Mike:

, I didnt suggest straightening as a long term option. Probeing is something that will have to have a few "strategies". At the moment, we have only the Grid stategy. This will work for many things, but we'll need more to deal with other things. Your acute edge is a perfect example. A spiral strategy I think will fix that one, The point of the test so far is to find the weaknesses in it, and its doing pretty well, but I dont think there is any "one fits all" type of probing that will work. IT will take a few output types in terms of movements. The grid is fine, but I think Ill revise it to make it more easily rectangualr, then Ill add a spiral. In order to maintain safety, rather than try to override the pullup and pullout behaviours which seem to have proved themseves, I think simply different shape strategies will be the final solution. I shoudl have another one soon.

Thanks
Art