S.S.Tupperware, I was involved with the sample collection and distribution subsystem of the "SAM" instrument known as SMS. Also a couple device's on the robotic arm called DRT, and PADS.
It is proprietary information so I am intentionally being vague since I,(and the company I work for), are simply the manufacturer.
http://mars.jpl.nasa.gov/msl/
Timmy thanks for posting the simulation!
Thanks Mike