage"($\ .(\ 1~b +4 .tSC.seek 3 +2 "storage"(h(z +4 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +5 (W& +2 "manipulator"&j& +5 "core" &z !\  + & (  +4 .tElbow.reconfigure :tight +2 ."raiseStack"SE.reconfigure :place +5 "manipulator"&$&.,(\ #b +3 "storage"(#].K-0-\ b +4 .tElbow.seek PC +4 "manipulator"&5( +4 ."raiseStack"SE.seek :beamBreak +2 "storage"({'j +23 "core" ( +2 "manipulator"&& +4 "core" & | + .tElbow.reconfigure :loose +4 "manipulator"&$ &.,(#b +3 &H& +3 "core" & | , + .tForearm.seek PC +3 "manipulator"&]'Њ +96 "core" ' + .tHand.close +4 "manipulator"&/ +66 "core" / +2 .tPC.seek :open +4 "processing"%9( +56 "core" ' +2 "storage"(.- +3 "core" -'j + ."raiseStack"SE.configure :default +4 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(A' +43 "core" ' +320 ( +2 "storage"(c& +4 "core" &z N\  +2 "manipulator"&& +3 "core" &M } | +2 "manipulator"&0% +3 "core" %  o +2 .tForearm.seek :retract +3 "manipulator"& '\ +98 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek 3 +2 "manipulator"&N( +258 "core" ( +2 "manipulator"&+& +3 "core" & ~ v ! +2 "storage"((& +4 "core" &z R\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 3 + 700 counts +2 "manipulator"&8' +100 "core" ' +2 .tHand.open +3 "manipulator"&1 +70 "core" 1 +2 "storage"(V- +3 "core" -' +2 .tSE.seek -0.22 Pucks below Top Plate +3 "storage"('' +27 "core" ' +2 .tSE.reconfigure :seal +2 "storage"(#QK-0-\ b +5 .tSE.seek -0.83 Pucks below Top Plate +3 "storage"(o' +46 "core" ' + #tLights, camera, ACTION! +3 "storage"( - +4 "core" -' +2 "storage"(& +3 "core" &z } 4\ o +2 "manipulator"&k& +3 "core" &  +2 .tElbow.seek 3 +3 "manipulator"&}( +10 "core" ( +2 "manipulator"&>& +3 "core" &  +2 "storage"(u& +4 "core" &z \ q +2 .tForearm.seek 3 + 700 counts +3 "manipulator"&U' +16 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +4 .tSE.seek -0.11 Pucks below Top Plate +3 "storage"(p'V +60 "core" ' +2 "manipulator"&d& +4 "core" & w s > + "storage"(B& +4 "core" &z \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(#b +4 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek 3 +2 "manipulator"&F'@ +40 "core" ' + .tElbow.hold +4 "manipulator"&4, +4 "core" , + .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate +3 "storage"(/'@ +25 "core" ' +2 "manipulator"&$% +4 "core" %MV r r + "storage"(1& +4 "core" &z v { T\ o +2 .tForearm.force -20 + "manipulator"&5 +4 .tForearm.seek 3 + 313 counts +3 "manipulator"&*'y +18 "core" ' +2 "manipulator"&& +4 "core" & {   +2 "storage"(& +3 "core" &z   _\  +2 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +3 "manipulator"&X' +21 "core" ' +3 "storage"(6% +4 "core" %G '  /\ +2 ."downElevator"SE.seek :down +4 "storage"(@'I +99 (=% +3 "core" %3 @\ V` + "manipulator"&`% +4 "core" % ' ~ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +2 "manipulator"&b'\ +94 "core" ' +58 ' + ."downElevator"SE.coast + "storage"(5 +4 .tSC.coast +2 "storage"(6 +4 "collection"'v& +4 "core" &YnAEC\ P +2 #tStoring generic puck in Collection Clamp to tube 3 + "manipulator"&z% +5 "core" %\ y s  +2 "storage"(l% +4 "core" %L v\ +2 "storage"(y. +3 "core" . + .tSC.reconfigure :tight +4 "storage"($\ .(\ 1~b +3 .tSC.seek 3 + "storage"((z +4 "core" ( +2 .tSC.reconfigure :loose +3 "storage"($.(\ 1~b +4 (& +3 "core" &z \  +2 "manipulator"&& +3 "core" & =  +2 .tElbow.seek 3 +2 "manipulator"&?( +5 "core" ( +2 "manipulator"&w& +3 "core" & z   +2 "storage"(r& +4 "core" &z k\  +2 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 3 + 700 counts +3 "manipulator"&,' +92 "core" ' +2 "storage"( & +4 "core" &z 2\  + .tSE.reconfigure :pick +4 "storage"(#]K-0-\ b +5 .tSE.seek :beamBreak + "storage"(S'j +286 "core" ' +2 "storage"(Y- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +4 "manipulator"&I& +3 "core" &   +2 "storage"(~& +3 "core" &z \  + .tElbow.reconfigure :limp +4 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek 3 +3 "manipulator"&&'@ +39 "core" ' + .tElbow.hold +4 "manipulator"&, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 "storage"(7- +3 "core" -' +2 .tSE.seek 0.03 Pucks below Top Plate +2 "storage"(' +30 "core" ' +2 "manipulator"&#% +3 "core" %:Q E p +2 "storage"( & +3 "core" &z x %\ q +2 .tForearm.force -20 + "manipulator"&5 +5 .tForearm.seek 3 + 294 counts + "manipulator"&T'f +20 "core" ' +2 "manipulator"&"& +4 "core" & { #  + "storage"(E& +4 "core" &z R\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 3 + 700 counts +2 "manipulator"&' +25 "core" ' +2 .tSE.seek 1.03 Pucks below Top Plate +4 "storage"(!' +53 "core" ' +2 "manipulator"&|& +4 "core" & P  +2 "manipulator"&n% +3 "core" % ! ~ +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +2 "manipulator"&P'\ +91 "core" ' +2 .tElbow.seek CC +4 "manipulator"&g( +153 "core" ( +2 "manipulator"&& +4 "core" &  # +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &m& +3 "core" & x 3 # +2 .tForearm.seek CC +2 "manipulator"&'Ϥ +95 "core" ' + .tHand.close +43 "manipulator"&R/ +83 "core" / +2 .tCC.seek :open +3 "collection"'f( +434 "core" ( +2 "storage"(e& +3 "core" &z v e f\  +2 "storage"(:& +4 "core" &z R Q 3\  + "manipulator"&\ & +4 "core" & }  # +2 "manipulator"&O% +3 "core" % Ϣ    +2 .tForearm.seek :retract +2 "manipulator"&['\ +107 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 3 +3 "manipulator"&G( +158 "core" ( +2 "manipulator"&& +4 "core" & T  + "storage"(3& +4 "core" &z T\  + .tElbow.reconfigure :limp +4 "manipulator"&$ ,(#b +3 .tForearm.seek 3 +3 "manipulator"&'@ +113 "core" ' + .tElbow.hold +4 "manipulator"&K, +4 "core" , + .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&21 +68 "core" 1 +3 "manipulator"&D% +4 "core" % Ce + t +2 "storage"(& +3 "core" &z  ,\  +2 .tForearm.force -20 "manipulator"&5 +6 .tForearm.seek 3 + 303 counts +2 "manipulator"&s'o +19 "core" ' +2 "manipulator"&;& +4 "core" & | v   + "storage"(i& +4 "core" &z c\  +2 .tForearm.reconfigure :tight +5 "manipulator"&#Q@2^d^\ b +2 .tForearm.seek 3 + 700 counts +2 "manipulator"& ' +21 "core" ' +2 "storage"(% +4 "core" % e u Q\ +2 ."downElevator"SE.seek :down +4 "storage"(-'I +99 (<% +3 "core" %3 R\ V` + "manipulator"&\\% +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +2 "manipulator"&a'\ +92 "core" ' +49 ' + ."downElevator"SE.coast + "storage"(5 +4 .tSC.coast +2 "storage"(6 +4 #tShuffling pucks in tube 4 of [1..7] +2 #Loading generic puck from tube 4 into Collection Clamp +3 "collection"'L& +6 "core" &?Cg\ +2 "manipulator"&t% +3 "core" %\ p p  +2 "storage"(J% +4 "core" %Z ` W \ + "storage"(. +3 "core" . +2 .tSC.reconfigure :tight +3 "storage"($\ .(\ 1~b +4 .tSC.seek 4 +2 "storage"(_(, +187 "core" ( + .tSC.reconfigure :loose +4 "storage"($.(\ 1~b +3 (& +3 "core" &,  \  + "manipulator"&& +4 "core" & q t  + .tElbow.seek 4 +3 "manipulator"&M( +22 "core" ( +2 "manipulator"&Q& +4 "core" & s |  + "storage"(& +4 "core" &, w x \  +2 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +3 "manipulator"&)' +94 "core" ' +2 "storage"(& +4 "core" &, [ f C\  + .tSE.reconfigure :pick +5 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(q'j +288 "core" ' + "storage"(W- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +4 (j& +3 "core" &,   \  + "manipulator"&& +4 "core" & y x < + .tElbow.seek 4 +3 "manipulator"&H( +18 "core" ( +3 "manipulator"&C& +3 "core" &\ u B +2 "storage"(^& +4 "core" &,   i\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&'@ +19 "core" ' + .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&./ +71 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&x& +6 "storage"('I +2 "core" &\ { { p A +2 "manipulator"&% +5 "core" % J y / # + .tForearm.seek :retract +3 "manipulator"&{'\ +106 "core" ' +2 .tElbow.seek CC +4 "manipulator"&c( +135 "core" ' + ."downElevator"SE.coast +2 "storage"(5 +30 "core" ( +2 "manipulator"&& +3 "core" & J ; +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &0& +3 "core" & V ; +2 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +2 "manipulator"&]'Ϥ +99 "core" ' +2 "manipulator"&+& +4 "core" & t { . ; +2 "manipulator"&(% +3 "core" %Ϙ q p  +2 "collection"'5& +4 "core" &@BZ\ +2 "collection"'& +5 "core" &BCQ\ +2 .tCC.seek :closed +2 "collection"'V(Y +6 "core" &>Be\  +9 &1{?Dk\ *z +9 &d<Eb\ ? +9 &vp@Aa\ O +10 &;RAC^\ M +9 &UBCi\ M +10 &TBCc\ M +9 &S@Be\ N +9 &CQAC_\ M +10 &R@Bk\ N +9 &R@Bf\ M +9 & T@D\\\ M +10 &"KR?B\\\ M +9 &$ Q=D_\ M +10 &%Q@Bg\ N +9 &'RABY\ M +9 &)STBCW\ M +10 &+R=C\\\ N +9 &,R?Ac\ M +9 &.U?Be\ M +10 &0[T?Cf\ M +9 &2TACR\ M +10 &3U@CV\ N +9 &5T?DX\ N +9 &7cQADJ\ M +10 &9%Q@F\\\ M +9 &:R?CM\ M +9 &<TACH\ N +10 &>kQBCI\ M +9 &@-U>CE\ M +10 &AUACA\ M +9 &CV?CE\ N +9 &Eq[@EF\ N +10 &G1\\@CG\ O +9 &He@BD\ P +9 &J@CC\ T +10 &L\\BDC\ wX +9 &NBEH\ q[ +10 &ODDL\ p[ +9 &QBCG\ h\\ +9 &SWBDD\ g\\ +10 &UCEE\ b] +9 &VAEA\ c] +9 &XBEC\ gJ +10 &Y'?DL\ |+} +9 &YBEC\ W +5 ( +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 2.45 +2 .Hand.open +4 "manipulator"& 1 +5 "core" &Y~AEC\ W +67 1 +2 "manipulator"&% +4 "core" % ϙ g +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +3 "manipulator"&k'\ +93 "core" ' + .tSC.coast +2 "storage"(6 +4 #tLoading generic puck from tube 4 into Processing Clamp +3 "processing"% & +5 "core" & \ z +2 "manipulator"&>% +3 "core" %\ x   +2 "storage"(u% +3 "core" %Z '\ +2 "storage"(d. +3 "core" . + .tSC.reconfigure :tight +4 "storage"($\ .(\ 1~b +3 .tSC.seek 4 +2 "storage"(B(, +4 "core" ( + .tSC.reconfigure :loose +3 "storage"($.(\ 1~b +3 (A& +3 "core" &, O\  +2 "manipulator"&'& +3 "core" & q o < ; +2 "manipulator"&$% +3 "core" %\ q t  +2 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek 4 +3 "manipulator"&1( +153 "core" ( +2 "manipulator"&& +4 "core" & <  + "storage"(& +4 "core" &, a\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 4 + 700 counts +2 "manipulator"&N' +95 "core" ' +2 "storage"(6& +3 "core" &, R\  +2 .tSE.reconfigure :pick +4 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak + "storage"(8'j +284 "core" ' + "storage"(o- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +4 (=& +2 "core" &, l Z \  +2 "manipulator"&`& +3 "core" & 4  +2 .tElbow.seek 4 +3 "manipulator"&U( +4 "core" ( + "manipulator"&}& +4 "core" & g   + "storage"(p& +4 "core" &, w y =\  +2 .tForearm.seek 4 + 300 counts +2 "manipulator"&F'@ +26 "core" ' + .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +51 .tHand.close +2 "manipulator"&*/ +79 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&v& +6 "storage"(z'I +2 "core" &   +2 "manipulator"&l% +4 "core" % :  +2 .tForearm.seek :retract +3 "manipulator"&/'\ +94 "core" ' +2 .tElbow.seek PC +4 "manipulator"&y( +157 "core" ' + ."downElevator"SE.coast +2 "storage"(5 +103 "core" ( +2 "manipulator"&& +4 "core" & } } ( s + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +4 && +2 "core" & { ~ ( s +2 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&w'Њ +98 "core" ' +2 "manipulator"&r& +4 "core" & f j  s +2 "manipulator"&X% +3 "core" %Д c Z  +2 "processing"% & +4 "core" & \ } +2 "processing"%@& +5 "core" &&\ { +2 .tPC.seek :closed +2 "processing"%h(Y +5 "core" &\ \ w +7 & ,\ n#b +9 &V{ \ ]8 +10 &~w\ _M +9 &Q \ hP +9 &VO \ qO +10 &Q\ \ fP +9 &P\ \ pP +9 &N \ nO +10 &^P \ sO +9 &T \ lP +10 &O\ jO +9 &!R\ iP +9 &#eT\ kP +10 &%'R\ kP +9 &&P\ hP +9 &(R\ iP +10 &*mO\ pP +9 &,/Q\ lP +10 &-R\ iP +9 &/Q\ iP +9 &1uP\ kP +10 &37O\ tP +9 &4N\ oP +9 &6P\ iP +10 &8}R\ iP +9 &:@P\ jO +10 &<Q\ pO +9 &=Q\ qP +9 &?T\ sP +10 &AHQ\ qO +9 &C P\ iP +10 &DV\ iP +9 &FW\ hQ +9 &HJ\\\ gQ +10 &J `\ fR +9 &Ks\ [U +9 &M|\ VX +10 &O?\ jX +9 &Q\ qX +9 &R\ vW +10 &T\ uW +9 &VJ\ uW +10 &X \ tH +9 &Y1B}\ z%o +9 &Y>\ 6 +5 ( +2 "processing"%@& +3 #tProcessing Clamp onSpring/offSpring for 10/26 samples, on/off torque 1.64 +2 .Hand.open +6 "manipulator"&41 +3 "core" &Y.\ 6 +63 1 + "manipulator"&b% +4 "core" % Ѝ O +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +2 "manipulator"&Y'\ +93 "core" ' + .tSC.coast +2 "storage"(6 +4 "processing"%I& +3 "core" &Y.\ 6 +2 #tImaging generic puck in Processing Clamp while storing it to tube 4 +2 "manipulator"&~% +5 "core" %\ j  +2 "storage"(7% +4 "core" %Z\ + "storage"(#. +3 "core" . +2 .tSC.reconfigure :tight +3 "storage"($\ .(\ 1~b +4 .tSC.seek 4 + "storage"( (, +5 "core" ( + .tSC.reconfigure :loose +3 "storage"($.(\ 1~b +4 ("& +2 "manipulator"&E& +4 "core" &,   ^\  +4 ."raiseStack"SE.reconfigure :place +3 "storage"(#].K-0-\ b +4 ."raiseStack"SE.seek :beamBreak +2 "storage"(|'j +4 "core" &  s +2 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 "manipulator"&n( +46 "core" ( +2 "manipulator"&,& +4 "core" & K  + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +4 &?& +2 "core" &  +2 .tForearm.seek PC +3 "manipulator"&S'Њ +96 "core" ' +2 .tHand.close +2 "manipulator"&&/ +76 "core" / +2 .tPC.seek :open +4 "processing"%T( +12 "core" ' +2 "storage"(- +3 "core" -'j + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"(' +41 "core" ' +366 ( +2 "storage"(m& +4 "core" &, R\  +2 "manipulator"&& +3 "core" & ~ J  +2 "manipulator"&% +3 "core" % В +2 .tForearm.seek :retract +3 "manipulator"&R'\ +96 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek 4 +2 "manipulator"&P( +266 "core" ( +2 "manipulator"&& +3 "core" & +2 "storage"(e& +4 "core" &,  5\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 4 + 700 counts +3 "manipulator"&:' +103 "core" ' +2 .tHand.open +3 "manipulator"&\ 1 +72 "core" 1 +2 "storage"(O- +3 "core" -' +2 .tSE.seek -0.22 Pucks below Top Plate +2 "storage"(' +28 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate +3 "storage"(3' +54 "core" ' + #tLights, camera, ACTION! +3 "storage"(- +4 "core" -' +2 "storage"(g& +3 "core" &, n l\ f +2 "manipulator"&2& +3 "core" & A +2 .tElbow.seek 4 +3 "manipulator"&D( +8 "core" ( +2 "manipulator"&& +3 "core" & `  + "storage"(;& +4 "core" &, P D\ h +2 .tForearm.seek 4 + 700 counts +3 "manipulator"&i' +17 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +4 .tSE.seek -0.11 Pucks below Top Plate +3 "storage"('V +63 "core" ' +2 "manipulator"&[& +4 "core" & r s   + "storage"(<& +4 "core" &, h\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +3 .tForearm.seek 4 +2 "manipulator"&\\' +39 "core" ' + .tElbow.hold +4 "manipulator"&G, +4 "core" , + .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +4 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate +3 "storage"('@ +29 "core" ' +2 "manipulator"&L% +4 "core" %E 2 o + "storage"(s& +4 "core" &, F\ t + .tForearm.force -20 +2 "manipulator"&5 +4 .tForearm.seek 4 + 311 counts +2 "manipulator"&t'K +21 "core" ' +2 "manipulator"&J& +4 "core" & !  +2 "storage"(& +3 "core" &,   o\  +2 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 4 + 700 counts +3 "manipulator"&!' +23 "core" ' +2 "storage"( % +4 "core" %G R K \ +2 ."downElevator"SE.seek :down +4 "storage"('I +99 (% +3 "core" %@3 L\ V` + "manipulator"&Q% +4 "core" % H +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' +55 ' + ."downElevator"SE.coast + "storage"(5 +4 .tSC.coast +2 "storage"(6 +4 "collection"'-& +4 "core" &YBF`\ W +2 #tStoring generic puck in Collection Clamp to tube 4 + "manipulator"&% +5 "core" %\ \   +2 "storage"(% +3 "core" %G A @ \ +2 "storage"(K. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +4 .tSC.seek 4 +2 "storage"(a(, +4 "core" ( +2 .tSC.reconfigure :loose +2 "storage"($.(\ 1~b +4 (W& +3 "core" &, 1 3 \  +2 "manipulator"&j& +3 "core" &   +2 .tElbow.seek 4 +2 "manipulator"&( +11 "core" ( +2 "manipulator"&C& +4 "core" &  + "storage"(^& +4 "core" &, \  \  +2 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +51 "manipulator"&.' +92 "core" ' +2 "storage"(x& +4 "core" &,  2\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +5 .tSE.seek :beamBreak + "storage"('j +287 "core" ' +2 "storage"(M- +3 "core" -' + .tSE.configure :default +4 "storage"(#QK-0-\ b +3 "manipulator"&)& +3 "core" &   +2 "storage"(q& +3 "core" &, V\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek 4 +2 "manipulator"&' +36 "core" ' + .tElbow.hold +4 "manipulator"&0, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 "storage"(- +3 "core" -' +2 .tSE.seek 0.02 Pucks below Top Plate +2 "storage"(+' +32 "core" ' +2 "manipulator"&H% +4 "core" %%T q + "storage"((& +4 "core" &, ` a *\  + .tForearm.force -20 + "manipulator"&5 +5 .tForearm.seek 4 + 317 counts +3 "manipulator"&5'Q +19 "core" ' +2 "manipulator"&& +4 "core" & | =  + "storage"({& +4 "core" &, > @ G\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 4 + 700 counts +2 "manipulator"&f' +22 "core" ' +3 .tSE.seek 1.02 Pucks below Top Plate +4 "storage"( ' +51 "core" ' +2 "manipulator"&& +4 "core" & D  +2 "manipulator"& % +3 "core" %  r +2 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +3 "manipulator"&'\ +91 "core" ' +2 .tElbow.seek CC +4 "manipulator"&>( +158 "core" ( +2 "manipulator"&u& +3 "core" & x } 0 +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +3 &d& +3 "core" & ~ } x 0 +2 .tForearm.seek CC +3 "manipulator"&A'Ϥ +91 "core" ' + .tHand.close +2 "manipulator"&'/ +72 "core" / +2 .tCC.seek :open +4 "collection"'$( +434 "core" ( +2 "storage"(]& +3 "core" &, z g B\  +2 "storage"(& +4 "core" &, U U ?\  + "manipulator"&& +4 "core" & h e V 0 + "manipulator"&_% +4 "core" % ϖ W W L +2 .tForearm.seek :retract +2 "manipulator"&6'\ +93 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek 4 +2 "manipulator"&c( +158 "core" ( +2 "manipulator"&k& +4 "core" & v  a  + "storage"(o& +4 "core" &, z x \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(#b +4 .tForearm.seek 4 +3 "manipulator"&=' +114 "core" ' + .tElbow.hold +4 "manipulator"&`, +3 "core" , +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +4 .tHand.open +2 "manipulator"&}1 +68 "core" 1 +2 "manipulator"&p% +4 "core" % _ = t +2 "storage"(*& +3 "core" &, t\  + .tForearm.force -20 +2 "manipulator"&5 +4 .tForearm.seek 4 + 312 counts +2 "manipulator"&v'L +24 "core" ' +2 "manipulator"&l& +4 "core" & z s   + "storage"(1& +4 "core" &, c Y e\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 4 + 700 counts +3 "manipulator"&N' +22 "core" ' +2 "storage"(8% +4 "core" % _\ +2 ."downElevator"SE.seek :down +4 "storage"(F'I +99 (% +3 "core" %1   X\ V_ + "manipulator"&% +4 "core" %  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +2 "manipulator"&U'\ +92 "core" ' +48 ' + ."downElevator"SE.coast + "storage"(5 +4 .tSC.coast +2 "storage"(6 +4 #tShuffling pucks in tube 5 of [1..7] +2 #Loading generic puck from tube 5 into Collection Clamp +3 "collection"'r& +6 "core" &=Cr\ +2 "manipulator"&X% +4 "core" %\  +2 "storage"( % +3 "core" %D  \ \ +2 "storage"(z. +3 "core" . + .tSC.reconfigure :tight +4 "storage"($\ .(\ 1~b +3 .tSC.seek 5 +2 "storage"(/(; +192 "core" ( + .tSC.reconfigure :loose +3 "storage"($.(\ 1~b +4 (9& +3 "core" &; \  + "manipulator"&4& +4 "core" &   +2 .tElbow.seek 5 + "manipulator"&b( +5 "core" ( + "manipulator"&I& +4 "core" &   +2 "storage"(~& +3 "core" &; Z\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 5 + 700 counts +3 "manipulator"&@', +99 "core" ' +3 "storage"(7& +4 "core" &; >\  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +5 .tSE.seek :beamBreak + "storage"(#'j +286 "core" ' +2 "storage"("- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +4 (E& +3 "core" &; u v -\  + "manipulator"&,& +4 "core" & v u Y  +2 .tElbow.seek 5 +2 "manipulator"&?( +5 "core" ( +2 "manipulator"&w& +3 "core" & n  +2 "storage"(B& +3 "core" &; .\  +2 .tForearm.seek 5 + 300 counts +3 "manipulator"&&'Ϝ +27 "core" ' + .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +72 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&y& +6 "storage"(Y'I +2 "core" & +  +2 "manipulator"&h% +4 "core" % Ϛ $ +2 .tForearm.seek :retract +2 "manipulator"&|'\ +97 "core" ' +2 .tElbow.seek CC +4 "manipulator"&m( +147 "core" ' + ."downElevator"SE.coast +2 "storage"(5 +13 "core" ( +2 "manipulator"&& +4 "core" & s { ! . + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +4 && +3 "core" & l o . + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek CC +2 "manipulator"&S'Ϥ +100 "core" ' +2 "manipulator"&& +4 "core" & ~ : . +2 "manipulator"&e% +3 "core" %Ϲ t | +2 "collection"'n& +4 "core" &AEj\ +2 "collection"'\ & +5 "core" &@Fe\ +2 .tCC.seek :closed +2 "collection"'O(Y +6 "core" &@Cg\ +8 &6@C]\ $c +9 &V~AD]\ 7 +10 &zAB`\ L +9 &U@Bf\ M +10 &gTAAg\ M +9 &(T?Bg\ M +9 &R>Bd\ M +10 &RABg\ M +9 &pP?Ca\ M +9 &2R@Be\ M +10 &SABi\ M +9 &!V@Ch\ M +10 &#wT>Db\ M +9 &%9T@Bg\ M +9 &&TABi\ M +10 &(R@B]\ M +9 &*R?Ba\ M +9 &,AQ?Ce\ M +10 &.TBDb\ M +9 &/TACh\ M +10 &1TAC\\\ M +9 &3ITACW\ M +9 &5\ VCCX\ M +10 &6U>CZ\ M +9 &8TACW\ M +9 &:QTBCN\ M +10 &<T@A_\ M +9 &=T@CU\ M +10 &?TACY\ M +9 &AYU?DX\ M +9 &CUADW\ M +10 &DZBBY\ N +9 &FZACT\ N +9 &H^]CC_\ N +10 &JsCCR\ Q +9 &K?BV\ V +10 &MBET\ {Z +56 &OAAEK\ z[ +5 &QCFS\ u[ + &R@EX\ s\\ + &TAEW\ q] +4 &VBAEH\ p] + &XAEU\ p] + &Y_ICGI\ ){ +5 &YBEY\ S +6 ( +2 "collection"'\ & +3 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 2.41 +2 .Hand.open +6 "manipulator"&1 +3 "core" &YuAEV\ S +69 1 +2 "manipulator"&g% +4 "core" % Ϲ & + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +3 "manipulator"&2'\ +94 "core" ' + .tSC.coast +2 "storage"(6 +4 #tLoading generic puck from tube 5 into Processing Clamp +3 "processing"%R& +4 "core" & \  +2 "manipulator"&% +4 "core" %\ \  |  +2 "storage"(;% +3 "core" %J  \ +2 "storage"([. +3 "core" . + .tSC.reconfigure :tight +4 "storage"($\ .(\ 1~b +3 .tSC.seek 5 +2 "storage"(<(; +4 "core" ( + .tSC.reconfigure :loose +3 "storage"($.(\ 1~b +4 (& +3 "core" &;  [\  +2 "manipulator"&& +4 "core" & | v . +2 "manipulator"&L% +3 "core" %\ \ z  +2 .tElbow.reconfigure :tight +5 "manipulator"&$&.,(\ #b +2 .tElbow.seek 5 +3 "manipulator"&s( +158 "core" ( +2 "manipulator"&J& +4 "core" & A  + "storage"(& +4 "core" &;   :\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 5 + 700 counts +3 "manipulator"&P', +97 "core" ' +2 "storage"(:& +4 "core" &;   |\  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +5 .tSE.seek :beamBreak + "storage"( 'j +287 "core" ' +2 "storage"(3- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +4 (& +3 "core" &;  r\  +2 "manipulator"&Q& +3 "core" &   +2 .tElbow.seek 5 +2 "manipulator"&i( +5 "core" ( + "manipulator"&D& +4 "core" &   +2 "storage"(& +3 "core" &; \  +2 .tForearm.seek 5 + 300 counts +3 "manipulator"&\\'Ϝ +16 "core" ' + .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tHand.close +3 "manipulator"&t/ +70 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&-& +4 "storage"('I +5 "core" & E  +2 "manipulator"&% +4 "core" % ϑ  g + .tForearm.seek :retract +3 "manipulator"&K'\ +96 "core" ' +2 .tElbow.seek PC +2 "manipulator"&( +157 "core" ' + ."downElevator"SE.coast +2 "storage"(5 +100 "core" ( +2 "manipulator"&W& +4 "core" & }  B ] +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +4 &j& +2 "core" & r  ] +2 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&C'Њ +96 "core" ' +2 "manipulator"&^& +4 "core" & m d 4 ] +2 "manipulator"&!% +3 "core" %Д e b  +3 "processing"%x& +3 "core" &&\ +2 "processing"%& +5 "core" &&\  +2 .tPC.seek :closed + "processing"% (Y +6 "core" &\ \ +8 & %\ #b +10 &V}\ i8 +9 &~x\ kM +9 &Q\ vO +10 &VQ \ pO +9 &R \ qO +9 &T\ rO +10 &T \ qO +9 &]R \ hO +10 &O \ rO +9 &Q \ kO +9 &!R\ \ rO +10 &#eU \ sO +9 &%'S \ sO +9 &&S\ \ hP +10 &(Q \ tO +9 &*mR \ kO +10 &,/U \ xO +9 &-S\ oO +9 &/S \ |O +10 &1tO \ mP +9 &37R\ vO +9 &4Q\ |O +10 &6Q\ }O +9 &8~Q\ }O +10 &:?R\ {O +9 &<T\ xO +9 &=R\ tO +10 &?O\ mO +9 &AGS\ {O +9 &C S\ }O +10 &DU\ |P +9 &FZ\ zP +10 &HL]\ zP +9 &J c\ vQ +9 &K\ gU +10 &M}\ kX +9 &O@\ nW +9 &Q\ rW +10 &R\ tV +9 &T\ tW +10 &VH\ tW +9 &X \ tH +9 &Y1C\ y%n +10 &Y4\ 6 +5 ( +2 "processing"%& +3 #tProcessing Clamp onSpring/offSpring for 10/26 samples, on/off torque 1.65 +2 .Hand.open +5 "manipulator"&G1 +4 "core" &Y*\ 6 +65 1 + "manipulator"&% +4 "core" % Д  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +2 "manipulator"&M'\ +97 "core" ' + .tSC.coast +2 "storage"(6 +4 "processing"%)& +4 "core" &Y*\ 6 + #tImaging generic puck in Processing Clamp while storing it to tube 5 +2 "manipulator"&q% +6 "core" %\   [ +2 "storage"(% +3 "core" %Q > ? %\ +2 "storage"(H. +2 "core" . +2 .tSC.reconfigure :tight +3 "storage"($\ .(\ 1~b +4 .tSC.seek 5 +2 "storage"(((; +5 "core" ( + .tSC.reconfigure :loose +4 "storage"($.(\ 1~b +3 (& +2 "manipulator"&{& +4 "core" &;   \  +4 ."raiseStack"SE.reconfigure :place +3 "storage"(#].K-0-\ b +4 "core" &  ] +2 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +3 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +4 "storage"('j +2 "manipulator"& ( +7 "core" ( +2 "manipulator"&.& +4 "core" &  ] + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +4 && +2 "core" &  ] +2 .tForearm.seek PC +2 "manipulator"&'Њ +91 "core" ' + .tHand.close +3 "manipulator"&/ +77 "core" / +2 .tPC.seek :open +4 "processing"%5( +68 "core" ' +2 "storage"(+- +3 "core" -'j + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"(u' +41 "core" ' +304 ( + "storage"(d& +4 "core" &; "  \  +2 "manipulator"&f& +3 "core" & {  ] +2 "manipulator"&0% +4 "core" % Ж { & @ + .tForearm.seek :retract +3 "manipulator"&''\ +106 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +5 .tElbow.seek 5 +3 "manipulator"&( +273 "core" ( +2 "manipulator"&V& +3 "core" &   +2 "storage"(]& +4 "core" &; A < \\\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 5 + 700 counts +3 "manipulator"&', +99 "core" ' + .tHand.open +3 "manipulator"&1 +66 "core" 1 +2 "storage"(_- +3 "core" -' +2 .tSE.seek -0.22 Pucks below Top Plate +3 "storage"(k' +26 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +4 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(o' +54 "core" ' + #tLights, camera, ACTION! +3 "storage"(A- +4 "core" -' +2 "storage"(>& +3 "core" &; a\  +2 "manipulator"&}& +4 "core" &   + .tElbow.seek 5 +3 "manipulator"&p( +4 "core" ( +2 "manipulator"&*& +4 "core" & 5  + "storage"(l& +4 "core" &; U U \  +2 .tForearm.seek 5 + 700 counts +3 "manipulator"&1', +17 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +4 .tSE.seek -0.11 Pucks below Top Plate +3 "storage"(8'V +63 "core" ' +2 "manipulator"&6& +4 "core" & s p   + "storage"(& +4 "core" &;   3\  + .tElbow.reconfigure :limp +4 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +51 "manipulator"&#Q@2^d^b +4 .tForearm.seek 5 +3 "manipulator"&'p +39 "core" ' + .tElbow.hold +4 "manipulator"&c, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +4 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate +3 "storage"(='@ +27 "core" ' +2 "manipulator"&r% +4 "core" %|b s + "storage"(v& +4 "core" &;  >\  + .tForearm.force -20 +2 "manipulator"&5 +5 .tForearm.seek 5 + 312 counts +2 "manipulator"&X'Ϩ +22 "core" ' +2 "manipulator"& & +4 "core" & } b  +2 "storage"(z& +3 "core" &;   \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 5 + 700 counts +3 "manipulator"& ', +21 "core" ' +2 "storage"(N% +4 "core" %J % \ +2 ."downElevator"SE.seek :down +4 "storage"(9'I +99 (4% +4 "core" %3\ Va + "manipulator"&I% +4 "core" %"  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +3 "manipulator"&~'\ +103 "core" ' +45 ' + ."downElevator"SE.coast + "storage"(5 +4 .tSC.coast +2 "storage"(6 +4 "collection"'F& +4 "core" &YsAEI\ S + #tStoring generic puck in Collection Clamp to tube 5 +2 "manipulator"&a% +5 "core" %\ +2 "storage"(7% +3 "core" %[  k\ +2 "storage"(`. +3 "core" . + .tSC.reconfigure :tight +3 "storage"($\ .(\ 1~b +4 .tSC.seek 5 + "storage"(U(; +5 "core" ( + .tSC.reconfigure :loose +3 "storage"($.(\ 1~b +3 ("& +3 "core" &;   \  +2 "manipulator"&E& +4 "core" &   +2 .tElbow.seek 5 +2 "manipulator"&,( +12 "core" ( +2 "manipulator"&w& +4 "core" & '  + "storage"(B& +4 "core" &;   \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 5 + 700 counts +3 "manipulator"&', +98 "core" ' +2 "storage"(y& +4 "core" &; /\  + .tSE.reconfigure :pick +4 "storage"(#]K-0-\ b +5 .tSE.seek :beamBreak + "storage"(h'j +285 "core" ' + "storage"(b- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +4 "manipulator"&@& +3 "core" &   + "storage"(& +4 "core" &;   \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(#b +4 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek 5 +3 "manipulator"&'p +39 "core" ' + .tElbow.hold +4 "manipulator"&#, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 "storage"(&- +2 "core" -' +2 .tSE.seek 0.03 Pucks below Top Plate +3 "storage"('\ +30 "core" ' +2 "manipulator"&e% +4 "core" %΂U r + "storage"(?& +4 "core" &; R\  + .tForearm.force -20 + "manipulator"&5 +5 .tForearm.seek 5 + 318 counts +2 "manipulator"&n'Ϯ +21 "core" ' +2 "manipulator"&Y& +4 "core" & ,  + "storage"(|& +4 "core" &;   }\  +2 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 5 + 700 counts +3 "manipulator"&$', +32 "core" ' +2 .tSE.seek 1.03 Pucks below Top Plate +3 "storage"(' +54 "core" ' +2 "manipulator"&g& +4 "core" & } s i  + "manipulator"&R% +4 "core" %. q n 8 ; +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +2 "manipulator"&\ '\ +92 "core" ' +2 .tElbow.seek CC +2 "manipulator"&( +168 "core" ( +2 "manipulator"&;& +3 "core" &   - +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +4 &[& +2 "core" &  z ^ - +2 .tForearm.seek CC +3 "manipulator"&'Ϥ +91 "core" ' + .tHand.close +2 "manipulator"&/ +75 "core" / +2 .tCC.seek :open +3 "collection"'L( +435 "core" ( +2 "storage"(S& +3 "core" &; / 0 ?\  +2 "storage"(J& +3 "core" &;   \  +2 "manipulator"&& +4 "core" &  u o Q - + "manipulator"&/% +4 "core" % Ϯ l } \\ B +2 .tForearm.seek :retract +2 "manipulator"&:'\ +98 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek 5 +2 "manipulator"&m( +159 "core" ( +2 "manipulator"&2& +4 "core" &  M  + "storage"(3& +4 "core" &; '\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(#b +4 .tForearm.seek 5 +3 "manipulator"&'p +109 "core" ' + .tElbow.hold +4 "manipulator"&Q, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tHand.open +2 "manipulator"&D1 +67 "core" 1 +3 "manipulator"&% +4 "core" % ΂ k x4 +2 "storage"(t& +3 "core" &; \  + .tForearm.force -20 +2 "manipulator"&5 +4 .tForearm.seek 5 + 318 counts +3 "manipulator"&-'Ϯ +21 "core" ' +2 "manipulator"&& +4 "core" & i  +2 "storage"(s& +3 "core" &; / \ \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 5 + 700 counts +2 "manipulator"&P', +25 "core" ' +2 "storage"( % +4 "core" % 5\ +2 ."downElevator"SE.seek :down +4 "storage"(\\'I +99 (W% +3 "core" %3 \ V` + "manipulator"&j% +4 "core" %(  l +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +3 "manipulator"&i'\ +104 "core" ' +37 ' + ."downElevator"SE.coast + "storage"(5 +4 .tSC.coast +2 "storage"(6 +4 #tShuffling pucks in tube 6 of [1..7] +2 #Loading generic puck from tube 6 into Collection Clamp +3 "collection"'^& +5 "core" &@An\ +2 "manipulator"&!% +4 "core" %\ +2 "storage"(x% +3 "core" %[ \ +2 "storage"(. +2 "core" . +2 .tSC.reconfigure :tight +3 "storage"($\ .(\ 1~b +4 .tSC.seek 6 +2 "storage"(K(K +187 "core" ( + .tSC.reconfigure :loose +3 "storage"($.(\ 1~b +4 (T& +3 "core" &K -\  + "manipulator"&G& +4 "core" &   +2 .tElbow.seek 6 + "manipulator"&( +12 "core" ( +2 "manipulator"&)& +4 "core" & -  + "storage"(& +4 "core" &K `\  +2 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts +3 "manipulator"&q' +99 "core" ' +2 "storage"(& +3 "core" &K b\  +2 .tSE.reconfigure :pick +5 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +48 "storage"(H'j +285 "core" ' +2 "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +4 ({& +3 "core" &K  \  +2 "manipulator"&.& +3 "core" &  +2 .tElbow.seek 6 +2 "manipulator"&( +5 "core" ( + "manipulator"&C& +4 "core" & 3  +2 "storage"(& +3 "core" &K 5\  +2 .tForearm.seek 6 + 300 counts +3 "manipulator"&<'V +22 "core" ' + .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&+/ +76 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&& +6 "storage"(M'I +3 "core" & u t K  + "manipulator"& % +4 "core" % \\ q q  2 +2 .tForearm.seek :retract +3 "manipulator"&'\ +96 "core" ' +2 .tElbow.seek CC +4 "manipulator"&d( +143 "core" ' + ."downElevator"SE.coast +2 "storage"(5 +17 "core" ( +2 "manipulator"&f& +4 "core" & { } / + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +4 &0& +3 "core" & } / +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek CC +3 "manipulator"&'Ϥ +103 "core" ' +2 "manipulator"&V& +4 "core" & / +2 "manipulator"&]% +3 "core" %ϟ ~ } a +2 "collection"' & +4 "core" &AB\ +2 "collection"'& +4 "core" &BCt\ +2 .tCC.seek :closed +2 "collection"'_(Y +6 "core" &ADf\ +8 & -@El\ $c +10 &T|?C^\ r8 +9 &v@Bf\ L +9 &Q?Ck\ M +10 &XUAD`\ N +9 &S@Cc\ M +9 &N@C^\ M +10 &TADh\ M +9 &aQCCj\ M +9 &#SACg\ M +10 &RACj\ M +9 &!OBCg\ M +10 &#iU?Dl\ M +9 &%+UAAi\ M +9 &&P@Ai\ M +10 &(R@Cm\ N +9 &*qQADi\ M +10 &,2RBCh\ N +9 &-S@Ci\ M +9 &/UBDc\ M +10 &1xSBDh\ N +9 &3:TAD_\ N +9 &4R@C`\ M +10 &6QBDg\ N +9 &8UADh\ M +9 &:CVBEb\ M +10 &<S>D^\ N +9 &=UADb\ M +10 &?U@De\ M +9 &AKU@D]\ M +9 &C WAD\\\ N +10 &DYADW\ N +9 &FWCEe\ N +10 &HP]ACY\ N +9 &J\ sBD[\ Q +9 &KBDZ\ V +10 &MsAEd\ oZ +9 &O4BEb\ p[ +9 &PCEX\ l\\ +10 &RBC@\ g\\ +9 &Tr@GH\ i] +9 &V4DDX\ j] +10 &WBD^\ l] +9 &YMHAGK\ z1 +10 &Y BGR\ ~N +5 ( +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 2.42 +2 .Hand.open +6 "manipulator"&A1 +3 "core" &YpBDH\ N +66 1 +2 "manipulator"&>% +4 "core" % ϟ d +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +2 "manipulator"&}'\ +103 "core" ' + .tSC.coast +2 "storage"(6 +4 #tLoading generic puck from tube 6 into Processing Clamp +2 "processing"%'& +6 "core" &\ + "manipulator"&*% +4 "core" %\ R +2 "storage"(l% +4 "core" %D   9\ +2 "storage"(6. +3 "core" . + .tSC.reconfigure :tight +4 "storage"($\ .(\ 1~b +3 .tSC.seek 6 +2 "storage"((K +4 "core" ( + .tSC.reconfigure :loose +4 "storage"($.(\ 1~b +3 (u& +2 "core" &K c\  +2 "manipulator"&k& +4 "core" & { E / + "manipulator"&r% +4 "core" %\ { +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek 6 +2 "Can"\ CB +2 "manipulator"&v( +156 "core" ( +2 "manipulator"&& +3 "core" & 4  +2 "storage"(& +4 "core" &K $ # d\  +2 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts +2 "manipulator"& ' +89 "core" ' +2 "storage"(z& +4 "core" &K @ W\  + .tSE.reconfigure :pick +5 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(o'j +284 "core" ' +2 "storage"(N- +3 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +4 (4& +3 "core" &K \  + "manipulator"&I& +4 "core" & E  + .tElbow.seek 6 +3 "manipulator"&1( +4 "core" ( +2 "manipulator"&p& +3 "core" & E  +2 "storage"(8& +3 "core" &K \  +2 .tForearm.seek 6 + 300 counts +3 "manipulator"&'V +28 "core" ' + .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&X/ +77 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&F& +6 "storage"(a'I +2 "core" & 2  +2 "manipulator"&7% +4 "core" % m  +2 .tForearm.seek :retract +3 "manipulator"&`'\ +96 "core" ' +2 .tElbow.seek PC +4 "manipulator"&=( +152 "core" ' + ."downElevator"SE.coast +2 "storage"(5 +106 "core" ( +3 "manipulator"&"& +3 "core" & q t M \\ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +4 &E& +2 "core" & } ~ \\ +2 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +2 "manipulator"&w'Њ +99 "core" ' +2 "manipulator"&B& +4 "core" & ^ d \\ +2 "manipulator"& % +3 "core" %Ў ] c  +2 "processing"%y& +3 "core" &#\ z +2 "processing"%9& +5 "core" &(\ { +2 .tPC.seek :closed +2 "processing"%((Y +6 "core" & \  +8 &\ %\ v$c +9 &V} \ h8 +10 &~x\ eM +9 &Q \ }O +9 &XR \ |O +10 &T\ {O +9 &Q \ zO +9 &R \ vO +10 &_Q\ \ qO +9 &U \ jP +10 &R\ pO +9 &!S \ oO +9 &#eU \ vP +10 &%)R \ xO +9 &&R \ wP +9 &(Q \ vO +10 &*nP\ wO +9 &,0Q \ xO +10 &-O\ wP +9 &/R\ xP +9 &1vR \ yO +10 &38Q \ xO +9 &4T\ vO +9 &6S\ qO +10 &8}R\ pP +9 &:@R\ rO +10 &<Q\ eO +9 &=T\ mP +9 &?Q\ rP +10 &AGT\ nP +9 &CX\ iP +9 &DZ\ jQ +10 &F_\ gQ +9 &HIa\ oR +10 &Jn\ mS +9 &K\ aW +9 &M\ hW +10 &OA\ fW +9 &Q\ eX +9 &R\ fW +10 &T\ aW +9 &VH\ bX +10 &X \ fJ +9 &Y3G\ ]"g +9 &Y}>\ t8 +5 ( +2 "processing"%9& +3 #tProcessing Clamp onSpring/offSpring for 10/26 samples, on/off torque 1.68 +2 .Hand.open +5 "manipulator"&c1 +4 "core" &Y}7\ y8 +72 1 + "manipulator"&~% +4 "core" % І < +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +2 "manipulator"&b'\ +97 "core" ' + .tSC.coast +2 "storage"(6 +4 "processing"%@& +3 "core" &Y}7\ }8 +2 #tImaging generic puck in Processing Clamp while storing it to tube 6 +2 "manipulator"&% +5 "core" %\   ] +2 "storage"(&% +4 "core" %C \ +2 "storage"(e. +2 "core" . +2 .tSC.reconfigure :tight +4 "storage"($\ .(\ 1~b +3 .tSC.seek 6 +2 "storage"(?(K +5 "core" ( + .tSC.reconfigure :loose +3 "storage"($.(\ 1~b +4 (Y& +3 "core" &K \  +2 ."raiseStack"SE.reconfigure :place +3 "manipulator"&|& +3 "storage"(#].K-0-\ b +5 "core" & 8 \\ +3 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +4 ."raiseStack"SE.seek :beamBreak +3 .tElbow.seek PC +3 "storage"(g'j +3 "manipulator"&R( +5 "core" ( +2 "manipulator"&& +3 "core" &  \\ +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +4 &,& +3 "core" & P \\ + .tForearm.seek PC +3 "manipulator"&h'Њ +91 "core" ' + .tHand.close +4 "manipulator"&/ +65 "core" / +48 .tPC.seek :open +7 "processing"%n( +28 "core" ' +2 "storage"(- +3 "core" -'j + ."raiseStack"SE.configure :default +4 "storage"(#QK-0-\ b +3 ."raiseStack"SE.seek :place +2 "storage"(;' +44 "core" ' +342 ( +2 "storage"([& +4 "core" &K 2 \  +2 "manipulator"&$& +4 "core" & | ! \\ + "manipulator"&#% +4 "core" % Д { 7 G +2 .tForearm.seek :retract +2 "manipulator"&'\ +93 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +3 "manipulator"&\ ( +277 "core" ( +2 "manipulator"&O& +4 "core" & ?  + "storage"(S& +4 "core" &K Q\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 6 + 700 counts +2 "manipulator"&J' +122 "core" ' +2 .tHand.open +2 "manipulator"&1 +78 "core" 1 +2 "storage"(/- +3 "core" -' +2 .tSE.seek -0.22 Pucks below Top Plate +3 "storage"(2' +26 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +3 .tSE.seek -0.83 Pucks below Top Plate +4 "storage"(3' +56 "core" ' + #tLights, camera, ACTION! +3 "storage"(- +4 "core" -' +2 "storage"(& +3 "core" &K \ | +2 "manipulator"&D& +3 "core" & K  +2 .tElbow.seek 6 +3 "manipulator"&( +4 "core" ( +2 "manipulator"&t& +4 "core" &   +2 "storage"(& +3 "core" &K \ | +2 .tForearm.seek 6 + 700 counts +3 "manipulator"&s' +36 "core" ' +2 .tSE.reconfigure :gently +3 "storage"(#QK-0-\ b +4 .tSE.seek -0.11 Pucks below Top Plate +3 "storage"( 'V +66 "core" ' +2 "manipulator"&:& +4 "core" & s u 5  + "storage"(W& +4 "core" &K \  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(#b +4 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +2 .tForearm.seek 6 +3 "manipulator"&j'* +40 "core" ' + .tElbow.hold +4 "manipulator"&m, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +5 .tSE.reconfigure :default +3 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate +3 "storage"('@ +27 "core" ' +2 "manipulator"&^% +4 "core" %7U r + "storage"(-& +4 "core" &K T\ z +2 .tForearm.force -20 + "manipulator"&5 +5 .tForearm.seek 6 + 313 counts +2 "manipulator"&!'c +20 "core" ' +3 "manipulator"&x& +4 "core" & q 5  + "storage"(& +4 "core" &K   l\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 6 + 700 counts +3 "manipulator"&' +26 "core" ' +2 "storage"(P% +4 "core" %G   y\ +2 ."downElevator"SE.seek :down +4 "storage"(T'I +99 (G% +3 "core" %3 \ Wc +2 "manipulator"&)% +3 "core" % r  T +2 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +3 "manipulator"&'\ +95 "core" ' +54 ' + ."downElevator"SE.coast + "storage"(5 +4 .tSC.coast + "storage"(6 +5 "collection"'\\& +4 "core" &YpDD_\ N +2 #tStoring generic puck in Collection Clamp to tube 6 + "manipulator"&U% +5 "core" %\ F  +2 "storage"(% +3 "core" %Z   \ +2 "storage"(Q. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +4 .tSC.seek 6 +2 "storage"(i(K +5 "core" ( + .tSC.reconfigure :loose +3 "storage"($.(\ 1~b +4 (& +2 "core" &K  $ o\  +2 "manipulator"&{& +4 "core" & '  +2 .tElbow.seek 6 +2 "manipulator"&.( +10 "core" ( +2 "manipulator"&C& +4 "core" & s |   + "storage"(& +4 "core" &K   }\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 6 + 700 counts +2 "manipulator"&+' +106 "core" ' +2 "storage"(& +4 "core" &K \  6\  +2 .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +3 "storage"( 'j +285 "core" ' + "storage"(- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +4 "manipulator"&q& +3 "core" &   + "storage"(f& +4 "core" &K a a 1\  + .tElbow.reconfigure :limp +4 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek 6 + "manipulator"&0'* +42 "core" ' + .tElbow.hold +4 "manipulator"&H, +3 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +4 "storage"(<- +2 "core" -' +2 .tSE.seek 0.05 Pucks below Top Plate +3 "storage"(V' +31 "core" ' +2 "manipulator"&% +3 "core" %:I # p +2 "storage"(]& +3 "core" &K (\ t +2 .tForearm.force -20 + "manipulator"&5 +5 .tForearm.seek 6 + 316 counts + "manipulator"& 'f +20 "core" ' +2 "manipulator"&M& +4 "core" &   + "storage"(& +4 "core" &K  " V\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 6 + 700 counts +2 "manipulator"&L' +21 "core" ' +3 .tSE.seek 1.05 Pucks below Top Plate +4 "storage"(A' +49 "core" ' +2 "manipulator"&>& +4 "core" &  + "manipulator"&'% +4 "core" % W d +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +2 "manipulator"&'\ +101 "core" ' +2 .tElbow.seek CC +4 "manipulator"&*( +147 "core" ( +2 "manipulator"&l& +4 "core" & s | " & + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +4 &6& +2 "core" & r n & +2 .tForearm.seek CC +3 "manipulator"&u'Ϥ +93 "core" ' + .tHand.close +2 "manipulator"&k/ +72 "core" / +3 .tCC.seek :open +2 "collection"'r( +435 "core" ( +2 "storage"(& +3 "core" &K \  +2 "storage"(& +4 "core" &K ]\  + "manipulator"&& +4 "core" & z | & + "manipulator"&K% +4 "core" % Ϟ { $ +2 .tForearm.seek :retract +2 "manipulator"&z'\ +98 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +3 .tElbow.seek 6 +3 "manipulator"&d( +159 "core" ( +2 "manipulator"&}& +3 "core" & s { 8  +2 "storage"(N& +4 "core" &K ]\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(#b +4 .tForearm.seek 6 +3 "manipulator"&4'* +112 "core" ' + .tElbow.hold +4 "manipulator"&I, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 .tHand.open +2 "manipulator"&p1 +114 "core" 1 +2 "manipulator"&8% +4 "core" % 8u  w +2 "storage"(X& +3 "core" &K #\  +2 .tForearm.force -20 "manipulator"&5 +4 .tForearm.seek 6 + 314 counts +3 "manipulator"&F'd +23 "core" ' +2 "manipulator"&7& +4 "core" & s |   +2 "storage"(v& +3 "core" &K ]\  +2 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 6 + 700 counts +5 "manipulator"& ' +25 "core" ' +2 "storage"(o% +4 "core" %\ {\ +2 ."downElevator"SE.seek :down +4 "storage"('I +99 ("% +3 "core" %3 b\ U\\ + "manipulator"&E% +4 "core" % 8 u +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +2 "manipulator"&1'\ +90 "core" ' +50 ' + ."downElevator"SE.coast +2 "storage"(5 +4 .tSC.coast "storage"(6 +5 #tShuffling pucks in tube 7 of [1..7] +2 #Loading generic puck from tube 7 into Collection Clamp +3 "collection"'B& +6 "core" &?Cx\ +2 "manipulator"& % +3 "core" %\  s r +2 "storage"(y% +4 "core" %X z\ + "storage"(a. +3 "core" . +2 .tSC.reconfigure :tight +3 "storage"($\ .(\ 1~b +4 .tSC.seek 7 + "storage"(`([c +192 "core" ( +2 .tSC.reconfigure :loose +4 "storage"($.(\ 1~b +4 (5& +4 "core" &[b% k \  + "manipulator"&c& +4 "core" &   +2 .tElbow.seek 7 +3 "manipulator"&~( +39 "core" ( +2 "manipulator"&@& +3 "core" & :  +2 "storage"(9& +4 "core" &[b% k\  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 7 + 700 counts +3 "manipulator"&' +94 "core" ' +2 "storage"(&& +3 "core" &[b& \  +2 .tSE.reconfigure :pick +5 "storage"(#]K-0-\ b +3 .tSE.seek :beamBreak +2 "storage"(e'j +296 "core" ' +2 "storage"(Y- +3 "core" -' + .tSE.configure :default +4 "storage"(#QK-0-\ b +4 (|& +3 "core" &[b%   ]\  +2 "manipulator"&& +3 "core" & !  +2 .tElbow.seek 7 +2 "manipulator"&,( +5 "core" ( + "manipulator"&w& +4 "core" & a  +2 "storage"(& +3 "core" &[b%   \  +2 .tForearm.seek 7 + 300 counts +3 "manipulator"&'N +24 "core" ' + .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&/ +75 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&=& +6 "storage"(b'I +3 "core" & J  + "manipulator"&(% +4 "core" % `  +2 .tForearm.seek :retract +3 "manipulator"&g'\ +93 "core" ' +2 .tElbow.seek CC +4 "manipulator"&[( +147 "core" ' + ."downElevator"SE.coast +2 "storage"(5 +16 "core" ( +2 "manipulator"&$& +4 "core" & r - + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +4 &#& +3 "core" &  R - + .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek CC +3 "manipulator"&h'Ϥ +94 "core" ' +2 "manipulator"&O& +4 "core" & b e - +2 "manipulator"&S% +3 "core" %ϣ d c  +2 "collection"'R& +4 "core" &BDl\ +2 "collection"'& +4 "core" &@Cn\ +2 .tCC.seek :closed +3 "collection"'/(Y +5 "core" &?Ci\ +8 &4CBi\ $c +9 &T}@Db\ f8 +9 &u@D]\ eL +10 &RAD^\ vO +9 &[QADc\ uN +10 &Q@C[\ rO +9 &NADb\ sN +9 &O@Cj\ rN +10 &dOABj\ uN +9 &&Q?Eh\ wN +9 &PACi\ tN +10 &!QBCi\ pN +9 &#jQACj\ tO +10 &%-QABh\ pN +9 &&OADh\ N +9 &(OBDj\ N +10 &*uSBA[\ ~N +9 &,7O@EZ\ N +9 &-O@Cc\ uN +10 &/R@Dh\ yN +9 &1|QBE`\ }N +10 &3?R@D[\ zN +9 &4R@Dg\ pN +9 &6N@Cb\ rN +10 &8RADj\ {N +9 &:ERCD_\ xN +9 &<QBDa\ N +10 &=R@FZ\ zN +9 &?R@DL\ {N +10 &ANQ?CM\ wN +9 &CSBEP\ wN +9 &DUCDV\ xN +10 &FYAEZ\ xO +9 &HS\\@EG\ vO +9 &J tACV\ mS +10 &K@BR\ ^W +9 &MtCDJ\ O\\ +10 &O5BEI\ _\\ +9 &P@ED\ d\\ +9 &R@CQ\ d] +10 &TvCEQ\ `^ +9 &V8@EX\ e^ +9 &WBDM\ ^^ +10 &YTJCEG\ v2 +9 &Yx@GQ\ ~O +5 ( +2 "collection"'& +3 #tCollection Clamp onSpring/offSpring for 8/29 samples, on/off torque 2.50 +2 .Hand.open +6 "manipulator"&1 +3 "core" &YnAEE\ O +63 1 +3 "manipulator"&% +4 "core" % ϣ v f  +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +2 "manipulator"&'\ +98 "core" ' + .tSC.coast +2 "storage"(6 +4 #tLoading generic puck from tube 7 into Processing Clamp +3 "processing"%D& +5 "core" &%\ +2 "manipulator"&t% +3 "core" %\ { *  +2 "storage"(% +3 "core" %F\ +2 "storage"(:. +3 "core" . + .tSC.reconfigure :tight +3 "storage"($\ .(\ 1~b +4 .tSC.seek 7 +2 "storage"(W([c +4 "core" ( + .tSC.reconfigure :loose +3 "storage"($.(\ 1~b +3 (;& +3 "core" &[b \  +2 "manipulator"&2& +3 "core" & } ~ e - +2 "manipulator"&^% +3 "core" %\ ~ }  +2 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +2 "manipulator"&-( +158 "core" ( +2 "manipulator"&\ & +4 "core" &   + "storage"(x& +4 "core" &[b  \  +2 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 700 counts +3 "manipulator"&' +92 "core" ' +2 "storage"(J& +4 "core" &[b +\  + .tSE.reconfigure :pick +3 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +3 "storage"(P'j +280 "core" ' + "storage"(3- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +4 (G& +3 "core" &[b 6\  + "manipulator"&s& +4 "core" &   + .tElbow.seek 7 +3 "manipulator"&)( +4 "core" ( + "manipulator"&& +4 "core" &   + "storage"( & +4 "core" &[b   \  +2 .tForearm.seek 7 + 300 counts +3 "manipulator"&j'N +34 "core" ' + .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +3 .tHand.close + "manipulator"&!/ +77 "core" / +3 ."downElevator"SE.seek :down +4 "manipulator"&\\& +6 "storage"(U'I +2 "core" & -  +2 "manipulator"&% +4 "core" % Q w  ? +2 .tForearm.seek :retract +3 "manipulator"&Q'\ +96 "core" ' +2 .tElbow.seek PC +4 "manipulator"&( +154 "core" ' + ."downElevator"SE.coast +2 "storage"(5 +108 "core" ( +4 "manipulator"&& +4 "core" & ) C + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +4 &{& +3 "core" & X C +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek PC +3 "manipulator"&C'Њ +90 "core" ' +2 "manipulator"&& +4 "core" & | J C +2 "manipulator"&% +3 "core" % { ~ j T +2 "processing"%& +3 "core" &$\  +2 "processing"%T& +5 "core" &#\ } +2 .tPC.seek :closed +54 "processing"%?(Y +6 "core" &\ \ } +2 & \ t + &\ o + &\ p +2 & \ m & \ t + &\ | +5 &,u\ i+| +10 &c} \ k? +9 &ip \ oP +9 &,P \ {O +10 &Q \ {O +9 &Q \ zO +10 &rO \ zO +9 &4R \ wO +9 &R\ \ sO +10 &Q \ nP +9 & xU\ lP +9 &";R\ rO +10 &#N\ pO +9 &%Q\ qO +10 &'Q\ iP +9 &)CO\ iO +9 &+P\ fP +10 &,R\ gO +9 &.Q\ iO +9 &0KU\ uO +10 &2 R\ wO +9 &3O\ wO +10 &5S\ xO +9 &7SQ\ zO +9 &9O\ yO +10 &:T\ wO +9 &<T\ vO +9 &>[U\ vO +10 &@Q\ vP +9 &AQ\ sO +10 &CQ\ tP +9 &EaT\ tP +9 &G!\\\ lQ +10 &H^\ tQ +9 &Jh\ rR +10 &LY\ jV +9 &N\ mX +9 &O\ fX +10 &Q\ dX +9 &S]\ mW +9 &U\ qW +10 &V\ rW +9 &X~\ v3 +9 &Yi1k\ xH +9 ( +2 &Y{.\ 6 +2 "processing"%T& +2 #tProcessing Clamp onSpring/offSpring for 9/26 samples, on/off torque 1.65 +2 .Hand.open +5 "manipulator"&m1 +78 "core" 1 +2 "manipulator"&% +4 "core" %  [ P T + .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +3 "manipulator"&'\ +103 "core" ' + .tSC.coast +2 "storage"(6 +4 "processing"%q& +4 "core" &Y{-\ ~6 + #tImaging generic puck in Processing Clamp while storing it to tube 7 +2 "manipulator"&f% +5 "core" %\ 3 +2 "storage"(<% +3 "core" %E \ +2 "storage"(. +3 "core" . +2 .tSC.reconfigure :tight +2 "storage"($\ .(\ 1~b +4 .tSC.seek 7 +2 "storage"(]([c +4 "core" ( +2 .tSC.reconfigure :loose +3 "storage"($.(\ 1~b +3 (M& +2 "manipulator"&& +6 "core" &[b \  + & \\ C +3 ."raiseStack"SE.reconfigure :place +2 .tElbow.reconfigure :tight +6 "storage"(#].K-0-\ b +5 "manipulator"&$&.,(\ #b +3 .tElbow.seek PC +2 ."raiseStack"SE.seek :beamBreak +4 "manipulator"&>( +4 "storage"(''j +3 "core" ( +2 "manipulator"&+& +3 "core" & m C +2 .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +4 &.& +3 "core" & - C + .tForearm.seek PC +3 "manipulator"& 'Њ +90 "core" ' + .tHand.close +4 "manipulator"&0/ +72 "core" / +2 .tPC.seek :open +4 "processing"% ( +78 "core" ' +2 "storage"(V- +3 "core" -'j + ."raiseStack"SE.configure :default +3 "storage"(#QK-0-\ b +4 ."raiseStack"SE.seek :place +2 "storage"(l' +43 "core" ' +295 ( +3 "storage"(6& +4 "core" &[b Y\  +2 "manipulator"&L& +3 "core" & z P C +2 "manipulator"&H% +3 "core" % Љ } ) D +2 .tForearm.seek :retract +2 "manipulator"&k'\ +95 "core" ' +2 .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +4 .tElbow.seek 7 +3 "manipulator"&( +272 "core" ( +2 "manipulator"&_& +3 "core" & . +2 "storage"(& +4 "core" &[b   \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 7 + 700 counts +2 "manipulator"&' +99 "core" ' +3 .tHand.open +2 "manipulator"&1 +74 "core" 1 +2 "storage"(K- +3 "core" -' +2 .tSE.seek -0.22 Pucks below Top Plate +3 "storage"(}' +31 "core" ' +2 .tSE.reconfigure :seal +3 "storage"(#QK-0-\ b +4 .tSE.seek -0.83 Pucks below Top Plate +2 "storage"(N' +55 "core" ' + #tLights, camera, ACTION! +3 "storage"(u- +4 "core" -' +2 "storage"(*& +3 "core" &[b \ } +2 "manipulator"&p& +4 "core" &  + .tElbow.seek 7 +3 "manipulator"&8( +11 "core" ( +2 "manipulator"&X& +3 "core" & &  +2 "storage"(7& +4 "core" &[b ~\ y +2 .tForearm.seek 7 + 700 counts +3 "manipulator"&v' +4 "core" ' +2 .tSE.reconfigure :gently +4 "storage"(#QK-0-\ b +3 .tSE.seek -0.11 Pucks below Top Plate +2 "storage"(z'V +64 "core" ' +2 "manipulator"&o& +4 "core" &   + "storage"(d& +4 "core" &[b 1 4\  +2 .tElbow.reconfigure :limp +3 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek 7 +2 "manipulator"&"'" +41 "core" ' + .tElbow.hold +4 "manipulator"&E, +4 "core" , + .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +3 .tSE.reconfigure :default +4 "storage"(#QK-0-\ b +3 .tSE.seek 0.07 Pucks below Top Plate +2 "storage"(4'@ +32 "core" ' +2 "manipulator"&B% +4 "core" %/P  q + "storage"(F& +4 "core" &[b n\  + .tForearm.force -20 +2 "manipulator"&5 +4 .tForearm.seek 7 + 313 counts +3 "manipulator"& '[ +20 "core" ' +2 "manipulator"&y& +4 "core" & /  +2 "storage"(a& +3 "core" &[b \  +2 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 7 + 700 counts +3 "manipulator"&A' +28 "core" ' +2 "storage"( % +4 "core" %E y ;\ +2 ."downElevator"SE.seek :down +4 "storage"(5'I +99 (c% +3 "core" %84 1 1 `\ V` + "manipulator"&@% +4 "core" % ` M +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +2 "manipulator"&'\ +94 "core" ' +55 ' + ."downElevator"SE.coast + "storage"(5 +4 .tSC.coast +2 "storage"(6 +4 "collection"'9& +4 "core" &YeCFF\ O + #tStoring generic puck in Collection Clamp to tube 7 +2 "manipulator"&i% +5 "core" %\ # y +2 "storage"(&% +3 "core" %J \ +2 "storage"(I. +3 "core" . + .tSC.reconfigure :tight +4 "storage"($\ .(\ 1~b +3 .tSC.seek 7 +2 "storage"(1([c +4 "core" ( + .tSC.reconfigure :loose +3 "storage"($.(\ 1~b +4 (Y& +2 "core" &[b _\  +2 "manipulator"&|& +3 "core" &   +2 .tElbow.seek 7 +3 "manipulator"&( +11 "core" ( +2 "manipulator"&w& +4 "core" &   + "storage"(& +4 "core" &[b \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 7 + 700 counts +2 "manipulator"&' +99 "core" ' +3 "storage"(=& +4 "core" &[b  \  +2 .tSE.reconfigure :pick +4 "storage"(#]K-0-\ b +4 .tSE.seek :beamBreak +2 "storage"(('j +285 "core" ' + "storage"(~- +4 "core" -' + .tSE.configure :default +3 "storage"(#QK-0-\ b +4 "manipulator"&& +3 "core" & 3  + "storage"($& +4 "core" &[b ^ ` #\  + .tElbow.reconfigure :limp +3 "manipulator"&$ ,(#b +3 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek 7 +2 "manipulator"&#'" +38 "core" ' + .tElbow.hold +4 "manipulator"&e, +3 "core" , +2 .tElbow.reconfigure :tight +2 "manipulator"&$&.,(\ #b +4 "storage"(- +2 "core" -' +2 .tSE.seek 0.03 Pucks below Top Plate +3 "storage"(O' +27 "core" ' +2 "manipulator"&S% +3 "core" %2? - n +2 "storage"(,& +3 "core" &[b \ p +2 .tForearm.force -20 + "manipulator"&5 +50 .tForearm.seek 7 + 316 counts +4 "manipulator"&R'^ +21 "core" ' +2 "manipulator"&b& +4 "core" & o  +2 "storage"(g& +4 "core" &[b W W \  +2 .tForearm.reconfigure :tight +3 "manipulator"&#Q@2^d^\ b +4 .tForearm.seek 7 + 700 counts +3 "manipulator"&r' +18 "core" ' +2 .tSE.seek 1.03 Pucks below Top Plate +3 "storage"(' +50 "core" ' +2 "manipulator"&& +4 "core" & 9  +2 "manipulator"&D% +3 "core" % W  +2 .tForearm.reconfigure :loose +4 "manipulator"&#Q@2^d^b +3 .tForearm.seek :retract +3 "manipulator"&'\ +96 "core" ' +2 .tElbow.seek CC +2 "manipulator"&t( +167 "core" ( +2 "manipulator"&& +4 "core" &    0 + .tElbow.reconfigure :loose +3 "manipulator"&$ &.,(#b +4 &:& +2 "core" & } L 0 +2 .tForearm.seek CC +3 "manipulator"&;'Ϥ +94 "core" ' +2 .tHand.close +3 "manipulator"&2/ +66 "core" / +2 .tCC.seek :open +4 "collection"'^( +434 "core" ( +2 "storage"(h& +4 "core" &[b 9\  +2 "storage"(\ & +3 "core" &[b <\  +2 "manipulator"&x& +86 "core" & V Z 0 + "manipulator"&`% +4 "core" % ϱ [ a 8 +2 .tForearm.seek :retract +3 "manipulator"&J'\ +97 "core" ' +2 .tElbow.reconfigure :tight +4 "manipulator"&$&.,(\ #b +3 .tElbow.seek 7 +3 "manipulator"&[( +149 "core" ( +2 "manipulator"&& +4 "core" & r L + "storage"(3& +4 "core" &[b (\  + .tElbow.reconfigure :limp +4 "manipulator"&$ ,(#b +3 .tForearm.seek 7 +3 "manipulator"&G'" +107 "core" ' + .tElbow.hold +4 "manipulator"&s, +4 "core" , + .tElbow.reconfigure :tight +3 "manipulator"&$&.,(\ #b +4 .tHand.open + "manipulator"&1 +71 "core" 1 +2 "manipulator"& % +4 "core" % 3 G H zF +2 "storage"(!& +3 "core" &[b > > \  + .tForearm.force -20 +2 "manipulator"&5 +4 .tForearm.seek 7 + 317 counts +2 "manipulator"&\\'_ +23 "core" ' +2 "manipulator"&& +3 "core" & w ~  +2 "storage"(-& +4 "core" &[b w\  +2 .tForearm.reconfigure :tight +4 "manipulator"&#Q@2^d^\ b +3 .tForearm.seek 7 + 700 counts +3 "manipulator"&' +25 "core" ' +2 "storage"(P% +4 "core" % N\ +2 ."downElevator"SE.seek :down +4 "storage"(j'I +99 (% +3 "core" %4 2\ U\\ + "manipulator"&{% +4 "core" % ] f +2 .tForearm.reconfigure :loose +3 "manipulator"&#Q@2^d^b +4 .tForearm.seek :retract +2 "manipulator"&)'\ +93 "core" ' +46 ' + ."downElevator"SE.coast + "storage"(5 +4 .tSC.coast +2 "storage"(6 +44619 "Can"\ ++ +29281 #"brent"-> exit +2 #Session Ended @1580349662.43PST = =mMAIN_scheduler =tMAIN @PST1580349665.46 #"core_reset"Sent BREAK +2 #t@51469 idle with ifg=0x00, ie=0x75 #>RESET< ESP2 v3.41 I2C Gateway v3.20 +216 #>RESET< ESP2 v3.41 I2C Gateway v3.20 for core bus +422 #Configuration for waldo 12/2/19 brent@mbari.org\ /home/esp/esp2/type/shallow/waldo/configure.rb\ +481 .Gate.setWakeString! "\\r\\nRING\\r\\n",15 +2 .Gate.setWakeAckString! "\\rWAKING\\r" +21 "Can"\ y + \ y + #tPolling Can every 10:00 +45 !o:Storage::Warning: mesg"Uncleanly Exited:bt[ "8/home/esp/esp2/utils/storage.rb:408:in `readPucks!'"6/home/esp/esp2/utils/storage.rb:596:in `restore!'"-/home/esp/esp2/lib/esp.rb:116:in `shell'"7/home/esp/esp2/lib/schedule.rb:484:in `initialize'"0/home/esp/esp2/lib/thread.rb:713:in `start'"7/home/esp/esp2/lib/schedule.rb:477:in `initialize'"'/home/esp/esp2/lib/schedule.rb:475 +5 #Loading /home/esp/esp2/mission/long/test.rb mission +22 ."pause"delay 8:00 +3 !to:MissionLog::Error : mesg"2test mission ended at 23:30:22.59PST13-Dec-19:@timestampu: Time :@checkpoint: omitted:bt[";/home/esp/esp2/utils/longmission.rb:277:in `readPhase'"(eval):3:in `foreachRaw'"(eval):3:in `foreach'"3/home/esp/esp2/lib/schedule.rb:294:in `unsync'"(eval):3:in `foreach'";/home/esp/esp2/utils/longmission.rb:251:in `readPhase'"9/home/esp/esp2/utils/longmission.rb:365:in `mission'"*/home/esp/esp2/mission/long/test.rb:9"2/home/esp/esp2/lib/framework.rb:107:in `load'"0/home/esp/esp2/lib/framework.rb:107:in `ld'"2/home/esp/esp2/lib/framework.rb:112:in `load'"5/home/esp/esp2/lib/framework.rb:171:in `execute'"-/home/esp/esp2/lib/esp.rb:192:in `shell'"7/home/esp/esp2/lib/schedule.rb:484:in `initialize'"0/home/esp/esp2/lib/thread.rb:713:in `start'"7/home/esp/esp2/lib/schedule.rb:477:in `initialize'"'/home/esp/esp2/lib/schedule.rb:475 +2 #Waiting to Resume from Checkpoint "test mission ended at 23:30:22.59PST13-Dec-19" + ."Qmail"BadNews.email "test mission ended at 23:30:22.59PST13-Dec-19",Subject: "MissionLog::Error in MAIN"