Add newly calibrated nest locations for Allion
After disassembling the robot, shipping it to Taipei, then putting it
back together it turns out that the calibration has changed a little.
We needed to recalibrate the robot's nest positions to keep it from
binding up on-site at Allion Labs. These are the newest calibrated
position files for Allion's robot. Merging them in to keep them safe
and so that Allion's laptop isn't the only place were they're saved.
BUG=chromium:620090
TEST=These were used for all our robot testing at Allion and they were
quite good. We saw no binding when these were used
Change-Id: I04b3ee06cd217562259d96b1e17d66cee8902ff3
Signed-off-by: Charlie Mooney <charliemooney@chromium.org>
Reviewed-on: https://chromium-review.googlesource.com/352620
Reviewed-by: Shyh-In Hwang <josephsih@chromium.org>
diff --git a/touchbot/nest_locations/allion/1round_10mm.p b/touchbot/nest_locations/allion/1round_10mm.p
index 259813f..8ea00cf 100644
--- a/touchbot/nest_locations/allion/1round_10mm.p
+++ b/touchbot/nest_locations/allion/1round_10mm.p
@@ -10,37 +10,37 @@
(dp4
S'ax_5'
p5
-F23.683
+F41.063
sS'yaw'
p6
-F-92.253
+F-92.516
sS'ax_3'
p7
-F271.792
+F272.505
sS'pitch'
p8
F90.0
sS'y'
p9
-F-295.34
+F-294.492
sS'x'
p10
-F-102.242
+F-110.136
sS'ax_4'
p11
-F62.86
+F63.627
sS'z'
p12
-F115.221
+F113.875
sS'ax_2'
p13
-F-66.905
+F-68.648
sS'roll'
p14
F180.0
sS'ax_1'
p15
-F115.221
+F113.875
sbsS'name'
p16
S'1round_10mm'
@@ -50,10 +50,10 @@
I1
sS'extension2'
p19
-I-100
+I-80
sS'extension1'
p20
-I2161
+I1940
sS'slide_pos'
p21
(itouchbot.position
@@ -61,25 +61,25 @@
p22
(dp23
g5
-F23.683
+F41.063
sg6
-F-92.253
+F-92.516
sg7
-F271.792
+F272.505
sg8
F90.0
sg9
-F-295.34
+F-294.492
sg10
-F-132.24200000000002
+F-130.136
sg11
-F62.86
+F63.627
sg12
-F115.221
+F113.875
sg13
-F-66.905
+F-68.648
sg14
F180.0
sg15
-F115.221
+F113.875
sbsb.
\ No newline at end of file
diff --git a/touchbot/nest_locations/allion/1round_12mm.p b/touchbot/nest_locations/allion/1round_12mm.p
index 2e29a7f..9d35a1a 100644
--- a/touchbot/nest_locations/allion/1round_12mm.p
+++ b/touchbot/nest_locations/allion/1round_12mm.p
@@ -10,37 +10,37 @@
(dp4
S'ax_5'
p5
-F36.063
+F41.392
sS'yaw'
p6
-F-92.474
+F-92.002
sS'ax_3'
p7
-F287.937
+F288.232
sS'pitch'
p8
F90.0
sS'y'
p9
-F-334.872
+F-334.753
sS'x'
p10
-F-108.116
+F-110.597
sS'ax_4'
p11
-F52.887
+F53.593
sS'z'
p12
-F115.632
+F113.948
sS'ax_2'
p13
-F-73.298
+F-73.828
sS'roll'
p14
F180.0
sS'ax_1'
p15
-F115.632
+F113.948
sbsS'name'
p16
S'1round_12mm'
@@ -50,10 +50,10 @@
I1
sS'extension2'
p19
-I-100
+I-80
sS'extension1'
p20
-I2214
+I1943
sS'slide_pos'
p21
(itouchbot.position
@@ -61,25 +61,25 @@
p22
(dp23
g5
-F36.063
+F41.392
sg6
-F-92.474
+F-92.002
sg7
-F287.937
+F288.232
sg8
F90.0
sg9
-F-334.872
+F-334.753
sg10
-F-138.11599999999999
+F-130.59699999999998
sg11
-F52.887
+F53.593
sg12
-F115.632
+F113.948
sg13
-F-73.298
+F-73.828
sg14
F180.0
sg15
-F115.632
+F113.948
sbsb.
\ No newline at end of file
diff --git a/touchbot/nest_locations/allion/1round_14mm.p b/touchbot/nest_locations/allion/1round_14mm.p
index 84ce259..b1b2f93 100644
--- a/touchbot/nest_locations/allion/1round_14mm.p
+++ b/touchbot/nest_locations/allion/1round_14mm.p
@@ -10,37 +10,37 @@
(dp4
S'ax_5'
p5
-F41.286
+F28.103
sS'yaw'
p6
-F-92.38
+F-98.947
sS'ax_3'
p7
-F307.799
+F305.543
sS'pitch'
p8
F90.0
sS'y'
p9
-F-374.795
+F-372.575
sS'x'
p10
-F-110.328
+F-104.15
sS'ax_4'
p11
-F41.091
+F34.916
sS'z'
p12
-F113.222
+F114.472
sS'ax_2'
p13
-F-81.27
+F-79.406
sS'roll'
p14
F180.0
sS'ax_1'
p15
-F113.222
+F114.472
sbsS'name'
p16
S'1round_14mm'
@@ -50,10 +50,10 @@
I1
sS'extension2'
p19
-I-100
+I-80
sS'extension1'
p20
-I1792
+I2010
sS'slide_pos'
p21
(itouchbot.position
@@ -61,25 +61,25 @@
p22
(dp23
g5
-F41.286
+F28.103
sg6
-F-92.38
+F-98.947
sg7
-F307.799
+F305.543
sg8
F90.0
sg9
-F-374.795
+F-372.575
sg10
-F-140.328
+F-124.15
sg11
-F41.091
+F34.916
sg12
-F113.222
+F114.472
sg13
-F-81.27
+F-79.406
sg14
F180.0
sg15
-F113.222
+F114.472
sbsb.
\ No newline at end of file
diff --git a/touchbot/nest_locations/allion/1round_8mm.p b/touchbot/nest_locations/allion/1round_8mm.p
index 2a4952b..71ddec4 100644
--- a/touchbot/nest_locations/allion/1round_8mm.p
+++ b/touchbot/nest_locations/allion/1round_8mm.p
@@ -10,37 +10,37 @@
(dp4
S'ax_5'
p5
-F18.074
+F58.9
sS'yaw'
p6
-F-91.908
+F-90.822
sS'ax_3'
p7
-F246.125
+F248.642
sS'pitch'
p8
F90.0
sS'y'
p9
-F-215.46
+F-215.221
sS'x'
p10
-F-100.269
+F-118.271
sS'ax_4'
p11
-F83.018
+F86.539
sS'z'
p12
-F115.556
+F114.747
sS'ax_2'
p13
-F-61.051
+F-66.003
sS'roll'
p14
F180.0
sS'ax_1'
p15
-F115.556
+F114.747
sbsS'name'
p16
S'1round_8mm'
@@ -50,10 +50,10 @@
I1
sS'extension2'
p19
-I-100
+I-80
sS'extension1'
p20
-I2226
+I2082
sS'slide_pos'
p21
(itouchbot.position
@@ -61,25 +61,25 @@
p22
(dp23
g5
-F18.074
+F58.9
sg6
-F-91.908
+F-90.822
sg7
-F246.125
+F248.642
sg8
F90.0
sg9
-F-215.46
+F-215.221
sg10
-F-130.269
+F-148.27100000000002
sg11
-F83.018
+F86.539
sg12
-F115.556
+F114.747
sg13
-F-61.051
+F-66.003
sg14
F180.0
sg15
-F115.556
+F114.747
sbsb.
\ No newline at end of file
diff --git a/touchbot/nest_locations/allion/1round_9mm.p b/touchbot/nest_locations/allion/1round_9mm.p
index 5e38b37..f3050d0 100644
--- a/touchbot/nest_locations/allion/1round_9mm.p
+++ b/touchbot/nest_locations/allion/1round_9mm.p
@@ -10,37 +10,37 @@
(dp4
S'ax_5'
p5
-F16.778
+F30.694
sS'yaw'
p6
-F-97.229
+F-95.26
sS'ax_3'
p7
-F257.488
+F258.235
sS'pitch'
p8
F90.0
sS'y'
p9
-F-253.948
+F-253.784
sS'x'
p10
-F-98.802
+F-105.118
sS'ax_4'
p11
-F67.749
+F70.55
sS'z'
p12
-F113.628
+F113.195
sS'ax_2'
p13
-F-62.464
+F-64.045
sS'roll'
p14
F180.0
sS'ax_1'
p15
-F113.628
+F113.195
sbsS'name'
p16
S'1round_9mm'
@@ -50,10 +50,10 @@
I1
sS'extension2'
p19
-I-100
+I-90
sS'extension1'
p20
-I1894
+I1821
sS'slide_pos'
p21
(itouchbot.position
@@ -61,25 +61,25 @@
p22
(dp23
g5
-F16.778
+F30.694
sg6
-F-97.229
+F-95.26
sg7
-F257.488
+F258.235
sg8
F90.0
sg9
-F-253.948
+F-253.784
sg10
-F-128.80200000000002
+F-125.118
sg11
-F67.749
+F70.55
sg12
-F113.628
+F113.195
sg13
-F-62.464
+F-64.045
sg14
F180.0
sg15
-F113.628
+F113.195
sbsb.
\ No newline at end of file
diff --git a/touchbot/nest_locations/allion/2round_10mm.p b/touchbot/nest_locations/allion/2round_10mm.p
index e501793..d539a30 100644
--- a/touchbot/nest_locations/allion/2round_10mm.p
+++ b/touchbot/nest_locations/allion/2round_10mm.p
@@ -10,37 +10,37 @@
(dp4
S'ax_5'
p5
-F15.612
+F40.958
sS'yaw'
p6
-F91.009
+F87.232
sS'ax_3'
p7
-F278.362
+F278.779
sS'pitch'
p8
F90.0
sS'y'
p9
-F-314.113
+F-311.357
sS'x'
p10
-F-98.995
+F-110.471
sS'ax_4'
p11
-F-118.973
+F-120.929
sS'z'
p12
-F115.221
+F115.132
sS'ax_2'
p13
-F-68.379
+F-70.618
sS'roll'
p14
F-180.0
sS'ax_1'
p15
-F115.221
+F115.132
sbsS'name'
p16
S'2round_10mm'
@@ -50,10 +50,10 @@
I2
sS'extension2'
p19
-I2133
+I2137
sS'extension1'
p20
-I-100
+I-80
sS'slide_pos'
p21
(itouchbot.position
@@ -61,25 +61,25 @@
p22
(dp23
g5
-F15.612
+F40.958
sg6
-F91.009
+F87.232
sg7
-F278.362
+F278.779
sg8
F90.0
sg9
-F-314.113
+F-311.357
sg10
-F-128.995
+F-130.471
sg11
-F-118.973
+F-120.929
sg12
-F115.221
+F115.132
sg13
-F-68.379
+F-70.618
sg14
F-180.0
sg15
-F115.221
+F115.132
sbsb.
\ No newline at end of file
diff --git a/touchbot/nest_locations/allion/2round_12mm.p b/touchbot/nest_locations/allion/2round_12mm.p
index a35eccb..2a2e6da 100644
--- a/touchbot/nest_locations/allion/2round_12mm.p
+++ b/touchbot/nest_locations/allion/2round_12mm.p
@@ -10,37 +10,37 @@
(dp4
S'ax_5'
p5
-F21.175
+F46.626
sS'yaw'
p6
-F88.909
+F89.504
sS'ax_3'
p7
-F295.406
+F296.634
sS'pitch'
p8
F90.0
sS'y'
p9
-F-353.353
+F-352.262
sS'x'
p10
-F-102.027
+F-114.018
sS'ax_4'
p11
-F-131.439
+F-129.658
sS'z'
p12
-F114.459
+F115.094
sS'ax_2'
p13
-F-75.057
+F-77.472
sS'roll'
p14
F-180.0
sS'ax_1'
p15
-F114.459
+F115.094
sbsS'name'
p16
S'2round_12mm'
@@ -50,10 +50,10 @@
I2
sS'extension2'
p19
-I1997
+I2113
sS'extension1'
p20
-I-100
+I-80
sS'slide_pos'
p21
(itouchbot.position
@@ -61,25 +61,25 @@
p22
(dp23
g5
-F21.175
+F46.626
sg6
-F88.909
+F89.504
sg7
-F295.406
+F296.634
sg8
F90.0
sg9
-F-353.353
+F-352.262
sg10
-F-132.027
+F-134.018
sg11
-F-131.439
+F-129.658
sg12
-F114.459
+F115.094
sg13
-F-75.057
+F-77.472
sg14
F-180.0
sg15
-F114.459
+F115.094
sbsb.
\ No newline at end of file
diff --git a/touchbot/nest_locations/allion/2round_14mm.p b/touchbot/nest_locations/allion/2round_14mm.p
index f0dad91..5826379 100644
--- a/touchbot/nest_locations/allion/2round_14mm.p
+++ b/touchbot/nest_locations/allion/2round_14mm.p
@@ -10,37 +10,37 @@
(dp4
S'ax_5'
p5
-F23.168
+F23.209
sS'yaw'
p6
-F90.994
+F91.468
sS'ax_3'
p7
-F318.807
+F318.144
sS'pitch'
p8
F90.0
sS'y'
p9
-F-394.085
+F-393.204
sS'x'
p10
-F-102.633
+F-102.476
sS'ax_4'
p11
-F-143.07
+F-142.241
sS'z'
p12
-F114.883
+F115.833
sS'ax_2'
p13
-F-84.745
+F-84.435
sS'roll'
p14
F-180.0
sS'ax_1'
p15
-F114.883
+F115.833
sbsS'name'
p16
S'2round_14mm'
@@ -50,10 +50,10 @@
I2
sS'extension2'
p19
-I2042
+I2216
sS'extension1'
p20
-I-100
+I-80
sS'slide_pos'
p21
(itouchbot.position
@@ -61,25 +61,25 @@
p22
(dp23
g5
-F23.168
+F23.209
sg6
-F90.994
+F91.468
sg7
-F318.807
+F318.144
sg8
F90.0
sg9
-F-394.085
+F-393.204
sg10
-F-132.63299999999998
+F-122.476
sg11
-F-143.07
+F-142.241
sg12
-F114.883
+F115.833
sg13
-F-84.745
+F-84.435
sg14
F-180.0
sg15
-F114.883
+F115.833
sbsb.
\ No newline at end of file
diff --git a/touchbot/nest_locations/allion/2round_8mm.p b/touchbot/nest_locations/allion/2round_8mm.p
index 33461a3..404a9ec 100644
--- a/touchbot/nest_locations/allion/2round_8mm.p
+++ b/touchbot/nest_locations/allion/2round_8mm.p
@@ -10,37 +10,37 @@
(dp4
S'ax_5'
p5
-F18.173
+F30.975
sS'yaw'
p6
-F88.533
+F90.4
sS'ax_3'
p7
-F251.322
+F251.891
sS'pitch'
p8
F90.0
sS'y'
p9
-F-233.318
+F-232.537
sS'x'
p10
-F-100.124
+F-106.197
sS'ax_4'
p11
-F-101.151
+F-98.277
sS'z'
p12
-F114.206
+F111.919
sS'ax_2'
p13
-F-61.638
+F-63.214
sS'roll'
p14
F-180.0
sS'ax_1'
p15
-F114.206
+F111.919
sbsS'name'
p16
S'2round_8mm'
@@ -50,10 +50,10 @@
I2
sS'extension2'
p19
-I1995
+I1606
sS'extension1'
p20
-I-70
+I-80
sS'slide_pos'
p21
(itouchbot.position
@@ -61,25 +61,25 @@
p22
(dp23
g5
-F18.173
+F30.975
sg6
-F88.533
+F90.4
sg7
-F251.322
+F251.891
sg8
F90.0
sg9
-F-233.318
+F-232.537
sg10
-F-130.124
+F-126.197
sg11
-F-101.151
+F-98.277
sg12
-F114.206
+F111.919
sg13
-F-61.638
+F-63.214
sg14
F-180.0
sg15
-F114.206
+F111.919
sbsb.
\ No newline at end of file
diff --git a/touchbot/nest_locations/allion/2round_9mm.p b/touchbot/nest_locations/allion/2round_9mm.p
index 24570cf..7a6ac4a 100644
--- a/touchbot/nest_locations/allion/2round_9mm.p
+++ b/touchbot/nest_locations/allion/2round_9mm.p
@@ -10,37 +10,37 @@
(dp4
S'ax_5'
p5
-F23.771
+F49.135
sS'yaw'
p6
-F91.807
+F89.21
sS'ax_3'
p7
-F264.671
+F265.418
sS'pitch'
p8
F90.0
sS'y'
p9
-F-274.336
+F-271.976
sS'x'
p10
-F-103.379
+F-114.911
sS'ax_4'
p11
-F-107.712
+F-108.455
sS'z'
p12
-F114.677
+F114.138
sS'ax_2'
p13
-F-65.151
+F-67.752
sS'roll'
p14
F-180.0
sS'ax_1'
p15
-F114.677
+F114.138
sbsS'name'
p16
S'2round_9mm'
@@ -50,10 +50,10 @@
I2
sS'extension2'
p19
-I2054
+I1971
sS'extension1'
p20
-I-100
+I-80
sS'slide_pos'
p21
(itouchbot.position
@@ -61,25 +61,25 @@
p22
(dp23
g5
-F23.771
+F49.135
sg6
-F91.807
+F89.21
sg7
-F264.671
+F265.418
sg8
F90.0
sg9
-F-274.336
+F-271.976
sg10
-F-133.37900000000002
+F-134.911
sg11
-F-107.712
+F-108.455
sg12
-F114.677
+F114.138
sg13
-F-65.151
+F-67.752
sg14
F-180.0
sg15
-F114.677
+F114.138
sbsb.
\ No newline at end of file
diff --git a/touchbot/nest_locations/allion/five_fingers.p b/touchbot/nest_locations/allion/five_fingers.p
index 8d8e038..1423604 100644
--- a/touchbot/nest_locations/allion/five_fingers.p
+++ b/touchbot/nest_locations/allion/five_fingers.p
@@ -10,37 +10,37 @@
(dp4
S'ax_5'
p5
-F5.876
+F7.827
sS'yaw'
p6
-F88.306
+F89.522
sS'ax_3'
p7
-F230.938
+F230.723
sS'pitch'
p8
F90.0
sS'y'
p9
-F-183.86
+F-182.963
sS'x'
p10
-F37.012
+F37.74
sS'ax_4'
p11
-F-124.404
+F-123.334
sS'z'
p12
-F113.501
+F115.659
sS'ax_2'
p13
-F-18.228
+F-17.867
sS'roll'
p14
F-180.0
sS'ax_1'
p15
-F113.501
+F115.659
sbsS'name'
p16
S'five_fingers'
@@ -49,10 +49,10 @@
p18
NsS'extension2'
p19
-I1833
+I2206
sS'extension1'
p20
-I1833
+I2206
sS'slide_pos'
p21
(itouchbot.position
@@ -60,25 +60,25 @@
p22
(dp23
g5
-F5.876
+F7.827
sg6
-F88.306
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\ No newline at end of file
diff --git a/touchbot/nest_locations/allion/four_fingers.p b/touchbot/nest_locations/allion/four_fingers.p
index edfb0ff..cefc322 100644
--- a/touchbot/nest_locations/allion/four_fingers.p
+++ b/touchbot/nest_locations/allion/four_fingers.p
@@ -10,37 +10,37 @@
(dp4
S'ax_5'
p5
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sS'yaw'
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sS'ax_3'
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sS'pitch'
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sS'y'
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sS'ax_4'
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sS'z'
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sS'ax_2'
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sS'ax_1'
p15
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sbsS'name'
p16
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@@ -49,10 +49,10 @@
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NsS'extension2'
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@@ -60,25 +60,25 @@
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sg10
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sg11
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sg12
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sg13
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sg14
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sg15
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sbsb.
\ No newline at end of file
diff --git a/touchbot/nest_locations/allion/palm_large.p b/touchbot/nest_locations/allion/palm_large.p
index f1bce99..6e2093a 100644
--- a/touchbot/nest_locations/allion/palm_large.p
+++ b/touchbot/nest_locations/allion/palm_large.p
@@ -10,37 +10,37 @@
(dp4
S'ax_5'
p5
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sS'yaw'
p6
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sS'ax_3'
p7
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sS'pitch'
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sS'y'
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sS'x'
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sS'ax_4'
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sS'z'
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sS'ax_2'
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sS'ax_1'
p15
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sbsS'name'
p16
S'palm_large'
@@ -49,10 +49,10 @@
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@@ -60,25 +60,25 @@
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sg11
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sg12
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sg14
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sg15
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sbsb.
\ No newline at end of file
diff --git a/touchbot/nest_locations/allion/palm_small.p b/touchbot/nest_locations/allion/palm_small.p
index 9ac176c..1f7a913 100644
--- a/touchbot/nest_locations/allion/palm_small.p
+++ b/touchbot/nest_locations/allion/palm_small.p
@@ -10,37 +10,37 @@
(dp4
S'ax_5'
p5
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sS'yaw'
p6
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sS'ax_3'
p7
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sS'pitch'
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sS'x'
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sS'ax_2'
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sS'roll'
p14
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sS'ax_1'
p15
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sbsS'name'
p16
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@@ -49,10 +49,10 @@
p18
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p19
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@@ -60,25 +60,25 @@
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sg14
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sg15
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sbsb.
\ No newline at end of file
diff --git a/touchbot/nest_locations/allion/three_fingers.p b/touchbot/nest_locations/allion/three_fingers.p
index 217859a..64a5cb8 100644
--- a/touchbot/nest_locations/allion/three_fingers.p
+++ b/touchbot/nest_locations/allion/three_fingers.p
@@ -10,37 +10,37 @@
(dp4
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p5
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sS'yaw'
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sS'pitch'
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p14
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sS'ax_1'
p15
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sbsS'name'
p16
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@@ -49,10 +49,10 @@
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@@ -60,25 +60,25 @@
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sg7
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sg11
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sg12
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sg13
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sg14
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sg15
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sbsb.
\ No newline at end of file
diff --git a/touchbot/nest_locations/allion/thumb_large.p b/touchbot/nest_locations/allion/thumb_large.p
index eed573a..3950810 100644
--- a/touchbot/nest_locations/allion/thumb_large.p
+++ b/touchbot/nest_locations/allion/thumb_large.p
@@ -10,37 +10,37 @@
(dp4
S'ax_5'
p5
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p6
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p7
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sS'pitch'
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p11
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p14
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sS'ax_1'
p15
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sbsS'name'
p16
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@@ -49,10 +49,10 @@
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@@ -60,25 +60,25 @@
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sg14
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sg15
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sbsb.
\ No newline at end of file
diff --git a/touchbot/nest_locations/allion/thumb_small.p b/touchbot/nest_locations/allion/thumb_small.p
index 00930b0..f0bd8fe 100644
--- a/touchbot/nest_locations/allion/thumb_small.p
+++ b/touchbot/nest_locations/allion/thumb_small.p
@@ -10,37 +10,37 @@
(dp4
S'ax_5'
p5
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p14
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sS'ax_1'
p15
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sbsS'name'
p16
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sbsb.
\ No newline at end of file
