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...	...	@@ -151,20 +151,15 @@
151	151
152	152	**Gripper**
153	153
154		-Assuming the gripper has been properly calibrated, The number below represents the opening at the tip. Fully closed should correspond to 0 degrees. In order to grasp an object, DO NOT have the servo rotate to a position which it cannot reach. In order to ensure the gripper servo does not go into error mode, the gripper should not exert much force on the object.
	154	+Assuming the gripper has been properly calibrated, The number below represents the opening at the tip. Fully closed should correspond to 0 degrees. We added a feature where the servo stop when it feel a current raising, this allows the user to ask for a full close and have a good grip on the item picked.
155	155
156		-1. Close the gripper to a position just slightly larger than the object
157		-1. Using the arrows, close the gripper until friction between the foam and the object prevent the object from falling out or moving.
158		-1. DO NOT apply too much pressure, or else the servo's current will spike and it will go into error mode and need to be reset.
159		-1. Use the last position as the "fully closed" position for the gripper for that object, in that specific orientation.
	156	+[[image:lss-flowarm-gripper-view.png||alt="lss-flowarm-gripper-view.jpg"]]
160	160
161		-[[image:lss-flowarm-gripper-view.jpg]]
162		-
163	163	**Wrist**
164	164
165	165	The wrist angle can be locked or unlocked. The field allows for user input (click the numbers) or fine adjustments using the arrows.
166	166
167		-[[image:lss-flowarm-wrist-view.jpg]]
	162	+[[image:lss-flowarm-wrist-view.png||alt="lss-flowarm-wrist-view.jpg"]]
168	168
169	169	**End Effector Position**
170	170