diff --git a/openpnp/machine.xml b/openpnp/machine.xml
index 810dbd0e5..90b640ce5 100644
--- a/openpnp/machine.xml
+++ b/openpnp/machine.xml
@@ -1,7 +1,7 @@
 <openpnp-machine>
    <machine class="org.openpnp.machine.reference.ReferenceMachine" speed="1.0" auto-tool-select="true" safe-Z-park="true">
       <axes>
-         <axis class="org.openpnp.machine.reference.axis.ReferenceControllerAxis" id="AXS169824381580efcb" name="x" type="X" driver-id="DRV16982438146c1dd4" letter="X" backlash-compensation-method="OneSidedPositioning" backlash-speed-factor="0.25" limit-rotation="false" wrap-around-rotation="false" invert-linear-rotational="false" soft-limit-low-enabled="true" soft-limit-high-enabled="true" safe-zone-low-enabled="false" safe-zone-high-enabled="false" version="2.0">
+         <axis class="org.openpnp.machine.reference.axis.ReferenceControllerAxis" id="AXS169824381580efcb" name="x" type="X" driver-id="DRV16982438146c1dd4" letter="X" backlash-compensation-method="OneSidedPositioning" backlash-speed-factor="0.5" limit-rotation="false" wrap-around-rotation="false" invert-linear-rotational="false" soft-limit-low-enabled="true" soft-limit-high-enabled="true" safe-zone-low-enabled="false" safe-zone-high-enabled="false" version="2.0">
             <home-coordinate value="0.0" units="Millimeters"/>
             <acceptable-tolerance value="0.03" units="Millimeters"/>
             <backlash-offset value="0.1" units="Millimeters"/>
@@ -103,7 +103,7 @@
                </data-scale>
             </backlash-speed-test-graph>
          </axis>
-         <axis class="org.openpnp.machine.reference.axis.ReferenceControllerAxis" id="AXS16982438158c4660" name="y" type="Y" driver-id="DRV16982438146c1dd4" letter="Y" backlash-compensation-method="OneSidedPositioning" backlash-speed-factor="0.25" limit-rotation="false" wrap-around-rotation="false" invert-linear-rotational="false" soft-limit-low-enabled="true" soft-limit-high-enabled="true" safe-zone-low-enabled="false" safe-zone-high-enabled="false" version="2.0">
+         <axis class="org.openpnp.machine.reference.axis.ReferenceControllerAxis" id="AXS16982438158c4660" name="y" type="Y" driver-id="DRV16982438146c1dd4" letter="Y" backlash-compensation-method="OneSidedPositioning" backlash-speed-factor="0.5" limit-rotation="false" wrap-around-rotation="false" invert-linear-rotational="false" soft-limit-low-enabled="true" soft-limit-high-enabled="true" safe-zone-low-enabled="false" safe-zone-high-enabled="false" version="2.0">
             <home-coordinate value="0.0" units="Millimeters"/>
             <acceptable-tolerance value="0.03" units="Millimeters"/>
             <backlash-offset value="0.1" units="Millimeters"/>
@@ -212,8 +212,8 @@
             <sneak-up-offset value="0.0" units="Millimeters"/>
             <soft-limit-low value="0.0" units="Millimeters"/>
             <soft-limit-high value="0.0" units="Millimeters"/>
-            <safe-zone-low value="30.0" units="Millimeters"/>
-            <safe-zone-high value="33.0" units="Millimeters"/>
+            <safe-zone-low value="26.5" units="Millimeters"/>
+            <safe-zone-high value="36.5" units="Millimeters"/>
             <feedrate-per-second value="200.0" units="Millimeters"/>
             <acceleration-per-second-2 value="1000.0" units="Millimeters"/>
             <jerk-per-second-3 value="0.0" units="Millimeters"/>
@@ -244,8 +244,8 @@
             <acceptable-tolerance value="0.025" units="Millimeters"/>
             <backlash-offset value="0.0" units="Millimeters"/>
             <sneak-up-offset value="0.0" units="Millimeters"/>
-            <soft-limit-low value="-180.0" units="Millimeters"/>
-            <soft-limit-high value="180.0" units="Millimeters"/>
+            <soft-limit-low value="-200.0" units="Millimeters"/>
+            <soft-limit-high value="200.0" units="Millimeters"/>
             <safe-zone-low value="0.0" units="Millimeters"/>
             <safe-zone-high value="0.0" units="Millimeters"/>
             <feedrate-per-second value="50000.0" units="Millimeters"/>
@@ -272,8 +272,8 @@
                      <string>TIP16f0412fef58a913</string>
                      <string>TIP16b1a61b09e0c660</string>
                   </compatible-nozzle-tip-ids>
-                  <head-offsets units="Millimeters" x="-22.811" y="-73.162" z="0.0" rotation="0.0"/>
-                  <manual-nozzle-tip-change-location units="Millimeters" x="27.5" y="-70.0" z="31.5" rotation="0.0"/>
+                  <head-offsets units="Millimeters" x="-23.444" y="-64.888" z="0.0" rotation="0.0"/>
+                  <manual-nozzle-tip-change-location units="Millimeters" x="26.867" y="-61.726" z="31.5" rotation="0.0"/>
                   <vacuum-sense-actuator-name>VAC1</vacuum-sense-actuator-name>
                   <vacuum-actuator-name>VAC1</vacuum-actuator-name>
                </nozzle>
@@ -286,8 +286,8 @@
                      <string>NT1</string>
                      <string>TIP16b1a61b09e0c660</string>
                   </compatible-nozzle-tip-ids>
-                  <head-offsets units="Millimeters" x="24.016" y="-72.561" z="0.0" rotation="0.0"/>
-                  <manual-nozzle-tip-change-location units="Millimeters" x="27.5" y="-70.0" z="31.5" rotation="0.0"/>
+                  <head-offsets units="Millimeters" x="23.922" y="-64.393" z="0.0" rotation="0.0"/>
+                  <manual-nozzle-tip-change-location units="Millimeters" x="27.406000000000002" y="-61.831999999999994" z="31.5" rotation="0.0"/>
                   <vacuum-sense-actuator-name>VAC2</vacuum-sense-actuator-name>
                   <vacuum-actuator-name>VAC2</vacuum-actuator-name>
                </nozzle>
@@ -301,14 +301,14 @@
                </actuator>
             </actuators>
             <cameras>
-               <camera class="org.openpnp.machine.reference.camera.OpenPnpCaptureCamera" axis-X-id="AXS169824381580efcb" axis-Y-id="AXS16982438158c4660" axis-Z-id="AXS171084434ad04ba5" axis-rotation-id="AXS171084470fa6d522" id="CAM1607555396816" name="Top" looking="Down" auto-visible="false" shown-in-multi-camera-view="true" before-capture-light-on="true" user-action-light-on="true" after-capture-light-off="false" anti-glare-light-off="false" enable-units-per-pixel-3-d="false" auto-view-plane-z="false" max-relative-motion="0.05" min-motion-template-match-score="0.9" min-contrast-range="16.0" settle-method="FixedTime" settle-time-ms="1000" settle-timeout-ms="500" settle-threshold="0.0" settle-debounce="0" settle-full-color="false" settle-gaussian-blur="0" settle-gradients="false" settle-mask-circle="0.0" settle-contrast-enhance="0.0" settle-diagnostics="false" fps="10.0" suspend-preview-in-tasks="false" capture-try-count="4" capture-try-timeout-ms="2000" rotation="0.0" flip-x="true" flip-y="true" offset-x="0" offset-y="0" crop-width="0" crop-height="0" scale-width="0" scale-height="0" red-balance="1.0" green-balance="1.0" blue-balance="1.0" red-gamma="1.0" green-gamma="1.0" blue-gamma="1.0" deinterlace="false" light-actuator-id="ACT1605385237291" allow-machine-actuators="true" focus-sensing-method="None" white-balance-lead-fractile="0.8" white-balance-clip-fractile="0.99" white-balance-gamma-fractile="0.5" unique-id="PnP Top Camera (PnP Top Camera) 0x211000032e49310" format-id="15" freeze-properties="false">
-                  <units-per-pixel units="Millimeters" x="0.0128866" y="0.01295337" z="0.0" rotation="0.0"/>
+               <camera class="org.openpnp.machine.reference.camera.OpenPnpCaptureCamera" axis-X-id="AXS169824381580efcb" axis-Y-id="AXS16982438158c4660" axis-Z-id="AXS171084434ad04ba5" axis-rotation-id="AXS171084470fa6d522" id="CAM1607555396816" name="Top" looking="Down" auto-visible="false" shown-in-multi-camera-view="true" before-capture-light-on="true" user-action-light-on="true" after-capture-light-off="false" anti-glare-light-off="false" enable-units-per-pixel-3-d="false" auto-view-plane-z="false" max-relative-motion="0.05" min-motion-template-match-score="0.9" min-contrast-range="16.0" settle-method="FixedTime" settle-time-ms="1000" settle-timeout-ms="500" settle-threshold="0.0" settle-debounce="0" settle-full-color="false" settle-gaussian-blur="0" settle-gradients="false" settle-mask-circle="0.0" settle-contrast-enhance="0.0" settle-diagnostics="false" fps="10.0" suspend-preview-in-tasks="false" capture-try-count="4" capture-try-timeout-ms="2000" rotation="0.0" flip-x="true" flip-y="true" offset-x="0" offset-y="0" crop-width="0" crop-height="0" scale-width="0" scale-height="0" red-balance="1.0" green-balance="1.0" blue-balance="1.0" red-gamma="1.0" green-gamma="1.0" blue-gamma="1.0" deinterlace="false" light-actuator-id="ACT1605385237291" allow-machine-actuators="true" focus-sensing-method="None" white-balance-lead-fractile="0.8" white-balance-clip-fractile="0.99" white-balance-gamma-fractile="0.5" unique-id="LumenPnP Top: LumenPnP Top usb-0000:00:14.0-1" format-id="0" freeze-properties="false">
+                  <units-per-pixel units="Millimeters" x="0.01302083" y="0.01308901" z="0.0" rotation="0.0"/>
                   <default-z value="15.0" units="Millimeters"/>
                   <vision-provider class="org.openpnp.machine.reference.vision.OpenCvVisionProvider"/>
                   <roaming-radius value="0.0" units="Millimeters"/>
                   <head-offsets units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
                   <safe-z value="0.0" units="Millimeters"/>
-                  <calibration enabled="true">
+                  <calibration enabled="false">
                      <camera-matrix length="9">3321.224957982696, 0.0, 656.0276769509783, 0.0, 3318.0980627242334, 535.8314959991486, 0.0, 0.0, 1.0</camera-matrix>
                      <distortion-coefficients length="5">-0.8423275049564368, 0.35630646929727794, -0.060435393023392556, 8.411820254502008E-4, -75.37212376225311</distortion-coefficients>
                   </calibration>
@@ -340,23 +340,23 @@
                   </focus-provider>
                   <back-light-compensation property="BackLightCompensation" value="0"/>
                   <brightness property="Brightness" value="-2"/>
-                  <contrast property="Contrast" value="176"/>
-                  <exposure property="Exposure" value="251" auto="false"/>
-                  <focus property="Focus"/>
+                  <contrast property="Contrast" value="64"/>
+                  <exposure property="Exposure" value="156" auto="false"/>
+                  <focus property="Focus" value="0" auto="true"/>
                   <gain property="Gain" value="0"/>
-                  <gamma property="Gamma" value="79"/>
+                  <gamma property="Gamma" value="72"/>
                   <hue property="Hue" value="0"/>
                   <power-line-frequency property="PowerLineFrequency" value="1"/>
                   <saturation property="Saturation" value="1"/>
                   <sharpness property="Sharpness" value="0"/>
-                  <white-balance property="WhiteBalance" value="2800" auto="true"/>
-                  <zoom property="Zoom"/>
+                  <white-balance property="WhiteBalance" value="4000" auto="true"/>
+                  <zoom property="Zoom" value="0"/>
                </camera>
             </cameras>
-            <park-location units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
+            <park-location units="Millimeters" x="302.328" y="411.916" z="0.0" rotation="0.0"/>
             <soft-limits-enabled>false</soft-limits-enabled>
-            <homing-fiducial-location units="Millimeters" x="218.198" y="187.419" z="0.0" rotation="0.0"/>
-            <calibration-primary-fiducial-location units="Millimeters" x="218.198" y="187.419" z="4.5" rotation="0.0"/>
+            <homing-fiducial-location units="Millimeters" x="218.107" y="197.304" z="0.0" rotation="0.0"/>
+            <calibration-primary-fiducial-location units="Millimeters" x="218.107" y="197.304" z="4.5" rotation="0.0"/>
             <calibration-secondary-fiducial-location units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
             <calibration-primary-fiducial-diameter value="1.0" units="Millimeters"/>
          </head>
@@ -364,12 +364,12 @@
       <signalers/>
       <feeders/>
       <cameras>
-         <camera class="org.openpnp.machine.reference.camera.OpenPnpCaptureCamera" id="CAM1614803235898" name="Bottom" looking="Up" auto-visible="false" shown-in-multi-camera-view="true" before-capture-light-on="true" user-action-light-on="true" after-capture-light-off="false" anti-glare-light-off="false" enable-units-per-pixel-3-d="false" auto-view-plane-z="false" max-relative-motion="0.05" min-motion-template-match-score="0.9" min-contrast-range="16.0" settle-method="FixedTime" settle-time-ms="500" settle-timeout-ms="500" settle-threshold="0.0" settle-debounce="0" settle-full-color="false" settle-gaussian-blur="0" settle-gradients="false" settle-mask-circle="0.0" settle-contrast-enhance="0.0" settle-diagnostics="false" fps="10.0" suspend-preview-in-tasks="false" capture-try-count="4" capture-try-timeout-ms="2000" rotation="0.12643329871819853" flip-x="true" flip-y="false" offset-x="0" offset-y="0" crop-width="0" crop-height="0" scale-width="0" scale-height="0" red-balance="1.0" green-balance="1.0" blue-balance="1.0" red-gamma="1.0" green-gamma="1.0" blue-gamma="1.0" deinterlace="false" light-actuator-id="ACT1605385237291" allow-machine-actuators="false" focus-sensing-method="None" white-balance-lead-fractile="0.8" white-balance-clip-fractile="0.99" white-balance-gamma-fractile="0.5" unique-id="PnP Bottom Camera (PnP Bottom Camera) 0x212000032e49310" format-id="15" freeze-properties="false">
-            <units-per-pixel units="Millimeters" x="0.034" y="0.034" z="0.0" rotation="0.0"/>
+         <camera class="org.openpnp.machine.reference.camera.OpenPnpCaptureCamera" id="CAM1614803235898" name="Bottom" looking="Up" auto-visible="false" shown-in-multi-camera-view="true" before-capture-light-on="true" user-action-light-on="true" after-capture-light-off="false" anti-glare-light-off="false" enable-units-per-pixel-3-d="false" auto-view-plane-z="false" max-relative-motion="0.05" min-motion-template-match-score="0.9" min-contrast-range="16.0" settle-method="FixedTime" settle-time-ms="500" settle-timeout-ms="500" settle-threshold="0.0" settle-debounce="0" settle-full-color="false" settle-gaussian-blur="0" settle-gradients="false" settle-mask-circle="0.0" settle-contrast-enhance="0.0" settle-diagnostics="false" fps="10.0" suspend-preview-in-tasks="false" capture-try-count="4" capture-try-timeout-ms="2000" rotation="0.0" flip-x="true" flip-y="false" offset-x="-60" offset-y="0" crop-width="0" crop-height="0" scale-width="0" scale-height="0" red-balance="1.0" green-balance="1.0" blue-balance="1.0" red-gamma="1.0" green-gamma="1.0" blue-gamma="1.0" deinterlace="false" light-actuator-id="ACT1605385237291" allow-machine-actuators="false" focus-sensing-method="None" white-balance-lead-fractile="0.8" white-balance-clip-fractile="0.99" white-balance-gamma-fractile="0.5" unique-id="LumenPnP Bottom: LumenPnP Botto usb-0000:00:14.0-2" format-id="0" freeze-properties="false">
+            <units-per-pixel units="Millimeters" x="0.03669725" y="0.03703704" z="0.0" rotation="0.0"/>
             <default-z value="61.0" units="Millimeters"/>
             <vision-provider class="org.openpnp.machine.reference.vision.OpenCvVisionProvider"/>
             <roaming-radius value="0.0" units="Millimeters"/>
-            <head-offsets units="Millimeters" x="218.175" y="143.524" z="31.5" rotation="0.0"/>
+            <head-offsets units="Millimeters" x="218.151" y="151.439" z="5.5" rotation="0.0"/>
             <safe-z value="0.0" units="Millimeters"/>
             <calibration enabled="false">
                <camera-matrix length="9">2111.355587855576, 0.0, 605.0663860340355, 0.0, 2128.668185693804, 413.20408953641106, 0.0, 0.0, 1.0</camera-matrix>
@@ -403,17 +403,17 @@
             </focus-provider>
             <back-light-compensation property="BackLightCompensation" value="0"/>
             <brightness property="Brightness" value="-2"/>
-            <contrast property="Contrast" value="176"/>
-            <exposure property="Exposure" value="279" auto="false"/>
-            <focus property="Focus"/>
+            <contrast property="Contrast" value="64"/>
+            <exposure property="Exposure" value="156" auto="false"/>
+            <focus property="Focus" value="0" auto="true"/>
             <gain property="Gain" value="0"/>
-            <gamma property="Gamma" value="79"/>
+            <gamma property="Gamma" value="72"/>
             <hue property="Hue" value="0"/>
             <power-line-frequency property="PowerLineFrequency" value="1"/>
             <saturation property="Saturation" value="1"/>
             <sharpness property="Sharpness" value="0"/>
-            <white-balance property="WhiteBalance" value="2800" auto="true"/>
-            <zoom property="Zoom"/>
+            <white-balance property="WhiteBalance" value="4000" auto="true"/>
+            <zoom property="Zoom" value="0"/>
          </camera>
       </cameras>
       <actuators>
@@ -431,8 +431,8 @@
          </part-alignment>
       </part-alignments>
       <drivers>
-         <driver class="org.openpnp.machine.reference.driver.GcodeDriver" id="DRV16982438146c1dd4" name="GcodeDriver" motion-control-type="ToolpathFeedRate" communications="serial" connection-keep-alive="true" sync-initial-location="true" allow-unhomed-motion="false" units="Millimeters" max-feed-rate="35000" backlash-offset-x="-1.0" backlash-offset-y="-1.0" backlash-offset-z="0.0" backlash-offset-r="0.0" non-squareness-factor="0.0" backlash-feed-rate-factor="0.1" timeout-milliseconds="5000" connect-wait-time-milliseconds="3000" dollar-wait-time-milliseconds="50" visual-homing-enabled="true" backslash-escaped-characters-enabled="false" remove-comments="false" compress-gcode="false" compression-excludes="[]&quot;" logging-gcode="false" supporting-pre-move="false" using-letter-variables="true" infinity-timeout-milliseconds="60000">
-            <serial line-ending-type="LF" port-name="tty.usbmodem3257336733311" baud="115200" flow-control="Off" data-bits="Eight" stop-bits="One" parity="None" set-dtr="false" set-rts="false" name="SerialPortCommunications"/>
+         <driver class="org.openpnp.machine.reference.driver.GcodeDriver" id="DRV16982438146c1dd4" name="GcodeDriver" motion-control-type="ToolpathFeedRate" communications="serial" connection-keep-alive="true" sync-initial-location="true" allow-unhomed-motion="false" units="Millimeters" max-feed-rate="50000" backlash-offset-x="-1.0" backlash-offset-y="-1.0" backlash-offset-z="0.0" backlash-offset-r="0.0" non-squareness-factor="0.0" backlash-feed-rate-factor="0.1" timeout-milliseconds="5000" connect-wait-time-milliseconds="3000" dollar-wait-time-milliseconds="50" visual-homing-enabled="true" backslash-escaped-characters-enabled="false" remove-comments="false" compress-gcode="false" compression-excludes="[]&quot;" logging-gcode="false" supporting-pre-move="false" using-letter-variables="true" infinity-timeout-milliseconds="60000">
+            <serial line-ending-type="LF" port-name="ttyACM0" baud="115200" flow-control="Off" data-bits="Eight" stop-bits="One" parity="None" set-dtr="false" set-rts="false" name="SerialPortCommunications"/>
             <tcp line-ending-type="LF" ip-address="127.0.0.1" port="23" name="TcpCommunications"/>
             <simulated line-ending-type="LF"/>
             <homing-fiducial-location units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
@@ -461,7 +461,6 @@
                <text><![CDATA[rs485-reply: (?<Value>.*)]]></text>
             </command>
             <command type="HOME_COMMAND">
-               <text><![CDATA[M204 T2000 ; Sets acceleration for homing]]></text>
                <text><![CDATA[G28 ; Home all axes]]></text>
             </command>
             <command type="MOVE_TO_COMMAND">
@@ -558,12 +557,12 @@
                <text><![CDATA[^.*data:(?<Value>.*)]]></text>
             </command>
             <command head-mountable-id="ACT171086c0660cfc3b" type="ACTUATE_BOOLEAN_COMMAND">
-               <text><![CDATA[{True:M106 P1 S255}{False:M107 P1};]]></text>
+               <text><![CDATA[{True:M106 P1 S180}{False:M107 P1};]]></text>
                <text><![CDATA[{True:M106}{False:M107};]]></text>
             </command>
             <command head-mountable-id="ACT171086f27295ab60" type="ACTUATE_BOOLEAN_COMMAND">
                <text><![CDATA[{True:M106 P2 S255}{False:M107 P2};]]></text>
-               <text><![CDATA[{True:M106 P3 S255}{False:M107 P3};]]></text>
+               <text><![CDATA[{True:M106 P3 S180}{False:M107 P3};]]></text>
             </command>
             <command head-mountable-id="ACT171086f27295ab60" type="ACTUATOR_READ_COMMAND">
                <text><![CDATA[M260 A112 B2 S1 ; Select vac1 through multiplexer]]></text>
@@ -619,7 +618,7 @@
          </entry>
          <entry>
             <string>PhotonFeeder.MaxFeederAddress</string>
-            <object class="java.lang.Integer">50</object>
+            <object class="java.lang.Integer">25</object>
          </entry>
          <entry>
             <string>ReferenceAutoFeederSlot.banks</string>
@@ -649,7 +648,7 @@
                      <location units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
                   </slot>
                   <slot address="1">
-                     <location units="Millimeters" x="194.439" y="120.801" z="31.5" rotation="200.0"/>
+                     <location units="Millimeters" x="28.673" y="45.468" z="4.0" rotation="0.0"/>
                   </slot>
                   <slot address="3"/>
                   <slot address="4"/>
@@ -661,11 +660,25 @@
                   <slot address="13"/>
                   <slot address="14"/>
                   <slot address="15"/>
-                  <slot address="16"/>
+                  <slot address="16">
+                     <location units="Millimeters" x="220.452" y="143.235" z="30.0" rotation="180.0"/>
+                  </slot>
                   <slot address="17"/>
-                  <slot address="18"/>
-                  <slot address="19"/>
+                  <slot address="18">
+                     <location units="Millimeters" x="293.125" y="49.703" z="4.6" rotation="0.0"/>
+                  </slot>
+                  <slot address="19">
+                     <location units="Millimeters" x="314.32" y="42.594" z="3.8" rotation="0.0"/>
+                  </slot>
                   <slot address="25"/>
+                  <slot address="11">
+                     <location units="Millimeters" x="220.452" y="143.235" z="30.0" rotation="180.0"/>
+                  </slot>
+                  <slot address="12"/>
+                  <slot address="7"/>
+                  <slot address="8"/>
+                  <slot address="10"/>
+                  <slot address="24"/>
                </slots>
             </object>
          </entry>
@@ -675,7 +688,7 @@
          </entry>
       </properties>
       <nozzle-tips>
-         <nozzle-tip class="org.openpnp.machine.reference.ReferenceNozzleTip" id="NT1" name="N045" pick-dwell-milliseconds="500" place-dwell-milliseconds="500" place-blow-off-level="0.0" vision-calibration="None" vision-calibration-trigger="Manual" vision-match-minimum-score="0.2" vision-calibration-max-passes="3" z-calibration-trigger="Manual" z-calibration-fail-homing="true" template-nozzle-tip="false" template-locked="false" establish-part-on-level="true" establish-part-off-level="true" part-off-probing-milliseconds="0" part-off-dwell-milliseconds="0" is-push-and-drag-allowed="false">
+         <nozzle-tip class="org.openpnp.machine.reference.ReferenceNozzleTip" id="NT1" name="N045" pick-dwell-milliseconds="200" place-dwell-milliseconds="100" place-blow-off-level="0.0" vision-calibration="None" vision-calibration-trigger="Manual" vision-match-minimum-score="0.2" vision-calibration-max-passes="3" z-calibration-trigger="Manual" z-calibration-fail-homing="true" template-nozzle-tip="false" template-locked="false" establish-part-on-level="true" establish-part-off-level="true" part-off-probing-milliseconds="0" part-off-dwell-milliseconds="0" is-push-and-drag-allowed="false">
             <changer-start-location units="Millimeters" x="43.614" y="124.185" z="31.0" rotation="0.0"/>
             <changer-start-to-mid-speed>0.05</changer-start-to-mid-speed>
             <changer-mid-location units="Millimeters" x="43.614" y="124.185" z="5.5" rotation="0.0"/>
@@ -691,29 +704,21 @@
             <vision-calibration-tolerance value="0.7" units="Millimeters"/>
             <min-part-diameter value="0.0" units="Millimeters"/>
             <max-part-diameter value="20.0" units="Millimeters"/>
-            <max-part-height value="10.0" units="Millimeters"/>
+            <max-part-height value="20.0" units="Millimeters"/>
             <max-pick-tolerance value="1.0" units="Millimeters"/>
-            <calibration angle-subdivisions="6" allow-misdetections="0" angle-start="-200.0" angle-stop="200.0" excenter-ratio="0.25" enabled="true" fail-homing="true" runout-compensation-algorithm="ModelCameraOffsetAffine" version="2.1" recalibration-trigger="Manual" background-calibration-method="None" background-min-hue="0" background-max-hue="0" background-tol-hue="8" background-min-saturation="0" background-max-saturation="0" background-tol-saturation="8" background-min-value="0" background-max-value="0" background-tol-value="8" min-background-mask-value="32" max-background-mask-value="128" background-worst-saturation="63" background-worst-hue-span="42" background-worst-value="127" offset-threshold="0.0" detection-threshold-margin="0.4">
+            <calibration angle-subdivisions="6" allow-misdetections="5" angle-start="-200.0" angle-stop="200.0" excenter-ratio="0.25" enabled="true" fail-homing="true" runout-compensation-algorithm="ModelCameraOffsetAffine" version="2.1" recalibration-trigger="NozzleTipChange" background-calibration-method="None" background-min-hue="0" background-max-hue="0" background-tol-hue="8" background-min-saturation="0" background-max-saturation="0" background-tol-saturation="8" background-min-value="0" background-max-value="0" background-tol-value="8" min-background-mask-value="32" max-background-mask-value="128" background-worst-saturation="63" background-worst-hue-span="42" background-worst-value="127" offset-threshold="0.0" detection-threshold-margin="0.4">
                <pipeline>
                   <stages>
-                     <cv-stage class="org.openpnp.vision.pipeline.stages.ImageCapture" name="0" enabled="true" default-light="true" settle-option="Settle" count="1"/>
-                     <cv-stage class="org.openpnp.vision.pipeline.stages.MaskCircle" name="1" enabled="true" diameter="130" property-name="MaskCircle"/>
-                     <cv-stage class="org.openpnp.vision.pipeline.stages.ConvertColor" name="2" enabled="true" conversion="Bgr2Gray"/>
-                     <cv-stage class="org.openpnp.vision.pipeline.stages.Threshold" name="3" enabled="true" threshold="50" auto="false" invert="true"/>
-                     <cv-stage class="org.openpnp.vision.pipeline.stages.BlurMedian" name="4" enabled="true" kernel-size="5"/>
-                     <cv-stage class="org.openpnp.vision.pipeline.stages.DetectCirclesHough" name="results" enabled="true" min-distance="300" min-diameter="10" max-diameter="20" dp="1.0" param-1="120.0" param-2="12.0"/>
-                     <cv-stage class="org.openpnp.vision.pipeline.stages.ImageRecall" name="5" enabled="true" image-stage-name="0"/>
-                     <cv-stage class="org.openpnp.vision.pipeline.stages.DrawCircles" name="6" enabled="true" circles-stage-name="results" thickness="3">
-                        <color r="255" g="0" b="51" a="255"/>
-                        <center-color r="0" g="204" b="255" a="255"/>
-                     </cv-stage>
-                     <cv-stage class="org.openpnp.vision.pipeline.stages.ImageWriteDebug" name="7" enabled="true" prefix="runoutCalibration" suffix=".png"/>
+                     <cv-stage class="org.openpnp.vision.pipeline.stages.ImageCapture" name="image" enabled="true" default-light="true" settle-option="Settle" count="1"/>
+                     <cv-stage class="org.openpnp.vision.pipeline.stages.MaskCircle" name="mask" enabled="true" diameter="100" property-name="MaskCircle"/>
+                     <cv-stage class="org.openpnp.vision.pipeline.stages.DetectCircularSymmetry" name="cir" enabled="true" min-diameter="5" max-diameter="25" max-distance="250" search-width="0" search-height="0" max-target-count="1" min-symmetry="1.2" corr-symmetry="0.0" outer-margin="0.2" inner-margin="0.4" sub-sampling="8" super-sampling="1" symmetry-score="OverallVarianceVsRingVarianceSum" property-name="" diagnostics="true" heat-map="true"/>
+                     <cv-stage class="org.openpnp.vision.pipeline.stages.ConvertModelToKeyPoints" name="results" enabled="true" model-stage-name="cir"/>
                   </stages>
                </pipeline>
                <runout-compensation-lookup class="java.util.HashMap">
                   <entry>
                      <string>N1</string>
-                     <runout-compensation class="org.openpnp.machine.reference.ReferenceNozzleTipCalibration$ModelBasedRunoutCameraOffsetCompensation" center-x="0.11691125939256197" center-y="0.32277802863499655" radius="0.3389208245007348" phase-shift="-133.52673329597013" units="Millimeters" peak-error="0.03589708968384636" rms-error="0.021604849778872323"/>
+                     <runout-compensation class="org.openpnp.machine.reference.ReferenceNozzleTipCalibration$ModelBasedRunoutCameraOffsetCompensation" center-x="0.16580043881905335" center-y="0.1612323444329153" radius="0.15477001412296135" phase-shift="89.2049392039559" units="Millimeters" peak-error="1.201848817116081" rms-error="0.4948619325239039"/>
                   </entry>
                </runout-compensation-lookup>
                <minimum-detail-size value="0.2" units="Millimeters"/>
@@ -754,23 +759,15 @@
             <vision-calibration-tolerance value="0.7" units="Millimeters"/>
             <min-part-diameter value="0.0" units="Millimeters"/>
             <max-part-diameter value="20.0" units="Millimeters"/>
-            <max-part-height value="10.0" units="Millimeters"/>
+            <max-part-height value="20.0" units="Millimeters"/>
             <max-pick-tolerance value="1.0" units="Millimeters"/>
-            <calibration angle-subdivisions="6" allow-misdetections="6" angle-start="-180.0" angle-stop="180.0" excenter-ratio="0.25" enabled="true" fail-homing="true" runout-compensation-algorithm="ModelCameraOffsetAffine" version="2.1" recalibration-trigger="NozzleTipChange" background-calibration-method="None" background-min-hue="0" background-max-hue="0" background-tol-hue="8" background-min-saturation="0" background-max-saturation="0" background-tol-saturation="8" background-min-value="0" background-max-value="0" background-tol-value="8" min-background-mask-value="32" max-background-mask-value="128" background-worst-saturation="63" background-worst-hue-span="42" background-worst-value="127" offset-threshold="0.0" detection-threshold-margin="0.4">
+            <calibration angle-subdivisions="6" allow-misdetections="5" angle-start="-180.0" angle-stop="180.0" excenter-ratio="0.25" enabled="true" fail-homing="true" runout-compensation-algorithm="ModelCameraOffsetAffine" version="2.1" recalibration-trigger="NozzleTipChange" background-calibration-method="None" background-min-hue="0" background-max-hue="0" background-tol-hue="8" background-min-saturation="0" background-max-saturation="0" background-tol-saturation="8" background-min-value="0" background-max-value="0" background-tol-value="8" min-background-mask-value="32" max-background-mask-value="128" background-worst-saturation="63" background-worst-hue-span="42" background-worst-value="127" offset-threshold="0.0" detection-threshold-margin="0.4">
                <pipeline>
                   <stages>
-                     <cv-stage class="org.openpnp.vision.pipeline.stages.ImageCapture" name="0" enabled="true" default-light="true" settle-option="Settle" count="1"/>
-                     <cv-stage class="org.openpnp.vision.pipeline.stages.MaskCircle" name="1" enabled="true" diameter="200" property-name="MaskCircle"/>
-                     <cv-stage class="org.openpnp.vision.pipeline.stages.ConvertColor" name="2" enabled="true" conversion="Bgr2Gray"/>
-                     <cv-stage class="org.openpnp.vision.pipeline.stages.Threshold" name="3" enabled="true" threshold="145" auto="false" invert="true"/>
-                     <cv-stage class="org.openpnp.vision.pipeline.stages.BlurMedian" name="4" enabled="true" kernel-size="5"/>
-                     <cv-stage class="org.openpnp.vision.pipeline.stages.DetectCirclesHough" name="results" enabled="true" min-distance="200" min-diameter="20" max-diameter="40" dp="1.0" param-1="120.0" param-2="10.0"/>
-                     <cv-stage class="org.openpnp.vision.pipeline.stages.ImageRecall" name="5" enabled="true" image-stage-name="0"/>
-                     <cv-stage class="org.openpnp.vision.pipeline.stages.DrawCircles" name="6" enabled="true" circles-stage-name="results" thickness="2">
-                        <color r="255" g="0" b="51" a="255"/>
-                        <center-color r="0" g="204" b="255" a="255"/>
-                     </cv-stage>
-                     <cv-stage class="org.openpnp.vision.pipeline.stages.ImageWriteDebug" name="7" enabled="false" prefix="runoutCalibration" suffix=".png"/>
+                     <cv-stage class="org.openpnp.vision.pipeline.stages.ImageCapture" name="image" enabled="true" default-light="true" settle-option="Settle" count="1"/>
+                     <cv-stage class="org.openpnp.vision.pipeline.stages.MaskCircle" name="mask" enabled="true" diameter="200" property-name="MaskCircle"/>
+                     <cv-stage class="org.openpnp.vision.pipeline.stages.DetectCircularSymmetry" name="cir" enabled="true" min-diameter="5" max-diameter="25" max-distance="250" search-width="0" search-height="0" max-target-count="1" min-symmetry="2.0" corr-symmetry="0.0" outer-margin="0.2" inner-margin="0.4" sub-sampling="8" super-sampling="1" symmetry-score="OverallVarianceVsRingVarianceSum" property-name="" diagnostics="true" heat-map="true"/>
+                     <cv-stage class="org.openpnp.vision.pipeline.stages.ConvertModelToKeyPoints" name="results" enabled="true" model-stage-name="cir"/>
                   </stages>
                </pipeline>
                <runout-compensation-lookup class="java.util.HashMap"/>
@@ -796,7 +793,7 @@
             <vacuum-difference-part-off-high>0.0</vacuum-difference-part-off-high>
             <diameter-low value="0.0" units="Millimeters"/>
          </nozzle-tip>
-         <nozzle-tip class="org.openpnp.machine.reference.ReferenceNozzleTip" id="TIP16cbc9505c3e1916" name="N14" pick-dwell-milliseconds="0" place-dwell-milliseconds="1000" place-blow-off-level="0.0" vision-calibration="None" vision-calibration-trigger="Manual" vision-match-minimum-score="0.2" vision-calibration-max-passes="3" z-calibration-trigger="Manual" z-calibration-fail-homing="true" template-nozzle-tip="false" template-locked="false" establish-part-on-level="true" establish-part-off-level="false" part-off-probing-milliseconds="0" part-off-dwell-milliseconds="0" is-push-and-drag-allowed="false">
+         <nozzle-tip class="org.openpnp.machine.reference.ReferenceNozzleTip" id="TIP16cbc9505c3e1916" name="N14" pick-dwell-milliseconds="500" place-dwell-milliseconds="500" place-blow-off-level="0.0" vision-calibration="None" vision-calibration-trigger="Manual" vision-match-minimum-score="0.2" vision-calibration-max-passes="3" z-calibration-trigger="Manual" z-calibration-fail-homing="true" template-nozzle-tip="false" template-locked="false" establish-part-on-level="true" establish-part-off-level="false" part-off-probing-milliseconds="0" part-off-dwell-milliseconds="0" is-push-and-drag-allowed="false">
             <changer-start-location units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
             <changer-start-to-mid-speed>1.0</changer-start-to-mid-speed>
             <changer-mid-location units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
@@ -812,28 +809,20 @@
             <vision-calibration-tolerance value="0.7" units="Millimeters"/>
             <min-part-diameter value="0.0" units="Millimeters"/>
             <max-part-diameter value="20.0" units="Millimeters"/>
-            <max-part-height value="10.0" units="Millimeters"/>
+            <max-part-height value="20.0" units="Millimeters"/>
             <max-pick-tolerance value="1.0" units="Millimeters"/>
-            <calibration angle-subdivisions="6" allow-misdetections="0" angle-start="-200.0" angle-stop="200.0" excenter-ratio="0.25" enabled="true" fail-homing="true" runout-compensation-algorithm="ModelCameraOffsetAffine" version="2.1" recalibration-trigger="NozzleTipChange" background-calibration-method="None" background-min-hue="0" background-max-hue="0" background-tol-hue="8" background-min-saturation="0" background-max-saturation="0" background-tol-saturation="8" background-min-value="0" background-max-value="0" background-tol-value="8" min-background-mask-value="32" max-background-mask-value="128" background-worst-saturation="63" background-worst-hue-span="42" background-worst-value="127" offset-threshold="0.0" detection-threshold-margin="0.4">
+            <calibration angle-subdivisions="6" allow-misdetections="5" angle-start="-200.0" angle-stop="200.0" excenter-ratio="0.25" enabled="true" fail-homing="true" runout-compensation-algorithm="ModelCameraOffsetAffine" version="2.1" recalibration-trigger="NozzleTipChange" background-calibration-method="None" background-min-hue="0" background-max-hue="0" background-tol-hue="8" background-min-saturation="0" background-max-saturation="0" background-tol-saturation="8" background-min-value="0" background-max-value="0" background-tol-value="8" min-background-mask-value="32" max-background-mask-value="128" background-worst-saturation="63" background-worst-hue-span="42" background-worst-value="127" offset-threshold="0.0" detection-threshold-margin="0.4">
                <pipeline>
                   <stages>
-                     <cv-stage class="org.openpnp.vision.pipeline.stages.ImageCapture" name="0" enabled="true" default-light="true" settle-option="Settle" count="1"/>
-                     <cv-stage class="org.openpnp.vision.pipeline.stages.MaskCircle" name="1" enabled="true" diameter="250" property-name="MaskCircle"/>
-                     <cv-stage class="org.openpnp.vision.pipeline.stages.ConvertColor" name="2" enabled="true" conversion="Bgr2Gray"/>
-                     <cv-stage class="org.openpnp.vision.pipeline.stages.Threshold" name="3" enabled="true" threshold="165" auto="false" invert="false"/>
-                     <cv-stage class="org.openpnp.vision.pipeline.stages.BlurMedian" name="4" enabled="true" kernel-size="5"/>
-                     <cv-stage class="org.openpnp.vision.pipeline.stages.DetectCirclesHough" name="results" enabled="true" min-distance="200" min-diameter="65" max-diameter="85" dp="1.0" param-1="120.0" param-2="12.0"/>
-                     <cv-stage class="org.openpnp.vision.pipeline.stages.ImageRecall" name="5" enabled="true" image-stage-name="0"/>
-                     <cv-stage class="org.openpnp.vision.pipeline.stages.DrawCircles" name="6" enabled="true" circles-stage-name="results" thickness="2">
-                        <color r="255" g="0" b="51" a="255"/>
-                        <center-color r="0" g="204" b="255" a="255"/>
-                     </cv-stage>
-                     <cv-stage class="org.openpnp.vision.pipeline.stages.ImageWriteDebug" name="7" enabled="false" prefix="runoutCalibration" suffix=".png"/>
+                     <cv-stage class="org.openpnp.vision.pipeline.stages.ImageCapture" name="image" enabled="true" default-light="true" settle-option="Settle" count="1"/>
+                     <cv-stage class="org.openpnp.vision.pipeline.stages.MaskCircle" name="mask" enabled="true" diameter="200" property-name="MaskCircle"/>
+                     <cv-stage class="org.openpnp.vision.pipeline.stages.DetectCircularSymmetry" name="cir" enabled="true" min-diameter="35" max-diameter="55" max-distance="250" search-width="0" search-height="0" max-target-count="1" min-symmetry="1.2" corr-symmetry="0.0" outer-margin="0.2" inner-margin="0.4" sub-sampling="8" super-sampling="1" symmetry-score="OverallVarianceVsRingVarianceSum" property-name="" diagnostics="true" heat-map="true"/>
+                     <cv-stage class="org.openpnp.vision.pipeline.stages.ConvertModelToKeyPoints" name="results" enabled="true" model-stage-name="cir"/>
                   </stages>
                </pipeline>
                <runout-compensation-lookup class="java.util.HashMap"/>
                <minimum-detail-size value="0.2" units="Millimeters"/>
-               <offset-threshold-length value="0.5" units="Millimeters"/>
+               <offset-threshold-length value="2.0" units="Millimeters"/>
                <calibration-Z-offset value="0.0" units="Millimeters"/>
                <calibration-tip-diameter value="0.0" units="Millimeters"/>
             </calibration>
@@ -854,7 +843,7 @@
             <vacuum-difference-part-off-high>0.0</vacuum-difference-part-off-high>
             <diameter-low value="0.0" units="Millimeters"/>
          </nozzle-tip>
-         <nozzle-tip class="org.openpnp.machine.reference.ReferenceNozzleTip" id="TIP16f0412ed2d50009" name="N24" pick-dwell-milliseconds="0" place-dwell-milliseconds="0" place-blow-off-level="0.0" vision-calibration="None" vision-calibration-trigger="Manual" vision-match-minimum-score="0.2" vision-calibration-max-passes="3" z-calibration-trigger="Manual" z-calibration-fail-homing="true" template-nozzle-tip="false" template-locked="false" establish-part-on-level="true" establish-part-off-level="false" part-off-probing-milliseconds="0" part-off-dwell-milliseconds="0" is-push-and-drag-allowed="false">
+         <nozzle-tip class="org.openpnp.machine.reference.ReferenceNozzleTip" id="TIP16f0412ed2d50009" name="N24" pick-dwell-milliseconds="300" place-dwell-milliseconds="100" place-blow-off-level="0.0" vision-calibration="None" vision-calibration-trigger="Manual" vision-match-minimum-score="0.2" vision-calibration-max-passes="3" z-calibration-trigger="Manual" z-calibration-fail-homing="true" template-nozzle-tip="false" template-locked="false" establish-part-on-level="true" establish-part-off-level="false" part-off-probing-milliseconds="0" part-off-dwell-milliseconds="0" is-push-and-drag-allowed="false">
             <changer-start-location units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
             <changer-start-to-mid-speed>1.0</changer-start-to-mid-speed>
             <changer-mid-location units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
@@ -870,33 +859,25 @@
             <vision-calibration-tolerance value="0.7" units="Millimeters"/>
             <min-part-diameter value="0.0" units="Millimeters"/>
             <max-part-diameter value="20.0" units="Millimeters"/>
-            <max-part-height value="10.0" units="Millimeters"/>
+            <max-part-height value="20.0" units="Millimeters"/>
             <max-pick-tolerance value="1.0" units="Millimeters"/>
-            <calibration angle-subdivisions="6" allow-misdetections="0" angle-start="-180.0" angle-stop="180.0" excenter-ratio="0.25" enabled="true" fail-homing="true" runout-compensation-algorithm="ModelCameraOffsetAffine" version="2.1" recalibration-trigger="Manual" background-calibration-method="None" background-min-hue="0" background-max-hue="0" background-tol-hue="8" background-min-saturation="0" background-max-saturation="0" background-tol-saturation="8" background-min-value="0" background-max-value="0" background-tol-value="8" min-background-mask-value="32" max-background-mask-value="128" background-worst-saturation="63" background-worst-hue-span="42" background-worst-value="127" offset-threshold="0.0" detection-threshold-margin="0.4">
+            <calibration angle-subdivisions="6" allow-misdetections="5" angle-start="-180.0" angle-stop="180.0" excenter-ratio="0.25" enabled="true" fail-homing="true" runout-compensation-algorithm="ModelCameraOffsetAffine" version="2.1" recalibration-trigger="NozzleTipChange" background-calibration-method="None" background-min-hue="0" background-max-hue="0" background-tol-hue="8" background-min-saturation="0" background-max-saturation="0" background-tol-saturation="8" background-min-value="0" background-max-value="0" background-tol-value="8" min-background-mask-value="32" max-background-mask-value="128" background-worst-saturation="63" background-worst-hue-span="42" background-worst-value="127" offset-threshold="0.0" detection-threshold-margin="0.4">
                <pipeline>
                   <stages>
-                     <cv-stage class="org.openpnp.vision.pipeline.stages.ImageCapture" name="0" enabled="true" default-light="true" settle-option="Settle" count="1"/>
-                     <cv-stage class="org.openpnp.vision.pipeline.stages.MaskCircle" name="1" enabled="true" diameter="250" property-name="MaskCircle"/>
-                     <cv-stage class="org.openpnp.vision.pipeline.stages.ConvertColor" name="2" enabled="true" conversion="Bgr2Gray"/>
-                     <cv-stage class="org.openpnp.vision.pipeline.stages.Threshold" name="3" enabled="true" threshold="20" auto="false" invert="false"/>
-                     <cv-stage class="org.openpnp.vision.pipeline.stages.BlurMedian" name="4" enabled="true" kernel-size="5"/>
-                     <cv-stage class="org.openpnp.vision.pipeline.stages.DetectCirclesHough" name="results" enabled="true" min-distance="50" min-diameter="35" max-diameter="55" dp="1.0" param-1="120.0" param-2="12.0"/>
-                     <cv-stage class="org.openpnp.vision.pipeline.stages.ImageRecall" name="5" enabled="true" image-stage-name="0"/>
-                     <cv-stage class="org.openpnp.vision.pipeline.stages.DrawCircles" name="6" enabled="true" circles-stage-name="results" thickness="2">
-                        <color r="255" g="0" b="51" a="255"/>
-                        <center-color r="0" g="204" b="255" a="255"/>
-                     </cv-stage>
-                     <cv-stage class="org.openpnp.vision.pipeline.stages.ImageWriteDebug" name="7" enabled="false" prefix="runoutCalibration" suffix=".png"/>
+                     <cv-stage class="org.openpnp.vision.pipeline.stages.ImageCapture" name="image" enabled="true" default-light="true" settle-option="Settle" count="1"/>
+                     <cv-stage class="org.openpnp.vision.pipeline.stages.MaskCircle" name="mask" enabled="true" diameter="200" property-name="MaskCircle"/>
+                     <cv-stage class="org.openpnp.vision.pipeline.stages.DetectCircularSymmetry" name="cir" enabled="true" min-diameter="70" max-diameter="90" max-distance="250" search-width="0" search-height="0" max-target-count="1" min-symmetry="1.2" corr-symmetry="0.0" outer-margin="0.2" inner-margin="0.4" sub-sampling="8" super-sampling="1" symmetry-score="OverallVarianceVsRingVarianceSum" property-name="" diagnostics="true" heat-map="true"/>
+                     <cv-stage class="org.openpnp.vision.pipeline.stages.ConvertModelToKeyPoints" name="results" enabled="true" model-stage-name="cir"/>
                   </stages>
                </pipeline>
                <runout-compensation-lookup class="java.util.HashMap">
                   <entry>
                      <string>NOZ1710829fd33a0170</string>
-                     <runout-compensation class="org.openpnp.machine.reference.ReferenceNozzleTipCalibration$ModelBasedRunoutCameraOffsetCompensation" center-x="0.10766666666666672" center-y="-0.17566666666666664" radius="0.2649339763527899" phase-shift="144.72757855140162" units="Millimeters" peak-error="0.07630429018150992" rms-error="0.05098896656073928"/>
+                     <runout-compensation class="org.openpnp.machine.reference.ReferenceNozzleTipCalibration$ModelBasedRunoutCameraOffsetCompensation" center-x="0.04892966666666666" center-y="-0.08024691999999999" radius="0.07232841570754572" phase-shift="110.8611831546754" units="Millimeters" peak-error="0.03722647080091727" rms-error="0.023652549539591755"/>
                   </entry>
                </runout-compensation-lookup>
                <minimum-detail-size value="0.2" units="Millimeters"/>
-               <offset-threshold-length value="0.5" units="Millimeters"/>
+               <offset-threshold-length value="2.0" units="Millimeters"/>
                <calibration-Z-offset value="0.0" units="Millimeters"/>
                <calibration-tip-diameter value="0.0" units="Millimeters"/>
             </calibration>
@@ -905,7 +886,7 @@
             <part-on-check-align>false</part-on-check-align>
             <part-on-check-before-place>false</part-on-check-before-place>
             <vacuum-level-part-on-low>220.0</vacuum-level-part-on-low>
-            <vacuum-level-part-on-high>245.0</vacuum-level-part-on-high>
+            <vacuum-level-part-on-high>248.0</vacuum-level-part-on-high>
             <vacuum-difference-part-on-low>0.0</vacuum-difference-part-on-low>
             <vacuum-difference-part-on-high>0.0</vacuum-difference-part-on-high>
             <method-part-off>None</method-part-off>
@@ -917,7 +898,7 @@
             <vacuum-difference-part-off-high>0.0</vacuum-difference-part-off-high>
             <diameter-low value="0.0" units="Millimeters"/>
          </nozzle-tip>
-         <nozzle-tip class="org.openpnp.machine.reference.ReferenceNozzleTip" id="TIP16f0412f7ef9e180" name="N40" pick-dwell-milliseconds="0" place-dwell-milliseconds="0" place-blow-off-level="0.0" vision-calibration="None" vision-calibration-trigger="Manual" vision-match-minimum-score="0.2" vision-calibration-max-passes="3" z-calibration-trigger="Manual" z-calibration-fail-homing="true" template-nozzle-tip="false" template-locked="false" establish-part-on-level="true" establish-part-off-level="false" part-off-probing-milliseconds="0" part-off-dwell-milliseconds="0" is-push-and-drag-allowed="false">
+         <nozzle-tip class="org.openpnp.machine.reference.ReferenceNozzleTip" id="TIP16f0412f7ef9e180" name="N40" pick-dwell-milliseconds="500" place-dwell-milliseconds="500" place-blow-off-level="0.0" vision-calibration="None" vision-calibration-trigger="Manual" vision-match-minimum-score="0.2" vision-calibration-max-passes="3" z-calibration-trigger="Manual" z-calibration-fail-homing="true" template-nozzle-tip="false" template-locked="false" establish-part-on-level="true" establish-part-off-level="false" part-off-probing-milliseconds="0" part-off-dwell-milliseconds="0" is-push-and-drag-allowed="false">
             <changer-start-location units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
             <changer-start-to-mid-speed>1.0</changer-start-to-mid-speed>
             <changer-mid-location units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
@@ -933,28 +914,20 @@
             <vision-calibration-tolerance value="0.7" units="Millimeters"/>
             <min-part-diameter value="0.0" units="Millimeters"/>
             <max-part-diameter value="20.0" units="Millimeters"/>
-            <max-part-height value="10.0" units="Millimeters"/>
+            <max-part-height value="20.0" units="Millimeters"/>
             <max-pick-tolerance value="1.0" units="Millimeters"/>
-            <calibration angle-subdivisions="6" allow-misdetections="0" angle-start="-200.0" angle-stop="200.0" excenter-ratio="0.25" enabled="true" fail-homing="true" runout-compensation-algorithm="ModelCameraOffsetAffine" version="2.1" recalibration-trigger="NozzleTipChange" background-calibration-method="None" background-min-hue="0" background-max-hue="0" background-tol-hue="8" background-min-saturation="0" background-max-saturation="0" background-tol-saturation="8" background-min-value="0" background-max-value="0" background-tol-value="8" min-background-mask-value="32" max-background-mask-value="128" background-worst-saturation="63" background-worst-hue-span="42" background-worst-value="127" offset-threshold="0.0" detection-threshold-margin="0.4">
+            <calibration angle-subdivisions="6" allow-misdetections="5" angle-start="-200.0" angle-stop="200.0" excenter-ratio="0.25" enabled="true" fail-homing="true" runout-compensation-algorithm="ModelCameraOffsetAffine" version="2.1" recalibration-trigger="NozzleTipChange" background-calibration-method="None" background-min-hue="0" background-max-hue="0" background-tol-hue="8" background-min-saturation="0" background-max-saturation="0" background-tol-saturation="8" background-min-value="0" background-max-value="0" background-tol-value="8" min-background-mask-value="32" max-background-mask-value="128" background-worst-saturation="63" background-worst-hue-span="42" background-worst-value="127" offset-threshold="0.0" detection-threshold-margin="0.4">
                <pipeline>
                   <stages>
-                     <cv-stage class="org.openpnp.vision.pipeline.stages.ImageCapture" name="0" enabled="true" default-light="true" settle-option="Settle" count="1"/>
-                     <cv-stage class="org.openpnp.vision.pipeline.stages.MaskCircle" name="1" enabled="true" diameter="300" property-name="MaskCircle"/>
-                     <cv-stage class="org.openpnp.vision.pipeline.stages.ConvertColor" name="2" enabled="true" conversion="Bgr2Gray"/>
-                     <cv-stage class="org.openpnp.vision.pipeline.stages.Threshold" name="3" enabled="true" threshold="150" auto="false" invert="false"/>
-                     <cv-stage class="org.openpnp.vision.pipeline.stages.BlurMedian" name="4" enabled="true" kernel-size="5"/>
-                     <cv-stage class="org.openpnp.vision.pipeline.stages.DetectCirclesHough" name="results" enabled="true" min-distance="50" min-diameter="220" max-diameter="240" dp="1.0" param-1="120.0" param-2="12.0"/>
-                     <cv-stage class="org.openpnp.vision.pipeline.stages.ImageRecall" name="5" enabled="true" image-stage-name="0"/>
-                     <cv-stage class="org.openpnp.vision.pipeline.stages.DrawCircles" name="6" enabled="true" circles-stage-name="results" thickness="2">
-                        <color r="255" g="0" b="51" a="255"/>
-                        <center-color r="0" g="204" b="255" a="255"/>
-                     </cv-stage>
-                     <cv-stage class="org.openpnp.vision.pipeline.stages.ImageWriteDebug" name="7" enabled="false" prefix="runoutCalibration" suffix=".png"/>
+                     <cv-stage class="org.openpnp.vision.pipeline.stages.ImageCapture" name="image" enabled="true" default-light="true" settle-option="Settle" count="1"/>
+                     <cv-stage class="org.openpnp.vision.pipeline.stages.MaskCircle" name="mask" enabled="true" diameter="200" property-name="MaskCircle"/>
+                     <cv-stage class="org.openpnp.vision.pipeline.stages.DetectCircularSymmetry" name="cir" enabled="true" min-diameter="40" max-diameter="85" max-distance="250" search-width="0" search-height="0" max-target-count="1" min-symmetry="1.2" corr-symmetry="0.0" outer-margin="0.2" inner-margin="0.4" sub-sampling="8" super-sampling="1" symmetry-score="OverallVarianceVsRingVarianceSum" property-name="" diagnostics="true" heat-map="true"/>
+                     <cv-stage class="org.openpnp.vision.pipeline.stages.ConvertModelToKeyPoints" name="results" enabled="true" model-stage-name="cir"/>
                   </stages>
                </pipeline>
                <runout-compensation-lookup class="java.util.HashMap"/>
                <minimum-detail-size value="0.2" units="Millimeters"/>
-               <offset-threshold-length value="0.5" units="Millimeters"/>
+               <offset-threshold-length value="2.0" units="Millimeters"/>
                <calibration-Z-offset value="0.0" units="Millimeters"/>
                <calibration-tip-diameter value="0.0" units="Millimeters"/>
             </calibration>
@@ -975,7 +948,7 @@
             <vacuum-difference-part-off-high>0.0</vacuum-difference-part-off-high>
             <diameter-low value="0.0" units="Millimeters"/>
          </nozzle-tip>
-         <nozzle-tip class="org.openpnp.machine.reference.ReferenceNozzleTip" id="TIP16f0412fef58a913" name="N75" pick-dwell-milliseconds="0" place-dwell-milliseconds="0" place-blow-off-level="0.0" vision-calibration="None" vision-calibration-trigger="Manual" vision-match-minimum-score="0.2" vision-calibration-max-passes="3" z-calibration-trigger="Manual" z-calibration-fail-homing="true" template-nozzle-tip="false" template-locked="false" establish-part-on-level="true" establish-part-off-level="false" part-off-probing-milliseconds="0" part-off-dwell-milliseconds="0" is-push-and-drag-allowed="false">
+         <nozzle-tip class="org.openpnp.machine.reference.ReferenceNozzleTip" id="TIP16f0412fef58a913" name="N75" pick-dwell-milliseconds="500" place-dwell-milliseconds="500" place-blow-off-level="0.0" vision-calibration="None" vision-calibration-trigger="Manual" vision-match-minimum-score="0.2" vision-calibration-max-passes="3" z-calibration-trigger="Manual" z-calibration-fail-homing="true" template-nozzle-tip="false" template-locked="false" establish-part-on-level="true" establish-part-off-level="false" part-off-probing-milliseconds="0" part-off-dwell-milliseconds="0" is-push-and-drag-allowed="false">
             <changer-start-location units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
             <changer-start-to-mid-speed>1.0</changer-start-to-mid-speed>
             <changer-mid-location units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
@@ -991,28 +964,20 @@
             <vision-calibration-tolerance value="0.7" units="Millimeters"/>
             <min-part-diameter value="0.0" units="Millimeters"/>
             <max-part-diameter value="20.0" units="Millimeters"/>
-            <max-part-height value="10.0" units="Millimeters"/>
+            <max-part-height value="20.0" units="Millimeters"/>
             <max-pick-tolerance value="1.0" units="Millimeters"/>
-            <calibration angle-subdivisions="6" allow-misdetections="0" angle-start="-200.0" angle-stop="200.0" excenter-ratio="0.25" enabled="true" fail-homing="true" runout-compensation-algorithm="ModelCameraOffsetAffine" version="2.1" recalibration-trigger="NozzleTipChange" background-calibration-method="None" background-min-hue="0" background-max-hue="0" background-tol-hue="8" background-min-saturation="0" background-max-saturation="0" background-tol-saturation="8" background-min-value="0" background-max-value="0" background-tol-value="8" min-background-mask-value="32" max-background-mask-value="128" background-worst-saturation="63" background-worst-hue-span="42" background-worst-value="127" offset-threshold="0.0" detection-threshold-margin="0.4">
+            <calibration angle-subdivisions="6" allow-misdetections="5" angle-start="-200.0" angle-stop="200.0" excenter-ratio="0.25" enabled="true" fail-homing="true" runout-compensation-algorithm="ModelCameraOffsetAffine" version="2.1" recalibration-trigger="NozzleTipChange" background-calibration-method="None" background-min-hue="0" background-max-hue="0" background-tol-hue="8" background-min-saturation="0" background-max-saturation="0" background-tol-saturation="8" background-min-value="0" background-max-value="0" background-tol-value="8" min-background-mask-value="32" max-background-mask-value="128" background-worst-saturation="63" background-worst-hue-span="42" background-worst-value="127" offset-threshold="0.0" detection-threshold-margin="0.4">
                <pipeline>
                   <stages>
-                     <cv-stage class="org.openpnp.vision.pipeline.stages.ImageCapture" name="0" enabled="true" default-light="true" settle-option="Settle" count="1"/>
-                     <cv-stage class="org.openpnp.vision.pipeline.stages.MaskCircle" name="1" enabled="true" diameter="400" property-name="MaskCircle"/>
-                     <cv-stage class="org.openpnp.vision.pipeline.stages.ConvertColor" name="2" enabled="true" conversion="Bgr2Gray"/>
-                     <cv-stage class="org.openpnp.vision.pipeline.stages.Threshold" name="3" enabled="true" threshold="200" auto="false" invert="false"/>
-                     <cv-stage class="org.openpnp.vision.pipeline.stages.BlurMedian" name="4" enabled="true" kernel-size="5"/>
-                     <cv-stage class="org.openpnp.vision.pipeline.stages.DetectCirclesHough" name="results" enabled="true" min-distance="50" min-diameter="320" max-diameter="340" dp="1.0" param-1="120.0" param-2="12.0"/>
-                     <cv-stage class="org.openpnp.vision.pipeline.stages.ImageRecall" name="5" enabled="true" image-stage-name="0"/>
-                     <cv-stage class="org.openpnp.vision.pipeline.stages.DrawCircles" name="6" enabled="true" circles-stage-name="results" thickness="2">
-                        <color r="255" g="0" b="51" a="255"/>
-                        <center-color r="0" g="204" b="255" a="255"/>
-                     </cv-stage>
-                     <cv-stage class="org.openpnp.vision.pipeline.stages.ImageWriteDebug" name="7" enabled="false" prefix="runoutCalibration" suffix=".png"/>
+                     <cv-stage class="org.openpnp.vision.pipeline.stages.ImageCapture" name="image" enabled="true" default-light="true" settle-option="Settle" count="1"/>
+                     <cv-stage class="org.openpnp.vision.pipeline.stages.MaskCircle" name="mask" enabled="true" diameter="200" property-name="MaskCircle"/>
+                     <cv-stage class="org.openpnp.vision.pipeline.stages.DetectCircularSymmetry" name="cir" enabled="true" min-diameter="40" max-diameter="70" max-distance="250" search-width="0" search-height="0" max-target-count="1" min-symmetry="1.2" corr-symmetry="0.0" outer-margin="0.2" inner-margin="0.4" sub-sampling="8" super-sampling="1" symmetry-score="OverallVarianceVsRingVarianceSum" property-name="" diagnostics="true" heat-map="true"/>
+                     <cv-stage class="org.openpnp.vision.pipeline.stages.ConvertModelToKeyPoints" name="results" enabled="true" model-stage-name="cir"/>
                   </stages>
                </pipeline>
                <runout-compensation-lookup class="java.util.HashMap"/>
                <minimum-detail-size value="0.2" units="Millimeters"/>
-               <offset-threshold-length value="0.5" units="Millimeters"/>
+               <offset-threshold-length value="2.0" units="Millimeters"/>
                <calibration-Z-offset value="0.0" units="Millimeters"/>
                <calibration-tip-diameter value="0.0" units="Millimeters"/>
             </calibration>
diff --git a/openpnp/vision-settings.xml b/openpnp/vision-settings.xml
index 35d28369e..378e8c232 100644
--- a/openpnp/vision-settings.xml
+++ b/openpnp/vision-settings.xml
@@ -40,27 +40,10 @@
    <vision-settings class="org.openpnp.model.FiducialVisionSettings" id="FVS_Default" name="- Default Machine Fiducial Locator -" enabled="true">
       <cv-pipeline>
          <stages>
-            <cv-stage class="org.openpnp.vision.pipeline.stages.CreateFootprintTemplateImage" name="template" enabled="true" footprint-view="Fiducial" minimal-image-size="false">
-               <pads-color r="255" g="255" b="255" a="255"/>
-               <body-color r="0" g="0" b="0" a="255"/>
-               <background-color r="0" g="0" b="0" a="255"/>
-            </cv-stage>
-            <cv-stage class="org.openpnp.vision.pipeline.stages.ImageWriteDebug" name="debug_template" enabled="true" prefix="fidloc_template_" suffix=".png"/>
-            <cv-stage class="org.openpnp.vision.pipeline.stages.ConvertColor" name="template_gray" enabled="true" conversion="Bgr2Gray"/>
             <cv-stage class="org.openpnp.vision.pipeline.stages.ImageCapture" name="image" enabled="true" default-light="true" settle-option="Settle" count="1"/>
-            <cv-stage class="org.openpnp.vision.pipeline.stages.MaskCircle" name="0" enabled="true" diameter="400" property-name="MaskCircle"/>
-            <cv-stage class="org.openpnp.vision.pipeline.stages.ConvertColor" name="image_gray" enabled="true" conversion="Bgr2Gray"/>
-            <cv-stage class="org.openpnp.vision.pipeline.stages.ImageWriteDebug" name="debug_original" enabled="true" prefix="fidloc_original_" suffix=".png"/>
-            <cv-stage class="org.openpnp.vision.pipeline.stages.MatchTemplate" name="match_template" enabled="false" template-stage-name="template_gray" threshold="0.7" corr="0.7" normalize="true"/>
-            <cv-stage class="org.openpnp.vision.pipeline.stages.Threshold" name="3" enabled="true" threshold="200" auto="false" invert="false"/>
-            <cv-stage class="org.openpnp.vision.pipeline.stages.BlurGaussian" name="4" enabled="true" kernel-size="3" property-name="BlurGaussian"/>
-            <cv-stage class="org.openpnp.vision.pipeline.stages.DetectCirclesHough" name="1" enabled="true" min-distance="50" min-diameter="60" max-diameter="80" dp="1.0" param-1="80.0" param-2="15.0"/>
-            <cv-stage class="org.openpnp.vision.pipeline.stages.ImageRecall" name="recall_image" enabled="true" image-stage-name="image"/>
-            <cv-stage class="org.openpnp.vision.pipeline.stages.DrawTemplateMatches" name="draw_matches" enabled="false" template-matches-stage-name="match_template"/>
-            <cv-stage class="org.openpnp.vision.pipeline.stages.DrawCircles" name="2" enabled="true" circles-stage-name="1" thickness="1"/>
-            <cv-stage class="org.openpnp.vision.pipeline.stages.ConvertModelToKeyPoints" name="results" enabled="true" model-stage-name="1"/>
-            <cv-stage class="org.openpnp.vision.pipeline.stages.DrawKeyPoints" name="draw_keypoints" enabled="true" key-points-stage-name="results"/>
-            <cv-stage class="org.openpnp.vision.pipeline.stages.ImageWriteDebug" name="debug_results" enabled="true" prefix="fidloc_results_" suffix=".png"/>
+            <cv-stage class="org.openpnp.vision.pipeline.stages.MaskCircle" name="mask" enabled="true" diameter="500" property-name="MaskCircle"/>
+            <cv-stage class="org.openpnp.vision.pipeline.stages.DetectCircularSymmetry" name="cir" enabled="true" min-diameter="10" max-diameter="150" max-distance="250" search-width="0" search-height="0" max-target-count="1" min-symmetry="1.2" corr-symmetry="0.0" outer-margin="0.2" inner-margin="0.4" sub-sampling="8" super-sampling="1" symmetry-score="OverallVarianceVsRingVarianceSum" property-name="" diagnostics="true" heat-map="true"/>
+            <cv-stage class="org.openpnp.vision.pipeline.stages.ConvertModelToKeyPoints" name="results" enabled="true" model-stage-name="cir"/>
          </stages>
       </cv-pipeline>
    </vision-settings>
@@ -114,30 +97,20 @@
       </cv-pipeline>
       <vision-offset units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
    </vision-settings>
-   <vision-settings class="org.openpnp.model.BottomVisionSettings" id="BVS_Default" name="- Default Machine Bottom Vision -" enabled="true" pre-rotate-usage="Default" check-part-size-method="Disabled" check-size-tolerance-percent="20" max-rotation="Adjust" asymmetric="false">
+   <vision-settings class="org.openpnp.model.BottomVisionSettings" id="BVS_Default" name="- Default Machine Bottom Vision -" enabled="true" pre-rotate-usage="Default" check-part-size-method="Disabled" check-size-tolerance-percent="300" max-rotation="Adjust" asymmetric="false">
       <cv-pipeline>
          <stages>
-            <cv-stage class="org.openpnp.vision.pipeline.stages.ParameterNumeric" name="pThreshold" enabled="true" parameter-label="Threshold" parameter-description="Set the brightness threshold that isolates the shiny contacts of a part." stage-name="threshold" property-name="valueMax" effect-stage-name="threshold" preview-result="true" minimum-value="1.0" maximum-value="254.0" default-value="100.0" numeric-type="Integer"/>
-            <cv-stage class="org.openpnp.vision.pipeline.stages.ParameterNumeric" name="pDetail" enabled="true" parameter-label="Min. Detail Size" parameter-description="Minimal size of a detail that should be included in the detected shape." stage-name="filterContours" property-name="minArea" effect-stage-name="contours" preview-result="true" minimum-value="0.0" maximum-value="0.25" default-value="0.01" numeric-type="SquareMillimetersToPixels"/>
-            <cv-stage class="org.openpnp.vision.pipeline.stages.ImageCapture" name="0" enabled="true" default-light="true" settle-option="Settle" count="1"/>
-            <cv-stage class="org.openpnp.vision.pipeline.stages.ImageWriteDebug" name="deb0" enabled="true" prefix="bv_source_" suffix=".png"/>
-            <cv-stage class="org.openpnp.vision.pipeline.stages.BlurGaussian" name="3" enabled="true" kernel-size="9" property-name="BlurGaussian"/>
-            <cv-stage class="org.openpnp.vision.pipeline.stages.MaskCircle" name="4" enabled="true" diameter="525" property-name="MaskCircle"/>
-            <cv-stage class="org.openpnp.vision.pipeline.stages.ConvertColor" name="5" enabled="true" conversion="Bgr2HsvFull"/>
-            <cv-stage class="org.openpnp.vision.pipeline.stages.MaskHsv" name="6" enabled="true" auto="false" fraction-to-mask="0.0" hue-min="60" hue-max="130" saturation-min="32" saturation-max="255" value-min="64" value-max="255" soft-edge="0" soft-factor="1.0" invert="false" binary-mask="false" property-name="MaskHsv"/>
-            <cv-stage class="org.openpnp.vision.pipeline.stages.MaskHsv" name="threshold" enabled="true" auto="false" fraction-to-mask="0.0" hue-min="0" hue-max="255" saturation-min="0" saturation-max="255" value-min="0" value-max="100" soft-edge="0" soft-factor="1.0" invert="false" binary-mask="false" property-name=""/>
-            <cv-stage class="org.openpnp.vision.pipeline.stages.ConvertColor" name="7" enabled="true" conversion="Hsv2BgrFull"/>
-            <cv-stage class="org.openpnp.vision.pipeline.stages.ConvertColor" name="8" enabled="true" conversion="Bgr2Gray"/>
-            <cv-stage class="org.openpnp.vision.pipeline.stages.FindContours" name="findCountours" enabled="true" retrieval-mode="List" approximation-method="None"/>
-            <cv-stage class="org.openpnp.vision.pipeline.stages.FilterContours" name="filterContours" enabled="true" contours-stage-name="findCountours" min-area="0.01" max-area="900000.0" property-name="FilterContours"/>
-            <cv-stage class="org.openpnp.vision.pipeline.stages.MaskCircle" name="11" enabled="true" diameter="0" property-name=""/>
-            <cv-stage class="org.openpnp.vision.pipeline.stages.DrawContours" name="contours" enabled="true" contours-stage-name="filterContours" thickness="2" index="-1">
-               <color r="255" g="255" b="255" a="255"/>
-            </cv-stage>
-            <cv-stage class="org.openpnp.vision.pipeline.stages.MinAreaRect" name="results" enabled="true" threshold-min="100" threshold-max="255" expected-angle="0.0" search-angle="45.0" left-edge="true" right-edge="true" top-edge="true" bottom-edge="true" diagnostics="false" property-name="MinAreaRect"/>
-            <cv-stage class="org.openpnp.vision.pipeline.stages.ImageRecall" name="14" enabled="true" image-stage-name="0"/>
-            <cv-stage class="org.openpnp.vision.pipeline.stages.DrawRotatedRects" name="15" enabled="true" rotated-rects-stage-name="results" thickness="2" draw-rect-center="false" rect-center-radius="20" show-orientation="false"/>
-            <cv-stage class="org.openpnp.vision.pipeline.stages.ImageWriteDebug" name="deb1" enabled="true" prefix="bv_result_" suffix=".png"/>
+            <cv-stage class="org.openpnp.vision.pipeline.stages.ImageCapture" name="CaptureImage" enabled="true" default-light="true" settle-option="Settle" count="1"/>
+            <cv-stage class="org.openpnp.vision.pipeline.stages.ImageWriteDebug" name="SaveDebugImage" enabled="false" prefix="bv_source_" suffix=".png"/>
+            <cv-stage class="org.openpnp.vision.pipeline.stages.MaskCircle" name="MaskCircle" enabled="true" diameter="250" property-name=""/>
+            <cv-stage class="org.openpnp.vision.pipeline.stages.ConvertColor" name="ConvertToGray" enabled="true" conversion="Bgr2Gray"/>
+            <cv-stage class="org.openpnp.vision.pipeline.stages.BlurGaussian" name="InitialBlur" enabled="true" kernel-size="9" property-name="BlurGaussian"/>
+            <cv-stage class="org.openpnp.vision.pipeline.stages.Threshold" name="Threshold" enabled="true" threshold="240" auto="false" invert="false"/>
+            <cv-stage class="org.openpnp.vision.pipeline.stages.BlurGaussian" name="SecondBlur" enabled="true" kernel-size="3" property-name="BlurGaussian"/>
+            <cv-stage class="org.openpnp.vision.pipeline.stages.MinAreaRect" name="results" enabled="true" threshold-min="149" threshold-max="256" expected-angle="0.0" search-angle="45.0" left-edge="true" right-edge="true" top-edge="true" bottom-edge="true" diagnostics="false" property-name="MinAreaRect"/>
+            <cv-stage class="org.openpnp.vision.pipeline.stages.ImageRecall" name="RecallOriginal" enabled="true" image-stage-name="CaptureImage"/>
+            <cv-stage class="org.openpnp.vision.pipeline.stages.DrawRotatedRects" name="DrawRectangle" enabled="true" rotated-rects-stage-name="results" thickness="2" draw-rect-center="false" rect-center-radius="20" show-orientation="false"/>
+            <cv-stage class="org.openpnp.vision.pipeline.stages.ImageWriteDebug" name="SaveDebugWithCV" enabled="false" prefix="bv_result_" suffix=".png"/>
          </stages>
       </cv-pipeline>
       <vision-offset units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
@@ -145,28 +118,29 @@
    <vision-settings class="org.openpnp.model.FiducialVisionSettings" id="FVS17087d17ad3597ea" name="FIDUCIAL-1X2" enabled="true">
       <cv-pipeline>
          <stages>
-            <cv-stage class="org.openpnp.vision.pipeline.stages.CreateFootprintTemplateImage" name="template" enabled="true" footprint-view="Fiducial" minimal-image-size="false">
-               <pads-color r="255" g="255" b="255" a="255"/>
-               <body-color r="0" g="0" b="0" a="255"/>
-               <background-color r="0" g="0" b="0" a="255"/>
-            </cv-stage>
-            <cv-stage class="org.openpnp.vision.pipeline.stages.ImageWriteDebug" name="debug_template" enabled="true" prefix="fidloc_template_" suffix=".png"/>
-            <cv-stage class="org.openpnp.vision.pipeline.stages.ConvertColor" name="template_gray" enabled="true" conversion="Bgr2Gray"/>
             <cv-stage class="org.openpnp.vision.pipeline.stages.ImageCapture" name="image" enabled="true" default-light="true" settle-option="Settle" count="1"/>
-            <cv-stage class="org.openpnp.vision.pipeline.stages.MaskCircle" name="0" enabled="true" diameter="250" property-name="MaskCircle"/>
-            <cv-stage class="org.openpnp.vision.pipeline.stages.ConvertColor" name="image_gray" enabled="true" conversion="Bgr2Gray"/>
-            <cv-stage class="org.openpnp.vision.pipeline.stages.ImageWriteDebug" name="debug_original" enabled="true" prefix="fidloc_original_" suffix=".png"/>
-            <cv-stage class="org.openpnp.vision.pipeline.stages.MatchTemplate" name="match_template" enabled="false" template-stage-name="template_gray" threshold="0.7" corr="0.7" normalize="true"/>
-            <cv-stage class="org.openpnp.vision.pipeline.stages.Threshold" name="3" enabled="true" threshold="100" auto="false" invert="false"/>
-            <cv-stage class="org.openpnp.vision.pipeline.stages.BlurGaussian" name="4" enabled="true" kernel-size="3" property-name="BlurGaussian"/>
-            <cv-stage class="org.openpnp.vision.pipeline.stages.DetectCirclesHough" name="1" enabled="true" min-distance="50" min-diameter="60" max-diameter="80" dp="1.0" param-1="80.0" param-2="15.0"/>
-            <cv-stage class="org.openpnp.vision.pipeline.stages.ImageRecall" name="recall_image" enabled="true" image-stage-name="image"/>
-            <cv-stage class="org.openpnp.vision.pipeline.stages.DrawTemplateMatches" name="draw_matches" enabled="false" template-matches-stage-name="match_template"/>
-            <cv-stage class="org.openpnp.vision.pipeline.stages.DrawCircles" name="2" enabled="true" circles-stage-name="1" thickness="1"/>
-            <cv-stage class="org.openpnp.vision.pipeline.stages.ConvertModelToKeyPoints" name="results" enabled="true" model-stage-name="1"/>
-            <cv-stage class="org.openpnp.vision.pipeline.stages.DrawKeyPoints" name="draw_keypoints" enabled="true" key-points-stage-name="results"/>
-            <cv-stage class="org.openpnp.vision.pipeline.stages.ImageWriteDebug" name="debug_results" enabled="true" prefix="fidloc_results_" suffix=".png"/>
+            <cv-stage class="org.openpnp.vision.pipeline.stages.MaskCircle" name="mask" enabled="true" diameter="500" property-name="MaskCircle"/>
+            <cv-stage class="org.openpnp.vision.pipeline.stages.DetectCircularSymmetry" name="cir" enabled="true" min-diameter="10" max-diameter="150" max-distance="250" search-width="0" search-height="0" max-target-count="1" min-symmetry="1.2" corr-symmetry="0.0" outer-margin="0.2" inner-margin="0.4" sub-sampling="8" super-sampling="1" symmetry-score="OverallVarianceVsRingVarianceSum" property-name="" diagnostics="true" heat-map="true"/>
+            <cv-stage class="org.openpnp.vision.pipeline.stages.ConvertModelToKeyPoints" name="results" enabled="true" model-stage-name="cir"/>
          </stages>
       </cv-pipeline>
    </vision-settings>
+   <vision-settings class="org.openpnp.model.BottomVisionSettings" id="BVS17df1cc8858d7583" name="R_0603_1608Metric-R_Small" enabled="true" pre-rotate-usage="Default" check-part-size-method="Disabled" check-size-tolerance-percent="300" max-rotation="Adjust" asymmetric="false">
+      <cv-pipeline>
+         <stages>
+            <cv-stage class="org.openpnp.vision.pipeline.stages.ImageCapture" name="CaptureImage" enabled="true" default-light="true" settle-option="Settle" count="1"/>
+            <cv-stage class="org.openpnp.vision.pipeline.stages.ImageWriteDebug" name="SaveDebugImage" enabled="false" prefix="bv_source_" suffix=".png"/>
+            <cv-stage class="org.openpnp.vision.pipeline.stages.MaskCircle" name="MaskCircle" enabled="true" diameter="250" property-name=""/>
+            <cv-stage class="org.openpnp.vision.pipeline.stages.ConvertColor" name="ConvertToGray" enabled="true" conversion="Bgr2Gray"/>
+            <cv-stage class="org.openpnp.vision.pipeline.stages.BlurGaussian" name="InitialBlur" enabled="true" kernel-size="9" property-name="BlurGaussian"/>
+            <cv-stage class="org.openpnp.vision.pipeline.stages.Threshold" name="Threshold" enabled="true" threshold="240" auto="false" invert="false"/>
+            <cv-stage class="org.openpnp.vision.pipeline.stages.BlurGaussian" name="SecondBlur" enabled="true" kernel-size="3" property-name="BlurGaussian"/>
+            <cv-stage class="org.openpnp.vision.pipeline.stages.MinAreaRect" name="results" enabled="true" threshold-min="149" threshold-max="256" expected-angle="0.0" search-angle="45.0" left-edge="true" right-edge="true" top-edge="true" bottom-edge="true" diagnostics="false" property-name="MinAreaRect"/>
+            <cv-stage class="org.openpnp.vision.pipeline.stages.ImageRecall" name="RecallOriginal" enabled="true" image-stage-name="CaptureImage"/>
+            <cv-stage class="org.openpnp.vision.pipeline.stages.DrawRotatedRects" name="DrawRectangle" enabled="true" rotated-rects-stage-name="results" thickness="2" draw-rect-center="false" rect-center-radius="20" show-orientation="false"/>
+            <cv-stage class="org.openpnp.vision.pipeline.stages.ImageWriteDebug" name="SaveDebugWithCV" enabled="false" prefix="bv_result_" suffix=".png"/>
+         </stages>
+      </cv-pipeline>
+      <vision-offset units="Millimeters" x="0.0" y="0.0" z="0.0" rotation="0.0"/>
+   </vision-settings>
 </openpnp-vision-settings>