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Mar 26th, 2019
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  1. Corrected rotation matrix:
  2. [[-0.99834086 -0.05744422 -0.00396167]
  3. [-0.05638821 0.96141955 0.2692449 ]
  4. [-0.01165774 0.26902158 -0.96306359]]
  5. Corrected origin position:
  6. [ 0.127 -0.187 0.467]
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