diff --git a/model/L2left.yaml b/model/L2left.yaml
index 2a49b8a..724b682 100644
--- a/model/L2left.yaml
+++ b/model/L2left.yaml
@@ -1,131 +1,131 @@
 orientations:
-  tdd: [-3.1416, -1.1694, 3.1414]
-  tdo: [-0.0000, -1.5669, -1.1137]
-  tdm: [-3.1416, -1.5625, 2.7801]
-  tdi: [0.0000, -1.5674, 1.1154]
-  tmo: [-3.1416, -1.5401, 1.9514]
-  tmm: [-3.1416, -1.5424, 2.0138]
-  tmi: [3.1416, -1.5396, -1.9478]
-  ptip2: [0.0000, 1.0943, 2.0352]
-  ptid2: [-3.1416, 1.4462, -0.7742]
-  ptmp2: [-3.1416, 1.4289, -2.4387]
-  ptmd2: [-3.1416, 1.2524, -2.3396]
-  ldd: [-3.1416, 1.3566, -3.1415]
-  ldi: [-0.0000, 1.5541, 1.3450]
-  ldo: [0.0000, 1.5542, -1.3449]
-  ldm: [-0.0000, 1.3580, -1.7202]
-  lmi: [-3.1416, 1.5620, 1.3267]
-  lmm: [0.0000, 1.5472, -0.2228]
-  lmo: [-3.1416, 1.5620, -1.3265]
-  rdm: [-0.0000, 1.3788, -2.6691]
-  rdi: [-0.0000, 1.5451, 1.2861]
-  rdd: [-3.1416, 1.3738, -3.1414]
-  rdo: [0.0000, 1.5448, -1.2857]
-  rmi: [-3.1416, 1.5571, 1.3320]
-  rmm: [3.1416, 1.2298, 2.5941]
-  rmo: [-3.1416, 1.5572, -1.3314]
-  rp: [-3.1416, 1.5250, -1.5697]
-  mp: [-3.1416, 1.5013, -1.5701]
-  mdd: [3.1416, 1.3214, 3.1416]
-  mdm: [-3.1416, 1.4337, -1.0757]
-  mdi: [-0.0000, 1.5494, 1.3128]
-  mdo: [0.0000, 1.5493, -1.3128]
-  idd: [3.1416, 1.3012, 3.1416]
-  idi: [-0.0000, 1.5563, 1.3043]
-  idm: [-0.0000, 1.3652, 0.1549]
-  mmi: [-3.1416, 1.5546, 1.3256]
-  mmm: [-3.1416, 1.5482, 0.5532]
-  mmo: [-3.1416, 1.5554, -1.3275]
-  imi: [-3.1416, 1.5506, 1.3019]
-  imm: [-0.0000, 1.3962, 2.6169]
-  imo: [-3.1416, 1.5506, -1.3020]
-  ido: [0.0000, 1.5586, -1.3327]
-  ipi: [-3.1416, 1.5273, -0.3181]
-  ip: [-3.1416, 1.5352, -2.3040]
-  lpo: [-3.1416, 1.5199, -2.8580]
-  lp: [-3.1416, 1.4853, -0.9000]
-  pi: [-3.1416, 1.5241, -1.0781]
-  ptid: [-3.1416, 1.5419, -0.2681]
-  ptip: [-0.0000, 1.4986, 2.0002]
-  ptmd: [-3.1416, 1.3411, -0.8504]
-  ptmp: [-0.0000, 1.4543, -1.6852]
-  ptod: [-0.0000, 1.5087, 1.4783]
-  ptop: [-0.0000, 1.2792, 1.6447]
-  pcip: [-3.1416, 1.2383, -1.2215]
-  pcim: [-0.0000, 1.4413, 1.1625]
-  pcid: [3.1416, 0.1937, 3.1192]
-  pcmd: [-3.1416, 1.5589, -1.8275]
-  pcmp: [-0.0000, 1.4073, 1.3594]
-  pco: [-0.0000, 1.3080, 0.7001]
-  pdii: [-3.1416, 1.4851, -0.7532]
-  pdi: [-0.0000, 0.8641, -2.9278]
-  pdm: [0.0000, 1.3203, -0.8243]
-  pdr: [-3.1416, 1.4753, -1.6614]
-  pdlo: [-0.0000, 1.4591, 0.8528]
-  pdl: [-0.0000, 1.5214, -2.0634]
+  tdd: [0.0000, 0.3494, 0.0005]
+  tdo: [0.0000, 1.3551, 1.1645]
+  tdm: [-0.0000, 1.1262, -0.0009]
+  tdi: [-0.0000, 1.3550, -1.1666]
+  tmo: [0.0000, 1.5101, 1.1902]
+  tmm: [0.0000, 1.4804, 0.0008]
+  tmi: [-0.0000, 1.5093, -1.1938]
+  ptip2: [3.1416, 1.0943, 1.1064]
+  ptid2: [0.0000, 1.4462, -2.3674]
+  ptmp2: [-0.0000, 1.4289, -0.7029]
+  ptmd2: [-0.0000, 1.2524, -0.8020]
+  ldd: [0.0000, 0.4559, -1.5709]
+  ldi: [0.0000, 1.5036, -2.9199]
+  ldo: [-0.0000, 1.5032, -0.2217]
+  ldm: [0.0000, 1.2748, -1.5709]
+  lmi: [0.0000, 1.5514, -2.8975]
+  lmm: [0.0000, 1.5441, -1.5709]
+  lmo: [-0.0000, 1.5516, -0.2443]
+  rdm: [0.0000, 1.3131, -1.5711]
+  rdi: [0.0000, 1.4991, -2.8550]
+  rdd: [0.0000, 0.4951, -1.5711]
+  rdo: [-0.0000, 1.4998, -0.2875]
+  rmi: [0.0000, 1.5436, -2.9028]
+  rmm: [0.0000, 1.4615, -1.5713]
+  rmo: [-0.0000, 1.5440, -0.2394]
+  rp: [0.0000, 1.4806, -1.5719]
+  mp: [0.0000, 1.4341, -1.5715]
+  mdd: [-0.0000, 0.3810, -1.5708]
+  mdm: [-0.0000, 1.2859, -1.5708]
+  mdi: [0.0000, 1.5004, -2.8848]
+  mdo: [-0.0000, 1.5007, -0.2570]
+  idd: [-0.0000, 0.3409, -1.5708]
+  idi: [0.0000, 1.4778, -2.8876]
+  idm: [-0.0000, 1.2176, -1.5708]
+  mmi: [0.0000, 1.5389, -2.8964]
+  mmm: [-0.0000, 1.4859, -1.5687]
+  mmo: [-0.0000, 1.5403, -0.2433]
+  imi: [0.0000, 1.5309, -2.8727]
+  imm: [0.0000, 1.4647, -1.5728]
+  imo: [-0.0000, 1.5310, -0.2688]
+  ido: [-0.0000, 1.4854, -0.2256]
+  ipi: [0.0000, 1.4850, -2.8235]
+  ip: [-0.0000, 1.5006, -0.8376]
+  lpo: [-0.0000, 1.4704, -0.2836]
+  lp: [0.0000, 1.4031, -2.2416]
+  pi: [0.0000, 1.5241, -2.0635]
+  ptid: [0.0000, 1.5419, -2.8735]
+  ptip: [3.1416, 1.4986, 1.1414]
+  ptmd: [0.0000, 1.3411, -2.2912]
+  ptmp: [-0.0000, 1.0920, -1.4063]
+  ptod: [0.0000, 1.5289, -1.7526]
+  ptop: [-0.0000, 1.3706, -1.2955]
+  pcip: [-3.1416, 1.3871, 1.7114]
+  pcim: [-0.0000, 1.3109, -1.4470]
+  pcid: [-3.1416, 1.5246, 1.5843]
+  pcmd: [0.0000, 1.4576, -1.7890]
+  pcmp: [-3.1416, 1.4073, 1.7822]
+  pco: [-3.1416, 1.3080, 2.4415]
+  pdii: [0.0000, 1.4851, -2.3884]
+  pdi: [-3.1416, 1.4792, 1.6361]
+  pdm: [-3.1416, 1.5160, 1.5957]
+  pdr: [3.1416, 1.4863, 1.5159]
+  pdlo: [-3.1416, 1.4591, 2.2888]
+  pdl: [3.1416, 1.5443, 1.4639]
 
 positions:
-  tdd: [-0.0007, -0.0000, 0.0013]
-  tdo: [-0.0006, -0.0005, -0.0001]
-  tdm: [-0.0008, 0.0000, 0.0001]
-  tdi: [-0.0006, 0.0005, -0.0001]
-  tmo: [-0.0004, -0.0005, -0.0000]
-  tmm: [-0.0006, -0.0000, -0.0000]
-  tmi: [-0.0004, 0.0005, -0.0000]
-  ptip2: [-0.1035, -0.0140, 0.0149]
-  ptid2: [-0.1081, -0.0148, 0.0346]
-  ptmp2: [-0.0816, -0.0093, 0.0279]
-  ptmd2: [-0.0876, -0.0101, 0.0439]
-  ldd: [0.0007, 0.0000, 0.0014]
-  ldi: [0.0005, -0.0004, -0.0000]
-  ldo: [0.0005, 0.0004, -0.0001]
-  ldm: [0.0007, -0.0000, 0.0001]
-  lmi: [-0.0002, 0.0004, -0.0015]
-  lmm: [-0.0003, -0.0000, -0.0015]
-  lmo: [-0.0002, -0.0004, -0.0015]
-  rdm: [0.0008, -0.0000, 0.0000]
-  rdi: [0.0006, -0.0004, -0.0000]
-  rdd: [0.0008, -0.0000, 0.0016]
-  rdo: [0.0006, 0.0004, -0.0000]
-  rmi: [-0.0003, 0.0004, -0.0015]
-  rmm: [-0.0005, 0.0000, -0.0015]
-  rmo: [-0.0003, -0.0004, -0.0015]
-  rp: [0.0000, -0.0005, -0.0000]
-  mp: [-0.0000, -0.0005, -0.0000]
-  mdd: [0.0008, -0.0000, 0.0017]
-  mdm: [0.0008, 0.0000, 0.0000]
-  mdi: [0.0006, -0.0004, -0.0000]
-  mdo: [0.0006, 0.0004, -0.0000]
-  idd: [0.0007, -0.0000, 0.0016]
-  idi: [0.0006, -0.0004, -0.0000]
-  idm: [0.0008, 0.0000, 0.0000]
-  mmi: [-0.0003, 0.0005, -0.0015]
-  mmm: [-0.0005, -0.0000, -0.0015]
-  mmo: [-0.0003, -0.0005, -0.0015]
-  imi: [-0.0003, 0.0005, -0.0015]
-  imm: [-0.0005, -0.0000, -0.0015]
-  imo: [-0.0003, -0.0005, -0.0015]
-  ido: [0.0006, 0.0004, -0.0000]
-  ipi: [-0.0005, -0.0004, -0.0000]
-  ip: [0.0003, -0.0005, -0.0000]
-  lpo: [0.0004, -0.0003, -0.0005]
-  lp: [-0.0002, -0.0004, -0.0005]
-  pi: [-0.0974, -0.0138, 0.0096]
-  ptid: [-0.1033, -0.0142, -0.0354]
-  ptip: [-0.0919, -0.0281, -0.0458]
-  ptmd: [-0.0994, -0.0169, -0.0206]
-  ptmp: [-0.0835, -0.0198, -0.0287]
-  ptod: [-0.0938, -0.0142, -0.0069]
-  ptop: [-0.0827, -0.0140, -0.0087]
-  pcip: [-0.0607, -0.0176, -0.0525]
-  pcim: [-0.0580, -0.0141, -0.0316]
-  pcid: [-0.0628, -0.0117, -0.0010]
-  pcmd: [-0.0427, -0.0130, -0.0213]
-  pcmp: [-0.0384, -0.0186, -0.0470]
-  pco: [-0.0260, -0.0131, -0.0402]
-  pdii: [-0.0989, -0.0139, 0.0285]
-  pdi: [-0.0846, -0.0148, 0.0303]
-  pdm: [-0.0656, -0.0137, 0.0286]
-  pdr: [-0.0458, -0.0135, 0.0197]
-  pdlo: [-0.0169, -0.0136, -0.0023]
-  pdl: [-0.0299, -0.0141, 0.0082]
+  tdd: [-0.0018, 0.0000, 0.0291]
+  tdo: [0.0037, 0.0099, 0.0167]
+  tdm: [0.0078, -0.0000, 0.0196]
+  tdi: [0.0037, -0.0099, 0.0167]
+  tmo: [0.0071, 0.0104, 0.0273]
+  tmm: [0.0134, 0.0000, 0.0276]
+  tmi: [0.0071, -0.0104, 0.0273]
+  ptip2: [-0.0027, -0.0142, 0.0049]
+  ptid2: [-0.0073, -0.0150, 0.0246]
+  ptmp2: [0.0192, -0.0095, 0.0179]
+  ptmd2: [0.0132, -0.0103, 0.0339]
+  ldd: [0.0000, -0.0005, 0.0218]
+  ldi: [-0.0077, -0.0023, 0.0121]
+  ldo: [0.0077, -0.0023, 0.0121]
+  ldm: [-0.0000, -0.0062, 0.0145]
+  lmi: [-0.0078, -0.0030, 0.0101]
+  lmm: [-0.0000, -0.0078, 0.0104]
+  lmo: [0.0078, -0.0030, 0.0101]
+  rdm: [0.0000, -0.0080, 0.0155]
+  rdi: [-0.0085, -0.0039, 0.0131]
+  rdd: [-0.0000, -0.0017, 0.0234]
+  rdo: [0.0085, -0.0039, 0.0131]
+  rmi: [-0.0085, -0.0055, 0.0160]
+  rmm: [-0.0000, -0.0117, 0.0166]
+  rmo: [0.0085, -0.0056, 0.0160]
+  rp: [0.0000, -0.0089, 0.0229]
+  mp: [-0.0000, -0.0092, 0.0228]
+  mdd: [-0.0000, -0.0007, 0.0237]
+  mdm: [0.0000, -0.0084, 0.0158]
+  mdi: [-0.0085, -0.0039, 0.0131]
+  mdo: [0.0085, -0.0039, 0.0131]
+  idd: [-0.0000, 0.0002, 0.0227]
+  idi: [-0.0085, -0.0032, 0.0127]
+  idm: [-0.0000, -0.0076, 0.0153]
+  mmi: [-0.0087, -0.0054, 0.0161]
+  mmm: [0.0000, -0.0118, 0.0166]
+  mmo: [0.0087, -0.0054, 0.0161]
+  imi: [-0.0087, -0.0050, 0.0129]
+  imm: [0.0000, -0.0109, 0.0134]
+  imo: [0.0087, -0.0050, 0.0129]
+  ido: [0.0085, -0.0029, 0.0124]
+  ipi: [-0.0094, -0.0072, 0.0230]
+  ip: [0.0054, -0.0103, 0.0231]
+  lpo: [0.0083, -0.0053, 0.0185]
+  lp: [-0.0041, -0.0084, 0.0188]
+  pi: [-0.0343, -0.0140, 0.0731]
+  ptid: [-0.0401, -0.0145, 0.0282]
+  ptip: [-0.0288, -0.0283, 0.0178]
+  ptmd: [-0.0363, -0.0172, 0.0430]
+  ptmp: [-0.0196, -0.0249, 0.0366]
+  ptod: [-0.0311, -0.0172, 0.0569]
+  ptop: [-0.0189, -0.0166, 0.0551]
+  pcip: [0.0030, -0.0214, 0.0102]
+  pcim: [0.0057, -0.0155, 0.0334]
+  pcid: [0.0017, -0.0135, 0.0614]
+  pcmd: [0.0205, -0.0148, 0.0448]
+  pcmp: [0.0247, -0.0189, 0.0166]
+  pco: [0.0371, -0.0133, 0.0234]
+  pdii: [-0.0358, -0.0141, 0.0920]
+  pdi: [-0.0213, -0.0178, 0.0937]
+  pdm: [-0.0023, -0.0162, 0.0921]
+  pdr: [0.0174, -0.0157, 0.0831]
+  pdlo: [0.0462, -0.0139, 0.0613]
+  pdl: [0.0328, -0.0166, 0.0718]
diff --git a/model/L2right.yaml b/model/L2right.yaml
index cccd70e..c45b6c7 100644
--- a/model/L2right.yaml
+++ b/model/L2right.yaml
@@ -1,131 +1,131 @@
 orientations:
-  tdd: [-3.1416, 1.1694, 3.1414]
-  tdo: [-0.0000, 1.5669, -1.1137]
-  tdm: [-3.1416, 1.5625, 2.7801]
-  tdi: [0.0000, 1.5674, 1.1154]
-  tmo: [-3.1416, 1.5401, 1.9514]
-  tmm: [-3.1416, 1.5424, 2.0138]
-  tmi: [3.1416, 1.5396, -1.9478]
-  ptip2: [0.0000, 1.0943, 2.0352]
-  ptid2: [3.1416, 1.4462, -0.7742]
-  ptmp2: [3.1416, 1.4289, -2.4387]
-  ptmd2: [3.1416, 1.2524, -2.3396]
-  ldd: [3.1416, 1.3566, -3.1415]
-  ldi: [0.0000, 1.5541, 1.3450]
-  ldo: [-0.0000, 1.5542, -1.3449]
-  ldm: [0.0000, 1.3580, -1.7202]
-  lmi: [3.1416, 1.5620, 1.3267]
-  lmm: [-0.0000, 1.5472, -0.2228]
-  lmo: [3.1416, 1.5620, -1.3265]
-  rdm: [0.0000, 1.3788, -2.6691]
-  rdi: [0.0000, 1.5451, 1.2861]
-  rdd: [3.1416, 1.3738, -3.1414]
-  rdo: [-0.0000, 1.5448, -1.2857]
-  rmi: [3.1416, 1.5571, 1.3320]
-  rmm: [-3.1416, 1.2298, 2.5941]
-  rmo: [3.1416, 1.5572, -1.3314]
-  rp: [3.1416, 1.5250, -1.5697]
-  mp: [3.1416, 1.5013, -1.5701]
-  mdd: [-3.1416, 1.3214, 3.1416]
-  mdm: [3.1416, 1.4337, -1.0757]
-  mdi: [0.0000, 1.5494, 1.3128]
-  mdo: [-0.0000, 1.5493, -1.3128]
-  idd: [-3.1416, 1.3012, 3.1416]
-  idi: [0.0000, 1.5563, 1.3043]
-  idm: [0.0000, 1.3652, 0.1549]
-  mmi: [3.1416, 1.5546, 1.3256]
-  mmm: [3.1416, 1.5482, 0.5532]
-  mmo: [3.1416, 1.5554, -1.3275]
-  imi: [3.1416, 1.5506, 1.3019]
-  imm: [0.0000, 1.3962, 2.6169]
-  imo: [3.1416, 1.5506, -1.3020]
-  ido: [-0.0000, 1.5586, -1.3327]
-  ipi: [3.1416, 1.5273, -0.3181]
-  ip: [3.1416, 1.5352, -2.3040]
-  lpo: [3.1416, 1.5199, -2.8580]
-  lp: [3.1416, 1.4853, -0.9000]
-  pi: [3.1416, 1.5241, -1.0781]
-  ptid: [3.1416, 1.5419, -0.2681]
-  ptip: [0.0000, 1.4986, 2.0002]
-  ptmd: [3.1416, 1.3411, -0.8504]
-  ptmp: [0.0000, 1.4543, -1.6852]
-  ptod: [0.0000, 1.5087, 1.4783]
-  ptop: [0.0000, 1.2792, 1.6447]
-  pcip: [3.1416, 1.2383, -1.2215]
-  pcim: [0.0000, 1.4413, 1.1625]
-  pcid: [-3.1416, 0.1937, 3.1192]
-  pcmd: [3.1416, 1.5589, -1.8275]
-  pcmp: [0.0000, 1.4073, 1.3594]
-  pco: [0.0000, 1.3080, 0.7001]
-  pdii: [3.1416, 1.4851, -0.7532]
-  pdi: [0.0000, 0.8641, -2.9278]
-  pdm: [-0.0000, 1.3203, -0.8243]
-  pdr: [3.1416, 1.4753, -1.6614]
-  pdlo: [0.0000, 1.4591, 0.8528]
-  pdl: [0.0000, 1.5214, -2.0634]
+  tdd: [0.0000, 0.3494, 3.1411]
+  tdo: [0.0000, 1.3551, 1.9771]
+  tdm: [0.0000, 1.1262, -3.1407]
+  tdi: [0.0000, 1.3550, -1.9750]
+  tmo: [0.0000, 1.5101, 1.9514]
+  tmm: [0.0000, 1.4804, 3.1408]
+  tmi: [0.0000, 1.5093, -1.9478]
+  ptip2: [-3.1416, 1.0943, 2.0352]
+  ptid2: [-0.0000, 1.4462, -0.7742]
+  ptmp2: [0.0000, 1.4289, -2.4387]
+  ptmd2: [0.0000, 1.2524, -2.3396]
+  ldd: [-0.0000, 0.4559, -1.5706]
+  ldi: [-0.0000, 1.5036, -0.2217]
+  ldo: [0.0000, 1.5032, -2.9199]
+  ldm: [-0.0000, 1.2748, -1.5706]
+  lmi: [-0.0000, 1.5514, -0.2441]
+  lmm: [-0.0000, 1.5441, -1.5707]
+  lmo: [0.0000, 1.5516, -2.8973]
+  rdm: [-0.0000, 1.3131, -1.5705]
+  rdi: [-0.0000, 1.4991, -0.2866]
+  rdd: [-0.0000, 0.4951, -1.5705]
+  rdo: [0.0000, 1.4998, -2.8541]
+  rmi: [-0.0000, 1.5436, -0.2388]
+  rmm: [-0.0000, 1.4615, -1.5703]
+  rmo: [0.0000, 1.5440, -2.9022]
+  rp: [-0.0000, 1.4806, -1.5697]
+  mp: [-0.0000, 1.4341, -1.5701]
+  mdd: [0.0000, 0.3810, -1.5708]
+  mdm: [0.0000, 1.2859, -1.5708]
+  mdi: [-0.0000, 1.5004, -0.2568]
+  mdo: [0.0000, 1.5007, -2.8846]
+  idd: [0.0000, 0.3409, -1.5708]
+  idi: [-0.0000, 1.4778, -0.2540]
+  idm: [0.0000, 1.2176, -1.5708]
+  mmi: [-0.0000, 1.5389, -0.2452]
+  mmm: [0.0000, 1.4859, -1.5728]
+  mmo: [0.0000, 1.5403, -2.8983]
+  imi: [-0.0000, 1.5309, -0.2689]
+  imm: [0.0000, 1.4647, -1.5709]
+  imo: [0.0000, 1.5310, -2.8728]
+  ido: [0.0000, 1.4854, -2.9160]
+  ipi: [-0.0000, 1.4850, -0.3181]
+  ip: [0.0000, 1.5006, -2.3040]
+  lpo: [0.0000, 1.4704, -2.8580]
+  lp: [-0.0000, 1.4031, -0.9000]
+  pi: [-0.0000, 1.5241, -1.0781]
+  ptid: [-0.0000, 1.5419, -0.2681]
+  ptip: [-3.1416, 1.4986, 2.0002]
+  ptmd: [-0.0000, 1.3411, -0.8504]
+  ptmp: [0.0000, 1.0920, -1.7353]
+  ptod: [-0.0000, 1.5289, -1.3890]
+  ptop: [0.0000, 1.3706, -1.8461]
+  pcip: [3.1416, 1.3871, 1.4302]
+  pcim: [0.0000, 1.3109, -1.6946]
+  pcid: [3.1416, 1.5246, 1.5573]
+  pcmd: [-0.0000, 1.4576, -1.3526]
+  pcmp: [3.1416, 1.4073, 1.3594]
+  pco: [3.1416, 1.3080, 0.7001]
+  pdii: [-0.0000, 1.4851, -0.7532]
+  pdi: [3.1416, 1.4792, 1.5055]
+  pdm: [3.1416, 1.5160, 1.5459]
+  pdr: [-3.1416, 1.4863, 1.6257]
+  pdlo: [3.1416, 1.4591, 0.8528]
+  pdl: [-3.1416, 1.5443, 1.6777]
 
 positions:
-  tdd: [-0.0007, 0.0000, 0.0013]
-  tdo: [-0.0006, 0.0005, -0.0001]
-  tdm: [-0.0008, -0.0000, 0.0001]
-  tdi: [-0.0006, -0.0005, -0.0001]
-  tmo: [-0.0004, 0.0005, -0.0000]
-  tmm: [-0.0006, 0.0000, -0.0000]
-  tmi: [-0.0004, -0.0005, -0.0000]
-  ptip2: [0.1035, -0.0140, 0.0149]
-  ptid2: [0.1081, -0.0148, 0.0346]
-  ptmp2: [0.0816, -0.0093, 0.0279]
-  ptmd2: [0.0876, -0.0101, 0.0439]
-  ldd: [-0.0007, 0.0000, 0.0014]
-  ldi: [-0.0005, -0.0004, -0.0000]
-  ldo: [-0.0005, 0.0004, -0.0001]
-  ldm: [-0.0007, -0.0000, 0.0001]
-  lmi: [0.0002, 0.0004, -0.0015]
-  lmm: [0.0003, -0.0000, -0.0015]
-  lmo: [0.0002, -0.0004, -0.0015]
-  rdm: [-0.0008, -0.0000, 0.0000]
-  rdi: [-0.0006, -0.0004, -0.0000]
-  rdd: [-0.0008, -0.0000, 0.0016]
-  rdo: [-0.0006, 0.0004, -0.0000]
-  rmi: [0.0003, 0.0004, -0.0015]
-  rmm: [0.0005, 0.0000, -0.0015]
-  rmo: [0.0003, -0.0004, -0.0015]
-  rp: [-0.0000, -0.0005, -0.0000]
-  mp: [0.0000, -0.0005, -0.0000]
-  mdd: [-0.0008, -0.0000, 0.0017]
-  mdm: [-0.0008, 0.0000, 0.0000]
-  mdi: [-0.0006, -0.0004, -0.0000]
-  mdo: [-0.0006, 0.0004, -0.0000]
-  idd: [-0.0007, -0.0000, 0.0016]
-  idi: [-0.0006, -0.0004, -0.0000]
-  idm: [-0.0008, 0.0000, 0.0000]
-  mmi: [0.0003, 0.0005, -0.0015]
-  mmm: [0.0005, -0.0000, -0.0015]
-  mmo: [0.0003, -0.0005, -0.0015]
-  imi: [0.0003, 0.0005, -0.0015]
-  imm: [0.0005, -0.0000, -0.0015]
-  imo: [0.0003, -0.0005, -0.0015]
-  ido: [-0.0006, 0.0004, -0.0000]
-  ipi: [0.0005, -0.0004, -0.0000]
-  ip: [-0.0003, -0.0005, -0.0000]
-  lpo: [-0.0004, -0.0003, -0.0005]
-  lp: [0.0002, -0.0004, -0.0005]
-  pi: [0.0974, -0.0138, 0.0096]
-  ptid: [0.1033, -0.0142, -0.0354]
-  ptip: [0.0919, -0.0281, -0.0458]
-  ptmd: [0.0994, -0.0169, -0.0206]
-  ptmp: [0.0835, -0.0198, -0.0287]
-  ptod: [0.0938, -0.0142, -0.0069]
-  ptop: [0.0827, -0.0140, -0.0087]
-  pcip: [0.0607, -0.0176, -0.0525]
-  pcim: [0.0580, -0.0141, -0.0316]
-  pcid: [0.0628, -0.0117, -0.0010]
-  pcmd: [0.0427, -0.0130, -0.0213]
-  pcmp: [0.0384, -0.0186, -0.0470]
-  pco: [0.0260, -0.0131, -0.0402]
-  pdii: [0.0989, -0.0139, 0.0285]
-  pdi: [0.0846, -0.0148, 0.0303]
-  pdm: [0.0656, -0.0137, 0.0286]
-  pdr: [0.0458, -0.0135, 0.0197]
-  pdlo: [0.0169, -0.0136, -0.0023]
-  pdl: [0.0299, -0.0141, 0.0082]
+  tdd: [0.0018, 0.0000, 0.0291]
+  tdo: [-0.0037, 0.0099, 0.0167]
+  tdm: [-0.0078, -0.0000, 0.0196]
+  tdi: [-0.0037, -0.0099, 0.0167]
+  tmo: [-0.0071, 0.0104, 0.0273]
+  tmm: [-0.0134, 0.0000, 0.0276]
+  tmi: [-0.0071, -0.0104, 0.0273]
+  ptip2: [0.0027, -0.0142, 0.0049]
+  ptid2: [0.0073, -0.0150, 0.0246]
+  ptmp2: [-0.0192, -0.0095, 0.0179]
+  ptmd2: [-0.0132, -0.0103, 0.0339]
+  ldd: [-0.0000, -0.0005, 0.0218]
+  ldi: [0.0077, -0.0023, 0.0121]
+  ldo: [-0.0077, -0.0023, 0.0121]
+  ldm: [0.0000, -0.0062, 0.0145]
+  lmi: [0.0078, -0.0030, 0.0101]
+  lmm: [0.0000, -0.0078, 0.0104]
+  lmo: [-0.0078, -0.0030, 0.0101]
+  rdm: [-0.0000, -0.0080, 0.0155]
+  rdi: [0.0085, -0.0039, 0.0131]
+  rdd: [0.0000, -0.0017, 0.0234]
+  rdo: [-0.0085, -0.0039, 0.0131]
+  rmi: [0.0085, -0.0055, 0.0160]
+  rmm: [0.0000, -0.0117, 0.0166]
+  rmo: [-0.0085, -0.0056, 0.0160]
+  rp: [-0.0000, -0.0089, 0.0229]
+  mp: [0.0000, -0.0092, 0.0228]
+  mdd: [0.0000, -0.0007, 0.0237]
+  mdm: [-0.0000, -0.0084, 0.0158]
+  mdi: [0.0085, -0.0039, 0.0131]
+  mdo: [-0.0085, -0.0039, 0.0131]
+  idd: [0.0000, 0.0002, 0.0227]
+  idi: [0.0085, -0.0032, 0.0127]
+  idm: [0.0000, -0.0076, 0.0153]
+  mmi: [0.0087, -0.0054, 0.0161]
+  mmm: [-0.0000, -0.0118, 0.0166]
+  mmo: [-0.0087, -0.0054, 0.0161]
+  imi: [0.0087, -0.0050, 0.0129]
+  imm: [-0.0000, -0.0109, 0.0134]
+  imo: [-0.0087, -0.0050, 0.0129]
+  ido: [-0.0085, -0.0029, 0.0124]
+  ipi: [0.0094, -0.0072, 0.0230]
+  ip: [-0.0054, -0.0103, 0.0231]
+  lpo: [-0.0083, -0.0053, 0.0185]
+  lp: [0.0041, -0.0084, 0.0188]
+  pi: [0.0343, -0.0140, 0.0731]
+  ptid: [0.0401, -0.0145, 0.0282]
+  ptip: [0.0288, -0.0283, 0.0178]
+  ptmd: [0.0363, -0.0172, 0.0430]
+  ptmp: [0.0196, -0.0249, 0.0366]
+  ptod: [0.0311, -0.0172, 0.0569]
+  ptop: [0.0189, -0.0166, 0.0551]
+  pcip: [-0.0030, -0.0214, 0.0102]
+  pcim: [-0.0057, -0.0155, 0.0334]
+  pcid: [-0.0017, -0.0135, 0.0614]
+  pcmd: [-0.0205, -0.0148, 0.0448]
+  pcmp: [-0.0247, -0.0189, 0.0166]
+  pco: [-0.0371, -0.0133, 0.0234]
+  pdii: [0.0358, -0.0141, 0.0920]
+  pdi: [0.0213, -0.0178, 0.0937]
+  pdm: [0.0023, -0.0162, 0.0921]
+  pdr: [-0.0174, -0.0157, 0.0831]
+  pdlo: [-0.0462, -0.0139, 0.0613]
+  pdl: [-0.0328, -0.0166, 0.0718]
diff --git a/model/L3right.yaml b/model/L3right.yaml
index 5fdadd4..3452498 100644
--- a/model/L3right.yaml
+++ b/model/L3right.yaml
@@ -24,7 +24,7 @@ orientations:
   rmi: [-0.0000, 1.5436, -0.2388]
   rmm: [-0.0000, 1.4615, -1.5703]
   rmo: [0.0000, 1.5440, -2.9022]
-  rp: [-0.0000, 1.5250, -1.5697]
+  rp: [-0.0000, 1.4806, -1.5697]
   mp: [-0.0000, 1.4341, -1.5701]
   mdd: [0.0000, 0.3810, -1.5708]
   mdm: [0.0000, 1.2859, -1.5708]
@@ -52,14 +52,14 @@ orientations:
   ptid: [-0.0000, 1.5618, -0.3517]
   pdr: [-3.1416, 1.4828, 1.6126]
   pdm: [3.1416, 1.4936, 1.5391]
-  pdlo: [0.0000, 1.4527, 0.6232]
+  pdlo: [3.1416, 1.4527, 0.6232]
   pdl: [-3.1416, 1.5335, 1.6168]
-  pcmp: [0.0000, 1.3746, 0.7677]
+  pcmp: [3.1416, 1.3746, 0.7677]
   pcmd: [-0.0000, 1.5450, -1.4110]
-  pcip: [0.0000, 1.5056, 1.2905]
+  pcip: [3.1416, 1.5056, 1.2905]
   pcim: [-0.0000, 1.3035, -1.4202]
   pcid: [3.1416, 1.5032, 1.5522]
-  pdii: [3.1416, 1.5156, -0.6980]
+  pdii: [-0.0000, 1.5156, -0.6980]
   pdi: [-3.1416, 1.4828, 1.5997]
 
 positions:
@@ -88,8 +88,8 @@ positions:
   rmi: [0.0085, -0.0055, 0.0160]
   rmm: [0.0000, -0.0117, 0.0166]
   rmo: [-0.0085, -0.0056, 0.0160]
-  rp: [-0.0000, -0.0005, 0.0024]
-  mp: [0.0000, -0.0092, -0.0004]
+  rp: [-0.0000, -0.0089, 0.0229]
+  mp: [0.0000, -0.0092, 0.0228]
   mdd: [0.0000, -0.0007, 0.0237]
   mdm: [-0.0000, -0.0084, 0.0158]
   mdi: [0.0085, -0.0039, 0.0131]
diff --git a/model/meshes/taxels/L1/pcid.stl b/model/meshes/taxels/L1/pcid.stl
index 8524501..462b8da 100644
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diff --git a/model/meshes/taxels/L1/pcim.stl b/model/meshes/taxels/L1/pcim.stl
index 832bbed..7b90877 100644
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index 5738d1c..2d01da0 100644
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index 763fa41..fb46a9d 100644
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index 4a0d95a..e11586b 100644
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index a12fee8..4e4c92f 100644
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index d5af9fc..6fafa3f 100644
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index 1f49280..b04d7aa 100644
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