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