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