diff --git a/catkin_ws/src/smargon/config/calibrationLUT.csv b/catkin_ws/src/smargon/config/calibrationLUT.csv
index a9f764e..3ec3ffb 100644
--- a/catkin_ws/src/smargon/config/calibrationLUT.csv
+++ b/catkin_ws/src/smargon/config/calibrationLUT.csv
@@ -1,181 +1,181 @@
 CHI,OMEGA,X_LUT,Y_LUT,Z_LUT
-0.0,5.0,-5.138674665551837e-05,-8.530335618729096e-05,0.00019314879264214048
-0.0,15.0,-8.495834999999997e-05,-0.00012204545,-0.0002976171599999999
-0.0,25.0,-2.5971199999999983e-05,-0.00032540676,-0.00061287036
-0.0,35.0,7.699177000000002e-05,-0.00062427341,-0.0008834381600000001
-0.0,45.0,0.00019925848514851485,-0.000981885702970297,-0.000931275425742574
-0.0,55.0,0.00032517811111111117,-0.0014270460909090908,-0.0007628025454545456
-0.0,65.0,0.0004959868415841584,-0.0018770133465346535,-0.0004275259207920791
-0.0,75.0,0.0006551330000000001,-0.0023853337800000007,5.956299000000001e-05
-0.0,85.0,0.0008455228712871287,-0.0027498195940594055,0.0007618152277227724
-0.0,95.0,0.0010563698899999998,-0.0028766497399999994,0.0014805365800000002
-0.0,105.0,0.0012340906732673266,-0.002654638861386139,0.002344220247524752
-0.0,115.0,0.0014156316799999995,-0.0021762277599999998,0.003297186550000001
-0.0,125.0,0.00159783097029703,-0.0014218292277227728,0.004143532534653466
-0.0,135.0,0.0018015395599999997,-0.0006341150399999998,0.004762036659999999
-0.0,145.0,0.00190121637254902,0.00043710397058823537,0.0050844811274509795
-0.0,155.0,0.0020385002500000002,0.0015446352299999999,0.0050769497100000005
-0.0,165.0,0.0021055600396039605,0.002803376277227722,0.004799966217821782
-0.0,175.0,0.0021564562970297027,0.0038972725445544556,0.004270241118811881
-0.0,185.0,0.00216786449,0.004658729279999999,0.00349917367
-0.0,195.0,0.0021488043762376238,0.005000920801980198,0.002513818287128713
-0.0,205.0,0.0020223415841584156,0.005065030881188118,0.0013939663069306935
-0.0,215.0,0.0019064091100000002,0.004964907349999999,0.00026727273
-0.0,225.0,0.0017838834444444444,0.004667684949494951,-0.0007263056868686869
-0.0,235.0,0.0016332711099999997,0.00408572414,-0.00152622668
-0.0,245.0,0.0014694333636363634,0.003191180424242424,-0.0019696835050505047
-0.0,255.0,0.0012194489595959597,0.002276311191919192,-0.002222856808080808
-0.0,265.0,0.001063185505050505,0.0013255774242424243,-0.0023012036767676766
-0.0,275.0,0.000861724484848485,0.0005748048080808082,-0.0022089196060606064
-0.0,285.0,0.0006669424444444446,4.0204474747474755e-05,-0.0019003588989898986
-0.0,295.0,0.0005083123333333334,-0.00034317525252525253,-0.0013755381919191914
-0.0,305.0,0.0003796769696969697,-0.0006240890808080808,-0.0007696765757575759
-0.0,315.0,0.00026426251000000005,-0.0008052948900000001,-0.00025814168000000003
-0.0,325.0,0.00015265357142857144,-0.0007404523571428572,5.39861530612245e-05
-0.0,335.0,6.367042000000002e-05,-0.00048052641,0.00025535339000000006
-0.0,345.0,-1.6950579999999978e-05,-8.441774999999999e-05,0.00034325351
-0.0,355.0,-5.950503999999998e-05,0.00015681476,0.0003605284800000001
-10.0,5.0,-0.007909518542972699,-0.06340224958897876,-0.016512764000000003
-10.0,15.0,-0.00785271062,-0.06567901545,-0.0004997710499999999
-10.0,25.0,-0.007807627757575758,-0.0649717217979798,0.010624979858585857
-10.0,35.0,-0.00767742386,-0.06226940839999999,0.02139235927
-10.0,45.0,-0.0075928601099999994,-0.05788040336,0.0316199493
-10.0,55.0,-0.007462466702970297,-0.05175152454455445,0.04115542903960396
-10.0,65.0,-0.007257765890000001,-0.04420752899000001,0.04957217751000001
-10.0,75.0,-0.00705777793,-0.03544068238,0.05654470804999999
-10.0,85.0,-0.00685403728,-0.025527364309999995,0.061964667550000005
-10.0,95.0,-0.006676228990099009,-0.014687199009900991,0.0656024339009901
-10.0,105.0,-0.006449621594059408,-0.0030828571188118814,0.06751888037623764
-10.0,115.0,-0.0061937686999999995,0.00868245351,0.06752555110999998
-10.0,125.0,-0.005991377415841583,0.020243463376237624,0.0654307148118812
-10.0,135.0,-0.005771427120000001,0.0312236199,0.061335429889999994
-10.0,145.0,-0.0056041899603960395,0.04150660211881188,0.05517738114851485
-10.0,155.0,-0.005472832168316832,0.05063668738613861,0.047173912148514845
-10.0,165.0,-0.005351320861386138,0.05849590643564356,0.0376305117029703
-10.0,175.0,-0.005330041584158416,0.06443435184158415,0.026791143752475245
-10.0,185.0,-0.005299950489999999,0.06818662746,0.015022326289999999
-10.0,195.0,-0.0053328661078431375,0.06967905135294115,0.0026805543235294115
-10.0,205.0,-0.00547101094,0.06887808111999999,-0.009875997420000001
-10.0,215.0,-0.00551521115,0.06596905789000002,-0.021919921960000005
-10.0,225.0,-0.00570770906,0.06095137554,-0.033228625299999995
-10.0,235.0,-0.0058075863737373735,0.05395114184848485,-0.04324879490909091
-10.0,245.0,-0.006012550519999998,0.045197985460000006,-0.05186105973000001
-10.0,255.0,-0.0062429139591836744,0.035073488816326534,-0.05860855233673469
-10.0,265.0,-0.0064466783131313125,0.024054926292929293,-0.0636190348888889
-10.0,275.0,-0.006625132595959596,0.012417135777777779,-0.06656115037373737
-10.0,285.0,-0.006817725,0.0006093427474747476,-0.06725274413131313
-10.0,295.0,-0.006999714202020203,-0.011045048383838381,-0.06585409556565656
-10.0,305.0,-0.0072364679191919195,-0.022378925949494945,-0.06243946357575757
-10.0,315.0,-0.0074557914800000005,-0.03293367726999999,-0.05718707984
-10.0,325.0,-0.00759862193877551,-0.042224735224489794,-0.050389791122448985
-10.0,335.0,-0.007707232660000002,-0.0500393606,-0.04216939184000001
-10.0,345.0,-0.00781347059,-0.05637743082,-0.032774370069999996
-10.0,355.0,-0.007905140630000002,-0.06109189828999999,-0.02241392214
-20.0,5.0,-0.00040285252250885176,-0.1020751689994942,-0.03551976502680829
-20.0,15.0,-0.00043721504999999993,-0.1076851716,-0.00934134883
-20.0,25.0,-0.0003866578282828283,-0.10785501195959595,0.00926197001010101
-20.0,35.0,-0.00027529291999999996,-0.10475535113999995,0.027513368889999997
-20.0,45.0,-0.00015610893999999997,-0.09853688194,0.04517057189
-20.0,55.0,1.3376287128712891e-05,-0.08935572837623762,0.061647371881188115
-20.0,65.0,0.00016992499,-0.07754588649,0.07637907882
-20.0,75.0,0.00038239104999999995,-0.06357418212,0.08882524188000002
-20.0,85.0,0.0006383225148514853,-0.04756527186138614,0.0986953241089109
-20.0,95.0,0.0008664010495049504,-0.029838580118811887,0.10567737398019802
-20.0,105.0,0.00110088472,-0.011102312300000002,0.10956237011
-20.0,115.0,0.00131017666,0.00802103015,0.11028175503999998
-20.0,125.0,0.0015749094356435644,0.027100797772277228,0.10765094863366338
-20.0,135.0,0.0017616185499999997,0.04538041418000001,0.10164578713000001
-20.0,145.0,0.0019781449803921566,0.06251232044117648,0.09227797275490195
-20.0,155.0,0.0021530001485148514,0.07787851895049504,0.07993004451485149
-20.0,165.0,0.00226983358,0.09092112724999998,0.06520698664
-20.0,175.0,0.0022980499504950498,0.10115106603960396,0.04832817503960396
-20.0,185.0,0.0023863765940594067,0.10811956994059405,0.02980672456435644
-20.0,195.0,0.002349158792079208,0.11155938033663365,0.010210568613861387
-20.0,205.0,0.0022821812699999997,0.11146852939,-0.00965379367
-20.0,215.0,0.0021610385445544555,0.1079369140693069,-0.02919676518811881
-20.0,225.0,0.0020437370808080806,0.10118533178787877,-0.04761005025252525
-20.0,235.0,0.0018653155999999998,0.09114950096999999,-0.06431264371
-20.0,245.0,0.0016834671919191918,0.07824247445454544,-0.0789986604040404
-20.0,255.0,0.0014707479183673471,0.06315981475510205,-0.0910225575612245
-20.0,265.0,0.00123887956,0.04624395015999999,-0.10034812908999999
-20.0,275.0,0.0009772000707070707,0.027878365848484854,-0.10660263243434345
-20.0,285.0,0.0007878687857142857,0.009091776581632655,-0.10943715417346939
-20.0,295.0,0.00055074774,-0.00998139527,-0.10898874568
-20.0,305.0,0.0003539181836734694,-0.028628862081632653,-0.10517495205102041
-20.0,315.0,0.00015225517000000004,-0.046327495020000005,-0.09831899276000002
-20.0,325.0,-4.153068367346936e-05,-0.0625100512244898,-0.08866478549999998
-20.0,335.0,-0.00019802029999999997,-0.07664454247000001,-0.07641256949000001
-20.0,345.0,-0.00033196125,-0.08855585804999999,-0.06188119762
-20.0,355.0,-0.00036059657000000003,-0.09770742062,-0.045480236890000005
-30.0,5.0,0.01312856476923077,-0.11552822935222673,-0.06267495672874494
-30.0,15.0,0.013156637689999997,-0.12745656706,-0.03239114223
-30.0,25.0,0.013212309000000004,-0.1313304169,-0.009835979860000002
-30.0,35.0,0.013304964549999998,-0.13127954184,0.01298165901
-30.0,45.0,0.013416585623762379,-0.12713212840594057,0.035607793910891083
-30.0,55.0,0.0135452227979798,-0.11919046006060606,0.05717295093939394
-30.0,65.0,0.013716301831683167,-0.10773328120792079,0.07718388870297029
-30.0,75.0,0.013916684940000002,-0.09296997921000001,0.09500751967000001
-30.0,85.0,0.014145880297029704,-0.07526867623762376,0.10990173909900992
-30.0,95.0,0.014393901689999999,-0.05511140274999999,0.12156755974000001
-30.0,105.0,0.014613773039603963,-0.03307137379207921,0.12965978239603962
-30.0,115.0,0.014813400780000006,-0.00994040145,0.13384471731000003
-30.0,125.0,0.01507263379207921,0.013587445425742571,0.13401304851485152
-30.0,135.0,0.01528309583,0.03667554219,0.12992973036000002
-30.0,145.0,0.015430010950495052,0.05876079315841585,0.12167208506930693
-30.0,155.0,0.015598954544554455,0.07931110648514851,0.10955156306930691
-30.0,165.0,0.015754333069306934,0.09756359042574256,0.09399225021782177
-30.0,175.0,0.015860489108910893,0.11276823883168316,0.07542873284158415
-30.0,185.0,0.015835262290000002,0.12417374593000002,0.05449369450000001
-30.0,195.0,0.015825309524752477,0.13155292914851485,0.03188552672277228
-30.0,205.0,0.015763636336633663,0.1348114769207921,0.00813558288118812
-30.0,215.0,0.01567261704,0.13395840122000002,-0.0157452103
-30.0,225.0,0.015552071780000001,0.1290080358,-0.03886870649
-30.0,235.0,0.015409798240000001,0.12006885794999998,-0.06064688398
-30.0,245.0,0.015223170663265307,0.10755343197959183,-0.08019095233673469
-30.0,255.0,0.015036434300000004,0.09179721681999997,-0.09733855888000001
-30.0,265.0,0.014824046500000004,0.07344781907142856,-0.11149596892857143
-30.0,275.0,0.014571666350000002,0.05308467489000001,-0.12224225834
-30.0,285.0,0.014353201979591838,0.031202176755102045,-0.12918031209183672
-30.0,295.0,0.014127285696969699,0.00864976518181818,-0.1322239946161616
-30.0,305.0,0.013948616535353536,-0.014136813323232321,-0.13137945484848482
-30.0,315.0,0.013731906242424242,-0.036497926888888886,-0.1267320617171717
-30.0,325.0,0.013491772,-0.057687225,-0.11843979784848482
-30.0,335.0,0.013332231200000003,-0.07706424020000001,-0.10658005243000003
-30.0,345.0,0.01324330803030303,-0.094012464969697,-0.09154583226262625
-30.0,355.0,0.013145244594059406,-0.10833929704950497,-0.07379899857425742
-40.0,5.0,0.026482288737916224,-0.11147717741245972,-0.09292034158754028
-40.0,15.0,0.026465077470000008,-0.13059160780999998,-0.06324723229
-40.0,25.0,0.026506191390000003,-0.13970680410999997,-0.0397217973
-40.0,35.0,0.02657187475,-0.14467357144999998,-0.015045087410000001
-40.0,45.0,0.026659733790000004,-0.14525343018999998,0.01022531458
-40.0,55.0,0.02679172447,-0.14141462086,0.03533430266000001
-40.0,65.0,0.026953833811881194,-0.1332406775049505,0.05962460447524753
-40.0,75.0,0.027133909919191925,-0.12120420310101013,0.08203450692929294
-40.0,85.0,0.027346118603960395,-0.10539933449504951,0.10198060176237625
-40.0,95.0,0.027553701633663368,-0.08603515435643563,0.11903321811881186
-40.0,105.0,0.027726916999999997,-0.06389201518000001,0.13245115121
-40.0,115.0,0.02794259803960396,-0.03973499388118811,0.14196918713861387
-40.0,125.0,0.028102123554455447,-0.014261070673267326,0.14721058094059408
-40.0,135.0,0.028363160570000004,0.011595067360000003,0.14778131524
-40.0,145.0,0.0285279747029703,0.03714572768316832,0.14361472689108912
-40.0,155.0,0.02867480596039604,0.06180596109900991,0.1348312335841584
-40.0,165.0,0.0288000716039604,0.08472212745544555,0.12184836955445545
-40.0,175.0,0.02890992245,0.10488944052,0.10516871038000002
-40.0,185.0,0.02892306187128713,0.12166386395049504,0.08513739127722772
-40.0,195.0,0.028871960257425746,0.13455980383168317,0.06229261172277227
-40.0,205.0,0.02882676445544555,0.14318845487128715,0.03752893083168317
-40.0,215.0,0.028769172120000006,0.14735122686000002,0.011787308469999997
-40.0,225.0,0.02869058727,0.14699599942,-0.01407454483
-40.0,235.0,0.02856871798989899,0.1420819327878788,-0.03917311493939394
-40.0,245.0,0.028421426919191913,0.13292672743434344,-0.06292573766666668
-40.0,255.0,0.028223615898989897,0.11973055676767676,-0.0847028082929293
-40.0,265.0,0.028028510222222223,0.1031246474949495,-0.10391875401010099
-40.0,275.0,0.027815942810000008,0.08344452303000001,-0.12008647397999997
-40.0,285.0,0.027600816132653066,0.061564377540816326,-0.13243323651020403
-40.0,295.0,0.027390502595959598,0.03803991914141414,-0.14067239923232322
-40.0,305.0,0.027196058929292926,0.013295207737373737,-0.14483382835353534
-40.0,315.0,0.027040669565656563,-0.011753136070707071,-0.14475367135353537
-40.0,325.0,0.026848007373737368,-0.03643887398989898,-0.14054621435353531
-40.0,335.0,0.026691012989898996,-0.059905465454545455,-0.13220526314141415
-40.0,345.0,0.026565955603960398,-0.08167552412871287,-0.11977729784158415
-40.0,355.0,0.026480377590000003,-0.10112424737999999,-0.10365180097999999
+0.0,5.0,-4.325712485681787e-06,0.00011717850630011463,-7.926044100801827e-05
+0.0,15.0,2.495818999999984e-05,5.339410000000008e-05,-0.0004525307600000001
+0.0,25.0,0.00013904783999999992,-0.00012578527999999994,-0.00099165173
+0.0,35.0,0.0001875075399999998,-0.0002402365899999999,-0.00166818015
+0.0,45.0,0.00030298471999999974,-0.00048681302999999983,-0.00218575573
+0.0,55.0,0.0003923894899999998,-0.00084657281,-0.0022908311
+0.0,65.0,0.0005370019799999997,-0.0014397464299999996,-0.00210883281
+0.0,75.0,0.0008217761799999997,-0.0022080864799999995,-0.0017757797300000002
+0.0,85.0,0.0009660931299999997,-0.0027761822799999996,-0.0013985611799999997
+0.0,95.0,0.0011355574099999998,-0.0030695184299999994,-0.00099341431
+0.0,105.0,0.0013188249499999998,-0.00298698564,-0.0004332729999999999
+0.0,115.0,0.00148637805,-0.0027095190200000004,0.00038136671000000004
+0.0,125.0,0.00169679705,-0.00238462997,0.0013026769700000003
+0.0,135.0,0.0018915138500000001,-0.0019749771199999997,0.00202914163
+0.0,145.0,0.0019710665858585857,-0.001381941404040404,0.0023180336565656566
+0.0,155.0,0.0020352299099999998,-0.0005022113499999999,0.0021952841799999998
+0.0,165.0,0.0020888758399999997,0.00057392372,0.0018958144200000005
+0.0,175.0,0.0021549130792079207,0.001425277742574257,0.00151921001980198
+0.0,185.0,0.0022226144242424237,0.0020682191010101014,0.0011217058282828281
+0.0,195.0,0.00216610983,0.0021235501099999997,0.0004800172799999999
+0.0,205.0,0.002127580131313131,0.0018897974343434342,-0.0004181233333333333
+0.0,215.0,0.002046960980392157,0.0017692558333333335,-0.001310397019607843
+0.0,225.0,0.00194533898989899,0.0014314653131313135,-0.0021094586363636365
+0.0,235.0,0.001818802801980198,0.0010598457326732673,-0.002553115207920792
+0.0,245.0,0.00165797475,0.0004924397100000001,-0.00268257693
+0.0,255.0,0.0015026636767676764,-0.0003993787474747474,-0.002586123919191919
+0.0,265.0,0.0013670229399999996,-0.0012610185599999997,-0.00243077201
+0.0,275.0,0.0011801512599999998,-0.0018484936699999998,-0.00226523091
+0.0,285.0,0.0009941110396039603,-0.0021205569702970294,-0.001853767277227723
+0.0,295.0,0.0007895023699999998,-0.00213720146,-0.00117994229
+0.0,305.0,0.0006207680699999997,-0.00203627296,-0.00041190393999999996
+0.0,315.0,0.0004171644699999996,-0.00192368271,0.00022959791000000003
+0.0,325.0,0.00027835924999999976,-0.0016596393599999997,0.00054483109
+0.0,335.0,0.00015133802999999977,-0.0012015537599999997,0.0005868683399999999
+0.0,345.0,0.00010085476999999978,-0.00039779183999999994,0.0004195291200000001
+0.0,355.0,1.0912875299760005e-05,8.869291127098327e-05,-2.696869784172659e-05
+10.0,5.0,-0.00935140084186747,-0.06636178480722892,-0.015146505103915665
+10.0,15.0,-0.00922982147,-0.06849187008,0.0020159402500000002
+10.0,25.0,-0.009266533363636363,-0.06732914594949496,0.013165350626262624
+10.0,35.0,-0.009183378539999999,-0.06416094799000001,0.02379478944
+10.0,45.0,-0.009068883869999999,-0.05915172093,0.03383805201000001
+10.0,55.0,-0.00904319502,-0.052525778489999994,0.04317851623
+10.0,65.0,-0.008893047099009902,-0.04453442568316832,0.051489891148514856
+10.0,75.0,-0.00874537522,-0.035391473400000005,0.05820712847000001
+10.0,85.0,-0.008541085696969696,-0.025250100787878784,0.06312755296969698
+10.0,95.0,-0.008387531574257426,-0.01417511815841584,0.06609481859405943
+10.0,105.0,-0.008237464440000002,-0.0023946184899999996,0.06719733394
+10.0,115.0,-0.007987477969999998,0.00962396145,0.06650193210000001
+10.0,125.0,-0.007624447370000001,0.021369313220000002,0.06398340749
+10.0,135.0,-0.007344598323232324,0.0321396437979798,0.05944769095959596
+10.0,145.0,-0.006536662019999999,0.042852995020000006,0.05374869862
+10.0,155.0,-0.00704282933,0.051334911469999994,0.044213424109999996
+10.0,165.0,-0.00703441166,0.05884513561,0.03408801538
+10.0,175.0,-0.007010779425742576,0.06469824528712871,0.02296452568316832
+10.0,185.0,-0.006951119444444445,0.0684076717979798,0.011157150161616159
+10.0,195.0,-0.006930368200000001,0.0696274404,-0.0011020729499999998
+10.0,205.0,-0.0069462898500000005,0.06861283258,-0.01363609744
+10.0,215.0,-0.006993902360000001,0.06547519734999999,-0.025919885750000003
+10.0,225.0,-0.00705978283,0.060331841059999995,-0.03716881269
+10.0,235.0,-0.007159524069306929,0.053210805326732676,-0.047195939613861385
+10.0,245.0,-0.007306147191919192,0.044325917404040405,-0.05552828431313132
+10.0,255.0,-0.00741869855,0.03373506749,-0.06205917648
+10.0,265.0,-0.0072843786199999995,0.02248269364,-0.06744070300999999
+10.0,275.0,-0.00797199023,0.010075079349999998,-0.06963169459
+10.0,285.0,-0.008195352336633663,-0.0021409331287128713,-0.07005809240594059
+10.0,295.0,-0.00843425282,-0.01418100301,-0.06810959860999999
+10.0,305.0,-0.008697245190000001,-0.025736537950000003,-0.06390190072999999
+10.0,315.0,-0.00888500371,-0.036406983,-0.05797240038999999
+10.0,325.0,-0.0090573514,-0.045991369760000005,-0.05055146904
+10.0,335.0,-0.00920825264,-0.05392807173,-0.041851269329999996
+10.0,345.0,-0.00926525677,-0.06000644796000001,-0.03200972045
+10.0,355.0,-0.009348682609625668,-0.0659652851671123,-0.01634128419919786
+20.0,5.0,-0.0032997038252427185,-0.1059918293300971,-0.03262130664967638
+20.0,15.0,-0.0031541115200000003,-0.11146332615,-0.004846405960000001
+20.0,25.0,-0.00315485921,-0.11107584580000002,0.014038552740000002
+20.0,35.0,-0.0031385336499999998,-0.10729445572000001,0.03235965325000001
+20.0,45.0,-0.003098706000000001,-0.10027968211111112,0.04974640693939394
+20.0,55.0,-0.0029788880000000003,-0.09027076572277229,0.0658745721089109
+20.0,65.0,-0.0029217124141414142,-0.07804326597979797,0.08013699463636363
+20.0,75.0,-0.002803871297029703,-0.06355701484158416,0.09204826767326732
+20.0,85.0,-0.0024842977600000003,-0.04705227098999999,0.10100195108999997
+20.0,95.0,-0.00241809931,-0.02920448962,0.10719056591000001
+20.0,105.0,-0.00218280285,-0.010073932430000002,0.11000604099
+20.0,115.0,-0.0019814079800000006,0.009435341690000001,0.10972614475
+20.0,125.0,-0.00174947649,0.028540352480000003,0.10628262289000003
+20.0,135.0,-0.0015039782121212127,0.046594539222222224,0.09955294701010103
+20.0,145.0,-0.0012753248415841587,0.06349412792079208,0.0895199502079208
+20.0,155.0,-0.001095267272727273,0.07855821682828283,0.07650342814141416
+20.0,165.0,-0.00104274099,0.091507277,0.06118749318
+20.0,175.0,-0.0009514295346534655,0.10175252556435645,0.04384186121782178
+20.0,185.0,-0.0008758545656565658,0.108493872,0.02531067035353535
+20.0,195.0,-0.0008767326700000002,0.11168304749,0.005828964769999999
+20.0,205.0,-0.0009159172600000003,0.11138161909000001,-0.014130734680000001
+20.0,215.0,-0.0009433613168316834,0.10765086666336632,-0.03388740852475247
+20.0,225.0,-0.0010475728300000002,0.10074012357,-0.05253672562000001
+20.0,235.0,-0.0010512381000000002,0.09057688739,-0.06929991064999999
+20.0,245.0,-0.0011863792400000001,0.07742363596,-0.08370682211999998
+20.0,255.0,-0.001273802888888889,0.061773998555555557,-0.09547965375757572
+20.0,265.0,-0.0013644006831683173,0.0444073787029703,-0.10434289002970298
+20.0,275.0,-0.0016922269595959598,0.025466373919191914,-0.11033275990909089
+20.0,285.0,-0.0019389855445544558,0.005948491603960395,-0.11275011981188116
+20.0,295.0,-0.00213568019,-0.013672054769999999,-0.11139610509999999
+20.0,305.0,-0.00201486307,-0.032573018550000006,-0.10706049997000001
+20.0,315.0,-0.00268763908,-0.0509185261,-0.09874360126000001
+20.0,325.0,-0.0026878140800000007,-0.06708086396,-0.08784603148999999
+20.0,335.0,-0.0029320285499999997,-0.08144462142,-0.07480562851
+20.0,345.0,-0.00316365102,-0.09321835773999998,-0.05971081593
+20.0,355.0,-0.003306786267857143,-0.10529990214285714,-0.03449303743452381
+30.0,5.0,0.00909531809992598,-0.12156959589711326,-0.05855558797187268
+30.0,15.0,0.00902122252,-0.13316352534,-0.025833473319999998
+30.0,25.0,0.00905923806,-0.13625016352000002,-0.00278033714
+30.0,35.0,0.00906007452,-0.13519277566,0.02043373039
+30.0,45.0,0.009152302619999999,-0.12984167716,0.04301491853000001
+30.0,55.0,0.00920118581,-0.12066260110000002,0.06449953342
+30.0,65.0,0.00913146245,-0.10799586862,0.08423751985000003
+30.0,75.0,0.009730952514851485,-0.09292457378217821,0.10150656418811883
+30.0,85.0,0.009460854009999999,-0.07370995202,0.11538788165
+30.0,95.0,0.00974566993,-0.05280158215,0.12565084143000002
+30.0,105.0,0.00980167212,-0.030194579459999992,0.13240354352
+30.0,115.0,0.010042128030303028,-0.006547311484848484,0.13523486685858588
+30.0,125.0,0.01031475596,0.01712071182,0.13407888426
+30.0,135.0,0.01057820575,0.04029354255999999,0.12872485840999998
+30.0,145.0,0.010814586789999999,0.06242872459999999,0.11923343683999998
+30.0,155.0,0.011061801569999998,0.08249553805,0.10586283758000002
+30.0,165.0,0.011029617659999998,0.10060452393000001,0.08920759867000001
+30.0,175.0,0.011133919209999999,0.11552951797000002,0.06984049565999999
+30.0,185.0,0.011458966749999999,0.12689905786,0.04867093687000001
+30.0,195.0,0.011842277369999998,0.13428709732000002,0.026133409289999996
+30.0,205.0,0.011241267191919192,0.1364929774343434,0.0013484213232323229
+30.0,215.0,0.011320623297029703,0.13504386136633667,-0.02276043713861386
+30.0,225.0,0.011410245369999999,0.1295567792,-0.046285401569999995
+30.0,235.0,0.011235215069999997,0.12041357567999998,-0.06813147828999998
+30.0,245.0,0.01117353832,0.10716453187000001,-0.08763530903000001
+30.0,255.0,0.011116893909999998,0.09047821528,-0.10441167186000001
+30.0,265.0,0.010947943489999999,0.07125333378000001,-0.1181579946
+30.0,275.0,0.010771686639999995,0.04989336955,-0.12838673294999997
+30.0,285.0,0.010457571189999997,0.027003481430000004,-0.13480375891
+30.0,295.0,0.010232708080000001,0.003597988960000001,-0.13682611097
+30.0,305.0,0.010083154529999997,-0.019969004309999996,-0.13462888790999997
+30.0,315.0,0.009985688529999998,-0.042932795950000005,-0.12860359794999998
+30.0,325.0,0.009602328237623765,-0.06466243737623763,-0.11830728051485148
+30.0,335.0,0.009720252363636363,-0.08401708398989899,-0.10465688244444443
+30.0,345.0,0.00926600975,-0.10112144464,-0.08895492242
+30.0,355.0,0.009079482128275862,-0.12044973537655175,-0.06076365572689656
+40.0,5.0,0.02118452054939107,-0.11933357843301759,-0.08819150617050067
+40.0,15.0,0.021855919069999997,-0.13884795303,-0.055919930539999996
+40.0,25.0,0.02145711836,-0.14609510522999997,-0.03165584885
+40.0,35.0,0.021263399979999997,-0.15008956182,-0.005969764619999999
+40.0,45.0,0.021284451440000005,-0.14927802966,0.019727381430000003
+40.0,55.0,0.021336293779999998,-0.14377875702,0.045081464800000005
+40.0,65.0,0.021464344769999998,-0.13427290923000001,0.06935520237
+40.0,75.0,0.021419105544554454,-0.12103848152475245,0.09119252012871287
+40.0,85.0,0.021552208777777783,-0.10411621966666668,0.11019949626262628
+40.0,95.0,0.02191359111,-0.08358688202000002,0.12532052342
+40.0,105.0,0.021701926679999997,-0.06077963361999998,0.13767462071
+40.0,115.0,0.02189640295,-0.03573933198,0.14568379827
+40.0,125.0,0.022222370579999998,-0.00969746153,0.14956282063
+40.0,135.0,0.022984590169999996,0.017003895629999998,0.14927738833999998
+40.0,145.0,0.023003691629999996,0.04159244448,0.14254232403999997
+40.0,155.0,0.022928446239999997,0.06628850821,0.13207426898
+40.0,165.0,0.02280320149,0.08932153175,0.11762030520999996
+40.0,175.0,0.0228813727,0.10926270268999999,0.09961597898
+40.0,185.0,0.022887677619999994,0.12565764248,0.07864275595
+40.0,195.0,0.0228884132,0.13797559971,0.05519896892
+40.0,205.0,0.022901204010101008,0.14583179671717172,0.029900448303030302
+40.0,215.0,0.02288832368316832,0.14932578023762377,0.0034816226930693066
+40.0,225.0,0.02294833895,0.1482535752,-0.022981186959999997
+40.0,235.0,0.02286180448,0.14276898412,-0.04842912035
+40.0,245.0,0.022767285259999995,0.13280359218999999,-0.07224088006000001
+40.0,255.0,0.023165891089999998,0.11898558582000003,-0.09431644404
+40.0,265.0,0.02335355736,0.10143185168,-0.11213804346999998
+40.0,275.0,0.022779602269999998,0.08033281176000001,-0.12762530594000002
+40.0,285.0,0.022231191089999998,0.05698729188,-0.13968672782
+40.0,295.0,0.021993526170000003,0.032320098789999994,-0.14683544041
+40.0,305.0,0.02192358714,0.006466230349999999,-0.14938432937
+40.0,315.0,0.021588281039999994,-0.019400691379999998,-0.14757740621
+40.0,325.0,0.021381531386138613,-0.04488799233663366,-0.14150683053465346
+40.0,335.0,0.0211593852020202,-0.0686713566969697,-0.13145655375757576
+40.0,345.0,0.02104293209,-0.09001654646,-0.11737345136
+40.0,355.0,0.02108540218918919,-0.11464882664864866,-0.09353762782625481
diff --git a/catkin_ws/src/smargon/config/smargonparameters.yaml b/catkin_ws/src/smargon/config/smargonparameters.yaml
index 3486ae1..e0298ae 100644
--- a/catkin_ws/src/smargon/config/smargonparameters.yaml
+++ b/catkin_ws/src/smargon/config/smargonparameters.yaml
@@ -32,7 +32,7 @@ length: {
 axis: {
     SHX: {
 #Kalibrier PIN
-        start : -0.000,
+        start :  0.0,
         limpos:  2.500,
         limneg: -2.500,
         vmax  : 10.000,
@@ -40,7 +40,7 @@ axis: {
     },
     SHY: {
 #Kalibrier PIN
-        start : -0.000,
+        start :  0.0,
         limpos:  2.500,
         limneg: -2.500,
         vmax  : 10.000,
@@ -48,7 +48,7 @@ axis: {
     },
     SHZ: {
 #Kalibrier PIN
-        start : 18.000,
+        start : 18.00,
         limpos: 25.000,
         limneg: 10.000,
         vmax  : 10.000,
@@ -78,25 +78,25 @@ axis: {
     },
 
     OX: {
-        start : -0.7141,
+        start : -0.707199,
         limpos:  2.500,
         limneg: -2.500,
-        vmax  : 0.500,
-        amax  : 0.500,
+        vmax  : 1.00,
+        amax  : 1.00,
     },
     OY: {
-        start :  -0.0134,
+        start :  -0.02519,
         limpos:  2.500,
         limneg: -2.500,
-        vmax  : 0.500,
-        amax  : 0.500,
+        vmax  : 1.00,
+        amax  : 1.00,
     },
     OZ: {
         start : 190.000,
         limpos: 200.000,
         limneg: 180.000,
-        vmax  : 0.500,
-        amax  : 0.500,
+        vmax  : 1.00,
+        amax  : 1.00,
     },
 
 
diff --git a/catkin_ws/src/smargon/src/smargonCalibrator.cpp b/catkin_ws/src/smargon/src/smargonCalibrator.cpp
index 9a2bb17..7fd01f4 100644
--- a/catkin_ws/src/smargon/src/smargonCalibrator.cpp
+++ b/catkin_ws/src/smargon/src/smargonCalibrator.cpp
@@ -132,9 +132,8 @@ int transform(void) {
     y =  ch2 * sin(RZ) + ch1 * sin(RX) * cos(RZ) - ch0 * cos(RX) * cos(RZ);
     z = -ch0 * sin(RX) - ch1 * cos(RX);
 
-    //RX = (0.156) *(M_PI/180);
-    //y = y*cos(RX)-z*sin(RX);
-    //z = y*sin(RX)+z*cos(RX);
+    RX = (-1.47) *(M_PI/180);    //y = y*cos(RX)-z*sin(RX);
+    z = y*sin(RX)+z*cos(RX);
 
     return 0;
 }
@@ -280,18 +279,18 @@ int main(int argc, char **argv)
        //_set control loop gains
        
        // TODO tune to best performance
-       result = SA_CTL_SetProperty_i32(dHandle, channel, SA_CTL_PKEY_POS_PID_SHIFT, 1);
-       result = SA_CTL_SetProperty_i32(dHandle, channel, SA_CTL_PKEY_POS_P_GAIN, 1000);
-       result = SA_CTL_SetProperty_i32(dHandle, channel, SA_CTL_PKEY_POS_D_GAIN, 100);
-       result = SA_CTL_SetProperty_i32(dHandle, channel, SA_CTL_PKEY_POS_I_GAIN, 0);
-       result = SA_CTL_SetProperty_i32(dHandle, channel, SA_CTL_PKEY_POS_ANTI_WINDUP,0);
-       
-       //for accurate measurement with low force
        //result = SA_CTL_SetProperty_i32(dHandle, channel, SA_CTL_PKEY_POS_PID_SHIFT, 1);
-       //result = SA_CTL_SetProperty_i32(dHandle, channel, SA_CTL_PKEY_POS_P_GAIN, 500);
-       //result = SA_CTL_SetProperty_i32(dHandle, channel, SA_CTL_PKEY_POS_D_GAIN, 10);
+       //result = SA_CTL_SetProperty_i32(dHandle, channel, SA_CTL_PKEY_POS_P_GAIN, 1000);
+       //result = SA_CTL_SetProperty_i32(dHandle, channel, SA_CTL_PKEY_POS_D_GAIN, 100);
        //result = SA_CTL_SetProperty_i32(dHandle, channel, SA_CTL_PKEY_POS_I_GAIN, 0);
        //result = SA_CTL_SetProperty_i32(dHandle, channel, SA_CTL_PKEY_POS_ANTI_WINDUP,0);
+       
+       //for accurate measurement with low force
+       result = SA_CTL_SetProperty_i32(dHandle, channel, SA_CTL_PKEY_POS_PID_SHIFT, 1);
+       result = SA_CTL_SetProperty_i32(dHandle, channel, SA_CTL_PKEY_POS_P_GAIN, 500);
+       result = SA_CTL_SetProperty_i32(dHandle, channel, SA_CTL_PKEY_POS_D_GAIN, 10);
+       result = SA_CTL_SetProperty_i32(dHandle, channel, SA_CTL_PKEY_POS_I_GAIN, 0);
+       result = SA_CTL_SetProperty_i32(dHandle, channel, SA_CTL_PKEY_POS_ANTI_WINDUP,0);
 
        // note: setting the position refers to the position calculation for the build-in sensors
        result = SA_CTL_SetProperty_i64(dHandle, channel, SA_CTL_PKEY_POSITION, 0);
@@ -318,8 +317,8 @@ int main(int argc, char **argv)
         // If enableCAL was changed (transition=true), start or stop control loop:
         if (transition) {
             if (enableCAL) { //start control loop
-		int32_t target =32000; //int(131071 / 4); # ca 25% of the (positive) control range to 'press' against the sensors
-	        //int32_t target =3000; //for accurate measurements with low force on smargon
+		//int32_t target =32000; //int(131071 / 4); # ca 25% of the (positive) control range to 'press' against the sensors
+	        int32_t target =3000; //for accurate measurements with low force on smargon
                     for (int channel=0; channel<3; channel++){
                     result = SA_CTL_SetProperty_i32(dHandle, channel, SA_CTL_PKEY_MOVE_MODE, SA_CTL_MOVE_MODE_CL_ABSOLUTE);
                     result = SA_CTL_Move(dHandle, channel, target,0); // enable control loop;
diff --git a/python_algorithms/Dominik/5_Compensation/LUT_Smargon_Error_corrected.csv b/python_algorithms/Dominik/5_Compensation/LUT_Smargon_Error_corrected.csv
index a9f764e..3ec3ffb 100644
--- a/python_algorithms/Dominik/5_Compensation/LUT_Smargon_Error_corrected.csv
+++ b/python_algorithms/Dominik/5_Compensation/LUT_Smargon_Error_corrected.csv
@@ -1,181 +1,181 @@
 CHI,OMEGA,X_LUT,Y_LUT,Z_LUT
-0.0,5.0,-5.138674665551837e-05,-8.530335618729096e-05,0.00019314879264214048
-0.0,15.0,-8.495834999999997e-05,-0.00012204545,-0.0002976171599999999
-0.0,25.0,-2.5971199999999983e-05,-0.00032540676,-0.00061287036
-0.0,35.0,7.699177000000002e-05,-0.00062427341,-0.0008834381600000001
-0.0,45.0,0.00019925848514851485,-0.000981885702970297,-0.000931275425742574
-0.0,55.0,0.00032517811111111117,-0.0014270460909090908,-0.0007628025454545456
-0.0,65.0,0.0004959868415841584,-0.0018770133465346535,-0.0004275259207920791
-0.0,75.0,0.0006551330000000001,-0.0023853337800000007,5.956299000000001e-05
-0.0,85.0,0.0008455228712871287,-0.0027498195940594055,0.0007618152277227724
-0.0,95.0,0.0010563698899999998,-0.0028766497399999994,0.0014805365800000002
-0.0,105.0,0.0012340906732673266,-0.002654638861386139,0.002344220247524752
-0.0,115.0,0.0014156316799999995,-0.0021762277599999998,0.003297186550000001
-0.0,125.0,0.00159783097029703,-0.0014218292277227728,0.004143532534653466
-0.0,135.0,0.0018015395599999997,-0.0006341150399999998,0.004762036659999999
-0.0,145.0,0.00190121637254902,0.00043710397058823537,0.0050844811274509795
-0.0,155.0,0.0020385002500000002,0.0015446352299999999,0.0050769497100000005
-0.0,165.0,0.0021055600396039605,0.002803376277227722,0.004799966217821782
-0.0,175.0,0.0021564562970297027,0.0038972725445544556,0.004270241118811881
-0.0,185.0,0.00216786449,0.004658729279999999,0.00349917367
-0.0,195.0,0.0021488043762376238,0.005000920801980198,0.002513818287128713
-0.0,205.0,0.0020223415841584156,0.005065030881188118,0.0013939663069306935
-0.0,215.0,0.0019064091100000002,0.004964907349999999,0.00026727273
-0.0,225.0,0.0017838834444444444,0.004667684949494951,-0.0007263056868686869
-0.0,235.0,0.0016332711099999997,0.00408572414,-0.00152622668
-0.0,245.0,0.0014694333636363634,0.003191180424242424,-0.0019696835050505047
-0.0,255.0,0.0012194489595959597,0.002276311191919192,-0.002222856808080808
-0.0,265.0,0.001063185505050505,0.0013255774242424243,-0.0023012036767676766
-0.0,275.0,0.000861724484848485,0.0005748048080808082,-0.0022089196060606064
-0.0,285.0,0.0006669424444444446,4.0204474747474755e-05,-0.0019003588989898986
-0.0,295.0,0.0005083123333333334,-0.00034317525252525253,-0.0013755381919191914
-0.0,305.0,0.0003796769696969697,-0.0006240890808080808,-0.0007696765757575759
-0.0,315.0,0.00026426251000000005,-0.0008052948900000001,-0.00025814168000000003
-0.0,325.0,0.00015265357142857144,-0.0007404523571428572,5.39861530612245e-05
-0.0,335.0,6.367042000000002e-05,-0.00048052641,0.00025535339000000006
-0.0,345.0,-1.6950579999999978e-05,-8.441774999999999e-05,0.00034325351
-0.0,355.0,-5.950503999999998e-05,0.00015681476,0.0003605284800000001
-10.0,5.0,-0.007909518542972699,-0.06340224958897876,-0.016512764000000003
-10.0,15.0,-0.00785271062,-0.06567901545,-0.0004997710499999999
-10.0,25.0,-0.007807627757575758,-0.0649717217979798,0.010624979858585857
-10.0,35.0,-0.00767742386,-0.06226940839999999,0.02139235927
-10.0,45.0,-0.0075928601099999994,-0.05788040336,0.0316199493
-10.0,55.0,-0.007462466702970297,-0.05175152454455445,0.04115542903960396
-10.0,65.0,-0.007257765890000001,-0.04420752899000001,0.04957217751000001
-10.0,75.0,-0.00705777793,-0.03544068238,0.05654470804999999
-10.0,85.0,-0.00685403728,-0.025527364309999995,0.061964667550000005
-10.0,95.0,-0.006676228990099009,-0.014687199009900991,0.0656024339009901
-10.0,105.0,-0.006449621594059408,-0.0030828571188118814,0.06751888037623764
-10.0,115.0,-0.0061937686999999995,0.00868245351,0.06752555110999998
-10.0,125.0,-0.005991377415841583,0.020243463376237624,0.0654307148118812
-10.0,135.0,-0.005771427120000001,0.0312236199,0.061335429889999994
-10.0,145.0,-0.0056041899603960395,0.04150660211881188,0.05517738114851485
-10.0,155.0,-0.005472832168316832,0.05063668738613861,0.047173912148514845
-10.0,165.0,-0.005351320861386138,0.05849590643564356,0.0376305117029703
-10.0,175.0,-0.005330041584158416,0.06443435184158415,0.026791143752475245
-10.0,185.0,-0.005299950489999999,0.06818662746,0.015022326289999999
-10.0,195.0,-0.0053328661078431375,0.06967905135294115,0.0026805543235294115
-10.0,205.0,-0.00547101094,0.06887808111999999,-0.009875997420000001
-10.0,215.0,-0.00551521115,0.06596905789000002,-0.021919921960000005
-10.0,225.0,-0.00570770906,0.06095137554,-0.033228625299999995
-10.0,235.0,-0.0058075863737373735,0.05395114184848485,-0.04324879490909091
-10.0,245.0,-0.006012550519999998,0.045197985460000006,-0.05186105973000001
-10.0,255.0,-0.0062429139591836744,0.035073488816326534,-0.05860855233673469
-10.0,265.0,-0.0064466783131313125,0.024054926292929293,-0.0636190348888889
-10.0,275.0,-0.006625132595959596,0.012417135777777779,-0.06656115037373737
-10.0,285.0,-0.006817725,0.0006093427474747476,-0.06725274413131313
-10.0,295.0,-0.006999714202020203,-0.011045048383838381,-0.06585409556565656
-10.0,305.0,-0.0072364679191919195,-0.022378925949494945,-0.06243946357575757
-10.0,315.0,-0.0074557914800000005,-0.03293367726999999,-0.05718707984
-10.0,325.0,-0.00759862193877551,-0.042224735224489794,-0.050389791122448985
-10.0,335.0,-0.007707232660000002,-0.0500393606,-0.04216939184000001
-10.0,345.0,-0.00781347059,-0.05637743082,-0.032774370069999996
-10.0,355.0,-0.007905140630000002,-0.06109189828999999,-0.02241392214
-20.0,5.0,-0.00040285252250885176,-0.1020751689994942,-0.03551976502680829
-20.0,15.0,-0.00043721504999999993,-0.1076851716,-0.00934134883
-20.0,25.0,-0.0003866578282828283,-0.10785501195959595,0.00926197001010101
-20.0,35.0,-0.00027529291999999996,-0.10475535113999995,0.027513368889999997
-20.0,45.0,-0.00015610893999999997,-0.09853688194,0.04517057189
-20.0,55.0,1.3376287128712891e-05,-0.08935572837623762,0.061647371881188115
-20.0,65.0,0.00016992499,-0.07754588649,0.07637907882
-20.0,75.0,0.00038239104999999995,-0.06357418212,0.08882524188000002
-20.0,85.0,0.0006383225148514853,-0.04756527186138614,0.0986953241089109
-20.0,95.0,0.0008664010495049504,-0.029838580118811887,0.10567737398019802
-20.0,105.0,0.00110088472,-0.011102312300000002,0.10956237011
-20.0,115.0,0.00131017666,0.00802103015,0.11028175503999998
-20.0,125.0,0.0015749094356435644,0.027100797772277228,0.10765094863366338
-20.0,135.0,0.0017616185499999997,0.04538041418000001,0.10164578713000001
-20.0,145.0,0.0019781449803921566,0.06251232044117648,0.09227797275490195
-20.0,155.0,0.0021530001485148514,0.07787851895049504,0.07993004451485149
-20.0,165.0,0.00226983358,0.09092112724999998,0.06520698664
-20.0,175.0,0.0022980499504950498,0.10115106603960396,0.04832817503960396
-20.0,185.0,0.0023863765940594067,0.10811956994059405,0.02980672456435644
-20.0,195.0,0.002349158792079208,0.11155938033663365,0.010210568613861387
-20.0,205.0,0.0022821812699999997,0.11146852939,-0.00965379367
-20.0,215.0,0.0021610385445544555,0.1079369140693069,-0.02919676518811881
-20.0,225.0,0.0020437370808080806,0.10118533178787877,-0.04761005025252525
-20.0,235.0,0.0018653155999999998,0.09114950096999999,-0.06431264371
-20.0,245.0,0.0016834671919191918,0.07824247445454544,-0.0789986604040404
-20.0,255.0,0.0014707479183673471,0.06315981475510205,-0.0910225575612245
-20.0,265.0,0.00123887956,0.04624395015999999,-0.10034812908999999
-20.0,275.0,0.0009772000707070707,0.027878365848484854,-0.10660263243434345
-20.0,285.0,0.0007878687857142857,0.009091776581632655,-0.10943715417346939
-20.0,295.0,0.00055074774,-0.00998139527,-0.10898874568
-20.0,305.0,0.0003539181836734694,-0.028628862081632653,-0.10517495205102041
-20.0,315.0,0.00015225517000000004,-0.046327495020000005,-0.09831899276000002
-20.0,325.0,-4.153068367346936e-05,-0.0625100512244898,-0.08866478549999998
-20.0,335.0,-0.00019802029999999997,-0.07664454247000001,-0.07641256949000001
-20.0,345.0,-0.00033196125,-0.08855585804999999,-0.06188119762
-20.0,355.0,-0.00036059657000000003,-0.09770742062,-0.045480236890000005
-30.0,5.0,0.01312856476923077,-0.11552822935222673,-0.06267495672874494
-30.0,15.0,0.013156637689999997,-0.12745656706,-0.03239114223
-30.0,25.0,0.013212309000000004,-0.1313304169,-0.009835979860000002
-30.0,35.0,0.013304964549999998,-0.13127954184,0.01298165901
-30.0,45.0,0.013416585623762379,-0.12713212840594057,0.035607793910891083
-30.0,55.0,0.0135452227979798,-0.11919046006060606,0.05717295093939394
-30.0,65.0,0.013716301831683167,-0.10773328120792079,0.07718388870297029
-30.0,75.0,0.013916684940000002,-0.09296997921000001,0.09500751967000001
-30.0,85.0,0.014145880297029704,-0.07526867623762376,0.10990173909900992
-30.0,95.0,0.014393901689999999,-0.05511140274999999,0.12156755974000001
-30.0,105.0,0.014613773039603963,-0.03307137379207921,0.12965978239603962
-30.0,115.0,0.014813400780000006,-0.00994040145,0.13384471731000003
-30.0,125.0,0.01507263379207921,0.013587445425742571,0.13401304851485152
-30.0,135.0,0.01528309583,0.03667554219,0.12992973036000002
-30.0,145.0,0.015430010950495052,0.05876079315841585,0.12167208506930693
-30.0,155.0,0.015598954544554455,0.07931110648514851,0.10955156306930691
-30.0,165.0,0.015754333069306934,0.09756359042574256,0.09399225021782177
-30.0,175.0,0.015860489108910893,0.11276823883168316,0.07542873284158415
-30.0,185.0,0.015835262290000002,0.12417374593000002,0.05449369450000001
-30.0,195.0,0.015825309524752477,0.13155292914851485,0.03188552672277228
-30.0,205.0,0.015763636336633663,0.1348114769207921,0.00813558288118812
-30.0,215.0,0.01567261704,0.13395840122000002,-0.0157452103
-30.0,225.0,0.015552071780000001,0.1290080358,-0.03886870649
-30.0,235.0,0.015409798240000001,0.12006885794999998,-0.06064688398
-30.0,245.0,0.015223170663265307,0.10755343197959183,-0.08019095233673469
-30.0,255.0,0.015036434300000004,0.09179721681999997,-0.09733855888000001
-30.0,265.0,0.014824046500000004,0.07344781907142856,-0.11149596892857143
-30.0,275.0,0.014571666350000002,0.05308467489000001,-0.12224225834
-30.0,285.0,0.014353201979591838,0.031202176755102045,-0.12918031209183672
-30.0,295.0,0.014127285696969699,0.00864976518181818,-0.1322239946161616
-30.0,305.0,0.013948616535353536,-0.014136813323232321,-0.13137945484848482
-30.0,315.0,0.013731906242424242,-0.036497926888888886,-0.1267320617171717
-30.0,325.0,0.013491772,-0.057687225,-0.11843979784848482
-30.0,335.0,0.013332231200000003,-0.07706424020000001,-0.10658005243000003
-30.0,345.0,0.01324330803030303,-0.094012464969697,-0.09154583226262625
-30.0,355.0,0.013145244594059406,-0.10833929704950497,-0.07379899857425742
-40.0,5.0,0.026482288737916224,-0.11147717741245972,-0.09292034158754028
-40.0,15.0,0.026465077470000008,-0.13059160780999998,-0.06324723229
-40.0,25.0,0.026506191390000003,-0.13970680410999997,-0.0397217973
-40.0,35.0,0.02657187475,-0.14467357144999998,-0.015045087410000001
-40.0,45.0,0.026659733790000004,-0.14525343018999998,0.01022531458
-40.0,55.0,0.02679172447,-0.14141462086,0.03533430266000001
-40.0,65.0,0.026953833811881194,-0.1332406775049505,0.05962460447524753
-40.0,75.0,0.027133909919191925,-0.12120420310101013,0.08203450692929294
-40.0,85.0,0.027346118603960395,-0.10539933449504951,0.10198060176237625
-40.0,95.0,0.027553701633663368,-0.08603515435643563,0.11903321811881186
-40.0,105.0,0.027726916999999997,-0.06389201518000001,0.13245115121
-40.0,115.0,0.02794259803960396,-0.03973499388118811,0.14196918713861387
-40.0,125.0,0.028102123554455447,-0.014261070673267326,0.14721058094059408
-40.0,135.0,0.028363160570000004,0.011595067360000003,0.14778131524
-40.0,145.0,0.0285279747029703,0.03714572768316832,0.14361472689108912
-40.0,155.0,0.02867480596039604,0.06180596109900991,0.1348312335841584
-40.0,165.0,0.0288000716039604,0.08472212745544555,0.12184836955445545
-40.0,175.0,0.02890992245,0.10488944052,0.10516871038000002
-40.0,185.0,0.02892306187128713,0.12166386395049504,0.08513739127722772
-40.0,195.0,0.028871960257425746,0.13455980383168317,0.06229261172277227
-40.0,205.0,0.02882676445544555,0.14318845487128715,0.03752893083168317
-40.0,215.0,0.028769172120000006,0.14735122686000002,0.011787308469999997
-40.0,225.0,0.02869058727,0.14699599942,-0.01407454483
-40.0,235.0,0.02856871798989899,0.1420819327878788,-0.03917311493939394
-40.0,245.0,0.028421426919191913,0.13292672743434344,-0.06292573766666668
-40.0,255.0,0.028223615898989897,0.11973055676767676,-0.0847028082929293
-40.0,265.0,0.028028510222222223,0.1031246474949495,-0.10391875401010099
-40.0,275.0,0.027815942810000008,0.08344452303000001,-0.12008647397999997
-40.0,285.0,0.027600816132653066,0.061564377540816326,-0.13243323651020403
-40.0,295.0,0.027390502595959598,0.03803991914141414,-0.14067239923232322
-40.0,305.0,0.027196058929292926,0.013295207737373737,-0.14483382835353534
-40.0,315.0,0.027040669565656563,-0.011753136070707071,-0.14475367135353537
-40.0,325.0,0.026848007373737368,-0.03643887398989898,-0.14054621435353531
-40.0,335.0,0.026691012989898996,-0.059905465454545455,-0.13220526314141415
-40.0,345.0,0.026565955603960398,-0.08167552412871287,-0.11977729784158415
-40.0,355.0,0.026480377590000003,-0.10112424737999999,-0.10365180097999999
+0.0,5.0,-4.325712485681787e-06,0.00011717850630011463,-7.926044100801827e-05
+0.0,15.0,2.495818999999984e-05,5.339410000000008e-05,-0.0004525307600000001
+0.0,25.0,0.00013904783999999992,-0.00012578527999999994,-0.00099165173
+0.0,35.0,0.0001875075399999998,-0.0002402365899999999,-0.00166818015
+0.0,45.0,0.00030298471999999974,-0.00048681302999999983,-0.00218575573
+0.0,55.0,0.0003923894899999998,-0.00084657281,-0.0022908311
+0.0,65.0,0.0005370019799999997,-0.0014397464299999996,-0.00210883281
+0.0,75.0,0.0008217761799999997,-0.0022080864799999995,-0.0017757797300000002
+0.0,85.0,0.0009660931299999997,-0.0027761822799999996,-0.0013985611799999997
+0.0,95.0,0.0011355574099999998,-0.0030695184299999994,-0.00099341431
+0.0,105.0,0.0013188249499999998,-0.00298698564,-0.0004332729999999999
+0.0,115.0,0.00148637805,-0.0027095190200000004,0.00038136671000000004
+0.0,125.0,0.00169679705,-0.00238462997,0.0013026769700000003
+0.0,135.0,0.0018915138500000001,-0.0019749771199999997,0.00202914163
+0.0,145.0,0.0019710665858585857,-0.001381941404040404,0.0023180336565656566
+0.0,155.0,0.0020352299099999998,-0.0005022113499999999,0.0021952841799999998
+0.0,165.0,0.0020888758399999997,0.00057392372,0.0018958144200000005
+0.0,175.0,0.0021549130792079207,0.001425277742574257,0.00151921001980198
+0.0,185.0,0.0022226144242424237,0.0020682191010101014,0.0011217058282828281
+0.0,195.0,0.00216610983,0.0021235501099999997,0.0004800172799999999
+0.0,205.0,0.002127580131313131,0.0018897974343434342,-0.0004181233333333333
+0.0,215.0,0.002046960980392157,0.0017692558333333335,-0.001310397019607843
+0.0,225.0,0.00194533898989899,0.0014314653131313135,-0.0021094586363636365
+0.0,235.0,0.001818802801980198,0.0010598457326732673,-0.002553115207920792
+0.0,245.0,0.00165797475,0.0004924397100000001,-0.00268257693
+0.0,255.0,0.0015026636767676764,-0.0003993787474747474,-0.002586123919191919
+0.0,265.0,0.0013670229399999996,-0.0012610185599999997,-0.00243077201
+0.0,275.0,0.0011801512599999998,-0.0018484936699999998,-0.00226523091
+0.0,285.0,0.0009941110396039603,-0.0021205569702970294,-0.001853767277227723
+0.0,295.0,0.0007895023699999998,-0.00213720146,-0.00117994229
+0.0,305.0,0.0006207680699999997,-0.00203627296,-0.00041190393999999996
+0.0,315.0,0.0004171644699999996,-0.00192368271,0.00022959791000000003
+0.0,325.0,0.00027835924999999976,-0.0016596393599999997,0.00054483109
+0.0,335.0,0.00015133802999999977,-0.0012015537599999997,0.0005868683399999999
+0.0,345.0,0.00010085476999999978,-0.00039779183999999994,0.0004195291200000001
+0.0,355.0,1.0912875299760005e-05,8.869291127098327e-05,-2.696869784172659e-05
+10.0,5.0,-0.00935140084186747,-0.06636178480722892,-0.015146505103915665
+10.0,15.0,-0.00922982147,-0.06849187008,0.0020159402500000002
+10.0,25.0,-0.009266533363636363,-0.06732914594949496,0.013165350626262624
+10.0,35.0,-0.009183378539999999,-0.06416094799000001,0.02379478944
+10.0,45.0,-0.009068883869999999,-0.05915172093,0.03383805201000001
+10.0,55.0,-0.00904319502,-0.052525778489999994,0.04317851623
+10.0,65.0,-0.008893047099009902,-0.04453442568316832,0.051489891148514856
+10.0,75.0,-0.00874537522,-0.035391473400000005,0.05820712847000001
+10.0,85.0,-0.008541085696969696,-0.025250100787878784,0.06312755296969698
+10.0,95.0,-0.008387531574257426,-0.01417511815841584,0.06609481859405943
+10.0,105.0,-0.008237464440000002,-0.0023946184899999996,0.06719733394
+10.0,115.0,-0.007987477969999998,0.00962396145,0.06650193210000001
+10.0,125.0,-0.007624447370000001,0.021369313220000002,0.06398340749
+10.0,135.0,-0.007344598323232324,0.0321396437979798,0.05944769095959596
+10.0,145.0,-0.006536662019999999,0.042852995020000006,0.05374869862
+10.0,155.0,-0.00704282933,0.051334911469999994,0.044213424109999996
+10.0,165.0,-0.00703441166,0.05884513561,0.03408801538
+10.0,175.0,-0.007010779425742576,0.06469824528712871,0.02296452568316832
+10.0,185.0,-0.006951119444444445,0.0684076717979798,0.011157150161616159
+10.0,195.0,-0.006930368200000001,0.0696274404,-0.0011020729499999998
+10.0,205.0,-0.0069462898500000005,0.06861283258,-0.01363609744
+10.0,215.0,-0.006993902360000001,0.06547519734999999,-0.025919885750000003
+10.0,225.0,-0.00705978283,0.060331841059999995,-0.03716881269
+10.0,235.0,-0.007159524069306929,0.053210805326732676,-0.047195939613861385
+10.0,245.0,-0.007306147191919192,0.044325917404040405,-0.05552828431313132
+10.0,255.0,-0.00741869855,0.03373506749,-0.06205917648
+10.0,265.0,-0.0072843786199999995,0.02248269364,-0.06744070300999999
+10.0,275.0,-0.00797199023,0.010075079349999998,-0.06963169459
+10.0,285.0,-0.008195352336633663,-0.0021409331287128713,-0.07005809240594059
+10.0,295.0,-0.00843425282,-0.01418100301,-0.06810959860999999
+10.0,305.0,-0.008697245190000001,-0.025736537950000003,-0.06390190072999999
+10.0,315.0,-0.00888500371,-0.036406983,-0.05797240038999999
+10.0,325.0,-0.0090573514,-0.045991369760000005,-0.05055146904
+10.0,335.0,-0.00920825264,-0.05392807173,-0.041851269329999996
+10.0,345.0,-0.00926525677,-0.06000644796000001,-0.03200972045
+10.0,355.0,-0.009348682609625668,-0.0659652851671123,-0.01634128419919786
+20.0,5.0,-0.0032997038252427185,-0.1059918293300971,-0.03262130664967638
+20.0,15.0,-0.0031541115200000003,-0.11146332615,-0.004846405960000001
+20.0,25.0,-0.00315485921,-0.11107584580000002,0.014038552740000002
+20.0,35.0,-0.0031385336499999998,-0.10729445572000001,0.03235965325000001
+20.0,45.0,-0.003098706000000001,-0.10027968211111112,0.04974640693939394
+20.0,55.0,-0.0029788880000000003,-0.09027076572277229,0.0658745721089109
+20.0,65.0,-0.0029217124141414142,-0.07804326597979797,0.08013699463636363
+20.0,75.0,-0.002803871297029703,-0.06355701484158416,0.09204826767326732
+20.0,85.0,-0.0024842977600000003,-0.04705227098999999,0.10100195108999997
+20.0,95.0,-0.00241809931,-0.02920448962,0.10719056591000001
+20.0,105.0,-0.00218280285,-0.010073932430000002,0.11000604099
+20.0,115.0,-0.0019814079800000006,0.009435341690000001,0.10972614475
+20.0,125.0,-0.00174947649,0.028540352480000003,0.10628262289000003
+20.0,135.0,-0.0015039782121212127,0.046594539222222224,0.09955294701010103
+20.0,145.0,-0.0012753248415841587,0.06349412792079208,0.0895199502079208
+20.0,155.0,-0.001095267272727273,0.07855821682828283,0.07650342814141416
+20.0,165.0,-0.00104274099,0.091507277,0.06118749318
+20.0,175.0,-0.0009514295346534655,0.10175252556435645,0.04384186121782178
+20.0,185.0,-0.0008758545656565658,0.108493872,0.02531067035353535
+20.0,195.0,-0.0008767326700000002,0.11168304749,0.005828964769999999
+20.0,205.0,-0.0009159172600000003,0.11138161909000001,-0.014130734680000001
+20.0,215.0,-0.0009433613168316834,0.10765086666336632,-0.03388740852475247
+20.0,225.0,-0.0010475728300000002,0.10074012357,-0.05253672562000001
+20.0,235.0,-0.0010512381000000002,0.09057688739,-0.06929991064999999
+20.0,245.0,-0.0011863792400000001,0.07742363596,-0.08370682211999998
+20.0,255.0,-0.001273802888888889,0.061773998555555557,-0.09547965375757572
+20.0,265.0,-0.0013644006831683173,0.0444073787029703,-0.10434289002970298
+20.0,275.0,-0.0016922269595959598,0.025466373919191914,-0.11033275990909089
+20.0,285.0,-0.0019389855445544558,0.005948491603960395,-0.11275011981188116
+20.0,295.0,-0.00213568019,-0.013672054769999999,-0.11139610509999999
+20.0,305.0,-0.00201486307,-0.032573018550000006,-0.10706049997000001
+20.0,315.0,-0.00268763908,-0.0509185261,-0.09874360126000001
+20.0,325.0,-0.0026878140800000007,-0.06708086396,-0.08784603148999999
+20.0,335.0,-0.0029320285499999997,-0.08144462142,-0.07480562851
+20.0,345.0,-0.00316365102,-0.09321835773999998,-0.05971081593
+20.0,355.0,-0.003306786267857143,-0.10529990214285714,-0.03449303743452381
+30.0,5.0,0.00909531809992598,-0.12156959589711326,-0.05855558797187268
+30.0,15.0,0.00902122252,-0.13316352534,-0.025833473319999998
+30.0,25.0,0.00905923806,-0.13625016352000002,-0.00278033714
+30.0,35.0,0.00906007452,-0.13519277566,0.02043373039
+30.0,45.0,0.009152302619999999,-0.12984167716,0.04301491853000001
+30.0,55.0,0.00920118581,-0.12066260110000002,0.06449953342
+30.0,65.0,0.00913146245,-0.10799586862,0.08423751985000003
+30.0,75.0,0.009730952514851485,-0.09292457378217821,0.10150656418811883
+30.0,85.0,0.009460854009999999,-0.07370995202,0.11538788165
+30.0,95.0,0.00974566993,-0.05280158215,0.12565084143000002
+30.0,105.0,0.00980167212,-0.030194579459999992,0.13240354352
+30.0,115.0,0.010042128030303028,-0.006547311484848484,0.13523486685858588
+30.0,125.0,0.01031475596,0.01712071182,0.13407888426
+30.0,135.0,0.01057820575,0.04029354255999999,0.12872485840999998
+30.0,145.0,0.010814586789999999,0.06242872459999999,0.11923343683999998
+30.0,155.0,0.011061801569999998,0.08249553805,0.10586283758000002
+30.0,165.0,0.011029617659999998,0.10060452393000001,0.08920759867000001
+30.0,175.0,0.011133919209999999,0.11552951797000002,0.06984049565999999
+30.0,185.0,0.011458966749999999,0.12689905786,0.04867093687000001
+30.0,195.0,0.011842277369999998,0.13428709732000002,0.026133409289999996
+30.0,205.0,0.011241267191919192,0.1364929774343434,0.0013484213232323229
+30.0,215.0,0.011320623297029703,0.13504386136633667,-0.02276043713861386
+30.0,225.0,0.011410245369999999,0.1295567792,-0.046285401569999995
+30.0,235.0,0.011235215069999997,0.12041357567999998,-0.06813147828999998
+30.0,245.0,0.01117353832,0.10716453187000001,-0.08763530903000001
+30.0,255.0,0.011116893909999998,0.09047821528,-0.10441167186000001
+30.0,265.0,0.010947943489999999,0.07125333378000001,-0.1181579946
+30.0,275.0,0.010771686639999995,0.04989336955,-0.12838673294999997
+30.0,285.0,0.010457571189999997,0.027003481430000004,-0.13480375891
+30.0,295.0,0.010232708080000001,0.003597988960000001,-0.13682611097
+30.0,305.0,0.010083154529999997,-0.019969004309999996,-0.13462888790999997
+30.0,315.0,0.009985688529999998,-0.042932795950000005,-0.12860359794999998
+30.0,325.0,0.009602328237623765,-0.06466243737623763,-0.11830728051485148
+30.0,335.0,0.009720252363636363,-0.08401708398989899,-0.10465688244444443
+30.0,345.0,0.00926600975,-0.10112144464,-0.08895492242
+30.0,355.0,0.009079482128275862,-0.12044973537655175,-0.06076365572689656
+40.0,5.0,0.02118452054939107,-0.11933357843301759,-0.08819150617050067
+40.0,15.0,0.021855919069999997,-0.13884795303,-0.055919930539999996
+40.0,25.0,0.02145711836,-0.14609510522999997,-0.03165584885
+40.0,35.0,0.021263399979999997,-0.15008956182,-0.005969764619999999
+40.0,45.0,0.021284451440000005,-0.14927802966,0.019727381430000003
+40.0,55.0,0.021336293779999998,-0.14377875702,0.045081464800000005
+40.0,65.0,0.021464344769999998,-0.13427290923000001,0.06935520237
+40.0,75.0,0.021419105544554454,-0.12103848152475245,0.09119252012871287
+40.0,85.0,0.021552208777777783,-0.10411621966666668,0.11019949626262628
+40.0,95.0,0.02191359111,-0.08358688202000002,0.12532052342
+40.0,105.0,0.021701926679999997,-0.06077963361999998,0.13767462071
+40.0,115.0,0.02189640295,-0.03573933198,0.14568379827
+40.0,125.0,0.022222370579999998,-0.00969746153,0.14956282063
+40.0,135.0,0.022984590169999996,0.017003895629999998,0.14927738833999998
+40.0,145.0,0.023003691629999996,0.04159244448,0.14254232403999997
+40.0,155.0,0.022928446239999997,0.06628850821,0.13207426898
+40.0,165.0,0.02280320149,0.08932153175,0.11762030520999996
+40.0,175.0,0.0228813727,0.10926270268999999,0.09961597898
+40.0,185.0,0.022887677619999994,0.12565764248,0.07864275595
+40.0,195.0,0.0228884132,0.13797559971,0.05519896892
+40.0,205.0,0.022901204010101008,0.14583179671717172,0.029900448303030302
+40.0,215.0,0.02288832368316832,0.14932578023762377,0.0034816226930693066
+40.0,225.0,0.02294833895,0.1482535752,-0.022981186959999997
+40.0,235.0,0.02286180448,0.14276898412,-0.04842912035
+40.0,245.0,0.022767285259999995,0.13280359218999999,-0.07224088006000001
+40.0,255.0,0.023165891089999998,0.11898558582000003,-0.09431644404
+40.0,265.0,0.02335355736,0.10143185168,-0.11213804346999998
+40.0,275.0,0.022779602269999998,0.08033281176000001,-0.12762530594000002
+40.0,285.0,0.022231191089999998,0.05698729188,-0.13968672782
+40.0,295.0,0.021993526170000003,0.032320098789999994,-0.14683544041
+40.0,305.0,0.02192358714,0.006466230349999999,-0.14938432937
+40.0,315.0,0.021588281039999994,-0.019400691379999998,-0.14757740621
+40.0,325.0,0.021381531386138613,-0.04488799233663366,-0.14150683053465346
+40.0,335.0,0.0211593852020202,-0.0686713566969697,-0.13145655375757576
+40.0,345.0,0.02104293209,-0.09001654646,-0.11737345136
+40.0,355.0,0.02108540218918919,-0.11464882664864866,-0.09353762782625481
diff --git a/python_algorithms/Dominik/5_Compensation/create_LUT_from_ErrorCSV.py b/python_algorithms/Dominik/5_Compensation/create_LUT_from_ErrorCSV.py
index 258e926..38c1b94 100755
--- a/python_algorithms/Dominik/5_Compensation/create_LUT_from_ErrorCSV.py
+++ b/python_algorithms/Dominik/5_Compensation/create_LUT_from_ErrorCSV.py
@@ -21,17 +21,17 @@ from matplotlib import cm
 from mpl_toolkits.mplot3d import Axes3D
 
 #Daten von Error Datei in Panda DataFrame
-rawdf = read_csv('2021_12_10_09:43:19_measure_Smargon_Error_OXOY_CHI0_40.csv')
+rawdf = read_csv('2022_01_19_21:24:31_measure_Smargon_Error_OXOY_CHI0_40.csv')
 
 #Aufbereiten der Daten
 rawdf['time']=rawdf['DMS_Secs']+rawdf['DMS_Nsecs']*1e-9
 rawdf['OMEGA_Cont']=(rawdf['OMEGA_Cont'])
-rawdf['X']=(rawdf['DMS_X']-0.000304032) #mit Offset zu 0 Referenz
-rawdf['Y']=(rawdf['DMS_Y']+0.000483005) #mit Offset zu 0 Referenz
-rawdf['Z']=(rawdf['DMS_Z']+0.000608233) #mit Offset zu 0 Referenz
+rawdf['X']=(rawdf['DMS_X']-0.008198765) #mit Offset zu 0 Referenz
+rawdf['Y']=(rawdf['DMS_Y']+0.003291426) #mit Offset zu 0 Referenz
+rawdf['Z']=(rawdf['DMS_Z']+0.001798504) #mit Offset zu 0 Referenz
 
 # Relevante Daten deklarieren
-df = rawdf[1200:28100] # Bewegung startet ab Zeile 1200 (CHI= 0 und OMEGA = 0) und endet mit Zeile 28100 (CHI= 40 und OMEGA = 360)
+df = rawdf[1200:28060] # Bewegung startet ab Zeile 1200 (CHI= 0 und OMEGA = 0) und endet mit Zeile 28100 (CHI= 40 und OMEGA = 360)
 
 # Generiert LUT mit Header
 lut = pd.DataFrame(columns=['CHI','OMEGA', 'X_LUT', 'Y_LUT', 'Z_LUT'])