functions
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strL() wrist_down()
| strafe left, claw wrist down"
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l_claw(0) spin()
| close left claw, spin"
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l_claw(1) e_out()
| open left claw, extend arm out"
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strL() diagL()
| strafe left, diagonal left"
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diagR() e_in()
| diagonal right, retract arm"
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l_claw(1) e_in()
| open left claw, retract arm"
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diagR() wrist_up()
| diagonal right, claw wrist up"
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tL() e_out()
| turn left, extend arm out"
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wrist_up() l_claw(0)
| claw wrist up, close left claw"
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diagL() backward()
| diagonal left, move backward"
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diagL() backward()
| diagonal left, move backward"
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forward() strR()
| move forward, strafe right"
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tR() tR()
| turn right twice"
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diagL() strL()
| diagonal left, strafe left"
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wrist_down() l_claw(0)
| claw wrist down, close left claw"
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e_in() e_in()
| retract arm twice"
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tL() tL()
| turn left twice"
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backward() l_claw(0)
| move backward, close left claw"
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e_in() forward()
| retract arm, move forward"
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tR() tR()
| turn right twice"
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l_claw(0) e_out()
| close left claw, extend arm out"
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diagR() r_claw(0)
| diagonal right, close right claw"
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forward() r_claw(0)
| move forward, close right claw"
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forward() r_claw(1)
| move forward, open right claw"
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strR() r_claw(1)
| strafe right, open right claw"
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e_out() backward()
| extend arm out, move backward"
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r_claw(1) diagR()
| open right claw, diagonal right"
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e_in() l_claw(0)
| retract arm, close left claw"
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backward() tL()
| move backward, turn left"
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r_claw(1) strR()
| open right claw, strafe right"
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e_out() r_claw(0)
| extend arm out, close right claw"
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strR() strR()
| strafe right twice"
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spin() wrist_down()
| spin, claw wrist down"
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backward() r_claw(0)
| move backward, close right claw"
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tL() diagL()
| turn left, diagonal left"
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diagR() diagR()
| diagonal right twice"
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r_claw(0) e_in()
| close right claw, retract arm"
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l_claw(0) forward()
| close left claw, move forward"
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diagL() wrist_down()
| diagonal left, claw wrist down"
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diagR() r_claw(1)
| diagonal right, open right claw"
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r_claw(1) l_claw(0)
| open right claw, close left claw"
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tL() diagL()
| turn left, diagonal left"
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wrist_down() e_out()
| claw wrist down, extend arm out"
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e_out() e_out()
| extend arm out twice"
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tL() r_claw(1)
| turn left, open right claw"
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r_claw(0) strL()
| close right claw, strafe left"
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wrist_down() backward()
| claw wrist down, move backward"
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l_claw(1) tR()
| open left claw, turn right"
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e_in() forward()
| retract arm, move forward"
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strL() l_claw(0)
| strafe left, close left claw"
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l_claw(0) tL()
| close left claw, turn left"
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forward() forward()
| move forward twice"
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tR() wrist_up()
| turn right, claw wrist up"
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e_out() strR()
| extend arm out, strafe right"
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strL() e_in()
| strafe left, retract arm"
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tL() e_out()
| turn left, extend arm out"
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backward() forward()
| move backward, move forward"
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strR() e_out()
| strafe right, extend arm out"
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strR() spin()
| strafe right, spin"
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diagR() l_claw(1)
| diagonal right, open left claw"
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strL() backward()
| strafe left, move backward"
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diagR() wrist_up()
| diagonal right, claw wrist up"
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strL() forward()
| strafe left, move forward"
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r_claw(0) diagL()
| close right claw, diagonal left"
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r_claw(1) spin()
| open right claw, spin"
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tL() backward()
| turn left, move backward"
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l_claw(0) r_claw(1)
| close left claw, open right claw"
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tL() wrist_down()
| turn left, claw wrist down"
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wrist_up() l_claw(1)
| claw wrist up, open left claw"
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diagL() e_in()
| diagonal left, retract arm"
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e_out() e_out()
| extend arm out twice"
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strL() tL()
| strafe left, turn left"
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wrist_up() forward()
| claw wrist up, move forward"
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forward() l_claw(0)
| move forward, close left claw"
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r_claw(1) tL()
| open right claw, turn left"
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tL() e_in()
| turn left, retract arm"
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l_claw(1) r_claw(0)
| open left claw, close right claw"
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backward() l_claw(0)
| move backward, close left claw"
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e_out() r_claw(0)
| extend arm out, close right claw"
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strR() spin()
| strafe right, spin"
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diagL() diagR()
| diagonal left, diagonal right"
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e_out() l_claw(1)
| extend arm out, open left claw"
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wrist_up() forward()
| claw wrist up, move forward"
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r_claw(1) diagR()
| open right claw, diagonal right"
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diagL() spin()
| move diagonally left, spin"
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wrist_up() e_in()
| claw wrist up, retract arm"
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strL() strL()
| strafe left twice"
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strL() e_in()
| strafe left, retract arm"
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strR() r_claw(1)
| strafestraferight, open right claw"
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l_claw(0) r_claw(1)
| close left claw, open right claw"
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r_claw(1) e_in()
| open right claw, retract arm"
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strR() tL()
| strafe right, turn left"
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e_in() tR()
| retract arm, turn right"
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r_claw(0) backward()
| close right claw, move backward"
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tL() spin()
| turn left, spin"
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r_claw(1) e_out()
| open right claw, extend arm out"
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tL() spin()
| turn left, spin"
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e_out() diagR()
| extend arm out, diagonal right"
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l_claw(1) l_claw(1)
| open left claw twice"
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spin() forward()
| spin, move forward"
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