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Mar 26th, 2019
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  1. Corrected rotation matrix:
  2. [[-0.99032822 -0.05640014 0.12676372]
  3. [-0.02040002 0.96291059 0.26904839]
  4. [-0.13723649 0.26386023 -0.95474809]]
  5. Corrected origin position:
  6. [ 0.07 0.186 -0.497]
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