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