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S0: Y=Y_HOME S12: X=2’X S22: Y+Y_FAR

S23: Z=Z_FAR
S1: X=2X S13:Z=Z_FAR

S24: Y=Y_HOME

S2: Z=Z_FAR S14: Y=Y_HOME


S25: KEP

S4:KEP
S15: KEP S26: Y=Y_FAR

S5:Y=Y_HOME
S16: Y=Y_FAR S27: X=3X

S6: Z=Z_HOME
S28: Y=Y_HOME
S17: X=2Y

S7:X=4X
S29: Z=Z_FAR
S18: Y=1Y

S8:Y=Y_FAR S30: MỞ KẸP

S19: Z=Z_HOME
S9:Z=Z_FAR

S31: Z=Z_HOME
S20 : MỞ KẸP
S10: Mở Kẹp

S21: Z=Z_HOME
S11:Z=Z_HOME

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