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