How do I make the tray fold out?

[Hudsonville_Robotics]

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Three-Stage Fold Out Tray (complex)

Before anyone says, yes I have looked around at practically every other topic on this forum about this, and no, I have not found a working solution. When our robot’s third stage for its tray flips out, instead of flipping out, it moves in the opposite direction and embeds itself inside of the second stage, preventing it from unfolding. See this video Edit: our tray is designed to unfold after intaking a cube.