From 6db4d7a16938a621be54e7216cfde96dc536683d Mon Sep 17 00:00:00 2001
From: brunofavs <bruno.favs@ua.pt>
Date: Thu, 18 Apr 2024 09:40:27 +0100
Subject: [PATCH] pushing test prints #929

---
 atom_calibration/scripts/calibrate            |  15 +-
 atom_core/src/atom_core/config_io.py          |   3 -
 atom_core/src/atom_core/dataset_io.py         |  32 +
 atom_core/src/atom_core/utilities.py          |   2 +-
 .../calibration/config.yml                    |   6 +-
 .../calibration/summary.pdf                   | Bin 14015 -> 14353 bytes
 .../calibration/transforms_graph.json         |   2 +-
 .../rviz/collect_data.rviz                    | 627 +++++++-----------
 .../rviz/dataset_playback.rviz                | 341 +++++-----
 .../urdf/optimized.urdf.xacro                 |   6 +-
 .../urdf/optimized_w_pattern.urdf.xacro       |   8 +-
 pyrightconfig.json                            |   6 +
 12 files changed, 469 insertions(+), 579 deletions(-)
 create mode 100644 pyrightconfig.json

diff --git a/atom_calibration/scripts/calibrate b/atom_calibration/scripts/calibrate
index 09a638cd..2b2be58d 100755
--- a/atom_calibration/scripts/calibrate
+++ b/atom_calibration/scripts/calibrate
@@ -60,6 +60,8 @@ def signal_handler(sig, frame):
 # -------------------------------------------------------------------------------
 def main():
 
+
+
     atomStartupPrint('Starting calibration')
 
     # ---------------------------------------
@@ -239,7 +241,7 @@ def main():
 
     
     addNoiseToInitialGuess(dataset, args, selected_collection_key)
-    addNoiseToJointParameters(dataset, args)
+    # addNoiseToJointParameters(dataset, args)
 
 
     # Verify both arguments were provided
@@ -255,8 +257,9 @@ def main():
         # print(translation_tf_noise)
         # print(rotation_tf_noise)
 
-        for tf_pair in args['noisy_tf_links']:
-            addNoiseToTF(dataset,selected_collection_key,tf_pair[0],tf_pair[1],translation_tf_noise,rotation_tf_noise)
+        # for tf_pair in args['noisy_tf_links']:
+            # addNoiseToTF(dataset,selected_collection_key,tf_pair[0],tf_pair[1],translation_tf_noise,rotation_tf_noise)
+            # addNoiseToTF(dataset,selected_collection_key,tf_pair[0],tf_pair[1],1,1)
             # debugging print
             # tf_link = generateKey(tf_pair[0],tf_pair[1])
             # from pprint import pprint
@@ -338,6 +341,7 @@ def main():
     # Steaming from the config json, we define a transform to be optimized for each sensor. It could happen that two
     # or more sensors define the same transform to be optimized (#120). To cope with this we first create a list of
     # transformations to be optimized and then compute the unique set of that list.
+    
     print("Creating sensor transformation parameters ...")
     sensors_transforms_set = set()
     for sensor_key, sensor in dataset["sensors"].items():
@@ -380,6 +384,7 @@ def main():
             transform_key = generateKey(additional_tf['parent_link'], additional_tf['child_link'])
             additional_transforms_set.add(transform_key)
 
+
     if dataset['calibration_config']['additional_tfs'] is not None:
         for _, additional_tf in dataset['calibration_config']['additional_tfs'].items():
             transform_key = generateKey(additional_tf['parent_link'], additional_tf['child_link'])
@@ -736,7 +741,9 @@ def main():
     opt.computeSparseMatrix()
     # opt.printSparseMatrix()
     # opt.printParameters()
-    opt.getParamNames()
+    # opt.getParamNames()
+
+
 
     # ---------------------------------------
     # --- Get a normalizer for each residual type
diff --git a/atom_core/src/atom_core/config_io.py b/atom_core/src/atom_core/config_io.py
index 3ab0b8e9..f903e924 100644
--- a/atom_core/src/atom_core/config_io.py
+++ b/atom_core/src/atom_core/config_io.py
@@ -18,9 +18,6 @@
 
 def mutually_inclusive_conditions(A,B):
 
-    print(A is None)
-    print(B is None)
-
     if A is not None and B is not None:
         return True
     elif A is None and B is None:
diff --git a/atom_core/src/atom_core/dataset_io.py b/atom_core/src/atom_core/dataset_io.py
index 590a2251..510e796a 100644
--- a/atom_core/src/atom_core/dataset_io.py
+++ b/atom_core/src/atom_core/dataset_io.py
@@ -815,6 +815,8 @@ def addNoiseToInitialGuess(dataset, args, selected_collection_key):
         if sensor_key != dataset['calibration_config']['anchored_sensor']:
             calibration_child = sensor['calibration_child']
             calibration_parent = sensor['calibration_parent']
+            print(calibration_child)
+            print(calibration_parent)
             addNoiseToTF(dataset, selected_collection_key, calibration_parent, calibration_child, nig_trans, nig_rot)
 
 
@@ -853,9 +855,12 @@ def addNoiseToTF(dataset, selected_collection_key, calibration_parent, calibrati
 
     elif dataset['transforms'][transform_key]['type'] == 'multiple':
 
+
         for collection_key, collection in dataset["collections"].items():
 
             # Get original transformation
+            tf_gt = copy.deepcopy(dataset['collections'][collection_key]['transforms'][transform_key])
+
             quat = dataset['collections'][collection_key]['transforms'][transform_key]['quat']
             translation = dataset['collections'][collection_key]['transforms'][transform_key]['trans']
 
@@ -873,6 +878,33 @@ def addNoiseToTF(dataset, selected_collection_key, calibration_parent, calibrati
             dataset['collections'][collection_key]['transforms'][transform_key]['quat'] = new_quat
             dataset['collections'][collection_key]['transforms'][transform_key]['trans'] = list(new_translation)
 
+            print(f'{Fore.BLUE}{type(new_quat)}{Style.RESET_ALL}')
+            print(f'{Fore.BLUE}{type(list(new_translation))}{Style.RESET_ALL}')
+            
+            from atom_core.utilities import compareAtomTransforms
+            from pprint import pprint
+
+            et,er = compareAtomTransforms(tf_gt,dataset['collections'][collection_key]['transforms'][transform_key])
+            # pprint(tf_gt)
+            # pprint(dataset['collections'][collection_key]['transforms'][transform_key])
+
+            print("\n\nTranslation")
+            # print(f'{Fore.BLUE}{list(np.around(np.array(translation),4))}{Style.RESET_ALL}')
+            # print(f'{Fore.RED}{list(np.around(np.array(new_translation),4))}{Style.RESET_ALL}')
+            print(f'{Fore.GREEN}Diference\n{round(et,3)}{Style.RESET_ALL}')
+
+
+
+            print("\n\nRotation")
+            # print(f'{Fore.BLUE}{list(np.around(np.array(euler_angles),4))}{Style.RESET_ALL}')
+            # print(f'{Fore.RED}{list(np.around(np.array(new_angles),4))}{Style.RESET_ALL}')
+
+            print(f'{Fore.GREEN}Diference\n{round(er,3)}{Style.RESET_ALL}')
+
+
+
+            # exit()
+
 
 def copyTFToDataset(calibration_parent, calibration_child, source_dataset, target_dataset):
     """
diff --git a/atom_core/src/atom_core/utilities.py b/atom_core/src/atom_core/utilities.py
index 0fdc45c3..a1afb1ad 100644
--- a/atom_core/src/atom_core/utilities.py
+++ b/atom_core/src/atom_core/utilities.py
@@ -169,7 +169,7 @@ def printComparisonToGroundTruth(dataset, dataset_initial, dataset_ground_truth,
     if dataset['calibration_config']['additional_tfs'] is not None:
         for additional_tf_key, additional_tf in dataset['calibration_config']['additional_tfs'].items():
 
-            transform_key = generateKey(additional_tf["parent_link"], sensor["child_link"])
+            transform_key = generateKey(additional_tf["parent_link"], additional_tf["child_link"])
             row = [transform_key, Fore.LIGHTCYAN_EX + additional_tf_key + Style.RESET_ALL]
 
             transform_calibrated = dataset['collections'][selected_collection_key]['transforms'][transform_key]
diff --git a/atom_examples/softbot/softbot_calibration/calibration/config.yml b/atom_examples/softbot/softbot_calibration/calibration/config.yml
index 2a9ee02c..658005ce 100755
--- a/atom_examples/softbot/softbot_calibration/calibration/config.yml
+++ b/atom_examples/softbot/softbot_calibration/calibration/config.yml
@@ -110,9 +110,9 @@ additional_tfs:
   #           This is the transformation (i.e. link) that we be optimized.
   #
   # EXAMPLE:
-  #base_footprint_to_base_link:
-  #  parent_link: "base_footprint"
-  #  child_link: "base_link"
+  world_to_base_footprint:
+   parent_link: "world"
+   child_link: "base_footprint"
 
 
 # ATOM can also calibrate several parameters of your joints.
diff --git a/atom_examples/softbot/softbot_calibration/calibration/summary.pdf b/atom_examples/softbot/softbot_calibration/calibration/summary.pdf
index aa16a46e20b4abbda193c40d8be104aa7e29a5c7..6e4935ea7a21e98e3f06234d376dc45d7c33e1b2 100755
GIT binary patch
delta 12706
zcmZvBWlWv{vn9pd-QD%Y-QC^Y-CZ7_xVyVM6t^P99SX(W9SX&5zq`B1X7BF&I+;1i
zoMe*8nM}W9vP+UOkVrV;+PBhJWj<#r_Y!1)!wLy|JILjnLduwHkfMg7=q`!y`INu{
zqG+!1_gm%UZ?U(>p{z6mQ5YKwu-9BVoPPPs1L+PY2SfjiQ%%?Vzk)uu60JUO?+=dw
z)GL&KCyk3FUjn%!(>K)i$3TAlk03ZpuTkcSr596`Izuy{)qTdYdUnD62>Vavh-Ty5
zSeHhB874JVx(<$gN%Q=P(6}mHJ31AXDci>Wg4u6XzL4&5fiUuWOzaZ|-r28(r@f2F
zmq_kZq*%7m@cAcs5_vfJhK35cz=M4xMdoQ|;)<OQ59jL{hZAmLML?kUXU|h4$<5u~
zNss>t^350Eb~3$J+4JV}JjZ{rVGL9n9}VHOzWaHTAQuXKeO%8uf3ki|<+@U~<&0#o
z_T;c_!BF{#L+Y6*+Oo0DZcA|_<)0?DqERy~Y{=4<cT(Y2ejIh7xDbY=RGVW#w@hIn
zQ420S1}x!ugwE=`I%~V!OKBfilnN51%y6c=9Y_I%LLsj&&Nv&kaO?Im*kk_mm^Yc7
zza0L>B6$f^P9khEn&zc7a_lTmrrOl69!v3}jX1979VaeY_LESzl<9s3IOqB#MT})-
zdRXRKfz>&xekW?L`}lX}^FwhStQ|WC#WAQJ$yW@v0_5i4CO;E|oPo0Z+smx&<1f!i
zC*=h|Lk8KxliKDDTy7@58qk+kcveXF><doZtHNYLgVwe`9PYTkGoM*OA2ga>laTD}
zybQf98eco`=52q4{Twl>5HAe?--CbE=_M!Po|(qTB0eUxaV-!vBIlxJDi;YwVhS0q
z8Kqv>?kMk6!A>P~l)8<L)e(@jAxl<T3Vj5IsnyD|H6YIh^6s&E&0t!nMno~1DQ`Rm
zl7nKR>C!8F$l;@5+mjP02<Ci#UUncfI`S&kiFd}V+&KI-zPYZq*VAaNFzjt<_2pPK
z106oj@PGR(ME2$qofw5!{p4nYKfOY(bXJ5F`CQy84c(Ou3D1ipg%vHjq%dWb_|^^3
z96CS_j=&0*r0hDB<P(Ha&cSO@d2o0`gFnhjsn{m{*Wfyzg!Kn!ev1HJvEnTjB)3mv
z?Ae_)$z&J{)EUtRq!=Uf<IrNFzxQRC%}s1tR61FuwL8Sn)V{?=i>Axwg|bm%LLOu0
z{wx)wj92zI^I0UpfhVy&VbFUK!T?BQFtW$f4#~g^rp3acX0w&3npF%QH>fZjdEdhJ
zC#A$emt7V~G2d=7GvXxLBeCLTB2XdMewf^+f(i3=q{o4cHPk6U+HzfJag_)*#!1k4
zm~?!Czs&|&Qdzt!&A&WeTi^HVGK;x%jF0?Hcy#NeHs|;4d1>AL^uf{Z=?Avf5cP!k
zSI@RbqyW9J@kXS!E>AkqP;%Y@9X>^V%DbA0otY$39PEqnf#at1B83u3e<(P52mjPL
zhok^<>Dhf&_j?Xob|l%=1N1O0-hBm|%`97LG&i*#$ORP|p$xhH?~vu|n?+MWJ(N{U
zm9nVQtFc|8;aYPE5hez(;K1+warYluta%g9PFtjErWV3jhboq<MrSN@@M2U^3`@9G
zkC|wgN1*RY^LS66)(o9nI3*aqf@y_o|IYk_)Tw;%V_F6Fx!jaaNo7(oq~Hcy1Acdf
z=Uw2QW^eB1ZRXkjgkEN;3>SIiF^IK22D1uzC+Re|V2p>m+`&~trU6P&zk^8?s|zV*
zes~SG9X|89)Kf9_)$P(lhUin#pf#^7(6Yt+YD<YxY@jzlc!;FZ>U^@6OhxD0<bw#W
zl_~?*&K9LPjVu51g5uvFq5ZqB?(*?Z1iG294-NLh(UlzhL~X^j<f-i21^p^@BIzn?
z0sBY6dv+y+WUJdm{R@yGg%?uNstXfSy5kNpk{O=oiD^BY4lqI@VG@Z(6B$Kg4rM2_
zLL2GL#_-9bkLy<ngcUX6Vn)C4r6Ska#<7=3Wk-j_gFH=t7*5WtwnT{iAQ%|yDp*YP
zuD&^yf&H-n!_h+!iE$h0Y}^;j%w(pXsqS6912lO*JwShT{{}`$jgRZ~<&-x>f#eC&
zF$}F0d^en&JI2_yY}lwGH2K5nvqA<@N;W+O_4wl3J^ecovs*>r_ussMSb@k22DC&s
zOy31poUF6DDTZQRs}@Oj8d~(yY61=z0Q*K)rwA#>wm_c)!L&%14t!+RqDXfX&n6=q
zHplY(mswBR2C#7Xp;+^;eBshbf}OzX(Zf-R2}Y5+vZ>adw?iKPH-!SJ@d|~rLew^2
z&oVkCLi?Y{NnPs;n-zFIvJ}d9J)4I#{acZ~5l*;Umz7{AH6pSm7c#W(FG)lCOz%*~
zmf1LJqcaDAWhX*-E@$ZhM*1lmlOi;<K?tB`2E1|R0$@U<Byek7gwc`#LJSvFg!#?I
z8e}0diU%TPN5f01Mu@#qbIJ@kymKal_|(Fqjng}nHn74gsshVKkCJTYA`>7}G@U@=
zYGuF8>kvb=;ij_*Lrt2kNSc)jrF7CGg`7y%Acdvm>BuW$SqUTc<>QTvN@yoqlpRJ>
z;{DZy3G5B%NNkK8cuWk|meXL&@m;3|+Zaz&x+X~J$_JxL%_5@<QVwM2%{2!_By}YR
z<4<dWhp|$M(51XwC}@Ct5T=9W%T}H)g^zgAb;yg%Jai-lyVOF87%nPhd;R=3Z;&yt
zB01k9B48RSj#dZ%$eLgNn<<4@A_B4uYN{o?1;C=ztp)`<QZ<I><Lsj~zKYuXi3?B8
zRW%5}o8=mT(iPjDU#{4S`vGR)wMhd$a=hYpLDvv515eqw)rbTCLXT*Iz^QR!BX)lg
zIAjGxBqk^*mw%*FQ$s%IPl^_7;EsuoSMxu_L(ur-s_($qLbe|{V&}73(J{_qHxJd$
z0YkN8OvmXz9eDz2aFP-Ie;>TuCYTVS7%P#+eMmVSzCBm$h6{LrbG1s_6>vfY&ku&=
zc`46ZgE!BHJl3UL(}>x=Xy5G{cAhsU?Hen|Z8CZ+hqJghMc!s9kxE9e;IEx_uLNzo
zljyLS%F>DM8qJ#z64_5OG|@{IX}Nf-0L@~m0ns7L68cJSyz}^Ib{l*?w4#4&Fh%vP
zL149g$>3U6<WYaB;S*c_T;A$AbVB{8EA6kr|LpCn!t?Fgq#fhOd4bHK2fnb@1m3Ou
z3`(8(gya9VZLG33U=DVoLmtTa;2*4E&1Mwgp?)+8Mj_u_URGdze{a4JO6zbn0=^y1
zmTNti(2}Gjs6>Kiii|djuj(GO(|T706tmhE5h}shSz;c^siZNKQ)pz-PI?kbcFmTl
zk7|UEt=W0`P+J--3ZoopGtY5kZWYh!URK-R+`O`KZ+`NN2epnd^^<N74v^773=f5P
zLwB^faEe<5V~{lsAqtT1eemoP0nLmujgW`^`PSPK;ISb-<hmLtw|{hNX5f6wF8cTb
z6<$35b&Jo7v5VWR=A#x5Y?#wf@*}UN%FZC1b;Nz(2|=~74l1t?`^dkk!k|!LE-c82
zN+l5`k6K8nmGhDZ=1G}Im(Bejz2vgoJj)kG+uj0beUY}X+W-$4K_|22MZ_~$k(hQX
zC66lM5F6i+uFHCq77o?~uLyn~Y%~xx5hvhtf-v3?A+odIX<41I#*a@Yy*-@qdYnJH
zi*`hN9+UU<ZYnss=md+N9LW9i3(Do^lSc!l=JQy?@*k&mb>CXgAO>xh(SFM$VRIe^
zwk68*BU5+2G9a4Hs+zsInmK|mEZhPmg2B}hE%P5N9R+tpZ-eAx+#_fakBl1q=T>1z
z!1|R6>|VY`F{T#dp{^7!GW>`Ptpqx@J9)@1xFS)7dd|kS6?qw3ps9Ob!9nYgr#411
z{fP0xq1h9x0>5!6`5tRV%e~|u3Bs+M$1&xATWhb%H6R5mYa5{6d&A>?b2{R1{eE%p
zTLxJ=QCaU0rQ4<{<Zgc^onz-#6&)J9PW^+<XZCE-7PD_bA=)GQ!J4249&?_p-OHuV
z&yQpcIxpwQ50_k$c~-Xi&obBF-qUV&jiz%6({+~YO$k)7MIvfRIx}Q9+rIKugujH5
zvV+Y5u)t6m<%Zkrq&S?NS{nIr5j!5Wq&PY!9SDPsj!$#XwLOQZSZtp1OP%_tTr7M8
zJS06^H6;s=Dk@twG%K5d78@YGS|2&HD(y*5RuR#26bo5+SSuDmT#3ypbXUX@jErJ1
zWGQpdbIqf|>P>^3$?u9s`rsBTB5DbMI@O9d0PND;CZ%A-_fXWT$CqI-&?C({#NqaM
zDoPzakn*S2aw-J1wWJ;bxe7Lu#~wc9i?ekDR9a?dU~W7iT}SHWk`)MMShKb4W7Bwj
z^Qv0pXp3%X56X9nMFf-S>zK(_=GBZR9&{2+cJ=SLMUha2*DWmk5f~1nqAa@Q$iwrc
zfxUx+S)Hf^Bxm}1uN3NVHST9G9(D;jnk0H->@p+K(NMRw2QP2NF3KF*m*=lZq78iP
zG_T4|Y+15uMl4Wl`gE(DzSoNwB}O%TuVzU+d0c(V_jpt-^6D~Xh5QLQO3SKrnMse<
z_=aM4Uj0SlWJrhmMw*mM4zjvEgy`iHfI|C4fGG>d3-(VRgEKs3nNZ4o***w1`W~My
z=MftnwrhaOPBx|13pU*D5(0xSP+7LT{CN7!`B^DW#z=pG%!}V+!LyM_j^#vA5bwJL
z!V1U@%DV?f75+nioT4=ZTRlD(;UhNIvzeHQ2NfKXK+Mv>*p4E$6wa$jRgB;a;Gy-v
zjrDH1Es~-37EMVGb0KV5-~t)%H5)Dv!-+uG$%CCk8CH+?zSl@a^EOb1CM>kAf@>b0
z4P5G0)6G>QjQ#w!)co+W5))L=hPG%$(-1D(2i;y=r^b}q{+NT%C2!%as%rPQM#TSV
zd~bBl58Z{CQZfAos}VccXO}V+u*n$q{#&(2Gc%Fo)`t}wHXT}^Zk5@O6P)+3NwXwm
zuSP2kKbR-EeJE-4(QF_oWT69#yEVk<)0@eLbHWo%no%x%f1%r8SSOcyia`?GtP&d2
zr~=AQKgz0MBa>BN^c~W{meu+f?GZYy&g+2V)^kXnqc$-!f89vmwc@w}Xa!+RHLAbN
z5Nu>r+~9TW*^zF%HLa_Z4XWv)nH{GMl3J8iU!{&RJ$ZEo7_+m)FU4<kr{i}xuKXNj
z>Q5l#$t-%7st|z_9QRImhul<pVgxf1*`S6eyiPLzBM`#ge%GTkDF%l=fFhUpmmftD
z<CHdsdfwL~W>%f&KWg3p1QY6n=LcWeQ0tvmfxyIHc#J)hI6Sen$`*3BT#yZlb@zFn
zVtrtq(uYV%k_g$~eIfO<uT>dq#G6bulPt!1qg!QV`O7+sYt8KFV;WVN{jYnZehkU`
zuQ`Ocf3!WJ<<QES!JpXl%f;h+(oSm?!+j(F%fOGHQ-qErR$CkmplTIIr|7AWDM;CX
z4yD8~@)Oz@I6auH?br9Rcnz-Ko97SLnyid3hV%out(2EdYK`o^S0wrQfM5j$@WK>*
z?rflg*SS8XU8OQ>|17kkhPxDS)#E?2bZ_T<BMmqF!UKUZ7h5E}$ERn($&N5)PdCn0
zXG!`ee<S@!&&-knat4aEIy(o;g;B`V<uVgyO{vU5vvQ*r%<ED(^IdsNHi>b2P@BdX
z$^PweoZjbC_ikXwg%7*W1y=C{Zl`iPPHO0m!c&-+)ik*&4*R&jcn{CGt9fBEg;h7B
zBoLVs42!lzdClbdFvd}jf|m$=b077BMQ0c{a?&Vz5IKqgFnLS_5(C958t;JO!rS!%
zbA~Z7-!;!dNwK(pwTDQA+bvRB#^wp4XW#mVo_Lbh)6#-#Dm1qT@O}wS=5so$$QCEX
z^4vko%@2sv3hv_&Q#i9K6dxmbaIH%nGZ?fptXmeuVLuA9JKvfepGCZfO#W%bVmw5V
zfjDqG@0cS21b&b$jwJj;>PnGceU@ZOz^7EhoO!_n*EQ`2{fhc(%tWh2JF@aM2SV7B
zv>vtf94~K9yBA*&8`BhBc-u3lBWxJTX&?ySsAb^V9YSJ1h^!T9c?`^5n3Z#$mz<>2
zBGDxp(#g-jOiSRPh@>&#`BIe@s_FmB&9Fvsef&zLM@IxK{`n+Eh)AG^g)PND85A6#
zhVLyREhR8S6~A|}l9m$Q+NlyWK)!%d5VM@wcw}h56Wc=Vr$4t4@ZtmohC}WD$IFC7
zy+58Jz(JO1^u{R(CtW2tfPI(L>^|HyVKy)T^b~2s2m+?Yy9s$BWoD&fe>!;cg#}~!
zTnNQW8I0?V?m1hRLVo<qPGJn`gFFIl#OX2e#~1U3-vqyTgi+pOQClOdCv&0b4No_o
z8NLj!XSRJqW54^nIGIYc+)U*~!U~!<kBAyMIY{(wn^@sS#?TR9E{$;Ukxxa#AOt8F
zQ7Ok6AoxV=IJtRZQ~uJ`r07c;R3<e>-YExpV#8g~7q-h^sg?Q(DhC`6y~)a?e@ZI)
zoscF5MwOzQy_Kc@8<Xz3tw+T(MgQfhAeJ*u89uTGdhC^RlxCEvv{V7Pzt9nWN+J0(
zR2tP<W+wegXJ0=4HdDPg?aTxxa|w*DI)A^8!6{DuOUgZWzw!EPCp-Lr^`&mUPjIvD
z_Q~0L!EbMi_x{UZ<btNE@_<kFZkoYvgLjIs6SL!&ZIq0K9~aw-^Qo-yT|6YbA_G7P
zMFKx?`aDZUo`&H%7X>khID&mO_3dQKsXuS5r_B(d1hEDBb9DJY?{@2p^%M{m&oE(?
z(ow?avBDt!fLu^C^)-LGTEb#L*r=Ag@a)EJm`dh8cwko!cYyhLvI!~*M6fjnwr+(#
zo|i~>ez^81(@bn)1XW0bS^TvFt%=5zs`<;uBiPBZU}HLnxS07f6qrQx$lLdDpnxT3
zM>S=OsO-O*?%VM`Hx(NSVu+G8<+st@_6#ehZ>G?XG348<_q{>K$9tf2@bVR|g9XrK
zkWYEnp7G!K^2cqCcak9y6of8()g#XJD}EtRM?3vYEypAQ=V479#q0*>W=jpl`VDY!
zbHNJ<!Ml67S(-Y+`{Z5u`ukvN<~;Fwo_iR+YHj`L@c1q3ol_=zYH*25iYf;8tqWF4
z1d%5hItL667LPP+6t~v}Wf&}CN@9qVz<WM@AWi|2utbVb8m|w}RR=pCZ_LM(>)6%1
zMF=s%Y^O#E)!O@U&HC%5Pq>edLlZbr^W47g>wkLcJApI}ON!zm3w@8(W;O_X;GScV
zrahAn%X*2mUwO@iH#(Q5EypD5ZFGD1oo?*#n&}i4@CEC9WzcOVeza{LnY#C4=~L;m
zmJ<FWk(+OhA`Sn0d-7C~XwI-8)Pq(PihjGB<JR>`7@NvX=xYU5EjEk6-3$<l9rhcu
zN?E6?$%*qV*pzXpFrpiHK*_8#>KMF5T1q6BAQ45Z(a>L&^TRAVO44TgaYH)9pH+#4
z7<<>v@~|CVCjT?j@7_{>AOo!lie8taDS{FuprYL+<KpX8TpT;V{IXtoP3b!XuL{^!
ztp#M&jI7GJ(00pQ=s_9u2os>%w@`4&i9M;XYHKb|D{Odv6EERM{=q74<g9!n(zrzP
zu(l~F`9ebwimM&h421yEj&6YZgP%x&RgnD<5z{QPmK4-{dp&K^J-Fr%&O-9CKYD$!
z(!<@yqqdcpdE>bGXS27~)fr2(#;GBWNd@pch<LpY)$zwNT6wrG6arqK6Z`ohTRFe?
z@~^2i{dW1+nUYD!N=-Hqb|CBjLe1O6-^tKM*P@z`vyV+3T_U2?&3oBal9cSXXt<`U
z25{RzhQat=NlKCe#)<1sGbd_0+=1;S<od}!X^ruyEgL5r2)5H_MkBrVm@8sETDDp@
z=C3ZjJbQWs3}p?C+ySVDf$(*;f0h&N;5sExLwX1|#JZ?5jHw9Nc5*Jsy^Zb8Ywcb$
z4YQ@^3$Bs1%I}4J3|VVEFAFr~Pz%~8LGMrnFS3pSe^Pt?uI2XE>#;lDtqlR*cIOc@
zKO{3-nj1p@qDk311<EP?>Ta3GIw~;XV`o$`165S82?5ay7C@dU#|uOq!WS-4g(BHX
zVt(XL#m7+<jtyrHsDNJnu``ArcVs7rrV0sIij&I^^Qlb)r=p8tOYHL-JGBhI4AX=I
zy?AMK`$DCaz5t_F*)LeudNpD>gctD;6+c=Y<2>g)=N#vPLarTQVOHUv0-aQjv4FgZ
z{A-4Zyk2ZS6)>N&jqadq|I`7qzPRyS$Wme`>LB4@_MqY5`k>%I_Jr^x@5JC_^F-hz
zg%PXDOv6-^UMZLo<-|-e6)kfEZ+ZkyvT{%3(gRmy!oFtJke}G!ZE$dAgZuOPfwvMz
z`^Uy|y`eC0QSg!5@8fLyw0d!2&v2|*;IFOpd^Ra~1?*k2WH#h;+V4ZG@%r{?U42D1
zRV+eg9EU0q(c;Z$sNrqnNxzG(TikIJldKUaE?^qD_^E;(^;*<9=D+j*ES%S9ECY|=
zXkGmf8d=$;z*&$CNbWlA%~IfWfJ7g_)hr4D$J&mECy!dh`SrscrjO_DJ%XhC3ITW+
z<$Pej1YQ^WO^#EFef5Wkqeb73YLOns_+3Kyf^W1~3VA+WS&ZaOz^a9?s~HA&>KjX#
zvLqF@-?~#z%tc6ixIHq`sYaE=qn3h=D~s@{Qr*dVa8Fd>H_|jHviFhu{*Y(6B7+FJ
zQ1R*X2V3p~)c{xJGV7vF0+He#sWO(5$B*k?U<v1kecx6ZJlMb@f1dlKv2>rlA!{s3
z3}~Ip?q6@Av??b1fjZkN8V%zy1Qn#m7%i9>EiMO5wQiL4PQM58tQyPHc0gBY=|Nke
z(k3W`TCq@fvG=FnZh8$psMha(LcO4jj6gFaK5jf-iWX!C!pq@U^od&0r4Ke0Fu{!n
zqB&}10$+shY3k+7TqH*w8(cd##i3pJP+J^!K0n?buY{YP<R9GgJg)GS)cUjDPYMd`
zSN!}wdvRME_M=|yH8ojI{UC!V$@CyvSkwcY&}5IPVWvtuLu@@I1oJG0OhY1ICn0!a
z{3!%8x0RpK1-#|$xRd0Bs;29zr@vzY&qXl4PM&A<>Un9Uy{YbZ*#^{wnM+AaX-gTD
zTH{5G`XP$y+eEmNjPK9m$t$-3Z6DVY>eQ_KFIzK?%Bd}Xd~*D1Uadx!--r$7do5R#
zIr8H*Pnz?K*fHQsVA5HoxJcMq-g=KaIR!bdah`bbf2w|^E-#zfnhyJJg@2O=R%wcp
zc!5<%yG%b5yq`b2)hIe%KCF@Oi13OGFMGewhz~r@@~;V*x(9efE%Nt|JvMIkdWB{;
z2P7>S*E@YBT>d#cKNr0W0=x5{Z;|6;8ONls-;AiLU0@t`td~l*c1yx+zb8{)O(~>&
zc(RGPN$=*I2e+DouqeOhD!LB<EL+1U8QIX2b)w~zCaAiolnb;);k9tXY3sz~^JC;)
z8Hi~VW^BHHtj^)m_YL`_Bs@^k!qu5?kWy_ydz*bQ--%-7^9JhQM{={Ydhc3NB#yXa
zx9Fa8Kg|hj6#IQ!b<gPUt648ugIyk%II9e{r^%`5j5bN+*Bj(yio%@+Ox0lnerMc-
zmP<nWF`tESfxs>yj86N85DdF5m}%iAEVjnb3F&sQuk)jQyD(@Dj}+few4FY?ARtRQ
zyUNSEd@-m4_zj-g!)Din=DSepwcL1HhNjRjw;5A-92ML3VH0BG(VOE_)qg?T>mX;3
zHJLV&h5b?pvJ?CI_$jCcBu3=)?)M3KTZo`Ap~@;9m2;MPmL=bWDg6mo3Qs}p-c`av
zKI7QyQOPc~ZQc#XBD#{+Y-j2=UCbED8E<U#`KR6A<J(sgBkIgq_(EsHJ?Njr!qyV}
z1X)JwC7#!4s+u=win%Y7bsP&9j$DJ0X4@;CUBa9ROGTzV>Ik(Dl;Ycb8`0F%3j*<=
zyg^N;h7qK>dFKxFtmiR@bhOKA8SOGTh7L?2k6tq-Q`WW(n|XHSu^VU=u!5OV5O6Q~
z5Tcvzk81J%N`qBevqMMX!m;ik!}M||!>4{RO7be|ls-Ri#tES(Q?p;cx`Mj0GxFtE
zx;J)3|6|U%`H%h`Fz*k|a#UP4dlYu<HNi6I-5Bw&H`1mqw48B^Z^!P6*;KD{e~GM<
ze<@!sZ?L?6c<0iNeZagig;F|<TauW8Mrg*Z>viyOVeTP~ZC2%)u<DU)=Bb}RPF%dg
zXGX+{Bw%OKT_&X4$Z#atgXM2A@SUJgq?n;#l2j`;I3z3t1axUR({tpRQV)H_x^$cZ
z#`#vbR)n;Ts5NrvXXKgW>*UMB+ru9v@6e^o8FCD0mZCjJJ2k9pTUI7rPn3Ks&3oK?
zYU#R0*2#ZT=V2=o@Ef|5u3PMdB|GRqsHzOWJ?=R`O}FMkT$ylgdZGeua#y2o$lI5~
zMSW|V4Z5ztKvZFEgO+e;S}lBkx8_HE0twUh^8iY3mCE0e@7L63+s=N=%aj}`HqBIH
zhmy#RWc+wOcfa2<p@(LJGms7o4bn?O&U$=q+%}vlnepRW`sQ!=TdNK}+$LBuHTb;+
zA1*^am@d5i|2~`3klk+n@;*AMHRg7D-M^pf52zCYLQcTMB8)|ruLiazheo;9$YLEs
zPlNTNRl|acA<c);BWw?RkUPkx@AC}ylN7B|EzB>etXga%7|nidOhXUkrc2gKZIf+K
zwM@{$3rORVYTLQWWo~<4+~U(RLkDk-Vt-5$$&xaLfa<wmn+LIjb(hKqFR@vny`qhL
zagk$zp(AhsCB_u_zZ|YL?@7;5ghNv!M|XNADV@FI9(bsczN3gC(RX<!V4cy_-^G{L
z^r)Lhm!YHG@6lP{ycSIVWf?SIj!O)=W+c%;$FG64Bl0e?LC23AWdF4g;4etvjyoB>
zH4i6ut+Q?QZ4HbwILwNp-jjW&G;QWt<N3n@j0i~PnB|%kk}G=&1W&r)sY^|+g7mCt
z4<?^MrWrhAI>=3VSG4X-p>foc!!mL4zpKb5C10wVWa97`jwBPR?1^fI2(tXt=A4QM
z5D7YY8p|9}?MCnq_|)sWmeuSHS?W9LI~vnh_`P5^MwqpUf;9)46VwoSkf^~J%-!$+
zd1I1a%1bp{Fn<WnjUQ{A8^;QJHzThcY<3lozn`Cns5$OHFZ8`yA=8P92Ozy4h}Why
ztqf+vtaTp)bIa>OyMWS4`xl%cOO(Awz2n*O_TY+Qr84pzr@MWfUYPQ^D=QY0_HT8n
zj%ZjXZMRfL5mtxvLizi{PEzV_DLruj73Y4D<3A7Vz`~3|#D8MV@ObBqZH9>B*NLy%
zZ#PMTikX5)a$=8#^{$P7S*!N_UDfpCJ~8pv0fTw)W5E|+40of!bmyNON7X4%o8McA
zgHF9RH4gslEE5W1z#7EQ?mUNCB~qLdOfxq{;+4}{&Bh^eVnd)ihW(KFfY?F<P`!2o
znQ*2p98v<)7K^qvryGEtppPA7$2B*ZKy#|TP@DtYzGgSo^!1{?B4SMfbhfKyq$W=Y
zmtZJQddZT3TSu$dY<qSW?9TLCLWMcC(IU1%MC5Frns33a<gs{!n*-poI`MH>0-F^*
z&%xKbz+(Skp|9%w2_5w8NH`B5%$=)0{l|@P?p_R(tB@b6J}t85z%_&2JmN5Alg6Sb
z`jm6iCJ;8sB)<TXXVRBnAvpKRAD*ELej7mLrI}B3t|H*twI92M6(~XCuGi*1U7a;)
zu+v%j#|!WCOkc+fSFiqii|hNur3n`Tv5cu|EvhA%l-M%Ss5zr4oy8>ZU1n{g6h>aB
zupq$xuPO|O$Y7P|V6F9z(IL@vAF!OXnLNEI6{9U3qfL-8{ukWa;mos_24tk4^n#k%
zUqVdJqZYV7;?*k>$@6?RT+^aiyZv(-Q*$TaamIS~6BDSp_h#QMF&dL>Hrr?2w`Y_h
zh}4PosOJC84~fv_Qnm$9vlWYFdf5xLdR`QNUab7##@5`UxkUk+Q`TV8tBzRGdf??u
zTkWZlysSj6{H=nkNe^XeG18p2PoqnFJ+)4AKj&US&DF_Lt(wq0_oC+>M##*0sr(~C
z#k3-m;AnDoA*x8&75mPx=Id<^#y#+s#?hOh$bhbctb-yGimVT~p*r}dGKRVBxFSZB
zg@tm}!6Enq3SuS0J6-xp|2*+>CFQH%03b*KdKCnlI$XWo@2^LH9$pR%6@E~$-=j>G
z2;VrxFb$MCZ4OZ246oPz8FlY}Js2bTINNF{{>k_RTgOTAA<;E<lRi^t3Q3-)ysjYj
zw{AHuc+9lSKp+#~fHnk|OBr#k_}5ez$+*tCEyzrFh&Xi+8QJntY`Qo7-UAJXs$-D^
z33Fd#wtCZTI+QzJNBT)O`ZpOWSu@$1oCxiesB*KM;^;qap^Vn8Aj^8%{lu3!1}7e8
z3rElptr+}k<==B5eFugySLy8yao}H@o=L)lhV|!R({vJ`mz}Rvh{V4xKdn(8_{+@~
zZPnW(PP0Hyz1hzBx6F~bM#~v;Eto|{_yZq(jgKlkUKN6h4I*DO7{1DsH*tkDq~%8x
z8#r_iO!tFBXTSaqi*4QjIGW8G1*6Uqw!@O(SX7+&o7Q0BJCE`>###*74d`5s&CdLR
z?VAg(URE)1Wkxpp;~d6k1R0Uw1@OD5-X{1vXb?zqyRMML4mG0!P7TwXv!F+PY$%qQ
zyRt!Ol}Zr3>bT2P5_Tn3xU^GGWK9j8-oE%&ff84K(}Y!uy+xBt%}>qGDG&9qJIqJ4
zI$)|e6(ZIoZPpQkR9oA~*b~8Y-Y7`z$<SiAHNXSBdreiGcyY8fbLueCe=g=~|A}=v
zz0gQ(7~W#qxn2bvI;fo)T+|@ObCK>6Py^(DAGSSGT~paE*R|Qm9-}vJ;uGyDV+9N{
zqCp`+Hx3@6Cg<ZN^LP@X8w!)0uB43KuY<o1yh$TVQ6PK4A#)Wu7aNKbT$=1%<#XW#
zSZ@JG(hWiGb#3>84+syh-NFLhdI3i--)WRQ8KVe=Kc|=L=W?_cGhD7Ofc^)~{--<n
z{ul8wuu9>Uo8jUFZHC+@fj0NWg8`xg(Ho*BWau@O+?2s#NYw#0RZJ_Bg|KBEQsg?c
zOpFL?q;V^1EsD9-@=y5@u#A1D4;xt8M|2?RQU%pC5`9qM8~7Mq|1S3%6XmyrGolJ!
z6nh%d+d|LTp<t|@1T6kEQJ6d2A2^Al>TLEV2GcICl<a!Fnc3uS>$)k5xXmW}GG)QO
z%9i8Rxktu322+<piGk;p#s>t${I^|pRlo2UWWR!S>Wzr__+LG49o~Yd7DwciLQ{ap
z?8Qgd_D+NE`vyy!<EukT(P1XBI$8TzEp0=NOi8E7hi{P^A`zl=tEiW-;CNPul96QK
zO9I)L+oB;3qLF^P{KwxFO5CGfYHHT|OZlm5&o`bjP|%IYw;?+0{|Z52SQ0y#H~mS;
z`{kpW`^SzgCT`y9hn~;)Q}JXbtbi3TP><ITW_pXbJ*M+B%9Z!0qE}0i<-1h-pU=ER
zSG`t;LNT!BoK0ROjK3lG#^-I{7HqM@HRPt?TP@@cz7-Ak=YP^9g!|5H=Sj+A9`}^{
zHcizGF<N`d>2geg*@m!L!0ED=y9wm_CS@$ZAX!GNZ5p^XxZ)+S>4^~?*e&=024ezB
z#MUdn+ai#}@~dZi2b*WRm1^4l_}Qo0t4Bb9pH|(RAp6M>!;3xtv+$gG0!5d}1ZZyW
zk5fdH?5kqz@QDTqrfCQ8pZtiVy6`VIAER20w4tdP57V)t-c(P9WWrtwcG_F>A!9st
z?TzG}3pkwnck(v&Y>ZsC(_Q`n5J3}-wzy!vUckIrp0adreRZ%fMSjAP{HlNUrHzD{
z@}=z`?hgyPFpl>oeKKzIQ3bh_-}L7n0sg9GzKGCFW#rg+Nids>Q5N%2cy6p1`$@sA
z{qbnS6gY0+?xf>_pI;A!%#0<RMH5Q@h|^GZ&xAC>?dG*Sa0`UR2_7B+ZXF|rdAD#o
zb77Hu9)wXgy+L1@mJya+eyI5;ytu}&SJPIRn|@K|(<9WbfjVhKy6=^skNBag)Hq9B
zH?qHrJANqf;*|?*SJ_4)Osr1W-H4Xp0fG2@u?@SG^Q!M;HPSuv_*(kGD6#*<lgi<l
zN=VL+?EgUoTGiLb1i{7uez=;0d~?565~<f+u?r+i%Fr{1;PC?D6hf9~s$$~B;Lgf5
zjE&8Z5L?iWNeo!J2i}7x%*3B@r%PvCzx4r#@esZYqQB{G%{g8sI6bnmM1E1eLg$Ps
zvS*R@u9Wi5_atNPibIpcl=y*Q`dBg6y^6D+LDS#~9+M)vS49-SWhP%%T=fs+qY$?*
zmJ=wqUx4O=d|p39x@Q*mGr#i|JwxQyY%g-oZ&A=QG8e`3#LoFUC5^z(y3L)x*JZy4
z8<k=*#5OM7e3tCy5wB9^-2e3-1bd8|)`J+Eu)p}_4m>yWgm?opgKq42s-3h0_X9WO
zs_tHWh;)*m8Z`!iw~?0le#71yuetdnYf*C!q<G66sdNX>>OJFT+gYFJ;_6P390)%C
z&+7z?4gO+S#X?dL$&`_(IUW<iMif1gwu*@Jj*mT~thn^*Oox+5Af^EKP*1u6Lhp$b
z_ihJ9Q2i}IW1IbfNsR}l^bS~~p*7<)N_Oh7gjUi{OZFvz{D|`pHx1yd+9bagSeX-^
z{L0V{Z!3|Fi^(6wJYXL+TD*_;1fLRujbn$)iuxv{wu|>e>NRR~Eq|K&DDkH1uvcOG
znpkQlA-Myq-5=L?N?|*ILSiQ_nOm%^HZ-r6#yb8mE;%n~MpRjP+#dNi9+|NA1YLS>
zO-f<SVVNAD<gqEQyh%#*lyX4tTVC+~UCyXIDKjDaR36!FS|SLY3?QLksYoeByZe=l
z8z@R8ZFV@ug#CJe=+>!J7RfHN;c?e1Q7}bSzoBMZD;MM;QzCqqERN3WGa!ayl?1_h
z9UM-mvifnm9|W`3AMN-f2|GNH>-(iYU*Wa-#I_&++R7Du<j6fE&b~Ywjv;TFnTu*&
zQ^?_GQ>$p6i#p6^ZnxDGbmSBF5;iUCakS|8bsbu1XfAUw%igL=#qX^#pKm=rt9Y4k
zh36p+wN~7;A=+?-XR)D0u$3X#?zw%g=JZ3~(Slv!C$Ch&ERAy4cq-E&9K{-D?1Cb_
ztqvKm5J7q8^D|tCnCt=jZdHmQP=T7Do^o4^YgHy+W_jiH?3JL*%MiZ)A=Q)4f~mKa
zE4@y20!34;WnIBuqj_CHi{Y}y@9uOG{ndt3S656+Bli?Ox^8t?D_5rNm)2mKCinQA
zrS+*>I-|axXl6dy6xR=V2KLk6@XZ>g4D90oI&SMBbo9u$8I5jPN;rKq^LV*xI^#H1
zVpW+Km2j34aRbf0Ca5tjt@e;CeOgeQSYzT6H~WYbMM7rnLrYIf`MM(|`-v7~JWvY6
zBvnyy?_r0KjZXH29=*+wI^hM1MmsB`RO3^vDF0)z4;ihLHWB6@=MgG#tqSRvm`n?R
zt8xg=T8(uip>suMOp_kO5P58Rs0nD5jUcPlHJM9-D#n$@G?Gddxb!S&N*yiIvg0(!
z6g}p}(l-rB7kh}xNXdVLXG>h8+elC*hXr1v%LElf9%rWX8qmz#C-pLOach=!DW&v8
z&!CxcRECF1^Vs<C;eCt6-6N&I<RSnh<`R<Y_FgzHh(Uyq1O>`sE(q0>?uZkt{x(uj
zc-XCrrY*9lMhNS&DyECR=(qkhMWN4&4of#=pUhlH)bcIKt%?pcGHO`MIFxi+DFSgm
zsdv@hT(Y5!)JGVJa+|Ex`c%x(JVeOnb=1hZ7058Iv~`Ra{BbRXWLzqZid2T^n`Lmr
z@OS$9QBbdp^lU>g)5K<4I;nDTDs1$nwb8KV!+zw$uybp)H>7#-xHe(<=WyXqHepS-
zY+R88(s;?cYmn8D-utV^hCahzEjX|JOap+wsK*P+lL(i1sviq61Q!o`YA%a1rhsI^
zRxx-Amo8NphbIp5Tj>u$k<?EX?EjoVbBefH$^By!ZB75#$wI$ChNTb-gO;$mbm1hM
ze!1oS1Xp=SxSLK>@a7n=bhY%!!0vwYsN!Y8`_iB|b=de$NhD8L>}p`Xe#ZKRz}En*
zDVC(x$}jQ6Go#CQJ84v3_-$_Dl}OJG^VOY%IY(%+#a;_}r@N-<Wzp6>a6nfRv#sj2
zZ<h2Kus_HC{cyc8TK5~h0~-o?oXS1gLBottMYuUgLg+EtRm8BRAzF8(EEi&oI11r7
zG;0oYR)=vTj0VAu%5NpT$>u$taxXJkx|U1rJnEt({z`F?IGnMj#(0t9F;sx$%Vm&R
z+)eqGJb`kuL|1A3I39B&EwJ!G+aRgR6!SrQSK8?%*=BE*e;smvAfni{CDazVz3}tq
z8lR$FK(Kwu{`?Mg_mlX<wxa6a2l&!%his}G8|gRhRC_iaXmK4eU1^P$YBt(${~M=P
zvyr4eg7CpXY%S>Qpl?vDq?}wFsp1^{&|GYstel`!SWZU<Zca8**8d7pCsO$T30OHf
zSvmfn96K*(Y7r+jzzzCuB{p^t&wtOca&m*%|2q%F`JX2LcPlm!=l_St%f<8m@OXLu
lmrRQPqmzxDhmGsM6WMv$*;8$}6ybS!xZtU%B$cJ${|CGMJjDP2

delta 12421
zcmZX3V{j(S)@^J}Y}>YN8xw0{J5Oxewr$%sC!Qys*tzdH-$mVX`cHSQT2*^>?cTe0
z)k<{iw@Xk0IN(nv_N~`fm_7%d_zKm5(<5MS3}2sH;DwDWN;hTe){g0Zf5tMgk~LLj
zE4VpL;M9{yn?SOW85;7lRbATtna?c+$jaY;4nGJb8*c%={J(bf*Z?nH&i6tQPtb4g
z>%e$G-mJ+f5tYp;AiuWJAJ)8$f?;yy)mZtLu1O2PW!AiMZgvjBUd2yW|MAUNDE&M=
zWvHYC^}<9!9rJAmx|1kHK1Drb)K*O-T1E;8aZY-V5;fP{%xyUN`C;fs)aRc8@MPO;
zz&6!~@#}wROldei|3#X&O24;oJoIsD{I;v)aXL5S?tj1hFh1OUlq=LDa5_9c&Uc1%
z^X&|9J-uE2%Sib3ZsqrWcJol}`x2C981Hd#3%uWt2l(HI1NZl0$ST>x7>wOVjk}P8
zl_Q1WYiJlK$2ReTp_<S>6FG+#>b&`2O9K*}whZ&PL7syX2;6FhjNEAo21}^6@^0Lq
zatqK>zP2%TdKOo?H?5??&0G{pcRCi!l?nj<U)!VZx<OC4Nuz)B;6~FZ>X<L4O@ayL
zS#CwS<glqu=w{nn?>6f;%OrVzjM{DGoW?Jk_Y+Yzm*{-?J7jw%v?&ZS0H-)-LA1Av
zp!jTc-hs=Xqnsk(8@g74Zch~K$25gdl5q<5m7DVrm}%sCUag;h{pXxy)|5nHESvz8
zHV$6&1QK^S;KgNbc>=~Zw|U2}KcUm1SljnLZSS~(8G#mWs&yvUL`3^Up9h~nCMi9n
z@@FAqhsJc^0(HJ{N01<9z4W*O+dV{CI1jXLj%7l6L~P+VyuiA&T*QZv9D87L`k|<f
zymJdq9X+G_uHMci5Q{_%ev9H%*avWwo^y}UV*=ewF`CFqqZJMwXWwXsE?mhzil%a|
z+7LTQzv(%4Vcu`xX*X@HcX_VS<8K-L?cLK{XRWfB<^FeW>2%R3dNN^~O9<}v+m(9@
zf&vfO=)Hf0x}cper;mdK<W*^03UV+R44wyBL|HVvDc&8H1a6`Cubzk_izpzzf}C6K
zd<H>e$r7|0l{bqI9Q2)>tb%<4fmeiT<2}Fjw}o{<fA?siP80IW^HHX}{^~?Rq!rq<
zIAcPjXxAnVjKt3%s!s9~7^`OG4rVE>cF`Xbb7;|#BB=!K`w7Y@8O6pfl1**g@YGU!
z596UjQd_T4nx*q2&`aW!tP}vRh=6$iO2|WrL(y!c!j8*!IqEIvC)m-{*f6sVmq}s_
z@I595oJd<_I^0AA3Rkmn(QF0M%|N2uZCS|xQ!P!(AogrGI=sdF@WekMNSAAdM*Exf
zH6bzku)MwhB=C!CS_0-8v$I2J=_k^<nJtwASN>Xe`}oGz=am(k)hpoAsGJWA@6-B6
zRSD=XmkZS(2npu^Yhc|P1^HbSLkuXs*cPi46lZuXggLxOAcWU^8`tX$)TER&6%rel
z651D`%*GLFh$hdWywy&IH6=@OVTD1ERRtQ6T<N|@kgA>i!aun~T}fMx3pw?>l78wI
zfgD45r^MD0g|>D&?gVJlVb7WQw%en83cKrzAZd)%Dcsc0gNaf^(5+xsJf;6YKVc14
zT!4N0vZU+S#VSJc5=hD4d;t3Rt5JAn!F?Ate2YV?z+mMmo5?gM&oLb9j|<O}=kj#&
zpxq(X5M5yfUOIJPic2&cm|;$Q2l7ddEoBUR#gd#jlFI7-A_hp7*x{ZWxo$dO>C45{
zgRjf}EMcPSpe-D(O;Ur|ys%2amN?Lr8Ku<1s0)1?My1<1(OD=7L2929KB)RpIiO*&
z0Lv=^>^B&U^JJ0jc|q3~5=aQ74|jkV^480V80cJa%lR`Y#O8)!t5$$*i#>mgh<#_7
zhlIX3MbUnmjSDb`h+48BppNsOM?^QobY3&R>(%^fL?u^t<!lzJPBh_OPFx$Ho7PdW
zlmYXCPYp+fzzim3F|=F?<cM{WT%l%5Y*4YFrEin##PL~!0KmU+ue*5r$ool2iAKZ<
z7HsZv=L87(zTZK*TK~xI%IT8({0bJ>TgCghki`r3%>-1NE&6OBy+zAI)q-lS<2qwy
z-91FNX2L`i{E#Cb2j<g>khAE@tHl=H9_S@UCOf<($DKj^d@x;3jgaDr>iN?FKjXS~
zlDdH3yji3J6Ep&Y{44bI_xz#2h3Q^V=4q!yGb;M5><?;pO7L0MIpO9R@dbJ|49xA)
zoj8jd2US2RQ>=vtSr&~hd!~Rvw%W8v@+8gWx$fMRMYm@NY>N<~m#OH(+GZ<eQGnf}
zpyS$Rmuh;DBKjU^Kc-O0P7w4RL!C@Oc=y<!C-mTE$AfY8je}auFR=R|Ge60x4zHg0
zhaD>L3A(;G1az2BU8oS^7ltu=GvaPfN^qK$S_Hs|Y8z_-L@H=0OaNap2{`Lq0%&IB
zM8J%?wr#p|Hv)M&03PSIeM;DPg;eN}bsEI0b0S5U-gy@B0M;5VLq?46s8$FqNVr=@
zge)Y0Gg6cn4>qa8+W3+$2@WDKWIhe;;Uo)%{4OA7SY)xyl$XZLed@<tDGc-&=@uhl
zxg20gM^1?{&uxbabg?f<=?FizDGh|eY7PlifP5e`XTHflETJ<o0Cz?cETsUo0Dbbq
zjgl6WH%>NSu0+kXY{;ZLWt*bl^i5A%xI+W1pe~Uu#<%xjK|gI^U1FhI*w+<5YJmAS
z5_4IzdY8mf@I(Sgw~<$yV_OhESrP=uh9&@xO-BYT-g6aMwAzBcXeZ|IaN4mgvW6J~
z1aHdjZ5A7Tz<k_~RN2;_p?wdpO(*cU_5D$lrVVrhvyU0Rl(T=&1IKFqb}<oH+0wr>
z5(3h%#xvo9cjS-a7(S@zcf_nVv!CmY69Q{H{Z5Z-Jfo_e!(bM!mA_hzjNV|ly$uLk
zCORQaGFI~DC-Nu99v@CegE8$-#CsL&qwyT{vopF%%(7GfC3a;F%{tyIkrZCz;r<{E
zQ06YgnTYl{sG1gy0<h3HH81F3_00?t4w>=>qT}>gnH69BeD|97Ga3!y(*}pQh7`a|
zVrWvKYoL`V(3D>Dn}m~i)IqO}Yy;#xxfF1qa_QqzBU4cSOeM9tkcTpI!-uSyD<RV?
zr{$m1Y#z30Jir`jiu<bi^>Y7KWO01rT)abMaExYE_3^1?c7K}<bc*c*ez1?N+nWw|
zs6rgcqQuZ0SjSjuaq9(H2tN!z5%W$oH)m@i+)dZLEANeYL8kDf>mEcG`2v)AMPZ{J
zz;XJKjHOh2B|61U;6r7=PaJub>58eff{OHM2nvV9RRqU=q{L^kPi0iya_h|^&6iYc
zKg*{WcJeRlyNB~yHkQ}*_FoL|IKJN?K-T9uyz(6qAmAsl3iI>bLbbO}EF^7$4Md`B
z7()>z-umPJMbg16(Q@Pq#RDvaOM*oQdXnm>BP-Lv3EH@b5(2w!6p7UQ33{(lS{7zZ
zFx5&^4!hC7Jfgs!wC(Oi-xy2*VM-zl^0&#HEbKB$K6U&l2@+Ctp~74EiDPDQEbda`
zW5!^7q^!x3IBFP#merdFk>tBZeTqJLR720qh=X`kX5j0kw!0`qAOQ70QE3oVQKsCI
zXgu(Wcq*?Z%&HSH?A$+4zfr{Sy>92Q5)2Rn`$nCnRT-K+jA?l8DBD)JZrGvXLpF=*
zCcNf})=c@Y!V>0pYt6*Z|7<$;4tJ`m9}soxYIScap5(5**6I)9e5Z?i#T?X(C?{8>
zhtC2ND9bWRmyk2%6#x}t+M*`IsU2+*a^5K+JJ@$!n44@{)3yxb;zjN6Yza3gb*Mvp
zm18}|h4X$X?;?fRu%XgJCW;U6j0-EqyrrF2c9f#HE*P9=7oGX;9oN4|QFGm6D6zVw
zjJ96E95zRs-TNxCB8v5vzg{Adzh<u4^_swz-{;AFg^n!tYXLcw_Ktpn@hL{^uPqEf
z93M~+@`<FEMfGHvXb%+SZF0`ewB_<;YTx2Wdc?{5&9OQ#NY|KJf}HxiJ*hU(a*IyF
zFzLi-7gej)Rt0{hu4@F08eWx*Cpk*4A0Z2_;W8>w8Nu>DC@#x3;Q!)>%g98gVGS|U
zOt$4T-zf)Wp#w@Ic>c(T$t*gpl>CwJl3A>Ti*H`Nguw`+e9dR2VZxx@!G=L#EA}C=
zkc2g{NFla3g^L=^m+E$R>e~EcZ$^%upqZ^~<m%^6jk5bldU~d>HdtDW;#7K(s;*}p
zPl3^sa;ygl+uAtT(!@iu5T`?vu`J2hD$8SD459H7oC4s{Ba^3G+O_6OLAf4xZHZOv
zaN*HgZaJHps(J7u@i=z!`&PBGz$99!ak(G#ArR4bs#YammShv(R6B9T%$_(p=B4Y|
z{jD-4M->G2Xl8VW=8VYjD6!Tw$vZgEe(c~Zt)*+r+SD7G>O>~aYCtio%&GhG(!qwQ
z43r4tS_A-#+><CnBS88H<`7h-U`wXbA!*vsEJQjly}S9+^idU3a$W%^adwFCvfXO>
z(IrXZX>ggNvKG3f4BfsYNi-;^zp!ITAu-YU5jbVBNh?bj<#Q)x$;~TLrKkSybqEvX
zH4$g(Ns=zvNoo$@BiGKzv|jlcGO*l}dk|p(sIT%Z!NlZqHst$Nv>6HT`bBGZRRp5K
z^Ma1LF*h`oE$VPEjo)E6BN4}~7z8HmVps;xTZIqKdn?H-Fkn@<hw^w$Ej}oP=tq;;
zb<}1B*JHDxAVJY?O@s{GC}8M#qUQRBzsRDCNu+7<NFEZewa~%pJ(_O|q$%A*k`hAz
zjzSj2cCL`Q)9w;J<RCZ=jG&zb(v76|ch$HQryWT!yproC@al=>;LVn$W&Gug_#RNo
z(`#pjbZ=g3lJeQP9hj5{a~PZ{8dc`Yr!uXDNGxRfQPeL1SE7TpXU-JSTF@N{=uAW<
z-VDnz-OllvW+Z6)qsdDB38!Y#Jo|6}VHBvug0l_%ub&{!YcBc9M<$K%Ze!+&%@f%@
z6V-;C#ZkT!4JaKYm==S{I>dpcMktBh+G$@i^_HFPjkF3yN>?Bup{VM<sYx^?CmB^N
zBthnrcw?+`O+`v2Xs&rf#@z|q6j-U$q@C0ip5~Li_T6oF+1mcOQx1C@ZR~!4`3^)a
z@XfvO)i6@Tw5cc*-6<m!RG^<}KD&Kq`|!zomY02r{mxqLN{3zdHHZDH+wnjr#3&al
zr0gG&J{NTN-|k(OptoRKoGQN^!||(6VRIT&_uW)6WfMUBmAzy3y{xi~Vo0rnSmGrY
zz2L&HMC}2fGb2Cx1({@SFSFAC<u@wa!RA`8V3tmgk@As|S6d^z^FXF!cx4aqJrJFi
z1fC430=E;wQB`S3w|HBZsW>k*>*OSNX(ur)39|*0U+dKA0?!7;8waJmwrvAEqD03&
zA(X)@rf_Fg{j#yRZqzfHg|MKcf9d#evsQlE78gdMN?H|_V5-9;|H%3SP$pwv1X|(c
zI-WVVl@Y{c4xh|1!7Jn;+B~%i_AGmtKA9o5otJW2P0c;tnxS}mvchEF9xoz*wA#I8
z9>p+fRTo>6z#Z`0>2ll}y7uyb3&VAP(V2nhi%#Od;?c3FB}M22iM33%cUm#Af|T^%
zp)O0Kai<iM^pffy>x9Y!XbgCH!&74>x#@6{JO9yP_m7SO0oE`qM}Usx^(O1uP9@X)
zG-v`tEdKs5^avu4D+Ob)v8>g*PMMLCz-EdW{WuB|NBH(iPVjU-wY|7EJk~f8*9Wzf
zyk}rOtY@ttF^5!<X+0!15+qs!2TiNToRuhO9f01~k)tqg=Kx@!J;QL&8@;gC<XLhd
z7#)HQ)SATO?y-!m=^MkBO$^xQQ9nH^q5;)VsO|}53-L+ev)L=~R*&dN<U$#O;ZIp2
z^*>;_gBnKvwI^)(e=4baCV6q_%kmWQ=M4XDf{=1&R$EZ$2dK4?zT)T8YcLh3S=UBl
zABmPTEC8>+VpJtKB<P_53PEJLK8E@5`@($Wmw2bn-iG0Cgp$<HR872hzOHLm!C^Xc
zG=0k1ko1`_E4tEuCfm7(6r*X(j*We%wUD4;4yd!c64;;e!&ediwD*a}f(O?C=Eabp
zxMEnyT$%Ei|LN|`5uBexIYV-|BiWEXZ+(E#n7Uqx4%CPUR^}3W+k-p&rN=m--2~XO
z3gWQ4v!Q?)!|F~-ln&Gp2{LE!zR};rg$Ujy7!g{B^Y+Kbua6j*5&w)e5Ttk8#Z2TV
z5vqS#c|V2Q_?kcwFg1WlF2S9SPM_ATicZI-zx5>75{*TWepuVZ_1b#yh6JE<bDaK+
z!m}F*wS@tM#-fas&qGBD8wNQ8_rDvLv8&WxkUEs4q`QLVj%`KwmQIa*O=3Udolnqg
z4A-E<XC~h3^O=OwoTN_K)n7#7aY!-q;~nB#C)c@<(6sp(i^Ci}rIJz5@Bw0?vt*>;
zyu!aYxVWQ(=t%Zf!$oM)riETtb;xU+lxFhV<gQeUg<N2@gq`NdOJu)`DSKTK#sx=u
zQEx%1k6MHTr$QY<Ct#BQ`K8E9BIW-z$C}PpuaI$4X(S@bS}+QQ4)0eOJDjZ8v{I8R
z9!%lb+y|VlSf941L6ARH0UFC&)!Y88Hk=IDNTL@W#{S8A^^Y?vg@k5z@sCY*FWddC
z^CofXajM*auR=IzO@>d<=Nx25iWAscIT3M-g^1YS>v1v-`m&=COO2t8-~XgVmP7wJ
zbr1<dc+*N6tUx01J+vdyo_nLq_lZhG%VP6;-d3OvCOh}V{Twb~8c?Eia}oe^H7bOg
z-F|~&XPb}Lmrs=cdi2g<{|qG8apCO-CdNdHY{+C4t0JrzDk%9TThd5J>vx{(^|GOQ
zL}C#AT77js><+DFab}4wMT@u+jYL*LH|d^f)%P7NWyF7LUFwLg^O4n>p0)ftpGxx@
z5Bvt1)|23eGq*Q$NxnhH1!G}JhR5gv<KRpl$5;Zeu&}}j3c|U#I-48Y!FlFf>G*h}
zYoztJD{8D48?G9B%AT#}Qd*<(BJ)AP#4C#m6Gq_($5@pFq7Z|U40p3Y5%qwx1RSua
zV4EEw@S-}Jk^V->jX0tno{Jc6`ZL2VNnl|r=)rZtDqnF~c@B}enfdv&4RHV7=wjD+
zR&fK&3!HiQpY7m@!jhnFN(Vq-(r33Ho-^g;%SPN-i)Qe^uhqb@WA?4cMSQo1Ec9y7
zVKTg%90_@#CN;tBZ#7y0->S6k+ft71r$aoyjsFgLr4l(f=2MYlWKZ0VZV)RS=a0Ne
z*C6Zk*sgY6g%(9UhBtm~ES<og3TO+q<6Ho~1Kiv;d)(+YSeLCtmwdI6YhIp)Fsj$H
z`^I?t<^@EtRZBUVHFi`|(y07bhx)|iZ<GV8jkJ^Yy(-_4NDa^XRtyTbgW_fi$h1e3
z`ce~io-@~Gw(Gv9+Z8rnVi!O2o31FaoDzvU^=1*Ak+>3CdV?J5W5){9M(kJ$2QvYe
zTv#;nBUeVlCB$OaS8<ZvMZMf&{vKK$hV46K&)hwuqmWb=Vkw$2jv-M&aj3f3Ze0fQ
z)MRv*NSG?=<;=W2f97hG!zOqAf*5hW4#Vay*7>-4xb?TC(l4zyHdk7jjg>gcHTU&3
zd9>a)WAV1SUFh_xf#-1^fak^W{!hRrPf<P2$?jlUQEFJy`0B@T0Z-%vCa%&J89VKu
zL1C_StPY~=3~D=z3_k3sg*KT#A8a-cAdHGi@A^tSw&0e!zPSVY<OaCp-S?$`{n|CI
zqJK&4j)_$vcARs<a}nl#-0-)Mpd}a>pxBmt!S2?@Cy={`WGJN?zOO4nX9Y;?LpRll
zDn?1SD(+Y-;tR)uLYqDoljuU_PxwA*o7K~*-P!b4=i_~HoQ>?i=@iWr$R_kt&BODt
zdm1-f0Or?3G69^i1bpt(SLw<Xd3|1P6cu#(E1kbiE-$Njy{UCJziDzt+$@vn&J79?
zETkJoOcdoTRlzANqF;YDQvguR1RlDNnb)zOeAoRp_W#(zj5~u_$T4f&o_49pU5ai9
zSi>aSP@%aX2)I&QhIub=ka#@0J-g#Y-C|<NXY0&Ow=w-q<oW_IADJ0pXK6AZmxqHN
z7;%%~XOYda%s0+7&dKDXWuWCGs}OGG^zk(CbnuwERPgljEa2PDSpkq*%i5uIgKKeW
z3)S7UKO2tfj;@dLj`oiFj%3dC&vwrE&w9>$&ys90N=(F6jBynL$n#HC43bsi*9oSI
zVI|6!+0WfGl_%+{H*>d%e4MWX6}CA)&SQ1TvDBOOwCZ*FET^yivim$8RL=ff*sQDb
zb6Y<VbS9QpySGa^`vdx|R%39``cjj#`(0l9h{RoUDI3`F+|EfS&APJ2V6M4;AUVcj
z8j`)nH4mc7{Sa@@Cs*qippt+V=vsb<RdAceHIbHzW=p6lTPq)ua8CSb#@NL~>B7qy
z1ZxySy&@tKbxj_sGK2?zu(|1Hi0|e9>9O=I+2?zo^@Q{IaSh0)ahY6cY4vZPK{>cv
zed{{1Yf-)^_V|^ql;eLiUQfj=+@hXlHNCKZRi8MULLvY49+r%yEKcOj<(`&GF-Gbj
z!tmw>SE<qLiR>in6j;&_E7RIUagC~LTa<c=TAhiUd=Nz-&`qpyO|Xn{b&j_jS-`AM
zwuQFp?eF&UIugL^wr?*l2C`sncdc{ckg)QFltY0L&AY^6avUram56OVR;toMrl3ua
zk&42OUyK4<=s1w0%ojh`<FH7dRcmnF_v);tw|!BsxWS(%m&MuJX04~NPq(_tTx_vC
zsn%B_f~Qd&J2N5|Rtaa_l7Z{C{4#LEh_T2l$R0B%-UZM&&I=-fN=l<*X(7GGT<_rD
z69Mlq2+`^B*zfE0dA{1e_qlS(a=pS;SnA7o2(PQNS?}ulY5-}iTda6;QCMcg_7?XK
zVb+RnX3|vaMNO=YWz-~gLR&tJdiC5CAtS|tN{V-m0miu-cnclKz3kA~<Vw>*R<Ksr
zu@b5L4F(7vUfeLNmv!;vq3!hOO&m6de3ZPEjFpJVsD=hjIivHsp6rGd))d9Z<9p@K
zE$ZInuzT@0i*2mB{;}rP6D$8!{>xs|w)5<(Qz6^K-*A1?%8qk8j<-1hrPDB0`A`~?
zu6x}fcAIVK5Y)Q9dXNa7-`W8uiIAjcUk|-SLKR?++J=eHDRJeD#aP_Et^Df&v;Vt6
zu$cj^Rc^Pv(F=QX&yR1L%2qKR$=Ulozwwift3KC=k_m_Sas8KWKZy@RXPE^^H&MZd
z;9X4?Nd%l!q`)<CPWd417y*NYjFEFBz7w3W+=ylZ`LjDP>L!iPZGqHcp3Lmz9;xIW
z%neW?Z$`_;I#Dw-X}?M4V{X`INI|QCgQ2c@BD-59^;jjyr8xU17@U0|gSKzbJ1Ovy
zoF2ADZ5)JR7tF)tlklY=D_hXcW;vXTsikdkbU1$01*>6mYyDY4XuIt7$3}BnPh-zm
z**47j#7KwIk9B)iiN~NnG2OZg9Ci@$YY_m77(pQQ?eC=`KZEobVZ1A`ClRKHz0*)a
zF;?WX5VNQQQ`k6ld)Vi>kdGeNqx*ZRk7YWp?}e}+r&h1hQm@ye@o(#j13TE<W`T-(
z^(N8TqgqBG_?2#%Anx^~%NEdBIYd^c7!6fYN*{4pJ*mbY{WS8V@*=vT-@UsA&gp=-
ztPd6efjz7IAG*v*Ia5mYN)B@24k3zcA&SFEC|$Si7)a;r2i@A4r8Z5sp`~`UQXEgp
zwx46O;ckih+HZg6{oU?;-8jVjmt0RZR_ueGnGH=Wh;JgrHFC>3l&6!p#mLBK#6sv2
zP~ixasc4sdvso#`7-8i^>t^)eN~8e)q$8@j`tifei0}zMhbnTd`eaY6=r_;tQ$)~b
zf-RQ#pu03W<mf2(E=7}Vd-}#DVf_2gcmoh95?hO-GTnSRC`x;KC)BCHKbn`AlgGEW
ziqIrKn21hEm48cFzmK_25)jOps8dM(GU(pjtuWZ7a~QQgko$QWqaDjt9Q6&@U}CY@
zPJYbzjPD`dl8FEP2;<+qpG;x4-7G+MHJWE~WA<))0Qyd9oamQm+2~Q*u)1t3MDe1X
znC{7Dc~C=%*O+-3Wa9ppu)IP#N~e)pvs|IA^J<bYfBOQ57AZ9>tJ!w*NuOst@d*Dk
zs-s!pb#j<txOUiX)HzZ0k}w^>FGJs&qAO>ImI^)UT)FcR;MZo_=F--rUDKqlgSCmd
zg*ADPf1h)o8d^uIMDLZ`p{Q#aH+_MBkz<q6;S=68+&bGkyPUCO>yT!Mr6gBAdzGhy
zZP#QyB#l%ROijK7@qQa8YH>c>r`dvg#VstvQ|h+V3vK^&y}tMB*J>?b!?J9Cb;XLv
zcuGUTaJ%SpX&|1^L3I)NqeS{K8GKK&;kuds!U`RaIL&st^(AuJVM<0aujk>bG_Ya0
z+!7p;D!u%V(HrHSPfwg)Wwhdv?XQ=0JMWdh-~I<mSZf^~f{&M9ezP_nufPsdDwf-a
zWxhN3mU>)H|G%$i{eT((W8fJvNg0vp+Er2Rx!9>#lw2ZGWD>jsg$3;UD5@+hJc3IE
zmZx`wvdHgL)O3?ZT{Gw-`bJ%bXIfOqL1PY*y-Rv)7I?-{8ohtY9o^F?L7yjEukWF6
zJwR(eg9WBRZ{x7<K@tr{u0XyXF~GI}(irpp5A%i8SOMW=JwhSihjoRj^tkM(EKM%0
zf(l^*p$aV!)jF~XE|a{@Hl3exNG-6@#OM&>Cp*awdGur{wry=dQFE)zX>SnyM3I_v
zrXOZ}QAg8+a@IfbNnDVE7}O@6V@ZpF+!pvTrsGaW@<%T!LspI2xOO<!1VH>!^lr+;
zNY^4}l^k*fRwY2Ae4An#6(1!Z6<xCaKB;+23{5a=TMQjr>R)rwOm49(b4DrcIoDLL
zQ&UMaQ`*9$SSJ>>n0Qzgr#^M-I@Qx|le|?k0)zP#5rXbKJqO+SaYzoo-VVtsj{3Hm
z#=6GZ#`@HC-Zfq=8XJS{Q9IReOM)PclBht{C~iawkZOQ(hx|!B(h}90RW5W3-WJib
zl|y}Le$S3ru5HH+!)b6<R-dZhe%NB)sRd(7f=Hj_mkh=9YQ+Ai9`r`n6JT!bP4IWW
z(t6xClEHlJg=?(?&|-gVJ+@p4>6T+zNSCgRDwaD#GOYr~x@jG(XgztSA_5yhFXe2>
zuaht)G7oU@#5^_{<eH22XtZB^M&-AgQDYMJ=HiDH+yreBh!MDLro?5YG@g|38BW(r
z=Z8@F(#&1SH0BA1d@aQI2lT!!=mWO1exWMAhyArOsq^ELjnMnI=FZ9?2cSy8n-aSR
zH@o=&c9&49g)1}H3YkturM4$E<Ch&JDNjJ-WG}!kR|UQ8#!moi#st5~C1kr~zh`C+
z(Chzch-|;-tL)=~(<_R#AnR?u`SGjvr;i9<)hd;V?l)qKn}BmbY)kcM(gaL+4JRF7
zVr2VPlk}EbV48(87xwxjQsTEOh%kJk&f=f~eNxEo%*Ns{L0I%N4$>FbC*G${f-4};
z_7EW8n}K}G_6qrdn}-D<B5#q*)BY!oRR$@0_#}cyHO`KlCV?usyVhfykocrc!mQB_
zu{%u9Mwbek++IOs2O4^kC(z$pOs_xhC!b{aqH(y@k*-~D;FbJoRh*kaK3PI|{b5$}
z#4nEF3uc`fMvLS>!{})(5iFRd<QBU>c&7lEiNk5WF)6zSk_{t|IFs#!M2Ny<=rg?N
zACga3R9}IY@8OS=c9Sy<B`=62FOSBN_)MPLX?p`cq(^Qc8OYYJbX$W%WE@mKZA)Dc
zBZ~7CD+Kj=KX#|(on~h(_q|Uqs~^;Y`?FE7+@KhfG~ksYm2KGgJcqW9<#HFVMYI9b
z62rMjnXp)14|>ak40=dUKl|%?dHS;iMTjK%g;WFpnV4(3EoUu`CO1_W&G{xdvQ$4*
zOED!Qa%r7qL7HUvIeh9#`RDa;Hy8FwpeV)!)3=i7PVcM}g`))IqnbWGV3ZW=6d`&e
zn-d&VKMetb2^Ymez;3<7<4LbaFFSx2J>1{3pR8*zZt{z{iUKQzI>6ula_eY%8y<Et
zQeHEio!1kB0<YgkkL@h4<<YI5KDh2299O?Kz%Abi-!9{IbozDh-&HJ4PxN^Y#}Ija
z?aggs*Bq}c`#)cb_j|WlI?_*w23s)`ZmK;XKcZ4O5XlD0r?QFh=j|sE-t++$aq(v&
zViROZ<Px|xlMxUQGertVJ*LS+*AcAtR^(JDgs79W9i{;wi4suKj>Pr2!S4o4_MT{&
z7-K@K{EWO@UHotIEeunB!!#b)(w*RPU^G=pOefj*y{~=IOA_}IHxh<Y>NN#`T*7a)
z6V1bE3(U{mVkSbn)r{fB6Ffj3cMUAK$C%N|86A;L=-sLf)7KF3;tW<B9=YzUIFg+V
zKQKG`90O08^BDfmN#BsTdv4Z{rZXiHt-?-kfcijY8jLH&4=-prY&MgI=KAG{Fdx3y
z&!jn6dep!?fx{pQzd?&(mzfd%4hIZya^d??-^g0*2gc??^k%^|Y&3v)_(2rwqXGRG
zkLG&-<F29;*>}8<SJk_uFR|8sU=Jt3i9E@3l}L2-My(l!8qjcpp|Q@bqXv^Hv0|Nk
zgFKUWw$j<5+&?E1M*U6k=7Nwtt#Md$*4s7TEb}<)c#Q#rH3;p(T?I|ajR87(fiQBH
zmZP?!v*`u5)mrFTrv<<;bGPbe3f!K>%irGH7+O=U^qjfb>#8z%Ffr_Qcg4A~{aSwV
z8+QlZwGmUT7WeQ_-!QYd8Fw{JbuM%>@8<PJ(a-3@$XzxX2ePwpq%b5VOdfOT=%YHZ
z4x^UG1sCC+f%keZdHysMM)v-`4YV3LVjLWWie+fAbPOh-?E<tepNieo^nFaM*2lND
z^q2b;8W?_NOKC~h^8<d5RJL_49*yU3Hl65Pz}4|2J&!%N^<dr_`UA20BQcj^ET8hY
zH=cAgmaog*ZGG`OP4Ulr5!VM%pm|CxSW}D0mt<v7Z%UIwYg&x)wP_eYC5;qDj3K*q
zjB=cBN?BmiSOB?Wizup>6y%$O#6w7wL9e7xacZC}Mu;24pmElAX*$S2D&m)XzcsN4
zjPgJXsx(mOyUfb`xDqvL8x#H+WovFW)voMJ`oC{FNn-ddMu*ZR30_L3zgK4O>h0@H
z+;ht-x5^C{@qXXD>$7Pr&zLW4Q>|KQLC?nt5^!(#DFJ5h8k+E=mwwv3{oMPZ^-Crv
zUI!1`a)dz)yFEgJ#-Bz?XlD&P@`udVha=u3GkN&Am>miE@XX*JX6b+~DzQa7^a;#1
z>-T<R!5Q)`=*;@Au1CBs)28b0hrJ}wAu`x`kk6KQZJ25KaUa~o#!<<08KGR6vqiTD
zr><<Cd0znf1ROeqB;-#di-+e602y&O5CM1it1HkS@;%z&@%u_{{zk9}+8W-EaQYz7
znQ&SOsMNUsg>_^w@{YyepA_St^JX}AC)CSbq?cTTxdbC8KN7ycf(FT9GWszf>bY}u
z0cZy$ML~8VtNQ+atHw&5kX<q3^Fp46esM*vqy)5@!Slq-=O-dczGv4IVA*yK0ZoO7
zuh{X%S-cBh#oI^Y|MG=yJmbXG54{<)?*Hir#fou8VPv*}1vh_Dx9D-oXc@Lj3x$u&
z|GVa6M$e-V2b|x5T#7leNSM|hJ6bPKYCeYZi^4A@O5$xwt}%OrEK!YoM=`IYyzfMg
zy#ru)ZDi;;RG$ipI|#{FIptdZy^un?V$Yrnz*b*$)+Z5*A2hSw6|dUFPHRw+jeVq8
z8(_wB{0e+bf}a_d=fo=;cO>+SgMaxnHKU)>3r$iSBPyOoUY{^-C<u|+$u^@ES~VM7
zP?NGSzJa1HfmWy_mpnJZ^f%^hyCPo(ngenm34ke)rjH7q<izbPnQFA#D-Nm9{%=Oi
zTz6Qj0W;8B(mL60eg(b#{WbV(f1$TKQaC5jw>D-Lr~uXX$vYD*O?SfE-Dq;qeY`B1
zQFd(8e^u&@+1ixoXF0yc0+td1{V$*Gr(5G6crsWBJ2`?pcI8et6+)GE%c`Y5F936G
zjF`Vr4a{PCWrfdjmW_aH*ZJDKLAqRtSSO$v`#Wc)N%CTz<=;A`XO7INuORh77*^ez
zaO4T~vPAilp)o&ppU@bK2YF-gN>&3BkzzlwZ!2jksSSlst_DG{{OsFZ+CH59`y{-V
z?ZAG_kJ#mHrz`|iDnqhz154YPc0gvbQDEt<4QKT3+*bx)*omP$u28<v{4-oUTt7Oy
zQ>s~_iE1~`=toTFwzdLqCsC#aDJx2_e90l3@$3#6uU0!7-s*l|@t_yv-ZlPEuK}z>
zwe1<oOC-jgH``3F2CPF^VKLa;>Yxr=4$Clb-Czeu-E$rEMExNhtcKfD1{kcy%~|;^
zzP-B>iMQa+g}?qgmG>nOifQ|IsVU|)1r~nuz;p3!udF8vVw~hbC|T+bJT87^$PMRq
z$Bo6%fg7p^HyV;c@R_+MBeHH=nG*x9?^(f&9~B1Dl%r99EMEfbyVH(8-lf*2-^-yO
z*5&pD=XQaPdH!rjuM(D{4}fE%S?}P<Z0MSju3ay1_exzuq78@>Y11UC#z%3E{)7XY
z2Q<P<Uw4YNG+IZquulhfue?<B-Qt16b<a7#W#4G*4cc~sa<?^WcbGnI(;9G3-3@cL
zn+~bf!{1qB-`LvQFMMj&!*75s-&2QG!WvK`^lZY(V;&xxlC>{}0zAr@*9pQB);BxF
zOBK#R#oINw#M3kkBK@_{z6o$ctua9Ry|x#?QLWa&0jiw~R()HlVcnn_>|mqZJv6oY
zt6>O^PTk#$fWNCI#HR%+Ep=cC7rtFRtQ2n(7k;I}mP1j;4?K-taF}7y=x-66{a+mI
zo<sxn)JcY_00~;XQ~)fz)4~v*vJNc#4zppf7w*XEsS^w0>FFRDuDaFjExTt0(y7(0
z5lxECZ2(mB{J<yfOic(5<BKNx)OE9qxtn7?LD_z3T)58+b1Q0@8O%<KMFxIox5(+W
zrcn|aB`Ycy3#=>^wZ1i?JT{XH8ag&0Jrj><*q~}+*BnX%0-&*eB=4@zmeSCvKiSLd
z9utknhd36K*1^JvUEEYmfvs_QEU6*<R~lODG9(cR+c@+9w~UdoPCA$m9^+aO3tf_;
zPC4)o0V!50aaO}T0V(?Ndq<G!#Jr2ktKh_q(ftxR<2<4l-ll$I(zIRJ1Tz*^Ce*Ow
zk70dgd2<)#2SASO1flML`97qWN<$$e%9x&ZaE(fW^`lcJ1~d8bao9`<N*|`PsI)m7
z1Pqj~egha75Q*`3urPFXTyiNNu^(ABrAXFPSs3vs(xlixzWTtcr6{UDM<s|auBVe~
zJrp6%4kOlC9cX%yBO_Lax~9rN<WY|0K;XHX74eY*ApqGuWq%KW^Rn66XcSr7&qzZj
z8p@(3V>OY3_yD^SX+##q6Pl_cz#||s+PRGP_pJaU9KC<cEaV3@8E7u7IQW(#9oJRK
z@Ynp$V}M@3_uWv%9Z^&JiRZulmj5wT{&8L$On$*}6EhS4YbPcq=45AO{};i*BpJvo
z1MrH%?-r9Fwri4wu|8+Sf08ow0g;vuX9t6O7}%bVt5)0sy_-(oc*UpUTc3Bs*39f3
zpX6wm@`n)|Vl^lR-yAfDA!RBd+VRdV?Z?~JF~i=morW_dc#}yfoe^|&(mA5^Q1U<j
zEh0_R-2R6I>44P3@GPwKly_c;Sya0e6`(;O@Q`s`nrpcI!z?Z6xpn-}c=rkWsr|?$
zTLjZOubG0&OZ#+9#C8}`yi%QFy00Dr;@d%i4hiV}yep}a1=da*3hq3YL#CID4ZRXy
zLzEcrXM(THRfA`;h6sEbXoNNyt%-Q0&z|G``-R5B4Blw!K0@FUuJ4!^bcg+9VKR~3
znzNkrHStE~G`*ure*p<h6VSV}?PQd5!?-M$_UA5_;Sp$-TJsgkx|VWb$ojQ-DV0n#
z+iFv_%X}mp+p){t8nQRnyMB#J*2W{yuwr<AiSqjk>dd;V;^7l)si5UNIgOPVlr6cP
zl^aSzN=!pRtof0Z8uWjklOI`$l1177amIL>f3mZJCZ}=qL2<CKv+*z|>vG!Bv9qud
zGyiK5+Y`h6`@qb>&c^Xy7#k~R@*O87fcZb^EUY{n%>PB_<Y4~~jD?kji}k-Tp8pKR
z!ph0U`CmLv4xWEwWdBbm3mZGvKhN&})6T-i!NZZ<#ianp$<7T&K_Q_e3HQGMmx0Nq

diff --git a/atom_examples/softbot/softbot_calibration/calibration/transforms_graph.json b/atom_examples/softbot/softbot_calibration/calibration/transforms_graph.json
index ca70490a..abb8a2d3 100644
--- a/atom_examples/softbot/softbot_calibration/calibration/transforms_graph.json
+++ b/atom_examples/softbot/softbot_calibration/calibration/transforms_graph.json
@@ -317,7 +317,7 @@
     {
       "child": "base_footprint",
       "from_bag": true,
-      "is_transformation_calibrated": false,
+      "is_transformation_calibrated": true,
       "parent": "world",
       "source": "world",
       "target": "base_footprint",
diff --git a/atom_examples/softbot/softbot_calibration/rviz/collect_data.rviz b/atom_examples/softbot/softbot_calibration/rviz/collect_data.rviz
index 88592d33..6128f7dd 100755
--- a/atom_examples/softbot/softbot_calibration/rviz/collect_data.rviz
+++ b/atom_examples/softbot/softbot_calibration/rviz/collect_data.rviz
@@ -1,385 +1,243 @@
 Panels:
-  - Class: rviz/Displays
-    Help Height: 0
-    Name: Displays
-    Property Tree Widget:
-      Expanded:
-        - /Global Options1
-      Splitter Ratio: 0.763005793094635
-    Tree Height: 325
-  - Class: rviz/Selection
-    Name: Selection
-  - Class: rviz/Tool Properties
+- Class: rviz/Displays
+  Help Height: 0
+  Name: Displays
+  Property Tree Widget:
     Expanded:
-      - /2D Pose Estimate1
-      - /2D Nav Goal1
-      - /Publish Point1
-    Name: Tool Properties
-    Splitter Ratio: 0.5886790156364441
-  - Class: rviz/Views
-    Expanded:
-      - /Current View1
-    Name: Views
-    Splitter Ratio: 0.5
-  - Class: rviz/Time
-    Experimental: false
-    Name: Time
-    SyncMode: 0
-    SyncSource: front_right_camera-Camera
+    - /Global Options1
+    - /base_camera-Image1
+    Splitter Ratio: 0.763005793094635
+  Tree Height: 523
+- Class: rviz/Selection
+  Name: Selection
+- Class: rviz/Tool Properties
+  Expanded:
+  - /2D Pose Estimate1
+  - /2D Nav Goal1
+  - /Publish Point1
+  Name: Tool Properties
+  Splitter Ratio: 0.5886790156364441
+- Class: rviz/Views
+  Expanded:
+  - /Current View1
+  Name: Views
+  Splitter Ratio: 0.5
+- Class: rviz/Time
+  Experimental: false
+  Name: Time
+  SyncMode: 0
+  SyncSource: ''
 Preferences:
   PromptSaveOnExit: true
 Toolbars:
   toolButtonStyle: 2
 Visualization Manager:
-  Class: ""
+  Class: ''
   Displays:
-    - Alpha: 0.5
-      Cell Size: 1
-      Class: rviz/Grid
-      Color: 160; 160; 164
-      Enabled: false
-      Line Style:
-        Line Width: 0.019999999552965164
-        Value: Lines
-      Name: Grid
-      Normal Cell Count: 0
-      Offset:
-        X: 0
-        Y: 0
-        Z: 0
-      Plane: XY
-      Plane Cell Count: 10
-      Reference Frame: world
-      Value: false
-    - Class: rviz/TF
-      Enabled: false
-      Frame Timeout: 15
-      Frames:
-        All Enabled: true
-      Marker Alpha: 1
-      Marker Scale: 1
-      Name: TF
-      Show Arrows: false
-      Show Axes: true
-      Show Names: false
-      Tree:
-        {}
-      Update Interval: 0
-      Value: false
-    - Alpha: 1
-      Class: rviz/RobotModel
-      Collision Enabled: false
-      Enabled: true
-      Links:
-        All Links Enabled: true
-        Expand Joint Details: false
-        Expand Link Details: false
-        Expand Tree: false
-        Link Tree Style: Links in Alphabetic Order
-        base_footprint:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-        base_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        caster_back_left_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        caster_back_right_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        front_left_camera_depth_frame:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-        front_left_camera_depth_optical_frame:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-        front_left_camera_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        front_left_camera_rgb_frame:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-        front_left_camera_rgb_optical_frame:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-        front_left_camera_support_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-        front_right_camera_depth_frame:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-        front_right_camera_depth_optical_frame:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-        front_right_camera_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        front_right_camera_rgb_frame:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-        front_right_camera_rgb_optical_frame:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-        front_right_camera_support_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-        imu_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-        lidar3d:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        lidar3d_base_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        lidar3d_plate_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        platform_support_leg1_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        platform_support_leg2_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        platform_support_leg3_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        platform_support_leg4_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        wheel_left_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        wheel_right_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-      Name: RobotModel
-      Robot Description: robot_description
-      TF Prefix: ""
-      Update Interval: 0
-      Value: true
-      Visual Enabled: true
-    - Class: rviz/InteractiveMarkers
-      Enable Transparency: true
-      Enabled: true
-      Name: ManualDataLabeler-InteractiveMarkers
-      Show Axes: true
-      Show Descriptions: true
-      Show Visual Aids: false
-      Update Topic: data_labeler/update
-      Value: true
-    - Class: rviz/Image
-      Enabled: true
-      Image Topic: /front_left_camera/rgb/image_raw/labeled
-      Max Value: 1
-      Median window: 5
-      Min Value: 0
-      Name: front_left_camera-Labels-Image
-      Normalize Range: true
-      Queue Size: 2
-      Transport Hint: raw
-      Unreliable: false
+  - Alpha: 0.5
+    Cell Size: 1
+    Class: rviz/Grid
+    Color: 160; 160; 164
+    Enabled: true
+    Line Style:
+      Line Width: 0.02
+      Value: Lines
+    Name: Grid
+    Normal Cell Count: 0
+    Offset:
+      X: 0
+      Y: 0
+      Z: 0
+    Plane: XY
+    Plane Cell Count: 10
+    Reference Frame: world
+    Value: true
+  - Class: rviz/TF
+    Enabled: true
+    Frame Timeout: 15
+    Frames:
+      All Enabled: true
+    Marker Scale: 1
+    Name: TF
+    Show Arrows: false
+    Show Axes: true
+    Show Names: false
+    Tree: {}
+    Update Interval: 0
+    Value: false
+  - Class: rviz/RobotModel
+    Collision Enabled: false
+    Enabled: true
+    Links: {}
+    Name: RobotModel
+    Robot Description: robot_description
+    TF Prefix: ''
+    Update Interval: 0
+    Value: true
+    Visual Enabled: true
+  - Class: rviz/InteractiveMarkers
+    Enable Transparency: true
+    Enabled: true
+    Name: ManualDataLabeler-InteractiveMarkers
+    Show Axes: true
+    Show Descriptions: true
+    Show Visual Aids: false
+    Update Topic: data_labeler/update
+    Value: true
+  - Class: rviz/Image
+    Enabled: true
+    Image Topic: /front_left_camera/rgb/image_raw/labeled
+    Max Value: 1
+    Median window: 5
+    Min Value: 0
+    Name: front_left_camera-Labels-Image
+    Normalize Range: true
+    Queue Size: 2
+    Transport Hint: raw
+    Unreliable: false
+    Value: false
+  - Class: rviz/Camera
+    Enabled: true
+    Image Rendering: background and overlay
+    Image Topic: /front_left_camera/rgb/image_raw
+    Name: front_left_camera-Camera
+    Overlay Alpha: 0.5
+    Queue Size: 2
+    Transport Hint: raw
+    Unreliable: false
+    Value: false
+    Visibility:
       Value: true
-    - Class: rviz/Camera
-      Enabled: false
-      Image Rendering: background and overlay
-      Image Topic: /front_left_camera/rgb/image_raw
-      Name: front_left_camera-Camera
-      Overlay Alpha: 0.5
-      Queue Size: 2
-      Transport Hint: raw
-      Unreliable: false
-      Value: false
-      Visibility:
-        Grid: true
-        ManualDataLabeler-InteractiveMarkers: true
-        RobotModel: true
-        TF: true
-        Value: true
-        front_left_camera-Labels-Image: true
-        front_right_camera-Camera: true
-        front_right_camera-Labels-Image: true
-        lidar3d-Labels-PointCloud2: true
-        lidar3d-ManualDataLabeler-InteractiveMarkers: true
-        lidar3d-PointCloud2: true
-      Zoom Factor: 1
-    - Class: rviz/Image
-      Enabled: true
-      Image Topic: /front_right_camera/rgb/image_raw/labeled
-      Max Value: 1
-      Median window: 5
-      Min Value: 0
-      Name: front_right_camera-Labels-Image
-      Normalize Range: true
-      Queue Size: 2
-      Transport Hint: raw
-      Unreliable: false
+    Zoom Factor: 1
+  - Class: rviz/Image
+    Enabled: true
+    Image Topic: /front_right_camera/rgb/image_raw/labeled
+    Max Value: 1
+    Median window: 5
+    Min Value: 0
+    Name: front_right_camera-Labels-Image
+    Normalize Range: true
+    Queue Size: 2
+    Transport Hint: raw
+    Unreliable: false
+    Value: false
+  - Class: rviz/Camera
+    Enabled: true
+    Image Rendering: background and overlay
+    Image Topic: /front_right_camera/rgb/image_raw
+    Name: front_right_camera-Camera
+    Overlay Alpha: 0.5
+    Queue Size: 2
+    Transport Hint: raw
+    Unreliable: false
+    Value: false
+    Visibility:
       Value: true
-    - Class: rviz/Camera
-      Enabled: false
-      Image Rendering: background and overlay
-      Image Topic: /front_right_camera/rgb/image_raw
-      Name: front_right_camera-Camera
-      Overlay Alpha: 0.5
-      Queue Size: 2
-      Transport Hint: raw
-      Unreliable: false
-      Value: false
-      Visibility:
-        Grid: true
-        ManualDataLabeler-InteractiveMarkers: true
-        RobotModel: true
-        TF: true
-        Value: true
-        front_left_camera-Camera: true
-        front_left_camera-Labels-Image: true
-        front_right_camera-Labels-Image: true
-        lidar3d-Labels-PointCloud2: true
-        lidar3d-ManualDataLabeler-InteractiveMarkers: true
-        lidar3d-PointCloud2: true
-      Zoom Factor: 1
-    - Alpha: 1
-      Autocompute Intensity Bounds: true
-      Autocompute Value Bounds:
-        Max Value: 10
-        Min Value: -10
-        Value: true
-      Axis: Z
-      Channel Name: intensity
-      Class: rviz/PointCloud2
-      Color: 255; 237; 111
-      Color Transformer: FlatColor
-      Decay Time: 0
-      Enabled: true
-      Invert Rainbow: false
-      Max Color: 255; 255; 255
-      Min Color: 0; 0; 0
-      Name: lidar3d-PointCloud2
-      Position Transformer: XYZ
-      Queue Size: 10
-      Selectable: true
-      Size (Pixels): 3
-      Size (m): 0.019999999552965164
-      Style: Spheres
-      Topic: /lidar3d/points
-      Unreliable: false
-      Use Fixed Frame: true
-      Use rainbow: true
+    Zoom Factor: 1
+  - Alpha: 1
+    Autocompute Intensity Bounds: true
+    Autocompute Value Bounds:
+      Max Value: 10
+      Min Value: -10
       Value: true
-    - Alpha: 0.05000000074505806
-      Autocompute Intensity Bounds: true
-      Autocompute Value Bounds:
-        Max Value: 10
-        Min Value: -10
-        Value: true
-      Axis: Z
-      Channel Name: intensity
-      Class: rviz/PointCloud2
-      Color: 255; 237; 111
-      Color Transformer: FlatColor
-      Decay Time: 0
-      Enabled: true
-      Invert Rainbow: false
-      Max Color: 255; 255; 255
-      Min Color: 0; 0; 0
-      Name: lidar3d-Labels-PointCloud2
-      Position Transformer: XYZ
-      Queue Size: 10
-      Selectable: true
-      Size (Pixels): 3
-      Size (m): 0.20000000298023224
-      Style: Spheres
-      Topic: /lidar3d/points/labeled
-      Unreliable: false
-      Use Fixed Frame: true
-      Use rainbow: true
-      Value: true
-    - Class: rviz/InteractiveMarkers
-      Enable Transparency: true
-      Enabled: true
-      Name: lidar3d-ManualDataLabeler-InteractiveMarkers
-      Show Axes: true
-      Show Descriptions: true
-      Show Visual Aids: false
-      Update Topic: lidar3d/data_labeler/update
+    Axis: Z
+    Channel Name: intensity
+    Class: rviz/PointCloud2
+    Color: 255; 237; 111
+    Color Transformer: FlatColor
+    Decay Time: 0
+    Enabled: true
+    Invert Rainbow: false
+    Max Color: 255; 255; 255
+    Max Intensity: 4096
+    Min Color: 0; 0; 0
+    Min Intensity: 0
+    Name: lidar3d-PointCloud2
+    Position Transformer: ''
+    Queue Size: 10
+    Selectable: true
+    Size (Pixels): 3
+    Size (m): 0.02
+    Style: Spheres
+    Topic: /lidar3d/points
+    Unreliable: false
+    Use Fixed Frame: true
+    Use rainbow: true
+    Value: true
+  - Alpha: 0.05
+    Autocompute Intensity Bounds: true
+    Autocompute Value Bounds:
+      Max Value: 10
+      Min Value: -10
       Value: true
+    Axis: Z
+    Channel Name: intensity
+    Class: rviz/PointCloud2
+    Color: 255; 237; 111
+    Color Transformer: FlatColor
+    Decay Time: 0
+    Enabled: true
+    Invert Rainbow: false
+    Max Color: 255; 255; 255
+    Max Intensity: 4096
+    Min Color: 0; 0; 0
+    Min Intensity: 0
+    Name: lidar3d-Labels-PointCloud2
+    Position Transformer: ''
+    Queue Size: 10
+    Selectable: true
+    Size (Pixels): 3
+    Size (m): 0.2
+    Style: Spheres
+    Topic: /lidar3d/points/labeled
+    Unreliable: false
+    Use Fixed Frame: true
+    Use rainbow: true
+    Value: true
+  - Class: rviz/InteractiveMarkers
+    Enable Transparency: true
+    Enabled: true
+    Name: lidar3d-ManualDataLabeler-InteractiveMarkers
+    Show Axes: true
+    Show Descriptions: true
+    Show Visual Aids: false
+    Update Topic: lidar3d/data_labeler/update
+    Value: true
   Enabled: true
   Global Options:
-    Background Color: 34; 34; 34
+    Background Color: 255; 255; 255
     Default Light: true
     Fixed Frame: world
     Frame Rate: 30
   Name: root
   Tools:
-    - Class: rviz/Interact
-      Hide Inactive Objects: true
-    - Class: rviz/MoveCamera
-    - Class: rviz/Select
-    - Class: rviz/FocusCamera
-    - Class: rviz/Measure
-    - Class: rviz/SetInitialPose
-      Theta std deviation: 0.2617993950843811
-      Topic: /initialpose
-      X std deviation: 0.5
-      Y std deviation: 0.5
-    - Class: rviz/SetGoal
-      Topic: /move_base_simple/goal
-    - Class: rviz/PublishPoint
-      Single click: true
-      Topic: /clicked_point
-    - Class: rviz_visual_tools/KeyTool
+  - Class: rviz/Interact
+    Hide Inactive Objects: true
+  - Class: rviz/MoveCamera
+  - Class: rviz/Select
+  - Class: rviz/FocusCamera
+  - Class: rviz/Measure
+  - Class: rviz/SetInitialPose
+    Theta std deviation: 0.2617993950843811
+    Topic: /initialpose
+    X std deviation: 0.5
+    Y std deviation: 0.5
+  - Class: rviz/SetGoal
+    Topic: /move_base_simple/goal
+  - Class: rviz/PublishPoint
+    Single click: true
+    Topic: /clicked_point
+  - Class: rviz_visual_tools/KeyTool
   Value: true
   Views:
     Current:
       Class: rviz/XYOrbit
-      Distance: 5.011081218719482
+      Distance: 8.35604476928711
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
         Swap Stereo Eyes: false
         Value: false
-      Field of View: 0.7853981852531433
       Focal Point:
         X: 0.3314114809036255
         Y: 0.6464090347290039
@@ -389,37 +247,38 @@ Visualization Manager:
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 0.27479711174964905
+      Pitch: 0.46479693055152893
       Target Frame: <Fixed Frame>
-      Yaw: 2.4221785068511963
+      Value: XYOrbit (rviz)
+      Yaw: 2.752181053161621
     Saved:
-      - Class: rviz/Orbit
-        Distance: 4.057810306549072
-        Enable Stereo Rendering:
-          Stereo Eye Separation: 0.05999999865889549
-          Stereo Focal Distance: 1
-          Swap Stereo Eyes: false
-          Value: false
-        Field of View: 0.7853981852531433
-        Focal Point:
-          X: -0.424695760011673
-          Y: 0.802316427230835
-          Z: 0.9974352121353149
-        Focal Shape Fixed Size: true
-        Focal Shape Size: 0.05000000074505806
-        Invert Z Axis: false
-        Name: Orbit
-        Near Clip Distance: 0.009999999776482582
-        Pitch: 0.5447967052459717
-        Target Frame: <Fixed Frame>
-        Yaw: 3.929020881652832
+    - Class: rviz/Orbit
+      Distance: 4.057810306549072
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: -0.424695760011673
+        Y: 0.802316427230835
+        Z: 0.9974352121353149
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Orbit
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.5447967052459717
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 3.929020881652832
 Window Geometry:
   Displays:
     collapsed: false
-  Height: 1050
+  Height: 683
   Hide Left Dock: false
   Hide Right Dock: false
-  QMainWindow State: 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
+  QMainWindow State: 000000ff00000000fd00000004000000000000016a0000024cfc020000000bfb0000001200530065006c0065006300740069006f006e000000003d0000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007301000000410000024c000000dd00fffffffb0000000a00560069006500770073000000018b00000102000000b000fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000001a00460072006f006e00740061006c00430061006d006500720061000000012e000001170000000000000000fb000000300062006100730065005f00630061006d006500720061002d004c006100620065006c0073002d0049006d00610067006500000001da000000b30000000000000000000000010000011c0000024cfc0200000015fb000000220062006100730065005f00630061006d006500720061002d0049006d00610067006500000000410000024c0000001600fffffffb0000001c00460072006f006e00740061006c002d00430061006d006500720061000000003d000001260000000000000000fb0000001e0054006f007000520069006700680074002d00430061006d00650072006100000000410000003a0000000000000000fb0000001c0054006f0070004c006500660074002d00430061006d0065007200610000000041000003840000000000000000fb0000000c00430061006d00650072006100000000410000024c0000000000000000fb0000000c00430061006d006500720061010000003d000003420000000000000000fb0000002a0054006f0070005200690067006800740049006d006100670065002d004c006100620065006c0065006400000000410000024c0000000000000000fb0000000c00430061006d00650072006101000000410000024c0000000000000000fb000000280054006f0070004c0065006600740049006d006100670065002d004c006100620065006c006500640000000177000001160000000000000000fb000000340054006f00700043005200470042004400430061006d002d0049006d006100670065002d004c006100620065006c006c006500640000000120000002a50000000000000000fb0000003a0054006f00700043005200470042004400430061006d006500720061002d0049006d006100670065002d004c006100620065006c006c0065006401000001630000012a0000000000000000fb000000280054006f00700043005200470042004400430061006d006500720061002d0049006d00610067006500000001da000000b30000000000000000fb0000001a0054006f0070004c006500660074002d0049006d00610067006501000000410000024c0000000000000000fb0000001c0054006f007000520069006700680074002d0049006d0061006700650100000169000001240000000000000000fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000001e004c00650066007400530074006500720065006f0049006d006100670065000000003d000001340000000000000000fb000000200052006900670068007400530074006500720065006f0049006d0061006700650000000122000000dd0000000000000000fb0000001600460072006f006e007400430061006d006500720061000000003d0000008b0000000000000000fb0000002a0052006900670068007400530074006500720065006f005700690064006500430061006d00650072006100000000ce0000008a0000000000000000fb00000026004c00650066007400530074006500720065006f00570069006400650049006d006100670065000000003d0000019d0000000000000000fb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000003efc0100000002fb0000000800540069006d00650000000000000007800000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000003e60000024c00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time:
@@ -428,14 +287,8 @@ Window Geometry:
     collapsed: false
   Views:
     collapsed: false
-  Width: 1920
+  Width: 1366
   X: 0
-  Y: 0
-  front_left_camera-Camera:
-    collapsed: false
-  front_left_camera-Labels-Image:
-    collapsed: false
-  front_right_camera-Camera:
-    collapsed: false
-  front_right_camera-Labels-Image:
+  Y: 28
+  base_camera-Image:
     collapsed: false
diff --git a/atom_examples/softbot/softbot_calibration/rviz/dataset_playback.rviz b/atom_examples/softbot/softbot_calibration/rviz/dataset_playback.rviz
index f3ef99ab..f80716d8 100755
--- a/atom_examples/softbot/softbot_calibration/rviz/dataset_playback.rviz
+++ b/atom_examples/softbot/softbot_calibration/rviz/dataset_playback.rviz
@@ -1,210 +1,207 @@
 Panels:
-  - Class: rviz/Displays
-    Help Height: 0
-    Name: Displays
-    Property Tree Widget:
-      Expanded:
-        - /Global Options1
-        - /Robot Meshes1
-        - /lidar3d-Labels3d-PointCloud21
-      Splitter Ratio: 0.446540892124176
-    Tree Height: 431
-  - Class: rviz/Selection
-    Name: Selection
-  - Class: rviz/Tool Properties
+- Class: rviz/Displays
+  Help Height: 0
+  Name: Displays
+  Property Tree Widget:
     Expanded:
-      - /2D Pose Estimate1
-      - /2D Nav Goal1
-      - /Publish Point1
-    Name: Tool Properties
-    Splitter Ratio: 0.5886790156364441
-  - Class: rviz/Views
-    Expanded:
-      - /Current View1
-    Name: Views
-    Splitter Ratio: 0.5
-  - Class: rviz/Time
-    Experimental: false
-    Name: Time
-    SyncMode: 0
-    SyncSource: lidar3d-Labels3d-PointCloud2
+    - /Global Options1
+    - /base_camera-Image1
+    Splitter Ratio: 0.763005793094635
+  Tree Height: 523
+- Class: rviz/Selection
+  Name: Selection
+- Class: rviz/Tool Properties
+  Expanded:
+  - /2D Pose Estimate1
+  - /2D Nav Goal1
+  - /Publish Point1
+  Name: Tool Properties
+  Splitter Ratio: 0.5886790156364441
+- Class: rviz/Views
+  Expanded:
+  - /Current View1
+  Name: Views
+  Splitter Ratio: 0.5
+- Class: rviz/Time
+  Experimental: false
+  Name: Time
+  SyncMode: 0
+  SyncSource: ''
 Preferences:
   PromptSaveOnExit: true
 Toolbars:
   toolButtonStyle: 2
 Visualization Manager:
-  Class: ""
+  Class: ''
   Displays:
-    - Alpha: 0.5
-      Cell Size: 1
-      Class: rviz/Grid
-      Color: 160; 160; 164
-      Enabled: false
-      Line Style:
-        Line Width: 0.019999999552965164
-        Value: Lines
-      Name: Grid
-      Normal Cell Count: 0
-      Offset:
-        X: 0
-        Y: 0
-        Z: 0
-      Plane: XY
-      Plane Cell Count: 10
-      Reference Frame: world
-      Value: false
-    - Class: rviz/TF
-      Enabled: false
-      Frame Timeout: 15
-      Frames:
-        All Enabled: true
-      Marker Alpha: 1
-      Marker Scale: 1
-      Name: TF
-      Show Arrows: false
-      Show Axes: true
-      Show Names: false
-      Tree:
-        {}
-      Update Interval: 0
-      Value: false
-    - Class: rviz/MarkerArray
-      Enabled: false
-      Marker Topic: /dataset_playback/robot_meshes
-      Name: Robot Meshes
-      Namespaces:
-        {}
-      Queue Size: 10
-      Value: false
-    - Class: rviz/Image
-      Enabled: true
-      Image Topic: /front_left_camera/rgb/image_raw/labeled2d
-      Max Value: 1
-      Median window: 5
-      Min Value: 0
-      Name: front_left_camera-Labels-Image
-      Normalize Range: true
-      Queue Size: 2
-      Transport Hint: raw
-      Unreliable: false
-      Value: true
-    - Class: rviz/Image
-      Enabled: true
-      Image Topic: /front_right_camera/rgb/image_raw/labeled2d
-      Max Value: 1
-      Median window: 5
-      Min Value: 0
-      Name: front_right_camera-Labels-Image
-      Normalize Range: true
-      Queue Size: 2
-      Transport Hint: raw
-      Unreliable: false
-      Value: true
-    - Alpha: 1
-      Autocompute Intensity Bounds: true
-      Autocompute Value Bounds:
-        Max Value: 10
-        Min Value: -10
-        Value: true
-      Axis: Z
-      Channel Name: intensity
-      Class: rviz/PointCloud2
-      Color: 255; 237; 111
-      Color Transformer: RGB8
-      Decay Time: 0
-      Enabled: true
-      Invert Rainbow: false
-      Max Color: 255; 255; 255
-      Min Color: 0; 0; 0
-      Name: lidar3d-Labels3d-PointCloud2
-      Position Transformer: XYZ
-      Queue Size: 10
-      Selectable: true
-      Size (Pixels): 3
-      Size (m): 0.019999999552965164
-      Style: Spheres
-      Topic: /lidar3d/points/labeled3d
-      Unreliable: false
-      Use Fixed Frame: true
-      Use rainbow: true
+  - Alpha: 0.5
+    Cell Size: 1
+    Class: rviz/Grid
+    Color: 160; 160; 164
+    Enabled: true
+    Line Style:
+      Line Width: 0.02
+      Value: Lines
+    Name: Grid
+    Normal Cell Count: 0
+    Offset:
+      X: 0
+      Y: 0
+      Z: 0
+    Plane: XY
+    Plane Cell Count: 10
+    Reference Frame: world
+    Value: true
+  - Class: rviz/TF
+    Enabled: true
+    Frame Timeout: 15
+    Frames:
+      All Enabled: true
+    Marker Scale: 1
+    Name: TF
+    Show Arrows: false
+    Show Axes: true
+    Show Names: false
+    Tree: {}
+    Update Interval: 0
+    Value: false
+  - Class: rviz/MarkerArray
+    Enabled: true
+    Marker Topic: /dataset_playback/robot_meshes
+    Name: Robot Meshes
+    Namespaces: {}
+    Queue Size: 10
+    Value: true
+  - Class: rviz/Image
+    Enabled: true
+    Image Topic: /front_left_camera/rgb/image_raw/labeled2d
+    Max Value: 1
+    Median window: 5
+    Min Value: 0
+    Name: front_left_camera-Labels-Image
+    Normalize Range: true
+    Queue Size: 2
+    Transport Hint: raw
+    Unreliable: false
+    Value: false
+  - Class: rviz/Image
+    Enabled: true
+    Image Topic: /front_right_camera/rgb/image_raw/labeled2d
+    Max Value: 1
+    Median window: 5
+    Min Value: 0
+    Name: front_right_camera-Labels-Image
+    Normalize Range: true
+    Queue Size: 2
+    Transport Hint: raw
+    Unreliable: false
+    Value: false
+  - Alpha: 1
+    Autocompute Intensity Bounds: true
+    Autocompute Value Bounds:
+      Max Value: 10
+      Min Value: -10
       Value: true
+    Axis: Z
+    Channel Name: intensity
+    Class: rviz/PointCloud2
+    Color: 255; 237; 111
+    Color Transformer: RGB8
+    Decay Time: 0
+    Enabled: true
+    Invert Rainbow: false
+    Max Color: 255; 255; 255
+    Max Intensity: 4096
+    Min Color: 0; 0; 0
+    Min Intensity: 0
+    Name: lidar3d-Labels3d-PointCloud2
+    Position Transformer: ''
+    Queue Size: 10
+    Selectable: true
+    Size (Pixels): 3
+    Size (m): 0.02
+    Style: Spheres
+    Topic: /lidar3d/points/labeled3d
+    Unreliable: false
+    Use Fixed Frame: true
+    Use rainbow: true
+    Value: true
   Enabled: true
   Global Options:
-    Background Color: 34; 34; 34
+    Background Color: 255; 255; 255
     Default Light: true
     Fixed Frame: world
     Frame Rate: 30
   Name: root
   Tools:
-    - Class: rviz/Interact
-      Hide Inactive Objects: true
-    - Class: rviz/MoveCamera
-    - Class: rviz/Select
-    - Class: rviz/FocusCamera
-    - Class: rviz/Measure
-    - Class: rviz/SetInitialPose
-      Theta std deviation: 0.2617993950843811
-      Topic: /initialpose
-      X std deviation: 0.5
-      Y std deviation: 0.5
-    - Class: rviz/SetGoal
-      Topic: /move_base_simple/goal
-    - Class: rviz/PublishPoint
-      Single click: true
-      Topic: /clicked_point
-    - Class: rviz_visual_tools/KeyTool
-    - Class: rviz_plugin_selected_points_publisher/SelectedPointsPublisher
+  - Class: rviz/Interact
+    Hide Inactive Objects: true
+  - Class: rviz/MoveCamera
+  - Class: rviz/Select
+  - Class: rviz/FocusCamera
+  - Class: rviz/Measure
+  - Class: rviz/SetInitialPose
+    Theta std deviation: 0.2617993950843811
+    Topic: /initialpose
+    X std deviation: 0.5
+    Y std deviation: 0.5
+  - Class: rviz/SetGoal
+    Topic: /move_base_simple/goal
+  - Class: rviz/PublishPoint
+    Single click: true
+    Topic: /clicked_point
+  - Class: rviz_visual_tools/KeyTool
   Value: true
   Views:
     Current:
       Class: rviz/XYOrbit
-      Distance: 1.5377488136291504
+      Distance: 8.35604476928711
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
         Swap Stereo Eyes: false
         Value: false
-      Field of View: 0.7853981852531433
       Focal Point:
-        X: 1.5510215759277344
-        Y: 0.2774001955986023
+        X: 0.3314114809036255
+        Y: 0.6464090347290039
         Z: 9.527429938316345e-07
       Focal Shape Fixed Size: true
       Focal Shape Size: 0.05000000074505806
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: -0.17520256340503693
+      Pitch: 0.46479693055152893
       Target Frame: <Fixed Frame>
-      Yaw: 3.017179489135742
+      Value: XYOrbit (rviz)
+      Yaw: 2.752181053161621
     Saved:
-      - Class: rviz/Orbit
-        Distance: 4.057810306549072
-        Enable Stereo Rendering:
-          Stereo Eye Separation: 0.05999999865889549
-          Stereo Focal Distance: 1
-          Swap Stereo Eyes: false
-          Value: false
-        Field of View: 0.7853981852531433
-        Focal Point:
-          X: -0.424695760011673
-          Y: 0.802316427230835
-          Z: 0.9974352121353149
-        Focal Shape Fixed Size: true
-        Focal Shape Size: 0.05000000074505806
-        Invert Z Axis: false
-        Name: Orbit
-        Near Clip Distance: 0.009999999776482582
-        Pitch: 0.5447967052459717
-        Target Frame: <Fixed Frame>
-        Yaw: 3.929020881652832
+    - Class: rviz/Orbit
+      Distance: 4.057810306549072
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: -0.424695760011673
+        Y: 0.802316427230835
+        Z: 0.9974352121353149
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Orbit
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.5447967052459717
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 3.929020881652832
 Window Geometry:
   Displays:
     collapsed: false
-  Height: 1050
+  Height: 683
   Hide Left Dock: false
   Hide Right Dock: false
-  QMainWindow State: 000000ff00000000fd000000040000000000000224000003b8fc020000000dfb0000001200530065006c0065006300740069006f006e000000003d0000009b0000006b00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730000000044000001f0000000eb00fffffffb0000000a00560069006500770073000000018b00000102000000b900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000001a00460072006f006e00740061006c00430061006d006500720061000000012e000001170000000000000000fb000000300062006100730065005f00630061006d006500720061002d004c006100620065006c0073002d0049006d00610067006500000001da000000b30000000000000000fb0000003e00660072006f006e0074005f00720069006700680074005f00630061006d006500720061002d004c006100620065006c0073002d0049006d0061006700650100000044000001d60000001600fffffffb0000003c00660072006f006e0074005f006c006500660074005f00630061006d006500720061002d004c006100620065006c0073002d0049006d0061006700650100000221000001db0000001600ffffff000000010000011c0000024cfc0200000015fb000000220062006100730065005f00630061006d006500720061002d0049006d00610067006500000000410000024c0000000000000000fb0000001c00460072006f006e00740061006c002d00430061006d006500720061000000003d000001260000000000000000fb0000001e0054006f007000520069006700680074002d00430061006d00650072006100000000410000003a0000000000000000fb0000001c0054006f0070004c006500660074002d00430061006d0065007200610000000041000003840000000000000000fb0000000c00430061006d00650072006100000000410000024c0000000000000000fb0000000c00430061006d006500720061010000003d000003420000000000000000fb0000002a0054006f0070005200690067006800740049006d006100670065002d004c006100620065006c0065006400000000410000024c0000000000000000fb0000000c00430061006d00650072006101000000410000024c0000000000000000fb000000280054006f0070004c0065006600740049006d006100670065002d004c006100620065006c006500640000000177000001160000000000000000fb000000340054006f00700043005200470042004400430061006d002d0049006d006100670065002d004c006100620065006c006c006500640000000120000002a50000000000000000fb0000003a0054006f00700043005200470042004400430061006d006500720061002d0049006d006100670065002d004c006100620065006c006c0065006401000001630000012a0000000000000000fb000000280054006f00700043005200470042004400430061006d006500720061002d0049006d00610067006500000001da000000b30000000000000000fb0000001a0054006f0070004c006500660074002d0049006d00610067006501000000410000024c0000000000000000fb0000001c0054006f007000520069006700680074002d0049006d0061006700650100000169000001240000000000000000fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000001e004c00650066007400530074006500720065006f0049006d006100670065000000003d000001340000000000000000fb000000200052006900670068007400530074006500720065006f0049006d0061006700650000000122000000dd0000000000000000fb0000001600460072006f006e007400430061006d006500720061000000003d0000008b0000000000000000fb0000002a0052006900670068007400530074006500720065006f005700690064006500430061006d00650072006100000000ce0000008a0000000000000000fb00000026004c00650066007400530074006500720065006f00570069006400650049006d006100670065000000003d0000019d0000000000000000fb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000003efc0100000002fb0000000800540069006d0065000000000000000780000004f900fffffffb0000000800540069006d0065010000000000000450000000000000000000000555000003b800000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 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
   Selection:
     collapsed: false
   Time:
@@ -213,10 +210,8 @@ Window Geometry:
     collapsed: false
   Views:
     collapsed: false
-  Width: 1920
+  Width: 1366
   X: 0
-  Y: 0
-  front_left_camera-Labels-Image:
-    collapsed: false
-  front_right_camera-Labels-Image:
+  Y: 28
+  base_camera-Image:
     collapsed: false
diff --git a/atom_examples/softbot/softbot_calibration/urdf/optimized.urdf.xacro b/atom_examples/softbot/softbot_calibration/urdf/optimized.urdf.xacro
index 30018af4..d3939d9f 100644
--- a/atom_examples/softbot/softbot_calibration/urdf/optimized.urdf.xacro
+++ b/atom_examples/softbot/softbot_calibration/urdf/optimized.urdf.xacro
@@ -373,7 +373,7 @@
     <child link="lidar3d_plate_link"/>
   </joint>
   <joint name="lidar3d_base_mount_joint" type="fixed">
-    <origin xyz="0.017463735313789735 0.07897433824844577 -0.1400037282305365" rpy="-0.20376686400067778 -0.11053008665683066 -0.13108335720725953"/>
+    <origin xyz="0.677678848709759 -0.28984759629015294 -0.6758252354982285" rpy="0.0 -0.0 0.0"/>
     <parent link="lidar3d_plate_link"/>
     <child link="lidar3d_base_link"/>
   </joint>
@@ -493,7 +493,7 @@
     <selfCollide>false</selfCollide>
   </gazebo>
   <joint name="front_left_camera_rgb_joint" type="fixed">
-    <origin xyz="-4.440892098256497e-16 -0.04500000000000039 -2.8358888819958457e-16" rpy="-4.4408920984991584e-16 4.4000580436205306e-16 -4.186665822382241e-16"/>
+    <origin xyz="0.0 -0.045 0.0" rpy="0.0 -0.0 0.0"/>
     <parent link="front_left_camera_link"/>
     <child link="front_left_camera_rgb_frame"/>
   </joint>
@@ -586,7 +586,7 @@
     <selfCollide>false</selfCollide>
   </gazebo>
   <joint name="front_right_camera_rgb_joint" type="fixed">
-    <origin xyz="0.09243180469369233 -0.3473751152266134 0.04711695023964141" rpy="-0.18196626526519744 -0.024961233149158223 0.19858171654705145"/>
+    <origin xyz="0.5958415120769323 0.7271358414701619 -0.22085998914026986" rpy="0.0 -0.0 0.0"/>
     <parent link="front_right_camera_link"/>
     <child link="front_right_camera_rgb_frame"/>
   </joint>
diff --git a/atom_examples/softbot/softbot_calibration/urdf/optimized_w_pattern.urdf.xacro b/atom_examples/softbot/softbot_calibration/urdf/optimized_w_pattern.urdf.xacro
index 95b75092..0a292cc1 100644
--- a/atom_examples/softbot/softbot_calibration/urdf/optimized_w_pattern.urdf.xacro
+++ b/atom_examples/softbot/softbot_calibration/urdf/optimized_w_pattern.urdf.xacro
@@ -373,7 +373,7 @@
     <child link="lidar3d_plate_link"/>
   </joint>
   <joint name="lidar3d_base_mount_joint" type="fixed">
-    <origin xyz="0.017463735313789735 0.07897433824844577 -0.1400037282305365" rpy="-0.20376686400067778 -0.11053008665683066 -0.13108335720725953"/>
+    <origin xyz="0.677678848709759 -0.28984759629015294 -0.6758252354982285" rpy="0.0 -0.0 0.0"/>
     <parent link="lidar3d_plate_link"/>
     <child link="lidar3d_base_link"/>
   </joint>
@@ -493,7 +493,7 @@
     <selfCollide>false</selfCollide>
   </gazebo>
   <joint name="front_left_camera_rgb_joint" type="fixed">
-    <origin xyz="-4.440892098256497e-16 -0.04500000000000039 -2.8358888819958457e-16" rpy="-4.4408920984991584e-16 4.4000580436205306e-16 -4.186665822382241e-16"/>
+    <origin xyz="0.0 -0.045 0.0" rpy="0.0 -0.0 0.0"/>
     <parent link="front_left_camera_link"/>
     <child link="front_left_camera_rgb_frame"/>
   </joint>
@@ -586,7 +586,7 @@
     <selfCollide>false</selfCollide>
   </gazebo>
   <joint name="front_right_camera_rgb_joint" type="fixed">
-    <origin xyz="0.09243180469369233 -0.3473751152266134 0.04711695023964141" rpy="-0.18196626526519744 -0.024961233149158223 0.19858171654705145"/>
+    <origin xyz="0.5958415120769323 0.7271358414701619 -0.22085998914026986" rpy="0.0 -0.0 0.0"/>
     <parent link="front_right_camera_link"/>
     <child link="front_right_camera_rgb_frame"/>
   </joint>
@@ -655,7 +655,7 @@
     </visual>
   </link>
   <joint name="world-pattern_link" type="fixed">
-    <origin xyz="1.3322546011433598 0.4210347386754081 0.8744491472651467" rpy="-1.3907955156192924 -0.7379453471528676 -1.9435532968678002"/>
+    <origin xyz="1.2614922173941845 0.5264182580609444 0.628486864545439" rpy="-1.575754145238051 -0.48969892004844584 -1.589852144614163"/>
     <parent link="world"/>
     <child link="pattern_link"/>
   </joint>
diff --git a/pyrightconfig.json b/pyrightconfig.json
new file mode 100644
index 00000000..7d95bb8e
--- /dev/null
+++ b/pyrightconfig.json
@@ -0,0 +1,6 @@
+{
+  "executionEnvironments": [
+     {"root": "src"}
+  ]
+}
+