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So your handler will need several routes.
Shelf A to mixing station A
Shelf b to mixing station B
and so on.
Handler 1
Ingredient shelf ► mixer.
initial product shelf ► mixer.
Chemist
mixes ► Then you can set the destination to a final product shelf / 2nd mixer / packaging station without the handler touching it again, just use the clip board on the mixer and set destination.
Then you can use the handler again to package and place on last shelf.