Changes to work properly with pincher arm
Changes to work properly with pincher arm

EricssonResearch/scott-eu,EricssonResearch/scott-eu,EricssonResearch/scott-eu,EricssonResearch/scott-eu,EricssonResearch/scott-eu,EricssonResearch/scott-eu,EricssonResearch/scott-eu,EricssonResearch/scott-eu,EricssonResearch/scott-eu,EricssonResearch/scott-eu