with power off

rotate #6 motor fully clockwise, attach the "little red" rotating actuator to the motor so that it causes the long arm to just clear the left front corner of the HELIUM box (favor the clockwise direction).

rotate #4 motor fully clockwise, attach arm pointing straight down (-90 deg) from #6 arm.

power ON to Robix,
set motor #3 to 1400 and attach the motor such that it is in line (continues in a straight line) with the #4 motor arm.
set minpos #3 -1000
power OFF to Robix 

rotate #2 motor fully clockwise (viewed from bottom), attach the gripper assembly so that it's turning gear points out from  motors #2 & #3, (the gripper opens and closes along a line parallel to motors #3 and #4.
motor #2 should have it's output shaft near closest to the rear of motor #3 and line from the rear of #3 continues on to #2 -- this means #2 sticks out in front

rotate #1 motor fully counter-clockwise, open the gripper as wide as it will go (NOT fully counter clockwise, however), and attach motor #1 to the gripper assembly


10/04

distance from center of tongs to the center of the wheel which opens and closes the gripper is ~3.73" 

10/7
cut pencils 3.25" long
drill and tap #4-40 in top corners of gripper, screw 3/4" long allen heads from inside to hold popscicle stick piece to secure pencils during inital gluing at base.
to accept tinned copper wire of similar diameter to hold pencils in place.
shim bottom of gripper to push pencils out: use a 1/2" length of popsicle stick, then add one more only make this 1/8" wide (so it just pushes out the very bottom of the pencil.