Setup in/out
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New values (2023 Nov 22)
Most recent reference motor positions: Reference Motor Positions
Old values/procedure
Taken from: https://docs.google.com/document/d/1tPpJLqZOzpGEWFv78RUuRDg0SSzgegZMacqA98gymrA/edit?usp=sharing
Collision parameters
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