diff --git a/Code/MowingRobot/PIBot_ROS/Image/ROS_Using (3).png b/Code/MowingRobot/PIBot_ROS/Image/ROS_Using (3).png deleted file mode 100644 index 412438e..0000000 Binary files a/Code/MowingRobot/PIBot_ROS/Image/ROS_Using (3).png and /dev/null differ diff --git a/Code/MowingRobot/PIBot_ROS/README.md b/Code/MowingRobot/PIBot_ROS/README.md deleted file mode 100644 index e35b7fb..0000000 --- a/Code/MowingRobot/PIBot_ROS/README.md +++ /dev/null @@ -1,93 +0,0 @@ -# `PIBot_ROS`使用说明 - -> `pibot`是银星合作时购买的小车底盘。其包含直流电机控制、里程计、IMU和上位机通讯等功能。 - -## 1、远程连接`RK3588`板子 - -​ 我们是通过`RK3588 & RK3566`等高性能的主板控制`PIBot`下位机(`STM32`控制板)。如果直接采用`HDMI`线和`USB`鼠标和键盘进行控制非常的不便; 采用`VNC`等远程桌面的方式对性能的损耗较大，所以采用远程ssh连接一种较好的方式。这里，**我们采用的`vscode`进行ssh远程连接**, 其具有远程图形显示功能以及其他强大的功能。 - -​ `ssh`连接需要知道目标机器的`ip`地址。理论上如果知道开发板的外网`IP`地址，那么就可以在任意位置连接开发板。由于外网固定`IP`难以获取，所以这里我们**采用局域网ssh连接**。由于`windows`平台的渲染窗口和`linux`不兼容，所以**windows平台的vscode是不支持ssh窗口显示的，需要开启虚拟机或者`linux`主机下面的`vscode`才可以显示窗口**。我们在虚拟机`ubuntu`里面使用`vscode`远程`ssh`连接`RK3588`和虚拟机需要用同个网络，远程连接[教程](http://www.autolabor.com.cn/book/ROSTutorials/di-9-zhang-ji-qi-ren-dao-822a28-shi-4f5329/92-vscodeyuan-cheng-kai-fa.html)： - -1. `ip`查询方式终端: 在小车终端里输入 `ifconfig`查看小车的ip地址 -2. 将教程里步骤三内容改为： - -3. `ssh -X firefly@ip` （-X 为远程显示图形界面需要） -4. 密码为：`firefly` - -5. 连接上后选择需要打开的文件夹 - - -## 2、小车驱动编译 - -#### 2.1 驱动代码位置 - -​ `PIBot`的ROS支持包的位置在[仓库]([RobotKernal-UESTC](http://logzhan.ticp.io:30000/logzhan/RobotKernal-UESTC))中，其路径为`Code\RK3588\PIbot_ROS`中。我们解压后可以把`PIBot_ROS`移动到`~/`位置，并重新命名为`pibot_ros`（命名可以按照个人习惯），下面的教程以`pibot_ros`为例。 - -#### 2.2 3588上编译问题（主要是全覆盖部分） - -​ `PIBot_ROS/ros_ws/src/ipa_coverage_planning`(全覆盖部分的代码) - -```shell -# 进入到ROS的工作空间 -cd pibot_ros/ros_ws -# 在pibot_ros/ros_ws路径下执行catkin_make -# ~:/pibot_ros/ros_ws$ catkin_make -catkin_make -``` - -#### 2.3 根据出现的报错缺少的库问题解决 - -```shell -# noetic 是ubuntu20.04版本名，其他版本需要更换名字 -sudo apt-get install ros-noetic-xxx -# 例如：sudo apt-get install ros-noetic-opengm -sudo apt-get install ros-noetic-libdlib -sudo apt-get install ros-noetic-cob-navigation -sudo apt-get install coinor-* -``` - -可参考内容： - -> [全覆盖规划算法Coverage Path Planning开源代码ipa_coverage_planning编译-CSDN博客](https://blog.csdn.net/ktigerhero3/article/details/121562049) -> -> [ROS全覆盖规划算法 Coverage Path Planning 采坑-CSDN博客](https://blog.csdn.net/weixin_42179076/article/details/121164350) - -## 3、使用说明 - -#### 3.1 导航的启动 - -​ `PIBot_ROS`的文件解压或重新命名可以按照个人习惯即可，这里以解压后命名为`pibot_ros`为例，介绍命令启动导航。 - -```shell -# 进入到pibot_ros的工作空间 -cd ~/pibot_ros/ros_ws -# 配置环境变量 -source ./devel/setup.bash -# 启动导航文件 -# 格式 roslaunch package_name launch_file_name -roslaunch pibot_navigation nav.launch -``` - -#### 3.2 更改导航地图 - -​ 根据导航需求更改导航地图，地图路径在下图左下角位置`pgm`为地图格式 `yaml`为配置文件: - -Untitled - -#### 3.3 小车控制和可视化 - -​ 小车的控制和可视化功能需要**开启两个新的终端，分别在终端输入命令**： - -```shell -# 小车的键盘控制,在任意路径执行: -pibot_control -``` - -```shell -# 导航可视化,在任意路径执行: -pibot_view (需要设置从主机 记不清 后面再补充) -``` - -​ 在这上面可以在地图上给出目标点进行单点导航。 - -#### 3.4、全覆盖路径规划的使用 \ No newline at end of file diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/README.md b/Code/MowingRobot/PIBot_ROS/ros_ws/src/README.md deleted file mode 100644 index 23fe7be..0000000 --- a/Code/MowingRobot/PIBot_ROS/ros_ws/src/README.md +++ /dev/null @@ -1,6 +0,0 @@ -## ROS包功能说明: - -> 更新时间：2024/02/04@詹力 - -`ipa_coverage_planning` ：新添加的全覆盖路径规划算法，这部分代码是原来`pibot`没有的。详细内容见包里面的`README.md`文档。 - diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_imu/src/pibot_imu_node.cpp b/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_imu/src/pibot_imu_node.cpp deleted file mode 100644 index e1594ac..0000000 --- a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_imu/src/pibot_imu_node.cpp +++ /dev/null @@ -1,18 +0,0 @@ -/*-------------------------------------------------------------- -* Node Desc ： 1.IMU的初始静态零偏校准 - 2.原始IMU的减零偏操作 - 3.接收IMU校准服务的校准请求 -* Review : zhanli.2024.02.28 ----------------------------------------------------------------*/ -#include "pibot_imu/pibot_imu.h" - -int main(int argc, char **argv) -{ - ros::init(argc, argv, "pibot_imu"); - ros::NodeHandle nh, pnh("~"); - PibotIMU pibot_imu(nh, pnh); - - ros::spin(); - - return 0; -} diff --git a/Code/MowingRobot/README.md b/Code/MowingRobot/README.md index 61791db..8129aa2 100644 --- a/Code/MowingRobot/README.md +++ b/Code/MowingRobot/README.md @@ -24,7 +24,23 @@ PIBot官方资料：https://gitee.com/pibot/pibot_bringup/blob/master/doc/README ./runRoomExplorationServer.sh # 启动全覆盖地图客户端 ./runRoomExplorationClient.sh + +#自己建图（画圈）、地图的优化、跑全覆盖 +#建图 +（UWB的） +#地图优化 +cd test_map + ./main input_map_name output_map_name +#全覆盖客户端路径 +cd pibot_ros/ros_ws + source ./devel/setup.bash + roslaunch ipa_room_exploration room_exploration_client.launch robot_env:=map_name + +#修改地图路径 +#优化地图 +test_map 的main.cpp +#全覆盖 +room_exploration_action_client.cpp 下面77行 + ``` - - diff --git a/Code/MowingRobot/Robot_ROS_APP/.catkin_workspace b/Code/MowingRobot/Robot_ROS_APP/.catkin_workspace deleted file mode 100644 index 52fd97e..0000000 --- a/Code/MowingRobot/Robot_ROS_APP/.catkin_workspace +++ /dev/null @@ -1 +0,0 @@ -# This file currently only serves to mark the location of a catkin workspace for tool integration diff --git a/Code/MowingRobot/Robot_ROS_APP/.gitignore b/Code/MowingRobot/Robot_ROS_APP/.gitignore deleted file mode 100644 index 26560cc..0000000 --- a/Code/MowingRobot/Robot_ROS_APP/.gitignore +++ /dev/null @@ -1,2 +0,0 @@ -/build/ -/cmake-build-debug/ \ No newline at end of file diff --git a/Code/MowingRobot/Robot_ROS_APP/Image/main.png b/Code/MowingRobot/Robot_ROS_APP/Image/main.png deleted file mode 100644 index 69eb482..0000000 Binary files a/Code/MowingRobot/Robot_ROS_APP/Image/main.png and /dev/null differ diff --git a/Code/MowingRobot/Robot_ROS_APP/README.md b/Code/MowingRobot/Robot_ROS_APP/README.md deleted file mode 100644 index 8a958dc..0000000 --- a/Code/MowingRobot/Robot_ROS_APP/README.md +++ /dev/null @@ -1,32 +0,0 @@ -# `UWB`建图指导 - -一、代码编译和运行 - -```shell -# 进入工程目录 -cd Robot_ROS_Driver -# 代码的编译 -catkin_make -# 环境变量引入 -rosrun ros_merge_test ros_merge_test_node -``` - -​ 线程在`main.cpp`中开启： - -image-20231212192507303 - - - -​ 主要功能是 - -uwb接收 uwb_trd - -建图 map_trd - -保存定位数据 align_trd - -建图和保存数据需要哪个用哪个 - -建图：在rosrun之后 出现的图片上按q开始建图，再按一次q停止，可以再同一幅图上重复开始和暂停 - -保存数据：同样在rosrun之后出现的图片上按w开始保存 再按w停止 diff --git a/Code/MowingRobot/Robot_ROS_APP/dataset/data1.txt b/Code/MowingRobot/Robot_ROS_APP/dataset/data1.txt deleted file mode 100644 index 73dbd9d..0000000 --- a/Code/MowingRobot/Robot_ROS_APP/dataset/data1.txt +++ /dev/null @@ -1,10468 +0,0 @@ -imu_odom_: 1691062764.937248272 0.387861 -0.248997 9.9096 -0.0543285 -0.00319579 0.04048 0 0 pose: 3.959451567 0.221503 0.00433448 0 -0.00254058 -0.0004941 -0.0371697 0.999306 uwb: 3.986947042 845.606 1004.18 -imu_odom_: 1691062764.951252369 0.397437 -0.248997 9.85453 -0.0553937 -0.00532632 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00254058 -0.0004941 -0.0371697 0.999306 uwb: 0.49912471 845.473 1003.64 -imu_odom_: 1691062764.966312817 0.414197 -0.251391 9.88566 -0.0553937 -0.00532632 0.0394148 0 0 pose: 0.28033567 0.221503 0.00433448 0 -0.00102597 -0.000643478-0.0371652 0.999308 uwb: 0.0 845.473 1003.64 -imu_odom_: 1691062764.980248668 0.387861 -0.227449 9.90002 -0.056459 -0.00532632 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00102597 -0.000643478-0.0371652 0.999308 uwb: 0.0 845.473 1003.64 -imu_odom_: 1691062764.994246640 0.411803 -0.241814 9.85693 -0.0553937 -0.00426106 0.0383495 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00102597 -0.000643478-0.0371652 0.999308 uwb: 0.0 845.473 1003.64 -imu_odom_: 1691062765.8295943 0.428562 -0.268151 9.89045 -0.0543285 -0.00426106 0.0383495 0 0 pose: 0.41937337 0.221503 0.00433448 0 -0.0014536 0.000569598 -0.0371456 0.999309 uwb: 0.50138499 845.602 1002.97 -imu_odom_: 1691062765.22458989 0.438139 -0.25618 9.90242 -0.0553937 -0.00426106 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.0014536 0.000569598 -0.0371456 0.999309 uwb: 0.0 845.602 1002.97 -imu_odom_: 1691062765.37269495 0.426168 -0.232238 9.92157 -0.0553937 -0.00319579 0.0415453 0 0 pose: 0.0 0.221503 0.00433448 0 -0.0014536 0.000569598 -0.0371456 0.999309 uwb: 0.0 845.602 1002.97 -imu_odom_: 1691062765.51273592 0.426168 -0.258574 9.8665 -0.0553937 -0.00426106 0.04048 0 0 pose: 0.43005646 0.221503 0.00433448 0 -0.00149991 -0.000467445-0.0371481 0.999309 uwb: 0.49872517 845.435 1004.05 -imu_odom_: 1691062765.65324061 0.418985 -0.244209 9.91199 -0.0543285 -0.00532632 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00149991 -0.000467445-0.0371481 0.999309 uwb: 0.0 845.435 1004.05 -imu_odom_: 1691062765.80256477 0.428562 -0.248997 9.87369 -0.056459 -0.00426106 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00149991 -0.000467445-0.0371481 0.999309 uwb: 0.0 845.435 1004.05 -imu_odom_: 1691062765.94250366 0.418985 -0.253785 9.89284 -0.0553937 -0.00532632 0.0394148 0 0 pose: 0.57024618 0.221503 0.00433448 0 -0.00135826 -0.001059 -0.0371489 0.999308 uwb: 0.0 845.435 1004.05 -imu_odom_: 1691062765.108340791 0.409408 -0.251391 9.91439 -0.0553937 -0.00639159 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00135826 -0.001059 -0.0371489 0.999308 uwb: 0.49990926 845.679 1003.23 -imu_odom_: 1691062765.122253894 0.411803 -0.260968 9.88566 -0.0543285 -0.00426106 0.0383495 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00135826 -0.001059 -0.0371489 0.999308 uwb: 0.0 845.679 1003.23 -imu_odom_: 1691062765.136245742 0.409408 -0.234632 9.87608 -0.0543285 -0.00532632 0.0383495 0 0 pose: 0.71014425 0.221503 0.00433448 0 -0.00170932 -0.00085469 -0.0371438 0.999308 uwb: 0.0 845.679 1003.23 -imu_odom_: 1691062765.150243423 0.402226 -0.253785 9.93354 -0.0532632 -0.00532632 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00170932 -0.00085469 -0.0371438 0.999308 uwb: 0.50007842 846.19 1003.63 -imu_odom_: 1691062765.165382909 0.416591 -0.25618 9.90242 -0.0553937 -0.00639159 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00170932 -0.00085469 -0.0371438 0.999308 uwb: 0.0 846.19 1003.63 -imu_odom_: 1691062765.179450294 0.395043 -0.23942 9.90481 -0.0553937 -0.00426106 0.0394148 0 0 pose: 0.42098329 0.221503 0.00433448 0 -0.00217097 -0.000407085-0.037155 0.999307 uwb: 0.0 846.19 1003.63 -imu_odom_: 1691062765.193381771 0.395043 -0.227449 9.90721 -0.0553937 -0.00426106 0.0383495 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00217097 -0.000407085-0.037155 0.999307 uwb: 0.0 846.19 1003.63 -imu_odom_: 1691062765.208511633 0.418985 -0.251391 9.91439 -0.0553937 -0.00639159 0.0394148 0 0 pose: 0.36986892 0.221503 0.00433448 0 -0.0002673440.000646147 -0.0371599 0.999309 uwb: 0.49995301 846.273 1003.09 -imu_odom_: 1691062765.223392426 0.402226 -0.217872 9.87608 -0.0553937 -0.00426106 0.0394148 0 0 pose: 0.6060169 0.221503 0.00433448 0 -0.0007312410.000247811 -0.0371608 0.999309 uwb: 0.0 846.273 1003.09 -imu_odom_: 1691062765.237382524 0.428562 -0.253785 9.87369 -0.0553937 -0.00532632 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.0007312410.000247811 -0.0371608 0.999309 uwb: 0.0 846.273 1003.09 -imu_odom_: 1691062765.251381080 0.414197 -0.244209 9.92157 -0.0553937 -0.00426106 0.0383495 0 0 pose: 0.0 0.221503 0.00433448 0 -0.0007312410.000247811 -0.0371608 0.999309 uwb: 0.50115461 846.042 1002.15 -imu_odom_: 1691062765.265498337 0.411803 -0.275333 9.89284 -0.0553937 -0.00532632 0.0394148 0 0 pose: 0.43943007 0.221503 0.00433448 0 -0.00172678 -0.000418394-0.0371675 0.999307 uwb: 0.0 846.042 1002.15 -imu_odom_: 1691062765.280445626 0.423774 -0.258574 9.90242 -0.0553937 -0.00532632 0.0383495 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00172678 -0.000418394-0.0371675 0.999307 uwb: 0.0 846.042 1002.15 -imu_odom_: 1691062765.294288734 0.416591 -0.251391 9.90721 -0.0553937 -0.00426106 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00172678 -0.000418394-0.0371675 0.999307 uwb: 0.0 846.042 1002.15 -imu_odom_: 1691062765.308280290 0.392649 -0.244209 9.91918 -0.0543285 -0.00532632 0.0394148 0 0 pose: 0.42935068 0.221503 0.00433448 0 -0.00187898 -0.000598091-0.0371822 0.999307 uwb: 0.49942804 846.04 1002.02 -imu_odom_: 1691062765.322387631 0.409408 -0.258574 9.88566 -0.056459 -0.00532632 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00187898 -0.000598091-0.0371822 0.999307 uwb: 0.0 846.04 1002.02 -imu_odom_: 1691062765.336447142 0.407014 -0.241814 9.88326 -0.0553937 -0.00426106 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00187898 -0.000598091-0.0371822 0.999307 uwb: 0.0 846.04 1002.02 -imu_odom_: 1691062765.351513715 0.42138 -0.253785 9.90721 -0.0553937 -0.00426106 0.0394148 0 0 pose: 0.42135368 0.221503 0.00433448 0 -0.00160884 -0.00013649 -0.0371789 0.999307 uwb: 0.49988885 846.02 1002.29 -imu_odom_: 1691062765.365445484 0.428562 -0.232238 9.89045 -0.0553937 -0.00532632 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00160884 -0.00013649 -0.0371789 0.999307 uwb: 0.0 846.02 1002.29 -imu_odom_: 1691062765.380280196 0.371101 -0.244209 9.9096 -0.0553937 -0.00639159 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00160884 -0.00013649 -0.0371789 0.999307 uwb: 0.0 846.02 1002.29 -imu_odom_: 1691062765.394232964 0.435745 -0.225055 9.93354 -0.0543285 -0.00426106 0.0394148 0 0 pose: 0.43952922 0.221503 0.00433448 0 -0.000944123-0.000647948-0.0371801 0.999308 uwb: 0.0 846.02 1002.29 -imu_odom_: 1691062765.408272350 0.395043 -0.251391 9.90721 -0.0553937 -0.00532632 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.000944123-0.000647948-0.0371801 0.999308 uwb: 0.49954470 846.156 1001.75 -imu_odom_: 1691062765.422239408 0.433351 -0.227449 9.92397 -0.056459 -0.00426106 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.000944123-0.000647948-0.0371801 0.999308 uwb: 0.0 846.156 1001.75 -imu_odom_: 1691062765.436238839 0.402226 -0.244209 9.89045 -0.056459 -0.00532632 0.0383495 0 0 pose: 0.41950754 0.221503 0.00433448 0 -0.00120831 -0.00060505 -0.0371758 0.999308 uwb: 0.0 846.156 1001.75 -imu_odom_: 1691062765.450293683 0.433351 -0.248997 9.91439 -0.0543285 -0.00319579 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00120831 -0.00060505 -0.0371758 0.999308 uwb: 0.49852393 846.079 1001.08 -imu_odom_: 1691062765.464359319 0.416591 -0.246603 9.88326 -0.0543285 -0.00426106 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00120831 -0.00060505 -0.0371758 0.999308 uwb: 0.0 846.079 1001.08 -imu_odom_: 1691062765.478234799 0.399832 -0.248997 9.88087 -0.0553937 -0.00426106 0.0394148 0 0 pose: 0.41962129 0.221503 0.00433448 0 -0.00168813 -0.000806105-0.0371869 0.999307 uwb: 0.0 846.079 1001.08 -imu_odom_: 1691062765.492282060 0.416591 -0.23942 9.87369 -0.056459 -0.00426106 0.0415453 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00168813 -0.000806105-0.0371869 0.999307 uwb: 0.0 846.079 1001.08 -imu_odom_: 1691062765.506260492 0.411803 -0.237026 9.89045 -0.0543285 -0.00426106 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00168813 -0.000806105-0.0371869 0.999307 uwb: 0.50004926 846.366 1001.21 -imu_odom_: 1691062765.520360834 0.399832 -0.237026 9.91199 -0.0543285 -0.00532632 0.0415453 0 0 pose: 0.41995959 0.221503 0.00433448 0 -0.00113671 -0.000414831-0.0371751 0.999308 uwb: 0.0 846.366 1001.21 -imu_odom_: 1691062765.535357995 0.407014 -0.258574 9.88326 -0.0553937 -0.00426106 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00113671 -0.000414831-0.0371751 0.999308 uwb: 0.0 846.366 1001.21 -imu_odom_: 1691062765.549359176 0.438139 -0.225055 9.89045 -0.0553937 -0.00532632 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00113671 -0.000414831-0.0371751 0.999308 uwb: 0.0 846.366 1001.21 -imu_odom_: 1691062765.563362398 0.423774 -0.227449 9.85453 -0.0553937 -0.00426106 0.0394148 0 0 pose: 0.43046479 0.221503 0.00433448 0 -0.00211673 -0.000630457-0.0371543 0.999307 uwb: 0.50239994 846.318 1001.07 -imu_odom_: 1691062765.577353955 0.428562 -0.253785 9.8665 -0.0553937 -0.00532632 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00211673 -0.000630457-0.0371543 0.999307 uwb: 0.0 846.318 1001.07 -imu_odom_: 1691062765.592235915 0.423774 -0.246603 9.89045 -0.0553937 -0.00532632 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00211673 -0.000630457-0.0371543 0.999307 uwb: 0.0 846.318 1001.07 -imu_odom_: 1691062765.606241762 0.423774 -0.241814 9.87608 -0.0543285 -0.00319579 0.0394148 0 0 pose: 0.41881341 0.221503 0.00433448 0 -0.00192983 -0.000788384-0.0371507 0.999307 uwb: 0.49685278 846.459 1000.67 -imu_odom_: 1691062765.620243526 0.42138 -0.25618 9.92157 -0.056459 -0.00426106 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00192983 -0.000788384-0.0371507 0.999307 uwb: 0.0 846.459 1000.67 -imu_odom_: 1691062765.634228083 0.423774 -0.251391 9.88326 -0.0553937 -0.00532632 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00192983 -0.000788384-0.0371507 0.999307 uwb: 0.0 846.459 1000.67 -imu_odom_: 1691062765.648285552 0.395043 -0.229843 9.88326 -0.0543285 -0.00532632 0.0394148 0 0 pose: 0.42988149 0.221503 0.00433448 0 -0.00225539 -0.000893812-0.0371492 0.999307 uwb: 0.0 846.459 1000.67 -imu_odom_: 1691062765.661286086 0.402226 -0.244209 9.87369 -0.0543285 -0.00532632 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00225539 -0.000893812-0.0371492 0.999307 uwb: 0.49946888 846.466 1001.61 -imu_odom_: 1691062765.676285872 0.42138 -0.229843 9.87129 -0.0553937 -0.00426106 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00225539 -0.000893812-0.0371492 0.999307 uwb: 0.0 846.466 1001.61 -imu_odom_: 1691062765.690225223 0.430956 -0.232238 9.92157 -0.0543285 -0.00426106 0.0394148 0 0 pose: 0.42058956 0.221503 0.00433448 0 -0.00160344 -0.000356978-0.0371501 0.999308 uwb: 0.0 846.466 1001.61 -imu_odom_: 1691062765.703245298 0.411803 -0.232238 9.91678 -0.0543285 -0.00426106 0.0383495 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00160344 -0.000356978-0.0371501 0.999308 uwb: 0.50174373 846.581 1002.95 -imu_odom_: 1691062765.718359702 0.40462 -0.234632 9.8665 -0.0532632 -0.00532632 0.0383495 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00160344 -0.000356978-0.0371501 0.999308 uwb: 0.0 846.581 1002.95 -imu_odom_: 1691062765.732276013 0.426168 -0.25618 9.91918 -0.0553937 -0.00426106 0.0394148 0 0 pose: 0.41091265 0.221503 0.00433448 0 -0.000989851-0.00030017 -0.0371599 0.999309 uwb: 0.0 846.581 1002.95 -imu_odom_: 1691062765.746276902 0.42138 -0.268151 9.91678 -0.056459 -0.00426106 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.000989851-0.00030017 -0.0371599 0.999309 uwb: 0.0 846.581 1002.95 -imu_odom_: 1691062765.760224128 0.409408 -0.227449 9.84735 -0.0553937 -0.00426106 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.000989851-0.00030017 -0.0371599 0.999309 uwb: 0.49983052 846.531 1002.81 -imu_odom_: 1691062765.773274825 0.414197 -0.23942 9.87369 -0.056459 -0.00426106 0.04048 0 0 pose: 0.42896571 0.221503 0.00433448 0 -0.00262188 -0.00079323 -0.0371582 0.999306 uwb: 0.0 846.531 1002.81 -imu_odom_: 1691062765.788419269 0.418985 -0.222661 9.89524 -0.0553937 -0.00426106 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00262188 -0.00079323 -0.0371582 0.999306 uwb: 0.0 846.531 1002.81 -imu_odom_: 1691062765.802384577 0.411803 -0.260968 9.9096 -0.056459 -0.00426106 0.0372843 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00262188 -0.00079323 -0.0371582 0.999306 uwb: 0.50000259 846.462 1002.95 -imu_odom_: 1691062765.817531646 0.411803 -0.241814 9.92875 -0.0543285 -0.00319579 0.0394148 0 0 pose: 0.42086370 0.221503 0.00433448 0 -0.000597702-0.0015303 -0.0371575 0.999308 uwb: 0.0 846.462 1002.95 -imu_odom_: 1691062765.831485288 0.442927 -0.260968 9.89045 -0.056459 -0.00319579 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.000597702-0.0015303 -0.0371575 0.999308 uwb: 0.0 846.462 1002.95 -imu_odom_: 1691062765.846481866 0.428562 -0.246603 9.90002 -0.0553937 -0.00532632 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.000597702-0.0015303 -0.0371575 0.999308 uwb: 0.0 846.462 1002.95 -imu_odom_: 1691062765.861272831 0.428562 -0.217872 9.89763 -0.0543285 -0.00532632 0.04048 0 0 pose: 0.44127037 0.221503 0.00433448 0 -0.00154362 -0.00137635 -0.0371699 0.999307 uwb: 0.49951554 846.432 1003.76 -imu_odom_: 1691062765.874275115 0.385466 -0.237026 9.87848 -0.056459 -0.00319579 0.0383495 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00154362 -0.00137635 -0.0371699 0.999307 uwb: 0.0 846.432 1003.76 -imu_odom_: 1691062765.889265860 0.409408 -0.246603 9.90002 -0.0553937 -0.00213053 0.0383495 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00154362 -0.00137635 -0.0371699 0.999307 uwb: 0.0 846.432 1003.76 -imu_odom_: 1691062765.903272291 0.416591 -0.203507 9.90481 -0.0553937 -0.00426106 0.04048 0 0 pose: 0.42727123 0.221503 0.00433448 0 -0.00121894 -0.000107695-0.0371788 0.999308 uwb: 0.0 846.432 1003.76 -imu_odom_: 1691062765.917209892 0.423774 -0.251391 9.87848 -0.0553937 -0.00532632 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00121894 -0.000107695-0.0371788 0.999308 uwb: 0.0 846.432 1003.76 -imu_odom_: 1691062765.931264736 0.42138 -0.234632 9.9096 -0.0553937 -0.00426106 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00121894 -0.000107695-0.0371788 0.999308 uwb: 0.0 846.432 1003.76 -imu_odom_: 1691062765.945368577 0.414197 -0.229843 9.9096 -0.0553937 -0.00319579 0.04048 0 0 pose: 0.42047582 0.221503 0.00433448 0 -0.00131776 -0.000923624-0.0371695 0.999308 uwb: 0.0 846.432 1003.76 -imu_odom_: 1691062765.959353134 0.392649 -0.260968 9.90242 -0.056459 -0.00426106 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00131776 -0.000923624-0.0371695 0.999308 uwb: 0.100123011 846.295 1004.03 -imu_odom_: 1691062765.973408853 0.42138 -0.246603 9.91918 -0.0553937 -0.00532632 0.0383495 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00131776 -0.000923624-0.0371695 0.999308 uwb: 0.0 846.295 1004.03 -imu_odom_: 1691062765.987227754 0.411803 -0.234632 9.91439 -0.0543285 -0.00319579 0.0394148 0 0 pose: 0.50140833 0.221503 0.00433448 0 -0.0019901 -0.00037485 -0.0371631 0.999307 uwb: 0.0 846.295 1004.03 -imu_odom_: 1691062766.1286098 0.416591 -0.265756 9.90721 -0.056459 -0.00426106 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.0019901 -0.00037485 -0.0371631 0.999307 uwb: 0.0 846.295 1004.03 -imu_odom_: 1691062766.15358441 0.397437 -0.258574 9.88326 -0.0553937 -0.00319579 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.0019901 -0.00037485 -0.0371631 0.999307 uwb: 0.0 846.295 1004.03 -imu_odom_: 1691062766.29182009 0.433351 -0.258574 9.89045 -0.0543285 -0.00532632 0.0383495 0 0 pose: 0.5832975 0.221503 0.00433448 0 -0.00140392 -0.000390036-0.0371639 0.999308 uwb: 0.0 846.295 1004.03 -imu_odom_: 1691062766.43182607 0.418985 -0.246603 9.84496 -0.0532632 -0.00532632 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00140392 -0.000390036-0.0371639 0.999308 uwb: 0.0 846.295 1004.03 -imu_odom_: 1691062766.58355633 0.402226 -0.244209 9.91918 -0.0543285 -0.00319579 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00140392 -0.000390036-0.0371639 0.999308 uwb: 0.99861403 846.306 1004.43 -imu_odom_: 1691062766.72201074 0.416591 -0.258574 9.8689 -0.0543285 -0.00426106 0.0394148 0 0 pose: 0.70010572 0.221503 0.00433448 0 -0.00123438 -0.000433068-0.0371707 0.999308 uwb: 0.0 846.306 1004.43 -imu_odom_: 1691062766.86202838 0.40462 -0.248997 9.87129 -0.0543285 -0.00532632 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00123438 -0.000433068-0.0371707 0.999308 uwb: 0.0 846.306 1004.43 -imu_odom_: 1691062766.100342261 0.42138 -0.244209 9.90242 -0.0543285 -0.00319579 0.0415453 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00123438 -0.000433068-0.0371707 0.999308 uwb: 0.49889726 846.35 1004.3 -imu_odom_: 1691062766.114326818 0.411803 -0.225055 9.85693 -0.0543285 -0.00426106 0.04048 0 0 pose: 0.29958451 0.221503 0.00433448 0 -0.00193905 -0.000235917-0.0371694 0.999307 uwb: 0.0 846.35 1004.3 -imu_odom_: 1691062766.128320125 0.411803 -0.244209 9.90721 -0.0553937 -0.00532632 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00193905 -0.000235917-0.0371694 0.999307 uwb: 0.0 846.35 1004.3 -imu_odom_: 1691062766.143261874 0.430956 -0.237026 9.93354 -0.056459 -0.00426106 0.04048 0 0 pose: 0.42125745 0.221503 0.00433448 0 -0.00108432 -0.000362929-0.0371477 0.999309 uwb: 0.0 846.35 1004.3 -imu_odom_: 1691062766.157323718 0.40462 -0.234632 9.89045 -0.0532632 -0.00426106 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00108432 -0.000362929-0.0371477 0.999309 uwb: 0.50112838 846.418 1004.16 -imu_odom_: 1691062766.171251112 0.438139 -0.232238 9.84496 -0.0543285 -0.00426106 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00108432 -0.000362929-0.0371477 0.999309 uwb: 0.0 846.418 1004.16 -imu_odom_: 1691062766.185212629 0.409408 -0.23942 9.90242 -0.0553937 -0.00319579 0.0394148 0 0 pose: 0.41991003 0.221503 0.00433448 0 -0.000991447-0.000881597-0.0371416 0.999309 uwb: 0.0 846.418 1004.16 -imu_odom_: 1691062766.199184354 0.414197 -0.227449 9.90242 -0.0553937 -0.00532632 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.000991447-0.000881597-0.0371416 0.999309 uwb: 0.0 846.418 1004.16 -imu_odom_: 1691062766.213313861 0.414197 -0.244209 9.91678 -0.0553937 -0.00426106 0.0383495 0 0 pose: 0.0 0.221503 0.00433448 0 -0.000991447-0.000881597-0.0371416 0.999309 uwb: 0.50041383 846.388 1005.5 -imu_odom_: 1691062766.227372497 0.418985 -0.248997 9.91918 -0.056459 -0.00213053 0.0394148 0 0 pose: 0.49986262 0.221503 0.00433448 0 -0.00135774 -0.000544169-0.0371479 0.999309 uwb: 0.0 846.388 1005.5 -imu_odom_: 1691062766.241315349 0.426168 -0.260968 9.89284 -0.0532632 -0.00426106 0.0383495 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00135774 -0.000544169-0.0371479 0.999309 uwb: 0.0 846.388 1005.5 -imu_odom_: 1691062766.255188496 0.411803 -0.23942 9.88326 -0.0543285 -0.00532632 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00135774 -0.000544169-0.0371479 0.999309 uwb: 0.50069090 845.773 1004.18 -imu_odom_: 1691062766.269189969 0.447716 -0.241814 9.90002 -0.056459 -0.00426106 0.0383495 0 0 pose: 0.6009714 0.221503 0.00433448 0 -0.00190546 -0.000792469-0.0371484 0.999308 uwb: 0.0 845.773 1004.18 -imu_odom_: 1691062766.283312185 0.42138 -0.260968 9.88805 -0.0553937 -0.00532632 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00190546 -0.000792469-0.0371484 0.999308 uwb: 0.0 845.773 1004.18 -imu_odom_: 1691062766.297188249 0.426168 -0.25618 9.89763 -0.0543285 -0.00426106 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00190546 -0.000792469-0.0371484 0.999308 uwb: 0.0 845.773 1004.18 -imu_odom_: 1691062766.311188847 0.428562 -0.244209 9.89045 -0.0553937 -0.00639159 0.0394148 0 0 pose: 0.70001824 0.221503 0.00433448 0 -0.00227282 -0.00105203 -0.0371666 0.999306 uwb: 0.50076382 845.896 1004.31 -imu_odom_: 1691062766.325175738 0.411803 -0.25618 9.93115 -0.0543285 -0.00426106 0.0415453 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00227282 -0.00105203 -0.0371666 0.999306 uwb: 0.0 845.896 1004.31 -imu_odom_: 1691062766.339168753 0.418985 -0.237026 9.90242 -0.056459 -0.00639159 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00227282 -0.00105203 -0.0371666 0.999306 uwb: 0.0 845.896 1004.31 -imu_odom_: 1691062766.353293593 0.430956 -0.268151 9.91439 -0.0543285 -0.00532632 0.0394148 0 0 pose: 0.27933533 0.221503 0.00433448 0 -0.00218177 -0.000413167-0.0371581 0.999307 uwb: 0.49812439 845.96 1004.84 -imu_odom_: 1691062766.367183656 0.40462 -0.25618 9.90242 -0.0543285 -0.00426106 0.0383495 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00218177 -0.000413167-0.0371581 0.999307 uwb: 0.0 845.96 1004.84 -imu_odom_: 1691062766.381301206 0.399832 -0.263362 9.89045 -0.0553937 -0.00532632 0.0394148 0 0 pose: 0.49924724 0.221503 0.00433448 0 -0.00212757 -1.87459e-05-0.0371524 0.999307 uwb: 0.0 845.96 1004.84 -imu_odom_: 1691062766.395298012 0.399832 -0.248997 9.92397 -0.056459 -0.00639159 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00212757 -1.87459e-05-0.0371524 0.999307 uwb: 0.0 845.96 1004.84 -imu_odom_: 1691062766.409172326 0.426168 -0.232238 9.89045 -0.0553937 -0.00319579 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00212757 -1.87459e-05-0.0371524 0.999307 uwb: 0.0 845.96 1004.84 -imu_odom_: 1691062766.424303938 0.414197 -0.222661 9.88087 -0.0543285 -0.00426106 0.0394148 0 0 pose: 0.5998049 0.221503 0.00433448 0 -0.00260148 0.000347476 -0.037152 0.999306 uwb: 0.0 845.96 1004.84 -imu_odom_: 1691062766.438306870 0.416591 -0.220267 9.89763 -0.0553937 -0.00532632 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00260148 0.000347476 -0.037152 0.999306 uwb: 0.0 845.96 1004.84 -imu_odom_: 1691062766.452305718 0.409408 -0.21069 9.87848 -0.0553937 -0.00319579 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00260148 0.000347476 -0.037152 0.999306 uwb: 0.100245507 846.088 1005.11 -imu_odom_: 1691062766.466308357 0.397437 -0.225055 9.87608 -0.056459 -0.00319579 0.0394148 0 0 pose: 0.71128171 0.221503 0.00433448 0 -0.000405867-0.000736758-0.0371523 0.999309 uwb: 0.0 846.088 1005.11 -imu_odom_: 1691062766.480373118 0.40462 -0.213084 9.83777 -0.0575243 -0.00426106 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.000405867-0.000736758-0.0371523 0.999309 uwb: 0.0 846.088 1005.11 -imu_odom_: 1691062766.494303137 0.42138 -0.251391 9.85693 -0.0553937 -0.00426106 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.000405867-0.000736758-0.0371523 0.999309 uwb: 0.0 846.088 1005.11 -imu_odom_: 1691062766.508304319 0.397437 -0.241814 9.89524 -0.0553937 -0.00532632 0.0394148 0 0 pose: 0.28000321 0.221503 0.00433448 0 -0.0003835050.00023402 -0.0371549 0.999309 uwb: 0.49742735 846.087 1004.3 -imu_odom_: 1691062766.523301189 0.426168 -0.265756 9.87129 -0.0543285 -0.00426106 0.0383495 0 0 pose: 0.0 0.221503 0.00433448 0 -0.0003835050.00023402 -0.0371549 0.999309 uwb: 0.0 846.087 1004.3 -imu_odom_: 1691062766.537299162 0.418985 -0.237026 9.90721 -0.0553937 -0.00426106 0.0394148 0 0 pose: 0.50990992 0.221503 0.00433448 0 -0.00231153 -0.00055207 -0.0371673 0.999306 uwb: 0.0 846.087 1004.3 -imu_odom_: 1691062766.551351090 0.411803 -0.234632 9.92636 -0.0553937 -0.00532632 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00231153 -0.00055207 -0.0371673 0.999306 uwb: 0.50038467 846.505 1004.69 -imu_odom_: 1691062766.566289047 0.414197 -0.237026 9.87608 -0.0553937 -0.00426106 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00231153 -0.00055207 -0.0371673 0.999306 uwb: 0.0 846.505 1004.69 -imu_odom_: 1691062766.580236274 0.407014 -0.263362 9.88805 -0.056459 -0.00213053 0.04048 0 0 pose: 0.6003881 0.221503 0.00433448 0 -0.00172111 -0.000663611-0.0371685 0.999307 uwb: 0.0 846.505 1004.69 -imu_odom_: 1691062766.594167459 0.416591 -0.227449 9.89045 -0.056459 -0.00426106 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00172111 -0.000663611-0.0371685 0.999307 uwb: 0.0 846.505 1004.69 -imu_odom_: 1691062766.608177973 0.407014 -0.229843 9.90481 -0.056459 -0.00426106 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00172111 -0.000663611-0.0371685 0.999307 uwb: 0.49881269 846.455 1005.36 -imu_odom_: 1691062766.622174488 0.414197 -0.217872 9.88805 -0.0543285 -0.00319579 0.0394148 0 0 pose: 0.71879167 0.221503 0.00433448 0 -0.0006799594.95074e-05 -0.0371669 0.999309 uwb: 0.0 846.455 1005.36 -imu_odom_: 1691062766.636228750 0.399832 -0.277727 9.91678 -0.056459 -0.00532632 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.0006799594.95074e-05 -0.0371669 0.999309 uwb: 0.0 846.455 1005.36 -imu_odom_: 1691062766.650231973 0.414197 -0.268151 9.84735 -0.0543285 -0.00426106 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.0006799594.95074e-05 -0.0371669 0.999309 uwb: 0.50177000 846.155 1004.97 -imu_odom_: 1691062766.664222071 0.428562 -0.237026 9.87848 -0.0553937 -0.00426106 0.04048 0 0 pose: 0.41105557 0.221503 0.00433448 0 -0.00209975 -0.000365854-0.0371659 0.999307 uwb: 0.0 846.155 1004.97 -imu_odom_: 1691062766.678173964 0.426168 -0.25618 9.89045 -0.0553937 -0.00426106 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00209975 -0.000365854-0.0371659 0.999307 uwb: 0.0 846.155 1004.97 -imu_odom_: 1691062766.693161502 0.414197 -0.244209 9.89045 -0.0543285 -0.00213053 0.0383495 0 0 pose: 0.35884170 0.221503 0.00433448 0 -0.00300363 -0.00114245 -0.037158 0.999304 uwb: 0.0 846.155 1004.97 -imu_odom_: 1691062766.707165016 0.418985 -0.251391 9.90721 -0.056459 -0.00426106 0.04048 0 0 pose: 0.7060233 0.221503 0.00433448 0 -0.00235122 -0.000855834-0.0371623 0.999306 uwb: 0.49948639 846.269 1005.5 -imu_odom_: 1691062766.721169697 0.414197 -0.227449 9.87129 -0.0553937 -0.00532632 0.0383495 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00235122 -0.000855834-0.0371623 0.999306 uwb: 0.0 846.269 1005.5 -imu_odom_: 1691062766.735169712 0.42138 -0.229843 9.91439 -0.0553937 -0.00532632 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00235122 -0.000855834-0.0371623 0.999306 uwb: 0.0 846.269 1005.5 -imu_odom_: 1691062766.749281720 0.407014 -0.213084 9.90002 -0.0553937 -0.00426106 0.0394148 0 0 pose: 0.35935500 0.221503 0.00433448 0 -0.00146025 -0.00085049 -0.0371705 0.999308 uwb: 0.0 846.269 1005.5 -imu_odom_: 1691062766.763185782 0.414197 -0.244209 9.9096 -0.0553937 -0.00532632 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00146025 -0.00085049 -0.0371705 0.999308 uwb: 0.49983637 845.992 1005.11 -imu_odom_: 1691062766.778313603 0.399832 -0.241814 9.89284 -0.0553937 -0.00426106 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00146025 -0.00085049 -0.0371705 0.999308 uwb: 0.0 845.992 1005.11 -imu_odom_: 1691062766.793365886 0.423774 -0.258574 9.88087 -0.0553937 -0.00319579 0.0383495 0 0 pose: 0.42016085 0.221503 0.00433448 0 -0.0010427 -0.000250324-0.0371685 0.999308 uwb: 0.0 845.992 1005.11 -imu_odom_: 1691062766.808155977 0.40462 -0.23942 9.93833 -0.0553937 -0.00532632 0.0383495 0 0 pose: 0.0 0.221503 0.00433448 0 -0.0010427 -0.000250324-0.0371685 0.999308 uwb: 0.49941348 846.064 1005.11 -imu_odom_: 1691062766.821216300 0.438139 -0.217872 9.88805 -0.0553937 -0.00426106 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.0010427 -0.000250324-0.0371685 0.999308 uwb: 0.0 846.064 1005.11 -imu_odom_: 1691062766.835154193 0.435745 -0.227449 9.93354 -0.0553937 -0.00532632 0.0372843 0 0 pose: 0.50969993 0.221503 0.00433448 0 -0.000689846-0.000413667-0.0371819 0.999308 uwb: 0.0 846.064 1005.11 -imu_odom_: 1691062766.850221643 0.414197 -0.237026 9.90481 -0.0543285 -0.00319579 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.000689846-0.000413667-0.0371819 0.999308 uwb: 0.50050133 846.123 1004.7 -imu_odom_: 1691062766.864263655 0.407014 -0.234632 9.87129 -0.0543285 -0.00426106 0.04048 0 0 pose: 0.36065868 0.221503 0.00433448 0 -0.00113475 -0.000849582-0.0371904 0.999307 uwb: 0.0 846.123 1004.7 -imu_odom_: 1691062766.878211173 0.426168 -0.225055 9.90242 -0.0553937 -0.00532632 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00113475 -0.000849582-0.0371904 0.999307 uwb: 0.0 846.123 1004.7 -imu_odom_: 1691062766.892264559 0.442927 -0.272939 9.93594 -0.0543285 -0.00319579 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00113475 -0.000849582-0.0371904 0.999307 uwb: 0.0 846.123 1004.7 -imu_odom_: 1691062766.906212077 0.395043 -0.253785 9.88566 -0.0543285 -0.00319579 0.04048 0 0 pose: 0.5993965 0.221503 0.00433448 0 -0.00104416 -0.000255893-0.0371871 0.999308 uwb: 0.50131795 846.031 1004.84 -imu_odom_: 1691062766.920143263 0.440533 -0.251391 9.92636 -0.0543285 -0.00426106 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00104416 -0.000255893-0.0371871 0.999308 uwb: 0.0 846.031 1004.84 -imu_odom_: 1691062766.934198399 0.442927 -0.251391 9.85932 -0.0543285 -0.00532632 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00104416 -0.000255893-0.0371871 0.999308 uwb: 0.0 846.031 1004.84 -imu_odom_: 1691062766.948154375 0.418985 -0.23942 9.88326 -0.0543285 -0.00426106 0.0383495 0 0 pose: 0.41940839 0.221503 0.00433448 0 -0.00193756 -0.000812956-0.0371741 0.999307 uwb: 0.0 846.031 1004.84 -imu_odom_: 1691062766.962128141 0.402226 -0.244209 9.89045 -0.0543285 -0.00532632 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00193756 -0.000812956-0.0371741 0.999307 uwb: 0.49876893 845.971 1004.44 -imu_odom_: 1691062766.976289730 0.42138 -0.241814 9.88087 -0.056459 -0.00532632 0.0426106 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00193756 -0.000812956-0.0371741 0.999307 uwb: 0.0 845.971 1004.44 -imu_odom_: 1691062766.990307243 0.418985 -0.234632 9.91439 -0.056459 -0.00426106 0.04048 0 0 pose: 0.42066249 0.221503 0.00433448 0 -0.00179127 -0.00224117 -0.0371647 0.999305 uwb: 0.0 845.971 1004.44 -imu_odom_: 1691062767.4285093 0.423774 -0.246603 9.85693 -0.0543285 -0.00426106 0.0415453 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00179127 -0.00224117 -0.0371647 0.999305 uwb: 0.49930557 845.838 1003.9 -imu_odom_: 1691062767.18283067 0.411803 -0.246603 9.91678 -0.0532632 -0.00426106 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00179127 -0.00224117 -0.0371647 0.999305 uwb: 0.0 845.838 1003.9 -imu_odom_: 1691062767.32279582 0.407014 -0.248997 9.90481 -0.0553937 -0.00426106 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00179127 -0.00224117 -0.0371647 0.999305 uwb: 0.0 845.838 1003.9 -imu_odom_: 1691062767.46338802 0.430956 -0.263362 9.93115 -0.0575243 -0.00532632 0.04048 0 0 pose: 0.42070915 0.221503 0.00433448 0 -0.00113734 -0.000962981-0.0371455 0.999309 uwb: 0.0 845.838 1003.9 -imu_odom_: 1691062767.60153329 0.418985 -0.272939 9.91439 -0.056459 -0.00426106 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00113734 -0.000962981-0.0371455 0.999309 uwb: 0.50011637 846.2 1004.03 -imu_odom_: 1691062767.74333000 0.430956 -0.213084 9.89763 -0.0543285 -0.00532632 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00113734 -0.000962981-0.0371455 0.999309 uwb: 0.0 846.2 1004.03 -imu_odom_: 1691062767.88335640 0.426168 -0.220267 9.90002 -0.0553937 -0.00426106 0.0394148 0 0 pose: 0.83871474 0.221503 0.00433448 0 -0.00239768 -0.000970213-0.0371069 0.999308 uwb: 0.0 846.2 1004.03 -imu_odom_: 1691062767.103286722 0.402226 -0.241814 9.87608 -0.0543285 -0.00319579 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00239768 -0.000970213-0.0371069 0.999308 uwb: 0.49830524 846.118 1003.63 -imu_odom_: 1691062767.117276529 0.397437 -0.246603 9.9096 -0.0553937 -0.00426106 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00239768 -0.000970213-0.0371069 0.999308 uwb: 0.0 846.118 1003.63 -imu_odom_: 1691062767.131130720 0.414197 -0.265756 9.87369 -0.0532632 -0.00426106 0.0383495 0 0 pose: 0.43005650 0.221503 0.00433448 0 -0.00161997 0.000348766 -0.0371038 0.99931 uwb: 0.0 846.118 1003.63 -imu_odom_: 1691062767.145195773 0.418985 -0.237026 9.88805 -0.0553937 -0.00426106 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00161997 0.000348766 -0.0371038 0.99931 uwb: 0.0 846.118 1003.63 -imu_odom_: 1691062767.159192289 0.390255 -0.251391 9.88326 -0.056459 -0.00532632 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00161997 0.000348766 -0.0371038 0.99931 uwb: 0.50336825 846.016 1004.3 -imu_odom_: 1691062767.173128433 0.428562 -0.23942 9.88326 -0.0543285 -0.00426106 0.04048 0 0 pose: 0.42031544 0.221503 0.00433448 0 -0.00147427 -0.000200455-0.0371103 0.99931 uwb: 0.0 846.016 1004.3 -imu_odom_: 1691062767.187187361 0.423774 -0.237026 9.89284 -0.0553937 -0.00426106 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00147427 -0.000200455-0.0371103 0.99931 uwb: 0.0 846.016 1004.3 -imu_odom_: 1691062767.201196418 0.40462 -0.237026 9.88326 -0.0543285 -0.00532632 0.0383495 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00147427 -0.000200455-0.0371103 0.99931 uwb: 0.49854731 845.909 1003.9 -imu_odom_: 1691062767.215129354 0.414197 -0.246603 9.90002 -0.0543285 -0.00532632 0.0383495 0 0 pose: 0.41993630 0.221503 0.00433448 0 -0.000595164-0.00116744 -0.037108 0.99931 uwb: 0.0 845.909 1003.9 -imu_odom_: 1691062767.229178074 0.416591 -0.241814 9.88326 -0.0543285 -0.00532632 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.000595164-0.00116744 -0.037108 0.99931 uwb: 0.0 845.909 1003.9 -imu_odom_: 1691062767.243177506 0.414197 -0.253785 9.8665 -0.0543285 -0.00426106 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.000595164-0.00116744 -0.037108 0.99931 uwb: 0.0 845.909 1003.9 -imu_odom_: 1691062767.257142815 0.428562 -0.225055 9.84975 -0.0553937 -0.00426106 0.04048 0 0 pose: 0.49981597 0.221503 0.00433448 0 -0.00229043 -0.000446545-0.0371147 0.999308 uwb: 0.49932892 845.963 1003.09 -imu_odom_: 1691062767.271124457 0.423774 -0.263362 9.91439 -0.0532632 -0.00319579 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00229043 -0.000446545-0.0371147 0.999308 uwb: 0.0 845.963 1003.09 -imu_odom_: 1691062767.285120681 0.426168 -0.248997 9.85932 -0.0553937 -0.00319579 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00229043 -0.000446545-0.0371147 0.999308 uwb: 0.0 845.963 1003.09 -imu_odom_: 1691062767.299125946 0.402226 -0.237026 9.88805 -0.0575243 -0.00532632 0.0394148 0 0 pose: 0.6006507 0.221503 0.00433448 0 -0.00175157 -0.000711793-0.0371129 0.999309 uwb: 0.50010762 846.131 1004.16 -imu_odom_: 1691062767.313130919 0.395043 -0.258574 9.90002 -0.0543285 -0.00426106 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00175157 -0.000711793-0.0371129 0.999309 uwb: 0.0 846.131 1004.16 -imu_odom_: 1691062767.327172348 0.430956 -0.234632 9.90002 -0.0553937 -0.00319579 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00175157 -0.000711793-0.0371129 0.999309 uwb: 0.0 846.131 1004.16 -imu_odom_: 1691062767.341174114 0.399832 -0.217872 9.89524 -0.0553937 -0.00532632 0.04048 0 0 pose: 0.70006201 0.221503 0.00433448 0 -0.00211602 9.50561e-05 -0.0371077 0.999309 uwb: 0.0 846.131 1004.16 -imu_odom_: 1691062767.355159255 0.392649 -0.25618 9.87848 -0.0553937 -0.00532632 0.0383495 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00211602 9.50561e-05 -0.0371077 0.999309 uwb: 0.49902561 846.162 1003.49 -imu_odom_: 1691062767.369101232 0.418985 -0.23942 9.87848 -0.0553937 -0.00426106 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00211602 9.50561e-05 -0.0371077 0.999309 uwb: 0.0 846.162 1003.49 -imu_odom_: 1691062767.383161035 0.40462 -0.229843 9.92157 -0.0543285 -0.00426106 0.04048 0 0 pose: 0.27975532 0.221503 0.00433448 0 -0.0009669820.000236661 -0.0371068 0.999311 uwb: 0.0 846.162 1003.49 -imu_odom_: 1691062767.397157551 0.440533 -0.251391 9.88326 -0.0553937 -0.00426106 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.0009669820.000236661 -0.0371068 0.999311 uwb: 0.0 846.162 1003.49 -imu_odom_: 1691062767.411287642 0.414197 -0.241814 9.89524 -0.0543285 -0.00426106 0.0383495 0 0 pose: 0.49991805 0.221503 0.00433448 0 -0.0012846 -0.000818643-0.0371096 0.99931 uwb: 0.50002012 846.005 1003.9 -imu_odom_: 1691062767.425258784 0.418985 -0.248997 9.88087 -0.0532632 -0.00532632 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.0012846 -0.000818643-0.0371096 0.99931 uwb: 0.0 846.005 1003.9 -imu_odom_: 1691062767.439251216 0.447716 -0.248997 9.87848 -0.0553937 -0.00532632 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.0012846 -0.000818643-0.0371096 0.99931 uwb: 0.0 846.005 1003.9 -imu_odom_: 1691062767.453141571 0.411803 -0.220267 9.92157 -0.0553937 -0.00426106 0.0383495 0 0 pose: 0.6040337 0.221503 0.00433448 0 -0.00151378 -0.000260927-0.0371124 0.99931 uwb: 0.50100299 846.199 1004.03 -imu_odom_: 1691062767.467257371 0.418985 -0.244209 9.89524 -0.0543285 -0.00532632 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00151378 -0.000260927-0.0371124 0.99931 uwb: 0.0 846.199 1004.03 -imu_odom_: 1691062767.482315780 0.399832 -0.21069 9.88566 -0.0543285 -0.00532632 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00151378 -0.000260927-0.0371124 0.99931 uwb: 0.0 846.199 1004.03 -imu_odom_: 1691062767.496261840 0.428562 -0.237026 9.88566 -0.0553937 -0.00319579 0.0394148 0 0 pose: 0.69951080 0.221503 0.00433448 0 -0.00145364 -0.000208372-0.0371133 0.99931 uwb: 0.0 846.199 1004.03 -imu_odom_: 1691062767.510270313 0.42138 -0.227449 9.87608 -0.0553937 -0.00426106 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00145364 -0.000208372-0.0371133 0.99931 uwb: 0.49924726 845.981 1003.9 -imu_odom_: 1691062767.525310348 0.411803 -0.23942 9.88326 -0.0543285 -0.00426106 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00145364 -0.000208372-0.0371133 0.99931 uwb: 0.0 845.981 1003.9 -imu_odom_: 1691062767.539298406 0.418985 -0.248997 9.90721 -0.0553937 -0.00426106 0.0394148 0 0 pose: 0.29120545 0.221503 0.00433448 0 -0.000696364-0.00091276 -0.0371084 0.999311 uwb: 0.0 845.981 1003.9 -imu_odom_: 1691062767.554248904 0.433351 -0.234632 9.89763 -0.0553937 -0.00532632 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.000696364-0.00091276 -0.0371084 0.999311 uwb: 0.50029719 845.729 1003.37 -imu_odom_: 1691062767.568247753 0.416591 -0.222661 9.83299 -0.056459 -0.00532632 0.0415453 0 0 pose: 0.43042690 0.221503 0.00433448 0 -0.00174146 -0.00151821 -0.0371063 0.999309 uwb: 0.0 845.729 1003.37 -imu_odom_: 1691062767.582099902 0.402226 -0.227449 9.92875 -0.0543285 -0.00426106 0.0383495 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00174146 -0.00151821 -0.0371063 0.999309 uwb: 0.0 845.729 1003.37 -imu_odom_: 1691062767.596098459 0.40462 -0.225055 9.88326 -0.0543285 -0.00213053 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00174146 -0.00151821 -0.0371063 0.999309 uwb: 0.0 845.729 1003.37 -imu_odom_: 1691062767.610264423 0.387861 -0.258574 9.89045 -0.0532632 -0.00532632 0.0415453 0 0 pose: 0.42798289 0.221503 0.00433448 0 -0.00085512 0.000222495 -0.0370986 0.999311 uwb: 0.50096507 845.449 1003.64 -imu_odom_: 1691062767.624181902 0.414197 -0.220267 9.83538 -0.0543285 -0.00639159 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00085512 0.000222495 -0.0370986 0.999311 uwb: 0.0 845.449 1003.64 -imu_odom_: 1691062767.638100839 0.416591 -0.260968 9.88087 -0.0553937 -0.00532632 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00085512 0.000222495 -0.0370986 0.999311 uwb: 0.0 845.449 1003.64 -imu_odom_: 1691062767.652165600 0.426168 -0.232238 9.84735 -0.0553937 -0.00532632 0.04048 0 0 pose: 0.42001504 0.221503 0.00433448 0 -0.000980848-0.000535066-0.0370842 0.999312 uwb: 0.49925893 845.578 1002.96 -imu_odom_: 1691062767.666221028 0.445322 -0.253785 9.86172 -0.0553937 -0.00532632 0.0383495 0 0 pose: 0.0 0.221503 0.00433448 0 -0.000980848-0.000535066-0.0370842 0.999312 uwb: 0.0 845.578 1002.96 -imu_odom_: 1691062767.680241459 0.42138 -0.232238 9.90242 -0.0553937 -0.00426106 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.000980848-0.000535066-0.0370842 0.999312 uwb: 0.0 845.578 1002.96 -imu_odom_: 1691062767.694243516 0.402226 -0.246603 9.83777 -0.0543285 -0.00532632 0.0394148 0 0 pose: 0.50129463 0.221503 0.00433448 0 -0.0009698 -0.000938779-0.0370842 0.999311 uwb: 0.0 845.578 1002.96 -imu_odom_: 1691062767.709118769 0.418985 -0.237026 9.91678 -0.0553937 -0.00319579 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.0009698 -0.000938779-0.0370842 0.999311 uwb: 0.49976348 845.717 1002.69 -imu_odom_: 1691062767.723098952 0.416591 -0.248997 9.93594 -0.0553937 -0.00532632 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.0009698 -0.000938779-0.0370842 0.999311 uwb: 0.0 845.717 1002.69 -imu_odom_: 1691062767.737282415 0.428562 -0.241814 9.87608 -0.0553937 -0.00426106 0.0394148 0 0 pose: 0.5863890 0.221503 0.00433448 0 -0.0012842 -0.000448919-0.037084 0.999311 uwb: 0.0 845.717 1002.69 -imu_odom_: 1691062767.751277472 0.407014 -0.234632 9.88326 -0.0543285 -0.00426106 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.0012842 -0.000448919-0.037084 0.999311 uwb: 0.50048093 845.793 1002.96 -imu_odom_: 1691062767.766230304 0.42138 -0.241814 9.86172 -0.0553937 -0.00426106 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.0012842 -0.000448919-0.037084 0.999311 uwb: 0.0 845.793 1002.96 -imu_odom_: 1691062767.781289004 0.418985 -0.229843 9.90002 -0.0553937 -0.00319579 0.04048 0 0 pose: 0.72016828 0.221503 0.00433448 0 -0.00132029 -0.000671679-0.0370834 0.999311 uwb: 0.0 845.793 1002.96 -imu_odom_: 1691062767.795204733 0.40462 -0.213084 9.8665 -0.0543285 -0.00319579 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00132029 -0.000671679-0.0370834 0.999311 uwb: 0.0 845.793 1002.96 -imu_odom_: 1691062767.809152835 0.426168 -0.263362 9.90002 -0.0543285 -0.00532632 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00132029 -0.000671679-0.0370834 0.999311 uwb: 0.49852105 845.949 1002.28 -imu_odom_: 1691062767.823086646 0.407014 -0.241814 9.90721 -0.0543285 -0.00426106 0.04048 0 0 pose: 0.29070673 0.221503 0.00433448 0 1.6971e-06 -0.000141355-0.0370789 0.999312 uwb: 0.0 845.949 1002.28 -imu_odom_: 1691062767.837086369 0.428562 -0.246603 9.85453 -0.0553937 -0.00426106 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 1.6971e-06 -0.000141355-0.0370789 0.999312 uwb: 0.0 845.949 1002.28 -imu_odom_: 1691062767.851224043 0.407014 -0.225055 9.90481 -0.0543285 -0.00319579 0.0394148 0 0 pose: 0.49893519 0.221503 0.00433448 0 -0.00163535 -0.0014361 -0.0370706 0.99931 uwb: 0.50117506 845.975 1002.42 -imu_odom_: 1691062767.866223539 0.397437 -0.227449 9.88326 -0.0553937 -0.00532632 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00163535 -0.0014361 -0.0370706 0.99931 uwb: 0.0 845.975 1002.42 -imu_odom_: 1691062767.880087354 0.387861 -0.234632 9.90481 -0.0543285 -0.00532632 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00163535 -0.0014361 -0.0370706 0.99931 uwb: 0.0 845.975 1002.42 -imu_odom_: 1691062767.894093494 0.407014 -0.241814 9.90721 -0.0543285 -0.00639159 0.0394148 0 0 pose: 0.6005048 0.221503 0.00433448 0 -0.00123766 -0.000979906-0.037071 0.999311 uwb: 0.0 845.975 1002.42 -imu_odom_: 1691062767.908089134 0.435745 -0.241814 9.89763 -0.0543285 -0.00426106 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00123766 -0.000979906-0.037071 0.999311 uwb: 0.50048968 845.915 1003.09 -imu_odom_: 1691062767.922080109 0.407014 -0.25618 9.90002 -0.0553937 -0.00319579 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00123766 -0.000979906-0.037071 0.999311 uwb: 0.0 845.915 1003.09 -imu_odom_: 1691062767.936078666 0.399832 -0.237026 9.89763 -0.056459 -0.00319579 0.0394148 0 0 pose: 0.71003932 0.221503 0.00433448 0 -0.00186688 -0.00141428 -0.03707 0.99931 uwb: 0.0 845.915 1003.09 -imu_odom_: 1691062767.950076639 0.418985 -0.246603 9.91199 -0.056459 -0.00426106 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00186688 -0.00141428 -0.03707 0.99931 uwb: 0.49813900 846.441 1003.08 -imu_odom_: 1691062767.964076071 0.42138 -0.232238 9.89524 -0.0543285 -0.00532632 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00186688 -0.00141428 -0.03707 0.99931 uwb: 0.0 846.441 1003.08 -imu_odom_: 1691062767.978199162 0.438139 -0.246603 9.87129 -0.0553937 -0.00532632 0.0394148 0 0 pose: 0.42111747 0.221503 0.00433448 0 -0.00112186 -0.000893882-0.0370619 0.999312 uwb: 0.0 846.441 1003.08 -imu_odom_: 1691062767.992132390 0.418985 -0.232238 9.92875 -0.0543285 -0.00532632 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00112186 -0.000893882-0.0370619 0.999312 uwb: 0.0 846.441 1003.08 -imu_odom_: 1691062768.6087200 0.407014 -0.222661 9.93115 -0.0543285 -0.00426106 0.04048 0 0 pose: 0.35925294 0.221503 0.00433448 0 -0.000736227-0.000522967-0.0370601 0.999313 uwb: 0.50143171 846.327 1003.35 -imu_odom_: 1691062768.21087279 0.430956 -0.244209 9.92157 -0.0553937 -0.00426106 0.0394148 0 0 pose: 0.6955823 0.221503 0.00433448 0 -0.000256606-1.4881e-05 -0.0370569 0.999313 uwb: 0.0 846.327 1003.35 -imu_odom_: 1691062768.35210954 0.414197 -0.260968 9.90002 -0.0532632 -0.00532632 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.000256606-1.4881e-05 -0.0370569 0.999313 uwb: 0.0 846.327 1003.35 -imu_odom_: 1691062768.50140455 0.40462 -0.251391 9.89524 -0.0543285 -0.00532632 0.04048 0 0 pose: 0.36122741 0.221503 0.00433448 0 -0.00220833 -0.000497085-0.0370477 0.999311 uwb: 0.49900229 845.966 1003.23 -imu_odom_: 1691062768.64197050 0.433351 -0.229843 9.88805 -0.0553937 -0.00319579 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00220833 -0.000497085-0.0370477 0.999311 uwb: 0.0 845.966 1003.23 -imu_odom_: 1691062768.78141361 0.409408 -0.229843 9.89524 -0.0553937 -0.00426106 0.0383495 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00220833 -0.000497085-0.0370477 0.999311 uwb: 0.0 845.966 1003.23 -imu_odom_: 1691062768.92142252 0.409408 -0.222661 9.88087 -0.0543285 -0.00319579 0.0383495 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00220833 -0.000497085-0.0370477 0.999311 uwb: 0.0 845.966 1003.23 -imu_odom_: 1691062768.106189515 0.442927 -0.225055 9.88566 -0.0543285 -0.00426106 0.04048 0 0 pose: 0.42930407 0.221503 0.00433448 0 -0.0001900250.000477973 -0.0370495 0.999313 uwb: 0.50007848 845.93 1003.77 -imu_odom_: 1691062768.120125952 0.397437 -0.241814 9.86411 -0.056459 -0.00532632 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.0001900250.000477973 -0.0370495 0.999313 uwb: 0.0 845.93 1003.77 -imu_odom_: 1691062768.134066471 0.409408 -0.217872 9.90481 -0.0553937 -0.00532632 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.0001900250.000477973 -0.0370495 0.999313 uwb: 0.0 845.93 1003.77 -imu_odom_: 1691062768.149127797 0.428562 -0.237026 9.90002 -0.056459 -0.00639159 0.0394148 0 0 pose: 0.47933350 0.221503 0.00433448 0 -0.000535403-0.000581446-0.0370457 0.999313 uwb: 0.0 845.93 1003.77 -imu_odom_: 1691062768.163180601 0.426168 -0.23942 9.89524 -0.0553937 -0.00639159 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.000535403-0.000581446-0.0370457 0.999313 uwb: 0.49942810 845.459 1002.97 -imu_odom_: 1691062768.177124912 0.409408 -0.253785 9.88326 -0.0543285 -0.00426106 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.000535403-0.000581446-0.0370457 0.999313 uwb: 0.0 845.459 1002.97 -imu_odom_: 1691062768.192122366 0.42138 -0.241814 9.91678 -0.0553937 -0.00639159 0.0394148 0 0 pose: 0.43063983 0.221503 0.00433448 0 -0.00218916 -0.000633733-0.0370465 0.999311 uwb: 0.0 845.459 1002.97 -imu_odom_: 1691062768.206069594 0.416591 -0.246603 9.88326 -0.0543285 -0.00426106 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00218916 -0.000633733-0.0370465 0.999311 uwb: 0.50113424 845.572 1003.77 -imu_odom_: 1691062768.220073693 0.440533 -0.217872 9.89284 -0.056459 -0.00426106 0.04048 0 0 pose: 0.36930900 0.221503 0.00433448 0 -0.00197778 -0.000113496-0.0370482 0.999312 uwb: 0.0 845.572 1003.77 -imu_odom_: 1691062768.234121539 0.418985 -0.248997 9.89284 -0.0543285 -0.00532632 0.0394148 0 0 pose: 0.6066003 0.221503 0.00433448 0 -0.00155848 -0.000548698-0.0370464 0.999312 uwb: 0.0 845.572 1003.77 -imu_odom_: 1691062768.248178426 0.397437 -0.23942 9.90481 -0.0553937 -0.00532632 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00155848 -0.000548698-0.0370464 0.999312 uwb: 0.0 845.572 1003.77 -imu_odom_: 1691062768.262064408 0.409408 -0.23942 9.89763 -0.0553937 -0.00319579 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00155848 -0.000548698-0.0370464 0.999312 uwb: 0.49982183 845.201 1004.19 -imu_odom_: 1691062768.276118087 0.426168 -0.244209 9.90721 -0.0575243 -0.00532632 0.04048 0 0 pose: 0.36042829 0.221503 0.00433448 0 -0.00119604 0.000380805 -0.0370353 0.999313 uwb: 0.0 845.201 1004.19 -imu_odom_: 1691062768.290055690 0.42138 -0.217872 9.92157 -0.0543285 -0.00319579 0.0383495 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00119604 0.000380805 -0.0370353 0.999313 uwb: 0.0 845.201 1004.19 -imu_odom_: 1691062768.304194822 0.399832 -0.217872 9.87369 -0.056459 -0.00639159 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00119604 0.000380805 -0.0370353 0.999313 uwb: 0.49868440 845.28 1003.51 -imu_odom_: 1691062768.319183236 0.426168 -0.253785 9.84496 -0.0543285 -0.00426106 0.0415453 0 0 pose: 0.41877264 0.221503 0.00433448 0 -0.00122413 -0.00130975 -0.0370415 0.999312 uwb: 0.0 845.28 1003.51 -imu_odom_: 1691062768.333069800 0.407014 -0.232238 9.89284 -0.0553937 -0.00426106 0.0383495 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00122413 -0.00130975 -0.0370415 0.999312 uwb: 0.0 845.28 1003.51 -imu_odom_: 1691062768.347128146 0.40462 -0.258574 9.87608 -0.0543285 -0.00426106 0.0383495 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00122413 -0.00130975 -0.0370415 0.999312 uwb: 0.0 845.28 1003.51 -imu_odom_: 1691062768.361062540 0.411803 -0.220267 9.87608 -0.0543285 -0.00532632 0.04048 0 0 pose: 0.49076321 0.221503 0.00433448 0 -0.00129365 2.68787e-05 -0.0370318 0.999313 uwb: 0.50161838 845.153 1004.19 -imu_odom_: 1691062768.375119136 0.42138 -0.248997 9.90002 -0.056459 -0.00532632 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00129365 2.68787e-05 -0.0370318 0.999313 uwb: 0.0 845.153 1004.19 -imu_odom_: 1691062768.389117985 0.387861 -0.229843 9.88326 -0.0553937 -0.00532632 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00129365 2.68787e-05 -0.0370318 0.999313 uwb: 0.0 845.153 1004.19 -imu_odom_: 1691062768.403056172 0.409408 -0.215478 9.87608 -0.0553937 -0.00532632 0.0394148 0 0 pose: 0.41930927 0.221503 0.00433448 0 -0.00165246 -0.000486274-0.037029 0.999313 uwb: 0.49871648 845.201 1004.19 -imu_odom_: 1691062768.417057646 0.402226 -0.237026 9.88566 -0.0553937 -0.00426106 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00165246 -0.000486274-0.037029 0.999313 uwb: 0.0 845.201 1004.19 -imu_odom_: 1691062768.431162947 0.399832 -0.225055 9.89524 -0.0543285 -0.00639159 0.0383495 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00165246 -0.000486274-0.037029 0.999313 uwb: 0.0 845.201 1004.19 -imu_odom_: 1691062768.445045720 0.409408 -0.246603 9.87369 -0.056459 -0.00426106 0.0394148 0 0 pose: 0.42108541 0.221503 0.00433448 0 -0.00060632 0.000173079 -0.037023 0.999314 uwb: 0.0 845.201 1004.19 -imu_odom_: 1691062768.459091233 0.416591 -0.263362 9.90242 -0.0543285 -0.00426106 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00060632 0.000173079 -0.037023 0.999314 uwb: 0.49983349 844.99 1003.38 -imu_odom_: 1691062768.473089207 0.426168 -0.237026 9.91918 -0.0553937 -0.00426106 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00060632 0.000173079 -0.037023 0.999314 uwb: 0.0 844.99 1003.38 -imu_odom_: 1691062768.488090453 0.423774 -0.232238 9.89763 -0.0553937 -0.00532632 0.0394148 0 0 pose: 0.41869680 0.221503 0.00433448 0 -0.00192479 -0.000817272-0.037032 0.999312 uwb: 0.0 844.99 1003.38 -imu_odom_: 1691062768.502165423 0.397437 -0.265756 9.90242 -0.0543285 -0.00426106 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00192479 -0.000817272-0.037032 0.999312 uwb: 0.50180212 844.89 1004.2 -imu_odom_: 1691062768.516102442 0.423774 -0.253785 9.91678 -0.0553937 -0.00426106 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00192479 -0.000817272-0.037032 0.999312 uwb: 0.0 844.89 1004.2 -imu_odom_: 1691062768.530156122 0.423774 -0.260968 9.88566 -0.0543285 -0.00426106 0.04048 0 0 pose: 0.43010319 0.221503 0.00433448 0 -0.00156469 -0.000499269-0.0370268 0.999313 uwb: 0.0 844.89 1004.2 -imu_odom_: 1691062768.544180053 0.409408 -0.23942 9.88566 -0.0543285 -0.00426106 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00156469 -0.000499269-0.0370268 0.999313 uwb: 0.0 844.89 1004.2 -imu_odom_: 1691062768.558095199 0.42138 -0.244209 9.88805 -0.052198 -0.00639159 0.0383495 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00156469 -0.000499269-0.0370268 0.999313 uwb: 0.49825859 844.979 1003.93 -imu_odom_: 1691062768.573034324 0.407014 -0.258574 9.89284 -0.0543285 -0.00426106 0.04048 0 0 pose: 0.41988090 0.221503 0.00433448 0 -0.00161754 -0.000805734-0.0370209 0.999313 uwb: 0.0 844.979 1003.93 -imu_odom_: 1691062768.587105210 0.407014 -0.241814 9.88805 -0.0543285 -0.00639159 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00161754 -0.000805734-0.0370209 0.999313 uwb: 0.0 844.979 1003.93 -imu_odom_: 1691062768.601100268 0.435745 -0.246603 9.8665 -0.0543285 -0.00426106 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00161754 -0.000805734-0.0370209 0.999313 uwb: 0.49986849 845.053 1002.98 -imu_odom_: 1691062768.616056017 0.414197 -0.248997 9.87848 -0.056459 -0.00426106 0.0394148 0 0 pose: 0.43019943 0.221503 0.00433448 0 -0.00100009 -0.000497647-0.0370165 0.999314 uwb: 0.0 845.053 1002.98 -imu_odom_: 1691062768.630148194 0.407014 -0.258574 9.8665 -0.0543285 -0.00532632 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00100009 -0.000497647-0.0370165 0.999314 uwb: 0.0 845.053 1002.98 -imu_odom_: 1691062768.644035633 0.399832 -0.222661 9.91678 -0.0553937 -0.00426106 0.0383495 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00100009 -0.000497647-0.0370165 0.999314 uwb: 0.0 845.053 1002.98 -imu_odom_: 1691062768.659037462 0.428562 -0.244209 9.88566 -0.056459 -0.00639159 0.0415453 0 0 pose: 0.29056384 0.221503 0.00433448 0 -0.0023999 -0.000401699-0.0370103 0.999312 uwb: 0.50090384 844.984 1003.11 -imu_odom_: 1691062768.673151804 0.426168 -0.21069 9.88087 -0.0532632 -0.00426106 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.0023999 -0.000401699-0.0370103 0.999312 uwb: 0.0 844.984 1003.11 -imu_odom_: 1691062768.687149195 0.387861 -0.265756 9.90242 -0.0553937 -0.00319579 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.0023999 -0.000401699-0.0370103 0.999312 uwb: 0.0 844.984 1003.11 -imu_odom_: 1691062768.701151836 0.428562 -0.237026 9.89284 -0.0543285 -0.00426106 0.04048 0 0 pose: 0.27981658 0.221503 0.00433448 0 -0.00156116 -0.0010615 -0.0370113 0.999313 uwb: 0.49897896 845.011 1003.25 -imu_odom_: 1691062768.715034026 0.416591 -0.244209 9.88566 -0.0553937 -0.00426106 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00156116 -0.0010615 -0.0370113 0.999313 uwb: 0.0 845.011 1003.25 -imu_odom_: 1691062768.729087122 0.416591 -0.23942 9.89045 -0.0543285 -0.00426106 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00156116 -0.0010615 -0.0370113 0.999313 uwb: 0.0 845.011 1003.25 -imu_odom_: 1691062768.743025891 0.416591 -0.234632 9.86411 -0.0543285 -0.00426106 0.0394148 0 0 pose: 0.71070430 0.221503 0.00433448 0 -0.00104491 -0.000770834-0.0369985 0.999314 uwb: 0.0 845.011 1003.25 -imu_odom_: 1691062768.757082779 0.438139 -0.237026 9.89284 -0.0543285 -0.00426106 0.0383495 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00104491 -0.000770834-0.0369985 0.999314 uwb: 0.0 845.011 1003.25 -imu_odom_: 1691062768.771082211 0.397437 -0.251391 9.88566 -0.0543285 -0.00426106 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00104491 -0.000770834-0.0369985 0.999314 uwb: 0.0 845.011 1003.25 -imu_odom_: 1691062768.786229865 0.42138 -0.241814 9.88326 -0.0543285 -0.00426106 0.04048 0 0 pose: 0.41916052 0.221503 0.00433448 0 -0.00138575 -0.00116147 -0.0370057 0.999313 uwb: 0.0 845.011 1003.25 -imu_odom_: 1691062768.800174468 0.383072 -0.23942 9.94551 -0.0553937 -0.00426106 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00138575 -0.00116147 -0.0370057 0.999313 uwb: 0.99860247 845.154 1003.24 -imu_odom_: 1691062768.814115862 0.42138 -0.237026 9.90242 -0.0553937 -0.00319579 0.0394148 0 0 pose: 0.37090433 0.221503 0.00433448 0 -0.00113172 -0.000411203-0.0369929 0.999315 uwb: 0.0 845.154 1003.24 -imu_odom_: 1691062768.829154439 0.426168 -0.248997 9.8665 -0.0543285 -0.00426106 0.0394148 0 0 pose: 0.6034213 0.221503 0.00433448 0 -0.00119155 -0.00100847 -0.036994 0.999314 uwb: 0.0 845.154 1003.24 -imu_odom_: 1691062768.843039254 0.445322 -0.25618 9.88326 -0.056459 -0.00319579 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00119155 -0.00100847 -0.036994 0.999314 uwb: 0.0 845.154 1003.24 -imu_odom_: 1691062768.857033436 0.42138 -0.213084 9.88087 -0.0553937 -0.00532632 0.0394148 0 0 pose: 0.36830573 0.221503 0.00433448 0 -0.00221373 -0.00199426 -0.0369977 0.999311 uwb: 0.50095342 845.143 1003.79 -imu_odom_: 1691062768.872078430 0.42138 -0.237026 9.86411 -0.0543285 -0.00532632 0.0383495 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00221373 -0.00199426 -0.0369977 0.999311 uwb: 0.0 845.143 1003.79 -imu_odom_: 1691062768.886083404 0.402226 -0.253785 9.91199 -0.0543285 -0.00532632 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00221373 -0.00199426 -0.0369977 0.999311 uwb: 0.0 845.143 1003.79 -imu_odom_: 1691062768.900077878 0.418985 -0.23942 9.89045 -0.0553937 -0.00319579 0.0394148 0 0 pose: 0.43044150 0.221503 0.00433448 0 -0.00286726 0.000458112 -0.0370074 0.999311 uwb: 0.50108759 844.901 1003.66 -imu_odom_: 1691062768.914026564 0.418985 -0.234632 9.92157 -0.0543285 -0.00426106 0.0383495 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00286726 0.000458112 -0.0370074 0.999311 uwb: 0.0 844.901 1003.66 -imu_odom_: 1691062768.928017247 0.435745 -0.234632 9.87369 -0.0553937 -0.00426106 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00286726 0.000458112 -0.0370074 0.999311 uwb: 0.0 844.901 1003.66 -imu_odom_: 1691062768.942016096 0.426168 -0.229843 9.89763 -0.056459 -0.00426106 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00286726 0.000458112 -0.0370074 0.999311 uwb: 0.0 844.901 1003.66 -imu_odom_: 1691062768.956084358 0.395043 -0.244209 9.89284 -0.0553937 -0.00426106 0.04048 0 0 pose: 0.41933843 0.221503 0.00433448 0 -0.00149337 -0.00205262 -0.037014 0.999312 uwb: 0.49967016 845.047 1003.79 -imu_odom_: 1691062768.970021669 0.418985 -0.246603 9.89284 -0.056459 -0.00426106 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00149337 -0.00205262 -0.037014 0.999312 uwb: 0.0 845.047 1003.79 -imu_odom_: 1691062768.984079431 0.397437 -0.241814 9.85214 -0.0553937 -0.00639159 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00149337 -0.00205262 -0.037014 0.999312 uwb: 0.0 845.047 1003.79 -imu_odom_: 1691062768.998075656 0.426168 -0.241814 9.87608 -0.0553937 -0.00532632 0.04048 0 0 pose: 0.48066342 0.221503 0.00433448 0 -0.00160381 -0.000485879-0.0369954 0.999314 uwb: 0.0 845.047 1003.79 -imu_odom_: 1691062769.12019092 0.42138 -0.23942 9.8689 -0.0553937 -0.00426106 0.0383495 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00160381 -0.000485879-0.0369954 0.999314 uwb: 0.49964393 844.648 1004.07 -imu_odom_: 1691062769.26021150 0.42138 -0.263362 9.88566 -0.056459 -0.00426106 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00160381 -0.000485879-0.0369954 0.999314 uwb: 0.0 844.648 1004.07 -imu_odom_: 1691062769.40073080 0.411803 -0.225055 9.88805 -0.0543285 -0.00532632 0.0394148 0 0 pose: 0.42000631 0.221503 0.00433448 0 -0.00130961 -0.000187962-0.0369989 0.999314 uwb: 0.0 844.648 1004.07 -imu_odom_: 1691062769.55069077 0.399832 -0.234632 9.89284 -0.0543285 -0.00532632 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00130961 -0.000187962-0.0369989 0.999314 uwb: 0.50030306 844.894 1003.39 -imu_odom_: 1691062769.69076093 0.409408 -0.248997 9.8665 -0.0553937 -0.00532632 0.0394148 0 0 pose: 0.36984857 0.221503 0.00433448 0 -0.0014053 0.0008189 -0.0370017 0.999314 uwb: 0.0 844.894 1003.39 -imu_odom_: 1691062769.84128378 0.395043 -0.248997 9.89284 -0.0543285 -0.00532632 0.0394148 0 0 pose: 0.6003882 0.221503 0.00433448 0 -0.00160063 0.000247193 -0.0370031 0.999314 uwb: 0.0 844.894 1003.39 -imu_odom_: 1691062769.98006485 0.428562 -0.251391 9.89284 -0.0553937 -0.00319579 0.0415453 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00160063 0.000247193 -0.0370031 0.999314 uwb: 0.0 844.894 1003.39 -imu_odom_: 1691062769.112017001 0.426168 -0.234632 9.85693 -0.0553937 -0.00319579 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00160063 0.000247193 -0.0370031 0.999314 uwb: 0.50005808 845.058 1003.25 -imu_odom_: 1691062769.126007101 0.411803 -0.23942 9.92397 -0.0543285 -0.00426106 0.0383495 0 0 pose: 0.36933526 0.221503 0.00433448 0 -0.00183366 -0.000400999-0.0369924 0.999314 uwb: 0.0 845.058 1003.25 -imu_odom_: 1691062769.140003034 0.402226 -0.268151 9.87608 -0.056459 -0.00532632 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00183366 -0.000400999-0.0369924 0.999314 uwb: 0.0 845.058 1003.25 -imu_odom_: 1691062769.154000718 0.402226 -0.277727 9.87848 -0.0543285 -0.00532632 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00183366 -0.000400999-0.0369924 0.999314 uwb: 0.49944854 845.032 1003.11 -imu_odom_: 1691062769.168051189 0.411803 -0.232238 9.87848 -0.0553937 -0.00426106 0.0394148 0 0 pose: 0.48010347 0.221503 0.00433448 0 -0.00339281 0.000168753 -0.0369961 0.99931 uwb: 0.0 845.032 1003.11 -imu_odom_: 1691062769.182049164 0.426168 -0.244209 9.88805 -0.0543285 -0.00532632 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00339281 0.000168753 -0.0369961 0.99931 uwb: 0.0 845.032 1003.11 -imu_odom_: 1691062769.196047722 0.414197 -0.253785 9.90242 -0.0553937 -0.00532632 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00339281 0.000168753 -0.0369961 0.99931 uwb: 0.0 845.032 1003.11 -imu_odom_: 1691062769.211086591 0.407014 -0.241814 9.88087 -0.0543285 -0.00426106 0.04048 0 0 pose: 0.42033589 0.221503 0.00433448 0 -0.00204031 -0.000463424-0.0369987 0.999313 uwb: 0.50039931 845.429 1003.78 -imu_odom_: 1691062769.225009029 0.407014 -0.251391 9.89284 -0.056459 -0.00532632 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00204031 -0.000463424-0.0369987 0.999313 uwb: 0.0 845.429 1003.78 -imu_odom_: 1691062769.239003796 0.40462 -0.237026 9.86172 -0.0553937 -0.00532632 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00204031 -0.000463424-0.0369987 0.999313 uwb: 0.0 845.429 1003.78 -imu_odom_: 1691062769.254011459 0.418985 -0.244209 9.90002 -0.056459 -0.00319579 0.0394148 0 0 pose: 0.42957240 0.221503 0.00433448 0 -0.00180397 -4.53319e-05-0.0369813 0.999314 uwb: 0.50007558 845.56 1003.24 -imu_odom_: 1691062769.268075346 0.407014 -0.25618 9.89524 -0.0543285 -0.00532632 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00180397 -4.53319e-05-0.0369813 0.999314 uwb: 0.0 845.56 1003.24 -imu_odom_: 1691062769.282000409 0.392649 -0.225055 9.88087 -0.0543285 -0.00532632 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00180397 -4.53319e-05-0.0369813 0.999314 uwb: 0.0 845.56 1003.24 -imu_odom_: 1691062769.295993426 0.418985 -0.251391 9.93833 -0.0553937 -0.00532632 0.04048 0 0 pose: 0.43055818 0.221503 0.00433448 0 -0.00159237 0.000283356 -0.036972 0.999315 uwb: 0.0 845.56 1003.24 -imu_odom_: 1691062769.309997817 0.440533 -0.258574 9.8689 -0.056459 -0.00426106 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00159237 0.000283356 -0.036972 0.999315 uwb: 0.49926771 845.801 1003.36 -imu_odom_: 1691062769.323993167 0.395043 -0.25618 9.86411 -0.0543285 -0.00426106 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00159237 0.000283356 -0.036972 0.999315 uwb: 0.0 845.801 1003.36 -imu_odom_: 1691062769.339113114 0.392649 -0.260968 9.88805 -0.0553937 -0.00426106 0.0394148 0 0 pose: 0.41974384 0.221503 0.00433448 0 -0.0022801 -0.00125277 -0.0369576 0.999313 uwb: 0.0 845.801 1003.36 -imu_odom_: 1691062769.352995305 0.402226 -0.229843 9.86411 -0.0532632 -0.00426106 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.0022801 -0.00125277 -0.0369576 0.999313 uwb: 0.50008433 845.865 1004.04 -imu_odom_: 1691062769.367008445 0.407014 -0.260968 9.85693 -0.0553937 -0.00319579 0.0383495 0 0 pose: 0.0 0.221503 0.00433448 0 -0.0022801 -0.00125277 -0.0369576 0.999313 uwb: 0.0 845.865 1004.04 -imu_odom_: 1691062769.382057814 0.416591 -0.241814 9.87848 -0.0543285 -0.00426106 0.04048 0 0 pose: 0.43004196 0.221503 0.00433448 0 -0.00176589 0.000123176 -0.0369529 0.999315 uwb: 0.0 845.865 1004.04 -imu_odom_: 1691062769.396055789 0.423774 -0.227449 9.91199 -0.052198 -0.00426106 0.0383495 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00176589 0.000123176 -0.0369529 0.999315 uwb: 0.0 845.865 1004.04 -imu_odom_: 1691062769.409981143 0.423774 -0.241814 9.89045 -0.056459 -0.00426106 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00176589 0.000123176 -0.0369529 0.999315 uwb: 0.50021265 845.913 1004.04 -imu_odom_: 1691062769.425033720 0.411803 -0.229843 9.88087 -0.0553937 -0.00426106 0.0394148 0 0 pose: 0.42969489 0.221503 0.00433448 0 -0.000480543-0.0013122 -0.0369634 0.999316 uwb: 0.0 845.913 1004.04 -imu_odom_: 1691062769.439032861 0.407014 -0.237026 9.87369 -0.0543285 -0.00213053 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.000480543-0.0013122 -0.0369634 0.999316 uwb: 0.0 845.913 1004.04 -imu_odom_: 1691062769.452979506 0.411803 -0.258574 9.86411 -0.0553937 -0.00532632 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.000480543-0.0013122 -0.0369634 0.999316 uwb: 0.49946312 845.944 1004.3 -imu_odom_: 1691062769.467000812 0.428562 -0.237026 9.87608 -0.0543285 -0.00532632 0.0394148 0 0 pose: 0.14099469 0.221503 0.00433448 0 -0.000896551-0.000561317-0.0369632 0.999316 uwb: 0.0 845.944 1004.3 -imu_odom_: 1691062769.481112530 0.399832 -0.246603 9.8665 -0.0553937 -0.00426106 0.0415453 0 0 pose: 0.0 0.221503 0.00433448 0 -0.000896551-0.000561317-0.0369632 0.999316 uwb: 0.0 845.944 1004.3 -imu_odom_: 1691062769.495048676 0.411803 -0.241814 9.90002 -0.056459 -0.00532632 0.0383495 0 0 pose: 0.0 0.221503 0.00433448 0 -0.000896551-0.000561317-0.0369632 0.999316 uwb: 0.0 845.944 1004.3 -imu_odom_: 1691062769.510000634 0.402226 -0.287304 9.89524 -0.0543285 -0.00426106 0.0394148 0 0 pose: 0.28865646 0.221503 0.00433448 0 -0.00226371 -0.000364653-0.0369579 0.999314 uwb: 0.49962936 845.968 1004.3 -imu_odom_: 1691062769.523996567 0.414197 -0.25618 9.90481 -0.056459 -0.00532632 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00226371 -0.000364653-0.0369579 0.999314 uwb: 0.0 845.968 1004.3 -imu_odom_: 1691062769.537991625 0.433351 -0.23942 9.88326 -0.056459 -0.00532632 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00226371 -0.000364653-0.0369579 0.999314 uwb: 0.0 845.968 1004.3 -imu_odom_: 1691062769.553040119 0.407014 -0.232238 9.88087 -0.0543285 -0.00532632 0.04048 0 0 pose: 0.42079086 0.221503 0.00433448 0 -0.00146837 -0.000157966-0.0369501 0.999316 uwb: 0.49961769 846.545 1003.48 -imu_odom_: 1691062769.568075488 0.402226 -0.246603 9.9096 -0.0553937 -0.00532632 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00146837 -0.000157966-0.0369501 0.999316 uwb: 0.0 846.545 1003.48 -imu_odom_: 1691062769.582110211 0.399832 -0.258574 9.89524 -0.0543285 -0.00426106 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00146837 -0.000157966-0.0369501 0.999316 uwb: 0.0 846.545 1003.48 -imu_odom_: 1691062769.597021338 0.416591 -0.208296 9.90242 -0.0553937 -0.00426106 0.0394148 0 0 pose: 0.42944991 0.221503 0.00433448 0 -0.00132901 -0.00139575 -0.0369594 0.999315 uwb: 0.0 846.545 1003.48 -imu_odom_: 1691062769.610974982 0.411803 -0.23942 9.92157 -0.056459 -0.00426106 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00132901 -0.00139575 -0.0369594 0.999315 uwb: 0.50094761 846.497 1004.42 -imu_odom_: 1691062769.625016996 0.42138 -0.234632 9.88087 -0.0553937 -0.00532632 0.0383495 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00132901 -0.00139575 -0.0369594 0.999315 uwb: 0.0 846.497 1004.42 -imu_odom_: 1691062769.640136944 0.438139 -0.258574 9.92875 -0.0553937 -0.00532632 0.04048 0 0 pose: 0.44108087 0.221503 0.00433448 0 -0.00240337 0.000139666 -0.0369505 0.999314 uwb: 0.0 846.497 1004.42 -imu_odom_: 1691062769.654190040 0.40462 -0.232238 9.89284 -0.0553937 -0.00426106 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00240337 0.000139666 -0.0369505 0.999314 uwb: 0.49999391 846.521 1004.42 -imu_odom_: 1691062769.669123624 0.438139 -0.234632 9.89045 -0.056459 -0.00532632 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00240337 0.000139666 -0.0369505 0.999314 uwb: 0.0 846.521 1004.42 -imu_odom_: 1691062769.683979630 0.395043 -0.260968 9.87608 -0.0543285 -0.00532632 0.04048 0 0 pose: 0.42934200 0.221503 0.00433448 0 -0.000680119-0.000527929-0.0369554 0.999317 uwb: 0.0 846.521 1004.42 -imu_odom_: 1691062769.697978480 0.399832 -0.251391 9.92157 -0.0553937 -0.00532632 0.0415453 0 0 pose: 0.0 0.221503 0.00433448 0 -0.000680119-0.000527929-0.0369554 0.999317 uwb: 0.0 846.521 1004.42 -imu_odom_: 1691062769.712064241 0.411803 -0.241814 9.85932 -0.0543285 -0.00426106 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.000680119-0.000527929-0.0369554 0.999317 uwb: 0.49993559 846.449 1004.42 -imu_odom_: 1691062769.727035156 0.418985 -0.241814 9.87369 -0.0553937 -0.00319579 0.04048 0 0 pose: 0.43090232 0.221503 0.00433448 0 -0.00132514 -0.00134082 -0.0369517 0.999315 uwb: 0.0 846.449 1004.42 -imu_odom_: 1691062769.741048588 0.430956 -0.260968 9.87129 -0.0543285 -0.00319579 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00132514 -0.00134082 -0.0369517 0.999315 uwb: 0.0 846.449 1004.42 -imu_odom_: 1691062769.755035772 0.414197 -0.234632 9.89763 -0.052198 -0.00319579 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00132514 -0.00134082 -0.0369517 0.999315 uwb: 0.49870775 846.251 1004.16 -imu_odom_: 1691062769.770114305 0.411803 -0.237026 9.9096 -0.056459 -0.00532632 0.04048 0 0 pose: 0.43884684 0.221503 0.00433448 0 -0.00163099 -1.05714e-05-0.036925 0.999317 uwb: 0.0 846.251 1004.16 -imu_odom_: 1691062769.784039660 0.414197 -0.251391 9.91199 -0.056459 -0.00532632 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00163099 -1.05714e-05-0.036925 0.999317 uwb: 0.0 846.251 1004.16 -imu_odom_: 1691062769.798050175 0.409408 -0.244209 9.87129 -0.0543285 -0.00532632 0.0372843 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00163099 -1.05714e-05-0.036925 0.999317 uwb: 0.0 846.251 1004.16 -imu_odom_: 1691062769.812966552 0.414197 -0.25618 9.90002 -0.0553937 -0.00426106 0.04048 0 0 pose: 0.43054942 0.221503 0.00433448 0 -0.00145826 -0.0015349 -0.0369245 0.999316 uwb: 0.50011641 845.94 1004.17 -imu_odom_: 1691062769.827002733 0.397437 -0.23942 9.88087 -0.0532632 -0.00426106 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00145826 -0.0015349 -0.0369245 0.999316 uwb: 0.0 845.94 1004.17 -imu_odom_: 1691062769.841003624 0.392649 -0.258574 9.88566 -0.0575243 -0.00319579 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00145826 -0.0015349 -0.0369245 0.999316 uwb: 0.0 845.94 1004.17 -imu_odom_: 1691062769.855992622 0.411803 -0.251391 9.88326 -0.056459 -0.00426106 0.04048 0 0 pose: 0.43004488 0.221503 0.00433448 0 -0.00141234 -0.000193729-0.0369257 0.999317 uwb: 0.50170590 845.793 1004.04 -imu_odom_: 1691062769.871110236 0.385466 -0.246603 9.89045 -0.056459 -0.00639159 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00141234 -0.000193729-0.0369257 0.999317 uwb: 0.0 845.793 1004.04 -imu_odom_: 1691062769.885246744 0.42138 -0.232238 9.88805 -0.056459 -0.00532632 0.0383495 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00141234 -0.000193729-0.0369257 0.999317 uwb: 0.0 845.793 1004.04 -imu_odom_: 1691062769.900105083 0.42138 -0.232238 9.87369 -0.0553937 -0.00532632 0.0383495 0 0 pose: 0.42931575 0.221503 0.00433448 0 -0.00164929 0.000579589 -0.0369181 0.999317 uwb: 0.49899356 845.916 1004.17 -imu_odom_: 1691062769.914113265 0.407014 -0.246603 9.85214 -0.0553937 -0.00532632 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00164929 0.000579589 -0.0369181 0.999317 uwb: 0.0 845.916 1004.17 -imu_odom_: 1691062769.928122031 0.407014 -0.237026 9.87848 -0.0553937 -0.00426106 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00164929 0.000579589 -0.0369181 0.999317 uwb: 0.0 845.916 1004.17 -imu_odom_: 1691062769.943112195 0.426168 -0.23942 9.87848 -0.056459 -0.00532632 0.04048 0 0 pose: 0.44179832 0.221503 0.00433448 0 -0.00140002 0.000249116 -0.0369141 0.999317 uwb: 0.0 845.916 1004.17 -imu_odom_: 1691062769.958118692 0.423774 -0.227449 9.88566 -0.056459 -0.00532632 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00140002 0.000249116 -0.0369141 0.999317 uwb: 0.49897315 845.814 1003.9 -imu_odom_: 1691062769.972116666 0.435745 -0.234632 9.87608 -0.0543285 -0.00532632 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00140002 0.000249116 -0.0369141 0.999317 uwb: 0.0 845.814 1003.9 -imu_odom_: 1691062769.987009711 0.423774 -0.248997 9.85453 -0.0543285 -0.00532632 0.0383495 0 0 pose: 0.43077983 0.221503 0.00433448 0 -0.00114439 -0.000111421-0.0369224 0.999317 uwb: 0.0 845.814 1003.9 -imu_odom_: 1691062770.2352187 0.430956 -0.234632 9.84017 -0.0543285 -0.00532632 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00114439 -0.000111421-0.0369224 0.999317 uwb: 0.50172048 845.923 1003.5 -imu_odom_: 1691062770.16035473 0.445322 -0.237026 9.90002 -0.0553937 -0.00426106 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00114439 -0.000111421-0.0369224 0.999317 uwb: 0.0 845.923 1003.5 -imu_odom_: 1691062770.31108466 0.409408 -0.237026 9.89524 -0.0553937 -0.00532632 0.04048 0 0 pose: 0.43854352 0.221503 0.00433448 0 -0.000439101-0.00148541 -0.0369198 0.999317 uwb: 0.0 845.923 1003.5 -imu_odom_: 1691062770.46227248 0.45011 -0.237026 9.88805 -0.0553937 -0.00426106 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.000439101-0.00148541 -0.0369198 0.999317 uwb: 0.0 845.923 1003.5 -imu_odom_: 1691062770.60069191 0.407014 -0.229843 9.86411 -0.0543285 -0.00426106 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.000439101-0.00148541 -0.0369198 0.999317 uwb: 0.50168549 846.016 1004.3 -imu_odom_: 1691062770.75108352 0.409408 -0.237026 9.88087 -0.056459 -0.00426106 0.0394148 0 0 pose: 0.88056643 0.221503 0.00433448 0 -0.00111441 -0.00218716 -0.0369185 0.999315 uwb: 0.0 846.016 1004.3 -imu_odom_: 1691062770.90119516 0.440533 -0.229843 9.92875 -0.0543285 -0.00426106 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00111441 -0.00218716 -0.0369185 0.999315 uwb: 0.0 846.016 1004.3 -imu_odom_: 1691062770.103961459 0.438139 -0.225055 9.87848 -0.0575243 -0.00319579 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00111441 -0.00218716 -0.0369185 0.999315 uwb: 0.49861444 845.848 1004.31 -imu_odom_: 1691062770.119114072 0.385466 -0.244209 9.88805 -0.0553937 -0.00639159 0.0394148 0 0 pose: 0.43847646 0.221503 0.00433448 0 -0.000547949-0.00183689 -0.0369146 0.999317 uwb: 0.0 845.848 1004.31 -imu_odom_: 1691062770.134154400 0.407014 -0.25618 9.91678 -0.056459 -0.00639159 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.000547949-0.00183689 -0.0369146 0.999317 uwb: 0.0 845.848 1004.31 -imu_odom_: 1691062770.148060506 0.40462 -0.23942 9.88566 -0.0543285 -0.00426106 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.000547949-0.00183689 -0.0369146 0.999317 uwb: 0.0 845.848 1004.31 -imu_odom_: 1691062770.162941302 0.414197 -0.246603 9.87129 -0.0553937 -0.00426106 0.0394148 0 0 pose: 0.43928724 0.221503 0.00433448 0 -0.00137083 -6.77339e-05-0.036908 0.999318 uwb: 0.49781532 845.952 1004.57 -imu_odom_: 1691062770.176948610 0.387861 -0.258574 9.89045 -0.056459 -0.00532632 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00137083 -6.77339e-05-0.036908 0.999318 uwb: 0.0 845.952 1004.57 -imu_odom_: 1691062770.191997396 0.438139 -0.265756 9.89524 -0.0553937 -0.00532632 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00137083 -6.77339e-05-0.036908 0.999318 uwb: 0.0 845.952 1004.57 -imu_odom_: 1691062770.206085491 0.442927 -0.244209 9.89524 -0.0543285 -0.00532632 0.0394148 0 0 pose: 0.43110066 0.221503 0.00433448 0 -0.00231361 0.000120323 -0.0369074 0.999316 uwb: 0.49992394 846.128 1004.03 -imu_odom_: 1691062770.221094904 0.438139 -0.253785 9.87848 -0.0543285 -0.00426106 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00231361 0.000120323 -0.0369074 0.999316 uwb: 0.0 846.128 1004.03 -imu_odom_: 1691062770.235142752 0.428562 -0.232238 9.87129 -0.0543285 -0.00319579 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00231361 0.000120323 -0.0369074 0.999316 uwb: 0.0 846.128 1004.03 -imu_odom_: 1691062770.250081878 0.433351 -0.265756 9.89284 -0.0543285 -0.00532632 0.0394148 0 0 pose: 0.44027593 0.221503 0.00433448 0 -0.00241524 -0.00129646 -0.0369008 0.999315 uwb: 0.50133844 846.099 1004.7 -imu_odom_: 1691062770.265085166 0.397437 -0.246603 9.89284 -0.0543285 -0.00532632 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00241524 -0.00129646 -0.0369008 0.999315 uwb: 0.0 846.099 1004.7 -imu_odom_: 1691062770.279101516 0.411803 -0.241814 9.91439 -0.0553937 -0.00426106 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00241524 -0.00129646 -0.0369008 0.999315 uwb: 0.0 846.099 1004.7 -imu_odom_: 1691062770.294082639 0.438139 -0.251391 9.87369 -0.0553937 -0.00639159 0.0394148 0 0 pose: 0.44026718 0.221503 0.00433448 0 -0.00154605 -0.000382238-0.0368941 0.999318 uwb: 0.0 846.099 1004.7 -imu_odom_: 1691062770.308066615 0.414197 -0.246603 9.90002 -0.056459 -0.00639159 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00154605 -0.000382238-0.0368941 0.999318 uwb: 0.49994144 846.159 1004.3 -imu_odom_: 1691062770.323074862 0.423774 -0.232238 9.85693 -0.0553937 -0.00426106 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00154605 -0.000382238-0.0368941 0.999318 uwb: 0.0 846.159 1004.3 -imu_odom_: 1691062770.338069693 0.416591 -0.225055 9.89524 -0.0553937 -0.00532632 0.0394148 0 0 pose: 0.42853707 0.221503 0.00433448 0 -0.00125606 -0.00063304 -0.0368938 0.999318 uwb: 0.0 846.159 1004.3 -imu_odom_: 1691062770.353069482 0.416591 -0.229843 9.88326 -0.0553937 -0.00532632 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00125606 -0.00063304 -0.0368938 0.999318 uwb: 0.49993852 846.036 1004.17 -imu_odom_: 1691062770.366960422 0.409408 -0.268151 9.89284 -0.056459 -0.00426106 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00125606 -0.00063304 -0.0368938 0.999318 uwb: 0.0 846.036 1004.17 -imu_odom_: 1691062770.382008333 0.426168 -0.241814 9.89284 -0.056459 -0.00745685 0.0394148 0 0 pose: 0.39097270 0.221503 0.00433448 0 -0.00108971 -0.00122662 -0.0368934 0.999318 uwb: 0.0 846.036 1004.17 -imu_odom_: 1691062770.396966999 0.423774 -0.251391 9.90242 -0.0553937 -0.00532632 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00108971 -0.00122662 -0.0368934 0.999318 uwb: 0.0 846.036 1004.17 -imu_odom_: 1691062770.411032637 0.426168 -0.222661 9.89763 -0.056459 -0.00426106 0.0394148 0 0 pose: 0.5882556 0.221503 0.00433448 0 -0.0015958 -0.000921396-0.0368898 0.999318 uwb: 0.49882151 845.817 1004.84 -imu_odom_: 1691062770.426072090 0.395043 -0.258574 9.88087 -0.0553937 -0.00532632 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.0015958 -0.000921396-0.0368898 0.999318 uwb: 0.0 845.817 1004.84 -imu_odom_: 1691062770.441129334 0.414197 -0.234632 9.8665 -0.0553937 -0.00532632 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.0015958 -0.000921396-0.0368898 0.999318 uwb: 0.0 845.817 1004.84 -imu_odom_: 1691062770.455074521 0.462081 -0.251391 9.89045 -0.0553937 -0.00426106 0.04048 0 0 pose: 0.43989970 0.221503 0.00433448 0 -0.00182537 -0.000867187-0.0368807 0.999318 uwb: 0.0 845.817 1004.84 -imu_odom_: 1691062770.470150722 0.440533 -0.246603 9.91199 -0.0553937 -0.00426106 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00182537 -0.000867187-0.0368807 0.999318 uwb: 0.0 845.817 1004.84 -imu_odom_: 1691062770.485128054 0.428562 -0.251391 9.88326 -0.0543285 -0.00213053 0.0383495 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00182537 -0.000867187-0.0368807 0.999318 uwb: 0.0 845.817 1004.84 -imu_odom_: 1691062770.499074408 0.402226 -0.241814 9.89524 -0.0553937 -0.00532632 0.04048 0 0 pose: 0.44135795 0.221503 0.00433448 0 -0.0010413 -0.00127448 -0.0368737 0.999319 uwb: 0.0 845.817 1004.84 -imu_odom_: 1691062770.514135151 0.430956 -0.241814 9.89045 -0.0553937 -0.00319579 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.0010413 -0.00127448 -0.0368737 0.999319 uwb: 0.99980414 845.689 1004.58 -imu_odom_: 1691062770.528928744 0.409408 -0.232238 9.89524 -0.0543285 -0.00639159 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.0010413 -0.00127448 -0.0368737 0.999319 uwb: 0.0 845.689 1004.58 -imu_odom_: 1691062770.542932844 0.416591 -0.251391 9.8689 -0.0553937 -0.00319579 0.04048 0 0 pose: 0.44061716 0.221503 0.00433448 0 -0.00134935 -0.000543166-0.0368752 0.999319 uwb: 0.0 845.689 1004.58 -imu_odom_: 1691062770.558084874 0.397437 -0.246603 9.8689 -0.0543285 -0.00426106 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00134935 -0.000543166-0.0368752 0.999319 uwb: 0.50148426 845.893 1004.98 -imu_odom_: 1691062770.573057540 0.399832 -0.263362 9.88566 -0.0553937 -0.00532632 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00134935 -0.000543166-0.0368752 0.999319 uwb: 0.0 845.893 1004.98 -imu_odom_: 1691062770.586908816 0.416591 -0.282516 9.89045 -0.0553937 -0.00532632 0.0415453 0 0 pose: 0.43850854 0.221503 0.00433448 0 -0.00125466 -0.000257561-0.0368636 0.999319 uwb: 0.0 845.893 1004.98 -imu_odom_: 1691062770.602060262 0.40462 -0.263362 9.89524 -0.0553937 -0.00426106 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00125466 -0.000257561-0.0368636 0.999319 uwb: 0.49978395 845.582 1004.99 -imu_odom_: 1691062770.616939891 0.414197 -0.244209 9.88566 -0.0543285 -0.00319579 0.0383495 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00125466 -0.000257561-0.0368636 0.999319 uwb: 0.0 845.582 1004.99 -imu_odom_: 1691062770.631057734 0.40462 -0.244209 9.88087 -0.0553937 -0.00532632 0.0394148 0 0 pose: 0.44077173 0.221503 0.00433448 0 -0.00323474 -0.000321539-0.0368494 0.999316 uwb: 0.0 845.582 1004.99 -imu_odom_: 1691062770.646056357 0.409408 -0.244209 9.84256 -0.0553937 -0.00319579 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00323474 -0.000321539-0.0368494 0.999316 uwb: 0.0 845.582 1004.99 -imu_odom_: 1691062770.660984400 0.414197 -0.246603 9.92875 -0.0553937 -0.00532632 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00323474 -0.000321539-0.0368494 0.999316 uwb: 0.50232421 845.534 1004.99 -imu_odom_: 1691062770.674985292 0.414197 -0.23942 9.90721 -0.0543285 -0.00319579 0.0383495 0 0 pose: 0.43992595 0.221503 0.00433448 0 -0.00147214 -0.000116089-0.0368531 0.99932 uwb: 0.0 845.534 1004.99 -imu_odom_: 1691062770.690109907 0.433351 -0.241814 9.93833 -0.0553937 -0.00426106 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00147214 -0.000116089-0.0368531 0.99932 uwb: 0.0 845.534 1004.99 -imu_odom_: 1691062770.705175025 0.407014 -0.253785 9.90481 -0.056459 -0.00532632 0.0383495 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00147214 -0.000116089-0.0368531 0.99932 uwb: 0.49758783 845.677 1004.98 -imu_odom_: 1691062770.718978179 0.430956 -0.263362 9.89045 -0.0553937 -0.00532632 0.0394148 0 0 pose: 0.43886727 0.221503 0.00433448 0 -0.00189647 -9.52827e-05-0.0368515 0.999319 uwb: 0.0 845.677 1004.98 -imu_odom_: 1691062770.733973885 0.426168 -0.227449 9.89284 -0.0553937 -0.00426106 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00189647 -9.52827e-05-0.0368515 0.999319 uwb: 0.0 845.677 1004.98 -imu_odom_: 1691062770.748972215 0.433351 -0.23942 9.91199 -0.0575243 -0.00426106 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00189647 -9.52827e-05-0.0368515 0.999319 uwb: 0.0 845.677 1004.98 -imu_odom_: 1691062770.762981273 0.416591 -0.244209 9.89763 -0.0553937 -0.00639159 0.04048 0 0 pose: 0.43995803 0.221503 0.00433448 0 -0.00228111 -0.00101197 -0.0368677 0.999317 uwb: 0.49878943 845.892 1005.65 -imu_odom_: 1691062770.777918649 0.411803 -0.234632 9.87848 -0.056459 -0.00532632 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00228111 -0.00101197 -0.0368677 0.999317 uwb: 0.0 845.892 1005.65 -imu_odom_: 1691062770.792983184 0.402226 -0.25618 9.90002 -0.0543285 -0.00532632 0.0383495 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00228111 -0.00101197 -0.0368677 0.999317 uwb: 0.0 845.892 1005.65 -imu_odom_: 1691062770.806930705 0.426168 -0.251391 9.85693 -0.0543285 -0.00426106 0.04048 0 0 pose: 0.44041301 0.221503 0.00433448 0 -0.0013689 -0.00220542 -0.0368636 0.999317 uwb: 0.49997352 845.815 1005.52 -imu_odom_: 1691062770.822049778 0.392649 -0.23942 9.88087 -0.056459 -0.00426106 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.0013689 -0.00220542 -0.0368636 0.999317 uwb: 0.0 845.815 1005.52 -imu_odom_: 1691062770.837059191 0.407014 -0.251391 9.91199 -0.0543285 -0.00426106 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.0013689 -0.00220542 -0.0368636 0.999317 uwb: 0.0 845.815 1005.52 -imu_odom_: 1691062770.851173243 0.433351 -0.237026 9.90481 -0.0553937 -0.00532632 0.0394148 0 0 pose: 0.43938932 0.221503 0.00433448 0 -0.00217949 -0.000407872-0.0368584 0.999318 uwb: 0.50300084 846.37 1005.63 -imu_odom_: 1691062770.866037123 0.37589 -0.241814 9.86172 -0.056459 -0.00426106 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00217949 -0.000407872-0.0368584 0.999318 uwb: 0.0 846.37 1005.63 -imu_odom_: 1691062770.881037787 0.397437 -0.232238 9.90721 -0.0543285 -0.00426106 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00217949 -0.000407872-0.0368584 0.999318 uwb: 0.0 846.37 1005.63 -imu_odom_: 1691062770.895901668 0.397437 -0.241814 9.88087 -0.0553937 -0.00426106 0.04048 0 0 pose: 0.44134628 0.221503 0.00433448 0 -0.00205672 -0.00097561 -0.0368522 0.999318 uwb: 0.0 846.37 1005.63 -imu_odom_: 1691062770.910910206 0.435745 -0.260968 9.90242 -0.0553937 -0.00532632 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00205672 -0.00097561 -0.0368522 0.999318 uwb: 0.49902566 846.365 1005.5 -imu_odom_: 1691062770.925964242 0.407014 -0.23942 9.86411 -0.0532632 -0.00426106 0.0383495 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00205672 -0.00097561 -0.0368522 0.999318 uwb: 0.0 846.365 1005.5 -imu_odom_: 1691062770.940907451 0.445322 -0.246603 9.8689 -0.0543285 -0.00532632 0.0394148 0 0 pose: 0.58867267 0.221503 0.00433448 0 -0.00171697 -0.000213511-0.0368337 0.99932 uwb: 0.0 846.365 1005.5 -imu_odom_: 1691062770.955904907 0.40462 -0.246603 9.86411 -0.0543285 -0.00426106 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00171697 -0.000213511-0.0368337 0.99932 uwb: 0.50056265 846.236 1005.91 -imu_odom_: 1691062770.970955151 0.442927 -0.25618 9.91199 -0.0575243 -0.00532632 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00171697 -0.000213511-0.0368337 0.99932 uwb: 0.0 846.236 1005.91 -imu_odom_: 1691062770.984948751 0.411803 -0.23942 9.8689 -0.0543285 -0.00532632 0.0394148 0 0 pose: 0.29989661 0.221503 0.00433448 0 -0.00123046 -0.000518809-0.0368449 0.99932 uwb: 0.0 846.236 1005.91 -imu_odom_: 1691062770.999953498 0.418985 -0.229843 9.88326 -0.0553937 -0.00426106 0.0394148 0 0 pose: 0.15049370 0.221503 0.00433448 0 -0.00155403 -0.000782271-0.0368428 0.99932 uwb: 0.49761409 846.093 1005.91 -imu_odom_: 1691062771.13891686 0.409408 -0.244209 9.87129 -0.0553937 -0.00426106 0.0383495 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00155403 -0.000782271-0.0368428 0.99932 uwb: 0.0 846.093 1005.91 -imu_odom_: 1691062771.28937264 0.447716 -0.272939 9.8665 -0.0553937 -0.00319579 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00155403 -0.000782271-0.0368428 0.99932 uwb: 0.0 846.093 1005.91 -imu_odom_: 1691062771.42877202 0.40462 -0.253785 9.90721 -0.0553937 -0.00532632 0.0394148 0 0 pose: 0.30002786 0.221503 0.00433448 0 -0.00167471 -0.000890505-0.036833 0.99932 uwb: 0.0 846.093 1005.91 -imu_odom_: 1691062771.57933280 0.416591 -0.263362 9.87608 -0.0543285 -0.00426106 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00167471 -0.000890505-0.036833 0.99932 uwb: 0.50009019 845.783 1005.92 -imu_odom_: 1691062771.71931256 0.416591 -0.248997 9.8689 -0.056459 -0.00319579 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00167471 -0.000890505-0.036833 0.99932 uwb: 0.0 845.783 1005.92 -imu_odom_: 1691062771.85872652 0.426168 -0.23942 9.89763 -0.0543285 -0.00426106 0.0394148 0 0 pose: 0.42988449 0.221503 0.00433448 0 -0.00173235 -0.000916778-0.0368404 0.999319 uwb: 0.0 845.783 1005.92 -imu_odom_: 1691062771.100876233 0.399832 -0.258574 9.88805 -0.056459 -0.00319579 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00173235 -0.000916778-0.0368404 0.999319 uwb: 0.49937566 845.606 1005.66 -imu_odom_: 1691062771.114869542 0.428562 -0.25618 9.88805 -0.0553937 -0.00532632 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00173235 -0.000916778-0.0368404 0.999319 uwb: 0.0 845.606 1005.66 -imu_odom_: 1691062771.129868165 0.428562 -0.222661 9.89045 -0.0553937 -0.00426106 0.0394148 0 0 pose: 0.43985014 0.221503 0.00433448 0 -0.00261687 -0.000948619-0.0368355 0.999317 uwb: 0.0 845.606 1005.66 -imu_odom_: 1691062771.143927096 0.423774 -0.25618 9.87369 -0.0543285 -0.00532632 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00261687 -0.000948619-0.0368355 0.999317 uwb: 0.0 845.606 1005.66 -imu_odom_: 1691062771.157926530 0.433351 -0.248997 9.89045 -0.0553937 -0.00426106 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00261687 -0.000948619-0.0368355 0.999317 uwb: 0.49998521 845.553 1005.53 -imu_odom_: 1691062771.172869448 0.416591 -0.251391 9.88326 -0.056459 -0.00532632 0.04048 0 0 pose: 0.42943244 0.221503 0.00433448 0 -0.00201729 -0.000910318-0.0368356 0.999319 uwb: 0.0 845.553 1005.53 -imu_odom_: 1691062771.187869529 0.428562 -0.268151 9.92636 -0.0553937 -0.00532632 0.0383495 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00201729 -0.000910318-0.0368356 0.999319 uwb: 0.0 845.553 1005.53 -imu_odom_: 1691062771.201920585 0.407014 -0.229843 9.88087 -0.0553937 -0.00426106 0.0383495 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00201729 -0.000910318-0.0368356 0.999319 uwb: 0.50126263 845.65 1004.85 -imu_odom_: 1691062771.217045492 0.42138 -0.25618 9.84496 -0.0553937 -0.00213053 0.0394148 0 0 pose: 0.42995158 0.221503 0.00433448 0 -0.00186008 -0.0014255 -0.0368413 0.999318 uwb: 0.0 845.65 1004.85 -imu_odom_: 1691062771.231893624 0.447716 -0.258574 9.87369 -0.0543285 -0.00532632 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00186008 -0.0014255 -0.0368413 0.999318 uwb: 0.0 845.65 1004.85 -imu_odom_: 1691062771.246020508 0.426168 -0.248997 9.91439 -0.0532632 -0.00532632 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00186008 -0.0014255 -0.0368413 0.999318 uwb: 0.0 845.65 1004.85 -imu_odom_: 1691062771.261018840 0.416591 -0.251391 9.93115 -0.0553937 -0.00426106 0.0383495 0 0 pose: 0.43995513 0.221503 0.00433448 0 -0.00265561 -0.00116867 -0.0368475 0.999317 uwb: 0.50119846 845.143 1005.41 -imu_odom_: 1691062771.276014254 0.418985 -0.229843 9.92157 -0.0553937 -0.00319579 0.0415453 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00265561 -0.00116867 -0.0368475 0.999317 uwb: 0.0 845.143 1005.41 -imu_odom_: 1691062771.291147911 0.416591 -0.244209 9.92875 -0.0553937 -0.00426106 0.0394148 0 0 pose: 0.44029345 0.221503 0.00433448 0 -0.00204597 -0.00169396 -0.0368558 0.999317 uwb: 0.0 845.143 1005.41 -imu_odom_: 1691062771.305922547 0.416591 -0.244209 9.87848 -0.0543285 -0.00532632 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00204597 -0.00169396 -0.0368558 0.999317 uwb: 0.49882736 844.847 1005.15 -imu_odom_: 1691062771.320911254 0.433351 -0.248997 9.87369 -0.0553937 -0.00532632 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00204597 -0.00169396 -0.0368558 0.999317 uwb: 0.0 844.847 1005.15 -imu_odom_: 1691062771.335041055 0.426168 -0.248997 9.89284 -0.0543285 -0.00426106 0.04048 0 0 pose: 0.44122672 0.221503 0.00433448 0 -0.0017608 -0.000725468-0.0368449 0.999319 uwb: 0.0 844.847 1005.15 -imu_odom_: 1691062771.349930310 0.409408 -0.225055 9.92636 -0.0553937 -0.00319579 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.0017608 -0.000725468-0.0368449 0.999319 uwb: 0.49878945 844.919 1005.14 -imu_odom_: 1691062771.364892768 0.445322 -0.248997 9.89763 -0.0543285 -0.00532632 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.0017608 -0.000725468-0.0368449 0.999319 uwb: 0.0 844.919 1005.14 -imu_odom_: 1691062771.378910576 0.395043 -0.237026 9.91678 -0.0553937 -0.00532632 0.0394148 0 0 pose: 0.45081322 0.221503 0.00433448 0 -0.00182812 -0.00121284 -0.0368298 0.999319 uwb: 0.0 844.919 1005.14 -imu_odom_: 1691062771.393877409 0.430956 -0.244209 9.90242 -0.056459 -0.00426106 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00182812 -0.00121284 -0.0368298 0.999319 uwb: 0.0 844.919 1005.14 -imu_odom_: 1691062771.408940487 0.409408 -0.241814 9.91678 -0.0532632 -0.00426106 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00182812 -0.00121284 -0.0368298 0.999319 uwb: 0.0 844.919 1005.14 -imu_odom_: 1691062771.422884508 0.407014 -0.205901 9.87369 -0.0543285 -0.00532632 0.0394148 0 0 pose: 0.43920268 0.221503 0.00433448 0 -0.00112719 -0.000727374-0.0368276 0.999321 uwb: 0.0 844.919 1005.14 -imu_odom_: 1691062771.437940294 0.409408 -0.246603 9.89045 -0.0553937 -0.00745685 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00112719 -0.000727374-0.0368276 0.999321 uwb: 0.0 844.919 1005.14 -imu_odom_: 1691062771.452884087 0.423774 -0.248997 9.8665 -0.0543285 -0.00319579 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00112719 -0.000727374-0.0368276 0.999321 uwb: 0.100049246 844.904 1005.42 -imu_odom_: 1691062771.466889645 0.433351 -0.25618 9.92636 -0.0553937 -0.00319579 0.04048 0 0 pose: 0.43856980 0.221503 0.00433448 0 -0.0007339012.13329e-06 -0.0368301 0.999321 uwb: 0.0 844.904 1005.42 -imu_odom_: 1691062771.481930849 0.414197 -0.251391 9.89524 -0.0553937 -0.00639159 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.0007339012.13329e-06 -0.0368301 0.999321 uwb: 0.0 844.904 1005.42 -imu_odom_: 1691062771.496865892 0.392649 -0.232238 9.89045 -0.0553937 -0.00532632 0.0415453 0 0 pose: 0.0 0.221503 0.00433448 0 -0.0007339012.13329e-06 -0.0368301 0.999321 uwb: 0.0 844.904 1005.42 -imu_odom_: 1691062771.510851911 0.418985 -0.248997 9.88087 -0.0543285 -0.00532632 0.04048 0 0 pose: 0.44054135 0.221503 0.00433448 0 -0.00238182 -0.00106707 -0.0368305 0.999318 uwb: 0.49981313 845.164 1004.6 -imu_odom_: 1691062771.525963985 0.433351 -0.258574 9.88087 -0.0532632 -0.00532632 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00238182 -0.00106707 -0.0368305 0.999318 uwb: 0.0 845.164 1004.6 -imu_odom_: 1691062771.540918277 0.407014 -0.263362 9.89045 -0.056459 -0.00532632 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00238182 -0.00106707 -0.0368305 0.999318 uwb: 0.0 845.164 1004.6 -imu_odom_: 1691062771.554866381 0.407014 -0.246603 9.91918 -0.0553937 -0.00532632 0.04048 0 0 pose: 0.43937183 0.221503 0.00433448 0 -0.00112532 0.000287349 -0.0368091 0.999322 uwb: 0.50115472 845.145 1004.73 -imu_odom_: 1691062771.569918667 0.42138 -0.251391 9.91199 -0.056459 -0.00426106 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00112532 0.000287349 -0.0368091 0.999322 uwb: 0.0 845.145 1004.73 -imu_odom_: 1691062771.584920790 0.418985 -0.253785 9.8689 -0.0553937 -0.00639159 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00112532 0.000287349 -0.0368091 0.999322 uwb: 0.0 845.145 1004.73 -imu_odom_: 1691062771.599852334 0.395043 -0.215478 9.85693 -0.0553937 -0.00426106 0.0394148 0 0 pose: 0.44059968 0.221503 0.00433448 0 -0.00190396 -0.000145043-0.036788 0.999321 uwb: 0.49672457 844.838 1004.88 -imu_odom_: 1691062771.614855331 0.411803 -0.237026 9.87608 -0.0543285 -0.00532632 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00190396 -0.000145043-0.036788 0.999321 uwb: 0.0 844.838 1004.88 -imu_odom_: 1691062771.629025088 0.423774 -0.241814 9.87608 -0.056459 -0.00426106 0.0383495 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00190396 -0.000145043-0.036788 0.999321 uwb: 0.0 844.838 1004.88 -imu_odom_: 1691062771.643858638 0.40462 -0.237026 9.89045 -0.0532632 -0.00319579 0.0394148 0 0 pose: 0.43925518 0.221503 0.00433448 0 -0.0009934830.00027355 -0.036778 0.999323 uwb: 0.0 844.838 1004.88 -imu_odom_: 1691062771.658912674 0.423774 -0.263362 9.8689 -0.0543285 -0.00532632 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.0009934830.00027355 -0.036778 0.999323 uwb: 0.50141429 844.828 1005.96 -imu_odom_: 1691062771.672909192 0.414197 -0.248997 9.84256 -0.0553937 -0.00532632 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.0009934830.00027355 -0.036778 0.999323 uwb: 0.0 844.828 1005.96 -imu_odom_: 1691062771.688024474 0.402226 -0.232238 9.85453 -0.056459 -0.00426106 0.04048 0 0 pose: 0.44061134 0.221503 0.00433448 0 -0.00151664 -0.00130782 -0.0367902 0.999321 uwb: 0.0 844.828 1005.96 -imu_odom_: 1691062771.702855982 0.395043 -0.229843 9.91439 -0.0553937 -0.00426106 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00151664 -0.00130782 -0.0367902 0.999321 uwb: 0.50160677 844.59 1005.97 -imu_odom_: 1691062771.717008532 0.414197 -0.258574 9.86411 -0.056459 -0.00532632 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00151664 -0.00130782 -0.0367902 0.999321 uwb: 0.0 844.59 1005.97 -imu_odom_: 1691062771.732052069 0.438139 -0.234632 9.88087 -0.0543285 -0.00319579 0.0394148 0 0 pose: 0.82086013 0.221503 0.00433448 0 -0.00259448 -0.000855684-0.0367737 0.99932 uwb: 0.0 844.59 1005.97 -imu_odom_: 1691062771.746999362 0.409408 -0.241814 9.93354 -0.0553937 -0.00319579 0.0394148 0 0 pose: 0.6035964 0.221503 0.00433448 0 -0.0020723 -0.00116263 -0.0367755 0.999321 uwb: 0.0 844.59 1005.97 -imu_odom_: 1691062771.760988880 0.418985 -0.246603 9.89524 -0.0543285 -0.00639159 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.0020723 -0.00116263 -0.0367755 0.999321 uwb: 0.49833156 844.82 1006.91 -imu_odom_: 1691062771.775990711 0.430956 -0.237026 9.88805 -0.0553937 -0.00319579 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.0020723 -0.00116263 -0.0367755 0.999321 uwb: 0.0 844.82 1006.91 -imu_odom_: 1691062771.790991667 0.430956 -0.241814 9.89524 -0.0553937 -0.00426106 0.0394148 0 0 pose: 0.37944384 0.221503 0.00433448 0 -0.00193122 -0.00143224 -0.0367727 0.999321 uwb: 0.0 844.82 1006.91 -imu_odom_: 1691062771.805268167 0.433351 -0.244209 9.88326 -0.0543285 -0.00532632 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00193122 -0.00143224 -0.0367727 0.999321 uwb: 0.50128304 844.271 1006.94 -imu_odom_: 1691062771.819984766 0.433351 -0.237026 9.90002 -0.056459 -0.00319579 0.0415453 0 0 pose: 0.21012129 0.221503 0.00433448 0 -0.00103445 -0.00135008 -0.0367757 0.999322 uwb: 0.0 844.271 1006.94 -imu_odom_: 1691062771.834857105 0.430956 -0.234632 9.87129 -0.0543285 -0.00426106 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00103445 -0.00135008 -0.0367757 0.999322 uwb: 0.0 844.271 1006.94 -imu_odom_: 1691062771.848994780 0.407014 -0.244209 9.90481 -0.0543285 -0.00319579 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00103445 -0.00135008 -0.0367757 0.999322 uwb: 0.0 844.271 1006.94 -imu_odom_: 1691062771.863858662 0.402226 -0.229843 9.89284 -0.052198 -0.00532632 0.0383495 0 0 pose: 0.28994266 0.221503 0.00433448 0 -0.00107953 -0.00154866 -0.0367648 0.999322 uwb: 0.49738370 844.177 1006.4 -imu_odom_: 1691062771.878984735 0.457293 -0.234632 9.95509 -0.0553937 -0.00426106 0.0394148 0 0 pose: 0.29875336 0.221503 0.00433448 0 -0.000820368-0.00103939 -0.0367576 0.999323 uwb: 0.0 844.177 1006.4 -imu_odom_: 1691062771.892981836 0.416591 -0.232238 9.87369 -0.0553937 -0.00319579 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.000820368-0.00103939 -0.0367576 0.999323 uwb: 0.0 844.177 1006.4 -imu_odom_: 1691062771.907929129 0.402226 -0.222661 9.90242 -0.0553937 -0.00426106 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.000820368-0.00103939 -0.0367576 0.999323 uwb: 0.50134137 843.83 1006.68 -imu_odom_: 1691062771.923039745 0.42138 -0.222661 9.89524 -0.0553937 -0.00532632 0.0394148 0 0 pose: 0.14009934 0.221503 0.00433448 0 -0.00085943 -8.34339e-06-0.0367606 0.999324 uwb: 0.0 843.83 1006.68 -imu_odom_: 1691062771.937105966 0.428562 -0.241814 9.85932 -0.056459 -0.00532632 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00085943 -8.34339e-06-0.0367606 0.999324 uwb: 0.0 843.83 1006.68 -imu_odom_: 1691062771.951984138 0.40462 -0.260968 9.87129 -0.0553937 -0.00532632 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00085943 -8.34339e-06-0.0367606 0.999324 uwb: 0.49964398 843.627 1006.96 -imu_odom_: 1691062771.966999385 0.395043 -0.227449 9.91199 -0.0543285 -0.00319579 0.0394148 0 0 pose: 0.44173711 0.221503 0.00433448 0 -0.00115719 -3.17541e-05-0.0367567 0.999324 uwb: 0.0 843.627 1006.96 -imu_odom_: 1691062771.981036150 0.440533 -0.253785 9.88326 -0.056459 -0.00319579 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00115719 -3.17541e-05-0.0367567 0.999324 uwb: 0.0 843.627 1006.96 -imu_odom_: 1691062771.996098061 0.423774 -0.260968 9.87129 -0.056459 -0.00319579 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00115719 -3.17541e-05-0.0367567 0.999324 uwb: 0.0 843.627 1006.96 -imu_odom_: 1691062772.10984983 0.423774 -0.234632 9.90242 -0.0553937 -0.00532632 0.04048 0 0 pose: 0.43993763 0.221503 0.00433448 0 -0.00213693 -0.000621598-0.0367525 0.999322 uwb: 0.50051017 844.052 1006.26 -imu_odom_: 1691062772.25040122 0.407014 -0.260968 9.86411 -0.0553937 -0.00532632 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00213693 -0.000621598-0.0367525 0.999322 uwb: 0.0 844.052 1006.26 -imu_odom_: 1691062772.40032330 0.399832 -0.248997 9.89524 -0.0553937 -0.00532632 0.0383495 0 0 pose: 0.43944767 0.221503 0.00433448 0 -0.00218238 -0.000931442-0.0367545 0.999322 uwb: 0.0 844.052 1006.26 -imu_odom_: 1691062772.55048160 0.390255 -0.241814 9.91439 -0.0553937 -0.00319579 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00218238 -0.000931442-0.0367545 0.999322 uwb: 0.50030896 844.523 1006.11 -imu_odom_: 1691062772.69028638 0.409408 -0.227449 9.89763 -0.0553937 -0.00319579 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00218238 -0.000931442-0.0367545 0.999322 uwb: 0.0 844.523 1006.11 -imu_odom_: 1691062772.83852564 0.411803 -0.248997 9.93833 -0.0553937 -0.00426106 0.0394148 0 0 pose: 0.44101091 0.221503 0.00433448 0 -0.00192478 0.000182563 -0.0367513 0.999323 uwb: 0.0 844.523 1006.11 -imu_odom_: 1691062772.98861686 0.428562 -0.229843 9.88566 -0.0553937 -0.00319579 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00192478 0.000182563 -0.0367513 0.999323 uwb: 0.49830241 844.755 1006.51 -imu_odom_: 1691062772.113038735 0.407014 -0.232238 9.88087 -0.0543285 -0.00532632 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00192478 0.000182563 -0.0367513 0.999323 uwb: 0.0 844.755 1006.51 -imu_odom_: 1691062772.127848370 0.407014 -0.260968 9.88566 -0.0543285 -0.00426106 0.0394148 0 0 pose: 0.43781444 0.221503 0.00433448 0 -0.00156835 -8.31045e-05-0.0367447 0.999323 uwb: 0.0 844.755 1006.51 -imu_odom_: 1691062772.142971819 0.418985 -0.201113 9.88326 -0.0553937 -0.00532632 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00156835 -8.31045e-05-0.0367447 0.999323 uwb: 0.0 844.755 1006.51 -imu_odom_: 1691062772.156869468 0.416591 -0.234632 9.88326 -0.0553937 -0.00532632 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00156835 -8.31045e-05-0.0367447 0.999323 uwb: 0.50113724 844.564 1007.06 -imu_odom_: 1691062772.171939546 0.407014 -0.244209 9.89524 -0.0553937 -0.00426106 0.04048 0 0 pose: 0.44106634 0.221503 0.00433448 0 -0.00153988 -1.61067e-05-0.0367425 0.999324 uwb: 0.0 844.564 1007.06 -imu_odom_: 1691062772.186932045 0.416591 -0.244209 9.85932 -0.0543285 -0.00532632 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00153988 -1.61067e-05-0.0367425 0.999324 uwb: 0.0 844.564 1007.06 -imu_odom_: 1691062772.201867964 0.399832 -0.25618 9.88326 -0.0553937 -0.00319579 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00153988 -1.61067e-05-0.0367425 0.999324 uwb: 0.49995606 844.433 1007.34 -imu_odom_: 1691062772.216891086 0.411803 -0.253785 9.90002 -0.0543285 -0.00426106 0.0394148 0 0 pose: 0.43978891 0.221503 0.00433448 0 -0.00159446 -0.00107276 -0.0367439 0.999323 uwb: 0.0 844.433 1007.34 -imu_odom_: 1691062772.230964599 0.414197 -0.25618 9.89524 -0.0553937 -0.00426106 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00159446 -0.00107276 -0.0367439 0.999323 uwb: 0.0 844.433 1007.34 -imu_odom_: 1691062772.246021261 0.438139 -0.241814 9.88326 -0.0553937 -0.00426106 0.0415453 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00159446 -0.00107276 -0.0367439 0.999323 uwb: 0.0 844.433 1007.34 -imu_odom_: 1691062772.260957471 0.414197 -0.220267 9.92157 -0.0553937 -0.00532632 0.0394148 0 0 pose: 0.45040200 0.221503 0.00433448 0 -0.00213357 -0.000833318-0.036734 0.999322 uwb: 0.50100016 844.486 1006.93 -imu_odom_: 1691062772.274946990 0.42138 -0.265756 9.91199 -0.0543285 -0.00532632 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00213357 -0.000833318-0.036734 0.999322 uwb: 0.0 844.486 1006.93 -imu_odom_: 1691062772.289943280 0.45011 -0.241814 9.89045 -0.0543285 -0.00426106 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00213357 -0.000833318-0.036734 0.999322 uwb: 0.0 844.486 1006.93 -imu_odom_: 1691062772.304940154 0.409408 -0.258574 9.89763 -0.0543285 -0.00426106 0.04048 0 0 pose: 0.44113925 0.221503 0.00433448 0 -0.00104629 -0.00125954 -0.0367236 0.999324 uwb: 0.49942234 844.939 1006.91 -imu_odom_: 1691062772.318811846 0.435745 -0.263362 9.89524 -0.0553937 -0.00426106 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00104629 -0.00125954 -0.0367236 0.999324 uwb: 0.0 844.939 1006.91 -imu_odom_: 1691062772.340880328 0.457293 -0.232238 9.92636 -0.0543285 -0.00319579 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00104629 -0.00125954 -0.0367236 0.999324 uwb: 0.0 844.939 1006.91 -imu_odom_: 1691062772.357985239 -0.0574608 -0.332794 9.75158 -0.0660464 0.036219 -0.00213053 0 0 pose: 0.43959934 0.221503 0.00433448 0 -0.00170833 -0.00167187 -0.0367168 0.999323 uwb: 0.49843949 845.273 1006.89 -imu_odom_: 1691062772.375087817 -0.258574 -0.0311246 10.2208 -0.0415453 0.0213053 -0.120375 0.02 0.02 pose: 0.0 0.221503 0.00433448 0 -0.00170833 -0.00167187 -0.0367168 0.999323 uwb: 0.0 845.273 1006.89 -imu_odom_: 1691062772.392082194 -1.26653 0.1652 9.36612 -0.0639159 0.0276969 -0.0575243 0.02 0.02 pose: 0.70026921 0.221503 0.00433448 0 -0.0008170160.000108292 -0.0377057 0.999289 uwb: 0.0 845.273 1006.89 -imu_odom_: 1691062772.408001261 -0.952892 -0.912191 10.0413 -0.092678 -0.0308927 0.0756338 0.05 0.05 pose: 0.0 0.221503 0.00433448 0 -0.0008170160.000108292 -0.0377057 0.999289 uwb: 0.50111682 845.112 1007.04 -imu_odom_: 1691062772.425037926 -0.11971 -0.849942 9.87608 -0.0447411 -0.0820254 0.0692422 0.05 0.05 pose: 0.0 0.221503 0.00433448 0 -0.0008170160.000108292 -0.0377057 0.999289 uwb: 0.0 845.112 1007.04 -imu_odom_: 1691062772.441985055 0.4956 0.102951 9.93594 -0.0511327 -0.0383495 0.0969391 0.05 0.05 pose: 0.33912340 0.22973 0.0100186 0 -0.0005641530.00359875 -0.0391039 0.999229 uwb: 0.0 845.112 1007.04 -imu_odom_: 1691062772.456975804 0.304064 0.258574 9.66539 -0.0735032 0.0223706 0.126766 0.06 0.02 pose: 0.41970889 0.235391 0.00177518 0 -0.0008245880.0035056 -0.038221 0.999263 uwb: 0.50057144 845.13 1006.9 -imu_odom_: 1691062772.473136065 0.196325 -0.3304 10.2472 -0.0639159 0.0276969 0.0852212 0.06 0.02 pose: 0.7001322 0.235391 0.00177518 0 -0.0001834830.00362122 -0.0379134 0.999274 uwb: 0.0 845.13 1006.9 -imu_odom_: 1691062772.488131189 -0.335188 -0.213084 9.47864 -0.0681769 0.0138484 0.0458064 0.06 0.02 pose: 0.0 0.235391 0.00177518 0 -0.0001834830.00362122 -0.0379134 0.999274 uwb: 0.0 845.13 1006.9 -imu_odom_: 1691062772.505197602 0.0909797 -0.237026 9.98382 -0.072438 -0.00426106 0.0756338 0.08 0.05 pose: 0.39144812 0.235391 0.00177518 0 -0.0005773650.00686525 -0.0371492 0.999286 uwb: 0.50188385 845.166 1007.17 -imu_odom_: 1691062772.519074836 0.0885855 -0.505177 9.83299 -0.076699 -0.015979 0.0916127 0.09 0.02 pose: 0.0 0.235391 0.00177518 0 -0.0005773650.00686525 -0.0371492 0.999286 uwb: 0.0 845.166 1007.17 -imu_odom_: 1691062772.534077834 0.399832 -0.373495 10.1035 -0.0639159 -0.0213053 0.0852212 0.09 0.02 pose: 0.0 0.235391 0.00177518 0 -0.0005773650.00686525 -0.0371492 0.999286 uwb: 0.0 845.166 1007.17 -imu_odom_: 1691062772.550949718 0.0933739 -0.263362 9.36612 -0.0596548 -0.00106526 0.0713727 0.09 0.02 pose: 0.23014299 0.235391 0.00177518 0 -0.00128906 0.008852 -0.0366881 0.999287 uwb: 0.49736622 845.363 1006.75 -imu_odom_: 1691062772.568954366 0.0957681 -0.155623 9.51456 -0.0458064 -0.0106526 0.076699 0.14 0.02 pose: 0.0 0.235391 0.00177518 0 -0.00128906 0.008852 -0.0366881 0.999287 uwb: 0.0 845.363 1006.75 -imu_odom_: 1691062772.583077751 0.246603 -0.244209 10.2113 -0.0575243 0.0149137 0.0841559 0.14 0.02 pose: 0.0 0.235391 0.00177518 0 -0.00128906 0.008852 -0.0366881 0.999287 uwb: 0.0 845.363 1006.75 -imu_odom_: 1691062772.598934405 0.23942 -0.280122 10.1562 -0.052198 0.00852212 0.0777643 0.11 0.02 pose: 0.71932263 0.243657 0.00740406 0 -0.00134369 0.00951067 -0.0352165 0.999334 uwb: 0.0 845.363 1006.75 -imu_odom_: 1691062772.614928718 0.1652 -0.368707 9.61272 -0.0436758 -0.0415453 0.0671117 0.11 0.02 pose: 0.0 0.243657 0.00740406 0 -0.00134369 0.00951067 -0.0352165 0.999334 uwb: 0.49876030 845.645 1006.07 -imu_odom_: 1691062772.631927177 0.517148 -0.0909797 9.62708 -0.0479369 -0.0511327 0.105461 0.11 0.02 pose: 0.0 0.243657 0.00740406 0 -0.00134369 0.00951067 -0.0352165 0.999334 uwb: 0.0 845.645 1006.07 -imu_odom_: 1691062772.648927970 0.823605 -0.371101 9.94791 -0.0585895 0.00532632 0.173638 0.09 0 pose: 0.6772377 0.243657 0.00740406 0 -0.00186864 0.00914152 -0.0350932 0.99934 uwb: 0.50237675 845.654 1005.66 -imu_odom_: 1691062772.665920304 1.25456 -0.708684 10.1418 -0.052198 -0.0426106 0.165116 0.09 0 pose: 0.0 0.243657 0.00740406 0 -0.00186864 0.00914152 -0.0350932 0.99934 uwb: 0.0 845.654 1005.66 -imu_odom_: 1691062772.682041193 1.28569 -0.150835 9.44034 -0.036219 0.00426106 0.0585895 0.09 0 pose: 0.0 0.243657 0.00740406 0 -0.00186864 0.00914152 -0.0350932 0.99934 uwb: 0.0 845.654 1005.66 -imu_odom_: 1691062772.698933783 0.85473 0.318429 10.0365 -0.0553937 0.0298274 0.0575243 0.1 -0.02 pose: 0.49956525 0.249301 -0.0008506640 -0.00292043 0.00679392 -0.0336279 0.999407 uwb: 0.0 845.654 1005.66 -imu_odom_: 1691062772.715857872 0.529119 -0.342371 9.8665 -0.076699 -0.00319579 0.0639159 0.06 0.02 pose: 0.0 0.249301 -0.0008506640 -0.00292043 0.00679392 -0.0336279 0.999407 uwb: 0.0 845.654 1005.66 -imu_odom_: 1691062772.731851601 0.852336 -0.402226 10.0078 -0.056459 -0.0266316 0.0170442 0.06 0.02 pose: 0.67009814 0.257539 0.00481792 0 -0.00269174 0.00104393 -0.0315733 0.999497 uwb: 0.0 845.654 1005.66 -imu_odom_: 1691062772.747794000 0.840365 -0.241814 9.77074 -0.0426106 -0.0181095 0.0170442 0.06 0.02 pose: 0.0 0.257539 0.00481792 0 -0.00269174 0.00104393 -0.0315733 0.999497 uwb: 0.0 845.654 1005.66 -imu_odom_: 1691062772.763794146 0.90022 -0.126893 9.96467 -0.0575243 0 0.0532632 0.05 0.02 pose: 0.0 0.257539 0.00481792 0 -0.00269174 0.00104393 -0.0315733 0.999497 uwb: 0.99935798 845.792 1005.52 -imu_odom_: 1691062772.779854954 0.550666 -0.428562 9.74919 -0.056459 0.00532632 0.0553937 0.05 0.02 pose: 0.31984542 0.257539 0.00481792 0 -0.00362393 -0.00218674 -0.0317309 0.999487 uwb: 0.0 845.792 1005.52 -imu_odom_: 1691062772.796947616 0.596156 -0.258574 10.0078 -0.0468716 -0.00745685 0.0191748 0.04 0.02 pose: 0.41053945 0.257539 0.00481792 0 -0.00456531 -0.00505095 -0.0316002 0.999477 uwb: 0.0 845.792 1005.52 -imu_odom_: 1691062772.814806148 0.682347 -0.117316 9.83538 -0.0532632 -0.015979 0.0308927 0.04 0.02 pose: 0.0 0.257539 0.00481792 0 -0.00456531 -0.00505095 -0.0316002 0.999477 uwb: 0.49927652 845.754 1005.12 -imu_odom_: 1691062772.832058342 0.711078 -0.287304 9.91199 -0.0596548 0.00319579 0.0426106 0.04 0.02 pose: 0.0 0.257539 0.00481792 0 -0.00456531 -0.00505095 -0.0316002 0.999477 uwb: 0.0 845.754 1005.12 -imu_odom_: 1691062772.857927300 0.311246 -0.234632 9.88087 -0.0511327 0.0138484 0.04048 0.03 0.02 pose: 0.8057090 0.257539 0.00481792 0 -0.00420684 -0.005803 -0.031687 0.999472 uwb: 0.50014271 846.442 1004.16 -imu_odom_: 1691062772.881823837 -0.672771 -0.289698 9.60554 -0.056459 0.0852212 0.0788296 0.03 0.02 pose: 0.70015256 0.263238 -0.00339959 0 -0.00247794 -0.00679743 -0.0318348 0.999467 uwb: 0.0 846.442 1004.16 -imu_odom_: 1691062772.908820892 -1.30963 -0.349553 9.84975 -0.0436758 -0.0383495 0.0649811 0.07 0.02 pose: 0.0 0.263238 -0.00339959 0 -0.00247794 -0.00679743 -0.0318348 0.999467 uwb: 0.50004356 846.712 1004.42 -imu_odom_: 1691062772.925116478 -0.246603 -0.0287304 9.80665 -0.0511327 -0.076699 0.0511327 0.07 0.02 pose: 0.30946855 0.263238 -0.00339959 0 -0.00242376 -0.00275293 -0.0312717 0.999504 uwb: 0.0 846.712 1004.42 -imu_odom_: 1691062772.951819260 0.629675 -0.335188 9.70849 -0.0596548 -0.0245011 0.0756338 0.11 0.02 pose: 0.0 0.263238 -0.00339959 0 -0.00242376 -0.00275293 -0.0312717 0.999504 uwb: 0.49986565 846.452 1003.62 -imu_odom_: 1691062772.977773963 -0.0670376 -0.260968 9.87608 -0.0458064 0.0436758 0.02024 0.11 0.02 pose: 0.43069530 0.271449 0.00230823 0 -0.00204742 -0.000860692-0.0307919 0.999523 uwb: 0.0 846.452 1003.62 -imu_odom_: 1691062772.994898414 -0.0837971 -0.282516 9.95509 -0.0777643 -0.0298274 0.0703074 0.14 0 pose: 0.0 0.271449 0.00230823 0 -0.00204742 -0.000860692-0.0307919 0.999523 uwb: 0.0 846.452 1003.62 -imu_odom_: 1691062773.10837022 0.0670376 -0.0694318 9.61272 -0.0873517 -0.0468716 0.0692422 0.14 0 pose: 0.45830278 0.271449 0.00230823 0 -0.00261392 0.000323725 -0.0306816 0.999526 uwb: 0.49850073 846.924 1003.34 -imu_odom_: 1691062773.36766353 0.186748 -0.325611 9.98861 -0.0980043 -0.0138484 0.0575243 0.15 0.02 pose: 0.0 0.271449 0.00230823 0 -0.00261392 0.000323725 -0.0306816 0.999526 uwb: 0.0 846.924 1003.34 -imu_odom_: 1691062773.62852298 0.1652 -0.509965 10.2352 -0.0468716 -0.0149137 0.0426106 0.15 0.02 pose: 0.41036446 0.271449 0.00230817 0 -0.00261585 0.00351147 -0.0300974 0.999537 uwb: 0.50009315 846.937 1002.81 -imu_odom_: 1691062773.89901268 0.42138 -0.167594 9.90002 -0.0276969 -0.0340885 0.0415453 0.15 0 pose: 0.44041889 0.285348 -0.0003018870 -0.00569537 0.00642482 -0.0298989 0.999516 uwb: 0.0 846.937 1002.81 -imu_odom_: 1691062773.114819160 0.301669 -0.11971 9.93594 -0.0394148 -0.0553937 0.0447411 0.15 0 pose: 0.6953200 0.285348 -0.0003018870 -0.00509014 0.00584682 -0.0298916 0.999523 uwb: 0.50125392 846.684 1001.87 -imu_odom_: 1691062773.131826078 0.227449 -0.131681 10.1394 -0.0383495 -0.00958738 0.0394148 0.15 -0.02 pose: 0.0 0.285348 -0.0003018870 -0.00509014 0.00584682 -0.0298916 0.999523 uwb: 0.0 846.684 1001.87 -imu_odom_: 1691062773.147822141 0.380678 -0.007182619.99579 -0.0500674 -0.0213053 0.0436758 0.15 -0.02 pose: 0.45013662 0.285348 -0.0003018870 -0.0006777110.00378518 -0.0297939 0.999549 uwb: 0.0 846.684 1001.87 -imu_odom_: 1691062773.174801115 0.730232 -0.368707 10.4507 -0.0458064 -0.0458064 0.0426106 0.19 0 pose: 0.0 0.285348 -0.0003018870 -0.0006777110.00378518 -0.0297939 0.999549 uwb: 0.50131807 846.846 1001.34 -imu_odom_: 1691062773.199805627 -0.0502782 -0.438139 9.25359 -0.0468716 0.0394148 0.04048 0.19 0 pose: 0.33002981 0.296418 0.00123019 0 0.00221302 0.00416007 -0.0297501 0.999546 uwb: 0.50058896 847.007 1000 -imu_odom_: 1691062773.216792421 0.114922 -0.160412 9.83299 -0.0383495 -0.0266316 0.0585895 0.17 -0.02 pose: 0.0 0.296418 0.00123019 0 0.00221302 0.00416007 -0.0297501 0.999546 uwb: 0.0 847.007 1000 -imu_odom_: 1691062773.241756977 0.00718261 -0.129287 10.1801 -0.0479369 0.00426106 0.036219 0.17 -0.02 pose: 0.59020972 0.299249 -0.00290291 0 0.000308946 0.00454539 -0.0296356 0.99955 uwb: 0.0 847.007 1000 -imu_odom_: 1691062773.268857277 -0.270545 -0.035913 9.99579 -0.0649811 -0.0372843 0.0692422 0.18 0.02 pose: 0.34913864 0.307498 0.00274946 0 0.0014707 0.00788964 -0.0295799 0.99953 uwb: 0.49807494 847.009 999.332 -imu_odom_: 1691062773.284894171 0.234632 -0.371101 10.0868 -0.0660464 -0.0308927 0.0713727 0.18 0.02 pose: 0.7008905 0.307498 0.00274946 0 0.00165481 0.00844058 -0.029475 0.999529 uwb: 0.0 847.009 999.332 -imu_odom_: 1691062773.311916601 0.244209 -0.0790087 10.1873 -0.0426106 0.00852212 0.0330232 0.2 0 pose: 0.0 0.307498 0.00274946 0 0.00165481 0.00844058 -0.029475 0.999529 uwb: 0.49885656 846.77 999.331 -imu_odom_: 1691062773.329033471 0.306458 -0.292093 9.32302 -0.0735032 0 0.0671117 0.2 0 pose: 0.36128289 0.313154 -0.00549788 0 0.00050459 0.00958983 -0.0289345 0.999535 uwb: 0.0 846.77 999.331 -imu_odom_: 1691062773.344412988 0.167594 -0.287304 10.0054 -0.0607201 -0.0117179 0.0468716 0.16 -0.02 pose: 0.0 0.313154 -0.00549788 0 0.00050459 0.00958983 -0.0289345 0.999535 uwb: 0.0 846.77 999.331 -imu_odom_: 1691062773.368885532 0.158017 -0.0215478 9.68694 -0.0490022 0.0298274 0.036219 0.16 -0.02 pose: 0.50941717 0.321338 0.000248027 0 0.00102683 0.00866107 -0.0287542 0.999548 uwb: 0.50008149 846.864 999.599 -imu_odom_: 1691062773.395755722 0.354342 -0.519542 9.54808 -0.0660464 0.0276969 0.0543285 0.22 0.02 pose: 0.0 0.321338 0.000248027 0 0.00102683 0.00866107 -0.0287542 0.999548 uwb: 0.0 846.864 999.599 -imu_odom_: 1691062773.411748577 0.512359 -0.21069 9.24641 -0.0436758 0.0234358 0.036219 0.22 0.02 pose: 0.40075465 0.335269 -0.00218487 0 0.00204518 0.0101932 -0.0287033 0.999534 uwb: 0.50123058 846.749 998.796 -imu_odom_: 1691062773.438801046 0.593762 -0.447716 9.52174 -0.0830906 0.0223706 0.0532632 0.21 0.02 pose: 0.35837224 0.335269 -0.00218487 0 0.000193389 0.00841572 -0.0286005 0.999555 uwb: 0.0 846.749 998.796 -imu_odom_: 1691062773.454911436 0.102951 -0.457293 9.90481 -0.0820254 -0.00958738 0.036219 0.21 0.02 pose: 0.8050674 0.335269 -0.00218487 0 -0.0003801760.00786793 -0.0285485 0.999561 uwb: 0.49985400 846.893 998.663 -imu_odom_: 1691062773.481873494 0.287304 -0.452504 9.36133 -0.0639159 -0.0255663 0.0596548 0.21 0 pose: 0.0 0.335269 -0.00218487 0 -0.0003801760.00786793 -0.0285485 0.999561 uwb: 0.0 846.893 998.663 -imu_odom_: 1691062773.507884195 0.191536 -0.289698 9.77074 -0.0575243 -0.00745685 0.0330232 0.21 0 pose: 0.35112185 0.346708 -0.00106671 0 -0.00315388 0.00761035 -0.0284568 0.999561 uwb: 0.50103518 847.007 997.329 -imu_odom_: 1691062773.524882655 0.691924 -0.136469 9.93354 -0.0266316 0.0383495 0.036219 0.23 -0.02 pose: 0.0 0.346708 -0.00106671 0 -0.00315388 0.00761035 -0.0284568 0.999561 uwb: 0.0 847.007 997.329 -imu_odom_: 1691062773.542896053 -0.0837971 -0.476446 9.33978 -0.0500674 -0.0127832 0.0532632 0.23 -0.02 pose: 0.52972759 0.349202 -0.00461207 0 -0.00465954 0.00924703 -0.0282673 0.999547 uwb: 0.0 847.007 997.329 -imu_odom_: 1691062773.565893437 0.502782 0.0909797 10.4579 -0.0415453 -0.0245011 0.0436758 0.15 0 pose: 0.0 0.349202 -0.00461207 0 -0.00465954 0.00924703 -0.0282673 0.999547 uwb: 0.49804870 847.126 995.332 -imu_odom_: 1691062773.582890731 0.493206 -0.181959 9.68455 -0.0596548 0.0543285 0.0585895 0.15 0 pose: 0.42055760 0.363136 -0.0070328 0 -0.0040218 0.00902019 -0.028162 0.999555 uwb: 0.0 847.126 995.332 -imu_odom_: 1691062773.598829339 0.639252 -0.371101 10.4866 -0.0639159 -0.0266316 0.0255663 0.15 0 pose: 0.0 0.363136 -0.0070328 0 -0.0040218 0.00902019 -0.028162 0.999555 uwb: 0.49936986 847.101 993.997 -imu_odom_: 1691062773.616728994 0.718261 0.059855 9.83777 -0.0490022 0.00213053 0.0266316 0.17 -0.02 pose: 0.39816189 0.363136 -0.0070328 0 -0.00237221 0.00604177 -0.028013 0.999586 uwb: 0.0 847.101 993.997 -imu_odom_: 1691062773.641882246 0.296881 -0.258574 10.3382 -0.0671117 0.00426106 0.0511327 0.17 -0.02 pose: 0.0 0.363136 -0.0070328 0 -0.00237221 0.00604177 -0.028013 0.999586 uwb: 0.0 847.101 993.997 -imu_odom_: 1691062773.668868220 0.189142 -0.0957681 9.79707 -0.0607201 -0.00213053 0.036219 0.17 0 pose: 0.35098769 0.37131 -0.00127192 0 -0.00182614 0.00451803 -0.0281473 0.999592 uwb: 0.50200929 846.765 993.447 -imu_odom_: 1691062773.684859908 0.153229 -0.385466 9.71088 -0.0916127 -0.00106526 0.0671117 0.17 0 pose: 0.0 0.37131 -0.00127192 0 -0.00182614 0.00451803 -0.0281473 0.999592 uwb: 0.0 846.765 993.447 -imu_odom_: 1691062773.709841672 0.505177 -0.275333 10.2208 -0.036219 -0.0447411 0.0298274 0.18 -0.02 pose: 0.52039483 0.385244 -0.00368847 0 -0.0008871340.00798304 -0.0279679 0.999577 uwb: 0.50106142 846.754 992.641 -imu_odom_: 1691062773.723952225 0.497994 -0.292093 9.66779 -0.056459 -0.0255663 0.0511327 0.18 -0.02 pose: 0.0 0.385244 -0.00368847 0 -0.0008871340.00798304 -0.0279679 0.999577 uwb: 0.0 846.754 992.641 -imu_odom_: 1691062773.748809163 0.407014 -0.304064 10.0078 -0.0340885 -0.0543285 0.0330232 0.17 -0.02 pose: 0.38865705 0.385244 -0.00368847 0 -0.00187677 0.00481159 -0.0279594 0.999596 uwb: 0.49717667 846.879 991.172 -imu_odom_: 1691062773.765738210 0.392649 0.0287304 9.84017 -0.0479369 0.0106526 0.0596548 0.17 -0.02 pose: 0.0 0.385244 -0.00368847 0 -0.00187677 0.00481159 -0.0279594 0.999596 uwb: 0.0 846.879 991.172 -imu_odom_: 1691062773.791951606 0.663194 -0.430956 9.7037 -0.0500674 0.0543285 0.0266316 0.24 0 pose: 0.40008094 0.399179 -0.00609982 0 -0.00240557 0.00118489 -0.0279349 0.999606 uwb: 0.0 846.879 991.172 -imu_odom_: 1691062773.809892384 0.502782 -0.177171 9.93115 -0.0511327 -0.0298274 0.0468716 0.24 0 pose: 0.0 0.399179 -0.00609982 0 -0.00240557 0.00118489 -0.0279349 0.999606 uwb: 0.50027981 846.709 989.684 -imu_odom_: 1691062773.825847032 0.320823 -0.383072 9.80186 -0.0617853 -0.0181095 0.0681769 0.24 -0.02 pose: 0.43991434 0.399179 -0.00609982 0 -0.00225989 -0.000851836-0.0279827 0.999605 uwb: 0.0 846.709 989.684 -imu_odom_: 1691062773.849743570 0.399832 -0.141258 10.1035 -0.0447411 0.00958738 0.0436758 0.24 -0.02 pose: 0.0 0.399179 -0.00609982 0 -0.00225989 -0.000851836-0.0279827 0.999605 uwb: 0.49999399 846.25 989.383 -imu_odom_: 1691062773.874941445 0.428562 -0.464475 10.0724 -0.0713727 0.02024 0.0692422 0.19 -0.02 pose: 0.33075893 0.413114 -0.00851147 0 -0.00207257 -0.000640181-0.0277019 0.999614 uwb: 0.0 846.25 989.383 -imu_odom_: 1691062773.891860285 0.509965 -0.0215478 10.2376 -0.0500674 -0.0266316 0.0372843 0.19 -0.02 pose: 0.0 0.413114 -0.00851147 0 -0.00207257 -0.000640181-0.0277019 0.999614 uwb: 0.0 846.25 989.383 -imu_odom_: 1691062773.916864505 0.272939 -0.37589 9.42118 -0.0788296 0.0106526 0.0628506 0.17 0.02 pose: 0.25106588 0.413114 -0.00851147 0 -0.00118405 -0.000247401-0.0275466 0.99962 uwb: 0.50153390 846.274 988.71 -imu_odom_: 1691062773.943999220 0.452504 -0.320823 9.57441 -0.0575243 0.0234358 0.0372843 0.23 0 pose: 0.0 0.413114 -0.00851147 0 -0.00118405 -0.000247401-0.0275466 0.99962 uwb: 0.0 846.274 988.71 -imu_odom_: 1691062773.968720541 0.292093 -0.579397 9.30866 -0.0894822 0.0276969 0.0639159 0.18 0 pose: 0.58922395 0.427053 -0.0109098 0 -0.00333852 0.00110463 -0.0270205 0.999629 uwb: 0.49917737 846.855 987.408 -imu_odom_: 1691062773.995885004 0.543484 0.023942 10.0389 -0.0617853 0.00319579 0.0468716 0.22 0.02 pose: 0.35052397 0.435215 -0.00513277 0 -0.00569352 -0.00030613 -0.026964 0.99962 uwb: 0.0 846.855 987.408 -imu_odom_: 1691062774.21934786 0.562637 -0.47884 9.52174 -0.0681769 0.0436758 0.0287621 0.22 0.02 pose: 0.0 0.435215 -0.00513277 0 -0.00569352 -0.00030613 -0.026964 0.99962 uwb: 0.49853866 846.724 985.375 -imu_odom_: 1691062774.38834086 -0.0407014 -0.225055 10.1155 -0.0415453 0.0170442 0.04048 0.25 0 pose: 0.23880498 0.435215 -0.00513277 0 -0.00684897 0.000472675 -0.0267322 0.999619 uwb: 0.0 846.724 985.375 -imu_odom_: 1691062774.64771292 0.258574 -0.335188 9.50019 -0.0426106 -0.0319579 0.0436758 0.25 0 pose: 0.52982676 0.449156 -0.00751002 0 -0.0069373 -0.000568486-0.0268091 0.999616 uwb: 0.0 846.724 985.375 -imu_odom_: 1691062774.88854777 0.514753 -0.0670376 9.87129 -0.052198 -0.0319579 0.0490022 0.24 0 pose: 0.35991216 0.449156 -0.00751002 0 -0.00628799 0.0027283 -0.0267262 0.999619 uwb: 0.0 846.724 985.375 -imu_odom_: 1691062774.114844480 0.610521 -0.538695 9.69652 -0.0532632 0.0138484 0.0394148 0.24 0 pose: 0.0 0.449156 -0.00751002 0 -0.00628799 0.0027283 -0.0267262 0.999619 uwb: 0.99997927 846.432 984.669 -imu_odom_: 1691062774.131831566 0.301669 -0.114922 9.83777 -0.0458064 0.00106526 0.0511327 0.18 -0.02 pose: 0.50073188 0.463098 -0.00988611 0 -0.00613605 -0.000383235-0.0266261 0.999627 uwb: 0.0 846.432 984.669 -imu_odom_: 1691062774.157840517 0.617704 -0.0814029 9.99819 -0.0394148 -0.0234358 0.0308927 0.18 -0.02 pose: 0.0 0.463098 -0.00988611 0 -0.00613605 -0.000383235-0.0266261 0.999627 uwb: 0.50027108 846.705 983.884 -imu_odom_: 1691062774.182712038 0.426168 -0.251391 9.46188 -0.0617853 0.0234358 0.0511327 0.22 0.02 pose: 0.42996037 0.473299 -0.0116223 0 -0.00251911 -0.00173782 -0.0266443 0.99964 uwb: 0.0 846.705 983.884 -imu_odom_: 1691062774.207701968 -0.110133 -0.316035 9.23444 -0.036219 0.0426106 0.0298274 0.22 0.02 pose: 0.0 0.473299 -0.0116223 0 -0.00251911 -0.00173782 -0.0266443 0.99964 uwb: 0.49961778 846.741 982.667 -imu_odom_: 1691062774.223928435 0.347159 -0.198719 10.1897 -0.0532632 -0.0191748 0.0543285 0.18 -0.02 pose: 0.30892320 0.477039 -0.0122592 0 -0.0009185540.00116693 -0.0265292 0.999647 uwb: 0.0 846.741 982.667 -imu_odom_: 1691062774.249844350 0.933739 -0.229843 9.84975 -0.0543285 -0.0458064 0.0340885 0.18 -0.02 pose: 0.0 0.477039 -0.0122592 0 -0.0009185540.00116693 -0.0265292 0.999647 uwb: 0.49930864 846.835 981.863 -imu_odom_: 1691062774.274906901 0.543484 -0.490811 9.59835 -0.0553937 -0.015979 0.0426106 0.18 0 pose: 0.25027261 0.485196 -0.00647422 0 -0.0004205410.00321951 -0.026574 0.999642 uwb: 0.0 846.835 981.863 -imu_odom_: 1691062774.296712317 0.349553 -0.395043 9.61511 -0.0181095 0 0.0191748 0.18 0 pose: 0.0 0.485196 -0.00647422 0 -0.0004205410.00321951 -0.026574 0.999642 uwb: 0.0 846.835 981.863 -imu_odom_: 1691062774.322753642 0.399832 -0.191536 10.5441 -0.0426106 -0.0426106 0.0543285 0.18 0 pose: 0.67097897 0.490982 -0.0146306 0 -0.00233978 -0.00119354 -0.0265867 0.999643 uwb: 0.50081938 847.202 980.821 -imu_odom_: 1691062774.338888238 0.806846 -0.282516 9.33739 -0.0447411 0.0223706 0.0372843 0.18 0 pose: 0.0 0.490982 -0.0146306 0 -0.00233978 -0.00119354 -0.0265867 0.999643 uwb: 0.0 847.202 980.821 -imu_odom_: 1691062774.363862711 0.342371 -0.258574 9.86172 -0.0596548 0.0490022 0.0596548 0.22 0.02 pose: 0.47901863 0.499139 -0.00884609 0 -0.000717524-0.00108626 -0.0265579 0.999646 uwb: 0.50105561 847.056 979.715 -imu_odom_: 1691062774.389974906 0.260968 -0.0095768110.2448 -0.0500674 -0.015979 0.0394148 0.21 0.02 pose: 0.35102853 0.513081 -0.011218 0 -0.00149905 0.00113153 -0.026317 0.999652 uwb: 0.0 847.056 979.715 -imu_odom_: 1691062774.415779995 0.708684 -0.3304 10.0341 -0.0788296 -0.0319579 0.076699 0.21 0.02 pose: 0.0 0.513081 -0.011218 0 -0.00149905 0.00113153 -0.026317 0.999652 uwb: 0.49869909 847.176 977.153 -imu_odom_: 1691062774.432837660 0.742203 -0.189142 10.0293 -0.0394148 0.0287621 0.0319579 0.23 -0.02 pose: 0.7899309 0.513081 -0.011218 0 -0.0007659350.00142422 -0.0263163 0.999652 uwb: 0.0 847.176 977.153 -imu_odom_: 1691062774.458699912 0.136469 -0.481235 9.31105 -0.0713727 0.0181095 0.0639159 0.23 -0.02 pose: 0.0 0.513081 -0.011218 0 -0.0007659350.00142422 -0.0263163 0.999652 uwb: 0.50073188 847.568 975.713 -imu_odom_: 1691062774.476139638 -0.208296 -0.320823 9.59357 -0.0553937 -0.02024 0.0372843 0.25 0 pose: 0.51219951 0.527024 -0.0135794 0 -0.000258829-0.00123933 -0.0258632 0.999665 uwb: 0.0 847.568 975.713 -imu_odom_: 1691062774.501723073 0.627281 -0.198719 10.3549 -0.0628506 -0.0575243 0.0532632 0.25 0 pose: 0.0 0.527024 -0.0135794 0 -0.000258829-0.00123933 -0.0258632 0.999665 uwb: 0.50030024 847.662 973.548 -imu_odom_: 1691062774.517711262 0.837971 -0.356736 9.42837 -0.0660464 0.0106526 0.0500674 0.24 0 pose: 0.42875587 0.527024 -0.0135794 0 -0.00201837 0.00088255 -0.0255901 0.99967 uwb: 0.0 847.662 973.548 -imu_odom_: 1691062774.543833665 0.92895 -0.342371 9.34457 -0.0809601 -0.0308927 0.0596548 0.24 0 pose: 0.0 0.527024 -0.0135794 0 -0.00201837 0.00088255 -0.0255901 0.99967 uwb: 0.0 847.662 973.548 -imu_odom_: 1691062774.567837239 0.47884 -0.454898 9.81623 -0.0532632 0.0447411 0.0223706 0.21 -0.02 pose: 0.41892730 0.540971 -0.015924 0 -0.00191609 -0.00189246 -0.0253967 0.999674 uwb: 0.49777165 847.851 972.348 -imu_odom_: 1691062774.593953225 -0.110133 -0.265756 10.3477 -0.0692422 -0.00958738 0.0468716 0.21 -0.02 pose: 0.0 0.540971 -0.015924 0 -0.00191609 -0.00189246 -0.0253967 0.999674 uwb: 0.0 847.851 972.348 -imu_odom_: 1691062774.609837587 0.251391 -0.213084 9.70849 -0.04048 -0.00532632 0.0330232 0.19 0 pose: 0.42999246 0.549114 -0.0101186 0 -0.00379925 -0.00534818 -0.0251435 0.999662 uwb: 0.50114602 847.855 971.662 -imu_odom_: 1691062774.635871329 0.383072 -0.402226 9.63906 -0.0639159 0.0245011 0.0490022 0.19 0 pose: 0.0 0.549114 -0.0101186 0 -0.00379925 -0.00534818 -0.0251435 0.999662 uwb: 0.0 847.855 971.662 -imu_odom_: 1691062774.660682187 0.562637 -0.0550666 9.51456 -0.0383495 -0.0479369 0.0468716 0.21 0 pose: 0.50098561 0.554922 -0.018259 0 -0.00491967 -0.00143262 -0.0251938 0.999669 uwb: 0.49989193 847.887 970.98 -imu_odom_: 1691062774.682657343 0.624887 -0.234632 9.87369 -0.076699 -0.0213053 0.0543285 0.21 0 pose: 0.0 0.554922 -0.018259 0 -0.00491967 -0.00143262 -0.0251938 0.999669 uwb: 0.0 847.887 970.98 -imu_odom_: 1691062774.699660178 0.148441 -0.225055 9.82341 -0.0383495 0.0340885 0.0149137 0.17 0 pose: 0.41875523 0.563063 -0.0124517 0 -0.00632346 9.99611e-05 -0.0250694 0.999666 uwb: 0.50037899 848.127 970.614 -imu_odom_: 1691062774.723740748 -0.0215478 -0.574608 9.72285 -0.072438 -0.0106526 0.052198 0.17 0 pose: 0.0 0.563063 -0.0124517 0 -0.00632346 9.99611e-05 -0.0250694 0.999666 uwb: 0.0 848.127 970.614 -imu_odom_: 1691062774.746755632 0.356736 -0.337582 9.41161 -0.0468716 -0.0383495 0.0308927 0.19 -0.02 pose: 0.46936214 0.577012 -0.014778 0 -0.00396869 -0.00268718 -0.0249395 0.999677 uwb: 0.0 848.127 970.614 -imu_odom_: 1691062774.763748551 0.550666 -0.117316 10.0509 -0.056459 -0.0181095 0.0585895 0.19 -0.02 pose: 0.0 0.577012 -0.014778 0 -0.00396869 -0.00268718 -0.0249395 0.999677 uwb: 0.50009900 848.638 968.791 -imu_odom_: 1691062774.787730543 0.536301 -0.440533 10.0173 -0.0372843 0.0298274 0.0351537 0.25 -0.02 pose: 0.74088719 0.590962 -0.0171046 0 -0.00500864 0.000760906 -0.0248298 0.999679 uwb: 0.0 848.638 968.791 -imu_odom_: 1691062774.812668268 1.00317 -0.272939 9.71088 -0.0596548 0.00426106 0.056459 0.25 -0.02 pose: 0.7079776 0.590962 -0.0171046 0 -0.00541864 0.00035653 -0.024849 0.999676 uwb: 0.49935822 848.719 967.704 -imu_odom_: 1691062774.837723528 0.802058 -0.263362 9.80904 -0.036219 -0.00426106 0.0351537 0.18 0.02 pose: 0.41839941 0.596546 -0.0131151 0 -0.00623845 -0.00298499 -0.0247012 0.999671 uwb: 0.0 848.719 967.704 -imu_odom_: 1691062774.854668033 0.344765 -0.25618 9.85453 -0.0468716 -0.0607201 0.0553937 0.18 0.02 pose: 0.0 0.596546 -0.0131151 0 -0.00623845 -0.00298499 -0.0247012 0.999671 uwb: 0.50011650 848.921 967.333 -imu_odom_: 1691062774.879714835 0.258574 -0.251391 9.67018 -0.0351537 -0.0340885 0.0255663 0.18 0.02 pose: 0.41999765 0.604913 -0.0194262 0 -0.00484298 -0.00436921 -0.0246306 0.999675 uwb: 0.0 848.921 967.333 -imu_odom_: 1691062774.904747638 0.447716 -0.445322 9.52892 -0.0660464 -0.036219 0.0660464 0.18 0.02 pose: 0.0 0.604913 -0.0194262 0 -0.00484298 -0.00436921 -0.0246306 0.999675 uwb: 0.49991818 849.069 965.568 -imu_odom_: 1691062774.930642846 0.471658 -0.0622492 9.95509 -0.0468716 0.00319579 0.0415453 0.2 0 pose: 0.50079605 0.613048 -0.0136104 0 -0.00661979 -0.00264218 -0.0244555 0.999676 uwb: 0.0 849.069 965.568 -imu_odom_: 1691062774.947636057 0.584185 -0.0957681 9.94312 -0.0788296 -0.0170442 0.0692422 0.2 0 pose: 0.0 0.613048 -0.0136104 0 -0.00661979 -0.00264218 -0.0244555 0.999676 uwb: 0.0 849.069 965.568 -imu_odom_: 1691062774.972796894 0.739808 -0.0383072 10.1203 -0.052198 -0.0447411 0.0447411 0.21 0 pose: 0.32976734 0.618868 -0.0217427 0 -0.00341885 -0.0031762 -0.0243371 0.999693 uwb: 0.50049857 849.283 963.816 -imu_odom_: 1691062774.997822405 0.56982 -0.306458 10.1394 -0.0671117 -0.00426106 0.0585895 0.23 0.02 pose: 0.0 0.618868 -0.0217427 0 -0.00341885 -0.0031762 -0.0243371 0.999693 uwb: 0.0 849.283 963.816 -imu_odom_: 1691062775.19780355 0.466869 -0.179565 9.73961 -0.0543285 0.0223706 0.0351537 0.23 0.02 pose: 0.42084051 0.626998 -0.0159214 0 -0.00173075 -0.00656196 -0.0240694 0.999687 uwb: 0.49945737 849.33 962.713 -imu_odom_: 1691062775.35862164 0.390255 -0.167594 10.0126 -0.100135 -0.0213053 0.0681769 0.23 0.02 pose: 0.0 0.626998 -0.0159214 0 -0.00173075 -0.00656196 -0.0240694 0.999687 uwb: 0.0 849.33 962.713 -imu_odom_: 1691062775.52639847 1.18752 -0.189142 9.71806 -0.0788296 0.00213053 0.0383495 0.19 0 pose: 0.45916902 0.640952 -0.0182237 0 -0.0014971 -0.00530572 -0.0238644 0.9997 uwb: 0.50185183 849.118 962.381 -imu_odom_: 1691062775.77842681 0.61531 -0.296881 9.73482 -0.0756338 0.00213053 0.0511327 0.19 0 pose: 0.0 0.640952 -0.0182237 0 -0.0014971 -0.00530572 -0.0238644 0.9997 uwb: 0.0 849.118 962.381 -imu_odom_: 1691062775.101766636 0.222661 -0.308852 10.0293 -0.0372843 -0.0276969 0.0319579 0.18 0.02 pose: 0.35045400 0.640952 -0.0182237 0 -0.00184216 -0.00679851 -0.0236874 0.999695 uwb: 0.49742169 849.196 960.719 -imu_odom_: 1691062775.126894225 0.488417 -0.361524 10.3094 -0.0596548 -0.0543285 0.0500674 0.18 0 pose: 0.0 0.640952 -0.0182237 0 -0.00184216 -0.00679851 -0.0236874 0.999695 uwb: 0.0 849.196 960.719 -imu_odom_: 1691062775.151694002 0.888249 -0.287304 10.2927 -0.0479369 -0.0191748 0.0468716 0.18 0 pose: 0.40995911 0.653208 -0.0181479 0 -0.00297736 -0.00605374 -0.0236657 0.999697 uwb: 0.50189849 848.989 959.818 -imu_odom_: 1691062775.176759761 0.19393 -0.162806 9.81623 -0.036219 -0.0245011 0.0532632 0.25 0.02 pose: 0.6970699 0.654907 -0.0205152 0 -0.00362726 -0.0059303 -0.0236241 0.999697 uwb: 0.0 848.989 959.818 -imu_odom_: 1691062775.190805570 0.47884 -0.0383072 10.4651 -0.0330232 -0.0127832 0.0511327 0.25 0.02 pose: 0.0 0.654907 -0.0205152 0 -0.00362726 -0.0059303 -0.0236241 0.999697 uwb: 0.0 848.989 959.818 -imu_odom_: 1691062775.206663684 0.723049 -0.445322 9.3709 -0.0777643 -0.00319579 0.0639159 0.25 0.02 pose: 0.0 0.654907 -0.0205152 0 -0.00362726 -0.0059303 -0.0236241 0.999697 uwb: 0.49927949 848.928 958.67 -imu_odom_: 1691062775.231711070 0.924162 -0.40462 9.39006 -0.0468716 0.0191748 0.0351537 0.17 0 pose: 0.50039359 0.663029 -0.0146811 0 -0.0047297 -0.00769285 -0.023387 0.999686 uwb: 0.0 848.928 958.67 -imu_odom_: 1691062775.254623295 0.347159 -0.529119 9.09078 -0.0575243 0.02024 0.0447411 0.17 0 pose: 0.0 0.663029 -0.0146811 0 -0.0047297 -0.00769285 -0.023387 0.999686 uwb: 0.49941073 848.673 957.889 -imu_odom_: 1691062775.279772466 -0.155623 -0.263362 9.46188 -0.0330232 0.0191748 0.036219 0.18 0.02 pose: 0.79019921 0.676983 -0.0169592 0 -0.00476718 -0.00872517 -0.0230254 0.999685 uwb: 0.0 848.673 957.889 -imu_odom_: 1691062775.304670236 0.174777 -0.292093 10.0892 -0.0703074 -0.0830906 0.0671117 0.23 0 pose: 0.41975851 0.68862 -0.0209029 0 -0.00542783 -0.00455573 -0.0229963 0.99971 uwb: 0.50000278 848.511 956.273 -imu_odom_: 1691062775.330626984 0.68953 -0.186748 10.3549 -0.0713727 -0.0458064 0.0394148 0.23 0 pose: 0.0 0.68862 -0.0209029 0 -0.00542783 -0.00455573 -0.0229963 0.99971 uwb: 0.0 848.511 956.273 -imu_odom_: 1691062775.356660143 0.248997 -0.131681 9.89763 -0.0490022 -0.0479369 0.0383495 0.21 0 pose: 0.6857540 0.690941 -0.0192314 0 -0.00540907 -0.00414216 -0.0228974 0.999715 uwb: 0.49886243 848.312 955.929 -imu_odom_: 1691062775.381691196 -0.0311246 0.0790087 10.1634 -0.0351537 -0.00213053 0.0468716 0.21 0 pose: 0.0 0.690941 -0.0192314 0 -0.00540907 -0.00414216 -0.0228974 0.999715 uwb: 0.0 848.312 955.929 -imu_odom_: 1691062775.398698990 0.447716 -0.47884 9.59596 -0.0458064 0 0.0511327 0.21 -0.02 pose: 0.51120209 0.690941 -0.0192314 0 -0.0038674 -0.00538493 -0.0226564 0.999721 uwb: 0.0 848.312 955.929 -imu_odom_: 1691062775.423644008 0.407014 -0.0574608 10.1586 -0.0351537 0.00532632 0.0500674 0.21 -0.02 pose: 0.0 0.690941 -0.0192314 0 -0.0038674 -0.00538493 -0.0226564 0.999721 uwb: 0.49984821 848.258 954.763 -imu_odom_: 1691062775.449627878 0.648829 -0.227449 10.1011 -0.0649811 -0.00106526 0.04048 0.19 0 pose: 0.50913722 0.704901 -0.0214939 0 -0.00176968 -0.00211523 -0.0225318 0.999742 uwb: 0.50165642 847.906 953.208 -imu_odom_: 1691062775.463790637 0.332794 0.00957681 9.91678 -0.0415453 -0.0181095 0.0543285 0.19 0 pose: 0.0 0.704901 -0.0214939 0 -0.00176968 -0.00211523 -0.0225318 0.999742 uwb: 0.0 847.906 953.208 -imu_odom_: 1691062775.487761256 0.196325 -0.356736 9.95988 -0.0649811 0.0436758 0.0553937 0.18 0 pose: 0.75126700 0.718862 -0.0237507 0 0.000945883 -0.00346496 -0.0222326 0.999746 uwb: 0.0 847.906 953.208 -imu_odom_: 1691062775.511736541 0.603339 0 10.2663 -0.0617853 -0.0170442 0.0585895 0.18 0 pose: 0.0 0.718862 -0.0237507 0 0.000945883 -0.00346496 -0.0222326 0.999746 uwb: 0.50082231 847.592 952.528 -imu_odom_: 1691062775.537769700 0.658405 -0.181959 10.2065 -0.0852212 0.0223706 0.0426106 0.25 0.02 pose: 0.6856665 0.718862 -0.0237507 0 0.000580475 -0.0027015 -0.0221778 0.99975 uwb: 0.0 847.592 952.528 -imu_odom_: 1691062775.562823794 0.500388 -0.521936 9.70609 -0.0553937 0.0245011 0.0575243 0.19 0 pose: 0.49187452 0.732828 -0.0259975 0 0.00127638 -0.00322341 -0.0218018 0.999756 uwb: 0.49872828 847.628 951.224 -imu_odom_: 1691062775.579629183 0.706289 -0.201113 10.2592 -0.0660464 -0.0330232 0.0532632 0.19 0 pose: 0.0 0.732828 -0.0259975 0 0.00127638 -0.00322341 -0.0218018 0.999756 uwb: 0.0 847.628 951.224 -imu_odom_: 1691062775.603877743 0.517148 0.0335188 10.4842 -0.056459 0.00426106 0.0500674 0.19 0 pose: 0.25821422 0.732828 -0.0259975 0 0.000215909 -0.00465695 -0.0216977 0.999754 uwb: 0.50121312 847.342 950.248 -imu_odom_: 1691062775.630779433 0.560243 -0.263362 9.33739 -0.056459 0.0191748 0.0372843 0.19 0 pose: 0.42019891 0.740928 -0.0201335 0 -0.000504886-0.00623371 -0.0213868 0.999752 uwb: 0.0 847.342 950.248 -imu_odom_: 1691062775.655783946 0.849942 -0.31364 9.55047 -0.0585895 0.052198 0.0436758 0.19 0 pose: 0.43103366 0.75249 -0.0241037 0 -0.00120904 -0.00716885 -0.0213269 0.999746 uwb: 0.49795248 847.377 949.225 -imu_odom_: 1691062775.680750254 0.198719 -0.105345 10.5345 -0.0330232 0.015979 0.0287621 0.19 0 pose: 0.0 0.75249 -0.0241037 0 -0.00120904 -0.00716885 -0.0213269 0.999746 uwb: 0.0 847.377 949.225 -imu_odom_: 1691062775.694609115 0.131681 -0.241814 9.44991 -0.0543285 -0.0181095 0.0543285 0.18 0 pose: 0.49970821 0.759294 -0.0284291 0 -0.000698396-0.0063084 -0.0214117 0.999751 uwb: 0.0 847.377 949.225 -imu_odom_: 1691062775.710661468 0.433351 -0.146046 10.4674 -0.052198 -0.0191748 0.0394148 0.18 0 pose: 0.0 0.759294 -0.0284291 0 -0.000698396-0.0063084 -0.0214117 0.999751 uwb: 0.50047525 846.9 947.581 -imu_odom_: 1691062775.731589022 0.172383 -0.25618 9.70609 -0.0415453 0.00958738 0.0372843 0.18 0 pose: 0.0 0.759294 -0.0284291 0 -0.000698396-0.0063084 -0.0214117 0.999751 uwb: 0.0 846.9 947.581 -imu_odom_: 1691062775.745659912 0.545878 -0.189142 10.477 -0.0628506 -0.0319579 0.056459 0.18 -0.02 pose: 0.36855664 0.76886 -0.0245873 0 0.00045666 -0.00334926 -0.0213227 0.999767 uwb: 0.0 846.9 947.581 -imu_odom_: 1691062775.762601502 0.464475 -0.323217 9.57202 -0.052198 0.0223706 0.0266316 0.18 -0.02 pose: 0.0 0.76886 -0.0245873 0 0.00045666 -0.00334926 -0.0213227 0.999767 uwb: 0.49885660 846.906 946.686 -imu_odom_: 1691062775.779603755 0.399832 -0.0957681 9.88087 -0.0532632 -0.0223706 0.04048 0.18 0 pose: 0.0 0.76886 -0.0245873 0 0.00045666 -0.00334926 -0.0213227 0.999767 uwb: 0.0 846.906 946.686 -imu_odom_: 1691062775.796680669 0.653617 -0.0861913 10.161 -0.0735032 -0.0383495 0.0511327 0.18 0 pose: 0.52000114 0.782826 -0.0268132 0 -0.000518098-0.00292385 -0.0213217 0.999768 uwb: 0.0 846.906 946.686 -imu_odom_: 1691062775.821627145 0.237026 -0.124498 9.74201 -0.056459 0.0245011 0.036219 0.18 -0.02 pose: 0.0 0.782826 -0.0268132 0 -0.000518098-0.00292385 -0.0213217 0.999768 uwb: 0.50126562 846.688 946.008 -imu_odom_: 1691062775.847608099 0.440533 -0.459687 9.46428 -0.0511327 -0.02024 0.0468716 0.21 0.02 pose: 0.27074637 0.782826 -0.0268132 0 0.00109448 -0.00438431 -0.0212229 0.999765 uwb: 0.0 846.688 946.008 -imu_odom_: 1691062775.872717898 0.354342 -0.299275 9.5792 -0.0479369 0.0191748 0.0436758 0.18 0.02 pose: 0.50927430 0.794971 -0.0265256 0 -0.000761789-0.00185449 -0.0211716 0.999774 uwb: 0.49993570 846.777 943.928 -imu_odom_: 1691062775.898598524 -0.0430956 -0.244209 10.0054 -0.0276969 0.0213053 0.0415453 0.21 0.05 pose: 0.0 0.794971 -0.0265256 0 -0.000761789-0.00185449 -0.0211716 0.999774 uwb: 0.0 846.777 943.928 -imu_odom_: 1691062775.922611724 0.191536 -0.138864 9.90721 -0.0447411 -0.0585895 0.0585895 0.21 0.05 pose: 0.33051105 0.796793 -0.0290367 0 -0.00208551 0.00128549 -0.0211065 0.999774 uwb: 0.50016318 847.194 942.868 -imu_odom_: 1691062775.940613165 0.893037 -0.248997 9.9503 -0.052198 -0.0117179 0.0308927 0.19 0.02 pose: 0.0 0.796793 -0.0290367 0 -0.00208551 0.00128549 -0.0211065 0.999774 uwb: 0.0 847.194 942.868 -imu_odom_: 1691062775.964705693 0.42138 -0.42138 9.73482 -0.0660464 0.0394148 0.0713727 0.19 0.02 pose: 0.50104980 0.804886 -0.0231632 0 -0.0001814750.00369276 -0.020884 0.999775 uwb: 0.49842496 847.202 941.498 -imu_odom_: 1691062775.988596691 0.232238 -0.158017 9.88805 -0.0308927 0.0191748 0.0383495 0.25 0 pose: 0.33941509 0.8165 -0.0270864 0 -0.00265052 0.00245999 -0.0205506 0.999782 uwb: 0.0 847.202 941.498 -imu_odom_: 1691062776.6588508 0.215478 -0.237026 9.55765 -0.0607201 -0.0266316 0.0628506 0.25 0 pose: 0.0 0.8165 -0.0270864 0 -0.00265052 0.00245999 -0.0205506 0.999782 uwb: 0.49978987 847.155 940.56 -imu_odom_: 1691062776.30627082 0.94571 -0.304064 9.62708 -0.0585895 -0.0234358 0.0319579 0.18 0.02 pose: 0.6956991 0.818853 -0.0253752 0 -0.00209188 0.00305253 -0.0205528 0.999782 uwb: 0.0 847.155 940.56 -imu_odom_: 1691062776.47633127 0.392649 -0.0909797 10.4603 -0.0585895 0.0213053 0.0532632 0.18 0.02 pose: 0.0 0.818853 -0.0253752 0 -0.00209188 0.00305253 -0.0205528 0.999782 uwb: 0.0 847.155 940.56 -imu_odom_: 1691062776.71884021 0.639252 -0.122104 10.2424 -0.0756338 0.0170442 0.0447411 0.19 0 pose: 0.41939688 0.818853 -0.0253752 0 -0.0009677580.00532999 -0.020375 0.999778 uwb: 0.50400713 847.255 939.521 -imu_odom_: 1691062776.95713773 0.56982 0.0454898 10.1682 -0.0671117 -0.0106526 0.0490022 0.19 0 pose: 0.0 0.818853 -0.0253752 0 -0.0009677580.00532999 -0.020375 0.999778 uwb: 0.0 847.255 939.521 -imu_odom_: 1691062776.120602795 0.859518 -0.0694318 9.87369 -0.0649811 -0.0479369 0.0415453 0.25 0 pose: 0.42041474 0.832823 -0.0275747 0 0.000455398 0.00233666 -0.0203 0.999791 uwb: 0.49589638 847.505 938.384 -imu_odom_: 1691062776.143600765 0.383072 -0.270545 9.44752 -0.0852212 0.00852212 0.0511327 0.25 0 pose: 0.0 0.832823 -0.0275747 0 0.000455398 0.00233666 -0.0203 0.999791 uwb: 0.0 847.505 938.384 -imu_odom_: 1691062776.168625987 -0.110133 -0.462081 9.12909 -0.0394148 0.0298274 0.0298274 0.18 0 pose: 0.48032524 0.846793 -0.0297705 0 0.00256209 -0.00155832 -0.0201314 0.999793 uwb: 0.50043736 847.487 936.977 -imu_odom_: 1691062776.185693278 0.143652 -0.167594 9.97903 -0.0585895 -0.0383495 0.0458064 0.18 0 pose: 0.0 0.846793 -0.0297705 0 0.00256209 -0.00155832 -0.0201314 0.999793 uwb: 0.0 847.487 936.977 -imu_odom_: 1691062776.209629483 0.383072 -0.248997 9.61272 -0.0436758 -0.0500674 0.0351537 0.18 0 pose: 0.48061398 0.846793 -0.0297705 0 0.000411216 -0.00109725 -0.0200169 0.999799 uwb: 0.50111106 847.616 935.312 -imu_odom_: 1691062776.235683350 0.682347 -0.517148 9.62708 -0.0639159 -0.0191748 0.0553937 0.18 0 pose: 0.0 0.846793 -0.0297705 0 0.000411216 -0.00109725 -0.0200169 0.999799 uwb: 0.0 847.616 935.312 -imu_odom_: 1691062776.251561005 0.577003 -0.138864 10.1921 -0.0511327 0.0191748 0.0468716 0.19 0 pose: 0.41856861 0.860765 -0.03196 0 -0.0004629840.0015637 -0.0200638 0.999797 uwb: 0.50112564 848.622 933.703 -imu_odom_: 1691062776.276557937 0.59855 -0.237026 9.43076 -0.072438 -0.0308927 0.0585895 0.19 0 pose: 0.0 0.860765 -0.03196 0 -0.0004629840.0015637 -0.0200638 0.999797 uwb: 0.0 848.622 933.703 -imu_odom_: 1691062776.299589155 0.677559 -0.148441 9.58878 -0.0468716 -0.00852212 0.0266316 0.18 -0.02 pose: 0.48972509 0.868845 -0.0260689 0 -0.00322723 -0.00199468 -0.0198779 0.999795 uwb: 0.50003780 848.644 933.238 -imu_odom_: 1691062776.323618104 0.270545 -0.574608 9.01417 -0.0607201 0.00745685 0.0500674 0.18 -0.02 pose: 0.0 0.868845 -0.0260689 0 -0.00322723 -0.00199468 -0.0198779 0.999795 uwb: 0.0 848.644 933.238 -imu_odom_: 1691062776.349579519 0.205901 -0.19393 9.38766 -0.0266316 -0.0106526 0.0319579 0.23 0 pose: 0.40183962 0.87474 -0.0341468 0 -0.00207369 -0.00586313 -0.019661 0.999787 uwb: 0.49750336 848.826 932.535 -imu_odom_: 1691062776.363584205 0.409408 -0.112527 10.2544 -0.0468716 -0.02024 0.0532632 0.23 0 pose: 0.0 0.87474 -0.0341468 0 -0.00207369 -0.00586313 -0.019661 0.999787 uwb: 0.0 848.826 932.535 -imu_odom_: 1691062776.386596758 0.517148 -0.225055 10.0054 -0.052198 -0.0500674 0.0340885 0.17 -0.02 pose: 0.48862266 0.882816 -0.0282497 0 -0.00273946 -0.00494926 -0.0196654 0.999791 uwb: 0.0 848.826 932.535 -imu_odom_: 1691062776.404805562 0.536301 -0.122104 10.0604 -0.0500674 0.00852212 0.0372843 0.17 -0.02 pose: 0.0 0.882816 -0.0282497 0 -0.00273946 -0.00494926 -0.0196654 0.999791 uwb: 0.49994447 848.617 931.488 -imu_odom_: 1691062776.428704144 0.373495 -0.201113 10.1586 -0.0500674 0.00852212 0.0298274 0.18 0 pose: 0.73192196 0.896789 -0.0304287 0 0.00121337 -0.00595544 -0.0197319 0.999787 uwb: 0.0 848.617 931.488 -imu_odom_: 1691062776.453587041 0.390255 -0.203507 9.62469 -0.0639159 -0.02024 0.0553937 0.18 0 pose: 0.7835438 0.896789 -0.0304287 0 0.00118133 -0.00512322 -0.0197706 0.999791 uwb: 0.50007862 848.667 931.032 -imu_odom_: 1691062776.476636925 0.696713 -0.519542 9.0836 -0.0436758 0.0383495 0.0351537 0.18 0 pose: 0.40946041 0.909095 -0.030328 0 0.000690721 -0.00114227 -0.0196557 0.999806 uwb: 0.0 848.667 931.032 -imu_odom_: 1691062776.492771815 0.488417 -0.100556 10.1107 -0.0340885 -0.0127832 0.0532632 0.18 0 pose: 0.0 0.909095 -0.030328 0 0.000690721 -0.00114227 -0.0196557 0.999806 uwb: 0.0 848.667 931.032 -imu_odom_: 1691062776.509608411 0.529119 -0.213084 9.74919 -0.0436758 -0.04048 0.0553937 0.22 0 pose: 0.0 0.909095 -0.030328 0 0.000690721 -0.00114227 -0.0196557 0.999806 uwb: 0.50354341 848.736 930.425 -imu_odom_: 1691062776.526841067 0.390255 0.0287304 10.0556 -0.0468716 -0.015979 0.0415453 0.22 0 pose: 0.46141182 0.918839 -0.0267144 0 0.000650131 -0.00352831 -0.0195401 0.999803 uwb: 0.0 848.736 930.425 -imu_odom_: 1691062776.549652382 0.471658 -0.349553 10.003 -0.0777643 -0.0426106 0.0745685 0.19 0 pose: 0.0 0.918839 -0.0267144 0 0.000650131 -0.00352831 -0.0195401 0.999803 uwb: 0.49684716 848.263 929.404 -imu_odom_: 1691062776.574767140 0.411803 -0.129287 10.1394 -0.0575243 -0.0426106 0.0372843 0.19 0 pose: 0.33903596 0.924738 -0.0347889 0 0.0013969 -0.00416554 -0.0193303 0.999803 uwb: 0.0 848.263 929.404 -imu_odom_: 1691062776.598702178 0.105345 -0.337582 10.0269 -0.0575243 -0.0479369 0.056459 0.21 0 pose: 0.41135321 0.932811 -0.0288867 0 0.00151476 -0.00321855 -0.0190819 0.999812 uwb: 0.49936700 847.998 928.958 -imu_odom_: 1691062776.615589230 1.00317 -0.275333 10.5321 -0.0532632 -0.0181095 0.0308927 0.21 0 pose: 0.7859937 0.932811 -0.0288867 0 0.00120791 -0.00266153 -0.0190161 0.999815 uwb: 0.0 847.998 928.958 -imu_odom_: 1691062776.640692614 0.612916 -0.251391 9.89284 -0.0703074 0.0543285 0.0671117 0.18 -0.02 pose: 0.0 0.932811 -0.0288867 0 0.00120791 -0.00266153 -0.0190161 0.999815 uwb: 0.0 847.998 928.958 -imu_odom_: 1691062776.665609050 0.565032 0.124498 10.0245 -0.0617853 -0.0213053 0.0447411 0.18 -0.02 pose: 0.41007870 0.946787 -0.0310457 0 4.02912e-05 -0.00383913 -0.0188416 0.999815 uwb: 0.50039944 847.815 928.06 -imu_odom_: 1691062776.679560073 0.696713 -0.184354 9.40442 -0.076699 -0.0340885 0.0532632 0.18 -0.02 pose: 0.0 0.946787 -0.0310457 0 4.02912e-05 -0.00383913 -0.0188416 0.999815 uwb: 0.0 847.815 928.06 -imu_odom_: 1691062776.696559410 0.715866 -0.354342 10.0245 -0.076699 -0.0117179 0.0372843 0.18 -0.02 pose: 0.47978278 0.946787 -0.0310457 0 0.00165939 -0.0063481 -0.0185112 0.999807 uwb: 0.0 847.815 928.06 -imu_odom_: 1691062776.721544676 0.445322 -0.466869 9.53371 -0.052198 -0.0553937 0.052198 0.2 0 pose: 0.0 0.946787 -0.0310457 0 0.00165939 -0.0063481 -0.0185112 0.999807 uwb: 0.50201225 848.385 927.194 -imu_odom_: 1691062776.744596018 0.459687 -0.280122 9.39006 -0.0383495 -0.0245011 0.036219 0.2 0 pose: 0.33249720 0.960766 -0.033193 0 -0.000618643-0.00834019 -0.0184071 0.999796 uwb: 0.0 848.385 927.194 -imu_odom_: 1691062776.770660384 0.909797 -0.325611 9.67257 -0.0585895 0.0170442 0.0511327 0.25 0 pose: 0.39733073 0.960766 -0.033193 0 -0.00256135 -0.0060697 -0.0183162 0.999811 uwb: 0.49866122 847.828 927.253 -imu_odom_: 1691062776.792687747 0.742203 -0.244209 10.5082 -0.0372843 0 0.0340885 0.25 0 pose: 0.0 0.960766 -0.033193 0 -0.00256135 -0.0060697 -0.0183162 0.999811 uwb: 0.0 847.828 927.253 -imu_odom_: 1691062776.816566206 0.881066 -0.0790087 10.5225 -0.0649811 -0.0436758 0.0607201 0.21 0 pose: 0.48091729 0.972631 -0.0324556 0 -0.00249926 -0.010485 -0.0182383 0.999776 uwb: 0.49882453 848.04 926.21 -imu_odom_: 1691062776.842611032 0.744597 0.0837971 9.98861 -0.052198 -0.00852212 0.036219 0.21 0 pose: 0.0 0.972631 -0.0324556 0 -0.00249926 -0.010485 -0.0182383 0.999776 uwb: 0.0 848.04 926.21 -imu_odom_: 1691062776.856679881 0.35913 -0.217872 9.73243 -0.0671117 0.00958738 0.0479369 0.18 0 pose: 0.49923285 0.982803 -0.0294112 0 0.00126808 -0.0137038 -0.018081 0.999742 uwb: 0.49982781 848.238 924.995 -imu_odom_: 1691062776.879683392 0.177171 -0.162806 9.50977 -0.0532632 0.0181095 0.0340885 0.18 0 pose: 0.0 0.982803 -0.0294112 0 0.00126808 -0.0137038 -0.018081 0.999742 uwb: 0.0 848.238 924.995 -imu_odom_: 1691062776.903534144 0.471658 -0.100556 10.1538 -0.0798948 -0.0106526 0.0681769 0.23 0.02 pose: 0.37072360 0.99407 -0.0335404 0 0.00127505 -0.00965331 -0.0180913 0.999789 uwb: 0.50122188 848.317 923.714 -imu_odom_: 1691062776.920660348 1.06542 -0.402226 9.60075 -0.0468716 -0.00745685 0.0308927 0.23 0.02 pose: 0.0 0.99407 -0.0335404 0 0.00127505 -0.00965331 -0.0180913 0.999789 uwb: 0.0 848.317 923.714 -imu_odom_: 1691062776.944657799 0.684742 -0.349553 9.81862 -0.0575243 -0.0106526 0.0553937 0.18 0 pose: 0.40976956 0.996784 -0.0315465 0 0.00169122 -0.00935267 -0.0178336 0.999796 uwb: 0.0 848.317 923.714 -imu_odom_: 1691062776.970531427 0.318429 -0.237026 10.2065 -0.0308927 -0.0383495 0.0394148 0.18 0 pose: 0.0 0.996784 -0.0315465 0 0.00169122 -0.00935267 -0.0178336 0.999796 uwb: 0.49987447 848.187 923.815 -imu_odom_: 1691062776.994674994 0.665588 -0.21069 10.3741 -0.0639159 -0.02024 0.056459 0.18 0 pose: 0.49871079 1.0085 -0.0353407 0 -0.000224382-0.00846899 -0.0176194 0.999809 uwb: 0.0 848.187 923.815 -imu_odom_: 1691062777.10561399 0.912191 -0.354342 9.89284 -0.0553937 0.00639159 0.0319579 0.18 0 pose: 0.0 1.0085 -0.0353407 0 -0.000224382-0.00846899 -0.0176194 0.999809 uwb: 0.49878662 847.466 923.286 -imu_odom_: 1691062777.36674472 0.215478 -0.304064 9.88087 -0.0660464 0.0181095 0.076699 0.25 -0.02 pose: 0.40029972 1.01076 -0.0336722 0 -0.000932676-0.0124153 -0.0174703 0.99977 uwb: 0.0 847.466 923.286 -imu_odom_: 1691062777.61584202 0.469264 -0.184354 9.98622 -0.0490022 -0.00852212 0.0479369 0.25 -0.02 pose: 0.0 1.01076 -0.0336722 0 -0.000932676-0.0124153 -0.0174703 0.99977 uwb: 0.50141148 847.639 921.53 -imu_odom_: 1691062777.86525138 0.584185 -0.292093 10.2232 -0.0862864 -0.0245011 0.0671117 0.21 0.02 pose: 0.34010341 1.02475 -0.0357859 0 -0.00111311 -0.00884293 -0.0169498 0.999817 uwb: 0.0 847.639 921.53 -imu_odom_: 1691062777.99523927 0.921768 -0.270545 9.62948 -0.0617853 -0.0170442 0.0351537 0.21 0.02 pose: 0.0 1.02475 -0.0357859 0 -0.00111311 -0.00884293 -0.0169498 0.999817 uwb: 0.0 847.639 921.53 -imu_odom_: 1691062777.123596916 0.593762 -0.600945 9.21528 -0.076699 -0.00213053 0.0660464 0.18 0 pose: 0.54952187 1.03279 -0.0298423 0 -0.00308317 -0.00994488 -0.0165582 0.999809 uwb: 0.0 847.639 921.53 -imu_odom_: 1691062777.141598359 0.636858 -0.162806 10.4315 -0.072438 0.0138484 0.0543285 0.18 0 pose: 0.0 1.03279 -0.0298423 0 -0.00308317 -0.00994488 -0.0165582 0.999809 uwb: 0.0 847.639 921.53 -imu_odom_: 1691062777.165506275 0.442927 0.0574608 10.1873 -0.0649811 0.0106526 0.0543285 0.18 0.02 pose: 0.42074432 1.03874 -0.03788 0 -0.00412916 -0.0100856 -0.0161076 0.999811 uwb: 0.99876320 847.624 920.679 -imu_odom_: 1691062777.191575892 0.687136 -0.158017 9.59596 -0.0671117 -0.0585895 0.0458064 0.18 0.02 pose: 0.7977180 1.03874 -0.03788 0 -0.00343902 -0.00969902 -0.0160555 0.999818 uwb: 0.0 847.624 920.679 -imu_odom_: 1691062777.215554095 0.416591 -0.543484 9.56244 -0.0745685 -0.0138484 0.0511327 0.19 0.05 pose: 0.23970620 1.04677 -0.0319246 0 -0.0016139 -0.00977583 -0.015932 0.999824 uwb: 0.50115775 847.593 919.304 -imu_odom_: 1691062777.241619046 0.316035 -0.363919 9.64624 -0.0266316 -0.0181095 0.0372843 0.21 0.02 pose: 0.26138155 1.05273 -0.0399563 0 -0.00136461 -0.0112662 -0.0158345 0.99981 uwb: 0.0 847.593 919.304 -imu_odom_: 1691062777.264542938 0.442927 -0.237026 10.1466 -0.0468716 -0.0383495 0.0479369 0.21 0.02 pose: 0.0 1.05273 -0.0399563 0 -0.00136461 -0.0112662 -0.0158345 0.99981 uwb: 0.49920077 847.249 919.293 -imu_odom_: 1691062777.280672287 1.05105 -0.387861 9.50977 -0.052198 0.0255663 0.0330232 0.21 0.02 pose: 0.0 1.05273 -0.0399563 0 -0.00136461 -0.0112662 -0.0158345 0.99981 uwb: 0.0 847.249 919.293 -imu_odom_: 1691062777.305535061 0.277727 -0.385466 9.48104 -0.0958738 -0.00532632 0.0809601 0.19 0 pose: 0.24026325 1.06076 -0.0339969 0 -0.0029738 -0.00973986 -0.015732 0.999824 uwb: 0.49948952 846.018 919.33 -imu_odom_: 1691062777.328587571 0.325611 -0.241814 9.94312 -0.00745685 -0.0213053 0.02024 0.18 0 pose: 0.48843602 1.06076 -0.0339969 0 -0.0026269 -0.00704465 -0.0156675 0.999849 uwb: 0.0 846.018 919.33 -imu_odom_: 1691062777.344510432 0.40462 -0.493206 9.60075 -0.0607201 -0.0575243 0.0575243 0.18 0 pose: 0.32980820 1.07247 -0.0377565 0 -0.0043001 -0.00542679 -0.0151705 0.999861 uwb: 0.0 846.018 919.33 -imu_odom_: 1691062777.370505970 0.914585 -0.474052 9.42358 -0.04048 0.00106526 0.0532632 0.25 -0.02 pose: 0.7064902 1.07475 -0.0360619 0 -0.00391798 -0.00481637 -0.015236 0.999865 uwb: 0.50041987 846.211 917.193 -imu_odom_: 1691062777.392540625 0.361524 -0.500388 9.20092 -0.0394148 0.0106526 0.0298274 0.25 -0.02 pose: 0.0 1.07475 -0.0360619 0 -0.00391798 -0.00481637 -0.015236 0.999865 uwb: 0.0 846.211 917.193 -imu_odom_: 1691062777.408522400 0.440533 0.138864 10.6135 -0.0468716 0.00106526 0.0319579 0.25 -0.02 pose: 0.0 1.07475 -0.0360619 0 -0.00391798 -0.00481637 -0.015236 0.999865 uwb: 0.50097400 846.218 915.635 -imu_odom_: 1691062777.434527854 0.964863 -0.0837971 10.2711 -0.0798948 0.00958738 0.0607201 0.19 0 pose: 0.39922355 1.07475 -0.0360619 0 -0.00486718 -0.00411057 -0.0151808 0.999864 uwb: 0.0 846.218 915.635 -imu_odom_: 1691062777.456654087 0.976834 0.011971 10.1394 -0.0575243 -0.0383495 0.0319579 0.18 0.02 pose: 0.48036901 1.08874 -0.0381154 0 -0.00611733 -0.0040955 -0.0151862 0.999858 uwb: 0.49842208 845.686 915.519 -imu_odom_: 1691062777.482516633 0.78051 -0.514753 9.58878 -0.0596548 -0.015979 0.0458064 0.18 0.02 pose: 0.33968635 1.09472 -0.0336642 0 -0.00448856 -0.00616548 -0.0149637 0.999859 uwb: 0.0 845.686 915.519 -imu_odom_: 1691062777.499483889 0.462081 -0.308852 9.70131 -0.052198 -0.0213053 0.0266316 0.18 0.02 pose: 0.0 1.09472 -0.0336642 0 -0.00448856 -0.00616548 -0.0149637 0.999859 uwb: 0.50062111 845.604 915.123 -imu_odom_: 1691062777.523492132 0.893037 -0.553061 9.55765 -0.0596548 -0.0532632 0.056459 0.23 -0.02 pose: 0.6138917 1.09676 -0.0321451 0 -0.00415137 -0.0067784 -0.014991 0.999856 uwb: 0.0 845.604 915.123 -imu_odom_: 1691062777.540556507 0.220267 -0.232238 9.90242 -0.04048 0.0117179 0.0415453 0.23 -0.02 pose: 0.0 1.09676 -0.0321451 0 -0.00415137 -0.0067784 -0.014991 0.999856 uwb: 0.0 845.604 915.123 -imu_odom_: 1691062777.565637434 0.672771 0.0742203 9.93594 -0.0511327 0.02024 0.052198 0.23 -0.02 pose: 0.49910453 1.11076 -0.0341929 0 -0.00522987 -0.00949708 -0.0150185 0.999828 uwb: 0.49988907 845.394 914.127 -imu_odom_: 1691062777.582828093 0.318429 -0.225055 9.90002 -0.0575243 0.0170442 0.04048 0.23 -0.02 pose: 0.0 1.11076 -0.0341929 0 -0.00522987 -0.00949708 -0.0150185 0.999828 uwb: 0.0 845.394 914.127 -imu_odom_: 1691062777.607757363 0.282516 -0.268151 9.77313 -0.0692422 -0.0319579 0.0671117 0.23 -0.02 pose: 0.83163674 1.12475 -0.036236 0 -0.00342813 -0.00875072 -0.0147056 0.999848 uwb: 0.49999698 845.804 913.295 -imu_odom_: 1691062777.633673865 0.869095 -0.232238 10.1251 -0.0553937 -0.00745685 0.0351537 0.23 0 pose: 0.34016465 1.12475 -0.036236 0 -0.0033192 -0.00561326 -0.0143508 0.999876 uwb: 0.0 845.804 913.295 -imu_odom_: 1691062777.658510974 0.277727 -0.158017 9.65582 -0.0681769 -0.00852212 0.0532632 0.23 0 pose: 0.0 1.12475 -0.036236 0 -0.0033192 -0.00561326 -0.0143508 0.999876 uwb: 0.50008447 846.027 912.177 -imu_odom_: 1691062777.675576807 0.517148 -0.275333 10.2041 -0.0820254 0.015979 0.0394148 0.21 -0.02 pose: 0.7892310 1.12475 -0.036236 0 -0.00322574 -0.00641069 -0.0143713 0.999871 uwb: 0.0 846.027 912.177 -imu_odom_: 1691062777.699490264 0.845153 -0.56982 9.77792 -0.0628506 0.0319579 0.0468716 0.21 -0.02 pose: 0.0 1.12475 -0.036236 0 -0.00322574 -0.00641069 -0.0143713 0.999871 uwb: 0.49994449 846.181 911.192 -imu_odom_: 1691062777.725467720 0.411803 -0.361524 9.25119 -0.0511327 0.0245011 0.0490022 0.2 -0.02 pose: 0.50873478 1.13875 -0.0382668 0 -0.00306851 -0.00558162 -0.0142468 0.999878 uwb: 0.0 846.181 911.192 -imu_odom_: 1691062777.739524320 0.150835 -0.263362 10.137 -0.0458064 0.0213053 0.0436758 0.2 -0.02 pose: 0.0 1.13875 -0.0382668 0 -0.00306851 -0.00558162 -0.0142468 0.999878 uwb: 0.0 846.181 911.192 -imu_odom_: 1691062777.756526574 0.251391 0.0837971 9.91439 -0.0660464 -0.015979 0.0607201 0.2 -0.02 pose: 0.0 1.13875 -0.0382668 0 -0.00306851 -0.00558162 -0.0142468 0.999878 uwb: 0.50306512 846.392 909.695 -imu_odom_: 1691062777.782499364 0.191536 -0.414197 9.8258 -0.0607201 0.0351537 0.0351537 0.18 0.02 pose: 0.41027996 1.15274 -0.0402933 0 -0.00591603 -0.00565808 -0.0141134 0.999867 uwb: 0.0 846.392 909.695 -imu_odom_: 1691062777.807537419 0.493206 -0.205901 10.1394 -0.0607201 -0.00213053 0.04048 0.22 0 pose: 0.74948217 1.1648 -0.0397137 0 -0.00574187 0.00131211 -0.0138476 0.999887 uwb: 0.49597806 847.281 907.509 -imu_odom_: 1691062777.832494979 0.136469 -0.335188 9.53132 -0.0532632 -0.0213053 0.0500674 0.22 0 pose: 0.0 1.1648 -0.0397137 0 -0.00574187 0.00131211 -0.0138476 0.999887 uwb: 0.0 847.281 907.509 -imu_odom_: 1691062777.857711231 0.926556 -0.169988 9.83059 -0.0372843 -0.02024 0.0330232 0.2 -0.02 pose: 0.8085965 1.16674 -0.0423112 0 -0.00517633 0.000762958 -0.0138465 0.99989 uwb: 0.50069694 847.301 906.606 -imu_odom_: 1691062777.882530550 0.328006 -0.174777 10.4555 -0.056459 -0.0149137 0.0511327 0.2 -0.02 pose: 0.0 1.16674 -0.0423112 0 -0.00517633 0.000762958 -0.0138465 0.99989 uwb: 0.0 847.301 906.606 -imu_odom_: 1691062777.907513775 0.88346 0.0981623 10.2496 -0.0447411 -0.0628506 0.0330232 0.2 0 pose: 0.48935763 1.17475 -0.0363202 0 -0.00412909 0.00112518 -0.013728 0.999897 uwb: 0.49940493 846.874 906.712 -imu_odom_: 1691062777.932498166 0.533907 -0.299275 9.97664 -0.0777643 -0.015979 0.0468716 0.19 0.02 pose: 0.0 1.17475 -0.0363202 0 -0.00296054 -0.000349801-0.0136466 0.999905 uwb: 0.0 846.874 906.712 -imu_odom_: 1691062777.949619413 0.464475 -0.423774 9.44991 -0.0415453 -0.0511327 0.0245011 0.19 0.02 pose: 0.0 1.18874 -0.0383335 0 -0.00115915 -0.000281013-0.0136731 0.999906 uwb: 0.50052487 846.488 906.661 -imu_odom_: 1691062777.974474896 0.64404 -0.308852 10.161 -0.072438 -0.0181095 0.0617853 0.19 0.02 pose: 0.0 1.18874 -0.0383335 0 -0.00115915 -0.000281013-0.0136731 0.999906 uwb: 0.0 846.488 906.661 -imu_odom_: 1691062777.998605340 0.54109 -0.19393 10.0628 -0.0340885 -0.036219 0.0330232 0.18 0 pose: 0.67148943 1.20274 -0.040346 0 -0.00391649 -0.00518676 -0.0136694 0.999885 uwb: 0.50104400 846.808 904.643 -imu_odom_: 1691062778.21488693 0.222661 -0.102951 10.1849 -0.056459 -0.0106526 0.0639159 0.19 0 pose: 0.0 1.20274 -0.040346 0 -0.00391649 -0.00518676 -0.0136694 0.999885 uwb: 0.0 846.808 904.643 -imu_odom_: 1691062778.36471571 0.620098 -0.181959 9.94791 -0.0394148 -0.0266316 0.0415453 0.19 0 pose: 0.40967041 1.20274 -0.040346 0 -0.00164351 -0.00734771 -0.0135802 0.999879 uwb: 0.0 846.808 904.643 -imu_odom_: 1691062778.54631380 0.296881 -0.215478 9.81144 -0.0340885 -0.0149137 0.0607201 0.19 0 pose: 0.0 1.20274 -0.040346 0 -0.00164351 -0.00734771 -0.0135802 0.999879 uwb: 0.49722925 847.075 904.438 -imu_odom_: 1691062778.78675788 0.0143652 -0.162806 9.6606 -0.02024 0 0.0276969 0.18 0.02 pose: 0.6942993 1.20274 -0.040346 0 -0.00136272 -0.00673587 -0.0134968 0.999885 uwb: 0.0 847.075 904.438 -imu_odom_: 1691062778.104470381 0.426168 -0.459687 9.78031 -0.0713727 -0.0490022 0.0756338 0.18 0.02 pose: 0.0 1.20274 -0.040346 0 -0.00136272 -0.00673587 -0.0134968 0.999885 uwb: 0.50245268 846.716 904.028 -imu_odom_: 1691062778.128594701 0.447716 -0.134075 10.1418 -0.04048 -0.0351537 0.0458064 0.18 0 pose: 0.56964566 1.21674 -0.0423528 0 0.00037246 -0.00438176 -0.0131473 0.999904 uwb: 0.0 846.716 904.028 -imu_odom_: 1691062778.154528994 0.459687 -0.397437 9.75158 -0.072438 0.0330232 0.0585895 0.19 0 pose: 0.49995908 1.22474 -0.0363512 0 -0.00108372 -0.00302213 -0.0127492 0.999914 uwb: 0.49886540 846.115 903.464 -imu_odom_: 1691062778.179590674 0.222661 -0.0957681 10.2304 -0.0543285 0.0308927 0.0511327 0.19 0 pose: 0.0 1.22474 -0.0363512 0 -0.00108372 -0.00302213 -0.0127492 0.999914 uwb: 0.0 846.115 903.464 -imu_odom_: 1691062778.202478694 0.78051 -0.023942 10.5082 -0.0735032 0.0117179 0.0543285 0.21 0.02 pose: 0.67081867 1.23874 -0.038335 0 -0.00069652 -4.59641e-05-0.0123042 0.999924 uwb: 0.50126858 845.878 903.127 -imu_odom_: 1691062778.219534903 0.54109 -0.222661 9.65582 -0.0500674 -0.0181095 0.0426106 0.21 0.02 pose: 0.6954075 1.23874 -0.038335 0 -0.000433437-0.000604396-0.0122534 0.999925 uwb: 0.0 845.878 903.127 -imu_odom_: 1691062778.245528109 0.349553 -0.337582 9.59596 -0.092678 0.00958738 0.0617853 0.18 0.02 pose: 0.0 1.23874 -0.038335 0 -0.000433437-0.000604396-0.0122534 0.999925 uwb: 0.0 845.878 903.127 -imu_odom_: 1691062778.270459422 0.636858 -0.126893 10.0652 -0.0607201 -0.00213053 0.0511327 0.18 0.02 pose: 0.32990154 1.24873 -0.0433289 0 -2.17899e-06-0.00369612 -0.0121103 0.99992 uwb: 0.49902581 846.214 901.268 -imu_odom_: 1691062778.295524893 0.490811 -0.071826 10.2448 -0.052198 0.015979 0.0330232 0.19 0 pose: 0.50924519 1.25274 -0.0403059 0 -0.0010148 -0.00371529 -0.0116801 0.999924 uwb: 0.0 846.214 901.268 -imu_odom_: 1691062778.320634111 0.833182 -0.418985 9.46428 -0.0713727 -0.0426106 0.056459 0.19 0 pose: 0.0 1.25274 -0.0403059 0 -0.0010148 -0.00371529 -0.0116801 0.999924 uwb: 0.49863792 846.822 899.762 -imu_odom_: 1691062778.336460437 0.215478 -0.296881 9.61272 -0.04048 0.0191748 0.0394148 0.2 0 pose: 0.50174689 1.26675 -0.0422628 0 -6.86561e-05-0.00625339 -0.011553 0.999914 uwb: 0.0 846.822 899.762 -imu_odom_: 1691062778.353459192 0.936133 -0.126893 10.2137 -0.052198 -0.0500674 0.052198 0.2 0 pose: 0.0 1.26675 -0.0422628 0 -6.86561e-05-0.00625339 -0.011553 0.999914 uwb: 0.50068820 846.545 900.536 -imu_odom_: 1691062778.378460792 0.572214 -0.009576819.86411 -0.0394148 0.00106526 0.0543285 0.18 -0.02 pose: 0.32825081 1.27071 -0.0392734 0 1.36025e-05 -0.00659282 -0.0114456 0.999913 uwb: 0.0 846.545 900.536 -imu_odom_: 1691062778.402462327 0.306458 -0.114922 9.56723 -0.0479369 0.0287621 0.0511327 0.18 -0.02 pose: 0.9073780 1.27473 -0.0362348 0 0.000974157 -0.00675739 -0.011384 0.999912 uwb: 0.50016324 847.386 898.605 -imu_odom_: 1691062778.427600419 0.555455 -0.270545 9.87129 -0.0394148 0.00106526 0.0351537 0.25 0 pose: 0.39929355 1.28076 -0.0442125 0 0.00327038 -0.00430797 -0.0111457 0.999923 uwb: 0.0 847.386 898.605 -imu_odom_: 1691062778.452454736 0.349553 -0.299275 9.53132 -0.0649811 0.0607201 0.0553937 0.25 0 pose: 0.0 1.28076 -0.0442125 0 0.00327038 -0.00430797 -0.0111457 0.999923 uwb: 0.49996783 848.376 897.343 -imu_odom_: 1691062778.469440950 0.579397 -0.169988 10.8218 -0.0394148 0.00426106 0.0394148 0.19 0 pose: 0.8039302 1.28076 -0.0442125 0 0.00263145 -0.00467913 -0.0111588 0.999923 uwb: 0.0 848.376 897.343 -imu_odom_: 1691062778.494568250 0.665588 0.059855 10.4579 -0.0511327 -0.0149137 0.0607201 0.19 0 pose: 0.0 1.28076 -0.0442125 0 0.00263145 -0.00467913 -0.0111588 0.999923 uwb: 0.0 848.376 897.343 -imu_odom_: 1691062778.517495643 0.684742 -0.0933739 10.1083 -0.0468716 -0.0415453 0.0319579 0.23 0 pose: 0.49980742 1.29477 -0.0461532 0 0.000115553 -0.00332333 -0.0109863 0.999934 uwb: 0.49957411 848.602 896.335 -imu_odom_: 1691062778.543603176 0.708684 -0.299275 9.83777 -0.0660464 -0.0426106 0.0490022 0.23 0 pose: 0.42027186 1.30274 -0.040115 0 0.00295476 -0.00657189 -0.0107599 0.999916 uwb: 0.0 848.602 896.335 -imu_odom_: 1691062778.558599761 0.418985 -0.383072 9.87608 -0.0543285 0.00213053 0.0330232 0.18 -0.02 pose: 0.0 1.30274 -0.040115 0 0.00295476 -0.00657189 -0.0107599 0.999916 uwb: 0.50018657 849.061 895.292 -imu_odom_: 1691062778.584498764 0.1652 -0.292093 9.79947 -0.0500674 -0.0458064 0.0490022 0.18 -0.02 pose: 0.0 1.30274 -0.040115 0 0.00295476 -0.00657189 -0.0107599 0.999916 uwb: 0.0 849.061 895.292 -imu_odom_: 1691062778.609446409 0.835576 -0.423774 9.39006 -0.0319579 -0.00319579 0.0383495 0.2 -0.02 pose: 0.48080067 1.31675 -0.0420456 0 0.00098717 -0.0100088 -0.0106926 0.999892 uwb: 0.49859125 849.066 894.122 -imu_odom_: 1691062778.634554752 0.184354 -0.371101 9.68694 -0.0458064 0.00213053 0.0607201 0.2 -0.02 pose: 0.41925401 1.31675 -0.0420456 0 -0.000402071-0.00806483 -0.0105885 0.999911 uwb: 0.0 849.066 894.122 -imu_odom_: 1691062778.658484542 0.349553 -0.124498 10.1035 -0.0617853 -0.0383495 0.0479369 0.18 0 pose: 0.0 1.31675 -0.0420456 0 -0.000402071-0.00806483 -0.0105885 0.999911 uwb: 0.50203562 849.265 892.484 -imu_odom_: 1691062778.675607539 0.423774 -0.462081 9.8689 -0.0649811 0.0276969 0.0798948 0.18 0 pose: 0.49060007 1.33076 -0.0439692 0 -0.00149836 -0.00649311 -0.0102858 0.999925 uwb: 0.0 849.265 892.484 -imu_odom_: 1691062778.699429419 0.452504 -0.292093 9.71567 -0.0415453 0.0468716 0.036219 0.19 0 pose: 0.0 1.33076 -0.0439692 0 -0.00149836 -0.00649311 -0.0102858 0.999925 uwb: 0.49936412 848.663 891.856 -imu_odom_: 1691062778.724542429 0.301669 -0.59855 9.47146 -0.0735032 -0.0149137 0.0639159 0.19 0 pose: 0.41030330 1.33076 -0.0439692 0 -0.00271961 -0.00380593 -0.00987411 0.99994 uwb: 0.0 848.663 891.856 -imu_odom_: 1691062778.748417681 0.19393 -0.280122 9.63666 -0.0266316 0.0106526 0.0266316 0.23 0 pose: 0.41937067 1.34477 -0.0458743 0 -0.00622808 -0.00119479 -0.00958049 0.999934 uwb: 0.50045781 848.047 891.616 -imu_odom_: 1691062778.763429140 0.213084 -0.1652 10.3286 -0.0447411 -0.0149137 0.0585895 0.23 0 pose: 0.0 1.34477 -0.0458743 0 -0.00622808 -0.00119479 -0.00958049 0.999934 uwb: 0.0 848.047 891.616 -imu_odom_: 1691062778.787486089 0.624887 -0.0646434 10.4555 -0.0458064 -0.00532632 0.0447411 0.18 0 pose: 0.38886711 1.35273 -0.0398164 0 -0.00419992 0.00229396 -0.00957193 0.999943 uwb: 0.0 848.047 891.616 -imu_odom_: 1691062778.812434026 0.608127 -0.325611 10.0676 -0.0788296 0.0383495 0.0543285 0.18 0 pose: 0.0 1.35273 -0.0398164 0 -0.00419992 0.00229396 -0.00957193 0.999943 uwb: 0.49918913 847.447 891.188 -imu_odom_: 1691062778.836435561 0.320823 0.0502782 10.1849 -0.0340885 -0.00639159 0.0287621 0.18 0 pose: 0.32068252 1.35879 -0.0477719 0 -0.00282608 -0.000137939-0.00945751 0.999951 uwb: 0.0 847.447 891.188 -imu_odom_: 1691062778.859471448 0.411803 -0.150835 10.1083 -0.0660464 -0.0735032 0.0532632 0.18 0 pose: 0.0 1.35879 -0.0477719 0 -0.00282608 -0.000137939-0.00945751 0.999951 uwb: 0.49917163 847.251 890.645 -imu_odom_: 1691062778.876406623 0.646434 -0.356736 9.44034 -0.036219 0.0639159 0.0255663 0.19 -0.02 pose: 0.47941534 1.36674 -0.0417109 0 -0.000297801-0.000897594-0.00942011 0.999955 uwb: 0.0 847.251 890.645 -imu_odom_: 1691062778.892482309 0.227449 -0.42138 9.92157 -0.0532632 -0.0191748 0.0553937 0.19 -0.02 pose: 0.0 1.36674 -0.0417109 0 -0.000297801-0.000897594-0.00942011 0.999955 uwb: 0.0 847.251 890.645 -imu_odom_: 1691062778.909472898 0.612916 -0.0766145 10.3765 -0.0585895 -0.00532632 0.04048 0.25 0 pose: 0.49043383 1.38076 -0.0436034 0 -0.000754698-0.00109407 -0.00929661 0.999956 uwb: 0.50236227 847.615 889.692 -imu_odom_: 1691062778.934476247 0.292093 -0.009576819.57681 -0.0660464 -0.0127832 0.0532632 0.25 0 pose: 0.7011239 1.38076 -0.0436034 0 -0.000326638-0.00164466 -0.00929435 0.999955 uwb: 0.0 847.615 889.692 -imu_odom_: 1691062778.960414623 0.248997 -0.395043 9.69652 -0.0394148 0.015979 0.0234358 0.23 0 pose: 0.34982699 1.38076 -0.0436034 0 0.00212751 -0.00100434 -0.00912568 0.999956 uwb: 0.49879832 847.214 888.587 -imu_odom_: 1691062778.974479682 0.0957681 -0.368707 10.0556 -0.0490022 0.00319579 0.0330232 0.2 -0.02 pose: 0.0 1.38076 -0.0436034 0 0.00212751 -0.00100434 -0.00912568 0.999956 uwb: 0.0 847.214 888.587 -imu_odom_: 1691062778.998411805 0.572214 -0.323217 10.4435 -0.0617853 -0.015979 0.0415453 0.18 0 pose: 0.40003435 1.39477 -0.0454908 0 -0.0003188810.00216638 -0.0093828 0.999954 uwb: 0.49988034 846.773 888.265 -imu_odom_: 1691062779.24520797 1.11091 -0.160412 10.0628 -0.0671117 -0.02024 0.0543285 0.25 0 pose: 0.0 1.39477 -0.0454908 0 -0.0003188810.00216638 -0.0093828 0.999954 uwb: 0.0 846.773 888.265 -imu_odom_: 1691062779.40464366 0.0574608 -0.40462 9.59835 -0.0713727 0.0319579 0.0617853 0.25 0 pose: 0.32027421 1.39477 -0.0454908 0 -0.0014064 -0.000997315-0.00930345 0.999955 uwb: 0.0 846.773 888.265 -imu_odom_: 1691062779.65401221 0.675165 -0.059855 9.93354 -0.0447411 0.00958738 0.0351537 0.25 0 pose: 0.0 1.39477 -0.0454908 0 -0.0014064 -0.000997315-0.00930345 0.999955 uwb: 0.49910457 846.716 886.578 -imu_odom_: 1691062779.87447835 0.282516 -0.141258 10.0676 -0.0617853 -0.02024 0.0607201 0.23 0 pose: 0.41967108 1.40879 -0.0473802 0 -0.00150817 -0.00174349 -0.00901273 0.999957 uwb: 0.0 846.716 886.578 -imu_odom_: 1691062779.112573970 0.150835 0.0023942 9.60554 -0.0575243 -0.0149137 0.0585895 0.19 0 pose: 0.38973624 1.41431 -0.0431685 0 0.000460638 -0.00114256 -0.00882337 0.99996 uwb: 0.50004076 846.453 886.175 -imu_odom_: 1691062779.138427768 0.622492 -0.426168 9.71806 -0.0543285 0.0330232 0.0308927 0.19 0 pose: 0.0 1.41431 -0.0431685 0 0.000460638 -0.00114256 -0.00882337 0.99996 uwb: 0.0 846.453 886.175 -imu_odom_: 1691062779.152419915 0.0790087 -0.220267 10.2376 -0.0372843 -0.00426106 0.0500674 0.19 0 pose: 0.0 1.41431 -0.0431685 0 0.000460638 -0.00114256 -0.00882337 0.99996 uwb: 0.49958579 847.31 884.319 -imu_odom_: 1691062779.176452075 0.258574 -0.287304 10.094 -0.0628506 0.00106526 0.0532632 0.2 0 pose: 0.7052653 1.41674 -0.0413117 0 0.000884736 -0.000621676-0.00875712 0.999961 uwb: 0.0 847.31 884.319 -imu_odom_: 1691062779.202411742 0.153229 -0.167594 9.79228 -0.0553937 -0.0149137 0.0543285 0.25 0 pose: 0.50073489 1.42281 -0.0492574 0 0.000131344 5.69179e-05 -0.00866441 0.999962 uwb: 0.50089530 847.546 883.656 -imu_odom_: 1691062779.216463094 0.684742 -0.158017 10.4579 -0.0830906 -0.0149137 0.0649811 0.25 0 pose: 0.0 1.42281 -0.0492574 0 0.000131344 5.69179e-05 -0.00866441 0.999962 uwb: 0.0 847.546 883.656 -imu_odom_: 1691062779.240465506 0.845153 0.059855 10.501 -0.0617853 -0.0234358 0.0500674 0.17 -0.02 pose: 0.39889110 1.43075 -0.0431843 0 -0.0008373020.0036912 -0.00839938 0.999958 uwb: 0.0 847.546 883.656 -imu_odom_: 1691062779.267464901 0.505177 -0.234632 10.6566 -0.072438 0.0106526 0.0532632 0.17 -0.02 pose: 0.0 1.43075 -0.0431843 0 -0.0008373020.0036912 -0.00839938 0.999958 uwb: 0.50016325 847.305 883.894 -imu_odom_: 1691062779.293399195 0.586579 -0.148441 9.75398 -0.0873517 0.0191748 0.0607201 0.19 0 pose: 0.39939565 1.44477 -0.0450441 0 0.000141623 0.00303735 -0.0080399 0.999963 uwb: 0.0 847.305 883.894 -imu_odom_: 1691062779.319447815 0.543484 -0.258574 9.65582 -0.0596548 -0.0575243 0.0426106 0.19 0 pose: 0.0 1.44477 -0.0450441 0 0.000141623 0.00303735 -0.0080399 0.999963 uwb: 0.50003201 846.958 882.784 -imu_odom_: 1691062779.342395041 0.342371 -0.428562 9.75158 -0.0798948 -0.00639159 0.0500674 0.19 0 pose: 0.51077052 1.44477 -0.0450441 0 3.13851e-05 -0.00157926 -0.00768244 0.999969 uwb: 0.0 846.958 882.784 -imu_odom_: 1691062779.359471958 0.622492 -0.0454898 10.0916 -0.0511327 -0.00532632 0.0617853 0.19 0 pose: 0.0 1.44477 -0.0450441 0 3.13851e-05 -0.00157926 -0.00768244 0.999969 uwb: 0.49978412 846.588 881.863 -imu_odom_: 1691062779.374524249 0.452504 -0.201113 10.0916 -0.0383495 0.00319579 0.14168 0.19 0.14 pose: 0.50980225 1.45879 -0.0468881 0 -0.00165632 -0.00544486 -0.00741008 0.999956 uwb: 0.0 846.588 881.863 -imu_odom_: 1691062779.390583311 0.222661 -0.988805 9.73961 -0.0447411 0.00319579 0.223706 0.19 0.14 pose: 0.0 1.45879 -0.0468881 0 -0.00165632 -0.00544486 -0.00741008 0.999956 uwb: 0.0 846.588 881.863 -imu_odom_: 1691062779.407515571 0.512359 -0.371101 9.78271 -0.0415453 -0.0287621 0.275903 0.19 0.14 pose: 0.0 1.45879 -0.0468881 0 -0.00165632 -0.00544486 -0.00741008 0.999956 uwb: 0.49948079 846.137 881.515 -imu_odom_: 1691062779.424409041 0.97444 -0.186748 10.1275 -0.0351537 -0.0532632 0.32171 0.18 0.2 pose: 0.40023268 1.46672 -0.0407951 0 -0.0010284 -0.00467746 -0.00678216 0.999966 uwb: 0.0 846.137 881.515 -imu_odom_: 1691062779.440380608 0.684742 -0.754174 9.62708 -0.0745685 0.0330232 0.376038 0.18 0.2 pose: 0.0 1.46672 -0.0407951 0 -0.0010284 -0.00467746 -0.00678216 0.999966 uwb: 0.0 846.137 881.515 -imu_odom_: 1691062779.456367925 0.411803 0.0335188 10.1682 -0.0223706 0.0127832 0.395213 0.23 0.41 pose: 0.32047838 1.47275 -0.0487775 0 -0.00260299 -0.00379051 -0.00394643 0.999982 uwb: 0.0 846.137 881.515 -imu_odom_: 1691062779.473413344 0.493206 -0.28491 10.501 -0.0585895 -0.0639159 0.429302 0.23 0.41 pose: 0.41849573 1.48067 -0.0427148 0 -0.00459792 -0.00646295 0.00218907 0.999966 uwb: 0.0 846.137 881.515 -imu_odom_: 1691062779.490420558 1.02472 -0.605733 9.73961 -0.0596548 0.00958738 0.467651 0.23 0.41 pose: 0.0 1.48067 -0.0427148 0 -0.00459792 -0.00646295 0.00218907 0.999966 uwb: 0.0 846.137 881.515 -imu_odom_: 1691062779.506416332 0.766145 -0.447716 9.79468 -0.0426106 -0.00426106 0.491087 0.18 0.44 pose: 0.7064320 1.4807 -0.0427088 0 -0.00382359 -0.00615865 0.00344248 0.999968 uwb: 0.100054233 845.876 880.455 -imu_odom_: 1691062779.523527664 0.993594 -0.287304 9.96706 -0.0383495 0.0383495 0.498544 0.18 0.44 pose: 0.0 1.4807 -0.0427088 0 -0.00382359 -0.00615865 0.00344248 0.999968 uwb: 0.0 845.876 880.455 -imu_odom_: 1691062779.540575416 0.493206 -0.708684 9.69412 -0.0830906 0.0543285 0.572047 0.18 0.44 pose: 0.0 1.4807 -0.0427088 0 -0.00382359 -0.00615865 0.00344248 0.999968 uwb: 0.0 845.876 880.455 -imu_odom_: 1691062779.556394452 0.186748 -0.244209 9.59117 -0.0511327 0.0287621 0.573112 0.24 0.7 pose: 0.50988974 1.4947 -0.0446607 0 -0.00476028 -0.00669085 0.0138028 0.999871 uwb: 0.49985703 845.82 878.677 -imu_odom_: 1691062779.573523574 0.452504 -0.272939 9.70609 -0.02024 -0.0458064 0.588026 0.18 0.55 pose: 0.0 1.4947 -0.0446607 0 -0.00476028 -0.00669085 0.0138028 0.999871 uwb: 0.0 845.82 878.677 -imu_odom_: 1691062779.590642197 0.268151 -0.246603 10.3645 -0.0213053 -0.056459 0.60507 0.18 0.55 pose: 0.66143343 1.50871 -0.0465314 0 -0.00572232 -0.00565217 0.0305375 0.999501 uwb: 0.0 845.82 878.677 -imu_odom_: 1691062779.608378241 0.885855 -0.624887 10.1299 -0.0372843 -0.0383495 0.649811 0.18 0.58 pose: 0.0 1.50871 -0.0465314 0 -0.00572232 -0.00565217 0.0305375 0.999501 uwb: 0.50052490 846.012 877.516 -imu_odom_: 1691062779.622422301 1.14203 -0.332794 9.63427 -0.052198 -0.0852212 0.660464 0.18 0.58 pose: 0.0 1.50871 -0.0465314 0 -0.00572232 -0.00565217 0.0305375 0.999501 uwb: 0.0 846.012 877.516 -imu_odom_: 1691062779.637418012 0.828394 -0.105345 9.83777 -0.0298274 -0.0223706 0.656203 0.18 0.58 pose: 0.34066339 1.50871 -0.0465314 0 -0.00461573 -0.00471877 0.0402782 0.999167 uwb: 0.0 846.012 877.516 -imu_odom_: 1691062779.654364270 1.2785 -0.071826 9.663 -0.056459 -0.0713727 0.680704 0.21 0.67 pose: 0.38774428 1.51663 -0.0404807 0 -0.00393479 -0.00885776 0.0522019 0.99859 uwb: 0.0 846.012 877.516 -imu_odom_: 1691062779.670416917 1.39343 -0.368707 9.59117 -0.0660464 -0.00639159 0.60294 0.21 0.67 pose: 0.7950932 1.51666 -0.0404747 0 -0.00366673 -0.00985822 0.0547421 0.998445 uwb: 0.0 846.012 877.516 -imu_odom_: 1691062779.687482168 1.38145 -0.328006 10.0149 -0.0575243 0.036219 0.461259 0.21 0.67 pose: 0.0 1.51666 -0.0404747 0 -0.00366673 -0.00985822 0.0547421 0.998445 uwb: 0.0 846.012 877.516 -imu_odom_: 1691062779.704350556 1.22104 0.0622492 9.8665 -0.0798948 0.0628506 0.38243 0.12 0.38 pose: 0.42113224 1.52692 -0.0452036 0 -0.00360707 -0.0139509 0.0657027 0.997735 uwb: 0.99819455 845.859 877.175 -imu_odom_: 1691062779.720348372 0.90022 -0.191536 10.1227 -0.0692422 0.0713727 0.34408 0.11 0.29 pose: 0.0 1.52692 -0.0452036 0 -0.00360707 -0.0139509 0.0657027 0.997735 uwb: 0.0 845.859 877.175 -imu_odom_: 1691062779.737345378 0.536301 -0.347159 10.1754 -0.0617853 -0.0170442 0.313188 0.11 0.29 pose: 0.0 1.52692 -0.0452036 0 -0.00360707 -0.0139509 0.0657027 0.997735 uwb: 0.0 845.859 877.175 -imu_odom_: 1691062779.753342902 0.672771 -0.301669 9.79468 -0.0479369 -0.00426106 0.290817 0.1 0.26 pose: 0.23882252 1.53063 -0.0423293 0 -0.00260016 -0.0150774 0.0696186 0.997456 uwb: 0.49964121 845.689 876.818 -imu_odom_: 1691062779.770455109 1.02951 -0.248997 10.1179 -0.0617853 -0.0127832 0.306796 0.1 0.26 pose: 0.0 1.53063 -0.0423293 0 -0.00260016 -0.0150774 0.0696186 0.997456 uwb: 0.0 845.689 876.818 -imu_odom_: 1691062779.786502214 0.797269 -0.328006 9.6199 -0.056459 -0.00319579 0.309992 0.1 0.26 pose: 0.33986428 1.53063 -0.0423293 0 -0.00378919 -0.0143279 0.0743183 0.997124 uwb: 0.0 845.689 876.818 -imu_odom_: 1691062779.803360686 0.787692 -0.275333 9.87369 -0.0468716 -0.015979 0.289752 0.11 0.32 pose: 0.41151366 1.5306 -0.0423357 0 -0.00422881 -0.0178661 0.0797462 0.996646 uwb: 0.50153984 846.205 875.684 -imu_odom_: 1691062779.819362294 0.799663 -0.246603 9.92875 -0.0458064 0 0.268447 0.11 0.32 pose: 0.7991471 1.53063 -0.0423295 0 -0.00356854 -0.0183842 0.0807293 0.99656 uwb: 0.0 846.205 875.684 -imu_odom_: 1691062779.836361341 0.751779 -0.148441 10.0509 -0.0490022 0.00745685 0.255663 0.11 0.32 pose: 0.0 1.53063 -0.0423295 0 -0.00356854 -0.0183842 0.0807293 0.99656 uwb: 0.0 846.205 875.684 -imu_odom_: 1691062779.852361782 0.696713 -0.217872 9.89524 -0.0575243 -0.00958738 0.249272 0.06 0.23 pose: 0.41867656 1.53855 -0.0362694 0 0.000253782 -0.0188553 0.0854172 0.996167 uwb: 0.49992410 846.674 874.506 -imu_odom_: 1691062779.869354413 0.574608 -0.241814 9.77553 -0.052198 -0.00319579 0.227967 0.09 0.26 pose: 0.0 1.53855 -0.0362694 0 0.000253782 -0.0188553 0.0854172 0.996167 uwb: 0.0 846.674 874.506 -imu_odom_: 1691062779.885470347 0.806846 -0.1652 9.9503 -0.0532632 -0.00532632 0.209857 0.09 0.26 pose: 0.0 1.53855 -0.0362694 0 0.000253782 -0.0188553 0.0854172 0.996167 uwb: 0.0 846.674 874.506 -imu_odom_: 1691062779.902360025 0.742203 -0.059855 9.89045 -0.0532632 0.00532632 0.207727 0.09 0.26 pose: 0.24044992 1.53858 -0.036263 0 0.000441225 -0.0165356 0.0878412 0.995997 uwb: 0.50073197 846.031 874.204 -imu_odom_: 1691062779.918418504 0.347159 -0.251391 9.91918 -0.0585895 0.0223706 0.251402 0.07 0.32 pose: 0.0 1.53858 -0.036263 0 0.000441225 -0.0165356 0.0878412 0.995997 uwb: 0.0 846.031 874.204 -imu_odom_: 1691062779.934412238 0.392649 -0.581791 9.82341 -0.0575243 -0.0170442 0.286556 0.07 0.32 pose: 0.32006424 1.54468 -0.0441876 0 0.0020619 -0.0168032 0.0906021 0.995743 uwb: 0.0 846.031 874.204 -imu_odom_: 1691062779.950343850 0.517148 -0.385466 9.91918 -0.0436758 -0.0181095 0.265251 0.04 0.23 pose: 0.41999481 1.54468 -0.0441876 0 0.00117774 -0.0142084 0.095101 0.995366 uwb: 0.49677721 846.383 872.918 -imu_odom_: 1691062779.967339688 0.744597 0.0143652 9.90002 -0.0511327 -0.00745685 0.280165 0.04 0.23 pose: 0.8001970 1.54468 -0.0441876 0 0.000596864 -0.0137543 0.0960092 0.995285 uwb: 0.0 846.383 872.918 -imu_odom_: 1691062779.983336046 0.804452 -0.21069 9.92636 -0.0617853 0.00106526 0.288687 0.04 0.23 pose: 0.0 1.54468 -0.0441876 0 0.000596864 -0.0137543 0.0960092 0.995285 uwb: 0.0 846.383 872.918 -imu_odom_: 1691062779.999355153 0.593762 -0.323217 9.75637 -0.0553937 0.0127832 0.26312 0.05 0.32 pose: 0.40921838 1.5489 -0.0409802 0 0.00173812 -0.0152535 0.100902 0.994778 uwb: 0.50186065 846.174 871.61 -imu_odom_: 1691062780.16411072 0.490811 -0.234632 9.94073 -0.0543285 0.0117179 0.262055 0.04 0.23 pose: 0.0 1.5489 -0.0409802 0 0.00173812 -0.0152535 0.100902 0.994778 uwb: 0.0 846.174 871.61 -imu_odom_: 1691062780.32345018 0.474052 -0.234632 9.9096 -0.0585895 -0.00532632 0.28123 0.04 0.23 pose: 0.0 1.5489 -0.0409802 0 0.00173812 -0.0152535 0.100902 0.994778 uwb: 0.0 846.174 871.61 -imu_odom_: 1691062780.48399414 0.605733 -0.301669 9.89524 -0.0543285 -0.00426106 0.271642 0.04 0.23 pose: 0.24100989 1.55263 -0.038127 0 0.000326781 -0.0132796 0.103598 0.994531 uwb: 0.49975205 846.047 871.504 -imu_odom_: 1691062780.75404061 0.708684 -0.222661 9.9527 -0.0490022 -0.00639159 0.255663 0.03 0.23 pose: 0.0 1.55263 -0.038127 0 0.000326781 -0.0132796 0.103598 0.994531 uwb: 0.0 846.047 871.504 -imu_odom_: 1691062780.91334507 -0.0454898 -0.205901 9.61272 -0.0607201 0.0777643 0.249272 0.03 0.23 pose: 0.31911931 1.55263 -0.038127 0 -0.000692999-0.0107464 0.107326 0.994166 uwb: 0.0 846.047 871.504 -imu_odom_: 1691062780.108371760 -0.986411 -0.292093 10.0437 -0.0628506 0.0894822 0.207727 0.03 0.2 pose: 0.16089103 1.55263 -0.038127 0 -0.00122316 -0.0113607 0.10913 0.993962 uwb: 0.50182276 845.789 871.516 -imu_odom_: 1691062780.124474571 -1.24977 -0.0287304 9.92636 -0.0617853 -0.0319579 0.138484 0.03 0.2 pose: 0.0 1.55263 -0.038127 0 -0.00122316 -0.0113607 0.10913 0.993962 uwb: 0.0 845.789 871.516 -imu_odom_: 1691062780.141540114 -0.397437 -0.0742203 9.78271 -0.056459 -0.0852212 0.0916127 0.1 0.02 pose: 0.27960379 1.55263 -0.038127 0 -0.000253445-0.0119561 0.112093 0.993626 uwb: 0.0 845.789 871.516 -imu_odom_: 1691062780.157419521 0.383072 -0.258574 9.87848 -0.0543285 -0.0490022 0.0745685 0.1 0.02 pose: 0.0 1.55263 -0.038127 0 -0.000253445-0.0119561 0.112093 0.993626 uwb: 0.49689680 846.006 870.554 -imu_odom_: 1691062780.174334282 0.418985 -0.356736 9.75158 -0.0607201 0.0127832 0.0735032 0.1 0.02 pose: 0.0 1.55263 -0.038127 0 -0.000253445-0.0119561 0.112093 0.993626 uwb: 0.0 846.006 870.554 -imu_odom_: 1691062780.190330349 -0.00718261-0.339977 9.83538 -0.0532632 0.00639159 0.0830906 0.1 0.02 pose: 0.49033179 1.55263 -0.038127 0 -0.000714157-0.00651075 0.115348 0.993304 uwb: 0.0 846.006 870.554 -imu_odom_: 1691062780.206370164 -0.203507 -0.385466 10.0078 -0.0468716 0 0.076699 0.13 0 pose: 0.0 1.55263 -0.038127 0 -0.000714157-0.00651075 0.115348 0.993304 uwb: 0.50065616 846.289 869.412 -imu_odom_: 1691062780.221474077 0.023942 -0.0574608 10.1011 -0.0479369 -0.0308927 0.0628506 0.13 0 pose: 0.0 1.55263 -0.038127 0 -0.000714157-0.00651075 0.115348 0.993304 uwb: 0.0 846.289 869.412 -imu_odom_: 1691062780.238472832 0.153229 0.143652 9.86172 -0.0649811 -0.0490022 0.0820254 0.13 0 pose: 0.64905004 1.56058 -0.0320537 0 -0.00311526 -0.00156272 0.116641 0.993168 uwb: 0.0 846.289 869.412 -imu_odom_: 1691062780.254412903 0.418985 -0.347159 10.0437 -0.056459 -0.0255663 0.092678 0.12 0.02 pose: 0.0 1.56058 -0.0320537 0 -0.00311526 -0.00156272 0.116641 0.993168 uwb: 0.50037618 845.486 869.885 -imu_odom_: 1691062780.270344224 0.308852 -0.287304 10.0844 -0.0639159 -0.0245011 0.0596548 0.12 0.02 pose: 0.31148102 1.56058 -0.0320537 0 -0.00209871 0.000781337 0.11714 0.993113 uwb: 0.0 845.486 869.885 -imu_odom_: 1691062780.287536634 0.227449 -0.0790087 9.91918 -0.0543285 -0.00106526 0.0543285 0.12 0.02 pose: 0.41859491 1.57082 -0.0367995 0 -0.00331136 0.00157373 0.117934 0.993015 uwb: 0.0 845.486 869.885 -imu_odom_: 1691062780.303323589 0.383072 -0.248997 9.9527 -0.0596548 -0.0308927 0.0735032 0.12 0.02 pose: 0.0 1.57082 -0.0367995 0 -0.00331136 0.00157373 0.117934 0.993015 uwb: 0.50013994 845.754 868.724 -imu_odom_: 1691062780.320334303 0.514753 -0.385466 10.2807 -0.0532632 -0.0479369 0.0553937 0.12 0.02 pose: 0.0 1.57082 -0.0367995 0 -0.00331136 0.00157373 0.117934 0.993015 uwb: 0.0 845.754 868.724 -imu_odom_: 1691062780.336386366 0.447716 -0.169988 10.2208 -0.0596548 -0.00852212 0.0649811 0.16 0 pose: 0.8139045 1.5746 -0.0338891 0 -0.0027012 0.00212923 0.117996 0.993008 uwb: 0.0 845.754 868.724 -imu_odom_: 1691062780.352445721 0.895431 -0.433351 10.331 -0.0351537 -0.0692422 0.0777643 0.16 0 pose: 0.0 1.5746 -0.0338891 0 -0.0027012 0.00212923 0.117996 0.993008 uwb: 0.50051616 845.194 868.247 -imu_odom_: 1691062780.368370917 0.881066 -0.294487 9.50019 -0.0468716 -0.0532632 0.113983 0.16 0 pose: 0.0 1.5746 -0.0338891 0 -0.0027012 0.00212923 0.117996 0.993008 uwb: 0.0 845.194 868.247 -imu_odom_: 1691062780.384367276 0.758962 -0.227449 9.62469 -0.0639159 -0.00319579 0.183225 0.1 -0.02 pose: 0.47905956 1.5746 -0.0338891 0 -0.0023028 -0.0008904160.118535 0.992947 uwb: 0.0 845.194 868.247 -imu_odom_: 1691062780.401307993 1.25217 -0.646434 10.2352 -0.0841559 -0.0660464 0.171508 0.12 0 pose: 0.0 1.5746 -0.0338891 0 -0.0023028 -0.0008904160.118535 0.992947 uwb: 0.49752094 845.645 867.465 -imu_odom_: 1691062780.417463592 1.46525 -0.007182619.7037 -0.0436758 -0.0458064 0.0543285 0.12 0 pose: 0.64982291 1.5825 -0.0277632 0 -0.00146813 -0.00759252 0.121143 0.992605 uwb: 0.0 845.645 867.465 -imu_odom_: 1691062780.433329292 1.24498 0.344765 9.79707 -0.056459 0.00639159 0.036219 0.11 0 pose: 0.0 1.5825 -0.0277632 0 -0.00146813 -0.00759252 0.121143 0.992605 uwb: 0.0 845.645 867.465 -imu_odom_: 1691062780.449338192 0.739808 -0.0335188 9.79228 -0.072438 0.0351537 0.0468716 0.11 0 pose: 0.0 1.5825 -0.0277632 0 -0.00146813 -0.00759252 0.121143 0.992605 uwb: 0.50131528 846.206 866.307 -imu_odom_: 1691062780.466458857 0.536301 -0.409408 9.90721 -0.052198 -0.0117179 0.00426106 0.11 0 pose: 0.33043819 1.5825 -0.0277632 0 -0.000640959-0.0110466 0.121884 0.992483 uwb: 0.0 846.206 866.307 -imu_odom_: 1691062780.483335120 0.768539 -0.356736 9.8282 -0.052198 -0.02024 -0.0287621 0.06 0 pose: 0.42043522 1.58592 -0.0321321 0 -0.000217892-0.0113239 0.121618 0.992512 uwb: 0.0 846.206 866.307 -imu_odom_: 1691062780.498340456 0.881066 -0.0502782 9.89763 -0.0532632 -0.0181095 0.00319579 0.06 0 pose: 0.8004595 1.58866 -0.0356374 0 -0.000594797-0.0120792 0.12135 0.992536 uwb: 0.50009036 845.695 866.571 -imu_odom_: 1691062780.512388308 0.715866 -0.339977 9.73482 -0.0681769 0.00319579 0.0308927 0.06 0 pose: 0.0 1.58866 -0.0356374 0 -0.000594797-0.0120792 0.12135 0.992536 uwb: 0.0 845.695 866.571 -imu_odom_: 1691062780.527472681 0.727837 -0.426168 9.95509 -0.0511327 0.0213053 0.015979 0.05 0 pose: 0.37924856 1.59654 -0.0294796 0 -0.00111522 -0.0146892 0.120719 0.992577 uwb: 0.0 845.695 866.571 -imu_odom_: 1691062780.554451370 0.550666 -0.0335188 9.87608 -0.0553937 -0.00319579 0.015979 0.05 0 pose: 0.0 1.59654 -0.0294796 0 -0.00111522 -0.0146892 0.120719 0.992577 uwb: 0.50053950 845.175 866.593 -imu_odom_: 1691062780.570381816 0.0407014 -0.316035 9.8665 -0.0692422 0.0553937 0.0106526 0.04 0.02 pose: 0.42063062 1.59654 -0.0294796 0 -0.000281455-0.0135094 0.120219 0.992655 uwb: 0.0 845.175 866.593 -imu_odom_: 1691062780.587316701 -0.830788 -0.136469 9.89284 -0.0394148 0.0735032 -0.108657 0.08 -0.17 pose: 0.0 1.59654 -0.0294796 0 -0.000281455-0.0135094 0.120219 0.992655 uwb: 0.0 845.175 866.593 -imu_odom_: 1691062780.603313643 -1.14203 0.146046 9.68694 -0.0340885 0.015979 -0.206661 0.07 -0.2 pose: 0.0 1.59654 -0.0294796 0 -0.000281455-0.0135094 0.120219 0.992655 uwb: 0.49804299 844.835 866.771 -imu_odom_: 1691062780.619313501 -0.347159 0.0430956 9.87848 -0.0511327 -0.0681769 -0.251402 0.07 -0.2 pose: 0.40929714 1.59654 -0.0294795 0 -0.000620588-0.00824211 0.11777 0.993007 uwb: 0.0 844.835 866.771 -imu_odom_: 1691062780.636304091 0.342371 -0.328006 9.83538 -0.0745685 -0.0671117 -0.269512 0.07 -0.2 pose: 0.0 1.59654 -0.0294795 0 -0.000620588-0.00824211 0.11777 0.993007 uwb: 0.0 844.835 866.771 -imu_odom_: 1691062780.652359654 0.651223 -0.337582 10.1778 -0.0532632 -0.0276969 -0.309992 0.09 -0.32 pose: 0.0 1.59654 -0.0294795 0 -0.000620588-0.00824211 0.11777 0.993007 uwb: 0.50102072 844.655 866.144 -imu_odom_: 1691062780.667413695 0.1652 -0.150835 9.80665 -0.04048 -0.00426106 -0.343015 0.09 -0.32 pose: 0.31991259 1.59654 -0.0294795 0 -0.00054072 -0.00589728 0.113255 0.993548 uwb: 0.0 844.655 866.144 -imu_odom_: 1691062780.683363390 -0.177171 -0.0143652 9.77074 -0.0575243 -0.0127832 -0.370712 0.12 -0.5 pose: 0.40041352 1.6044 -0.0232931 0 -0.00133239 -0.00560437 0.106238 0.994324 uwb: 0.0 844.655 866.144 -imu_odom_: 1691062780.700463056 0.100556 0.011971 10.2951 -0.0532632 -0.0330232 -0.401605 0.12 -0.5 pose: 0.0 1.6044 -0.0232931 0 -0.00133239 -0.00560437 0.106238 0.994324 uwb: 0.50134737 843.935 865.999 -imu_odom_: 1691062780.717313946 0.107739 -0.380678 9.59357 -0.0713727 0.0149137 -0.458064 0.12 -0.5 pose: 0.0 1.6044 -0.0232931 0 -0.00133239 -0.00560437 0.106238 0.994324 uwb: 0.0 843.935 865.999 -imu_odom_: 1691062780.733312638 0.059855 -0.126893 10.0748 -0.0511327 0.00958738 -0.453803 0.13 -0.55 pose: 0.6964576 1.6044 -0.0232931 0 -0.00117181 -0.00495763 0.104818 0.994478 uwb: 0.0 843.935 865.999 -imu_odom_: 1691062780.750440302 0.172383 -0.31364 9.46667 -0.0777643 -0.015979 -0.472977 0.15 -0.64 pose: 0.0 1.6044 -0.0232931 0 -0.00117181 -0.00495763 0.104818 0.994478 uwb: 0.50056866 844.279 865.346 -imu_odom_: 1691062780.767585174 -0.110133 -0.232238 9.66779 -0.0575243 -0.0149137 -0.486826 0.15 -0.64 pose: 0.66143344 1.61057 -0.0311651 0 -0.00114516 0.00102297 0.089293 0.996004 uwb: 0.0 844.279 865.346 -imu_odom_: 1691062780.784426731 0.198719 -0.0646434 9.96467 -0.0511327 -0.0276969 -0.528371 0.19 -0.82 pose: 0.0 1.61057 -0.0311651 0 -0.00114516 0.00102297 0.089293 0.996004 uwb: 0.0 844.279 865.346 -imu_odom_: 1691062780.801425196 0.232238 -0.232238 9.54808 -0.0735032 -0.0127832 -0.531567 0.19 -0.82 pose: 0.0 1.61057 -0.0311651 0 -0.00114516 0.00102297 0.089293 0.996004 uwb: 0.49865545 844.571 864.648 -imu_odom_: 1691062780.818384871 0.196325 -0.25618 9.80665 -0.0394148 0.00319579 -0.547546 0.19 -0.82 pose: 0.34116796 1.61847 -0.0250432 0 -0.00127341 0.00383326 0.0802739 0.996765 uwb: 0.0 844.571 864.648 -imu_odom_: 1691062780.835324713 0.672771 -0.0742203 10.0341 -0.0511327 -0.052198 -0.517718 0.13 -0.55 pose: 0.43746460 1.62278 -0.0216475 0 -0.0016177 0.00756953 0.0676953 0.997676 uwb: 0.0 844.571 864.648 -imu_odom_: 1691062780.849301695 0.773327 -0.0909797 9.96467 -0.0745685 -0.0500674 -0.451672 0.13 -0.55 pose: 0.8078674 1.62637 -0.0189054 0 -0.00126363 0.00664046 0.0654512 0.997833 uwb: 0.49805757 844.54 864.143 -imu_odom_: 1691062780.865440962 1.1995 -0.339977 9.80904 -0.0500674 -0.0617853 -0.394148 0.13 -0.55 pose: 0.0 1.62637 -0.0189054 0 -0.00126363 0.00664046 0.0654512 0.997833 uwb: 0.0 844.54 864.143 -imu_odom_: 1691062780.881365283 1.28808 -0.280122 9.91199 -0.052198 -0.0756338 -0.396278 0.1 -0.44 pose: 0.38977417 1.62637 -0.0189054 0 -0.0006162370.00189603 0.0560702 0.998425 uwb: 0.0 844.54 864.143 -imu_odom_: 1691062780.898297834 1.652 0.00718261 9.86411 -0.0671117 0.00532632 -0.336624 0.09 -0.38 pose: 0.0 1.62637 -0.0189054 0 -0.0006162370.00189603 0.0560702 0.998425 uwb: 0.0 844.54 864.143 -imu_odom_: 1691062780.914414061 1.32399 -0.395043 10.082 -0.0585895 -0.00639159 -0.26099 0.09 -0.38 pose: 0.0 1.62637 -0.0189054 0 -0.0006162370.00189603 0.0560702 0.998425 uwb: 0.50002911 845.022 863.127 -imu_odom_: 1691062780.931422441 0.320823 -0.675165 9.59596 -0.0479369 0.0351537 -0.270577 0.1 -0.41 pose: 0.23926583 1.62637 -0.0189054 0 -0.000431752-0.00100903 0.0511006 0.998693 uwb: 0.0 845.022 863.127 -imu_odom_: 1691062780.948425572 0.730232 -0.105345 10.1466 -0.0351537 -0.0138484 -0.275903 0.1 -0.41 pose: 0.0 1.62637 -0.0189054 0 -0.000431752-0.00100903 0.0511006 0.998693 uwb: 0.50126279 844.974 862.36 -imu_odom_: 1691062780.964409973 0.605733 0.0335188 9.81383 -0.0735032 -0.00958738 -0.219444 0.1 -0.41 pose: 0.0 1.62637 -0.0189054 0 -0.000431752-0.00100903 0.0511006 0.998693 uwb: 0.0 844.974 862.36 -imu_odom_: 1691062780.981288861 0.703895 -0.373495 10.0987 -0.0703074 -0.00532632 -0.181095 0.06 -0.23 pose: 0.75042428 1.64038 -0.0206544 0 0.000316761 -0.00483505 0.0396134 0.999203 uwb: 0.0 844.974 862.36 -imu_odom_: 1691062780.998428483 0.744597 -0.507571 9.8665 -0.0553937 -0.0106526 -0.184291 0.06 -0.23 pose: 0.7946557 1.64041 -0.0206476 0 -0.000205956-0.00548376 0.0387393 0.999234 uwb: 0.50079615 844.637 862.061 -imu_odom_: 1691062781.14339681 0.653617 -0.19393 9.77074 -0.052198 0.00639159 -0.155529 0.06 -0.23 pose: 0.0 1.64041 -0.0206476 0 -0.000205956-0.00548376 0.0387393 0.999234 uwb: 0.0 844.637 862.061 -imu_odom_: 1691062781.31366144 0.577003 -0.201113 9.85214 -0.0628506 0 -0.120375 0.05 -0.17 pose: 0.41983151 1.64038 -0.0206543 0 -0.001168 -0.00864902 0.0342857 0.999374 uwb: 0.0 844.637 862.061 -imu_odom_: 1691062781.47402167 0.646434 -0.349553 9.95988 -0.0596548 -0.0138484 -0.127832 0.06 -0.26 pose: 0.0 1.64038 -0.0206543 0 -0.001168 -0.00864902 0.0342857 0.999374 uwb: 0.0 844.637 862.061 -imu_odom_: 1691062781.63333488 0.581791 -0.162806 9.88087 -0.0596548 -0.00958738 -0.145941 0.06 -0.26 pose: 0.0 1.64038 -0.0206543 0 -0.001168 -0.00864902 0.0342857 0.999374 uwb: 0.50169153 845.044 860.964 -imu_odom_: 1691062781.79267143 0.651223 -0.25618 9.89045 -0.0575243 -0.0149137 -0.129962 0.05 -0.2 pose: 0.24010579 1.64041 -0.0206475 0 -0.000149119-0.00918051 0.0323303 0.999435 uwb: 0.0 845.044 860.964 -imu_odom_: 1691062781.105437674 0.751779 -0.395043 9.87608 -0.0628506 0.00639159 -0.0852212 0.05 -0.2 pose: 0.0 1.64041 -0.0206475 0 -0.000149119-0.00918051 0.0323303 0.999435 uwb: 0.49763761 845.65 859.552 -imu_odom_: 1691062781.121424701 0.244209 -0.452504 9.84496 -0.0607201 0.0394148 -0.0990696 0.05 -0.2 pose: 0.31996510 1.64041 -0.0206475 0 0.000192714 -0.0100691 0.0294974 0.999514 uwb: 0.0 845.65 859.552 -imu_odom_: 1691062781.138419374 -0.114922 -0.150835 10.228 -0.0458064 0.0319579 -0.206661 0.04 -0.14 pose: 0.42035065 1.64041 -0.0206475 0 -0.00271707 -0.0116502 0.0266572 0.999573 uwb: 0.0 845.65 859.552 -imu_odom_: 1691062781.155325386 -1.60412 0.344765 9.36133 -0.0308927 0.0585895 -0.2024 0.04 -0.14 pose: 0.0 1.64041 -0.0206475 0 -0.00271707 -0.0116502 0.0266572 0.999573 uwb: 0.50036744 845.475 859.146 -imu_odom_: 1691062781.171332828 -1.12049 -0.399832 10.1562 -0.0617853 -0.0511327 -0.0809601 0.08 -0.08 pose: 0.42943551 1.64041 -0.0206475 0 -0.00215052 -0.00649151 0.0219047 0.999737 uwb: 0.0 845.475 859.146 -imu_odom_: 1691062781.188352875 0.253785 -0.964863 9.69891 -0.0660464 -0.113983 -0.0468716 0.08 -0.08 pose: 0.0 1.64041 -0.0206475 0 -0.00215052 -0.00649151 0.0219047 0.999737 uwb: 0.0 845.475 859.146 -imu_odom_: 1691062781.205449625 0.572214 -0.411803 9.50498 -0.0596548 -0.0117179 -0.0703074 0.08 -0.08 pose: 0.0 1.64041 -0.0206475 0 -0.00215052 -0.00649151 0.0219047 0.999737 uwb: 0.50049577 845.388 858.819 -imu_odom_: 1691062781.221421486 0.452504 -0.0837971 9.7875 -0.0639159 0.0319579 -0.0511327 0.1 -0.11 pose: 0.6951452 1.64041 -0.0206475 0 -0.00224 -0.00596453 0.0214881 0.999749 uwb: 0.0 845.388 858.819 -imu_odom_: 1691062781.238281126 -0.191536 -0.1652 10.24 -0.0735032 0.0266316 -0.0447411 0.1 -0.11 pose: 0.0 1.64041 -0.0206475 0 -0.00224 -0.00596453 0.0214881 0.999749 uwb: 0.0 845.388 858.819 -imu_odom_: 1691062781.255318380 0.0215478 -0.146046 10.173 -0.0617853 0.00639159 -0.0958738 0.1 -0.11 pose: 0.67087706 1.65444 -0.0223741 0 -0.00405525 -0.00489078 0.0182205 0.999814 uwb: 0.49871672 844.826 859.049 -imu_odom_: 1691062781.271349154 0.47884 -0.155623 9.74919 -0.0617853 -0.0383495 -0.0660464 0.15 -0.08 pose: 0.0 1.65444 -0.0223741 0 -0.00405525 -0.00489078 0.0182205 0.999814 uwb: 0.0 844.826 859.049 -imu_odom_: 1691062781.288264207 0.320823 -0.490811 9.48104 -0.0830906 0.00745685 -0.0319579 0.15 -0.08 pose: 0.0 1.65444 -0.0223741 0 -0.00405525 -0.00489078 0.0182205 0.999814 uwb: 0.0 844.826 859.049 -imu_odom_: 1691062781.304259399 0.25618 -0.301669 10.1442 -0.04048 -0.015979 -0.0607201 0.15 -0.08 pose: 0.32956034 1.65444 -0.0223741 0 -0.00287701 -0.00245824 0.0163254 0.99986 uwb: 0.49873421 844.457 858.961 -imu_odom_: 1691062781.320454371 0.0023942 0.138864 10.1083 -0.0394148 -0.0149137 -0.0458064 0.12 -0.08 pose: 0.41938821 1.66233 -0.0162219 0 -0.00374775 -0.0004309410.0144512 0.999888 uwb: 0.0 844.457 858.961 -imu_odom_: 1691062781.337476460 0.833182 -0.316035 10.3813 -0.0628506 -0.0213053 -0.0287621 0.12 -0.08 pose: 0.7048863 1.66233 -0.0162219 0 -0.00318687 2.5411e-05 0.0141521 0.999895 uwb: 0.0 844.457 858.961 -imu_odom_: 1691062781.354268145 0.517148 -0.636858 9.92875 -0.0596548 -0.0255663 -0.036219 0.12 -0.08 pose: 0.0 1.66233 -0.0162219 0 -0.00318687 2.5411e-05 0.0141521 0.999895 uwb: 0.50158070 844.846 858.323 -imu_odom_: 1691062781.370457576 0.445322 -0.354342 9.88087 -0.0436758 0.00745685 -0.0468716 0.13 -0.05 pose: 0.42959883 1.66845 -0.0241322 0 -0.00435122 -0.0018285 0.0125434 0.99991 uwb: 0.0 844.846 858.323 -imu_odom_: 1691062781.386375190 0.311246 -0.191536 9.80665 -0.0532632 -0.0372843 -0.0127832 0.13 -0.05 pose: 0.0 1.66845 -0.0241322 0 -0.00435122 -0.0018285 0.0125434 0.99991 uwb: 0.0 844.846 858.323 -imu_odom_: 1691062781.403266036 0.821211 -0.265756 9.98143 -0.0468716 -0.072438 -0.00106526 0.13 -0.05 pose: 0.0 1.66845 -0.0241322 0 -0.00435122 -0.0018285 0.0125434 0.99991 uwb: 0.50059785 844.865 858.092 -imu_odom_: 1691062781.420258377 1.09894 -0.430956 9.34217 -0.0511327 -0.0319579 0.0298274 0.14 -0.08 pose: 0.23085761 1.67637 -0.0180275 0 -0.00535306 -0.00161546 0.0116672 0.999916 uwb: 0.0 844.865 858.092 -imu_odom_: 1691062781.436344855 0.885855 -0.574608 9.50259 -0.0490022 0.0223706 0.0298274 0.14 -0.08 pose: 0.0 1.67637 -0.0180275 0 -0.00535306 -0.00161546 0.0116672 0.999916 uwb: 0.0 844.865 858.092 -imu_odom_: 1691062781.453256117 1.31442 -0.3304 10.2161 -0.0490022 -0.00852212 0.00745685 0.14 -0.08 pose: 0.33058695 1.67637 -0.0180275 0 -0.00454077 -0.00419521 0.0110487 0.99992 uwb: 0.50041410 844.853 857.333 -imu_odom_: 1691062781.469249851 1.24259 0.047884 9.80426 -0.052198 0.0319579 -0.00852212 0.08 -0.08 pose: 0.42843516 1.67637 -0.0180275 0 -0.00550258 -0.00813789 0.0106363 0.999895 uwb: 0.0 844.853 857.333 -imu_odom_: 1691062781.485309790 0.969652 -0.102951 9.5385 -0.052198 0.0553937 -0.015979 0.08 -0.08 pose: 0.7033113 1.67637 -0.0180275 0 -0.00514916 -0.00862584 0.0104603 0.999895 uwb: 0.0 844.853 857.333 -imu_odom_: 1691062781.502258966 0.454898 -0.354342 9.63187 -0.0479369 0.00852212 -0.056459 0.08 -0.08 pose: 0.0 1.67637 -0.0180275 0 -0.00514916 -0.00862584 0.0104603 0.999895 uwb: 0.49811883 845.519 856.195 -imu_odom_: 1691062781.519250723 0.648829 -0.21069 10.0102 -0.0500674 -0.0255663 -0.0735032 0.09 -0.08 pose: 0.41969736 1.6869 -0.0224669 0 -0.00456129 -0.00854386 0.0089741 0.999913 uwb: 0.0 845.519 856.195 -imu_odom_: 1691062781.535236291 0.873884 -0.191536 9.77313 -0.0628506 0.00319579 -0.0543285 0.06 -0.05 pose: 0.0 1.6869 -0.0224669 0 -0.00456129 -0.00854386 0.0089741 0.999913 uwb: 0.0 845.519 856.195 -imu_odom_: 1691062781.551232650 0.952892 -0.373495 10.1466 -0.056459 -0.00106526 -0.0191748 0.06 -0.05 pose: 0.0 1.6869 -0.0224669 0 -0.00456129 -0.00854386 0.0089741 0.999913 uwb: 0.49990956 845.533 855.451 -imu_odom_: 1691062781.568292653 0.622492 -0.339977 9.5792 -0.056459 0.00426106 -0.0287621 0.06 -0.05 pose: 0.25059349 1.6904 -0.0197821 0 -0.00296155 -0.010527 0.00761441 0.999911 uwb: 0.0 845.533 855.451 -imu_odom_: 1691062781.584398672 0.562637 -0.201113 9.94073 -0.0372843 0.00213053 -0.0255663 0.05 0 pose: 0.0 1.6904 -0.0197821 0 -0.00296155 -0.010527 0.00761441 0.999911 uwb: 0.0 845.533 855.451 -imu_odom_: 1691062781.611514729 0.505177 -0.184354 9.85693 -0.0596548 0.00106526 0.00639159 0.05 0 pose: 0.31979594 1.6904 -0.0197821 0 -0.00398978 -0.012468 0.00650325 0.999893 uwb: 0.50054535 845.832 854.718 -imu_odom_: 1691062781.627394137 0.653617 -0.356736 10.1059 -0.056459 0.015979 0.0213053 0.04 -0.02 pose: 0.34120005 1.6904 -0.0197821 0 -0.00282279 -0.0104337 0.00551925 0.999926 uwb: 0.0 845.832 854.718 -imu_odom_: 1691062781.654308956 -1.12767 -0.280122 9.98143 -0.0436758 0.0692422 0.0223706 0.04 -0.02 pose: 0.0 1.6904 -0.0197821 0 -0.00282279 -0.0104337 0.00551925 0.999926 uwb: 0.49991247 845.886 854.005 -imu_odom_: 1691062781.681452428 -0.28491 -0.181959 9.7875 -0.0596548 -0.092678 0.0287621 0.05 -0.02 pose: 0.42936552 1.6904 -0.0197821 0 -0.00297946 -0.00849619 0.0050003 0.999947 uwb: 0.0 845.886 854.005 -imu_odom_: 1691062781.706278166 0.821211 -0.402226 9.82102 -0.0511327 -0.0351537 0.0330232 0.09 -0.02 pose: 0.45097962 1.6904 -0.0197821 0 -0.00265598 -0.00454055 0.00471291 0.999975 uwb: 0.0 845.886 854.005 -imu_odom_: 1691062781.733272314 0.169988 0.0191536 9.99819 -0.0575243 0.0149137 0.00213053 0.09 -0.02 pose: 0.0 1.6904 -0.0197821 0 -0.00265598 -0.00454055 0.00471291 0.999975 uwb: 0.0 845.886 854.005 -imu_odom_: 1691062781.758311831 -0.184354 -0.545878 9.8258 -0.0596548 0.0106526 0.0383495 0.11 0 pose: 0.8139629 1.6904 -0.0197821 0 -0.00294398 -0.00542131 0.004686 0.99997 uwb: 0.100032950 845.85 853.459 -imu_odom_: 1691062781.775239425 0.23942 -0.493206 10.0485 -0.0351537 -0.0426106 0.00639159 0.11 0 pose: 0.0 1.6904 -0.0197821 0 -0.00294398 -0.00542131 0.004686 0.99997 uwb: 0.0 845.85 853.459 -imu_odom_: 1691062781.800244527 0.277727 0.0311246 10.0652 -0.0607201 0.0106526 0.0319579 0.13 -0.02 pose: 0.51820761 1.70443 -0.0215614 0 -0.00221507 -0.00405795 0.00411733 0.999981 uwb: 0.49976956 844.988 853.922 -imu_odom_: 1691062781.827268131 -0.102951 -0.263362 9.68933 -0.0479369 -0.015979 0.0170442 0.13 -0.02 pose: 0.0 1.70443 -0.0215614 0 -0.00221507 -0.00405795 0.00411733 0.999981 uwb: 0.0 844.988 853.922 -imu_odom_: 1691062781.853381208 0.363919 -0.469264 9.90721 -0.0649811 0.00532632 0.0181095 0.13 0 pose: 0.41842285 1.70443 -0.0215614 0 -0.00328213 -0.00113342 0.00380898 0.999987 uwb: 0.49878671 844.788 853.478 -imu_odom_: 1691062781.869243117 0.0814029 -0.162806 9.64624 -0.0340885 0.0127832 0.00745685 0.13 0 pose: 0.0 1.70443 -0.0215614 0 -0.00328213 -0.00113342 0.00380898 0.999987 uwb: 0.0 844.788 853.478 -imu_odom_: 1691062781.895250033 0.938527 -0.325611 9.94073 -0.0607201 -0.0117179 0.0266316 0.18 -0.02 pose: 0.52042123 1.71234 -0.015449 0 -0.00262391 0.00229234 0.00335688 0.999988 uwb: 0.0 844.788 853.478 -imu_odom_: 1691062781.922238931 0.679953 -0.337582 10.0604 -0.0490022 -0.00532632 0.02024 0.18 0 pose: 0.59952807 1.72415 -0.0189778 0 -0.00388055 0.00119145 0.00273301 0.999988 uwb: 0.50122197 844.957 852.61 -imu_odom_: 1691062781.938364782 0.497994 -0.160412 9.48583 -0.052198 0.0245011 0.0213053 0.18 0 pose: 0.0 1.72415 -0.0189778 0 -0.00388055 0.00119145 0.00273301 0.999988 uwb: 0.0 844.957 852.61 -imu_odom_: 1691062781.965234104 0.837971 -0.361524 9.59357 -0.0607201 0.0276969 0.0308927 0.2 0 pose: 0.6998407 1.72637 -0.0172703 0 -0.00396193 0.00049537 0.00266251 0.999988 uwb: 0.50056285 845.087 851.959 -imu_odom_: 1691062781.990260205 0.189142 -0.174777 10.6398 -0.052198 0.0607201 0.02024 0.2 0 pose: 0.0 1.72637 -0.0172703 0 -0.00396193 0.00049537 0.00266251 0.999988 uwb: 0.0 845.087 851.959 -imu_odom_: 1691062782.7231546 -0.280122 -0.335188 9.2895 -0.0628506 0.0543285 0.0649811 0.18 -0.05 pose: 0.43059919 1.72637 -0.0172703 0 -0.0029061 -0.00255069 0.00227564 0.99999 uwb: 0.0 845.087 851.959 -imu_odom_: 1691062782.23216532 -0.351948 -0.497994 9.74201 -0.0585895 -0.0191748 0.0394148 0.18 -0.05 pose: 0.0 1.72637 -0.0172703 0 -0.0029061 -0.00255069 0.00227564 0.99999 uwb: 0.0 845.087 851.959 -imu_odom_: 1691062782.40258453 0.308852 -0.117316 9.8689 -0.0436758 -0.0511327 0.0223706 0.18 -0.05 pose: 0.0 1.72637 -0.0172703 0 -0.0029061 -0.00255069 0.00227564 0.99999 uwb: 0.0 845.087 851.959 -imu_odom_: 1691062782.66281702 0.0814029 -0.208296 9.50019 -0.0798948 -0.0106526 0.0607201 0.15 -0.02 pose: 0.52077995 1.74039 -0.0191153 0 -0.00261848 -9.55185e-050.00203533 0.999994 uwb: 0.99845713 844.417 851.838 -imu_odom_: 1691062782.93354305 0.143652 0.047884 10.343 -0.056459 0.0245011 0.00852212 0.21 -0.02 pose: 0.50913151 1.74039 -0.0191153 0 -0.00152132 0.00340286 0.00211173 0.999991 uwb: 0.0 844.417 851.838 -imu_odom_: 1691062782.118353866 0.842759 -0.435745 10.3358 -0.0681769 -0.0127832 0.0532632 0.16 0 pose: 0.0 1.74039 -0.0191153 0 -0.00152132 0.00340286 0.00211173 0.999991 uwb: 0.0 844.417 851.838 -imu_odom_: 1691062782.145231647 0.940921 -0.146046 10.0796 -0.0532632 0.0181095 0.00852212 0.2 -0.02 pose: 0.53070770 1.75443 -0.0208234 0 0.000505423 0.00601324 0.00195278 0.99998 uwb: 0.0 844.417 851.838 -imu_odom_: 1691062782.170362159 0.670376 -0.258574 9.88805 -0.0916127 0.00532632 0.0458064 0.2 -0.02 pose: 0.0 1.75443 -0.0208234 0 0.000505423 0.00601324 0.00195278 0.99998 uwb: 0.99986872 844.495 851.653 -imu_odom_: 1691062782.196257083 0.179565 -0.454898 9.60554 -0.0543285 0.0394148 0.0117179 0.19 0 pose: 0.68991884 1.76668 -0.0202467 0 -0.000726957-0.0003660310.00172844 0.999998 uwb: 0.0 844.495 851.653 -imu_odom_: 1691062782.212490845 0.4956 -0.320823 10.0916 -0.0660464 0.02024 0.0340885 0.19 0 pose: 0.7018531 1.76847 -0.022538 0 -0.0012171 0.000287722 0.00163109 0.999998 uwb: 0.49968501 844.464 851.104 -imu_odom_: 1691062782.238244027 0.272939 -0.177171 10.149 -0.0372843 0.0330232 0.00958738 0.2 0 pose: 0.0 1.76847 -0.022538 0 -0.0012171 0.000287722 0.00163109 0.999998 uwb: 0.0 844.464 851.104 -imu_odom_: 1691062782.254411585 0.138864 0.0502782 10.0437 -0.0351537 -0.00852212 0.0234358 0.2 0 pose: 0.35110155 1.77635 -0.0163811 0 -0.0032469 0.000743184 0.00131929 0.999994 uwb: 0.50275023 843.916 850.58 -imu_odom_: 1691062782.281539600 0.292093 -0.308852 9.43794 -0.0468716 -0.0287621 0.0276969 0.2 0.02 pose: 0.0 1.77635 -0.0163811 0 -0.0032469 0.000743184 0.00131929 0.999994 uwb: 0.0 843.916 850.58 -imu_odom_: 1691062782.297498046 0.641646 -0.19393 9.72764 -0.0287621 -0.0287621 0.0149137 0.2 0.02 pose: 0.41920740 1.77961 -0.0205686 0 0.000187545 0.00403753 0.00081328 0.999992 uwb: 0.0 843.916 850.58 -imu_odom_: 1691062782.314363228 0.68953 -0.426168 9.57202 -0.0756338 -0.00106526 0.0532632 0.2 0.02 pose: 0.0 1.77961 -0.0205686 0 0.000187545 0.00403753 0.00081328 0.999992 uwb: 0.49929128 844.707 849.248 -imu_odom_: 1691062782.339216381 0.847547 -0.225055 9.57681 -0.0479369 0.0234358 -0.00106526 0.24 0 pose: 0.50962440 1.79039 -0.0181254 0 -0.00217647 0.00218611 0.00049344 0.999995 uwb: 0.0 844.707 849.248 -imu_odom_: 1691062782.366213447 0.23942 -0.414197 9.39485 -0.076699 0.00958738 0.0479369 0.22 0 pose: 0.0 1.79039 -0.0181254 0 -0.00217647 0.00218611 0.00049344 0.999995 uwb: 0.49747430 845.361 848.037 -imu_odom_: 1691062782.382401420 0.533907 -0.138864 10.1682 -0.0479369 -0.0117179 0.0223706 0.22 0 pose: 0.40878095 1.79652 -0.0260209 0 -0.00291864 -0.0001514017.09286e-05 0.999996 uwb: 0.0 845.361 848.037 -imu_odom_: 1691062782.399210897 0.720655 -0.0167594 9.50259 -0.056459 0.00852212 0.0287621 0.22 0 pose: 0.0 1.79652 -0.0260209 0 -0.00291864 -0.0001514017.09286e-05 0.999996 uwb: 0.50037621 846.123 846.393 -imu_odom_: 1691062782.424421029 0.565032 -0.545878 9.24641 -0.0756338 0.0138484 0.0287621 0.24 0 pose: 0.43040672 1.80442 -0.0198886 0 -0.00279869 -0.000198471-2.30695e-050.999996 uwb: 0.0 846.123 846.393 -imu_odom_: 1691062782.451356848 0.387861 -0.220267 9.79707 -0.0394148 0.00426106 0.036219 0.2 0 pose: 0.35128237 1.81004 -0.0155255 0 -0.00469814 -0.00180914 -0.0002167360.999987 uwb: 0.50020997 846.041 845.504 -imu_odom_: 1691062782.467345624 0.675165 -0.529119 9.67257 -0.0692422 0.00958738 0.056459 0.2 0 pose: 0.0 1.81004 -0.0155255 0 -0.00469814 -0.00180914 -0.0002167360.999987 uwb: 0.0 846.041 845.504 -imu_odom_: 1691062782.494359897 0.328006 -0.136469 10.0365 -0.0553937 0.0181095 0.04048 0.24 0.02 pose: 0.6952327 1.81232 -0.0137586 0 -0.00404364 -0.00142648 -0.0002278860.999991 uwb: 0.0 846.041 845.504 -imu_odom_: 1691062782.510254763 0.153229 -0.155623 9.51695 -0.056459 -0.0543285 0.0436758 0.24 0.02 pose: 0.0 1.81232 -0.0137586 0 -0.00404364 -0.00142648 -0.0002278860.999991 uwb: 0.49951876 846.08 844.731 -imu_odom_: 1691062782.527290559 0.878672 -0.184354 10.4052 -0.0394148 0.0149137 0.02024 0.24 0.02 pose: 0.0 1.81232 -0.0137586 0 -0.00404364 -0.00142648 -0.0002278860.999991 uwb: 0.0 846.08 844.731 -imu_odom_: 1691062782.544266276 -0.172383 -0.124498 9.86411 -0.0426106 -0.00319579 0.056459 0.24 0 pose: 0.42992841 1.81845 -0.0216613 0 -0.00284239 -0.000850583-0.0001238190.999996 uwb: 0.0 846.08 844.731 -imu_odom_: 1691062782.560195556 0.213084 -0.493206 9.54568 -0.0660464 -0.015979 0.052198 0.24 0 pose: 0.0 1.81845 -0.0216613 0 -0.00284239 -0.000850583-0.0001238190.999996 uwb: 0.50068536 846.025 843.587 -imu_odom_: 1691062782.586324674 0.423774 -0.112527 9.85932 -0.0468716 -0.00426106 0.0532632 0.17 -0.02 pose: 0.85829359 1.83661 -0.0202331 0 -0.00149165 0.00246306 -2.63701e-060.999996 uwb: 0.0 846.025 843.587 -imu_odom_: 1691062782.609333149 0.586579 -0.155623 10.1969 -0.0820254 -0.00958738 0.0458064 0.17 -0.02 pose: 0.0 1.83661 -0.0202331 0 -0.00149165 0.00246306 -2.63701e-060.999996 uwb: 0.50136782 846.022 842.761 -imu_odom_: 1691062782.634406206 0.682347 0.023942 10.2352 -0.0628506 -0.0415453 0.0585895 0.18 0.02 pose: 0.8092966 1.84038 -0.0173039 0 -0.0007400940.00208782 5.3851e-05 0.999998 uwb: 0.0 846.022 842.761 -imu_odom_: 1691062782.661243156 0.581791 -0.169988 10.6662 -0.0532632 0.00106526 0.0426106 0.21 0.02 pose: 0.0 1.84038 -0.0173039 0 -0.0007400940.00208782 5.3851e-05 0.999998 uwb: 0.49750055 846.087 842.002 -imu_odom_: 1691062782.687257947 0.59855 0.0766145 10.2328 -0.0841559 0.00852212 0.0628506 0.18 0.02 pose: 0.66117684 1.85213 -0.0208376 0 0.00258851 -0.00345824 0.00049236 0.999991 uwb: 0.0 846.087 842.002 -imu_odom_: 1691062782.714227014 0.603339 -0.160412 10.1634 -0.0660464 -0.0649811 0.0447411 0.23 0.02 pose: 0.34866919 1.85441 -0.0190653 0 0.00301973 -0.00623783 0.000629801 0.999976 uwb: 0.50177321 846.727 840.724 -imu_odom_: 1691062782.740334259 0.347159 -0.349553 9.78031 -0.0916127 -0.0266316 0.0490022 0.23 0.02 pose: 0.0 1.85441 -0.0190653 0 0.00301973 -0.00623783 0.000629801 0.999976 uwb: 0.0 846.727 840.724 -imu_odom_: 1691062782.767326657 0.543484 -0.299275 10.2855 -0.0479369 -0.0468716 0.0436758 0.25 0.02 pose: 0.71061134 1.86845 -0.0208136 0 0.00097323 -0.00807894 0.00103968 0.999966 uwb: 0.49921837 846.317 840.297 -imu_odom_: 1691062782.792301429 0.40462 -0.0790087 9.79947 -0.0511327 -0.0308927 0.0436758 0.25 0.02 pose: 0.7005698 1.86845 -0.0208136 0 0.000316115 -0.00807205 0.00105945 0.999967 uwb: 0.0 846.317 840.297 -imu_odom_: 1691062782.809182360 0.136469 -0.213084 9.77313 -0.0308927 0.0745685 0.0340885 0.21 0 pose: 0.0 1.86845 -0.0208136 0 0.000316115 -0.00807205 0.00105945 0.999967 uwb: 0.49941376 846.451 839.317 -imu_odom_: 1691062782.834222461 0.155623 -0.167594 9.89524 -0.0553937 0.0287621 0.056459 0.21 0 pose: 0.51826596 1.88248 -0.0225516 0 0.000397276 -0.00572353 0.00113756 0.999983 uwb: 0.0 846.451 839.317 -imu_odom_: 1691062782.861234400 0.35913 -0.383072 9.80186 -0.0511327 -0.0245011 0.0596548 0.18 0 pose: 0.18070566 1.88248 -0.0225516 0 0.000595393 -0.00339228 0.00117803 0.999993 uwb: 0.50318188 846.954 838.153 -imu_odom_: 1691062782.886268668 0.160412 -0.162806 9.88087 -0.0543285 0.00213053 0.0447411 0.18 0 pose: 0.43997281 1.89037 -0.0164019 0 -0.00167919 -0.00071707 0.00159365 0.999997 uwb: 0.0 846.954 838.153 -imu_odom_: 1691062782.913169489 0.289698 -0.268151 9.98143 -0.0490022 0.00852212 0.052198 0.18 0 pose: 0.0 1.89037 -0.0164019 0 -0.00167919 -0.00071707 0.00159365 0.999997 uwb: 0.49846299 847.474 836.722 -imu_odom_: 1691062782.929181598 0.557849 -0.390255 10.2089 -0.0585895 0.0138484 0.0490022 0.19 0 pose: 0.8109006 1.89037 -0.0164019 0 -0.00142203 8.02398e-05 0.00161565 0.999998 uwb: 0.0 847.474 836.722 -imu_odom_: 1691062782.955382461 0.248997 -0.155623 9.83777 -0.052198 0.0138484 0.0543285 0.19 0 pose: 0.0 1.89037 -0.0164019 0 -0.00142203 8.02398e-05 0.00161565 0.999998 uwb: 0.49832884 846.545 836.587 -imu_odom_: 1691062782.980386106 0.287304 -0.351948 9.4547 -0.0607201 0.0372843 0.0372843 0.19 0 pose: 0.51839720 1.9044 -0.0181243 0 -0.00233002 0.00373746 0.00186576 0.999989 uwb: 0.0 846.545 836.587 -imu_odom_: 1691062783.7220140 0.280122 -0.275333 9.8665 -0.052198 -0.0394148 0.04048 0.19 0 pose: 0.0 1.9044 -0.0181243 0 -0.00233002 0.00373746 0.00186576 0.999989 uwb: 0.50107033 846.33 835.784 -imu_odom_: 1691062783.23216791 0.402226 -0.150835 10.2208 -0.0383495 -0.0490022 0.0394148 0.18 0 pose: 0.41202700 1.91844 -0.0198392 0 -0.00139302 0.0052979 0.00209213 0.999983 uwb: 0.0 846.33 835.784 -imu_odom_: 1691062783.50169235 0.323217 -0.158017 10.3956 -0.0458064 -0.00213053 0.0490022 0.18 0 pose: 0.0 1.91844 -0.0198392 0 -0.00139302 0.0052979 0.00209213 0.999983 uwb: 0.50011083 846.726 834.478 -imu_odom_: 1691062783.66187469 0.622492 -0.371101 9.51216 -0.0511327 -0.00852212 0.0415453 0.25 0 pose: 0.52854367 1.91844 -0.0198392 0 -0.00192828 0.00725647 0.00208996 0.99997 uwb: 0.0 846.726 834.478 -imu_odom_: 1691062783.93310236 0.42138 -0.241814 10.082 -0.0436758 -0.00745685 0.0543285 0.25 0 pose: 0.0 1.91844 -0.0198392 0 -0.00192828 0.00725647 0.00208996 0.99997 uwb: 0.0 846.726 834.478 -imu_odom_: 1691062783.118211221 0.464475 -0.0383072 10.3118 -0.0543285 -0.00852212 0.0372843 0.25 -0.02 pose: 0.43019967 1.93248 -0.0215483 0 0.000650978 0.00432485 0.0022368 0.999988 uwb: 0.50004666 846.806 833.985 -imu_odom_: 1691062783.145296365 0.73502 -0.452504 9.80665 -0.0639159 0.0138484 0.0703074 0.23 0 pose: 0.16032816 1.93248 -0.0215483 0 5.30333e-05 0.00284019 0.00230207 0.999993 uwb: 0.0 846.806 833.985 -imu_odom_: 1691062783.170170227 0.672771 -0.153229 10.0102 -0.0340885 0.0319579 0.036219 0.23 0 pose: 0.0 1.93248 -0.0215483 0 5.30333e-05 0.00284019 0.00230207 0.999993 uwb: 0.49879549 846.535 833.108 -imu_odom_: 1691062783.187216815 -0.23942 -0.251391 9.53611 -0.0820254 -0.0266316 0.0596548 0.23 -0.02 pose: 0.50922486 1.94035 -0.0153808 0 0.00133499 -0.0005113010.00252204 0.999996 uwb: 0.0 846.535 833.108 -imu_odom_: 1691062783.213335434 -0.0167594 -0.179565 9.63666 -0.0372843 -0.0319579 0.0276969 0.23 -0.02 pose: 0.0 1.94035 -0.0153808 0 0.00133499 -0.0005113010.00252204 0.999996 uwb: 0.50106744 846.057 832.295 -imu_odom_: 1691062783.240198050 0.416591 -0.25618 10.1035 -0.0692422 -0.0532632 0.056459 0.23 0 pose: 0.52081498 1.95439 -0.0170776 0 0.000735624 -0.00320514 0.00286179 0.99999 uwb: 0.0 846.057 832.295 -imu_odom_: 1691062783.265199654 0.423774 0.150835 10.1299 -0.0553937 -0.0149137 0.0479369 0.23 0 pose: 0.0 1.95439 -0.0170776 0 0.000735624 -0.00320514 0.00286179 0.99999 uwb: 0.49733141 846.735 830.972 -imu_odom_: 1691062783.282296406 0.687136 -0.390255 9.31584 -0.0884169 -0.0213053 0.0511327 0.21 0 pose: 0.42895141 1.95439 -0.0170776 0 0.00017896 -0.0003833050.00286155 0.999996 uwb: 0.0 846.735 830.972 -imu_odom_: 1691062783.307290427 0.112527 -0.287304 10.1418 -0.0426106 0.0117179 0.0308927 0.21 0 pose: 0.0 1.95439 -0.0170776 0 0.00017896 -0.0003833050.00286155 0.999996 uwb: 0.50127742 846.195 830.376 -imu_odom_: 1691062783.334212539 0.251391 -0.141258 9.76355 -0.0671117 -0.0713727 0.0394148 0.23 0 pose: 0.51952298 1.96843 -0.018766 0 6.14722e-05 -0.00199186 0.00317285 0.999993 uwb: 0.0 846.195 830.376 -imu_odom_: 1691062783.360149462 0.991199 -0.411803 9.73004 -0.0532632 -0.0191748 0.0415453 0.2 -0.02 pose: 0.42168934 1.98247 -0.020446 0 -0.0006464550.000132032 0.00312733 0.999995 uwb: 0.50009042 845.93 829.786 -imu_odom_: 1691062783.387150319 0.294487 -0.292093 9.98382 -0.0436758 0.04048 0.0245011 0.23 -0.02 pose: 0.0 1.98247 -0.020446 0 -0.0006464550.000132032 0.00312733 0.999995 uwb: 0.0 845.93 829.786 -imu_odom_: 1691062783.412158923 0.679953 -0.466869 9.35654 -0.0628506 0.00958738 0.0585895 0.2 0 pose: 0.52874200 1.99033 -0.0142652 0 -0.000805086-0.0006893610.00310046 0.999995 uwb: 0.49996208 845.178 829.255 -imu_odom_: 1691062783.429290089 0.565032 -0.158017 10.2065 -0.0394148 -0.0468716 0.0170442 0.2 0 pose: 0.0 1.99033 -0.0142652 0 -0.000805086-0.0006893610.00310046 0.999995 uwb: 0.0 845.178 829.255 -imu_odom_: 1691062783.445150249 0.656011 -0.11971 10.07 -0.0553937 -0.00532632 0.0383495 0.2 0 pose: 0.0 1.99033 -0.0142652 0 -0.000805086-0.0006893610.00310046 0.999995 uwb: 0.0 845.178 829.255 -imu_odom_: 1691062783.472173272 0.646434 -0.260968 10.1634 -0.0553937 -0.00958738 0.0394148 0.25 0 pose: 0.77962716 2.00438 -0.0159487 0 -0.00109643 -0.00336964 0.00297375 0.999989 uwb: 0.50050747 845.482 828.089 -imu_odom_: 1691062783.488166716 0.593762 -0.189142 9.47864 -0.0468716 -0.00532632 0.0351537 0.25 0 pose: 0.7031947 2.00438 -0.0159487 0 -0.00119018 -0.00408636 0.00297273 0.999987 uwb: 0.0 845.482 828.089 -imu_odom_: 1691062783.515293857 0.138864 -0.447716 9.61511 -0.0458064 -0.0234358 0.04048 0.23 0 pose: 0.0 2.00438 -0.0159487 0 -0.00119018 -0.00408636 0.00297273 0.999987 uwb: 0.49806929 845.762 826.886 -imu_odom_: 1691062783.541292901 0.380678 -0.134075 9.74201 -0.0553937 0.0138484 0.0479369 0.18 -0.02 pose: 0.35984520 2.01055 -0.0238119 0 -0.00046886 -0.00744103 0.00292729 0.999968 uwb: 0.0 845.762 826.886 -imu_odom_: 1691062783.568299299 0.294487 -0.35913 9.09078 -0.0383495 0.0394148 0.04048 0.25 -0.02 pose: 0.53126185 2.01842 -0.0176343 0 8.11114e-05 -0.00315543 0.00305375 0.99999 uwb: 0.50147282 845.777 825.987 -imu_odom_: 1691062783.594380296 0.0526724 -0.21069 9.84975 -0.0468716 -0.0330232 0.052198 0.18 0 pose: 0.0 2.01842 -0.0176343 0 8.11114e-05 -0.00315543 0.00305375 0.99999 uwb: 0.0 845.777 825.987 -imu_odom_: 1691062783.621256328 0.94571 -0.0790087 10.343 -0.0308927 -0.0458064 0.0447411 0.18 0 pose: 0.35019453 2.03246 -0.0193171 0 -0.0013789 0.000138431 0.00312406 0.999994 uwb: 0.50103827 845.081 825.815 -imu_odom_: 1691062783.637141278 0.514753 -0.253785 9.76116 -0.0735032 0.0287621 0.0639159 0.18 0 pose: 0.44943974 2.03808 -0.0149014 0 -8.905e-05 -0.00147034 0.00330873 0.999993 uwb: 0.0 845.081 825.815 -imu_odom_: 1691062783.664197257 0.577003 -0.191536 9.93354 -0.052198 -0.0213053 0.0543285 0.18 0 pose: 0.8026178 2.04032 -0.0131358 0 -0.000488709-0.0020718 0.00340668 0.999992 uwb: 0.49874008 844.73 825.114 -imu_odom_: 1691062783.690190759 0.543484 -0.244209 10.0556 -0.0809601 0 0.0490022 0.18 -0.02 pose: 0.34914751 2.04474 -0.0187421 0 2.73061e-05 -0.0054554 0.00369782 0.999978 uwb: 0.0 844.73 825.114 -imu_odom_: 1691062783.717253155 0.529119 -0.263362 10.1394 -0.0617853 -0.00745685 0.0607201 0.18 -0.02 pose: 0.0 2.04474 -0.0187421 0 2.73061e-05 -0.0054554 0.00369782 0.999978 uwb: 0.50120743 844.334 824.359 -imu_odom_: 1691062783.742417499 0.787692 -0.110133 10.7571 -0.0543285 0.00852212 0.0447411 0.18 0 pose: 0.33140359 2.04651 -0.0209915 0 -0.00232083 -0.00664365 0.00390655 0.999968 uwb: 0.0 844.334 824.359 -imu_odom_: 1691062783.769125833 0.457293 -0.0933739 10.0102 -0.0948085 -0.00426106 0.0617853 0.21 0.02 pose: 0.45079883 2.0588 -0.020422 0 -0.00169871 -0.00677522 0.00417695 0.999967 uwb: 0.49874008 844.803 822.718 -imu_odom_: 1691062783.785174398 0.251391 -0.292093 9.39245 -0.0862864 0.0106526 0.0490022 0.21 0.02 pose: 0.0 2.0588 -0.020422 0 -0.00169871 -0.00677522 0.00417695 0.999967 uwb: 0.0 844.803 822.718 -imu_odom_: 1691062783.812254584 0.40462 -0.371101 9.90481 -0.0660464 -0.0223706 0.0468716 0.25 0.02 pose: 0.0 2.0588 -0.020422 0 -0.00169871 -0.00677522 0.00417695 0.999967 uwb: 0.50057163 844.336 822.498 -imu_odom_: 1691062783.838176340 0.548272 -0.299275 10.1562 -0.0468716 0.0181095 0.0351537 0.25 0.02 pose: 0.50783661 2.0684 -0.0164479 0 -0.00134736 -0.00360294 0.00456484 0.999982 uwb: 0.0 844.336 822.498 -imu_odom_: 1691062783.865190322 0.430956 -0.237026 9.51216 -0.0458064 0.00958738 0.0500674 0.23 0.02 pose: 0.44975180 2.07852 -0.017629 0 -0.00364106 -0.00514241 0.00457692 0.99997 uwb: 0.49934962 844.273 821.485 -imu_odom_: 1691062783.881251428 0.201113 -0.3304 10.0724 -0.04048 0 0.0468716 0.23 0.02 pose: 0.0 2.07852 -0.017629 0 -0.00364106 -0.00514241 0.00457692 0.99997 uwb: 0.0 844.273 821.485 -imu_odom_: 1691062783.908178207 0.658405 -0.296881 9.84735 -0.0681769 -0.0372843 0.0500674 0.25 0 pose: 0.6955827 2.08245 -0.0180882 0 -0.00321987 -0.00451568 0.00461351 0.999974 uwb: 0.49991251 844.951 820.053 -imu_odom_: 1691062783.924117696 0.632069 -0.0766145 10.3501 -0.0330232 -0.0181095 0.0500674 0.25 0 pose: 0.0 2.08245 -0.0180882 0 -0.00321987 -0.00451568 0.00461351 0.999974 uwb: 0.0 844.951 820.053 -imu_odom_: 1691062783.951234046 0.469264 -0.217872 9.9503 -0.0692422 -0.0255663 0.0575243 0.23 0 pose: 0.43001593 2.08245 -0.0180882 0 -0.00249531 -0.00192925 0.004817 0.999983 uwb: 0.50120742 845.384 818.965 -imu_odom_: 1691062783.967325192 0.536301 -0.488417 9.32542 -0.0532632 -0.00106526 0.0351537 0.23 0 pose: 0.0 2.08245 -0.0180882 0 -0.00249531 -0.00192925 0.004817 0.999983 uwb: 0.0 845.384 818.965 -imu_odom_: 1691062783.994297468 0.28491 -0.253785 10.1203 -0.0479369 0.00106526 0.0575243 0.25 0.02 pose: 0.43002759 2.0965 -0.0197215 0 -0.00109887 -0.00476951 0.00505641 0.999975 uwb: 0.0 845.384 818.965 -imu_odom_: 1691062784.20217475 0.622492 -0.114922 10.4196 -0.0447411 0.0181095 0.0436758 0.25 0.02 pose: 0.0 2.0965 -0.0197215 0 -0.00109887 -0.00476951 0.00505641 0.999975 uwb: 0.50020708 845.302 818.227 -imu_odom_: 1691062784.47232916 0.179565 -0.466869 9.77792 -0.0511327 0.0394148 0.0585895 0.23 0.02 pose: 0.43031924 2.10433 -0.0135096 0 -0.00164573 -0.00301122 0.00526501 0.99998 uwb: 0.49723226 845.093 817.66 -imu_odom_: 1691062784.72163359 0.28491 -0.25618 9.93594 -0.0383495 0.056459 0.0383495 0.18 0.02 pose: 0.52936030 2.11055 -0.0213446 0 -0.000505713-0.00214428 0.00556403 0.999982 uwb: 0.0 845.093 817.66 -imu_odom_: 1691062784.89138202 0.497994 -0.301669 9.73482 -0.0660464 -0.036219 0.0415453 0.18 0.02 pose: 0.0 2.11055 -0.0213446 0 -0.000505713-0.00214428 0.00556403 0.999982 uwb: 0.0 845.093 817.66 -imu_odom_: 1691062784.114333170 0.299275 -0.35913 9.43794 -0.0276969 0.0223706 0.0351537 0.18 0 pose: 0.28038254 2.11838 -0.015125 0 -0.0017994 0.000812169 0.00575547 0.999981 uwb: 0.50068248 845.496 815.866 -imu_odom_: 1691062784.141289989 0.533907 -0.114922 9.84975 -0.0436758 -0.0308927 0.0468716 0.18 0 pose: 0.42060151 2.1246 -0.0229538 0 -0.00290556 0.00176633 0.00574237 0.999978 uwb: 0.0 845.496 815.866 -imu_odom_: 1691062784.166104356 0.533907 0.21069 10.0293 -0.0287621 -0.0138484 0.0458064 0.18 -0.02 pose: 0.44087111 2.13243 -0.0167324 0 -0.00199637 0.000751256 0.00580172 0.999981 uwb: 0.50187240 846.348 814.264 -imu_odom_: 1691062784.193086549 0.502782 -0.0622492 9.93354 -0.0553937 -0.0106526 0.0372843 0.18 -0.02 pose: 0.0 2.13243 -0.0167324 0 -0.00199637 0.000751256 0.00580172 0.999981 uwb: 0.0 846.348 814.264 -imu_odom_: 1691062784.210136054 0.6608 -0.366313 10.1586 -0.0649811 -0.0372843 0.0617853 0.19 0.02 pose: 0.51796560 2.14648 -0.0183376 0 0.00292456 -0.00172669 0.00584909 0.999977 uwb: 0.49859427 845.738 814.187 -imu_odom_: 1691062784.234163259 0.814029 -0.299275 10.331 -0.0671117 -0.0223706 0.0500674 0.19 0.02 pose: 0.0 2.14648 -0.0183376 0 0.00292456 -0.00172669 0.00584909 0.999977 uwb: 0.0 845.738 814.187 -imu_odom_: 1691062784.258164509 0.658405 -0.112527 10.1921 -0.0649811 -0.0330232 0.0628506 0.18 0 pose: 0.41076710 2.15202 -0.0139318 0 0.00077083 -0.00575395 0.0061745 0.999964 uwb: 0.50182574 845.505 813.244 -imu_odom_: 1691062784.274214824 0.502782 -0.3304 9.7444 -0.0798948 0.00106526 0.0500674 0.18 0 pose: 0.6977410 2.15431 -0.012112 0 0.00111209 -0.0064442 0.00625368 0.999959 uwb: 0.0 845.505 813.244 -imu_odom_: 1691062784.291104797 -0.268151 -0.296881 9.75158 -0.0436758 0.0394148 0.0276969 0.25 0.02 pose: 0.24973023 2.16054 -0.0199347 0 0.00109956 -0.00783306 0.00649334 0.999948 uwb: 0.0 845.505 813.244 -imu_odom_: 1691062784.317286414 0.167594 -0.272939 10.3669 -0.0553937 -0.0127832 0.0575243 0.25 0.02 pose: 0.0 2.16054 -0.0199347 0 0.00109956 -0.00783306 0.00649334 0.999948 uwb: 0.49683271 845.456 812.519 -imu_odom_: 1691062784.344123366 0.624887 0.0694318 10.2208 -0.0511327 -0.0340885 0.0490022 0.23 0 pose: 0.15097499 2.16054 -0.0199347 0 0.000200713 -0.00668353 0.00649994 0.999957 uwb: 0.0 845.456 812.519 -imu_odom_: 1691062784.369095806 0.342371 -0.011971 10.2687 -0.0585895 -0.0223706 0.0447411 0.23 0 pose: 0.0 2.16054 -0.0199347 0 0.000200713 -0.00668353 0.00649994 0.999957 uwb: 0.49993586 845.498 811.231 -imu_odom_: 1691062784.396139828 0.0622492 -0.301669 10.4052 -0.0639159 0.0383495 0.036219 0.21 -0.02 pose: 0.42934514 2.16835 -0.0137006 0 0.000298501 -0.00344532 0.00670986 0.999972 uwb: 0.0 845.498 811.231 -imu_odom_: 1691062784.421219595 0.344765 -0.232238 10.1658 -0.0436758 0 0.0266316 0.19 0 pose: 0.52019963 2.18241 -0.0152793 0 0.00353798 -0.00236581 0.00683724 0.999968 uwb: 0.50005251 845.815 810.271 -imu_odom_: 1691062784.448302407 0.54109 -0.373495 9.75877 -0.0617853 -0.0447411 0.0532632 0.19 0 pose: 0.0 2.18241 -0.0152793 0 0.00353798 -0.00236581 0.00683724 0.999968 uwb: 0.50053082 845.293 809.629 -imu_odom_: 1691062784.474247204 0.459687 -0.100556 10.422 -0.0340885 0.00213053 0.0298274 0.18 0.02 pose: 0.72136739 2.19246 -0.0164089 0 -0.00112717 -0.0008603020.00681762 0.999976 uwb: 0.0 845.293 809.629 -imu_odom_: 1691062784.501124404 0.88346 -0.25618 10.0006 -0.072438 -0.00958738 0.0436758 0.18 0.02 pose: 0.7955016 2.19646 -0.016858 0 -0.000274962-0.00104661 0.00677797 0.999976 uwb: 0.50053957 844.319 809.113 -imu_odom_: 1691062784.517112015 0.292093 -0.205901 9.26317 -0.0287621 0.0468716 0.02024 0.2 0 pose: 0.0 2.19646 -0.016858 0 -0.000274962-0.00104661 0.00677797 0.999976 uwb: 0.0 844.319 809.113 -imu_odom_: 1691062784.544275905 0.600945 -0.459687 9.90721 -0.0830906 -0.0149137 0.0383495 0.2 0 pose: 0.44866981 2.20225 -0.0122398 0 0.00100554 -0.00419871 0.00674783 0.999968 uwb: 0.0 844.319 809.113 -imu_odom_: 1691062784.569198765 0.390255 -0.385466 9.6606 -0.0479369 -0.0181095 0.0394148 0.24 0 pose: 0.22983394 2.21051 -0.0184386 0 0.000427949 -0.00258479 0.00659049 0.999975 uwb: 0.49874009 844.313 808.082 -imu_odom_: 1691062784.596214789 0.351948 -0.387861 9.91199 -0.0543285 -0.00213053 0.0372843 0.23 0 pose: 0.0 2.21051 -0.0184386 0 0.000427949 -0.00258479 0.00659049 0.999975 uwb: 0.0 844.313 808.082 -imu_odom_: 1691062784.621197728 0.562637 -0.196325 9.96946 -0.0436758 -0.0191748 0.0468716 0.23 0 pose: 0.52110373 2.21833 -0.0122039 0 -0.0041418 -0.00212106 0.00658586 0.999967 uwb: 0.49986003 845.339 806.256 -imu_odom_: 1691062784.638181612 0.452504 -0.351948 10.2424 -0.0394148 -0.0106526 0.052198 0.21 -0.02 pose: 0.0 2.21833 -0.0122039 0 -0.0041418 -0.00212106 0.00658586 0.999967 uwb: 0.0 845.339 806.256 -imu_odom_: 1691062784.664068372 0.497994 -0.215478 10.4411 -0.0511327 -0.00319579 0.0500674 0.21 -0.02 pose: 0.51915844 2.22457 -0.0200222 0 -0.00438702 -0.00270813 0.00669849 0.999964 uwb: 0.50335398 844.594 805.671 -imu_odom_: 1691062784.691114144 0.708684 -0.260968 10.3094 -0.0276969 -0.0490022 0.0330232 0.25 0 pose: 0.0 2.22457 -0.0200222 0 -0.00438702 -0.00270813 0.00669849 0.999964 uwb: 0.0 844.594 805.671 -imu_odom_: 1691062784.707054800 0.919373 -0.241814 9.75877 -0.0468716 0.0266316 0.052198 0.25 0 pose: 0.43020259 2.23238 -0.0137856 0 -0.00268071 -0.00439621 0.00686533 0.999963 uwb: 0.49860593 844.307 804.963 -imu_odom_: 1691062784.724218340 0.174777 -0.507571 9.61033 -0.0660464 -0.0191748 0.056459 0.25 0 pose: 0.0 2.23238 -0.0137856 0 -0.00268071 -0.00439621 0.00686533 0.999963 uwb: 0.0 844.307 804.963 -imu_odom_: 1691062784.750138639 0.392649 -0.0933739 9.87608 -0.0490022 -0.0234358 0.0585895 0.25 0 pose: 0.42949681 2.24644 -0.0153609 0 -0.00256645 -0.00764646 0.00695594 0.999943 uwb: 0.0 844.307 804.963 -imu_odom_: 1691062784.777262281 0.47884 -0.395043 9.92157 -0.056459 0.0287621 0.0426106 0.23 0 pose: 0.36034684 2.24644 -0.0153609 0 -0.00106837 -0.00551429 0.00728642 0.999958 uwb: 0.0 844.307 804.963 -imu_odom_: 1691062784.793067904 0.308852 -0.0742203 10.1347 -0.0532632 0.0149137 0.0415453 0.23 0 pose: 0.6973617 2.24644 -0.0153609 0 -0.00175837 -0.00526506 0.00730076 0.999958 uwb: 0.0 844.307 804.963 -imu_odom_: 1691062784.820053013 0.490811 -0.23942 10.1754 -0.0585895 -0.0383495 0.0447411 0.25 0.02 pose: 0.0 2.24644 -0.0153609 0 -0.00175837 -0.00526506 0.00730076 0.999958 uwb: 0.99941965 844.266 804.211 -imu_odom_: 1691062784.845215025 0.411803 -0.0981623 9.96227 -0.072438 0.00213053 0.052198 0.25 0.02 pose: 0.44087112 2.26049 -0.0169244 0 -0.00190369 -0.00398534 0.00737358 0.999963 uwb: 0.0 844.266 804.211 -imu_odom_: 1691062784.872214133 0.181959 -0.306458 10.1347 -0.0479369 -0.0181095 0.0383495 0.21 -0.02 pose: 0.44015657 2.26604 -0.0124897 0 0.00132836 -0.00379712 0.00756249 0.999963 uwb: 0.50004960 844.797 802.767 -imu_odom_: 1691062784.898202678 0.438139 -0.205901 9.8665 -0.0756338 0.0127832 0.0490022 0.18 0 pose: 0.6994033 2.2683 -0.0106765 0 0.00109201 -0.00319679 0.00755838 0.999966 uwb: 0.50083705 844.374 802.229 -imu_odom_: 1691062784.925200912 0.059855 -0.222661 9.68455 -0.0266316 0.0223706 0.0394148 0.23 0 pose: 0.45993620 2.28016 -0.013992 0 0.000511673 -0.00383432 0.0076692 0.999963 uwb: 0.0 844.374 802.229 -imu_odom_: 1691062784.950052026 0.0622492 -0.023942 9.72764 -0.0426106 -0.0170442 0.0468716 0.19 0 pose: 0.0 2.28016 -0.013992 0 0.000511673 -0.00383432 0.0076692 0.999963 uwb: 0.49874885 843.99 801.028 -imu_odom_: 1691062784.967085490 0.670376 -0.158017 10.07 -0.0340885 -0.0117179 0.0394148 0.19 0 pose: 0.34899004 2.28236 -0.0122322 0 0.00116022 -0.00011186 0.0076958 0.99997 uwb: 0.0 843.99 801.028 -imu_odom_: 1691062784.993172904 0.430956 -0.316035 9.69652 -0.0553937 0.0106526 0.052198 0.18 0.02 pose: 0.0 2.28236 -0.0122322 0 0.00116022 -0.00011186 0.0076958 0.99997 uwb: 0.0 843.99 801.028 -imu_odom_: 1691062785.10167580 0.186748 -0.23942 9.93833 -0.0436758 -0.00319579 0.0426106 0.18 0.02 pose: 0.42205975 2.29641 -0.0137844 0 0.00148468 -0.0005089210.00781027 0.999968 uwb: 0.49997085 843.466 800.359 -imu_odom_: 1691062785.26046115 0.572214 -0.304064 9.5816 -0.0543285 -0.0117179 0.0490022 0.18 0.02 pose: 0.0 2.29641 -0.0137844 0 0.00148468 -0.0005089210.00781027 0.999968 uwb: 0.0 843.466 800.359 -imu_odom_: 1691062785.53048141 0.395043 -0.248997 10.1586 -0.0276969 0.00426106 0.0298274 0.18 0 pose: 0.42791316 2.29641 -0.0137844 0 -0.0006507250.000326354 0.00798782 0.999968 uwb: 0.49998837 843.613 799.105 -imu_odom_: 1691062785.78114493 0.146046 -0.234632 9.57441 -0.0649811 0.0127832 0.0543285 0.2 0 pose: 0.34949168 2.3062 -0.0148595 0 -0.00241572 0.00167468 0.00789572 0.999965 uwb: 0.0 843.613 799.105 -imu_odom_: 1691062785.96094942 0.73502 -0.167594 10.2615 -0.0415453 -0.00958738 0.0351537 0.2 0 pose: 0.0 2.3062 -0.0148595 0 -0.00241572 0.00167468 0.00789572 0.999965 uwb: 0.0 843.613 799.105 -imu_odom_: 1691062785.112050180 0.761356 -0.146046 10.1251 -0.0458064 -0.00532632 0.0532632 0.2 0 pose: 0.0 2.3062 -0.0148595 0 -0.00241572 0.00167468 0.00789572 0.999965 uwb: 0.50005253 843.457 798.179 -imu_odom_: 1691062785.136035973 0.526724 -0.105345 9.94312 -0.0692422 -0.0617853 0.0426106 0.18 0.02 pose: 0.8257748 2.31047 -0.0153294 0 -0.00236956 0.00256634 0.00795862 0.999962 uwb: 0.0 843.457 798.179 -imu_odom_: 1691062785.161038745 0.550666 -0.325611 9.60314 -0.056459 -0.0223706 0.0490022 0.18 0.02 pose: 0.0 2.31047 -0.0153294 0 -0.00236956 0.00256634 0.00795862 0.999962 uwb: 0.50053375 842.966 797.545 -imu_odom_: 1691062785.188023855 0.294487 -0.138864 9.96946 -0.0372843 0.00852212 0.0276969 0.21 0 pose: 0.57886191 2.31827 -0.00907203 0 -0.0008291290.000302892 0.00816253 0.999966 uwb: 0.0 842.966 797.545 -imu_odom_: 1691062785.214024942 0.59855 -0.342371 9.57202 -0.0681769 -0.0276969 0.0511327 0.19 0 pose: 0.48920319 2.32453 -0.0168709 0 -0.00108327 -0.00280602 0.00826669 0.999961 uwb: 0.49978713 842.636 796.754 -imu_odom_: 1691062785.241125837 0.500388 -0.208296 9.66779 -0.0127832 0.00213053 0.0351537 0.19 0 pose: 0.0 2.32453 -0.0168709 0 -0.00108327 -0.00280602 0.00826669 0.999961 uwb: 0.0 842.636 796.754 -imu_odom_: 1691062785.266051614 0.64404 -0.337582 9.71328 -0.0703074 -0.00532632 0.0490022 0.18 -0.02 pose: 0.73013438 2.34417 -0.0139314 0 0.00103903 -0.005076 0.00823161 0.999953 uwb: 0.50040834 843.312 795.429 -imu_odom_: 1691062785.293183132 0.442927 -0.0191536 9.91678 -0.052198 -0.015979 0.0660464 0.18 -0.02 pose: 0.7936643 2.34639 -0.0121489 0 0.000425238 -0.00564917 0.00827207 0.99995 uwb: 0.0 843.312 795.429 -imu_odom_: 1691062785.309056709 0.395043 -0.323217 9.991 -0.076699 -0.0181095 0.0585895 0.2 -0.02 pose: 0.0 2.34639 -0.0121489 0 0.000425238 -0.00564917 0.00827207 0.99995 uwb: 0.49946632 842.896 794.885 -imu_odom_: 1691062785.326058384 1.16358 -0.1652 9.88087 -0.0458064 0.00639159 0.0319579 0.2 -0.02 pose: 0.44120652 2.35085 -0.0177081 0 0.00162559 -0.00591437 0.00870217 0.999943 uwb: 0.0 842.896 794.885 -imu_odom_: 1691062785.352099719 0.512359 -0.354342 9.69891 -0.0777643 0.0245011 0.0490022 0.18 0 pose: 0.0 2.35085 -0.0177081 0 0.00162559 -0.00591437 0.00870217 0.999943 uwb: 0.49973755 842.379 794.211 -imu_odom_: 1691062785.369227386 -0.0023942 -0.445322 9.42597 -0.052198 0.0798948 0.0213053 0.18 0 pose: 0.32875252 2.36044 -0.0136743 0 0.000476044 -0.00658354 0.0087926 0.99994 uwb: 0.0 842.379 794.211 -imu_odom_: 1691062785.394179120 0.454898 -0.538695 9.74679 -0.0639159 0.0383495 0.0617853 0.18 0 pose: 0.0 2.36044 -0.0136743 0 0.000476044 -0.00658354 0.0087926 0.99994 uwb: 0.0 842.379 794.211 -imu_odom_: 1691062785.421159272 0.411803 -0.110133 10.2639 -0.0553937 -0.0127832 0.036219 0.18 0 pose: 0.43169002 2.36479 -0.0101754 0 -0.00298049 -0.0036067 0.00877981 0.999951 uwb: 0.50064166 841.877 793.555 -imu_odom_: 1691062785.446189168 0.371101 -0.418985 10.2352 -0.0681769 0.0117179 0.0426106 0.18 -0.02 pose: 0.51931886 2.3745 -0.0151945 0 -0.00295749 -0.00242628 0.00901535 0.999952 uwb: 0.0 841.877 793.555 -imu_odom_: 1691062785.463168095 0.397437 -0.316035 9.25838 -0.0436758 0.0276969 0.0255663 0.18 -0.02 pose: 0.0 2.3745 -0.0151945 0 -0.00295749 -0.00242628 0.00901535 0.999952 uwb: 0.50116079 843.062 791.736 -imu_odom_: 1691062785.488267694 0.45011 -0.172383 9.80665 -0.0596548 0.052198 0.0319579 0.18 -0.02 pose: 0.42008823 2.38577 -0.0132409 0 -0.00552143 0.000918625 0.00894999 0.999944 uwb: 0.0 843.062 791.736 -imu_odom_: 1691062785.515026193 0.287304 -0.11971 10.2376 -0.0479369 -0.0671117 0.0458064 0.18 -0.02 pose: 0.0 2.38577 -0.0132409 0 -0.00552143 0.000918625 0.00894999 0.999944 uwb: 0.49948674 843.408 790.678 -imu_odom_: 1691062785.541031071 0.624887 -0.275333 10.489 -0.04048 -0.0340885 0.0287621 0.19 -0.02 pose: 0.51858098 2.3941 -0.0122568 0 -0.0009190710.00124939 0.0089394 0.999959 uwb: 0.0 843.408 790.678 -imu_odom_: 1691062785.566031802 0.68953 -0.071826 10.07 -0.0553937 -0.0671117 0.0500674 0.23 0 pose: 0.0 2.3941 -0.0122568 0 -0.0009190710.00124939 0.0089394 0.999959 uwb: 0.0 843.408 790.678 -imu_odom_: 1691062785.589192520 0.418985 -0.232238 9.98382 -0.0436758 -0.0468716 0.0191748 0.23 0 pose: 0.33021077 2.39635 -0.0104392 0 -0.000740969-0.00250923 0.00883166 0.999958 uwb: 0.0 843.408 790.678 -imu_odom_: 1691062785.605115969 0.799663 -0.129287 9.92875 -0.0553937 -0.0287621 0.04048 0.23 0 pose: 0.0 2.39635 -0.0104392 0 -0.000740969-0.00250923 0.00883166 0.999958 uwb: 0.99739856 844.481 789.058 -imu_odom_: 1691062785.623010673 0.536301 -0.519542 9.82341 -0.0841559 -0.0181095 0.0447411 0.18 0.02 pose: 0.49034646 2.41041 -0.0119598 0 -6.17234e-05-0.00370537 0.00869267 0.999955 uwb: 0.0 844.481 789.058 -imu_odom_: 1691062785.648003530 0.553061 -0.143652 9.34457 -0.0458064 -0.0234358 0.0383495 0.18 0.02 pose: 0.0 2.41041 -0.0119598 0 -6.17234e-05-0.00370537 0.00869267 0.999955 uwb: 0.49976671 843.82 788.548 -imu_odom_: 1691062785.675112882 0.356736 -0.462081 9.77792 -0.0543285 -0.0149137 0.0447411 0.18 0.02 pose: 0.33006786 2.41041 -0.0119598 0 -0.00121477 -0.00537899 0.00874075 0.999947 uwb: 0.0 843.82 788.548 -imu_odom_: 1691062785.700159110 0.538695 -0.174777 9.81623 -0.0500674 0.0149137 0.0490022 0.18 0.02 pose: 0.45024180 2.42447 -0.0134829 0 -0.0018035 -0.00505855 0.00880488 0.999947 uwb: 0.50194825 843.973 787.206 -imu_odom_: 1691062785.724013661 0.624887 -0.0790087 9.64624 -0.0426106 0.0127832 0.0394148 0.18 0.02 pose: 0.0 2.42447 -0.0134829 0 -0.0018035 -0.00505855 0.00880488 0.999947 uwb: 0.0 843.973 787.206 -imu_odom_: 1691062785.748209441 0.708684 -0.198719 9.95509 -0.0649811 -0.00745685 0.0553937 0.18 0 pose: 0.8097925 2.42447 -0.0134829 0 -0.00105388 -0.00533631 0.00883866 0.999946 uwb: 0.50079915 844.95 785.414 -imu_odom_: 1691062785.764158846 0.136469 -0.407014 9.52653 -0.052198 0.0458064 0.0255663 0.18 0 pose: 0.0 2.42447 -0.0134829 0 -0.00105388 -0.00533631 0.00883866 0.999946 uwb: 0.0 844.95 785.414 -imu_odom_: 1691062785.781161980 0.627281 -0.124498 10.2185 -0.0308927 -0.04048 0.0458064 0.23 0 pose: 0.47959044 2.43853 -0.015003 0 0.00232534 -0.00796973 0.0089572 0.999925 uwb: 0.0 844.95 785.414 -imu_odom_: 1691062785.806152211 0.462081 -0.246603 9.73722 -0.0490022 -0.0266316 0.0553937 0.23 0 pose: 0.0 2.43853 -0.015003 0 0.00232534 -0.00796973 0.0089572 0.999925 uwb: 0.49734895 845.408 784.068 -imu_odom_: 1691062785.823274046 0.584185 -0.0646434 9.85214 -0.0458064 -0.0298274 0.0511327 0.21 0.02 pose: 0.40068482 2.43853 -0.015003 0 0.00181865 -0.00847603 0.0090104 0.999922 uwb: 0.0 845.408 784.068 -imu_odom_: 1691062785.848134785 0.526724 -0.0837971 9.84496 -0.0713727 -0.0351537 0.0532632 0.21 0.02 pose: 0.0 2.43853 -0.015003 0 0.00181865 -0.00847603 0.0090104 0.999922 uwb: 0.50172076 845.308 783.529 -imu_odom_: 1691062785.875060691 0.629675 0.0861913 10.3262 -0.0607201 -0.0596548 0.0553937 0.23 0 pose: 0.41900912 2.45259 -0.0165179 0 0.00203739 -0.00782383 0.00927822 0.999924 uwb: 0.0 845.308 783.529 -imu_odom_: 1691062785.891235833 0.636858 -0.203507 9.84735 -0.0756338 -0.0106526 0.056459 0.23 0 pose: 0.0 2.45259 -0.0165179 0 0.00203739 -0.00782383 0.00927822 0.999924 uwb: 0.0 845.308 783.529 -imu_odom_: 1691062785.918049453 0.232238 -0.167594 9.59835 -0.0628506 -0.0181095 0.0468716 0.23 0 pose: 0.41862415 2.46038 -0.0102407 0 0.00571362 -0.00787318 0.00952491 0.999907 uwb: 0.49871386 845.301 782.317 -imu_odom_: 1691062785.943049018 0.380678 -0.248997 9.38048 -0.0873517 -0.00106526 0.0511327 0.23 0 pose: 0.0 2.46038 -0.0102407 0 0.00571362 -0.00787318 0.00952491 0.999907 uwb: 0.0 845.301 782.317 -imu_odom_: 1691062785.967994044 0.428562 0.0023942 9.9503 -0.0830906 -0.0191748 0.0447411 0.21 0.02 pose: 0.43015302 2.46666 -0.0180213 0 0.00574626 -0.0091724 0.00984401 0.999893 uwb: 0.49955381 845.396 781.238 -imu_odom_: 1691062785.982042773 0.696713 -0.335188 9.68933 -0.0649811 -0.0191748 0.0479369 0.21 0.02 pose: 0.0 2.46666 -0.0180213 0 0.00574626 -0.0091724 0.00984401 0.999893 uwb: 0.0 845.396 781.238 -imu_odom_: 1691062786.6970592 0.258574 -0.289698 10.0149 -0.0383495 -0.0181095 0.0415453 0.18 0 pose: 0.51983800 2.47444 -0.0117366 0 0.00381 -0.00511216 0.010064 0.999929 uwb: 0.49918342 844.263 781.26 -imu_odom_: 1691062786.30963677 0.280122 0.0981623 9.9503 -0.0479369 -0.056459 0.0372843 0.18 0 pose: 0.0 2.47444 -0.0117366 0 0.00381 -0.00511216 0.010064 0.999929 uwb: 0.0 844.263 781.26 -imu_odom_: 1691062786.55134084 0.632069 -0.0023942 10.24 -0.0532632 -0.0500674 0.0426106 0.18 0 pose: 0.39149496 2.4885 -0.0132218 0 0.00375769 -0.00492099 0.0101713 0.999929 uwb: 0.50198618 845.072 779.56 -imu_odom_: 1691062786.80135690 0.514753 -0.397437 9.42358 -0.0426106 -0.0394148 0.0479369 0.18 0 pose: 0.0 2.4885 -0.0132218 0 0.00375769 -0.00492099 0.0101713 0.999929 uwb: 0.0 845.072 779.56 -imu_odom_: 1691062786.107017558 0.385466 -0.25618 9.85214 -0.0575243 0.0234358 0.0511327 0.23 0 pose: 0.49174930 2.4885 -0.0132218 0 0.0053795 -0.00346894 0.0101603 0.999928 uwb: 0.49864971 844.831 778.807 -imu_odom_: 1691062786.123103164 0.337582 -0.153229 9.9503 -0.052198 -0.0106526 0.036219 0.23 0 pose: 0.0 2.4885 -0.0132218 0 0.0053795 -0.00346894 0.0101603 0.999928 uwb: 0.0 844.831 778.807 -imu_odom_: 1691062786.149972199 0.179565 -0.47884 9.7875 -0.0692422 -0.0234358 0.0639159 0.19 -0.02 pose: 0.48850616 2.50257 -0.0147046 0 0.00350879 -0.00520795 0.0103466 0.999927 uwb: 0.50050752 844.871 777.627 -imu_odom_: 1691062786.175128088 0.849942 -0.0933739 10.5273 -0.0415453 0.00639159 0.0287621 0.2 0 pose: 0.27961844 2.51034 -0.00841161 0 0.0022678 -0.00268905 0.0104485 0.999939 uwb: 0.0 844.871 777.627 -imu_odom_: 1691062786.199001013 1.08697 -0.110133 11.0923 -0.0596548 -0.0553937 0.0575243 0.2 0 pose: 0.34834551 2.51476 -0.0138729 0 0.000132121 -0.00047451 0.0107589 0.999942 uwb: 0.49934384 845.427 776.35 -imu_odom_: 1691062786.213983603 0.605733 -0.0622492 9.52653 -0.0713727 -0.0905475 0.0340885 0.2 0 pose: 0.0 2.51476 -0.0138729 0 0.000132121 -0.00047451 0.0107589 0.999942 uwb: 0.0 845.427 776.35 -imu_odom_: 1691062786.238110263 0.35913 -0.351948 10.0556 -0.0628506 -0.0351537 0.0447411 0.18 0 pose: 0.8015388 2.51664 -0.0161807 0 0.000405634 -0.00120331 0.0107156 0.999942 uwb: 0.0 845.427 776.35 -imu_odom_: 1691062786.264972298 0.035913 -0.141258 10.3166 -0.0394148 0.00532632 0.0298274 0.23 0 pose: 0.48024667 2.5244 -0.00988162 0 0.00180694 -0.0064503 0.0108149 0.999919 uwb: 0.50127164 845.506 775.208 -imu_odom_: 1691062786.290126437 0.483629 -0.23942 9.71088 -0.0703074 -0.0276969 0.0511327 0.23 0 pose: 0.0 2.5244 -0.00988162 0 0.00180694 -0.0064503 0.0108149 0.999919 uwb: 0.0 845.506 775.208 -imu_odom_: 1691062786.307069200 0.802058 -0.222661 9.88805 -0.0330232 0 0.0351537 0.23 0 pose: 0.38970133 2.53847 -0.0113464 0 0.000744562 -0.0052037 0.010824 0.999928 uwb: 0.49808100 846.286 773.389 -imu_odom_: 1691062786.331946272 0.567426 -0.150835 10.3573 -0.052198 -0.00852212 0.0543285 0.23 0 pose: 0.0 2.53847 -0.0113464 0 0.000744562 -0.0052037 0.010824 0.999928 uwb: 0.0 846.286 773.389 -imu_odom_: 1691062786.358994379 0.656011 -0.225055 9.42118 -0.056459 0.0351537 0.0394148 0.23 -0.02 pose: 0.52261159 2.53847 -0.0113464 0 -0.00120833 -0.00515713 0.0108611 0.999927 uwb: 0.50086334 845.637 772.433 -imu_odom_: 1691062786.384114104 0.23942 -0.241814 9.59117 -0.0628506 0.00319579 0.0660464 0.23 -0.02 pose: 0.0 2.53847 -0.0113464 0 -0.00120833 -0.00515713 0.0108611 0.999927 uwb: 0.0 845.637 772.433 -imu_odom_: 1691062786.408993510 0.237026 -0.122104 9.94073 -0.0447411 0.00852212 0.04048 0.23 -0.05 pose: 0.41806128 2.55254 -0.0128093 0 0.00110022 -0.00772339 0.0110085 0.999909 uwb: 0.50037627 846.224 771.154 -imu_odom_: 1691062786.423105236 -0.134075 -0.184354 9.40921 -0.0820254 -0.00319579 0.0649811 0.23 -0.05 pose: 0.0 2.55254 -0.0128093 0 0.00110022 -0.00772339 0.0110085 0.999909 uwb: 0.0 846.224 771.154 -imu_odom_: 1691062786.448221752 -0.306458 -0.323217 9.71088 -0.0426106 0.04048 0.0255663 0.18 0 pose: 0.52000134 2.5603 -0.00650296 0 0.000413094 -0.0059587 0.0113483 0.999918 uwb: 0.50205618 846.509 770.281 -imu_odom_: 1691062786.472990040 0.253785 -0.148441 10.5919 -0.0585895 -0.0234358 0.0596548 0.18 0 pose: 0.0 2.5603 -0.00650296 0 0.000413094 -0.0059587 0.0113483 0.999918 uwb: 0.0 846.509 770.281 -imu_odom_: 1691062786.496160966 0.574608 -0.071826 10.1155 -0.0468716 0.015979 0.036219 0.18 0.02 pose: 0.81940232 2.57436 -0.00794974 0 0.00137831 0.00242508 0.011602 0.999929 uwb: 0.0 846.509 770.281 -imu_odom_: 1691062786.512101331 0.991199 -0.196325 9.76116 -0.0894822 -0.00745685 0.0511327 0.18 0.02 pose: 0.0 2.57436 -0.00794974 0 0.00137831 0.00242508 0.011602 0.999929 uwb: 0.0 846.509 770.281 -imu_odom_: 1691062786.539157896 0.179565 -0.282516 9.40203 -0.0500674 0.0394148 0.0319579 0.23 0 pose: 0.39111291 2.58843 -0.00939261 0 0.00223367 -0.00100259 0.0116648 0.999929 uwb: 0.0 846.509 770.281 -imu_odom_: 1691062786.555035848 0.335188 -0.347159 10.2927 -0.0671117 -0.00213053 0.0372843 0.23 0 pose: 0.0 2.58843 -0.00939261 0 0.00223367 -0.00100259 0.0116648 0.999929 uwb: 0.99857102 845.705 769.514 -imu_odom_: 1691062786.582104371 0.766145 -0.270545 9.86172 -0.0351537 0.0298274 0.0223706 0.25 -0.02 pose: 0.42934517 2.58843 -0.00939261 0 -0.0005036730.00231053 0.0115372 0.999931 uwb: 0.0 845.705 769.514 -imu_odom_: 1691062786.607112977 0.586579 -0.430956 9.68455 -0.0649811 -0.0447411 0.052198 0.19 0 pose: 0.0 2.58843 -0.00939261 0 -0.0005036730.00231053 0.0115372 0.999931 uwb: 0.49924760 845.584 768.46 -imu_odom_: 1691062786.633968596 0.366313 -0.0215478 9.94551 -0.0447411 -0.0298274 0.0426106 0.23 0 pose: 0.34985042 2.6025 -0.0108405 0 -0.00113288 -0.0006158120.0113512 0.999935 uwb: 0.0 845.584 768.46 -imu_odom_: 1691062786.659000534 0.782904 -0.308852 9.6606 -0.0713727 0.0127832 0.04048 0.18 -0.02 pose: 0.43947706 2.60801 -0.00635959 0 0.000220708 -0.00160946 0.011497 0.999933 uwb: 0.49854472 845.696 767.309 -imu_odom_: 1691062786.685074242 0.0407014 -0.363919 9.79947 -0.0617853 0.0245011 0.0415453 0.18 -0.02 pose: 0.8156547 2.61026 -0.00452958 0 -5.70794e-05-0.00232883 0.0115011 0.999931 uwb: 0.0 845.696 767.309 -imu_odom_: 1691062786.701088103 0.517148 -0.366313 10.1011 -0.0681769 -0.0245011 0.0436758 0.2 0 pose: 0.0 2.61026 -0.00452958 0 -5.70794e-05-0.00232883 0.0115011 0.999931 uwb: 0.50290196 846.503 765.873 -imu_odom_: 1691062786.727942264 0.682347 -0.023942 9.97185 -0.0553937 0.0266316 0.0383495 0.2 0 pose: 0.42949099 2.61486 -0.0101894 0 -0.00152598 -0.0009622940.0115393 0.999932 uwb: 0.0 846.503 765.873 -imu_odom_: 1691062786.752979452 0.179565 -0.445322 9.77074 -0.0543285 0.02024 0.0319579 0.17 0 pose: 0.42868022 2.62433 -0.00597399 0 -0.000917095-0.00355559 0.0115446 0.999927 uwb: 0.49838723 846.511 764.994 -imu_odom_: 1691062786.776920914 0.440533 -0.129287 10.0245 -0.0479369 -0.02024 0.0436758 0.17 0 pose: 0.0 2.62433 -0.00597399 0 -0.000917095-0.00355559 0.0115446 0.999927 uwb: 0.0 846.511 764.994 -imu_odom_: 1691062786.792002082 0.749385 -0.538695 9.91199 -0.0681769 -0.00532632 0.0575243 0.18 0.02 pose: 0.48978650 2.63611 -0.00927435 0 7.42545e-05 -0.00164211 0.0115023 0.999932 uwb: 0.0 846.511 764.994 -imu_odom_: 1691062786.816082953 0.531513 -0.222661 9.8258 -0.0490022 0.0181095 0.0511327 0.18 0.02 pose: 0.0 2.63611 -0.00927435 0 7.42545e-05 -0.00164211 0.0115023 0.999932 uwb: 0.49934675 846.922 763.826 -imu_odom_: 1691062786.841132390 0.318429 -0.42138 9.63666 -0.0479369 0.036219 0.0255663 0.23 0 pose: 0.39162039 2.63839 -0.00741902 0 -0.000563364-0.00480724 0.0117743 0.999919 uwb: 0.0 846.922 763.826 -imu_odom_: 1691062786.855081376 -0.0047884 -0.320823 10.0628 -0.0223706 -0.00426106 0.0287621 0.23 0 pose: 0.0 2.63839 -0.00741902 0 -0.000563364-0.00480724 0.0117743 0.999919 uwb: 0.50003214 847.107 762.752 -imu_odom_: 1691062786.871120610 0.61531 -0.409408 10.1778 -0.0287621 -0.0607201 0.036219 0.23 0 pose: 0.0 2.63839 -0.00741902 0 -0.000563364-0.00480724 0.0117743 0.999919 uwb: 0.0 847.107 762.752 -imu_odom_: 1691062786.888052873 0.440533 -0.0766145 9.7875 -0.0117179 -0.00639159 0.0330232 0.19 0.02 pose: 0.45998289 2.65246 -0.00885805 0 -0.00265022 -0.00200714 0.011526 0.999928 uwb: 0.0 847.107 762.752 -imu_odom_: 1691062786.903955324 0.579397 -0.047884 9.94551 -0.0319579 -0.0298274 0.0745685 0.19 0.02 pose: 0.0 2.65246 -0.00885805 0 -0.00265022 -0.00200714 0.011526 0.999928 uwb: 0.49868763 847.604 760.78 -imu_odom_: 1691062786.930061405 0.701501 -0.222661 9.99819 -0.0788296 0.02024 0.052198 0.25 0 pose: 0.41874082 2.65658 -0.00550946 0 0.000508889 -0.00385692 0.011726 0.999924 uwb: 0.0 847.604 760.78 -imu_odom_: 1691062786.955925126 0.54109 -0.323217 9.96467 -0.0820254 0.0426106 0.0553937 0.25 0 pose: 0.7073362 2.66022 -0.00254493 0 0.000378314 -0.00447799 0.0117708 0.999921 uwb: 0.50182285 846.363 760.679 -imu_odom_: 1691062786.972920969 0.548272 -0.287304 10.2855 -0.0873517 0.00745685 0.036219 0.23 0.05 pose: 0.0 2.66022 -0.00254493 0 0.000378314 -0.00447799 0.0117708 0.999921 uwb: 0.0 846.363 760.679 -imu_odom_: 1691062786.998109231 0.31364 -0.241814 9.51935 -0.072438 0.0138484 0.056459 0.23 0.05 pose: 0.44896440 2.66653 -0.0102983 0 -0.00287972 -0.00597802 0.0121095 0.999905 uwb: 0.50093333 846.126 759.85 -imu_odom_: 1691062787.23949912 0.529119 -0.517148 9.50019 -0.0703074 0.00639159 0.04048 0.18 0 pose: 0.25099601 2.67428 -0.00397752 0 -0.00383293 -0.00653195 0.0121487 0.999898 uwb: 0.0 846.126 759.85 -imu_odom_: 1691062787.48982726 0.481235 -0.287304 9.73243 -0.072438 -0.0213053 0.0553937 0.19 0 pose: 0.0 2.67428 -0.00397752 0 -0.00383293 -0.00653195 0.0121487 0.999898 uwb: 0.49902596 847.352 758.064 -imu_odom_: 1691062787.66028442 0.0885855 -0.323217 9.7851 -0.0490022 0.0149137 0.0490022 0.19 0 pose: 0.49959467 2.6806 -0.0117252 0 -0.00577978 -0.00485246 0.0123696 0.999895 uwb: 0.0 847.352 758.064 -imu_odom_: 1691062787.91044048 0.3304 -0.25618 9.82102 -0.0447411 0.015979 0.036219 0.18 0 pose: 0.0 2.6806 -0.0117252 0 -0.00577978 -0.00485246 0.0123696 0.999895 uwb: 0.0 847.352 758.064 -imu_odom_: 1691062787.116087070 0.217872 -0.28491 10.2424 -0.036219 0.0223706 0.0447411 0.18 0 pose: 0.42939477 2.68835 -0.00540005 0 -0.00401378 -0.00172801 0.0125842 0.999911 uwb: 0.49831725 847.273 757 -imu_odom_: 1691062787.128916999 0.179565 -0.189142 9.81383 -0.0213053 0.00426106 0.0394148 0.18 0 pose: 0.0 2.68835 -0.00540005 0 -0.00401378 -0.00172801 0.0125842 0.999911 uwb: 0.0 847.273 757 -imu_odom_: 1691062787.154963002 0.363919 -0.342371 9.65582 -0.0436758 -0.0181095 0.0479369 0.18 0 pose: 0.48148619 2.70242 -0.00681493 0 -0.0028276 0.00347278 0.012634 0.99991 uwb: 0.50098584 847.799 755.474 -imu_odom_: 1691062787.180065811 0.543484 -0.260968 9.55526 -0.0479369 -0.0617853 0.0596548 0.25 0 pose: 0.32890712 2.70242 -0.00681493 0 -0.00458068 0.00277758 0.012732 0.999905 uwb: 0.0 847.799 755.474 -imu_odom_: 1691062787.193064606 0.581791 -0.0790087 10.0652 -0.0276969 -0.0340885 0.0511327 0.25 0 pose: 0.0 2.70242 -0.00681493 0 -0.00458068 0.00277758 0.012732 0.999905 uwb: 0.0 847.799 755.474 -imu_odom_: 1691062787.218047839 0.505177 -0.150835 10.2185 -0.0213053 -0.00745685 0.04048 0.25 0 pose: 0.0 2.70242 -0.00681493 0 -0.00458068 0.00277758 0.012732 0.999905 uwb: 0.50112583 847.804 754.528 -imu_odom_: 1691062787.243052071 0.758962 -0.167594 10.3477 -0.0543285 -0.0170442 0.0415453 0.17 0 pose: 0.7000741 2.70242 -0.00681493 0 -0.00440354 0.00189239 0.0128005 0.999907 uwb: 0.0 847.804 754.528 -imu_odom_: 1691062787.267985141 0.512359 -0.124498 10.149 -0.0511327 0.00106526 0.0607201 0.18 0 pose: 0.39059379 2.71649 -0.00822416 0 -0.00192072 -0.00181356 0.0130514 0.999911 uwb: 0.49887139 847.559 753.653 -imu_odom_: 1691062787.291928063 0.371101 -0.354342 9.35893 -0.0681769 0.00852212 0.0351537 0.18 0 pose: 0.0 2.71649 -0.00822416 0 -0.00192072 -0.00181356 0.0130514 0.999911 uwb: 0.0 847.559 753.653 -imu_odom_: 1691062787.309965968 0.0766145 0.0263362 10.3813 -0.0383495 -0.0351537 0.0330232 0.21 -0.02 pose: 0.48902824 2.72423 -0.00188875 0 0.00099798 -0.00533214 0.013147 0.999899 uwb: 0.0 847.559 753.653 -imu_odom_: 1691062787.333955554 0.296881 -0.471658 9.87848 -0.0585895 -0.0170442 0.0372843 0.21 -0.02 pose: 0.0 2.72423 -0.00188875 0 0.00099798 -0.00533214 0.013147 0.999899 uwb: 0.0 847.559 753.653 -imu_odom_: 1691062787.358885707 1.075 -0.296881 9.91439 -0.0458064 -0.0330232 0.0532632 0.23 0.02 pose: 0.50005839 2.73057 -0.00962489 0 0.00114839 -0.00324361 0.0132539 0.999906 uwb: 0.99925643 848.038 752.5 -imu_odom_: 1691062787.381033238 0.466869 -0.414197 9.71328 -0.0468716 0.00532632 0.036219 0.23 0.02 pose: 0.0 2.73057 -0.00962489 0 0.00114839 -0.00324361 0.0132539 0.999906 uwb: 0.0 848.038 752.5 -imu_odom_: 1691062787.394902896 0.342371 -0.316035 9.64863 -0.0276969 0.0394148 0.0308927 0.17 0 pose: 0.41091881 2.7383 -0.00328654 0 -0.000486981-0.00236531 0.0132426 0.999909 uwb: 0.0 848.038 752.5 -imu_odom_: 1691062787.419907711 0.280122 -0.418985 9.93354 -0.0649811 -0.0213053 0.0500674 0.17 0 pose: 0.0 2.7383 -0.00328654 0 -0.000486981-0.00236531 0.0132426 0.999909 uwb: 0.0 848.038 752.5 -imu_odom_: 1691062787.440948726 0.45011 -0.0311246 9.93833 -0.0649811 -0.0628506 0.052198 0.18 0.02 pose: 0.46033873 2.75237 -0.00468225 0 -0.00281697 -0.003384 0.0133136 0.999902 uwb: 0.0 848.038 752.5 -imu_odom_: 1691062787.455058411 0.842759 -0.272939 9.89045 -0.0841559 -0.0458064 0.0735032 0.18 0.02 pose: 0.0 2.75237 -0.00468225 0 -0.00281697 -0.003384 0.0133136 0.999902 uwb: 0.100108506 847.954 751.39 -imu_odom_: 1691062787.471097646 0.656011 -0.385466 9.84735 -0.0596548 0.015979 0.0479369 0.18 0.02 pose: 0.0 2.75237 -0.00468225 0 -0.00281697 -0.003384 0.0133136 0.999902 uwb: 0.0 847.954 751.39 -imu_odom_: 1691062787.496027216 0.0814029 -0.0766145 10.1586 -0.0703074 0.0213053 0.0596548 0.18 -0.02 pose: 0.38845892 2.75237 -0.00468225 0 -0.00417632 -0.00104234 0.0134616 0.9999 uwb: 0.0 847.954 751.39 -imu_odom_: 1691062787.519900725 0.577003 -0.100556 10.2783 -0.0617853 0.0372843 0.0308927 0.18 -0.02 pose: 0.0 2.75237 -0.00468225 0 -0.00417632 -0.00104234 0.0134616 0.9999 uwb: 0.50088668 849.146 749.921 -imu_odom_: 1691062787.545051365 0.663194 -0.292093 9.68694 -0.0862864 0.00213053 0.0543285 0.23 0 pose: 0.52163750 2.76645 -0.00607251 0 -0.0035202 -0.00386162 0.0139278 0.999889 uwb: 0.0 849.146 749.921 -imu_odom_: 1691062787.569041826 0.802058 -0.328006 9.5792 -0.0500674 0.0255663 0.0308927 0.23 0 pose: 0.48855284 2.77417 0.000278314 0 -0.00131163 -0.00362786 0.014047 0.999894 uwb: 0.49738398 848.086 749.156 -imu_odom_: 1691062787.585094768 0.344765 -0.189142 10.0437 -0.0692422 0.00745685 0.0490022 0.19 -0.02 pose: 0.0 2.77417 0.000278314 0 -0.00131163 -0.00362786 0.014047 0.999894 uwb: 0.0 848.086 749.156 -imu_odom_: 1691062787.601037175 0.220267 -0.0167594 10.228 -0.0617853 -0.0213053 0.0490022 0.19 -0.02 pose: 0.0 2.77417 0.000278314 0 -0.00131163 -0.00362786 0.014047 0.999894 uwb: 0.50051920 846.952 748.77 -imu_odom_: 1691062787.627118759 0.52433 -0.318429 9.88566 -0.0649811 0.0298274 0.0319579 0.18 0.02 pose: 0.74114710 2.78825 -0.00109375 0 -0.00115655 -0.0045944 0.0142191 0.999888 uwb: 0.0 846.952 748.77 -imu_odom_: 1691062787.652027038 0.0502782 -0.292093 10.1131 -0.0415453 0.0255663 0.02024 0.18 0.02 pose: 0.0 2.78825 -0.00109375 0 -0.00115655 -0.0045944 0.0142191 0.999888 uwb: 0.50174413 846.804 748.032 -imu_odom_: 1691062787.678009461 0.0814029 -0.301669 9.72046 -0.0639159 -0.0127832 0.0490022 0.21 0.02 pose: 0.7871606 2.78825 -0.00109375 0 -0.00192448 -0.00476233 0.0141918 0.999886 uwb: 0.0 846.804 748.032 -imu_odom_: 1691062787.703886890 0.600945 -0.0670376 9.54089 -0.0223706 -0.0287621 0.0255663 0.19 -0.02 pose: 0.51072983 2.80232 -0.00246613 0 -0.00366241 -0.00152489 0.0139372 0.999895 uwb: 0.49898513 846.584 747.173 -imu_odom_: 1691062787.728880915 0.677559 -0.158017 10.5105 -0.072438 -0.0383495 0.0458064 0.19 -0.02 pose: 0.0 2.80232 -0.00246613 0 -0.00366241 -0.00152489 0.0139372 0.999895 uwb: 0.0 846.584 747.173 -imu_odom_: 1691062787.753967976 0.665588 0.0047884 10.58 -0.0383495 -0.0490022 0.02024 0.19 0 pose: 0.68899151 2.8164 -0.00384212 0 -0.000793058-0.00459991 0.0139153 0.999892 uwb: 0.49939635 846.243 746.111 -imu_odom_: 1691062787.770082164 0.351948 -0.347159 9.1674 -0.0862864 0.00745685 0.0532632 0.19 0 pose: 0.6068923 2.8164 -0.00384212 0 -0.000236987-0.00507696 0.0138544 0.999891 uwb: 0.0 846.243 746.111 -imu_odom_: 1691062787.794911990 0.138864 -0.265756 9.35415 -0.0585895 -0.0308927 0.0340885 0.19 0 pose: 0.0 2.8164 -0.00384212 0 -0.000236987-0.00507696 0.0138544 0.999891 uwb: 0.0 846.243 746.111 -imu_odom_: 1691062787.820897038 0.533907 -0.172383 9.9096 -0.0788296 0.00639159 0.0415453 0.19 0 pose: 0.35132326 2.82074 -0.0002741030 0.000142736 -0.00531495 0.0137778 0.999891 uwb: 0.50052212 845.977 745.17 -imu_odom_: 1691062787.837046224 0.565032 -0.289698 10.1993 -0.0287621 0.0213053 0.0213053 0.19 0 pose: 0.0 2.82074 -0.0002741030 0.000142736 -0.00531495 0.0137778 0.999891 uwb: 0.0 845.977 745.17 -imu_odom_: 1691062787.853911117 0.509965 -0.332794 9.5385 -0.0639159 0.0106526 0.0426106 0.19 0 pose: 0.50814874 2.83047 -0.00522319 0 0.000949654 -0.00515986 0.0137301 0.999892 uwb: 0.50114916 845.66 744.646 -imu_odom_: 1691062787.878028154 0.134075 -0.143652 9.84256 -0.0170442 0.015979 0.0468716 0.19 0 pose: 0.0 2.83047 -0.00522319 0 0.000949654 -0.00515986 0.0137301 0.999892 uwb: 0.0 845.66 744.646 -imu_odom_: 1691062787.895011456 0.550666 -0.138864 10.082 -0.056459 -0.0127832 0.0490022 0.19 0 pose: 0.41023052 2.8382 0.00112172 0 -0.00159358 -0.00482287 0.0136568 0.999894 uwb: 0.0 845.66 744.646 -imu_odom_: 1691062787.911882474 0.368707 -0.138864 9.63427 -0.0511327 0.04048 0.0245011 0.19 0 pose: 0.0 2.8382 0.00112172 0 -0.00159358 -0.00482287 0.0136568 0.999894 uwb: 0.49735190 844.191 744.738 -imu_odom_: 1691062787.929149550 0.538695 -0.25618 10.0461 -0.0319579 -0.0340885 0.0426106 0.19 0 pose: 0.41114921 2.85228 -0.0002629350 0.0008172 -0.00343041 0.0137304 0.9999 uwb: 0.0 844.191 744.738 -imu_odom_: 1691062787.954018458 0.414197 -0.292093 9.65582 -0.0575243 -0.0276969 0.0490022 0.19 0 pose: 0.0 2.85228 -0.0002629350 0.0008172 -0.00343041 0.0137304 0.9999 uwb: 0.50200953 843.128 744.505 -imu_odom_: 1691062787.978926154 0.433351 -0.0885855 9.50977 -0.0628506 0.00426106 0.0585895 0.19 0 pose: 0.34078598 2.85228 -0.0002629350 -0.000191269-0.00371152 0.0137321 0.999899 uwb: 0.0 843.128 744.505 -imu_odom_: 1691062788.3888681 0.0454898 -0.23942 9.59357 -0.0617853 0.036219 0.0351537 0.17 0.02 pose: 0.0 2.85228 -0.0002629350 -0.000191269-0.00371152 0.0137321 0.999899 uwb: 0.49849224 842.113 744.355 -imu_odom_: 1691062788.20881316 0.703895 0.0502782 10.2879 -0.0671117 -0.0372843 0.0532632 0.17 0.02 pose: 0.41812545 2.8641 -0.00349596 0 0.000819268 -0.00236699 0.0140465 0.999898 uwb: 0.0 842.113 744.355 -imu_odom_: 1691062788.38021526 0.696713 -0.253785 9.73243 -0.0756338 -0.00639159 0.0532632 0.17 0.02 pose: 0.0 2.8641 -0.00349596 0 0.000819268 -0.00236699 0.0140465 0.999898 uwb: 0.0 842.113 744.355 -imu_odom_: 1691062788.62878768 0.131681 -0.222661 9.69891 -0.0671117 0.015979 0.04048 0.18 0.02 pose: 0.7002783 2.86635 -0.00164427 0 0.000716346 -0.00152928 0.0140307 0.9999 uwb: 0.49946636 842.414 742.842 -imu_odom_: 1691062788.88934396 0.440533 -0.181959 9.55765 -0.0905475 -0.0213053 0.0490022 0.18 0.02 pose: 0.0 2.86635 -0.00164427 0 0.000716346 -0.00152928 0.0140307 0.9999 uwb: 0.0 842.414 742.842 -imu_odom_: 1691062788.105227658 0.349553 -0.380678 10.4052 -0.0649811 0.0170442 0.036219 0.25 0 pose: 0.59990152 2.87407 0.00470752 0 0.00077535 -0.00179219 0.0142303 0.999897 uwb: 0.49997675 842.725 741.327 -imu_odom_: 1691062788.129983697 0.988805 -0.232238 10.1107 -0.0703074 -0.02024 0.0426106 0.25 0 pose: 0.0 2.87407 0.00470752 0 0.00077535 -0.00179219 0.0142303 0.999897 uwb: 0.0 842.725 741.327 -imu_odom_: 1691062788.154923476 0.859518 -0.332794 10.5369 -0.0479369 -0.0500674 0.0458064 0.18 0 pose: 0.50028882 2.88043 -0.00301473 0 0.000763867 -0.00199079 0.0143499 0.999895 uwb: 0.50040839 842.296 740.622 -imu_odom_: 1691062788.180002080 0.428562 -0.174777 10.0293 -0.0607201 -0.0223706 0.0298274 0.19 0 pose: 0.16960846 2.88815 0.00334059 0 -0.000175131-0.00230121 0.0143472 0.999894 uwb: 0.0 842.296 740.622 -imu_odom_: 1691062788.197000257 0.177171 -0.215478 9.70131 -0.0266316 0.00213053 0.0394148 0.19 0 pose: 0.42014659 2.90003 0.000167818 0 -0.000899639-0.00712088 0.0144527 0.99987 uwb: 0.0 842.296 740.622 -imu_odom_: 1691062788.221053714 0.371101 -0.344765 9.41879 -0.0639159 -0.0106526 0.0468716 0.19 0 pose: 0.0 2.90003 0.000167818 0 -0.000899639-0.00712088 0.0144527 0.99987 uwb: 0.50055422 843.183 739.012 -imu_odom_: 1691062788.245993784 0.138864 -0.363919 9.90721 -0.0585895 -0.0394148 0.0575243 0.18 0 pose: 0.7102527 2.90222 0.00197564 0 -0.000600304-0.00654993 0.0144163 0.999874 uwb: 0.0 843.183 739.012 -imu_odom_: 1691062788.260962668 0.61531 -0.512359 9.49062 -0.0649811 0.00213053 0.0500674 0.18 0 pose: 0.0 2.90222 0.00197564 0 -0.000600304-0.00654993 0.0144163 0.999874 uwb: 0.49984551 843.071 738.31 -imu_odom_: 1691062788.283964731 0.739808 -0.380678 9.84735 -0.0276969 0.00532632 0.0287621 0.18 0 pose: 0.43234628 2.90222 0.00197564 0 -0.000357902-0.00291033 0.0143564 0.999893 uwb: 0.0 843.071 738.31 -imu_odom_: 1691062788.301828522 0.227449 -0.35913 9.46667 -0.0681769 0 0.0500674 0.18 0 pose: 0.0 2.90222 0.00197564 0 -0.000357902-0.00291033 0.0143564 0.999893 uwb: 0.50093044 843.335 737.191 -imu_odom_: 1691062788.317886714 0.617704 -0.28491 10.1825 -0.0436758 -0.0255663 0.0351537 0.18 0.02 pose: 0.47629777 2.9163 0.000610484 0 -0.00323956 -0.00062572 0.0146831 0.999887 uwb: 0.0 843.335 737.191 -imu_odom_: 1691062788.343945550 1.03908 -0.0742203 10.6279 -0.0607201 -0.0458064 0.0575243 0.18 0.02 pose: 0.0 2.9163 0.000610484 0 -0.00323956 -0.00062572 0.0146831 0.999887 uwb: 0.0 843.335 737.191 -imu_odom_: 1691062788.368892912 1.0319 0.0263362 10.1706 -0.0436758 -0.0117179 0.0266316 0.19 0 pose: 0.57001625 2.93038 -0.0007453550 -0.00461682 -0.00237417 0.014672 0.999879 uwb: 0.49836977 844.016 735.718 -imu_odom_: 1691062788.392833209 0.47884 -0.316035 9.80665 -0.0681769 -0.0458064 0.0458064 0.23 0 pose: 0.0 2.93038 -0.0007453550 -0.00461682 -0.00237417 0.014672 0.999879 uwb: 0.0 844.016 735.718 -imu_odom_: 1691062788.418998497 0.308852 -0.196325 9.67736 -0.0127832 0.00426106 0.0372843 0.25 0 pose: 0.66998769 2.93809 0.00561696 0 -0.00250038 -0.00790349 0.0147266 0.999857 uwb: 0.50032964 843.183 735.363 -imu_odom_: 1691062788.434854868 0.646434 -0.402226 9.28711 -0.0671117 -0.0149137 0.0553937 0.25 0 pose: 0.0 2.93809 0.00561696 0 -0.00250038 -0.00790349 0.0147266 0.999857 uwb: 0.0 843.183 735.363 -imu_odom_: 1691062788.452003828 0.550666 -0.323217 10.1203 -0.0287621 0.02024 0.0298274 0.25 -0.02 pose: 0.57964066 2.94875 0.00144823 0 -0.00320858 -0.00564865 0.0148896 0.999868 uwb: 0.49946637 844.152 733.834 -imu_odom_: 1691062788.478114577 0.502782 -0.117316 10.1682 -0.0543285 -0.0298274 0.0585895 0.25 -0.02 pose: 0.7019700 2.95217 0.0042646 0 -0.00365024 -0.00601848 0.0148572 0.999865 uwb: 0.0 844.152 733.834 -imu_odom_: 1691062788.504042171 0.574608 -0.237026 9.47625 -0.0468716 0.056459 0.0351537 0.23 0 pose: 0.36240009 2.95653 -0.00102116 0 -0.00169956 -0.00641911 0.0150452 0.999865 uwb: 0.50028590 844.34 732.552 -imu_odom_: 1691062788.519890376 0.196325 -0.280122 9.80426 -0.0745685 0.0117179 0.0671117 0.23 0 pose: 0.0 2.95653 -0.00102116 0 -0.00169956 -0.00641911 0.0150452 0.999865 uwb: 0.0 844.34 732.552 -imu_odom_: 1691062788.536897594 0.667982 -0.237026 10.2304 -0.0639159 -0.0234358 0.0468716 0.23 0 pose: 0.0 2.95653 -0.00102116 0 -0.00169956 -0.00641911 0.0150452 0.999865 uwb: 0.0 844.34 732.552 -imu_odom_: 1691062788.552824545 0.186748 -0.0957681 10.0317 -0.0415453 0.0170442 0.0372843 0.23 0 pose: 0.48813872 2.96624 0.00291727 0 -0.00136026 -0.00723351 0.0152233 0.999857 uwb: 0.49917763 845.908 730.939 -imu_odom_: 1691062788.569844304 0.107739 -0.25618 9.30866 -0.0830906 -0.0117179 0.0596548 0.23 0 pose: 0.0 2.96624 0.00291727 0 -0.00136026 -0.00723351 0.0152233 0.999857 uwb: 0.0 845.908 730.939 -imu_odom_: 1691062788.595820895 0.146046 -0.1652 9.83299 -0.036219 -0.00319579 0.0223706 0.25 -0.02 pose: 0.33955232 2.96624 0.00291727 0 -0.000846846-0.0058872 0.0153188 0.999865 uwb: 0.0 845.908 730.939 -imu_odom_: 1691062788.612874777 0.907402 -0.385466 9.84975 -0.092678 0.00426106 0.0553937 0.25 -0.02 pose: 0.0 2.96624 0.00291727 0 -0.000846846-0.0058872 0.0153188 0.999865 uwb: 0.50285825 847.056 729.121 -imu_odom_: 1691062788.627874867 0.502782 -0.349553 9.42358 -0.0692422 0.00852212 0.0511327 0.21 -0.02 pose: 0.43000433 2.98032 0.00157934 0 -0.000732953-0.00318584 0.0152509 0.999878 uwb: 0.0 847.056 729.121 -imu_odom_: 1691062788.645932896 0.354342 -0.0335188 10.6326 -0.0500674 -0.02024 0.036219 0.21 -0.02 pose: 0.0 2.98032 0.00157934 0 -0.000732953-0.00318584 0.0152509 0.999878 uwb: 0.0 847.056 729.121 -imu_odom_: 1691062788.661859555 0.234632 -0.186748 9.99579 -0.0852212 0.0298274 0.056459 0.18 0 pose: 0.0 2.98032 0.00157934 0 -0.000732953-0.00318584 0.0152509 0.999878 uwb: 0.0 847.056 729.121 -imu_odom_: 1691062788.687967388 0.543484 -0.392649 9.38527 -0.0468716 0.0245011 0.0298274 0.18 0 pose: 0.42048782 2.99159 0.00364435 0 -0.00115079 -0.00348603 0.0153797 0.999875 uwb: 0.0 847.056 729.121 -imu_odom_: 1691062788.703812093 0.646434 -0.409408 10.0341 -0.0745685 -0.0383495 0.0394148 0.18 0 pose: 0.7944810 2.9944 0.000240144 0 -0.00111441 -0.00257364 0.0154465 0.999877 uwb: 0.99861191 846.367 728.454 -imu_odom_: 1691062788.720877641 0.160412 -0.174777 10.2615 -0.0447411 0.0351537 0.0287621 0.25 0 pose: 0.0 2.9944 0.000240144 0 -0.00111441 -0.00257364 0.0154465 0.999877 uwb: 0.0 846.367 728.454 -imu_odom_: 1691062788.745815378 0.837971 -0.505177 9.44513 -0.0532632 0.0276969 0.0468716 0.18 0 pose: 0.0 2.9944 0.000240144 0 -0.00111441 -0.00257364 0.0154465 0.999877 uwb: 0.0 846.367 728.454 -imu_odom_: 1691062788.770831277 1.01275 -0.0837971 10.7212 -0.0394148 -0.0191748 0.0234358 0.23 -0.02 pose: 0.66999935 3.00211 0.00661172 0 -0.00346469 -0.00244572 0.0152963 0.999874 uwb: 0.49897640 845.793 727.994 -imu_odom_: 1691062788.795938463 0.85473 -0.565032 9.47625 -0.0713727 0.00639159 0.0575243 0.23 -0.02 pose: 0.32988999 3.00848 -0.00109615 0 -0.00425528 -0.00501661 0.0153118 0.999861 uwb: 0.0 845.793 727.994 -imu_odom_: 1691062788.819897134 0.94571 -0.301669 9.45949 -0.0511327 0.0287621 0.015979 0.18 0 pose: 0.42071823 3.01619 0.00527437 0 -0.00523017 -0.00847226 0.0153931 0.999832 uwb: 0.50108502 844.957 727.63 -imu_odom_: 1691062788.843964299 0.337582 -0.378284 9.34936 -0.0916127 -0.0106526 0.0500674 0.18 0 pose: 0.7998764 3.01619 0.00527437 0 -0.00517484 -0.0091394 0.0152936 0.999828 uwb: 0.0 844.957 727.63 -imu_odom_: 1691062788.869837646 0.0191536 -0.0550666 9.66539 -0.0500674 -0.0223706 0.0340885 0.25 0 pose: 0.40027072 3.02772 0.0018307 0 -0.00614468 -0.00823086 0.0152357 0.999831 uwb: 0.49999133 843.846 727.342 -imu_odom_: 1691062788.885937544 0.739808 -0.366313 10.1083 -0.0862864 -0.0234358 0.0532632 0.25 0 pose: 0.0 3.02772 0.0018307 0 -0.00614468 -0.00823086 0.0152357 0.999831 uwb: 0.0 843.846 727.342 -imu_odom_: 1691062788.909839927 0.746991 -0.215478 10.3573 -0.0287621 -0.0138484 0.0170442 0.25 0 pose: 0.41973245 3.03027 0.00393667 0 -0.0055158 -0.00787938 0.0152754 0.999837 uwb: 0.50122209 842.376 726.991 -imu_odom_: 1691062788.934880033 0.600945 -0.28491 9.92636 -0.0628506 -0.00639159 0.0575243 0.25 0 pose: 0.0 3.03027 0.00393667 0 -0.0055158 -0.00787938 0.0152754 0.999837 uwb: 0.0 842.376 726.991 -imu_odom_: 1691062788.947865121 0.531513 -0.177171 10.1466 -0.0458064 -0.0234358 0.0468716 0.19 0.02 pose: 0.0 3.03027 0.00393667 0 -0.0055158 -0.00787938 0.0152754 0.999837 uwb: 0.49604532 843.956 724.757 -imu_odom_: 1691062788.971801043 0.543484 -0.263362 10.2759 -0.0543285 -0.00106526 0.0511327 0.19 0.02 pose: 0.48942489 3.04435 0.00259592 0 -0.00158548 -0.0107087 0.0151848 0.999826 uwb: 0.0 843.956 724.757 -imu_odom_: 1691062788.996791861 0.416591 -0.215478 10.489 -0.0276969 -0.0372843 0.0330232 0.22 -0.02 pose: 0.36921010 3.04947 0.00682782 0 -0.00184756 -0.00769344 0.0153774 0.99985 uwb: 0.0 843.956 724.757 -imu_odom_: 1691062789.10800928 0.732626 0.0263362 10.0868 -0.0330232 -0.0308927 0.0479369 0.22 -0.02 pose: 0.0 3.04947 0.00682782 0 -0.00184756 -0.00769344 0.0153774 0.99985 uwb: 0.50123085 843.997 723.706 -imu_odom_: 1691062789.34987961 0.512359 -0.21069 9.76595 -0.0532632 -0.0181095 0.0511327 0.17 0.02 pose: 0.0 3.04947 0.00682782 0 -0.00184756 -0.00769344 0.0153774 0.99985 uwb: 0.0 843.997 723.706 -imu_odom_: 1691062789.60791605 0.435745 -0.0023942 10.0533 -0.0511327 -0.00426106 0.056459 0.17 0.02 pose: 0.38999885 3.05843 0.00125775 0 0.000380982 -0.00674287 0.0153513 0.999859 uwb: 0.49981635 843.626 723.049 -imu_odom_: 1691062789.73877311 0.107739 -0.289698 9.92636 -0.0681769 -0.00106526 0.0628506 0.18 -0.02 pose: 0.0 3.05843 0.00125775 0 0.000380982 -0.00674287 0.0153513 0.999859 uwb: 0.0 843.626 723.049 -imu_odom_: 1691062789.97786403 0.387861 -0.0766145 9.83059 -0.0394148 0.00958738 0.0372843 0.18 -0.02 pose: 0.55996021 3.06613 0.00762926 0 0.00249827 -0.00320801 0.0157675 0.999867 uwb: 0.50013426 843.313 722.495 -imu_odom_: 1691062789.115846767 0.172383 -0.306458 9.27035 -0.0937433 0 0.0596548 0.22 0.02 pose: 0.0 3.06613 0.00762926 0 0.00249827 -0.00320801 0.0157675 0.999867 uwb: 0.0 843.313 722.495 -imu_odom_: 1691062789.131797049 0.739808 -0.143652 10.2113 -0.0607201 -0.0266316 0.0394148 0.22 0.02 pose: 0.38998719 3.07251 -7.35069e-050 0.00373839 -0.0003189990.0158921 0.999867 uwb: 0.0 843.313 722.495 -imu_odom_: 1691062789.148850932 0.213084 -0.146046 9.40921 -0.0628506 -0.0149137 0.0447411 0.22 0.02 pose: 0.0 3.07251 -7.35069e-050 0.00373839 -0.0003189990.0158921 0.999867 uwb: 0.50170042 842.827 722.202 -imu_odom_: 1691062789.165959061 0.553061 -0.402226 9.93594 -0.092678 -0.0127832 0.072438 0.18 -0.02 pose: 0.43055264 3.08021 0.0063056 0 0.00301499 0.000358144 0.0160313 0.999867 uwb: 0.0 842.827 722.202 -imu_odom_: 1691062789.179785265 0.179565 -0.562637 9.76116 -0.0585895 0.0255663 0.0383495 0.18 -0.02 pose: 0.0 3.08021 0.0063056 0 0.00301499 0.000358144 0.0160313 0.999867 uwb: 0.0 842.827 722.202 -imu_odom_: 1691062789.202783828 0.287304 -0.347159 10.0006 -0.0681769 -0.0117179 0.0543285 0.17 0 pose: 0.8062928 3.08021 0.0063056 0 0.00218982 -0.0001211460.0161648 0.999867 uwb: 0.49929722 843.605 720.737 -imu_odom_: 1691062789.227780188 0.624887 -0.418985 10.1299 -0.0532632 0.0181095 0.0308927 0.21 0.02 pose: 0.0 3.08021 0.0063056 0 0.00218982 -0.0001211460.0161648 0.999867 uwb: 0.0 843.605 720.737 -imu_odom_: 1691062789.249772271 -0.112527 -0.373495 10.1131 -0.0575243 -0.0234358 0.0351537 0.18 0 pose: 0.70866328 3.09429 0.00499132 0 -0.00320126 -0.0002130490.0163598 0.999861 uwb: 0.49928556 842.725 720.313 -imu_odom_: 1691062789.262825896 0.344765 -0.114922 10.1969 -0.0596548 -0.0426106 0.0340885 0.18 0 pose: 0.0 3.09429 0.00499132 0 -0.00320126 -0.0002130490.0163598 0.999861 uwb: 0.0 842.725 720.313 -imu_odom_: 1691062789.277778740 1.10133 -0.222661 9.55526 -0.0447411 0.00639159 0.0372843 0.17 -0.02 pose: 0.0 3.09429 0.00499132 0 -0.00320126 -0.0002130490.0163598 0.999861 uwb: 0.0 842.725 720.313 -imu_odom_: 1691062789.302773349 0.778116 -0.361524 9.55047 -0.0617853 -0.00745685 0.0500674 0.17 -0.02 pose: 0.43049723 3.10837 0.00368171 0 -0.00228736 0.000914098 0.0162757 0.999865 uwb: 0.49990969 841.949 719.506 -imu_odom_: 1691062789.316759376 0.385466 -0.126893 9.98143 -0.0415453 0.0319579 0.0394148 0.17 -0.02 pose: 0.0 3.10837 0.00368171 0 -0.00228736 0.000914098 0.0162757 0.999865 uwb: 0.0 841.949 719.506 -imu_odom_: 1691062789.333923794 0.311246 -0.332794 9.65342 -0.0511327 -0.0330232 0.0500674 0.18 -0.02 pose: 0.38941555 3.10837 0.00368171 0 -0.00222328 -0.00179816 0.0163902 0.999862 uwb: 0.0 841.949 719.506 -imu_odom_: 1691062789.358802910 0.488417 -0.258574 9.63666 -0.0447411 -0.00213053 0.0298274 0.18 -0.02 pose: 0.0 3.10837 0.00368171 0 -0.00222328 -0.00179816 0.0163902 0.999862 uwb: 0.49955096 841.709 718.506 -imu_odom_: 1691062789.375922414 0.47884 0.138864 10.2759 -0.04048 -0.0106526 0.0447411 0.18 0 pose: 0.31246106 3.11607 0.0100686 0 -0.002457 -0.0009843290.0164463 0.999861 uwb: 0.0 841.709 718.506 -imu_odom_: 1691062789.390932128 0.407014 -0.476446 8.99741 -0.0596548 -0.00106526 0.0468716 0.18 0 pose: 0.0 3.11607 0.0100686 0 -0.002457 -0.0009843290.0164463 0.999861 uwb: 0.0 841.709 718.506 -imu_odom_: 1691062789.407807522 0.294487 -0.0694318 10.4722 -0.0330232 0.0330232 0.0415453 0.18 0 pose: 0.49914556 3.13015 0.0087623 0 -0.0019079 -0.0025835 0.0164537 0.999859 uwb: 0.50165958 840.658 718.368 -imu_odom_: 1691062789.424064620 0.45011 -0.160412 10.0413 -0.0479369 0.0319579 0.056459 0.18 0 pose: 0.0 3.13015 0.0087623 0 -0.0019079 -0.0025835 0.0164537 0.999859 uwb: 0.0 840.658 718.368 -imu_odom_: 1691062789.441049673 -0.0622492 -0.181959 9.79468 -0.0585895 -0.0127832 0.0511327 0.18 0 pose: 0.0 3.13015 0.0087623 0 -0.0019079 -0.0025835 0.0164537 0.999859 uwb: 0.0 840.658 718.368 -imu_odom_: 1691062789.458116971 0.758962 0.047884 10.5105 -0.0340885 -0.0223706 0.0308927 0.18 0 pose: 0.7975725 3.13015 0.0087623 0 -0.001228 -0.00189977 0.016461 0.999862 uwb: 0.49814813 841.136 716.91 -imu_odom_: 1691062789.475058569 0.126893 -0.332794 9.56005 -0.056459 0.00106526 0.0458064 0.18 0 pose: 0.0 3.13015 0.0087623 0 -0.001228 -0.00189977 0.016461 0.999862 uwb: 0.0 841.136 716.91 -imu_odom_: 1691062789.489927709 0.251391 -0.471658 9.91439 -0.0596548 -0.00745685 0.036219 0.18 0 pose: 0.0 3.13015 0.0087623 0 -0.001228 -0.00189977 0.016461 0.999862 uwb: 0.0 841.136 716.91 -imu_odom_: 1691062789.507867330 0.320823 -0.181959 9.77792 -0.0181095 -0.00319579 0.0394148 0.24 0 pose: 0.50035591 3.14423 0.00745954 0 0.00163338 -0.0004956080.0166667 0.99986 uwb: 0.49910474 840.652 716.047 -imu_odom_: 1691062789.523913274 0.0574608 -0.11971 10.1299 -0.0532632 0 0.0490022 0.18 0 pose: 0.0 3.14423 0.00745954 0 0.00163338 -0.0004956080.0166667 0.99986 uwb: 0.0 840.652 716.047 -imu_odom_: 1691062789.540913201 0.749385 -0.342371 9.83777 -0.036219 0.00106526 0.0308927 0.18 0 pose: 0.66996146 3.15192 0.0138504 0 0.00131736 0.00329308 0.0166883 0.999854 uwb: 0.0 840.652 716.047 -imu_odom_: 1691062789.558019581 0.521936 0.222661 10.082 -0.04048 -0.00426106 0.0426106 0.18 0 pose: 0.0 3.15192 0.0138504 0 0.00131736 0.00329308 0.0166883 0.999854 uwb: 0.50118711 839.111 716.213 -imu_odom_: 1691062789.582816744 0.280122 -0.19393 9.64624 -0.0500674 -0.0372843 0.0490022 0.18 0 pose: 0.32518862 3.15831 0.0061593 0 0.00185533 0.00225967 0.0166645 0.999857 uwb: 0.0 839.111 716.213 -imu_odom_: 1691062789.605903677 0.454898 0.0143652 9.93354 -0.0585895 0.00319579 0.0639159 0.18 0 pose: 0.34358292 3.16384 0.0107518 0 0.00196239 0.00380475 0.0167886 0.99985 uwb: 0.50054840 839.166 715.154 -imu_odom_: 1691062789.631752235 -0.141258 -0.289698 9.90002 -0.0479369 0.0415453 0.0287621 0.18 0 pose: 0.7032823 3.166 0.0125509 0 0.00254358 0.00345069 0.0168772 0.999848 uwb: 0.0 839.166 715.154 -imu_odom_: 1691062789.655746780 -0.0981623 -0.107739 9.69652 -0.0681769 -0.00319579 0.0692422 0.17 -0.02 pose: 0.41902668 3.1724 0.00486256 0 0.00315494 0.00569453 0.01693 0.999835 uwb: 0.50043757 838.43 714.434 -imu_odom_: 1691062789.680888380 0.675165 -0.148441 9.91918 -0.0639159 0.0330232 0.0223706 0.17 -0.02 pose: 0.0 3.1724 0.00486256 0 0.00315494 0.00569453 0.01693 0.999835 uwb: 0.0 838.43 714.434 -imu_odom_: 1691062789.703908526 0.837971 -0.28491 9.94312 -0.0905475 -0.0191748 0.0585895 0.18 0 pose: 0.49136145 3.18009 0.0112596 0 0.00315989 0.00604292 0.0170751 0.999831 uwb: 0.50066797 839.184 712.847 -imu_odom_: 1691062789.726754266 0.782904 -0.354342 9.6606 -0.0585895 0.00745685 0.0340885 0.18 0 pose: 0.0 3.18009 0.0112596 0 0.00315989 0.00604292 0.0170751 0.999831 uwb: 0.0 839.184 712.847 -imu_odom_: 1691062789.744792172 0.237026 -0.402226 9.78031 -0.0735032 0.02024 0.0500674 0.2 0 pose: 0.30909251 3.19417 0.00997331 0 0.00195236 0.00292532 0.0172792 0.999845 uwb: 0.0 839.184 712.847 -imu_odom_: 1691062789.768883545 0.581791 -0.158017 9.99819 -0.0575243 -0.0127832 0.0234358 0.2 0 pose: 0.0 3.19417 0.00997331 0 0.00195236 0.00292532 0.0172792 0.999845 uwb: 0.49995636 840.029 711.406 -imu_odom_: 1691062789.794885510 0.56982 -0.392649 10.0652 -0.0830906 -0.0276969 0.0415453 0.18 -0.02 pose: 0.41111716 3.19417 0.00997331 0 -0.0001134910.00195631 0.0172658 0.999849 uwb: 0.0 840.029 711.406 -imu_odom_: 1691062789.818838058 0.366313 -0.244209 10.0604 -0.0276969 0.0383495 0.0298274 0.2 0 pose: 0.41976163 3.2043 0.00905052 0 -0.00190925 -0.00177465 0.0171631 0.999849 uwb: 0.49964720 840.354 710.204 -imu_odom_: 1691062789.835754573 0.0766145 -0.280122 10.1562 -0.0447411 0.072438 0.0447411 0.2 0 pose: 0.0 3.2043 0.00905052 0 -0.00190925 -0.00177465 0.0171631 0.999849 uwb: 0.0 840.354 710.204 -imu_odom_: 1691062789.851819183 0.275333 -0.356736 9.50019 -0.0490022 -0.0287621 0.0351537 0.2 0 pose: 0.0 3.2043 0.00905052 0 -0.00190925 -0.00177465 0.0171631 0.999849 uwb: 0.49734609 841.04 709.049 -imu_odom_: 1691062789.868811527 0.746991 -0.023942 10.24 -0.0447411 -0.0671117 0.0383495 0.18 -0.02 pose: 0.7018241 3.20825 0.00868927 0 -0.00173911 -0.0009246560.01713 0.999851 uwb: 0.0 841.04 709.049 -imu_odom_: 1691062789.884778434 0.584185 -0.42138 9.44752 -0.0703074 0.0223706 0.056459 0.18 -0.02 pose: 0.0 3.20825 0.00868927 0 -0.00173911 -0.0009246560.01713 0.999851 uwb: 0.0 841.04 709.049 -imu_odom_: 1691062789.910890643 0.100556 -0.272939 9.56723 -0.0330232 0.0106526 0.015979 0.24 0 pose: 0.57857325 3.21594 0.0150868 0 -0.00240981 0.00306867 0.0170507 0.999847 uwb: 0.50236538 842.34 707.192 -imu_odom_: 1691062789.935746135 0.440533 -0.40462 9.70849 -0.0809601 -0.0149137 0.0490022 0.2 -0.02 pose: 0.0 3.21594 0.0150868 0 -0.00240981 0.00306867 0.0170507 0.999847 uwb: 0.0 842.34 707.192 -imu_odom_: 1691062789.959738056 0.316035 -0.301669 9.14824 -0.0585895 -0.0532632 0.0372843 0.19 0.02 pose: 0.75985059 3.23002 0.0137969 0 -0.00498891 0.0020367 0.0169813 0.999841 uwb: 0.49753566 842.685 705.991 -imu_odom_: 1691062789.983907590 0.383072 -0.356736 9.65103 -0.0820254 -0.0245011 0.0458064 0.19 0.02 pose: 0.0 3.23002 0.0137969 0 -0.00498891 0.0020367 0.0169813 0.999841 uwb: 0.0 842.685 705.991 -imu_odom_: 1691062790.7872679 0.603339 -0.366313 10.0844 -0.0468716 0.00852212 0.0287621 0.2 -0.02 pose: 0.31160653 3.23642 0.00610929 0 -0.00550169 0.00323208 0.0169873 0.999835 uwb: 0.50008759 843.161 704.404 -imu_odom_: 1691062790.32743047 0.270545 -0.19393 10.228 -0.0394148 -0.00639159 0.0479369 0.23 0 pose: 0.40965891 3.2441 0.012505 0 -0.00685908 -0.0004692440.0168838 0.999834 uwb: 0.0 843.161 704.404 -imu_odom_: 1691062790.57802111 0.579397 -0.225055 10.5129 -0.0553937 -0.00852212 0.0511327 0.23 0 pose: 0.7937811 3.2441 0.012505 0 -0.00620721 5.68009e-05 0.0169205 0.999838 uwb: 0.0 843.161 704.404 -imu_odom_: 1691062790.81845946 0.253785 -0.272939 10.3286 -0.0287621 -0.00106526 0.0287621 0.18 0 pose: 0.41991621 3.25425 0.0115739 0 -0.00376551 -0.0011509 0.0171341 0.999845 uwb: 0.0 843.161 704.404 -imu_odom_: 1691062790.97921055 0.744597 0.0407014 10.2951 -0.036219 -0.036219 0.0468716 0.18 0 pose: 0.0 3.25425 0.0115739 0 -0.00376551 -0.0011509 0.0171341 0.999845 uwb: 0.100273007 844.544 702.637 -imu_odom_: 1691062790.122872210 0.59855 -0.174777 9.65103 -0.0532632 -0.0330232 0.0479369 0.2 0.02 pose: 0.40118944 3.25819 0.0112139 0 -0.00198906 -0.0001595660.0170699 0.999852 uwb: 0.0 844.544 702.637 -imu_odom_: 1691062790.148803596 0.361524 -0.244209 9.36372 -0.0756338 0.0170442 0.0585895 0.2 0.02 pose: 0.0 3.25819 0.0112139 0 -0.00198906 -0.0001595660.0170699 0.999852 uwb: 0.49825605 845.181 701.324 -imu_odom_: 1691062790.163751191 0.584185 -0.265756 10.0078 -0.0798948 -0.00745685 0.0500674 0.19 0 pose: 0.50882541 3.27227 0.00992604 0 -0.0015858 2.51722e-05 0.017419 0.999847 uwb: 0.0 845.181 701.324 -imu_odom_: 1691062790.189787863 0.471658 -0.0071826110.4052 -0.0617853 -0.0415453 0.0511327 0.19 0 pose: 0.0 3.27227 0.00992604 0 -0.0015858 2.51722e-05 0.017419 0.999847 uwb: 0.0 845.181 701.324 -imu_odom_: 1691062790.205717147 0.816423 -0.172383 9.87848 -0.0830906 -0.0127832 0.0532632 0.2 0 pose: 0.0 3.27227 0.00992604 0 -0.0015858 2.51722e-05 0.017419 0.999847 uwb: 0.50058633 846.275 699.595 -imu_odom_: 1691062790.230892872 0.201113 -0.0837971 9.51695 -0.0585895 0.00852212 0.0415453 0.2 0 pose: 0.40984267 3.27779 0.014528 0 0.000600267 -0.00233447 0.0176417 0.999841 uwb: 0.0 846.275 699.595 -imu_odom_: 1691062790.253779151 0.306458 -0.122104 9.69412 -0.0958738 -0.0181095 0.0511327 0.18 0 pose: 0.41105009 3.2845 0.0108842 0 0.00147382 -0.00150751 0.0177702 0.99984 uwb: 0.50084298 845.09 699.224 -imu_odom_: 1691062790.278788052 0.131681 -0.0454898 10.1347 -0.0660464 0.0223706 0.0340885 0.18 0 pose: 0.0 3.2845 0.0108842 0 0.00147382 -0.00150751 0.0177702 0.99984 uwb: 0.0 845.09 699.224 -imu_odom_: 1691062790.302765099 0.162806 -0.179565 9.87608 -0.0479369 -0.00639159 0.0490022 0.23 0.02 pose: 0.47895180 3.29404 0.0150607 0 0.00293862 0.00298502 0.0178246 0.999832 uwb: 0.49840771 844.154 698.7 -imu_odom_: 1691062790.318876665 0.481235 -0.342371 9.97424 -0.0436758 -0.0436758 0.0426106 0.23 0.02 pose: 0.0 3.29404 0.0150607 0 0.00293862 0.00298502 0.0178246 0.999832 uwb: 0.0 844.154 698.7 -imu_odom_: 1691062790.334714080 0.833182 -0.373495 9.99579 -0.0639159 -0.036219 0.0436758 0.18 0.02 pose: 0.0 3.29404 0.0150607 0 0.00293862 0.00298502 0.0178246 0.999832 uwb: 0.0 844.154 698.7 -imu_odom_: 1691062790.361873017 -0.88346 -0.167594 7.40527 -0.0351537 0.136354 0.0447411 0.18 0.02 pose: 0.40088613 3.30453 0.010797 0 0.00166344 0.00385952 0.0179493 0.99983 uwb: 0.50001470 845.02 697.143 -imu_odom_: 1691062790.386749510 -1.29766 -0.155623 11.9519 -0.0511327 0.137419 0.0596548 0.19 0 pose: 0.42996352 3.30812 0.0137951 0 0.00132032 0.00674549 0.0180504 0.999813 uwb: 0.0 845.02 697.143 -imu_odom_: 1691062790.403784727 -0.253785 -0.246603 9.52413 -0.0490022 0.0394148 0.0436758 0.19 0 pose: 0.0 3.30812 0.0137951 0 0.00132032 0.00674549 0.0180504 0.999813 uwb: 0.49997387 845.154 696.096 -imu_odom_: 1691062790.419879377 0.641646 -0.272939 10.6111 -0.0585895 -0.104396 0.0575243 0.18 0 pose: 0.0 3.30812 0.0137951 0 0.00132032 0.00674549 0.0180504 0.999813 uwb: 0.0 845.154 696.096 -imu_odom_: 1691062790.445715394 0.232238 -0.181959 10.1993 -0.0415453 0.0170442 0.0553937 0.18 0 pose: 0.49886269 3.32221 0.0125369 0 0.00100308 0.0118658 0.0183983 0.99976 uwb: 0.0 845.154 696.096 -imu_odom_: 1691062790.468772580 -0.0837971 -0.31364 9.75158 -0.0607201 0.00426106 0.036219 0.18 0 pose: 0.33956108 3.32772 0.017153 0 0.00173091 0.00843831 0.0186827 0.999788 uwb: 0.49925933 845.749 694.633 -imu_odom_: 1691062790.486739325 0.833182 -0.0095768110.5034 -0.0436758 0.0223706 0.0106526 0.18 0 pose: 0.7009784 3.32987 0.018956 0 0.00142957 0.00911021 0.0186676 0.999783 uwb: 0.0 845.749 694.633 -imu_odom_: 1691062790.502713815 0.672771 -0.217872 9.83777 -0.0575243 0.00958738 0.036219 0.18 0 pose: 0.0 3.32987 0.018956 0 0.00142957 0.00911021 0.0186676 0.999783 uwb: 0.50073215 845.465 693.405 -imu_odom_: 1691062790.526743942 0.373495 -0.215478 9.59596 -0.0745685 -0.0426106 0.036219 0.19 0 pose: 0.41044346 3.3363 0.0112907 0 0.00131549 0.00851564 0.0183683 0.999794 uwb: 0.0 845.465 693.405 -imu_odom_: 1691062790.551819631 0.457293 -0.277727 9.92157 -0.0585895 -0.0703074 0.0511327 0.18 0 pose: 0.0 3.3363 0.0112907 0 0.00131549 0.00851564 0.0183683 0.999794 uwb: 0.50000595 844.343 693.181 -imu_odom_: 1691062790.576718580 0.31364 -0.143652 10.003 -0.0415453 0.0191748 0.0308927 0.18 0 pose: 0.40038157 3.34397 0.0177078 0 0.000209823 0.0039993 0.018354 0.999824 uwb: 0.0 844.343 693.181 -imu_odom_: 1691062790.601766854 0.1652 -0.186748 10.0341 -0.0532632 0.02024 0.0458064 0.25 0.02 pose: 0.42910899 3.35568 0.0144667 0 0.00163034 0.00348282 0.0183508 0.999824 uwb: 0.49906392 845.767 691.331 -imu_odom_: 1691062790.617818923 0.361524 -0.378284 9.56005 -0.0415453 0.0276969 0.0340885 0.25 0.02 pose: 0.7998474 3.35805 0.0164553 0 0.00159528 0.00438091 0.0183743 0.99982 uwb: 0.0 845.767 691.331 -imu_odom_: 1691062790.642753745 0.0909797 -0.102951 9.95748 -0.0426106 0.00106526 0.056459 0.18 -0.02 pose: 0.0 3.35805 0.0164553 0 0.00159528 0.00438091 0.0183743 0.99982 uwb: 0.0 845.767 691.331 -imu_odom_: 1691062790.667700233 0.354342 -0.0047884 10.4172 -0.0543285 0.00745685 0.036219 0.18 -0.02 pose: 0.41100926 3.35805 0.0164553 0 0.000564439 0.0066684 0.0184409 0.999808 uwb: 0.50216415 845.521 690.164 -imu_odom_: 1691062790.682737947 0.502782 -0.0742203 9.85453 -0.0585895 -0.02024 0.0628506 0.18 0 pose: 0.0 3.35805 0.0164553 0 0.000564439 0.0066684 0.0184409 0.999808 uwb: 0.0 845.521 690.164 -imu_odom_: 1691062790.707759389 0.435745 -0.378284 9.80665 -0.0596548 0.0287621 0.0351537 0.18 0 pose: 0.48938409 3.37214 0.0152065 0 0.0037589 0.00627119 0.0186507 0.999799 uwb: 0.49977263 846.166 688.74 -imu_odom_: 1691062790.732697128 -0.110133 -0.181959 9.91439 -0.0713727 0.0436758 0.0617853 0.18 0.02 pose: 0.33003000 3.37736 0.0195813 0 0.00176374 0.00458746 0.0186879 0.999813 uwb: 0.0 846.166 688.74 -imu_odom_: 1691062790.749689473 -0.0383072 -0.430956 9.9096 -0.0596548 -0.00745685 0.0436758 0.18 0.02 pose: 0.7951810 3.3798 0.0216285 0 0.00167541 0.00557216 0.0187753 0.999807 uwb: 0.49938182 846.367 687.775 -imu_odom_: 1691062790.774742705 0.21069 -0.0957681 10.2328 -0.056459 -0.0213053 0.04048 0.18 0 pose: 0.0 3.3798 0.0216285 0 0.00167541 0.00557216 0.0187753 0.999807 uwb: 0.0 846.367 687.775 -imu_odom_: 1691062790.799699400 0.229843 -0.318429 9.88566 -0.0639159 -0.0234358 0.0468716 0.18 0 pose: 0.33978274 3.38623 0.0139644 0 0.000325193 0.00892032 0.018986 0.99978 uwb: 0.50062716 846.436 686.535 -imu_odom_: 1691062790.815757302 0.663194 0.0143652 10.0748 -0.0628506 -0.0170442 0.0490022 0.19 -0.02 pose: 0.0 3.38623 0.0139644 0 0.000325193 0.00892032 0.018986 0.99978 uwb: 0.0 846.436 686.535 -imu_odom_: 1691062790.841721062 0.023942 -0.0526724 10.0533 -0.0713727 -0.0234358 0.0351537 0.19 -0.02 pose: 0.57037502 3.39389 0.0203915 0 0.000510013 0.00804454 0.0191247 0.999785 uwb: 0.0 846.436 686.535 -imu_odom_: 1691062790.857755632 -0.0766145 -0.328006 10.2089 -0.0511327 0.00958738 0.0383495 0.19 0.02 pose: 0.0 3.39389 0.0203915 0 0.000510013 0.00804454 0.0191247 0.999785 uwb: 0.49740444 848.036 684.946 -imu_odom_: 1691062790.883844801 0.263362 -0.150835 9.76355 -0.0596548 -0.0511327 0.0383495 0.19 0.02 pose: 0.42063367 3.40798 0.0191608 0 0.00165926 0.00986147 0.0191133 0.999767 uwb: 0.0 848.036 684.946 -imu_odom_: 1691062790.900848520 0.586579 -0.23942 9.5816 -0.0266316 0.0458064 0.0266316 0.19 0.02 pose: 0.35054459 3.40798 0.0191608 0 0.00248049 0.00782516 0.0191027 0.999784 uwb: 0.0 848.036 684.946 -imu_odom_: 1691062790.924837817 -0.0957681 -0.383072 9.58638 -0.0607201 0.015979 0.0383495 0.19 0.02 pose: 0.8015973 3.40798 0.0191608 0 0.00242986 0.00724197 0.0190512 0.999789 uwb: 0.0 848.036 684.946 -imu_odom_: 1691062790.949832719 -0.00957681-0.035913 9.42837 -0.0500674 -0.00426106 0.0490022 0.19 0 pose: 0.32977043 3.41973 0.0159691 0 0.00106729 0.00888753 0.0189664 0.99978 uwb: 0.100046395 848.886 683.181 -imu_odom_: 1691062790.974734876 -0.201113 -0.318429 9.63187 -0.0543285 0.0543285 0.0266316 0.19 0 pose: 0.0 3.41973 0.0159691 0 0.00106729 0.00888753 0.0189664 0.99978 uwb: 0.0 848.886 683.181 -imu_odom_: 1691062791.684928 -0.380678 -0.263362 9.82102 -0.0660464 0.0213053 0.0415453 0.25 -0.02 pose: 0.49897059 3.42727 0.022294 0 0.00147275 0.0140635 0.0189161 0.999721 uwb: 0.50009053 849.137 682.279 -imu_odom_: 1691062791.14802198 0.426168 -0.531513 10.2352 -0.0777643 -0.00426106 0.0330232 0.25 -0.02 pose: 0.0 3.42727 0.022294 0 0.00147275 0.0140635 0.0189161 0.999721 uwb: 0.0 849.137 682.279 -imu_odom_: 1691062791.31681384 0.402226 -0.306458 9.8282 0.0138484 -0.056459 -0.0820254 0.18 -0.05 pose: 0.0 3.42727 0.022294 0 0.00147275 0.0140635 0.0189161 0.999721 uwb: 0.0 849.137 682.279 -imu_odom_: 1691062791.46798135 -0.0742203 -0.222661 9.086 0.0223706 -0.0468716 -0.15979 0.18 -0.05 pose: 0.40067322 3.43615 0.0166928 0 -0.0002349950.0158924 0.0188746 0.999696 uwb: 0.0 849.137 682.279 -imu_odom_: 1691062791.62797125 -0.0167594 0.543484 10.477 -0.0575243 -0.135289 -0.127832 0.18 -0.05 pose: 0.0 3.43615 0.0166928 0 -0.0002349950.0158924 0.0188746 0.999696 uwb: 0.49983097 847.405 682.22 -imu_odom_: 1691062791.77733053 -0.143652 0.100556 9.66539 -0.208792 -0.136354 -0.076699 0.19 -0.23 pose: 0.47994927 3.44742 0.0187828 0 0.00192031 0.0142411 0.0150006 0.999784 uwb: 0.0 847.405 682.22 -imu_odom_: 1691062791.94697984 0.0263362 -0.325611 9.34936 -0.176834 -0.0500674 -0.133158 0.19 -0.23 pose: 0.0 3.44742 0.0187828 0 0.00192031 0.0142411 0.0150006 0.999784 uwb: 0.0 847.405 682.22 -imu_odom_: 1691062791.119824129 1.10373 -0.653617 10.489 -0.0585895 -0.0447411 -0.253533 0.19 -0.35 pose: 0.31900859 3.45018 0.0154294 0 -0.0005940020.0149197 0.0126869 0.999808 uwb: 0.50020720 847.181 681.753 -imu_odom_: 1691062791.136812391 0.754174 -0.196325 9.89524 -0.0490022 0.0117179 -0.280165 0.22 -0.44 pose: 0.0 3.45018 0.0154294 0 -0.0005940020.0149197 0.0126869 0.999808 uwb: 0.0 847.181 681.753 -imu_odom_: 1691062791.152872044 1.38145 -0.220267 10.161 -0.0319579 0.00958738 -0.351537 0.19 -0.41 pose: 0.0 3.45018 0.0154294 0 -0.0005940020.0149197 0.0126869 0.999808 uwb: 0.49945767 847.797 680.18 -imu_odom_: 1691062791.170873787 0.112527 0.280122 8.72208 -0.0340885 0.00958738 -0.425041 0.19 -0.41 pose: 0.50204167 3.45786 0.0219076 0 -0.00136641 0.00976895 0.00468921 0.99994 uwb: 0.0 847.797 680.18 -imu_odom_: 1691062791.187745681 0.3304 0.023942 10.0245 -0.0681769 -0.00745685 -0.411192 0.19 -0.47 pose: 0.0 3.45786 0.0219076 0 -0.00136641 0.00976895 0.00468921 0.99994 uwb: 0.0 847.797 680.18 -imu_odom_: 1691062791.202810227 0.227449 -0.167594 9.64384 -0.0830906 -0.0553937 -0.429302 0.19 -0.47 pose: 0.0 3.45786 0.0219076 0 -0.00136641 0.00976895 0.00468921 0.99994 uwb: 0.50192501 848.523 678.82 -imu_odom_: 1691062791.219868486 0.213084 -0.270545 9.83777 -0.0585895 -0.056459 -0.491087 0.19 -0.47 pose: 0.33981192 3.47198 0.0208131 0 0.00126548 0.00922398 -0.00283631 0.999953 uwb: 0.0 848.523 678.82 -imu_odom_: 1691062791.234811997 0.289698 -0.225055 8.88488 -0.0585895 0.0106526 -0.527306 0.19 -0.55 pose: 0.40985143 3.47193 0.0208043 0 0.00116173 0.00903886 -0.0128899 0.999875 uwb: 0.0 848.523 678.82 -imu_odom_: 1691062791.251692350 0.0957681 -0.114922 10.0126 -0.0745685 0.0436758 -0.551807 0.19 -0.55 pose: 0.6904206 3.47198 0.0208134 0 0.000756461 0.00851448 -0.0148492 0.999853 uwb: 0.49623495 848.101 677.926 -imu_odom_: 1691062791.267797499 0.608127 -0.337582 10.2903 -0.0798948 0.00319579 -0.58483 0.19 -0.55 pose: 0.0 3.47198 0.0208134 0 0.000756461 0.00851448 -0.0148492 0.999853 uwb: 0.0 848.101 677.926 -imu_odom_: 1691062791.284863924 0.430956 -0.0311246 9.42118 -0.0330232 -0.0351537 -0.615723 0.25 -0.82 pose: 0.41024807 3.48608 0.0197525 0 0.0002214 0.00827791 -0.0271408 0.999597 uwb: 0.0 848.101 677.926 -imu_odom_: 1691062791.302684553 0.691924 -0.112527 9.24401 -0.1012 -0.0681769 -0.581634 0.18 -0.61 pose: 0.0 3.48608 0.0197525 0 0.0002214 0.00827791 -0.0271408 0.999597 uwb: 0.50168586 849.021 676.221 -imu_odom_: 1691062791.317681144 0.174777 0.00957681 9.89284 -0.112918 -0.0181095 -0.5827 0.18 -0.61 pose: 0.0 3.48608 0.0197525 0 0.0002214 0.00827791 -0.0271408 0.999597 uwb: 0.0 849.021 676.221 -imu_odom_: 1691062791.334729195 0.584185 -0.1652 9.93115 -0.0671117 -0.0479369 -0.619984 0.18 -0.61 pose: 0.26086253 3.48608 0.0197533 0 0.00144245 0.0056057 -0.0355187 0.999352 uwb: 0.0 849.021 676.221 -imu_odom_: 1691062791.350791180 0.227449 -0.167594 9.7851 -0.0553937 -0.0213053 -0.661529 0.18 -0.64 pose: 0.0 3.48608 0.0197533 0 0.00144245 0.0056057 -0.0355187 0.999352 uwb: 0.50002346 849.188 675.105 -imu_odom_: 1691062791.367666867 0.433351 0.220267 10.2855 -0.0394148 -0.0351537 -0.670051 0.18 -0.64 pose: 0.30829633 3.50018 0.0186734 0 0.00209315 0.00434189 -0.0452184 0.998965 uwb: 0.0 849.188 675.105 -imu_odom_: 1691062791.384952320 0.88346 -0.122104 9.65582 -0.0788296 -0.0223706 -0.680704 0.18 -0.7 pose: 0.42953482 3.50013 0.018664 0 0.00388733 0.00374014 -0.0601116 0.998177 uwb: 0.0 849.188 675.105 -imu_odom_: 1691062791.401942915 0.861913 0.0502782 9.63906 -0.0575243 -0.0479369 -0.689226 0.18 -0.7 pose: 0.0 3.50013 0.018664 0 0.00388733 0.00374014 -0.0601116 0.998177 uwb: 0.50123672 849 674.699 -imu_odom_: 1691062791.417865784 0.90022 0.138864 10.003 -0.0798948 -0.0458064 -0.657268 0.18 -0.7 pose: 0.0 3.50013 0.018664 0 0.00388733 0.00374014 -0.0601116 0.998177 uwb: 0.0 849 674.699 -imu_odom_: 1691062791.434661559 1.36709 -0.134075 10.0173 -0.0660464 0.00745685 -0.585895 0.21 -0.85 pose: 0.8296539 3.50018 0.0186731 0 0.00375857 0.0028517 -0.0630908 0.997997 uwb: 0.0 849 674.699 -imu_odom_: 1691062791.450659090 1.4054 -0.708684 9.8258 -0.0596548 0.0223706 -0.568851 0.14 -0.58 pose: 0.0 3.50018 0.0186731 0 0.00375857 0.0028517 -0.0630908 0.997997 uwb: 0.50099466 847.78 674.307 -imu_odom_: 1691062791.467777136 0.620098 -0.47884 8.96868 -0.0436758 0.04048 -0.546481 0.14 -0.58 pose: 0.66836326 3.51428 0.0175198 0 0.00381872 -0.00390315 -0.0857049 0.996306 uwb: 0.0 847.78 674.307 -imu_odom_: 1691062791.483793041 0.842759 -0.227449 10.8553 -0.056459 0 -0.4815 0.12 -0.47 pose: 0.0 3.51428 0.0175198 0 0.00381872 -0.00390315 -0.0857049 0.996306 uwb: 0.0 847.78 674.307 -imu_odom_: 1691062791.500645104 1.04866 -0.107739 10.4244 -0.0820254 -0.0436758 -0.412257 0.12 -0.47 pose: 0.0 3.51428 0.0175198 0 0.00381872 -0.00390315 -0.0857049 0.996306 uwb: 0.49799067 846.902 673.913 -imu_odom_: 1691062791.516672675 1.16837 -0.184354 9.73004 -0.0543285 0.00319579 -0.379234 0.12 -0.47 pose: 0.32986669 3.52079 0.00992708 0 0.00167527 -0.00532646 -0.0951415 0.995448 uwb: 0.0 846.902 673.913 -imu_odom_: 1691062791.532786865 0.976834 -0.395043 9.52413 -0.0756338 0.015979 -0.343015 0.14 -0.5 pose: 0.40886274 3.52832 0.0164316 0 0.00113115 -0.00959441 -0.104335 0.994495 uwb: 0.0 846.902 673.913 -imu_odom_: 1691062791.549636011 0.679953 -0.454898 10.0604 -0.0575243 0.0213053 -0.340885 0.14 -0.5 pose: 0.7103403 3.52837 0.0164407 0 0.000671911 -0.0100953 -0.105682 0.994349 uwb: 0.49987764 846.427 673.642 -imu_odom_: 1691062791.565636750 0.718261 -0.316035 9.87848 -0.0575243 0 -0.320645 0.14 -0.5 pose: 0.0 3.52837 0.0164407 0 0.000671911 -0.0100953 -0.105682 0.994349 uwb: 0.0 846.427 673.642 -imu_odom_: 1691062791.591648925 0.797269 -0.138864 10.2017 -0.0468716 -0.0287621 -0.272708 0.09 -0.32 pose: 0.41860672 3.52832 0.0164315 0 -0.00273107 -0.0117606 -0.113409 0.993475 uwb: 0.0 846.427 673.642 -imu_odom_: 1691062791.607791405 0.799663 -0.280122 9.94073 -0.0479369 -0.0223706 -0.251402 0.09 -0.32 pose: 0.0 3.52832 0.0164315 0 -0.00273107 -0.0117606 -0.113409 0.993475 uwb: 0.50082841 846.658 672.65 -imu_odom_: 1691062791.623741689 0.636858 -0.385466 9.73004 -0.0490022 0.0170442 -0.26099 0.09 -0.32 pose: 0.33024292 3.53488 0.00884599 0 -0.0018089 -0.0150156 -0.118463 0.992843 uwb: 0.0 846.658 672.65 -imu_odom_: 1691062791.640819488 -0.88346 -0.100556 9.38288 -0.0458064 0.12144 -0.140615 0.11 -0.05 pose: 0.0 3.53488 0.00884599 0 -0.0018089 -0.0150156 -0.118463 0.992843 uwb: 0.0 846.658 672.65 -imu_odom_: 1691062791.658781275 -1.1971 -0.873884 10.3525 -0.0617853 -0.00532632 0.0969391 0.11 -0.05 pose: 0.0 3.53488 0.00884599 0 -0.0018089 -0.0150156 -0.118463 0.992843 uwb: 0.50032386 845.5 672.414 -imu_odom_: 1691062791.673698247 -0.490811 -0.878672 9.83059 -0.0436758 -0.126766 0.150202 0.11 -0.05 pose: 0.33128701 3.53488 0.00884599 0 -0.00331666 -0.0135455 -0.122851 0.992327 uwb: 0.0 845.5 672.414 -imu_odom_: 1691062791.690718882 0.620098 -0.325611 9.87608 -0.0245011 -0.0980043 0.197074 0.11 0.11 pose: 0.41908504 3.53885 0.0122197 0 -0.00402979 -0.0098843 -0.122311 0.992434 uwb: 0.0 845.5 672.414 -imu_odom_: 1691062791.706659542 0.687136 -0.186748 9.42118 -0.0426106 -0.0181095 0.270577 0.11 0.11 pose: 0.7138692 3.54252 0.0153012 0 -0.00467278 -0.0103346 -0.121744 0.992497 uwb: 0.49764361 844.31 672.118 -imu_odom_: 1691062791.723770005 0.416591 -0.191536 10.1394 -0.04048 0.00106526 0.313188 0.11 0.11 pose: 0.0 3.54252 0.0153012 0 -0.00467278 -0.0103346 -0.121744 0.992497 uwb: 0.0 844.31 672.118 -imu_odom_: 1691062791.741830953 0.277727 -0.739808 10.0413 -0.0490022 0.0106526 0.319579 0.13 0.29 pose: 0.42933066 3.54887 0.00761795 0 -0.00343896 -0.0105089 -0.116826 0.993091 uwb: 0.0 844.31 672.118 -imu_odom_: 1691062791.756771840 -0.0407014 -0.244209 9.79707 -0.0468716 0.0245011 0.34408 0.13 0.29 pose: 0.0 3.54887 0.00761795 0 -0.00343896 -0.0105089 -0.116826 0.993091 uwb: 0.50055426 844.334 671.43 -imu_odom_: 1691062791.772823618 0.136469 -0.452504 9.97424 -0.0511327 0.00213053 0.393083 0.13 0.29 pose: 0.0 3.54887 0.00761795 0 -0.00343896 -0.0105089 -0.116826 0.993091 uwb: 0.0 844.334 671.43 -imu_odom_: 1691062791.787830417 0.287304 -0.574608 9.67976 -0.0458064 -0.0117179 0.42291 0.13 0.29 pose: 0.24900992 3.54893 0.00762669 0 -0.0045841 -0.00839133 -0.113262 0.993519 uwb: 0.0 844.334 671.43 -imu_odom_: 1691062791.804791265 0.351948 -0.248997 10.3908 -0.0340885 -0.0138484 0.437824 0.14 0.35 pose: 0.0 3.54893 0.00762669 0 -0.0045841 -0.00839133 -0.113262 0.993519 uwb: 0.50121048 842.924 671.423 -imu_odom_: 1691062791.821695241 -0.071826 0.0287304 9.52653 -0.0553937 -0.0276969 0.494283 0.14 0.35 pose: 0.0 3.54893 0.00762669 0 -0.0045841 -0.00839133 -0.113262 0.993519 uwb: 0.0 842.924 671.423 -imu_odom_: 1691062791.838821745 0.469264 -0.54109 9.87608 -0.0607201 -0.0841559 0.531567 0.2 0.61 pose: 0.73024244 3.56297 0.00646629 0 -0.00380116 -0.00226348 -0.0991448 0.995063 uwb: 0.0 842.924 671.423 -imu_odom_: 1691062791.854841441 0.663194 -0.428562 9.80665 -0.0511327 -0.0138484 0.508131 0.2 0.61 pose: 0.0 3.56297 0.00646629 0 -0.00380116 -0.00226348 -0.0991448 0.995063 uwb: 0.49993888 841.788 671.263 -imu_odom_: 1691062791.871954530 0.3304 -0.272939 10.0126 -0.0308927 -0.0649811 0.520914 0.2 0.61 pose: 0.0 3.56297 0.00646629 0 -0.00380116 -0.00226348 -0.0991448 0.995063 uwb: 0.0 841.788 671.263 -imu_odom_: 1691062791.887777655 1.06303 -0.471658 10.0796 -0.0458064 -0.0383495 0.506001 0.14 0.41 pose: 0.7080071 3.56302 0.00647467 0 -0.00455946 -0.00250691 -0.0974087 0.995231 uwb: 0.0 841.788 671.263 -imu_odom_: 1691062791.903629070 1.10133 -0.155623 9.64384 -0.0255663 0.0351537 0.485761 0.17 0.5 pose: 0.0 3.56302 0.00647467 0 -0.00455946 -0.00250691 -0.0974087 0.995231 uwb: 0.50016929 838.932 671.945 -imu_odom_: 1691062791.920642414 1.35751 -0.454898 10.2185 -0.0511327 -0.0500674 0.462325 0.17 0.5 pose: 0.65955547 3.56947 -0.00116899 0 -0.00589554 -0.00548411 -0.0818855 0.996609 uwb: 0.0 838.932 671.945 -imu_odom_: 1691062791.937627177 1.64482 0.00718261 9.5385 -0.0372843 -0.0234358 0.330232 0.14 0.35 pose: 0.0 3.56947 -0.00116899 0 -0.00589554 -0.00548411 -0.0818855 0.996609 uwb: 0.0 838.932 671.945 -imu_odom_: 1691062791.953622083 1.3623 0.189142 9.92397 -0.0394148 0.0575243 0.278034 0.14 0.35 pose: 0.0 3.56947 -0.00116899 0 -0.00589554 -0.00548411 -0.0818855 0.996609 uwb: 0.50049594 838.835 671.023 -imu_odom_: 1691062791.970625803 0.835576 -0.0407014 10.1203 -0.0671117 0.036219 0.268447 0.14 0.35 pose: 0.33026624 3.57714 0.00524365 0 -0.00581875 -0.00896671 -0.0753046 0.997103 uwb: 0.0 838.835 671.023 -imu_odom_: 1691062791.986766825 0.553061 -0.509965 9.90721 -0.0671117 0.0287621 0.2024 0.08 0.17 pose: 0.42868320 3.57709 0.00523506 0 -0.00348126 -0.0117481 -0.0700746 0.997466 uwb: 0.0 838.835 671.023 -imu_odom_: 1691062792.3771712 0.837971 -0.335188 9.77553 -0.0468716 -0.036219 0.148072 0.08 0.17 pose: 0.8155090 3.57714 0.00524392 0 -0.00427739 -0.0112878 -0.0694035 0.997516 uwb: 0.49740445 837.109 671.139 -imu_odom_: 1691062792.21942612 0.821211 -0.0957681 9.63666 -0.0671117 -0.00319579 0.153398 0.08 0.17 pose: 0.0 3.57714 0.00524392 0 -0.00427739 -0.0112878 -0.0694035 0.997516 uwb: 0.0 837.109 671.139 -imu_odom_: 1691062792.36636764 0.871489 -0.208296 10.0724 -0.056459 0.0181095 0.175769 0.07 0.17 pose: 0.34131682 3.5836 -0.00239707 0 -0.00480845 -0.0133781 -0.0673198 0.99763 uwb: 0.0 837.109 671.139 -imu_odom_: 1691062792.53760353 0.691924 -0.433351 9.87129 -0.0553937 0.00639159 0.176834 0.06 0.17 pose: 0.0 3.5836 -0.00239707 0 -0.00480845 -0.0133781 -0.0673198 0.99763 uwb: 0.50190753 837.413 670.306 -imu_odom_: 1691062792.69752926 0.507571 -0.148441 9.72046 -0.0585895 -0.0170442 0.186421 0.06 0.17 pose: 0.0 3.5836 -0.00239707 0 -0.00480845 -0.0133781 -0.0673198 0.99763 uwb: 0.0 837.413 670.306 -imu_odom_: 1691062792.86765396 0.557849 -0.320823 9.76595 -0.0596548 0.00426106 0.199204 0.06 0.17 pose: 0.30982458 3.5836 -0.00239732 0 -0.00450855 -0.0150777 -0.0653242 0.99774 uwb: 0.0 837.413 670.306 -imu_odom_: 1691062792.102752720 0.624887 -0.191536 10.0221 -0.056459 -0.00639159 0.183225 0.06 0.17 pose: 0.0 3.5836 -0.00239732 0 -0.00450855 -0.0150777 -0.0653242 0.99774 uwb: 0.49871981 837.132 669.736 -imu_odom_: 1691062792.119636281 0.73502 -0.270545 9.80665 -0.0532632 -0.0170442 0.177899 0.06 0.17 pose: 0.33875908 3.5836 -0.00239741 0 -0.00467427 -0.0129911 -0.0628289 0.997929 uwb: 0.0 837.132 669.736 -imu_odom_: 1691062792.135753389 0.648829 -0.222661 9.95509 -0.0617853 0.00958738 0.174703 0.04 0.11 pose: 0.41865340 3.59128 0.00400159 0 -0.00355054 -0.0136253 -0.0598153 0.99811 uwb: 0.0 837.132 669.736 -imu_odom_: 1691062792.152750985 0.608127 -0.351948 9.84975 -0.0607201 -0.0138484 0.183225 0.04 0.11 pose: 0.8117175 3.59128 0.00400159 0 -0.00285302 -0.013205 -0.0592775 0.99815 uwb: 0.50070594 836.027 669.679 -imu_odom_: 1691062792.168615816 0.64404 -0.294487 9.93115 -0.056459 0.00852212 0.181095 0.04 0.11 pose: 0.0 3.59128 0.00400159 0 -0.00285302 -0.013205 -0.0592775 0.99815 uwb: 0.0 836.027 669.679 -imu_odom_: 1691062792.185753987 0.584185 -0.225055 9.87848 -0.056459 -0.00639159 0.198139 0.05 0.23 pose: 0.40862360 3.59128 0.00400159 0 -0.00535379 -0.0118533 -0.0563681 0.998325 uwb: 0.0 836.027 669.679 -imu_odom_: 1691062792.202759166 0.629675 -0.275333 10.0149 -0.0553937 0 0.201335 0.03 0.17 pose: 0.0 3.59128 0.00400159 0 -0.00535379 -0.0118533 -0.0563681 0.998325 uwb: 0.49988348 835.508 669.359 -imu_odom_: 1691062792.229624997 0.596156 -0.263362 9.84256 -0.052198 0 0.190682 0.03 0.17 pose: 0.25210140 3.59128 0.00400159 0 -0.00342373 -0.0115846 -0.0543811 0.998447 uwb: 0.0 835.508 669.359 -imu_odom_: 1691062792.245740647 -0.0933739 -0.162806 9.663 -0.0596548 0.0713727 0.210922 0.04 0.2 pose: 0.0 3.59128 0.00400159 0 -0.00342373 -0.0115846 -0.0543811 0.998447 uwb: 0.0 835.508 669.359 -imu_odom_: 1691062792.262743784 -1.07739 -0.438139 9.99819 -0.0649811 0.0788296 0.305731 0.04 0.2 pose: 0.0 3.59128 0.00400159 0 -0.00342373 -0.0115846 -0.0543811 0.998447 uwb: 0.49930894 834.58 669.665 -imu_odom_: 1691062792.278802270 -1.09176 -0.682347 9.98861 -0.0607201 -0.036219 0.38456 0.04 0.2 pose: 0.15853166 3.59128 0.00400159 0 -0.00291527 -0.0115583 -0.053144 0.998516 uwb: 0.0 834.58 669.665 -imu_odom_: 1691062792.294751680 -0.351948 -0.493206 9.66539 -0.0426106 -0.0777643 0.415453 0.06 0.32 pose: 0.27965932 3.59128 0.00400159 0 -0.00287668 -0.00843018 -0.0509471 0.998662 uwb: 0.0 834.58 669.665 -imu_odom_: 1691062792.311676072 0.407014 0.023942 9.69412 -0.0351537 -0.0287621 0.448476 0.06 0.32 pose: 0.0 3.59128 0.00400159 0 -0.00287668 -0.00843018 -0.0509471 0.998662 uwb: 0.49936435 833.631 669.931 -imu_odom_: 1691062792.327743891 0.349553 -0.241814 9.73482 -0.0543285 0.00426106 0.507066 0.12 0.55 pose: 0.32996294 3.59771 -0.00365905 0 -0.00308297 -0.00426177 -0.0466289 0.998898 uwb: 0.0 833.631 669.931 -imu_odom_: 1691062792.343735006 0.28491 -0.371101 9.72525 -0.0585895 0.0213053 0.509196 0.12 0.55 pose: 0.0 3.59771 -0.00365905 0 -0.00308297 -0.00426177 -0.0466289 0.998898 uwb: 0.0 833.631 669.931 -imu_odom_: 1691062792.360655023 -0.11971 -0.416591 9.80665 -0.0511327 -0.0138484 0.540089 0.12 0.55 pose: 0.0 3.59771 -0.00365905 0 -0.00308297 -0.00426177 -0.0466289 0.998898 uwb: 0.50176171 834.7 669.183 -imu_odom_: 1691062792.378730846 0.1652 -0.335188 9.75877 -0.0649811 0.00426106 0.559264 0.11 0.5 pose: 0.47987928 3.59771 -0.00365905 0 -0.00167048 -0.00188602 -0.0371367 0.999307 uwb: 0.0 834.7 669.183 -imu_odom_: 1691062792.393720147 0.172383 -0.354342 10.2304 -0.0500674 0.00319579 0.579504 0.11 0.53 pose: 0.0 3.59771 -0.00365905 0 -0.00167048 -0.00188602 -0.0371367 0.999307 uwb: 0.0 834.7 669.183 -imu_odom_: 1691062792.410685078 0.349553 -0.323217 10.0389 -0.0553937 0.00745685 0.601874 0.11 0.53 pose: 0.67115728 3.60538 0.00275021 0 -0.00383772 0.00458324 -0.02042 0.999774 uwb: 0.49932352 833.334 669.342 -imu_odom_: 1691062792.426735690 -0.0933739 -0.366313 9.64863 -0.0394148 0.0255663 0.632767 0.12 0.55 pose: 0.0 3.60538 0.00275021 0 -0.00383772 0.00458324 -0.02042 0.999774 uwb: 0.0 833.334 669.342 -imu_odom_: 1691062792.443610793 0.203507 -0.543484 10.0796 -0.0617853 -0.00852212 0.644485 0.12 0.55 pose: 0.0 3.60538 0.00275021 0 -0.00383772 0.00458324 -0.02042 0.999774 uwb: 0.0 833.334 669.342 -imu_odom_: 1691062792.460714257 0.356736 -0.25618 9.98382 -0.0415453 0.00213053 0.64342 0.12 0.55 pose: 0.33008835 3.61181 -0.00490904 0 -0.00487689 0.00490436 -0.0111124 0.999914 uwb: 0.49925644 833.069 668.817 -imu_odom_: 1691062792.476775952 0.105345 -0.521936 9.71088 -0.0511327 -0.00426106 0.674312 0.13 0.61 pose: 0.41960418 3.61942 0.00150731 0 -0.00509338 0.00534035 0.00151837 0.999972 uwb: 0.0 833.069 668.817 -imu_odom_: 1691062792.493603808 0.445322 -0.268151 10.1323 -0.0511327 -0.0245011 0.695618 0.13 0.61 pose: 0.7021742 3.61948 0.0015157 0 -0.0055818 0.0058296 0.00374628 0.99996 uwb: 0.0 833.069 668.817 -imu_odom_: 1691062792.510615695 0.466869 -0.529119 9.91199 -0.0426106 -0.0351537 0.690291 0.13 0.61 pose: 0.0 3.61948 0.0015157 0 -0.0055818 0.0058296 0.00374628 0.99996 uwb: 0.50265707 832.653 668.711 -imu_odom_: 1691062792.527714201 0.770933 -0.311246 9.991 -0.036219 -0.0308927 0.66579 0.17 0.76 pose: 0.42879696 3.61942 0.00150713 0 -0.00669713 0.00348872 0.0176522 0.999816 uwb: 0.0 832.653 668.711 -imu_odom_: 1691062792.544836623 1.21386 -0.354342 9.53371 -0.0660464 -0.0340885 0.677508 0.11 0.44 pose: 0.0 3.61942 0.00150713 0 -0.00669713 0.00348872 0.0176522 0.999816 uwb: 0.0 832.653 668.711 -imu_odom_: 1691062792.561640564 1.47483 -0.289698 9.72046 -0.0351537 -0.052198 0.60294 0.11 0.44 pose: 0.0 3.61942 0.00150713 0 -0.00669713 0.00348872 0.0176522 0.999816 uwb: 0.49631954 831.027 669.088 -imu_odom_: 1691062792.577638971 1.70228 -0.047884 9.89763 -0.056459 0.00958738 0.497478 0.09 0.38 pose: 0.25220931 3.62592 -0.0061319 0 -0.00638461 0.000676259 0.0255804 0.999652 uwb: 0.0 831.027 669.088 -imu_odom_: 1691062792.593588963 1.22104 0.110133 9.92636 -0.0639159 0.0308927 0.413323 0.09 0.38 pose: 0.0 3.62592 -0.0061319 0 -0.00638461 0.000676259 0.0255804 0.999652 uwb: 0.0 831.027 669.088 -imu_odom_: 1691062792.610574602 0.653617 -0.011971 9.77313 -0.0532632 0.04048 0.339819 0.09 0.38 pose: 0.33751665 3.63356 0.00031911 0 -0.0059296 -0.0030906 0.0349808 0.999366 uwb: 0.50039387 829.498 669.661 -imu_odom_: 1691062792.626570675 0.629675 -0.265756 10.082 -0.0607201 -0.00106526 0.30147 0.1 0.44 pose: 0.40986311 3.63351 0.000310234 0 -0.00344056 -0.00519914 0.0423174 0.999085 uwb: 0.0 829.498 669.661 -imu_odom_: 1691062792.643583728 0.749385 -0.251391 9.93354 -0.0553937 -0.0170442 0.275903 0.1 0.44 pose: 0.6005344 3.63356 0.000319039 0 -0.00333393 -0.00577443 0.0431001 0.999049 uwb: 0.0 829.498 669.661 -imu_odom_: 1691062792.659569594 0.869095 -0.28491 9.79468 -0.0607201 -0.00532632 0.276969 0.1 0.44 pose: 0.0 3.63356 0.000319039 0 -0.00333393 -0.00577443 0.0431001 0.999049 uwb: 0.50071177 830.674 668.397 -imu_odom_: 1691062792.674639098 0.739808 -0.275333 9.94073 -0.056459 0.00106526 0.286556 0.05 0.26 pose: 0.42989648 3.63356 0.000319039 0 -0.00287343 -0.0101109 0.048292 0.998778 uwb: 0.0 830.674 668.397 -imu_odom_: 1691062792.691629986 0.694318 -0.35913 9.87129 -0.052198 0.00532632 0.270577 0.06 0.26 pose: 0.0 3.63356 0.000319039 0 -0.00287343 -0.0101109 0.048292 0.998778 uwb: 0.0 830.674 668.397 -imu_odom_: 1691062792.707557522 0.593762 -0.196325 9.91439 -0.0553937 0.00319579 0.237554 0.06 0.26 pose: 0.0 3.63356 0.000319039 0 -0.00287343 -0.0101109 0.048292 0.998778 uwb: 0.49976975 831.242 668.081 -imu_odom_: 1691062792.723560303 0.418985 -0.0933739 9.75637 -0.0553937 0.0138484 0.227967 0.06 0.32 pose: 0.22068789 3.63356 0.00031885 0 -0.00327914 -0.0120171 0.0509553 0.998623 uwb: 0.0 831.242 668.081 -imu_odom_: 1691062792.740559357 0.440533 -0.270545 9.92636 -0.0639159 -0.00319579 0.247141 0.06 0.32 pose: 0.0 3.63356 0.00031885 0 -0.00327914 -0.0120171 0.0509553 0.998623 uwb: 0.0 831.242 668.081 -imu_odom_: 1691062792.756551639 0.560243 -0.440533 9.85214 -0.0500674 -0.00106526 0.249272 0.06 0.32 pose: 0.32942922 3.63356 0.00031885 0 -0.00220467 -0.0112062 0.054331 0.998458 uwb: 0.50010514 831.018 667.64 -imu_odom_: 1691062792.772683329 0.703895 -0.325611 9.83538 -0.052198 -0.0127832 0.250337 0.04 0.23 pose: 0.41970334 3.64452 0.00279079 0 -0.00354572 -0.00868888 0.0586253 0.998236 uwb: 0.0 831.018 667.64 -imu_odom_: 1691062792.788579659 0.634463 -0.198719 9.91199 -0.0500674 -0.00213053 0.269512 0.04 0.23 pose: 0.8024723 3.64764 -0.0007844850 -0.00367753 -0.00951079 0.0594676 0.998178 uwb: 0.0 831.018 667.64 -imu_odom_: 1691062792.805588337 0.699107 -0.320823 9.94551 -0.0553937 -0.00319579 0.279099 0.04 0.23 pose: 0.0 3.64764 -0.0007844850 -0.00367753 -0.00951079 0.0594676 0.998178 uwb: 0.50052220 832.529 666.297 -imu_odom_: 1691062792.822707551 0.641646 -0.311246 9.88805 -0.0500674 0.00213053 0.26099 0.04 0.29 pose: 0.41011975 3.64758 -0.0007933630 -0.00300159 -0.01224 0.0641612 0.99786 uwb: 0.0 832.529 666.297 -imu_odom_: 1691062792.847570629 0.591368 -0.229843 9.83299 -0.052198 -0.00106526 0.267381 0.02 0.23 pose: 0.0 3.64758 -0.0007933630 -0.00300159 -0.01224 0.0641612 0.99786 uwb: 0.49960933 833.226 665.502 -imu_odom_: 1691062792.864567642 0.390255 -0.251391 9.97664 -0.0553937 0.0351537 0.268447 0.02 0.23 pose: 0.25054109 3.64764 -0.0007846760 -0.00398213 -0.0121075 0.0669671 0.997674 uwb: 0.0 833.226 665.502 -imu_odom_: 1691062792.880560215 -0.677559 -0.351948 9.80665 -0.0596548 0.104396 0.251402 0.04 0.2 pose: 0.0 3.64764 -0.0007846760 -0.00398213 -0.0121075 0.0669671 0.997674 uwb: 0.0 833.226 665.502 -imu_odom_: 1691062792.896615202 -1.50356 -0.174777 10.058 -0.0575243 0.0340885 0.210922 0.04 0.2 pose: 0.0 3.64764 -0.0007846760 -0.00398213 -0.0121075 0.0669671 0.997674 uwb: 0.50039388 835.024 663.982 -imu_odom_: 1691062792.913613381 -1.04866 -0.141258 9.84017 -0.0575243 -0.0617853 0.18216 0.04 0.2 pose: 0.41925711 3.64764 -0.0007846760 -0.00265931 -0.00790491 0.0716693 0.997394 uwb: 0.0 835.024 663.982 -imu_odom_: 1691062792.929557832 0.0550666 -0.0766145 9.98143 -0.0585895 -0.0948085 0.152333 0.07 0.11 pose: 0.32092766 3.64764 -0.0007846760 -0.00288474 -0.00418887 0.0744668 0.997211 uwb: 0.0 835.024 663.982 -imu_odom_: 1691062792.946624549 0.651223 -0.222661 9.92636 -0.0543285 -0.0394148 0.127832 0.07 0.11 pose: 0.0 3.64764 -0.0007846760 -0.00288474 -0.00418887 0.0744668 0.997211 uwb: 0.0 835.024 663.982 -imu_odom_: 1691062792.963603480 0.395043 -0.426168 9.62948 -0.0607201 0.0330232 0.118244 0.12 0.11 pose: 0.41963626 3.64764 -0.0007846760 -0.00175888 -0.004722 0.0767539 0.997037 uwb: 0.50047553 835.014 663.961 -imu_odom_: 1691062792.980568411 -0.28491 -0.232238 9.7851 -0.0735032 0.0234358 0.122505 0.12 0.11 pose: 0.0 3.64764 -0.0007846760 -0.00175888 -0.004722 0.0767539 0.997037 uwb: 0.0 835.014 663.961 -imu_odom_: 1691062792.995576377 -0.265756 -0.335188 9.7037 -0.0436758 -0.00852212 0.0980043 0.12 0.11 pose: 0.0 3.64764 -0.0007846760 -0.00175888 -0.004722 0.0767539 0.997037 uwb: 0.0 835.014 663.961 -imu_odom_: 1691062793.11640113 0.232238 -0.272939 10.0149 -0.0415453 -0.0170442 0.108657 0.11 0.08 pose: 0.7302891 3.64764 -0.0007846760 -0.00245406 -0.00428283 0.0770436 0.997016 uwb: 0.49818318 836.886 662.578 -imu_odom_: 1691062793.27690142 0.586579 -0.311246 10.0628 -0.0553937 0.00639159 0.124636 0.12 0.05 pose: 0.0 3.64764 -0.0007846760 -0.00245406 -0.00428283 0.0770436 0.997016 uwb: 0.0 836.886 662.578 -imu_odom_: 1691062793.45628307 0.428562 -0.438139 10.5441 -0.036219 0.0340885 0.0958738 0.12 0.05 pose: 0.0 3.64764 -0.0007846760 -0.00245406 -0.00428283 0.0770436 0.997016 uwb: 0.0 836.886 662.578 -imu_odom_: 1691062793.62706398 0.0885855 0.134075 9.76595 -0.0575243 0.0223706 0.106526 0.17 0.08 pose: 0.64721291 3.65526 0.00569005 0 -0.00360112 0.000537316 0.0794303 0.996834 uwb: 0.50076428 836.702 662.196 -imu_odom_: 1691062793.79689704 0.160412 -0.373495 9.93594 -0.0543285 -0.00319579 0.11931 0.17 0.08 pose: 0.0 3.65526 0.00569005 0 -0.00360112 0.000537316 0.0794303 0.996834 uwb: 0.0 836.702 662.196 -imu_odom_: 1691062793.93703148 0.397437 -0.397437 10.0461 -0.0681769 -0.0490022 0.1012 0.17 0.08 pose: 0.34074813 3.66177 -0.00190013 0 -0.00471576 0.000147525 0.0805491 0.996739 uwb: 0.0 836.702 662.196 -imu_odom_: 1691062793.109625726 0.701501 -0.229843 9.88566 -0.0532632 -0.0255663 0.106526 0.13 0.02 pose: 0.40979604 3.66941 0.00455174 0 -0.00592423 0.00138296 0.0819895 0.996615 uwb: 0.49992725 837.363 661.303 -imu_odom_: 1691062793.125553262 0.957681 -0.409408 10.1993 -0.04048 -0.04048 0.113983 0.13 0.02 pose: 0.6956412 3.66941 0.00455174 0 -0.00566083 0.000660744 0.0822187 0.996598 uwb: 0.0 837.363 661.303 -imu_odom_: 1691062793.142548526 0.981623 -0.366313 9.73482 -0.0468716 -0.0649811 0.135289 0.13 0.02 pose: 0.0 3.66941 0.00455174 0 -0.00566083 0.000660744 0.0822187 0.996598 uwb: 0.0 837.363 661.303 -imu_odom_: 1691062793.158600596 0.914585 -0.349553 9.40442 -0.0511327 0.00532632 0.187487 0.14 0.02 pose: 0.41888966 3.66941 0.00455174 0 -0.00518594 -0.00434151 0.0839012 0.996451 uwb: 0.50044347 836.955 661.212 -imu_odom_: 1691062793.174540965 1.2809 -0.4956 10.1634 -0.0639159 -0.0308927 0.213053 0.14 0.02 pose: 0.0 3.66941 0.00455174 0 -0.00518594 -0.00434151 0.0839012 0.996451 uwb: 0.0 836.955 661.212 -imu_odom_: 1691062793.190600618 1.64242 -0.174777 9.96706 -0.0500674 0.00426106 0.138484 0.14 0.02 pose: 0.0 3.66941 0.00455174 0 -0.00518594 -0.00434151 0.0839012 0.996451 uwb: 0.0 836.955 661.212 -imu_odom_: 1691062793.207680460 1.24977 0.203507 9.64624 -0.056459 0.0394148 0.0639159 0.08 0 pose: 0.39006306 3.677 0.0110632 0 -0.00523623 -0.0083031 0.0867852 0.996179 uwb: 0.50010224 837.846 660.029 -imu_odom_: 1691062793.224688556 0.608127 0.059855 9.88326 -0.0649811 0.0330232 0.0394148 0.1 0.02 pose: 0.0 3.677 0.0110632 0 -0.00523623 -0.0083031 0.0867852 0.996179 uwb: 0.0 837.846 660.029 -imu_odom_: 1691062793.240714377 0.634463 -0.533907 9.96227 -0.072438 0.0106526 0.0319579 0.1 0.02 pose: 0.33172451 3.68355 0.00350772 0 -0.00323444 -0.00986711 0.0874034 0.996119 uwb: 0.0 837.846 660.029 -imu_odom_: 1691062793.257547776 0.658405 -0.488417 9.82102 -0.0585895 -0.0170442 0.0149137 0.09 0.05 pose: 0.0 3.68355 0.00350772 0 -0.00323444 -0.00986711 0.0874034 0.996119 uwb: 0.49989225 840.438 657.818 -imu_odom_: 1691062793.274654157 0.866701 -0.196325 9.94551 -0.0511327 -0.00106526 0.0575243 0.09 0.05 pose: 0.0 3.68355 0.00350772 0 -0.00323444 -0.00986711 0.0874034 0.996119 uwb: 0.0 840.438 657.818 -imu_odom_: 1691062793.290591026 0.629675 -0.222661 9.72046 -0.072438 0.0181095 0.0884169 0.09 0.05 pose: 0.33032752 3.68355 0.00350772 0 -0.00463445 -0.0103132 0.0872606 0.996121 uwb: 0.0 840.438 657.818 -imu_odom_: 1691062793.306601099 0.555455 -0.368707 9.98143 -0.0511327 0 0.0703074 0.05 0.05 pose: 0.42830991 3.68349 0.0034983 0 -0.00309956 -0.0119008 0.0876477 0.996076 uwb: 0.49875482 840.539 657.252 -imu_odom_: 1691062793.322591923 0.684742 -0.225055 9.85453 -0.0553937 -0.0106526 0.0639159 0.05 0.05 pose: 0.7952686 3.68355 0.00350745 0 -0.00368282 -0.0113562 0.0877786 0.996068 uwb: 0.0 840.539 657.252 -imu_odom_: 1691062793.338643702 0.720655 -0.169988 9.88087 -0.0596548 -0.00106526 0.0873517 0.05 0.05 pose: 0.0 3.68355 0.00350745 0 -0.00368282 -0.0113562 0.0877786 0.996068 uwb: 0.0 840.539 657.252 -imu_odom_: 1691062793.365521784 0.565032 -0.383072 9.88805 -0.0553937 -0.00532632 0.0713727 0.05 0.05 pose: 0.40099990 3.69116 0.00999462 0 -0.00165954 -0.0126248 0.088449 0.995999 uwb: 0.49982517 840.08 657.05 -imu_odom_: 1691062793.382522880 0.337582 -0.201113 9.79228 -0.0628506 0.0170442 0.0372843 0.04 0.08 pose: 0.0 3.69116 0.00999462 0 -0.00165954 -0.0126248 0.088449 0.995999 uwb: 0.0 840.08 657.05 -imu_odom_: 1691062793.409533954 -1.53229 -0.0191536 10.1083 -0.0511327 0.056459 0.0170442 0.04 0.08 pose: 0.34959676 3.69116 0.00999462 0 -0.00379631 -0.0104252 0.0888983 0.995979 uwb: 0.49983101 841.013 655.917 -imu_odom_: 1691062793.425623647 -0.960075 -0.761356 9.76116 -0.0735032 -0.0916127 0.04048 0.07 0.05 pose: 0.0 3.69116 0.00999462 0 -0.00379631 -0.0104252 0.0888983 0.995979 uwb: 0.0 841.013 655.917 -imu_odom_: 1691062793.441555850 0.232238 -0.550666 9.62708 -0.0340885 -0.0681769 -0.0585895 0.07 0.05 pose: 0.15937161 3.69116 0.00999462 0 -0.00355575 -0.00856474 0.0888121 0.996005 uwb: 0.0 841.013 655.917 -imu_odom_: 1691062793.458547030 0.134075 0.294487 9.87129 -0.056459 0.0138484 -0.092678 0.07 0.05 pose: 0.0 3.69116 0.00999462 0 -0.00355575 -0.00856474 0.0888121 0.996005 uwb: 0.50141466 842.03 654.957 -imu_odom_: 1691062793.475653995 0.122104 -0.0215478 9.93354 -0.076699 0.00319579 -0.131028 0.09 -0.2 pose: 0.60038284 3.69116 0.00999462 0 -0.00450608 -0.00410337 0.0873171 0.996162 uwb: 0.0 842.03 654.957 -imu_odom_: 1691062793.492588595 0.19393 -0.486023 10.0102 -0.0628506 -0.0181095 -0.238619 0.09 -0.2 pose: 0.0 3.69116 0.00999462 0 -0.00450608 -0.00410337 0.0873171 0.996162 uwb: 0.0 842.03 654.957 -imu_odom_: 1691062793.506535543 0.746991 -0.0454898 9.67976 -0.0500674 -0.02024 -0.330232 0.11 -0.32 pose: 0.43009772 3.7052 0.00884876 0 -0.00426735 -0.0009839780.0829322 0.996546 uwb: 0.50007016 842.096 654.306 -imu_odom_: 1691062793.521584633 0.979228 0.203507 9.87129 -0.0628506 -0.0127832 -0.335558 0.11 -0.32 pose: 0.0 3.7052 0.00884876 0 -0.00426735 -0.0009839780.0829322 0.996546 uwb: 0.0 842.096 654.306 -imu_odom_: 1691062793.537519752 0.383072 -0.332794 9.77313 -0.0809601 0.052198 -0.367516 0.11 -0.32 pose: 0.0 3.7052 0.00884876 0 -0.00426735 -0.0009839780.0829322 0.996546 uwb: 0.0 842.096 654.306 -imu_odom_: 1691062793.552641170 0.591368 -0.105345 10.2568 -0.0628506 0.0181095 -0.423975 0.12 -0.41 pose: 0.5957223 3.70526 0.00885777 0 -0.00384774 -0.00147823 0.0818325 0.996638 uwb: 0.49972309 843.655 652.927 -imu_odom_: 1691062793.569577229 -0.347159 -0.0981623 10.0245 -0.0575243 -0.00852212 -0.46339 0.12 -0.41 pose: 0.0 3.70526 0.00885777 0 -0.00384774 -0.00147823 0.0818325 0.996638 uwb: 0.0 843.655 652.927 -imu_odom_: 1691062793.585632507 0.205901 -0.0814029 9.98861 -0.0745685 -0.0276969 -0.459129 0.12 -0.41 pose: 0.0 3.70526 0.00885777 0 -0.00384774 -0.00147823 0.0818325 0.996638 uwb: 0.0 843.655 652.927 -imu_odom_: 1691062793.601575209 0.0454898 -0.122104 9.52413 -0.052198 -0.0106526 -0.485761 0.18 -0.67 pose: 0.46098336 3.70526 0.0088578 0 -0.00306647 -0.0020715 0.0726585 0.99735 uwb: 0.50019849 844.284 651.897 -imu_odom_: 1691062793.618573972 0.213084 -0.208296 10.0556 -0.056459 -0.00958738 -0.529436 0.13 -0.55 pose: 0.0 3.70526 0.0088578 0 -0.00306647 -0.0020715 0.0726585 0.99735 uwb: 0.0 844.284 651.897 -imu_odom_: 1691062793.634572088 0.6608 -0.0574608 9.86172 -0.056459 -0.0276969 -0.549676 0.13 -0.55 pose: 0.64888699 3.7128 0.0154175 0 -0.0009029180.00250367 0.0561316 0.99842 uwb: 0.0 844.284 651.897 -imu_odom_: 1691062793.651525645 0.196325 -0.0383072 9.61272 -0.0287621 -0.00426106 -0.545415 0.13 -0.58 pose: 0.0 3.7128 0.0154175 0 -0.0009029180.00250367 0.0561316 0.99842 uwb: 0.49864983 844.034 651.339 -imu_odom_: 1691062793.668576030 0.198719 -0.512359 9.70849 -0.0617853 0.0106526 -0.563525 0.13 -0.58 pose: 0.0 3.7128 0.0154175 0 -0.0009029180.00250367 0.0561316 0.99842 uwb: 0.0 844.034 651.339 -imu_odom_: 1691062793.684569187 0.955286 -0.0957681 10.41 -0.0628506 -0.0490022 -0.566721 0.13 -0.58 pose: 0.33176534 3.71934 0.00785126 0 0.000630705 0.00241269 0.0464822 0.998916 uwb: 0.0 844.034 651.339 -imu_odom_: 1691062793.700519764 1.31681 -0.114922 9.4571 -0.0809601 -0.0692422 -0.466586 0.16 -0.64 pose: 0.41859800 3.72685 0.0143828 0 -1.99557e-050.00191104 0.0339207 0.999423 uwb: 0.49955394 844.699 650.373 -imu_odom_: 1691062793.717629354 0.933739 -0.512359 9.66539 -0.0372843 0.0511327 -0.383495 0.16 -0.64 pose: 0.7041866 3.72691 0.0143923 0 -8.96261e-060.000981756 0.0321398 0.999483 uwb: 0.0 844.699 650.373 -imu_odom_: 1691062793.734573578 1.31921 -0.54109 10.0437 -0.036219 -0.0436758 -0.337689 0.16 -0.64 pose: 0.0 3.72691 0.0143923 0 -8.96261e-060.000981756 0.0321398 0.999483 uwb: 0.0 844.699 650.373 -imu_odom_: 1691062793.750623024 0.993594 0.0646434 9.40442 -0.0383495 0.00106526 -0.314253 0.09 -0.38 pose: 0.32973838 3.72691 0.0143923 0 -0.000791938-0.0020288 0.0249574 0.999686 uwb: 0.50105593 843.573 650.308 -imu_odom_: 1691062793.766567476 0.586579 -0.21069 9.87848 -0.0468716 0.02024 -0.267381 0.12 -0.53 pose: 0.0 3.72691 0.0143923 0 -0.000791938-0.0020288 0.0249574 0.999686 uwb: 0.0 843.573 650.308 -imu_odom_: 1691062793.783576155 0.481235 -0.385466 9.81862 -0.0500674 0.00319579 -0.282295 0.12 -0.53 pose: 0.0 3.72691 0.0143923 0 -0.000791938-0.0020288 0.0249574 0.999686 uwb: 0.0 843.573 650.308 -imu_odom_: 1691062793.800513672 0.627281 -0.21069 9.8665 -0.0543285 -0.0479369 -0.266316 0.1 -0.38 pose: 0.32992212 3.72691 0.0143924 0 6.22714e-05 -0.0051222 0.0191639 0.999803 uwb: 0.50054846 841.922 650.716 -imu_odom_: 1691062793.816621447 0.672771 -0.203507 9.84017 -0.0617853 -0.00745685 -0.225836 0.1 -0.38 pose: 0.0 3.72691 0.0143924 0 6.22714e-05 -0.0051222 0.0191639 0.999803 uwb: 0.0 841.922 650.716 -imu_odom_: 1691062793.832618688 0.787692 -0.411803 10.1562 -0.0479369 -0.00852212 -0.213053 0.1 -0.38 pose: 0.32961006 3.74101 0.0133041 0 -0.00121649 -0.00633882 0.0139907 0.999881 uwb: 0.0 841.922 650.716 -imu_odom_: 1691062793.848562556 0.739808 -0.253785 9.83538 -0.0532632 -0.0255663 -0.198139 0.06 -0.23 pose: 0.42080579 3.74095 0.0132943 0 -0.00152882 -0.0103282 0.00830905 0.999911 uwb: 0.49866441 842.004 650.085 -imu_odom_: 1691062793.865501823 0.893037 -0.306458 9.57681 -0.052198 0.0106526 -0.169377 0.06 -0.23 pose: 0.7891439 3.74101 0.0133037 0 -0.00154864 -0.0112027 0.00737052 0.999909 uwb: 0.0 842.004 650.085 -imu_odom_: 1691062793.881617181 0.466869 -0.363919 9.88805 -0.0596548 -0.00745685 -0.153398 0.06 -0.23 pose: 0.0 3.74101 0.0133037 0 -0.00154864 -0.0112027 0.00737052 0.999909 uwb: 0.0 842.004 650.085 -imu_odom_: 1691062793.898510367 0.588974 -0.126893 10.1586 -0.0479369 -0.0181095 -0.165116 0.06 -0.26 pose: 0.41107054 3.74101 0.0133037 0 -0.00268968 -0.0122451 0.00310331 0.999917 uwb: 0.50011974 842.088 649.454 -imu_odom_: 1691062793.914568271 0.579397 -0.0957681 9.83059 -0.0596548 -0.0255663 -0.138484 0.04 -0.17 pose: 0.0 3.74101 0.0133037 0 -0.00268968 -0.0122451 0.00310331 0.999917 uwb: 0.0 842.088 649.454 -imu_odom_: 1691062793.931627697 0.720655 -0.332794 9.93833 -0.0628506 -0.0106526 -0.118244 0.04 -0.17 pose: 0.0 3.74101 0.0133037 0 -0.00268968 -0.0122451 0.00310331 0.999917 uwb: 0.0 842.088 649.454 -imu_odom_: 1691062793.947511194 0.775721 -0.378284 9.84975 -0.0575243 -0.0351537 -0.103331 0.04 -0.11 pose: 0.24920825 3.74101 0.0133037 0 -0.000305708-0.0115161 0.000634962 0.999933 uwb: 0.49987475 841.981 649.218 -imu_odom_: 1691062793.963669716 0.670376 -0.383072 9.84256 -0.0532632 0.00213053 -0.0990696 0.04 -0.11 pose: 0.0 3.74101 0.0133037 0 -0.000305708-0.0115161 0.000634962 0.999933 uwb: 0.0 841.981 649.218 -imu_odom_: 1691062793.980765890 0.624887 -0.136469 10.0437 -0.0543285 -0.015979 -0.0820254 0.04 -0.11 pose: 0.32976172 3.74101 0.0133038 0 -0.00156323 -0.0130527 -0.00197619 0.999912 uwb: 0.0 841.981 649.218 -imu_odom_: 1691062793.997654993 0.639252 -0.337582 9.78031 -0.0596548 -0.0127832 -0.0681769 0.04 -0.14 pose: 0.41251712 3.74101 0.0133038 0 -0.00209224 -0.0132388 -0.00469767 0.999899 uwb: 0.50041139 841.194 649.109 -imu_odom_: 1691062794.14647340 0.754174 -0.311246 9.94551 -0.056459 -0.00958738 -0.0575243 0.04 -0.14 pose: 0.7006868 3.74101 0.0133038 0 -0.00278396 -0.0131032 -0.00506592 0.999897 uwb: 0.0 841.194 649.109 -imu_odom_: 1691062794.30627374 0.687136 -0.294487 9.88566 -0.0596548 -0.00745685 -0.0500674 0.04 -0.14 pose: 0.0 3.74101 0.0133038 0 -0.00278396 -0.0131032 -0.00506592 0.999897 uwb: 0.0 841.194 649.109 -imu_odom_: 1691062794.46639780 0.634463 -0.241814 9.97424 -0.052198 -0.00532632 -0.036219 0.02 -0.08 pose: 0.42854616 3.74101 0.0133038 0 -0.0042314 -0.0130377 -0.0071204 0.999881 uwb: 0.0 841.194 649.109 -imu_odom_: 1691062794.63706498 0.663194 -0.275333 9.83059 -0.0575243 -0.0138484 -0.0255663 0.01 -0.02 pose: 0.0 3.74101 0.0133038 0 -0.0042314 -0.0130377 -0.0071204 0.999881 uwb: 0.50148467 841.317 648.563 -imu_odom_: 1691062794.79819524 0.682347 -0.323217 9.90002 -0.0543285 -0.00852212 -0.0213053 0.01 -0.02 pose: 0.0 3.74101 0.0133038 0 -0.0042314 -0.0130377 -0.0071204 0.999881 uwb: 0.0 841.317 648.563 -imu_odom_: 1691062794.96637757 0.653617 -0.28491 9.89284 -0.056459 -0.00639159 -0.00213053 0.01 -0.02 pose: 0.24051129 3.74856 0.0198598 0 -0.00310495 -0.0131269 -0.00800232 0.999877 uwb: 0.49977853 839.087 649.345 -imu_odom_: 1691062794.114558131 0.696713 -0.335188 9.90242 -0.0532632 0.00106526 0.0138484 0.01 -0.02 pose: 0.0 3.74856 0.0198598 0 -0.00310495 -0.0131269 -0.00800232 0.999877 uwb: 0.0 839.087 649.345 -imu_odom_: 1691062794.130547206 0.514753 -0.277727 9.87129 -0.0543285 0.00106526 0.0319579 0.01 -0.02 pose: 0.32947299 3.74856 0.0198598 0 -0.00454754 -0.0136454 -0.00892976 0.999857 uwb: 0.0 839.087 649.345 -imu_odom_: 1691062794.146486700 0.533907 -0.299275 9.92157 -0.0543285 -0.00745685 0.0490022 0 0.05 pose: 0.42921404 3.74856 0.0198598 0 -0.00490867 -0.0124941 -0.00939829 0.999866 uwb: 0.0 839.087 649.345 -imu_odom_: 1691062794.162538771 0.526724 -0.244209 9.88805 -0.0543285 -0.00426106 0.0479369 0 0.05 pose: 0.6950288 3.74856 0.0198598 0 -0.00484312 -0.0118128 -0.00936291 0.999875 uwb: 0.49808112 839.919 648.732 -imu_odom_: 1691062794.177541781 0.519542 -0.248997 9.93594 -0.052198 -0.00106526 0.0447411 0 0.05 pose: 0.0 3.74856 0.0198598 0 -0.00484312 -0.0118128 -0.00936291 0.999875 uwb: 0.0 839.919 648.732 -imu_odom_: 1691062794.199483704 0.399832 -0.237026 9.92875 -0.0553937 0 0.0383495 0 0 pose: 0.40044287 3.74856 0.0198598 0 -0.00309123 -0.00826794 -0.00921702 0.999919 uwb: 0.50095679 839.88 648.646 -imu_odom_: 1691062794.216470801 -0.272939 -0.241814 9.77792 -0.0447411 0.0703074 0.0862864 0 0.02 pose: 0.0 3.74856 0.0198598 0 -0.00309123 -0.00826794 -0.00921702 0.999919 uwb: 0.0 839.88 648.646 -imu_odom_: 1691062794.232584410 -1.16837 -0.538695 9.92397 -0.0532632 0.0660464 0.208792 0 0.02 pose: 0.28978830 3.74856 0.0198598 0 -0.00253171 -0.00511459 -0.00906278 0.999943 uwb: 0.0 839.88 648.646 -imu_odom_: 1691062794.248469658 -1.06303 -0.828394 9.991 -0.0649811 -0.04048 0.330232 0.04 0.29 pose: 0.0 3.74856 0.0198598 0 -0.00253171 -0.00511459 -0.00906278 0.999943 uwb: 0.49858860 838.282 649.198 -imu_odom_: 1691062794.265600247 -0.11971 -0.577003 9.83059 -0.0458064 -0.0671117 0.393083 0.04 0.29 pose: 0.0 3.74856 0.0198598 0 -0.00253171 -0.00511459 -0.00906278 0.999943 uwb: 0.0 838.282 649.198 -imu_odom_: 1691062794.282579762 0.646434 -0.208296 10.2137 -0.0543285 -0.0351537 0.451672 0.04 0.29 pose: 0.32948174 3.75508 0.0122818 0 -0.00294895 -0.00106295 -0.00645917 0.999974 uwb: 0.0 838.282 649.198 -imu_odom_: 1691062794.298620458 0.383072 -0.0814029 9.8665 -0.0436758 0.0191748 0.471912 0.07 0.47 pose: 0.33068042 3.75508 0.0122818 0 -0.00382868 -0.00016589 -0.0006860040.999992 uwb: 0.50014017 837.808 648.976 -imu_odom_: 1691062794.315618638 0.110133 -0.347159 9.76834 -0.0468716 0.0298274 0.478304 0.07 0.47 pose: 0.0 3.75508 0.0122818 0 -0.00382868 -0.00016589 -0.0006860040.999992 uwb: 0.0 837.808 648.976 -imu_odom_: 1691062794.333476017 -0.215478 -0.442927 9.90481 -0.0447411 -0.00745685 0.508131 0.07 0.47 pose: 0.0 3.75508 0.0122818 0 -0.00382868 -0.00016589 -0.0006860040.999992 uwb: 0.0 837.808 648.976 -imu_odom_: 1691062794.347613703 0.0861913 -0.373495 10.0054 -0.0394148 -0.0276969 0.537959 0.07 0.47 pose: 0.43081811 3.75503 0.0122726 0 -0.00229303 0.0012038 0.00857788 0.99996 uwb: 0.50094512 838.166 648.137 -imu_odom_: 1691062794.363750644 0.325611 -0.122104 9.95748 -0.0351537 -0.0117179 0.565655 0.07 0.47 pose: 0.0 3.75503 0.0122726 0 -0.00229303 0.0012038 0.00857788 0.99996 uwb: 0.0 838.166 648.137 -imu_odom_: 1691062794.379484234 0.141258 -0.423774 9.90721 -0.0426106 -0.00106526 0.606135 0.09 0.53 pose: 0.8008099 3.75508 0.012282 0 -0.00249096 0.00195897 0.0104553 0.99994 uwb: 0.0 838.166 648.137 -imu_odom_: 1691062794.395535722 0.253785 -0.414197 9.64384 -0.0468716 -0.02024 0.595483 0.09 0.53 pose: 0.0 3.75508 0.012282 0 -0.00249096 0.00195897 0.0104553 0.99994 uwb: 0.0 838.166 648.137 -imu_odom_: 1691062794.411614041 -0.155623 -0.0981623 9.7875 -0.0436758 0.00106526 0.615723 0.09 0.53 pose: 0.0 3.75508 0.012282 0 -0.00249096 0.00195897 0.0104553 0.99994 uwb: 0.49863817 837.522 648.357 -imu_odom_: 1691062794.428527060 0.0909797 -0.339977 9.76834 -0.0426106 -0.00958738 0.646616 0.11 0.64 pose: 0.46945286 3.75508 0.012282 0 -0.00180723 0.00447419 0.022469 0.999736 uwb: 0.0 837.522 648.357 -imu_odom_: 1691062794.444530426 0.258574 -0.287304 9.53132 -0.0436758 -0.00639159 0.654072 0.11 0.64 pose: 0.0 3.75508 0.012282 0 -0.00180723 0.00447419 0.022469 0.999736 uwb: 0.0 837.522 648.357 -imu_odom_: 1691062794.461478442 0.263362 -0.361524 9.80665 -0.0319579 -0.00106526 0.660464 0.11 0.64 pose: 0.0 3.75508 0.012282 0 -0.00180723 0.00447419 0.022469 0.999736 uwb: 0.50144968 838.038 647.86 -imu_odom_: 1691062794.479624553 0.114922 -0.416591 9.76834 -0.0596548 -0.00319579 0.687096 0.12 0.61 pose: 0.47966933 3.76263 0.0188374 0 -0.00335861 0.00764052 0.0361806 0.99931 uwb: 0.0 838.038 647.86 -imu_odom_: 1691062794.494505362 0.782904 -0.316035 9.72525 -0.0500674 -0.04048 0.656203 0.11 0.61 pose: 0.0 3.76263 0.0188374 0 -0.00335861 0.00764052 0.0361806 0.99931 uwb: 0.0 838.038 647.86 -imu_odom_: 1691062794.511607077 0.90022 -0.232238 9.70609 -0.052198 0.00319579 0.628506 0.11 0.61 pose: 0.66980699 3.76917 0.0112679 0 -0.00667922 0.00786277 0.0570294 0.998319 uwb: 0.50044932 839.593 646.374 -imu_odom_: 1691062794.529474955 1.67834 -0.1652 10.1251 -0.0394148 -0.04048 0.570982 0.08 0.41 pose: 0.0 3.76917 0.0112679 0 -0.00667922 0.00786277 0.0570294 0.998319 uwb: 0.0 839.593 646.374 -imu_odom_: 1691062794.545524984 1.36469 0.023942 9.2895 -0.0394148 0.0223706 0.493217 0.08 0.41 pose: 0.0 3.76917 0.0112679 0 -0.00667922 0.00786277 0.0570294 0.998319 uwb: 0.0 839.593 646.374 -imu_odom_: 1691062794.561465645 1.37906 -0.023942 10.568 -0.0607201 0.0639159 0.417584 0.08 0.41 pose: 0.34111854 3.77673 0.0178169 0 -0.00588644 0.00433083 0.0669327 0.997731 uwb: 0.49865859 838.272 646.743 -imu_odom_: 1691062794.577517425 0.414197 -0.148441 9.50977 -0.0575243 0.04048 0.351537 0.06 0.29 pose: 0.41834136 3.77667 0.0178073 0 -0.00440464 0.00101327 0.0761576 0.997086 uwb: 0.0 838.272 646.743 -imu_odom_: 1691062794.594515605 0.428562 -0.213084 10.0054 -0.0596548 0.0213053 0.278034 0.06 0.29 pose: 0.8004600 3.77673 0.0178171 0 -0.00363531 0.00106433 0.0774021 0.996993 uwb: 0.0 838.272 646.743 -imu_odom_: 1691062794.610456849 0.725443 0.0023942 9.96467 -0.052198 -0.0330232 0.230097 0.06 0.29 pose: 0.0 3.77673 0.0178171 0 -0.00363531 0.00106433 0.0774021 0.996993 uwb: 0.49929439 840.636 645.386 -imu_odom_: 1691062794.626510087 0.907402 -0.268151 9.76116 -0.0532632 -0.00426106 0.214118 0.07 0.35 pose: 0.40986604 3.77673 0.0178171 0 -0.000476807-0.00113528 0.0821838 0.996616 uwb: 0.0 840.636 645.386 -imu_odom_: 1691062794.642451039 0.782904 -0.23942 9.97424 -0.0500674 0.00852212 0.229032 0.04 0.26 pose: 0.0 3.77673 0.0178171 0 -0.000476807-0.00113528 0.0821838 0.996616 uwb: 0.0 840.636 645.386 -imu_odom_: 1691062794.659517757 0.174777 -0.423774 9.69652 -0.0511327 0.0255663 0.276969 0.04 0.26 pose: 0.0 3.77673 0.0178171 0 -0.000476807-0.00113528 0.0821838 0.996616 uwb: 0.50172965 840.336 645.547 -imu_odom_: 1691062794.675508873 0.37589 -0.466869 10.1083 -0.0596548 -0.0149137 0.291882 0.04 0.26 pose: 0.24060170 3.77673 0.0178169 0 -0.000415621-0.00348632 0.0843341 0.996431 uwb: 0.0 840.336 645.547 -imu_odom_: 1691062794.692564509 0.629675 -0.201113 9.89284 -0.036219 -0.0245011 0.267381 0.03 0.2 pose: 0.0 3.77673 0.0178169 0 -0.000415621-0.00348632 0.0843341 0.996431 uwb: 0.0 840.336 645.547 -imu_odom_: 1691062794.709448071 0.811634 0.0023942 9.80426 -0.0532632 0 0.258859 0.03 0.2 pose: 0.32998921 3.78324 0.0102259 0 -0.00218012 -0.00245635 0.0881129 0.996105 uwb: 0.49782448 838.963 645.807 -imu_odom_: 1691062794.733448161 0.596156 -0.316035 9.89524 -0.0543285 0.00958738 0.238619 0.03 0.2 pose: 0.41932131 3.78749 0.0138584 0 -0.000854066-0.00516147 0.0928843 0.995663 uwb: 0.0 838.963 645.807 -imu_odom_: 1691062794.749494691 -0.158017 -0.304064 9.72285 -0.0617853 0.0830906 0.217314 0.03 0.2 pose: 0.0 3.78749 0.0138584 0 -0.000854066-0.00516147 0.0928843 0.995663 uwb: 0.50247336 840.792 644.904 -imu_odom_: 1691062794.766494912 -1.14922 -0.172383 10.0437 -0.0607201 0.0841559 0.214118 0.05 0.14 pose: 0.7032824 3.79082 0.0167492 0 -0.00124554 -0.00569923 0.0935823 0.995594 uwb: 0.0 840.792 644.904 -imu_odom_: 1691062794.783454303 -1.22583 -0.339977 10.0341 -0.0628506 -0.0181095 0.209857 0.06 0.14 pose: 0.0 3.79082 0.0167492 0 -0.00124554 -0.00569923 0.0935823 0.995594 uwb: 0.0 840.792 644.904 -imu_odom_: 1691062794.800612599 -0.347159 -0.23942 9.74679 -0.0479369 -0.0553937 0.186421 0.1 0.2 pose: 0.0 3.79082 0.0167492 0 -0.00124554 -0.00569923 0.0935823 0.995594 uwb: 0.49851277 840.386 644.828 -imu_odom_: 1691062794.816507180 0.531513 -0.316035 10.0413 -0.0511327 -0.0617853 0.175769 0.1 0.2 pose: 0.74193180 3.79082 0.016749 0 -0.00301864 -0.0001623240.100141 0.994969 uwb: 0.0 840.386 644.828 -imu_odom_: 1691062794.833562523 0.691924 -0.335188 9.75877 -0.0607201 0.00958738 0.178964 0.12 0.14 pose: 0.0 3.79082 0.016749 0 -0.00301864 -0.0001623240.100141 0.994969 uwb: 0.0 840.386 644.828 -imu_odom_: 1691062794.850504998 0.251391 -0.447716 9.97903 -0.0617853 0.036219 0.170442 0.12 0.14 pose: 0.32779309 3.79082 0.016749 0 -0.00332118 -0.00207145 0.102423 0.994733 uwb: 0.50178215 840.844 644.185 -imu_odom_: 1691062794.866441868 -0.275333 -0.138864 9.74201 -0.0511327 0.0276969 0.157659 0.12 0.14 pose: 0.0 3.79082 0.016749 0 -0.00332118 -0.00207145 0.102423 0.994733 uwb: 0.0 840.844 644.185 -imu_odom_: 1691062794.883479421 0.201113 -0.220267 10.1347 -0.0660464 0.00319579 0.175769 0.1 0.08 pose: 0.42988484 3.79481 0.0202206 0 -0.00451005 0.000392493 0.105171 0.994444 uwb: 0.0 840.844 644.185 -imu_odom_: 1691062794.899484245 0.304064 -0.1652 9.9096 -0.0596548 0.02024 0.149137 0.1 0.08 pose: 0.7994683 3.79838 0.023291 0 -0.00430489 0.00117935 0.105716 0.994386 uwb: 0.49954813 839.912 644.604 -imu_odom_: 1691062794.915479444 0.201113 -0.19393 10.4435 -0.0447411 -0.0149137 0.135289 0.1 0.08 pose: 0.0 3.79838 0.023291 0 -0.00430489 0.00117935 0.105716 0.994386 uwb: 0.0 839.912 644.604 -imu_odom_: 1691062794.931418938 0.00957681 -0.289698 9.82341 -0.0340885 -0.0426106 0.155529 0.11 0.11 pose: 0.41042893 3.80209 0.0190249 0 -0.00203431 0.00443779 0.107975 0.994142 uwb: 0.0 839.912 644.604 -imu_odom_: 1691062794.947468384 -0.177171 -0.500388 9.89763 -0.0681769 -0.00639159 0.162985 0.15 0.08 pose: 0.0 3.80209 0.0190249 0 -0.00203431 0.00443779 0.107975 0.994142 uwb: 0.49801113 839.097 644.455 -imu_odom_: 1691062794.964585266 0.162806 -0.347159 10.1227 -0.0458064 -0.0245011 0.13955 0.15 0.08 pose: 0.0 3.80209 0.0190249 0 -0.00203431 0.00443779 0.107975 0.994142 uwb: 0.0 839.097 644.455 -imu_odom_: 1691062794.981447538 0.627281 -0.445322 9.83777 -0.0468716 -0.0149137 0.133158 0.17 0.11 pose: 0.23014025 3.80494 0.0157458 0 -0.00267899 0.00626497 0.109327 0.993983 uwb: 0.0 839.097 644.455 -imu_odom_: 1691062794.999611731 0.0502782 -0.3304 9.58399 -0.0532632 0.0394148 0.142745 0.17 0.11 pose: 0.0 3.80494 0.0157458 0 -0.00267899 0.00626497 0.109327 0.993983 uwb: 0.50199214 839.515 643.724 -imu_odom_: 1691062795.14589367 0.790087 -0.411803 10.5201 -0.0575243 -0.0213053 0.131028 0.17 0.11 pose: 0.34037191 3.81249 0.022307 0 -0.00459114 0.00717568 0.111084 0.993775 uwb: 0.0 839.515 643.724 -imu_odom_: 1691062795.30638814 0.979228 -0.181959 9.88566 -0.0585895 -0.0245011 0.151268 0.11 0.05 pose: 0.42058707 3.81249 0.022307 0 -0.00542592 0.00680271 0.113099 0.993546 uwb: 0.0 839.515 643.724 -imu_odom_: 1691062795.48658058 0.931344 -0.196325 10.1179 -0.0692422 0.0234358 0.213053 0.11 0.05 pose: 0.6982953 3.81249 0.022307 0 -0.00523169 0.00606228 0.113486 0.993507 uwb: 0.49984853 839.721 643.348 -imu_odom_: 1691062795.66586016 1.55623 -0.277727 10.2951 -0.0372843 -0.0639159 0.188552 0.1 0.05 pose: 0.0 3.81249 0.022307 0 -0.00523169 0.00606228 0.113486 0.993507 uwb: 0.0 839.721 643.348 -imu_odom_: 1691062795.82499554 1.43652 -0.0454898 9.46188 -0.04048 -0.00426106 0.129962 0.08 0.05 pose: 0.35023258 3.81249 0.022307 0 -0.0044233 0.00259635 0.116119 0.993222 uwb: 0.0 839.721 643.348 -imu_odom_: 1691062795.98433799 1.2809 -0.0023942 10.1227 -0.0660464 0.0490022 0.102265 0.08 0.02 pose: 0.0 3.81249 0.022307 0 -0.0044233 0.00259635 0.116119 0.993222 uwb: 0.49885985 841.046 642.138 -imu_odom_: 1691062795.114430749 0.292093 -0.0311246 10.137 -0.0575243 0 0.0777643 0.08 0.02 pose: 0.0 3.81249 0.022307 0 -0.0044233 0.00259635 0.116119 0.993222 uwb: 0.0 841.046 642.138 -imu_odom_: 1691062795.130433823 0.519542 -0.380678 9.84256 -0.0585895 -0.00958738 0.0394148 0.06 0.05 pose: 0.32968299 3.81999 0.0289262 0 -0.00327722 -0.0006218840.117781 0.993034 uwb: 0.0 841.046 642.138 -imu_odom_: 1691062795.146430481 0.890643 -0.186748 10.1083 -0.0543285 -0.0415453 0.0415453 0.06 0.05 pose: 0.0 3.81999 0.0289262 0 -0.00327722 -0.0006218840.117781 0.993034 uwb: 0.0 841.046 642.138 -imu_odom_: 1691062795.163409122 0.775721 -0.296881 9.61033 -0.056459 -0.00106526 0.0681769 0.06 0.05 pose: 0.31940528 3.82661 0.0214354 0 -0.00216769 -0.0008093020.118357 0.992968 uwb: 0.49941106 839.869 642.019 -imu_odom_: 1691062795.179462943 0.857124 -0.409408 10.082 -0.0628506 0.0181095 0.0830906 0.07 0.05 pose: 0.41904717 3.82661 0.0214354 0 -0.00224421 -0.00499255 0.118602 0.992927 uwb: 0.0 839.869 642.019 -imu_odom_: 1691062795.196436625 0.64404 -0.385466 9.83059 -0.0479369 0 0.0713727 0.07 0.05 pose: 0.7001326 3.82661 0.0214354 0 -0.00245218 -0.0055964 0.118752 0.992905 uwb: 0.49849529 838.171 642.421 -imu_odom_: 1691062795.213585005 0.675165 -0.141258 9.8665 -0.052198 0.00426106 0.0596548 0.07 0.05 pose: 0.0 3.82661 0.0214354 0 -0.00245218 -0.0055964 0.118752 0.992905 uwb: 0.0 838.171 642.421 -imu_odom_: 1691062795.229575539 0.703895 -0.172383 9.79707 -0.0532632 -0.00319579 0.0660464 0.04 0.05 pose: 0.43174557 3.82661 0.0214354 0 -0.00212028 -0.00859447 0.11937 0.99281 uwb: 0.0 838.171 642.421 -imu_odom_: 1691062795.256457705 0.730232 -0.241814 9.98622 -0.0553937 -0.00426106 0.0660464 0.05 0.05 pose: 0.0 3.82661 0.0214354 0 -0.00212028 -0.00859447 0.11937 0.99281 uwb: 0.50148760 837.723 642.263 -imu_odom_: 1691062795.272573065 0.110133 -0.466869 9.67736 -0.0649811 0.0639159 0.0245011 0.05 0.05 pose: 0.24084378 3.83413 0.0280264 0 -0.000827128-0.0105415 0.119671 0.992757 uwb: 0.0 837.723 642.263 -imu_odom_: 1691062795.289571829 -0.936133 0.131681 10.3118 -0.0468716 0.106526 -0.104396 0.04 0.05 pose: 0.0 3.83413 0.0280264 0 -0.000827128-0.0105415 0.119671 0.992757 uwb: 0.0 837.723 642.263 -imu_odom_: 1691062795.306451309 -1.47243 0.308852 9.75877 -0.0415453 -0.0213053 -0.186421 0.04 0.05 pose: 0.0 3.83413 0.0280264 0 -0.000827128-0.0105415 0.119671 0.992757 uwb: 0.0 837.723 642.263 -imu_odom_: 1691062795.323573732 -0.45011 -0.196325 9.97185 -0.0585895 -0.0777643 -0.236489 0.1 -0.35 pose: 0.26922122 3.83413 0.0280264 0 -0.000864514-0.0113908 0.119853 0.992726 uwb: 0.0 837.723 642.263 -imu_odom_: 1691062795.340417047 0.361524 -0.373495 9.55047 -0.0532632 -0.0372843 -0.286556 0.1 -0.35 pose: 0.41859804 3.83407 0.0280164 0 -0.000724124-0.00626365 0.116693 0.993148 uwb: 0.0 837.723 642.263 -imu_odom_: 1691062795.356562738 0.189142 -0.418985 10.0772 -0.0500674 0.0138484 -0.289752 0.1 -0.35 pose: 0.0 3.83407 0.0280164 0 -0.000724124-0.00626365 0.116693 0.993148 uwb: 0.0 837.723 642.263 -imu_odom_: 1691062795.372464318 0.217872 -0.289698 9.80186 -0.0671117 0.0245011 -0.302535 0.1 -0.38 pose: 0.7060531 3.83413 0.0280264 0 -0.000747581-0.0058191 0.115727 0.993264 uwb: 0.0 837.723 642.263 -imu_odom_: 1691062795.388468851 -0.371101 -0.191536 9.66779 -0.052198 0.0181095 -0.354733 0.1 -0.38 pose: 0.0 3.83413 0.0280264 0 -0.000747581-0.0058191 0.115727 0.993264 uwb: 0.0 837.723 642.263 -imu_odom_: 1691062795.404405721 -0.237026 -0.124498 9.95988 -0.04048 -0.0138484 -0.413323 0.1 -0.38 pose: 0.0 3.83413 0.0280264 0 -0.000747581-0.0058191 0.115727 0.993264 uwb: 0.150039431 839.104 641.15 -imu_odom_: 1691062795.420561328 0.25618 0.071826 9.69891 -0.0490022 -0.0308927 -0.444215 0.11 -0.47 pose: 0.49967938 3.83413 0.0280259 0 -0.00304797 -0.00213589 0.107819 0.994164 uwb: 0.0 839.104 641.15 -imu_odom_: 1691062795.437557467 0.225055 -0.179565 9.72525 -0.0681769 -0.0383495 -0.445281 0.14 -0.55 pose: 0.0 3.83413 0.0280259 0 -0.00304797 -0.00213589 0.107819 0.994164 uwb: 0.0 839.104 641.15 -imu_odom_: 1691062795.454548357 0.445322 -0.0837971 10.3837 -0.0607201 -0.04048 -0.478304 0.14 -0.55 pose: 0.64144706 3.8483 0.0270992 0 -0.00115596 0.00308277 0.0939881 0.995568 uwb: 0.0 839.104 641.15 -imu_odom_: 1691062795.471618575 0.047884 -0.0933739 9.53132 -0.0639159 -0.0436758 -0.512392 0.12 -0.5 pose: 0.0 3.8483 0.0270992 0 -0.00115596 0.00308277 0.0939881 0.995568 uwb: 0.0 839.104 641.15 -imu_odom_: 1691062795.488640671 0.636858 -0.0023942 10.0868 -0.0660464 -0.00532632 -0.527306 0.12 -0.5 pose: 0.0 3.8483 0.0270992 0 -0.00115596 0.00308277 0.0939881 0.995568 uwb: 0.0 839.104 641.15 -imu_odom_: 1691062795.506547047 -0.198719 -0.318429 9.70849 -0.0468716 -0.00745685 -0.548611 0.12 -0.5 pose: 0.33987904 3.8483 0.0270994 0 0.000606011 0.00309041 0.0852735 0.996353 uwb: 0.99936167 837.912 641.016 -imu_odom_: 1691062795.520580907 0.150835 -0.234632 9.99579 -0.0319579 -0.0234358 -0.568851 0.13 -0.55 pose: 0.44934659 3.85581 0.0336988 0 0.00121526 0.00416002 0.0724619 0.997362 uwb: 0.0 837.912 641.016 -imu_odom_: 1691062795.537532132 0.837971 -0.124498 10.0293 -0.0543285 -0.0436758 -0.52411 0.13 -0.55 pose: 0.5892185 3.85581 0.0336988 0 0.00107571 0.00466389 0.070672 0.997488 uwb: 0.0 837.912 641.016 -imu_odom_: 1691062795.554641723 1.07021 -0.203507 9.61511 -0.076699 -0.0394148 -0.401605 0.13 -0.55 pose: 0.0 3.85581 0.0336988 0 0.00107571 0.00466389 0.070672 0.997488 uwb: 0.50040267 839.412 639.312 -imu_odom_: 1691062795.571734398 1.35033 -0.641646 10.1299 -0.0553937 -0.00745685 -0.336624 0.1 -0.47 pose: 0.42202491 3.85965 0.0292316 0 0.00110335 0.00134771 0.0596701 0.998217 uwb: 0.0 839.412 639.312 -imu_odom_: 1691062795.587601856 1.35751 -0.342371 9.79228 -0.0628506 -0.0255663 -0.291882 0.1 -0.41 pose: 0.0 3.85965 0.0292316 0 0.00110335 0.00134771 0.0596701 0.998217 uwb: 0.0 839.412 639.312 -imu_odom_: 1691062795.605635391 1.48441 -0.0622492 10.0963 -0.0532632 0 -0.241815 0.1 -0.41 pose: 0.0 3.85965 0.0292316 0 0.00110335 0.00134771 0.0596701 0.998217 uwb: 0.50244421 837.467 640.03 -imu_odom_: 1691062795.621426728 1.37427 -0.304064 9.68933 -0.0394148 0.0308927 -0.237554 0.07 -0.32 pose: 0.25097858 3.8699 0.0327203 0 0.000381741 -0.00115157 0.055137 0.998478 uwb: 0.0 837.467 640.03 -imu_odom_: 1691062795.637400929 0.490811 -0.179565 9.65342 -0.036219 0.0394148 -0.255663 0.07 -0.32 pose: 0.0 3.8699 0.0327203 0 0.000381741 -0.00115157 0.055137 0.998478 uwb: 0.0 837.467 640.03 -imu_odom_: 1691062795.653396712 0.454898 -0.124498 10.0485 -0.0490022 -0.00958738 -0.252468 0.07 -0.32 pose: 0.32875554 3.8699 0.0327202 0 0.000675317 -0.00431992 0.0503369 0.998723 uwb: 0.49827947 837.007 639.85 -imu_odom_: 1691062795.669451700 0.526724 -0.213084 9.91678 -0.0639159 -0.00532632 -0.238619 0.06 -0.26 pose: 0.40781577 3.86984 0.03271 0 0.00367971 -0.00318562 0.0444154 0.999001 uwb: 0.0 837.007 639.85 -imu_odom_: 1691062795.686379302 0.586579 -0.318429 9.97424 -0.0639159 -0.00958738 -0.209857 0.06 -0.26 pose: 0.8013349 3.8699 0.0327204 0 0.00306373 -0.00373564 0.0433056 0.99905 uwb: 0.0 837.007 639.85 -imu_odom_: 1691062795.703478976 0.739808 -0.366313 9.90002 -0.052198 -0.00852212 -0.194943 0.06 -0.26 pose: 0.0 3.8699 0.0327204 0 0.00306373 -0.00373564 0.0433056 0.99905 uwb: 0.49849528 837.786 639.061 -imu_odom_: 1691062795.719426929 0.732626 -0.280122 9.78031 -0.0511327 -0.00532632 -0.16192 0.05 -0.17 pose: 0.42068915 3.8699 0.0327204 0 0.000100137 -0.0067783 0.0380929 0.999251 uwb: 0.0 837.786 639.061 -imu_odom_: 1691062795.736395070 0.577003 -0.227449 9.88087 -0.0596548 0.0138484 -0.145941 0.04 -0.14 pose: 0.0 3.8699 0.0327204 0 0.000100137 -0.0067783 0.0380929 0.999251 uwb: 0.0 837.786 639.061 -imu_odom_: 1691062795.762443121 0.577003 -0.318429 9.88087 -0.0596548 -0.0127832 -0.128897 0.04 -0.14 pose: 0.22981361 3.8699 0.0327206 0 -0.000354307-0.00896231 0.0358381 0.999317 uwb: 0.49935565 835.902 639.086 -imu_odom_: 1691062795.779445676 0.45011 -0.222661 10.0221 -0.0628506 0.0149137 -0.131028 0.04 -0.17 pose: 0.0 3.8699 0.0327206 0 -0.000354307-0.00896231 0.0358381 0.999317 uwb: 0.0 835.902 639.086 -imu_odom_: 1691062795.796558183 -0.179565 -0.296881 9.76355 -0.0553937 0.0660464 -0.184291 0.04 -0.17 pose: 0.0 3.8699 0.0327206 0 -0.000354307-0.00896231 0.0358381 0.999317 uwb: 0.50085473 836.31 638.307 -imu_odom_: 1691062795.813375542 -1.37188 0.232238 9.81383 -0.0447411 0.0436758 -0.154463 0.1 -0.17 pose: 0.70097846 3.87741 0.0393271 0 -0.00263817 -0.00548722 0.0293876 0.99955 uwb: 0.0 836.31 638.307 -imu_odom_: 1691062795.830427678 -1.04387 -0.787692 10.0102 -0.0745685 -0.0575243 -0.0628506 0.1 -0.17 pose: 0.0 3.87741 0.0393271 0 -0.00263817 -0.00548722 0.0293876 0.99955 uwb: 0.0 836.31 638.307 -imu_odom_: 1691062795.846367756 -0.0550666 -0.411803 9.95988 -0.052198 -0.0798948 -0.0894822 0.1 -0.17 pose: 0.0 3.87741 0.0393271 0 -0.00263817 -0.00548722 0.0293876 0.99955 uwb: 0.0 836.31 638.307 -imu_odom_: 1691062795.862426244 0.725443 -0.0383072 10.1849 -0.0340885 -0.0745685 -0.056459 0.09 -0.11 pose: 0.6903333 3.87741 0.0393271 0 -0.00244452 -0.00465061 0.0287189 0.999574 uwb: 0.50033559 836.816 637.743 -imu_odom_: 1691062795.878420860 0.687136 -0.0167594 9.85214 -0.0692422 0.0181095 -0.0298274 0.09 -0.11 pose: 0.0 3.87741 0.0393271 0 -0.00244452 -0.00465061 0.0287189 0.999574 uwb: 0.0 836.816 637.743 -imu_odom_: 1691062795.895404459 -0.0311246 -0.275333 10.1275 -0.0415453 0.0276969 -0.0745685 0.09 -0.11 pose: 0.0 3.87741 0.0393271 0 -0.00244452 -0.00465061 0.0287189 0.999574 uwb: 0.0 836.816 637.743 -imu_odom_: 1691062795.911714348 -0.160412 -0.28491 9.68455 -0.0543285 -0.0372843 -0.0873517 0.11 -0.11 pose: 0.49972313 3.88398 0.0317924 0 -0.0027957 -0.00217658 0.02553 0.999668 uwb: 0.49954813 836.048 637.729 -imu_odom_: 1691062795.929653388 0.0526724 -0.158017 9.5792 -0.0649811 -0.0383495 -0.0575243 0.15 -0.11 pose: 0.0 3.88398 0.0317924 0 -0.0027957 -0.00217658 0.02553 0.999668 uwb: 0.0 836.048 637.729 -imu_odom_: 1691062795.946536368 0.361524 -0.129287 9.76834 -0.0575243 -0.0245011 -0.0585895 0.15 -0.11 pose: 0.66237871 3.89151 0.0383699 0 -0.00110166 -9.73514e-050.0221507 0.999754 uwb: 0.0 836.048 637.729 -imu_odom_: 1691062795.960446860 0.23942 -0.265756 9.79228 -0.0798948 -0.00532632 -0.0298274 0.12 -0.08 pose: 0.0 3.89151 0.0383699 0 -0.00110166 -9.73514e-050.0221507 0.999754 uwb: 0.49876944 836.736 636.722 -imu_odom_: 1691062795.977439791 0.208296 -0.457293 9.8282 -0.056459 0.00639159 -0.0585895 0.12 -0.08 pose: 0.0 3.89151 0.0383699 0 -0.00110166 -9.73514e-050.0221507 0.999754 uwb: 0.0 836.736 636.722 -imu_odom_: 1691062795.993376078 -0.0023942 -0.306458 9.96467 -0.0735032 -0.00319579 -0.0532632 0.12 -0.08 pose: 0.32932134 3.89151 0.0383701 0 0.00032319 0.00155314 0.0206295 0.999786 uwb: 0.0 836.736 636.722 -imu_odom_: 1691062796.10435797 0.0646434 -0.258574 9.91678 -0.072438 -0.00106526 -0.0298274 0.13 -0.05 pose: 0.40772244 3.89812 0.0308604 0 -0.00204362 0.00478924 0.0187816 0.99981 uwb: 0.50054558 836.236 636.457 -imu_odom_: 1691062796.27559971 0.469264 -0.395043 10.3789 -0.0660464 -0.0330232 -0.0340885 0.13 -0.05 pose: 0.7071031 3.89812 0.0308604 0 -0.00213502 0.00550525 0.0185378 0.999811 uwb: 0.0 836.236 636.457 -imu_odom_: 1691062796.44437410 0.634463 -0.270545 9.98861 -0.0553937 -0.0308927 -0.0415453 0.13 -0.05 pose: 0.0 3.89812 0.0308604 0 -0.00213502 0.00550525 0.0185378 0.999811 uwb: 0.0 836.236 636.457 -imu_odom_: 1691062796.62431281 1.08697 -0.0814029 10.0485 -0.0553937 -0.0671117 -0.0266316 0.12 -0.08 pose: 0.33996071 3.90565 0.0374319 0 -0.00326444 0.00405171 0.0172736 0.999837 uwb: 0.50050184 837.247 635.308 -imu_odom_: 1691062796.79505583 1.02232 -0.155623 9.61033 -0.0553937 0.0245011 0.0170442 0.1 -0.05 pose: 0.0 3.90565 0.0374319 0 -0.00326444 0.00405171 0.0172736 0.999837 uwb: 0.0 837.247 635.308 -imu_odom_: 1691062796.96504056 1.16119 -0.603339 10.3645 -0.0585895 -0.0117179 0.0436758 0.1 -0.05 pose: 0.35063798 3.90565 0.0374322 0 -0.00259556 2.29476e-05 0.016186 0.999866 uwb: 0.0 837.247 635.308 -imu_odom_: 1691062796.114432597 1.25456 -0.320823 9.97903 -0.052198 -0.0191748 -0.00213053 0.09 -0.08 pose: 0.0 3.90565 0.0374322 0 -0.00259556 2.29476e-05 0.016186 0.999866 uwb: 0.50103265 838.331 634.311 -imu_odom_: 1691062796.129428317 1.09894 0.1652 9.79947 -0.0223706 0.00106526 -0.0426106 0.09 -0.08 pose: 0.0 3.90565 0.0374322 0 -0.00259556 2.29476e-05 0.016186 0.999866 uwb: 0.0 838.331 634.311 -imu_odom_: 1691062796.146372543 0.794875 -0.0694318 9.50977 -0.0596548 -0.00213053 -0.036219 0.09 -0.08 pose: 0.34879476 3.91226 0.0299293 0 -0.00313357 -0.00328533 0.0159355 0.999863 uwb: 0.0 838.331 634.311 -imu_odom_: 1691062796.163349142 0.76375 -0.488417 10.0796 -0.056459 0.00106526 -0.0468716 0.08 -0.05 pose: 0.32048439 3.91977 0.0365375 0 -0.00163463 -0.00610327 0.0148312 0.99987 uwb: 0.49872570 838.198 634.01 -imu_odom_: 1691062796.180406820 0.754174 -0.488417 9.80426 -0.0628506 -0.0127832 -0.0660464 0.08 -0.05 pose: 0.0 3.91977 0.0365375 0 -0.00163463 -0.00610327 0.0148312 0.99987 uwb: 0.0 838.198 634.01 -imu_odom_: 1691062796.198407399 0.739808 -0.172383 9.88087 -0.0468716 -0.0127832 -0.0575243 0.06 -0.02 pose: 0.43971927 3.91977 0.0365375 0 -0.0036901 -0.00924128 0.0128294 0.999868 uwb: 0.49976980 837.903 633.344 -imu_odom_: 1691062796.212362806 0.617704 -0.160412 9.69891 -0.0596548 -0.00106526 -0.0255663 0.06 -0.02 pose: 0.0 3.91977 0.0365375 0 -0.0036901 -0.00924128 0.0128294 0.999868 uwb: 0.0 837.903 633.344 -imu_odom_: 1691062796.238367985 0.677559 -0.335188 9.82102 -0.0500674 0.0149137 -0.0500674 0.06 -0.02 pose: 0.0 3.91977 0.0365375 0 -0.0036901 -0.00924128 0.0128294 0.999868 uwb: 0.0 837.903 633.344 -imu_odom_: 1691062796.263513382 -0.823605 -0.191536 9.30626 -0.0585895 0.110787 0 0.05 0 pose: 0.8000517 3.91977 0.0365375 0 -0.00316702 -0.00991266 0.0124345 0.999869 uwb: 0.49983106 838.402 632.738 -imu_odom_: 1691062796.280418236 -1.39103 -0.407014 10.5153 -0.0479369 0.0127832 0.0181095 0.07 -0.02 pose: 0.0 3.91977 0.0365375 0 -0.00316702 -0.00991266 0.0124345 0.999869 uwb: 0.0 838.402 632.738 -imu_odom_: 1691062796.306398916 0.217872 0.0047884 9.96467 -0.0553937 -0.11931 0.0223706 0.07 -0.02 pose: 0.82069458 3.91977 0.0365375 0 -0.00316397 -0.00735028 0.00975922 0.99992 uwb: 0.50069433 839.8 631.562 -imu_odom_: 1691062796.323531840 0.574608 -0.342371 9.4547 -0.0532632 -0.0490022 0.0308927 0.08 0 pose: 0.0 3.91977 0.0365375 0 -0.00316397 -0.00735028 0.00975922 0.99992 uwb: 0.0 839.8 631.562 -imu_odom_: 1691062796.348390546 0.241814 -0.134075 9.93354 -0.0500674 -0.00106526 0.0127832 0.08 0 pose: 0.18060076 3.91977 0.0365375 0 -0.00265105 -0.00613782 0.00958651 0.999932 uwb: 0.49999729 839.869 630.84 -imu_odom_: 1691062796.375517116 -0.167594 -0.308852 10.1011 -0.0479369 -0.00319579 0.00745685 0.14 -0.02 pose: 0.42887867 3.93388 0.035602 0 -0.00251833 -0.00641303 0.00926035 0.999933 uwb: 0.0 839.869 630.84 -imu_odom_: 1691062796.391375241 -0.00957681-0.150835 10.0556 -0.0500674 -0.0298274 0.0191748 0.14 -0.02 pose: 0.0 3.93388 0.035602 0 -0.00251833 -0.00641303 0.00926035 0.999933 uwb: 0.0 839.869 630.84 -imu_odom_: 1691062796.408354173 0.184354 -0.433351 9.76834 -0.0436758 0 0.0191748 0.17 -0.05 pose: 0.23940887 3.93388 0.035602 0 -0.0018184 -0.00413595 0.00892253 0.99995 uwb: 0.50058059 838.11 631.197 -imu_odom_: 1691062796.425522094 0.0814029 -0.229843 10.0604 -0.0394148 -0.0127832 0.00532632 0.12 -0.02 pose: 0.0 3.93388 0.035602 0 -0.0018184 -0.00413595 0.00892253 0.99995 uwb: 0.0 838.11 631.197 -imu_odom_: 1691062796.451361617 0.409408 -0.19393 9.80186 -0.0585895 -0.0351537 0.0255663 0.13 0.02 pose: 0.70156469 3.94142 0.0421707 0 -0.0022171 0.00221454 0.00798491 0.999963 uwb: 0.49990688 838.186 630.495 -imu_odom_: 1691062796.477423959 0.253785 -0.208296 10.082 -0.0607201 -0.0340885 0.0447411 0.13 0 pose: 0.0 3.94142 0.0421707 0 -0.0022171 0.00221454 0.00798491 0.999963 uwb: 0.0 838.186 630.495 -imu_odom_: 1691062796.502404575 -0.071826 -0.351948 9.44273 -0.0639159 -0.00319579 0.0149137 0.13 0 pose: 0.32864182 3.94798 0.034625 0 -0.0001781970.000833138 0.00782421 0.999969 uwb: 0.49985147 839.089 629.922 -imu_odom_: 1691062796.519475668 -0.158017 -0.181959 9.72525 -0.0532632 -0.02024 0.0191748 0.14 0 pose: 0.44018299 3.95349 0.0394097 0 -0.0009849390.0048403 0.00756426 0.999959 uwb: 0.0 839.089 629.922 -imu_odom_: 1691062796.536460434 0.232238 -0.19393 10.1945 -0.0415453 -0.0575243 0.02024 0.14 0 pose: 0.7016201 3.95553 0.0411849 0 -0.0009068670.00548225 0.0074937 0.999956 uwb: 0.0 839.089 629.922 -imu_odom_: 1691062796.553363829 0.600945 -0.306458 9.26795 -0.0468716 -0.0468716 0.0181095 0.14 0 pose: 0.0 3.95553 0.0411849 0 -0.0009068670.00548225 0.0074937 0.999956 uwb: 0.49990980 837.779 630.443 -imu_odom_: 1691062796.578409191 0.497994 -0.146046 9.85453 -0.0340885 -0.0596548 0.0234358 0.18 -0.05 pose: 0.33932783 3.96209 0.0336338 0 0.000255055 0.00644225 0.00716055 0.999954 uwb: 0.0 837.779 630.443 -imu_odom_: 1691062796.595452870 1.12049 -0.112527 10.2615 -0.0468716 -0.0617853 0.0436758 0.18 -0.05 pose: 0.0 3.96209 0.0336338 0 0.000255055 0.00644225 0.00716055 0.999954 uwb: 0.0 837.779 630.443 -imu_odom_: 1691062796.611517774 0.802058 -0.435745 9.5385 -0.0585895 0.015979 0.0340885 0.17 -0.02 pose: 0.52099311 3.9663 0.0372911 0 0.00137636 2.66199e-05 0.00688842 0.999975 uwb: 0.49879861 839.417 628.908 -imu_odom_: 1691062796.629451857 0.25618 -0.0383072 10.6614 -0.0383495 -0.00852212 0.0149137 0.17 -0.02 pose: 0.0 3.9663 0.0372911 0 0.00137636 2.66199e-05 0.00688842 0.999975 uwb: 0.0 839.417 628.908 -imu_odom_: 1691062796.646328129 0.531513 -0.126893 10.1155 -0.0649811 0.00852212 0.0468716 0.15 0 pose: 0.0 3.9663 0.0372911 0 0.00137636 2.66199e-05 0.00688842 0.999975 uwb: 0.0 839.417 628.908 -imu_odom_: 1691062796.669620389 0.603339 -0.251391 10.137 -0.056459 -0.0394148 0.0298274 0.15 0 pose: 0.40958900 3.97619 0.0326227 0 0.00212319 -0.0005233530.00664995 0.999975 uwb: 0.50095682 838.685 628.995 -imu_odom_: 1691062796.694344645 -0.0622492 -0.143652 10.2448 -0.0607201 0.00106526 0.0500674 0.18 0 pose: 0.33208619 3.9814 0.0371334 0 0.00140464 -0.00388878 0.00657989 0.99997 uwb: 0.0 838.685 628.995 -imu_odom_: 1691062796.721385761 0.550666 -0.380678 9.72525 -0.0607201 -0.0479369 0.0223706 0.21 -0.02 pose: 0.0 3.9814 0.0371334 0 0.00140464 -0.00388878 0.00657989 0.99997 uwb: 0.49848947 839.443 628.077 -imu_odom_: 1691062796.737448041 0.0933739 -0.201113 9.84256 -0.0532632 0.0340885 0.0276969 0.18 0 pose: 0.31735791 3.98375 0.0391655 0 0.000905723 -0.0018839 0.00664603 0.999976 uwb: 0.0 839.443 628.077 -imu_odom_: 1691062796.754391392 0.141258 -0.237026 10.2232 -0.0649811 -0.0255663 0.0436758 0.18 0 pose: 0.0 3.98375 0.0391655 0 0.000905723 -0.0018839 0.00664603 0.999976 uwb: 0.50038227 840.521 627 -imu_odom_: 1691062796.770376677 0.488417 -0.366313 9.86411 -0.072438 -0.0394148 0.0223706 0.16 0 pose: 0.0 3.98375 0.0391655 0 0.000905723 -0.0018839 0.00664603 0.999976 uwb: 0.0 840.521 627 -imu_odom_: 1691062796.787311570 0.167594 -0.201113 9.78031 -0.0351537 0.0490022 0.02024 0.16 0 pose: 0.61032521 3.99786 0.0381453 0 -0.00158272 -0.0005409960.00634906 0.999978 uwb: 0.0 840.521 627 -imu_odom_: 1691062796.804367498 0.217872 -0.196325 9.81862 -0.0649811 -0.00639159 0.0617853 0.16 0 pose: 0.0 3.99786 0.0381453 0 -0.00158272 -0.0005409960.00634906 0.999978 uwb: 0.49976397 839.405 627.095 -imu_odom_: 1691062796.821364221 0.198719 -0.179565 9.68933 -0.0585895 -0.015979 0.0383495 0.24 0 pose: 0.41978797 3.99786 0.0381453 0 -0.0013603 0.00260268 0.00631174 0.999976 uwb: 0.0 839.405 627.095 -imu_odom_: 1691062796.837362921 0.287304 -0.253785 9.21528 -0.0500674 -0.0276969 0.0255663 0.24 0 pose: 0.0 3.99786 0.0381453 0 -0.0013603 0.00260268 0.00631174 0.999976 uwb: 0.0 839.405 627.095 -imu_odom_: 1691062796.854387351 0.131681 -0.294487 10.2017 -0.0617853 -0.00639159 0.0383495 0.24 0 pose: 0.25003656 4.01197 0.0372577 0 -0.00117813 0.00467546 0.00624786 0.999969 uwb: 0.50215841 838.837 626.674 -imu_odom_: 1691062796.871320203 0.687136 -0.42138 9.96467 -0.0649811 -0.0117179 0.0213053 0.17 0 pose: 0.0 4.01197 0.0372577 0 -0.00117813 0.00467546 0.00624786 0.999969 uwb: 0.0 838.837 626.674 -imu_odom_: 1691062796.886317380 -0.0430956 -0.23942 9.62469 -0.0415453 0.0436758 0.0223706 0.17 -0.02 pose: 0.0 4.01197 0.0372577 0 -0.00117813 0.00467546 0.00624786 0.999969 uwb: 0.0 838.837 626.674 -imu_odom_: 1691062796.911309954 0.648829 -0.47884 10.1059 -0.0596548 0.00426106 0.0436758 0.17 -0.02 pose: 0.33017589 4.01197 0.0372577 0 -0.00245641 0.00609606 0.00610403 0.99996 uwb: 0.49994188 839.798 625.314 -imu_odom_: 1691062796.936307193 0.577003 -0.035913 10.3046 -0.0372843 -0.0106526 0.0276969 0.23 -0.02 pose: 0.30956504 4.01197 0.0372577 0 -0.00295913 0.00649633 0.00590342 0.999957 uwb: 0.0 839.798 625.314 -imu_odom_: 1691062796.959347468 0.531513 -0.203507 10.3908 -0.0617853 -0.0127832 0.04048 0.23 -0.02 pose: 0.42961946 4.02609 0.0363586 0 -0.0019145 0.00308974 0.00578237 0.999977 uwb: 0.49886861 840.232 624.516 -imu_odom_: 1691062796.984465451 0.325611 -0.0790087 9.84496 -0.0266316 -0.0319579 0.0106526 0.19 0 pose: 0.0 4.02609 0.0363586 0 -0.0019145 0.00308974 0.00578237 0.999977 uwb: 0.0 840.232 624.516 -imu_odom_: 1691062797.1478506 0.732626 -0.277727 9.72525 -0.092678 -0.00106526 0.0500674 0.19 0 pose: 0.6042094 4.02609 0.0363586 0 -0.00177789 0.00247991 0.00578457 0.999979 uwb: 0.49877237 840.704 623.804 -imu_odom_: 1691062797.26479246 0.47884 -0.493206 9.61033 -0.0490022 0.0127832 0.0149137 0.22 -0.02 pose: 0.0 4.02609 0.0363586 0 -0.00177789 0.00247991 0.00578457 0.999979 uwb: 0.0 840.704 623.804 -imu_odom_: 1691062797.50398260 0.684742 -0.318429 10.0604 -0.0756338 -0.00639159 0.0511327 0.22 0 pose: 0.49124198 4.03359 0.0429626 0 0.00101522 0.00066273 0.00546833 0.999984 uwb: 0.49997980 840.128 623.359 -imu_odom_: 1691062797.65469808 0.136469 -0.399832 9.43076 -0.0468716 0.0127832 0.0351537 0.22 0 pose: 0.0 4.03359 0.0429626 0 0.00101522 0.00066273 0.00546833 0.999984 uwb: 0.0 840.128 623.359 -imu_odom_: 1691062797.90427676 0.124498 -0.0622492 9.82102 -0.0639159 0.02024 0.0543285 0.22 0 pose: 0.42093125 4.0402 0.0354505 0 -0.00200076 -0.00137842 0.00525469 0.999983 uwb: 0.0 840.128 623.359 -imu_odom_: 1691062797.107464064 0.131681 -0.416591 9.93354 -0.0628506 -0.00639159 0.0596548 0.17 0.02 pose: 0.0 4.0402 0.0354505 0 -0.00200076 -0.00137842 0.00525469 0.999983 uwb: 0.50092184 839.111 622.795 -imu_odom_: 1691062797.133325753 0.25618 -0.162806 10.0556 -0.0426106 0.0340885 0.0383495 0.17 0.02 pose: 0.38864570 4.04771 0.0420484 0 -0.00275085 -0.0008578460.00537333 0.999981 uwb: 0.0 839.111 622.795 -imu_odom_: 1691062797.157427922 0.490811 -0.361524 10.003 -0.04048 0.0223706 0.0372843 0.19 -0.02 pose: 0.0 4.04771 0.0420484 0 -0.00275085 -0.0008578460.00537333 0.999981 uwb: 0.49870530 837.826 622.526 -imu_odom_: 1691062797.172402351 0.129287 -0.0766145 9.49301 -0.0245011 -0.00213053 0.0298274 0.19 -0.02 pose: 0.0 4.04771 0.0420484 0 -0.00275085 -0.0008578460.00537333 0.999981 uwb: 0.0 837.826 622.526 -imu_odom_: 1691062797.197293723 0.497994 -0.414197 9.45231 -0.0639159 -0.0138484 0.0500674 0.17 0.02 pose: 0.8022391 4.05431 0.0345353 0 -0.00218607 0.00296043 0.00567854 0.999977 uwb: 0.50212343 838.585 621.562 -imu_odom_: 1691062797.222438830 0.806846 -0.205901 10.07 -0.0490022 -0.0596548 0.052198 0.17 0 pose: 0.81807268 4.07373 0.0382919 0 -0.00278832 0.00227573 0.00568948 0.999977 uwb: 0.0 838.585 621.562 -imu_odom_: 1691062797.236448484 0.847547 -0.277727 10.0628 -0.0745685 -0.0319579 0.0671117 0.22 0 pose: 0.0 4.07373 0.0382919 0 -0.00278832 0.00227573 0.00568948 0.999977 uwb: 0.0 838.585 621.562 -imu_odom_: 1691062797.261546635 0.744597 -0.141258 9.75398 -0.0479369 0.0213053 0.0266316 0.22 0 pose: 0.7036034 4.07593 0.0402323 0 -0.00266146 0.00138428 0.00573266 0.999979 uwb: 0.49855656 837.517 620.894 -imu_odom_: 1691062797.278354370 0.0502782 -0.268151 9.8689 -0.072438 0.00745685 0.0692422 0.17 0 pose: 0.0 4.07593 0.0402323 0 -0.00266146 0.00138428 0.00573266 0.999979 uwb: 0.0 837.517 620.894 -imu_odom_: 1691062797.303288031 0.31364 -0.148441 9.97903 -0.0543285 0.0149137 0.0383495 0.17 0 pose: 0.39062016 4.07593 0.0402323 0 -0.00221817 -0.00305739 0.0059863 0.999975 uwb: 0.50016647 836.226 620.63 -imu_odom_: 1691062797.320396456 0.799663 -0.172383 10.0987 -0.0617853 -0.00106526 0.0500674 0.18 0.02 pose: 0.0 4.07593 0.0402323 0 -0.00221817 -0.00305739 0.0059863 0.999975 uwb: 0.0 836.226 620.63 -imu_odom_: 1691062797.336279372 0.416591 -0.191536 9.89045 -0.0809601 -0.0245011 0.0628506 0.18 0.02 pose: 0.0 4.07593 0.0402323 0 -0.00221817 -0.00305739 0.0059863 0.999975 uwb: 0.0 836.226 620.63 -imu_odom_: 1691062797.363326031 0.622492 -0.0670376 10.4387 -0.0585895 0.0149137 0.0532632 0.24 0 pose: 0.42917325 4.09005 0.0393363 0 -0.00123695 -0.00199019 0.00610862 0.999979 uwb: 0.50034145 838.64 618.933 -imu_odom_: 1691062797.379291775 -0.035913 -0.37589 9.00699 -0.0916127 0.0340885 0.0607201 0.24 0 pose: 0.0 4.09005 0.0393363 0 -0.00123695 -0.00199019 0.00610862 0.999979 uwb: 0.0 838.64 618.933 -imu_odom_: 1691062797.406312477 -0.0885855 -0.296881 10.6111 -0.0479369 -0.0308927 0.0245011 0.25 0.02 pose: 0.57017682 4.10416 0.0384465 0 0.00114887 -0.00159959 0.00641732 0.999977 uwb: 0.49831449 841.258 616.766 -imu_odom_: 1691062797.422299803 0.215478 -0.225055 9.69412 -0.0745685 0.0308927 0.0511327 0.18 0 pose: 0.0 4.10416 0.0384465 0 0.00114887 -0.00159959 0.00641732 0.999977 uwb: 0.0 841.258 616.766 -imu_odom_: 1691062797.439352815 0.706289 -0.612916 9.2895 -0.0490022 -0.0213053 0.0426106 0.25 0.02 pose: 0.78973023 4.11827 0.0375682 0 0.00044241 0.00285468 0.00660564 0.999974 uwb: 0.0 841.258 616.766 -imu_odom_: 1691062797.456272835 0.371101 -0.0694318 10.5441 -0.0415453 -0.0681769 0.0383495 0.25 0.02 pose: 0.0 4.11827 0.0375682 0 0.00044241 0.00285468 0.00660564 0.999974 uwb: 0.50121640 840.309 616.371 -imu_odom_: 1691062797.480291301 0.146046 -0.198719 9.4978 -0.056459 0.00319579 0.0500674 0.18 0 pose: 0.33973032 4.11827 0.0375682 0 0.00103199 0.00103826 0.00662061 0.999977 uwb: 0.0 840.309 616.371 -imu_odom_: 1691062797.505346580 0.162806 -0.227449 9.63906 -0.0479369 -0.00426106 0.0532632 0.18 0 pose: 0.7015326 4.11827 0.0375682 0 0.00101279 0.00176562 0.00665668 0.999976 uwb: 0.50167429 839.911 615.416 -imu_odom_: 1691062797.522562915 0.220267 -0.208296 10.0652 -0.0447411 0.00213053 0.056459 0.22 -0.02 pose: 0.42058419 4.1304 0.0389074 0 0.000592148 0.00599224 0.00691105 0.999958 uwb: 0.0 839.911 615.416 -imu_odom_: 1691062797.547297672 0.328006 0.035913 9.93354 -0.0372843 -0.00958738 0.0511327 0.22 -0.02 pose: 0.0 4.1304 0.0389074 0 0.000592148 0.00599224 0.00691105 0.999958 uwb: 0.49736955 840.497 613.976 -imu_odom_: 1691062797.564413388 0.471658 -0.339977 9.46907 -0.0532632 -0.0287621 0.0511327 0.23 0 pose: 0.7136360 4.13238 0.0366858 0 0.000555227 0.00672481 0.00697015 0.999953 uwb: 0.0 840.497 613.976 -imu_odom_: 1691062797.581407487 0.483629 -0.071826 10.2185 -0.04048 0.0351537 0.0383495 0.23 0 pose: 0.0 4.13238 0.0366858 0 0.000555227 0.00672481 0.00697015 0.999953 uwb: 0.0 840.497 613.976 -imu_odom_: 1691062797.598285509 0.299275 -0.349553 9.8258 -0.04048 0.00639159 0.0383495 0.23 0 pose: 0.0 4.13238 0.0366858 0 0.000555227 0.00672481 0.00697015 0.999953 uwb: 0.50144681 840.431 612.859 -imu_odom_: 1691062797.614340790 0.275333 -0.0742203 9.97664 -0.056459 -0.0372843 0.0479369 0.26 0 pose: 0.41944676 4.13989 0.0432883 0 0.00261431 0.00633921 0.00725258 0.99995 uwb: 0.0 840.431 612.859 -imu_odom_: 1691062797.632282748 0.682347 -0.308852 9.62469 -0.0671117 0.0149137 0.0479369 0.26 0 pose: 0.0 4.13989 0.0432883 0 0.00261431 0.00633921 0.00725258 0.99995 uwb: 0.0 840.431 612.859 -imu_odom_: 1691062797.648306239 0.339977 -0.459687 10.0892 -0.0660464 -0.04048 0.0585895 0.18 0.02 pose: 0.77855132 4.15086 0.0395619 0 0.00208611 0.00333205 0.00743655 0.999965 uwb: 0.49775452 841.045 611.463 -imu_odom_: 1691062797.672421824 0.481235 -0.186748 10.2615 -0.0436758 -0.0191748 0.0223706 0.18 0.02 pose: 0.0 4.15086 0.0395619 0 0.00208611 0.00333205 0.00743655 0.999965 uwb: 0.0 841.045 611.463 -imu_odom_: 1691062797.689291972 0.457293 -0.248997 9.83777 -0.0468716 -0.0223706 0.0372843 0.18 0 pose: 0.7078906 4.154 0.0422883 0 0.00134059 0.00319074 0.00750136 0.999966 uwb: 0.0 841.045 611.463 -imu_odom_: 1691062797.714415205 0.600945 -0.289698 10.2185 -0.0223706 0.0372843 0.0298274 0.26 0 pose: 0.0 4.154 0.0422883 0 0.00134059 0.00319074 0.00750136 0.999966 uwb: 0.50138847 840.644 610.484 -imu_odom_: 1691062797.740320932 0.153229 -0.234632 10.0317 -0.0532632 0.0372843 0.0660464 0.17 0 pose: 0.75053551 4.16811 0.0412912 0 -0.000630525-0.00282555 0.00723697 0.99997 uwb: 0.0 840.644 610.484 -imu_odom_: 1691062797.757423816 0.227449 -0.191536 9.97903 -0.0468716 -0.0255663 0.0436758 0.17 0 pose: 0.0 4.16811 0.0412912 0 -0.000630525-0.00282555 0.00723697 0.99997 uwb: 0.50328128 839.392 610.337 -imu_odom_: 1691062797.782420474 0.201113 -0.107739 9.97424 -0.0575243 -0.0415453 0.0649811 0.21 0 pose: 0.32901222 4.17466 0.0337382 0 -0.00051414 0.000913798 0.00759626 0.999971 uwb: 0.0 839.392 610.337 -imu_odom_: 1691062797.807276264 0.356736 -0.114922 9.663 -0.0426106 -0.0170442 0.0340885 0.21 0.02 pose: 0.0 4.17466 0.0337382 0 -0.00051414 0.000913798 0.00759626 0.999971 uwb: 0.49654127 839.302 609.154 -imu_odom_: 1691062797.830452740 0.174777 -0.263362 9.69412 -0.0798948 -0.0223706 0.0745685 0.21 0.02 pose: 0.41991047 4.18221 0.0402959 0 0.00180707 0.00321889 0.00792171 0.999962 uwb: 0.0 839.302 609.154 -imu_odom_: 1691062797.855333904 0.191536 -0.25618 9.71088 -0.0543285 0.0308927 0.0276969 0.19 0 pose: 0.41145266 4.19188 0.0396226 0 0.00208165 0.0044006 0.00827307 0.999954 uwb: 0.0 839.302 609.154 -imu_odom_: 1691062797.872263840 -0.00718261-0.114922 10.1849 -0.0649811 -0.0117179 0.0490022 0.19 0 pose: 0.0 4.19188 0.0396226 0 0.00208165 0.0044006 0.00827307 0.999954 uwb: 0.0 839.302 609.154 -imu_odom_: 1691062797.897324660 0.665588 -0.0454898 10.0892 -0.0490022 0.00852212 0.0308927 0.18 0 pose: 0.41811100 4.19632 0.0393609 0 0.00113256 0.00847758 0.00819802 0.99993 uwb: 0.100110871 838.972 608.349 -imu_odom_: 1691062797.923405085 0.529119 -0.565032 9.53371 -0.0916127 -0.00426106 0.0607201 0.18 0 pose: 0.0 4.19632 0.0393609 0 0.00113256 0.00847758 0.00819802 0.99993 uwb: 0.0 838.972 608.349 -imu_odom_: 1691062797.948262042 0.191536 -0.37589 9.30387 -0.0511327 -0.00426106 0.036219 0.2 -0.02 pose: 0.51141245 4.20849 0.0407255 0 -0.0006407670.00486183 0.00836617 0.999953 uwb: 0.49720623 839.001 607.448 -imu_odom_: 1691062797.975414278 0.488417 -0.227449 10.319 -0.0553937 -0.0213053 0.0319579 0.2 -0.02 pose: 0.0 4.20849 0.0407255 0 -0.0006407670.00486183 0.00836617 0.999953 uwb: 0.0 839.001 607.448 -imu_odom_: 1691062797.991270945 0.474052 -0.201113 9.67497 -0.0394148 0.04048 0.0287621 0.17 0 pose: 0.31992735 4.21044 0.038527 0 -0.00240227 0.00565094 0.00828763 0.999947 uwb: 0.0 839.001 607.448 -imu_odom_: 1691062798.18378559 0.502782 -0.299275 9.44513 -0.0777643 0.0383495 0.0447411 0.17 0 pose: 0.0 4.21044 0.038527 0 -0.00240227 0.00565094 0.00828763 0.999947 uwb: 0.50338627 838.599 606.469 -imu_odom_: 1691062798.34382510 0.356736 -0.385466 10.1801 -0.0447411 0.0553937 0.0266316 0.19 0 pose: 0.43029027 4.22456 0.0376936 0 -0.00169882 0.00187261 0.00813818 0.999964 uwb: 0.0 838.599 606.469 -imu_odom_: 1691062798.52256514 0.383072 -0.308852 10.1083 -0.0394148 -0.036219 0.0458064 0.19 0 pose: 0.0 4.22456 0.0376936 0 -0.00169882 0.00187261 0.00813818 0.999964 uwb: 0.49825326 838.198 605.49 -imu_odom_: 1691062798.69326734 -0.134075 -0.629675 9.87848 0.00958738 -0.0266316 0.00639159 0.19 0 pose: 0.0 4.22456 0.0376936 0 -0.00169882 0.00187261 0.00813818 0.999964 uwb: 0.0 838.198 605.49 -imu_odom_: 1691062798.86350581 0.371101 0.272939 10.1754 -0.0553937 -0.0830906 0.0458064 0.18 -0.02 pose: 0.60905073 4.23203 0.0443343 0 -0.00556632 0.000603811 0.00801749 0.999952 uwb: 0.0 838.198 605.49 -imu_odom_: 1691062798.103311141 0.289698 -0.177171 9.23683 -0.131028 -0.052198 0.100135 0.18 -0.02 pose: 0.0 4.23203 0.0443343 0 -0.00556632 0.000603811 0.00801749 0.999952 uwb: 0.0 838.198 605.49 -imu_odom_: 1691062798.119307801 0.893037 -0.366313 10.4842 -0.0681769 -0.0372843 0.0394148 0.18 0 pose: 0.43979221 4.24283 0.0405514 0 -0.00342331 0.00144522 0.00843734 0.999958 uwb: 0.0 838.198 605.49 -imu_odom_: 1691062798.137375169 0.849942 -0.272939 9.91199 -0.0671117 -0.00213053 -0.00319579 0.18 0 pose: 0.0 4.24283 0.0405514 0 -0.00342331 0.00144522 0.00843734 0.999958 uwb: 0.0 838.198 605.49 -imu_odom_: 1691062798.153305040 0.497994 -0.19393 9.67257 -0.0692422 -0.00852212 0.0138484 0.18 0 pose: 0.0 4.24283 0.0405514 0 -0.00342331 0.00144522 0.00843734 0.999958 uwb: 0.100403981 838.832 604.088 -imu_odom_: 1691062798.177307467 -0.0526724 -0.368707 10.0844 -0.0394148 0.0276969 0.0394148 0.19 0 pose: 0.24072131 4.24615 0.043499 0 -0.00376841 -0.00120281 0.0082555 0.999958 uwb: 0.0 838.832 604.088 -imu_odom_: 1691062798.193257171 0.304064 -0.337582 10.1035 -0.0553937 -0.0138484 0.0511327 0.18 -0.02 pose: 0.0 4.24615 0.043499 0 -0.00376841 -0.00120281 0.0082555 0.999958 uwb: 0.0 838.832 604.088 -imu_odom_: 1691062798.220292164 0.667982 -0.203507 10.1227 -0.0468716 -0.0319579 0.0479369 0.18 -0.02 pose: 0.65873899 4.26027 0.0426578 0 -0.00367869 0.000982313 0.00792821 0.999961 uwb: 0.49599298 840.185 602.45 -imu_odom_: 1691062798.245396441 0.612916 -0.28491 10.173 -0.0543285 -0.00319579 0.0447411 0.23 0 pose: 0.8001392 4.26027 0.0426578 0 -0.00340986 0.000105611 0.00795943 0.999963 uwb: 0.0 840.185 602.45 -imu_odom_: 1691062798.262466369 0.237026 -0.21069 9.48104 -0.0191748 0.036219 0.0287621 0.23 0 pose: 0.0 4.26027 0.0426578 0 -0.00340986 0.000105611 0.00795943 0.999963 uwb: 0.49991858 839.869 601.665 -imu_odom_: 1691062798.287261789 0.438139 -0.306458 9.58878 -0.0575243 -0.0181095 0.0511327 0.22 0 pose: 0.44137878 4.27025 0.0420634 0 -0.00294708 -0.00447382 0.0080918 0.999953 uwb: 0.0 839.869 601.665 -imu_odom_: 1691062798.311296880 0.766145 -0.21069 10.2089 -0.0415453 -0.0553937 0.0553937 0.22 0 pose: 0.41865348 4.27439 0.0418185 0 -0.00470245 -0.00209332 0.00815373 0.999954 uwb: 0.50069145 839.466 600.662 -imu_odom_: 1691062798.326296391 0.876278 -0.148441 9.991 -0.0692422 -0.0426106 0.0703074 0.23 0 pose: 0.0 4.27439 0.0418185 0 -0.00470245 -0.00209332 0.00815373 0.999954 uwb: 0.0 839.466 600.662 -imu_odom_: 1691062798.351283425 0.581791 -0.227449 9.7037 -0.0436758 0.0287621 0.0351537 0.23 0 pose: 0.39034602 4.28189 0.0413752 0 -0.00336283 -0.00668608 0.00855754 0.999935 uwb: 0.49898822 839.848 599.597 -imu_odom_: 1691062798.368511718 0.011971 -0.311246 10.0868 -0.0692422 0.0106526 0.0628506 0.18 0 pose: 0.0 4.28189 0.0413752 0 -0.00336283 -0.00668608 0.00855754 0.999935 uwb: 0.0 839.848 599.597 -imu_odom_: 1691062798.384512461 0.517148 -0.217872 10.2304 -0.052198 -0.02024 0.0447411 0.18 0 pose: 0.0 4.28189 0.0413752 0 -0.00336283 -0.00668608 0.00855754 0.999935 uwb: 0.0 839.848 599.597 -imu_odom_: 1691062798.411397255 0.203507 -0.227449 10.252 -0.0649811 0.0511327 0.0543285 0.25 0.02 pose: 0.50007899 4.2885 0.0409898 0 -0.00099784 -0.00598398 0.00870361 0.999944 uwb: 0.49858282 838.834 599.091 -imu_odom_: 1691062798.436278420 0.172383 -0.260968 9.71328 -0.0468716 0.04048 0.0319579 0.25 0.02 pose: 0.35092965 4.3006 0.0423366 0 -0.000426482-0.00237213 0.00891909 0.999957 uwb: 0.0 838.834 599.091 -imu_odom_: 1691062798.453382762 0.395043 -0.0383072 9.73004 -0.0937433 -0.0511327 0.0575243 0.23 0 pose: 0.7910106 4.30261 0.0401571 0 -0.000508679-0.00141092 0.00888957 0.999959 uwb: 0.50170930 837.038 598.676 -imu_odom_: 1691062798.469433669 0.76375 -0.311246 9.82102 -0.0969391 0.0266316 0.0575243 0.18 0.02 pose: 0.0 4.30261 0.0401571 0 -0.000508679-0.00141092 0.00888957 0.999959 uwb: 0.0 837.038 598.676 -imu_odom_: 1691062798.487341796 0.347159 -0.35913 10.003 -0.0426106 0.0255663 0.0340885 0.25 -0.02 pose: 0.42135998 4.31014 0.0467341 0 0.000306101 -0.0004292990.00905416 0.999959 uwb: 0.0 837.038 598.676 -imu_odom_: 1691062798.511429676 -0.00957681-0.464475 9.58638 -0.0436758 0 0.0532632 0.25 -0.02 pose: 0.0 4.31014 0.0467341 0 0.000306101 -0.0004292990.00905416 0.999959 uwb: 0.50009065 835.649 598.277 -imu_odom_: 1691062798.537252575 0.148441 -0.1652 9.84017 -0.0234358 -0.0330232 0.0394148 0.23 -0.02 pose: 0.33830125 4.31672 0.0392036 0 -0.00189248 0.000745815 0.00913444 0.999956 uwb: 0.0 835.649 598.277 -imu_odom_: 1691062798.562258275 0.325611 -0.155623 9.55526 -0.052198 0.00213053 0.0458064 0.23 -0.02 pose: 0.0 4.31672 0.0392036 0 -0.00189248 0.000745815 0.00913444 0.999956 uwb: 0.50221094 836.357 596.999 -imu_odom_: 1691062798.586368903 0.490811 -0.186748 10.1155 -0.0543285 -0.0287621 0.0490022 0.21 0.02 pose: 0.50119600 4.32425 0.0457851 0 -0.0002553370.00419733 0.00928198 0.999948 uwb: 0.0 836.357 596.999 -imu_odom_: 1691062798.611376935 0.610521 -0.179565 10.2927 -0.0372843 -0.0490022 0.0468716 0.18 0 pose: 0.40975819 4.33083 0.0382576 0 0.00146894 0.00152233 0.00945798 0.999953 uwb: 0.49881323 836.065 596.28 -imu_odom_: 1691062798.628422073 0.11971 -0.222661 9.81144 -0.0287621 0.0213053 0.0458064 0.18 0 pose: 0.7026409 4.33083 0.0382576 0 0.00155504 0.000662866 0.00948434 0.999954 uwb: 0.0 836.065 596.28 -imu_odom_: 1691062798.644225369 0.129287 -0.428562 9.56005 -0.0607201 -0.00426106 0.0511327 0.18 0 pose: 0.0 4.33083 0.0382576 0 0.00155504 0.000662866 0.00948434 0.999954 uwb: 0.0 836.065 596.28 -imu_odom_: 1691062798.670286255 -0.215478 -0.339977 9.34457 -0.0266316 0.015979 0.0330232 0.18 0.02 pose: 0.40837285 4.33836 0.0448435 0 0.00134201 0.000794834 0.00963561 0.999952 uwb: 0.49747456 835.42 595.705 -imu_odom_: 1691062798.686267748 0.577003 0.059855 10.4986 -0.0468716 -0.0287621 0.0436758 0.18 0.02 pose: 0.0 4.33836 0.0448435 0 0.00134201 0.000794834 0.00963561 0.999952 uwb: 0.0 835.42 595.705 -imu_odom_: 1691062798.703290138 0.399832 -0.438139 9.16022 -0.0639159 -0.0191748 0.0415453 0.23 0 pose: 0.43048569 4.35247 0.0439092 0 0.000918558 0.00375068 0.00961989 0.999946 uwb: 0.49996232 833.794 595.76 -imu_odom_: 1691062798.728209800 0.411803 -0.488417 9.63427 -0.0788296 -0.0255663 0.0575243 0.18 0 pose: 0.0 4.35247 0.0439092 0 0.000918558 0.00375068 0.00961989 0.999946 uwb: 0.0 833.794 595.76 -imu_odom_: 1691062798.744191294 0.42138 -0.347159 9.71328 -0.072438 -0.02024 0.04048 0.23 0 pose: 0.34078026 4.35247 0.0439092 0 -0.00101984 0.00227266 0.00972404 0.99995 uwb: 0.0 833.794 595.76 -imu_odom_: 1691062798.761190351 0.299275 -0.146046 9.90721 -0.0191748 0.0149137 0.0223706 0.23 0 pose: 0.0 4.35247 0.0439092 0 -0.00101984 0.00227266 0.00972404 0.99995 uwb: 0.49998858 832.412 595.415 -imu_odom_: 1691062798.778198158 0.409408 -0.172383 9.90002 -0.0553937 -0.04048 0.0394148 0.24 0 pose: 0.49831159 4.36658 0.042977 0 -0.00255234 0.00173757 0.00973201 0.999948 uwb: 0.0 832.412 595.415 -imu_odom_: 1691062798.794266272 0.584185 -0.275333 10.0078 -0.0245011 0.0213053 0.0298274 0.24 0 pose: 0.0 4.36658 0.042977 0 -0.00255234 0.00173757 0.00973201 0.999948 uwb: 0.0 832.412 595.415 -imu_odom_: 1691062798.820262994 0.45011 -0.169988 10.2855 -0.0500674 0.00532632 0.0553937 0.25 -0.02 pose: 0.7124695 4.36658 0.042977 0 -0.00189703 0.00132573 0.00973218 0.99995 uwb: 0.50058645 831.771 594.867 -imu_odom_: 1691062798.836353273 0.234632 -0.246603 9.63906 -0.0490022 -0.0351537 0.0458064 0.25 -0.02 pose: 0.0 4.36658 0.042977 0 -0.00189703 0.00132573 0.00973218 0.99995 uwb: 0.0 831.771 594.867 -imu_odom_: 1691062798.862235086 0.397437 -0.25618 9.99819 -0.0617853 -0.052198 0.0596548 0.25 -0.02 pose: 0.0 4.36658 0.042977 0 -0.00189703 0.00132573 0.00973218 0.99995 uwb: 0.50128058 832.438 593.471 -imu_odom_: 1691062798.887333530 0.452504 -0.105345 10.1849 -0.0394148 -0.0170442 0.0383495 0.22 0 pose: 0.68038227 4.38069 0.0420461 0 0.000926014 -0.0003773790.00990319 0.99995 uwb: 0.0 832.438 593.471 -imu_odom_: 1691062798.904252675 0.488417 -0.100556 10.0173 -0.0788296 0 0.076699 0.22 0 pose: 0.0 4.38069 0.0420461 0 0.000926014 -0.0003773790.00990319 0.99995 uwb: 0.49930611 833.504 592.018 -imu_odom_: 1691062798.929349077 0.536301 -0.174777 10.24 -0.0756338 0.00319579 0.0298274 0.21 0.02 pose: 0.33980324 4.38069 0.0420461 0 -0.000834518-0.0007245850.0101572 0.999948 uwb: 0.0 833.504 592.018 -imu_odom_: 1691062798.946372050 0.600945 -0.143652 9.92875 -0.0436758 -0.0234358 0.036219 0.21 0.02 pose: 0.42021089 4.3948 0.0411269 0 0.00208049 -0.00290947 0.0104204 0.999939 uwb: 0.0 833.504 592.018 -imu_odom_: 1691062798.971191385 0.593762 -0.25618 10.1131 -0.0458064 -0.0308927 0.0287621 0.23 0.02 pose: 0.0 4.3948 0.0411269 0 0.00208049 -0.00290947 0.0104204 0.999939 uwb: 0.49994774 834.428 590.197 -imu_odom_: 1691062798.995306096 0.323217 -0.232238 10.161 -0.0703074 -0.00958738 0.0596548 0.23 0 pose: 0.41870598 4.40225 0.0478016 0 0.00190036 -0.00688769 0.0102757 0.999922 uwb: 0.0 834.428 590.197 -imu_odom_: 1691062799.10191573 -0.107739 -0.141258 9.64145 -0.0649811 -0.015979 0.0575243 0.23 0 pose: 0.0 4.40225 0.0478016 0 0.00190036 -0.00688769 0.0102757 0.999922 uwb: 0.50052521 833.028 589.826 -imu_odom_: 1691062799.25194293 0.289698 -0.397437 9.47864 -0.0447411 -0.00426106 0.0319579 0.23 0 pose: 0.47979479 4.40885 0.040287 0 0.000162987 -0.00513444 0.0104979 0.999932 uwb: 0.0 833.028 589.826 -imu_odom_: 1691062799.43254370 0.708684 -0.181959 10.0485 -0.0830906 -0.0276969 0.04048 0.24 0 pose: 0.0 4.40885 0.040287 0 0.000162987 -0.00513444 0.0104979 0.999932 uwb: 0.0 833.028 589.826 -imu_odom_: 1691062799.67216550 0.78051 -0.339977 9.63427 -0.0511327 0.0213053 0.0223706 0.24 0 pose: 0.41049607 4.42023 0.0425682 0 -0.00063029 -0.0052882 0.0105212 0.99993 uwb: 0.49880741 833.734 588.475 -imu_odom_: 1691062799.90389527 0.656011 -0.328006 9.79468 -0.0660464 -0.0468716 0.0490022 0.23 0 pose: 0.0 4.42023 0.0425682 0 -0.00063029 -0.0052882 0.0105212 0.99993 uwb: 0.0 833.734 588.475 -imu_odom_: 1691062799.115263401 0.718261 0.035913 9.87129 -0.0394148 -0.0106526 0.0319579 0.26 0 pose: 0.6965455 4.42297 0.0395182 0 -0.000871143-0.00584721 0.0104622 0.999928 uwb: 0.49977277 834.093 587.291 -imu_odom_: 1691062799.139265245 0.80924 -0.112527 9.97664 -0.0703074 -0.00532632 0.0458064 0.18 -0.02 pose: 0.0 4.42297 0.0395182 0 -0.000871143-0.00584721 0.0104622 0.999928 uwb: 0.0 834.093 587.291 -imu_odom_: 1691062799.164231281 0.646434 0.208296 10.0796 -0.0426106 -0.0330232 0.0351537 0.2 0 pose: 0.72111400 4.43041 0.0461936 0 -0.000120507-0.0112126 0.0103337 0.999884 uwb: 0.49903781 829.591 588.57 -imu_odom_: 1691062799.189227356 0.335188 -0.19393 10.2951 -0.0617853 0.00426106 0.036219 0.2 0 pose: 0.0 4.43041 0.0461936 0 -0.000120507-0.0112126 0.0103337 0.999884 uwb: 0.0 829.591 588.57 -imu_odom_: 1691062799.203189764 -0.0814029 -0.339977 9.26795 -0.0436758 0.0330232 0.0245011 0.2 0 pose: 0.48915382 4.44454 0.0454203 0 0.0031477 -0.0122341 0.0102771 0.999867 uwb: 0.49970569 826.07 589.228 -imu_odom_: 1691062799.226188626 0.035913 -0.248997 10.1801 -0.0692422 0.0138484 0.0553937 0.18 0 pose: 0.0 4.44454 0.0454203 0 0.0031477 -0.0122341 0.0102771 0.999867 uwb: 0.0 826.07 589.228 -imu_odom_: 1691062799.244186874 0.940921 -0.122104 10.2496 -0.0287621 -0.0127832 0.015979 0.18 0 pose: 0.38980357 4.45121 0.0379718 0 0.00239055 -0.00800842 0.0101951 0.999913 uwb: 0.0 826.07 589.228 -imu_odom_: 1691062799.260177409 0.699107 -0.023942 9.93594 -0.0596548 -0.0127832 0.0543285 0.21 0 pose: 0.0 4.45121 0.0379718 0 0.00239055 -0.00800842 0.0101951 0.999913 uwb: 0.49983984 827.071 587.583 -imu_odom_: 1691062799.286185215 0.509965 -0.351948 9.66539 -0.0500674 0.0276969 0.0383495 0.21 0 pose: 0.49950445 4.45866 0.044643 0 0.00364561 -0.00930254 0.0102204 0.999898 uwb: 0.0 827.071 587.583 -imu_odom_: 1691062799.310292928 0.229843 -0.184354 9.48583 -0.0628506 0.0138484 0.0511327 0.17 -0.02 pose: 0.0 4.45866 0.044643 0 0.00364561 -0.00930254 0.0102204 0.999898 uwb: 0.50267468 826.337 586.846 -imu_odom_: 1691062799.328229929 0.476446 -0.201113 10.0245 -0.0287621 0.00852212 0.0372843 0.17 -0.02 pose: 0.8008392 4.45866 0.044643 0 0.00290601 -0.00891822 0.0102224 0.999904 uwb: 0.0 826.337 586.846 -imu_odom_: 1691062799.352249855 0.610521 -0.0383072 10.647 -0.0436758 -0.0149137 0.0543285 0.18 0 pose: 0.0 4.45866 0.044643 0 0.00290601 -0.00891822 0.0102224 0.999904 uwb: 0.49831161 826.751 585.805 -imu_odom_: 1691062799.369258537 0.146046 -0.201113 9.39006 -0.0628506 0.0276969 0.0479369 0.2 0 pose: 0.84064054 4.47278 0.0438657 0 0.00295178 -0.00522622 0.0105159 0.999927 uwb: 0.0 826.751 585.805 -imu_odom_: 1691062799.385342400 0.289698 -0.107739 9.84496 -0.0372843 -0.00106526 0.0447411 0.18 0 pose: 0.0 4.47278 0.0438657 0 0.00295178 -0.00522622 0.0105159 0.999927 uwb: 0.0 826.751 585.805 -imu_odom_: 1691062799.403171491 0.864307 -0.181959 10.0437 -0.0798948 -0.0351537 0.0617853 0.18 0 pose: 0.0 4.47278 0.0438657 0 0.00295178 -0.00522622 0.0105159 0.999927 uwb: 0.50149641 828.556 584.012 -imu_odom_: 1691062799.419340808 0.203507 -0.323217 9.50498 -0.0532632 0.0330232 0.0415453 0.18 0 pose: 0.41046690 4.4869 0.0430975 0 0.00313652 -0.00261803 0.0107105 0.999934 uwb: 0.0 828.556 584.012 -imu_odom_: 1691062799.433174015 0.325611 -0.225055 10.2232 -0.0308927 0.00852212 0.0383495 0.18 0 pose: 0.0 4.4869 0.0430975 0 0.00313652 -0.00261803 0.0107105 0.999934 uwb: 0.0 828.556 584.012 -imu_odom_: 1691062799.457183441 0.423774 -0.35913 9.90721 -0.0735032 -0.00426106 0.0479369 0.18 0 pose: 0.39877470 4.49034 0.0461858 0 0.00171363 -0.0007288310.0108293 0.99994 uwb: 0.50042023 828.643 583.189 -imu_odom_: 1691062799.481212992 0.457293 -0.287304 9.75637 -0.0543285 -0.0500674 0.0447411 0.17 -0.02 pose: 0.8069638 4.49434 0.0497778 0 0.000833461 -0.00076577 0.0108636 0.99994 uwb: 0.0 828.643 583.189 -imu_odom_: 1691062799.498185801 0.433351 -0.107739 9.93594 -0.0788296 -0.0213053 0.0575243 0.17 -0.02 pose: 0.0 4.49434 0.0497778 0 0.000833461 -0.00076577 0.0108636 0.99994 uwb: 0.49922738 830.822 581.235 -imu_odom_: 1691062799.515182234 0.814029 -0.0981623 9.9503 -0.0458064 -0.0149137 0.0351537 0.18 -0.02 pose: 0.47012664 4.50102 0.0423376 0 -0.00223359 -0.00273295 0.0110557 0.999933 uwb: 0.0 830.822 581.235 -imu_odom_: 1691062799.530177371 0.574608 -0.129287 9.51216 -0.0948085 -0.0287621 0.0628506 0.18 -0.02 pose: 0.0 4.50102 0.0423376 0 -0.00223359 -0.00273295 0.0110557 0.999933 uwb: 0.0 830.822 581.235 -imu_odom_: 1691062799.553380097 0.471658 -0.177171 9.87848 -0.0745685 -0.0426106 0.0479369 0.17 0.02 pose: 0.33965159 4.50846 0.049022 0 -0.000248079-0.00488442 0.01118 0.999926 uwb: 0.49790913 829.719 580.617 -imu_odom_: 1691062799.579318490 0.54109 -0.213084 9.93354 -0.0681769 -0.0170442 0.0436758 0.23 0 pose: 0.31158621 4.51515 0.041586 0 0.00149608 -0.00421406 0.011356 0.999926 uwb: 0.0 829.719 580.617 -imu_odom_: 1691062799.604184782 0.526724 -0.282516 10.1083 -0.0234358 -0.0394148 0.0330232 0.17 0 pose: 0.7833694 4.51515 0.041586 0 0.00110968 -0.00497197 0.0113742 0.999922 uwb: 0.50061272 828.158 579.933 -imu_odom_: 1691062799.630168673 0.493206 -0.21069 9.52413 -0.0660464 -0.0234358 0.052198 0.2 0 pose: 0.42970991 4.52258 0.0482752 0 -0.0018469 -0.00680841 0.0113538 0.999911 uwb: 0.0 828.158 579.933 -imu_odom_: 1691062799.655229494 0.414197 -0.217872 9.92157 -0.052198 0.0234358 0.0511327 0.2 0 pose: 0.0 4.52258 0.0482752 0 -0.0018469 -0.00680841 0.0113538 0.999911 uwb: 0.49942570 826.69 579.494 -imu_odom_: 1691062799.672136974 0.474052 -0.143652 9.9503 -0.0585895 -0.0458064 0.0532632 0.2 0 pose: 0.51044712 4.5367 0.0475319 0 -0.000100639-0.00240399 0.0116534 0.999929 uwb: 0.0 826.69 579.494 -imu_odom_: 1691062799.697307747 0.751779 -0.258574 9.91678 -0.0298274 -0.0340885 0.0351537 0.22 0 pose: 0.0 4.5367 0.0475319 0 -0.000100639-0.00240399 0.0116534 0.999929 uwb: 0.0 826.69 579.494 -imu_odom_: 1691062799.723166813 1.01993 -0.0622492 9.81144 -0.0447411 0.00958738 0.0436758 0.23 -0.02 pose: 0.25112152 4.5367 0.0475319 0 0.00140437 -0.00417452 0.0117488 0.999921 uwb: 0.0 826.69 579.494 -imu_odom_: 1691062799.748149764 0.792481 0.00957681 9.97664 -0.0468716 0.0117179 0.0340885 0.23 -0.02 pose: 0.42825167 4.54856 0.0447669 0 0.00204142 -0.00838999 0.0117679 0.999893 uwb: 0.100356738 826.97 578.083 -imu_odom_: 1691062799.774366682 0.354342 -0.263362 9.5792 -0.072438 -0.0234358 0.0447411 0.22 0 pose: 0.8069346 4.55084 0.0467823 0 0.00259923 -0.00894013 0.011743 0.999888 uwb: 0.0 826.97 578.083 -imu_odom_: 1691062799.799327468 0.150835 -0.4956 9.93354 -0.0756338 -0.0319579 0.0617853 0.22 0 pose: 0.43130523 4.56026 0.046216 0 0.00236506 -0.00800366 0.0117585 0.999896 uwb: 0.49688253 827.063 577.257 -imu_odom_: 1691062799.817288093 0.335188 -0.402226 9.79228 -0.0607201 -0.0319579 0.04048 0.21 0.02 pose: 0.0 4.56026 0.046216 0 0.00236506 -0.00800366 0.0117585 0.999896 uwb: 0.0 827.063 577.257 -imu_odom_: 1691062799.832224317 0.244209 -0.122104 9.75158 -0.0127832 0.0117179 0.0255663 0.21 0.02 pose: 0.0 4.56026 0.046216 0 0.00236506 -0.00800366 0.0117585 0.999896 uwb: 0.0 827.063 577.257 -imu_odom_: 1691062799.858216082 0.459687 -0.181959 9.85693 -0.0447411 -0.0575243 0.0351537 0.23 0.02 pose: 0.50886347 4.56496 0.0459383 0 -0.000341415-0.00461787 0.0120005 0.999917 uwb: 0.50072937 828.895 575.398 -imu_odom_: 1691062799.880162383 0.620098 -0.169988 9.96227 -0.0372843 -0.0543285 0.0479369 0.23 0.02 pose: 0.32963053 4.57515 0.0453115 0 0.00241624 -0.00322366 0.0118858 0.999921 uwb: 0.0 828.895 575.398 -imu_odom_: 1691062799.897210438 0.543484 -0.378284 9.74919 -0.0490022 -0.00319579 0.0585895 0.19 0 pose: 0.6924041 4.57907 0.0450698 0 0.0024791 -0.00408873 0.0119162 0.999918 uwb: 0.50126601 829.649 574.057 -imu_odom_: 1691062799.922193973 0.675165 0.0215478 10.1658 -0.0298274 -0.0340885 0.0479369 0.19 0 pose: 0.32070315 4.579 0.0450594 0 0.000975613 -0.00617463 0.0121551 0.999907 uwb: 0.0 829.649 574.057 -imu_odom_: 1691062799.939130909 0.617704 -0.464475 9.40442 -0.0671117 0.036219 0.0607201 0.18 0.02 pose: 0.0 4.579 0.0450594 0 0.000975613 -0.00617463 0.0121551 0.999907 uwb: 0.0 829.649 574.057 -imu_odom_: 1691062799.964273684 0.579397 -0.232238 9.75158 -0.0511327 0.0415453 0.0436758 0.18 0.02 pose: 0.0 4.579 0.0450594 0 0.000975613 -0.00617463 0.0121551 0.999907 uwb: 0.49901448 828.761 572.919 -imu_odom_: 1691062799.981197788 0.409408 -0.177171 9.60075 -0.0830906 -0.0117179 0.0617853 0.21 0 pose: 0.41920471 4.58998 0.0478544 0 0.00162502 -0.00795473 0.0124431 0.99989 uwb: 0.0 828.761 572.919 -imu_odom_: 1691062799.997178699 0.751779 0.0047884 10.3046 -0.0617853 -0.0213053 0.0340885 0.21 0 pose: 0.0 4.58998 0.0478544 0 0.00162502 -0.00795473 0.0124431 0.99989 uwb: 0.50016358 827.083 573.063 -imu_odom_: 1691062800.23239586 0.0335188 -0.100556 10.1993 -0.0681769 0.0138484 0.0447411 0.25 0 pose: 0.58047790 4.6006 0.0510403 0 0.000833135 -0.00814241 0.0126454 0.999887 uwb: 0.0 827.083 573.063 -imu_odom_: 1691062800.48136502 0.64404 -0.260968 9.64145 -0.0553937 0.0127832 0.0213053 0.25 0 pose: 0.0 4.6006 0.0510403 0 0.000833135 -0.00814241 0.0126454 0.999887 uwb: 0.49829412 828.164 571.436 -imu_odom_: 1691062800.72138929 0.586579 -0.263362 9.65103 -0.0841559 0.00639159 0.0628506 0.21 0.02 pose: 0.32992802 4.60731 0.0436241 0 0.000816532 -0.00591069 0.0126448 0.999902 uwb: 0.0 828.164 571.436 -imu_odom_: 1691062800.89131280 0.620098 -0.272939 10.2232 -0.052198 -0.0149137 0.0298274 0.21 0.02 pose: 0.0 4.60731 0.0436241 0 0.000816532 -0.00591069 0.0126448 0.999902 uwb: 0.0 828.164 571.436 -imu_odom_: 1691062800.106266247 0.56982 0.227449 10.0604 -0.0458064 -0.00213053 0.0351537 0.21 0.02 pose: 0.25997308 4.61472 0.0503312 0 -0.00065005 -0.00788832 0.0125835 0.999889 uwb: 0.50179683 828.932 570.092 -imu_odom_: 1691062800.121193430 0.402226 -0.512359 10.0126 -0.0628506 0.0415453 0.0298274 0.19 -0.05 pose: 0.0 4.61472 0.0503312 0 -0.00065005 -0.00788832 0.0125835 0.999889 uwb: 0.0 828.932 570.092 -imu_odom_: 1691062800.138132117 0.711078 -0.385466 9.8689 -0.052198 0.0149137 0.0245011 0.19 -0.05 pose: 0.0 4.61472 0.0503312 0 -0.00065005 -0.00788832 0.0125835 0.999889 uwb: 0.0 828.932 570.092 -imu_odom_: 1691062800.163253602 1.08218 -0.19393 9.49301 -0.0713727 -0.00958738 0.0490022 0.2 -0.02 pose: 0.71981326 4.62885 0.0496264 0 -0.00257102 -0.00960132 0.0125314 0.999872 uwb: 0.49797039 828.26 569.5 -imu_odom_: 1691062800.189282116 0.548272 0.00718261 10.6326 -0.0479369 0.00106526 0.0287621 0.2 -0.02 pose: 0.35103467 4.62885 0.0496264 0 -0.0029914 -0.0127653 0.0125643 0.999835 uwb: 0.0 828.26 569.5 -imu_odom_: 1691062800.214133243 0.543484 -0.409408 9.63666 -0.0830906 0.0340885 0.0415453 0.19 -0.02 pose: 0.0 4.62885 0.0496264 0 -0.0029914 -0.0127653 0.0125643 0.999835 uwb: 0.50090438 831.536 566.795 -imu_odom_: 1691062800.239119403 0.397437 -0.270545 9.92157 -0.0596548 -0.0127832 0.0479369 0.2 0 pose: 0.50879641 4.64297 0.048914 0 -0.00314215 -0.0101901 0.0124448 0.999866 uwb: 0.0 831.536 566.795 -imu_odom_: 1691062800.264277344 0.299275 -0.196325 10.2951 -0.0617853 0.0106526 0.0319579 0.19 0 pose: 0.0 4.64297 0.048914 0 -0.00314215 -0.0101901 0.0124448 0.999866 uwb: 0.49942280 835.427 564.472 -imu_odom_: 1691062800.289185634 0.703895 -0.114922 10.0461 -0.0639159 -0.0287621 0.0340885 0.18 0 pose: 0.32136812 4.64297 0.048914 0 -0.0029404 -0.00706213 0.0125294 0.999892 uwb: 0.0 835.427 564.472 -imu_odom_: 1691062800.306125196 0.476446 -0.196325 9.59117 -0.0543285 0.00958738 0.0351537 0.18 0 pose: 0.0 4.64297 0.048914 0 -0.0029404 -0.00706213 0.0125294 0.999892 uwb: 0.49968529 835.493 563.493 -imu_odom_: 1691062800.331121272 0.557849 0.0167594 10.0413 -0.0628506 0.00852212 0.052198 0.18 0.02 pose: 0.49857994 4.6571 0.0482031 0 -0.000697631-0.00682666 0.0123629 0.9999 uwb: 0.0 835.493 563.493 -imu_odom_: 1691062800.355312689 0.445322 -0.318429 9.52413 -0.0511327 0.0276969 0.0383495 0.18 0.02 pose: 0.34993223 4.66725 0.0476881 0 0.00217832 -0.00609335 0.0124804 0.999901 uwb: 0.50039691 835.992 562.502 -imu_odom_: 1691062800.372150173 0.514753 -0.237026 10.307 -0.0415453 0.00958738 0.0351537 0.18 0.02 pose: 0.0 4.66725 0.0476881 0 0.00217832 -0.00609335 0.0124804 0.999901 uwb: 0.0 835.992 562.502 -imu_odom_: 1691062800.388130793 0.715866 -0.325611 9.70609 -0.0639159 -0.0468716 0.0543285 0.18 0.02 pose: 0.0 4.66725 0.0476881 0 0.00217832 -0.00609335 0.0124804 0.999901 uwb: 0.0 835.992 562.502 -imu_odom_: 1691062800.413168283 0.500388 0.0167594 9.80186 -0.0372843 -0.0170442 0.0468716 0.18 0.02 pose: 0.7020577 4.67122 0.0474876 0 0.00156121 -0.00566995 0.0124796 0.999905 uwb: 0.50023651 837.17 560.984 -imu_odom_: 1691062800.436108525 0.0335188 -0.19393 9.40203 -0.0617853 0.02024 0.0479369 0.23 0 pose: 0.41030359 4.67122 0.0474876 0 -0.00145019 -0.00636208 0.0124995 0.999901 uwb: 0.0 837.17 560.984 -imu_odom_: 1691062800.460112703 0.0023942 -0.225055 9.81144 -0.0660464 0.0170442 0.0543285 0.18 0.02 pose: 0.0 4.67122 0.0474876 0 -0.00145019 -0.00636208 0.0124995 0.999901 uwb: 0.50056898 835.308 560.676 -imu_odom_: 1691062800.484096465 0.950498 -0.318429 9.85214 -0.0617853 -0.0181095 0.04048 0.18 0.02 pose: 0.40971155 4.68535 0.0467761 0 0.000844896 -0.00630904 0.0126708 0.999899 uwb: 0.0 835.308 560.676 -imu_odom_: 1691062800.509123748 0.52433 -0.234632 9.91918 -0.0745685 0.015979 0.0692422 0.25 0 pose: 0.0 4.68535 0.0467761 0 0.000844896 -0.00630904 0.0126708 0.999899 uwb: 0.49939072 836.009 559.034 -imu_odom_: 1691062800.534120407 0.205901 -0.169988 10.3549 -0.0617853 0.0319579 0.0394148 0.25 0 pose: 0.48050353 4.69276 0.0534855 0 0.000317031 -0.00271562 0.0129158 0.999913 uwb: 0.0 836.009 559.034 -imu_odom_: 1691062800.559247434 0.356736 -0.184354 9.84975 -0.092678 -0.00639159 0.0617853 0.18 0 pose: 0.0 4.69276 0.0534855 0 0.000317031 -0.00271562 0.0129158 0.999913 uwb: 0.49993611 833.688 558.699 -imu_odom_: 1691062800.572247400 0.107739 -0.251391 9.76595 -0.072438 -0.00213053 0.0436758 0.18 0 pose: 0.48985379 4.69947 0.0460745 0 -0.00125956 -0.0054507 0.0132978 0.999896 uwb: 0.0 833.688 558.699 -imu_odom_: 1691062800.596243120 0.167594 0.0407014 10.0173 -0.0852212 -0.00745685 0.0490022 0.18 0 pose: 0.0 4.69947 0.0460745 0 -0.00125956 -0.0054507 0.0132978 0.999896 uwb: 0.49939072 832.643 558.264 -imu_odom_: 1691062800.614372027 0.80924 -0.409408 10.1754 -0.0969391 0.0170442 0.0617853 0.18 0 pose: 0.47981816 4.70688 0.0527925 0 -0.000563915-0.0006092440.0135844 0.999907 uwb: 0.0 832.643 558.264 -imu_odom_: 1691062800.638245837 0.905008 -0.0814029 10.1562 -0.0585895 -0.00745685 0.036219 0.19 0 pose: 0.0 4.70688 0.0527925 0 -0.000563915-0.0006092440.0135844 0.999907 uwb: 0.0 832.643 558.264 -imu_odom_: 1691062800.664299725 0.464475 -0.337582 9.52892 -0.0649811 0.02024 0.0383495 0.19 0 pose: 0.39113350 4.72101 0.0521115 0 0.000236112 0.00101265 0.0138031 0.999904 uwb: 0.49986903 834.671 556.624 -imu_odom_: 1691062800.680097772 0.011971 -0.220267 9.93594 -0.02024 -0.0191748 0.0351537 0.19 0 pose: 0.0 4.72101 0.0521115 0 0.000236112 0.00101265 0.0138031 0.999904 uwb: 0.0 834.671 556.624 -imu_odom_: 1691062800.704096117 0.323217 -0.215478 9.63427 -0.0553937 -0.0213053 0.0436758 0.19 0 pose: 0.41863600 4.72101 0.0521115 0 -0.000579001-0.00217429 0.0138714 0.999901 uwb: 0.50138560 835.456 555.179 -imu_odom_: 1691062800.728106419 0.577003 -0.323217 9.96467 -0.056459 -0.0468716 0.0532632 0.27 0.02 pose: 0.0 4.72101 0.0521115 0 -0.000579001-0.00217429 0.0138714 0.999901 uwb: 0.0 835.456 555.179 -imu_odom_: 1691062800.753099579 0.761356 -0.244209 9.90721 -0.0436758 -0.0394148 0.0447411 0.27 0.02 pose: 0.42107128 4.73513 0.0514377 0 -0.00174879 -0.0001243980.0138517 0.999903 uwb: 0.50012860 837.029 553.449 -imu_odom_: 1691062800.776204602 0.47884 -0.328006 9.6606 -0.0777643 -0.0436758 0.0660464 0.18 -0.02 pose: 0.0 4.73513 0.0514377 0 -0.00174879 -0.0001243980.0138517 0.999903 uwb: 0.0 837.029 553.449 -imu_odom_: 1691062800.793091376 0.746991 -0.222661 10.1227 -0.0500674 0.0234358 0.0415453 0.18 -0.02 pose: 0.87959613 4.74926 0.0507698 0 -0.00438119 -0.00468062 0.0144241 0.999875 uwb: 0.0 837.029 553.449 -imu_odom_: 1691062800.816089656 0.667982 0.0263362 10.0485 -0.04048 -0.0298274 0.0372843 0.2 -0.02 pose: 0.0 4.74926 0.0507698 0 -0.00438119 -0.00468062 0.0144241 0.999875 uwb: 0.49986902 839.077 551.784 -imu_odom_: 1691062800.841198308 0.167594 0.0215478 10.0006 -0.0681769 -0.0394148 0.0468716 0.2 -0.02 pose: 0.7945688 4.74926 0.0507698 0 -0.00410724 -0.00532321 0.014427 0.999873 uwb: 0.0 839.077 551.784 -imu_odom_: 1691062800.858139912 0.0143652 -0.28491 9.87129 -0.0490022 0.00426106 0.0500674 0.22 0 pose: 0.0 4.74926 0.0507698 0 -0.00410724 -0.00532321 0.014427 0.999873 uwb: 0.49714211 839.942 550.501 -imu_odom_: 1691062800.881083945 0.462081 -0.378284 9.8689 -0.0713727 -0.0234358 0.0436758 0.22 0 pose: 0.39950383 4.76339 0.0501116 0 -0.00111154 -0.00674849 0.0144165 0.999873 uwb: 0.0 839.942 550.501 -imu_odom_: 1691062800.907228827 0.770933 -0.174777 10.3789 -0.0394148 -0.0191748 0.0255663 0.21 0 pose: 0.0 4.76339 0.0501116 0 -0.00111154 -0.00674849 0.0144165 0.999873 uwb: 0.50137685 838.023 550.09 -imu_odom_: 1691062800.932170948 0.672771 -0.380678 9.72525 -0.0308927 -0.00745685 0.0330232 0.21 0 pose: 0.83128154 4.77542 0.0517504 0 -0.00179207 -0.0065493 0.0144274 0.999873 uwb: 0.0 838.023 550.09 -imu_odom_: 1691062800.950095701 0.263362 -0.0957681 10.07 -0.0351537 -0.0458064 0.0500674 0.2 -0.02 pose: 0.0 4.77542 0.0517504 0 -0.00179207 -0.0065493 0.0144274 0.999873 uwb: 0.50178516 837.439 549.701 -imu_odom_: 1691062800.974261744 0.0622492 -0.292093 9.14346 -0.0628506 -0.0223706 0.0490022 0.2 -0.02 pose: 0.33019342 4.77751 0.0494576 0 -0.00263865 -0.00792933 0.0143973 0.999861 uwb: 0.0 837.439 549.701 -imu_odom_: 1691062800.998134971 0.442927 -0.196325 9.82102 -0.052198 -0.00852212 0.0553937 0.23 0 pose: 0.0 4.77751 0.0494576 0 -0.00263865 -0.00792933 0.0143973 0.999861 uwb: 0.49807831 838.885 547.535 -imu_odom_: 1691062801.23083217 0.117316 -0.258574 9.92397 -0.0458064 0.0319579 0.0383495 0.23 0 pose: 0.41961887 4.79164 0.0487993 0 -0.00176439 -0.00457222 0.0146307 0.999881 uwb: 0.0 838.885 547.535 -imu_odom_: 1691062801.48082210 0.136469 -0.306458 9.83538 -0.0809601 -0.0117179 0.0756338 0.19 0 pose: 0.40873161 4.79673 0.0534404 0 -0.00071119 -0.0005911130.0147407 0.999891 uwb: 0.50130978 837.834 547.087 -imu_odom_: 1691062801.65137558 0.73502 0.0311246 10.2831 -0.0639159 -0.0330232 0.0383495 0.19 0 pose: 0.0 4.79673 0.0534404 0 -0.00071119 -0.0005911130.0147407 0.999891 uwb: 0.0 837.834 547.087 -imu_odom_: 1691062801.89207940 0.263362 -0.110133 10.2065 -0.0639159 0.0170442 0.0458064 0.18 0.02 pose: 0.8070514 4.79903 0.0555375 0 -0.00104345 0.000152137 0.0148868 0.999889 uwb: 0.0 837.834 547.087 -imu_odom_: 1691062801.114192643 0.861913 -0.107739 10.0365 -0.0447411 -0.0191748 0.0266316 0.18 0.02 pose: 0.0 4.79903 0.0555375 0 -0.00104345 0.000152137 0.0148868 0.999889 uwb: 0.49871703 837.905 546.038 -imu_odom_: 1691062801.128184216 0.517148 -0.328006 9.51216 -0.0628506 -0.0127832 0.0553937 0.18 -0.02 pose: 0.0 4.79903 0.0555375 0 -0.00104345 0.000152137 0.0148868 0.999889 uwb: 0.0 837.905 546.038 -imu_odom_: 1691062801.145066616 1.08697 -0.248997 9.89763 -0.076699 -0.0149137 0.0585895 0.18 -0.02 pose: 0.41976178 4.80577 0.048153 0 -0.0002706440.000819158 0.0152081 0.999884 uwb: 0.0 837.905 546.038 -imu_odom_: 1691062801.159129935 0.720655 -0.0646434 9.67497 -0.0660464 0.0117179 0.0330232 0.18 -0.02 pose: 0.0 4.80577 0.048153 0 -0.0002706440.000819158 0.0152081 0.999884 uwb: 0.49980488 835.301 546.252 -imu_odom_: 1691062801.175067391 0.577003 -0.306458 9.47146 -0.072438 0.0138484 0.0372843 0.19 -0.05 pose: 0.48002232 4.81315 0.0548987 0 0.000752232 -0.0008771670.0151553 0.999874 uwb: 0.0 835.301 546.252 -imu_odom_: 1691062801.192099989 0.591368 -0.213084 10.3669 -0.0543285 -0.0319579 0.0351537 0.19 -0.05 pose: 0.0 4.82335 0.0506737 0 0.000581114 -0.00421611 0.0153235 0.999874 uwb: 0.0 835.301 546.252 -imu_odom_: 1691062801.207042630 0.349553 -0.280122 9.70849 -0.036219 0.0351537 0.0372843 0.18 0 pose: 0.0 4.82335 0.0506737 0 0.000581114 -0.00421611 0.0153235 0.999874 uwb: 0.50028901 832.991 546.07 -imu_odom_: 1691062801.224292508 0.25618 -0.349553 10.3238 -0.056459 0.0500674 0.0458064 0.18 0 pose: 0.8010142 4.82728 0.0542628 0 -6.58787e-05-0.00470103 0.0153168 0.999872 uwb: 0.0 832.991 546.07 -imu_odom_: 1691062801.249075389 0.746991 -0.42138 9.98143 -0.0511327 0.0415453 0.0287621 0.18 0 pose: 0.0 4.82728 0.0542628 0 -6.58787e-05-0.00470103 0.0153168 0.999872 uwb: 0.0 832.991 546.07 -imu_odom_: 1691062801.275061615 0.54109 -0.11971 10.3956 -0.052198 -0.0234358 0.0468716 0.21 -0.02 pose: 0.47951777 4.82728 0.0542628 0 -0.000989934-0.00441667 0.0152842 0.999873 uwb: 0.0 832.991 546.07 -imu_odom_: 1691062801.300067899 0.361524 -0.126893 10.0796 -0.0287621 -0.015979 0.0234358 0.19 0 pose: 0.0 4.82728 0.0542628 0 -0.000989934-0.00441667 0.0152842 0.999873 uwb: 0.100003848 829.115 546.561 -imu_odom_: 1691062801.317135496 0.536301 -0.452504 9.47625 -0.0841559 -0.0117179 0.052198 0.19 0 pose: 0.69034798 4.84141 0.053629 0 0.000476873 -0.0049947 0.0151887 0.999872 uwb: 0.0 829.115 546.561 -imu_odom_: 1691062801.342091617 0.0790087 -0.289698 9.32542 -0.0436758 -0.00213053 0.0276969 0.18 -0.02 pose: 0.0 4.84141 0.053629 0 0.000476873 -0.0049947 0.0151887 0.999872 uwb: 0.0 829.115 546.561 -imu_odom_: 1691062801.368046927 0.272939 -0.383072 9.85693 -0.0745685 -0.0245011 0.0436758 0.18 -0.02 pose: 0.42124919 4.85554 0.0529914 0 -0.00053273 -0.00327928 0.0151175 0.99988 uwb: 0.49839622 827.874 545.673 -imu_odom_: 1691062801.392047314 0.292093 -0.272939 10.0916 -0.0426106 -0.00532632 0.036219 0.18 -0.02 pose: 0.0 4.85554 0.0529914 0 -0.00053273 -0.00327928 0.0151175 0.99988 uwb: 0.0 827.874 545.673 -imu_odom_: 1691062801.416052951 0.0670376 -0.519542 9.95748 -0.0660464 -0.00852212 0.0649811 0.18 -0.02 pose: 0.48835765 4.86292 0.0597359 0 -0.00276167 0.000596783 0.0150731 0.999882 uwb: 0.50126604 829.098 544.107 -imu_odom_: 1691062801.433101590 0.486023 -0.0909797 9.89763 -0.0287621 -0.0426106 0.0383495 0.19 0 pose: 0.0 4.86292 0.0597359 0 -0.00276167 0.000596783 0.0150731 0.999882 uwb: 0.0 829.098 544.107 -imu_odom_: 1691062801.458107875 0.797269 -0.335188 9.75158 -0.0596548 -0.0458064 0.0511327 0.19 0 pose: 0.47974817 4.86966 0.0523522 0 -0.00379466 0.00346748 0.015352 0.999869 uwb: 0.49909034 829.134 542.99 -imu_odom_: 1691062801.476096791 0.351948 -0.306458 9.51935 -0.0255663 0.0372843 0.0298274 0.18 0 pose: 0.0 4.86966 0.0523522 0 -0.00379466 0.00346748 0.015352 0.999869 uwb: 0.0 829.134 542.99 -imu_odom_: 1691062801.500157841 0.423774 -0.337582 9.61272 -0.0628506 0.00426106 0.052198 0.18 0 pose: 0.43044781 4.88379 0.0517201 0 -0.00351037 0.00053536 0.0154477 0.999874 uwb: 0.50042317 829.245 542.07 -imu_odom_: 1691062801.526090986 0.696713 -0.337582 10.3477 -0.0436758 -0.0660464 0.0543285 0.2 0 pose: 0.34050907 4.88873 0.056238 0 -0.00558712 -4.88642e-050.0155433 0.999864 uwb: 0.0 829.245 542.07 -imu_odom_: 1691062801.550026918 0.610521 -0.0383072 9.67018 -0.0649811 -0.00852212 0.036219 0.2 0 pose: 0.0 4.88873 0.056238 0 -0.00558712 -4.88642e-050.0155433 0.999864 uwb: 0.50168893 827.381 541.966 -imu_odom_: 1691062801.574117133 -0.567426 0.0861913 11.3174 -0.0532632 -0.0234358 0.0490022 0.2 0 pose: 0.7912148 4.89117 0.0584699 0 -0.00554801 -0.00108472 0.0155985 0.999862 uwb: 0.0 827.381 541.966 -imu_odom_: 1691062801.599050214 0.349553 0.0837971 10.5608 -0.0607201 -0.0596548 0.0426106 0.23 0 pose: 0.0 4.89117 0.0584699 0 -0.00554801 -0.00108472 0.0155985 0.999862 uwb: 0.49826789 826.706 541.392 -imu_odom_: 1691062801.615162951 0.344765 -0.435745 9.38048 -0.0681769 -0.0213053 0.0532632 0.23 0 pose: 0.50020735 4.89792 0.0510937 0 -0.00315286 -0.00386302 0.0157107 0.999864 uwb: 0.0 826.706 541.392 -imu_odom_: 1691062801.641174550 0.318429 -0.232238 9.95748 -0.0671117 -0.00319579 0.0394148 0.18 -0.02 pose: 0.0 4.89792 0.0510937 0 -0.00315286 -0.00386302 0.0157107 0.999864 uwb: 0.0 826.706 541.392 -imu_odom_: 1691062801.665046320 0.258574 0.0430956 9.84017 -0.0841559 -0.0191748 0.0543285 0.18 -0.02 pose: 0.47959651 4.9053 0.0578475 0 -0.00097551 -0.00220874 0.0158747 0.999871 uwb: 0.50000320 828.375 539.737 -imu_odom_: 1691062801.683176977 0.536301 -0.351948 10.1227 -0.0948085 -0.00639159 0.0585895 0.2 0 pose: 0.0 4.9053 0.0578475 0 -0.00097551 -0.00220874 0.0158747 0.999871 uwb: 0.0 828.375 539.737 -imu_odom_: 1691062801.707095994 0.80924 -0.150835 10.3286 -0.0660464 0.00745685 0.0436758 0.2 0 pose: 0.42036842 4.91943 0.0572308 0 -0.00111297 0.00092254 0.0159928 0.999871 uwb: 0.50043193 827.652 539.029 -imu_odom_: 1691062801.733032056 0.414197 -0.244209 9.89763 -0.0585895 0.0117179 0.036219 0.23 0.05 pose: 0.0 4.91943 0.0572308 0 -0.00111297 0.00092254 0.0159928 0.999871 uwb: 0.0 827.652 539.029 -imu_odom_: 1691062801.757141520 0.603339 -0.500388 9.80426 -0.0553937 -0.0127832 0.0468716 0.23 0.05 pose: 0.43095236 4.91943 0.0572308 0 -0.00119735 -0.0006324720.016307 0.999866 uwb: 0.49995361 828.187 538.002 -imu_odom_: 1691062801.774063583 0.622492 -0.229843 9.50737 -0.0585895 0.00106526 0.0458064 0.19 0.02 pose: 0.0 4.91943 0.0572308 0 -0.00119735 -0.0006324720.016307 0.999866 uwb: 0.0 828.187 538.002 -imu_odom_: 1691062801.798086135 0.28491 -0.373495 9.80426 -0.0468716 -0.02024 0.0543285 0.19 0.02 pose: 0.48918885 4.93355 0.0566261 0 -0.00244234 3.31959e-05 0.0163224 0.999864 uwb: 0.50006153 826.762 537.881 -imu_odom_: 1691062801.823185164 0.555455 -0.143652 10.137 -0.0415453 -0.0372843 0.0372843 0.2 0 pose: 0.0 4.93355 0.0566261 0 -0.00244234 3.31959e-05 0.0163224 0.999864 uwb: 0.0 826.762 537.881 -imu_odom_: 1691062801.848038333 0.454898 -0.1652 9.86411 -0.0628506 -0.0149137 0.0607201 0.2 0 pose: 0.41209725 4.94092 0.0633891 0 -0.00360402 -0.00217414 0.0164843 0.999855 uwb: 0.49851871 826.301 536.649 -imu_odom_: 1691062801.873301852 0.682347 -0.0933739 10.5153 -0.0468716 0.0585895 0.0308927 0.19 0 pose: 0.49875494 4.94769 0.0560246 0 -0.00148906 -0.00287192 0.0166626 0.999856 uwb: 0.0 826.301 536.649 -imu_odom_: 1691062801.890038719 0.148441 -0.407014 9.9503 -0.0426106 0.00958738 0.0351537 0.19 0 pose: 0.0 4.94769 0.0560246 0 -0.00148906 -0.00287192 0.0166626 0.999856 uwb: 0.0 826.301 536.649 -imu_odom_: 1691062801.915031004 0.323217 -0.215478 9.8282 -0.0479369 0.0117179 0.036219 0.2 0.02 pose: 0.24881459 4.95505 0.062793 0 0.000558119 -0.00331854 0.0168003 0.999853 uwb: 0.50219640 822.726 536.974 -imu_odom_: 1691062801.940172031 0.696713 -0.292093 10.3765 -0.0660464 -0.052198 0.0553937 0.19 0 pose: 0.42096630 4.96182 0.0554326 0 0.00058359 -0.00189506 0.0166753 0.999859 uwb: 0.0 822.726 536.974 -imu_odom_: 1691062801.965110653 0.691924 -0.385466 9.91439 -0.0330232 0.0308927 0.0234358 0.19 0 pose: 0.42007385 4.9738 0.0571743 0 -0.000342623-0.0031102 0.0168462 0.999853 uwb: 0.49871703 821.268 536.804 -imu_odom_: 1691062801.981106730 0.23942 -0.308852 9.96946 -0.04048 0.00958738 0.0298274 0.19 0 pose: 0.0 4.9738 0.0571743 0 -0.000342623-0.0031102 0.0168462 0.999853 uwb: 0.0 821.268 536.804 -imu_odom_: 1691062802.6030770 0.174777 -0.354342 9.89045 -0.0191748 0.00745685 0.0319579 0.18 0.02 pose: 0.7952979 4.97595 0.0548388 0 -0.000708434-0.00362455 0.0167834 0.999852 uwb: 0.50119313 823.709 534.689 -imu_odom_: 1691062802.29020594 0.299275 -0.289698 9.76595 -0.056459 -0.00213053 0.0617853 0.18 0 pose: 0.0 4.97595 0.0548388 0 -0.000708434-0.00362455 0.0167834 0.999852 uwb: 0.0 823.709 534.689 -imu_odom_: 1691062802.45005589 0.572214 -0.0837971 10.1347 -0.0436758 -0.0532632 0.0426106 0.18 0 pose: 0.0 4.97595 0.0548388 0 -0.000708434-0.00362455 0.0167834 0.999852 uwb: 0.0 823.709 534.689 -imu_odom_: 1691062802.70138158 0.543484 -0.237026 9.9503 -0.0628506 -0.0490022 0.0628506 0.25 -0.02 pose: 0.40049253 4.98331 0.0616068 0 -0.00190567 -0.00235954 0.0165513 0.999858 uwb: 0.0 823.709 534.689 -imu_odom_: 1691062802.92993823 0.301669 -0.196325 9.90002 -0.0351537 -0.0170442 0.0383495 0.25 -0.02 pose: 0.81963895 4.99744 0.0610118 0 -0.00153765 -0.00296905 0.0170621 0.999849 uwb: 0.0 823.709 534.689 -imu_odom_: 1691062802.109009150 0.505177 -0.112527 9.82102 -0.0777643 -0.0170442 0.0777643 0.25 -0.02 pose: 0.0 4.99744 0.0610118 0 -0.00153765 -0.00296905 0.0170621 0.999849 uwb: 0.99884566 822.737 534.58 -imu_odom_: 1691062802.133993270 0.605733 -0.0861913 10.1059 -0.0713727 -0.0191748 0.0394148 0.19 0 pose: 0.6891085 4.99744 0.0610118 0 -0.00127388 -0.00234931 0.0170586 0.999851 uwb: 0.0 822.737 534.58 -imu_odom_: 1691062802.158065404 0.158017 -0.122104 10.3765 -0.0639159 0.015979 0.0468716 0.18 0.02 pose: 0.0 4.99744 0.0610118 0 -0.00127388 -0.00234931 0.0170586 0.999851 uwb: 0.50012571 822.835 533.613 -imu_odom_: 1691062802.181996670 0.61531 -0.136469 10.0341 -0.0500674 0.0149137 0.0287621 0.18 0.02 pose: 0.40087169 5.01157 0.0604326 0 0.000895099 -0.00265292 0.0173528 0.999846 uwb: 0.0 822.835 533.613 -imu_odom_: 1691062802.197990415 0.636858 -0.481235 10.082 -0.0330232 -0.0223706 0.0383495 0.18 0.02 pose: 0.0 5.01157 0.0604326 0 0.000895099 -0.00265292 0.0173528 0.999846 uwb: 0.50143521 821.228 533.069 -imu_odom_: 1691062802.214995599 0.122104 -0.430956 9.36133 -0.02024 0.015979 0.0213053 0.23 -0.02 pose: 0.0 5.01157 0.0604326 0 0.000895099 -0.00265292 0.0173528 0.999846 uwb: 0.0 821.228 533.069 -imu_odom_: 1691062802.238039086 0.888249 0.124498 10.5177 -0.0458064 -0.0500674 0.0681769 0.23 -0.02 pose: 0.47884407 5.01157 0.0604326 0 0.00221827 -0.00211265 0.0173955 0.999844 uwb: 0.0 821.228 533.069 -imu_odom_: 1691062802.263045955 0.351948 0.0981623 10.1682 -0.0980043 -0.0458064 0.0671117 0.25 0 pose: 0.41002947 5.0257 0.0598582 0 0.00108994 -0.00375202 0.0172329 0.999844 uwb: 0.49853330 823.679 530.908 -imu_odom_: 1691062802.286067860 0.600945 0.035913 10.2208 -0.0703074 -0.0852212 0.0266316 0.18 -0.02 pose: 0.32035320 5.0257 0.0598582 0 0.00228833 -0.00524775 0.0174792 0.999831 uwb: 0.0 823.679 530.908 -imu_odom_: 1691062802.310065914 0.876278 -0.265756 10.0604 -0.0660464 -0.00213053 0.0287621 0.18 -0.02 pose: 0.7979520 5.0257 0.0598582 0 0.00280189 -0.00500127 0.0175832 0.999829 uwb: 0.49879871 826.149 528.76 -imu_odom_: 1691062802.335178068 0.174777 -0.225055 9.80186 -0.0500674 -0.00745685 0.0543285 0.21 -0.02 pose: 0.0 5.0257 0.0598582 0 0.00280189 -0.00500127 0.0175832 0.999829 uwb: 0.0 826.149 528.76 -imu_odom_: 1691062802.351059237 0.354342 -0.572214 9.81383 -0.0607201 0.0213053 0.0447411 0.21 -0.02 pose: 0.48093228 5.03983 0.0592892 0 0.00535146 -0.0072993 0.0176097 0.999804 uwb: 0.50108815 825.815 527.856 -imu_odom_: 1691062802.377161831 0.596156 -0.19393 9.99579 -0.0607201 -0.0266316 0.0500674 0.19 0 pose: 0.0 5.03983 0.0592892 0 0.00535146 -0.0072993 0.0176097 0.999804 uwb: 0.0 825.815 527.856 -imu_odom_: 1691062802.402062539 0.636858 -0.035913 10.3166 -0.0596548 -0.00426106 0.0319579 0.19 0 pose: 0.48030523 5.04718 0.0660707 0 0.00336391 -0.00600892 0.0177372 0.999819 uwb: 0.49858871 826.551 527.31 -imu_odom_: 1691062802.418996561 0.260968 -0.25618 9.77553 -0.056459 0.0319579 0.0255663 0.22 0 pose: 0.0 5.04718 0.0660707 0 0.00336391 -0.00600892 0.0177372 0.999819 uwb: 0.0 826.551 527.31 -imu_odom_: 1691062802.443979514 0.227449 -0.452504 9.51216 -0.0298274 -0.0383495 0.0298274 0.22 0 pose: 0.42930747 5.05396 0.0587228 0 0.00238672 -0.00866644 0.0178746 0.9998 uwb: 0.0 826.551 527.31 -imu_odom_: 1691062802.467120995 0.418985 -0.325611 9.90721 -0.0681769 0.00106526 0.0639159 0.24 0 pose: 0.0 5.05396 0.0587228 0 0.00238672 -0.00866644 0.0178746 0.9998 uwb: 0.50009071 824.989 526.884 -imu_odom_: 1691062802.483999312 0.459687 -0.107739 10.0054 -0.052198 -0.0181095 0.0575243 0.24 0 pose: 0.43075989 5.06809 0.0581602 0 0.00280062 -0.00690336 0.0176376 0.999817 uwb: 0.0 824.989 526.884 -imu_odom_: 1691062802.508994223 0.440533 -0.146046 10.1706 -0.0511327 0.00639159 0.0468716 0.18 0 pose: 0.0 5.06809 0.0581602 0 0.00280062 -0.00690336 0.0176376 0.999817 uwb: 0.50194560 823.926 526.552 -imu_odom_: 1691062802.525053589 0.545878 -0.373495 9.73722 -0.0468716 0.00213053 0.0383495 0.18 0 pose: 0.46996627 5.07544 0.064943 0 0.000607008 -0.00447369 0.0179242 0.999829 uwb: 0.0 823.926 526.552 -imu_odom_: 1691062802.551054689 0.802058 -0.296881 9.96706 -0.0436758 -0.0276969 0.0532632 0.19 0 pose: 0.0 5.07544 0.064943 0 0.000607008 -0.00447369 0.0179242 0.999829 uwb: 0.49862663 825.582 524.663 -imu_odom_: 1691062802.568051124 0.488417 -0.328006 9.94073 -0.0596548 0.00106526 0.0543285 0.19 0 pose: 0.40864414 5.08222 0.0575985 0 0.00247997 -0.00245383 0.0180801 0.99983 uwb: 0.0 825.582 524.663 -imu_odom_: 1691062802.593129447 0.629675 -0.186748 9.73004 -0.0575243 0.0223706 0.0596548 0.18 -0.02 pose: 0.0 5.08222 0.0575985 0 0.00247997 -0.00245383 0.0180801 0.99983 uwb: 0.0 825.582 524.663 -imu_odom_: 1691062802.618999305 0.248997 -0.344765 9.21768 -0.0596548 0.0372843 0.036219 0.18 -0.02 pose: 0.41996303 5.08957 0.0643865 0 0.000377191 -0.00546607 0.0183166 0.999817 uwb: 0.50057776 825.977 523.167 -imu_odom_: 1691062802.635022506 0.347159 -0.172383 9.97185 -0.0394148 0.00852212 0.0426106 0.18 0 pose: 0.0 5.08957 0.0643865 0 0.000377191 -0.00546607 0.0183166 0.999817 uwb: 0.0 825.977 523.167 -imu_odom_: 1691062802.661105852 0.454898 -0.320823 10.1323 -0.0575243 -0.00532632 0.0436758 0.18 0 pose: 0.43029908 5.1037 0.0638416 0 -0.00019218 -0.00642456 0.0186301 0.999806 uwb: 0.49999739 824.471 522.919 -imu_odom_: 1691062802.685996353 0.529119 -0.0023942 9.90242 -0.0745685 0 0.0532632 0.2 0 pose: 0.0 5.1037 0.0638416 0 -0.00019218 -0.00642456 0.0186301 0.999806 uwb: 0.0 824.471 522.919 -imu_odom_: 1691062802.711982871 0.203507 -0.316035 9.65821 -0.0511327 0.0426106 0.0308927 0.2 0 pose: 0.41001489 5.1037 0.0638416 0 -0.000969781-0.00282968 0.0186451 0.999822 uwb: 0.49869371 824.572 521.905 -imu_odom_: 1691062802.728049528 0.232238 -0.0957681 10.1873 -0.0703074 -0.0117179 0.0490022 0.17 0 pose: 0.0 5.1037 0.0638416 0 -0.000969781-0.00282968 0.0186451 0.999822 uwb: 0.0 824.572 521.905 -imu_odom_: 1691062802.751024477 0.215478 -0.567426 9.70609 -0.0756338 0.0127832 0.0585895 0.17 0 pose: 0.52026991 5.11783 0.0633027 0 -0.000970603-0.00237951 0.0188169 0.99982 uwb: 0.0 824.572 521.905 -imu_odom_: 1691062802.777043951 0.641646 -0.342371 9.88805 -0.0617853 -0.0319579 0.0436758 0.25 0.02 pose: 0.0 5.11783 0.0633027 0 -0.000970603-0.00237951 0.0188169 0.99982 uwb: 0.0 824.572 521.905 -imu_odom_: 1691062802.801023049 0.301669 -0.612916 9.57681 -0.0447411 0.02024 0.036219 0.25 0.02 pose: 0.41020446 5.12516 0.070102 0 -0.00133951 0.00127608 0.018886 0.99982 uwb: 0.100048765 826.301 520.15 -imu_odom_: 1691062802.828103251 0.435745 -0.114922 10.149 -0.0468716 -0.0415453 0.0468716 0.19 0.02 pose: 0.49950449 5.13196 0.0627699 0 -0.00433016 -0.0004583830.01907 0.999809 uwb: 0.0 826.301 520.15 -imu_odom_: 1691062802.852995793 0.751779 -0.0191536 10.0317 -0.0383495 0.00213053 0.0468716 0.18 -0.02 pose: 0.0 5.13196 0.0627699 0 -0.00433016 -0.0004583830.01907 0.999809 uwb: 0.49947241 827.605 518.507 -imu_odom_: 1691062802.880254776 0.272939 -0.162806 9.94551 -0.0468716 -0.00958738 0.0543285 0.18 -0.02 pose: 0.67960073 5.1461 0.062243 0 -0.00121615 -0.00257526 0.019229 0.999811 uwb: 0.0 827.605 518.507 -imu_odom_: 1691062802.896103280 0.792481 -0.229843 10.0078 -0.0234358 -0.0543285 0.036219 0.19 0 pose: 0.8042516 5.1461 0.062243 0 -0.000881262-0.00184989 0.0192886 0.999812 uwb: 0.49965032 827.655 517.317 -imu_odom_: 1691062802.922117504 0.699107 -0.316035 9.69652 -0.0436758 -0.04048 0.0458064 0.19 0 pose: 0.0 5.1461 0.062243 0 -0.000881262-0.00184989 0.0192886 0.999812 uwb: 0.0 827.655 517.317 -imu_odom_: 1691062802.944965003 0.246603 -0.1652 9.49301 -0.0223706 -0.0138484 0.036219 0.17 0.02 pose: 0.35064971 5.15342 0.0690491 0 0.000154927 -0.0020935 0.0194042 0.99981 uwb: 0.0 827.655 517.317 -imu_odom_: 1691062802.971038432 0.0981623 0.0454898 10.0317 -0.0415453 -0.0117179 0.0447411 0.17 0.02 pose: 0.48861723 5.16529 0.0664282 0 0.000277947 -0.0028692 0.0194501 0.999807 uwb: 0.50038236 824.784 517.277 -imu_odom_: 1691062802.987028678 0.799663 -0.361524 9.62469 -0.0703074 0.00639159 0.052198 0.18 0.02 pose: 0.0 5.16529 0.0664282 0 0.000277947 -0.0028692 0.0194501 0.999807 uwb: 0.0 824.784 517.277 -imu_odom_: 1691062803.12961824 0.407014 -0.294487 9.72046 -0.0596548 -0.00745685 0.0394148 0.18 0.02 pose: 0.42063675 5.17116 0.0645766 0 0.00113742 -0.00217521 0.0196173 0.999805 uwb: 0.49977864 824.455 516.371 -imu_odom_: 1691062803.29075146 0.775721 -0.277727 10.0006 -0.0394148 0.00213053 0.02024 0.19 0.02 pose: 0.0 5.17116 0.0645766 0 0.00113742 -0.00217521 0.0196173 0.999805 uwb: 0.0 824.455 516.371 -imu_odom_: 1691062803.44948732 0.172383 -0.402226 9.66539 -0.0394148 0.00426106 0.0319579 0.19 0.02 pose: 0.0 5.17116 0.0645766 0 0.00113742 -0.00217521 0.0196173 0.999805 uwb: 0.0 824.455 516.371 -imu_odom_: 1691062803.61067011 0.502782 -0.423774 9.99819 -0.0394148 -0.0585895 0.036219 0.19 0.02 pose: 0.49047504 5.1817 0.0678562 0 -0.0016681 -0.00226303 0.0194369 0.999807 uwb: 0.50037362 826.18 514.526 -imu_odom_: 1691062803.76969470 0.454898 -0.232238 9.77792 -0.0117179 0.036219 0.0383495 0.2 0 pose: 0.0 5.1817 0.0678562 0 -0.0016681 -0.00226303 0.0194369 0.999807 uwb: 0.0 826.18 514.526 -imu_odom_: 1691062803.93011629 0.25618 -0.241814 9.91439 -0.0511327 0.00213053 0.0543285 0.2 0 pose: 0.0 5.1817 0.0678562 0 -0.0016681 -0.00226303 0.0194369 0.999807 uwb: 0.0 826.18 514.526 -imu_odom_: 1691062803.109009166 0.593762 -0.141258 9.92636 -0.0383495 -0.0713727 0.0415453 0.21 0 pose: 0.48941637 5.19583 0.0671973 0 -0.00144379 -0.00148434 0.0194265 0.999809 uwb: 0.49950743 824.623 514.187 -imu_odom_: 1691062803.126056057 0.897826 0.0622492 10.1921 -0.0543285 -0.0596548 0.052198 0.23 0 pose: 0.0 5.19583 0.0671973 0 -0.00144379 -0.00148434 0.0194265 0.999809 uwb: 0.0 824.623 514.187 -imu_odom_: 1691062803.141951516 0.794875 -0.557849 9.37569 -0.0628506 0.0266316 0.0596548 0.23 0 pose: 0.41038238 5.19575 0.0671849 0 0.000505897 -0.00445156 0.0196052 0.999798 uwb: 0.0 824.623 514.187 -imu_odom_: 1691062803.167117626 0.339977 -0.294487 10.0652 -0.052198 0.0245011 0.0553937 0.19 0 pose: 0.15895459 5.20319 0.0668779 0 -0.000730895-0.00528108 0.0197703 0.99979 uwb: 0.49998573 824.248 513.148 -imu_odom_: 1691062803.192960945 0.658405 -0.380678 9.77074 -0.0681769 -0.0138484 0.0426106 0.19 0 pose: 0.0 5.20319 0.0668779 0 -0.000730895-0.00528108 0.0197703 0.99979 uwb: 0.0 824.248 513.148 -imu_odom_: 1691062803.208033662 0.301669 -0.335188 9.91918 -0.0575243 0.0500674 0.0287621 0.18 0 pose: 0.8053890 5.20996 0.0665831 0 -0.00101987 -0.00441625 0.0198361 0.999793 uwb: 0.49975533 821.777 512.972 -imu_odom_: 1691062803.226200485 0.208296 -0.208296 10.0078 -0.0703074 -0.0234358 0.0500674 0.18 0 pose: 0.0 5.20996 0.0665831 0 -0.00101987 -0.00441625 0.0198361 0.999793 uwb: 0.0 821.777 512.972 -imu_odom_: 1691062803.242197731 0.670376 -0.481235 9.48822 -0.0596548 -0.0308927 0.0319579 0.18 0 pose: 0.25101947 5.20996 0.0665831 0 -0.00210511 -0.00329711 0.0199879 0.999793 uwb: 0.0 821.777 512.972 -imu_odom_: 1691062803.258961138 0.191536 -0.134075 10.0269 -0.0543285 0.00532632 0.0468716 0.18 0 pose: 0.0 5.20996 0.0665831 0 -0.00210511 -0.00329711 0.0199879 0.999793 uwb: 0.50069443 821.479 512.156 -imu_odom_: 1691062803.275087875 0.356736 -0.536301 9.76595 -0.0777643 0.0181095 0.0617853 0.18 0 pose: 0.0 5.20996 0.0665831 0 -0.00210511 -0.00329711 0.0199879 0.999793 uwb: 0.0 821.479 512.156 -imu_odom_: 1691062803.290948337 0.617704 -0.299275 10.1634 -0.0575243 -0.0255663 0.0372843 0.24 0 pose: 0.58992157 5.22409 0.066083 0 -0.00377047 -0.0022032 0.0200078 0.99979 uwb: 0.0 821.479 512.156 -imu_odom_: 1691062803.316086157 0.703895 -0.0646434 10.4028 -0.0607201 -0.0330232 0.0383495 0.24 0 pose: 0.0 5.22409 0.066083 0 -0.00377047 -0.0022032 0.0200078 0.99979 uwb: 0.50021322 820.261 511.476 -imu_odom_: 1691062803.342088133 0.890643 -0.189142 9.54329 -0.0511327 0.0308927 0.0223706 0.19 -0.02 pose: 0.64903300 5.23141 0.0729027 0 -0.00443882 -0.00324508 0.0201877 0.999781 uwb: 0.0 820.261 511.476 -imu_odom_: 1691062803.367162373 0.682347 -0.294487 9.43794 -0.0681769 0.00426106 0.0511327 0.2 0 pose: 0.25130237 5.23822 0.0655885 0 -0.00303208 -0.00530856 0.0200961 0.999779 uwb: 0.49938202 820.042 510.881 -imu_odom_: 1691062803.384080063 0.651223 -0.497994 10.4124 -0.0490022 0.0308927 0.0266316 0.21 0 pose: 0.0 5.23822 0.0655885 0 -0.00303208 -0.00530856 0.0200961 0.999779 uwb: 0.0 820.042 510.881 -imu_odom_: 1691062803.409958672 0.493206 -0.363919 9.48583 -0.0532632 -0.00426106 0.0553937 0.21 0 pose: 0.51011179 5.24554 0.0724064 0 -0.00389993 -0.00920803 0.0200267 0.999749 uwb: 0.49982240 822.174 508.753 -imu_odom_: 1691062803.435936732 0.507571 -0.023942 10.1251 -0.0308927 -0.00745685 0.02024 0.18 0 pose: 0.34814446 5.25236 0.0650904 0 -0.00621846 -0.0072142 0.0202045 0.999751 uwb: 0.0 822.174 508.753 -imu_odom_: 1691062803.460915312 0.792481 -0.294487 9.8282 -0.0756338 -0.00319579 0.0436758 0.19 -0.02 pose: 0.0 5.25236 0.0650904 0 -0.00621846 -0.0072142 0.0202045 0.999751 uwb: 0.50003240 822.156 507.36 -imu_odom_: 1691062803.487223228 0.656011 -0.160412 9.85214 -0.0479369 0.0287621 0.0255663 0.19 -0.02 pose: 0.50956640 5.25967 0.0719093 0 -0.00364967 -0.00938421 0.0199809 0.99975 uwb: 0.0 822.156 507.36 -imu_odom_: 1691062803.511940781 0.234632 -0.383072 9.37569 -0.056459 0.0170442 0.0330232 0.19 0 pose: 0.0 5.25967 0.0719093 0 -0.00364967 -0.00938421 0.0199809 0.99975 uwb: 0.50115816 822.707 506.188 -imu_odom_: 1691062803.537162305 0.414197 -0.265756 9.67497 -0.072438 0.00532632 0.0607201 0.19 0 pose: 0.33185877 5.2738 0.0714072 0 -0.00150535 -0.00947306 0.0197505 0.999759 uwb: 0.0 822.707 506.188 -imu_odom_: 1691062803.560074550 0.208296 -0.220267 9.57681 -0.0468716 0.0138484 0.0447411 0.18 0 pose: 0.25058199 5.2738 0.0714072 0 -0.00232 -0.00688434 0.0197788 0.999778 uwb: 0.49750671 823.615 504.642 -imu_odom_: 1691062803.585912619 0.186748 -0.277727 9.59596 -0.0607201 -0.00852212 0.0532632 0.18 0 pose: 0.0 5.2738 0.0714072 0 -0.00232 -0.00688434 0.0197788 0.999778 uwb: 0.0 823.615 504.642 -imu_odom_: 1691062803.609979212 0.339977 -0.328006 9.50737 -0.0276969 0.0266316 0.0298274 0.25 0 pose: 0.24932791 5.2738 0.0714072 0 -0.00247108 -0.00425196 0.019992 0.999788 uwb: 0.50001198 822.528 504.331 -imu_odom_: 1691062803.625971499 0.586579 0.0909797 10.9654 -0.0490022 -0.00958738 0.0585895 0.25 0 pose: 0.0 5.2738 0.0714072 0 -0.00247108 -0.00425196 0.019992 0.999788 uwb: 0.0 822.528 504.331 -imu_odom_: 1691062803.652933293 0.481235 -0.1652 10.2472 -0.0500674 0.0468716 0.036219 0.18 0 pose: 0.48845101 5.28794 0.0709069 0 -0.00293855 0.000577124 0.020186 0.999792 uwb: 0.50001781 823.079 503.137 -imu_odom_: 1691062803.677980409 0.565032 -0.407014 9.61033 -0.0735032 0.00532632 0.0607201 0.19 0.02 pose: 0.0 5.28794 0.0709069 0 -0.00293855 0.000577124 0.020186 0.999792 uwb: 0.0 823.079 503.137 -imu_odom_: 1691062803.693937407 0.162806 -0.174777 9.48343 -0.0319579 -0.0223706 0.0319579 0.19 0.02 pose: 0.41165105 5.30207 0.0704125 0 -0.00192653 0.000803434 0.0202419 0.999793 uwb: 0.0 823.079 503.137 -imu_odom_: 1691062803.719915468 0.526724 -0.292093 9.73482 -0.0820254 -0.0138484 0.0628506 0.18 0.02 pose: 0.0 5.30207 0.0704125 0 -0.00192653 0.000803434 0.0202419 0.999793 uwb: 0.50123399 825.62 500.646 -imu_odom_: 1691062803.745938443 0.153229 -0.191536 9.43794 -0.0511327 0.0383495 0.0458064 0.18 0.02 pose: 0.50830064 5.30207 0.0704125 0 -0.00232554 -0.00101957 0.0204461 0.999788 uwb: 0.50303054 826.076 499.145 -imu_odom_: 1691062803.771051472 0.45011 -0.112527 10.1347 -0.0798948 -0.00852212 0.0585895 0.19 0.02 pose: 0.0 5.30207 0.0704125 0 -0.00232554 -0.00101957 0.0204461 0.999788 uwb: 0.0 826.076 499.145 -imu_odom_: 1691062803.786933516 0.301669 -0.244209 9.57441 -0.0436758 -0.0117179 0.0330232 0.19 0.02 pose: 0.43047700 5.31621 0.0699267 0 -0.00285825 -0.0018952 0.0207381 0.999779 uwb: 0.0 826.076 499.145 -imu_odom_: 1691062803.814058633 0.605733 -0.260968 9.86172 -0.0735032 0.00852212 0.0617853 0.18 0.02 pose: 0.0 5.31621 0.0699267 0 -0.00285825 -0.0018952 0.0207381 0.999779 uwb: 0.0 826.076 499.145 -imu_odom_: 1691062803.838044147 0.533907 -0.158017 10.228 -0.0468716 -0.00319579 0.0330232 0.18 0.02 pose: 0.49967950 5.32351 0.0767563 0 -0.0004290733.91602e-05 0.0210124 0.999779 uwb: 0.0 826.076 499.145 -imu_odom_: 1691062803.854005228 0.260968 -0.299275 9.7444 -0.076699 0.00532632 0.0500674 0.19 0 pose: 0.0 5.32351 0.0767563 0 -0.0004290733.91602e-05 0.0210124 0.999779 uwb: 0.99673124 823.619 499.133 -imu_odom_: 1691062803.880919774 0.0694318 -0.565032 9.60314 -0.0245011 0.0340885 0.0330232 0.19 0 pose: 0.76057129 5.33765 0.0762856 0 -0.000377536-0.0019166 0.0212842 0.999772 uwb: 0.0 823.619 499.133 -imu_odom_: 1691062803.905928102 0.641646 -0.0502782 9.70849 -0.0511327 -0.0191748 0.0479369 0.17 0 pose: 0.0 5.33765 0.0762856 0 -0.000377536-0.0019166 0.0212842 0.999772 uwb: 0.50063611 822.408 498.49 -imu_odom_: 1691062803.932170688 0.457293 -0.332794 10.0604 -0.0479369 -0.0351537 0.0511327 0.17 0 pose: 0.7973687 5.33765 0.0762856 0 -0.000811891-0.00118757 0.0212596 0.999773 uwb: 0.0 822.408 498.49 -imu_odom_: 1691062803.956928489 0.629675 -0.117316 10.058 -0.0394148 -0.0106526 0.0394148 0.19 0.02 pose: 0.52113029 5.35178 0.0758206 0 -0.000946013-0.00186969 0.0213514 0.99977 uwb: 0.50058069 823.27 496.741 -imu_odom_: 1691062803.983052375 0.316035 -0.138864 9.8258 -0.0671117 0.0298274 0.056459 0.22 0 pose: 0.0 5.35178 0.0758206 0 -0.000946013-0.00186969 0.0213514 0.99977 uwb: 0.0 823.27 496.741 -imu_odom_: 1691062803.999902402 0.497994 -0.134075 10.2208 -0.0319579 -0.0458064 0.0383495 0.22 0 pose: 0.25986227 5.35178 0.0758206 0 -0.00204823 -0.00316058 0.0214552 0.999763 uwb: 0.49931494 826.436 494.498 -imu_odom_: 1691062804.24955644 0.454898 -0.248997 9.9934 -0.0372843 0.00213053 0.0394148 0.22 0 pose: 0.50912601 5.36591 0.0753625 0 0.000959035 -0.00234157 0.0216584 0.999762 uwb: 0.0 826.436 494.498 -imu_odom_: 1691062804.48909661 0.373495 -0.0861913 9.94551 -0.0458064 0.00639159 0.0383495 0.25 0 pose: 0.33964872 5.36591 0.0753625 0 -0.000487438-0.00268633 0.0216578 0.999762 uwb: 0.49939953 827.328 492.778 -imu_odom_: 1691062804.64894949 0.272939 -0.0574608 10.1299 -0.0852212 0.00532632 0.0607201 0.25 0 pose: 0.0 5.36591 0.0753625 0 -0.000487438-0.00268633 0.0216578 0.999762 uwb: 0.0 827.328 492.778 -imu_odom_: 1691062804.89892195 0.35913 -0.301669 9.59357 -0.0585895 -0.0191748 0.0298274 0.19 0 pose: 0.6011180 5.36591 0.0753625 0 5.2146e-05 -0.00233636 0.021653 0.999763 uwb: 0.0 827.328 492.778 -imu_odom_: 1691062804.115012808 0.102951 -0.378284 10.0054 -0.0394148 0.00745685 0.0298274 0.19 0 pose: 0.0 5.36591 0.0753625 0 5.2146e-05 -0.00233636 0.021653 0.999763 uwb: 0.50151690 825.261 492.517 -imu_odom_: 1691062804.139870354 0.921768 -0.172383 9.68215 -0.0170442 -0.00532632 0.0287621 0.19 0 pose: 0.40955702 5.38005 0.074909 0 0.00170624 0.000207497 0.021769 0.999762 uwb: 0.0 825.261 492.517 -imu_odom_: 1691062804.152876446 0.936133 -0.203507 10.2735 -0.0319579 -0.0500674 0.0490022 0.19 0 pose: 0.0 5.38005 0.074909 0 0.00170624 0.000207497 0.021769 0.999762 uwb: 0.49846334 825.437 491.587 -imu_odom_: 1691062804.168870192 0.603339 -0.035913 9.42358 -0.0575243 0.00958738 0.0500674 0.21 0 pose: 0.0 5.38005 0.074909 0 0.00170624 0.000207497 0.021769 0.999762 uwb: 0.0 825.437 491.587 -imu_odom_: 1691062804.193016989 0.548272 -0.201113 9.9503 -0.0543285 -0.00213053 0.0553937 0.21 0 pose: 0.88955314 5.39418 0.0744566 0 0.00047053 -0.00164168 0.0215208 0.999767 uwb: 0.0 825.437 491.587 -imu_odom_: 1691062804.207106266 0.979228 -0.433351 9.42118 -0.0798948 0.0245011 0.0617853 0.19 0 pose: 0.0 5.39418 0.0744566 0 0.00047053 -0.00164168 0.0215208 0.999767 uwb: 0.50116984 827.281 489.718 -imu_odom_: 1691062804.222015077 0.0909797 -0.277727 10.3238 -0.0394148 0.04048 0.0340885 0.19 0 pose: 0.38180077 5.40832 0.0739993 0 0.000637482 -0.00499111 0.0218238 0.999749 uwb: 0.0 827.281 489.718 -imu_odom_: 1691062804.247884937 0.371101 -0.19393 9.67976 -0.0862864 -0.0106526 0.0681769 0.25 0 pose: 0.0 5.40832 0.0739993 0 0.000637482 -0.00499111 0.0218238 0.999749 uwb: 0.50047863 828.713 488.071 -imu_odom_: 1691062804.274039155 0.296881 -0.146046 9.78989 -0.0479369 0.0319579 0.0287621 0.17 -0.02 pose: 0.14975890 5.40832 0.0739993 0 0.000137345 -0.00477353 0.0218969 0.999749 uwb: 0.0 828.713 488.071 -imu_odom_: 1691062804.300034715 0.426168 -0.25618 9.75158 -0.0745685 -0.0298274 0.0479369 0.23 -0.02 pose: 0.0 5.40832 0.0739993 0 0.000137345 -0.00477353 0.0218969 0.999749 uwb: 0.49969701 828.422 487.203 -imu_odom_: 1691062804.326013652 0.339977 -0.35913 9.72525 -0.0660464 -0.0149137 0.0532632 0.18 0.02 pose: 0.67987492 5.42246 0.0735576 0 0.000628948 0.00088813 0.0221325 0.999754 uwb: 0.0 828.422 487.203 -imu_odom_: 1691062804.352910408 0.553061 -0.169988 9.7875 -0.0713727 -0.0884169 0.0511327 0.18 0.02 pose: 0.43992353 5.42773 0.0785149 0 -0.00337776 0.000629602 0.022387 0.999743 uwb: 0.49713342 827.229 486.612 -imu_odom_: 1691062804.368985816 0.907402 0.0335188 10.173 -0.0458064 -0.0106526 0.0340885 0.2 0 pose: 0.6876794 5.42974 0.0804077 0 -0.00303054 -0.0002233880.0224261 0.999744 uwb: 0.0 827.229 486.612 -imu_odom_: 1691062804.384922107 0.56982 -0.567426 9.07881 -0.0660464 -0.00745685 0.0468716 0.2 0 pose: 0.0 5.42974 0.0804077 0 -0.00303054 -0.0002233880.0224261 0.999744 uwb: 0.0 827.229 486.612 -imu_odom_: 1691062804.401952373 0.725443 -0.186748 10.41 -0.0415453 -0.00426106 0.0287621 0.2 0 pose: 0.52031661 5.44044 0.0767401 0 -0.00264984 -0.00458365 0.0225542 0.999732 uwb: 0.49990991 826.854 485.499 -imu_odom_: 1691062804.418955225 0.92895 -0.201113 9.98382 -0.0703074 -0.0234358 0.0543285 0.25 0 pose: 0.0 5.44044 0.0767401 0 -0.00264984 -0.00458365 0.0225542 0.999732 uwb: 0.0 826.854 485.499 -imu_odom_: 1691062804.434873142 0.124498 -0.452504 9.60075 -0.0660464 0.0181095 0.0447411 0.25 0 pose: 0.0 5.44044 0.0767401 0 -0.00264984 -0.00458365 0.0225542 0.999732 uwb: 0.0 826.854 485.499 -imu_odom_: 1691062804.461869059 0.234632 -0.153229 10.0341 -0.0447411 0.0138484 0.0490022 0.25 0 pose: 0.42010888 5.44388 0.0799766 0 -0.00216707 -0.00720909 0.0225995 0.999716 uwb: 0.50139149 826.584 484.698 -imu_odom_: 1691062804.486951175 0.117316 -0.222661 10.2352 -0.0330232 -0.00426106 0.0298274 0.19 0 pose: 0.34936064 5.45584 0.0775035 0 -0.00150057 -0.00362497 0.0227519 0.999733 uwb: 0.0 826.584 484.698 -imu_odom_: 1691062804.514025546 0.244209 -0.0670376 9.80186 -0.0905475 -0.00852212 0.0553937 0.21 0 pose: 0.0 5.45584 0.0775035 0 -0.00150057 -0.00362497 0.0227519 0.999733 uwb: 0.49868499 827.57 483.154 -imu_odom_: 1691062804.539004709 0.155623 -0.35913 9.46907 -0.056459 0.0447411 0.0319579 0.19 0 pose: 0.32091319 5.45801 0.0795517 0 -0.000763194-0.0006064720.0226895 0.999742 uwb: 0.0 827.57 483.154 -imu_odom_: 1691062804.565858010 0.28491 -0.246603 9.97903 -0.0681769 -0.0532632 0.0458064 0.19 0 pose: 0.0 5.45801 0.0795517 0 -0.000763194-0.0006064720.0226895 0.999742 uwb: 0.50129817 826.347 482.498 -imu_odom_: 1691062804.581914752 0.986411 -0.0885855 9.98622 -0.0330232 0.00958738 0.0223706 0.21 0 pose: 0.51918501 5.47215 0.0791271 0 -0.00139384 0.0040188 0.0227731 0.999732 uwb: 0.0 826.347 482.498 -imu_odom_: 1691062804.609009246 0.577003 -0.167594 10.0604 -0.0639159 0.0372843 0.0681769 0.21 0 pose: 0.36035873 5.47215 0.0791271 0 -0.00137763 0.00403243 0.0226969 0.999733 uwb: 0.50147607 824.646 481.931 -imu_odom_: 1691062804.635047679 0.399832 -0.433351 9.97903 -0.0468716 0.0138484 0.0383495 0.19 0 pose: 0.7032827 5.47215 0.0791271 0 -0.00120239 0.00350584 0.0227973 0.999733 uwb: 0.0 824.646 481.931 -imu_odom_: 1691062804.659903475 0.517148 -0.361524 9.93833 -0.0426106 -0.00639159 0.0372843 0.19 0 pose: 0.46100100 5.48628 0.0787058 0 -0.00315119 0.00172729 0.0230618 0.999728 uwb: 0.49856541 823.356 481.104 -imu_odom_: 1691062804.675003608 0.308852 -0.114922 9.77553 -0.0223706 0.0276969 0.0372843 0.18 0.02 pose: 0.0 5.48628 0.0787058 0 -0.00315119 0.00172729 0.0230618 0.999728 uwb: 0.0 823.356 481.104 -imu_odom_: 1691062804.700989544 0.440533 -0.246603 9.70131 -0.0617853 0.015979 0.0479369 0.18 0.02 pose: 0.39955929 5.49719 0.0817097 0 -0.002639 0.000536065 0.0230085 0.999732 uwb: 0.50121067 823.628 480.416 -imu_odom_: 1691062804.723915498 0.694318 -0.177171 10.2903 -0.0479369 -0.0372843 0.0543285 0.2 0 pose: 0.0 5.49719 0.0817097 0 -0.002639 0.000536065 0.0230085 0.999732 uwb: 0.0 823.628 480.416 -imu_odom_: 1691062804.749014821 0.562637 -0.138864 10.2352 -0.056459 -0.0511327 0.0468716 0.2 0 pose: 0.48911890 5.50538 0.0829712 0 -0.000983995-0.00418294 0.0232753 0.99972 uwb: 0.49915455 822.115 480.435 -imu_odom_: 1691062804.765986174 0.373495 -0.205901 9.77074 -0.0394148 0.00639159 0.0394148 0.23 0 pose: 0.0 5.50538 0.0829712 0 -0.000983995-0.00418294 0.0232753 0.99972 uwb: 0.0 822.115 480.435 -imu_odom_: 1691062804.790981670 0.263362 -0.430956 9.25838 -0.0660464 0.0213053 0.056459 0.23 0 pose: 0.32107943 5.51456 0.0778826 0 0.0010373 -0.00552143 0.0233567 0.999711 uwb: 0.0 822.115 480.435 -imu_odom_: 1691062804.818077331 0.4956 -0.19393 9.92397 -0.0479369 -0.0266316 0.0468716 0.2 0.02 pose: 0.0 5.51456 0.0778826 0 0.0010373 -0.00552143 0.0233567 0.999711 uwb: 0.49918954 818.681 480.778 -imu_odom_: 1691062804.843004873 0.646434 -0.167594 9.83538 -0.0681769 -0.0266316 0.0415453 0.2 0 pose: 0.41872938 5.51456 0.0778826 0 -0.000452665-0.00305092 0.023597 0.999717 uwb: 0.0 818.681 480.778 -imu_odom_: 1691062804.859863650 0.323217 -0.215478 10.0173 -0.0617853 0.0106526 0.0511327 0.2 0 pose: 0.0 5.51456 0.0778826 0 -0.000452665-0.00305092 0.023597 0.999717 uwb: 0.50148774 818.479 480.201 -imu_odom_: 1691062804.877008826 0.294487 -0.392649 9.60554 -0.0862864 -0.02024 0.0628506 0.2 0 pose: 0.51989955 5.52869 0.0774841 0 0.00128924 -0.0067162 0.0237285 0.999695 uwb: 0.0 818.479 480.201 -imu_odom_: 1691062804.894045801 0.670376 -0.162806 10.0173 -0.0713727 -0.00426106 0.0415453 0.18 0.02 pose: 0.0 5.52869 0.0774841 0 0.00128924 -0.0067162 0.0237285 0.999695 uwb: 0.0 818.479 480.201 -imu_odom_: 1691062804.910034881 0.682347 -0.435745 9.94073 -0.0681769 -0.0138484 0.0490022 0.18 0.02 pose: 0.44159467 5.53596 0.0843549 0 0.000128083 -0.0061593 0.0240016 0.999693 uwb: 0.49729382 818.663 479.267 -imu_odom_: 1691062804.926978819 0.481235 -0.047884 10.307 -0.0394148 -0.0319579 0.0500674 0.23 0 pose: 0.7936356 5.53596 0.0843549 0 -0.000556498-0.00667669 0.0240426 0.999688 uwb: 0.0 818.663 479.267 -imu_odom_: 1691062804.943837888 0.708684 -0.371101 9.4164 -0.04048 0.0287621 0.036219 0.23 0 pose: 0.0 5.53596 0.0843549 0 -0.000556498-0.00667669 0.0240426 0.999688 uwb: 0.0 818.663 479.267 -imu_odom_: 1691062804.957980245 0.746991 -0.466869 9.61272 -0.0703074 -0.02024 0.0415453 0.23 0 pose: 0.41855731 5.54711 0.0811412 0 -0.00050974 -0.00783073 0.0241442 0.999678 uwb: 0.50119026 818.439 478.624 -imu_odom_: 1691062804.974037862 0.289698 -0.105345 9.72525 -0.052198 -0.0170442 0.0468716 0.17 0 pose: 0.0 5.54711 0.0811412 0 -0.00050974 -0.00783073 0.0241442 0.999678 uwb: 0.0 818.439 478.624 -imu_odom_: 1691062804.990967219 0.521936 -0.100556 9.94551 -0.0532632 0.036219 0.0500674 0.17 0 pose: 0.0 5.54711 0.0811412 0 -0.00050974 -0.00783073 0.0241442 0.999678 uwb: 0.0 818.439 478.624 -imu_odom_: 1691062805.8003610 0.0670376 -0.452504 9.83299 -0.0532632 0.0276969 0.052198 0.17 0 pose: 0.21041026 5.55009 0.0839713 0 -0.00137348 -0.00829076 0.0241889 0.999672 uwb: 0.50004407 814.974 478.946 -imu_odom_: 1691062805.24898844 0.45011 -0.047884 9.98861 -0.0372843 -0.00106526 0.0415453 0.27 -0.02 pose: 0.0 5.55009 0.0839713 0 -0.00137348 -0.00829076 0.0241889 0.999672 uwb: 0.0 814.974 478.946 -imu_odom_: 1691062805.40888507 -0.0191536 -0.383072 9.81144 -0.0383495 0.0213053 0.0490022 0.18 0 pose: 0.34093781 5.55696 0.0766955 0 0.000314613 -0.00596647 0.02435 0.999686 uwb: 0.0 814.974 478.946 -imu_odom_: 1691062805.67849135 0.670376 -0.445322 10.1035 -0.0543285 0.015979 0.0468716 0.18 0 pose: 0.0 5.55696 0.0766955 0 0.000314613 -0.00596647 0.02435 0.999686 uwb: 0.49862667 815.751 478.247 -imu_odom_: 1691062805.83829466 0.0383072 -0.258574 9.35415 -0.0298274 0.00958738 0.0234358 0.25 -0.02 pose: 0.49898540 5.56428 0.083503 0 0.000551496 -0.00323247 0.0245272 0.999694 uwb: 0.0 815.751 478.247 -imu_odom_: 1691062805.99884167 0.665588 0.110133 10.4722 -0.0596548 0.00213053 -0.0351537 0.25 -0.02 pose: 0.34958231 5.57518 0.0865494 0 -0.000801227-0.00258683 0.0244759 0.999697 uwb: 0.49995660 817.675 476.428 -imu_odom_: 1691062805.115887537 0.184354 -0.0383072 9.2919 -0.0628506 -0.04048 -0.0809601 0.18 -0.14 pose: 0.7053534 5.57842 0.0831299 0 -0.000205264-0.00291789 0.0242104 0.999703 uwb: 0.0 817.675 476.428 -imu_odom_: 1691062805.131827037 0.0263362 0.158017 10.3094 -0.0756338 -0.00852212 -0.107592 0.18 -0.14 pose: 0.0 5.57842 0.0831299 0 -0.000205264-0.00291789 0.0242104 0.999703 uwb: 0.0 817.675 476.428 -imu_odom_: 1691062805.148834847 0.727837 -0.411803 9.56723 -0.076699 -0.0436758 -0.143811 0.18 -0.14 pose: 0.32017824 5.57842 0.0831299 0 0.00165815 -0.00169994 0.0223859 0.999747 uwb: 0.50128943 815.047 476.254 -imu_odom_: 1691062805.164828302 0.342371 -0.447716 9.76834 -0.0639159 0.0181095 -0.193878 0.25 -0.41 pose: 0.0 5.57842 0.0831299 0 0.00165815 -0.00169994 0.0223859 0.999747 uwb: 0.0 815.047 476.254 -imu_odom_: 1691062805.181889192 1.04627 -0.107739 9.66779 -0.0511327 -0.00852212 -0.254598 0.25 -0.41 pose: 0.0 5.57842 0.0831299 0 0.00165815 -0.00169994 0.0223859 0.999747 uwb: 0.0 815.047 476.254 -imu_odom_: 1691062805.197881772 0.282516 0.160412 10.0054 -0.0308927 0.0245011 -0.339819 0.25 -0.41 pose: 0.32935935 5.58569 0.089999 0 0.000259955 -0.00236278 0.019355 0.99981 uwb: 0.49971452 812.021 476.434 -imu_odom_: 1691062805.213892726 0.754174 0.215478 10.3358 -0.0138484 -0.0330232 -0.36432 0.18 -0.38 pose: 0.42045013 5.59249 0.0827282 0 0.00141658 -0.00263675 0.012759 0.999914 uwb: 0.0 812.021 476.434 -imu_odom_: 1691062805.229820559 0.174777 -0.0837971 9.04529 -0.0468716 0.00319579 -0.396278 0.23 -0.55 pose: 0.8010435 5.59257 0.0827419 0 0.00223907 -0.00321527 0.0111407 0.99993 uwb: 0.0 812.021 476.434 -imu_odom_: 1691062805.243882713 0.177171 -0.0909797 10.4651 -0.0500674 -0.00426106 -0.425041 0.23 -0.55 pose: 0.0 5.59257 0.0827419 0 0.00223907 -0.00321527 0.0111407 0.99993 uwb: 0.0 812.021 476.434 -imu_odom_: 1691062805.260827527 -0.0383072 -0.25618 9.61033 -0.0447411 -0.0149137 -0.449542 0.17 -0.47 pose: 0.37990506 5.60343 0.0858108 0 0.00382163 -0.0007784120.00277544 0.999989 uwb: 0.49997118 811.775 475.749 -imu_odom_: 1691062805.277929540 0.198719 -0.184354 9.92875 -0.0671117 -0.0223706 -0.469782 0.17 -0.47 pose: 0.0 5.60343 0.0858108 0 0.00382163 -0.0007784120.00277544 0.999989 uwb: 0.0 811.775 475.749 -imu_odom_: 1691062805.294866480 0.0311246 -0.129287 9.30147 -0.076699 0.00319579 -0.476173 0.17 -0.47 pose: 0.0 5.60343 0.0858108 0 0.00382163 -0.0007784120.00277544 0.999989 uwb: 0.0 811.775 475.749 -imu_odom_: 1691062805.310869559 0.864307 -0.177171 9.95509 -0.0820254 -0.00319579 -0.498544 0.19 -0.61 pose: 0.25014454 5.60672 0.0824251 0 0.00329091 0.00151524 -0.00343305 0.999988 uwb: 0.50146733 813.766 474.092 -imu_odom_: 1691062805.327925491 0.699107 -0.272939 9.56244 -0.072438 -0.00639159 -0.533697 0.19 -0.61 pose: 0.0 5.60672 0.0824251 0 0.00329091 0.00151524 -0.00343305 0.999988 uwb: 0.0 813.766 474.092 -imu_odom_: 1691062805.344920761 1.10852 0.0861913 9.79947 -0.0639159 -0.0383495 -0.532632 0.19 -0.61 pose: 0.33939500 5.61394 0.0893446 0 0.00287313 0.0033074 -0.0122501 0.999915 uwb: 0.0 813.766 474.092 -imu_odom_: 1691062805.359814407 1.403 0.00718261 9.4954 -0.0841559 -0.0703074 -0.477238 0.17 -0.55 pose: 0.42084094 5.62086 0.0821344 0 0.00248661 -0.000993386-0.0241514 0.999705 uwb: 0.49879875 817.127 471.894 -imu_odom_: 1691062805.376865381 1.49877 -0.395043 9.9096 -0.0617853 -0.00319579 -0.482565 0.14 -0.47 pose: 0.6899251 5.62086 0.0821344 0 0.00248804 -0.00189654 -0.0259326 0.999659 uwb: 0.0 817.127 471.894 -imu_odom_: 1691062805.390920827 0.909797 -0.500388 9.70849 -0.0490022 0.0234358 -0.490022 0.14 -0.47 pose: 0.0 5.62086 0.0821344 0 0.00248804 -0.00189654 -0.0259326 0.999659 uwb: 0.0 817.127 471.894 -imu_odom_: 1691062805.405794933 0.852336 -0.316035 10.4722 -0.0703074 0.0127832 -0.451672 0.14 -0.47 pose: 0.39100815 5.62805 0.088996 0 0.00119952 -0.0054565 -0.0361532 0.999331 uwb: 0.50113486 817.805 470.865 -imu_odom_: 1691062805.421904172 0.732626 -0.0191536 10.386 -0.0500674 -0.00213053 -0.381365 0.12 -0.38 pose: 0.0 5.62805 0.088996 0 0.00119952 -0.0054565 -0.0361532 0.999331 uwb: 0.0 817.805 470.865 -imu_odom_: 1691062805.438787740 1.10373 -0.464475 9.75158 -0.0639159 0.0191748 -0.315318 0.12 -0.38 pose: 0.0 5.62805 0.088996 0 0.00119952 -0.0054565 -0.0361532 0.999331 uwb: 0.0 817.805 470.865 -imu_odom_: 1691062805.454898729 1.18752 -0.363919 9.83777 -0.0681769 0.00319579 -0.26099 0.14 -0.47 pose: 0.21877476 5.63503 0.0817785 0 0.00101102 -0.00721447 -0.0412744 0.999121 uwb: 0.49734925 818.387 469.548 -imu_odom_: 1691062805.472080654 0.859518 -0.385466 9.81383 -0.0596548 0.0117179 -0.22051 0.14 -0.47 pose: 0.0 5.63503 0.0817785 0 0.00101102 -0.00721447 -0.0412744 0.999121 uwb: 0.0 818.387 469.548 -imu_odom_: 1691062805.489077673 0.677559 -0.244209 9.31344 -0.0351537 0.0276969 -0.252468 0.14 -0.47 pose: 0.0 5.63503 0.0817785 0 0.00101102 -0.00721447 -0.0412744 0.999121 uwb: 0.0 818.387 469.548 -imu_odom_: 1691062805.504966717 0.586579 -0.112527 10.0485 -0.0649811 -0.0127832 -0.24075 0.08 -0.29 pose: 0.66156521 5.63503 0.0817789 0 -0.00113503 -0.0123245 -0.0518063 0.99858 uwb: 0.50082862 817.247 469.244 -imu_odom_: 1691062805.522052106 0.90022 -0.174777 9.83059 -0.0681769 0 -0.203466 0.11 -0.35 pose: 0.0 5.63503 0.0817789 0 -0.00113503 -0.0123245 -0.0518063 0.99858 uwb: 0.0 817.247 469.244 -imu_odom_: 1691062805.547807640 1.03908 -0.416591 9.97185 -0.0596548 -0.0266316 -0.194943 0.11 -0.35 pose: 0.43097282 5.64224 0.0887142 0 -0.000110134-0.014005 -0.0575924 0.998242 uwb: 0.49905248 817.893 468.104 -imu_odom_: 1691062805.564874947 0.723049 -0.277727 9.96946 -0.052198 0.0351537 -0.192813 0.07 -0.23 pose: 0.0 5.64224 0.0887142 0 -0.000110134-0.014005 -0.0575924 0.998242 uwb: 0.0 817.893 468.104 -imu_odom_: 1691062805.590855926 -0.287304 -0.0023942 10.1778 -0.0447411 0.0490022 -0.339819 0.07 -0.23 pose: 0.7823196 5.64224 0.0887142 0 -0.000559158-0.0147384 -0.0585017 0.998178 uwb: 0.0 817.893 468.104 -imu_odom_: 1691062805.607857028 -0.658405 0.37589 9.88805 -0.0468716 -0.0351537 -0.475108 0.09 -0.32 pose: 0.0 5.64224 0.0887142 0 -0.000559158-0.0147384 -0.0585017 0.998178 uwb: 0.50025408 817.665 467.437 -imu_odom_: 1691062805.624917335 -0.548272 0.158017 9.4547 -0.0830906 0.00532632 -0.497478 0.09 -0.32 pose: 0.0 5.64224 0.0887142 0 -0.000559158-0.0147384 -0.0585017 0.998178 uwb: 0.0 817.665 467.437 -imu_odom_: 1691062805.639905476 -0.184354 -0.428562 10.137 -0.0820254 -0.0319579 -0.479369 0.11 -0.47 pose: 0.77981726 5.64907 0.0814723 0 -0.00120578 -0.0114696 -0.0718329 0.99735 uwb: 0.0 817.665 467.437 -imu_odom_: 1691062805.655849058 -0.0742203 -0.557849 9.69412 -0.0692422 -0.0543285 -0.492152 0.11 -0.47 pose: 0.0 5.64907 0.0814723 0 -0.00120578 -0.0114696 -0.0718329 0.99735 uwb: 0.50123110 818.789 466.161 -imu_odom_: 1691062805.672938530 0.675165 -0.124498 9.8282 -0.0617853 -0.0298274 -0.515588 0.11 -0.47 pose: 0.39000196 5.64915 0.0814859 0 -0.00151558 -0.00804877 -0.0821264 0.996588 uwb: 0.0 818.789 466.161 -imu_odom_: 1691062805.688927610 0.0766145 0.0885855 9.71567 -0.056459 0.0106526 -0.511327 0.12 -0.55 pose: 0.0 5.64915 0.0814859 0 -0.00151558 -0.00804877 -0.0821264 0.996588 uwb: 0.0 818.789 466.161 -imu_odom_: 1691062805.706077454 0.428562 -0.258574 10.2208 -0.0500674 -0.0181095 -0.508131 0.12 -0.55 pose: 0.42070386 5.6632 0.0810507 0 8.02514e-05 -0.00761522 -0.0936348 0.995577 uwb: 0.49918664 815.301 466.612 -imu_odom_: 1691062805.722837945 0.423774 -0.332794 9.84975 -0.0553937 -0.0138484 -0.536893 0.12 -0.55 pose: 0.7153570 5.66328 0.0810642 0 -0.000133232-0.00699236 -0.0955836 0.995397 uwb: 0.0 815.301 466.612 -imu_odom_: 1691062805.737937204 0.196325 -0.0095768110.0317 -0.0479369 -0.00532632 -0.557133 0.13 -0.61 pose: 0.0 5.66328 0.0810642 0 -0.000133232-0.00699236 -0.0955836 0.995397 uwb: 0.0 815.301 466.612 -imu_odom_: 1691062805.753805541 0.311246 0.0526724 9.76834 -0.0575243 -0.0149137 -0.561394 0.13 -0.58 pose: 0.41856024 5.6632 0.0810507 0 -0.000510651-0.0039243 -0.107589 0.994188 uwb: 0.49940829 818.674 464.29 -imu_odom_: 1691062805.769786455 0.0814029 -0.009576819.84256 -0.0585895 -0.0340885 -0.5827 0.13 -0.58 pose: 0.0 5.6632 0.0810507 0 -0.000510651-0.0039243 -0.107589 0.994188 uwb: 0.0 818.674 464.29 -imu_odom_: 1691062805.785879653 0.572214 -0.265756 9.59357 -0.0553937 0.00213053 -0.596548 0.13 -0.58 pose: 0.0 5.6632 0.0810507 0 -0.000510651-0.0039243 -0.107589 0.994188 uwb: 0.0 818.674 464.29 -imu_odom_: 1691062805.802793261 0.653617 0.0454898 10.2951 -0.0575243 -0.0170442 -0.593352 0.13 -0.64 pose: 0.22874624 5.66328 0.0810642 0 0.00126378 -0.00281925 -0.114501 0.993418 uwb: 0.50046698 819.452 463.507 -imu_odom_: 1691062805.818795757 0.629675 -0.160412 10.0916 -0.0479369 -0.0340885 -0.616788 0.13 -0.64 pose: 0.0 5.66328 0.0810642 0 0.00126378 -0.00281925 -0.114501 0.993418 uwb: 0.0 819.452 463.507 -imu_odom_: 1691062805.844843232 0.409408 0.134075 10.0126 -0.0649811 -0.00319579 -0.658333 0.15 -0.67 pose: 0.33041221 5.67018 0.0738208 0 0.00124362 -0.00395863 -0.12486 0.992166 uwb: 0.0 819.452 463.507 -imu_odom_: 1691062805.861775213 0.356736 0.0383072 10.2065 -0.0692422 0.0330232 -0.689226 0.15 -0.67 pose: 0.32940893 5.67736 0.0807795 0 0.00253905 -0.00626955 -0.135641 0.990735 uwb: 0.49948121 820.531 462.056 -imu_odom_: 1691062805.877880661 -0.009576810.0526724 9.69652 -0.0607201 0.0468716 -0.668986 0.15 -0.67 pose: 0.0 5.67736 0.0807795 0 0.00253905 -0.00626955 -0.135641 0.990735 uwb: 0.0 820.531 462.056 -imu_odom_: 1691062805.893942653 0.612916 -0.699107 9.6223 -0.0319579 0.0958738 -0.682835 0.2 -0.97 pose: 0.51086719 5.68422 0.0735712 0 0.0063168 -0.00254633 -0.153655 0.988101 uwb: 0.0 820.531 462.056 -imu_odom_: 1691062805.910822721 0.0430956 0.0550666 9.16979 -0.0639159 -0.036219 -0.713727 0.15 -0.7 pose: 0.0 5.68422 0.0735712 0 0.0063168 -0.00254633 -0.153655 0.988101 uwb: 0.49988951 817.905 462.021 -imu_odom_: 1691062805.927843656 -0.323217 -0.0526724 10.3166 -0.0490022 -0.0298274 -0.743555 0.15 -0.7 pose: 0.0 5.68422 0.0735712 0 0.0063168 -0.00254633 -0.153655 0.988101 uwb: 0.0 817.905 462.021 -imu_odom_: 1691062805.943821653 0.754174 0.19393 10.2615 -0.0713727 -0.0255663 -0.753142 0.15 -0.73 pose: 0.6945332 5.6843 0.0735852 0 0.00576753 -0.00229169 -0.15613 0.987717 uwb: 0.0 817.905 462.021 -imu_odom_: 1691062805.960934457 0.426168 -0.0790087 10.1107 -0.0660464 -0.0585895 -0.76699 0.15 -0.73 pose: 0.0 5.6843 0.0735852 0 0.00576753 -0.00229169 -0.15613 0.987717 uwb: 0.49997993 817.216 461.536 -imu_odom_: 1691062805.976980700 0.42138 0.134075 10.1179 -0.0681769 -0.0458064 -0.775513 0.15 -0.73 pose: 0.66118023 5.69846 0.0732952 0 0.00659828 -0.00169005 -0.181286 0.983407 uwb: 0.0 817.216 461.536 -imu_odom_: 1691062805.992830080 0.363919 0.136469 9.79947 -0.0553937 -0.0330232 -0.774447 0.22 -1.03 pose: 0.0 5.69846 0.0732952 0 0.00659828 -0.00169005 -0.181286 0.983407 uwb: 0.0 817.216 461.536 -imu_odom_: 1691062806.8828493 0.574608 -0.272939 10.4244 -0.0585895 0.00106526 -0.78723 0.22 -1.03 pose: 0.0 5.69846 0.0732952 0 0.00659828 -0.00169005 -0.181286 0.983407 uwb: 0.49995368 821.172 459.269 -imu_odom_: 1691062806.25825513 0.778116 -0.0646434 9.84735 -0.0532632 -0.0117179 -0.811731 0.22 -1.03 pose: 0.32909396 5.70539 0.0660842 0 0.00838399 -0.00329803 -0.194414 0.980878 uwb: 0.0 821.172 459.269 -imu_odom_: 1691062806.41751888 0.653617 -0.110133 9.66779 -0.0543285 0.015979 -0.804275 0.16 -0.79 pose: 0.41972101 5.70531 0.066071 0 0.00735781 -0.00528084 -0.211533 0.977329 uwb: 0.0 821.172 459.269 -imu_odom_: 1691062806.57810965 0.289698 -0.0622492 10.2137 -0.0575243 -0.00852212 -0.795753 0.22 -1.09 pose: 0.0 5.70531 0.066071 0 0.00735781 -0.00528084 -0.211533 0.977329 uwb: 0.50005868 820.906 458.467 -imu_odom_: 1691062806.74787569 0.270545 -0.0407014 10.3214 -0.0596548 -0.0607201 -0.798948 0.22 -1.09 pose: 0.0 5.70531 0.066071 0 0.00735781 -0.00528084 -0.211533 0.977329 uwb: 0.0 820.906 458.467 -imu_odom_: 1691062806.91749299 0.0933739 -0.1652 9.71088 -0.0447411 -0.0319579 -0.814927 0.22 -1.11 pose: 0.7935773 5.70539 0.0660842 0 0.0070136 -0.00587374 -0.214797 0.976616 uwb: 0.0 820.906 458.467 -imu_odom_: 1691062806.107812750 0.134075 -0.059855 9.71088 -0.0436758 -0.00958738 -0.815993 0.22 -1.11 pose: 0.0 5.70539 0.0660842 0 0.0070136 -0.00587374 -0.214797 0.976616 uwb: 0.50022492 822.157 457.486 -imu_odom_: 1691062806.123841495 0.268151 -0.071826 9.97185 -0.0298274 0.0138484 -0.819188 0.22 -1.11 pose: 0.65996407 5.71952 0.0656884 0 0.00758103 -0.0013951 -0.241971 0.970253 uwb: 0.0 822.157 457.486 -imu_odom_: 1691062806.140978214 0.814029 -0.265756 10.0126 -0.0671117 -0.0319579 -0.752077 0.15 -0.76 pose: 0.0 5.71952 0.0656884 0 0.00758103 -0.0013951 -0.241971 0.970253 uwb: 0.0 822.157 457.486 -imu_odom_: 1691062806.157905822 1.00078 -0.100556 9.96467 -0.0735032 0.00426106 -0.658333 0.15 -0.76 pose: 0.0 5.71952 0.0656884 0 0.00758103 -0.0013951 -0.241971 0.970253 uwb: 0.50242105 822.404 456.639 -imu_odom_: 1691062806.175091538 1.30484 -0.476446 9.84496 -0.0628506 -0.0479369 -0.570982 0.15 -0.76 pose: 0.32045823 5.72642 0.0584483 0 0.00776443 0.000409419 -0.255041 0.966899 uwb: 0.0 822.404 456.639 -imu_odom_: 1691062806.192037811 1.1564 -0.553061 9.40203 -0.072438 -0.04048 -0.566721 0.18 -0.88 pose: 0.43288022 5.73034 0.0543027 0 0.00525481 -0.003508 -0.269287 0.963039 uwb: 0.0 822.404 456.639 -imu_odom_: 1691062806.207901774 1.14203 -0.296881 9.36851 -0.0436758 0.0245011 -0.561394 0.11 -0.55 pose: 0.6687807 5.73333 0.0512177 0 0.00467884 -0.00404892 -0.271236 0.962493 uwb: 0.49973204 824.677 455.556 -imu_odom_: 1691062806.224819757 0.924162 -0.059855 10.4148 -0.0458064 0.0213053 -0.508131 0.11 -0.55 pose: 0.0 5.73333 0.0512177 0 0.00467884 -0.00404892 -0.271236 0.962493 uwb: 0.0 824.677 455.556 -imu_odom_: 1691062806.241811819 0.591368 -0.172383 10.1801 -0.052198 -0.0266316 -0.445281 0.11 -0.55 pose: 0.43040412 5.73325 0.0512045 0 0.0030839 -0.00750855 -0.283228 0.959018 uwb: 0.0 824.677 455.556 -imu_odom_: 1691062806.257800316 0.490811 -0.416591 9.92397 -0.036219 -0.0351537 -0.433563 0.09 -0.47 pose: 0.0 5.73325 0.0512045 0 0.0030839 -0.00750855 -0.283228 0.959018 uwb: 0.49926248 827.262 453.794 -imu_odom_: 1691062806.273836935 0.471658 -0.160412 9.54089 -0.0351537 -0.0426106 -0.412257 0.09 -0.47 pose: 0.0 5.73325 0.0512045 0 0.0030839 -0.00750855 -0.283228 0.959018 uwb: 0.0 827.262 453.794 -imu_odom_: 1691062806.290838621 0.641646 0.129287 9.8689 -0.0553937 -0.0308927 -0.335558 0.07 -0.38 pose: 0.23934186 5.73333 0.0512177 0 0.00103828 -0.00828662 -0.288732 0.957374 uwb: 0.0 827.262 453.794 -imu_odom_: 1691062806.307853431 0.658405 -0.665588 9.96227 -0.0671117 -0.00213053 -0.30147 0.07 -0.38 pose: 0.0 5.73333 0.0512177 0 0.00103828 -0.00828662 -0.288732 0.957374 uwb: 0.50084322 827.057 453.145 -imu_odom_: 1691062806.323769016 0.658405 -0.409408 9.8282 -0.0447411 -0.0170442 -0.319579 0.07 -0.38 pose: 0.33072720 5.74019 0.0439415 0 0.00156637 -0.00744221 -0.29568 0.955257 uwb: 0.0 827.057 453.145 -imu_odom_: 1691062806.350773976 0.514753 0.105345 9.91439 -0.0511327 -0.00852212 -0.257794 0.09 -0.47 pose: 0.41942353 5.74019 0.0439415 0 -0.00103296 -0.00822055 -0.302767 0.953029 uwb: 0.49743968 824.99 453.261 -imu_odom_: 1691062806.375940088 0.181959 -0.414197 9.87608 -0.0660464 0.0394148 -0.298274 0.06 -0.32 pose: 0.8084806 5.74019 0.0439415 0 -0.000211224-0.00835933 -0.303918 0.952661 uwb: 0.0 824.99 453.261 -imu_odom_: 1691062806.392782242 -0.68953 0.174777 10.07 -0.0266316 0.0117179 -0.465521 0.06 -0.32 pose: 0.0 5.74019 0.0439415 0 -0.000211224-0.00835933 -0.303918 0.952661 uwb: 0.0 824.99 453.261 -imu_odom_: 1691062806.418820385 -0.366313 0.675165 9.92157 -0.0660464 0.00745685 -0.588026 0.1 -0.53 pose: 0.50971227 5.74019 0.0439417 0 0.00145649 -0.00514352 -0.312312 0.949965 uwb: 0.0 824.99 453.261 -imu_odom_: 1691062806.435861444 -0.469264 -0.318429 10.0413 -0.0745685 -0.0138484 -0.536893 0.1 -0.53 pose: 0.0 5.74019 0.0439417 0 0.00145649 -0.00514352 -0.312312 0.949965 uwb: 0.0 824.99 453.261 -imu_odom_: 1691062806.461799842 0.25618 -0.227449 10.161 -0.0490022 -0.0468716 -0.565655 0.14 -0.67 pose: 0.18046082 5.74019 0.0439417 0 0.00289126 -0.00384948 -0.317115 0.948375 uwb: 0.100000946 823.341 453.051 -imu_odom_: 1691062806.478888440 0.54109 0.0454898 9.71567 -0.056459 0.00958738 -0.559264 0.14 -0.67 pose: 0.42944168 5.74704 0.0366562 0 0.00419272 -0.000594099-0.329392 0.944184 uwb: 0.0 823.341 453.051 -imu_odom_: 1691062806.494887728 -0.0215478 -0.126893 9.88566 -0.0628506 0.02024 -0.566721 0.15 -0.82 pose: 0.0 5.74704 0.0366562 0 0.00419272 -0.000594099-0.329392 0.944184 uwb: 0.0 823.341 453.051 -imu_odom_: 1691062806.511785295 0.356736 -0.148441 10.0868 -0.0756338 -0.0479369 -0.632767 0.15 -0.82 pose: 0.51072429 5.75795 0.0395385 0 0.00500576 0.00113406 -0.343908 0.938989 uwb: 0.50100362 822.168 452.69 -imu_odom_: 1691062806.528885559 0.378284 -0.141258 9.54808 -0.0745685 -0.00213053 -0.659399 0.15 -0.82 pose: 0.0 5.75795 0.0395385 0 0.00500576 0.00113406 -0.343908 0.938989 uwb: 0.0 822.168 452.69 -imu_odom_: 1691062806.543802829 0.61531 -0.131681 10.082 -0.0798948 0.0213053 -0.653007 0.13 -0.61 pose: 0.0 5.75795 0.0395385 0 0.00500576 0.00113406 -0.343908 0.938989 uwb: 0.0 822.168 452.69 -imu_odom_: 1691062806.569078309 0.35913 -0.141258 9.78031 -0.0703074 -0.0330232 -0.657268 0.13 -0.61 pose: 0.7016203 5.76119 0.0361519 0 0.00418339 0.000968212 -0.346124 0.938179 uwb: 0.49908458 821.979 452.11 -imu_odom_: 1691062806.595874448 0.122104 0.0574608 10.5752 -0.0649811 -0.0458064 -0.681769 0.19 -0.97 pose: 0.0 5.76119 0.0361519 0 0.00418339 0.000968212 -0.346124 0.938179 uwb: 0.49999452 823.27 451.198 -imu_odom_: 1691062806.620743661 0.277727 -0.136469 10.1945 -0.0553937 -0.00426106 -0.709466 0.15 -0.76 pose: 0.48896144 5.76119 0.0361516 0 0.00375108 -0.000782859-0.361924 0.9322 uwb: 0.0 823.27 451.198 -imu_odom_: 1691062806.647934110 0.191536 -0.009576819.58638 -0.0575243 -0.0181095 -0.715858 0.17 -0.88 pose: 0.53155387 5.768 0.0288302 0 0.00610458 0.00243356 -0.379636 0.925113 uwb: 0.50112321 821.167 451.238 -imu_odom_: 1691062806.673832261 0.0526724 0.0670376 10.1275 -0.0543285 -0.00745685 -0.743555 0.17 -0.88 pose: 0.0 5.768 0.0288302 0 0.00610458 0.00243356 -0.379636 0.925113 uwb: 0.0 821.167 451.238 -imu_odom_: 1691062806.700743893 0.502782 -0.0622492 9.54568 -0.0607201 -0.052198 -0.755272 0.19 -1 pose: 0.69876799 5.77457 0.0214976 0 0.0106975 0.00589921 -0.404178 0.914599 uwb: 0.49930040 822.003 450.546 -imu_odom_: 1691062806.716818135 0.071826 -0.146046 9.84975 -0.0703074 0.00426106 -0.761664 0.19 -1 pose: 0.6939499 5.77484 0.0215363 0 0.0103454 0.00513695 -0.406698 0.91349 uwb: 0.0 822.003 450.546 -imu_odom_: 1691062806.743905631 0.35913 -0.3304 9.61272 -0.0543285 -0.0117179 -0.777643 0.21 -1.09 pose: 0.36046375 5.78134 0.0141869 0 0.00936414 0.0047189 -0.419794 0.907559 uwb: 0.0 822.003 450.546 -imu_odom_: 1691062806.769736995 0.138864 -0.323217 9.75637 -0.0394148 -0.00532632 -0.784035 0.21 -1.09 pose: 0.0 5.78134 0.0141869 0 0.00936414 0.0047189 -0.419794 0.907559 uwb: 0.49980495 824.165 449.037 -imu_odom_: 1691062806.796734955 0.42138 -0.203507 10.0628 -0.0596548 -0.0607201 -0.781904 0.2 -1.03 pose: 0.52918860 5.78638 0.00899262 0 0.00541689 0.00692573 -0.439432 0.898233 uwb: 0.49925081 820.256 450.078 -imu_odom_: 1691062806.812717036 0.316035 -0.28491 9.35415 -0.0575243 0.0149137 -0.776578 0.2 -1.03 pose: 0.0 5.78638 0.00899262 0 0.00541689 0.00692573 -0.439432 0.898233 uwb: 0.0 820.256 450.078 -imu_odom_: 1691062806.839717913 0.325611 -0.225055 10.6805 -0.0820254 -0.0149137 -0.78723 0.22 -1.14 pose: 0.42980041 5.78845 0.00694944 0 0.00199454 0.004824 -0.455199 0.890375 uwb: 0.0 820.256 450.078 -imu_odom_: 1691062806.865783470 0.177171 -0.126893 9.95509 -0.0639159 -0.00958738 -0.777643 0.17 -0.82 pose: 0.0 5.78845 0.00694944 0 0.00199454 0.004824 -0.455199 0.890375 uwb: 0.50038825 822.493 448.784 -imu_odom_: 1691062806.892866300 0.45011 -0.102951 9.75398 -0.076699 -0.00319579 -0.819188 0.19 -1 pose: 0.35067600 5.78804 -0.00716971 0 0.000849724 0.002959 -0.468026 0.883709 uwb: 0.0 822.493 448.784 -imu_odom_: 1691062806.918880236 0.603339 -0.177171 9.69173 -0.0617853 0.00106526 -0.796818 0.17 -0.85 pose: 0.45081664 5.7927 -0.0123853 0 0.00248919 0.0014047 -0.484705 0.874673 uwb: 0.49966496 822.27 448.091 -imu_odom_: 1691062806.935870840 0.399832 -0.0837971 9.20571 -0.0713727 -0.0287621 -0.794687 0.17 -0.85 pose: 0.0 5.7927 -0.0123853 0 0.00248919 0.0014047 -0.484705 0.874673 uwb: 0.0 822.27 448.091 -imu_odom_: 1691062806.952872526 0.538695 0.114922 9.75637 -0.0841559 -0.00639159 -0.801079 0.17 -0.85 pose: 0.0 5.7927 -0.0123853 0 0.00248919 0.0014047 -0.484705 0.874673 uwb: 0.50043783 824.581 447.007 -imu_odom_: 1691062806.967868541 0.347159 -0.181959 10.3453 -0.056459 -0.0415453 -0.80534 0.17 -0.82 pose: 0.51013225 5.80171 -0.021766 0 0.00290146 -0.00227337 -0.503246 0.864135 uwb: 0.0 824.581 447.007 -imu_odom_: 1691062806.983864621 0.995988 -0.23942 10.0102 -0.0905475 -0.0426106 -0.824515 0.17 -0.82 pose: 0.0 5.80171 -0.021766 0 0.00290146 -0.00227337 -0.503246 0.864135 uwb: 0.0 824.581 447.007 -imu_odom_: 1691062806.998742227 0.150835 0.0694318 9.52892 -0.0532632 -0.00745685 -0.835167 0.17 -0.82 pose: 0.0 5.80171 -0.021766 0 0.00290146 -0.00227337 -0.503246 0.864135 uwb: 0.49999452 826.884 445.888 -imu_odom_: 1691062807.14919421 0.172383 -0.169988 10.0126 -0.0351537 0.0181095 -0.841559 0.17 -0.88 pose: 0.46877348 5.80171 -0.021766 0 0.00223676 -0.00278153 -0.520464 0.853876 uwb: 0.0 826.884 445.888 -imu_odom_: 1691062807.31866861 0.0023942 0.0766145 9.84735 -0.0319579 -0.0255663 -0.841559 0.17 -0.88 pose: 0.0 5.80171 -0.021766 0 0.00223676 -0.00278153 -0.520464 0.853876 uwb: 0.0 826.884 445.888 -imu_odom_: 1691062807.47879274 0.37589 -0.536301 9.83777 -0.04048 0.00532632 -0.840494 0.18 -0.97 pose: 0.41109988 5.80824 -0.0290942 0 0.00548619 -0.000381272-0.535828 0.844309 uwb: 0.49810173 826.365 445.927 -imu_odom_: 1691062807.74757658 0.299275 0.1652 9.81144 -0.0383495 -0.056459 -0.82558 0.18 -0.97 pose: 0.0 5.80824 -0.0290942 0 0.00548619 -0.000381272-0.535828 0.844309 uwb: 0.0 826.365 445.927 -imu_odom_: 1691062807.91727555 -0.0670376 0.100556 9.55765 -0.0351537 -0.00319579 -0.837298 0.17 -0.88 pose: 0.8001686 5.80857 -0.0290458 0 0.00485903 2.83905e-05 -0.538801 0.842419 uwb: 0.0 826.365 445.927 -imu_odom_: 1691062807.108919397 -0.0407014 0.282516 10.817 -0.0340885 -0.0340885 -0.842624 0.25 -1.26 pose: 0.0 5.80857 -0.0290458 0 0.00485903 2.83905e-05 -0.538801 0.842419 uwb: 0.50059825 826.211 445.434 -imu_odom_: 1691062807.124851898 0.617704 0.19393 10.2208 -0.0532632 -0.0617853 -0.82558 0.17 -0.85 pose: 0.0 5.80857 -0.0290458 0 0.00485903 2.83905e-05 -0.538801 0.842419 uwb: 0.0 826.211 445.434 -imu_odom_: 1691062807.141908998 1.11809 -0.0933739 10.0461 -0.0639159 -0.0308927 -0.831972 0.17 -0.85 pose: 0.76875505 5.80821 -0.0431842 0 0.00972805 -0.0012953 -0.566749 0.823832 uwb: 0.0 826.211 445.434 -imu_odom_: 1691062807.159851836 1.00556 0.059855 9.52413 -0.0735032 -0.0426106 -0.840494 0.17 -0.85 pose: 0.0 5.80821 -0.0431842 0 0.00972805 -0.0012953 -0.566749 0.823832 uwb: 0.49992746 825.123 445.358 -imu_odom_: 1691062807.173852162 0.162806 0.184354 9.98622 -0.0500674 -0.0276969 -0.846885 0.17 -0.88 pose: 0.33004475 5.81506 -0.0504676 0 0.00791722 -0.00442396 -0.578528 0.815612 uwb: 0.0 825.123 445.358 -imu_odom_: 1691062807.189757247 0.395043 0.124498 10.2783 -0.0436758 -0.0447411 -0.846885 0.17 -0.88 pose: 0.0 5.81506 -0.0504676 0 0.00791722 -0.00442396 -0.578528 0.815612 uwb: 0.0 825.123 445.358 -imu_odom_: 1691062807.205683915 0.390255 -0.177171 9.32781 -0.0553937 -0.0617853 -0.834102 0.18 -0.88 pose: 0.40008720 5.82184 -0.057754 0 0.00978812 -0.0064895 -0.59286 0.80522 uwb: 0.50060117 826.991 444.527 -imu_odom_: 1691062807.221738909 0.380678 -0.292093 9.57202 -0.0575243 0.0117179 -0.840494 0.18 -0.88 pose: 0.0 5.82184 -0.057754 0 0.00978812 -0.0064895 -0.59286 0.80522 uwb: 0.0 826.991 444.527 -imu_odom_: 1691062807.237742864 0.457293 0.0287304 10.3549 -0.0266316 0.00532632 -0.841559 0.18 -0.88 pose: 0.0 5.82184 -0.057754 0 0.00978812 -0.0064895 -0.59286 0.80522 uwb: 0.0 826.991 444.527 -imu_odom_: 1691062807.254683596 0.275333 0.0215478 9.80186 -0.036219 -0.0490022 -0.82771 0.2 -1 pose: 0.6943291 5.82192 -0.0577426 0 0.00913541 -0.00620204 -0.595307 0.803422 uwb: 0.49936749 823.922 444.925 -imu_odom_: 1691062807.272734636 0.624887 0.217872 9.46428 -0.0553937 -0.0990696 -0.821319 0.2 -1 pose: 0.0 5.82192 -0.0577426 0 0.00913541 -0.00620204 -0.595307 0.803422 uwb: 0.0 823.922 444.925 -imu_odom_: 1691062807.287733860 0.141258 -0.105345 9.96227 -0.0426106 -0.0255663 -0.84582 0.2 -1 pose: 0.0 5.82192 -0.0577426 0 0.00913541 -0.00620204 -0.595307 0.803422 uwb: 0.0 823.922 444.925 -imu_odom_: 1691062807.303910762 0.143652 0 10.3358 -0.0458064 -0.0340885 -0.854342 0.18 -0.88 pose: 0.48041322 5.82152 -0.0718476 0 0.00822885 -0.00597952 -0.612112 0.790706 uwb: 0.50056033 821.922 445.342 -imu_odom_: 1691062807.320764583 0.584185 0.203507 10.0892 -0.0585895 -0.0884169 -0.852212 0.17 -0.88 pose: 0.0 5.82152 -0.0718476 0 0.00822885 -0.00597952 -0.612112 0.790706 uwb: 0.0 821.922 445.342 -imu_odom_: 1691062807.337837432 1.11809 -0.0430956 9.73961 -0.0500674 -0.0479369 -0.853277 0.17 -0.88 pose: 0.67002015 5.82841 -0.0790948 0 0.00984553 -0.00654384 -0.635144 0.772303 uwb: 0.0 821.922 445.342 -imu_odom_: 1691062807.355725732 1.51553 0.0167594 9.82102 -0.0585895 -0.0511327 -0.828776 0.17 -0.88 pose: 0.0 5.82841 -0.0790948 0 0.00984553 -0.00654384 -0.635144 0.772303 uwb: 0.49981663 821.907 445.297 -imu_odom_: 1691062807.369832509 0.988805 0.191536 10.0006 -0.0628506 -0.0596548 -0.757403 0.17 -0.88 pose: 0.0 5.82841 -0.0790948 0 0.00984553 -0.00654384 -0.635144 0.772303 uwb: 0.0 821.907 445.297 -imu_odom_: 1691062807.385686265 1.07021 -0.428562 9.55047 -0.0426106 0.0127832 -0.696683 0.17 -0.88 pose: 0.34100492 5.82118 -0.0860031 0 0.00767608 -0.00985993 -0.646722 0.762624 uwb: 0.0 821.907 445.297 -imu_odom_: 1691062807.400712903 1.21625 -0.608127 9.41161 -0.0415453 -0.0106526 -0.66579 0.14 -0.73 pose: 0.39841898 5.82801 -0.0932407 0 0.004809 -0.0124874 -0.658611 0.752364 uwb: 0.50025119 822.805 444.763 -imu_odom_: 1691062807.417694758 1.30005 0.0191536 9.75158 -0.0458064 -0.0649811 -0.651942 0.14 -0.73 pose: 0.7160569 5.82809 -0.0932296 0 0.00415279 -0.0126179 -0.660503 0.750706 uwb: 0.0 822.805 444.763 -imu_odom_: 1691062807.432692232 1.13485 -0.0047884 10.2855 -0.0372843 0.00745685 -0.640224 0.14 -0.73 pose: 0.0 5.82809 -0.0932296 0 0.00415279 -0.0126179 -0.660503 0.750706 uwb: 0.0 822.805 444.763 -imu_odom_: 1691062807.447750952 1.33836 -0.208296 10.1131 -0.036219 0.0458064 -0.580569 0.1 -0.53 pose: 0.39845398 5.82801 -0.0932403 0 0.00133078 -0.0155789 -0.670703 0.741561 uwb: 0.50059242 822.392 445.141 -imu_odom_: 1691062807.462963662 1.01275 -0.545878 9.67976 -0.0511327 -0.00106526 -0.50387 0.1 -0.53 pose: 0.0 5.82801 -0.0932403 0 0.00133078 -0.0155789 -0.670703 0.741561 uwb: 0.0 822.392 445.141 -imu_odom_: 1691062807.487844834 1.24259 -0.371101 10.0987 -0.04048 0.0149137 -0.436758 0.09 -0.47 pose: 0.30271430 5.82415 -0.09691 0 -0.00093638 -0.0159745 -0.677162 0.73566 uwb: 0.0 822.392 445.141 -imu_odom_: 1691062807.505063799 1.09415 0.0837971 10.4172 -0.0479369 -0.00745685 -0.351537 0.12 -0.61 pose: 0.0 5.82415 -0.09691 0 -0.00093638 -0.0159745 -0.677162 0.73566 uwb: 0.50064491 824.459 444.927 -imu_odom_: 1691062807.521815834 -0.914585 -0.328006 8.73644 -0.0532632 0.151268 -0.331297 0.11 -0.38 pose: 0.0 5.82415 -0.09691 0 -0.00093638 -0.0159745 -0.677162 0.73566 uwb: 0.0 824.459 444.927 -imu_odom_: 1691062807.537808998 -1.64242 -0.0311246 10.9367 -0.0181095 0.0543285 -0.346211 0.11 -0.38 pose: 0.49880170 5.82769 -0.107353 0 -0.0027813 -0.0171384 -0.684967 0.728367 uwb: 0.0 824.459 444.927 -imu_odom_: 1691062807.553743832 -0.837971 -0.124498 9.9934 -0.0617853 -0.152333 -0.289752 0.12 -0.32 pose: 0.0 5.82769 -0.107353 0 -0.0027813 -0.0171384 -0.684967 0.728367 uwb: 0.49860920 826.42 444.385 -imu_odom_: 1691062807.569682749 1.31681 -0.0502782 10.0748 -0.0660464 -0.151268 -0.249272 0.12 -0.32 pose: 0.0 5.82769 -0.107353 0 -0.0027813 -0.0171384 -0.684967 0.728367 uwb: 0.0 826.42 444.385 -imu_odom_: 1691062807.586683561 0.895431 -0.593762 9.36612 -0.0532632 0.04048 -0.234358 0.12 -0.32 pose: 0.31973495 5.82769 -0.107353 0 -1.66403e-05-0.0144037 -0.6893 0.724333 uwb: 0.0 826.42 444.385 -imu_odom_: 1691062807.602826924 0.706289 0.100556 10.501 -0.0372843 0.00958738 -0.239684 0.13 -0.26 pose: 0.41866234 5.82743 -0.115148 0 -0.00318726 -0.0152403 -0.69368 0.720115 uwb: 0.50044368 825.521 444.913 -imu_odom_: 1691062807.620823426 -0.0167594 -0.0191536 9.93833 -0.0490022 0.0543285 -0.252468 0.13 -0.26 pose: 0.0 5.82743 -0.115148 0 -0.00318726 -0.0152403 -0.69368 0.720115 uwb: 0.0 825.521 444.913 -imu_odom_: 1691062807.637866527 -0.0430956 -0.308852 10.3382 -0.0703074 0.00319579 -0.188552 0.13 -0.26 pose: 0.0 5.82743 -0.115148 0 -0.00318726 -0.0152403 -0.69368 0.720115 uwb: 0.0 825.521 444.913 -imu_odom_: 1691062807.654705181 0.363919 -0.380678 10.2185 -0.0372843 -0.0511327 -0.199204 0.14 -0.2 pose: 0.8158301 5.82733 -0.121491 0 -0.00261449 -0.0159272 -0.694499 0.719313 uwb: 0.49919250 828.504 444.254 -imu_odom_: 1691062807.672816010 1.14682 -0.23942 10.0461 -0.036219 0.0191748 -0.192813 0.18 -0.29 pose: 0.0 5.82733 -0.121491 0 -0.00261449 -0.0159272 -0.694499 0.719313 uwb: 0.0 828.504 444.254 -imu_odom_: 1691062807.689818863 0.222661 -0.311246 10.2304 -0.0649811 0.0319579 -0.166181 0.18 -0.29 pose: 0.67890087 5.82733 -0.121491 0 -0.000892599-0.012335 -0.70073 0.713319 uwb: 0.0 828.504 444.254 -imu_odom_: 1691062807.706731888 -0.0670376 -0.129287 9.96946 -0.0511327 -0.0138484 -0.171508 0.15 -0.23 pose: 0.0 5.82733 -0.121491 0 -0.000892599-0.012335 -0.70073 0.713319 uwb: 0.49875503 828.56 444.434 -imu_odom_: 1691062807.724852049 0.349553 -0.21069 9.92157 -0.056459 0.0191748 -0.143811 0.15 -0.23 pose: 0.0 5.82733 -0.121491 0 -0.000892599-0.012335 -0.70073 0.713319 uwb: 0.0 828.56 444.434 -imu_odom_: 1691062807.741817280 0.296881 -0.129287 9.98622 -0.0575243 -0.0191748 -0.116114 0.15 -0.23 pose: 0.34104576 5.82694 -0.13564 0 -0.000661591-0.0103394 -0.703348 0.710771 uwb: 0.0 828.56 444.434 -imu_odom_: 1691062807.756729009 0.577003 -0.227449 10.1682 -0.0479369 0.00958738 -0.145941 0.15 -0.2 pose: 0.34996438 5.82694 -0.13564 0 0.000840105 -0.00716678 -0.705681 0.708493 uwb: 0.50035910 830.542 443.973 -imu_odom_: 1691062807.772717798 1.19231 -0.0526724 10.0485 -0.0575243 -0.00958738 -0.129962 0.15 -0.2 pose: 0.0 5.82694 -0.13564 0 0.000840105 -0.00716678 -0.705681 0.708493 uwb: 0.0 830.542 443.973 -imu_odom_: 1691062807.788717670 1.16358 -0.347159 9.81623 -0.0671117 -0.02024 -0.0894822 0.15 -0.2 pose: 0.0 5.82694 -0.13564 0 0.000840105 -0.00716678 -0.705681 0.708493 uwb: 0.0 830.542 443.973 -imu_odom_: 1691062807.805720815 1.1157 -0.198719 10.477 -0.0596548 0.0170442 -0.052198 0.14 -0.17 pose: 0.48892937 5.82663 -0.149779 0 -0.00181307 -0.00786593 -0.708517 0.705647 uwb: 0.50039409 833.402 442.913 -imu_odom_: 1691062807.822717252 1.33118 -0.258574 10.4435 -0.0660464 -0.0671117 -0.0394148 0.14 -0.17 pose: 0.0 5.82663 -0.149779 0 -0.00181307 -0.00786593 -0.708517 0.705647 uwb: 0.0 833.402 442.913 -imu_odom_: 1691062807.838722956 1.84354 0.143652 9.71088 -0.0585895 -0.0245011 -0.0798948 0.11 -0.2 pose: 0.41991352 5.82663 -0.149779 0 -0.00566193 -0.0104247 -0.709864 0.704239 uwb: 0.0 833.402 442.913 -imu_odom_: 1691062807.855659022 1.67594 0.275333 9.85932 -0.0426106 0.0458064 -0.111853 0.11 -0.2 pose: 0.0 5.82663 -0.149779 0 -0.00566193 -0.0104247 -0.709864 0.704239 uwb: 0.49946082 831.54 443.768 -imu_odom_: 1691062807.872658667 0.773327 -0.0981623 9.80186 -0.0553937 0.0415453 -0.127832 0.11 -0.2 pose: 0.0 5.82663 -0.149779 0 -0.00566193 -0.0104247 -0.709864 0.704239 uwb: 0.0 831.54 443.768 -imu_odom_: 1691062807.889783430 0.59855 -0.337582 9.77313 -0.0426106 -0.0245011 -0.138484 0.12 -0.17 pose: 0.7008037 5.82663 -0.149779 0 -0.00608497 -0.0110653 -0.710152 0.703935 uwb: 0.0 831.54 443.768 -imu_odom_: 1691062807.907720727 0.782904 -0.272939 9.5385 -0.056459 -0.0234358 -0.117179 0.08 -0.11 pose: 0.0 5.82663 -0.149779 0 -0.00608497 -0.0110653 -0.710152 0.703935 uwb: 0.50066533 833.106 443.688 -imu_odom_: 1691062807.924715997 0.682347 -0.241814 10.0102 -0.0671117 0.00852212 -0.0873517 0.08 -0.11 pose: 0.67997705 5.83353 -0.157015 0 -0.008864 -0.0130053 -0.713879 0.700092 uwb: 0.0 833.106 443.688 -imu_odom_: 1691062807.941770180 0.811634 -0.227449 10.137 -0.0639159 -0.0394148 -0.0617853 0.07 -0.08 pose: 0.0 5.83353 -0.157015 0 -0.008864 -0.0130053 -0.713879 0.700092 uwb: 0.0 833.106 443.688 -imu_odom_: 1691062807.957651643 0.878672 -0.126893 9.97664 -0.0500674 -0.015979 -0.0500674 0.07 -0.08 pose: 0.0 5.83353 -0.157015 0 -0.008864 -0.0130053 -0.713879 0.700092 uwb: 0.49959206 835.036 443.064 -imu_odom_: 1691062807.974696493 0.802058 -0.215478 9.8665 -0.0532632 0.0106526 -0.0149137 0.07 -0.08 pose: 0.34007456 5.8263 -0.16392 0 -0.0110683 -0.0115758 -0.715401 0.69853 uwb: 0.0 835.036 443.064 -imu_odom_: 1691062807.999683242 0.584185 -0.0574608 10.161 -0.0500674 0 -0.0266316 0.06 -0.05 pose: 0.42966043 5.8263 -0.16392 0 -0.0140887 -0.014069 -0.71652 0.697282 uwb: 0.49986913 831.199 444.387 -imu_odom_: 1691062808.25862836 0.191536 -0.215478 9.71088 -0.0628506 0.0383495 -0.0607201 0.06 -0.08 pose: 0.8210799 5.8263 -0.16392 0 -0.0132474 -0.0139416 -0.716725 0.69709 uwb: 0.0 831.199 444.387 -imu_odom_: 1691062808.51661828 -1.39343 0.21069 9.52653 -0.0479369 0.0479369 -0.113983 0.08 -0.02 pose: 0.42955544 5.82623 -0.163929 0 -0.00941831 -0.0112966 -0.718096 0.695788 uwb: 0.50292854 830.263 444.795 -imu_odom_: 1691062808.68666140 -1.01035 -0.531513 10.2783 -0.072438 -0.0191748 -0.015979 0.08 -0.02 pose: 0.0 5.82623 -0.163929 0 -0.00941831 -0.0112966 -0.718096 0.695788 uwb: 0.0 830.263 444.795 -imu_odom_: 1691062808.93722593 0.646434 -0.280122 10.094 -0.0372843 -0.0788296 0.00852212 0.1 -0.02 pose: 0.42803304 5.83036 -0.168141 0 -0.00593326 -0.00807088 -0.71985 0.694058 uwb: 0.0 830.263 444.795 -imu_odom_: 1691062808.119740905 0.624887 0.0909797 10.24 -0.0735032 0.00639159 0.0191748 0.13 -0.05 pose: 0.0 5.83036 -0.168141 0 -0.00593326 -0.00807088 -0.71985 0.694058 uwb: 0.49820674 830.332 445.019 -imu_odom_: 1691062808.144789192 -0.282516 -0.158017 9.68455 -0.0639159 0.0117179 -0.0394148 0.12 -0.02 pose: 0.51074765 5.82599 -0.178041 0 -0.00693535 -0.00948389 -0.720296 0.693567 uwb: 0.0 830.332 445.019 -imu_odom_: 1691062808.170775423 0.0311246 -0.299275 9.82341 -0.0490022 -0.0191748 0.00319579 0.13 -0.02 pose: 0.0 5.82599 -0.178041 0 -0.00693535 -0.00948389 -0.720296 0.693567 uwb: 0.49990997 833.319 444.409 -imu_odom_: 1691062808.187759320 0.502782 -0.526724 9.87129 -0.0511327 -0.0298274 0.0127832 0.13 -0.02 pose: 0.32928356 5.82599 -0.178041 0 -0.00460691 -0.00697394 -0.721111 0.69277 uwb: 0.0 833.319 444.409 -imu_odom_: 1691062808.212692697 0.371101 -0.0167594 9.55765 -0.0330232 -0.0340885 -0.00852212 0.18 -0.05 pose: 0.0 5.82599 -0.178041 0 -0.00460691 -0.00697394 -0.721111 0.69277 uwb: 0.50050785 833.481 444.949 -imu_odom_: 1691062808.234752163 0.150835 -0.11971 10.3046 -0.0458064 0.0330232 -0.00426106 0.18 -0.05 pose: 0.42050557 5.83287 -0.185296 0 -0.00420106 -0.00468478 -0.721618 0.692263 uwb: 0.0 833.481 444.949 -imu_odom_: 1691062808.251694937 -0.167594 -0.280122 9.80186 -0.0575243 0.00745685 0.00213053 0.18 -0.05 pose: 0.0 5.83287 -0.185296 0 -0.00420106 -0.00468478 -0.721618 0.692263 uwb: 0.49986331 836.958 444.236 -imu_odom_: 1691062808.277836326 0.0454898 -0.167594 9.56484 -0.0426106 0.0170442 0.00426106 0.13 0 pose: 0.48035198 5.82561 -0.192168 0 0.000192748 -0.00309421 -0.722376 0.691494 uwb: 0.0 836.958 444.236 -imu_odom_: 1691062808.302660918 0.232238 -0.402226 9.91918 -0.0628506 0.0266316 0.0149137 0.15 -0.05 pose: 0.35081310 5.83062 -0.197489 0 0.00298165 -0.000473805-0.722815 0.691035 uwb: 0.49960082 836.598 444.806 -imu_odom_: 1691062808.328790640 1.01993 -0.011971 10.3597 -0.0383495 0.0106526 -0.0106526 0.15 -0.05 pose: 0.0 5.83062 -0.197489 0 0.00298165 -0.000473805-0.722815 0.691035 uwb: 0.0 836.598 444.806 -imu_odom_: 1691062808.344672686 0.452504 -0.19393 9.26317 -0.0681769 0.036219 0.0276969 0.14 -0.02 pose: 0.6998704 5.83246 -0.19945 0 0.00287465 0.000300423 -0.722876 0.690972 uwb: 0.0 836.598 444.806 -imu_odom_: 1691062808.371915924 0.565032 -0.232238 10.58 -0.0490022 -0.0149137 0.0213053 0.14 -0.02 pose: 0.0 5.83246 -0.19945 0 0.00287465 0.000300423 -0.722876 0.690972 uwb: 0.49851881 838.078 444.471 -imu_odom_: 1691062808.397639088 0.445322 -0.174777 9.99819 -0.0447411 -0.0138484 0.0138484 0.17 0 pose: 0.50965980 5.82517 -0.206296 0 0.00114941 -0.000372984-0.723513 0.690309 uwb: 0.50137405 839.16 444.572 -imu_odom_: 1691062808.423729729 0.169988 -0.354342 9.69652 -0.0617853 0 0.0245011 0.17 0 pose: 0.0 5.82517 -0.206296 0 0.00114941 -0.000372984-0.723513 0.690309 uwb: 0.0 839.16 444.572 -imu_odom_: 1691062808.448642982 0.488417 -0.105345 8.98783 -0.056459 -0.02024 0.0170442 0.16 -0.02 pose: 0.42885258 5.83208 -0.213529 0 -0.00116263 -0.00262272 -0.723778 0.690027 uwb: 0.49851006 840.587 444.063 -imu_odom_: 1691062808.465658377 0.897826 -0.272939 9.99579 -0.0681769 -0.0276969 0.0500674 0.16 -0.02 pose: 0.0 5.83208 -0.213529 0 -0.00116263 -0.00262272 -0.723778 0.690027 uwb: 0.0 840.587 444.063 -imu_odom_: 1691062808.483646713 0.275333 -0.414197 9.35175 -0.0596548 0.0255663 0.0980043 0.18 0 pose: 0.52029625 5.82484 -0.220429 0 0.00101273 -0.00145893 -0.724143 0.689648 uwb: 0.0 840.587 444.063 -imu_odom_: 1691062808.499838782 0.0502782 -0.466869 9.91439 -0.0500674 0.0213053 0.190682 0.18 0 pose: 0.0 5.82484 -0.220429 0 0.00101273 -0.00145893 -0.724143 0.689648 uwb: 0.50185235 840.659 444.312 -imu_odom_: 1691062808.517718042 0.318429 -0.509965 10.0437 -0.0511327 -0.109722 0.268447 0.17 0.2 pose: 0.24987624 5.82484 -0.220429 0 0.000113537 -0.0037142 -0.72425 0.689527 uwb: 0.0 840.659 444.312 -imu_odom_: 1691062808.534834638 0.969652 -0.356736 10.2017 -0.0319579 -0.036219 0.313188 0.17 0.2 pose: 0.44135265 5.8244 -0.234577 0 -0.000374282-0.000531245-0.723008 0.69084 uwb: 0.0 840.659 444.312 -imu_odom_: 1691062808.551663378 0.921768 -0.0790087 10.0556 -0.0266316 0.00213053 0.380299 0.17 0.2 pose: 0.0 5.8244 -0.234577 0 -0.000374282-0.000531245-0.723008 0.69084 uwb: 0.49834382 841.622 444.012 -imu_odom_: 1691062808.568771517 0.186748 -0.658405 9.82341 -0.0777643 0.0798948 0.427171 0.22 0.41 pose: 0.8190092 5.82448 -0.234567 0 -0.00102892 -0.000103147-0.722359 0.691517 uwb: 0.0 841.622 444.012 -imu_odom_: 1691062808.584760598 0.42138 -0.124498 10.252 -0.04048 0.00426106 0.426106 0.22 0.41 pose: 0.0 5.82448 -0.234567 0 -0.00102892 -0.000103147-0.722359 0.691517 uwb: 0.0 841.622 444.012 -imu_odom_: 1691062808.601878361 0.251391 -0.320823 10.0078 -0.0628506 -0.0553937 0.4815 0.22 0.41 pose: 0.0 5.82448 -0.234567 0 -0.00102892 -0.000103147-0.722359 0.691517 uwb: 0.50161028 843.551 443.417 -imu_odom_: 1691062808.618748806 1.10373 -0.260968 9.63666 -0.0777643 0.0213053 0.52198 0.17 0.47 pose: 0.50627084 5.82408 -0.248703 0 -0.00379091 -0.00152672 -0.717029 0.697032 uwb: 0.0 843.551 443.417 -imu_odom_: 1691062808.633796444 0.462081 -0.464475 9.94791 -0.0639159 -0.0138484 0.548611 0.17 0.44 pose: 0.0 5.82408 -0.248703 0 -0.00379091 -0.00152672 -0.717029 0.697032 uwb: 0.0 843.551 443.417 -imu_odom_: 1691062808.649648159 0.37589 -0.222661 9.65342 -0.0798948 -0.0245011 0.566721 0.17 0.44 pose: 0.66989184 5.82408 -0.248703 0 -0.00371386 -3.23164e-05-0.706735 0.707468 uwb: 0.50064785 845.977 442.717 -imu_odom_: 1691062808.664758501 0.268151 -0.354342 10.0102 -0.0415453 -0.0234358 0.591222 0.17 0.44 pose: 0.0 5.82408 -0.248703 0 -0.00371386 -3.23164e-05-0.706735 0.707468 uwb: 0.0 845.977 442.717 -imu_odom_: 1691062808.681784978 0.490811 -0.656011 9.80186 -0.0745685 -0.0266316 0.618919 0.17 0.53 pose: 0.0 5.82408 -0.248703 0 -0.00371386 -3.23164e-05-0.706735 0.707468 uwb: 0.0 845.977 442.717 -imu_odom_: 1691062808.696610963 0.198719 -0.292093 9.91918 -0.0500674 -0.00958738 0.601874 0.17 0.53 pose: 0.31004638 5.82372 -0.262841 0 -0.00284872 0.00140327 -0.700919 0.713234 uwb: 0.49973498 845.553 443.078 -imu_odom_: 1691062808.712666248 0.292093 -0.4956 10.1011 -0.0532632 -0.0266316 0.619984 0.16 0.55 pose: 0.39961183 5.8234 -0.262877 0 -0.00314573 0.00389985 -0.692775 0.721136 uwb: 0.0 845.553 443.078 -imu_odom_: 1691062808.729611647 0.890643 -0.316035 10.1227 -0.0553937 -0.0777643 0.609331 0.16 0.55 pose: 0.0 5.8234 -0.262877 0 -0.00314573 0.00389985 -0.692775 0.721136 uwb: 0.0 845.553 443.078 -imu_odom_: 1691062808.747660063 1.07739 -0.0909797 9.9527 -0.0394148 -0.0596548 0.600809 0.16 0.55 pose: 0.0 5.8234 -0.262877 0 -0.00314573 0.00389985 -0.692775 0.721136 uwb: 0.50011996 842.258 444.392 -imu_odom_: 1691062808.764646293 1.34075 -0.361524 9.39006 -0.0596548 -0.04048 0.592287 0.14 0.44 pose: 0.6123757 5.82372 -0.262841 0 -0.00336799 0.00443494 -0.691489 0.722365 uwb: 0.0 842.258 444.392 -imu_odom_: 1691062808.779723970 1.70467 -0.225055 10.1682 -0.0330232 -0.0298274 0.513457 0.13 0.38 pose: 0.0 5.82372 -0.262841 0 -0.00336799 0.00443494 -0.691489 0.722365 uwb: 0.0 842.258 444.392 -imu_odom_: 1691062808.796719533 1.61848 0.0981623 9.62948 -0.056459 0.0394148 0.416518 0.13 0.38 pose: 0.67979333 5.82326 -0.276975 0 -0.0079786 -0.000444662-0.677715 0.735281 uwb: 0.0 842.258 444.392 -imu_odom_: 1691062808.813595811 1.37188 0.198719 9.84256 -0.056459 0.0490022 0.356864 0.11 0.29 pose: 0.0 5.82326 -0.276975 0 -0.0079786 -0.000444662-0.677715 0.735281 uwb: 0.0 842.258 444.392 -imu_odom_: 1691062808.830609747 0.335188 -0.0981623 9.4164 -0.0681769 0.036219 0.30147 0.11 0.29 pose: 0.0 5.82326 -0.276975 0 -0.0079786 -0.000444662-0.677715 0.735281 uwb: 0.0 842.258 444.392 -imu_odom_: 1691062808.855595330 0.73502 -0.289698 9.92157 -0.052198 -0.0436758 0.243946 0.11 0.29 pose: 0.32942063 5.83017 -0.284205 0 -0.00892821 -0.00310051 -0.672978 0.739602 uwb: 0.99758008 840.815 444.853 -imu_odom_: 1691062808.872720676 0.577003 -0.134075 9.75398 -0.0575243 0.0532632 0.203466 0.1 0.32 pose: 0.33960794 5.82294 -0.29112 0 -0.00770533 -0.00385611 -0.669645 0.742631 uwb: 0.0 840.815 444.853 -imu_odom_: 1691062808.889649451 -0.198719 -0.227449 10.0341 -0.0426106 0.0841559 0.184291 0.1 0.32 pose: 0.0 5.82294 -0.29112 0 -0.00770533 -0.00385611 -0.669645 0.742631 uwb: 0.0 840.815 444.853 -imu_odom_: 1691062808.905714361 -0.933739 -0.272939 9.89763 -0.072438 0.0351537 0.225836 0.11 0.23 pose: 0.52032541 5.82294 -0.29112 0 -0.00575684 -0.00418527 -0.666345 0.74561 uwb: 0.50191068 844.149 443.664 -imu_odom_: 1691062808.923689864 -0.21069 -0.627281 10.0389 -0.0713727 -0.0788296 0.256729 0.11 0.23 pose: 0.0 5.82294 -0.29112 0 -0.00575684 -0.00418527 -0.666345 0.74561 uwb: 0.0 844.149 443.664 -imu_odom_: 1691062808.941588373 0.756568 -0.447716 10.1275 -0.036219 -0.0372843 0.216249 0.11 0.23 pose: 0.0 5.82294 -0.29112 0 -0.00575684 -0.00418527 -0.666345 0.74561 uwb: 0.0 844.149 443.664 -imu_odom_: 1691062808.955593656 0.816423 0.155623 10.4986 -0.0458064 0.0149137 0.233293 0.12 0.17 pose: 0.7004829 5.82294 -0.29112 0 -0.00525545 -0.00350712 -0.665862 0.746049 uwb: 0.49803175 841.811 444.666 -imu_odom_: 1691062808.972646674 0.380678 -0.248997 10.0461 -0.0436758 -0.00852212 0.252468 0.12 0.17 pose: 0.0 5.82294 -0.29112 0 -0.00525545 -0.00350712 -0.665862 0.746049 uwb: 0.0 841.811 444.666 -imu_odom_: 1691062808.989599364 0.280122 -0.486023 9.50737 -0.0213053 -0.00106526 0.186421 0.12 0.17 pose: 0.65946247 5.82985 -0.29835 0 -0.00551606 -0.00290094 -0.661013 0.750348 uwb: 0.0 841.811 444.666 -imu_odom_: 1691062809.7679861 0.107739 -0.11971 9.86411 -0.04048 -0.04048 0.198139 0.17 0.2 pose: 0.0 5.82985 -0.29835 0 -0.00551606 -0.00290094 -0.661013 0.750348 uwb: 0.50051077 841.952 445.163 -imu_odom_: 1691062809.24651217 0.4956 -0.45011 10.0054 -0.0639159 -0.0245011 0.217314 0.17 0.2 pose: 0.0 5.82985 -0.29835 0 -0.00551606 -0.00290094 -0.661013 0.750348 uwb: 0.0 841.952 445.163 -imu_odom_: 1691062809.38667584 1.01275 -0.423774 10.3884 -0.0511327 -0.0458064 0.194943 0.17 0.2 pose: 0.34997315 5.82257 -0.305208 0 -0.00404789 -0.000520107-0.658795 0.752311 uwb: 0.0 841.952 445.163 -imu_odom_: 1691062809.55586443 0.639252 0.023942 10.2615 -0.0468716 -0.0372843 0.188552 0.14 0.14 pose: 0.41069742 5.82948 -0.312445 0 -0.00618525 -0.000614918-0.656228 0.754537 uwb: 0.50050204 845.428 444.502 -imu_odom_: 1691062809.72585506 0.715866 0.0957681 10.24 -0.052198 0.0436758 0.199204 0.14 0.14 pose: 0.7047410 5.82948 -0.312445 0 -0.00594062 -0.0013587 -0.655835 0.75488 uwb: 0.0 845.428 444.502 -imu_odom_: 1691062809.90640047 0.0383072 -0.4956 9.39006 -0.0553937 0.0394148 0.18003 0.19 0.17 pose: 0.0 5.82948 -0.312445 0 -0.00594062 -0.0013587 -0.655835 0.75488 uwb: 0.0 845.428 444.502 -imu_odom_: 1691062809.107572614 0.201113 -0.306458 9.96946 -0.0479369 0.0255663 0.152333 0.15 0.11 pose: 0.44925053 5.82919 -0.320328 0 -0.00409618 -0.0016281 -0.653308 0.75708 uwb: 0.49861798 843.091 445.474 -imu_odom_: 1691062809.122568630 0.234632 -0.112527 9.85932 -0.0628506 0.0223706 0.189617 0.15 0.11 pose: 0.0 5.82919 -0.320328 0 -0.00409618 -0.0016281 -0.653308 0.75708 uwb: 0.0 843.091 445.474 -imu_odom_: 1691062809.138623916 0.591368 -0.189142 9.75877 -0.0596548 -0.0319579 0.198139 0.15 0.11 pose: 0.0 5.82919 -0.320328 0 -0.00409618 -0.0016281 -0.653308 0.75708 uwb: 0.0 843.091 445.474 -imu_odom_: 1691062809.155568440 0.782904 -0.28491 9.87129 -0.0713727 -0.0660464 0.215183 0.15 0.11 pose: 0.23001494 5.82916 -0.326584 0 -0.002405 0.000214009 -0.652241 0.758008 uwb: 0.50223734 845.61 445.133 -imu_odom_: 1691062809.173627356 1.39103 -0.308852 9.80665 -0.0639159 -0.0575243 0.245011 0.14 0.08 pose: 0.0 5.82916 -0.326584 0 -0.002405 0.000214009 -0.652241 0.758008 uwb: 0.0 845.61 445.133 -imu_odom_: 1691062809.191585361 1.79565 -0.316035 9.53371 -0.0553937 -0.0276969 0.184291 0.14 0.08 pose: 0.31983121 5.82916 -0.326584 0 -0.00301688 -0.00165721 -0.6503 0.75967 uwb: 0.0 845.61 445.133 -imu_odom_: 1691062809.207600983 1.71185 0.138864 10.1442 -0.0607201 0.0117179 0.138484 0.12 0.02 pose: 0.35986881 5.83607 -0.333805 0 -0.00629193 -0.00472903 -0.647771 0.761794 uwb: 0.49785969 843.227 445.948 -imu_odom_: 1691062809.225721728 1.04627 -0.0885855 9.94551 -0.0511327 0.0330232 0.110787 0.12 0.02 pose: 0.0 5.83607 -0.333805 0 -0.00629193 -0.00472903 -0.647771 0.761794 uwb: 0.0 843.227 445.948 -imu_odom_: 1691062809.242712625 0.758962 -0.296881 9.84975 -0.0479369 0.015979 0.0788296 0.12 0.02 pose: 0.0 5.83607 -0.333805 0 -0.00629193 -0.00472903 -0.647771 0.761794 uwb: 0.0 843.227 445.948 -imu_odom_: 1691062809.259585987 0.799663 -0.320823 10.0604 -0.0511327 0 0.076699 0.08 0.05 pose: 0.16997897 5.83607 -0.333805 0 -0.00729501 -0.00613529 -0.646951 0.762472 uwb: 0.50000623 844.183 445.63 -imu_odom_: 1691062809.276583300 0.931344 -0.208296 9.8258 -0.0575243 -0.0149137 0.0884169 0.1 0.08 pose: 0.0 5.83607 -0.333805 0 -0.00729501 -0.00613529 -0.646951 0.762472 uwb: 0.0 844.183 445.63 -imu_odom_: 1691062809.292718206 0.830788 -0.332794 9.93594 -0.0553937 -0.00532632 0.117179 0.1 0.08 pose: 0.67987501 5.82885 -0.340715 0 -0.0113292 -0.0101296 -0.645449 0.763652 uwb: 0.0 844.183 445.63 -imu_odom_: 1691062809.310712959 0.766145 -0.241814 9.83299 -0.0575243 0.015979 0.123571 0.09 0.05 pose: 0.0 5.82885 -0.340715 0 -0.0113292 -0.0101296 -0.645449 0.763652 uwb: 0.50114075 844.253 445.879 -imu_odom_: 1691062809.327620444 0.864307 -0.136469 10.0485 -0.0500674 -0.015979 0.12144 0.09 0.05 pose: 0.0 5.82885 -0.340715 0 -0.0113292 -0.0101296 -0.645449 0.763652 uwb: 0.0 844.253 445.879 -imu_odom_: 1691062809.352646566 0.727837 -0.0957681 10.24 -0.052198 0.00958738 0.109722 0.05 0.08 pose: 0.61023503 5.83578 -0.347917 0 -0.0128282 -0.0148098 -0.643663 0.765059 uwb: 0.50136531 845.624 445.178 -imu_odom_: 1691062809.370813101 0.244209 -0.246603 9.65821 -0.0660464 0.0308927 0.072438 0.05 0.08 pose: 0.7189443 5.83578 -0.347917 0 -0.0120823 -0.0149012 -0.643484 0.765219 uwb: 0.0 845.624 445.178 -imu_odom_: 1691062809.395609112 -1.01514 0.1652 9.61033 -0.04048 0.0798948 -0.04048 0.07 0.05 pose: 0.0 5.83578 -0.347917 0 -0.0120823 -0.0149012 -0.643484 0.765219 uwb: 0.49779845 847.143 445.026 -imu_odom_: 1691062809.422714984 -0.679953 -0.885855 10.0796 -0.0820254 -0.052198 0.111853 0.07 0.05 pose: 0.36003214 5.83578 -0.347917 0 -0.00913334 -0.0132838 -0.642834 0.765836 uwb: 0.0 847.143 445.026 -imu_odom_: 1691062809.448587181 0.488417 -0.196325 9.87129 -0.0213053 -0.0458064 0.0852212 0.1 0.05 pose: 0.51901883 5.8306 -0.352868 0 -0.00651585 -0.00867366 -0.642891 0.76588 uwb: 0.50025705 851.49 443.822 -imu_odom_: 1691062809.475720177 0.529119 -0.0957681 9.92397 -0.0671117 0.0276969 0.128897 0.1 0.05 pose: 0.0 5.8306 -0.352868 0 -0.00651585 -0.00867366 -0.642891 0.76588 uwb: 0.0 851.49 443.822 -imu_odom_: 1691062809.491691468 0.550666 -0.246603 9.93354 -0.0585895 0.00213053 0.0681769 0.13 0.05 pose: 0.32860986 5.83547 -0.36205 0 -0.00404472 -0.00753544 -0.642218 0.766474 uwb: 0.0 851.49 443.822 -imu_odom_: 1691062809.518874044 0.222661 -0.105345 10.4244 -0.0490022 -0.0117179 0.0692422 0.13 0.05 pose: 0.0 5.83547 -0.36205 0 -0.00404472 -0.00753544 -0.642218 0.766474 uwb: 0.49986332 855.885 442.74 -imu_odom_: 1691062809.543777091 -0.071826 -0.426168 9.78271 -0.0735032 0.00213053 0.0884169 0.13 0.02 pose: 0.28117895 5.83547 -0.36205 0 -0.00261903 -0.00720607 -0.641454 0.767123 uwb: 0.0 855.885 442.74 -imu_odom_: 1691062809.560592998 0.215478 -0.160412 10.0245 -0.0490022 -0.02024 0.0671117 0.13 0.02 pose: 0.0 5.83547 -0.36205 0 -0.00261903 -0.00720607 -0.641454 0.767123 uwb: 0.49955126 855.85 442.604 -imu_odom_: 1691062809.586706389 0.191536 -0.0167594 9.85932 -0.0543285 0.00319579 0.0798948 0.14 0.02 pose: 0.43065498 5.83547 -0.36205 0 -0.000941191-0.00434558 -0.640924 0.767591 uwb: 0.0 855.85 442.604 -imu_odom_: 1691062809.613723600 0.521936 -0.217872 9.64145 -0.0585895 -0.0415453 0.0596548 0.18 0.05 pose: 0.41860403 5.83521 -0.376162 0 0.00141492 -0.0013495 -0.640312 0.768112 uwb: 0.50311812 856.859 442.489 -imu_odom_: 1691062809.638708016 0.179565 -0.318429 9.75877 -0.0500674 0.0170442 0.072438 0.15 0.02 pose: 0.26227717 5.83521 -0.376162 0 0.00239494 -0.00136437 -0.639969 0.768396 uwb: 0.0 856.859 442.489 -imu_odom_: 1691062809.655566213 -0.0502782 -0.258574 9.96946 -0.0639159 -0.0298274 0.0735032 0.15 0.02 pose: 0.0 5.83521 -0.376162 0 0.00239494 -0.00136437 -0.639969 0.768396 uwb: 0.49692059 856.87 442.535 -imu_odom_: 1691062809.680706078 0.311246 -0.306458 9.52413 -0.0511327 -0.015979 0.0681769 0.19 0 pose: 0.26871970 5.8421 -0.383402 0 0.00068646 -0.00164678 -0.639722 0.768604 uwb: 0.0 856.87 442.535 -imu_odom_: 1691062809.707616254 0.557849 -0.344765 10.3334 -0.0830906 0.02024 0.0809601 0.19 0.02 pose: 0.23988726 5.8421 -0.383402 0 0.00144362 0.000677731 -0.639418 0.768858 uwb: 0.49925960 854.505 443.439 -imu_odom_: 1691062809.732634210 0.61531 -0.454898 10.1562 -0.0628506 0.0191748 0.0553937 0.19 0.02 pose: 0.34997899 5.83696 -0.388312 0 0.000754034 0.00358345 -0.639015 0.769186 uwb: 0.0 854.505 443.439 -imu_odom_: 1691062809.759715876 0.00957681 -0.342371 9.55765 -0.0617853 0.00319579 0.0756338 0.19 0.02 pose: 0.6929293 5.83487 -0.390312 0 0.000116936 0.00339562 -0.638906 0.769277 uwb: 0.49988957 855.913 442.854 -imu_odom_: 1691062809.785606447 0.385466 -0.304064 9.25838 -0.0543285 0.0127832 0.0575243 0.19 0.02 pose: 0.0 5.83487 -0.390312 0 0.000116936 0.00339562 -0.638906 0.769277 uwb: 0.0 855.913 442.854 -imu_odom_: 1691062809.809592257 0.816423 -0.339977 10.2208 -0.0575243 0.0191748 0.0585895 0.2 0.02 pose: 0.52089705 5.84179 -0.397534 0 -0.00364408 0.00318809 -0.638342 0.769738 uwb: 0.49922461 861.16 441.064 -imu_odom_: 1691062809.824820134 0.952892 -0.268151 9.4571 -0.0596548 0.00213053 0.0500674 0.2 0.02 pose: 0.0 5.84179 -0.397534 0 -0.00364408 0.00318809 -0.638342 0.769738 uwb: 0.0 861.16 441.064 -imu_odom_: 1691062809.849622853 0.624887 -0.339977 10.0365 -0.0511327 -0.02024 0.0777643 0.15 0.05 pose: 0.53004026 5.84872 -0.404745 0 -0.00412571 0.00242742 -0.63784 0.770154 uwb: 0.50233359 863.715 440.919 -imu_odom_: 1691062809.866545796 0.418985 -0.335188 9.95748 -0.056459 -0.0213053 0.0692422 0.15 0.05 pose: 0.0 5.84872 -0.404745 0 -0.00412571 0.00242742 -0.63784 0.770154 uwb: 0.0 863.715 440.919 -imu_odom_: 1691062809.882596124 0.538695 -0.141258 9.98861 -0.0532632 -0.0330232 0.0639159 0.17 0 pose: 0.38968994 5.84152 -0.411682 0 -0.00662047 -0.000287841-0.637562 0.770371 uwb: 0.0 863.715 440.919 -imu_odom_: 1691062809.900697328 0.64404 -0.328006 10.0437 -0.0575243 0.0543285 0.0713727 0.17 0 pose: 0.0 5.84152 -0.411682 0 -0.00662047 -0.000287841-0.637562 0.770371 uwb: 0.49891255 861.29 441.588 -imu_odom_: 1691062809.917617354 0.282516 -0.129287 9.82102 -0.052198 0.00532632 0.0671117 0.17 0 pose: 0.0 5.84152 -0.411682 0 -0.00662047 -0.000287841-0.637562 0.770371 uwb: 0.0 861.29 441.588 -imu_odom_: 1691062809.930802813 -0.203507 -0.0861913 9.54808 -0.0511327 0.0276969 0.0607201 0.16 0.02 pose: 0.42908299 5.84846 -0.41888 0 -0.00689064 -0.000918301-0.637027 0.77081 uwb: 0.0 861.29 441.588 -imu_odom_: 1691062809.946569074 0.332794 -0.277727 9.88326 -0.0617853 0.00106526 0.0671117 0.16 0.02 pose: 0.0 5.84846 -0.41888 0 -0.00689064 -0.000918301-0.637027 0.77081 uwb: 0.50302188 866.605 440.053 -imu_odom_: 1691062809.964676695 0.486023 -0.361524 9.02614 -0.0596548 -0.0287621 0.0649811 0.16 0.02 pose: 0.0 5.84846 -0.41888 0 -0.00689064 -0.000918301-0.637027 0.77081 uwb: 0.0 866.605 440.053 -imu_odom_: 1691062809.988678546 0.141258 -0.222661 9.79228 -0.0500674 0.00639159 0.0671117 0.23 0.02 pose: 0.80123898 5.84822 -0.43302 0 -0.00459429 0.00055114 -0.636207 0.771504 uwb: 0.0 866.605 440.053 -imu_odom_: 1691062810.15698091 0.28491 -0.0407014 10.6135 -0.0681769 -0.00958738 0.0660464 0.21 0.02 pose: 0.33948253 5.85298 -0.438033 0 -0.00357827 0.00214479 -0.635849 0.771802 uwb: 0.49710141 868.536 439.476 -imu_odom_: 1691062810.40790710 0.713472 -0.296881 9.94073 -0.076699 0.015979 0.0575243 0.18 0 pose: 0.0 5.85298 -0.438033 0 -0.00357827 0.00214479 -0.635849 0.771802 uwb: 0.0 868.536 439.476 -imu_odom_: 1691062810.64591615 0.586579 -0.237026 9.98382 -0.0436758 -0.0575243 0.0458064 0.22 0 pose: 0.52112164 5.85289 -0.452286 0 -0.00301573 0.000271977 -0.635403 0.772175 uwb: 0.0 868.536 439.476 -imu_odom_: 1691062810.81544014 0.486023 -0.150835 9.94551 -0.0266316 0.00852212 0.0575243 0.22 0 pose: 0.0 5.85289 -0.452286 0 -0.00301573 0.000271977 -0.635403 0.772175 uwb: 0.0 868.536 439.476 -imu_odom_: 1691062810.97811621 0.512359 -0.483629 10.0772 -0.0372843 -0.0181095 0.0532632 0.17 0 pose: 0.40753304 5.85485 -0.454341 0 -0.00281687 -0.00340909 -0.635234 0.772307 uwb: 0.100174779 863.688 440.732 -imu_odom_: 1691062810.114657277 0.790087 -0.0191536 10.0126 -0.0415453 -0.0340885 0.0490022 0.17 0 pose: 0.8160344 5.85485 -0.454341 0 -0.00346534 -0.00303185 -0.635187 0.772345 uwb: 0.0 863.688 440.732 -imu_odom_: 1691062810.131554263 0.634463 -0.035913 9.86411 -0.0511327 0.0170442 0.0660464 0.17 0 pose: 0.0 5.85485 -0.454341 0 -0.00346534 -0.00303185 -0.635187 0.772345 uwb: 0.0 863.688 440.732 -imu_odom_: 1691062810.146525198 0.0407014 -0.129287 10.0197 -0.0639159 0.0255663 0.052198 0.17 0.02 pose: 0.32891901 5.85454 -0.468479 0 -0.00390206 -0.00530119 -0.634999 0.772485 uwb: 0.49785096 867.941 439.085 -imu_odom_: 1691062810.162667104 0.19393 -0.294487 9.99819 -0.052198 -0.015979 0.0585895 0.17 0.02 pose: 0.0 5.85454 -0.468479 0 -0.00390206 -0.00530119 -0.634999 0.772485 uwb: 0.0 867.941 439.085 -imu_odom_: 1691062810.177770448 0.385466 -0.129287 9.69412 -0.0319579 -0.0703074 0.0692422 0.18 0.02 pose: 0.0 5.85454 -0.468479 0 -0.00390206 -0.00530119 -0.634999 0.772485 uwb: 0.0 867.941 439.085 -imu_odom_: 1691062810.193579291 0.876278 -0.122104 10.0796 -0.0468716 -0.0298274 0.0511327 0.18 0.02 pose: 0.40070845 5.85454 -0.468479 0 -0.00180656 -0.0034178 -0.634731 0.772724 uwb: 0.0 867.941 439.085 -imu_odom_: 1691062810.215652466 0.138864 -0.0526724 9.55526 -0.0490022 -0.0170442 0.0585895 0.18 0.02 pose: 0.0 5.85454 -0.468479 0 -0.00180656 -0.0034178 -0.634731 0.772724 uwb: 0.0 867.941 439.085 -imu_odom_: 1691062810.236533671 0.56982 -0.277727 10.1394 -0.0639159 -0.0170442 0.0532632 0.18 0.02 pose: 0.6996080 5.85454 -0.468479 0 -0.00120726 -0.00349561 -0.634653 0.772789 uwb: 0.0 867.941 439.085 -imu_odom_: 1691062810.250585037 0.612916 -0.287304 9.48104 -0.0575243 -0.0617853 0.0415453 0.18 -0.02 pose: 0.0 5.85454 -0.468479 0 -0.00120726 -0.00349561 -0.634653 0.772789 uwb: 0.99900047 865.948 439.413 -imu_odom_: 1691062810.267540936 0.54109 -0.31364 9.99579 -0.0500674 0.0458064 0.0511327 0.18 -0.02 pose: 0.72883710 5.86119 -0.489831 0 -0.00252652 -0.00451391 -0.634206 0.773147 uwb: 0.0 865.948 439.413 -imu_odom_: 1691062810.292536436 0.586579 -0.138864 10.0197 -0.0511327 0.0106526 0.0532632 0.18 0 pose: 0.0 5.86119 -0.489831 0 -0.00252652 -0.00451391 -0.634206 0.773147 uwb: 0.0 865.948 439.413 -imu_odom_: 1691062810.317722966 1.12527 -0.105345 9.55047 -0.0490022 0.00319579 0.0436758 0.18 0 pose: 0.32072075 5.86119 -0.489831 0 -0.00440245 -0.00440338 -0.634076 0.773246 uwb: 0.49981958 866.814 438.7 -imu_odom_: 1691062810.342518103 0.675165 -0.0909797 10.0245 -0.0394148 -0.0213053 0.0340885 0.19 0 pose: 0.43103997 5.86099 -0.500114 0 -0.0049336 -0.0081907 -0.633932 0.773329 uwb: 0.0 866.814 438.7 -imu_odom_: 1691062810.368526500 0.114922 -0.328006 9.67736 -0.0639159 0.00106526 0.0575243 0.19 0 pose: 0.6816424 5.86092 -0.503971 0 -0.00481694 -0.00894265 -0.633946 0.773311 uwb: 0.50199529 865.85 439.002 -imu_odom_: 1691062810.393542999 0.600945 -0.442927 9.35175 -0.0532632 -0.0468716 0.0500674 0.2 0 pose: 0.43987110 5.86572 -0.508952 0 -0.00367219 -0.00835126 -0.633817 0.773429 uwb: 0.0 865.85 439.002 -imu_odom_: 1691062810.410786464 0.591368 -0.294487 9.53371 -0.0500674 -0.015979 0.0532632 0.2 0 pose: 0.0 5.86572 -0.508952 0 -0.00367219 -0.00835126 -0.633817 0.773429 uwb: 0.49979043 863.81 439.131 -imu_odom_: 1691062810.436515170 0.665588 -0.191536 9.94312 -0.0500674 -0.0415453 0.0500674 0.22 0 pose: 0.32173569 5.86786 -0.511173 0 -0.00671777 -0.00709212 -0.633652 0.773556 uwb: 0.0 863.81 439.131 -imu_odom_: 1691062810.461529336 0.263362 -0.287304 10.173 -0.0585895 0.0255663 0.0596548 0.22 0 pose: 0.0 5.86786 -0.511173 0 -0.00671777 -0.00709212 -0.633652 0.773556 uwb: 0.49958043 864.373 439.309 -imu_odom_: 1691062810.476571433 0.383072 -0.155623 9.71806 -0.0553937 0.00319579 0.0447411 0.22 0 pose: 0.42822264 5.8676 -0.525312 0 -0.00741789 -0.00886655 -0.633433 0.773711 uwb: 0.0 864.373 439.309 -imu_odom_: 1691062810.500507080 0.78051 0.0215478 9.87608 -0.0607201 -0.00639159 0.052198 0.22 0 pose: 0.0 5.8676 -0.525312 0 -0.00741789 -0.00886655 -0.633433 0.773711 uwb: 0.49975835 864.329 439.127 -imu_odom_: 1691062810.525498205 0.624887 -0.323217 9.68694 -0.0681769 -0.0181095 0.0394148 0.17 0 pose: 0.40077553 5.8676 -0.525312 0 -0.00502289 -0.0069068 -0.633251 0.773899 uwb: 0.0 864.329 439.127 -imu_odom_: 1691062810.549495973 0.402226 -0.275333 9.36851 -0.0671117 0.0287621 0.0500674 0.2 0 pose: 0.41898319 5.86909 -0.537699 0 -0.00734296 -0.00754979 -0.633149 0.773958 uwb: 0.49862382 858.49 440.692 -imu_odom_: 1691062810.573526406 0.311246 -0.277727 9.83777 -0.0532632 0.0319579 0.0458064 0.2 0 pose: 0.0 5.86909 -0.537699 0 -0.00734296 -0.00754979 -0.633149 0.773958 uwb: 0.0 858.49 440.692 -imu_odom_: 1691062810.599498056 0.114922 -0.189142 9.55047 -0.0649811 0.0287621 0.0575243 0.23 -0.02 pose: 0.6000390 5.86737 -0.539457 0 -0.00703913 -0.00691357 -0.633128 0.773984 uwb: 0.49990709 855.648 441.783 -imu_odom_: 1691062810.615623338 0.914585 -0.356736 10.2424 -0.0436758 -0.0383495 0.0426106 0.23 -0.02 pose: 0.0 5.86737 -0.539457 0 -0.00703913 -0.00691357 -0.633128 0.773984 uwb: 0.0 855.648 441.783 -imu_odom_: 1691062810.639537986 0.667982 -0.260968 9.91439 -0.0458064 -0.00532632 0.0436758 0.25 0.02 pose: 0.50014624 5.87432 -0.546644 0 -0.0039223 -0.00198107 -0.632958 0.774174 uwb: 0.0 855.648 441.783 -imu_odom_: 1691062810.665481929 0.703895 -0.102951 10.1107 -0.0490022 -0.00639159 0.04048 0.25 0.02 pose: 0.0 5.87432 -0.546644 0 -0.0039223 -0.00198107 -0.632958 0.774174 uwb: 0.50098326 854.613 441.809 -imu_odom_: 1691062810.679693993 0.627281 0.0287304 9.71806 -0.0532632 0.0127832 0.0511327 0.19 0 pose: 0.83968710 5.87411 -0.56077 0 -0.00528006 -0.00628014 -0.632765 0.7743 uwb: 0.0 854.613 441.809 -imu_odom_: 1691062810.704567001 0.536301 -0.117316 10.2448 -0.0639159 -0.00532632 0.052198 0.19 0 pose: 0.6129008 5.87411 -0.56077 0 -0.0048856 -0.00674232 -0.632741 0.774319 uwb: 0.50031831 853.603 441.927 -imu_odom_: 1691062810.729642412 0.435745 -0.395043 9.7444 -0.0745685 0.00958738 0.0543285 0.19 0 pose: 0.32956064 5.87611 -0.572757 0 -0.00201582 -0.00777877 -0.632606 0.774432 uwb: 0.0 853.603 441.927 -imu_odom_: 1691062810.753504272 0.639252 0.105345 10.2113 -0.0671117 -0.00639159 0.0394148 0.19 0 pose: 0.0 5.87611 -0.572757 0 -0.00201582 -0.00777877 -0.632606 0.774432 uwb: 0.50068287 853.615 441.973 -imu_odom_: 1691062810.771588562 0.387861 -0.138864 10.0269 -0.0458064 -0.0255663 0.0383495 0.25 0.02 pose: 0.48937271 5.87859 -0.579756 0 -0.00214957 -0.00724581 -0.632468 0.77455 uwb: 0.0 853.615 441.973 -imu_odom_: 1691062810.795627452 0.316035 -0.337582 10.0963 -0.0596548 -0.0426106 0.036219 0.25 0.02 pose: 0.0 5.87859 -0.579756 0 -0.00214957 -0.00724581 -0.632468 0.77455 uwb: 0.49918963 854.514 441.422 -imu_odom_: 1691062810.813630664 0.143652 -0.0933739 9.69652 -0.0532632 0.0245011 0.0596548 0.23 0.02 pose: 0.42123180 5.87594 -0.586853 0 -0.00143411 -0.00411883 -0.632524 0.774529 uwb: 0.0 854.514 441.422 -imu_odom_: 1691062810.837545020 0.179565 -0.272939 10.0341 -0.0692422 0.0319579 0.052198 0.23 0.02 pose: 0.0 5.87594 -0.586853 0 -0.00143411 -0.00411883 -0.632524 0.774529 uwb: 0.0 854.514 441.422 -imu_odom_: 1691062810.864547650 0.227449 -0.581791 10.0102 -0.0490022 0.00213053 0.052198 0.21 -0.02 pose: 0.41917568 5.88064 -0.596228 0 0.00113626 -0.000180216-0.632277 0.774741 uwb: 0.49866466 856.398 440.644 -imu_odom_: 1691062810.888500796 0.464475 -0.395043 10.1011 -0.0383495 -0.0351537 0.0479369 0.21 -0.02 pose: 0.7040703 5.88064 -0.596228 0 0.000839507 0.000446211 -0.632244 0.774769 uwb: 0.0 856.398 440.644 -imu_odom_: 1691062810.915530257 0.620098 -0.347159 10.2496 -0.0553937 0.0276969 0.052198 0.21 -0.02 pose: 0.27998028 5.88761 -0.603399 0 -0.0008257080.00218185 -0.632121 0.774866 uwb: 0.50030955 855.009 441.318 -imu_odom_: 1691062810.932576859 0.316035 -0.0885855 10.1179 -0.0532632 -0.0340885 0.0330232 0.21 -0.02 pose: 0.0 5.88761 -0.603399 0 -0.0008257080.00218185 -0.632121 0.774866 uwb: 0.0 855.009 441.318 -imu_odom_: 1691062810.957496822 0.253785 -0.122104 10.161 -0.056459 -0.0585895 0.072438 0.19 0 pose: 0.23942355 5.88761 -0.603399 0 -0.00304463 0.00175499 -0.632033 0.774933 uwb: 0.49991584 855.874 440.633 -imu_odom_: 1691062810.982546568 0.292093 -0.301669 9.90721 -0.0308927 0.0127832 0.0415453 0.18 0.02 pose: 0.60970716 5.88741 -0.617538 0 -0.0008871740.000506537 -0.63167 0.775236 uwb: 0.0 855.874 440.633 -imu_odom_: 1691062811.6595084 0.411803 -0.373495 9.96706 -0.0585895 -0.0276969 0.0553937 0.18 0.02 pose: 0.0 5.88741 -0.617538 0 -0.0008871740.000506537 -0.63167 0.775236 uwb: 0.50235693 860.271 439.494 -imu_odom_: 1691062811.21532188 0.737414 0.237026 10.5728 -0.0671117 -0.0436758 0.0585895 0.18 0.02 pose: 0.0 5.88741 -0.617538 0 -0.0008871740.000506537 -0.63167 0.775236 uwb: 0.0 860.271 439.494 -imu_odom_: 1691062811.37580183 0.691924 -0.148441 9.51456 -0.0532632 0.0266316 0.0511327 0.18 0.02 pose: 0.8120971 5.88741 -0.617538 0 -0.0006438180.00130071 -0.631663 0.775241 uwb: 0.0 860.271 439.494 -imu_odom_: 1691062811.54579247 0.550666 -0.304064 9.94791 -0.0756338 -0.00639159 0.0585895 0.18 0.02 pose: 0.0 5.88741 -0.617538 0 -0.0006438180.00130071 -0.631663 0.775241 uwb: 0.0 860.271 439.494 -imu_odom_: 1691062811.72520629 0.605733 0.0335188 10.0149 -0.0447411 0.0234358 0.0394148 0.18 0.02 pose: 0.47928749 5.88723 -0.63168 0 -0.00256827 0.00266966 -0.631452 0.775406 uwb: 0.0 860.271 439.494 -imu_odom_: 1691062811.90628835 0.387861 -0.167594 9.81383 -0.0809601 -0.0213053 0.0628506 0.18 0.02 pose: 0.0 5.88723 -0.63168 0 -0.00256827 0.00266966 -0.631452 0.775406 uwb: 0.0 860.271 439.494 -imu_odom_: 1691062811.106505049 0.225055 0.0407014 10.3214 -0.0703074 -0.0138484 0.0511327 0.18 0.02 pose: 0.0 5.88723 -0.63168 0 -0.00256827 0.00266966 -0.631452 0.775406 uwb: 0.99920465 858.758 439.68 -imu_odom_: 1691062811.131530589 0.220267 -0.366313 9.63187 -0.0777643 0.036219 0.0585895 0.23 0 pose: 0.48981312 5.89422 -0.638835 0 -0.00387193 -0.000999984-0.631206 0.775605 uwb: 0.0 858.758 439.68 -imu_odom_: 1691062811.156513841 0.54109 -0.237026 9.74201 -0.0436758 -0.00213053 0.0351537 0.18 0.02 pose: 0.69002735 5.89202 -0.650885 0 -0.0002000080.00161415 -0.630798 0.775945 uwb: 0.49835552 856.313 440.302 -imu_odom_: 1691062811.173459241 0.265756 -0.138864 10.0389 -0.036219 -0.0436758 0.0415453 0.18 0.02 pose: 0.0 5.89202 -0.650885 0 -0.0002000080.00161415 -0.630798 0.775945 uwb: 0.0 856.313 440.302 -imu_odom_: 1691062811.186456586 0.35913 -0.409408 10.3238 -0.0319579 -0.0170442 0.0308927 0.18 0 pose: 0.0 5.89202 -0.650885 0 -0.0002000080.00161415 -0.630798 0.775945 uwb: 0.0 856.313 440.302 -imu_odom_: 1691062811.204578208 0.514753 -0.0837971 10.0556 -0.0351537 0.0266316 0.0394148 0.18 0 pose: 0.48000788 5.89406 -0.65297 0 -0.0004776810.000243235 -0.630851 0.775904 uwb: 0.50110869 861.604 438.656 -imu_odom_: 1691062811.218465083 0.596156 -0.0287304 9.62469 -0.0553937 -0.00213053 0.0575243 0.18 0 pose: 0.0 5.89406 -0.65297 0 -0.0004776810.000243235 -0.630851 0.775904 uwb: 0.0 861.604 438.656 -imu_odom_: 1691062811.235511977 0.323217 -0.184354 10.2161 -0.0340885 0.0213053 0.0436758 0.2 -0.02 pose: 0.31051012 5.89391 -0.667112 0 -1.79183e-05-0.00153333 -0.630834 0.775916 uwb: 0.0 861.604 438.656 -imu_odom_: 1691062811.251510101 0.215478 0.100556 9.95988 -0.04048 0 0.0415453 0.2 -0.02 pose: 0.0 5.89391 -0.667112 0 -1.79183e-05-0.00153333 -0.630834 0.775916 uwb: 0.49854218 865.117 438.188 -imu_odom_: 1691062811.268512664 0.169988 -0.423774 9.77553 -0.056459 -0.00213053 0.0468716 0.23 0.02 pose: 0.40927712 5.89782 -0.671103 0 0.003123 -0.0011459 -0.63074 0.775987 uwb: 0.0 865.117 438.188 -imu_odom_: 1691062811.285509103 0.560243 -0.0191536 10.1754 -0.0372843 -0.0426106 0.0351537 0.23 0.02 pose: 0.0 5.89782 -0.671103 0 0.003123 -0.0011459 -0.63074 0.775987 uwb: 0.0 865.117 438.188 -imu_odom_: 1691062811.302447795 0.31364 -0.37589 9.33739 -0.0607201 0.0149137 0.0415453 0.23 0.02 pose: 0.0 5.89782 -0.671103 0 0.003123 -0.0011459 -0.63074 0.775987 uwb: 0.49998292 868.523 437.236 -imu_odom_: 1691062811.319457650 0.603339 -0.162806 10.2807 -0.056459 -0.015979 0.0351537 0.18 0.02 pose: 0.7061701 5.90091 -0.674257 0 0.00296908 -0.000447972-0.630722 0.776003 uwb: 0.0 868.523 437.236 -imu_odom_: 1691062811.336496670 0.373495 -0.0502782 9.663 -0.0468716 0.0287621 0.0319579 0.18 0 pose: 0.0 5.90091 -0.674257 0 0.00296908 -0.000447972-0.630722 0.776003 uwb: 0.0 868.523 437.236 -imu_odom_: 1691062811.354438052 0.490811 -0.234632 10.0413 -0.0628506 -0.0511327 0.0543285 0.18 0 pose: 0.67895053 5.90076 -0.688398 0 0.0015987 -0.00159898 -0.630761 0.775974 uwb: 0.50141784 870.591 437.215 -imu_odom_: 1691062811.370486922 1.1971 -0.270545 9.85453 -0.0532632 0.0213053 0.0426106 0.18 0 pose: 0.0 5.90076 -0.688398 0 0.0015987 -0.00159898 -0.630761 0.775974 uwb: 0.0 870.591 437.215 -imu_odom_: 1691062811.385597266 0.418985 -0.251391 9.95509 -0.0585895 0.0543285 0.0319579 0.18 0 pose: 0.0 5.90076 -0.688398 0 0.0015987 -0.00159898 -0.630761 0.775974 uwb: 0.0 870.591 437.215 -imu_odom_: 1691062811.400594158 0.114922 -0.272939 9.87369 -0.056459 0.00426106 0.0436758 0.18 0 pose: 0.34976610 5.90076 -0.688398 0 0.000128288 -0.00284647 -0.630676 0.776041 uwb: 0.49987794 871.951 436.374 -imu_odom_: 1691062811.418460878 0.620098 -0.335188 9.39245 -0.0415453 -0.0106526 0.0266316 0.26 0 pose: 0.39150693 5.90061 -0.70254 0 -3.39539e-06-0.000228563-0.630684 0.776039 uwb: 0.0 871.951 436.374 -imu_odom_: 1691062811.434584411 0.869095 -0.102951 9.85693 -0.0479369 -0.0394148 0.0298274 0.26 0 pose: 0.8001687 5.90061 -0.70254 0 -0.000724246-0.000569275-0.630724 0.776006 uwb: 0.0 871.951 436.374 -imu_odom_: 1691062811.452467755 0.962469 -0.294487 10.1299 -0.0500674 -0.0106526 0.0788296 0.23 0.02 pose: 0.0 5.90061 -0.70254 0 -0.000724246-0.000569275-0.630724 0.776006 uwb: 0.49928588 880.328 434.632 -imu_odom_: 1691062811.469589019 1.10612 -0.282516 10.7284 -0.0415453 -0.0490022 0.0905475 0.15 -0.02 pose: 0.43871910 5.90761 -0.709683 0 -0.00371008 -0.00399876 -0.630554 0.776127 uwb: 0.0 880.328 434.632 -imu_odom_: 1691062811.483599262 1.43173 -0.110133 9.90481 -0.0276969 -0.072438 0.04048 0.14 -0.05 pose: 0.0 5.90761 -0.709683 0 -0.00371008 -0.00399876 -0.630554 0.776127 uwb: 0.0 880.328 434.632 -imu_odom_: 1691062811.500641782 1.5706 0.035913 9.35415 -0.0511327 0.0138484 -0.00852212 0.14 -0.05 pose: 0.0 5.90761 -0.709683 0 -0.00371008 -0.00399876 -0.630554 0.776127 uwb: 0.49929755 882.277 434.079 -imu_odom_: 1691062811.514583487 1.29287 -0.148441 9.59596 -0.0660464 0.0479369 -0.00426106 0.14 -0.05 pose: 0.23136237 5.90761 -0.709683 0 -0.00545418 -0.00630576 -0.6302 0.776388 uwb: 0.0 882.277 434.079 -imu_odom_: 1691062811.531633881 0.991199 -0.248997 9.81862 -0.0692422 0.0276969 0.0213053 0.12 -0.05 pose: 0.0 5.90761 -0.709683 0 -0.00545418 -0.00630576 -0.6302 0.776388 uwb: 0.0 882.277 434.079 -imu_odom_: 1691062811.544577855 1.00556 -0.423774 9.991 -0.0553937 0.0372843 0.056459 0.12 -0.05 pose: 0.0 5.90761 -0.709683 0 -0.00545418 -0.00630576 -0.6302 0.776388 uwb: 0.0 882.277 434.079 -imu_odom_: 1691062811.560516190 0.878672 -0.488417 9.75398 -0.0479369 0.036219 0.0585895 0.1 -0.02 pose: 0.30988599 5.90048 -0.71669 0 -0.00681094 -0.0090735 -0.630601 0.776024 uwb: 0.50005584 879.321 434.75 -imu_odom_: 1691062811.578503361 0.567426 -0.167594 10.1155 -0.0500674 -0.00426106 0.0181095 0.1 -0.02 pose: 0.37985264 5.90755 -0.723762 0 -0.00936367 -0.0106548 -0.630742 0.775863 uwb: 0.0 879.321 434.75 -imu_odom_: 1691062811.596442410 0.665588 0.0143652 9.93115 -0.0511327 -0.0223706 0.0138484 0.1 -0.02 pose: 0.0 5.90755 -0.723762 0 -0.00936367 -0.0106548 -0.630742 0.775863 uwb: 0.50182323 887.121 432.662 -imu_odom_: 1691062811.612719934 1.09654 -0.146046 10.1873 -0.0692422 -0.036219 0.0415453 0.08 0 pose: 0.7898734 5.90755 -0.723762 0 -0.0100315 -0.0105267 -0.630673 0.775912 uwb: 0.0 887.121 432.662 -imu_odom_: 1691062811.629444556 1.14443 -0.493206 9.95988 -0.0607201 -0.00639159 0.0383495 0.1 -0.02 pose: 0.0 5.90755 -0.723762 0 -0.0100315 -0.0105267 -0.630673 0.775912 uwb: 0.0 887.121 432.662 -imu_odom_: 1691062811.645445304 0.68953 -0.186748 9.71567 -0.052198 0.0319579 0.0213053 0.1 -0.02 pose: 0.0 5.90755 -0.723762 0 -0.0100315 -0.0105267 -0.630673 0.775912 uwb: 0.49935004 888.531 431.977 -imu_odom_: 1691062811.663485847 0.517148 0.059855 10.0102 -0.0607201 -0.02024 0.0266316 0.1 -0.02 pose: 0.68271572 5.90755 -0.723762 0 -0.0095841 -0.0128524 -0.630936 0.77567 uwb: 0.0 888.531 431.977 -imu_odom_: 1691062811.679452472 0.591368 -0.208296 9.88805 -0.0575243 -0.0234358 0.0287621 0.1 -0.02 pose: 0.0 5.90755 -0.723762 0 -0.0095841 -0.0128524 -0.630936 0.77567 uwb: 0.0 888.531 431.977 -imu_odom_: 1691062811.696499075 0.770933 -0.430956 9.88805 -0.0553937 -0.0234358 0.0351537 0.1 -0.02 pose: 0.32707288 5.91461 -0.730843 0 -0.00795245 -0.0125258 -0.631119 0.775544 uwb: 0.49939963 892.506 431.235 -imu_odom_: 1691062811.712442077 0.85473 -0.323217 9.85214 -0.0585895 -0.00639159 0.0383495 0.05 0.02 pose: 0.43043626 5.91067 -0.734771 0 -0.00851081 -0.0108739 -0.631264 0.775445 uwb: 0.0 892.506 431.235 -imu_odom_: 1691062811.729430058 0.634463 -0.0694318 9.91439 -0.0543285 0.00426106 0.0436758 0.05 0.02 pose: 0.8006936 5.90753 -0.737901 0 -0.00928419 -0.0111325 -0.631258 0.775438 uwb: 0.0 892.506 431.235 -imu_odom_: 1691062811.747432103 0.675165 -0.160412 9.8689 -0.0607201 -0.0106526 0.0394148 0.05 0.02 pose: 0.0 5.90753 -0.737901 0 -0.00928419 -0.0111325 -0.631258 0.775438 uwb: 0.50048748 894.423 430.47 -imu_odom_: 1691062811.761568630 0.667982 -0.0909797 9.90242 -0.0617853 -0.015979 0.0383495 0.05 0.02 pose: 0.42926092 5.90753 -0.737901 0 -0.00678893 -0.0125524 -0.631272 0.775431 uwb: 0.0 894.423 430.47 -imu_odom_: 1691062811.777673497 0.581791 -0.287304 9.8282 -0.0543285 -0.00319579 0.0585895 0.04 0.02 pose: 0.0 5.90753 -0.737901 0 -0.00678893 -0.0125524 -0.631272 0.775431 uwb: 0.0 894.423 430.47 -imu_odom_: 1691062811.792674764 0.591368 -0.390255 10.0245 -0.0585895 -0.0138484 0.0862864 0.04 0.02 pose: 0.0 5.90753 -0.737901 0 -0.00678893 -0.0125524 -0.631272 0.775431 uwb: 0.0 894.423 430.47 -imu_odom_: 1691062811.809555710 0.517148 -0.217872 9.81144 -0.0426106 0.00106526 0.0969391 0.03 0.08 pose: 0.21134649 5.90753 -0.737901 0 -0.00589928 -0.0126667 -0.63124 0.775461 uwb: 0.50038248 898.89 429.612 -imu_odom_: 1691062811.822486559 0.627281 -0.141258 9.95509 -0.056459 -0.0117179 0.126766 0.03 0.08 pose: 0.0 5.90753 -0.737901 0 -0.00589928 -0.0126667 -0.63124 0.775461 uwb: 0.0 898.89 429.612 -imu_odom_: 1691062811.838422853 0.600945 -0.287304 9.84017 -0.0617853 -0.00958738 0.133158 0.03 0.08 pose: 0.0 5.90753 -0.737901 0 -0.00589928 -0.0126667 -0.63124 0.775461 uwb: 0.0 898.89 429.612 -imu_odom_: 1691062811.855503287 0.699107 -0.148441 9.90002 -0.0447411 0.00106526 0.106526 0.04 0.11 pose: 0.69856101 5.90753 -0.737901 0 -0.00647595 -0.00890297 -0.629508 0.776916 uwb: 0.49887758 899.404 429.617 -imu_odom_: 1691062811.871428499 0.600945 -0.131681 9.8258 -0.0553937 -0.00532632 0.116114 0.04 0.11 pose: 0.0 5.90753 -0.737901 0 -0.00647595 -0.00890297 -0.629508 0.776916 uwb: 0.0 899.404 429.617 -imu_odom_: 1691062811.888704046 0.679953 -0.275333 9.93594 -0.0553937 -0.00213053 0.12144 0.04 0.11 pose: 0.0 5.90753 -0.737901 0 -0.00647595 -0.00890297 -0.629508 0.776916 uwb: 0.0 899.404 429.617 -imu_odom_: 1691062811.905696693 0.670376 -0.246603 9.84975 -0.0532632 -0.00426106 0.12144 0.02 0.08 pose: 0.7010080 5.90753 -0.737901 0 -0.00649603 -0.00960889 -0.629324 0.777057 uwb: 0.50071788 902.885 428.966 -imu_odom_: 1691062811.922692548 0.658405 -0.155623 9.90481 -0.0532632 -0.00106526 0.132093 0.02 0.08 pose: 0.0 5.90753 -0.737901 0 -0.00649603 -0.00960889 -0.629324 0.777057 uwb: 0.0 902.885 428.966 -imu_odom_: 1691062811.938558847 0.691924 -0.198719 9.86172 -0.0596548 -0.00639159 0.133158 0.02 0.08 pose: 0.0 5.90753 -0.737901 0 -0.00649603 -0.00960889 -0.629324 0.777057 uwb: 0.0 902.885 428.966 -imu_odom_: 1691062811.955687694 0.658405 -0.138864 9.90002 -0.0490022 0.00319579 0.120375 0.02 0.14 pose: 0.51030730 5.90753 -0.737901 0 -0.00737704 -0.0100552 -0.627779 0.778292 uwb: 0.0 902.885 428.966 -imu_odom_: 1691062811.971568575 0.608127 -0.148441 9.86172 -0.0575243 0 0.129962 0.01 0.11 pose: 0.0 5.90753 -0.737901 0 -0.00737704 -0.0100552 -0.627779 0.778292 uwb: 0.0 902.885 428.966 -imu_odom_: 1691062811.989544080 0.665588 -0.253785 9.92636 -0.0575243 -0.00639159 0.143811 0.01 0.11 pose: 0.67138223 5.91458 -0.744993 0 -0.0059807 -0.0117327 -0.625494 0.780118 uwb: 0.0 902.885 428.966 -imu_odom_: 1691062812.5546579 0.622492 -0.260968 9.85693 -0.052198 0.00319579 0.134223 0.01 0.11 pose: 0.0 5.91458 -0.744993 0 -0.0059807 -0.0117327 -0.625494 0.780118 uwb: 0.100069206 903.341 428.627 -imu_odom_: 1691062812.21549952 0.481235 -0.0814029 9.91199 -0.0553937 0.00426106 0.123571 0 0.08 pose: 0.0 5.91458 -0.744993 0 -0.0059807 -0.0117327 -0.625494 0.780118 uwb: 0.0 903.341 428.627 -imu_odom_: 1691062812.37541660 0.459687 -0.102951 9.88805 -0.0553937 -0.00532632 0.108657 0 0.08 pose: 0.33822263 5.91458 -0.744993 0 -0.00738001 -0.00981878 -0.624177 0.781187 uwb: 0.0 903.341 428.627 -imu_odom_: 1691062812.54428148 0.562637 -0.141258 9.89045 -0.0543285 -0.00852212 0.0777643 0 0.05 pose: 0.40117511 5.91449 -0.744998 0 -0.00464372 -0.00827563 -0.622948 0.782205 uwb: 0.49854802 900.86 429.123 -imu_odom_: 1691062812.70409939 0.59855 -0.184354 9.90481 -0.056459 -0.00639159 0.0681769 0 0.05 pose: 0.0 5.91449 -0.744998 0 -0.00464372 -0.00827563 -0.622948 0.782205 uwb: 0.0 900.86 429.123 -imu_odom_: 1691062812.86420896 0.591368 -0.227449 9.88805 -0.0553937 -0.00532632 0.0532632 0 0.05 pose: 0.0 5.91449 -0.744998 0 -0.00464372 -0.00827563 -0.622948 0.782205 uwb: 0.0 900.86 429.123 -imu_odom_: 1691062812.100404016 0.555455 -0.124498 9.87129 -0.0532632 -0.00106526 0.0394148 0 0 pose: 0.7882986 5.91458 -0.744993 0 -0.00387606 -0.00842888 -0.622837 0.782296 uwb: 0.49999169 900.369 429.257 -imu_odom_: 1691062812.114660411 0.457293 -0.112527 9.87369 -0.0575243 0.00319579 0.0351537 0 0 pose: 0.0 5.91458 -0.744993 0 -0.00387606 -0.00842888 -0.622837 0.782296 uwb: 0.0 900.369 429.257 -imu_odom_: 1691062812.136462354 0.380678 -0.28491 9.89524 -0.0553937 -0.00319579 0.036219 0 0 pose: 0.46995474 5.91458 -0.744993 0 -0.0052485 -0.00786937 -0.622426 0.782622 uwb: 0.0 900.369 429.257 -imu_odom_: 1691062812.153462293 -0.122104 -0.251391 9.71328 -0.0553937 0.0617853 0.0287621 0 0.02 pose: 0.0 5.91458 -0.744993 0 -0.0052485 -0.00786937 -0.622426 0.782622 uwb: 0.49992752 902.367 428.912 -imu_odom_: 1691062812.170405361 -1.05105 -0.124498 10.1107 -0.0511327 0.0671117 0.0330232 0.02 0 pose: 0.0 5.91458 -0.744993 0 -0.0052485 -0.00786937 -0.622426 0.782622 uwb: 0.0 902.367 428.912 -imu_odom_: 1691062812.186410776 -1.16358 -0.244209 9.8258 -0.0617853 -0.0351537 0.0575243 0.02 0 pose: 0.69003904 5.91458 -0.744993 0 -0.000895532-0.0026589 -0.622606 0.78253 uwb: 0.0 902.367 428.912 -imu_odom_: 1691062812.204406405 0.117316 -0.3304 9.92875 -0.052198 -0.0756338 0.0788296 0.04 0.02 pose: 0.0 5.91458 -0.744993 0 -0.000895532-0.0026589 -0.622606 0.78253 uwb: 0.50245905 903.837 428.495 -imu_odom_: 1691062812.221449217 0.545878 -0.397437 9.87608 -0.0585895 -0.0308927 0.0969391 0.04 0.02 pose: 0.0 5.91458 -0.744993 0 -0.000895532-0.0026589 -0.622606 0.78253 uwb: 0.0 903.837 428.495 -imu_odom_: 1691062812.238643978 0.323217 0 10.1059 -0.0468716 0.0298274 0.0745685 0.04 0.02 pose: 0.33061643 5.91458 -0.744993 0 0.000693635 -7.07149e-05-0.622398 0.782701 uwb: 0.0 903.837 428.495 -imu_odom_: 1691062812.255411764 -0.189142 -0.134075 9.77074 -0.0628506 0.0149137 0.0830906 0.07 0.02 pose: 0.44158311 5.91458 -0.744993 0 0.000726836 2.99275e-05 -0.621629 0.783311 uwb: 0.49562861 904.321 428.319 -imu_odom_: 1691062812.272458075 -0.241814 -0.205901 9.94073 -0.0660464 -0.0170442 0.0830906 0.07 0.02 pose: 0.0 5.91458 -0.744993 0 0.000726836 2.99275e-05 -0.621629 0.783311 uwb: 0.0 904.321 428.319 -imu_odom_: 1691062812.286418738 0.347159 -0.287304 10.3382 -0.052198 -0.0468716 0.0777643 0.07 0.02 pose: 0.0 5.91458 -0.744993 0 0.000726836 2.99275e-05 -0.621629 0.783311 uwb: 0.0 904.321 428.319 -imu_odom_: 1691062812.304460156 0.457293 -0.19393 9.64145 -0.052198 -0.00639159 0.0830906 0.09 0.02 pose: 0.6769177 5.91458 -0.744993 0 0.00122825 0.000572694 -0.621514 0.783402 uwb: 0.50104746 900.836 428.985 -imu_odom_: 1691062812.317452836 0.306458 0.0215478 9.89045 -0.0585895 -0.0351537 0.0980043 0.09 0 pose: 0.0 5.91458 -0.744993 0 0.00122825 0.000572694 -0.621514 0.783402 uwb: 0.0 900.836 428.985 -imu_odom_: 1691062812.335387802 0.162806 -0.304064 9.93115 -0.0575243 -0.0479369 0.0884169 0.09 0 pose: 0.65010060 5.90747 -0.752028 0 0.00125487 0.000977215 -0.620403 0.784281 uwb: 0.0 900.836 428.985 -imu_odom_: 1691062812.348380190 -0.00718261-0.323217 9.50977 -0.0617853 -0.0138484 0.0649811 0.09 0 pose: 0.0 5.90747 -0.752028 0 0.00125487 0.000977215 -0.620403 0.784281 uwb: 0.50075289 899.805 428.974 -imu_odom_: 1691062812.365376337 0.172383 -0.134075 9.77313 -0.0596548 -0.0117179 0.0671117 0.1 0.05 pose: 0.0 5.90747 -0.752028 0 0.00125487 0.000977215 -0.620403 0.784281 uwb: 0.0 899.805 428.974 -imu_odom_: 1691062812.381431625 0.25618 -0.146046 10.0054 -0.0479369 -0.0436758 0.0777643 0.1 0.05 pose: 0.30971977 5.91451 -0.759126 0 0.002079 0.00264732 -0.619838 0.784722 uwb: 0.0 899.805 428.974 -imu_odom_: 1691062812.399408297 0.112527 -0.208296 9.47625 -0.0287621 -0.052198 0.0692422 0.11 0.02 pose: 0.40036433 5.91451 -0.759126 0 0.00524914 0.0035238 -0.619328 0.785107 uwb: 0.50093080 901.275 428.551 -imu_odom_: 1691062812.414525349 0.842759 -0.150835 9.87369 -0.0511327 -0.0436758 0.0884169 0.11 0.02 pose: 0.7952106 5.91451 -0.759126 0 0.00559652 0.00400559 -0.619236 0.785175 uwb: 0.0 901.275 428.551 -imu_odom_: 1691062812.432525644 0.972046 -0.387861 9.67497 -0.0692422 -0.036219 0.131028 0.11 0.02 pose: 0.0 5.91451 -0.759126 0 0.00559652 0.00400559 -0.619236 0.785175 uwb: 0.0 901.275 428.551 -imu_odom_: 1691062812.448534268 0.962469 -0.466869 9.89524 -0.0649811 0.0117179 0.158724 0.09 0.02 pose: 0.43141913 5.92158 -0.766204 0 0.00323598 0.00195613 -0.618194 0.786017 uwb: 0.49983128 904.786 428.027 -imu_odom_: 1691062812.465537707 1.4054 -0.198719 9.91678 -0.052198 -0.0394148 0.138484 0.12 -0.05 pose: 0.0 5.92158 -0.766204 0 0.00323598 0.00195613 -0.618194 0.786017 uwb: 0.0 904.786 428.027 -imu_odom_: 1691062812.481523290 1.33596 0.136469 9.69652 -0.0500674 0.00106526 0.0628506 0.12 -0.05 pose: 0.0 5.92158 -0.766204 0 0.00323598 0.00195613 -0.618194 0.786017 uwb: 0.0 904.786 428.027 -imu_odom_: 1691062812.498540436 0.962469 0.117316 9.9527 -0.0607201 0.0255663 0.0351537 0.09 0.02 pose: 0.24021102 5.92158 -0.766204 0 0.00127091 0.000598299 -0.617136 0.786856 uwb: 0.49884259 906.246 427.619 -imu_odom_: 1691062812.514657262 0.667982 -0.215478 9.83299 -0.0703074 0.0266316 0.00639159 0.09 0.02 pose: 0.0 5.92158 -0.766204 0 0.00127091 0.000598299 -0.617136 0.786856 uwb: 0.0 906.246 427.619 -imu_odom_: 1691062812.531472295 0.672771 -0.387861 10.0341 -0.052198 -0.0298274 -0.00958738 0.09 0.02 pose: 0.32983481 5.91454 -0.773306 0 0.000135966 -0.00244223 -0.61665 0.787233 uwb: 0.0 906.246 427.619 -imu_odom_: 1691062812.547532832 0.742203 -0.1652 9.77553 -0.0585895 -0.0213053 0.00106526 0.05 0.02 pose: 0.41942068 5.91454 -0.773306 0 -0.00286673 -0.00434947 -0.617187 0.786799 uwb: 0.50019001 906.258 427.689 -imu_odom_: 1691062812.564520522 0.857124 -0.205901 9.93594 -0.0553937 0.00958738 0.0426106 0.05 0.02 pose: 0.7122073 5.91454 -0.773306 0 -0.00325065 -0.00501736 -0.617292 0.786711 uwb: 0.0 906.258 427.689 -imu_odom_: 1691062812.580382738 0.608127 -0.347159 9.91439 -0.0585895 -0.00319579 0.0479369 0.05 0.02 pose: 0.0 5.91454 -0.773306 0 -0.00325065 -0.00501736 -0.617292 0.786711 uwb: 0.0 906.258 427.689 -imu_odom_: 1691062812.597437507 0.548272 -0.169988 9.78989 -0.0426106 0.00213053 0.0319579 0.05 0.02 pose: 0.41788370 5.91793 -0.776804 0 -0.00620175 -0.00643574 -0.617331 0.786653 uwb: 0.50000919 910.258 427.024 -imu_odom_: 1691062812.613371176 0.648829 -0.0454898 9.92875 -0.0500674 -0.00958738 0.0340885 0.04 0.02 pose: 0.0 5.91793 -0.776804 0 -0.00620175 -0.00643574 -0.617331 0.786653 uwb: 0.0 910.258 427.024 -imu_odom_: 1691062812.636424003 0.672771 -0.241814 9.89524 -0.0617853 0.00213053 0.0500674 0.04 0.02 pose: 0.25028166 5.92162 -0.780368 0 -0.00411728 -0.00766037 -0.617414 0.78659 uwb: 0.0 910.258 427.024 -imu_odom_: 1691062812.662521354 0.227449 -0.232238 9.69652 -0.052198 0.0596548 0.0287621 0.04 0.02 pose: 0.0 5.92162 -0.780368 0 -0.00411728 -0.00766037 -0.617414 0.78659 uwb: 0.50093955 907.253 427.455 -imu_odom_: 1691062812.676573304 -1.07021 0.0407014 9.64863 -0.0479369 0.0884169 0.0394148 0.04 0.02 pose: 0.39024702 5.92162 -0.780368 0 -0.0054363 -0.00805707 -0.617356 0.786624 uwb: 0.0 907.253 427.455 -imu_odom_: 1691062812.700368669 -1.04387 -0.325611 10.1251 -0.0692422 -0.0703074 0.0905475 0.06 0.05 pose: 0.32137698 5.92162 -0.780368 0 -0.00259548 -0.00466678 -0.617455 0.786588 uwb: 0.49859469 907.215 427.224 -imu_odom_: 1691062812.725437665 0.627281 -0.306458 9.97903 -0.0500674 -0.072438 0.0479369 0.06 0.05 pose: 0.7969605 5.92162 -0.780368 0 -0.00236329 -0.00417391 -0.617297 0.786715 uwb: 0.0 907.215 427.224 -imu_odom_: 1691062812.739389287 0.677559 -0.0047884 9.46667 -0.0607201 -0.0106526 0.0777643 0.09 0 pose: 0.0 5.92162 -0.780368 0 -0.00236329 -0.00417391 -0.617297 0.786715 uwb: 0.0 907.215 427.224 -imu_odom_: 1691062812.763395223 0.181959 -0.428562 9.73482 -0.0745685 0.0553937 0.0671117 0.09 0 pose: 0.47890254 5.92162 -0.780368 0 -0.00457157 -0.0053609 -0.616784 0.787101 uwb: 0.50130119 904.741 427.797 -imu_odom_: 1691062812.789522615 0.136469 -0.0311246 10.2855 -0.0490022 -0.0351537 0.04048 0.12 0 pose: 0.30962060 5.92157 -0.789774 0 -0.00382889 -0.00293574 -0.616425 0.787399 uwb: 0.0 904.741 427.797 -imu_odom_: 1691062812.805424495 0.474052 -0.462081 9.71806 -0.0703074 -0.0319579 0.0798948 0.12 0 pose: 0.8016853 5.92155 -0.79451 0 -0.00314193 -0.00274817 -0.616425 0.787403 uwb: 0.49873176 903.279 428.28 -imu_odom_: 1691062812.830501366 0.385466 0.0526724 10.082 -0.0383495 -0.0234358 0.04048 0.15 0.02 pose: 0.0 5.92155 -0.79451 0 -0.00314193 -0.00274817 -0.616425 0.787403 uwb: 0.0 903.279 428.28 -imu_odom_: 1691062812.855392457 0.186748 -0.241814 10.0269 -0.072438 -0.0138484 0.076699 0.15 0.02 pose: 0.42024605 5.92155 -0.79451 0 -0.00239146 -0.00194569 -0.616165 0.787611 uwb: 0.50060707 900.759 428.545 -imu_odom_: 1691062812.873407044 0.114922 -0.387861 9.95509 -0.0490022 -0.00213053 0.036219 0.12 0 pose: 0.0 5.92155 -0.79451 0 -0.00239146 -0.00194569 -0.616165 0.787611 uwb: 0.0 900.759 428.545 -imu_odom_: 1691062812.890446355 0.023942 -0.0694318 9.61511 -0.0543285 0.00426106 0.0607201 0.12 0 pose: 0.50084622 5.92861 -0.801602 0 0.000227415 0.000212747 -0.615814 0.787892 uwb: 0.0 900.759 428.545 -imu_odom_: 1691062812.915443898 0.263362 -0.0335188 10.0724 -0.0553937 -0.00319579 0.0490022 0.13 0 pose: 0.0 5.92861 -0.801602 0 0.000227415 0.000212747 -0.615814 0.787892 uwb: 0.49860344 902.729 428.04 -imu_odom_: 1691062812.939386254 0.586579 -0.0837971 10.3525 -0.0372843 -0.0340885 0.052198 0.13 0 pose: 0.33889635 5.92861 -0.801602 0 0.00259792 0.00190795 -0.615653 0.78801 uwb: 0.0 902.729 428.04 -imu_odom_: 1691062812.957399966 0.37589 -0.387861 10.2256 -0.04048 -0.0426106 0.0585895 0.19 0 pose: 0.0 5.92861 -0.801602 0 0.00259792 0.00190795 -0.615653 0.78801 uwb: 0.50249695 901.289 428.62 -imu_odom_: 1691062812.982505127 -0.105345 -0.177171 9.79228 -0.0372843 -0.0553937 0.0585895 0.19 0 pose: 0.50109412 5.92858 -0.815743 0 0.00276616 -0.000778929-0.6154 0.78821 uwb: 0.0 901.289 428.62 -imu_odom_: 1691062812.999378491 0.316035 -0.0694318 9.49062 -0.0511327 -0.0511327 0.0532632 0.2 0 pose: 0.0 5.92858 -0.815743 0 0.00276616 -0.000778929-0.6154 0.78821 uwb: 0.49859178 901.764 428.395 -imu_odom_: 1691062813.24485694 0.550666 -0.35913 9.77074 -0.052198 -0.0426106 0.0681769 0.2 0 pose: 0.41995732 5.92858 -0.815743 0 0.00384733 0.000584191 -0.615103 0.788437 uwb: 0.0 901.764 428.395 -imu_odom_: 1691062813.49478863 -0.318429 -0.0071826110.0126 -0.0287621 0.02024 0.0500674 0.17 0 pose: 0.0 5.92858 -0.815743 0 0.00384733 -0.000595217-0.61477 0.788704 uwb: 0.50124579 904.764 427.936 -imu_odom_: 1691062813.62349050 0.114922 -0.459687 9.13148 -0.0468716 0.052198 0.052198 0.17 0 pose: 0.8057392 5.93565 -0.822815 0 0.00266166 -8.13236e-05-0.614736 0.788728 uwb: 0.0 904.764 427.936 -imu_odom_: 1691062813.86361694 1.1157 -0.196325 10.0963 -0.0788296 -0.0543285 0.072438 0.15 0.02 pose: 0.0 5.93565 -0.822815 0 0.00266166 -8.13236e-05-0.614736 0.788728 uwb: 0.0 904.764 427.936 -imu_odom_: 1691062813.112458463 0.639252 -0.0670376 9.88326 -0.0500674 -0.0340885 0.0543285 0.15 0.02 pose: 0.37883771 5.92858 -0.829889 0 0.00352693 0.00176913 -0.6145 0.788907 uwb: 0.49690313 904.21 427.695 -imu_odom_: 1691062813.134326903 0.658405 -0.248997 10.0365 -0.0745685 -0.00532632 0.0649811 0.16 0 pose: 0.0 5.92858 -0.829889 0 0.00352693 0.00176913 -0.6145 0.788907 uwb: 0.0 904.21 427.695 -imu_odom_: 1691062813.152388737 0.213084 -0.454898 9.63666 -0.0777643 0.0319579 0.0500674 0.16 0 pose: 0.48915694 5.93566 -0.836952 0 0.000675569 -0.00287721 -0.614067 0.789248 uwb: 0.50121080 897.788 429.045 -imu_odom_: 1691062813.166340359 -0.186748 -0.0837971 10.0437 -0.0607201 0.0340885 -0.00106526 0.16 0 pose: 0.0 5.93566 -0.836952 0 0.000675569 -0.00287721 -0.614067 0.789248 uwb: 0.0 897.788 429.045 -imu_odom_: 1691062813.183331841 0.311246 0.122104 10.1394 -0.0841559 -0.0553937 -0.04048 0.16 -0.08 pose: 0.38991163 5.93566 -0.836952 0 -0.000456523-0.000931622-0.613935 0.789356 uwb: 0.0 897.788 429.045 -imu_odom_: 1691062813.199333174 0.409408 -0.0981623 10.1323 -0.0660464 -0.00745685 -0.106526 0.16 -0.08 pose: 0.0 5.93566 -0.836952 0 -0.000456523-0.000931622-0.613935 0.789356 uwb: 0.50001212 897.76 428.883 -imu_odom_: 1691062813.217378092 0.773327 -0.335188 9.99819 -0.0639159 -0.0255663 -0.156594 0.21 -0.35 pose: 0.0 5.93566 -0.836952 0 -0.000456523-0.000931622-0.613935 0.789356 uwb: 0.0 897.76 428.883 -imu_odom_: 1691062813.234434612 0.531513 0.047884 9.87129 -0.0553937 0.00213053 -0.252468 0.21 -0.35 pose: 0.49005813 5.9357 -0.851095 0 0.00166099 -0.00252686 -0.616137 0.787633 uwb: 0.0 897.76 428.883 -imu_odom_: 1691062813.250376448 0.814029 0.186748 9.80426 -0.0319579 0.0106526 -0.332363 0.21 -0.35 pose: 0.0 5.9357 -0.851095 0 0.00166099 -0.00252686 -0.616137 0.787633 uwb: 0.50038543 896.757 429.04 -imu_odom_: 1691062813.268334747 0.68953 0.248997 10.2376 -0.0575243 -0.0191748 -0.345146 0.17 -0.38 pose: 0.43036921 5.94273 -0.858121 0 0.00186713 -0.0060625 -0.621184 0.783639 uwb: 0.0 896.757 429.04 -imu_odom_: 1691062813.285322437 0.220267 -0.287304 9.12909 -0.0777643 0.00852212 -0.378169 0.17 -0.44 pose: 0.0 5.94273 -0.858121 0 0.00186713 -0.0060625 -0.621184 0.783639 uwb: 0.0 896.757 429.04 -imu_odom_: 1691062813.302415121 0.47884 -0.0191536 10.1083 -0.0894822 -0.00745685 -0.40267 0.17 -0.44 pose: 0.0 5.94273 -0.858121 0 0.00186713 -0.0060625 -0.621184 0.783639 uwb: 0.49942298 897.227 428.788 -imu_odom_: 1691062813.319336898 0.138864 -0.409408 9.72046 -0.056459 0.00958738 -0.430367 0.17 -0.47 pose: 0.25952986 5.93581 -0.865252 0 0.00243371 -0.00692938 -0.62519 0.780438 uwb: 0.0 897.227 428.788 -imu_odom_: 1691062813.337486519 0.59855 -0.217872 10.3238 -0.0649811 -0.0234358 -0.480434 0.17 -0.47 pose: 0.0 5.93581 -0.865252 0 0.00243371 -0.00692938 -0.62519 0.780438 uwb: 0.0 897.227 428.788 -imu_odom_: 1691062813.353343194 0.215478 -0.275333 9.60554 -0.0798948 0.0266316 -0.511327 0.17 -0.47 pose: 0.33033354 5.94292 -0.872283 0 0.00332136 -0.00629225 -0.630871 0.775855 uwb: 0.49886010 897.739 428.768 -imu_odom_: 1691062813.370345466 0.799663 -0.011971 10.2759 -0.0639159 0.0340885 -0.549676 0.17 -0.55 pose: 0.36042006 5.94292 -0.872283 0 0.00148675 -0.00474876 -0.638019 0.770004 uwb: 0.0 897.739 428.768 -imu_odom_: 1691062813.388543792 0.59855 -0.263362 10.137 -0.072438 0.00745685 -0.567786 0.17 -0.55 pose: 0.0 5.94292 -0.872283 0 0.00148675 -0.00474876 -0.638019 0.770004 uwb: 0.0 897.739 428.768 -imu_odom_: 1691062813.404361969 0.500388 0.268151 9.57202 -0.0500674 -0.0181095 -0.569916 0.17 -0.61 pose: 0.43138998 5.94299 -0.886429 0 -0.000621961-0.00506494 -0.647753 0.761833 uwb: 0.49988963 896.271 429.2 -imu_odom_: 1691062813.421396032 1.17076 -0.205901 9.80186 -0.0532632 -0.0756338 -0.535828 0.17 -0.61 pose: 0.0 5.94299 -0.886429 0 -0.000621961-0.00506494 -0.647753 0.761833 uwb: 0.0 896.271 429.2 -imu_odom_: 1691062813.437341076 1.44131 -0.186748 9.62948 -0.0575243 -0.0458064 -0.525175 0.17 -0.61 pose: 0.0 5.94299 -0.886429 0 -0.000621961-0.00506494 -0.647753 0.761833 uwb: 0.0 896.271 429.2 -imu_odom_: 1691062813.454479549 1.71664 -0.191536 9.59596 -0.0330232 0.0308927 -0.530502 0.18 -0.61 pose: 0.6836549 5.94307 -0.886424 0 -0.000124403-0.00557729 -0.649339 0.760478 uwb: 0.50024835 896.786 429.202 -imu_odom_: 1691062813.471539277 1.14203 -0.138864 9.23922 -0.0479369 -0.0170442 -0.497478 0.18 -0.61 pose: 0.0 5.94307 -0.886424 0 -0.000124403-0.00557729 -0.649339 0.760478 uwb: 0.0 896.786 429.202 -imu_odom_: 1691062813.488475053 0.964863 -0.21069 10.3765 -0.0490022 0.00852212 -0.438889 0.18 -0.61 pose: 0.0 5.94307 -0.886424 0 -0.000124403-0.00557729 -0.649339 0.760478 uwb: 0.0 896.786 429.202 -imu_odom_: 1691062813.505358333 0.948104 -0.141258 10.5656 -0.0447411 0.0149137 -0.365386 0.11 -0.35 pose: 0.50037668 5.95023 -0.893414 0 -0.00276296 -0.00980239 -0.66022 0.751003 uwb: 0.50091915 893.326 429.862 -imu_odom_: 1691062813.521493825 1.04387 -0.289698 9.78031 -0.052198 -0.0436758 -0.298274 0.15 -0.53 pose: 0.0 5.95023 -0.893414 0 -0.00276296 -0.00980239 -0.66022 0.751003 uwb: 0.0 893.326 429.862 -imu_odom_: 1691062813.537471242 1.00078 -0.371101 9.77313 -0.0575243 -0.00319579 -0.248207 0.15 -0.53 pose: 0.66949529 5.94319 -0.90052 0 -0.00727836 -0.0142284 -0.671932 0.74044 uwb: 0.0 893.326 429.862 -imu_odom_: 1691062813.554466515 0.986411 -0.167594 10.2017 -0.0553937 0.0127832 -0.192813 0.12 -0.41 pose: 0.0 5.94319 -0.90052 0 -0.00727836 -0.0142284 -0.671932 0.74044 uwb: 0.50051083 891.84 430.19 -imu_odom_: 1691062813.570476014 0.486023 -0.275333 9.71806 -0.0511327 0.0415453 -0.189617 0.12 -0.41 pose: 0.0 5.94319 -0.90052 0 -0.00727836 -0.0142284 -0.671932 0.74044 uwb: 0.0 891.84 430.19 -imu_odom_: 1691062813.587456996 0.126893 0.0837971 10.0293 -0.0394148 -0.00532632 -0.246076 0.12 -0.41 pose: 0.33110058 5.95033 -0.907523 0 -0.0102678 -0.0154971 -0.675402 0.737215 uwb: 0.0 891.84 430.19 -imu_odom_: 1691062813.603347211 0.651223 0.011971 9.80186 -0.0585895 -0.0415453 -0.233293 0.07 -0.23 pose: 0.41979400 5.95033 -0.907523 0 -0.0083146 -0.0137518 -0.679333 0.733654 uwb: 0.49937049 891.361 430.377 -imu_odom_: 1691062813.620479851 0.878672 -0.397437 9.91918 -0.0628506 -0.00213053 -0.199204 0.07 -0.23 pose: 0.8017728 5.95033 -0.907523 0 -0.00767518 -0.0141837 -0.680144 0.732901 uwb: 0.0 891.361 430.377 -imu_odom_: 1691062813.636452893 0.907402 -0.641646 9.9934 -0.056459 -0.0276969 -0.190682 0.07 -0.23 pose: 0.0 5.95033 -0.907523 0 -0.00767518 -0.0141837 -0.680144 0.732901 uwb: 0.0 891.361 430.377 -imu_odom_: 1691062813.653351631 0.92895 -0.0742203 9.68933 -0.0511327 -0.00532632 -0.173638 0.08 -0.29 pose: 0.40978169 5.95033 -0.907523 0 -0.0103149 -0.01376 -0.68373 0.729533 uwb: 0.49984880 889.953 431.101 -imu_odom_: 1691062813.669480414 0.610521 -0.102951 9.96946 -0.0532632 0.0181095 -0.131028 0.06 -0.17 pose: 0.0 5.95033 -0.907523 0 -0.0103149 -0.01376 -0.68373 0.729533 uwb: 0.0 889.953 431.101 -imu_odom_: 1691062813.687605244 0.529119 -0.21069 10.0126 -0.0628506 -0.00532632 -0.138484 0.06 -0.17 pose: 0.0 5.95033 -0.907523 0 -0.0103149 -0.01376 -0.68373 0.729533 uwb: 0.0 889.953 431.101 -imu_odom_: 1691062813.704443027 0.600945 -0.1652 9.8258 -0.0436758 -0.0213053 -0.173638 0.05 -0.17 pose: 0.25150660 5.95033 -0.907523 0 -0.00990248 -0.0150101 -0.685558 0.727795 uwb: 0.50021335 894.897 430.072 -imu_odom_: 1691062813.729446112 0.742203 -0.189142 9.84975 -0.0649811 -0.0117179 -0.129962 0.05 -0.17 pose: 0.0 5.95033 -0.907523 0 -0.00990248 -0.0150101 -0.685558 0.727795 uwb: 0.0 894.897 430.072 -imu_odom_: 1691062813.745465818 0.31364 -0.402226 9.85693 -0.0628506 0.0319579 -0.140615 0.05 -0.17 pose: 0.34054417 5.94335 -0.914688 0 -0.0078314 -0.0124257 -0.687885 0.725671 uwb: 0.49873761 900.342 428.904 -imu_odom_: 1691062813.762380596 -0.68953 -0.007182619.95748 -0.0351537 0.117179 -0.199204 0.05 -0.11 pose: 0.0 5.94335 -0.914688 0 -0.0078314 -0.0124257 -0.687885 0.725671 uwb: 0.0 900.342 428.904 -imu_odom_: 1691062813.778426260 -1.43892 0.191536 10.1418 -0.0511327 0.0383495 -0.120375 0.05 -0.11 pose: 0.41799745 5.95047 -0.921709 0 -0.00939514 -0.0119722 -0.6906 0.723077 uwb: 0.0 900.342 428.904 -imu_odom_: 1691062813.795361453 -0.706289 -0.596156 9.89524 -0.072438 -0.104396 -0.0394148 0.11 -0.11 pose: 0.40968545 5.95047 -0.921709 0 -0.00535463 -0.00826284 -0.693552 0.720339 uwb: 0.50040293 898.837 429.121 -imu_odom_: 1691062813.811304164 0.794875 -0.3304 9.92875 -0.0447411 -0.0948085 -0.0532632 0.11 -0.11 pose: 0.0 5.95047 -0.921709 0 -0.00535463 -0.00826284 -0.693552 0.720339 uwb: 0.0 898.837 429.121 -imu_odom_: 1691062813.828343768 0.890643 -0.11971 9.96467 -0.0458064 0.0266316 -0.0479369 0.11 -0.11 pose: 0.0 5.95047 -0.921709 0 -0.00535463 -0.00826284 -0.693552 0.720339 uwb: 0.0 898.837 429.121 -imu_odom_: 1691062813.844399639 0.373495 0.0335188 9.78989 -0.0543285 0.0585895 -0.0500674 0.11 -0.08 pose: 0.6942125 5.95047 -0.921709 0 -0.00533068 -0.00784914 -0.693753 0.720151 uwb: 0.49985754 901.335 428.731 -imu_odom_: 1691062813.861280877 -0.0311246 -0.158017 10.137 -0.0553937 0.0181095 -0.0628506 0.14 -0.08 pose: 0.0 5.95047 -0.921709 0 -0.00533068 -0.00784914 -0.693753 0.720151 uwb: 0.0 901.335 428.731 -imu_odom_: 1691062813.877285418 0.0622492 -0.138864 10.0772 -0.0511327 0.00106526 -0.0660464 0.14 -0.08 pose: 0.66926489 5.95047 -0.921709 0 -0.00520541 -0.0084766 -0.695918 0.718053 uwb: 0.0 901.335 428.731 -imu_odom_: 1691062813.894285358 0.706289 -0.186748 9.98861 -0.0585895 -0.0127832 -0.0330232 0.15 -0.11 pose: 0.0 5.95047 -0.921709 0 -0.00520541 -0.0084766 -0.695918 0.718053 uwb: 0.49945799 903.366 428.575 -imu_odom_: 1691062813.910312356 0.567426 -0.407014 9.80426 -0.052198 0.0106526 -0.0223706 0.15 -0.11 pose: 0.0 5.95047 -0.921709 0 -0.00520541 -0.0084766 -0.695918 0.718053 uwb: 0.0 903.366 428.575 -imu_odom_: 1691062813.927326586 0.361524 -0.0430956 10.0054 -0.0543285 0.0149137 -0.0447411 0.15 -0.11 pose: 0.31989542 5.95054 -0.935859 0 -0.00381625 -0.00715453 -0.697051 0.716976 uwb: 0.0 903.366 428.575 -imu_odom_: 1691062813.943435537 0.169988 -0.0311246 9.73243 -0.0639159 0.0181095 -0.0213053 0.12 -0.08 pose: 0.43042170 5.95054 -0.935859 0 -0.00383195 -0.00623 -0.698179 0.715886 uwb: 0.0 903.366 428.575 -imu_odom_: 1691062813.960296360 0.287304 -0.31364 10.2208 -0.0575243 0.0266316 -0.0234358 0.12 -0.08 pose: 0.8130596 5.95054 -0.935859 0 -0.00304499 -0.00581966 -0.698362 0.715714 uwb: 0.49998003 901.759 428.206 -imu_odom_: 1691062813.976489598 0.572214 -0.339977 9.75877 -0.0639159 0 -0.0319579 0.12 -0.08 pose: 0.0 5.95054 -0.935859 0 -0.00304499 -0.00581966 -0.698362 0.715714 uwb: 0.0 901.759 428.206 -imu_odom_: 1691062813.992435809 0.907402 -0.0071826110.1754 -0.0458064 0.015979 -0.0234358 0.18 -0.08 pose: 0.41032416 5.94352 -0.942989 0 -0.00335932 -0.00317414 -0.699335 0.71478 uwb: 0.0 901.759 428.206 -imu_odom_: 1691062814.6569129 1.00556 -0.0502782 10.1155 -0.0692422 -0.015979 0.00426106 0.13 -0.02 pose: 0.0 5.94352 -0.942989 0 -0.00335932 -0.00317414 -0.699335 0.71478 uwb: 0.50146453 903.804 428.12 -imu_odom_: 1691062814.24561259 1.07021 -0.007182619.68933 -0.0553937 -0.00213053 -0.00639159 0.13 -0.02 pose: 0.0 5.94352 -0.942989 0 -0.00335932 -0.00317414 -0.699335 0.71478 uwb: 0.0 903.804 428.12 -imu_odom_: 1691062814.41324963 0.950498 -0.25618 9.95748 -0.0649811 0.0255663 0.0276969 0.11 -0.05 pose: 0.22858005 5.95063 -0.950025 0 -0.00403869 -0.00525011 -0.699776 0.714332 uwb: 0.0 903.804 428.12 -imu_odom_: 1691062814.56558676 1.15879 -0.383072 9.8665 -0.076699 -0.0149137 0.0553937 0.11 -0.05 pose: 0.0 5.95063 -0.950025 0 -0.00403869 -0.00525011 -0.699776 0.714332 uwb: 0.50165703 902.815 428.359 -imu_odom_: 1691062814.73586614 1.39343 -0.241814 10.1011 -0.0543285 -0.00852212 0.0319579 0.11 -0.05 pose: 0.33101600 5.95063 -0.950025 0 -0.00576291 -0.00785091 -0.700179 0.713901 uwb: 0.0 902.815 428.359 -imu_odom_: 1691062814.89416457 1.32639 0.122104 9.66779 -0.0479369 -0.00745685 -0.0106526 0.09 -0.08 pose: 0.41137411 5.95063 -0.950025 0 -0.0092401 -0.0100408 -0.700138 0.713877 uwb: 0.0 902.815 428.359 -imu_odom_: 1691062814.106482602 1.07739 -0.107739 9.83299 -0.0596548 0.0340885 -0.0287621 0.09 -0.08 pose: 0.7992646 5.95063 -0.950025 0 -0.00947371 -0.0108324 -0.700277 0.713726 uwb: 0.49992464 905.831 427.949 -imu_odom_: 1691062814.123296178 0.555455 -0.31364 9.91439 -0.0596548 -0.00213053 -0.0490022 0.09 -0.08 pose: 0.0 5.95063 -0.950025 0 -0.00947371 -0.0108324 -0.700277 0.713726 uwb: 0.0 905.831 427.949 -imu_odom_: 1691062814.139357591 0.751779 -0.225055 9.79468 -0.0607201 -0.0394148 -0.0692422 0.1 -0.05 pose: 0.41716918 5.94764 -0.96109 0 -0.0101951 -0.0111004 -0.701353 0.712655 uwb: 0.0 905.831 427.949 -imu_odom_: 1691062814.155290095 0.916979 -0.225055 9.8282 -0.056459 0 -0.0319579 0.06 -0.05 pose: 0.0 5.94764 -0.96109 0 -0.0101951 -0.0111004 -0.701353 0.712655 uwb: 0.49880178 911.297 427.076 -imu_odom_: 1691062814.172278660 0.921768 -0.268151 10.0293 -0.0660464 0.00106526 0.0127832 0.06 -0.05 pose: 0.0 5.94764 -0.96109 0 -0.0101951 -0.0111004 -0.701353 0.712655 uwb: 0.0 911.297 427.076 -imu_odom_: 1691062814.188337448 0.442927 -0.356736 9.69891 -0.052198 0.0149137 0.00532632 0.06 -0.05 pose: 0.24020519 5.95079 -0.964184 0 -0.012436 -0.0125005 -0.702142 0.711818 uwb: 0.0 911.297 427.076 -imu_odom_: 1691062814.205283725 0.579397 0.0454898 9.9934 -0.052198 -0.0234358 -0.00639159 0.05 -0.05 pose: 0.0 5.95079 -0.964184 0 -0.012436 -0.0125005 -0.702142 0.711818 uwb: 0.50184077 912.85 427.171 -imu_odom_: 1691062814.229261080 0.701501 -0.282516 9.76355 -0.0671117 0.00213053 0.02024 0.05 -0.05 pose: 0.33003898 5.95079 -0.964184 0 -0.0141637 -0.0129244 -0.702575 0.711352 uwb: 0.0 912.85 427.171 -imu_odom_: 1691062814.254268249 0.328006 -0.418985 9.68694 -0.0553937 0.0276969 -0.0106526 0.04 0 pose: 0.33146515 5.95079 -0.964184 0 -0.0124382 -0.0117903 -0.703036 0.710948 uwb: 0.49641027 914.373 427.107 -imu_odom_: 1691062814.268319324 -0.665588 0.160412 9.991 -0.0543285 0.112918 -0.04048 0.04 0 pose: 0.0 5.95079 -0.964184 0 -0.0124382 -0.0117903 -0.703036 0.710948 uwb: 0.0 914.373 427.107 -imu_odom_: 1691062814.292258181 -1.45567 -0.342371 9.93594 -0.0735032 -0.0426106 0.0436758 0.07 -0.02 pose: 0.54852214 5.95079 -0.964184 0 -0.00985685 -0.00634777 -0.704019 0.710085 uwb: 0.0 914.373 427.107 -imu_odom_: 1691062814.316341114 0.368707 -0.378284 9.92636 -0.0500674 -0.0969391 0.0138484 0.07 -0.02 pose: 0.0 5.95079 -0.964184 0 -0.00985685 -0.00634777 -0.704019 0.710085 uwb: 0.50109998 914.877 427.056 -imu_odom_: 1691062814.339269407 0.804452 -0.0814029 9.65103 -0.0671117 0.00639159 0.0532632 0.14 -0.02 pose: 0.7949773 5.95079 -0.964184 0 -0.0094774 -0.00582015 -0.70401 0.710103 uwb: 0.0 914.877 427.056 -imu_odom_: 1691062814.356269930 -0.177171 0.0335188 10.0461 -0.0585895 0.0191748 0.0330232 0.14 -0.02 pose: 0.0 5.95079 -0.964184 0 -0.0094774 -0.00582015 -0.70401 0.710103 uwb: 0.49930342 915.405 427.167 -imu_odom_: 1691062814.372279429 -0.138864 -0.395043 10.2232 -0.056459 -0.0245011 0.0191748 0.11 0 pose: 0.47026683 5.94374 -0.971271 0 -0.00873304 -0.00395813 -0.704172 0.709964 uwb: 0.0 915.405 427.167 -imu_odom_: 1691062814.399551546 0.507571 -0.169988 10.4244 -0.0639159 -0.0426106 0.0266316 0.11 0 pose: 0.0 5.94374 -0.971271 0 -0.00873304 -0.00395813 -0.704172 0.709964 uwb: 0.49955133 916.362 426.718 -imu_odom_: 1691062814.425418496 0.158017 -0.143652 9.69652 -0.0511327 0.00319579 0.0266316 0.12 0 pose: 0.76255766 5.95082 -0.978328 0 -0.00434387 -0.00465505 -0.704412 0.709762 uwb: 0.0 916.362 426.718 -imu_odom_: 1691062814.442285152 -0.0909797 0.0047884 10.2903 -0.0617853 -0.0181095 0.0308927 0.12 0 pose: 0.8893550 5.95082 -0.978328 0 -0.00357685 -0.00413697 -0.704458 0.709725 uwb: 0.0 916.362 426.718 -imu_odom_: 1691062814.458300776 0.440533 -0.306458 9.96227 -0.0585895 -0.0426106 0.0330232 0.12 -0.02 pose: 0.0 5.95082 -0.978328 0 -0.00357685 -0.00413697 -0.704458 0.709725 uwb: 0.49982255 912.392 427.526 -imu_odom_: 1691062814.475445666 0.823605 -0.335188 10.0341 -0.0479369 -0.04048 0.0170442 0.12 -0.02 pose: 0.42059606 5.95084 -0.99247 0 -0.00137699 -0.00195744 -0.704618 0.709583 uwb: 0.0 912.392 427.526 -imu_odom_: 1691062814.500323051 -0.0814029 -0.167594 9.52413 -0.0543285 0.0894822 0.0276969 0.13 0.02 pose: 0.0 5.95084 -0.99247 0 -0.00137699 -0.00195744 -0.704618 0.709583 uwb: 0.50019296 908.436 428.407 -imu_odom_: 1691062814.517281868 -0.167594 -0.383072 10.1323 -0.0585895 0.0500674 0.0276969 0.13 0.02 pose: 0.33825473 5.95084 -0.99247 0 -0.00270576 -0.00170225 -0.704808 0.709391 uwb: 0.0 908.436 428.407 -imu_odom_: 1691062814.542403655 0.514753 -0.174777 10.0844 -0.04048 -0.00106526 0.02024 0.14 -0.02 pose: 0.0 5.95084 -0.99247 0 -0.00270576 -0.00170225 -0.704808 0.709391 uwb: 0.0 908.436 428.407 -imu_odom_: 1691062814.569459367 0.325611 -0.241814 9.73482 -0.0745685 -0.015979 0.0415453 0.14 -0.02 pose: 0.41963945 5.95084 -0.99247 0 -5.04829e-050.000769283 -0.705011 0.709196 uwb: 0.50093374 911.42 427.842 -imu_odom_: 1691062814.595265071 0.514753 -0.189142 10.1155 -0.0532632 -0.0585895 0.0287621 0.14 0 pose: 0.0 5.95084 -0.99247 0 -5.04829e-050.000769283 -0.705011 0.709196 uwb: 0.49948716 911.906 427.671 -imu_odom_: 1691062814.612450792 0.730232 0.129287 10.2185 -0.0543285 0.0149137 0.0276969 0.14 0 pose: 0.51112396 5.95098 -1.00661 0 -0.0001173620.000819841 -0.705134 0.709073 uwb: 0.0 911.906 427.671 -imu_odom_: 1691062814.637454752 0.0790087 -0.373495 9.61033 -0.072438 -0.00745685 0.0426106 0.15 0 pose: 0.0 5.95098 -1.00661 0 -0.0001173620.000819841 -0.705134 0.709073 uwb: 0.0 911.906 427.671 -imu_odom_: 1691062814.664404013 0.553061 -0.1652 9.67257 -0.0553937 0.0149137 0.0319579 0.15 0 pose: 0.42995216 5.95098 -1.00661 0 -0.000805541-0.00193374 -0.705267 0.708938 uwb: 0.50179119 912.9 427.472 -imu_odom_: 1691062814.690280588 0.414197 -0.270545 10.5201 -0.0671117 -0.0170442 0.0458064 0.15 -0.02 pose: 0.44002281 5.9511 -1.02075 0 -0.00132879 -0.00249633 -0.705321 0.708882 uwb: 0.0 912.9 427.472 -imu_odom_: 1691062814.706528656 0.428562 -0.217872 9.54568 -0.0500674 0.00426106 0.0170442 0.15 -0.02 pose: 0.0 5.9511 -1.02075 0 -0.00132879 -0.00249633 -0.705321 0.708882 uwb: 0.49883095 907.985 428.741 -imu_odom_: 1691062814.732507017 0.42138 -0.349553 10.149 -0.072438 0.00745685 0.0553937 0.17 -0.02 pose: 0.33015564 5.9511 -1.02075 0 -0.00155523 -0.000419452-0.705321 0.708887 uwb: 0.0 907.985 428.741 -imu_odom_: 1691062814.756277301 0.507571 -0.213084 9.97664 -0.0479369 -0.0340885 0.0181095 0.17 -0.02 pose: 0.0 5.9511 -1.02075 0 -0.00155523 -0.000419452-0.705321 0.708887 uwb: 0.50113790 906.036 429.32 -imu_odom_: 1691062814.781411629 0.316035 -0.28491 9.78271 -0.076699 0 0.0553937 0.23 0 pose: 0.41850493 5.95123 -1.0349 0 -0.00279044 0.000463464 -0.705297 0.708906 uwb: 0.0 906.036 429.32 -imu_odom_: 1691062814.796256573 0.414197 -0.730232 9.43794 -0.0511327 0.04048 0.0372843 0.23 0 pose: 0.0 5.95123 -1.0349 0 -0.00279044 0.000463464 -0.705297 0.708906 uwb: 0.49991005 909.067 429.09 -imu_odom_: 1691062814.822522791 0.0287304 -0.153229 9.85453 -0.0319579 0.0713727 0.0287621 0.16 -0.02 pose: 0.49163013 5.95123 -1.0349 0 -0.00261091 0.00161797 -0.70529 0.708912 uwb: 0.0 909.067 429.09 -imu_odom_: 1691062814.845460417 0.332794 -0.603339 9.75158 -0.0788296 0.0266316 0.0511327 0.16 -0.02 pose: 0.34089708 5.94945 -1.04716 0 0.000258331 0.0039201 -0.705391 0.708807 uwb: 0.49781018 907.105 429.573 -imu_odom_: 1691062814.871450152 -0.0191536 -0.0407014 10.094 -0.0372843 0.00639159 0.0372843 0.17 0 pose: 0.0 5.94945 -1.04716 0 0.000258331 0.0039201 -0.705391 0.708807 uwb: 0.0 907.105 429.573 -imu_odom_: 1691062814.888310683 0.804452 -0.344765 9.65342 -0.0884169 -0.036219 0.0617853 0.17 0 pose: 0.7013872 5.95135 -1.04904 0 -0.0002015280.00456942 -0.705362 0.708832 uwb: 0.0 907.105 429.573 -imu_odom_: 1691062814.913265063 0.526724 -0.162806 9.55765 -0.0479369 -0.00852212 0.0213053 0.17 -0.02 pose: 0.0 5.95135 -1.04904 0 -0.0002015280.00456942 -0.705362 0.708832 uwb: 0.0 907.105 429.573 -imu_odom_: 1691062814.936221063 0.141258 -0.0694318 9.57681 -0.0937433 -0.00319579 0.0607201 0.17 -0.02 pose: 0.49867637 5.95135 -1.04904 0 0.000787888 0.00581702 -0.705245 0.708939 uwb: 0.0 907.105 429.573 -imu_odom_: 1691062814.961221816 0.316035 -0.318429 9.77792 -0.0798948 0.0490022 0.0245011 0.23 0 pose: 0.0 5.95135 -1.04904 0 0.000787888 0.00581702 -0.705245 0.708939 uwb: 0.99965678 905.113 429.901 -imu_odom_: 1691062814.975275807 0.342371 -0.138864 9.60314 -0.0671117 0.0372843 0.0308927 0.23 0 pose: 0.40906133 5.95148 -1.06318 0 -1.16454e-050.00290412 -0.705295 0.708908 uwb: 0.0 905.113 429.901 -imu_odom_: 1691062815.278893 0.143652 -0.483629 9.53132 -0.0532632 0.04048 0.0340885 0.17 0 pose: 0.0 5.95148 -1.06318 0 -1.16454e-050.00290412 -0.705295 0.708908 uwb: 0.50113498 906.19 430.223 -imu_odom_: 1691062815.17385285 0.131681 -0.0957681 10.1945 -0.0447411 -0.0671117 0.0426106 0.17 0 pose: 0.47915630 5.94447 -1.07031 0 0.000896478 0.00573969 -0.705322 0.708863 uwb: 0.0 906.19 430.223 -imu_odom_: 1691062815.43287526 0.361524 -0.059855 9.63666 -0.0660464 -0.0117179 0.0383495 0.17 0.02 pose: 0.0 5.94447 -1.07031 0 0.000896478 0.00573969 -0.705322 0.708863 uwb: 0.0 906.19 430.223 -imu_odom_: 1691062815.59228196 0.131681 -0.208296 10.0149 -0.0415453 0.0191748 0.036219 0.17 0.02 pose: 0.40151053 5.95161 -1.07732 0 0.00212182 0.00776561 -0.705371 0.708793 uwb: 0.49928886 905.703 430.374 -imu_odom_: 1691062815.76385919 -0.129287 -0.21069 10.0221 -0.056459 -0.015979 0.0394148 0.17 -0.02 pose: 0.0 5.95161 -1.07732 0 0.00212182 0.00776561 -0.705371 0.708793 uwb: 0.0 905.703 430.374 -imu_odom_: 1691062815.102471315 0.311246 -0.112527 9.97664 -0.0340885 -0.0106526 0.0340885 0.17 -0.02 pose: 0.0 5.95161 -1.07732 0 0.00212182 0.00776561 -0.705371 0.708793 uwb: 0.50250282 909.16 429.646 -imu_odom_: 1691062815.118240496 0.308852 -0.201113 10.2161 -0.0639159 -0.0426106 0.0543285 0.18 0 pose: 0.41875284 5.9446 -1.08445 0 0.00426118 0.00537766 -0.70537 0.708807 uwb: 0.0 909.16 429.646 -imu_odom_: 1691062815.144279812 0.533907 -0.260968 10.0604 -0.0479369 -0.0266316 0.0234358 0.18 0 pose: 0.0 5.9446 -1.08445 0 0.00426118 0.00537766 -0.70537 0.708807 uwb: 0.0 909.16 429.646 -imu_odom_: 1691062815.158369676 0.56982 0.0574608 10.4435 -0.0447411 -0.0372843 0.0415453 0.18 0 pose: 0.76043155 5.94472 -1.09859 0 0.00422582 0.00286788 -0.705392 0.708799 uwb: 0.49845474 906.709 430.28 -imu_odom_: 1691062815.173342946 0.811634 -0.342371 9.72764 -0.0628506 -0.0351537 0.0575243 0.18 0 pose: 0.0 5.94472 -1.09859 0 0.00422582 0.00286788 -0.705392 0.708799 uwb: 0.0 906.709 430.28 -imu_odom_: 1691062815.190433881 0.179565 -0.349553 9.51216 -0.0436758 -0.0191748 0.0213053 0.18 0 pose: 0.0 5.94472 -1.09859 0 0.00422582 0.00286788 -0.705392 0.708799 uwb: 0.0 906.709 430.28 -imu_odom_: 1691062815.216343705 -0.071826 -0.275333 9.7037 -0.0713727 -0.0106526 0.0639159 0.17 0.02 pose: 0.47047391 5.95185 -1.1056 0 0.000988444 -0.000598642-0.705396 0.708812 uwb: 0.49977007 909.116 429.368 -imu_odom_: 1691062815.232206797 0.651223 -0.270545 9.92397 -0.0543285 -0.0447411 0.0319579 0.17 0.02 pose: 0.0 5.95185 -1.1056 0 0.000988444 -0.000598642-0.705396 0.708812 uwb: 0.0 909.116 429.368 -imu_odom_: 1691062815.258208198 0.457293 -0.1652 10.1538 -0.0468716 -0.00426106 0.0319579 0.17 0 pose: 0.7960274 5.95185 -1.1056 0 0.00110872 0.00011325 -0.705448 0.70876 uwb: 0.49736689 912.599 428.848 -imu_odom_: 1691062815.274220031 0.328006 -0.148441 9.88087 -0.0585895 -0.0490022 0.04048 0.22 -0.02 pose: 0.0 5.95185 -1.1056 0 0.00110872 0.00011325 -0.705448 0.70876 uwb: 0.0 912.599 428.848 -imu_odom_: 1691062815.289344376 0.68953 -0.1652 9.64624 -0.0213053 -0.02024 0.0117179 0.18 0.02 pose: 0.83916808 5.95197 -1.11975 0 0.00116367 -0.000646248-0.705397 0.708812 uwb: 0.0 912.599 428.848 -imu_odom_: 1691062815.305227591 0.725443 -0.258574 10.07 -0.0394148 -0.04048 0.0468716 0.18 0.02 pose: 0.0 5.95197 -1.11975 0 0.00116367 -0.000646248-0.705397 0.708812 uwb: 0.50075002 913.639 428.975 -imu_odom_: 1691062815.331338361 0.483629 -0.201113 9.83538 -0.0415453 -0.0351537 0.0415453 0.18 0 pose: 0.31024184 5.95209 -1.13389 0 0.000328075 -0.00244106 -0.705522 0.708684 uwb: 0.0 913.639 428.975 -imu_odom_: 1691062815.356204080 0.308852 -0.227449 9.96467 -0.0500674 -0.0223706 0.056459 0.18 0 pose: 0.35094149 5.95209 -1.13389 0 -0.00323689 -0.00396508 -0.705467 0.708724 uwb: 0.50104749 915.642 428.723 -imu_odom_: 1691062815.378205513 0.136469 -0.169988 10.1634 -0.0426106 -0.00319579 0.04048 0.19 0 pose: 0.0 5.95209 -1.13389 0 -0.00323689 -0.00396508 -0.705467 0.708724 uwb: 0.0 915.642 428.723 -imu_odom_: 1691062815.391404973 0.0646434 -0.169988 9.60314 -0.0479369 -0.00532632 0.0532632 0.19 0 pose: 0.0 5.95209 -1.13389 0 -0.00323689 -0.00396508 -0.705467 0.708724 uwb: 0.0 915.642 428.723 -imu_odom_: 1691062815.416340396 0.107739 -0.512359 9.5816 -0.0703074 0.00426106 0.0511327 0.18 0 pose: 0.6963125 5.95209 -1.13389 0 -0.00283791 -0.00347543 -0.705427 0.708768 uwb: 0.50038254 914.651 428.918 -imu_odom_: 1691062815.433316130 0.531513 0.129287 9.75398 -0.0436758 -0.0138484 0.0479369 0.18 0 pose: 0.0 5.95209 -1.13389 0 -0.00283791 -0.00347543 -0.705427 0.708768 uwb: 0.0 914.651 428.918 -imu_odom_: 1691062815.457199866 0.471658 -0.203507 9.92875 -0.0628506 -0.0191748 0.0553937 0.18 0 pose: 0.44964141 5.95221 -1.14803 0 0.000424161 -0.000632819-0.705296 0.708912 uwb: 0.49909637 917.174 428.76 -imu_odom_: 1691062815.484274245 0.347159 -0.0550666 10.0437 -0.0383495 0 0.0372843 0.18 0 pose: 0.40067642 5.95221 -1.14803 0 0.00111406 0.00185401 -0.705134 0.709071 uwb: 0.0 917.174 428.76 -imu_odom_: 1691062815.509199461 0.40462 -0.363919 9.73004 -0.072438 0.00319579 0.0500674 0.17 0.02 pose: 0.0 5.95221 -1.14803 0 0.00111406 0.00185401 -0.705134 0.709071 uwb: 0.50124290 922.227 428.524 -imu_odom_: 1691062815.526333268 0.361524 -0.158017 9.39964 -0.0458064 -0.0117179 0.0330232 0.17 0.02 pose: 0.41878493 5.95235 -1.16217 0 0.000446439 -0.00125121 -0.704977 0.709229 uwb: 0.0 922.227 428.524 -imu_odom_: 1691062815.552267299 0.512359 -0.186748 10.2448 -0.0692422 -0.052198 0.0575243 0.18 0.02 pose: 0.0 5.95235 -1.16217 0 0.000446439 -0.00125121 -0.704977 0.709229 uwb: 0.0 922.227 428.524 -imu_odom_: 1691062815.579476128 0.816423 0.110133 10.1538 -0.0649811 -0.0372843 0.0436758 0.18 0.02 pose: 0.51168686 5.94535 -1.16931 0 0.00119775 -0.000192493-0.704918 0.709288 uwb: 0.0 922.227 428.524 -imu_odom_: 1691062815.604228104 0.483629 0.0407014 10.1562 -0.056459 -0.0213053 0.0479369 0.2 0.02 pose: 0.0 5.94535 -1.16931 0 0.00119775 -0.000192493-0.704918 0.709288 uwb: 0.99870312 929.216 427.687 -imu_odom_: 1691062815.621235919 0.505177 -0.328006 10.0149 -0.0468716 -0.0287621 0.036219 0.2 0.02 pose: 0.42886432 5.95249 -1.17631 0 -0.000515901-0.00318704 -0.70476 0.709438 uwb: 0.0 929.216 427.687 -imu_odom_: 1691062815.646351290 0.373495 -0.263362 10.4315 -0.0553937 -0.0415453 0.0447411 0.18 0 pose: 0.0 5.95249 -1.17631 0 -0.000515901-0.00318704 -0.70476 0.709438 uwb: 0.50035337 927.211 427.892 -imu_odom_: 1691062815.662347374 0.648829 -0.198719 9.39724 -0.0383495 0.036219 0.0330232 0.18 0 pose: 0.52042467 5.95264 -1.19045 0 7.51979e-05 -0.00675697 -0.70466 0.709513 uwb: 0.0 927.211 427.892 -imu_odom_: 1691062815.679342940 0.316035 -0.246603 10.1203 -0.0671117 0.0255663 0.0511327 0.18 0 pose: 0.0 5.95264 -1.19045 0 7.51979e-05 -0.00675697 -0.70466 0.709513 uwb: 0.0 927.211 427.892 -imu_odom_: 1691062815.705304677 0.512359 -0.294487 9.97424 -0.0479369 0.015979 0.0330232 0.18 0 pose: 0.68033593 5.95279 -1.20459 0 -0.0011939 -0.00306045 -0.704599 0.709598 uwb: 0.49831474 927.74 428.061 -imu_odom_: 1691062815.730191395 0.4956 -0.603339 9.54808 -0.0703074 0.00532632 0.0532632 0.2 0 pose: 0.7981272 5.95279 -1.20459 0 -0.0018683 -0.0027569 -0.704616 0.709581 uwb: 0.0 927.74 428.061 -imu_odom_: 1691062815.757205694 0.641646 0.047884 10.3549 -0.0319579 -0.02024 0.0532632 0.2 0 pose: 0.42867183 5.94778 -1.20971 0 -0.00529227 -0.000199313-0.70452 0.709664 uwb: 0.50109125 930.753 427.807 -imu_odom_: 1691062815.782211989 0.732626 -0.373495 10.4507 -0.0543285 -0.00532632 0.0436758 0.18 0.02 pose: 0.0 5.94778 -1.20971 0 -0.00529227 -0.000199313-0.70452 0.709664 uwb: 0.0 930.753 427.807 -imu_odom_: 1691062815.809243787 0.399832 -0.0502782 9.79228 -0.0468716 0.0170442 0.0436758 0.23 0.02 pose: 0.52020594 5.95294 -1.21873 0 -0.00674016 -0.00368456 -0.704346 0.709815 uwb: 0.50048753 932.261 427.721 -imu_odom_: 1691062815.825333198 0.215478 -0.0957681 10.1251 -0.0628506 -0.0511327 0.0490022 0.23 0.02 pose: 0.0 5.95294 -1.21873 0 -0.00674016 -0.00368456 -0.704346 0.709815 uwb: 0.0 932.261 427.721 -imu_odom_: 1691062815.852261169 0.59855 -0.138864 10.6159 -0.076699 -0.0468716 0.052198 0.25 0 pose: 0.35051567 5.94595 -1.22588 0 -0.00321072 -0.00379774 -0.704303 0.709882 uwb: 0.50001215 932.256 427.674 -imu_odom_: 1691062815.877286712 0.538695 -0.100556 10.0676 -0.0468716 -0.00213053 0.0276969 0.25 0 pose: 0.34997613 5.95311 -1.23287 0 -0.00387893 -0.00640545 -0.70415 0.710012 uwb: 0.0 932.256 427.674 -imu_odom_: 1691062815.904383548 0.471658 -0.0670376 9.98382 -0.0639159 -0.0394148 0.052198 0.23 0.02 pose: 0.8005479 5.95311 -1.23287 0 -0.00321765 -0.00691736 -0.704187 0.709974 uwb: 0.49997422 932.239 427.534 -imu_odom_: 1691062815.930234167 0.881066 -0.162806 9.49301 -0.0319579 0.0255663 0.0319579 0.23 0.02 pose: 0.44116900 5.95119 -1.24498 0 0.000476023 -0.00810347 -0.70416 0.709995 uwb: 0.0 932.239 427.534 -imu_odom_: 1691062815.957203552 0.440533 -0.0502782 9.81144 -0.0649811 -0.00213053 0.052198 0.23 0 pose: 0.0 5.95119 -1.24498 0 0.000476023 -0.00810347 -0.70416 0.709995 uwb: 0.50071211 933.226 427.3 -imu_odom_: 1691062815.982324465 0.646434 -0.189142 10.0868 -0.0660464 -0.0394148 0.0511327 0.19 0 pose: 0.32853700 5.95328 -1.24701 0 -0.00049521 -0.00928031 -0.704181 0.70996 uwb: 0.0 933.226 427.3 -imu_odom_: 1691062815.999387984 0.40462 -0.138864 10.0221 -0.0585895 0.0213053 0.0617853 0.19 0 pose: 0.0 5.95328 -1.24701 0 -0.00049521 -0.00928031 -0.704181 0.70996 uwb: 0.49862097 936.737 426.973 -imu_odom_: 1691062816.24253704 0.141258 -0.122104 9.9503 -0.0500674 0.0330232 0.0468716 0.19 0 pose: 0.52127920 5.95345 -1.26115 0 -0.00113963 -0.00834709 -0.70394 0.71021 uwb: 0.0 936.737 426.973 -imu_odom_: 1691062816.41223897 0.232238 -0.392649 9.54089 -0.0948085 0.00639159 0.0649811 0.19 0 pose: 0.0 5.95345 -1.26115 0 -0.00113963 -0.00834709 -0.70394 0.71021 uwb: 0.0 936.737 426.973 -imu_odom_: 1691062816.57180317 0.76375 0.0023942 10.4698 -0.0756338 -0.0223706 0.0426106 0.19 0 pose: 0.51858729 5.95042 -1.27216 0 0.00125708 -0.00336288 -0.703674 0.710514 uwb: 0.50189621 939.236 426.655 -imu_odom_: 1691062816.84322651 1.00078 -0.323217 9.84975 -0.0830906 0.00639159 0.0468716 0.25 0 pose: 0.8104348 5.95363 -1.27529 0 0.00086526 -0.00411855 -0.703663 0.710522 uwb: 0.0 939.236 426.655 -imu_odom_: 1691062816.100179327 0.023942 -0.363919 10.1562 -0.0447411 -0.00213053 0.0394148 0.25 0 pose: 0.0 5.95363 -1.27529 0 0.00086526 -0.00411855 -0.703663 0.710522 uwb: 0.49845183 939.758 426.812 -imu_odom_: 1691062816.127186627 0.505177 -0.181959 10.4172 -0.0479369 -0.0596548 0.0447411 0.25 0 pose: 0.34994406 5.95363 -1.27529 0 -0.00211168 -0.0057002 -0.703568 0.710602 uwb: 0.0 939.758 426.812 -imu_odom_: 1691062816.152319206 0.708684 -0.117316 9.80426 -0.0511327 0.0223706 0.036219 0.18 0 pose: 0.42863976 5.95165 -1.28732 0 -0.00441232 -0.00584517 -0.703507 0.71065 uwb: 0.49836434 938.301 427.392 -imu_odom_: 1691062816.179383961 0.893037 -0.272939 9.18416 -0.0468716 0.0245011 0.0383495 0.21 -0.02 pose: 0.0 5.95165 -1.28732 0 -0.00441232 -0.00584517 -0.703507 0.71065 uwb: 0.0 938.301 427.392 -imu_odom_: 1691062816.195226346 0.476446 -0.1652 10.1227 -0.0383495 0.015979 0.0351537 0.21 -0.02 pose: 0.32144409 5.95382 -1.28943 0 -0.0054931 -0.00830395 -0.703525 0.710601 uwb: 0.50015215 939.311 427.379 -imu_odom_: 1691062816.211224472 0.938527 -0.301669 9.70849 -0.056459 -0.0308927 0.0490022 0.18 0.02 pose: 0.0 5.95382 -1.28943 0 -0.0054931 -0.00830395 -0.703525 0.710601 uwb: 0.0 939.311 427.379 -imu_odom_: 1691062816.238351349 0.864307 -0.162806 10.5297 -0.0426106 -0.00213053 0.0255663 0.18 0.02 pose: 0.42870976 5.95402 -1.30357 0 -0.00622437 -0.00850234 -0.703523 0.710594 uwb: 0.0 939.311 427.379 -imu_odom_: 1691062816.265304402 0.497994 -0.356736 9.23922 -0.0532632 0.0149137 0.0543285 0.18 0 pose: 0.36149337 5.94899 -1.30874 0 -0.00865551 -0.0112178 -0.703592 0.710463 uwb: 0.49981092 939.875 427.934 -imu_odom_: 1691062816.281295820 0.225055 -0.272939 9.56962 -0.0458064 -0.0383495 0.0213053 0.18 0 pose: 0.0 5.94899 -1.30874 0 -0.00865551 -0.0112178 -0.703592 0.710463 uwb: 0.0 939.875 427.934 -imu_odom_: 1691062816.308184711 0.588974 -0.205901 10.1227 -0.0798948 -0.0543285 0.0575243 0.19 0 pose: 0.6965166 5.94704 -1.31074 0 -0.00863258 -0.0104794 -0.703557 0.710509 uwb: 0.50118750 940.346 427.624 -imu_odom_: 1691062816.324299204 0.682347 -0.011971 10.1011 -0.056459 -0.00532632 0.0276969 0.19 0 pose: 0.0 5.94704 -1.31074 0 -0.00863258 -0.0104794 -0.703557 0.710509 uwb: 0.0 940.346 427.624 -imu_odom_: 1691062816.351218718 0.588974 -0.198719 10.0892 -0.0596548 -0.0298274 0.0415453 0.2 0.02 pose: 0.43989742 5.95421 -1.31771 0 -0.00717969 -0.00718739 -0.703521 0.710602 uwb: 0.50108251 945.811 426.774 -imu_odom_: 1691062816.376177766 0.605733 -0.21069 10.0078 -0.0234358 -0.00106526 0.0170442 0.18 0 pose: 0.0 5.95421 -1.31771 0 -0.00717969 -0.00718739 -0.703521 0.710602 uwb: 0.0 945.811 426.774 -imu_odom_: 1691062816.403227647 0.73502 -0.181959 9.83538 -0.0500674 -0.0149137 0.0543285 0.18 0 pose: 0.42881767 5.94724 -1.32488 0 -0.00582315 -0.00773875 -0.703479 0.71065 uwb: 0.49895347 944.85 427.291 -imu_odom_: 1691062816.429140971 0.665588 -0.208296 10.082 -0.0383495 -0.0255663 0.0426106 0.18 0 pose: 0.0 5.94724 -1.32488 0 -0.00582315 -0.00773875 -0.703479 0.71065 uwb: 0.0 944.85 427.291 -imu_odom_: 1691062816.446221990 0.493206 -0.234632 9.12191 -0.0607201 0.0308927 0.0511327 0.18 0 pose: 0.51021405 5.95441 -1.33185 0 -0.0074154 -0.00946939 -0.703607 0.710487 uwb: 0.49975259 950.361 426.905 -imu_odom_: 1691062816.472221351 0.126893 -0.136469 9.4954 -0.0394148 0.0383495 0.0458064 0.18 0 pose: 0.0 5.95441 -1.33185 0 -0.0074154 -0.00946939 -0.703607 0.710487 uwb: 0.0 950.361 426.905 -imu_odom_: 1691062816.499294272 0.591368 -0.361524 9.44752 -0.0649811 -0.036219 0.0500674 0.18 0 pose: 0.53028826 5.9546 -1.34599 0 -0.00873753 -0.00822885 -0.703422 0.710671 uwb: 0.49997716 946.86 427.242 -imu_odom_: 1691062816.524296776 0.61531 -0.287304 10.0126 -0.052198 -0.0117179 0.0490022 0.2 0 pose: 0.42944179 5.94763 -1.35316 0 -0.00605194 -0.00530177 -0.703323 0.710825 uwb: 0.0 946.86 427.242 -imu_odom_: 1691062816.551295035 0.342371 -0.0933739 9.81383 -0.0330232 0.0276969 0.0234358 0.22 0 pose: 0.0 5.94763 -1.35316 0 -0.00605194 -0.00530177 -0.703323 0.710825 uwb: 0.49909929 943.819 427.131 -imu_odom_: 1691062816.577243940 0.189142 -0.0957681 9.76595 -0.0788296 0 0.0660464 0.22 0 pose: 0.52131422 5.9548 -1.36013 0 -0.00975632 -0.00508733 -0.703171 0.710936 uwb: 0.0 943.819 427.131 -imu_odom_: 1691062816.604143330 0.545878 -0.361524 9.32781 -0.0671117 0.0106526 0.036219 0.25 0 pose: 0.0 5.9548 -1.36013 0 -0.00975632 -0.00508733 -0.703171 0.710936 uwb: 0.49968551 941.316 427.359 -imu_odom_: 1691062816.629282034 0.35913 -0.328006 10.1442 -0.0681769 -0.015979 0.0543285 0.25 0 pose: 0.72829474 5.95501 -1.37427 0 -0.00747669 -0.00178455 -0.703094 0.711055 uwb: 0.0 941.316 427.359 -imu_odom_: 1691062816.646266226 0.363919 -0.263362 9.89284 -0.0351537 -0.0458064 0.0234358 0.23 0 pose: 0.8026186 5.95501 -1.37427 0 -0.00709323 -0.00111771 -0.703052 0.711102 uwb: 0.50098627 943.866 427.622 -imu_odom_: 1691062816.662229937 0.52433 -0.007182619.76595 -0.0873517 -0.036219 0.0479369 0.23 0 pose: 0.0 5.95501 -1.37427 0 -0.00709323 -0.00111771 -0.703052 0.711102 uwb: 0.0 943.866 427.622 -imu_odom_: 1691062816.689171908 0.553061 -0.280122 10.1706 -0.0490022 0.00958738 0.0394148 0.25 0.02 pose: 0.41991071 5.95523 -1.38841 0 -0.00462762 7.65963e-06 -0.703037 0.711138 uwb: 0.0 943.866 427.622 -imu_odom_: 1691062816.714307987 0.328006 -0.270545 9.71328 -0.0660464 -0.0223706 0.0447411 0.25 0.02 pose: 0.0 5.95523 -1.38841 0 -0.00462762 7.65963e-06 -0.703037 0.711138 uwb: 0.49867640 944.855 427.408 -imu_odom_: 1691062816.741187836 0.691924 -0.189142 9.63666 -0.04048 0.0149137 0.0330232 0.21 0.02 pose: 0.42980052 5.94826 -1.39559 0 -0.00587269 -0.00165483 -0.702999 0.711164 uwb: 0.0 944.855 427.408 -imu_odom_: 1691062816.766193256 0.634463 -0.385466 9.78989 -0.0617853 -0.02024 0.0468716 0.21 0.02 pose: 0.44047197 5.95338 -1.40056 0 -0.00557946 -0.00291129 -0.703034 0.711128 uwb: 0.50098043 942.854 427.605 -imu_odom_: 1691062816.793136977 0.390255 -0.107739 10.2759 -0.0532632 -0.00958738 0.0490022 0.22 0 pose: 0.0 5.95338 -1.40056 0 -0.00557946 -0.00291129 -0.703034 0.711128 uwb: 0.0 942.854 427.605 -imu_odom_: 1691062816.819282162 0.481235 -0.1652 9.8282 -0.0458064 -0.00532632 0.0394148 0.18 -0.02 pose: 0.32019292 5.94848 -1.40973 0 -0.00758143 -0.00286933 -0.702932 0.711211 uwb: 0.50101252 947.324 426.846 -imu_odom_: 1691062816.846163761 0.383072 -0.339977 10.0485 -0.0745685 -0.0213053 0.0681769 0.18 -0.02 pose: 0.0 5.94848 -1.40973 0 -0.00758143 -0.00286933 -0.702932 0.711211 uwb: 0.49960385 951.307 426.234 -imu_odom_: 1691062816.872137749 0.617704 -0.3304 10.3645 -0.04048 0 0.0308927 0.18 0 pose: 0.52972830 5.95566 -1.41669 0 -0.00321605 -0.00328142 -0.702824 0.711349 uwb: 0.0 951.307 426.234 -imu_odom_: 1691062816.889273598 0.280122 0 9.84735 -0.0479369 -0.00426106 0.0415453 0.18 0 pose: 0.45957791 5.95381 -1.42882 0 -0.0059511 -0.00208203 -0.702689 0.711469 uwb: 0.0 951.307 426.234 -imu_odom_: 1691062816.915171756 0.373495 -0.25618 9.64384 -0.0532632 0.00213053 0.036219 0.18 0 pose: 0.0 5.95381 -1.42882 0 -0.0059511 -0.00208203 -0.702689 0.711469 uwb: 0.50104751 955.338 426.166 -imu_odom_: 1691062816.942109061 0.430956 -0.292093 9.79947 -0.0798948 -0.0436758 0.0479369 0.18 0 pose: 0.25021169 5.95589 -1.43083 0 -0.00369101 -0.00159869 -0.702697 0.711478 uwb: 0.0 955.338 426.166 -imu_odom_: 1691062816.967117689 0.402226 -0.35913 9.82102 -0.0266316 0.00213053 0.0330232 0.2 0 pose: 0.0 5.95589 -1.43083 0 -0.00369101 -0.00159869 -0.702697 0.711478 uwb: 0.49888347 955.833 426.033 -imu_odom_: 1691062816.983249973 0.497994 -0.0047884 9.94791 -0.0596548 -0.0266316 0.0490022 0.2 0 pose: 0.52951830 5.95612 -1.44497 0 -0.00470929 0.00266628 -0.702643 0.711522 uwb: 0.0 955.833 426.033 -imu_odom_: 1691062817.9127716 0.859518 -0.158017 9.54568 -0.0372843 0.036219 0.0308927 0.18 0 pose: 0.0 5.95612 -1.44497 0 -0.00470929 0.00266628 -0.702643 0.711522 uwb: 0.49906721 956.338 426.042 -imu_odom_: 1691062817.36116935 0.332794 -0.198719 9.60314 -0.0575243 0.0191748 0.0543285 0.18 0 pose: 0.41138871 5.94917 -1.45215 0 -0.00430975 0.00206005 -0.702655 0.711515 uwb: 0.0 956.338 426.042 -imu_odom_: 1691062817.62175209 0.507571 -0.227449 10.058 -0.0692422 -0.0340885 0.0511327 0.2 -0.02 pose: 0.0 5.94917 -1.45215 0 -0.00430975 0.00206005 -0.702655 0.711515 uwb: 0.49918972 955.349 426.306 -imu_odom_: 1691062817.79222981 0.45011 -0.148441 9.89284 -0.0607201 0.00106526 0.0596548 0.2 -0.02 pose: 0.44867316 5.95429 -1.45711 0 -0.00186527 0.00132945 -0.70258 0.711601 uwb: 0.0 955.349 426.306 -imu_odom_: 1691062817.104121950 0.337582 -0.146046 9.92157 -0.052198 0.0138484 0.0468716 0.23 -0.02 pose: 0.0 5.95429 -1.45711 0 -0.00186527 0.00132945 -0.70258 0.711601 uwb: 0.50017258 958.336 425.775 -imu_odom_: 1691062817.131163957 0.521936 -0.354342 9.93833 -0.0703074 -0.0191748 0.0458064 0.23 -0.02 pose: 0.43106046 5.9494 -1.4663 0 -0.00203253 -0.00207557 -0.702357 0.711819 uwb: 0.0 958.336 425.775 -imu_odom_: 1691062817.156118631 0.40462 -0.201113 9.92157 -0.0607201 0.0319579 0.0330232 0.23 -0.02 pose: 0.51940976 5.95163 -1.47838 0 -0.00239088 -0.000726849-0.702234 0.711942 uwb: 0.50112335 959.839 425.645 -imu_odom_: 1691062817.183111349 0.701501 -0.174777 10.3501 -0.0330232 -0.04048 0.0287621 0.2 -0.05 pose: 0.0 5.95163 -1.47838 0 -0.00239088 -0.000726849-0.702234 0.711942 uwb: 0.0 959.839 425.645 -imu_odom_: 1691062817.199242176 0.802058 -0.184354 9.93354 -0.0639159 0.00532632 0.0479369 0.2 -0.05 pose: 0.32036208 5.94964 -1.48044 0 -0.000104377-0.000892647-0.702323 0.711858 uwb: 0.49947262 961.324 425.237 -imu_odom_: 1691062817.226142733 0.672771 -0.268151 9.94073 -0.0585895 0.0170442 0.04048 0.25 0 pose: 0.0 5.94964 -1.48044 0 -0.000104377-0.000892647-0.702323 0.711858 uwb: 0.0 961.324 425.237 -imu_odom_: 1691062817.251132988 0.320823 -0.275333 9.93354 -0.0713727 -0.00958738 0.0415453 0.25 0 pose: 0.43969911 5.95684 -1.48739 0 -0.00321308 -0.004192 -0.702337 0.711825 uwb: 0.49979635 962.301 424.748 -imu_odom_: 1691062817.277316963 0.560243 -0.397437 9.79947 -0.0276969 0.02024 0.0383495 0.23 0 pose: 0.43962912 5.95494 -1.49946 0 -0.00379941 -0.00250514 -0.70231 0.711857 uwb: 0.0 962.301 424.748 -imu_odom_: 1691062817.301345067 0.80924 -0.311246 9.95509 -0.0532632 -0.015979 0.0436758 0.23 0 pose: 0.7129365 5.95708 -1.50152 0 -0.0043326 -0.00225315 -0.70231 0.711855 uwb: 0.0 962.301 424.748 -imu_odom_: 1691062817.319225206 0.19393 -0.244209 9.6223 -0.0415453 0.0585895 0.0276969 0.19 -0.02 pose: 0.0 5.95708 -1.50152 0 -0.0043326 -0.00225315 -0.70231 0.711855 uwb: 0.0 962.301 424.748 -imu_odom_: 1691062817.344166464 0.368707 -0.371101 9.43794 -0.052198 0.00319579 0.052198 0.19 -0.02 pose: 0.50939744 5.95013 -1.50872 0 -0.00691115 -0.00254242 -0.702302 0.711841 uwb: 0.100186173 959.802 425.106 -imu_odom_: 1691062817.371095019 0.629675 0.0502782 10.4746 -0.04048 -0.0585895 0.0394148 0.19 0 pose: 0.34964367 5.95733 -1.51567 0 -0.00544952 0.000793736 -0.70223 0.711929 uwb: 0.0 959.802 425.106 -imu_odom_: 1691062817.396103065 0.538695 -0.296881 9.77553 -0.0607201 -0.0255663 0.0447411 0.18 0.02 pose: 0.7010080 5.95733 -1.51567 0 -0.00529047 -3.17158e-05-0.702232 0.711928 uwb: 0.50012883 955.791 425.424 -imu_odom_: 1691062817.413096590 0.0981623 -0.11971 9.67257 -0.04048 -0.00106526 0.0181095 0.18 0.02 pose: 0.0 5.95733 -1.51567 0 -0.00529047 -3.17158e-05-0.702232 0.711928 uwb: 0.0 955.791 425.424 -imu_odom_: 1691062817.429110465 0.565032 -0.308852 9.83059 -0.0660464 -0.0298274 0.0426106 0.18 0.02 pose: 0.51966350 5.95757 -1.5298 0 -0.00686959 -0.00196277 -0.702232 0.711912 uwb: 0.0 955.791 425.424 -imu_odom_: 1691062817.456092684 0.639252 -0.265756 10.2831 -0.0191748 0.0127832 0.0330232 0.25 0 pose: 0.0 5.95757 -1.5298 0 -0.00686959 -0.00196277 -0.702232 0.711912 uwb: 0.0 955.791 425.424 -imu_odom_: 1691062817.481356215 0.509965 -0.0909797 10.1394 -0.0543285 -0.00213053 0.0532632 0.19 0 pose: 0.33076813 5.95063 -1.537 0 -0.00784515 -0.00277991 -0.702302 0.71183 uwb: 0.0 955.791 425.424 -imu_odom_: 1691062817.508154111 0.711078 0 10.1754 -0.0383495 0.111853 0.052198 0.23 0 pose: 0.45136508 5.95555 -1.54175 0 -0.00600206 -0.00556474 -0.702247 0.711887 uwb: 0.99722159 956.267 425.058 -imu_odom_: 1691062817.533144075 0.102951 -0.0574608 10.2376 -0.0394148 0.123571 0.0415453 0.19 0 pose: 0.26797896 5.95294 -1.549 0 -0.0041673 -0.00723297 -0.702138 0.711992 uwb: 0.0 956.267 425.058 -imu_odom_: 1691062817.559088898 -0.304064 -0.100556 10.4076 -0.0585895 0.0351537 0.072438 0.19 0 pose: 0.0 5.95294 -1.549 0 -0.0041673 -0.00723297 -0.702138 0.711992 uwb: 0.50128667 953.726 424.88 -imu_odom_: 1691062817.584128733 0.670376 -0.260968 10.1754 -0.0628506 0.0266316 0.0394148 0.19 0 pose: 0.50934787 5.95612 -1.5562 0 0.00149846 -0.00281573 -0.701846 0.712321 uwb: 0.0 953.726 424.88 -imu_odom_: 1691062817.611415142 0.869095 -0.502782 9.68933 -0.0713727 0.00106526 0.0649811 0.19 0 pose: 0.0 5.95612 -1.5562 0 0.00149846 -0.00281573 -0.701846 0.712321 uwb: 0.49925097 955.734 424.745 -imu_odom_: 1691062817.636116373 0.483629 -0.167594 9.89045 -0.0308927 0.0426106 0.0319579 0.19 0 pose: 0.32000918 5.95113 -1.56528 0 -0.00133851 -0.00344553 -0.701776 0.712389 uwb: 0.0 955.734 424.745 -imu_odom_: 1691062817.653239390 0.323217 -0.232238 9.54089 -0.0830906 -0.00852212 0.0660464 0.19 0 pose: 0.0 5.95113 -1.56528 0 -0.00133851 -0.00344553 -0.701776 0.712389 uwb: 0.0 955.734 424.745 -imu_odom_: 1691062817.678226728 0.486023 -0.270545 9.48343 -0.0692422 0.00213053 0.0383495 0.21 0.02 pose: 0.52154464 5.95834 -1.57222 0 -0.000425961-0.00367633 -0.701595 0.712566 uwb: 0.0 955.734 424.745 -imu_odom_: 1691062817.705179199 0.328006 -0.21069 10.2256 -0.0649811 -0.0468716 0.052198 0.23 -0.02 pose: 0.0 5.95834 -1.57222 0 -0.000425961-0.00367633 -0.701595 0.712566 uwb: 0.100082054 959.724 424.076 -imu_odom_: 1691062817.730109083 0.320823 -0.294487 10.4698 -0.0436758 -0.0340885 0.04048 0.23 -0.02 pose: 0.42049692 5.95141 -1.57942 0 -0.0022267 -0.00136553 -0.701479 0.712686 uwb: 0.0 959.724 424.076 -imu_odom_: 1691062817.747076943 0.363919 -0.189142 9.26077 -0.0777643 -0.00426106 0.0500674 0.21 0 pose: 0.0 5.95141 -1.57942 0 -0.0022267 -0.00136553 -0.701479 0.712686 uwb: 0.49875808 964.259 424.012 -imu_odom_: 1691062817.772118236 0.320823 -0.146046 9.29669 -0.0372843 -0.02024 0.0372843 0.21 0 pose: 0.51791068 5.95168 -1.59356 0 -0.0001393930.00153297 -0.701354 0.712812 uwb: 0.0 964.259 424.012 -imu_odom_: 1691062817.799102788 0.521936 -0.265756 10.2208 -0.052198 -0.0543285 0.04048 0.23 0 pose: 0.35033196 5.9568 -1.59848 0 0.00322473 0.000631466 -0.701331 0.712829 uwb: 0.0 964.259 424.012 -imu_odom_: 1691062817.824066212 0.658405 -0.0550666 10.3669 -0.0575243 -0.0575243 0.0415453 0.23 0 pose: 0.6959042 5.9589 -1.60049 0 0.00244997 0.000279572 -0.70133 0.712832 uwb: 0.0 964.259 424.012 -imu_odom_: 1691062817.851111135 0.550666 -0.112527 9.89284 -0.0490022 0.00852212 0.0351537 0.21 0 pose: 0.44988934 5.95197 -1.6077 0 -0.000872202-0.00361324 -0.701303 0.712853 uwb: 0.100123176 963.726 423.551 -imu_odom_: 1691062817.868055955 0.237026 -0.416591 9.69173 -0.0585895 -0.0181095 0.0532632 0.21 0 pose: 0.0 5.95197 -1.6077 0 -0.000872202-0.00361324 -0.701303 0.712853 uwb: 0.0 963.726 423.551 -imu_odom_: 1691062817.883050516 0.385466 -0.189142 10.3717 -0.0383495 -0.0213053 0.0543285 0.27 0.02 pose: 0.0 5.95197 -1.6077 0 -0.000872202-0.00361324 -0.701303 0.712853 uwb: 0.0 963.726 423.551 -imu_odom_: 1691062817.909042295 0.651223 0.184354 10.2113 -0.0436758 -0.0181095 0.0543285 0.27 0.02 pose: 0.49997717 5.95225 -1.62184 0 -0.000857662-0.00416624 -0.70123 0.712922 uwb: 0.49874350 962.719 423.615 -imu_odom_: 1691062817.936101217 0.289698 -0.304064 10.2113 -0.0436758 -0.0117179 0.0436758 0.19 0.02 pose: 0.34978366 5.95225 -1.62184 0 0.000355435 -0.0062279 -0.701042 0.713092 uwb: 0.0 962.719 423.615 -imu_odom_: 1691062817.962164741 0.447716 -0.146046 9.91678 -0.0543285 0.02024 0.0447411 0.19 0.02 pose: 0.7016205 5.95225 -1.62184 0 0.000388536 -0.00557386 -0.701035 0.713105 uwb: 0.50027174 962.21 423.554 -imu_odom_: 1691062817.989201207 0.555455 0.105345 10.1562 -0.0383495 -0.0106526 0.0415453 0.25 0.02 pose: 0.46106241 5.95446 -1.63398 0 0.0026703 -0.00521781 -0.700961 0.713175 uwb: 0.0 962.21 423.554 -imu_odom_: 1691062818.14148007 0.574608 -0.407014 9.72764 -0.0809601 -0.0191748 0.0458064 0.2 0 pose: 0.0 5.95446 -1.63398 0 0.0026703 -0.00521781 -0.700961 0.713175 uwb: 0.49876099 962.21 423.554 -imu_odom_: 1691062818.41191181 0.447716 -0.0694318 10.2113 -0.0436758 0.0106526 0.0394148 0.2 0 pose: 0.34055005 5.95977 -1.6429 0 0.00281838 -0.00768776 -0.700911 0.713202 uwb: 0.0 962.21 423.554 -imu_odom_: 1691062818.58196664 0.306458 -0.770933 9.14585 -0.0788296 0.015979 0.0543285 0.19 -0.02 pose: 0.0 5.95977 -1.6429 0 0.00281838 -0.00768776 -0.700911 0.713202 uwb: 0.49946097 957.72 424.384 -imu_odom_: 1691062818.85156719 0.272939 -0.0383072 10.3693 -0.0117179 -0.00319579 0.0490022 0.19 -0.02 pose: 0.52989747 5.95285 -1.65012 0 0.00345038 -0.00579392 -0.700844 0.713283 uwb: 0.0 957.72 424.384 -imu_odom_: 1691062818.110219012 0.237026 -0.129287 9.68694 -0.0735032 -0.00213053 0.052198 0.2 0 pose: 0.35947226 5.95306 -1.66021 0 0.00582174 -0.00421794 -0.700713 0.713407 uwb: 0.50003259 958.225 424.394 -imu_odom_: 1691062818.137079614 0.0957681 -0.167594 9.61751 -0.0681769 0.0330232 0.0553937 0.2 0 pose: 0.7993230 5.95315 -1.66426 0 0.00611724 -0.00343795 -0.700682 0.713439 uwb: 0.0 958.225 424.394 -imu_odom_: 1691062818.162079202 0.0981623 -0.126893 9.91918 -0.0490022 0.0543285 0.036219 0.2 0 pose: 0.43929665 5.9583 -1.66918 0 0.00826747 0.00105964 -0.700465 0.713638 uwb: 0.50167750 960.234 424.228 -imu_odom_: 1691062818.189112752 0.150835 -0.294487 9.67736 -0.0756338 0.00106526 0.0511327 0.21 0 pose: 0.0 5.9583 -1.66918 0 0.00826747 0.00105964 -0.700465 0.713638 uwb: 0.0 960.234 424.228 -imu_odom_: 1691062818.206041531 0.323217 -0.0215478 10.4531 -0.0607201 -0.0607201 0.0394148 0.21 0 pose: 0.31991003 5.95347 -1.6784 0 0.0101146 0.00413539 -0.700462 0.713606 uwb: 0.50117295 964.226 423.755 -imu_odom_: 1691062818.231153988 0.754174 -0.0215478 10.331 -0.1012 -0.0820254 0.0692422 0.19 0 pose: 0.0 5.95347 -1.6784 0 0.0101146 0.00413539 -0.700462 0.713606 uwb: 0.0 964.226 423.755 -imu_odom_: 1691062818.256100788 1.12767 -0.215478 10.4483 -0.0447411 -0.0223706 0.0117179 0.19 0 pose: 0.43971371 5.95347 -1.6784 0 0.00815339 0.00344586 -0.700321 0.713774 uwb: 0.49888350 963.217 423.795 -imu_odom_: 1691062818.283109256 0.0047884 -0.1652 9.50498 -0.0628506 0.00426106 0.052198 0.25 0 pose: 0.43058800 5.95571 -1.69053 0 0.00446304 -0.000193516-0.700385 0.713751 uwb: 0.0 963.217 423.795 -imu_odom_: 1691062818.308031849 0.502782 -0.248997 9.41879 -0.0426106 0 0.0340885 0.25 0 pose: 0.6953792 5.95379 -1.69254 0 0.00493358 0.000360524 -0.700354 0.713779 uwb: 0.49930347 963.219 423.818 -imu_odom_: 1691062818.325181407 0.605733 -0.45011 9.88326 -0.0628506 -0.0245011 0.0468716 0.23 0 pose: 0.0 5.95379 -1.69254 0 0.00493358 0.000360524 -0.700354 0.713779 uwb: 0.0 963.219 423.818 -imu_odom_: 1691062818.350073377 0.368707 -0.371101 9.94073 -0.0287621 0.0191748 0.0394148 0.23 0 pose: 0.44977269 5.95889 -1.69741 0 0.00412314 0.000969502 -0.700319 0.713817 uwb: 0.49999760 965.224 423.529 -imu_odom_: 1691062818.367044737 0.234632 -0.107739 9.92397 -0.0617853 -0.00532632 0.0490022 0.21 -0.02 pose: 0.0 5.95889 -1.69741 0 0.00412314 0.000969502 -0.700319 0.713817 uwb: 0.0 965.224 423.529 -imu_odom_: 1691062818.393033016 0.153229 -0.122104 9.67736 -0.0330232 -0.0138484 0.0319579 0.21 -0.02 pose: 0.49042859 5.95411 -1.70668 0 0.00149754 0.00252145 -0.70026 0.713882 uwb: 0.0 965.224 423.529 -imu_odom_: 1691062818.420189934 0.656011 -0.131681 10.3453 -0.0575243 -0.0308927 0.04048 0.25 -0.02 pose: 0.35958308 5.95658 -1.71858 0 0.00505248 0.00305749 -0.700284 0.71384 uwb: 0.50009676 966.748 423.627 -imu_odom_: 1691062818.436070234 0.916979 -0.138864 9.44034 -0.0511327 0.0468716 0.0223706 0.25 -0.02 pose: 0.8052435 5.95444 -1.72082 0 0.00449399 0.00233734 -0.700283 0.713847 uwb: 0.0 966.748 423.627 -imu_odom_: 1691062818.463041371 0.308852 -0.390255 9.74679 -0.0703074 -0.00745685 0.0490022 0.23 -0.02 pose: 0.0 5.95444 -1.72082 0 0.00449399 0.00233734 -0.700283 0.713847 uwb: 0.49907016 966.786 424.284 -imu_odom_: 1691062818.488076832 0.244209 -0.354342 9.73004 -0.0447411 -0.0351537 0.0213053 0.23 -0.02 pose: 0.43032260 5.95444 -1.72082 0 0.00201576 0.000423035 -0.70035 0.713796 uwb: 0.0 966.786 424.284 -imu_odom_: 1691062818.515076843 0.462081 -0.337582 9.83538 -0.0340885 -0.00319579 0.0255663 0.23 0 pose: 0.43959121 5.95476 -1.73495 0 0.000703353 0.00430018 -0.700449 0.713689 uwb: 0.50066839 970.321 424.349 -imu_odom_: 1691062818.540156635 0.711078 -0.167594 10.4746 -0.036219 -0.0298274 0.0468716 0.18 0.02 pose: 0.0 5.95476 -1.73495 0 0.000703353 0.00430018 -0.700449 0.713689 uwb: 0.0 970.321 424.349 -imu_odom_: 1691062818.567025111 0.579397 0.0430956 10.2975 -0.0458064 0.0340885 0.0447411 0.18 0.02 pose: 0.35103484 5.96199 -1.74187 0 -0.00203839 0.0025219 -0.700576 0.71357 uwb: 0.50014343 973.854 424.39 -imu_odom_: 1691062818.592150109 0.526724 -0.268151 9.36372 -0.0628506 0.0234358 0.052198 0.18 0.02 pose: 0.0 5.96199 -1.74187 0 -0.00203839 0.0025219 -0.700576 0.71357 uwb: 0.0 973.854 424.39 -imu_odom_: 1691062818.619078082 -0.023942 -0.167594 9.7444 -0.04048 0.015979 0.0532632 0.18 0.02 pose: 0.51928437 5.95508 -1.74909 0 -0.00213801 -0.00162036 -0.700455 0.713691 uwb: 0.50025425 974.857 424.298 -imu_odom_: 1691062818.635016712 0.61531 -0.349553 10.3262 -0.0830906 -0.0127832 0.0649811 0.2 0 pose: 0.43969329 5.95719 -1.76135 0 -0.00120389 -9.77871e-05-0.700246 0.713901 uwb: 0.0 974.857 424.298 -imu_odom_: 1691062818.661012866 0.490811 0.158017 9.74919 -0.0394148 -0.00852212 0.0532632 0.2 0 pose: 0.0 5.95719 -1.76135 0 -0.00120389 -9.77871e-05-0.700246 0.713901 uwb: 0.50021634 976.88 424.472 -imu_odom_: 1691062818.686035786 0.328006 -0.129287 10.0054 -0.0596548 0.00958738 0.0553937 0.23 0.02 pose: 0.22951919 5.9554 -1.76323 0 -0.00248094 -0.000968381-0.700066 0.714073 uwb: 0.0 976.88 424.472 -imu_odom_: 1691062818.703079767 0.42138 -0.126893 9.61272 -0.0394148 -0.00958738 0.0223706 0.23 0.02 pose: 0.0 5.9554 -1.76323 0 -0.00248094 -0.000968381-0.700066 0.714073 uwb: 0.49952221 978.392 424.484 -imu_odom_: 1691062818.728263677 0.378284 -0.543484 9.23204 -0.0905475 -0.0298274 0.0649811 0.18 0.02 pose: 0.51008283 5.95573 -1.77737 0 0.00165823 -0.00228425 -0.699882 0.714253 uwb: 0.0 978.392 424.484 -imu_odom_: 1691062818.755014619 0.557849 0.00718261 9.77792 -0.052198 -0.0223706 0.036219 0.21 0 pose: 0.35225393 5.95573 -1.77737 0 4.25536e-05 -0.00121524 -0.699718 0.714419 uwb: 0.50119628 977.403 424.968 -imu_odom_: 1691062818.780120951 0.653617 -0.0670376 9.90721 -0.0756338 -0.00745685 0.0458064 0.21 0 pose: 0.0 5.95573 -1.77737 0 4.25536e-05 -0.00121524 -0.699718 0.714419 uwb: 0.0 977.403 424.968 -imu_odom_: 1691062818.806989428 0.464475 -0.234632 9.53132 -0.0905475 -0.0255663 0.0490022 0.23 0.02 pose: 0.6821967 5.95573 -1.77737 0 0.000143289 -0.00193544 -0.699725 0.71441 uwb: 0.49750108 975.888 424.794 -imu_odom_: 1691062818.832043555 0.361524 -0.0957681 9.80665 -0.0639159 -0.00426106 0.0436758 0.23 0.02 pose: 0.0 5.95573 -1.77737 0 0.000143289 -0.00193544 -0.699725 0.71441 uwb: 0.0 975.888 424.794 -imu_odom_: 1691062818.849044955 0.378284 -0.392649 10.0437 -0.0479369 -0.0127832 0.052198 0.23 0.02 pose: 0.52060262 5.95608 -1.79151 0 -0.00113705 -0.00557603 -0.699656 0.714457 uwb: 0.50101254 979.401 424.517 -imu_odom_: 1691062818.875048108 0.960075 -0.0430956 9.663 -0.0447411 0 0.0330232 0.23 0.02 pose: 0.0 5.95608 -1.79151 0 -0.00113705 -0.00557603 -0.699656 0.714457 uwb: 0.0 979.401 424.517 -imu_odom_: 1691062818.901132631 0.31364 -0.162806 10.0509 -0.0681769 0.0245011 0.0543285 0.23 -0.02 pose: 0.51847358 5.95643 -1.80565 0 -0.000342207-0.00277486 -0.699532 0.714595 uwb: 0.49890975 983.43 424.622 -imu_odom_: 1691062818.924004639 0.639252 -0.172383 10.1179 -0.0447411 0.0351537 0.0319579 0.23 -0.02 pose: 0.0 5.95643 -1.80565 0 -0.000342207-0.00277486 -0.699532 0.714595 uwb: 0.0 983.43 424.622 -imu_odom_: 1691062818.948052867 0.241814 -0.126893 10.0724 -0.0713727 -0.00319579 0.0511327 0.19 0 pose: 0.42999012 5.95643 -1.80565 0 -0.0013081 -0.00376081 -0.699508 0.714614 uwb: 0.50138001 989.951 424.166 -imu_odom_: 1691062818.965011978 0.28491 -0.186748 9.57202 -0.0458064 -0.015979 0.0308927 0.19 0 pose: 0.0 5.95643 -1.80565 0 -0.0013081 -0.00376081 -0.699508 0.714614 uwb: 0.0 989.951 424.166 -imu_odom_: 1691062818.990999966 0.567426 -0.160412 9.86411 -0.076699 -0.0138484 0.0639159 0.18 0 pose: 0.49081940 5.95679 -1.81979 0 -0.000318646-0.00327349 -0.699443 0.714681 uwb: 0.0 989.951 424.166 -imu_odom_: 1691062819.8006907 0.514753 -0.0981623 10.3238 -0.0372843 -0.00852212 0.0383495 0.18 0 pose: 0.0 5.95679 -1.81979 0 -0.000318646-0.00327349 -0.699443 0.714681 uwb: 0.50019301 988.444 424.335 -imu_odom_: 1691062819.33105657 0.433351 -0.0622492 9.78271 -0.0511327 0.0213053 0.0415453 0.2 0.02 pose: 0.76932691 5.95715 -1.83393 0 0.000212007 -0.00472677 -0.699205 0.714906 uwb: 0.0 988.444 424.335 -imu_odom_: 1691062819.59987842 0.378284 -0.100556 9.83059 -0.0351537 -0.00852212 0.0351537 0.21 -0.02 pose: 0.8036103 5.95715 -1.83393 0 0.00103212 -0.0049886 -0.6992 0.714908 uwb: 0.50075298 988.439 424.077 -imu_odom_: 1691062819.85018345 0.526724 -0.318429 9.64624 -0.0798948 -0.0458064 0.0458064 0.2 0 pose: 0.43944832 5.95742 -1.84415 0 0.00481418 -0.00385917 -0.699242 0.714858 uwb: 0.0 988.439 424.077 -imu_odom_: 1691062819.112055688 0.790087 -0.105345 10.1562 -0.0383495 -0.0223706 0.036219 0.21 0 pose: 0.0 5.95742 -1.84415 0 0.00481418 -0.00385917 -0.699242 0.714858 uwb: 0.49739027 988.434 423.865 -imu_odom_: 1691062819.137046527 0.749385 -0.0407014 10.058 -0.0490022 -0.052198 0.0415453 0.21 0 pose: 0.32042334 5.95752 -1.84806 0 0.00134728 -0.00409169 -0.699197 0.714916 uwb: 0.0 988.434 423.865 -imu_odom_: 1691062819.154139797 -0.00957681-0.332794 9.74919 -0.0191748 0.0553937 0.0394148 0.22 0 pose: 0.0 5.95752 -1.84806 0 0.00134728 -0.00409169 -0.699197 0.714916 uwb: 0.50089006 985.414 423.91 -imu_odom_: 1691062819.179098555 0.227449 -0.122104 9.85453 -0.0607201 -0.00532632 0.0543285 0.22 0 pose: 0.52050931 5.95788 -1.8622 0 -0.000838162-0.00793804 -0.69918 0.714901 uwb: 0.0 985.414 423.91 -imu_odom_: 1691062819.206059194 0.469264 -0.19393 10.082 -0.0479369 -0.0255663 0.0575243 0.22 -0.02 pose: 0.35017448 5.95788 -1.8622 0 0.00158058 -0.00509891 -0.69907 0.715033 uwb: 0.49892434 982.908 424.026 -imu_odom_: 1691062819.231242813 0.600945 -0.162806 10.0987 -0.0468716 0.0276969 0.036219 0.22 -0.02 pose: 0.6893421 5.95788 -1.8622 0 0.000964363 -0.00480029 -0.699026 0.71508 uwb: 0.0 982.908 424.026 -imu_odom_: 1691062819.257979465 0.150835 0.0023942 9.51216 -0.0916127 0.0170442 0.0692422 0.23 0 pose: 0.45250837 5.95826 -1.87634 0 -0.00210631 -0.00563418 -0.698914 0.71518 uwb: 0.50146461 983.413 424.129 -imu_odom_: 1691062819.274021631 0.390255 -0.0981623 10.2376 -0.0681769 -0.0330232 0.0468716 0.23 0 pose: 0.0 5.95826 -1.87634 0 -0.00210631 -0.00563418 -0.698914 0.71518 uwb: 0.0 983.413 424.129 -imu_odom_: 1691062819.301107387 0.42138 -0.0909797 10.4363 -0.0596548 -0.0415453 0.036219 0.25 0 pose: 0.42778818 5.96185 -1.88709 0 0.00161415 -0.00404525 -0.698611 0.715489 uwb: 0.50163960 982.908 424.073 -imu_odom_: 1691062819.326971133 1.01754 -0.181959 9.92636 -0.0447411 -0.0255663 0.0351537 0.19 0 pose: 0.0 5.96185 -1.88709 0 0.00161415 -0.00404525 -0.698611 0.715489 uwb: 0.0 982.908 424.073 -imu_odom_: 1691062819.354033265 0.584185 -0.0885855 9.27753 -0.0585895 -0.00958738 0.04048 0.25 0.02 pose: 0.52949502 5.95864 -1.89048 0 0.00159255 -0.00716135 -0.698669 0.715408 uwb: 0.49886601 981.899 424.034 -imu_odom_: 1691062819.378961400 0.452504 -0.241814 9.94312 -0.0447411 0.02024 0.0340885 0.2 0 pose: 0.0 5.95864 -1.89048 0 0.00159255 -0.00716135 -0.698669 0.715408 uwb: 0.0 981.899 424.034 -imu_odom_: 1691062819.395954926 0.399832 -0.517148 9.7037 -0.0532632 -0.0276969 0.0415453 0.2 0 pose: 0.34020591 5.95903 -1.90461 0 -0.000244836-0.00863815 -0.698654 0.715407 uwb: 0.50119046 982.397 423.83 -imu_odom_: 1691062819.421052217 0.414197 -0.294487 9.84256 -0.0191748 -0.015979 0.0394148 0.18 0 pose: 0.0 5.95903 -1.90461 0 -0.000244836-0.00863815 -0.698654 0.715407 uwb: 0.0 982.397 423.83 -imu_odom_: 1691062819.448250550 0.122104 -0.0861913 9.59117 -0.0479369 0.0351537 0.0319579 0.18 0 pose: 0.34963202 5.95903 -1.90461 0 -0.00154262 -0.00551957 -0.698683 0.715409 uwb: 0.49830021 984.397 423.303 -imu_odom_: 1691062819.473004279 0.31364 -0.059855 9.47386 -0.0500674 0.0138484 0.0436758 0.19 0 pose: 0.8008688 5.95903 -1.90461 0 -0.00164747 -0.00487212 -0.698683 0.715413 uwb: 0.0 984.397 423.303 -imu_odom_: 1691062819.490000138 0.560243 -0.268151 10.3118 -0.0617853 -0.0351537 0.0394148 0.19 0 pose: 0.0 5.95903 -1.90461 0 -0.00164747 -0.00487212 -0.698683 0.715413 uwb: 0.0 984.397 423.303 -imu_odom_: 1691062819.515988126 0.785298 0 10.2376 -0.0628506 -0.0383495 0.0543285 0.18 -0.02 pose: 0.52124134 5.95942 -1.91875 0 0.00180929 -0.00188019 -0.698754 0.715357 uwb: 0.49873186 982.878 423.064 -imu_odom_: 1691062819.543077090 0.586579 0.0167594 10.1897 -0.0585895 -0.015979 0.0298274 0.18 -0.02 pose: 0.0 5.95942 -1.91875 0 0.00180929 -0.00188019 -0.698754 0.715357 uwb: 0.0 982.878 423.064 -imu_odom_: 1691062819.567973435 0.215478 -0.155623 9.9096 -0.0543285 -0.00532632 0.0351537 0.18 0.02 pose: 0.41942368 5.95981 -1.93289 0 0.00132525 -0.00314897 -0.698685 0.715421 uwb: 0.50016677 979.338 422.827 -imu_odom_: 1691062819.595050442 0.751779 -0.160412 10.0006 -0.0223706 0.00639159 0.02024 0.22 0 pose: 0.52968459 5.95981 -1.93289 0 0.00110345 -0.00709599 -0.698685 0.715394 uwb: 0.50068590 980.34 422.628 -imu_odom_: 1691062819.610960199 0.519542 -0.174777 10.2113 -0.0479369 -0.015979 0.0490022 0.22 0 pose: 0.0 5.95981 -1.93289 0 0.00110345 -0.00709599 -0.698685 0.715394 uwb: 0.0 980.34 422.628 -imu_odom_: 1691062819.638064329 0.682347 -0.0430956 9.98143 -0.0479369 0.0426106 0.0458064 0.23 0 pose: 0.23986691 5.96019 -1.94702 0 0.00157242 -0.00614824 -0.698766 0.715322 uwb: 0.0 980.34 422.628 -imu_odom_: 1691062819.664059900 0.215478 -0.181959 9.51935 -0.0500674 0.0308927 0.052198 0.23 0 pose: 0.43028470 5.96019 -1.94702 0 -0.00113687 -0.00725761 -0.698814 0.715266 uwb: 0.49879019 981.339 422.266 -imu_odom_: 1691062819.690953459 0.143652 -0.0670376 9.6606 -0.0490022 0.0127832 0.0511327 0.25 0 pose: 0.46046164 5.96057 -1.96116 0 0.000489374 -0.00643757 -0.698659 0.715426 uwb: 0.0 981.339 422.266 -imu_odom_: 1691062819.716079332 0.457293 -0.514753 9.44991 -0.0639159 -0.0127832 0.056459 0.25 0 pose: 0.0 5.96057 -1.96116 0 0.000489374 -0.00643757 -0.698659 0.715426 uwb: 0.50136253 983.865 422.284 -imu_odom_: 1691062819.743064469 0.244209 -0.0933739 10.1107 -0.0532632 0.00106526 0.0511327 0.2 0 pose: 0.52019432 5.96085 -1.97119 0 0.000802036 -0.00310975 -0.698414 0.715687 uwb: 0.0 983.865 422.284 -imu_odom_: 1691062819.759008058 0.397437 -0.047884 10.1466 -0.0756338 -0.0149137 0.0575243 0.2 0 pose: 0.0 5.96085 -1.97119 0 0.000802036 -0.00310975 -0.698414 0.715687 uwb: 0.49840229 990.897 421.825 -imu_odom_: 1691062819.785986778 0.35913 -0.181959 10.2735 -0.0639159 -0.0298274 0.0543285 0.25 0.02 pose: 0.42928726 5.96097 -1.9753 0 0.00407975 -0.00308222 -0.698198 0.715886 uwb: 0.0 990.897 421.825 -imu_odom_: 1691062819.811195772 0.339977 -0.129287 9.96467 -0.0575243 -0.0298274 0.052198 0.19 0 pose: 0.0 5.96097 -1.9753 0 0.00407975 -0.00308222 -0.698198 0.715886 uwb: 0.50272162 991.399 421.535 -imu_odom_: 1691062819.838064541 0.572214 -0.0071826110.6398 -0.0692422 -0.015979 0.0458064 0.19 0 pose: 0.26978720 5.96125 -1.98518 0 0.0027461 -0.000747497-0.698069 0.716025 uwb: 0.0 991.399 421.535 -imu_odom_: 1691062819.864053112 1.01514 -0.0167594 9.91199 -0.04048 -0.0138484 0.0245011 0.18 0 pose: 0.52077763 5.96138 -1.98943 0 0.00399459 -0.00349429 -0.69788 0.716195 uwb: 0.49757109 990.892 421.52 -imu_odom_: 1691062819.881049846 0.555455 -0.476446 9.56962 -0.0884169 -0.0106526 0.0490022 0.18 0 pose: 0.0 5.96138 -1.98943 0 0.00399459 -0.00349429 -0.69788 0.716195 uwb: 0.0 990.892 421.52 -imu_odom_: 1691062819.897944795 0.342371 -0.390255 10.058 -0.0585895 -0.0106526 0.0468716 0.18 0.02 pose: 0.0 5.96138 -1.98943 0 0.00399459 -0.00349429 -0.69788 0.716195 uwb: 0.50101255 988.862 421.179 -imu_odom_: 1691062819.913058058 0.0383072 0.0311246 9.72764 -0.0351537 0.00426106 0.0383495 0.18 0.02 pose: 0.50996618 5.9618 -2.00357 0 0.000486423 -0.00412839 -0.697932 0.716152 uwb: 0.0 988.862 421.179 -imu_odom_: 1691062819.938106352 0.112527 -0.0383072 10.0963 -0.0585895 0.00958738 0.0511327 0.18 0.02 pose: 0.0 5.9618 -2.00357 0 0.000486423 -0.00412839 -0.697932 0.716152 uwb: 0.0 988.862 421.179 -imu_odom_: 1691062819.965087114 0.390255 -0.0670376 10.4076 -0.052198 -0.0553937 0.0426106 0.17 0.02 pose: 0.31048977 5.9618 -2.00357 0 0.00238182 -0.00250761 -0.697892 0.716194 uwb: 0.50077632 986.841 421.151 -imu_odom_: 1691062819.991097268 0.54109 -0.102951 9.91678 -0.0383495 -0.0458064 0.04048 0.18 -0.02 pose: 0.44976978 5.96221 -2.01771 0 0.00484776 -0.00454362 -0.697778 0.716283 uwb: 0.0 986.841 421.151 -imu_odom_: 1691062820.17985869 0.143652 -0.306458 9.98382 -0.0617853 0.00426106 0.0511327 0.18 -0.02 pose: 0.0 5.96221 -2.01771 0 0.00484776 -0.00454362 -0.697778 0.716283 uwb: 0.50057508 989.875 421.02 -imu_odom_: 1691062820.34018703 0.31364 -0.169988 10.0293 -0.0511327 -0.00532632 0.04048 0.18 0 pose: 0.8019188 5.96221 -2.01771 0 0.00414938 -0.00520768 -0.697772 0.716289 uwb: 0.0 989.875 421.02 -imu_odom_: 1691062820.60989550 0.361524 -0.272939 9.98382 -0.0809601 0.00426106 0.0671117 0.18 0 pose: 0.0 5.96221 -2.01771 0 0.00414938 -0.00520768 -0.697772 0.716289 uwb: 0.49725903 995.432 420.55 -imu_odom_: 1691062820.85933726 0.237026 -0.311246 10.1778 -0.0436758 0.0351537 0.0308927 0.18 0 pose: 0.52997916 5.96264 -2.03184 0 0.00329447 -0.00314292 -0.697663 0.716411 uwb: 0.0 995.432 420.55 -imu_odom_: 1691062820.113082771 0.620098 -0.536301 9.94791 -0.0798948 -0.0308927 0.0596548 0.23 0.02 pose: 0.42874480 5.96264 -2.03184 0 0.00200574 0.0010122 -0.697431 0.716649 uwb: 0.0 995.432 420.55 -imu_odom_: 1691062820.139006597 0.272939 -0.0454898 9.663 -0.0500674 0.02024 0.0479369 0.19 -0.02 pose: 0.0 5.96264 -2.03184 0 0.00200574 0.0010122 -0.697431 0.716649 uwb: 0.0 995.432 420.55 -imu_odom_: 1691062820.165989985 0.296881 -0.260968 9.60314 -0.0788296 0.0181095 0.0319579 0.23 0 pose: 0.52133468 5.96308 -2.04598 0 3.59615e-05 0.00271512 -0.697269 0.716805 uwb: 0.100074187 993.912 420.634 -imu_odom_: 1691062820.181927741 0.0622492 -0.517148 9.58878 -0.0383495 0.0234358 0.0276969 0.23 0 pose: 0.0 5.96308 -2.04598 0 3.59615e-05 0.00271512 -0.697269 0.716805 uwb: 0.0 993.912 420.634 -imu_odom_: 1691062820.198923309 0.744597 -0.0407014 9.94791 -0.0671117 -0.0394148 0.0490022 0.23 0 pose: 0.0 5.96308 -2.04598 0 3.59615e-05 0.00271512 -0.697269 0.716805 uwb: 0.49952807 1001.49 420.182 -imu_odom_: 1691062820.224009810 1.01754 -0.0646434 9.71088 -0.0298274 0.0127832 0.0255663 0.25 0.02 pose: 0.68823096 5.96352 -2.06011 0 0.0018772 0.00619727 -0.697321 0.71673 uwb: 0.0 1001.49 420.182 -imu_odom_: 1691062820.251120356 0.35913 -0.148441 9.77074 -0.0639159 0.0181095 0.0532632 0.23 0 pose: 0.34074548 5.96352 -2.06011 0 0.000646053 0.00298436 -0.697431 0.716646 uwb: 0.50087841 1003.01 420.117 -imu_odom_: 1691062820.267066279 0.754174 -0.160412 9.75398 -0.0543285 0.0138484 0.0330232 0.23 0 pose: 0.0 5.96352 -2.06011 0 0.000646053 0.00298436 -0.697431 0.716646 uwb: 0.0 1003.01 420.117 -imu_odom_: 1691062820.284048139 0.356736 -0.146046 9.80665 -0.0639159 0.0255663 0.0532632 0.23 0 pose: 0.0 5.96352 -2.06011 0 0.000646053 0.00298436 -0.697431 0.716646 uwb: 0.0 1003.01 420.117 -imu_odom_: 1691062820.301046332 0.45011 -0.31364 10.0533 -0.0756338 -0.00852212 0.0532632 0.18 0 pose: 0.6956126 5.96352 -2.06011 0 0.00114696 0.00254583 -0.697396 0.716681 uwb: 0.0 1003.01 420.117 -imu_odom_: 1691062820.318162934 0.361524 -0.215478 10.1514 -0.0426106 0.0308927 0.0415453 0.18 0 pose: 0.0 5.96352 -2.06011 0 0.00114696 0.00254583 -0.697396 0.716681 uwb: 0.0 1003.01 420.117 -imu_odom_: 1691062820.334162520 0.126893 0.00718261 9.56962 -0.0937433 0.0117179 0.0639159 0.18 0 pose: 0.0 5.96352 -2.06011 0 0.00114696 0.00254583 -0.697396 0.716681 uwb: 0.0 1003.01 420.117 -imu_odom_: 1691062820.350974349 0.823605 -0.1652 10.3501 -0.0735032 -0.0415453 0.0394148 0.25 0 pose: 0.61087975 5.96396 -2.07425 0 0.00257168 2.43008e-05 -0.697207 0.716866 uwb: 0.0 1003.01 420.117 -imu_odom_: 1691062820.366928145 0.730232 -0.191536 9.67976 -0.0585895 -0.0394148 0.0330232 0.18 0 pose: 0.0 5.96396 -2.07425 0 0.00257168 2.43008e-05 -0.697207 0.716866 uwb: 0.0 1003.01 420.117 -imu_odom_: 1691062820.383975335 0.162806 -0.407014 9.84256 -0.0553937 0.0223706 0.0436758 0.18 0 pose: 0.66932917 5.96441 -2.08838 0 0.00105319 0.000329679 -0.69703 0.717041 uwb: 0.0 1003.01 420.117 -imu_odom_: 1691062820.400982277 0.866701 -0.19393 10.2304 -0.0436758 -0.0191748 0.0319579 0.18 0 pose: 0.0 5.96441 -2.08838 0 0.00105319 0.000329679 -0.69703 0.717041 uwb: 0.150009787 1007.57 419.83 -imu_odom_: 1691062820.415971882 0.849942 -0.241814 9.78271 -0.0543285 -0.0351537 0.0458064 0.18 0 pose: 0.0 5.96441 -2.08838 0 0.00105319 0.000329679 -0.69703 0.717041 uwb: 0.0 1007.57 419.83 -imu_odom_: 1691062820.432970074 0.751779 -0.114922 9.39485 -0.0639159 0.00745685 0.0415453 0.18 0 pose: 0.32995154 5.96486 -2.10252 0 0.000161074 0.000829446 -0.697046 0.717025 uwb: 0.0 1007.57 419.83 -imu_odom_: 1691062820.446965155 0.268151 -0.167594 10.0892 -0.0532632 0.0191748 0.0330232 0.2 0 pose: 0.40988092 5.96486 -2.10252 0 -0.00238986 -0.0025565 -0.697024 0.71704 uwb: 0.50014345 1010.62 419.526 -imu_odom_: 1691062820.463020737 0.538695 -0.328006 9.6199 -0.0596548 0.00426106 0.04048 0.2 0 pose: 0.6003308 5.96486 -2.10252 0 -0.00183393 -0.00218134 -0.69704 0.717027 uwb: 0.0 1010.62 419.526 -imu_odom_: 1691062820.477954928 0.184354 -0.184354 9.83538 -0.0490022 0.0745685 0.0319579 0.2 0 pose: 0.0 5.96486 -2.10252 0 -0.00183393 -0.00218134 -0.69704 0.717027 uwb: 0.0 1010.62 419.526 -imu_odom_: 1691062820.494901207 0.433351 -0.474052 9.44752 -0.0415453 0.0276969 0.0223706 0.18 0 pose: 0.38981546 5.96192 -2.11346 0 -0.00101743 -0.000198484-0.697095 0.716978 uwb: 0.49721529 1015.19 419.345 -imu_odom_: 1691062820.508898038 1.00078 -0.395043 9.44991 -0.0617853 -0.0500674 0.0468716 0.18 0 pose: 0.0 5.96192 -2.11346 0 -0.00101743 -0.000198484-0.697095 0.716978 uwb: 0.0 1015.19 419.345 -imu_odom_: 1691062820.524959745 0.368707 -0.0766145 9.66779 -0.0426106 0.00106526 0.0426106 0.18 0 pose: 0.0 5.96192 -2.11346 0 -0.00101743 -0.000198484-0.697095 0.716978 uwb: 0.0 1015.19 419.345 -imu_odom_: 1691062820.539955182 0.383072 -0.131681 9.80426 -0.0245011 0.0127832 0.0372843 0.18 0 pose: 0.37948524 5.96532 -2.11665 0 -0.00276643 -0.000194517-0.697154 0.716916 uwb: 0.0 1015.19 419.345 -imu_odom_: 1691062820.556954250 0.960075 -0.174777 10.0461 -0.0617853 -0.00639159 0.0798948 0.15 0 pose: 0.0 5.96532 -2.11665 0 -0.00276643 -0.000194517-0.697154 0.716916 uwb: 0.50286454 1017.23 419.214 -imu_odom_: 1691062820.570954580 1.28569 -0.387861 9.81144 -0.0681769 -0.0479369 0.102265 0.15 0 pose: 0.0 5.96532 -2.11665 0 -0.00276643 -0.000194517-0.697154 0.716916 uwb: 0.0 1017.23 419.214 -imu_odom_: 1691062820.587890943 2.09971 -0.138864 10.3166 -0.0479369 -0.0798948 0.0575243 0.15 0 pose: 0.31027397 5.96577 -2.13079 0 -0.000652485-0.00155988 -0.697059 0.717012 uwb: 0.0 1017.23 419.214 -imu_odom_: 1691062820.601922188 1.93691 0 9.90481 -0.0436758 -0.0319579 0.0127832 0.13 -0.02 pose: 0.0 5.96577 -2.13079 0 -0.000652485-0.00155988 -0.697059 0.717012 uwb: 0.49902643 1017.23 419.167 -imu_odom_: 1691062820.618956545 1.74777 0.117316 10.3932 -0.0543285 0.0223706 0.0255663 0.13 -0.02 pose: 0.0 5.96577 -2.13079 0 -0.000652485-0.00155988 -0.697059 0.717012 uwb: 0.0 1017.23 419.167 -imu_odom_: 1691062820.633033871 1.35991 -0.316035 10.3669 -0.0713727 -0.0117179 0.0330232 0.13 -0.02 pose: 0.31054519 5.96577 -2.13079 0 -0.00342901 -0.00395854 -0.696544 0.717495 uwb: 0.0 1017.23 419.167 -imu_odom_: 1691062820.649913654 0.94571 -0.632069 9.88805 -0.0490022 0.00958738 0 0.13 -0.02 pose: 0.40971177 5.96577 -2.13079 0 -0.0058807 -0.00766658 -0.696679 0.717317 uwb: 0.50102715 1021.3 419.044 -imu_odom_: 1691062820.663895318 0.533907 -0.220267 9.73004 -0.0500674 -0.00106526 -0.0170442 0.13 -0.02 pose: 0.0 5.96577 -2.13079 0 -0.0058807 -0.00766658 -0.696679 0.717317 uwb: 0.0 1021.3 419.044 -imu_odom_: 1691062820.680038687 0.579397 0.129287 9.97903 -0.0479369 -0.00213053 -0.0170442 0.09 0 pose: 0.6085845 5.96577 -2.13079 0 -0.00642049 -0.00801156 -0.696689 0.7173 uwb: 0.0 1021.3 419.044 -imu_odom_: 1691062820.696935969 0.775721 -0.35913 10.1035 -0.0649811 -0.00958738 0.00958738 0.09 0 pose: 0.0 5.96577 -2.13079 0 -0.00642049 -0.00801156 -0.696689 0.7173 uwb: 0.49933850 1025.86 419.276 -imu_odom_: 1691062820.713030924 0.905008 -0.435745 9.76355 -0.0543285 -0.0266316 0.02024 0.09 0 pose: 0.0 5.96577 -2.13079 0 -0.00642049 -0.00801156 -0.696689 0.7173 uwb: 0.0 1025.86 419.276 -imu_odom_: 1691062820.731027141 0.766145 -0.328006 9.87608 -0.036219 0.00958738 0.0213053 0.11 -0.02 pose: 0.46177699 5.96623 -2.14492 0 -0.00702799 -0.0077406 -0.69737 0.716635 uwb: 0.0 1025.86 419.276 -imu_odom_: 1691062820.748103204 0.684742 -0.0766145 9.77313 -0.0479369 -0.00319579 0.0490022 0.07 -0.02 pose: 0.0 5.96623 -2.14492 0 -0.00702799 -0.0077406 -0.69737 0.716635 uwb: 0.49917809 1030.41 419.59 -imu_odom_: 1691062820.762022455 0.737414 -0.1652 10.0126 -0.0458064 0.00852212 0.0383495 0.07 -0.02 pose: 0.0 5.96623 -2.14492 0 -0.00702799 -0.0077406 -0.69737 0.716635 uwb: 0.0 1030.41 419.59 -imu_odom_: 1691062820.778023208 0.845153 -0.251391 9.98143 -0.0553937 -0.0234358 0.0330232 0.07 -0.02 pose: 0.66872546 5.96623 -2.14492 0 -0.0108775 -0.00934663 -0.697887 0.716065 uwb: 0.0 1030.41 419.59 -imu_odom_: 1691062820.793063559 0.699107 -0.229843 9.69652 -0.0468716 -0.00319579 0.0106526 0.06 -0.02 pose: 0.0 5.96623 -2.14492 0 -0.0108775 -0.00934663 -0.697887 0.716065 uwb: 0.0 1030.41 419.59 -imu_odom_: 1691062820.808975942 0.624887 -0.131681 9.85453 -0.0468716 -0.02024 0.0213053 0.06 -0.02 pose: 0.30940776 5.96623 -2.14492 0 -0.0106674 -0.0118119 -0.697875 0.716042 uwb: 0.50006762 1032.95 419.705 -imu_odom_: 1691062820.825893931 0.790087 -0.1652 9.97185 -0.0649811 0.00213053 0.0255663 0.06 0 pose: 0.15940965 5.96623 -2.14492 0 -0.0114395 -0.0115827 -0.697955 0.715956 uwb: 0.0 1032.95 419.705 -imu_odom_: 1691062820.843965101 0.670376 -0.292093 9.9096 -0.0447411 0.00106526 0.0298274 0.06 0 pose: 0.0 5.96623 -2.14492 0 -0.0114395 -0.0115827 -0.697955 0.715956 uwb: 0.49997721 1038.04 419.429 -imu_odom_: 1691062820.861022790 0.536301 -0.246603 9.97903 -0.0532632 0.0127832 0.0735032 0.06 0 pose: 0.0 5.96623 -2.14492 0 -0.0114395 -0.0115827 -0.697955 0.715956 uwb: 0.0 1038.04 419.429 -imu_odom_: 1691062820.877019459 0.447716 -0.392649 9.88805 -0.0500674 0.00106526 0.108657 0.05 0.02 pose: 0.31001439 5.95944 -2.15226 0 -0.0100653 -0.0116199 -0.698197 0.715741 uwb: 0.0 1038.04 419.429 -imu_odom_: 1691062820.895022675 0.565032 -0.181959 9.92157 -0.0458064 -0.02024 0.0980043 0.04 0.05 pose: 0.0 5.95944 -2.15226 0 -0.0100653 -0.0116199 -0.698197 0.715741 uwb: 0.49995680 1034.5 419.09 -imu_odom_: 1691062820.911874752 0.732626 -0.0861913 9.8665 -0.052198 -0.0127832 0.112918 0.04 0.05 pose: 0.69059624 5.96678 -2.15906 0 -0.00882994 -0.00768495 -0.697548 0.716443 uwb: 0.0 1034.5 419.09 -imu_odom_: 1691062820.926051821 0.744597 -0.220267 9.85693 -0.0575243 0.00213053 0.116114 0.04 0.05 pose: 0.0 5.96678 -2.15906 0 -0.00882994 -0.00768495 -0.697548 0.716443 uwb: 0.0 1034.5 419.09 -imu_odom_: 1691062820.950951084 0.553061 -0.265756 9.90242 -0.0543285 0.00106526 0.123571 0.03 0.02 pose: 0.0 5.96678 -2.15906 0 -0.00882994 -0.00768495 -0.697548 0.716443 uwb: 0.50072674 1033.47 419.312 -imu_odom_: 1691062820.967936735 -0.122104 -0.344765 9.72764 -0.0596548 0.0681769 0.0958738 0.03 0.02 pose: 0.32962197 5.96678 -2.15906 0 -0.00826052 -0.00970097 -0.696731 0.717219 uwb: 0.0 1033.47 419.312 -imu_odom_: 1691062820.984987717 -0.97444 0.0814029 9.98861 -0.0479369 0.0543285 -0.0298274 0.04 0.05 pose: 0.39948946 5.96678 -2.15906 0 -0.00767818 -0.00688667 -0.695624 0.718332 uwb: 0.0 1033.47 419.312 -imu_odom_: 1691062821.1900748 -1.16358 0.167594 9.48104 -0.0596548 -0.0319579 -0.136354 0.04 0.05 pose: 0.0 5.96678 -2.15906 0 -0.00767818 -0.00688667 -0.695624 0.718332 uwb: 0.49939392 1036.52 419.402 -imu_odom_: 1691062821.17939706 -0.215478 0.136469 10.2568 -0.0447411 -0.0671117 -0.251402 0.08 -0.29 pose: 0.43954166 5.9667 -2.15905 0 -0.00383049 -0.00374619 -0.696942 0.717107 uwb: 0.0 1036.52 419.402 -imu_odom_: 1691062821.35938548 0.426168 0.023942 10.0963 -0.0735032 -0.0681769 -0.285491 0.08 -0.29 pose: 0.0 5.9667 -2.15905 0 -0.00383049 -0.00374619 -0.696942 0.717107 uwb: 0.0 1036.52 419.402 -imu_odom_: 1691062821.53088982 0.318429 -0.148441 9.74201 -0.0532632 -0.0436758 -0.289752 0.08 -0.29 pose: 0.0 5.9667 -2.15905 0 -0.00383049 -0.00374619 -0.696942 0.717107 uwb: 0.49992764 1041.08 419.683 -imu_odom_: 1691062821.67059564 -0.191536 -0.263362 9.98861 -0.0394148 0.0223706 -0.318514 0.1 -0.41 pose: 0.8064976 5.96678 -2.15906 0 -0.00321347 -0.00368825 -0.697786 0.716289 uwb: 0.0 1041.08 419.683 -imu_odom_: 1691062821.83080149 -0.435745 0.143652 9.85453 -0.0575243 0.00532632 -0.36432 0.1 -0.38 pose: 0.0 5.96678 -2.15906 0 -0.00321347 -0.00368825 -0.697786 0.716289 uwb: 0.0 1041.08 419.683 -imu_odom_: 1691062821.98147333 -0.129287 0.179565 10.2113 -0.0617853 -0.0191748 -0.394148 0.1 -0.38 pose: 0.0 5.96678 -2.15906 0 -0.00321347 -0.00368825 -0.697786 0.716289 uwb: 0.50049052 1044.63 419.875 -imu_odom_: 1691062821.113974846 0.442927 -0.100556 10.082 -0.0777643 -0.0479369 -0.412257 0.1 -0.38 pose: 0.64185000 5.9673 -2.17321 0 0.00132562 -0.00246776 -0.705532 0.708673 uwb: 0.0 1044.63 419.875 -imu_odom_: 1691062821.131190609 0.565032 -0.318429 9.92397 -0.0777643 -0.0117179 -0.447411 0.1 -0.47 pose: 0.0 5.9673 -2.17321 0 0.00132562 -0.00246776 -0.705532 0.708673 uwb: 0.0 1044.63 419.875 -imu_odom_: 1691062821.148878261 -0.301669 -0.172383 9.56244 -0.0596548 0.0117179 -0.465521 0.1 -0.47 pose: 0.31053062 5.9673 -2.17321 0 0.00319349 -0.00248094 -0.710239 0.703949 uwb: 0.50135672 1042.11 419.545 -imu_odom_: 1691062821.165994864 0.567426 0.304064 10.3837 -0.0607201 -0.0287621 -0.488956 0.12 -0.55 pose: 0.43674475 5.96721 -2.1732 0 0.00223939 -0.00171284 -0.71769 0.696357 uwb: 0.0 1042.11 419.545 -imu_odom_: 1691062821.182995682 0.146046 -0.131681 9.2895 -0.0575243 0.00639159 -0.515588 0.12 -0.55 pose: 0.0 5.96721 -2.1732 0 0.00223939 -0.00171284 -0.71769 0.696357 uwb: 0.0 1042.11 419.545 -imu_odom_: 1691062821.200914612 0.342371 0.0622492 10.2041 -0.0703074 -0.0170442 -0.528371 0.12 -0.55 pose: 0.0 5.96721 -2.1732 0 0.00223939 -0.00171284 -0.71769 0.696357 uwb: 0.49930060 1045.65 420.001 -imu_odom_: 1691062821.217916013 0.445322 -0.126893 9.69173 -0.0756338 -0.00213053 -0.567786 0.13 -0.58 pose: 0.8130598 5.9673 -2.17321 0 0.00248208 -0.00250711 -0.719183 0.694812 uwb: 0.0 1045.65 420.001 -imu_odom_: 1691062821.233918224 0.703895 0.047884 10.4244 -0.0660464 -0.0820254 -0.569916 0.13 -0.61 pose: 0.0 5.9673 -2.17321 0 0.00248208 -0.00250711 -0.719183 0.694812 uwb: 0.0 1045.65 420.001 -imu_odom_: 1691062821.251917066 1.60412 -0.217872 9.62708 -0.0894822 -0.0213053 -0.52411 0.13 -0.61 pose: 0.66912212 5.96786 -2.18733 0 0.00328862 -0.00438915 -0.732363 0.680893 uwb: 0.49797068 1047.18 419.888 -imu_odom_: 1691062821.268916717 1.03908 -0.471658 9.77074 -0.0607201 0.00319579 -0.462325 0.11 -0.5 pose: 0.0 5.96786 -2.18733 0 0.00328862 -0.00438915 -0.732363 0.680893 uwb: 0.0 1047.18 419.888 -imu_odom_: 1691062821.285966240 1.04866 -0.263362 9.67018 -0.0575243 0.00532632 -0.42291 0.11 -0.5 pose: 0.0 5.96786 -2.18733 0 0.00328862 -0.00438915 -0.732363 0.680893 uwb: 0.0 1047.18 419.888 -imu_odom_: 1691062821.302904645 0.969652 -0.325611 10.0724 -0.0447411 0.00639159 -0.381365 0.11 -0.5 pose: 0.34939288 5.96786 -2.18733 0 0.000241745 -0.00658227 -0.739025 0.673645 uwb: 0.50187586 1047.16 420.145 -imu_odom_: 1691062821.318844735 0.603339 -0.035913 10.1059 -0.0585895 -0.0127832 -0.34408 0.11 -0.53 pose: 0.34058799 5.96109 -2.19469 0 -0.00274919 -0.00767634 -0.744321 0.667772 uwb: 0.0 1047.16 420.145 -imu_odom_: 1691062821.335838262 0.758962 -0.244209 9.77553 -0.0532632 -0.0149137 -0.313188 0.11 -0.53 pose: 0.0 5.96109 -2.19469 0 -0.00274919 -0.00767634 -0.744321 0.667772 uwb: 0.0 1047.16 420.145 -imu_odom_: 1691062821.353860435 0.691924 -0.201113 9.86411 -0.0532632 -0.00958738 -0.285491 0.06 -0.32 pose: 0.0 5.96109 -2.19469 0 -0.00274919 -0.00767634 -0.744321 0.667772 uwb: 0.50068301 1043.13 419.69 -imu_odom_: 1691062821.370860962 0.684742 -0.380678 9.63666 -0.0617853 -0.00852212 -0.252468 0.06 -0.32 pose: 0.42919104 5.96101 -2.19468 0 -0.00478221 -0.00982566 -0.749716 0.66167 uwb: 0.0 1043.13 419.69 -imu_odom_: 1691062821.387927984 0.751779 -0.287304 10.1562 -0.0596548 -0.00958738 -0.216249 0.06 -0.32 pose: 0.0 5.96101 -2.19468 0 -0.00478221 -0.00982566 -0.749716 0.66167 uwb: 0.0 1043.13 419.69 -imu_odom_: 1691062821.403963735 0.830788 -0.23942 9.77313 -0.0490022 -0.0117179 -0.209857 0.05 -0.26 pose: 0.8064102 5.96109 -2.19469 0 -0.00558373 -0.00992022 -0.750573 0.660689 uwb: 0.49922185 1042.6 419.957 -imu_odom_: 1691062821.421958202 0.816423 -0.251391 9.56244 -0.0490022 -0.0149137 -0.201335 0.05 -0.26 pose: 0.0 5.96109 -2.19469 0 -0.00558373 -0.00992022 -0.750573 0.660689 uwb: 0.0 1042.6 419.957 -imu_odom_: 1691062821.438897190 0.622492 -0.174777 10.0197 -0.056459 0.00745685 -0.18216 0.05 -0.26 pose: 0.0 5.96109 -2.19469 0 -0.00558373 -0.00992022 -0.750573 0.660689 uwb: 0.0 1042.6 419.957 -imu_odom_: 1691062821.452854356 0.679953 -0.356736 10.0963 -0.0649811 -0.0181095 -0.165116 0.04 -0.23 pose: 0.51025202 5.96848 -2.20142 0 -0.0103743 -0.00941755 -0.755227 0.655314 uwb: 0.49860064 1041.04 420.363 -imu_odom_: 1691062821.467836087 0.438139 -0.129287 9.77313 -0.0511327 -0.0181095 -0.165116 0.03 -0.14 pose: 0.0 5.96848 -2.20142 0 -0.0103743 -0.00941755 -0.755227 0.655314 uwb: 0.0 1041.04 420.363 -imu_odom_: 1691062821.486064165 0.696713 -0.244209 9.87129 -0.0607201 -0.0340885 -0.133158 0.03 -0.14 pose: 0.65047407 5.9617 -2.20877 0 -0.0113092 -0.00883644 -0.759994 0.649772 uwb: 0.0 1041.04 420.363 -imu_odom_: 1691062821.502832538 0.701501 -0.268151 9.81862 -0.0596548 -0.00532632 -0.102265 0.03 -0.11 pose: 0.0 5.9617 -2.20877 0 -0.0113092 -0.00883644 -0.759994 0.649772 uwb: 0.49890103 1044.06 420.726 -imu_odom_: 1691062821.516857367 0.677559 -0.445322 9.98143 -0.0511327 0.00426106 -0.092678 0.03 -0.11 pose: 0.0 5.9617 -2.20877 0 -0.0113092 -0.00883644 -0.759994 0.649772 uwb: 0.0 1044.06 420.726 -imu_odom_: 1691062821.531950507 0.617704 -0.203507 9.77074 -0.0543285 -0.00639159 -0.0852212 0.03 -0.11 pose: 0.32858079 5.9617 -2.20877 0 -0.0131079 -0.00827528 -0.761821 0.647602 uwb: 0.0 1044.06 420.726 -imu_odom_: 1691062821.549897727 0.694318 -0.148441 9.89524 -0.0532632 -0.0117179 -0.0649811 0.04 -0.17 pose: 0.39117455 5.96161 -2.20876 0 -0.0129666 -0.00666071 -0.763484 0.645662 uwb: 0.49923352 1045.06 420.944 -imu_odom_: 1691062821.566889212 0.646434 -0.220267 9.84256 -0.0617853 -0.00532632 -0.0479369 0.04 -0.17 pose: 0.7956484 5.9617 -2.20877 0 -0.0125317 -0.00734875 -0.76376 0.645337 uwb: 0.0 1045.06 420.944 -imu_odom_: 1691062821.580876419 0.579397 -0.282516 9.87608 -0.0553937 0 -0.0500674 0.04 -0.17 pose: 0.0 5.9617 -2.20877 0 -0.0125317 -0.00734875 -0.76376 0.645337 uwb: 0.0 1045.06 420.944 -imu_odom_: 1691062821.595896647 0.586579 -0.253785 9.93354 -0.0575243 -0.0149137 -0.0436758 0.01 -0.08 pose: 0.40969428 5.9617 -2.20877 0 -0.00997447 -0.00654065 -0.765016 0.643901 uwb: 0.50060135 1048.61 421.161 -imu_odom_: 1691062821.613843283 0.711078 -0.208296 9.89763 -0.056459 -0.00852212 -0.0213053 0.02 -0.05 pose: 0.0 5.9617 -2.20877 0 -0.00997447 -0.00654065 -0.765016 0.643901 uwb: 0.0 1048.61 421.161 -imu_odom_: 1691062821.630892515 0.727837 -0.335188 9.90481 -0.056459 -0.00426106 -0.00426106 0.02 -0.05 pose: 0.0 5.9617 -2.20877 0 -0.00997447 -0.00654065 -0.765016 0.643901 uwb: 0.0 1048.61 421.161 -imu_odom_: 1691062821.644821100 0.641646 -0.282516 9.8689 -0.0543285 -0.00319579 0.00426106 0.02 -0.05 pose: 0.23058373 5.9617 -2.20877 0 -0.00953724 -0.00610315 -0.76558 0.643241 uwb: 0.49923935 1044.04 421.007 -imu_odom_: 1691062821.659887408 0.629675 -0.198719 9.91678 -0.0543285 -0.00319579 0.0138484 0.01 -0.02 pose: 0.0 5.9617 -2.20877 0 -0.00953724 -0.00610315 -0.76558 0.643241 uwb: 0.0 1044.04 421.007 -imu_odom_: 1691062821.677832003 0.593762 -0.198719 9.87369 -0.0575243 -0.00745685 0.0234358 0.01 -0.02 pose: 0.0 5.9617 -2.20877 0 -0.00953724 -0.00610315 -0.76558 0.643241 uwb: 0.0 1044.04 421.007 -imu_odom_: 1691062821.691877539 0.687136 -0.220267 9.96946 -0.056459 -0.00958738 0.0266316 0 0 pose: 0.73897211 5.9617 -2.20877 0 -0.00869126 -0.00661218 -0.766398 0.642273 uwb: 0.0 1044.04 421.007 -imu_odom_: 1691062821.706837979 0.610521 -0.282516 9.8665 -0.0575243 -0.00106526 0.0415453 0 0 pose: 0.0 5.9617 -2.20877 0 -0.00869126 -0.00661218 -0.766398 0.642273 uwb: 0.50240666 1045.07 420.968 -imu_odom_: 1691062821.721814460 0.481235 -0.31364 9.87608 -0.0532632 0.00958738 0.052198 0 0 pose: 0.0 5.9617 -2.20877 0 -0.00869126 -0.00661218 -0.766398 0.642273 uwb: 0.0 1045.07 420.968 -imu_odom_: 1691062821.735891202 0.332794 -0.21069 9.92157 -0.0500674 0.00532632 0.0490022 0 0 pose: 0.6057263 5.9617 -2.20877 0 -0.00914403 -0.00703918 -0.766418 0.642238 uwb: 0.0 1045.07 420.968 -imu_odom_: 1691062821.750864766 0.31364 -0.124498 9.90481 -0.0543285 -0.00426106 0.0490022 0 0 pose: 0.0 5.9617 -2.20877 0 -0.00914403 -0.00703918 -0.766418 0.642238 uwb: 0.49905562 1045.59 420.844 -imu_odom_: 1691062821.764834474 0.402226 -0.213084 9.87369 -0.0575243 -0.0106526 0.0426106 0 0 pose: 0.0 5.9617 -2.20877 0 -0.00914403 -0.00703918 -0.766418 0.642238 uwb: 0.0 1045.59 420.844 -imu_odom_: 1691062821.778850845 0.514753 -0.208296 9.88326 -0.056459 -0.0138484 0.0330232 0 0 pose: 0.43930252 5.9617 -2.20877 0 -0.00869845 -0.00440172 -0.766362 0.642335 uwb: 0.0 1045.59 420.844 -imu_odom_: 1691062821.792830177 0.550666 -0.229843 9.88087 -0.0553937 -0.00745685 0.0340885 0 0 pose: 0.0 5.9617 -2.20877 0 -0.00869845 -0.00440172 -0.766362 0.642335 uwb: 0.0 1045.59 420.844 -imu_odom_: 1691062821.807916317 0.509965 -0.282516 9.91439 -0.0543285 -0.00106526 0.0415453 0 0 pose: 0.0 5.9617 -2.20877 0 -0.00869845 -0.00440172 -0.766362 0.642335 uwb: 0.49924518 1047.11 420.966 -imu_odom_: 1691062821.821909357 0.440533 -0.229843 9.88805 -0.0532632 0.00106526 0.0426106 0 0 pose: 0.43084176 5.9617 -2.20877 0 -0.00486054 -0.00339696 -0.766318 0.642434 uwb: 0.0 1047.11 420.966 -imu_odom_: 1691062821.835907646 0.407014 -0.167594 9.88087 -0.052198 -0.00106526 0.0415453 0 0 pose: 0.0 5.9617 -2.20877 0 -0.00486054 -0.00339696 -0.766318 0.642434 uwb: 0.0 1047.11 420.966 -imu_odom_: 1691062821.850911833 0.40462 -0.174777 9.91678 -0.0532632 -0.00532632 0.04048 0 0 pose: 0.0 5.9617 -2.20877 0 -0.00486054 -0.00339696 -0.766318 0.642434 uwb: 0.50088133 1037.48 420.734 -imu_odom_: 1691062821.864901372 0.517148 -0.232238 9.85453 -0.0543285 -0.00639159 0.036219 0 0 pose: 0.43150965 5.9617 -2.20877 0 -0.00541038 -0.00239486 -0.766338 0.642411 uwb: 0.0 1037.48 420.734 -imu_odom_: 1691062821.878966157 0.438139 -0.237026 9.90242 -0.0543285 -0.00426106 0.0372843 0 0 pose: 0.0 5.9617 -2.20877 0 -0.00541038 -0.00239486 -0.766338 0.642411 uwb: 0.0 1037.48 420.734 -imu_odom_: 1691062821.893961303 0.457293 -0.232238 9.91439 -0.0543285 -0.00426106 0.04048 0 0 pose: 0.0 5.9617 -2.20877 0 -0.00541038 -0.00239486 -0.766338 0.642411 uwb: 0.49902062 1040.52 420.985 -imu_odom_: 1691062821.908966657 0.464475 -0.205901 9.92157 -0.0553937 -0.00426106 0.0394148 0 0 pose: 0.42773862 5.9617 -2.20877 0 -0.00231932 -0.00210313 -0.766336 0.642433 uwb: 0.0 1040.52 420.985 -imu_odom_: 1691062821.922913616 0.457293 -0.222661 9.88566 -0.0553937 -0.00532632 0.0383495 0 0 pose: 0.0 5.9617 -2.20877 0 -0.00231932 -0.00210313 -0.766336 0.642433 uwb: 0.0 1040.52 420.985 -imu_odom_: 1691062821.937958342 0.474052 -0.215478 9.89524 -0.0543285 -0.00639159 0.0383495 0 0 pose: 0.0 5.9617 -2.20877 0 -0.00231932 -0.00210313 -0.766336 0.642433 uwb: 0.0 1040.52 420.985 -imu_odom_: 1691062821.952859286 0.502782 -0.246603 9.84017 -0.052198 0 0.0394148 0 0 pose: 0.43144840 5.9617 -2.20877 0 -0.00349385 -0.00130802 -0.766347 0.642416 uwb: 0.49970598 1046.58 421.583 -imu_odom_: 1691062821.966848825 0.464475 -0.251391 9.90721 -0.0543285 -0.00213053 0.0394148 0 0 pose: 0.0 5.9617 -2.20877 0 -0.00349385 -0.00130802 -0.766347 0.642416 uwb: 0.0 1046.58 421.583 -imu_odom_: 1691062821.981880136 0.466869 -0.189142 9.89045 -0.0553937 -0.00532632 0.0415453 0 0 pose: 0.0 5.9617 -2.20877 0 -0.00349385 -0.00130802 -0.766347 0.642416 uwb: 0.0 1046.58 421.583 -imu_odom_: 1691062821.996828910 0.42138 -0.201113 9.91199 -0.0553937 -0.00745685 0.04048 0 0 pose: 0.43863172 5.9617 -2.20877 0 -0.00324542 -0.00209058 -0.76636 0.6424 uwb: 0.49970599 1043.03 421.472 -imu_odom_: 1691062822.10887278 0.466869 -0.225055 9.8689 -0.056459 -0.00532632 0.0383495 0 0 pose: 0.0 5.9617 -2.20877 0 -0.00324542 -0.00209058 -0.76636 0.6424 uwb: 0.0 1043.03 421.472 -imu_odom_: 1691062822.25799013 0.488417 -0.229843 9.91439 -0.0553937 -0.00639159 0.0394148 0 0 pose: 0.0 5.9617 -2.20877 0 -0.00324542 -0.00209058 -0.76636 0.6424 uwb: 0.0 1043.03 421.472 -imu_odom_: 1691062822.40901487 0.466869 -0.246603 9.91678 -0.056459 -0.00532632 0.0394148 0 0 pose: 0.44060327 5.9617 -2.20877 0 -0.00212072 -0.00171294 -0.766352 0.642415 uwb: 0.0 1043.03 421.472 -imu_odom_: 1691062822.54954314 0.490811 -0.215478 9.90481 -0.0543285 0 0.0415453 0 0 pose: 0.0 5.9617 -2.20877 0 -0.00212072 -0.00171294 -0.766352 0.642415 uwb: 0.50070928 1044.55 421.517 -imu_odom_: 1691062822.69821427 0.442927 -0.208296 9.89524 -0.0543285 -0.00106526 0.04048 0 0 pose: 0.0 5.9617 -2.20877 0 -0.00212072 -0.00171294 -0.766352 0.642415 uwb: 0.0 1044.55 421.517 -imu_odom_: 1691062822.84945774 0.440533 -0.21069 9.87369 -0.0543285 -0.00745685 0.04048 0 0 pose: 0.43903128 5.9617 -2.20877 0 -0.00385381 -0.00173425 -0.76635 0.642409 uwb: 0.0 1044.55 421.517 -imu_odom_: 1691062822.98950771 0.428562 -0.21069 9.88566 -0.0553937 -0.00532632 0.04048 0 0 pose: 0.0 5.9617 -2.20877 0 -0.00385381 -0.00173425 -0.76635 0.642409 uwb: 0.49916645 1040.48 421.477 -imu_odom_: 1691062822.113939793 0.457293 -0.205901 9.84496 -0.0553937 -0.00639159 0.0394148 0 0 pose: 0.0 5.9617 -2.20877 0 -0.00385381 -0.00173425 -0.76635 0.642409 uwb: 0.0 1040.48 421.477 -imu_odom_: 1691062822.128079532 0.466869 -0.222661 9.87608 -0.056459 -0.00426106 0.0394148 0 0 pose: 0.44046037 5.9617 -2.20877 0 -0.00151179 -0.00148912 -0.766344 0.642428 uwb: 0.0 1040.48 421.477 -imu_odom_: 1691062822.141938413 0.474052 -0.222661 9.87129 -0.056459 -0.00426106 0.0394148 0 0 pose: 0.0 5.9617 -2.20877 0 -0.00151179 -0.00148912 -0.766344 0.642428 uwb: 0.0 1040.48 421.477 -imu_odom_: 1691062822.156808442 0.428562 -0.189142 9.88566 -0.0543285 -0.00426106 0.0394148 0 0 pose: 0.0 5.9617 -2.20877 0 -0.00151179 -0.00148912 -0.766344 0.642428 uwb: 0.50197211 1041.99 421.679 -imu_odom_: 1691062822.170928057 0.45011 -0.205901 9.90721 -0.0553937 -0.00639159 0.0394148 0 0 pose: 0.44251067 5.9617 -2.20877 0 -0.00247485 -0.00185142 -0.766336 0.642432 uwb: 0.0 1041.99 421.679 -imu_odom_: 1691062822.184854309 0.42138 -0.213084 9.88326 -0.0543285 -0.00639159 0.0372843 0 0 pose: 0.0 5.9617 -2.20877 0 -0.00247485 -0.00185142 -0.766336 0.642432 uwb: 0.0 1041.99 421.679 -imu_odom_: 1691062822.206963365 0.490811 -0.258574 9.87369 -0.056459 -0.00213053 0.0383495 0 0 pose: 0.0 5.9617 -2.20877 0 -0.00247485 -0.00185142 -0.766336 0.642432 uwb: 0.49872898 1039.98 421.278 -imu_odom_: 1691062822.223956017 0.148441 -0.25618 9.80665 -0.0607201 0.0255663 0.0138484 0 0.02 pose: 0.42719033 5.9617 -2.20877 0 -0.0016029 -0.0018343 -0.766343 0.642428 uwb: 0.0 1039.98 421.278 -imu_odom_: 1691062822.240942544 -0.0814029 -0.158017 10.2783 -0.04048 0.0287621 -0.0830906 0.03 0.05 pose: 0.0 5.9617 -2.20877 0 -0.0016029 -0.0018343 -0.766343 0.642428 uwb: 0.0 1039.98 421.278 -imu_odom_: 1691062822.257890866 -1.16598 0.237026 9.70131 -0.0511327 0.0543285 -0.036219 0.03 0.05 pose: 0.69215951 5.9617 -2.20877 0 -0.0007962380.000865058 -0.766819 0.641863 uwb: 0.50043221 1041.51 421.338 -imu_odom_: 1691062822.275998785 -0.964863 -0.907402 9.93594 -0.076699 -0.0511327 0.102265 0.04 0.02 pose: 0.0 5.9617 -2.20877 0 -0.0007962380.000865058 -0.766819 0.641863 uwb: 0.0 1041.51 421.338 -imu_odom_: 1691062822.292879152 0.0837971 -0.612916 9.80426 -0.0490022 -0.0788296 0.0894822 0.04 0.02 pose: 0.0 5.9617 -2.20877 0 -0.0007962380.000865058 -0.766819 0.641863 uwb: 0.0 1041.51 421.338 -imu_odom_: 1691062822.309938300 0.454898 0.141258 9.66779 -0.036219 -0.0127832 0.0990696 0.04 0.02 pose: 0.33919392 5.9617 -2.20877 0 0.00219947 0.00300313 -0.767413 0.641142 uwb: 0.50115841 1037.96 421.165 -imu_odom_: 1691062822.326955743 0.263362 0.0622492 9.90721 -0.0553937 0.0234358 0.108657 0.06 0.08 pose: 0.34012719 5.9617 -2.20877 0 0.00195266 0.00435977 -0.766804 0.641864 uwb: 0.0 1037.96 421.165 -imu_odom_: 1691062822.343995059 -0.0790087 -0.167594 10.1754 -0.0458064 0.015979 0.0692422 0.06 0.08 pose: 0.0 5.9617 -2.20877 0 0.00195266 0.00435977 -0.766804 0.641864 uwb: 0.49918978 1044.04 421.313 -imu_odom_: 1691062822.358854880 0.0622492 -0.471658 10.0221 -0.0553937 -0.0106526 0.0713727 0.06 0.08 pose: 0.0 5.9617 -2.20877 0 0.00195266 0.00435977 -0.766804 0.641864 uwb: 0.0 1044.04 421.313 -imu_odom_: 1691062822.377018796 0.184354 -0.476446 9.94073 -0.0649811 -0.0138484 0.0777643 0.08 0.05 pose: 0.50931002 5.96222 -2.2229 0 0.00540676 0.00412609 -0.765991 0.642816 uwb: 0.0 1044.04 421.313 -imu_odom_: 1691062822.392847184 0.378284 -0.174777 9.9096 -0.0628506 -0.0276969 0.0681769 0.08 0.05 pose: 0.0 5.96222 -2.2229 0 0.00540676 0.00412609 -0.765991 0.642816 uwb: 0.0 1044.04 421.313 -imu_odom_: 1691062822.410861192 0.462081 -0.0550666 9.84735 -0.0639159 0.00319579 0.0798948 0.13 0.02 pose: 0.41951995 5.96222 -2.2229 0 0.00387522 0.00499355 -0.765551 0.643345 uwb: 0.50102717 1042.04 420.952 -imu_odom_: 1691062822.427023519 0.0981623 -0.208296 9.87129 -0.0383495 0.0127832 0.0511327 0.13 0.02 pose: 0.0 5.96222 -2.2229 0 0.00387522 0.00499355 -0.765551 0.643345 uwb: 0.0 1042.04 420.952 -imu_odom_: 1691062822.444927283 0.071826 -0.205901 9.9934 -0.0394148 -0.0223706 0.0447411 0.13 0.02 pose: 0.0 5.96222 -2.2229 0 0.00387522 0.00499355 -0.765551 0.643345 uwb: 0.49911687 1045.6 421.033 -imu_odom_: 1691062822.461986431 0.308852 -0.342371 9.75398 -0.0735032 0.00426106 0.0852212 0.11 0.02 pose: 0.8185136 5.96222 -2.2229 0 0.00382005 0.00422248 -0.765445 0.643476 uwb: 0.0 1045.6 421.033 -imu_odom_: 1691062822.474928659 0.435745 -0.337582 10.1251 -0.0490022 -0.00532632 0.0628506 0.11 0 pose: 0.0 5.96222 -2.2229 0 0.00382005 0.00422248 -0.765445 0.643476 uwb: 0.0 1045.6 421.033 -imu_odom_: 1691062822.490806628 0.737414 -0.146046 10.1299 -0.0607201 -0.0436758 0.0266316 0.11 0 pose: 0.66855051 5.95538 -2.2302 0 0.0044289 0.00584658 -0.764932 0.644069 uwb: 0.0 1045.6 421.033 -imu_odom_: 1691062822.508924463 1.13964 0.122104 9.6199 -0.0681769 -0.0553937 0.0617853 0.11 0 pose: 0.0 5.95538 -2.2302 0 0.0044289 0.00584658 -0.764932 0.644069 uwb: 0.50019598 1040.04 420.575 -imu_odom_: 1691062822.525920323 1.29047 -0.253785 9.98143 -0.0713727 -0.0106526 0.108657 0.14 0 pose: 0.0 5.95538 -2.2302 0 0.0044289 0.00584658 -0.764932 0.644069 uwb: 0.0 1040.04 420.575 -imu_odom_: 1691062822.539917737 1.21386 -0.691924 9.94312 -0.0596548 -0.0340885 0.105461 0.14 0 pose: 0.30947777 5.95538 -2.2302 0 0.00199185 0.00341479 -0.764905 0.644131 uwb: 0.0 1040.04 420.575 -imu_odom_: 1691062822.555928115 1.31202 -0.438139 9.88326 -0.036219 -0.0106526 0.0596548 0.07 -0.02 pose: 0.41082589 5.96268 -2.23703 0 -0.00169018 0.00100358 -0.764163 0.645021 uwb: 0.49925102 1039.54 420.376 -imu_odom_: 1691062822.570852099 1.24977 0.11971 9.93594 -0.0468716 0.00639159 0.0415453 0.07 -0.02 pose: 0.0 5.96268 -2.23703 0 -0.00169018 0.00100358 -0.764163 0.645021 uwb: 0.0 1039.54 420.376 -imu_odom_: 1691062822.587901039 0.797269 0.167594 9.91199 -0.0671117 0.0298274 0.0308927 0.07 -0.02 pose: 0.0 5.96268 -2.23703 0 -0.00169018 0.00100358 -0.764163 0.645021 uwb: 0.0 1039.54 420.376 -imu_odom_: 1691062822.601787335 0.706289 -0.112527 9.97424 -0.0639159 0.00106526 0.0245011 0.06 -0.02 pose: 0.7032247 5.96268 -2.23703 0 -0.00228308 0.000603325 -0.764117 0.645073 uwb: 0.50057220 1037.51 420.242 -imu_odom_: 1691062822.617791297 0.624887 -0.462081 9.88326 -0.056459 -0.015979 -0.00532632 0.06 -0.02 pose: 0.0 5.96268 -2.23703 0 -0.00228308 0.000603325 -0.764117 0.645073 uwb: 0.0 1037.51 420.242 -imu_odom_: 1691062822.634775491 0.907402 -0.222661 9.9934 -0.0490022 -0.0213053 -0.0117179 0.06 -0.02 pose: 0.0 5.96268 -2.23703 0 -0.00228308 0.000603325 -0.764117 0.645073 uwb: 0.0 1037.51 420.242 -imu_odom_: 1691062822.652827705 0.833182 -0.280122 9.79468 -0.0575243 0.00745685 0.0138484 0.05 0 pose: 0.46895451 5.95586 -2.24435 0 -0.00360714 -0.00321488 -0.764128 0.645046 uwb: 0.49999474 1040.57 420.259 -imu_odom_: 1691062822.669835523 0.782904 -0.332794 9.97424 -0.0607201 0.00958738 0.0213053 0.04 0 pose: 0.0 5.95586 -2.24435 0 -0.00360714 -0.00321488 -0.764128 0.645046 uwb: 0.0 1040.57 420.259 -imu_odom_: 1691062822.694758993 0.610521 -0.198719 9.95748 -0.0468716 0.00213053 -0.00532632 0.04 0 pose: 0.65971353 5.95586 -2.24435 0 -0.00894284 -0.0054748 -0.764832 0.644144 uwb: 0.50008806 1040.58 420.048 -imu_odom_: 1691062822.718909302 -0.622492 -0.158017 9.65821 -0.0436758 0.1012 0.015979 0.04 0 pose: 0.0 5.95586 -2.24435 0 -0.00894284 -0.0054748 -0.764832 0.644144 uwb: 0.0 1040.58 420.048 -imu_odom_: 1691062822.736885103 -1.1971 -0.380678 10.3717 -0.0468716 0.0415453 0.0585895 0.04 0 pose: 0.17044274 5.95586 -2.24435 0 -0.00928201 -0.00607613 -0.76499 0.643946 uwb: 0.0 1040.58 420.048 -imu_odom_: 1691062822.760914669 -0.550666 -0.169988 10.058 -0.0394148 -0.0809601 0.0692422 0.07 0.02 pose: 0.49978766 5.95586 -2.24435 0 -0.00406912 -0.00432326 -0.765429 0.643493 uwb: 0.49925394 1037.52 420.124 -imu_odom_: 1691062822.785790309 0.684742 -0.167594 10.0054 -0.0617853 -0.015979 0.0713727 0.07 0.02 pose: 0.0 5.95586 -2.24435 0 -0.00406912 -0.00432326 -0.765429 0.643493 uwb: 0.0 1037.52 420.124 -imu_odom_: 1691062822.810799524 0.181959 -0.277727 9.90481 -0.052198 0.0735032 0.04048 0.11 0.02 pose: 0.41977078 5.94901 -2.25163 0 -0.00244931 -0.00333001 -0.765065 0.64394 uwb: 0.50035055 1035.48 420.207 -imu_odom_: 1691062822.835915483 -0.237026 -0.0454898 9.46188 -0.0511327 0.0106526 0.0639159 0.11 0 pose: 0.41982618 5.95631 -2.25847 0 -0.00147779 -0.0019771 -0.764886 0.644161 uwb: 0.0 1035.48 420.207 -imu_odom_: 1691062822.851768662 -0.153229 -0.35913 9.72046 -0.052198 -0.0340885 0.0713727 0.11 0 pose: 0.0 5.95631 -2.25847 0 -0.00147779 -0.0019771 -0.764886 0.644161 uwb: 0.0 1035.48 420.207 -imu_odom_: 1691062822.877858437 0.620098 -0.126893 9.64624 -0.0447411 -0.0106526 0.0500674 0.11 0.02 pose: 0.7152115 5.95631 -2.25847 0 -0.000790132-0.00162866 -0.764832 0.644228 uwb: 0.0 1035.48 420.207 -imu_odom_: 1691062822.902838196 0.445322 -0.023942 10.0892 -0.052198 0.0138484 0.0436758 0.11 0.02 pose: 0.0 5.95631 -2.25847 0 -0.000790132-0.00162866 -0.764832 0.644228 uwb: 0.100112107 1038.5 420.329 -imu_odom_: 1691062822.919772810 -0.287304 0.047884 9.69652 -0.0703074 0.0234358 0.0884169 0.15 -0.02 pose: 0.41830378 5.95631 -2.25847 0 0.00120565 -0.000315201-0.764504 0.644618 uwb: 0.0 1038.5 420.329 -imu_odom_: 1691062822.944754902 0.596156 -0.37589 9.76595 -0.0575243 -0.00213053 0.02024 0.15 -0.02 pose: 0.0 5.95631 -2.25847 0 0.00120565 -0.000315201-0.764504 0.644618 uwb: 0.49846357 1032.91 420.315 -imu_odom_: 1691062822.969758284 0.169988 -0.0263362 9.94791 -0.0628506 -0.0138484 0.0617853 0.17 0.02 pose: 0.50007931 5.94948 -2.26578 0 0.0024451 -0.00352528 -0.764296 0.644852 uwb: 0.0 1032.91 420.315 -imu_odom_: 1691062822.993749061 -0.150835 -0.371101 9.74919 -0.0596548 -0.0191748 0.0543285 0.17 0.02 pose: 0.0 5.94948 -2.26578 0 0.0024451 -0.00352528 -0.764296 0.644852 uwb: 0.0 1032.91 420.315 -imu_odom_: 1691062823.17808375 0.706289 -0.0287304 10.149 -0.0383495 0.0138484 0.0330232 0.14 0 pose: 0.40984011 5.95679 -2.2726 0 0.00149519 -0.00236114 -0.764255 0.644908 uwb: 0.0 1032.91 420.315 -imu_odom_: 1691062823.34767196 0.6608 0.0143652 9.38766 -0.0639159 0.0415453 0.0639159 0.14 0 pose: 0.0 5.95679 -2.2726 0 0.00149519 -0.00236114 -0.764255 0.644908 uwb: 0.0 1032.91 420.315 -imu_odom_: 1691062823.59884030 0.248997 -0.189142 10.1299 -0.0777643 0.0138484 0.0447411 0.14 -0.02 pose: 0.50083760 5.94997 -2.27992 0 0.00388952 -0.000553554-0.764025 0.645175 uwb: 0.99871206 1029.02 419.566 -imu_odom_: 1691062823.76918680 0.0335188 -0.0909797 9.68933 -0.0479369 0.0308927 0.0340885 0.14 -0.02 pose: 0.0 5.94997 -2.27992 0 0.00388952 -0.000553554-0.764025 0.645175 uwb: 0.0 1029.02 419.566 -imu_odom_: 1691062823.100840920 0.282516 -0.294487 9.94312 -0.0639159 -0.0106526 0.0596548 0.15 0 pose: 0.42023451 5.94316 -2.28723 0 0.00329679 -0.00248781 -0.763907 0.645314 uwb: 0.49981684 1030.54 419.597 -imu_odom_: 1691062823.125828553 0.890643 -0.21069 10.2065 -0.0415453 -0.0426106 0.0276969 0.15 0 pose: 0.0 5.94316 -2.28723 0 0.00329679 -0.00248781 -0.763907 0.645314 uwb: 0.0 1030.54 419.597 -imu_odom_: 1691062823.151731091 -0.0143652 -0.0167594 10.1299 -0.0660464 0.0447411 0.0649811 0.15 0 pose: 0.41066258 5.95048 -2.29405 0 0.00545572 0.000867786 -0.763867 0.645351 uwb: 0.0 1030.54 419.597 -imu_odom_: 1691062823.175873525 0.507571 -0.153229 9.90002 -0.0617853 -0.00319579 0.0308927 0.18 -0.02 pose: 0.49866482 5.94367 -2.30137 0 0.00322565 0.00074357 -0.7638 0.645445 uwb: 0.0 1030.54 419.597 -imu_odom_: 1691062823.189874440 0.667982 0.0861913 9.78271 -0.0692422 -0.0213053 0.0468716 0.18 -0.02 pose: 0.0 5.94367 -2.30137 0 0.00322565 0.00074357 -0.7638 0.645445 uwb: 0.0 1030.54 419.597 -imu_odom_: 1691062823.214738414 0.373495 -0.294487 10.1131 -0.0671117 -0.00958738 0.0511327 0.18 -0.02 pose: 0.0 5.94367 -2.30137 0 0.00322565 0.00074357 -0.7638 0.645445 uwb: 0.100124358 1027.49 419.75 -imu_odom_: 1691062823.238895140 0.507571 -0.035913 10.1682 -0.04048 -0.0266316 0.0298274 0.15 0 pose: 0.63996306 5.94419 -2.3155 0 0.00252696 -0.000823833-0.763653 0.645622 uwb: 0.0 1027.49 419.75 -imu_odom_: 1691062823.254072859 0.385466 -0.129287 9.64624 -0.0681769 -0.0319579 0.0575243 0.15 0 pose: 0.0 5.94419 -2.3155 0 0.00252696 -0.000823833-0.763653 0.645622 uwb: 0.49873482 1028.51 419.776 -imu_odom_: 1691062823.277883688 0.553061 -0.122104 10.3406 -0.0660464 -0.0255663 0.0330232 0.16 -0.02 pose: 0.56262643 5.94072 -2.31924 0 0.00259305 -0.00266589 -0.763577 0.645706 uwb: 0.0 1028.51 419.776 -imu_odom_: 1691062823.302775953 0.529119 -0.1652 10.1035 -0.0575243 -0.0394148 0.0479369 0.16 -0.02 pose: 0.0 5.94072 -2.31924 0 0.00259305 -0.00266589 -0.763577 0.645706 uwb: 0.50055763 1033.07 419.83 -imu_odom_: 1691062823.325888282 0.88346 -0.222661 9.66539 -0.036219 -0.056459 0.0245011 0.17 0 pose: 0.7845365 5.93738 -2.32283 0 0.00196067 -0.00325545 -0.763592 0.645688 uwb: 0.0 1033.07 419.83 -imu_odom_: 1691062823.341759543 0.957681 -0.181959 10.2472 -0.0351537 -0.0415453 0.0372843 0.17 0 pose: 0.0 5.93738 -2.32283 0 0.00196067 -0.00325545 -0.763592 0.645688 uwb: 0.0 1033.07 419.83 -imu_odom_: 1691062823.367740826 0.835576 -0.368707 10.5656 -0.0532632 -0.0223706 0.056459 0.21 -0.02 pose: 0.47892892 5.94471 -2.32963 0 -0.00270577 -0.00614465 -0.76357 0.64569 uwb: 0.49964185 1031.53 420.05 -imu_odom_: 1691062823.393778689 0.919373 -0.179565 10.1035 -0.0490022 0.0596548 0.0426106 0.17 -0.02 pose: 0.39973740 5.9379 -2.33696 0 -0.0065601 -0.00861559 -0.763577 0.645626 uwb: 0.50012308 1035.05 420.628 -imu_odom_: 1691062823.410874585 0.0670376 -0.23942 9.91678 -0.0607201 -0.0500674 0.0426106 0.21 0.02 pose: 0.27014888 5.9379 -2.33696 0 -0.00889265 -0.00907936 -0.763442 0.645751 uwb: 0.0 1035.05 420.628 -imu_odom_: 1691062823.434887819 -0.189142 -0.0167594 9.76595 -0.0468716 -0.0276969 0.0436758 0.21 0.02 pose: 0.0 5.9379 -2.33696 0 -0.00889265 -0.00907936 -0.763442 0.645751 uwb: 0.0 1035.05 420.628 -imu_odom_: 1691062823.459821498 0.474052 -0.347159 9.47864 -0.0671117 -0.00852212 0.0617853 0.2 0 pose: 0.23978819 5.93843 -2.35109 0 -0.00932907 -0.00952025 -0.763411 0.645775 uwb: 0.50101843 1034.53 420.715 -imu_odom_: 1691062823.474930388 0.366313 -0.217872 9.8689 -0.0351537 -0.00213053 0.0340885 0.2 0 pose: 0.0 5.93843 -2.35109 0 -0.00932907 -0.00952025 -0.763411 0.645775 uwb: 0.0 1034.53 420.715 -imu_odom_: 1691062823.497861311 0.45011 -0.217872 9.85693 -0.0639159 0 0.0575243 0.17 0 pose: 0.42031616 5.93843 -2.35109 0 -0.00693096 -0.00723806 -0.763345 0.645914 uwb: 0.49855108 1035.01 421.12 -imu_odom_: 1691062823.515737369 0.0454898 -0.296881 9.94312 -0.0287621 -0.0308927 0.0298274 0.17 0 pose: 0.0 5.93843 -2.35109 0 -0.00693096 -0.00723806 -0.763345 0.645914 uwb: 0.0 1035.01 421.12 -imu_odom_: 1691062823.539729896 0.222661 -0.1652 10.1251 -0.0532632 -0.0255663 0.0607201 0.17 0 pose: 0.39089459 5.93163 -2.35843 0 -0.00530418 -0.00416321 -0.763222 0.646102 uwb: 0.0 1035.01 421.12 -imu_odom_: 1691062823.565704179 0.490811 -0.112527 10.2496 -0.0511327 -0.0330232 0.0426106 0.17 0 pose: 0.0 5.93163 -2.35843 0 -0.00530418 -0.00416321 -0.763222 0.646102 uwb: 0.50016099 1040.08 421.331 -imu_odom_: 1691062823.581764429 0.646434 0.124498 9.99579 -0.056459 -0.0213053 0.0468716 0.18 0 pose: 0.41862461 5.93896 -2.36522 0 -0.00231302 -0.00173257 -0.763143 0.646223 uwb: 0.0 1040.08 421.331 -imu_odom_: 1691062823.607739587 0.56982 -0.354342 9.59835 -0.0671117 0.00213053 0.0383495 0.18 0 pose: 0.0 5.93896 -2.36522 0 -0.00231302 -0.00173257 -0.763143 0.646223 uwb: 0.50042930 1040.57 421.53 -imu_odom_: 1691062823.621917824 0.105345 -0.100556 10.1131 -0.0649811 0.00426106 0.0511327 0.18 0.02 pose: 0.48952745 5.93217 -2.37256 0 -0.000762581-0.00469046 -0.76299 0.646393 uwb: 0.0 1040.57 421.53 -imu_odom_: 1691062823.646896126 0.407014 -0.581791 9.93594 -0.0958738 0.02024 0.0617853 0.18 0.02 pose: 0.0 5.93217 -2.37256 0 -0.000762581-0.00469046 -0.76299 0.646393 uwb: 0.49998600 1041.06 421.777 -imu_odom_: 1691062823.671989628 0.553061 -0.227449 9.97903 -0.0639159 -0.0245011 0.0553937 0.17 0 pose: 0.41049342 5.93271 -2.38669 0 -0.00250198 -0.00395026 -0.76295 0.646441 uwb: 0.0 1041.06 421.777 -imu_odom_: 1691062823.697934455 0.667982 -0.368707 9.79947 -0.0649811 -0.00213053 0.04048 0.17 0 pose: 0.40125397 5.92592 -2.39403 0 -0.00367264 -0.00134119 -0.762704 0.646735 uwb: 0.49938520 1042.56 422.074 -imu_odom_: 1691062823.714764659 0.0287304 -0.0167594 10.0533 -0.0266316 -0.00532632 0.0351537 0.18 -0.02 pose: 0.0 5.92592 -2.39403 0 -0.00367264 -0.00134119 -0.762704 0.646735 uwb: 0.0 1042.56 422.074 -imu_odom_: 1691062823.739703296 0.550666 -0.325611 9.71806 -0.0639159 -0.0191748 0.0617853 0.18 -0.02 pose: 0.0 5.92592 -2.39403 0 -0.00367264 -0.00134119 -0.762704 0.646735 uwb: 0.0 1042.56 422.074 -imu_odom_: 1691062823.761873598 0.835576 -0.124498 10.3477 -0.0447411 -0.0308927 0.0447411 0.18 0.02 pose: 0.51070119 5.93327 -2.40082 0 -0.00694201 -0.00257512 -0.762597 0.646831 uwb: 0.49982851 1042.06 421.919 -imu_odom_: 1691062823.786860648 0.605733 -0.220267 10.2065 -0.0479369 -0.0223706 0.0468716 0.18 0.02 pose: 0.40790358 5.92649 -2.40816 0 -0.0085619 -0.00200149 -0.762408 0.647037 uwb: 0.0 1042.06 421.919 -imu_odom_: 1691062823.811905737 0.701501 -0.0885855 10.647 -0.0660464 -0.052198 0.0575243 0.22 0.02 pose: 0.41110588 5.92688 -2.4178 0 -0.00811378 -0.00618223 -0.762334 0.647104 uwb: 0.50018140 1044.6 421.992 -imu_odom_: 1691062823.828901598 0.679953 -0.169988 9.79947 -0.0628506 0.0319579 0.0468716 0.22 0.02 pose: 0.0 5.92688 -2.4178 0 -0.00811378 -0.00618223 -0.762334 0.647104 uwb: 0.0 1044.6 421.992 -imu_odom_: 1691062823.854917879 0.519542 -0.220267 9.69412 -0.0415453 0.00426106 0.0330232 0.18 0 pose: 0.7905737 5.92706 -2.42229 0 -0.0081634 -0.00705307 -0.762288 0.647148 uwb: 0.50064804 1041.55 422.07 -imu_odom_: 1691062823.879853307 0.347159 -0.217872 9.7037 -0.072438 -0.0372843 0.0436758 0.18 0 pose: 0.24158766 5.92706 -2.42229 0 -0.00852863 -0.00945429 -0.762166 0.647256 uwb: 0.0 1041.55 422.07 -imu_odom_: 1691062823.896768381 0.354342 0.0550666 10.1323 -0.0255663 -0.0149137 0.0319579 0.18 0 pose: 0.0 5.92706 -2.42229 0 -0.00852863 -0.00945429 -0.762166 0.647256 uwb: 0.49988975 1044.59 422.132 -imu_odom_: 1691062823.921761556 0.605733 -0.287304 10.307 -0.0745685 -0.0213053 0.0383495 0.18 0 pose: 0.0 5.92706 -2.42229 0 -0.00852863 -0.00945429 -0.762166 0.647256 uwb: 0.0 1044.59 422.132 -imu_odom_: 1691062823.946900265 0.61531 -0.227449 10.2975 -0.04048 -0.0223706 0.0351537 0.18 0 pose: 0.43824969 5.92029 -2.42965 0 -0.00691508 -0.007509 -0.762207 0.647253 uwb: 0.50062763 1044.61 421.805 -imu_odom_: 1691062823.971924355 0.639252 -0.0981623 9.85453 -0.0511327 0.02024 0.0340885 0.18 0 pose: 0.84150145 5.92087 -2.44378 0 -0.00913523 -0.00688184 -0.762254 0.647177 uwb: 0.0 1044.61 421.805 -imu_odom_: 1691062823.988824263 0.397437 -0.0814029 10.1778 -0.0308927 -0.04048 0.04048 0.18 0 pose: 0.0 5.92087 -2.44378 0 -0.00913523 -0.00688184 -0.762254 0.647177 uwb: 0.0 1044.61 421.805 -imu_odom_: 1691062824.12705671 0.143652 -0.287304 9.6199 -0.0649811 -0.052198 0.0596548 0.2 0 pose: 0.7008915 5.92087 -2.44378 0 -0.00866507 -0.00741718 -0.762271 0.647157 uwb: 0.49932978 1046.12 422.064 -imu_odom_: 1691062824.38807989 0.397437 -0.246603 9.67018 -0.0585895 -0.0170442 0.0490022 0.2 0 pose: 0.0 5.92087 -2.44378 0 -0.00866507 -0.00741718 -0.762271 0.647157 uwb: 0.0 1046.12 422.064 -imu_odom_: 1691062824.51702678 0.217872 -0.0407014 10.2831 -0.0649811 -0.0394148 0.0692422 0.2 0 pose: 0.0 5.92087 -2.44378 0 -0.00866507 -0.00741718 -0.762271 0.647157 uwb: 0.50061014 1052.21 422.111 -imu_odom_: 1691062824.67939377 0.586579 -0.112527 9.79947 -0.0340885 -0.00852212 0.0852212 0.18 0 pose: 0.42932229 5.92144 -2.45791 0 -0.0056718 -0.0080538 -0.762278 0.647175 uwb: 0.0 1052.21 422.111 -imu_odom_: 1691062824.85751564 0.682347 -0.567426 9.8689 -0.0607201 -0.0276969 0.20027 0.18 0 pose: 0.0 5.92144 -2.45791 0 -0.0056718 -0.0080538 -0.762278 0.647175 uwb: 0.0 1052.21 422.111 -imu_odom_: 1691062824.102750342 0.634463 -0.634463 9.60793 -0.0756338 -0.0138484 0.247141 0.18 0.17 pose: 0.47869270 5.91467 -2.46527 0 -0.00361635 -0.00458184 -0.762063 0.647476 uwb: 0.49909648 1053.08 422.285 -imu_odom_: 1691062824.115743025 0.497994 -0.545878 9.52413 -0.0543285 0.0330232 0.270577 0.18 0.17 pose: 0.0 5.91467 -2.46527 0 -0.00361635 -0.00458184 -0.762063 0.647476 uwb: 0.0 1053.08 422.285 -imu_odom_: 1691062824.131740862 0.641646 -0.198719 10.2687 -0.0511327 0.0266316 0.329167 0.18 0.17 pose: 0.0 5.91467 -2.46527 0 -0.00361635 -0.00458184 -0.762063 0.647476 uwb: 0.0 1053.08 422.285 -imu_odom_: 1691062824.149751080 0.253785 -0.325611 9.90481 -0.0255663 -0.0745685 0.363255 0.26 0.44 pose: 0.49051616 5.92203 -2.47204 0 -0.00566327 -0.00493541 -0.760273 0.64956 uwb: 0.49932396 1056.6 422.737 -imu_odom_: 1691062824.166686570 1.01514 -0.402226 10.4004 -0.0340885 0.00426106 0.396278 0.26 0.44 pose: 0.0 5.92203 -2.47204 0 -0.00566327 -0.00493541 -0.760273 0.64956 uwb: 0.0 1056.6 422.737 -imu_odom_: 1691062824.179736999 0.73502 -0.047884 10.2783 -0.0671117 -0.0308927 0.456998 0.26 0.44 pose: 0.0 5.92203 -2.47204 0 -0.00566327 -0.00493541 -0.760273 0.64956 uwb: 0.0 1056.6 422.737 -imu_odom_: 1691062824.195683798 0.806846 -0.23942 9.95988 -0.076699 0.00958738 0.50387 0.17 0.41 pose: 0.45926010 5.91522 -2.47937 0 -0.00688839 -0.00406268 -0.756329 0.654143 uwb: 0.50010850 1055.61 422.452 -imu_odom_: 1691062824.212733906 0.627281 -0.497994 9.64384 -0.0798948 -0.00426106 0.509196 0.25 0.61 pose: 0.0 5.91522 -2.47937 0 -0.00688839 -0.00406268 -0.756329 0.654143 uwb: 0.0 1055.61 422.452 -imu_odom_: 1691062824.230735374 0.52433 0.0670376 9.10994 -0.0426106 -0.0298274 0.517718 0.25 0.61 pose: 0.64070678 5.91572 -2.4935 0 -0.00990308 -0.00573758 -0.747755 0.663876 uwb: 0.0 1055.61 422.452 -imu_odom_: 1691062824.243738848 0.672771 -0.37589 9.91918 -0.0862864 0.00213053 0.566721 0.25 0.61 pose: 0.0 5.91572 -2.4935 0 -0.00990308 -0.00573758 -0.747755 0.663876 uwb: 0.50047307 1058.14 422.7 -imu_odom_: 1691062824.259736977 0.76375 -0.361524 9.50977 -0.0862864 -0.0415453 0.594418 0.18 0.53 pose: 0.0 5.91572 -2.4935 0 -0.00990308 -0.00573758 -0.747755 0.663876 uwb: 0.0 1058.14 422.7 -imu_odom_: 1691062824.276669551 0.380678 -0.399832 10.2807 -0.0213053 -0.0245011 0.588026 0.18 0.53 pose: 0.32979700 5.90891 -2.50081 0 -0.00985196 -0.00585459 -0.742426 0.66983 uwb: 0.0 1058.14 422.7 -imu_odom_: 1691062824.294666352 0.593762 -0.632069 9.78271 -0.0330232 0.00639159 0.606135 0.18 0.58 pose: 0.39930868 5.91618 -2.50758 0 -0.0116809 -0.00448181 -0.735035 0.677913 uwb: 0.49918980 1057.63 422.697 -imu_odom_: 1691062824.307659619 0.517148 -0.280122 9.75158 -0.052198 -0.00639159 0.639159 0.18 0.58 pose: 0.0 5.91618 -2.50758 0 -0.0116809 -0.00448181 -0.735035 0.677913 uwb: 0.0 1057.63 422.697 -imu_odom_: 1691062824.322660891 0.500388 -0.47884 9.93594 -0.0500674 -0.0415453 0.641289 0.18 0.58 pose: 0.0 5.91618 -2.50758 0 -0.0116809 -0.00448181 -0.735035 0.677913 uwb: 0.0 1057.63 422.697 -imu_odom_: 1691062824.340870596 1.13246 -0.191536 9.8689 -0.0500674 -0.00532632 0.609331 0.23 0.67 pose: 0.8070810 5.91626 -2.50759 0 -0.0120819 -0.00384451 -0.733475 0.679598 uwb: 0.0 1057.63 422.697 -imu_odom_: 1691062824.357742506 1.02951 -0.205901 9.9096 -0.0511327 -0.0298274 0.614658 0.23 0.67 pose: 0.0 5.91626 -2.50759 0 -0.0120819 -0.00384451 -0.733475 0.679598 uwb: 0.50126052 1062.68 423.105 -imu_odom_: 1691062824.371814292 1.77889 -0.265756 10.4722 -0.0330232 -0.0660464 0.549676 0.23 0.67 pose: 0.0 5.91626 -2.50759 0 -0.0120819 -0.00384451 -0.733475 0.679598 uwb: 0.0 1062.68 423.105 -imu_odom_: 1691062824.387817671 1.42455 -0.177171 9.02614 -0.0458064 0.0149137 0.427171 0.12 0.35 pose: 0.45921052 5.90946 -2.51492 0 -0.0121485 -0.00208787 -0.72422 0.689459 uwb: 0.0 1062.68 423.105 -imu_odom_: 1691062824.404888777 1.40779 0.0909797 10.2208 -0.0585895 0.0553937 0.361125 0.17 0.5 pose: 0.0 5.90946 -2.51492 0 -0.0121485 -0.00208787 -0.72422 0.689459 uwb: 0.50023974 1061.68 422.88 -imu_odom_: 1691062824.422711464 1.06303 -0.0023942 9.71328 -0.0660464 0.02024 0.369647 0.17 0.5 pose: 0.65171071 5.91002 -2.52911 0 -0.0155471 -0.0077815 -0.713265 0.700679 uwb: 0.0 1061.68 422.88 -imu_odom_: 1691062824.435761311 0.56982 -0.483629 9.82341 -0.0553937 0.0490022 0.354733 0.17 0.5 pose: 0.0 5.91002 -2.52911 0 -0.0155471 -0.0077815 -0.713265 0.700679 uwb: 0.0 1061.68 422.88 -imu_odom_: 1691062824.451702860 0.627281 -0.263362 10.3286 -0.0426106 -0.02024 0.290817 0.11 0.32 pose: 0.0 5.91002 -2.52911 0 -0.0155471 -0.0077815 -0.713265 0.700679 uwb: 0.50010559 1065.22 423.174 -imu_odom_: 1691062824.468683555 0.758962 0.0885855 9.83059 -0.0436758 -0.0287621 0.250337 0.11 0.32 pose: 0.32940035 5.91002 -2.52911 0 -0.0155168 -0.00921797 -0.70952 0.704454 uwb: 0.0 1065.22 423.174 -imu_odom_: 1691062824.486713313 0.61531 -0.134075 10.0293 -0.0649811 0.0149137 0.28123 0.08 0.23 pose: 0.39911036 5.9138 -2.53266 0 -0.013032 -0.00947339 -0.706099 0.70793 uwb: 0.0 1065.22 423.174 -imu_odom_: 1691062824.500815139 0.931344 -0.560243 10.003 -0.0660464 -0.00639159 0.271642 0.08 0.23 pose: 0.0 5.9138 -2.53266 0 -0.013032 -0.00947339 -0.706099 0.70793 uwb: 0.50001517 1062.22 422.63 -imu_odom_: 1691062824.517806334 0.694318 -0.347159 9.8282 -0.0479369 0 0.245011 0.08 0.23 pose: 0.0 5.9138 -2.53266 0 -0.013032 -0.00947339 -0.706099 0.70793 uwb: 0.0 1062.22 422.63 -imu_odom_: 1691062824.533802421 0.770933 -0.0909797 9.991 -0.0479369 -0.00426106 0.251402 0.07 0.23 pose: 0.8064978 5.91739 -2.53587 0 -0.012212 -0.00947199 -0.705423 0.708618 uwb: 0.0 1062.22 422.63 -imu_odom_: 1691062824.551872135 0.766145 -0.134075 9.90481 -0.0585895 -0.00426106 0.259925 0.08 0.26 pose: 0.0 5.91739 -2.53587 0 -0.012212 -0.00947199 -0.705423 0.708618 uwb: 0.49971186 1062.22 422.56 -imu_odom_: 1691062824.566812744 0.773327 -0.306458 9.90481 -0.0532632 0 0.239684 0.08 0.26 pose: 0.65067243 5.9106 -2.5432 0 -0.0126282 -0.0100441 -0.700327 0.71364 uwb: 0.0 1062.22 422.56 -imu_odom_: 1691062824.583686987 0.773327 -0.196325 9.85932 -0.0500674 -0.00639159 0.207727 0.08 0.32 pose: 0.0 5.9106 -2.5432 0 -0.0126282 -0.0100441 -0.700327 0.71364 uwb: 0.0 1062.22 422.56 -imu_odom_: 1691062824.599809067 0.588974 -0.100556 9.85214 -0.0490022 0.00745685 0.224771 0.08 0.32 pose: 0.0 5.9106 -2.5432 0 -0.0126282 -0.0100441 -0.700327 0.71364 uwb: 0.50048473 1062.77 422.218 -imu_odom_: 1691062824.616795012 0.452504 -0.42138 9.95748 -0.0575243 -0.00106526 0.264186 0.08 0.32 pose: 0.33049987 5.9106 -2.5432 0 -0.0134731 -0.0114502 -0.697971 0.715908 uwb: 0.0 1062.77 422.218 -imu_odom_: 1691062824.632989421 0.555455 -0.438139 9.79468 -0.0436758 -0.0138484 0.259925 0.05 0.2 pose: 0.41929249 5.9106 -2.5432 0 -0.0113249 -0.0103073 -0.695036 0.718811 uwb: 0.0 1062.77 422.218 -imu_odom_: 1691062824.650824066 0.761356 -0.117316 9.94551 -0.0394148 -0.0117179 0.259925 0.05 0.2 pose: 0.8150139 5.9106 -2.5432 0 -0.0114814 -0.00955834 -0.694386 0.719447 uwb: 0.50084638 1062.77 422.218 -imu_odom_: 1691062824.666678995 0.706289 -0.169988 9.91199 -0.0511327 0.00319579 0.280165 0.05 0.2 pose: 0.0 5.9106 -2.5432 0 -0.0114814 -0.00955834 -0.694386 0.719447 uwb: 0.0 1062.77 422.218 -imu_odom_: 1691062824.683785391 0.624887 -0.296881 9.88805 -0.0543285 -0.00639159 0.272708 0.05 0.29 pose: 0.41733844 5.9106 -2.5432 0 -0.00990629 -0.0117557 -0.690976 0.722714 uwb: 0.0 1062.77 422.218 -imu_odom_: 1691062824.700816250 0.555455 -0.196325 9.85453 -0.0458064 0.00532632 0.262055 0.04 0.23 pose: 0.0 5.9106 -2.5432 0 -0.00990629 -0.0117557 -0.690976 0.722714 uwb: 0.49624123 1060.76 421.955 -imu_odom_: 1691062824.717660454 0.526724 -0.244209 9.94312 -0.052198 -0.00426106 0.270577 0.04 0.23 pose: 0.0 5.9106 -2.5432 0 -0.00990629 -0.0117557 -0.690976 0.722714 uwb: 0.0 1060.76 421.955 -imu_odom_: 1691062824.734696563 0.663194 -0.225055 9.88566 -0.0511327 -0.00639159 0.280165 0.03 0.2 pose: 0.25260618 5.9106 -2.5432 0 -0.00947263 -0.00959278 -0.688882 0.724748 uwb: 0.0 1060.76 421.955 -imu_odom_: 1691062824.750811060 0.648829 -0.296881 9.98143 -0.0511327 -0.00106526 0.276969 0.03 0.2 pose: 0.0 5.9106 -2.5432 0 -0.00947263 -0.00959278 -0.688882 0.724748 uwb: 0.50080846 1057.72 421.762 -imu_odom_: 1691062824.767888583 0.608127 -0.155623 9.85453 -0.0458064 -0.00106526 0.278034 0.03 0.2 pose: 0.33004490 5.91793 -2.55001 0 -0.00835311 -0.00815161 -0.686129 0.727386 uwb: 0.0 1057.72 421.762 -imu_odom_: 1691062824.783774135 0.691924 -0.215478 9.9096 -0.0490022 -0.0117179 0.272708 0.02 0.23 pose: 0.42944480 5.91784 -2.54999 0 -0.00848873 -0.00832602 -0.682391 0.730891 uwb: 0.0 1057.72 421.762 -imu_odom_: 1691062824.800652753 0.636858 -0.0526724 9.86411 -0.0468716 0.00639159 0.258859 0.02 0.23 pose: 0.7951817 5.91793 -2.55001 0 -0.00893786 -0.00902013 -0.681707 0.731515 uwb: 0.50122260 1055.7 421.611 -imu_odom_: 1691062824.816774250 0.624887 -0.186748 9.89524 -0.0575243 0.00319579 0.278034 0.02 0.23 pose: 0.0 5.91793 -2.55001 0 -0.00893786 -0.00902013 -0.681707 0.731515 uwb: 0.0 1055.7 421.611 -imu_odom_: 1691062824.832774712 0.627281 -0.332794 9.87608 -0.0532632 0.00958738 0.265251 0.02 0.29 pose: 0.40933850 5.91102 -2.5573 0 -0.00676951 -0.00933763 -0.678292 0.734702 uwb: 0.0 1055.7 421.611 -imu_odom_: 1691062824.848780133 0.502782 -0.181959 9.91199 -0.0468716 0.00532632 0.243946 0.01 0.2 pose: 0.0 5.91102 -2.5573 0 -0.00676951 -0.00933763 -0.678292 0.734702 uwb: 0.50013767 1057.71 421.808 -imu_odom_: 1691062824.864773595 0.402226 -0.122104 9.87129 -0.0532632 -0.00213053 0.236489 0.01 0.2 pose: 0.0 5.91102 -2.5573 0 -0.00676951 -0.00933763 -0.678292 0.734702 uwb: 0.0 1057.71 421.808 -imu_odom_: 1691062824.889696192 0.521936 -0.215478 9.9096 -0.0490022 -0.00639159 0.197074 0.01 0.17 pose: 0.23012294 5.9111 -2.55732 0 -0.00723566 -0.00781026 -0.676431 0.736429 uwb: 0.0 1057.71 421.808 -imu_odom_: 1691062824.905694904 0.0766145 -0.172383 9.75158 -0.0639159 0.0575243 0.176834 0.01 0.17 pose: 0.0 5.9111 -2.55732 0 -0.00723566 -0.00781026 -0.676431 0.736429 uwb: 0.50014641 1060.22 422.206 -imu_odom_: 1691062824.921735614 -0.845153 -0.129287 10.0006 -0.0660464 0.102265 0.125701 0.01 0.17 pose: 0.32971533 5.9111 -2.55732 0 -0.00464761 -0.00598019 -0.674152 0.738554 uwb: 0.0 1060.22 422.206 -imu_odom_: 1691062824.938617440 -1.58975 -0.0766145 9.88326 -0.0553937 -0.00426106 0.0809601 0.04 0.05 pose: 0.40950766 5.9111 -2.55732 0 -0.00177264 -0.00203026 -0.672113 0.740443 uwb: 0.0 1060.22 422.206 -imu_odom_: 1691062824.954620236 -0.675165 -0.229843 9.97664 -0.0553937 -0.0958738 0.0628506 0.04 0.05 pose: 0.0 5.9111 -2.55732 0 -0.00177264 -0.00203026 -0.672113 0.740443 uwb: 0.49755657 1058.17 422.35 -imu_odom_: 1691062824.971677635 0.31364 -0.423774 9.8258 -0.0458064 -0.0639159 0.0415453 0.09 -0.02 pose: 0.40911393 5.9111 -2.55732 0 0.000837158 0.0007083 -0.671464 0.741037 uwb: 0.0 1058.17 422.35 -imu_odom_: 1691062824.987677514 0.533907 -0.107739 10.1706 -0.0479369 -0.0266316 0.0596548 0.09 -0.02 pose: 0.0 5.9111 -2.55732 0 0.000837158 0.0007083 -0.671464 0.741037 uwb: 0.0 1058.17 422.35 -imu_odom_: 1691062825.4873447 0.37589 -0.174777 10.0676 -0.0575243 0.0149137 0.0351537 0.09 -0.02 pose: 0.0 5.9111 -2.55732 0 0.000837158 0.0007083 -0.671464 0.741037 uwb: 0.50012892 1057.71 421.832 -imu_odom_: 1691062825.20829579 -0.148441 0.0047884 9.72046 -0.052198 0.00319579 0.0330232 0.09 0 pose: 0.8060894 5.9111 -2.55732 0 0.000301555 0.00120335 -0.671458 0.741041 uwb: 0.0 1057.71 421.832 -imu_odom_: 1691062825.37699448 0 -0.21069 9.90721 -0.0649811 -0.0181095 0.0490022 0.13 0 pose: 0.0 5.9111 -2.55732 0 0.000301555 0.00120335 -0.671458 0.741041 uwb: 0.0 1057.71 421.832 -imu_odom_: 1691062825.53653830 0.241814 -0.387861 9.95748 -0.0607201 -0.00852212 0.0447411 0.13 0 pose: 0.66110474 5.91847 -2.56408 0 0.00331151 0.00130729 -0.671371 0.741113 uwb: 0.50073556 1052.14 421.445 -imu_odom_: 1691062825.70821764 0.416591 -0.177171 10.1586 -0.0703074 -0.00639159 0.0319579 0.14 0 pose: 0.0 5.91847 -2.56408 0 0.00331151 0.00130729 -0.671371 0.741113 uwb: 0.0 1052.14 421.445 -imu_odom_: 1691062825.86771480 0.277727 -0.304064 9.77553 -0.0649811 0.0181095 0.0426106 0.14 0 pose: 0.0 5.91847 -2.56408 0 0.00331151 0.00130729 -0.671371 0.741113 uwb: 0.0 1052.14 421.445 -imu_odom_: 1691062825.103704054 0.253785 -0.184354 9.84256 -0.0639159 -0.0127832 0.0351537 0.14 0 pose: 0.32989033 5.9117 -2.57145 0 0.00267801 0.00272054 -0.671337 0.741142 uwb: 0.50058098 1051.65 421.282 -imu_odom_: 1691062825.119770429 0.1652 -0.0023942 9.76834 -0.0426106 -0.0276969 0.0415453 0.13 0 pose: 0.41923417 5.9117 -2.57145 0 0.00354364 0.00403217 -0.671365 0.741107 uwb: 0.0 1051.65 421.282 -imu_odom_: 1691062825.135791307 0.117316 -0.150835 9.61033 -0.0447411 -0.02024 0.0458064 0.13 0 pose: 0.7069287 5.9117 -2.57145 0 0.00421767 0.00381722 -0.671357 0.741113 uwb: 0.0 1051.65 421.282 -imu_odom_: 1691062825.160828231 0.521936 -0.332794 9.81383 -0.0703074 0.00639159 0.0479369 0.12 0.02 pose: 0.0 5.9117 -2.57145 0 0.00421767 0.00381722 -0.671357 0.741113 uwb: 0.0 1051.65 421.282 -imu_odom_: 1691062825.177772762 0.349553 0.0167594 9.83299 -0.0479369 0.00639159 0.0319579 0.13 0 pose: 0.34141631 5.91907 -2.57821 0 0.00547159 0.00412632 -0.671279 0.741173 uwb: 0.0 1051.65 421.282 -imu_odom_: 1691062825.193784016 0.0526724 -0.260968 9.65342 -0.056459 0.0340885 -0.00958738 0.12 -0.11 pose: 0.0 5.91907 -2.57821 0 0.00547159 0.00412632 -0.671279 0.741173 uwb: 0.0 1051.65 421.282 -imu_odom_: 1691062825.210781336 -0.397437 -0.071826 9.72285 -0.0596548 -0.00639159 -0.0884169 0.12 -0.11 pose: 0.40980223 5.91231 -2.58558 0 0.00542044 0.00328352 -0.671425 0.741046 uwb: 0.100018495 1050.15 420.891 -imu_odom_: 1691062825.226766924 -0.361524 -0.0287304 10.0892 -0.0532632 -0.04048 -0.152333 0.13 -0.26 pose: 0.0 5.91231 -2.58558 0 0.00542044 0.00328352 -0.671425 0.741046 uwb: 0.0 1050.15 420.891 -imu_odom_: 1691062825.243714956 0.294487 0.059855 9.59117 -0.0628506 -0.0788296 -0.217314 0.13 -0.26 pose: 0.0 5.91231 -2.58558 0 0.00542044 0.00328352 -0.671425 0.741046 uwb: 0.0 1050.15 420.891 -imu_odom_: 1691062825.259762374 1.06781 -0.0502782 10.1442 -0.0745685 -0.0479369 -0.273773 0.13 -0.26 pose: 0.32886081 5.91231 -2.58558 0 0.00769698 0.0055283 -0.672928 0.739648 uwb: 0.49924232 1051.7 420.697 -imu_odom_: 1691062825.276824148 0.471658 -0.0646434 9.58878 -0.0628506 0.0117179 -0.34408 0.19 -0.53 pose: 0.40981098 5.91963 -2.59229 0 0.00729289 0.00254529 -0.676947 0.735991 uwb: 0.0 1051.7 420.697 -imu_odom_: 1691062825.292818778 0.258574 0.155623 10.2376 -0.0628506 -0.00319579 -0.38243 0.19 -0.53 pose: 0.8071977 5.91971 -2.5923 0 0.00702954 0.0018666 -0.678084 0.734948 uwb: 0.0 1051.7 420.697 -imu_odom_: 1691062825.309741144 0.277727 -0.100556 10.0676 -0.0809601 -0.00532632 -0.429302 0.19 -0.53 pose: 0.0 5.91971 -2.5923 0 0.00702954 0.0018666 -0.678084 0.734948 uwb: 0.50125761 1050.7 420.468 -imu_odom_: 1691062825.325742481 0.162806 -0.0670376 10.0197 -0.0649811 -0.0287621 -0.458064 0.14 -0.5 pose: 0.41906793 5.91295 -2.59973 0 0.00907125 0.00156866 -0.684704 0.728763 uwb: 0.0 1050.7 420.468 -imu_odom_: 1691062825.342803964 0.799663 -0.299275 9.90242 -0.0830906 -0.00213053 -0.478304 0.2 -0.64 pose: 0.0 5.91295 -2.59973 0 0.00907125 0.00156866 -0.684704 0.728763 uwb: 0.0 1050.7 420.468 -imu_odom_: 1691062825.358612521 0.418985 -0.3304 9.76116 -0.0735032 -0.0245011 -0.499609 0.2 -0.64 pose: 0.0 5.91295 -2.59973 0 0.00907125 0.00156866 -0.684704 0.728763 uwb: 0.49992769 1048.68 420.224 -imu_odom_: 1691062825.375664671 0.184354 0.208296 10.0533 -0.0628506 -0.0415453 -0.516653 0.2 -0.64 pose: 0.24129894 5.91303 -2.59974 0 0.00952031 0.00192697 -0.689124 0.724578 uwb: 0.0 1048.68 420.224 -imu_odom_: 1691062825.391718506 0.612916 0.0023942 10.1825 -0.0639159 -0.00532632 -0.534763 0.2 -0.7 pose: 0.0 5.91303 -2.59974 0 0.00952031 0.00192697 -0.689124 0.724578 uwb: 0.0 1048.68 420.224 -imu_odom_: 1691062825.408725158 0.260968 -0.124498 9.78271 -0.0458064 -0.0458064 -0.549676 0.2 -0.7 pose: 0.32752797 5.92048 -2.60642 0 0.00742383 0.00142635 -0.695487 0.718499 uwb: 0.49953397 1048.18 420.182 -imu_odom_: 1691062825.424665833 0.742203 -0.227449 9.29669 -0.0692422 -0.0127832 -0.583765 0.15 -0.58 pose: 0.42101323 5.91366 -2.6138 0 0.00786232 0.000808781 -0.704152 0.710005 uwb: 0.0 1048.18 420.182 -imu_odom_: 1691062825.441660820 0.888249 -0.0933739 10.4914 -0.0735032 -0.0479369 -0.56246 0.15 -0.58 pose: 0.0 5.91366 -2.6138 0 0.00786232 0.000808781 -0.704152 0.710005 uwb: 0.0 1048.18 420.182 -imu_odom_: 1691062825.457660407 1.06303 -0.25618 9.69652 -0.0660464 -0.0681769 -0.52198 0.15 -0.58 pose: 0.0 5.91366 -2.6138 0 0.00786232 0.000808781 -0.704152 0.710005 uwb: 0.49916357 1046.67 419.847 -imu_odom_: 1691062825.474594148 1.54426 -0.129287 10.2472 -0.0479369 -0.0234358 -0.50174 0.17 -0.67 pose: 0.7886488 5.91374 -2.61381 0 0.00713024 0.000423047 -0.705897 0.708279 uwb: 0.0 1046.67 419.847 -imu_odom_: 1691062825.490652357 1.51792 -0.268151 9.54808 -0.072438 0.00213053 -0.46339 0.11 -0.41 pose: 0.0 5.91374 -2.61381 0 0.00713024 0.000423047 -0.705897 0.708279 uwb: 0.0 1046.67 419.847 -imu_odom_: 1691062825.507585514 1.4054 -0.220267 10.1897 -0.076699 0.02024 -0.383495 0.11 -0.41 pose: 0.66051270 5.91442 -2.62795 0 0.0011989 -0.00429123 -0.719034 0.694961 uwb: 0.50117303 1048.2 419.83 -imu_odom_: 1691062825.524644080 1.02711 -0.572214 10.0317 -0.0468716 0.0617853 -0.350472 0.1 -0.38 pose: 0.0 5.91442 -2.62795 0 0.0011989 -0.00429123 -0.719034 0.694961 uwb: 0.0 1048.2 419.83 -imu_odom_: 1691062825.540585629 0.950498 -0.251391 9.92397 -0.0628506 0.0213053 -0.307861 0.1 -0.38 pose: 0.0 5.91442 -2.62795 0 0.0011989 -0.00429123 -0.719034 0.694961 uwb: 0.0 1048.2 419.83 -imu_odom_: 1691062825.556640630 0.715866 -0.198719 9.77074 -0.0532632 0.0436758 -0.299339 0.1 -0.38 pose: 0.32928370 5.91442 -2.62795 0 -0.00131041 -0.00541336 -0.723971 0.689808 uwb: 0.50002685 1050.23 419.956 -imu_odom_: 1691062825.573617826 0.629675 -0.047884 10.1155 -0.0553937 -0.00852212 -0.265251 0.1 -0.35 pose: 0.41049344 5.91434 -2.62794 0 -0.00418307 -0.00669041 -0.728933 0.684539 uwb: 0.0 1050.23 419.956 -imu_odom_: 1691062825.591639710 0.749385 -0.414197 10.003 -0.0575243 0.00213053 -0.223706 0.1 -0.35 pose: 0.8004606 5.91442 -2.62795 0 -0.00400878 -0.00748869 -0.729767 0.683643 uwb: 0.0 1050.23 419.956 -imu_odom_: 1691062825.606580903 0.897826 -0.356736 9.72046 -0.0458064 -0.0106526 -0.229032 0.1 -0.35 pose: 0.0 5.91442 -2.62795 0 -0.00400878 -0.00748869 -0.729767 0.683643 uwb: 0.49928023 1050.23 420.003 -imu_odom_: 1691062825.624577996 0.804452 -0.205901 9.68933 -0.0532632 0.00319579 -0.209857 0.06 -0.23 pose: 0.41935667 5.91828 -2.63858 0 -0.00694686 -0.00834729 -0.733653 0.679438 uwb: 0.0 1050.23 420.003 -imu_odom_: 1691062825.642618254 0.691924 -0.311246 9.81144 -0.0596548 -0.00426106 -0.167247 0.05 -0.2 pose: 0.0 5.91828 -2.63858 0 -0.00694686 -0.00834729 -0.733653 0.679438 uwb: 0.0 1050.23 420.003 -imu_odom_: 1691062825.656612170 0.505177 -0.31364 9.87848 -0.0596548 0.0138484 -0.167247 0.05 -0.2 pose: 0.0 5.91828 -2.63858 0 -0.00694686 -0.00834729 -0.733653 0.679438 uwb: 0.49950480 1050.73 420.117 -imu_odom_: 1691062825.674671384 0.497994 -0.265756 10.1179 -0.0490022 -0.0138484 -0.169377 0.05 -0.17 pose: 0.26005782 5.91511 -2.64207 0 -0.00901544 -0.00906396 -0.73571 0.677176 uwb: 0.0 1050.73 420.117 -imu_odom_: 1691062825.690735427 0.567426 -0.0622492 9.70849 -0.0639159 -0.0213053 -0.142745 0.05 -0.17 pose: 0.0 5.91511 -2.64207 0 -0.00901544 -0.00906396 -0.73571 0.677176 uwb: 0.0 1050.73 420.117 -imu_odom_: 1691062825.707667417 0.754174 -0.337582 9.93354 -0.0596548 -0.0138484 -0.117179 0.05 -0.17 pose: 0.32093378 5.91511 -2.64207 0 -0.0089657 -0.00657242 -0.737958 0.674755 uwb: 0.0 1050.73 420.117 -imu_odom_: 1691062825.723717168 0.768539 -0.294487 9.99819 -0.056459 -0.0319579 -0.0990696 0.04 -0.14 pose: 0.42987354 5.91511 -2.64207 0 -0.00902849 -0.00699597 -0.740539 0.671916 uwb: 0.0 1050.73 420.117 -imu_odom_: 1691062825.741744302 0.739808 -0.361524 9.60075 -0.0532632 0.00852212 -0.1012 0.04 -0.14 pose: 0.8141390 5.91511 -2.64207 0 -0.00988396 -0.00732847 -0.740908 0.671494 uwb: 0.0 1050.73 420.117 -imu_odom_: 1691062825.758792077 0.746991 -0.1652 9.98622 -0.0585895 -0.0149137 -0.0916127 0.04 -0.14 pose: 0.0 5.91511 -2.64207 0 -0.00988396 -0.00732847 -0.740908 0.671494 uwb: 0.99988455 1048.72 419.756 -imu_odom_: 1691062825.774667130 0.632069 -0.208296 9.8282 -0.0575243 -0.00319579 -0.0830906 0.04 -0.11 pose: 0.33957891 5.91511 -2.64207 0 -0.0122707 -0.00807311 -0.74245 0.669741 uwb: 0.0 1048.72 419.756 -imu_odom_: 1691062825.791604954 0.691924 -0.251391 9.93115 -0.0607201 -0.0191748 -0.072438 0.03 -0.11 pose: 0.0 5.91511 -2.64207 0 -0.0122707 -0.00807311 -0.74245 0.669741 uwb: 0.0 1048.72 419.756 -imu_odom_: 1691062825.808595857 0.617704 -0.234632 9.81144 -0.0575243 -0.00958738 -0.0649811 0.03 -0.11 pose: 0.0 5.91511 -2.64207 0 -0.0122707 -0.00807311 -0.74245 0.669741 uwb: 0.50058973 1050.76 419.86 -imu_odom_: 1691062825.824647067 0.658405 -0.258574 9.88326 -0.0543285 -0.0106526 -0.0468716 0.03 -0.11 pose: 0.32850792 5.91511 -2.64207 0 -0.0114474 -0.00855762 -0.743809 0.66824 uwb: 0.0 1050.76 419.86 -imu_odom_: 1691062825.841640887 0.730232 -0.241814 9.9096 -0.0575243 -0.00745685 -0.0319579 0.03 -0.11 pose: 0.0 5.91511 -2.64207 0 -0.0114474 -0.00855762 -0.743809 0.66824 uwb: 0.0 1050.76 419.86 -imu_odom_: 1691062825.857585353 0.68953 -0.253785 9.85453 -0.056459 0 -0.0213053 0.03 -0.11 pose: 0.33031905 5.91511 -2.64207 0 -0.0112348 -0.00708802 -0.744942 0.666997 uwb: 0.49854819 1057.86 420.36 -imu_odom_: 1691062825.873624313 0.636858 -0.265756 9.91678 -0.0532632 -0.00106526 -0.0181095 0.01 0 pose: 0.41935958 5.91511 -2.64207 0 -0.0121626 -0.00940911 -0.745923 0.665855 uwb: 0.0 1057.86 420.36 -imu_odom_: 1691062825.890564470 0.617704 -0.208296 9.84496 -0.0543285 -0.0106526 -0.00852212 0.01 0 pose: 0.6998999 5.91511 -2.64207 0 -0.0118611 -0.00877071 -0.746061 0.665715 uwb: 0.0 1057.86 420.36 -imu_odom_: 1691062825.906718340 0.648829 -0.229843 9.88805 -0.0575243 -0.00532632 0.00852212 0.01 0 pose: 0.0 5.91511 -2.64207 0 -0.0118611 -0.00877071 -0.746061 0.665715 uwb: 0.50005019 1057.86 420.36 -imu_odom_: 1691062825.922718511 0.624887 -0.275333 9.89524 -0.0553937 0.00426106 0.0223706 0.01 -0.02 pose: 0.42133988 5.91511 -2.64207 0 -0.0113297 -0.00720252 -0.746677 0.665051 uwb: 0.0 1057.86 420.36 -imu_odom_: 1691062825.938778179 0.579397 -0.323217 9.95509 -0.052198 -0.00319579 0.0447411 0 0.02 pose: 0.0 5.91511 -2.64207 0 -0.0113297 -0.00720252 -0.746677 0.665051 uwb: 0.0 1057.86 420.36 -imu_odom_: 1691062825.954756184 0.593762 -0.299275 9.79707 -0.0553937 0.00106526 0.0596548 0 0.02 pose: 0.0 5.91511 -2.64207 0 -0.0113297 -0.00720252 -0.746677 0.665051 uwb: 0.49939106 1060.39 420.665 -imu_odom_: 1691062825.970716982 0.533907 -0.253785 9.90242 -0.0511327 0.00639159 0.0585895 0 0.02 pose: 0.23923699 5.91511 -2.64207 0 -0.0106016 -0.00488977 -0.746758 0.664993 uwb: 0.0 1060.39 420.665 -imu_odom_: 1691062825.992729503 0.42138 -0.136469 9.89524 -0.0532632 -0.00426106 0.0383495 0 0.02 pose: 0.0 5.91511 -2.64207 0 -0.0106016 -0.00488977 -0.746758 0.664993 uwb: 0.0 1060.39 420.665 -imu_odom_: 1691062826.9731781 -0.248997 -0.19393 9.71806 -0.0543285 0.0671117 0.0447411 0 0.02 pose: 0.32096586 5.91511 -2.64207 0 -0.00915808 -0.00260921 -0.746591 0.665215 uwb: 0.50008226 1058.39 420.247 -imu_odom_: 1691062826.25657582 -0.979228 -0.316035 10.0844 -0.04048 0.0713727 0.0532632 0 0.02 pose: 0.37887574 5.91511 -2.64207 0 -0.00527375 -0.00223138 -0.746564 0.665289 uwb: 0.0 1058.39 420.247 -imu_odom_: 1691062826.42715857 -1.10852 -0.308852 9.99819 -0.052198 -0.0351537 0.0532632 0 0.02 pose: 0.0 5.91511 -2.64207 0 -0.00527375 -0.00223138 -0.746564 0.665289 uwb: 0.0 1058.39 420.247 -imu_odom_: 1691062826.60664829 -0.241814 0 9.75637 -0.0532632 -0.0660464 0.0703074 0.04 0.05 pose: 0.0 5.91511 -2.64207 0 -0.00527375 -0.00223138 -0.746564 0.665289 uwb: 0.49972938 1065.51 420.607 -imu_odom_: 1691062826.75823592 0.368707 -0.294487 10.0173 -0.0490022 -0.0394148 0.0756338 0.04 0.05 pose: 0.42089658 5.91172 -2.64574 0 -0.00158604 0.000949665 -0.746405 0.66549 uwb: 0.0 1065.51 420.607 -imu_odom_: 1691062826.92639798 0.47884 -0.306458 9.96467 -0.0628506 -0.00852212 0.0596548 0.04 0.05 pose: 0.0 5.91172 -2.64574 0 -0.00158604 0.000949665 -0.746405 0.66549 uwb: 0.0 1065.51 420.607 -imu_odom_: 1691062826.108588056 -0.00957681-0.272939 9.63427 -0.0426106 0.0276969 0.0617853 0.07 0.05 pose: 0.9018088 5.90832 -2.64942 0 -0.0009443980.00108013 -0.746312 0.665595 uwb: 0.50170677 1072.57 421.521 -imu_odom_: 1691062826.124767300 -0.0311246 -0.287304 10.0772 -0.0553937 0.00319579 0.0628506 0.07 0.05 pose: 0.0 5.90832 -2.64942 0 -0.0009443980.00108013 -0.746312 0.665595 uwb: 0.0 1072.57 421.521 -imu_odom_: 1691062826.141772786 0.011971 -0.373495 9.69891 -0.0575243 0 0.0660464 0.07 0.05 pose: 0.0 5.90832 -2.64942 0 -0.0009443980.00108013 -0.746312 0.665595 uwb: 0.0 1072.57 421.521 -imu_odom_: 1691062826.157711711 0.138864 -0.292093 10.0054 -0.0426106 -0.02024 0.0628506 0.12 0 pose: 0.47986515 5.91566 -2.6562 0 -0.00202651 0.00246736 -0.745871 0.666083 uwb: 0.50147344 1074.09 421.619 -imu_odom_: 1691062826.173595223 0.25618 -0.0622492 9.79707 -0.0372843 -0.0426106 0.0543285 0.09 0.02 pose: 0.0 5.91566 -2.6562 0 -0.00202651 0.00246736 -0.745871 0.666083 uwb: 0.0 1074.09 421.619 -imu_odom_: 1691062826.191767307 0.402226 -0.114922 9.86172 -0.0490022 -0.0170442 0.072438 0.09 0.02 pose: 0.65945402 5.91566 -2.6562 0 0.00260028 0.0060038 -0.745341 0.666652 uwb: 0.0 1074.09 421.619 -imu_odom_: 1691062826.209565204 0.280122 -0.562637 9.82341 -0.0553937 0.0106526 0.0639159 0.1 0.02 pose: 0.0 5.91566 -2.6562 0 0.00260028 0.0060038 -0.745341 0.666652 uwb: 0.49867361 1076.59 422.158 -imu_odom_: 1691062826.222561096 0.19393 -0.328006 9.83299 -0.0415453 0.015979 0.0394148 0.1 0.02 pose: 0.0 5.91566 -2.6562 0 0.00260028 0.0060038 -0.745341 0.666652 uwb: 0.0 1076.59 422.158 -imu_odom_: 1691062826.237612824 0.328006 -0.011971 9.88087 -0.0447411 0.00213053 0.0436758 0.1 0.02 pose: 0.34064637 5.9089 -2.66357 0 0.00272846 0.00407938 -0.74504 0.667002 uwb: 0.0 1076.59 422.158 -imu_odom_: 1691062826.255557130 0.328006 0.100556 10.3621 -0.0703074 -0.0106526 0.076699 0.15 0.02 pose: 0.37882325 5.91236 -2.66675 0 0.00360808 0.00488571 -0.744935 0.66711 uwb: 0.49993062 1076.1 422.021 -imu_odom_: 1691062826.272553867 0.888249 -0.526724 10.4555 -0.0436758 -0.0117179 0.0383495 0.15 0.02 pose: 0.7938110 5.91627 -2.67033 0 0.00399531 0.00425342 -0.744834 0.667224 uwb: 0.0 1076.1 422.021 -imu_odom_: 1691062826.286541658 1.21386 -0.114922 9.60793 -0.052198 -0.0436758 0.0340885 0.15 0.02 pose: 0.0 5.91627 -2.67033 0 0.00399531 0.00425342 -0.744834 0.667224 uwb: 0.0 1076.1 422.021 -imu_odom_: 1691062826.302553787 1.16119 -0.134075 9.64384 -0.052198 0.00852212 0.0777643 0.09 -0.02 pose: 0.40990724 5.91627 -2.67033 0 0.00173369 0.00168321 -0.744752 0.667337 uwb: 0.49998312 1076.06 422.277 -imu_odom_: 1691062826.318609080 1.20668 -0.246603 10.3525 -0.0607201 -0.0181095 0.123571 0.12 -0.02 pose: 0.0 5.91627 -2.67033 0 0.00173369 0.00168321 -0.744752 0.667337 uwb: 0.0 1076.06 422.277 -imu_odom_: 1691062826.332591913 1.11809 -0.316035 9.58399 -0.0639159 -0.0394148 0.129962 0.12 -0.02 pose: 0.0 5.91627 -2.67033 0 0.00173369 0.00168321 -0.744752 0.667337 uwb: 0.0 1076.06 422.277 -imu_odom_: 1691062826.347552063 1.33596 -0.344765 9.67018 -0.0468716 -0.00532632 0.0937433 0.12 -0.02 pose: 0.23061292 5.90952 -2.67771 0 0.000156787 7.93153e-05 -0.744352 0.667787 uwb: 0.50025435 1077.6 422.339 -imu_odom_: 1691062826.364753246 0.931344 -0.0957681 9.9096 -0.0553937 0.0415453 0.0703074 0.06 -0.02 pose: 0.0 5.90952 -2.67771 0 0.000156787 7.93153e-05 -0.744352 0.667787 uwb: 0.0 1077.6 422.339 -imu_odom_: 1691062826.381708278 0.514753 -0.186748 10.1825 -0.0553937 0.0213053 0.0426106 0.06 -0.02 pose: 0.0 5.90952 -2.67771 0 0.000156787 7.93153e-05 -0.744352 0.667787 uwb: 0.0 1077.6 422.339 -imu_odom_: 1691062826.398594771 0.553061 -0.184354 9.61751 -0.0660464 -0.0266316 0.00106526 0.07 -0.02 pose: 0.72105328 5.90952 -2.67771 0 -0.00289892 -0.00486425 -0.743208 0.669037 uwb: 0.49985187 1080.14 422.568 -imu_odom_: 1691062826.414826220 0.778116 -0.0933739 9.79228 -0.0553937 -0.00745685 -0.00852212 0.07 -0.02 pose: 0.0 5.90952 -2.67771 0 -0.00289892 -0.00486425 -0.743208 0.669037 uwb: 0.0 1080.14 422.568 -imu_odom_: 1691062826.431701048 0.85473 -0.363919 9.90242 -0.0639159 -0.0127832 0.0181095 0.07 -0.02 pose: 0.0 5.90952 -2.67771 0 -0.00289892 -0.00486425 -0.743208 0.669037 uwb: 0.0 1080.14 422.568 -imu_odom_: 1691062826.447686928 0.785298 -0.35913 9.89763 -0.0575243 0.00213053 0.0213053 0.04 0 pose: 0.6887297 5.90952 -2.67771 0 -0.00350731 -0.00533213 -0.743293 0.668936 uwb: 0.50065683 1078.69 421.848 -imu_odom_: 1691062826.464547465 0.746991 -0.213084 10.0054 -0.052198 0 0.0170442 0.05 0.02 pose: 0.0 5.90952 -2.67771 0 -0.00350731 -0.00533213 -0.743293 0.668936 uwb: 0.0 1078.69 421.848 -imu_odom_: 1691062826.489566599 0.457293 -0.0837971 9.94791 -0.0543285 -0.00319579 0.0117179 0.05 0.02 pose: 0.66986883 5.90952 -2.67771 0 -0.00904193 -0.00816809 -0.743906 0.668174 uwb: 0.0 1078.69 421.848 -imu_odom_: 1691062826.505608476 0.205901 -0.244209 9.96227 -0.0596548 0.0298274 0.0308927 0.03 0.02 pose: 0.0 5.90952 -2.67771 0 -0.00904193 -0.00816809 -0.743906 0.668174 uwb: 0.49927733 1080.22 421.963 -imu_odom_: 1691062826.530743686 -1.11809 -0.37589 10.2089 -0.0543285 0.0585895 0.0713727 0.03 0.02 pose: 0.40977599 5.91691 -2.68444 0 -0.00665788 -0.00774695 -0.744254 0.667818 uwb: 0.0 1080.22 421.963 -imu_odom_: 1691062826.557661749 -0.383072 -0.011971 9.87608 -0.0575243 -0.0905475 0.0660464 0.07 0.02 pose: 0.34183629 5.91239 -2.6894 0 -0.00369924 -0.00454676 -0.744039 0.66811 uwb: 0.49688580 1080.7 422.219 -imu_odom_: 1691062826.582678549 0.469264 -0.141258 10.0078 -0.0553937 -0.015979 0.0649811 0.07 0.02 pose: 0.7876573 5.91017 -2.69183 0 -0.0032778 -0.00436949 -0.743973 0.668188 uwb: 0.0 1080.7 422.219 -imu_odom_: 1691062826.599545794 0.462081 -0.117316 9.8689 -0.0617853 0.0149137 0.056459 0.12 0 pose: 0.0 5.91017 -2.69183 0 -0.0032778 -0.00436949 -0.743973 0.668188 uwb: 0.50244755 1080.18 422.312 -imu_odom_: 1691062826.615594379 0.232238 -0.186748 10.0078 -0.0628506 0.00106526 0.0617853 0.12 0 pose: 0.51068664 5.91017 -2.69183 0 0.00055138 -0.0053651 -0.743565 0.668641 uwb: 0.0 1080.18 422.312 -imu_odom_: 1691062826.631660172 -0.0215478 -0.148441 9.87848 -0.0617853 -0.0127832 0.0585895 0.15 0.02 pose: 0.0 5.91017 -2.69183 0 0.00055138 -0.0053651 -0.743565 0.668641 uwb: 0.0 1080.18 422.312 -imu_odom_: 1691062826.657543171 0.186748 -0.011971 9.73243 -0.072438 -0.0266316 0.052198 0.15 0.02 pose: 0.32995159 5.91017 -2.69183 0 0.00271137 -0.00376977 -0.743358 0.668878 uwb: 0.49924233 1078.64 422.22 -imu_odom_: 1691062826.682669923 0.361524 -0.155623 10.1155 -0.0607201 -0.0138484 0.0553937 0.14 0 pose: 0.34859089 5.90539 -2.697 0 0.00545319 -0.00257794 -0.743196 0.669046 uwb: 0.0 1078.64 422.22 -imu_odom_: 1691062826.705602015 0.373495 -0.397437 9.91199 -0.0617853 -0.00852212 0.0479369 0.14 0 pose: 0.7071037 5.90338 -2.69917 0 0.00489448 -0.00210816 -0.743163 0.669089 uwb: 0.50048184 1077.12 422.062 -imu_odom_: 1691062826.721647975 0.248997 -0.248997 10.4698 -0.0490022 0.0170442 0.0383495 0.13 0 pose: 0.0 5.90338 -2.69917 0 0.00489448 -0.00210816 -0.743163 0.669089 uwb: 0.0 1077.12 422.062 -imu_odom_: 1691062826.748536289 0.148441 -0.289698 9.8665 -0.0575243 -0.00745685 0.0436758 0.13 0 pose: 0.48946624 5.91072 -2.70596 0 0.00221154 0.00151369 -0.74302 0.669263 uwb: 0.49913733 1080.14 422.402 -imu_odom_: 1691062826.774588445 0.172383 -0.368707 9.64145 -0.0575243 0.0298274 0.0490022 0.14 0.02 pose: 0.34975457 5.90595 -2.71112 0 0.00375866 0.00469661 -0.742979 0.669287 uwb: 0.0 1080.14 422.402 -imu_odom_: 1691062826.790523287 -0.169988 -0.227449 9.46188 -0.0319579 -0.00852212 0.036219 0.14 0.02 pose: 0.8007523 5.90394 -2.7133 0 0.00383967 0.00559514 -0.742952 0.66931 uwb: 0.0 1080.14 422.402 -imu_odom_: 1691062826.815507422 0.52433 -0.246603 9.97903 -0.0681769 -0.0426106 0.0639159 0.14 0.02 pose: 0.0 5.90394 -2.7133 0 0.00383967 0.00559514 -0.742952 0.66931 uwb: 0.0 1080.14 422.402 -imu_odom_: 1691062826.841583785 0.52433 -0.153229 9.94073 -0.0543285 -0.0298274 0.0276969 0.14 0.02 pose: 0.42053493 5.91128 -2.72009 0 0.00469471 0.00775847 -0.742836 0.669412 uwb: 0.0 1080.14 422.402 -imu_odom_: 1691062826.865678099 -0.11971 -0.131681 10.0604 -0.0426106 0.0181095 0.0351537 0.15 0 pose: 0.42986480 5.90641 -2.72537 0 0.00190468 0.00379054 -0.742826 0.669471 uwb: 0.99964250 1082.18 422.523 -imu_odom_: 1691062826.890712690 0.0143652 -0.4956 9.89284 -0.0553937 0.0191748 0.0490022 0.15 0 pose: 0.6986750 5.9045 -2.72744 0 0.00261173 0.00413462 -0.742833 0.669459 uwb: 0.0 1082.18 422.523 -imu_odom_: 1691062826.906679905 0.371101 0.0023942 10.137 -0.0266316 -0.0298274 0.0383495 0.15 0 pose: 0.17107564 5.9045 -2.72744 0 0.004343 0.0049771 -0.742849 0.669426 uwb: 0.49987813 1078.64 422.101 -imu_odom_: 1691062826.932561446 0.272939 -0.124498 10.2759 -0.0628506 -0.00532632 0.0415453 0.15 0 pose: 0.0 5.9045 -2.72744 0 0.004343 0.0049771 -0.742849 0.669426 uwb: 0.0 1078.64 422.101 -imu_odom_: 1691062826.958785966 -0.208296 -0.287304 10.1754 -0.0351537 0.0138484 0.0308927 0.15 -0.02 pose: 0.6914129 5.9045 -2.72744 0 0.00443258 0.00572222 -0.742826 0.669445 uwb: 0.50114971 1079.19 421.867 -imu_odom_: 1691062826.983560115 0.131681 -0.351948 9.43315 -0.04048 -0.00745685 0.052198 0.16 0.02 pose: 0.42150613 5.90507 -2.74157 0 0.00543393 0.00513371 -0.742764 0.669512 uwb: 0.0 1079.19 421.867 -imu_odom_: 1691062826.999582160 0.442927 -0.172383 10.3789 -0.0447411 -0.0117179 0.052198 0.16 0.02 pose: 0.0 5.90507 -2.74157 0 0.00543393 0.00513371 -0.742764 0.669512 uwb: 0.50023393 1079.23 421.565 -imu_odom_: 1691062827.25569570 0.627281 -0.0861913 10.3525 -0.0490022 -0.0255663 0.0575243 0.16 0.02 pose: 0.50945005 5.90507 -2.74157 0 0.00799323 0.00633529 -0.742783 0.669454 uwb: 0.0 1079.23 421.565 -imu_odom_: 1691062827.51799924 0.739808 -0.205901 9.80665 -0.0532632 -0.0490022 0.0372843 0.16 0.02 pose: 0.0 5.90507 -2.74157 0 0.00799323 0.00633529 -0.742783 0.669454 uwb: 0.50003854 1078.19 421.637 -imu_odom_: 1691062827.75626504 0.308852 -0.0646434 9.65103 -0.0383495 -0.0468716 0.04048 0.15 0 pose: 0.42855238 5.90564 -2.7557 0 0.00623487 0.00568574 -0.742608 0.669673 uwb: 0.0 1078.19 421.637 -imu_odom_: 1691062827.91561055 0.632069 -0.395043 10.1299 -0.0607201 -0.036219 0.056459 0.15 0 pose: 0.0 5.90564 -2.7557 0 0.00623487 0.00568574 -0.742608 0.669673 uwb: 0.0 1078.19 421.637 -imu_odom_: 1691062827.106512164 0.766145 -0.0742203 9.85932 -0.0340885 -0.0170442 0.0394148 0.15 0 pose: 0.0 5.90564 -2.7557 0 0.00623487 0.00568574 -0.742608 0.669673 uwb: 0.49978481 1077.16 421.641 -imu_odom_: 1691062827.134585741 0.0287304 -0.306458 9.63666 -0.0490022 0.00426106 0.0617853 0.17 0 pose: 0.49982855 5.90564 -2.7557 0 0.00339122 0.00134583 -0.742541 0.669791 uwb: 0.0 1077.16 421.641 -imu_odom_: 1691062827.158653516 0.244209 -0.167594 9.66539 -0.0383495 0.04048 0.04048 0.17 0 pose: 0.39004010 5.89886 -2.76305 0 0.00247118 -0.0008054 -0.742444 0.669903 uwb: 0.49942025 1073.12 421.164 -imu_odom_: 1691062827.174656021 0.301669 -0.0622492 10.0317 -0.0500674 -0.00213053 0.0490022 0.17 0 pose: 0.0 5.89886 -2.76305 0 0.00247118 -0.0008054 -0.742444 0.669903 uwb: 0.0 1073.12 421.164 -imu_odom_: 1691062827.201536169 0.452504 -0.203507 9.8282 -0.0628506 0.00745685 0.04048 0.17 0 pose: 0.45014318 5.89944 -2.77718 0 0.00425736 0.00135971 -0.742233 0.670127 uwb: 0.50008229 1074.16 421.036 -imu_odom_: 1691062827.228705051 0.591368 -0.339977 10.2113 -0.0841559 -0.0255663 0.0585895 0.17 0 pose: 0.0 5.89944 -2.77718 0 0.00425736 0.00135971 -0.742233 0.670127 uwb: 0.0 1074.16 421.036 -imu_odom_: 1691062827.244618602 0.25618 -0.184354 10.0461 -0.0660464 -0.02024 0.0500674 0.17 -0.02 pose: 0.41214128 5.89944 -2.77718 0 0.00603282 0.000754216 -0.742161 0.670194 uwb: 0.50102431 1074.16 421.082 -imu_odom_: 1691062827.271767652 0.363919 -0.071826 10.386 -0.052198 -0.0213053 0.052198 0.17 -0.02 pose: 0.0 5.89944 -2.77718 0 0.00603282 0.000754216 -0.742161 0.670194 uwb: 0.0 1074.16 421.082 -imu_odom_: 1691062827.297599321 0.519542 -0.47884 10.3238 -0.0511327 -0.00639159 0.0479369 0.18 0 pose: 0.52916847 5.90004 -2.79131 0 0.00179576 0.00046914 -0.741965 0.670436 uwb: 0.50068017 1077.7 421.5 -imu_odom_: 1691062827.323562816 0.509965 -0.208296 9.991 -0.0745685 -0.0117179 0.0649811 0.23 0.02 pose: 0.42834823 5.89327 -2.79868 0 0.00317538 -0.00112545 -0.741794 0.67062 uwb: 0.0 1077.7 421.5 -imu_odom_: 1691062827.349506187 0.864307 -0.205901 9.67736 -0.0575243 0.02024 0.0426106 0.17 0.02 pose: 0.0 5.89327 -2.79868 0 0.00317538 -0.00112545 -0.741794 0.67062 uwb: 0.49750995 1078.24 421.289 -imu_odom_: 1691062827.376533327 0.141258 -0.138864 9.79468 -0.0681769 0.0191748 0.0596548 0.22 -0.02 pose: 0.52079231 5.90064 -2.80544 0 -0.0014371 -0.00219734 -0.741513 0.670933 uwb: 0.0 1078.24 421.289 -imu_odom_: 1691062827.393675889 0.318429 -0.289698 9.67736 -0.0490022 -0.0255663 0.0479369 0.22 -0.02 pose: 0.0 5.90064 -2.80544 0 -0.0014371 -0.00219734 -0.741513 0.670933 uwb: 0.49896235 1079.75 421.565 -imu_odom_: 1691062827.417523176 0.318429 -0.409408 9.74679 -0.0649811 -0.0394148 0.0607201 0.24 0 pose: 0.24971596 5.89389 -2.81281 0 -0.00199755 -0.00276698 -0.741445 0.671005 uwb: 0.0 1079.75 421.565 -imu_odom_: 1691062827.441644614 0.471658 -0.260968 9.80904 -0.0468716 0.0138484 0.0415453 0.24 0 pose: 0.44047500 5.90127 -2.81957 0 -0.0004376870.000676678 -0.74122 0.671262 uwb: 0.0 1079.75 421.565 -imu_odom_: 1691062827.466501300 0.457293 -0.402226 9.67497 -0.0681769 -0.0213053 0.0617853 0.18 0 pose: 0.41036222 5.89452 -2.82695 0 -0.00278875 0.000580211 -0.741085 0.671405 uwb: 0.50008521 1079.75 421.565 -imu_odom_: 1691062827.492506209 0.600945 -0.225055 10.1634 -0.0351537 0.00532632 0.04048 0.18 0 pose: 0.0 5.89452 -2.82695 0 -0.00278875 0.000580211 -0.741085 0.671405 uwb: 0.0 1079.75 421.565 -imu_odom_: 1691062827.508495590 0.792481 -0.184354 10.0772 -0.0532632 -0.00532632 0.0468716 0.18 0 pose: 0.50861595 5.89497 -2.83688 0 -0.00550412 -0.000469585-0.740891 0.671603 uwb: 0.50220258 1079.21 421.752 -imu_odom_: 1691062827.535553353 0.385466 -0.215478 9.56723 -0.0553937 0.0223706 0.04048 0.18 0 pose: 0.0 5.89497 -2.83688 0 -0.00550412 -0.000469585-0.740891 0.671603 uwb: 0.0 1079.21 421.752 -imu_odom_: 1691062827.561551845 0.203507 -0.428562 10.0461 -0.0735032 0.00532632 0.0553937 0.18 0 pose: 0.43047144 5.89517 -2.84108 0 -0.00348664 -0.000703838-0.740855 0.671656 uwb: 0.50055185 1079.21 421.752 -imu_odom_: 1691062827.588484782 0.533907 -0.371101 9.50019 -0.0596548 0.00532632 0.0436758 0.18 0 pose: 0.8020938 5.89517 -2.84108 0 -0.00332018 0.000156331 -0.740811 0.671705 uwb: 0.0 1079.21 421.752 -imu_odom_: 1691062827.604480288 0.608127 -0.31364 10.1586 -0.0543285 0.02024 0.056459 0.18 0 pose: 0.25987119 5.89582 -2.8552 0 -0.00372878 0.00206249 -0.7407 0.671822 uwb: 0.49984022 1077.22 421.269 -imu_odom_: 1691062827.631594922 0.656011 -0.186748 10.0987 -0.0330232 0.00106526 0.0330232 0.18 0 pose: 0.0 5.89582 -2.8552 0 -0.00372878 0.00206249 -0.7407 0.671822 uwb: 0.0 1077.22 421.269 -imu_odom_: 1691062827.647537931 0.318429 -0.186748 9.76595 -0.0436758 0.0213053 0.056459 0.25 0.02 pose: 0.26935853 5.89582 -2.8552 0 -0.00607162 0.00151142 -0.740627 0.671887 uwb: 0.49879320 1076.21 421.089 -imu_odom_: 1691062827.674551946 0.519542 -0.0502782 10.4459 -0.0394148 0.00639159 0.0458064 0.25 0.02 pose: 0.0 5.89582 -2.8552 0 -0.00607162 0.00151142 -0.740627 0.671887 uwb: 0.0 1076.21 421.089 -imu_odom_: 1691062827.699506918 0.921768 -0.37589 9.64145 -0.072438 -0.0127832 0.0511327 0.25 0.02 pose: 0.59044691 5.88908 -2.8626 0 -0.00450841 -0.00191817 -0.740557 0.671976 uwb: 0.50062184 1078.28 421.01 -imu_odom_: 1691062827.726486811 1.01514 -0.339977 9.991 -0.0447411 0.0245011 0.0436758 0.21 0.02 pose: 0.43964964 5.88975 -2.87672 0 -0.00575856 -0.0042848 -0.740413 0.672114 uwb: 0.0 1078.28 421.01 -imu_odom_: 1691062827.751619980 0.514753 -0.215478 9.84256 -0.0553937 0.00852212 0.052198 0.21 0.02 pose: 0.0 5.88975 -2.87672 0 -0.00575856 -0.0042848 -0.740413 0.672114 uwb: 0.49865320 1078.3 420.87 -imu_odom_: 1691062827.778454339 0.629675 -0.28491 9.38048 -0.0692422 -0.0255663 0.0511327 0.21 0 pose: 0.7030206 5.88975 -2.87672 0 -0.00627408 -0.00458424 -0.7404 0.672122 uwb: 0.0 1078.3 420.87 -imu_odom_: 1691062827.803511972 0.299275 -0.28491 9.66539 -0.056459 0.0276969 0.0426106 0.21 0 pose: 0.0 5.88975 -2.87672 0 -0.00627408 -0.00458424 -0.7404 0.672122 uwb: 0.50062768 1081.33 421.335 -imu_odom_: 1691062827.830471449 0.196325 -0.232238 9.87129 -0.0681769 -0.0117179 0.0575243 0.21 -0.02 pose: 0.52094980 5.89041 -2.89085 0 -0.00611888 -0.00440442 -0.74024 0.672301 uwb: 0.0 1081.33 421.335 -imu_odom_: 1691062827.846745188 0.486023 -0.227449 9.94791 -0.0596548 -0.0127832 0.0490022 0.21 -0.02 pose: 0.0 5.89041 -2.89085 0 -0.00611888 -0.00440442 -0.74024 0.672301 uwb: 0.0 1081.33 421.335 -imu_odom_: 1691062827.873486803 0.392649 -0.426168 10.0652 -0.0841559 0.0213053 0.0532632 0.18 0 pose: 0.53064713 5.89041 -2.89085 0 -0.00577872 -0.00212339 -0.740086 0.672484 uwb: 0.0 1081.33 421.335 -imu_odom_: 1691062827.898528686 0.205901 -0.40462 9.97185 -0.056459 0.0319579 0.0351537 0.19 0 pose: 0.61789986 5.88638 -2.91018 0 -0.00441234 0.000735512 -0.739801 0.672811 uwb: 0.100000709 1082.84 421.572 -imu_odom_: 1691062827.915604168 0.502782 -0.225055 10.6638 -0.0628506 -0.0372843 0.0490022 0.19 0 pose: 0.0 5.88638 -2.91018 0 -0.00441234 0.000735512 -0.739801 0.672811 uwb: 0.0 1082.84 421.572 -imu_odom_: 1691062827.940483020 0.430956 -0.191536 10.2448 -0.0351537 -0.0319579 0.0340885 0.18 0 pose: 0.8048353 5.88438 -2.91238 0 -0.00400434 0.00158355 -0.739811 0.672801 uwb: 0.0 1082.84 421.572 -imu_odom_: 1691062827.967522992 0.610521 -0.141258 9.52653 -0.0617853 -0.0223706 0.0511327 0.18 0 pose: 0.0 5.88438 -2.91238 0 -0.00400434 0.00158355 -0.739811 0.672801 uwb: 0.49943774 1086.4 421.904 -imu_odom_: 1691062827.993721556 1.00796 -0.237026 9.76116 -0.0511327 0.0308927 0.0298274 0.2 0 pose: 0.41961626 5.88438 -2.91238 0 -0.00304876 0.000846139 -0.7398 0.67282 uwb: 0.50049643 1090.91 422.762 -imu_odom_: 1691062828.20516835 0.430956 -0.282516 9.79947 -0.0628506 -0.0106526 0.0479369 0.2 0 pose: 0.0 5.88438 -2.91238 0 -0.00304876 0.000846139 -0.7398 0.67282 uwb: 0.0 1090.91 422.762 -imu_odom_: 1691062828.46622364 0.325611 -0.416591 9.57202 -0.0596548 -0.0532632 0.0340885 0.18 0 pose: 0.52024692 5.88507 -2.92651 0 -0.0035965 -0.00369084 -0.739749 0.672863 uwb: 0.49944067 1089.39 422.572 -imu_odom_: 1691062828.73494347 0.54109 -0.272939 9.81144 -0.0436758 -0.00213053 0.0351537 0.25 -0.02 pose: 0.53023300 5.88577 -2.94063 0 -0.00447157 -0.00133149 -0.739741 0.672876 uwb: 0.0 1089.39 422.572 -imu_odom_: 1691062828.89641510 0.411803 -0.318429 9.95509 -0.0447411 0.00639159 0.036219 0.25 -0.02 pose: 0.0 5.88577 -2.94063 0 -0.00447157 -0.00133149 -0.739741 0.672876 uwb: 0.0 1089.39 422.572 -imu_odom_: 1691062828.116475870 0.584185 -0.411803 9.67976 -0.0532632 -0.0223706 0.0543285 0.25 0.02 pose: 0.61096736 5.87905 -2.94804 0 -0.00566127 -0.000438022-0.739824 0.672777 uwb: 0.49997439 1093.52 422.585 -imu_odom_: 1691062828.142548443 0.560243 -0.452504 10.252 -0.0649811 -0.015979 0.0511327 0.25 0.02 pose: 0.7978942 5.87905 -2.94804 0 -0.00649195 -0.000332091-0.739779 0.672818 uwb: 0.0 1093.52 422.585 -imu_odom_: 1691062828.169457465 0.600945 -0.248997 10.4244 -0.0255663 -0.0617853 0.0372843 0.25 0 pose: 0.44927991 5.88161 -2.96011 0 -0.0108024 0.00138271 -0.739545 0.673019 uwb: 0.49974691 1090.49 422.149 -imu_odom_: 1691062828.195593034 0.572214 -0.270545 9.95748 -0.0596548 -0.0170442 0.0479369 0.25 0 pose: 0.0 5.88161 -2.96011 0 -0.0108024 0.00138271 -0.739545 0.673019 uwb: 0.50129265 1089.99 422.001 -imu_odom_: 1691062828.212495860 0.21069 -0.0814029 10.2017 -0.0351537 0.0106526 0.0426106 0.23 0.02 pose: 0.34978958 5.87975 -2.96217 0 -0.00958407 -0.00251779 -0.739567 0.67301 uwb: 0.0 1089.99 422.001 -imu_odom_: 1691062828.228520531 0.919373 -0.270545 10.1131 -0.0511327 -0.0458064 0.0628506 0.23 0.02 pose: 0.0 5.87975 -2.96217 0 -0.00958407 -0.00251779 -0.739567 0.67301 uwb: 0.0 1089.99 422.001 -imu_odom_: 1691062828.255523173 0.54109 -0.203507 9.92636 -0.0468716 0.0479369 0.0436758 0.25 0 pose: 0.50993130 5.88045 -2.97629 0 -0.00799539 -0.00467028 -0.73939 0.673214 uwb: 0.49727080 1093.55 422.376 -imu_odom_: 1691062828.271680836 0.316035 -0.146046 9.82341 -0.0436758 0.00958738 0.0458064 0.25 0 pose: 0.0 5.88045 -2.97629 0 -0.00799539 -0.00467028 -0.73939 0.673214 uwb: 0.0 1093.55 422.376 -imu_odom_: 1691062828.298582567 0.270545 -0.270545 10.2185 -0.0511327 -0.00213053 0.0458064 0.25 0.02 pose: 0.43160305 5.87701 -2.9801 0 -0.00312909 -0.0039698 -0.739353 0.673299 uwb: 0.50147347 1094.11 422.11 -imu_odom_: 1691062828.323622992 0.847547 -0.21069 10.2568 -0.076699 -0.0415453 0.0532632 0.25 0.02 pose: 0.7776828 5.87374 -2.98371 0 -0.00271865 -0.00330537 -0.739339 0.673319 uwb: 0.0 1094.11 422.11 -imu_odom_: 1691062828.350514224 0.409408 -0.234632 9.92875 -0.0490022 0.0117179 0.0383495 0.22 -0.02 pose: 0.27265126 5.88116 -2.99042 0 -0.00247889 -0.00226093 -0.739263 0.673408 uwb: 0.49886612 1092.6 421.889 -imu_odom_: 1691062828.375672476 0.627281 -0.198719 9.8282 -0.0649811 -0.04048 0.0511327 0.2 0 pose: 0.23830664 5.88116 -2.99042 0 -0.00359338 -0.00291841 -0.739184 0.673487 uwb: 0.0 1092.6 421.889 -imu_odom_: 1691062828.392486349 0.21069 0.00718261 9.57202 -0.0468716 -0.00532632 0.0436758 0.2 0 pose: 0.0 5.88116 -2.99042 0 -0.00359338 -0.00291841 -0.739184 0.673487 uwb: 0.0 1092.6 421.889 -imu_odom_: 1691062828.418563005 0.227449 -0.304064 10.1035 -0.0692422 0.0117179 0.0596548 0.18 -0.02 pose: 0.28191405 5.87446 -2.99784 0 -0.00285882 -0.00199657 -0.739163 0.673518 uwb: 0.49990440 1096.61 422.689 -imu_odom_: 1691062828.442456374 0.203507 -0.347159 9.97664 -0.0415453 0.0415453 0.0447411 0.18 -0.02 pose: 0.0 5.87446 -2.99784 0 -0.00285882 -0.00199657 -0.739163 0.673518 uwb: 0.0 1096.61 422.689 -imu_odom_: 1691062828.466483318 0.1652 -0.442927 10.0652 -0.0628506 -0.0181095 0.0479369 0.18 0 pose: 0.41820759 5.88188 -3.00454 0 -0.00213756 -0.00255896 -0.739024 0.673671 uwb: 0.49992189 1095.65 422.196 -imu_odom_: 1691062828.482414661 0.464475 -0.0790087 9.7851 -0.04048 -0.02024 0.0490022 0.18 0 pose: 0.0 5.88188 -3.00454 0 -0.00213756 -0.00255896 -0.739024 0.673671 uwb: 0.0 1095.65 422.196 -imu_odom_: 1691062828.509564877 0.648829 -0.1652 9.50498 -0.0639159 0.00639159 0.052198 0.25 0.02 pose: 0.48908421 5.87518 -3.01196 0 -5.22815e-050.0024534 -0.73884 0.673877 uwb: 0.50123432 1093.63 421.889 -imu_odom_: 1691062828.525444890 0.512359 -0.148441 10.07 -0.0415453 0.015979 0.0436758 0.25 0.02 pose: 0.0 5.87518 -3.01196 0 -5.22815e-050.0024534 -0.73884 0.673877 uwb: 0.0 1093.63 421.889 -imu_odom_: 1691062828.552430616 0.76375 -0.265756 9.81623 -0.0692422 -0.036219 0.0543285 0.25 0 pose: 0.40097987 5.87592 -3.02609 0 -0.0001013170.00182602 -0.738711 0.67402 uwb: 0.49866197 1098.15 422.711 -imu_odom_: 1691062828.577537829 0.821211 -0.208296 10.1083 -0.0383495 -0.0319579 0.0394148 0.25 0 pose: 0.0 5.87592 -3.02609 0 -0.0001013170.00182602 -0.738711 0.67402 uwb: 0.0 1098.15 422.711 -imu_odom_: 1691062828.594441239 0.395043 -0.19393 10.2208 -0.0575243 0.0181095 0.0436758 0.19 -0.02 pose: 0.42931068 5.87592 -3.02609 0 -0.00181896 -0.0017134 -0.738571 0.674171 uwb: 0.50249424 1099.7 422.785 -imu_odom_: 1691062828.619585783 0.426168 -0.11971 9.39964 -0.0639159 -0.00106526 0.0415453 0.19 -0.02 pose: 0.0 5.87592 -3.02609 0 -0.00181896 -0.0017134 -0.738571 0.674171 uwb: 0.0 1099.7 422.785 -imu_odom_: 1691062828.636558897 0.277727 0.00957681 10.2113 -0.0607201 -0.0308927 0.0426106 0.22 0.02 pose: 0.51979780 5.87666 -3.04021 0 -0.00508709 -0.00462823 -0.738449 0.674275 uwb: 0.0 1099.7 422.785 -imu_odom_: 1691062828.661762355 0.407014 -0.423774 9.53371 -0.0596548 -0.0149137 0.0436758 0.22 0.02 pose: 0.0 5.87666 -3.04021 0 -0.00508709 -0.00462823 -0.738449 0.674275 uwb: 0.50116140 1101.29 422.586 -imu_odom_: 1691062828.688500179 0.622492 -0.213084 9.80186 -0.0511327 0.0245011 0.0543285 0.23 0.02 pose: 0.42082077 5.86997 -3.04765 0 -0.00111049 -0.00415362 -0.738432 0.674314 uwb: 0.0 1101.29 422.586 -imu_odom_: 1691062828.713469734 0.646434 -0.31364 10.1131 -0.0287621 0.0149137 0.0266316 0.23 0.02 pose: 0.0 5.86997 -3.04765 0 -0.00111049 -0.00415362 -0.738432 0.674314 uwb: 0.49817783 1103.88 422.64 -imu_odom_: 1691062828.730493012 0.42138 -0.179565 9.85214 -0.0447411 -0.0117179 0.0543285 0.22 0 pose: 0.42019956 5.87741 -3.05433 0 -0.00210802 -0.00249092 -0.738355 0.674404 uwb: 0.0 1103.88 422.64 -imu_odom_: 1691062828.755615682 0.294487 -0.0742203 9.90721 -0.0447411 -0.00958738 0.0394148 0.22 0 pose: 0.0 5.87741 -3.05433 0 -0.00210802 -0.00249092 -0.738355 0.674404 uwb: 0.49915486 1101.36 422.216 -imu_odom_: 1691062828.782420877 0.895431 -0.299275 9.72525 -0.0735032 -0.0415453 0.0543285 0.23 0 pose: 0.51908908 5.87073 -3.06177 0 -0.00480768 -0.00378211 -0.738314 0.67443 uwb: 0.0 1101.36 422.216 -imu_odom_: 1691062828.798523418 0.342371 -0.0790087 9.84017 -0.0458064 0.072438 0.0372843 0.23 0 pose: 0.0 5.87073 -3.06177 0 -0.00480768 -0.00378211 -0.738314 0.67443 uwb: 0.50187594 1102.42 422.093 -imu_odom_: 1691062828.825547934 0.208296 -0.234632 9.59596 -0.0756338 0.0138484 0.0596548 0.25 0 pose: 0.78029603 5.86791 -3.07987 0 -0.00213634 -0.00409586 -0.738157 0.674613 uwb: 0.0 1102.42 422.093 -imu_odom_: 1691062828.850439035 0.213084 -0.316035 9.72046 -0.0628506 0.0681769 0.0426106 0.2 -0.02 pose: 0.6925213 5.8648 -3.08333 0 -0.0017171 -0.00345045 -0.738113 0.674666 uwb: 0.50005022 1103.5 421.904 -imu_odom_: 1691062828.875685656 0.189142 -0.4956 9.81144 -0.0543285 0.015979 0.0447411 0.21 0 pose: 0.44990404 5.87224 -3.09001 0 0.000921894 0.00144982 -0.737957 0.674846 uwb: 0.0 1103.5 421.904 -imu_odom_: 1691062828.898430802 0.565032 -0.466869 9.75637 -0.056459 0.0319579 0.0500674 0.21 0 pose: 0.0 5.87224 -3.09001 0 0.000921894 0.00144982 -0.737957 0.674846 uwb: 0.49812534 1103.02 421.652 -imu_odom_: 1691062828.914434474 0.347159 -0.162806 10.1538 -0.0745685 -0.0223706 0.0585895 0.18 0.02 pose: 0.31140854 5.86557 -3.09746 0 0.000223646 0.00418155 -0.73789 0.674908 uwb: 0.0 1103.02 421.652 -imu_odom_: 1691062828.939401404 0.632069 -0.0933739 9.61511 -0.0713727 0.0298274 0.0372843 0.18 0.02 pose: 0.0 5.86557 -3.09746 0 0.000223646 0.00418155 -0.73789 0.674908 uwb: 0.0 1103.02 421.652 -imu_odom_: 1691062828.962516652 0.624887 -0.490811 9.81862 -0.0841559 -0.00639159 0.0553937 0.23 0.02 pose: 0.40872316 5.87302 -3.10413 0 -0.0003965170.00270692 -0.737741 0.675079 uwb: 0.50049353 1103.05 421.467 -imu_odom_: 1691062828.978520616 0.148441 -0.385466 10.082 -0.0607201 0.036219 0.0351537 0.23 0.02 pose: 0.0 5.87302 -3.10413 0 -0.0003965170.00270692 -0.737741 0.675079 uwb: 0.0 1103.05 421.467 -imu_odom_: 1691062829.5439262 0.320823 -0.229843 9.94551 -0.0596548 0.0170442 0.0468716 0.25 0.02 pose: 0.56068411 5.86635 -3.11158 0 -0.00231067 0.00344972 -0.737651 0.67517 uwb: 0.49843740 1099.02 420.714 -imu_odom_: 1691062829.31523501 -0.237026 -0.201113 9.85693 -0.0266316 0.0234358 0.0394148 0.19 -0.02 pose: 0.7896696 5.86635 -3.11158 0 -0.00147018 0.00351075 -0.737631 0.675193 uwb: 0.0 1099.02 420.714 -imu_odom_: 1691062829.58548018 0.430956 -0.158017 9.84256 -0.0585895 -0.0181095 0.0458064 0.25 0 pose: 0.0 5.86635 -3.11158 0 -0.00147018 0.00351075 -0.737631 0.675193 uwb: 0.0 1099.02 420.714 -imu_odom_: 1691062829.83555487 0.110133 0.114922 10.8864 -0.0394148 -0.0276969 0.0415453 0.2 0.02 pose: 0.51995529 5.86713 -3.1257 0 0.00294217 0.00449577 -0.737558 0.675263 uwb: 0.0 1099.02 420.714 -imu_odom_: 1691062829.100547559 0.167594 -0.311246 9.1674 -0.0607201 -0.00745685 0.0490022 0.2 0.02 pose: 0.0 5.86713 -3.1257 0 0.00294217 0.00449577 -0.737558 0.675263 uwb: 0.99976214 1100.06 420.68 -imu_odom_: 1691062829.125423495 0.102951 -0.390255 9.13148 -0.0575243 -0.0415453 0.0447411 0.18 0 pose: 0.62134718 5.86792 -3.13982 0 0.00478691 0.00322318 -0.737441 0.675387 uwb: 0.0 1100.06 420.68 -imu_odom_: 1691062829.152387931 0.773327 -0.268151 9.87129 -0.0490022 -0.0213053 0.0372843 0.18 0 pose: 0.7995857 5.86792 -3.13982 0 0.00471895 0.00392675 -0.737428 0.675398 uwb: 0.50013481 1100.05 420.726 -imu_odom_: 1691062829.178548874 0.691924 -0.0790087 9.94312 -0.0394148 -0.015979 0.0426106 0.18 0.02 pose: 0.43844515 5.86318 -3.14512 0 0.00235149 0.00351733 -0.737435 0.675405 uwb: 0.0 1100.05 420.726 -imu_odom_: 1691062829.202453617 0.385466 -0.011971 9.84496 -0.0500674 0.0138484 0.0511327 0.18 0.02 pose: 0.0 5.86318 -3.14512 0 0.00235149 0.00351733 -0.737435 0.675405 uwb: 0.49975859 1104.21 420.838 -imu_odom_: 1691062829.217458683 0.459687 -0.275333 9.97903 -0.0575243 -0.00745685 0.0628506 0.18 0.02 pose: 0.50065686 5.86401 -3.1592 0 0.00299011 -0.000878434-0.737315 0.675542 uwb: 0.0 1104.21 420.838 -imu_odom_: 1691062829.242454195 0.430956 -0.241814 9.83059 -0.0500674 0.036219 0.0319579 0.18 0.02 pose: 0.0 5.86401 -3.1592 0 0.00299011 -0.000878434-0.737315 0.675542 uwb: 0.0 1104.21 420.838 -imu_odom_: 1691062829.267393710 0.656011 -0.397437 10.0533 -0.0415453 -0.0117179 0.0500674 0.25 0 pose: 0.40000578 5.86205 -3.1614 0 -0.00055754 0.000151591 -0.737263 0.675606 uwb: 0.50038562 1107.79 421.255 -imu_odom_: 1691062829.283449587 0.407014 -0.339977 9.71088 -0.0532632 -0.0127832 0.0458064 0.25 0 pose: 0.0 5.86205 -3.1614 0 -0.00055754 0.000151591 -0.737263 0.675606 uwb: 0.0 1107.79 421.255 -imu_odom_: 1691062829.309445457 0.553061 -0.304064 10.2017 -0.0585895 -0.00106526 0.0649811 0.18 0 pose: 0.40995392 5.86285 -3.17552 0 -0.00350253 0.00111232 -0.737133 0.675738 uwb: 0.50020773 1108.81 421.375 -imu_odom_: 1691062829.332444046 0.502782 -0.227449 10.3932 -0.0639159 -0.0106526 0.0458064 0.18 0 pose: 0.0 5.86285 -3.17552 0 -0.00350253 0.00111232 -0.737133 0.675738 uwb: 0.0 1108.81 421.375 -imu_odom_: 1691062829.349365247 0.0933739 -0.0526724 9.85932 -0.0447411 0.0287621 0.0447411 0.18 0.02 pose: 0.48994459 5.85833 -3.18059 0 -0.00461702 -0.00202914 -0.73687 0.676016 uwb: 0.49989857 1108.83 421.26 -imu_odom_: 1691062829.373368568 0.435745 -0.186748 9.84735 -0.0692422 -0.00745685 0.0447411 0.18 0.02 pose: 0.0 5.85833 -3.18059 0 -0.00461702 -0.00202914 -0.73687 0.676016 uwb: 0.0 1108.83 421.26 -imu_odom_: 1691062829.398562401 0.227449 -0.275333 9.6199 -0.0756338 -0.00745685 0.0639159 0.19 0 pose: 0.40924522 5.86366 -3.18963 0 -0.000579626-0.00203733 -0.736811 0.676096 uwb: 0.49907029 1110.86 421.644 -imu_odom_: 1691062829.425529463 0.512359 -0.138864 9.43794 -0.0596548 -0.0191748 0.0415453 0.19 0 pose: 0.8011606 5.86366 -3.18963 0 -0.000290597-0.00126685 -0.736746 0.676168 uwb: 0.0 1110.86 421.644 -imu_odom_: 1691062829.441527594 0.258574 -0.241814 10.4363 -0.056459 0.00852212 0.0468716 0.19 0 pose: 0.24221475 5.85702 -3.1971 0 0.000104237 -0.000320438-0.736601 0.676327 uwb: 0.0 1110.86 421.644 -imu_odom_: 1691062829.468438367 0.378284 -0.318429 10.0413 -0.056459 0.036219 0.0500674 0.19 0 pose: 0.0 5.85702 -3.1971 0 0.000104237 -0.000320438-0.736601 0.676327 uwb: 0.50030397 1108.37 420.958 -imu_odom_: 1691062829.494445027 0.533907 -0.174777 10.1993 -0.0660464 -0.0106526 0.0660464 0.18 0.05 pose: 0.28020499 5.86449 -3.20375 0 -8.21667e-05-0.00158592 -0.736567 0.676363 uwb: 0.50189054 1109.41 420.986 -imu_odom_: 1691062829.511412308 0.691924 -0.162806 10.1203 -0.0511327 -0.0468716 0.0479369 0.18 0.05 pose: 0.0 5.86449 -3.20375 0 -8.21667e-05-0.00158592 -0.736567 0.676363 uwb: 0.0 1109.41 420.986 -imu_odom_: 1691062829.537492756 0.667982 0.071826 10.5896 -0.0639159 -0.0308927 0.0490022 0.18 0 pose: 0.42820242 5.85785 -3.21122 0 -0.0008495940.00114717 -0.736381 0.676565 uwb: 0.0 1109.41 420.986 -imu_odom_: 1691062829.564519605 0.414197 -0.0287304 9.96706 -0.04048 -0.00106526 0.0511327 0.25 0 pose: 0.43134641 5.85785 -3.21122 0 -0.00273393 -0.00305509 -0.736145 0.676812 uwb: 0.49662918 1110.46 420.947 -imu_odom_: 1691062829.590643800 0.19393 -0.292093 9.64384 -0.0660464 0.0394148 0.052198 0.19 0 pose: 0.0 5.85785 -3.21122 0 -0.00273393 -0.00305509 -0.736145 0.676812 uwb: 0.0 1110.46 420.947 -imu_odom_: 1691062829.617383958 0.821211 -0.272939 9.89524 -0.0468716 -0.0170442 0.0372843 0.25 -0.02 pose: 0.52970805 5.85869 -3.22534 0 0.000452003 -0.00485646 -0.735959 0.677009 uwb: 0.50159014 1107.46 420.216 -imu_odom_: 1691062829.642527628 0.507571 -0.414197 9.39245 -0.0490022 -0.0266316 0.0479369 0.25 -0.02 pose: 0.0 5.85869 -3.22534 0 0.000452003 -0.00485646 -0.735959 0.677009 uwb: 0.0 1107.46 420.216 -imu_odom_: 1691062829.659514159 0.37589 -0.110133 10.2879 -0.0479369 0.0639159 0.0447411 0.21 0.02 pose: 0.69979792 5.85955 -3.23945 0 -0.00331494 -0.00285294 -0.735822 0.677161 uwb: 0.50023981 1108.48 420.358 -imu_odom_: 1691062829.676486981 0.270545 -0.296881 9.98382 -0.0511327 0.00852212 0.0394148 0.21 0.02 pose: 0.0 5.85955 -3.23945 0 -0.00331494 -0.00285294 -0.735822 0.677161 uwb: 0.0 1108.48 420.358 -imu_odom_: 1691062829.701428830 0.529119 -0.380678 9.9096 -0.04048 0.00426106 0.0287621 0.18 0 pose: 0.6897214 5.85955 -3.23945 0 -0.00243491 -0.00271436 -0.735814 0.677174 uwb: 0.50093976 1110.03 420.483 -imu_odom_: 1691062829.726576291 0.371101 -0.328006 10.0533 -0.0628506 -0.0319579 0.0447411 0.18 0 pose: 0.0 5.85955 -3.23945 0 -0.00243491 -0.00271436 -0.735814 0.677174 uwb: 0.0 1110.03 420.483 -imu_odom_: 1691062829.743392207 0.162806 0 9.67497 -0.0639159 -0.0266316 0.0468716 0.23 0 pose: 0.34120928 5.85292 -3.24694 0 -0.00114512 -0.000680028-0.735828 0.677167 uwb: 0.49828867 1112.08 420.755 -imu_odom_: 1691062829.759422128 0.538695 -0.287304 10.4004 -0.0713727 -0.0308927 0.0511327 0.23 0 pose: 0.0 5.85292 -3.24694 0 -0.00114512 -0.000680028-0.735828 0.677167 uwb: 0.0 1112.08 420.755 -imu_odom_: 1691062829.785362000 0.634463 -0.462081 9.54089 -0.0255663 -0.0340885 0.0266316 0.23 0 pose: 0.0 5.85292 -3.24694 0 -0.00114512 -0.000680028-0.735828 0.677167 uwb: 0.0 1112.08 420.755 -imu_odom_: 1691062829.801425460 0.320823 -0.11971 9.7875 -0.00532632 0.00426106 0.0383495 0.23 -0.02 pose: 0.49978774 5.85378 -3.26106 0 -0.00240832 0.00200315 -0.735822 0.677168 uwb: 0.50103017 1118.68 421.855 -imu_odom_: 1691062829.828436269 0.129287 -0.124498 9.71328 -0.0628506 0.0117179 0.056459 0.23 -0.02 pose: 0.0 5.85378 -3.26106 0 -0.00240832 0.00200315 -0.735822 0.677168 uwb: 0.0 1118.68 421.855 -imu_odom_: 1691062829.853353911 0.383072 -0.213084 9.72046 -0.0660464 -0.00106526 0.052198 0.21 0.02 pose: 0.75958895 5.85464 -3.27517 0 -0.00303246 0.000391754 -0.735809 0.677182 uwb: 0.49980233 1121.13 422.701 -imu_odom_: 1691062829.880608830 -0.047884 -0.308852 10.0245 -0.0436758 0.0223706 0.0340885 0.23 -0.02 pose: 0.43870472 5.84997 -3.28045 0 0.00117322 0.000665266 -0.735595 0.677421 uwb: 0.0 1121.13 422.701 -imu_odom_: 1691062829.905384730 0.1652 -0.306458 9.40682 -0.0745685 -0.0191748 0.0553937 0.23 -0.02 pose: 0.0 5.84997 -3.28045 0 0.00117322 0.000665266 -0.735595 0.677421 uwb: 0.49983150 1121.18 422.471 -imu_odom_: 1691062829.922542167 0.756568 0.107739 10.3094 -0.0511327 -0.0340885 0.0383495 0.22 0 pose: 0.7048872 5.84801 -3.28266 0 0.00166563 0.00128305 -0.735607 0.677405 uwb: 0.0 1121.18 422.471 -imu_odom_: 1691062829.947439977 0.414197 -0.0407014 10.0245 -0.0841559 -0.00426106 0.0479369 0.22 0 pose: 0.0 5.84801 -3.28266 0 0.00166563 0.00128305 -0.735607 0.677405 uwb: 0.49934152 1119.74 421.788 -imu_odom_: 1691062829.974353666 0.916979 -0.399832 9.56962 -0.0639159 0.00532632 0.0415453 0.23 0 pose: 0.52035777 5.85551 -3.28929 0 0.00334175 0.00468471 -0.735507 0.677493 uwb: 0.0 1119.74 421.788 -imu_odom_: 1691062829.999491503 0.371101 -0.268151 9.97185 -0.0671117 -0.0117179 0.0447411 0.23 0 pose: 0.0 5.85551 -3.28929 0 0.00334175 0.00468471 -0.735507 0.677493 uwb: 0.50012898 1120.27 421.777 -imu_odom_: 1691062830.16345917 0.416591 -0.059855 10.0317 -0.0628506 0.0223706 0.0372843 0.23 0.02 pose: 0.41988167 5.84889 -3.29678 0 0.00274836 0.00118614 -0.735435 0.677588 uwb: 0.0 1120.27 421.777 -imu_odom_: 1691062830.42530483 0.483629 -0.40462 9.52174 -0.0820254 -0.00106526 0.0543285 0.23 0.02 pose: 0.0 5.84889 -3.29678 0 0.00274836 0.00118614 -0.735435 0.677588 uwb: 0.0 1120.27 421.777 -imu_odom_: 1691062830.69463714 0.61531 -0.349553 9.68215 -0.0458064 0.0479369 0.0351537 0.23 -0.02 pose: 0.53100006 5.84976 -3.3109 0 -8.90898e-050.00213369 -0.735387 0.677644 uwb: 0.49877282 1122.9 421.825 -imu_odom_: 1691062830.95363048 -0.244209 -0.447716 9.63427 -0.0340885 0.0170442 0.0298274 0.19 0.02 pose: 0.41953462 5.84976 -3.3109 0 -0.00277019 0.002312 -0.735274 0.67776 uwb: 0.50170098 1125.51 421.931 -imu_odom_: 1691062830.122514432 0.146046 -0.169988 10.2735 -0.0436758 -0.00958738 0.036219 0.25 0 pose: 0.27881091 5.85064 -3.32501 0 -0.00357588 0.00241435 -0.735332 0.677694 uwb: 0.0 1125.51 421.931 -imu_odom_: 1691062830.147330580 0.177171 -0.174777 10.0341 -0.0319579 -0.0308927 0.0340885 0.2 0 pose: 0.25015928 5.85064 -3.32501 0 -0.00158623 0.00400476 -0.735392 0.677628 uwb: 0.49942903 1127.58 422.143 -imu_odom_: 1691062830.164328194 0.418985 -0.198719 9.65103 -0.0660464 -0.0351537 0.0479369 0.2 0 pose: 0.0 5.85064 -3.32501 0 -0.00158623 0.00400476 -0.735392 0.677628 uwb: 0.0 1127.58 422.143 -imu_odom_: 1691062830.190320855 0.292093 -0.0885855 10.1059 -0.0575243 -0.0266316 0.0447411 0.18 0 pose: 0.28135409 5.84403 -3.33251 0 0.00118439 0.0043613 -0.735421 0.677595 uwb: 0.0 1127.58 422.143 -imu_odom_: 1691062830.217314749 0.876278 -0.0885855 10.4866 -0.0681769 -0.0490022 0.0426106 0.18 0 pose: 0.0 5.84403 -3.33251 0 0.00118439 0.0043613 -0.735421 0.677595 uwb: 0.50030981 1128.11 422.117 -imu_odom_: 1691062830.233382876 0.675165 -0.251391 9.46667 -0.0468716 0.0138484 0.036219 0.19 0 pose: 0.41831844 5.85152 -3.33913 0 0.00240401 0.00233243 -0.735386 0.67764 uwb: 0.0 1128.11 422.117 -imu_odom_: 1691062830.259368830 0.390255 -0.107739 9.80904 -0.0543285 -0.00852212 0.0436758 0.19 0 pose: 0.0 5.85152 -3.33913 0 0.00240401 0.00233243 -0.735386 0.67764 uwb: 0.49953694 1129.68 422.225 -imu_odom_: 1691062830.274395769 0.234632 -0.469264 9.81623 -0.0490022 0.00106526 0.052198 0.17 0 pose: 0.52981014 5.8524 -3.35324 0 0.000972451 -0.0014344 -0.73533 0.677707 uwb: 0.0 1129.68 422.225 -imu_odom_: 1691062830.301393746 0.486023 -0.280122 10.2089 -0.0543285 -0.0298274 0.056459 0.17 0 pose: 0.0 5.8524 -3.35324 0 0.000972451 -0.0014344 -0.73533 0.677707 uwb: 0.50114393 1129.72 422.019 -imu_odom_: 1691062830.326316638 0.509965 -0.169988 10.4818 -0.0255663 0.00213053 0.0351537 0.2 0 pose: 0.40146986 5.84578 -3.36074 0 0.00252735 -0.00235544 -0.735276 0.677759 uwb: 0.0 1129.72 422.019 -imu_odom_: 1691062830.353316073 0.536301 -0.265756 10.0054 -0.0671117 -0.0213053 0.0511327 0.2 0 pose: 0.0 5.84578 -3.36074 0 0.00252735 -0.00235544 -0.735276 0.677759 uwb: 0.49832368 1133.32 422.525 -imu_odom_: 1691062830.378389456 -0.105345 -0.169988 9.78271 -0.0415453 0.0106526 0.0532632 0.18 0.02 pose: 0.42960818 5.84578 -3.36074 0 -0.000803136-0.00205587 -0.735096 0.67796 uwb: 0.0 1133.32 422.525 -imu_odom_: 1691062830.403321097 0.0837971 -0.179565 9.51456 -0.0500674 -0.0149137 0.056459 0.23 0.02 pose: 0.52913935 5.84667 -3.37485 0 -0.0035387 -0.00280735 -0.734967 0.678088 uwb: 0.0 1133.32 422.525 -imu_odom_: 1691062830.417378011 0.0335188 -0.110133 9.5385 -0.0426106 0.0191748 0.04048 0.23 0.02 pose: 0.0 5.84667 -3.37485 0 -0.0035387 -0.00280735 -0.734967 0.678088 uwb: 0.0 1133.32 422.525 -imu_odom_: 1691062830.442372065 0.181959 -0.339977 9.54568 -0.0681769 -0.0127832 0.0490022 0.23 0.02 pose: 0.0 5.84667 -3.37485 0 -0.0035387 -0.00280735 -0.734967 0.678088 uwb: 0.0 1133.32 422.525 -imu_odom_: 1691062830.469306171 0.59855 -0.363919 9.67257 -0.0639159 0.0149137 0.0575243 0.18 0 pose: 0.63000918 5.84757 -3.38896 0 0.00144246 0.000995046 -0.734725 0.678362 uwb: 0.100040963 1135.96 422.609 -imu_odom_: 1691062830.494351847 0.296881 -0.0167594 10.0197 -0.0681769 0.00745685 0.0490022 0.18 0.02 pose: 0.44958033 5.84097 -3.39647 0 -0.0007909530.00233282 -0.734508 0.678595 uwb: 0.50068021 1141.63 423.37 -imu_odom_: 1691062830.521435860 0.150835 -0.160412 10.1323 -0.0617853 -0.00319579 0.052198 0.18 0.02 pose: 0.0 5.84097 -3.39647 0 -0.0007909530.00233282 -0.734508 0.678595 uwb: 0.0 1141.63 423.37 -imu_odom_: 1691062830.546321129 0.177171 -0.227449 9.73482 -0.0447411 0.00319579 0.0468716 0.2 0 pose: 0.8013356 5.84097 -3.39647 0 -8.1319e-05 0.00203044 -0.734482 0.678625 uwb: 0.49926862 1145.64 424.442 -imu_odom_: 1691062830.563435111 0.454898 -0.181959 9.67736 -0.0543285 -0.0628506 0.056459 0.2 0 pose: 0.0 5.84097 -3.39647 0 -8.1319e-05 0.00203044 -0.734482 0.678625 uwb: 0.0 1145.64 424.442 -imu_odom_: 1691062830.588330005 0.543484 -0.0885855 10.2137 -0.0511327 -0.0319579 0.0426106 0.18 0 pose: 0.52010988 5.84188 -3.41059 0 0.00430146 0.00335672 -0.734281 0.678824 uwb: 0.0 1145.64 424.442 -imu_odom_: 1691062830.615314857 0.811634 0.0550666 10.1251 -0.0777643 -0.0479369 0.0543285 0.18 0 pose: 0.0 5.84188 -3.41059 0 0.00430146 0.00335672 -0.734281 0.678824 uwb: 0.50006483 1148.23 424.763 -imu_odom_: 1691062830.641461801 0.344765 -0.0143652 10.2232 -0.0532632 0.0276969 0.0458064 0.19 0 pose: 0.42123494 5.84188 -3.41059 0 0.00364516 0.00216872 -0.734136 0.678989 uwb: 0.0 1148.23 424.763 -imu_odom_: 1691062830.668311328 0.560243 -0.208296 9.73961 -0.0745685 -0.0266316 0.0447411 0.25 0.02 pose: 0.52039278 5.84281 -3.4247 0 0.00218517 -0.00252501 -0.733962 0.679182 uwb: 0.50047605 1151.33 425.185 -imu_odom_: 1691062830.685380104 0.356736 -0.0335188 9.6606 -0.0383495 0.0213053 0.0372843 0.25 0.02 pose: 0.0 5.84281 -3.4247 0 0.00218517 -0.00252501 -0.733962 0.679182 uwb: 0.0 1151.33 425.185 -imu_odom_: 1691062830.712397622 0.179565 -0.347159 9.3302 -0.0692422 -0.00213053 0.0479369 0.27 -0.02 pose: 0.61886817 5.84375 -3.43881 0 0.00302765 -0.00407811 -0.733883 0.679257 uwb: 0.49972651 1153.94 425.488 -imu_odom_: 1691062830.737571915 0.155623 -0.373495 9.13148 -0.0607201 0.0532632 0.0468716 0.27 -0.02 pose: 0.7014458 5.84375 -3.43881 0 0.0030394 -0.00333611 -0.733867 0.679278 uwb: 0.0 1153.94 425.488 -imu_odom_: 1691062830.754412913 0.577003 -0.0790087 10.6973 -0.052198 -0.0266316 0.0372843 0.21 -0.02 pose: 0.0 5.84375 -3.43881 0 0.0030394 -0.00333611 -0.733867 0.679278 uwb: 0.50158140 1152.89 425.401 -imu_odom_: 1691062830.780347828 0.529119 0.023942 10.3597 -0.0436758 -0.0287621 0.0340885 0.21 -0.02 pose: 0.45177353 5.83717 -3.44633 0 0.00370824 0.0018378 -0.733757 0.679399 uwb: 0.0 1152.89 425.401 -imu_odom_: 1691062830.807279017 0.744597 -0.198719 9.57681 -0.0671117 -0.00426106 0.0426106 0.23 0.02 pose: 0.42775913 5.83996 -3.45833 0 0.0028738 -0.0027683 -0.733812 0.679341 uwb: 0.0 1152.89 425.401 -imu_odom_: 1691062830.833355382 0.332794 -0.11971 9.94791 -0.0628506 0.0266316 0.0458064 0.23 0.02 pose: 0.0 5.83996 -3.45833 0 0.0028738 -0.0027683 -0.733812 0.679341 uwb: 0.0 1152.89 425.401 -imu_odom_: 1691062830.860438229 0.548272 -0.383072 9.76355 -0.04048 -0.0255663 0.0351537 0.25 0 pose: 0.53007554 5.83811 -3.46045 0 0.00301284 -0.00250658 -0.733728 0.679432 uwb: 0.99868308 1155.98 425.893 -imu_odom_: 1691062830.885463198 0.68953 -0.107739 9.79468 -0.0490022 -0.0106526 0.0553937 0.18 0 pose: 0.0 5.83811 -3.46045 0 0.00301284 -0.00250658 -0.733728 0.679432 uwb: 0.0 1155.98 425.893 -imu_odom_: 1691062830.912362597 0.294487 0.107739 10.1035 -0.0532632 0.0127832 0.0372843 0.18 0 pose: 0.35113411 5.83906 -3.47456 0 -0.000109618-0.00288087 -0.733725 0.67944 uwb: 0.49900613 1153.65 424.537 -imu_odom_: 1691062830.937456104 1.05824 -0.363919 9.40442 -0.0777643 0.00213053 0.0511327 0.18 0.02 pose: 0.43893804 5.83435 -3.47995 0 0.00179865 -0.00488271 -0.733654 0.679503 uwb: 0.0 1153.65 424.537 -imu_odom_: 1691062830.954367973 -0.136469 -0.35913 9.94551 -0.04048 0.0181095 0.0308927 0.18 0.02 pose: 0.0 5.83435 -3.47995 0 0.00179865 -0.00488271 -0.733654 0.679503 uwb: 0.50052855 1151.3 423.259 -imu_odom_: 1691062830.980435588 0.23942 -0.184354 9.43555 -0.0681769 -0.0394148 0.0500674 0.18 0 pose: 0.7926445 5.83248 -3.48208 0 0.00101919 -0.00509397 -0.73362 0.67954 uwb: 0.0 1151.3 423.259 -imu_odom_: 1691062830.997284169 0.646434 0.00957681 10.3453 -0.0532632 -0.0181095 0.0340885 0.18 0 pose: 0.0 5.83248 -3.48208 0 0.00101919 -0.00509397 -0.73362 0.67954 uwb: 0.50160182 1150.35 422.791 -imu_odom_: 1691062831.22426382 0.399832 -0.0143652 9.9527 -0.0852212 -0.0223706 0.0500674 0.18 0 pose: 0.42056998 5.84001 -3.48866 0 0.000721452 -0.00346094 -0.733577 0.679597 uwb: 0.0 1150.35 422.791 -imu_odom_: 1691062831.49388486 0.97444 -0.445322 9.61751 -0.0639159 0.00958738 0.0415453 0.18 0 pose: 0.0 5.84001 -3.48866 0 0.000721452 -0.00346094 -0.733577 0.679597 uwb: 0.0 1150.35 422.791 -imu_odom_: 1691062831.74332669 0.347159 -0.217872 10.1131 -0.0649811 -0.00106526 0.0532632 0.18 0 pose: 0.42989400 5.83343 -3.4962 0 0.00170754 -0.00430174 -0.733517 0.679656 uwb: 0.0 1150.35 422.791 -imu_odom_: 1691062831.91322992 0.399832 -0.0167594 10.0389 -0.0596548 0.0223706 0.036219 0.18 0 pose: 0.0 5.83343 -3.4962 0 0.00170754 -0.00430174 -0.733517 0.679656 uwb: 0.0 1150.35 422.791 -imu_odom_: 1691062831.116328421 0.373495 -0.395043 9.57681 -0.0841559 -0.0106526 0.0575243 0.18 0 pose: 0.52100817 5.83439 -3.51031 0 0.000463888 -0.00455906 -0.733394 0.679788 uwb: 0.0 1150.35 422.791 -imu_odom_: 1691062831.143480389 0.476446 -0.289698 9.27274 -0.0490022 0.00319579 0.0372843 0.23 0 pose: 0.58892164 5.83507 -3.52029 0 0.000641803 -0.00133569 -0.733193 0.680018 uwb: 0.149922040 1154.44 423.629 -imu_odom_: 1691062831.169324602 -0.0670376 -0.512359 9.49301 -0.0500674 0.0213053 0.0394148 0.19 0 pose: 0.7005708 5.83535 -3.52442 0 -2.94332e-06-0.00116155 -0.733199 0.680013 uwb: 0.0 1154.44 423.629 -imu_odom_: 1691062831.196270082 0.0885855 -0.213084 10.1275 -0.0479369 -0.0255663 0.0394148 0.25 0 pose: 0.28121994 5.83535 -3.52442 0 -0.00152363 0.000152217 -0.733212 0.679998 uwb: 0.49818954 1153.43 423.36 -imu_odom_: 1691062831.221272304 0.191536 -0.124498 10.3358 -0.0383495 -0.0276969 0.0394148 0.25 0 pose: 0.0 5.83535 -3.52442 0 -0.00152363 0.000152217 -0.733212 0.679998 uwb: 0.0 1153.43 423.36 -imu_odom_: 1691062831.248327736 0.155623 -0.222661 9.63187 -0.0841559 0.0149137 0.0479369 0.23 0 pose: 0.24944766 5.82878 -3.53195 0 -0.0002343190.00230932 -0.733209 0.679999 uwb: 0.50086687 1155.54 423.56 -imu_odom_: 1691062831.265532421 0.11971 -0.201113 10.1825 -0.0585895 -0.0234358 0.0436758 0.23 0 pose: 0.0 5.82878 -3.53195 0 -0.0002343190.00230932 -0.733209 0.679999 uwb: 0.0 1155.54 423.56 -imu_odom_: 1691062831.290530850 0.88346 -0.071826 10.2113 -0.0617853 -0.0458064 0.0415453 0.27 0 pose: 0.51938952 5.83632 -3.53852 0 0.00417164 0.00369083 -0.733174 0.680018 uwb: 0.0 1155.54 423.56 -imu_odom_: 1691062831.313353285 0.4956 -0.378284 9.68933 -0.0298274 -0.015979 0.0255663 0.27 0 pose: 0.0 5.83632 -3.53852 0 0.00417164 0.00369083 -0.733174 0.680018 uwb: 0.50018441 1157.12 423.72 -imu_odom_: 1691062831.338405086 0.184354 -0.339977 9.65342 -0.0575243 -0.0170442 0.0458064 0.18 0 pose: 0.43960885 5.82975 -3.54606 0 0.00624301 0.00574583 -0.733071 0.680099 uwb: 0.0 1157.12 423.72 -imu_odom_: 1691062831.355279624 0.25618 0.0430956 9.8665 -0.0490022 0.0106526 0.0500674 0.18 0 pose: 0.0 5.82975 -3.54606 0 0.00624301 0.00574583 -0.733071 0.680099 uwb: 0.50077355 1156.66 423.425 -imu_odom_: 1691062831.371375750 0.512359 -0.37589 9.90721 -0.0575243 -0.0308927 0.0596548 0.18 0 pose: 0.49016626 5.83072 -3.56017 0 0.0027652 0.00432285 -0.733173 0.680023 uwb: 0.0 1156.66 423.425 -imu_odom_: 1691062831.398255901 0.555455 -0.213084 10.0317 -0.0319579 0.0106526 0.0287621 0.18 0 pose: 0.0 5.83072 -3.56017 0 0.0027652 0.00432285 -0.733173 0.680023 uwb: 0.49900615 1154.23 422.406 -imu_odom_: 1691062831.424426178 0.258574 -0.0071826110.4531 -0.0394148 -0.00852212 0.0532632 0.18 0.02 pose: 0.41964838 5.83072 -3.56017 0 0.00341298 0.00465442 -0.733017 0.680186 uwb: 0.0 1154.23 422.406 -imu_odom_: 1691062831.451665349 0.11971 -0.100556 9.87608 -0.0436758 0.00745685 0.0490022 0.18 0.02 pose: 0.42992901 5.8317 -3.57428 0 0.0019321 0.00189018 -0.733036 0.680184 uwb: 0.49971486 1153.83 421.886 -imu_odom_: 1691062831.476536619 0.797269 -0.3304 9.60793 -0.0639159 -0.00532632 0.0585895 0.19 0 pose: 0.0 5.8317 -3.57428 0 0.0019321 0.00189018 -0.733036 0.680184 uwb: 0.0 1153.83 421.886 -imu_odom_: 1691062831.503371273 0.23942 -0.124498 9.82102 -0.0415453 0.0149137 0.0447411 0.23 0 pose: 0.53013971 5.83268 -3.58839 0 0.00567609 0.00175635 -0.732803 0.680415 uwb: 0.49991318 1155.25 422.654 -imu_odom_: 1691062831.529360436 0.428562 -0.416591 9.8665 -0.0649811 0.0149137 0.0436758 0.23 0 pose: 0.0 5.83268 -3.58839 0 0.00567609 0.00175635 -0.732803 0.680415 uwb: 0.0 1155.25 422.654 -imu_odom_: 1691062831.556295125 0.76375 -0.1652 10.1634 -0.0745685 -0.0415453 0.0511327 0.25 0 pose: 0.70071374 5.82612 -3.59594 0 0.00460605 0.00282144 -0.732614 0.680622 uwb: 0.49964486 1153.24 422.069 -imu_odom_: 1691062831.572348379 0.47884 -0.0502782 9.88566 -0.072438 -0.00639159 0.0468716 0.25 0 pose: 0.7016791 5.82612 -3.59594 0 0.00397952 0.00227368 -0.732589 0.680656 uwb: 0.0 1153.24 422.069 -imu_odom_: 1691062831.599294151 0.19393 -0.237026 10.0197 -0.0681769 -0.0266316 0.0511327 0.23 0.02 pose: 0.35971152 5.82712 -3.61004 0 0.00221071 -0.000794601-0.732472 0.680794 uwb: 0.49936196 1155.33 422.335 -imu_odom_: 1691062831.624357910 0.272939 -0.131681 9.62948 -0.0468716 -0.00213053 0.0511327 0.23 0.02 pose: 0.0 5.82712 -3.61004 0 0.00221071 -0.000794601-0.732472 0.680794 uwb: 0.0 1155.33 422.335 -imu_odom_: 1691062831.651305432 0.294487 -0.344765 9.84256 -0.0681769 -0.00852212 0.0553937 0.21 0.02 pose: 0.52009531 5.82712 -3.61004 0 0.00575097 0.00142125 -0.732258 0.681001 uwb: 0.49992485 1156.84 422.697 -imu_odom_: 1691062831.667291898 0.61531 -0.141258 9.99579 -0.0553937 0 0.0415453 0.21 0.02 pose: 0.0 5.82712 -3.61004 0 0.00575097 0.00142125 -0.732258 0.681001 uwb: 0.0 1156.84 422.697 -imu_odom_: 1691062831.694236212 0.684742 -0.220267 9.66779 -0.0820254 -0.00319579 0.0649811 0.2 0 pose: 0.33957313 5.82812 -3.62415 0 0.00345942 0.00298543 -0.732122 0.681158 uwb: 0.50080854 1157.45 422.471 -imu_odom_: 1691062831.711241700 0.399832 -0.332794 10.1107 -0.0479369 -0.00426106 0.0490022 0.2 0 pose: 0.0 5.82812 -3.62415 0 0.00345942 0.00298543 -0.732122 0.681158 uwb: 0.0 1157.45 422.471 -imu_odom_: 1691062831.727275705 0.617704 -0.203507 9.97424 -0.0490022 -0.00852212 0.0511327 0.18 0.02 pose: 0.44073462 5.82158 -3.63171 0 8.07509e-05 0.00124758 -0.731863 0.681451 uwb: 0.0 1157.45 422.471 -imu_odom_: 1691062831.755240791 0.337582 -0.265756 10.1251 -0.0511327 0.0181095 0.0500674 0.18 0.02 pose: 0.0 5.82158 -3.63171 0 8.07509e-05 0.00124758 -0.731863 0.681451 uwb: 0.50028649 1159.04 422.615 -imu_odom_: 1691062831.780251762 0.428562 -0.0790087 10.4196 -0.0649811 -0.0276969 0.0500674 0.18 0.02 pose: 0.32994287 5.82914 -3.63825 0 -0.00103171 0.00116693 -0.731743 0.681578 uwb: 0.0 1159.04 422.615 -imu_odom_: 1691062831.807264322 0.866701 -0.177171 10.2544 -0.0468716 -0.0287621 0.0458064 0.23 -0.02 pose: 0.44868790 5.82261 -3.64582 0 0.000793454 0.000558972 -0.731579 0.681756 uwb: 0.49974403 1161.1 422.992 -imu_odom_: 1691062831.832224254 0.706289 -0.0502782 10.6805 -0.0543285 -0.0213053 0.0394148 0.23 -0.02 pose: 0.0 5.82261 -3.64582 0 0.000793454 0.000558972 -0.731579 0.681756 uwb: 0.0 1161.1 422.992 -imu_odom_: 1691062831.849232367 0.268151 -0.21069 9.22965 -0.0660464 0.0117179 0.0394148 0.22 0 pose: 0.6996667 5.82261 -3.64582 0 0.000274536 -3.40039e-05-0.731564 0.681772 uwb: 0.50113810 1156.61 421.562 -imu_odom_: 1691062831.874229630 0.42138 -0.390255 9.42118 -0.0862864 -0.0308927 0.052198 0.22 0 pose: 0.0 5.82261 -3.64582 0 0.000274536 -3.40039e-05-0.731564 0.681772 uwb: 0.0 1156.61 421.562 -imu_odom_: 1691062831.901365557 0.711078 -0.354342 9.59117 -0.0639159 0.00532632 0.04048 0.21 -0.02 pose: 0.51983866 5.82364 -3.65992 0 -0.00158967 -0.00368141 -0.731519 0.681809 uwb: 0.49737292 1156.55 421.789 -imu_odom_: 1691062831.917500764 0.641646 -0.268151 9.84975 -0.0628506 0.0245011 0.052198 0.21 -0.02 pose: 0.0 5.82364 -3.65992 0 -0.00158967 -0.00368141 -0.731519 0.681809 uwb: 0.0 1156.55 421.789 -imu_odom_: 1691062831.944385582 0.397437 -0.31364 10.0269 -0.0276969 0.0117179 0.0266316 0.25 0 pose: 0.42063998 5.82364 -3.65992 0 -0.00351651 -0.000891437-0.731409 0.681929 uwb: 0.50037690 1154.02 421.087 -imu_odom_: 1691062831.969347264 0.770933 -0.416591 9.46428 -0.0543285 0.0138484 0.0532632 0.25 0 pose: 0.0 5.82364 -3.65992 0 -0.00351651 -0.000891437-0.731409 0.681929 uwb: 0.0 1154.02 421.087 -imu_odom_: 1691062831.996222165 0.718261 -0.0143652 10.4818 -0.0436758 -0.0585895 0.052198 0.23 0 pose: 0.43037815 5.82469 -3.67403 0 -0.00604406 -0.00174278 -0.731356 0.681967 uwb: 0.50090187 1156.54 421.811 -imu_odom_: 1691062832.13356854 0.483629 -0.526724 9.35415 -0.0617853 0.0436758 0.052198 0.23 0 pose: 0.0 5.82469 -3.67403 0 -0.00604406 -0.00174278 -0.731356 0.681967 uwb: 0.0 1156.54 421.811 -imu_odom_: 1691062832.39210400 0.260968 -0.387861 9.95509 -0.0426106 0.0149137 0.0543285 0.19 0 pose: 0.51896954 5.81816 -3.6816 0 -0.00701056 -0.00152217 -0.731292 0.682026 uwb: 0.0 1156.54 421.811 -imu_odom_: 1691062832.63376172 0.548272 -0.191536 9.56962 -0.0617853 0.0170442 0.0415453 0.18 -0.02 pose: 0.44232120 5.82573 -3.68813 0 -0.00722387 -0.00150558 -0.731092 0.682239 uwb: 0.50020192 1160.18 422.372 -imu_odom_: 1691062832.90363067 0.28491 -0.380678 9.68933 -0.0649811 -0.00639159 0.052198 0.18 -0.02 pose: 0.0 5.82573 -3.68813 0 -0.00722387 -0.00150558 -0.731092 0.682239 uwb: 0.0 1160.18 422.372 -imu_odom_: 1691062832.115212756 0.368707 -0.0670376 9.92875 -0.0468716 -0.0117179 0.04048 0.19 0 pose: 0.25874836 5.81921 -3.69571 0 -0.00596702 -0.000427918-0.730995 0.682356 uwb: 0.49951364 1163.26 423.038 -imu_odom_: 1691062832.142217442 0.356736 -0.203507 10.343 -0.0735032 -0.00532632 0.0543285 0.19 0 pose: 0.0 5.81921 -3.69571 0 -0.00596702 -0.000427918-0.730995 0.682356 uwb: 0.0 1163.26 423.038 -imu_odom_: 1691062832.168489505 0.584185 -0.141258 9.49301 -0.0713727 0.0330232 0.0426106 0.19 -0.02 pose: 0.51917080 5.82027 -3.70981 0 -0.00405402 0.000343889 -0.730872 0.682502 uwb: 0.49957779 1162.82 422.669 -imu_odom_: 1691062832.192342045 0.701501 -0.454898 9.59835 -0.0788296 -0.0287621 0.056459 0.19 -0.02 pose: 0.0 5.82027 -3.70981 0 -0.00405402 0.000343889 -0.730872 0.682502 uwb: 0.0 1162.82 422.669 -imu_odom_: 1691062832.207216161 0.222661 -0.402226 10.0485 -0.0628506 0.0298274 0.036219 0.25 0 pose: 0.52087694 5.82027 -3.70981 0 -0.0003832842.34866e-05 -0.73073 0.682667 uwb: 0.50065690 1167.92 423.888 -imu_odom_: 1691062832.232204092 0.196325 -0.323217 9.9934 -0.0575243 0.0127832 0.0458064 0.25 0 pose: 0.0 5.82027 -3.70981 0 -0.0003832842.34866e-05 -0.73073 0.682667 uwb: 0.0 1167.92 423.888 -imu_odom_: 1691062832.256205664 -0.100556 -0.311246 9.94312 -0.0330232 0.0245011 0.0394148 0.18 0 pose: 0.63954906 5.82134 -3.72391 0 -0.00276872 0.000960426 -0.730567 0.682835 uwb: 0.49905282 1170.94 424.775 -imu_odom_: 1691062832.271258561 0.1652 -0.234632 9.78989 -0.0490022 -0.015979 0.0426106 0.18 0 pose: 0.0 5.82134 -3.72391 0 -0.00276872 0.000960426 -0.730567 0.682835 uwb: 0.0 1170.94 424.775 -imu_odom_: 1691062832.288204553 0.694318 -0.272939 10.2089 -0.0639159 0.0127832 0.0436758 0.18 0 pose: 0.56960863 5.82242 -3.73801 0 0.00162889 0.00506544 -0.730497 0.682896 uwb: 0.0 1170.94 424.775 -imu_odom_: 1691062832.302206054 0.866701 -0.275333 9.55526 -0.0532632 0.036219 0.0308927 0.18 0 pose: 0.0 5.82242 -3.73801 0 0.00162889 0.00506544 -0.730497 0.682896 uwb: 0.50217931 1171 424.573 -imu_odom_: 1691062832.327266897 0.244209 -0.335188 9.22246 -0.0713727 0.0106526 0.0532632 0.18 0 pose: 0.6950295 5.82242 -3.73801 0 0.00113656 0.0046608 -0.73049 0.682906 uwb: 0.0 1171 424.573 -imu_odom_: 1691062832.352191249 0.428562 -0.373495 9.76116 -0.0628506 -0.0798948 0.0394148 0.23 0 pose: 0.0 5.82242 -3.73801 0 0.00113656 0.0046608 -0.73049 0.682906 uwb: 0.50046733 1169.07 423.686 -imu_odom_: 1691062832.375339456 0.153229 -0.225055 9.52174 -0.0681769 -0.0106526 0.0383495 0.18 0 pose: 0.73982393 5.81672 -3.75617 0 -0.0029016 0.00510589 -0.730408 0.682986 uwb: 0.0 1169.07 423.686 -imu_odom_: 1691062832.391353337 0.955286 -0.105345 10.4794 -0.0276969 0.00106526 0.0213053 0.18 0 pose: 0.0 5.81672 -3.75617 0 -0.0029016 0.00510589 -0.730408 0.682986 uwb: 0.0 1169.07 423.686 -imu_odom_: 1691062832.417349499 0.701501 -0.0837971 10.0341 -0.0436758 -0.00958738 0.0490022 0.25 0 pose: 0.39162088 5.81699 -3.7597 0 -0.00145162 0.00439774 -0.730517 0.682879 uwb: 0.49702586 1173.08 424.926 -imu_odom_: 1691062832.443403992 0.481235 -0.246603 10.0413 -0.0575243 0.0106526 0.056459 0.19 0 pose: 0.7902238 5.81699 -3.7597 0 -0.00163296 0.00358443 -0.730495 0.682906 uwb: 0.50061898 1173.15 424.678 -imu_odom_: 1691062832.470352973 0.399832 -0.31364 9.75877 -0.0436758 0.0234358 0.0319579 0.23 0.02 pose: 0.18093924 5.81248 -3.76496 0 -0.00204816 0.00172217 -0.730443 0.682968 uwb: 0.0 1173.15 424.678 -imu_odom_: 1691062832.486314940 0.19393 -0.129287 9.86411 -0.0191748 0.00426106 0.0276969 0.23 0.02 pose: 0.33049119 5.81808 -3.7738 0 -0.00318199 0.000372946 -0.730314 0.683104 uwb: 0.0 1173.15 424.678 -imu_odom_: 1691062832.513250505 0.684742 -0.220267 9.58399 -0.0372843 0.00852212 0.0511327 0.23 0 pose: 0.0 5.81808 -3.7738 0 -0.00318199 0.000372946 -0.730314 0.683104 uwb: 0.0 1173.15 424.678 -imu_odom_: 1691062832.529242804 0.442927 -0.215478 9.75637 -0.0436758 -0.0276969 0.0596548 0.23 0 pose: 0.0 5.81808 -3.7738 0 -0.00318199 0.000372946 -0.730314 0.683104 uwb: 0.0 1173.15 424.678 -imu_odom_: 1691062832.546199588 0.670376 -0.201113 9.77792 -0.0575243 -0.0415453 0.0532632 0.25 0.05 pose: 0.78844186 5.81916 -3.7879 0 -0.00179551 -0.00125078 -0.730216 0.683213 uwb: 0.100073341 1178.04 424.844 -imu_odom_: 1691062832.571365716 0.802058 -0.201113 9.96467 -0.036219 -0.0191748 0.0394148 0.25 0.05 pose: 0.6965170 5.81916 -3.7879 0 -0.0023614 -0.00185236 -0.730182 0.683246 uwb: 0.0 1178.04 424.844 -imu_odom_: 1691062832.588364789 0.335188 -0.110133 9.90481 -0.0607201 -0.00426106 0.056459 0.22 0.02 pose: 0.0 5.81916 -3.7879 0 -0.0023614 -0.00185236 -0.730182 0.683246 uwb: 0.0 1178.04 424.844 -imu_odom_: 1691062832.605372611 0.280122 -0.105345 10.0916 -0.0490022 -0.0138484 0.0458064 0.22 0.02 pose: 0.35157742 5.81266 -3.7955 0 -0.00488878 -0.00483765 -0.730123 0.683281 uwb: 0.0 1178.04 424.844 -imu_odom_: 1691062832.620183147 -0.0383072 -0.296881 9.85214 -0.0532632 0.0213053 0.0575243 0.22 0.02 pose: 0.0 5.81266 -3.7955 0 -0.00488878 -0.00483765 -0.730123 0.683281 uwb: 0.0 1178.04 424.844 -imu_odom_: 1691062832.637377041 0.397437 -0.246603 10.1754 -0.0820254 -0.00639159 0.0543285 0.18 0 pose: 0.41082308 5.82026 -3.802 0 -0.00125822 -0.00314995 -0.729966 0.683475 uwb: 0.0 1178.04 424.844 -imu_odom_: 1691062832.651289589 0.0909797 -0.246603 9.65582 -0.0628506 -0.00639159 0.0351537 0.18 0 pose: 0.0 5.82026 -3.802 0 -0.00125822 -0.00314995 -0.729966 0.683475 uwb: 0.100038344 1180.2 424.976 -imu_odom_: 1691062832.666203952 0.895431 -0.282516 10.4339 -0.0585895 -0.00532632 0.0394148 0.18 0 pose: 0.0 5.82026 -3.802 0 -0.00125822 -0.00314995 -0.729966 0.683475 uwb: 0.0 1180.2 424.976 -imu_odom_: 1691062832.683168902 0.299275 -0.260968 9.6606 -0.0788296 -0.0276969 0.0500674 0.18 0 pose: 0.45738197 5.81376 -3.8096 0 -0.0006517377.93696e-05 -0.729857 0.6836 uwb: 0.0 1180.2 424.976 -imu_odom_: 1691062832.700319632 0.0885855 -0.102951 9.91199 -0.0490022 -0.0223706 0.0436758 0.18 0 pose: 0.0 5.81376 -3.8096 0 -0.0006517377.93696e-05 -0.729857 0.6836 uwb: 0.49808746 1177.25 423.815 -imu_odom_: 1691062832.715241578 0.54109 -0.287304 10.1442 -0.0532632 -0.0287621 0.0543285 0.18 0.02 pose: 0.42133411 5.81156 -3.82087 0 0.00084355 0.00149141 -0.729769 0.683691 uwb: 0.0 1177.25 423.815 -imu_odom_: 1691062832.730361554 0.608127 -0.287304 9.54808 -0.072438 -0.015979 0.0596548 0.18 0.02 pose: 0.0 5.81156 -3.82087 0 0.00084355 0.00149141 -0.729769 0.683691 uwb: 0.0 1177.25 423.815 -imu_odom_: 1691062832.747236384 0.263362 -0.35913 9.81623 -0.0511327 0.00958738 0.0436758 0.18 0.02 pose: 0.0 5.81156 -3.82087 0 0.00084355 0.00149141 -0.729769 0.683691 uwb: 0.50039442 1177.42 423.276 -imu_odom_: 1691062832.764441069 0.943315 0.0263362 10.5872 -0.0692422 -0.0458064 0.0490022 0.18 0 pose: 0.7017083 5.81487 -3.8237 0 0.000139506 0.00115211 -0.729735 0.683729 uwb: 0.0 1177.42 423.276 -imu_odom_: 1691062832.779316352 0.332794 -0.287304 9.4571 -0.0639159 0.0383495 0.0415453 0.18 0 pose: 0.0 5.81487 -3.8237 0 0.000139506 0.00115211 -0.729735 0.683729 uwb: 0.0 1177.42 423.276 -imu_odom_: 1691062832.794233340 0.268151 -0.342371 10.0078 -0.0490022 0.0447411 0.04048 0.18 0 pose: 0.0 5.81487 -3.8237 0 0.000139506 0.00115211 -0.729735 0.683729 uwb: 0.49952821 1179.54 423.517 -imu_odom_: 1691062832.811344697 0.45011 -0.160412 9.76834 -0.0596548 -0.0394148 0.0553937 0.18 0 pose: 0.64055816 5.80838 -3.83131 0 -0.00215547 0.000738346 -0.729506 0.68397 uwb: 0.0 1179.54 423.517 -imu_odom_: 1691062832.828164114 0.474052 -0.11971 10.1801 -0.0500674 0.00213053 0.0436758 0.25 0.02 pose: 0.0 5.80838 -3.83131 0 -0.00215547 0.000738346 -0.729506 0.68397 uwb: 0.0 1179.54 423.517 -imu_odom_: 1691062832.843224593 0.471658 -0.292093 9.93354 -0.0340885 0.00319579 0.0330232 0.25 0.02 pose: 0.30803127 5.81599 -3.8378 0 -0.0009774440.00237015 -0.72945 0.684029 uwb: 0.49963321 1178.67 422.778 -imu_odom_: 1691062832.858228784 1.20907 -0.232238 9.91678 -0.0671117 -0.0660464 0.0553937 0.17 0 pose: 0.0 5.81599 -3.8378 0 -0.0009774440.00237015 -0.72945 0.684029 uwb: 0.0 1178.67 422.778 -imu_odom_: 1691062832.873164438 1.06063 -0.287304 10.1778 -0.0426106 -0.0127832 0.072438 0.17 0 pose: 0.41028935 5.8095 -3.84541 0 -0.0018595 -0.000108589-0.729413 0.684072 uwb: 0.0 1178.67 422.778 -imu_odom_: 1691062832.890213674 1.10133 -0.31364 9.82102 -0.0447411 0.0415453 0.111853 0.17 0 pose: 0.0 5.8095 -3.84541 0 -0.0018595 -0.000108589-0.729413 0.684072 uwb: 0.0 1178.67 422.778 -imu_odom_: 1691062832.907148001 1.63524 -0.459687 10.6853 -0.0458064 -0.00426106 0.0820254 0.14 -0.05 pose: 0.6948545 5.8095 -3.84541 0 -0.00254735 -0.000704755-0.729374 0.68411 uwb: 0.50063357 1179.38 422.261 -imu_odom_: 1691062832.924142407 1.5275 -0.201113 9.26077 -0.0308927 0.0127832 0.0191748 0.14 -0.05 pose: 0.0 5.8095 -3.84541 0 -0.00254735 -0.000704755-0.729374 0.68411 uwb: 0.0 1179.38 422.261 -imu_odom_: 1691062832.941204767 1.10133 -0.129287 9.76834 -0.0692422 0.0735032 0.0490022 0.14 -0.05 pose: 0.0 5.8095 -3.84541 0 -0.00254735 -0.000704755-0.729374 0.68411 uwb: 0.0 1179.38 422.261 -imu_odom_: 1691062832.959202155 0.651223 -0.454898 9.80904 -0.076699 0.00852212 0.0340885 0.11 0 pose: 0.46978582 5.81064 -3.8595 0 -0.00609136 -0.00363702 -0.728626 0.684875 uwb: 0.50067439 1183.05 422.919 -imu_odom_: 1691062832.976317596 0.418985 -0.268151 9.95988 -0.0671117 -0.00958738 -0.0308927 0.1 -0.02 pose: 0.0 5.81064 -3.8595 0 -0.00609136 -0.00363702 -0.728626 0.684875 uwb: 0.0 1183.05 422.919 -imu_odom_: 1691062832.992297063 0.742203 0.0167594 10.1466 -0.0617853 -0.0372843 -0.0127832 0.1 -0.02 pose: 0.69095225 5.81064 -3.8595 0 -0.00943821 -0.00461024 -0.728721 0.68473 uwb: 0.49758583 1186.87 423.111 -imu_odom_: 1691062833.10179541 0.885855 -0.0646434 9.77313 -0.0649811 -0.00852212 0.0319579 0.09 0 pose: 0.0 5.81064 -3.8595 0 -0.00943821 -0.00461024 -0.728721 0.68473 uwb: 0.0 1186.87 423.111 -imu_odom_: 1691062833.27294982 0.773327 -0.308852 9.93115 -0.052198 0.00532632 0.0458064 0.09 0 pose: 0.0 5.81064 -3.8595 0 -0.00943821 -0.00461024 -0.728721 0.68473 uwb: 0.0 1186.87 423.111 -imu_odom_: 1691062833.44362884 0.565032 -0.251391 9.60075 -0.0479369 0.00426106 0.0340885 0.09 0 pose: 0.34070766 5.80416 -3.86712 0 -0.00878489 -0.00638237 -0.729281 0.684128 uwb: 0.50132770 1190.52 423.908 -imu_odom_: 1691062833.61278546 0.629675 -0.213084 9.94791 -0.0490022 0.0127832 0.0447411 0.08 0 pose: 0.33987646 5.81178 -3.87361 0 -0.0101346 -0.00720427 -0.729268 0.684115 uwb: 0.0 1190.52 423.908 -imu_odom_: 1691062833.77164976 0.761356 -0.258574 10.0485 -0.0628506 -0.0138484 0.0596548 0.08 0 pose: 0.0 5.81178 -3.87361 0 -0.0101346 -0.00720427 -0.729268 0.684115 uwb: 0.0 1190.52 423.908 -imu_odom_: 1691062833.95158865 0.720655 -0.316035 9.87129 -0.0543285 0.00106526 0.0394148 0.09 -0.02 pose: 0.42859619 5.81178 -3.87361 0 -0.00981056 -0.0084637 -0.729151 0.68423 uwb: 0.49984904 1190.1 423.474 -imu_odom_: 1691062833.111262283 0.641646 -0.0981623 9.90002 -0.0479369 -0.0298274 0.0415453 0.09 -0.02 pose: 0.0 5.81178 -3.87361 0 -0.00981056 -0.0084637 -0.729151 0.68423 uwb: 0.0 1190.1 423.474 -imu_odom_: 1691062833.128265439 0.703895 -0.19393 9.78989 -0.0468716 0.00106526 0.0415453 0.09 -0.02 pose: 0.0 5.81178 -3.87361 0 -0.00981056 -0.0084637 -0.729151 0.68423 uwb: 0.0 1190.1 423.474 -imu_odom_: 1691062833.146166875 0.699107 -0.217872 9.97424 -0.0490022 -0.00213053 0.0415453 0.05 0.02 pose: 0.7998775 5.81178 -3.87361 0 -0.0105772 -0.00829554 -0.729141 0.684231 uwb: 0.50003861 1192.7 424.065 -imu_odom_: 1691062833.164147931 0.588974 -0.251391 9.83777 -0.052198 0.00213053 0.0447411 0.05 0.02 pose: 0.0 5.81178 -3.87361 0 -0.0105772 -0.00829554 -0.729141 0.684231 uwb: 0.0 1192.7 424.065 -imu_odom_: 1691062833.181155754 0.694318 -0.225055 10.0173 -0.0490022 -0.00426106 0.0330232 0.05 0.02 pose: 0.51050591 5.81178 -3.87361 0 -0.0109307 -0.0102881 -0.729106 0.684236 uwb: 0.0 1192.7 424.065 -imu_odom_: 1691062833.197206091 0.351948 -0.134075 9.57681 -0.0511327 0.00213053 0.0617853 0.06 0.11 pose: 0.0 5.81178 -3.87361 0 -0.0109307 -0.0102881 -0.729106 0.684236 uwb: 0.49998904 1193.35 423.811 -imu_odom_: 1691062833.214260286 0.335188 -0.383072 9.99579 -0.0607201 -0.00106526 0.115049 0.04 0.08 pose: 0.0 5.81178 -3.87361 0 -0.0109307 -0.0102881 -0.729106 0.684236 uwb: 0.0 1193.35 423.811 -imu_odom_: 1691062833.231282691 0.47884 -0.454898 9.64624 -0.0415453 -0.0191748 0.108657 0.04 0.08 pose: 0.69007731 5.8053 -3.88122 0 -0.00928887 -0.00813403 -0.728795 0.68462 uwb: 0.0 1193.35 423.811 -imu_odom_: 1691062833.248239183 0.720655 -0.0694318 10.0963 -0.0468716 -0.0127832 0.118244 0.03 0.08 pose: 0.0 5.8053 -3.88122 0 -0.00928887 -0.00813403 -0.728795 0.68462 uwb: 0.49965655 1192.39 423.318 -imu_odom_: 1691062833.265162136 0.727837 -0.131681 9.8258 -0.052198 -0.00639159 0.123571 0.03 0.08 pose: 0.0 5.8053 -3.88122 0 -0.00928887 -0.00813403 -0.728795 0.68462 uwb: 0.0 1192.39 423.318 -imu_odom_: 1691062833.283290475 0.663194 -0.232238 10.0293 -0.0553937 0.00958738 0.11931 0.03 0.08 pose: 0.34085058 5.8053 -3.88122 0 -0.00912166 -0.00656561 -0.727941 0.685547 uwb: 0.0 1192.39 423.318 -imu_odom_: 1691062833.301276197 0.402226 -0.263362 9.79947 -0.0543285 0.00319579 0.118244 0.03 0.11 pose: 0.33985605 5.8053 -3.88122 0 -0.00960233 -0.00868138 -0.726984 0.686532 uwb: 0.50078523 1193.03 423.086 -imu_odom_: 1691062833.317204626 0.447716 -0.25618 9.90242 -0.052198 -0.00532632 0.123571 0.03 0.11 pose: 0.0 5.8053 -3.88122 0 -0.00960233 -0.00868138 -0.726984 0.686532 uwb: 0.0 1193.03 423.086 -imu_odom_: 1691062833.334308109 0.584185 -0.220267 9.84975 -0.0553937 -0.015979 0.127832 0.03 0.08 pose: 0.43911890 5.8053 -3.88122 0 -0.00805351 -0.00548276 -0.725776 0.687862 uwb: 0.0 1193.03 423.086 -imu_odom_: 1691062833.352283624 0.701501 -0.227449 9.93594 -0.0500674 -0.00319579 0.123571 0.03 0.08 pose: 0.0 5.8053 -3.88122 0 -0.00805351 -0.00548276 -0.725776 0.687862 uwb: 0.0 1193.03 423.086 -imu_odom_: 1691062833.368156056 0.596156 -0.265756 9.91199 -0.0543285 0.00745685 0.127832 0.03 0.08 pose: 0.0 5.8053 -3.88122 0 -0.00805351 -0.00548276 -0.725776 0.687862 uwb: 0.0 1193.03 423.086 -imu_odom_: 1691062833.385293079 0.533907 -0.304064 9.8689 -0.056459 0.00319579 0.134223 0.01 0.08 pose: 0.6941837 5.8053 -3.88122 0 -0.00749928 -0.00588166 -0.725571 0.688081 uwb: 0.0 1193.03 423.086 -imu_odom_: 1691062833.403205889 0.562637 -0.23942 9.8665 -0.0543285 -0.0117179 0.125701 0.01 0.08 pose: 0.0 5.8053 -3.88122 0 -0.00749928 -0.00588166 -0.725571 0.688081 uwb: 0.0 1193.03 423.086 -imu_odom_: 1691062833.419158816 0.663194 -0.150835 9.83299 -0.0553937 -0.00958738 0.12144 0.01 0.11 pose: 0.51032800 5.81291 -3.8877 0 -0.00842315 -0.00525257 -0.724017 0.68971 uwb: 0.0 1193.03 423.086 -imu_odom_: 1691062833.436173638 0.651223 -0.196325 9.87848 -0.056459 0.00106526 0.127832 0 0.08 pose: 0.0 5.81291 -3.8877 0 -0.00842315 -0.00525257 -0.724017 0.68971 uwb: 0.0 1193.03 423.086 -imu_odom_: 1691062833.453146462 0.486023 -0.301669 9.93594 -0.0553937 0.00852212 0.11931 0 0.08 pose: 0.0 5.81291 -3.8877 0 -0.00842315 -0.00525257 -0.724017 0.68971 uwb: 0.150124452 1192.16 422.326 -imu_odom_: 1691062833.469209341 0.371101 -0.189142 9.83538 -0.0511327 0.00213053 0.107592 0 0.08 pose: 0.68985275 5.81291 -3.8877 0 -0.00748325 -0.00706932 -0.721971 0.691847 uwb: 0.0 1192.16 422.326 -imu_odom_: 1691062833.487173481 0.476446 -0.155623 9.86172 -0.056459 -0.0117179 0.0916127 0 0.05 pose: 0.0 5.81291 -3.8877 0 -0.00748325 -0.00706932 -0.721971 0.691847 uwb: 0.0 1192.16 422.326 -imu_odom_: 1691062833.503112701 0.579397 -0.114922 9.87608 -0.0543285 -0.00958738 0.0660464 0 0.05 pose: 0.0 5.81291 -3.8877 0 -0.00748325 -0.00706932 -0.721971 0.691847 uwb: 0.49778708 1194.8 422.838 -imu_odom_: 1691062833.520164271 0.553061 -0.222661 9.89045 -0.056459 0.00106526 0.0500674 0 0.05 pose: 0.33186777 5.81291 -3.8877 0 -0.00510209 -0.00517671 -0.721217 0.692671 uwb: 0.0 1194.8 422.838 -imu_odom_: 1691062833.536171444 0.445322 -0.244209 9.87848 -0.0585895 0.00106526 0.0426106 0 0.02 pose: 0.42812956 5.81291 -3.8877 0 -0.0050853 -0.00556703 -0.720831 0.69307 uwb: 0.0 1194.8 422.838 -imu_odom_: 1691062833.551129847 0.397437 -0.198719 9.87129 -0.0543285 -0.00213053 0.0372843 0 0.02 pose: 0.6952628 5.81291 -3.8877 0 -0.00477878 -0.0049187 -0.720826 0.693082 uwb: 0.50005903 1197.44 423.314 -imu_odom_: 1691062833.566295612 0.339977 -0.203507 9.90481 -0.0543285 -0.00532632 0.04048 0 0.02 pose: 0.0 5.81291 -3.8877 0 -0.00477878 -0.0049187 -0.720826 0.693082 uwb: 0.0 1197.44 423.314 -imu_odom_: 1691062833.589266788 0.462081 -0.205901 9.90481 -0.0553937 -0.00639159 0.0383495 0 0 pose: 0.39178713 5.81291 -3.8877 0 -0.00199531 -0.00222319 -0.720837 0.693098 uwb: 0.0 1197.44 423.314 -imu_odom_: 1691062833.606264986 -0.265756 -0.272939 9.65821 -0.0596548 0.0596548 0.0127832 0 0 pose: 0.0 5.81291 -3.8877 0 -0.00199531 -0.00222319 -0.720837 0.693098 uwb: 0.50015527 1196.55 422.615 -imu_odom_: 1691062833.623151191 -1.02472 -0.126893 10.0437 -0.0468716 0.0479369 -0.0958738 0.02 -0.14 pose: 0.39969374 5.81283 -3.88767 0 0.000740621 -0.00236492 -0.721012 0.692918 uwb: 0.0 1196.55 422.615 -imu_odom_: 1691062833.640122849 -1.14203 0.244209 9.90721 -0.0543285 -0.0340885 -0.198139 0.03 -0.2 pose: 0.0 5.81283 -3.88767 0 0.000740621 -0.00236492 -0.721012 0.692918 uwb: 0.0 1196.55 422.615 -imu_odom_: 1691062833.658114696 0.0215478 0.122104 10.0628 -0.0628506 -0.0884169 -0.257794 0.04 -0.26 pose: 0.0 5.81283 -3.88767 0 0.000740621 -0.00236492 -0.721012 0.692918 uwb: 0.0 1196.55 422.615 -imu_odom_: 1691062833.676368153 0.399832 -0.339977 9.81144 -0.0703074 -0.0553937 -0.299339 0.04 -0.26 pose: 0.41879094 5.81291 -3.8877 0 0.00421654 -0.000497507-0.724023 0.689763 uwb: 0.0 1196.55 422.615 -imu_odom_: 1691062833.693251441 0.409408 -0.351948 9.94312 -0.0649811 -0.0117179 -0.333428 0.07 -0.35 pose: 0.0 5.81291 -3.8877 0 0.00421654 -0.000497507-0.724023 0.689763 uwb: 0.99977683 1201.19 423.866 -imu_odom_: 1691062833.709123581 0.177171 -0.335188 9.67736 -0.0490022 0.0298274 -0.368581 0.07 -0.35 pose: 0.0 5.81291 -3.8877 0 0.00421654 -0.000497507-0.724023 0.689763 uwb: 0.0 1201.19 423.866 -imu_odom_: 1691062833.726397096 -0.186748 0.191536 10.1275 -0.0500674 0.0170442 -0.394148 0.07 -0.35 pose: 0.35114872 5.80642 -3.8953 0 0.00225521 0.000404076 -0.728063 0.685506 uwb: 0.0 1201.19 423.866 -imu_odom_: 1691062833.744160873 0.184354 0.0454898 9.60793 -0.072438 -0.0394148 -0.40267 0.08 -0.44 pose: 0.34144553 5.80642 -3.8953 0 0.00285998 0.0027433 -0.732772 0.680463 uwb: 0.50131603 1200.08 423.827 -imu_odom_: 1691062833.761314520 -0.102951 -0.356736 9.85453 -0.0607201 0.036219 -0.447411 0.08 -0.44 pose: 0.0 5.80642 -3.8953 0 0.00285998 0.0027433 -0.732772 0.680463 uwb: 0.0 1200.08 423.827 -imu_odom_: 1691062833.776315504 0.167594 -0.110133 9.86172 -0.0596548 -0.0255663 -0.477238 0.1 -0.53 pose: 0.0 5.80642 -3.8953 0 0.00285998 0.0027433 -0.732772 0.680463 uwb: 0.0 1200.08 423.827 -imu_odom_: 1691062833.793135212 -0.308852 -0.225055 9.34696 -0.0681769 0.015979 -0.471912 0.1 -0.53 pose: 0.43911015 5.80642 -3.8953 0 0.00606693 0.00403236 -0.73956 0.673051 uwb: 0.49850454 1200.22 423.428 -imu_odom_: 1691062833.810275444 -0.0885855 -0.150835 10.0963 -0.0703074 -0.0511327 -0.487891 0.1 -0.53 pose: 0.0 5.80642 -3.8953 0 0.00606693 0.00403236 -0.73956 0.673051 uwb: 0.0 1200.22 423.428 -imu_odom_: 1691062833.827107985 0.385466 -0.335188 9.64863 -0.0756338 -0.0458064 -0.527306 0.14 -0.76 pose: 0.6071556 5.80642 -3.8953 0 0.00661098 0.00402071 -0.740611 0.671889 uwb: 0.0 1200.22 423.428 -imu_odom_: 1691062833.844110266 0.308852 -0.201113 9.94312 -0.04048 0.0298274 -0.568851 0.14 -0.76 pose: 0.0 5.80642 -3.8953 0 0.00661098 0.00402071 -0.740611 0.671889 uwb: 0.50035359 1200.88 423.16 -imu_odom_: 1691062833.861117797 0.023942 0.0215478 9.51935 -0.056459 -0.0223706 -0.570982 0.14 -0.76 pose: 0.0 5.80642 -3.8953 0 0.00661098 0.00402071 -0.740611 0.671889 uwb: 0.0 1200.88 423.16 -imu_odom_: 1691062833.879176140 0.816423 -0.0023942 10.2065 -0.0745685 -0.0713727 -0.510262 0.11 -0.55 pose: 0.49929199 5.80752 -3.90942 0 0.00870685 0.0062513 -0.749347 0.662091 uwb: 0.0 1200.88 423.16 -imu_odom_: 1691062833.896144298 0.476446 -0.452504 9.34696 -0.0639159 0.0138484 -0.437824 0.09 -0.5 pose: 0.0 5.80752 -3.90942 0 0.00870685 0.0062513 -0.749347 0.662091 uwb: 0.50012028 1198.34 422.332 -imu_odom_: 1691062833.913130247 0.818817 -0.469264 10.0102 -0.0511327 -0.02024 -0.40267 0.09 -0.5 pose: 0.70026755 5.80752 -3.90942 0 0.0057813 0.0033996 -0.762493 0.646962 uwb: 0.0 1198.34 422.332 -imu_odom_: 1691062833.930475216 1.09415 -0.203507 9.34217 -0.052198 -0.0884169 -0.347276 0.1 -0.53 pose: 0.0 5.80752 -3.90942 0 0.0057813 0.0033996 -0.762493 0.646962 uwb: 0.0 1198.34 422.332 -imu_odom_: 1691062833.946119869 0.833182 -0.23942 9.50259 -0.04048 -0.0479369 -0.335558 0.1 -0.53 pose: 0.0 5.80752 -3.90942 0 0.0057813 0.0033996 -0.762493 0.646962 uwb: 0.49830330 1198.48 421.933 -imu_odom_: 1691062833.964122799 1.14203 -0.205901 9.79228 -0.0596548 -0.0149137 -0.335558 0.1 -0.53 pose: 0.32931876 5.80752 -3.90942 0 0.00244636 0.00250744 -0.767174 0.641429 uwb: 0.0 1198.48 421.933 -imu_odom_: 1691062833.982241222 1.33836 -0.112527 10.0628 -0.0671117 -0.00639159 -0.285491 0.06 -0.32 pose: 0.43848893 5.80101 -3.91701 0 -0.00154352 -0.000911189-0.772466 0.635054 uwb: 0.0 1198.48 421.933 -imu_odom_: 1691062833.996128397 1.05584 -0.351948 10.07 -0.0479369 0.0415453 -0.24288 0.06 -0.32 pose: 0.8026190 5.80101 -3.91701 0 -0.00213463 -0.00146267 -0.773293 0.634044 uwb: 0.50136853 1201.67 422.492 -imu_odom_: 1691062834.13242088 0.936133 -0.565032 9.72764 -0.0585895 -0.015979 -0.164051 0.06 -0.32 pose: 0.0 5.80101 -3.91701 0 -0.00213463 -0.00146267 -0.773293 0.634044 uwb: 0.0 1201.67 422.492 -imu_odom_: 1691062834.29239638 1.08936 -0.397437 9.95988 -0.0532632 0.00852212 -0.118244 0.04 -0.26 pose: 0.41093099 5.80093 -3.91698 0 -0.00564562 -0.00270798 -0.776654 0.629896 uwb: 0.0 1201.67 422.492 -imu_odom_: 1691062834.47171697 0.196325 -0.318429 9.71088 -0.0372843 0.0820254 -0.156594 0.06 -0.38 pose: 0.0 5.80093 -3.91698 0 -0.00564562 -0.00270798 -0.776654 0.629896 uwb: 0.50059275 1200.56 422.429 -imu_odom_: 1691062834.65120964 0.146046 0.150835 10.2185 -0.0436758 -0.0490022 -0.209857 0.06 -0.38 pose: 0.0 5.80093 -3.91698 0 -0.00564562 -0.00270798 -0.776654 0.629896 uwb: 0.0 1200.56 422.429 -imu_odom_: 1691062834.89241531 0.730232 -0.160412 9.8258 -0.0649811 -0.0276969 -0.153398 0.03 -0.17 pose: 0.23903872 5.80865 -3.92346 0 -0.00619619 -0.00255096 -0.777932 0.628312 uwb: 0.0 1200.56 422.429 -imu_odom_: 1691062834.114186299 0.533907 -0.770933 9.83059 -0.0745685 0.0181095 -0.140615 0.03 -0.17 pose: 0.35000545 5.80865 -3.92346 0 -0.00412995 -0.00282785 -0.780385 0.625279 uwb: 0.50093691 1202.69 422.823 -imu_odom_: 1691062834.129353815 -0.37589 -0.177171 9.83299 -0.0394148 0.072438 -0.252468 0.05 -0.26 pose: 0.42039794 5.80858 -3.92344 0 -0.00682441 -0.00196155 -0.782798 0.622235 uwb: 0.0 1202.69 422.823 -imu_odom_: 1691062834.153225605 -0.936133 0.517148 9.7851 -0.0490022 -0.0245011 -0.436758 0.05 -0.26 pose: 0.7060831 5.80865 -3.92346 0 -0.00598154 -0.00146149 -0.783444 0.621432 uwb: 0.49878453 1202.26 422.425 -imu_odom_: 1691062834.178225203 -0.0407014 -0.251391 10.4124 -0.0649811 -0.0351537 -0.454868 0.1 -0.5 pose: 0.31978475 5.80213 -3.93108 0 -0.00279757 -0.000722367-0.787704 0.616047 uwb: 0.0 1202.26 422.425 -imu_odom_: 1691062834.202239901 0.110133 -0.440533 9.63666 -0.076699 -0.0426106 -0.468716 0.1 -0.5 pose: 0.0 5.80213 -3.93108 0 -0.00279757 -0.000722367-0.787704 0.616047 uwb: 0.49845205 1204.29 423.09 -imu_odom_: 1691062834.225133207 0.217872 -0.047884 10.058 -0.0660464 0.00426106 -0.493217 0.1 -0.53 pose: 0.49014296 5.80213 -3.93108 0 -0.0009922890.00289529 -0.795207 0.60633 uwb: 0.0 1204.29 423.09 -imu_odom_: 1691062834.243243756 -0.155623 0.0646434 9.6606 -0.0607201 -0.0191748 -0.531567 0.1 -0.53 pose: 0.0 5.80213 -3.93108 0 -0.0009922890.00289529 -0.795207 0.60633 uwb: 0.49992780 1202.27 422.427 -imu_odom_: 1691062834.268267561 0.0287304 -0.0694318 9.84735 -0.0585895 -0.0511327 -0.575243 0.11 -0.58 pose: 0.41003855 5.79855 -3.93532 0 0.00284518 0.00257376 -0.801982 0.597335 uwb: 0.0 1202.27 422.427 -imu_odom_: 1691062834.294248559 0.35913 -0.136469 10.2879 -0.0458064 -0.0372843 -0.583765 0.11 -0.58 pose: 0.0 5.79855 -3.93532 0 0.00284518 0.00257376 -0.801982 0.597335 uwb: 0.49995112 1201.23 422.14 -imu_odom_: 1691062834.310247275 0.296881 -0.172383 9.59357 -0.0735032 -0.00745685 -0.591222 0.14 -0.67 pose: 0.32018723 5.79572 -3.93872 0 0.00460179 0.00192812 -0.807831 0.589392 uwb: 0.0 1201.23 422.14 -imu_odom_: 1691062834.336084490 -0.0047884 -0.0670376 9.96227 -0.0617853 -0.0223706 -0.598679 0.14 -0.67 pose: 0.0 5.79572 -3.93872 0 0.00460179 0.00192812 -0.807831 0.589392 uwb: 0.0 1201.23 422.14 -imu_odom_: 1691062834.358174886 0.107739 0.0287304 10.0844 -0.0490022 -0.0127832 -0.633832 0.13 -0.67 pose: 0.60822011 5.79845 -3.95095 0 0.00736274 0.00175831 -0.818989 0.57376 uwb: 0.0 1201.23 422.14 -imu_odom_: 1691062834.383161651 0.174777 -0.110133 9.44513 -0.0649811 -0.036219 -0.64342 0.13 -0.67 pose: 0.0 5.79845 -3.95095 0 0.00736274 0.00175831 -0.818989 0.57376 uwb: 0.0 1201.23 422.14 -imu_odom_: 1691062834.401221162 0.311246 0.0957681 9.79707 -0.0681769 0 -0.646616 0.16 -0.82 pose: 0.47077161 5.79685 -3.9528 0 0.0114148 0.00183049 -0.828014 0.560588 uwb: 0.99986726 1200.67 422.12 -imu_odom_: 1691062834.425220402 0.342371 -0.131681 9.84975 -0.0884169 -0.0394148 -0.661529 0.16 -0.82 pose: 0.8089770 5.79692 -3.95282 0 0.0114917 0.00111158 -0.829562 0.558296 uwb: 0.0 1200.67 422.12 -imu_odom_: 1691062834.451259439 -0.100556 -0.0215478 9.85693 -0.0596548 -0.015979 -0.717988 0.18 -0.91 pose: 0.33968981 5.79015 -3.96033 0 0.00871666 -0.000286726-0.836122 0.548474 uwb: 0.50001821 1206.78 424.054 -imu_odom_: 1691062834.465239066 0.797269 0.0646434 10.1179 -0.0671117 -0.00639159 -0.722249 0.18 -0.91 pose: 0.0 5.79015 -3.96033 0 0.00871666 -0.000286726-0.836122 0.548474 uwb: 0.0 1206.78 424.054 -imu_odom_: 1691062834.489078483 0.64404 0.0861913 10.477 -0.0692422 -0.0575243 -0.72651 0.14 -0.73 pose: 0.0 5.79015 -3.96033 0 0.00871666 -0.000286726-0.836122 0.548474 uwb: 0.0 1206.78 424.054 -imu_odom_: 1691062834.515215805 0.143652 -0.411803 10.1155 -0.0852212 0.0149137 -0.72651 0.14 -0.73 pose: 0.40018664 5.79009 -3.96031 0 0.010049 -0.000339446-0.844343 0.535708 uwb: 0.50178852 1201.73 422.338 -imu_odom_: 1691062834.541123599 0.361524 -0.124498 10.2089 -0.0500674 0.02024 -0.76486 0.16 -0.79 pose: 0.49976739 5.78335 -3.96787 0 0.00779817 0.0007055 -0.854459 0.51946 uwb: 0.0 1201.73 422.338 -imu_odom_: 1691062834.559081324 0.442927 -0.280122 9.79228 -0.0649811 0.00106526 -0.772317 0.16 -0.79 pose: 0.0 5.78335 -3.96787 0 0.00779817 0.0007055 -0.854459 0.51946 uwb: 0.49960698 1199.1 421.75 -imu_odom_: 1691062834.583205682 0.787692 0.0837971 9.98382 -0.0575243 -0.00852212 -0.778708 0.16 -0.79 pose: 0.43865519 5.78517 -3.98215 0 0.00447277 -0.000239063-0.863536 0.504267 uwb: 0.0 1199.1 421.75 -imu_odom_: 1691062834.609075854 0.241814 -0.009576819.49062 -0.0319579 -0.0255663 -0.780839 0.16 -0.79 pose: 0.6989085 5.78525 -3.98217 0 0.00409539 -0.000825772-0.864974 0.501799 uwb: 0.49962449 1197.04 421.168 -imu_odom_: 1691062834.634218068 0.268151 0.143652 9.33978 -0.056459 -0.0223706 -0.784035 0.16 -0.82 pose: 0.24175688 5.78525 -3.98217 0 -0.00382564 0.00256935 0.869894 -0.493216 uwb: 0.0 1197.04 421.168 -imu_odom_: 1691062834.659073883 0.332794 -0.260968 9.77313 -0.0468716 0.015979 -0.803209 0.16 -0.82 pose: 0.26990397 5.7788 -3.98981 0 -0.00610821 0.00396988 0.875295 -0.483534 uwb: 0.49889535 1201.15 422.36 -imu_odom_: 1691062834.673051469 0.277727 -0.011971 9.65821 -0.036219 -0.02024 -0.813862 0.18 -0.91 pose: 0.0 5.7788 -3.98981 0 -0.00610821 0.00396988 0.875295 -0.483534 uwb: 0.0 1201.15 422.36 -imu_odom_: 1691062834.697181952 0.608127 -0.435745 9.27035 -0.0532632 -0.0213053 -0.815993 0.18 -0.91 pose: 0.24114734 5.7788 -3.98981 0 -0.00694915 0.00453685 0.880079 -0.474754 uwb: 0.50121689 1202.67 422.89 -imu_odom_: 1691062834.721074449 0.251391 0.203507 9.59596 -0.0191748 -0.04048 -0.810666 0.16 -0.79 pose: 0.38996433 5.77234 -3.99744 0 -0.00668603 0.00363594 0.887824 -0.46012 uwb: 0.0 1202.67 422.89 -imu_odom_: 1691062834.747119027 -0.0335188 -0.102951 10.2352 -0.0575243 -0.00106526 -0.809601 0.22 -1.17 pose: 0.0 5.77234 -3.99744 0 -0.00668603 0.00363594 0.887824 -0.46012 uwb: 0.49925409 1199 422.038 -imu_odom_: 1691062834.763123576 0.253785 -0.0407014 9.79468 -0.0575243 0.0170442 -0.792557 0.22 -1.17 pose: 0.40726788 5.76758 -4.00278 0 -0.00650923 0.00530605 0.895671 -0.444638 uwb: 0.0 1199 422.038 -imu_odom_: 1691062834.789064035 0.414197 -0.136469 9.59835 -0.0426106 -0.0617853 -0.802144 0.22 -1.17 pose: 0.0 5.76758 -4.00278 0 -0.00650923 0.00530605 0.895671 -0.444638 uwb: 0.0 1199 422.038 -imu_odom_: 1691062834.811193511 0.509965 -0.114922 9.47146 -0.036219 0.0575243 -0.838363 0.21 -1.06 pose: 0.7109828 5.76593 -4.00512 0 -0.00712807 0.00488577 0.89701 -0.441927 uwb: 0.49942907 1200.98 422.823 -imu_odom_: 1691062834.836249981 0.117316 -0.0909797 9.4547 -0.0340885 -0.0138484 -0.817058 0.19 -0.94 pose: 0.42926991 5.76593 -4.00512 0 -0.00942747 0.00437757 0.904834 -0.425638 uwb: 0.0 1200.98 422.823 -imu_odom_: 1691062834.853174100 0.25618 0.344765 9.95748 -0.04048 -0.0884169 -0.809601 0.19 -0.94 pose: 0.0 5.76593 -4.00512 0 -0.00942747 0.00437757 0.904834 -0.425638 uwb: 0.49994238 1204.41 424.329 -imu_odom_: 1691062834.871182280 0.493206 -0.0670376 9.74919 -0.0479369 -0.0276969 -0.824515 0.19 -0.94 pose: 0.0 5.76593 -4.00512 0 -0.00942747 0.00437757 0.904834 -0.425638 uwb: 0.0 1204.41 424.329 -imu_odom_: 1691062834.896063177 0.447716 -0.134075 9.3709 -0.0756338 -0.02024 -0.840494 0.17 -0.88 pose: 0.47950942 5.75946 -4.01274 0 -0.00658419 0.0046876 0.91344 -0.406894 uwb: 0.50001821 1207.77 426.056 -imu_odom_: 1691062834.922193500 1.06781 0.0670376 9.98861 -0.0628506 -0.0298274 -0.833037 0.18 -0.94 pose: 0.77000967 5.74868 -4.02566 0 -0.00390456 0.00576592 0.926474 -0.376295 uwb: 0.0 1207.77 426.056 -imu_odom_: 1691062834.945247797 0.507571 -0.35913 9.69891 -0.0596548 -0.0149137 -0.869256 0.18 -0.94 pose: 0.0 5.74868 -4.02566 0 -0.00390456 0.00576592 0.926474 -0.376295 uwb: 0.50196643 1210.72 427.308 -imu_odom_: 1691062834.970079404 1.01754 0.253785 9.9096 -0.072438 -0.0543285 -0.870321 0.18 -0.91 pose: 0.7996442 5.74669 -4.02813 0 -0.0031556 0.00621183 0.927779 -0.373065 uwb: 0.0 1210.72 427.308 -imu_odom_: 1691062834.996194270 0.251391 -0.227449 9.94073 -0.0490022 0.0191748 -0.892692 0.18 -0.91 pose: 0.0 5.74669 -4.02813 0 -0.0031556 0.00621183 0.927779 -0.373065 uwb: 0.49947865 1209.99 427.742 -imu_odom_: 1691062835.22198017 0.577003 -0.21069 10.2496 -0.0319579 0.0170442 -0.884169 0.18 -0.91 pose: 0.49024212 5.74028 -4.03581 0 0.000647173 0.00600784 0.935744 -0.35263 uwb: 0.0 1209.99 427.742 -imu_odom_: 1691062835.46187342 0.248997 0.0933739 10.003 -0.0415453 -0.0479369 -0.887365 0.18 -0.91 pose: 0.0 5.74028 -4.03581 0 0.000647173 0.00600784 0.935744 -0.35263 uwb: 0.50052861 1210.19 428.741 -imu_odom_: 1691062835.63204206 -0.0263362 -0.0454898 9.663 -0.0394148 -0.015979 -0.892692 0.26 -1.32 pose: 0.52165276 5.7339 -4.04351 0 0.00068745 0.00521217 0.943968 -0.329994 uwb: 0.0 1210.19 428.741 -imu_odom_: 1691062835.89234202 0.0430956 0.148441 9.62469 -0.0607201 -0.0330232 -0.864995 0.26 -1.32 pose: 0.0 5.7339 -4.04351 0 0.00068745 0.00521217 0.943968 -0.329994 uwb: 0.0 1210.19 428.741 -imu_odom_: 1691062835.115044002 1.06063 -0.234632 10.2232 -0.0873517 -0.00106526 -0.860734 0.19 -0.97 pose: 0.47954151 5.71982 -4.04482 0 -0.0003992950.00623127 0.951063 -0.308933 uwb: 0.49787751 1206.52 427.974 -imu_odom_: 1691062835.141050083 0.986411 -0.280122 9.9096 -0.0511327 -0.00958738 -0.885235 0.19 -0.97 pose: 0.61840744 5.71498 -4.04974 0 -0.0009968270.00654217 0.959353 -0.282131 uwb: 0.0 1206.52 427.974 -imu_odom_: 1691062835.158278684 0.318429 0.102951 10.2711 -0.0436758 -0.0394148 -0.864995 0.19 -0.97 pose: 0.0 5.71498 -4.04974 0 -0.0009968270.00654217 0.959353 -0.282131 uwb: 0.49998614 1209.27 429.726 -imu_odom_: 1691062835.182085437 0.00718261 -0.0263362 9.82102 -0.0351537 0.0276969 -0.863929 0.18 -0.91 pose: 0.9145832 5.71345 -4.05253 0 -9.29532e-050.00652305 0.960536 -0.278078 uwb: 0.0 1209.27 429.726 -imu_odom_: 1691062835.200037329 0.131681 0.0454898 9.95509 -0.0319579 -0.0436758 -0.902279 0.18 -0.91 pose: 0.0 5.71345 -4.05253 0 -9.29532e-050.00652305 0.960536 -0.278078 uwb: 0.50049361 1209.12 430.122 -imu_odom_: 1691062835.216090876 0.246603 -0.0981623 9.77313 -0.0607201 -0.0308927 -0.890561 0.18 -0.91 pose: 0.0 5.71345 -4.05253 0 -9.29532e-050.00652305 0.960536 -0.278078 uwb: 0.0 1209.12 430.122 -imu_odom_: 1691062835.233028995 0.557849 0.047884 10.0413 -0.104396 -0.0575243 -0.861799 0.26 -1.32 pose: 0.41910011 5.70709 -4.06025 0 -0.0005273360.00763651 0.965672 -0.259653 uwb: 0.0 1209.12 430.122 -imu_odom_: 1691062835.249025378 0.505177 0.0407014 10.1682 -0.0937433 -0.0628506 -0.860734 0.26 -1.32 pose: 0.0 5.70709 -4.06025 0 -0.0005273360.00763651 0.965672 -0.259653 uwb: 0.50063068 1203.57 428.292 -imu_odom_: 1691062835.267058057 1.11091 0.416591 10.2328 -0.0628506 -0.0820254 -0.869256 0.24 -1.2 pose: 0.56952409 5.69302 -4.06163 0 -0.00438106 0.00726937 0.972163 -0.234153 uwb: 0.0 1203.57 428.292 -imu_odom_: 1691062835.282147703 0.833182 -0.1652 9.165 -0.106526 -0.0969391 -0.860734 0.18 -0.94 pose: 0.0 5.69302 -4.06163 0 -0.00438106 0.00726937 0.972163 -0.234153 uwb: 0.0 1203.57 428.292 -imu_odom_: 1691062835.300017350 0.794875 -0.191536 9.15303 -0.0596548 -0.0266316 -0.876713 0.24 -1.23 pose: 0.0 5.69302 -4.06163 0 -0.00438106 0.00726937 0.972163 -0.234153 uwb: 0.49924826 1209.96 430.905 -imu_odom_: 1691062835.317110334 0.859518 -0.196325 9.84256 -0.0703074 -0.0170442 -0.883104 0.24 -1.23 pose: 0.67039102 5.68667 -4.06936 0 0.00315547 0.00949815 0.978793 -0.204605 uwb: 0.0 1209.96 430.905 -imu_odom_: 1691062835.331019967 0.687136 -0.0407014 10.07 -0.0575243 -0.0543285 -0.889496 0.24 -1.23 pose: 0.0 5.68667 -4.06936 0 0.00315547 0.00949815 0.978793 -0.204605 uwb: 0.0 1209.96 430.905 -imu_odom_: 1691062835.349084727 0.474052 -0.387861 10.1227 -0.0628506 -0.00319579 -0.899083 0.18 -0.94 pose: 0.0 5.68667 -4.06936 0 0.00315547 0.00949815 0.978793 -0.204605 uwb: 0.50002406 1208.29 430.841 -imu_odom_: 1691062835.363030524 0.502782 0.248997 9.54329 -0.0777643 -0.0340885 -0.890561 0.18 -0.94 pose: 0.33993189 5.68667 -4.06936 0 0.00672962 0.00919641 0.98186 -0.189264 uwb: 0.0 1208.29 430.841 -imu_odom_: 1691062835.380026973 0.670376 0.122104 10.24 -0.0553937 -0.0607201 -0.903344 0.17 -0.88 pose: 0.38945979 5.67226 -4.07057 0 0.00689754 0.00893169 0.985141 -0.171376 uwb: 0.0 1208.29 430.841 -imu_odom_: 1691062835.403159432 0.555455 0.354342 10.4028 -0.0713727 -0.056459 -0.910801 0.17 -0.88 pose: 0.0 5.67226 -4.07057 0 0.00689754 0.00893169 0.985141 -0.171376 uwb: 0.49918993 1210.66 432.066 -imu_odom_: 1691062835.421022079 0.988805 0.0933739 10.1634 -0.0703074 0.0255663 -0.875647 0.18 -0.88 pose: 0.7130243 5.67259 -4.07068 0 0.00729234 0.00966524 0.985703 -0.168058 uwb: 0.0 1210.66 432.066 -imu_odom_: 1691062835.435082786 0.962469 0.0837971 9.67736 -0.0756338 -0.056459 -0.836233 0.19 -0.82 pose: 0.0 5.67259 -4.07068 0 0.00729234 0.00966524 0.985703 -0.168058 uwb: 0.0 1210.66 432.066 -imu_odom_: 1691062835.452029946 0.744597 -0.263362 9.89524 -0.0532632 -0.0213053 -0.828776 0.19 -0.76 pose: 0.0 5.67259 -4.07068 0 0.00729234 0.00966524 0.985703 -0.168058 uwb: 0.50147355 1206.4 431.38 -imu_odom_: 1691062835.470143120 0.471658 -0.148441 9.414 -0.0543285 0.0213053 -0.76699 0.19 -0.76 pose: 0.71865898 5.66625 -4.07841 0 0.011001 0.0132628 0.990635 -0.135444 uwb: 0.0 1206.4 431.38 -imu_odom_: 1691062835.484195661 0.294487 -0.196325 10.477 -0.0788296 0.0117179 -0.639159 0.2 -0.7 pose: 0.0 5.66625 -4.07841 0 0.011001 0.0132628 0.990635 -0.135444 uwb: 0.0 1206.4 431.38 -imu_odom_: 1691062835.501163236 0.68953 -0.387861 10.0054 -0.052198 -0.0671117 -0.541154 0.2 -0.7 pose: 0.0 5.66625 -4.07841 0 0.011001 0.0132628 0.990635 -0.135444 uwb: 0.49860955 1209.2 432.93 -imu_odom_: 1691062835.517150578 0.538695 -0.234632 9.5816 -0.0585895 -0.052198 -0.532632 0.2 -0.7 pose: 0.34117432 5.65215 -4.07973 0 0.00933218 0.0108011 0.99244 -0.121895 uwb: 0.0 1209.2 432.93 -imu_odom_: 1691062835.535152343 0.54109 0.071826 9.67497 -0.0703074 -0.00426106 -0.507066 0.23 -0.67 pose: 0.41006481 5.65206 -4.0797 0 0.00962076 0.00732842 0.993884 -0.109769 uwb: 0.0 1209.2 432.93 -imu_odom_: 1691062835.552147333 0.25618 0.0287304 10.0341 -0.0436758 0.015979 -0.470847 0.23 -0.67 pose: 0.8009566 5.65215 -4.07973 0 0.00925853 0.00800974 0.994121 -0.107583 uwb: 0.0 1209.2 432.93 -imu_odom_: 1691062835.569069120 0.155623 -0.526724 10.0963 -0.0585895 -0.0181095 -0.434628 0.23 -0.67 pose: 0.0 5.65215 -4.07973 0 0.00925853 0.00800974 0.994121 -0.107583 uwb: 0.0 1209.2 432.93 -imu_odom_: 1691062835.587007888 0.6608 -0.201113 9.94791 -0.0543285 -0.02024 -0.409062 0.18 -0.44 pose: 0.43908976 5.63798 -4.08095 0 0.00603535 0.00783871 0.99528 -0.0965356 uwb: 0.0 1209.2 432.93 -imu_odom_: 1691062835.604088332 0.816423 0.0023942 9.65103 -0.0245011 0.0149137 -0.383495 0.18 -0.38 pose: 0.0 5.63798 -4.08095 0 0.00603535 0.00783871 0.99528 -0.0965356 uwb: 0.100060224 1209.97 433.89 -imu_odom_: 1691062835.617195928 -0.0191536 -0.158017 10.0245 -0.0458064 0.052198 -0.345146 0.18 -0.38 pose: 0.0 5.63798 -4.08095 0 0.00603535 0.00783871 0.99528 -0.0965356 uwb: 0.0 1209.97 433.89 -imu_odom_: 1691062835.635137029 0.78051 -0.0383072 9.78031 -0.0798948 0.00958738 -0.332363 0.18 -0.38 pose: 0.25959125 5.63806 -4.08098 0 0.00813134 0.00721693 0.995804 -0.0908598 uwb: 0.0 1209.97 433.89 -imu_odom_: 1691062835.652060274 0.64404 -0.162806 9.69173 -0.0543285 0.0127832 -0.32171 0.18 -0.32 pose: 0.0 5.63806 -4.08098 0 0.00813134 0.00721693 0.995804 -0.0908598 uwb: 0.49939993 1210.73 434.874 -imu_odom_: 1691062835.669054098 0.201113 0.0215478 9.59357 -0.0372843 0.0436758 -0.302535 0.18 -0.32 pose: 0.30111336 5.62397 -4.08217 0 0.0078631 0.00766142 0.996323 -0.0849714 uwb: 0.0 1210.73 434.874 -imu_odom_: 1691062835.687129650 0.775721 -0.337582 10.2065 -0.0649811 -0.107592 -0.259925 0.17 -0.29 pose: 0.43914517 5.62034 -4.08638 0 0.00760485 0.00710174 0.996962 -0.0771899 uwb: 0.0 1210.73 434.874 -imu_odom_: 1691062835.700243371 0.847547 -0.227449 9.48104 -0.0628506 -0.0213053 -0.250337 0.17 -0.29 pose: 0.0 5.62034 -4.08638 0 0.00760485 0.00710174 0.996962 -0.0771899 uwb: 0.50090774 1208.44 435 -imu_odom_: 1691062835.717124327 0.907402 -0.383072 9.62708 -0.0532632 0.0830906 -0.216249 0.17 -0.29 pose: 0.0 5.62034 -4.08638 0 0.00760485 0.00710174 0.996962 -0.0771899 uwb: 0.0 1208.44 435 -imu_odom_: 1691062835.733119543 0.960075 -0.447716 10.5105 -0.0894822 -0.0628506 -0.165116 0.15 -0.32 pose: 0.8081020 5.61751 -4.08981 0 0.00857558 0.00652069 0.99705 -0.0759884 uwb: 0.0 1208.44 435 -imu_odom_: 1691062835.751137931 1.76692 -0.0981623 9.69891 -0.0585895 -0.0585895 -0.22051 0.13 -0.32 pose: 0.0 5.61751 -4.08981 0 0.00857558 0.00652069 0.99705 -0.0759884 uwb: 0.50030987 1207.17 435.408 -imu_odom_: 1691062835.768126214 1.90339 0.155623 9.7851 -0.0319579 0.0500674 -0.250337 0.13 -0.32 pose: 0.64055237 5.60986 -4.08336 0 0.0144221 0.00318083 0.997589 -0.0678151 uwb: 0.0 1207.17 435.408 -imu_odom_: 1691062835.785242531 0.993594 -0.0766145 10.0173 -0.0820254 0.102265 -0.191748 0.11 -0.26 pose: 0.0 5.60986 -4.08336 0 0.0144221 0.00318083 0.997589 -0.0678151 uwb: 0.0 1207.17 435.408 -imu_odom_: 1691062835.802139819 0.332794 -0.713472 10.0485 -0.0671117 0.0532632 -0.176834 0.11 -0.26 pose: 0.0 5.60986 -4.08336 0 0.0144221 0.00318083 0.997589 -0.0678151 uwb: 0.0 1207.17 435.408 -imu_odom_: 1691062835.818272986 0.663194 -0.347159 9.7444 -0.0660464 -0.015979 -0.229032 0.11 -0.26 pose: 0.33814409 5.60344 -4.09103 0 0.0170777 0.00424251 0.997841 -0.0632702 uwb: 0.0 1207.17 435.408 -imu_odom_: 1691062835.834992659 0.713472 0.0454898 9.66539 -0.0426106 0 -0.213053 0.13 -0.29 pose: 0.43268222 5.59952 -4.08776 0 0.0157927 0.00132954 0.998182 -0.058143 uwb: 0.0 1207.17 435.408 -imu_odom_: 1691062835.851143325 0.881066 0.071826 9.92397 -0.0671117 0.00958738 -0.156594 0.13 -0.29 pose: 0.7726666 5.59576 -4.08462 0 0.0157506 0.00216574 0.998239 -0.0571572 uwb: 0.99965438 1209.46 436.781 -imu_odom_: 1691062835.867990741 0.797269 -0.42138 10.3118 -0.0681769 -0.02024 -0.131028 0.13 -0.29 pose: 0.0 5.59576 -4.08462 0 0.0157506 0.00216574 0.998239 -0.0571572 uwb: 0.0 1209.46 436.781 -imu_odom_: 1691062835.884046329 0.687136 -0.244209 9.80665 -0.0447411 -0.0106526 -0.144876 0.07 -0.17 pose: 0.41991089 5.59576 -4.08462 0 0.0169782 0.00273128 0.998447 -0.0529985 uwb: 0.0 1209.46 436.781 -imu_odom_: 1691062835.909043595 0.785298 0.0287304 9.88566 -0.0596548 -0.00745685 -0.0958738 0.09 -0.23 pose: 0.0 5.59576 -4.08462 0 0.0169782 0.00273128 0.998447 -0.0529985 uwb: 0.49911411 1206.84 436.314 -imu_odom_: 1691062835.923038972 0.502782 -0.225055 9.7875 -0.0617853 0.0181095 -0.0852212 0.09 -0.23 pose: 0.24010032 5.59576 -4.08462 0 0.0163339 0.00226544 0.998563 -0.0509919 uwb: 0.0 1206.84 436.314 -imu_odom_: 1691062835.947007590 -0.275333 0.0526724 10.3238 -0.0223706 0.036219 -0.201335 0.07 -0.08 pose: 0.0 5.59576 -4.08462 0 0.0163339 0.00226544 0.998563 -0.0509919 uwb: 0.50170103 1207.07 437.222 -imu_odom_: 1691062835.973125372 -1.27611 -0.155623 9.99819 -0.0649811 0.0255663 -0.0500674 0.07 -0.08 pose: 0.39029682 5.58932 -4.09226 0 0.0143106 0.00366352 0.998739 -0.0479806 uwb: 0.0 1207.07 437.222 -imu_odom_: 1691062835.996141755 0.500388 -0.304064 9.991 -0.0383495 -0.0841559 -0.0660464 0.11 -0.08 pose: 0.42094917 5.58932 -4.09226 0 0.00939623 0.00393338 0.998941 -0.0448777 uwb: 0.0 1207.07 437.222 -imu_odom_: 1691062836.14133603 0.909797 0.059855 9.88087 -0.02024 -0.0117179 -0.0479369 0.11 -0.08 pose: 0.0 5.58932 -4.09226 0 0.00939623 0.00393338 0.998941 -0.0448777 uwb: 0.0 1207.07 437.222 -imu_odom_: 1691062836.40121019 -0.0670376 -0.428562 9.47625 -0.0671117 0.0276969 -0.0266316 0.12 -0.08 pose: 0.6913548 5.58932 -4.09226 0 0.00934958 0.00339392 0.998959 -0.0445171 uwb: 0.0 1207.07 437.222 -imu_odom_: 1691062836.65960860 0.124498 -0.289698 9.79468 -0.0415453 -0.0351537 -0.0703074 0.12 -0.08 pose: 0.0 5.58932 -4.09226 0 0.00934958 0.00339392 0.998959 -0.0445171 uwb: 0.99701205 1208.88 438.343 -imu_odom_: 1691062836.87021151 0.205901 -0.186748 9.68933 -0.0575243 0 0.00213053 0.13 -0.08 pose: 0.43111606 5.58169 -4.0858 0 0.00972644 0.00316735 0.99904 -0.0425885 uwb: 0.0 1208.88 438.343 -imu_odom_: 1691062836.99965424 0.416591 -0.438139 9.80904 -0.072438 0.0511327 -0.0191748 0.13 -0.08 pose: 0.0 5.58169 -4.0858 0 0.00972644 0.00316735 0.99904 -0.0425885 uwb: 0.49970616 1208.26 438.513 -imu_odom_: 1691062836.124111366 0.466869 -0.23942 9.92157 -0.0607201 -0.00319579 -0.0479369 0.13 -0.05 pose: 0.48834643 5.5752 -4.0934 0 0.00521625 0.00176659 0.999164 -0.0404992 uwb: 0.0 1208.26 438.513 -imu_odom_: 1691062836.149995245 0.169988 -0.174777 10.4531 -0.0639159 -0.052198 -0.00958738 0.13 -0.05 pose: 0.0 5.5752 -4.0934 0 0.00521625 0.00176659 0.999164 -0.0404992 uwb: 0.50006198 1208.09 438.976 -imu_odom_: 1691062836.176033408 -0.146046 -0.25618 9.76355 -0.052198 -0.00958738 -0.0255663 0.15 -0.08 pose: 0.78010076 5.56309 -4.0922 0 0.00154843 -0.0016296 0.999269 -0.0381604 uwb: 0.0 1208.09 438.976 -imu_odom_: 1691062836.193101603 0.785298 -0.146046 9.81383 -0.056459 -0.0777643 -0.00958738 0.15 -0.08 pose: 0.0 5.56309 -4.0922 0 0.00154843 -0.0016296 0.999269 -0.0381604 uwb: 0.0 1208.09 438.976 -imu_odom_: 1691062836.217099678 0.184354 0 10.0269 -0.0671117 0.00426106 0.0138484 0.17 -0.02 pose: 0.8057105 5.56108 -4.09455 0 0.000764554 -0.00165889 0.99928 -0.0378996 uwb: 0.0 1208.09 438.976 -imu_odom_: 1691062836.242984725 0.483629 -0.0550666 10.2544 -0.0639159 -0.0298274 -0.00958738 0.19 -0.02 pose: 0.24965768 5.56108 -4.09455 0 -5.67906e-05-0.00152289 0.999309 -0.0371454 uwb: 0.100147721 1208.31 439.862 -imu_odom_: 1691062836.267135916 0.318429 0.0335188 9.9503 -0.0575243 -0.00958738 0.0117179 0.19 -0.02 pose: 0.0 5.56108 -4.09455 0 -5.67906e-05-0.00152289 0.999309 -0.0371454 uwb: 0.0 1208.31 439.862 -imu_odom_: 1691062836.284960066 0.768539 -0.301669 10.319 -0.0479369 0.0149137 -0.00745685 0.19 -0.02 pose: 0.0 5.56108 -4.09455 0 -5.67906e-05-0.00152289 0.999309 -0.0371454 uwb: 0.0 1208.31 439.862 -imu_odom_: 1691062836.308995472 0.268151 -0.134075 9.85214 -0.0585895 -0.0394148 0.00745685 0.17 -0.08 pose: 0.42160830 5.55342 -4.08812 0 -9.1842e-05 0.000925801 0.999337 -0.0363902 uwb: 0.50093984 1214.44 442.809 -imu_odom_: 1691062836.334112606 0.40462 -0.339977 10.4339 -0.0628506 -0.015979 0.00319579 0.2 -0.02 pose: 0.49895080 5.54698 -4.09578 0 0.000506232 0.00419739 0.999363 -0.0354292 uwb: 0.0 1214.44 442.809 -imu_odom_: 1691062836.350002246 0.222661 -0.189142 10.0006 -0.0628506 0.00958738 0.00319579 0.2 -0.02 pose: 0.0 5.54698 -4.09578 0 0.000506232 0.00419739 0.999363 -0.0354292 uwb: 0.49872914 1212.18 442.898 -imu_odom_: 1691062836.376003661 0.500388 -0.497994 9.83538 -0.0639159 0.0138484 0.0255663 0.16 -0.02 pose: 0.41954634 5.53934 -4.08932 0 -0.0005481610.00299423 0.999395 -0.0346582 uwb: 0.0 1212.18 442.898 -imu_odom_: 1691062836.401107670 0.474052 -0.229843 10.2448 -0.0607201 -0.0585895 0.0234358 0.16 -0.02 pose: 0.0 5.53934 -4.08932 0 -0.0005481610.00299423 0.999395 -0.0346582 uwb: 0.50007948 1215.25 445.082 -imu_odom_: 1691062836.426000526 0.397437 -0.148441 9.83299 -0.0617853 -0.0117179 0.0266316 0.19 -0.02 pose: 0.41092810 5.53287 -4.09695 0 -0.00170051 0.000353694 0.99942 -0.0339983 uwb: 0.0 1215.25 445.082 -imu_odom_: 1691062836.442064280 0.354342 -0.237026 9.48343 -0.0617853 -0.0426106 0.015979 0.19 -0.02 pose: 0.0 5.53287 -4.09695 0 -0.00170051 0.000353694 0.99942 -0.0339983 uwb: 0.0 1215.25 445.082 -imu_odom_: 1691062836.468010865 0.155623 -0.155623 10.1155 -0.0575243 -0.0276969 0.0276969 0.17 -0.02 pose: 0.51131673 5.51878 -4.09809 0 0.00171459 -0.00032043 0.999433 -0.0336128 uwb: 0.49978783 1216.43 446.324 -imu_odom_: 1691062836.482005367 0.428562 -0.184354 9.94551 -0.0415453 -0.0394148 0.00852212 0.17 -0.02 pose: 0.0 5.51878 -4.09809 0 0.00171459 -0.00032043 0.999433 -0.0336128 uwb: 0.0 1216.43 446.324 -imu_odom_: 1691062836.499108852 0.627281 -0.0430956 9.69173 -0.0692422 -0.0191748 0.0138484 0.17 -0.02 pose: 0.0 5.51878 -4.09809 0 0.00171459 -0.00032043 0.999433 -0.0336128 uwb: 0.50091651 1215.68 446.813 -imu_odom_: 1691062836.523970501 0.471658 -0.0407014 10.2089 -0.0671117 -0.00958738 0.0458064 0.16 0.02 pose: 0.40788912 5.51116 -4.09161 0 -0.0007612850.000291041 0.999446 -0.0332643 uwb: 0.0 1215.68 446.813 -imu_odom_: 1691062836.548975641 0.339977 -0.21069 10.07 -0.0575243 0.0106526 0.00958738 0.19 -0.02 pose: 0.39097928 5.50468 -4.09922 0 -7.32898e-050.00144358 0.999459 -0.0328506 uwb: 0.49905579 1215.92 447.614 -imu_odom_: 1691062836.563923545 0.174777 -0.0287304 10.1275 -0.052198 0.00319579 0.0170442 0.19 -0.02 pose: 0.34830516 5.49951 -4.09481 0 0.00169424 0.00415511 0.999452 -0.0328001 uwb: 0.0 1215.92 447.614 -imu_odom_: 1691062836.588078528 0.459687 -0.138864 10.1993 -0.0490022 -0.0500674 0.0106526 0.19 -0.02 pose: 0.0 5.49951 -4.09481 0 0.00169424 0.00415511 0.999452 -0.0328001 uwb: 0.0 1215.92 447.614 -imu_odom_: 1691062836.614013738 -0.023942 -0.0814029 9.52892 -0.0479369 -0.00106526 0.0436758 0.17 -0.02 pose: 0.8011899 5.49707 -4.09273 0 0.00101911 0.0036317 0.999459 -0.0326786 uwb: 0.50007656 1215.15 448.169 -imu_odom_: 1691062836.637954067 0.225055 -0.0215478 9.4547 -0.0543285 0.0117179 0.0245011 0.19 -0.02 pose: 0.40020999 5.49058 -4.10033 0 -0.0007842250.0034131 0.999477 -0.032135 uwb: 0.0 1215.15 448.169 -imu_odom_: 1691062836.664093140 -0.117316 -0.25618 9.89284 -0.0458064 0.0266316 0.0330232 0.19 -0.02 pose: 0.0 5.49058 -4.10033 0 -0.0007842250.0034131 0.999477 -0.032135 uwb: 0.49993365 1215.44 448.838 -imu_odom_: 1691062836.688214000 0.294487 -0.160412 9.61511 -0.0703074 0.0127832 0.0298274 0.2 0 pose: 0.49965075 5.48292 -4.0939 0 -0.002157 0.00452172 0.999479 -0.0318886 uwb: 0.0 1215.44 448.838 -imu_odom_: 1691062836.706215473 0.42138 -0.100556 10.0868 -0.0490022 -0.0319579 0.0468716 0.2 0 pose: 0.0 5.48292 -4.0939 0 -0.002157 0.00452172 0.999479 -0.0318886 uwb: 0.49868247 1217.11 450.25 -imu_odom_: 1691062836.722978311 0.493206 -0.129287 9.90002 -0.0660464 0.00639159 0.0351537 0.18 -0.02 pose: 0.50129274 5.46883 -4.09513 0 -0.00627053 0.00383719 0.999473 -0.0316217 uwb: 0.0 1217.11 450.25 -imu_odom_: 1691062836.746097646 0.584185 0.112527 9.81144 -0.0745685 0.00532632 0.036219 0.18 -0.02 pose: 0.0 5.46883 -4.09513 0 -0.00627053 0.00383719 0.999473 -0.0316217 uwb: 0.50059570 1218.77 451.665 -imu_odom_: 1691062836.761929248 0.557849 -0.471658 9.61033 -0.0777643 0.0255663 0.052198 0.18 -0.02 pose: 0.0 5.46883 -4.09513 0 -0.00627053 0.00383719 0.999473 -0.0316217 uwb: 0.0 1218.77 451.665 -imu_odom_: 1691062836.787921622 0.395043 -0.153229 9.94791 -0.052198 -0.00213053 0.0191748 0.19 0 pose: 0.41993132 5.46883 -4.09513 0 -0.00333477 0.00318007 0.99949 -0.0315964 uwb: 0.0 1218.77 451.665 -imu_odom_: 1691062836.809935898 0.574608 -0.203507 10.2304 -0.0607201 -0.0170442 0.0436758 0.18 0 pose: 0.73830742 5.45474 -4.09634 0 0.000875735 0.00120649 0.999506 -0.0313939 uwb: 0.50052278 1223.41 453.921 -imu_odom_: 1691062836.826089772 0.761356 -0.577003 9.60793 -0.0575243 -0.00106526 0.0340885 0.18 0 pose: 0.0 5.45474 -4.09634 0 0.000875735 0.00120649 0.999506 -0.0313939 uwb: 0.0 1223.41 453.921 -imu_odom_: 1691062836.842942147 0.229843 -0.107739 10.07 -0.0415453 0.0500674 0.0245011 0.18 0 pose: 0.0 5.45474 -4.09634 0 0.000875735 0.00120649 0.999506 -0.0313939 uwb: 0.49862123 1222.15 454.271 -imu_odom_: 1691062836.866974345 0.390255 -0.0694318 10.0676 -0.0575243 0.0266316 0.0426106 0.25 -0.02 pose: 0.6162259 5.45474 -4.09634 0 0.00153106 0.00115947 0.999505 -0.0314072 uwb: 0.0 1222.15 454.271 -imu_odom_: 1691062836.884065289 0.296881 -0.0407014 10.1514 -0.0500674 -0.00639159 0.0319579 0.25 -0.02 pose: 0.0 5.45474 -4.09634 0 0.00153106 0.00115947 0.999505 -0.0314072 uwb: 0.0 1222.15 454.271 -imu_odom_: 1691062836.909050889 0.0933739 -0.1652 9.6199 -0.0607201 -0.0181095 0.0298274 0.18 -0.02 pose: 0.39886548 5.44065 -4.09756 0 0.00327778 0.000123651 0.999503 -0.0313417 uwb: 0.49987533 1223.73 455.853 -imu_odom_: 1691062836.926110626 0.634463 -0.220267 9.76116 -0.0511327 0.0138484 0.0351537 0.18 -0.02 pose: 0.0 5.44065 -4.09756 0 0.00327778 0.000123651 0.999503 -0.0313417 uwb: 0.0 1223.73 455.853 -imu_odom_: 1691062836.942055971 0.071826 -0.37589 10.0054 -0.0479369 -0.02024 0.0372843 0.2 -0.02 pose: 0.58963625 5.42656 -4.09877 0 -0.00123592 0.00374773 0.999506 -0.0311878 uwb: 0.0 1223.73 455.853 -imu_odom_: 1691062836.959002840 0.514753 -0.196325 9.76595 -0.0553937 -0.0276969 0.0319579 0.23 0 pose: 0.0 5.42656 -4.09877 0 -0.00123592 0.00374773 0.999506 -0.0311878 uwb: 0.50031863 1223.39 456.678 -imu_odom_: 1691062836.983928943 0.371101 -0.134075 9.6223 -0.0596548 -0.00639159 0.036219 0.18 0.02 pose: 0.66068786 5.4195 -4.09937 0 -0.0004760480.00202879 0.999518 -0.0309845 uwb: 0.0 1223.39 456.678 -imu_odom_: 1691062837.925101 0.519542 -0.0981623 9.74201 -0.0777643 -0.00532632 0.0255663 0.18 0.02 pose: 0.0 5.4195 -4.09937 0 -0.0004760480.00202879 0.999518 -0.0309845 uwb: 0.50125190 1225.99 458.419 -imu_odom_: 1691062837.24916177 0.56982 -0.241814 9.76595 -0.0628506 0.00426106 0.0319579 0.18 0 pose: 0.41922261 5.41247 -4.09997 0 -0.0001129920.00436263 0.999515 -0.0308294 uwb: 0.0 1225.99 458.419 -imu_odom_: 1691062837.41912626 0.289698 -0.251391 10.2663 -0.056459 -0.00213053 0.0394148 0.18 0 pose: 0.8025023 5.41247 -4.09997 0 0.000533964 0.00390553 0.999518 -0.030802 uwb: 0.0 1225.99 458.419 -imu_odom_: 1691062837.66928267 0.565032 -0.0095768110.1203 -0.0607201 0 0.0372843 0.18 -0.02 pose: 0.24016450 5.40602 -4.10761 0 0.00114526 0.0025394 0.999523 -0.0307456 uwb: 0.49991325 1224.24 458.631 -imu_odom_: 1691062837.92925307 0.711078 -0.378284 9.75877 -0.0671117 -0.0170442 0.0308927 0.18 -0.02 pose: 0.0 5.40602 -4.10761 0 0.00114526 0.0025394 0.999523 -0.0307456 uwb: 0.50037989 1221.49 458.592 -imu_odom_: 1691062837.115967065 0.802058 -0.215478 9.79468 -0.0458064 0.04048 0.0266316 0.19 0 pose: 0.18126591 5.39838 -4.10116 0 0.000979732 0.00269956 0.999523 -0.030734 uwb: 0.0 1221.49 458.592 -imu_odom_: 1691062837.132907518 0.739808 -0.418985 9.93115 -0.0511327 0.0351537 0.0394148 0.19 0 pose: 0.0 5.39838 -4.10116 0 0.000979732 0.00269956 0.999523 -0.030734 uwb: 0.0 1221.49 458.592 -imu_odom_: 1691062837.157967197 0.790087 -0.347159 9.98622 -0.0660464 0.00106526 0.0319579 0.21 0 pose: 0.48861767 5.39838 -4.10116 0 0.004703 0.00200683 0.99952 -0.030571 uwb: 0.50016990 1219.15 458.931 -imu_odom_: 1691062837.184059899 0.457293 -0.268151 9.66779 -0.0287621 -0.0266316 0.0330232 0.21 0 pose: 0.40967985 5.38428 -4.10235 0 0.00747936 0.00032541 0.999508 -0.030453 uwb: 0.0 1219.15 458.931 -imu_odom_: 1691062837.208941672 0.215478 -0.258574 10.1299 -0.0500674 -0.0394148 0.0372843 0.19 -0.02 pose: 0.43136982 5.37447 -4.10317 0 0.00677131 -0.00108315 0.999517 -0.0303212 uwb: 0.49967992 1220.25 460.29 -imu_odom_: 1691062837.226174357 0.464475 -0.270545 9.18895 -0.0692422 -0.0117179 0.0351537 0.19 -0.02 pose: 0.0 5.37447 -4.10317 0 0.00677131 -0.00108315 0.999517 -0.0303212 uwb: 0.0 1220.25 460.29 -imu_odom_: 1691062837.249956321 0.0502782 -0.304064 9.58399 -0.0671117 0.0426106 0.0500674 0.21 0 pose: 0.31889232 5.37019 -4.10353 0 0.00434603 -0.00183837 0.99953 -0.0302856 uwb: 0.49970910 1218.14 460.068 -imu_odom_: 1691062837.275946654 0.237026 -0.0837971 9.90242 -0.0649811 -0.0138484 0.0330232 0.22 0 pose: 0.0 5.37019 -4.10353 0 0.00434603 -0.00183837 0.99953 -0.0302856 uwb: 0.0 1218.14 460.068 -imu_odom_: 1691062837.288969089 0.445322 -0.373495 9.67976 -0.0447411 -0.0330232 0.04048 0.22 0 pose: 0.41965134 5.3561 -4.10471 0 0.00035031 -0.00264195 0.999535 -0.030373 uwb: 0.0 1218.14 460.068 -imu_odom_: 1691062837.312895711 0.418985 -0.275333 9.80186 -0.0607201 0.00639159 0.0468716 0.22 0 pose: 0.0 5.3561 -4.10471 0 0.00035031 -0.00264195 0.999535 -0.030373 uwb: 0.50041780 1216.45 460.174 -imu_odom_: 1691062837.338967997 0.100556 -0.011971 10.4076 -0.0500674 0.0287621 0.0639159 0.18 0.02 pose: 0.39063515 5.3561 -4.10471 0 0.000574575 -0.00296319 0.999535 -0.0303485 uwb: 0.0 1216.45 460.174 -imu_odom_: 1691062837.352950542 0.395043 -0.189142 9.75877 -0.072438 0 0.0607201 0.18 0.02 pose: 0.0 5.3561 -4.10471 0 0.000574575 -0.00296319 0.999535 -0.0303485 uwb: 0.49809335 1218.59 461.667 -imu_odom_: 1691062837.378892169 0.567426 -0.21069 10.0509 -0.0458064 0.0149137 0.04048 0.19 0.02 pose: 0.55972762 5.34201 -4.1059 0 -0.000576361-0.0008536120.999523 -0.0308716 uwb: 0.0 1218.59 461.667 -imu_odom_: 1691062837.403949807 0.227449 -0.397437 9.42358 -0.0585895 -0.00213053 0.052198 0.19 0.02 pose: 0.0 5.34201 -4.1059 0 -0.000576361-0.0008536120.999523 -0.0308716 uwb: 0.50009407 1216.42 461.604 -imu_odom_: 1691062837.430895583 0.672771 -0.328006 10.0844 -0.0490022 -0.0500674 0.0458064 0.2 0 pose: 0.8006941 5.34201 -4.1059 0 0.000138943 -0.00070044 0.999523 -0.0308745 uwb: 0.0 1216.42 461.604 -imu_odom_: 1691062837.455890224 0.727837 -0.100556 10.4411 -0.0575243 0.00213053 0.0490022 0.21 0 pose: 0.50969809 5.32791 -4.1071 0 0.000807931 -0.00222279 0.999515 -0.031066 uwb: 0.50000950 1216.61 462.49 -imu_odom_: 1691062837.478938981 0.620098 -0.0263362 10.659 -0.0607201 -0.0319579 0.0426106 0.21 0 pose: 0.0 5.32791 -4.1071 0 0.000807931 -0.00222279 0.999515 -0.031066 uwb: 0.0 1216.61 462.49 -imu_odom_: 1691062837.495882643 0.351948 -0.0430956 9.61511 -0.0458064 0.00745685 0.0511327 0.21 0 pose: 0.26984273 5.32791 -4.1071 0 0.00372636 -0.00212986 0.999505 -0.0311564 uwb: 0.50105943 1214.82 462.883 -imu_odom_: 1691062837.519948089 0.531513 -0.299275 9.50259 -0.0671117 0.0149137 0.0447411 0.25 0.02 pose: 0.48000235 5.31382 -4.1083 0 0.00572803 0.00140546 0.999493 -0.031295 uwb: 0.0 1214.82 462.883 -imu_odom_: 1691062837.537042533 0.533907 -0.363919 9.83777 -0.0585895 -0.00639159 0.0426106 0.25 0.02 pose: 0.0 5.31382 -4.1083 0 0.00572803 0.00140546 0.999493 -0.031295 uwb: 0.0 1214.82 462.883 -imu_odom_: 1691062837.562152085 0.438139 -0.35913 10.398 -0.0500674 0.0234358 0.0415453 0.22 0 pose: 0.41091645 5.31382 -4.1083 0 0.00566333 -0.00121511 0.999489 -0.0314339 uwb: 0.50058404 1217.87 464.772 -imu_odom_: 1691062837.586992152 0.727837 -0.11971 9.93115 -0.0703074 0.0181095 0.0458064 0.21 0.02 pose: 0.34148640 5.30182 -4.10704 0 0.00392864 -0.0040107 0.999488 -0.0314914 uwb: 0.0 1217.87 464.772 -imu_odom_: 1691062837.609961289 0.933739 -0.268151 10.3453 -0.0553937 -0.0287621 0.0553937 0.21 0.02 pose: 0.0 5.30182 -4.10704 0 0.00392864 -0.0040107 0.999488 -0.0314914 uwb: 0.49913454 1218.6 465.653 -imu_odom_: 1691062837.635889792 0.454898 -0.0861913 10.1442 -0.0394148 0.0191748 0.0298274 0.18 -0.02 pose: 0.7754373 5.29973 -4.10952 0 0.00446351 -0.00360534 0.999487 -0.0315106 uwb: 0.0 1218.6 465.653 -imu_odom_: 1691062837.652898491 -0.167594 -0.430956 9.63666 -0.0223706 -0.00213053 0.0394148 0.18 -0.02 pose: 0.0 5.29973 -4.10952 0 0.00446351 -0.00360534 0.999487 -0.0315106 uwb: 0.49901205 1222.02 467.908 -imu_odom_: 1691062837.676890442 0.354342 -0.172383 9.59117 -0.0394148 0 0.0490022 0.2 0 pose: 0.49003508 5.29208 -4.10308 0 0.00762631 -0.00177955 0.999467 -0.0316798 uwb: 0.0 1222.02 467.908 -imu_odom_: 1691062837.694072964 0.577003 -0.25618 10.1011 -0.0575243 0.02024 0.0585895 0.2 0 pose: 0.0 5.29208 -4.10308 0 0.00762631 -0.00177955 0.999467 -0.0316798 uwb: 0.50125192 1219.41 467.661 -imu_odom_: 1691062837.709943938 0.169988 -0.31364 9.67257 -0.0575243 0.0234358 0.0436758 0.2 0 pose: 0.0 5.29208 -4.10308 0 0.00762631 -0.00177955 0.999467 -0.0316798 uwb: 0.0 1219.41 467.661 -imu_odom_: 1691062837.737032622 0.483629 -0.213084 10.1394 -0.04048 -0.0340885 0.0511327 0.2 0 pose: 0.41979717 5.28565 -4.11073 0 0.0040904 -0.00015322 0.999491 -0.0316302 uwb: 0.0 1219.41 467.661 -imu_odom_: 1691062837.761950269 0.567426 -0.213084 9.44273 -0.0458064 -0.0149137 0.0458064 0.19 0 pose: 0.76142939 5.27156 -4.11196 0 0.00505955 0.000730999 0.999473 -0.0320572 uwb: 0.49882831 1219.61 468.482 -imu_odom_: 1691062837.778878181 0.620098 -0.0933739 10.4267 -0.0596548 0.0319579 0.0617853 0.19 0 pose: 0.0 5.27156 -4.11196 0 0.00505955 0.000730999 0.999473 -0.0320572 uwb: 0.0 1219.61 468.482 -imu_odom_: 1691062837.804988673 0.433351 -0.423774 9.65342 -0.0777643 0.0245011 0.0415453 0.19 0 pose: 0.8899972 5.27156 -4.11196 0 0.00599186 0.000687947 0.999467 -0.032086 uwb: 0.50283266 1219.68 469.628 -imu_odom_: 1691062837.821932917 0.275333 -0.270545 10.082 -0.0468716 -0.0276969 0.0500674 0.19 0 pose: 0.0 5.27156 -4.11196 0 0.00599186 0.000687947 0.999467 -0.032086 uwb: 0.0 1219.68 469.628 -imu_odom_: 1691062837.837926676 0.641646 -0.129287 10.058 -0.0905475 -0.0500674 0.0532632 0.19 0 pose: 0.0 5.27156 -4.11196 0 0.00599186 0.000687947 0.999467 -0.032086 uwb: 0.0 1219.68 469.628 -imu_odom_: 1691062837.861117758 0.462081 0.0574608 9.72525 -0.0479369 -0.0415453 0.04048 0.19 0 pose: 0.41086687 5.25747 -4.11319 0 0.00762754 0.00126035 0.999447 -0.0323268 uwb: 0.49697342 1220.73 471.007 -imu_odom_: 1691062837.885930702 0.407014 -0.201113 9.88326 -0.0511327 0.0191748 0.0468716 0.19 0 pose: 0.0 5.25747 -4.11319 0 0.00762754 0.00126035 0.999447 -0.0323268 uwb: 0.0 1220.73 471.007 -imu_odom_: 1691062837.901111343 0.469264 -0.117316 9.7851 -0.0575243 -0.0181095 0.04048 0.25 0 pose: 0.81932179 5.24339 -4.11443 0 0.00568292 0.00208871 0.999451 -0.0325742 uwb: 0.49980534 1222.88 472.366 -imu_odom_: 1691062837.923917448 0.203507 0.110133 10.2855 -0.04048 0.02024 0.0479369 0.25 0 pose: 0.0 5.24339 -4.11443 0 0.00568292 0.00208871 0.999451 -0.0325742 uwb: 0.0 1222.88 472.366 -imu_odom_: 1691062837.948852593 0.0407014 -0.129287 9.68933 -0.0479369 -0.0127832 0.0479369 0.18 0 pose: 0.38984478 5.23572 -4.10801 0 0.00309054 0.00369904 0.999455 -0.0326619 uwb: 0.50011740 1221.24 472.39 -imu_odom_: 1691062837.963934656 0.169988 -0.203507 10.1275 -0.0426106 -0.0308927 0.0458064 0.18 0 pose: 0.0 5.23572 -4.10801 0 0.00309054 0.00369904 0.999455 -0.0326619 uwb: 0.0 1221.24 472.39 -imu_odom_: 1691062837.989982735 0.325611 0.0526724 10.2592 -0.0426106 -0.0213053 0.0468716 0.18 0 pose: 0.55998718 5.2293 -4.11568 0 -0.00188211 0.00435592 0.999449 -0.0328526 uwb: 0.0 1221.24 472.39 -imu_odom_: 1691062838.12925916 0.533907 -0.0526724 10.2879 -0.0575243 -0.0617853 0.0436758 0.18 0 pose: 0.0 5.2293 -4.11568 0 -0.00188211 0.00435592 0.999449 -0.0328526 uwb: 0.49975284 1217.51 472.264 -imu_odom_: 1691062838.37860478 0.634463 -0.25618 9.76834 -0.0447411 -0.0585895 0.0394148 0.19 0 pose: 0.6992585 5.2293 -4.11568 0 -0.00200811 0.00507795 0.999444 -0.0328781 uwb: 0.0 1217.51 472.264 -imu_odom_: 1691062838.53863570 0.56982 -0.0861913 10.0868 -0.0756338 -0.0298274 0.0436758 0.19 0 pose: 0.0 5.2293 -4.11568 0 -0.00200811 0.00507795 0.999444 -0.0328781 uwb: 0.50149108 1218.18 473.252 -imu_odom_: 1691062838.79928857 0.387861 -0.071826 9.67018 -0.0660464 -0.00106526 0.0287621 0.18 -0.02 pose: 0.49971493 5.21522 -4.11693 0 0.00142822 0.00689633 0.99943 -0.0330093 uwb: 0.0 1218.18 473.252 -imu_odom_: 1691062838.107049040 0.462081 -0.311246 9.73961 -0.0713727 -0.0255663 0.0511327 0.22 0 pose: 0.41006193 5.20755 -4.11052 0 0.00421278 0.006175 0.999427 -0.0330052 uwb: 0.50003576 1219.77 474.625 -imu_odom_: 1691062838.133060663 0.502782 -0.0909797 10.1969 -0.0607201 0.00639159 0.0394148 0.19 0 pose: 0.25085053 5.20755 -4.11052 0 0.00255765 0.00572687 0.999438 -0.0329372 uwb: 0.0 1219.77 474.625 -imu_odom_: 1691062838.148872725 0.198719 -0.0837971 10.2352 -0.0671117 0.00426106 0.0575243 0.19 0 pose: 0.0 5.20755 -4.11052 0 0.00255765 0.00572687 0.999438 -0.0329372 uwb: 0.49864166 1219.82 475.77 -imu_odom_: 1691062838.174996926 0.143652 -0.378284 9.80426 -0.0511327 0.0191748 0.0319579 0.24 0 pose: 0.28107124 5.20113 -4.11819 0 0.00332258 0.00421648 0.999439 -0.0330563 uwb: 0.0 1219.82 475.77 -imu_odom_: 1691062838.201914412 0.301669 -0.169988 10.2448 -0.0458064 0.015979 0.0372843 0.23 -0.02 pose: 0.59899822 5.18902 -4.11708 0 0.000353539 0.00388523 0.999445 -0.0330831 uwb: 0.0 1219.82 475.77 -imu_odom_: 1691062838.226968842 0.557849 -0.181959 10.2472 -0.0426106 0.00213053 0.0383495 0.23 -0.02 pose: 0.0 5.18902 -4.11708 0 0.000353539 0.00388523 0.999445 -0.0330831 uwb: 0.0 1219.82 475.77 -imu_odom_: 1691062838.252842807 0.383072 0.071826 10.2568 -0.0330232 0.00106526 0.0340885 0.2 -0.02 pose: 0.7992359 5.18705 -4.11945 0 -0.00048589 0.00366303 0.999446 -0.0330714 uwb: 0.100187098 1218.96 476.553 -imu_odom_: 1691062838.277898112 0.445322 -0.155623 10.2496 -0.0575243 -0.0553937 0.0426106 0.2 -0.02 pose: 0.0 5.18705 -4.11945 0 -0.00048589 0.00366303 0.999446 -0.0330714 uwb: 0.0 1218.96 476.553 -imu_odom_: 1691062838.294854315 0.519542 -0.349553 9.31344 -0.052198 0.00106526 0.04048 0.19 0 pose: 0.52003706 5.17937 -4.11303 0 -0.0001965050.00386543 0.999447 -0.033013 uwb: 0.49921914 1221.77 478.809 -imu_odom_: 1691062838.319855957 -0.0502782 -0.222661 9.50019 -0.0671117 0.0245011 0.0468716 0.19 0 pose: 0.0 5.17937 -4.11303 0 -0.0001965050.00386543 0.999447 -0.033013 uwb: 0.0 1221.77 478.809 -imu_odom_: 1691062838.343839742 0.198719 -0.160412 10.1299 -0.0553937 -0.04048 0.0394148 0.22 0 pose: 0.49988701 5.16529 -4.11429 0 0.00206493 0.00329003 0.999447 -0.033012 uwb: 0.49775213 1221.46 479.522 -imu_odom_: 1691062838.359918372 0.969652 -0.280122 10.2855 -0.0500674 -0.0330232 0.0308927 0.22 0 pose: 0.0 5.16529 -4.11429 0 0.00206493 0.00329003 0.999447 -0.033012 uwb: 0.0 1221.46 479.522 -imu_odom_: 1691062838.385979867 0.823605 -0.246603 9.80665 -0.0468716 -0.00319579 0.0575243 0.18 0 pose: 0.41972719 5.15887 -4.12196 0 -0.0009841070.00193879 0.99945 -0.0331042 uwb: 0.0 1221.46 479.522 -imu_odom_: 1691062838.410850558 0.672771 -0.102951 10.2615 -0.0745685 -0.00319579 0.0500674 0.18 0 pose: 0.0 5.15887 -4.12196 0 -0.0009841070.00193879 0.99945 -0.0331042 uwb: 0.49981702 1218.81 479.47 -imu_odom_: 1691062838.436894263 0.447716 -0.23942 9.71088 -0.056459 0.0298274 0.0308927 0.21 0.02 pose: 0.41099811 5.1512 -4.11555 0 0.000259236 0.00178485 0.99945 -0.0331058 uwb: 0.0 1218.81 479.47 -imu_odom_: 1691062838.453000308 0.234632 -0.373495 9.76355 -0.0372843 0.00319579 0.0351537 0.21 0.02 pose: 0.0 5.1512 -4.11555 0 0.000259236 0.00178485 0.99945 -0.0331058 uwb: 0.50125484 1218.5 480.206 -imu_odom_: 1691062838.478985099 0.452504 -0.294487 9.83299 -0.0479369 -0.00532632 0.0479369 0.19 0 pose: 0.50858400 5.13711 -4.11682 0 0.00381001 0.00158859 0.999435 -0.0333687 uwb: 0.0 1218.5 480.206 -imu_odom_: 1691062838.505214293 0.629675 -0.112527 9.98622 -0.0479369 -0.0351537 0.0415453 0.18 0 pose: 0.60072477 5.12698 -4.11772 0 0.00233492 -0.00312471 0.999435 -0.0333742 uwb: 0.49990451 1221.39 482.22 -imu_odom_: 1691062838.530969265 0.011971 -0.258574 9.40682 -0.052198 0.056459 0.0372843 0.18 0 pose: 0.0 5.12698 -4.11772 0 0.00233492 -0.00312471 0.999435 -0.0333742 uwb: 0.0 1221.39 482.22 -imu_odom_: 1691062838.555820999 0.201113 -0.251391 9.84735 -0.0649811 -0.00852212 0.0553937 0.18 0.02 pose: 0.7005710 5.12303 -4.11808 0 0.00294559 -0.00260782 0.999435 -0.0333787 uwb: 0.49990743 1222.97 483.515 -imu_odom_: 1691062838.580959425 0.423774 -0.153229 10.3741 -0.0628506 0.0383495 0.0511327 0.18 0.02 pose: 0.0 5.12303 -4.11808 0 0.00294559 -0.00260782 0.999435 -0.0333787 uwb: 0.0 1222.97 483.515 -imu_odom_: 1691062838.596829233 0.646434 -0.0550666 10.2352 -0.0617853 -0.0436758 0.0372843 0.18 0 pose: 0.53007855 5.12303 -4.11808 0 0.000487187 -0.00146142 0.99944 -0.0334296 uwb: 0.49992492 1223.39 485.025 -imu_odom_: 1691062838.614069794 0.146046 0.0742203 9.96946 -0.0553937 0.00106526 0.0394148 0.18 0 pose: 0.0 5.12303 -4.11808 0 0.000487187 -0.00146142 0.99944 -0.0334296 uwb: 0.0 1223.39 485.025 -imu_odom_: 1691062838.640014630 0.265756 -0.191536 9.8282 -0.0660464 -0.0330232 0.04048 0.19 0 pose: 0.48895891 5.10894 -4.11935 0 5.1432e-05 0.000873636 0.999432 -0.0337028 uwb: 0.0 1223.39 485.025 -imu_odom_: 1691062838.665933509 0.035913 0.00957681 9.79468 -0.0458064 -0.0149137 0.0607201 0.19 0 pose: 0.0 5.10894 -4.11935 0 5.1432e-05 0.000873636 0.999432 -0.0337028 uwb: 0.50003284 1225.3 486.758 -imu_odom_: 1691062838.690956441 0.356736 -0.270545 9.67257 -0.056459 -0.0372843 0.0372843 0.2 0.02 pose: 0.33961985 5.10894 -4.11935 0 -0.0009954220.00225935 0.999429 -0.0336902 uwb: 0.0 1225.3 486.758 -imu_odom_: 1691062838.716985855 0.459687 -0.100556 10.24 -0.0223706 -0.0181095 0.0351537 0.2 0.02 pose: 0.0 5.10894 -4.11935 0 -0.0009954220.00225935 0.999429 -0.0336902 uwb: 0.49973827 1221.33 486.081 -imu_odom_: 1691062838.742874402 0.533907 -0.117316 9.5792 -0.0436758 -0.00745685 0.0415453 0.19 0 pose: 0.52120366 5.09486 -4.12063 0 -0.00423076 0.00238856 0.999412 -0.033953 uwb: 0.49991909 1225.47 488.784 -imu_odom_: 1691062838.758855038 0.459687 -0.457293 10.0221 -0.052198 -0.0181095 0.0490022 0.19 0 pose: 0.0 5.09486 -4.12063 0 -0.00423076 0.00238856 0.999412 -0.033953 uwb: 0.0 1225.47 488.784 -imu_odom_: 1691062838.783874762 -0.244209 -0.227449 9.80186 -0.0458064 -0.110787 0.0372843 0.23 0.02 pose: 0.50075030 5.08077 -4.12191 0 -0.0004939920.00314809 0.999421 -0.0338844 uwb: 0.0 1225.47 488.784 -imu_odom_: 1691062838.809940049 1.73101 -0.237026 9.72046 -0.0596548 -0.14168 0.04048 0.23 0.02 pose: 0.25766346 5.08077 -4.12191 0 0.0014631 0.00314514 0.999418 -0.0339423 uwb: 0.50019616 1225.5 489.926 -imu_odom_: 1691062838.835897717 0.869095 -0.289698 9.77074 -0.0468716 0.0106526 0.0756338 0.21 -0.02 pose: 0.34056480 5.06874 -4.12074 0 0.000473134 0.00214007 0.999421 -0.0339497 uwb: 0.0 1225.5 489.926 -imu_odom_: 1691062838.861858593 0.988805 -0.0023942 9.97185 -0.0585895 -0.00532632 0.0181095 0.21 -0.02 pose: 0.8015982 5.06669 -4.12319 0 0.0018271 0.00213044 0.999419 -0.0339538 uwb: 0.49852792 1221.41 489.571 -imu_odom_: 1691062838.878012760 0.232238 -0.146046 10.0102 -0.0468716 0.0394148 0.0181095 0.21 -0.02 pose: 0.0 5.06669 -4.12319 0 0.0018271 0.00213044 0.999419 -0.0339538 uwb: 0.0 1221.41 489.571 -imu_odom_: 1691062838.903962846 0.347159 -0.296881 10.1825 -0.0617853 -0.0181095 0.0532632 0.23 0 pose: 0.50968935 5.059 -4.1168 0 0.00782337 0.00182213 0.999377 -0.0343634 uwb: 0.50090779 1222.12 490.389 -imu_odom_: 1691062838.929812604 0.308852 -0.0023942 10.0149 -0.0383495 -0.0287621 0.0426106 0.23 0 pose: 0.0 5.059 -4.1168 0 0.00782337 0.00182213 0.999377 -0.0343634 uwb: 0.0 1222.12 490.389 -imu_odom_: 1691062838.955881390 0.531513 -0.172383 9.65821 -0.0511327 0.0298274 0.0532632 0.22 0 pose: 0.42990283 5.05261 -4.12449 0 0.00699246 0.00223955 0.999394 -0.0340347 uwb: 0.50172440 1219.89 490.651 -imu_odom_: 1691062838.971930272 0.634463 -0.268151 9.87369 -0.0500674 0.00852212 0.0308927 0.22 0 pose: 0.0 5.05261 -4.12449 0 0.00699246 0.00223955 0.999394 -0.0340347 uwb: 0.0 1219.89 490.651 -imu_odom_: 1691062838.987824287 0.395043 -0.205901 10.0987 -0.0308927 0.0490022 0.0351537 0.23 0.02 pose: 0.52103450 5.03853 -4.12577 0 0.00462796 0.00292228 0.999398 -0.0342495 uwb: 0.0 1219.89 490.651 -imu_odom_: 1691062839.14031899 0.488417 -0.172383 9.55526 -0.0607201 0.0181095 0.0436758 0.23 0.02 pose: 0.0 5.03853 -4.12577 0 0.00462796 0.00292228 0.999398 -0.0342495 uwb: 0.49817503 1222.17 492.692 -imu_odom_: 1691062839.39955737 0.31364 -0.189142 9.58878 -0.0617853 -0.00319579 0.0415453 0.23 0 pose: 0.40981402 5.03853 -4.12577 0 0.00631478 0.00151158 0.99939 -0.0343052 uwb: 0.0 1222.17 492.692 -imu_odom_: 1691062839.56944313 0.596156 -0.0814029 10.2041 -0.0543285 -0.0213053 0.04048 0.23 0 pose: 0.0 5.03853 -4.12577 0 0.00631478 0.00151158 0.99939 -0.0343052 uwb: 0.0 1222.17 492.692 -imu_odom_: 1691062839.81803630 0.68953 -0.141258 10.2663 -0.0660464 -0.0458064 0.0479369 0.23 0 pose: 0.41904473 5.02444 -4.12707 0 0.00256421 0.00321062 0.999402 -0.0343323 uwb: 0.0 1222.17 492.692 -imu_odom_: 1691062839.105811331 0.596156 0.0047884 10.3741 -0.0308927 -0.04048 0.0415453 0.23 0 pose: 0.0 5.02444 -4.12707 0 0.00256421 0.00321062 0.999402 -0.0343323 uwb: 0.100119145 1223.18 493.984 -imu_odom_: 1691062839.131868453 0.723049 -0.0071826110.149 -0.0607201 -0.00852212 0.0308927 0.19 0 pose: 0.43117152 5.01675 -4.12067 0 0.00322578 0.00341407 0.999398 -0.0343879 uwb: 0.0 1223.18 493.984 -imu_odom_: 1691062839.147950874 0.663194 -0.208296 9.63666 -0.0585895 0.0170442 0.0298274 0.19 0 pose: 0.0 5.01675 -4.12067 0 0.00322578 0.00341407 0.999398 -0.0343879 uwb: 0.49915790 1222.75 494.951 -imu_odom_: 1691062839.173799174 0.354342 -0.306458 9.7875 -0.0756338 0.00852212 0.0479369 0.19 0 pose: 0.48909599 5.01036 -4.12836 0 0.00748028 0.0062432 0.999359 -0.0344516 uwb: 0.0 1222.75 494.951 -imu_odom_: 1691062839.197795501 0.071826 -0.162806 9.82341 -0.0628506 -0.0298274 0.0500674 0.19 0 pose: 0.0 5.01036 -4.12836 0 0.00748028 0.0062432 0.999359 -0.0344516 uwb: 0.49989577 1221.43 495.574 -imu_odom_: 1691062839.215089434 0.64404 0.071826 10.2448 -0.0585895 -0.0106526 0.0543285 0.18 -0.02 pose: 0.43121234 4.99628 -4.12966 0 0.0092719 0.00517953 0.999354 -0.0343474 uwb: 0.0 1221.43 495.574 -imu_odom_: 1691062839.240814367 0.591368 -0.0574608 9.59596 -0.0468716 0.0191748 0.0255663 0.18 -0.02 pose: 0.0 4.99628 -4.12966 0 0.0092719 0.00517953 0.999354 -0.0343474 uwb: 0.0 1221.43 495.574 -imu_odom_: 1691062839.266957233 0.545878 -0.356736 10.2208 -0.04048 0.0426106 0.0415453 0.18 -0.02 pose: 0.49008761 4.99628 -4.12966 0 0.00608735 0.00420971 0.999374 -0.0345919 uwb: 0.49994827 1225.61 497.995 -imu_odom_: 1691062839.291958292 0.818817 -0.28491 9.94312 -0.0607201 0.0170442 0.04048 0.23 0 pose: 0.61961200 4.97662 -4.12633 0 0.00721746 0.00469875 0.999367 -0.0345314 uwb: 0.50020783 1224.41 498.31 -imu_odom_: 1691062839.313838119 0.332794 -0.287304 9.27514 -0.0703074 0 0.0479369 0.23 0 pose: 0.0 4.97662 -4.12633 0 0.00721746 0.00469875 0.999367 -0.0345314 uwb: 0.0 1224.41 498.31 -imu_odom_: 1691062839.329819338 0.129287 -0.189142 10.0006 -0.04048 -0.0276969 0.036219 0.23 0 pose: 0.0 4.97662 -4.12633 0 0.00721746 0.00469875 0.999367 -0.0345314 uwb: 0.0 1224.41 498.31 -imu_odom_: 1691062839.355800048 0.0933739 -0.0622492 10.0796 -0.052198 -0.0127832 0.0479369 0.19 -0.02 pose: 0.6886133 4.9745 -4.12457 0 0.00775173 0.00435181 0.999364 -0.0345398 uwb: 0.49998910 1222.29 498.366 -imu_odom_: 1691062839.371844554 0.287304 -0.0430956 10.0365 -0.0447411 -0.00852212 0.0500674 0.19 -0.02 pose: 0.0 4.9745 -4.12457 0 0.00775173 0.00435181 0.999364 -0.0345398 uwb: 0.0 1222.29 498.366 -imu_odom_: 1691062839.397794932 0.301669 -0.160412 9.89284 -0.0745685 0.00852212 0.04048 0.19 0 pose: 0.46988214 4.96811 -4.13226 0 0.00660948 0.00217602 0.999376 -0.0346436 uwb: 0.49973828 1223.3 499.637 -imu_odom_: 1691062839.422857529 0.169988 0.0047884 9.50977 -0.0969391 0.0181095 0.0639159 0.19 0.02 pose: 0.76963352 4.9559 -4.13132 0 -0.0006888730.00306476 0.999389 -0.0348082 uwb: 0.0 1223.3 499.637 -imu_odom_: 1691062839.448822781 0.533907 -0.701501 9.87369 -0.0841559 0.0138484 0.0532632 0.19 0.02 pose: 0.0 4.9559 -4.13132 0 -0.0006888730.00306476 0.999389 -0.0348082 uwb: 0.49907041 1222.58 500.064 -imu_odom_: 1691062839.474986646 -0.174777 0.00718261 10.1682 -0.0308927 0.0234358 0.0276969 0.19 0 pose: 0.7415477 4.95403 -4.13357 0 -0.00138185 0.00332325 0.999384 -0.034897 uwb: 0.0 1222.58 500.064 -imu_odom_: 1691062839.491819773 0.289698 -0.186748 9.38527 -0.0692422 0.0127832 0.0745685 0.19 0 pose: 0.0 4.95403 -4.13357 0 -0.00138185 0.00332325 0.999384 -0.034897 uwb: 0.0 1222.58 500.064 -imu_odom_: 1691062839.515774977 0.912191 -0.40462 10.082 0.0106526 0.0585895 -0.00106526 0.2 0 pose: 0.50771781 4.93995 -4.13488 0 -0.00313298 0.00143255 0.999373 -0.0352416 uwb: 0.50071822 1226.59 502.772 -imu_odom_: 1691062839.541828015 0.0837971 0.0861913 9.61272 -0.0511327 0.0372843 0.0809601 0.2 0 pose: 0.0 4.93995 -4.13488 0 -0.00313298 0.00143255 0.999373 -0.0352416 uwb: 0.0 1226.59 502.772 -imu_odom_: 1691062839.566924152 0.167594 -0.459687 10.2999 -0.0500674 -0.036219 0.0383495 0.17 0 pose: 0.42909788 4.93225 -4.1285 0 -0.00608367 0.000960135 0.999359 -0.0352682 uwb: 0.50040907 1224.77 503.336 -imu_odom_: 1691062839.592908653 0.457293 -0.0766145 10.4962 -0.0607201 -0.0308927 0.0500674 0.17 0 pose: 0.0 4.93225 -4.1285 0 -0.00608367 0.000960135 0.999359 -0.0352682 uwb: 0.49939414 1225.63 504.888 -imu_odom_: 1691062839.617900379 0.670376 -0.0814029 10.2999 -0.0628506 -0.0447411 0.0532632 0.17 0 pose: 0.50055199 4.92587 -4.1362 0 -0.00732234 0.00235741 0.999342 -0.035457 uwb: 0.0 1225.63 504.888 -imu_odom_: 1691062839.634105001 0.435745 -0.110133 9.69412 -0.052198 0.00106526 0.0490022 0.17 0 pose: 0.0 4.92587 -4.1362 0 -0.00732234 0.00235741 0.999342 -0.035457 uwb: 0.0 1225.63 504.888 -imu_odom_: 1691062839.650831384 0.505177 -0.323217 9.63427 -0.0660464 -0.0351537 0.0500674 0.18 0.02 pose: 0.51013849 4.91817 -4.12982 0 -0.00408796 0.00214952 0.999354 -0.0356297 uwb: 0.50182357 1225.29 505.636 -imu_odom_: 1691062839.676890256 0.263362 -0.112527 9.89763 -0.0500674 -0.0234358 0.0447411 0.18 0.02 pose: 0.0 4.91817 -4.12982 0 -0.00408796 0.00214952 0.999354 -0.0356297 uwb: 0.0 1225.29 505.636 -imu_odom_: 1691062839.702901588 0.553061 -0.122104 10.0365 -0.0543285 -0.0415453 0.0415453 0.17 0 pose: 0.58874967 4.90409 -4.13116 0 -0.0002558980.00248643 0.999351 -0.0359475 uwb: 0.50111486 1226.21 507.038 -imu_odom_: 1691062839.728764179 0.169988 -0.299275 9.67257 -0.0575243 0.015979 0.0639159 0.17 0 pose: 0.44065595 4.89208 -4.13421 0 0.00125217 0.00367613 0.999343 -0.0360224 uwb: 0.0 1226.21 507.038 -imu_odom_: 1691062839.754902088 0.102951 -0.308852 9.9527 -0.0543285 -0.0170442 0.0458064 0.19 -0.02 pose: 0.0 4.89208 -4.13421 0 0.00125217 0.00367613 0.999343 -0.0360224 uwb: 0.49744592 1227.48 508.79 -imu_odom_: 1691062839.780749513 0.203507 -0.354342 10.0724 -0.0276969 -0.0138484 0.04048 0.23 0.05 pose: 0.6998710 4.89001 -4.1325 0 0.000593282 0.00328735 0.999342 -0.0361062 uwb: 0.0 1227.48 508.79 -imu_odom_: 1691062839.795753123 0.581791 0.0167594 10.3813 -0.052198 -0.0575243 0.0383495 0.23 0.05 pose: 0.0 4.89001 -4.1325 0 0.000593282 0.00328735 0.999342 -0.0361062 uwb: 0.50113820 1227.19 509.429 -imu_odom_: 1691062839.821937695 0.189142 -0.0047884 9.95988 -0.0490022 -0.015979 0.0617853 0.23 0.05 pose: 0.51931670 4.88365 -4.14021 0 -0.00370383 0.00055459 0.99933 -0.0364064 uwb: 0.0 1227.19 509.429 -imu_odom_: 1691062839.847811078 0.217872 -0.342371 9.7851 -0.0532632 -0.00958738 0.0468716 0.21 0.05 pose: 0.0 4.88365 -4.14021 0 -0.00370383 0.00055459 0.99933 -0.0364064 uwb: 0.49896249 1228.2 510.601 -imu_odom_: 1691062839.873829993 0.656011 -0.143652 10.0245 -0.0372843 -0.0213053 0.0436758 0.23 0.02 pose: 0.40942031 4.87593 -4.13385 0 -0.00368354 0.000956476 0.999327 -0.0364823 uwb: 0.0 1228.2 510.601 -imu_odom_: 1691062839.899791453 0.543484 -0.0933739 9.67976 -0.0447411 -0.0106526 0.0479369 0.23 0.02 pose: 0.52005749 4.86185 -4.13521 0 -0.00509102 0.000418368 0.99931 -0.0367937 uwb: 0.50060156 1229.99 512.345 -imu_odom_: 1691062839.924805053 0.909797 -0.153229 9.92397 -0.0639159 -0.00319579 0.0490022 0.23 0 pose: 0.0 4.86185 -4.13521 0 -0.00509102 0.000418368 0.99931 -0.0367937 uwb: 0.0 1229.99 512.345 -imu_odom_: 1691062839.939742167 0.718261 -0.311246 9.77792 -0.0841559 0.0266316 0.0490022 0.23 0 pose: 0.0 4.86185 -4.13521 0 -0.00509102 0.000418368 0.99931 -0.0367937 uwb: 0.0 1229.99 512.345 -imu_odom_: 1691062839.955786383 0.217872 -0.0981623 10.1682 -0.052198 -0.00213053 0.0468716 0.19 0 pose: 0.51021432 4.86185 -4.13521 0 -0.0001189260.00239588 0.999313 -0.0369784 uwb: 0.49976161 1228.98 513.378 -imu_odom_: 1691062839.972724211 0.464475 -0.136469 10.2017 -0.092678 -0.0372843 0.0458064 0.19 0 pose: 0.0 4.86185 -4.13521 0 -0.0001189260.00239588 0.999313 -0.0369784 uwb: 0.0 1228.98 513.378 -imu_odom_: 1691062839.988745095 0.416591 -0.234632 9.81862 -0.0585895 0.0245011 0.0351537 0.19 0 pose: 0.40954280 4.84778 -4.13658 0 0.00222822 0.00180397 0.999305 -0.0371713 uwb: 0.0 1228.98 513.378 -imu_odom_: 1691062840.5198494 0.591368 -0.433351 9.78031 -0.0628506 -0.00213053 0.0511327 0.18 0 pose: 0.33032791 4.84778 -4.13658 0 0.00230651 0.0024463 0.999301 -0.0372395 uwb: 0.0 1228.98 513.378 -imu_odom_: 1691062840.21744638 0.328006 -0.114922 9.78031 -0.0511327 0.00213053 0.0436758 0.18 0 pose: 0.0 4.84778 -4.13658 0 0.00230651 0.0024463 0.999301 -0.0372395 uwb: 0.0 1228.98 513.378 -imu_odom_: 1691062840.37872265 0.553061 -0.143652 9.71806 -0.0543285 -0.0287621 0.0383495 0.18 0 pose: 0.41956387 4.8337 -4.13795 0 0.00128197 0.00118274 0.999301 -0.0373511 uwb: 0.0 1228.98 513.378 -imu_odom_: 1691062840.54754390 0.435745 -0.0430956 9.86411 -0.0308927 0.0106526 0.0394148 0.25 0 pose: 0.0 4.8337 -4.13795 0 0.00128197 0.00118274 0.999301 -0.0373511 uwb: 0.100039235 1228.65 514.079 -imu_odom_: 1691062840.70937430 0.25618 -0.205901 9.6223 -0.0671117 0.0191748 0.0447411 0.2 0 pose: 0.0 4.8337 -4.13795 0 0.00128197 0.00118274 0.999301 -0.0373511 uwb: 0.0 1228.65 514.079 -imu_odom_: 1691062840.87751308 0.387861 -0.201113 10.1538 -0.0532632 -0.0287621 0.0436758 0.2 0 pose: 0.8010734 4.8337 -4.13795 0 0.0021144 0.00151298 0.999299 -0.0373465 uwb: 0.0 1228.65 514.079 -imu_odom_: 1691062840.103821481 0.773327 -0.215478 9.79468 -0.0703074 -0.0575243 0.0543285 0.18 0.02 pose: 0.0 4.8337 -4.13795 0 0.0021144 0.00151298 0.999299 -0.0373465 uwb: 0.49872919 1228.18 515.078 -imu_odom_: 1691062840.120788767 0.311246 -0.0047884 10.2927 -0.0351537 0.00532632 0.052198 0.18 0.02 pose: 0.65071059 4.81963 -4.13933 0 0.000939159 0.00158086 0.999296 -0.0374587 uwb: 0.0 1228.18 515.078 -imu_odom_: 1691062840.145739662 0.0502782 -0.203507 10.2568 -0.0490022 -0.02024 0.0436758 0.18 0.02 pose: 0.0 4.81963 -4.13933 0 0.000939159 0.00158086 0.999296 -0.0374587 uwb: 0.49995119 1227.96 515.545 -imu_odom_: 1691062840.162819233 0.646434 -0.134075 9.59596 -0.052198 0 0.04048 0.18 0 pose: 0.33136327 4.81963 -4.13933 0 0.000274558 0.00287338 0.999287 -0.0376416 uwb: 0.0 1227.96 515.545 -imu_odom_: 1691062840.178929361 0.323217 -0.0957681 9.97424 -0.0756338 -0.00213053 0.0468716 0.18 0 pose: 0.0 4.81963 -4.13933 0 0.000274558 0.00287338 0.999287 -0.0376416 uwb: 0.0 1227.96 515.545 -imu_odom_: 1691062840.194742882 0.572214 -0.160412 9.90721 -0.0596548 -0.0372843 0.0340885 0.25 0 pose: 0.41858102 4.80555 -4.14072 0 -0.0002796120.00322694 0.999284 -0.0377089 uwb: 0.50008827 1228.49 516.624 -imu_odom_: 1691062840.219750067 0.354342 -0.251391 9.97903 -0.0447411 0.00106526 0.036219 0.25 0 pose: 0.0 4.80555 -4.14072 0 -0.0002796120.00322694 0.999284 -0.0377089 uwb: 0.0 1228.49 516.624 -imu_odom_: 1691062840.245789398 0.134075 -0.138864 10.2927 -0.0511327 0.00639159 0.0468716 0.21 0 pose: 0.33000710 4.80555 -4.14072 0 0.000358867 0.00285943 0.999285 -0.0376867 uwb: 0.50079990 1229.4 517.967 -imu_odom_: 1691062840.271738609 0.629675 0.023942 9.85932 -0.0756338 0.0287621 0.0500674 0.19 -0.02 pose: 0.42967828 4.79148 -4.14211 0 -0.00326283 0.00188526 0.99928 -0.0377479 uwb: 0.0 1229.4 517.967 -imu_odom_: 1691062840.297716986 0.246603 -0.531513 9.46188 -0.0479369 0.00319579 0.0415453 0.23 -0.02 pose: 0.0 4.79148 -4.14211 0 -0.00326283 0.00188526 0.99928 -0.0377479 uwb: 0.49934456 1230.99 520.003 -imu_odom_: 1691062840.314866553 0.751779 -0.189142 10.3884 -0.036219 -0.00745685 0.0319579 0.23 -0.02 pose: 0.7008334 4.79148 -4.14211 0 -0.0028138 0.00223047 0.999279 -0.0377876 uwb: 0.0 1230.99 520.003 -imu_odom_: 1691062840.339860613 0.35913 -0.181959 9.76595 -0.0532632 -0.015979 0.0490022 0.2 0 pose: 0.0 4.79148 -4.14211 0 -0.0028138 0.00223047 0.999279 -0.0377876 uwb: 0.0 1230.99 520.003 -imu_odom_: 1691062840.361997092 0.679953 -0.0957681 10.1921 -0.0415453 -0.00213053 0.0415453 0.2 0 pose: 0.52116286 4.77741 -4.1435 0 -0.00171964 0.000877187 0.99928 -0.0378872 uwb: 0.50051116 1231.49 521.105 -imu_odom_: 1691062840.388002884 0.442927 0.047884 10.477 -0.036219 0.00745685 0.0383495 0.18 -0.02 pose: 0.0 4.77741 -4.1435 0 -0.00171964 0.000877187 0.99928 -0.0378872 uwb: 0.0 1231.49 521.105 -imu_odom_: 1691062840.404852635 0.624887 -0.263362 9.91199 -0.0649811 0.0117179 0.0394148 0.18 -0.02 pose: 0.40973237 4.77741 -4.1435 0 -0.00235376 0.00209531 0.999274 -0.0379728 uwb: 0.49824213 1235.4 523.671 -imu_odom_: 1691062840.430987919 0.562637 -0.339977 9.34936 -0.0585895 -0.015979 0.0415453 0.23 -0.02 pose: 0.0 4.77741 -4.1435 0 -0.00235376 0.00209531 0.999274 -0.0379728 uwb: 0.0 1235.4 523.671 -imu_odom_: 1691062840.456751350 0.208296 -0.337582 9.6199 -0.0692422 -0.0500674 0.0490022 0.25 0.02 pose: 0.85100664 4.75772 -4.1403 0 0.00258615 0.00228581 0.999271 -0.0380207 uwb: 0.49997161 1235.91 524.735 -imu_odom_: 1691062840.482844636 0.61531 -0.0526724 9.73482 -0.0596548 -0.015979 0.0383495 0.25 0.02 pose: 0.6883217 4.7556 -4.13856 0 0.00218873 0.00183951 0.999272 -0.0380525 uwb: 0.0 1235.91 524.735 -imu_odom_: 1691062840.508745434 0.574608 -0.225055 10.1203 -0.0660464 -0.0191748 0.0490022 0.23 0 pose: 0.44973500 4.74926 -4.1463 0 0.00323609 0.00226192 0.999265 -0.0381224 uwb: 0.49993661 1238.31 527.172 -imu_odom_: 1691062840.534847762 0.275333 -0.0047884 10.1059 -0.0607201 0.0287621 0.056459 0.23 0 pose: 0.0 4.74926 -4.1463 0 0.00323609 0.00226192 0.999265 -0.0381224 uwb: 0.0 1238.31 527.172 -imu_odom_: 1691062840.550729820 0.454898 -0.263362 10.0054 -0.072438 0.0181095 0.0671117 0.23 0.02 pose: 0.32947047 4.74152 -4.13997 0 0.00510552 0.00144147 0.999252 -0.0383085 uwb: 0.50061616 1238.22 528.387 -imu_odom_: 1691062840.575848123 0.739808 -0.160412 10.2496 -0.0436758 0.0266316 0.0351537 0.23 0.02 pose: 0.0 4.74152 -4.13997 0 0.00510552 0.00144147 0.999252 -0.0383085 uwb: 0.0 1238.22 528.387 -imu_odom_: 1691062840.591721723 0.624887 -0.0933739 9.68933 -0.0458064 -0.0170442 0.0468716 0.21 -0.02 pose: 0.42937788 4.73519 -4.14771 0 0.0035689 0.000969895 0.999245 -0.0386671 uwb: 0.0 1238.22 528.387 -imu_odom_: 1691062840.607830393 0.323217 -0.52433 9.51456 -0.0607201 0.00745685 0.052198 0.21 -0.02 pose: 0.0 4.73519 -4.14771 0 0.0035689 0.000969895 0.999245 -0.0386671 uwb: 0.49919874 1240.27 530.457 -imu_odom_: 1691062840.634002134 0.201113 -0.25618 9.8282 -0.052198 -0.0340885 0.0500674 0.23 0 pose: 0.49100922 4.72112 -4.14912 0 0.00546064 0.00100556 0.999232 -0.0387931 uwb: 0.0 1240.27 530.457 -imu_odom_: 1691062840.658699878 0.371101 -0.023942 10.4028 -0.0500674 -0.0276969 0.0596548 0.23 0 pose: 0.7948613 4.72112 -4.14912 0 0.00480249 0.000847957 0.999234 -0.038835 uwb: 0.49978787 1239.1 530.707 -imu_odom_: 1691062840.684855577 0.730232 0.047884 10.6757 -0.0511327 -0.0138484 0.0372843 0.21 0.05 pose: 0.42920872 4.71338 -4.1428 0 0.00231306 0.00268278 0.999226 -0.0391713 uwb: 0.0 1239.1 530.707 -imu_odom_: 1691062840.710710586 0.435745 0.059855 10.4267 -0.04048 -0.0276969 0.052198 0.21 0.05 pose: 0.0 4.71338 -4.1428 0 0.00231306 0.00268278 0.999226 -0.0391713 uwb: 0.50028076 1240.05 531.879 -imu_odom_: 1691062840.727834196 0.433351 -0.418985 9.80904 -0.056459 -0.0117179 0.0394148 0.21 0 pose: 0.33151493 4.70706 -4.15055 0 0.00429693 0.00510821 0.99921 -0.039182 uwb: 0.0 1240.05 531.879 -imu_odom_: 1691062840.752706055 0.517148 -0.318429 9.56723 -0.0649811 0.0149137 0.0490022 0.21 0 pose: 0.0 4.70706 -4.15055 0 0.00429693 0.00510821 0.99921 -0.039182 uwb: 0.50048200 1237.89 532.09 -imu_odom_: 1691062840.778813632 0.371101 -0.160412 9.61272 -0.0617853 -0.0330232 0.0319579 0.18 -0.02 pose: 0.42874208 4.69931 -4.14423 0 0.00382043 0.00460179 0.999208 -0.0393293 uwb: 0.0 1237.89 532.09 -imu_odom_: 1691062840.803861356 0.636858 -0.19393 10.252 -0.0649811 -0.00639159 0.0639159 0.19 0 pose: 0.44088053 4.69299 -4.15198 0 0.00183572 0.0027014 0.999221 -0.0393158 uwb: 0.49989578 1239.71 533.551 -imu_odom_: 1691062840.829842649 0.665588 -0.0407014 9.57681 -0.0585895 -0.015979 0.0319579 0.19 0 pose: 0.0 4.69299 -4.15198 0 0.00183572 0.0027014 0.999221 -0.0393158 uwb: 0.0 1239.71 533.551 -imu_odom_: 1691062840.855900354 0.701501 -0.361524 9.50019 -0.0479369 0.0340885 0.0308927 0.19 -0.02 pose: 0.7010668 4.69299 -4.15198 0 0.00254037 0.00257933 0.999217 -0.0394029 uwb: 0.50023409 1240.04 534.91 -imu_odom_: 1691062840.872841683 0.217872 -0.339977 10.2711 -0.0479369 0.00532632 0.015979 0.19 -0.02 pose: 0.0 4.69299 -4.15198 0 0.00254037 0.00257933 0.999217 -0.0394029 uwb: 0.0 1240.04 534.91 -imu_odom_: 1691062840.889902588 0.414197 0.177171 10.1155 -0.0255663 -0.0276969 -0.0383495 0.19 -0.08 pose: 0.52151866 4.67892 -4.15342 0 0.00689897 0.00328546 0.999191 -0.0394958 uwb: 0.0 1240.04 534.91 -imu_odom_: 1691062840.904779623 0.0766145 0.11971 9.97424 -0.0553937 -0.0191748 -0.0671117 0.19 -0.08 pose: 0.0 4.67892 -4.15342 0 0.00689897 0.00328546 0.999191 -0.0394958 uwb: 0.49961872 1239.62 535.724 -imu_odom_: 1691062840.921891567 0.0814029 -0.177171 9.4547 -0.052198 -0.00213053 -0.0990696 0.19 -0.08 pose: 0.0 4.67892 -4.15342 0 0.00689897 0.00328546 0.999191 -0.0394958 uwb: 0.0 1239.62 535.724 -imu_odom_: 1691062840.938700195 1.04627 -0.272939 10.0485 -0.0553937 -0.0276969 -0.128897 0.19 -0.29 pose: 0.42876834 4.67117 -4.1471 0 0.00596789 0.00215724 0.999222 -0.038921 uwb: 0.0 1239.62 535.724 -imu_odom_: 1691062840.954837447 0.624887 -0.383072 9.70849 -0.0777643 -0.0213053 -0.186421 0.19 -0.29 pose: 0.0 4.67117 -4.1471 0 0.00596789 0.00215724 0.999222 -0.038921 uwb: 0.50062490 1240.99 537.044 -imu_odom_: 1691062840.972714096 0.828394 0.31364 10.647 -0.04048 0.0351537 -0.28336 0.19 -0.29 pose: 0.73984447 4.65705 -4.14858 0 0.00568296 0.00189121 0.999426 -0.0333482 uwb: 0.0 1240.99 537.044 -imu_odom_: 1691062840.988895095 1.12527 0.426168 9.71088 -0.0575243 -0.0191748 -0.319579 0.19 -0.41 pose: 0.0 4.65705 -4.14858 0 0.00568296 0.00189121 0.999426 -0.0333482 uwb: 0.0 1240.99 537.044 -imu_odom_: 1691062841.5756512 0.150835 -0.208296 9.60075 -0.0756338 -0.0117179 -0.376038 0.19 -0.41 pose: 0.0 4.65705 -4.14858 0 0.00568296 0.00189121 0.999426 -0.0333482 uwb: 0.50006494 1242.3 538.47 -imu_odom_: 1691062841.22783586 0.45011 -0.174777 9.38288 -0.0777643 -0.00106526 -0.427171 0.19 -0.41 pose: 0.8004317 4.65705 -4.14858 0 0.00591913 0.00264809 0.999465 -0.0320537 uwb: 0.0 1242.3 538.47 -imu_odom_: 1691062841.39727832 0.387861 -0.129287 10.0293 -0.0628506 0.0223706 -0.432497 0.25 -0.61 pose: 0.0 4.65705 -4.14858 0 0.00591913 0.00264809 0.999465 -0.0320537 uwb: 0.0 1242.3 538.47 -imu_odom_: 1691062841.56718742 0.636858 -0.423774 10.228 -0.0703074 -0.0351537 -0.437824 0.25 -0.61 pose: 0.66884244 4.64299 -4.15009 0 0.00358357 0.00330528 0.999818 -0.0184243 uwb: 0.50050826 1243.87 540.361 -imu_odom_: 1691062841.71720894 0.440533 -0.215478 9.83777 -0.0436758 -0.036219 -0.479369 0.25 -0.61 pose: 0.0 4.64299 -4.15009 0 0.00358357 0.00330528 0.999818 -0.0184243 uwb: 0.0 1243.87 540.361 -imu_odom_: 1691062841.88821173 0.596156 -0.0909797 10.1011 -0.0266316 -0.0394148 -0.510262 0.17 -0.53 pose: 0.0 4.64299 -4.15009 0 0.00358357 0.00330528 0.999818 -0.0184243 uwb: 0.0 1243.87 540.361 -imu_odom_: 1691062841.105948866 0.397437 -0.0574608 9.80904 -0.0617853 0.0191748 -0.518784 0.17 -0.53 pose: 0.33057583 4.63673 -4.15789 0 0.00336324 0.00154958 0.999939 -0.0104377 uwb: 0.49801757 1244.81 541.499 -imu_odom_: 1691062841.131882621 0.885855 0.0502782 9.75158 -0.0468716 -0.0862864 -0.539024 0.23 -0.73 pose: 0.43165275 4.62897 -4.15159 0 0.00323744 0.00354993 0.999988 0.00137236 uwb: 0.0 1244.81 541.499 -imu_odom_: 1691062841.148885197 1.1564 -0.241814 9.36851 -0.0969391 -0.0117179 -0.502805 0.16 -0.55 pose: 0.0 4.62897 -4.15159 0 0.00323744 0.00354993 0.999988 0.00137236 uwb: 0.49952539 1245.44 543.196 -imu_odom_: 1691062841.166969791 1.06063 -0.0095768110.1299 -0.0777643 0.0351537 -0.432497 0.22 -0.67 pose: 0.6882925 4.62897 -4.15159 0 0.00413686 0.00387575 0.999978 0.00336311 uwb: 0.0 1245.44 543.196 -imu_odom_: 1691062841.183910246 0.287304 -0.52433 9.6199 -0.072438 0.0276969 -0.438889 0.22 -0.67 pose: 0.0 4.62897 -4.15159 0 0.00413686 0.00387575 0.999978 0.00336311 uwb: 0.0 1245.44 543.196 -imu_odom_: 1691062841.198814113 -0.102951 -0.0933739 9.71328 -0.0511327 0.0351537 -0.475108 0.22 -0.67 pose: 0.0 4.62897 -4.15159 0 0.00413686 0.00387575 0.999978 0.00336311 uwb: 0.50033619 1245.92 544.225 -imu_odom_: 1691062841.215694196 -0.275333 0.428562 9.8282 -0.0585895 0.0181095 -0.400539 0.19 -0.41 pose: 0.44081346 4.61489 -4.1531 0 0.00895105 0.00423765 0.999833 0.0153687 uwb: 0.0 1245.92 544.225 -imu_odom_: 1691062841.232943798 -0.316035 -0.268151 9.96706 -0.0713727 -0.0340885 -0.267381 0.19 -0.41 pose: 0.0 4.61489 -4.1531 0 0.00895105 0.00423765 0.999833 0.0153687 uwb: 0.0 1245.92 544.225 -imu_odom_: 1691062841.249952207 0.316035 -0.742203 9.33499 -0.056459 -0.0916127 -0.276969 0.23 -0.44 pose: 0.76030661 4.60333 -4.15143 0 0.0035858 0.00382835 0.999474 0.0320008 uwb: 0.50147069 1243.83 544.302 -imu_odom_: 1691062841.266971990 0.986411 -0.19393 10.0868 -0.0788296 0.0276969 -0.265251 0.23 -0.44 pose: 0.0 4.60333 -4.15143 0 0.0035858 0.00382835 0.999474 0.0320008 uwb: 0.0 1243.83 544.302 -imu_odom_: 1691062841.283945693 0.28491 -0.184354 9.54329 -0.056459 -0.0170442 -0.219444 0.23 -0.44 pose: 0.0 4.60333 -4.15143 0 0.0035858 0.00382835 0.999474 0.0320008 uwb: 0.0 1243.83 544.302 -imu_odom_: 1691062841.300814985 0.0215478 -0.457293 9.87848 -0.0809601 0.00852212 -0.218379 0.18 -0.29 pose: 0.7013002 4.60082 -4.1546 0 0.00369465 0.00314338 0.99944 0.0331098 uwb: 0.0 1243.83 544.302 -imu_odom_: 1691062841.317759231 -0.0837971 -0.304064 10.0317 -0.0319579 -0.015979 -0.232228 0.18 -0.23 pose: 0.0 4.60082 -4.1546 0 0.00369465 0.00314338 0.99944 0.0331098 uwb: 0.0 1243.83 544.302 -imu_odom_: 1691062841.332683804 0.117316 0.100556 10.0892 -0.0319579 0.00106526 -0.2024 0.18 -0.23 pose: 0.68905083 4.59305 -4.14831 0 0.00133441 0.000769778 0.999085 0.0427461 uwb: 0.0 1243.83 544.302 -imu_odom_: 1691062841.348671149 0.756568 -0.339977 9.34936 -0.0628506 -0.00213053 -0.166181 0.18 -0.23 pose: 0.0 4.59305 -4.14831 0 0.00133441 0.000769778 0.999085 0.0427461 uwb: 0.99950869 1241.85 544.183 -imu_odom_: 1691062841.364731405 0.363919 -0.42138 10.1323 -0.0596548 0.0223706 -0.183225 0.17 -0.2 pose: 0.0 4.59305 -4.14831 0 0.00133441 0.000769778 0.999085 0.0427461 uwb: 0.0 1241.85 544.183 -imu_odom_: 1691062841.381687025 0.399832 0.023942 9.70131 -0.0511327 0.00213053 -0.165116 0.17 -0.2 pose: 0.30885086 4.58677 -4.1561 0 9.99164e-05 0.0016773 0.998918 0.0464842 uwb: 0.0 1241.85 544.183 -imu_odom_: 1691062841.399745664 -0.0861913 -0.117316 9.51935 -0.0607201 -0.0191748 -0.147006 0.18 -0.17 pose: 0.41940056 4.5789 -4.14982 0 0.000197819 0.001413 0.998702 0.0509195 uwb: 0.49989871 1242.61 545.626 -imu_odom_: 1691062841.413669880 0.694318 -0.196325 10.3501 -0.0511327 -0.0383495 -0.148072 0.18 -0.17 pose: 0.0 4.5789 -4.14982 0 0.000197819 0.001413 0.998702 0.0509195 uwb: 0.0 1242.61 545.626 -imu_odom_: 1691062841.429727220 1.02232 -0.177171 9.32302 -0.0692422 -0.0394148 -0.107592 0.18 -0.17 pose: 0.0 4.5789 -4.14982 0 0.000197819 0.001413 0.998702 0.0509195 uwb: 0.0 1242.61 545.626 -imu_odom_: 1691062841.444665793 1.10852 0.232238 10.2352 -0.056459 0.00532632 -0.0532632 0.14 -0.17 pose: 0.8006651 4.57897 -4.14985 0 -0.0005305660.00154275 0.998663 0.0516667 uwb: 0.49907042 1239.66 545.442 -imu_odom_: 1691062841.459727442 1.16598 -0.52433 9.88566 -0.0585895 -0.0894822 -0.052198 0.14 -0.17 pose: 0.0 4.57897 -4.14985 0 -0.0005305660.00154275 0.998663 0.0516667 uwb: 0.0 1239.66 545.442 -imu_odom_: 1691062841.475724411 1.49877 -0.035913 10.0556 -0.0458064 -0.0607201 -0.135289 0.14 -0.17 pose: 0.0 4.57897 -4.14985 0 -0.0005305660.00154275 0.998663 0.0516667 uwb: 0.0 1239.66 545.442 -imu_odom_: 1691062841.492751194 1.80762 0.299275 9.93594 -0.0692422 -0.0213053 -0.144876 0.11 -0.14 pose: 0.47037504 4.57117 -4.1436 0 0.00263751 0.00172852 0.998459 0.0554096 uwb: 0.50040035 1239.05 546.606 -imu_odom_: 1691062841.509786726 1.16837 -0.0885855 9.72046 -0.072438 -0.0191748 -0.0713727 0.14 -0.23 pose: 0.0 4.57117 -4.1436 0 0.00263751 0.00172852 0.998459 0.0554096 uwb: 0.0 1239.05 546.606 -imu_odom_: 1691062841.526785510 0.742203 -0.667982 9.92636 -0.0372843 0.00745685 -0.0958738 0.14 -0.23 pose: 0.62948436 4.56485 -4.15135 0 0.00978412 0.00188744 0.99816 0.0598097 uwb: 0.0 1239.05 546.606 -imu_odom_: 1691062841.542763813 0.634463 -0.0694318 9.92397 -0.0319579 -0.0394148 -0.143811 0.09 -0.14 pose: 0.0 4.56485 -4.15135 0 0.00978412 0.00188744 0.99816 0.0598097 uwb: 0.49979080 1237.93 546.813 -imu_odom_: 1691062841.560785412 0.723049 0.126893 9.78989 -0.0639159 -0.0266316 -0.0980043 0.09 -0.14 pose: 0.0 4.56485 -4.15135 0 0.00978412 0.00188744 0.99816 0.0598097 uwb: 0.0 1237.93 546.813 -imu_odom_: 1691062841.577893565 0.893037 -0.471658 10.0676 -0.072438 -0.00426106 -0.0575243 0.09 -0.14 pose: 0.34109271 4.55703 -4.14512 0 0.0113419 0.00114892 0.998002 0.0621444 uwb: 0.0 1237.93 546.813 -imu_odom_: 1691062841.593710294 0.634463 -0.407014 9.72764 -0.0383495 -0.0127832 -0.0841559 0.07 -0.08 pose: 0.35053339 4.55703 -4.14512 0 0.0129613 0.00297711 0.997822 0.0646104 uwb: 0.50236023 1236.12 546.424 -imu_odom_: 1691062841.609664682 0.675165 0.0885855 9.88566 -0.0479369 -0.00106526 -0.0692422 0.07 -0.08 pose: 0.0 4.55703 -4.14512 0 0.0129613 0.00297711 0.997822 0.0646104 uwb: 0.0 1236.12 546.424 -imu_odom_: 1691062841.636646625 0.749385 -0.316035 9.77313 -0.0607201 0.0106526 -0.0181095 0.06 -0.08 pose: 0.40822456 4.55703 -4.14512 0 0.0134203 0.00237396 0.997668 0.0668787 uwb: 0.0 1236.12 546.424 -imu_odom_: 1691062841.653710155 0.225055 -0.567426 9.55765 -0.0553937 0.0383495 -0.0745685 0.06 -0.08 pose: 0.0 4.55703 -4.14512 0 0.0134203 0.00237396 0.997668 0.0668787 uwb: 0.49754509 1237.06 547.501 -imu_odom_: 1691062841.670833474 -0.986411 0.296881 9.97185 -0.0191748 0.109722 -0.116114 0.08 -0.05 pose: 0.8001401 4.55703 -4.14512 0 0.0136972 0.00163459 0.997651 0.0670983 uwb: 0.0 1237.06 547.501 -imu_odom_: 1691062841.686646995 -1.47243 -0.299275 9.84017 -0.0639159 0.00426106 -0.0127832 0.09 0 pose: 0.0 4.55703 -4.14512 0 0.0136972 0.00163459 0.997651 0.0670983 uwb: 0.0 1237.06 547.501 -imu_odom_: 1691062841.702697044 -0.462081 -0.617704 9.90721 -0.0649811 -0.0884169 0.00532632 0.1 -0.02 pose: 0.0 4.55703 -4.14512 0 0.0136972 0.00163459 0.997651 0.0670983 uwb: 0.50056951 1237.42 548.747 -imu_odom_: 1691062841.718706553 0.909797 -0.229843 10.3118 -0.0181095 -0.076699 -0.0287621 0.1 -0.02 pose: 0.75994205 4.54298 -4.14665 0 0.0080288 -0.0003450750.997483 0.0704455 uwb: 0.0 1237.42 548.747 -imu_odom_: 1691062841.735642633 0.92895 0.19393 9.52653 -0.0660464 -0.015979 0.0319579 0.1 -0.02 pose: 0.0 4.54298 -4.14665 0 0.0080288 -0.0003450750.997483 0.0704455 uwb: 0.0 1237.42 548.747 -imu_odom_: 1691062841.751639018 0.225055 -0.296881 9.44034 -0.0628506 0.0340885 0.0213053 0.12 -0.02 pose: 0.0 4.54298 -4.14665 0 0.0080288 -0.0003450750.997483 0.0704455 uwb: 0.49776383 1235.8 548.96 -imu_odom_: 1691062841.767692859 -0.260968 -0.160412 10.4315 -0.04048 0.00745685 -0.0308927 0.12 -0.02 pose: 0.32047017 4.54298 -4.14665 0 0.0102648 -0.0001348270.997411 0.0711719 uwb: 0.0 1235.8 548.96 -imu_odom_: 1691062841.784684643 0.122104 -0.0837971 10.2137 -0.0585895 -0.0308927 0.00958738 0.12 -0.05 pose: 0.41985554 4.53523 -4.14032 0 0.0074537 0.000482935 0.997382 0.0719277 uwb: 0.0 1235.8 548.96 -imu_odom_: 1691062841.801617515 0.699107 -0.174777 10.0987 -0.0628506 -0.0245011 0.0266316 0.12 -0.05 pose: 0.0 4.53523 -4.14032 0 0.0074537 0.000482935 0.997382 0.0719277 uwb: 0.50151445 1236.32 549.871 -imu_odom_: 1691062841.817677188 0.622492 -0.186748 9.64863 -0.0660464 0.0181095 0.0117179 0.12 -0.05 pose: 0.0 4.53523 -4.14032 0 0.0074537 0.000482935 0.997382 0.0719277 uwb: 0.0 1236.32 549.871 -imu_odom_: 1691062841.833684948 0.37589 0.0023942 10.1083 -0.0458064 0.0276969 -0.0213053 0.18 -0.02 pose: 0.7994109 4.53523 -4.14032 0 0.00679995 0.000717259 0.997378 0.0720501 uwb: 0.0 1236.32 549.871 -imu_odom_: 1691062841.850615778 -0.11971 0.126893 9.96946 -0.0735032 -0.00319579 0.0298274 0.13 -0.05 pose: 0.0 4.53523 -4.14032 0 0.00679995 0.000717259 0.997378 0.0720501 uwb: 0.49997454 1233.17 549.209 -imu_odom_: 1691062841.867616312 -0.0407014 -0.543484 9.5792 -0.0649811 0.0170442 0.0213053 0.13 -0.05 pose: 0.65995298 4.52118 -4.14184 0 0.0072591 0.00225392 0.997299 0.0730567 uwb: 0.0 1233.17 549.209 -imu_odom_: 1691062841.883620864 0.126893 -0.143652 9.56244 -0.0532632 -0.0213053 0.00639159 0.14 0 pose: 0.0 4.52118 -4.14184 0 0.0072591 0.00225392 0.997299 0.0730567 uwb: 0.0 1233.17 549.209 -imu_odom_: 1691062841.900615273 0.323217 -0.0167594 9.66779 -0.0628506 -0.0181095 0.0138484 0.14 0 pose: 0.0 4.52118 -4.14184 0 0.0072591 0.00225392 0.997299 0.0730567 uwb: 0.49924249 1232.39 549.757 -imu_odom_: 1691062841.916671738 0.876278 0.172383 10.0604 -0.0649811 -0.0692422 0.0266316 0.14 0 pose: 0.33935739 4.52118 -4.14184 0 0.00407841 0.00179458 0.997293 0.0733945 uwb: 0.0 1232.39 549.757 -imu_odom_: 1691062841.933609568 1.01035 -0.234632 9.55047 -0.0841559 -0.0298274 0.0553937 0.18 -0.08 pose: 0.41053733 4.51703 -4.13849 0 0.00429546 0.00394811 0.997252 0.0738569 uwb: 0.0 1232.39 549.757 -imu_odom_: 1691062841.950776634 1.20428 -0.215478 10.3741 -0.0713727 0 0.0990696 0.18 -0.08 pose: 0.6964004 4.51341 -4.13556 0 0.00505111 0.00366182 0.997254 0.0737991 uwb: 0.50019911 1232.12 550.279 -imu_odom_: 1691062841.965832158 1.75734 -0.3304 10.5201 -0.0617853 -0.0948085 0.103331 0.18 -0.08 pose: 0.0 4.51341 -4.13556 0 0.00505111 0.00366182 0.997254 0.0737991 uwb: 0.0 1232.12 550.279 -imu_odom_: 1691062841.982771446 1.66636 -0.011971 9.64624 -0.0415453 -0.0138484 0.0458064 0.09 -0.02 pose: 0.42196416 4.50712 -4.14333 0 0.00992487 0.00235522 0.997301 0.0727157 uwb: 0.0 1232.12 550.279 -imu_odom_: 1691062841.996706745 1.14443 -0.0191536 9.91199 -0.0745685 0.0213053 0.0127832 0.1 -0.05 pose: 0.0 4.50712 -4.14333 0 0.00992487 0.00235522 0.997301 0.0727157 uwb: 0.49975289 1232.15 551.191 -imu_odom_: 1691062842.13640200 0.462081 -0.134075 9.92636 -0.0798948 0.0181095 -0.00532632 0.1 -0.05 pose: 0.0 4.50712 -4.14333 0 0.00992487 0.00235522 0.997301 0.0727157 uwb: 0.0 1232.15 551.191 -imu_odom_: 1691062842.35748099 0.699107 -0.442927 10.228 -0.0585895 -0.0223706 -0.0447411 0.09 0 pose: 0.22895644 4.50712 -4.14333 0 0.0122144 0.00261867 0.997273 0.072737 uwb: 0.0 1232.15 551.191 -imu_odom_: 1691062842.50767459 0.538695 -0.1652 9.77792 -0.0649811 -0.00852212 -0.0436758 0.09 0 pose: 0.0 4.50712 -4.14333 0 0.0122144 0.00261867 0.997273 0.072737 uwb: 0.50029244 1232.22 551.999 -imu_odom_: 1691062842.77783234 -1.10852 0.0454898 9.94551 -0.0415453 0.103331 -0.0852212 0.09 -0.02 pose: 0.62039657 4.49928 -4.13713 0 0.0102092 0.000919571 0.997148 0.0747703 uwb: 0.0 1232.22 551.999 -imu_odom_: 1691062842.103776194 -0.948104 -0.713472 10.1323 -0.0649811 -0.0607201 0.056459 0.09 -0.02 pose: 0.7926447 4.49928 -4.13713 0 0.00901129 0.00117414 0.997122 0.0752654 uwb: 0.50168070 1234.21 553.907 -imu_odom_: 1691062842.130892879 0.866701 -0.169988 9.65342 -0.015979 -0.0276969 0.0127832 0.14 0 pose: 0.45082288 4.49928 -4.13713 0 0.0043489 0.000892727 0.997079 0.076242 uwb: 0.0 1234.21 553.907 -imu_odom_: 1691062842.156642312 0.543484 -0.035913 9.8258 -0.0862864 0.0468716 0.076699 0.14 0 pose: 0.0 4.49928 -4.13713 0 0.0043489 0.000892727 0.997079 0.076242 uwb: 0.49865337 1234.02 554.26 -imu_odom_: 1691062842.173720426 -0.280122 -0.328006 9.75158 -0.0383495 0.0319579 0.00532632 0.17 -0.02 pose: 0.52866118 4.48927 -4.13823 0 0.00690597 0.00357022 0.997067 0.0761421 uwb: 0.0 1234.02 554.26 -imu_odom_: 1691062842.189746268 -0.153229 -0.248997 9.46667 -0.0575243 -0.0351537 0.0330232 0.17 -0.02 pose: 0.0 4.48927 -4.13823 0 0.00690597 0.00357022 0.997067 0.0761421 uwb: 0.0 1234.02 554.26 -imu_odom_: 1691062842.206635684 0.143652 -0.37589 9.5385 -0.0500674 -0.0628506 0.0628506 0.18 0 pose: 0.0 4.48927 -4.13823 0 0.00690597 0.00357022 0.997067 0.0761421 uwb: 0.50061326 1234.25 554.777 -imu_odom_: 1691062842.232667725 0.641646 -0.0790087 9.94551 -0.0436758 0.036219 0.0372843 0.18 0 pose: 0.40018963 4.48522 -4.13868 0 0.00317662 0.00294546 0.997067 0.0764167 uwb: 0.0 1234.25 554.777 -imu_odom_: 1691062842.256625264 0.0430956 -0.035913 9.81144 -0.04048 -0.0596548 0.0436758 0.19 0 pose: 0.36006450 4.4796 -4.13418 0 0.00455883 0.00349093 0.997066 0.0763267 uwb: 0.49947875 1233.51 555.238 -imu_odom_: 1691062842.280634425 0.37589 -0.277727 9.8258 -0.0490022 0.0394148 0.0234358 0.19 0 pose: 0.6985878 4.47741 -4.13243 0 0.0040897 0.0037399 0.997068 0.0763163 uwb: 0.0 1233.51 555.238 -imu_odom_: 1691062842.296817758 0.459687 -0.134075 9.57202 -0.0479369 -0.00426106 0.0383495 0.15 0.02 pose: 0.40980822 4.4732 -4.13769 0 0.00117335 0.00241315 0.997067 0.0764819 uwb: 0.50038286 1235.58 556.944 -imu_odom_: 1691062842.314767028 0.505177 -0.114922 10.24 -0.0532632 0.0191748 0.0298274 0.15 0.02 pose: 0.0 4.4732 -4.13769 0 0.00117335 0.00241315 0.997067 0.0764819 uwb: 0.0 1235.58 556.944 -imu_odom_: 1691062842.331816560 0.600945 -0.0766145 10.1394 -0.0628506 -0.015979 0.0383495 0.15 0.02 pose: 0.0 4.4732 -4.13769 0 0.00117335 0.00241315 0.997067 0.0764819 uwb: 0.0 1235.58 556.944 -imu_odom_: 1691062842.354591753 0.268151 -0.368707 9.81862 -0.0681769 -0.0266316 0.0458064 0.15 0 pose: 0.8190099 4.47116 -4.14023 0 0.00183096 0.00293588 0.997065 0.0764857 uwb: 0.49947582 1235.28 557.504 -imu_odom_: 1691062842.380608628 0.395043 -0.011971 10.0245 -0.0692422 -0.0138484 0.036219 0.15 0 pose: 0.32952589 4.46336 -4.13398 0 0.00465711 0.00428104 0.997044 0.0765734 uwb: 0.0 1235.28 557.504 -imu_odom_: 1691062842.397699574 0.416591 -0.201113 9.78989 -0.052198 -0.0266316 0.0383495 0.15 0 pose: 0.0 4.46336 -4.13398 0 0.00465711 0.00428104 0.997044 0.0765734 uwb: 0.49877879 1236.72 558.514 -imu_odom_: 1691062842.423784112 0.407014 -0.42138 9.69891 -0.0500674 -0.0234358 0.0266316 0.16 0.02 pose: 0.41035361 4.46336 -4.13398 0 0.0038763 0.00351646 0.997054 0.0765264 uwb: 0.0 1236.72 558.514 -imu_odom_: 1691062842.450650854 0.299275 -0.433351 9.79228 -0.0511327 0.0340885 0.0500674 0.16 0.02 pose: 0.0 4.46336 -4.13398 0 0.0038763 0.00351646 0.997054 0.0765264 uwb: 0.0 1236.72 558.514 -imu_odom_: 1691062842.467659554 -0.0885855 -0.117316 9.66539 -0.0181095 -0.0223706 0.0330232 0.17 0 pose: 0.42831629 4.45556 -4.12773 0 0.00240419 0.00272098 0.997053 0.0766275 uwb: 0.0 1236.72 558.514 -imu_odom_: 1691062842.491932075 0.0407014 -0.0454898 9.92875 -0.0500674 0.0479369 0.0490022 0.17 0 pose: 0.0 4.45556 -4.12773 0 0.00240419 0.00272098 0.997053 0.0766275 uwb: 0.99972161 1236.69 558.576 -imu_odom_: 1691062842.517677133 0.380678 0 10.3406 -0.0585895 -0.0479369 0.0426106 0.17 0 pose: 0.53015735 4.4415 -4.12927 0 -0.000553932-0.0007281620.99706 0.0766233 uwb: 0.0 1236.69 558.576 -imu_odom_: 1691062842.544655868 0.715866 -0.1652 9.83538 -0.0681769 -0.0287621 0.0607201 0.17 0 pose: 0.0 4.4415 -4.12927 0 -0.000553932-0.0007281620.99706 0.0766233 uwb: 0.50035661 1236.45 559.032 -imu_odom_: 1691062842.560626880 0.651223 -0.423774 10.1849 -0.0692422 0.0191748 0.0511327 0.17 0 pose: 0.41159895 4.4415 -4.12927 0 -0.00354132 0.00181903 0.99706 0.0765201 uwb: 0.0 1236.45 559.032 -imu_odom_: 1691062842.577628582 0.11971 0.0047884 9.71328 -0.0628506 0.0117179 0.0490022 0.17 0 pose: 0.0 4.4415 -4.12927 0 -0.00354132 0.00181903 0.99706 0.0765201 uwb: 0.0 1236.45 559.032 -imu_odom_: 1691062842.594844353 0.217872 -0.174777 10.0724 -0.052198 -0.00426106 0.0479369 0.17 0 pose: 0.0 4.4415 -4.12927 0 -0.00354132 0.00181903 0.99706 0.0765201 uwb: 0.50260814 1235.33 559.262 -imu_odom_: 1691062842.619658467 0.577003 -0.117316 9.79707 -0.0617853 0.0106526 0.0298274 0.17 0 pose: 0.52843661 4.42744 -4.13083 0 0.000891281 0.00224052 0.997094 0.0761461 uwb: 0.0 1235.33 559.262 -imu_odom_: 1691062842.636650835 0.0574608 -0.0790087 9.62708 -0.056459 -0.0490022 0.0298274 0.17 0 pose: 0.0 4.42744 -4.13083 0 0.000891281 0.00224052 0.997094 0.0761461 uwb: 0.0 1235.33 559.262 -imu_odom_: 1691062842.659612100 0.217872 -0.186748 10.2687 -0.0649811 -0.0234358 0.0596548 0.17 0 pose: 0.73961410 4.41964 -4.12458 0 -0.0002035720.00308095 0.997095 0.0761034 uwb: 0.49850755 1235.32 560.214 -imu_odom_: 1691062842.684710280 0.658405 -0.0407014 9.80904 -0.0692422 0.02024 0.0415453 0.18 0 pose: 0.0 4.41964 -4.12458 0 -0.0002035720.00308095 0.997095 0.0761034 uwb: 0.0 1235.32 560.214 -imu_odom_: 1691062842.701742021 0.150835 -0.481235 9.89524 -0.0703074 0.0245011 0.0426106 0.18 0 pose: 0.32987296 4.41011 -4.12564 0 -0.00299554 0.00286703 0.997104 0.0759341 uwb: 0.50008538 1233.78 560.325 -imu_odom_: 1691062842.717923021 0.198719 -0.316035 10.4722 -0.0500674 0 0.0276969 0.18 0 pose: 0.0 4.41011 -4.12564 0 -0.00299554 0.00286703 0.997104 0.0759341 uwb: 0.0 1233.78 560.325 -imu_odom_: 1691062842.744588233 0.708684 -0.174777 9.92875 -0.0436758 -0.0394148 0.04048 0.24 0 pose: 0.8053898 4.40558 -4.12614 0 -0.00232592 0.0030522 0.997106 0.0759229 uwb: 0.50079116 1233.17 560.557 -imu_odom_: 1691062842.770614441 0.574608 0.0837971 10.3765 -0.0543285 0.00852212 0.036219 0.18 0 pose: 0.58077601 4.39777 -4.1199 0 -0.0026242 0.00109523 0.997106 0.0759742 uwb: 0.0 1233.17 560.557 -imu_odom_: 1691062842.797636340 0.155623 -0.105345 9.44991 -0.0585895 -0.00426106 0.0511327 0.24 0 pose: 0.0 4.39777 -4.1199 0 -0.0026242 0.00109523 0.997106 0.0759742 uwb: 0.0 1233.17 560.557 -imu_odom_: 1691062842.822599195 0.385466 -0.0430956 10.1227 -0.0330232 0.0223706 0.0394148 0.19 0 pose: 0.51990295 4.38371 -4.12146 0 0.000338636 0.00341216 0.997104 0.0759666 uwb: 0.0 1233.17 560.557 -imu_odom_: 1691062842.849580263 0.483629 -0.0814029 10.2424 -0.0532632 -0.04048 0.0372843 0.19 0 pose: 0.0 4.38371 -4.12146 0 0.000338636 0.00341216 0.997104 0.0759666 uwb: 0.99888458 1234.03 561.708 -imu_odom_: 1691062842.865599981 0.435745 -0.543484 9.19373 -0.0553937 -0.0170442 0.0330232 0.2 -0.02 pose: 0.71846369 4.37816 -4.11702 0 0.00197468 0.00642106 0.997095 0.0758689 uwb: 0.0 1234.03 561.708 -imu_odom_: 1691062842.892645212 -0.047884 -0.265756 9.65821 -0.0426106 -0.0266316 0.0426106 0.2 -0.02 pose: 0.8074313 4.3759 -4.11522 0 0.00197505 0.00561139 0.997098 0.0758948 uwb: 0.50001538 1232.52 561.781 -imu_odom_: 1691062842.918632922 0.304064 0.0670376 9.81144 -0.052198 -0.0138484 0.0383495 0.18 0.02 pose: 0.34990636 4.36412 -4.1186 0 -0.0003507490.00437976 0.997106 0.0758923 uwb: 0.0 1232.52 561.781 -imu_odom_: 1691062842.945710235 0.454898 -0.272939 9.97903 -0.0628506 0.0170442 0.0479369 0.18 0.02 pose: 0.0 4.36412 -4.1186 0 -0.0003507490.00437976 0.997106 0.0758923 uwb: 0.49907044 1235.96 564.508 -imu_odom_: 1691062842.961703996 0.282516 -0.146046 10.1634 -0.0372843 0.00532632 0.0458064 0.2 0 pose: 0.33962571 4.36185 -4.11679 0 -0.0009021210.0060928 0.997098 0.0758762 uwb: 0.0 1235.96 564.508 -imu_odom_: 1691062842.988703146 0.430956 -0.265756 9.92397 -0.0458064 -0.0468716 0.052198 0.2 0 pose: 0.0 4.36185 -4.11679 0 -0.0009021210.0060928 0.997098 0.0758762 uwb: 0.0 1235.96 564.508 -imu_odom_: 1691062843.13571215 0.651223 -0.222661 10.1993 -0.0319579 0.0223706 0.0415453 0.23 0 pose: 0.42324160 4.35403 -4.11054 0 -0.00167522 0.00363945 0.997122 0.0757058 uwb: 0.49984330 1237.17 565.891 -imu_odom_: 1691062843.40649111 0.775721 -0.186748 9.8689 -0.0372843 0.00106526 0.0436758 0.2 0 pose: 0.44639272 4.34779 -4.11836 0 0.00171184 0.00161691 0.997139 0.0755548 uwb: 0.0 1237.17 565.891 -imu_odom_: 1691062843.65590384 0.675165 0.059855 10.2615 -0.0511327 0.0266316 0.0543285 0.2 0 pose: 0.8076063 4.34779 -4.11836 0 0.00250132 0.00161585 0.997139 0.0755366 uwb: 0.50093408 1238.92 568.085 -imu_odom_: 1691062843.92645241 0.507571 -0.0430956 9.98143 -0.0490022 -0.0127832 0.0500674 0.23 0 pose: 0.43943106 4.33998 -4.11212 0 0.00567359 0.00352925 0.997138 0.0753136 uwb: 0.49966541 1238.59 568.681 -imu_odom_: 1691062843.108602254 0.380678 -0.385466 9.73004 -0.0596548 0.0330232 0.056459 0.23 0 pose: 0.0 4.33998 -4.11212 0 0.00567359 0.00352925 0.997138 0.0753136 uwb: 0.0 1238.59 568.681 -imu_odom_: 1691062843.135669068 0.411803 -0.0502782 9.90242 -0.0585895 0.00745685 0.0490022 0.25 0 pose: 0.43011870 4.32592 -4.1137 0 0.00491316 0.00487543 0.997156 0.0750469 uwb: 0.0 1238.59 568.681 -imu_odom_: 1691062843.160676545 0.754174 -0.289698 10.4603 -0.0575243 0.0245011 0.0543285 0.25 0 pose: 0.0 4.32592 -4.1137 0 0.00491316 0.00487543 0.997156 0.0750469 uwb: 0.49965667 1238.52 569.691 -imu_odom_: 1691062843.187565745 0.622492 -0.169988 9.8689 -0.0756338 0.0245011 0.0500674 0.23 0 pose: 0.52074291 4.32035 -4.10927 0 0.00430908 0.0050569 0.997181 0.0747345 uwb: 0.0 1238.52 569.691 -imu_odom_: 1691062843.212696006 0.940921 -0.407014 10.1347 -0.0894822 0.036219 0.0479369 0.19 0 pose: 0.0 4.32035 -4.10927 0 0.00430908 0.0050569 0.997181 0.0747345 uwb: 0.49985790 1238.19 570.287 -imu_odom_: 1691062843.230735688 0.325611 -0.229843 9.79228 -0.0671117 -0.0543285 0.0500674 0.19 0 pose: 0.34915683 4.31188 -4.1153 0 0.00676385 0.00297615 0.997191 0.0745365 uwb: 0.0 1238.19 570.287 -imu_odom_: 1691062843.246681327 0.318429 0.318429 9.93833 -0.0468716 -0.0213053 0.104396 0.19 0 pose: 0.0 4.31188 -4.1153 0 0.00676385 0.00297615 0.997191 0.0745365 uwb: 0.50117032 1236.12 570.509 -imu_odom_: 1691062843.261556030 0.28491 -0.536301 9.67736 -0.0553937 -0.00319579 0.174703 0.18 0.08 pose: 0.42094340 4.30405 -4.10908 0 0.00626355 0.00188897 0.997226 0.0741424 uwb: 0.0 1236.12 570.509 -imu_odom_: 1691062843.278566189 0.64404 -0.490811 9.79468 -0.0415453 -0.0308927 0.248207 0.18 0.08 pose: 0.0 4.30405 -4.10908 0 0.00626355 0.00188897 0.997226 0.0741424 uwb: 0.0 1236.12 570.509 -imu_odom_: 1691062843.292613482 0.742203 -0.280122 9.96467 -0.0532632 -0.00852212 0.28123 0.18 0.08 pose: 0.0 4.30405 -4.10908 0 0.00626355 0.00188897 0.997226 0.0741424 uwb: 0.49936501 1237.42 572.571 -imu_odom_: 1691062843.307550598 0.512359 -0.414197 9.54568 -0.0372843 0.0181095 0.318514 0.19 0.23 pose: 0.47001925 4.29621 -4.10286 0 0.00660302 -0.0001901050.997502 0.0703317 uwb: 0.0 1237.42 572.571 -imu_odom_: 1691062843.324685291 0.368707 -0.203507 9.86411 -0.0436758 0.052198 0.383495 0.19 0.23 pose: 0.0 4.29621 -4.10286 0 0.00660302 -0.0001901050.997502 0.0703317 uwb: 0.0 1237.42 572.571 -imu_odom_: 1691062843.342686475 0.272939 -0.229843 9.28471 -0.0607201 -0.0266316 0.416518 0.18 0.41 pose: 0.39996798 4.28557 -4.10716 0 0.0047433 -0.00123106 0.997916 0.0643453 uwb: 0.50063368 1238.27 574.551 -imu_odom_: 1691062843.356674564 -0.0191536 -0.557849 9.99579 -0.0340885 -0.0692422 0.448476 0.18 0.41 pose: 0.0 4.28557 -4.10716 0 0.0047433 -0.00123106 0.997916 0.0643453 uwb: 0.0 1238.27 574.551 -imu_odom_: 1691062843.371552183 0.100556 -0.0981623 10.0533 -0.0490022 -0.072438 0.485761 0.18 0.41 pose: 0.0 4.28557 -4.10716 0 0.0047433 -0.00123106 0.997916 0.0643453 uwb: 0.0 1238.27 574.551 -imu_odom_: 1691062843.388568758 0.799663 -0.241814 9.31584 -0.0394148 0.0894822 0.510262 0.23 0.58 pose: 0.8022400 4.28217 -4.10444 0 0.00402923 -0.00120753 0.998015 0.0628359 uwb: 0.0 1238.27 574.551 -imu_odom_: 1691062843.406575192 0.1652 -0.811634 9.1674 -0.0170442 0.0649811 0.516653 0.23 0.58 pose: 0.0 4.28217 -4.10444 0 0.00402923 -0.00120753 0.998015 0.0628359 uwb: 0.49939710 1237.84 575.309 -imu_odom_: 1691062843.420688106 0.452504 0.023942 10.0389 -0.0500674 0.0884169 0.532632 0.23 0.58 pose: 0.0 4.28217 -4.10444 0 0.00402923 -0.00120753 0.998015 0.0628359 uwb: 0.0 1237.84 575.309 -imu_odom_: 1691062843.436689159 0.366313 -0.818817 9.64624 -0.052198 0.0426106 0.616788 0.17 0.55 pose: 0.45949654 4.28217 -4.10444 0 0.00193541 -0.00108584 0.998586 0.0531148 uwb: 0.0 1237.84 575.309 -imu_odom_: 1691062843.453586450 -0.0933739 -0.622492 9.73482 -0.04048 -0.0223706 0.599744 0.26 0.76 pose: 0.0 4.28217 -4.10444 0 0.00193541 -0.00108584 0.998586 0.0531148 uwb: 0.50131323 1238.01 575.886 -imu_odom_: 1691062843.469569128 0.634463 0.280122 10.0006 -0.0319579 -0.0245011 0.601874 0.26 0.76 pose: 0.0 4.28217 -4.10444 0 0.00193541 -0.00108584 0.998586 0.0531148 uwb: 0.0 1238.01 575.886 -imu_odom_: 1691062843.486548956 0.778116 -0.023942 9.60554 -0.0351537 -0.052198 0.611462 0.23 0.79 pose: 0.64995526 4.26811 -4.10594 0 -0.000568251-0.00269864 0.999332 0.0364538 uwb: 0.0 1238.01 575.886 -imu_odom_: 1691062843.504624219 1.02472 0.0167594 10.0509 -0.0223706 -0.0671117 0.611462 0.23 0.79 pose: 0.0 4.26811 -4.10594 0 -0.000568251-0.00269864 0.999332 0.0364538 uwb: 0.49860380 1234.83 575.488 -imu_odom_: 1691062843.518591600 1.22583 -0.126893 9.74201 -0.0394148 -0.0383495 0.612527 0.23 0.79 pose: 0.32896302 4.2603 -4.09969 0 0.000340468 -0.00116623 0.99963 0.0271857 uwb: 0.0 1234.83 575.488 -imu_odom_: 1691062843.535663297 1.26653 -0.481235 9.24401 -0.0532632 -0.0436758 0.597613 0.13 0.41 pose: 0.42042427 4.25013 -4.10434 0 0.00535528 0.000538485 0.999871 0.015161 uwb: 0.0 1234.83 575.488 -imu_odom_: 1691062843.549625721 1.43173 -0.172383 9.72764 -0.0426106 0.00852212 0.502805 0.13 0.41 pose: 0.7984486 4.24623 -4.10124 0 0.0062613 0.00024848 0.999897 0.0129315 uwb: 0.50052286 1234.98 576.966 -imu_odom_: 1691062843.565593817 1.51792 0.246603 10.0149 -0.0660464 -0.0117179 0.413323 0.13 0.41 pose: 0.0 4.24623 -4.10124 0 0.0062613 0.00024848 0.999897 0.0129315 uwb: 0.0 1234.98 576.966 -imu_odom_: 1691062843.582538355 1.08697 0.0574608 9.83538 -0.0660464 0.00319579 0.372843 0.12 0.35 pose: 0.39017731 4.24623 -4.10124 0 0.0101004 0.000613783 0.99994 0.00418303 uwb: 0.0 1234.98 576.966 -imu_odom_: 1691062843.600737860 0.816423 -0.146046 9.5792 -0.0649811 0.0287621 0.322775 0.12 0.35 pose: 0.0 4.24623 -4.10124 0 0.0101004 0.000613783 0.99994 0.00418303 uwb: 0.50072118 1235.41 577.932 -imu_odom_: 1691062843.617598987 0.835576 -0.287304 9.79947 -0.0649811 0.0117179 0.291882 0.1 0.26 pose: 0.0 4.24623 -4.10124 0 0.0101004 0.000613783 0.99994 0.00418303 uwb: 0.0 1235.41 577.932 -imu_odom_: 1691062843.632658304 0.857124 -0.208296 9.82341 -0.0607201 0.0149137 0.279099 0.09 0.29 pose: 0.42016761 4.24623 -4.10124 0 0.013563 0.00118269 0.999905 -0.00207804 uwb: 0.0 1235.41 577.932 -imu_odom_: 1691062843.649657089 0.936133 -0.189142 9.71328 -0.0649811 0.00426106 0.274838 0.09 0.26 pose: 0.0 4.24623 -4.10124 0 0.013563 0.00118269 0.999905 -0.00207804 uwb: 0.49760054 1237.54 580.155 -imu_odom_: 1691062843.667654773 0.758962 -0.0574608 9.88566 -0.0543285 -0.00426106 0.273773 0.09 0.26 pose: 0.32048186 4.23218 -4.10282 0 0.0163857 0.000529065 0.999848 -0.00597155 uwb: 0.0 1237.54 580.155 -imu_odom_: 1691062843.684770801 0.749385 -0.251391 9.90481 -0.0500674 0.0138484 0.255663 0.07 0.2 pose: 0.0 4.23218 -4.10282 0 0.0163857 0.000529065 0.999848 -0.00597155 uwb: 0.0 1237.54 580.155 -imu_odom_: 1691062843.702540707 0.68953 -0.124498 10.1586 -0.052198 -0.015979 0.245011 0.07 0.2 pose: 0.0 4.23218 -4.10282 0 0.0163857 0.000529065 0.999848 -0.00597155 uwb: 0.50189944 1236.22 580.785 -imu_odom_: 1691062843.727640054 0.677559 -0.143652 10.094 -0.0532632 0.0138484 0.217314 0.06 0.2 pose: 0.62881943 4.23212 -4.1028 0 0.0164427 0.00198675 0.99978 -0.012903 uwb: 0.0 1236.22 580.785 -imu_odom_: 1691062843.745635988 0.366313 -0.229843 9.57681 -0.0628506 0.0170442 0.193878 0.06 0.2 pose: 0.7058790 4.23218 -4.10282 0 0.0157848 0.00236218 0.999781 -0.0135231 uwb: 0.49879046 1236.78 582.346 -imu_odom_: 1691062843.762646147 -0.656011 0.00718261 9.76355 -0.0330232 0.118244 0.150202 0.06 0.2 pose: 0.0 4.23218 -4.10282 0 0.0157848 0.00236218 0.999781 -0.0135231 uwb: 0.0 1236.78 582.346 -imu_odom_: 1691062843.776649985 -1.403 -0.102951 10.0533 -0.0553937 0.036219 0.205596 0.08 0.17 pose: 0.42982705 4.23218 -4.10282 0 0.0110571 0.00292627 0.999792 -0.0168802 uwb: 0.0 1236.78 582.346 -imu_odom_: 1691062843.793523361 -0.806846 -0.713472 9.71806 -0.0671117 -0.0798948 0.221575 0.08 0.17 pose: 0.0 4.23218 -4.10282 0 0.0110571 0.00292627 0.999792 -0.0168802 uwb: 0.50065411 1236.36 583.102 -imu_odom_: 1691062843.810575226 0.761356 -0.11971 10.173 -0.0340885 -0.052198 0.166181 0.1 0.14 pose: 0.0 4.23218 -4.10282 0 0.0110571 0.00292627 0.999792 -0.0168802 uwb: 0.0 1236.36 583.102 -imu_odom_: 1691062843.827569053 0.746991 0.225055 9.66539 -0.0639159 -0.0106526 0.198139 0.1 0.14 pose: 0.48942851 4.22438 -4.09657 0 0.00782299 0.00264722 0.999753 -0.0206344 uwb: 0.0 1236.36 583.102 -imu_odom_: 1691062843.844571629 0.251391 -0.107739 9.63666 -0.0841559 0.00426106 0.196009 0.1 0.14 pose: 0.0 4.22438 -4.09657 0 0.00782299 0.00264722 0.999753 -0.0206344 uwb: 0.49984623 1238.22 584.896 -imu_odom_: 1691062843.860568307 -0.0215478 -0.227449 9.7875 -0.0490022 -0.00532632 0.134223 0.12 0.11 pose: 0.43046576 4.21816 -4.1044 0 0.00787725 0.0042837 0.999675 -0.0238607 uwb: 0.0 1238.22 584.896 -imu_odom_: 1691062843.877527428 -0.134075 -0.0383072 9.89763 -0.0585895 -0.0490022 0.16192 0.12 0.11 pose: 0.6998711 4.21816 -4.1044 0 0.00719353 0.00417719 0.999673 -0.0241901 uwb: 0.0 1238.22 584.896 -imu_odom_: 1691062843.895537653 0.742203 -0.543484 9.59117 -0.0681769 -0.0756338 0.190682 0.12 0.11 pose: 0.0 4.21816 -4.1044 0 0.00719353 0.00417719 0.999673 -0.0241901 uwb: 0.49942043 1239.93 586.941 -imu_odom_: 1691062843.909512617 0.383072 -0.268151 9.89045 -0.052198 -0.0117179 0.174703 0.13 0.08 pose: 0.33954114 4.21816 -4.1044 0 0.00572924 0.00350559 0.999633 -0.0262487 uwb: 0.0 1239.93 586.941 -imu_odom_: 1691062843.926523651 0.110133 -0.248997 9.96467 -0.0436758 -0.0170442 0.148072 0.13 0.11 pose: 0.0 4.21816 -4.1044 0 0.00572924 0.00350559 0.999633 -0.0262487 uwb: 0.0 1239.93 586.941 -imu_odom_: 1691062843.943517478 0.0407014 0.0526724 10.319 -0.0660464 -0.0234358 0.165116 0.13 0.11 pose: 0.0 4.21816 -4.1044 0 0.00572924 0.00350559 0.999633 -0.0262487 uwb: 0.49926001 1238.45 587.006 -imu_odom_: 1691062843.960518888 0.196325 -0.308852 9.76595 -0.0692422 -0.0511327 0.165116 0.18 0.11 pose: 0.32128973 4.21032 -4.09819 0 0.00479059 0.00169998 0.999584 -0.0283972 uwb: 0.0 1238.45 587.006 -imu_odom_: 1691062843.976510608 0.612916 -0.318429 9.73722 -0.0692422 -0.0117179 0.127832 0.18 0.11 pose: 0.0 4.21032 -4.09819 0 0.00479059 0.00169998 0.999584 -0.0283972 uwb: 0.0 1238.45 587.006 -imu_odom_: 1691062843.993512601 0.351948 -0.253785 9.44273 -0.0660464 0.00426106 0.140615 0.18 0.11 pose: 0.33003045 4.20406 -4.106 0 0.00216988 0.0018511 0.999534 -0.0303851 uwb: 0.50036537 1238.17 587.494 -imu_odom_: 1691062844.10629212 0.744597 -0.0981623 9.68933 -0.0596548 0.0191748 0.14168 0.14 0.08 pose: 0.42856129 4.19977 -4.10258 0 0.00131738 -0.0004807810.999468 -0.0325705 uwb: 0.0 1238.17 587.494 -imu_odom_: 1691062844.25635741 1.13485 -0.201113 9.88326 -0.0617853 0.00319579 0.174703 0.14 0.08 pose: 0.8128560 4.19622 -4.09979 0 0.00196826 -0.0001753380.999454 -0.0329843 uwb: 0.0 1238.17 587.494 -imu_odom_: 1691062844.41569422 0.979228 -0.481235 9.74919 -0.0649811 0.0298274 0.22264 0.14 0.08 pose: 0.0 4.19622 -4.09979 0 0.00196826 -0.0001753380.999454 -0.0329843 uwb: 0.49867381 1237.16 587.568 -imu_odom_: 1691062844.56521412 2.20745 -0.37589 10.5536 -0.0319579 -0.0671117 0.197074 0.11 0.02 pose: 0.39928261 4.19004 -4.10765 0 0.00529675 -0.0006132490.999341 -0.0359151 uwb: 0.0 1237.16 587.568 -imu_odom_: 1691062844.72649916 1.61369 0.122104 9.28471 -0.0298274 0.00106526 0.150202 0.1 0.02 pose: 0.0 4.19004 -4.10765 0 0.00529675 -0.0006132490.999341 -0.0359151 uwb: 0.0 1237.16 587.568 -imu_odom_: 1691062844.89780235 1.24977 -0.0287304 9.84496 -0.0596548 0.04048 0.134223 0.1 0.02 pose: 0.0 4.19004 -4.10765 0 0.00529675 -0.0006132490.999341 -0.0359151 uwb: 0.0 1237.16 587.568 -imu_odom_: 1691062844.107517769 0.493206 -0.244209 9.79707 -0.0660464 0.0138484 0.072438 0.09 0.02 pose: 0.22091568 4.19004 -4.10765 0 0.00790038 -0.0001674970.999266 -0.0374849 uwb: 0.50063078 1236.03 587.868 -imu_odom_: 1691062844.124503430 0.699107 -0.213084 10.4794 -0.0585895 0.0106526 0.0436758 0.09 0.02 pose: 0.0 4.19004 -4.10765 0 0.00790038 -0.0001674970.999266 -0.0374849 uwb: 0.0 1236.03 587.868 -imu_odom_: 1691062844.139554289 0.912191 -0.308852 9.78031 -0.0628506 -0.0234358 0.0596548 0.09 0.02 pose: 0.0 4.19004 -4.10765 0 0.00790038 -0.0001674970.999266 -0.0374849 uwb: 0.0 1236.03 587.868 -imu_odom_: 1691062844.155494387 0.80924 -0.220267 9.69173 -0.0553937 0.00852212 0.072438 0.06 0.08 pose: 0.75893299 4.18217 -4.10148 0 0.0113353 -0.00028275 0.999164 -0.0392666 uwb: 0.49969751 1236.15 588.502 -imu_odom_: 1691062844.172549460 0.773327 -0.189142 10.0963 -0.0617853 0.00426106 0.0937433 0.06 0.08 pose: 0.5957814 4.18217 -4.10148 0 0.0118909 -0.0002360140.999154 -0.0393634 uwb: 0.0 1236.15 588.502 -imu_odom_: 1691062844.190489107 0.622492 -0.349553 9.94312 -0.0532632 0.0213053 0.0958738 0.06 0.08 pose: 0.0 4.18217 -4.10148 0 0.0118909 -0.0002360140.999154 -0.0393634 uwb: 0.0 1236.15 588.502 -imu_odom_: 1691062844.207626134 0.648829 -0.148441 10.0844 -0.0575243 -0.00639159 0.0873517 0.05 0.05 pose: 0.44977004 4.18217 -4.10148 0 0.013406 -0.0012595 0.999089 -0.0405059 uwb: 0.49889255 1235.06 588.743 -imu_odom_: 1691062844.233791752 0.548272 -0.198719 9.7875 -0.0596548 0.0127832 0.0841559 0.05 0.02 pose: 0.0 4.18217 -4.10148 0 0.013406 -0.0012595 0.999089 -0.0405059 uwb: 0.0 1235.06 588.743 -imu_odom_: 1691062844.259811836 0.0287304 -0.277727 9.56005 -0.0607201 0.0351537 0.00745685 0.05 0.05 pose: 0.24019370 4.17603 -4.10938 0 0.0122809 0.000455826 0.999082 -0.0410451 uwb: 0.0 1235.06 588.743 -imu_odom_: 1691062844.282705731 -1.30963 0.229843 9.73482 -0.0490022 0.0692422 -0.0234358 0.05 0.05 pose: 0.0 4.17603 -4.10938 0 0.0122809 0.000455826 0.999082 -0.0410451 uwb: 0.0 1235.06 588.743 -imu_odom_: 1691062844.299501820 -0.816423 -0.646434 9.95988 -0.0756338 -0.0692422 0.0937433 0.09 0.02 pose: 0.26095913 4.17603 -4.10938 0 0.00939953 0.000527265 0.9991 -0.0413623 uwb: 0.100068117 1237.2 590.816 -imu_odom_: 1691062844.325488074 0.751779 -0.37589 9.88805 -0.0372843 -0.0330232 0.0553937 0.09 0.02 pose: 0.48902022 4.17603 -4.10938 0 0.00362584 0.000341651 0.999172 -0.0405174 uwb: 0.0 1237.2 590.816 -imu_odom_: 1691062844.342481026 0.584185 0.150835 9.4954 -0.0596548 0.0138484 0.0958738 0.09 0.02 pose: 0.0 4.17603 -4.10938 0 0.00362584 0.000341651 0.999172 -0.0405174 uwb: 0.50104201 1235.56 590.357 -imu_odom_: 1691062844.359689799 -0.186748 -0.282516 9.45949 -0.0617853 0.0330232 0.0149137 0.12 0 pose: 0.42981247 4.1682 -4.10316 0 0.00576302 -0.0003281180.999135 -0.0411896 uwb: 0.0 1235.56 590.357 -imu_odom_: 1691062844.374612915 -0.397437 0.248997 10.1586 -0.0511327 0.0181095 -0.0969391 0.12 0 pose: 0.0 4.1682 -4.10316 0 0.00576302 -0.0003281180.999135 -0.0411896 uwb: 0.0 1235.56 590.357 -imu_odom_: 1691062844.391604410 0.289698 0.270545 9.87369 -0.0745685 -0.00852212 -0.148072 0.12 -0.2 pose: 0.42125256 4.16486 -4.10731 0 0.00228307 0.000979219 0.999187 -0.0402328 uwb: 0.50019622 1235.08 590.355 -imu_odom_: 1691062844.408676107 0.0143652 -0.28491 10.1466 -0.076699 0.0255663 -0.165116 0.12 -0.2 pose: 0.0 4.16486 -4.10731 0 0.00228307 0.000979219 0.999187 -0.0402328 uwb: 0.0 1235.08 590.355 -imu_odom_: 1691062844.425729723 -0.232238 -0.52433 9.63906 -0.0490022 -0.0117179 -0.229032 0.12 -0.2 pose: 0.0 4.16486 -4.10731 0 0.00228307 0.000979219 0.999187 -0.0402328 uwb: 0.0 1235.08 590.355 -imu_odom_: 1691062844.443494671 0.378284 0.0694318 10.0102 -0.0490022 -0.0553937 -0.279099 0.13 -0.35 pose: 0.7010085 4.162 -4.11101 0 0.00204839 0.00156835 0.999213 -0.0395737 uwb: 0.50071245 1235.79 591.603 -imu_odom_: 1691062844.457514841 0.294487 0.059855 9.58878 -0.076699 -0.00532632 -0.288687 0.15 -0.44 pose: 0.0 4.162 -4.11101 0 0.00204839 0.00156835 0.999213 -0.0395737 uwb: 0.0 1235.79 591.603 -imu_odom_: 1691062844.473499853 0.608127 0.107739 10.5129 -0.0596548 -0.0447411 -0.347276 0.15 -0.44 pose: 0.67922521 4.15411 -4.10486 0 -0.00139118 0.00322547 0.99952 -0.0307752 uwb: 0.0 1235.79 591.603 -imu_odom_: 1691062844.488493257 0.366313 -0.126893 9.37569 -0.0458064 -0.0372843 -0.42291 0.15 -0.44 pose: 0.0 4.15411 -4.10486 0 -0.00139118 0.00322547 0.99952 -0.0307752 uwb: 0.0 1235.79 591.603 -imu_odom_: 1691062844.504477978 0.778116 -0.323217 9.66779 -0.00319579 0.0532632 -0.475108 0.14 -0.47 pose: 0.0 4.15411 -4.10486 0 -0.00139118 0.00322547 0.99952 -0.0307752 uwb: 0.49879339 1234.44 591.476 -imu_odom_: 1691062844.519533503 0.114922 -0.19393 10.398 -0.00958738 0.0181095 -0.496413 0.14 -0.47 pose: 0.30985708 4.15411 -4.10486 0 -0.0008883890.00492084 0.999681 -0.0247525 uwb: 0.0 1234.44 591.476 -imu_odom_: 1691062844.536473375 0.241814 0.191536 9.82102 -0.0617853 0.00852212 -0.475108 0.14 -0.53 pose: 0.39002274 4.14365 -4.10943 0 -0.00223791 0.00446614 0.999879 -0.0147617 uwb: 0.0 1234.44 591.476 -imu_odom_: 1691062844.550469338 0.198719 0.0837971 9.84735 -0.0479369 -0.00426106 -0.508131 0.14 -0.53 pose: 0.0 4.14365 -4.10943 0 -0.00223791 0.00446614 0.999879 -0.0147617 uwb: 0.49963917 1234.75 592.577 -imu_odom_: 1691062844.566519972 0.316035 0.00718261 9.8689 -0.0745685 -0.00213053 -0.531567 0.14 -0.53 pose: 0.0 4.14365 -4.10943 0 -0.00223791 0.00446614 0.999879 -0.0147617 uwb: 0.0 1234.75 592.577 -imu_odom_: 1691062844.583462469 0.617704 -0.0861913 10.0245 -0.0511327 0.00852212 -0.535828 0.15 -0.58 pose: 0.6945922 4.14006 -4.10661 0 -0.00254303 0.00508718 0.9999 -0.0129749 uwb: 0.0 1234.75 592.577 -imu_odom_: 1691062844.601464820 0.641646 -0.0095768110.1538 -0.0447411 0.0191748 -0.551807 0.15 -0.58 pose: 0.0 4.14006 -4.10661 0 -0.00254303 0.00508718 0.9999 -0.0129749 uwb: 0.50000665 1235.47 593.783 -imu_odom_: 1691062844.619456963 0.962469 0.162806 10.1251 -0.056459 -0.0617853 -0.504935 0.14 -0.55 pose: 0.47111878 4.14006 -4.10661 0 -0.00354956 0.00842782 0.999958 3.75727e-05 uwb: 0.0 1235.47 593.783 -imu_odom_: 1691062844.635534428 1.5706 -0.407014 9.36612 -0.076699 -0.0276969 -0.441019 0.13 -0.47 pose: 0.0 4.14006 -4.10661 0 -0.00354956 0.00842782 0.999958 3.75727e-05 uwb: 0.0 1235.47 593.783 -imu_odom_: 1691062844.653452784 1.52511 -0.3304 10.4962 -0.0585895 -0.02024 -0.417584 0.14 -0.58 pose: 0.0 4.14006 -4.10661 0 -0.00354956 0.00842782 0.999958 3.75727e-05 uwb: 0.50035080 1235.51 594.537 -imu_odom_: 1691062844.670506691 1.30484 -0.189142 9.93594 -0.0703074 0.0340885 -0.356864 0.14 -0.58 pose: 0.69880947 4.12603 -4.10834 0 0.0035416 0.00827543 0.999784 0.0187199 uwb: 0.0 1235.51 594.537 -imu_odom_: 1691062844.687449188 0.964863 -0.299275 9.97424 -0.072438 0.0319579 -0.286556 0.11 -0.38 pose: 0.0 4.12603 -4.10834 0 0.0035416 0.00827543 0.999784 0.0187199 uwb: 0.0 1235.51 594.537 -imu_odom_: 1691062844.704503970 0.545878 -0.466869 9.74201 -0.0596548 0.0426106 -0.284426 0.11 -0.38 pose: 0.0 4.12603 -4.10834 0 0.0035416 0.00827543 0.999784 0.0187199 uwb: 0.0 1235.51 594.537 -imu_odom_: 1691062844.722562318 0.694318 0.0287304 10.1514 -0.0479369 -0.00319579 -0.282295 0.11 -0.38 pose: 0.34982762 4.12603 -4.10834 0 0.00641949 0.00712437 0.999625 0.0256423 uwb: 0.0 1235.51 594.537 -imu_odom_: 1691062844.744456438 0.811634 -0.229843 9.56005 -0.0745685 -0.0138484 -0.219444 0.07 -0.26 pose: 0.44107306 4.11809 -4.10226 0 0.00798734 0.00614358 0.999413 0.032751 uwb: 0.100087658 1233.95 593.962 -imu_odom_: 1691062844.761587049 0.59855 -0.31364 10.0796 -0.0607201 0.0245011 -0.211988 0.07 -0.26 pose: 0.6022268 4.11809 -4.10226 0 0.00853422 0.00579561 0.999385 0.0335255 uwb: 0.0 1233.95 593.962 -imu_odom_: 1691062844.778526921 0.105345 -0.071826 9.96227 -0.0628506 0.0287621 -0.256729 0.1 -0.32 pose: 0.0 4.11809 -4.10226 0 0.00853422 0.00579561 0.999385 0.0335255 uwb: 0.0 1233.95 593.962 -imu_odom_: 1691062844.795524248 -0.167594 0.392649 10.2927 -0.0479369 0.0553937 -0.298274 0.1 -0.2 pose: 0.49942335 4.1119 -4.11014 0 0.00770492 0.00343948 0.999155 0.0402186 uwb: 0.49856882 1235.72 594.987 -imu_odom_: 1691062844.812592155 -1.25217 0.205901 9.67736 -0.0692422 0.0330232 -0.197074 0.14 -0.23 pose: 0.0 4.1119 -4.11014 0 0.00770492 0.00343948 0.999155 0.0402186 uwb: 0.0 1235.72 594.987 -imu_odom_: 1691062844.829649562 -0.385466 -0.871489 9.92397 -0.0777643 -0.0852212 -0.107592 0.14 -0.23 pose: 0.0 4.1119 -4.11014 0 0.00770492 0.00343948 0.999155 0.0402186 uwb: 0.0 1235.72 594.987 -imu_odom_: 1691062844.846468691 0.0957681 -0.268151 9.82102 -0.0585895 -0.0862864 -0.133158 0.15 -0.26 pose: 0.24103074 4.11197 -4.11016 0 0.00502888 0.00472703 0.99901 0.0439419 uwb: 0.50062786 1234.84 594.881 -imu_odom_: 1691062844.862582904 0.830788 0.155623 10.4531 -0.036219 -0.0330232 -0.125701 0.15 -0.26 pose: 0.0 4.11197 -4.11016 0 0.00502888 0.00472703 0.99901 0.0439419 uwb: 0.0 1234.84 594.881 -imu_odom_: 1691062844.880585255 0.553061 -0.059855 10.0533 -0.0713727 0.00852212 -0.0948085 0.15 -0.26 pose: 0.33971030 4.10408 -4.10401 0 0.00282128 0.00339253 0.998886 0.0469885 uwb: 0.0 1234.84 594.881 -imu_odom_: 1691062844.897604164 0.610521 -0.557849 10.1538 -0.0543285 0.0234358 -0.138484 0.17 -0.23 pose: 0.34050943 4.10408 -4.10401 0 0.00439601 0.00460913 0.998743 0.0497128 uwb: 0.49945544 1235.63 595.964 -imu_odom_: 1691062844.914585742 -0.0550666 -0.3304 9.47864 -0.0628506 -0.00426106 -0.110787 0.17 -0.23 pose: 0.0 4.10408 -4.10401 0 0.00439601 0.00460913 0.998743 0.0497128 uwb: 0.0 1235.63 595.964 -imu_odom_: 1691062844.931464951 0.114922 -0.299275 10.1538 -0.0585895 -0.056459 -0.0681769 0.13 -0.14 pose: 0.43933774 4.09577 -4.10504 0 0.00354071 0.00299099 0.998575 0.0531594 uwb: 0.0 1235.63 595.964 -imu_odom_: 1691062844.948584479 0.265756 -0.215478 9.56723 -0.0617853 -0.02024 -0.0873517 0.13 -0.14 pose: 0.0 4.09577 -4.10504 0 0.00354071 0.00299099 0.998575 0.0531594 uwb: 0.49985207 1233.52 595.531 -imu_odom_: 1691062844.963522470 0.56982 0.0861913 9.8689 -0.0415453 -0.0117179 -0.100135 0.13 -0.14 pose: 0.0 4.09577 -4.10504 0 0.00354071 0.00299099 0.998575 0.0531594 uwb: 0.0 1233.52 595.531 -imu_odom_: 1691062844.980569961 0.23942 -0.0790087 9.70131 -0.0649811 0.0234358 -0.0884169 0.13 -0.11 pose: 0.7006585 4.09005 -4.10575 0 0.00306131 0.0027365 0.998557 0.0535383 uwb: 0.0 1233.52 595.531 -imu_odom_: 1691062844.994586631 0.457293 0.0694318 10.0772 -0.0436758 -0.0138484 -0.0852212 0.13 -0.11 pose: 0.0 4.09005 -4.10575 0 0.00306131 0.0027365 0.998557 0.0535383 uwb: 0.49928045 1232.25 595.287 -imu_odom_: 1691062845.11631497 0.241814 -0.397437 9.43555 -0.0607201 0.0287621 -0.0639159 0.13 -0.11 pose: 0.0 4.09005 -4.10575 0 0.00306131 0.0027365 0.998557 0.0535383 uwb: 0.0 1232.25 595.287 -imu_odom_: 1691062845.26576780 0.612916 -0.129287 10.2328 -0.0447411 -0.0426106 -0.0532632 0.15 -0.11 pose: 0.49002058 4.09005 -4.10575 0 0.000971481 0.00356535 0.998387 0.0566561 uwb: 0.0 1232.25 595.287 -imu_odom_: 1691062845.43453656 1.14203 0.0335188 10.0102 -0.0415453 -0.0596548 -0.0213053 0.13 -0.11 pose: 0.0 4.09005 -4.10575 0 0.000971481 0.00356535 0.998387 0.0566561 uwb: 0.50103618 1232.6 596.304 -imu_odom_: 1691062845.57460994 1.30963 -0.225055 10.003 -0.0585895 -0.0213053 0.015979 0.13 -0.11 pose: 0.0 4.09005 -4.10575 0 0.000971481 0.00356535 0.998387 0.0566561 uwb: 0.0 1232.6 596.304 -imu_odom_: 1691062845.73590372 1.54905 -0.289698 10.3717 -0.0511327 -0.0884169 0.0234358 0.13 -0.11 pose: 0.62996854 4.07604 -4.10746 0 0.0018926 0.00405007 0.998191 0.0599508 uwb: 0.0 1232.6 596.304 -imu_odom_: 1691062845.90697068 1.25456 -0.363919 9.1267 -0.0319579 -0.0426106 -0.0330232 0.1 -0.11 pose: 0.0 4.07604 -4.10746 0 0.0018926 0.00405007 0.998191 0.0599508 uwb: 0.0 1232.6 596.304 -imu_odom_: 1691062845.108443352 1.52989 0.0694318 10.161 -0.0458064 0.0287621 -0.0703074 0.1 -0.11 pose: 0.30990958 4.07604 -4.10746 0 0.00563401 0.0038425 0.998147 0.0604611 uwb: 0.49963043 1233.1 597.077 -imu_odom_: 1691062845.125566088 0.864307 -0.287304 10.1179 -0.0798948 0.0266316 -0.0447411 0.09 -0.11 pose: 0.43861155 4.06816 -4.1013 0 0.0102985 0.00361968 0.99801 0.0621066 uwb: 0.0 1233.1 597.077 -imu_odom_: 1691062845.139626215 0.562637 -0.366313 9.95988 -0.0575243 0.0149137 -0.0894822 0.09 -0.11 pose: 0.0 4.06816 -4.1013 0 0.0102985 0.00361968 0.99801 0.0621066 uwb: 0.0 1233.1 597.077 -imu_odom_: 1691062845.157496740 0.804452 -0.0335188 9.84256 -0.0468716 -0.0500674 -0.122505 0.09 -0.11 pose: 0.0 4.06816 -4.1013 0 0.0102985 0.00361968 0.99801 0.0621066 uwb: 0.50196363 1234.66 598.422 -imu_odom_: 1691062845.173504501 0.912191 0.0526724 9.92875 -0.056459 -0.00958738 -0.0692422 0.07 -0.05 pose: 0.8011609 4.06816 -4.1013 0 0.0108254 0.00307562 0.997985 0.0624368 uwb: 0.0 1234.66 598.422 -imu_odom_: 1691062845.191549725 0.699107 -0.514753 9.96227 -0.0607201 0.00958738 -0.0479369 0.09 -0.08 pose: 0.0 4.06816 -4.1013 0 0.0108254 0.00307562 0.997985 0.0624368 uwb: 0.0 1234.66 598.422 -imu_odom_: 1691062845.207496240 0.56982 -0.301669 9.84496 -0.0447411 -0.0106526 -0.0735032 0.09 -0.08 pose: 0.65056192 4.06816 -4.1013 0 0.0140121 0.00228284 0.997694 0.0663718 uwb: 0.49797678 1235.74 599.79 -imu_odom_: 1691062845.224567646 0.634463 -0.0646434 9.94073 -0.0511327 -0.00213053 -0.0298274 0.07 -0.05 pose: 0.0 4.06816 -4.1013 0 0.0140121 0.00228284 0.997694 0.0663718 uwb: 0.0 1235.74 599.79 -imu_odom_: 1691062845.249518545 0.703895 -0.423774 9.97185 -0.0553937 -0.0149137 0.00319579 0.07 -0.05 pose: 0.25985087 4.06816 -4.1013 0 0.0129207 0.000171336 0.997623 0.0679669 uwb: 0.50009999 1236.52 600.854 -imu_odom_: 1691062845.275698746 -0.718261 -0.0407014 9.22007 -0.0500674 0.115049 0.00319579 0.06 -0.08 pose: 0.34044235 4.06278 -4.09714 0 0.01319 -0.0005637920.997549 0.0687139 uwb: 0.0 1236.52 600.854 -imu_odom_: 1691062845.292570664 -1.36948 -0.332794 10.2951 -0.0553937 0.0266316 0.0191748 0.06 -0.08 pose: 0.8020067 4.06025 -4.09518 0 0.0119267 -0.0003551770.997555 0.0688617 uwb: 0.50064829 1237.67 602.085 -imu_odom_: 1691062845.317637347 -0.136469 -0.150835 9.70849 -0.0585895 -0.092678 0.00958738 0.11 -0.02 pose: 0.0 4.06025 -4.09518 0 0.0119267 -0.0003551770.997555 0.0688617 uwb: 0.0 1237.67 602.085 -imu_odom_: 1691062845.342580663 0.737414 -0.126893 9.61033 -0.0617853 -0.0245011 -0.00319579 0.11 -0.02 pose: 0.35032052 4.05412 -4.10308 0 0.00711849 0.000138758 0.997566 0.0693687 uwb: 0.49964793 1239.06 602.917 -imu_odom_: 1691062845.368704867 -0.189142 -0.191536 10.3286 -0.0596548 0.0170442 0.00639159 0.11 -0.02 pose: 0.50009999 4.05412 -4.10308 0 0.0084055 0.000891141 0.997491 0.0702822 uwb: 0.0 1239.06 602.917 -imu_odom_: 1691062845.393595686 -0.222661 -0.177171 10.1634 -0.0415453 -0.0415453 0 0.11 -0.02 pose: 0.0 4.05412 -4.10308 0 0.0084055 0.000891141 0.997491 0.0702822 uwb: 0.49838801 1239.82 604.007 -imu_odom_: 1691062845.411571788 0.275333 -0.198719 9.83538 -0.0383495 -0.0628506 0 0.13 -0.02 pose: 0.51015023 4.04624 -4.09692 0 0.00350642 0.00136703 0.997454 0.0712151 uwb: 0.0 1239.82 604.007 -imu_odom_: 1691062845.435484415 0.500388 -0.306458 9.79707 -0.0458064 0.0234358 0.00745685 0.13 -0.02 pose: 0.0 4.04624 -4.09692 0 0.00350642 0.00136703 0.997454 0.0712151 uwb: 0.0 1239.82 604.007 -imu_odom_: 1691062845.461667241 0.124498 -0.0311246 10.0772 -0.0245011 -0.0543285 0.0127832 0.17 -0.02 pose: 0.41888729 4.04624 -4.09692 0 0.00275276 -0.0006385160.997404 0.0719489 uwb: 0.49981709 1238.84 604.072 -imu_odom_: 1691062845.477547259 0.459687 -0.131681 9.9934 -0.0553937 -0.0415453 0.0319579 0.17 -0.02 pose: 0.6973629 4.04624 -4.09692 0 0.00235666 -0.0001530570.997399 0.0720426 uwb: 0.0 1238.84 604.072 -imu_odom_: 1691062845.503566761 0.517148 -0.129287 10.2783 -0.0511327 -0.0276969 0.00532632 0.18 -0.05 pose: 0.35089215 4.0322 -4.0986 0 0.00245203 0.00247835 0.997372 0.0723613 uwb: 0.50172447 1238.69 604.313 -imu_odom_: 1691062845.528542741 0.141258 -0.179565 9.83299 -0.0607201 -0.0596548 0.0234358 0.18 -0.05 pose: 0.0 4.0322 -4.0986 0 0.00245203 0.00247835 0.997372 0.0723613 uwb: 0.0 1238.69 604.313 -imu_odom_: 1691062845.555446233 -0.37589 -0.158017 9.8689 -0.0500674 0.00958738 0.0319579 0.17 -0.05 pose: 0.7918573 4.0322 -4.0986 0 0.0032873 0.00276908 0.997359 0.0724954 uwb: 0.50011458 1239.01 605.354 -imu_odom_: 1691062845.579430022 0.514753 -0.19393 10.1323 -0.0756338 0.0191748 0.0426106 0.15 0 pose: 0.50987025 4.02429 -4.09248 0 0.00253984 0.00330211 0.99732 0.0730471 uwb: 0.0 1239.01 605.354 -imu_odom_: 1691062845.605430858 0.538695 -0.059855 10.2783 -0.0479369 -0.00532632 0.0213053 0.15 0 pose: 0.0 4.02429 -4.09248 0 0.00253984 0.00330211 0.99732 0.0730471 uwb: 0.49930378 1239.85 606.282 -imu_odom_: 1691062845.622471058 0.186748 -0.177171 10.0628 -0.0532632 -0.0447411 0.0308927 0.15 -0.02 pose: 0.68978001 4.01261 -4.09608 0 0.00415148 0.00404582 0.997292 0.0733169 uwb: 0.0 1239.85 606.282 -imu_odom_: 1691062845.639681581 0.739808 -0.196325 10.1538 -0.0596548 -0.00319579 0.0266316 0.15 -0.02 pose: 0.8013068 4.01026 -4.09426 0 0.00351503 0.00396886 0.997292 0.0733554 uwb: 0.0 1239.85 606.282 -imu_odom_: 1691062845.655407317 0.203507 -0.244209 9.36612 -0.0447411 0.04048 0.015979 0.15 -0.02 pose: 0.0 4.01026 -4.09426 0 0.00351503 0.00396886 0.997292 0.0733554 uwb: 0.49887215 1239.94 606.913 -imu_odom_: 1691062845.681478150 0.816423 -0.371101 9.36612 -0.0735032 -0.0276969 0.0490022 0.16 -0.02 pose: 0.32985256 4.01026 -4.09426 0 0.00363723 0.00322106 0.997277 0.0735822 uwb: 0.0 1239.94 606.913 -imu_odom_: 1691062845.707558023 0.462081 0.023942 10.2448 -0.0532632 -0.0340885 0.0266316 0.17 0 pose: 0.0 4.01026 -4.09426 0 0.00363723 0.00322106 0.997277 0.0735822 uwb: 0.49993375 1238.3 606.52 -imu_odom_: 1691062845.723565492 0.0646434 -0.222661 9.63187 -0.0607201 0.02024 0.0308927 0.17 0 pose: 0.35048968 4.0048 -4.09003 0 0.00501059 0.0013113 0.997278 0.0735574 uwb: 0.0 1238.3 606.52 -imu_odom_: 1691062845.749498666 0.603339 -0.1652 10.0365 -0.0415453 0.0117179 0.0106526 0.17 0 pose: 0.0 4.0048 -4.09003 0 0.00501059 0.0013113 0.997278 0.0735574 uwb: 0.50008249 1239.66 608.145 -imu_odom_: 1691062845.773457082 0.440533 -0.335188 9.73243 -0.0436758 -0.0255663 0.0394148 0.16 -0.02 pose: 0.49977042 3.99623 -4.09604 0 0.00400105 0.00351201 0.99725 0.0739233 uwb: 0.0 1239.66 608.145 -imu_odom_: 1691062845.798686797 0.347159 -0.179565 10.1347 -0.0628506 0.0298274 0.0191748 0.16 -0.02 pose: 0.42001890 3.98833 -4.0899 0 0.00492176 0.00108659 0.997233 0.0741677 uwb: 0.49986083 1237.5 607.847 -imu_odom_: 1691062845.822401102 0.395043 -0.244209 10.4435 -0.0468716 -0.04048 0.0415453 0.16 -0.02 pose: 0.6942130 3.98833 -4.0899 0 0.00411213 0.00114857 0.997231 0.0742396 uwb: 0.0 1237.5 607.847 -imu_odom_: 1691062845.839473092 0.845153 -0.347159 9.90481 -0.0660464 -0.0170442 0.0490022 0.21 0 pose: 0.0 3.98833 -4.0899 0 0.00411213 0.00114857 0.997231 0.0742396 uwb: 0.0 1237.5 607.847 -imu_odom_: 1691062845.864397450 0.778116 -0.107739 9.75398 -0.0447411 0.0383495 0.0127832 0.21 0 pose: 0.49010225 3.9743 -4.09165 0 0.00151172 -0.0006634840.997229 0.0743721 uwb: 0.50049955 1234.79 606.934 -imu_odom_: 1691062845.890593983 0.54109 -0.339977 9.69412 -0.0639159 0.0138484 0.0330232 0.22 -0.02 pose: 0.34988013 3.9743 -4.09165 0 0.00438575 -0.0001936290.997199 0.0746618 uwb: 0.0 1234.79 606.934 -imu_odom_: 1691062845.906546914 0.275333 -0.0622492 10.0149 -0.0532632 -0.0149137 0.0213053 0.22 -0.02 pose: 0.8077230 3.9743 -4.09165 0 0.00456788 -0.00098938 0.997196 0.074685 uwb: 0.49935337 1237.66 609.13 -imu_odom_: 1691062845.932429632 0.634463 -0.114922 9.85214 -0.0756338 -0.0383495 0.0436758 0.22 0 pose: 0.0 3.9743 -4.09165 0 0.00456788 -0.00098938 0.997196 0.074685 uwb: 0.0 1237.66 609.13 -imu_odom_: 1691062845.957597810 0.471658 -0.112527 9.65103 -0.0415453 0.00745685 0.0191748 0.22 0 pose: 0.42074510 3.96641 -4.08551 0 0.00472384 -0.00126031 0.997181 0.0748713 uwb: 0.50003874 1238.04 610.047 -imu_odom_: 1691062845.983565106 0.272939 -0.354342 9.60554 -0.072438 0.0213053 0.052198 0.2 0.02 pose: 0.43048620 3.95237 -4.08724 0 0.0053035 0.00204611 0.997159 0.0751105 uwb: 0.0 1238.04 610.047 -imu_odom_: 1691062845.999430542 0.318429 -0.122104 10.003 -0.0415453 -0.015979 0.0308927 0.2 0.02 pose: 0.7947154 3.95237 -4.08724 0 0.00454588 0.00153068 0.997167 0.0750599 uwb: 0.50150866 1238.33 611.105 -imu_odom_: 1691062846.24555556 0.411803 -0.110133 9.56244 -0.0617853 -0.0266316 0.0575243 0.24 0 pose: 0.0 3.95237 -4.08724 0 0.00454588 0.00153068 0.997167 0.0750599 uwb: 0.0 1238.33 611.105 -imu_odom_: 1691062846.49381046 0.73502 0.011971 10.4627 -0.0308927 0.00319579 0.0372843 0.24 0 pose: 0.33885578 3.94847 -4.0842 0 0.0016185 0.00136257 0.99718 0.0750165 uwb: 0.50034498 1239.11 612.112 -imu_odom_: 1691062846.74711964 0.52433 -0.339977 9.90002 -0.0692422 -0.00958738 0.0511327 0.18 0.02 pose: 0.49950504 3.94027 -4.0865 0 0.00369178 0.00494905 0.997178 0.074816 uwb: 0.0 1239.11 612.112 -imu_odom_: 1691062846.100394903 0.457293 0.0143652 9.95988 -0.0447411 -0.0191748 0.0532632 0.25 0 pose: 0.0 3.94027 -4.0865 0 0.00369178 0.00494905 0.997178 0.074816 uwb: 0.49988418 1237.95 612.475 -imu_odom_: 1691062846.114392617 0.603339 -0.158017 9.63427 -0.0681769 -0.0234358 0.0543285 0.25 0 pose: 0.32172722 3.93046 -4.08283 0 0.00418327 0.00298628 0.997199 0.0746164 uwb: 0.0 1237.95 612.475 -imu_odom_: 1691062846.139517922 0.11971 -0.150835 9.35415 -0.0447411 0.00639159 0.036219 0.25 0 pose: 0.0 3.93046 -4.08283 0 0.00418327 0.00298628 0.997199 0.0746164 uwb: 0.0 1237.95 612.475 -imu_odom_: 1691062846.164391534 0.186748 -0.134075 9.81383 -0.0830906 0.0117179 0.0607201 0.19 0.02 pose: 0.39844559 3.93046 -4.08283 0 0.0048974 0.00435605 0.997207 0.0743992 uwb: 0.49999792 1236.18 612.328 -imu_odom_: 1691062846.188446194 0.265756 -0.0047884 10.228 -0.0639159 0.0383495 0.0458064 0.18 0 pose: 0.0 3.93046 -4.08283 0 0.0048974 0.00435605 0.997207 0.0743992 uwb: 0.0 1236.18 612.328 -imu_odom_: 1691062846.206384383 0.409408 -0.277727 9.85453 -0.0777643 -0.0127832 0.052198 0.18 0 pose: 0.42993207 3.91833 -4.08213 0 0.000285182 0.00424197 0.997235 0.0741866 uwb: 0.49942921 1235.51 612.664 -imu_odom_: 1691062846.223379961 0.282516 -0.0143652 9.46188 -0.0681769 0.0245011 0.0351537 0.18 0 pose: 0.0 3.91833 -4.08213 0 0.000285182 0.00424197 0.997235 0.0741866 uwb: 0.0 1235.51 612.664 -imu_odom_: 1691062846.246535175 0.603339 -0.0095768110.1227 -0.0894822 -0.0138484 0.0585895 0.18 0 pose: 0.8126811 3.91642 -4.08458 0 -0.0004507110.00480952 0.997234 0.074163 uwb: 0.50192572 1234.43 612.917 -imu_odom_: 1691062846.263550876 0.572214 -0.184354 9.72525 -0.0884169 0.0234358 0.0553937 0.18 0 pose: 0.0 3.91642 -4.08458 0 -0.0004507110.00480952 0.997234 0.074163 uwb: 0.0 1234.43 612.917 -imu_odom_: 1691062846.288427696 0.59855 -0.347159 10.1778 -0.0639159 -0.0255663 0.0458064 0.19 0 pose: 0.41933061 3.90853 -4.07845 0 -0.00197923 0.00461699 0.997244 0.0740231 uwb: 0.0 1234.43 612.917 -imu_odom_: 1691062846.314520111 0.42138 -0.25618 10.0006 -0.0426106 -0.015979 0.0383495 0.19 0 pose: 0.0 3.90853 -4.07845 0 -0.00197923 0.00461699 0.997244 0.0740231 uwb: 0.49808762 1232.74 612.664 -imu_odom_: 1691062846.330394006 0.588974 -0.320823 9.59357 -0.036219 0.00852212 0.0340885 0.17 -0.02 pose: 0.56078641 3.8945 -4.08021 0 0.0014636 0.00397784 0.997276 0.0736419 uwb: 0.0 1232.74 612.664 -imu_odom_: 1691062846.356366552 0.509965 -0.148441 9.59117 -0.0596548 -0.00532632 0.0468716 0.17 -0.02 pose: 0.0 3.8945 -4.08021 0 0.0014636 0.00397784 0.997276 0.0736419 uwb: 0.49982876 1231.22 612.903 -imu_odom_: 1691062846.381385989 0.253785 -0.225055 9.84735 -0.0628506 -0.0181095 0.056459 0.23 0.02 pose: 0.51154140 3.8866 -4.07408 0 0.00233482 -0.00023688 0.997284 0.0736121 uwb: 0.0 1231.22 612.903 -imu_odom_: 1691062846.398413065 0.512359 -0.203507 10.0844 -0.0351537 -0.0170442 0.0490022 0.23 0.02 pose: 0.0 3.8866 -4.07408 0 0.00233482 -0.00023688 0.997284 0.0736121 uwb: 0.49884299 1232.19 614.337 -imu_odom_: 1691062846.422435352 0.383072 -0.294487 10.1251 -0.036219 -0.0245011 0.0490022 0.18 -0.02 pose: 0.76728878 3.87257 -4.07585 0 0.00400587 0.00069513 0.997305 0.0732567 uwb: 0.0 1232.19 614.337 -imu_odom_: 1691062846.448368527 0.471658 -0.339977 10.4148 -0.0426106 -0.00106526 0.0394148 0.18 -0.02 pose: 0.0 3.87257 -4.07585 0 0.00400587 0.00069513 0.997305 0.0732567 uwb: 0.50054623 1233.1 615.874 -imu_odom_: 1691062846.470403223 0.308852 -0.320823 10.2185 -0.04048 -0.00426106 0.0436758 0.18 0 pose: 0.8003152 3.87257 -4.07585 0 0.00348735 0.000239931 0.99731 0.0732173 uwb: 0.0 1233.1 615.874 -imu_odom_: 1691062846.495390870 0.335188 -0.0454898 10.0102 -0.0607201 -0.04048 0.0458064 0.18 0 pose: 0.48036700 3.86466 -4.06973 0 0.0020263 -0.00318696 0.997316 0.073119 uwb: 0.49931254 1232.77 616.417 -imu_odom_: 1691062846.512389656 0.0502782 -0.0550666 10.0844 -0.0575243 0.0181095 0.0639159 0.19 0 pose: 0.0 3.86466 -4.06973 0 0.0020263 -0.00318696 0.997316 0.073119 uwb: 0.0 1232.77 616.417 -imu_odom_: 1691062846.538515902 0.186748 -0.481235 9.55287 -0.0671117 0.0181095 0.0308927 0.19 0 pose: 0.24065451 3.86466 -4.06973 0 0.000417131 -0.00268442 0.997324 0.0730546 uwb: 0.0 1232.77 616.417 -imu_odom_: 1691062846.564464242 0.189142 -0.373495 9.63427 -0.0426106 -0.0191748 0.0447411 0.2 0 pose: 0.42034555 3.85063 -4.07152 0 -0.00199405 -0.0009160740.997342 0.0728292 uwb: 0.49979085 1232.42 616.999 -imu_odom_: 1691062846.589441973 0.371101 -0.275333 10.1658 -0.0213053 -0.0127832 0.0340885 0.17 0.02 pose: 0.43911319 3.84509 -4.06723 0 -0.00538292 -0.00357061 0.997323 0.0728397 uwb: 0.0 1232.42 616.999 -imu_odom_: 1691062846.614515365 0.617704 -0.11971 9.63427 -0.0575243 -0.00426106 0.0543285 0.17 0.02 pose: 0.0 3.84509 -4.06723 0 -0.00538292 -0.00357061 0.997323 0.0728397 uwb: 0.50016708 1232.44 617.725 -imu_odom_: 1691062846.631507734 0.464475 0.011971 10.0628 -0.0553937 0.0138484 0.0394148 0.18 0 pose: 0.8107854 3.84272 -4.0654 0 -0.00454019 -0.00328521 0.997326 0.0728649 uwb: 0.0 1232.44 617.725 -imu_odom_: 1691062846.656515797 0.263362 -0.131681 9.66539 -0.0713727 -0.00426106 0.0553937 0.18 0 pose: 0.0 3.84272 -4.0654 0 -0.00454019 -0.00328521 0.997326 0.0728649 uwb: 0.50051123 1231.01 617.821 -imu_odom_: 1691062846.681371618 0.696713 -0.213084 9.97424 -0.0617853 -0.00106526 0.0500674 0.17 0 pose: 0.48946938 3.82869 -4.06719 0 -0.000356968-0.0009738990.997351 0.0727369 uwb: 0.0 1231.01 617.821 -imu_odom_: 1691062846.698377987 0.474052 -0.148441 10.0437 -0.0756338 0.00639159 0.0639159 0.17 0 pose: 0.0 3.82869 -4.06719 0 -0.000356968-0.0009738990.997351 0.0727369 uwb: 0.49937379 1231.73 619.634 -imu_odom_: 1691062846.723371758 0.579397 -0.217872 9.9527 -0.0745685 0.0340885 0.0351537 0.19 0 pose: 0.43067285 3.82869 -4.06719 0 -0.00138797 0.00110054 0.997367 0.0724974 uwb: 0.0 1231.73 619.634 -imu_odom_: 1691062846.749497713 0.299275 -0.557849 9.78989 -0.0628506 0.0287621 0.0468716 0.19 0 pose: 0.0 3.82869 -4.06719 0 -0.00138797 0.00110054 0.997367 0.0724974 uwb: 0.50402852 1232.7 621.026 -imu_odom_: 1691062846.765400481 0.536301 -0.162806 9.85693 -0.0383495 -0.0458064 0.0276969 0.21 0 pose: 0.41903605 3.81467 -4.069 0 0.00219916 0.0012546 0.997386 0.0722165 uwb: 0.0 1232.7 621.026 -imu_odom_: 1691062846.789337606 0.418985 -0.203507 10.2544 -0.076699 -0.0138484 0.0639159 0.21 0 pose: 0.0 3.81467 -4.069 0 0.00219916 0.0012546 0.997386 0.0722165 uwb: 0.0 1232.7 621.026 -imu_odom_: 1691062846.815334943 0.196325 -0.179565 9.77074 -0.0468716 0.02024 0.0298274 0.26 0 pose: 0.50881157 3.80675 -4.06289 0 0.00254899 -0.00122271 0.997386 0.0721961 uwb: 0.49708142 1233.76 622.673 -imu_odom_: 1691062846.831540735 0.287304 -0.134075 9.90481 -0.0862864 0.00639159 0.0458064 0.26 0 pose: 0.0 3.80675 -4.06289 0 0.00254899 -0.00122271 0.997386 0.0721961 uwb: 0.0 1233.76 622.673 -imu_odom_: 1691062846.855491859 0.356736 -0.244209 9.86411 -0.0532632 0.0245011 0.0340885 0.25 -0.05 pose: 0.74169654 3.79273 -4.06471 0 -0.00285274 0.00159919 0.997397 0.0720328 uwb: 0.49869717 1236.98 625.522 -imu_odom_: 1691062846.881476364 0.550666 -0.418985 9.34457 -0.0745685 -0.0234358 0.0447411 0.25 -0.05 pose: 0.6965463 3.79273 -4.06471 0 -0.00286519 0.00092229 0.997396 0.0720537 uwb: 0.0 1236.98 625.522 -imu_odom_: 1691062846.906393140 0.11971 -0.337582 10.6111 -0.052198 -0.0298274 0.0479369 0.19 0 pose: 0.42970166 3.7848 -4.0586 0 -0.00089872 -0.00290514 0.997397 0.0720434 uwb: 0.0 1236.98 625.522 -imu_odom_: 1691062846.931485197 0.73502 -0.304064 10.568 -0.0596548 -0.0255663 0.0383495 0.19 0 pose: 0.0 3.7848 -4.0586 0 -0.00089872 -0.00290514 0.997397 0.0720434 uwb: 0.0 1236.98 625.522 -imu_odom_: 1691062846.956332561 1.00556 -0.0526724 10.1897 -0.072438 -0.0383495 0.0436758 0.23 -0.02 pose: 0.32938301 3.77078 -4.06042 0 -0.00216092 -0.00337699 0.997401 0.071939 uwb: 0.99986169 1234.45 625.205 -imu_odom_: 1691062846.981393412 0.646434 0.00957681 10.1299 -0.0447411 -0.0394148 0.0340885 0.18 -0.02 pose: 0.0 3.77078 -4.06042 0 -0.00216092 -0.00337699 0.997401 0.071939 uwb: 0.0 1234.45 625.205 -imu_odom_: 1691062846.998545314 0.253785 -0.378284 9.42118 -0.0671117 -0.0287621 0.0351537 0.18 -0.02 pose: 0.50001251 3.77078 -4.06042 0 0.00313932 -0.00245811 0.997401 0.0719357 uwb: 0.50070079 1234.99 626.517 -imu_odom_: 1691062847.22532020 0.385466 -0.304064 9.6606 -0.0553937 -0.00639159 0.0372843 0.18 0 pose: 0.0 3.77078 -4.06042 0 0.00313932 -0.00245811 0.997401 0.0719357 uwb: 0.0 1234.99 626.517 -imu_odom_: 1691062847.48363409 0.512359 -0.385466 10.07 -0.0639159 -0.0223706 0.0532632 0.18 0 pose: 0.42082094 3.76286 -4.05432 0 0.00250547 -0.00238807 0.997397 0.0720272 uwb: 0.50196073 1236.59 628.308 -imu_odom_: 1691062847.61478300 0.646434 -0.148441 10.1514 -0.0553937 -0.00958738 0.0511327 0.18 0 pose: 0.0 3.76286 -4.05432 0 0.00250547 -0.00238807 0.997397 0.0720272 uwb: 0.0 1236.59 628.308 -imu_odom_: 1691062847.85395594 0.373495 -0.31364 10.1945 -0.0479369 -0.04048 0.0490022 0.18 0 pose: 0.47880960 3.74883 -4.05614 0 0.00324816 -0.00512175 0.997398 0.0718334 uwb: 0.0 1236.59 628.308 -imu_odom_: 1691062847.111409556 0.521936 -0.229843 10.2735 -0.0415453 -0.036219 0.04048 0.23 -0.02 pose: 0.31016624 3.74356 -4.05208 0 0.00185745 -0.00466643 0.997416 0.0716711 uwb: 0.49748683 1238.11 630.201 -imu_odom_: 1691062847.135379055 1.19471 -0.117316 10.3214 -0.0543285 -0.0298274 0.0532632 0.23 -0.02 pose: 0.0 3.74356 -4.05208 0 0.00185745 -0.00466643 0.997416 0.0716711 uwb: 0.0 1238.11 630.201 -imu_odom_: 1691062847.153414655 0.316035 -0.282516 9.34457 -0.0681769 0.0213053 0.0436758 0.19 0.02 pose: 0.7990611 3.74091 -4.05004 0 0.00258543 -0.00408837 0.997417 0.0716706 uwb: 0.50033917 1238.37 631.21 -imu_odom_: 1691062847.177486232 -0.0550666 -0.363919 10.228 -0.0575243 -0.0127832 0.0671117 0.19 0.02 pose: 0.0 3.74091 -4.05004 0 0.00258543 -0.00408837 0.997417 0.0716706 uwb: 0.0 1238.37 631.21 -imu_odom_: 1691062847.201378735 0.158017 -0.184354 10.0796 -0.0607201 0.00213053 0.0394148 0.22 0.02 pose: 0.49952254 3.73481 -4.05796 0 0.00601286 -0.00257053 0.99742 0.0714943 uwb: 0.49993085 1238.76 632.722 -imu_odom_: 1691062847.225377983 0.754174 -0.0646434 10.252 -0.0671117 -0.02024 0.056459 0.22 0.02 pose: 0.0 3.73481 -4.05796 0 0.00601286 -0.00257053 0.99742 0.0714943 uwb: 0.0 1238.76 632.722 -imu_odom_: 1691062847.242322814 0.636858 -0.1652 9.47386 -0.0692422 0.00426106 0.0479369 0.25 0.02 pose: 0.41982059 3.72688 -4.05187 0 0.00181559 -0.00274456 0.997461 0.0711335 uwb: 0.50079413 1237.67 632.997 -imu_odom_: 1691062847.267523657 0.416591 -0.217872 9.40682 -0.0692422 -0.00426106 0.0490022 0.25 0.02 pose: 0.0 3.72688 -4.05187 0 0.00181559 -0.00274456 0.997461 0.0711335 uwb: 0.0 1237.67 632.997 -imu_odom_: 1691062847.292337773 0.476446 -0.107739 9.63427 -0.0681769 0.00958738 0.0394148 0.23 0 pose: 0.47001929 3.71895 -4.04578 0 0.00323114 -0.00119349 0.997477 0.0709073 uwb: 0.49940881 1238.04 634.527 -imu_odom_: 1691062847.309466635 0.59855 -0.390255 9.94551 -0.0798948 0.0351537 0.0490022 0.23 0 pose: 0.0 3.71895 -4.04578 0 0.00323114 -0.00119349 0.997477 0.0709073 uwb: 0.0 1238.04 634.527 -imu_odom_: 1691062847.334331207 0.593762 -0.270545 9.93833 -0.0905475 0 0.0490022 0.23 -0.02 pose: 0.43215736 3.70493 -4.04763 0 0.00192071 7.93412e-05 0.997492 0.0707526 uwb: 0.0 1238.04 634.527 -imu_odom_: 1691062847.359473428 0.672771 -0.385466 9.95988 -0.0649811 -0.0276969 0.0436758 0.23 -0.02 pose: 0.0 3.70493 -4.04763 0 0.00192071 7.93412e-05 0.997492 0.0707526 uwb: 0.50058706 1239.51 636.446 -imu_odom_: 1691062847.384323125 0.366313 -0.241814 10.24 -0.0394148 -0.015979 0.036219 0.19 0.02 pose: 0.41842068 3.70493 -4.04763 0 0.00368465 -0.0006320560.997495 0.0706335 uwb: 0.0 1239.51 636.446 -imu_odom_: 1691062847.409341396 0.584185 -0.134075 10.4267 -0.0490022 -0.0735032 0.04048 0.19 0.02 pose: 0.0 3.70493 -4.04763 0 0.00368465 -0.0006320560.997495 0.0706335 uwb: 0.49877592 1238.98 637.251 -imu_odom_: 1691062847.426338432 0.684742 -0.270545 9.47864 -0.0628506 0.0106526 0.0490022 0.18 0.02 pose: 0.50049082 3.69091 -4.04948 0 0.00647933 -0.00337213 0.997485 0.0705054 uwb: 0.0 1238.98 637.251 -imu_odom_: 1691062847.450319889 0.203507 -0.40462 9.67736 -0.0628506 -0.0117179 0.0532632 0.18 0.02 pose: 0.0 3.69091 -4.04948 0 0.00647933 -0.00337213 0.997485 0.0705054 uwb: 0.50054623 1236.17 636.704 -imu_odom_: 1691062847.467392463 0.433351 -0.287304 9.73243 -0.0436758 -0.0138484 0.0490022 0.18 -0.02 pose: 0.66926834 3.68297 -4.0434 0 0.0079274 -0.00177485 0.997487 0.0703883 uwb: 0.0 1236.17 636.704 -imu_odom_: 1691062847.492443981 0.758962 -0.0454898 10.3118 -0.0372843 -0.0426106 0.0479369 0.18 -0.02 pose: 0.0 3.68297 -4.0434 0 0.0079274 -0.00177485 0.997487 0.0703883 uwb: 0.50099829 1235.08 637.002 -imu_odom_: 1691062847.518395822 0.440533 -0.191536 9.98861 -0.0383495 0.00213053 0.0415453 0.18 0 pose: 0.42116509 3.66895 -4.04526 0 0.00584416 -0.00217337 0.997517 0.0701516 uwb: 0.0 1235.08 637.002 -imu_odom_: 1691062847.543315806 0.280122 -0.220267 9.72046 -0.052198 0.00213053 0.0383495 0.19 0 pose: 0.41923146 3.66348 -4.04108 0 0.00494888 7.7253e-05 0.99753 0.0700697 uwb: 0.49885175 1235.45 638.506 -imu_odom_: 1691062847.566311197 0.201113 0.107739 9.69891 -0.0617853 -0.00106526 0.0468716 0.19 0 pose: 0.0 3.66348 -4.04108 0 0.00494888 7.7253e-05 0.99753 0.0700697 uwb: 0.0 1235.45 638.506 -imu_odom_: 1691062847.590313069 0.502782 -0.304064 9.81623 -0.0788296 0.0106526 0.0511327 0.25 0 pose: 0.8120686 3.66101 -4.03919 0 0.004111 9.75371e-05 0.997533 0.0700749 uwb: 0.0 1235.45 638.506 -imu_odom_: 1691062847.607307481 0.153229 -0.407014 10.0078 -0.0500674 -0.0191748 0.0308927 0.25 0 pose: 0.0 3.66101 -4.03919 0 0.004111 9.75371e-05 0.997533 0.0700749 uwb: 0.49994836 1235.67 640.226 -imu_odom_: 1691062847.632290170 0.452504 -0.292093 9.60314 -0.0436758 -0.0223706 0.0426106 0.18 0.02 pose: 0.47915667 3.64699 -4.04106 0 0.00136968 0.00117082 0.997548 0.0699587 uwb: 0.0 1235.67 640.226 -imu_odom_: 1691062847.655351181 0.318429 -0.237026 9.91678 -0.0308927 0.0245011 0.0383495 0.18 0.02 pose: 0.0 3.64699 -4.04106 0 0.00136968 0.00117082 0.997548 0.0699587 uwb: 0.49952254 1236.09 641.65 -imu_odom_: 1691062847.680353703 0.277727 -0.244209 10.0317 -0.0447411 -0.0127832 0.0479369 0.25 -0.02 pose: 0.41941519 3.64699 -4.04106 0 0.00115449 -0.00193813 0.99755 0.0699215 uwb: 0.0 1236.09 641.65 -imu_odom_: 1691062847.694275004 0.519542 -0.136469 9.81623 -0.0585895 -0.00745685 0.0458064 0.25 -0.02 pose: 0.0 3.64699 -4.04106 0 0.00115449 -0.00193813 0.99755 0.0699215 uwb: 0.50050540 1237.55 643.497 -imu_odom_: 1691062847.718444575 0.440533 -0.304064 9.96467 -0.0479369 -0.0372843 0.0553937 0.17 -0.02 pose: 0.46928434 3.63904 -4.03499 0 -0.00114948 -0.00195838 0.997553 0.0698715 uwb: 0.0 1237.55 643.497 -imu_odom_: 1691062847.745298195 0.158017 -0.023942 9.87369 -0.0468716 0.0479369 0.04048 0.17 -0.02 pose: 0.0 3.63904 -4.03499 0 -0.00114948 -0.00195838 0.997553 0.0698715 uwb: 0.50105079 1237.95 644.244 -imu_odom_: 1691062847.770287009 -0.0550666 -0.189142 9.43794 -0.0948085 0.0127832 0.0596548 0.19 0 pose: 0.39169392 3.62503 -4.03687 0 -0.0008616 -0.00151097 0.997567 0.06969 uwb: 0.0 1237.95 644.244 -imu_odom_: 1691062847.788282945 0.526724 0.0766145 10.4531 -0.0436758 -0.0479369 0.0340885 0.19 0 pose: 0.0 3.62503 -4.03687 0 -0.0008616 -0.00151097 0.997567 0.06969 uwb: 0.0 1237.95 644.244 -imu_odom_: 1691062847.812343439 0.260968 -0.0742203 10.2568 -0.0681769 -0.0394148 0.0458064 0.18 -0.02 pose: 0.51882098 3.61708 -4.03081 0 -0.0030759 -0.0005900620.99758 0.0694603 uwb: 0.49837636 1235.92 643.934 -imu_odom_: 1691062847.835279333 0.141258 -0.208296 10.0078 -0.0383495 -0.0372843 0.0330232 0.18 -0.02 pose: 0.0 3.61708 -4.03081 0 -0.0030759 -0.0005900620.99758 0.0694603 uwb: 0.0 1235.92 643.934 -imu_odom_: 1691062847.853337098 0.548272 -0.196325 9.77553 -0.0735032 -0.02024 0.0639159 0.25 0 pose: 0.41942395 3.61101 -4.03876 0 -0.00348296 0.00148949 0.997588 0.0693151 uwb: 0.50112078 1235.64 644.654 -imu_odom_: 1691062847.877340429 0.253785 0.0191536 10.2352 -0.0639159 -0.0372843 0.0500674 0.25 0 pose: 0.0 3.61101 -4.03876 0 -0.00348296 0.00148949 0.997588 0.0693151 uwb: 0.0 1235.64 644.654 -imu_odom_: 1691062847.902323993 0.435745 -0.244209 9.69891 -0.0735032 0.0223706 0.0458064 0.21 -0.02 pose: 0.46990263 3.60306 -4.0327 0 -0.00494317 0.00238735 0.997584 0.0692463 uwb: 0.49945255 1235.85 645.692 -imu_odom_: 1691062847.917366978 -0.0574608 -0.220267 10.0533 -0.0553937 0.0330232 0.0319579 0.21 -0.02 pose: 0.0 3.60306 -4.0327 0 -0.00494317 0.00238735 0.997584 0.0692463 uwb: 0.0 1235.85 645.692 -imu_odom_: 1691062847.941302646 0.383072 -0.191536 10.3765 -0.0639159 -0.052198 0.0479369 0.18 0 pose: 0.41995766 3.58904 -4.03459 0 -0.00367732 0.00367868 0.997606 0.0689641 uwb: 0.49818679 1234.76 645.986 -imu_odom_: 1691062847.968278468 0.42138 -0.189142 10.5489 -0.0383495 -0.0276969 0.0298274 0.18 0 pose: 0.0 3.58904 -4.03459 0 -0.00367732 0.00367868 0.997606 0.0689641 uwb: 0.0 1234.76 645.986 -imu_odom_: 1691062847.993286822 0.454898 -0.0383072 10.161 -0.0660464 -0.0426106 0.052198 0.2 0 pose: 0.40028883 3.58904 -4.03459 0 -0.00356757 0.0019815 0.997613 0.0689366 uwb: 0.49981128 1234.56 646.955 -imu_odom_: 1691062848.19303117 0.588974 -0.0407014 10.2568 -0.0394148 -0.0340885 0.02024 0.2 0 pose: 0.52057672 3.58109 -4.02854 0 0.00175275 0.00217907 0.997617 0.068942 uwb: 0.0 1234.56 646.955 -imu_odom_: 1691062848.33307831 0.687136 -0.110133 10.1945 -0.0756338 -0.00319579 0.0479369 0.21 -0.02 pose: 0.0 3.58109 -4.02854 0 0.00175275 0.00217907 0.997617 0.068942 uwb: 0.0 1234.56 646.955 -imu_odom_: 1691062848.56277557 0.553061 0.124498 10.1394 -0.0553937 -0.00745685 0.0340885 0.21 -0.02 pose: 0.0 3.58109 -4.02854 0 0.00175275 0.00217907 0.997617 0.068942 uwb: 0.50175367 1233.32 647.487 -imu_odom_: 1691062848.82433260 0.306458 -0.184354 10.1251 -0.072438 0.00639159 0.0298274 0.18 0 pose: 0.62914030 3.56707 -4.03044 0 0.00660268 0.00552987 0.997576 0.0690461 uwb: 0.0 1233.32 647.487 -imu_odom_: 1691062848.106293100 0.387861 -0.280122 9.09318 -0.0436758 -0.0234358 0.0308927 0.2 -0.02 pose: 0.0 3.56707 -4.03044 0 0.00660268 0.00552987 0.997576 0.0690461 uwb: 0.50128995 1231.63 647.384 -imu_odom_: 1691062848.124497565 0.663194 -0.387861 9.94791 -0.0639159 -0.0276969 0.0511327 0.2 -0.02 pose: 0.42150633 3.55912 -4.02439 0 0.00438581 0.00581217 0.997574 0.0692366 uwb: 0.0 1231.63 647.384 -imu_odom_: 1691062848.149542668 0.40462 -0.124498 10.2017 -0.0372843 -0.015979 0.0340885 0.2 -0.02 pose: 0.0 3.55912 -4.02439 0 0.00438581 0.00581217 0.997574 0.0692366 uwb: 0.49809347 1231.43 648.352 -imu_odom_: 1691062848.174263457 0.047884 -0.203507 9.88805 -0.0607201 -0.0319579 0.0511327 0.18 0 pose: 0.7948614 3.55912 -4.02439 0 0.00406362 0.00516644 0.997576 0.069271 uwb: 0.0 1231.43 648.352 -imu_odom_: 1691062848.191253786 0.474052 -0.234632 9.56962 -0.0372843 0.0234358 0.0298274 0.18 0 pose: 0.0 3.55912 -4.02439 0 0.00406362 0.00516644 0.997576 0.069271 uwb: 0.0 1231.43 648.352 -imu_odom_: 1691062848.214323839 0.553061 -0.332794 9.96467 -0.0553937 0.0127832 0.0553937 0.18 -0.02 pose: 0.43030248 3.5451 -4.02628 0 0.00391014 0.0027535 0.997588 0.0692548 uwb: 0.50050833 1231.69 649.286 -imu_odom_: 1691062848.240420046 0.430956 -0.237026 10.3837 -0.0543285 0.0117179 0.0351537 0.25 0 pose: 0.80911717 3.53323 -4.02536 0 0.00231864 0.000213001 0.99761 0.0690638 uwb: 0.49943505 1232.32 650.998 -imu_odom_: 1691062848.256414100 0.272939 -0.179565 9.87369 -0.0628506 -0.02024 0.0553937 0.25 0 pose: 0.0 3.53323 -4.02536 0 0.00231864 0.000213001 0.99761 0.0690638 uwb: 0.0 1232.32 650.998 -imu_odom_: 1691062848.282269697 0.167594 -0.268151 9.76355 -0.0532632 0.0106526 0.0340885 0.23 0.02 pose: 0.8164725 3.53109 -4.02818 0 0.00176503 -0.0004333750.997609 0.0690805 uwb: 0.0 1232.32 650.998 -imu_odom_: 1691062848.305335375 0.629675 -0.201113 9.66779 -0.0788296 0.00106526 0.0585895 0.23 0.02 pose: 0.0 3.53109 -4.02818 0 0.00176503 -0.0004333750.997609 0.0690805 uwb: 0.50256738 1231.47 651.618 -imu_odom_: 1691062848.329328498 0.620098 -0.181959 10.3334 -0.0671117 0.00426106 0.0415453 0.18 0.02 pose: 0.41935396 3.52313 -4.02212 0 -0.00157158 -0.00116102 0.997614 0.0690096 uwb: 0.0 1231.47 651.618 -imu_odom_: 1691062848.347257938 0.258574 -0.220267 9.6199 -0.0660464 -0.0383495 0.0532632 0.18 0.02 pose: 0.0 3.52313 -4.02212 0 -0.00157158 -0.00116102 0.997614 0.0690096 uwb: 0.49623858 1229.25 651.672 -imu_odom_: 1691062848.371257478 0.229843 -0.277727 9.35415 -0.0713727 0 0.0372843 0.18 0 pose: 0.48915442 3.50912 -4.02402 0 -0.000514271-0.00124922 0.997627 0.0688326 uwb: 0.0 1229.25 651.672 -imu_odom_: 1691062848.394266576 0.586579 -0.186748 9.76834 -0.103331 -0.0351537 0.0596548 0.18 0 pose: 0.0 3.50912 -4.02402 0 -0.000514271-0.00124922 0.997627 0.0688326 uwb: 0.50158452 1231.47 654.222 -imu_odom_: 1691062848.420278205 0.545878 -0.385466 10.0413 -0.0671117 -0.0553937 0.036219 0.25 -0.02 pose: 0.41941229 3.50116 -4.01797 0 -0.00130222 -0.00112444 0.997636 0.068703 uwb: 0.0 1231.47 654.222 -imu_odom_: 1691062848.434260754 0.919373 -0.371101 10.896 -0.0500674 -0.0490022 0.0468716 0.25 -0.02 pose: 0.0 3.50116 -4.01797 0 -0.00130222 -0.00112444 0.997636 0.068703 uwb: 0.0 1231.47 654.222 -imu_odom_: 1691062848.458370828 0.593762 -0.0909797 9.95748 -0.036219 0.00852212 0.0500674 0.17 -0.02 pose: 0.47027595 3.50116 -4.01797 0 0.000418863 -0.00236507 0.997648 0.0685039 uwb: 0.50029250 1233.69 656.77 -imu_odom_: 1691062848.483229859 0.830788 -0.167594 10.7141 -0.0607201 -0.056459 0.04048 0.17 -0.02 pose: 0.0 3.50116 -4.01797 0 0.000418863 -0.00236507 0.997648 0.0685039 uwb: 0.0 1233.69 656.77 -imu_odom_: 1691062848.506251206 0.545878 -0.181959 9.75877 -0.0458064 -0.015979 0.052198 0.18 0.02 pose: 0.38998486 3.48714 -4.01989 0 0.00412085 -0.0034585 0.99764 0.0684543 uwb: 0.50045584 1233.51 657.673 -imu_odom_: 1691062848.522567533 0.4956 -0.395043 9.88805 -0.0511327 -0.00213053 0.0575243 0.18 0.02 pose: 0.0 3.48714 -4.01989 0 0.00412085 -0.0034585 0.99764 0.0684543 uwb: 0.0 1233.51 657.673 -imu_odom_: 1691062848.548324552 0.311246 -0.0837971 10.2065 -0.04048 0.00106526 0.0479369 0.25 0 pose: 0.48933816 3.47918 -4.01384 0 0.00795002 -0.0008184880.997631 0.0683285 uwb: 0.49935631 1232.51 657.868 -imu_odom_: 1691062848.573223830 0.536301 0.0335188 10.4651 -0.0745685 -0.015979 0.0500674 0.25 0 pose: 0.0 3.47918 -4.01384 0 0.00795002 -0.0008184880.997631 0.0683285 uwb: 0.0 1232.51 657.868 -imu_odom_: 1691062848.590273364 0.675165 -0.299275 9.7875 -0.0458064 -0.00532632 0.0351537 0.21 -0.02 pose: 0.40062715 3.47314 -4.02181 0 0.00651516 -0.0001977280.99766 0.0680521 uwb: 0.0 1232.51 657.868 -imu_odom_: 1691062848.615294260 0.311246 -0.234632 9.74201 -0.0436758 -0.0127832 0.0340885 0.21 -0.02 pose: 0.0 3.47314 -4.02181 0 0.00651516 -0.0001977280.99766 0.0680521 uwb: 0.49991628 1231.19 657.884 -imu_odom_: 1691062848.640352195 0.397437 -0.0526724 10.1323 -0.056459 -0.0330232 0.0426106 0.21 -0.02 pose: 0.50935989 3.46517 -4.01577 0 0.00618545 0.00258194 0.997671 0.0678773 uwb: 0.0 1231.19 657.884 -imu_odom_: 1691062848.664222534 0.634463 -0.304064 10.343 -0.0756338 -0.0426106 0.0543285 0.21 -0.02 pose: 0.0 3.46517 -4.01577 0 0.00618545 0.00258194 0.997671 0.0678773 uwb: 0.49813430 1231.75 658.977 -imu_odom_: 1691062848.690229497 0.73502 -0.220267 9.991 -0.0426106 -0.00319579 0.0223706 0.18 -0.02 pose: 0.42144508 3.4572 -4.00973 0 0.00417326 0.00221671 0.997677 0.0679527 uwb: 0.0 1231.75 658.977 -imu_odom_: 1691062848.703218104 0.440533 -0.198719 10.1849 -0.0383495 -0.0149137 0.0319579 0.18 -0.02 pose: 0.0 3.4572 -4.00973 0 0.00417326 0.00221671 0.997677 0.0679527 uwb: 0.49998336 1231.48 660.016 -imu_odom_: 1691062848.726216995 0.462081 -0.148441 10.1011 -0.0372843 -0.0117179 0.036219 0.18 0 pose: 0.48874903 3.44319 -4.01166 0 0.00626657 0.00137592 0.997677 0.0678161 uwb: 0.0 1231.48 660.016 -imu_odom_: 1691062848.752355491 0.438139 -0.181959 9.8258 -0.0426106 -0.0245011 0.0575243 0.18 0 pose: 0.0 3.44319 -4.01166 0 0.00626657 0.00137592 0.997677 0.0678161 uwb: 0.50127537 1230.6 660.669 -imu_odom_: 1691062848.765222772 0.301669 -0.251391 9.51456 -0.0490022 0.00532632 0.0490022 0.18 0 pose: 0.80096848 3.43067 -4.01162 0 0.00264107 0.0018303 0.997692 0.0678306 uwb: 0.0 1230.6 660.669 -imu_odom_: 1691062848.789426175 0.25618 -0.0957681 10.1562 -0.0617853 -0.036219 0.0543285 0.18 0 pose: 0.0 3.43067 -4.01162 0 0.00264107 0.0018303 0.997692 0.0678306 uwb: 0.0 1230.6 660.669 -imu_odom_: 1691062848.806229848 0.572214 -0.624887 9.64384 -0.0649811 0.00852212 0.0532632 0.24 0 pose: 0.5923400 3.42918 -4.01359 0 0.00206696 0.00162187 0.997695 0.0678032 uwb: 0.49988420 1229.96 661.622 -imu_odom_: 1691062848.831225079 0.416591 -0.169988 9.97185 -0.0511327 0.0138484 0.0628506 0.24 0 pose: 0.0 3.42918 -4.01359 0 0.00206696 0.00162187 0.997695 0.0678032 uwb: 0.0 1229.96 661.622 -imu_odom_: 1691062848.856372842 0.64404 -0.189142 9.79228 -0.0745685 0.0223706 0.0426106 0.22 0 pose: 0.38976321 3.4212 -4.00756 0 -0.0001144380.00174659 0.997715 0.0675443 uwb: 0.50255279 1230.99 663.269 -imu_odom_: 1691062848.878282130 0.890643 -0.280122 9.58399 -0.0745685 -0.0234358 0.0458064 0.22 0 pose: 0.0 3.4212 -4.00756 0 -0.0001144380.00174659 0.997715 0.0675443 uwb: 0.0 1230.99 663.269 -imu_odom_: 1691062848.894362805 0.521936 -0.533907 9.55526 -0.0607201 0.0287621 0.04048 0.18 0.02 pose: 0.81026918 3.4072 -4.0095 0 0.0054415 0.00140681 0.997732 0.0670693 uwb: 0.49797973 1229.77 663.798 -imu_odom_: 1691062848.919224168 0.222661 -0.366313 9.51216 -0.056459 0.0553937 0.0511327 0.18 0.02 pose: 0.7965821 3.4072 -4.0095 0 0.00529626 0.000597399 0.997735 0.0670614 uwb: 0.0 1229.77 663.798 -imu_odom_: 1691062848.942224225 0.294487 -0.198719 9.35415 -0.0713727 -0.0298274 0.0543285 0.18 0.02 pose: 0.32976217 3.39922 -4.00348 0 0.00215433 -0.00125151 0.997756 0.0669047 uwb: 0.50098372 1231.43 665.769 -imu_odom_: 1691062848.967232580 0.366313 -0.272939 10.0317 -0.0628506 -0.0117179 0.0394148 0.18 0.02 pose: 0.0 3.39922 -4.00348 0 0.00215433 -0.00125151 0.997756 0.0669047 uwb: 0.0 1231.43 665.769 -imu_odom_: 1691062848.983215552 0.658405 -0.553061 9.75398 -0.0639159 -0.0255663 0.0415453 0.22 -0.02 pose: 0.48008412 3.38933 -4.00487 0 -0.00153861 -0.002532 0.997766 0.0667344 uwb: 0.0 1231.43 665.769 -imu_odom_: 1691062849.8342025 0.402226 -0.332794 9.90481 -0.0426106 0.02024 0.0394148 0.22 -0.02 pose: 0.0 3.38933 -4.00487 0 -0.00153861 -0.002532 0.997766 0.0667344 uwb: 0.49712228 1231.25 666.648 -imu_odom_: 1691062849.33264927 0.68953 -0.237026 9.77313 -0.0543285 -0.0149137 0.04048 0.21 0 pose: 0.41109445 3.38521 -4.00545 0 -0.000761658-0.0061584 0.997752 0.0667253 uwb: 0.0 1231.25 666.648 -imu_odom_: 1691062849.49210860 0.337582 -0.42138 9.27514 -0.0308927 0.0479369 0.0255663 0.21 0 pose: 0.6880010 3.38521 -4.00545 0 -5.83783e-05-0.00598457 0.997753 0.0667261 uwb: 0.49986962 1232.97 668.508 -imu_odom_: 1691062849.73270188 0.519542 -0.483629 9.17698 0.0255663 0.0436758 0.0234358 0.18 0 pose: 0.33988825 3.37723 -3.99943 0 0.000197213 -0.00637356 0.997744 0.0668325 uwb: 0.0 1232.97 668.508 -imu_odom_: 1691062849.98346498 0.0694318 0.122104 9.45949 -0.0266316 0.0671117 0.0458064 0.18 0 pose: 0.0 3.37723 -3.99943 0 0.000197213 -0.00637356 0.997744 0.0668325 uwb: 0.50059292 1232.87 669.877 -imu_odom_: 1691062849.115363659 0.280122 0.100556 10.1083 -0.0745685 -0.0106526 0.0585895 0.18 -0.02 pose: 0.7004544 3.37723 -3.99943 0 0.000404498 -0.00668312 0.997738 0.0668918 uwb: 0.0 1232.87 669.877 -imu_odom_: 1691062849.140229981 0.380678 -0.409408 9.62708 -0.0596548 0.00639159 0.0191748 0.18 -0.02 pose: 0.0 3.37723 -3.99943 0 0.000404498 -0.00668312 0.997738 0.0668918 uwb: 0.0 1232.87 669.877 -imu_odom_: 1691062849.166204571 0.476446 -0.105345 10.173 -0.0330232 -0.0447411 0.0340885 0.19 0 pose: 0.49293421 3.36322 -4.00139 0 -0.00144689 -0.00428614 0.99775 0.0668875 uwb: 0.50061333 1232.29 670.703 -imu_odom_: 1691062849.191222259 0.105345 -0.155623 10.2208 -0.015979 -0.00426106 0.0394148 0.17 0 pose: 0.60695746 3.35111 -4.00084 0 -7.72635e-05-0.00338756 0.997739 0.0671205 uwb: 0.0 1232.29 670.703 -imu_odom_: 1691062849.214357059 0.897826 -0.198719 9.69652 -0.0553937 -0.0213053 0.0703074 0.17 0 pose: 0.0 3.35111 -4.00084 0 -7.72635e-05-0.00338756 0.997739 0.0671205 uwb: 0.0 1232.29 670.703 -imu_odom_: 1691062849.231470464 0.047884 -0.112527 10.2352 -0.0287621 0.015979 0.0479369 0.17 0 pose: 0.0 3.35111 -4.00084 0 -7.72635e-05-0.00338756 0.997739 0.0671205 uwb: 0.0 1232.29 670.703 -imu_odom_: 1691062849.257347060 0.61531 -0.201113 9.84735 -0.0426106 -0.0266316 0.0340885 0.25 -0.02 pose: 0.8180183 3.34922 -4.00335 0 -0.000797272-0.00285759 0.997741 0.0671187 uwb: 0.100064045 1231.54 671.76 -imu_odom_: 1691062849.284337757 0.847547 -0.0670376 10.6087 -0.0468716 -0.0266316 0.0532632 0.25 -0.02 pose: 0.47973415 3.34124 -3.99732 0 -0.000569769-0.00126547 0.99777 0.0667296 uwb: 0.0 1231.54 671.76 -imu_odom_: 1691062849.310309722 0.565032 0.0837971 9.75398 -0.0415453 -0.00213053 0.0447411 0.25 -0.02 pose: 0.0 3.34124 -3.99732 0 -0.000569769-0.00126547 0.99777 0.0667296 uwb: 0.49944674 1231.45 672.5 -imu_odom_: 1691062849.327354881 0.155623 -0.344765 10.0748 -0.0500674 -0.00639159 0.0692422 0.23 -0.02 pose: 0.43009834 3.33325 -3.9913 0 0.00226006 -0.0002057610.99777 0.0667088 uwb: 0.0 1231.45 672.5 -imu_odom_: 1691062849.353473254 0.56982 -0.191536 9.87129 -0.0532632 0.00532632 0.0383495 0.23 -0.02 pose: 0.0 3.33325 -3.9913 0 0.00226006 -0.0002057610.99777 0.0667088 uwb: 0.50187909 1231.59 673.519 -imu_odom_: 1691062849.380340000 0.612916 -0.205901 10.1993 -0.0671117 -0.0276969 0.0681769 0.23 0 pose: 0.52014801 3.32723 -3.99929 0 0.00451752 0.00274471 0.997778 0.0664181 uwb: 0.0 1231.59 673.519 -imu_odom_: 1691062849.406315757 0.454898 -0.172383 10.2999 -0.056459 0.0276969 0.04048 0.19 0 pose: 0.44148724 3.31924 -3.99327 0 0.00681915 0.00116151 0.997785 0.0661596 uwb: 0.0 1231.59 673.519 -imu_odom_: 1691062849.423438495 0.21069 -0.126893 9.88566 -0.076699 -0.04048 0.0532632 0.25 0 pose: 0.0 3.31924 -3.99327 0 0.00681915 0.00116151 0.997785 0.0661596 uwb: 0.0 1231.59 673.519 -imu_odom_: 1691062849.448252903 0.167594 -0.344765 9.51935 -0.0671117 0.0298274 0.04048 0.25 0 pose: 0.0 3.31924 -3.99327 0 0.00681915 0.00116151 0.997785 0.0661596 uwb: 0.99798352 1232.54 675.184 -imu_odom_: 1691062849.474268908 0.21069 -0.447716 9.85693 -0.0820254 -0.015979 0.0671117 0.21 0 pose: 0.52309659 3.30524 -3.99526 0 0.00525194 0.00110029 0.997816 0.0658319 uwb: 0.0 1232.54 675.184 -imu_odom_: 1691062849.497196928 0.497994 -0.414197 9.99819 -0.0617853 0.00426106 0.036219 0.21 0 pose: 0.42393870 3.29725 -3.98925 0 0.00122274 -0.0004936210.997842 0.0656475 uwb: 0.49865637 1231.88 675.517 -imu_odom_: 1691062849.513191274 0.462081 -0.172383 10.4866 -0.0532632 -0.015979 0.0479369 0.18 0 pose: 0.40961871 3.28754 -3.99064 0 0.000895179 -0.00409076 0.997848 0.0654384 uwb: 0.0 1231.88 675.517 -imu_odom_: 1691062849.536253745 0.713472 -0.0933739 10.2687 -0.0340885 -0.0266316 0.036219 0.18 0 pose: 0.0 3.28754 -3.99064 0 0.000895179 -0.00409076 0.997848 0.0654384 uwb: 0.0 1231.88 675.517 -imu_odom_: 1691062849.562311163 0.821211 -0.047884 9.62469 -0.0490022 -0.0149137 0.0426106 0.18 0.02 pose: 0.39056817 3.28325 -3.99125 0 0.0038277 -0.00125658 0.99785 0.0654194 uwb: 0.50104205 1231.56 675.957 -imu_odom_: 1691062849.587253314 0.732626 -0.148441 10.1634 -0.0490022 0.00213053 0.0479369 0.18 0.02 pose: 0.0 3.28325 -3.99125 0 0.0038277 -0.00125658 0.99785 0.0654194 uwb: 0.0 1231.56 675.957 -imu_odom_: 1691062849.610177543 0.399832 -0.0574608 10.2041 -0.0532632 0.0127832 0.0532632 0.18 0 pose: 0.33132250 3.27525 -3.98526 0 0.00701 8.29732e-05 0.997837 0.065357 uwb: 0.49872636 1233.58 678.509 -imu_odom_: 1691062849.626168681 0.071826 -0.311246 9.76834 -0.0468716 -0.00639159 0.0458064 0.18 0 pose: 0.0 3.27525 -3.98526 0 0.00701 8.29732e-05 0.997837 0.065357 uwb: 0.0 1233.58 678.509 -imu_odom_: 1691062849.651354943 0.342371 -0.275333 9.98861 -0.0575243 -0.0223706 0.0596548 0.25 0 pose: 0.24955859 3.27525 -3.98526 0 0.00810443 0.00101264 0.997836 0.06524 uwb: 0.50151162 1234.4 680.329 -imu_odom_: 1691062849.674353834 0.574608 -0.23942 10.2256 -0.0532632 -0.00213053 0.04048 0.25 0 pose: 0.0 3.27525 -3.98526 0 0.00810443 0.00101264 0.997836 0.06524 uwb: 0.0 1234.4 680.329 -imu_odom_: 1691062849.699303859 0.59855 -0.105345 10.3286 -0.0596548 -0.0149137 0.04048 0.18 0.02 pose: 0.38833996 3.26125 -3.98726 0 0.00468961 0.00141429 0.997872 0.0650226 uwb: 0.50062500 1234.49 681.363 -imu_odom_: 1691062849.725191829 0.452504 -0.122104 10.2424 -0.0511327 -0.036219 0.0500674 0.23 -0.02 pose: 0.49192802 3.25324 -3.98128 0 0.00591118 0.000180722 0.997879 0.0648242 uwb: 0.0 1234.49 681.363 -imu_odom_: 1691062849.741164010 0.296881 -0.198719 9.72764 -0.0681769 -0.00106526 0.0553937 0.23 -0.02 pose: 0.0 3.25324 -3.98128 0 0.00591118 0.000180722 0.997879 0.0648242 uwb: 0.49791557 1232.6 681.609 -imu_odom_: 1691062849.758228710 -0.0287304 -0.447716 10.1155 -0.0543285 -0.00745685 0.0351537 0.23 -0.02 pose: 0.0 3.25324 -3.98128 0 0.00591118 0.000180722 0.997879 0.0648242 uwb: 0.0 1232.6 681.609 -imu_odom_: 1691062849.783160654 0.301669 -0.320823 9.57441 -0.0458064 -0.0383495 0.0447411 0.18 0 pose: 0.75860058 3.23924 -3.9833 0 0.00228419 0.00179628 0.997906 0.0646195 uwb: 0.0 1232.6 681.609 -imu_odom_: 1691062849.810300383 0.342371 -0.177171 10.3142 -0.02024 -0.0127832 0.036219 0.23 0.02 pose: 0.8023276 3.23924 -3.9833 0 0.00182103 0.00129475 0.997909 0.064599 uwb: 0.50128704 1232.16 682.217 -imu_odom_: 1691062849.834298757 0.397437 -0.253785 10.0173 -0.0447411 -0.0234358 0.056459 0.19 0 pose: 0.44048397 3.23359 -3.97908 0 -0.00145606 0.00188797 0.997908 0.0646023 uwb: 0.0 1232.16 682.217 -imu_odom_: 1691062849.860193726 0.457293 -0.007182619.59835 -0.0372843 0.0319579 0.0447411 0.22 0 pose: 0.0 3.23359 -3.97908 0 -0.00145606 0.00188797 0.997908 0.0646023 uwb: 0.50059584 1234.83 685.511 -imu_odom_: 1691062849.886304225 0.282516 0.160412 10.0365 -0.0458064 0.0127832 0.0532632 0.22 0 pose: 0.31888949 3.22525 -3.98532 0 -0.0004504270.000502939 0.997925 0.0643826 uwb: 0.0 1234.83 685.511 -imu_odom_: 1691062849.912165363 0.565032 -0.234632 10.1155 -0.0820254 -0.0436758 0.0692422 0.24 0 pose: 0.0 3.22525 -3.98532 0 -0.0004504270.000502939 0.997925 0.0643826 uwb: 0.50038876 1236.31 687.533 -imu_odom_: 1691062849.926155787 0.430956 -0.349553 9.46188 -0.0735032 -0.0138484 0.0468716 0.24 0 pose: 0.52051257 3.21723 -3.97934 0 -0.0002556340.00445004 0.997938 0.0640381 uwb: 0.0 1236.31 687.533 -imu_odom_: 1691062849.943217862 0.725443 -0.0023942 10.3525 -0.0660464 0.0191748 0.0394148 0.24 0 pose: 0.0 3.21723 -3.97934 0 -0.0002556340.00445004 0.997938 0.0640381 uwb: 0.50037127 1235.37 688.209 -imu_odom_: 1691062849.969141413 0.622492 -0.464475 9.7037 -0.0862864 0.0213053 0.0447411 0.18 -0.02 pose: 0.38925283 3.20324 -3.98138 0 0.00206683 0.00190183 0.997964 0.0637159 uwb: 0.0 1235.37 688.209 -imu_odom_: 1691062849.994222098 0.40462 -0.169988 9.7851 -0.052198 0.0266316 0.0458064 0.21 0 pose: 0.0 3.20324 -3.98138 0 0.00206683 0.00190183 0.997964 0.0637159 uwb: 0.49583903 1235.72 689.445 -imu_odom_: 1691062850.17153034 0.897826 -0.155623 9.16022 -0.072438 -0.0138484 0.0532632 0.21 0 pose: 0.43133785 3.20324 -3.98138 0 0.00294044 6.88276e-05 0.99797 0.0636192 uwb: 0.0 1235.72 689.445 -imu_odom_: 1691062850.43309323 0.481235 -0.225055 9.90242 -0.056459 -0.0127832 0.0383495 0.18 -0.02 pose: 0.40853377 3.19522 -3.97541 0 0.00365191 0.00105444 0.99798 0.0634078 uwb: 0.50140662 1234.24 689.711 -imu_odom_: 1691062850.70365349 0.533907 -0.196325 9.92397 -0.0447411 -0.0436758 0.0351537 0.18 -0.02 pose: 0.8055358 3.19522 -3.97541 0 0.00381447 0.000251869 0.99798 0.0634098 uwb: 0.0 1234.24 689.711 -imu_odom_: 1691062850.86212705 0.984017 -0.126893 9.40203 -0.0351537 0.0223706 0.036219 0.2 0.02 pose: 0.0 3.19522 -3.97541 0 0.00381447 0.000251869 0.99798 0.0634098 uwb: 0.0 1234.24 689.711 -imu_odom_: 1691062850.112200711 0.452504 -0.126893 9.95509 -0.0447411 0.00426106 0.0372843 0.2 0.02 pose: 0.53104404 3.18122 -3.97747 0 0.00751141 0.000430923 0.997954 0.0634948 uwb: 0.49995130 1232.03 689.262 -imu_odom_: 1691062850.137147529 -0.0526724 -0.347159 9.52174 -0.0649811 0.0447411 0.0479369 0.19 0 pose: 0.33887915 3.17545 -3.97317 0 0.00594947 0.00220654 0.997958 0.06355 uwb: 0.0 1232.03 689.262 -imu_odom_: 1691062850.164273843 0.366313 -0.282516 9.63187 -0.0330232 -0.0596548 0.0223706 0.2 0 pose: 0.7003086 3.1732 -3.9715 0 0.00509709 0.00201275 0.997965 0.0635214 uwb: 0.50061918 1230.1 689.027 -imu_odom_: 1691062850.190143440 0.397437 -0.292093 9.73243 -0.0798948 -0.0394148 0.0436758 0.19 -0.02 pose: 0.45070046 3.16171 -3.97542 0 0.00173891 -0.0001270050.997969 0.0636788 uwb: 0.0 1230.1 689.027 -imu_odom_: 1691062850.207140769 0.536301 -0.222661 9.96946 -0.0660464 0.00426106 0.0330232 0.19 -0.02 pose: 0.0 3.16171 -3.97542 0 0.00173891 -0.0001270050.997969 0.0636788 uwb: 0.49928925 1229.91 689.852 -imu_odom_: 1691062850.231380046 0.667982 -0.23942 9.97903 -0.0798948 -0.0319579 0.0458064 0.25 0 pose: 0.33070422 3.15921 -3.97356 0 0.00150796 -0.00252036 0.997968 0.063648 uwb: 0.0 1229.91 689.852 -imu_odom_: 1691062850.258176504 0.921768 -0.217872 10.2017 -0.04048 0.00639159 0.0372843 0.21 0 pose: 0.34035781 3.15379 -3.96953 0 0.00513915 -0.00255496 0.997958 0.0636126 uwb: 0.50172745 1230.27 691.059 -imu_odom_: 1691062850.283146363 0.694318 -0.124498 10.4483 -0.052198 -0.0127832 0.0543285 0.21 0 pose: 0.7767207 3.15119 -3.96759 0 0.00587788 -0.00246584 0.997954 0.0636231 uwb: 0.0 1230.27 691.059 -imu_odom_: 1691062850.299136918 0.476446 -0.136469 9.5792 -0.0447411 0.0426106 0.0372843 0.21 0 pose: 0.0 3.15119 -3.96759 0 0.00587788 -0.00246584 0.997954 0.0636231 uwb: 0.50067750 1230.01 691.417 -imu_odom_: 1691062850.325186171 0.263362 -0.237026 9.58399 -0.0436758 -0.015979 0.0543285 0.23 0 pose: 0.51019695 3.13719 -3.96964 0 0.00898457 -0.0001011890.997942 0.0634925 uwb: 0.0 1230.01 691.417 -imu_odom_: 1691062850.351133346 0.244209 -0.179565 9.95988 -0.0383495 -0.00852212 0.0479369 0.22 0 pose: 0.35019223 3.13719 -3.96964 0 0.00564278 0.000456117 0.997977 0.0633158 uwb: 0.49765894 1231.63 693.724 -imu_odom_: 1691062850.377468415 0.483629 -0.23942 9.84735 -0.0372843 -0.0106526 0.0436758 0.22 0 pose: 0.0 3.13719 -3.96964 0 0.00564278 0.000456117 0.997977 0.0633158 uwb: 0.0 1231.63 693.724 -imu_odom_: 1691062850.394152222 0.368707 0.0191536 9.88326 -0.0532632 -0.00319579 0.0628506 0.23 0.02 pose: 0.52282244 3.1232 -3.9717 0 0.00412188 -0.00123151 0.997995 0.0631468 uwb: 0.49962465 1232.85 695.447 -imu_odom_: 1691062850.420130895 0.507571 0.0814029 9.92157 -0.0596548 -0.0319579 0.0479369 0.23 0.02 pose: 0.0 3.1232 -3.9717 0 0.00412188 -0.00123151 0.997995 0.0631468 uwb: 0.0 1232.85 695.447 -imu_odom_: 1691062850.447241169 0.799663 -0.246603 10.3908 -0.0788296 -0.0532632 0.0671117 0.25 -0.02 pose: 0.42662480 3.11517 -3.96574 0 0.00435757 0.0028222 0.998009 0.0628593 uwb: 0.50030711 1232.63 696.286 -imu_odom_: 1691062850.473335919 0.852336 -0.0191536 10.4842 -0.0617853 0.0127832 0.0436758 0.19 -0.02 pose: 0.0 3.11517 -3.96574 0 0.00435757 0.0028222 0.998009 0.0628593 uwb: 0.0 1232.63 696.286 -imu_odom_: 1691062850.499157685 0.938527 -0.0622492 10.0509 -0.0862864 -0.00639159 0.0553937 0.26 0.02 pose: 0.35112551 3.11517 -3.96574 0 0.00820005 0.0018089 0.998012 0.0624626 uwb: 0.50163995 1231.16 696.556 -imu_odom_: 1691062850.522133536 0.299275 -0.153229 10.0269 -0.0479369 0.0255663 0.0298274 0.26 0.02 pose: 0.26110499 3.10119 -3.96783 0 0.0104844 0.00252837 0.997995 0.0623649 uwb: 0.0 1231.16 696.556 -imu_odom_: 1691062850.538313663 0.469264 -0.342371 9.59117 -0.108657 -0.00319579 0.0639159 0.19 0 pose: 0.24824617 3.10119 -3.96783 0 0.0114301 0.00266122 0.997991 0.0622611 uwb: 0.0 1231.16 696.556 -imu_odom_: 1691062850.562133548 0.196325 -0.0885855 9.85693 -0.0713727 -0.02024 0.0458064 0.19 0 pose: 0.0 3.10119 -3.96783 0 0.0114301 0.00266122 0.997991 0.0622611 uwb: 0.49941174 1231.5 698.299 -imu_odom_: 1691062850.588120388 0.237026 -0.407014 9.64863 -0.0671117 -0.00213053 0.0468716 0.18 0 pose: 0.38957657 3.09315 -3.96188 0 0.00806639 0.00118727 0.998035 0.0621235 uwb: 0.0 1231.5 698.299 -imu_odom_: 1691062850.604184730 0.768539 -0.160412 10.1131 -0.0394148 -0.00319579 0.0394148 0.18 0 pose: 0.0 3.09315 -3.96188 0 0.00806639 0.00118727 0.998035 0.0621235 uwb: 0.50015837 1229.86 698.258 -imu_odom_: 1691062850.630175362 0.90022 -0.110133 9.7851 -0.0479369 -0.0149137 0.0447411 0.23 0 pose: 0.50026628 3.07916 -3.96397 0 0.00510813 6.44867e-05 0.998064 0.0619802 uwb: 0.0 1229.86 698.258 -imu_odom_: 1691062850.647228104 0.584185 -0.354342 9.51216 -0.056459 0.0106526 0.0532632 0.23 0 pose: 0.0 3.07916 -3.96397 0 0.00510813 6.44867e-05 0.998064 0.0619802 uwb: 0.49952841 1229.68 699.039 -imu_odom_: 1691062850.672105801 0.213084 -0.280122 9.68694 -0.0532632 -0.0191748 0.0532632 0.23 0 pose: 0.42031058 3.07916 -3.96397 0 0.0086915 8.22605e-05 0.998047 0.0618603 uwb: 0.0 1229.68 699.039 -imu_odom_: 1691062850.697180070 0.0742203 -0.263362 9.5792 -0.0500674 0.00106526 0.0426106 0.23 0 pose: 0.0 3.07916 -3.96397 0 0.0086915 8.22605e-05 0.998047 0.0618603 uwb: 0.50092833 1231.9 701.576 -imu_odom_: 1691062850.720283372 0.438139 -0.387861 9.92397 -0.0649811 0.00532632 0.0585895 0.23 0 pose: 0.34911896 3.07112 -3.95803 0 0.00637789 -0.00115716 0.998079 0.0616094 uwb: 0.0 1231.9 701.576 -imu_odom_: 1691062850.746109513 0.428562 -0.282516 10.1538 -0.0394148 0.0245011 0.0351537 0.18 0.02 pose: 0.7031960 3.07112 -3.95803 0 0.00565705 -0.00114754 0.998084 0.061598 uwb: 0.49688314 1233.15 703.72 -imu_odom_: 1691062850.762118442 0.37589 -0.172383 9.9934 -0.0383495 -0.0106526 0.0394148 0.18 0.02 pose: 0.0 3.07112 -3.95803 0 0.00565705 -0.00114754 0.998084 0.061598 uwb: 0.0 1233.15 703.72 -imu_odom_: 1691062850.788451178 0.275333 0.131681 9.69891 -0.0585895 0.0255663 0.0479369 0.18 0 pose: 0.49144388 3.05713 -3.96014 0 0.00205596 -0.00336657 0.998108 0.061356 uwb: 0.0 1233.15 703.72 -imu_odom_: 1691062850.815169183 0.181959 -0.433351 9.8689 -0.0703074 -0.0287621 0.0479369 0.18 0 pose: 0.0 3.05713 -3.96014 0 0.00205596 -0.00336657 0.998108 0.061356 uwb: 0.50013504 1234.38 705.869 -imu_odom_: 1691062850.839114477 0.323217 -0.385466 9.63666 -0.0415453 0.0479369 0.0223706 0.19 0 pose: 0.42947713 3.04908 -3.95421 0 -0.000646634-0.0006673660.998116 0.0613517 uwb: 0.0 1234.38 705.869 -imu_odom_: 1691062850.865105983 0.433351 -0.263362 9.92875 -0.0127832 -0.0149137 0.0372843 0.19 0 pose: 0.0 3.04908 -3.95421 0 -0.000646634-0.0006673660.998116 0.0613517 uwb: 0.50097499 1231.36 704.409 -imu_odom_: 1691062850.880162969 0.517148 -0.114922 10.0245 -0.02024 -0.00319579 0.0394148 0.2 0 pose: 0.51953556 3.0351 -3.95633 0 -0.00324757 -0.00189978 0.998116 0.061243 uwb: 0.0 1231.36 704.409 -imu_odom_: 1691062850.897364453 0.507571 -0.158017 9.66779 -0.0415453 0.00319579 0.0553937 0.2 0 pose: 0.0 3.0351 -3.95633 0 -0.00324757 -0.00189978 0.998116 0.061243 uwb: 0.50242740 1230.82 705.094 -imu_odom_: 1691062850.922106241 0.361524 -0.124498 10.5177 -0.0490022 0.0181095 0.0394148 0.19 0 pose: 0.48994772 3.0351 -3.95633 0 -0.000780412-0.00180127 0.99811 0.0614248 uwb: 0.0 1230.82 705.094 -imu_odom_: 1691062850.949130478 0.907402 -0.54109 9.44034 -0.076699 -0.00213053 0.0639159 0.19 0 pose: 0.0 3.0351 -3.95633 0 -0.000780412-0.00180127 0.99811 0.0614248 uwb: 0.49762102 1230.39 705.65 -imu_odom_: 1691062850.974363695 0.474052 -0.292093 10.1945 -0.0436758 0.0340885 0.0671117 0.19 0 pose: 0.76952288 3.01538 -3.95422 0 0.00163559 0.000130173 0.998139 0.0609642 uwb: 0.0 1230.39 705.65 -imu_odom_: 1691062851.1229567 0.548272 -0.0790087 9.76116 -0.072438 0.0127832 0.0543285 0.22 0 pose: 0.7994694 3.01307 -3.95251 0 0.00177814 -0.0005590170.998145 0.060853 uwb: 0.50114414 1230.59 706.976 -imu_odom_: 1691062851.17103754 -0.246603 -0.392649 9.69173 -0.056459 0.0330232 0.0458064 0.22 0 pose: 0.0 3.01307 -3.95251 0 0.00177814 -0.0005590170.998145 0.060853 uwb: 0.0 1230.59 706.976 -imu_odom_: 1691062851.33093727 0.56982 -0.0335188 10.4196 -0.0607201 -0.0553937 0.0500674 0.22 0 pose: 0.0 3.01307 -3.95251 0 0.00177814 -0.0005590170.998145 0.060853 uwb: 0.0 1230.59 706.976 -imu_odom_: 1691062851.59134230 0.90022 -0.134075 9.56723 -0.0532632 0.0127832 0.0447411 0.18 0 pose: 0.24192029 3.01307 -3.95251 0 0.00241381 -0.00152558 0.99816 0.0605641 uwb: 0.49862431 1230.71 707.878 -imu_odom_: 1691062851.84075216 0.0263362 -0.23942 9.88805 -0.0713727 0.0170442 0.0617853 0.18 0 pose: 0.0 3.01307 -3.95251 0 0.00241381 -0.00152558 0.99816 0.0605641 uwb: 0.0 1230.71 707.878 -imu_odom_: 1691062851.98244129 0.258574 0.0885855 10.0006 -0.0713727 -0.0308927 0.0458064 0.2 0 pose: 0.60780910 2.99909 -3.95465 0 0.00374548 0.000925326 0.998175 0.060268 uwb: 0.50021962 1231.61 709.859 -imu_odom_: 1691062851.123087704 0.409408 -0.335188 10.0676 -0.076699 -0.0213053 0.0458064 0.2 0 pose: 0.0 2.99909 -3.95465 0 0.00374548 0.000925326 0.998175 0.060268 uwb: 0.0 1231.61 709.859 -imu_odom_: 1691062851.150110774 0.59855 -0.304064 9.55765 -0.0490022 -0.00213053 0.0394148 0.25 0.02 pose: 0.48004915 2.99102 -3.94874 0 0.00230167 0.00124443 0.998199 0.0599324 uwb: 0.50119374 1230.84 710.834 -imu_odom_: 1691062851.175123506 0.754174 -0.301669 9.61272 -0.0585895 -0.0287621 0.0468716 0.25 0.02 pose: 0.40046386 2.97705 -3.95089 0 0.00218344 -0.00112343 0.998206 0.0598302 uwb: 0.0 1230.84 710.834 -imu_odom_: 1691062851.200099781 0.246603 -0.301669 10.5656 -0.0479369 -0.0330232 0.0500674 0.22 0.02 pose: 0.44974094 2.97705 -3.95089 0 0.00665561 -0.00268547 0.998188 0.0597413 uwb: 0.49977632 1230.86 711.843 -imu_odom_: 1691062851.214082913 0.703895 -0.0742203 9.81862 -0.0660464 -0.0500674 0.0575243 0.22 0.02 pose: 0.0 2.97705 -3.95089 0 0.00665561 -0.00268547 0.998188 0.0597413 uwb: 0.0 1230.86 711.843 -imu_odom_: 1691062851.239272384 0.950498 -0.0981623 9.5385 -0.0532632 0.00639159 0.0276969 0.17 0.02 pose: 0.38959407 2.96586 -3.94924 0 0.00593347 -0.00201298 0.99821 0.0594829 uwb: 0.0 1230.86 711.843 -imu_odom_: 1691062851.256081308 -0.100556 -0.160412 10.0963 -0.0681769 0.00319579 0.0479369 0.17 0.02 pose: 0.0 2.96586 -3.94924 0 0.00593347 -0.00201298 0.99821 0.0594829 uwb: 0.50001255 1231.95 713.568 -imu_odom_: 1691062851.281139536 0.316035 -0.308852 10.1035 -0.0543285 0.00426106 0.0308927 0.18 0 pose: 0.41998395 2.955 -3.94715 0 0.00650061 -0.00113673 0.998202 0.0595721 uwb: 0.0 1231.95 713.568 -imu_odom_: 1691062851.308124110 0.428562 -0.155623 10.2472 -0.0436758 0.0127832 0.0479369 0.18 0 pose: 0.0 2.955 -3.94715 0 0.00650061 -0.00113673 0.998202 0.0595721 uwb: 0.49809059 1233.4 715.849 -imu_odom_: 1691062851.333061012 0.560243 -0.0981623 10.4507 -0.0458064 0.0383495 0.0426106 0.18 0 pose: 0.32023692 2.955 -3.94715 0 0.00359897 -0.00117702 0.998212 0.0596469 uwb: 0.0 1233.4 715.849 -imu_odom_: 1691062851.360100998 0.136469 -0.366313 9.60554 -0.0468716 0.00852212 0.052198 0.21 -0.02 pose: 0.28038303 2.94693 -3.94125 0 0.00292348 0.00126232 0.99822 0.059557 uwb: 0.49936217 1232.27 716.225 -imu_odom_: 1691062851.386100671 0.177171 -0.220267 10.2089 -0.0543285 -0.00532632 0.0511327 0.21 -0.02 pose: 0.0 2.94693 -3.94125 0 0.00292348 0.00126232 0.99822 0.059557 uwb: 0.0 1232.27 716.225 -imu_odom_: 1691062851.402104934 0.474052 -0.181959 10.1275 -0.0319579 -0.0394148 0.0394148 0.23 0 pose: 0.23946752 2.94103 -3.94932 0 0.00321311 0.00214535 0.998222 0.0594883 uwb: 0.49999506 1231.33 716.861 -imu_odom_: 1691062851.428207560 1.06542 -0.141258 9.99579 -0.0532632 -0.0287621 0.0511327 0.23 0 pose: 0.0 2.94103 -3.94932 0 0.00321311 0.00214535 0.998222 0.0594883 uwb: 0.0 1231.33 716.861 -imu_odom_: 1691062851.455073431 0.387861 0.0383072 9.77074 -0.0500674 0.0149137 0.0468716 0.23 0 pose: 0.53011078 2.93296 -3.94342 0 -0.0004349460.001248 0.998244 0.0592159 uwb: 0.0 1231.33 716.861 -imu_odom_: 1691062851.471359136 0.138864 -0.3304 10.2208 -0.0553937 -0.0127832 0.0628506 0.23 0 pose: 0.0 2.93296 -3.94342 0 -0.0004349460.001248 0.998244 0.0592159 uwb: 0.0 1231.33 716.861 -imu_odom_: 1691062851.488343050 0.591368 -0.191536 9.70131 -0.0436758 -0.0213053 0.052198 0.25 0 pose: 0.42047975 2.91898 -3.94559 0 0.00329498 0.00211661 0.998248 0.059039 uwb: 0.0 1231.33 716.861 -imu_odom_: 1691062851.514196315 0.368707 -0.126893 9.9934 -0.056459 0.00958738 0.0532632 0.25 0 pose: 0.0 2.91898 -3.94559 0 0.00329498 0.00211661 0.998248 0.059039 uwb: 0.99969846 1231.09 717.664 -imu_odom_: 1691062851.541074728 0.462081 -0.277727 9.84735 -0.0628506 0.00213053 0.0394148 0.25 0 pose: 0.43984236 2.91898 -3.94559 0 0.00199027 0.00309089 0.998267 0.0587371 uwb: 0.50047920 1230.26 718.173 -imu_odom_: 1691062851.557216066 0.198719 -0.272939 9.51695 -0.0553937 -0.00426106 0.0500674 0.25 0 pose: 0.0 2.91898 -3.94559 0 0.00199027 0.00309089 0.998267 0.0587371 uwb: 0.0 1230.26 718.173 -imu_odom_: 1691062851.584254011 0.802058 -0.0957681 9.59596 -0.0660464 -0.0234358 0.0394148 0.23 0 pose: 0.41998978 2.9109 -3.9397 0 0.000556057 0.00309598 0.998282 0.0585082 uwb: 0.0 1230.26 718.173 -imu_odom_: 1691062851.609192955 0.457293 -0.0885855 10.0006 -0.0820254 -0.0245011 0.0532632 0.23 0 pose: 0.0 2.9109 -3.9397 0 0.000556057 0.00309598 0.998282 0.0585082 uwb: 0.49985214 1229.53 718.574 -imu_odom_: 1691062851.626186493 0.562637 -0.241814 9.88087 -0.0852212 0.00426106 0.0458064 0.23 0.02 pose: 0.43092663 2.89693 -3.9419 0 0.000344285 0.000778313 0.998292 0.0584236 uwb: 0.0 1229.53 718.574 -imu_odom_: 1691062851.651072648 0.490811 -0.428562 9.89763 -0.0628506 -0.0234358 0.0426106 0.23 0.02 pose: 0.0 2.89693 -3.9419 0 0.000344285 0.000778313 0.998292 0.0584236 uwb: 0.50163996 1229.88 720.141 -imu_odom_: 1691062851.678250002 0.653617 -0.122104 10.2615 -0.0340885 -0.0170442 0.0372843 0.23 0 pose: 0.51968431 2.88885 -3.93601 0 0.00348366 0.00258488 0.998293 0.0582353 uwb: 0.0 1229.88 720.141 -imu_odom_: 1691062851.703182238 0.790087 -0.155623 10.4627 -0.0500674 -0.0479369 0.0458064 0.18 0 pose: 0.41950856 2.88296 -3.9441 0 0.00497996 -0.0004423320.998295 0.0581628 uwb: 0.49953717 1230.01 721.47 -imu_odom_: 1691062851.730052192 0.52433 -0.167594 10.2448 -0.0415453 0.0319579 0.0458064 0.21 0 pose: 0.0 2.88296 -3.9441 0 0.00497996 -0.0004423320.998295 0.0581628 uwb: 0.0 1230.01 721.47 -imu_odom_: 1691062851.755086797 0.292093 -0.071826 10.0054 -0.0607201 0.0234358 0.0490022 0.18 0.02 pose: 0.51948307 2.87488 -3.93822 0 0.00911106 0.00122468 0.998269 0.0580913 uwb: 0.49990464 1228.29 721.578 -imu_odom_: 1691062851.772199328 0.299275 -0.282516 9.63906 -0.0383495 -0.00213053 0.0426106 0.18 0.02 pose: 0.0 2.87488 -3.93822 0 0.00911106 0.00122468 0.998269 0.0580913 uwb: 0.0 1228.29 721.578 -imu_odom_: 1691062851.798056385 0.486023 -0.114922 10.0341 -0.052198 -0.0213053 0.0479369 0.2 0 pose: 0.52121547 2.86091 -3.94043 0 0.00360048 0.00258096 0.998311 0.0579186 uwb: 0.0 1228.29 721.578 -imu_odom_: 1691062851.825123203 0.411803 -0.253785 9.38527 -0.0532632 0.0383495 0.0351537 0.2 0 pose: 0.9985202 2.86091 -3.94043 0 0.0027467 0.00213815 0.998316 0.0579036 uwb: 0.0 1228.29 721.578 -imu_odom_: 1691062851.851202205 0.155623 -0.316035 9.61751 -0.052198 0.0308927 0.0468716 0.19 0 pose: 0.8031151 2.86091 -3.94043 0 0.00325401 0.00281986 0.998315 0.057871 uwb: 0.99986762 1227.24 721.872 -imu_odom_: 1691062851.878122906 0.385466 -0.198719 10.2831 -0.0735032 -0.0585895 0.0575243 0.19 0 pose: 0.0 2.86091 -3.94043 0 0.00325401 0.00281986 0.998315 0.057871 uwb: 0.0 1227.24 721.872 -imu_odom_: 1691062851.894195124 0.790087 -0.265756 9.63666 -0.0628506 -0.0319579 0.0372843 0.2 0 pose: 0.52914542 2.85282 -3.93455 0 0.00149443 0.00180501 0.998324 0.0578238 uwb: 0.49990756 1226.63 722.62 -imu_odom_: 1691062851.920163299 0.521936 -0.184354 9.99579 -0.0330232 -0.00958738 0.0319579 0.2 0 pose: 0.0 2.85282 -3.93455 0 0.00149443 0.00180501 0.998324 0.0578238 uwb: 0.0 1226.63 722.62 -imu_odom_: 1691062851.943033281 0.416591 0.0670376 10.4986 -0.02024 -0.0117179 0.04048 0.24 0 pose: 0.52943998 2.83885 -3.93677 0 -0.000843567-0.00111753 0.998343 0.0575318 uwb: 0.49984923 1228.84 725.331 -imu_odom_: 1691062851.960029153 0.718261 -0.351948 9.28711 -0.0458064 0.00745685 0.0426106 0.24 0 pose: 0.0 2.83885 -3.93677 0 -0.000843567-0.00111753 0.998343 0.0575318 uwb: 0.0 1228.84 725.331 -imu_odom_: 1691062851.976158242 0.337582 -0.129287 10.1538 -0.0447411 -0.0149137 0.0543285 0.2 0 pose: 0.73940134 2.82602 -3.92746 0 0.00372639 0.0017173 0.998331 0.0576054 uwb: 0.0 1228.84 725.331 -imu_odom_: 1691062852.2092877 0.751779 -0.071826 10.252 -0.0500674 -0.0149137 0.0394148 0.2 0 pose: 0.0 2.82602 -3.92746 0 0.00372639 0.0017173 0.998331 0.0576054 uwb: 0.50004172 1229.12 726.455 -imu_odom_: 1691062852.28082343 0.572214 -0.42138 9.82341 -0.0511327 0.02024 0.0532632 0.2 0 pose: 0.7038959 2.82267 -3.92502 0 0.00311207 0.00201567 0.998335 0.0575557 uwb: 0.0 1229.12 726.455 -imu_odom_: 1691062852.45172125 0.356736 -0.158017 9.63666 -0.0500674 -0.00639159 0.0532632 0.23 0 pose: 0.0 2.82267 -3.92502 0 0.00311207 0.00201567 0.998335 0.0575557 uwb: 0.49872931 1230.26 728.488 -imu_odom_: 1691062852.61192721 0.746991 -0.244209 10.1203 -0.0756338 -0.0436758 0.0703074 0.2 0 pose: 0.78104013 2.8087 -3.92725 0 0.00362518 0.00118091 0.998356 0.0571828 uwb: 0.0 1230.26 728.488 -imu_odom_: 1691062852.78182468 0.584185 -0.148441 9.72285 -0.0713727 0.0170442 0.0394148 0.2 0 pose: 0.0 2.8087 -3.92725 0 0.00362518 0.00118091 0.998356 0.0571828 uwb: 0.0 1230.26 728.488 -imu_odom_: 1691062852.103029835 0.287304 -0.225055 9.65582 -0.0617853 0.015979 0.052198 0.18 0 pose: 0.33010343 2.80522 -3.93205 0 0.00677279 0.00128906 0.998354 0.0569395 uwb: 0.49998048 1229.68 729.17 -imu_odom_: 1691062852.129091046 0.126893 -0.28491 9.83059 -0.0447411 0.052198 0.0319579 0.18 0 pose: 0.6872428 2.80283 -3.93535 0 0.00601955 0.00119169 0.998361 0.0568969 uwb: 0.0 1229.68 729.17 -imu_odom_: 1691062852.154080154 0.325611 -0.246603 9.89045 -0.0735032 -0.00639159 0.0671117 0.18 0.02 pose: 0.44036150 2.79473 -3.92949 0 0.000767338 0.00059926 0.99838 0.0568837 uwb: 0.50066586 1228.7 729.851 -imu_odom_: 1691062852.180015373 0.447716 -0.153229 10.0078 -0.0639159 -0.0138484 0.0266316 0.21 -0.02 pose: 0.7008336 2.79473 -3.92949 0 0.00012413 0.000265732 0.998386 0.0567877 uwb: 0.0 1228.7 729.851 -imu_odom_: 1691062852.197119447 0.584185 -0.117316 9.78989 -0.0713727 0.0138484 0.0436758 0.18 -0.02 pose: 0.0 2.79473 -3.92949 0 0.00012413 0.000265732 0.998386 0.0567877 uwb: 0.49977925 1229.61 731.643 -imu_odom_: 1691062852.223176284 0.213084 -0.148441 9.61511 -0.0415453 0.0106526 0.0340885 0.18 -0.02 pose: 0.52138464 2.78077 -3.93174 0 0.00121102 0.00125995 0.99839 0.0566894 uwb: 0.0 1229.61 731.643 -imu_odom_: 1691062852.249060755 0.114922 -0.292093 9.53132 -0.0745685 -0.0138484 0.0553937 0.23 0.02 pose: 0.0 2.78077 -3.93174 0 0.00121102 0.00125995 0.99839 0.0566894 uwb: 0.49934177 1230.95 733.388 -imu_odom_: 1691062852.275117884 0.402226 -0.282516 9.59596 -0.0447411 -0.0127832 0.04048 0.23 0 pose: 0.60822909 2.77267 -3.92588 0 -0.00308946 0.00109178 0.998395 0.0565479 uwb: 0.0 1230.95 733.388 -imu_odom_: 1691062852.291023278 0.663194 -0.0526724 9.96467 -0.072438 -0.0383495 0.0553937 0.23 0 pose: 0.0 2.77267 -3.92588 0 -0.00308946 0.00109178 0.998395 0.0565479 uwb: 0.50233701 1230.94 734.343 -imu_odom_: 1691062852.317027326 0.629675 -0.0790087 9.8282 -0.0511327 0.0511327 0.0308927 0.23 0 pose: 0.7053251 2.77267 -3.92588 0 -0.00269016 0.000524383 0.998396 0.0565464 uwb: 0.0 1230.94 734.343 -imu_odom_: 1691062852.342014393 0.368707 -0.179565 9.55765 -0.0649811 0.0255663 0.0436758 0.23 0 pose: 0.0 2.77267 -3.92588 0 -0.00269016 0.000524383 0.998396 0.0565464 uwb: 0.49786019 1229.31 734.34 -imu_odom_: 1691062852.368290842 0.328006 -0.320823 9.45231 -0.0649811 -0.0298274 0.0372843 0.2 0 pose: 0.42931382 2.7587 -3.92813 0 0.000522211 3.86851e-05 0.998405 0.0564517 uwb: 0.0 1229.31 734.34 -imu_odom_: 1691062852.384031162 0.895431 -0.502782 10.0197 -0.0756338 -0.0266316 0.0468716 0.2 0 pose: 0.0 2.7587 -3.92813 0 0.000522211 3.86851e-05 0.998405 0.0564517 uwb: 0.0 1229.31 734.34 -imu_odom_: 1691062852.410151579 0.476446 -0.102951 10.5034 -0.0490022 0.0255663 0.0458064 0.23 0 pose: 0.50059295 2.7506 -3.92228 0 -0.00138115 0.000902285 0.998402 0.0564921 uwb: 0.50199870 1228.56 734.746 -imu_odom_: 1691062852.427152992 0.25618 -0.45011 9.55287 -0.0681769 -0.00958738 0.0553937 0.23 0 pose: 0.0 2.7506 -3.92228 0 -0.00138115 0.000902285 0.998402 0.0564921 uwb: 0.0 1228.56 734.746 -imu_odom_: 1691062852.453039797 0.110133 -0.148441 9.95988 -0.0298274 0.00745685 0.0447411 0.25 0 pose: 0.41956398 2.7506 -3.92228 0 -0.000138299-0.00127841 0.998405 0.0564415 uwb: 0.49773187 1228.41 735.391 -imu_odom_: 1691062852.478005281 0.383072 -0.196325 9.96706 -0.0394148 -0.0340885 0.0468716 0.25 0 pose: 0.0 2.7506 -3.92228 0 -0.000138299-0.00127841 0.998405 0.0564415 uwb: 0.0 1228.41 735.391 -imu_odom_: 1691062852.494127371 0.675165 0.0622492 9.88326 -0.0319579 -0.0127832 0.0426106 0.21 0 pose: 0.43233239 2.73664 -3.92453 0 -0.00110548 -0.0007075560.998417 0.0562304 uwb: 0.50071252 1228.59 736.577 -imu_odom_: 1691062852.520243996 0.476446 -0.234632 9.54089 -0.0628506 0.0340885 0.0490022 0.21 0 pose: 0.0 2.73664 -3.92453 0 -0.00110548 -0.0007075560.998417 0.0562304 uwb: 0.0 1228.59 736.577 -imu_odom_: 1691062852.546037765 0.265756 -0.361524 9.93833 -0.0585895 -0.0117179 0.0660464 0.23 0.02 pose: 0.50733880 2.72853 -3.91868 0 0.00032455 0.00181376 0.998425 0.0560753 uwb: 0.50002423 1229.59 738.203 -imu_odom_: 1691062852.572107143 0.634463 -0.215478 10.058 -0.0671117 -0.00958738 0.0426106 0.23 0.02 pose: 0.0 2.72853 -3.91868 0 0.00032455 0.00181376 0.998425 0.0560753 uwb: 0.0 1229.59 738.203 -imu_odom_: 1691062852.588152237 0.531513 -0.0909797 10.2352 -0.0479369 0.00532632 0.0543285 0.23 0 pose: 0.42078307 2.71457 -3.92095 0 0.0015945 -0.0001252680.998438 0.0558391 uwb: 0.0 1229.59 738.203 -imu_odom_: 1691062852.605049823 -0.141258 -0.301669 9.13148 -0.0798948 -0.0330232 0.0532632 0.23 0 pose: 0.0 2.71457 -3.92095 0 0.0015945 -0.0001252680.998438 0.0558391 uwb: 0.50053170 1230.04 739.534 -imu_odom_: 1691062852.622028487 0.241814 0.181959 10.0245 -0.0468716 -0.0298274 0.0479369 0.25 0 pose: 0.51938101 2.70645 -3.91511 0 0.00313351 -0.0006963610.998453 0.0555019 uwb: 0.0 1230.04 739.534 -imu_odom_: 1691062852.638070373 0.68953 -0.294487 9.09318 -0.0735032 0.0798948 0.0575243 0.25 0 pose: 0.0 2.70645 -3.91511 0 0.00313351 -0.0006963610.998453 0.0555019 uwb: 0.0 1230.04 739.534 -imu_odom_: 1691062852.655045246 0.320823 -0.428562 9.70849 -0.0671117 -0.0266316 0.0553937 0.25 0 pose: 0.0 2.70645 -3.91511 0 0.00313351 -0.0006963610.998453 0.0555019 uwb: 0.49913178 1229.7 740.37 -imu_odom_: 1691062852.671104923 -0.282516 -0.184354 9.85214 -0.0479369 0.0340885 0.0383495 0.18 0.02 pose: 0.76000638 2.69249 -3.91739 0 0.00165086 -0.0009691050.998486 0.0549708 uwb: 0.0 1229.7 740.37 -imu_odom_: 1691062852.688231454 0.677559 -0.198719 9.48822 -0.103331 -0.0191748 0.0692422 0.18 0.02 pose: 0.7953864 2.69249 -3.91739 0 0.000709982 -0.0008352540.998487 0.0549753 uwb: 0.0 1229.7 740.37 -imu_odom_: 1691062852.705242491 0.426168 -0.459687 10.1275 -0.0820254 0.00958738 0.0532632 0.18 0.02 pose: 0.0 2.69249 -3.91739 0 0.000709982 -0.0008352540.998487 0.0549753 uwb: 0.50128999 1229.77 741.211 -imu_odom_: 1691062852.720117488 0.723049 -0.265756 9.74679 -0.0553937 0.0585895 0.0351537 0.19 0.05 pose: 0.33007718 2.68437 -3.91156 0 0.00143391 -0.00190621 0.998501 0.0546728 uwb: 0.0 1229.77 741.211 -imu_odom_: 1691062852.735056648 0.25618 -0.0790087 9.99819 -0.0660464 0.00639159 0.0500674 0.19 0.02 pose: 0.0 2.68437 -3.91156 0 0.00143391 -0.00190621 0.998501 0.0546728 uwb: 0.0 1229.77 741.211 -imu_odom_: 1691062852.751048662 0.411803 -0.167594 10.1658 -0.04048 -0.0298274 0.0447411 0.19 0.02 pose: 0.0 2.68437 -3.91156 0 0.00143391 -0.00190621 0.998501 0.0546728 uwb: 0.49871473 1228.88 741.751 -imu_odom_: 1691062852.768110446 0.866701 -0.438139 9.45231 -0.0394148 0.0117179 0.0394148 0.19 0.02 pose: 0.31115205 2.67854 -3.91969 0 0.00178192 -0.00249794 0.998503 0.0546101 uwb: 0.0 1228.88 741.751 -imu_odom_: 1691062852.795118352 0.651223 -0.110133 9.78031 -0.0426106 0.0117179 0.0490022 0.18 0.02 pose: 0.0 2.67854 -3.91969 0 0.00178192 -0.00249794 0.998503 0.0546101 uwb: 0.50201619 1229.57 743.244 -imu_odom_: 1691062852.821042196 0.158017 -0.342371 9.62948 -0.0628506 -0.0191748 0.056459 0.19 0 pose: 0.67996319 2.67041 -3.91387 0 0.00470543 0.00049799 0.998508 0.0544068 uwb: 0.0 1229.57 743.244 -imu_odom_: 1691062852.837974197 0.292093 -0.148441 10.398 -0.0308927 -0.0394148 0.0543285 0.19 0 pose: 0.0 2.67041 -3.91387 0 0.00470543 0.00049799 0.998508 0.0544068 uwb: 0.0 1229.57 743.244 -imu_odom_: 1691062852.864140402 0.517148 -0.0143652 10.2065 -0.0575243 -0.0223706 0.0532632 0.18 0.02 pose: 0.7885326 2.67041 -3.91387 0 0.00402104 0.0001962 0.998514 0.0543398 uwb: 0.49803519 1229.52 744.205 -imu_odom_: 1691062852.891257968 0.407014 0.0335188 10.1299 -0.0394148 -0.0170442 0.0468716 0.18 0.02 pose: 0.0 2.67041 -3.91387 0 0.00402104 0.0001962 0.998514 0.0543398 uwb: 0.50014672 1229.41 745.219 -imu_odom_: 1691062852.908089058 0.526724 -0.349553 10.1011 -0.0426106 -0.00106526 0.0426106 0.18 -0.02 pose: 0.42981546 2.65646 -3.91618 0 0.00171233 0.00117317 0.998538 0.0540084 uwb: 0.0 1229.41 745.219 -imu_odom_: 1691062852.934018152 0.6608 0.0814029 9.90721 -0.0575243 -0.02024 0.0511327 0.18 -0.02 pose: 0.0 2.65646 -3.91618 0 0.00171233 0.00117317 0.998538 0.0540084 uwb: 0.0 1229.41 745.219 -imu_odom_: 1691062852.956990504 0.560243 -0.277727 10.3286 -0.0798948 -0.0287621 0.0585895 0.18 -0.02 pose: 0.53159237 2.64833 -3.91037 0 0.00259862 0.00490095 0.998537 0.0537802 uwb: 0.49911137 1228.87 745.814 -imu_odom_: 1691062852.983061340 0.533907 -0.143652 9.91678 -0.0458064 -0.0149137 0.0340885 0.18 -0.02 pose: 0.0 2.64833 -3.91037 0 0.00259862 0.00490095 0.998537 0.0537802 uwb: 0.0 1228.87 745.814 -imu_odom_: 1691062852.997113594 0.229843 -0.265756 9.94312 -0.0351537 -0.00639159 0.0351537 0.2 0 pose: 0.41992271 2.63438 -3.9127 0 0.00520347 0.00503764 0.998539 0.05354 uwb: 0.50261116 1228.39 746.8 -imu_odom_: 1691062853.22110285 0.490811 -0.158017 9.60314 -0.036219 -0.0266316 0.0383495 0.2 0 pose: 0.0 2.63438 -3.9127 0 0.00520347 0.00503764 0.998539 0.05354 uwb: 0.0 1228.39 746.8 -imu_odom_: 1691062853.48171789 0.507571 -0.169988 9.87848 -0.0394148 -0.0213053 0.0575243 0.23 0 pose: 0.48019498 2.63438 -3.9127 0 0.0079932 0.00318734 0.998533 0.0534564 uwb: 0.50058129 1227.57 746.822 -imu_odom_: 1691062853.62033304 0.260968 -0.28491 9.60314 -0.0426106 0.00106526 0.0479369 0.23 0 pose: 0.0 2.63438 -3.9127 0 0.0079932 0.00318734 0.998533 0.0534564 uwb: 0.0 1227.57 746.822 -imu_odom_: 1691062853.76987921 0.790087 -0.0694318 10.2448 -0.0426106 -0.00852212 0.0372843 0.17 0 pose: 0.72877074 2.61881 -3.90814 0 0.00494667 0.000451016 0.998572 0.0531863 uwb: 0.0 1227.57 746.822 -imu_odom_: 1691062853.94033082 0.409408 -0.131681 9.60314 -0.056459 0.0149137 0.0543285 0.17 0 pose: 0.6950298 2.61229 -3.90923 0 0.00561089 0.000748292 0.998568 0.0531949 uwb: 0.49601114 1227.49 747.796 -imu_odom_: 1691062853.110971791 0.646434 -0.198719 9.93115 -0.056459 -0.00852212 0.052198 0.17 0 pose: 0.0 2.61229 -3.90923 0 0.00561089 0.000748292 0.998568 0.0531949 uwb: 0.0 1227.49 747.796 -imu_odom_: 1691062853.125078583 0.938527 -0.241814 10.2256 -0.0532632 0.00426106 0.0543285 0.18 -0.02 pose: 0.32995469 2.61229 -3.90923 0 0.00551599 0.00173887 0.998576 0.0530338 uwb: 0.0 1227.49 747.796 -imu_odom_: 1691062853.141970045 0.122104 -0.134075 9.64863 -0.0809601 0.00213053 0.0660464 0.18 -0.02 pose: 0.0 2.61229 -3.90923 0 0.00551599 0.00173887 0.998576 0.0530338 uwb: 0.50160790 1228.61 749.641 -imu_odom_: 1691062853.163973246 0.861913 -0.0167594 10.2951 -0.0596548 -0.00639159 0.0447411 0.19 0.02 pose: 0.39990974 2.60414 -3.90344 0 0.00599935 0.00131908 0.998594 0.052649 uwb: 0.0 1228.61 749.641 -imu_odom_: 1691062853.190103579 0.505177 -0.105345 9.98382 -0.0756338 -0.0181095 0.0479369 0.19 0.02 pose: 0.0 2.60414 -3.90344 0 0.00599935 0.00131908 0.998594 0.052649 uwb: 0.49798269 1228.73 750.388 -imu_odom_: 1691062853.206123009 0.0694318 -0.25618 9.53371 -0.0479369 0.0351537 0.0330232 0.22 0 pose: 0.0 2.60414 -3.90344 0 0.00599935 0.00131908 0.998594 0.052649 uwb: 0.0 1228.73 750.388 -imu_odom_: 1691062853.223232332 0.356736 -0.112527 10.3358 -0.0585895 -0.0436758 0.0585895 0.18 0 pose: 0.48133534 2.59227 -3.90727 0 0.0065461 0.00386782 0.998592 0.0525078 uwb: 0.0 1228.73 750.388 -imu_odom_: 1691062853.240294992 0.136469 -0.325611 9.87129 -0.0681769 0.0319579 0.0500674 0.24 0 pose: 0.0 2.59227 -3.90727 0 0.0065461 0.00386782 0.998592 0.0525078 uwb: 0.0 1228.73 750.388 -imu_odom_: 1691062853.257045003 0.646434 -0.153229 9.99819 -0.0351537 0.0127832 0.0149137 0.24 0 pose: 0.40156922 2.5902 -3.9058 0 0.0025776 0.00358143 0.998618 0.0523744 uwb: 0.50101877 1228.31 751.281 -imu_odom_: 1691062853.272950106 0.914585 -0.035913 9.93115 -0.0500674 0.00213053 0.0308927 0.18 0 pose: 0.0 2.5902 -3.9058 0 0.0025776 0.00358143 0.998618 0.0523744 uwb: 0.0 1228.31 751.281 -imu_odom_: 1691062853.290176965 0.179565 -0.131681 9.86172 -0.0553937 0.0596548 0.0330232 0.18 0 pose: 0.0 2.5902 -3.9058 0 0.0025776 0.00358143 0.998618 0.0523744 uwb: 0.0 1228.31 751.281 -imu_odom_: 1691062853.305972991 0.47884 -0.208296 9.69891 -0.0553937 0.0127832 0.0426106 0.18 0 pose: 0.33785548 2.58204 -3.90001 0 0.00370717 0.00330443 0.998606 0.0525521 uwb: 0.49980259 1227.72 751.923 -imu_odom_: 1691062853.323098939 0.320823 -0.0670376 10.1418 -0.0649811 0.056459 0.0383495 0.23 0 pose: 0.41926942 2.57203 -3.90517 0 0.00282637 0.00225423 0.998608 0.0526195 uwb: 0.0 1227.72 751.923 -imu_odom_: 1691062853.340000899 0.251391 -0.19393 9.54329 -0.072438 0.0170442 0.036219 0.23 0 pose: 0.0 2.57203 -3.90517 0 0.00282637 0.00225423 0.998608 0.0526195 uwb: 0.0 1227.72 751.923 -imu_odom_: 1691062853.365002549 0.466869 -0.296881 9.83059 -0.0884169 0.02024 0.0553937 0.18 0 pose: 0.7150953 2.5681 -3.90237 0 0.00205187 0.00268305 0.998609 0.052626 uwb: 0.49929803 1226.8 752.488 -imu_odom_: 1691062853.389992241 -0.3304 -0.40462 9.71806 -0.0340885 0.0308927 0.00958738 0.18 -0.02 pose: 0.0 2.5681 -3.90237 0 0.00205187 0.00268305 0.998609 0.052626 uwb: 0.0 1226.8 752.488 -imu_odom_: 1691062853.407174768 0.612916 0.0981623 10.4531 -0.0681769 -0.0383495 0.0447411 0.25 0 pose: 0.76868297 2.55579 -3.90244 0 -0.00287695 7.18196e-07 0.998599 0.0528427 uwb: 0.50047338 1225.92 753.02 -imu_odom_: 1691062853.423090662 0.162806 -0.102951 9.42837 -0.0585895 0.0170442 0.0436758 0.25 0 pose: 0.0 2.55579 -3.90244 0 -0.00287695 7.18196e-07 0.998599 0.0528427 uwb: 0.0 1225.92 753.02 -imu_odom_: 1691062853.449980450 0.378284 -0.25618 9.58399 -0.0628506 -0.0585895 0.0394148 0.25 0 pose: 0.33098421 2.54981 -3.90164 0 -0.00300392 0.0018145 0.998601 0.0527623 uwb: 0.50046755 1225.36 753.628 -imu_odom_: 1691062853.465947966 1.00556 -0.452504 9.98861 -0.0798948 -0.0127832 0.0458064 0.25 0 pose: 0.6952048 2.546 -3.89894 0 -0.00255764 0.00113221 0.998603 0.0527647 uwb: 0.0 1225.36 753.628 -imu_odom_: 1691062853.492952956 0.363919 -0.177171 10.1251 -0.0543285 0.015979 0.0458064 0.25 0 pose: 0.35905256 2.546 -3.89894 0 0.000258751 -0.00163273 0.998608 0.0527234 uwb: 0.49998924 1224.16 753.648 -imu_odom_: 1691062853.518014685 0.713472 -0.227449 9.97185 -0.0617853 0.0106526 0.0447411 0.25 0 pose: 0.0 2.546 -3.89894 0 0.000258751 -0.00163273 0.998608 0.0527234 uwb: 0.0 1224.16 753.648 -imu_odom_: 1691062853.545095504 0.502782 -0.306458 9.76595 -0.0681769 0.00852212 0.0543285 0.21 0 pose: 0.8032901 2.546 -3.89894 0 -0.000229643-0.0009304320.99861 0.0526981 uwb: 0.50013215 1223.51 754.362 -imu_odom_: 1691062853.570017533 0.579397 -0.232238 9.41161 -0.0383495 0.036219 0.0255663 0.2 0 pose: 0.51061987 2.53206 -3.9013 0 0.0012886 -0.0002704910.998619 0.0525197 uwb: 0.0 1223.51 754.362 -imu_odom_: 1691062853.597061895 0.545878 -0.110133 9.79707 -0.0543285 -0.0372843 0.0490022 0.22 0 pose: 0.0 2.53206 -3.9013 0 0.0012886 -0.0002704910.998619 0.0525197 uwb: 0.49992216 1223.31 755.01 -imu_odom_: 1691062853.613958023 0.306458 0.0646434 9.8665 -0.04048 0.00106526 0.0340885 0.22 0 pose: 0.52024721 2.52391 -3.89551 0 0.00478155 -0.0009376160.998608 0.0525198 uwb: 0.0 1223.31 755.01 -imu_odom_: 1691062853.638923800 0.462081 -0.253785 9.67497 -0.0703074 -0.0181095 0.0585895 0.18 0.02 pose: 0.0 2.52391 -3.89551 0 0.00478155 -0.0009376160.998608 0.0525198 uwb: 0.0 1223.31 755.01 -imu_odom_: 1691062853.665961454 0.150835 -0.0502782 9.53371 -0.0426106 -0.00852212 0.0319579 0.18 -0.02 pose: 0.61856225 2.50996 -3.89787 0 0.00412287 -0.0001523750.998626 0.0522445 uwb: 0.49922512 1223.04 755.744 -imu_odom_: 1691062853.690995477 0.174777 -0.397437 9.4978 -0.0756338 -0.0138484 0.0511327 0.18 -0.02 pose: 0.0 2.50996 -3.89787 0 0.00412287 -0.0001523750.998626 0.0522445 uwb: 0.49930679 1222.14 755.44 -imu_odom_: 1691062853.707996598 0.782904 0.0383072 10.4052 -0.056459 -0.0191748 0.0468716 0.18 0.02 pose: 0.8022693 2.50996 -3.89787 0 0.00344295 0.00029072 0.998627 0.0522765 uwb: 0.0 1222.14 755.44 -imu_odom_: 1691062853.725125463 0.260968 -0.28491 9.5385 -0.0660464 -0.00532632 0.14168 0.18 0.02 pose: 0.0 2.50996 -3.89787 0 0.00344295 0.00029072 0.998627 0.0522765 uwb: 0.0 1222.14 755.44 -imu_odom_: 1691062853.742052214 0.588974 -0.687136 10.2544 -0.0788296 -0.0266316 0.206661 0.18 0.02 pose: 0.0 2.50996 -3.89787 0 0.00344295 0.00029072 0.998627 0.0522765 uwb: 0.50177705 1222.53 756.721 -imu_odom_: 1691062853.758116557 0.28491 -0.447716 9.30147 -0.0681769 0.04048 0.259925 0.18 0.23 pose: 0.51054987 2.50181 -3.89209 0 0.000554823 -2.44526e-050.998637 0.0521832 uwb: 0.0 1222.53 756.721 -imu_odom_: 1691062853.776122411 0.574608 -0.198719 9.90002 -0.0852212 -0.0276969 0.333428 0.18 0.23 pose: 0.0 2.50181 -3.89209 0 0.000554823 -2.44526e-050.998637 0.0521832 uwb: 0.0 1222.53 756.721 -imu_odom_: 1691062853.792929586 0.440533 -0.433351 10.2161 -0.0532632 0.0383495 0.352603 0.18 0.32 pose: 0.51007156 2.48787 -3.89446 0 5.77607e-05 -0.00266463 0.998791 0.0490952 uwb: 0.49812560 1222.01 757.294 -imu_odom_: 1691062853.816047763 0.383072 -0.244209 10.0868 -0.0585895 0.00639159 0.4048 0.19 0.35 pose: 0.0 2.48787 -3.89446 0 5.77607e-05 -0.00266463 0.998791 0.0490952 uwb: 0.0 1222.01 757.294 -imu_odom_: 1691062853.832929892 -0.11971 -0.596156 10.082 -0.052198 -0.0394148 0.451672 0.19 0.41 pose: 0.0 2.48787 -3.89446 0 5.77607e-05 -0.00266463 0.998791 0.0490952 uwb: 0.0 1222.01 757.294 -imu_odom_: 1691062853.847947214 0.409408 -0.380678 9.60554 -0.0447411 -0.0234358 0.405866 0.19 0.41 pose: 0.75058612 2.47395 -3.89681 0 -0.00103129 -0.00312883 0.999312 0.0369503 uwb: 0.50032756 1223.22 759.368 -imu_odom_: 1691062853.864168173 0.21069 -0.0430956 10.2759 -0.0170442 -0.0223706 0.360059 0.19 0.41 pose: 0.0 2.47395 -3.89681 0 -0.00103129 -0.00312883 0.999312 0.0369503 uwb: 0.0 1223.22 759.368 -imu_odom_: 1691062853.879047545 0.442927 0.0861913 9.4547 -0.0500674 -0.0319579 0.347276 0.18 0.32 pose: 0.0 2.47395 -3.89681 0 -0.00103129 -0.00312883 0.999312 0.0369503 uwb: 0.0 1223.22 759.368 -imu_odom_: 1691062853.896974362 0.821211 -0.409408 10.2137 -0.0617853 -0.0330232 0.316384 0.18 0.32 pose: 0.30994171 2.46579 -3.89103 0 -0.00135021 -0.00417008 0.999502 0.0312358 uwb: 0.49949344 1222.25 759.566 -imu_odom_: 1691062853.913975192 0.526724 -0.462081 10.2185 -0.04048 0.0117179 0.269512 0.17 0.23 pose: 0.41912943 2.46574 -3.89101 0 0.000713974 -0.00244178 0.999684 0.0250067 uwb: 0.0 1222.25 759.566 -imu_odom_: 1691062853.930967565 0.890643 0.232238 10.0006 -0.052198 -0.0436758 0.26099 0.17 0.23 pose: 0.0 2.46574 -3.89101 0 0.000713974 -0.00244178 0.999684 0.0250067 uwb: 0.0 1222.25 759.566 -imu_odom_: 1691062853.946911749 0.507571 -0.533907 10.1394 -0.0639159 0.0276969 0.258859 0.17 0.23 pose: 0.0 2.46574 -3.89101 0 0.000713974 -0.00244178 0.999684 0.0250067 uwb: 0.50103043 1222.08 760.175 -imu_odom_: 1691062853.963967992 0.107739 -0.270545 9.5385 -0.0394148 0.0149137 0.221575 0.23 0.26 pose: 0.6968381 2.46579 -3.89103 0 0.000975595 -0.00301021 0.999702 0.0242062 uwb: 0.0 1222.08 760.175 -imu_odom_: 1691062853.980962697 0.426168 0.0023942 10.0963 -0.0394148 -0.0287621 0.225836 0.18 0.2 pose: 0.0 2.46579 -3.89103 0 0.000975595 -0.00301021 0.999702 0.0242062 uwb: 0.0 1222.08 760.175 -imu_odom_: 1691062853.996975419 0.677559 -0.316035 9.93354 -0.0585895 -0.0106526 0.237554 0.18 0.2 pose: 0.68033651 2.45184 -3.89335 0 0.00106194 -0.00306587 0.999848 0.0171236 uwb: 0.50024589 1221.9 761.201 -imu_odom_: 1691062854.13912378 0.409408 -0.368707 10.1155 -0.0468716 -0.00852212 0.201335 0.18 0.17 pose: 0.0 2.45184 -3.89335 0 0.00106194 -0.00306587 0.999848 0.0171236 uwb: 0.0 1221.9 761.201 -imu_odom_: 1691062854.32080973 0.651223 -0.0143652 10.0269 -0.0340885 0.0127832 0.177899 0.18 0.17 pose: 0.0 2.45184 -3.89335 0 0.00106194 -0.00306587 0.999848 0.0171236 uwb: 0.0 1221.9 761.201 -imu_odom_: 1691062854.47970327 -0.0383072 -0.512359 9.73243 -0.052198 0.00426106 0.190682 0.18 0.17 pose: 0.32088732 2.44368 -3.88757 0 0.00248919 -0.00313437 0.999892 0.0141291 uwb: 0.49931846 1222.52 763.036 -imu_odom_: 1691062854.63907803 0.361524 -0.213084 10.1131 -0.0308927 -0.0415453 0.160855 0.18 0.14 pose: 0.43905201 2.43324 -3.89238 0 0.0015146 -0.00301547 0.999935 0.0108744 uwb: 0.0 1222.52 763.036 -imu_odom_: 1691062854.79905068 0.035913 0.0407014 9.83538 -0.0532632 -0.0500674 0.174703 0.18 0.14 pose: 0.6945049 2.42972 -3.88989 0 0.00111861 -0.00247754 0.999942 0.0104519 uwb: 0.0 1222.52 763.036 -imu_odom_: 1691062854.97087304 0.88346 -0.318429 9.79468 -0.0617853 -0.0575243 0.18003 0.18 0.14 pose: 0.0 2.42972 -3.88989 0 0.00111861 -0.00247754 0.999942 0.0104519 uwb: 0.50116460 1222.9 764.294 -imu_odom_: 1691062854.122988401 1.00796 -0.720655 9.43555 -0.0447411 -0.0117179 0.245011 0.15 0.11 pose: 0.32039151 2.42972 -3.88989 0 0.000588554 -0.0009412010.999965 0.00832721 uwb: 0.0 1222.9 764.294 -imu_odom_: 1691062854.139926235 1.92973 -0.361524 9.95748 -0.0447411 -0.0436758 0.178964 0.19 0.11 pose: 0.0 2.42972 -3.88989 0 0.000588554 -0.0009412010.999965 0.00832721 uwb: 0.0 1222.9 764.294 -imu_odom_: 1691062854.156929399 0.603339 0.114922 10.0054 -0.0447411 0.0798948 0.11931 0.19 0.11 pose: 0.43171411 2.41579 -3.89229 0 0.00476059 -0.00274089 0.999975 0.00445844 uwb: 0.49943803 1221.95 764.471 -imu_odom_: 1691062854.172058131 -0.342371 0.023942 10.5584 -0.0532632 0.0617853 0.0937433 0.19 0.11 pose: 0.0 2.41579 -3.89229 0 0.00476059 -0.00274089 0.999975 0.00445844 uwb: 0.0 1221.95 764.471 -imu_odom_: 1691062854.189237743 -0.562637 -0.0574608 9.55047 -0.0351537 -0.0351537 -0.0106526 0.15 0.05 pose: 0.0 2.41579 -3.89229 0 0.00476059 -0.00274089 0.999975 0.00445844 uwb: 0.0 1221.95 764.471 -imu_odom_: 1691062854.203177712 -0.933739 0.332794 9.89524 -0.0649811 0.0149137 -0.00852212 0.15 0.05 pose: 0.34006619 2.41579 -3.89229 0 0.00465096 -0.0007932880.999985 0.00291721 uwb: 0.49881099 1220.88 764.787 -imu_odom_: 1691062854.219943473 0.00957681 -0.354342 10.1155 -0.092678 -0.0649811 0.118244 0.15 0.05 pose: 0.39045155 2.40758 -3.88658 0 0.000771419 0.000353747 0.999994 0.00347059 uwb: 0.0 1220.88 764.787 -imu_odom_: 1691062854.234105096 0.438139 -1.14682 9.49062 -0.0639159 -0.0490022 0.120375 0.15 0.05 pose: 0.0 2.40758 -3.88658 0 0.000771419 0.000353747 0.999994 0.00347059 uwb: 0.0 1220.88 764.787 -imu_odom_: 1691062854.250049280 0.347159 -0.205901 9.87848 -0.0308927 -0.00852212 0.0862864 0.15 0.05 pose: 0.0 2.40758 -3.88658 0 0.000771419 0.000353747 0.999994 0.00347059 uwb: 0.50034798 1221.12 766.176 -imu_odom_: 1691062854.265102184 0.110133 0.114922 10.1347 -0.0276969 -0.0170442 0.109722 0.17 0.05 pose: 0.6896343 2.40758 -3.88658 0 0.000329984 -6.8501e-06 0.999995 0.00319957 uwb: 0.0 1221.12 766.176 -imu_odom_: 1691062854.282101847 0.169988 -0.0502782 9.663 -0.0500674 0.0106526 0.115049 0.17 0.05 pose: 0.0 2.40758 -3.88658 0 0.000329984 -6.8501e-06 0.999995 0.00319957 uwb: 0.0 1221.12 766.176 -imu_odom_: 1691062854.296175100 0.59855 -0.131681 9.87369 -0.0681769 -0.0511327 0.0990696 0.17 0.05 pose: 0.0 2.40758 -3.88658 0 0.000329984 -6.8501e-06 0.999995 0.00319957 uwb: 0.50117919 1220.61 766.706 -imu_odom_: 1691062854.313058979 0.371101 -0.363919 9.89284 -0.0713727 -0.00213053 0.0841559 0.16 0.05 pose: 0.46940106 2.40178 -3.89472 0 -0.00150216 -0.0001364920.999998 0.00161995 uwb: 0.0 1220.61 766.706 -imu_odom_: 1691062854.328107508 0.656011 -0.126893 10.3477 -0.0639159 -0.0426106 0.0894822 0.17 0.05 pose: 0.0 2.40178 -3.89472 0 -0.00150216 -0.0001364920.999998 0.00161995 uwb: 0.0 1220.61 766.706 -imu_odom_: 1691062854.345175418 0.746991 -0.158017 9.87129 -0.0788296 0.00532632 0.0948085 0.17 0.05 pose: 0.0 2.40178 -3.89472 0 -0.00150216 -0.0001364920.999998 0.00161995 uwb: 0.49930387 1222.01 768.49 -imu_odom_: 1691062854.362038881 0.220267 -0.4956 9.54089 -0.052198 0.0319579 0.0852212 0.17 0.05 pose: 0.63046447 2.38787 -3.89713 0 -0.0009006660.000228755 1 -0.000277824 uwb: 0.0 1222.01 768.49 -imu_odom_: 1691062854.379039420 0.670376 -0.215478 10.1107 -0.0479369 -0.056459 0.0798948 0.17 0.02 pose: 0.0 2.38787 -3.89713 0 -0.0009006660.000228755 1 -0.000277824 uwb: 0.0 1222.01 768.49 -imu_odom_: 1691062854.395897634 0.497994 -0.237026 9.67976 -0.0798948 -0.0340885 0.0948085 0.17 0.02 pose: 0.32998970 2.37968 -3.89139 0 0.0010263 -0.0001575020.999999 -0.00113198 uwb: 0.50077671 1222.49 769.606 -imu_odom_: 1691062854.412893214 0.739808 -0.129287 9.75158 -0.0447411 -0.0330232 0.102265 0.16 0.05 pose: 0.42838056 2.37538 -3.88832 0 0.00437973 -0.00121393 0.999987 -0.00214429 uwb: 0.0 1222.49 769.606 -imu_odom_: 1691062854.428998681 1.19231 -0.354342 9.8282 -0.0649811 -0.0308927 0.135289 0.16 0.05 pose: 0.0 2.37538 -3.88832 0 0.00437973 -0.00121393 0.999987 -0.00214429 uwb: 0.0 1222.49 769.606 -imu_odom_: 1691062854.444887452 1.16837 -0.124498 10.0293 -0.0660464 -0.0255663 0.152333 0.16 0.05 pose: 0.0 2.37538 -3.88832 0 0.00437973 -0.00121393 0.999987 -0.00214429 uwb: 0.49993967 1222.9 770.79 -imu_odom_: 1691062854.460897549 1.74298 -0.186748 10.2903 -0.0426106 -0.0617853 0.0937433 0.12 0 pose: 0.8007527 2.37154 -3.88558 0 0.00523023 -0.0008528060.999983 -0.00239328 uwb: 0.0 1222.9 770.79 -imu_odom_: 1691062854.476875856 1.75016 0.124498 9.80665 -0.0383495 -0.0319579 0.0383495 0.14 0 pose: 0.0 2.37154 -3.88558 0 0.00523023 -0.0008528060.999983 -0.00239328 uwb: 0.0 1222.9 770.79 -imu_odom_: 1691062854.493036445 1.73819 0.186748 10.0556 -0.0585895 0.00852212 0.0447411 0.14 0 pose: 0.64015890 2.36575 -3.89373 0 0.0125432 -0.00020484 0.99991 -0.0047624 uwb: 0.49954886 1223.85 772.213 -imu_odom_: 1691062854.509902533 1.66636 -0.368707 9.69412 -0.0511327 0.0170442 0.0660464 0.13 0 pose: 0.0 2.36575 -3.89373 0 0.0125432 -0.00020484 0.99991 -0.0047624 uwb: 0.0 1223.85 772.213 -imu_odom_: 1691062854.528034088 0.744597 -0.639252 9.84975 -0.0500674 0.0383495 0.0575243 0.13 0 pose: 0.0 2.36575 -3.89373 0 0.0125432 -0.00020484 0.99991 -0.0047624 uwb: 0.0 1223.85 772.213 -imu_odom_: 1691062854.545029377 0.588974 -0.153229 10.3358 -0.0479369 -0.036219 0.0181095 0.13 0 pose: 0.33023469 2.35757 -3.88798 0 0.0156255 0.000577922 0.999866 -0.00489522 uwb: 0.49975010 1223.07 772.606 -imu_odom_: 1691062854.561874467 0.792481 -0.0263362 9.74679 -0.0607201 -0.0276969 0.015979 0.1 0 pose: 0.44084857 2.35757 -3.88798 0 0.0149533 -0.0003560830.999876 -0.00501673 uwb: 0.0 1223.07 772.606 -imu_odom_: 1691062854.577930353 0.967257 -0.191536 10.1873 -0.0617853 -0.0191748 0.0511327 0.1 0 pose: 0.6898093 2.35757 -3.88798 0 0.0153473 0.000242447 0.99987 -0.00492576 uwb: 0.0 1223.07 772.606 -imu_odom_: 1691062854.595944373 0.773327 -0.548272 9.7444 -0.0617853 0 0.0671117 0.1 0 pose: 0.0 2.35757 -3.88798 0 0.0153473 0.000242447 0.99987 -0.00492576 uwb: 0.50057255 1223.4 774.251 -imu_odom_: 1691062854.620953315 0.754174 -0.155623 9.76595 -0.0511327 -0.00426106 0.0820254 0.07 0 pose: 0.44016903 2.35182 -3.89616 0 0.0177654 -0.0007813720.999829 -0.00516641 uwb: 0.0 1223.4 774.251 -imu_odom_: 1691062854.636956704 0.306458 -0.0957681 9.87848 -0.0649811 0.0330232 0.0649811 0.08 0 pose: 0.0 2.35182 -3.89616 0 0.0177654 -0.0007813720.999829 -0.00516641 uwb: 0.0 1223.4 774.251 -imu_odom_: 1691062854.662937421 -0.301669 -0.0143652 10.2448 -0.0383495 0.0181095 -0.0905475 0.08 0 pose: 0.30981631 2.35182 -3.89616 0 0.01732 0.00182984 0.999832 -0.00572614 uwb: 0.0 1223.4 774.251 -imu_odom_: 1691062854.688872349 -1.08936 -0.277727 9.9503 -0.0671117 0.00532632 0.0511327 0.12 0.08 pose: 0.0 2.35182 -3.89616 0 0.01732 0.00182984 0.999832 -0.00572614 uwb: 0.0 1223.4 774.251 -imu_odom_: 1691062854.714013116 0.54109 -0.507571 9.43315 -0.0532632 -0.0905475 0.0649811 0.1 0 pose: 0.42956757 2.34363 -3.89043 0 0.0125587 0.00250981 0.999909 -0.00418928 uwb: 0.100071346 1223.97 775.645 -imu_odom_: 1691062854.739953586 0.505177 -0.134075 9.8258 -0.0575243 -0.00639159 0.0777643 0.12 0.02 pose: 0.26067046 2.34363 -3.89043 0 0.0107572 0.00157624 0.999931 -0.004391 uwb: 0.0 1223.97 775.645 -imu_odom_: 1691062854.765997008 -0.0694318 -0.428562 10.0221 -0.0585895 0.0479369 0.0500674 0.12 0 pose: 0.26016298 2.34363 -3.89043 0 0.0105937 0.000272553 0.999932 -0.00478362 uwb: 0.0 1223.97 775.645 -imu_odom_: 1691062854.782926967 0.220267 -0.126893 9.90481 -0.0553937 0.0170442 0.0245011 0.12 0 pose: 0.0 2.34363 -3.89043 0 0.0105937 0.000272553 0.999932 -0.00478362 uwb: 0.0 1223.97 775.645 -imu_odom_: 1691062854.808892518 0.612916 -0.208296 9.95509 -0.0628506 -0.0181095 0.0798948 0.13 0.02 pose: 0.25992383 2.33545 -3.88468 0 0.00819614 0.00101514 0.999953 -0.00515899 uwb: 0.99780572 1223.67 776.718 -imu_odom_: 1691062854.834902401 0.407014 -0.253785 9.56244 -0.0511327 -0.0181095 0.0351537 0.13 0.02 pose: 0.0 2.33545 -3.88468 0 0.00819614 0.00101514 0.999953 -0.00515899 uwb: 0.0 1223.67 776.718 -imu_odom_: 1691062854.860026252 0.189142 -0.292093 10.0054 -0.0468716 0.0436758 0.0628506 0.14 0 pose: 0.41929860 2.3297 -3.89286 0 0.00495784 0.000716939 0.999974 -0.00526767 uwb: 0.50024590 1223.62 777.163 -imu_odom_: 1691062854.885904892 0.744597 -0.28491 10.0556 -0.0426106 -0.0245011 0.0458064 0.14 0 pose: 0.0 2.3297 -3.89286 0 0.00495784 0.000716939 0.999974 -0.00526767 uwb: 0.0 1223.62 777.163 -imu_odom_: 1691062854.910942998 0.428562 -0.0646434 9.68215 -0.0511327 -0.00426106 0.0713727 0.15 0.02 pose: 0.96016544 2.31749 -3.89275 0 0.00449648 -0.00108509 0.999971 -0.00597615 uwb: 0.49968011 1223.2 777.578 -imu_odom_: 1691062854.928919104 0.423774 -0.37589 10.1011 -0.0479369 0.0394148 0.0490022 0.15 0.02 pose: 0.0 2.31749 -3.89275 0 0.00449648 -0.00108509 0.999971 -0.00597615 uwb: 0.0 1223.2 777.578 -imu_odom_: 1691062854.945935975 0.0814029 -0.241814 9.40203 -0.0628506 0.0394148 0.0319579 0.15 0 pose: 0.8026776 2.31576 -3.8953 0 0.00422439 -0.0003129860.999972 -0.00610072 uwb: 0.50095461 1222.88 777.894 -imu_odom_: 1691062854.968954992 1.10612 -0.153229 10.0533 -0.0660464 -0.0383495 0.0830906 0.15 0 pose: 0.0 2.31576 -3.8953 0 0.00422439 -0.0003129860.999972 -0.00610072 uwb: 0.0 1222.88 777.894 -imu_odom_: 1691062854.994150297 0.332794 -0.28491 9.88805 -0.0713727 0.00319579 0.0468716 0.16 0 pose: 0.41944442 2.30762 -3.88949 0 0.00193575 -0.0004164830.999977 -0.00642961 uwb: 0.50007675 1223.93 779.18 -imu_odom_: 1691062855.19890112 0.186748 -0.0407014 9.76116 -0.0660464 0.00958738 0.0639159 0.16 0 pose: 0.0 2.30762 -3.88949 0 0.00193575 -0.0004164830.999977 -0.00642961 uwb: 0.0 1223.93 779.18 -imu_odom_: 1691062855.45947826 0.481235 -0.289698 10.082 -0.072438 -0.0191748 0.0447411 0.16 0.02 pose: 0.84014002 2.29367 -3.89184 0 -0.00111125 -0.0001057610.999973 -0.007301 uwb: 0.49857184 1223.23 779.482 -imu_odom_: 1691062855.71002265 0.292093 -0.0909797 9.57681 -0.076699 0.00852212 0.0553937 0.2 0 pose: 0.8191851 2.29367 -3.89184 0 -0.000384327-0.0006530780.999973 -0.00732162 uwb: 0.0 1223.23 779.482 -imu_odom_: 1691062855.86911451 0.253785 -0.409408 10.398 -0.0681769 0 0.0490022 0.2 0 pose: 0.0 2.29367 -3.89184 0 -0.000384327-0.0006530780.999973 -0.00732162 uwb: 0.0 1223.23 779.482 -imu_odom_: 1691062855.113847904 0.469264 -0.203507 10.0461 -0.0500674 -0.0234358 0.0426106 0.17 0.02 pose: 0.24950611 2.29367 -3.89184 0 0.00069572 -0.00138317 0.999971 -0.00742263 uwb: 0.49992802 1223.15 779.564 -imu_odom_: 1691062855.138072017 0.342371 -0.605733 9.87848 -0.0585895 -0.00745685 0.0394148 0.17 0.02 pose: 0.0 2.29367 -3.89184 0 0.00069572 -0.00138317 0.999971 -0.00742263 uwb: 0.0 1223.15 779.564 -imu_odom_: 1691062855.163992364 0.512359 -0.23942 9.62948 -0.0553937 0.00532632 0.0543285 0.19 0.02 pose: 0.41975358 2.27973 -3.89421 0 -0.000723641-0.00125374 0.99997 -0.00765088 uwb: 0.50193748 1222.94 780.156 -imu_odom_: 1691062855.179917883 0.440533 -0.435745 10.3142 -0.0681769 0.0266316 0.052198 0.19 0.02 pose: 0.0 2.27973 -3.89421 0 -0.000723641-0.00125374 0.99997 -0.00765088 uwb: 0.0 1222.94 780.156 -imu_odom_: 1691062855.197898947 -0.0981623 -0.270545 9.76355 -0.0532632 -0.00852212 0.0458064 0.19 0.02 pose: 0.0 2.27973 -3.89421 0 -0.000723641-0.00125374 0.99997 -0.00765088 uwb: 0.49996593 1222.81 780.665 -imu_odom_: 1691062855.214870030 0.131681 -0.28491 9.57681 -0.0532632 -0.0234358 0.0511327 0.2 0.02 pose: 0.50132793 2.27158 -3.88842 0 0.00135643 -0.00262574 0.999966 -0.00772896 uwb: 0.0 1222.81 780.665 -imu_odom_: 1691062855.229065192 0.792481 -0.138864 10.07 -0.0660464 -0.0500674 0.052198 0.2 0.02 pose: 0.0 2.27158 -3.88842 0 0.00135643 -0.00262574 0.999966 -0.00772896 uwb: 0.0 1222.81 780.665 -imu_odom_: 1691062855.254010555 0.684742 -0.11971 10.4746 -0.036219 -0.0330232 0.0308927 0.16 0.02 pose: 0.83924467 2.25763 -3.8908 0 0.000970757 -0.00325558 0.99996 -0.00822107 uwb: 0.49970927 1222.92 781.318 -imu_odom_: 1691062855.279861197 0.332794 -0.272939 9.663 -0.052198 0.00213053 0.0490022 0.16 0.02 pose: 0.0 2.25763 -3.8908 0 0.000970757 -0.00325558 0.99996 -0.00822107 uwb: 0.0 1222.92 781.318 -imu_odom_: 1691062855.305910160 0.229843 -0.0407014 9.80186 -0.0532632 -0.00213053 0.0468716 0.18 -0.02 pose: 0.6978880 2.25763 -3.8908 0 0.0016615 -0.0028148 0.999961 -0.00818886 uwb: 0.49747233 1223.23 782.541 -imu_odom_: 1691062855.322847703 0.335188 -0.0742203 10.1706 -0.0607201 -0.00852212 0.0671117 0.18 -0.02 pose: 0.0 2.25763 -3.8908 0 0.0016615 -0.0028148 0.999961 -0.00818886 uwb: 0.0 1223.23 782.541 -imu_odom_: 1691062855.347895142 0.584185 0.0191536 10.1754 -0.04048 -0.015979 0.0308927 0.18 0.02 pose: 0.50903332 2.24369 -3.89318 0 0.000337143 -0.00160532 0.999965 -0.00826015 uwb: 0.50328782 1223.3 783.226 -imu_odom_: 1691062855.373940023 0.282516 -0.378284 9.79707 -0.0383495 -0.0245011 0.04048 0.21 0 pose: 0.42954716 2.24369 -3.89318 0 -0.00092703 0.00193861 0.999961 -0.00853623 uwb: 0.0 1223.3 783.226 -imu_odom_: 1691062855.399096539 0.203507 -0.0167594 9.68455 -0.0319579 0.00319579 0.0330232 0.17 0 pose: 0.26040215 2.23553 -3.88741 0 0.000143817 0.00271014 0.99996 -0.00846375 uwb: 0.49942638 1223.45 784.221 -imu_odom_: 1691062855.416088329 0.605733 -0.134075 10.0245 -0.0596548 -0.0447411 0.0532632 0.17 0 pose: 0.25136975 2.22975 -3.89557 0 -0.0011114 0.00185307 0.999962 -0.00844526 uwb: 0.0 1223.45 784.221 -imu_odom_: 1691062855.441835144 0.667982 0.047884 10.3142 -0.0628506 -0.0383495 0.04048 0.18 0 pose: 0.0 2.22975 -3.89557 0 -0.0011114 0.00185307 0.999962 -0.00844526 uwb: 0.49832977 1223.35 785.069 -imu_odom_: 1691062855.458828683 0.316035 -0.167594 9.81862 -0.0671117 0.0319579 0.0447411 0.18 0 pose: 0.0 2.22975 -3.89557 0 -0.0011114 0.00185307 0.999962 -0.00844526 uwb: 0.0 1223.35 785.069 -imu_odom_: 1691062855.484879688 0.878672 -0.134075 10.0652 -0.052198 -0.0266316 0.0372843 0.18 0.02 pose: 0.41768287 2.22159 -3.8898 0 0.000183356 0.00372446 0.999957 -0.00851079 uwb: 0.0 1223.35 785.069 -imu_odom_: 1691062855.508983642 0.502782 -0.447716 9.91439 -0.0628506 -0.0138484 0.0575243 0.18 0.02 pose: 0.42979798 2.21582 -3.89796 0 0.000922854 0.00410131 0.999955 -0.00855713 uwb: 0.50070672 1222.94 785.835 -imu_odom_: 1691062855.534937528 0.351948 -0.114922 9.8689 -0.0490022 -0.0266316 0.0394148 0.18 0 pose: 0.0 2.21582 -3.89796 0 0.000922854 0.00410131 0.999955 -0.00855713 uwb: 0.0 1222.94 785.835 -imu_odom_: 1691062855.559827768 0.198719 -0.19393 10.0963 -0.0596548 -0.0266316 0.0458064 0.18 0 pose: 0.50036258 2.20765 -3.89219 0 0.00295464 0.00202371 0.999955 -0.00876351 uwb: 0.49877309 1222.9 786.989 -imu_odom_: 1691062855.576821599 0.857124 -0.186748 9.94312 -0.0447411 -0.0308927 0.0351537 0.18 0 pose: 0.0 2.20765 -3.89219 0 0.00295464 0.00202371 0.999955 -0.00876351 uwb: 0.0 1222.9 786.989 -imu_odom_: 1691062855.602984598 0.37589 -0.371101 9.94312 -0.0639159 0.0479369 0.0553937 0.18 0 pose: 0.60957946 2.19371 -3.89459 0 0.00124989 0.00255987 0.999957 -0.00879162 uwb: 0.50115586 1223.2 788.563 -imu_odom_: 1691062855.618841288 0.225055 -0.107739 10.2232 -0.056459 -0.0308927 0.0372843 0.18 0 pose: 0.7074541 2.19371 -3.89459 0 0.000898156 0.00183997 0.999959 -0.00884843 uwb: 0.0 1223.2 788.563 -imu_odom_: 1691062855.644810631 0.658405 -0.205901 10.0533 -0.0575243 -0.02024 0.0426106 0.23 0 pose: 0.0 2.19371 -3.89459 0 0.000898156 0.00183997 0.999959 -0.00884843 uwb: 0.49930680 1224.11 790.285 -imu_odom_: 1691062855.670823139 0.452504 -0.131681 10.1825 -0.0575243 0.02024 0.0255663 0.23 0 pose: 0.34945148 2.18554 -3.88883 0 -0.00119775 0.000709865 0.999959 -0.00898369 uwb: 0.0 1224.11 790.285 -imu_odom_: 1691062855.696984387 0.782904 -0.177171 10.003 -0.0617853 -0.015979 0.0394148 0.23 -0.02 pose: 0.51981851 2.17384 -3.89281 0 0.00187853 0.00316331 0.999954 -0.00883886 uwb: 0.49969178 1223.44 790.541 -imu_odom_: 1691062855.721885419 0.665588 0.0981623 10.1825 -0.0553937 -0.00745685 0.0372843 0.23 -0.02 pose: 0.0 2.17384 -3.89281 0 0.00187853 0.00316331 0.999954 -0.00883886 uwb: 0.0 1223.44 790.541 -imu_odom_: 1691062855.739953103 0.423774 -0.390255 9.89524 -0.0777643 -0.056459 0.0383495 0.21 0.02 pose: 0.51062280 2.16761 -3.89689 0 0.00604157 0.00500484 0.99993 -0.00880995 uwb: 0.0 1223.44 790.541 -imu_odom_: 1691062855.764982752 0.782904 -0.112527 9.991 -0.0490022 -0.0468716 0.0298274 0.21 0.02 pose: 0.0 2.16761 -3.89689 0 0.00604157 0.00500484 0.99993 -0.00880995 uwb: 0.50018758 1223.48 791.237 -imu_odom_: 1691062855.790939555 0.727837 -0.390255 9.8689 -0.0479369 0.02024 0.0287621 0.25 0 pose: 0.43097333 2.15767 -3.89363 0 0.00891724 0.00360165 0.999916 -0.00868443 uwb: 0.50098671 1224.77 793.317 -imu_odom_: 1691062855.806833284 0.4956 -0.268151 9.86411 -0.04048 0.0713727 0.0223706 0.25 0 pose: 0.0 2.15767 -3.89363 0 0.00891724 0.00360165 0.999916 -0.00868443 uwb: 0.0 1224.77 793.317 -imu_odom_: 1691062855.825001296 0.213084 -0.0646434 10.2424 -0.056459 -0.0298274 0.04048 0.22 0 pose: 0.41850532 2.15337 -3.89059 0 0.008138 0.000610841 0.999931 -0.00844412 uwb: 0.0 1224.77 793.317 -imu_odom_: 1691062855.849818332 0.110133 -0.131681 10.1658 -0.0479369 0.0213053 0.0287621 0.22 0 pose: 0.0 2.15337 -3.89059 0 0.008138 0.000610841 0.999931 -0.00844412 uwb: 0.49934471 1224.55 793.88 -imu_odom_: 1691062855.876790075 0.687136 -0.241814 9.91918 -0.0681769 0.0234358 0.036219 0.25 -0.02 pose: 0.42985048 2.14373 -3.89603 0 0.00389144 0.00166054 0.999957 -0.00830753 uwb: 0.0 1224.55 793.88 -imu_odom_: 1691062855.892788214 0.146046 -0.220267 9.95748 -0.056459 0.00639159 0.0308927 0.25 -0.02 pose: 0.0 2.14373 -3.89603 0 0.00389144 0.00166054 0.999957 -0.00830753 uwb: 0.49987260 1225.7 795.705 -imu_odom_: 1691062855.920089229 0.572214 -0.150835 10.2352 -0.0713727 -0.0298274 0.0490022 0.26 -0.02 pose: 0.42969882 2.13557 -3.89025 0 0.00444014 0.000660792 0.999956 -0.00819913 uwb: 0.0 1225.7 795.705 -imu_odom_: 1691062855.946086571 0.682347 -0.222661 9.71328 -0.0617853 0.00639159 0.0447411 0.2 0 pose: 0.0 2.13557 -3.89025 0 0.00444014 0.000660792 0.999956 -0.00819913 uwb: 0.0 1225.7 795.705 -imu_odom_: 1691062855.972840451 0.225055 -0.275333 9.72525 -0.0479369 -0.00319579 0.0298274 0.25 0 pose: 0.35303585 2.12979 -3.89841 0 0.00779752 0.00169004 0.999933 -0.00834486 uwb: 0.0 1225.7 795.705 -imu_odom_: 1691062855.997786397 0.469264 -0.493206 9.7037 -0.0639159 0.0330232 0.0585895 0.19 0 pose: 0.24775914 2.12163 -3.89264 0 0.00876122 0.000985277 0.999926 -0.00836591 uwb: 0.99937773 1226.38 797.235 -imu_odom_: 1691062856.23088155 0.433351 -0.241814 9.96706 -0.0330232 -0.00426106 0.0383495 0.19 0 pose: 0.0 2.12163 -3.89264 0 0.00876122 0.000985277 0.999926 -0.00836591 uwb: 0.0 1226.38 797.235 -imu_odom_: 1691062856.48939964 0.572214 -0.260968 9.9503 -0.0596548 0.0287621 0.0532632 0.17 0 pose: 0.28110634 2.12163 -3.89264 0 0.0064828 -0.0002253370.999944 -0.00835399 uwb: 0.50048507 1225.87 798.045 -imu_odom_: 1691062856.73784708 0.481235 0.102951 10.4244 -0.0426106 -0.0138484 0.0458064 0.17 0 pose: 0.0 2.12163 -3.89264 0 0.0064828 -0.0002253370.999944 -0.00835399 uwb: 0.0 1225.87 798.045 -imu_odom_: 1691062856.87961789 0.294487 -0.25618 9.7037 -0.0671117 0 0.0553937 0.18 0 pose: 0.49101521 2.10769 -3.89503 0 0.00387784 -0.00146331 0.999955 -0.00856059 uwb: 0.0 1225.87 798.045 -imu_odom_: 1691062856.112923483 0.751779 -0.177171 9.96467 -0.0458064 -0.00426106 0.0458064 0.18 0 pose: 0.0 2.10769 -3.89503 0 0.00387784 -0.00146331 0.999955 -0.00856059 uwb: 0.49931556 1226.1 799.258 -imu_odom_: 1691062856.137892470 0.308852 -0.289698 9.70131 -0.0852212 0.0468716 0.0628506 0.26 0.02 pose: 0.49712527 2.09952 -3.88925 0 0.00469632 0.000596821 0.99995 -0.00880086 uwb: 0.0 1226.1 799.258 -imu_odom_: 1691062856.161056437 0.440533 -0.301669 9.80904 -0.076699 0 0.0468716 0.26 0.02 pose: 0.0 2.09952 -3.88925 0 0.00469632 0.000596821 0.99995 -0.00880086 uwb: 0.50116171 1226.57 800.605 -imu_odom_: 1691062856.177085492 0.54109 -0.335188 10.0485 -0.0788296 -0.00213053 0.0458064 0.19 0 pose: 0.40080804 2.09375 -3.89742 0 0.00555228 0.000386201 0.999944 -0.00902501 uwb: 0.0 1226.57 800.605 -imu_odom_: 1691062856.203846956 0.490811 -0.146046 9.95509 -0.0330232 -0.04048 0.0394148 0.19 0 pose: 0.0 2.09375 -3.89742 0 0.00555228 0.000386201 0.999944 -0.00902501 uwb: 0.49991927 1226.41 801.098 -imu_odom_: 1691062856.228925603 0.179565 -0.320823 9.91199 -0.0543285 0.00532632 0.0394148 0.25 0 pose: 0.49101813 2.08558 -3.89166 0 0.00321793 -0.00354177 0.999945 -0.00935153 uwb: 0.0 1226.41 801.098 -imu_odom_: 1691062856.255911928 0.584185 -0.136469 9.9096 -0.0490022 -0.0426106 0.0468716 0.23 0.02 pose: 0.42851474 2.07165 -3.89408 0 0.00374561 -0.00132851 0.999948 -0.00936663 uwb: 0.50021968 1226.59 801.987 -imu_odom_: 1691062856.271852613 0.227449 -0.277727 9.46667 -0.0585895 -0.0319579 0.0575243 0.23 0.02 pose: 0.0 2.07165 -3.89408 0 0.00374561 -0.00132851 0.999948 -0.00936663 uwb: 0.0 1226.59 801.987 -imu_odom_: 1691062856.298780317 0.42138 -0.270545 9.70609 -0.04048 -0.0394148 0.0415453 0.23 0 pose: 0.24102495 2.07165 -3.89408 0 0.00269122 -0.00131157 0.999951 -0.00939308 uwb: 0.49972678 1227.78 804.079 -imu_odom_: 1691062856.323876463 0.304064 -0.229843 10.2185 -0.0340885 -0.0351537 0.04048 0.23 0 pose: 0.0 2.07165 -3.89408 0 0.00269122 -0.00131157 0.999951 -0.00939308 uwb: 0.0 1227.78 804.079 -imu_odom_: 1691062856.349809642 0.634463 -0.237026 9.51695 -0.0596548 -0.0127832 0.0468716 0.23 0.02 pose: 0.42934302 2.05771 -3.89649 0 0.00294404 -0.0008546670.999949 -0.00961509 uwb: 0.49961596 1227.59 804.585 -imu_odom_: 1691062856.375789194 0.47884 -0.339977 9.84017 -0.0532632 0.00426106 0.0468716 0.23 0.02 pose: 0.0 2.05771 -3.89649 0 0.00294404 -0.0008546670.999949 -0.00961509 uwb: 0.0 1227.59 804.585 -imu_odom_: 1691062856.392798774 0.536301 -0.268151 9.99579 -0.0628506 -0.0308927 0.0585895 0.21 0.02 pose: 0.51956479 2.04954 -3.89074 0 0.000587178 -0.00140159 0.999952 -0.00968211 uwb: 0.49941764 1227.57 805.64 -imu_odom_: 1691062856.409783273 0.586579 -0.308852 9.66779 -0.0596548 0.00319579 0.0447411 0.21 0.02 pose: 0.0 2.04954 -3.89074 0 0.000587178 -0.00140159 0.999952 -0.00968211 uwb: 0.0 1227.57 805.64 -imu_odom_: 1691062856.433822189 0.428562 -0.146046 9.75637 -0.0372843 0.015979 0.0372843 0.19 0 pose: 0.51974852 2.04378 -3.89892 0 0.003906 -0.00366971 0.999937 -0.00991233 uwb: 0.0 1227.57 805.64 -imu_odom_: 1691062856.458840464 0.550666 -0.172383 10.1586 -0.04048 0.0287621 0.0308927 0.19 0 pose: 0.0 2.04378 -3.89892 0 0.003906 -0.00366971 0.999937 -0.00991233 uwb: 0.50013510 1228.32 807.399 -imu_odom_: 1691062856.482937126 0.603339 -0.289698 9.88805 -0.0681769 0.0181095 0.0553937 0.21 0 pose: 0.34013036 2.0356 -3.89317 0 0.00607001 -0.00328864 0.999926 -0.0100334 uwb: 0.0 1228.32 807.399 -imu_odom_: 1691062856.506852675 0.447716 -0.349553 9.44034 -0.0745685 0.00745685 0.0436758 0.21 0 pose: 0.0 2.0356 -3.89317 0 0.00607001 -0.00328864 0.999926 -0.0100334 uwb: 0.49903849 1228 808.008 -imu_odom_: 1691062856.531789288 0.37589 -0.23942 9.84017 -0.0617853 0.0181095 0.04048 0.2 0 pose: 0.49008194 2.02167 -3.8956 0 0.00623846 4.37563e-05 0.999931 -0.00994567 uwb: 0.0 1228 808.008 -imu_odom_: 1691062856.548802660 0.675165 -0.332794 9.40442 -0.0639159 -0.00958738 0.0308927 0.2 0 pose: 0.0 2.02167 -3.8956 0 0.00623846 4.37563e-05 0.999931 -0.00994567 uwb: 0.49998053 1228.07 808.969 -imu_odom_: 1691062856.573807519 0.603339 -0.529119 9.67018 -0.0447411 -0.00532632 0.0585895 0.23 0 pose: 0.49008486 2.02167 -3.8956 0 0.00478286 -0.0031502 0.999932 -0.0101551 uwb: 0.0 1228.07 808.969 -imu_odom_: 1691062856.590967007 0.603339 -0.423774 10.0796 -0.0500674 -0.00958738 0.0308927 0.23 0 pose: 0.0 2.02167 -3.8956 0 0.00478286 -0.0031502 0.999932 -0.0101551 uwb: 0.49988427 1227.76 809.562 -imu_odom_: 1691062856.614915220 0.31364 -0.349553 9.086 -0.0585895 0.0255663 0.0468716 0.18 0 pose: 0.76142677 2.00316 -3.89483 0 0.00688982 -0.00665886 0.999901 -0.0102597 uwb: 0.0 1227.76 809.562 -imu_odom_: 1691062856.641910004 0.272939 -0.071826 9.99579 -0.0500674 -0.0447411 0.0372843 0.18 0 pose: 0.0 2.00316 -3.89483 0 0.00688982 -0.00665886 0.999901 -0.0102597 uwb: 0.49952555 1226.74 809.406 -imu_odom_: 1691062856.666937320 0.507571 -0.294487 10.3669 -0.0692422 -0.0276969 0.056459 0.19 0 pose: 0.7850037 1.99956 -3.8923 0 0.00598979 -0.0067334 0.999906 -0.0102931 uwb: 0.0 1226.74 809.406 -imu_odom_: 1691062856.691785563 0.64404 -0.0742203 10.2424 -0.0713727 -0.04048 0.0426106 0.22 0 pose: 0.51124111 1.98563 -3.89474 0 0.00388438 -0.00442751 0.999929 -0.010401 uwb: 0.49970054 1226.55 810.241 -imu_odom_: 1691062856.714775124 0.624887 -0.0335188 10.4387 -0.0543285 -0.0479369 0.04048 0.22 0 pose: 0.0 1.98563 -3.89474 0 0.00388438 -0.00442751 0.999929 -0.010401 uwb: 0.0 1226.55 810.241 -imu_odom_: 1691062856.739910351 0.366313 -0.174777 10.0796 -0.056459 0.0266316 0.0213053 0.19 0 pose: 0.64833969 1.97626 -3.89639 0 0.00851064 0.000269799 0.999908 -0.0105508 uwb: 0.0 1226.55 810.241 -imu_odom_: 1691062856.757028716 0.526724 -0.490811 9.54089 -0.0713727 -0.00745685 0.0394148 0.19 0 pose: 0.8146353 1.9717 -3.89719 0 0.00758083 0.000397171 0.999916 -0.0104751 uwb: 0.50016426 1227.1 811.122 -imu_odom_: 1691062856.781806964 0.399832 -0.035913 9.96946 -0.0596548 -0.00745685 0.0436758 0.19 0 pose: 0.0 1.9717 -3.89719 0 0.00758083 0.000397171 0.999916 -0.0104751 uwb: 0.0 1227.1 811.122 -imu_odom_: 1691062856.806808323 0.502782 -0.363919 9.89284 -0.0862864 -0.0468716 0.04048 0.19 0 pose: 0.34107239 1.9717 -3.89719 0 0.00578996 -0.00118133 0.999929 -0.0103247 uwb: 0.50086131 1227.14 812.093 -imu_odom_: 1691062856.820809248 0.632069 -0.258574 10.1945 -0.0436758 -0.0234358 0.036219 0.18 0 pose: 0.0 1.9717 -3.89719 0 0.00578996 -0.00118133 0.999929 -0.0103247 uwb: 0.0 1227.14 812.093 -imu_odom_: 1691062856.837873658 0.433351 -0.383072 9.51456 -0.04048 0.00426106 0.0394148 0.18 0 pose: 0.55841250 1.95777 -3.89964 0 0.00594903 -0.0019507 0.999927 -0.0103738 uwb: 0.0 1227.14 812.093 -imu_odom_: 1691062856.851749757 0.337582 -0.222661 9.90721 -0.0649811 0.00426106 0.0415453 0.18 0 pose: 0.0 1.95777 -3.89964 0 0.00594903 -0.0019507 0.999927 -0.0103738 uwb: 0.50146793 1227.03 812.517 -imu_odom_: 1691062856.868938410 0.378284 0.0047884 10.0844 -0.0340885 -0.0181095 0.0340885 0.18 0.02 pose: 0.0 1.95777 -3.89964 0 0.00594903 -0.0019507 0.999927 -0.0103738 uwb: 0.0 1227.03 812.517 -imu_odom_: 1691062856.882813050 0.984017 -0.301669 9.78989 -0.0394148 -0.0170442 0.0276969 0.18 0.02 pose: 0.45889003 1.94958 -3.8939 0 0.00413085 -0.00211464 0.999936 -0.0103642 uwb: 0.0 1227.03 812.517 -imu_odom_: 1691062856.897742879 0.577003 -0.134075 10.4651 -0.0788296 0.00426106 0.0351537 0.18 0.02 pose: 0.0 1.94958 -3.8939 0 0.00413085 -0.00211464 0.999936 -0.0103642 uwb: 0.49910849 1226.86 813.65 -imu_odom_: 1691062856.915859560 0.758962 0.023942 9.57681 -0.0426106 -0.00745685 0.0383495 0.26 0 pose: 0.38983910 1.94384 -3.90208 0 0.00598932 -1.36709e-050.99993 -0.0102095 uwb: 0.0 1226.86 813.65 -imu_odom_: 1691062856.932016941 0.814029 -0.0287304 10.0556 -0.0681769 0.00532632 0.0575243 0.26 0 pose: 0.0 1.94384 -3.90208 0 0.00598932 -1.36709e-050.99993 -0.0102095 uwb: 0.0 1226.86 813.65 -imu_odom_: 1691062856.957797588 0.356736 -0.181959 10.0628 -0.0617853 -0.0223706 0.0351537 0.18 0.02 pose: 0.34274062 1.93565 -3.89634 0 0.00859328 0.00213257 0.999907 -0.0103311 uwb: 0.50213289 1226.68 814.464 -imu_odom_: 1691062856.975782736 0.646434 -0.258574 10.0556 -0.0671117 -0.0287621 0.0394148 0.19 0.02 pose: 0.0 1.93565 -3.89634 0 0.00859328 0.00213257 0.999907 -0.0103311 uwb: 0.0 1226.68 814.464 -imu_odom_: 1691062856.999777904 0.742203 -0.423774 9.57681 -0.0585895 -0.0511327 0.0340885 0.18 -0.02 pose: 0.43765795 1.92795 -3.89769 0 0.007969 0.000827432 0.999915 -0.0102751 uwb: 0.49889851 1226.62 815.172 -imu_odom_: 1691062857.16743738 -0.0143652 -0.0502782 10.0389 -0.0607201 -0.0213053 0.0500674 0.18 -0.02 pose: 0.0 1.92795 -3.89769 0 0.007969 0.000827432 0.999915 -0.0102751 uwb: 0.0 1226.62 815.172 -imu_odom_: 1691062857.32744211 0.622492 -0.299275 9.70131 -0.0532632 -0.04048 0.0308927 0.18 0 pose: 0.0 1.92795 -3.89769 0 0.007969 0.000827432 0.999915 -0.0102751 uwb: 0.0 1226.62 815.172 -imu_odom_: 1691062857.59736370 0.457293 -0.344765 10.0173 -0.0436758 -0.126766 0.0468716 0.18 0 pose: 0.48979904 1.92172 -3.89878 0 0.00924811 -0.00121709 0.999904 -0.0102802 uwb: 0.49855144 1227.01 816.821 -imu_odom_: 1691062857.84927886 2.15718 -0.270545 9.43315 -0.0511327 0.00958738 0.0543285 0.19 0 pose: 0.34973730 1.90948 -3.89882 0 0.0092827 -0.00316064 0.999898 -0.0103729 uwb: 0.0 1227.01 816.821 -imu_odom_: 1691062857.101796891 0.632069 -0.241814 10.3142 -0.0628506 0.00852212 0.0649811 0.19 0 pose: 0.8261555 1.90779 -3.90122 0 0.0100513 -0.00313313 0.99989 -0.0104309 uwb: 0.0 1227.01 816.821 -imu_odom_: 1691062857.117871152 -0.0215478 -0.213084 10.0868 -0.056459 0.0170442 0.0415453 0.19 0 pose: 0.0 1.90779 -3.90122 0 0.0100513 -0.00313313 0.99989 -0.0104309 uwb: 0.0 1227.01 816.821 -imu_odom_: 1691062857.134861484 0.792481 0.0550666 9.82341 -0.0447411 0.00532632 0.0276969 0.19 0 pose: 0.41805619 1.89961 -3.89548 0 0.0102887 -0.00146449 0.999888 -0.0107537 uwb: 0.0 1227.01 816.821 -imu_odom_: 1691062857.150741507 0.0622492 -0.260968 9.93115 -0.0798948 -0.0181095 0.0703074 0.19 0 pose: 0.0 1.89961 -3.89548 0 0.0102887 -0.00146449 0.999888 -0.0107537 uwb: 0.99888196 1226.84 817.616 -imu_odom_: 1691062857.168767486 0.588974 -0.402226 9.83299 -0.0596548 0.0191748 0.0436758 0.18 0 pose: 0.0 1.89961 -3.89548 0 0.0102887 -0.00146449 0.999888 -0.0107537 uwb: 0.0 1226.84 817.616 -imu_odom_: 1691062857.192862691 0.466869 -0.260968 9.2919 -0.0788296 0.0255663 0.072438 0.18 0 pose: 0.32079985 1.89961 -3.89548 0 0.00961584 -9.04782e-050.999896 -0.0107551 uwb: 0.50111505 1226.35 818.661 -imu_odom_: 1691062857.209734613 -0.071826 -0.316035 9.95988 -0.0735032 0.00852212 0.0596548 0.23 0 pose: 0.50979162 1.88568 -3.89794 0 0.00599249 -0.00257835 0.999914 -0.0113426 uwb: 0.0 1226.35 818.661 -imu_odom_: 1691062857.225738003 0.682347 -0.129287 10.4244 -0.0873517 -0.0394148 0.0447411 0.23 0 pose: 0.0 1.88568 -3.89794 0 0.00599249 -0.00257835 0.999914 -0.0113426 uwb: 0.0 1226.35 818.661 -imu_odom_: 1691062857.252737453 0.703895 -0.248997 10.5273 -0.076699 0.0351537 0.056459 0.25 0.02 pose: 0.6883219 1.88568 -3.89794 0 0.00526355 -0.00270657 0.999917 -0.0114134 uwb: 0.49876435 1226.67 820.018 -imu_odom_: 1691062857.277733272 0.409408 -0.11971 10.3573 -0.0383495 0.0500674 0.0383495 0.18 -0.02 pose: 0.0 1.88568 -3.89794 0 0.00526355 -0.00270657 0.999917 -0.0114134 uwb: 0.0 1226.67 820.018 -imu_odom_: 1691062857.303725073 0.761356 0.0047884 9.93354 -0.0511327 -0.0170442 0.0287621 0.21 0.02 pose: 0.77987362 1.87176 -3.90042 0 0.00538185 -0.0003749130.999916 -0.0117429 uwb: 0.50049676 1226.81 821.519 -imu_odom_: 1691062857.319722630 0.493206 -0.179565 10.0389 -0.0575243 -0.0276969 0.0511327 0.21 0.02 pose: 0.0 1.87176 -3.90042 0 0.00538185 -0.0003749130.999916 -0.0117429 uwb: 0.0 1226.81 821.519 -imu_odom_: 1691062857.337870227 0.339977 -0.538695 9.94073 -0.0703074 0.0234358 0.0596548 0.18 0.02 pose: 0.33089091 1.86355 -3.8947 0 0.00683847 0.00153106 0.999908 -0.0116315 uwb: 0.0 1226.81 821.519 -imu_odom_: 1691062857.362855838 0.282516 -0.0646434 9.78271 -0.0479369 0.015979 0.0500674 0.18 0.02 pose: 0.0 1.86355 -3.8947 0 0.00683847 0.00153106 0.999908 -0.0116315 uwb: 0.49943223 1226.12 822.059 -imu_odom_: 1691062857.389757586 0.162806 -0.555455 10.0197 -0.0532632 0.0340885 0.0447411 0.18 0.02 pose: 0.34920067 1.85783 -3.9029 0 0.0042701 0.000345751 0.99992 -0.0119102 uwb: 0.50035676 1227.31 824.311 -imu_odom_: 1691062857.405854595 0.490811 0.0287304 10.4483 -0.0330232 -0.0415453 0.0298274 0.18 0.02 pose: 0.0 1.85783 -3.9029 0 0.0042701 0.000345751 0.99992 -0.0119102 uwb: 0.0 1227.31 824.311 -imu_odom_: 1691062857.423695961 0.409408 -0.361524 9.41161 -0.0575243 0.0170442 0.0490022 0.18 0.02 pose: 0.51995560 1.84963 -3.89718 0 0.000881969 0.000137908 0.999927 -0.01203 uwb: 0.0 1227.31 824.311 -imu_odom_: 1691062857.440695042 0.80924 -0.136469 10.0628 -0.0436758 0.00106526 0.0372843 0.18 0.02 pose: 0.0 1.84963 -3.89718 0 0.000881969 0.000137908 0.999927 -0.01203 uwb: 0.49949056 1227.05 824.513 -imu_odom_: 1691062857.454697425 0.392649 -0.112527 9.73961 -0.0394148 -0.00106526 0.0447411 0.18 0.02 pose: 0.0 1.84963 -3.89718 0 0.000881969 0.000137908 0.999927 -0.01203 uwb: 0.0 1227.05 824.513 -imu_odom_: 1691062857.477759899 0.464475 -0.225055 9.98622 -0.0543285 -0.00852212 0.0468716 0.2 0.02 pose: 0.48974947 1.83571 -3.89967 0 0.00219877 0.000302869 0.999925 -0.0120695 uwb: 0.0 1227.05 824.513 -imu_odom_: 1691062857.503988811 0.514753 -0.1652 9.8665 -0.0436758 0.00852212 0.0426106 0.23 -0.02 pose: 0.31046962 1.83571 -3.89967 0 0.00333819 -0.0006853420.99992 -0.0121774 uwb: 0.50126379 1227.15 825.381 -imu_odom_: 1691062857.520709951 0.304064 -0.37589 9.8665 -0.0319579 -0.0149137 0.04048 0.18 -0.02 pose: 0.0 1.83571 -3.89967 0 0.00333819 -0.0006853420.99992 -0.0121774 uwb: 0.0 1227.15 825.381 -imu_odom_: 1691062857.545919840 0.203507 -0.0574608 9.75398 -0.0276969 -0.00426106 0.0319579 0.18 0 pose: 0.42950052 1.82418 -3.89873 0 0.00361627 0.000598397 0.999919 -0.0122214 uwb: 0.49931265 1227.35 826.804 -imu_odom_: 1691062857.559714860 0.0550666 -0.129287 9.87848 -0.0436758 -0.0255663 0.0553937 0.18 0 pose: 0.0 1.82418 -3.89873 0 0.00361627 0.000598397 0.999919 -0.0122214 uwb: 0.0 1227.35 826.804 -imu_odom_: 1691062857.577007633 0.723049 -0.155623 9.77074 -0.0596548 0.00106526 0.0383495 0.17 0.02 pose: 0.0 1.82418 -3.89873 0 0.00361627 0.000598397 0.999919 -0.0122214 uwb: 0.0 1227.35 826.804 -imu_odom_: 1691062857.600909766 0.859518 -0.0646434 9.77313 -0.0585895 -0.00958738 0.04048 0.17 0.02 pose: 0.46173070 1.81358 -3.89646 0 0.000853445 0.00237604 0.999922 -0.0122241 uwb: 0.49933890 1227.69 827.798 -imu_odom_: 1691062857.616843160 0.591368 -0.351948 9.56723 -0.0617853 0.0138484 0.0319579 0.2 0 pose: 0.34026745 1.80953 -3.90228 0 0.0042197 0.00297493 0.999912 -0.0122351 uwb: 0.0 1227.69 827.798 -imu_odom_: 1691062857.633758830 0.268151 -0.0981623 9.85693 -0.0436758 -0.00958738 0.0447411 0.2 0 pose: 0.6974214 1.80787 -3.90467 0 0.00450507 0.00234716 0.999913 -0.0122122 uwb: 0.0 1227.69 827.798 -imu_odom_: 1691062857.659723216 0.696713 -0.328006 10.1442 -0.0553937 0.0149137 0.0426106 0.19 0 pose: 0.25874850 1.80351 -3.90163 0 0.0033276 0.00222219 0.999917 -0.0122217 uwb: 0.50185292 1228.56 829.943 -imu_odom_: 1691062857.684832194 0.481235 -0.141258 10.0796 -0.0532632 0.0500674 0.0479369 0.19 0 pose: 0.0 1.80351 -3.90163 0 0.0033276 0.00222219 0.999917 -0.0122217 uwb: 0.0 1228.56 829.943 -imu_odom_: 1691062857.710696253 0.31364 -0.244209 9.3709 -0.0703074 0.0426106 0.0351537 0.19 0 pose: 0.51073364 1.78958 -3.90076 0 0.00350489 0.00306403 0.999913 -0.0123639 uwb: 0.49932432 1229.47 831.44 -imu_odom_: 1691062857.727964819 0.727837 -0.0023942 9.70609 -0.11931 0.00958738 0.072438 0.19 0 pose: 0.0 1.78958 -3.90076 0 0.00350489 0.00306403 0.999913 -0.0123639 uwb: 0.0 1229.47 831.44 -imu_odom_: 1691062857.744773745 0.572214 -0.361524 10.0269 -0.0873517 0.0671117 0.0681769 0.19 0.02 pose: 0.0 1.78958 -3.90076 0 0.00350489 0.00306403 0.999913 -0.0123639 uwb: 0.50269287 1228.64 831.12 -imu_odom_: 1691062857.769820602 0.248997 -0.275333 9.61511 0.00106526 0.0458064 -0.0255663 0.19 0.02 pose: 0.43132625 1.78574 -3.90145 0 0.00202064 0.00192185 0.999917 -0.0125907 uwb: 0.0 1228.64 831.12 -imu_odom_: 1691062857.795763698 0.0694318 -0.517148 9.66779 -0.0937433 0.00106526 0.0894822 0.19 -0.02 pose: 0.41855783 1.77606 -3.9032 0 -0.0006054130.000166962 0.999928 -0.0120237 uwb: 0.49573412 1229.65 833.453 -imu_odom_: 1691062857.820698853 0.136469 -0.462081 10.1466 -0.0287621 0.015979 0.02024 0.19 -0.02 pose: 0.0 1.77606 -3.9032 0 -0.0006054130.000166962 0.999928 -0.0120237 uwb: 0.0 1229.65 833.453 -imu_odom_: 1691062857.845758251 0.292093 -0.184354 9.91439 -0.0830906 0.00426106 0.0436758 0.19 0 pose: 0.50878251 1.76595 -3.89987 0 -0.00457106 -0.00355792 0.999906 -0.0124265 uwb: 0.49913183 1229.37 834.269 -imu_odom_: 1691062857.861740934 0.6608 -0.428562 9.36133 -0.0735032 0.0372843 0.0383495 0.19 0 pose: 0.0 1.76595 -3.89987 0 -0.00457106 -0.00355792 0.999906 -0.0124265 uwb: 0.0 1229.37 834.269 -imu_odom_: 1691062857.878904214 0.186748 -0.445322 10.0149 -0.0735032 -0.0394148 0.0319579 0.19 0 pose: 0.41042081 1.76044 -3.9028 0 -0.00412319 -0.00234046 0.999911 -0.0124768 uwb: 0.0 1229.37 834.269 -imu_odom_: 1691062857.896741788 0.61531 0.047884 10.2065 -0.0372843 -0.015979 0.0383495 0.19 0 pose: 0.0 1.76044 -3.9028 0 -0.00412319 -0.00234046 0.999911 -0.0124768 uwb: 0.50105672 1229.31 835.525 -imu_odom_: 1691062857.920731416 0.596156 -0.11971 9.97185 -0.0639159 -0.00106526 0.0415453 0.18 0.02 pose: 0.35000854 1.74969 -3.90075 0 -0.0035191 -0.00239997 0.999914 -0.0123997 uwb: 0.0 1229.31 835.525 -imu_odom_: 1691062857.938662317 0.454898 -0.0023942 10.0197 -0.04048 -0.052198 0.0308927 0.18 0.02 pose: 0.0 1.74969 -3.90075 0 -0.0035191 -0.00239997 0.999914 -0.0123997 uwb: 0.0 1229.31 835.525 -imu_odom_: 1691062857.954665124 0.723049 -0.172383 9.663 -0.0553937 0.0106526 0.0372843 0.18 0.02 pose: 0.0 1.74969 -3.90075 0 -0.0035191 -0.00239997 0.999914 -0.0123997 uwb: 0.49995137 1229.99 837.16 -imu_odom_: 1691062857.977721473 0.397437 0.023942 10.5512 -0.0490022 -0.0447411 0.0383495 0.19 0 pose: 0.48955698 1.74148 -3.89504 0 0.000174755 0.000580232 0.999924 -0.0123393 uwb: 0.0 1229.99 837.16 -imu_odom_: 1691062857.994721430 0.471658 -0.433351 9.2919 -0.0447411 -0.00319579 0.0553937 0.19 0 pose: 0.0 1.74148 -3.89504 0 0.000174755 0.000580232 0.999924 -0.0123393 uwb: 0.50061341 1230.05 838.317 -imu_odom_: 1691062858.11658682 0.593762 -0.311246 10.3406 -0.0553937 -0.0447411 0.0479369 0.25 0 pose: 0.49023944 1.73577 -3.90325 0 0.00146026 0.00146393 0.99992 -0.01245 uwb: 0.0 1230.05 838.317 -imu_odom_: 1691062858.27822188 0.538695 -0.244209 10.0868 -0.0639159 -0.00426106 0.0394148 0.25 0 pose: 0.6946799 1.73577 -3.90325 0 0.00215227 0.00104288 0.999919 -0.0124802 uwb: 0.0 1230.05 838.317 -imu_odom_: 1691062858.53690622 0.373495 -0.174777 10.4244 -0.0692422 -0.015979 0.0490022 0.23 0.02 pose: 0.0 1.73577 -3.90325 0 0.00215227 0.00104288 0.999919 -0.0124802 uwb: 0.49994845 1229.58 838.951 -imu_odom_: 1691062858.79832915 0.572214 0 10.0173 -0.0585895 -0.0170442 0.036219 0.19 0 pose: 0.34094116 1.72756 -3.89754 0 0.00389949 -0.0001319870.999913 -0.0125612 uwb: 0.0 1229.58 838.951 -imu_odom_: 1691062858.105094426 0.984017 -0.342371 10.2328 -0.0458064 -0.00213053 0.0223706 0.22 0 pose: 0.44070570 1.71594 -3.90164 0 0.00379771 0.00260115 0.99991 -0.0125939 uwb: 0.49945558 1229.33 839.423 -imu_odom_: 1691062858.121722530 0.251391 0.00718261 9.93594 -0.0468716 0.0245011 0.0415453 0.22 0 pose: 0.0 1.71594 -3.90164 0 0.00379771 0.00260115 0.99991 -0.0125939 uwb: 0.0 1229.33 839.423 -imu_odom_: 1691062858.147812909 0.35913 -0.418985 9.51456 -0.0681769 0.0287621 0.0458064 0.23 0 pose: 0.41889615 1.71069 -3.9043 0 0.00453118 0.002892 0.999909 -0.0123952 uwb: 0.50058717 1229.58 840.734 -imu_odom_: 1691062858.161803043 0.500388 -0.198719 10.0628 -0.04048 -0.00852212 0.0308927 0.23 0 pose: 0.8133521 1.70794 -3.90826 0 0.00404073 0.00210739 0.999912 -0.012423 uwb: 0.0 1229.58 840.734 -imu_odom_: 1691062858.186667037 0.407014 -0.411803 10.0126 -0.0607201 -0.00106526 0.0490022 0.18 0 pose: 0.31946992 1.69973 -3.90255 0 0.00434351 0.000822051 0.999913 -0.0124233 uwb: 0.0 1229.58 840.734 -imu_odom_: 1691062858.210709745 0.486023 0.0790087 10.3262 -0.0479369 -0.0223706 0.0468716 0.18 0 pose: 0.0 1.69973 -3.90255 0 0.00434351 0.000822051 0.999913 -0.0124233 uwb: 0.0 1229.58 840.734 -imu_odom_: 1691062858.235678441 0.562637 -0.308852 10.3621 -0.0713727 0.00213053 0.0468716 0.18 0 pose: 0.7877744 1.69973 -3.90255 0 0.00405564 6.19567e-05 0.999914 -0.0124633 uwb: 0.0 1229.58 840.734 -imu_odom_: 1691062858.252673731 0.371101 -0.0263362 9.36372 -0.0660464 0.0191748 0.036219 0.18 0 pose: 0.0 1.69973 -3.90255 0 0.00405564 6.19567e-05 0.999914 -0.0124633 uwb: 0.100069604 1229.57 841.336 -imu_odom_: 1691062858.276670650 0.201113 -0.416591 9.4978 -0.0756338 -0.00213053 0.0543285 0.19 0 pose: 0.48183703 1.68581 -3.90506 0 0.00412982 0.000292556 0.999911 -0.0126579 uwb: 0.0 1229.57 841.336 -imu_odom_: 1691062858.302713782 0.225055 -0.31364 9.52892 -0.072438 0.00426106 0.0372843 0.18 0 pose: 0.41881157 1.68581 -3.90506 0 0.00349332 -0.0004093550.999913 -0.0127466 uwb: 0.49856312 1229.48 842.579 -imu_odom_: 1691062858.316826409 0.608127 -0.0790087 10.1442 -0.0617853 -0.0298274 0.0458064 0.2 -0.02 pose: 0.42968135 1.67334 -3.90548 0 -0.000461447-0.0026331 0.999914 -0.0128498 uwb: 0.0 1229.48 842.579 -imu_odom_: 1691062858.340736125 0.586579 -0.19393 10.0293 -0.0500674 -0.0298274 0.0340885 0.2 -0.02 pose: 0.0 1.67334 -3.90548 0 -0.000461447-0.0026331 0.999914 -0.0128498 uwb: 0.49942641 1229.44 844.073 -imu_odom_: 1691062858.358668194 0.373495 -0.186748 9.75398 -0.0681769 -0.0117179 0.0415453 0.23 0.02 pose: 0.38022343 1.66631 -3.90369 0 0.00334141 -0.0008894780.999912 -0.0128223 uwb: 0.0 1229.44 844.073 -imu_odom_: 1691062858.375724147 0.356736 -0.213084 10.1131 -0.0585895 -0.0234358 0.0287621 0.23 0.02 pose: 0.0 1.66631 -3.90369 0 0.00334141 -0.0008894780.999912 -0.0128223 uwb: 0.0 1229.44 844.073 -imu_odom_: 1691062858.400645304 0.742203 -0.514753 10.3645 -0.0713727 0.00319579 0.056459 0.2 0 pose: 0.34988022 1.66368 -3.90187 0 0.000247095 -0.0001442050.999919 -0.0127465 uwb: 0.49933016 1229.77 845.313 -imu_odom_: 1691062858.425693620 0.873884 -0.277727 10.4603 -0.0372843 -0.0117179 0.036219 0.2 0 pose: 0.0 1.66368 -3.90187 0 0.000247095 -0.0001442050.999919 -0.0127465 uwb: 0.0 1229.77 845.313 -imu_odom_: 1691062858.447865105 0.464475 -0.268151 10.422 -0.056459 -0.0447411 0.0500674 0.18 0 pose: 0.49969473 1.64976 -3.90438 0 0.00463635 -0.00184465 0.999904 -0.0129105 uwb: 0.50135129 1229.12 845.748 -imu_odom_: 1691062858.464660324 0.627281 -0.289698 9.48343 -0.0436758 0.0447411 0.0276969 0.18 0 pose: 0.0 1.64976 -3.90438 0 0.00463635 -0.00184465 0.999904 -0.0129105 uwb: 0.0 1229.12 845.748 -imu_odom_: 1691062858.480769291 0.574608 -0.198719 10.0317 -0.052198 -0.00426106 0.0500674 0.24 0 pose: 0.0 1.64976 -3.90438 0 0.00463635 -0.00184465 0.999904 -0.0129105 uwb: 0.0 1229.12 845.748 -imu_odom_: 1691062858.505798650 0.620098 -0.201113 10.0173 -0.0436758 -0.00852212 0.0319579 0.24 0 pose: 0.38966704 1.64503 -3.9011 0 0.00430896 -0.00285813 0.999903 -0.0129308 uwb: 0.49979389 1229.13 847.194 -imu_odom_: 1691062858.530841424 0.509965 -0.335188 9.97903 -0.052198 0.0181095 0.0713727 0.21 0.02 pose: 0.41138326 1.63584 -3.9069 0 0.00783379 -0.0005444560.999886 -0.0129027 uwb: 0.0 1229.13 847.194 -imu_odom_: 1691062858.554704477 0.246603 -0.28491 9.95748 -0.0351537 0.00532632 0.0255663 0.21 0.02 pose: 0.0 1.63584 -3.9069 0 0.00783379 -0.0005444560.999886 -0.0129027 uwb: 0.50053176 1228.8 848.277 -imu_odom_: 1691062858.572921195 0.213084 -0.150835 9.64624 -0.0479369 0.015979 0.0447411 0.19 0.02 pose: 0.48905827 1.62763 -3.9012 0 0.00406969 -0.00271757 0.999901 -0.0131614 uwb: 0.0 1228.8 848.277 -imu_odom_: 1691062858.596794747 0.0814029 -0.430956 9.05727 -0.0383495 0.00958738 0.0276969 0.19 0.02 pose: 0.0 1.62763 -3.9012 0 0.00406969 -0.00271757 0.999901 -0.0131614 uwb: 0.50056967 1229.04 848.981 -imu_odom_: 1691062858.622673680 0.153229 -0.349553 9.52892 -0.052198 0.00106526 0.0660464 0.23 0 pose: 0.42090270 1.61646 -3.90562 0 -8.37941e-05-0.0028442 0.99991 -0.0130748 uwb: 0.0 1229.04 848.981 -imu_odom_: 1691062858.646660100 0.150835 -0.227449 10.1227 -0.0447411 -0.0149137 0.036219 0.23 0 pose: 0.0 1.61646 -3.90562 0 -8.37941e-05-0.0028442 0.99991 -0.0130748 uwb: 0.50001554 1229.11 850.647 -imu_odom_: 1691062858.670637479 0.174777 -0.52433 9.71806 -0.0777643 0.0223706 0.0500674 0.18 0 pose: 0.49865353 1.61371 -3.90372 0 -0.00478631 -0.00286139 0.999895 -0.0133937 uwb: 0.0 1229.11 850.647 -imu_odom_: 1691062858.687791427 0.179565 -0.454898 9.80904 -0.0458064 0.0127832 0.0330232 0.18 0 pose: 0.0 1.61371 -3.90372 0 -0.00478631 -0.00286139 0.999895 -0.0133937 uwb: 0.0 1229.11 850.647 -imu_odom_: 1691062858.712663295 0.442927 -0.0191536 10.3382 -0.0436758 -0.0213053 0.0660464 0.23 0 pose: 0.30989799 1.5998 -3.90625 0 -0.0066632 -0.0058075 0.99987 -0.0134874 uwb: 0.49870020 1228.91 851.065 -imu_odom_: 1691062858.736787957 0.215478 -0.158017 10.1083 -0.015979 0 0.0340885 0.23 0 pose: 0.0 1.5998 -3.90625 0 -0.0066632 -0.0058075 0.99987 -0.0134874 uwb: 0.0 1228.91 851.065 -imu_odom_: 1691062858.753722000 0.632069 -0.361524 9.2488 -0.0639159 0.0245011 0.0543285 0.21 0 pose: 0.43160624 1.5998 -3.90625 0 -0.00629063 -0.00338446 0.99988 -0.0137713 uwb: 0.49994846 1228.5 852.467 -imu_odom_: 1691062858.778876185 0.208296 -0.196325 9.61272 -0.0436758 0.00958738 0.04048 0.21 0 pose: 0.0 1.5998 -3.90625 0 -0.00629063 -0.00338446 0.99988 -0.0137713 uwb: 0.0 1228.5 852.467 -imu_odom_: 1691062858.802740987 0.308852 -0.0047884 9.79468 -0.0458064 0.00319579 0.0639159 0.18 0 pose: 0.40846093 1.58588 -3.90879 0 -0.00639448 -0.00174454 0.999882 -0.0138628 uwb: 0.49987846 1229.35 854.729 -imu_odom_: 1691062858.825627597 0.351948 -0.0143652 9.79228 -0.0607201 -0.0372843 0.0426106 0.18 0 pose: 0.0 1.58588 -3.90879 0 -0.00639448 -0.00174454 0.999882 -0.0138628 uwb: 0.0 1229.35 854.729 -imu_odom_: 1691062858.840685168 0.258574 -0.229843 9.54089 -0.0735032 -0.0117179 0.0447411 0.18 -0.02 pose: 0.47988589 1.57766 -3.9031 0 -0.00700616 0.00232702 0.999872 -0.0142011 uwb: 0.50013803 1229.19 855.394 -imu_odom_: 1691062858.866636139 0.225055 -0.351948 9.76834 -0.0543285 -0.00532632 0.0308927 0.18 -0.02 pose: 0.0 1.57766 -3.9031 0 -0.00700616 0.00232702 0.999872 -0.0142011 uwb: 0.0 1229.19 855.394 -imu_odom_: 1691062858.890776842 0.136469 -0.0885855 10.3046 -0.0511327 -0.0266316 0.0511327 0.23 -0.02 pose: 0.39027659 1.57198 -3.91134 0 -0.00665041 0.00137823 0.999876 -0.0142259 uwb: 0.50005637 1229.56 856.833 -imu_odom_: 1691062858.908781531 0.775721 -0.304064 9.67976 -0.0628506 0.0436758 0.0415453 0.23 -0.02 pose: 0.0 1.57198 -3.91134 0 -0.00665041 0.00137823 0.999876 -0.0142259 uwb: 0.0 1229.56 856.833 -imu_odom_: 1691062858.932835322 0.581791 -0.335188 9.48343 -0.0681769 0.0340885 0.04048 0.19 -0.02 pose: 0.50007387 1.56375 -3.90566 0 -0.00794752 0.00127287 0.999865 -0.0142958 uwb: 0.0 1229.56 856.833 -imu_odom_: 1691062858.958791543 0.371101 -0.497994 9.60075 -0.0511327 -0.00426106 0.0330232 0.23 -0.02 pose: 0.34155071 1.55443 -3.90737 0 -0.0054501 -9.63015e-050.999883 -0.0143141 uwb: 0.49982597 1229.83 858.334 -imu_odom_: 1691062858.971831774 -0.0383072 -0.301669 9.9503 -0.0468716 -0.0245011 0.0266316 0.23 -0.02 pose: 0.0 1.55443 -3.90737 0 -0.0054501 -9.63015e-050.999883 -0.0143141 uwb: 0.0 1229.83 858.334 -imu_odom_: 1691062858.987825832 0.603339 -0.296881 10.2783 -0.0607201 -0.0372843 0.0468716 0.23 -0.02 pose: 0.0 1.55443 -3.90737 0 -0.0054501 -9.63015e-050.999883 -0.0143141 uwb: 0.0 1229.83 858.334 -imu_odom_: 1691062859.4666256 0.577003 -0.258574 9.60075 -0.0372843 0.0468716 0.0234358 0.25 0 pose: 0.7962906 1.54984 -3.90821 0 -0.00524454 -0.0008487540.999884 -0.0142837 uwb: 0.50021678 1230 859.883 -imu_odom_: 1691062859.29618620 0.205901 -0.371101 9.32781 -0.0543285 0.0170442 0.0394148 0.25 0 pose: 0.0 1.54984 -3.90821 0 -0.00524454 -0.0008487540.999884 -0.0142837 uwb: 0.0 1230 859.883 -imu_odom_: 1691062859.54755306 0.411803 -0.1652 9.58399 -0.0479369 -0.00958738 0.0394148 0.24 0 pose: 0.55217996 1.54161 -3.90253 0 -0.00347645 -0.00270894 0.999891 -0.0141183 uwb: 0.50000096 1230.04 860.681 -imu_odom_: 1691062859.79896658 -0.102951 -0.380678 10.2328 -0.0681769 0.00319579 0.0490022 0.19 0 pose: 0.0 1.54161 -3.90253 0 -0.00347645 -0.00270894 0.999891 -0.0141183 uwb: 0.0 1230.04 860.681 -imu_odom_: 1691062859.104645742 -0.143652 -0.181959 10.0054 -0.0553937 0.00745685 0.0330232 0.21 -0.02 pose: 0.65768710 1.5277 -3.90508 0 -0.00410998 -0.00232171 0.99989 -0.0140782 uwb: 0.50023720 1230.51 862.045 -imu_odom_: 1691062859.121765276 0.6608 -0.146046 10.2376 -0.0511327 -0.0181095 0.0490022 0.21 -0.02 pose: 0.0 1.5277 -3.90508 0 -0.00410998 -0.00232171 0.99989 -0.0140782 uwb: 0.0 1230.51 862.045 -imu_odom_: 1691062859.145764529 0.47884 -0.0814029 9.80426 -0.0479369 0.0340885 0.0234358 0.18 0 pose: 0.59980342 1.51719 -3.90998 0 -0.00672355 -0.0019825 0.999875 -0.0141744 uwb: 0.49991056 1230.88 863.459 -imu_odom_: 1691062859.170759181 0.143652 -0.42138 9.57202 -0.0458064 -0.0255663 0.0394148 0.18 0 pose: 0.7035460 1.51379 -3.90763 0 -0.00632101 -0.0015037 0.999879 -0.0141192 uwb: 0.0 1230.88 863.459 -imu_odom_: 1691062859.194760184 0.208296 -0.122104 9.53371 -0.0511327 0.00213053 0.0447411 0.18 -0.02 pose: 0.41958445 1.51379 -3.90763 0 -0.00660203 -0.00221483 0.999878 -0.0139732 uwb: 0.49944683 1231.19 864.908 -imu_odom_: 1691062859.220740029 0.438139 -0.373495 9.32302 -0.0649811 0.0415453 0.0458064 0.24 0 pose: 0.0 1.51379 -3.90763 0 -0.00660203 -0.00221483 0.999878 -0.0139732 uwb: 0.0 1231.19 864.908 -imu_odom_: 1691062859.236670799 0.325611 -0.0646434 10.2017 -0.0372843 0.00639159 0.0319579 0.24 0 pose: 0.32155231 1.49988 -3.91018 0 -0.00739947 -0.0006324360.999873 -0.0140726 uwb: 0.0 1231.19 864.908 -imu_odom_: 1691062859.253643633 0.454898 -0.160412 9.90721 -0.0617853 0.0223706 0.0585895 0.24 0 pose: 0.0 1.49988 -3.91018 0 -0.00739947 -0.0006324360.999873 -0.0140726 uwb: 0.49935933 1231.58 866.569 -imu_odom_: 1691062859.278657243 0.916979 -0.122104 10.0461 -0.0426106 0.0234358 0.0372843 0.18 0 pose: 0.50729221 1.49554 -3.90718 0 -0.00474915 0.000287229 0.999887 -0.0142317 uwb: 0.0 1231.58 866.569 -imu_odom_: 1691062859.303664145 0.117316 -0.203507 9.663 -0.0692422 0.0276969 0.0596548 0.18 0 pose: 0.8037568 1.49164 -3.90449 0 -0.00406688 0.000460111 0.99989 -0.0142232 uwb: 0.50123173 1231.98 867.947 -imu_odom_: 1691062859.328710420 0.299275 -0.265756 9.65582 -0.0628506 0.00852212 0.0479369 0.19 0 pose: 0.41982944 1.48226 -3.90622 0 -0.00552145 0.000554545 0.99988 -0.0144543 uwb: 0.0 1231.98 867.947 -imu_odom_: 1691062859.352684591 0.457293 -0.418985 9.85932 -0.0639159 -0.00426106 0.0543285 0.19 0 pose: 0.0 1.48226 -3.90622 0 -0.00552145 0.000554545 0.99988 -0.0144543 uwb: 0.49901811 1232.26 868.862 -imu_odom_: 1691062859.375592783 0.213084 -0.136469 9.56723 -0.0745685 0.0245011 0.036219 0.21 0 pose: 0.32118191 1.47774 -3.90705 0 -0.00508675 -0.00257106 0.999877 -0.0145943 uwb: 0.0 1232.26 868.862 -imu_odom_: 1691062859.401608501 0.167594 -0.691924 9.55287 -0.0681769 0.00319579 0.0372843 0.25 0 pose: 0.0 1.47774 -3.90705 0 -0.00508675 -0.00257106 0.999877 -0.0145943 uwb: 0.49991930 1232.11 869.747 -imu_odom_: 1691062859.414595361 0.328006 -0.124498 9.99579 -0.0490022 -0.0436758 0.0255663 0.25 0 pose: 0.47892054 1.46383 -3.90961 0 -0.00588235 -0.00309377 0.99987 -0.0146707 uwb: 0.0 1232.11 869.747 -imu_odom_: 1691062859.438577406 0.344765 -0.562637 9.78031 -0.0553937 -0.00106526 0.0383495 0.25 0 pose: 0.0 1.46383 -3.90961 0 -0.00588235 -0.00309377 0.99987 -0.0146707 uwb: 0.0 1232.11 869.747 -imu_odom_: 1691062859.464747115 0.507571 -0.160412 10.3094 -0.0447411 -0.0223706 0.0532632 0.17 -0.02 pose: 0.38991204 1.46383 -3.90961 0 -0.00567729 -0.00442993 0.999868 -0.0145481 uwb: 0.50092550 1232.54 871.102 -imu_odom_: 1691062859.480606723 0.107739 -0.237026 9.663 -0.0585895 -0.00745685 0.0607201 0.17 -0.02 pose: 0.0 1.46383 -3.90961 0 -0.00567729 -0.00442993 0.999868 -0.0145481 uwb: 0.0 1232.54 871.102 -imu_odom_: 1691062859.497645469 0.919373 -0.402226 10.094 -0.0426106 -0.0447411 0.0383495 0.18 0.02 pose: 0.48980198 1.44992 -3.91217 0 -0.00378694 -0.00402715 0.999875 -0.0147809 uwb: 0.50078550 1232.84 871.994 -imu_odom_: 1691062859.513702523 0.739808 -0.275333 9.31105 -0.0596548 0.00213053 0.0607201 0.18 0.02 pose: 0.0 1.44992 -3.91217 0 -0.00378694 -0.00402715 0.999875 -0.0147809 uwb: 0.0 1232.84 871.994 -imu_odom_: 1691062859.538643221 0.97444 -0.246603 9.44991 -0.0426106 0.0170442 0.0298274 0.25 0 pose: 0.17039330 1.44992 -3.91217 0 -0.00368765 -0.00392522 0.999875 -0.0148717 uwb: 0.0 1232.84 871.994 -imu_odom_: 1691062859.552750598 0.411803 -0.117316 9.92636 -0.0458064 0.0319579 0.0458064 0.25 0 pose: 0.0 1.44992 -3.91217 0 -0.00368765 -0.00392522 0.999875 -0.0148717 uwb: 0.50045010 1233.25 873.09 -imu_odom_: 1691062859.577860452 0.505177 -0.335188 10.0509 -0.0500674 0.0117179 0.04048 0.19 -0.02 pose: 0.32990515 1.44168 -3.90651 0 -0.000361056-0.00385589 0.99988 -0.0149836 uwb: 0.0 1233.25 873.09 -imu_odom_: 1691062859.594595300 0.320823 -0.0047884 9.76355 -0.0415453 0.00426106 0.0458064 0.22 0 pose: 0.0 1.44168 -3.90651 0 -0.000361056-0.00385589 0.99988 -0.0149836 uwb: 0.49813733 1233.14 874.467 -imu_odom_: 1691062859.611770538 0.344765 -0.258574 10.0102 -0.0617853 -0.00639159 0.0681769 0.18 0 pose: 0.0 1.44168 -3.90651 0 -0.000361056-0.00385589 0.99988 -0.0149836 uwb: 0.0 1233.14 874.467 -imu_odom_: 1691062859.628719457 0.538695 -0.368707 9.84735 -0.0447411 -0.0213053 0.0340885 0.18 0 pose: 0.72919663 1.42778 -3.90908 0 0.00167186 -0.00208569 0.999884 -0.0149946 uwb: 0.0 1233.14 874.467 -imu_odom_: 1691062859.653765440 0.761356 -0.282516 9.53132 -0.0426106 -0.0149137 0.0458064 0.18 0.02 pose: 0.0 1.42778 -3.90908 0 0.00167186 -0.00208569 0.999884 -0.0149946 uwb: 0.50003013 1233.44 875.619 -imu_odom_: 1691062859.678586853 0.653617 -0.181959 10.161 -0.0213053 -0.0255663 0.0266316 0.18 0.02 pose: 0.42060814 1.42778 -3.90908 0 0.00228532 -0.00312149 0.999877 -0.0152169 uwb: 0.0 1233.44 875.619 -imu_odom_: 1691062859.703693791 0.466869 -0.138864 10.3573 -0.0607201 -0.015979 0.0575243 0.21 -0.02 pose: 0.41930739 1.41387 -3.91166 0 0.00649495 -0.00135335 0.999864 -0.0150953 uwb: 0.50312745 1233.58 876.589 -imu_odom_: 1691062859.720674207 0.646434 -0.260968 9.50977 -0.0628506 0.0319579 0.04048 0.21 -0.02 pose: 0.0 1.41387 -3.91166 0 0.00649495 -0.00135335 0.999864 -0.0150953 uwb: 0.0 1233.58 876.589 -imu_odom_: 1691062859.745706483 0.325611 -0.184354 9.9527 -0.0660464 0.0330232 0.0490022 0.18 0 pose: 0.7022628 1.41387 -3.91166 0 0.00614369 -0.0007896340.999866 -0.015155 uwb: 0.49732654 1233.9 877.718 -imu_odom_: 1691062859.761645419 0.440533 -0.296881 9.69891 -0.0628506 -0.00639159 0.0298274 0.18 0 pose: 0.0 1.41387 -3.91166 0 0.00614369 -0.0007896340.999866 -0.015155 uwb: 0.0 1233.9 877.718 -imu_odom_: 1691062859.786577367 0.567426 -0.52433 9.55047 -0.0458064 0.00106526 0.0575243 0.23 -0.02 pose: 0.42974260 1.40563 -3.90599 0 0.00559292 5.83831e-05 0.999866 -0.0153567 uwb: 0.0 1233.9 877.718 -imu_odom_: 1691062859.810770567 0.323217 -0.308852 9.53371 -0.0223706 0.0170442 0.0266316 0.23 -0.02 pose: 0.0 1.40563 -3.90599 0 0.00559292 5.83831e-05 0.999866 -0.0153567 uwb: 0.49850189 1234.06 878.935 -imu_odom_: 1691062859.835599854 0.4956 -0.131681 10.173 -0.0575243 -0.00745685 0.052198 0.18 -0.02 pose: 0.41061915 1.39172 -3.90858 0 0.00334263 -0.00206925 0.999873 -0.0154364 uwb: 0.0 1234.06 878.935 -imu_odom_: 1691062859.852640642 0.181959 -0.234632 9.73482 -0.04048 0.0351537 0.0372843 0.18 -0.02 pose: 0.0 1.39172 -3.90858 0 0.00334263 -0.00206925 0.999873 -0.0154364 uwb: 0.50064551 1233.79 880.109 -imu_odom_: 1691062859.876568150 0.3304 0.0167594 9.78271 -0.0394148 0.0191748 0.0617853 0.18 0 pose: 0.49021612 1.39172 -3.90858 0 0.00159081 -0.0028911 0.999875 -0.0154945 uwb: 0.0 1233.79 880.109 -imu_odom_: 1691062859.901601592 0.263362 -0.114922 9.56484 -0.0511327 -0.00639159 0.0426106 0.18 0 pose: 0.0 1.39172 -3.90858 0 0.00159081 -0.0028911 0.999875 -0.0154945 uwb: 0.50032469 1234.19 881.955 -imu_odom_: 1691062859.924714522 0.557849 -0.129287 9.88805 -0.076699 0.0287621 0.0458064 0.19 0 pose: 0.82934324 1.37201 -3.90718 0 -0.00291989 0.00257437 0.999866 -0.0158813 uwb: 0.0 1234.19 881.955 -imu_odom_: 1691062859.940721121 0.131681 -0.56982 9.72285 -0.0639159 0.015979 0.0340885 0.19 0 pose: 0.0 1.37201 -3.90718 0 -0.00291989 0.00257437 0.999866 -0.0158813 uwb: 0.49986389 1233.85 882.896 -imu_odom_: 1691062859.965750772 0.225055 -0.126893 10.1418 -0.0511327 -0.0351537 0.0500674 0.25 -0.02 pose: 0.39119529 1.36392 -3.91376 0 -0.00200107 0.00128294 0.999871 -0.015915 uwb: 0.0 1233.85 882.896 -imu_odom_: 1691062859.988578469 0.0837971 -0.138864 9.8258 -0.0532632 -0.0127832 0.036219 0.25 -0.02 pose: 0.0 1.36392 -3.91376 0 -0.00200107 0.00128294 0.999871 -0.015915 uwb: 0.0 1233.85 882.896 -imu_odom_: 1691062860.13578955 0.509965 -0.464475 9.97185 -0.076699 -0.00852212 0.0479369 0.18 0.02 pose: 0.31927744 1.35567 -3.90811 0 -0.00457653 0.00240037 0.999858 -0.0160314 uwb: 0.50057552 1233.45 882.84 -imu_odom_: 1691062860.29567180 0.610521 -0.25618 9.72046 -0.0628506 0.036219 0.0351537 0.18 0.02 pose: 0.0 1.35567 -3.90811 0 -0.00457653 0.00240037 0.999858 -0.0160314 uwb: 0.0 1233.45 882.84 -imu_odom_: 1691062860.53830085 0.493206 -0.287304 9.30866 -0.0447411 0.00852212 0.0426106 0.23 0 pose: 0.47946302 1.35567 -3.90811 0 -0.00395457 0.000205491 0.999863 -0.0160837 uwb: 0.50072426 1233.27 883.95 -imu_odom_: 1691062860.79706394 0.603339 -0.265756 9.44513 -0.0255663 0.0127832 0.0234358 0.18 0 pose: 0.0 1.35567 -3.90811 0 -0.00395457 0.000205491 0.999863 -0.0160837 uwb: 0.0 1233.27 883.95 -imu_odom_: 1691062860.103654609 0.435745 -0.253785 9.46428 -0.0639159 0.0287621 0.0394148 0.18 0 pose: 0.41051416 1.34742 -3.90247 0 -0.000506649-0.0008765980.999871 -0.0160328 uwb: 0.49945268 1233.23 884.985 -imu_odom_: 1691062860.129589832 0.639252 -0.191536 9.50498 -0.04048 -0.00852212 0.0298274 0.19 -0.02 pose: 0.42008026 1.33815 -3.9042 0 0.00187273 -0.00307814 0.999867 -0.0158835 uwb: 0.0 1233.23 884.985 -imu_odom_: 1691062860.142586900 0.301669 -0.220267 9.39964 -0.0511327 0.0372843 0.04048 0.19 -0.02 pose: 0.7952407 1.33352 -3.90507 0 0.00262219 -0.00270915 0.999867 -0.015842 uwb: 0.50028679 1233.29 885.71 -imu_odom_: 1691062860.167587094 0.0407014 -0.380678 9.90481 -0.0436758 -0.036219 0.0319579 0.18 -0.02 pose: 0.0 1.33352 -3.90507 0 0.00262219 -0.00270915 0.999867 -0.015842 uwb: 0.0 1233.29 885.71 -imu_odom_: 1691062860.193582105 0.634463 -0.306458 10.4315 -0.0532632 -0.00958738 0.0372843 0.18 -0.02 pose: 0.39067616 1.33352 -3.90507 0 0.00212258 -0.00186535 0.999872 -0.0157269 uwb: 0.49941476 1233.15 886.539 -imu_odom_: 1691062860.206624379 0.481235 -0.440533 9.63666 -0.0671117 0.00319579 0.036219 0.18 -0.02 pose: 0.0 1.33352 -3.90507 0 0.00212258 -0.00186535 0.999872 -0.0157269 uwb: 0.0 1233.15 886.539 -imu_odom_: 1691062860.222630395 0.624887 -0.059855 9.9503 -0.04048 0.0181095 0.0138484 0.18 0 pose: 0.48923911 1.31961 -3.90766 0 0.00344805 -0.00338963 0.999866 -0.0156236 uwb: 0.0 1233.15 886.539 -imu_odom_: 1691062860.237573640 0.47884 -0.40462 9.52174 -0.0703074 -0.04048 0.04048 0.18 0 pose: 0.0 1.31961 -3.90766 0 0.00344805 -0.00338963 0.999866 -0.0156236 uwb: 0.0 1233.15 886.539 -imu_odom_: 1691062860.263590233 0.454898 -0.35913 9.76116 -0.0500674 -0.0149137 0.0223706 0.18 -0.02 pose: 0.37975097 1.31137 -3.90201 0 0.00443976 -0.00426084 0.999862 -0.0154124 uwb: 0.49927185 1233.12 887.303 -imu_odom_: 1691062860.280701017 0.73502 -0.155623 10.2304 -0.0543285 0 0.0575243 0.18 -0.02 pose: 0.0 1.31137 -3.90201 0 0.00443976 -0.00426084 0.999862 -0.0154124 uwb: 0.0 1233.12 887.303 -imu_odom_: 1691062860.305569386 0.842759 -0.213084 9.94312 -0.0319579 -0.0319579 0.0330232 0.18 -0.05 pose: 0.8017445 1.31137 -3.90201 0 0.00411506 -0.00495264 0.999861 -0.0153484 uwb: 0.50011472 1232.6 887.804 -imu_odom_: 1691062860.328695441 0.409408 -0.107739 10.1562 -0.0500674 -0.0106526 0.0532632 0.23 0 pose: 0.0 1.31137 -3.90201 0 0.00411506 -0.00495264 0.999861 -0.0153484 uwb: 0.0 1232.6 887.804 -imu_odom_: 1691062860.354746449 1.05345 -0.110133 9.78031 -0.0447411 -0.0138484 0.0436758 0.25 0.02 pose: 0.83104356 1.29746 -3.90459 0 0.00611931 -0.00246816 0.99986 -0.015402 uwb: 0.0 1232.6 887.804 -imu_odom_: 1691062860.370669636 0.452504 -0.277727 9.6223 -0.0735032 0.0298274 0.0617853 0.25 0.02 pose: 0.0 1.29746 -3.90459 0 0.00611931 -0.00246816 0.99986 -0.015402 uwb: 0.0 1232.6 887.804 -imu_odom_: 1691062860.396736976 0.208296 -0.366313 10.082 -0.0585895 -0.015979 0.0426106 0.18 0 pose: 0.33999332 1.28356 -3.90717 0 0.00783778 -0.00185511 0.999847 -0.0155359 uwb: 0.100055316 1232.51 888.598 -imu_odom_: 1691062860.421543516 0.442927 -0.241814 10.2304 -0.0798948 -0.00106526 0.0639159 0.18 -0.02 pose: 0.0 1.28356 -3.90717 0 0.00783778 -0.00185511 0.999847 -0.0155359 uwb: 0.0 1232.51 888.598 -imu_odom_: 1691062860.438523641 0.512359 -0.131681 10.1155 -0.0575243 -0.0181095 0.0447411 0.18 -0.02 pose: 0.41909740 1.28356 -3.90717 0 0.00394542 -0.00269147 0.999864 -0.0157729 uwb: 0.0 1232.51 888.598 -imu_odom_: 1691062860.463724490 0.545878 -0.150835 10.1347 -0.0735032 0.0394148 0.0436758 0.18 0.02 pose: 0.0 1.28356 -3.90717 0 0.00394542 -0.00269147 0.999864 -0.0157729 uwb: 0.49988140 1232.21 889.49 -imu_odom_: 1691062860.486689555 0.641646 -0.31364 9.56962 -0.0553937 -0.0181095 0.0319579 0.18 0.02 pose: 0.42068690 1.27531 -3.90152 0 0.00373597 4.80464e-05 0.999865 -0.016031 uwb: 0.0 1232.21 889.49 -imu_odom_: 1691062860.512712856 0.610521 -0.222661 9.84017 -0.0628506 0.00745685 0.0426106 0.25 0.02 pose: 0.40016352 1.26429 -3.90609 0 0.00656297 -0.0002843360.999851 -0.015981 uwb: 0.49811692 1231.78 889.693 -imu_odom_: 1691062860.536658446 0.505177 0.0502782 10.0461 -0.0639159 0.0149137 0.0340885 0.25 0.02 pose: 0.8075482 1.26141 -3.90412 0 0.0073247 -0.0003073360.999845 -0.0159927 uwb: 0.0 1231.78 889.693 -imu_odom_: 1691062860.553596573 0.555455 -0.442927 10.1634 -0.0777643 0.015979 0.056459 0.18 0.02 pose: 0.0 1.26141 -3.90412 0 0.0073247 -0.0003073360.999845 -0.0159927 uwb: 0.50020221 1231.76 890.694 -imu_odom_: 1691062860.578581019 0.849942 -0.337582 10.0844 -0.04048 -0.0500674 0.0351537 0.18 0.02 pose: 0.49809068 1.25576 -3.91237 0 0.0080075 0.000953757 0.999839 -0.016004 uwb: 0.0 1231.76 890.694 -imu_odom_: 1691062860.604590321 0.984017 -0.186748 10.1921 -0.056459 -0.0351537 0.0500674 0.2 0 pose: 0.34006914 1.24751 -3.90672 0 0.0107876 -0.0007709750.999813 -0.0160397 uwb: 0.49979974 1231.26 891.178 -imu_odom_: 1691062860.628654904 0.770933 -0.258574 10.1227 -0.0447411 -0.04048 0.0351537 0.2 0 pose: 0.8018028 1.24751 -3.90672 0 0.0117056 -0.0006584020.999802 -0.0160797 uwb: 0.0 1231.26 891.178 -imu_odom_: 1691062860.645594781 0.241814 -0.438139 9.67497 -0.0660464 0.0170442 0.0511327 0.19 0.02 pose: 0.0 1.24751 -3.90672 0 0.0117056 -0.0006584020.999802 -0.0160797 uwb: 0.50118216 1231.22 891.934 -imu_odom_: 1691062860.670649222 0.294487 -0.435745 9.55765 -0.0458064 -0.0255663 0.0415453 0.19 0.02 pose: 0.49998056 1.23361 -3.90933 0 0.0156776 -0.00136966 0.999745 -0.0161782 uwb: 0.0 1231.22 891.934 -imu_odom_: 1691062860.696521157 0.471658 -0.471658 9.63666 -0.0596548 -0.0117179 0.0479369 0.23 0.02 pose: 0.34052119 1.23361 -3.90933 0 0.0127744 -0.0027661 0.999782 -0.0162839 uwb: 0.49958683 1230.9 892.818 -imu_odom_: 1691062860.719518595 0.172383 -0.201113 9.91918 -0.0490022 0.00532632 0.0394148 0.23 0.02 pose: 0.8078691 1.23361 -3.90933 0 0.0122848 -0.00340282 0.999785 -0.016327 uwb: 0.0 1230.9 892.818 -imu_odom_: 1691062860.745576019 0.272939 -0.23942 10.4579 -0.0340885 0.02024 0.0372843 0.19 0 pose: 0.40790682 1.22161 -3.90917 0 0.00885375 -0.00421683 0.999817 -0.0164255 uwb: 0.50035095 1230.59 893.941 -imu_odom_: 1691062860.769652851 0.61531 -0.198719 10.1658 -0.0532632 -0.0117179 0.0532632 0.25 0.02 pose: 0.0 1.22161 -3.90917 0 0.00885375 -0.00421683 0.999817 -0.0164255 uwb: 0.0 1230.59 893.941 -imu_odom_: 1691062860.786511358 0.311246 -0.433351 9.70609 -0.0532632 -0.0106526 0.0511327 0.25 0.02 pose: 0.33100759 1.21146 -3.9063 0 0.00650459 -0.00295488 0.999839 -0.0164471 uwb: 0.0 1230.59 893.941 -imu_odom_: 1691062860.802570163 0.488417 -0.237026 10.0556 -0.0660464 -0.0575243 0.04048 0.25 0.02 pose: 0.0 1.21146 -3.9063 0 0.00650459 -0.00295488 0.999839 -0.0164471 uwb: 0.49987557 1230.99 895.457 -imu_odom_: 1691062860.827500070 0.411803 -0.198719 10.1442 -0.0575243 -0.0788296 0.0490022 0.19 -0.02 pose: 0.49950809 1.21146 -3.9063 0 0.00568003 -0.00186755 0.999843 -0.0166658 uwb: 0.0 1230.99 895.457 -imu_odom_: 1691062860.851657689 0.296881 -0.0790087 10.0269 -0.0426106 0.02024 0.036219 0.19 -0.02 pose: 0.7028461 1.21146 -3.9063 0 0.00531496 -0.00155294 0.999845 -0.0166988 uwb: 0.50132506 1231.02 896.659 -imu_odom_: 1691062860.876551723 0.766145 -0.160412 9.87848 -0.0511327 0.00426106 0.0468716 0.23 0 pose: 0.42059065 1.19756 -3.90892 0 0.00216437 0.000860665 0.999857 -0.0167377 uwb: 0.0 1231.02 896.659 -imu_odom_: 1691062860.899522621 0.797269 -0.253785 9.73722 -0.0585895 0.0234358 0.052198 0.19 0 pose: 0.0 1.19756 -3.90892 0 0.00216437 0.000860665 0.999857 -0.0167377 uwb: 0.49875855 1231.14 897.572 -imu_odom_: 1691062860.925539214 0.296881 -0.0646434 9.88805 -0.0426106 0.00319579 0.0436758 0.19 0 pose: 0.32029531 1.1893 -3.90328 0 0.00513201 0.00110484 0.999844 -0.0168764 uwb: 0.0 1231.14 897.572 -imu_odom_: 1691062860.949538467 0.189142 0.134075 9.87369 -0.0511327 0.0106526 0.0607201 0.25 0 pose: 0.0 1.1893 -3.90328 0 0.00513201 0.00110484 0.999844 -0.0168764 uwb: 0.49990181 1230.73 897.753 -imu_odom_: 1691062860.965651518 0.88346 -0.392649 10.058 -0.0585895 0.00213053 0.056459 0.25 0 pose: 0.49988723 1.18366 -3.91155 0 0.00346929 0.00282584 0.999844 -0.0171066 uwb: 0.0 1230.73 897.753 -imu_odom_: 1691062860.981699240 0.287304 0.00718261 9.92157 -0.0585895 -0.00106526 0.0543285 0.25 0 pose: 0.0 1.18366 -3.91155 0 0.00346929 0.00282584 0.999844 -0.0171066 uwb: 0.0 1230.73 897.753 -imu_odom_: 1691062860.999662224 0.282516 -0.339977 9.63666 -0.0681769 -0.0170442 0.0500674 0.18 0.02 pose: 0.39985437 1.1754 -3.90591 0 0.00295356 0.0036592 0.999836 -0.0174662 uwb: 0.49787777 1230.82 898.434 -imu_odom_: 1691062861.23479489 0.31364 -0.306458 9.68455 -0.0553937 0.0245011 0.0287621 0.18 0.02 pose: 0.0 1.1754 -3.90591 0 0.00295356 0.0036592 0.999836 -0.0174662 uwb: 0.0 1230.82 898.434 -imu_odom_: 1691062861.49510081 0.593762 -0.457293 10.0628 -0.0607201 -0.0745685 0.0479369 0.18 0.02 pose: 0.33896671 1.16151 -3.90856 0 0.00072592 0.00201076 0.999843 -0.0175711 uwb: 0.49960434 1231.11 899.987 -imu_odom_: 1691062861.72500520 0.323217 -0.229843 10.1418 -0.0468716 -0.0191748 0.0436758 0.18 0.02 pose: 0.0 1.16151 -3.90856 0 0.00072592 0.00201076 0.999843 -0.0175711 uwb: 0.0 1231.11 899.987 -imu_odom_: 1691062861.89500186 0.011971 0.059855 10.0149 -0.0607201 -0.0298274 0.0575243 0.19 0 pose: 0.48961826 1.16151 -3.90856 0 0.00141441 -0.00124044 0.999843 -0.0176082 uwb: 0.50098968 1230.9 900.559 -imu_odom_: 1691062861.112482166 0.701501 -0.150835 10.0293 -0.0394148 -0.0255663 0.0298274 0.19 0 pose: 0.0 1.16151 -3.90856 0 0.00141441 -0.00124044 0.999843 -0.0176082 uwb: 0.0 1230.9 900.559 -imu_odom_: 1691062861.136481420 0.56982 -0.205901 9.99579 -0.0607201 -0.0149137 0.0447411 0.19 0 pose: 0.39997104 1.14761 -3.9112 0 -0.0004555240.000130101 0.999842 -0.0177632 uwb: 0.0 1230.9 900.559 -imu_odom_: 1691062861.152485103 0.42138 -0.100556 10.1466 -0.0436758 -0.0330232 0.0319579 0.19 0 pose: 0.0 1.14761 -3.9112 0 -0.0004555240.000130101 0.999842 -0.0177632 uwb: 0.49992223 1230.68 900.891 -imu_odom_: 1691062861.169533183 0.536301 -0.270545 10.094 -0.0458064 0.00319579 0.0372843 0.25 0 pose: 0.46987942 1.13934 -3.90558 0 0.00355457 0.00118778 0.999836 -0.0177194 uwb: 0.0 1230.68 900.891 -imu_odom_: 1691062861.195554734 0.505177 -0.0383072 9.89045 -0.0468716 -0.0500674 0.0490022 0.25 0 pose: 0.0 1.13934 -3.90558 0 0.00355457 0.00118778 0.999836 -0.0177194 uwb: 0.50128133 1230.68 901.845 -imu_odom_: 1691062861.218532049 1.59693 -0.229843 11.4946 -0.0735032 -0.0841559 0.0607201 0.19 0.02 pose: 0.52049811 1.12769 -3.90975 0 0.00504885 0.00344332 0.999823 -0.0177812 uwb: 0.0 1230.68 901.845 -imu_odom_: 1691062861.242479389 1.72861 -0.174777 8.9208 -0.0617853 0.0639159 0.0458064 0.19 0.02 pose: 0.0 1.12769 -3.90975 0 0.00504885 0.00344332 0.999823 -0.0177812 uwb: 0.49933019 1230.92 903.639 -imu_odom_: 1691062861.268635391 1.4437 -0.277727 9.62948 -0.0660464 -0.00745685 0.0532632 0.26 -0.02 pose: 0.6999880 1.12545 -3.90823 0 0.00602856 0.00333766 0.999817 -0.0178565 uwb: 0.0 1230.92 903.639 -imu_odom_: 1691062861.294505576 0.773327 -0.0454898 9.78271 -0.0596548 0.0106526 0.0298274 0.19 0.02 pose: 0.48116043 1.11984 -3.91651 0 0.0106764 0.00288199 0.999774 -0.0181704 uwb: 0.50100717 1231.15 905.433 -imu_odom_: 1691062861.317561927 0.811634 -0.481235 9.47386 -0.052198 -0.0255663 0.0319579 0.19 0.02 pose: 0.0 1.11984 -3.91651 0 0.0106764 0.00288199 0.999774 -0.0181704 uwb: 0.0 1231.15 905.433 -imu_odom_: 1691062861.334497431 0.54109 -0.201113 10.1323 -0.0255663 -0.0149137 0.0255663 0.19 0.02 pose: 0.25988303 1.11156 -3.91089 0 0.0129996 0.00312409 0.999744 -0.0182543 uwb: 0.0 1231.15 905.433 -imu_odom_: 1691062861.359558872 0.519542 -0.177171 9.94312 -0.0511327 -0.0106526 0.0639159 0.25 0 pose: 0.47901097 1.10328 -3.90528 0 0.0146391 0.00226459 0.999727 -0.0180525 uwb: 0.49864482 1231.05 906.181 -imu_odom_: 1691062861.386551616 0.294487 -0.191536 9.14346 -0.0468716 0.00532632 0.0500674 0.23 0 pose: 0.34998815 1.09767 -3.91355 0 0.0112853 0.00221869 0.999767 -0.0182871 uwb: 0.0 1231.05 906.181 -imu_odom_: 1691062861.402484429 0.533907 -0.411803 10.1897 -0.0575243 -0.0255663 0.056459 0.23 0 pose: 0.0 1.09767 -3.91355 0 0.0112853 0.00221869 0.999767 -0.0182871 uwb: 0.49989891 1230.98 907.147 -imu_odom_: 1691062861.428685053 0.746991 -0.0957681 10.1538 -0.0607201 -0.036219 0.052198 0.23 0.02 pose: 0.7098749 1.09767 -3.91355 0 0.0105414 0.0022048 0.999774 -0.0183238 uwb: 0.0 1230.98 907.147 -imu_odom_: 1691062861.453482260 0.42138 -0.258574 10.2807 -0.0660464 0.0106526 0.0490022 0.23 0.02 pose: 0.0 1.09767 -3.91355 0 0.0105414 0.0022048 0.999774 -0.0183238 uwb: 0.50168088 1231.24 908.681 -imu_odom_: 1691062861.470621043 0.304064 -0.117316 9.18655 -0.0660464 0.0266316 0.0415453 0.21 -0.02 pose: 0.43922998 1.08939 -3.90794 0 0.00919577 0.000999558 0.999784 -0.0186207 uwb: 0.0 1231.24 908.681 -imu_odom_: 1691062861.496642594 0.543484 -0.378284 9.78271 -0.072438 0.00426106 0.0553937 0.21 -0.02 pose: 0.0 1.08939 -3.90794 0 0.00919577 0.000999558 0.999784 -0.0186207 uwb: 0.49814609 1231.18 910.098 -imu_odom_: 1691062861.523466182 0.691924 -0.339977 9.33978 -0.0713727 0 0.0479369 0.23 0 pose: 0.50943584 1.0755 -3.91062 0 0.00762693 0.00107064 0.999793 -0.0188535 uwb: 0.0 1231.18 910.098 -imu_odom_: 1691062861.548485043 0.387861 -0.1652 9.7851 -0.0415453 -0.00213053 0.0340885 0.23 0 pose: 0.0 1.0755 -3.91062 0 0.00762693 0.00107064 0.999793 -0.0188535 uwb: 0.50132216 1231.41 911.865 -imu_odom_: 1691062861.573615897 0.220267 -0.299275 10.2735 -0.0607201 -0.0553937 0.0532632 0.21 0 pose: 0.43147794 1.0755 -3.91062 0 0.00741549 -0.00197999 0.999788 -0.0191155 uwb: 0.0 1231.41 911.865 -imu_odom_: 1691062861.596472468 0.342371 -0.189142 10.2232 -0.0500674 -0.0340885 0.0298274 0.18 0 pose: 0.50870088 1.06162 -3.91331 0 0.00630113 -0.00176571 0.999795 -0.0191753 uwb: 0.50032180 1231.7 913.371 -imu_odom_: 1691062861.612520773 0.529119 -0.172383 9.7444 -0.0585895 -0.00106526 0.0490022 0.18 0 pose: 0.0 1.06162 -3.91331 0 0.00630113 -0.00176571 0.999795 -0.0191753 uwb: 0.0 1231.7 913.371 -imu_odom_: 1691062861.629574394 0.720655 -0.490811 9.87608 -0.0575243 -0.00532632 0.0436758 0.18 0 pose: 0.0 1.06162 -3.91331 0 0.00630113 -0.00176571 0.999795 -0.0191753 uwb: 0.0 1231.7 913.371 -imu_odom_: 1691062861.653459613 0.383072 -0.342371 9.62469 -0.0415453 -0.0138484 0.0479369 0.18 0.02 pose: 0.74032309 1.04773 -3.916 0 0.00542603 -0.00132376 0.999798 -0.019305 uwb: 0.49832983 1231.75 914.27 -imu_odom_: 1691062861.680590891 0.866701 -0.179565 10.173 -0.0394148 -0.00319579 0.0319579 0.18 0.02 pose: 0.7905160 1.04773 -3.916 0 0.00486035 -0.00178217 0.9998 -0.019342 uwb: 0.0 1231.75 914.27 -imu_odom_: 1691062861.705612377 0.694318 -0.177171 9.71088 -0.0543285 -0.00639159 0.0479369 0.2 0 pose: 0.43111337 1.03945 -3.9104 0 0.00632846 -0.00182446 0.999792 -0.0193043 uwb: 0.50143007 1231.53 914.352 -imu_odom_: 1691062861.731636261 0.299275 -0.191536 10.0485 -0.0394148 -0.00426106 0.0447411 0.21 0.02 pose: 0.0 1.03945 -3.9104 0 0.00632846 -0.00182446 0.999792 -0.0193043 uwb: 0.0 1231.53 914.352 -imu_odom_: 1691062861.754547079 0.37589 -0.117316 9.95748 -0.0596548 -0.00319579 0.0692422 0.21 0.02 pose: 0.33043888 1.03385 -3.91869 0 0.00782898 -0.0005933910.999781 -0.0194189 uwb: 0.49947018 1231.56 915.032 -imu_odom_: 1691062861.771607408 0.794875 -0.471658 9.72764 -0.0426106 0.00213053 0.0351537 0.21 0.02 pose: 0.0 1.03385 -3.91869 0 0.00782898 -0.0005933910.999781 -0.0194189 uwb: 0.0 1231.56 915.032 -imu_odom_: 1691062861.788703902 0.426168 -0.160412 9.87848 -0.0383495 0.00106526 0.0426106 0.19 0 pose: 0.48856833 1.02556 -3.9131 0 0.0047139 0.000562162 0.999793 -0.0197838 uwb: 0.0 1231.56 915.032 -imu_odom_: 1691062861.804462308 0.296881 -0.196325 10.3142 -0.036219 -0.056459 0.0479369 0.19 0 pose: 0.0 1.02556 -3.9131 0 0.0047139 0.000562162 0.999793 -0.0197838 uwb: 0.49775237 1231.13 914.961 -imu_odom_: 1691062861.829643617 0.457293 -0.0550666 9.59596 -0.0319579 0.00958738 0.0287621 0.2 0 pose: 0.41970696 1.01168 -3.91581 0 0.00273019 0.00121166 0.999798 -0.0198532 uwb: 0.0 1231.13 914.961 -imu_odom_: 1691062861.855629587 0.433351 -0.225055 9.67497 -0.0575243 -0.0266316 0.0553937 0.2 0 pose: 0.0 1.01168 -3.91581 0 0.00273019 0.00121166 0.999798 -0.0198532 uwb: 0.50000681 1230.94 915.26 -imu_odom_: 1691062861.880654864 0.471658 -0.100556 9.86172 -0.147006 0.0383495 0.0809601 0.19 0 pose: 0.8020361 1.01168 -3.91581 0 0.00266826 0.00210796 0.999798 -0.0198079 uwb: 0.0 1230.94 915.26 -imu_odom_: 1691062861.906450388 0.454898 -0.739808 9.52892 -0.02024 -0.0117179 0.00745685 0.22 0 pose: 0.51079785 1.00339 -3.91022 0 0.00232709 0.0018609 0.999794 -0.0200816 uwb: 0.50255875 1230.61 915.608 -imu_odom_: 1691062861.922501609 0.35913 0.0766145 9.67736 -0.0575243 0.0319579 0.015979 0.22 0 pose: 0.0 1.00339 -3.91022 0 0.00232709 0.0018609 0.999794 -0.0200816 uwb: 0.0 1230.61 915.608 -imu_odom_: 1691062861.949461981 0.426168 -0.732626 9.35415 -0.0532632 0.0234358 0.0660464 0.22 0 pose: 0.25042776 0.997807 -3.91852 0 0.00243948 0.00207699 0.999789 -0.0203052 uwb: 0.50029847 1230.54 917 -imu_odom_: 1691062861.973500607 0.464475 -0.155623 9.80665 -0.0426106 0.00319579 0.04048 0.24 -0.02 pose: 0.41050250 0.989508 -3.91294 0 0.00163014 0.00138917 0.999799 -0.0199264 uwb: 0.0 1230.54 917 -imu_odom_: 1691062861.999467912 0.869095 -0.497994 10.1658 -0.0713727 -0.052198 0.0511327 0.21 0.02 pose: 0.43845127 0.980293 -3.91474 0 0.00229753 0.00174984 0.999792 -0.0201998 uwb: 0.50014389 1231.18 918.588 -imu_odom_: 1691062862.15451471 0.129287 -0.392649 9.63427 -0.0372843 0.0543285 0.0553937 0.21 0.02 pose: 0.0 0.980293 -3.91474 0 0.00229753 0.00174984 0.999792 -0.0201998 uwb: 0.0 1231.18 918.588 -imu_odom_: 1691062862.40574160 0.31364 -0.162806 9.69412 -0.0575243 -0.0276969 0.0511327 0.22 0 pose: 0.8083358 0.975628 -3.91565 0 0.00314672 0.00121387 0.999789 -0.0202482 uwb: 0.49864482 1231.34 920.117 -imu_odom_: 1691062862.63436273 0.514753 -0.268151 9.6199 -0.0852212 0.0170442 0.0511327 0.22 0 pose: 0.0 0.975628 -3.91565 0 0.00314672 0.00121387 0.999789 -0.0202482 uwb: 0.0 1231.34 920.117 -imu_odom_: 1691062862.87528272 0.351948 -0.407014 9.39006 -0.0596548 -0.00745685 0.0330232 0.2 -0.02 pose: 0.40938549 0.975628 -3.91565 0 0.00255174 -0.0002978720.999786 -0.0205264 uwb: 0.0 1231.34 920.117 -imu_odom_: 1691062862.104527938 0.258574 -0.189142 10.3094 -0.0500674 -0.0223706 0.052198 0.2 -0.02 pose: 0.0 0.975628 -3.91565 0 0.00255174 -0.0002978720.999786 -0.0205264 uwb: 0.50028973 1231.3 921.257 -imu_odom_: 1691062862.129596088 0.656011 -0.0263362 10.1778 -0.0607201 -0.0266316 0.0340885 0.18 0 pose: 0.48920121 0.961753 -3.91838 0 0.00239779 -0.00191574 0.99978 -0.0207394 uwb: 0.0 1231.3 921.257 -imu_odom_: 1691062862.156638705 -0.25618 -0.186748 9.94312 -0.0596548 -0.0266316 0.0596548 0.18 0 pose: 0.0 0.961753 -3.91838 0 0.00239779 -0.00191574 0.99978 -0.0207394 uwb: 0.49976184 1231.26 922.619 -imu_odom_: 1691062862.181499492 -0.146046 -0.316035 10.0892 -0.0458064 0.0245011 0.0266316 0.21 0 pose: 0.41006795 0.953448 -3.91281 0 0.000906176 -0.00198145 0.999782 -0.0207801 uwb: 0.0 1231.26 922.619 -imu_odom_: 1691062862.197422096 0.483629 -0.220267 10.1682 -0.0617853 -0.0330232 0.0511327 0.21 0 pose: 0.0 0.953448 -3.91281 0 0.000906176 -0.00198145 0.999782 -0.0207801 uwb: 0.0 1231.26 922.619 -imu_odom_: 1691062862.213523774 0.517148 -0.311246 9.46907 -0.0351537 -0.00319579 0.0372843 0.18 0.02 pose: 0.52022397 0.939573 -3.91555 0 -0.00097456 -0.0008479590.99978 -0.0209533 uwb: 0.0 1231.26 922.619 -imu_odom_: 1691062862.240504269 0.514753 -0.45011 9.27514 -0.0639159 0.0181095 0.0426106 0.18 0.02 pose: 0.0 0.939573 -3.91555 0 -0.00097456 -0.0008479590.99978 -0.0209533 uwb: 0.99908621 1231.33 923.718 -imu_odom_: 1691062862.256441165 0.565032 -0.217872 9.80426 -0.0394148 -0.0383495 0.04048 0.2 0 pose: 0.41075041 0.939573 -3.91555 0 -0.00038453 -0.00123729 0.99978 -0.0209249 uwb: 0.0 1231.33 923.718 -imu_odom_: 1691062862.282559253 0.603339 0.0143652 10.4603 -0.0692422 -0.0138484 0.0553937 0.2 0 pose: 0.0 0.939573 -3.91555 0 -0.00038453 -0.00123729 0.99978 -0.0209249 uwb: 0.0 1231.33 923.718 -imu_odom_: 1691062862.308469687 0.651223 -0.131681 10.0173 -0.0628506 -0.0351537 0.036219 0.19 0 pose: 0.43024135 0.925699 -3.91829 0 0.00212825 -0.00357429 0.999772 -0.0209544 uwb: 0.50013807 1231.17 923.77 -imu_odom_: 1691062862.324491160 0.35913 -0.304064 9.6223 -0.0585895 0.00745685 0.0394148 0.19 0 pose: 0.0 0.925699 -3.91829 0 0.00212825 -0.00357429 0.999772 -0.0209544 uwb: 0.0 1231.17 923.77 -imu_odom_: 1691062862.350562293 0.407014 -0.418985 9.84496 -0.0585895 -0.0585895 0.0319579 0.2 0 pose: 0.41941240 0.917392 -3.91272 0 0.00494002 -0.0005100740.999764 -0.0211354 uwb: 0.49907646 1231.5 925.225 -imu_odom_: 1691062862.367487589 -0.0215478 0.023942 10.0221 -0.0479369 0.0213053 0.0553937 0.2 0 pose: 0.0 0.917392 -3.91272 0 0.00494002 -0.0005100740.999764 -0.0211354 uwb: 0.0 1231.5 925.225 -imu_odom_: 1691062862.383479314 0.543484 -0.435745 9.48822 -0.0468716 -0.0319579 0.0340885 0.19 0 pose: 0.41995779 0.911827 -3.92103 0 0.00511656 -0.00115558 0.999764 -0.0210766 uwb: 0.0 1231.5 925.225 -imu_odom_: 1691062862.399409502 0.553061 -0.124498 10.2424 -0.0298274 -0.00639159 0.0319579 0.19 0 pose: 0.0 0.911827 -3.92103 0 0.00511656 -0.00115558 0.999764 -0.0210766 uwb: 0.0 1231.5 925.225 -imu_odom_: 1691062862.415401519 0.641646 -0.306458 9.90002 -0.0703074 0.0127832 0.0671117 0.19 0 pose: 0.0 0.911827 -3.92103 0 0.00511656 -0.00115558 0.999764 -0.0210766 uwb: 0.0 1231.5 925.225 -imu_odom_: 1691062862.432486055 0.148441 -0.596156 9.72046 -0.0436758 0.0234358 0.0426106 0.23 0 pose: 0.82893497 0.893558 -3.92083 0 0.00602123 -0.00230791 0.999753 -0.0212619 uwb: 0.0 1231.5 925.225 -imu_odom_: 1691062862.448485655 0.371101 -0.0311246 10.1634 -0.04048 -0.0106526 0.0383495 0.23 0 pose: 0.7094957 0.889644 -3.91821 0 0.00540668 -0.00275609 0.999755 -0.0212768 uwb: 0.100067861 1231.68 926.503 -imu_odom_: 1691062862.464420801 0.493206 -0.172383 9.84496 -0.0649811 0.0372843 0.052198 0.23 0 pose: 0.0 0.889644 -3.91821 0 0.00540668 -0.00275609 0.999755 -0.0212768 uwb: 0.0 1231.68 926.503 -imu_odom_: 1691062862.480546977 0.0790087 -0.318429 9.92157 -0.0351537 0.0117179 0.0372843 0.18 0 pose: 0.41924325 0.889644 -3.91821 0 0.00381076 -0.0003495160.999764 -0.0213778 uwb: 0.0 1231.68 926.503 -imu_odom_: 1691062862.497427359 0.577003 -0.21069 9.71567 -0.0713727 -0.00319579 0.056459 0.23 -0.02 pose: 0.0 0.889644 -3.91821 0 0.00381076 -0.0003495160.999764 -0.0213778 uwb: 0.50267251 1231.89 927.327 -imu_odom_: 1691062862.513433375 0.363919 -0.217872 9.68215 -0.076699 0.0149137 0.0628506 0.23 -0.02 pose: 0.0 0.889644 -3.91821 0 0.00381076 -0.0003495160.999764 -0.0213778 uwb: 0.0 1231.89 927.327 -imu_odom_: 1691062862.529471181 0.713472 -0.339977 9.7851 -0.0532632 -0.02024 0.04048 0.23 -0.02 pose: 0.23256715 0.889644 -3.91821 0 0.00282227 -0.0005536310.999766 -0.0214215 uwb: 0.0 1231.89 927.327 -imu_odom_: 1691062862.545538736 0.667982 -0.198719 9.75637 -0.0756338 -0.00745685 0.0639159 0.25 0.02 pose: 0.0 0.889644 -3.91821 0 0.00282227 -0.0005536310.999766 -0.0214215 uwb: 0.49865357 1232.2 928.787 -imu_odom_: 1691062862.562536069 0.189142 -0.402226 9.60075 -0.0692422 -0.00532632 0.0575243 0.25 0.02 pose: 0.0 0.889644 -3.91821 0 0.00282227 -0.0005536310.999766 -0.0214215 uwb: 0.0 1232.2 928.787 -imu_odom_: 1691062862.578474131 0.814029 -0.105345 10.1083 -0.076699 -0.0330232 0.04048 0.18 0 pose: 0.49870607 0.875773 -3.92096 0 0.00445909 -0.0010598 0.999752 -0.0217925 uwb: 0.0 1232.2 928.787 -imu_odom_: 1691062862.594545477 0.411803 -0.107739 9.73243 -0.0628506 0.0213053 0.0511327 0.18 0 pose: 0.0 0.875773 -3.92096 0 0.00445909 -0.0010598 0.999752 -0.0217925 uwb: 0.0 1232.2 928.787 -imu_odom_: 1691062862.611560017 0.158017 -0.354342 10.0149 -0.0639159 -0.0170442 0.0426106 0.18 0 pose: 0.0 0.875773 -3.92096 0 0.00445909 -0.0010598 0.999752 -0.0217925 uwb: 0.0 1232.2 928.787 -imu_odom_: 1691062862.628558225 0.746991 -0.126893 9.87608 -0.0468716 -0.0553937 0.0287621 0.25 0 pose: 0.33000433 0.867455 -3.91541 0 0.00462483 -0.00165746 0.999745 -0.0220464 uwb: 0.0 1232.2 928.787 -imu_odom_: 1691062862.645434232 0.950498 -0.148441 9.72285 -0.0639159 -0.0575243 0.0671117 0.16 0 pose: 0.0 0.867455 -3.91541 0 0.00462483 -0.00165746 0.999745 -0.0220464 uwb: 0.99866623 1232.21 929.89 -imu_odom_: 1691062862.661561867 1.23301 -0.258574 9.97424 -0.052198 -0.00106526 0.0948085 0.16 0 pose: 0.65988908 0.853586 -3.91818 0 0.00585968 -9.76887e-050.999737 -0.0221765 uwb: 0.0 1232.21 929.89 -imu_odom_: 1691062862.679471771 1.53947 -0.45011 9.60075 -0.0607201 -0.0213053 0.106526 0.14 -0.02 pose: 0.0 0.853586 -3.91818 0 0.00585968 -9.76887e-050.999737 -0.0221765 uwb: 0.0 1232.21 929.89 -imu_odom_: 1691062862.695473996 1.16119 -0.342371 9.06684 -0.0575243 0.02024 0.0532632 0.14 -0.02 pose: 0.0 0.853586 -3.91818 0 0.00585968 -9.76887e-050.999737 -0.0221765 uwb: 0.49985517 1231.73 930.257 -imu_odom_: 1691062862.711538634 1.00078 0.0023942 10.0245 -0.0458064 0.0585895 0.0266316 0.14 -0.02 pose: 0.33035723 0.853586 -3.91818 0 0.00941283 -0.0001999860.999691 -0.0230125 uwb: 0.0 1231.73 930.257 -imu_odom_: 1691062862.727464155 0.514753 -0.134075 9.67976 -0.0617853 0.00319579 0.0234358 0.11 0 pose: 0.41965447 0.839723 -3.92098 0 0.0126658 0.000238302 0.999647 -0.0233404 uwb: 0.0 1231.73 930.257 -imu_odom_: 1691062862.743394634 0.64404 -0.265756 9.87129 -0.0511327 -0.00958738 0.00426106 0.11 0 pose: 0.7931117 0.839723 -3.92098 0 0.0119542 0.00061764 0.999658 -0.023271 uwb: 0.50145632 1231.56 930.75 -imu_odom_: 1691062862.760439215 0.73502 -0.454898 9.81144 -0.0532632 -0.0276969 -0.00213053 0.11 0 pose: 0.0 0.839723 -3.92098 0 0.0119542 0.00061764 0.999658 -0.023271 uwb: 0.0 1231.56 930.75 -imu_odom_: 1691062862.776437356 1.00078 -0.217872 9.78031 -0.0628506 -0.0223706 0.00745685 0.13 -0.02 pose: 0.40969464 0.839723 -3.92098 0 0.012748 -0.00197441 0.999661 -0.0225999 uwb: 0.0 1231.56 930.75 -imu_odom_: 1691062862.791506303 1.0343 -0.1652 10.0556 -0.0511327 -0.00852212 0.0319579 0.09 -0.02 pose: 0.0 0.839723 -3.92098 0 0.012748 -0.00197441 0.999661 -0.0225999 uwb: 0.50049388 1231.14 931.316 -imu_odom_: 1691062862.807441157 0.600945 -0.385466 9.64624 -0.0479369 0.0127832 0.0383495 0.09 -0.02 pose: 0.0 0.839723 -3.92098 0 0.012748 -0.00197441 0.999661 -0.0225999 uwb: 0.0 1231.14 931.316 -imu_odom_: 1691062862.823385052 0.648829 -0.134075 10.2304 -0.0436758 -0.0276969 0.0372843 0.09 -0.02 pose: 0.22948149 0.839723 -3.92098 0 0.0151629 -0.00159897 0.999635 -0.0223057 uwb: 0.0 1231.14 931.316 -imu_odom_: 1691062862.839450857 0.871489 -0.268151 9.7037 -0.052198 -0.0255663 0.0575243 0.07 0 pose: 0.0 0.839723 -3.92098 0 0.0151629 -0.00159897 0.999635 -0.0223057 uwb: 0.49866233 1231.68 932.911 -imu_odom_: 1691062862.856398026 0.849942 -0.306458 9.89763 -0.0479369 0.00426106 0.056459 0.07 0 pose: 0.0 0.839723 -3.92098 0 0.0151629 -0.00159897 0.999635 -0.0223057 uwb: 0.0 1231.68 932.911 -imu_odom_: 1691062862.872584865 0.706289 -0.258574 9.84017 -0.0575243 -0.00745685 0.0298274 0.09 0 pose: 0.73010662 0.828282 -3.92011 0 0.0176961 -0.00181501 0.999588 -0.0225446 uwb: 0.0 1231.68 932.911 -imu_odom_: 1691062862.889520660 0.746991 -0.134075 10.0269 -0.0532632 -0.00319579 0.015979 0.09 0 pose: 0.0 0.828282 -3.92011 0 0.0176961 -0.00181501 0.999588 -0.0225446 uwb: 0.0 1231.68 932.911 -imu_odom_: 1691062862.905519385 0.715866 -0.153229 9.89763 -0.0607201 -0.0117179 0.0340885 0.09 0 pose: 0.0 0.828282 -3.92011 0 0.0176961 -0.00181501 0.999588 -0.0225446 uwb: 0.50075636 1231.58 934.033 -imu_odom_: 1691062862.931449360 0.521936 -0.320823 9.90721 -0.0500674 0.0138484 0.0436758 0.05 0.05 pose: 0.7006879 0.825859 -3.92375 0 0.017007 -0.00185326 0.9996 -0.0225124 uwb: 0.0 1231.58 934.033 -imu_odom_: 1691062862.947441960 0.342371 -0.265756 10.0533 -0.052198 0.0298274 0.0798948 0.06 0.05 pose: 0.0 0.825859 -3.92375 0 0.017007 -0.00185326 0.9996 -0.0225124 uwb: 0.49902397 1231.71 935.525 -imu_odom_: 1691062862.964385046 -0.742203 -0.4956 9.52653 -0.0607201 0.0585895 0.0181095 0.06 0.05 pose: 0.74990671 0.825859 -3.92375 0 0.0130396 -0.0001310060.999664 -0.0223901 uwb: 0.0 1231.71 935.525 -imu_odom_: 1691062862.980726460 -0.964863 0.208296 10.137 -0.036219 0.00745685 -0.12144 0.1 -0.2 pose: 0.0 0.825859 -3.92375 0 0.0130396 -0.0001310060.999664 -0.0223901 uwb: 0.0 1231.71 935.525 -imu_odom_: 1691062862.997537137 -0.533907 0.217872 9.63666 -0.0660464 -0.0532632 -0.20027 0.1 -0.2 pose: 0.0 0.825859 -3.92375 0 0.0130396 -0.0001310060.999664 -0.0223901 uwb: 0.50076803 1231.57 935.998 -imu_odom_: 1691062863.14570927 -0.0957681 -0.160412 9.62469 -0.0617853 -0.036219 -0.257794 0.1 -0.2 pose: 0.33005974 0.825859 -3.92375 0 0.00908217 -0.0004355680.99972 -0.0218322 uwb: 0.0 1231.57 935.998 -imu_odom_: 1691062863.30434910 0.430956 -0.584185 9.76595 -0.0713727 0.00213053 -0.290817 0.11 -0.38 pose: 0.43169377 0.817518 -3.91818 0 0.00553359 0.000488028 0.999848 -0.0165264 uwb: 0.0 1231.57 935.998 -imu_odom_: 1691062863.46509756 -0.0790087 -0.430956 9.73961 -0.056459 0.0436758 -0.314253 0.11 -0.38 pose: 0.7947740 0.817542 -3.9182 0 0.00535841 -0.0003491480.99987 -0.0152175 uwb: 0.49982309 1231.74 937.689 -imu_odom_: 1691062863.63412012 -0.150835 -0.0383072 10.003 -0.0394148 0.0181095 -0.348341 0.11 -0.38 pose: 0.0 0.817542 -3.9182 0 0.00535841 -0.0003491480.99987 -0.0152175 uwb: 0.0 1231.74 937.689 -imu_odom_: 1691062863.79462942 0.011971 0.0143652 9.84975 -0.0607201 -0.00106526 -0.376038 0.15 -0.61 pose: 0.40893345 0.817518 -3.91818 0 0.0014896 -0.0010362 0.999968 -0.00779716 uwb: 0.0 1231.74 937.689 -imu_odom_: 1691062863.96435486 0.186748 0.0191536 10.1299 -0.056459 0.0117179 -0.403735 0.12 -0.44 pose: 0.0 0.817518 -3.91818 0 0.0014896 -0.0010362 0.999968 -0.00779716 uwb: 0.50013808 1231.46 937.763 -imu_odom_: 1691062863.112370632 -0.0143652 -0.363919 9.52653 -0.0490022 -0.00852212 -0.430367 0.12 -0.44 pose: 0.0 0.817518 -3.91818 0 0.0014896 -0.0010362 0.999968 -0.00779716 uwb: 0.0 1231.46 937.763 -imu_odom_: 1691062863.128358274 0.37589 -0.248997 9.89284 -0.0543285 -0.0255663 -0.475108 0.12 -0.44 pose: 0.24107456 0.81207 -3.92657 0 -0.0005283740.00032339 0.999996 -0.00267616 uwb: 0.0 1231.46 937.763 -imu_odom_: 1691062863.144510991 0.373495 -0.0263362 9.71806 -0.0735032 -0.02024 -0.472977 0.13 -0.55 pose: 0.0 0.81207 -3.92657 0 -0.0005283740.00032339 0.999996 -0.00267616 uwb: 0.49876149 1231.25 938.253 -imu_odom_: 1691062863.160435637 0.323217 -0.248997 9.88326 -0.0617853 0.00532632 -0.490022 0.13 -0.55 pose: 0.0 0.81207 -3.92657 0 -0.0005283740.00032339 0.999996 -0.00267616 uwb: 0.0 1231.25 938.253 -imu_odom_: 1691062863.176376908 0.292093 -0.138864 10.0006 -0.0490022 -0.00532632 -0.535828 0.16 -0.7 pose: 0.47995010 0.80369 -3.92112 0 -0.00160068 -0.0003427770.999958 0.00899688 uwb: 0.0 1231.25 938.253 -imu_odom_: 1691062863.193506067 0.263362 -0.0215478 9.67736 -0.0479369 -0.0127832 -0.549676 0.16 -0.7 pose: 0.0 0.80369 -3.92112 0 -0.00160068 -0.0003427770.999958 0.00899688 uwb: 0.50026057 1230.93 938.338 -imu_odom_: 1691062863.209482627 0.380678 -0.0909797 10.0844 -0.0351537 -0.0479369 -0.579504 0.16 -0.7 pose: 0.0 0.80369 -3.92112 0 -0.00160068 -0.0003427770.999958 0.00899688 uwb: 0.0 1230.93 938.338 -imu_odom_: 1691062863.226370592 1.37667 -0.160412 9.64863 -0.0617853 -0.0372843 -0.54435 0.12 -0.5 pose: 0.30876642 0.80369 -3.92112 0 -0.00311355 -8.67901e-050.999847 0.0172307 uwb: 0.0 1230.93 938.338 -imu_odom_: 1691062863.242510767 1.13485 -0.351948 10.0485 -0.0639159 -0.0106526 -0.458064 0.16 -0.67 pose: 0.0 0.80369 -3.92112 0 -0.00311355 -8.67901e-050.999847 0.0172307 uwb: 0.49857776 1231.1 939.157 -imu_odom_: 1691062863.259501976 1.4054 -0.476446 10.082 -0.0436758 -0.0532632 -0.448476 0.16 -0.67 pose: 0.66985185 0.789851 -3.92404 0 -0.00014849 0.00340104 0.999319 0.0367407 uwb: 0.0 1231.1 939.157 -imu_odom_: 1691062863.276369525 1.24259 -0.167594 9.43315 -0.0553937 0.0319579 -0.412257 0.16 -0.67 pose: 0.0 0.789851 -3.92404 0 -0.00014849 0.00340104 0.999319 0.0367407 uwb: 0.0 1231.1 939.157 -imu_odom_: 1691062863.292562489 0.866701 -0.287304 9.93115 -0.0532632 0.0553937 -0.343015 0.13 -0.58 pose: 0.0 0.789851 -3.92404 0 -0.00014849 0.00340104 0.999319 0.0367407 uwb: 0.50080887 1230.86 939.65 -imu_odom_: 1691062863.309507326 0.78051 -0.512359 9.70131 -0.0639159 0.0170442 -0.272708 0.13 -0.58 pose: 0.33136342 0.789851 -3.92404 0 0.00331219 0.00255535 0.99899 0.0447276 uwb: 0.0 1230.86 939.65 -imu_odom_: 1691062863.326500285 0.981623 -0.486023 9.93594 -0.0511327 0.00213053 -0.221575 0.07 -0.32 pose: 0.42994679 0.785211 -3.92101 0 0.00596043 0.000589164 0.998594 0.0526681 uwb: 0.0 1230.86 939.65 -imu_odom_: 1691062863.342382642 0.368707 -0.380678 9.72764 -0.0447411 0.0319579 -0.194943 0.07 -0.32 pose: 0.0 0.785211 -3.92101 0 0.00596043 0.000589164 0.998594 0.0526681 uwb: 0.49884023 1230.54 939.734 -imu_odom_: 1691062863.369372762 0.459687 0.189142 10.0748 -0.0681769 -0.0575243 -0.208792 0.06 -0.29 pose: 0.8102315 0.781498 -3.91854 0 0.00659893 0.000148229 0.998534 0.0537211 uwb: 0.0 1230.54 939.734 -imu_odom_: 1691062863.385416985 0.658405 -0.071826 9.78031 -0.0649811 -0.0127832 -0.184291 0.06 -0.26 pose: 0.0 0.781498 -3.91854 0 0.00659893 0.000148229 0.998534 0.0537211 uwb: 0.0 1230.54 939.734 -imu_odom_: 1691062863.401364089 0.289698 -0.679953 9.81862 -0.056459 0.0383495 -0.229032 0.07 -0.2 pose: 0.0 0.781498 -3.91854 0 0.00659893 0.000148229 0.998534 0.0537211 uwb: 0.50144759 1230.39 940.201 -imu_odom_: 1691062863.417443309 0.100556 0.0167594 10.3118 -0.0415453 0.0351537 -0.306796 0.07 -0.2 pose: 0.74773393 0.781498 -3.91854 0 0.00715228 0.00152784 0.997998 0.0628159 uwb: 0.0 1230.39 940.201 -imu_odom_: 1691062863.434374438 -1.02472 0.464475 9.91678 -0.0543285 0.036219 -0.183225 0.11 -0.17 pose: 0.0 0.781498 -3.91854 0 0.00715228 0.00152784 0.997998 0.0628159 uwb: 0.0 1230.39 940.201 -imu_odom_: 1691062863.450357706 -0.773327 -0.797269 9.81862 -0.0777643 -0.0830906 -0.0745685 0.11 -0.17 pose: 0.33022890 0.781498 -3.91854 0 0.00391664 0.00207812 0.997697 0.0676867 uwb: 0.49897148 1229.93 939.464 -imu_odom_: 1691062863.466344183 -0.148441 -0.483629 9.72285 -0.0447411 -0.110787 -0.12144 0.11 -0.17 pose: 0.0 0.781498 -3.91854 0 0.00391664 0.00207812 0.997697 0.0676867 uwb: 0.0 1229.93 939.464 -imu_odom_: 1691062863.483337141 0.73502 -0.0047884 9.94312 -0.0394148 -0.0468716 -0.1012 0.11 -0.14 pose: 0.40938259 0.767631 -3.92132 0 0.00145931 0.00104438 0.997483 0.0708874 uwb: 0.0 1229.93 939.464 -imu_odom_: 1691062863.499393613 0.294487 -0.0670376 9.8665 -0.0671117 -0.00319579 -0.0756338 0.11 -0.14 pose: 0.8063525 0.767631 -3.92132 0 0.00235064 0.00147013 0.99744 0.0714533 uwb: 0.50024015 1230.01 939.659 -imu_odom_: 1691062863.516392405 -0.0814029 -0.237026 9.85693 -0.0447411 0.00213053 -0.107592 0.11 -0.14 pose: 0.0 0.767631 -3.92132 0 0.00235064 0.00147013 0.99744 0.0714533 uwb: 0.0 1230.01 939.659 -imu_odom_: 1691062863.532392006 -0.222661 -0.0837971 9.7875 -0.0671117 -0.0447411 -0.0948085 0.16 -0.17 pose: 0.41984697 0.767631 -3.92132 0 0.000270557 0.00275245 0.997235 0.0742602 uwb: 0.0 1230.01 939.659 -imu_odom_: 1691062863.549396339 0.483629 -0.160412 9.84256 -0.0628506 -0.0458064 -0.0745685 0.12 -0.11 pose: 0.0 0.767631 -3.92132 0 0.000270557 0.00275245 0.997235 0.0742602 uwb: 0.49986101 1229.98 940.309 -imu_odom_: 1691062863.565332651 0.593762 -0.416591 10.0844 -0.056459 -0.0181095 -0.0820254 0.12 -0.11 pose: 0.0 0.767631 -3.92132 0 0.000270557 0.00275245 0.997235 0.0742602 uwb: 0.0 1229.98 940.309 -imu_odom_: 1691062863.581329335 0.469264 -0.0670376 10.2951 -0.0479369 -0.015979 -0.0852212 0.12 -0.11 pose: 0.23947341 0.75928 -3.91582 0 -3.40085e-050.00283445 0.99712 0.075788 uwb: 0.0 1229.98 940.309 -imu_odom_: 1691062863.597543298 0.641646 -0.162806 9.79947 -0.0553937 -0.00852212 -0.0873517 0.13 -0.11 pose: 0.0 0.75928 -3.91582 0 -3.40085e-050.00283445 0.99712 0.075788 uwb: 0.49937396 1230.02 940.084 -imu_odom_: 1691062863.614554339 0.457293 -0.143652 9.67497 -0.0585895 0.00213053 -0.0735032 0.13 -0.11 pose: 0.31999201 0.75928 -3.91582 0 0.00220768 0.0019935 0.996972 0.0777011 uwb: 0.0 1230.02 940.084 -imu_odom_: 1691062863.631549922 -0.0670376 -0.349553 9.82341 -0.052198 0.0127832 -0.056459 0.19 -0.17 pose: 0.33302291 0.75928 -3.91582 0 0.00350341 0.00316079 0.996804 0.0797421 uwb: 0.0 1230.02 940.084 -imu_odom_: 1691062863.649501241 0.378284 -0.0335188 10.3621 -0.0500674 -0.0191748 -0.0671117 0.19 -0.17 pose: 0.0 0.75928 -3.91582 0 0.00350341 0.00316079 0.996804 0.0797421 uwb: 0.49982601 1230.01 940.303 -imu_odom_: 1691062863.664352617 0.940921 -0.318429 9.60314 -0.0692422 -0.0276969 -0.0447411 0.19 -0.17 pose: 0.0 0.75928 -3.91582 0 0.00350341 0.00316079 0.996804 0.0797421 uwb: 0.0 1230.01 940.303 -imu_odom_: 1691062863.680399465 0.931344 -0.244209 10.0054 -0.0628506 0.0255663 -0.00852212 0.11 -0.11 pose: 0.16923838 0.750929 -3.91032 0 0.0019218 0.00345863 0.996736 0.0806341 uwb: 0.0 1230.01 940.303 -imu_odom_: 1691062863.694415849 1.25935 -0.282516 10.4866 -0.056459 -0.0213053 0.00213053 0.11 -0.11 pose: 0.0 0.750929 -3.91032 0 0.0019218 0.00345863 0.996736 0.0806341 uwb: 0.50060472 1230.29 940.444 -imu_odom_: 1691062863.710410783 1.69749 -0.174777 9.95748 -0.052198 -0.072438 -0.0372843 0.11 -0.11 pose: 0.0 0.750929 -3.91032 0 0.0019218 0.00345863 0.996736 0.0806341 uwb: 0.0 1230.29 940.444 -imu_odom_: 1691062863.726395218 1.60651 -0.0454898 9.48822 -0.0468716 0.0117179 -0.0713727 0.09 -0.11 pose: 0.63803288 0.745417 -3.91866 0 0.00408277 0.00353258 0.996524 0.0831266 uwb: 0.0 1230.29 940.444 -imu_odom_: 1691062863.743341512 1.2809 -0.136469 9.90481 -0.0607201 -0.0106526 -0.0575243 0.09 -0.11 pose: 0.0 0.745417 -3.91866 0 0.00408277 0.00353258 0.996524 0.0831266 uwb: 0.49866525 1230.46 941.042 -imu_odom_: 1691062863.759340238 1.22823 -0.296881 10.2424 -0.0756338 0.00426106 -0.0170442 0.09 -0.11 pose: 0.31041715 0.737046 -3.91319 0 0.0077056 0.0031567 0.996409 0.0842644 uwb: 0.0 1230.46 941.042 -imu_odom_: 1691062863.775380086 0.742203 -0.632069 9.45949 -0.0447411 0.0298274 -0.0532632 0.09 -0.11 pose: 0.41930159 0.737046 -3.91319 0 0.0116993 0.00234569 0.996223 0.086011 uwb: 0.0 1230.46 941.042 -imu_odom_: 1691062863.792377128 0.363919 -0.0646434 10.0078 -0.0426106 -0.0213053 -0.0969391 0.09 -0.11 pose: 0.7008337 0.737046 -3.91319 0 0.0117005 0.00170585 0.996197 0.0863261 uwb: 0.50049389 1230.94 941.777 -imu_odom_: 1691062863.808317232 0.672771 0.213084 10.0245 -0.0660464 -0.0255663 -0.0809601 0.09 -0.11 pose: 0.0 0.737046 -3.91319 0 0.0117005 0.00170585 0.996197 0.0863261 uwb: 0.0 1230.94 941.777 -imu_odom_: 1691062863.824487739 0.835576 -0.363919 10.0844 -0.0692422 -0.00852212 -0.0607201 0.06 -0.05 pose: 0.41968657 0.737046 -3.91319 0 0.0109317 0.00322985 0.995978 0.088871 uwb: 0.0 1230.94 941.777 -imu_odom_: 1691062863.850501708 0.701501 -0.435745 9.94791 -0.0511327 0.00213053 -0.0447411 0.06 -0.02 pose: 0.0 0.737046 -3.91319 0 0.0109317 0.00322985 0.995978 0.088871 uwb: 0.50032181 1230.88 941.794 -imu_odom_: 1691062863.875465156 -0.232238 -0.287304 9.73722 -0.0596548 0.0756338 0.0351537 0.04 -0.05 pose: 0.24058168 0.737046 -3.91319 0 0.0120511 0.00109759 0.99587 0.0899836 uwb: 0.0 1230.88 941.794 -imu_odom_: 1691062863.892477364 -1.10373 -0.287304 10.1442 -0.0596548 0.0692422 0.0223706 0.04 -0.05 pose: 0.0 0.737046 -3.91319 0 0.0120511 0.00109759 0.99587 0.0899836 uwb: 0.50065430 1230.95 942.203 -imu_odom_: 1691062863.917493309 -0.603339 -0.122104 10.0078 -0.0436758 -0.0649811 -0.00426106 0.08 -0.02 pose: 0.26025635 0.728699 -3.90768 0 0.0111562 -0.0006355280.995812 0.09074 uwb: 0.0 1230.95 942.203 -imu_odom_: 1691062863.943367870 0.648829 -0.430956 9.92157 -0.0671117 -0.0351537 0.0308927 0.08 -0.02 pose: 0.42161145 0.728699 -3.90768 0 0.00589189 -0.0003508760.995824 0.091103 uwb: 0.50117635 1230.8 941.598 -imu_odom_: 1691062863.959477422 0.474052 -0.368707 9.83538 -0.0426106 0.0426106 -0.00532632 0.08 -0.02 pose: 0.0 0.728699 -3.90768 0 0.00589189 -0.0003508760.995824 0.091103 uwb: 0.0 1230.8 941.598 -imu_odom_: 1691062863.985363066 -0.148441 0.0215478 10.1562 -0.0511327 -0.0138484 0.0245011 0.11 -0.05 pose: 0.49949353 0.723178 -3.91602 0 0.00585189 -0.0030105 0.995762 0.0917297 uwb: 0.0 1230.8 941.598 -imu_odom_: 1691062864.1465910 0.0837971 -0.201113 10.0102 -0.0383495 -0.0234358 0.0223706 0.11 -0.05 pose: 0.0 0.723178 -3.91602 0 0.00585189 -0.0030105 0.995762 0.0917297 uwb: 0.49808486 1230.92 942.64 -imu_odom_: 1691062864.27657787 0.11971 -0.0502782 9.48822 -0.0639159 -0.0138484 0.0106526 0.12 -0.02 pose: 0.41859579 0.714847 -3.91049 0 0.00245456 -0.00215762 0.995737 0.0921762 uwb: 0.0 1230.92 942.64 -imu_odom_: 1691062864.53487434 0.483629 -0.205901 10.5105 -0.0511327 -0.00745685 0.0191748 0.12 -0.02 pose: 0.35286675 0.714847 -3.91049 0 -0.000311695-0.0004224810.995701 0.0926286 uwb: 0.50139218 1230.77 942.249 -imu_odom_: 1691062864.70463769 0.177171 -0.28491 9.94073 -0.0553937 0.02024 0.0213053 0.12 -0.02 pose: 0.0 0.714847 -3.91049 0 -0.000311695-0.0004224810.995701 0.0926286 uwb: 0.0 1230.77 942.249 -imu_odom_: 1691062864.95466007 0.402226 -0.232238 10.0652 -0.0479369 -0.0639159 0.02024 0.14 -0.02 pose: 0.6831598 0.714847 -3.91049 0 0.000380485 -0.0003313960.995694 0.0926983 uwb: 0.50007976 1231.29 942.975 -imu_odom_: 1691062864.121454021 0.126893 -0.107739 9.88805 -0.0447411 0.076699 0.0319579 0.14 -0.02 pose: 0.0 0.714847 -3.91049 0 0.000380485 -0.0003313960.995694 0.0926983 uwb: 0.0 1231.29 942.975 -imu_odom_: 1691062864.146318017 0.572214 -0.378284 9.92157 -0.0639159 -0.0298274 0.0351537 0.15 -0.02 pose: 0.42973973 0.706472 -3.90503 0 0.000129851 -0.00082624 0.995655 0.0931126 uwb: 0.49865942 1231 943.262 -imu_odom_: 1691062864.163446884 0.354342 -0.0574608 10.0317 -0.0436758 -0.0372843 0.0255663 0.15 -0.02 pose: 0.0 0.706472 -3.90503 0 0.000129851 -0.00082624 0.995655 0.0931126 uwb: 0.0 1231 943.262 -imu_odom_: 1691062864.189382401 0.442927 -0.457293 9.88805 -0.0628506 -0.0138484 0.0458064 0.14 -0.05 pose: 0.50884965 0.692629 -3.90792 0 -0.00316758 -0.0008148820.995624 0.0933967 uwb: 0.0 1231 943.262 -imu_odom_: 1691062864.214326600 0.746991 -0.308852 10.0365 -0.0372843 -0.0213053 0.00106526 0.14 -0.05 pose: 0.0 0.692629 -3.90792 0 -0.00316758 -0.0008148820.995624 0.0933967 uwb: 0.50004184 1231.08 944.52 -imu_odom_: 1691062864.238459139 -0.0167594 0.0023942 9.6606 -0.0617853 -0.0127832 0.0585895 0.17 0 pose: 0.42977765 0.692629 -3.90792 0 -0.00108324 -0.0010199 0.995615 0.0935337 uwb: 0.0 1231.08 944.52 -imu_odom_: 1691062864.264342450 0.459687 -0.253785 10.149 -0.052198 -0.0276969 0.0138484 0.15 0 pose: 0.49028908 0.684265 -3.90244 0 0.00152112 -0.00282375 0.995576 0.0939067 uwb: 0.50095762 1230.95 944.553 -imu_odom_: 1691062864.279449604 0.823605 0.0263362 10.2208 -0.0511327 -0.00639159 0.0234358 0.15 0 pose: 0.0 0.684265 -3.90244 0 0.00152112 -0.00282375 0.995576 0.0939067 uwb: 0.0 1230.95 944.553 -imu_odom_: 1691062864.296437313 0.454898 -0.299275 10.2161 -0.0745685 0.0170442 0.0575243 0.15 0 pose: 0.0 0.684265 -3.90244 0 0.00152112 -0.00282375 0.995576 0.0939067 uwb: 0.50122886 1230.97 944.973 -imu_odom_: 1691062864.322511363 0.794875 -0.0071826110.2711 -0.0383495 -0.0223706 -0.00106526 0.2 0 pose: 0.25189768 0.684265 -3.90244 0 0.00090852 -0.001929 0.995586 0.093825 uwb: 0.0 1230.97 944.973 -imu_odom_: 1691062864.347307696 0.488417 -0.287304 10.24 -0.0703074 0.00639159 0.0553937 0.2 0 pose: 0.0 0.684265 -3.90244 0 0.00090852 -0.001929 0.995586 0.093825 uwb: 0.49974436 1231.14 945.998 -imu_odom_: 1691062864.373439201 0.347159 -0.215478 10.0293 -0.0436758 0.0106526 0.0213053 0.18 -0.02 pose: 0.58952283 0.670417 -3.90532 0 0.00386804 -0.00239291 0.995543 0.0942023 uwb: 0.0 1231.14 945.998 -imu_odom_: 1691062864.398438231 0.476446 -0.344765 9.44991 -0.0660464 -0.0127832 0.0543285 0.17 -0.02 pose: 0.49976769 0.662061 -3.89983 0 0.00340804 -0.00314727 0.995521 0.0944302 uwb: 0.49785447 1231.1 947.07 -imu_odom_: 1691062864.415446064 0.435745 -0.368707 9.81383 -0.0500674 -0.02024 0.0308927 0.17 -0.02 pose: 0.0 0.662061 -3.89983 0 0.00340804 -0.00314727 0.995521 0.0944302 uwb: 0.0 1231.1 947.07 -imu_odom_: 1691062864.440334559 0.201113 -0.0095768110.252 -0.0543285 0.0308927 0.0511327 0.17 0 pose: 0.26083966 0.662061 -3.89983 0 0.00185375 -0.00283585 0.995515 0.0945481 uwb: 0.49958687 1230.91 947.537 -imu_odom_: 1691062864.466491437 0.186748 -0.342371 10.3908 -0.052198 0.0245011 0.0394148 0.17 0 pose: 0.34888282 0.653706 -3.89433 0 0.00190213 -0.00616621 0.995506 0.0944797 uwb: 0.0 1230.91 947.537 -imu_odom_: 1691062864.492352583 0.639252 0.0215478 10.2137 -0.0639159 -0.00213053 0.0468716 0.17 -0.02 pose: 0.6933092 0.653706 -3.89433 0 0.00141024 -0.00556522 0.995514 0.0944398 uwb: 0.50173341 1230.87 948.395 -imu_odom_: 1691062864.517374653 0.76375 -0.110133 10.3286 -0.0330232 -0.0181095 0.015979 0.17 -0.02 pose: 0.0 0.653706 -3.89433 0 0.00141024 -0.00556522 0.995514 0.0944398 uwb: 0.0 1230.87 948.395 -imu_odom_: 1691062864.533310674 -0.0742203 -0.205901 9.87369 -0.0383495 0.0213053 0.0490022 0.17 0 pose: 0.52002567 0.639857 -3.8972 0 -0.00227648 -0.00369792 0.995534 0.0943014 uwb: 0.0 1230.87 948.395 -imu_odom_: 1691062864.559508383 0.248997 -0.237026 9.91199 -0.0426106 0.0308927 0.0319579 0.17 0 pose: 0.0 0.639857 -3.8972 0 -0.00227648 -0.00369792 0.995534 0.0943014 uwb: 0.49915231 1231 949.422 -imu_odom_: 1691062864.584499538 0.627281 0.0742203 10.4459 -0.0436758 0.00106526 0.0447411 0.18 0 pose: 0.49104154 0.639857 -3.8972 0 0.000915394 -0.00136792 0.995523 0.0945084 uwb: 0.0 1231 949.422 -imu_odom_: 1691062864.609418365 0.316035 -0.134075 10.0868 -0.0468716 0.00639159 0.0340885 0.18 0 pose: 0.0 0.639857 -3.8972 0 0.000915394 -0.00136792 0.995523 0.0945084 uwb: 0.49908232 1230.9 950.078 -imu_odom_: 1691062864.623424541 0.0981623 -0.112527 9.96227 -0.0671117 -0.00745685 0.0415453 0.19 0 pose: 0.42965806 0.631502 -3.8917 0 -0.00271629 -0.0001599850.995517 0.0945391 uwb: 0.0 1230.9 950.078 -imu_odom_: 1691062864.648367282 0.517148 -0.282516 9.95748 -0.0585895 -0.0308927 0.0394148 0.19 0 pose: 0.0 0.631502 -3.8917 0 -0.00271629 -0.0001599850.995517 0.0945391 uwb: 0.49998351 1231.07 951.096 -imu_odom_: 1691062864.674295507 0.0861913 -0.227449 10.0796 -0.0351537 0.0319579 0.0330232 0.24 0 pose: 0.48985453 0.617652 -3.89456 0 -0.00363074 0.00336009 0.995508 0.0945519 uwb: 0.0 1231.07 951.096 -imu_odom_: 1691062864.700432262 0.339977 -0.385466 9.93594 -0.0330232 -0.0340885 0.0266316 0.16 0.02 pose: 0.39927985 0.609297 -3.88907 0 -0.00289957 0.00197362 0.995512 0.0945731 uwb: 0.50207172 1230.71 951.802 -imu_odom_: 1691062864.717301853 0.555455 -0.0143652 9.97185 -0.0340885 0.00958738 0.04048 0.22 -0.02 pose: 0.26058009 0.609297 -3.88907 0 -0.00492466 0.00140814 0.995494 0.0946881 uwb: 0.0 1230.71 951.802 -imu_odom_: 1691062864.743419359 0.737414 -0.122104 10.3453 -0.0553937 -0.00426106 0.0372843 0.22 -0.02 pose: 0.26047510 0.600944 -3.88357 0 -0.00389973 0.00019932 0.995487 0.0948174 uwb: 0.0 1230.71 951.802 -imu_odom_: 1691062864.769434496 0.773327 -0.177171 9.74919 -0.056459 0.00426106 0.0458064 0.19 -0.02 pose: 0.0 0.600944 -3.88357 0 -0.00389973 0.00019932 0.995487 0.0948174 uwb: 0.0 1230.71 951.802 -imu_odom_: 1691062864.795310224 0.940921 -0.387861 9.71567 -0.0436758 -0.00106526 0.0276969 0.17 0 pose: 0.61963856 0.589373 -3.88793 0 0.00191863 0.00102337 0.995498 0.0947547 uwb: 0.99702136 1230.42 952.282 -imu_odom_: 1691062864.821316028 0.378284 -0.433351 9.99819 -0.056459 -0.0117179 0.0585895 0.17 0 pose: 0.0 0.589373 -3.88793 0 0.00191863 0.00102337 0.995498 0.0947547 uwb: 0.0 1230.42 952.282 -imu_odom_: 1691062864.838429730 0.320823 -0.260968 9.43555 -0.0500674 0.036219 0.0298274 0.2 0 pose: 0.7147454 0.587092 -3.88642 0 0.00255034 0.000743945 0.995493 0.0947955 uwb: 0.0 1230.42 952.282 -imu_odom_: 1691062864.855421814 0.263362 -0.0023942 10.1203 -0.0490022 0.0255663 0.0340885 0.2 0 pose: 0.0 0.587092 -3.88642 0 0.00255034 0.000743945 0.995493 0.0947955 uwb: 0.0 1230.42 952.282 -imu_odom_: 1691062864.871297172 0.550666 -0.320823 9.92875 -0.0575243 -0.0234358 0.0458064 0.2 0 pose: 0.0 0.587092 -3.88642 0 0.00255034 0.000743945 0.995493 0.0947955 uwb: 0.0 1230.42 952.282 -imu_odom_: 1691062864.898405994 0.299275 0.0574608 9.91439 -0.052198 0.0255663 0.0500674 0.23 0 pose: 0.52857392 0.57874 -3.88093 0 0.0019955 -0.00218857 0.995503 0.0946853 uwb: 0.100389846 1230.31 952.933 -imu_odom_: 1691062864.924342969 0.428562 -0.155623 9.91439 -0.0735032 0.0276969 0.0394148 0.18 0.02 pose: 0.50004767 0.564889 -3.88378 0 0.00091643 -0.0007499380.995507 0.094684 uwb: 0.0 1230.31 952.933 -imu_odom_: 1691062864.941465128 0.354342 -0.186748 10.1466 -0.0585895 -0.0149137 0.0330232 0.25 0 pose: 0.0 0.564889 -3.88378 0 0.00091643 -0.0007499380.995507 0.094684 uwb: 0.49796822 1229.94 954.055 -imu_odom_: 1691062864.957262324 0.557849 -0.174777 10.3597 -0.0426106 0.00639159 0.0394148 0.25 0 pose: 0.0 0.564889 -3.88378 0 0.00091643 -0.0007499380.995507 0.094684 uwb: 0.0 1229.94 954.055 -imu_odom_: 1691062864.984351898 0.603339 0.102951 10.307 -0.0372843 -0.0245011 0.0340885 0.25 -0.02 pose: 0.51972235 0.556535 -3.87829 0 0.000679592 0.00262403 0.995511 0.0946111 uwb: 0.0 1229.94 954.055 -imu_odom_: 1691062865.398162 0.275333 -0.423774 9.69652 -0.0575243 0.0287621 0.0479369 0.25 -0.02 pose: 0.0 0.556535 -3.87829 0 0.000679592 0.00262403 0.995511 0.0946111 uwb: 0.49828319 1230.09 955.067 -imu_odom_: 1691062865.27260833 0.591368 -0.201113 10.003 -0.0500674 -0.0372843 0.0426106 0.25 -0.02 pose: 0.68981818 0.548181 -3.87279 0 0.00204776 0.00322036 0.995503 0.0946493 uwb: 0.0 1230.09 955.067 -imu_odom_: 1691062865.53408087 0.31364 -0.294487 10.0724 -0.0575243 0.0298274 0.0383495 0.25 -0.02 pose: 0.7948908 0.548181 -3.87279 0 0.00290389 0.0028967 0.995504 0.0946346 uwb: 0.49993394 1230.11 956.936 -imu_odom_: 1691062865.80281841 0.102951 0 9.70131 -0.0585895 0.0181095 0.04048 0.25 -0.02 pose: 0.45061017 0.536659 -3.87718 0 0.00223186 0.000825068 0.995511 0.0946138 uwb: 0.0 1230.11 956.936 -imu_odom_: 1691062865.105442445 0.68953 -0.112527 9.99579 -0.072438 0.00852212 0.0436758 0.18 0 pose: 0.0 0.536659 -3.87718 0 0.00223186 0.000825068 0.995511 0.0946138 uwb: 0.50416869 1230 958.409 -imu_odom_: 1691062865.132420317 0.126893 -0.447716 9.7037 -0.0458064 0.0319579 0.0490022 0.18 0 pose: 0.35073480 0.53433 -3.87565 0 0.00048873 0.00236932 0.995514 0.094588 uwb: 0.0 1230 958.409 -imu_odom_: 1691062865.157332144 0.486023 -0.35913 10.0197 -0.0436758 0.0287621 0.036219 0.2 0.02 pose: 0.43938750 0.525976 -3.87015 0 -0.0005799570.0009489 0.995532 0.0944231 uwb: 0.0 1230 958.409 -imu_odom_: 1691062865.174317229 0.59855 -0.0454898 9.5792 -0.0372843 -0.0191748 0.04048 0.2 0.02 pose: 0.8036111 0.525976 -3.87015 0 -0.0003647920.000281025 0.995531 0.0944366 uwb: 0.0 1230 958.409 -imu_odom_: 1691062865.190375451 0.347159 -0.102951 10.2951 -0.0553937 0.0181095 0.0543285 0.18 0 pose: 0.0 0.525976 -3.87015 0 -0.0003647920.000281025 0.995531 0.0944366 uwb: 0.99706513 1229.86 959.675 -imu_odom_: 1691062865.217403487 0.148441 -0.351948 9.5792 -0.0479369 0.00106526 0.04048 0.18 0 pose: 0.41828957 0.512126 -3.87301 0 0.00101167 0.000768658 0.995533 0.0944011 uwb: 0.0 1229.86 959.675 -imu_odom_: 1691062865.242282066 0.617704 -0.318429 10.1155 -0.0458064 -0.0181095 0.0436758 0.2 -0.02 pose: 0.0 0.512126 -3.87301 0 0.00101167 0.000768658 0.995533 0.0944011 uwb: 0.49947314 1229.82 960.715 -imu_odom_: 1691062865.259330147 0.40462 0.0047884 10.0437 -0.0394148 0.0191748 0.0426106 0.2 -0.02 pose: 0.43001097 0.50377 -3.86752 0 -0.00124834 -9.6032e-06 0.995541 0.094318 uwb: 0.0 1229.82 960.715 -imu_odom_: 1691062865.284274639 0.617704 -0.0407014 10.1945 -0.076699 0.0308927 0.0575243 0.18 0 pose: 0.0 0.50377 -3.86752 0 -0.00124834 -9.6032e-06 0.995541 0.094318 uwb: 0.0 1229.82 960.715 -imu_odom_: 1691062865.311253095 0.603339 -0.220267 9.96467 -0.0617853 0.00852212 0.0479369 0.18 0 pose: 0.42012114 0.50377 -3.86752 0 0.000840185 0.00144543 0.995553 0.0941877 uwb: 0.50057557 1229.83 961.746 -imu_odom_: 1691062865.328392462 0.0502782 -0.150835 9.86172 -0.0500674 -0.0298274 0.0511327 0.19 0 pose: 0.0 0.50377 -3.86752 0 0.000840185 0.00144543 0.995553 0.0941877 uwb: 0.0 1229.83 961.746 -imu_odom_: 1691062865.354335562 0.325611 -0.071826 9.73243 -0.0553937 -0.00639159 0.0532632 0.19 0 pose: 0.52256594 0.489923 -3.87039 0 0.00359595 0.00119207 0.995577 0.0938678 uwb: 0.49934189 1229.43 962.635 -imu_odom_: 1691062865.380407279 0.553061 -0.296881 9.26556 -0.0671117 0.0330232 0.0308927 0.18 0 pose: 0.34780372 0.481561 -3.86491 0 0.00106789 0.00323033 0.995599 0.0936498 uwb: 0.0 1229.43 962.635 -imu_odom_: 1691062865.395404189 0.426168 -0.184354 9.84256 -0.0585895 0.0149137 0.0394148 0.18 0 pose: 0.7087083 0.481561 -3.86491 0 0.00137106 0.00264391 0.995598 0.0936782 uwb: 0.49971812 1229.24 964.307 -imu_odom_: 1691062865.419307783 0.399832 -0.4956 9.42837 -0.0660464 0.0191748 0.0426106 0.17 0 pose: 0.0 0.481561 -3.86491 0 0.00137106 0.00264391 0.995598 0.0936782 uwb: 0.0 1229.24 964.307 -imu_odom_: 1691062865.446383650 0.294487 -0.191536 9.80904 -0.0575243 0 0.0543285 0.17 0 pose: 0.39992732 0.473197 -3.85943 0 0.000502318 0.00102708 0.995595 0.0937486 uwb: 0.50133969 1229 964.957 -imu_odom_: 1691062865.471255813 0.251391 -0.265756 9.57681 -0.0468716 -0.00213053 0.0372843 0.19 0 pose: 0.44968273 0.463277 -3.86149 0 -0.00247545 0.00028321 0.995614 0.0935196 uwb: 0.0 1229 964.957 -imu_odom_: 1691062865.498269849 0.150835 -0.126893 10.2592 -0.0479369 -0.00319579 0.0628506 0.23 0.02 pose: 0.0 0.463277 -3.86149 0 -0.00247545 0.00028321 0.995614 0.0935196 uwb: 0.49888692 1228.88 966.202 -imu_odom_: 1691062865.515390551 0.720655 -0.246603 9.84975 -0.0543285 0.0117179 0.0532632 0.23 0.02 pose: 0.31885750 0.459352 -3.86231 0 -0.00535229 -2.88979e-050.995608 0.0934666 uwb: 0.0 1228.88 966.202 -imu_odom_: 1691062865.532391677 0.45011 -0.0766145 9.7037 -0.052198 0.00532632 0.136354 0.23 0.02 pose: 0.0 0.459352 -3.86231 0 -0.00535229 -2.88979e-050.995608 0.0934666 uwb: 0.0 1228.88 966.202 -imu_odom_: 1691062865.549240561 0.371101 -0.694318 9.78989 -0.0916127 0.00958738 0.237554 0.25 0.11 pose: 0.0 0.459352 -3.86231 0 -0.00535229 -2.88979e-050.995608 0.0934666 uwb: 0.49855444 1228.77 967.238 -imu_odom_: 1691062865.566288934 0.521936 -0.335188 9.85693 -0.056459 -0.00213053 0.259925 0.25 0.11 pose: 0.44129781 0.450985 -3.85684 0 -0.00480454 0.00144088 0.995675 0.0927716 uwb: 0.0 1228.77 967.238 -imu_odom_: 1691062865.583227646 0.481235 -0.351948 10.1347 -0.0426106 -0.015979 0.315318 0.19 0.29 pose: 0.0 0.450985 -3.85684 0 -0.00480454 0.00144088 0.995675 0.0927716 uwb: 0.0 1228.77 967.238 -imu_odom_: 1691062865.598228056 0.620098 -0.059855 9.91678 -0.0532632 -0.00639159 0.360059 0.19 0.29 pose: 0.43889753 0.439566 -3.85604 0 -0.00278777 -0.0009137950.996048 0.0887648 uwb: 0.49994561 1228.68 968.675 -imu_odom_: 1691062865.613359416 0.251391 -0.466869 9.90002 -0.0223706 0.00852212 0.378169 0.19 0.29 pose: 0.0 0.439566 -3.85604 0 -0.00278777 -0.0009137950.996048 0.0887648 uwb: 0.0 1228.68 968.675 -imu_odom_: 1691062865.630266047 0.699107 -0.397437 9.18655 -0.0820254 -0.00745685 0.432497 0.25 0.53 pose: 0.7946282 0.437138 -3.85974 0 -0.00218417 -0.00143609 0.996146 0.0876758 uwb: 0.0 1228.68 968.675 -imu_odom_: 1691062865.648300195 0.555455 -0.301669 10.2615 -0.0340885 0.0266316 0.46339 0.25 0.53 pose: 0.0 0.437138 -3.85974 0 -0.00218417 -0.00143609 0.996146 0.0876758 uwb: 0.50210381 1228.44 969.925 -imu_odom_: 1691062865.662349244 0.361524 -0.4956 9.57681 -0.0490022 -0.00106526 0.484695 0.25 0.53 pose: 0.0 0.437138 -3.85974 0 -0.00218417 -0.00143609 0.996146 0.0876758 uwb: 0.0 1228.44 969.925 -imu_odom_: 1691062865.678229561 0.435745 0.0550666 9.68455 -0.0298274 0.00426106 0.504935 0.17 0.47 pose: 0.46243073 0.42877 -3.85427 0 -0.000629675-0.00254644 0.996783 0.0801037 uwb: 0.0 1228.44 969.925 -imu_odom_: 1691062865.695251685 0.708684 -0.263362 10.0676 -0.0458064 -0.0447411 0.548611 0.17 0.47 pose: 0.0 0.42877 -3.85427 0 -0.000629675-0.00254644 0.996783 0.0801037 uwb: 0.49853694 1227.91 970.401 -imu_odom_: 1691062865.712291016 0.656011 -0.469264 10.0461 -0.0617853 -0.00106526 0.566721 0.17 0.47 pose: 0.0 0.42877 -3.85427 0 -0.000629675-0.00254644 0.996783 0.0801037 uwb: 0.0 1227.91 970.401 -imu_odom_: 1691062865.729226521 0.684742 -0.383072 10.1514 -0.0468716 0.0191748 0.58483 0.18 0.55 pose: 0.48878127 0.420414 -3.84877 0 0.00113595 -0.00382729 0.997564 0.0696368 uwb: 0.0 1227.91 970.401 -imu_odom_: 1691062865.745227872 0.505177 -0.126893 9.85932 -0.0809601 -0.00532632 0.627441 0.18 0.55 pose: 0.0 0.420414 -3.84877 0 0.00113595 -0.00382729 0.997564 0.0696368 uwb: 0.50009726 1227.38 972.082 -imu_odom_: 1691062865.761224556 0.19393 -0.579397 10.2544 -0.0532632 -0.00319579 0.649811 0.18 0.55 pose: 0.66947272 0.406544 -3.8516 0 0.00550696 -0.00437747 0.998617 0.0520956 uwb: 0.0 1227.38 972.082 -imu_odom_: 1691062865.776227299 0.797269 -0.52433 9.82341 -0.056459 -0.0308927 0.622114 0.18 0.55 pose: 0.0 0.406544 -3.8516 0 0.00550696 -0.00437747 0.998617 0.0520956 uwb: 0.0 1227.38 972.082 -imu_odom_: 1691062865.793221425 0.907402 -0.172383 9.89284 -0.0330232 0.0117179 0.598679 0.17 0.55 pose: 0.0 0.406544 -3.8516 0 0.00550696 -0.00437747 0.998617 0.0520956 uwb: 0.49995144 1226.89 973.147 -imu_odom_: 1691062865.810377125 1.21625 -0.40462 9.63906 -0.0532632 -0.00532632 0.588026 0.17 0.55 pose: 0.31932998 0.406544 -3.8516 0 0.00486297 -0.00509797 0.999069 0.0425561 uwb: 0.0 1226.89 973.147 -imu_odom_: 1691062865.827287839 1.39582 -0.251391 9.69173 -0.0308927 0.0308927 0.488956 0.14 0.41 pose: 0.42140439 0.398202 -3.84604 0 0.00871797 -0.00523911 0.999474 0.0307991 uwb: 0.0 1226.89 973.147 -imu_odom_: 1691062865.843231151 1.88663 0.136469 10.4172 -0.0287621 0.02024 0.418649 0.14 0.41 pose: 0.0 0.398202 -3.84604 0 0.00871797 -0.00523911 0.999474 0.0307991 uwb: 0.50076223 1227.03 974.335 -imu_odom_: 1691062865.861218927 1.50595 0.0263362 10.2208 -0.0468716 -0.0234358 0.409062 0.14 0.41 pose: 0.0 0.398202 -3.84604 0 0.00871797 -0.00523911 0.999474 0.0307991 uwb: 0.0 1227.03 974.335 -imu_odom_: 1691062865.877357062 0.766145 -0.349553 9.26317 -0.0426106 0.0692422 0.368581 0.11 0.32 pose: 0.7061709 0.39822 -3.84605 0 0.00929428 -0.00513435 0.999517 0.0292169 uwb: 0.0 1227.03 974.335 -imu_odom_: 1691062865.894290524 0.76375 -0.0694318 10.5536 -0.0372843 0.0213053 0.315318 0.1 0.26 pose: 0.0 0.39822 -3.84605 0 0.00929428 -0.00513435 0.999517 0.0292169 uwb: 0.49855735 1227.09 975.331 -imu_odom_: 1691062865.912211221 0.725443 -0.220267 10.1251 -0.0458064 -0.0298274 0.297209 0.1 0.26 pose: 0.66914316 0.384328 -3.849 0 0.0141435 -0.00375909 0.999747 0.0170761 uwb: 0.0 1227.09 975.331 -imu_odom_: 1691062865.928275860 0.940921 -0.337582 10.1849 -0.056459 -0.00426106 0.297209 0.12 0.35 pose: 0.0 0.384328 -3.849 0 0.0141435 -0.00375909 0.999747 0.0170761 uwb: 0.0 1227.09 975.331 -imu_odom_: 1691062865.945267361 0.711078 -0.428562 9.52892 -0.0585895 -0.0149137 0.286556 0.12 0.35 pose: 0.0 0.384328 -3.849 0 0.0141435 -0.00375909 0.999747 0.0170761 uwb: 0.50044433 1226.98 976.544 -imu_odom_: 1691062865.962205198 0.878672 -0.0790087 9.80904 -0.0543285 -0.00319579 0.267381 0.12 0.35 pose: 0.33925547 0.384328 -3.849 0 0.0162049 -0.00156902 0.999787 0.0126486 uwb: 0.0 1226.98 976.544 -imu_odom_: 1691062865.979206032 0.725443 -0.0502782 9.96946 -0.0596548 -0.0245011 0.28123 0.1 0.29 pose: 0.33940130 0.384328 -3.849 0 0.0174332 -0.00322196 0.999807 0.00844812 uwb: 0.0 1226.98 976.544 -imu_odom_: 1691062865.995322293 0.818817 -0.196325 9.97664 -0.056459 0.0106526 0.255663 0.1 0.29 pose: 0.0 0.384328 -3.849 0 0.0174332 -0.00322196 0.999807 0.00844812 uwb: 0.50008560 1227.1 977.933 -imu_odom_: 1691062866.12245840 0.653617 -0.263362 9.80665 -0.0490022 -0.00745685 0.230097 0.1 0.29 pose: 0.0 0.384328 -3.849 0 0.0174332 -0.00322196 0.999807 0.00844812 uwb: 0.0 1227.1 977.933 -imu_odom_: 1691062866.29266214 0.691924 -0.131681 9.81144 -0.0596548 0 0.223706 0.06 0.2 pose: 0.50049682 0.384328 -3.849 0 0.0185944 -0.0003558690.999823 0.00290985 uwb: 0.0 1227.1 977.933 -imu_odom_: 1691062866.45324145 0.641646 -0.153229 9.98861 -0.0532632 0.0117179 0.207727 0.06 0.2 pose: 0.0 0.384328 -3.849 0 0.0185944 -0.0003558690.999823 0.00290985 uwb: 0.49960438 1226.93 978.149 -imu_odom_: 1691062866.62263441 0.651223 -0.203507 9.8282 -0.0543285 -0.0149137 0.187487 0.05 0.2 pose: 0.43055636 0.373022 -3.84793 0 0.0152467 0.00143577 0.999882 -0.000925501 uwb: 0.0 1226.93 978.149 -imu_odom_: 1691062866.88348867 0.438139 -0.184354 10.0916 -0.0617853 0.0138484 0.246076 0.05 0.2 pose: 0.0 0.373022 -3.84793 0 0.0152467 0.00143577 0.999882 -0.000925501 uwb: 0.0 1226.93 978.149 -imu_odom_: 1691062866.105341243 0.277727 -0.514753 9.95509 -0.0585895 -0.00106526 0.273773 0.05 0.2 pose: 0.8010155 0.370498 -3.85191 0 0.0145329 0.00117029 0.999893 -0.00152074 uwb: 0.50097222 1226.73 978.768 -imu_odom_: 1691062866.122330994 -0.351948 -0.344765 9.57441 -0.0468716 0.0639159 0.246076 0.07 0.23 pose: 0.0 0.370498 -3.85191 0 0.0145329 0.00117029 0.999893 -0.00152074 uwb: 0.0 1226.73 978.768 -imu_odom_: 1691062866.138201395 -0.787692 -0.047884 10.2185 -0.0500674 0.0213053 0.216249 0.08 0.11 pose: 0.0 0.370498 -3.85191 0 0.0145329 0.00117029 0.999893 -0.00152074 uwb: 0.0 1226.73 978.768 -imu_odom_: 1691062866.155263767 -0.687136 0.059855 9.67018 -0.056459 -0.04048 0.18003 0.08 0.11 pose: 0.75881373 0.370498 -3.85191 0 0.00660072 -0.0004030290.999935 -0.00923879 uwb: 0.49927774 1226.43 979.194 -imu_odom_: 1691062866.171258119 0.225055 -0.0574608 9.91439 -0.0500674 -0.0394148 0.138484 0.09 0.11 pose: 0.0 0.370498 -3.85191 0 0.00660072 -0.0004030290.999935 -0.00923879 uwb: 0.0 1226.43 979.194 -imu_odom_: 1691062866.188252828 0.31364 -0.0814029 9.78271 -0.0671117 -0.00532632 0.155529 0.09 0.11 pose: 0.34048915 0.370498 -3.85191 0 0.00368478 0.000509977 0.999926 -0.0116229 uwb: 0.0 1226.43 979.194 -imu_odom_: 1691062866.205253079 0.124498 -0.452504 10.0748 -0.0692422 0.0149137 0.156594 0.09 0.11 pose: 0.0 0.370498 -3.85191 0 0.00368478 0.000509977 0.999926 -0.0116229 uwb: 0.49907067 1226.16 979.617 -imu_odom_: 1691062866.220259614 -0.11971 -0.311246 9.9503 -0.0468716 0.00426106 0.137419 0.11 0.08 pose: 0.41988491 0.362129 -3.84644 0 0.000360817 0.000597313 0.999902 -0.0139912 uwb: 0.0 1226.16 979.617 -imu_odom_: 1691062866.237193660 0.059855 -0.0095768110.173 -0.0532632 -0.0394148 0.150202 0.11 0.08 pose: 0.7023212 0.362129 -3.84644 0 -0.0003560220.000476333 0.999897 -0.0143344 uwb: 0.0 1226.16 979.617 -imu_odom_: 1691062866.251188462 0.143652 -0.349553 9.60075 -0.0703074 0.00532632 0.140615 0.11 0.08 pose: 0.0 0.362129 -3.84644 0 -0.0003560220.000476333 0.999897 -0.0143344 uwb: 0.50003311 1225.98 980.23 -imu_odom_: 1691062866.267335930 0.275333 -0.351948 9.8689 -0.0617853 0.0127832 0.116114 0.13 0.08 pose: 0.38912171 0.359216 -3.85088 0 -0.00350655 0.000279417 0.99986 -0.0163653 uwb: 0.0 1225.98 980.23 -imu_odom_: 1691062866.284338222 0.337582 -0.411803 9.84017 -0.0692422 -0.0213053 0.12144 0.17 0.08 pose: 0.0 0.359216 -3.85088 0 -0.00350655 0.000279417 0.99986 -0.0163653 uwb: 0.0 1225.98 980.23 -imu_odom_: 1691062866.302262127 0.40462 -0.323217 9.94551 -0.0617853 0.02024 0.120375 0.17 0.08 pose: 0.0 0.359216 -3.85088 0 -0.00350655 0.000279417 0.99986 -0.0163653 uwb: 0.50017893 1225.74 981.044 -imu_odom_: 1691062866.316216974 0.169988 -0.191536 9.58878 -0.072438 0.0223706 0.120375 0.17 0.08 pose: 0.23208303 0.356648 -3.8548 0 -0.00409339 -0.00202428 0.999841 -0.0172639 uwb: 0.0 1225.74 981.044 -imu_odom_: 1691062866.333469793 0.059855 -0.19393 9.50259 -0.0735032 0.0276969 0.110787 0.13 0.08 pose: 0.0 0.356648 -3.8548 0 -0.00409339 -0.00202428 0.999841 -0.0172639 uwb: 0.0 1225.74 981.044 -imu_odom_: 1691062866.349206910 0.301669 -0.260968 10.3477 -0.076699 0.052198 0.1012 0.13 0.08 pose: 0.0 0.356648 -3.8548 0 -0.00409339 -0.00202428 0.999841 -0.0172639 uwb: 0.50013228 1225.95 981.82 -imu_odom_: 1691062866.366197536 -0.148441 -0.162806 9.7444 -0.0553937 -0.0617853 0.104396 0.14 0.08 pose: 0.74810145 0.348271 -3.84934 0 -0.00515877 -0.00237389 0.999783 -0.0200599 uwb: 0.0 1225.95 981.82 -imu_odom_: 1691062866.383210911 0.435745 -0.265756 9.88087 -0.0511327 -0.0916127 0.131028 0.14 0.08 pose: 0.0 0.348271 -3.84934 0 -0.00515877 -0.00237389 0.999783 -0.0200599 uwb: 0.0 1225.95 981.82 -imu_odom_: 1691062866.400182580 0.969652 -0.442927 9.89763 -0.0458064 -0.0266316 0.190682 0.14 0.08 pose: 0.0 0.348271 -3.84934 0 -0.00515877 -0.00237389 0.999783 -0.0200599 uwb: 0.50109763 1226.07 982.208 -imu_odom_: 1691062866.416317507 1.70946 -0.577003 9.84256 -0.0660464 -0.0692422 0.164051 0.11 0.02 pose: 0.7122664 0.348271 -3.84934 0 -0.00565428 -0.00223511 0.999776 -0.0202935 uwb: 0.0 1226.07 982.208 -imu_odom_: 1691062866.433382795 1.34554 -0.0502782 9.57681 -0.0383495 -0.00639159 0.0894822 0.12 0.02 pose: 0.0 0.348271 -3.84934 0 -0.00565428 -0.00223511 0.999776 -0.0202935 uwb: 0.0 1226.07 982.208 -imu_odom_: 1691062866.450250346 1.42455 0.265756 10.1251 -0.0575243 0.04048 0.0916127 0.12 0.02 pose: 0.66989271 0.33445 -3.85234 0 0.000714308 -0.00262472 0.999712 -0.0238424 uwb: 0.50113554 1226 983.403 -imu_odom_: 1691062866.465329793 1.43892 -0.0047884 9.5792 -0.0713727 0.0138484 0.103331 0.12 0.02 pose: 0.0 0.33445 -3.85234 0 0.000714308 -0.00262472 0.999712 -0.0238424 uwb: 0.0 1226 983.403 -imu_odom_: 1691062866.481325894 0.0790087 -0.507571 9.26317 -0.0585895 0.0585895 0.092678 0.09 0.02 pose: 0.0 0.33445 -3.85234 0 0.000714308 -0.00262472 0.999712 -0.0238424 uwb: 0.0 1226 983.403 -imu_odom_: 1691062866.498260524 0.28491 -0.258574 10.4579 -0.036219 0.0149137 0.0117179 0.09 0.02 pose: 0.33929923 0.33445 -3.85234 0 0.00340389 -0.00136238 0.999687 -0.0247448 uwb: 0.49753951 1225.81 983.813 -imu_odom_: 1691062866.516328504 0.383072 0.179565 9.73961 -0.0415453 -0.0788296 0.00426106 0.06 0.02 pose: 0.41011756 0.32978 -3.84933 0 0.000446307 -0.00204567 0.99968 -0.0251975 uwb: 0.0 1225.81 983.813 -imu_odom_: 1691062866.541385573 0.802058 -0.438139 10.1227 -0.0649811 0.00532632 0.0585895 0.06 0.02 pose: 0.7986239 0.326045 -3.84692 0 0.000671969 -0.00118639 0.999685 -0.025057 uwb: 0.50146219 1226.17 984.184 -imu_odom_: 1691062866.568251744 0.47884 -0.373495 9.93833 -0.0426106 0.0319579 0 0.07 0.05 pose: 0.35138810 0.326045 -3.84692 0 0.00303894 -0.00143244 0.999679 -0.0251183 uwb: 0.0 1226.17 984.184 -imu_odom_: 1691062866.594238883 -1.33118 0.325611 10.4196 -0.0628506 0.0372843 0.0660464 0.08 0.02 pose: 0.0 0.326045 -3.84692 0 0.00303894 -0.00143244 0.999679 -0.0251183 uwb: 0.50232256 1226.15 984.582 -imu_odom_: 1691062866.611295714 -0.90022 -0.629675 9.81862 -0.0671117 -0.0969391 0.0884169 0.12 0.02 pose: 0.34834910 0.326045 -3.84692 0 0.00203631 -0.00371827 0.999686 -0.0247009 uwb: 0.0 1226.15 984.582 -imu_odom_: 1691062866.637315809 0.325611 -0.100556 10.058 -0.0287621 -0.0415453 0.0607201 0.12 0.02 pose: 0.0 0.326045 -3.84692 0 0.00203631 -0.00371827 0.999686 -0.0247009 uwb: 0.0 1226.15 984.582 -imu_odom_: 1691062866.664372719 0.270545 -0.253785 9.80665 -0.0617853 0.0372843 0.0862864 0.1 0 pose: 0.42969308 0.320625 -3.85533 0 -0.00100621 -0.00295558 0.999671 -0.0254525 uwb: 0.49759200 1226.19 985.57 -imu_odom_: 1691062866.690187202 -0.0311246 -0.21069 9.68694 -0.0553937 0.00532632 0.0703074 0.12 0.02 pose: 0.45182928 0.314599 -3.85145 0 -0.00445345 -0.00166417 0.999643 -0.0262817 uwb: 0.49943523 1226.44 987.338 -imu_odom_: 1691062866.717233612 0.107739 -0.311246 9.663 -0.0532632 0.0149137 0.0628506 0.12 0.02 pose: 0.7979239 0.312211 -3.84992 0 -0.00528858 -0.00160904 0.999636 -0.0264056 uwb: 0.0 1226.44 987.338 -imu_odom_: 1691062866.742181021 0.1652 -0.143652 10.094 -0.052198 -0.036219 0.0735032 0.13 0 pose: 0.44881654 0.312211 -3.84992 0 -0.00984861 -0.00264855 0.999584 -0.0269911 uwb: 0.49958981 1226.42 986.15 -imu_odom_: 1691062866.759302889 0.311246 -0.141258 10.0892 -0.0436758 -0.0713727 0.0607201 0.13 0 pose: 0.0 0.312211 -3.84992 0 -0.00984861 -0.00264855 0.999584 -0.0269911 uwb: 0.0 1226.42 986.15 -imu_odom_: 1691062866.785445186 0.462081 -0.363919 10.0485 -0.0553937 -0.0245011 0.0671117 0.13 0 pose: 0.42069277 0.298402 -3.85297 0 -0.00832462 0.000826218 0.999583 -0.0276298 uwb: 0.0 1226.42 986.15 -imu_odom_: 1691062866.812440850 0.222661 -0.110133 9.74919 -0.04048 0.0308927 0.0479369 0.13 0 pose: 0.0 0.298402 -3.85297 0 -0.00832462 0.000826218 0.999583 -0.0276298 uwb: 0.49955480 1226.47 986.941 -imu_odom_: 1691062866.837456796 0.778116 -0.45011 10.2113 -0.0617853 0.00639159 0.0830906 0.14 0 pose: 0.33035725 0.298402 -3.85297 0 -0.00641613 -5.42734e-050.999587 -0.0280108 uwb: 0.0 1226.47 986.941 -imu_odom_: 1691062866.854289932 0.56982 -0.225055 10.1682 -0.04048 0.0255663 0.0500674 0.14 0 pose: 0.0 0.298402 -3.85297 0 -0.00641613 -5.42734e-050.999587 -0.0280108 uwb: 0.49876444 1226.21 988.342 -imu_odom_: 1691062866.871290474 0.423774 -0.0742203 9.84735 -0.0500674 -0.0149137 0.0639159 0.15 0.02 pose: 0.27927776 0.298402 -3.85297 0 -0.00715955 0.00143563 0.999574 -0.0282735 uwb: 0.0 1226.21 988.342 -imu_odom_: 1691062866.897264489 0.42138 -0.351948 10.1347 -0.0479369 0.0500674 0.0692422 0.15 0.02 pose: 0.0 0.298402 -3.85297 0 -0.00715955 0.00143563 0.999574 -0.0282735 uwb: 0.49981729 1226.16 989.73 -imu_odom_: 1691062866.923303250 0.902614 -0.0263362 10.4172 -0.0415453 0.0468716 0.0479369 0.15 0 pose: 0.41988490 0.284581 -3.85604 0 -0.00374097 0.00129274 0.999576 -0.0288333 uwb: 0.0 1226.16 989.73 -imu_odom_: 1691062866.940153010 0.608127 -0.399832 9.79468 -0.0692422 0.0479369 0.0916127 0.15 0 pose: 0.0 0.284581 -3.85604 0 -0.00374097 0.00129274 0.999576 -0.0288333 uwb: 0.50116179 1225.75 990.539 -imu_odom_: 1691062866.957327084 0.19393 -0.0909797 10.0173 -0.0639159 -0.0106526 0.0660464 0.19 0.02 pose: 0.41954659 0.284581 -3.85604 0 -0.00225058 5.70944e-05 0.999566 -0.0293572 uwb: 0.0 1225.75 990.539 -imu_odom_: 1691062866.983283892 0.268151 0.0646434 9.58878 -0.0607201 0.0213053 0.056459 0.19 0.02 pose: 0.0 0.284581 -3.85604 0 -0.00225058 5.70944e-05 0.999566 -0.0293572 uwb: 0.0 1225.75 990.539 -imu_odom_: 1691062867.10148313 -0.301669 -0.385466 9.70849 -0.0639159 0.0213053 0.0703074 0.21 0.02 pose: 0.43025888 0.276182 -3.85061 0 -0.000693832-4.21154e-050.999551 -0.0299706 uwb: 0.49896276 1225.58 992.315 -imu_odom_: 1691062867.35261670 0.0143652 -0.0790087 9.97424 -0.0649811 0.0127832 0.0617853 0.21 0.02 pose: 0.0 0.276182 -3.85061 0 -0.000693832-4.21154e-050.999551 -0.0299706 uwb: 0.0 1225.58 992.315 -imu_odom_: 1691062867.62216212 0.385466 -0.258574 10.0245 -0.0607201 -0.00106526 0.0617853 0.19 0 pose: 0.42933435 0.262359 -3.8536 0 -0.00361138 0.00246038 0.999527 -0.0304303 uwb: 0.49975021 1225.29 992.916 -imu_odom_: 1691062867.87430188 0.332794 -0.0095768110.173 -0.0415453 -0.00319579 0.0585895 0.17 0 pose: 0.52057982 0.262359 -3.8536 0 -0.00774737 0.00192942 0.999485 -0.0310862 uwb: 0.0 1225.29 992.916 -imu_odom_: 1691062867.114299276 0.390255 -0.071826 9.80665 -0.0308927 -0.015979 0.0308927 0.17 0 pose: 0.0 0.262359 -3.8536 0 -0.00774737 0.00192942 0.999485 -0.0310862 uwb: 0.50145346 1225.61 993.498 -imu_odom_: 1691062867.130324835 0.612916 -0.0215478 9.65821 -0.0585895 -0.0117179 0.0479369 0.17 0 pose: 0.72072432 0.248543 -3.85662 0 -0.00328687 0.00553259 0.999484 -0.0314557 uwb: 0.0 1225.61 993.498 -imu_odom_: 1691062867.157296583 0.423774 -0.426168 9.91439 -0.0628506 -0.015979 0.052198 0.17 0 pose: 0.7896120 0.248543 -3.85662 0 -0.00251119 0.00578406 0.999484 -0.0314936 uwb: 0.50048517 1225.83 993.689 -imu_odom_: 1691062867.182212786 0.143652 -0.191536 9.5385 -0.0511327 -0.0127832 0.0575243 0.17 0 pose: 0.35101187 0.236314 -3.85718 0 -0.0010591 0.00329105 0.999491 -0.0317006 uwb: 0.0 1225.83 993.689 -imu_odom_: 1691062867.207195193 0.122104 -0.354342 9.9527 -0.0394148 -0.015979 0.052198 0.17 0 pose: 0.0 0.236314 -3.85718 0 -0.0010591 0.00329105 0.999491 -0.0317006 uwb: 0.49932441 1225.9 994.477 -imu_odom_: 1691062867.221203703 0.263362 -0.110133 9.90002 -0.0276969 -0.0330232 0.036219 0.19 0.02 pose: 0.49898610 0.228417 -3.85562 0 -0.00504585 0.00132255 0.999472 -0.0320602 uwb: 0.0 1225.9 994.477 -imu_odom_: 1691062867.246155195 0.203507 -0.351948 9.58638 -0.0543285 0.00745685 0.0596548 0.19 0.02 pose: 0.0 0.228417 -3.85562 0 -0.00504585 0.00132255 0.999472 -0.0320602 uwb: 0.49988438 1225.86 995.662 -imu_odom_: 1691062867.271412920 0.442927 -0.0311246 9.80186 -0.0543285 -0.0223706 0.0479369 0.23 0 pose: 0.38960002 0.22244 -3.86033 0 -0.00675806 0.000465933 0.999456 -0.0322754 uwb: 0.0 1225.86 995.662 -imu_odom_: 1691062867.285344726 0.785298 -0.227449 9.56723 -0.1012 0.0149137 0.0820254 0.23 0 pose: 0.0 0.22244 -3.86033 0 -0.00675806 0.000465933 0.999456 -0.0322754 uwb: 0.0 1225.86 995.662 -imu_odom_: 1691062867.310144561 0.651223 -0.483629 10.1825 -0.0681769 -0.0117179 0.0426106 0.16 0.02 pose: 0.39189531 0.212494 -3.85732 0 -0.00353722 0.00187713 0.999457 -0.0326943 uwb: 0.50135138 1226.09 995.657 -imu_odom_: 1691062867.334291392 0.186748 -0.275333 9.45949 -0.0340885 0.00213053 0.0245011 0.16 0.02 pose: 0.0 0.212494 -3.85732 0 -0.00353722 0.00187713 0.999457 -0.0326943 uwb: 0.0 1226.09 995.657 -imu_odom_: 1691062867.358127033 -0.155623 -0.301669 9.42118 -0.0553937 -0.0330232 0.056459 0.17 -0.02 pose: 0.48946666 0.212494 -3.85732 0 -0.00395214 -0.0005395740.999462 -0.032546 uwb: 0.0 1226.09 995.657 -imu_odom_: 1691062867.375324731 0.531513 0.0694318 10.149 -0.0585895 -0.0117179 0.0458064 0.17 -0.02 pose: 0.6843556 0.212494 -3.85732 0 -0.00452528 -0.0006687360.999458 -0.0326035 uwb: 0.0 1226.09 995.657 -imu_odom_: 1691062867.400149064 1.00556 -0.124498 10.0868 -0.0511327 -0.0181095 0.0308927 0.26 0.02 pose: 0.34189783 0.198687 -3.86039 0 -0.00483045 0.000345702 0.99945 -0.0328072 uwb: 0.100009540 1226.19 995.656 -imu_odom_: 1691062867.423209500 0.873884 -0.167594 9.96227 -0.0575243 -0.0276969 0.0479369 0.26 0.02 pose: 0.0 0.198687 -3.86039 0 -0.00483045 0.000345702 0.99945 -0.0328072 uwb: 0.0 1226.19 995.656 -imu_odom_: 1691062867.439209102 0.605733 -0.0670376 9.87608 -0.0596548 -0.0500674 0.0479369 0.18 0.02 pose: 0.6950883 0.198687 -3.86039 0 -0.00409417 0.000463829 0.999454 -0.0327778 uwb: 0.49841738 1225.86 997.24 -imu_odom_: 1691062867.466197183 0.153229 -0.0454898 9.99819 -0.0458064 0.0127832 0.0436758 0.18 0.02 pose: 0.0 0.198687 -3.86039 0 -0.00409417 0.000463829 0.999454 -0.0327778 uwb: 0.0 1225.86 997.24 -imu_odom_: 1691062867.491112511 0.129287 -0.344765 10.0485 -0.056459 0.0127832 0.0426106 0.22 -0.02 pose: 0.47955349 0.190251 -3.85502 0 0.0011007 0.0013609 0.999459 -0.03283 uwb: 0.49988729 1225.79 997.833 -imu_odom_: 1691062867.508132886 0.430956 -0.215478 9.85932 -0.0458064 -0.00852212 0.0330232 0.22 -0.02 pose: 0.0 0.190251 -3.85502 0 0.0011007 0.0013609 0.999459 -0.03283 uwb: 0.0 1225.79 997.833 -imu_odom_: 1691062867.533277158 0.754174 -0.102951 10.1801 -0.0639159 -0.0426106 0.0436758 0.2 0 pose: 0.77901923 0.176445 -3.85808 0 -0.00122071 0.00100828 0.999458 -0.032893 uwb: 0.0 1225.79 997.833 -imu_odom_: 1691062867.559189344 0.742203 -0.181959 9.72285 -0.0553937 -0.0426106 0.0468716 0.2 0 pose: 0.0 0.176445 -3.85808 0 -0.00122071 0.00100828 0.999458 -0.032893 uwb: 0.50025186 1226.27 998.422 -imu_odom_: 1691062867.584166793 0.725443 -0.205901 10.1682 -0.052198 -0.0170442 0.0479369 0.18 0 pose: 0.8165603 0.176445 -3.85808 0 -0.0002757220.00119645 0.999458 -0.0329107 uwb: 0.0 1226.27 998.422 -imu_odom_: 1691062867.611134458 0.64404 -0.0263362 9.92875 -0.0703074 0.0426106 0.0436758 0.19 -0.02 pose: 0.49975897 0.16264 -3.86116 0 0.00552877 0.00168166 0.999436 -0.0330754 uwb: 0.49988730 1226.32 999.015 -imu_odom_: 1691062867.636121532 0.610521 -0.181959 9.88326 -0.0681769 -0.0255663 0.0383495 0.19 -0.02 pose: 0.0 0.16264 -3.86116 0 0.00552877 0.00168166 0.999436 -0.0330754 uwb: 0.0 1226.32 999.015 -imu_odom_: 1691062867.661167519 0.497994 -0.332794 9.63427 -0.072438 0.0106526 0.0458064 0.23 0 pose: 0.69847146 0.148837 -3.86423 0 0.0104043 0.00216611 0.999392 -0.0331929 uwb: 0.49929232 1226.42 1000 -imu_odom_: 1691062867.675227651 0.713472 -0.433351 9.3326 -0.0628506 0.0351537 0.0340885 0.23 0 pose: 0.7019421 0.148837 -3.86423 0 0.00997743 0.00151194 0.999397 -0.0332198 uwb: 0.0 1226.42 1000 -imu_odom_: 1691062867.699385856 0.557849 -0.356736 9.34217 -0.0639159 0.00639159 0.0330232 0.18 0 pose: 0.0 0.148837 -3.86423 0 0.00997743 0.00151194 0.999397 -0.0332198 uwb: 0.50060184 1226.58 1000.6 -imu_odom_: 1691062867.726157825 0.711078 -0.392649 10.1969 -0.0490022 -0.0426106 0.0319579 0.18 0 pose: 0.39141408 0.140396 -3.85887 0 0.00931931 -0.00208627 0.999402 -0.0332424 uwb: 0.0 1226.58 1000.6 -imu_odom_: 1691062867.742102013 0.720655 -0.390255 9.35175 -0.0543285 -0.0106526 0.0372843 0.19 0 pose: 0.0 0.140396 -3.85887 0 0.00931931 -0.00208627 0.999402 -0.0332424 uwb: 0.49905026 1226.72 1000.2 -imu_odom_: 1691062867.769243502 0.349553 -0.213084 9.66779 -0.04048 0.00532632 0.0298274 0.19 0 pose: 0.51908075 0.135034 -3.86731 0 0.0124302 -0.00568658 0.999359 -0.0330986 uwb: 0.0 1226.72 1000.2 -imu_odom_: 1691062867.795098816 0.497994 -0.371101 9.40921 -0.0660464 0.0276969 0.0383495 0.2 -0.02 pose: 0.35053066 0.126594 -3.86195 0 0.010449 -0.00493626 0.99939 -0.0329643 uwb: 0.0 1226.72 1000.2 -imu_odom_: 1691062867.820329708 0.366313 -0.225055 9.54089 -0.0458064 -0.0287621 0.0383495 0.2 -0.02 pose: 0.7873954 0.126594 -3.86195 0 0.00966524 -0.00541265 0.999395 -0.0329663 uwb: 0.0 1226.72 1000.2 -imu_odom_: 1691062867.834158854 0.287304 -0.289698 9.39245 -0.0468716 0.0181095 0.052198 0.2 -0.02 pose: 0.0 0.126594 -3.86195 0 0.00966524 -0.00541265 0.999395 -0.0329663 uwb: 0.0 1226.72 1000.2 -imu_odom_: 1691062867.859157010 0.28491 -0.282516 9.84017 -0.0479369 -0.0490022 0.0287621 0.2 -0.02 pose: 0.49067408 0.11279 -3.86502 0 0.00536433 -0.00500877 0.999428 -0.0330024 uwb: 0.100006624 1226.94 1002.77 -imu_odom_: 1691062867.876162219 0.507571 -0.0909797 9.33978 -0.0639159 -0.00745685 0.0287621 0.25 0 pose: 0.0 0.11279 -3.86502 0 0.00536433 -0.00500877 0.999428 -0.0330024 uwb: 0.0 1226.94 1002.77 -imu_odom_: 1691062867.901108170 0.117316 -0.409408 9.62948 -0.0543285 0.00639159 0.036219 0.25 0 pose: 0.39916613 0.11279 -3.86502 0 0.00273415 -0.00387437 0.999448 -0.0328955 uwb: 0.49947023 1227.25 1002.97 -imu_odom_: 1691062867.926171364 -0.158017 -0.0622492 10.0269 -0.052198 0.0127832 0.052198 0.21 0 pose: 0.35006693 0.100562 -3.86561 0 0.000582462 -0.0039376 0.999454 -0.0328051 uwb: 0.0 1227.25 1002.97 -imu_odom_: 1691062867.949250466 0.220267 -0.246603 10.0317 -0.052198 0.0287621 0.0276969 0.21 0 pose: 0.7058502 0.0989841 -3.86809 0 -0.000140791-0.00368517 0.999453 -0.0328519 uwb: 0.50007979 1227.66 1002.58 -imu_odom_: 1691062867.965296149 0.287304 -0.208296 9.40921 -0.0532632 -0.00532632 0.0468716 0.18 -0.02 pose: 0.0 0.0989841 -3.86809 0 -0.000140791-0.00368517 0.999453 -0.0328519 uwb: 0.0 1227.66 1002.58 -imu_odom_: 1691062867.983119726 0.579397 -0.248997 10.2831 -0.0596548 -0.0340885 0.052198 0.18 -0.02 pose: 0.48996538 0.0905467 -3.86272 0 -0.005038 -0.00196296 0.999445 -0.0328732 uwb: 0.0 1227.66 1002.58 -imu_odom_: 1691062868.8093384 0.418985 -0.0311246 9.46428 -0.0511327 -0.00852212 0.0458064 0.18 0.02 pose: 0.0 0.0905467 -3.86272 0 -0.005038 -0.00196296 0.999445 -0.0328732 uwb: 0.50077682 1227.74 1003.38 -imu_odom_: 1691062868.32146888 0.73502 -0.205901 10.0676 -0.056459 -0.036219 0.0532632 0.18 0.02 pose: 0.34041041 0.0851798 -3.87116 0 -0.00309935 -0.0005145740.999449 -0.0330454 uwb: 0.0 1227.74 1003.38 -imu_odom_: 1691062868.47149923 0.600945 -0.0191536 9.67736 -0.0500674 -0.00426106 0.0458064 0.18 0 pose: 0.40942637 0.0767408 -3.8658 0 0.000286292 0.00110128 0.999446 -0.0332694 uwb: 0.49965690 1228.51 1004.19 -imu_odom_: 1691062868.72146621 0.399832 -0.196325 9.60554 -0.0745685 0.0106526 0.0649811 0.18 0 pose: 0.7070751 0.0767408 -3.8658 0 0.000792677 0.00161371 0.999444 -0.0332918 uwb: 0.0 1228.51 1004.19 -imu_odom_: 1691062868.99314651 0.371101 -0.248997 9.72046 -0.0596548 0.00213053 0.0511327 0.25 0.02 pose: 0.32928982 0.0668146 -3.86801 0 -0.0007826520.000396221 0.999434 -0.0336321 uwb: 0.49948191 1228.74 1003.19 -imu_odom_: 1691062868.124200522 0.447716 -0.378284 9.71806 -0.0703074 -0.0181095 0.0532632 0.25 0.02 pose: 0.0 0.0668146 -3.86801 0 -0.0007826520.000396221 0.999434 -0.0336321 uwb: 0.0 1228.74 1003.19 -imu_odom_: 1691062868.141143610 0.521936 -0.167594 9.90721 -0.0713727 -0.0213053 0.0447411 0.2 0 pose: 0.52053901 0.0569309 -3.86507 0 -0.000186772-0.00442519 0.999414 -0.0339504 uwb: 0.50043852 1229.19 1005.4 -imu_odom_: 1691062868.157196876 0.526724 -0.339977 9.72046 -0.0809601 0 0.0490022 0.2 0 pose: 0.0 0.0569309 -3.86507 0 -0.000186772-0.00442519 0.999414 -0.0339504 uwb: 0.0 1229.19 1005.4 -imu_odom_: 1691062868.184076755 0.383072 -0.179565 10.0748 -0.036219 -0.0330232 0.0319579 0.25 0 pose: 0.32996354 0.0517957 -3.86779 0 0.00246391 -0.00425316 0.999408 -0.0340614 uwb: 0.0 1229.19 1005.4 -imu_odom_: 1691062868.209073453 0.37589 -0.373495 9.7851 -0.0543285 0.0181095 0.0372843 0.25 0 pose: 0.0 0.0517957 -3.86779 0 0.00246391 -0.00425316 0.999408 -0.0340614 uwb: 0.50047644 1228.98 1005.39 -imu_odom_: 1691062868.226076621 0.581791 0.0215478 9.92636 -0.0500674 -0.0287621 0.0340885 0.21 0 pose: 0.51876577 0.0432118 -3.86822 0 0.000274987 -0.00399017 0.999416 -0.0339374 uwb: 0.0 1228.98 1005.39 -imu_odom_: 1691062868.251063403 0.0167594 -0.304064 9.80904 -0.0617853 0.00213053 0.0607201 0.21 0 pose: 0.7150664 0.0406938 -3.86663 0 0.000689988 -0.00333202 0.999419 -0.0339167 uwb: 0.50040644 1229.2 1007 -imu_odom_: 1691062868.268210938 0.280122 -0.466869 9.8665 -0.0553937 -0.0553937 0.0415453 0.23 0 pose: 0.34839286 0.0369152 -3.8726 0 -0.00129303 -0.00284541 0.999412 -0.0341582 uwb: 0.0 1229.2 1007 -imu_odom_: 1691062868.293075519 0.708684 -0.220267 9.90481 -0.0607201 -0.0617853 0.0458064 0.23 0 pose: 0.0 0.0369152 -3.8726 0 -0.00129303 -0.00284541 0.999412 -0.0341582 uwb: 0.49981147 1229.59 1007.41 -imu_odom_: 1691062868.318265289 0.591368 -0.0670376 10.2065 -0.036219 -0.0607201 0.0287621 0.22 0.02 pose: 0.7008922 0.0353447 -3.87508 0 -0.0013985 -0.00348077 0.999409 -0.0341655 uwb: 0.0 1229.59 1007.41 -imu_odom_: 1691062868.344152102 0.37589 -0.232238 10.1107 -0.0458064 -0.0340885 0.0532632 0.22 0.02 pose: 0.0 0.0353447 -3.87508 0 -0.0013985 -0.00348077 0.999409 -0.0341655 uwb: 0.49831531 1229.62 1007.21 -imu_odom_: 1691062868.361185602 0.4956 -0.287304 9.84735 -0.0468716 -0.0191748 0.0426106 0.19 0 pose: 0.42019115 0.0268938 -3.86973 0 0.00215073 -0.00313026 0.999408 -0.0342077 uwb: 0.0 1229.62 1007.21 -imu_odom_: 1691062868.386203590 0.342371 -0.361524 9.86172 -0.0692422 0.0149137 0.0628506 0.19 0 pose: 0.0 0.0268938 -3.86973 0 0.00215073 -0.00313026 0.999408 -0.0342077 uwb: 0.0 1229.62 1007.21 -imu_odom_: 1691062868.413078803 0.529119 -0.141258 9.9527 -0.0479369 -0.0255663 0.0426106 0.23 0 pose: 0.51033128 0.0130968 -3.87284 0 0.00207325 -0.00141442 0.999409 -0.0342971 uwb: 0.50019062 1229.5 1008.41 -imu_odom_: 1691062868.438218118 0.775721 -0.234632 10.2208 -0.0490022 -0.0213053 0.0383495 0.18 0.02 pose: 0.61954235 0.00708302 -3.86904 0 0.00272401 -0.00156953 0.999395 -0.034645 uwb: 0.0 1229.5 1008.41 -imu_odom_: 1691062868.463061409 0.651223 -0.0646434 10.4052 -0.0490022 0.00319579 0.0532632 0.21 -0.02 pose: 0.8112815 0.00464082 -3.8675 0 0.00360122 -0.00147865 0.999392 -0.0346387 uwb: 0.50009437 1229.57 1009.82 -imu_odom_: 1691062868.484068050 0.572214 -0.299275 9.66779 -0.0458064 -0.0479369 0.0436758 0.21 -0.02 pose: 0.23950844 -0.000697238-3.87596 0 0.00581589 -0.0007009060.999382 -0.034669 uwb: 0.0 1229.57 1009.82 -imu_odom_: 1691062868.509178200 0.593762 -0.167594 9.97185 -0.0628506 -0.04048 0.04048 0.18 0 pose: 0.0 -0.000697238-3.87596 0 0.00581589 -0.0007009060.999382 -0.034669 uwb: 0.49999230 1230.08 1010.04 -imu_odom_: 1691062868.527205058 0.438139 -0.213084 9.81862 -0.0628506 0.00213053 0.04048 0.18 0 pose: 0.24003048 -0.00915367-3.87062 0 0.00716401 0.000296209 0.999369 -0.0347987 uwb: 0.0 1230.08 1010.04 -imu_odom_: 1691062868.552125927 0.529119 -0.0837971 9.64624 -0.0713727 0.0181095 0.0532632 0.18 -0.02 pose: 0.47978682 -0.00915367-3.87062 0 0.00868036 0.00112442 0.999355 -0.0348336 uwb: 0.50114723 1230.36 1011.06 -imu_odom_: 1691062868.569122096 0.474052 -0.385466 10.1562 -0.0607201 0.00958738 0.052198 0.18 -0.02 pose: 0.0 -0.00915367-3.87062 0 0.00868036 0.00112442 0.999355 -0.0348336 uwb: 0.0 1230.36 1011.06 -imu_odom_: 1691062868.594060464 0.636858 -0.0957681 10.2927 -0.0479369 0.0245011 0.0426106 0.21 0 pose: 0.41945619 -0.0229466 -3.87374 0 0.00664686 0.00247604 0.999361 -0.0350361 uwb: 0.49881403 1230.23 1012.27 -imu_odom_: 1691062868.619171781 0.790087 -0.11971 9.92875 -0.0639159 0.0127832 0.0415453 0.23 -0.02 pose: 0.34990653 -0.0288996 -3.86999 0 0.00775926 0.00328492 0.999347 -0.0351355 uwb: 0.0 1230.23 1012.27 -imu_odom_: 1691062868.642169805 0.792481 -0.366313 9.39245 -0.0617853 0.00852212 0.0479369 0.23 -0.02 pose: 0.0 -0.0288996 -3.86999 0 0.00775926 0.00328492 0.999347 -0.0351355 uwb: 0.49998938 1229.99 1013.26 -imu_odom_: 1691062868.667142004 0.366313 -0.328006 9.84496 -0.0511327 0.0436758 0.0543285 0.19 0 pose: 0.7079792 -0.031407 -3.86841 0 0.00839569 0.00338487 0.999341 -0.0351435 uwb: 0.0 1229.99 1013.26 -imu_odom_: 1691062868.694091296 0.560243 -0.0837971 9.84496 -0.0820254 0.0245011 0.0468716 0.19 0 pose: 0.0 -0.031407 -3.86841 0 0.00839569 0.00338487 0.999341 -0.0351435 uwb: 0.50046186 1229.84 1013.25 -imu_odom_: 1691062868.711101756 0.174777 -0.258574 9.91439 -0.0500674 -0.0234358 0.0308927 0.19 -0.02 pose: 0.49034745 -0.036737 -3.87687 0 0.0106307 0.00154648 0.999317 -0.0353443 uwb: 0.0 1229.84 1013.25 -imu_odom_: 1691062868.737109020 0.739808 -0.215478 10.1347 -0.0649811 -0.072438 0.0426106 0.19 -0.02 pose: 0.0 -0.036737 -3.87687 0 0.0106307 0.00154648 0.999317 -0.0353443 uwb: 0.0 1229.84 1013.25 -imu_odom_: 1691062868.754167309 0.507571 -0.411803 9.33499 -0.0649811 0.0511327 0.0436758 0.18 0.02 pose: 0.51953573 -0.0505259 -3.88001 0 0.00729972 0.00279417 0.999339 -0.0355146 uwb: 0.50115306 1230.2 1013.68 -imu_odom_: 1691062868.779057556 0.596156 -0.28491 9.48822 -0.0553937 -0.0106526 0.0426106 0.18 0.02 pose: 0.0 -0.0505259 -3.88001 0 0.00729972 0.00279417 0.999339 -0.0355146 uwb: 0.0 1230.2 1013.68 -imu_odom_: 1691062868.803042522 0.47884 -0.476446 9.75877 -0.052198 0.00852212 0.0319579 0.23 0 pose: 0.42006575 -0.0589912 -3.87469 0 0.00956152 0.00126596 0.999322 -0.0355414 uwb: 0.50065434 1230.29 1014.49 -imu_odom_: 1691062868.830174678 0.519542 -0.177171 9.97664 -0.0607201 -0.0415453 0.0383495 0.23 0 pose: 0.0 -0.0589912 -3.87469 0 0.00956152 0.00126596 0.999322 -0.0355414 uwb: 0.0 1230.29 1014.49 -imu_odom_: 1691062868.855043925 0.380678 -0.143652 10.2161 -0.04048 -0.0628506 0.0394148 0.19 0 pose: 0.41996074 -0.0727794 -3.87783 0 0.00962353 -0.00268586 0.999316 -0.0356094 uwb: 0.49755994 1230.65 1015.12 -imu_odom_: 1691062868.872113298 0.153229 -0.407014 9.35654 -0.0617853 0.0191748 0.0436758 0.19 0 pose: 0.0 -0.0727794 -3.87783 0 0.00962353 -0.00268586 0.999316 -0.0356094 uwb: 0.0 1230.65 1015.12 -imu_odom_: 1691062868.897041167 0.497994 -0.141258 9.52174 -0.0436758 -0.0245011 0.04048 0.24 0 pose: 0.51956490 -0.0727794 -3.87783 0 0.00766757 -0.0013197 0.999338 -0.035529 uwb: 0.50062226 1231.08 1016.16 -imu_odom_: 1691062868.922025908 -0.110133 -0.373495 10.058 -0.0713727 0.0287621 0.056459 0.24 0 pose: 0.24045629 -0.0812451 -3.87251 0 0.00597035 -0.0007054790.99935 -0.0355427 uwb: 0.0 1231.08 1016.16 -imu_odom_: 1691062868.947107184 0.0622492 -0.153229 9.9934 -0.0532632 -0.02024 0.0351537 0.23 0 pose: 0.42033698 -0.0865678 -3.88097 0 0.00439434 0.00114875 0.999355 -0.0356266 uwb: 0.50048810 1231.36 1017.19 -imu_odom_: 1691062868.965038381 0.519542 0.0502782 10.3884 -0.0575243 -0.00532632 0.052198 0.23 0 pose: 0.0 -0.0865678 -3.88097 0 0.00439434 0.00114875 0.999355 -0.0356266 uwb: 0.0 1231.36 1017.19 -imu_odom_: 1691062868.989041138 0.100556 -0.0263362 9.92875 -0.0490022 0.0383495 0.0223706 0.19 0.02 pose: 0.50951757 -0.0950343 -3.87565 0 0.000425165 0.00145131 0.999359 -0.0357712 uwb: 0.49856613 1231.85 1017.03 -imu_odom_: 1691062869.16073550 0.442927 -0.390255 9.55765 -0.0490022 -0.0255663 0.0351537 0.24 -0.05 pose: 0.33922341 -0.105954 -3.8806 0 -0.00193491 0.0033158 0.999358 -0.0356225 uwb: 0.0 1231.85 1017.03 -imu_odom_: 1691062869.41059749 0.392649 -0.356736 9.64384 -0.052198 0.00213053 0.0426106 0.24 -0.05 pose: 0.0 -0.105954 -3.8806 0 -0.00193491 0.0033158 0.999358 -0.0356225 uwb: 0.50039186 1232.02 1017.86 -imu_odom_: 1691062869.66062573 -0.0143652 -0.337582 10.0556 -0.0340885 -0.0276969 0.0490022 0.2 0 pose: 0.8167353 -0.108821 -3.8788 0 -0.00157982 0.00257348 0.999361 -0.0356036 uwb: 0.0 1232.02 1017.86 -imu_odom_: 1691062869.80183369 0.270545 -0.0766145 9.65821 -0.0458064 -0.0127832 0.0383495 0.2 0 pose: 0.0 -0.108821 -3.8788 0 -0.00157982 0.00257348 0.999361 -0.0356036 uwb: 0.0 1232.02 1017.86 -imu_odom_: 1691062869.96128724 0.488417 -0.201113 9.68455 -0.0671117 0.0213053 0.0543285 0.17 0.02 pose: 0.50870680 -0.117287 -3.87348 0 -0.0012972 -0.00170519 0.999363 -0.0356299 uwb: 0.49986107 1232.31 1018.08 -imu_odom_: 1691062869.120023279 0.45011 -0.112527 9.75398 -0.0500674 0.0170442 0.0426106 0.17 0.02 pose: 0.0 -0.117287 -3.87348 0 -0.0012972 -0.00170519 0.999363 -0.0356299 uwb: 0.0 1232.31 1018.08 -imu_odom_: 1691062869.145165219 0.325611 -0.213084 10.2568 -0.076699 0.00958738 0.0617853 0.18 0.02 pose: 0.39120702 -0.122609 -3.88195 0 -0.00279253 -0.0005416520.999356 -0.035765 uwb: 0.50001563 1232.23 1017.67 -imu_odom_: 1691062869.169177018 0.258574 -0.268151 9.61751 -0.0617853 0.0127832 0.0479369 0.18 0.02 pose: 0.0 -0.122609 -3.88195 0 -0.00279253 -0.0005416520.999356 -0.035765 uwb: 0.0 1232.23 1017.67 -imu_odom_: 1691062869.193196399 0.368707 -0.395043 9.60554 -0.0703074 -0.00319579 0.0553937 0.19 0 pose: 0.41007675 -0.131077 -3.87663 0 -0.00163763 0.0010707 0.999351 -0.0359598 uwb: 0.50163430 1232.49 1019.12 -imu_odom_: 1691062869.218101228 0.395043 -0.306458 9.39006 -0.0745685 0.00213053 0.0436758 0.19 0 pose: 0.0 -0.131077 -3.87663 0 -0.00163763 0.0010707 0.999351 -0.0359598 uwb: 0.0 1232.49 1019.12 -imu_odom_: 1691062869.245033313 0.304064 -0.225055 9.73243 -0.0415453 -0.0191748 0.0383495 0.22 0 pose: 0.47942227 -0.144864 -3.87978 0 -0.00506778 -0.00212398 0.999326 -0.0362921 uwb: 0.50203677 1233.06 1019.16 -imu_odom_: 1691062869.261175823 0.464475 -0.167594 9.97424 -0.052198 0.0181095 0.0490022 0.22 0 pose: 0.0 -0.144864 -3.87978 0 -0.00506778 -0.00212398 0.999326 -0.0362921 uwb: 0.0 1233.06 1019.16 -imu_odom_: 1691062869.287306747 0.591368 -0.217872 10.1586 -0.0607201 0.00319579 0.0287621 0.25 0 pose: 0.49898611 -0.144864 -3.87978 0 -0.00243962 -0.00403808 0.999324 -0.0364568 uwb: 0.0 1233.06 1019.16 -imu_odom_: 1691062869.314346451 0.543484 -0.414197 10.398 -0.0756338 0.00639159 0.0585895 0.18 0.02 pose: 0.42988268 -0.158646 -3.88295 0 -0.00161289 -0.00132934 0.999332 -0.0364868 uwb: 0.49616003 1232.98 1020.59 -imu_odom_: 1691062869.331187754 0.146046 -0.1652 9.64863 -0.0500674 -0.0255663 0.0426106 0.23 -0.02 pose: 0.0 -0.158646 -3.88295 0 -0.00161289 -0.00132934 0.999332 -0.0364868 uwb: 0.0 1232.98 1020.59 -imu_odom_: 1691062869.356149455 0.344765 -0.246603 9.35893 -0.0553937 0.036219 0.0585895 0.23 -0.02 pose: 0.0 -0.158646 -3.88295 0 -0.00161289 -0.00132934 0.999332 -0.0364868 uwb: 0.50244507 1233.24 1021.64 -imu_odom_: 1691062869.382213007 0.117316 -0.292093 9.91199 -0.036219 -0.0213053 0.0298274 0.21 0.02 pose: 0.53337742 -0.172429 -3.88612 0 0.00107687 -0.00318029 0.999322 -0.0366555 uwb: 0.0 1233.24 1021.64 -imu_odom_: 1691062869.408287643 0.21069 -0.488417 9.73482 -0.0553937 0.00213053 0.0500674 0.19 0.02 pose: 0.59838611 -0.180907 -3.88082 0 -0.004909 -0.00241041 0.999308 -0.0367905 uwb: 0.49860697 1233.61 1022.29 -imu_odom_: 1691062869.425375681 0.435745 -0.253785 9.77553 -0.0436758 0.00319579 0.0511327 0.23 -0.02 pose: 0.9100341 -0.180907 -3.88082 0 -0.00525736 -0.00326349 0.999302 -0.0368346 uwb: 0.0 1233.61 1022.29 -imu_odom_: 1691062869.450012193 0.474052 -0.167594 10.0628 -0.0681769 0.00319579 0.0681769 0.23 -0.02 pose: 0.0 -0.180907 -3.88082 0 -0.00525736 -0.00326349 0.999302 -0.0368346 uwb: 0.49911445 1234.19 1022.14 -imu_odom_: 1691062869.467027319 0.826 -0.447716 9.80665 -0.0468716 0 0.0340885 0.18 -0.02 pose: 0.23875890 -0.186208 -3.8893 0 -0.00528786 -0.00457134 0.999292 -0.0369546 uwb: 0.0 1234.19 1022.14 -imu_odom_: 1691062869.492166342 0.665588 -0.220267 9.67497 -0.0436758 -0.00426106 0.0415453 0.18 -0.02 pose: 0.0 -0.186208 -3.8893 0 -0.00528786 -0.00457134 0.999292 -0.0369546 uwb: 0.49987564 1234.27 1022.56 -imu_odom_: 1691062869.517142334 0.596156 -0.258574 10.173 -0.0255663 -0.0330232 0.0223706 0.23 0.02 pose: 0.76977104 -0.204513 -3.88627 0 0.00143524 -0.00248472 0.999299 -0.0373271 uwb: 0.0 1234.27 1022.56 -imu_odom_: 1691062869.541159965 0.464475 -0.138864 10.4507 -0.0681769 -0.0319579 0.0585895 0.23 0.02 pose: 0.0 -0.204513 -3.88627 0 0.00143524 -0.00248472 0.999299 -0.0373271 uwb: 0.49956650 1234.87 1023.03 -imu_odom_: 1691062869.565035855 0.390255 -0.196325 10.4531 -0.0617853 -0.0447411 0.0415453 0.18 0.02 pose: 0.6882929 -0.208466 -3.88719 0 0.00221763 -0.00232351 0.9993 -0.0372665 uwb: 0.0 1234.87 1023.03 -imu_odom_: 1691062869.589157897 0.766145 -0.0861913 10.0987 -0.0607201 -0.0681769 0.0458064 0.25 0.02 pose: 0.49007039 -0.208466 -3.88719 0 0.0034749 0.000354388 0.999297 -0.0373327 uwb: 0.50024021 1234.81 1023.85 -imu_odom_: 1691062869.604154808 0.579397 -0.155623 9.8258 -0.0468716 -0.00639159 0.0330232 0.25 0.02 pose: 0.0 -0.208466 -3.88719 0 0.0034749 0.000354388 0.999297 -0.0373327 uwb: 0.0 1234.81 1023.85 -imu_odom_: 1691062869.628125775 0.447716 -0.160412 10.0126 -0.0681769 -0.0117179 0.0639159 0.25 0.02 pose: 0.0 -0.208466 -3.88719 0 0.0034749 0.000354388 0.999297 -0.0373327 uwb: 0.0 1234.81 1023.85 -imu_odom_: 1691062869.652991523 0.497994 -0.0790087 10.0604 -0.0500674 -0.0213053 0.0415453 0.18 0 pose: 0.62983177 -0.222243 -3.89038 0 0.00583295 0.00222403 0.999279 -0.0374518 uwb: 0.49984064 1235.15 1024.92 -imu_odom_: 1691062869.674998231 0.153229 -0.196325 9.79468 -0.0575243 -0.0138484 0.0628506 0.18 0 pose: 0.0 -0.222243 -3.89038 0 0.00583295 0.00222403 0.999279 -0.0374518 uwb: 0.0 1235.15 1024.92 -imu_odom_: 1691062869.691127909 0.433351 -0.0885855 10.1394 -0.0500674 -0.036219 0.0394148 0.18 0 pose: 0.48039345 -0.230729 -3.88509 0 0.0040198 0.00477245 0.999268 -0.0377359 uwb: 0.50000397 1235.98 1026.47 -imu_odom_: 1691062869.716982349 0.591368 -0.361524 9.99579 -0.0649811 -0.0298274 0.0639159 0.18 0 pose: 0.0 -0.230729 -3.88509 0 0.0040198 0.00477245 0.999268 -0.0377359 uwb: 0.0 1235.98 1026.47 -imu_odom_: 1691062869.742043502 0.725443 -0.227449 9.86411 -0.0713727 -0.0553937 0.0511327 0.21 -0.02 pose: 0.39983402 -0.244504 -3.88829 0 0.00244818 0.00505775 0.999262 -0.0380048 uwb: 0.49986107 1235.91 1027.92 -imu_odom_: 1691062869.759185787 0.488417 -0.0622492 9.87369 -0.076699 0.0266316 0.052198 0.21 -0.02 pose: 0.0 -0.244504 -3.88829 0 0.00244818 0.00505775 0.999262 -0.0380048 uwb: 0.0 1235.91 1027.92 -imu_odom_: 1691062869.784115698 0.517148 -0.318429 9.39006 -0.0639159 -0.0149137 0.036219 0.19 -0.02 pose: 0.49957525 -0.244504 -3.88829 0 0.00627679 0.00317185 0.999237 -0.0384204 uwb: 0.0 1235.91 1027.92 -imu_odom_: 1691062869.808071791 0.703895 -0.332794 9.4978 -0.0735032 0.0245011 0.0500674 0.22 0 pose: 0.0 -0.244504 -3.88829 0 0.00627679 0.00317185 0.999237 -0.0384204 uwb: 0.49944692 1236.16 1028.79 -imu_odom_: 1691062869.831045026 0.234632 -0.160412 10.0102 -0.0500674 0.0394148 0.0415453 0.22 0 pose: 0.35095939 -0.258274 -3.89151 0 0.00599495 0.0013814 0.999242 -0.0384489 uwb: 0.0 1236.16 1028.79 -imu_odom_: 1691062869.847135331 0.426168 -0.332794 9.62948 -0.0713727 0.0170442 0.0468716 0.22 0 pose: 0.0 -0.258274 -3.89151 0 0.00599495 0.0013814 0.999242 -0.0384489 uwb: 0.50185011 1236.61 1028.84 -imu_odom_: 1691062869.873239714 0.723049 -0.251391 10.2831 -0.0308927 -0.0649811 0.0340885 0.19 0 pose: 0.6992298 -0.258274 -3.89151 0 0.00647305 0.000917796 0.999238 -0.0384884 uwb: 0.0 1236.61 1028.84 -imu_odom_: 1691062869.899052740 0.754174 -0.0215478 9.89045 -0.0575243 -0.0191748 0.0479369 0.19 0 pose: 0.47007198 -0.266771 -3.88624 0 0.00445082 -0.0004835880.999243 -0.0386336 uwb: 0.49860406 1237.07 1029.53 -imu_odom_: 1691062869.923135993 1.25217 -0.318429 9.42837 -0.0458064 -0.0149137 0.0308927 0.19 0 pose: 0.0 -0.266771 -3.88624 0 0.00445082 -0.0004835880.999243 -0.0386336 uwb: 0.0 1237.07 1029.53 -imu_odom_: 1691062869.938136112 0.237026 -0.342371 9.36612 -0.0543285 0.0287621 0.0415453 0.18 0.02 pose: 0.43983959 -0.280539 -3.88947 0 0.00797655 -0.0003158660.999222 -0.0386278 uwb: 0.0 1237.07 1029.53 -imu_odom_: 1691062869.962256695 0.335188 -0.158017 9.48583 -0.0468716 -0.0308927 0.0468716 0.18 0.02 pose: 0.0 -0.280539 -3.88947 0 0.00797655 -0.0003158660.999222 -0.0386278 uwb: 0.0 1237.07 1029.53 -imu_odom_: 1691062869.988273293 -0.0981623 -0.339977 10.2328 -0.0660464 0.0106526 0.0585895 0.23 0.02 pose: 0.48057427 -0.280539 -3.88947 0 0.0109725 0.000491927 0.999194 -0.0385982 uwb: 0.0 1237.07 1029.53 -imu_odom_: 1691062870.14011073 0.191536 -0.150835 9.89284 -0.0553937 -0.0191748 0.036219 0.23 0.02 pose: 0.0 -0.280539 -3.88947 0 0.0109725 0.000491927 0.999194 -0.0385982 uwb: 0.99991169 1237.22 1030.39 -imu_odom_: 1691062870.30952120 0.395043 0.059855 10.2496 -0.0639159 -0.0149137 0.052198 0.23 -0.02 pose: 0.39864701 -0.294308 -3.8927 0 0.00723117 0.00054494 0.999222 -0.0387684 uwb: 0.0 1237.22 1030.39 -imu_odom_: 1691062870.55971276 0.0574608 -0.0287304 9.85932 -0.0511327 0.015979 0.0287621 0.23 -0.02 pose: 0.0 -0.294308 -3.8927 0 0.00723117 0.00054494 0.999222 -0.0387684 uwb: 0.50154681 1236.87 1031.61 -imu_odom_: 1691062870.79969951 0.138864 -0.342371 9.71806 -0.0426106 -0.0298274 0.0447411 0.22 0 pose: 0.52006071 -0.302809 -3.88743 0 0.00279023 0.00119415 0.999237 -0.0389465 uwb: 0.0 1236.87 1031.61 -imu_odom_: 1691062870.94256112 0.308852 -0.399832 9.85214 -0.0436758 -0.02024 0.0266316 0.22 0 pose: 0.0 -0.302809 -3.88743 0 0.00279023 0.00119415 0.999237 -0.0389465 uwb: 0.49857781 1236.72 1031.16 -imu_odom_: 1691062870.119118944 0.0790087 -0.471658 10.1083 -0.052198 -0.0127832 0.0745685 0.18 0 pose: 0.40973262 -0.308074 -3.89593 0 -0.0005260930.00246973 0.999241 -0.0388748 uwb: 0.0 1236.72 1031.16 -imu_odom_: 1691062870.144134017 0.507571 -0.0670376 10.3118 -0.036219 -0.00745685 0.0383495 0.18 0 pose: 0.0 -0.308074 -3.89593 0 -0.0005260930.00246973 0.999241 -0.0388748 uwb: 0.50122599 1237.13 1032.69 -imu_odom_: 1691062870.170170447 0.502782 -0.311246 10.3166 -0.0458064 -0.0266316 0.0575243 0.2 0 pose: 0.39129744 -0.316575 -3.89066 0 -0.00243371 -0.0002714530.999238 -0.0389548 uwb: 0.0 1237.13 1032.69 -imu_odom_: 1691062870.195105025 0.426168 -0.23942 9.71088 -0.0649811 0.00213053 0.0596548 0.2 0 pose: 0.0 -0.316575 -3.89066 0 -0.00243371 -0.0002714530.999238 -0.0389548 uwb: 0.49999815 1237.31 1033.98 -imu_odom_: 1691062870.220979589 0.505177 -0.0694318 9.90242 -0.0671117 -0.0181095 0.0553937 0.17 0.02 pose: 0.50011481 -0.330342 -3.8939 0 -0.00108522 0.000178142 0.999227 -0.0393082 uwb: 0.0 1237.31 1033.98 -imu_odom_: 1691062870.238098543 0.368707 -0.155623 9.76595 -0.0607201 -0.0213053 0.052198 0.17 0.02 pose: 0.0 -0.330342 -3.8939 0 -0.00108522 0.000178142 0.999227 -0.0393082 uwb: 0.0 1237.31 1033.98 -imu_odom_: 1691062870.262985582 0.732626 -0.411803 9.88087 -0.072438 -0.00213053 0.0490022 0.22 0 pose: 0.50859889 -0.344105 -3.89716 0 0.00283302 -0.00153342 0.999203 -0.0397772 uwb: 0.50089643 1237.57 1035.29 -imu_odom_: 1691062870.287104416 0.385466 -0.344765 9.44752 -0.0692422 -0.015979 0.0490022 0.24 0 pose: 0.24975701 -0.344105 -3.89716 0 0.00281777 0.000433902 0.999197 -0.0399567 uwb: 0.0 1237.57 1035.29 -imu_odom_: 1691062870.301102719 0.533907 -0.181959 10.1921 -0.0713727 0.0170442 0.052198 0.24 0 pose: 0.35008153 -0.350114 -3.89345 0 0.00406143 -0.0007150180.999186 -0.0401399 uwb: 0.49781077 1237.7 1036.16 -imu_odom_: 1691062870.326069087 0.617704 -0.0335188 10.3669 -0.0415453 0.00426106 0.0383495 0.24 0 pose: 0.0 -0.350114 -3.89345 0 0.00406143 -0.0007150180.999186 -0.0401399 uwb: 0.0 1237.7 1036.16 -imu_odom_: 1691062870.350971291 0.852336 0.00718261 10.1035 -0.0415453 -0.0276969 0.0330232 0.18 0 pose: 0.7024671 -0.352618 -3.89191 0 0.00368255 -0.00132376 0.999185 -0.0401754 uwb: 0.50058728 1237.99 1037.27 -imu_odom_: 1691062870.376025737 0.679953 -0.177171 9.56244 -0.0639159 -0.00852212 0.0543285 0.2 0 pose: 0.39090080 -0.357862 -3.90042 0 0.00385252 -0.00107935 0.999178 -0.0403359 uwb: 0.0 1237.99 1037.27 -imu_odom_: 1691062870.392988366 0.624887 -0.459687 10.0533 -0.0543285 0.0234358 0.0458064 0.2 0 pose: 0.0 -0.357862 -3.90042 0 0.00385252 -0.00107935 0.999178 -0.0403359 uwb: 0.50009731 1238.22 1037.94 -imu_odom_: 1691062870.408963470 0.158017 -0.0335188 10.1586 -0.0394148 0.0266316 0.0458064 0.2 0 pose: 0.0 -0.357862 -3.90042 0 0.00385252 -0.00107935 0.999178 -0.0403359 uwb: 0.0 1238.22 1037.94 -imu_odom_: 1691062870.433228129 0.426168 -0.399832 9.63187 -0.0681769 0.0266316 0.0490022 0.27 0 pose: 0.49925444 -0.366378 -3.89518 0 0.00783074 0.00207202 0.999155 -0.0402922 uwb: 0.0 1238.22 1037.94 -imu_odom_: 1691062870.458949577 0.464475 -0.229843 10.0437 -0.0500674 0.0127832 0.0511327 0.25 0.02 pose: 0.49937693 -0.380136 -3.89846 0 0.00782858 0.00110011 0.999147 -0.0405344 uwb: 0.49925152 1238.5 1038.84 -imu_odom_: 1691062870.484058270 0.368707 -0.385466 10.0149 -0.0436758 0.0266316 0.0372843 0.19 0 pose: 0.0 -0.380136 -3.89846 0 0.00737222 0.000444434 0.999149 -0.0405716 uwb: 0.0 1238.5 1038.84 -imu_odom_: 1691062870.508952892 0.397437 -0.337582 9.94791 -0.072438 -0.00745685 0.0671117 0.22 0.05 pose: 0.51138415 -0.393891 -3.90174 0 0.00293785 -0.0013379 0.999162 -0.0408061 uwb: 0.49994274 1238.39 1040.11 -imu_odom_: 1691062870.534096583 0.426168 -0.366313 9.94312 -0.0394148 -0.00532632 0.0287621 0.22 0.05 pose: 0.0 -0.393891 -3.90174 0 0.00293785 -0.0013379 0.999162 -0.0408061 uwb: 0.0 1238.39 1040.11 -imu_odom_: 1691062870.558004262 0.632069 -0.296881 9.60554 -0.0447411 -0.0351537 0.0468716 0.21 0 pose: 0.66992484 -0.400033 -3.89797 0 0.00145326 -0.00732871 0.999131 -0.0410029 uwb: 0.50061061 1238.7 1040.8 -imu_odom_: 1691062870.575948292 0.282516 -0.409408 9.33978 -0.0468716 0.0117179 0.0330232 0.21 0 pose: 0.0 -0.400033 -3.89797 0 0.00145326 -0.00732871 0.999131 -0.0410029 uwb: 0.0 1238.7 1040.8 -imu_odom_: 1691062870.599100891 0.277727 -0.440533 9.43315 -0.0607201 0.0351537 0.0692422 0.18 0 pose: 0.7014754 -0.402414 -3.89651 0 0.00222794 -0.00707051 0.999131 -0.0410241 uwb: 0.49933319 1238.55 1042.06 -imu_odom_: 1691062870.626012562 0.213084 -0.270545 9.61751 -0.0511327 0.0127832 0.0436758 0.18 0 pose: 0.0 -0.402414 -3.89651 0 0.00222794 -0.00707051 0.999131 -0.0410241 uwb: 0.0 1238.55 1042.06 -imu_odom_: 1691062870.642208444 0.742203 -0.203507 9.74679 -0.0649811 -0.0170442 0.0500674 0.2 0 pose: 0.41980911 -0.407643 -3.90504 0 0.00154897 -0.00748851 0.999124 -0.0411391 uwb: 0.50245383 1238.97 1042.57 -imu_odom_: 1691062870.668066968 0.423774 -0.296881 9.75158 -0.0383495 -0.0117179 0.0351537 0.2 0 pose: 0.0 -0.407643 -3.90504 0 0.00154897 -0.00748851 0.999124 -0.0411391 uwb: 0.0 1238.97 1042.57 -imu_odom_: 1691062870.690952416 0.447716 -0.0167594 10.3645 -0.0468716 -0.00852212 0.0713727 0.19 0 pose: 0.51011547 -0.416168 -3.89981 0 -0.00194925 -0.00683252 0.999113 -0.0414974 uwb: 0.49720998 1239.1 1042.81 -imu_odom_: 1691062870.707959959 0.684742 -0.402226 9.47386 -0.0585895 0.00213053 0.0415453 0.19 0 pose: 0.0 -0.416168 -3.89981 0 -0.00194925 -0.00683252 0.999113 -0.0414974 uwb: 0.0 1239.1 1042.81 -imu_odom_: 1691062870.734069593 0.246603 -0.277727 9.90721 -0.0479369 0.00958738 0.0543285 0.19 0 pose: 0.40966262 -0.429918 -3.90312 0 0.000853825 -0.00379746 0.999128 -0.0415802 uwb: 0.0 1239.1 1042.81 -imu_odom_: 1691062870.758978214 0.773327 -0.373495 10.1969 -0.0617853 -0.0639159 0.0383495 0.19 0 pose: 0.0 -0.429918 -3.90312 0 0.000853825 -0.00379746 0.999128 -0.0415802 uwb: 0.49996315 1238.88 1043.84 -imu_odom_: 1691062870.771946119 0.816423 -0.222661 9.66539 -0.0553937 -0.0351537 0.052198 0.2 0 pose: 0.41017008 -0.429918 -3.90312 0 0.00159297 -0.00295494 0.999116 -0.0419073 uwb: 0.0 1238.88 1043.84 -imu_odom_: 1691062870.796954776 0.957681 -0.42138 10.1825 -0.0553937 0.00532632 0.0543285 0.2 0 pose: 0.0 -0.429918 -3.90312 0 0.00159297 -0.00295494 0.999116 -0.0419073 uwb: 0.50029854 1239.49 1043.52 -imu_odom_: 1691062870.822083593 0.0885855 -0.0167594 9.63427 -0.0671117 -0.052198 0.0543285 0.23 -0.02 pose: 0.48923045 -0.443665 -3.90643 0 0.00353404 -0.00344426 0.999103 -0.0420602 uwb: 0.0 1239.49 1043.52 -imu_odom_: 1691062870.846941758 -0.229843 0.0550666 9.25119 -0.0660464 -0.187487 0.0308927 0.23 -0.02 pose: 0.0 -0.443665 -3.90643 0 0.00353404 -0.00344426 0.999103 -0.0420602 uwb: 0.50105976 1239.82 1044.23 -imu_odom_: 1691062870.872012536 0.912191 -0.500388 10.1897 -0.0830906 0.0106526 0.0639159 0.19 0.02 pose: 0.40216139 -0.452201 -3.90122 0 0.00611038 -0.00352337 0.999078 -0.0423408 uwb: 0.0 1239.82 1044.23 -imu_odom_: 1691062870.884948944 1.05345 -0.507571 8.9184 -0.0639159 0.0468716 0.0713727 0.19 0.02 pose: 0.0 -0.452201 -3.90122 0 0.00611038 -0.00352337 0.999078 -0.0423408 uwb: 0.0 1239.82 1044.23 -imu_odom_: 1691062870.901682920 -0.0885855 -0.112527 10.6398 -0.0426106 0.00852212 0.0170442 0.18 0 pose: 0.49877030 -0.465945 -3.90455 0 0.00568852 -0.00238231 0.999079 -0.0424655 uwb: 0.49886946 1239.54 1045.48 -imu_odom_: 1691062870.926959602 0.189142 -0.0550666 9.94791 -0.0852212 0.00532632 0.0394148 0.18 0 pose: 0.0 -0.465945 -3.90455 0 0.00568852 -0.00238231 0.999079 -0.0424655 uwb: 0.0 1239.54 1045.48 -imu_odom_: 1691062870.953195812 0.711078 -0.452504 9.2081 -0.0415453 -0.00319579 0.0383495 0.19 -0.02 pose: 0.37989978 -0.465945 -3.90455 0 0.00709789 -0.0037101 0.999052 -0.0427833 uwb: 0.50114725 1238.94 1046.23 -imu_odom_: 1691062870.978052520 0.502782 -0.059855 9.54808 -0.0351537 0.0308927 0.04048 0.19 -0.02 pose: 0.0 -0.465945 -3.90455 0 0.00709789 -0.0037101 0.999052 -0.0427833 uwb: 0.0 1238.94 1046.23 -imu_odom_: 1691062871.980549 0.603339 -0.263362 9.81144 -0.0596548 0.0436758 0.04048 0.18 -0.02 pose: 0.42943937 -0.479687 -3.9079 0 0.00469571 -0.00294849 0.999073 -0.0426783 uwb: 0.49996606 1239 1046.89 -imu_odom_: 1691062871.25969665 0.42138 -0.179565 9.31105 -0.0511327 -0.0106526 0.0426106 0.18 -0.02 pose: 0.0 -0.479687 -3.9079 0 0.00469571 -0.00294849 0.999073 -0.0426783 uwb: 0.0 1239 1046.89 -imu_odom_: 1691062871.52046635 0.380678 -0.418985 10.1179 -0.0745685 0.0468716 0.0628506 0.23 0 pose: 0.48982250 -0.488228 -3.9027 0 0.00591056 -0.00128608 0.999071 -0.0426681 uwb: 0.49997191 1239.42 1048.06 -imu_odom_: 1691062871.65045455 0.325611 -0.311246 9.7851 -0.052198 -0.04048 0.0351537 0.23 0 pose: 0.0 -0.488228 -3.9027 0 0.00591056 -0.00128608 0.999071 -0.0426681 uwb: 0.0 1239.42 1048.06 -imu_odom_: 1691062871.90058487 0.627281 -0.392649 9.89284 -0.0735032 -0.00639159 0.0479369 0.17 0.02 pose: 0.49046996 -0.493429 -3.91124 0 0.00440302 -0.00111044 0.999073 -0.042805 uwb: 0.50129308 1239.74 1049.21 -imu_odom_: 1691062871.115066853 0.804452 -0.287304 10.1897 -0.036219 -0.0106526 0.0255663 0.17 0.02 pose: 0.0 -0.493429 -3.91124 0 0.00440302 -0.00111044 0.999073 -0.042805 uwb: 0.0 1239.74 1049.21 -imu_odom_: 1691062871.128944122 0.45011 -0.143652 9.95748 -0.0436758 0.0138484 0.0575243 0.18 0 pose: 0.81000413 -0.513464 -3.91075 0 0.00684365 -0.00412895 0.999047 -0.0429096 uwb: 0.0 1239.74 1049.21 -imu_odom_: 1691062871.153056248 0.490811 -0.237026 10.1945 -0.0340885 0.0266316 0.0245011 0.18 0 pose: 0.0 -0.513464 -3.91075 0 0.00684365 -0.00412895 0.999047 -0.0429096 uwb: 0.49753955 1239.7 1049.64 -imu_odom_: 1691062871.176062148 0.833182 0.169988 10.1658 -0.0671117 -0.00319579 0.0628506 0.23 0 pose: 0.6015564 -0.515711 -3.90939 0 0.00648197 -0.00357761 0.999049 -0.0429615 uwb: 0.0 1239.7 1049.64 -imu_odom_: 1691062871.201976961 0.806846 -0.328006 9.96227 -0.0394148 -0.0426106 0.0340885 0.23 0 pose: 0.0 -0.515711 -3.90939 0 0.00648197 -0.00357761 0.999049 -0.0429615 uwb: 0.50115308 1240.15 1050.17 -imu_odom_: 1691062871.224965070 0.423774 -0.102951 9.81862 -0.0543285 0.00532632 0.0585895 0.2 0 pose: 0.39987194 -0.515711 -3.90939 0 0.00457632 -0.0001841990.999068 -0.0429317 uwb: 0.0 1240.15 1050.17 -imu_odom_: 1691062871.240907217 0.397437 -0.538695 9.76834 -0.0426106 0.0415453 0.0372843 0.2 0 pose: 0.0 -0.515711 -3.90939 0 0.00457632 -0.0001841990.999068 -0.0429317 uwb: 0.49923112 1240.15 1050.83 -imu_odom_: 1691062871.265888168 0.699107 -0.323217 9.53371 -0.0671117 0.036219 0.0660464 0.25 0 pose: 0.47923271 -0.529451 -3.91273 0 0.00781735 0.000628606 0.99904 -0.0430992 uwb: 0.0 1240.15 1050.83 -imu_odom_: 1691062871.283031037 0.667982 -0.335188 10.3358 -0.0639159 -0.0149137 0.0447411 0.25 0 pose: 0.0 -0.529451 -3.91273 0 0.00781735 0.000628606 0.99904 -0.0430992 uwb: 0.0 1240.15 1050.83 -imu_odom_: 1691062871.307930617 0.665588 -0.208296 9.64384 -0.0671117 0.00958738 0.0649811 0.18 0.02 pose: 0.74038155 -0.543187 -3.91609 0 0.00881378 -0.00221159 0.999007 -0.0436196 uwb: 0.50011482 1239.88 1052.08 -imu_odom_: 1691062871.332916817 0.509965 -0.158017 9.84496 -0.0607201 0.0117179 0.0415453 0.18 0.02 pose: 0.7898453 -0.543187 -3.91609 0 0.00942735 -0.00183628 0.998998 -0.0437138 uwb: 0.0 1239.88 1052.08 -imu_odom_: 1691062871.357172436 0.684742 -0.0790087 9.75158 -0.0585895 0.0106526 0.0511327 0.21 0.02 pose: 0.41987327 -0.551739 -3.9109 0 0.00857496 0.000427022 0.998998 -0.0439266 uwb: 0.49922528 1240.23 1051.94 -imu_odom_: 1691062871.382902634 0.23942 -0.366313 9.3709 -0.0426106 -0.00213053 0.0383495 0.25 0 pose: 0.0 -0.551739 -3.9109 0 0.00857496 0.000427022 0.998998 -0.0439266 uwb: 0.0 1240.23 1051.94 -imu_odom_: 1691062871.398880363 0.129287 -0.280122 10.0149 -0.0607201 -0.0372843 0.0617853 0.25 0 pose: 0.32005039 -0.556918 -3.91946 0 0.00922164 0.00193949 0.998985 -0.0440483 uwb: 0.50012940 1240 1053.21 -imu_odom_: 1691062871.421883638 0.555455 -0.172383 10.0652 -0.0617853 0.0170442 0.0372843 0.25 0 pose: 0.0 -0.556918 -3.91946 0 0.00922164 0.00193949 0.998985 -0.0440483 uwb: 0.0 1240 1053.21 -imu_odom_: 1691062871.446925543 0.622492 -0.179565 10.003 -0.128897 0.0639159 0.0788296 0.23 0 pose: 0.42061115 -0.565473 -3.91428 0 0.00673636 0.00137353 0.998999 -0.0442093 uwb: 0.49990191 1240.11 1054.99 -imu_odom_: 1691062871.471020462 1.08218 -0.560243 10.7859 -0.0575243 -0.036219 0.0426106 0.2 0.02 pose: 0.0 -0.565473 -3.91428 0 0.00673636 0.00137353 0.998999 -0.0442093 uwb: 0.0 1240.11 1054.99 -imu_odom_: 1691062871.485947086 0.603339 -0.361524 9.20331 -0.052198 -0.0117179 0.0287621 0.2 0.02 pose: 0.39942572 -0.57516 -3.91667 0 0.00912085 0.00138487 0.998959 -0.0446777 uwb: 0.0 1240.11 1054.99 -imu_odom_: 1691062871.511952602 0.265756 -0.368707 9.60314 -0.0436758 0.0298274 0.0490022 0.2 0.02 pose: 0.0 -0.57516 -3.91667 0 0.00912085 0.00138487 0.998959 -0.0446777 uwb: 0.49989024 1240.4 1055.5 -imu_odom_: 1691062871.536914595 0.553061 -0.299275 9.71806 -0.036219 0.0245011 0.0383495 0.25 0 pose: 0.7112166 -0.579204 -3.91767 0 0.00982093 0.000977692 0.998952 -0.0446925 uwb: 0.0 1240.4 1055.5 -imu_odom_: 1691062871.553894140 0.656011 -0.220267 9.74919 -0.0447411 -0.00213053 0.0436758 0.25 0 pose: 0.0 -0.579204 -3.91767 0 0.00982093 0.000977692 0.998952 -0.0446925 uwb: 0.50116767 1240.04 1058.06 -imu_odom_: 1691062871.579003708 0.35913 -0.234632 10.24 -0.0490022 0.00106526 0.0735032 0.21 -0.02 pose: 0.39930032 -0.579204 -3.91767 0 0.0106332 -0.00170379 0.998942 -0.0447073 uwb: 0.0 1240.04 1058.06 -imu_odom_: 1691062871.605096427 0.751779 -0.0694318 9.96946 -0.0340885 -0.036219 0.0308927 0.22 0 pose: 0.49933902 -0.592932 -3.92106 0 0.00796348 -0.00389802 0.998956 -0.0448199 uwb: 0.49864782 1240.73 1058.23 -imu_odom_: 1691062871.627988000 0.667982 -0.462081 9.94073 -0.0490022 0.00532632 0.0394148 0.22 0 pose: 0.0 -0.592932 -3.92106 0 0.00796348 -0.00389802 0.998956 -0.0448199 uwb: 0.0 1240.73 1058.23 -imu_odom_: 1691062871.645011001 0.0502782 -0.402226 9.14585 -0.0266316 -0.0106526 0.0308927 0.19 0 pose: 0.43030267 -0.601496 -3.9159 0 0.00687729 -0.00201205 0.998951 -0.0452244 uwb: 0.0 1240.73 1058.23 -imu_odom_: 1691062871.668011359 0.0646434 -0.241814 9.56244 -0.0490022 -0.00426106 0.0628506 0.19 0 pose: 0.0 -0.601496 -3.9159 0 0.00687729 -0.00201205 0.998951 -0.0452244 uwb: 0.0 1240.73 1058.23 -imu_odom_: 1691062871.690889808 0.1652 -0.246603 9.67736 -0.0490022 0 0.04048 0.19 0 pose: 0.47982475 -0.615221 -3.91931 0 0.00870762 -0.00263345 0.99894 -0.0451256 uwb: 0.99891429 1241.55 1058.43 -imu_odom_: 1691062871.715926464 0.035913 -0.560243 9.81623 -0.0649811 0 0.0468716 0.19 0 pose: 0.0 -0.615221 -3.91931 0 0.00870762 -0.00263345 0.99894 -0.0451256 uwb: 0.0 1241.55 1058.43 -imu_odom_: 1691062871.729927392 0.172383 -0.486023 9.64145 -0.052198 0.0149137 0.0276969 0.19 0 pose: 0.39982529 -0.615221 -3.91931 0 0.00475939 -0.00262634 0.998956 -0.0453684 uwb: 0.0 1241.55 1058.43 -imu_odom_: 1691062871.745931370 0.28491 0.011971 9.87129 -0.0500674 0.0213053 0.0447411 0.19 0 pose: 0.0 -0.615221 -3.91931 0 0.00475939 -0.00262634 0.998956 -0.0453684 uwb: 0.50049396 1241.59 1059.78 -imu_odom_: 1691062871.763053823 0.538695 -0.481235 9.65582 -0.0596548 0.00958738 0.0607201 0.19 0 pose: 0.0 -0.615221 -3.91931 0 0.00475939 -0.00262634 0.998956 -0.0453684 uwb: 0.0 1241.59 1059.78 -imu_odom_: 1691062871.787889241 0.493206 -0.0454898 10.4579 -0.04048 0.0117179 0.0426106 0.19 0 pose: 0.48038180 -0.628944 -3.92272 0 0.00047666 -0.00462134 0.998956 -0.0454413 uwb: 0.0 1241.59 1059.78 -imu_odom_: 1691062871.812887982 0.517148 -0.222661 10.4651 -0.0575243 -0.0138484 0.0426106 0.19 0 pose: 0.0 -0.628944 -3.92272 0 0.00047666 -0.00462134 0.998956 -0.0454413 uwb: 0.49928362 1242.09 1060.58 -imu_odom_: 1691062871.837022857 0.897826 -0.373495 9.53132 -0.0585895 -0.00745685 0.0532632 0.19 0 pose: 0.48055680 -0.637514 -3.91757 0 0.000236828 -0.00406497 0.99895 -0.0456316 uwb: 0.0 1242.09 1060.58 -imu_odom_: 1691062871.853907033 0.387861 -0.184354 10.4315 -0.0553937 0.0213053 0.0543285 0.19 0 pose: 0.0 -0.637514 -3.91757 0 0.000236828 -0.00406497 0.99895 -0.0456316 uwb: 0.49991066 1242.09 1062.15 -imu_odom_: 1691062871.877884417 0.282516 -0.105345 9.26077 -0.0703074 0.0234358 0.0500674 0.19 0 pose: 0.48963001 -0.642664 -3.92614 0 0.00368127 -0.0015149 0.998946 -0.0457341 uwb: 0.0 1242.09 1062.15 -imu_odom_: 1691062871.902892199 0.282516 -0.651223 9.51456 -0.0862864 0.0479369 0.0372843 0.19 0 pose: 0.23944720 -0.651236 -3.92099 0 0.00467454 -0.00162755 0.998934 -0.0458994 uwb: 0.50091102 1242.19 1063.08 -imu_odom_: 1691062871.927927980 -0.0143652 -0.191536 10.0245 -0.0458064 -0.0138484 0.0468716 0.19 -0.02 pose: 0.33985922 -0.660338 -3.92327 0 0.00133175 -4.34988e-050.998936 -0.0460945 uwb: 0.0 1242.19 1063.08 -imu_odom_: 1691062871.942868603 0.852336 -0.28491 10.0868 -0.0703074 -0.0500674 0.0458064 0.19 -0.02 pose: 0.0 -0.660338 -3.92327 0 0.00133175 -4.34988e-050.998936 -0.0460945 uwb: 0.50059603 1242.35 1065.16 -imu_odom_: 1691062871.965854963 0.737414 -0.225055 10.3382 -0.0415453 -0.0319579 0.0415453 0.18 -0.02 pose: 0.8060902 -0.664956 -3.92442 0 0.000906855 -0.0009530320.998937 -0.0460861 uwb: 0.0 1242.35 1065.16 -imu_odom_: 1691062871.991953806 0.462081 -0.248997 9.8689 -0.0660464 0.0245011 0.0383495 0.23 -0.02 pose: 0.49063912 -0.664956 -3.92442 0 -0.00147899 -0.00242897 0.998929 -0.0461878 uwb: 0.49829201 1242.75 1066.18 -imu_odom_: 1691062872.5917695 0.0790087 -0.275333 10.082 -0.0436758 0.052198 0.0287621 0.23 -0.02 pose: 0.0 -0.664956 -3.92442 0 -0.00147899 -0.00242897 0.998929 -0.0461878 uwb: 0.0 1242.75 1066.18 -imu_odom_: 1691062872.21993418 0.268151 -0.208296 9.9934 -0.0585895 0.0223706 0.0383495 0.23 -0.02 pose: 0.0 -0.664956 -3.92442 0 -0.00147899 -0.00242897 0.998929 -0.0461878 uwb: 0.0 1242.75 1066.18 -imu_odom_: 1691062872.47023366 0.203507 -0.167594 10.0604 -0.0447411 -0.0372843 0.0372843 0.19 0 pose: 0.38923258 -0.678674 -3.92786 0 0.0027318 -0.00174949 0.998926 -0.0462213 uwb: 0.50189097 1243.05 1067.86 -imu_odom_: 1691062872.70987044 0.21069 -0.280122 10.0748 -0.0532632 -0.0213053 0.0436758 0.19 0 pose: 0.0 -0.678674 -3.92786 0 0.0027318 -0.00174949 0.998926 -0.0462213 uwb: 0.0 1243.05 1067.86 -imu_odom_: 1691062872.96932188 0.311246 -0.0263362 9.93354 -0.0383495 -0.0330232 0.0426106 0.22 0 pose: 0.55124098 -0.687252 -3.92272 0 5.08008e-05 -0.0009768630.998936 -0.0461163 uwb: 0.49834451 1243.75 1068.51 -imu_odom_: 1691062872.121867350 0.938527 -0.203507 10.0916 -0.0681769 -0.015979 0.0436758 0.17 0 pose: 0.49829201 -0.700971 -3.92615 0 -0.00341512 -0.0003984410.998928 -0.0461609 uwb: 0.0 1243.75 1068.51 -imu_odom_: 1691062872.146847426 0.672771 -0.371101 9.33978 -0.0607201 -0.0308927 0.0383495 0.17 0 pose: 0.0 -0.700971 -3.92615 0 -0.00341512 -0.0003984410.998928 -0.0461609 uwb: 0.49970943 1243.64 1070.55 -imu_odom_: 1691062872.160907851 0.37589 -0.071826 10.1418 -0.0703074 -0.0181095 0.0532632 0.17 0 pose: 0.0 -0.700971 -3.92615 0 -0.00341512 -0.0003984410.998928 -0.0461609 uwb: 0.0 1243.64 1070.55 -imu_odom_: 1691062872.184853154 0.258574 -0.0526724 9.97664 -0.0490022 0.02024 0.0298274 0.18 -0.02 pose: 0.75048431 -0.709548 -3.92101 0 0.00143334 0.000693356 0.998927 -0.0462833 uwb: 0.0 1243.64 1070.55 -imu_odom_: 1691062872.210918167 0.462081 -0.392649 9.59596 -0.0447411 -0.0287621 0.0426106 0.24 0 pose: 0.30918935 -0.714688 -3.92959 0 -0.00104291 0.00276261 0.998927 -0.0462093 uwb: 0.50143891 1244.09 1071.61 -imu_odom_: 1691062872.236011986 0.337582 -0.325611 9.71567 -0.0511327 0.0223706 0.0468716 0.24 0 pose: 0.0 -0.714688 -3.92959 0 -0.00104291 0.00276261 0.998927 -0.0462093 uwb: 0.0 1244.09 1071.61 -imu_odom_: 1691062872.252855331 0.344765 -0.246603 10.3286 -0.052198 -0.0170442 0.0596548 0.21 0.02 pose: 0.8025321 -0.714688 -3.92959 0 -0.0006602530.00206014 0.998929 -0.0462212 uwb: 0.49874116 1244.43 1072.63 -imu_odom_: 1691062872.277998148 0.428562 -0.114922 9.59835 -0.0479369 -0.015979 0.0394148 0.21 0.02 pose: 0.0 -0.714688 -3.92959 0 -0.0006602530.00206014 0.998929 -0.0462212 uwb: 0.0 1244.43 1072.63 -imu_odom_: 1691062872.305203510 0.577003 -0.486023 9.51456 -0.0543285 0.0117179 0.0447411 0.23 0 pose: 0.50005650 -0.728405 -3.93303 0 -0.00194192 -0.0016914 0.998919 -0.0464094 uwb: 0.49993983 1244.57 1074.54 -imu_odom_: 1691062872.329836231 0.591368 -0.325611 9.51935 -0.0692422 0.0319579 0.0543285 0.23 0 pose: 0.0 -0.728405 -3.93303 0 -0.00194192 -0.0016914 0.998919 -0.0464094 uwb: 0.0 1244.57 1074.54 -imu_odom_: 1691062872.346828901 0.244209 -0.296881 10.0317 -0.0649811 -0.00958738 0.0468716 0.22 0 pose: 0.43039016 -0.736985 -3.92789 0 -0.00106431 -1.05661e-060.998916 -0.0465332 uwb: 0.49967735 1245.2 1074.73 -imu_odom_: 1691062872.362842211 0.201113 -0.114922 9.38048 -0.0649811 0.0149137 0.0415453 0.22 0 pose: 0.0 -0.736985 -3.92789 0 -0.00106431 -1.05661e-060.998916 -0.0465332 uwb: 0.0 1245.2 1074.73 -imu_odom_: 1691062872.379841006 0.356736 -0.246603 10.0628 -0.0830906 -0.0127832 0.0649811 0.25 0 pose: 0.51914496 -0.7507 -3.93134 0 0.00107493 -0.00278045 0.9989 -0.04679 uwb: 0.0 1245.2 1074.73 -imu_odom_: 1691062872.405990888 0.617704 -0.258574 10.1969 -0.0692422 -0.0383495 0.0532632 0.25 0 pose: 0.0 -0.7507 -3.93134 0 0.00107493 -0.00278045 0.9989 -0.04679 uwb: 0.50029856 1245.44 1076.68 -imu_odom_: 1691062872.431981530 0.706289 -0.201113 10.4148 -0.0703074 0.015979 0.0468716 0.25 0.02 pose: 0.68153251 -0.756545 -3.92785 0 0.000353101 -0.00185615 0.998882 -0.0472403 uwb: 0.0 1245.44 1076.68 -imu_odom_: 1691062872.455039344 0.577003 -0.172383 10.3477 -0.0383495 0.0106526 0.0330232 0.25 0.02 pose: 0.8017446 -0.759286 -3.92621 0 0.00105849 -0.00174433 0.99888 -0.0472678 uwb: 0.50003608 1245.98 1077.79 -imu_odom_: 1691062872.481974055 0.52433 -0.112527 9.8282 -0.0340885 -0.0181095 0.0287621 0.18 0 pose: 0.41031010 -0.770162 -3.93137 0 0.0043611 3.24091e-06 0.998874 -0.0472475 uwb: 0.0 1245.98 1077.79 -imu_odom_: 1691062872.506829013 0.536301 -0.158017 9.44513 -0.0617853 -0.00532632 0.0490022 0.18 0 pose: 0.0 -0.770162 -3.93137 0 0.0043611 3.24091e-06 0.998874 -0.0472475 uwb: 0.50123184 1246.54 1077.73 -imu_odom_: 1691062872.524105750 0.567426 -0.426168 10.1466 -0.0468716 0.0266316 0.0351537 0.2 0 pose: 0.51789669 -0.776469 -3.93549 0 0.00770452 0.00348381 0.998849 -0.0472106 uwb: 0.0 1246.54 1077.73 -imu_odom_: 1691062872.549849073 0.591368 -0.277727 9.19852 -0.052198 0.00319579 0.0532632 0.2 0 pose: 0.0 -0.776469 -3.93549 0 0.00770452 0.00348381 0.998849 -0.0472106 uwb: 0.50055813 1246.49 1079.38 -imu_odom_: 1691062872.573820333 0.835576 -0.23942 9.63666 -0.036219 0.0245011 0.0330232 0.18 0 pose: 0.26096803 -0.786709 -3.93314 0 0.00798731 0.00108021 0.99885 -0.0472546 uwb: 0.0 1246.49 1079.38 -imu_odom_: 1691062872.590820002 0.483629 -0.368707 9.94551 -0.0479369 0.0287621 0.0436758 0.18 0 pose: 0.0 -0.786709 -3.93314 0 0.00798731 0.00108021 0.99885 -0.0472546 uwb: 0.49881699 1247.01 1079.07 -imu_odom_: 1691062872.606812605 0.411803 -0.280122 9.98143 -0.0372843 -0.0213053 0.0532632 0.18 0 pose: 0.57894186 -0.794256 -3.93505 0 0.00947219 -0.00135251 0.998832 -0.0473541 uwb: 0.0 1247.01 1079.07 -imu_odom_: 1691062872.624062510 0.538695 -0.325611 9.97185 -0.04048 0.0138484 0.0426106 0.18 0 pose: 0.8093567 -0.80042 -3.93661 0 0.00874625 -0.00144993 0.998836 -0.0474133 uwb: 0.0 1247.01 1079.07 -imu_odom_: 1691062872.641875007 0.526724 -0.229843 10.0916 -0.0436758 0.00852212 0.0649811 0.18 0 pose: 0.0 -0.80042 -3.93661 0 0.00874625 -0.00144993 0.998836 -0.0474133 uwb: 0.50095185 1246.91 1079.99 -imu_odom_: 1691062872.655874769 0.397437 -0.445322 10.2376 -0.0447411 -0.00426106 0.0468716 0.18 -0.02 pose: 0.34150996 -0.80042 -3.93661 0 0.00702717 -0.00223861 0.998838 -0.0476217 uwb: 0.0 1246.91 1079.99 -imu_odom_: 1691062872.672875604 0.452504 -0.0909797 10.1179 -0.0607201 -0.0223706 0.0351537 0.17 0.02 pose: 0.0 -0.80042 -3.93661 0 0.00702717 -0.00223861 0.998838 -0.0476217 uwb: 0.0 1246.91 1079.99 -imu_odom_: 1691062872.685819887 0.277727 -0.311246 9.20331 -0.0394148 0.00319579 0.0426106 0.17 0.02 pose: 0.0 -0.80042 -3.93661 0 0.00702717 -0.00223861 0.998838 -0.0476217 uwb: 0.0 1246.91 1079.99 -imu_odom_: 1691062872.701943732 0.469264 -0.378284 10.2927 -0.0340885 0.00532632 0.0415453 0.17 0.02 pose: 0.30876355 -0.809013 -3.93149 0 0.00560189 -0.00177684 0.998841 -0.0477683 uwb: 0.49942070 1246.72 1081.12 -imu_odom_: 1691062872.718939610 0.234632 -0.0335188 9.88566 -0.0149137 -0.00106526 0.0255663 0.17 0 pose: 0.0 -0.809013 -3.93149 0 0.00560189 -0.00177684 0.998841 -0.0477683 uwb: 0.0 1246.72 1081.12 -imu_odom_: 1691062872.734943879 0.25618 -0.112527 9.72285 -0.0532632 -0.0287621 0.0585895 0.17 0 pose: 0.0 -0.809013 -3.93149 0 0.00560189 -0.00177684 0.998841 -0.0477683 uwb: 0.0 1246.72 1081.12 -imu_odom_: 1691062872.750949315 0.905008 -0.160412 9.97424 -0.0490022 -0.0213053 0.0436758 0.25 -0.02 pose: 0.30034071 -0.814127 -3.94009 0 0.0039817 -0.00206981 0.998848 -0.0477804 uwb: 0.49991067 1247.44 1081.35 -imu_odom_: 1691062872.767017456 0.632069 -0.126893 9.71806 -0.0543285 -0.0149137 0.0436758 0.25 -0.02 pose: 0.40968888 -0.822721 -3.93497 0 0.00139569 -0.0004558040.998855 -0.0478256 uwb: 0.0 1247.44 1081.35 -imu_odom_: 1691062872.783935463 -0.0215478 -0.409408 9.95748 -0.0543285 -0.0170442 0.0543285 0.25 -0.02 pose: 0.0 -0.822721 -3.93497 0 0.00139569 -0.0004558040.998855 -0.0478256 uwb: 0.0 1247.44 1081.35 -imu_odom_: 1691062872.800822264 0.349553 -0.349553 9.84496 -0.0319579 -0.02024 0.0340885 0.18 -0.02 pose: 0.7007173 -0.822721 -3.93497 0 0.00214346 -0.0003032140.998853 -0.0478394 uwb: 0.49875282 1247.09 1083.15 -imu_odom_: 1691062872.817878513 0.344765 0.112527 9.7037 -0.0607201 0.00213053 0.0479369 0.18 -0.02 pose: 0.0 -0.822721 -3.93497 0 0.00214346 -0.0003032140.998853 -0.0478394 uwb: 0.0 1247.09 1083.15 -imu_odom_: 1691062872.833927405 0.632069 -0.521936 10.2376 -0.0628506 0.00319579 0.052198 0.18 -0.02 pose: 0.0 -0.822721 -3.93497 0 0.00214346 -0.0003032140.998853 -0.0478394 uwb: 0.0 1247.09 1083.15 -imu_odom_: 1691062872.850813914 0.804452 0.0430956 10.0389 -0.0436758 -0.056459 0.0330232 0.25 -0.02 pose: 0.49998358 -0.836427 -3.93846 0 0.00269254 -0.0004816060.998844 -0.0479943 uwb: 0.49933904 1246.98 1083.84 -imu_odom_: 1691062872.866942718 0.936133 -0.301669 9.6199 -0.0468716 0.0117179 0.0756338 0.16 -0.02 pose: 0.0 -0.836427 -3.93846 0 0.00269254 -0.0004816060.998844 -0.0479943 uwb: 0.0 1246.98 1083.84 -imu_odom_: 1691062872.884055256 1.08218 -0.153229 9.95748 -0.0639159 -0.00319579 0.125701 0.16 -0.02 pose: 0.67000944 -0.845024 -3.93335 0 0.00491991 0.000247102 0.998824 -0.0482326 uwb: 0.0 1246.98 1083.84 -imu_odom_: 1691062872.899869953 1.95606 -0.562637 10.2592 -0.0511327 -0.056459 0.0788296 0.14 -0.02 pose: 0.0 -0.845024 -3.93335 0 0.00491991 0.000247102 0.998824 -0.0482326 uwb: 0.0 1246.98 1083.84 -imu_odom_: 1691062872.917865897 1.76692 -0.0526724 8.92798 -0.0436758 0.0287621 0.00213053 0.14 -0.02 pose: 0.0 -0.845024 -3.93335 0 0.00491991 0.000247102 0.998824 -0.0482326 uwb: 0.0 1246.98 1083.84 -imu_odom_: 1691062872.933862292 1.23062 0.0526724 9.78271 -0.0543285 0.0841559 0.00319579 0.14 -0.02 pose: 0.32869779 -0.85013 -3.94195 0 0.00829673 0.000231292 0.998751 -0.0492643 uwb: 0.0 1246.98 1083.84 -imu_odom_: 1691062872.949805023 1.10373 -0.0957681 10.2232 -0.0777643 0.00426106 0.0500674 0.11 -0.02 pose: 0.42042159 -0.85013 -3.94195 0 0.0114961 0.00121725 0.998742 -0.0487861 uwb: 0.100320447 1247.33 1084.92 -imu_odom_: 1691062872.966793318 0.787692 -0.512359 9.73722 -0.0511327 0.0308927 0.0436758 0.11 -0.02 pose: 0.7008339 -0.85013 -3.94195 0 0.0121455 0.00132476 0.998733 -0.0488202 uwb: 0.0 1247.33 1084.92 -imu_odom_: 1691062872.983851900 0.696713 -0.246603 10.0533 -0.04048 -0.0213053 0.015979 0.11 -0.02 pose: 0.0 -0.85013 -3.94195 0 0.0121455 0.00132476 0.998733 -0.0488202 uwb: 0.0 1247.33 1084.92 -imu_odom_: 1691062872.999847712 0.670376 0.0933739 9.6223 -0.0607201 -0.0255663 0.0127832 0.12 -0.02 pose: 0.42981269 -0.858734 -3.93685 0 0.0150229 -0.0007800130.998699 -0.0487309 uwb: 0.0 1247.33 1084.92 -imu_odom_: 1691062873.16796926 0.749385 -0.174777 9.89524 -0.0649811 -0.0149137 0.0458064 0.08 0 pose: 0.0 -0.858734 -3.93685 0 0.0150229 -0.0007800130.998699 -0.0487309 uwb: 0.0 1247.33 1084.92 -imu_odom_: 1691062873.32908523 0.902614 -0.59855 10.0221 -0.0649811 -0.00319579 0.0585895 0.08 0 pose: 0.0 -0.858734 -3.93685 0 0.0150229 -0.0007800130.998699 -0.0487309 uwb: 0.0 1247.33 1084.92 -imu_odom_: 1691062873.48853879 0.758962 -0.356736 9.75877 -0.052198 -0.0138484 0.0490022 0.08 0 pose: 0.24020258 -0.858734 -3.93685 0 0.0156973 0.0012579 0.998699 -0.0485094 uwb: 0.99903681 1247.49 1084.97 -imu_odom_: 1691062873.65806885 0.979228 -0.0526724 9.95988 -0.0553937 -0.00852212 0.0490022 0.08 0.02 pose: 0.0 -0.858734 -3.93685 0 0.0156973 0.0012579 0.998699 -0.0485094 uwb: 0.0 1247.49 1084.97 -imu_odom_: 1691062873.81809696 0.725443 -0.0215478 9.87369 -0.0660464 0.00106526 0.056459 0.08 0.02 pose: 0.32984982 -0.863836 -3.94545 0 0.0173611 -0.0005031760.99866 -0.0487548 uwb: 0.0 1247.49 1084.97 -imu_odom_: 1691062873.98932733 0.737414 -0.342371 9.85453 -0.0596548 -0.00426106 0.0351537 0.08 0 pose: 0.40952556 -0.868137 -3.9429 0 0.0183945 0.00137451 0.99863 -0.0489667 uwb: 0.49995151 1247.67 1086.97 -imu_odom_: 1691062873.115931236 0.567426 -0.349553 9.78989 -0.052198 -0.0138484 0.0117179 0.08 0 pose: 0.0 -0.868137 -3.9429 0 0.0183945 0.00137451 0.99863 -0.0489667 uwb: 0.0 1247.67 1086.97 -imu_odom_: 1691062873.132932364 0.708684 -0.205901 10.003 -0.0511327 -0.00958738 0.00958738 0.08 0 pose: 0.0 -0.868137 -3.9429 0 0.0183945 0.00137451 0.99863 -0.0489667 uwb: 0.0 1247.67 1086.97 -imu_odom_: 1691062873.148940717 0.656011 -0.174777 9.67018 -0.056459 -0.00532632 0.0351537 0.05 0.02 pose: 0.7989740 -0.87244 -3.94036 0 0.0182905 0.000564582 0.998633 -0.0489633 uwb: 0.49937404 1247.21 1088.75 -imu_odom_: 1691062873.165987925 0.658405 -0.342371 9.92875 -0.0607201 0.0106526 0.04048 0.05 0.02 pose: 0.0 -0.87244 -3.94036 0 0.0182905 0.000564582 0.998633 -0.0489633 uwb: 0.0 1247.21 1088.75 -imu_odom_: 1691062873.182925182 0.766145 -0.237026 9.99819 -0.0532632 -0.00426106 0.04048 0.05 0.02 pose: 0.67148519 -0.87244 -3.94036 0 0.0145895 0.000469532 0.99872 -0.0484285 uwb: 0.0 1247.21 1088.75 -imu_odom_: 1691062873.198930035 0.605733 -0.234632 9.83299 -0.0543285 0.015979 0.0756338 0.05 0.02 pose: 0.0 -0.87244 -3.94036 0 0.0145895 0.000469532 0.99872 -0.0484285 uwb: 0.50061064 1246.69 1090.27 -imu_odom_: 1691062873.215982201 0.567426 -0.445322 10.0126 -0.0585895 0.00106526 0.111853 0.04 0.05 pose: 0.0 -0.87244 -3.94036 0 0.0145895 0.000469532 0.99872 -0.0484285 uwb: 0.0 1246.69 1090.27 -imu_odom_: 1691062873.232785007 0.529119 -0.287304 9.88566 -0.0490022 0 0.0958738 0.04 0.05 pose: 0.34054170 -0.87244 -3.94036 0 0.0151387 -0.0003706960.998704 -0.0485968 uwb: 0.0 1246.69 1090.27 -imu_odom_: 1691062873.255778950 0.667982 -0.138864 9.86172 -0.0575243 -0.015979 0.123571 0.05 0.11 pose: 0.41782882 -0.87244 -3.94036 0 0.0117748 -0.00226295 0.998684 -0.0498601 uwb: 0.49878199 1246.83 1090.57 -imu_odom_: 1691062873.272836658 0.682347 -0.368707 10.0102 -0.0617853 0.0255663 0.118244 0.05 0.11 pose: 0.0 -0.87244 -3.94036 0 0.0117748 -0.00226295 0.998684 -0.0498601 uwb: 0.0 1246.83 1090.57 -imu_odom_: 1691062873.288801555 -0.395043 -0.320823 9.72285 -0.0479369 0.0948085 0.0106526 0.04 -0.08 pose: 0.7020297 -0.87244 -3.94036 0 0.0119763 -0.00158752 0.998669 -0.0501461 uwb: 0.50060189 1246.52 1091.68 -imu_odom_: 1691062873.305891636 -1.35991 0.363919 10.0413 -0.0532632 0.00745685 -0.129962 0.08 -0.23 pose: 0.0 -0.87244 -3.94036 0 0.0119763 -0.00158752 0.998669 -0.0501461 uwb: 0.0 1246.52 1091.68 -imu_odom_: 1691062873.321973192 -0.837971 0.0957681 9.76355 -0.0756338 -0.0990696 -0.210922 0.07 -0.26 pose: 0.0 -0.87244 -3.94036 0 0.0119763 -0.00158752 0.998669 -0.0501461 uwb: 0.0 1246.52 1091.68 -imu_odom_: 1691062873.338988028 0.124498 -0.162806 9.91918 -0.0671117 -0.0426106 -0.299339 0.07 -0.26 pose: 0.74029991 -0.877512 -3.94898 0 0.00813464 -0.00135635 0.998774 -0.0488195 uwb: 0.49910572 1246.4 1092.61 -imu_odom_: 1691062873.354772685 0.514753 -0.198719 9.89763 -0.0692422 -0.0255663 -0.322775 0.07 -0.26 pose: 0.0 -0.877512 -3.94898 0 0.00813464 -0.00135635 0.998774 -0.0488195 uwb: 0.0 1246.4 1092.61 -imu_odom_: 1691062873.371860433 0.181959 -0.536301 9.57681 -0.0713727 0.00532632 -0.336624 0.09 -0.38 pose: 0.0 -0.877512 -3.94898 0 0.00813464 -0.00135635 0.998774 -0.0488195 uwb: 0.0 1246.4 1092.61 -imu_odom_: 1691062873.389795423 -0.0383072 -0.268151 9.88566 -0.0308927 0.0276969 -0.38456 0.09 -0.38 pose: 0.33019105 -0.886116 -3.94388 0 0.0062141 -0.00036536 0.999034 -0.0434932 uwb: 0.50092270 1247.03 1092.36 -imu_odom_: 1691062873.404882163 -0.0502782 -0.0263362 9.20331 -0.04048 -0.02024 -0.418649 0.11 -0.44 pose: 0.42941023 -0.886116 -3.94388 0 0.00271748 -0.0009555130.999381 -0.0350529 uwb: 0.0 1247.03 1092.36 -imu_odom_: 1691062873.420790771 0.023942 0.296881 10.4387 -0.0426106 -0.00745685 -0.436758 0.11 -0.44 pose: 0.0 -0.886116 -3.94388 0 0.00271748 -0.0009555130.999381 -0.0350529 uwb: 0.0 1247.03 1092.36 -imu_odom_: 1691062873.445812262 0.512359 -0.179565 10.3238 -0.0585895 -0.0351537 -0.487891 0.12 -0.53 pose: 0.7017963 -0.886116 -3.94388 0 0.00211495 -0.0006517130.999438 -0.0334462 uwb: 0.49764748 1247.3 1093.44 -imu_odom_: 1691062873.462852179 0.452504 -0.150835 9.44513 -0.0681769 -0.00852212 -0.492152 0.12 -0.58 pose: 0.0 -0.886116 -3.94388 0 0.00211495 -0.0006517130.999438 -0.0334462 uwb: 0.0 1247.3 1093.44 -imu_odom_: 1691062873.478776537 0.459687 -0.0909797 9.80186 -0.0596548 0.0106526 -0.452737 0.13 -0.44 pose: 0.0 -0.886116 -3.94388 0 0.00211495 -0.0006517130.999438 -0.0334462 uwb: 0.0 1247.3 1093.44 -imu_odom_: 1691062873.495765998 0.277727 -0.452504 9.63427 -0.0617853 -0.0213053 -0.442085 0.13 -0.44 pose: 0.74035824 -0.899772 -3.94747 0 0.0027014 0.00373324 0.999881 -0.0147088 uwb: 0.49970944 1247.3 1093.69 -imu_odom_: 1691062873.511761227 0.438139 0.141258 10.2185 -0.0426106 0.00319579 -0.411192 0.13 -0.44 pose: 0.0 -0.899772 -3.94747 0 0.0027014 0.00373324 0.999881 -0.0147088 uwb: 0.0 1247.3 1093.69 -imu_odom_: 1691062873.527819743 -0.0861913 -0.438139 9.68933 -0.0639159 0.0628506 -0.288687 0.13 -0.32 pose: 0.0 -0.899772 -3.94747 0 0.0027014 0.00373324 0.999881 -0.0147088 uwb: 0.0 1247.3 1093.69 -imu_odom_: 1691062873.544909824 0.035913 -0.442927 10.0173 -0.0745685 -0.0756338 -0.208792 0.13 -0.32 pose: 0.32923152 -0.899772 -3.94747 0 0.00192322 0.00382781 0.999967 -0.00685794 uwb: 0.50187931 1247.29 1094.18 -imu_odom_: 1691062873.560957258 0.964863 -0.23942 9.78031 -0.0447411 -0.0511327 -0.235423 0.19 -0.35 pose: 0.41137462 -0.908406 -3.94243 0 -0.0007727180.00253026 0.999996 -0.000288067 uwb: 0.0 1247.29 1094.18 -imu_odom_: 1691062873.576920405 1.15401 -0.0167594 10.1299 -0.0735032 0.0308927 -0.198139 0.19 -0.35 pose: 0.0 -0.908406 -3.94243 0 -0.0007727180.00253026 0.999996 -0.000288067 uwb: 0.0 1247.29 1094.18 -imu_odom_: 1691062873.593900826 0.344765 -0.244209 9.67018 -0.0649811 0.0585895 -0.173638 0.19 -0.35 pose: 0.0 -0.908406 -3.94243 0 -0.0007727180.00253026 0.999996 -0.000288067 uwb: 0.49803245 1247.14 1095.11 -imu_odom_: 1691062873.611903478 0.533907 -0.500388 10.0748 -0.0458064 -0.036219 -0.196009 0.14 -0.2 pose: 0.6875055 -0.908406 -3.94243 0 6.85273e-05 0.00247912 0.999997 0.000656041 uwb: 0.0 1247.14 1095.11 -imu_odom_: 1691062873.626913806 0.260968 -0.217872 9.52413 -0.0617853 -0.0234358 -0.177899 0.15 -0.2 pose: 0.0 -0.908406 -3.94243 0 6.85273e-05 0.00247912 0.999997 0.000656041 uwb: 0.0 1247.14 1095.11 -imu_odom_: 1691062873.642776625 0.47884 -0.294487 9.95509 -0.052198 -0.0149137 -0.125701 0.15 -0.2 pose: 0.0 -0.908406 -3.94243 0 6.85273e-05 0.00247912 0.999997 0.000656041 uwb: 0.49939155 1247.54 1095.27 -imu_odom_: 1691062873.656909963 -0.124498 -0.117316 9.76355 -0.0372843 0.00426106 -0.12144 0.15 -0.2 pose: 0.67129271 -0.922113 -3.94591 0 0.000849824 -0.00012992 0.999964 0.00850049 uwb: 0.0 1247.54 1095.27 -imu_odom_: 1691062873.673957755 0.311246 -0.143652 9.83059 -0.0511327 -0.0223706 -0.122505 0.15 -0.17 pose: 0.0 -0.922113 -3.94591 0 0.000849824 -0.00012992 0.999964 0.00850049 uwb: 0.0 1247.54 1095.27 -imu_odom_: 1691062873.688894004 0.507571 -0.129287 9.84256 -0.0553937 -0.0170442 -0.138484 0.15 -0.17 pose: 0.29891747 -0.922113 -3.94591 0 0.000682221 -0.00109878 0.999937 0.0111659 uwb: 0.50046481 1248.28 1095.05 -imu_odom_: 1691062873.704864150 0.40462 -0.203507 9.76355 -0.0511327 0.052198 -0.131028 0.15 -0.14 pose: 0.40088107 -0.926695 -3.94321 0 0.000190262 0.00115698 0.999894 0.014526 uwb: 0.0 1248.28 1095.05 -imu_odom_: 1691062873.719895769 0.818817 -0.344765 9.8689 -0.0596548 -0.0223706 -0.092678 0.15 -0.14 pose: 0.0 -0.926695 -3.94321 0 0.000190262 0.00115698 0.999894 0.014526 uwb: 0.0 1248.28 1095.05 -imu_odom_: 1691062873.736910896 0.732626 -0.201113 9.3733 -0.0639159 -0.0394148 -0.0862864 0.15 -0.14 pose: 0.0 -0.926695 -3.94321 0 0.000190262 0.00115698 0.999894 0.014526 uwb: 0.0 1248.28 1095.05 -imu_odom_: 1691062873.752758549 1.04627 -0.205901 10.1586 -0.0458064 0.0170442 -0.0500674 0.12 -0.17 pose: 0.7021463 -0.930714 -3.94081 0 -0.0001323110.000483436 0.999885 0.0151247 uwb: 0.49996026 1248.09 1095.48 -imu_odom_: 1691062873.769895003 1.17795 -0.337582 10.0245 -0.0660464 0.00426106 0.00106526 0.12 -0.17 pose: 0.0 -0.930714 -3.94081 0 -0.0001323110.000483436 0.999885 0.0151247 uwb: 0.0 1248.09 1095.48 -imu_odom_: 1691062873.786781220 1.4437 -0.383072 9.94791 -0.0660464 -0.00639159 -0.0245011 0.12 -0.17 pose: 0.0 -0.930714 -3.94081 0 -0.0001323110.000483436 0.999885 0.0151247 uwb: 0.0 1248.09 1095.48 -imu_odom_: 1691062873.803927006 1.37188 -0.105345 9.70131 -0.0511327 0.0447411 -0.0798948 0.15 -0.17 pose: 0.48885133 -0.935792 -3.94942 0 0.00373729 -0.0007379250.999825 0.0183084 uwb: 0.50002150 1247.42 1097.21 -imu_odom_: 1691062873.819769119 0.888249 0.150835 9.92875 -0.0532632 0.0330232 -0.103331 0.09 -0.11 pose: 0.0 -0.935792 -3.94942 0 0.00373729 -0.0007379250.999825 0.0183084 uwb: 0.0 1247.42 1097.21 -imu_odom_: 1691062873.836754789 0.794875 0.0670376 10.1658 -0.0553937 -0.00213053 -0.0980043 0.09 -0.11 pose: 0.67108563 -0.944425 -3.94438 0 0.00938765 -0.0005365030.999732 0.0211416 uwb: 0.0 1247.42 1097.21 -imu_odom_: 1691062873.852889135 0.881066 -0.483629 9.94073 -0.0596548 -0.0106526 -0.0884169 0.09 -0.11 pose: 0.0 -0.944425 -3.94438 0 0.00938765 -0.0005365030.999732 0.0211416 uwb: 0.50000400 1246.77 1098.95 -imu_odom_: 1691062873.869881804 0.861913 -0.380678 9.80186 -0.0596548 -0.00639159 -0.092678 0.07 -0.08 pose: 0.0 -0.944425 -3.94438 0 0.00938765 -0.0005365030.999732 0.0211416 uwb: 0.0 1246.77 1098.95 -imu_odom_: 1691062873.885883158 0.885855 -0.158017 10.0317 -0.0575243 -0.0191748 -0.0756338 0.07 -0.08 pose: 0.32887571 -0.944425 -3.94438 0 0.0112858 0.000833414 0.999662 0.0233974 uwb: 0.0 1246.77 1098.95 -imu_odom_: 1691062873.902891577 0.905008 -0.217872 9.90481 -0.0649811 -0.00852212 -0.0490022 0.09 -0.08 pose: 0.41086424 -0.953057 -3.93933 0 0.0148375 -0.0004634440.999553 0.0259463 uwb: 0.49990193 1247.39 1098.69 -imu_odom_: 1691062873.918898471 0.701501 -0.318429 10.0604 -0.0575243 -0.00213053 -0.0372843 0.09 -0.08 pose: 0.0 -0.953057 -3.93933 0 0.0148375 -0.0004634440.999553 0.0259463 uwb: 0.0 1247.39 1098.69 -imu_odom_: 1691062873.945759395 0.636858 -0.0454898 10.1347 -0.0532632 -0.015979 -0.0500674 0.08 -0.08 pose: 0.7012422 -0.953057 -3.93933 0 0.0155528 -0.0005168220.999534 0.0262569 uwb: 0.50026358 1247.85 1099.38 -imu_odom_: 1691062873.970785553 -0.136469 -0.280122 9.77553 -0.0607201 0.0788296 -0.0649811 0.05 -0.05 pose: 0.0 -0.953057 -3.93933 0 0.0155528 -0.0005168220.999534 0.0262569 uwb: 0.0 1247.85 1099.38 -imu_odom_: 1691062873.987770056 -0.976834 -0.0574608 10.1586 -0.0543285 0.0585895 -0.0394148 0.09 -0.05 pose: 0.77889973 -0.953057 -3.93933 0 0.0116488 0.000229557 0.999487 0.0298382 uwb: 0.0 1247.85 1099.38 -imu_odom_: 1691062874.13884358 -0.545878 -0.52433 9.73722 -0.0617853 -0.0479369 0.00213053 0.09 -0.05 pose: 0.0 -0.953057 -3.93933 0 0.0116488 0.000229557 0.999487 0.0298382 uwb: 0.50111519 1248.09 1099.23 -imu_odom_: 1691062874.40799821 0.938527 -0.0885855 9.60793 -0.0617853 -0.0447411 0.0330232 0.08 0 pose: 0.25139900 -0.958136 -3.94794 0 0.00881656 0.000234337 0.999491 0.0306634 uwb: 0.50031607 1248.67 1098.46 -imu_odom_: 1691062874.56757427 0.488417 -0.335188 9.51216 -0.0639159 0.0436758 0.0117179 0.08 0 pose: 0.0 -0.958136 -3.94794 0 0.00881656 0.000234337 0.999491 0.0306634 uwb: 0.0 1248.67 1098.46 -imu_odom_: 1691062874.83747261 -0.0023942 -0.143652 9.90721 -0.0671117 0.0127832 -0.00106526 0.11 -0.02 pose: 0.52911356 -0.966745 -3.94286 0 0.00986411 -0.0002535930.999465 0.0311978 uwb: 0.0 1248.67 1098.46 -imu_odom_: 1691062874.108750087 0.21069 -0.342371 10.2544 -0.0777643 -0.0436758 0.0106526 0.12 -0.02 pose: 0.34910452 -0.966745 -3.94286 0 0.00624716 -0.0005542470.999473 0.0318549 uwb: 0.50269594 1248.43 1098.61 -imu_odom_: 1691062874.135767628 0.718261 -0.311246 9.98382 -0.0639159 -0.02024 0.0181095 0.12 -0.02 pose: 0.0 -0.966745 -3.94286 0 0.00624716 -0.0005542470.999473 0.0318549 uwb: 0.0 1248.43 1098.61 -imu_odom_: 1691062874.161900595 -0.0430956 -0.071826 10.0317 -0.0468716 0.0234358 0.00639159 0.13 0 pose: 0.8068486 -0.966745 -3.94286 0 0.00563858 -0.0009100380.999473 0.0319701 uwb: 0.49696211 1249.08 1097.61 -imu_odom_: 1691062874.188027730 0.371101 -0.134075 10.2137 -0.0468716 -0.0681769 0.0138484 0.13 0 pose: 0.0 -0.966745 -3.94286 0 0.00563858 -0.0009100380.999473 0.0319701 uwb: 0.0 1249.08 1097.61 -imu_odom_: 1691062874.210754522 0.502782 -0.191536 10.1299 -0.0383495 0.0319579 0.0191748 0.14 -0.02 pose: 0.51969619 -0.975341 -3.93775 0 0.00627756 -0.00231032 0.999445 0.0326351 uwb: 0.49974153 1249.51 1097.03 -imu_odom_: 1691062874.227002319 0.308852 -0.371101 9.72764 -0.0543285 -0.00532632 0.0223706 0.14 -0.02 pose: 0.0 -0.975341 -3.93775 0 0.00627756 -0.00231032 0.999445 0.0326351 uwb: 0.0 1249.51 1097.03 -imu_odom_: 1691062874.243893496 0.189142 -0.0861913 10.0533 -0.0490022 0.00958738 0.0117179 0.14 0 pose: 0.51045382 -0.989054 -3.9412 0 0.00380587 0.000616137 0.999436 0.0333449 uwb: 0.50129894 1249.66 1098.34 -imu_odom_: 1691062874.259717526 0.40462 -0.23942 10.1849 -0.0575243 -0.036219 0.02024 0.14 0 pose: 0.0 -0.989054 -3.9412 0 0.00380587 0.000616137 0.999436 0.0333449 uwb: 0.0 1249.66 1098.34 -imu_odom_: 1691062874.285888700 0.220267 -0.136469 9.62708 -0.0383495 -0.0436758 0.0234358 0.15 -0.02 pose: 0.64886778 -0.993281 -3.93867 0 0.00132785 -0.0001537780.99942 0.0340341 uwb: 0.0 1249.66 1098.34 -imu_odom_: 1691062874.302721254 0.349553 -0.402226 9.50737 -0.0671117 -0.0191748 0.0223706 0.15 -0.02 pose: 0.9238292 -0.99763 -3.93606 0 0.000661735 0.000280209 0.999418 0.0341089 uwb: 0.49904448 1249.92 1098.7 -imu_odom_: 1691062874.327782701 -0.0622492 -0.138864 9.991 -0.0468716 0.0415453 0.0266316 0.15 0 pose: 0.0 -0.99763 -3.93606 0 0.000661735 0.000280209 0.999418 0.0341089 uwb: 0.0 1249.92 1098.7 -imu_odom_: 1691062874.354711289 0.814029 -0.0383072 10.1825 -0.0575243 -0.0308927 0.0255663 0.15 0 pose: 0.33765436 -0.99763 -3.93606 0 -0.000830863-0.0006660910.999408 0.0343921 uwb: 0.49964820 1249.81 1098.91 -imu_odom_: 1691062874.370708559 0.332794 -0.124498 9.98861 -0.0543285 0.0266316 0.0213053 0.16 -0.02 pose: 0.0 -0.99763 -3.93606 0 -0.000830863-0.0006660910.999408 0.0343921 uwb: 0.0 1249.81 1098.91 -imu_odom_: 1691062874.387709396 0.148441 -0.280122 9.54568 -0.0585895 -0.00532632 0.036219 0.16 -0.02 pose: 0.51990035 -1.00889 -3.94096 0 -0.0009247560.000827892 0.999396 0.0347378 uwb: 0.0 1249.81 1098.91 -imu_odom_: 1691062874.403759455 0.64404 -0.263362 10.1131 -0.0681769 -0.0532632 0.0266316 0.16 -0.02 pose: 0.0 -1.00889 -3.94096 0 -0.0009247560.000827892 0.999396 0.0347378 uwb: 0.49864493 1249.69 1099.87 -imu_odom_: 1691062874.419769266 0.146046 -0.059855 10.2663 -0.0532632 -0.0127832 0.0245011 0.16 0 pose: 0.41073591 -1.01137 -3.9395 0 -0.00260511 0.00119338 0.999384 0.0349683 uwb: 0.0 1249.69 1099.87 -imu_odom_: 1691062874.445708578 0.758962 -0.521936 9.84975 -0.0617853 -0.0340885 0.0351537 0.16 0 pose: 0.0 -1.01137 -3.9395 0 -0.00260511 0.00119338 0.999384 0.0349683 uwb: 0.50064564 1249.2 1100.94 -imu_odom_: 1691062874.461713723 0.466869 -0.126893 9.97664 -0.036219 -0.0330232 0.0149137 0.21 -0.05 pose: 0.49923698 -1.02362 -3.9406 0 -0.0005788644.50115e-06 0.99938 0.0351995 uwb: 0.0 1249.2 1100.94 -imu_odom_: 1691062874.478707851 0.272939 -0.136469 10.0102 -0.0234358 -0.00639159 0.0149137 0.21 -0.05 pose: 0.7066669 -1.02506 -3.94304 0 2.91657e-06 0.000589823 0.999377 0.0352864 uwb: 0.0 1249.2 1100.94 -imu_odom_: 1691062874.505748432 0.59855 -0.567426 9.91199 -0.0575243 -0.0191748 0.0319579 0.22 -0.02 pose: 0.25932604 -1.03367 -3.93796 0 -0.0008130950.00222822 0.999363 0.035608 uwb: 0.49950238 1249.62 1101.61 -imu_odom_: 1691062874.521726162 0.232238 -0.117316 9.81623 -0.0383495 0.00745685 0.0138484 0.17 0 pose: 0.0 -1.03367 -3.93796 0 -0.0008130950.00222822 0.999363 0.035608 uwb: 0.0 1249.62 1101.61 -imu_odom_: 1691062874.548705497 0.102951 -0.225055 9.63666 -0.0575243 -0.056459 0.0500674 0.23 -0.02 pose: 0.0 -1.03367 -3.93796 0 -0.0008130950.00222822 0.999363 0.035608 uwb: 0.49972986 1249.96 1102.26 -imu_odom_: 1691062874.573773943 0.126893 0.0287304 9.6199 -0.0340885 -0.0213053 0.0266316 0.19 -0.02 pose: 0.43018311 -1.03367 -3.93796 0 -0.0008736060.000730297 0.999354 0.0359163 uwb: 0.0 1249.96 1102.26 -imu_odom_: 1691062874.600890645 0.169988 -0.208296 9.68694 -0.0873517 -0.0255663 0.0490022 0.19 -0.02 pose: 0.35053653 -1.04228 -3.93287 0 -0.00332981 0.0012386 0.999352 0.0358284 uwb: 0.50076814 1250.22 1102.63 -imu_odom_: 1691062874.616714675 0.517148 -0.0143652 10.2017 -0.0468716 -0.0426106 0.0255663 0.17 -0.02 pose: 0.44110830 -1.05211 -3.93539 0 -0.00666353 0.00160433 0.999335 0.0358163 uwb: 0.0 1250.22 1102.63 -imu_odom_: 1691062874.632756860 0.624887 -0.0526724 9.97424 -0.0703074 -0.0575243 0.052198 0.17 -0.02 pose: 0.7882704 -1.05598 -3.93638 0 -0.00584716 0.00205753 0.999337 0.0358682 uwb: 0.0 1250.22 1102.63 -imu_odom_: 1691062874.659761859 0.658405 -0.301669 9.44273 -0.0681769 0.0255663 0.0287621 0.17 -0.02 pose: 0.23983511 -1.05598 -3.93638 0 -0.00307113 0.00286861 0.99935 0.0358136 uwb: 0.50047065 1249.8 1103.47 -imu_odom_: 1691062874.676717199 0.198719 -0.141258 9.59835 -0.0490022 0.0298274 0.0383495 0.17 -0.02 pose: 0.0 -1.05598 -3.93638 0 -0.00307113 0.00286861 0.99935 0.0358136 uwb: 0.0 1249.8 1103.47 -imu_odom_: 1691062874.701761730 0.457293 -0.21069 9.40203 -0.0639159 0 0.0372843 0.17 0 pose: 0.0 -1.05598 -3.93638 0 -0.00307113 0.00286861 0.99935 0.0358136 uwb: 0.50037441 1249.42 1105.11 -imu_odom_: 1691062874.717698337 0.354342 0.0191536 9.93833 -0.0500674 0.0149137 0.0223706 0.17 0 pose: 0.43960339 -1.06458 -3.93129 0 -0.00296505 0.00205996 0.999346 0.0359667 uwb: 0.0 1249.42 1105.11 -imu_odom_: 1691062874.733793018 0.407014 -0.251391 10.0413 -0.0788296 -0.0117179 0.0575243 0.17 0 pose: 0.0 -1.06458 -3.93129 0 -0.00296505 0.00205996 0.999346 0.0359667 uwb: 0.0 1249.42 1105.11 -imu_odom_: 1691062874.750743983 0.205901 -0.19393 9.88326 -0.0458064 0.0234358 0.0351537 0.21 0 pose: 0.57075819 -1.07828 -3.93481 0 -0.00056862 0.00104072 0.999352 0.035985 uwb: 0.49841452 1249.87 1105.81 -imu_odom_: 1691062874.775892341 0.380678 0.0215478 9.84975 -0.052198 0.0394148 0.0330232 0.21 0 pose: 0.0 -1.07828 -3.93481 0 -0.00056862 0.00104072 0.999352 0.035985 uwb: 0.0 1249.87 1105.81 -imu_odom_: 1691062874.802832887 0.3304 -0.447716 9.42837 -0.0458064 -0.00532632 0.0223706 0.22 0 pose: 0.42099323 -1.07828 -3.93481 0 -0.0026387 0.00374372 0.999338 0.0360989 uwb: 0.49999527 1250.4 1105.77 -imu_odom_: 1691062874.819846556 0.37589 -0.11971 10.6781 -0.0479369 -0.0703074 0.0394148 0.18 0 pose: 0.0 -1.07828 -3.93481 0 -0.0026387 0.00374372 0.999338 0.0360989 uwb: 0.0 1250.4 1105.77 -imu_odom_: 1691062874.844896337 0.778116 -0.234632 10.1227 -0.0735032 -0.036219 0.036219 0.18 0 pose: 0.43954215 -1.08689 -3.92971 0 -0.00154316 0.00273488 0.999335 0.0363362 uwb: 0.50054356 1251.23 1105.61 -imu_odom_: 1691062874.861755723 0.416591 -0.181959 9.74201 -0.0415453 0.0468716 0.0149137 0.18 0 pose: 0.0 -1.08689 -3.92971 0 -0.00154316 0.00273488 0.999335 0.0363362 uwb: 0.0 1251.23 1105.61 -imu_odom_: 1691062874.875892852 0.141258 -0.344765 9.54089 -0.0703074 0.0191748 0.0447411 0.18 0 pose: 0.0 -1.08689 -3.92971 0 -0.00154316 0.00273488 0.999335 0.0363362 uwb: 0.0 1251.23 1105.61 -imu_odom_: 1691062874.891702300 0.574608 -0.502782 9.97185 -0.0681769 -0.0415453 0.036219 0.18 0 pose: 0.48053932 -1.10059 -3.93321 0 -0.00122095 0.000942398 0.99933 0.0365668 uwb: 0.49992527 1251.09 1106.32 -imu_odom_: 1691062874.916700460 0.950498 -0.251391 9.55047 -0.0628506 -0.0276969 0.0340885 0.18 0 pose: 0.23801812 -1.10059 -3.93321 0 -0.000849413-0.0009412550.99933 0.0365759 uwb: 0.0 1251.09 1106.32 -imu_odom_: 1691062874.941821403 0.6608 -0.332794 9.77074 -0.0447411 -0.0106526 0.0234358 0.18 0 pose: 0.0 -1.10059 -3.93321 0 -0.000849413-0.0009412550.99933 0.0365759 uwb: 0.50136602 1250.83 1106.99 -imu_odom_: 1691062874.967701511 0.529119 -0.289698 9.76355 -0.052198 0.00745685 0.0479369 0.24 -0.02 pose: 0.7035463 -1.10059 -3.93321 0 -6.52827e-05-0.00101935 0.99933 0.0365958 uwb: 0.0 1250.83 1106.99 -imu_odom_: 1691062874.983872604 0.610521 -0.323217 9.85693 -0.056459 0.00106526 0.0543285 0.24 -0.02 pose: 0.0 -1.10059 -3.93321 0 -6.52827e-05-0.00101935 0.99933 0.0365958 uwb: 0.0 1250.83 1106.99 -imu_odom_: 1691062875.825027 -0.205901 -0.0694318 9.87129 -0.0319579 0.0106526 0.0447411 0.22 0 pose: 0.50957595 -1.10919 -3.92811 0 0.00481633 -0.00270137 0.999307 0.0368151 uwb: 0.49909115 1250.37 1108.35 -imu_odom_: 1691062875.16819964 0.433351 -0.0885855 10.1466 -0.0585895 -0.0170442 0.0575243 0.22 0 pose: 0.0 -1.10919 -3.92811 0 0.00481633 -0.00270137 0.999307 0.0368151 uwb: 0.0 1250.37 1108.35 -imu_odom_: 1691062875.42886727 0.699107 -0.268151 10.0963 -0.0298274 -0.0447411 0.0276969 0.24 0 pose: 0.42149487 -1.12289 -3.9316 0 0.00664158 -0.00423759 0.999299 0.0365971 uwb: 0.49894241 1250.25 1110.11 -imu_odom_: 1691062875.59881148 0.442927 -0.153229 9.81144 -0.0511327 0.0234358 0.052198 0.24 0 pose: 0.0 -1.12289 -3.9316 0 0.00664158 -0.00423759 0.999299 0.0365971 uwb: 0.0 1250.25 1110.11 -imu_odom_: 1691062875.76671122 0.447716 -0.339977 9.57202 -0.0436758 -0.0266316 0.0468716 0.24 0 pose: 0.0 -1.12289 -3.9316 0 0.00664158 -0.00423759 0.999299 0.0365971 uwb: 0.0 1250.25 1110.11 -imu_odom_: 1691062875.100680006 0.675165 -0.320823 9.87608 -0.0543285 -0.0319579 0.0511327 0.18 0 pose: 0.84826277 -1.13448 -3.93154 0 0.00595846 -0.00232763 0.999316 0.036419 uwb: 0.49982904 1250.81 1110.36 -imu_odom_: 1691062875.126756686 0.531513 -0.232238 10.0509 -0.0436758 0.0266316 0.0287621 0.18 0 pose: 0.0 -1.13448 -3.93154 0 0.00595846 -0.00232763 0.999316 0.036419 uwb: 0.0 1250.81 1110.36 -imu_odom_: 1691062875.152826074 0.754174 -0.234632 9.97903 -0.0660464 -0.0426106 0.0628506 0.18 -0.02 pose: 0.7026713 -1.13659 -3.9351 0 0.00669379 -0.00262476 0.999312 0.0363777 uwb: 0.50145935 1250.83 1110.89 -imu_odom_: 1691062875.169830994 0.600945 -0.244209 9.65342 -0.0617853 -0.00319579 0.036219 0.18 -0.02 pose: 0.0 -1.13659 -3.9351 0 0.00669379 -0.00262476 0.999312 0.0363777 uwb: 0.0 1250.83 1110.89 -imu_odom_: 1691062875.185697605 0.0574608 -0.316035 9.67257 -0.0490022 0.00958738 0.0468716 0.22 0 pose: 0.50355048 -1.1452 -3.93 0 0.00717617 -0.00132647 0.999313 0.0363456 uwb: 0.0 1250.83 1110.89 -imu_odom_: 1691062875.202687359 0.840365 -0.0670376 10.0317 -0.076699 -0.0138484 0.0575243 0.22 0 pose: 0.0 -1.1452 -3.93 0 0.00717617 -0.00132647 0.999313 0.0363456 uwb: 0.49879951 1250.85 1111.95 -imu_odom_: 1691062875.227819969 0.739808 -0.1652 10.0485 -0.0383495 -0.015979 0.036219 0.18 0 pose: 0.68634476 -1.16183 -3.92696 0 0.0107226 -0.00157545 0.999295 0.0359513 uwb: 0.0 1250.85 1111.95 -imu_odom_: 1691062875.244723979 0.258574 -0.354342 9.2895 -0.0852212 -0.0223706 0.0596548 0.18 0 pose: 0.7034005 -1.1675 -3.92841 0 0.0113838 -0.00117859 0.999287 0.0359668 uwb: 0.50182391 1251.15 1112.08 -imu_odom_: 1691062875.260804369 0.691924 -0.414197 10.4315 -0.0553937 -0.00319579 0.0500674 0.18 0 pose: 0.0 -1.1675 -3.92841 0 0.0113838 -0.00117859 0.999287 0.0359668 uwb: 0.0 1251.15 1112.08 -imu_odom_: 1691062875.286694101 0.646434 -0.129287 10.2041 -0.0777643 0.0127832 0.0639159 0.24 0 pose: 0.42011537 -1.1675 -3.92841 0 0.0117722 -0.00164394 0.999289 0.035789 uwb: 0.0 1251.15 1112.08 -imu_odom_: 1691062875.312669287 0.481235 -0.335188 9.84256 -0.0649811 0.0426106 0.0415453 0.18 0 pose: 0.0 -1.1675 -3.92841 0 0.0117722 -0.00164394 0.999289 0.035789 uwb: 0.49941781 1250.91 1113.03 -imu_odom_: 1691062875.328661308 0.387861 -0.349553 9.8258 -0.0458064 0.00852212 0.04048 0.18 0 pose: 0.43014812 -1.17611 -3.92333 0 0.0109976 -0.0007488930.999311 0.0354386 uwb: 0.0 1250.91 1113.03 -imu_odom_: 1691062875.344714284 0.514753 -0.373495 9.93833 -0.0585895 -0.0308927 0.0479369 0.18 0.02 pose: 0.0 -1.17611 -3.92333 0 0.0109976 -0.0007488930.999311 0.0354386 uwb: 0.49848744 1251.02 1114.4 -imu_odom_: 1691062875.361690330 0.474052 -0.225055 10.1131 -0.0394148 0.0245011 0.0372843 0.18 0.02 pose: 0.40919601 -1.1898 -3.92685 0 0.00745333 -0.00320005 0.999342 0.0353579 uwb: 0.0 1251.02 1114.4 -imu_odom_: 1691062875.386693739 0.416591 -0.0814029 9.88566 -0.052198 -0.00532632 0.0447411 0.18 0 pose: 0.0 -1.1898 -3.92685 0 0.00745333 -0.00320005 0.999342 0.0353579 uwb: 0.0 1251.02 1114.4 -imu_odom_: 1691062875.412811833 0.806846 -0.184354 9.89045 -0.0415453 -0.00213053 0.0340885 0.18 0 pose: 0.33175138 -1.1898 -3.92685 0 0.00543949 -0.00212087 0.999359 0.0353202 uwb: 0.50003319 1251.37 1114.03 -imu_odom_: 1691062875.437799202 0.270545 -0.344765 9.34936 -0.056459 -0.0234358 0.0415453 0.18 0.02 pose: 0.0 -1.1898 -3.92685 0 0.00543949 -0.00212087 0.999359 0.0353202 uwb: 0.0 1251.37 1114.03 -imu_odom_: 1691062875.453715685 0.823605 -0.335188 9.98143 -0.036219 -0.0266316 0.0372843 0.18 0.02 pose: 0.43969381 -1.19842 -3.92177 0 0.00722859 -0.0001028670.999349 0.0353537 uwb: 0.50104521 1251.27 1115.04 -imu_odom_: 1691062875.479858861 0.845153 -0.304064 10.4291 -0.0639159 -0.0319579 0.0468716 0.18 0 pose: 0.7006881 -1.19842 -3.92177 0 0.00665767 -0.0004002230.999353 0.0353448 uwb: 0.0 1251.27 1115.04 -imu_odom_: 1691062875.505802840 0.770933 -0.220267 9.81144 -0.0617853 0.0170442 0.0447411 0.18 0 pose: 0.0 -1.19842 -3.92177 0 0.00665767 -0.0004002230.999353 0.0353448 uwb: 0.49951405 1250.83 1116.16 -imu_odom_: 1691062875.530963157 0.703895 -0.203507 9.79228 -0.072438 0.0117179 0.0340885 0.2 0 pose: 0.42024370 -1.21211 -3.9253 0 0.00777808 -0.00178818 0.999345 0.035308 uwb: 0.0 1250.83 1116.16 -imu_odom_: 1691062875.556814975 0.347159 -0.514753 10.1299 -0.0703074 -0.0191748 0.0617853 0.2 0 pose: 0.0 -1.21211 -3.9253 0 0.00777808 -0.00178818 0.999345 0.035308 uwb: 0.49933031 1251.23 1116.35 -imu_odom_: 1691062875.582667959 0.414197 -0.287304 10.1131 -0.0319579 0.00958738 0.0234358 0.2 0 pose: 0.50907140 -1.22072 -3.92022 0 0.0126088 -0.00170909 0.999299 0.0352099 uwb: 0.0 1251.23 1116.35 -imu_odom_: 1691062875.608699141 0.213084 -0.234632 10.2472 -0.04048 -0.0106526 0.0511327 0.23 -0.02 pose: 0.0 -1.22072 -3.92022 0 0.0126088 -0.00170909 0.999299 0.0352099 uwb: 0.49978237 1250.89 1117.26 -imu_odom_: 1691062875.624780115 0.308852 -0.0215478 9.85693 -0.0245011 -0.0319579 0.0372843 0.23 -0.02 pose: 0.51068715 -1.23442 -3.92376 0 0.011457 -0.00273437 0.999317 0.0350208 uwb: 0.0 1250.89 1117.26 -imu_odom_: 1691062875.650789132 0.328006 -0.0885855 9.87129 -0.0532632 0.00319579 0.056459 0.23 0 pose: 0.0 -1.23442 -3.92376 0 0.011457 -0.00273437 0.999317 0.0350208 uwb: 0.50112687 1251.7 1117.37 -imu_odom_: 1691062875.675702713 0.426168 -0.215478 9.73961 -0.0426106 0.0426106 0.0447411 0.23 0 pose: 0.51974287 -1.23442 -3.92376 0 0.0065723 -0.00156082 0.999364 0.0350184 uwb: 0.0 1251.7 1117.37 -imu_odom_: 1691062875.691636404 0.397437 -0.237026 9.85693 -0.0756338 -0.0532632 0.0596548 0.21 0 pose: 0.0 -1.23442 -3.92376 0 0.0065723 -0.00156082 0.999364 0.0350184 uwb: 0.49906200 1251.98 1118.04 -imu_odom_: 1691062875.718854309 0.727837 0.023942 10.501 -0.0660464 -0.0468716 0.0415453 0.21 0 pose: 0.75843178 -1.25263 -3.92463 0 0.000254377 -0.00110684 0.999401 0.0345929 uwb: 0.0 1251.98 1118.04 -imu_odom_: 1691062875.744654796 0.821211 -0.368707 9.81144 -0.0969391 0.0127832 0.0511327 0.25 0.02 pose: 0.8074610 -1.25673 -3.92223 0 0.00106661 -0.0006656130.999401 0.0345856 uwb: 0.50115020 1250.99 1120.25 -imu_odom_: 1691062875.769653539 0.627281 -0.114922 9.96706 -0.0532632 0.0447411 0.04048 0.19 -0.02 pose: 0.0 -1.25673 -3.92223 0 0.00106661 -0.0006656130.999401 0.0345856 uwb: 0.0 1250.99 1120.25 -imu_odom_: 1691062875.795640391 0.555455 -0.294487 9.67257 -0.0692422 0.00639159 0.04048 0.2 0.02 pose: 0.52090363 -1.26535 -3.91716 0 0.00541781 -0.0007966640.999393 0.0344162 uwb: 0.49995153 1250.95 1121.31 -imu_odom_: 1691062875.812633061 0.28491 -0.162806 9.7037 -0.0543285 0.0330232 0.0308927 0.2 0.02 pose: 0.0 -1.26535 -3.91716 0 0.00541781 -0.0007966640.999393 0.0344162 uwb: 0.0 1250.95 1121.31 -imu_odom_: 1691062875.838692242 0.653617 -0.246603 9.08839 -0.0436758 -0.00213053 0.0468716 0.25 -0.02 pose: 0.60831684 -1.27903 -3.92071 0 0.00502596 -0.0015652 0.999392 0.034465 uwb: 0.49879659 1250.48 1122.17 -imu_odom_: 1691062875.863705276 0.78051 0.0335188 9.37809 -0.0383495 0.00958738 0.0372843 0.19 -0.02 pose: 0.7012423 -1.27903 -3.92071 0 0.00571991 -0.00157915 0.999389 0.03444 uwb: 0.0 1250.48 1122.17 -imu_odom_: 1691062875.889787788 0.234632 -0.500388 9.414 -0.0575243 0.0149137 0.0351537 0.21 0.02 pose: 0.44059792 -1.28488 -3.91728 0 0.00913668 0.000439612 0.999366 0.0344154 uwb: 0.49991069 1250.69 1122.81 -imu_odom_: 1691062875.915698811 -0.162806 -0.438139 9.96467 -0.0639159 0.0266316 0.0553937 0.17 0 pose: 0.0 -1.28488 -3.91728 0 0.00913668 0.000439612 0.999366 0.0344154 uwb: 0.0 1250.69 1122.81 -imu_odom_: 1691062875.932639276 0.837971 -0.263362 9.89284 -0.0639159 0.02024 0.0436758 0.17 0 pose: 0.51993535 -1.29766 -3.91825 0 0.00395861 -0.0019764 0.999404 0.0342489 uwb: 0.0 1250.69 1122.81 -imu_odom_: 1691062875.958612420 0.35913 -0.229843 9.53611 -0.0692422 -0.00426106 0.0553937 0.19 0.02 pose: 0.0 -1.29766 -3.91825 0 0.00395861 -0.0019764 0.999404 0.0342489 uwb: 0.50042983 1250.04 1124.93 -imu_odom_: 1691062875.984752388 0.445322 -0.311246 10.2113 -0.052198 0.00213053 0.0372843 0.19 0.02 pose: 0.42913609 -1.30134 -3.9192 0 0.00287845 -0.00187243 0.999416 0.0340107 uwb: 0.0 1250.04 1124.93 -imu_odom_: 1691062876.697161 0.584185 -0.196325 10.1347 -0.0500674 -0.00532632 0.036219 0.19 0 pose: 0.0 -1.30134 -3.9192 0 0.00287845 -0.00187243 0.999416 0.0340107 uwb: 0.50087606 1250.24 1125.85 -imu_odom_: 1691062876.26663015 0.371101 -0.198719 9.52653 -0.0351537 0.00319579 0.0298274 0.19 0 pose: 0.42084741 -1.30997 -3.91415 0 0.00332218 -0.00336249 0.999408 0.0340661 uwb: 0.0 1250.24 1125.85 -imu_odom_: 1691062876.51678090 0.565032 -0.162806 9.97664 -0.0649811 -0.0138484 0.0490022 0.19 0 pose: 0.0 -1.30997 -3.91415 0 0.00332218 -0.00336249 0.999408 0.0340661 uwb: 0.49987278 1250.11 1126.88 -imu_odom_: 1691062876.68622347 0.47884 -0.167594 9.73961 -0.0415453 -0.0127832 0.0458064 0.19 0 pose: 0.33985634 -1.32365 -3.91771 0 0.00200496 -0.00107198 0.999414 0.034155 uwb: 0.0 1250.11 1126.88 -imu_odom_: 1691062876.94760857 0.6608 -0.181959 10.3765 -0.0575243 -0.0127832 0.0596548 0.18 -0.02 pose: 0.0 -1.32365 -3.91771 0 0.00200496 -0.00107198 0.999414 0.034155 uwb: 0.49886368 1250.18 1127.47 -imu_odom_: 1691062876.120785623 0.873884 -0.215478 10.0293 -0.0298274 -0.0149137 0.0287621 0.18 -0.02 pose: 0.24043007 -1.32365 -3.91771 0 0.00372826 0.000388184 0.999413 0.0340584 uwb: 0.0 1250.18 1127.47 -imu_odom_: 1691062876.145619876 0.861913 -0.466869 9.8258 -0.076699 -0.0394148 0.0660464 0.19 0 pose: 0.62059821 -1.33228 -3.91265 0 0.00939414 0.0013193 0.99938 0.0338967 uwb: 0.50037443 1250.04 1128.78 -imu_odom_: 1691062876.171824299 0.0861913 -0.107739 9.56962 -0.0575243 0.00426106 0.0607201 0.19 0 pose: 0.0 -1.33228 -3.91265 0 0.00939414 0.0013193 0.99938 0.0338967 uwb: 0.0 1250.04 1128.78 -imu_odom_: 1691062876.197784611 0.335188 -0.306458 9.77553 -0.0713727 -0.0351537 0.0447411 0.2 0.02 pose: 0.8000240 -1.33228 -3.91265 0 0.0100711 0.000637211 0.999378 0.0337855 uwb: 0.49919908 1249.53 1131 -imu_odom_: 1691062876.222684193 0.272939 -0.124498 10.3118 -0.0671117 -0.0479369 0.0575243 0.23 0 pose: 0.0 -1.33228 -3.91265 0 0.0100711 0.000637211 0.999378 0.0337855 uwb: 0.0 1249.53 1131 -imu_odom_: 1691062876.237771226 0.471658 -0.414197 9.39485 -0.0575243 -0.04048 0.0468716 0.23 0 pose: 0.51070174 -1.34596 -3.91623 0 0.00820186 -0.0005269230.999413 0.0332586 uwb: 0.0 1249.53 1131 -imu_odom_: 1691062876.254602614 0.430956 -0.102951 9.91678 -0.0532632 0.0191748 0.0426106 0.23 0 pose: 0.0 -1.34596 -3.91623 0 0.00820186 -0.0005269230.999413 0.0332586 uwb: 0.50077690 1249.44 1132.07 -imu_odom_: 1691062876.280732083 0.416591 -0.52433 9.76834 -0.0692422 -0.0149137 0.0500674 0.19 0 pose: 0.48849553 -1.3546 -3.91118 0 0.00506311 -0.0010197 0.999443 0.032965 uwb: 0.0 1249.44 1132.07 -imu_odom_: 1691062876.306770557 0.373495 -0.464475 10.2185 -0.015979 0.0213053 0.0308927 0.23 0 pose: 0.0 -1.3546 -3.91118 0 0.00506311 -0.0010197 0.999443 0.032965 uwb: 0.49973863 1250.41 1132.3 -imu_odom_: 1691062876.332670497 0.828394 -0.162806 10.0748 -0.0617853 0.00745685 0.0617853 0.18 0.02 pose: 0.33909513 -1.36828 -3.91478 0 0.00402319 -0.00120758 0.999451 0.0328636 uwb: 0.0 1250.41 1132.3 -imu_odom_: 1691062876.349623504 -0.114922 0.107739 9.30626 -0.0820254 0.0415453 0.072438 0.18 0.02 pose: 0.0 -1.36828 -3.91478 0 0.00402319 -0.00120758 0.999451 0.0328636 uwb: 0.49968904 1250.85 1132.53 -imu_odom_: 1691062876.374613498 0.248997 -0.320823 9.76116 -0.0830906 -0.0234358 0.0468716 0.18 0 pose: 0.52072865 -1.36828 -3.91478 0 0.0027102 -0.00456922 0.999449 0.0327778 uwb: 0.0 1250.85 1132.53 -imu_odom_: 1691062876.400609974 0.447716 -0.232238 10.307 -0.0458064 -0.0170442 0.0330232 0.23 0 pose: 0.0 -1.36828 -3.91478 0 0.0027102 -0.00456922 0.999449 0.0327778 uwb: 0.50004487 1250.39 1134.25 -imu_odom_: 1691062876.416612786 0.318429 -0.304064 9.50977 -0.056459 0.0117179 0.0490022 0.19 0.02 pose: 0.85922006 -1.38825 -3.91472 0 0.00178943 -0.0017251 0.999475 0.0323018 uwb: 0.0 1250.39 1134.25 -imu_odom_: 1691062876.443738238 0.500388 -0.213084 10.1275 -0.04048 -0.0191748 0.0436758 0.19 0.02 pose: 0.0 -1.38825 -3.91472 0 0.00178943 -0.0017251 0.999475 0.0323018 uwb: 0.50112104 1251.03 1134.6 -imu_odom_: 1691062876.468585907 0.612916 -0.148441 10.0245 -0.0458064 0.00426106 0.0436758 0.21 -0.02 pose: 0.7040421 -1.39059 -3.91335 0 0.00108956 -0.00201534 0.999477 0.0322671 uwb: 0.0 1251.03 1134.6 -imu_odom_: 1691062876.483584570 0.905008 -0.45011 9.64863 -0.052198 0.0191748 0.0383495 0.21 -0.02 pose: 0.0 -1.39059 -3.91335 0 0.00108956 -0.00201534 0.999477 0.0322671 uwb: 0.0 1251.03 1134.6 -imu_odom_: 1691062876.510715854 0.6608 -0.328006 10.3645 -0.0426106 0.0191748 0.0394148 0.18 0.02 pose: 0.17090373 -1.39059 -3.91335 0 0.000990004 -0.00196584 0.999479 0.032208 uwb: 0.49997487 1250.92 1135.95 -imu_odom_: 1691062876.536740329 0.426168 -0.220267 10.2615 -0.0436758 0.00426106 0.0426106 0.23 -0.02 pose: 0.66893038 -1.39923 -3.90833 0 0.0065647 -0.0009879180.999462 0.0321289 uwb: 0.0 1250.92 1135.95 -imu_odom_: 1691062876.552742558 0.0885855 -0.131681 9.76355 -0.0575243 0.00639159 0.0436758 0.17 0 pose: 0.0 -1.39923 -3.90833 0 0.0065647 -0.0009879180.999462 0.0321289 uwb: 0.0 1250.92 1135.95 -imu_odom_: 1691062876.578590002 0.272939 -0.186748 9.9503 -0.0692422 -0.0319579 0.0436758 0.17 0 pose: 0.0 -1.39923 -3.90833 0 0.0065647 -0.0009879180.999462 0.0321289 uwb: 0.0 1250.92 1135.95 -imu_odom_: 1691062876.603649700 0.251391 -0.0837971 10.0556 -0.0458064 -0.0319579 0.0458064 0.18 -0.02 pose: 0.52141111 -1.4129 -3.91194 0 0.00446133 -0.00108424 0.999475 0.0320688 uwb: 0.99873063 1250.63 1137.22 -imu_odom_: 1691062876.630703989 0.385466 -0.107739 10.0868 -0.0532632 0.0234358 0.0468716 0.21 0 pose: 0.59874783 -1.42155 -3.90692 0 -0.00019645 0.00127948 0.99949 0.0319217 uwb: 0.0 1250.63 1137.22 -imu_odom_: 1691062876.656572431 0.890643 -0.131681 9.64624 -0.0319579 0.0213053 0.0213053 0.19 0.02 pose: 0.7971366 -1.42155 -3.90692 0 -0.0004063 0.0020835 0.999489 0.0318924 uwb: 0.50017902 1250.14 1139.23 -imu_odom_: 1691062876.682658444 0.253785 -0.402226 9.68455 -0.0383495 0.00745685 0.0447411 0.23 -0.02 pose: 0.26036432 -1.43522 -3.91054 0 -0.0002996250.00408007 0.999483 0.0318828 uwb: 0.0 1250.14 1139.23 -imu_odom_: 1691062876.707597691 0.572214 -0.0574608 10.2568 -0.0468716 -0.0841559 0.0543285 0.23 -0.02 pose: 0.0 -1.43522 -3.91054 0 -0.0002996250.00408007 0.999483 0.0318828 uwb: 0.50103939 1249.64 1141.24 -imu_odom_: 1691062876.724703813 0.45011 -0.311246 9.38527 -0.0383495 0.0266316 0.0553937 0.21 0 pose: 0.26011351 -1.43522 -3.91054 0 0.00091587 0.00375072 0.999479 0.0320297 uwb: 0.0 1249.64 1141.24 -imu_odom_: 1691062876.750664709 0.296881 -0.0814029 9.94312 -0.0447411 0.0117179 0.0436758 0.21 0 pose: 0.0 -1.43522 -3.91054 0 0.00091587 0.00375072 0.999479 0.0320297 uwb: 0.49856328 1248.52 1143.48 -imu_odom_: 1691062876.776559399 0.0622492 -0.457293 9.84256 -0.0511327 -0.00213053 0.0468716 0.25 0 pose: 0.52047491 -1.44386 -3.90552 0 0.00272208 0.00293408 0.999489 0.0317286 uwb: 0.0 1248.52 1143.48 -imu_odom_: 1691062876.802562584 0.387861 -0.280122 10.2185 -0.0703074 -0.0181095 0.0468716 0.25 0 pose: 0.41925793 -1.45753 -3.90915 0 -0.0004081290.00319812 0.999496 0.0315852 uwb: 0.49900367 1249.19 1143.87 -imu_odom_: 1691062876.818565396 0.866701 -0.129287 9.54329 -0.0703074 -0.0340885 0.0340885 0.23 0 pose: 0.0 -1.45753 -3.90915 0 -0.0004081290.00319812 0.999496 0.0315852 uwb: 0.0 1249.19 1143.87 -imu_odom_: 1691062876.843565014 0.806846 -0.265756 9.55765 -0.0692422 -0.0181095 0.056459 0.23 0 pose: 0.0 -1.45753 -3.90915 0 -0.0004081290.00319812 0.999496 0.0315852 uwb: 0.49979696 1249.08 1144.96 -imu_odom_: 1691062876.860626223 0.428562 -0.380678 9.74201 -0.0788296 -0.00532632 0.0383495 0.2 0 pose: 0.51944831 -1.46618 -3.90413 0 -0.000399724-0.00068716 0.999505 0.0314499 uwb: 0.0 1249.08 1144.96 -imu_odom_: 1691062876.876614161 0.292093 -0.0837971 9.84975 -0.0490022 0.0276969 0.0351537 0.2 0 pose: 0.0 -1.46618 -3.90413 0 -0.000399724-0.00068716 0.999505 0.0314499 uwb: 0.0 1249.08 1144.96 -imu_odom_: 1691062876.902614720 0.761356 -0.251391 9.18176 -0.0447411 -0.00106526 0.052198 0.25 0.02 pose: 0.40987264 -1.47985 -3.90777 0 0.00306707 -0.0018711 0.999505 0.0312673 uwb: 0.50027235 1249.39 1146.02 -imu_odom_: 1691062876.928711232 0.526724 -0.059855 9.94791 -0.0511327 0.0330232 0.0372843 0.25 0.02 pose: 0.0 -1.47985 -3.90777 0 0.00306707 -0.0018711 0.999505 0.0312673 uwb: 0.0 1249.39 1146.02 -imu_odom_: 1691062876.953590399 0.232238 -0.442927 9.52892 -0.052198 0.0245011 0.0340885 0.23 -0.02 pose: 0.34002258 -1.47985 -3.90777 0 0.00228844 -0.00167069 0.999507 0.0312578 uwb: 0.50080898 1249.32 1147.15 -imu_odom_: 1691062876.968591978 0.339977 -0.241814 9.8665 -0.0458064 -0.0287621 0.0415453 0.23 -0.02 pose: 0.0 -1.47985 -3.90777 0 0.00228844 -0.00167069 0.999507 0.0312578 uwb: 0.0 1249.32 1147.15 -imu_odom_: 1691062876.995642768 0.715866 -0.294487 10.1754 -0.0756338 -0.0276969 0.0383495 0.19 0 pose: 0.51078339 -1.4885 -3.90276 0 0.00363902 0.00046468 0.999506 0.0312059 uwb: 0.49940323 1250.29 1147.14 -imu_odom_: 1691062877.11599500 0.42138 -0.253785 9.52653 -0.0394148 0.0223706 0.0276969 0.19 0 pose: 0.0 -1.4885 -3.90276 0 0.00363902 0.00046468 0.999506 0.0312059 uwb: 0.0 1250.29 1147.14 -imu_odom_: 1691062877.37628641 0.459687 -0.260968 9.83299 -0.0703074 -0.0255663 0.0447411 0.23 -0.02 pose: 0.41127548 -1.50217 -3.9064 0 0.00165088 -0.00109885 0.99951 0.03124 uwb: 0.0 1250.29 1147.14 -imu_odom_: 1691062877.62789834 0.988805 -0.385466 9.55765 -0.0585895 -0.0681769 0.0330232 0.23 -0.02 pose: 0.42898153 -1.50217 -3.9064 0 0.00265001 -0.00234991 0.999503 0.0313232 uwb: 0.49950823 1250.05 1148.47 -imu_odom_: 1691062877.88577490 0.294487 -0.258574 9.83777 -0.036219 0.00426106 0.0287621 0.21 0 pose: 0.0 -1.50217 -3.9064 0 0.00265001 -0.00234991 0.999503 0.0313232 uwb: 0.50025194 1250.4 1149.27 -imu_odom_: 1691062877.114712792 0.483629 -0.0023942 9.92875 -0.0617853 -0.0308927 0.0500674 0.2 0.02 pose: 0.49968323 -1.51082 -3.90139 0 0.0068493 -0.0040153 0.999475 0.0313973 uwb: 0.0 1250.4 1149.27 -imu_odom_: 1691062877.139571835 0.37589 -0.059855 9.81144 -0.0447411 0.0532632 0.0415453 0.23 -0.02 pose: 0.0 -1.51082 -3.90139 0 0.0068493 -0.0040153 0.999475 0.0313973 uwb: 0.50157603 1250.11 1150.58 -imu_odom_: 1691062877.162757685 0.751779 -0.0885855 9.64863 -0.0649811 -0.0127832 0.0607201 0.19 0.02 pose: 0.52020660 -1.52449 -3.90503 0 0.00456647 -0.0003977420.999498 0.0313642 uwb: 0.0 1250.11 1150.58 -imu_odom_: 1691062877.178559259 0.414197 -0.241814 9.87129 -0.0340885 0.0426106 0.0308927 0.19 0.02 pose: 0.0 -1.52449 -3.90503 0 0.00456647 -0.0003977420.999498 0.0313642 uwb: 0.0 1250.11 1150.58 -imu_odom_: 1691062877.204631857 0.342371 0.00718261 10.1035 -0.0553937 -0.0138484 0.0617853 0.19 0.02 pose: 0.24075673 -1.53314 -3.90002 0 0.00364261 0.0013368 0.999503 0.0312879 uwb: 0.49916117 1249.41 1152.54 -imu_odom_: 1691062877.229638766 0.390255 -0.107739 10.2352 -0.0436758 0.0138484 0.036219 0.23 0 pose: 0.39960075 -1.53314 -3.90002 0 0.00330707 0.00167602 0.99951 0.0310962 uwb: 0.0 1249.41 1152.54 -imu_odom_: 1691062877.246762097 0.308852 -0.265756 9.81862 -0.0692422 -0.00213053 0.0532632 0.23 0 pose: 0.0 -1.53314 -3.90002 0 0.00330707 0.00167602 0.99951 0.0310962 uwb: 0.50028403 1250.26 1152.46 -imu_odom_: 1691062877.272752449 0.0215478 -0.102951 9.53132 -0.04048 0.00958738 0.036219 0.21 0 pose: 0.51054426 -1.5468 -3.90366 0 -0.0002883480.00423722 0.999514 0.0308974 uwb: 0.0 1250.26 1152.46 -imu_odom_: 1691062877.297585244 0.196325 -0.476446 9.46667 -0.0756338 0.0245011 0.0500674 0.23 0 pose: 0.35992766 -1.55546 -3.89866 0 -0.00360627 0.00397053 0.999509 0.0308829 uwb: 0.50012653 1249.94 1153.76 -imu_odom_: 1691062877.322665941 0.158017 -0.395043 9.56723 -0.0649811 0.0191748 0.0458064 0.23 0 pose: 0.0 -1.55546 -3.89866 0 -0.00360627 0.00397053 0.999509 0.0308829 uwb: 0.0 1249.94 1153.76 -imu_odom_: 1691062877.347540734 0.328006 -0.134075 9.59357 -0.0617853 -0.0223706 0.0500674 0.18 -0.02 pose: 0.6960800 -1.55546 -3.89866 0 -0.00399247 0.00326768 0.999511 0.0308493 uwb: 0.49985238 1249.49 1155.29 -imu_odom_: 1691062877.364554403 0.459687 -0.0766145 9.86411 -0.0394148 0.00213053 0.0319579 0.18 -0.02 pose: 0.0 -1.55546 -3.89866 0 -0.00399247 0.00326768 0.999511 0.0308493 uwb: 0.0 1249.49 1155.29 -imu_odom_: 1691062877.390564588 0.529119 -0.244209 9.56962 -0.0820254 0.0138484 0.0415453 0.19 0 pose: 0.50892268 -1.56912 -3.90231 0 -0.0063447 2.74977e-05 0.99951 0.0306493 uwb: 0.49960448 1249.64 1156.29 -imu_odom_: 1691062877.417590879 0.986411 -0.227449 10.2424 -0.0703074 -0.0426106 0.0596548 0.19 0 pose: 0.0 -1.56912 -3.90231 0 -0.0063447 2.74977e-05 0.99951 0.0306493 uwb: 0.0 1249.64 1156.29 -imu_odom_: 1691062877.433656688 0.782904 -0.299275 9.22486 -0.0777643 -0.00106526 0.0639159 0.18 0.02 pose: 0.42117699 -1.57778 -3.89731 0 -0.00327034 0.00208391 0.999524 0.0306003 uwb: 0.0 1249.64 1156.29 -imu_odom_: 1691062877.459528047 0.162806 -0.155623 9.80186 -0.0490022 0.0298274 0.0340885 0.18 0.02 pose: 0.0 -1.57778 -3.89731 0 -0.00327034 0.00208391 0.999524 0.0306003 uwb: 0.49867994 1249.73 1157.57 -imu_odom_: 1691062877.485647309 0.177171 -0.531513 9.663 -0.0532632 0.0127832 0.0436758 0.18 0.02 pose: 0.52853320 -1.57778 -3.89731 0 0.00216879 0.000401422 0.999541 0.0302085 uwb: 0.0 1249.73 1157.57 -imu_odom_: 1691062877.512533900 0.301669 -0.217872 9.76834 -0.0479369 -0.0703074 0.0468716 0.2 0.02 pose: 0.60070773 -1.5978 -3.89732 0 -0.00179513 -0.00135926 0.999543 0.0301295 uwb: 0.50003321 1249.46 1158.61 -imu_odom_: 1691062877.538572083 0.296881 -0.282516 10.2975 -0.0340885 0.0170442 0.0383495 0.2 -0.02 pose: 0.6925219 -1.6001 -3.89599 0 -0.00221186 -0.0010888 0.999544 0.0301027 uwb: 0.50026360 1249.48 1159.55 -imu_odom_: 1691062877.555573503 0.3304 -0.205901 9.61751 -0.0788296 -0.0276969 0.0585895 0.2 -0.02 pose: 0.0 -1.6001 -3.89599 0 -0.00221186 -0.0010888 0.999544 0.0301027 uwb: 0.0 1249.48 1159.55 -imu_odom_: 1691062877.571522944 0.905008 -0.280122 10.0461 -0.0511327 -0.00106526 0.0436758 0.23 0.02 pose: 0.28029566 -1.6001 -3.89599 0 -0.00394287 -0.0008937090.999541 0.0300326 uwb: 0.0 1249.48 1159.55 -imu_odom_: 1691062877.598585400 0.773327 -0.323217 10.2592 -0.0426106 -0.0308927 0.0415453 0.23 0.02 pose: 0.0 -1.6001 -3.89599 0 -0.00394287 -0.0008937090.999541 0.0300326 uwb: 0.49966573 1249.3 1160.97 -imu_odom_: 1691062877.623601351 0.703895 -0.114922 9.48104 -0.0543285 0 0.0426106 0.18 0.02 pose: 0.77983306 -1.61986 -3.89616 0 0.000362288 -0.00146173 0.999554 0.0298275 uwb: 0.0 1249.3 1160.97 -imu_odom_: 1691062877.640579439 0.112527 -0.136469 9.9503 -0.0553937 -0.00852212 0.0426106 0.18 0.02 pose: 0.0 -1.61986 -3.89616 0 0.000362288 -0.00146173 0.999554 0.0298275 uwb: 0.49971822 1249.45 1161.68 -imu_odom_: 1691062877.666581749 0.184354 -0.201113 9.92636 -0.0479369 -0.0458064 0.0426106 0.18 0.02 pose: 0.8025321 -1.62243 -3.89468 0 0.00109235 -0.00115992 0.999554 0.0298166 uwb: 0.0 1249.45 1161.68 -imu_odom_: 1691062877.693535420 0.536301 -0.172383 10.2831 -0.0468716 -0.0117179 0.0426106 0.25 0 pose: 0.59971028 -1.63225 -3.89733 0 -0.00100793 0.000253783 0.999557 0.0297287 uwb: 0.49999529 1249.52 1162.66 -imu_odom_: 1691062877.709674724 0.409408 -0.296881 9.68455 -0.0500674 0.0127832 0.0330232 0.19 0 pose: 0.0 -1.63225 -3.89733 0 -0.00100793 0.000253783 0.999557 0.0297287 uwb: 0.0 1249.52 1162.66 -imu_odom_: 1691062877.736551108 0.418985 -0.342371 10.2328 -0.0319579 -0.00958738 0.0490022 0.19 0 pose: 0.34983076 -1.63608 -3.89836 0 0.00143866 0.000180546 0.999557 0.0297119 uwb: 0.0 1249.52 1162.66 -imu_odom_: 1691062877.761570559 0.129287 -0.0670376 10.2903 -0.0372843 0.0266316 0.036219 0.25 0 pose: 0.0 -1.63608 -3.89836 0 0.00143866 0.000180546 0.999557 0.0297119 uwb: 0.50084399 1250.4 1162.3 -imu_odom_: 1691062877.778666766 0.502782 -0.138864 9.98622 -0.0500674 -0.00213053 0.0553937 0.25 0 pose: 0.0 -1.63608 -3.89836 0 0.00143866 0.000180546 0.999557 0.0297119 uwb: 0.0 1250.4 1162.3 -imu_odom_: 1691062877.803507727 0.318429 -0.201113 10.003 -0.036219 0.0479369 0.04048 0.18 0 pose: 0.77101941 -1.6524 -3.89544 0 -6.20606e-05-0.0001379750.999564 0.0295107 uwb: 0.49968322 1250.28 1163.78 -imu_odom_: 1691062877.830672552 0.114922 -0.035913 9.39485 -0.0745685 -0.00213053 0.0543285 0.23 -0.02 pose: 0.7931410 -1.6584 -3.89707 0 -0.0010417 0.000118752 0.999564 0.0295071 uwb: 0.0 1250.28 1163.78 -imu_odom_: 1691062877.855541511 0.122104 -0.347159 9.47386 -0.0692422 0.0458064 0.0447411 0.18 0 pose: 0.0 -1.6584 -3.89707 0 -0.0010417 0.000118752 0.999564 0.0295071 uwb: 0.49963073 1249.73 1165.6 -imu_odom_: 1691062877.882744251 0.371101 -0.186748 9.8282 -0.0607201 -0.0426106 0.0426106 0.23 0 pose: 0.52035243 -1.66708 -3.89209 0 -0.0061093 0.0014995 0.999552 0.0292767 uwb: 0.0 1249.73 1165.6 -imu_odom_: 1691062877.907663083 0.553061 -0.047884 10.4244 -0.0543285 -0.0383495 0.0500674 0.23 0 pose: 0.0 -1.66708 -3.89209 0 -0.0061093 0.0014995 0.999552 0.0292767 uwb: 0.50249181 1249.22 1167.47 -imu_odom_: 1691062877.934673917 0.624887 -0.0550666 10.1754 -0.0351537 -0.0458064 0.0383495 0.22 0 pose: 0.69029664 -1.67678 -3.89472 0 -0.00204222 0.00197986 0.999574 0.0290565 uwb: 0.0 1249.22 1167.47 -imu_odom_: 1691062877.950702103 0.407014 -0.349553 9.43315 -0.052198 0.0255663 0.0394148 0.22 0 pose: 0.6896929 -1.68073 -3.89579 0 -0.00126076 0.00231477 0.999574 0.0290593 uwb: 0.50045026 1249.27 1168.45 -imu_odom_: 1691062877.977630108 0.553061 -0.37589 9.83059 -0.0553937 -0.0372843 0.04048 0.25 0 pose: 0.0 -1.68073 -3.89579 0 -0.00126076 0.00231477 0.999574 0.0290593 uwb: 0.0 1249.27 1168.45 -imu_odom_: 1691062878.2526483 0.531513 -0.23942 10.4004 -0.0617853 -0.0351537 0.0543285 0.25 0 pose: 0.36142091 -1.68509 -3.89329 0 0.000625619 0.00172772 0.999576 0.0290671 uwb: 0.49691838 1248.86 1169.76 -imu_odom_: 1691062878.29697433 0.742203 -0.150835 10.0485 -0.0532632 0.0245011 0.0276969 0.2 -0.02 pose: 0.51824380 -1.6894 -3.89081 0 0.00537285 -0.00119087 0.999568 0.0288677 uwb: 0.0 1248.86 1169.76 -imu_odom_: 1691062878.54631431 0.993594 -0.263362 9.43076 -0.0809601 -0.02024 0.0617853 0.19 -0.02 pose: 0.0 -1.6894 -3.89081 0 0.00537285 -0.00119087 0.999568 0.0288677 uwb: 0.50178894 1248.97 1170.47 -imu_odom_: 1691062878.71631685 -0.00957681-0.35913 10.0844 -0.0383495 -0.02024 0.0245011 0.21 0 pose: 0.52104948 -1.70305 -3.89452 0 0.0102232 -0.0009545640.999534 0.0287598 uwb: 0.0 1248.97 1170.47 -imu_odom_: 1691062878.87528921 0.629675 -0.0766145 10.0509 -0.0607201 -0.0330232 0.0426106 0.21 0 pose: 0.0 -1.70305 -3.89452 0 0.0102232 -0.0009545640.999534 0.0287598 uwb: 0.0 1248.97 1170.47 -imu_odom_: 1691062878.114529547 0.670376 0.107739 10.3358 -0.0490022 -0.0117179 0.0372843 0.25 -0.02 pose: 0.32897490 -1.71173 -3.88955 0 0.00947869 0.000322364 0.999538 0.0288716 uwb: 0.49818416 1248.05 1172.4 -imu_odom_: 1691062878.130659811 0.328006 -0.409408 9.44752 -0.0639159 -0.0415453 0.04048 0.25 -0.02 pose: 0.8144023 -1.71173 -3.88955 0 0.0097211 0.00113402 0.999535 0.028888 uwb: 0.0 1248.05 1172.4 -imu_odom_: 1691062878.147634692 0.509965 -0.0766145 10.4004 -0.0458064 -0.00426106 0.0458064 0.26 -0.02 pose: 0.34986867 -1.71608 -3.88705 0 0.00938976 0.00184854 0.999536 0.0289131 uwb: 0.50118522 1247.81 1173.84 -imu_odom_: 1691062878.163506262 0.605733 -0.241814 9.23444 -0.0415453 -0.00852212 0.0308927 0.26 -0.02 pose: 0.0 -1.71608 -3.88705 0 0.00938976 0.00184854 0.999536 0.0289131 uwb: 0.0 1247.81 1173.84 -imu_odom_: 1691062878.190648047 0.299275 -0.512359 9.69652 -0.0660464 0.00532632 0.0511327 0.25 0 pose: 0.8002281 -1.7204 -3.88458 0 0.00887268 0.00249625 0.99954 0.0288946 uwb: 0.50124356 1248.48 1173.67 -imu_odom_: 1691062878.216513574 0.198719 -0.126893 10.0892 -0.0394148 -0.00958738 0.0596548 0.25 0 pose: 0.0 -1.7204 -3.88458 0 0.00887268 0.00249625 0.99954 0.0288946 uwb: 0.0 1248.48 1173.67 -imu_odom_: 1691062878.243513326 0.64404 -0.237026 9.88087 -0.0490022 -0.0191748 0.0372843 0.23 0.02 pose: 0.32881741 -1.72537 -3.89325 0 0.00852918 0.00128868 0.999546 0.0288775 uwb: 0.0 1248.48 1173.67 -imu_odom_: 1691062878.268556109 0.744597 -0.102951 9.94791 -0.0426106 -0.0234358 0.0458064 0.23 0.02 pose: 0.0 -1.72537 -3.89325 0 0.00852918 0.00128868 0.999546 0.0288775 uwb: 0.0 1248.48 1173.67 -imu_odom_: 1691062878.295552069 0.349553 -0.0430956 9.79707 -0.0479369 0.0106526 0.0426106 0.21 0.02 pose: 0.52031744 -1.73405 -3.88828 0 0.00550229 0.000483015 0.999578 0.0285079 uwb: 0.0 1248.48 1173.67 -imu_odom_: 1691062878.321561962 0.304064 -0.363919 9.77074 -0.0617853 -0.0138484 0.056459 0.18 0 pose: 0.51939874 -1.7477 -3.892 0 0.0093908 0.0016943 0.99955 0.0284491 uwb: 0.0 1248.48 1173.67 -imu_odom_: 1691062878.338545301 0.59855 -0.31364 9.87848 -0.0447411 0.00532632 0.0340885 0.23 -0.02 pose: 0.0 -1.7477 -3.892 0 0.0093908 0.0016943 0.99955 0.0284491 uwb: 0.149809892 1248.32 1174.52 -imu_odom_: 1691062878.354664190 0.545878 -0.181959 9.90721 -0.0468716 0.015979 0.0458064 0.23 -0.02 pose: 0.0 -1.7477 -3.892 0 0.0093908 0.0016943 0.99955 0.0284491 uwb: 0.0 1248.32 1174.52 -imu_odom_: 1691062878.381491869 0.442927 -0.265756 10.1562 -0.0436758 0.00426106 0.04048 0.23 0.02 pose: 0.53100057 -1.75638 -3.88704 0 0.00598065 0.000539398 0.999584 0.0282216 uwb: 0.0 1248.32 1174.52 -imu_odom_: 1691062878.407505262 0.505177 -0.265756 10.0221 -0.0798948 -0.0245011 0.0532632 0.23 0.02 pose: 0.33918555 -1.75638 -3.88704 0 0.00638382 0.000849045 0.999582 0.0281956 uwb: 0.50005362 1248.51 1175.31 -imu_odom_: 1691062878.434651130 0.696713 -0.306458 9.79947 -0.0436758 -0.00639159 0.0340885 0.25 0 pose: 0.44971199 -1.77002 -3.89077 0 0.0053353 -0.00309335 0.999589 0.0279914 uwb: 0.0 1248.51 1175.31 -imu_odom_: 1691062878.459492092 0.73502 -0.203507 10.0341 -0.0713727 -0.0351537 0.0553937 0.18 0 pose: 0.7129665 -1.77002 -3.89077 0 0.00604136 -0.00320088 0.999584 0.028012 uwb: 0.49941492 1248.07 1176.62 -imu_odom_: 1691062878.486498843 0.275333 -0.213084 9.49301 -0.0617853 0.0436758 0.0511327 0.18 0 pose: 0.0 -1.77002 -3.89077 0 0.00604136 -0.00320088 0.999584 0.028012 uwb: 0.0 1248.07 1176.62 -imu_odom_: 1691062878.511494962 0.0143652 -0.162806 9.61033 -0.0671117 0.00532632 0.0585895 0.18 0.02 pose: 0.28041816 -1.77871 -3.88581 0 0.00888781 -0.0032649 0.999563 0.0280112 uwb: 0.49974156 1247.68 1177.98 -imu_odom_: 1691062878.538692744 0.529119 -0.260968 9.87848 -0.0511327 -0.015979 0.04048 0.18 0.02 pose: 0.0 -1.77871 -3.88581 0 0.00888781 -0.0032649 0.999563 0.0280112 uwb: 0.50062526 1247.79 1178.39 -imu_odom_: 1691062878.564546313 0.294487 -0.47884 9.78271 -0.0447411 0.00958738 0.0468716 0.18 -0.02 pose: 0.51853255 -1.7874 -3.88086 0 0.0065569 -0.00226014 0.999593 0.0276573 uwb: 0.0 1247.79 1178.39 -imu_odom_: 1691062878.581692392 0.648829 -0.272939 9.991 -0.04048 -0.015979 0.0500674 0.18 -0.02 pose: 0.0 -1.7874 -3.88086 0 0.0065569 -0.00226014 0.999593 0.0276573 uwb: 0.0 1247.79 1178.39 -imu_odom_: 1691062878.607492589 0.447716 -0.0215478 10.0844 -0.0458064 -0.00745685 0.0468716 0.18 0 pose: 0.52120405 -1.80104 -3.8846 0 0.00686676 -0.00328543 0.999594 0.027449 uwb: 0.49928367 1247.76 1179.68 -imu_odom_: 1691062878.634534047 0.344765 -0.442927 9.71088 -0.0735032 -0.0340885 0.0617853 0.25 0.02 pose: 0.42867239 -1.80104 -3.8846 0 0.00690072 -0.00315092 0.999599 0.0272641 uwb: 0.0 1247.76 1179.68 -imu_odom_: 1691062878.659618828 0.553061 -0.361524 10.1825 -0.0490022 -0.0319579 0.0458064 0.18 -0.02 pose: 0.25130570 -1.80973 -3.87966 0 0.00596523 -0.00195605 0.999612 0.0271249 uwb: 0.50128439 1248.1 1180.58 -imu_odom_: 1691062878.686545084 0.828394 -0.105345 10.3477 -0.0639159 -0.0426106 0.0479369 0.23 -0.02 pose: 0.27992235 -1.81467 -3.88836 0 0.0054327 -0.00427649 0.999615 0.0268661 uwb: 0.0 1248.1 1180.58 -imu_odom_: 1691062878.702606810 0.593762 -0.0933739 9.51695 -0.0553937 -0.00639159 0.0458064 0.23 -0.02 pose: 0.0 -1.81467 -3.88836 0 0.0054327 -0.00427649 0.999615 0.0268661 uwb: 0.49876745 1248.02 1181.52 -imu_odom_: 1691062878.729666350 0.464475 -0.3304 9.90721 -0.0660464 -0.0117179 0.0458064 0.25 0 pose: 0.23877643 -1.82337 -3.88342 0 0.00723701 -0.0053105 0.999601 0.0267843 uwb: 0.0 1248.02 1181.52 -imu_odom_: 1691062878.754519561 0.368707 -0.277727 9.68455 -0.0628506 0.0330232 0.0468716 0.25 0 pose: 0.0 -1.82337 -3.88342 0 0.00723701 -0.0053105 0.999601 0.0267843 uwb: 0.50048235 1248.14 1182.28 -imu_odom_: 1691062878.781702760 0.608127 -0.229843 9.81144 -0.0213053 -0.02024 0.0383495 0.23 0 pose: 0.44092459 -1.82337 -3.88342 0 0.00873852 -0.0030437 0.999602 0.0266515 uwb: 0.0 1248.14 1182.28 -imu_odom_: 1691062878.797473711 0.775721 -0.153229 9.93115 -0.0191748 0.0170442 0.0255663 0.23 0 pose: 0.0 -1.82337 -3.88342 0 0.00873852 -0.0030437 0.999602 0.0266515 uwb: 0.50007113 1248.46 1182.51 -imu_odom_: 1691062878.824530043 0.500388 -0.430956 9.30387 -0.0500674 0.0138484 0.0426106 0.25 0 pose: 0.50874770 -1.837 -3.88719 0 0.0048668 -0.00349679 0.999631 0.0264915 uwb: 0.0 1248.46 1182.51 -imu_odom_: 1691062878.849582159 0.35913 -0.114922 10.2185 -0.0447411 -0.0607201 0.056459 0.25 0 pose: 0.0 -1.837 -3.88719 0 0.0048668 -0.00349679 0.999631 0.0264915 uwb: 0.50085566 1248.66 1184 -imu_odom_: 1691062878.874474743 0.237026 -0.282516 9.94791 -0.0671117 -0.0585895 0.0500674 0.23 0 pose: 0.43017731 -1.8457 -3.88226 0 0.00791866 -0.00210188 0.999612 0.0266119 uwb: 0.0 1248.66 1184 -imu_odom_: 1691062878.897601680 0.378284 -0.0670376 10.0963 -0.052198 -0.02024 0.0500674 0.23 0 pose: 0.51961748 -1.8544 -3.87733 0 0.00556375 -0.00219923 0.999636 0.0263177 uwb: 0.50041236 1249.09 1184.32 -imu_odom_: 1691062878.914461067 0.679953 -0.222661 9.96467 -0.0585895 0.0106526 0.0426106 0.18 -0.02 pose: 0.0 -1.8544 -3.87733 0 0.00556375 -0.00219923 0.999636 0.0263177 uwb: 0.0 1249.09 1184.32 -imu_odom_: 1691062878.939521933 0.277727 -0.124498 10.2017 -0.0639159 -0.0447411 0.0607201 0.18 -0.02 pose: 0.49019295 -1.86803 -3.88111 0 0.00407149 -0.0004252990.999651 0.0260911 uwb: 0.49861871 1249.62 1184.71 -imu_odom_: 1691062878.964671168 0.957681 -0.169988 9.56244 -0.0692422 -0.00106526 0.0351537 0.19 0 pose: 0.0 -1.86803 -3.88111 0 0.00407149 -0.0004252990.999651 0.0260911 uwb: 0.0 1249.62 1184.71 -imu_odom_: 1691062878.990469032 -0.112527 -0.186748 9.58399 -0.0639159 0.04048 0.0607201 0.24 0 pose: 0.16120639 -1.86803 -3.88111 0 0.00439752 -0.0002048810.999652 0.0260036 uwb: 0.50035110 1249.33 1186.18 -imu_odom_: 1691062879.6448513 0.158017 -0.47884 9.92636 -0.0798948 0.00106526 0.04048 0.24 0 pose: 0.43066436 -1.87425 -3.8776 0 0.00560068 0.000398081 0.999649 0.0258726 uwb: 0.0 1249.33 1186.18 -imu_odom_: 1691062879.24512996 0.289698 -0.162806 9.4547 -0.0415453 0.00745685 0.0415453 0.24 0 pose: 0.0 -1.87425 -3.8776 0 0.00560068 0.000398081 0.999649 0.0258726 uwb: 0.0 1249.33 1186.18 -imu_odom_: 1691062879.42463154 0.414197 -0.361524 9.95509 -0.076699 -0.0255663 0.0543285 0.18 -0.02 pose: 0.6832183 -1.87673 -3.87619 0 0.00476411 0.000409527 0.999656 0.0258011 uwb: 0.50018780 1248.65 1187.71 -imu_odom_: 1691062879.67448774 0.943315 -0.186748 9.7037 -0.0479369 0.02024 0.0266316 0.18 -0.02 pose: 0.0 -1.87673 -3.87619 0 0.00476411 0.000409527 0.999656 0.0258011 uwb: 0.0 1248.65 1187.71 -imu_odom_: 1691062879.94518522 0.73502 -0.201113 9.80904 -0.0607201 0.00426106 0.0372843 0.21 -0.02 pose: 0.61094464 -1.89036 -3.87999 0 -0.000330424-0.00074509 0.999674 0.0255164 uwb: 0.49874704 1249.22 1188.48 -imu_odom_: 1691062879.119517558 1.15161 -0.0167594 9.94073 -0.0532632 -0.0585895 0.0500674 0.19 0 pose: 0.61920707 -1.90009 -3.8827 0 0.00464593 -0.00126036 0.999659 0.0256468 uwb: 0.0 1249.22 1188.48 -imu_odom_: 1691062879.146460147 0.270545 -0.208296 10.003 -0.0490022 0.0255663 0.0330232 0.22 0 pose: 0.0 -1.90009 -3.8827 0 0.00464593 -0.00126036 0.999659 0.0256468 uwb: 0.49917869 1248.66 1190.11 -imu_odom_: 1691062879.162447211 0.588974 -0.1652 10.4651 -0.0479369 -0.04048 0.0308927 0.22 0 pose: 0.0 -1.90009 -3.8827 0 0.00464593 -0.00126036 0.999659 0.0256468 uwb: 0.0 1248.66 1190.11 -imu_odom_: 1691062879.189584330 0.746991 -0.0311246 10.343 -0.0319579 -0.0490022 0.036219 0.23 -0.02 pose: 0.31982586 -1.90398 -3.88378 0 0.00691739 -0.0004428860.99965 0.0255437 uwb: 0.50138647 1249.29 1190.25 -imu_odom_: 1691062879.214457082 0.679953 -0.0167594 10.228 -0.0639159 0.00532632 0.036219 0.19 0 pose: 0.63083222 -1.91889 -3.87537 0 0.009119 0.00250244 0.999624 0.0257342 uwb: 0.0 1249.29 1190.25 -imu_odom_: 1691062879.238548796 0.184354 -0.0981623 9.65342 -0.0340885 -0.0170442 0.0298274 0.23 0 pose: 0.0 -1.91889 -3.87537 0 0.009119 0.00250244 0.999624 0.0257342 uwb: 0.49862163 1250 1190.45 -imu_odom_: 1691062879.253441008 0.490811 -0.316035 9.60314 -0.0490022 0.00426106 0.0383495 0.23 0 pose: 0.8073444 -1.9214 -3.87396 0 0.00954109 0.00313292 0.999618 0.0257527 uwb: 0.0 1250 1190.45 -imu_odom_: 1691062879.278447627 0.505177 -0.304064 9.81862 -0.0436758 -0.0234358 0.0553937 0.18 0 pose: 0.0 -1.9214 -3.87396 0 0.00954109 0.00313292 0.999618 0.0257527 uwb: 0.0 1250 1190.45 -imu_odom_: 1691062879.302490927 0.509965 -0.289698 10.1131 -0.0713727 0 0.0660464 0.18 0 pose: 0.47912486 -1.92632 -3.88266 0 0.00791278 0.00427559 0.999624 0.02592 uwb: 0.50001281 1250.19 1191.98 -imu_odom_: 1691062879.317447301 0.605733 -0.292093 9.77553 -0.0511327 -0.0681769 0.052198 0.19 0 pose: 0.0 -1.92632 -3.88266 0 0.00791278 0.00427559 0.999624 0.02592 uwb: 0.0 1250.19 1191.98 -imu_odom_: 1691062879.342449837 0.433351 -0.0191536 10.2208 -0.0383495 -0.036219 0.0490022 0.19 0 pose: 0.39863832 -1.93502 -3.87775 0 0.00688742 0.000584769 0.999648 0.0256101 uwb: 0.0 1250.19 1191.98 -imu_odom_: 1691062879.366489929 0.737414 -0.009576819.7444 -0.0458064 -0.0319579 0.0447411 0.25 0 pose: 0.0 -1.93502 -3.87775 0 0.00688742 0.000584769 0.999648 0.0256101 uwb: 0.0 1250.19 1191.98 -imu_odom_: 1691062879.390430861 0.445322 -0.0694318 10.3382 -0.0575243 0.00958738 0.052198 0.25 0 pose: 0.39017466 -1.94374 -3.87284 0 0.00771768 -0.00136467 0.999651 0.0252459 uwb: 0.99933731 1249.58 1193.59 -imu_odom_: 1691062879.406481213 0.179565 0.0909797 10.0987 -0.0532632 0.0149137 0.0436758 0.2 0 pose: 0.0 -1.94374 -3.87284 0 0.00771768 -0.00136467 0.999651 0.0252459 uwb: 0.0 1249.58 1193.59 -imu_odom_: 1691062879.423484384 0.861913 -0.344765 9.88087 -0.0426106 -0.0266316 0.036219 0.2 0 pose: 0.0 -1.94374 -3.87284 0 0.00771768 -0.00136467 0.999651 0.0252459 uwb: 0.0 1249.58 1193.59 -imu_odom_: 1691062879.448570623 0.536301 -0.519542 9.20331 -0.0617853 -0.0351537 0.0490022 0.18 0 pose: 0.49049044 -1.95736 -3.87664 0 0.00863153 0.0025236 0.999645 0.0250792 uwb: 0.50065152 1250.02 1194.29 -imu_odom_: 1691062879.473491205 0.335188 -0.160412 9.80186 -0.0532632 -0.0372843 0.0532632 0.18 0 pose: 0.75070021 -1.96956 -3.87794 0 0.00759774 0.000968956 0.999662 0.0248452 uwb: 0.0 1250.02 1194.29 -imu_odom_: 1691062879.496425071 0.246603 -0.146046 9.96467 -0.0596548 -0.0308927 0.0447411 0.18 0 pose: 0.0 -1.96956 -3.87794 0 0.00759774 0.000968956 0.999662 0.0248452 uwb: 0.49934492 1250.09 1195.39 -imu_odom_: 1691062879.522432048 0.232238 -0.0191536 9.95748 -0.056459 -0.0138484 0.0468716 0.18 0 pose: 0.6916761 -1.97097 -3.88046 0 0.00702986 0.00109152 0.999667 0.0247997 uwb: 0.0 1250.09 1195.39 -imu_odom_: 1691062879.547428459 0.667982 -0.3304 10.0509 -0.0543285 -0.00639159 0.0479369 0.23 0.02 pose: 0.0 -1.97097 -3.88046 0 0.00702986 0.00109152 0.999667 0.0247997 uwb: 0.50110649 1249.77 1196.9 -imu_odom_: 1691062879.561417140 0.186748 -0.136469 9.71328 -0.056459 0.0383495 0.0553937 0.23 0.02 pose: 0.48997131 -1.97969 -3.87556 0 0.00296996 0.00219304 0.999691 0.0246017 uwb: 0.0 1249.77 1196.9 -imu_odom_: 1691062879.586564917 0.122104 -0.146046 9.73004 -0.0639159 0.0340885 0.0553937 0.17 0 pose: 0.0 -1.97969 -3.87556 0 0.00296996 0.00219304 0.999691 0.0246017 uwb: 0.0 1249.77 1196.9 -imu_odom_: 1691062879.611555204 0.390255 -0.220267 9.65821 -0.052198 -0.0117179 0.0415453 0.17 0 pose: 0.49110583 -1.98841 -3.87066 0 0.00281878 0.0017621 0.999697 0.0243821 uwb: 0.49876746 1248.71 1199.25 -imu_odom_: 1691062879.637666300 0.196325 -0.356736 9.8258 -0.0383495 -0.0138484 0.0415453 0.18 0.02 pose: 0.0 -1.98841 -3.87066 0 0.00281878 0.0017621 0.999697 0.0243821 uwb: 0.0 1248.71 1199.25 -imu_odom_: 1691062879.663419542 0.37589 -0.153229 9.66539 -0.0479369 -0.0479369 0.0468716 0.21 0 pose: 0.39970284 -1.9933 -3.87938 0 -0.0009541960.00143497 0.999708 0.0241214 uwb: 0.50042695 1247.86 1201.07 -imu_odom_: 1691062879.677732245 0.323217 -0.105345 10.1011 -0.0415453 -0.0276969 0.0511327 0.21 0 pose: 0.0 -1.9933 -3.87938 0 -0.0009541960.00143497 0.999708 0.0241214 uwb: 0.0 1247.86 1201.07 -imu_odom_: 1691062879.695445000 1.00556 -0.114922 9.79707 -0.0500674 -0.0117179 0.0383495 0.21 0 pose: 0.50921143 -2.00203 -3.8745 0 -0.00229952 -0.0008465330.999708 0.0240532 uwb: 0.49972990 1247.83 1201.77 -imu_odom_: 1691062879.720493325 0.505177 -0.363919 9.67257 -0.0500674 0.00319579 0.0479369 0.18 -0.02 pose: 0.0 -2.00203 -3.8745 0 -0.00229952 -0.0008465330.999708 0.0240532 uwb: 0.0 1247.83 1201.77 -imu_odom_: 1691062879.747442621 0.502782 -0.347159 9.80426 -0.0500674 -0.0436758 0.04048 0.26 -0.02 pose: 0.76006800 -2.02166 -3.87497 0 0.000952507 0.00037272 0.999716 0.0237956 uwb: 0.50098983 1246.91 1203.9 -imu_odom_: 1691062879.772579316 0.526724 -0.100556 10.0509 -0.0511327 -0.0436758 0.0426106 0.19 -0.02 pose: 0.8086859 -2.02436 -3.87345 0 0.0015022 -0.0003196090.999716 0.0237911 uwb: 0.0 1246.91 1203.9 -imu_odom_: 1691062879.798438427 0.134075 -0.167594 9.24162 -0.0628506 -0.118244 0.0532632 0.22 0 pose: 0.43999132 -2.02436 -3.87345 0 0.00436044 0.000381526 0.999708 0.0237499 uwb: 0.49913202 1245.92 1206.34 -imu_odom_: 1691062879.820452721 -1.37667 -0.0335188 10.1754 -0.0351537 -0.0585895 0.04048 0.22 0 pose: 0.0 -2.02436 -3.87345 0 0.00436044 0.000381526 0.999708 0.0237499 uwb: 0.0 1245.92 1206.34 -imu_odom_: 1691062879.837561761 0.775721 -0.287304 8.24563 -0.0553937 0.152333 0.0735032 0.22 0 pose: 0.31875842 -2.03309 -3.86857 0 0.00283427 0.000717431 0.999718 0.0235746 uwb: 0.49965408 1245.13 1208.62 -imu_odom_: 1691062879.863410664 0.840365 -0.497994 9.28711 -0.0255663 0.0436758 0.0426106 0.19 -0.02 pose: 0.0 -2.03309 -3.86857 0 0.00283427 0.000717431 0.999718 0.0235746 uwb: 0.0 1245.13 1208.62 -imu_odom_: 1691062879.887557208 0.684742 0.198719 9.91918 -0.0308927 0.0255663 0.00213053 0.19 0 pose: 0.40052530 -2.0467 -3.87243 0 0.00237508 0.000292051 0.999727 0.0232626 uwb: 0.0 1245.13 1208.62 -imu_odom_: 1691062879.914401803 0.505177 -0.361524 9.84256 -0.0511327 0.00852212 0.0607201 0.19 0 pose: 0.43049520 -2.0467 -3.87243 0 0.00421352 0.00186136 0.999709 0.0236889 uwb: 0.50000697 1244.25 1210.45 -imu_odom_: 1691062879.930501735 -0.0502782 -0.277727 10.058 -0.0415453 -0.02024 0.0458064 0.21 0 pose: 0.6880597 -2.0467 -3.87243 0 0.00423136 0.00119115 0.999712 0.023613 uwb: 0.0 1244.25 1210.45 -imu_odom_: 1691062879.956595041 0.459687 0.0742203 10.149 -0.0383495 0.00213053 0.0596548 0.21 0 pose: 0.0 -2.0467 -3.87243 0 0.00423136 0.00119115 0.999712 0.023613 uwb: 0.50032778 1243.81 1211.56 -imu_odom_: 1691062879.981590869 0.138864 -0.277727 9.66539 -0.072438 0.015979 0.04048 0.19 0 pose: 0.44105001 -2.06031 -3.87628 0 0.00280151 0.000116093 0.999725 0.0232621 uwb: 0.0 1243.81 1211.56 -imu_odom_: 1691062880.7445896 0.292093 -0.138864 10.1083 -0.0585895 -0.0245011 0.0585895 0.19 0 pose: 0.43048063 -2.06904 -3.87141 0 0.000135466 0.00114281 0.999733 0.0230775 uwb: 0.50103941 1244.21 1212.29 -imu_odom_: 1691062880.32442891 0.397437 -0.153229 9.92397 -0.0660464 -0.0394148 0.0415453 0.19 -0.02 pose: 0.7842457 -2.06904 -3.87141 0 -0.0004880910.00147642 0.999734 0.0230039 uwb: 0.0 1244.21 1212.29 -imu_odom_: 1691062880.48443080 0.294487 -0.0957681 9.61751 -0.0468716 0.0245011 0.0490022 0.19 -0.02 pose: 0.0 -2.06904 -3.87141 0 -0.0004880910.00147642 0.999734 0.0230039 uwb: 0.49897454 1244.47 1212.89 -imu_odom_: 1691062880.73447949 0.73502 -0.251391 9.53611 -0.0777643 0.00852212 0.0468716 0.19 0 pose: 0.49014922 -2.08264 -3.87528 0 0.000105478 0.00355461 0.999734 0.0227771 uwb: 0.0 1244.47 1212.89 -imu_odom_: 1691062880.99389305 0.488417 -0.229843 9.97185 -0.0511327 -0.0308927 0.0511327 0.19 0 pose: 0.18011987 -2.08264 -3.87528 0 -0.00022922 0.00369412 0.999735 0.0227005 uwb: 0.49928369 1244.96 1213.69 -imu_odom_: 1691062880.115517236 0.842759 -0.189142 9.24401 -0.04048 -0.0223706 0.056459 0.21 0 pose: 0.0 -2.08264 -3.87528 0 -0.00022922 0.00369412 0.999735 0.0227005 uwb: 0.0 1244.96 1213.69 -imu_odom_: 1691062880.141407262 0.438139 0.129287 10.2975 -0.0532632 0.04048 0.04048 0.21 0 pose: 0.49077335 -2.09138 -3.87041 0 0.0038996 0.00101005 0.99974 0.0224232 uwb: 0.49985824 1245.01 1213.74 -imu_odom_: 1691062880.166411548 0.335188 -0.380678 9.50498 -0.052198 0.015979 0.0340885 0.18 -0.02 pose: 0.0 -2.09138 -3.87041 0 0.0038996 0.00101005 0.99974 0.0224232 uwb: 0.0 1245.01 1213.74 -imu_odom_: 1691062880.191544160 -0.0694318 -0.402226 10.1897 -0.0607201 0.0266316 0.052198 0.21 0 pose: 0.35869692 -2.09766 -3.86692 0 0.00394429 0.00366522 0.999736 0.0223385 uwb: 0.50090526 1244.57 1215.24 -imu_odom_: 1691062880.205533425 0.531513 -0.0837971 9.98861 -0.0660464 -0.0181095 0.0468716 0.21 0 pose: 0.0 -2.09766 -3.86692 0 0.00394429 0.00366522 0.999736 0.0223385 uwb: 0.0 1244.57 1215.24 -imu_odom_: 1691062880.230541502 0.581791 -0.112527 10.2951 -0.052198 -0.0330232 0.0479369 0.21 0 pose: 0.7014173 -2.10012 -3.86556 0 0.0035015 0.00308217 0.999739 0.0223565 uwb: 0.0 1244.57 1215.24 -imu_odom_: 1691062880.256417821 0.608127 0.248997 10.3789 -0.0372843 -0.0117179 0.036219 0.18 0 pose: 0.49005006 -2.11372 -3.86944 0 0.000129914 0.000942624 0.999753 0.0222235 uwb: 0.50057569 1243.8 1217.22 -imu_odom_: 1691062880.282649660 0.512359 -0.0191536 9.92875 -0.0660464 -0.0170442 0.0468716 0.19 0.02 pose: 0.0 -2.11372 -3.86944 0 0.000129914 0.000942624 0.999753 0.0222235 uwb: 0.0 1243.8 1217.22 -imu_odom_: 1691062880.299422428 0.52433 -0.28491 9.40442 -0.0308927 -0.015979 0.0287621 0.19 0.02 pose: 0.39991284 -2.11372 -3.86944 0 0.00373138 0.00313352 0.999744 0.0220998 uwb: 0.50176271 1243.95 1218.11 -imu_odom_: 1691062880.324428173 0.325611 -0.107739 10.1011 -0.0532632 -0.0191748 0.052198 0.2 0 pose: 0.0 -2.11372 -3.86944 0 0.00373138 0.00313352 0.999744 0.0220998 uwb: 0.0 1243.95 1218.11 -imu_odom_: 1691062880.350381778 0.493206 0.0430956 9.85693 -0.0383495 0.0447411 0.0415453 0.2 0 pose: 0.52032329 -2.12731 -3.87333 0 0.00542784 0.00688143 0.999718 0.0220814 uwb: 0.49835624 1243.11 1220.06 -imu_odom_: 1691062880.375374982 0.409408 -0.131681 9.68933 -0.0671117 0.0266316 0.0617853 0.19 0 pose: 0.0 -2.12731 -3.87333 0 0.00542784 0.00688143 0.999718 0.0220814 uwb: 0.0 1243.11 1220.06 -imu_odom_: 1691062880.392375820 0.282516 -0.349553 10.331 -0.0340885 -0.00852212 0.0330232 0.19 0 pose: 0.41987625 -2.13606 -3.86848 0 0.0032612 0.00662566 0.999731 0.02198 uwb: 0.50034821 1243.65 1220.93 -imu_odom_: 1691062880.418350716 0.430956 -0.25618 10.2687 -0.0713727 -0.0287621 0.0639159 0.18 0.02 pose: 0.0 -2.13606 -3.86848 0 0.0032612 0.00662566 0.999731 0.02198 uwb: 0.0 1243.65 1220.93 -imu_odom_: 1691062880.443424123 0.0933739 -0.0167594 9.98861 -0.0330232 0.0308927 0.0436758 0.18 0.02 pose: 0.50938351 -2.1448 -3.86363 0 0.00113834 0.00587805 0.999746 0.0217109 uwb: 0.0 1243.65 1220.93 -imu_odom_: 1691062880.465436668 0.483629 -0.620098 9.35175 -0.0191748 0.015979 0.0298274 0.18 0.02 pose: 0.0 -2.1448 -3.86363 0 0.00113834 0.00587805 0.999746 0.0217109 uwb: 0.0 1243.65 1220.93 -imu_odom_: 1691062880.491371025 0.746991 0.483629 9.55526 -0.100135 0.0266316 0.0873517 0.18 0.02 pose: 0.43130017 -2.14965 -3.87238 0 0.000444304 0.00270783 0.999767 0.0214156 uwb: 0.0 1243.65 1220.93 -imu_odom_: 1691062880.507424876 0.258574 -0.035913 9.43555 -0.157659 0.104396 0.134223 0.23 0.02 pose: 0.0 -2.14965 -3.87238 0 0.000444304 0.00270783 0.999767 0.0214156 uwb: 0.0 1243.65 1220.93 -imu_odom_: 1691062880.533499225 0.0933739 -0.713472 9.23922 -0.0394148 -0.0319579 -0.0245011 0.23 0.02 pose: 0.47899946 -2.1584 -3.86754 0 -0.0009705460.00245384 0.99977 0.0212989 uwb: 0.0 1243.65 1220.93 -imu_odom_: 1691062880.550408777 0.627281 0.339977 10.0245 -0.0681769 0.0319579 0.00213053 0.19 0 pose: 0.0 -2.1584 -3.86754 0 -0.0009705460.00245384 0.99977 0.0212989 uwb: 0.149931806 1242.25 1223.55 -imu_odom_: 1691062880.576550205 0.646434 -0.402226 9.97664 -0.0436758 -0.0127832 0.0671117 0.19 0 pose: 0.77002784 -2.17199 -3.87147 0 -0.00270053 0.00306085 0.999766 0.021263 uwb: 0.0 1242.25 1223.55 -imu_odom_: 1691062880.601490328 0.316035 0.0263362 9.66779 -0.0617853 0.00958738 0.0340885 0.2 -0.02 pose: 0.7094376 -2.17199 -3.87147 0 -0.00213252 0.00263773 0.99977 0.0211652 uwb: 0.49976783 1241.19 1225.31 -imu_odom_: 1691062880.626359580 0.160412 -0.0790087 9.5816 -0.0745685 0.0213053 0.072438 0.19 0 pose: 0.43987175 -2.17821 -3.86804 0 -0.0015618 0.00379577 0.999772 0.0209704 uwb: 0.0 1241.19 1225.31 -imu_odom_: 1691062880.651414614 0.37589 -0.244209 9.84017 -0.0671117 -0.0287621 0.0330232 0.19 0 pose: 0.0 -2.17821 -3.86804 0 -0.0015618 0.00379577 0.999772 0.0209704 uwb: 0.49964825 1242.02 1225.29 -imu_odom_: 1691062880.674510053 0.270545 -0.304064 9.87608 -0.0532632 -0.00213053 0.0458064 0.18 0 pose: 0.31896549 -2.18557 -3.8754 0 -0.00385729 0.00366256 0.999774 0.0205926 uwb: 0.0 1242.02 1225.29 -imu_odom_: 1691062880.699491591 0.258574 -0.45011 9.75637 -0.0426106 -0.0170442 0.0415453 0.18 0 pose: 0.0 -2.18557 -3.8754 0 -0.00385729 0.00366256 0.999774 0.0205926 uwb: 0.49925452 1243.66 1224.84 -imu_odom_: 1691062880.715392910 0.687136 -0.378284 9.91918 -0.0447411 -0.0447411 0.052198 0.23 0 pose: 0.47987149 -2.19433 -3.87057 0 -0.00426721 -0.0006128820.999779 0.020588 uwb: 0.0 1243.66 1224.84 -imu_odom_: 1691062880.740401279 0.794875 -0.059855 9.84496 -0.056459 -0.0383495 0.0543285 0.23 0 pose: 0.34018884 -2.19916 -3.86791 0 -0.0028415 -0.0026645 0.999783 0.020483 uwb: 0.50194353 1244.8 1224.71 -imu_odom_: 1691062880.757472113 0.881066 -0.426168 9.80904 -0.052198 0.0170442 0.036219 0.2 -0.02 pose: 0.8022988 -2.20309 -3.86575 0 -0.00197096 -0.0023477 0.999787 0.0204245 uwb: 0.0 1244.8 1224.71 -imu_odom_: 1691062880.782428277 0.792481 -0.351948 9.78031 -0.0479369 -0.0394148 0.0468716 0.2 -0.02 pose: 0.0 -2.20309 -3.86575 0 -0.00197096 -0.0023477 0.999787 0.0204245 uwb: 0.0 1244.8 1224.71 -imu_odom_: 1691062880.807473978 0.782904 -0.275333 10.1155 -0.0468716 -0.0383495 0.0415453 0.23 0.02 pose: 0.40944104 -2.21667 -3.86969 0 0.00206328 -0.00243792 0.999789 0.0203083 uwb: 0.49860998 1244.84 1225.54 -imu_odom_: 1691062880.832386102 0.402226 -0.059855 10.0317 -0.056459 -0.0394148 0.0468716 0.23 0.02 pose: 0.43113976 -2.21667 -3.86969 0 0.00705749 -0.00286058 0.999766 0.020225 uwb: 0.0 1244.84 1225.54 -imu_odom_: 1691062880.850321969 0.0622492 -0.237026 9.84256 -0.0511327 -0.00106526 0.0490022 0.2 0.02 pose: 0.6969842 -2.21667 -3.86969 0 0.00679957 -0.002283 0.99977 0.0202024 uwb: 0.49944409 1245.72 1225.55 -imu_odom_: 1691062880.874410767 0.4956 -0.390255 9.47146 -0.0703074 0.00745685 0.0436758 0.2 0.02 pose: 0.0 -2.21667 -3.86969 0 0.00679957 -0.002283 0.99977 0.0202024 uwb: 0.0 1245.72 1225.55 -imu_odom_: 1691062880.899444218 0.354342 -0.466869 10.0365 -0.072438 -0.0330232 0.0575243 0.23 0.02 pose: 0.35878149 -2.22544 -3.86487 0 0.00431344 -0.0007582210.999789 0.0200582 uwb: 0.50180354 1246.99 1225.14 -imu_odom_: 1691062880.921335437 0.260968 -0.35913 9.71567 -0.0490022 0.00319579 0.0372843 0.23 0.02 pose: 0.49122249 -2.23683 -3.87002 0 0.00314019 -0.00556915 0.999784 0.0197609 uwb: 0.0 1246.99 1225.14 -imu_odom_: 1691062880.943325233 0.596156 -0.102951 10.0149 -0.0394148 -0.0372843 0.0436758 0.19 0 pose: 0.0 -2.23683 -3.87002 0 0.00314019 -0.00556915 0.999784 0.0197609 uwb: 0.49806751 1247.24 1225.36 -imu_odom_: 1691062880.959480870 0.304064 -0.325611 9.73961 -0.0426106 0.0170442 0.0436758 0.19 0 pose: 0.0 -2.23683 -3.87002 0 0.00314019 -0.00556915 0.999784 0.0197609 uwb: 0.0 1247.24 1225.36 -imu_odom_: 1691062880.984530654 0.852336 -0.220267 10.0437 -0.0628506 -0.0681769 0.0575243 0.23 -0.02 pose: 0.51031971 -2.24778 -3.86401 0 0.001859 -0.00407205 0.999796 0.0197179 uwb: 0.0 1247.24 1225.36 -imu_odom_: 1691062880.998323638 0.861913 -0.430956 9.67257 -0.0681769 -0.00426106 0.0607201 0.23 -0.02 pose: 0.0 -2.24778 -3.86401 0 0.001859 -0.00407205 0.999796 0.0197179 uwb: 0.49969783 1248.78 1224.78 -imu_odom_: 1691062881.21347041 1.18752 -0.181959 10.1658 -0.0447411 -0.00213053 0.0436758 0.18 0 pose: 0.39889207 -2.25259 -3.87277 0 0.00469827 -0.00417076 0.999792 0.019418 uwb: 0.0 1248.78 1224.78 -imu_odom_: 1691062881.47422264 0.696713 -0.146046 9.86172 -0.0703074 -0.00532632 0.0490022 0.18 0 pose: 0.30981645 -2.26136 -3.86797 0 0.00769069 -0.00403059 0.999776 0.0193 uwb: 0.50006531 1248.81 1226.4 -imu_odom_: 1691062881.61539855 0.502782 0.134075 10.2759 -0.0692422 0.00426106 0.0500674 0.2 0 pose: 0.8073735 -2.26136 -3.86797 0 0.00827168 -0.00352717 0.999774 0.019269 uwb: 0.0 1248.81 1226.4 -imu_odom_: 1691062881.78534569 0.490811 -0.232238 10.0509 -0.0660464 -0.00426106 0.116114 0.2 0 pose: 0.0 -2.26136 -3.86797 0 0.00827168 -0.00352717 0.999774 0.019269 uwb: 0.0 1248.81 1226.4 -imu_odom_: 1691062881.92350885 0.126893 -0.280122 10.2759 -0.0575243 -0.0117179 0.176834 0.2 0 pose: 0.39119836 -2.27013 -3.86317 0 0.00849752 -0.00114161 0.999785 0.0188716 uwb: 0.50140399 1248.25 1227.88 -imu_odom_: 1691062881.107458917 0.773327 -0.526724 9.60554 -0.0703074 -0.0447411 0.233293 0.18 0.23 pose: 0.0 -2.27013 -3.86317 0 0.00849752 -0.00114161 0.999785 0.0188716 uwb: 0.0 1248.25 1227.88 -imu_odom_: 1691062881.124434674 0.773327 -0.4956 9.96946 -0.0639159 -0.0436758 0.294013 0.18 0.23 pose: 0.0 -2.27013 -3.86317 0 0.00849752 -0.00114161 0.999785 0.0188716 uwb: 0.0 1248.25 1227.88 -imu_odom_: 1691062881.142438787 0.234632 -0.347159 9.38288 -0.0436758 -0.00106526 0.333428 0.18 0.23 pose: 0.46780304 -2.27493 -3.87194 0 0.00813274 -0.00321003 0.999848 0.0150669 uwb: 0.50054362 1248.75 1228.34 -imu_odom_: 1691062881.155370530 0.548272 -0.146046 9.79947 -0.0617853 -0.00532632 0.368581 0.19 0.29 pose: 0.0 -2.27493 -3.87194 0 0.00813274 -0.00321003 0.999848 0.0150669 uwb: 0.0 1248.75 1228.34 -imu_odom_: 1691062881.171352345 0.59855 -0.390255 9.66539 -0.0660464 -0.00426106 0.400539 0.17 0.32 pose: 0.0 -2.27493 -3.87194 0 0.00813274 -0.00321003 0.999848 0.0150669 uwb: 0.0 1248.75 1228.34 -imu_odom_: 1691062881.189399330 0.641646 -0.258574 9.40442 -0.0713727 0.0319579 0.425041 0.17 0.32 pose: 0.47992982 -2.28369 -3.86713 0 0.00751507 -0.00368988 0.999935 0.00769393 uwb: 0.49886081 1248.2 1229.84 -imu_odom_: 1691062881.206347088 0.610521 -0.229843 9.92875 -0.0532632 0.0234358 0.46339 0.17 0.32 pose: 0.0 -2.28369 -3.86713 0 0.00751507 -0.00368988 0.999935 0.00769393 uwb: 0.0 1248.2 1229.84 -imu_odom_: 1691062881.220475178 0.158017 -0.301669 9.57441 -0.0585895 0.0841559 0.499609 0.19 0.41 pose: 0.43033190 -2.29248 -3.86235 0 0.00961246 -0.00242194 0.999951 -0.000796691 uwb: 0.0 1248.2 1229.84 -imu_odom_: 1691062881.236460492 0.586579 -0.347159 9.42118 -0.052198 0.0106526 0.530502 0.19 0.41 pose: 0.6164598 -2.29248 -3.86235 0 0.00872237 -0.00250532 0.999956 -0.00221591 uwb: 0.0 1248.2 1229.84 -imu_odom_: 1691062881.251578441 0.213084 -0.335188 9.87129 -0.0415453 0.0106526 0.549676 0.18 0.5 pose: 0.0 -2.29248 -3.86235 0 0.00872237 -0.00250532 0.999956 -0.00221591 uwb: 0.49968617 1247.82 1231.5 -imu_odom_: 1691062881.268515700 0.47884 -0.823605 10.1562 -0.052198 0.0117179 0.563525 0.18 0.5 pose: 0.39066755 -2.30603 -3.86634 0 0.00654653 -0.00415198 0.9999 -0.011845 uwb: 0.0 1247.82 1231.5 -imu_odom_: 1691062881.284462808 0.715866 0.0526724 10.1514 -0.0500674 -0.0340885 0.610397 0.18 0.5 pose: 0.0 -2.30603 -3.86634 0 0.00654653 -0.00415198 0.9999 -0.011845 uwb: 0.0 1247.82 1231.5 -imu_odom_: 1691062881.302330429 1.09894 -0.213084 9.96467 -0.0490022 -0.00426106 0.627441 0.18 0.55 pose: 0.0 -2.30603 -3.86634 0 0.00654653 -0.00415198 0.9999 -0.011845 uwb: 0.50005657 1249.01 1231.8 -imu_odom_: 1691062881.319378514 0.842759 -0.40462 9.73722 -0.0500674 0.00532632 0.627441 0.18 0.55 pose: 0.22943199 -2.30604 -3.86636 0 0.00657155 -0.00529162 0.999802 -0.0180022 uwb: 0.0 1249.01 1231.8 -imu_odom_: 1691062881.335406701 1.17316 -0.521936 9.96467 -0.0447411 0.00639159 0.611462 0.18 0.55 pose: 0.0 -2.30604 -3.86636 0 0.00657155 -0.00529162 0.999802 -0.0180022 uwb: 0.0 1249.01 1231.8 -imu_odom_: 1691062881.353295613 1.18034 -0.0622492 10.4052 -0.0607201 -0.0149137 0.612527 0.2 0.64 pose: 0.34907248 -2.31482 -3.86157 0 0.00948491 -0.00428184 0.999549 -0.0281568 uwb: 0.50128441 1250.04 1231.95 -imu_odom_: 1691062881.369398462 1.86029 -0.304064 10.0652 -0.0511327 -0.0671117 0.621049 0.15 0.44 pose: 0.33932848 -2.31966 -3.87031 0 0.0125017 -0.00476723 0.999191 -0.0379258 uwb: 0.0 1250.04 1231.95 -imu_odom_: 1691062881.386393467 1.94409 -0.280122 9.28232 -0.056459 -0.0351537 0.518784 0.15 0.44 pose: 0.0 -2.31966 -3.87031 0 0.0125017 -0.00476723 0.999191 -0.0379258 uwb: 0.0 1250.04 1231.95 -imu_odom_: 1691062881.403355516 1.64482 0.122104 9.85932 -0.0372843 -0.0127832 0.456998 0.12 0.29 pose: 0.0 -2.31966 -3.87031 0 0.0125017 -0.00476723 0.999191 -0.0379258 uwb: 0.49917870 1249.2 1233.61 -imu_odom_: 1691062881.420312899 0.957681 -0.316035 9.65103 -0.0681769 0.0394148 0.410127 0.12 0.29 pose: 0.43031731 -2.32846 -3.86555 0 0.0174528 -0.00423255 0.998613 -0.0494863 uwb: 0.0 1249.2 1233.61 -imu_odom_: 1691062881.438368925 0.931344 -0.265756 10.0485 -0.0607201 0.0181095 0.320645 0.12 0.29 pose: 0.0 -2.32846 -3.86555 0 0.0174528 -0.00423255 0.998613 -0.0494863 uwb: 0.50097526 1248.81 1234.88 -imu_odom_: 1691062881.463420168 0.823605 -0.282516 10.2472 -0.0479369 0.00532632 0.273773 0.09 0.29 pose: 0.8013948 -2.32846 -3.86555 0 0.0181797 -0.00380481 0.998518 -0.0511476 uwb: 0.0 1248.81 1234.88 -imu_odom_: 1691062881.480363551 0.792481 -0.268151 10.3166 -0.056459 0.0106526 0.279099 0.09 0.29 pose: 0.0 -2.32846 -3.86555 0 0.0181797 -0.00380481 0.998518 -0.0511476 uwb: 0.0 1248.81 1234.88 -imu_odom_: 1691062881.497291769 0.21069 -0.344765 9.65582 -0.0585895 0.0468716 0.204531 0.1 0.2 pose: 0.51970792 -2.32846 -3.86555 0 0.0211821 -0.00245333 0.997997 -0.0595654 uwb: 0.49779920 1248.93 1235.4 -imu_odom_: 1691062881.512355762 -0.237026 0.296881 10.0509 -0.0319579 0.0639159 0.108657 0.11 0.26 pose: 0.0 -2.32846 -3.86555 0 0.0211821 -0.00245333 0.997997 -0.0595654 uwb: 0.0 1248.93 1235.4 -imu_odom_: 1691062881.529286313 -0.720655 -0.158017 10.3094 -0.0692422 0.0223706 0.194943 0.11 0.23 pose: 0.0 -2.32846 -3.86555 0 0.0211821 -0.00245333 0.997997 -0.0595654 uwb: 0.0 1248.93 1235.4 -imu_odom_: 1691062881.546290359 -0.0454898 -0.711078 10.2568 -0.0703074 -0.0415453 0.262055 0.11 0.23 pose: 0.73991794 -2.34199 -3.86962 0 0.0133057 -0.00145427 0.997722 -0.0661142 uwb: 0.50046488 1249.74 1234.93 -imu_odom_: 1691062881.563286823 0.675165 -0.610521 10.307 -0.0266316 -0.00745685 0.216249 0.12 0.14 pose: 0.0 -2.34199 -3.86962 0 0.0133057 -0.00145427 0.997722 -0.0661142 uwb: 0.0 1249.74 1234.93 -imu_odom_: 1691062881.580282411 0.849942 0.0430956 9.92157 -0.0543285 -0.0138484 0.251402 0.12 0.14 pose: 0.32925198 -2.34199 -3.86962 0 0.011406 -0.00326204 0.997523 -0.069333 uwb: 0.0 1249.74 1234.93 -imu_odom_: 1691062881.597319706 0.141258 -0.112527 9.9096 -0.0490022 0.0330232 0.24288 0.12 0.14 pose: 0.0 -2.34199 -3.86962 0 0.011406 -0.00326204 0.997523 -0.069333 uwb: 0.50101609 1250.3 1235.46 -imu_odom_: 1691062881.615372816 0.3304 -0.229843 9.76116 -0.0500674 0.00532632 0.199204 0.13 0.17 pose: 0.44024507 -2.35341 -3.86966 0 0.0105285 -0.00217513 0.997221 -0.0737271 uwb: 0.0 1250.3 1235.46 -imu_odom_: 1691062881.632427026 0.339977 -0.320823 9.81144 -0.056459 0.0255663 0.203466 0.13 0.17 pose: 0.0 -2.35341 -3.86966 0 0.0105285 -0.00217513 0.997221 -0.0737271 uwb: 0.0 1250.3 1235.46 -imu_odom_: 1691062881.646366710 0.641646 -0.270545 10.1442 -0.0532632 0.0255663 0.20027 0.13 0.17 pose: 0.0 -2.35341 -3.86966 0 0.0105285 -0.00217513 0.997221 -0.0737271 uwb: 0.49851666 1249.39 1237.49 -imu_odom_: 1691062881.664427695 0.311246 -0.181959 9.80904 -0.0500674 0.02024 0.20027 0.14 0.14 pose: 0.8118650 -2.35554 -3.87361 0 0.00967623 -0.00210012 0.997181 -0.0743751 uwb: 0.0 1249.39 1237.49 -imu_odom_: 1691062881.681426492 0.486023 -0.122104 10.1921 -0.056459 0.0468716 0.204531 0.15 0.17 pose: 0.0 -2.35554 -3.87361 0 0.00967623 -0.00210012 0.997181 -0.0743751 uwb: 0.0 1249.39 1237.49 -imu_odom_: 1691062881.698436663 0.0574608 -0.308852 9.48583 -0.0617853 0.0543285 0.199204 0.15 0.17 pose: 0.67005620 -2.36434 -3.86886 0 0.00550783 -0.00113741 0.996796 -0.0797825 uwb: 0.50046487 1248.08 1239.56 -imu_odom_: 1691062881.715440709 0.347159 -0.0287304 10.0197 -0.0500674 0.0117179 0.176834 0.15 0.11 pose: 0.0 -2.36434 -3.86886 0 0.00550783 -0.00113741 0.996796 -0.0797825 uwb: 0.0 1248.08 1239.56 -imu_odom_: 1691062881.732305347 0.37589 -0.21069 9.81144 -0.0841559 -0.0500674 0.204531 0.15 0.11 pose: 0.0 -2.36434 -3.86886 0 0.00550783 -0.00113741 0.996796 -0.0797825 uwb: 0.0 1248.08 1239.56 -imu_odom_: 1691062881.749328351 0.97444 -0.11971 9.78031 -0.0575243 -0.0298274 0.206661 0.15 0.11 pose: 0.32998694 -2.36909 -3.87766 0 0.00242349 -0.0002523740.996601 -0.0823498 uwb: 0.49997199 1247.57 1241.17 -imu_odom_: 1691062881.767431916 1.36948 -0.181959 9.91439 -0.0671117 -0.0213053 0.266316 0.14 0.11 pose: 0.33878017 -2.36909 -3.87766 0 0.00131042 0.000296922 0.99638 -0.0850007 uwb: 0.0 1247.57 1241.17 -imu_odom_: 1691062881.784437713 1.74537 -0.4956 10.2065 -0.0543285 -0.0308927 0.245011 0.14 0.11 pose: 0.0 -2.36909 -3.87766 0 0.00131042 0.000296922 0.99638 -0.0850007 uwb: 0.0 1247.57 1241.17 -imu_odom_: 1691062881.801301476 1.56341 -0.0215478 9.61033 -0.0319579 0.0255663 0.157659 0.14 0.08 pose: 0.45117026 -2.37791 -3.87294 0 0.00628497 0.000442857 0.995956 -0.0896186 uwb: 0.49928370 1246.21 1243.64 -imu_odom_: 1691062881.818494220 1.39343 -0.0981623 9.89284 -0.0426106 0.0490022 0.137419 0.14 0.08 pose: 0.0 -2.37791 -3.87294 0 0.00628497 0.000442857 0.995956 -0.0896186 uwb: 0.0 1246.21 1243.64 -imu_odom_: 1691062881.834424996 0.6608 -0.399832 9.93115 -0.056459 0.0585895 0.0980043 0.14 0.08 pose: 0.0 -2.37791 -3.87294 0 0.00628497 0.000442857 0.995956 -0.0896186 uwb: 0.0 1246.21 1243.64 -imu_odom_: 1691062881.852562392 0.811634 -0.385466 10.1442 -0.0628506 -0.0138484 0.0532632 0.09 0.08 pose: 0.8008115 -2.37791 -3.87294 0 0.00692932 0.000740551 0.995909 -0.0900886 uwb: 0.50199895 1244.5 1245.78 -imu_odom_: 1691062881.869551565 0.895431 -0.071826 9.74919 -0.0575243 -0.0223706 0.0490022 0.09 0.08 pose: 0.0 -2.37791 -3.87294 0 0.00692932 0.000740551 0.995909 -0.0900886 uwb: 0.0 1244.5 1245.78 -imu_odom_: 1691062881.884603601 0.826 -0.172383 9.95988 -0.0543285 0.0170442 0.076699 0.09 0.08 pose: 0.0 -2.37791 -3.87294 0 0.00692932 0.000740551 0.995909 -0.0900886 uwb: 0.0 1244.5 1245.78 -imu_odom_: 1691062881.901521902 0.706289 -0.203507 9.94312 -0.0543285 -0.00426106 0.072438 0.06 0.08 pose: 0.50002448 -2.38261 -3.88176 0 0.00984147 -0.0003813930.995712 -0.0919793 uwb: 0.49934494 1243.21 1247.92 -imu_odom_: 1691062881.918408414 0.45011 -0.258574 9.79947 -0.0500674 -0.00958738 0.0841559 0.06 0.08 pose: 0.0 -2.38261 -3.88176 0 0.00984147 -0.0003813930.995712 -0.0919793 uwb: 0.0 1243.21 1247.92 -imu_odom_: 1691062881.935369004 0.718261 -0.167594 9.82102 -0.0585895 0.00319579 0.113983 0.06 0.08 pose: 0.65966764 -2.39145 -3.87707 0 0.0142446 0.00151769 0.995581 -0.0928054 uwb: 0.0 1243.21 1247.92 -imu_odom_: 1691062881.960283755 0.711078 -0.385466 9.84735 -0.0553937 0 0.11931 0.05 0.05 pose: 0.0 -2.39145 -3.87707 0 0.0142446 0.00151769 0.995581 -0.0928054 uwb: 0.49961618 1243.24 1248.81 -imu_odom_: 1691062881.985456031 -0.131681 -0.124498 9.91439 -0.0490022 0.0660464 0.111853 0.05 0.05 pose: 0.34891500 -2.39145 -3.87707 0 0.0145978 0.00163992 0.995467 -0.0939695 uwb: 0.0 1243.24 1248.81 -imu_odom_: 1691062881.998408482 -0.933739 -0.265756 9.86172 -0.0596548 0.0681769 0.106526 0.07 0.08 pose: 0.42149491 -2.39145 -3.87707 0 0.0115249 7.09816e-05 0.995355 -0.0955756 uwb: 0.50115317 1242.38 1250.11 -imu_odom_: 1691062882.23334898 -0.881066 -0.253785 9.80186 -0.0500674 -0.0628506 0.103331 0.07 0.08 pose: 0.5860991 -2.39145 -3.87707 0 0.0107328 -3.16396e-050.995345 -0.0957721 uwb: 0.0 1242.38 1250.11 -imu_odom_: 1691062882.47405031 0.203507 0.0167594 9.71328 -0.0543285 -0.04048 0.100135 0.11 0.08 pose: 0.32017876 -2.39144 -3.87705 0 0.00801595 -0.0002972690.995271 -0.0968065 uwb: 0.49793919 1241.59 1251.49 -imu_odom_: 1691062882.70309441 0.304064 -0.378284 9.72764 -0.072438 0.0426106 0.0820254 0.11 0.08 pose: 0.0 -2.39144 -3.87705 0 0.00801595 -0.0002972690.995271 -0.0968065 uwb: 0.0 1241.59 1251.49 -imu_odom_: 1691062882.96324877 -0.21069 -0.203507 9.67018 -0.0479369 -0.0117179 0.0873517 0.11 0.02 pose: 0.46974543 -2.40501 -3.88108 0 0.00416921 -0.0008563390.995176 -0.0980166 uwb: 0.50059321 1241.99 1251.89 -imu_odom_: 1691062882.113316966 0.100556 0 10.1299 -0.0532632 -0.036219 0.0735032 0.11 0.02 pose: 0.0 -2.40501 -3.88108 0 0.00416921 -0.0008563390.995176 -0.0980166 uwb: 0.0 1241.99 1251.89 -imu_odom_: 1691062882.137361726 0.292093 -0.167594 9.34936 -0.0543285 0.0255663 0.0756338 0.12 0.02 pose: 0.43007525 -2.40501 -3.88108 0 0.000443776 5.45698e-06 0.995095 -0.0989262 uwb: 0.0 1241.99 1251.89 -imu_odom_: 1691062882.162391387 0.296881 -0.201113 9.87608 -0.0383495 0.00319579 0.0756338 0.12 0.02 pose: 0.0 -2.40501 -3.88108 0 0.000443776 5.45698e-06 0.995095 -0.0989262 uwb: 0.49997492 1242.3 1252.22 -imu_odom_: 1691062882.187376425 0.469264 -0.0790087 10.5465 -0.0553937 -0.0426106 0.0873517 0.13 0.05 pose: 0.49074421 -2.41381 -3.87634 0 -0.00481429 0.000472272 0.994996 -0.0998021 uwb: 0.49915829 1242.65 1252.59 -imu_odom_: 1691062882.211315316 -0.0430956 -0.287304 9.78989 -0.056459 0.0127832 0.0660464 0.14 0.02 pose: 0.0 -2.41381 -3.87634 0 -0.00481429 0.000472272 0.994996 -0.0998021 uwb: 0.0 1242.65 1252.59 -imu_odom_: 1691062882.229369884 0.196325 -0.177171 10.2448 -0.0447411 0.00213053 0.0639159 0.14 0.02 pose: 0.33010943 -2.41854 -3.88515 0 -0.00325581 0.0018407 0.994929 -0.100508 uwb: 0.0 1242.65 1252.59 -imu_odom_: 1691062882.246276229 0.138864 -0.102951 9.77792 -0.0543285 0.00639159 0.0798948 0.14 0.02 pose: 0.0 -2.41854 -3.88515 0 -0.00325581 0.0018407 0.994929 -0.100508 uwb: 0.50107151 1242.92 1253.31 -imu_odom_: 1691062882.269382460 0.203507 -0.25618 10.1035 -0.0330232 -0.0809601 0.0628506 0.14 0 pose: 0.50873899 -2.42736 -3.88044 0 -0.00837891 0.00184292 0.994822 -0.101268 uwb: 0.0 1242.92 1253.31 -imu_odom_: 1691062882.285319944 0.356736 0.0383072 9.99579 -0.0266316 -0.0426106 0.0543285 0.14 0 pose: 0.7135207 -2.42736 -3.88044 0 -0.00830356 0.00126258 0.994816 -0.101343 uwb: 0.0 1242.92 1253.31 -imu_odom_: 1691062882.303444509 0.349553 0.023942 10.1179 -0.0585895 -0.04048 0.0980043 0.2 0.02 pose: 0.0 -2.42736 -3.88044 0 -0.00830356 0.00126258 0.994816 -0.101343 uwb: 0.49961036 1242.94 1253.78 -imu_odom_: 1691062882.319315205 0.768539 -0.488417 9.40682 -0.0479369 -0.00426106 0.0671117 0.15 0 pose: 0.50033073 -2.43206 -3.88926 0 -0.00638819 0.0034445 0.99474 -0.102178 uwb: 0.0 1242.94 1253.78 -imu_odom_: 1691062882.337313194 0.562637 -0.246603 9.89524 -0.0436758 -0.0213053 0.0575243 0.21 0.02 pose: 0.0 -2.43206 -3.88926 0 -0.00638819 0.0034445 0.99474 -0.102178 uwb: 0.0 1242.94 1253.78 -imu_odom_: 1691062882.354252202 0.562637 0.0143652 10.3382 -0.0458064 0.02024 0.0735032 0.21 0.02 pose: 0.0 -2.43206 -3.88926 0 -0.00638819 0.0034445 0.99474 -0.102178 uwb: 0.49957535 1242.69 1254.84 -imu_odom_: 1691062882.368262174 0.440533 -0.28491 10.5489 -0.052198 0 0.0745685 0.21 0.02 pose: 0.23904768 -2.44088 -3.88456 0 -0.00418233 0.00255174 0.994724 -0.102469 uwb: 0.0 1242.69 1254.84 -imu_odom_: 1691062882.385494583 0.277727 -0.162806 9.97664 -0.0575243 0.015979 0.0553937 0.15 0 pose: 0.0 -2.44088 -3.88456 0 -0.00418233 0.00255174 0.994724 -0.102469 uwb: 0.0 1242.69 1254.84 -imu_odom_: 1691062882.401249203 0.380678 -0.19393 9.47625 -0.0735032 -0.00106526 0.0830906 0.15 0 pose: 0.33040108 -2.44088 -3.88456 0 -0.00182936 0.00310284 0.994679 -0.102959 uwb: 0.49980575 1243.17 1255.35 -imu_odom_: 1691062882.418386242 0.691924 -0.282516 9.98143 -0.0830906 -0.0351537 0.0809601 0.16 0.02 pose: 0.15998731 -2.44564 -3.89335 0 -0.00231663 0.00235358 0.99466 -0.103158 uwb: 0.0 1243.17 1255.35 -imu_odom_: 1691062882.434322267 0.304064 -0.299275 10.0868 -0.0596548 0.0117179 0.0479369 0.16 0.02 pose: 0.0 -2.44564 -3.89335 0 -0.00231663 0.00235358 0.99466 -0.103158 uwb: 0.0 1243.17 1255.35 -imu_odom_: 1691062882.451229195 0.316035 -0.167594 9.89524 -0.0468716 0.00639159 0.056459 0.16 0.02 pose: 0.0 -2.44564 -3.89335 0 -0.00231663 0.00235358 0.99466 -0.103158 uwb: 0.49943537 1243.05 1256.11 -imu_odom_: 1691062882.467383958 -0.110133 -0.225055 10.0006 -0.0500674 -0.00426106 0.0703074 0.16 0 pose: 0.32870368 -2.45444 -3.8886 0 -0.00106925 0.00101554 0.994604 -0.103735 uwb: 0.0 1243.05 1256.11 -imu_odom_: 1691062882.484291177 0.691924 -0.433351 10.1634 -0.056459 -0.0319579 0.0490022 0.22 0 pose: 0.0 -2.45444 -3.8886 0 -0.00106925 0.00101554 0.994604 -0.103735 uwb: 0.0 1243.05 1256.11 -imu_odom_: 1691062882.499293049 0.972046 -0.0646434 9.67257 -0.0383495 0.0117179 0.04048 0.22 0 pose: 0.0 -2.45444 -3.8886 0 -0.00106925 0.00101554 0.994604 -0.103735 uwb: 0.50057279 1243.12 1256.63 -imu_odom_: 1691062882.517239416 0.11971 -0.0454898 10.0149 -0.052198 0.0234358 0.0841559 0.21 0.02 pose: 0.66051635 -2.45917 -3.89741 0 -0.0034122 -6.51507e-050.994528 -0.104413 uwb: 0.0 1243.12 1256.63 -imu_odom_: 1691062882.533290935 -0.0263362 -0.162806 9.6606 -0.0628506 -0.015979 0.0681769 0.21 0.02 pose: 0.0 -2.45917 -3.89741 0 -0.0034122 -6.51507e-050.994528 -0.104413 uwb: 0.0 1243.12 1256.63 -imu_odom_: 1691062882.550219445 0.488417 -0.059855 10.1131 -0.0383495 -0.0330232 0.052198 0.21 0.02 pose: 0.31937090 -2.46798 -3.89267 0 -0.00202544 0.000527782 0.994508 -0.104638 uwb: 0.50049113 1243.41 1257.39 -imu_odom_: 1691062882.566430496 0.562637 -0.0861913 10.0485 -0.0692422 -0.056459 0.100135 0.15 0 pose: 0.42972236 -2.47515 -3.89483 0 -0.00308614 0.00217848 0.994444 -0.105197 uwb: 0.0 1243.41 1257.39 -imu_odom_: 1691062882.583375630 1.42455 -0.368707 10.2185 -0.0617853 -0.0298274 0.134223 0.15 0 pose: 0.8000531 -2.48152 -3.89676 0 -0.00215312 0.0024986 0.99442 -0.105441 uwb: 0.0 1243.41 1257.39 -imu_odom_: 1691062882.599249534 2.28407 -0.608127 10.5967 -0.0479369 -0.0873517 0.1012 0.15 0 pose: 0.0 -2.48152 -3.89676 0 -0.00215312 0.0024986 0.99442 -0.105441 uwb: 0.50056405 1243.11 1258.88 -imu_odom_: 1691062882.617307019 1.94649 0.158017 9.35654 -0.056459 -0.00958738 0.0447411 0.17 -0.02 pose: 0.41029558 -2.48152 -3.89676 0 0.00294181 0.00255767 0.994254 -0.10698 uwb: 0.0 1243.11 1258.88 -imu_odom_: 1691062882.633369913 1.82438 0.131681 10.2615 -0.0671117 0.0447411 0.0575243 0.12 -0.02 pose: 0.0 -2.48152 -3.89676 0 0.00294181 0.00255767 0.994254 -0.10698 uwb: 0.0 1243.11 1258.88 -imu_odom_: 1691062882.651372276 0.770933 -0.181959 9.62948 -0.0660464 0.0649811 0.0191748 0.12 -0.02 pose: 0.0 -2.48152 -3.89676 0 0.00294181 0.00255767 0.994254 -0.10698 uwb: 0.49994283 1243.75 1259.11 -imu_odom_: 1691062882.668233123 0.68953 -0.241814 10.489 -0.0479369 0.00319579 -0.0149137 0.09 0 pose: 0.26012228 -2.48152 -3.89676 0 0.00526726 0.00332037 0.994229 -0.1071 uwb: 0.0 1243.75 1259.11 -imu_odom_: 1691062882.681226113 0.54109 -0.220267 9.40921 -0.0607201 -0.00958738 -0.0287621 0.09 0 pose: 0.0 -2.48152 -3.89676 0 0.00526726 0.00332037 0.994229 -0.1071 uwb: 0.0 1243.75 1259.11 -imu_odom_: 1691062882.698227243 0.656011 0.00957681 10.0126 -0.0511327 0.02024 -0.0149137 0.09 0 pose: 0.32999569 -2.49035 -3.89207 0 0.00762924 0.00311739 0.994245 -0.106815 uwb: 0.50045322 1245.01 1258.63 -imu_odom_: 1691062882.712231382 0.670376 -0.268151 10.2256 -0.0671117 -0.0255663 0.02024 0.08 0 pose: 0.39965912 -2.49299 -3.89703 0 0.00826919 0.00316839 0.994364 -0.105645 uwb: 0.0 1245.01 1258.63 -imu_odom_: 1691062882.727222463 0.744597 -0.416591 9.56484 -0.0543285 -0.0106526 0.0266316 0.08 0 pose: 0.7006590 -2.49506 -3.9009 0 0.00888055 0.00268047 0.994367 -0.105582 uwb: 0.0 1245.01 1258.63 -imu_odom_: 1691062882.745260407 0.653617 -0.304064 9.90002 -0.04048 0.00106526 0.036219 0.08 0 pose: 0.0 -2.49506 -3.9009 0 0.00888055 0.00268047 0.994367 -0.105582 uwb: 0.49823668 1244.07 1259.91 -imu_odom_: 1691062882.769231672 0.574608 -0.0287304 9.80186 -0.0575243 0.00852212 0.04048 0.06 0 pose: 0.40026574 -2.49506 -3.9009 0 0.0114258 -0.0003196090.994362 -0.105422 uwb: 0.0 1244.07 1259.91 -imu_odom_: 1691062882.787276616 0.371101 -0.301669 9.93354 -0.0628506 0.0223706 0.0213053 0.07 -0.02 pose: 0.0 -2.49506 -3.9009 0 0.0114258 -0.0003196090.994362 -0.105422 uwb: 0.0 1244.07 1259.91 -imu_odom_: 1691062882.803223724 -0.490811 -0.181959 9.60793 -0.0490022 0.0532632 -0.0649811 0.07 -0.02 pose: 0.32027502 -2.49506 -3.9009 0 0.00970283 0.00148032 0.994388 -0.105338 uwb: 0.50124650 1244.72 1260.14 -imu_odom_: 1691062882.820253436 -1.12049 0.0047884 9.46188 -0.0340885 0.00852212 -0.167247 0.11 -0.2 pose: 0.0 -2.49506 -3.9009 0 0.00970283 0.00148032 0.994388 -0.105338 uwb: 0.0 1244.72 1260.14 -imu_odom_: 1691062882.838330462 -0.756568 0.260968 10.3214 -0.0788296 -0.04048 -0.22051 0.11 -0.2 pose: 0.0 -2.49506 -3.9009 0 0.00970283 0.00148032 0.994388 -0.105338 uwb: 0.49940328 1246.37 1259.61 -imu_odom_: 1691062882.851204167 0.196325 -0.232238 9.95509 -0.076699 -0.0617853 -0.274838 0.11 -0.2 pose: 0.34013926 -2.49506 -3.9009 0 0.00577796 0.000940902 0.994603 -0.103593 uwb: 0.0 1246.37 1259.61 -imu_odom_: 1691062882.867297392 0.366313 -0.203507 9.7037 -0.0649811 0.0351537 -0.311057 0.1 -0.32 pose: 0.0 -2.49506 -3.9009 0 0.00577796 0.000940902 0.994603 -0.103593 uwb: 0.0 1246.37 1259.61 -imu_odom_: 1691062882.884360935 0.11971 -0.351948 9.97185 -0.0639159 -0.00319579 -0.308927 0.1 -0.32 pose: 0.0 -2.49506 -3.9009 0 0.00577796 0.000940902 0.994603 -0.103593 uwb: 0.0 1246.37 1259.61 -imu_odom_: 1691062882.900390872 0.1652 -0.246603 9.48583 -0.0490022 -0.0138484 -0.347276 0.1 -0.32 pose: 0.48124518 -2.5039 -3.89624 0 0.001556 0.000796126 0.995295 -0.0968792 uwb: 0.49984367 1246.68 1259.94 -imu_odom_: 1691062882.918285034 0.0885855 -0.0981623 10.1538 -0.0394148 -0.0245011 -0.383495 0.16 -0.55 pose: 0.40964519 -2.50859 -3.90507 0 -0.00232304 -0.0006177190.995988 -0.0894569 uwb: 0.0 1246.68 1259.94 -imu_odom_: 1691062882.933351069 0.169988 0.0407014 10.1586 -0.0660464 -0.0308927 -0.383495 0.12 -0.44 pose: 0.0 -2.50859 -3.90507 0 -0.00232304 -0.0006177190.995988 -0.0894569 uwb: 0.0 1246.68 1259.94 -imu_odom_: 1691062882.951361598 0.390255 -0.153229 9.84496 -0.0447411 0.0287621 -0.419714 0.12 -0.44 pose: 0.25979564 -2.50859 -3.90507 0 -0.00421945 0.000744749 0.996458 -0.0839862 uwb: 0.49939745 1246.68 1260.85 -imu_odom_: 1691062882.968354854 0.138864 -0.244209 10.0892 -0.052198 0.0170442 -0.450607 0.13 -0.53 pose: 0.0 -2.50859 -3.90507 0 -0.00421945 0.000744749 0.996458 -0.0839862 uwb: 0.0 1246.68 1260.85 -imu_odom_: 1691062882.982360743 0.253785 0.0837971 9.27753 -0.0639159 0.00745685 -0.462325 0.13 -0.53 pose: 0.0 -2.50859 -3.90507 0 -0.00421945 0.000744749 0.996458 -0.0839862 uwb: 0.0 1246.68 1260.85 -imu_odom_: 1691062882.998349266 0.138864 0.148441 10.1969 -0.0468716 0.0234358 -0.474043 0.13 -0.53 pose: 0.32994027 -2.51744 -3.90041 0 -0.00406143 0.00178499 0.997064 -0.0764419 uwb: 0.50109776 1245.27 1263.01 -imu_odom_: 1691062883.16234678 0.61531 -0.21069 9.87129 -0.0628506 -0.00639159 -0.525175 0.19 -0.73 pose: 0.38984803 -2.51978 -3.9049 0 -0.00654716 0.00405029 0.997747 -0.0666509 uwb: 0.0 1245.27 1263.01 -imu_odom_: 1691062883.33346927 0.31364 0.0981623 9.83777 -0.0639159 -0.0106526 -0.556068 0.19 -0.73 pose: 0.7890288 -2.52205 -3.90929 0 -0.00576812 0.0038671 0.997898 -0.0644304 uwb: 0.0 1245.27 1263.01 -imu_odom_: 1691062883.49347116 1.07739 0.272939 10.5967 -0.052198 -0.0660464 -0.556068 0.19 -0.73 pose: 0.0 -2.52205 -3.90929 0 -0.00576812 0.0038671 0.997898 -0.0644304 uwb: 0.49939454 1245.88 1263.21 -imu_odom_: 1691062883.67401976 1.46765 -0.213084 9.49301 -0.0852212 -0.0798948 -0.50387 0.17 -0.67 pose: 0.43107562 -2.53091 -3.90464 0 -0.00298727 0.00605566 0.998635 -0.0517874 uwb: 0.0 1245.88 1263.21 -imu_odom_: 1691062883.82343769 1.29047 -0.423774 9.19373 -0.0617853 0.0394148 -0.458064 0.11 -0.44 pose: 0.0 -2.53091 -3.90464 0 -0.00298727 0.00605566 0.998635 -0.0517874 uwb: 0.0 1245.88 1263.21 -imu_odom_: 1691062883.99215699 0.806846 -0.519542 9.92397 -0.0490022 0.0149137 -0.407996 0.11 -0.44 pose: 0.0 -2.53091 -3.90464 0 -0.00298727 0.00605566 0.998635 -0.0517874 uwb: 0.49990492 1246.3 1263.66 -imu_odom_: 1691062883.116347197 0.667982 -0.35913 9.51695 -0.0415453 0.00852212 -0.36432 0.1 -0.38 pose: 0.25955357 -2.53091 -3.90464 0 5.88695e-05 0.00545457 0.998975 -0.0449366 uwb: 0.0 1246.3 1263.66 -imu_odom_: 1691062883.133339869 0.866701 -0.186748 9.80665 -0.0468716 -0.0287621 -0.284426 0.1 -0.38 pose: 0.0 -2.53091 -3.90464 0 5.88695e-05 0.00545457 0.998975 -0.0449366 uwb: 0.0 1246.3 1263.66 -imu_odom_: 1691062883.148222457 0.711078 -0.474052 9.56484 -0.0596548 0.00213053 -0.232228 0.1 -0.38 pose: 0.32066290 -2.53091 -3.90464 0 0.00215818 0.00361761 0.999277 -0.037785 uwb: 0.49942954 1245.79 1264.96 -imu_odom_: 1691062883.174341138 0.464475 -0.0574608 9.87129 -0.0351537 0.00639159 -0.248207 0.11 -0.41 pose: 0.40853694 -2.53979 -3.90005 0 0.0054963 0.0018909 0.999496 -0.0312175 uwb: 0.0 1245.79 1264.96 -imu_odom_: 1691062883.189280889 0.280122 -0.0311246 9.76355 -0.0596548 0 -0.238619 0.11 -0.41 pose: 0.0 -2.53979 -3.90005 0 0.0054963 0.0018909 0.999496 -0.0312175 uwb: 0.50196688 1246.36 1265.11 -imu_odom_: 1691062883.206220189 0.0047884 -0.1652 9.64384 -0.0543285 0.0479369 -0.273773 0.08 -0.23 pose: 0.8132941 -2.53979 -3.90005 0 0.00513553 0.00272958 0.999532 -0.0300436 uwb: 0.0 1246.36 1265.11 -imu_odom_: 1691062883.219209096 -0.0263362 -0.272939 10.2903 -0.0426106 0.056459 -0.333428 0.09 -0.17 pose: 0.0 -2.53979 -3.90005 0 0.00513553 0.00272958 0.999532 -0.0300436 uwb: 0.0 1246.36 1265.11 -imu_odom_: 1691062883.236346136 -0.869095 0.251391 9.8689 -0.0426106 0.0330232 -0.259925 0.1 -0.14 pose: 0.0 -2.53979 -3.90005 0 0.00513553 0.00272958 0.999532 -0.0300436 uwb: 0.0 1246.36 1265.11 -imu_odom_: 1691062883.251219391 -0.648829 -0.725443 9.991 -0.0745685 -0.0745685 -0.109722 0.1 -0.14 pose: 0.71032428 -2.54443 -3.90891 0 -0.00178187 0.00482369 0.999805 -0.0190495 uwb: 0.49874708 1245.99 1266.1 -imu_odom_: 1691062883.268408635 0.138864 -0.378284 9.80426 -0.0213053 -0.0948085 -0.136354 0.1 -0.14 pose: 0.0 -2.54443 -3.90891 0 -0.00178187 0.00482369 0.999805 -0.0190495 uwb: 0.0 1245.99 1266.1 -imu_odom_: 1691062883.285464304 0.866701 0.248997 10.2711 -0.036219 -0.0276969 -0.106526 0.1 -0.17 pose: 0.0 -2.54443 -3.90891 0 -0.00178187 0.00482369 0.999805 -0.0190495 uwb: 0.0 1245.99 1266.1 -imu_odom_: 1691062883.302347025 0.490811 -0.155623 9.71806 -0.0692422 -0.00213053 -0.100135 0.1 -0.17 pose: 0.31988129 -2.55328 -3.90425 0 -0.00369181 0.00367475 0.999861 -0.0158603 uwb: 0.50001284 1245.76 1266.79 -imu_odom_: 1691062883.318292092 0.0526724 -0.318429 9.65582 -0.0532632 0.0127832 -0.135289 0.13 -0.14 pose: 0.42971070 -2.55328 -3.90425 0 -0.0006457 0.00390572 0.999912 -0.0126475 uwb: 0.0 1245.76 1266.79 -imu_odom_: 1691062883.335374301 -0.280122 -0.131681 9.44273 -0.0692422 -0.0106526 -0.113983 0.13 -0.14 pose: 0.0 -2.55328 -3.90425 0 -0.0006457 0.00390572 0.999912 -0.0126475 uwb: 0.0 1245.76 1266.79 -imu_odom_: 1691062883.351228665 0.047884 -0.466869 9.84735 -0.0543285 -0.0245011 -0.0948085 0.13 -0.14 pose: 0.0 -2.55328 -3.90425 0 -0.0006457 0.00390572 0.999912 -0.0126475 uwb: 0.49948786 1246.14 1266.73 -imu_odom_: 1691062883.369222571 -0.203507 -0.244209 9.35654 -0.0436758 0.00106526 -0.102265 0.18 -0.2 pose: 0.8011323 -2.55328 -3.90425 0 -0.00142094 0.00353076 0.999921 -0.0119443 uwb: 0.0 1246.14 1266.73 -imu_odom_: 1691062883.386247034 0.433351 0.107739 10.0221 -0.0383495 -0.0372843 -0.0788296 0.13 -0.11 pose: 0.0 -2.55328 -3.90425 0 -0.00142094 0.00353076 0.999921 -0.0119443 uwb: 0.0 1246.14 1266.73 -imu_odom_: 1691062883.401196701 0.117316 -0.308852 9.58878 -0.0830906 0.00852212 -0.0671117 0.13 -0.11 pose: 0.66862714 -2.56681 -3.90839 0 -0.00605892 0.00252257 0.999953 -0.00710752 uwb: 0.49964536 1246.44 1267.06 -imu_odom_: 1691062883.418254411 0.131681 -0.275333 9.96946 -0.052198 -0.0106526 -0.0937433 0.13 -0.11 pose: 0.0 -2.56681 -3.90839 0 -0.00605892 0.00252257 0.999953 -0.00710752 uwb: 0.0 1246.44 1267.06 -imu_odom_: 1691062883.431189655 0.177171 -0.217872 9.54329 -0.056459 0.0245011 -0.0777643 0.13 -0.11 pose: 0.0 -2.56681 -3.90839 0 -0.00605892 0.00252257 0.999953 -0.00710752 uwb: 0.0 1246.44 1267.06 -imu_odom_: 1691062883.448194285 0.318429 -0.136469 10.0485 -0.0639159 -0.0127832 -0.052198 0.13 -0.11 pose: 0.32077082 -2.56681 -3.90839 0 -0.00731515 0.00170703 0.999958 -0.00522823 uwb: 0.50104819 1247.68 1266.53 -imu_odom_: 1691062883.465200082 0.553061 -0.244209 10.0892 -0.0628506 -0.0639159 -0.0532632 0.14 -0.14 pose: 0.0 -2.56681 -3.90376 0 -0.00789408 0.00154824 0.999963 -0.00309215 uwb: 0.0 1247.68 1266.53 -imu_odom_: 1691062883.482188963 1.24259 -0.198719 10.228 -0.052198 -0.0245011 -0.0213053 0.14 -0.14 pose: 0.0 -2.57567 -3.90376 0 -0.00789408 0.00154824 0.999963 -0.00309215 uwb: 0.0 1247.68 1266.53 -imu_odom_: 1691062883.499247840 1.60412 -0.323217 10.3645 -0.0607201 -0.0351537 0.0426106 0.14 -0.14 pose: 0.0 -2.57567 -3.90376 0 -0.00789408 0.00154824 0.999963 -0.00309215 uwb: 0.49938287 1246.47 1268.5 -imu_odom_: 1691062883.516335882 1.83875 -0.263362 9.82341 -0.0703074 -0.0479369 0.036219 0.11 -0.14 pose: 0.7018256 -2.57567 -3.90376 0 -0.00699639 0.00138568 0.999971 -0.00276625 uwb: 0.0 1246.47 1268.5 -imu_odom_: 1691062883.533275475 1.5682 -0.0215478 9.72285 -0.0426106 0.0276969 -0.0490022 0.11 -0.14 pose: 0.0 -2.57567 -3.90376 0 -0.00699639 0.00138568 0.999971 -0.00276625 uwb: 0.0 1246.47 1268.5 -imu_odom_: 1691062883.550219734 0.694318 0.198719 10.0149 -0.056459 0.0468716 -0.052198 0.09 -0.05 pose: 0.51000767 -2.58919 -3.90793 0 -0.00103837 0.000868909 0.999997 -0.00180275 uwb: 0.50080029 1245.96 1269.83 -imu_odom_: 1691062883.565325433 0.512359 -0.311246 10.0652 -0.0735032 0.0106526 -0.0628506 0.09 -0.08 pose: 0.0 -2.58919 -3.90793 0 -0.00103837 0.000868909 0.999997 -0.00180275 uwb: 0.0 1245.96 1269.83 -imu_odom_: 1691062883.582325397 0.677559 -0.311246 9.91678 -0.0585895 -0.02024 -0.0820254 0.07 -0.08 pose: 0.0 -2.58919 -3.90793 0 -0.00103837 0.000868909 0.999997 -0.00180275 uwb: 0.0 1245.96 1269.83 -imu_odom_: 1691062883.598190261 0.864307 -0.203507 9.88326 -0.0660464 0 -0.0543285 0.07 -0.08 pose: 0.66181129 -2.58919 -3.90793 0 0.00329876 0.000676034 0.999994 0.000938186 uwb: 0.49877041 1247.01 1269.09 -imu_odom_: 1691062883.616265829 0.88346 -0.19393 10.0485 -0.0617853 0.0106526 -0.0213053 0.08 -0.05 pose: 0.0 -2.58919 -3.90793 0 0.00329876 0.000676034 0.999994 0.000938186 uwb: 0.0 1247.01 1269.09 -imu_odom_: 1691062883.633322373 0.574608 -0.31364 9.84735 -0.052198 0 -0.015979 0.08 -0.05 pose: 0.0 -2.58919 -3.90793 0 0.00329876 0.000676034 0.999994 0.000938186 uwb: 0.0 1247.01 1269.09 -imu_odom_: 1691062883.649373892 0.679953 -0.146046 9.9527 -0.0511327 -0.00426106 -0.0276969 0.08 -0.05 pose: 0.33876560 -2.58919 -3.90793 0 0.00655779 0.000159807 0.999975 0.0025313 uwb: 0.50053488 1246.91 1269.92 -imu_odom_: 1691062883.667253471 0.718261 -0.0909797 9.91918 -0.0575243 -0.0149137 -0.0170442 0.06 -0.02 pose: 0.33973679 -2.59803 -3.90325 0 0.00840274 -0.00100667 0.999958 0.00353381 uwb: 0.0 1246.91 1269.92 -imu_odom_: 1691062883.692397459 0.627281 -0.215478 10.0772 -0.0511327 -0.0149137 -0.0351537 0.06 -0.02 pose: 0.0 -2.59803 -3.90325 0 0.00840274 -0.00100667 0.999958 0.00353381 uwb: 0.49955787 1244.64 1272.65 -imu_odom_: 1691062883.718182492 -0.0023942 -0.275333 9.65342 -0.0575243 0.0916127 -0.0308927 0.04 -0.02 pose: 0.35100322 -2.59803 -3.90325 0 0.0110699 0.000196916 0.999928 0.00465947 uwb: 0.0 1244.64 1272.65 -imu_odom_: 1691062883.743166364 -1.54187 -0.328006 9.87848 -0.0415453 0.0170442 0.0181095 0.08 0 pose: 0.0 -2.59803 -3.90325 0 0.0110699 0.000196916 0.999928 0.00465947 uwb: 0.50146524 1244.58 1273.55 -imu_odom_: 1691062883.769241589 -0.0790087 -0.100556 9.84496 -0.0436758 -0.0830906 0.00532632 0.08 0 pose: 0.42837494 -2.59803 -3.90325 0 0.0084379 -0.00123699 0.999944 0.00618725 uwb: 0.0 1244.58 1273.55 -imu_odom_: 1691062883.794381493 0.653617 -0.3304 9.4978 -0.0585895 -0.015979 0.00745685 0.1 -0.05 pose: 0.8113692 -2.59803 -3.90325 0 0.007541 -0.00120926 0.999951 0.00627278 uwb: 0.49844085 1244.9 1273.9 -imu_odom_: 1691062883.820188983 0.0861913 -0.246603 9.88566 -0.04048 0.0234358 -0.00426106 0.1 -0.05 pose: 0.0 -2.59803 -3.90325 0 0.007541 -0.00120926 0.999951 0.00627278 uwb: 0.0 1244.9 1273.9 -imu_odom_: 1691062883.836307874 -0.112527 -0.148441 9.52892 -0.0543285 -0.0255663 0.0127832 0.12 -0.02 pose: 0.50901023 -2.60269 -3.91209 0 0.00488475 -0.0008469110.999963 0.00702195 uwb: 0.0 1244.9 1273.9 -imu_odom_: 1691062883.861174503 0.457293 -0.241814 10.2927 -0.0415453 0 -0.0117179 0.12 -0.02 pose: 0.0 -2.60269 -3.91209 0 0.00488475 -0.0008469110.999963 0.00702195 uwb: 0.49973285 1244.65 1274.59 -imu_odom_: 1691062883.884192364 -0.191536 -0.229843 9.52653 -0.0383495 0.0191748 0.0255663 0.12 -0.02 pose: 0.50146233 -2.61153 -3.90742 0 0.00286662 -0.00144689 0.999963 0.00795049 uwb: 0.0 1244.65 1274.59 -imu_odom_: 1691062883.900322629 0 -0.296881 10.1418 -0.0330232 -0.00213053 -0.00213053 0.12 -0.02 pose: 0.0 -2.61153 -3.90742 0 0.00286662 -0.00144689 0.999963 0.00795049 uwb: 0.50149441 1246.11 1274.29 -imu_odom_: 1691062883.926220823 -0.0430956 -0.349553 9.44513 -0.0617853 -0.0245011 0.0223706 0.17 -0.05 pose: 0.40921356 -2.61153 -3.90742 0 0.00370766 -0.00133201 0.999954 0.00875822 uwb: 0.0 1246.11 1274.29 -imu_odom_: 1691062883.949278932 0.713472 -0.134075 10.0006 -0.0447411 -0.00426106 0.00213053 0.17 -0.05 pose: 0.0 -2.61153 -3.90742 0 0.00370766 -0.00133201 0.999954 0.00875822 uwb: 0.49856334 1246.85 1274.14 -imu_odom_: 1691062883.973172618 -0.0502782 -0.251391 10.003 -0.0511327 0.00319579 0.015979 0.14 -0.02 pose: 0.39928873 -2.62035 -3.90271 0 -0.000375272-0.00138533 0.999956 0.00926796 uwb: 0.0 1246.85 1274.14 -imu_odom_: 1691062883.990158583 -0.0047884 -0.213084 9.58638 -0.0585895 -0.052198 0.0191748 0.14 -0.02 pose: 0.0 -2.62035 -3.90271 0 -0.000375272-0.00138533 0.999956 0.00926796 uwb: 0.49933329 1247.89 1273.86 -imu_odom_: 1691062884.16314594 0.466869 -0.153229 9.30387 -0.0575243 -0.0479369 0.00852212 0.14 0 pose: 0.49038548 -2.62504 -3.91154 0 -0.00057578 -0.00102939 0.99995 0.00994842 uwb: 0.0 1247.89 1273.86 -imu_odom_: 1691062884.33301726 0.304064 -0.0814029 9.78271 -0.0511327 0.0138484 0.0149137 0.14 0 pose: 0.0 -2.62504 -3.91154 0 -0.00057578 -0.00102939 0.99995 0.00994842 uwb: 0.0 1247.89 1273.86 -imu_odom_: 1691062884.59362660 0.0335188 -0.248997 9.90002 -0.0490022 0.0234358 0.0149137 0.15 -0.02 pose: 0.42134619 -2.6339 -3.90691 0 -0.00252747 -0.0004856850.999942 0.0104475 uwb: 0.50019367 1249.07 1273.24 -imu_odom_: 1691062884.86303793 0.627281 -0.107739 10.1394 -0.0266316 -0.0575243 0.00426106 0.15 -0.02 pose: 0.0 -2.6339 -3.90691 0 -0.00252747 -0.0004856850.999942 0.0104475 uwb: 0.0 1249.07 1273.24 -imu_odom_: 1691062884.112225611 0.59855 -0.409408 10.1227 -0.0500674 -0.0575243 0.0276969 0.15 -0.02 pose: 0.41980045 -2.64276 -3.90226 0 -0.00269771 0.0016967 0.999934 0.0110181 uwb: 0.49900956 1250.43 1272.82 -imu_odom_: 1691062884.138368498 0.129287 0.0837971 9.98622 -0.0340885 -0.0181095 0.00958738 0.21 -0.02 pose: 0.53929221 -2.64742 -3.9111 0 -0.0005314740.0017616 0.999929 0.0117692 uwb: 0.50088779 1249.33 1274.97 -imu_odom_: 1691062884.161156832 0.591368 -0.361524 9.59357 -0.0596548 -0.052198 0.0436758 0.21 -0.02 pose: 0.0 -2.64742 -3.9111 0 -0.0005314740.0017616 0.999929 0.0117692 uwb: 0.0 1249.33 1274.97 -imu_odom_: 1691062884.186188827 -0.0909797 -0.0407014 10.2376 -0.0266316 0.0191748 0.0245011 0.16 -0.02 pose: 0.65880730 -2.65626 -3.90643 0 0.0015422 0.000988777 0.999924 0.0122163 uwb: 0.0 1249.33 1274.97 -imu_odom_: 1691062884.203167209 0.507571 0.0335188 9.59596 -0.0660464 -0.0585895 0.0575243 0.16 -0.02 pose: 0.8155107 -2.65626 -3.90643 0 0.000667693 0.00134582 0.999923 0.0122786 uwb: 0.50060198 1250.24 1275 -imu_odom_: 1691062884.227294798 0.328006 -0.203507 9.7444 -0.0532632 -0.0170442 0.0213053 0.16 0 pose: 0.0 -2.65626 -3.90643 0 0.000667693 0.00134582 0.999923 0.0122786 uwb: 0.0 1250.24 1275 -imu_odom_: 1691062884.253140786 0.227449 -0.28491 10.0317 -0.0703074 0.04048 0.0543285 0.16 0 pose: 0.41945047 -2.6651 -3.90175 0 -0.0004002590.00298143 0.999919 0.0123289 uwb: 0.49868292 1249.82 1275.99 -imu_odom_: 1691062884.277152882 0.742203 -0.342371 9.44273 -0.0617853 0.0287621 0.0223706 0.17 0 pose: 0.41883800 -2.67618 -3.9072 0 -0.00426319 0.000343157 0.999915 0.0122948 uwb: 0.0 1249.82 1275.99 -imu_odom_: 1691062884.295291738 0.0814029 -0.007182619.73482 -0.0500674 -0.0149137 0.0479369 0.17 0 pose: 0.7154749 -2.67862 -3.90591 0 -0.00370211 9.60582e-05 0.999917 0.012357 uwb: 0.50103070 1249.86 1276.52 -imu_odom_: 1691062884.320169742 0.471658 -0.234632 9.47864 -0.0649811 -0.0127832 0.0308927 0.17 0 pose: 0.34996203 -2.6835 -3.90332 0 -0.00369532 0.000702038 0.999916 0.0124244 uwb: 0.0 1249.86 1276.52 -imu_odom_: 1691062884.346153972 0.349553 -0.1652 9.80426 -0.0500674 -0.0276969 0.0436758 0.17 0 pose: 0.0 -2.6835 -3.90332 0 -0.00369532 0.000702038 0.999916 0.0124244 uwb: 0.49956662 1249.06 1278.07 -imu_odom_: 1691062884.369222873 0.124498 -0.172383 9.991 -0.0500674 0.0213053 0.0330232 0.19 0 pose: 0.50862234 -2.68745 -3.90123 0 -0.00220494 0.00227814 0.999917 0.0124768 uwb: 0.0 1249.06 1278.07 -imu_odom_: 1691062884.385160941 0.744597 -0.0646434 9.82341 -0.0468716 0.0117179 0.0234358 0.19 0 pose: 0.0 -2.68745 -3.90123 0 -0.00220494 0.00227814 0.999917 0.0124768 uwb: 0.0 1249.06 1278.07 -imu_odom_: 1691062884.410143938 0.23942 -0.354342 9.39724 -0.0798948 0.00319579 0.0553937 0.24 0 pose: 0.39006969 -2.70097 -3.90538 0 -0.00337865 0.00277499 0.99991 0.0126804 uwb: 0.50069822 1248.2 1279.56 -imu_odom_: 1691062884.433136719 0.112527 -0.0550666 9.46907 -0.0383495 0.0117179 0.0372843 0.24 0 pose: 0.7013590 -2.70097 -3.90538 0 -0.00374069 0.00207275 0.999911 0.0126276 uwb: 0.0 1248.2 1279.56 -imu_odom_: 1691062884.458275457 0.153229 -0.268151 9.72525 -0.0553937 0.0106526 0.0543285 0.18 0 pose: 0.25111031 -2.70097 -3.90538 0 -0.00528666 0.000776506 0.999908 0.0124989 uwb: 0.50033657 1247.85 1280.65 -imu_odom_: 1691062884.474157820 0.0814029 -0.289698 9.79707 -0.0308927 -0.0426106 0.015979 0.18 0 pose: 0.0 -2.70097 -3.90538 0 -0.00528666 0.000776506 0.999908 0.0124989 uwb: 0.0 1247.85 1280.65 -imu_odom_: 1691062884.491144951 0.447716 -0.23942 9.89284 -0.0671117 -0.00426106 0.0553937 0.18 -0.02 pose: 0.23915560 -2.70981 -3.9007 0 -0.0073772 0.00142789 0.999894 0.012458 uwb: 0.49944121 1248.7 1280.62 -imu_odom_: 1691062884.516137281 0.68953 0.0622492 10.3597 -0.0372843 -0.036219 0.0266316 0.18 -0.02 pose: 0.0 -2.70981 -3.9007 0 -0.0073772 0.00142789 0.999894 0.012458 uwb: 0.0 1248.7 1280.62 -imu_odom_: 1691062884.541145069 0.505177 -0.071826 10.1035 -0.0703074 -0.0181095 0.0426106 0.18 -0.02 pose: 0.40972687 -2.71449 -3.90953 0 -0.00919834 -0.0002359960.99988 0.0124744 uwb: 0.50003909 1248.2 1281.54 -imu_odom_: 1691062884.565129458 0.509965 -0.0670376 9.52174 -0.0266316 -0.0415453 0.02024 0.18 -0.02 pose: 0.0 -2.71449 -3.90953 0 -0.00919834 -0.0002359960.99988 0.0124744 uwb: 0.0 1248.2 1281.54 -imu_odom_: 1691062884.591280512 0.332794 -0.213084 9.60554 -0.0681769 0.00319579 0.0511327 0.21 0 pose: 0.41029268 -2.72333 -3.90485 0 -0.00510105 0.00143163 0.999907 0.0125442 uwb: 0.49752799 1248.62 1282.01 -imu_odom_: 1691062884.617146041 0.071826 -0.0550666 9.64384 -0.0383495 0.0287621 0.0458064 0.2 0 pose: 0.49966286 -2.73216 -3.90016 0 -0.00142589 0.00305545 0.999914 0.0126909 uwb: 0.0 1248.62 1282.01 -imu_odom_: 1691062884.643267055 0.0622492 -0.40462 9.85932 -0.0511327 -0.02024 0.056459 0.2 0 pose: 0.0 -2.73216 -3.90016 0 -0.00142589 0.00305545 0.999914 0.0126909 uwb: 0.50107445 1248.48 1282.35 -imu_odom_: 1691062884.659304284 0.792481 -0.19393 10.082 -0.0340885 -0.0490022 0.0255663 0.18 0 pose: 0.70097692 -2.74568 -3.90431 0 -0.00699029 0.00105293 0.999899 0.0123069 uwb: 0.0 1248.48 1282.35 -imu_odom_: 1691062884.676173589 0.52433 -0.162806 9.80904 -0.0490022 0.0223706 0.00745685 0.18 0 pose: 0.8002282 -2.74568 -3.90431 0 -0.00600987 0.00112782 0.999905 0.012363 uwb: 0.0 1248.48 1282.35 -imu_odom_: 1691062884.692174070 0.00718261 -0.158017 9.51216 -0.0511327 0.0181095 -0.0532632 0.18 0 pose: 0.0 -2.74568 -3.90431 0 -0.00600987 0.00112782 0.999905 0.012363 uwb: 0.49986118 1250.66 1281.34 -imu_odom_: 1691062884.709165285 0.469264 0.153229 9.991 -0.052198 -0.0660464 -0.0841559 0.18 -0.14 pose: 0.32843246 -2.75452 -3.89963 0 -0.0044534 0.0015633 0.999904 0.0130566 uwb: 0.0 1250.66 1281.34 -imu_odom_: 1691062884.725155266 0.299275 -0.380678 9.87129 -0.0735032 -0.0298274 -0.109722 0.18 -0.14 pose: 0.0 -2.75452 -3.89963 0 -0.0044534 0.0015633 0.999904 0.0130566 uwb: 0.0 1250.66 1281.34 -imu_odom_: 1691062884.742239517 0.174777 -0.186748 9.83059 -0.0447411 -0.0340885 -0.167247 0.24 -0.35 pose: 0.0 -2.75452 -3.89963 0 -0.0044534 0.0015633 0.999904 0.0130566 uwb: 0.50137485 1252.58 1280.53 -imu_odom_: 1691062884.758181377 0.385466 -0.047884 10.0772 -0.0585895 -0.0287621 -0.210922 0.24 -0.35 pose: 0.49044965 -2.768 -3.9039 0 -0.00470497 0.00149562 0.999852 0.0165037 uwb: 0.0 1252.58 1280.53 -imu_odom_: 1691062884.775109303 0.823605 0.294487 9.98861 -0.0735032 -0.0245011 -0.276969 0.24 -0.35 pose: 0.0 -2.768 -3.9039 0 -0.00470497 0.00149562 0.999852 0.0165037 uwb: 0.0 1252.58 1280.53 -imu_odom_: 1691062884.791108618 0.596156 -0.0861913 9.14824 -0.056459 -0.00639159 -0.337689 0.18 -0.41 pose: 0.32961656 -2.768 -3.9039 0 -0.00369777 0.00327058 0.999774 0.0206843 uwb: 0.49986993 1254.78 1279.52 -imu_odom_: 1691062884.807158971 0.122104 0.0383072 9.80665 -0.0585895 -0.00958738 -0.388822 0.18 -0.41 pose: 0.0 -2.768 -3.9039 0 -0.00369777 0.00327058 0.999774 0.0206843 uwb: 0.0 1254.78 1279.52 -imu_odom_: 1691062884.824102355 0.723049 -0.0071826110.0293 -0.0852212 -0.00745685 -0.423975 0.18 -0.41 pose: 0.0 -2.768 -3.9039 0 -0.00369777 0.00327058 0.999774 0.0206843 uwb: 0.0 1254.78 1279.52 -imu_odom_: 1691062884.841126526 0.318429 -0.308852 9.45949 -0.0713727 -0.0447411 -0.454868 0.24 -0.61 pose: 0.16054145 -2.768 -3.9039 0 -0.00223735 0.00391633 0.999715 0.0234314 uwb: 0.49999826 1255.37 1280.16 -imu_odom_: 1691062884.857168421 0.519542 0.059855 9.84735 -0.0788296 -0.0415453 -0.465521 0.18 -0.5 pose: 0.0 -2.768 -3.9039 0 -0.00223735 0.00391633 0.999715 0.0234314 uwb: 0.0 1255.37 1280.16 -imu_odom_: 1691062884.874223799 0.641646 -0.205901 9.69891 -0.056459 -0.00745685 -0.458064 0.18 -0.5 pose: 0.65955101 -2.78583 -3.89485 0 -0.0007225010.00390248 0.999253 0.0384465 uwb: 0.0 1255.37 1280.16 -imu_odom_: 1691062884.890091288 0.562637 -0.407014 9.79947 -0.0681769 -0.0127832 -0.491087 0.18 -0.55 pose: 0.0 -2.78583 -3.89485 0 -0.0007225010.00390248 0.999253 0.0384465 uwb: 0.49914956 1255.52 1280.82 -imu_odom_: 1691062884.906086519 0.699107 -0.143652 9.71567 -0.0607201 -0.00852212 -0.526241 0.18 -0.55 pose: 0.0 -2.78583 -3.89485 0 -0.0007225010.00390248 0.999253 0.0384465 uwb: 0.0 1255.52 1280.82 -imu_odom_: 1691062884.923239016 0.56982 0.0766145 9.14106 -0.0639159 -0.0245011 -0.511327 0.18 -0.55 pose: 0.34044259 -2.79036 -3.90377 0 0.00192446 0.00313902 0.998885 0.0470629 uwb: 0.0 1255.52 1280.82 -imu_odom_: 1691062884.940130486 0.799663 -0.189142 9.8258 -0.0596548 -0.0735032 -0.48363 0.22 -0.7 pose: 0.41066307 -2.79922 -3.89916 0 0.00477227 0.00388972 0.998274 0.0583965 uwb: 0.49944413 1256.23 1281.6 -imu_odom_: 1691062884.956289333 1.2378 -0.411803 9.21528 -0.0873517 -0.0181095 -0.46339 0.22 -0.7 pose: 0.7066961 -2.79924 -3.89918 0 0.00569617 0.00370376 0.998161 0.0602393 uwb: 0.0 1256.23 1281.6 -imu_odom_: 1691062884.973290755 1.25696 -0.409408 10.3453 -0.0543285 -0.0287621 -0.448476 0.22 -0.7 pose: 0.0 -2.79924 -3.89918 0 0.00569617 0.00370376 0.998161 0.0602393 uwb: 0.0 1256.23 1281.6 -imu_odom_: 1691062884.989108955 1.28808 -0.110133 9.87369 -0.0553937 -0.0276969 -0.407996 0.12 -0.41 pose: 0.33997887 -2.79924 -3.89918 0 0.00935914 0.00222654 0.997585 0.0687939 uwb: 0.49984951 1256.88 1281.81 -imu_odom_: 1691062885.6230829 1.30723 -0.11971 9.64384 -0.0735032 0.0660464 -0.331297 0.17 -0.53 pose: 0.0 -2.79924 -3.89918 0 0.00935914 0.00222654 0.997585 0.0687939 uwb: 0.0 1256.88 1281.81 -imu_odom_: 1691062885.23234002 0.512359 -0.411803 10.1418 -0.0458064 0.0191748 -0.28336 0.17 -0.53 pose: 0.0 -2.79924 -3.89918 0 0.00935914 0.00222654 0.997585 0.0687939 uwb: 0.0 1256.88 1281.81 -imu_odom_: 1691062885.40114098 0.648829 -0.222661 9.89045 -0.0372843 0.00319579 -0.290817 0.15 -0.44 pose: 0.32872994 -2.80815 -3.89463 0 0.0125606 0.00185852 0.997028 0.075992 uwb: 0.50136027 1256.05 1283.39 -imu_odom_: 1691062885.56368898 1.00796 -0.134075 9.75398 -0.0543285 -0.0447411 -0.258859 0.15 -0.44 pose: 0.0 -2.80815 -3.89463 0 0.0125606 0.00185852 0.997028 0.075992 uwb: 0.0 1256.05 1283.39 -imu_odom_: 1691062885.73364196 0.866701 -0.354342 9.84256 -0.0660464 0.02024 -0.214118 0.15 -0.44 pose: 0.33087941 -2.80815 -3.89463 0 0.0121244 -5.12629e-050.996597 0.0815318 uwb: 0.0 1256.05 1283.39 -imu_odom_: 1691062885.90131132 0.964863 -0.414197 9.79707 -0.052198 -0.00745685 -0.227967 0.08 -0.26 pose: 0.43099397 -2.8216 -3.89892 0 0.0153022 -0.00189766 0.996028 0.08769 uwb: 0.49886667 1254.65 1285.31 -imu_odom_: 1691062885.106154362 0.737414 -0.167594 9.81623 -0.0649811 -0.0117179 -0.210922 0.08 -0.26 pose: 0.7953576 -2.82162 -3.89894 0 0.0159216 -0.00238924 0.995925 0.0887417 uwb: 0.0 1254.65 1285.31 -imu_odom_: 1691062885.123228989 0.593762 -0.131681 9.81623 -0.0575243 0.0245011 -0.184291 0.08 -0.26 pose: 0.0 -2.82162 -3.89894 0 0.0159216 -0.00238924 0.995925 0.0887417 uwb: 0.0 1254.65 1285.31 -imu_odom_: 1691062885.140367195 0.641646 -0.0933739 10.058 -0.0553937 -0.00532632 -0.178964 0.06 -0.2 pose: 0.41911217 -2.8216 -3.89892 0 0.0153391 -0.0003949990.995468 0.0938533 uwb: 0.50103071 1256.92 1283.84 -imu_odom_: 1691062885.157358702 0.567426 -0.222661 9.84496 -0.056459 -0.0170442 -0.177899 0.09 -0.26 pose: 0.0 -2.8216 -3.89892 0 0.0153391 -0.0003949990.995468 0.0938533 uwb: 0.0 1256.92 1283.84 -imu_odom_: 1691062885.173227649 0.725443 -0.244209 9.87608 -0.0500674 -0.00319579 -0.165116 0.09 -0.26 pose: 0.0 -2.8216 -3.89892 0 0.0153391 -0.0003949990.995468 0.0938533 uwb: 0.0 1256.92 1283.84 -imu_odom_: 1691062885.190339315 0.696713 -0.251391 9.86411 -0.0575243 0 -0.152333 0.07 -0.2 pose: 0.24087925 -2.82162 -3.89894 0 0.0139414 0.000901977 0.995236 0.0964917 uwb: 0.49888125 1255.82 1285.62 -imu_odom_: 1691062885.208084444 0.605733 -0.222661 9.90242 -0.0596548 -0.00213053 -0.142745 0.07 -0.2 pose: 0.0 -2.82162 -3.89894 0 0.0139414 0.000901977 0.995236 0.0964917 uwb: 0.0 1255.82 1285.62 -imu_odom_: 1691062885.221089392 0.651223 -0.129287 9.92397 -0.052198 -0.00639159 -0.133158 0.07 -0.2 pose: 0.33983013 -2.82162 -3.89894 0 0.0142827 -0.00136234 0.994891 0.0999333 uwb: 0.0 1255.82 1285.62 -imu_odom_: 1691062885.237081707 0.715866 -0.263362 9.84017 -0.056459 -0.00213053 -0.126766 0.04 -0.08 pose: 0.39789465 -2.82576 -3.8968 0 0.0128134 -0.00059315 0.994544 0.10353 uwb: 0.0 1255.82 1285.62 -imu_odom_: 1691062885.254115795 0.445322 -0.251391 9.73482 -0.0500674 0.0191748 -0.111853 0.04 -0.08 pose: 0.0 -2.82576 -3.8968 0 0.0128134 -0.00059315 0.994544 0.10353 uwb: 0.49961037 1256.07 1286.41 -imu_odom_: 1691062885.270117734 0.514753 -0.234632 10.082 -0.0511327 0.00958738 -0.0852212 0.04 -0.08 pose: 0.0 -2.82576 -3.8968 0 0.0128134 -0.00059315 0.994544 0.10353 uwb: 0.0 1256.07 1286.41 -imu_odom_: 1691062885.287331478 0.390255 -0.306458 9.77792 -0.0532632 -0.00958738 -0.056459 0.05 -0.11 pose: 0.7999658 -2.8305 -3.89434 0 0.0133119 -0.00120748 0.994468 0.104184 uwb: 0.50307517 1255.73 1287.53 -imu_odom_: 1691062885.303203633 0.608127 -0.248997 9.91918 -0.0479369 -0.00958738 -0.0394148 0.03 -0.05 pose: 0.0 -2.8305 -3.89434 0 0.0133119 -0.00120748 0.994468 0.104184 uwb: 0.0 1255.73 1287.53 -imu_odom_: 1691062885.320084605 0.73502 -0.167594 9.87608 -0.0511327 -0.00745685 -0.0330232 0.03 -0.05 pose: 0.66204171 -2.8305 -3.89434 0 0.00933753 -0.00240993 0.994079 0.108235 uwb: 0.0 1255.73 1287.53 -imu_odom_: 1691062885.337083986 0.667982 -0.136469 9.90002 -0.052198 0.00319579 -0.0266316 0.03 -0.05 pose: 0.0 -2.8305 -3.89434 0 0.00933753 -0.00240993 0.994079 0.108235 uwb: 0.49574019 1257.81 1286.33 -imu_odom_: 1691062885.354189819 0.612916 -0.198719 9.89045 -0.0532632 0 -0.00958738 0.03 -0.05 pose: 0.0 -2.8305 -3.89434 0 0.00933753 -0.00240993 0.994079 0.108235 uwb: 0.0 1257.81 1286.33 -imu_odom_: 1691062885.370185342 0.536301 -0.260968 9.81623 -0.056459 0.00532632 0.00319579 0.03 -0.05 pose: 0.33033402 -2.8305 -3.89434 0 0.0119816 -0.00122298 0.99392 0.109442 uwb: 0.0 1257.81 1286.33 -imu_odom_: 1691062885.386208280 0.557849 -0.263362 9.94073 -0.0500674 -0.00213053 0 0.03 -0.05 pose: 0.41858719 -2.8305 -3.89434 0 0.00920881 -0.00124525 0.993839 0.11044 uwb: 0.0 1257.81 1286.33 -imu_odom_: 1691062885.402083644 0.61531 -0.112527 9.82102 -0.0543285 -0.00745685 0.00426106 0.03 -0.05 pose: 0.6886723 -2.8305 -3.89434 0 0.00877577 -0.00176506 0.993828 0.11057 uwb: 0.50028408 1257.95 1287 -imu_odom_: 1691062885.419066693 0.617704 -0.155623 9.84735 -0.0543285 0.00106526 0.0149137 0.03 -0.05 pose: 0.0 -2.8305 -3.89434 0 0.00877577 -0.00176506 0.993828 0.11057 uwb: 0.0 1257.95 1287 -imu_odom_: 1691062885.435122296 0.627281 -0.280122 9.93354 -0.0543285 -0.00426106 0.0234358 0.01 -0.02 pose: 0.41994628 -2.8305 -3.89434 0 0.00998829 0.000295231 0.993742 0.111253 uwb: 0.0 1257.95 1287 -imu_odom_: 1691062885.452126343 0.56982 -0.248997 9.89045 -0.052198 -0.00106526 0.036219 0.01 0 pose: 0.0 -2.8305 -3.89434 0 0.00998829 0.000295231 0.993742 0.111253 uwb: 0.49954913 1258.82 1286.95 -imu_odom_: 1691062885.468119533 0.632069 -0.217872 9.90002 -0.0532632 -0.0106526 0.0479369 0.01 0 pose: 0.0 -2.8305 -3.89434 0 0.00998829 0.000295231 0.993742 0.111253 uwb: 0.0 1258.82 1286.95 -imu_odom_: 1691062885.485135247 0.636858 -0.169988 9.88326 -0.0543285 -0.00426106 0.0447411 0 0.02 pose: 0.24026970 -2.8305 -3.89434 0 0.00964404 -0.00171375 0.99373 0.111374 uwb: 0.0 1258.82 1286.95 -imu_odom_: 1691062885.509062764 0.584185 -0.205901 9.85453 -0.0585895 -0.00106526 0.0447411 0 0.02 pose: 0.0 -2.8305 -3.89434 0 0.00964404 -0.00171375 0.99373 0.111374 uwb: 0.50040657 1259.51 1286.7 -imu_odom_: 1691062885.524116551 0.476446 -0.275333 9.90242 -0.0543285 0.0234358 0.04048 0 0.02 pose: 0.32036252 -2.8305 -3.89434 0 0.0108538 -0.00117933 0.993726 0.111311 uwb: 0.0 1259.51 1286.7 -imu_odom_: 1691062885.539054261 -0.521936 -0.179565 9.75877 -0.0490022 0.0798948 0.0681769 0 0 pose: 0.39994787 -2.8305 -3.89434 0 0.00833293 -0.0009250460.99376 0.111227 uwb: 0.50032200 1258.73 1287.85 -imu_odom_: 1691062885.556196259 -1.15879 -0.37589 10.0461 -0.0447411 0.0490022 0.0852212 0 0 pose: 0.0 -2.8305 -3.89434 0 0.00833293 -0.0009250460.99376 0.111227 uwb: 0.0 1258.73 1287.85 -imu_odom_: 1691062885.573259511 -1.04387 -0.1652 9.89524 -0.0426106 -0.04048 0.0628506 0.04 0 pose: 0.41071557 -2.8305 -3.89434 0 0.00315293 -0.0007984010.993858 0.110619 uwb: 0.0 1258.73 1287.85 -imu_odom_: 1691062885.590222728 -0.112527 0.00718261 9.97903 -0.0490022 -0.0809601 0.0692422 0.04 0 pose: 0.0 -2.8305 -3.89434 0 0.00315293 -0.0007984010.993858 0.110619 uwb: 0.49927790 1258.84 1288.48 -imu_odom_: 1691062885.608195927 0.447716 -0.141258 9.84975 -0.0639159 -0.0287621 0.0745685 0.04 0 pose: 0.0 -2.8305 -3.89434 0 0.00315293 -0.0007984010.993858 0.110619 uwb: 0.0 1258.84 1288.48 -imu_odom_: 1691062885.623071807 0.248997 -0.304064 9.88805 -0.0468716 0.0170442 0.0436758 0.06 0.02 pose: 0.8019489 -2.8305 -3.89434 0 0.0025096 -0.0006445250.99387 0.110526 uwb: 0.0 1258.84 1288.48 -imu_odom_: 1691062885.640231887 -0.0885855 -0.0502782 9.99579 -0.0511327 0.00852212 0.052198 0.07 0 pose: 0.0 -2.8305 -3.89434 0 0.0025096 -0.0006445250.99387 0.110526 uwb: 0.0 1258.84 1288.48 -imu_odom_: 1691062885.655214511 -0.1652 -0.248997 9.85932 -0.0553937 -0.00106526 0.0713727 0.07 0 pose: 0.0 -2.8305 -3.89434 0 0.0025096 -0.0006445250.99387 0.110526 uwb: 0.0 1258.84 1288.48 -imu_odom_: 1691062885.672143896 0.146046 -0.203507 10.0221 -0.0543285 -0.0426106 0.0703074 0.07 0 pose: 0.66141758 -2.83939 -3.88978 0 -0.0001593140.00147902 0.993954 0.109786 uwb: 0.0 1258.84 1288.48 -imu_odom_: 1691062885.688209707 0.177171 -0.179565 9.60075 -0.0468716 -0.0458064 0.0628506 0.1 0.02 pose: 0.0 -2.83939 -3.88978 0 -0.0001593140.00147902 0.993954 0.109786 uwb: 0.100108730 1257.86 1290.43 -imu_odom_: 1691062885.705111386 0.418985 -0.0694318 10.2161 -0.0426106 -0.00532632 0.0585895 0.1 0.02 pose: 0.31856888 -2.83939 -3.88978 0 -0.0032251 0.00185301 0.993992 0.109385 uwb: 0.0 1257.86 1290.43 -imu_odom_: 1691062885.721053829 0.275333 -0.174777 9.91678 -0.0500674 0.0117179 0.056459 0.1 0 pose: 0.42896992 -2.8443 -3.88722 0 -0.00387596 0.00324456 0.994042 0.108885 uwb: 0.0 1257.86 1290.43 -imu_odom_: 1691062885.738203409 0.126893 -0.25618 9.85214 -0.0500674 0.0106526 0.0415453 0.1 0 pose: 0.0 -2.8443 -3.88722 0 -0.00387596 0.00324456 0.994042 0.108885 uwb: 0.50025492 1256.86 1291.87 -imu_odom_: 1691062885.754184933 0.071826 -0.0311246 9.8689 -0.0543285 -0.02024 0.0553937 0.1 0 pose: 0.0 -2.8443 -3.88722 0 -0.00387596 0.00324456 0.994042 0.108885 uwb: 0.0 1256.86 1291.87 -imu_odom_: 1691062885.771047822 0.277727 -0.320823 9.84017 -0.0585895 -0.0351537 0.0660464 0.15 0 pose: 0.7956201 -2.84826 -3.88515 0 -0.00471436 0.00310479 0.994045 0.108821 uwb: 0.0 1256.86 1291.87 -imu_odom_: 1691062885.787185671 0.830788 -0.177171 10.0844 -0.0490022 -0.0756338 0.0372843 0.11 0 pose: 0.0 -2.84826 -3.88515 0 -0.00471436 0.00310479 0.994045 0.108821 uwb: 0.0 1256.86 1291.87 -imu_odom_: 1691062885.803084658 1.02711 0.0933739 9.60075 -0.0436758 -0.0596548 0.0458064 0.11 0 pose: 0.66115510 -2.85288 -3.89402 0 -0.00664166 0.00172988 0.994082 0.108417 uwb: 0.50010035 1256.45 1292.95 -imu_odom_: 1691062885.820030667 1.06542 -0.268151 9.73961 -0.0671117 0.0500674 0.092678 0.08 0 pose: 0.0 -2.85288 -3.89402 0 -0.00664166 0.00172988 0.994082 0.108417 uwb: 0.0 1256.45 1292.95 -imu_odom_: 1691062885.836084812 1.24498 -0.45011 10.4603 -0.0639159 -0.0319579 0.12144 0.08 0 pose: 0.0 -2.85288 -3.89402 0 -0.00664166 0.00172988 0.994082 0.108417 uwb: 0.0 1256.45 1292.95 -imu_odom_: 1691062885.852039212 1.49877 -0.320823 9.5792 -0.0585895 -0.0372843 0.0948085 0.08 0 pose: 0.31916967 -2.86175 -3.88941 0 -0.00301329 0.00192393 0.994127 0.108161 uwb: 0.49886666 1255.22 1294.11 -imu_odom_: 1691062885.868035610 1.25217 0.0430956 9.71088 -0.0415453 0.0223706 0.0596548 0.08 0 pose: 0.40939148 -2.86175 -3.88941 0 0.0011287 0.000588738 0.994276 0.106831 uwb: 0.0 1255.22 1294.11 -imu_odom_: 1691062885.885095946 0.826 0.0215478 10.0245 -0.0628506 0.0213053 0.052198 0.08 0 pose: 0.7003674 -2.86175 -3.88941 0 0.00173128 0.000771994 0.994283 0.10676 uwb: 0.0 1255.22 1294.11 -imu_odom_: 1691062885.901247210 0.40462 -0.282516 9.89763 -0.0553937 0.00639159 0.00213053 0.08 0 pose: 0.0 -2.86175 -3.88941 0 0.00173128 0.000771994 0.994283 0.10676 uwb: 0.50347473 1256.69 1293.21 -imu_odom_: 1691062885.918314546 0.617704 -0.0957681 10.0054 -0.0532632 -0.0436758 -0.0298274 0.05 0 pose: 0.42204324 -2.86175 -3.88941 0 0.00274637 0.000396398 0.99427 0.10686 uwb: 0.0 1256.69 1293.21 -imu_odom_: 1691062885.935321218 0.790087 -0.124498 9.76116 -0.0639159 -0.0181095 0.00319579 0.06 0.02 pose: 0.0 -2.86175 -3.88941 0 0.00274637 0.000396398 0.99427 0.10686 uwb: 0.0 1256.69 1293.21 -imu_odom_: 1691062885.951174125 0.842759 -0.35913 9.87608 -0.0617853 0 0.0287621 0.06 0.02 pose: 0.0 -2.86175 -3.88941 0 0.00274637 0.000396398 0.99427 0.10686 uwb: 0.49931289 1256.21 1294.22 -imu_odom_: 1691062885.967134942 0.56982 -0.306458 9.88326 -0.0511327 0.00639159 0.0170442 0.05 0.02 pose: 0.24081217 -2.86175 -3.88941 0 0.00534813 0.00117872 0.994182 0.107576 uwb: 0.0 1256.21 1294.22 -imu_odom_: 1691062885.984285689 0.428562 0.0047884 9.90721 -0.0447411 0.0234358 0.0287621 0.05 0.02 pose: 0.0 -2.86175 -3.88941 0 0.00534813 0.00117872 0.994182 0.107576 uwb: 0.0 1256.21 1294.22 -imu_odom_: 1691062886.11123287 0.426168 -0.383072 9.84256 -0.0575243 -0.00745685 0.0703074 0.04 0.02 pose: 0.32846163 -2.86175 -3.88941 0 0.00765701 -0.0004433340.994132 0.107906 uwb: 0.49936831 1254.68 1295.58 -imu_odom_: 1691062886.36020831 -0.677559 -0.105345 9.54568 -0.0426106 0.0841559 0.0511327 0.04 0.02 pose: 0.34032886 -2.87062 -3.8848 0 0.00632218 -0.0002698640.994133 0.107978 uwb: 0.0 1254.68 1295.58 -imu_odom_: 1691062886.60286371 -1.05345 -0.304064 9.88326 -0.0585895 -0.0468716 0.0585895 0.07 0.02 pose: 0.43813355 -2.87062 -3.8848 0 0.00174092 -0.00101652 0.994199 0.107537 uwb: 0.49872668 1254.2 1296.06 -imu_odom_: 1691062886.75103339 -0.392649 -0.155623 9.81383 -0.0500674 -0.0820254 0.0383495 0.07 0.02 pose: 0.0 -2.87062 -3.8848 0 0.00174092 -0.00101652 0.994199 0.107537 uwb: 0.0 1254.2 1296.06 -imu_odom_: 1691062886.100328989 0.4956 -0.0670376 9.55526 -0.052198 -0.00958738 0.0394148 0.08 0.02 pose: 0.39082508 -2.87062 -3.8848 0 -0.00104664 -0.0006893460.994225 0.107313 uwb: 0.50042700 1255.81 1295.32 -imu_odom_: 1691062886.127134797 -0.0766145 -0.28491 9.86172 -0.0468716 0.0245011 0.0639159 0.08 0.02 pose: 0.0 -2.87062 -3.8848 0 -0.00104664 -0.0006893460.994225 0.107313 uwb: 0.0 1255.81 1295.32 -imu_odom_: 1691062886.153125153 0.213084 -0.0646434 9.58399 -0.052198 -0.0191748 0.0319579 0.11 0.02 pose: 0.52031458 -2.87694 -3.88153 0 -0.00238048 0.00118815 0.994256 0.106992 uwb: 0.49804714 1254.78 1296.73 -imu_odom_: 1691062886.170038206 0.270545 -0.150835 9.60314 -0.0596548 -0.015979 0.0543285 0.11 0.02 pose: 0.0 -2.87694 -3.88153 0 -0.00238048 0.00118815 0.994256 0.106992 uwb: 0.0 1254.78 1296.73 -imu_odom_: 1691062886.186103142 0.244209 -0.0957681 10.0317 -0.0436758 0.0255663 0.0415453 0.11 0 pose: 0.42903409 -2.87951 -3.88021 0 -0.00539669 0.00366993 0.994241 0.106965 uwb: 0.0 1254.78 1296.73 -imu_odom_: 1691062886.213034943 0.378284 -0.155623 9.78271 -0.0490022 -0.04048 0.0596548 0.11 0 pose: 0.0 -2.87951 -3.88021 0 -0.00539669 0.00366993 0.994241 0.106965 uwb: 0.50002452 1255.24 1296.74 -imu_odom_: 1691062886.238117685 -0.0550666 0.0287304 9.6606 -0.0436758 0.00639159 0.0330232 0.13 0 pose: 0.42996737 -2.88575 -3.87698 0 -0.00343557 0.00428079 0.994279 0.106673 uwb: 0.50042409 1254.64 1297.63 -imu_odom_: 1691062886.255061945 -0.059855 -0.009576819.17219 -0.0553937 -0.0319579 0.0628506 0.13 0 pose: 0.0 -2.88575 -3.87698 0 -0.00343557 0.00428079 0.994279 0.106673 uwb: 0.0 1254.64 1297.63 -imu_odom_: 1691062886.280011403 0.778116 -0.342371 9.83299 -0.0617853 0.0170442 0.0479369 0.13 -0.02 pose: 0.42027002 -2.89298 -3.88451 0 -0.00704165 0.00636104 0.99426 0.106566 uwb: 0.0 1254.64 1297.63 -imu_odom_: 1691062886.305086271 -0.234632 -0.153229 9.93594 -0.0607201 -0.0340885 0.0490022 0.13 -0.02 pose: 0.0 -2.89298 -3.88451 0 -0.00704165 0.00636104 0.99426 0.106566 uwb: 0.49981453 1255.91 1297 -imu_odom_: 1691062886.319046080 0.184354 -0.110133 9.68455 -0.052198 -0.0223706 0.0607201 0.13 0.02 pose: 0.50024326 -2.89973 -3.88103 0 -0.00729713 0.00508392 0.994289 0.106352 uwb: 0.0 1255.91 1297 -imu_odom_: 1691062886.335042770 -0.00957681-0.158017 9.72046 -0.0681769 -0.00426106 0.0649811 0.13 0.02 pose: 0.0 -2.89973 -3.88103 0 -0.00729713 0.00508392 0.994289 0.106352 uwb: 0.0 1255.91 1297 -imu_odom_: 1691062886.360022852 0.23942 -0.0670376 10.1083 -0.0490022 -0.0149137 0.0287621 0.21 0 pose: 0.29956499 -2.90187 -3.87993 0 -0.0100502 0.00550561 0.994299 0.106012 uwb: 0.49999244 1255.9 1297.51 -imu_odom_: 1691062886.383066380 0.385466 -0.227449 10.0485 -0.0703074 -0.0106526 0.0596548 0.21 0 pose: 0.0 -2.90187 -3.87993 0 -0.0100502 0.00550561 0.994299 0.106012 uwb: 0.0 1255.9 1297.51 -imu_odom_: 1691062886.408304280 0.253785 -0.138864 9.55765 -0.0575243 -0.0553937 0.0394148 0.14 0 pose: 0.48023610 -2.91076 -3.87535 0 -0.00653909 0.00546108 0.994341 0.105895 uwb: 0.49991953 1255.53 1298.66 -imu_odom_: 1691062886.435284494 0.399832 -0.138864 10.2831 -0.0575243 -0.0308927 0.0543285 0.14 0 pose: 0.0 -2.91076 -3.87535 0 -0.00653909 0.00546108 0.994341 0.105895 uwb: 0.0 1255.53 1298.66 -imu_odom_: 1691062886.451232479 0.4956 -0.172383 10.2711 -0.0660464 -0.0276969 0.0575243 0.15 -0.05 pose: 0.52218114 -2.91715 -3.87207 0 -0.00490811 0.00378065 0.994377 0.105715 uwb: 0.50108613 1256.51 1298.22 -imu_odom_: 1691062886.478231067 0.260968 0.011971 10.1083 -0.0628506 0 0.052198 0.15 -0.05 pose: 0.0 -2.91715 -3.87207 0 -0.00490811 0.00378065 0.994377 0.105715 uwb: 0.0 1256.51 1298.22 -imu_odom_: 1691062886.503011369 0.114922 -0.311246 9.77313 -0.134223 -0.0649811 0.0905475 0.15 0 pose: 0.42946573 -2.9229 -3.87711 0 -0.00404379 0.00581103 0.994405 0.105393 uwb: 0.50002161 1256.94 1298.19 -imu_odom_: 1691062886.530005291 0.600945 -0.244209 10.149 -0.0585895 -0.1012 0.0266316 0.2 0 pose: 0.0 -2.9229 -3.87711 0 -0.00404379 0.00581103 0.994405 0.105393 uwb: 0.0 1256.94 1298.19 -imu_odom_: 1691062886.555135281 0.423774 -0.349553 9.85693 -0.0628506 -0.0234358 0.0692422 0.16 0.02 pose: 0.31791851 -2.93312 -3.87513 0 -0.0043274 0.00289969 0.994477 0.104828 uwb: 0.49970662 1256.3 1299.55 -imu_odom_: 1691062886.582017793 0.0766145 -0.105345 10.0509 -0.0479369 0.0213053 0.0394148 0.2 0 pose: 0.45112363 -2.93945 -3.87189 0 -0.000771121-0.00052905 0.994515 0.104591 uwb: 0.0 1256.3 1299.55 -imu_odom_: 1691062886.598008941 0.40462 -0.179565 10.0413 -0.0735032 -0.0127832 0.0756338 0.2 0 pose: 0.6894013 -2.94203 -3.87058 0 -0.00147006 -0.0001783630.994514 0.104591 uwb: 0.49906208 1258.83 1298.27 -imu_odom_: 1691062886.623999881 0.646434 -0.380678 9.80904 -0.04048 -0.00106526 0.0255663 0.21 0 pose: 0.0 -2.94203 -3.87058 0 -0.00147006 -0.0001783630.994514 0.104591 uwb: 0.0 1258.83 1298.27 -imu_odom_: 1691062886.639021003 0.318429 -0.146046 10.4411 -0.0468716 -0.00213053 0.0426106 0.21 0 pose: 0.43091232 -2.94203 -3.87058 0 -0.00134115 0.000670533 0.994539 0.104351 uwb: 0.50162860 1257.81 1299.21 -imu_odom_: 1691062886.665266844 0.35913 -0.28491 10.3118 -0.0372843 -0.00106526 0.0468716 0.21 0 pose: 0.0 -2.94203 -3.87058 0 -0.00134115 0.000670533 0.994539 0.104351 uwb: 0.0 1257.81 1299.21 -imu_odom_: 1691062886.691283156 0.263362 0.0143652 9.71328 -0.0756338 0.00106526 0.0596548 0.19 0 pose: 0.40959564 -2.95094 -3.86604 0 -0.0011884 0.000194937 0.994531 0.104436 uwb: 0.49886376 1260.36 1297.94 -imu_odom_: 1691062886.718251705 0.402226 -0.380678 9.57441 -0.0862864 -0.0266316 0.0500674 0.21 0.02 pose: 0.45203066 -2.95984 -3.86149 0 -0.00273419 0.000832083 0.994562 0.104103 uwb: 0.0 1260.36 1297.94 -imu_odom_: 1691062886.743124751 0.246603 -0.110133 9.71567 -0.0511327 -0.0191748 0.036219 0.21 0.02 pose: 0.0 -2.95984 -3.86149 0 -0.00273419 0.000832083 0.994562 0.104103 uwb: 0.50070698 1261.11 1297.75 -imu_odom_: 1691062886.760010681 0.378284 -0.459687 9.80665 -0.0607201 -0.0298274 0.0479369 0.2 0 pose: 0.6992300 -2.95984 -3.86149 0 -0.00254003 2.89414e-05 0.994567 0.104068 uwb: 0.0 1261.11 1297.75 -imu_odom_: 1691062886.785141254 0.258574 -0.263362 9.60793 -0.052198 -0.0511327 0.0575243 0.2 0 pose: 0.0 -2.95984 -3.86149 0 -0.00254003 2.89414e-05 0.994567 0.104068 uwb: 0.0 1261.11 1297.75 -imu_odom_: 1691062886.812016183 0.383072 -0.213084 9.85932 -0.0543285 -0.0436758 0.0436758 0.22 0.02 pose: 0.51804264 -2.97329 -3.86587 0 -0.00303521 -0.0008708240.994575 0.103975 uwb: 0.50044159 1259.56 1299.63 -imu_odom_: 1691062886.837987290 -0.0191536 -0.117316 10.2615 -0.0532632 -0.0372843 0.0575243 0.22 0.02 pose: 0.0 -2.97329 -3.86587 0 -0.00303521 -0.0008708240.994575 0.103975 uwb: 0.49859252 1260.82 1298.97 -imu_odom_: 1691062886.865010669 0.416591 -0.11971 9.86411 -0.0447411 -0.0436758 0.0490022 0.24 0 pose: 0.42076582 -2.98221 -3.86134 0 -0.00403249 -0.00152951 0.9946 0.103691 uwb: 0.0 1260.82 1298.97 -imu_odom_: 1691062886.890008541 0.670376 -0.244209 9.64145 -0.072438 -0.0266316 0.0639159 0.17 0.02 pose: 0.53007318 -2.98221 -3.86134 0 -0.00317829 0.000853594 0.994637 0.103378 uwb: 0.50083531 1259.89 1300.56 -imu_odom_: 1691062886.916983506 0.21069 -0.222661 10.3238 -0.0383495 0.0266316 0.0415453 0.17 0.02 pose: 0.0 -2.98221 -3.86134 0 -0.00317829 0.000853594 0.994637 0.103378 uwb: 0.0 1259.89 1300.56 -imu_odom_: 1691062886.942112329 0.304064 -0.320823 9.91918 -0.0713727 0.00106526 0.0617853 0.2 0 pose: 0.71819886 -3.00074 -3.85984 0 -0.00174802 0.00128984 0.994684 0.102949 uwb: 0.49998369 1259.21 1301.36 -imu_odom_: 1691062886.959091295 0.40462 -0.0981623 9.71328 -0.0649811 -0.00213053 0.0372843 0.2 0 pose: 0.8002282 -3.0046 -3.86106 0 -0.0021994 0.000548162 0.994693 0.102863 uwb: 0.0 1259.21 1301.36 -imu_odom_: 1691062886.985097983 0.454898 -0.268151 10.1706 -0.0671117 0.0181095 0.0585895 0.18 0 pose: 0.0 -3.0046 -3.86106 0 -0.0021994 0.000548162 0.994693 0.102863 uwb: 0.0 1259.21 1301.36 -imu_odom_: 1691062887.2121280 0.553061 -0.167594 10.1059 -0.0745685 -0.0458064 0.0458064 0.18 0 pose: 0.34105507 -3.00958 -3.85847 0 -0.00237599 0.000372456 0.99471 0.102692 uwb: 0.49919041 1259.52 1301.72 -imu_odom_: 1691062887.26998409 0.493206 -0.318429 10.0126 -0.0735032 -0.0532632 0.0585895 0.18 0 pose: 0.0 -3.00958 -3.85847 0 -0.00237599 0.000372456 0.99471 0.102692 uwb: 0.0 1259.52 1301.72 -imu_odom_: 1691062887.54101409 0.385466 -0.282516 9.77792 -0.0415453 -0.0117179 0.0298274 0.18 0 pose: 0.51062890 -3.01348 -3.85646 0 0.00196753 -0.00169572 0.994748 0.10232 uwb: 0.49942956 1260.09 1302.38 -imu_odom_: 1691062887.79124655 0.35913 -0.0263362 10.0221 -0.0553937 -0.00213053 0.0415453 0.18 0 pose: 0.43947224 -3.02236 -3.85186 0 0.000571846 -0.0032145 0.99475 0.102281 uwb: 0.0 1260.09 1302.38 -imu_odom_: 1691062887.105977419 0.845153 -0.232238 9.39485 -0.0394148 0.0330232 0.0372843 0.23 0 pose: 0.25023246 -3.02863 -3.84862 0 0.000197747 -0.00073364 0.994758 0.102257 uwb: 0.50099281 1258.15 1304.4 -imu_odom_: 1691062887.132159097 0.232238 -0.304064 9.74201 -0.0500674 0.0319579 0.0543285 0.23 0 pose: 0.0 -3.02863 -3.84862 0 0.000197747 -0.00073364 0.994758 0.102257 uwb: 0.0 1258.15 1304.4 -imu_odom_: 1691062887.148002088 0.6608 -0.186748 9.8258 -0.0394148 0.0170442 0.036219 0.25 -0.02 pose: 0.7071920 -3.03124 -3.84727 0 0.000775551 -0.0007435340.994757 0.102266 uwb: 0.49877919 1258.47 1304.78 -imu_odom_: 1691062887.174024818 0.773327 -0.430956 9.79707 -0.0436758 0.0245011 0.0543285 0.25 -0.02 pose: 0.0 -3.03124 -3.84727 0 0.000775551 -0.0007435340.994757 0.102266 uwb: 0.0 1258.47 1304.78 -imu_odom_: 1691062887.201021657 0.126893 -0.0814029 10.1801 -0.0458064 -0.00426106 0.0394148 0.23 0 pose: 0.52788290 -3.04472 -3.85156 0 1.19633e-06 -0.00116483 0.994773 0.102107 uwb: 0.49995745 1256.95 1306.22 -imu_odom_: 1691062887.225950992 0.392649 -0.354342 9.79228 -0.0681769 -0.00213053 0.0468716 0.23 0 pose: 0.0 -3.04472 -3.85156 0 1.19633e-06 -0.00116483 0.994773 0.102107 uwb: 0.0 1256.95 1306.22 -imu_odom_: 1691062887.243032910 0.153229 -0.160412 9.67018 -0.0511327 -0.0479369 0.0458064 0.23 0 pose: 0.42009795 -3.04472 -3.85156 0 0.00200199 -0.00189125 0.994787 0.101933 uwb: 0.0 1256.95 1306.22 -imu_odom_: 1691062887.269095304 0.73502 -0.232238 9.89045 -0.0671117 -0.0607201 0.0319579 0.23 0 pose: 0.0 -3.04472 -3.85156 0 0.00200199 -0.00189125 0.994787 0.101933 uwb: 0.0 1256.95 1306.22 -imu_odom_: 1691062887.296022147 0.790087 -0.385466 9.52413 -0.0585895 -0.0127832 0.0458064 0.25 0 pose: 0.52117788 -3.0536 -3.84697 0 -0.000767628-0.00289773 0.994799 0.101817 uwb: 0.100013364 1257.75 1306.09 -imu_odom_: 1691062887.322034960 0.155623 0.0909797 10.003 -0.0436758 -0.0234358 0.0426106 0.16 -0.02 pose: 0.42864329 -3.06249 -3.84239 0 0.0025708 -0.00296256 0.99479 0.101865 uwb: 0.0 1257.75 1306.09 -imu_odom_: 1691062887.349156626 0.416591 -0.158017 9.8258 -0.0660464 -0.0298274 0.0458064 0.25 -0.02 pose: 0.0 -3.06249 -3.84239 0 0.0025708 -0.00296256 0.99479 0.101865 uwb: 0.50180943 1257.16 1307.02 -imu_odom_: 1691062887.365094694 0.622492 -0.174777 10.0461 -0.0372843 -0.0191748 0.0372843 0.25 -0.02 pose: 0.53066232 -3.07142 -3.83789 0 0.00294478 -0.00107936 0.994805 0.101749 uwb: 0.0 1257.16 1307.02 -imu_odom_: 1691062887.392109324 1.01275 -0.282516 9.88805 -0.0511327 0.0330232 0.0447411 0.18 -0.02 pose: 0.0 -3.07142 -3.83789 0 0.00294478 -0.00107936 0.994805 0.101749 uwb: 0.49820463 1257.15 1308.1 -imu_odom_: 1691062887.416977996 0.557849 -0.105345 9.75877 -0.0543285 0.0447411 0.04048 0.2 -0.02 pose: 0.63066315 -3.08485 -3.84233 0 0.00615048 0.000161653 0.994803 0.101631 uwb: 0.0 1257.15 1308.1 -imu_odom_: 1691062887.443974835 0.37589 -0.533907 9.47864 -0.0660464 0.0319579 0.0596548 0.2 -0.02 pose: 0.0 -3.08485 -3.84233 0 0.00615048 0.000161653 0.994803 0.101631 uwb: 0.50047367 1254.68 1310.6 -imu_odom_: 1691062887.469968983 0.126893 -0.234632 10.0006 -0.0479369 -0.0106526 0.0308927 0.18 0 pose: 0.7890581 -3.08485 -3.84233 0 0.00632087 0.000886747 0.994802 0.101632 uwb: 0.0 1254.68 1310.6 -imu_odom_: 1691062887.497059150 0.514753 -0.387861 10.4627 -0.0436758 -0.0287621 0.0351537 0.18 0 pose: 0.0 -3.08485 -3.84233 0 0.00632087 0.000886747 0.994802 0.101632 uwb: 0.49932166 1254.54 1311.54 -imu_odom_: 1691062887.522108936 0.521936 -0.0981623 10.1658 -0.0553937 0.0106526 0.0458064 0.18 0 pose: 0.52117496 -3.09378 -3.83783 0 0.00417006 -5.80511e-060.994838 0.101386 uwb: 0.0 1254.54 1311.54 -imu_odom_: 1691062887.539031905 0.397437 -0.292093 9.35415 -0.076699 -0.0319579 0.0479369 0.18 0 pose: 0.0 -3.09378 -3.83783 0 0.00417006 -5.80511e-060.994838 0.101386 uwb: 0.49974455 1254.86 1312.49 -imu_odom_: 1691062887.555966832 1.0343 -0.225055 10.2017 -0.0426106 0.00213053 0.0287621 0.23 0.02 pose: 0.53202432 -3.10272 -3.83334 0 0.00365258 -0.00164652 0.994828 0.101494 uwb: 0.0 1254.86 1312.49 -imu_odom_: 1691062887.580998245 0.720655 -0.0766145 10.6207 -0.0490022 0.00213053 0.0543285 0.23 0.02 pose: 0.0 -3.10272 -3.83334 0 0.00365258 -0.00164652 0.994828 0.101494 uwb: 0.0 1254.86 1312.49 -imu_odom_: 1691062887.603942612 0.579397 -0.25618 10.1299 -0.0436758 -0.0447411 0.0575243 0.2 0 pose: 0.75678412 -3.12283 -3.83443 0 0.00681115 -4.28807e-050.994834 0.101291 uwb: 0.50152652 1254.28 1314.02 -imu_odom_: 1691062887.630068877 0.593762 -0.160412 10.1442 -0.0532632 -0.0234358 0.0383495 0.2 0 pose: 0.0 -3.12283 -3.83443 0 0.00681115 -4.28807e-050.994834 0.101291 uwb: 0.0 1254.28 1314.02 -imu_odom_: 1691062887.656992221 0.802058 -0.167594 10.0868 -0.0468716 -0.0213053 0.0585895 0.25 0 pose: 0.5984942 -3.12508 -3.8333 0 0.00724166 -0.0005352350.994836 0.101234 uwb: 0.49855754 1252.3 1316.06 -imu_odom_: 1691062887.673003785 0.452504 -0.344765 9.39485 -0.0639159 0.00426106 0.0553937 0.25 0 pose: 0.0 -3.12508 -3.8333 0 0.00724166 -0.0005352350.994836 0.101234 uwb: 0.0 1252.3 1316.06 -imu_odom_: 1691062887.700079369 0.581791 -0.251391 9.79228 -0.0596548 -0.0447411 0.0575243 0.18 0.02 pose: 0.50158777 -3.13402 -3.82882 0 0.0103401 0.000548951 0.994829 0.10104 uwb: 0.50142153 1253.38 1316.28 -imu_odom_: 1691062887.726085766 0.52433 -0.28491 10.0868 -0.0490022 0.00639159 0.0308927 0.18 -0.02 pose: 0.62937405 -3.14296 -3.82434 0 0.009866 -0.00256688 0.99489 0.10045 uwb: 0.0 1253.38 1316.28 -imu_odom_: 1691062887.753052857 0.483629 -0.191536 9.91678 -0.0703074 -0.0149137 0.0607201 0.18 -0.02 pose: 0.0 -3.14296 -3.82434 0 0.009866 -0.00256688 0.99489 0.10045 uwb: 0.49872961 1252.61 1317.02 -imu_odom_: 1691062887.779064212 0.428562 -0.124498 9.87608 -0.0468716 0.0255663 0.0415453 0.18 0.02 pose: 0.7891456 -3.14296 -3.82434 0 0.0090863 -0.0028127 0.994894 0.10048 uwb: 0.0 1252.61 1317.02 -imu_odom_: 1691062887.805942933 0.280122 -0.533907 9.66779 -0.0820254 -0.00958738 0.0649811 0.18 0.02 pose: 0.0 -3.14296 -3.82434 0 0.0090863 -0.0028127 0.994894 0.10048 uwb: 0.50056408 1251.74 1318.76 -imu_odom_: 1691062887.830978137 0.761356 -0.37589 10.0652 -0.0585895 0.0298274 0.0298274 0.18 0.02 pose: 0.52965905 -3.15637 -3.82881 0 0.00524306 -0.0007372950.994946 0.100274 uwb: 0.0 1251.74 1318.76 -imu_odom_: 1691062887.858084053 0.720655 -0.387861 10.2639 -0.0596548 0.00106526 0.0447411 0.21 0 pose: 0.53039984 -3.16531 -3.82433 0 0.00299344 -0.00207918 0.994985 0.0999575 uwb: 0.50111822 1252.31 1318.91 -imu_odom_: 1691062887.874063828 0.189142 -0.143652 9.27035 -0.0553937 0.0234358 0.0458064 0.21 0 pose: 0.0 -3.16531 -3.82433 0 0.00299344 -0.00207918 0.994985 0.0999575 uwb: 0.0 1252.31 1318.91 -imu_odom_: 1691062887.891140496 0.28491 -0.40462 9.59835 -0.0639159 -0.00852212 0.0490022 0.21 0 pose: 0.0 -3.16531 -3.82433 0 0.00299344 -0.00207918 0.994985 0.0999575 uwb: 0.49810839 1249.52 1322.26 -imu_odom_: 1691062887.916088497 0.354342 -0.268151 9.98382 -0.036219 -0.0308927 0.0426106 0.18 0 pose: 0.77163782 -3.17927 -3.81736 0 0.0032126 -0.0045063 0.994989 0.099832 uwb: 0.0 1249.52 1322.26 -imu_odom_: 1691062887.943093502 0.636858 -0.433351 9.87369 -0.0532632 -0.036219 0.0500674 0.21 0 pose: 0.7878623 -3.18319 -3.81536 0 0.00257991 -0.00418448 0.994994 0.0998173 uwb: 0.50291478 1247.83 1324.15 -imu_odom_: 1691062887.969257098 0.507571 -0.203507 10.1203 -0.0511327 0.00639159 0.0660464 0.18 0.02 pose: 0.44074383 -3.18644 -3.82173 0 0.00362459 -0.00533482 0.995002 0.099646 uwb: 0.0 1247.83 1324.15 -imu_odom_: 1691062887.995985328 0.241814 -0.035913 10.0078 -0.0436758 0.0138484 0.0383495 0.25 0 pose: 0.0 -3.18644 -3.82173 0 0.00362459 -0.00533482 0.995002 0.099646 uwb: 0.49870919 1247.44 1325.4 -imu_odom_: 1691062888.21119401 0.25618 0.122104 10.3573 -0.0745685 -0.00958738 0.0660464 0.25 0 pose: 0.32971282 -3.19664 -3.81972 0 0.00373214 -0.00221021 0.995046 0.0993211 uwb: 0.0 1247.44 1325.4 -imu_odom_: 1691062888.48001914 0.416591 -0.155623 10.0533 -0.0575243 0.00639159 0.0383495 0.23 0 pose: 0.45054617 -3.20305 -3.81646 0 0.00125474 0.00145375 0.995085 0.0990106 uwb: 0.49858087 1247.2 1326.26 -imu_odom_: 1691062888.72924542 0.414197 -0.179565 10.4962 -0.072438 -0.00532632 0.0596548 0.23 0 pose: 0.7073087 -3.20556 -3.81518 0 0.00107768 0.00214398 0.995083 0.0990158 uwb: 0.0 1247.2 1326.26 -imu_odom_: 1691062888.99912048 1.00796 -0.0407014 10.173 -0.0671117 0.00426106 0.0372843 0.23 -0.02 pose: 0.44732054 -3.21185 -3.81198 0 0.000693186 0.00137438 0.995108 0.0987802 uwb: 0.50289729 1246.11 1327.79 -imu_odom_: 1691062888.115953070 0.280122 -0.272939 9.56723 -0.0777643 0.0234358 0.0500674 0.23 -0.02 pose: 0.0 -3.21185 -3.81198 0 0.000693186 0.00137438 0.995108 0.0987802 uwb: 0.0 1246.11 1327.79 -imu_odom_: 1691062888.140973400 0.296881 -0.191536 10.1323 -0.0340885 0.00639159 0.0319579 0.23 0 pose: 0.43028528 -3.2195 -3.80809 0 0.00150773 0.000849735 0.995113 0.0987244 uwb: 0.49863337 1246.56 1328.39 -imu_odom_: 1691062888.163951016 0.586579 -0.0143652 9.7875 -0.0532632 0.0234358 0.0383495 0.23 0 pose: 0.0 -3.2195 -3.80809 0 0.00150773 0.000849735 0.995113 0.0987244 uwb: 0.0 1246.56 1328.39 -imu_odom_: 1691062888.179900750 0.318429 -0.229843 10.1323 -0.0351537 0.056459 0.0394148 0.18 -0.02 pose: 0.47997946 -3.23397 -3.81196 0 0.000499147 0.00279203 0.9951 0.0988307 uwb: 0.0 1246.56 1328.39 -imu_odom_: 1691062888.206973710 0.529119 -0.237026 10.398 -0.0543285 0.00426106 0.0511327 0.18 -0.02 pose: 0.0 -3.23397 -3.81196 0 0.000499147 0.00279203 0.9951 0.0988307 uwb: 0.49978538 1247.19 1328.63 -imu_odom_: 1691062888.232053829 0.574608 -0.296881 9.87608 -0.0351537 0.00852212 0.0383495 0.25 0 pose: 0.23145606 -3.23683 -3.8105 0 -0.0006939940.00179855 0.995106 0.0987918 uwb: 0.0 1247.19 1328.63 -imu_odom_: 1691062888.258906010 0.481235 0.191536 10.0461 -0.04048 0.0213053 0.0490022 0.21 -0.02 pose: 0.44957207 -3.24318 -3.80727 0 0.0028009 -0.0004183510.995115 0.0986863 uwb: 0.49774968 1246.9 1330.04 -imu_odom_: 1691062888.283980878 0.11971 -0.122104 10.0509 -0.0394148 0.0308927 0.0351537 0.21 -0.02 pose: 0.6887014 -3.24574 -3.80597 0 0.002823 0.00032217 0.995118 0.0986558 uwb: 0.0 1246.9 1330.04 -imu_odom_: 1691062888.300890141 0.502782 -0.311246 9.65821 -0.0575243 -0.0276969 0.0426106 0.23 0 pose: 0.0 -3.24574 -3.80597 0 0.002823 0.00032217 0.995118 0.0986558 uwb: 0.0 1246.9 1330.04 -imu_odom_: 1691062888.326950493 0.457293 -0.105345 10.0509 -0.0490022 -0.0351537 0.0468716 0.23 0 pose: 0.51970505 -3.25467 -3.80147 0 0.000418595 0.00261207 0.995122 0.0986173 uwb: 0.0 1246.9 1330.04 -imu_odom_: 1691062888.354143904 0.804452 -0.301669 9.63187 -0.0543285 0.00852212 0.0319579 0.23 -0.02 pose: 0.36039145 -3.25467 -3.80147 0 0.0028262 0.00394599 0.995125 0.0985062 uwb: 0.99933162 1245.08 1332.42 -imu_odom_: 1691062888.378924498 0.158017 -0.19393 9.92157 -0.0511327 0.0213053 0.0383495 0.23 -0.02 pose: 0.7076587 -3.25467 -3.80147 0 0.00338917 0.0035913 0.995122 0.0985294 uwb: 0.0 1245.08 1332.42 -imu_odom_: 1691062888.395916881 0.45011 -0.316035 10.252 -0.0639159 -0.00958738 0.0330232 0.22 0 pose: 0.0 -3.25467 -3.80147 0 0.00338917 0.0035913 0.995122 0.0985294 uwb: 0.50005078 1243.81 1334.35 -imu_odom_: 1691062888.422059770 0.938527 -0.260968 10.094 -0.0447411 -0.04048 0.052198 0.22 0 pose: 0.44897418 -3.26807 -3.80599 0 0.00219797 0.0026236 0.99512 0.0986162 uwb: 0.0 1243.81 1334.35 -imu_odom_: 1691062888.448906410 0.529119 0.00718261 10.1969 -0.0415453 0.0117179 0.036219 0.25 0 pose: 0.43135272 -3.27703 -3.80155 0 0.00518021 0.000333894 0.995123 0.0985003 uwb: 0.50125530 1244.67 1334.3 -imu_odom_: 1691062888.473916241 0.792481 -0.222661 10.1682 -0.0468716 0.056459 0.0479369 0.19 0 pose: 0.0 -3.27703 -3.80155 0 0.00518021 0.000333894 0.995123 0.0985003 uwb: 0.0 1244.67 1334.3 -imu_odom_: 1691062888.490981535 0.232238 0.0047884 10.0676 -0.0372843 -0.02024 0.0245011 0.23 -0.02 pose: 0.51856471 -3.28599 -3.79711 0 0.00712378 0.00241684 0.995115 0.0984362 uwb: 0.0 1244.67 1334.3 -imu_odom_: 1691062888.516916187 0.483629 -0.143652 10.0748 -0.0692422 -0.0394148 0.0692422 0.23 -0.02 pose: 0.0 -3.28599 -3.79711 0 0.00712378 0.00241684 0.995115 0.0984362 uwb: 0.0 1244.67 1334.3 -imu_odom_: 1691062888.544050977 1.06781 -0.0646434 10.2448 -0.0479369 -0.0170442 0.0181095 0.18 0.02 pose: 0.25186862 -3.29495 -3.79268 0 0.00518319 0.0032309 0.995123 0.0984573 uwb: 0.0 1244.67 1334.3 -imu_odom_: 1691062888.569906591 0.521936 -0.289698 9.59835 -0.0745685 0.0383495 0.0447411 0.19 0 pose: 0.44947874 -3.29813 -3.79909 0 0.00664299 0.00289486 0.995112 0.0984826 uwb: 0.0 1244.67 1334.3 -imu_odom_: 1691062888.596890890 0.433351 -0.328006 9.67497 -0.0681769 -0.036219 0.0479369 0.19 0 pose: 0.7997033 -3.29939 -3.80164 0 0.0063807 0.0020394 0.995119 0.0984573 uwb: 0.150156686 1245.03 1333.57 -imu_odom_: 1691062888.612952327 0.550666 -0.526724 10.1179 -0.0575243 0.0138484 0.0649811 0.2 0.02 pose: 0.44842880 -3.30835 -3.7972 0 0.00455217 -0.00221701 0.995146 0.098278 uwb: 0.0 1245.03 1333.57 -imu_odom_: 1691062888.639940417 0.684742 0.0167594 10.082 -0.04048 0.00639159 0.0383495 0.2 0.02 pose: 0.0 -3.30835 -3.7972 0 0.00455217 -0.00221701 0.995146 0.098278 uwb: 0.49814049 1245.47 1334.18 -imu_odom_: 1691062888.665033076 0.483629 -0.196325 10.0341 -0.0596548 0.0223706 0.0490022 0.17 0 pose: 0.43049527 -3.31732 -3.79277 0 0.00606293 -0.00145799 0.995157 0.0980997 uwb: 0.0 1245.47 1334.18 -imu_odom_: 1691062888.682089038 -0.138864 -0.203507 10.07 -0.0372843 0.0319579 0.0490022 0.17 0 pose: 0.0 -3.31732 -3.79277 0 0.00606293 -0.00145799 0.995157 0.0980997 uwb: 0.0 1245.47 1334.18 -imu_odom_: 1691062888.698026523 0.399832 -0.21069 10.1131 -0.0532632 -0.0213053 0.0490022 0.18 -0.02 pose: 0.0 -3.31732 -3.79277 0 0.00606293 -0.00145799 0.995157 0.0980997 uwb: 0.49864795 1242.24 1337.11 -imu_odom_: 1691062888.725081693 0.727837 -0.131681 9.80426 -0.0458064 0.00958738 0.0351537 0.18 -0.02 pose: 0.42148621 -3.32628 -3.78834 0 0.0019782 0.000659774 0.995193 0.0979131 uwb: 0.0 1242.24 1337.11 -imu_odom_: 1691062888.741025594 -0.0023942 -0.196325 10.1801 -0.0500674 0.0117179 0.0585895 0.2 0.02 pose: 0.0 -3.32628 -3.78834 0 0.0019782 0.000659774 0.995193 0.0979131 uwb: 0.49994871 1244.6 1336.04 -imu_odom_: 1691062888.767910732 0.6608 -0.177171 10.1801 -0.0500674 -0.02024 0.036219 0.2 0.02 pose: 0.42992655 -3.33262 -3.78522 0 0.00306407 0.000851262 0.995191 0.0978973 uwb: 0.0 1244.6 1336.04 -imu_odom_: 1691062888.793953586 0.703895 -0.411803 10.3142 -0.0681769 -0.00213053 0.0543285 0.18 0.02 pose: 0.42829039 -3.34605 -3.78974 0 0.0042617 0.000991877 0.995197 0.0977898 uwb: 0.50009745 1245.79 1336.45 -imu_odom_: 1691062888.810881222 0.11971 -0.160412 9.42837 -0.0415453 -0.00213053 0.0191748 0.18 0.02 pose: 0.0 -3.34605 -3.78974 0 0.0042617 0.000991877 0.995197 0.0977898 uwb: 0.0 1245.79 1336.45 -imu_odom_: 1691062888.836013837 0.114922 -0.323217 9.414 -0.0788296 0.0117179 0.056459 0.18 0 pose: 0.42970490 -3.34864 -3.78846 0 0.00418544 -0.0006579890.995201 0.0977609 uwb: 0.0 1245.79 1336.45 -imu_odom_: 1691062888.862870393 0.196325 -0.0622492 9.40921 -0.0511327 -0.015979 0.0383495 0.18 0 pose: 0.0 -3.34864 -3.78846 0 0.00418544 -0.0006579890.995201 0.0977609 uwb: 0.50029577 1243.82 1338.69 -imu_odom_: 1691062888.887872349 0.407014 -0.40462 9.7875 -0.0660464 -0.0372843 0.056459 0.19 0 pose: 0.51989171 -3.35761 -3.78404 0 -0.00034797 0.000463881 0.995229 0.0975645 uwb: 0.50091116 1243.98 1340.17 -imu_odom_: 1691062888.914879980 0.356736 -0.011971 10.0437 -0.0426106 -0.015979 0.0372843 0.21 0 pose: 0.0 -3.35761 -3.78404 0 -0.00034797 0.000463881 0.995229 0.0975645 uwb: 0.0 1243.98 1340.17 -imu_odom_: 1691062888.939868811 0.59855 -0.361524 9.93115 -0.0553937 0.0117179 0.0511327 0.21 0 pose: 0.32035087 -3.36658 -3.77962 0 -7.55852e-05-0.00146729 0.995248 0.0973632 uwb: 0.49997787 1243.75 1341.09 -imu_odom_: 1691062888.957119012 0.433351 -0.179565 9.96467 -0.0436758 -0.052198 0.0553937 0.21 0.02 pose: 0.0 -3.36658 -3.77962 0 -7.55852e-05-0.00146729 0.995248 0.0973632 uwb: 0.0 1243.75 1341.09 -imu_odom_: 1691062888.972867800 0.457293 -0.158017 9.73243 -0.0575243 0 0.103331 0.21 0.02 pose: 0.44963331 -3.37287 -3.77653 0 0.00144603 -0.00108589 0.995259 0.0972405 uwb: 0.0 1243.75 1341.09 -imu_odom_: 1691062888.989868057 0.442927 -0.304064 9.72046 -0.0639159 0.0490022 0.184291 0.21 0.02 pose: 0.0 -3.37287 -3.77653 0 0.00144603 -0.00108589 0.995259 0.0972405 uwb: 0.50049118 1245.4 1340.89 -imu_odom_: 1691062889.7861089 0.497994 -0.318429 10.1418 -0.0351537 -0.0490022 0.246076 0.18 0.2 pose: 0.7210454 -3.37554 -3.77518 0 0.00168963 -0.0003421290.995265 0.0971847 uwb: 0.0 1245.4 1340.89 -imu_odom_: 1691062889.21863480 0.553061 -0.347159 9.78031 -0.052198 -0.0213053 0.3036 0.18 0.2 pose: 0.0 -3.37554 -3.77518 0 0.00168963 -0.0003421290.995265 0.0971847 uwb: 0.0 1245.4 1340.89 -imu_odom_: 1691062889.37858421 0.550666 -0.217872 9.84735 -0.0490022 -0.00958738 0.367516 0.18 0.2 pose: 0.0 -3.37554 -3.77518 0 0.00168963 -0.0003421290.995265 0.0971847 uwb: 0.49909418 1246.67 1340.75 -imu_odom_: 1691062889.53848112 0.337582 -0.514753 9.81144 -0.0585895 0 0.400539 0.18 0.32 pose: 0.50911234 -3.38898 -3.77962 0 0.00248422 -0.0003444810.995518 0.0945436 uwb: 0.0 1246.67 1340.75 -imu_odom_: 1691062889.69843344 0.670376 -0.138864 9.7875 -0.0468716 0.00852212 0.425041 0.18 0.35 pose: 0.0 -3.38898 -3.77962 0 0.00248422 -0.0003444810.995518 0.0945436 uwb: 0.0 1246.67 1340.75 -imu_odom_: 1691062889.85997234 0.378284 -0.517148 9.91199 -0.0692422 -0.052198 0.472977 0.18 0.35 pose: 0.0 -3.38898 -3.77962 0 0.00248422 -0.0003444810.995518 0.0945436 uwb: 0.0 1246.67 1340.75 -imu_odom_: 1691062889.101993050 0.54109 -0.0814029 9.77313 -0.052198 -0.0106526 0.48363 0.18 0.35 pose: 0.62863620 -3.39794 -3.77519 0 0.00498743 -0.00264591 0.996378 0.0848512 uwb: 0.50031036 1246.82 1341.6 -imu_odom_: 1691062889.118855648 0.402226 -0.0981623 10.2903 -0.0575243 -0.0426106 0.54222 0.21 0.47 pose: 0.0 -3.39794 -3.77519 0 0.00498743 -0.00264591 0.996378 0.0848512 uwb: 0.0 1246.82 1341.6 -imu_odom_: 1691062889.137001797 0.761356 -0.629675 10.003 -0.0756338 0.0191748 0.563525 0.21 0.47 pose: 0.31034146 -3.39794 -3.77519 0 0.00536759 -0.00310944 0.996908 0.07833 uwb: 0.49969207 1248.23 1341.65 -imu_odom_: 1691062889.153007820 0.229843 -0.703895 10.0916 -0.036219 0.0234358 0.570982 0.18 0.53 pose: 0.45113532 -3.40967 -3.77632 0 0.00563986 -0.00257999 0.997725 0.0671299 uwb: 0.0 1248.23 1341.65 -imu_odom_: 1691062889.170002828 0.246603 -0.318429 9.73004 -0.0458064 0 0.590156 0.18 0.53 pose: 0.0 -3.40967 -3.77632 0 0.00563986 -0.00257999 0.997725 0.0671299 uwb: 0.0 1248.23 1341.65 -imu_odom_: 1691062889.187989736 0.553061 -0.162806 9.84017 -0.0319579 -0.0585895 0.618919 0.18 0.53 pose: 0.0 -3.40967 -3.77632 0 0.00563986 -0.00257999 0.997725 0.0671299 uwb: 0.50137196 1247.64 1343.36 -imu_odom_: 1691062889.205161774 0.383072 -0.191536 9.83299 -0.056459 -0.0319579 0.638093 0.18 0.61 pose: 0.6010024 -3.41135 -3.77971 0 0.0051963 -0.00300722 0.997832 0.0655329 uwb: 0.0 1247.64 1343.36 -imu_odom_: 1691062889.221983250 0.984017 -0.486023 10.2879 -0.0383495 -0.0852212 0.633832 0.18 0.58 pose: 0.0 -3.41135 -3.77971 0 0.0051963 -0.00300722 0.997832 0.0655329 uwb: 0.0 1247.64 1343.36 -imu_odom_: 1691062889.239853206 0.864307 -0.227449 10.07 -0.0553937 -0.0436758 0.637028 0.18 0.58 pose: 0.68941307 -3.4203 -3.77524 0 0.00403 -0.00165508 0.998939 0.0458551 uwb: 0.50053494 1249.47 1343.37 -imu_odom_: 1691062889.256990539 1.96564 -0.560243 10.0245 -0.0511327 -0.111853 0.64342 0.14 0.44 pose: 0.0 -3.4203 -3.77524 0 0.00403 -0.00165508 0.998939 0.0458551 uwb: 0.0 1249.47 1343.37 -imu_odom_: 1691062889.274008003 1.71425 -0.416591 9.50498 -0.0266316 -0.0372843 0.50174 0.14 0.44 pose: 0.0 -3.4203 -3.77524 0 0.00403 -0.00165508 0.998939 0.0458551 uwb: 0.0 1249.47 1343.37 -imu_odom_: 1691062889.291998703 1.25217 0.203507 10.173 -0.0372843 0.0383495 0.400539 0.14 0.44 pose: 0.35095658 -3.42924 -3.77076 0 0.00852946 -0.00227066 0.999335 0.0353737 uwb: 0.49809966 1247.32 1346.08 -imu_odom_: 1691062889.308990210 0.931344 0.0263362 9.79947 -0.0628506 0.0234358 0.381365 0.16 0.44 pose: 0.35009914 -3.42924 -3.77076 0 0.0124576 -0.00210958 0.999556 0.0269943 uwb: 0.0 1247.32 1346.08 -imu_odom_: 1691062889.323988584 0.861913 -0.234632 9.85214 -0.0639159 0.0245011 0.340885 0.16 0.44 pose: 0.0 -3.42924 -3.77076 0 0.0124576 -0.00210958 0.999556 0.0269943 uwb: 0.0 1247.32 1346.08 -imu_odom_: 1691062889.341842500 0.737414 -0.191536 9.97185 -0.052198 -0.015979 0.3036 0.1 0.29 pose: 0.41929884 -3.4426 -3.77531 0 0.015337 -0.0006774870.999681 0.0200643 uwb: 0.49991663 1247.13 1347.11 -imu_odom_: 1691062889.359886279 0.97444 -0.0311246 9.65821 -0.052198 -0.0149137 0.3036 0.1 0.29 pose: 0.0 -3.4426 -3.77531 0 0.015337 -0.0006774870.999681 0.0200643 uwb: 0.0 1247.13 1347.11 -imu_odom_: 1691062889.375938383 0.912191 -0.205901 9.90002 -0.0458064 -0.015979 0.311057 0.1 0.29 pose: 0.0 -3.4426 -3.77531 0 0.015337 -0.0006774870.999681 0.0200643 uwb: 0.0 1247.13 1347.11 -imu_odom_: 1691062889.392828105 0.756568 -0.155623 9.76355 -0.0458064 0.0234358 0.275903 0.1 0.26 pose: 0.8065862 -3.44262 -3.77533 0 0.0159779 -0.0001351350.999692 0.0190082 uwb: 0.50156446 1245.69 1348.93 -imu_odom_: 1691062889.418970703 0.562637 -0.0742203 9.45231 -0.0479369 -0.00532632 0.252468 0.07 0.2 pose: 0.0 -3.44262 -3.77533 0 0.0159779 -0.0001351350.999692 0.0190082 uwb: 0.0 1245.69 1348.93 -imu_odom_: 1691062889.435962503 0.466869 -0.196325 10.1658 -0.0585895 0.0330232 0.230097 0.07 0.2 pose: 0.68938099 -3.4516 -3.77093 0 0.0178594 0.0028022 0.999783 0.0103395 uwb: 0.0 1245.69 1348.93 -imu_odom_: 1691062889.453901580 0.11971 -0.253785 9.9934 -0.0436758 0.0298274 0.124636 0.09 0.29 pose: 0.0 -3.4516 -3.77093 0 0.0178594 0.0028022 0.999783 0.0103395 uwb: 0.49980581 1248.24 1348.02 -imu_odom_: 1691062889.467904845 -1.13246 0.390255 9.414 -0.0298274 0.0756338 0.111853 0.09 0.29 pose: 0.0 -3.4516 -3.77093 0 0.0178594 0.0028022 0.999783 0.0103395 uwb: 0.0 1248.24 1348.02 -imu_odom_: 1691062889.484996097 -1.18992 -0.390255 10.0556 -0.0798948 -0.0234358 0.219444 0.09 0.29 pose: 0.25885655 -3.4516 -3.77093 0 0.0153479 0.00345391 0.999847 0.00769083 uwb: 0.0 1248.24 1348.02 -imu_odom_: 1691062889.502993213 -0.0957681 -0.696713 9.90002 -0.0426106 -0.102265 0.18216 0.1 0.17 pose: 0.48144938 -3.4516 -3.77093 0 0.00969508 0.00343111 0.999935 0.00492359 uwb: 0.49907668 1247.71 1349.2 -imu_odom_: 1691062889.518971821 0.593762 -0.071826 9.51935 -0.0234358 -0.0234358 0.168312 0.1 0.17 pose: 0.0 -3.4516 -3.77093 0 0.00969508 0.00343111 0.999935 0.00492359 uwb: 0.0 1247.71 1349.2 -imu_odom_: 1691062889.536855485 0.603339 0.0335188 9.61511 -0.0777643 0.0426106 0.237554 0.12 0.11 pose: 0.43948683 -3.45655 -3.7684 0 0.00896399 0.00389616 0.999951 0.00172517 uwb: 0.50081200 1248 1349.61 -imu_odom_: 1691062889.552895340 -0.0287304 -0.447716 9.79707 -0.0543285 0.052198 0.198139 0.12 0.11 pose: 0.0 -3.45655 -3.7684 0 0.00896399 0.00389616 0.999951 0.00172517 uwb: 0.0 1248 1349.61 -imu_odom_: 1691062889.569838142 0.174777 -0.308852 10.1227 -0.052198 -0.00426106 0.162985 0.12 0.11 pose: 0.0 -3.45655 -3.7684 0 0.00896399 0.00389616 0.999951 0.00172517 uwb: 0.0 1248 1349.61 -imu_odom_: 1691062889.588315021 0.399832 -0.0454898 10.2759 -0.0490022 -0.0223706 0.188552 0.13 0.08 pose: 0.8022115 -3.46055 -3.76647 0 0.0089169 0.00459042 0.999949 0.000937758 uwb: 0.50117365 1247.16 1352.33 -imu_odom_: 1691062889.605149913 0.924162 -0.265756 9.57681 -0.0639159 -0.02024 0.198139 0.2 0.2 pose: 0.0 -3.46055 -3.76647 0 0.0089169 0.00459042 0.999949 0.000937758 uwb: 0.0 1247.16 1352.33 -imu_odom_: 1691062889.620963739 0.253785 -0.19393 9.8282 -0.056459 0.0468716 0.165116 0.2 0.2 pose: 0.67878535 -3.47397 -3.771 0 0.0048966 0.00485744 0.999967 -0.00423509 uwb: 0.0 1247.16 1352.33 -imu_odom_: 1691062889.638904566 0.0287304 0.122104 9.87369 -0.0575243 -0.0149137 0.174703 0.19 0.11 pose: 0.0 -3.47397 -3.771 0 0.0048966 0.00485744 0.999967 -0.00423509 uwb: 0.49738511 1245.3 1354.26 -imu_odom_: 1691062889.656016525 0.438139 -0.174777 9.94073 -0.0830906 -0.0852212 0.175769 0.19 0.11 pose: 0.0 -3.47397 -3.771 0 0.0048966 0.00485744 0.999967 -0.00423509 uwb: 0.0 1245.3 1354.26 -imu_odom_: 1691062889.671840559 0.61531 -0.268151 10.3022 -0.0575243 -0.056459 0.143811 0.19 0.11 pose: 0.34153631 -3.47397 -3.771 0 0.00336601 0.00446628 0.999963 -0.00658539 uwb: 0.0 1245.3 1354.26 -imu_odom_: 1691062889.689148799 0.826 -0.143652 9.59117 -0.0607201 -0.00532632 0.151268 0.18 0.08 pose: 0.42814457 -3.48294 -3.76657 0 0.00450085 0.00209868 0.999945 -0.00924008 uwb: 0.0 1245.3 1354.26 -imu_odom_: 1691062889.706836474 1.15161 -0.0957681 10.1131 -0.052198 -0.00426106 0.160855 0.18 0.08 pose: 0.7109835 -3.48294 -3.76657 0 0.00521376 0.00215168 0.999938 -0.00963811 uwb: 0.0 1245.3 1354.26 -imu_odom_: 1691062889.720863363 1.1995 -0.198719 9.75398 -0.0628506 -0.0436758 0.199204 0.18 0.08 pose: 0.0 -3.48294 -3.76657 0 0.00521376 0.00215168 0.999938 -0.00963811 uwb: 0.0 1245.3 1354.26 -imu_odom_: 1691062889.737907076 1.06063 -0.241814 10.0987 -0.0692422 0.0415453 0.24288 0.12 0.08 pose: 0.41912969 -3.48731 -3.77556 0 0.00967555 0.00237156 0.999873 -0.012406 uwb: 0.100174358 1245.39 1355.05 -imu_odom_: 1691062889.751894301 1.9417 -0.368707 10.5153 -0.0383495 -0.0447411 0.204531 0.11 0.05 pose: 0.0 -3.48731 -3.77556 0 0.00967555 0.00237156 0.999873 -0.012406 uwb: 0.0 1245.39 1355.05 -imu_odom_: 1691062889.767947280 1.67115 0.0143652 9.68455 -0.0383495 0.00106526 0.137419 0.11 0.05 pose: 0.0 -3.48731 -3.77556 0 0.00967555 0.00237156 0.999873 -0.012406 uwb: 0.0 1245.39 1355.05 -imu_odom_: 1691062889.782944779 1.47722 0.0287304 10.1562 -0.0617853 0.00852212 0.125701 0.11 0.05 pose: 0.23047612 -3.48731 -3.77556 0 0.0116956 0.00195914 0.999822 -0.0146414 uwb: 0.0 1245.39 1355.05 -imu_odom_: 1691062889.799825751 0.708684 -0.0670376 9.52174 -0.0735032 0.0351537 0.0980043 0.1 0.05 pose: 0.0 -3.48731 -3.77556 0 0.0116956 0.00195914 0.999822 -0.0146414 uwb: 0.50225858 1244.64 1356.62 -imu_odom_: 1691062889.813821434 0.514753 -0.126893 10.07 -0.0671117 0.0191748 0.0820254 0.1 0.05 pose: 0.0 -3.48731 -3.77556 0 0.0116956 0.00195914 0.999822 -0.0146414 uwb: 0.0 1244.64 1356.62 -imu_odom_: 1691062889.829808500 0.608127 -0.251391 10.1179 -0.052198 -0.0276969 0.0639159 0.07 0.05 pose: 0.31037646 -3.49631 -3.77118 0 0.0148096 0.00252489 0.999753 -0.0163882 uwb: 0.0 1244.64 1356.62 -imu_odom_: 1691062889.844877453 0.715866 -0.347159 9.5792 -0.052198 -0.0181095 0.0756338 0.07 0.05 pose: 0.45932775 -3.49631 -3.77118 0 0.0135365 0.00357586 0.999747 -0.0175795 uwb: 0.49491485 1243.43 1358.19 -imu_odom_: 1691062889.862059116 0.952892 -0.0790087 9.96467 -0.0585895 -0.00213053 0.113983 0.07 0.05 pose: 0.0 -3.49631 -3.77118 0 0.0135365 0.00357586 0.999747 -0.0175795 uwb: 0.0 1243.43 1358.19 -imu_odom_: 1691062889.876808713 0.785298 -0.368707 9.90002 -0.0532632 -0.00319579 0.128897 0.07 0.05 pose: 0.41177720 -3.49631 -3.77118 0 0.0153598 0.00206904 0.999707 -0.0186194 uwb: 0.0 1243.43 1358.19 -imu_odom_: 1691062889.894031207 0.749385 -0.196325 10.0604 -0.0458064 0.0213053 0.0873517 0.07 0.05 pose: 0.0 -3.49631 -3.77118 0 0.0153598 0.00206904 0.999707 -0.0186194 uwb: 0.50124072 1243.78 1358.71 -imu_odom_: 1691062889.910961469 0.641646 0.0335188 9.80186 -0.052198 -0.00639159 0.0862864 0.07 0.05 pose: 0.0 -3.49631 -3.77118 0 0.0153598 0.00206904 0.999707 -0.0186194 uwb: 0.0 1243.78 1358.71 -imu_odom_: 1691062889.937935560 0.706289 -0.258574 9.78271 -0.0596548 -0.00213053 0.0788296 0.07 0.05 pose: 0.5892781 -3.49631 -3.77118 0 0.0155989 0.00153362 0.999699 -0.0188913 uwb: 0.50059326 1240.97 1360.64 -imu_odom_: 1691062889.962800733 0.299275 -0.129287 9.6199 -0.0553937 0.02024 0.0223706 0.05 0.05 pose: 0.69983663 -3.50849 -3.77339 0 0.0161314 0.000242348 0.999657 -0.0206431 uwb: 0.0 1240.97 1360.64 -imu_odom_: 1691062889.987844978 -1.1995 0.28491 9.46428 -0.0511327 0.0884169 -0.0340885 0.08 0.08 pose: 0.0 -3.50849 -3.77339 0 0.0161314 0.000242348 0.999657 -0.0206431 uwb: 0.49795967 1242.22 1361.13 -imu_odom_: 1691062890.10816470 -0.933739 -0.634463 10.0485 -0.0798948 -0.0596548 0.0862864 0.08 0.08 pose: 0.31002356 -3.50966 -3.77579 0 0.0125018 0.000860741 0.999718 -0.020194 uwb: 0.0 1242.22 1361.13 -imu_odom_: 1691062890.27935137 0.234632 -0.287304 10.0748 -0.0394148 -0.103331 0.0713727 0.08 0.08 pose: 0.0 -3.50966 -3.77579 0 0.0125018 0.000860741 0.999718 -0.020194 uwb: 0.0 1242.22 1361.13 -imu_odom_: 1691062890.52930678 0.663194 -0.0311246 9.73961 -0.0490022 0.0245011 0.0937433 0.1 0 pose: 0.48882812 -3.50966 -3.77579 0 0.00790282 0.000274556 0.999766 -0.0201418 uwb: 0.50125531 1240.48 1362.63 -imu_odom_: 1691062890.78797667 0.0861913 -0.543484 10.2304 -0.0458064 0.0234358 0.0681769 0.12 0.02 pose: 0.35109950 -3.51865 -3.77142 0 0.00835991 0.00232085 0.999743 -0.0209662 uwb: 0.0 1240.48 1362.63 -imu_odom_: 1691062890.102822598 -0.246603 0 9.91918 -0.036219 -0.0234358 0.0500674 0.12 0.02 pose: 0.0 -3.51865 -3.77142 0 0.00835991 0.00232085 0.999743 -0.0209662 uwb: 0.49884921 1239.86 1363.77 -imu_odom_: 1691062890.128935448 0.42138 -0.438139 10.1754 -0.0873517 0.0213053 0.0809601 0.13 0.02 pose: 0.6892847 -3.51865 -3.77142 0 0.00772534 0.00192097 0.999746 -0.0210677 uwb: 0.0 1239.86 1363.77 -imu_odom_: 1691062890.145867168 0.071826 0.0047884 10.0341 -0.0479369 -0.0308927 0.04048 0.13 0.02 pose: 0.0 -3.51865 -3.77142 0 0.00772534 0.00192097 0.999746 -0.0210677 uwb: 0.50043286 1240.65 1364.27 -imu_odom_: 1691062890.171802403 0.407014 -0.179565 10.2615 -0.0671117 0.00532632 0.0745685 0.14 0.02 pose: 0.50151780 -3.51865 -3.77142 0 0.00362904 0.000797503 0.999759 -0.0216193 uwb: 0.0 1240.65 1364.27 -imu_odom_: 1691062890.196812234 0.0909797 -0.268151 9.81144 -0.0607201 -0.0340885 0.0607201 0.14 0.02 pose: 0.0 -3.51865 -3.77142 0 0.00362904 0.000797503 0.999759 -0.0216193 uwb: 0.49992248 1238.34 1366.32 -imu_odom_: 1691062890.221797859 0.28491 -0.0981623 9.88805 -0.0415453 0.0266316 0.0660464 0.14 0.02 pose: 0.43896478 -3.53205 -3.77595 0 0.00125237 0.000170945 0.999754 -0.0221637 uwb: 0.0 1238.34 1366.32 -imu_odom_: 1691062890.238795200 -0.0502782 -0.071826 10.0317 -0.0585895 0.0181095 0.0905475 0.14 0.02 pose: 0.0 -3.53205 -3.77595 0 0.00125237 0.000170945 0.999754 -0.0221637 uwb: 0.50075367 1239.25 1366.31 -imu_odom_: 1691062890.264860511 0.332794 -0.246603 9.64145 -0.0511327 -0.015979 0.0596548 0.16 0.02 pose: 0.48957767 -3.53205 -3.77595 0 -0.00242241 0.00125093 0.999736 -0.0228153 uwb: 0.0 1239.25 1366.31 -imu_odom_: 1691062890.281862518 0.737414 -0.11971 10.0724 -0.0490022 -0.0490022 0.0660464 0.16 0.02 pose: 0.0 -3.53205 -3.77595 0 -0.00242241 0.00125093 0.999736 -0.0228153 uwb: 0.0 1239.25 1366.31 -imu_odom_: 1691062890.307945620 0.1652 -0.217872 10.252 -0.0479369 -0.0266316 0.0777643 0.16 0.02 pose: 0.43974057 -3.54102 -3.77154 0 -0.00542274 0.00242061 0.999704 -0.023575 uwb: 0.49999539 1235.61 1369.13 -imu_odom_: 1691062890.333850816 -0.0622492 0.0263362 9.19852 -0.0298274 0.0191748 0.0553937 0.2 0.02 pose: 0.42163497 -3.5544 -3.77613 0 -0.00316888 0.00111484 0.999704 -0.0241101 uwb: 0.0 1235.61 1369.13 -imu_odom_: 1691062890.355793660 0.328006 -0.371101 10.3717 -0.0777643 -0.0340885 0.0969391 0.14 0.02 pose: 0.0 -3.5544 -3.77613 0 -0.00316888 0.00111484 0.999704 -0.0241101 uwb: 0.49988748 1236.41 1368.96 -imu_odom_: 1691062890.380771993 0.555455 -0.0454898 9.94073 -0.04048 0.0266316 0.0500674 0.16 0 pose: 0.50910943 -3.5544 -3.77613 0 -0.00709101 0.00181494 0.999665 -0.0248453 uwb: 0.0 1236.41 1368.96 -imu_odom_: 1691062890.406788599 0.890643 -0.167594 10.1682 -0.0756338 -0.00319579 0.0809601 0.16 0 pose: 0.0 -3.5544 -3.77613 0 -0.00709101 0.00181494 0.999665 -0.0248453 uwb: 0.49877921 1236.84 1369.63 -imu_odom_: 1691062890.422907491 0.21069 -0.328006 9.85932 -0.0479369 0.0234358 0.0468716 0.17 0 pose: 0.22925412 -3.56339 -3.77176 0 -0.00578847 0.000582091 0.999662 -0.0253318 uwb: 0.0 1236.84 1369.63 -imu_odom_: 1691062890.448780605 0.483629 -0.071826 9.83538 -0.076699 -0.0127832 0.0937433 0.17 0 pose: 0.51011271 -3.57675 -3.7764 0 -0.00254802 0.0010519 0.999658 -0.0259999 uwb: 0.50176570 1240.25 1368.55 -imu_odom_: 1691062890.473778479 0.548272 -0.146046 10.489 -0.0575243 -0.00852212 0.056459 0.17 -0.02 pose: 0.34965875 -3.57675 -3.7764 0 -0.00134389 0.0019708 0.99964 -0.0267391 uwb: 0.0 1240.25 1368.55 -imu_odom_: 1691062890.499809667 0.52433 -0.0550666 10.0916 -0.0830906 0.0287621 0.0681769 0.17 -0.02 pose: 0.0 -3.57675 -3.7764 0 -0.00134389 0.0019708 0.99964 -0.0267391 uwb: 0.49873546 1239.06 1370.24 -imu_odom_: 1691062890.516050469 -0.112527 -0.28491 10.0126 -0.0756338 -0.00426106 0.0703074 0.17 0 pose: 0.51029062 -3.58334 -3.77322 0 0.00239902 0.00404887 0.999615 -0.0273293 uwb: 0.0 1239.06 1370.24 -imu_odom_: 1691062890.541844546 0.0694318 -0.0885855 10.0676 -0.0660464 -0.0117179 0.0596548 0.17 0 pose: 0.0 -3.58334 -3.77322 0 0.00239902 0.00404887 0.999615 -0.0273293 uwb: 0.49960166 1239.42 1370.8 -imu_odom_: 1691062890.566945081 0.466869 -0.342371 9.88805 -0.0937433 0.0149137 0.0681769 0.19 0 pose: 0.42034879 -3.59658 -3.77796 0 -0.00161379 0.00364262 0.999605 -0.0278225 uwb: 0.0 1239.42 1370.8 -imu_odom_: 1691062890.592925814 0.725443 -0.114922 10.0126 -0.0798948 -0.00745685 0.0553937 0.19 0 pose: 0.0 -3.59658 -3.77796 0 -0.00161379 0.00364262 0.999605 -0.0278225 uwb: 0.50232567 1238.96 1372.21 -imu_odom_: 1691062890.617906480 0.797269 -0.383072 11.1953 -0.056459 0.00426106 0.0351537 0.19 0.02 pose: 0.33097276 -3.59911 -3.77675 0 7.51805e-05 0.00102132 0.9996 -0.0282476 uwb: 0.0 1238.96 1372.21 -imu_odom_: 1691062890.634891863 1.13485 -0.354342 9.34217 -0.0415453 -0.0223706 0.0266316 0.19 0.02 pose: 0.0 -3.59911 -3.77675 0 7.51805e-05 0.00102132 0.9996 -0.0282476 uwb: 0.0 1238.96 1372.21 -imu_odom_: 1691062890.661039711 0.785298 -0.272939 9.10994 -0.052198 -0.0213053 0.052198 0.2 0 pose: 0.50853781 -3.60813 -3.77244 0 0.0048096 2.27767e-05 0.999588 -0.0282911 uwb: 0.49793051 1239.79 1372.79 -imu_odom_: 1691062890.686770792 0.407014 -0.0023942 9.87369 -0.0532632 -0.0255663 0.0500674 0.23 0.02 pose: 0.35244108 -3.61244 -3.78146 0 0.00858739 -0.0004543680.99956 -0.0284 uwb: 0.0 1239.79 1372.79 -imu_odom_: 1691062890.712758816 0.68953 -0.208296 10.0987 -0.0436758 -0.0436758 0.0394148 0.23 0.02 pose: 0.6975385 -3.61244 -3.78146 0 0.00823611 0.00010903 0.999562 -0.0284321 uwb: 0.50027246 1241.63 1372.78 -imu_odom_: 1691062890.729913065 0.0023942 -0.208296 10.058 -0.0468716 0.0330232 0.0447411 0.22 0.02 pose: 0.0 -3.61244 -3.78146 0 0.00823611 0.00010903 0.999562 -0.0284321 uwb: 0.0 1241.63 1372.78 -imu_odom_: 1691062890.754822277 0.610521 -0.387861 10.0197 -0.056459 0.0266316 0.0340885 0.22 0.02 pose: 0.51923843 -3.62142 -3.77706 0 0.00952947 0.00144709 0.999546 -0.0285413 uwb: 0.49961332 1244.28 1371.87 -imu_odom_: 1691062890.780807968 0.270545 -0.323217 10.0078 -0.0426106 0.0117179 0.04048 0.22 0.02 pose: 0.34883338 -3.63345 -3.77888 0 0.00854415 -0.00101816 0.999556 -0.0285201 uwb: 0.0 1244.28 1371.87 -imu_odom_: 1691062890.805762969 0.426168 -0.244209 9.85214 -0.056459 -0.0223706 0.0351537 0.22 0.02 pose: 0.8013949 -3.6348 -3.78165 0 0.00771303 -0.00120546 0.999563 -0.0285271 uwb: 0.49891629 1244.17 1372.42 -imu_odom_: 1691062890.831815156 0.550666 -0.543484 9.58878 -0.0788296 -0.0468716 0.0607201 0.21 0 pose: 0.42926743 -3.64101 -3.77861 0 0.00357939 -0.00155686 0.999586 -0.0284916 uwb: 0.0 1244.17 1372.42 -imu_odom_: 1691062890.848864702 0.392649 -0.332794 9.67736 -0.056459 0.00745685 0.0245011 0.21 0 pose: 0.0 -3.64101 -3.77861 0 0.00357939 -0.00155686 0.999586 -0.0284916 uwb: 0.0 1244.17 1372.42 -imu_odom_: 1691062890.873767207 0.596156 -0.131681 9.89524 -0.0436758 -0.0234358 0.0490022 0.25 0.02 pose: 0.43101733 -3.64378 -3.77725 0 0.00318638 -0.00492139 0.999572 -0.028655 uwb: 0.0 1244.17 1372.42 -imu_odom_: 1691062890.896788862 0.775721 -0.129287 9.84256 -0.02024 -0.00532632 0.02024 0.25 0.02 pose: 0.0 -3.64378 -3.77725 0 0.00318638 -0.00492139 0.999572 -0.028655 uwb: 0.100041075 1245.81 1372.07 -imu_odom_: 1691062890.921799277 0.476446 -0.181959 10.1921 -0.0468716 0.0330232 0.0596548 0.18 0 pose: 0.47924160 -3.65716 -3.78184 0 0.00687106 -0.00122115 0.999569 -0.0285287 uwb: 0.0 1245.81 1372.07 -imu_odom_: 1691062890.939794643 0.258574 -0.385466 9.76595 -0.0468716 -0.056459 0.036219 0.18 0 pose: 0.0 -3.65716 -3.78184 0 0.00687106 -0.00122115 0.999569 -0.0285287 uwb: 0.50052036 1245.68 1373.28 -imu_odom_: 1691062890.956744445 0.486023 0.3304 10.3597 -0.0340885 -0.036219 0.0415453 0.22 -0.02 pose: 0.32981200 -3.66614 -3.77744 0 0.00412766 7.93566e-05 0.999578 -0.0287596 uwb: 0.0 1245.68 1373.28 -imu_odom_: 1691062890.980731169 0.395043 -0.023942 10.161 -0.0681769 -0.02024 0.0553937 0.22 -0.02 pose: 0.0 -3.66614 -3.77744 0 0.00412766 7.93566e-05 0.999578 -0.0287596 uwb: 0.0 1245.68 1373.28 -imu_odom_: 1691062890.997886001 0.912191 -0.287304 9.68933 -0.056459 0.036219 0.0394148 0.18 0 pose: 0.50961107 -3.6757 -3.78072 0 0.00288049 0.00332619 0.999572 -0.0289357 uwb: 0.49994581 1247.09 1373.31 -imu_odom_: 1691062891.23890941 0.265756 -0.363919 10.1514 -0.072438 0.0127832 0.0415453 0.18 0 pose: 0.7177498 -3.67952 -3.78203 0 0.00342893 0.00313308 0.99957 -0.0289383 uwb: 0.0 1247.09 1373.31 -imu_odom_: 1691062891.40738666 0.679953 -0.0861913 9.65582 -0.0617853 0.0213053 0.0223706 0.21 0 pose: 0.0 -3.67952 -3.78203 0 0.00342893 0.00313308 0.99957 -0.0289383 uwb: 0.49943542 1246.4 1374.38 -imu_odom_: 1691062891.65866907 0.639252 -0.306458 9.93594 -0.056459 0.0266316 0.0490022 0.19 -0.02 pose: 0.42985365 -3.67952 -3.78203 0 0.00264304 0.00112217 0.999578 -0.0289093 uwb: 0.0 1246.4 1374.38 -imu_odom_: 1691062891.92879206 0.047884 -0.0383072 10.0533 -0.052198 0.0276969 0.0426106 0.21 -0.02 pose: 0.34972875 -3.6885 -3.77764 0 0.00509433 0.000116306 0.999568 -0.028951 uwb: 0.50388600 1248.46 1374.66 -imu_odom_: 1691062891.117892829 0.304064 -0.31364 9.67736 -0.076699 -0.00426106 0.0436758 0.17 0 pose: 0.0 -3.6885 -3.77764 0 0.00509433 0.000116306 0.999568 -0.028951 uwb: 0.0 1248.46 1374.66 -imu_odom_: 1691062891.144943041 0.31364 -0.158017 10.0987 -0.0671117 -0.015979 0.0351537 0.17 0 pose: 0.34943419 -3.69289 -3.78663 0 0.00152654 0.000436625 0.999578 -0.0290041 uwb: 0.49511027 1247.34 1376.52 -imu_odom_: 1691062891.170801865 0.141258 -0.294487 9.71567 -0.0458064 -0.00426106 0.0298274 0.2 -0.02 pose: 0.0 -3.69289 -3.78663 0 0.00152654 0.000436625 0.999578 -0.0290041 uwb: 0.0 1247.34 1376.52 -imu_odom_: 1691062891.197870452 0.500388 -0.0742203 10.1658 -0.0617853 -0.0127832 0.0447411 0.2 -0.02 pose: 0.52222201 -3.70188 -3.78224 0 -0.00249295 0.00029312 0.999578 -0.0289409 uwb: 0.50200778 1248.46 1376.8 -imu_odom_: 1691062891.222734750 0.260968 -0.150835 9.98382 -0.0298274 0.0340885 0.0319579 0.18 -0.02 pose: 0.44837925 -3.71399 -3.78441 0 -0.0019426 0.00134044 0.999579 -0.0289288 uwb: 0.0 1248.46 1376.8 -imu_odom_: 1691062891.239752507 0.251391 -0.323217 9.95988 -0.0820254 -0.02024 0.0553937 0.18 -0.02 pose: 0.0 -3.71399 -3.78441 0 -0.0019426 0.00134044 0.999579 -0.0289288 uwb: 0.49842632 1250.72 1375.92 -imu_odom_: 1691062891.264727924 0.294487 -0.189142 9.69412 -0.0575243 -0.00319579 0.0340885 0.23 0 pose: 0.7893789 -3.71521 -3.78697 0 -0.00285086 0.00167373 0.999577 -0.0288981 uwb: 0.0 1250.72 1375.92 -imu_odom_: 1691062891.291761221 0.531513 -0.260968 9.67257 -0.0692422 -0.0266316 0.0468716 0.23 0 pose: 0.23977683 -3.72423 -3.78267 0 -0.00496904 0.00163376 0.999569 -0.028884 uwb: 0.49934793 1249.45 1377.58 -imu_odom_: 1691062891.307742746 0.634463 -0.129287 9.92636 -0.0394148 -0.00958738 0.0138484 0.23 0 pose: 0.0 -3.72423 -3.78267 0 -0.00496904 0.00163376 0.999569 -0.028884 uwb: 0.0 1249.45 1377.58 -imu_odom_: 1691062891.334738420 0.878672 -0.383072 10.1155 -0.0862864 -0.0149137 0.0681769 0.23 -0.02 pose: 0.41997257 -3.72423 -3.78267 0 -0.00605857 0.00218072 0.999561 -0.0289245 uwb: 0.0 1249.45 1377.58 -imu_odom_: 1691062891.360756193 0.177171 -0.248997 9.69652 -0.0639159 0.0319579 0.0436758 0.23 -0.02 pose: 0.0 -3.72423 -3.78267 0 -0.00605857 0.00218072 0.999561 -0.0289245 uwb: 0.50122032 1251.82 1376.88 -imu_odom_: 1691062891.387767908 0.823605 -0.371101 9.96467 -0.0585895 -0.0660464 0.0468716 0.25 0 pose: 0.44055720 -3.73756 -3.78739 0 -0.00152704 0.00145488 0.99958 -0.028912 uwb: 0.49878214 1252.08 1377.98 -imu_odom_: 1691062891.403731643 0.562637 -0.234632 9.72046 -0.0415453 0.0340885 0.0468716 0.25 0 pose: 0.0 -3.73756 -3.78739 0 -0.00152704 0.00145488 0.99958 -0.028912 uwb: 0.0 1252.08 1377.98 -imu_odom_: 1691062891.430835810 0.347159 -0.280122 9.92636 -0.0468716 -0.0266316 0.0532632 0.25 0 pose: 0.51983632 -3.74659 -3.78309 0 -0.00175277 -0.0003691160.99957 -0.0292623 uwb: 0.0 1252.08 1377.98 -imu_odom_: 1691062891.455767480 0.567426 -0.253785 10.1993 -0.0575243 -0.0245011 0.0543285 0.25 0 pose: 0.0 -3.74659 -3.78309 0 -0.00175277 -0.0003691160.99957 -0.0292623 uwb: 0.50080618 1249.06 1380.6 -imu_odom_: 1691062891.472709116 0.627281 -0.28491 9.663 -0.0671117 -0.0138484 0.0426106 0.23 0 pose: 0.43017155 -3.75992 -3.78783 0 0.00152586 -0.00111982 0.999565 -0.0294396 uwb: 0.0 1249.06 1380.6 -imu_odom_: 1691062891.497922519 0.699107 -0.220267 10.2185 -0.0553937 -0.036219 0.0639159 0.23 0 pose: 0.0 -3.75992 -3.78783 0 0.00152586 -0.00111982 0.999565 -0.0294396 uwb: 0.49940043 1247.75 1382.23 -imu_odom_: 1691062891.522869646 0.4956 -0.035913 10.3238 -0.0436758 -0.0553937 0.0543285 0.22 -0.02 pose: 0.51933177 -3.75992 -3.78783 0 0.00345328 -0.00206275 0.999549 -0.029769 uwb: 0.0 1247.75 1382.23 -imu_odom_: 1691062891.547741236 0.641646 0.253785 10.2879 -0.0713727 -0.0191748 0.0575243 0.22 -0.02 pose: 0.0 -3.75992 -3.78783 0 0.00345328 -0.00206275 0.999549 -0.029769 uwb: 0.50146822 1246.21 1384.23 -imu_odom_: 1691062891.572715195 0.675165 -0.203507 10.0269 -0.0575243 -0.00213053 0.04048 0.18 0 pose: 0.42423940 -3.76895 -3.78355 0 0.00732588 -0.0009337580.999519 -0.0301306 uwb: 0.0 1246.21 1384.23 -imu_odom_: 1691062891.599732451 0.531513 -0.385466 9.82341 -0.0777643 -0.00106526 0.0553937 0.25 0.02 pose: 0.49620979 -3.78227 -3.78831 0 0.00853129 0.00289346 0.999495 -0.0304618 uwb: 0.50069536 1245.03 1386.1 -imu_odom_: 1691062891.624719825 0.248997 -0.299275 9.33739 -0.0660464 0.0287621 0.0351537 0.25 0.02 pose: 0.0 -3.78227 -3.78831 0 0.00853129 0.00289346 0.999495 -0.0304618 uwb: 0.0 1245.03 1386.1 -imu_odom_: 1691062891.641748956 0.466869 -0.0885855 10.1921 -0.0958738 -0.00532632 0.0543285 0.21 0.02 pose: 0.24963751 -3.78227 -3.78831 0 0.00997956 0.00149544 0.999483 -0.0305408 uwb: 0.50025788 1244.11 1387.63 -imu_odom_: 1691062891.666776870 0.23942 0.0047884 10.0413 -0.0628506 -0.0255663 0.0468716 0.21 0.02 pose: 0.52116916 -3.79563 -3.79295 0 0.00623772 -0.0008670820.999508 -0.0307136 uwb: 0.0 1244.11 1387.63 -imu_odom_: 1691062891.690867422 0.342371 -0.201113 10.398 -0.0649811 0.00426106 0.0490022 0.21 0 pose: 0.34922419 -3.80463 -3.78859 0 0.00410919 0.00126326 0.999514 -0.0308625 uwb: 0.49997498 1244.43 1388.15 -imu_odom_: 1691062891.705889129 0.292093 -0.0502782 9.76595 -0.0500674 -0.0127832 0.0468716 0.21 0 pose: 0.0 -3.80463 -3.78859 0 0.00410919 0.00126326 0.999514 -0.0308625 uwb: 0.0 1244.43 1388.15 -imu_odom_: 1691062891.729781067 0.622492 -0.184354 10.2615 -0.0479369 -0.0149137 0.0340885 0.17 0 pose: 0.39112259 -3.80951 -3.78623 0 0.000595356 0.00199786 0.999516 -0.0310258 uwb: 0.0 1244.43 1388.15 -imu_odom_: 1691062891.754710695 0.476446 -0.0790087 9.7851 -0.0447411 -0.0106526 0.0468716 0.17 0 pose: 0.0 -3.80951 -3.78623 0 0.000595356 0.00199786 0.999516 -0.0310258 uwb: 0.49832716 1244.01 1388.97 -imu_odom_: 1691062891.777840845 0.0766145 -0.141258 9.49062 -0.0649811 0.00639159 0.052198 0.2 0 pose: 0.48821566 -3.81687 -3.79094 0 0.00341161 0.00466803 0.999501 -0.0310482 uwb: 0.0 1244.01 1388.97 -imu_odom_: 1691062891.793708044 0.371101 -0.208296 10.1442 -0.0426106 -0.0298274 0.0500674 0.2 0 pose: 0.0 -3.81687 -3.79094 0 0.00341161 0.00466803 0.999501 -0.0310482 uwb: 0.50231693 1245.08 1389.18 -imu_odom_: 1691062891.811704577 0.897826 -0.112527 9.83777 -0.0543285 0.0255663 0.04048 0.2 0 pose: 0.0 -3.81687 -3.79094 0 0.00341161 0.00466803 0.999501 -0.0310482 uwb: 0.0 1245.08 1389.18 -imu_odom_: 1691062891.835893123 0.881066 -0.0766145 9.42837 -0.0490022 -0.0181095 0.0372843 0.25 0.02 pose: 0.47122416 -3.82699 -3.78889 0 0.00102848 0.0032647 0.999505 -0.0312709 uwb: 0.0 1245.08 1389.18 -imu_odom_: 1691062891.861700325 0.526724 -0.265756 9.73961 -0.0596548 0.02024 0.0447411 0.22 0 pose: 0.34060012 -3.83342 -3.78578 0 0.00439709 0.00394664 0.999494 -0.0312574 uwb: 0.49813758 1243.86 1391 -imu_odom_: 1691062891.883774119 0.1652 0.0837971 9.91199 -0.0553937 0.00319579 0.0426106 0.22 0 pose: 0.6825185 -3.83599 -3.78454 0 0.00452736 0.00328061 0.999495 -0.031279 uwb: 0.0 1243.86 1391 -imu_odom_: 1691062891.908708122 0.320823 0.0407014 9.99819 -0.0681769 0.0191748 0.0585895 0.18 0 pose: 0.41055811 -3.84659 -3.79053 0 0.00305332 0.00276985 0.9995 -0.0313636 uwb: 0.50047954 1242.55 1392.72 -imu_odom_: 1691062891.933928817 0.399832 -0.347159 9.54808 -0.0639159 0.0106526 0.0319579 0.18 0 pose: 0.0 -3.84659 -3.79053 0 0.00305332 0.00276985 0.9995 -0.0313636 uwb: 0.0 1242.55 1392.72 -imu_odom_: 1691062891.947685639 0.371101 -0.351948 9.72046 -0.0468716 0.0468716 0.0287621 0.2 -0.02 pose: 0.0 -3.84659 -3.79053 0 0.00305332 0.00276985 0.9995 -0.0313636 uwb: 0.0 1242.55 1392.72 -imu_odom_: 1691062891.972725219 0.3304 -0.351948 9.33739 -0.0266316 0.00639159 0.04048 0.2 -0.02 pose: 0.55969608 -3.84935 -3.7892 0 0.000522428 0.00141599 0.999504 -0.0314664 uwb: 0.0 1242.55 1392.72 -imu_odom_: 1691062891.997675845 0.656011 -0.0622492 10.2999 -0.0372843 -0.076699 0.0500674 0.23 -0.02 pose: 0.32981492 -3.8627 -3.79386 0 -0.00107379 -0.00124506 0.999504 -0.0314351 uwb: 0.100071700 1244.51 1392.81 -imu_odom_: 1691062892.11728400 0.54109 -0.335188 9.76595 -0.056459 -0.036219 0.0532632 0.23 -0.02 pose: 0.7020881 -3.8627 -3.79386 0 -0.000242649-0.0007753280.999504 -0.0314719 uwb: 0.0 1244.51 1392.81 -imu_odom_: 1691062892.35664670 0.605733 -0.244209 9.52174 -0.0372843 0.0106526 0.0415453 0.17 0.02 pose: 0.0 -3.8627 -3.79386 0 -0.000242649-0.0007753280.999504 -0.0314719 uwb: 0.0 1244.51 1392.81 -imu_odom_: 1691062892.61672235 0.4956 0.0574608 10.0126 -0.0681769 -0.0276969 0.0532632 0.17 0.02 pose: 0.38936978 -3.87171 -3.78952 0 0.00365464 -0.00064057 0.999491 -0.0316706 uwb: 0.50199611 1243.97 1394.25 -imu_odom_: 1691062892.83676326 0.318429 -0.316035 10.1993 -0.0447411 0.0149137 0.0596548 0.2 0 pose: 0.0 -3.87171 -3.78952 0 0.00365464 -0.00064057 0.999491 -0.0316706 uwb: 0.0 1243.97 1394.25 -imu_odom_: 1691062892.100667251 0.237026 -0.172383 9.23204 -0.0894822 0.00319579 0.0585895 0.2 0 pose: 0.49005598 -3.87171 -3.78952 0 0.00480917 0.00149473 0.999478 -0.0319121 uwb: 0.49794219 1244.72 1394.7 -imu_odom_: 1691062892.116815309 0.407014 -0.162806 10.7955 -0.0607201 -0.0330232 0.0308927 0.25 -0.02 pose: 0.0 -3.87171 -3.78952 0 0.00480917 0.00149473 0.999478 -0.0319121 uwb: 0.0 1244.72 1394.7 -imu_odom_: 1691062892.141882596 0.768539 -0.328006 9.86411 -0.076699 -0.0468716 0.0532632 0.25 -0.02 pose: 0.39236793 -3.88505 -3.79419 0 0.00132869 0.000991695 0.99948 -0.0322069 uwb: 0.49855174 1241.61 1397.38 -imu_odom_: 1691062892.167845539 0.612916 -0.100556 9.991 -0.0340885 0.0319579 0.04048 0.23 0.02 pose: 0.0 -3.88505 -3.79419 0 0.00132869 0.000991695 0.99948 -0.0322069 uwb: 0.0 1241.61 1397.38 -imu_odom_: 1691062892.193731195 0.893037 0.0191536 9.4954 -0.0735032 -0.0266316 0.0607201 0.23 0.02 pose: 0.42810668 -3.89407 -3.78986 0 0.00420043 0.00117269 0.999467 -0.0323395 uwb: 0.50085285 1241.89 1398.62 -imu_odom_: 1691062892.217887660 0.715866 -0.114922 10.0844 -0.0575243 0.0351537 0.036219 0.21 0 pose: 0.43995058 -3.90485 -3.79578 0 0.00785416 0.00349246 0.999431 -0.032615 uwb: 0.0 1241.89 1398.62 -imu_odom_: 1691062892.243672697 0.131681 -0.423774 9.67736 -0.0596548 0.0127832 0.0372843 0.21 0 pose: 0.7091169 -3.90741 -3.79455 0 0.00840057 0.00366092 0.999426 -0.0326043 uwb: 0.49875881 1241.16 1399.77 -imu_odom_: 1691062892.267801747 0.229843 -0.294487 10.2496 -0.0713727 -0.0276969 0.0585895 0.19 0.02 pose: 0.42850333 -3.91399 -3.79139 0 0.00733972 0.00258732 0.99944 -0.032555 uwb: 0.0 1241.16 1399.77 -imu_odom_: 1691062892.284679220 0.399832 -0.287304 9.74679 -0.0628506 0.00958738 0.0351537 0.19 0.02 pose: 0.0 -3.91399 -3.79139 0 0.00733972 0.00258732 0.99944 -0.032555 uwb: 0.0 1241.16 1399.77 -imu_odom_: 1691062892.309816212 0.505177 -0.153229 9.43315 -0.0553937 -0.00213053 0.0500674 0.19 0 pose: 0.41006523 -3.91873 -3.79514 0 0.00407626 0.000210151 0.999455 -0.0327512 uwb: 0.50114159 1238.63 1402.7 -imu_odom_: 1691062892.326830760 0.426168 -0.275333 9.79228 -0.072438 -0.0213053 0.0479369 0.19 0 pose: 0.0 -3.91873 -3.79514 0 0.00407626 0.000210151 0.999455 -0.0327512 uwb: 0.0 1238.63 1402.7 -imu_odom_: 1691062892.352869824 0.806846 -0.191536 10.0317 -0.0660464 -0.0649811 0.0468716 0.2 0 pose: 0.42151540 -3.92979 -3.79502 0 0.00419518 0.000982876 0.999448 -0.0329482 uwb: 0.49759804 1239.85 1403.15 -imu_odom_: 1691062892.377815201 0.715866 -0.023942 10.3334 -0.0447411 -0.052198 0.0330232 0.2 0 pose: 0.8121568 -3.92979 -3.79502 0 0.00525485 0.000990448 0.999442 -0.0329779 uwb: 0.0 1239.85 1403.15 -imu_odom_: 1691062892.403690358 0.775721 0.126893 10.1059 -0.0692422 -0.0372843 0.0511327 0.19 0.02 pose: 0.24923212 -3.92979 -3.79502 0 0.00820961 0.00158751 0.99942 -0.0330166 uwb: 0.50003040 1240.51 1404.27 -imu_odom_: 1691062892.429687424 0.706289 -0.0790087 9.94073 -0.0447411 0.0394148 0.0308927 0.21 -0.02 pose: 0.24962876 -3.94308 -3.79986 0 0.0102538 0.00364039 0.999397 -0.0329829 uwb: 0.0 1240.51 1404.27 -imu_odom_: 1691062892.454723504 0.342371 -0.373495 9.43076 -0.0639159 0.0255663 0.0585895 0.21 -0.02 pose: 0.0 -3.94308 -3.79986 0 0.0102538 0.00364039 0.999397 -0.0329829 uwb: 0.49981750 1239.87 1405.6 -imu_odom_: 1691062892.472735203 0.52433 -0.150835 9.991 -0.0372843 0.0170442 0.0319579 0.22 0 pose: 0.25880698 -3.94308 -3.79986 0 0.0119466 0.00556011 0.999367 -0.033045 uwb: 0.0 1239.87 1405.6 -imu_odom_: 1691062892.496646391 0.481235 -0.409408 9.38766 -0.0585895 -0.0245011 0.056459 0.22 0 pose: 0.0 -3.94308 -3.79986 0 0.0119466 0.00556011 0.999367 -0.033045 uwb: 0.49993415 1241.58 1406.06 -imu_odom_: 1691062892.522737952 0.138864 0.0407014 9.8665 -0.0394148 0.0213053 0.0511327 0.24 0 pose: 0.52010465 -3.95214 -3.79563 0 0.010104 0.00464772 0.999387 -0.0331823 uwb: 0.0 1241.58 1406.06 -imu_odom_: 1691062892.547655914 0.179565 -0.426168 9.07402 -0.0703074 0.0351537 0.0436758 0.24 0 pose: 0.0 -3.95214 -3.79563 0 0.010104 0.00464772 0.999387 -0.0331823 uwb: 0.50129033 1240.71 1407.84 -imu_odom_: 1691062892.572664871 0.122104 -0.445322 9.65582 -0.0585895 0.00958738 0.0649811 0.21 0.02 pose: 0.41013815 -3.96543 -3.80047 0 0.0078478 0.00250069 0.999408 -0.0334004 uwb: 0.0 1240.71 1407.84 -imu_odom_: 1691062892.586662013 0.387861 -0.629675 9.76116 -0.0585895 -0.00958738 0.0575243 0.21 0.02 pose: 0.0 -3.96543 -3.80047 0 0.0078478 0.00250069 0.999408 -0.0334004 uwb: 0.0 1240.71 1407.84 -imu_odom_: 1691062892.610802729 0.248997 -0.179565 9.78989 -0.036219 -0.0117179 0.0458064 0.18 0 pose: 0.50989982 -3.97449 -3.79623 0 0.00291273 0.00114805 0.999429 -0.0336474 uwb: 0.49966000 1240.75 1408.71 -imu_odom_: 1691062892.627777905 0.497994 -0.246603 9.48343 -0.0841559 -0.00106526 0.0628506 0.18 0 pose: 0.0 -3.97449 -3.79623 0 0.00291273 0.00114805 0.999429 -0.0336474 uwb: 0.0 1240.75 1408.71 -imu_odom_: 1691062892.652647745 0.186748 -0.275333 9.38288 -0.0713727 0.0479369 0.0490022 0.18 0 pose: 0.38988600 -3.97449 -3.79623 0 0.000680222 -0.00114057 0.99942 -0.0340271 uwb: 0.49886381 1244.61 1407.9 -imu_odom_: 1691062892.676709716 0.102951 -0.220267 9.80426 -0.072438 0 0.0575243 0.18 0 pose: 0.0 -3.97449 -3.79623 0 0.000680222 -0.00114057 0.99942 -0.0340271 uwb: 0.0 1244.61 1407.9 -imu_odom_: 1691062892.700638694 0.181959 -0.172383 10.1347 -0.0745685 0.0394148 0.0511327 0.18 -0.02 pose: 0.41961676 -3.98777 -3.8011 0 -0.000214486-0.00124088 0.99941 -0.0343166 uwb: 0.50062536 1247.95 1407.01 -imu_odom_: 1691062892.725686732 0.428562 -0.56982 9.9503 -0.0916127 0.0308927 0.0575243 0.18 -0.02 pose: 0.0 -3.98777 -3.8011 0 -0.000214486-0.00124088 0.99941 -0.0343166 uwb: 0.0 1247.95 1407.01 -imu_odom_: 1691062892.750899261 0.687136 -0.52433 10.3286 -0.0617853 0.00532632 0.0490022 0.23 0 pose: 0.47999990 -3.99681 -3.79682 0 -0.00551636 -0.0015224 0.999383 -0.0346611 uwb: 0.50126116 1247.67 1408.16 -imu_odom_: 1691062892.764661333 0.703895 -0.287304 9.70609 -0.0500674 -0.0127832 0.0479369 0.23 0 pose: 0.0 -3.99681 -3.79682 0 -0.00551636 -0.0015224 0.999383 -0.0346611 uwb: 0.0 1247.67 1408.16 -imu_odom_: 1691062892.781711171 0.208296 -0.311246 10.2711 -0.0223706 0.0287621 0.0394148 0.18 0 pose: 0.48975267 -4.01004 -3.80162 0 -0.0060133 -0.00389422 0.999361 -0.0350043 uwb: 0.0 1247.67 1408.16 -imu_odom_: 1691062892.806850787 0.349553 -0.229843 9.39245 -0.0617853 0.00213053 0.0490022 0.18 0 pose: 0.0 -4.01004 -3.80162 0 -0.0060133 -0.00389422 0.999361 -0.0350043 uwb: 0.50014415 1248.2 1409.03 -imu_odom_: 1691062892.830642690 0.442927 -0.3304 9.55765 -0.0617853 0.0255663 0.0543285 0.19 0 pose: 0.74191878 -4.02216 -3.80386 0 -0.00381289 -0.00244142 0.999368 -0.0352582 uwb: 0.0 1248.2 1409.03 -imu_odom_: 1691062892.855695395 0.40462 -0.378284 9.70609 -0.0500674 0.00213053 0.0575243 0.19 0 pose: 0.7006591 -4.02336 -3.80638 0 -0.00331187 -0.00282338 0.999367 -0.0353069 uwb: 0.50028997 1247.68 1410.6 -imu_odom_: 1691062892.878661638 0.225055 -0.464475 9.47625 -0.0458064 0.04048 0.0458064 0.19 0 pose: 0.41838017 -4.02986 -3.8033 0 -0.00103693 -0.00589841 0.999347 -0.0356383 uwb: 0.0 1247.68 1410.6 -imu_odom_: 1691062892.896643880 0.433351 -0.277727 9.65582 -0.0500674 -0.0330232 0.0458064 0.19 0 pose: 0.0 -4.02986 -3.8033 0 -0.00103693 -0.00589841 0.999347 -0.0356383 uwb: 0.49767095 1248.07 1411.24 -imu_odom_: 1691062892.922644737 0.275333 -0.0622492 9.29429 -0.0308927 -0.00958738 0.0394148 0.18 -0.02 pose: 0.30996232 -4.0324 -3.80211 0 -0.00247585 -0.00686549 0.999335 -0.0357372 uwb: 0.0 1248.07 1411.24 -imu_odom_: 1691062892.946644003 0.28491 -0.0167594 9.80904 -0.0639159 -0.0127832 0.0511327 0.22 0 pose: 0.0 -4.0324 -3.80211 0 -0.00247585 -0.00686549 0.999335 -0.0357372 uwb: 0.50060495 1246.5 1413.5 -imu_odom_: 1691062892.970991791 0.268151 -0.169988 9.89524 -0.0841559 -0.0138484 0.0617853 0.22 0 pose: 0.43004324 -4.04571 -3.80688 0 -0.00264996 -0.00280632 0.999351 -0.035817 uwb: 0.0 1246.5 1413.5 -imu_odom_: 1691062892.995778511 0.0047884 -0.275333 9.79707 -0.0490022 -0.00319579 0.0372843 0.19 0 pose: 0.0 -4.04571 -3.80688 0 -0.00264996 -0.00280632 0.999351 -0.035817 uwb: 0.50030747 1245.09 1415.26 -imu_odom_: 1691062893.12639069 0.864307 -0.0311246 10.3669 -0.0330232 -0.036219 0.036219 0.19 0 pose: 0.49098051 -4.05475 -3.80262 0 -0.00555941 -0.0001928980.999329 -0.0361892 uwb: 0.0 1245.09 1415.26 -imu_odom_: 1691062893.37782477 0.797269 -0.205901 10.0796 -0.0276969 -0.0223706 0.0415453 0.19 0 pose: 0.0 -4.05475 -3.80262 0 -0.00555941 -0.0001928980.999329 -0.0361892 uwb: 0.49996333 1246.3 1415.64 -imu_odom_: 1691062893.61686665 0.881066 -0.112527 10.2879 -0.0426106 -0.0170442 0.0596548 0.19 0 pose: 0.41899555 -4.0638 -3.79836 0 -0.00449376 0.000355122 0.999336 -0.0361489 uwb: 0.0 1246.3 1415.64 -imu_odom_: 1691062893.75740679 0.186748 -0.059855 9.43794 -0.0553937 0.0479369 0.0436758 0.19 0 pose: 0.0 -4.0638 -3.79836 0 -0.00449376 0.000355122 0.999336 -0.0361489 uwb: 0.0 1246.3 1415.64 -imu_odom_: 1691062893.91752828 0.222661 -0.174777 9.72285 -0.04048 0.0415453 -0.0127832 0.19 0 pose: 0.0 -4.0638 -3.79836 0 -0.00449376 0.000355122 0.999336 -0.0361489 uwb: 0.50024914 1246.02 1416.84 -imu_odom_: 1691062893.109754319 0.414197 0.0837971 10.0245 -0.0596548 -0.00852212 -0.0617853 0.19 0 pose: 0.48080778 -4.06806 -3.8074 0 -0.0009517090.00163 0.999335 -0.0364214 uwb: 0.0 1246.02 1416.84 -imu_odom_: 1691062893.127641484 -0.0766145 0.196325 9.73722 -0.0479369 0.0223706 -0.100135 0.19 -0.17 pose: 0.40979984 -4.07711 -3.80315 0 -0.00318045 0.00371214 0.999372 -0.0351088 uwb: 0.0 1246.02 1416.84 -imu_odom_: 1691062893.143624468 0.0670376 -0.474052 10.0628 -0.0671117 -0.0553937 -0.104396 0.19 -0.17 pose: 0.0 -4.07711 -3.80315 0 -0.00318045 0.00371214 0.999372 -0.0351088 uwb: 0.50102202 1249.8 1415.74 -imu_odom_: 1691062893.161728328 0.600945 -0.136469 10.3597 -0.0692422 -0.0820254 -0.175769 0.19 -0.17 pose: 0.0 -4.07711 -3.80315 0 -0.00318045 0.00371214 0.999372 -0.0351088 uwb: 0.0 1249.8 1415.74 -imu_odom_: 1691062893.177728228 0.806846 -0.0167594 9.18416 -0.0607201 -0.0383495 -0.259925 0.18 -0.32 pose: 0.8081320 -4.07711 -3.80315 0 -0.00393993 0.00422011 0.999387 -0.0345439 uwb: 0.0 1249.8 1415.74 -imu_odom_: 1691062893.195611018 0.775721 0.129287 9.90002 -0.0809601 -0.00745685 -0.297209 0.25 -0.53 pose: 0.0 -4.07711 -3.80315 0 -0.00393993 0.00422011 0.999387 -0.0345439 uwb: 0.49880839 1250.1 1416.24 -imu_odom_: 1691062893.212595818 0.861913 -0.162806 10.0604 -0.0607201 -0.00958738 -0.360059 0.25 -0.53 pose: 0.67902163 -4.09038 -3.80803 0 -0.0003528280.00420571 0.999626 -0.0270186 uwb: 0.0 1250.1 1416.24 -imu_odom_: 1691062893.225592602 0.251391 -0.25618 9.45949 -0.0660464 0.0383495 -0.399474 0.25 -0.53 pose: 0.0 -4.09038 -3.80803 0 -0.0003528280.00420571 0.999626 -0.0270186 uwb: 0.0 1250.1 1416.24 -imu_odom_: 1691062893.241593376 0.663194 0.172383 9.85932 -0.0703074 -0.0330232 -0.421845 0.18 -0.44 pose: 0.0 -4.09038 -3.80803 0 -0.0003528280.00420571 0.999626 -0.0270186 uwb: 0.50299649 1249.03 1418.59 -imu_odom_: 1691062893.259653489 0.579397 -0.126893 9.77553 -0.0553937 -0.0223706 -0.450607 0.18 -0.44 pose: 0.32864541 -4.09948 -3.80387 0 0.00155417 0.00413956 0.999777 -0.0206558 uwb: 0.0 1249.03 1418.59 -imu_odom_: 1691062893.276673580 0.641646 -0.225055 10.0221 -0.0383495 -0.0191748 -0.48363 0.18 -0.5 pose: 0.41051146 -4.10868 -3.81064 0 0.00394053 0.00484437 0.99992 -0.0110131 uwb: 0.0 1249.03 1418.59 -imu_odom_: 1691062893.289757275 0.533907 -0.0957681 9.52174 -0.0532632 0.0628506 -0.500674 0.18 -0.5 pose: 0.0 -4.10868 -3.81064 0 0.00394053 0.00484437 0.99992 -0.0110131 uwb: 0.49609314 1249.64 1419.62 -imu_odom_: 1691062893.305681929 0.208296 -0.167594 9.63906 -0.0596548 0.0191748 -0.507066 0.18 -0.5 pose: 0.0 -4.10868 -3.81064 0 0.00394053 0.00484437 0.99992 -0.0110131 uwb: 0.0 1249.64 1419.62 -imu_odom_: 1691062893.320739800 0.222661 0.0526724 10.1275 -0.0862864 0 -0.526241 0.25 -0.79 pose: 0.8039323 -4.11276 -3.80881 0 0.00466489 0.00448521 0.999939 -0.00891508 uwb: 0.0 1249.64 1419.62 -imu_odom_: 1691062893.333758749 0.409408 -0.304064 9.38766 -0.0692422 -0.00426106 -0.531567 0.25 -0.79 pose: 0.0 -4.11276 -3.80881 0 0.00466489 0.00448521 0.999939 -0.00891508 uwb: 0.0 1249.64 1419.62 -imu_odom_: 1691062893.349629739 1.13485 0.196325 10.2424 -0.0639159 -0.0511327 -0.533697 0.25 -0.79 pose: 0.0 -4.11276 -3.80881 0 0.00466489 0.00448521 0.999939 -0.00891508 uwb: 0.50202821 1248.29 1421.53 -imu_odom_: 1691062893.367664771 1.61369 0.138864 10.1155 -0.0692422 -0.0245011 -0.488956 0.21 -0.67 pose: 0.43929728 -4.11276 -3.80881 0 0.00342037 0.00517726 0.999976 0.00300711 uwb: 0.0 1248.29 1421.53 -imu_odom_: 1691062893.385601516 1.53229 -0.253785 10.2089 -0.0447411 -0.0447411 -0.465521 0.14 -0.41 pose: 0.0 -4.11276 -3.80881 0 0.00342037 0.00517726 0.999976 0.00300711 uwb: 0.0 1248.29 1421.53 -imu_odom_: 1691062893.399590783 0.849942 -0.184354 9.46907 -0.052198 0.0255663 -0.437824 0.14 -0.41 pose: 0.64054138 -4.12189 -3.80474 0 0.00698107 0.00499089 0.99975 0.0206329 uwb: 0.49818718 1248.65 1422.14 -imu_odom_: 1691062893.416720242 1.20428 -0.229843 10.082 -0.0745685 -0.0181095 -0.369647 0.13 -0.44 pose: 0.0 -4.12189 -3.80474 0 0.00698107 0.00499089 0.99975 0.0206329 uwb: 0.0 1248.65 1422.14 -imu_odom_: 1691062893.433663045 1.24498 -0.248997 10.173 -0.0703074 -0.00639159 -0.316384 0.13 -0.44 pose: 0.0 -4.12189 -3.80474 0 0.00698107 0.00499089 0.99975 0.0206329 uwb: 0.0 1248.65 1422.14 -imu_odom_: 1691062893.450623347 0.648829 -0.52433 9.69412 -0.0319579 0.056459 -0.311057 0.13 -0.44 pose: 0.30947236 -4.13512 -3.80975 0 0.0100146 0.00442098 0.999551 0.0278951 uwb: 0.49943544 1250.12 1422.09 -imu_odom_: 1691062893.468741790 0.723049 -0.114922 9.73961 -0.0511327 0.0372843 -0.282295 0.1 -0.29 pose: 0.43999433 -4.13509 -3.80973 0 0.0121579 0.00221763 0.999279 0.0359038 uwb: 0.0 1250.12 1422.09 -imu_odom_: 1691062893.485728923 0.442927 -0.134075 9.94073 -0.0468716 0.0181095 -0.24075 0.1 -0.29 pose: 0.8004908 -4.13512 -3.80975 0 0.0127028 0.00261949 0.999224 0.037193 uwb: 0.0 1250.12 1422.09 -imu_odom_: 1691062893.499789353 0.828394 -0.447716 10.1514 -0.0596548 0.00213053 -0.216249 0.1 -0.29 pose: 0.0 -4.13512 -3.80975 0 0.0127028 0.00261949 0.999224 0.037193 uwb: 0.50114159 1251.9 1421.74 -imu_odom_: 1691062893.516603830 0.90022 -0.363919 9.5385 -0.0511327 -0.00426106 -0.211988 0.07 -0.26 pose: 0.41161098 -4.14419 -3.80559 0 0.0121555 0.00214822 0.998999 0.0429874 uwb: 0.0 1251.9 1421.74 -imu_odom_: 1691062893.532739639 0.988805 -0.0981623 10.137 -0.0553937 -0.0223706 -0.196009 0.07 -0.23 pose: 0.0 -4.14419 -3.80559 0 0.0121555 0.00214822 0.998999 0.0429874 uwb: 0.0 1251.9 1421.74 -imu_odom_: 1691062893.550844666 0.943315 -0.126893 9.79707 -0.0585895 0 -0.164051 0.07 -0.23 pose: 0.0 -4.14419 -3.80559 0 0.0121555 0.00214822 0.998999 0.0429874 uwb: 0.50061663 1252.99 1421.88 -imu_odom_: 1691062893.574653193 0.620098 -0.246603 9.89045 -0.0479369 -0.00426106 -0.169377 0.07 -0.23 pose: 0.23985851 -4.14422 -3.80561 0 0.014228 0.00130616 0.998843 0.0459279 uwb: 0.0 1252.99 1421.88 -imu_odom_: 1691062893.592661101 0.390255 -0.186748 9.82102 -0.0511327 0.0255663 -0.162985 0.07 -0.23 pose: 0.0 -4.14422 -3.80561 0 0.014228 0.00130616 0.998843 0.0459279 uwb: 0.49879964 1253.46 1422.67 -imu_odom_: 1691062893.609662234 0.0143652 -0.0837971 9.96227 -0.0500674 0.0308927 -0.204531 0.07 -0.14 pose: 0.34885672 -4.14422 -3.80561 0 0.0162843 0.00135104 0.998634 0.0496339 uwb: 0.0 1253.46 1422.67 -imu_odom_: 1691062893.623599004 -1.03908 -0.0454898 9.44513 -0.0308927 0.105461 -0.253533 0.07 -0.14 pose: 0.42069296 -4.14422 -3.80561 0 0.0119533 0.00095317 0.998463 0.0541007 uwb: 0.0 1253.46 1422.67 -imu_odom_: 1691062893.640726130 -1.14443 -0.059855 10.3477 -0.0532632 0.0287621 -0.157659 0.07 -0.14 pose: 0.0 -4.14422 -3.80561 0 0.0119533 0.00095317 0.998463 0.0541007 uwb: 0.0 1253.46 1422.67 -imu_odom_: 1691062893.657636268 -0.426168 -0.952892 10.07 -0.0980043 -0.0468716 -0.072438 0.1 -0.11 pose: 0.39995958 -4.15331 -3.80143 0 0.00680059 0.00187114 0.998238 0.0589241 uwb: 0.0 1253.46 1422.67 -imu_odom_: 1691062893.674630110 0.378284 -0.344765 9.98622 -0.0298274 -0.0319579 -0.105461 0.1 -0.11 pose: 0.0 -4.15331 -3.80143 0 0.00680059 0.00187114 0.998238 0.0589241 uwb: 0.0 1253.46 1422.67 -imu_odom_: 1691062893.691625410 0.646434 0.141258 9.58399 -0.0532632 0.00106526 -0.0649811 0.1 -0.11 pose: 0.0 -4.15331 -3.80143 0 0.00680059 0.00187114 0.998238 0.0589241 uwb: 0.0 1253.46 1422.67 -imu_odom_: 1691062893.708573171 -0.148441 -0.141258 9.94551 -0.0681769 0.0340885 -0.056459 0.12 -0.11 pose: 0.6999008 -4.15331 -3.80143 0 0.00637218 0.00130699 0.998218 0.0593153 uwb: 0.0 1253.46 1422.67 -imu_odom_: 1691062893.725575471 -0.189142 -0.45011 9.83299 -0.0426106 0 -0.105461 0.12 -0.11 pose: 0.0 -4.15331 -3.80143 0 0.00637218 0.00130699 0.998218 0.0593153 uwb: 0.0 1253.46 1422.67 -imu_odom_: 1691062893.742581562 -0.229843 -0.383072 9.68455 -0.0543285 0 -0.0894822 0.12 -0.11 pose: 0.68916812 -4.16661 -3.80636 0 0.00269712 0.00103517 0.997985 0.0633865 uwb: 0.149900337 1252.51 1423.59 -imu_odom_: 1691062893.759568404 0.311246 -0.217872 9.92636 -0.0511327 -0.0351537 -0.056459 0.12 -0.11 pose: 0.0 -4.16661 -3.80636 0 0.00269712 0.00103517 0.997985 0.0633865 uwb: 0.0 1252.51 1423.59 -imu_odom_: 1691062893.777563479 0.4956 -0.311246 9.75158 -0.072438 -0.00852212 -0.04048 0.13 -0.11 pose: 0.0 -4.16661 -3.80636 0 0.00269712 0.00103517 0.997985 0.0633865 uwb: 0.0 1252.51 1423.59 -imu_odom_: 1691062893.794599318 0.47884 -0.225055 10.4435 -0.0649811 0.00532632 -0.072438 0.13 -0.11 pose: 0.32931037 -4.16661 -3.80636 0 -0.0004596350.000435814 0.997855 0.0654644 uwb: 0.50043580 1250.06 1426.21 -imu_odom_: 1691062893.810589302 0.23942 -0.205901 9.61511 -0.0660464 0.0170442 -0.0596548 0.14 -0.11 pose: 0.36052272 -4.17569 -3.80216 0 0.000771152 -0.0010165 0.997744 0.067115 uwb: 0.0 1250.06 1426.21 -imu_odom_: 1691062893.828645915 0.471658 -0.260968 10.1586 -0.056459 -0.02024 -0.0511327 0.14 -0.11 pose: 0.0 -4.17569 -3.80216 0 0.000771152 -0.0010165 0.997744 0.067115 uwb: 0.0 1250.06 1426.21 -imu_odom_: 1691062893.844640857 -0.00957681-0.229843 9.55526 -0.0543285 -0.0117179 -0.0415453 0.14 -0.11 pose: 0.43020656 -4.17569 -3.80216 0 0.00161603 -0.00161187 0.997598 0.0692263 uwb: 0.50208654 1250.98 1426.93 -imu_odom_: 1691062893.861849644 1.1157 -0.0550666 10.6374 -0.0415453 -0.0873517 -0.0585895 0.2 -0.11 pose: 0.0 -4.17569 -3.80216 0 0.00161603 -0.00161187 0.997598 0.0692263 uwb: 0.0 1250.98 1426.93 -imu_odom_: 1691062893.878584210 1.09415 0.0622492 9.57202 -0.0585895 -0.056459 -0.015979 0.13 -0.08 pose: 0.0 -4.17569 -3.80216 0 0.00161603 -0.00161187 0.997598 0.0692263 uwb: 0.0 1250.98 1426.93 -imu_odom_: 1691062893.895642798 1.57778 -0.37589 10.4459 -0.0617853 0.0191748 0.0383495 0.13 -0.08 pose: 0.7140750 -4.17569 -3.80216 0 0.00093236 -0.00153924 0.997579 0.0695143 uwb: 0.49788678 1249.58 1428.81 -imu_odom_: 1691062893.913684828 1.32878 -0.634463 9.97424 -0.0553937 -0.0340885 0.0436758 0.11 -0.08 pose: 0.0 -4.17569 -3.80216 0 0.00093236 -0.00153924 0.997579 0.0695143 uwb: 0.0 1249.58 1428.81 -imu_odom_: 1691062893.930891283 1.34794 -0.246603 9.68933 -0.04048 0.00958738 -0.02024 0.11 -0.08 pose: 0.49799761 -4.18477 -3.79798 0 0.00510338 -0.0006883910.99745 0.071185 uwb: 0.0 1249.58 1428.81 -imu_odom_: 1691062893.947577434 1.17076 0.191536 9.92157 -0.0553937 0.0287621 -0.036219 0.11 -0.08 pose: 0.0 -4.18477 -3.79798 0 0.00510338 -0.0006883910.99745 0.071185 uwb: 0.50149158 1248.43 1430.29 -imu_odom_: 1691062893.965700252 0.696713 -0.246603 9.79228 -0.0681769 0.0213053 -0.0276969 0.09 -0.02 pose: 0.0 -4.18477 -3.79798 0 0.00510338 -0.0006883910.99745 0.071185 uwb: 0.0 1248.43 1430.29 -imu_odom_: 1691062893.982697010 0.713472 -0.344765 9.9503 -0.056459 -0.0234358 -0.072438 0.09 -0.02 pose: 0.69997666 -4.19388 -3.79385 0 0.0111641 -0.00129243 0.9973 0.0725697 uwb: 0.0 1248.43 1430.29 -imu_odom_: 1691062893.995621173 0.775721 -0.181959 9.93354 -0.0500674 -0.0276969 -0.0671117 0.09 -0.02 pose: 0.0 -4.19388 -3.79385 0 0.0111641 -0.00129243 0.9973 0.0725697 uwb: 0.0 1248.43 1430.29 -imu_odom_: 1691062894.12564559 0.943315 -0.112527 9.84256 -0.0543285 -0.00958738 -0.0340885 0.07 -0.05 pose: 0.0 -4.19388 -3.79385 0 0.0111641 -0.00129243 0.9973 0.0725697 uwb: 0.0 1248.43 1430.29 -imu_odom_: 1691062894.28564751 0.727837 -0.349553 9.87608 -0.0553937 0.0191748 -0.0138484 0.07 -0.05 pose: 0.33041864 -4.19802 -3.80295 0 0.0135337 -0.00291414 0.99715 0.0741576 uwb: 0.0 1248.43 1430.29 -imu_odom_: 1691062894.45585133 0.792481 -0.229843 10.0173 -0.0447411 0 -0.0394148 0.06 -0.05 pose: 0.39938795 -4.19802 -3.80295 0 0.0157113 -0.0034665 0.997011 0.0755696 uwb: 0.100062953 1249.56 1430.51 -imu_odom_: 1691062894.71625072 0.778116 -0.0957681 9.83299 -0.056459 -0.00106526 -0.0245011 0.06 -0.05 pose: 0.0 -4.19802 -3.80295 0 0.0157113 -0.0034665 0.997011 0.0755696 uwb: 0.0 1249.56 1430.51 -imu_odom_: 1691062894.96604865 -0.122104 -0.349553 9.76834 -0.0490022 0.0809601 -0.0276969 0.06 -0.02 pose: 0.8031448 -4.19802 -3.80295 0 0.0164644 -0.00317484 0.996975 0.0758908 uwb: 0.49782263 1251.74 1429.94 -imu_odom_: 1691062894.112624306 -1.31921 -0.0861913 10.1801 -0.0532632 0.0862864 -0.00852212 0.06 0 pose: 0.0 -4.19802 -3.80295 0 0.0164644 -0.00317484 0.996975 0.0758908 uwb: 0.0 1251.74 1429.94 -imu_odom_: 1691062894.136753356 -0.864307 -0.383072 9.96467 -0.056459 -0.0830906 0.0276969 0.08 -0.02 pose: 0.76028107 -4.20712 -3.7988 0 0.0122112 -0.0001391780.996851 0.0783491 uwb: 0.49950253 1253.76 1429.08 -imu_odom_: 1691062894.162698218 1.07978 -0.258574 10.2831 -0.0468716 -0.0543285 0.0351537 0.12 -0.02 pose: 0.0 -4.20712 -3.7988 0 0.0122112 -0.0001391780.996851 0.0783491 uwb: 0.0 1253.76 1429.08 -imu_odom_: 1691062894.188569000 -0.0023942 -0.0814029 10.3286 -0.056459 0.0575243 0.0181095 0.12 -0.02 pose: 0.32011466 -4.20712 -3.7988 0 0.0117207 -0.0004657850.996845 0.0785076 uwb: 0.50202530 1255.24 1429.02 -imu_odom_: 1691062894.213567459 -0.361524 -0.426168 9.60793 -0.0532632 -0.00532632 0.0106526 0.15 0 pose: 0.43933228 -4.20712 -3.7988 0 0.0106496 -5.90024e-050.996831 0.0788287 uwb: 0.0 1255.24 1429.02 -imu_odom_: 1691062894.228556210 0.124498 -0.112527 10.2161 -0.052198 0.00213053 0.0106526 0.15 0 pose: 0.8012491 -4.20712 -3.7988 0 0.00986261 -0.0001703470.99683 0.0789435 uwb: 0.0 1255.24 1429.02 -imu_odom_: 1691062894.251586033 0.320823 -0.282516 9.79228 -0.0585895 -0.00319579 0.0351537 0.12 -0.02 pose: 0.0 -4.20712 -3.7988 0 0.00986261 -0.0001703470.99683 0.0789435 uwb: 0.49804428 1255.06 1429.57 -imu_odom_: 1691062894.268633538 0.344765 -0.177171 10.2568 -0.0447411 0.00426106 0.0106526 0.12 -0.02 pose: 0.39041390 -4.21621 -3.79463 0 0.00602821 -0.0001470550.996823 0.0794211 uwb: 0.0 1255.06 1429.57 -imu_odom_: 1691062894.293551793 -0.189142 -0.320823 9.66539 -0.0649811 -0.00745685 0.0426106 0.14 -0.02 pose: 0.0 -4.21621 -3.79463 0 0.00602821 -0.0001470550.996823 0.0794211 uwb: 0.50002458 1252.09 1431.4 -imu_odom_: 1691062894.319599607 0.529119 -0.189142 9.71088 -0.0735032 -0.0127832 0.02024 0.14 -0.02 pose: 0.42036923 -4.21621 -3.79463 0 0.0019304 -4.74525e-050.996818 0.0796883 uwb: 0.0 1252.09 1431.4 -imu_odom_: 1691062894.341564617 0.430956 -0.131681 10.228 -0.052198 0.00532632 0.0213053 0.14 -0.02 pose: 0.0 -4.21621 -3.79463 0 0.0019304 -4.74525e-050.996818 0.0796883 uwb: 0.50175990 1253.5 1431.22 -imu_odom_: 1691062894.366613240 -0.158017 -0.280122 9.39245 -0.0703074 -0.00852212 0.0213053 0.14 -0.02 pose: 0.47913663 -4.22529 -3.79044 0 0.00281083 0.000502617 0.996793 0.0799722 uwb: 0.0 1253.5 1431.22 -imu_odom_: 1691062894.384624647 -0.0263362 -0.150835 9.7851 -0.0458064 -0.0426106 0.0181095 0.17 -0.02 pose: 0.0 -4.22529 -3.79044 0 0.00281083 0.000502617 0.996793 0.0799722 uwb: 0.0 1253.5 1431.22 -imu_odom_: 1691062894.407527020 0.682347 -0.260968 9.80904 -0.0511327 0.00426106 0.0213053 0.17 -0.02 pose: 0.49041181 -4.23856 -3.79533 0 -0.0008545750.00177789 0.996757 0.0804428 uwb: 0.49852842 1255.36 1430.07 -imu_odom_: 1691062894.433531961 0.371101 -0.490811 9.64145 -0.0490022 0.0255663 0.0149137 0.19 0 pose: 0.32912372 -4.23856 -3.79533 0 0.000423305 0.00126874 0.996733 0.0807574 uwb: 0.0 1255.36 1430.07 -imu_odom_: 1691062894.446571325 0.277727 -0.366313 9.81144 -0.0468716 0.0553937 0.02024 0.19 0 pose: 0.8097069 -4.23856 -3.79533 0 0.000138609 0.000511426 0.996726 0.0808567 uwb: 0.50167240 1256.96 1429.34 -imu_odom_: 1691062894.471586991 0.651223 -0.311246 10.1586 -0.0468716 -0.0308927 0.0340885 0.15 -0.02 pose: 0.0 -4.23856 -3.79533 0 0.000138609 0.000511426 0.996726 0.0808567 uwb: 0.0 1256.96 1429.34 -imu_odom_: 1691062894.496546660 0.387861 -0.150835 9.41879 -0.0543285 -0.0372843 0.0319579 0.15 -0.02 pose: 0.39137925 -4.24763 -3.79112 0 -0.000929352-0.00215897 0.996693 0.0812257 uwb: 0.49824260 1256.04 1430.35 -imu_odom_: 1691062894.517585975 0.629675 -0.179565 10.3262 -0.0617853 -0.0415453 0.04048 0.17 -0.02 pose: 0.0 -4.24763 -3.79112 0 -0.000929352-0.00215897 0.996693 0.0812257 uwb: 0.0 1256.04 1430.35 -imu_odom_: 1691062894.532603015 1.11809 -0.229843 9.73961 -0.0553937 0.0181095 0.0330232 0.17 -0.02 pose: 0.47800795 -4.2567 -3.78691 0 0.00145786 -0.0001262470.996683 0.0813675 uwb: 0.0 1256.04 1430.35 -imu_odom_: 1691062894.556521203 0.610521 -0.129287 10.137 -0.0383495 -0.0170442 0.0234358 0.16 0 pose: 0.0 -4.2567 -3.78691 0 0.00145786 -0.0001262470.996683 0.0813675 uwb: 0.49832718 1256.55 1430.35 -imu_odom_: 1691062894.574548068 0.42138 -0.227449 9.6199 -0.0639159 -0.00532632 0.0553937 0.16 0 pose: 0.38044239 -4.2567 -3.78691 0 0.0053039 0.000260402 0.996661 0.0814747 uwb: 0.0 1256.55 1430.35 -imu_odom_: 1691062894.598865525 0.395043 0.0861913 10.343 -0.0479369 -0.00958738 0.0245011 0.16 0.02 pose: 0.0 -4.2567 -3.78691 0 0.0053039 0.000260402 0.996661 0.0814747 uwb: 0.50128451 1258.4 1430.04 -imu_odom_: 1691062894.624749140 0.272939 -0.349553 10.6207 -0.0575243 0.00532632 0.0394148 0.16 0.02 pose: 0.41936887 -4.26999 -3.79175 0 0.00487255 0.0013486 0.996658 0.0815269 uwb: 0.0 1258.4 1430.04 -imu_odom_: 1691062894.647687677 0.225055 -0.237026 10.0269 -0.0276969 0.0245011 0.0223706 0.18 -0.02 pose: 0.0 -4.26999 -3.79175 0 0.00487255 0.0013486 0.996658 0.0815269 uwb: 0.49983793 1256.72 1431.5 -imu_odom_: 1691062894.672623139 0.47884 -0.311246 9.55287 -0.0468716 0.00745685 0.0383495 0.18 -0.02 pose: 0.49259918 -4.27905 -3.78753 0 0.00150177 0.00133859 0.996653 0.0817199 uwb: 0.0 1256.72 1431.5 -imu_odom_: 1691062894.689570609 0.320823 -0.296881 10.2807 -0.0372843 -0.0170442 0.0245011 0.19 0 pose: 0.0 -4.27905 -3.78753 0 0.00150177 0.00133859 0.996653 0.0817199 uwb: 0.50130201 1256.56 1432.09 -imu_odom_: 1691062894.713543919 0.919373 -0.225055 10.1969 -0.0426106 -0.0426106 0.0426106 0.19 0 pose: 0.48899731 -4.28812 -3.78331 0 0.000175915 -0.0010472 0.996637 0.0819308 uwb: 0.0 1256.56 1432.09 -imu_odom_: 1691062894.738545877 0.306458 -0.143652 10.2544 -0.0447411 -0.00426106 0.0351537 0.2 -0.02 pose: 0.32840335 -4.28812 -3.78331 0 0.0023365 -0.0014107 0.996632 0.0819628 uwb: 0.50194947 1257.08 1432.11 -imu_odom_: 1691062894.752580058 0.746991 -0.0957681 10.3382 -0.0340885 -0.0181095 0.0372843 0.2 -0.02 pose: 0.8007241 -4.28812 -3.78331 0 0.00170693 -0.0008758270.996632 0.0819808 uwb: 0.0 1257.08 1432.11 -imu_odom_: 1691062894.777602140 0.0957681 -0.258574 9.93354 -0.0628506 0.00426106 0.0447411 0.17 0.05 pose: 0.0 -4.28812 -3.78331 0 0.00170693 -0.0008758270.996632 0.0819808 uwb: 0.0 1257.08 1432.11 -imu_odom_: 1691062894.802585141 0.186748 -0.213084 10.0533 -0.0458064 0.00958738 0.0607201 0.17 0.05 pose: 0.39039348 -4.29718 -3.77908 0 0.00100987 0.000633159 0.99663 0.0820144 uwb: 0.49677560 1254.5 1434.64 -imu_odom_: 1691062894.827597891 0.265756 -0.464475 9.77074 -0.0511327 0.0223706 0.0468716 0.16 0 pose: 0.41994633 -4.30754 -3.78528 0 -0.00342039 0.000684665 0.99665 0.081709 uwb: 0.0 1254.5 1434.64 -imu_odom_: 1691062894.853638996 0.328006 -0.169988 9.88566 -0.0458064 -0.0213053 0.04048 0.16 0 pose: 0.8103194 -4.31047 -3.78392 0 -0.00380367 -5.16343e-050.996651 0.0816823 uwb: 0.50231695 1251.68 1436.8 -imu_odom_: 1691062894.866630239 0.100556 -0.203507 9.74919 -0.0607201 -0.0127832 0.0490022 0.19 0 pose: 0.0 -4.31047 -3.78392 0 -0.00380367 -5.16343e-050.996651 0.0816823 uwb: 0.0 1251.68 1436.8 -imu_odom_: 1691062894.881632114 0.78051 -0.301669 10.07 -0.0436758 -0.0276969 0.02024 0.19 0 pose: 0.48837318 -4.31954 -3.77969 0 -0.00435287 0.00108255 0.996657 0.0815769 uwb: 0.0 1251.68 1436.8 -imu_odom_: 1691062894.899514029 -0.155623 -0.299275 9.25359 -0.056459 0.0298274 0.0479369 0.19 0 pose: 0.0 -4.31954 -3.77969 0 -0.00435287 0.00108255 0.996657 0.0815769 uwb: 0.49824260 1251.9 1437.16 -imu_odom_: 1691062894.923499005 0.117316 -0.129287 9.4954 -0.0575243 -0.0319579 0.04048 0.24 0 pose: 0.30096494 -4.31954 -3.77969 0 -0.00434459 0.000677241 0.996651 0.0816574 uwb: 0.0 1251.9 1437.16 -imu_odom_: 1691062894.949505404 0.174777 -0.150835 9.85693 -0.0585895 -0.00106526 0.0490022 0.22 0 pose: 0.33876858 -4.32857 -3.77545 0 -0.00726474 0.00169874 0.996637 0.0815997 uwb: 0.50066038 1251.68 1437.67 -imu_odom_: 1691062894.970554343 0.155623 -0.191536 10.1083 -0.0575243 0.04048 0.04048 0.22 0 pose: 0.0 -4.32857 -3.77545 0 -0.00726474 0.00169874 0.996637 0.0815997 uwb: 0.0 1251.68 1437.67 -imu_odom_: 1691062894.983496880 0.294487 -0.158017 9.67257 -0.0426106 0.0170442 0.04048 0.22 0 pose: 0.0 -4.32857 -3.77545 0 -0.00726474 0.00169874 0.996637 0.0815997 uwb: 0.0 1251.68 1437.67 -imu_odom_: 1691062895.7548060 0.1652 -0.160412 9.35654 -0.0649811 0.00426106 0.0511327 0.17 0 pose: 0.8072279 -4.3286 -3.77547 0 -0.00796855 0.00210618 0.996634 0.0815593 uwb: 0.50047664 1251.67 1438.54 -imu_odom_: 1691062895.24508363 0.344765 -0.172383 9.96946 -0.0319579 0.0458064 0.0276969 0.17 0 pose: 0.0 -4.3286 -3.77547 0 -0.00796855 0.00210618 0.996634 0.0815593 uwb: 0.0 1251.67 1438.54 -imu_odom_: 1691062895.49565735 0.328006 -0.227449 10.0102 -0.0532632 0 0.0543285 0.23 0.02 pose: 0.44940587 -4.33767 -3.77125 0 -0.0114845 0.00253096 0.996607 0.0814644 uwb: 0.49704976 1250.39 1439.86 -imu_odom_: 1691062895.75579718 0.507571 -0.0383072 10.4435 -0.0372843 -0.0255663 0.0383495 0.21 0 pose: 0.73053864 -4.35095 -3.7761 0 -0.00949677 0.00279841 0.996646 0.0812301 uwb: 0.0 1250.39 1439.86 -imu_odom_: 1691062895.98497839 0.641646 -0.289698 9.95988 -0.0660464 -0.0127832 0.0543285 0.21 0 pose: 0.0 -4.35095 -3.7761 0 -0.00949677 0.00279841 0.996646 0.0812301 uwb: 0.50047956 1248.91 1441.73 -imu_odom_: 1691062895.122504106 0.466869 -0.251391 9.68455 -0.0394148 -0.0276969 0.0308927 0.18 0 pose: 0.8069362 -4.35095 -3.7761 0 -0.0086424 0.0031296 0.996653 0.0812318 uwb: 0.0 1248.91 1441.73 -imu_odom_: 1691062895.139489490 0.471658 -0.129287 10.1131 -0.0788296 -0.0287621 0.0628506 0.18 0 pose: 0.0 -4.35095 -3.7761 0 -0.0086424 0.0031296 0.996653 0.0812318 uwb: 0.50056706 1247.9 1443.56 -imu_odom_: 1691062895.164509823 0.366313 -0.107739 10.0413 -0.0575243 0.036219 0.0490022 0.18 0 pose: 0.48951062 -4.36002 -3.77189 0 -0.00379637 0.00238718 0.996696 0.0811023 uwb: 0.0 1247.9 1443.56 -imu_odom_: 1691062895.188558087 0.447716 -0.141258 10.3094 -0.0649811 0.0511327 0.0532632 0.18 0 pose: 0.0 -4.36002 -3.77189 0 -0.00379637 0.00238718 0.996696 0.0811023 uwb: 0.49930713 1245.64 1445.89 -imu_odom_: 1691062895.205508765 -0.0670376 -0.174777 9.5385 -0.0500674 0.00213053 0.036219 0.18 0 pose: 0.41171599 -4.36909 -3.76768 0 -0.0008641930.00284402 0.996715 0.0809327 uwb: 0.0 1245.64 1445.89 -imu_odom_: 1691062895.231770650 0.320823 -0.117316 9.45231 -0.0745685 -0.0436758 0.0553937 0.18 0 pose: 0.0 -4.36909 -3.76768 0 -0.0008641930.00284402 0.996715 0.0809327 uwb: 0.0 1245.64 1445.89 -imu_odom_: 1691062895.256507499 0.723049 0.0191536 10.2448 -0.0500674 -0.0468716 0.0426106 0.17 0 pose: 0.47884208 -4.37816 -3.76347 0 -0.0007066580.00383882 0.996732 0.0806912 uwb: 0.50109203 1245 1447.5 -imu_odom_: 1691062895.281625826 0.0861913 -0.263362 9.12909 -0.0575243 -0.0639159 0.0436758 0.17 0 pose: 0.0 -4.37816 -3.76347 0 -0.0007066580.00383882 0.996732 0.0806912 uwb: 0.0 1245 1447.5 -imu_odom_: 1691062895.298576504 0.708684 0.0407014 10.8793 -0.0426106 -0.116114 0.0298274 0.18 0.02 pose: 0.44011100 -4.39144 -3.76834 0 -0.00240482 0.00535503 0.996738 0.0804949 uwb: 0.50117368 1247.39 1448.14 -imu_odom_: 1691062895.323499426 1.56341 -0.241814 8.93755 -0.0735032 0.0553937 0.0671117 0.18 0.02 pose: 0.0 -4.39144 -3.76834 0 -0.00240482 0.00535503 0.996738 0.0804949 uwb: 0.0 1247.39 1448.14 -imu_odom_: 1691062895.347625269 1.21865 -0.354342 9.10275 -0.0351537 -0.036219 0.0575243 0.2 0 pose: 0.48878732 -4.39144 -3.76834 0 -0.00094976 0.00498896 0.996745 0.0804607 uwb: 0.50038916 1246.56 1449.41 -imu_odom_: 1691062895.373569839 0.481235 -0.155623 9.26317 -0.0639159 0.0426106 0.0276969 0.2 0 pose: 0.0 -4.39144 -3.76834 0 -0.00094976 0.00498896 0.996745 0.0804607 uwb: 0.0 1246.56 1449.41 -imu_odom_: 1691062895.388557132 0.107739 -0.047884 10.1131 -0.0500674 -0.00958738 0.0532632 0.18 0 pose: 0.42977202 -4.40052 -3.76414 0 0.00314487 0.00449703 0.996774 0.0800723 uwb: 0.0 1246.56 1449.41 -imu_odom_: 1691062895.412500985 0.251391 -0.0071826110.5058 -0.0660464 -0.0617853 0.0543285 0.18 0 pose: 0.0 -4.40052 -3.76414 0 0.00314487 0.00449703 0.996774 0.0800723 uwb: 0.0 1246.56 1449.41 -imu_odom_: 1691062895.437559232 0.366313 0.1652 10.2185 -0.0447411 -0.0319579 0.052198 0.18 0 pose: 0.48021575 -4.40959 -3.75995 0 0.00293752 0.00181155 0.996787 0.0800254 uwb: 0.99976627 1243.51 1452.24 -imu_odom_: 1691062895.462485070 0.395043 -0.232238 9.92157 -0.0660464 0.00639159 0.052198 0.18 0 pose: 0.0 -4.40959 -3.75995 0 0.00293752 0.00181155 0.996787 0.0800254 uwb: 0.0 1243.51 1452.24 -imu_odom_: 1691062895.479611613 0.560243 -0.0311246 9.90721 -0.072438 -0.0266316 0.0415453 0.18 0 pose: 0.65980777 -4.42286 -3.76483 0 0.000991198 0.00547385 0.996812 0.079596 uwb: 0.0 1243.51 1452.24 -imu_odom_: 1691062895.503490137 0.56982 -0.011971 10.1921 -0.0852212 -0.0149137 0.0553937 0.18 0 pose: 0.0 -4.42286 -3.76483 0 0.000991198 0.00547385 0.996812 0.079596 uwb: 0.49815803 1245.07 1452.3 -imu_odom_: 1691062895.529782354 0.011971 -0.0933739 9.96227 -0.0426106 -0.0308927 0.0458064 0.18 0 pose: 0.42006008 -4.43195 -3.76065 0 0.00282592 0.00479826 0.996827 0.0794043 uwb: 0.0 1245.07 1452.3 -imu_odom_: 1691062895.554495579 0.244209 -0.122104 9.7037 -0.0511327 0.0127832 0.0340885 0.2 -0.02 pose: 0.42264994 -4.4383 -3.75773 0 0.00194028 0.00586889 0.996839 0.0792103 uwb: 0.50180074 1248.78 1451.59 -imu_odom_: 1691062895.571487380 0.703895 -0.172383 9.81862 -0.0351537 -0.00958738 0.0479369 0.2 -0.02 pose: 0.0 -4.4383 -3.75773 0 0.00194028 0.00586889 0.996839 0.0792103 uwb: 0.0 1248.78 1451.59 -imu_odom_: 1691062895.596494005 0.418985 -0.117316 10.3932 -0.0394148 0.0127832 0.0490022 0.18 -0.02 pose: 0.7852375 -4.44103 -3.75647 0 0.00109016 0.00585862 0.996838 0.079236 uwb: 0.49931880 1247.87 1453.67 -imu_odom_: 1691062895.622556110 0.466869 0.0814029 10.4651 -0.0479369 0.0181095 0.0458064 0.18 -0.02 pose: 0.0 -4.44103 -3.75647 0 0.00109016 0.00585862 0.996838 0.079236 uwb: 0.0 1247.87 1453.67 -imu_odom_: 1691062895.647476698 1.11091 -0.225055 9.49062 -0.0703074 -0.0223706 0.0553937 0.21 0 pose: 0.42878625 -4.45012 -3.75229 0 0.00107901 0.00471166 0.99685 0.0791673 uwb: 0.49930129 1246.76 1455.4 -imu_odom_: 1691062895.664531495 0.141258 -0.241814 9.95509 -0.0287621 -0.0170442 0.0330232 0.21 0 pose: 0.0 -4.45012 -3.75229 0 0.00107901 0.00471166 0.99685 0.0791673 uwb: 0.0 1246.76 1455.4 -imu_odom_: 1691062895.688460475 0.184354 -0.126893 9.7875 -0.0703074 -0.0266316 0.056459 0.18 0 pose: 0.50059913 -4.46338 -3.7572 0 0.00254232 0.00565582 0.99686 0.0789389 uwb: 0.49912048 1245.75 1457.36 -imu_odom_: 1691062895.705475316 0.629675 0.189142 10.24 -0.0447411 -0.0298274 0.0511327 0.18 0 pose: 0.0 -4.46338 -3.7572 0 0.00254232 0.00565582 0.99686 0.0789389 uwb: 0.0 1245.75 1457.36 -imu_odom_: 1691062895.730538521 0.153229 -0.0526724 10.1442 -0.072438 0.0149137 0.0490022 0.19 0 pose: 0.42100212 -4.47247 -3.75303 0 0.00208809 0.00477298 0.996877 0.0787945 uwb: 0.0 1245.75 1457.36 -imu_odom_: 1691062895.756531797 0.749385 -0.102951 10.0916 -0.0511327 -0.0255663 0.0340885 0.19 0 pose: 0.0 -4.47247 -3.75303 0 0.00208809 0.00477298 0.996877 0.0787945 uwb: 0.50220029 1244.05 1458.98 -imu_odom_: 1691062895.779452252 0.64404 -0.445322 9.25598 -0.0692422 0 0.0415453 0.19 -0.02 pose: 0.41841810 -4.47247 -3.75303 0 0.00102139 0.00620472 0.996892 0.0785317 uwb: 0.0 1244.05 1458.98 -imu_odom_: 1691062895.803502849 0.19393 -0.474052 9.77553 -0.0447411 -0.0287621 0.0490022 0.19 -0.02 pose: 0.0 -4.47247 -3.75303 0 0.00102139 0.00620472 0.996892 0.0785317 uwb: 0.49816679 1244.73 1460.27 -imu_odom_: 1691062895.829613368 0.526724 -0.162806 10.252 -0.0351537 -0.0223706 0.0351537 0.26 -0.02 pose: 0.48967102 -4.48156 -3.74886 0 0.00244768 0.0054732 0.996895 0.0785127 uwb: 0.0 1244.73 1460.27 -imu_odom_: 1691062895.855635225 0.648829 -0.035913 10.4507 -0.0479369 -0.0458064 0.052198 0.18 -0.02 pose: 0.47026174 -4.49481 -3.75379 0 0.00258125 0.00229627 0.996917 0.0783931 uwb: 0.50290025 1245.5 1460.74 -imu_odom_: 1691062895.872524365 0.31364 -0.122104 9.56244 -0.0553937 0.0191748 0.0447411 0.18 -0.02 pose: 0.0 -4.49481 -3.75379 0 0.00258125 0.00229627 0.996917 0.0783931 uwb: 0.0 1245.5 1460.74 -imu_odom_: 1691062895.896458011 0.280122 -0.263362 10.1299 -0.0649811 -0.00213053 0.0649811 0.2 -0.02 pose: 0.19104803 -4.50119 -3.75087 0 0.00468013 0.00239385 0.996906 0.0784303 uwb: 0.49810262 1249.65 1459.79 -imu_odom_: 1691062895.922455370 0.464475 -0.433351 9.73243 -0.00426106 0.052198 0.0127832 0.2 -0.02 pose: 0.50918822 -4.50391 -3.74963 0 0.00478604 0.00370748 0.996925 0.0781322 uwb: 0.0 1249.65 1459.79 -imu_odom_: 1691062895.935521566 0.751779 -0.383072 10.1897 -0.0138484 0.0319579 0.0287621 0.2 -0.02 pose: 0.0 -4.50391 -3.74963 0 0.00478604 0.00370748 0.996925 0.0781322 uwb: 0.0 1249.65 1459.79 -imu_odom_: 1691062895.960601395 0.617704 0.0287304 10.2137 -0.0543285 -0.00639159 0.0596548 0.18 -0.02 pose: 0.47936996 -4.513 -3.74547 0 0.00285791 0.000797789 0.996925 0.0782992 uwb: 0.49942087 1250.92 1460.22 -imu_odom_: 1691062895.986497260 1.03908 -0.270545 9.71088 -0.072438 -0.0585895 0.036219 0.23 -0.02 pose: 0.32132209 -4.52206 -3.74129 0 0.00486696 0.00252272 0.996931 0.078089 uwb: 0.50110661 1248.2 1462.87 -imu_odom_: 1691062896.9488295 0.656011 -0.277727 9.88326 -0.0596548 0.00745685 0.0447411 0.23 -0.02 pose: 0.0 -4.52206 -3.74129 0 0.00486696 0.00252272 0.996931 0.078089 uwb: 0.0 1248.2 1462.87 -imu_odom_: 1691062896.26541925 0.366313 -0.134075 9.76595 -0.0692422 0.0383495 0.0426106 0.19 0 pose: 0.7032840 -4.52209 -3.74131 0 0.00572984 0.00225381 0.996927 0.0780987 uwb: 0.0 1248.2 1462.87 -imu_odom_: 1691062896.50479071 0.560243 -0.23942 9.57681 -0.104396 0.0170442 0.0681769 0.19 0 pose: 0.0 -4.52209 -3.74131 0 0.00572984 0.00225381 0.996927 0.0780987 uwb: 0.49755141 1247.3 1464.12 -imu_odom_: 1691062896.68606556 0.275333 -0.225055 10.8314 -0.04048 -0.00426106 0.0447411 0.19 0 pose: 0.0 -4.52209 -3.74131 0 0.00572984 0.00225381 0.996927 0.0780987 uwb: 0.0 1247.3 1464.12 -imu_odom_: 1691062896.92445999 0.107739 -0.105345 10.07 -0.0383495 -0.00532632 0.0319579 0.2 -0.02 pose: 0.48978478 -4.5353 -3.74638 0 0.0085322 -6.47626e-050.996914 0.0780404 uwb: 0.50169574 1248.76 1464.89 -imu_odom_: 1691062896.117588533 0.31364 -0.19393 9.91199 -0.0490022 -0.0138484 0.0639159 0.24 0 pose: 0.75833286 -4.54439 -3.74222 0 0.00394557 -0.0009616120.996967 0.0777182 uwb: 0.0 1248.76 1464.89 -imu_odom_: 1691062896.141447517 0.694318 -0.126893 9.63906 -0.0415453 0.00958738 0.0543285 0.24 0 pose: 0.0 -4.54439 -3.74222 0 0.00394557 -0.0009616120.996967 0.0777182 uwb: 0.49741142 1250.81 1464.82 -imu_odom_: 1691062896.165498407 0.531513 -0.155623 9.77553 -0.0649811 0.0330232 0.052198 0.19 0 pose: 0.8024741 -4.54439 -3.74222 0 0.0032122 -0.00072175 0.996977 0.077621 uwb: 0.0 1250.81 1464.82 -imu_odom_: 1691062896.183498149 0.138864 0.0790087 10.307 -0.0479369 -0.0149137 0.0458064 0.19 0 pose: 0.0 -4.54439 -3.74222 0 0.0032122 -0.00072175 0.996977 0.077621 uwb: 0.0 1250.81 1464.82 -imu_odom_: 1691062896.207621951 0.416591 -0.0263362 10.331 -0.0500674 -0.0191748 0.0458064 0.18 0.02 pose: 0.49014642 -4.55349 -3.73807 0 0.0043342 0.000975423 0.997007 0.0771896 uwb: 0.50108328 1249.49 1466.26 -imu_odom_: 1691062896.225611777 0.462081 -0.337582 9.33739 -0.0671117 -0.0149137 0.0511327 0.18 0.02 pose: 0.0 -4.55349 -3.73807 0 0.0043342 0.000975423 0.997007 0.0771896 uwb: 0.0 1249.49 1466.26 -imu_odom_: 1691062896.249582462 0.392649 -0.201113 9.26077 -0.0777643 -0.00319579 0.0596548 0.18 -0.02 pose: 0.42096421 -4.56673 -3.74304 0 0.00380414 0.00372276 0.997015 0.0770226 uwb: 0.0 1249.49 1466.26 -imu_odom_: 1691062896.274445888 0.260968 -0.208296 9.62948 -0.0628506 -0.0298274 0.0426106 0.18 -0.02 pose: 0.0 -4.56673 -3.74304 0 0.00380414 0.00372276 0.997015 0.0770226 uwb: 0.0 1249.49 1466.26 -imu_odom_: 1691062896.297519751 0.335188 -0.112527 9.81623 -0.0649811 -0.00319579 0.0468716 0.18 0 pose: 0.41926388 -4.57584 -3.7389 0 0.00261385 0.00278936 0.99704 0.0767952 uwb: 0.99886218 1251.87 1465.8 -imu_odom_: 1691062896.313503611 0.500388 -0.287304 9.62708 -0.0490022 -0.0117179 0.0596548 0.18 0 pose: 0.0 -4.57584 -3.7389 0 0.00261385 0.00278936 0.99704 0.0767952 uwb: 0.0 1251.87 1465.8 -imu_odom_: 1691062896.330457205 0.268151 -0.426168 9.80186 -0.0639159 0.0170442 0.14168 0.23 0.14 pose: 0.47950413 -4.58494 -3.73476 0 -0.00124696 0.00195512 0.997061 0.0765781 uwb: 0.0 1251.87 1465.8 -imu_odom_: 1691062896.346585140 0.533907 -0.529119 10.1706 -0.0532632 -0.0213053 0.204531 0.23 0.14 pose: 0.0 -4.58494 -3.73476 0 -0.00124696 0.00195512 0.997061 0.0765781 uwb: 0.50205156 1253.45 1465.8 -imu_odom_: 1691062896.363514528 0.169988 -0.196325 9.49301 -0.0447411 0.02024 0.262055 0.23 0.14 pose: 0.0 -4.58494 -3.73476 0 -0.00124696 0.00195512 0.997061 0.0765781 uwb: 0.0 1253.45 1465.8 -imu_odom_: 1691062896.379445891 -0.0215478 -0.548272 10.0868 -0.0308927 -0.0308927 0.318514 0.18 0.26 pose: 0.40044665 -4.59405 -3.73064 0 -0.00134263 0.00143688 0.997109 0.0759526 uwb: 0.0 1253.45 1465.8 -imu_odom_: 1691062896.397575125 0.610521 -0.126893 10.0676 -0.0383495 -0.02024 0.356864 0.18 0.26 pose: 0.0 -4.59405 -3.73064 0 -0.00134263 0.00143688 0.997109 0.0759526 uwb: 0.49965712 1252.45 1466.88 -imu_odom_: 1691062896.414479140 0.3304 -0.368707 9.64384 -0.0692422 0.0511327 0.409062 0.18 0.26 pose: 0.0 -4.59405 -3.73064 0 -0.00134263 0.00143688 0.997109 0.0759526 uwb: 0.0 1252.45 1466.88 -imu_odom_: 1691062896.428418827 0.40462 -0.502782 10.1945 -0.0585895 0.0234358 0.429302 0.19 0.35 pose: 0.50043874 -4.59405 -3.73064 0 -0.00347036 -0.00073509 0.997457 0.0711783 uwb: 0.0 1252.45 1466.88 -imu_odom_: 1691062896.444478516 0.490811 -0.189142 9.80426 -0.0500674 0.00852212 0.474043 0.18 0.41 pose: 0.0 -4.59405 -3.73064 0 -0.00347036 -0.00073509 0.997457 0.0711783 uwb: 0.0 1252.45 1466.88 -imu_odom_: 1691062896.461491315 0.296881 -0.335188 10.0341 -0.0553937 -0.0340885 0.513457 0.18 0.41 pose: 0.64881550 -4.61642 -3.73156 0 -0.00239054 -0.00303522 0.998211 0.0596576 uwb: 0.0 1252.45 1466.88 -imu_odom_: 1691062896.478426245 0.768539 -0.366313 10.0269 -0.0426106 0.0117179 0.528371 0.18 0.47 pose: 0.0 -4.61642 -3.73156 0 -0.00239054 -0.00303522 0.998211 0.0596576 uwb: 0.0 1252.45 1466.88 -imu_odom_: 1691062896.495442544 0.737414 -0.40462 10.2927 -0.0862864 0.0745685 0.559264 0.18 0.47 pose: 0.0 -4.61642 -3.73156 0 -0.00239054 -0.00303522 0.998211 0.0596576 uwb: 0.99948339 1252.56 1468.07 -imu_odom_: 1691062896.510426337 1.02472 -0.265756 9.84017 -0.0958738 0.0138484 0.609331 0.18 0.47 pose: 0.33066072 -4.61642 -3.73156 0 -0.00212635 -0.00379279 0.998641 0.0519369 uwb: 0.0 1252.56 1468.07 -imu_odom_: 1691062896.526423613 0.471658 -0.893037 9.93354 -0.0298274 0.0543285 0.599744 0.18 0.53 pose: 0.40931572 -4.62548 -3.7274 0 0.000899548 -0.00499717 0.999142 0.0410972 uwb: 0.0 1252.56 1468.07 -imu_odom_: 1691062896.542664999 0.282516 -0.366313 10.0676 -0.0383495 0.00426106 0.608266 0.18 0.53 pose: 0.7065213 -4.62552 -3.72742 0 0.000714445 -0.00560708 0.999219 0.0391203 uwb: 0.0 1252.56 1468.07 -imu_odom_: 1691062896.560553331 0.648829 -0.37589 9.68933 -0.0436758 0.00532632 0.622114 0.18 0.53 pose: 0.0 -4.62552 -3.72742 0 0.000714445 -0.00560708 0.999219 0.0391203 uwb: 0.0 1252.56 1468.07 -imu_odom_: 1691062896.576613020 0.778116 -0.143652 9.39964 -0.056459 -0.0735032 0.648746 0.18 0.61 pose: 0.33178649 -4.63465 -3.72334 0 -0.000482726-0.00656347 0.999538 0.0296706 uwb: 0.0 1252.56 1468.07 -imu_odom_: 1691062896.593603946 0.677559 -0.555455 9.69652 -0.0234358 -0.0372843 0.650877 0.23 0.79 pose: 0.0 -4.63465 -3.72334 0 -0.000482726-0.00656347 0.999538 0.0296706 uwb: 0.100023877 1255.89 1467.38 -imu_odom_: 1691062896.609545225 1.075 -0.0957681 9.69652 -0.0553937 -0.00532632 0.656203 0.23 0.79 pose: 0.0 -4.63465 -3.72334 0 -0.000482726-0.00656347 0.999538 0.0296706 uwb: 0.0 1255.89 1467.38 -imu_odom_: 1691062896.626545192 1.91776 -0.553061 9.95748 -0.0458064 -0.0873517 0.618919 0.2 0.58 pose: 0.33894066 -4.63874 -3.73246 0 0.00305828 -0.00643095 0.999785 0.0194875 uwb: 0.0 1255.89 1467.38 -imu_odom_: 1691062896.643549825 1.60651 -0.213084 9.25359 -0.056459 0.00319579 0.492152 0.2 0.58 pose: 0.0 -4.63874 -3.73246 0 0.00305828 -0.00643095 0.999785 0.0194875 uwb: 0.50099870 1255.62 1468.82 -imu_odom_: 1691062896.658544410 1.84354 0.205901 10.5082 -0.056459 0.0149137 0.418649 0.2 0.58 pose: 0.32990534 -4.64787 -3.72837 0 0.00638444 -0.00648446 0.999913 0.00950635 uwb: 0.0 1255.62 1468.82 -imu_odom_: 1691062896.675540877 1.02472 0.0526724 9.83059 -0.0543285 0.00852212 0.357929 0.11 0.32 pose: 0.40989611 -4.64783 -3.72835 0 0.0104461 -0.00589038 0.999928 0.000243688 uwb: 0.0 1255.62 1468.82 -imu_odom_: 1691062896.691546319 0.572214 -0.3304 10.149 -0.0607201 0.00745685 0.331297 0.11 0.32 pose: 0.7998783 -4.64787 -3.72837 0 0.0109795 -0.00535974 0.999925 -0.00102002 uwb: 0.50074497 1255.17 1469.94 -imu_odom_: 1691062896.708538995 0.751779 -0.414197 9.96706 -0.0426106 -0.02024 0.289752 0.11 0.32 pose: 0.0 -4.64787 -3.72837 0 0.0109795 -0.00535974 0.999925 -0.00102002 uwb: 0.0 1255.17 1469.94 -imu_odom_: 1691062896.725598458 0.943315 -0.071826 9.96467 -0.0500674 -0.015979 0.288687 0.09 0.26 pose: 0.41995802 -4.657 -3.72429 0 0.0115257 -0.00610742 0.999891 -0.00691589 uwb: 0.0 1255.17 1469.94 -imu_odom_: 1691062896.741551986 0.914585 -0.263362 9.84735 -0.0596548 0 0.313188 0.09 0.26 pose: 0.0 -4.657 -3.72429 0 0.0115257 -0.00610742 0.999891 -0.00691589 uwb: 0.49809971 1255.78 1470.09 -imu_odom_: 1691062896.766475492 0.778116 -0.407014 9.60793 -0.0415453 -0.00319579 0.270577 0.09 0.26 pose: 0.23976810 -4.657 -3.72429 0 0.0135683 -0.00486671 0.999846 -0.00996143 uwb: 0.0 1255.78 1470.09 -imu_odom_: 1691062896.782538972 0.732626 -0.0407014 9.8665 -0.0511327 0.0234358 0.252468 0.08 0.26 pose: 0.0 -4.657 -3.72429 0 0.0135683 -0.00486671 0.999846 -0.00996143 uwb: 0.0 1255.78 1470.09 -imu_odom_: 1691062896.799540105 0.227449 -0.153229 9.77792 -0.0532632 0.0426106 0.2024 0.08 0.26 pose: 0.0 -4.657 -3.72429 0 0.0135683 -0.00486671 0.999846 -0.00996143 uwb: 0.50062831 1252.75 1472.34 -imu_odom_: 1691062896.815533298 -0.172383 0.265756 10.24 -0.0383495 0.0681769 0.0948085 0.08 0.26 pose: 0.39903798 -4.66101 -3.73345 0 0.0161376 -0.00571916 0.999745 -0.0147089 uwb: 0.0 1252.75 1472.34 -imu_odom_: 1691062896.832534140 -1.28329 0.0861913 10.1035 -0.0543285 0.0479369 0.156594 0.1 0.2 pose: 0.35129785 -4.67017 -3.72944 0 0.0130318 -0.00372474 0.999757 -0.0173688 uwb: 0.0 1252.75 1472.34 -imu_odom_: 1691062896.848415631 -0.28491 -0.804452 10.4028 -0.0532632 -0.0841559 0.217314 0.1 0.2 pose: 0.0 -4.67017 -3.72944 0 0.0130318 -0.00372474 0.999757 -0.0173688 uwb: 0.49975628 1255.54 1471.61 -imu_odom_: 1691062896.865461387 0.61531 -0.608127 10.0293 -0.0223706 -0.0862864 0.184291 0.15 0.2 pose: 0.40866243 -4.67017 -3.72944 0 0.00922441 -0.00377094 0.99975 -0.0200068 uwb: 0.0 1255.54 1471.61 -imu_odom_: 1691062896.882452605 0.627281 0.292093 9.81862 -0.0330232 -0.0255663 0.2024 0.15 0.2 pose: 0.0 -4.67017 -3.72944 0 0.00922441 -0.00377094 0.99975 -0.0200068 uwb: 0.0 1255.54 1471.61 -imu_odom_: 1691062896.898466504 0.335188 0.167594 10.082 -0.0436758 0.00106526 0.230097 0.15 0.2 pose: 0.0 -4.67017 -3.72944 0 0.00922441 -0.00377094 0.99975 -0.0200068 uwb: 0.49993127 1254.48 1473.57 -imu_odom_: 1691062896.915461805 -0.0263362 -0.21069 10.0078 -0.0383495 -0.0106526 0.196009 0.13 0.11 pose: 0.7989451 -4.67017 -3.72944 0 0.00964089 -0.00443168 0.999732 -0.020594 uwb: 0.0 1254.48 1473.57 -imu_odom_: 1691062896.931461997 -0.167594 -0.0861913 9.83538 -0.0500674 -0.0298274 0.181095 0.13 0.11 pose: 0.0 -4.67017 -3.72944 0 0.00964089 -0.00443168 0.999732 -0.020594 uwb: 0.0 1254.48 1473.57 -imu_odom_: 1691062896.948386719 0.0861913 0.0143652 9.66779 -0.0543285 -0.036219 0.203466 0.13 0.11 pose: 0.67006801 -4.67928 -3.72532 0 0.00709619 -0.00147788 0.999635 -0.026039 uwb: 0.49842927 1255.57 1473.63 -imu_odom_: 1691062896.964389244 0.0837971 -0.277727 9.65342 -0.0447411 -0.0170442 0.194943 0.13 0.11 pose: 0.0 -4.67928 -3.72532 0 0.00709619 -0.00147788 0.999635 -0.026039 uwb: 0.0 1255.57 1473.63 -imu_odom_: 1691062896.982435067 0.071826 -0.138864 10.0197 -0.0479369 -0.0223706 0.178964 0.13 0.11 pose: 0.0 -4.67928 -3.72532 0 0.00709619 -0.00147788 0.999635 -0.026039 uwb: 0.0 1255.57 1473.63 -imu_odom_: 1691062896.999437659 0.0263362 -0.102951 9.80904 -0.0692422 -0.0298274 0.196009 0.13 0.11 pose: 0.32982077 -4.68336 -3.73445 0 0.00445069 -0.0005543510.99958 -0.0286157 uwb: 0.50053498 1256.58 1474.5 -imu_odom_: 1691062897.13435093 0.251391 -0.220267 10.5632 -0.0660464 -0.0117179 0.177899 0.14 0.14 pose: 0.43043699 -4.69247 -3.73033 0 0.000665255 7.26564e-05 0.999493 -0.0318239 uwb: 0.0 1256.58 1474.5 -imu_odom_: 1691062897.30424269 0.703895 -0.0933739 10.0461 -0.076699 -0.00958738 0.160855 0.14 0.14 pose: 0.0 -4.69247 -3.73033 0 0.000665255 7.26564e-05 0.999493 -0.0318239 uwb: 0.0 1256.58 1474.5 -imu_odom_: 1691062897.43369723 0.217872 -0.100556 10.137 -0.0628506 -0.0575243 0.154463 0.14 0.14 pose: 0.0 -4.69247 -3.73033 0 0.000665255 7.26564e-05 0.999493 -0.0318239 uwb: 0.49786056 1255.63 1475.73 -imu_odom_: 1691062897.59468784 0.938527 -0.0790087 10.137 -0.0585895 -0.1012 0.187487 0.13 0.08 pose: 0.6999300 -4.69247 -3.73033 0 -5.75696e-06-1.48319e-050.999478 -0.0323077 uwb: 0.0 1255.63 1475.73 -imu_odom_: 1691062897.76385632 1.37667 -0.452504 10.0078 -0.0639159 -0.0394148 0.251402 0.13 0.08 pose: 0.0 -4.69247 -3.73033 0 -5.75696e-06-1.48319e-050.999478 -0.0323077 uwb: 0.0 1255.63 1475.73 -imu_odom_: 1691062897.92440946 2.2314 -0.641646 10.6638 -0.04048 -0.0873517 0.219444 0.13 0.08 pose: 0.0 -4.69247 -3.73033 0 -5.75696e-06-1.48319e-050.999478 -0.0323077 uwb: 0.50344857 1250.15 1479.45 -imu_odom_: 1691062897.108369101 1.55144 -0.122104 9.10036 -0.0340885 -0.0223706 0.160855 0.14 0.08 pose: 0.44941755 -4.70161 -3.72627 0 0.00128241 0.00111413 0.99938 -0.0351557 uwb: 0.0 1250.15 1479.45 -imu_odom_: 1691062897.125427981 1.41497 0.148441 9.95748 -0.0607201 0.0298274 0.149137 0.09 0.05 pose: 0.0 -4.70161 -3.72627 0 0.00128241 0.00111413 0.99938 -0.0351557 uwb: 0.0 1250.15 1479.45 -imu_odom_: 1691062897.142427949 0.61531 -0.186748 9.8689 -0.0703074 0.0585895 0.100135 0.09 0.05 pose: 0.64997920 -4.70563 -3.73543 0 0.00895279 0.00131541 0.999143 -0.0403931 uwb: 0.49932173 1251.43 1479.87 -imu_odom_: 1691062897.158370394 0.474052 -0.205901 10.1203 -0.0681769 -0.015979 0.0788296 0.08 0.05 pose: 0.0 -4.70563 -3.73543 0 0.00895279 0.00131541 0.999143 -0.0403931 uwb: 0.0 1251.43 1479.87 -imu_odom_: 1691062897.175365404 0.531513 -0.237026 9.68694 -0.0607201 -0.0287621 0.0713727 0.08 0.05 pose: 0.0 -4.70563 -3.73543 0 0.00895279 0.00131541 0.999143 -0.0403931 uwb: 0.0 1251.43 1479.87 -imu_odom_: 1691062897.191520754 0.713472 -0.153229 9.7851 -0.0596548 -0.00319579 0.0916127 0.08 0.05 pose: 0.33998185 -4.70563 -3.73543 0 0.0100332 0.00162168 0.999085 -0.0415544 uwb: 0.49951713 1251.46 1480.94 -imu_odom_: 1691062897.207516279 0.706289 -0.251391 10.1155 -0.0575243 -0.00745685 0.127832 0.09 0.05 pose: 0.41145935 -4.7148 -3.73145 0 0.00970615 0.00089962 0.999053 -0.0424032 uwb: 0.0 1251.46 1480.94 -imu_odom_: 1691062897.224515372 0.787692 -0.277727 9.81623 -0.0585895 -0.0117179 0.140615 0.09 0.05 pose: 0.7011549 -4.7148 -3.73145 0 0.0103737 0.000640618 0.999033 -0.0427149 uwb: 0.0 1251.46 1480.94 -imu_odom_: 1691062897.241585627 0.964863 -0.129287 10.0293 -0.0426106 0.00532632 0.104396 0.09 0.05 pose: 0.0 -4.7148 -3.73145 0 0.0103737 0.000640618 0.999033 -0.0427149 uwb: 0.50119120 1248.73 1482.89 -imu_odom_: 1691062897.266520798 0.651223 -0.102951 9.82102 -0.0681769 0.0181095 0.103331 0.05 0.05 pose: 0.33000451 -4.7148 -3.73145 0 0.0135393 6.01104e-05 0.998931 -0.0442011 uwb: 0.0 1248.73 1482.89 -imu_odom_: 1691062897.293587637 0.174777 -0.328006 9.85453 -0.0681769 0.0266316 0.04048 0.06 0.08 pose: 0.34988044 -4.7148 -3.73145 0 0.0133796 0.00266103 0.998881 -0.0452795 uwb: 0.49954922 1249.4 1483.15 -imu_odom_: 1691062897.309594246 -0.071826 -0.186748 10.1299 -0.04048 0.0372843 -0.056459 0.06 0.08 pose: 0.0 -4.7148 -3.73145 0 0.0133796 0.00266103 0.998881 -0.0452795 uwb: 0.0 1249.4 1483.15 -imu_odom_: 1691062897.336595755 -1.06542 -0.126893 10.4244 -0.0745685 -0.0181095 0.0756338 0.07 0.05 pose: 0.35040541 -4.7148 -3.73145 0 0.00945921 0.00157296 0.998945 -0.0449153 uwb: 0.0 1249.4 1483.15 -imu_odom_: 1691062897.361444015 0.497994 -0.622492 10.1778 -0.0543285 -0.11931 0.072438 0.1 0.02 pose: 0.0 -4.7148 -3.73145 0 0.00945921 0.00157296 0.998945 -0.0449153 uwb: 0.49825429 1247.15 1485.02 -imu_odom_: 1691062897.388378737 0.399832 0.102951 9.71328 -0.076699 -0.00106526 0.112918 0.1 0.02 pose: 0.42862585 -4.72396 -3.72744 0 0.00642119 0.000568585 0.99896 -0.0451433 uwb: 0.50113287 1247.49 1485.69 -imu_odom_: 1691062897.404531462 0.189142 -0.0957681 10.2951 -0.052198 -0.00958738 0.0841559 0.12 0 pose: 0.0 -4.72396 -3.72744 0 0.00642119 0.000568585 0.99896 -0.0451433 uwb: 0.0 1247.49 1485.69 -imu_odom_: 1691062897.431505556 0.462081 -0.0837971 10.1251 -0.0617853 -0.0138484 0.0607201 0.12 0 pose: 0.43954813 -4.72677 -3.73387 0 0.00619151 0.00105808 0.998903 -0.0463996 uwb: 0.0 1247.49 1485.69 -imu_odom_: 1691062897.456486517 0.129287 -0.363919 9.73961 -0.0596548 -0.0266316 0.0862864 0.14 0.02 pose: 0.43126819 -4.73441 -3.73375 0 0.00381509 0.00391397 0.998879 -0.0470265 uwb: 0.49931589 1246.18 1487.33 -imu_odom_: 1691062897.483394406 0.445322 0.205901 10.3477 -0.04048 0.0287621 0.056459 0.14 0.02 pose: 0.0 -4.73441 -3.73375 0 0.00381509 0.00391397 0.998879 -0.0470265 uwb: 0.0 1246.18 1487.33 -imu_odom_: 1691062897.508381492 0.126893 -0.287304 9.53611 -0.0692422 -0.0511327 0.0894822 0.14 0 pose: 0.51888850 -4.73713 -3.73261 0 0.00145356 0.00530885 0.99884 -0.0478278 uwb: 0.50108329 1246.85 1487.59 -imu_odom_: 1691062897.524424556 0.694318 -0.280122 9.9934 -0.0596548 -0.0276969 0.0490022 0.14 0 pose: 0.0 -4.73713 -3.73261 0 0.00145356 0.00530885 0.99884 -0.0478278 uwb: 0.0 1246.85 1487.59 -imu_odom_: 1691062897.551432190 -0.287304 -0.124498 9.80904 -0.0479369 0.00213053 0.0777643 0.16 0.02 pose: 0.32045591 -4.74627 -3.72856 0 0.000657654 0.00355515 0.998818 -0.0484736 uwb: 0.49892217 1245.18 1488.52 -imu_odom_: 1691062897.576369403 0.0814029 -0.392649 10.0796 -0.0543285 -0.00426106 0.0703074 0.19 0.02 pose: 0.0 -4.74627 -3.72856 0 0.000657654 0.00355515 0.998818 -0.0484736 uwb: 0.0 1245.18 1488.52 -imu_odom_: 1691062897.590412335 0.47884 -0.196325 9.43794 -0.0436758 0.0671117 0.0468716 0.19 0.02 pose: 0.42963495 -4.75031 -3.73771 0 -0.00172093 0.0027997 0.998787 -0.0491303 uwb: 0.50051749 1244.99 1489.21 -imu_odom_: 1691062897.615475249 0.603339 -0.426168 9.75158 -0.0703074 -0.0149137 0.0830906 0.19 0.02 pose: 0.0 -4.75031 -3.73771 0 -0.00172093 0.0027997 0.998787 -0.0491303 uwb: 0.0 1244.99 1489.21 -imu_odom_: 1691062897.642395971 0.842759 -0.158017 10.0461 -0.052198 -0.0255663 0.0713727 0.15 0 pose: 0.39036433 -4.75946 -3.73369 0 -0.00160126 0.00105579 0.998767 -0.0496066 uwb: 0.49929840 1245.76 1489.67 -imu_odom_: 1691062897.668640067 0.328006 -0.225055 10.0844 -0.0639159 -0.00426106 0.0713727 0.16 -0.02 pose: 0.44956046 -4.75946 -3.73369 0 0.00276272 0.00026945 0.998724 -0.0504247 uwb: 0.0 1245.76 1489.67 -imu_odom_: 1691062897.695631660 0.392649 -0.25618 9.89284 -0.0426106 0.0149137 0.0479369 0.16 -0.02 pose: 0.0 -4.75946 -3.73369 0 0.00276272 0.00026945 0.998724 -0.0504247 uwb: 0.49972128 1245.65 1490.51 -imu_odom_: 1691062897.711371409 0.852336 -0.227449 9.74201 -0.0553937 0.0106526 0.0671117 0.16 0 pose: 0.8130901 -4.75946 -3.73369 0 0.00196045 0.000112833 0.998719 -0.0505539 uwb: 0.0 1245.65 1490.51 -imu_odom_: 1691062897.728416874 0.452504 -0.241814 9.79947 -0.0490022 0.00958738 0.0628506 0.16 0 pose: 0.0 -4.75946 -3.73369 0 0.00196045 0.000112833 0.998719 -0.0505539 uwb: 0.0 1245.65 1490.51 -imu_odom_: 1691062897.754506978 0.371101 -0.222661 9.96467 -0.0532632 0.0117179 0.0639159 0.15 0 pose: 0.53149361 -4.77263 -3.73886 0 -0.000164316-0.00255309 0.998692 -0.0510631 uwb: 0.49992253 1241.69 1493.34 -imu_odom_: 1691062897.781368787 0.198719 -0.289698 9.64863 -0.056459 -0.0394148 0.072438 0.15 0 pose: 0.0 -4.77263 -3.73886 0 -0.000164316-0.00255309 0.998692 -0.0510631 uwb: 0.0 1241.69 1493.34 -imu_odom_: 1691062897.797360522 0.703895 -0.0670376 9.98143 -0.0575243 -0.0351537 0.0660464 0.16 0.02 pose: 0.32847335 -4.7818 -3.73487 0 0.0010602 -0.00132128 0.998674 -0.0514598 uwb: 0.49953463 1243.12 1494.07 -imu_odom_: 1691062897.824539937 0.828394 -0.0215478 10.2232 -0.0532632 -0.0458064 0.072438 0.16 0.02 pose: 0.0 -4.7818 -3.73487 0 0.0010602 -0.00132128 0.998674 -0.0514598 uwb: 0.0 1243.12 1494.07 -imu_odom_: 1691062897.849345033 0.926556 -0.047884 9.94312 -0.0639159 -0.00958738 0.0532632 0.18 0 pose: 0.52972037 -4.78578 -3.74405 0 -0.00201165 -0.00133366 0.998632 -0.0522295 uwb: 0.50417186 1244.62 1493.86 -imu_odom_: 1691062897.865399181 0.141258 -0.287304 9.54329 -0.0639159 0.0383495 0.0617853 0.18 0 pose: 0.0 -4.78578 -3.74405 0 -0.00201165 -0.00133366 0.998632 -0.0522295 uwb: 0.0 1244.62 1493.86 -imu_odom_: 1691062897.882337610 0.342371 -0.361524 10.173 -0.0735032 0.0117179 0.0532632 0.18 0.05 pose: 0.42873376 -4.79495 -3.74008 0 0.00250722 0.000641617 0.9986 -0.0528324 uwb: 0.0 1244.62 1493.86 -imu_odom_: 1691062897.898335177 0.179565 -0.0837971 9.33739 -0.0681769 -0.0298274 0.0553937 0.18 0.05 pose: 0.0 -4.79495 -3.74008 0 0.00250722 0.000641617 0.9986 -0.0528324 uwb: 0.49642857 1245.28 1494.11 -imu_odom_: 1691062897.914409740 1.07021 0.0694318 10.2711 -0.0660464 -0.0234358 0.0607201 0.18 0.05 pose: 0.0 -4.79495 -3.74008 0 0.00250722 0.000641617 0.9986 -0.0528324 uwb: 0.0 1245.28 1494.11 -imu_odom_: 1691062897.941506327 0.773327 -0.332794 10.0772 -0.0681769 0.0181095 0.0511327 0.21 0 pose: 0.40971820 -4.80414 -3.73613 0 0.00180067 -0.0001500680.998583 -0.0531816 uwb: 0.49830678 1243.86 1495.57 -imu_odom_: 1691062897.967460231 0.397437 -0.272939 10.2017 -0.0553937 -0.015979 0.052198 0.17 0.02 pose: 0.49062765 -4.80809 -3.74532 0 0.00234468 2.12043e-05 0.99856 -0.053587 uwb: 0.0 1243.86 1495.57 -imu_odom_: 1691062897.983336181 0.220267 -0.251391 9.67497 -0.0543285 0.0181095 0.0490022 0.23 0 pose: 0.0 -4.80809 -3.74532 0 0.00234468 2.12043e-05 0.99856 -0.053587 uwb: 0.0 1243.86 1495.57 -imu_odom_: 1691062897.999398495 0.497994 -0.289698 9.8689 -0.0394148 0.0276969 0.0532632 0.23 0 pose: 0.0 -4.80809 -3.74532 0 0.00234468 2.12043e-05 0.99856 -0.053587 uwb: 0.50106871 1246.92 1494.16 -imu_odom_: 1691062898.15329566 0.129287 -0.426168 9.69173 -0.0383495 0.0106526 0.04048 0.23 0 pose: 0.51978095 -4.81727 -3.74136 0 0.00107007 -0.0019393 0.998544 -0.0539024 uwb: 0.0 1246.92 1494.16 -imu_odom_: 1691062898.32330992 0.318429 -0.141258 10.0485 -0.056459 -0.00958738 0.0585895 0.22 0 pose: 0.0 -4.81727 -3.74136 0 0.00107007 -0.0019393 0.998544 -0.0539024 uwb: 0.0 1246.92 1494.16 -imu_odom_: 1691062898.49405330 0.509965 -0.201113 9.67018 -0.052198 -0.0117179 0.0617853 0.22 0 pose: 0.0 -4.81727 -3.74136 0 0.00107007 -0.0019393 0.998544 -0.0539024 uwb: 0.49925465 1246.2 1494.88 -imu_odom_: 1691062898.74385124 0.117316 -0.217872 9.53132 -0.0617853 -0.00106526 0.0596548 0.17 0 pose: 0.75023669 -4.83045 -3.74648 0 0.000617909 -0.0009917020.998518 -0.0544157 uwb: 0.0 1246.2 1494.88 -imu_odom_: 1691062898.90466979 0.184354 -0.253785 9.99579 -0.0468716 -0.052198 0.0607201 0.17 0 pose: 0.0 -4.83045 -3.74648 0 0.000617909 -0.0009917020.998518 -0.0544157 uwb: 0.50027251 1247.76 1494.78 -imu_odom_: 1691062898.106462797 0.864307 -0.155623 10.2663 -0.0447411 -0.0447411 0.0458064 0.18 0 pose: 0.7990035 -4.83045 -3.74648 0 -0.000192555-0.00101836 0.998513 -0.0544965 uwb: 0.0 1247.76 1494.78 -imu_odom_: 1691062898.122474364 0.42138 -0.146046 9.60793 -0.0532632 0.0117179 0.0575243 0.22 0.02 pose: 0.0 -4.83045 -3.74648 0 -0.000192555-0.00101836 0.998513 -0.0544965 uwb: 0.0 1247.76 1494.78 -imu_odom_: 1691062898.148349231 0.299275 -0.280122 9.89284 -0.0511327 0.0276969 0.0490022 0.17 0.02 pose: 0.65078999 -4.84694 -3.74534 0 -0.0007138180.000653819 0.998484 -0.0550331 uwb: 0.50076540 1253.2 1492.69 -imu_odom_: 1691062898.175488399 0.76375 -0.222661 9.94073 -0.0692422 -0.00852212 0.0511327 0.22 0 pose: 0.0 -4.84694 -3.74534 0 -0.0007138180.000653819 0.998484 -0.0550331 uwb: 0.0 1253.2 1492.69 -imu_odom_: 1691062898.200382740 0.78051 -0.246603 10.0245 -0.0671117 -0.0106526 0.0585895 0.22 0 pose: 0.33005409 -4.85278 -3.74762 0 -0.00225361 -0.00111056 0.998473 -0.055193 uwb: 0.49843221 1254.85 1492.71 -imu_odom_: 1691062898.217457953 0.723049 -0.114922 9.74201 -0.0585895 -0.0287621 0.0426106 0.22 0 pose: 0.0 -4.85278 -3.74762 0 -0.00225361 -0.00111056 0.998473 -0.055193 uwb: 0.0 1254.85 1492.71 -imu_odom_: 1691062898.233328362 0.6608 -0.25618 9.83299 -0.0575243 0.0181095 0.0426106 0.22 0 pose: 0.51870478 -4.86194 -3.74362 0 0.00307301 -0.0008434340.998451 -0.0555499 uwb: 0.0 1254.85 1492.71 -imu_odom_: 1691062898.260353495 0.37589 -0.342371 9.51216 -0.0479369 -0.0245011 0.0426106 0.23 0 pose: 0.0 -4.86194 -3.74362 0 0.00307301 -0.0008434340.998451 -0.0555499 uwb: 0.50179200 1251.78 1495.18 -imu_odom_: 1691062898.286341522 0.395043 -0.533907 9.93354 -0.0447411 0.0191748 0.0511327 0.23 0 pose: 0.25978111 -4.86194 -3.74362 0 0.00549672 -0.00058577 0.998439 -0.0555865 uwb: 0.49996920 1249.12 1497.47 -imu_odom_: 1691062898.312475666 0.323217 -0.196325 10.1825 -0.0500674 -0.0245011 0.0532632 0.22 -0.02 pose: 0.8017449 -4.86194 -3.74362 0 0.00499624 -0.00110641 0.99844 -0.0556024 uwb: 0.0 1249.12 1497.47 -imu_odom_: 1691062898.335399330 0.486023 -0.136469 9.82341 -0.0628506 0.015979 0.0479369 0.22 -0.02 pose: 0.0 -4.86194 -3.74362 0 0.00499624 -0.00110641 0.99844 -0.0556024 uwb: 0.50016169 1252.97 1496.45 -imu_odom_: 1691062898.351348775 0.457293 -0.354342 9.45231 -0.0585895 0.0127832 0.0458064 0.18 0 pose: 0.52006969 -4.8751 -3.74879 0 0.00241242 -0.00429563 0.998427 -0.05585 uwb: 0.0 1252.97 1496.45 -imu_odom_: 1691062898.377314054 0.0814029 -0.217872 10.307 -0.0426106 0.0106526 0.0607201 0.18 0 pose: 0.0 -4.8751 -3.74879 0 0.00241242 -0.00429563 0.998427 -0.05585 uwb: 0.0 1252.97 1496.45 -imu_odom_: 1691062898.403327454 0.471658 -0.009576819.50498 -0.076699 -0.00426106 0.0511327 0.19 0 pose: 0.49040892 -4.88427 -3.7448 0 0.00183885 -0.00171446 0.998422 -0.0560985 uwb: 0.50022876 1250.31 1498.76 -imu_odom_: 1691062898.429332981 -0.114922 -0.268151 9.85214 -0.0671117 0.0745685 0.0511327 0.19 0 pose: 0.0 -4.88427 -3.7448 0 0.00183885 -0.00171446 0.998422 -0.0560985 uwb: 0.0 1250.31 1498.76 -imu_odom_: 1691062898.455395670 0.287304 -0.0837971 9.82341 -0.0575243 -0.0245011 0.0319579 0.19 0 pose: 0.41994636 -4.89743 -3.74998 0 -0.000610144-0.00161474 0.998404 -0.0564487 uwb: 0.49915841 1252.74 1498.14 -imu_odom_: 1691062898.481451068 0.306458 -0.289698 9.96467 -0.0756338 -0.0117179 0.0681769 0.21 -0.02 pose: 0.53026868 -4.90661 -3.746 0 -0.00386372 0.000131962 0.998385 -0.0566802 uwb: 0.0 1252.74 1498.14 -imu_odom_: 1691062898.497446011 0.141258 -0.138864 10.1562 -0.0575243 0.0117179 0.0479369 0.21 -0.02 pose: 0.0 -4.90661 -3.746 0 -0.00386372 0.000131962 0.998385 -0.0566802 uwb: 0.49870052 1251.86 1499.67 -imu_odom_: 1691062898.514501392 0.490811 0.129287 10.1418 -0.0703074 0.0543285 0.00426106 0.21 -0.02 pose: 0.0 -4.90661 -3.746 0 -0.00386372 0.000131962 0.998385 -0.0566802 uwb: 0.0 1251.86 1499.67 -imu_odom_: 1691062898.530501001 0.486023 -0.1652 9.52174 -0.0841559 -0.0138484 -0.04048 0.19 -0.17 pose: 0.77086216 -4.91972 -3.75118 0 -0.00564875 0.000942341 0.998371 -0.0567591 uwb: 0.0 1251.86 1499.67 -imu_odom_: 1691062898.547369727 0.114922 -0.100556 9.97903 -0.0788296 -0.0276969 -0.072438 0.19 -0.17 pose: 0.6887890 -4.91976 -3.7512 0 -0.00493428 0.000975535 0.998391 -0.0564859 uwb: 0.50138370 1253.31 1500.36 -imu_odom_: 1691062898.565440632 0.385466 -0.0694318 10.0652 -0.072438 0.0372843 -0.115049 0.19 -0.17 pose: 0.0 -4.91976 -3.7512 0 -0.00493428 0.000975535 0.998391 -0.0564859 uwb: 0.0 1253.31 1500.36 -imu_odom_: 1691062898.579493480 0.890643 -0.205901 9.96946 -0.0703074 -0.036219 -0.177899 0.2 -0.29 pose: 0.44051350 -4.93135 -3.75303 0 -0.00470065 0.00270243 0.998537 -0.0537978 uwb: 0.0 1253.31 1500.36 -imu_odom_: 1691062898.596449116 0.751779 0.25618 9.8665 -0.0511327 0.0383495 -0.279099 0.18 -0.29 pose: 0.0 -4.93135 -3.75303 0 -0.00470065 0.00270243 0.998537 -0.0537978 uwb: 0.49846720 1249.66 1502.92 -imu_odom_: 1691062898.613365089 0.706289 -0.148441 10.07 -0.0830906 0.02024 -0.290817 0.18 -0.29 pose: 0.0 -4.93135 -3.75303 0 -0.00470065 0.00270243 0.998537 -0.0537978 uwb: 0.0 1249.66 1502.92 -imu_odom_: 1691062898.629299077 0.282516 0.0407014 9.78271 -0.0607201 -0.00319579 -0.353668 0.23 -0.5 pose: 0.20889991 -4.93288 -3.75652 0 -0.00276654 0.00307694 0.99868 -0.0511907 uwb: 0.0 1249.66 1502.92 -imu_odom_: 1691062898.645354100 0.488417 -0.205901 10.0916 -0.0447411 -0.0245011 -0.407996 0.23 -0.5 pose: 0.0 -4.93288 -3.75652 0 -0.00276654 0.00307694 0.99868 -0.0511907 uwb: 0.50036584 1245.98 1505.46 -imu_odom_: 1691062898.662466936 0.445322 0.423774 10.319 -0.0628506 -0.0319579 -0.430367 0.23 -0.5 pose: 0.34065265 -4.9421 -3.75265 0 -0.00122279 0.00418709 0.998958 -0.0454199 uwb: 0.0 1245.98 1505.46 -imu_odom_: 1691062898.679289289 0.627281 -0.260968 9.64145 -0.0777643 -0.0351537 -0.44315 0.23 -0.58 pose: 0.33080655 -4.9421 -3.75265 0 -0.0001323560.00484403 0.999259 -0.0381768 uwb: 0.0 1245.98 1505.46 -imu_odom_: 1691062898.695353061 0.888249 -0.244209 10.1275 -0.0660464 -0.0255663 -0.495348 0.23 -0.58 pose: 0.0 -4.9421 -3.75265 0 -0.0001323560.00484403 0.999259 -0.0381768 uwb: 0.49941798 1245.43 1506.59 -imu_odom_: 1691062898.712294115 1.18992 0.201113 10.5177 -0.0340885 -0.00745685 -0.511327 0.23 -0.58 pose: 0.0 -4.9421 -3.75265 0 -0.0001323560.00484403 0.999259 -0.0381768 uwb: 0.0 1245.43 1506.59 -imu_odom_: 1691062898.729347746 0.667982 -0.112527 9.78031 -0.0639159 -0.0127832 -0.500674 0.18 -0.55 pose: 0.32826920 -4.95519 -3.75802 0 0.00242515 0.0044215 0.999533 -0.0301422 uwb: 0.0 1245.43 1506.59 -imu_odom_: 1691062898.746291426 0.548272 0.124498 9.94073 -0.056459 -0.0330232 -0.523045 0.18 -0.55 pose: 0.0 -4.95519 -3.75802 0 0.00242515 0.0044215 0.999533 -0.0301422 uwb: 0.49982045 1247.09 1506.64 -imu_odom_: 1691062898.762348782 0.653617 0.162806 9.72764 -0.0298274 -0.0681769 -0.519849 0.18 -0.58 pose: 0.16999093 -4.95519 -3.75802 0 0.00410681 0.00461967 0.999655 -0.0255397 uwb: 0.0 1247.09 1506.64 -imu_odom_: 1691062898.778283645 1.57299 -0.1652 10.3094 -0.0639159 -0.0649811 -0.490022 0.18 -0.58 pose: 0.0 -4.95519 -3.75802 0 0.00410681 0.00461967 0.999655 -0.0255397 uwb: 0.0 1247.09 1506.64 -imu_odom_: 1691062898.794282379 1.58257 -0.1652 9.77553 -0.0575243 -0.0191748 -0.459129 0.18 -0.58 pose: 0.0 -4.95519 -3.75802 0 0.00410681 0.00461967 0.999655 -0.0255397 uwb: 0.0 1247.09 1506.64 -imu_odom_: 1691062898.811288179 1.62806 -0.42138 9.55287 -0.0553937 -0.0181095 -0.433563 0.17 -0.55 pose: 0.51049775 -4.96443 -3.75421 0 0.00751581 0.00774778 0.999876 -0.0114313 uwb: 0.0 1247.09 1506.64 -imu_odom_: 1691062898.827287789 0.993594 -0.0287304 9.50737 -0.0596548 0.00958738 -0.377104 0.12 -0.38 pose: 0.0 -4.96443 -3.75421 0 0.00751581 0.00774778 0.999876 -0.0114313 uwb: 0.0 1247.09 1506.64 -imu_odom_: 1691062898.843283023 0.799663 -0.191536 9.83777 -0.0553937 0.036219 -0.315318 0.12 -0.38 pose: 0.65000253 -4.97752 -3.75966 0 0.0142089 0.00780755 0.999858 0.00467109 uwb: 0.100107874 1245.53 1507.93 -imu_odom_: 1691062898.859348254 0.246603 -0.399832 9.77792 -0.0511327 -0.00426106 -0.286556 0.11 -0.35 pose: 0.0 -4.97752 -3.75966 0 0.0142089 0.00780755 0.999858 0.00467109 uwb: 0.0 1245.53 1507.93 -imu_odom_: 1691062898.876344138 0.517148 -0.270545 9.74201 -0.0394148 -0.036219 -0.278034 0.11 -0.35 pose: 0.0 -4.97752 -3.75966 0 0.0142089 0.00780755 0.999858 0.00467109 uwb: 0.0 1245.53 1507.93 -imu_odom_: 1691062898.892346664 0.821211 -0.0430956 9.7851 -0.0532632 -0.0436758 -0.236489 0.11 -0.35 pose: 0.31944680 -4.97752 -3.75966 0 0.0149114 0.00628216 0.999815 0.0104315 uwb: 0.0 1245.53 1507.93 -imu_odom_: 1691062898.908287943 0.818817 -0.349553 9.77074 -0.0585895 -0.0223706 -0.207727 0.11 -0.35 pose: 0.41049400 -4.98241 -3.75762 0 0.0150947 0.0054953 0.999732 0.0166401 uwb: 0.0 1245.53 1507.93 -imu_odom_: 1691062898.925335741 1.0343 -0.371101 9.91439 -0.0585895 -0.0149137 -0.226901 0.11 -0.35 pose: 0.0 -4.98241 -3.75762 0 0.0150947 0.0054953 0.999732 0.0166401 uwb: 0.0 1245.53 1507.93 -imu_odom_: 1691062898.941277021 0.730232 -0.141258 9.80665 -0.0575243 -0.0308927 -0.199204 0.11 -0.35 pose: 0.0 -4.98241 -3.75762 0 0.0150947 0.0054953 0.999732 0.0166401 uwb: 0.99936385 1242.02 1510.88 -imu_odom_: 1691062898.958337360 0.799663 -0.146046 9.89045 -0.0628506 0.00532632 -0.168312 0.07 -0.26 pose: 0.7003675 -4.98676 -3.75584 0 0.0154624 0.00486652 0.999716 0.0174952 uwb: 0.0 1242.02 1510.88 -imu_odom_: 1691062898.975335869 0.732626 -0.131681 10.0748 -0.0575243 -0.00532632 -0.171508 0.09 -0.29 pose: 0.0 -4.98676 -3.75584 0 0.0154624 0.00486652 0.999716 0.0174952 uwb: 0.0 1242.02 1510.88 -imu_odom_: 1691062898.992392417 0.507571 -0.181959 9.79228 -0.052198 -0.0213053 -0.169377 0.09 -0.29 pose: 0.65997404 -4.98676 -3.75584 0 0.0172898 0.00371551 0.999524 0.0252637 uwb: 0.49954338 1246.48 1509.89 -imu_odom_: 1691062899.6333271 0.679953 -0.189142 9.88566 -0.0585895 -0.02024 -0.151268 0.06 -0.2 pose: 0.0 -4.98676 -3.75584 0 0.0172898 0.00371551 0.999524 0.0252637 uwb: 0.0 1246.48 1509.89 -imu_odom_: 1691062899.21329022 0.775721 -0.35913 9.9503 -0.0671117 -0.00852212 -0.122505 0.06 -0.2 pose: 0.0 -4.98676 -3.75584 0 0.0172898 0.00371551 0.999524 0.0252637 uwb: 0.0 1246.48 1509.89 -imu_odom_: 1691062899.37417877 0.720655 -0.387861 10.0676 -0.0532632 0.0106526 -0.122505 0.06 -0.2 pose: 0.32996660 -4.98676 -3.75584 0 0.0146805 0.00291471 0.999477 0.0286656 uwb: 0.49980880 1247.69 1510.11 -imu_odom_: 1691062899.56361106 0.737414 -0.0981623 9.85693 -0.0553937 -0.0138484 -0.111853 0.05 -0.11 pose: 0.39073474 -4.99138 -3.75392 0 0.0151329 -0.0008940060.999376 0.0318898 uwb: 0.0 1247.69 1510.11 -imu_odom_: 1691062899.71423062 0.792481 -0.158017 9.73482 -0.0575243 -0.00639159 -0.092678 0.05 -0.11 pose: 0.9025099 -4.99601 -3.75203 0 0.015474 -3.25922e-050.999349 0.0325857 uwb: 0.0 1247.69 1510.11 -imu_odom_: 1691062899.89411139 0.770933 -0.213084 9.91439 -0.0585895 -0.0127832 -0.0841559 0.05 -0.11 pose: 0.0 -4.99601 -3.75203 0 0.015474 -3.25922e-050.999349 0.0325857 uwb: 0.49993129 1243.2 1513.36 -imu_odom_: 1691062899.107468629 0.632069 -0.339977 9.73243 -0.052198 0.00639159 -0.0798948 0.04 -0.08 pose: 0.42968163 -4.99601 -3.75203 0 0.0184639 -9.85313e-050.999201 0.0354364 uwb: 0.0 1243.2 1513.36 -imu_odom_: 1691062899.121470438 0.658405 -0.126893 10.082 -0.052198 -0.00532632 -0.076699 0.04 -0.11 pose: 0.0 -4.99601 -3.75203 0 0.0184639 -9.85313e-050.999201 0.0354364 uwb: 0.0 1243.2 1513.36 -imu_odom_: 1691062899.138410326 0.596156 -0.167594 9.73243 -0.0585895 -0.0181095 -0.0596548 0.04 -0.11 pose: 0.0 -4.99601 -3.75203 0 0.0184639 -9.85313e-050.999201 0.0354364 uwb: 0.50167535 1242.64 1514.51 -imu_odom_: 1691062899.155518496 0.797269 -0.304064 9.98143 -0.0553937 -0.00319579 -0.0415453 0.04 -0.11 pose: 0.23908274 -4.99601 -3.75203 0 0.0167377 -0.0008516 0.999181 0.0368381 uwb: 0.0 1242.64 1514.51 -imu_odom_: 1691062899.172397429 0.737414 -0.277727 9.79707 -0.0607201 -0.00532632 -0.0298274 0.03 -0.02 pose: 0.0 -4.99601 -3.75203 0 0.0167377 -0.0008516 0.999181 0.0368381 uwb: 0.0 1242.64 1514.51 -imu_odom_: 1691062899.188290586 0.588974 -0.184354 9.94551 -0.0532632 0.00852212 -0.00426106 0.03 -0.02 pose: 0.32240704 -4.99601 -3.75203 0 0.0152365 -0.0001530410.999144 0.0384538 uwb: 0.50024335 1240.69 1516.18 -imu_odom_: 1691062899.205267222 0.543484 -0.280122 9.98143 -0.056459 -0.00319579 0.0298274 0.03 0 pose: 0.42730469 -4.99601 -3.75203 0 0.0150228 -0.00173281 0.999095 0.0397645 uwb: 0.0 1240.69 1516.18 -imu_odom_: 1691062899.221264207 0.593762 -0.251391 9.8665 -0.052198 -0.00958738 0.036219 0.03 0 pose: 0.0 -4.99601 -3.75203 0 0.0150228 -0.00173281 0.999095 0.0397645 uwb: 0.0 1240.69 1516.18 -imu_odom_: 1691062899.237267899 0.823605 -0.227449 9.97424 -0.052198 -0.00958738 0.0479369 0.03 0 pose: 0.0 -4.99601 -3.75203 0 0.0150228 -0.00173281 0.999095 0.0397645 uwb: 0.50018503 1239.31 1517.88 -imu_odom_: 1691062899.254252410 0.636858 -0.179565 9.84735 -0.0532632 0.00745685 0.0617853 0.01 0.05 pose: 0.7115086 -4.99601 -3.75203 0 0.0143252 -0.00189703 0.999103 0.039796 uwb: 0.0 1239.31 1517.88 -imu_odom_: 1691062899.271319165 0.600945 -0.265756 9.92636 -0.0532632 0.00213053 0.0649811 0.01 0 pose: 0.0 -4.99601 -3.75203 0 0.0143252 -0.00189703 0.999103 0.039796 uwb: 0.0 1239.31 1517.88 -imu_odom_: 1691062899.288259345 0.59855 -0.208296 9.87608 -0.0532632 -0.00852212 0.0703074 0.01 0 pose: 0.65853913 -4.99601 -3.75203 0 0.0121657 -0.0009105 0.999144 0.0395361 uwb: 0.50138079 1239.55 1518.41 -imu_odom_: 1691062899.304290453 0.787692 -0.229843 9.93115 -0.0543285 -0.0117179 0.0809601 0 0.08 pose: 0.0 -4.99601 -3.75203 0 0.0121657 -0.0009105 0.999144 0.0395361 uwb: 0.0 1239.55 1518.41 -imu_odom_: 1691062899.329403239 0.605733 -0.189142 9.92397 -0.0532632 0.0106526 0.0671117 0 0.08 pose: 0.0 -4.99601 -3.75203 0 0.0121657 -0.0009105 0.999144 0.0395361 uwb: 0.0 1239.55 1518.41 -imu_odom_: 1691062899.346281881 0.112527 -0.191536 9.92875 -0.056459 0.056459 0.0500674 0 0.02 pose: 0.33042450 -4.99601 -3.75203 0 0.0109163 -0.0004014930.999178 0.0390264 uwb: 0.49781391 1244.39 1516.98 -imu_odom_: 1691062899.362266616 -1.27132 -0.189142 9.81383 -0.0532632 0.120375 0.0138484 0 0.02 pose: 0.42000177 -4.99601 -3.75203 0 0.00899578 0.00120789 0.999219 0.0384576 uwb: 0.0 1244.39 1516.98 -imu_odom_: 1691062899.379344455 -1.94888 -0.110133 10.1227 -0.0447411 0.0138484 -0.0287621 0 0.02 pose: 0.0 -4.99601 -3.75203 0 0.00899578 0.00120789 0.999219 0.0384576 uwb: 0.0 1244.39 1516.98 -imu_odom_: 1691062899.396411210 -1.01035 -0.0167594 9.76116 -0.0596548 -0.0948085 -0.0468716 0.06 -0.02 pose: 0.43042243 -4.99601 -3.75203 0 0.00324477 0.00156771 0.999225 0.0391992 uwb: 0.50004211 1244.08 1517.49 -imu_odom_: 1691062899.413346723 0.380678 -0.265756 10.1059 -0.0596548 -0.0894822 -0.0394148 0.06 -0.02 pose: 0.0 -4.99601 -3.75203 0 0.00324477 0.00156771 0.999225 0.0391992 uwb: 0.0 1244.08 1517.49 -imu_odom_: 1691062899.429265254 0.749385 -0.325611 9.46188 -0.0617853 -0.00319579 -0.0596548 0.06 -0.02 pose: 0.0 -4.99601 -3.75203 0 0.00324477 0.00156771 0.999225 0.0391992 uwb: 0.0 1244.08 1517.49 -imu_odom_: 1691062899.445294029 0.162806 -0.138864 10.2807 -0.04048 0.0426106 -0.0745685 0.12 -0.14 pose: 0.8069654 -4.99601 -3.75203 0 0.00281052 0.00165855 0.999212 0.0395501 uwb: 0.49990504 1242.94 1518.6 -imu_odom_: 1691062899.462248499 -0.282516 -0.387861 9.50498 -0.0532632 0.0181095 -0.0660464 0.1 -0.08 pose: 0.0 -4.99601 -3.75203 0 0.00281052 0.00165855 0.999212 0.0395501 uwb: 0.0 1242.94 1518.6 -imu_odom_: 1691062899.477247459 -0.131681 -0.126893 9.89524 -0.0596548 0.00106526 -0.0639159 0.1 -0.08 pose: 0.65897661 -5.00912 -3.75733 0 0.000632327 0.000155037 0.999086 0.0427354 uwb: 0.0 1242.94 1518.6 -imu_odom_: 1691062899.493239485 0.222661 -0.217872 10.24 -0.0511327 -0.0351537 -0.0490022 0.1 -0.08 pose: 0.0 -5.00912 -3.75733 0 0.000632327 0.000155037 0.999086 0.0427354 uwb: 0.49748727 1240.35 1520.16 -imu_odom_: 1691062899.510289325 0.612916 -0.177171 10.0317 -0.0628506 0.00532632 -0.0511327 0.1 -0.05 pose: 0.0 -5.00912 -3.75733 0 0.000632327 0.000155037 0.999086 0.0427354 uwb: 0.0 1240.35 1520.16 -imu_odom_: 1691062899.527386412 0.306458 -0.0742203 9.77792 -0.0490022 0.0223706 -0.0649811 0.1 -0.05 pose: 0.30955113 -5.00912 -3.75733 0 -0.00244616 0.000273968 0.999016 0.0442929 uwb: 0.0 1240.35 1520.16 -imu_odom_: 1691062899.544273803 -0.0023942 0.0335188 9.5385 -0.0596548 0.00852212 -0.0340885 0.16 -0.08 pose: 0.43119529 -5.01833 -3.75342 0 -0.00249181 0.00199092 0.99892 0.0463522 uwb: 0.50126413 1235.07 1523.06 -imu_odom_: 1691062899.561250148 0.0407014 -0.304064 9.18895 -0.0756338 0.00106526 -0.0330232 0.16 -0.08 pose: 0.0 -5.01833 -3.75342 0 -0.00249181 0.00199092 0.99892 0.0463522 uwb: 0.0 1235.07 1523.06 -imu_odom_: 1691062899.577252090 0.0047884 -0.383072 9.80904 -0.0628506 0.0191748 -0.0468716 0.16 -0.08 pose: 0.0 -5.01833 -3.75342 0 -0.00249181 0.00199092 0.99892 0.0463522 uwb: 0.0 1235.07 1523.06 -imu_odom_: 1691062899.594380967 0.0191536 -0.311246 9.65821 -0.0553937 0.0479369 -0.0511327 0.13 -0.08 pose: 0.7003676 -5.01833 -3.75342 0 -0.00312266 0.00236411 0.998905 0.0466099 uwb: 0.49976213 1232.43 1524.52 -imu_odom_: 1691062899.611380352 0.402226 -0.0574608 9.75398 -0.0713727 0.0191748 -0.0415453 0.12 -0.05 pose: 0.0 -5.01833 -3.75342 0 -0.00312266 0.00236411 0.998905 0.0466099 uwb: 0.0 1232.43 1524.52 -imu_odom_: 1691062899.628440400 0.488417 -0.215478 9.55526 -0.0692422 0.0117179 0.00852212 0.12 -0.05 pose: 0.68005412 -5.02754 -3.74954 0 -0.00868642 0.000957751 0.998741 0.0493931 uwb: 0.0 1232.43 1524.52 -imu_odom_: 1691062899.646294318 0.828394 -0.481235 9.88087 -0.0639159 0.0308927 0.0308927 0.1 -0.08 pose: 0.0 -5.02754 -3.74954 0 -0.00868642 0.000957751 0.998741 0.0493931 uwb: 0.49989337 1227.94 1526.77 -imu_odom_: 1691062899.660230797 0.866701 -0.378284 9.68455 -0.0553937 -0.0319579 0.0255663 0.1 -0.08 pose: 0.0 -5.02754 -3.74954 0 -0.00868642 0.000957751 0.998741 0.0493931 uwb: 0.0 1227.94 1526.77 -imu_odom_: 1691062899.675374415 1.43652 -0.0933739 10.1011 -0.0479369 -0.0127832 0.00745685 0.1 -0.08 pose: 0.33983895 -5.02754 -3.74954 0 -0.00599681 0.000681698 0.998728 0.0500507 uwb: 0.0 1227.94 1526.77 -imu_odom_: 1691062899.692315761 1.43892 0.181959 10.1897 -0.0607201 0.0500674 -0.0276969 0.11 -0.11 pose: 0.38995020 -5.03246 -3.74751 0 -0.0022204 -0.0001508780.998725 0.0504393 uwb: 0.0 1227.94 1526.77 -imu_odom_: 1691062899.710246967 0.56982 -0.107739 9.63666 -0.0671117 0.0287621 -0.0138484 0.11 -0.11 pose: 0.7005717 -5.03678 -3.74571 0 -0.00174216 5.06864e-05 0.998714 0.0506743 uwb: 0.0 1227.94 1526.77 -imu_odom_: 1691062899.724382935 0.608127 -0.440533 9.76595 -0.0660464 0.0191748 -0.0351537 0.11 -0.11 pose: 0.0 -5.03678 -3.74571 0 -0.00174216 5.06864e-05 0.998714 0.0506743 uwb: 0.0 1227.94 1526.77 -imu_odom_: 1691062899.740245469 0.469264 -0.332794 9.93833 -0.0585895 -0.0127832 -0.0788296 0.06 -0.08 pose: 0.42002803 -5.04062 -3.75495 0 0.000924104 -0.00018684 0.998646 0.0520107 uwb: 0.100086002 1231.93 1525.85 -imu_odom_: 1691062899.755429917 0.699107 -0.0407014 10.1107 -0.056459 -0.00958738 -0.0703074 0.06 -0.02 pose: 0.0 -5.04062 -3.75495 0 0.000924104 -0.00018684 0.998646 0.0520107 uwb: 0.0 1231.93 1525.85 -imu_odom_: 1691062899.771431860 0.85473 -0.0526724 9.8689 -0.0649811 -0.0149137 -0.0213053 0.06 -0.02 pose: 0.0 -5.04062 -3.75495 0 0.000924104 -0.00018684 0.998646 0.0520107 uwb: 0.0 1231.93 1525.85 -imu_odom_: 1691062899.788443494 0.708684 -0.474052 9.87369 -0.0585895 0.0138484 -0.0149137 0.06 -0.02 pose: 0.23060448 -5.04062 -3.75495 0 0.00213061 -0.00130063 0.998573 0.0533437 uwb: 0.49912925 1233.89 1525.31 -imu_odom_: 1691062899.804550139 0.746991 -0.265756 9.91918 -0.052198 -0.0127832 -0.0181095 0.07 -0.08 pose: 0.0 -5.04062 -3.75495 0 0.00213061 -0.00130063 0.998573 0.0533437 uwb: 0.0 1233.89 1525.31 -imu_odom_: 1691062899.831379867 0.620098 -0.126893 9.80665 -0.0543285 0.0191748 -0.00319579 0.07 -0.08 pose: 0.30946072 -5.04062 -3.75495 0 0.00474684 -0.0009174860.998504 0.0544597 uwb: 0.0 1233.89 1525.31 -imu_odom_: 1691062899.847244443 0.265756 -0.225055 9.94073 -0.0575243 0.0298274 -0.015979 0.06 -0.02 pose: 0.33908357 -5.04062 -3.75495 0 0.00731312 -0.00131973 0.998439 0.055365 uwb: 0.50095790 1234.97 1525.27 -imu_odom_: 1691062899.874343072 -1.30723 -0.380678 10.0892 -0.0500674 0.0255663 0.0181095 0.06 -0.02 pose: 0.0 -5.04062 -3.75495 0 0.00731312 -0.00131973 0.998439 0.055365 uwb: 0.0 1234.97 1525.27 -imu_odom_: 1691062899.899303618 -0.0814029 -0.366313 9.76595 -0.052198 -0.0820254 0.0213053 0.08 -0.02 pose: 0.43016577 -5.04982 -3.75102 0 0.00547375 0.000180967 0.998398 0.0563125 uwb: 0.49922841 1235.49 1525.19 -imu_odom_: 1691062899.926304545 0.457293 0.0574608 9.7851 -0.0426106 -0.00319579 0.00852212 0.11 0 pose: 0.43989229 -5.04982 -3.75102 0 0.00182497 -0.0003998750.998387 0.0567431 uwb: 0.0 1235.49 1525.19 -imu_odom_: 1691062899.952251450 -0.0550666 -0.304064 10.0078 -0.0532632 0.0532632 0.0106526 0.11 0 pose: 0.0 -5.04982 -3.75102 0 0.00182497 -0.0003998750.998387 0.0567431 uwb: 0.50062250 1235.2 1525.78 -imu_odom_: 1691062899.979344246 -0.00957681-0.392649 9.87369 -0.0319579 0 0.00426106 0.15 -0.05 pose: 0.7084171 -5.04982 -3.75102 0 0.00191111 0.000349937 0.998381 0.0568541 uwb: 0.0 1235.2 1525.78 -imu_odom_: 1691062899.995244695 0.493206 -0.1652 9.38288 -0.052198 0.00532632 0.0149137 0.15 -0.05 pose: 0.0 -5.04982 -3.75102 0 0.00191111 0.000349937 0.998381 0.0568541 uwb: 0.49921675 1232.7 1527.59 -imu_odom_: 1691062900.22239497 0.586579 -0.253785 9.8689 -0.0436758 0.0245011 0.0372843 0.17 0 pose: 0.52927416 -5.05904 -3.74716 0 -0.00177255 0.00174544 0.998333 0.0576703 uwb: 0.0 1232.7 1527.59 -imu_odom_: 1691062900.47217542 0.201113 -0.143652 9.9934 -0.0532632 -0.0458064 0.0138484 0.17 0 pose: 0.0 -5.05904 -3.74716 0 -0.00177255 0.00174544 0.998333 0.0576703 uwb: 0.50017628 1231.91 1528.29 -imu_odom_: 1691062900.74287882 -0.00957681-0.0933739 9.54089 -0.0585895 -0.0330232 0.0287621 0.15 -0.02 pose: 0.43922732 -5.05904 -3.74716 0 -0.00146469 0.00116618 0.998301 0.05823 uwb: 0.0 1231.91 1528.29 -imu_odom_: 1691062900.90216329 -0.0023942 -0.275333 9.69652 -0.0436758 -0.0287621 0.0266316 0.15 -0.02 pose: 0.0 -5.05904 -3.74716 0 -0.00146469 0.00116618 0.998301 0.05823 uwb: 0.49982046 1230.15 1529.3 -imu_odom_: 1691062900.117213757 0.363919 -0.138864 10.1155 -0.0543285 0.0138484 0.02024 0.15 0 pose: 0.51030236 -5.06825 -3.74328 0 -0.00234696 0.00168675 0.998277 0.0586121 uwb: 0.0 1230.15 1529.3 -imu_odom_: 1691062900.143243199 0.634463 -0.263362 9.55047 -0.0660464 0.0234358 0.0255663 0.15 -0.02 pose: 0.62945584 -5.07862 -3.74975 0 -0.00319003 0.00326568 0.998243 0.0590794 uwb: 0.49983797 1234.86 1527.48 -imu_odom_: 1691062900.170359036 0.155623 -0.459687 9.43315 -0.0809601 0.00745685 0.036219 0.15 -0.02 pose: 0.0 -5.07862 -3.74975 0 -0.00319003 0.00326568 0.998243 0.0590794 uwb: 0.0 1234.86 1527.48 -imu_odom_: 1691062900.196294858 0.629675 -0.275333 10.058 -0.056459 0.0308927 0.0191748 0.15 -0.02 pose: 0.8006950 -5.08136 -3.74859 0 -0.00256668 0.00291263 0.998243 0.0591337 uwb: 0.50013837 1234.64 1528.24 -imu_odom_: 1691062900.223274787 0.730232 -0.1652 10.5417 -0.0351537 -0.0117179 0.015979 0.15 -0.02 pose: 0.0 -5.08136 -3.74859 0 -0.00256668 0.00291263 0.998243 0.0591337 uwb: 0.0 1234.64 1528.24 -imu_odom_: 1691062900.248328369 0.622492 -0.0646434 10.0054 -0.0575243 -0.056459 0.0308927 0.15 0 pose: 0.53017245 -5.08136 -3.74859 0 -0.00251785 -0.0004269010.998232 0.0593878 uwb: 0.50036877 1239.42 1526.56 -imu_odom_: 1691062900.265394833 0.543484 -0.158017 9.98382 -0.0585895 -0.0170442 0.0500674 0.15 0 pose: 0.0 -5.08136 -3.74859 0 -0.00251785 -0.0004269010.998232 0.0593878 uwb: 0.0 1239.42 1526.56 -imu_odom_: 1691062900.291205246 0.395043 -0.126893 9.72525 -0.0607201 -0.015979 0.0255663 0.15 -0.05 pose: 0.53083741 -5.09056 -3.74468 0 0.0025781 0.000234027 0.998199 0.0599292 uwb: 0.49927217 1237.6 1527.43 -imu_odom_: 1691062900.308201715 0.521936 -0.0215478 10.2113 -0.04048 -0.00106526 0.0319579 0.15 -0.05 pose: 0.0 -5.09056 -3.74468 0 0.0025781 0.000234027 0.998199 0.0599292 uwb: 0.0 1237.6 1527.43 -imu_odom_: 1691062900.334284529 0.215478 -0.387861 9.71567 -0.0394148 -0.00958738 0.0319579 0.16 -0.05 pose: 0.76880022 -5.10478 -3.73862 0 0.00447446 0.00450561 0.998168 0.0601764 uwb: 0.0 1237.6 1527.43 -imu_odom_: 1691062900.361207585 0.378284 -0.134075 9.56723 -0.0639159 0.00319579 0.0479369 0.2 -0.02 pose: 0.8071988 -5.10897 -3.73687 0 0.00389216 0.00403725 0.99817 0.0602075 uwb: 0.50022877 1237.88 1528.06 -imu_odom_: 1691062900.386205754 0.708684 -0.0646434 10.7021 -0.0607201 -0.052198 0.0468716 0.18 0 pose: 0.44933882 -5.1128 -3.74611 0 -4.109e-05 0.00381121 0.998181 0.0601746 uwb: 0.49978839 1237.19 1528.98 -imu_odom_: 1691062900.413217181 0.723049 -0.047884 10.2759 -0.0607201 -0.0266316 0.04048 0.19 -0.02 pose: 0.0 -5.1128 -3.74611 0 -4.109e-05 0.00381121 0.998181 0.0601746 uwb: 0.0 1237.19 1528.98 -imu_odom_: 1691062900.429220582 0.816423 -0.311246 9.75637 -0.0575243 0.0308927 0.0308927 0.19 -0.02 pose: 0.32008553 -5.12204 -3.74228 0 0.00378254 0.00424469 0.998178 0.0600709 uwb: 0.0 1237.19 1528.98 -imu_odom_: 1691062900.456295588 0.383072 -0.0790087 9.81144 -0.0532632 0.0436758 0.0319579 0.23 -0.02 pose: 0.0 -5.12204 -3.74228 0 0.00378254 0.00424469 0.998178 0.0600709 uwb: 0.49874720 1240.68 1528.1 -imu_odom_: 1691062900.482280408 -0.102951 -0.28491 9.72764 -0.0607201 -0.0170442 0.0511327 0.23 -0.02 pose: 0.44012269 -5.13128 -3.73846 0 0.00604121 0.00404784 0.998163 0.0601469 uwb: 0.0 1240.68 1528.1 -imu_odom_: 1691062900.509253045 0.179565 -0.023942 9.75398 -0.0703074 -0.036219 0.0351537 0.21 -0.02 pose: 0.45052001 -5.13128 -3.73846 0 0.001468 0.00420733 0.998183 0.0600916 uwb: 0.50119414 1238.61 1529.68 -imu_odom_: 1691062900.535206950 0.332794 -0.114922 10.0916 -0.0617853 -0.00319579 0.0426106 0.21 -0.02 pose: 0.7094962 -5.13128 -3.73846 0 0.000945356 0.00447099 0.998181 0.0601109 uwb: 0.0 1238.61 1529.68 -imu_odom_: 1691062900.562222751 0.385466 -0.246603 9.79228 -0.052198 0.00745685 0.0500674 0.23 -0.02 pose: 0.45831580 -5.14315 -3.74097 0 -0.00313498 0.00511823 0.998172 0.0601388 uwb: 0.49869178 1243.56 1528.28 -imu_odom_: 1691062900.578344270 0.469264 -0.320823 10.0245 -0.0543285 -0.0607201 0.0532632 0.23 -0.02 pose: 0.0 -5.14315 -3.74097 0 -0.00313498 0.00511823 0.998172 0.0601388 uwb: 0.0 1243.56 1528.28 -imu_odom_: 1691062900.605339073 0.682347 -0.0047884 10.1562 -0.0426106 -0.0394148 0.0340885 0.22 0 pose: 0.43137320 -5.15359 -3.74004 0 -0.00111751 0.00123587 0.998203 0.0598937 uwb: 0.50001004 1244.3 1528.69 -imu_odom_: 1691062900.631344308 0.639252 -0.1652 10.2041 -0.0500674 -0.0287621 0.0394148 0.18 0 pose: 0.0 -5.15359 -3.74004 0 -0.00111751 0.00123587 0.998203 0.0598937 uwb: 0.0 1244.3 1528.69 -imu_odom_: 1691062900.658257157 0.797269 0.0167594 9.81144 -0.0490022 -0.0138484 0.0458064 0.23 0 pose: 0.53000038 -5.16283 -3.73622 0 0.00466252 0.00247056 0.998187 0.059959 uwb: 0.0 1244.3 1528.69 -imu_odom_: 1691062900.674249184 0.605733 -0.217872 9.99819 -0.0628506 -0.00639159 0.052198 0.23 0 pose: 0.0 -5.16283 -3.73622 0 0.00466252 0.00247056 0.998187 0.059959 uwb: 0.0 1244.3 1528.69 -imu_odom_: 1691062900.701364729 0.572214 -0.19393 9.93354 -0.0735032 0 0.0394148 0.18 0 pose: 0.34935840 -5.17207 -3.7324 0 0.00765522 0.00305927 0.998175 0.0598171 uwb: 0.100020382 1246.43 1528.43 -imu_odom_: 1691062900.727462418 0.557849 -0.189142 10.1801 -0.0681769 -0.0372843 0.0458064 0.18 0.02 pose: 0.35084581 -5.17207 -3.7324 0 0.00881945 -0.0004716390.998175 0.0597416 uwb: 0.0 1246.43 1528.43 -imu_odom_: 1691062900.754430097 0.409408 -0.0383072 9.83059 -0.0692422 -0.0745685 0.0500674 0.18 0.02 pose: 0.0 -5.17207 -3.7324 0 0.00881945 -0.0004716390.998175 0.0597416 uwb: 0.0 1246.43 1528.43 -imu_odom_: 1691062900.780177805 1.21625 -0.335188 9.9527 -0.056459 -0.0617853 0.0298274 0.18 -0.02 pose: 0.7987702 -5.17207 -3.7324 0 0.00843447 8.13274e-05 0.998179 0.0597226 uwb: 0.0 1246.43 1528.43 -imu_odom_: 1691062900.807200314 0.385466 -0.289698 10.1562 -0.0351537 -0.0117179 0.036219 0.18 -0.02 pose: 0.0 -5.17207 -3.7324 0 0.00843447 8.13274e-05 0.998179 0.0597226 uwb: 0.100106419 1253.34 1526.37 -imu_odom_: 1691062900.824198241 0.25618 -0.296881 9.46667 -0.0703074 0.00639159 0.04048 0.18 0 pose: 0.52867629 -5.18513 -3.73782 0 0.00768875 0.00285619 0.998189 0.0595935 uwb: 0.0 1253.34 1526.37 -imu_odom_: 1691062900.851319911 0.682347 -0.301669 10.1418 -0.0692422 -0.0298274 0.0511327 0.18 0 pose: 0.0 -5.18513 -3.73782 0 0.00768875 0.00285619 0.998189 0.0595935 uwb: 0.50147121 1253.99 1526.55 -imu_odom_: 1691062900.876313122 0.215478 -0.347159 9.91199 -0.0543285 -0.00319579 0.0330232 0.24 0.02 pose: 0.53012287 -5.19437 -3.734 0 0.00683076 0.000914773 0.998192 0.0597056 uwb: 0.0 1253.99 1526.55 -imu_odom_: 1691062900.903181349 0.873884 -0.131681 9.71088 -0.0585895 -0.0170442 0.0447411 0.22 -0.02 pose: 0.61080775 -5.20361 -3.73018 0 0.00601046 -0.0018882 0.998202 0.0596086 uwb: 0.49866845 1254.82 1527.09 -imu_odom_: 1691062900.919358281 1.02472 -0.172383 9.88805 -0.0447411 0.00106526 0.0458064 0.22 -0.02 pose: 0.0 -5.20361 -3.73018 0 0.00601046 -0.0018882 0.998202 0.0596086 uwb: 0.0 1254.82 1527.09 -imu_odom_: 1691062900.946193843 0.35913 -0.138864 10.0987 -0.0575243 0.0330232 0.0490022 0.23 0.05 pose: 0.6898973 -5.20361 -3.73018 0 0.00672276 -0.00173273 0.998199 0.0595929 uwb: 0.49878219 1255.16 1527.79 -imu_odom_: 1691062900.971169263 0.426168 -0.0574608 9.91678 -0.0543285 0.02024 0.0447411 0.23 0.05 pose: 0.0 -5.20361 -3.73018 0 0.00672276 -0.00173273 0.998199 0.0595929 uwb: 0.0 1255.16 1527.79 -imu_odom_: 1691062900.988171856 0.296881 -0.378284 9.93833 -0.0511327 0.00745685 0.0447411 0.21 0 pose: 0.44039976 -5.21286 -3.72637 0 0.00948286 -0.00078973 0.998185 0.0594641 uwb: 0.49975339 1255.67 1528.85 -imu_odom_: 1691062901.13302726 0.0550666 -0.287304 9.83059 -0.0660464 0 0.0500674 0.21 0 pose: 0.0 -5.21286 -3.72637 0 0.00948286 -0.00078973 0.998185 0.0594641 uwb: 0.0 1255.67 1528.85 -imu_odom_: 1691062901.40176202 0.392649 -0.28491 9.8282 -0.0777643 0.0383495 0.0585895 0.23 0 pose: 0.51034319 -5.22591 -3.73179 0 0.00503884 0.0015368 0.998226 0.059313 uwb: 0.50187077 1258.84 1528.32 -imu_odom_: 1691062901.65142582 0.739808 -0.409408 10.2185 -0.0745685 0.0351537 0.0447411 0.23 0 pose: 0.0 -5.22591 -3.73179 0 0.00503884 0.0015368 0.998226 0.059313 uwb: 0.0 1258.84 1528.32 -imu_odom_: 1691062901.92149342 0.0574608 -0.0981623 10.0892 -0.0575243 0.0276969 0.0500674 0.21 -0.02 pose: 0.42011553 -5.23516 -3.72798 0 0.00116977 -0.0002819420.998252 0.0590883 uwb: 0.49837390 1262.25 1527.14 -imu_odom_: 1691062901.117197092 0.474052 -0.258574 9.84975 -0.0607201 0.0255663 0.0436758 0.18 0 pose: 0.51897020 -5.24441 -3.72418 0 0.000679592 -0.00318099 0.998264 0.0588008 uwb: 0.0 1262.25 1527.14 -imu_odom_: 1691062901.144185770 0.399832 -0.208296 9.4978 -0.0468716 -0.0223706 0.036219 0.2 0 pose: 0.0 -5.24441 -3.72418 0 0.000679592 -0.00318099 0.998264 0.0588008 uwb: 0.50085874 1260.72 1528.68 -imu_odom_: 1691062901.160306123 0.320823 0.0311246 10.5848 -0.0287621 -0.0149137 0.0458064 0.2 0 pose: 0.52139672 -5.25366 -3.72038 0 0.000588497 -0.00167838 0.998276 0.05866 uwb: 0.0 1260.72 1528.68 -imu_odom_: 1691062901.187156851 0.766145 -0.0335188 10.1251 -0.0447411 -0.0458064 0.0458064 0.18 0.02 pose: 0.0 -5.25366 -3.72038 0 0.000588497 -0.00167838 0.998276 0.05866 uwb: 0.50000713 1263.96 1528.25 -imu_odom_: 1691062901.213298287 0.40462 0.0383072 10.1442 -0.0458064 0.0106526 0.0468716 0.19 0 pose: 0.43902609 -5.25746 -3.72963 0 0.00072242 0.00231026 0.998278 0.058617 uwb: 0.0 1263.96 1528.25 -imu_odom_: 1691062901.230302922 0.488417 -0.342371 9.85214 -0.0585895 -0.0415453 0.0468716 0.19 0 pose: 0.0 -5.25746 -3.72963 0 0.00072242 0.00231026 0.998278 0.058617 uwb: 0.0 1263.96 1528.25 -imu_odom_: 1691062901.255211554 0.656011 -0.368707 10.0006 -0.0468716 -0.00319579 0.0447411 0.18 0 pose: 0.27078215 -5.26671 -3.72583 0 0.00269263 0.0037952 0.998275 0.0585276 uwb: 0.50007422 1261.08 1530.57 -imu_odom_: 1691062901.282138986 0.344765 0.0263362 9.91918 -0.0596548 0.00213053 0.052198 0.18 0 pose: 0.0 -5.26671 -3.72583 0 0.00269263 0.0037952 0.998275 0.0585276 uwb: 0.0 1261.08 1530.57 -imu_odom_: 1691062901.307200735 0.6608 -0.059855 10.2448 -0.0756338 0.015979 0.052198 0.18 -0.02 pose: 0.42865504 -5.27596 -3.72203 0 0.00321701 0.00332633 0.998284 0.0583788 uwb: 0.49840889 1260.1 1532.1 -imu_odom_: 1691062901.324203328 -0.0430956 -0.368707 9.90242 -0.0543285 0.0117179 0.0330232 0.18 -0.02 pose: 0.0 -5.27596 -3.72203 0 0.00321701 0.00332633 0.998284 0.0583788 uwb: 0.0 1260.1 1532.1 -imu_odom_: 1691062901.349234162 0.047884 -0.189142 10.1682 -0.0394148 -0.0170442 0.036219 0.18 0 pose: 0.51965848 -5.28521 -3.71824 0 0.00342546 0.0043972 0.998294 0.0581164 uwb: 0.50049418 1261.43 1532.46 -imu_odom_: 1691062901.376212341 0.665588 -0.205901 10.1083 -0.0553937 -0.0308927 0.036219 0.18 0 pose: 0.0 -5.28521 -3.71824 0 0.00342546 0.0043972 0.998294 0.0581164 uwb: 0.0 1261.43 1532.46 -imu_odom_: 1691062901.402226326 0.471658 -0.433351 9.83777 -0.0319579 0.0213053 0.0383495 0.18 0.02 pose: 0.41998721 -5.289 -3.7275 0 0.00244647 0.00403149 0.998301 0.0580785 uwb: 0.49968340 1260.48 1534.05 -imu_odom_: 1691062901.429165132 0.40462 0.11971 10.2999 -0.0330232 0.0447411 0.0383495 0.23 0 pose: 0.52084550 -5.29826 -3.72371 0 0.00361579 0.00239489 0.998298 0.0581509 uwb: 0.0 1260.48 1534.05 -imu_odom_: 1691062901.454296585 0.562637 -0.0526724 10.2472 -0.0575243 0.0106526 0.0458064 0.23 0 pose: 0.0 -5.29826 -3.72371 0 0.00361579 0.00239489 0.998298 0.0581509 uwb: 0.0 1260.48 1534.05 -imu_odom_: 1691062901.481282930 0.134075 -0.0766145 10.0628 -0.0607201 0.0127832 0.0458064 0.23 -0.02 pose: 0.70066503 -5.31408 -3.71722 0 0.00422034 0.00511827 0.998289 0.0580932 uwb: 0.0 1260.48 1534.05 -imu_odom_: 1691062901.506169106 0.445322 -0.0502782 9.67018 -0.0916127 -0.0149137 0.0628506 0.23 -0.02 pose: 0.6943012 -5.31676 -3.71612 0 0.00347265 0.0052061 0.998293 0.0580755 uwb: 0.100008426 1258.49 1535.91 -imu_odom_: 1691062901.523284859 0.833182 -0.296881 9.82102 -0.092678 0.0500674 0.0500674 0.21 -0.02 pose: 0.0 -5.31676 -3.71612 0 0.00347265 0.0052061 0.998293 0.0580755 uwb: 0.0 1258.49 1535.91 -imu_odom_: 1691062901.539195224 0.19393 -0.304064 9.84496 -0.0553937 0.00639159 0.0266316 0.21 -0.02 pose: 0.51921810 -5.32602 -3.71234 0 0.00285658 0.00675582 0.998308 0.0576899 uwb: 0.50126706 1261.19 1535.51 -imu_odom_: 1691062901.566252440 0.287304 -0.136469 10.149 -0.0458064 -0.0287621 0.0394148 0.25 0 pose: 0.0 -5.32602 -3.71234 0 0.00285658 0.00675582 0.998308 0.0576899 uwb: 0.0 1261.19 1535.51 -imu_odom_: 1691062901.591133366 0.567426 -0.304064 10.0437 -0.0553937 -0.00426106 0.0447411 0.25 0 pose: 0.33988854 -5.3298 -3.72159 0 0.0013331 0.00506161 0.998318 0.0577406 uwb: 0.49858679 1258.38 1538.07 -imu_odom_: 1691062901.618108045 0.433351 0.0263362 9.64145 -0.0436758 -0.00319579 0.0383495 0.21 -0.02 pose: 0.43983105 -5.33906 -3.71781 0 0.00127846 0.00300972 0.99833 0.0576816 uwb: 0.0 1258.38 1538.07 -imu_odom_: 1691062901.644144487 0.282516 -0.272939 9.53371 -0.0628506 0.0340885 0.0340885 0.19 -0.02 pose: 0.7018258 -5.33906 -3.71781 0 0.00135297 0.00374889 0.998327 0.0576864 uwb: 0.49998964 1257.9 1539.47 -imu_odom_: 1691062901.668242042 0.529119 -0.371101 9.67736 -0.0585895 0.0298274 0.0511327 0.25 0 pose: 0.45992863 -5.34831 -3.71403 0 -0.0007325880.00389318 0.998322 0.0577765 uwb: 0.0 1257.9 1539.47 -imu_odom_: 1691062901.692112694 0.56982 -0.191536 9.55765 -0.0458064 0.0383495 0.0415453 0.25 0 pose: 0.0 -5.34831 -3.71403 0 -0.0007325880.00389318 0.998322 0.0577765 uwb: 0.50043002 1257.3 1540.64 -imu_odom_: 1691062901.708221381 0.141258 -0.462081 10.3669 -0.0394148 0.0117179 0.0415453 0.18 0.02 pose: 0.31048442 -5.35757 -3.71025 0 0.000563395 0.00172292 0.998337 0.057625 uwb: 0.0 1257.3 1540.64 -imu_odom_: 1691062901.735273055 0.64404 -0.263362 10.2807 -0.056459 -0.0383495 0.0500674 0.18 0.02 pose: 0.0 -5.35757 -3.71025 0 0.000563395 0.00172292 0.998337 0.057625 uwb: 0.0 1257.3 1540.64 -imu_odom_: 1691062901.760121316 0.363919 -0.289698 10.0126 -0.0532632 -0.00106526 0.0415453 0.25 0 pose: 0.41220308 -5.35757 -3.71025 0 0.00145364 0.000445128 0.998342 0.0575452 uwb: 0.49950841 1258.54 1540.81 -imu_odom_: 1691062901.785269977 0.56982 0.122104 10.0963 -0.0394148 -0.0415453 0.0394148 0.21 0 pose: 0.43708079 -5.37061 -3.71573 0 0.0013953 -0.00145036 0.998348 0.0574156 uwb: 0.0 1258.54 1540.81 -imu_odom_: 1691062901.799120420 0.1652 -0.201113 9.82102 -0.0458064 0.00426106 0.0351537 0.21 0 pose: 0.0 -5.37061 -3.71573 0 0.0013953 -0.00145036 0.998348 0.0574156 uwb: 0.49987297 1261.8 1540.33 -imu_odom_: 1691062901.824185961 0.172383 -0.253785 9.57441 -0.0607201 0 0.0415453 0.17 0 pose: 0.7068422 -5.37061 -3.71573 0 0.00181711 -0.0007554580.998348 0.0574172 uwb: 0.0 1261.8 1540.33 -imu_odom_: 1691062901.849156131 0.356736 -0.0263362 10.2663 -0.0788296 0.0191748 0.0543285 0.17 0 pose: 0.0 -5.37061 -3.71573 0 0.00181711 -0.0007554580.998348 0.0574172 uwb: 0.49995464 1260.73 1541.74 -imu_odom_: 1691062901.872184207 0.538695 -0.234632 10.1083 -0.0713727 0.00532632 0.0415453 0.2 0 pose: 0.38979855 -5.37987 -3.71195 0 0.000745329 0.000982376 0.998348 0.057447 uwb: 0.0 1260.73 1541.74 -imu_odom_: 1691062901.888107988 0.141258 -0.457293 9.71806 -0.052198 0.0383495 0.0330232 0.2 0 pose: 0.0 -5.37987 -3.71195 0 0.000745329 0.000982376 0.998348 0.057447 uwb: 0.49982922 1258.24 1543.84 -imu_odom_: 1691062901.915166370 0.505177 -0.215478 10.2592 -0.0468716 -0.0394148 0.0458064 0.25 -0.02 pose: 0.48996272 -5.38913 -3.70817 0 -0.00106761 0.00251359 0.998357 0.0572367 uwb: 0.0 1258.24 1543.84 -imu_odom_: 1691062901.931156064 0.11971 0.136469 9.59835 -0.0649811 -0.0170442 0.0585895 0.25 -0.02 pose: 0.0 -5.38913 -3.70817 0 -0.00106761 0.00251359 0.998357 0.0572367 uwb: 0.0 1258.24 1543.84 -imu_odom_: 1691062901.958111494 0.186748 -0.287304 9.3326 -0.0628506 -0.0170442 0.0308927 0.25 0 pose: 0.40946157 -5.39839 -3.7044 0 -0.0002170620.00048844 0.99836 0.0572447 uwb: 0.50140413 1258.69 1544.79 -imu_odom_: 1691062901.984222307 -0.0191536 -0.395043 10.07 -0.04048 -0.0138484 0.0532632 0.25 0 pose: 0.0 -5.39839 -3.7044 0 -0.0002170620.00048844 0.99836 0.0572447 uwb: 0.0 1258.69 1544.79 -imu_odom_: 1691062902.11165196 0.445322 -0.203507 9.663 -0.0511327 -0.0234358 0.0458064 0.25 0.02 pose: 0.43090949 -5.40216 -3.71366 0 0.000373545 0.00111279 0.998369 0.0570719 uwb: 0.49891928 1257.2 1546.58 -imu_odom_: 1691062902.36102995 0.792481 -0.351948 10.1155 -0.0575243 -0.0234358 0.0585895 0.25 0.02 pose: 0.0 -5.40216 -3.71366 0 0.000373545 0.00111279 0.998369 0.0570719 uwb: 0.49964257 1253.18 1549.13 -imu_odom_: 1691062902.53160418 0.440533 -0.196325 9.58878 -0.0671117 0.00532632 0.0436758 0.23 -0.02 pose: 0.51934933 -5.41142 -3.70989 0 -0.0028274 -0.00028501 0.998373 0.0569584 uwb: 0.0 1253.18 1549.13 -imu_odom_: 1691062902.79212318 0.471658 -0.459687 9.64384 -0.0671117 0.0330232 0.0468716 0.23 -0.02 pose: 0.0 -5.41142 -3.70989 0 -0.0028274 -0.00028501 0.998373 0.0569584 uwb: 0.0 1253.18 1549.13 -imu_odom_: 1691062902.105191597 0.718261 -0.136469 9.91439 -0.0617853 0.0127832 0.0372843 0.18 0 pose: 0.51995015 -5.42069 -3.70612 0 0.00191267 -0.0002794690.998392 0.0566471 uwb: 0.50095209 1252.55 1550.3 -imu_odom_: 1691062902.130112479 0.603339 -0.42138 9.98143 -0.072438 -0.00639159 0.0511327 0.2 0 pose: 0.62058678 -5.42995 -3.70236 0 0.00384212 -0.00127288 0.998391 0.0565651 uwb: 0.0 1252.55 1550.3 -imu_odom_: 1691062902.157158613 0.497994 -0.0263362 9.61511 -0.0628506 -0.00213053 0.0394148 0.2 0 pose: 0.0 -5.42995 -3.70236 0 0.00384212 -0.00127288 0.998391 0.0565651 uwb: 0.0 1252.55 1550.3 -imu_odom_: 1691062902.182227070 0.696713 -0.208296 9.67497 -0.0639159 -0.0394148 0.0415453 0.19 0 pose: 0.5909989 -5.42995 -3.70236 0 0.00414371 -0.00183477 0.998391 0.0565295 uwb: 0.0 1252.55 1550.3 -imu_odom_: 1691062902.209099089 0.787692 -0.308852 9.60314 -0.0639159 -0.00852212 0.0266316 0.19 0 pose: 0.0 -5.42995 -3.70236 0 0.00414371 -0.00183477 0.998391 0.0565295 uwb: 0.100089797 1253.44 1550.98 -imu_odom_: 1691062902.234254749 0.56982 -0.608127 9.53132 -0.0607201 0.0276969 0.0447411 0.18 -0.02 pose: 0.54262882 -5.45224 -3.7041 0 0.00612916 -0.00104021 0.998387 0.056425 uwb: 0.0 1253.44 1550.98 -imu_odom_: 1691062902.251348045 0.196325 -0.385466 10.2185 -0.0276969 0.00745685 0.0351537 0.18 -0.02 pose: 0.0 -5.45224 -3.7041 0 0.00612916 -0.00104021 0.998387 0.056425 uwb: 0.49963674 1250.98 1553.24 -imu_odom_: 1691062902.277303409 0.61531 -0.198719 9.36612 -0.0458064 0.0287621 0.0490022 0.18 0.02 pose: 0.51817108 -5.46151 -3.70035 0 0.0103732 -0.00303018 0.998341 0.056548 uwb: 0.0 1250.98 1553.24 -imu_odom_: 1691062902.304124681 0.397437 0.0263362 10.1227 -0.0490022 -0.015979 0.0436758 0.23 -0.05 pose: 0.42115382 -5.46151 -3.70035 0 0.00838286 -0.00406347 0.99836 0.0564829 uwb: 0.50005964 1246.02 1556.46 -imu_odom_: 1691062902.329169806 0.426168 -0.399832 9.99579 -0.0639159 0.00319579 0.0458064 0.17 -0.02 pose: 0.25018001 -5.47078 -3.69659 0 0.00879548 -0.00185794 0.998367 0.0564057 uwb: 0.0 1246.02 1556.46 -imu_odom_: 1691062902.346120194 0.61531 -0.433351 10.0365 -0.0426106 0.0127832 0.04048 0.17 -0.02 pose: 0.0 -5.47078 -3.69659 0 0.00879548 -0.00185794 0.998367 0.0564057 uwb: 0.49992256 1245.48 1557.88 -imu_odom_: 1691062902.363144661 0.184354 -0.0047884 9.56723 -0.0671117 0 0.0447411 0.23 0 pose: 0.27870919 -5.47453 -3.70585 0 0.00736623 -0.0007701010.998384 0.0563482 uwb: 0.0 1245.48 1557.88 -imu_odom_: 1691062902.390094842 0.0167594 -0.433351 9.79947 -0.0639159 -0.00426106 0.0458064 0.23 0 pose: 0.0 -5.47453 -3.70585 0 0.00736623 -0.0007701010.998384 0.0563482 uwb: 0.49982340 1245.31 1558.83 -imu_odom_: 1691062902.406125367 0.667982 -0.0909797 10.0892 -0.0617853 -0.0649811 0.0319579 0.26 0 pose: 0.42057343 -5.4838 -3.7021 0 0.00611781 -0.00314975 0.998393 0.0562499 uwb: 0.0 1245.31 1558.83 -imu_odom_: 1691062902.433134753 1.14203 -0.299275 9.74679 -0.0447411 0.0149137 0.0351537 0.26 0 pose: 0.0 -5.4838 -3.7021 0 0.00611781 -0.00314975 0.998393 0.0562499 uwb: 0.0 1245.31 1558.83 -imu_odom_: 1691062902.458130881 0.665588 -0.150835 10.0796 -0.0436758 0.0340885 0.0330232 0.23 0 pose: 0.16020026 -5.4838 -3.7021 0 0.00473796 -0.00284564 0.998404 0.0562045 uwb: 0.49986131 1242.84 1561.16 -imu_odom_: 1691062902.475128224 0.646434 -0.280122 10.1035 -0.0532632 -0.0191748 0.04048 0.23 0 pose: 0.0 -5.4838 -3.7021 0 0.00473796 -0.00284564 0.998404 0.0562045 uwb: 0.0 1242.84 1561.16 -imu_odom_: 1691062902.500130477 0.371101 -0.378284 9.52653 -0.0660464 -0.0340885 0.0372843 0.18 0 pose: 0.42881545 -5.49307 -3.69834 0 0.00518015 -0.00258044 0.998402 0.0562189 uwb: 0.49994589 1240.75 1563.08 -imu_odom_: 1691062902.527187402 0.220267 -0.435745 9.76116 -0.0383495 -0.00745685 0.0447411 0.23 0 pose: 0.69939928 -5.50234 -3.69459 0 0.00929202 -0.00247305 0.998365 0.0563517 uwb: 0.0 1240.75 1563.08 -imu_odom_: 1691062902.552086994 0.390255 -0.117316 9.991 -0.0500674 0.036219 0.0415453 0.18 -0.02 pose: 0.0 -5.50234 -3.69459 0 0.00929202 -0.00247305 0.998365 0.0563517 uwb: 0.49887845 1240.99 1563.64 -imu_odom_: 1691062902.579206915 0.339977 -0.189142 9.55526 -0.0745685 -0.00426106 0.052198 0.23 0 pose: 0.52062677 -5.51536 -3.7001 0 0.00500257 -0.0035023 0.998397 0.0562683 uwb: 0.0 1240.99 1563.64 -imu_odom_: 1691062902.604068300 0.0622492 -0.177171 9.89524 -0.052198 0.0447411 0.0340885 0.23 0 pose: 0.0 -5.51536 -3.7001 0 0.00500257 -0.0035023 0.998397 0.0562683 uwb: 0.49994590 1237.36 1566.05 -imu_odom_: 1691062902.621199803 0.73502 0.107739 10.5465 -0.0639159 -0.0692422 0.0436758 0.23 0 pose: 0.23950272 -5.52463 -3.69634 0 0.00310751 -0.0017678 0.998412 0.0562135 uwb: 0.0 1237.36 1566.05 -imu_odom_: 1691062902.647063880 0.555455 0.150835 10.2472 -0.04048 -0.0276969 0.0351537 0.23 0 pose: 0.52069093 -5.5339 -3.69259 0 -0.000955505-5.74712e-050.998422 0.0561393 uwb: 0.50028420 1240.09 1565.61 -imu_odom_: 1691062902.664068224 0.433351 -0.258574 9.59835 -0.0798948 -0.0607201 0.052198 0.25 0 pose: 0.0 -5.5339 -3.69259 0 -0.000955505-5.74712e-050.998422 0.0561393 uwb: 0.0 1240.09 1565.61 -imu_odom_: 1691062902.689061727 0.476446 -0.392649 9.38527 -0.0628506 0.00852212 0.036219 0.25 0 pose: 0.42902835 -5.54317 -3.68884 0 0.00177478 0.00221464 0.998419 0.0561302 uwb: 0.49959008 1243.38 1565.1 -imu_odom_: 1691062902.716101444 0.553061 -0.351948 9.93594 -0.0596548 -0.02024 0.0436758 0.23 0 pose: 0.34992130 -5.54581 -3.69536 0 0.00217568 -0.00149064 0.998421 0.0561034 uwb: 0.0 1243.38 1565.1 -imu_odom_: 1691062902.741267312 0.35913 -0.21069 10.0748 -0.0490022 -0.0276969 0.0500674 0.23 0 pose: 0.7106336 -5.54692 -3.69811 0 0.00269296 -0.00204945 0.99842 0.0560882 uwb: 0.49995756 1242.68 1566.19 -imu_odom_: 1691062902.768173746 0.778116 -0.0574608 9.73722 -0.0575243 -0.0170442 0.0351537 0.23 0 pose: 0.45099249 -5.55619 -3.69435 0 0.00230258 -0.0022247 0.998431 0.0559107 uwb: 0.0 1242.68 1566.19 -imu_odom_: 1691062902.794052405 0.275333 -0.409408 9.40921 -0.056459 0.0458064 0.0447411 0.2 0.02 pose: 0.0 -5.55619 -3.69435 0 0.00230258 -0.0022247 0.998431 0.0559107 uwb: 0.50110957 1243.33 1567.72 -imu_odom_: 1691062902.811198199 0.471658 -0.25618 10.0987 -0.0553937 -0.0468716 0.0479369 0.25 0.02 pose: 0.52785093 -5.56546 -3.6906 0 0.00212274 -0.00252116 0.998431 0.0559023 uwb: 0.0 1243.33 1567.72 -imu_odom_: 1691062902.837043902 0.344765 -0.0646434 10.0652 -0.0511327 -0.0266316 0.0511327 0.25 0.02 pose: 0.0 -5.56546 -3.6906 0 0.00212274 -0.00252116 0.998431 0.0559023 uwb: 0.49876763 1241.7 1569.39 -imu_odom_: 1691062902.864058829 0.529119 0.160412 10.1179 -0.0415453 -0.0191748 0.0415453 0.18 0 pose: 0.25037251 -5.57473 -3.68686 0 0.00381277 -0.00152332 0.998434 0.0557908 uwb: 0.0 1241.7 1569.39 -imu_odom_: 1691062902.889104246 0.521936 -0.0814029 10.252 -0.0596548 0.00106526 0.0426106 0.18 0.02 pose: 0.44969173 -5.58124 -3.68423 0 0.00384061 0.00279791 0.998438 0.0556714 uwb: 0.50012963 1236.48 1572.29 -imu_odom_: 1691062902.916113340 0.138864 -0.0574608 9.88566 -0.0553937 0.0106526 0.0426106 0.18 0.02 pose: 0.0 -5.58124 -3.68423 0 0.00384061 0.00279791 0.998438 0.0556714 uwb: 0.0 1236.48 1572.29 -imu_odom_: 1691062902.933138974 0.605733 -0.217872 9.84735 -0.0692422 -0.00426106 0.0500674 0.18 0.02 pose: 0.8028533 -5.58401 -3.68311 0 0.00427585 0.00344321 0.998435 0.0556603 uwb: 0.0 1236.48 1572.29 -imu_odom_: 1691062902.959180374 0.380678 -0.117316 9.66539 -0.0585895 0.00106526 0.0266316 0.18 0.02 pose: 0.0 -5.58401 -3.68311 0 0.00427585 0.00344321 0.998435 0.0556603 uwb: 0.50042128 1235.41 1573.97 -imu_odom_: 1691062902.983161853 0.397437 -0.0814029 10.0868 -0.0681769 -0.036219 0.0436758 0.2 0 pose: 0.52124215 -5.58775 -3.69238 0 0.00299713 0.0048482 0.998439 0.055564 uwb: 0.0 1235.41 1573.97 -imu_odom_: 1691062903.10171531 0.68953 -0.186748 10.0054 -0.0735032 -0.0490022 0.0490022 0.2 0 pose: 0.0 -5.58775 -3.69238 0 0.00299713 0.0048482 0.998439 0.055564 uwb: 0.0 1235.41 1573.97 -imu_odom_: 1691062903.35039041 0.21069 -0.426168 9.87608 -0.0511327 0.00958738 0.0298274 0.19 0 pose: 0.42030220 -5.59702 -3.68864 0 0.000868509 0.00529262 0.998434 0.0556816 uwb: 0.0 1235.41 1573.97 -imu_odom_: 1691062903.62093925 0.859518 -0.19393 9.77074 -0.0575243 -0.0479369 0.0490022 0.23 0.02 pose: 0.51890020 -5.6063 -3.6849 0 0.00286354 0.00476599 0.99844 0.0555527 uwb: 0.99798731 1232.16 1576.05 -imu_odom_: 1691062903.79146974 0.814029 -0.131681 10.161 -0.0468716 -0.0308927 0.0426106 0.23 0.02 pose: 0.0 -5.6063 -3.6849 0 0.00286354 0.00476599 0.99844 0.0555527 uwb: 0.0 1232.16 1576.05 -imu_odom_: 1691062903.104067565 0.581791 -0.213084 10.2615 -0.056459 0.04048 0.0490022 0.25 0 pose: 0.23934232 -5.61557 -3.68115 0 0.00247062 0.00340969 0.998444 0.0556012 uwb: 0.50007131 1231.47 1577.24 -imu_odom_: 1691062903.127105849 0.474052 -0.126893 10.0245 -0.0575243 0.0234358 0.0426106 0.25 0 pose: 0.37080925 -5.61766 -3.68635 0 0.00681929 0.00307937 0.998432 0.0554694 uwb: 0.0 1231.47 1577.24 -imu_odom_: 1691062903.152176056 0.459687 -0.0861913 9.90721 -0.0585895 0.0234358 0.0490022 0.19 0 pose: 0.7099337 -5.61931 -3.69043 0 0.00701068 0.00246586 0.998435 0.0554303 uwb: 0.49989340 1236.94 1576.29 -imu_odom_: 1691062903.169171067 0.246603 -0.244209 9.7851 -0.0628506 -0.00639159 0.0447411 0.19 0 pose: 0.0 -5.61931 -3.69043 0 0.00701068 0.00246586 0.998435 0.0554303 uwb: 0.0 1236.94 1576.29 -imu_odom_: 1691062903.194116156 0.596156 -0.107739 10.3765 -0.0660464 0.0234358 0.0543285 0.2 0 pose: 0.48943192 -5.62858 -3.68669 0 0.00494771 0.00315598 0.998454 0.055277 uwb: 0.49981757 1236.33 1577.66 -imu_odom_: 1691062903.220094853 0.641646 -0.493206 10.0006 -0.0756338 0.0138484 0.0426106 0.2 0 pose: 0.0 -5.62858 -3.68669 0 0.00494771 0.00315598 0.998454 0.055277 uwb: 0.0 1236.33 1577.66 -imu_odom_: 1691062903.242066865 0.995988 -0.186748 10.058 -0.0671117 -0.0117179 0.0394148 0.17 0 pose: 0.42097300 -5.63786 -3.68295 0 0.00304959 0.00388806 0.998468 0.0551048 uwb: 0.50033088 1234.66 1579.35 -imu_odom_: 1691062903.260304595 0.177171 -0.263362 9.77074 -0.0639159 0.0415453 0.0372843 0.17 0 pose: 0.0 -5.63786 -3.68295 0 0.00304959 0.00388806 0.998468 0.0551048 uwb: 0.0 1234.66 1579.35 -imu_odom_: 1691062903.286032764 0.588974 -0.459687 9.55287 -0.0660464 0.0117179 0.0298274 0.19 0.02 pose: 0.48790368 -5.64714 -3.67922 0 0.00573966 0.00123892 0.998473 0.05492 uwb: 0.50135748 1234.51 1580.42 -imu_odom_: 1691062903.303170975 0.457293 -0.134075 10.0724 -0.0500674 -0.00213053 0.0276969 0.19 0.02 pose: 0.0 -5.64714 -3.67922 0 0.00573966 0.00123892 0.998473 0.05492 uwb: 0.0 1234.51 1580.42 -imu_odom_: 1691062903.328171770 0.215478 -0.244209 10.0533 -0.0266316 0.00213053 0.036219 0.18 -0.02 pose: 0.77093804 -5.66532 -3.68268 0 0.00490149 -0.0002946690.998465 0.0551616 uwb: 0.0 1234.51 1580.42 -imu_odom_: 1691062903.352175122 0.823605 -0.181959 9.80426 -0.052198 0.00319579 0.0436758 0.18 -0.02 pose: 0.7912456 -5.66941 -3.68099 0 0.00409088 -0.0002165460.998468 0.0551742 uwb: 0.49966300 1235.33 1581 -imu_odom_: 1691062903.376040525 0.399832 -0.174777 9.83059 -0.0394148 0.00852212 0.0458064 0.18 0.02 pose: 0.41091691 -5.66941 -3.68099 0 0.00465306 6.09351e-05 0.998467 0.0551517 uwb: 0.0 1235.33 1581 -imu_odom_: 1691062903.401039278 0.572214 0.251391 10.1323 -0.0340885 0.00426106 0.0479369 0.18 0.02 pose: 0.0 -5.66941 -3.68099 0 0.00465306 6.09351e-05 0.998467 0.0551517 uwb: 0.0 1235.33 1581 -imu_odom_: 1691062903.425052255 0.184354 -0.011971 10.07 -0.0447411 -0.00319579 0.0394148 0.23 -0.02 pose: 0.48864156 -5.67864 -3.67716 0 0.00303392 0.00382914 0.998475 0.0549805 uwb: 0.0 1235.33 1581 -imu_odom_: 1691062903.440035758 0.186748 -0.311246 9.18895 -0.072438 -0.00745685 0.0447411 0.23 -0.02 pose: 0.0 -5.67864 -3.67716 0 0.00303392 0.00382914 0.998475 0.0549805 uwb: 0.99869020 1233.15 1582.92 -imu_odom_: 1691062903.465180919 0.0454898 -0.435745 9.76595 -0.0596548 -0.0415453 0.0458064 0.18 0 pose: 0.38996480 -5.68792 -3.67343 0 -0.0002934080.00403565 0.99848 0.0549606 uwb: 0.0 1233.15 1582.92 -imu_odom_: 1691062903.482142682 1.01275 -0.138864 9.96946 -0.0713727 -0.0500674 0.0340885 0.18 0 pose: 0.7180124 -5.68792 -3.67343 0 -0.0007303240.00357566 0.998483 0.0549414 uwb: 0.0 1233.15 1582.92 -imu_odom_: 1691062903.507092438 0.667982 -0.354342 9.80426 -0.0468716 0.0479369 0.04048 0.2 -0.02 pose: 0.34926800 -5.69681 -3.68063 0 0.000255394 0.00225324 0.998487 0.0549362 uwb: 0.50103375 1237.06 1582.35 -imu_odom_: 1691062903.531133122 0.138864 -0.0766145 9.97664 -0.036219 0.036219 0.0383495 0.2 -0.02 pose: 0.0 -5.69681 -3.68063 0 0.000255394 0.00225324 0.998487 0.0549362 uwb: 0.0 1237.06 1582.35 -imu_odom_: 1691062903.554103743 0.497994 -0.306458 9.62948 -0.0500674 -0.0127832 0.0468716 0.18 0 pose: 0.7893207 -5.70093 -3.67898 0 0.000673338 0.00180993 0.998488 0.0549307 uwb: 0.50038629 1235.88 1583.82 -imu_odom_: 1691062903.580046566 0.347159 0.0191536 10.2256 -0.0426106 0.0223706 0.0330232 0.18 -0.02 pose: 0.48035871 -5.71021 -3.67525 0 -0.0006084220.00160959 0.99849 0.0549107 uwb: 0.0 1235.88 1583.82 -imu_odom_: 1691062903.604068293 0.45011 -0.0095768110.2855 -0.0490022 0.0117179 0.0394148 0.18 -0.02 pose: 0.0 -5.71021 -3.67525 0 -0.0006084220.00160959 0.99849 0.0549107 uwb: 0.50120874 1240.37 1583.18 -imu_odom_: 1691062903.619051796 0.0383072 -0.366313 9.54089 -0.0543285 -0.00106526 0.0479369 0.18 -0.02 pose: 0.0 -5.71021 -3.67525 0 -0.0006084220.00160959 0.99849 0.0549107 uwb: 0.0 1240.37 1583.18 -imu_odom_: 1691062903.635085529 0.684742 -0.160412 10.58 -0.0532632 -0.00745685 0.0511327 0.19 0 pose: 0.73008375 -5.71949 -3.67152 0 -0.0002000280.00499755 0.998479 0.0549082 uwb: 0.0 1240.37 1583.18 -imu_odom_: 1691062903.660156611 0.835576 -0.244209 9.76834 -0.0745685 -0.0223706 0.0458064 0.19 0 pose: 0.0 -5.71949 -3.67152 0 -0.0002000280.00499755 0.998479 0.0549082 uwb: 0.49861306 1239.88 1584.88 -imu_odom_: 1691062903.685280774 0.368707 -0.241814 9.87369 -0.0532632 0.056459 0.0415453 0.25 0 pose: 0.31142062 -5.72877 -3.66779 0 0.00145197 0.00400943 0.998491 0.0547543 uwb: 0.50005380 1246.47 1583.56 -imu_odom_: 1691062903.710080913 0.581791 -0.0861913 9.78031 -0.0490022 0.0234358 0.0330232 0.2 0 pose: 0.0 -5.72877 -3.66779 0 0.00145197 0.00400943 0.998491 0.0547543 uwb: 0.0 1246.47 1583.56 -imu_odom_: 1691062903.733024995 0.114922 -0.148441 9.663 -0.0639159 -0.00426106 0.0500674 0.2 0 pose: 0.43058577 -5.73925 -3.67435 0 0.000669904 0.00166972 0.998503 0.0546653 uwb: 0.0 1246.47 1583.56 -imu_odom_: 1691062903.751137607 0.787692 -0.577003 9.70609 -0.0777643 -0.02024 0.0436758 0.2 0 pose: 0.0 -5.73925 -3.67435 0 0.000669904 0.00166972 0.998503 0.0546653 uwb: 0.50044462 1244.28 1585.5 -imu_odom_: 1691062903.776023492 0.648829 -0.270545 10.3908 -0.052198 -0.00426106 0.0383495 0.18 -0.02 pose: 0.6828394 -5.74177 -3.67334 0 0.00118756 0.00200191 0.998501 0.0546866 uwb: 0.0 1244.28 1585.5 -imu_odom_: 1691062903.802020270 0.73502 -0.215478 9.71088 -0.0607201 -0.00213053 0.0479369 0.22 0 pose: 0.48945234 -5.74177 -3.67334 0 0.000822639 0.00224762 0.998505 0.0546121 uwb: 0.50059628 1237.9 1588.88 -imu_odom_: 1691062903.828050005 0.42138 -0.232238 9.65582 -0.0628506 0 0.0447411 0.22 0 pose: 0.0 -5.74177 -3.67334 0 0.000822639 0.00224762 0.998505 0.0546121 uwb: 0.0 1237.9 1588.88 -imu_odom_: 1691062903.852984303 0.61531 -0.0287304 9.91918 -0.04048 0.0308927 0.0351537 0.23 -0.02 pose: 0.42012138 -5.75105 -3.66962 0 0.00449458 0.000258532 0.9985 0.05457 uwb: 0.49878221 1236.73 1590.44 -imu_odom_: 1691062903.867139521 0.174777 -0.442927 9.70131 -0.0468716 -0.0138484 0.0479369 0.23 -0.02 pose: 0.0 -5.75105 -3.66962 0 0.00449458 0.000258532 0.9985 0.05457 uwb: 0.0 1236.73 1590.44 -imu_odom_: 1691062903.892014323 0.287304 -0.471658 9.38766 -0.0553937 0.00213053 0.0490022 0.18 0 pose: 0.51993265 -5.76033 -3.66589 0 0.00405432 6.35023e-05 0.998509 0.0544381 uwb: 0.50016172 1239.08 1590.32 -imu_odom_: 1691062903.916098754 0.486023 -0.349553 9.9527 -0.0660464 -0.015979 0.0500674 0.18 0 pose: 0.0 -5.76033 -3.66589 0 0.00405432 6.35023e-05 0.998509 0.0544381 uwb: 0.0 1239.08 1590.32 -imu_odom_: 1691062903.931137962 0.430956 -0.45011 9.65582 -0.0543285 -0.0127832 0.0426106 0.18 0.02 pose: 0.39005521 -5.77334 -3.67145 0 0.00336386 0.000272251 0.998514 0.0543874 uwb: 0.0 1239.08 1590.32 -imu_odom_: 1691062903.947084201 0.0957681 -0.189142 9.69652 -0.0479369 0.0170442 0.0372843 0.18 0.02 pose: 0.0 -5.77334 -3.67145 0 0.00336386 0.000272251 0.998514 0.0543874 uwb: 0.49966883 1236.43 1592.68 -imu_odom_: 1691062903.964136958 0.545878 -0.213084 10.2687 -0.0628506 -0.0575243 0.0511327 0.18 0.02 pose: 0.0 -5.77334 -3.67145 0 0.00336386 0.000272251 0.998514 0.0543874 uwb: 0.0 1236.43 1592.68 -imu_odom_: 1691062903.990138986 0.490811 -0.0957681 10.343 -0.0681769 0.015979 0.0532632 0.18 0 pose: 0.49090768 -5.78262 -3.66773 0 0.00284976 -0.00430387 0.998519 0.0541541 uwb: 0.49994882 1240.88 1591.8 -imu_odom_: 1691062904.15018163 0.823605 -0.196325 10.1682 -0.0692422 -0.0149137 0.036219 0.18 0 pose: 0.66982892 -5.7919 -3.66402 0 0.00309947 -0.00114228 0.998541 0.0538921 uwb: 0.0 1240.88 1591.8 -imu_odom_: 1691062904.39057097 1.01514 -0.0430956 10.1442 -0.0426106 -0.0170442 0.0372843 0.18 0 pose: 0.0 -5.7919 -3.66402 0 0.00309947 -0.00114228 0.998541 0.0538921 uwb: 0.50068669 1238.07 1593.77 -imu_odom_: 1691062904.56039567 0.577003 -0.344765 9.54089 -0.0681769 -0.0127832 0.0458064 0.27 0.02 pose: 0.7916248 -5.7919 -3.66402 0 0.0039303 -0.00115832 0.998538 0.0539064 uwb: 0.0 1238.07 1593.77 -imu_odom_: 1691062904.81090235 0.667982 -0.354342 9.84735 -0.0713727 -0.0276969 0.0468716 0.27 0.02 pose: 0.0 -5.7919 -3.66402 0 0.0039303 -0.00115832 0.998538 0.0539064 uwb: 0.0 1238.07 1593.77 -imu_odom_: 1691062904.107974212 0.821211 -0.174777 10.1083 -0.0479369 -0.00852212 0.04048 0.21 0.02 pose: 0.48017497 -5.80119 -3.66031 0 0.00825618 -0.00105954 0.998509 0.0539423 uwb: 0.0 1238.07 1593.77 -imu_odom_: 1691062904.133044711 0.675165 -0.385466 9.72525 -0.056459 0.00639159 0.0447411 0.21 0.02 pose: 0.0 -5.80119 -3.66031 0 0.00825618 -0.00105954 0.998509 0.0539423 uwb: 0.0 1238.07 1593.77 -imu_odom_: 1691062904.157980468 0.679953 -0.0766145 9.62948 -0.052198 -0.00319579 0.0415453 0.22 0 pose: 0.42009222 -5.81419 -3.66588 0 0.0109221 -0.00393584 0.998484 0.0538016 uwb: 0.99936684 1237.42 1595.17 -imu_odom_: 1691062904.172041191 0.691924 -0.172383 10.0245 -0.0596548 0.0287621 0.0532632 0.22 0 pose: 0.0 -5.81419 -3.66588 0 0.0109221 -0.00393584 0.998484 0.0538016 uwb: 0.0 1237.42 1595.17 -imu_odom_: 1691062904.195997006 0.339977 -0.0814029 9.91439 -0.056459 0.0255663 0.0426106 0.18 0 pose: 0.52049845 -5.82347 -3.66217 0 0.0130735 -0.00478748 0.998459 0.0537144 uwb: 0.50020839 1240.94 1594.92 -imu_odom_: 1691062904.223011058 0.268151 -0.442927 9.79468 -0.0607201 0.015979 0.0468716 0.18 0 pose: 0.0 -5.82347 -3.66217 0 0.0130735 -0.00478748 0.998459 0.0537144 uwb: 0.0 1240.94 1594.92 -imu_odom_: 1691062904.238995212 0.368707 -0.23942 10.0269 -0.0596548 -0.00532632 0.04048 0.18 0 pose: 0.38909569 -5.83276 -3.65846 0 0.0128025 -0.00134033 0.998477 0.0536387 uwb: 0.49988466 1242.81 1595.04 -imu_odom_: 1691062904.264973616 0.454898 -0.347159 9.56005 -0.0713727 0.0234358 0.056459 0.18 0 pose: 0.0 -5.83276 -3.65846 0 0.0128025 -0.00134033 0.998477 0.0536387 uwb: 0.0 1242.81 1595.04 -imu_odom_: 1691062904.290108862 0.423774 -0.208296 9.76834 -0.0575243 0.0447411 0.0415453 0.2 0 pose: 0.52123634 -5.83276 -3.65846 0 0.00762672 -0.00191813 0.998537 0.053506 uwb: 0.0 1242.81 1595.04 -imu_odom_: 1691062904.307123413 0.545878 -0.217872 10.1131 -0.0617853 -0.0138484 0.0372843 0.2 0 pose: 0.0 -5.83276 -3.65846 0 0.00762672 -0.00191813 0.998537 0.053506 uwb: 0.0 1242.81 1595.04 -imu_odom_: 1691062904.332039922 0.37589 -0.395043 9.59357 -0.0596548 -0.0447411 0.0394148 0.18 -0.02 pose: 0.75958412 -5.85506 -3.66013 0 0.00422467 -0.00163284 0.99857 0.0532737 uwb: 0.0 1242.81 1595.04 -imu_odom_: 1691062904.355970362 0.277727 -0.560243 9.72046 -0.0340885 -0.0287621 0.0287621 0.18 -0.02 pose: 0.8064114 -5.85506 -3.66013 0 0.00388648 -0.00229126 0.99857 0.0532707 uwb: 0.100036136 1243.66 1595.63 -imu_odom_: 1691062904.380157746 0.335188 -0.0191536 10.6183 -0.0191748 -0.0106526 0.0458064 0.18 -0.02 pose: 0.40782835 -5.8616 -3.65752 0 0.00203192 -0.00533265 0.998558 0.0533802 uwb: 0.0 1243.66 1595.63 -imu_odom_: 1691062904.405077171 0.373495 0.0167594 10.5441 -0.0287621 -0.0213053 0.0415453 0.2 0 pose: 0.0 -5.8616 -3.65752 0 0.00203192 -0.00533265 0.998558 0.0533802 uwb: 0.50047671 1248.21 1594.85 -imu_odom_: 1691062904.421980312 0.126893 -0.184354 9.44273 -0.04048 0.0383495 0.052198 0.2 0 pose: 0.32090216 -5.86435 -3.65643 0 0.0013378 -0.00171478 0.998576 0.0532977 uwb: 0.0 1248.21 1594.85 -imu_odom_: 1691062904.446045495 0.572214 0.011971 10.0676 -0.0596548 -0.0447411 0.0479369 0.2 0 pose: 0.0 -5.86435 -3.65643 0 0.0013378 -0.00171478 0.998576 0.0532977 uwb: 0.49934802 1248.65 1595.91 -imu_odom_: 1691062904.464112610 0.548272 -0.42138 10.0054 -0.0330232 0.0138484 0.0447411 0.2 0 pose: 0.41925227 -5.87364 -3.65273 0 -8.98267e-050.00111845 0.998586 0.0531418 uwb: 0.0 1248.65 1595.91 -imu_odom_: 1691062904.487992012 0.545878 -0.416591 10.161 -0.0415453 0.0138484 0.0426106 0.2 0 pose: 0.0 -5.87364 -3.65273 0 -8.98267e-050.00111845 0.998586 0.0531418 uwb: 0.49842933 1249.56 1596.62 -imu_odom_: 1691062904.515007523 0.476446 -0.0933739 9.79468 -0.0639159 0.0223706 0.0511327 0.18 -0.02 pose: 0.42017096 -5.88663 -3.65832 0 0.00212273 9.9581e-05 0.998592 0.0530086 uwb: 0.0 1249.56 1596.62 -imu_odom_: 1691062904.538991919 0.292093 -0.292093 9.66539 -0.0575243 0.0351537 0.0372843 0.2 0 pose: 0.43004622 -5.89316 -3.65573 0 0.00278377 0.00129396 0.998599 0.0528332 uwb: 0.49981466 1249.47 1597.88 -imu_odom_: 1691062904.564992198 0.35913 -0.220267 10.1299 -0.0426106 0.0191748 0.0298274 0.2 0 pose: 0.0 -5.89316 -3.65573 0 0.00278377 0.00129396 0.998599 0.0528332 uwb: 0.0 1249.47 1597.88 -imu_odom_: 1691062904.586162757 0.663194 -0.260968 9.59117 -0.0543285 -0.02024 0.0436758 0.18 0 pose: 0.8036408 -5.89592 -3.65463 0 0.00192765 0.000894545 0.998601 0.0528421 uwb: 0.49992549 1244.47 1600.63 -imu_odom_: 1691062904.599093630 0.557849 -0.007182619.43555 -0.0479369 -0.0106526 0.0415453 0.18 0 pose: 0.0 -5.89592 -3.65463 0 0.00192765 0.000894545 0.998601 0.0528421 uwb: 0.0 1244.47 1600.63 -imu_odom_: 1691062904.623029028 0.600945 -0.339977 9.88566 -0.052198 -0.00213053 0.0383495 0.18 0 pose: 0.47948376 -5.90522 -3.65093 0 -0.00201358 -0.0001150870.998594 0.0529743 uwb: 0.0 1244.47 1600.63 -imu_odom_: 1691062904.649001017 0.227449 -0.162806 10.0197 -0.052198 -0.00532632 0.0394148 0.18 0 pose: 0.0 -5.90522 -3.65093 0 -0.00201358 -0.0001150870.998594 0.0529743 uwb: 0.49997215 1246.39 1600.83 -imu_odom_: 1691062904.664962713 0.35913 -0.423774 9.74679 -0.0319579 -0.0426106 0.0468716 0.18 -0.02 pose: 0.35983156 -5.90522 -3.65093 0 0.00107818 0.00014895 0.998597 0.0529356 uwb: 0.0 1246.39 1600.83 -imu_odom_: 1691062904.688966358 0.548272 -0.179565 9.7875 -0.0511327 0.00532632 0.0447411 0.18 -0.02 pose: 0.0 -5.90522 -3.65093 0 0.00107818 0.00014895 0.998597 0.0529356 uwb: 0.49995174 1247.32 1601.59 -imu_odom_: 1691062904.714966928 0.445322 -0.0814029 9.88566 -0.0660464 0 0.052198 0.25 -0.02 pose: 0.49296964 -5.9182 -3.65653 0 -0.000160079-0.00055625 0.998599 0.0529199 uwb: 0.0 1247.32 1601.59 -imu_odom_: 1691062904.731175360 0.380678 -0.208296 9.36133 -0.0490022 0.0319579 0.0415453 0.25 -0.02 pose: 0.0 -5.9182 -3.65653 0 -0.000160079-0.00055625 0.998599 0.0529199 uwb: 0.0 1247.32 1601.59 -imu_odom_: 1691062904.756036163 0.0430956 -0.347159 9.8258 -0.056459 -0.0127832 0.0436758 0.24 0 pose: 0.40764461 -5.9275 -3.65284 0 0.00199966 0.00030582 0.998604 0.0527803 uwb: 0.49995757 1247.63 1602.35 -imu_odom_: 1691062904.770028348 -0.0023942 -0.225055 9.60075 -0.0660464 -0.0117179 0.0372843 0.24 0 pose: 0.0 -5.9275 -3.65284 0 0.00199966 0.00030582 0.998604 0.0527803 uwb: 0.0 1247.63 1602.35 -imu_odom_: 1691062904.787019860 0.608127 0.0957681 10.1107 -0.0585895 -0.015979 0.0436758 0.24 0 pose: 0.0 -5.9275 -3.65284 0 0.00199966 0.00030582 0.998604 0.0527803 uwb: 0.50072169 1242.18 1605.48 -imu_odom_: 1691062904.801050251 0.112527 -0.172383 9.65582 -0.0649811 -0.036219 0.0511327 0.18 0.02 pose: 0.42006014 -5.93679 -3.64915 0 -0.0003571680.00107858 0.998613 0.0526408 uwb: 0.0 1242.18 1605.48 -imu_odom_: 1691062904.817037613 0.799663 -0.337582 10.0604 -0.0820254 -0.0330232 0.0436758 0.18 0.02 pose: 0.0 -5.93679 -3.64915 0 -0.0003571680.00107858 0.998613 0.0526408 uwb: 0.0 1242.18 1605.48 -imu_odom_: 1691062904.831007925 0.538695 -0.339977 9.67257 -0.0479369 0 0.0287621 0.18 0.02 pose: 0.0 -5.93679 -3.64915 0 -0.0003571680.00107858 0.998613 0.0526408 uwb: 0.0 1242.18 1605.48 -imu_odom_: 1691062904.845925515 0.667982 -0.0909797 10.1825 -0.0596548 0.00745685 0.0415453 0.19 0 pose: 0.53901821 -5.94609 -3.64546 0 -0.00243595 0.00161131 0.998614 0.052552 uwb: 0.49912345 1243.14 1606.36 -imu_odom_: 1691062904.863973381 0.430956 -0.502782 9.49062 -0.0532632 0.0191748 0.0394148 0.23 0 pose: 0.0 -5.94609 -3.64546 0 -0.00243595 0.00161131 0.998614 0.052552 uwb: 0.0 1243.14 1606.36 -imu_odom_: 1691062904.879979699 0.454898 -0.222661 9.9503 -0.0447411 -0.0191748 0.0479369 0.23 0 pose: 0.61039073 -5.95907 -3.65107 0 0.000773621 -0.0003347230.998619 0.0525342 uwb: 0.0 1243.14 1606.36 -imu_odom_: 1691062904.897976235 0.339977 -0.201113 9.7037 -0.0639159 0 0.0426106 0.25 -0.02 pose: 0.0 -5.95907 -3.65107 0 0.000773621 -0.0003347230.998619 0.0525342 uwb: 0.50037463 1247.4 1606.28 -imu_odom_: 1691062904.914971538 0.481235 -0.124498 10.1394 -0.0319579 -0.0223706 0.0351537 0.25 -0.02 pose: 0.0 -5.95907 -3.65107 0 0.000773621 -0.0003347230.998619 0.0525342 uwb: 0.0 1247.4 1606.28 -imu_odom_: 1691062904.937068377 0.940921 -0.148441 10.7021 -0.0426106 0.00639159 0.0426106 0.25 -0.02 pose: 0.33939566 -5.96836 -3.64739 0 0.00147597 -0.0004736430.998622 0.0524574 uwb: 0.50215661 1248.3 1606.95 -imu_odom_: 1691062904.950120867 1.06781 -0.40462 9.87369 -0.0596548 -0.04048 0.0276969 0.18 0.02 pose: 0.33162612 -5.96836 -3.64739 0 0.00229401 0.00132358 0.998619 0.0524704 uwb: 0.0 1248.3 1606.95 -imu_odom_: 1691062904.968057907 0.112527 0.184354 10.6279 -0.0553937 0.0639159 -0.0127832 0.18 0.02 pose: 0.0 -5.96836 -3.64739 0 0.00229401 0.00132358 0.998619 0.0524704 uwb: 0.0 1248.3 1606.95 -imu_odom_: 1691062904.984057809 0.227449 -0.0742203 9.32781 -0.0532632 0.0127832 -0.0660464 0.2 -0.17 pose: 0.46971933 -5.97766 -3.6437 0 0.00339065 0.00222927 0.998587 0.0529941 uwb: 0.0 1248.3 1606.95 -imu_odom_: 1691062905.987782 0.52433 -0.0047884 10.1562 -0.0671117 -0.0372843 -0.134223 0.2 -0.17 pose: 0.0 -5.97766 -3.6437 0 0.00339065 0.00222927 0.998587 0.0529941 uwb: 0.49752230 1240.57 1610.71 -imu_odom_: 1691062905.16951228 0.703895 -0.304064 10.0868 -0.0436758 -0.0149137 -0.143811 0.2 -0.17 pose: 0.0 -5.97766 -3.6437 0 0.00339065 0.00222927 0.998587 0.0529941 uwb: 0.0 1240.57 1610.71 -imu_odom_: 1691062905.34909267 0.311246 -0.47884 9.16979 -0.076699 0.0234358 -0.171508 0.27 -0.41 pose: 0.8006951 -5.97766 -3.6437 0 0.00259675 0.00258403 0.998565 0.053419 uwb: 0.49983508 1241.28 1610.96 -imu_odom_: 1691062905.51074534 0.878672 -0.0646434 10.4172 -0.0607201 -0.00958738 -0.221575 0.27 -0.41 pose: 0.0 -5.97766 -3.6437 0 0.00259675 0.00258403 0.998565 0.053419 uwb: 0.0 1241.28 1610.96 -imu_odom_: 1691062905.68068379 0.995988 0.150835 9.62948 -0.0692422 -0.00319579 -0.302535 0.27 -0.41 pose: 0.0 -5.97766 -3.6437 0 0.00259675 0.00258403 0.998565 0.053419 uwb: 0.0 1241.28 1610.96 -imu_odom_: 1691062905.86142786 0.955286 0.0670376 9.62469 -0.0617853 -0.00639159 -0.368581 0.18 -0.41 pose: 0.48849574 -5.99064 -3.64929 0 0.00382198 0.00256232 0.998329 0.0576034 uwb: 0.50063129 1236.43 1614.34 -imu_odom_: 1691062905.99040702 0.577003 -0.047884 9.663 -0.056459 0.0532632 -0.427171 0.18 -0.41 pose: 0.0 -5.99064 -3.64929 0 0.00382198 0.00256232 0.998329 0.0576034 uwb: 0.0 1236.43 1614.34 -imu_odom_: 1691062905.114922778 0.852336 -0.0622492 10.1969 -0.0873517 0 -0.431432 0.18 -0.41 pose: 0.67163425 -5.99993 -3.64561 0 0.00794447 0.00388965 0.997596 0.0687272 uwb: 0.0 1236.43 1614.34 -imu_odom_: 1691062905.132969478 0.277727 -0.174777 9.79468 -0.0649811 -0.04048 -0.452737 0.25 -0.64 pose: 0.0 -5.99993 -3.64561 0 0.00794447 0.00388965 0.997596 0.0687272 uwb: 0.0 1236.43 1614.34 -imu_odom_: 1691062905.149970614 0.217872 -0.0335188 10.1873 -0.0426106 -0.0426106 -0.474043 0.25 -0.64 pose: 0.0 -5.99993 -3.64561 0 0.00794447 0.00388965 0.997596 0.0687272 uwb: 0.50050296 1238.38 1614.59 -imu_odom_: 1691062905.163976799 0.555455 0.124498 10.137 -0.0383495 -0.0106526 -0.506001 0.25 -0.64 pose: 0.30849247 -6.00926 -3.64199 0 0.00883163 0.00436614 0.997056 0.0760456 uwb: 0.0 1238.38 1614.59 -imu_odom_: 1691062905.181040347 0.430956 -0.23942 10.5369 -0.0735032 0.0287621 -0.513457 0.17 -0.53 pose: 0.41049695 -6.01413 -3.64006 0 0.00701204 0.00637476 0.99619 0.0866927 uwb: 0.0 1238.38 1614.59 -imu_odom_: 1691062905.193976178 0.746991 -0.0766145 9.89524 -0.0607201 -0.0330232 -0.539024 0.17 -0.53 pose: 0.0 -6.01413 -3.64006 0 0.00701204 0.00637476 0.99619 0.0866927 uwb: 0.49949385 1237.53 1615.6 -imu_odom_: 1691062905.209919792 0.35913 -0.0335188 9.35654 -0.0394148 -0.0298274 -0.579504 0.17 -0.53 pose: 0.0 -6.01413 -3.64006 0 0.00701204 0.00637476 0.99619 0.0866927 uwb: 0.0 1237.53 1615.6 -imu_odom_: 1691062905.228025989 1.09654 0.0215478 10.1514 -0.056459 -0.04048 -0.533697 0.24 -0.79 pose: 0.7013300 -6.01857 -3.63835 0 0.00645675 0.00577489 0.996028 0.0886235 uwb: 0.0 1237.53 1615.6 -imu_odom_: 1691062905.244901423 1.63285 -0.160412 10.0461 -0.0681769 -0.0447411 -0.476173 0.24 -0.79 pose: 0.0 -6.01857 -3.63835 0 0.00645675 0.00577489 0.996028 0.0886235 uwb: 0.49924304 1231.96 1618.78 -imu_odom_: 1691062905.257893542 1.42694 -0.612916 9.59117 -0.0681769 0.00319579 -0.461259 0.24 -0.79 pose: 0.0 -6.01857 -3.63835 0 0.00645675 0.00577489 0.996028 0.0886235 uwb: 0.0 1231.96 1618.78 -imu_odom_: 1691062905.274031104 1.81002 -0.0574608 10.3238 -0.0426106 -0.0276969 -0.452737 0.13 -0.44 pose: 0.46939269 -6.02789 -3.63472 0 0.00686383 0.0059475 0.994711 0.102314 uwb: 0.0 1231.96 1618.78 -imu_odom_: 1691062905.291945395 1.43892 -0.0047884 9.87369 -0.0543285 0.00319579 -0.383495 0.18 -0.55 pose: 0.0 -6.02789 -3.63472 0 0.00686383 0.0059475 0.994711 0.102314 uwb: 0.50189413 1227.94 1621.24 -imu_odom_: 1691062905.308975404 0.893037 -0.466869 9.79228 -0.0745685 0.0458064 -0.312122 0.18 -0.55 pose: 0.64143393 -6.04084 -3.6404 0 0.0135038 0.00477735 0.99287 0.11834 uwb: 0.0 1227.94 1621.24 -imu_odom_: 1691062905.321965190 0.991199 -0.363919 10.1035 -0.0628506 0.0223706 -0.307861 0.18 -0.55 pose: 0.0 -6.04084 -3.6404 0 0.0135038 0.00477735 0.99287 0.11834 uwb: 0.0 1227.94 1621.24 -imu_odom_: 1691062905.337907637 0.859518 -0.0430956 10.1347 -0.0532632 0.00319579 -0.313188 0.11 -0.38 pose: 0.0 -6.04084 -3.6404 0 0.0135038 0.00477735 0.99287 0.11834 uwb: 0.49872098 1231.03 1621.25 -imu_odom_: 1691062905.355904465 0.677559 0.0023942 9.73243 -0.0777643 0.0149137 -0.273773 0.11 -0.38 pose: 0.32899544 -6.04084 -3.6404 0 0.015001 0.00274741 0.992118 0.124379 uwb: 0.0 1231.03 1621.25 -imu_odom_: 1691062905.372962181 0.632069 -0.433351 9.77553 -0.0703074 0.00319579 -0.243946 0.09 -0.29 pose: 0.40932160 -6.04084 -3.6404 0 0.0162622 0.00455548 0.991213 0.131194 uwb: 0.0 1231.03 1621.25 -imu_odom_: 1691062905.386021962 0.840365 -0.31364 9.90721 -0.0692422 0.00639159 -0.234358 0.09 -0.29 pose: 0.0 -6.04084 -3.6404 0 0.0162622 0.00455548 0.991213 0.131194 uwb: 0.49936553 1225.86 1623.93 -imu_odom_: 1691062905.401889164 0.950498 -0.241814 9.84017 -0.0500674 0.0223706 -0.218379 0.09 -0.29 pose: 0.0 -6.04084 -3.6404 0 0.0162622 0.00455548 0.991213 0.131194 uwb: 0.0 1225.86 1623.93 -imu_odom_: 1691062905.427973730 0.68953 -0.0957681 9.83777 -0.0575243 -0.00213053 -0.184291 0.1 -0.35 pose: 0.8009284 -6.04084 -3.6404 0 0.0159575 0.00376124 0.991073 0.13231 uwb: 0.0 1225.86 1623.93 -imu_odom_: 1691062905.453987716 -0.0766145 -0.397437 9.51216 -0.0490022 0.0692422 -0.24075 0.07 -0.23 pose: 0.64059981 -6.05013 -3.63671 0 0.0159072 0.00321036 0.989981 0.140265 uwb: 0.50003632 1236.23 1620.58 -imu_odom_: 1691062905.470917398 -0.42138 -0.0502782 9.95509 -0.0383495 0.0319579 -0.401605 0.07 -0.23 pose: 0.0 -6.05013 -3.63671 0 0.0159072 0.00321036 0.989981 0.140265 uwb: 0.0 1236.23 1620.58 -imu_odom_: 1691062905.494907335 -0.296881 0.4956 9.84735 -0.0458064 -0.0543285 -0.498544 0.1 -0.41 pose: 0.0 -6.05013 -3.63671 0 0.0159072 0.00321036 0.989981 0.140265 uwb: 0.50006257 1237.11 1621.27 -imu_odom_: 1691062905.521150850 -0.318429 -0.572214 9.7875 -0.076699 -0.0287621 -0.493217 0.1 -0.41 pose: 0.51075736 -6.05013 -3.63671 0 0.0100726 0.00410764 0.988664 0.14975 uwb: 0.0 1237.11 1621.27 -imu_odom_: 1691062905.546973806 0.462081 -0.0454898 9.87608 -0.0596548 -0.0383495 -0.527306 0.12 -0.55 pose: 0.23930150 -6.05944 -3.63307 0 0.00861442 0.0048955 0.98769 0.156112 uwb: 0.49922846 1236.24 1622.25 -imu_odom_: 1691062905.563898821 0.397437 -0.277727 9.87129 -0.052198 0.0436758 -0.523045 0.12 -0.55 pose: 0.0 -6.05944 -3.63307 0 0.00861442 0.0048955 0.98769 0.156112 uwb: 0.0 1236.24 1622.25 -imu_odom_: 1691062905.579955304 -0.201113 0.0047884 9.80665 -0.0436758 0 -0.552872 0.15 -0.67 pose: 0.26086315 -6.05944 -3.63307 0 0.00674747 0.00472774 0.986572 0.163121 uwb: 0.0 1236.24 1622.25 -imu_odom_: 1691062905.597907801 0.418985 -0.23942 9.95748 -0.0553937 -0.0298274 -0.568851 0.15 -0.67 pose: 0.0 -6.05944 -3.63307 0 0.00674747 0.00472774 0.986572 0.163121 uwb: 0.49994299 1242.14 1621.34 -imu_odom_: 1691062905.621932444 0.557849 -0.155623 10.2903 -0.0820254 0.00745685 -0.58483 0.13 -0.64 pose: 0.68841870 -6.06869 -3.62939 0 0.00262336 0.00384812 0.983121 0.182897 uwb: 0.0 1242.14 1621.34 -imu_odom_: 1691062905.647959555 0.423774 -0.31364 9.54089 -0.0830906 0.0117179 -0.588026 0.13 -0.64 pose: 0.0 -6.06869 -3.62939 0 0.00262336 0.00384812 0.983121 0.182897 uwb: 0.0 1242.14 1621.34 -imu_odom_: 1691062905.671042754 0.31364 -0.0167594 10.0078 -0.0649811 0.0181095 -0.593352 0.15 -0.73 pose: 0.8132068 -6.06875 -3.62941 0 0.0032907 0.00342696 0.982654 0.185389 uwb: 0.0 1242.14 1621.34 -imu_odom_: 1691062905.694977278 0.158017 -0.4956 9.51935 -0.0809601 -0.00532632 -0.619984 0.14 -0.7 pose: 0.0 -6.06875 -3.62941 0 0.0032907 0.00342696 0.982654 0.185389 uwb: 0.99999390 1242.88 1621.61 -imu_odom_: 1691062905.712900901 0.648829 0.0215478 9.63666 -0.0543285 -0.0127832 -0.658333 0.2 -0.97 pose: 0.72887051 -6.07806 -3.62577 0 0.00104711 0.0014904 0.978134 0.207967 uwb: 0.0 1242.88 1621.61 -imu_odom_: 1691062905.736923795 0.529119 -0.146046 9.51695 -0.052198 -0.0213053 -0.687096 0.2 -0.97 pose: 0.0 -6.07806 -3.62577 0 0.00104711 0.0014904 0.978134 0.207967 uwb: 0.49919637 1240.98 1623.18 -imu_odom_: 1691062905.762942448 0.363919 -0.102951 10.5608 -0.0553937 0.0106526 -0.725445 0.15 -0.73 pose: 0.42189462 -6.08738 -3.62215 0 0.00225195 0.00131377 0.975007 0.222159 uwb: 0.0 1240.98 1623.18 -imu_odom_: 1691062905.775885570 0.811634 -0.172383 9.91678 -0.0532632 -0.0266316 -0.736098 0.15 -0.73 pose: 0.0 -6.08738 -3.62215 0 0.00225195 0.00131377 0.975007 0.222159 uwb: 0.0 1240.98 1623.18 -imu_odom_: 1691062905.799901756 -0.0407014 -0.205901 9.42837 -0.0458064 -0.00958738 -0.740359 0.15 -0.73 pose: 0.54769188 -6.09648 -3.61844 0 0.00315986 0.00295534 0.970189 0.24231 uwb: 0.50143332 1240.09 1624.12 -imu_odom_: 1691062905.825949574 0.727837 0.169988 10.2783 -0.0735032 -0.0298274 -0.76699 0.15 -0.73 pose: 0.0 -6.09648 -3.61844 0 0.00315986 0.00295534 0.970189 0.24231 uwb: 0.0 1240.09 1624.12 -imu_odom_: 1691062905.849917054 0.744597 0.0837971 10.3022 -0.0809601 -0.02024 -0.754207 0.17 -0.85 pose: 0.8009284 -6.09671 -3.61852 0 0.00238577 0.00309664 0.969429 0.245342 uwb: 0.50239577 1236.44 1626.07 -imu_odom_: 1691062905.867075098 0.529119 0.00718261 9.8258 -0.0553937 -0.0447411 -0.76699 0.17 -0.85 pose: 0.0 -6.09671 -3.61852 0 0.00238577 0.00309664 0.969429 0.245342 uwb: 0.0 1236.44 1626.07 -imu_odom_: 1691062905.891945817 0.268151 0.0191536 9.94073 -0.0415453 -0.0308927 -0.797883 0.16 -0.82 pose: 0.49095143 -6.10603 -3.61491 0 0.00402802 0.00448063 0.96444 0.264232 uwb: 0.49770021 1232.83 1628.12 -imu_odom_: 1691062905.908871999 0.670376 -0.0646434 9.86172 -0.0660464 -0.00745685 -0.782969 0.16 -0.82 pose: 0.0 -6.10603 -3.61491 0 0.00402802 0.00448063 0.96444 0.264232 uwb: 0.0 1232.83 1628.12 -imu_odom_: 1691062905.934118947 0.272939 -0.0933739 9.7875 -0.0468716 -0.0117179 -0.778708 0.15 -0.76 pose: 0.66898316 -6.11168 -3.60203 0 0.00604992 0.00729468 0.956832 0.290485 uwb: 0.0 1232.83 1628.12 -imu_odom_: 1691062905.960898222 -0.009576810.129287 9.7037 -0.0415453 -0.0543285 -0.801079 0.21 -1.06 pose: 0.0 -6.11168 -3.60203 0 0.00604992 0.00729468 0.956832 0.290485 uwb: 0.50042130 1228.47 1629.84 -imu_odom_: 1691062905.985868102 0.409408 0.0191536 9.84496 -0.0703074 -0.0458064 -0.784035 0.21 -1.06 pose: 0.34230634 -6.11148 -3.60195 0 0.00438448 0.00729311 0.95267 0.303889 uwb: 0.49813477 1229.33 1630.48 -imu_odom_: 1691062906.11968125 0.332794 0.11971 10.4435 -0.0639159 -0.056459 -0.793622 0.21 -1.06 pose: 0.7839544 -6.11168 -3.60203 0 0.00396377 0.00780375 0.951659 0.307033 uwb: 0.0 1229.33 1630.48 -imu_odom_: 1691062906.34955372 0.205901 -0.107739 10.3022 -0.052198 -0.00532632 -0.810666 0.21 -1.06 pose: 0.0 -6.11168 -3.60203 0 0.00396377 0.00780375 0.951659 0.307033 uwb: 0.49982925 1234.66 1629.67 -imu_odom_: 1691062906.51870763 0.529119 0.011971 10.0413 -0.0756338 -0.0575243 -0.803209 0.17 -0.85 pose: 0.51997932 -6.12102 -3.59844 0 0.00423791 0.0116121 0.944755 0.327543 uwb: 0.0 1234.66 1629.67 -imu_odom_: 1691062906.75016083 0.280122 -0.438139 10.1107 -0.0628506 0.0245011 -0.831972 0.17 -0.85 pose: 0.0 -6.12102 -3.59844 0 0.00423791 0.0116121 0.944755 0.327543 uwb: 0.0 1234.66 1629.67 -imu_odom_: 1691062906.98877403 0.778116 0.0287304 10.082 -0.0671117 -0.00852212 -0.843689 0.17 -0.85 pose: 0.48959527 -6.13034 -3.59483 0 0.00250165 0.011752 0.937788 0.347 uwb: 0.50141583 1236.06 1630.07 -imu_odom_: 1691062906.115877956 0.447716 -0.45011 10.0628 -0.072438 -0.00852212 -0.833037 0.17 -0.85 pose: 0.0 -6.13034 -3.59483 0 0.00250165 0.011752 0.937788 0.347 uwb: 0.0 1236.06 1630.07 -imu_odom_: 1691062906.140874668 0.203507 -0.395043 9.67497 -0.0447411 0.00958738 -0.840494 0.19 -0.97 pose: 0.39988966 -6.13615 -3.58195 0 0.00245325 0.00915037 0.931659 0.36321 uwb: 0.50091128 1237.86 1629.83 -imu_odom_: 1691062906.166949318 0.596156 0.0550666 10.0006 -0.0436758 -0.015979 -0.833037 0.19 -0.97 pose: 0.0 -6.13615 -3.58195 0 0.00245325 0.00915037 0.931659 0.36321 uwb: 0.0 1237.86 1629.83 -imu_odom_: 1691062906.192158060 0.227449 -0.122104 10.3501 -0.0607201 0 -0.834102 0.19 -0.97 pose: 0.42086218 -6.14549 -3.57837 0 0.00254996 0.00650505 0.924812 0.38036 uwb: 0.49899514 1239.71 1629.72 -imu_odom_: 1691062906.207926976 -0.158017 -0.141258 10.0652 -0.0543285 -0.0149137 -0.850081 0.19 -0.97 pose: 0.0 -6.14549 -3.57837 0 0.00254996 0.00650505 0.924812 0.38036 uwb: 0.0 1239.71 1629.72 -imu_odom_: 1691062906.231869375 -0.035913 0.131681 10.8266 -0.0276969 -0.0213053 -0.8863 0.2 -1 pose: 0.50027257 -6.14549 -3.57837 0 0.00296218 0.00651019 0.916265 0.400509 uwb: 0.0 1239.71 1629.72 -imu_odom_: 1691062906.257857405 0.220267 0.301669 10.2328 -0.0585895 0.00106526 -0.877778 0.2 -1 pose: 0.0 -6.14549 -3.57837 0 0.00296218 0.00651019 0.916265 0.400509 uwb: 0.50048255 1242.71 1629.3 -imu_odom_: 1691062906.280853109 0.826 0.186748 9.85693 -0.076699 -0.0596548 -0.875647 0.2 -0.94 pose: 0.40923702 -6.15133 -3.56553 0 -0.0006992530.00788983 0.908803 0.41715 uwb: 0.0 1242.71 1629.3 -imu_odom_: 1691062906.296870802 0.605733 0.0957681 10.1035 -0.0745685 -0.0628506 -0.898018 0.2 -0.94 pose: 0.0 -6.15133 -3.56553 0 -0.0006992530.00788983 0.908803 0.41715 uwb: 0.49994009 1243.39 1629.42 -imu_odom_: 1691062906.313886229 0.969652 0.011971 10.1897 -0.0745685 -0.0340885 -0.896953 0.25 -1.23 pose: 0.48928029 -6.16067 -3.56195 0 -0.0002714410.0116068 0.899159 0.437469 uwb: 0.0 1243.39 1629.42 -imu_odom_: 1691062906.339003393 0.153229 -0.0981623 10.1083 -0.0415453 -0.00319579 -0.8863 0.25 -1.23 pose: 0.0 -6.16067 -3.56195 0 -0.0002714410.0116068 0.899159 0.437469 uwb: 0.49945594 1245.8 1629.09 -imu_odom_: 1691062906.364237508 0.25618 -0.148441 10.1945 -0.0415453 0.052198 -0.887365 0.21 -1.06 pose: 0.74133271 -6.16624 -3.54897 0 0.0024728 0.0100588 0.883594 0.468139 uwb: 0.0 1245.8 1629.09 -imu_odom_: 1691062906.388005209 0.876278 0.105345 9.60793 -0.0692422 -0.0692422 -0.863929 0.21 -1.06 pose: 0.7874250 -6.16644 -3.54904 0 0.0015621 0.00986315 0.881881 0.471366 uwb: 0.50018799 1243.05 1630.16 -imu_odom_: 1691062906.412853472 0.744597 0.241814 10.0987 -0.0692422 -0.0383495 -0.864995 0.19 -0.94 pose: 0.41127566 -6.17533 -3.54532 0 0.00237557 0.00841058 0.872886 0.487845 uwb: 0.0 1243.05 1630.16 -imu_odom_: 1691062906.437982885 0.979228 -0.21069 9.85453 -0.0937433 -0.0127832 -0.883104 0.25 -1.23 pose: 0.0 -6.17533 -3.54532 0 0.00237557 0.00841058 0.872886 0.487845 uwb: 0.49981468 1247.22 1629.46 -imu_odom_: 1691062906.460840347 0.241814 -0.282516 9.81862 -0.0628506 -0.00639159 -0.919323 0.25 -1.23 pose: 0.31862730 -6.17227 -3.53612 0 0.00543157 0.00777629 0.86574 0.500405 uwb: 0.0 1247.22 1629.46 -imu_odom_: 1691062906.484867325 0.790087 -0.153229 9.9503 -0.0607201 0.0372843 -0.908671 0.18 -0.91 pose: 0.0 -6.17227 -3.53612 0 0.00543157 0.00777629 0.86574 0.500405 uwb: 0.0 1247.22 1629.46 -imu_odom_: 1691062906.501905792 0.512359 -0.122104 10.1562 -0.0692422 0.0106526 -0.899083 0.18 -0.91 pose: 0.49033898 -6.18162 -3.53259 0 0.00462249 0.0049638 0.853957 0.5203 uwb: 0.49985550 1234.83 1634.79 -imu_odom_: 1691062906.526831342 0.220267 -0.153229 10.0676 -0.0500674 -0.0319579 -0.895887 0.18 -0.94 pose: 0.0 -6.18162 -3.53259 0 0.00462249 0.0049638 0.853957 0.5203 uwb: 0.0 1234.83 1634.79 -imu_odom_: 1691062906.543845894 0.474052 -0.0430956 9.74919 -0.0458064 -0.0628506 -0.901214 0.18 -0.94 pose: 0.41003614 -6.1875 -3.51973 0 0.00540812 0.00284355 0.843767 0.536674 uwb: 0.50038048 1237.18 1634.32 -imu_odom_: 1691062906.568896561 0.354342 -0.131681 10.1155 -0.0617853 0.0127832 -0.896953 0.19 -0.94 pose: 0.0 -6.1875 -3.51973 0 0.00540812 0.00284355 0.843767 0.536674 uwb: 0.0 1237.18 1634.32 -imu_odom_: 1691062906.593839902 0.677559 -0.215478 9.93354 -0.0617853 0.0340885 -0.941694 0.19 -0.94 pose: 0.41989974 -6.1875 -3.51973 0 0.00510116 0.00420301 0.833028 0.553191 uwb: 0.49828059 1237.86 1634.46 -imu_odom_: 1691062906.619064101 0.366313 0.217872 9.87369 -0.0607201 -0.0852212 -0.919323 0.19 -0.94 pose: 0.41944477 -6.19044 -3.50785 0 0.00412897 0.00267293 0.821698 0.569902 uwb: 0.0 1237.86 1634.46 -imu_odom_: 1691062906.635836876 0.785298 0.378284 10.0556 -0.056459 -0.0681769 -0.92465 0.19 -0.94 pose: 0.0 -6.19044 -3.50785 0 0.00412897 0.00267293 0.821698 0.569902 uwb: 0.50078879 1234.55 1635.74 -imu_odom_: 1691062906.660929541 0.423774 -0.0407014 10.0149 -0.0596548 -0.0298274 -0.92678 0.19 -0.94 pose: 0.41996974 -6.19124 -3.50156 0 0.0078659 0.00465976 0.810001 0.586358 uwb: 0.0 1234.55 1635.74 -imu_odom_: 1691062906.686888114 0.545878 -0.196325 9.7851 -0.0585895 0.0181095 -0.92678 0.19 -0.94 pose: 0.0 -6.19124 -3.50156 0 0.0078659 0.00465976 0.810001 0.586358 uwb: 0.49981176 1234.15 1636.37 -imu_odom_: 1691062906.702848936 0.241814 -0.0430956 9.65582 -0.0245011 0.00958738 -0.92678 0.19 -0.97 pose: 0.51051238 -6.1964 -3.48709 0 0.00597577 0.00390808 0.795302 0.606172 uwb: 0.0 1234.15 1636.37 -imu_odom_: 1691062906.719958857 0.299275 -0.0694318 9.8665 -0.0394148 0.00213053 -0.916127 0.19 -0.97 pose: 0.0 -6.1964 -3.48709 0 0.00597577 0.00390808 0.795302 0.606172 uwb: 0.0 1234.15 1636.37 -imu_odom_: 1691062906.735944761 0.90022 -0.430956 10.1299 -0.0585895 -0.0106526 -0.871386 0.19 -0.97 pose: 0.0 -6.1964 -3.48709 0 0.00597577 0.00390808 0.795302 0.606172 uwb: 0.49897764 1235.31 1636.09 -imu_odom_: 1691062906.752808821 0.567426 -0.0335188 10.489 -0.0575243 -0.00426106 -0.826645 0.19 -0.79 pose: 0.41068945 -6.1958 -3.48463 0 0.00384273 0.00590241 0.783301 0.621602 uwb: 0.0 1235.31 1636.09 -imu_odom_: 1691062906.768971756 -0.0885855 -0.0790087 9.93833 -0.0532632 0.00532632 -0.728641 0.19 -0.79 pose: 0.0 -6.1958 -3.48463 0 0.00384273 0.00590241 0.783301 0.621602 uwb: 0.0 1235.31 1636.09 -imu_odom_: 1691062906.785026197 -0.241814 -0.500388 9.41879 -0.0692422 -0.0117179 -0.635963 0.25 -0.85 pose: 0.0 -6.1958 -3.48463 0 0.00384273 0.00590241 0.783301 0.621602 uwb: 0.50076545 1238.77 1635.18 -imu_odom_: 1691062906.801907757 0.153229 -0.531513 9.96467 -0.0447411 -0.02024 -0.585895 0.25 -0.85 pose: 0.49082894 -6.20158 -3.47172 0 0.00339928 0.00562431 0.770795 0.63705 uwb: 0.0 1238.77 1635.18 -imu_odom_: 1691062906.818825773 0.545878 -0.378284 10.2999 -0.056459 0.0170442 -0.540089 0.25 -0.85 pose: 0.0 -6.20158 -3.47172 0 0.00339928 0.00562431 0.770795 0.63705 uwb: 0.0 1238.77 1635.18 -imu_odom_: 1691062906.834885172 0.912191 -0.397437 10.7524 -0.0681769 0.00319579 -0.50174 0.19 -0.53 pose: 0.41785820 -6.19959 -3.46656 0 0.000891404 0.00340674 0.76253 0.646943 uwb: 0.0 1238.77 1635.18 -imu_odom_: 1691062906.852876167 0.426168 -0.225055 9.70609 -0.0479369 0.00639159 -0.487891 0.25 -0.67 pose: 0.0 -6.19959 -3.46656 0 0.000891404 0.00340674 0.76253 0.646943 uwb: 0.0 1238.77 1635.18 -imu_odom_: 1691062906.867871628 0.500388 -0.0454898 9.7875 -0.0511327 0.0287621 -0.452737 0.25 -0.67 pose: 0.0 -6.19959 -3.46656 0 0.000891404 0.00340674 0.76253 0.646943 uwb: 0.0 1238.77 1635.18 -imu_odom_: 1691062906.884817934 -0.0502782 -0.047884 10.1011 -0.0820254 -0.0255663 -0.393083 0.25 -0.61 pose: 0.23999270 -6.19802 -3.46238 0 0.00120719 0.00120118 0.758354 0.65184 uwb: 0.0 1238.77 1635.18 -imu_odom_: 1691062906.900881416 0.373495 -0.418985 9.85453 -0.0458064 -0.00426106 -0.389887 0.25 -0.61 pose: 0.0 -6.19802 -3.46238 0 0.00120719 0.00120118 0.758354 0.65184 uwb: 0.99969935 1241.04 1634.47 -imu_odom_: 1691062906.918887285 0.593762 -0.184354 9.63666 -0.0532632 -0.0394148 -0.357929 0.25 -0.61 pose: 0.33056161 -6.20737 -3.45883 0 0.00170079 0.00151713 0.753065 0.657942 uwb: 0.0 1241.04 1634.47 -imu_odom_: 1691062906.933878372 0.339977 -0.294487 9.50259 -0.0628506 0.0223706 -0.331297 0.25 -0.53 pose: 0.32956707 -6.20377 -3.4495 0 0.000821383 0.000479282 0.748464 0.663174 uwb: 0.0 1241.04 1634.47 -imu_odom_: 1691062906.951938488 0.658405 -0.54109 9.99579 -0.0553937 -0.0149137 -0.314253 0.25 -0.53 pose: 0.0 -6.20377 -3.4495 0 0.000821383 0.000479282 0.748464 0.663174 uwb: 0.50036006 1244.51 1633.59 -imu_odom_: 1691062906.968876336 0.811634 0.0670376 10.5656 -0.0458064 -0.00745685 -0.309992 0.25 -0.53 pose: 0.0 -6.20377 -3.4495 0 0.000821383 0.000479282 0.748464 0.663174 uwb: 0.0 1244.51 1633.59 -imu_odom_: 1691062906.982935309 1.16598 0.0550666 9.93115 -0.0639159 -0.0415453 -0.252468 0.18 -0.29 pose: 0.51103444 -6.20944 -3.43655 0 0.000860624 -0.00216977 0.742215 0.670158 uwb: 0.0 1244.51 1633.59 -imu_odom_: 1691062906.999852742 1.58017 -0.287304 10.0221 -0.0713727 -0.0447411 -0.203466 0.18 -0.29 pose: 0.0 -6.20944 -3.43655 0 0.000860624 -0.00216977 0.742215 0.670158 uwb: 0.50018215 1252.36 1630.93 -imu_odom_: 1691062907.13925132 1.27611 -0.428562 9.87369 -0.0490022 -0.056459 -0.189617 0.14 -0.26 pose: 0.0 -6.20944 -3.43655 0 0.000860624 -0.00216977 0.742215 0.670158 uwb: 0.0 1252.36 1630.93 -imu_odom_: 1691062907.29865246 1.65679 -0.184354 10.0149 -0.0511327 -0.0500674 -0.191748 0.14 -0.26 pose: 0.39911387 -6.20944 -3.43655 0 0.00461137 -0.00444191 0.738387 0.674347 uwb: 0.0 1252.36 1630.93 -imu_odom_: 1691062907.46807761 1.63763 -0.19393 9.8689 -0.0575243 0.0191748 -0.205596 0.14 -0.26 pose: 0.0 -6.20944 -3.43655 0 0.00461137 -0.00444191 0.738387 0.674347 uwb: 0.50042714 1248.5 1632.47 -imu_odom_: 1691062907.62918491 1.18752 0.0383072 10.1897 -0.0490022 0.0340885 -0.214118 0.11 -0.26 pose: 0.6945346 -6.20944 -3.43655 0 0.00513042 -0.00513397 0.737847 0.674929 uwb: 0.0 1248.5 1632.47 -imu_odom_: 1691062907.79859256 0.972046 -0.181959 9.54089 -0.0543285 0.0181095 -0.216249 0.11 -0.26 pose: 0.0 -6.20944 -3.43655 0 0.00513042 -0.00513397 0.737847 0.674929 uwb: 0.0 1248.5 1632.47 -imu_odom_: 1691062907.95874616 0.97444 -0.37589 10.058 -0.052198 -0.036219 -0.204531 0.11 -0.26 pose: 0.0 -6.20944 -3.43655 0 0.00513042 -0.00513397 0.737847 0.674929 uwb: 0.49936555 1246.72 1632.79 -imu_odom_: 1691062907.112813922 0.565032 -0.323217 9.81383 -0.056459 0.0138484 -0.187487 0.13 -0.26 pose: 0.48070579 -6.20579 -3.42724 0 0.00899501 -0.00817792 0.733909 0.679139 uwb: 0.0 1246.72 1632.79 -imu_odom_: 1691062907.128883238 0.787692 -0.316035 10.0485 -0.0585895 -0.0138484 -0.15979 0.08 -0.17 pose: 0.0 -6.20579 -3.42724 0 0.00899501 -0.00817792 0.733909 0.679139 uwb: 0.0 1246.72 1632.79 -imu_odom_: 1691062907.145891957 0.610521 -0.356736 9.81144 -0.0607201 -0.00745685 -0.142745 0.08 -0.17 pose: 0.64981304 -6.20222 -3.4179 0 0.00987784 -0.0112779 0.728604 0.684771 uwb: 0.49917305 1247.7 1632.05 -imu_odom_: 1691062907.161801157 0.746991 -0.220267 10.0006 -0.0617853 -0.00639159 -0.126766 0.07 -0.17 pose: 0.0 -6.20222 -3.4179 0 0.00987784 -0.0112779 0.728604 0.684771 uwb: 0.0 1247.7 1632.05 -imu_odom_: 1691062907.178953076 0.885855 -0.428562 9.80186 -0.0553937 -0.0127832 -0.120375 0.07 -0.17 pose: 0.0 -6.20222 -3.4179 0 0.00987784 -0.0112779 0.728604 0.684771 uwb: 0.0 1247.7 1632.05 -imu_odom_: 1691062907.203815630 0.802058 -0.141258 9.84975 -0.0628506 -0.015979 -0.111853 0.06 -0.11 pose: 0.33950651 -6.21156 -3.41433 0 0.00912447 -0.0123287 0.726481 0.687016 uwb: 0.50149166 1250.98 1630.68 -imu_odom_: 1691062907.228814676 0.311246 -0.392649 9.71806 -0.0607201 0.0127832 -0.135289 0.06 -0.11 pose: 0.34063810 -6.21156 -3.41433 0 0.0109293 -0.0138066 0.724581 0.688964 uwb: 0.0 1250.98 1630.68 -imu_odom_: 1691062907.243808095 -0.821211 0.0047884 9.86172 -0.036219 0.109722 -0.178964 0.06 -0.11 pose: 0.0 -6.21156 -3.41433 0 0.0109293 -0.0138066 0.724581 0.688964 uwb: 0.49926930 1248.79 1631.57 -imu_odom_: 1691062907.267807366 -1.20189 -0.351948 9.85453 -0.072438 -0.0266316 -0.0436758 0.07 -0.08 pose: 0.48014291 -6.21156 -3.41433 0 0.00936156 -0.0113136 0.721731 0.692017 uwb: 0.0 1248.79 1631.57 -imu_odom_: 1691062907.294803338 0.390255 -0.447716 9.89763 -0.036219 -0.0852212 -0.0628506 0.14 -0.08 pose: 0.31928643 -6.20794 -3.40501 0 0.00686129 -0.00906867 0.720472 0.693391 uwb: 0.50066922 1247.63 1631.87 -imu_odom_: 1691062907.319804134 0.52433 0.110133 9.83777 -0.052198 0.0319579 -0.0543285 0.14 -0.08 pose: 0.0 -6.20794 -3.40501 0 0.00686129 -0.00906867 0.720472 0.693391 uwb: 0.0 1247.63 1631.87 -imu_odom_: 1691062907.344878134 -0.167594 -0.316035 9.97424 -0.04048 -0.0149137 -0.0276969 0.15 -0.11 pose: 0.51996768 -6.20794 -3.40501 0 0.00620342 -0.00701141 0.718715 0.695242 uwb: 0.49861308 1247.55 1631.66 -imu_odom_: 1691062907.371977058 -0.117316 -0.1652 10.2592 -0.0500674 -0.0138484 -0.0436758 0.15 -0.11 pose: 0.0 -6.20794 -3.40501 0 0.00620342 -0.00701141 0.718715 0.695242 uwb: 0.0 1247.55 1631.66 -imu_odom_: 1691062907.388933863 0.466869 -0.0335188 9.68215 -0.0649811 -0.0575243 -0.0266316 0.15 -0.08 pose: 0.33291522 -6.20432 -3.39569 0 0.00395898 -0.00482146 0.717912 0.696106 uwb: 0.50263202 1246.93 1631.7 -imu_odom_: 1691062907.413799917 -0.0861913 -0.52433 9.96467 -0.0532632 0.0330232 -0.015979 0.15 -0.08 pose: 0.0 -6.20432 -3.39569 0 0.00395898 -0.00482146 0.717912 0.696106 uwb: 0.0 1246.93 1631.7 -imu_odom_: 1691062907.439853569 0.466869 -0.112527 10.2208 -0.052198 0.00745685 -0.036219 0.17 -0.08 pose: 0.27043511 -6.20432 -3.39569 0 0.00347441 -0.00293671 0.717181 0.696872 uwb: 0.49865100 1242.55 1633.51 -imu_odom_: 1691062907.453956874 0.770933 -0.232238 9.33739 -0.0703074 -0.0266316 -0.00852212 0.17 -0.08 pose: 0.0 -6.20432 -3.39569 0 0.00347441 -0.00293671 0.717181 0.696872 uwb: 0.0 1242.55 1633.51 -imu_odom_: 1691062907.479928571 0.586579 -0.155623 10.2472 -0.0681769 0.0181095 -0.00958738 0.14 -0.02 pose: 0.41732156 -6.20998 -3.38272 0 0.00207929 -0.0009810240.716287 0.697802 uwb: 0.0 1242.55 1633.51 -imu_odom_: 1691062907.505079275 0.6608 -0.318429 9.87848 -0.0798948 0.0181095 -0.0138484 0.14 -0.02 pose: 0.0 -6.20998 -3.38272 0 0.00207929 -0.0009810240.716287 0.697802 uwb: 0.50069254 1239.65 1634.19 -imu_odom_: 1691062907.528804979 0.68953 -0.3304 9.45949 -0.0745685 -0.0415453 -0.0149137 0.15 -0.02 pose: 0.40073836 -6.20998 -3.38272 0 0.00490944 -0.0016822 0.71543 0.698665 uwb: 0.0 1239.65 1634.19 -imu_odom_: 1691062907.544790299 0.545878 -0.21069 10.1897 -0.0553937 0.0138484 -0.0138484 0.15 -0.02 pose: 0.0 -6.20998 -3.38272 0 0.00490944 -0.0016822 0.71543 0.698665 uwb: 0.49901557 1241.25 1633.41 -imu_odom_: 1691062907.569850883 0.423774 -0.146046 10.1969 -0.0617853 -0.0319579 -0.00426106 0.15 -0.02 pose: 0.49867433 -6.20635 -3.3734 0 0.00573838 -0.006012 0.714522 0.699563 uwb: 0.0 1241.25 1633.41 -imu_odom_: 1691062907.594888719 0.177171 -0.328006 9.98861 -0.0585895 -0.0181095 0.00106526 0.15 -0.02 pose: 0.0 -6.20635 -3.3734 0 0.00573838 -0.006012 0.714522 0.699563 uwb: 0.0 1241.25 1633.41 -imu_odom_: 1691062907.609785311 0.402226 -0.0861913 10.4267 -0.0479369 -0.036219 -0.00852212 0.15 -0.02 pose: 0.83076127 -6.21201 -3.36044 0 0.00284042 -0.00334758 0.713192 0.700955 uwb: 0.0 1241.25 1633.41 -imu_odom_: 1691062907.626789947 0.385466 -0.435745 9.45949 -0.0500674 -0.0127832 -0.00213053 0.15 -0.02 pose: 0.0 -6.21201 -3.36044 0 0.00284042 -0.00334758 0.713192 0.700955 uwb: 0.0 1241.25 1633.41 -imu_odom_: 1691062907.652944801 0.308852 -0.363919 9.83299 -0.0532632 0.0447411 -0.00639159 0.16 -0.02 pose: 0.31901228 -6.21022 -3.3558 0 0.00187328 -0.00274953 0.712695 0.701466 uwb: 0.99996476 1234.98 1635.24 -imu_odom_: 1691062907.669021116 0.73502 -0.335188 9.4954 -0.0394148 0.0372843 0.00106526 0.16 -0.02 pose: 0.0 -6.21022 -3.3558 0 0.00187328 -0.00274953 0.712695 0.701466 uwb: 0.0 1234.98 1635.24 -imu_odom_: 1691062907.685904134 -0.0191536 -0.265756 8.99023 -0.0426106 0 0.00852212 0.16 -0.02 pose: 0.0 -6.21022 -3.3558 0 0.00187328 -0.00274953 0.712695 0.701466 uwb: 0.50074796 1236 1634.58 -imu_odom_: 1691062907.712907980 0.217872 -0.277727 9.8665 -0.0649811 0.015979 0.0127832 0.16 -0.05 pose: 0.50275451 -6.20842 -3.3511 0 -0.00102578 -0.00254944 0.711973 0.702202 uwb: 0.0 1236 1634.58 -imu_odom_: 1691062907.737852487 0.371101 -0.31364 9.77553 -0.052198 0.0415453 0.00532632 0.17 0 pose: 0.35842582 -6.21146 -3.3392 0 -0.00398397 -4.12819e-050.711625 0.702548 uwb: 0.49981759 1231.52 1636.08 -imu_odom_: 1691062907.764917580 0.37589 -0.296881 9.60314 -0.0639159 0.00213053 0.0245011 0.17 0 pose: 0.8054781 -6.21413 -3.33816 0 -0.00435624 -0.0006689590.711524 0.702648 uwb: 0.0 1231.52 1636.08 -imu_odom_: 1691062907.789859754 0.40462 0.00957681 10.0533 -0.0532632 -0.0117179 0.0149137 0.17 -0.02 pose: 0.43954819 -6.21166 -3.33182 0 -0.00257763 -0.0022362 0.71117 0.703011 uwb: 0.49940346 1223.69 1638.68 -imu_odom_: 1691062907.815773706 0.280122 -0.184354 10.1418 -0.0543285 -0.0127832 0.0181095 0.17 -0.02 pose: 0.0 -6.21166 -3.33182 0 -0.00257763 -0.0022362 0.71117 0.703011 uwb: 0.0 1223.69 1638.68 -imu_odom_: 1691062907.838813157 0.229843 -0.296881 9.99579 -0.0266316 -0.0106526 0.00745685 0.21 -0.02 pose: 0.32959625 -6.2105 -3.32885 0 -0.0009906120.000165276 0.710898 0.703294 uwb: 0.50045339 1219.06 1639.76 -imu_odom_: 1691062907.862774514 0.21069 -0.141258 9.57441 -0.036219 -0.0276969 0.0245011 0.17 0 pose: 0.0 -6.2105 -3.32885 0 -0.0009906120.000165276 0.710898 0.703294 uwb: 0.0 1219.06 1639.76 -imu_odom_: 1691062907.878809415 0.428562 -0.241814 10.2783 -0.036219 -0.0245011 0.0234358 0.17 0 pose: 0.48896531 -6.20686 -3.31953 0 -0.00359784 0.00315614 0.710453 0.703729 uwb: 0.0 1219.06 1639.76 -imu_odom_: 1691062907.904888731 0.59855 -0.335188 10.3094 -0.056459 0.00639159 0.0351537 0.17 -0.02 pose: 0.0 -6.20686 -3.31953 0 -0.00359784 0.00315614 0.710453 0.703729 uwb: 0.50085004 1215.59 1640.54 -imu_odom_: 1691062907.931096374 0.641646 -0.325611 10.3573 -0.0372843 0.0266316 0.0191748 0.17 -0.02 pose: 0.41137191 -6.21252 -3.30657 0 -0.00228938 0.00247487 0.710268 0.703924 uwb: 0.0 1215.59 1640.54 -imu_odom_: 1691062907.945831100 -0.117316 -0.0766145 9.71328 -0.0372843 0.04048 0.0330232 0.17 -0.02 pose: 0.0 -6.21252 -3.30657 0 -0.00228938 0.00247487 0.710268 0.703924 uwb: 0.49813770 1217.28 1639.99 -imu_odom_: 1691062907.972804031 0.148441 -0.318429 9.35893 -0.0617853 0.0266316 0.0383495 0.18 -0.02 pose: 0.50013258 -6.20887 -3.29726 0 -0.00114855 -0.0002218030.710037 0.704163 uwb: 0.0 1217.28 1639.99 -imu_odom_: 1691062907.998834934 0.299275 -0.280122 10.0652 -0.0692422 -0.0138484 0.0617853 0.19 -0.02 pose: 0.34879846 -6.20887 -3.29726 0 -0.00444298 0.00192234 0.71 0.704185 uwb: 0.50056713 1218.84 1639.09 -imu_odom_: 1691062908.23769817 0.402226 -0.213084 9.88326 -0.0809601 0.00852212 0.0340885 0.19 -0.02 pose: 0.0 -6.20887 -3.29726 0 -0.00444298 0.00192234 0.71 0.704185 uwb: 0.0 1218.84 1639.09 -imu_odom_: 1691062908.48895148 0.579397 -0.311246 10.0149 -0.076699 -0.0298274 0.0575243 0.18 0 pose: 0.8972895 -6.20887 -3.29726 0 -0.00529809 0.00153703 0.710065 0.704114 uwb: 0.50055256 1214.22 1640.18 -imu_odom_: 1691062908.74953466 0.476446 -0.0622492 9.89524 -0.0532632 0.0149137 0.0266316 0.18 0 pose: 0.0 -6.20887 -3.29726 0 -0.00529809 0.00153703 0.710065 0.704114 uwb: 0.0 1214.22 1640.18 -imu_odom_: 1691062908.90774296 0.260968 -0.232238 9.88805 -0.056459 -0.0447411 0.0490022 0.18 0 pose: 0.49999843 -6.21451 -3.2843 0 -0.00428335 -0.00033839 0.710201 0.703986 uwb: 0.49838852 1216.52 1639.61 -imu_odom_: 1691062908.116759702 0.459687 -0.244209 9.73961 -0.0649811 -0.0149137 0.0308927 0.18 0 pose: 0.0 -6.21451 -3.2843 0 -0.00428335 -0.00033839 0.710201 0.703986 uwb: 0.0 1216.52 1639.61 -imu_odom_: 1691062908.141875700 0.691924 -0.0454898 10.0868 -0.0756338 -0.0308927 0.0458064 0.22 -0.02 pose: 0.50203122 -6.21085 -3.27499 0 -0.00136653 -0.0003496580.710215 0.703983 uwb: 0.49969512 1213.07 1640.42 -imu_odom_: 1691062908.166750212 0.366313 -0.0957681 10.1394 -0.0607201 -0.0266316 0.0351537 0.2 0 pose: 0.16853270 -6.21085 -3.27499 0 -0.00131167 -0.00050101 0.71022 0.703978 uwb: 0.0 1213.07 1640.42 -imu_odom_: 1691062908.182806112 0.919373 -0.232238 9.9096 -0.0585895 -0.0351537 0.0436758 0.2 0 pose: 0.43042539 -6.2072 -3.26568 0 0.00241295 -0.00274281 0.710211 0.703979 uwb: 0.0 1213.07 1640.42 -imu_odom_: 1691062908.198878636 0.344765 -0.474052 9.41879 -0.0713727 0.0276969 0.04048 0.2 0 pose: 0.0 -6.2072 -3.26568 0 0.00241295 -0.00274281 0.710211 0.703979 uwb: 0.50096962 1209.16 1641.73 -imu_odom_: 1691062908.224869291 0.294487 -0.509965 9.42597 -0.052198 0.0415453 0.0276969 0.18 0 pose: 0.6891391 -6.2072 -3.26568 0 0.00249298 -0.00212104 0.7102 0.703992 uwb: 0.0 1209.16 1641.73 -imu_odom_: 1691062908.249870962 0.588974 -0.395043 9.79707 -0.0426106 -0.036219 0.0426106 0.18 0 pose: 0.0 -6.2072 -3.26568 0 0.00249298 -0.00212104 0.7102 0.703992 uwb: 0.50016758 1203.99 1643 -imu_odom_: 1691062908.273880441 0.624887 -0.263362 9.94312 -0.0490022 -0.0191748 0.0458064 0.18 0 pose: 0.58174492 -6.21285 -3.25272 0 0.00119301 -0.00246423 0.710171 0.704023 uwb: 0.0 1203.99 1643 -imu_odom_: 1691062908.298889987 0.474052 -0.323217 9.97424 -0.0415453 -0.0245011 0.0351537 0.18 0 pose: 0.49899516 -6.20919 -3.24341 0 0.000460277 -0.00570263 0.71013 0.704047 uwb: 0.49973594 1200.58 1643.92 -imu_odom_: 1691062908.326008452 0.600945 -0.191536 9.77074 -0.0745685 -0.0117179 0.0553937 0.18 0 pose: 0.0 -6.20919 -3.24341 0 0.000460277 -0.00570263 0.71013 0.704047 uwb: 0.0 1200.58 1643.92 -imu_odom_: 1691062908.341790492 0.694318 -0.282516 9.7875 -0.0596548 0.0276969 0.036219 0.18 0 pose: 0.24955882 -6.20919 -3.24341 0 0.00129936 -0.00667083 0.710149 0.704018 uwb: 0.49906223 1201.04 1643.43 -imu_odom_: 1691062908.367870101 0.476446 -0.476446 10.2544 -0.0585895 0.0319579 0.052198 0.18 0 pose: 0.51104028 -6.21484 -3.23045 0 0.00278279 -0.007199 0.710255 0.703902 uwb: 0.0 1201.04 1643.43 -imu_odom_: 1691062908.393889338 0.277727 -0.28491 9.56005 -0.056459 -0.0106526 0.036219 0.18 0.02 pose: 0.34969092 -6.21118 -3.22114 0 0.000485243 -0.00844209 0.710368 0.70378 uwb: 0.50001301 1206.71 1641.93 -imu_odom_: 1691062908.409821578 0.107739 -0.059855 10.1754 -0.0394148 -0.00745685 0.0458064 0.18 0.02 pose: 0.0 -6.21118 -3.22114 0 0.000485243 -0.00844209 0.710368 0.70378 uwb: 0.0 1206.71 1641.93 -imu_odom_: 1691062908.434828499 0.550666 -0.40462 9.98622 -0.0575243 0.0170442 0.0383495 0.18 0 pose: 0.6922014 -6.21118 -3.22114 0 8.41926e-05 -0.00790576 0.710365 0.703789 uwb: 0.49972136 1204.33 1642.22 -imu_odom_: 1691062908.460788240 0.617704 -0.282516 10.1897 -0.0596548 -0.00106526 0.0468716 0.18 0 pose: 0.0 -6.21118 -3.22114 0 8.41926e-05 -0.00790576 0.710365 0.703789 uwb: 0.0 1204.33 1642.22 -imu_odom_: 1691062908.485721373 0.0957681 -0.299275 10.0963 -0.04048 0.0553937 0.0287621 0.18 -0.02 pose: 0.43071996 -6.20753 -3.21183 0 -0.00129341 -0.00553448 0.710393 0.703782 uwb: 0.50014717 1212.11 1639.52 -imu_odom_: 1691062908.511856395 0.378284 -0.426168 9.9527 -0.0639159 0 0.0553937 0.18 -0.02 pose: 0.0 -6.20753 -3.21183 0 -0.00129341 -0.00553448 0.710393 0.703782 uwb: 0.0 1212.11 1639.52 -imu_odom_: 1691062908.537920547 0.189142 -0.294487 9.86172 -0.0383495 0.0266316 0.036219 0.19 0 pose: 0.49932180 -6.21319 -3.19887 0 0.000248541 -0.00742498 0.710404 0.703754 uwb: 0.50127002 1207.56 1640.79 -imu_odom_: 1691062908.554853729 0.514753 -0.0909797 10.0293 -0.0660464 -0.0447411 0.056459 0.19 0 pose: 0.0 -6.21319 -3.19887 0 0.000248541 -0.00742498 0.710404 0.703754 uwb: 0.0 1207.56 1640.79 -imu_odom_: 1691062908.579791820 0.778116 -0.160412 10.1059 -0.0553937 -0.00319579 0.036219 0.23 -0.02 pose: 0.50969286 -6.20954 -3.18956 0 -0.00435864 -0.00537182 0.710493 0.70367 uwb: 0.0 1207.56 1640.79 -imu_odom_: 1691062908.605869679 0.54109 -0.40462 9.76116 -0.0745685 0.0191748 0.0468716 0.23 0.02 pose: 0.61026243 -6.20701 -3.18311 0 -0.00136052 -0.00422961 0.710551 0.703632 uwb: 0.49926930 1205.24 1641.27 -imu_odom_: 1691062908.630723192 0.153229 -0.213084 9.5792 -0.0735032 -0.0106526 0.0458064 0.23 0.02 pose: 0.0 -6.20701 -3.18311 0 -0.00136052 -0.00422961 0.710551 0.703632 uwb: 0.0 1205.24 1641.27 -imu_odom_: 1691062908.656717931 0.452504 -0.447716 9.81623 -0.0756338 0.0191748 0.0394148 0.21 -0.02 pose: 0.8004327 -6.20589 -3.18025 0 -0.00153131 -0.00501698 0.710567 0.70361 uwb: 0.49931597 1208 1640.23 -imu_odom_: 1691062908.672708501 0.476446 -0.184354 10.2951 -0.0458064 0.0319579 0.0330232 0.21 -0.02 pose: 0.0 -6.20589 -3.18025 0 -0.00153131 -0.00501698 0.710567 0.70361 uwb: 0.0 1208 1640.23 -imu_odom_: 1691062908.698718405 0.543484 -0.392649 9.91678 -0.0798948 0.0308927 0.0447411 0.23 0 pose: 0.50941871 -6.21158 -3.16728 0 -0.00361478 -0.00541491 0.710668 0.703498 uwb: 0.49904182 1210.21 1639.41 -imu_odom_: 1691062908.721842144 1.01514 -0.227449 9.9934 -0.0426106 -0.0340885 0.0298274 0.23 0 pose: 0.0 -6.21158 -3.16728 0 -0.00361478 -0.00541491 0.710668 0.703498 uwb: 0.0 1210.21 1639.41 -imu_odom_: 1691062908.748904029 0.766145 -0.19393 9.54089 -0.0532632 0.00852212 0.036219 0.18 0 pose: 0.42097594 -6.21158 -3.16728 0 -0.00353023 -0.00650897 0.71063 0.703527 uwb: 0.50087337 1212.4 1638.51 -imu_odom_: 1691062908.764831894 0.584185 -0.275333 9.58638 -0.0308927 0.0191748 0.0340885 0.18 0 pose: 0.0 -6.21158 -3.16728 0 -0.00353023 -0.00650897 0.71063 0.703527 uwb: 0.0 1212.4 1638.51 -imu_odom_: 1691062908.790706181 0.426168 -0.318429 10.3645 -0.0330232 -0.0298274 0.036219 0.24 0 pose: 0.49017566 -6.20803 -3.15793 0 -0.000109593-0.00951314 0.710535 0.703598 uwb: 0.49879683 1213.98 1637.74 -imu_odom_: 1691062908.814713327 0.586579 -0.131681 9.68694 -0.0490022 -0.0287621 0.0447411 0.24 0 pose: 0.0 -6.20803 -3.15793 0 -0.000109593-0.00951314 0.710535 0.703598 uwb: 0.0 1213.98 1637.74 -imu_odom_: 1691062908.838697724 0.272939 -0.225055 9.99579 -0.0436758 -0.0149137 0.0245011 0.18 -0.05 pose: 0.42872507 -6.21383 -3.14503 0 0.00272963 -0.00863356 0.710455 0.703684 uwb: 0.50286535 1212.34 1638.41 -imu_odom_: 1691062908.854752749 0.591368 0.0335188 10.4459 -0.0575243 -0.0308927 0.0330232 0.18 -0.05 pose: 0.0 -6.21383 -3.14503 0 0.00272963 -0.00863356 0.710455 0.703684 uwb: 0.0 1212.34 1638.41 -imu_odom_: 1691062908.871710721 0.414197 -0.363919 9.55287 -0.0585895 -0.0340885 0.0394148 0.18 0 pose: 0.50013842 -6.21027 -3.13568 0 0.00361022 -0.00604756 0.710444 0.703718 uwb: 0.0 1212.34 1638.41 -imu_odom_: 1691062908.896760223 0.387861 -0.225055 9.8282 -0.0500674 -0.0713727 0.0447411 0.18 0 pose: 0.0 -6.21027 -3.13568 0 0.00361022 -0.00604756 0.710444 0.703718 uwb: 0.49859851 1211.63 1638.15 -imu_odom_: 1691062908.922690215 0.620098 -0.275333 9.59117 -0.0628506 -0.0319579 0.0308927 0.2 0.02 pose: 0.74020696 -6.21297 -3.12395 0 0.00188192 -0.00325298 0.710383 0.703805 uwb: 0.0 1211.63 1638.15 -imu_odom_: 1691062908.947685179 0.565032 -0.253785 9.93594 -0.04048 -0.0308927 0.0372843 0.2 0.02 pose: 0.8346140 -6.21606 -3.12278 0 0.00235287 -0.00408411 0.710355 0.703828 uwb: 0.49965719 1205.88 1639.49 -imu_odom_: 1691062908.971743655 0.512359 -0.19393 10.1801 -0.0266316 -0.0287621 0.0500674 0.21 0.02 pose: 0.42578816 -6.2125 -3.11343 0 0.00527517 -0.0078927 0.710256 0.703879 uwb: 0.0 1205.88 1639.49 -imu_odom_: 1691062908.995843545 0.620098 -0.155623 10.3022 -0.0500674 0.00213053 0.0500674 0.21 0.02 pose: 0.0 -6.2125 -3.11343 0 0.00527517 -0.0078927 0.710256 0.703879 uwb: 0.50057298 1202.95 1639.93 -imu_odom_: 1691062909.13921161 0.395043 -0.462081 9.71328 -0.0490022 -0.00745685 0.0340885 0.18 0 pose: 0.31073526 -6.20894 -3.10409 0 0.00608109 -0.00543967 0.710373 0.703778 uwb: 0.0 1202.95 1639.93 -imu_odom_: 1691062909.37826521 0.517148 -0.258574 9.99819 -0.0468716 -0.0287621 0.056459 0.18 0 pose: 0.0 -6.20894 -3.10409 0 0.00608109 -0.00543967 0.710373 0.703778 uwb: 0.50005676 1197.85 1641.3 -imu_odom_: 1691062909.62743323 0.577003 -0.0742203 10.0078 -0.0553937 -0.0234358 0.0468716 0.2 0 pose: 0.41135734 -6.20894 -3.10409 0 0.00554423 -0.00572164 0.710442 0.70371 uwb: 0.0 1197.85 1641.3 -imu_odom_: 1691062909.88835764 0.703895 -0.392649 10.0269 -0.0713727 -0.00532632 0.0596548 0.25 0 pose: 0.42848884 -6.21473 -3.09118 0 0.00622996 -0.0046192 0.710609 0.703544 uwb: 0.49922265 1193.22 1642.22 -imu_odom_: 1691062909.105035739 0.186748 -0.351948 9.79228 -0.072438 0.0553937 0.036219 0.25 0 pose: 0.0 -6.21473 -3.09118 0 0.00622996 -0.0046192 0.710609 0.703544 uwb: 0.0 1193.22 1642.22 -imu_odom_: 1691062909.130676707 0.124498 -0.402226 9.78989 -0.0745685 -0.0117179 0.0660464 0.23 -0.02 pose: 0.6948554 -6.21473 -3.09118 0 0.00609551 -0.0053496 0.710659 0.703489 uwb: 0.0 1193.22 1642.22 -imu_odom_: 1691062909.155677503 0.347159 -0.402226 10.0556 -0.0607201 0.0319579 0.0340885 0.23 -0.02 pose: 0.0 -6.21473 -3.09118 0 0.00609551 -0.0053496 0.710659 0.703489 uwb: 0.50128752 1194.78 1641.31 -imu_odom_: 1691062909.179696607 0.521936 -0.287304 10.4651 -0.0703074 0.0266316 0.056459 0.21 0.02 pose: 0.42022640 -6.21117 -3.08184 0 0.00322622 -0.00612917 0.710857 0.703303 uwb: 0.0 1194.78 1641.31 -imu_odom_: 1691062909.194699360 0.56982 -0.270545 9.73961 -0.072438 -0.00958738 0.036219 0.21 0.02 pose: 0.0 -6.21117 -3.08184 0 0.00322622 -0.00612917 0.710857 0.703303 uwb: 0.49892516 1194.21 1641.46 -imu_odom_: 1691062909.221764162 0.459687 -0.1652 9.84735 -0.0862864 0.00106526 0.0585895 0.18 0.02 pose: 0.49999260 -6.20763 -3.07249 0 -0.00099434 -0.0052835 0.711038 0.703133 uwb: 0.0 1194.21 1641.46 -imu_odom_: 1691062909.246839912 0.514753 -0.263362 9.87608 -0.0639159 0.0628506 0.0372843 0.18 0.02 pose: 0.0 -6.20763 -3.07249 0 -0.00099434 -0.0052835 0.711038 0.703133 uwb: 0.49989344 1194.2 1641.41 -imu_odom_: 1691062909.271757589 0.557849 -0.371101 9.31584 -0.0916127 0.00639159 0.0500674 0.2 0 pose: 0.39996259 -6.21344 -3.05959 0 0.00171092 -0.00624098 0.711154 0.703007 uwb: 0.0 1194.2 1641.41 -imu_odom_: 1691062909.294821539 0.88346 -0.203507 9.66539 -0.0511327 0.00213053 0.0330232 0.2 0 pose: 0.0 -6.21344 -3.05959 0 0.00171092 -0.00624098 0.711154 0.703007 uwb: 0.49916723 1196.38 1640.55 -imu_odom_: 1691062909.310892314 0.842759 -0.366313 10.0844 -0.00426106 -0.04048 0.0191748 0.19 0 pose: 0.93111503 -6.2099 -3.05024 0 0.0027041 -0.0099629 0.711269 0.702844 uwb: 0.0 1196.38 1640.55 -imu_odom_: 1691062909.337829956 0.59855 0.0526724 10.3789 0.00106526 -0.0426106 -0.00639159 0.19 0 pose: 0.0 -6.2099 -3.05024 0 0.0027041 -0.0099629 0.711269 0.702844 uwb: 0.50079464 1194.16 1641.3 -imu_odom_: 1691062909.363696952 0.701501 -0.105345 9.22486 -0.0756338 -0.0245011 0.0458064 0.25 0 pose: 0.23920818 -6.20637 -3.04088 0 0.00489735 -0.0105446 0.711013 0.703083 uwb: 0.0 1194.16 1641.3 -imu_odom_: 1691062909.390939077 0.311246 -0.241814 10.0604 -0.0809601 0 0.0958738 0.23 -0.02 pose: 0.44954595 -6.2132 -3.03069 0 0.0093305 -0.0088577 0.710722 0.703356 uwb: 0.0 1194.16 1641.3 -imu_odom_: 1691062909.406834569 0.0694318 -0.837971 9.31584 -0.076699 0.0127832 0.0798948 0.23 -0.02 pose: 0.7265286 -6.21218 -3.02799 0 0.00868993 -0.00845352 0.710872 0.703217 uwb: 0.0 1194.16 1641.3 -imu_odom_: 1691062909.433797002 0.114922 -0.244209 9.34217 -0.0287621 0.0138484 0.0255663 0.23 -0.02 pose: 0.35872331 -6.21212 -3.02798 0 0.00512638 -0.00751538 0.711522 0.702605 uwb: 0.0 1194.16 1641.3 -imu_odom_: 1691062909.460054517 0.208296 -0.0143652 10.2065 -0.0490022 0.00958738 0.036219 0.23 -0.02 pose: 0.0 -6.21212 -3.02798 0 0.00512638 -0.00751538 0.711522 0.702605 uwb: 0.99885068 1188.99 1642.23 -imu_odom_: 1691062909.486719759 0.124498 -0.107739 9.98622 -0.076699 -0.0330232 0.052198 0.25 -0.02 pose: 0.53219948 -6.21517 -3.01612 0 0.00279412 -0.00240479 0.711383 0.702795 uwb: 0.50113004 1190.06 1641.72 -imu_odom_: 1691062909.511665142 0.146046 0.0526724 9.69891 -0.0543285 -0.0298274 0.0436758 0.25 -0.02 pose: 0.0 -6.21517 -3.01612 0 0.00279412 -0.00240479 0.711383 0.702795 uwb: 0.0 1190.06 1641.72 -imu_odom_: 1691062909.527805037 1.075 -0.0766145 10.4148 -0.052198 -0.0436758 0.0458064 0.22 0 pose: 0.34692317 -6.21437 -3.00577 0 0.00158935 0.000184996 0.711513 0.702671 uwb: 0.0 1190.06 1641.72 -imu_odom_: 1691062909.544710513 0.428562 -0.579397 9.22486 -0.0511327 0.0415453 0.0319579 0.22 0 pose: 0.0 -6.21437 -3.00577 0 0.00158935 0.000184996 0.711513 0.702671 uwb: 0.49843811 1184.42 1643.14 -imu_odom_: 1691062909.569656771 0.452504 -0.287304 9.88326 -0.0266316 0.0713727 0.04048 0.25 0 pose: 0.49963679 -6.21075 -2.99644 0 0.00170737 -0.0003342290.71153 0.702653 uwb: 0.0 1184.42 1643.14 -imu_odom_: 1691062909.583661498 0.371101 -0.397437 9.7444 -0.0649811 0.00852212 0.0617853 0.25 0 pose: 0.0 -6.21075 -2.99644 0 0.00170737 -0.0003342290.71153 0.702653 uwb: 0.0 1184.42 1643.14 -imu_odom_: 1691062909.607665436 0.529119 -0.122104 9.78031 -0.052198 0.036219 0.0330232 0.18 0 pose: 0.38950985 -6.20883 -2.99149 0 -0.00137928 -0.00216883 0.711651 0.702528 uwb: 0.50144210 1189.37 1641.34 -imu_odom_: 1691062909.624941015 0.308852 -0.169988 10.0963 -0.0681769 -0.02024 0.0511327 0.18 0 pose: 0.7050632 -6.20713 -2.98712 0 -0.000771338-0.00198623 0.711634 0.702547 uwb: 0.0 1189.37 1641.34 -imu_odom_: 1691062909.649683702 0.332794 -0.222661 9.97185 -0.0372843 -0.0319579 0.0298274 0.18 0 pose: 0.34228885 -6.21645 -2.9835 0 9.05869e-05 -0.00010853 0.711664 0.70252 uwb: 0.49980886 1193.21 1639.9 -imu_odom_: 1691062909.676783793 0.514753 -0.203507 9.44273 -0.0873517 -0.0191748 0.0511327 0.18 0 pose: 0.0 -6.21645 -2.9835 0 9.05869e-05 -0.00010853 0.711664 0.70252 uwb: 0.0 1193.21 1639.9 -imu_odom_: 1691062909.702873318 -0.150835 -0.229843 9.63666 -0.0639159 0.0191748 0.0490022 0.19 0 pose: 0.7821462 -6.21645 -2.9835 0 -0.0003949160.000353634 0.711637 0.702547 uwb: 0.49999260 1190.9 1640.32 -imu_odom_: 1691062909.729718216 0.6608 -0.469264 9.77792 -0.0820254 -0.0191748 0.0372843 0.19 0 pose: 0.0 -6.21645 -2.9835 0 -0.0003949160.000353634 0.711637 0.702547 uwb: 0.0 1190.9 1640.32 -imu_odom_: 1691062909.754670307 0.296881 -0.318429 10.2256 -0.0585895 -0.0372843 0.0447411 0.2 0 pose: 0.52077848 -6.21283 -2.97418 0 -0.000202961-0.0002414690.711717 0.702466 uwb: 0.0 1190.9 1640.32 -imu_odom_: 1691062909.770896822 1.06542 -0.289698 9.6223 -0.0585895 0.015979 0.036219 0.2 0 pose: 0.0 -6.21283 -2.97418 0 -0.000202961-0.0002414690.711717 0.702466 uwb: 0.0 1190.9 1640.32 -imu_odom_: 1691062909.796916934 0.646434 -0.126893 9.88566 -0.0458064 -0.0234358 0.0340885 0.19 0 pose: 0.52905257 -6.20931 -2.96482 0 -0.00223359 -0.00180963 0.711766 0.702411 uwb: 0.100021560 1188.62 1640.85 -imu_odom_: 1691062909.823766498 0.320823 -0.296881 10.058 -0.0468716 -0.00319579 0.0351537 0.23 0 pose: 0.42099053 -6.21515 -2.95194 0 -0.00167393 -0.00273676 0.711756 0.702419 uwb: 0.0 1188.62 1640.85 -imu_odom_: 1691062909.849704366 0.100556 -0.272939 10.1873 -0.0394148 0.0298274 0.0372843 0.19 0 pose: 0.23891361 -6.21515 -2.95194 0 -0.000415152-0.00280376 0.711712 0.702466 uwb: 0.49958429 1190.31 1640.4 -imu_odom_: 1691062909.876791916 0.272939 -0.203507 10.1945 -0.0298274 -0.00532632 0.0383495 0.22 0 pose: 0.28090825 -6.21162 -2.94258 0 -0.00277555 -0.00111289 0.711679 0.702498 uwb: 0.0 1190.31 1640.4 -imu_odom_: 1691062909.892777237 0.35913 -0.179565 10.0509 -0.0607201 -0.00106526 0.0500674 0.22 0 pose: 0.0 -6.21162 -2.94258 0 -0.00277555 -0.00111289 0.711679 0.702498 uwb: 0.50127003 1193.09 1639.49 -imu_odom_: 1691062909.919675798 0.672771 -0.517148 9.73961 -0.0468716 0.00958738 0.02024 0.23 0 pose: 0.25139039 -6.21162 -2.94258 0 -0.00411213 0.00124235 0.711663 0.702508 uwb: 0.0 1193.09 1639.49 -imu_odom_: 1691062909.944679511 0.371101 -0.574608 9.64863 -0.072438 -0.0127832 0.0415453 0.23 0 pose: 0.0 -6.21162 -2.94258 0 -0.00411213 0.00124235 0.711663 0.702508 uwb: 0.49808521 1185.74 1641.13 -imu_odom_: 1691062909.971922511 0.663194 -0.220267 10.0365 -0.0585895 -0.0703074 0.0468716 0.23 0 pose: 0.43711876 -6.21746 -2.9297 0 -0.00238202 0.00240292 0.711669 0.702506 uwb: 0.0 1185.74 1641.13 -imu_odom_: 1691062909.987802837 0.703895 -0.545878 9.94073 -0.0798948 0.0170442 0.0532632 0.23 0 pose: 0.0 -6.21746 -2.9297 0 -0.00238202 0.00240292 0.711669 0.702506 uwb: 0.50059631 1181.3 1642.59 -imu_odom_: 1691062910.13666917 0.59855 -0.31364 10.0868 -0.0415453 0.0415453 0.0234358 0.25 -0.02 pose: 0.51255395 -6.21393 -2.92034 0 -0.00332133 -0.00194756 0.711567 0.702607 uwb: 0.0 1181.3 1642.59 -imu_odom_: 1691062910.39661365 0.517148 -0.514753 9.91199 -0.0543285 -0.00852212 0.0468716 0.25 -0.02 pose: 0.0 -6.21393 -2.92034 0 -0.00332133 -0.00194756 0.711567 0.702607 uwb: 0.50035134 1178.46 1643.24 -imu_odom_: 1691062910.66644796 0.718261 -0.246603 10.4124 -0.0468716 -0.015979 0.0543285 0.23 0 pose: 0.41733615 -6.21041 -2.91098 0 -0.00107472 -0.00538805 0.711649 0.702514 uwb: 0.0 1178.46 1643.24 -imu_odom_: 1691062910.92734905 0.567426 -0.107739 10.3597 -0.0372843 0.0127832 0.0415453 0.18 -0.02 pose: 0.53145578 -6.21624 -2.8981 0 -0.000765755-0.00873542 0.711619 0.702511 uwb: 0.50015593 1171.12 1645.13 -imu_odom_: 1691062910.119652132 0.507571 -0.11971 10.2185 -0.0692422 -0.0191748 0.0607201 0.18 -0.02 pose: 0.0 -6.21624 -2.8981 0 -0.000765755-0.00873542 0.711619 0.702511 uwb: 0.0 1171.12 1645.13 -imu_odom_: 1691062910.135690533 0.411803 -0.146046 9.7444 -0.0575243 -0.0181095 0.0532632 0.2 0.02 pose: 0.27841757 -6.21624 -2.8981 0 0.00187257 -0.00867785 0.711711 0.702416 uwb: 0.50061674 1168.86 1645.63 -imu_odom_: 1691062910.162790917 0.665588 -0.399832 9.92875 -0.072438 -0.0308927 0.0617853 0.2 0.02 pose: 0.0 -6.21624 -2.8981 0 0.00187257 -0.00867785 0.711711 0.702416 uwb: 0.0 1168.86 1645.63 -imu_odom_: 1691062910.188778656 0.701501 -0.0933739 9.7444 -0.0447411 0.00319579 0.0340885 0.18 0.02 pose: 0.53058958 -6.21272 -2.88874 0 0.00436063 -0.00440016 0.711952 0.7022 uwb: 0.49883184 1165.96 1646.09 -imu_odom_: 1691062910.215703466 0.502782 -0.435745 9.31823 -0.0873517 -0.0106526 0.0511327 0.18 0.02 pose: 0.0 -6.21272 -2.88874 0 0.00436063 -0.00440016 0.711952 0.7022 uwb: 0.0 1165.96 1646.09 -imu_odom_: 1691062910.232664064 0.287304 -0.150835 10.0892 -0.0372843 -0.00958738 0.0383495 0.2 0.02 pose: 0.43207322 -6.2092 -2.87938 0 0.00484537 -0.00670152 0.712178 0.70195 uwb: 0.0 1165.96 1646.09 -imu_odom_: 1691062910.259767947 0.684742 -0.361524 10.501 -0.0756338 -0.02024 0.0681769 0.2 0.02 pose: 0.52933548 -6.21505 -2.86651 0 0.0037799 -0.0073428 0.712255 0.701872 uwb: 0.50008010 1167.13 1645.94 -imu_odom_: 1691062910.285775519 0.995988 -0.0933739 10.647 -0.0660464 0.0255663 0.0319579 0.25 -0.02 pose: 0.0 -6.21505 -2.86651 0 0.0037799 -0.0073428 0.712255 0.701872 uwb: 0.49981178 1167.63 1645.54 -imu_odom_: 1691062910.312675830 0.543484 -0.454898 9.92157 -0.0777643 0.0234358 0.0468716 0.23 0 pose: 0.61921610 -6.21155 -2.85714 0 0.00598677 -0.0101014 0.712416 0.701659 uwb: 0.0 1167.63 1645.54 -imu_odom_: 1691062910.338834477 0.454898 -0.438139 10.2137 -0.0681769 0.00426106 0.0532632 0.23 0 pose: 0.0 -6.21155 -2.85714 0 0.00598677 -0.0101014 0.712416 0.701659 uwb: 0.0 1167.63 1645.54 -imu_odom_: 1691062910.365826949 0.555455 -0.387861 10.0533 -0.052198 0.0191748 0.0351537 0.23 0.02 pose: 0.53058958 -6.21571 -2.84783 0 0.000209896 -0.0106761 0.712655 0.701433 uwb: 0.0 1167.63 1645.54 -imu_odom_: 1691062910.382607307 0.21069 -0.107739 10.2065 -0.0596548 0.00319579 0.0447411 0.23 0.02 pose: 0.0 -6.21571 -2.84783 0 0.000209896 -0.0106761 0.712655 0.701433 uwb: 0.0 1167.63 1645.54 -imu_odom_: 1691062910.406619412 0.608127 -0.277727 9.68933 -0.0426106 0.0138484 0.0426106 0.18 -0.05 pose: 0.43772830 -6.21539 -2.83907 0 -0.00199963 -0.0106903 0.712657 0.701428 uwb: 0.0 1167.63 1645.54 -imu_odom_: 1691062910.431688163 0.253785 -0.160412 9.63187 -0.0671117 -0.00106526 0.0575243 0.18 -0.05 pose: 0.0 -6.21539 -2.83907 0 -0.00199963 -0.0106903 0.712657 0.701428 uwb: 0.0 1167.63 1645.54 -imu_odom_: 1691062910.448621637 0.0981623 -0.378284 10.0604 -0.0426106 -0.0170442 0.0447411 0.23 0.02 pose: 0.49080856 -6.2138 -2.83493 0 -0.000336975-0.00778467 0.712845 0.701278 uwb: 0.149922828 1165.92 1645.91 -imu_odom_: 1691062910.474671498 0.416591 -0.0550666 10.2735 -0.056459 -0.0383495 0.0479369 0.23 0.02 pose: 0.0 -6.2138 -2.83493 0 -0.000336975-0.00778467 0.712845 0.701278 uwb: 0.0 1165.92 1645.91 -imu_odom_: 1691062910.501601558 0.852336 -0.0454898 10.0269 -0.0490022 -0.0234358 0.0426106 0.25 0 pose: 0.42983335 -6.21694 -2.82301 0 0.00017563 -0.00486262 0.712971 0.701177 uwb: 0.49946181 1165.24 1645.62 -imu_odom_: 1691062910.526674101 0.756568 0.0287304 10.3669 -0.0575243 0.015979 0.0543285 0.18 0.02 pose: 0.0 -6.21694 -2.82301 0 0.00017563 -0.00486262 0.712971 0.701177 uwb: 0.0 1165.24 1645.62 -imu_odom_: 1691062910.543708486 0.0909797 -0.378284 9.73961 -0.056459 -0.0245011 0.0372843 0.21 0 pose: 0.35025673 -6.21597 -2.81267 0 0.0037915 -0.00543431 0.713023 0.70111 uwb: 0.50241913 1169.2 1644.65 -imu_odom_: 1691062910.568660869 0.351948 -0.265756 9.63906 -0.0692422 -0.0490022 0.0543285 0.21 0 pose: 0.0 -6.21597 -2.81267 0 0.0037915 -0.00543431 0.713023 0.70111 uwb: 0.0 1169.2 1644.65 -imu_odom_: 1691062910.595606386 0.42138 0 10.0341 -0.0447411 0.0319579 0.0319579 0.23 0 pose: 0.58963698 -6.21342 -2.80604 0 0.00203449 -0.0038101 0.713233 0.700913 uwb: 0.50007135 1169.69 1644.23 -imu_odom_: 1691062910.621600250 0.308852 -0.538695 9.30147 -0.0500674 0.0490022 0.0394148 0.19 0 pose: 0.6955262 -6.21239 -2.80333 0 0.00231527 -0.00309125 0.713214 0.700935 uwb: 0.0 1169.69 1644.23 -imu_odom_: 1691062910.647611613 0.117316 -0.311246 9.81383 -0.0213053 0.0266316 0.0447411 0.25 0 pose: 0.45984119 -6.21653 -2.79405 0 0.000276186 -0.00148864 0.713163 0.700996 uwb: 0.0 1169.69 1644.23 -imu_odom_: 1691062910.663715344 0.442927 -0.488417 9.64145 -0.0585895 -0.0191748 0.052198 0.25 0 pose: 0.0 -6.21653 -2.79405 0 0.000276186 -0.00148864 0.713163 0.700996 uwb: 0.0 1169.69 1644.23 -imu_odom_: 1691062910.690616531 0.275333 -0.0454898 10.2161 -0.0330232 -0.0138484 0.0436758 0.17 0 pose: 0.33044788 -6.21815 -2.79042 0 -0.00226223 -0.0002486610.713242 0.700914 uwb: 0.99907235 1169.13 1644.4 -imu_odom_: 1691062910.715595162 0.64404 -0.217872 10.0437 -0.072438 -0.02024 0.0468716 0.18 0.02 pose: 0.35971493 -6.21457 -2.78108 0 -0.00147069 0.00156138 0.713324 0.700831 uwb: 0.0 1169.13 1644.4 -imu_odom_: 1691062910.742683004 0.347159 -0.155623 10.0197 -0.0841559 -0.00639159 0.0596548 0.18 0.02 pose: 0.8130902 -6.21457 -2.78108 0 -0.0009018980.000885642 0.713346 0.700811 uwb: 0.50098130 1166.79 1644.67 -imu_odom_: 1691062910.758688741 0.308852 -0.399832 9.96946 -0.072438 0.0138484 0.0447411 0.19 0 pose: 0.0 -6.21457 -2.78108 0 -0.0009018980.000885642 0.713346 0.700811 uwb: 0.0 1166.79 1644.67 -imu_odom_: 1691062910.785660507 0.646434 -0.205901 9.86172 -0.0756338 -0.00639159 0.052198 0.19 0 pose: 0.43935571 -6.21203 -2.77445 0 -9.64484e-050.00189543 0.713578 0.700573 uwb: 0.49827771 1159.34 1646.11 -imu_odom_: 1691062910.810600640 0.679953 -0.459687 9.93354 -0.0649811 0.0330232 0.0330232 0.18 -0.02 pose: 0.42977503 -6.21779 -2.76149 0 0.000150618 -0.0008462730.713726 0.700425 uwb: 0.0 1159.34 1646.11 -imu_odom_: 1691062910.837598946 0.177171 -0.102951 10.1634 -0.072438 0.00958738 0.052198 0.18 -0.02 pose: 0.0 -6.21779 -2.76149 0 0.000150618 -0.0008462730.713726 0.700425 uwb: 0.49933639 1153.06 1647.39 -imu_odom_: 1691062910.862597702 0.289698 -0.282516 10.1083 -0.0468716 0.0458064 0.0298274 0.19 0 pose: 0.32008264 -6.21677 -2.75883 0 -0.000363755-0.00242436 0.713698 0.700449 uwb: 0.0 1153.06 1647.39 -imu_odom_: 1691062910.888639688 0.253785 -0.469264 9.34217 -0.0490022 -0.0117179 0.0319579 0.21 -0.02 pose: 0.0 -6.21677 -2.75883 0 -0.000363755-0.00242436 0.713698 0.700449 uwb: 0.50186208 1153.62 1647.23 -imu_odom_: 1691062910.905133938 0.526724 -0.241814 9.96227 -0.0372843 -0.0298274 0.0340885 0.21 -0.02 pose: 0.44928931 -6.21316 -2.74948 0 -0.00380479 0.000896585 0.713699 0.700442 uwb: 0.0 1153.62 1647.23 -imu_odom_: 1691062910.931624481 0.337582 -0.263362 9.64384 -0.0639159 -0.00745685 0.0479369 0.23 0 pose: 0.0 -6.21316 -2.74948 0 -0.00380479 0.000896585 0.713699 0.700442 uwb: 0.0 1153.62 1647.23 -imu_odom_: 1691062910.957731797 0.246603 -0.160412 9.97185 -0.0511327 0.00852212 0.0468716 0.23 0 pose: 0.49201598 -6.21912 -2.73664 0 -0.00432428 -0.0003498080.71361 0.700529 uwb: 0.49636740 1151.93 1647.68 -imu_odom_: 1691062910.984788725 0.653617 -0.387861 9.91918 -0.0735032 -0.00106526 0.036219 0.25 -0.02 pose: 0.45932497 -6.21661 -2.72988 0 -0.00409118 0.00430517 0.713743 0.700383 uwb: 0.50316576 1148.99 1647.86 -imu_odom_: 1691062911.10642306 0.380678 -0.454898 10.1442 -0.0628506 -0.0117179 0.0458064 0.25 -0.02 pose: 0.0 -6.21661 -2.72988 0 -0.00409118 0.00430517 0.713743 0.700383 uwb: 0.0 1148.99 1647.86 -imu_odom_: 1691062911.27597362 0.754174 -0.289698 9.75637 -0.0809601 -0.0223706 0.0436758 0.25 -0.02 pose: 0.7020592 -6.21564 -2.72726 0 -0.00390654 0.00360659 0.713736 0.700394 uwb: 0.0 1148.99 1647.86 -imu_odom_: 1691062911.52662614 0.964863 -0.277727 9.55526 -0.0660464 -0.0298274 0.0479369 0.25 -0.02 pose: 0.0 -6.21564 -2.72726 0 -0.00390654 0.00360659 0.713736 0.700394 uwb: 0.49919932 1145.48 1648.17 -imu_odom_: 1691062911.79581883 0.203507 -0.493206 9.67257 -0.0372843 0.0138484 0.0287621 0.21 0.02 pose: 0.52869969 -6.21217 -2.71788 0 -0.00426181 -0.00132231 0.713771 0.700364 uwb: 0.0 1145.48 1648.17 -imu_odom_: 1691062911.105598788 0.299275 -0.263362 9.71806 -0.0415453 -0.0351537 0.0458064 0.18 -0.02 pose: 0.61959525 -6.21908 -2.70773 0 -0.00430208 -0.0036788 0.713752 0.700375 uwb: 0.50015010 1147.15 1647.77 -imu_odom_: 1691062911.132718712 0.579397 -0.373495 9.58878 -0.0319579 0.00213053 0.0490022 0.23 0.02 pose: 0.8024450 -6.21809 -2.70503 0 -0.00435947 -0.00294438 0.713775 0.700356 uwb: 0.0 1147.15 1647.77 -imu_odom_: 1691062911.157720676 0.543484 -0.047884 9.82102 -0.04048 -0.00106526 0.0468716 0.19 0 pose: 0.25132040 -6.21809 -2.70503 0 -0.00414263 -0.00186822 0.713845 0.700289 uwb: 0.49980304 1148.32 1647.67 -imu_odom_: 1691062911.174722979 0.296881 -0.227449 9.89763 -0.036219 0.00106526 0.0436758 0.19 0 pose: 0.0 -6.21809 -2.70503 0 -0.00414263 -0.00186822 0.713845 0.700289 uwb: 0.0 1148.32 1647.67 -imu_odom_: 1691062911.200590560 0.304064 -0.526724 9.81623 -0.0703074 0.00532632 0.0553937 0.18 0 pose: 0.27880546 -6.21462 -2.69565 0 -0.00238984 -0.00317598 0.713924 0.700212 uwb: 0.50029593 1153.44 1646.55 -imu_odom_: 1691062911.227639321 0.612916 -0.289698 10.319 -0.0575243 -0.036219 0.0703074 0.18 0 pose: 0.0 -6.21462 -2.69565 0 -0.00238984 -0.00317598 0.713924 0.700212 uwb: 0.0 1153.44 1646.55 -imu_odom_: 1691062911.252638368 0.648829 -0.146046 10.2472 -0.0735032 -0.0319579 0.0436758 0.18 0 pose: 0.42042766 -6.21116 -2.68627 0 -0.00227744 -0.00133718 0.714039 0.700101 uwb: 0.50036884 1159.04 1645 -imu_odom_: 1691062911.269775123 0.289698 -0.234632 9.89284 -0.0543285 0.0106526 0.0372843 0.18 0 pose: 0.0 -6.21116 -2.68627 0 -0.00227744 -0.00133718 0.714039 0.700101 uwb: 0.0 1159.04 1645 -imu_odom_: 1691062911.294757254 0.373495 -0.483629 9.53132 -0.0681769 -0.0127832 0.0447411 0.18 0 pose: 0.52939090 -6.21708 -2.67343 0 -0.000875554-0.00453281 0.714426 0.699695 uwb: 0.49993720 1162.92 1643.86 -imu_odom_: 1691062911.321631901 0.459687 -0.275333 9.91439 -0.0543285 -0.0447411 0.052198 0.18 0 pose: 0.0 -6.21708 -2.67343 0 -0.000875554-0.00453281 0.714426 0.699695 uwb: 0.0 1162.92 1643.86 -imu_odom_: 1691062911.337737090 0.514753 -0.174777 9.63187 -0.0681769 -0.0255663 0.0596548 0.2 -0.02 pose: 0.42141051 -6.21708 -2.67343 0 -0.000902305-0.00395558 0.714452 0.699672 uwb: 0.49932474 1167.37 1642.53 -imu_odom_: 1691062911.364634486 0.332794 -0.21069 10.1179 -0.0649811 0.00106526 0.0447411 0.2 -0.02 pose: 0.0 -6.21708 -2.67343 0 -0.000902305-0.00395558 0.714452 0.699672 uwb: 0.0 1167.37 1642.53 -imu_odom_: 1691062911.389595910 0.179565 -0.691924 9.74679 -0.0671117 0.0511327 0.0415453 0.23 0.05 pose: 0.51872236 -6.21363 -2.66404 0 0.00132472 -0.00434828 0.714652 0.699466 uwb: 0.49830396 1165.59 1642.58 -imu_odom_: 1691062911.416577884 0.275333 -0.418985 10.2663 -0.0649811 -0.0191748 0.0500674 0.21 0.02 pose: 0.59981848 -6.21948 -2.65124 0 -0.00251435 -0.00228057 0.714779 0.699343 uwb: 0.0 1165.59 1642.58 -imu_odom_: 1691062911.441543975 0.335188 -0.354342 10.0437 -0.0308927 0.0234358 0.0340885 0.21 0.02 pose: 0.0 -6.21948 -2.65124 0 -0.00251435 -0.00228057 0.714779 0.699343 uwb: 0.49935390 1165.54 1642.42 -imu_odom_: 1691062911.468764226 0.61531 -0.222661 10.2161 -0.0596548 -0.00106526 0.0511327 0.23 0 pose: 0.8104946 -6.21948 -2.65124 0 -0.00330851 -0.00239666 0.714808 0.699309 uwb: 0.0 1165.54 1642.42 -imu_odom_: 1691062911.484649220 0.246603 -0.0885855 9.74201 -0.0383495 -0.00213053 0.0415453 0.23 0 pose: 0.0 -6.21948 -2.65124 0 -0.00330851 -0.00239666 0.714808 0.699309 uwb: 0.0 1165.54 1642.42 -imu_odom_: 1691062911.511539324 0.459687 -0.232238 10.2041 -0.0585895 -0.0298274 0.0500674 0.23 0 pose: 0.50903958 -6.21595 -2.64189 0 -0.00704636 -0.00242056 0.714848 0.699241 uwb: 0.50029301 1167.21 1641.92 -imu_odom_: 1691062911.536581827 0.222661 -0.579397 9.70131 -0.0298274 -0.00106526 0.0234358 0.23 0 pose: 0.0 -6.21595 -2.64189 0 -0.00704636 -0.00242056 0.714848 0.699241 uwb: 0.50071591 1168.94 1641.63 -imu_odom_: 1691062911.563618340 0.395043 -0.248997 9.77792 -0.04048 -0.0298274 0.0479369 0.23 0 pose: 0.42980711 -6.22177 -2.629 0 -0.00393585 -0.00167956 0.714976 0.699136 uwb: 0.0 1168.94 1641.63 -imu_odom_: 1691062911.579559038 0.418985 -0.277727 10.0102 -0.0426106 0.0500674 0.0383495 0.23 0 pose: 0.0 -6.22177 -2.629 0 -0.00393585 -0.00167956 0.714976 0.699136 uwb: 0.0 1168.94 1641.63 -imu_odom_: 1691062911.606701128 0.675165 -0.562637 9.83777 -0.0830906 0.0308927 0.0596548 0.2 0 pose: 0.52143179 -6.21824 -2.61964 0 -0.0033397 -0.0022505 0.71493 0.699185 uwb: 0.50065757 1163.76 1642.42 -imu_odom_: 1691062911.631615013 0.201113 -0.502782 9.71806 -0.0490022 0.0223706 0.036219 0.18 0 pose: 0.62972424 -6.21471 -2.61029 0 -0.00257767 -0.00507648 0.71516 0.698938 uwb: 0.0 1163.76 1642.42 -imu_odom_: 1691062911.658702273 0.761356 -0.344765 10.0006 -0.0585895 -0.00426106 0.0372843 0.18 0 pose: 0.0 -6.21471 -2.61029 0 -0.00257767 -0.00507648 0.71516 0.698938 uwb: 0.50190583 1161.02 1643.35 -imu_odom_: 1691062911.674813295 0.184354 -0.241814 9.47146 -0.0532632 0.0490022 0.0340885 0.2 0 pose: 0.8055657 -6.21471 -2.61029 0 -0.00343702 -0.00489514 0.715152 0.698943 uwb: 0.0 1161.02 1643.35 -imu_odom_: 1691062911.701807518 0.292093 -0.25618 9.90002 -0.0500674 -0.0436758 0.0287621 0.2 0 pose: 0.0 -6.21471 -2.61029 0 -0.00343702 -0.00489514 0.715152 0.698943 uwb: 0.49994887 1155.89 1644.3 -imu_odom_: 1691062911.726815606 0.0670376 -0.117316 10.24 -0.04048 -0.00745685 0.0468716 0.18 0 pose: 0.51927649 -6.22054 -2.5974 0 -0.00376977 -0.00552618 0.715087 0.699004 uwb: 0.0 1155.89 1644.3 -imu_odom_: 1691062911.753624632 0.447716 -0.100556 10.228 -0.0436758 -0.02024 0.0330232 0.18 0 pose: 0.0 -6.22054 -2.5974 0 -0.00376977 -0.00552618 0.715087 0.699004 uwb: 0.50006261 1154.19 1644.68 -imu_odom_: 1691062911.778786711 0.399832 -0.198719 10.1323 -0.0628506 -0.0330232 0.056459 0.19 0 pose: 0.42913048 -6.21701 -2.58805 0 -0.00444049 -0.0014968 0.715013 0.699095 uwb: 0.0 1154.19 1644.68 -imu_odom_: 1691062911.805613528 0.845153 -0.244209 9.99579 -0.0553937 0.0234358 0.0351537 0.23 -0.02 pose: 0.52018061 -6.21348 -2.57869 0 -0.0009939830.000647963 0.715059 0.699063 uwb: 0.49829813 1153.66 1644.93 -imu_odom_: 1691062911.830690737 0.457293 -0.399832 9.75158 -0.0830906 0.0149137 0.0511327 0.23 -0.02 pose: 0.0 -6.21348 -2.57869 0 -0.0009939830.000647963 0.715059 0.699063 uwb: 0.0 1153.66 1644.93 -imu_odom_: 1691062911.857734249 0.4956 -0.347159 9.72525 -0.0756338 -0.0276969 0.0479369 0.23 -0.02 pose: 0.69075194 -6.21927 -2.5658 0 0.000158349 -0.00335855 0.715224 0.698888 uwb: 0.50079173 1156.52 1644.44 -imu_odom_: 1691062911.873620992 0.287304 -0.519542 10.2544 -0.0596548 0.0245011 0.056459 0.23 -0.02 pose: 0.6884975 -6.21931 -2.5658 0 -3.74585e-05-0.00412233 0.715242 0.698865 uwb: 0.0 1156.52 1644.44 -imu_odom_: 1691062911.900547261 0.538695 -0.0766145 10.0963 -0.056459 0.00106526 0.0383495 0.23 0 pose: 0.0 -6.21931 -2.5658 0 -3.74585e-05-0.00412233 0.715242 0.698865 uwb: 0.49997803 1157.05 1644.19 -imu_odom_: 1691062911.926546959 0.198719 -0.517148 9.45231 -0.0660464 0.0234358 0.0415453 0.23 0 pose: 0.43166783 -6.21588 -2.55641 0 -0.00177657 -0.00592257 0.71539 0.698698 uwb: 0.0 1157.05 1644.19 -imu_odom_: 1691062911.953688465 0.1652 -0.593762 10.3477 -0.0511327 0.00213053 0.0266316 0.25 -0.02 pose: 0.45804464 -6.22283 -2.54627 0 -0.00302582 -0.00466697 0.715403 0.69869 uwb: 0.49936557 1152.39 1644.58 -imu_odom_: 1691062911.969666203 0.737414 -0.0814029 10.0173 -0.0543285 -0.0436758 0.0266316 0.25 -0.02 pose: 0.7138418 -6.22185 -2.54359 0 -0.00374561 -0.00465857 0.715371 0.698719 uwb: 0.0 1152.39 1644.58 -imu_odom_: 1691062911.996672384 0.588974 -0.260968 10.2903 -0.056459 -0.0170442 0.0543285 0.25 0 pose: 0.35980826 -6.22001 -2.53854 0 -0.00393994 -0.00501572 0.715209 0.698882 uwb: 0.49895142 1147.27 1645.53 -imu_odom_: 1691062912.22677914 0.342371 -0.172383 10.2544 -0.0415453 0.0287621 0.0308927 0.19 0 pose: 0.0 -6.22001 -2.53854 0 -0.00393994 -0.00501572 0.715209 0.698882 uwb: 0.0 1147.27 1645.53 -imu_odom_: 1691062912.47651297 0.799663 -0.454898 9.85693 -0.0713727 -0.0394148 0.0543285 0.23 0 pose: 0.53011711 -6.21595 -2.52739 0 -0.00129122 -0.00298554 0.715269 0.698841 uwb: 0.50003345 1150.66 1644.79 -imu_odom_: 1691062912.70539384 0.830788 -0.339977 9.69412 -0.0458064 -0.0149137 0.0191748 0.2 0 pose: 0.0 -6.21595 -2.52739 0 -0.00129122 -0.00298554 0.715269 0.698841 uwb: 0.0 1150.66 1644.79 -imu_odom_: 1691062912.86663530 0.265756 -0.196325 9.79947 -0.0500674 -0.0266316 0.0468716 0.2 0 pose: 0.30918663 -6.22439 -2.52138 0 0.000146102 -0.00625107 0.715341 0.698748 uwb: 0.0 1150.66 1644.79 -imu_odom_: 1691062912.113716959 0.545878 -0.134075 10.4459 -0.0553937 -0.00958738 0.0351537 0.25 0 pose: 0.0 -6.22439 -2.52138 0 0.000146102 -0.00625107 0.715341 0.698748 uwb: 0.0 1150.66 1644.79 -imu_odom_: 1691062912.139551291 1.23301 -0.320823 10.2544 -0.0841559 -0.0117179 0.0553937 0.25 0 pose: 0.41076821 -6.22097 -2.51198 0 0.00154617 -0.00578988 0.715246 0.698847 uwb: 0.99990941 1153.47 1644.16 -imu_odom_: 1691062912.166668882 0.368707 -0.299275 10.2352 -0.0276969 0.00319579 0.0276969 0.25 0.02 pose: 0.44877893 -6.2186 -2.5055 0 0.00465219 -0.00717514 0.715336 0.698729 uwb: 0.0 1153.47 1644.16 -imu_odom_: 1691062912.182702618 0.708684 -0.258574 9.61033 -0.0415453 -0.0319579 0.0447411 0.25 0.02 pose: 0.0 -6.2186 -2.5055 0 0.00465219 -0.00717514 0.715336 0.698729 uwb: 0.0 1153.47 1644.16 -imu_odom_: 1691062912.199510391 0.497994 -0.0861913 9.94551 -0.0245011 0 0.0415453 0.25 0.02 pose: 0.0 -6.2186 -2.5055 0 0.00465219 -0.00717514 0.715336 0.698729 uwb: 0.50005678 1153.33 1643.54 -imu_odom_: 1691062912.224578851 0.28491 -0.213084 9.96946 -0.0468716 0.00958738 0.0532632 0.23 -0.02 pose: 0.8002577 -6.21754 -2.50259 0 0.00402561 -0.00665772 0.71531 0.698764 uwb: 0.0 1153.33 1643.54 -imu_odom_: 1691062912.251636654 0.567426 -0.191536 9.80426 -0.0372843 -0.00426106 0.0394148 0.23 0 pose: 0.42984211 -6.21754 -2.50259 0 0.00432466 -0.00584655 0.715269 0.698811 uwb: 0.0 1153.33 1643.54 -imu_odom_: 1691062912.277510360 0.363919 -0.474052 9.70849 -0.0649811 0 0.0585895 0.23 0 pose: 0.0 -6.21754 -2.50259 0 0.00432466 -0.00584655 0.715269 0.698811 uwb: 0.0 1153.33 1643.54 -imu_odom_: 1691062912.294561952 0.433351 -0.0909797 10.2232 -0.0553937 0.00958738 0.04048 0.25 -0.02 pose: 0.41103362 -6.22351 -2.48976 0 0.00367724 -0.00324835 0.715402 0.698696 uwb: 0.0 1153.33 1643.54 -imu_odom_: 1691062912.310565356 0.100556 -0.246603 9.71806 -0.0756338 -0.015979 0.0649811 0.25 -0.02 pose: 0.0 -6.22351 -2.48976 0 0.00367724 -0.00324835 0.715402 0.698696 uwb: 0.0 1153.33 1643.54 -imu_odom_: 1691062912.337561329 0.332794 -0.407014 9.79228 -0.0468716 0.0298274 0.0340885 0.23 0 pose: 0.52932675 -6.22008 -2.48037 0 0.00309032 -0.00405268 0.71558 0.698512 uwb: 0.149904458 1151.57 1643.64 -imu_odom_: 1691062912.362630373 -0.0407014 -0.344765 9.68215 -0.0692422 0.00319579 0.056459 0.23 0 pose: 0.0 -6.22008 -2.48037 0 0.00309032 -0.00405268 0.71558 0.698512 uwb: 0.0 1151.57 1643.64 -imu_odom_: 1691062912.379693632 0.68953 0.0574608 10.1897 -0.04048 -0.0170442 0.0351537 0.21 0 pose: 0.33008041 -6.21666 -2.47097 0 0.00128791 -0.00225187 0.715717 0.698386 uwb: 0.0 1151.57 1643.64 -imu_odom_: 1691062912.395524087 0.160412 -0.265756 9.31584 -0.0585895 -0.0138484 0.0500674 0.21 0 pose: 0.0 -6.21666 -2.47097 0 0.00128791 -0.00225187 0.715717 0.698386 uwb: 0.50067508 1152.14 1643.53 -imu_odom_: 1691062912.422577807 0.418985 -0.272939 9.59117 -0.0649811 -0.0106526 0.0436758 0.23 0 pose: 0.52049559 -6.22265 -2.45816 0 -0.0023594 -0.0009900150.715823 0.698278 uwb: 0.0 1152.14 1643.53 -imu_odom_: 1691062912.447502775 0.351948 -0.160412 10.082 -0.076699 -0.0106526 0.0394148 0.23 0 pose: 0.0 -6.22265 -2.45816 0 -0.0023594 -0.0009900150.715823 0.698278 uwb: 0.50259996 1151.6 1643.76 -imu_odom_: 1691062912.464548535 0.711078 -0.316035 10.1538 -0.0809601 0.0543285 0.0468716 0.21 0 pose: 0.77871059 -6.21923 -2.44876 0 -0.00113681 -0.0005861860.715903 0.698199 uwb: 0.0 1151.6 1643.76 -imu_odom_: 1691062912.489634786 1.09176 -0.186748 10.0413 -0.056459 -0.0245011 0.0458064 0.21 0 pose: 0.7057049 -6.21923 -2.44876 0 -0.000973306-0.00110548 0.71592 0.698181 uwb: 0.49891935 1149.34 1644.26 -imu_odom_: 1691062912.516507100 0.59855 -0.332794 9.87848 -0.056459 0.0308927 0.0372843 0.21 0 pose: 0.35074962 -6.22357 -2.43947 0 0.00138805 -0.00360296 0.715991 0.698099 uwb: 0.0 1149.34 1644.26 -imu_odom_: 1691062912.542511756 0.521936 -0.301669 10.1921 -0.0575243 0.00426106 0.0500674 0.21 0 pose: 0.0 -6.22357 -2.43947 0 0.00138805 -0.00360296 0.715991 0.698099 uwb: 0.49932474 1146.57 1645.11 -imu_odom_: 1691062912.569515895 0.557849 -0.134075 10.2879 -0.0234358 0.00213053 0.036219 0.25 0 pose: 0.52876970 -6.22277 -2.42918 0 0.000763215 -0.00836529 0.716051 0.697998 uwb: 0.0 1146.57 1645.11 -imu_odom_: 1691062912.585632459 0.663194 -0.0694318 9.82102 -0.0703074 0 0.0532632 0.25 0 pose: 0.0 -6.22277 -2.42918 0 0.000763215 -0.00836529 0.716051 0.697998 uwb: 0.0 1146.57 1645.11 -imu_odom_: 1691062912.602644387 0.23942 -0.332794 10.0341 -0.0372843 -0.00639159 0.0351537 0.18 0.02 pose: 0.35136792 -6.22182 -2.42654 0 0.00386481 -0.00619337 0.716048 0.698013 uwb: 0.0 1146.57 1645.11 -imu_odom_: 1691062912.627637894 0.378284 -0.1652 10.2711 -0.0596548 -0.0245011 0.0479369 0.18 0.02 pose: 0.0 -6.22182 -2.42654 0 0.00386481 -0.00619337 0.716048 0.698013 uwb: 0.0 1146.57 1645.11 -imu_odom_: 1691062912.654527706 0.701501 -0.220267 10.3932 -0.0479369 -0.0213053 0.04048 0.2 0 pose: 0.33069870 -6.21831 -2.41718 0 0.00301104 -0.00448676 0.716092 0.697985 uwb: 0.99903446 1144.3 1645.53 -imu_odom_: 1691062912.670526152 0.529119 -0.198719 10.003 -0.0649811 0.02024 0.0532632 0.2 0 pose: 0.0 -6.21831 -2.41718 0 0.00301104 -0.00448676 0.716092 0.697985 uwb: 0.0 1144.3 1645.53 -imu_odom_: 1691062912.697518625 0.203507 -0.426168 9.50259 -0.0585895 -0.00213053 0.0394148 0.18 -0.02 pose: 0.51763743 -6.22418 -2.40431 0 0.00492339 -0.00416701 0.716177 0.697888 uwb: 0.50108339 1145.44 1645.32 -imu_odom_: 1691062912.722522048 0.378284 -0.203507 9.92636 -0.0649811 0 0.0532632 0.18 0 pose: 0.35036464 -6.22418 -2.40431 0 0.00233681 -0.00301566 0.716225 0.697859 uwb: 0.0 1145.44 1645.32 -imu_odom_: 1691062912.749528229 0.462081 -0.0502782 10.2256 -0.04048 0.015979 0.0330232 0.18 0 pose: 0.0 -6.22418 -2.40431 0 0.00233681 -0.00301566 0.716225 0.697859 uwb: 0.49999845 1139.19 1646.48 -imu_odom_: 1691062912.775574007 0.581791 -0.574608 9.50259 -0.0532632 0.0149137 0.0394148 0.18 0.02 pose: 0.8120987 -6.22418 -2.40431 0 0.00184878 -0.00235432 0.716266 0.697821 uwb: 0.0 1139.19 1646.48 -imu_odom_: 1691062912.792631433 0.304064 -0.368707 9.75877 -0.0330232 0.0106526 0.0308927 0.18 0.02 pose: 0.0 -6.22418 -2.40431 0 0.00184878 -0.00235432 0.716266 0.697821 uwb: 0.0 1139.19 1646.48 -imu_odom_: 1691062912.818635797 0.773327 -0.667982 10.2352 -0.0617853 -0.0681769 0.0575243 0.18 -0.02 pose: 0.51994729 -6.22069 -2.39494 0 0.00262475 0.000209662 0.716283 0.697804 uwb: 0.0 1139.19 1646.48 -imu_odom_: 1691062912.845507819 1.03669 0.0023942 9.56723 -0.0394148 0.036219 0.0490022 0.18 -0.02 pose: 0.0 -6.22069 -2.39494 0 0.00262475 0.000209662 0.716283 0.697804 uwb: 0.100006399 1138.67 1646.83 -imu_odom_: 1691062912.861797331 1.26653 -0.390255 9.78031 -0.0905475 0.00213053 0.0639159 0.18 0 pose: 0.42943672 -6.22656 -2.38208 0 0.000205277 -0.00218636 0.716287 0.697803 uwb: 0.0 1138.67 1646.83 -imu_odom_: 1691062912.888574567 0.378284 -0.351948 9.90721 -0.0532632 0.0436758 0.0255663 0.18 0 pose: 0.0 -6.22656 -2.38208 0 0.000205277 -0.00218636 0.716287 0.697803 uwb: 0.49870061 1139.15 1646.3 -imu_odom_: 1691062912.913559324 0.244209 -0.378284 9.84256 -0.0809601 0.00319579 0.0543285 0.19 -0.02 pose: 0.53140621 -6.22307 -2.37271 0 0.0030635 -0.00552098 0.716537 0.697521 uwb: 0.0 1139.15 1646.3 -imu_odom_: 1691062912.940613044 0.52433 -0.196325 9.75398 -0.0660464 -0.0266316 0.0415453 0.23 0.02 pose: 0.42901674 -6.21967 -2.3633 0 -0.000481451-0.00494878 0.716532 0.697537 uwb: 0.50100172 1139.17 1646.41 -imu_odom_: 1691062912.965730793 0.414197 -0.416591 9.52653 -0.072438 0.0106526 0.0383495 0.2 -0.02 pose: 0.23942693 -6.22908 -2.35991 0 -0.00152178 -0.00444069 0.716628 0.69744 uwb: 0.0 1139.17 1646.41 -imu_odom_: 1691062912.991521087 0.244209 -0.222661 10.4579 -0.0639159 0.00852212 0.0426106 0.23 -0.02 pose: 0.28080618 -6.22569 -2.3505 0 -0.000255038-0.00483194 0.716634 0.697432 uwb: 0.50098423 1138.59 1646.46 -imu_odom_: 1691062913.16611421 0.481235 -0.234632 10.1323 -0.0479369 0.0138484 0.0287621 0.23 -0.02 pose: 0.0 -6.22569 -2.3505 0 -0.000255038-0.00483194 0.716634 0.697432 uwb: 0.0 1138.59 1646.46 -imu_odom_: 1691062913.33892834 0.418985 -0.507571 9.53611 -0.0575243 -0.00639159 0.0319579 0.19 0 pose: 0.23870072 -6.22569 -2.3505 0 -0.00227236 -0.00493232 0.716638 0.697424 uwb: 0.0 1138.59 1646.46 -imu_odom_: 1691062913.58517112 0.138864 -0.344765 10.2855 -0.0415453 -0.00532632 0.0351537 0.19 0 pose: 0.0 -6.22569 -2.3505 0 -0.00227236 -0.00493232 0.716638 0.697424 uwb: 0.49752235 1139.64 1645.85 -imu_odom_: 1691062913.85609621 0.656011 -0.117316 9.95748 -0.0532632 -0.0340885 0.0436758 0.2 0 pose: 0.51250439 -6.22229 -2.34109 0 -0.00117535 -0.00353586 0.716549 0.697527 uwb: 0.50018512 1138.42 1645.64 -imu_odom_: 1691062913.101475075 0.787692 -0.198719 10.1083 -0.04048 -0.0234358 0.0276969 0.2 0 pose: 0.0 -6.22229 -2.34109 0 -0.00117535 -0.00353586 0.716549 0.697527 uwb: 0.0 1138.42 1645.64 -imu_odom_: 1691062913.128522087 0.758962 -0.474052 9.74201 -0.0756338 -0.0479369 0.0490022 0.25 0 pose: 0.41951480 -6.22831 -2.32829 0 -0.00299143 -0.00284656 0.716501 0.697574 uwb: 0.0 1138.42 1645.64 -imu_odom_: 1691062913.154517119 0.392649 -0.371101 10.1203 -0.0340885 0.0245011 0.0181095 0.25 0 pose: 0.0 -6.22831 -2.32829 0 -0.00299143 -0.00284656 0.716501 0.697574 uwb: 0.49949390 1131.58 1646.73 -imu_odom_: 1691062913.181594755 0.706289 -0.232238 9.99579 -0.0671117 -0.0340885 0.0372843 0.25 -0.02 pose: 0.43876077 -6.22491 -2.31889 0 0.000944166 -0.00521709 0.71648 0.697587 uwb: 0.0 1131.58 1646.73 -imu_odom_: 1691062913.207652491 0.885855 -0.366313 9.98861 -0.056459 -0.0255663 0.04048 0.19 0 pose: 0.51867570 -6.22491 -2.31889 0 -0.00044945 -0.00665635 0.716346 0.697713 uwb: 0.49935099 1132.72 1646.54 -imu_odom_: 1691062913.224586257 -0.117316 -0.205901 9.65103 -0.0596548 -0.0170442 0.0458064 0.25 0 pose: 0.0 -6.22491 -2.31889 0 -0.00044945 -0.00665635 0.716346 0.697713 uwb: 0.0 1132.72 1646.54 -imu_odom_: 1691062913.250559999 0.624887 -0.270545 10.1682 -0.0308927 -0.02024 0.0255663 0.25 0 pose: 0.53099500 -6.23092 -2.30608 0 0.00283815 -0.00957716 0.716322 0.697698 uwb: 0.50007138 1133.88 1646.47 -imu_odom_: 1691062913.277574346 0.699107 -0.258574 9.91199 -0.036219 -0.0181095 0.0490022 0.18 0 pose: 0.0 -6.23092 -2.30608 0 0.00283815 -0.00957716 0.716322 0.697698 uwb: 0.0 1133.88 1646.47 -imu_odom_: 1691062913.303458843 0.42138 -0.229843 10.4914 -0.0436758 0.0138484 0.0490022 0.19 0 pose: 0.63015589 -6.22509 -2.28995 0 0.00770302 -0.0108134 0.716262 0.697706 uwb: 0.50030177 1130.43 1646.87 -imu_odom_: 1691062913.330507022 0.526724 -0.105345 9.99579 -0.0330232 -0.00426106 0.0383495 0.19 0 pose: 0.0 -6.22509 -2.28995 0 0.00770302 -0.0108134 0.716262 0.697706 uwb: 0.0 1130.43 1646.87 -imu_odom_: 1691062913.347623361 0.402226 -0.3304 9.94791 -0.0500674 0.0149137 0.0532632 0.18 0.02 pose: 0.7997911 -6.22412 -2.28727 0 0.00719008 -0.0101005 0.716297 0.697686 uwb: 0.49944141 1126.42 1647.33 -imu_odom_: 1691062913.373683722 0.351948 -0.0790087 10.4674 -0.0511327 0.0255663 0.0436758 0.18 0.02 pose: 0.0 -6.22412 -2.28727 0 0.00719008 -0.0101005 0.716297 0.697686 uwb: 0.0 1126.42 1647.33 -imu_odom_: 1691062913.400464458 0.59855 -0.373495 9.62469 -0.0873517 0.0191748 0.0649811 0.2 0.02 pose: 0.52883970 -6.22072 -2.27787 0 0.00616398 -0.00550928 0.716403 0.697637 uwb: 0.50161419 1123.56 1647.71 -imu_odom_: 1691062913.417529467 -0.148441 -0.383072 9.85932 -0.0415453 0.0213053 0.0276969 0.2 0.02 pose: 0.0 -6.22072 -2.27787 0 0.00616398 -0.00550928 0.716403 0.697637 uwb: 0.0 1123.56 1647.71 -imu_odom_: 1691062913.442471352 0.497994 -0.328006 9.52653 -0.072438 -0.0447411 0.056459 0.18 0 pose: 0.43066165 -6.23013 -2.27447 0 0.00408439 -0.00322864 0.716567 0.697499 uwb: 0.49827190 1123.02 1647.93 -imu_odom_: 1691062913.469457993 0.136469 -0.181959 9.49062 -0.0575243 0.0170442 0.0415453 0.18 0 pose: 0.0 -6.23013 -2.27447 0 0.00408439 -0.00322864 0.716567 0.697499 uwb: 0.0 1123.02 1647.93 -imu_odom_: 1691062913.494443625 0.328006 -0.174777 10.2759 -0.0916127 -0.0127832 0.076699 0.19 0 pose: 0.42947464 -6.22673 -2.26506 0 0.0014031 -0.00471065 0.716717 0.697347 uwb: 0.50004512 1119.59 1648.39 -imu_odom_: 1691062913.520562024 0.251391 -0.220267 9.79228 -0.0234358 0.0490022 -0.00745685 0.23 0 pose: 0.52210842 -6.22334 -2.25566 0 -0.000978647-0.00346524 0.716947 0.697118 uwb: 0.0 1119.59 1648.39 -imu_odom_: 1691062913.545426330 0.196325 -0.390255 9.97903 -0.0543285 0.0319579 0.0671117 0.23 0 pose: 0.0 -6.22334 -2.25566 0 -0.000978647-0.00346524 0.716947 0.697118 uwb: 0.50002762 1117.84 1648.44 -imu_odom_: 1691062913.571541813 0.141258 -0.277727 10.1706 -0.0639159 0.00319579 0.0532632 0.21 -0.02 pose: 0.68745632 -6.22937 -2.24286 0 -0.00565129 0.00132258 0.716982 0.697068 uwb: 0.0 1117.84 1648.44 -imu_odom_: 1691062913.588467413 0.622492 -0.0837971 10.2232 -0.0671117 -0.0426106 0.0213053 0.21 -0.02 pose: 0.8013951 -6.22937 -2.24286 0 -0.00628166 0.00186757 0.717018 0.697023 uwb: 0.50092590 1113.86 1649.06 -imu_odom_: 1691062913.614494818 0.318429 -0.378284 10.0461 -0.0735032 -0.0127832 0.0596548 0.25 -0.02 pose: 0.0 -6.22937 -2.24286 0 -0.00628166 0.00186757 0.717018 0.697023 uwb: 0.0 1113.86 1649.06 -imu_odom_: 1691062913.639446911 0.555455 0.0790087 10.2065 -0.0351537 0.00213053 0.0447411 0.25 -0.02 pose: 0.35027132 -6.22599 -2.23345 0 -0.00592127 0.00231185 0.717004 0.69704 uwb: 0.49905643 1113.85 1649.01 -imu_odom_: 1691062913.665489481 0.335188 -0.311246 10.0221 -0.0607201 0.0330232 0.0532632 0.2 0 pose: 0.50979498 -6.22927 -2.22165 0 -0.00470994 0.000595875 0.717228 0.696822 uwb: 0.0 1113.85 1649.01 -imu_odom_: 1691062913.682567031 0.287304 -0.124498 10.0197 -0.0351537 0.0127832 0.0298274 0.2 0 pose: 0.0 -6.22927 -2.22165 0 -0.00470994 0.000595875 0.717228 0.696822 uwb: 0.0 1113.85 1649.01 -imu_odom_: 1691062913.708574895 0.280122 -0.141258 9.55287 -0.0788296 0.00319579 0.0575243 0.25 0 pose: 0.43120120 -6.22865 -2.21125 0 -0.0056241 0.000383989 0.717287 0.696755 uwb: 0.50023470 1106.48 1650.24 -imu_odom_: 1691062913.734494973 0.263362 -0.232238 9.61272 -0.0543285 0.036219 0.0383495 0.25 0 pose: 0.0 -6.22865 -2.21125 0 -0.0056241 0.000383989 0.717287 0.696755 uwb: 0.0 1106.48 1650.24 -imu_odom_: 1691062913.759428692 0.59855 -0.565032 9.71567 -0.0852212 0.0394148 0.0575243 0.21 0 pose: 0.51927942 -6.22619 -2.20437 0 -0.0064596 0.00509522 0.71744 0.696572 uwb: 0.50052343 1103.61 1650.46 -imu_odom_: 1691062913.774457694 0.174777 -0.339977 9.89524 -0.04048 -0.0149137 0.0287621 0.21 0 pose: 0.0 -6.22619 -2.20437 0 -0.0064596 0.00509522 0.71744 0.696572 uwb: 0.0 1103.61 1650.46 -imu_odom_: 1691062913.801483707 0.356736 -0.220267 10.3118 -0.0777643 -0.0223706 0.056459 0.18 0.02 pose: 0.39962721 -6.23024 -2.20006 0 -0.00835876 0.00294939 0.717524 0.696477 uwb: 0.0 1103.61 1650.46 -imu_odom_: 1691062913.827416618 0.270545 -0.205901 9.68933 -0.0436758 0.0330232 0.0372843 0.19 0 pose: 0.8111070 -6.23469 -2.19847 0 -0.0075799 0.00264473 0.717578 0.696432 uwb: 0.0 1103.61 1650.46 -imu_odom_: 1691062913.852420040 0.0646434 -0.122104 9.991 -0.0436758 0.00852212 0.0319579 0.23 0 pose: 0.18914943 -6.23233 -2.19186 0 -0.00576356 0.00193425 0.717702 0.696324 uwb: 0.99900530 1104.17 1650.33 -imu_odom_: 1691062913.877415005 0.301669 -0.0909797 10.2424 -0.036219 -0.0181095 0.0468716 0.2 0 pose: 0.33009791 -6.23133 -2.18905 0 -0.00540736 0.00555795 0.717665 0.696346 uwb: 0.0 1104.17 1650.33 -imu_odom_: 1691062913.894633713 0.325611 -0.263362 9.97664 -0.0415453 0.00426106 0.0511327 0.2 0 pose: 0.0 -6.23133 -2.18905 0 -0.00540736 0.00555795 0.717665 0.696346 uwb: 0.49994013 1099.02 1650.89 -imu_odom_: 1691062913.920450256 0.701501 -0.131681 9.89763 -0.0660464 -0.0426106 0.0543285 0.19 0 pose: 0.24066644 -6.22797 -2.17963 0 -0.00535658 0.00745162 0.71763 0.696364 uwb: 0.0 1099.02 1650.89 -imu_odom_: 1691062913.946476785 0.205901 -0.237026 9.77553 -0.0490022 0.0415453 0.0372843 0.19 0 pose: 0.44078481 -6.2246 -2.17021 0 -0.00283855 0.00543825 0.71781 0.696212 uwb: 0.50053509 1098.42 1650.77 -imu_odom_: 1691062913.971468251 0.0957681 -0.134075 9.7037 -0.076699 0.0127832 0.0649811 0.18 0 pose: 0.43838162 -6.23147 -2.15969 0 -0.00410285 0.00531493 0.717875 0.696139 uwb: 0.0 1098.42 1650.77 -imu_odom_: 1691062913.989448164 0.639252 -0.373495 10.0868 -0.0511327 -0.0319579 0.0447411 0.18 0 pose: 0.0 -6.23147 -2.15969 0 -0.00410285 0.00531493 0.717875 0.696139 uwb: 0.50010346 1095.56 1651.1 -imu_odom_: 1691062914.14410465 0.486023 -0.107739 10.2304 -0.0852212 0.00319579 0.0479369 0.19 0 pose: 0.5953738 -6.23066 -2.15744 0 -0.0044517 0.00583624 0.717926 0.696081 uwb: 0.0 1095.56 1651.1 -imu_odom_: 1691062914.40558321 0.629675 -0.318429 9.94791 -0.0703074 -0.00319579 0.036219 0.19 0 pose: 0.0 -6.23066 -2.15744 0 -0.0044517 0.00583624 0.717926 0.696081 uwb: 0.50058176 1097.25 1650.71 -imu_odom_: 1691062914.65489123 0.351948 -0.213084 9.93115 -0.0830906 0.015979 0.0447411 0.19 -0.02 pose: 0.44007027 -6.23066 -2.15744 0 -0.00414372 0.00535849 0.718151 0.695855 uwb: 0.0 1097.25 1650.71 -imu_odom_: 1691062914.91552110 -0.023942 -0.402226 9.88805 -0.0372843 0.0319579 0.0383495 0.19 -0.02 pose: 0.0 -6.23066 -2.15744 0 -0.00414372 0.00535849 0.718151 0.695855 uwb: 0.50060509 1096.17 1651.3 -imu_odom_: 1691062914.108403631 0.641646 -0.251391 10.094 -0.0639159 -0.0426106 0.0330232 0.19 -0.02 pose: 0.51015079 -6.22731 -2.14801 0 -0.00203754 0.00129956 0.718204 0.695829 uwb: 0.0 1096.17 1651.3 -imu_odom_: 1691062914.134527573 0.136469 -0.246603 9.84256 -0.0340885 0.04048 0.0436758 0.19 -0.02 pose: 0.0 -6.22731 -2.14801 0 -0.00203754 0.00129956 0.718204 0.695829 uwb: 0.0 1096.17 1651.3 -imu_odom_: 1691062914.160737259 0.435745 -0.347159 9.48343 -0.0692422 0.0117179 0.0415453 0.25 0 pose: 0.51193569 -6.23338 -2.13524 0 -0.00460972 0.000458953 0.718202 0.695819 uwb: 0.49861605 1095.63 1651.57 -imu_odom_: 1691062914.186440933 0.177171 -0.411803 9.74679 -0.0447411 -0.015979 0.0447411 0.21 0.02 pose: 0.62091061 -6.23004 -2.12582 0 -0.00534319 -0.0002595050.718226 0.695789 uwb: 0.49939475 1097.35 1651.38 -imu_odom_: 1691062914.203507109 0.634463 0.0191536 10.3334 -0.052198 -0.0319579 0.0426106 0.21 0.02 pose: 0.0 -6.23004 -2.12582 0 -0.00534319 -0.0002595050.718226 0.695789 uwb: 0.0 1097.35 1651.38 -imu_odom_: 1691062914.228434703 0.730232 0.114922 10.3142 -0.0532632 -0.02024 0.0298274 0.23 -0.02 pose: 0.6828395 -6.23004 -2.12582 0 -0.00596832 -0.0001900650.718236 0.695774 uwb: 0.0 1097.35 1651.38 -imu_odom_: 1691062914.254550769 0.538695 -0.105345 9.9503 -0.0500674 -0.0447411 0.04048 0.23 -0.02 pose: 0.0 -6.23004 -2.12582 0 -0.00596832 -0.0001900650.718236 0.695774 uwb: 0.50017053 1094.54 1652.03 -imu_odom_: 1691062914.279581024 0.363919 -0.318429 9.86411 -0.0681769 0.0106526 0.0458064 0.19 0.02 pose: 0.43136745 -6.23611 -2.11305 0 -0.00503339 -0.0001390970.71827 0.695747 uwb: 0.0 1094.54 1652.03 -imu_odom_: 1691062914.304535450 0.337582 -0.387861 9.81383 -0.0266316 -0.0426106 0.0245011 0.19 0.02 pose: 0.0 -6.23611 -2.11305 0 -0.00503339 -0.0001390970.71827 0.695747 uwb: 0.50036303 1096.82 1651.72 -imu_odom_: 1691062914.321513256 0.500388 -0.160412 9.81383 -0.0319579 -0.00532632 0.052198 0.19 0.02 pose: 0.50862255 -6.23276 -2.10363 0 -0.000836182-0.0008719990.718242 0.695792 uwb: 0.0 1096.82 1651.72 -imu_odom_: 1691062914.338458105 0.502782 -0.605733 9.91678 -0.0532632 -0.015979 0.140615 0.19 0.02 pose: 0.0 -6.23276 -2.10363 0 -0.000836182-0.0008719990.718242 0.695792 uwb: 0.0 1096.82 1651.72 -imu_odom_: 1691062914.355531280 0.304064 -0.533907 9.31105 -0.0276969 0.0181095 0.197074 0.19 0.02 pose: 0.0 -6.23276 -2.10363 0 -0.000836182-0.0008719990.718242 0.695792 uwb: 0.0 1096.82 1651.72 -imu_odom_: 1691062914.372528043 0.155623 -0.438139 9.98143 -0.0394148 -0.0298274 0.258859 0.25 0.17 pose: 0.49912351 -6.22941 -2.0942 0 -0.0036545 -0.00241182 0.718175 0.695849 uwb: 0.0 1096.82 1651.72 -imu_odom_: 1691062914.389374023 0.591368 -0.349553 9.84256 -0.0543285 0.0287621 0.319579 0.25 0.17 pose: 0.0 -6.22941 -2.0942 0 -0.0036545 -0.00241182 0.718175 0.695849 uwb: 0.99920656 1097.41 1651.78 -imu_odom_: 1691062914.405487087 0.641646 -0.684742 10.1778 -0.0298274 0.0106526 0.34195 0.2 0.38 pose: 0.77897018 -6.2335 -2.07621 0 -0.0051479 -0.00451317 0.72266 0.691169 uwb: 0.0 1097.41 1651.78 -imu_odom_: 1691062914.423486834 0.184354 -0.129287 9.84735 -0.04048 0.0127832 0.401605 0.2 0.38 pose: 0.0 -6.2335 -2.07621 0 -0.0051479 -0.00451317 0.72266 0.691169 uwb: 0.0 1097.41 1651.78 -imu_odom_: 1691062914.439383202 0.378284 -0.248997 9.64145 -0.0852212 0.0138484 0.453803 0.2 0.38 pose: 0.0 -6.2335 -2.07621 0 -0.0051479 -0.00451317 0.72266 0.691169 uwb: 0.50084716 1097.95 1651.53 -imu_odom_: 1691062914.454497658 0.454898 -0.665588 10.0221 -0.0628506 0.0266316 0.458064 0.19 0.41 pose: 0.8067032 -6.23206 -2.07196 0 -0.00522042 -0.00519209 0.723497 0.690288 uwb: 0.0 1097.95 1651.53 -imu_odom_: 1691062914.471441924 0.0430956 -0.584185 10.0509 -0.0394148 0.0127832 0.497478 0.18 0.44 pose: 0.0 -6.23206 -2.07196 0 -0.00522042 -0.00519209 0.723497 0.690288 uwb: 0.0 1097.95 1651.53 -imu_odom_: 1691062914.485381615 0.502782 -0.328006 10.2089 -0.052198 -0.00958738 0.529436 0.18 0.44 pose: 0.0 -6.23206 -2.07196 0 -0.00522042 -0.00519209 0.723497 0.690288 uwb: 0.50064885 1095.67 1651.77 -imu_odom_: 1691062914.502470247 0.11971 -0.514753 9.67976 -0.0330232 0.0298274 0.561394 0.18 0.44 pose: 0.64009241 -6.22865 -2.06256 0 -0.00620345 -0.00371953 0.732087 0.681173 uwb: 0.0 1095.67 1651.77 -imu_odom_: 1691062914.516424228 0.519542 -0.277727 9.98861 -0.0553937 0.0266316 0.577373 0.17 0.44 pose: 0.0 -6.22865 -2.06256 0 -0.00620345 -0.00371953 0.732087 0.681173 uwb: 0.0 1095.67 1651.77 -imu_odom_: 1691062914.532573457 0.466869 -0.42138 9.92397 -0.0649811 -0.00852212 0.627441 0.17 0.44 pose: 0.31000033 -6.23804 -2.05912 0 -0.00670923 -0.00387066 0.737201 0.675629 uwb: 0.0 1095.67 1651.77 -imu_odom_: 1691062914.548382331 0.272939 -0.782904 9.55765 -0.0511327 0.015979 0.638093 0.18 0.55 pose: 0.40123128 -6.23464 -2.04971 0 -0.00615983 -0.00529347 0.74465 0.667405 uwb: 0.50180961 1089.41 1652.76 -imu_odom_: 1691062914.565372386 0.423774 -0.366313 10.0173 -0.0596548 0.0170442 0.638093 0.18 0.55 pose: 0.0 -6.23464 -2.04971 0 -0.00615983 -0.00529347 0.74465 0.667405 uwb: 0.0 1089.41 1652.76 -imu_odom_: 1691062914.582432145 0.715866 -0.25618 9.48343 -0.0852212 -0.0287621 0.66579 0.18 0.55 pose: 0.0 -6.23464 -2.04971 0 -0.00615983 -0.00529347 0.74465 0.667405 uwb: 0.0 1089.41 1652.76 -imu_odom_: 1691062914.599427450 0.723049 -0.344765 10.1011 -0.0511327 -0.0532632 0.658333 0.22 0.7 pose: 0.6826646 -6.23464 -2.04971 0 -0.00678351 -0.00559903 0.746008 0.665879 uwb: 0.0 1089.41 1652.76 -imu_odom_: 1691062914.615478101 1.06781 -0.59855 9.25359 -0.0458064 -0.0127832 0.659399 0.22 0.7 pose: 0.0 -6.23464 -2.04971 0 -0.00678351 -0.00559903 0.746008 0.665879 uwb: 0.0 1089.41 1652.76 -imu_odom_: 1691062914.633425642 1.30484 -0.416591 9.95988 -0.0639159 -0.0415453 0.642354 0.2 0.58 pose: 0.50088216 -6.23121 -2.04032 0 -0.00384895 -0.00748325 0.75609 0.654414 uwb: 0.0 1089.41 1652.76 -imu_odom_: 1691062914.650439321 1.29526 -0.234632 9.71328 -0.0245011 0.0340885 0.540089 0.13 0.38 pose: 0.0 -6.23121 -2.04032 0 -0.00384895 -0.00748325 0.75609 0.654414 uwb: 0.99600132 1084.86 1653.48 -imu_odom_: 1691062914.664504421 1.22104 0.0550666 10.0628 -0.052198 0.0255663 0.477238 0.13 0.38 pose: 0.0 -6.23121 -2.04032 0 -0.00384895 -0.00748325 0.75609 0.654414 uwb: 0.0 1084.86 1653.48 -imu_odom_: 1691062914.680509283 0.986411 -0.0335188 9.75398 -0.0681769 0.0287621 0.407996 0.13 0.38 pose: 0.67030732 -6.23729 -2.02747 0 0.00132253 -0.0114633 0.768357 0.639917 uwb: 0.0 1084.86 1653.48 -imu_odom_: 1691062914.697555043 0.828394 -0.225055 9.52174 -0.0543285 0.0287621 0.345146 0.13 0.38 pose: 0.0 -6.23729 -2.02747 0 0.00132253 -0.0114633 0.768357 0.639917 uwb: 0.49917310 1087.19 1653.48 -imu_odom_: 1691062914.713399498 0.828394 -0.296881 10.0892 -0.0617853 0.0106526 0.324906 0.16 0.5 pose: 0.0 -6.23729 -2.02747 0 0.00132253 -0.0114633 0.768357 0.639917 uwb: 0.0 1087.19 1653.48 -imu_odom_: 1691062914.730424259 0.790087 -0.416591 9.75877 -0.0596548 -0.00852212 0.309992 0.16 0.5 pose: 0.30938495 -6.23729 -2.02747 0 0.00388892 -0.0115154 0.771998 0.635508 uwb: 0.0 1087.19 1653.48 -imu_odom_: 1691062914.748375592 0.80924 -0.162806 9.99819 -0.0553937 0.00532632 0.286556 0.08 0.29 pose: 0.42966713 -6.23729 -2.02747 0 0.00650472 -0.0140674 0.775813 0.630772 uwb: 0.50189127 1086.6 1653.42 -imu_odom_: 1691062914.774575945 0.634463 -0.263362 9.7851 -0.0500674 0.0106526 0.286556 0.08 0.29 pose: 0.0 -6.23729 -2.02747 0 0.00650472 -0.0140674 0.775813 0.630772 uwb: 0.0 1086.6 1653.42 -imu_odom_: 1691062914.791587291 0.672771 -0.222661 9.91439 -0.0660464 0.0181095 0.280165 0.08 0.29 pose: 0.8091239 -6.23729 -2.02747 0 0.00723968 -0.0138287 0.776434 0.630005 uwb: 0.49939475 1083.73 1653.75 -imu_odom_: 1691062914.808483726 -0.201113 -0.486023 9.75637 -0.0585895 0.0703074 0.169377 0.09 0.08 pose: 0.0 -6.23729 -2.02747 0 0.00723968 -0.0138287 0.776434 0.630005 uwb: 0.0 1083.73 1653.75 -imu_odom_: 1691062914.825542319 -0.667982 0.225055 10.1873 -0.0511327 -0.0138484 -0.0191748 0.14 0.02 pose: 0.0 -6.23729 -2.02747 0 0.00723968 -0.0138287 0.776434 0.630005 uwb: 0.0 1083.73 1653.75 -imu_odom_: 1691062914.841529391 -0.344765 0.407014 9.52174 -0.0511327 -0.0308927 -0.135289 0.14 0.02 pose: 0.77099064 -6.24344 -2.01472 0 0.00650516 -0.00815563 0.781087 0.624335 uwb: 0.50065176 1088.87 1653.09 -imu_odom_: 1691062914.859607591 -0.162806 -0.215478 9.65103 -0.0745685 0.0106526 -0.148072 0.15 -0.14 pose: 0.0 -6.24344 -2.01472 0 0.00650516 -0.00815563 0.781087 0.624335 uwb: 0.0 1088.87 1653.09 -imu_odom_: 1691062914.876365784 -0.0742203 -0.785298 10.0102 -0.0628506 -0.0223706 -0.164051 0.15 -0.14 pose: 0.33767498 -6.24344 -2.01472 0 0.00512489 -0.00538133 0.779587 0.62625 uwb: 0.0 1088.87 1653.09 -imu_odom_: 1691062914.890360597 -0.356736 -0.519542 9.73482 -0.0532632 0.0149137 -0.204531 0.15 -0.14 pose: 0.0 -6.24344 -2.01472 0 0.00512489 -0.00538133 0.779587 0.62625 uwb: 0.49887561 1090.04 1653.14 -imu_odom_: 1691062914.907357068 -0.011971 0.0933739 9.84496 -0.0511327 -0.0383495 -0.216249 0.12 -0.26 pose: 0.40978537 -6.24008 -2.00528 0 0.00125623 -0.0043642 0.776862 0.629655 uwb: 0.0 1090.04 1653.14 -imu_odom_: 1691062914.921490122 0.107739 0.0933739 9.71328 -0.0511327 -0.0138484 -0.239684 0.12 -0.26 pose: 0.7009218 -6.24014 -2.00528 0 0.00118519 -0.00374861 0.776299 0.630352 uwb: 0.0 1090.04 1653.14 -imu_odom_: 1691062914.937365492 0.54109 -0.023942 10.4794 -0.0660464 0.0117179 -0.271642 0.12 -0.26 pose: 0.0 -6.24014 -2.00528 0 0.00118519 -0.00374861 0.776299 0.630352 uwb: 0.0 1090.04 1653.14 -imu_odom_: 1691062914.952408202 0.363919 -0.222661 9.69173 -0.0490022 0.015979 -0.304666 0.14 -0.38 pose: 0.39995677 -6.24014 -2.00528 0 0.00230564 -0.0008272170.772682 0.634789 uwb: 0.0 1090.04 1653.14 -imu_odom_: 1691062914.969404965 0.0574608 -0.263362 10.0676 -0.0426106 0 -0.34408 0.13 -0.35 pose: 0.0 -6.24014 -2.00528 0 0.00230564 -0.0008272170.772682 0.634789 uwb: 0.0 1090.04 1653.14 -imu_odom_: 1691062914.983479689 0.107739 -0.177171 9.68933 -0.0628506 -0.0117179 -0.36432 0.13 -0.35 pose: 0.0 -6.24014 -2.00528 0 0.00230564 -0.0008272170.772682 0.634789 uwb: 0.0 1090.04 1653.14 -imu_odom_: 1691062914.999479593 0.363919 0.220267 10.5896 -0.0585895 -0.0340885 -0.379234 0.13 -0.41 pose: 0.22012847 -6.24625 -1.99252 0 0.000254229 0.000309391 0.770185 0.63782 uwb: 0.99912198 1091.18 1652.96 -imu_odom_: 1691062915.16550727 0.304064 -0.237026 9.60793 -0.0500674 -0.0117179 -0.395213 0.13 -0.41 pose: 0.0 -6.24625 -1.99252 0 0.000254229 0.000309391 0.770185 0.63782 uwb: 0.0 1091.18 1652.96 -imu_odom_: 1691062915.34532391 0.158017 -0.277727 9.62708 -0.0511327 0.00532632 -0.409062 0.13 -0.41 pose: 0.0 -6.24625 -1.99252 0 0.000254229 0.000309391 0.770185 0.63782 uwb: 0.50138380 1090.03 1653 -imu_odom_: 1691062915.52474100 0.952892 0.0311246 10.1658 -0.0596548 -0.0490022 -0.425041 0.15 -0.5 pose: 0.75154052 -6.24436 -1.98726 0 -0.00374513 0.00330213 0.759959 0.649951 uwb: 0.0 1090.03 1653 -imu_odom_: 1691062915.68532917 1.47243 -0.215478 9.80426 -0.0745685 -0.0937433 -0.370712 0.15 -0.5 pose: 0.0 -6.24436 -1.98726 0 -0.00374513 0.00330213 0.759959 0.649951 uwb: 0.0 1090.03 1653 -imu_odom_: 1691062915.85408646 1.59214 -0.428562 9.5792 -0.0692422 -0.00639159 -0.357929 0.15 -0.5 pose: 0.0 -6.24436 -1.98726 0 -0.00374513 0.00330213 0.759959 0.649951 uwb: 0.50028137 1083.19 1653.98 -imu_odom_: 1691062915.103477513 1.11091 -0.335188 9.23922 -0.0479369 0.0479369 -0.350472 0.11 -0.35 pose: 0.7953580 -6.24296 -1.98308 0 -0.00287815 0.00289482 0.758761 0.651356 uwb: 0.0 1083.19 1653.98 -imu_odom_: 1691062915.120426154 0.916979 -0.237026 9.74201 -0.056459 0.0298274 -0.297209 0.1 -0.32 pose: 0.0 -6.24296 -1.98308 0 -0.00287815 0.00289482 0.758761 0.651356 uwb: 0.0 1083.19 1653.98 -imu_odom_: 1691062915.137473081 0.646434 -0.4956 9.67497 -0.052198 0.0223706 -0.233293 0.1 -0.32 pose: 0.67995219 -6.2524 -1.9798 0 0.00208149 -0.00214401 0.749791 0.661668 uwb: 0.50052928 1084.89 1653.64 -imu_odom_: 1691062915.154415306 0.555455 -0.526724 10.0078 -0.0543285 0.0330232 -0.223706 0.09 -0.26 pose: 0.0 -6.2524 -1.9798 0 0.00208149 -0.00214401 0.749791 0.661668 uwb: 0.0 1084.89 1653.64 -imu_odom_: 1691062915.171588809 0.438139 -0.148441 10.0652 -0.0351537 0.0106526 -0.227967 0.09 -0.26 pose: 0.0 -6.2524 -1.9798 0 0.00208149 -0.00214401 0.749791 0.661668 uwb: 0.0 1084.89 1653.64 -imu_odom_: 1691062915.189403941 0.646434 0.162806 10.2161 -0.0585895 -0.0372843 -0.18003 0.09 -0.26 pose: 0.34999426 -6.24908 -1.97036 0 0.00174684 -0.00482324 0.746436 0.665438 uwb: 0.50057302 1081.49 1654.22 -imu_odom_: 1691062915.206478283 0.665588 -0.282516 9.84975 -0.0585895 -0.0170442 -0.125701 0.06 -0.2 pose: 0.43923325 -6.24908 -1.97036 0 0.00360255 -0.00308388 0.742807 0.669488 uwb: 0.0 1081.49 1654.22 -imu_odom_: 1691062915.223404467 0.766145 -0.574608 9.80665 -0.052198 0.0117179 -0.123571 0.06 -0.2 pose: 0.7071923 -6.24908 -1.97036 0 0.00393535 -0.0037589 0.742414 0.669919 uwb: 0.0 1081.49 1654.22 -imu_odom_: 1691062915.240331818 0.837971 -0.373495 9.77313 -0.0436758 0.0106526 -0.127832 0.07 -0.2 pose: 0.0 -6.24908 -1.97036 0 0.00393535 -0.0037589 0.742414 0.669919 uwb: 0.49691865 1082.05 1654.05 -imu_odom_: 1691062915.258468931 0.648829 -0.110133 10.0389 -0.0553937 0.00213053 -0.0937433 0.05 -0.14 pose: 0.43855954 -6.24908 -1.97036 0 0.00480604 -0.00764417 0.739971 0.672578 uwb: 0.0 1082.05 1654.05 -imu_odom_: 1691062915.272475410 0.617704 -0.213084 9.76834 -0.0607201 -0.00106526 -0.0756338 0.05 -0.17 pose: 0.0 -6.24908 -1.97036 0 0.00480604 -0.00764417 0.739971 0.672578 uwb: 0.0 1082.05 1654.05 -imu_odom_: 1691062915.297400379 0.696713 -0.320823 10.0221 -0.056459 -0.00532632 -0.0894822 0.05 -0.17 pose: 0.24040395 -6.24908 -1.97036 0 0.00700822 -0.00707863 0.738908 0.673732 uwb: 0.50085883 1074.05 1655.01 -imu_odom_: 1691062915.315468663 0.131681 -0.292093 9.80665 -0.0681769 0.0276969 -0.110787 0.06 -0.17 pose: 0.33028166 -6.24574 -1.96094 0 0.00761634 -0.00979742 0.737499 0.675234 uwb: 0.0 1074.05 1655.01 -imu_odom_: 1691062915.341484111 -0.656011 -0.0646434 9.8689 -0.0511327 0.0138484 -0.307861 0.06 -0.17 pose: 0.7944831 -6.24574 -1.96094 0 0.00687086 -0.00925233 0.737105 0.67568 uwb: 0.50246583 1074.07 1655.12 -imu_odom_: 1691062915.365399973 -0.483629 0.416591 9.81144 -0.0500674 -0.0117179 -0.449542 0.08 -0.35 pose: 0.36138901 -6.24569 -1.96094 0 0.00419779 -0.0062971 0.733557 0.679586 uwb: 0.0 1074.07 1655.12 -imu_odom_: 1691062915.381385586 -0.268151 -0.114922 10.1299 -0.0713727 -0.0852212 -0.420779 0.08 -0.35 pose: 0.0 -6.24569 -1.96094 0 0.00419779 -0.0062971 0.733557 0.679586 uwb: 0.0 1074.07 1655.12 -imu_odom_: 1691062915.407388785 0.19393 -0.306458 10.1562 -0.0585895 -0.0426106 -0.474043 0.13 -0.58 pose: 0.39901475 -6.24568 -1.96094 0 0.0031436 -0.00325064 0.727057 0.686562 uwb: 0.49928976 1076.36 1654.84 -imu_odom_: 1691062915.433633178 0.117316 0.234632 9.95509 -0.0703074 -0.0447411 -0.460194 0.13 -0.58 pose: 0.0 -6.24568 -1.96094 0 0.0031436 -0.00325064 0.727057 0.686562 uwb: 0.0 1076.36 1654.84 -imu_odom_: 1691062915.459478011 0.208296 -0.339977 9.79228 -0.0703074 -0.0340885 -0.508131 0.14 -0.7 pose: 0.52247592 -6.25163 -1.94817 0 0.00181708 -0.0003182030.717912 0.696131 uwb: 0.49767111 1074.08 1655.17 -imu_odom_: 1691062915.484491058 0.385466 0.0933739 9.8665 -0.0756338 -0.0532632 -0.547546 0.12 -0.58 pose: 0.0 -6.25163 -1.94817 0 0.00181708 -0.0003182030.717912 0.696131 uwb: 0.0 1074.08 1655.17 -imu_odom_: 1691062915.501496863 -0.0742203 -0.0622492 10.0772 -0.0692422 0.0213053 -0.558199 0.12 -0.58 pose: 0.33959112 -6.25183 -1.94818 0 5.47829e-05 0.000190637 0.711296 0.702893 uwb: 0.50230250 1070.66 1655.74 -imu_odom_: 1691062915.527462438 0.430956 -0.0574608 9.65821 -0.0703074 -0.00852212 -0.586961 0.13 -0.64 pose: 0.0 -6.25183 -1.94818 0 5.47829e-05 0.000190637 0.711296 0.702893 uwb: 0.0 1070.66 1655.74 -imu_odom_: 1691062915.552315662 0.237026 -0.366313 9.80665 -0.0617853 0.00213053 -0.612527 0.13 -0.64 pose: 0.41741201 -6.24848 -1.93875 0 0.000953716 0.00275361 0.702452 0.711725 uwb: 0.49936559 1072.95 1655.46 -imu_odom_: 1691062915.569447168 0.325611 -0.0814029 10.0197 -0.0266316 0.0170442 -0.638093 0.14 -0.7 pose: 0.0 -6.24848 -1.93875 0 0.000953716 0.00275361 0.702452 0.711725 uwb: 0.0 1072.95 1655.46 -imu_odom_: 1691062915.595435200 0.445322 -0.100556 9.9527 -0.0607201 -0.04048 -0.637028 0.14 -0.7 pose: 0.50136922 -6.24519 -1.92931 0 0.000315294 0.00356603 0.690824 0.723014 uwb: 0.50005097 1077.01 1655.4 -imu_odom_: 1691062915.621455315 0.260968 -0.318429 9.52653 -0.0660464 0.00106526 -0.657268 0.14 -0.76 pose: 0.35964787 -6.24474 -1.92929 0 0.00335499 0.00320172 0.681977 0.731359 uwb: 0.0 1077.01 1655.4 -imu_odom_: 1691062915.647453847 0.665588 0.0215478 10.2448 -0.0426106 -0.0266316 -0.70627 0.14 -0.76 pose: 0.0 -6.24474 -1.92929 0 0.00335499 0.00320172 0.681977 0.731359 uwb: 0.50057593 1082.09 1654.26 -imu_odom_: 1691062915.663321634 0.169988 -0.0287304 9.47386 -0.0543285 -0.0308927 -0.72438 0.17 -0.82 pose: 0.7914499 -6.24519 -1.92931 0 0.00251476 0.00310731 0.679958 0.73324 uwb: 0.0 1082.09 1654.26 -imu_odom_: 1691062915.688564793 0.323217 -0.296881 9.09318 -0.0756338 -0.0458064 -0.721184 0.17 -0.82 pose: 0.0 -6.24519 -1.92931 0 0.00251476 0.00310731 0.679958 0.73324 uwb: 0.50013846 1078.07 1654.33 -imu_odom_: 1691062915.714383669 0.385466 -0.035913 9.41879 -0.0436758 -0.0436758 -0.752077 0.15 -0.76 pose: 0.51165571 -6.25141 -1.91662 0 0.00324362 0.00272514 0.666126 0.745827 uwb: 0.0 1078.07 1654.33 -imu_odom_: 1691062915.731509633 0.272939 -0.181959 9.61272 -0.0639159 -0.0245011 -0.754207 0.15 -0.76 pose: 0.0 -6.25141 -1.91662 0 0.00324362 0.00272514 0.666126 0.745827 uwb: 0.0 1078.07 1654.33 -imu_odom_: 1691062915.748503188 0.433351 -0.131681 10.2208 -0.0553937 -0.0181095 -0.755272 0.17 -0.85 pose: 0.40899209 -6.25141 -1.91662 0 0.00142607 0.00251452 0.654347 0.756189 uwb: 0.49974182 1072.28 1654.38 -imu_odom_: 1691062915.765382417 0.852336 -0.237026 10.1394 -0.0532632 -0.0106526 -0.756338 0.17 -0.85 pose: 0.0 -6.25141 -1.91662 0 0.00142607 0.00251452 0.654347 0.756189 uwb: 0.0 1072.28 1654.38 -imu_odom_: 1691062915.782356723 0.225055 -0.102951 9.9503 -0.0511327 0.0117179 -0.763795 0.17 -0.85 pose: 0.0 -6.25141 -1.91662 0 0.00142607 0.00251452 0.654347 0.756189 uwb: 0.0 1072.28 1654.38 -imu_odom_: 1691062915.799298072 0.332794 -0.0814029 9.61272 -0.0266316 -0.0138484 -0.758468 0.16 -0.82 pose: 0.44165686 -6.2481 -1.90719 0 0.00224052 0.00344007 0.640999 0.767531 uwb: 0.49896020 1074.02 1654.4 -imu_odom_: 1691062915.817299861 0.361524 0.00718261 9.68933 -0.0596548 -0.0276969 -0.748881 0.16 -0.82 pose: 0.0 -6.2481 -1.90719 0 0.00224052 0.00344007 0.640999 0.767531 uwb: 0.0 1074.02 1654.4 -imu_odom_: 1691062915.834356704 0.107739 -0.100556 9.65582 -0.0468716 -0.0191748 -0.768056 0.17 -0.82 pose: 0.77719696 -6.24287 -1.89247 0 0.0045438 0.00574293 0.616938 0.786977 uwb: 0.0 1074.02 1654.4 -imu_odom_: 1691062915.851282013 0.0766145 -0.545878 9.85693 -0.0660464 0.036219 -0.789361 0.17 -0.82 pose: 0.0 -6.24287 -1.89247 0 0.0045438 0.00574293 0.616938 0.786977 uwb: 0.50036886 1078 1653.72 -imu_odom_: 1691062915.869356713 0.0837971 -0.0981623 9.84256 -0.0617853 -0.0223706 -0.788296 0.17 -0.82 pose: 0.0 -6.24287 -1.89247 0 0.0045438 0.00574293 0.616938 0.786977 uwb: 0.0 1078 1653.72 -imu_odom_: 1691062915.886325770 0.390255 0.213084 10.2161 -0.0692422 -0.0415453 -0.778708 0.17 -0.82 pose: 0.8001702 -6.24159 -1.88828 0 0.00404424 0.00631895 0.614387 0.788969 uwb: 0.49982349 1076.26 1653.67 -imu_odom_: 1691062915.902443500 0.447716 -0.117316 9.46188 -0.0511327 -0.04048 -0.786165 0.17 -0.85 pose: 0.0 -6.24159 -1.88828 0 0.00404424 0.00631895 0.614387 0.788969 uwb: 0.0 1076.26 1653.67 -imu_odom_: 1691062915.920437414 0.641646 -0.136469 9.68215 -0.072438 0.00106526 -0.802144 0.17 -0.85 pose: 0.67030441 -6.23836 -1.87881 0 0.00243045 0.00785376 0.592388 0.805611 uwb: 0.0 1076.26 1653.67 -imu_odom_: 1691062915.945295304 0.620098 -0.114922 9.84017 -0.0596548 -0.0223706 -0.821319 0.17 -0.88 pose: 0.0 -6.23836 -1.87881 0 0.00243045 0.00785376 0.592388 0.805611 uwb: 0.49951433 1072.76 1653.4 -imu_odom_: 1691062915.962410477 0.395043 -0.184354 9.66539 -0.0692422 0.0213053 -0.797883 0.17 -0.88 pose: 0.34971428 -6.23836 -1.87882 0 0.00397226 0.00456343 0.580504 0.814235 uwb: 0.0 1072.76 1653.4 -imu_odom_: 1691062915.978359051 0.675165 -0.423774 9.9503 -0.0596548 0.0436758 -0.770186 0.18 -0.76 pose: 0.35107045 -6.23513 -1.86933 0 0.00313053 0.0023878 0.568313 0.822803 uwb: 0.0 1072.76 1653.4 -imu_odom_: 1691062915.996291135 0.723049 -0.172383 9.98382 -0.0596548 0.02024 -0.768056 0.18 -0.76 pose: 0.7960871 -6.23519 -1.86933 0 0.00284212 0.00176493 0.565661 0.824631 uwb: 0.50043594 1069.28 1653.29 -imu_odom_: 1691062916.13345937 0.184354 -0.37589 9.8665 -0.0575243 0.0745685 -0.680704 0.18 -0.76 pose: 0.0 -6.23519 -1.86933 0 0.00284212 0.00176493 0.565661 0.824631 uwb: 0.0 1069.28 1653.29 -imu_odom_: 1691062916.27319167 0.0766145 -0.277727 10.2328 -0.0692422 -0.0138484 -0.570982 0.18 -0.58 pose: 0.42974589 -6.23191 -1.85986 0 0.001315 0.000855286 0.55189 0.833915 uwb: 0.0 1069.28 1653.29 -imu_odom_: 1691062916.44424716 0.380678 -0.538695 9.663 -0.0426106 -0.0713727 -0.508131 0.18 -0.58 pose: 0.0 -6.23191 -1.85986 0 0.001315 0.000855286 0.55189 0.833915 uwb: 0.50027846 1073.29 1652.94 -imu_odom_: 1691062916.57333425 0.761356 -0.361524 9.72046 -0.0468716 -0.0351537 -0.491087 0.18 -0.58 pose: 0.0 -6.23191 -1.85986 0 0.001315 0.000855286 0.55189 0.833915 uwb: 0.0 1073.29 1652.94 -imu_odom_: 1691062916.73428991 0.828394 -0.0143652 10.2352 -0.0181095 -0.0308927 -0.449542 0.17 -0.47 pose: 0.43987488 -6.22862 -1.85042 0 -0.00038845 -0.00110853 0.541524 0.840685 uwb: 0.0 1073.29 1652.94 -imu_odom_: 1691062916.91425529 0.593762 -0.124498 9.65342 -0.0458064 -0.0255663 -0.426106 0.24 -0.64 pose: 0.0 -6.22862 -1.85042 0 -0.00038845 -0.00110853 0.541524 0.840685 uwb: 0.49969224 1073.25 1652.64 -imu_odom_: 1691062916.108350255 0.184354 -0.21069 9.94791 -0.0426106 0.0426106 -0.398409 0.24 -0.64 pose: 0.0 -6.22862 -1.85042 0 -0.00038845 -0.00110853 0.541524 0.840685 uwb: 0.0 1073.25 1652.64 -imu_odom_: 1691062916.125302688 0.363919 -0.533907 10.1059 -0.0713727 0.00745685 -0.360059 0.18 -0.44 pose: 0.24096684 -6.22868 -1.85042 0 0.00219033 -0.00231829 0.536635 0.843808 uwb: 0.0 1073.25 1652.64 -imu_odom_: 1691062916.142277869 0.169988 0.0263362 9.99579 -0.052198 -0.00852212 -0.343015 0.18 -0.44 pose: 0.0 -6.22868 -1.85042 0 0.00219033 -0.00231829 0.536635 0.843808 uwb: 0.49989932 1073.23 1652.48 -imu_odom_: 1691062916.159409375 0.392649 0.0646434 9.40203 -0.0628506 -0.0447411 -0.299339 0.18 -0.44 pose: 0.33938114 -6.22536 -1.84099 0 0.00135102 -0.00127427 0.530347 0.847779 uwb: 0.0 1073.23 1652.48 -imu_odom_: 1691062916.176410221 0.071826 -0.131681 9.54329 -0.0596548 -0.015979 -0.288687 0.26 -0.47 pose: 0.44041152 -6.22204 -1.83153 0 0.00224108 0.000722079 0.523432 0.852064 uwb: 0.0 1073.23 1652.48 -imu_odom_: 1691062916.192404001 0.383072 -0.136469 10.1801 -0.0511327 -0.0181095 -0.292948 0.26 -0.47 pose: 0.7006301 -6.2221 -1.83154 0 0.00195347 0.00131785 0.52245 0.852667 uwb: 0.50066344 1070.9 1652.29 -imu_odom_: 1691062916.210339293 0.354342 -0.253785 9.86411 -0.0383495 0.00213053 -0.262055 0.23 -0.35 pose: 0.0 -6.2221 -1.83154 0 0.00195347 0.00131785 0.52245 0.852667 uwb: 0.0 1070.9 1652.29 -imu_odom_: 1691062916.226280576 0.921768 -0.320823 10.1179 -0.0490022 -0.0106526 -0.239684 0.17 -0.29 pose: 0.43923617 -6.22018 -1.82598 0 0.00139195 0.00250912 0.51646 0.856306 uwb: 0.0 1070.9 1652.29 -imu_odom_: 1691062916.240350343 0.998382 -0.0263362 10.2663 -0.0553937 -0.0170442 -0.211988 0.17 -0.29 pose: 0.0 -6.22018 -1.82598 0 0.00139195 0.00250912 0.51646 0.856306 uwb: 0.50009763 1069.15 1652.1 -imu_odom_: 1691062916.256340331 1.10373 -0.447716 9.52413 -0.0639159 -0.0223706 -0.181095 0.17 -0.29 pose: 0.0 -6.22018 -1.82598 0 0.00139195 0.00250912 0.51646 0.856306 uwb: 0.0 1069.15 1652.1 -imu_odom_: 1691062916.274339786 1.30723 -0.181959 9.7851 -0.0351537 -0.0916127 -0.177899 0.19 -0.35 pose: 0.22948168 -6.21882 -1.82209 0 0.00239077 0.000419372 0.513801 0.857906 uwb: 0.0 1069.15 1652.1 -imu_odom_: 1691062916.291293677 1.47243 -0.220267 9.54808 -0.0735032 -0.0628506 -0.20027 0.19 -0.35 pose: 0.0 -6.21882 -1.82209 0 0.00239077 0.000419372 0.513801 0.857906 uwb: 0.49863064 1073.09 1651.31 -imu_odom_: 1691062916.304279965 1.75974 0.110133 10.3453 -0.052198 -0.0340885 -0.226901 0.19 -0.35 pose: 0.0 -6.21882 -1.82209 0 0.00239077 0.000419372 0.513801 0.857906 uwb: 0.0 1073.09 1651.31 -imu_odom_: 1691062916.320286286 1.44849 -0.0694318 9.8282 -0.0575243 -0.0468716 -0.190682 0.11 -0.2 pose: 0.70992504 -6.21554 -1.81262 0 0.00659827 -0.00705342 0.506586 0.862136 uwb: 0.0 1073.09 1651.31 -imu_odom_: 1691062916.338422233 1.28329 -0.248997 9.55047 -0.0681769 -0.0330232 -0.123571 0.11 -0.2 pose: 0.8089781 -6.21559 -1.81262 0 0.00717574 -0.00784439 0.505778 0.862598 uwb: 0.50040679 1067.36 1651.53 -imu_odom_: 1691062916.355370874 0.885855 -0.402226 9.48343 -0.0490022 -0.00213053 -0.132093 0.11 -0.2 pose: 0.0 -6.21559 -1.81262 0 0.00717574 -0.00784439 0.505778 0.862598 uwb: 0.0 1067.36 1651.53 -imu_odom_: 1691062916.368373495 0.572214 -0.11971 10.3597 -0.0415453 0.00213053 -0.172573 0.1 -0.2 pose: 0.43001128 -6.20613 -1.81586 0 0.00815368 -0.0121456 0.502452 0.864481 uwb: 0.0 1067.36 1651.53 -imu_odom_: 1691062916.384376024 0.713472 0.0861913 9.7444 -0.0628506 -0.0607201 -0.153398 0.09 -0.14 pose: 0.0 -6.20613 -1.81586 0 0.00815368 -0.0121456 0.502452 0.864481 uwb: 0.49961058 1065.58 1651 -imu_odom_: 1691062916.401371038 0.835576 -0.208296 9.89045 -0.076699 0.00319579 -0.122505 0.09 -0.14 pose: 0.0 -6.20613 -1.81586 0 0.00815368 -0.0121456 0.502452 0.864481 uwb: 0.0 1065.58 1651 -imu_odom_: 1691062916.418377134 0.967257 -0.543484 10.161 -0.0596548 -0.00958738 -0.111853 0.07 -0.11 pose: 0.20930244 -6.20289 -1.8064 0 0.00907194 -0.0106932 0.500584 0.865574 uwb: 0.0 1065.58 1651 -imu_odom_: 1691062916.433320683 0.864307 -0.260968 9.81862 -0.0553937 -0.0223706 -0.105461 0.07 -0.11 pose: 0.0 -6.20289 -1.8064 0 0.00907194 -0.0106932 0.500584 0.865574 uwb: 0.0 1065.58 1651 -imu_odom_: 1691062916.456411759 0.895431 -0.114922 10.0317 -0.0596548 -0.00532632 -0.0607201 0.07 -0.11 pose: 0.33186823 -6.20289 -1.8064 0 0.0096759 -0.01308 0.498177 0.866923 uwb: 0.49996639 1062.14 1651.03 -imu_odom_: 1691062916.481418974 0.234632 -0.371101 9.991 -0.0575243 0.0415453 -0.107592 0.06 -0.14 pose: 0.30820378 -6.20289 -1.8064 0 0.0100707 -0.01581 0.496343 0.867924 uwb: 0.0 1062.14 1651.03 -imu_odom_: 1691062916.506279489 -0.830788 0.253785 9.72525 -0.0500674 0.0671117 -0.183225 0.07 -0.08 pose: 0.41110655 -6.20289 -1.8064 0 0.00935588 -0.0143735 0.494054 0.869262 uwb: 0.50006556 1063.21 1650.29 -imu_odom_: 1691062916.531605186 -0.811634 -0.988805 9.56962 -0.0777643 -0.0394148 -0.0255663 0.07 -0.08 pose: 0.0 -6.20289 -1.8064 0 0.00935588 -0.0143735 0.494054 0.869262 uwb: 0.0 1063.21 1650.29 -imu_odom_: 1691062916.557259863 0.651223 -0.277727 9.70131 -0.036219 -0.0692422 -0.0671117 0.14 -0.11 pose: 0.7019134 -6.20289 -1.8064 0 0.00909471 -0.0134571 0.493378 0.869663 uwb: 0.50113591 1061.49 1650.27 -imu_odom_: 1691062916.573374678 0.620098 0.112527 9.38048 -0.0596548 -0.0223706 -0.0106526 0.14 -0.11 pose: 0.0 -6.20289 -1.8064 0 0.00909471 -0.0134571 0.493378 0.869663 uwb: 0.0 1061.49 1650.27 -imu_odom_: 1691062916.591419047 0.114922 -0.229843 9.89045 -0.0681769 0.00532632 0.0990696 0.14 0.02 pose: 0.50967834 -6.19957 -1.79697 0 0.00588022 -0.0110245 0.490602 0.871294 uwb: 0.0 1061.49 1650.27 -imu_odom_: 1691062916.607420118 0.141258 -0.902614 9.85453 -0.0532632 -0.0426106 0.157659 0.14 0.02 pose: 0.0 -6.19957 -1.79697 0 0.00588022 -0.0110245 0.490602 0.871294 uwb: 0.0 1061.49 1650.27 -imu_odom_: 1691062916.621318395 0.378284 -0.555455 9.55526 -0.0436758 -0.0213053 0.201335 0.14 0.02 pose: 0.0 -6.19957 -1.79697 0 0.00588022 -0.0110245 0.490602 0.871294 uwb: 0.0 1061.49 1650.27 -imu_odom_: 1691062916.637256178 0.134075 -0.299275 9.90002 -0.0511327 -0.00213053 0.276969 0.13 0.2 pose: 0.41935149 -6.19957 -1.79697 0 0.00592029 -0.0111884 0.489626 0.871841 uwb: 0.100011944 1059.73 1649.82 -imu_odom_: 1691062916.655246009 0.237026 -0.462081 9.73961 -0.0628506 0.0117179 0.340885 0.13 0.2 pose: 0.0 -6.19957 -1.79697 0 0.00592029 -0.0111884 0.489626 0.871841 uwb: 0.0 1059.73 1649.82 -imu_odom_: 1691062916.672257646 0.0646434 -0.471658 10.1394 -0.0372843 0.015979 0.36219 0.13 0.2 pose: 0.0 -6.19957 -1.79697 0 0.00592029 -0.0111884 0.489626 0.871841 uwb: 0.0 1059.73 1649.82 -imu_odom_: 1691062916.685303431 0.143652 -0.260968 9.63187 -0.0276969 0.0298274 0.386691 0.14 0.32 pose: 0.48061543 -6.19626 -1.78754 0 0.00218844 -0.00959316 0.492569 0.870218 uwb: 0.49975058 1057.42 1649.58 -imu_odom_: 1691062916.701289045 0.265756 -0.361524 9.60554 -0.0735032 0.0266316 0.437824 0.13 0.35 pose: 0.0 -6.19626 -1.78754 0 0.00218844 -0.00959316 0.492569 0.870218 uwb: 0.0 1057.42 1649.58 -imu_odom_: 1691062916.719289958 0.529119 -0.368707 9.92875 -0.0415453 0.00426106 0.453803 0.13 0.35 pose: 0.63919415 -6.19292 -1.77811 0 -0.00246544 -0.00453389 0.501507 0.865138 uwb: 0.0 1057.42 1649.58 -imu_odom_: 1691062916.736231308 0.339977 -0.0766145 9.98382 -0.0458064 0.0213053 0.477238 0.13 0.35 pose: 0.0 -6.19292 -1.77811 0 -0.00246544 -0.00453389 0.501507 0.865138 uwb: 0.49870938 1060.76 1648.71 -imu_odom_: 1691062916.749227803 -0.011971 -0.435745 9.74201 -0.0543285 -0.0255663 0.527306 0.15 0.44 pose: 0.0 -6.19292 -1.77811 0 -0.00246544 -0.00453389 0.501507 0.865138 uwb: 0.0 1060.76 1648.71 -imu_odom_: 1691062916.765284580 0.234632 -0.565032 10.3334 -0.0543285 -0.0213053 0.551807 0.15 0.44 pose: 0.32969544 -6.1896 -1.76868 0 -0.00290453 -0.00490464 0.507414 0.861683 uwb: 0.0 1060.76 1648.71 -imu_odom_: 1691062916.783287826 0.191536 -0.577003 9.45949 -0.0490022 0.0351537 0.561394 0.21 0.7 pose: 0.38992987 -6.1896 -1.76868 0 -0.00483609 -0.00311555 0.51555 0.85684 uwb: 0.0 1060.76 1648.71 -imu_odom_: 1691062916.800222468 0.64404 -0.131681 9.98861 -0.0585895 0.0149137 0.598679 0.21 0.7 pose: 0.8002577 -6.1896 -1.76868 0 -0.00569319 -0.00283055 0.517338 0.855757 uwb: 0.49969516 1064.16 1648.5 -imu_odom_: 1691062916.813220130 0.275333 -0.134075 10.0796 -0.0468716 0.00745685 0.617853 0.21 0.7 pose: 0.0 -6.1896 -1.76868 0 -0.00569319 -0.00283055 0.517338 0.855757 uwb: 0.0 1064.16 1648.5 -imu_odom_: 1691062916.830456338 0.225055 -0.833182 9.74201 -0.0394148 -0.0308927 0.641289 0.15 0.55 pose: 0.39932973 -6.17682 -1.7625 0 -0.00469014 -0.0016012 0.526808 0.84997 uwb: 0.0 1064.16 1648.5 -imu_odom_: 1691062916.847386314 1.01993 -0.727837 10.1203 -0.0713727 -0.0340885 0.611462 0.15 0.55 pose: 0.0 -6.17682 -1.7625 0 -0.00469014 -0.0016012 0.526808 0.84997 uwb: 0.50002473 1061.85 1648.18 -imu_odom_: 1691062916.865383436 0.742203 -0.304064 9.68933 -0.0394148 -0.015979 0.600809 0.15 0.55 pose: 0.0 -6.17682 -1.7625 0 -0.00469014 -0.0016012 0.526808 0.84997 uwb: 0.0 1061.85 1648.18 -imu_odom_: 1691062916.882381074 1.55144 -0.52433 10.4914 -0.0681769 -0.0596548 0.591222 0.11 0.38 pose: 0.24026397 -6.17688 -1.7625 0 -0.00610874 -0.00293384 0.532845 0.846185 uwb: 0.0 1061.85 1648.18 -imu_odom_: 1691062916.896233562 1.62327 -0.184354 9.40442 -0.0223706 -0.0308927 0.488956 0.11 0.41 pose: 0.0 -6.17688 -1.7625 0 -0.00610874 -0.00293384 0.532845 0.846185 uwb: 0.50203711 1058.97 1647.91 -imu_odom_: 1691062916.913401232 1.59693 -0.0191536 10.003 -0.0436758 0.0266316 0.409062 0.11 0.41 pose: 0.36022534 -6.17358 -1.75306 0 -0.00435652 -0.00636392 0.541364 0.840753 uwb: 0.0 1058.97 1647.91 -imu_odom_: 1691062916.930400620 1.20428 -0.0143652 9.95748 -0.076699 0.0127832 0.36432 0.09 0.29 pose: 0.40132171 -6.17358 -1.75306 0 -0.00149616 -0.00930437 0.548707 0.835961 uwb: 0.0 1058.97 1647.91 -imu_odom_: 1691062916.947511127 0.799663 -0.344765 9.64863 -0.0607201 0.036219 0.305731 0.09 0.29 pose: 0.6980345 -6.17358 -1.75306 0 -0.00100045 -0.00964954 0.549647 0.835341 uwb: 0.49812316 1060.04 1647.2 -imu_odom_: 1691062916.963238631 0.572214 -0.387861 9.92157 -0.056459 -0.0149137 0.265251 0.09 0.29 pose: 0.0 -6.17358 -1.75306 0 -0.00100045 -0.00964954 0.549647 0.835341 uwb: 0.0 1060.04 1647.2 -imu_odom_: 1691062916.981362620 0.782904 -0.155623 9.94312 -0.0436758 -0.0117179 0.22264 0.1 0.35 pose: 0.42857054 -6.17192 -1.74841 0 -0.00122549 -0.0118197 0.554366 0.832188 uwb: 0.0 1060.04 1647.2 -imu_odom_: 1691062916.998360842 0.785298 -0.150835 9.86172 -0.056459 -0.00426106 0.24075 0.1 0.35 pose: 0.0 -6.17192 -1.74841 0 -0.00122549 -0.0118197 0.554366 0.832188 uwb: 0.50005681 1060.01 1646.87 -imu_odom_: 1691062917.11488871 0.756568 -0.380678 9.87608 -0.0532632 0.00532632 0.237554 0.1 0.35 pose: 0.0 -6.17192 -1.74841 0 -0.00122549 -0.0118197 0.554366 0.832188 uwb: 0.0 1060.01 1646.87 -imu_odom_: 1691062917.27296287 0.790087 -0.409408 9.9527 -0.0490022 0.00639159 0.209857 0.05 0.2 pose: 0.26156898 -6.17035 -1.74359 0 0.00144438 -0.0122825 0.556389 0.83083 uwb: 0.0 1060.01 1646.87 -imu_odom_: 1691062917.45241204 0.890643 -0.126893 9.84735 -0.0447411 -0.00639159 0.20027 0.08 0.29 pose: 0.0 -6.17035 -1.74359 0 0.00144438 -0.0122825 0.556389 0.83083 uwb: 0.49892812 1060.55 1646.56 -imu_odom_: 1691062917.62294548 0.526724 -0.201113 9.79947 -0.0660464 0.0319579 0.22051 0.08 0.29 pose: 0.29986551 -6.17035 -1.74359 0 0.0024227 -0.0144383 0.55875 0.829207 uwb: 0.0 1060.55 1646.56 -imu_odom_: 1691062917.85294338 0.40462 -0.222661 9.91918 -0.0543285 0.0149137 0.209857 0.05 0.17 pose: 0.42912468 -6.17029 -1.7436 0 0.00398238 -0.0135959 0.561757 0.827181 uwb: 0.49982058 1056.52 1645.98 -imu_odom_: 1691062917.103269587 -0.232238 -0.328006 9.70609 -0.0553937 0.0596548 0.230097 0.05 0.17 pose: 0.0 -6.17029 -1.7436 0 0.00398238 -0.0135959 0.561757 0.827181 uwb: 0.0 1056.52 1645.98 -imu_odom_: 1691062917.116358827 -0.859518 -0.395043 10.1011 -0.0585895 0.0756338 0.225836 0.05 0.17 pose: 0.7074548 -6.17035 -1.74359 0 0.00372234 -0.0128661 0.562261 0.826852 uwb: 0.0 1056.52 1645.98 -imu_odom_: 1691062917.134440528 -0.866701 -0.289698 10.1251 -0.0553937 -0.0298274 0.210922 0.07 0.17 pose: 0.0 -6.17035 -1.74359 0 0.00372234 -0.0128661 0.562261 0.826852 uwb: 0.0 1056.52 1645.98 -imu_odom_: 1691062917.149432782 -0.227449 -0.215478 9.77074 -0.052198 -0.0649811 0.2024 0.07 0.17 pose: 0.0 -6.17035 -1.74359 0 0.00372234 -0.0128661 0.562261 0.826852 uwb: 0.0 1056.52 1645.98 -imu_odom_: 1691062917.167431654 0.533907 -0.270545 9.79707 -0.0490022 -0.0468716 0.181095 0.13 0.2 pose: 0.73076634 -6.16705 -1.73416 0 -0.000572309-0.00606124 0.567671 0.823233 uwb: 0.0 1056.52 1645.98 -imu_odom_: 1691062917.185317658 0.667982 -0.129287 9.76834 -0.0575243 -0.0170442 0.178964 0.13 0.2 pose: 0.0 -6.16705 -1.73416 0 -0.000572309-0.00606124 0.567671 0.823233 uwb: 0.100101774 1054.81 1645.92 -imu_odom_: 1691062917.198433147 0.409408 -0.399832 9.94551 -0.0585895 0.0266316 0.173638 0.13 0.2 pose: 0.0 -6.16705 -1.73416 0 -0.000572309-0.00606124 0.567671 0.823233 uwb: 0.0 1054.81 1645.92 -imu_odom_: 1691062917.214371805 -0.275333 -0.526724 9.76834 -0.0735032 0.0351537 0.158724 0.11 0.11 pose: 0.32991710 -6.16705 -1.73416 0 0.00175593 -0.00712285 0.569633 0.821866 uwb: 0.0 1054.81 1645.92 -imu_odom_: 1691062917.232472463 -0.0311246 -0.335188 10.0485 -0.0628506 -0.00319579 0.152333 0.11 0.11 pose: 0.38934365 -6.16541 -1.72946 0 -0.000250985-0.00583817 0.571712 0.820434 uwb: 0.0 1054.81 1645.92 -imu_odom_: 1691062917.249346442 0.3304 -0.354342 10.2496 -0.0543285 -0.0127832 0.165116 0.11 0.11 pose: 0.0 -6.16541 -1.72946 0 -0.000250985-0.00583817 0.571712 0.820434 uwb: 0.50064011 1054.78 1645.52 -imu_odom_: 1691062917.262344979 0.624887 -0.0909797 10.2376 -0.0543285 -0.0330232 0.158724 0.12 0.11 pose: 0.0 -6.16541 -1.72946 0 -0.000250985-0.00583817 0.571712 0.820434 uwb: 0.0 1054.78 1645.52 -imu_odom_: 1691062917.279371491 0.529119 -0.344765 9.94791 -0.0479369 -0.0426106 0.156594 0.12 0.11 pose: 0.8061782 -6.16376 -1.72471 0 -0.000802547-0.00523689 0.572089 0.820174 uwb: 0.0 1054.78 1645.52 -imu_odom_: 1691062917.294490322 -0.00718261-0.213084 9.94073 -0.0553937 0.00639159 0.140615 0.12 0.11 pose: 0.0 -6.16376 -1.72471 0 -0.000802547-0.00523689 0.572089 0.820174 uwb: 0.50120883 1054.76 1645.31 -imu_odom_: 1691062917.312494444 0.225055 -0.153229 10.4483 -0.0383495 -0.0308927 0.138484 0.13 0.05 pose: 0.63954122 -6.16376 -1.72471 0 -0.00167447 -0.00528366 0.575167 0.818017 uwb: 0.0 1054.76 1645.31 -imu_odom_: 1691062917.328217281 0.679953 -0.229843 10.0054 -0.0617853 -0.0543285 0.135289 0.13 0.05 pose: 0.0 -6.16376 -1.72471 0 -0.00167447 -0.00528366 0.575167 0.818017 uwb: 0.0 1054.76 1645.31 -imu_odom_: 1691062917.346427016 0.718261 -0.198719 9.90242 -0.0383495 -0.00852212 0.11931 0.13 0.05 pose: 0.0 -6.16376 -1.72471 0 -0.00167447 -0.00528366 0.575167 0.818017 uwb: 0.0 1054.76 1645.31 -imu_odom_: 1691062917.363356409 1.23541 -0.275333 9.94791 -0.0607201 -0.052198 0.142745 0.14 0.08 pose: 0.34113979 -6.16047 -1.71527 0 -0.00118027 -0.00355518 0.576553 0.817051 uwb: 0.0 1054.76 1645.31 -imu_odom_: 1691062917.380361339 1.2402 -0.150835 9.84735 -0.0490022 -0.0213053 0.173638 0.14 0.08 pose: 0.33926156 -6.15722 -1.70581 0 0.00156747 -0.00618126 0.577769 0.816175 uwb: 0.0 1054.76 1645.31 -imu_odom_: 1691062917.398354669 1.12288 -0.160412 10.003 -0.0585895 -0.0596548 0.22264 0.14 0.08 pose: 0.0 -6.15722 -1.70581 0 0.00156747 -0.00618126 0.577769 0.816175 uwb: 0.99759960 1054.73 1644.91 -imu_odom_: 1691062917.415345892 1.83635 -0.320823 10.058 -0.0479369 -0.0351537 0.183225 0.1 0.02 pose: 0.43926825 -6.15716 -1.70581 0 0.00500586 -0.0101176 0.580381 0.814267 uwb: 0.0 1054.73 1644.91 -imu_odom_: 1691062917.431272009 1.48441 0.0023942 9.77074 -0.0372843 0.0351537 0.103331 0.09 0.05 pose: 0.0 -6.15716 -1.70581 0 0.00500586 -0.0101176 0.580381 0.814267 uwb: 0.0 1054.73 1644.91 -imu_odom_: 1691062917.448270231 0.979228 0.0191536 9.80904 -0.0490022 0.0181095 0.0756338 0.09 0.05 pose: 0.0 -6.15716 -1.70581 0 0.00500586 -0.0101176 0.580381 0.814267 uwb: 0.0 1054.73 1644.91 -imu_odom_: 1691062917.465267578 0.634463 -0.339977 9.91918 -0.0703074 -0.00106526 0.0617853 0.08 0.02 pose: 0.8042242 -6.15722 -1.70581 0 0.0055245 -0.0108852 0.580845 0.813923 uwb: 0.0 1054.73 1644.91 -imu_odom_: 1691062917.482260550 0.821211 -0.445322 9.85932 -0.052198 -0.0298274 0.0308927 0.08 0.02 pose: 0.0 -6.15722 -1.70581 0 0.0055245 -0.0108852 0.580845 0.813923 uwb: 0.0 1054.73 1644.91 -imu_odom_: 1691062917.499324393 0.871489 -0.208296 9.90481 -0.0575243 -0.0276969 0.0447411 0.08 0.02 pose: 0.49818734 -6.15398 -1.69635 0 0.00802945 -0.0126923 0.582067 0.813002 uwb: 0.100041694 1053 1644.59 -imu_odom_: 1691062917.515330714 0.893037 -0.251391 9.95509 -0.0649811 -0.00745685 0.0788296 0.06 0.02 pose: 0.0 -6.15398 -1.69635 0 0.00802945 -0.0126923 0.582067 0.813002 uwb: 0.0 1053 1644.59 -imu_odom_: 1691062917.533334836 0.823605 -0.407014 9.79707 -0.0532632 -0.00745685 0.0841559 0.06 0.02 pose: 0.0 -6.15398 -1.69635 0 0.00802945 -0.0126923 0.582067 0.813002 uwb: 0.0 1053 1644.59 -imu_odom_: 1691062917.550217272 0.682347 -0.234632 9.96706 -0.0511327 -0.00958738 0.072438 0.05 0.05 pose: 0.67182976 -6.15398 -1.69635 0 0.00870767 -0.0176004 0.582497 0.812595 uwb: 0.49999848 1055.21 1644.02 -imu_odom_: 1691062917.575200572 0.691924 -0.100556 10.1035 -0.0553937 -0.0149137 0.0458064 0.05 0.02 pose: 0.0 -6.15398 -1.69635 0 0.00870767 -0.0176004 0.582497 0.812595 uwb: 0.0 1055.21 1644.02 -imu_odom_: 1691062917.592183629 0.251391 -0.174777 9.65582 -0.0607201 0.0426106 0.036219 0.05 0.05 pose: 0.33873659 -6.15398 -1.69635 0 0.00839512 -0.0161899 0.582934 0.812315 uwb: 0.49928978 1050.71 1644.25 -imu_odom_: 1691062917.617454204 -1.08218 -0.292093 10.3262 -0.0553937 0.0298274 0.0713727 0.05 0.05 pose: 0.34911349 -6.15398 -1.69635 0 0.00829309 -0.0129507 0.582959 0.812356 uwb: 0.0 1050.71 1644.25 -imu_odom_: 1691062917.642399589 -0.454898 -0.253785 9.98622 -0.0394148 -0.0777643 0.0703074 0.06 0 pose: 0.7079214 -6.15398 -1.69635 0 0.00778906 -0.0122925 0.583058 0.8123 uwb: 0.50383076 1050.11 1643.85 -imu_odom_: 1691062917.667345266 0.385466 -0.0622492 9.52892 -0.0575243 -0.0213053 0.0809601 0.1 0.02 pose: 0.43136746 -6.15078 -1.68688 0 0.00569111 -0.00923257 0.583639 0.811941 uwb: 0.0 1050.11 1643.85 -imu_odom_: 1691062917.692342857 -0.0047884 -0.306458 9.48822 -0.0490022 0.00426106 0.0745685 0.1 0.02 pose: 0.0 -6.15078 -1.68688 0 0.00569111 -0.00923257 0.583639 0.811941 uwb: 0.49609620 1044.47 1643.89 -imu_odom_: 1691062917.709325622 -0.361524 -0.277727 9.85932 -0.0500674 -0.00426106 0.0681769 0.1 0.02 pose: 0.49943268 -6.15078 -1.68688 0 0.00404575 -0.00506139 0.584425 0.811422 uwb: 0.0 1044.47 1643.89 -imu_odom_: 1691062917.727194126 0.0430956 -0.215478 10.0868 -0.0543285 -0.0543285 0.162985 0.11 0.02 pose: 0.0 -6.15078 -1.68688 0 0.00404575 -0.00506139 0.584425 0.811422 uwb: 0.0 1044.47 1643.89 -imu_odom_: 1691062917.744326799 0.47884 -0.703895 9.84017 -0.0490022 -0.0181095 0.238619 0.11 0.02 pose: 0.0 -6.15078 -1.68688 0 0.00404575 -0.00506139 0.584425 0.811422 uwb: 0.49948518 1046.15 1643.72 -imu_odom_: 1691062917.761318604 0.320823 -0.639252 9.76355 -0.0234358 -0.00532632 0.291882 0.13 0.26 pose: 0.41920567 -6.14749 -1.67743 0 0.00166486 -0.00311279 0.586097 0.810233 uwb: 0.0 1046.15 1643.72 -imu_odom_: 1691062917.779316601 0.1652 -0.265756 9.89763 -0.0266316 0.00852212 0.36219 0.13 0.26 pose: 0.0 -6.14749 -1.67743 0 0.00166486 -0.00311279 0.586097 0.810233 uwb: 0.0 1046.15 1643.72 -imu_odom_: 1691062917.796319198 0.316035 -0.351948 9.91918 -0.0415453 -0.0298274 0.437824 0.14 0.35 pose: 0.35055424 -6.14749 -1.67743 0 -0.000907752-0.00328608 0.589697 0.807618 uwb: 0.50036888 1041.64 1643.84 -imu_odom_: 1691062917.809240448 0.146046 -0.40462 9.76834 -0.0383495 -0.0127832 0.46339 0.15 0.44 pose: 0.0 -6.14749 -1.67743 0 -0.000907752-0.00328608 0.589697 0.807618 uwb: 0.0 1041.64 1643.84 -imu_odom_: 1691062917.826302541 0.847547 -0.232238 10.0365 -0.0255663 -0.0117179 0.477238 0.13 0.47 pose: 0.0 -6.14749 -1.67743 0 -0.000907752-0.00328608 0.589697 0.807618 uwb: 0.0 1041.64 1643.84 -imu_odom_: 1691062917.842226909 0.68953 -0.141258 9.71088 -0.036219 0.0170442 0.493217 0.13 0.47 pose: 0.48042295 -6.14422 -1.66798 0 -0.00319912 -0.0019038 0.59736 0.801965 uwb: 0.49997223 1038.83 1643.97 -imu_odom_: 1691062917.859219589 0.162806 -0.471658 9.68455 -0.0596548 0.0340885 0.529436 0.14 0.47 pose: 0.0 -6.14422 -1.66798 0 -0.00319912 -0.0019038 0.59736 0.801965 uwb: 0.0 1038.83 1643.97 -imu_odom_: 1691062917.875176913 0.143652 -0.311246 10.1227 -0.0447411 0.00639159 0.568851 0.14 0.47 pose: 0.41858446 -6.14089 -1.65853 0 -0.00288889 -0.00225311 0.605131 0.796117 uwb: 0.0 1038.83 1643.97 -imu_odom_: 1691062917.892172218 0.354342 -0.45011 9.88805 -0.0585895 0.0127832 0.575243 0.14 0.47 pose: 0.0 -6.14089 -1.65853 0 -0.00288889 -0.00225311 0.605131 0.796117 uwb: 0.0 1038.83 1643.97 -imu_odom_: 1691062917.908166290 0.361524 -0.191536 9.89045 -0.0447411 -0.0191748 0.58483 0.15 0.58 pose: 0.0 -6.14089 -1.65853 0 -0.00288889 -0.00225311 0.605131 0.796117 uwb: 0.0 1038.83 1643.97 -imu_odom_: 1691062917.925254340 0.304064 -0.481235 9.38766 -0.0436758 0.0149137 0.618919 0.15 0.58 pose: 0.8080739 -6.14095 -1.65853 0 -0.00343 -0.00158951 0.606834 0.79482 uwb: 0.0 1038.83 1643.97 -imu_odom_: 1691062917.941191832 0.141258 -0.555455 10.0006 -0.0436758 -0.0138484 0.627441 0.15 0.58 pose: 0.0 -6.14095 -1.65853 0 -0.00343 -0.00158951 0.606834 0.79482 uwb: 0.100002322 1038.84 1644.21 -imu_odom_: 1691062917.959313780 0.385466 -0.0502782 9.87369 -0.0500674 0.0266316 0.66579 0.2 0.85 pose: 0.65963006 -6.13768 -1.64908 0 -0.00650895 -0.00107074 0.621271 0.783568 uwb: 0.0 1038.84 1644.21 -imu_odom_: 1691062917.976203217 0.866701 -0.543484 10.2615 -0.0468716 -0.072438 0.657268 0.14 0.58 pose: 0.0 -6.13768 -1.64908 0 -0.00650895 -0.00107074 0.621271 0.783568 uwb: 0.0 1038.84 1644.21 -imu_odom_: 1691062917.992454232 1.10133 0.102951 9.50259 -0.0436758 -0.0191748 0.616788 0.14 0.58 pose: 0.0 -6.13768 -1.64908 0 -0.00650895 -0.00107074 0.621271 0.783568 uwb: 0.49931310 1036 1644 -imu_odom_: 1691062918.10180703 1.17555 -0.316035 9.59357 -0.0511327 -0.0191748 0.633832 0.12 0.44 pose: 0.33943363 -6.13768 -1.64908 0 -0.00538135 -0.0008210790.629423 0.777044 uwb: 0.0 1036 1644 -imu_odom_: 1691062918.27175717 1.72143 -0.275333 9.97903 -0.0511327 -0.0436758 0.548611 0.12 0.44 pose: 0.33122078 -6.13442 -1.63963 0 -0.00274326 -0.00314487 0.637009 0.770845 uwb: 0.0 1036 1644 -imu_odom_: 1691062918.44175397 1.84114 -0.011971 9.88087 -0.04048 0.0181095 0.450607 0.12 0.44 pose: 0.0 -6.13442 -1.63963 0 -0.00274326 -0.00314487 0.637009 0.770845 uwb: 0.50069553 1033.72 1643.58 -imu_odom_: 1691062918.61222325 1.22344 0.0335188 9.76116 -0.052198 0.0181095 0.386691 0.1 0.32 pose: 0.0 -6.13442 -1.63963 0 -0.00274326 -0.00314487 0.637009 0.770845 uwb: 0.0 1033.72 1643.58 -imu_odom_: 1691062918.78287334 0.565032 -0.0766145 9.39485 -0.0585895 0.0394148 0.338754 0.1 0.32 pose: 0.43846622 -6.13959 -1.6378 0 0.000539685 -0.00630016 0.645235 0.763958 uwb: 0.0 1033.72 1643.58 -imu_odom_: 1691062918.95226060 0.711078 -0.363919 10.1514 -0.0617853 -0.00639159 0.292948 0.1 0.32 pose: 0.0 -6.13959 -1.6378 0 0.000539685 -0.00630016 0.645235 0.763958 uwb: 0.50061387 1030.34 1643.44 -imu_odom_: 1691062918.112218449 0.754174 -0.146046 9.87608 -0.0447411 0 0.265251 0.07 0.29 pose: 0.8053033 -6.14388 -1.63639 0 0.00120666 -0.00657649 0.646297 0.763057 uwb: 0.0 1030.34 1643.44 -imu_odom_: 1691062918.128223312 0.849942 -0.138864 10.1083 -0.056459 -0.00852212 0.274838 0.07 0.23 pose: 0.0 -6.14388 -1.63639 0 0.00120666 -0.00657649 0.646297 0.763057 uwb: 0.0 1030.34 1643.44 -imu_odom_: 1691062918.145222409 0.761356 -0.287304 9.59835 -0.052198 -0.00213053 0.266316 0.07 0.23 pose: 0.0 -6.14388 -1.63639 0 0.00120666 -0.00657649 0.646297 0.763057 uwb: 0.50056137 1028.65 1643.54 -imu_odom_: 1691062918.161144443 0.768539 -0.222661 9.97903 -0.0500674 0 0.24075 0.07 0.23 pose: 0.51001082 -6.14065 -1.62692 0 0.00408308 -0.00777746 0.651721 0.758408 uwb: 0.0 1028.65 1643.54 -imu_odom_: 1691062918.179230519 0.725443 -0.0191536 9.90481 -0.0511327 0.00106526 0.234358 0.07 0.23 pose: 0.0 -6.14065 -1.62692 0 0.00408308 -0.00777746 0.651721 0.758408 uwb: 0.0 1028.65 1643.54 -imu_odom_: 1691062918.195141762 0.677559 -0.251391 9.92397 -0.0553937 0.00639159 0.245011 0.07 0.23 pose: 0.65981088 -6.14065 -1.62692 0 0.00891409 -0.0109199 0.657114 0.753659 uwb: 0.49816401 1028.65 1643.54 -imu_odom_: 1691062918.212163316 0.596156 -0.308852 9.87129 -0.0575243 -0.00532632 0.251402 0.07 0.29 pose: 0.0 -6.14065 -1.62692 0 0.00891409 -0.0109199 0.657114 0.753659 uwb: 0.0 1028.65 1643.54 -imu_odom_: 1691062918.229199453 0.567426 -0.304064 9.85453 -0.0490022 0 0.245011 0.07 0.29 pose: 0.0 -6.14065 -1.62692 0 0.00891409 -0.0109199 0.657114 0.753659 uwb: 0.0 1028.65 1643.54 -imu_odom_: 1691062918.243141477 0.670376 -0.158017 9.93833 -0.0511327 -0.0255663 0.251402 0.07 0.29 pose: 0.34023568 -6.14065 -1.62692 0 0.00757562 -0.011185 0.659742 0.751371 uwb: 0.50055554 1028.66 1643.59 -imu_odom_: 1691062918.259142257 0.708684 -0.184354 9.76116 -0.0500674 -0.00745685 0.258859 0.04 0.2 pose: 0.39907309 -6.13733 -1.61747 0 0.00649806 -0.0100765 0.66289 0.748621 uwb: 0.0 1028.66 1643.59 -imu_odom_: 1691062918.276141646 0.766145 -0.351948 10.0341 -0.0575243 -0.00639159 0.266316 0.05 0.29 pose: 0.8007827 -6.13739 -1.61747 0 0.0073065 -0.0101911 0.663537 0.748039 uwb: 0.0 1028.66 1643.59 -imu_odom_: 1691062918.293173116 0.605733 -0.213084 9.80426 -0.0490022 0.00852212 0.262055 0.05 0.29 pose: 0.0 -6.13739 -1.61747 0 0.0073065 -0.0101911 0.663537 0.748039 uwb: 0.49947060 1028.11 1643.99 -imu_odom_: 1691062918.307158304 0.600945 -0.253785 10.0221 -0.0575243 0.00426106 0.270577 0.05 0.29 pose: 0.42023812 -6.13739 -1.61747 0 0.00747156 -0.0102546 0.667043 0.744911 uwb: 0.0 1028.11 1643.99 -imu_odom_: 1691062918.322158726 0.663194 -0.234632 9.83299 -0.0553937 -0.0149137 0.269512 0.03 0.23 pose: 0.0 -6.13739 -1.61747 0 0.00747156 -0.0102546 0.667043 0.744911 uwb: 0.0 1028.11 1643.99 -imu_odom_: 1691062918.340206595 0.667982 -0.215478 9.85453 -0.0500674 0.00319579 0.262055 0.03 0.23 pose: 0.0 -6.13739 -1.61747 0 0.00747156 -0.0102546 0.667043 0.744911 uwb: 0.50195838 1032.04 1643.64 -imu_odom_: 1691062918.357193734 0.639252 -0.160412 9.8258 -0.0553937 0 0.270577 0.02 0.2 pose: 0.21999432 -6.13739 -1.61747 0 0.00693933 -0.00991832 0.668937 0.743221 uwb: 0.0 1032.04 1643.64 -imu_odom_: 1691062918.373187806 0.632069 -0.277727 9.91918 -0.0543285 -0.00213053 0.279099 0.02 0.2 pose: 0.0 -6.13739 -1.61747 0 0.00693933 -0.00991832 0.668937 0.743221 uwb: 0.0 1032.04 1643.64 -imu_odom_: 1691062918.390171738 0.574608 -0.201113 9.84256 -0.0458064 0.00532632 0.271642 0.02 0.2 pose: 0.33007459 -6.13739 -1.61747 0 0.00953511 -0.00926342 0.671671 0.74073 uwb: 0.49754571 1027.55 1644.11 -imu_odom_: 1691062918.405361440 0.591368 -0.184354 9.89045 -0.0532632 0.00639159 0.273773 0.02 0.23 pose: 0.41991731 -6.13739 -1.61747 0 0.00746657 -0.00762917 0.675338 0.737431 uwb: 0.0 1027.55 1644.11 -imu_odom_: 1691062918.422165423 0.548272 -0.227449 9.88805 -0.052198 -0.00852212 0.257794 0.02 0.26 pose: 0.7069298 -6.13739 -1.61747 0 0.00751965 -0.00690021 0.675948 0.736879 uwb: 0.0 1027.55 1644.11 -imu_odom_: 1691062918.437182760 0.531513 -0.227449 9.86172 -0.0468716 -0.00213053 0.232228 0.02 0.26 pose: 0.0 -6.13739 -1.61747 0 0.00751965 -0.00690021 0.675948 0.736879 uwb: 0.49935978 1025.3 1644.1 -imu_odom_: 1691062918.454153275 0.562637 -0.146046 9.87608 -0.0532632 -0.00426106 0.211988 0.02 0.23 pose: 0.39941724 -6.13739 -1.61747 0 0.00455014 -0.00543964 0.679084 0.734026 uwb: 0.0 1025.3 1644.1 -imu_odom_: 1691062918.469209110 0.531513 -0.184354 9.87369 -0.0543285 -0.00213053 0.201335 0.02 0.23 pose: 0.0 -6.13739 -1.61747 0 0.00455014 -0.00543964 0.679084 0.734026 uwb: 0.0 1025.3 1644.1 -imu_odom_: 1691062918.486143461 0.562637 -0.237026 9.87129 -0.0532632 0.00319579 0.183225 0.02 0.23 pose: 0.0 -6.13739 -1.61747 0 0.00455014 -0.00543964 0.679084 0.734026 uwb: 0.50033680 1021.93 1644.35 -imu_odom_: 1691062918.510290893 0.596156 -0.153229 9.88326 -0.052198 0.00106526 0.16192 0.01 0.17 pose: 0.24979509 -6.13739 -1.61747 0 0.00569737 -0.0039432 0.680622 0.732602 uwb: 0.0 1021.93 1644.35 -imu_odom_: 1691062918.527280365 0.35913 -0.1652 9.9096 -0.0575243 0.0426106 0.153398 0.01 0.17 pose: 0.0 -6.13739 -1.61747 0 0.00569737 -0.0039432 0.680622 0.732602 uwb: 0.0 1021.93 1644.35 -imu_odom_: 1691062918.543155152 -0.770933 -0.272939 9.75637 -0.0596548 0.1012 0.122505 0.03 0.08 pose: 0.31995435 -6.13739 -1.61747 0 0.0058204 -0.00493598 0.682288 0.731044 uwb: 0.49920520 1016.87 1644.26 -imu_odom_: 1691062918.560144042 -1.66397 -0.215478 10.07 -0.0585895 0.0213053 0.0916127 0.06 0.02 pose: 0.41132238 -6.13739 -1.61747 0 0.00513005 -0.00255495 0.683957 0.729499 uwb: 0.0 1016.87 1644.26 -imu_odom_: 1691062918.576141905 -0.972046 -0.275333 9.91199 -0.0628506 -0.0649811 0.0671117 0.06 -0.02 pose: 0.0 -6.13739 -1.61747 0 0.00513005 -0.00255495 0.683957 0.729499 uwb: 0.0 1016.87 1644.26 -imu_odom_: 1691062918.593172792 0.301669 -0.023942 10.2017 -0.0490022 -0.0884169 0.0340885 0.06 -0.02 pose: 0.40851963 -6.13581 -1.61282 0 0.00201405 0.000317148 0.684683 0.728838 uwb: 0.50176005 1017.43 1644.25 -imu_odom_: 1691062918.609142074 0.646434 -0.263362 9.52653 -0.0596548 -0.0426106 0.0372843 0.06 -0.02 pose: 0.0 -6.13581 -1.61282 0 0.00201405 0.000317148 0.684683 0.728838 uwb: 0.0 1017.43 1644.25 -imu_odom_: 1691062918.626278829 0.311246 -0.292093 9.7444 -0.0532632 0.052198 0.0426106 0.08 0 pose: 0.0 -6.13581 -1.61282 0 0.00201405 0.000317148 0.684683 0.728838 uwb: 0.0 1017.43 1644.25 -imu_odom_: 1691062918.642213696 -0.201113 -0.387861 9.92636 -0.0596548 0.0308927 0.0298274 0.08 0 pose: 0.8197399 -6.13418 -1.608 0 0.00238757 0.000894907 0.684664 0.728854 uwb: 0.49835942 1019.13 1644.36 -imu_odom_: 1691062918.659278414 -0.464475 -0.181959 9.81623 -0.0607201 -0.0351537 0.0319579 0.14 -0.02 pose: 0.0 -6.13418 -1.608 0 0.00238757 0.000894907 0.684664 0.728854 uwb: 0.0 1019.13 1644.36 -imu_odom_: 1691062918.675353273 -0.201113 -0.225055 9.6223 -0.0479369 -0.0255663 0.036219 0.14 -0.02 pose: 0.0 -6.13418 -1.608 0 0.00238757 0.000894907 0.684664 0.728854 uwb: 0.0 1019.13 1644.36 -imu_odom_: 1691062918.693284775 0.452504 -0.31364 9.46907 -0.0543285 -0.00213053 0.0394148 0.14 -0.02 pose: 0.65967673 -6.13418 -1.608 0 -0.0006332770.0017418 0.684574 0.728941 uwb: 0.50025514 1023.07 1644.33 -imu_odom_: 1691062918.710295538 0.299275 -0.306458 9.88326 -0.0436758 0.0340885 0.0458064 0.11 -0.02 pose: 0.0 -6.13418 -1.608 0 -0.0006332770.0017418 0.684574 0.728941 uwb: 0.0 1023.07 1644.33 -imu_odom_: 1691062918.726281735 -0.126893 -0.320823 9.95509 -0.0703074 0.0340885 0.0426106 0.11 0 pose: 0.32868926 -6.13098 -1.59853 0 -0.00214186 0.00255836 0.684524 0.728983 uwb: 0.0 1023.07 1644.33 -imu_odom_: 1691062918.744204487 0.356736 -0.148441 10.0149 -0.052198 0.0372843 0.0266316 0.11 0 pose: 0.43105832 -6.13098 -1.59853 0 -0.00551591 0.00268436 0.684567 0.728924 uwb: 0.49944143 1027.02 1644.39 -imu_odom_: 1691062918.761135921 0.653617 -0.344765 9.10036 -0.0532632 0.0862864 0.0255663 0.12 0.02 pose: 0.7923540 -6.13098 -1.59853 0 -0.00484352 0.00297305 0.684534 0.728959 uwb: 0.0 1027.02 1644.39 -imu_odom_: 1691062918.777189489 -0.328006 -0.150835 10.4507 -0.056459 0.0287621 0.0628506 0.12 0.02 pose: 0.0 -6.13098 -1.59853 0 -0.00484352 0.00297305 0.684534 0.728959 uwb: 0.0 1027.02 1644.39 -imu_odom_: 1691062918.794184212 0.701501 -0.699107 9.8282 -0.056459 -0.0692422 0.0479369 0.12 0.02 pose: 0.42984214 -6.13429 -1.59182 0 -0.00493243 0.00385886 0.684535 0.728953 uwb: 0.49990225 1027.02 1644.39 -imu_odom_: 1691062918.810179159 0.864307 -0.110133 9.50019 -0.0436758 -0.0532632 0.0383495 0.11 0 pose: 0.0 -6.13429 -1.59182 0 -0.00493243 0.00385886 0.684535 0.728953 uwb: 0.0 1027.02 1644.39 -imu_odom_: 1691062918.827239502 1.075 -0.179565 10.0772 -0.0617853 0.0276969 0.116114 0.11 0 pose: 0.0 -6.13429 -1.59182 0 -0.00493243 0.00385886 0.684535 0.728953 uwb: 0.0 1027.02 1644.39 -imu_odom_: 1691062918.845127547 1.71185 -0.474052 10.3837 -0.0639159 -0.0117179 0.137419 0.11 0 pose: 0.25009258 -6.13725 -1.58585 0 -0.00385476 0.00122203 0.684584 0.728923 uwb: 0.0 1027.02 1644.39 -imu_odom_: 1691062918.861127744 1.52511 -0.318429 9.6223 -0.052198 0.00639159 0.0777643 0.08 0 pose: 0.0 -6.13725 -1.58585 0 -0.00385476 0.00122203 0.684584 0.728923 uwb: 0.0 1027.02 1644.39 -imu_odom_: 1691062918.878165339 1.23301 0.177171 10.2185 -0.0543285 0.0607201 0.0276969 0.07 -0.02 pose: 0.33056165 -6.13725 -1.58585 0 -0.00151177 -0.0009866910.685343 0.728218 uwb: 0.0 1027.02 1644.39 -imu_odom_: 1691062918.895139645 0.445322 -0.1652 9.55047 -0.0649811 0.0245011 0.0255663 0.07 -0.02 pose: 0.42910427 -6.13406 -1.57637 0 0.00126842 -0.00312778 0.685833 0.727752 uwb: 0.100139106 1031.52 1644.09 -imu_odom_: 1691062918.911148008 0.45011 -0.296881 10.07 -0.0532632 -0.00745685 -0.0181095 0.09 0 pose: 0.7983620 -6.13406 -1.57637 0 0.00160119 -0.00240358 0.685791 0.727793 uwb: 0.0 1031.52 1644.09 -imu_odom_: 1691062918.928253849 0.672771 -0.167594 10.0221 -0.0553937 -0.0213053 -0.036219 0.09 0 pose: 0.0 -6.13406 -1.57637 0 0.00160119 -0.00240358 0.685791 0.727793 uwb: 0.0 1031.52 1644.09 -imu_odom_: 1691062918.944252879 0.823605 -0.184354 9.92875 -0.0553937 -0.00958738 -0.00958738 0.09 0 pose: 0.42104890 -6.13406 -1.57637 0 0.00240579 -0.00358333 0.684932 0.728594 uwb: 0.50040096 1030.96 1644.26 -imu_odom_: 1691062918.960314614 0.85473 -0.347159 9.75398 -0.0639159 0.0117179 0.0149137 0.05 -0.02 pose: 0.0 -6.13406 -1.57637 0 0.00240579 -0.00358333 0.684932 0.728594 uwb: 0.0 1030.96 1644.26 -imu_odom_: 1691062918.977316336 0.670376 -0.299275 9.8689 -0.0543285 0.00639159 0.0223706 0.05 -0.02 pose: 0.0 -6.13406 -1.57637 0 0.00240579 -0.00358333 0.684932 0.728594 uwb: 0.0 1030.96 1644.26 -imu_odom_: 1691062919.2181809 0.596156 -0.107739 9.8689 -0.0543285 0.00213053 0.0181095 0.04 0 pose: 0.24017940 -6.13406 -1.57637 0 0.00392376 -0.00534298 0.684564 0.728923 uwb: 0.49956976 1029.26 1644.13 -imu_odom_: 1691062919.18287875 0.248997 -0.217872 9.85693 -0.0681769 0.0500674 0.0191748 0.05 0.02 pose: 0.0 -6.13406 -1.57637 0 0.00392376 -0.00534298 0.684564 0.728923 uwb: 0.0 1029.26 1644.13 -imu_odom_: 1691062919.43125351 -1.31202 -0.222661 10.2328 -0.0553937 0.0756338 0.0234358 0.06 0 pose: 0.66016086 -6.13406 -1.57637 0 0.00509273 -0.00478656 0.684055 0.729397 uwb: 0.49946186 1031.51 1643.88 -imu_odom_: 1691062919.68247185 -0.591368 -0.354342 9.78031 -0.0607201 -0.0660464 0.0532632 0.09 0 pose: 0.7839254 -6.13406 -1.57637 0 0.00433675 -0.00399035 0.684014 0.729445 uwb: 0.0 1031.51 1643.88 -imu_odom_: 1691062919.93175072 0.469264 -0.234632 9.51216 -0.0543285 0.00319579 0.0543285 0.09 0 pose: 0.42120056 -6.13085 -1.5669 0 0.00122261 -0.00129646 0.684049 0.729433 uwb: 0.49924895 1033.22 1644.24 -imu_odom_: 1691062919.110254373 0.253785 -0.23942 10.1347 -0.0660464 0.0511327 0.0479369 0.1 -0.02 pose: 0.0 -6.13085 -1.5669 0 0.00122261 -0.00129646 0.684049 0.729433 uwb: 0.0 1033.22 1644.24 -imu_odom_: 1691062919.135253423 -0.42138 -0.191536 9.70609 -0.0649811 0.00106526 0.0415453 0.1 -0.02 pose: 0.42007188 -6.13085 -1.5669 0 0.000112391 -0.00213048 0.684238 0.729256 uwb: 0.0 1033.22 1644.24 -imu_odom_: 1691062919.160271138 0.215478 -0.059855 9.91678 -0.0607201 -0.0245011 0.0298274 0.14 -0.02 pose: 0.0 -6.13085 -1.5669 0 0.000112391 -0.00213048 0.684238 0.729256 uwb: 0.0 1033.22 1644.24 -imu_odom_: 1691062919.185131071 0.0933739 -0.272939 9.96227 -0.0681769 0.0127832 0.0585895 0.14 -0.02 pose: 0.50016765 -6.12764 -1.55743 0 -0.00133618 0.0020229 0.684172 0.729317 uwb: 0.100002616 1033.78 1644.14 -imu_odom_: 1691062919.202368446 -0.0766145 -0.402226 9.69891 -0.0585895 -0.0117179 0.0394148 0.13 -0.02 pose: 0.0 -6.12764 -1.55743 0 -0.00133618 0.0020229 0.684172 0.729317 uwb: 0.0 1033.78 1644.14 -imu_odom_: 1691062919.228256444 0.646434 0.0622492 10.3094 -0.0660464 -0.0394148 0.0532632 0.13 -0.02 pose: 0.32894300 -6.12764 -1.55743 0 -0.00442872 0.00367639 0.684332 0.729148 uwb: 0.0 1033.78 1644.14 -imu_odom_: 1691062919.253251119 0.229843 -0.486023 9.79947 -0.0745685 0.0255663 0.0383495 0.17 0 pose: 0.0 -6.12764 -1.55743 0 -0.00442872 0.00367639 0.684332 0.729148 uwb: 0.49994016 1030.39 1644.24 -imu_odom_: 1691062919.278244628 0.0622492 -0.047884 9.96227 -0.0468716 -0.00958738 0.036219 0.17 0 pose: 0.43103208 -6.1339 -1.54475 0 -0.00336586 0.00288745 0.684465 0.729032 uwb: 0.0 1030.39 1644.24 -imu_odom_: 1691062919.303241344 0.143652 -0.363919 9.90002 -0.0553937 0.0234358 0.0596548 0.14 0 pose: 0.41975982 -6.13168 -1.5382 0 -0.00515513 0.00478607 0.684421 0.729053 uwb: 0.50059638 1028.13 1644.15 -imu_odom_: 1691062919.319301621 -0.268151 -0.339977 9.62469 -0.0426106 -0.00958738 0.02024 0.14 0 pose: 0.0 -6.13168 -1.5382 0 -0.00515513 0.00478607 0.684421 0.729053 uwb: 0.0 1028.13 1644.15 -imu_odom_: 1691062919.346249474 0.0981623 -0.268151 9.87369 -0.0671117 0.0436758 0.0649811 0.15 0 pose: 0.8014243 -6.1307 -1.53528 0 -0.00603189 0.00483848 0.684474 0.728997 uwb: 0.49935394 1025.88 1644.08 -imu_odom_: 1691062919.371187569 0.220267 -0.342371 10.307 -0.0553937 0.0181095 0.0287621 0.14 0 pose: 0.0 -6.1307 -1.53528 0 -0.00603189 0.00483848 0.684474 0.728997 uwb: 0.0 1025.88 1644.08 -imu_odom_: 1691062919.396235908 0.818817 -0.263362 10.2592 -0.0617853 -0.00745685 0.0415453 0.14 0 pose: 0.42020896 -6.1307 -1.53528 0 -0.00988581 0.00671676 0.684535 0.728882 uwb: 0.49991392 1027.57 1644.11 -imu_odom_: 1691062919.411245370 0.536301 -0.402226 9.88326 -0.0575243 0.0585895 0.056459 0.14 0 pose: 0.0 -6.1307 -1.53528 0 -0.00988581 0.00671676 0.684535 0.728882 uwb: 0.0 1027.57 1644.11 -imu_odom_: 1691062919.437193448 0.88346 -0.0861913 10.422 -0.0319579 0.0138484 0.015979 0.15 -0.02 pose: 0.49982058 -6.12749 -1.5258 0 -0.0108868 0.00543393 0.684588 0.728829 uwb: 0.50127009 1027 1644.01 -imu_odom_: 1691062919.452112791 0.246603 -0.21069 9.42837 -0.0458064 0.0298274 0.0468716 0.15 -0.02 pose: 0.0 -6.12749 -1.5258 0 -0.0108868 0.00543393 0.684588 0.728829 uwb: 0.0 1027 1644.01 -imu_odom_: 1691062919.479238551 -0.0383072 -0.31364 9.96706 -0.04048 0.0181095 0.0383495 0.15 0 pose: 0.41124365 -6.12429 -1.51633 0 -0.00856851 0.0028393 0.684631 0.728834 uwb: 0.0 1027 1644.01 -imu_odom_: 1691062919.504118024 0 -0.0790087 10.24 -0.0426106 0.0138484 0.0553937 0.16 -0.02 pose: 0.0 -6.12429 -1.51633 0 -0.00856851 0.0028393 0.684631 0.728834 uwb: 0.49995183 1027.56 1643.94 -imu_odom_: 1691062919.530104308 0.301669 -0.25618 10.489 -0.0415453 -0.00852212 0.0394148 0.16 -0.02 pose: 0.40774384 -6.13377 -1.51313 0 -0.00726555 0.00449016 0.68452 0.728944 uwb: 0.0 1027.56 1643.94 -imu_odom_: 1691062919.555102775 0.399832 -0.23942 10.1251 -0.0351537 0.0330232 0.04048 0.17 0 pose: 0.0 -6.13377 -1.51313 0 -0.00726555 0.00449016 0.68452 0.728944 uwb: 0.50124383 1029.25 1643.89 -imu_odom_: 1691062919.581108308 0.464475 -0.0981623 10.4244 -0.0319579 -0.00213053 0.0330232 0.17 0 pose: 0.52097978 -6.13056 -1.50366 0 -0.0083826 0.00796176 0.684646 0.728784 uwb: 0.0 1029.25 1643.89 -imu_odom_: 1691062919.596219556 0.378284 -0.0909797 10.4196 -0.0330232 -0.00852212 0.0372843 0.18 0.02 pose: 0.0 -6.13056 -1.50366 0 -0.0083826 0.00796176 0.684646 0.728784 uwb: 0.49928687 1029.81 1643.65 -imu_odom_: 1691062919.614167681 0.509965 -0.337582 9.8689 -0.0671117 0.0127832 0.072438 0.18 0.02 pose: 0.50898130 -6.12736 -1.49418 0 -0.00497099 0.00498464 0.684654 0.728834 uwb: 0.0 1029.81 1643.65 -imu_odom_: 1691062919.639225061 0.234632 -0.0909797 10.0437 -0.04048 0.036219 0.0234358 0.17 0 pose: 0.0 -6.12736 -1.49418 0 -0.00497099 0.00498464 0.684654 0.728834 uwb: 0.49934228 1029.81 1643.77 -imu_odom_: 1691062919.664120867 0.605733 -0.337582 9.43315 -0.0543285 0.0138484 0.056459 0.17 0 pose: 0.76068379 -6.12416 -1.48471 0 -0.0016671 0.00606678 0.684679 0.728817 uwb: 0.0 1029.81 1643.77 -imu_odom_: 1691062919.687113366 0.138864 -0.205901 9.44513 -0.04048 -0.0191748 0.0330232 0.17 0 pose: 0.0 -6.12416 -1.48471 0 -0.0016671 0.00606678 0.684679 0.728817 uwb: 0.50058471 1028.13 1643.94 -imu_odom_: 1691062919.713273474 0.148441 -0.186748 9.96227 -0.0628506 -0.00852212 0.0703074 0.17 0 pose: 0.7020009 -6.12416 -1.48471 0 -0.00154856 0.00543167 0.684725 0.728779 uwb: 0.0 1028.13 1643.94 -imu_odom_: 1691062919.739089143 0.110133 0.110133 9.89045 -0.0735032 -0.015979 0.0468716 0.24 0 pose: 0.49006491 -6.13044 -1.47204 0 -0.00334835 0.00583332 0.684862 0.728642 uwb: 0.49942395 1025.32 1643.96 -imu_odom_: 1691062919.764215352 0.725443 -0.351948 10.161 -0.0937433 0.015979 0.0617853 0.18 0 pose: 0.0 -6.13044 -1.47204 0 -0.00334835 0.00583332 0.684862 0.728642 uwb: 0.0 1025.32 1643.96 -imu_odom_: 1691062919.781278029 0.138864 -0.306458 9.75637 -0.0649811 -0.00532632 0.04048 0.18 0 pose: 0.25998533 -6.12725 -1.46256 0 -0.00434846 0.0076938 0.685076 0.728418 uwb: 0.0 1025.32 1643.96 -imu_odom_: 1691062919.805204390 -0.0957681 -0.416591 9.7444 -0.052198 0.0106526 0.0628506 0.18 0 pose: 0.49973601 -6.12725 -1.46256 0 -0.00404766 0.00663595 0.685345 0.728177 uwb: 0.49998099 1024.19 1643.75 -imu_odom_: 1691062919.828070606 0.399832 -0.318429 9.37569 -0.0628506 0.0117179 0.04048 0.18 0 pose: 0.33980695 -6.12407 -1.45308 0 -0.00749922 0.00734196 0.68552 0.727978 uwb: 0.0 1024.19 1643.75 -imu_odom_: 1691062919.854087805 0.395043 -0.342371 9.4571 -0.0809601 0.00958738 0.0575243 0.24 0 pose: 0.0 -6.12407 -1.45308 0 -0.00749922 0.00734196 0.68552 0.727978 uwb: 0.49984684 1020.8 1643.7 -imu_odom_: 1691062919.879275260 0.268151 -0.344765 10.2352 -0.0436758 0.00532632 0.0340885 0.24 0 pose: 0.48883415 -6.12089 -1.4436 0 -0.00692834 0.00256869 0.685699 0.727848 uwb: 0.0 1020.8 1643.7 -imu_odom_: 1691062919.896079827 0.600945 -0.414197 9.95988 -0.0735032 -0.00852212 0.056459 0.21 0 pose: 0.0 -6.12089 -1.4436 0 -0.00692834 0.00256869 0.685699 0.727848 uwb: 0.50002766 1019.68 1643.64 -imu_odom_: 1691062919.920072685 0.950498 -0.280122 9.89284 -0.0553937 -0.00852212 0.0330232 0.21 0 pose: 0.41992022 -6.12263 -1.43247 0 -0.00805036 -0.0005511930.685727 0.727814 uwb: 0.0 1019.68 1643.64 -imu_odom_: 1691062919.947306647 0.684742 -0.296881 10.2376 -0.0617853 0.036219 0.0490022 0.21 0 pose: 0.0 -6.12263 -1.43247 0 -0.00805036 -0.0005511930.685727 0.727814 uwb: 0.50062554 1016.87 1643.89 -imu_odom_: 1691062919.963200683 0.117316 -0.459687 9.1267 -0.0575243 0.0383495 0.0372843 0.21 0 pose: 0.32094013 -6.1272 -1.43094 0 -0.00573135 -0.0026078 0.685693 0.727864 uwb: 0.0 1016.87 1643.89 -imu_odom_: 1691062919.990202492 -0.0526724 -0.126893 9.85693 -0.0532632 -0.00639159 0.0532632 0.25 0.02 pose: 0.0 -6.1272 -1.43094 0 -0.00573135 -0.0026078 0.685693 0.727864 uwb: 0.49813777 1022.49 1644 -imu_odom_: 1691062920.15216416 0.0287304 -0.23942 10.0317 -0.0255663 0.00213053 0.0308927 0.25 0.02 pose: 0.42927926 -6.12403 -1.42146 0 -0.0065177 -0.00206473 0.685781 0.727776 uwb: 0.0 1022.49 1644 -imu_odom_: 1691062920.42075899 0.035913 -0.296881 10.1586 -0.056459 -0.0223706 0.0479369 0.23 -0.02 pose: 0.0 -6.12403 -1.42146 0 -0.0065177 -0.00206473 0.685781 0.727776 uwb: 0.49979434 1024.74 1643.89 -imu_odom_: 1691062920.58186923 0.378284 -0.191536 9.92875 -0.0330232 0.00319579 0.036219 0.23 -0.02 pose: 0.52114602 -6.12086 -1.41197 0 -0.00844756 0.00283995 0.685832 0.727705 uwb: 0.0 1024.74 1643.89 -imu_odom_: 1691062920.83241095 0.390255 -0.205901 9.98143 -0.0703074 -0.0276969 0.0628506 0.25 0.02 pose: 0.0 -6.12086 -1.41197 0 -0.00844756 0.00283995 0.685832 0.727705 uwb: 0.0 1024.74 1643.89 -imu_odom_: 1691062920.106060355 0.414197 -0.0861913 10.1251 -0.0245011 0.0127832 0.0351537 0.25 0.02 pose: 0.42857931 -6.11769 -1.40249 0 -0.00720979 0.00347979 0.68595 0.727605 uwb: 0.49988184 1019.69 1644.42 -imu_odom_: 1691062920.132074638 0.203507 -0.19393 9.44752 -0.0511327 -0.0372843 0.0575243 0.18 -0.02 pose: 0.39986056 -6.12172 -1.39442 0 -0.00317812 0.00329316 0.686079 0.727513 uwb: 0.0 1019.69 1644.42 -imu_odom_: 1691062920.159052823 0.306458 -0.246603 9.72285 -0.0479369 -0.015979 0.0468716 0.25 -0.02 pose: 0.9073224 -6.12401 -1.38984 0 -0.00354955 0.00396205 0.686136 0.727454 uwb: 0.50024640 1019.69 1644.28 -imu_odom_: 1691062920.175169971 0.720655 -0.270545 10.4483 -0.072438 -0.04048 0.0596548 0.25 -0.02 pose: 0.0 -6.12401 -1.38984 0 -0.00354955 0.00396205 0.686136 0.727454 uwb: 0.0 1019.69 1644.28 -imu_odom_: 1691062920.201172297 0.555455 0.0383072 10.1801 -0.0585895 -0.0266316 0.0490022 0.25 0 pose: 0.43919244 -6.12176 -1.38307 0 -0.00447784 0.00249691 0.68631 0.727291 uwb: 0.50050597 1021.96 1644.7 -imu_odom_: 1691062920.226110100 0.840365 -0.11971 10.4315 -0.0703074 -0.0276969 0.0468716 0.25 0 pose: 0.42119474 -6.12085 -1.38035 0 -0.0005857750.0010339 0.686527 0.727104 uwb: 0.0 1021.96 1644.7 -imu_odom_: 1691062920.253099368 0.464475 -0.0670376 9.87129 -0.0660464 -0.00745685 0.0490022 0.21 0 pose: 0.0 -6.12085 -1.38035 0 -0.0005857750.0010339 0.686527 0.727104 uwb: 0.49942395 1019.71 1644.77 -imu_odom_: 1691062920.269096065 0.423774 -0.433351 9.88326 -0.0671117 0.0213053 0.0532632 0.21 0 pose: 0.51927071 -6.1177 -1.37086 0 0.00375338 0.000491108 0.686679 0.726951 uwb: 0.0 1019.71 1644.77 -imu_odom_: 1691062920.296092333 0.153229 -0.0909797 10.1466 -0.0596548 -0.0106526 0.0500674 0.25 0.02 pose: 0.0 -6.1177 -1.37086 0 0.00375338 0.000491108 0.686679 0.726951 uwb: 0.50126134 1016.89 1644.94 -imu_odom_: 1691062920.321167212 0.572214 -0.253785 10.1418 -0.0671117 -0.0138484 0.036219 0.25 0.02 pose: 0.24017940 -6.11455 -1.36137 0 0.00196173 0.000270074 0.686794 0.72685 uwb: 0.0 1016.89 1644.94 -imu_odom_: 1691062920.337089830 0.270545 0.0215478 9.6223 -0.0596548 -0.02024 0.0340885 0.21 0 pose: 0.0 -6.11455 -1.36137 0 0.00196173 0.000270074 0.686794 0.72685 uwb: 0.50010641 1018.58 1644.8 -imu_odom_: 1691062920.364045558 0.282516 -0.466869 9.85693 -0.0639159 -0.00852212 0.0479369 0.21 0 pose: 0.59972522 -6.1209 -1.34873 0 0.00227339 0.000816107 0.686801 0.726842 uwb: 0.0 1018.58 1644.8 -imu_odom_: 1691062920.389046358 0.608127 -0.0383072 10.0509 -0.0500674 -0.0191748 0.04048 0.23 0 pose: 0.8972896 -6.1209 -1.34873 0 0.00140451 0.000496552 0.686829 0.726817 uwb: 0.49982351 1018.02 1644.89 -imu_odom_: 1691062920.412160476 0.150835 -0.409408 9.75637 -0.0511327 0.0383495 0.0308927 0.23 0 pose: 0.42983632 -6.11865 -1.34193 0 0.00233262 -0.0004602630.68689 0.726757 uwb: 0.0 1018.02 1644.89 -imu_odom_: 1691062920.437082239 0.186748 -0.19393 9.83299 -0.0340885 -0.0213053 0.052198 0.18 -0.02 pose: 0.0 -6.11865 -1.34193 0 0.00233262 -0.0004602630.68689 0.726757 uwb: 0.49924604 1015.77 1645.25 -imu_odom_: 1691062920.453073394 0.507571 -0.0143652 9.77313 -0.036219 -0.0287621 0.0255663 0.18 -0.02 pose: 0.31072948 -6.11776 -1.33924 0 -0.0006330470.000939978 0.686856 0.726793 uwb: 0.0 1015.77 1645.25 -imu_odom_: 1691062920.479233502 0.371101 -0.260968 9.39485 -0.072438 0.0191748 0.052198 0.19 0 pose: 0.0 -6.11776 -1.33924 0 -0.0006330470.000939978 0.686856 0.726793 uwb: 0.0 1015.77 1645.25 -imu_odom_: 1691062920.505222995 -0.215478 -0.332794 9.35175 -0.0490022 0.00319579 0.04048 0.19 0 pose: 0.41198443 -6.11462 -1.32974 0 -0.00035438 0.00186714 0.686891 0.726758 uwb: 0.49976227 1013.52 1645.42 -imu_odom_: 1691062920.520094215 0.519542 -0.0670376 9.991 -0.0458064 -0.0490022 0.0447411 0.18 0.02 pose: 0.0 -6.11462 -1.32974 0 -0.00035438 0.00186714 0.686891 0.726758 uwb: 0.0 1013.52 1645.42 -imu_odom_: 1691062920.546151371 0.859518 -0.205901 10.5489 -0.036219 -0.00639159 0.0266316 0.18 0.02 pose: 0.50834260 -6.11157 -1.32022 0 -0.00325687 0.00227761 0.686991 0.726655 uwb: 0.50082387 1012.95 1645.36 -imu_odom_: 1691062920.572047535 0.823605 0.0191536 10.1538 -0.0468716 0.00532632 0.0426106 0.21 0 pose: 0.33999362 -6.11899 -1.31056 0 -0.0002771050.000387841 0.686889 0.726762 uwb: 0.0 1012.95 1645.36 -imu_odom_: 1691062920.596149471 0.699107 -0.153229 10.0269 -0.0532632 -0.036219 0.0436758 0.21 0 pose: 0.0 -6.11899 -1.31056 0 -0.0002771050.000387841 0.686889 0.726762 uwb: 0.49851108 1012.96 1645.79 -imu_odom_: 1691062920.621029236 0.830788 -0.110133 9.99819 -0.056459 0.00213053 0.0585895 0.21 0 pose: 0.7915082 -6.11805 -1.30765 0 0.000473304 0.00019103 0.686898 0.726754 uwb: 0.0 1012.96 1645.79 -imu_odom_: 1691062920.647019604 0.42138 -0.0383072 9.98382 -0.0394148 -0.00319579 0.0330232 0.18 0 pose: 0.0 -6.11805 -1.30765 0 0.000473304 0.00019103 0.686898 0.726754 uwb: 0.50085304 1018.6 1646.07 -imu_odom_: 1691062920.663072589 0.409408 -0.241814 9.71806 -0.052198 0.0191748 0.0447411 0.18 0 pose: 0.49165440 -6.11501 -1.29812 0 0.00488894 -0.00244007 0.686994 0.726642 uwb: 0.0 1018.6 1646.07 -imu_odom_: 1691062920.680073436 0.349553 -0.227449 9.79947 -0.0490022 0.0149137 0.0372843 0.18 0 pose: 0.0 -6.11501 -1.29812 0 0.00488894 -0.00244007 0.686994 0.726642 uwb: 0.0 1018.6 1646.07 -imu_odom_: 1691062920.705059071 0.45011 -0.270545 9.62469 -0.0617853 0.00319579 0.0649811 0.18 0 pose: 0.50848259 -6.11501 -1.29813 0 0.00593171 -0.0006644890.687057 0.726579 uwb: 0.49931603 1014.09 1645.86 -imu_odom_: 1691062920.730999858 0.225055 -0.162806 9.6606 -0.0458064 0.0213053 0.0372843 0.19 0.02 pose: 0.0 -6.11501 -1.29813 0 0.00593171 -0.0006644890.687057 0.726579 uwb: 0.0 1014.09 1645.86 -imu_odom_: 1691062920.746020695 -0.0550666 -0.189142 9.72285 -0.0585895 0.0223706 0.052198 0.19 0.02 pose: 0.76919706 -6.11589 -1.27677 0 -1.21313e-060.000808729 0.687285 0.726387 uwb: 0.49987893 1015.78 1645.68 -imu_odom_: 1691062920.761138651 0.533907 0.0335188 10.4411 -0.0490022 -0.036219 0.0937433 0.19 0.02 pose: 0.6189974 -6.11833 -1.27597 0 -0.0004756350.00132558 0.687313 0.72636 uwb: 0.0 1015.78 1645.68 -imu_odom_: 1691062920.778135415 0.380678 -0.502782 9.17937 -0.0628506 -0.0149137 0.165116 0.18 0.14 pose: 0.0 -6.11833 -1.27597 0 -0.0004756350.00132558 0.687313 0.72636 uwb: 0.0 1015.78 1645.68 -imu_odom_: 1691062920.795070350 0.548272 -0.373495 10.0916 -0.072438 -0.0117179 0.254598 0.18 0.14 pose: 0.31958980 -6.1152 -1.26647 0 -2.24427e-050.00148975 0.688017 0.725693 uwb: 0.50062554 1011.82 1645.69 -imu_odom_: 1691062920.811069380 0.37589 -0.715866 9.39245 -0.0756338 0.0191748 0.294013 0.18 0.14 pose: 0.0 -6.1152 -1.26647 0 -2.24427e-050.00148975 0.688017 0.725693 uwb: 0.0 1011.82 1645.69 -imu_odom_: 1691062920.827162905 0.514753 -0.217872 10.422 -0.052198 0.0106526 0.329167 0.25 0.38 pose: 0.0 -6.1152 -1.26647 0 -2.24427e-050.00148975 0.688017 0.725693 uwb: 0.0 1011.82 1645.69 -imu_odom_: 1691062920.844285079 -0.0837971 -0.533907 9.86172 -0.0628506 -0.00958738 0.385626 0.19 0.35 pose: 0.49018740 -6.11208 -1.25697 0 -0.00157955 -0.00220363 0.691956 0.721935 uwb: 0.50065472 1014.65 1645.96 -imu_odom_: 1691062920.860037957 0.675165 -0.203507 9.83299 -0.0617853 0.0170442 0.413323 0.19 0.35 pose: 0.0 -6.11208 -1.25697 0 -0.00157955 -0.00220363 0.691956 0.721935 uwb: 0.0 1014.65 1645.96 -imu_odom_: 1691062920.877015472 0.201113 -0.433351 9.65582 -0.0511327 -0.0117179 0.460194 0.19 0.41 pose: 0.41870405 -6.11039 -1.25205 0 -0.00123382 -0.00271555 0.697139 0.71693 uwb: 0.0 1014.65 1645.96 -imu_odom_: 1691062920.893009836 0.265756 -0.428562 9.61751 -0.0681769 -0.0330232 0.507066 0.19 0.41 pose: 0.8253104 -6.10897 -1.24746 0 -0.00202061 -0.00259183 0.698383 0.715716 uwb: 0.49875023 1012.39 1645.68 -imu_odom_: 1691062920.910067263 0.316035 -0.196325 9.72285 -0.0447411 0.00745685 0.518784 0.19 0.41 pose: 0.0 -6.10897 -1.24746 0 -0.00202061 -0.00259183 0.698383 0.715716 uwb: 0.0 1012.39 1645.68 -imu_odom_: 1691062920.926066294 0.507571 -0.579397 10.2687 -0.0308927 -0.0255663 0.530502 0.24 0.64 pose: 0.41776202 -6.10892 -1.24747 0 -0.00392612 -0.0009296080.705272 0.708926 uwb: 0.0 1012.39 1645.68 -imu_odom_: 1691062920.943157261 0.318429 -0.430956 9.99579 -0.0426106 -0.0245011 0.573112 0.24 0.64 pose: 0.0 -6.10892 -1.24747 0 -0.00392612 -0.0009296080.705272 0.708926 uwb: 0.50036890 1011.82 1645.43 -imu_odom_: 1691062920.959118960 0.790087 -0.560243 9.87848 -0.0820254 -0.0223706 0.611462 0.24 0.64 pose: 0.0 -6.10892 -1.24747 0 -0.00392612 -0.0009296080.705272 0.708926 uwb: 0.0 1011.82 1645.43 -imu_odom_: 1691062920.976061185 0.703895 -0.253785 9.86172 -0.0340885 -0.0170442 0.604005 0.18 0.55 pose: 0.24009774 -6.11538 -1.23486 0 -0.00485018 -0.00269246 0.709549 0.704634 uwb: 0.0 1011.82 1645.43 -imu_odom_: 1691062920.992055549 0.493206 -0.620098 10.3813 -0.0298274 -0.0106526 0.615723 0.24 0.79 pose: 0.0 -6.11538 -1.23486 0 -0.00485018 -0.00269246 0.709549 0.704634 uwb: 0.49977101 1006.21 1645.14 -imu_odom_: 1691062921.8110868 0.368707 -0.071826 9.78031 -0.072438 -0.02024 0.655138 0.24 0.79 pose: 0.32995795 -6.11538 -1.23486 0 -0.00440092 -0.00508182 0.71601 0.698058 uwb: 0.0 1006.21 1645.14 -imu_odom_: 1691062921.25105591 1.19471 -0.292093 10.1179 -0.0490022 -0.0234358 0.649811 0.24 0.79 pose: 0.41038036 -6.1122 -1.22536 0 -0.00337826 -0.00548292 0.724392 0.689358 uwb: 0.0 1006.21 1645.14 -imu_odom_: 1691062921.41133495 1.46765 -0.201113 9.9527 -0.0383495 -0.0223706 0.660464 0.21 0.7 pose: 0.0 -6.1122 -1.22536 0 -0.00337826 -0.00548292 0.724392 0.689358 uwb: 0.49939187 1004.52 1645.6 -imu_odom_: 1691062921.58134342 1.75974 -0.395043 9.89763 -0.0426106 -0.0553937 0.624245 0.21 0.7 pose: 0.0 -6.1122 -1.22536 0 -0.00337826 -0.00548292 0.724392 0.689358 uwb: 0.0 1004.52 1645.6 -imu_odom_: 1691062921.74191120 1.67834 -0.385466 9.76355 -0.0585895 0.015979 0.523045 0.12 0.35 pose: 0.8008994 -6.11225 -1.22536 0 -0.00270416 -0.00602355 0.72607 0.687589 uwb: 0.0 1004.52 1645.6 -imu_odom_: 1691062921.90133862 1.55384 0.143652 10.1394 -0.0447411 0.0308927 0.455933 0.12 0.35 pose: 0.0 -6.11225 -1.22536 0 -0.00270416 -0.00602355 0.72607 0.687589 uwb: 0.50082971 1002.83 1645.3 -imu_odom_: 1691062921.107131793 0.933739 -0.0957681 10.0245 -0.076699 0.0585895 0.358994 0.12 0.35 pose: 0.65020105 -6.10912 -1.21586 0 0.00259831 -0.0101442 0.738289 0.674403 uwb: 0.0 1002.83 1645.3 -imu_odom_: 1691062921.123002789 0.553061 0.0311246 9.99579 -0.0713727 0.0330232 0.30147 0.14 0.41 pose: 0.0 -6.10912 -1.21586 0 0.00259831 -0.0101442 0.738289 0.674403 uwb: 0.0 1002.83 1645.3 -imu_odom_: 1691062921.140039509 0.723049 -0.301669 9.84735 -0.0500674 -0.015979 0.284426 0.09 0.29 pose: 0.0 -6.10912 -1.21586 0 0.00259831 -0.0101442 0.738289 0.674403 uwb: 0.49929563 998.324 1645.35 -imu_odom_: 1691062921.156135076 0.866701 -0.272939 10.1155 -0.0447411 0.00426106 0.274838 0.09 0.29 pose: 0.32902758 -6.11866 -1.21288 0 0.00472936 -0.00969758 0.741954 0.670364 uwb: 0.0 998.324 1645.35 -imu_odom_: 1691062921.182249687 0.579397 -0.1652 9.96467 -0.0490022 -0.00106526 0.270577 0.08 0.26 pose: 0.42092351 -6.11563 -1.20334 0 0.00740304 -0.0112014 0.745363 0.666524 uwb: 0.0 998.324 1645.35 -imu_odom_: 1691062921.199181996 0.373495 -0.387861 9.94791 -0.056459 0.0372843 0.221575 0.08 0.26 pose: 0.0 -6.11563 -1.20334 0 0.00740304 -0.0112014 0.745363 0.666524 uwb: 0.50102511 995.505 1645.41 -imu_odom_: 1691062921.215988313 -0.198719 -0.0311246 10.0509 -0.052198 0.0490022 0.0958738 0.09 0.08 pose: 0.8020368 -6.11569 -1.20333 0 0.00750549 -0.0103845 0.745981 0.665843 uwb: 0.0 995.505 1645.41 -imu_odom_: 1691062921.230170949 -0.76375 0.237026 9.62948 -0.0447411 0.0543285 -0.0298274 0.09 0.08 pose: 0.0 -6.11569 -1.20333 0 0.00750549 -0.0103845 0.745981 0.665843 uwb: 0.0 995.505 1645.41 -imu_odom_: 1691062921.246056236 -0.732626 0.292093 10.1801 -0.0671117 0.00106526 -0.0852212 0.09 0.08 pose: 0.0 -6.11569 -1.20333 0 0.00750549 -0.0103845 0.745981 0.665843 uwb: 0.50151509 996.067 1645.58 -imu_odom_: 1691062921.261988188 0 -0.189142 10.2089 -0.0809601 -0.0447411 -0.0958738 0.11 -0.14 pose: 0.72845651 -6.11569 -1.20333 0 0.00330494 -0.00407683 0.748144 0.663516 uwb: 0.0 996.067 1645.58 -imu_odom_: 1691062921.278980286 0.351948 -0.519542 9.96946 -0.0745685 -0.0298274 -0.157659 0.11 -0.14 pose: 0.0 -6.11569 -1.20333 0 0.00330494 -0.00407683 0.748144 0.663516 uwb: 0.0 996.067 1645.58 -imu_odom_: 1691062921.296031880 0.500388 -0.229843 10.0796 -0.0639159 -0.0340885 -0.189617 0.11 -0.14 pose: 0.0 -6.11569 -1.20333 0 0.00330494 -0.00407683 0.748144 0.663516 uwb: 0.0 996.067 1645.58 -imu_odom_: 1691062921.312120739 0.275333 0.0526724 9.54568 -0.072438 -0.00532632 -0.207727 0.18 -0.35 pose: 0.33028168 -6.11261 -1.19382 0 0.00117684 -0.00299619 0.746531 0.665342 uwb: 0.0 996.067 1645.58 -imu_odom_: 1691062921.329009301 0.150835 -0.100556 9.81383 -0.0617853 -0.00319579 -0.24288 0.18 -0.35 pose: 0.42091476 -6.11261 -1.19382 0 0.00236383 -0.00244618 0.743306 0.668943 uwb: 0.0 996.067 1645.58 -imu_odom_: 1691062921.345008332 -0.21069 -0.023942 10.0102 -0.036219 -0.00852212 -0.292948 0.18 -0.35 pose: 0.0 -6.11261 -1.19382 0 0.00236383 -0.00244618 0.743306 0.668943 uwb: 0.99756173 996.067 1645.67 -imu_odom_: 1691062921.361039152 0.351948 -0.129287 10.0102 -0.0415453 -0.0308927 -0.338754 0.14 -0.38 pose: 0.0 -6.11261 -1.19382 0 0.00236383 -0.00244618 0.743306 0.668943 uwb: 0.0 996.067 1645.67 -imu_odom_: 1691062921.377160967 0.603339 -0.181959 9.92397 -0.052198 -0.0351537 -0.346211 0.18 -0.5 pose: 0.7926457 -6.11261 -1.19382 0 0.0019792 -0.0017558 0.742558 0.669777 uwb: 0.0 996.067 1645.67 -imu_odom_: 1691062921.394129150 0.217872 -0.241814 9.47386 -0.0735032 -0.00639159 -0.36219 0.18 -0.5 pose: 0.0 -6.11261 -1.19382 0 0.0019792 -0.0017558 0.742558 0.669777 uwb: 0.50059930 993.806 1646.14 -imu_odom_: 1691062921.411168495 0.0263362 0.0335188 9.79468 -0.0543285 0.0106526 -0.38243 0.2 -0.58 pose: 0.65107599 -6.11908 -1.18124 0 0.00166866 0.00100422 0.734688 0.678402 uwb: 0.0 993.806 1646.14 -imu_odom_: 1691062921.427992894 0.54109 -0.275333 9.60554 -0.0798948 0 -0.4048 0.2 -0.58 pose: 0.0 -6.11908 -1.18124 0 0.00166866 0.00100422 0.734688 0.678402 uwb: 0.0 993.806 1646.14 -imu_odom_: 1691062921.444169248 0.177171 0.00957681 10.2041 -0.0426106 0.0170442 -0.447411 0.2 -0.58 pose: 0.0 -6.11908 -1.18124 0 0.00166866 0.00100422 0.734688 0.678402 uwb: 0.49970394 991.55 1646.05 -imu_odom_: 1691062921.462116791 0.61531 -0.035913 10.0724 -0.0692422 -0.0649811 -0.413323 0.15 -0.5 pose: 0.33820872 -6.11612 -1.17169 0 0.000351675 0.00223667 0.729828 0.683627 uwb: 0.0 991.55 1646.05 -imu_odom_: 1691062921.479110347 0.840365 -0.143652 9.80186 -0.076699 -0.0255663 -0.34408 0.15 -0.5 pose: 0.33141037 -6.11612 -1.17169 0 0.0012199 0.0026853 0.724514 0.689253 uwb: 0.0 991.55 1646.05 -imu_odom_: 1691062921.495098586 1.5682 -0.782904 9.61511 -0.0820254 -0.0127832 -0.320645 0.15 -0.5 pose: 0.0 -6.11612 -1.17169 0 0.0012199 0.0026853 0.724514 0.689253 uwb: 0.49933063 987.604 1645.87 -imu_odom_: 1691062921.510989998 1.45089 -0.201113 9.95748 -0.052198 0.0298274 -0.354733 0.11 -0.35 pose: 0.0 -6.11612 -1.17169 0 0.0012199 0.0026853 0.724514 0.689253 uwb: 0.0 987.604 1645.87 -imu_odom_: 1691062921.528211916 1.02232 0.0933739 9.88326 -0.0543285 -0.0106526 -0.308927 0.1 -0.35 pose: 0.50043014 -6.11314 -1.16215 0 0.00438685 -0.0013777 0.717733 0.696303 uwb: 0.0 987.604 1645.87 -imu_odom_: 1691062921.545024358 0.876278 -0.172383 9.55765 -0.0585895 -0.0298274 -0.223706 0.1 -0.35 pose: 0.0 -6.11314 -1.16215 0 0.00438685 -0.0013777 0.717733 0.696303 uwb: 0.50010058 987.611 1645.52 -imu_odom_: 1691062921.560968558 0.560243 -0.725443 9.50498 -0.0692422 0.0372843 -0.189617 0.09 -0.26 pose: 0.16944851 -6.12268 -1.15916 0 0.0057073 -0.00213586 0.715528 0.698557 uwb: 0.0 987.611 1645.52 -imu_odom_: 1691062921.578075858 0.440533 -0.296881 9.77553 -0.056459 0.0127832 -0.20027 0.09 -0.26 pose: 0.0 -6.12268 -1.15916 0 0.0057073 -0.00213586 0.715528 0.698557 uwb: 0.0 987.611 1645.52 -imu_odom_: 1691062921.595159825 0.248997 0.0814029 10.2639 -0.0607201 -0.00213053 -0.192813 0.09 -0.26 pose: 0.0 -6.12268 -1.15916 0 0.0057073 -0.00213586 0.715528 0.698557 uwb: 0.50054681 989.857 1645.81 -imu_odom_: 1691062921.612110217 0.59855 -0.0502782 9.92875 -0.0671117 -0.0383495 -0.157659 0.11 -0.29 pose: 0.33922950 -6.12268 -1.15916 0 0.00719027 -0.00427681 0.712221 0.701906 uwb: 0.0 989.857 1645.81 -imu_odom_: 1691062921.628164661 0.830788 -0.414197 9.58638 -0.0692422 -0.015979 -0.137419 0.11 -0.29 pose: 0.0 -6.12268 -1.15916 0 0.00719027 -0.00427681 0.712221 0.701906 uwb: 0.0 989.857 1645.81 -imu_odom_: 1691062921.645079181 0.768539 -0.292093 10.1778 -0.0553937 -0.00958738 -0.133158 0.11 -0.29 pose: 0.67030446 -6.11974 -1.14961 0 0.00652731 -0.00364402 0.70707 0.707104 uwb: 0.49980893 986.481 1645.35 -imu_odom_: 1691062921.661068587 0.861913 -0.186748 9.93594 -0.0575243 -0.00958738 -0.11931 0.06 -0.17 pose: 0.0 -6.11974 -1.14961 0 0.00652731 -0.00364402 0.70707 0.707104 uwb: 0.0 986.481 1645.35 -imu_odom_: 1691062921.678073809 0.682347 -0.232238 9.83538 -0.0596548 0.00426106 -0.103331 0.07 -0.2 pose: 0.0 -6.11974 -1.14961 0 0.00652731 -0.00364402 0.70707 0.707104 uwb: 0.0 986.481 1645.35 -imu_odom_: 1691062921.694015676 0.476446 -0.311246 9.70131 -0.0607201 0.00958738 -0.104396 0.07 -0.2 pose: 0.32910925 -6.11974 -1.14961 0 0.00775114 -0.00670324 0.705075 0.709058 uwb: 0.50116219 982.542 1645.05 -imu_odom_: 1691062921.710009749 0.596156 -0.229843 9.84017 -0.0617853 -0.00745685 -0.110787 0.06 -0.2 pose: 0.41046786 -6.11968 -1.14961 0 0.00716562 -0.00838434 0.702948 0.711155 uwb: 0.0 982.542 1645.05 -imu_odom_: 1691062921.726956058 0.699107 -0.268151 9.93354 -0.0596548 0.00426106 -0.092678 0.06 -0.2 pose: 0.0 -6.11968 -1.14961 0 0.00716562 -0.00838434 0.702948 0.711155 uwb: 0.0 982.542 1645.05 -imu_odom_: 1691062921.743014293 0.658405 -0.253785 9.88566 -0.0639159 0.00852212 -0.0692422 0.06 -0.2 pose: 0.0 -6.11968 -1.14961 0 0.00716562 -0.00838434 0.702948 0.711155 uwb: 0.49808528 987.6 1645.66 -imu_odom_: 1691062921.759005157 0.584185 -0.263362 9.80426 -0.0543285 0.00106526 -0.0671117 0.04 -0.08 pose: 0.6998136 -6.11974 -1.14961 0 0.00667604 -0.00789937 0.702579 0.71153 uwb: 0.0 987.6 1645.66 -imu_odom_: 1691062921.775068934 0.56982 -0.234632 9.87129 -0.0553937 0.00319579 -0.0649811 0.04 -0.08 pose: 0.0 -6.11974 -1.14961 0 0.00667604 -0.00789937 0.702579 0.71153 uwb: 0.0 987.6 1645.66 -imu_odom_: 1691062921.791940872 0.397437 -0.153229 10.07 -0.052198 -0.0106526 -0.0596548 0.04 -0.08 pose: 0.0 -6.11974 -1.14961 0 0.00667604 -0.00789937 0.702579 0.71153 uwb: 0.50093179 989.852 1645.93 -imu_odom_: 1691062921.808047522 0.627281 -0.225055 9.83299 -0.0553937 -0.0106526 -0.052198 0.04 -0.08 pose: 0.64946609 -6.11682 -1.14004 0 0.00578031 -0.00854836 0.699816 0.714249 uwb: 0.0 989.852 1645.93 -imu_odom_: 1691062921.823934850 0.68953 -0.280122 9.86172 -0.056459 -0.00213053 -0.0383495 0.03 -0.05 pose: 0.0 -6.11682 -1.14004 0 0.00578031 -0.00854836 0.699816 0.714249 uwb: 0.0 989.852 1645.93 -imu_odom_: 1691062921.839937089 0.591368 -0.272939 9.8282 -0.0575243 -0.00426106 -0.0266316 0.03 -0.05 pose: 0.32984712 -6.11682 -1.14004 0 0.00552323 -0.00657134 0.698653 0.715409 uwb: 0.49961936 990.412 1646.2 -imu_odom_: 1691062921.857011724 0.596156 -0.246603 9.84496 -0.052198 0.00639159 -0.0255663 0.02 -0.02 pose: 0.40991956 -6.11682 -1.14004 0 0.00504595 -0.00897851 0.697535 0.716476 uwb: 0.0 990.412 1646.2 -imu_odom_: 1691062921.874142647 0.452504 -0.225055 9.83299 -0.0543285 0 -0.00852212 0.02 -0.02 pose: 0.8002869 -6.11682 -1.14004 0 0.00558262 -0.00836028 0.697345 0.716666 uwb: 0.0 990.412 1646.2 -imu_odom_: 1691062921.889954439 0.452504 -0.328006 9.94312 -0.0553937 -0.0106526 0.0106526 0.02 -0.02 pose: 0.0 -6.11682 -1.14004 0 0.00558262 -0.00836028 0.697345 0.716666 uwb: 0.49958436 984.213 1646.05 -imu_odom_: 1691062921.907114235 0.682347 -0.287304 9.9503 -0.052198 -0.015979 0.02024 0.02 -0.02 pose: 0.42014481 -6.11682 -1.14004 0 0.00349978 -0.00626251 0.696692 0.717335 uwb: 0.0 984.213 1646.05 -imu_odom_: 1691062921.923089059 0.632069 -0.220267 9.85693 -0.052198 -0.00319579 0.0330232 0.02 -0.02 pose: 0.0 -6.11682 -1.14004 0 0.00349978 -0.00626251 0.696692 0.717335 uwb: 0.0 984.213 1646.05 -imu_odom_: 1691062921.940095448 0.694318 -0.25618 9.87369 -0.0543285 -0.00106526 0.0458064 0.02 -0.02 pose: 0.0 -6.11682 -1.14004 0 0.00349978 -0.00626251 0.696692 0.717335 uwb: 0.49988476 984.771 1646.28 -imu_odom_: 1691062921.957016675 0.509965 -0.251391 9.87608 -0.0553937 0.00213053 0.0447411 0.01 0 pose: 0.25153916 -6.11682 -1.14004 0 0.00523298 -0.00797456 0.696536 0.717458 uwb: 0.0 984.771 1646.28 -imu_odom_: 1691062921.971981515 0.519542 -0.237026 9.91678 -0.0543285 -0.00426106 0.0490022 0.01 0 pose: 0.0 -6.11682 -1.14004 0 0.00523298 -0.00797456 0.696536 0.717458 uwb: 0.0 984.771 1646.28 -imu_odom_: 1691062921.987932132 0.603339 -0.215478 9.90721 -0.0553937 -0.0106526 0.052198 0.01 0 pose: 0.32944465 -6.11682 -1.14004 0 0.00638711 -0.00894639 0.696558 0.717417 uwb: 0.49859276 986.453 1646.76 -imu_odom_: 1691062922.3984243 0.608127 -0.220267 9.84975 -0.0553937 -0.00319579 0.0479369 0 0.02 pose: 0.39879312 -6.11682 -1.14004 0 0.00645223 -0.00732376 0.6967 0.717296 uwb: 0.0 986.453 1646.76 -imu_odom_: 1691062922.17988389 0.486023 -0.205901 9.89284 -0.0543285 0.0106526 0.04048 0 0.02 pose: 0.6996386 -6.11682 -1.14004 0 0.00703861 -0.00769829 0.696715 0.717272 uwb: 0.0 986.453 1646.76 -imu_odom_: 1691062922.32979187 0.275333 -0.203507 9.88805 -0.056459 0.00852212 0.0394148 0 0.02 pose: 0.0 -6.11682 -1.14004 0 0.00703861 -0.00769829 0.696715 0.717272 uwb: 0.0 986.453 1646.76 -imu_odom_: 1691062922.48190180 0.258574 -0.253785 9.89763 -0.0553937 -0.00745685 0.0383495 0 0 pose: 0.0 -6.11682 -1.14004 0 0.00703861 -0.00769829 0.696715 0.717272 uwb: 0.50057597 984.194 1646.64 -imu_odom_: 1691062922.70231610 0.526724 -0.241814 9.89284 -0.0553937 -0.0138484 0.036219 0 0 pose: 0.38050669 -6.11682 -1.14004 0 0.00575407 -0.00584944 0.696758 0.71726 uwb: 0.0 984.194 1646.64 -imu_odom_: 1691062922.85980697 -0.129287 -0.241814 9.70609 -0.0543285 0.0692422 0.0511327 0 0 pose: 0.0 -6.11682 -1.14004 0 0.00575407 -0.00584944 0.696758 0.71726 uwb: 0.49955229 984.191 1646.76 -imu_odom_: 1691062922.102957921 -1.05105 -0.328006 10.1418 -0.0436758 0.0735032 0.0639159 0.02 0.02 pose: 0.43999157 -6.11682 -1.14004 0 0.00204637 -0.00530146 0.696776 0.717266 uwb: 0.0 984.191 1646.76 -imu_odom_: 1691062922.119074778 -1.26174 -0.277727 9.84975 -0.052198 -0.0276969 0.0617853 0.03 0.02 pose: 0.0 -6.11682 -1.14004 0 0.00204637 -0.00530146 0.696776 0.717266 uwb: 0.0 984.191 1646.76 -imu_odom_: 1691062922.135963633 -0.174777 -0.0670376 10.0054 -0.0490022 -0.0703074 0.052198 0.03 0.02 pose: 0.0 -6.11682 -1.14004 0 0.00204637 -0.00530146 0.696776 0.717266 uwb: 0.49978560 989.837 1646.92 -imu_odom_: 1691062922.153134804 0.512359 -0.225055 9.79468 -0.0596548 -0.0426106 0.0660464 0.03 0.02 pose: 0.34168519 -6.11682 -1.14004 0 -0.000922499-0.00217219 0.697041 0.717028 uwb: 0.0 989.837 1646.92 -imu_odom_: 1691062922.170004701 0.545878 -0.292093 9.90002 -0.0575243 0.0276969 0.052198 0.05 0.02 pose: 0.0 -6.11682 -1.14004 0 -0.000922499-0.00217219 0.697041 0.717028 uwb: 0.0 989.837 1646.92 -imu_odom_: 1691062922.186141390 0.035913 -0.189142 9.85693 -0.04048 0.0234358 0.0511327 0.05 0.02 pose: 0.32957298 -6.11682 -1.14004 0 -0.000973384-0.00112192 0.697263 0.716814 uwb: 0.50201965 993.793 1646.97 -imu_odom_: 1691062922.202074216 -0.356736 -0.220267 9.69652 -0.0575243 -0.0213053 0.0649811 0.1 0 pose: 0.42037229 -6.11386 -1.13049 0 -0.000737887-0.00162937 0.697491 0.716591 uwb: 0.0 993.793 1646.97 -imu_odom_: 1691062922.219075939 -0.0790087 -0.349553 9.74201 -0.0468716 -0.02024 0.0383495 0.1 0 pose: 0.6821396 -6.11386 -1.13049 0 -0.00116163 -0.00117136 0.697554 0.71653 uwb: 0.0 993.793 1646.97 -imu_odom_: 1691062922.236202196 0.117316 -0.167594 9.76116 -0.0458064 -0.0308927 0.0500674 0.1 0 pose: 0.0 -6.11386 -1.13049 0 -0.00116163 -0.00117136 0.697554 0.71653 uwb: 0.49936855 990.413 1646.48 -imu_odom_: 1691062922.252191602 0.332794 -0.411803 10.082 -0.0628506 -0.0138484 0.056459 0.09 -0.02 pose: 0.43239410 -6.11386 -1.13049 0 -0.00350846 0.00177229 0.697696 0.716384 uwb: 0.0 990.413 1646.48 -imu_odom_: 1691062922.269191866 0.112527 -0.148441 10.0987 -0.0436758 0.0106526 0.0298274 0.13 0.02 pose: 0.0 -6.11386 -1.13049 0 -0.00350846 0.00177229 0.697696 0.716384 uwb: 0.0 990.413 1646.48 -imu_odom_: 1691062922.285200522 0.205901 0.0023942 10.0485 -0.0511327 -0.0447411 0.0532632 0.13 0.02 pose: 0.0 -6.11386 -1.13049 0 -0.00350846 0.00177229 0.697696 0.716384 uwb: 0.50008308 992.671 1646.74 -imu_odom_: 1691062922.300956608 0.172383 -0.265756 9.84256 -0.0681769 -0.00319579 0.0585895 0.14 0.02 pose: 0.23003874 -6.11386 -1.13049 0 -0.00480311 0.00127877 0.697762 0.716312 uwb: 0.0 992.671 1646.74 -imu_odom_: 1691062922.318144695 0.172383 -0.323217 10.1825 -0.0330232 -0.0149137 0.0298274 0.14 0.02 pose: 0.0 -6.11386 -1.13049 0 -0.00480311 0.00127877 0.697762 0.716312 uwb: 0.0 992.671 1646.74 -imu_odom_: 1691062922.335004384 0.25618 -0.237026 10.1586 -0.0553937 -0.0490022 0.0479369 0.14 0.02 pose: 0.32803307 -6.12047 -1.11798 0 -0.00475862 0.00385773 0.697857 0.716211 uwb: 0.49933939 989.847 1646.89 -imu_odom_: 1691062922.352072311 0.97444 -0.469264 10.0269 -0.0639159 -0.0596548 0.0639159 0.1 0 pose: 0.42995007 -6.12047 -1.11798 0 -0.00517291 0.00423275 0.697906 0.716158 uwb: 0.0 989.847 1646.89 -imu_odom_: 1691062922.369198277 1.00078 -0.282516 9.39006 -0.056459 -0.0138484 0.0543285 0.1 0 pose: 0.8006369 -6.12047 -1.11798 0 -0.00469822 0.00332703 0.697978 0.716096 uwb: 0.0 989.847 1646.89 -imu_odom_: 1691062922.386078090 0.890643 -0.275333 9.85453 -0.0607201 0.0351537 0.0788296 0.1 0 pose: 0.0 -6.12047 -1.11798 0 -0.00469822 0.00332703 0.697978 0.716096 uwb: 0.50054098 987.588 1646.74 -imu_odom_: 1691062922.402077120 1.36709 -0.248997 10.3166 -0.056459 -0.052198 0.0820254 0.07 0 pose: 0.43067337 -6.11875 -1.11259 0 -0.00214896 -0.0001315710.698389 0.715715 uwb: 0.0 987.588 1646.74 -imu_odom_: 1691062922.417979032 1.49159 -0.148441 9.42837 -0.0479369 -0.0117179 0.0500674 0.06 -0.02 pose: 0.0 -6.11875 -1.11259 0 -0.00214896 -0.0001315710.698389 0.715715 uwb: 0.0 987.588 1646.74 -imu_odom_: 1691062922.434980754 1.30963 0.0047884 9.9096 -0.0479369 0.0287621 0.0596548 0.06 -0.02 pose: 0.0 -6.11875 -1.11259 0 -0.00214896 -0.0001315710.698389 0.715715 uwb: 0.49992268 987.589 1646.71 -imu_odom_: 1691062922.451041032 0.600945 -0.507571 9.7851 -0.0639159 0.0340885 0.0735032 0.07 -0.02 pose: 0.22913463 -6.11744 -1.10845 0 -0.000208379-0.00200875 0.698656 0.715455 uwb: 0.0 987.589 1646.71 -imu_odom_: 1691062922.467919970 0.435745 -0.153229 10.2592 -0.0372843 0.00532632 -0.04048 0.07 -0.02 pose: 0.0 -6.11744 -1.10845 0 -0.000208379-0.00200875 0.698656 0.715455 uwb: 0.0 987.589 1646.71 -imu_odom_: 1691062922.484916442 0.418985 0.138864 9.67736 -0.0543285 -0.0308927 -0.0372843 0.07 -0.02 pose: 0.32935715 -6.11744 -1.10846 0 0.00149121 -0.00376805 0.698889 0.715218 uwb: 0.49876483 986.464 1646.5 -imu_odom_: 1691062922.500917515 0.802058 -0.155623 10.0149 -0.0713727 0.0276969 -0.0170442 0.04 0.05 pose: 0.42989174 -6.11744 -1.10846 0 0.00294863 -0.00162445 0.698046 0.716045 uwb: 0.0 986.464 1646.5 -imu_odom_: 1691062922.517922154 0.25618 -0.632069 9.68694 -0.0575243 0.00319579 0.0415453 0.04 0.05 pose: 0.7012719 -6.11744 -1.10846 0 0.00337663 -0.00202471 0.697902 0.716182 uwb: 0.0 986.464 1646.5 -imu_odom_: 1691062922.533911560 0.466869 -0.486023 10.0365 -0.0490022 -0.00745685 0.072438 0.04 0.05 pose: 0.0 -6.11744 -1.10846 0 0.00337663 -0.00202471 0.697902 0.716182 uwb: 0.0 986.464 1646.5 -imu_odom_: 1691062922.549922257 0.646434 -0.0957681 9.89524 -0.0426106 -0.0255663 0.0777643 0.04 0.02 pose: 0.41982399 -6.11744 -1.10846 0 0.0011024 -0.00403339 0.697929 0.716155 uwb: 0.0 986.464 1646.5 -imu_odom_: 1691062922.566893940 0.653617 0.0694318 9.78271 -0.0511327 0.00745685 0.0798948 0.03 0 pose: 0.0 -6.11744 -1.10846 0 0.0011024 -0.00403339 0.697929 0.716155 uwb: 0.0 986.464 1646.5 -imu_odom_: 1691062922.594214231 0.794875 -0.335188 9.93833 -0.056459 -0.0106526 0.0287621 0.03 0 pose: 0.24065772 -6.11744 -1.10846 0 0.00364238 -0.00388635 0.698253 0.715831 uwb: 0.100003202 987.029 1646.54 -imu_odom_: 1691062922.619907991 -0.871489 -0.282516 9.80665 -0.0596548 0.102265 0.0777643 0.04 0 pose: 0.0 -6.11744 -1.10846 0 0.00364238 -0.00388635 0.698253 0.715831 uwb: 0.0 987.029 1646.54 -imu_odom_: 1691062922.646907176 -1.4868 -0.25618 9.91439 -0.052198 -0.0340885 0.0585895 0.07 0.02 pose: 0.61930659 -6.11441 -1.09892 0 0.00253047 -0.00352893 0.698634 0.715466 uwb: 0.50030766 981.395 1646 -imu_odom_: 1691062922.662888999 -0.363919 -0.0383072 10.1418 -0.0511327 -0.100135 0.0607201 0.07 0.02 pose: 0.0 -6.11441 -1.09892 0 0.00253047 -0.00352893 0.698634 0.715466 uwb: 0.0 981.395 1646 -imu_odom_: 1691062922.689991428 0.770933 -0.217872 9.98622 -0.0553937 0 0.0447411 0.11 0.02 pose: 0.7022051 -6.11441 -1.09892 0 0.0021136 -0.00310105 0.698684 0.715421 uwb: 0.50028724 978.578 1645.96 -imu_odom_: 1691062922.715963130 -0.167594 -0.160412 10.0533 -0.0543285 0.0394148 0.0479369 0.11 0.02 pose: 0.0 -6.11441 -1.09892 0 0.0021136 -0.00310105 0.698684 0.715421 uwb: 0.0 978.578 1645.96 -imu_odom_: 1691062922.742919442 -0.112527 -0.414197 9.93115 -0.0468716 -0.00319579 0.0287621 0.14 0.02 pose: 0.42994424 -6.11441 -1.09892 0 0.00114537 -0.00153067 0.698959 0.715159 uwb: 0.50361206 981.405 1646 -imu_odom_: 1691062922.768953558 0.323217 -0.21069 9.81862 -0.0426106 -0.052198 0.0596548 0.14 0.02 pose: 0.0 -6.11441 -1.09892 0 0.00114537 -0.00153067 0.698959 0.715159 uwb: 0.0 981.405 1646 -imu_odom_: 1691062922.796053653 0.129287 0.0670376 10.1418 -0.0372843 0.00213053 0.0330232 0.16 0.02 pose: 0.52994511 -6.11441 -1.09892 0 -0.000113683-0.0001813860.699047 0.715075 uwb: 0.49575500 976.895 1645.64 -imu_odom_: 1691062922.811946815 0.0311246 -0.373495 9.79228 -0.0532632 -0.00426106 0.0628506 0.16 0.02 pose: 0.0 -6.11441 -1.09892 0 -0.000113683-0.0001813860.699047 0.715075 uwb: 0.0 976.895 1645.64 -imu_odom_: 1691062922.838897003 0.684742 -0.141258 9.72525 -0.0436758 -0.0191748 0.0298274 0.12 0 pose: 0.53061590 -6.12093 -1.08638 0 -0.00207025 0.00360346 0.699139 0.714974 uwb: 0.50176883 976.325 1645.79 -imu_odom_: 1691062922.863885262 -0.047884 -0.344765 9.89284 -0.0553937 0.0479369 0.056459 0.13 0 pose: 0.62916436 -6.11792 -1.07684 0 -0.0009230670.00419284 0.69913 0.714981 uwb: 0.0 976.325 1645.79 -imu_odom_: 1691062922.890902237 0.445322 -0.0023942 10.1227 -0.0543285 -0.0511327 0.0553937 0.13 0 pose: 0.0 -6.11792 -1.07684 0 -0.0009230670.00419284 0.69913 0.714981 uwb: 0.0 976.325 1645.79 -imu_odom_: 1691062922.915896330 0.588974 -0.160412 10.0389 -0.0607201 -0.0149137 0.0351537 0.14 0 pose: 0.8100572 -6.11792 -1.07684 0 -0.00182756 0.00463388 0.699175 0.714933 uwb: 0.0 976.325 1645.79 -imu_odom_: 1691062922.932949966 0.423774 -0.0502782 9.9934 -0.0713727 0.0287621 0.0671117 0.14 0 pose: 0.0 -6.11792 -1.07684 0 -0.00182756 0.00463388 0.699175 0.714933 uwb: 0.0 976.325 1645.79 -imu_odom_: 1691062922.957888062 0.203507 -0.191536 9.96467 -0.0532632 0.02024 0.036219 0.14 0.02 pose: 0.51913656 -6.11492 -1.0673 0 -4.92924e-060.00454799 0.699427 0.71469 uwb: 0.99971995 977.456 1645.76 -imu_odom_: 1691062922.984942077 0.258574 -0.270545 10.2879 -0.0575243 0.0181095 0.0436758 0.14 0.02 pose: 0.0 -6.11492 -1.0673 0 -4.92924e-060.00454799 0.699427 0.71469 uwb: 0.49814362 979.155 1645.51 -imu_odom_: 1691062923.1866512 0.023942 -0.160412 9.89045 -0.0511327 -0.00213053 0.0543285 0.15 0 pose: 0.42028189 -6.11492 -1.0673 0 0.00170834 0.00427265 0.699563 0.714556 uwb: 0.0 979.155 1645.51 -imu_odom_: 1691062923.26923018 0.715866 -0.208296 10.0844 -0.0585895 -0.0276969 0.0383495 0.15 0 pose: 0.0 -6.11492 -1.0673 0 0.00170834 0.00427265 0.699563 0.714556 uwb: 0.0 979.155 1645.51 -imu_odom_: 1691062923.49906477 0.533907 -0.270545 9.67976 -0.056459 -0.00639159 0.0617853 0.14 0 pose: 0.51974028 -6.11192 -1.05776 0 -0.00327433 0.00525952 0.699605 0.714503 uwb: 0.49988769 976.353 1644.94 -imu_odom_: 1691062923.76017006 0.0837971 -0.385466 9.22965 -0.0628506 -0.00639159 0.0447411 0.15 0 pose: 0.34009570 -6.11683 -1.04836 0 -0.00198205 0.00386817 0.699649 0.714474 uwb: 0.0 976.353 1644.94 -imu_odom_: 1691062923.102876199 -0.100556 -0.332794 9.71806 -0.0639159 0.0383495 0.0447411 0.19 0 pose: 0.25024424 -6.11847 -1.04523 0 -0.00185459 0.00188916 0.699849 0.714286 uwb: 0.50002185 971.281 1644.83 -imu_odom_: 1691062923.129121177 0.0742203 -0.35913 9.78989 -0.0543285 0.072438 0.04048 0.16 -0.02 pose: 0.25001385 -6.11847 -1.04523 0 -0.00435882 0.00269993 0.699887 0.714236 uwb: 0.0 971.281 1644.83 -imu_odom_: 1691062923.145886080 0.277727 -0.0909797 9.91918 -0.0447411 0.0149137 0.0500674 0.16 -0.02 pose: 0.0 -6.11847 -1.04523 0 -0.00435882 0.00269993 0.699887 0.714236 uwb: 0.50166383 971.27 1645.09 -imu_odom_: 1691062923.172157599 0.380678 -0.129287 9.57441 -0.0628506 0.00639159 0.0511327 0.16 0 pose: 0.28070122 -6.11548 -1.03568 0 -0.00740081 0.00445334 0.699907 0.714181 uwb: 0.0 971.27 1645.09 -imu_odom_: 1691062923.199016792 0.430956 -0.392649 9.36851 -0.0468716 -0.0308927 0.0351537 0.16 0 pose: 0.0 -6.11548 -1.03568 0 -0.00740081 0.00445334 0.699907 0.714181 uwb: 0.49995186 966.784 1644.45 -imu_odom_: 1691062923.224873293 0.201113 -0.526724 9.26317 -0.0628506 -0.00958738 0.0458064 0.17 -0.02 pose: 0.42913929 -6.11249 -1.02614 0 -0.00737467 0.00602934 0.700011 0.714068 uwb: 0.0 966.784 1644.45 -imu_odom_: 1691062923.251892311 -0.0670376 -0.368707 9.11473 -0.0617853 0.0149137 0.0543285 0.17 -0.02 pose: 0.53112630 -6.11249 -1.02614 0 -0.00612279 0.00243898 0.70007 0.714044 uwb: 0.49933064 963.406 1644.41 -imu_odom_: 1691062923.269003985 0.691924 -0.260968 9.9096 -0.0543285 -0.02024 0.0415453 0.17 -0.02 pose: 0.0 -6.11249 -1.02614 0 -0.00612279 0.00243898 0.70007 0.714044 uwb: 0.0 963.406 1644.41 -imu_odom_: 1691062923.292867352 -0.00957681-0.237026 10.252 -0.0458064 -0.0127832 0.0351537 0.17 -0.02 pose: 0.0 -6.11249 -1.02614 0 -0.00612279 0.00243898 0.70007 0.714044 uwb: 0.50164342 961.731 1644.12 -imu_odom_: 1691062923.317955064 0.129287 -0.351948 10.0892 -0.0628506 -0.0266316 0.0436758 0.17 0.02 pose: 0.52880476 -6.11905 -1.01361 0 -0.00957657 0.00266621 0.700236 0.713842 uwb: 0.0 961.731 1644.12 -imu_odom_: 1691062923.344951333 0.567426 -0.009576819.81383 -0.0585895 -0.00639159 0.04048 0.22 0 pose: 0.58059301 -6.11607 -1.00407 0 -0.0121258 0.00431936 0.700224 0.713807 uwb: 0.49817862 960.024 1644.42 -imu_odom_: 1691062923.360874535 0.531513 -0.311246 10.1586 -0.0681769 0 0.0617853 0.22 0 pose: 0.0 -6.11607 -1.00407 0 -0.0121258 0.00431936 0.700224 0.713807 uwb: 0.0 960.024 1644.42 -imu_odom_: 1691062923.387894135 0.452504 -0.280122 10.137 -0.0319579 0.0138484 0.0255663 0.24 0.02 pose: 0.6929890 -6.11607 -1.00407 0 -0.0114403 0.00422669 0.700234 0.71381 uwb: 0.49948229 958.347 1644.15 -imu_odom_: 1691062923.412882104 0.416591 -0.198719 9.9527 -0.0532632 0 0.0628506 0.24 0.02 pose: 0.0 -6.11607 -1.00407 0 -0.0114403 0.00422669 0.700234 0.71381 uwb: 0.0 958.347 1644.15 -imu_odom_: 1691062923.439897038 0.141258 -0.28491 9.43555 -0.0660464 0.0181095 0.04048 0.22 -0.02 pose: 0.44134484 -6.1131 -0.994521 0 -0.00786263 0.00230733 0.700351 0.713751 uwb: 0.49900983 961.166 1644.25 -imu_odom_: 1691062923.464893755 0.318429 -0.486023 9.65103 -0.0575243 0.0617853 0.0532632 0.22 -0.02 pose: 0.0 -6.1131 -0.994521 0 -0.00786263 0.00230733 0.700351 0.713751 uwb: 0.0 961.166 1644.25 -imu_odom_: 1691062923.491881566 -0.162806 -0.25618 10.0269 -0.0468716 0.00213053 0.052198 0.21 0 pose: 0.51044833 -6.11012 -0.984974 0 -0.0046063 0.0014495 0.700477 0.713659 uwb: 0.49960187 961.705 1644.69 -imu_odom_: 1691062923.507957884 0.0263362 -0.25618 9.50977 -0.0671117 -0.0319579 0.052198 0.21 0 pose: 0.0 -6.11012 -0.984974 0 -0.0046063 0.0014495 0.700477 0.713659 uwb: 0.0 961.705 1644.69 -imu_odom_: 1691062923.525016187 0.591368 -0.0191536 10.2089 -0.0575243 -0.0436758 0.0394148 0.22 -0.02 pose: 0.51955946 -6.11669 -0.972453 0 -0.00890242 0.00187107 0.700608 0.713489 uwb: 0.0 961.705 1644.69 -imu_odom_: 1691062923.549886620 0.328006 -0.0454898 10.0389 -0.0692422 -0.00745685 0.0500674 0.22 -0.02 pose: 0.0 -6.11669 -0.972453 0 -0.00890242 0.00187107 0.700608 0.713489 uwb: 0.49984978 958.89 1644.49 -imu_odom_: 1691062923.576886388 0.447716 -0.191536 10.0772 -0.0596548 -0.00213053 0.0426106 0.23 0 pose: 0.43035547 -6.11373 -0.962903 0 -0.0100209 0.00449117 0.700775 0.713298 uwb: 0.0 958.89 1644.49 -imu_odom_: 1691062923.601893605 0.531513 -0.466869 9.35654 -0.0894822 0.0106526 0.0426106 0.23 0 pose: 0.0 -6.11373 -0.962903 0 -0.0100209 0.00449117 0.700775 0.713298 uwb: 0.50014434 961.69 1644.94 -imu_odom_: 1691062923.628900957 0.107739 -0.361524 9.70849 -0.0660464 0.00319579 0.056459 0.22 -0.02 pose: 0.41856116 -6.11373 -0.962903 0 -0.00609039 0.00448808 0.700913 0.713206 uwb: 0.0 961.69 1644.94 -imu_odom_: 1691062923.654020167 0.337582 -0.28491 9.99579 -0.0617853 0.00852212 0.0330232 0.18 0 pose: 0.52111395 -6.11077 -0.953352 0 -0.00563391 0.00102149 0.701009 0.71313 uwb: 0.50047099 961.117 1645.07 -imu_odom_: 1691062923.679918957 0.699107 0.0311246 10.4986 -0.052198 -0.052198 0.04048 0.18 0 pose: 0.0 -6.11077 -0.953352 0 -0.00563391 0.00102149 0.701009 0.71313 uwb: 0.0 961.117 1645.07 -imu_odom_: 1691062923.705024169 0.146046 -0.299275 9.98382 -0.0308927 -0.0372843 0.0372843 0.18 0 pose: 0.70895682 -6.1152 -0.933855 0 -0.00265803 -0.0002580940.701085 0.713073 uwb: 0.49945313 963.923 1645.45 -imu_odom_: 1691062923.721898149 0.407014 -0.268151 10.0987 -0.0585895 -0.0490022 0.0426106 0.18 0 pose: 0.0 -6.1152 -0.933855 0 -0.00265803 -0.0002580940.701085 0.713073 uwb: 0.0 963.923 1645.45 -imu_odom_: 1691062923.747850020 0.47884 -0.35913 10.0126 -0.0617853 0.0106526 0.0458064 0.18 0 pose: 0.6985012 -6.1144 -0.931289 0 -0.00309266 0.000114987 0.701079 0.713077 uwb: 0.50010934 969.549 1645.93 -imu_odom_: 1691062923.774883911 0.244209 -0.373495 9.85453 -0.0639159 -0.0181095 0.0479369 0.18 0 pose: 0.0 -6.1144 -0.931289 0 -0.00309266 0.000114987 0.701079 0.713077 uwb: 0.0 969.549 1645.93 -imu_odom_: 1691062923.801051894 0.761356 -0.229843 10.4363 -0.0468716 -0.0394148 0.0447411 0.18 0.02 pose: 0.42997050 -6.11145 -0.921736 0 -0.0029461 -0.00130672 0.701098 0.713057 uwb: 0.49949105 965.007 1646.26 -imu_odom_: 1691062923.818112238 0.407014 -0.21069 9.92875 -0.0585895 0.0426106 0.0351537 0.18 0.02 pose: 0.0 -6.11145 -0.921736 0 -0.0029461 -0.00130672 0.701098 0.713057 uwb: 0.0 965.007 1646.26 -imu_odom_: 1691062923.843931117 0.0790087 -0.3304 9.66779 -0.0340885 0.0276969 0.0319579 0.25 0.02 pose: 0.53119629 -6.10849 -0.912182 0 -0.00465533 -0.00283215 0.701229 0.712916 uwb: 0.50001018 968.942 1646.81 -imu_odom_: 1691062923.870930885 0.277727 -0.318429 9.72525 -0.0575243 -0.0330232 0.0468716 0.23 0 pose: 0.60910469 -6.11591 -0.902317 0 -0.0042754 -0.0003484340.701167 0.712984 uwb: 0.0 968.942 1646.81 -imu_odom_: 1691062923.895985349 0.430956 -0.385466 9.69652 -0.0394148 0.0170442 0.0553937 0.23 0 pose: 0.0 -6.11591 -0.902317 0 -0.0042754 -0.0003484340.701167 0.712984 uwb: 0.50075097 967.251 1646.66 -imu_odom_: 1691062923.923108777 0.237026 -0.0526724 10.1849 -0.0436758 -0.0415453 0.0436758 0.23 0 pose: 0.6896642 -6.11509 -0.899676 0 -0.00487415 -0.0002305710.701184 0.712964 uwb: 0.0 967.251 1646.66 -imu_odom_: 1691062923.949023900 0.457293 -0.328006 9.67736 -0.0340885 -0.0170442 0.0372843 0.23 0 pose: 0.0 -6.11509 -0.899676 0 -0.00487415 -0.0002305710.701184 0.712964 uwb: 0.50066640 961.593 1646.61 -imu_odom_: 1691062923.965898755 0.299275 -0.462081 9.75637 -0.0500674 -0.0213053 0.0468716 0.23 0.05 pose: 0.52156893 -6.11214 -0.890122 0 -0.00582465 -0.00145244 0.701376 0.712766 uwb: 0.0 961.593 1646.61 -imu_odom_: 1691062923.990894306 0.459687 -0.23942 9.83777 -0.0490022 -0.0777643 0.0660464 0.23 0.05 pose: 0.0 -6.11214 -0.890122 0 -0.00582465 -0.00145244 0.701376 0.712766 uwb: 0.49977394 958.757 1646.72 -imu_odom_: 1691062924.7900695 0.921768 -0.0622492 9.83299 -0.0575243 -0.00745685 0.0596548 0.18 0 pose: 0.52900017 -6.10919 -0.880566 0 -0.004014 -0.00239179 0.701408 0.712745 uwb: 0.0 958.757 1646.72 -imu_odom_: 1691062924.32823918 0.967257 -0.0574608 9.74919 -0.0511327 0.0234358 0.0383495 0.18 0 pose: 0.0 -6.10919 -0.880566 0 -0.004014 -0.00239179 0.701408 0.712745 uwb: 0.0 958.757 1646.72 -imu_odom_: 1691062924.59830977 0.486023 -0.304064 9.68455 -0.0575243 -0.00532632 0.0447411 0.21 0 pose: 0.76939249 -6.11581 -0.868065 0 0.00200084 -0.00475702 0.701766 0.712389 uwb: 0.50142761 957.592 1647.18 -imu_odom_: 1691062924.85839137 0.311246 -0.411803 9.9096 -0.0745685 -0.015979 0.0607201 0.18 0.02 pose: 0.7099630 -6.11581 -0.868065 0 0.0014163 -0.00517373 0.70178 0.712373 uwb: 0.49798905 957.023 1647.19 -imu_odom_: 1691062924.112873612 0.684742 -0.1652 9.5792 -0.0617853 -0.0149137 0.0372843 0.25 0.02 pose: 0.0 -6.11581 -0.868065 0 0.0014163 -0.00517373 0.70178 0.712373 uwb: 0.0 957.023 1647.19 -imu_odom_: 1691062924.128958388 0.335188 -0.335188 10.1514 -0.0660464 0.00852212 0.0500674 0.25 0.02 pose: 0.52923058 -6.11287 -0.858506 0 -0.00211677 -0.00615071 0.702018 0.71213 uwb: 0.0 957.023 1647.19 -imu_odom_: 1691062924.155954656 0.308852 -0.289698 9.77792 -0.0479369 0.0394148 0.0415453 0.18 0.02 pose: 0.0 -6.11287 -0.858506 0 -0.00211677 -0.00615071 0.702018 0.71213 uwb: 0.49989936 957.02 1647.24 -imu_odom_: 1691062924.181022829 0.507571 -0.342371 9.991 -0.0660464 0.0127832 0.0639159 0.2 0.02 pose: 0.63108050 -6.10994 -0.848945 0 -0.00347385 -0.00298802 0.702091 0.712072 uwb: 0.0 957.02 1647.24 -imu_odom_: 1691062924.205899095 0.447716 -0.433351 9.78031 -0.056459 0.0308927 0.0351537 0.2 0.02 pose: 0.0 -6.10994 -0.848945 0 -0.00347385 -0.00298802 0.702091 0.712072 uwb: 0.50123512 956.998 1647.57 -imu_odom_: 1691062924.219844912 0.0407014 -0.35913 9.76834 -0.0468716 0.0319579 0.04048 0.18 0 pose: 0.7962914 -6.10994 -0.848945 0 -0.00320435 -0.00368605 0.702157 0.712006 uwb: 0.0 956.998 1647.57 -imu_odom_: 1691062924.235847735 0.656011 -0.272939 10.2592 -0.0585895 0 0.0500674 0.18 0 pose: 0.0 -6.10994 -0.848945 0 -0.00320435 -0.00368605 0.702157 0.712006 uwb: 0.49952605 957.022 1647.21 -imu_odom_: 1691062924.260878284 0.672771 -0.0790087 9.85693 -0.0607201 0.00426106 0.0468716 0.18 0 pose: 0.0 -6.10994 -0.848945 0 -0.00320435 -0.00368605 0.702157 0.712006 uwb: 0.0 957.022 1647.21 -imu_odom_: 1691062924.277879715 0.203507 -0.366313 9.31105 -0.0692422 0.0490022 0.0532632 0.18 0 pose: 0.47933222 -6.11657 -0.836456 0 -0.00503496 -0.00623758 0.702251 0.711884 uwb: 0.0 957.022 1647.21 -imu_odom_: 1691062924.304084738 0.215478 -0.521936 9.62708 -0.0330232 -0.00106526 0.0319579 0.18 0 pose: 0.0 -6.11657 -0.836456 0 -0.00503496 -0.00623758 0.702251 0.711884 uwb: 0.50099597 956.437 1647.46 -imu_odom_: 1691062924.329943864 0.37589 -0.35913 9.32302 -0.0447411 -0.0170442 0.0426106 0.18 0 pose: 0.73014518 -6.11073 -0.81733 0 -0.00431888 -0.00469129 0.702442 0.711712 uwb: 0.0 956.437 1647.46 -imu_odom_: 1691062924.354853087 0.383072 -0.167594 9.49301 -0.0447411 -0.0276969 0.0447411 0.19 0 pose: 0.45078554 -6.10859 -0.810325 0 -0.00848589 -0.00447533 0.702415 0.711703 uwb: 0.49890191 958.098 1648.06 -imu_odom_: 1691062924.371813105 1.63524 -0.241814 11.224 -0.0735032 0.076699 0.0479369 0.19 0 pose: 0.0 -6.10859 -0.810325 0 -0.00848589 -0.00447533 0.702415 0.711703 uwb: 0.0 958.098 1648.06 -imu_odom_: 1691062924.396836071 1.02472 -0.409408 9.48822 -0.0745685 0.145941 0.0543285 0.18 0 pose: 0.6951473 -6.10781 -0.807766 0 -0.00784209 -0.00409534 0.702434 0.711694 uwb: 0.50053516 959.782 1648.36 -imu_odom_: 1691062924.422816232 0.253785 -0.337582 9.16022 -0.0543285 0.00532632 0.0351537 0.18 0 pose: 0.0 -6.10781 -0.807766 0 -0.00784209 -0.00409534 0.702434 0.711694 uwb: 0.0 959.782 1648.36 -imu_odom_: 1691062924.447867780 0.775721 -0.342371 9.89763 -0.0639159 -0.0394148 0.056459 0.18 0 pose: 0.41968692 -6.10781 -0.807766 0 -0.0054532 -0.00405077 0.702552 0.7116 uwb: 0.49915566 960.345 1648.46 -imu_odom_: 1691062924.464846463 0.392649 -0.423774 9.2488 -0.052198 0.00426106 0.0458064 0.18 0 pose: 0.0 -6.10781 -0.807766 0 -0.0054532 -0.00405077 0.702552 0.7116 uwb: 0.0 960.345 1648.46 -imu_odom_: 1691062924.489825682 0.124498 -0.181959 9.9096 -0.0276969 0.02024 0.0372843 0.19 0 pose: 0.52114022 -6.11445 -0.795284 0 -0.00657701 -0.00330384 0.702647 0.711501 uwb: 0.50041558 960.352 1648.34 -imu_odom_: 1691062924.516819617 -0.167594 -0.428562 9.4978 -0.0553937 -0.00639159 0.0479369 0.19 0 pose: 0.0 -6.11445 -0.795284 0 -0.00657701 -0.00330384 0.702647 0.711501 uwb: 0.0 960.352 1648.34 -imu_odom_: 1691062924.542080570 0.102951 -0.282516 9.72764 -0.056459 -0.0276969 0.052198 0.19 0.02 pose: 0.41963734 -6.11154 -0.785718 0 -0.00662179 -0.00483354 0.702771 0.711369 uwb: 0.50104846 961.45 1649 -imu_odom_: 1691062924.567952237 -0.035913 -0.328006 10.1801 -0.0436758 -0.00213053 0.0394148 0.23 0 pose: 0.51020918 -6.10863 -0.776151 0 -0.0092311 -0.0006877980.702888 0.711241 uwb: 0.0 961.45 1649 -imu_odom_: 1691062924.593932398 0.0263362 -0.275333 9.68694 -0.0649811 -0.0298274 0.052198 0.23 0 pose: 0.0 -6.10863 -0.776151 0 -0.0092311 -0.0006877980.702888 0.711241 uwb: 0.49856652 959.746 1648.94 -imu_odom_: 1691062924.610797921 0.670376 -0.0502782 10.1801 -0.0692422 -0.0127832 0.0426106 0.23 0 pose: 0.69969695 -6.11529 -0.763676 0 -0.0125193 0.00485616 0.703093 0.710971 uwb: 0.0 959.746 1648.94 -imu_odom_: 1691062924.636849827 0.785298 -0.40462 9.90002 -0.0798948 -0.0340885 0.0479369 0.23 0 pose: 0.8002870 -6.11529 -0.763676 0 -0.0117691 0.00455625 0.703111 0.710969 uwb: 0.49915566 957.447 1649.27 -imu_odom_: 1691062924.660980929 0.926556 -0.318429 9.92397 -0.056459 0.00532632 0.0436758 0.25 0 pose: 0.34914559 -6.11239 -0.754107 0 -0.00938042 0.00160298 0.703215 0.710914 uwb: 0.0 957.447 1649.27 -imu_odom_: 1691062924.676791263 0.215478 -0.1652 10.1897 -0.076699 -0.0181095 0.0532632 0.25 0 pose: 0.0 -6.11239 -0.754107 0 -0.00938042 0.00160298 0.703215 0.710914 uwb: 0.0 957.447 1649.27 -imu_odom_: 1691062924.703855777 0.323217 -0.071826 9.9503 -0.0735032 0.0170442 0.0436758 0.18 -0.02 pose: 0.6961680 -6.11239 -0.754107 0 -0.00891262 0.00113198 0.703225 0.71091 uwb: 0.50018809 954.587 1649.42 -imu_odom_: 1691062924.729850229 0.481235 -0.517148 9.2081 -0.072438 -0.0468716 0.0468716 0.18 -0.02 pose: 0.0 -6.11239 -0.754107 0 -0.00891262 0.00113198 0.703225 0.71091 uwb: 0.0 954.587 1649.42 -imu_odom_: 1691062924.755796267 0.519542 -0.414197 9.47864 -0.0394148 -0.0106526 0.0287621 0.23 0 pose: 0.41096369 -6.10949 -0.744536 0 -0.00672388 0.00174467 0.703356 0.710804 uwb: 0.49973020 948.917 1649.05 -imu_odom_: 1691062924.780936185 0.023942 -0.287304 10.082 -0.0298274 -0.0490022 0.0330232 0.23 0 pose: 0.0 -6.10949 -0.744536 0 -0.00672388 0.00174467 0.703356 0.710804 uwb: 0.0 948.917 1649.05 -imu_odom_: 1691062924.798862146 0.409408 -0.25618 9.98382 -0.0660464 -0.0607201 0.04048 0.22 0 pose: 0.51888284 -6.1066 -0.734964 0 -0.00549235 -0.0009048950.703425 0.710747 uwb: 0.50103972 947.26 1648.42 -imu_odom_: 1691062924.822799592 0.665588 -0.308852 10.0844 -0.0703074 -0.00852212 0.0447411 0.22 0 pose: 0.0 -6.1066 -0.734964 0 -0.00549235 -0.0009048950.703425 0.710747 uwb: 0.0 947.26 1648.42 -imu_odom_: 1691062924.848801335 0.306458 -0.433351 10.07 -0.072438 -0.0149137 0.0490022 0.23 0 pose: 0.52062983 -6.11327 -0.722499 0 -0.00499374 -0.00123866 0.703302 0.710873 uwb: 0.49862485 943.868 1648.11 -imu_odom_: 1691062924.865842723 0.521936 -0.169988 10.343 -0.0596548 -0.0234358 0.0436758 0.23 0 pose: 0.0 -6.11327 -0.722499 0 -0.00499374 -0.00123866 0.703302 0.710873 uwb: 0.0 943.868 1648.11 -imu_odom_: 1691062924.882805948 -0.0143652 -0.385466 9.13388 -0.0713727 0.0426106 0.0426106 0.25 0 pose: 0.76983580 -6.11038 -0.712927 0 -0.00322911 -0.00396535 0.703457 0.710719 uwb: 0.0 943.868 1648.11 -imu_odom_: 1691062924.909035469 0.059855 -0.124498 10.0628 -0.056459 -0.0191748 0.0447411 0.25 0 pose: 0.7015635 -6.11038 -0.712927 0 -0.00396084 -0.00348743 0.703466 0.710709 uwb: 0.50123220 939.901 1647.83 -imu_odom_: 1691062924.934910053 0.373495 -0.287304 9.97185 -0.0447411 -0.0255663 0.0330232 0.25 0 pose: 0.36177111 -6.10748 -0.703355 0 -0.0054221 -0.0003922650.703538 0.710637 uwb: 0.50009185 938.238 1647.34 -imu_odom_: 1691062924.959770862 0.395043 -0.215478 9.99579 -0.0553937 -0.036219 0.0543285 0.17 0.02 pose: 0.0 -6.10748 -0.703355 0 -0.0054221 -0.0003922650.703538 0.710637 uwb: 0.0 938.238 1647.34 -imu_odom_: 1691062924.976832957 0.409408 -0.378284 10.0293 -0.0735032 -0.0181095 0.0596548 0.21 0 pose: 0.50735393 -6.11417 -0.690891 0 -0.000755413-0.0006091890.703614 0.710581 uwb: 0.0 938.238 1647.34 -imu_odom_: 1691062925.2767912 0.45011 -0.371101 9.92875 -0.0575243 0.00532632 0.0298274 0.21 0 pose: 0.0 -6.11417 -0.690891 0 -0.000755413-0.0006091890.703614 0.710581 uwb: 0.49915565 945.552 1648.33 -imu_odom_: 1691062925.28898565 0.533907 -0.351948 9.96946 -0.0490022 -0.00106526 0.0415453 0.25 0.02 pose: 0.42997050 -6.11209 -0.684009 0 -0.00298066 -0.00442061 0.703634 0.710542 uwb: 0.0 945.552 1648.33 -imu_odom_: 1691062925.54782190 0.368707 -0.229843 10.5991 0.0223706 -0.0383495 0.00958738 0.18 0.02 pose: 0.26130653 -6.11128 -0.681316 0 -0.00174641 -0.00665309 0.703637 0.710526 uwb: 0.50038642 943.828 1648.46 -imu_odom_: 1691062925.71898823 0.0454898 -0.241814 9.46188 -0.00745685 -0.0436758 0.0468716 0.23 -0.02 pose: 0.0 -6.11128 -0.681316 0 -0.00174641 -0.00665309 0.703637 0.710526 uwb: 0.0 943.828 1648.46 -imu_odom_: 1691062925.98042308 0.488417 -0.0167594 9.77553 -0.052198 0.00319579 0.0777643 0.23 -0.02 pose: 0.33028752 -6.10839 -0.671743 0 -0.00093418 -0.00310185 0.703402 0.710785 uwb: 0.50046225 943.282 1648.18 -imu_odom_: 1691062925.123798482 0.426168 -0.277727 9.59596 -0.0745685 0.00958738 0.0415453 0.18 -0.02 pose: 0.0 -6.10839 -0.671743 0 -0.00093418 -0.00310185 0.703402 0.710785 uwb: 0.0 943.282 1648.18 -imu_odom_: 1691062925.148859363 0.483629 -0.112527 10.1778 -0.0660464 0.0170442 0.0308927 0.19 0 pose: 0.61871165 -6.11241 -0.660082 0 -0.00123239 -0.00273197 0.703803 0.710388 uwb: 0.49996353 939.321 1647.8 -imu_odom_: 1691062925.174786736 0.411803 -0.462081 9.9096 -0.072438 -0.0149137 0.052198 0.19 0 pose: 0.0 -6.11241 -0.660082 0 -0.00123239 -0.00273197 0.703803 0.710388 uwb: 0.0 939.321 1647.8 -imu_odom_: 1691062925.191770669 -0.122104 -0.445322 9.93594 -0.0372843 0.00958738 0.036219 0.18 0.02 pose: 0.7055591 -6.11507 -0.659282 0 -0.000667946-0.00241395 0.703781 0.710412 uwb: 0.49983812 938.193 1647.67 -imu_odom_: 1691062925.217873323 0.457293 -0.351948 9.33499 -0.072438 -0.0287621 0.052198 0.18 0.02 pose: 0.0 -6.11507 -0.659282 0 -0.000667946-0.00241395 0.703781 0.710412 uwb: 0.0 938.193 1647.67 -imu_odom_: 1691062925.243765697 0.0143652 -0.275333 9.86411 -0.0458064 -0.0106526 0.0468716 0.19 0.02 pose: 0.50990296 -6.11219 -0.649707 0 -0.00191521 -0.00306328 0.703833 0.710356 uwb: 0.49858986 935.861 1648.13 -imu_odom_: 1691062925.269001568 0.646434 -0.251391 10.2304 -0.0511327 -0.0276969 0.0479369 0.19 0.02 pose: 0.0 -6.11219 -0.649707 0 -0.00191521 -0.00306328 0.703833 0.710356 uwb: 0.0 935.861 1648.13 -imu_odom_: 1691062925.293778383 0.378284 -0.0023942 10.4052 -0.04048 -0.0394148 0.0415453 0.18 -0.02 pose: 0.43979326 -6.1093 -0.640131 0 -0.00338462 -0.00481391 0.703953 0.710222 uwb: 0.50019394 933.03 1647.84 -imu_odom_: 1691062925.310947805 0.251391 -0.418985 9.29429 -0.0639159 0.0245011 0.0490022 0.18 -0.02 pose: 0.0 -6.1093 -0.640131 0 -0.00338462 -0.00481391 0.703953 0.710222 uwb: 0.0 933.03 1647.84 -imu_odom_: 1691062925.334021968 0.543484 -0.390255 9.7037 -0.0617853 -0.00106526 0.0596548 0.19 0.02 pose: 0.50068974 -6.10643 -0.630554 0 -0.00142619 -0.00424255 0.704084 0.710103 uwb: 0.50108346 937.571 1648.13 -imu_odom_: 1691062925.358745702 0.555455 -0.246603 10.0149 -0.052198 -0.00852212 0.0479369 0.19 0.02 pose: 0.0 -6.10643 -0.630554 0 -0.00142619 -0.00424255 0.704084 0.710103 uwb: 0.0 937.571 1648.13 -imu_odom_: 1691062925.375835795 0.823605 -0.483629 9.94551 -0.0511327 0.0276969 0.0394148 0.22 0 pose: 0.40904463 -6.10643 -0.630554 0 -0.00204744 -0.00322595 0.7042 0.709992 uwb: 0.0 937.571 1648.13 -imu_odom_: 1691062925.400867219 0.806846 -0.339977 10.1251 -0.0287621 -0.0106526 0.0426106 0.22 0 pose: 0.0 -6.10643 -0.630554 0 -0.00204744 -0.00322595 0.7042 0.709992 uwb: 0.49945023 930.78 1647.49 -imu_odom_: 1691062925.427990939 0.651223 -0.229843 10.2376 -0.0490022 0.0255663 0.0426106 0.18 0.02 pose: 0.49089031 -6.11313 -0.618103 0 0.00059365 -0.00620139 0.704374 0.709802 uwb: 0.0 930.78 1647.49 -imu_odom_: 1691062925.443808856 -0.0191536 -0.23942 9.84735 -0.0330232 0.036219 0.0383495 0.18 0.02 pose: 0.0 -6.11313 -0.618103 0 0.00059365 -0.00620139 0.704374 0.709802 uwb: 0.49902733 925.122 1646.9 -imu_odom_: 1691062925.469931342 0.19393 -0.122104 10.2232 -0.0490022 -0.00958738 0.0436758 0.18 -0.02 pose: 0.68887675 -6.1074 -0.598942 0 0.00454959 -0.00803456 0.704388 0.709755 uwb: 0.0 925.122 1646.9 -imu_odom_: 1691062925.494891604 0.368707 -0.361524 9.8282 -0.056459 0.00745685 0.0372843 0.19 -0.02 pose: 0.35157504 -6.1074 -0.598942 0 0.00292465 -0.00477324 0.704442 0.709739 uwb: 0.50075682 925.109 1647.02 -imu_odom_: 1691062925.520881390 0.754174 -0.213084 9.92397 -0.056459 -0.0117179 0.056459 0.19 -0.02 pose: 0.0 -6.1074 -0.598942 0 0.00292465 -0.00477324 0.704442 0.709739 uwb: 0.0 925.109 1647.02 -imu_odom_: 1691062925.545859151 0.354342 -0.277727 10.1658 -0.0319579 0.0223706 0.0223706 0.21 0 pose: 0.6815564 -6.1074 -0.598942 0 0.00221404 -0.00469744 0.70444 0.709744 uwb: 0.50180967 925.136 1646.79 -imu_odom_: 1691062925.571791482 0.588974 -0.399832 9.56484 -0.0607201 -0.00745685 0.0543285 0.21 0 pose: 0.0 -6.1074 -0.598942 0 0.00221404 -0.00469744 0.70444 0.709744 uwb: 0.0 925.136 1646.79 -imu_odom_: 1691062925.588764623 0.536301 -0.0335188 10.0844 -0.0394148 -0.0138484 0.0383495 0.19 -0.02 pose: 0.51250155 -6.11411 -0.586496 0 0.00200094 -0.00542122 0.704537 0.709644 uwb: 0.0 925.136 1646.79 -imu_odom_: 1691062925.612875601 0.258574 -0.213084 9.82102 -0.056459 -0.0436758 0.0479369 0.19 -0.02 pose: 0.0 -6.11411 -0.586496 0 0.00200094 -0.00542122 0.704537 0.709644 uwb: 0.0 925.136 1646.79 -imu_odom_: 1691062925.639014420 1.15401 -0.19393 10.2711 -0.0468716 -0.0138484 0.0426106 0.19 0.02 pose: 0.50743560 -6.11125 -0.576915 0 0.00104378 -0.00617187 0.704561 0.709615 uwb: 0.99875463 922.22 1647.2 -imu_odom_: 1691062925.664728888 0.694318 -0.186748 9.59596 -0.0575243 0.00532632 0.04048 0.19 0.02 pose: 0.0 -6.11125 -0.576915 0 0.00104378 -0.00617187 0.704561 0.709615 uwb: 0.0 922.22 1647.2 -imu_odom_: 1691062925.689790061 0.562637 -0.241814 9.45231 -0.0798948 -0.0575243 0.0490022 0.2 0 pose: 0.41023164 -6.10839 -0.567333 0 0.0015062 -0.00431218 0.704641 0.709549 uwb: 0.49863069 921.648 1647.18 -imu_odom_: 1691062925.706731996 0.464475 -0.368707 10.0317 -0.0426106 0.0106526 0.0372843 0.2 0 pose: 0.0 -6.10839 -0.567333 0 0.0015062 -0.00431218 0.704641 0.709549 uwb: 0.0 921.648 1647.18 -imu_odom_: 1691062925.732740447 0.253785 -0.234632 10.137 -0.0511327 0.00639159 0.052198 0.18 -0.02 pose: 0.50996420 -6.10553 -0.557751 0 0.00502298 -0.00728505 0.704663 0.709487 uwb: 0.0 921.648 1647.18 -imu_odom_: 1691062925.757761081 0.59855 -0.289698 9.69173 -0.0660464 0.00532632 0.0372843 0.23 0 pose: 0.26013118 -6.11511 -0.554892 0 0.00343453 -0.00914585 0.704729 0.709409 uwb: 0.50001311 921.625 1647.36 -imu_odom_: 1691062925.782919081 0.610521 -0.160412 10.149 -0.0745685 -0.00852212 0.0596548 0.23 0 pose: 0.35967124 -6.11225 -0.545308 0 0.00101386 -0.00648743 0.704867 0.709309 uwb: 0.0 921.625 1647.36 -imu_odom_: 1691062925.798732623 0.213084 -0.339977 9.87608 -0.0596548 0.0308927 0.0340885 0.23 0 pose: 0.0 -6.11225 -0.545308 0 0.00101386 -0.00648743 0.704867 0.709309 uwb: 0.50120596 927.249 1648.28 -imu_odom_: 1691062925.824847818 0.648829 -0.0454898 10.5249 -0.0426106 -0.0426106 0.036219 0.19 0 pose: 0.7163502 -6.11225 -0.545308 0 0.00146061 -0.00700506 0.704856 0.709314 uwb: 0.0 927.249 1648.28 -imu_odom_: 1691062925.849777457 0.536301 -0.186748 10.0963 -0.036219 -0.0500674 0.0330232 0.2 -0.02 pose: 0.48837920 -6.1094 -0.535724 0 0.00417385 -0.0071362 0.704983 0.709176 uwb: 0.49995478 924.948 1648.4 -imu_odom_: 1691062925.871707187 0.548272 -0.201113 9.84735 -0.04048 -0.0245011 0.0308927 0.2 -0.02 pose: 0.0 -6.1094 -0.535724 0 0.00417385 -0.0071362 0.704983 0.709176 uwb: 0.0 924.948 1648.4 -imu_odom_: 1691062925.887728383 0.802058 -0.126893 9.73482 -0.0735032 -0.0106526 0.036219 0.19 0 pose: 0.43049839 -6.10655 -0.526139 0 0.00614088 -0.00525429 0.704906 0.709255 uwb: 0.49949105 925.485 1648.72 -imu_odom_: 1691062925.913872743 0.402226 -0.320823 9.75398 -0.0671117 -0.0213053 0.0490022 0.19 0 pose: 0.0 -6.10655 -0.526139 0 0.00614088 -0.00525429 0.704906 0.709255 uwb: 0.0 925.485 1648.72 -imu_odom_: 1691062925.939735078 0.328006 -0.222661 10.3022 -0.0543285 -0.0255663 0.0436758 0.19 0 pose: 0.46955612 -6.11328 -0.513701 0 0.006274 -0.00610103 0.704788 0.709364 uwb: 0.0 925.485 1648.72 -imu_odom_: 1691062925.956784048 0.873884 -0.323217 9.58638 -0.0585895 -0.00745685 0.0319579 0.19 0 pose: 0.0 -6.11328 -0.513701 0 0.006274 -0.00610103 0.704788 0.709364 uwb: 0.0 925.485 1648.72 -imu_odom_: 1691062925.981855429 0.732626 -0.234632 9.60314 -0.0415453 0 0.0298274 0.19 0 pose: 0.42143100 -6.11042 -0.504118 0 0.00414954 -0.00572346 0.70489 0.709281 uwb: 0.0 925.485 1648.72 -imu_odom_: 1691062926.7734096 0.37589 -0.059855 9.87369 -0.0532632 -0.0127832 0.0468716 0.19 0 pose: 0.0 -6.11042 -0.504118 0 0.00414954 -0.00572346 0.70489 0.709281 uwb: 0.99925627 927.183 1648.96 -imu_odom_: 1691062926.33895372 0.0670376 -0.323217 9.59117 -0.0532632 0.0319579 0.0500674 0.19 0 pose: 0.42983051 -6.11042 -0.504118 0 0.00447988 -0.00637596 0.704844 0.709319 uwb: 0.50137220 930.521 1649.96 -imu_odom_: 1691062926.58782722 0.387861 -0.167594 9.65342 -0.036219 -0.0319579 0.0426106 0.19 0 pose: 0.0 -6.11042 -0.504118 0 0.00447988 -0.00637596 0.704844 0.709319 uwb: 0.0 930.521 1649.96 -imu_odom_: 1691062926.74791961 0.507571 -0.215478 10.2256 -0.0255663 -0.0149137 0.0319579 0.19 0 pose: 0.51850079 -6.10757 -0.494534 0 0.00494552 -0.0044502 0.704874 0.709301 uwb: 0.0 930.521 1649.96 -imu_odom_: 1691062926.100737708 0.452504 -0.493206 9.80904 -0.0607201 -0.0255663 0.052198 0.19 0 pose: 0.0 -6.10757 -0.494534 0 0.00494552 -0.0044502 0.704874 0.709301 uwb: 0.49906525 922.599 1649.02 -imu_odom_: 1691062926.125845254 0.208296 -0.155623 9.61511 -0.0479369 -0.0436758 0.0617853 0.19 0 pose: 0.49096322 -6.1143 -0.482098 0 0.00301795 -0.00152858 0.704965 0.709234 uwb: 0.0 922.599 1649.02 -imu_odom_: 1691062926.142706985 0.790087 -0.268151 10.0389 -0.0596548 -0.0351537 0.0575243 0.19 0 pose: 0.0 -6.1143 -0.482098 0 0.00301795 -0.00152858 0.704965 0.709234 uwb: 0.50130221 923.131 1649.39 -imu_odom_: 1691062926.160783146 0 -0.100556 9.63427 -0.0436758 0.0266316 0.0415453 0.21 -0.02 pose: 0.69136453 -6.10859 -0.462928 0 0.00150166 -0.0030368 0.705313 0.708888 uwb: 0.0 923.131 1649.39 -imu_odom_: 1691062926.183832811 0.337582 -0.158017 9.58399 -0.0777643 0.00213053 0.0596548 0.21 -0.02 pose: 0.0 -6.10859 -0.462928 0 0.00150166 -0.0030368 0.705313 0.708888 uwb: 0.49884944 922.499 1649.86 -imu_odom_: 1691062926.207760633 0.445322 -0.150835 9.9527 -0.0628506 0.0106526 0.0596548 0.19 0.02 pose: 0.49876486 -6.10657 -0.456111 0 0.000398351 0.000147398 0.705547 0.708663 uwb: 0.0 922.499 1649.86 -imu_odom_: 1691062926.224687694 0.629675 -0.246603 9.94073 -0.0692422 -0.0372843 0.056459 0.19 0.02 pose: 0.0 -6.10657 -0.456111 0 0.000398351 0.000147398 0.705547 0.708663 uwb: 0.0 922.499 1649.86 -imu_odom_: 1691062926.249751784 0.509965 -0.21069 9.83059 -0.0543285 0.0383495 0.0330232 0.18 0 pose: 0.6951472 -6.10575 -0.45334 0 0.00102821 0.00029012 0.705597 0.708613 uwb: 0.50036017 923.02 1650.32 -imu_odom_: 1691062926.267690578 0.122104 -0.232238 9.92157 -0.0713727 -0.00106526 0.0500674 0.23 0.02 pose: 0.0 -6.10575 -0.45334 0 0.00102821 0.00029012 0.705597 0.708613 uwb: 0.0 923.02 1650.32 -imu_odom_: 1691062926.292684380 -0.0383072 -0.0814029 9.87608 -0.0479369 -0.0149137 0.0426106 0.18 0.02 pose: 0.76906295 -6.11251 -0.440919 0 0.00215841 -0.00212358 0.705832 0.708373 uwb: 0.49740285 924.121 1650.76 -imu_odom_: 1691062926.317728345 0.464475 -0.339977 9.87369 -0.0671117 -0.0223706 0.0553937 0.25 0.02 pose: 0.0 -6.11251 -0.440919 0 0.00215841 -0.00212358 0.705832 0.708373 uwb: 0.0 924.121 1650.76 -imu_odom_: 1691062926.341686791 0.244209 -0.354342 9.79228 -0.036219 0.00852212 0.0340885 0.25 0.02 pose: 0.31016369 -6.10968 -0.431327 0 0.000809531 -0.0005904560.705895 0.708316 uwb: 0.50043310 920.145 1650.28 -imu_odom_: 1691062926.368682477 0.723049 -0.244209 9.991 -0.0703074 -0.0213053 0.0500674 0.19 -0.02 pose: 0.42979844 -6.10773 -0.42471 0 -0.00224708 -0.00154449 0.705958 0.708249 uwb: 0.0 920.145 1650.28 -imu_odom_: 1691062926.393723234 0.859518 -0.272939 9.84496 -0.0543285 -0.0223706 0.0553937 0.19 -0.02 pose: 0.8041076 -6.10686 -0.421735 0 -0.00163375 -0.00216415 0.705986 0.70822 uwb: 0.50308418 919.542 1650.49 -imu_odom_: 1691062926.411831185 0.275333 -0.208296 9.90721 -0.0713727 -0.00852212 0.0458064 0.2 0 pose: 0.0 -6.10686 -0.421735 0 -0.00163375 -0.00216415 0.705986 0.70822 uwb: 0.0 919.542 1650.49 -imu_odom_: 1691062926.435680554 0.603339 -0.328006 9.8282 -0.0468716 0.00532632 0.0319579 0.2 0 pose: 0.43995367 -6.10686 -0.421735 0 0.00172364 -0.00557561 0.70618 0.708008 uwb: 0.49660082 912.725 1649.71 -imu_odom_: 1691062926.462698113 0.818817 -0.304064 9.94312 -0.036219 -0.0330232 0.0415453 0.23 0.02 pose: 0.41957320 -6.1108 -0.410154 0 0.00147508 -0.00625351 0.706153 0.70803 uwb: 0.0 912.725 1649.71 -imu_odom_: 1691062926.478833637 0.505177 -0.124498 9.92636 -0.0511327 0.0607201 0.0436758 0.23 0.02 pose: 0.0 -6.1108 -0.410154 0 0.00147508 -0.00625351 0.706153 0.70803 uwb: 0.0 912.725 1649.71 -imu_odom_: 1691062926.495814653 0.565032 -0.179565 10.0844 -0.0575243 -0.0106526 0.04048 0.23 0 pose: 0.0 -6.1108 -0.410154 0 0.00147508 -0.00625351 0.706153 0.70803 uwb: 0.50001603 914.413 1650.05 -imu_odom_: 1691062926.520739043 0.208296 -0.347159 9.85214 -0.0447411 0 0.0319579 0.23 0 pose: 0.50156177 -6.11082 -0.399728 0 0.00454998 -0.00613905 0.706176 0.707996 uwb: 0.0 914.413 1650.05 -imu_odom_: 1691062926.547748728 0.665588 -0.181959 9.87129 -0.0692422 -0.0490022 0.0447411 0.23 0 pose: 0.34902312 -6.10882 -0.392926 0 0.00318849 -0.00445153 0.706122 0.708069 uwb: 0.50042434 916.632 1650.76 -imu_odom_: 1691062926.563758259 0.392649 -0.335188 9.32302 -0.0575243 -0.00532632 0.036219 0.23 0 pose: 0.6960221 -6.108 -0.390133 0 0.00388292 -0.00491719 0.70613 0.708054 uwb: 0.0 916.632 1650.76 -imu_odom_: 1691062926.581757716 0.768539 -0.282516 10.2256 -0.0575243 -0.0223706 0.0543285 0.23 0 pose: 0.0 -6.108 -0.390133 0 0.00388292 -0.00491719 0.70613 0.708054 uwb: 0.0 916.632 1650.76 -imu_odom_: 1691062926.605670955 0.363919 -0.351948 9.93833 -0.0340885 0.0266316 0.0245011 0.23 0 pose: 0.44028033 -6.10518 -0.380539 0 0.00478658 -0.0067052 0.706181 0.707983 uwb: 0.49935399 911.527 1650.04 -imu_odom_: 1691062926.622683178 0.189142 0.0814029 10.2328 -0.0351537 -0.0330232 0.0468716 0.23 0.02 pose: 0.0 -6.10518 -0.380539 0 0.00478658 -0.0067052 0.706181 0.707983 uwb: 0.0 911.527 1650.04 -imu_odom_: 1691062926.647735019 0.37589 -0.0909797 9.42597 -0.0458064 -0.0276969 0.0436758 0.23 0.02 pose: 0.40962502 -6.11477 -0.37772 0 0.0031763 -0.00570653 0.706143 0.70804 uwb: 0.50045934 908.668 1649.79 -imu_odom_: 1691062926.674679374 0.306458 -0.263362 10.1107 -0.0607201 -0.0319579 0.0479369 0.22 0 pose: 0.0 -6.11477 -0.37772 0 0.0031763 -0.00570653 0.706143 0.70804 uwb: 0.0 908.668 1649.79 -imu_odom_: 1691062926.699673176 0.897826 -0.158017 10.0389 -0.0415453 -0.0308927 0.0383495 0.22 0 pose: 0.42030232 -6.11195 -0.368126 0 0.00313228 -0.00214694 0.706229 0.707974 uwb: 0.50021435 908.691 1649.63 -imu_odom_: 1691062926.726760440 0.488417 -0.205901 9.65582 -0.0596548 -0.0127832 0.0468716 0.23 0 pose: 0.44953145 -6.10913 -0.358531 0 0.00380903 -0.00319634 0.706273 0.707922 uwb: 0.0 908.691 1649.63 -imu_odom_: 1691062926.752672939 0.217872 -0.0143652 9.80665 -0.0660464 -0.0383495 0.0490022 0.2 0 pose: 0.7003386 -6.10913 -0.358531 0 0.00334264 -0.00271525 0.706293 0.707906 uwb: 0.50103681 908.146 1649.38 -imu_odom_: 1691062926.769658913 0.414197 -0.517148 9.77553 -0.0553937 -0.00106526 0.0426106 0.24 0 pose: 0.0 -6.10913 -0.358531 0 0.00334264 -0.00271525 0.706293 0.707906 uwb: 0.0 908.146 1649.38 -imu_odom_: 1691062926.786679011 0.806846 -0.222661 9.92875 -0.0532632 -0.0447411 0.0436758 0.24 0 pose: 0.45996377 -6.10632 -0.348936 0 0.0019775 0.000833785 0.706431 0.707778 uwb: 0.49813197 902.471 1648.63 -imu_odom_: 1691062926.803733814 0.328006 -0.306458 9.59117 -0.0703074 0.00106526 0.0575243 0.27 -0.02 pose: 0.0 -6.10632 -0.348936 0 0.0019775 0.000833785 0.706431 0.707778 uwb: 0.0 902.471 1648.63 -imu_odom_: 1691062926.827723175 0.320823 -0.141258 9.58399 -0.0713727 -0.0340885 0.0436758 0.27 -0.02 pose: 0.41011208 -6.10351 -0.339339 0 0.00140915 -0.00173555 0.706521 0.707689 uwb: 0.0 902.471 1648.63 -imu_odom_: 1691062926.853641506 0.395043 -0.277727 10.2711 -0.0777643 -0.0106526 0.0479369 0.23 0.02 pose: 0.0 -6.10351 -0.339339 0 0.00140915 -0.00173555 0.706521 0.707689 uwb: 0.50044768 897.91 1648.28 -imu_odom_: 1691062926.876671339 0.531513 -0.368707 10.2328 -0.0394148 -0.00852212 0.0255663 0.23 0.02 pose: 0.41971318 -6.1131 -0.336529 0 -0.000410951-0.0002174470.706645 0.707568 uwb: 0.0 897.91 1648.28 -imu_odom_: 1691062926.892658121 0.529119 -0.304064 10.6231 -0.0628506 -0.0458064 0.052198 0.18 0 pose: 0.41015874 -6.1103 -0.326931 0 -0.00145442 -0.00375557 0.706575 0.707627 uwb: 0.50069849 900.696 1649 -imu_odom_: 1691062926.919664890 0.682347 -0.268151 10.3693 -0.036219 -0.00426106 0.0308927 0.18 0 pose: 0.8141695 -6.1103 -0.326931 0 -0.000860773-0.004544 0.706608 0.70759 uwb: 0.0 900.696 1649 -imu_odom_: 1691062926.944658400 0.600945 -0.148441 9.42118 -0.0681769 -0.00745685 0.0511327 0.18 0 pose: 0.34851856 -6.10749 -0.317333 0 0.00203917 -0.00676343 0.70654 0.707638 uwb: 0.49872694 897.281 1648.58 -imu_odom_: 1691062926.961860778 -0.105345 -0.306458 10.2065 -0.0383495 0.015979 0.036219 0.18 0 pose: 0.0 -6.10749 -0.317333 0 0.00203917 -0.00676343 0.70654 0.707638 uwb: 0.0 897.281 1648.58 -imu_odom_: 1691062926.987872438 0.107739 -0.169988 10.0676 -0.0639159 -0.0138484 0.0511327 0.18 0 pose: 0.42195888 -6.10468 -0.307736 0 0.00305002 -0.00504509 0.706617 0.707571 uwb: 0.50022602 895.534 1648.61 -imu_odom_: 1691062927.13726024 0.857124 -0.191536 10.2185 -0.052198 -0.00639159 0.0394148 0.18 0 pose: 0.0 -6.10468 -0.307736 0 0.00305002 -0.00504509 0.706617 0.707571 uwb: 0.0 895.534 1648.61 -imu_odom_: 1691062927.30779078 0.454898 -0.237026 9.90002 -0.0639159 0.0276969 0.0372843 0.17 0.02 pose: 0.51865246 -6.11224 -0.297937 0 0.00364365 -0.00467756 0.70672 0.707468 uwb: 0.0 895.534 1648.61 -imu_odom_: 1691062927.56795696 0.371101 -0.368707 9.69412 -0.0298274 -0.0223706 0.0266316 0.17 0.02 pose: 0.0 -6.11224 -0.297937 0 0.00364365 -0.00467756 0.70672 0.707468 uwb: 0.50110972 890.44 1647.8 -imu_odom_: 1691062927.82794815 0.663194 -0.361524 9.88087 -0.0575243 -0.00852212 0.04048 0.25 -0.02 pose: 0.24076272 -6.11148 -0.295331 0 0.00145984 -0.00355438 0.706685 0.707518 uwb: 0.0 890.44 1647.8 -imu_odom_: 1691062927.106789425 0.213084 -0.0885855 10.3358 -0.0330232 -0.00852212 0.0617853 0.23 0.02 pose: 0.0 -6.11148 -0.295331 0 0.00145984 -0.00355438 0.706685 0.707518 uwb: 0.49875903 890.959 1648.17 -imu_odom_: 1691062927.129673433 0.337582 -0.299275 9.52413 -0.0415453 -0.0308927 0.0436758 0.23 0.02 pose: 0.51878953 -6.10867 -0.285732 0 0.00075878 -0.0054828 0.706658 0.707534 uwb: 0.0 890.959 1648.17 -imu_odom_: 1691062927.154655569 0.407014 -0.268151 9.65342 -0.0276969 0.0170442 0.0276969 0.17 0 pose: 0.39992184 -6.10673 -0.279096 0 -0.00112169 -0.00280881 0.70684 0.707367 uwb: 0.50047101 884.826 1646.66 -imu_odom_: 1691062927.171726997 0.253785 -0.3304 9.93354 -0.0681769 -0.015979 0.0490022 0.17 0 pose: 0.0 -6.10673 -0.279096 0 -0.00112169 -0.00280881 0.70684 0.707367 uwb: 0.0 884.826 1646.66 -imu_odom_: 1691062927.187825773 0.373495 -0.205901 9.73482 -0.0415453 -0.00852212 0.0436758 0.17 0 pose: 0.0 -6.10673 -0.279096 0 -0.00112169 -0.00280881 0.70684 0.707367 uwb: 0.50029311 887.061 1647.17 -imu_odom_: 1691062927.213826350 0.770933 -0.294487 9.84496 -0.0532632 -0.0447411 0.0596548 0.18 0 pose: 0.7134045 -6.10587 -0.276133 0 -0.0016241 -0.00219519 0.706812 0.707396 uwb: 0.0 887.061 1647.17 -imu_odom_: 1691062927.239690144 0.984017 -0.1652 10.0796 -0.0394148 -0.00532632 0.0383495 0.17 0.02 pose: 0.42926472 -6.11266 -0.263732 0 -0.00375486 2.04002e-05 0.706809 0.707394 uwb: 0.50049434 888.645 1648.11 -imu_odom_: 1691062927.263655297 0.550666 -0.380678 9.28471 -0.0735032 -0.0266316 0.0479369 0.17 0.02 pose: 0.0 -6.11266 -0.263732 0 -0.00375486 2.04002e-05 0.706809 0.707394 uwb: 0.0 888.645 1648.11 -imu_odom_: 1691062927.286652757 0.469264 -0.426168 9.6223 -0.0692422 0.0234358 0.0596548 0.18 0 pose: 0.41937196 -6.11266 -0.263732 0 -0.000260632-0.00240758 0.707002 0.707208 uwb: 0.50059059 887.991 1648.52 -imu_odom_: 1691062927.302772240 0.682347 -0.25618 10.0509 -0.076699 0.02024 0.0532632 0.18 0 pose: 0.0 -6.11266 -0.263732 0 -0.000260632-0.00240758 0.707002 0.707208 uwb: 0.0 887.991 1648.52 -imu_odom_: 1691062927.327716170 0.1652 -0.23942 10.058 -0.0415453 0.036219 0.0383495 0.23 0 pose: 0.81101094 -6.10707 -0.244529 0 -0.000207173-0.00785254 0.707284 0.706885 uwb: 0.0 887.991 1648.52 -imu_odom_: 1691062927.350863246 0.565032 -0.217872 9.67736 -0.0703074 -0.0245011 0.052198 0.23 0 pose: 0.8028826 -6.10707 -0.244529 0 -0.000692473-0.0070068 0.707287 0.706891 uwb: 0.49809990 892.463 1649.66 -imu_odom_: 1691062927.375777136 0.11971 -0.282516 9.41879 -0.052198 0.0245011 0.0458064 0.18 0.05 pose: 0.40062180 -6.10517 -0.237974 0 0.000627186 -0.00577974 0.707384 0.706805 uwb: 0.0 892.463 1649.66 -imu_odom_: 1691062927.402778072 0.385466 -0.301669 9.50259 -0.0500674 -0.00532632 0.052198 0.18 0.05 pose: 0.0 -6.10517 -0.237974 0 0.000627186 -0.00577974 0.707384 0.706805 uwb: 0.50116222 889.614 1649.25 -imu_odom_: 1691062927.426643190 0.402226 -0.213084 9.93833 -0.0458064 -0.00639159 0.0351537 0.18 -0.02 pose: 0.51914826 -6.11191 -0.225294 0 -0.00378057 -0.00261968 0.707577 0.706621 uwb: 0.0 889.614 1649.25 -imu_odom_: 1691062927.444653147 0.687136 -0.253785 9.85214 -0.0681769 -0.00639159 0.0436758 0.18 -0.02 pose: 0.0 -6.11191 -0.225294 0 -0.00378057 -0.00261968 0.707577 0.706621 uwb: 0.50058767 890.695 1649.77 -imu_odom_: 1691062927.468804664 0.739808 -0.25618 9.84975 -0.0596548 0.0127832 0.056459 0.18 0 pose: 0.41875075 -6.10957 -0.217221 0 -0.000524653-0.00253737 0.707569 0.70664 uwb: 0.0 890.695 1649.77 -imu_odom_: 1691062927.494780160 0.392649 -0.129287 10.2065 -0.0479369 0.00532632 0.0436758 0.18 0 pose: 0.8055366 -6.10832 -0.21293 0 -1.42423e-05-0.00306938 0.707614 0.706592 uwb: 0.49994896 888.364 1649.73 -imu_odom_: 1691062927.508652481 0.696713 -0.275333 9.73722 -0.0372843 -0.00106526 0.0287621 0.2 0 pose: 0.24070439 -6.10832 -0.21293 0 0.00116752 -0.00330494 0.707717 0.706487 uwb: 0.0 888.364 1649.73 -imu_odom_: 1691062927.524844877 0.486023 -0.129287 10.1945 -0.0660464 -0.02024 0.0585895 0.2 0 pose: 0.0 -6.10832 -0.21293 0 0.00116752 -0.00330494 0.707717 0.706487 uwb: 0.0 888.364 1649.73 -imu_odom_: 1691062927.550831163 0.742203 -0.122104 10.0341 -0.036219 0.0191748 0.0330232 0.25 0 pose: 0.23921990 -6.10832 -0.21293 0 0.00187187 -0.00189865 0.70772 0.706488 uwb: 0.49933066 884.34 1649.34 -imu_odom_: 1691062927.575698389 1.01035 -0.0981623 10.2161 -0.072438 -0.015979 0.04048 0.25 0 pose: 0.0 -6.10832 -0.21293 0 0.00187187 -0.00189865 0.70772 0.706488 uwb: 0.0 884.34 1649.34 -imu_odom_: 1691062927.601827293 0.634463 -0.397437 9.8689 -0.0692422 0.02024 0.0415453 0.21 0.05 pose: 0.30988955 -6.10555 -0.203323 0 0.00424386 -0.00196594 0.707775 0.706423 uwb: 0.49994312 889.414 1650.41 -imu_odom_: 1691062927.625769698 0.715866 -0.25618 9.78031 -0.0596548 -0.0138484 0.036219 0.21 0.05 pose: 0.51036085 -6.11238 -0.19094 0 0.00736248 -0.00498722 0.70773 0.706427 uwb: 0.0 889.414 1650.41 -imu_odom_: 1691062927.651686280 0.768539 -0.222661 10.331 -0.0713727 -0.0149137 0.052198 0.22 -0.05 pose: 0.0 -6.11238 -0.19094 0 0.00736248 -0.00498722 0.70773 0.706427 uwb: 0.0 889.414 1650.41 -imu_odom_: 1691062927.674616660 0.509965 -0.323217 9.69173 -0.0436758 -0.0149137 0.036219 0.22 -0.05 pose: 0.50951216 -6.1096 -0.181334 0 0.00801541 -0.00933926 0.707737 0.706369 uwb: 0.0 889.414 1650.41 -imu_odom_: 1691062927.698611562 0.433351 -0.0957681 10.252 -0.0468716 -0.0255663 0.0511327 0.2 -0.02 pose: 0.0 -6.1096 -0.181334 0 0.00801541 -0.00933926 0.707737 0.706369 uwb: 0.100063871 891.652 1651 -imu_odom_: 1691062927.715751819 0.383072 -0.265756 9.81144 -0.0490022 0.00213053 0.0490022 0.2 -0.02 pose: 0.24012109 -6.1096 -0.181334 0 0.00883055 -0.0104986 0.707797 0.706282 uwb: 0.0 891.652 1651 -imu_odom_: 1691062927.740943943 0.785298 -0.19393 10.4603 -0.0649811 -0.0543285 0.0543285 0.22 0 pose: 0.48073799 -6.1096 -0.181334 0 0.00661092 -0.00733168 0.707934 0.706209 uwb: 0.0 891.652 1651 -imu_odom_: 1691062927.766646163 0.3304 -0.172383 9.77792 -0.0490022 0.0575243 0.04048 0.21 -0.02 pose: 0.35180837 -6.11341 -0.169829 0 0.00820535 -0.00870559 0.70808 0.706031 uwb: 0.0 891.652 1651 -imu_odom_: 1691062927.782754563 0.0287304 -0.131681 10.319 -0.0511327 -0.0383495 0.0575243 0.21 -0.02 pose: 0.0 -6.11341 -0.169829 0 0.00820535 -0.00870559 0.70808 0.706031 uwb: 0.0 891.652 1651 -imu_odom_: 1691062927.807771114 0.519542 -0.280122 9.98382 -0.0394148 -0.0468716 0.0394148 0.25 -0.02 pose: 0.7888835 -6.11644 -0.168956 0 0.00758845 -0.00787614 0.70809 0.706037 uwb: 0.99783304 889.385 1650.57 -imu_odom_: 1691062927.830750783 0.342371 -0.325611 9.80904 -0.0617853 -0.0266316 0.052198 0.25 -0.02 pose: 0.0 -6.11644 -0.168956 0 0.00758845 -0.00787614 0.70809 0.706037 uwb: 0.0 889.385 1650.57 -imu_odom_: 1691062927.846751856 0.237026 -0.0694318 10.3166 -0.0479369 -0.02024 0.0436758 0.25 -0.02 pose: 0.0 -6.11644 -0.168956 0 0.00758845 -0.00787614 0.70809 0.706037 uwb: 0.49988771 890.413 1651.41 -imu_odom_: 1691062927.873792456 0.560243 0.011971 10.173 -0.0703074 -0.00745685 0.052198 0.18 0 pose: 0.40812302 -6.11367 -0.159346 0 0.00496308 -0.00523114 0.708222 0.705953 uwb: 0.0 890.413 1651.41 -imu_odom_: 1691062927.897751777 -0.102951 0.0430956 10.0341 -0.0511327 0.00106526 0.0415453 0.19 -0.02 pose: 0.84147376 -6.10894 -0.142863 0 0.00386893 -0.00282407 0.708484 0.705711 uwb: 0.50171344 892.102 1651.79 -imu_odom_: 1691062927.915750068 0.402226 -0.282516 9.78031 -0.0628506 0.00106526 0.0479369 0.19 -0.02 pose: 0.0 -6.10894 -0.142863 0 0.00386893 -0.00282407 0.708484 0.705711 uwb: 0.0 892.102 1651.79 -imu_odom_: 1691062927.931812096 0.517148 -0.47884 9.72525 -0.0852212 -0.0319579 0.0543285 0.19 -0.02 pose: 0.0 -6.10894 -0.142863 0 0.00386893 -0.00282407 0.708484 0.705711 uwb: 0.0 892.102 1651.79 -imu_odom_: 1691062927.957589561 0.316035 -0.227449 9.84496 -0.0458064 0.0181095 0.04048 0.2 0 pose: 0.7975747 -6.10815 -0.140123 0 0.00355331 -0.00206233 0.70849 0.705709 uwb: 0.49932774 893.718 1652.63 -imu_odom_: 1691062927.973734126 0.280122 -0.320823 9.91918 -0.0553937 0.00426106 0.0415453 0.2 0 pose: 0.0 -6.10815 -0.140123 0 0.00355331 -0.00206233 0.70849 0.705709 uwb: 0.0 893.718 1652.63 -imu_odom_: 1691062927.990599357 0.933739 -0.208296 10.2544 -0.04048 -0.0319579 0.0234358 0.19 0 pose: 0.41968985 -6.11776 -0.137367 0 0.000766404 -0.00202285 0.7086 0.705607 uwb: 0.50098140 891.953 1652.67 -imu_odom_: 1691062928.6594306 0.624887 -0.31364 9.8665 -0.0607201 -0.0213053 0.0447411 0.19 0 pose: 0.0 -6.11776 -0.137367 0 0.000766404 -0.00202285 0.7086 0.705607 uwb: 0.0 891.953 1652.67 -imu_odom_: 1691062928.24654427 0.639252 -0.0430956 10.0916 -0.0479369 -0.0127832 0.0436758 0.25 0 pose: 0.40006183 -6.11501 -0.127754 0 -0.00186392 -0.0004052180.708658 0.705549 uwb: 0.0 891.953 1652.67 -imu_odom_: 1691062928.41587029 0.828394 -0.0454898 10.2663 -0.0490022 -0.0138484 0.0319579 0.25 0 pose: 0.0 -6.11501 -0.127754 0 -0.00186392 -0.0004052180.708658 0.705549 uwb: 0.49779659 889.061 1652.45 -imu_odom_: 1691062928.54640398 0.232238 -0.246603 9.5792 -0.0639159 -0.00213053 0.052198 0.25 0 pose: 0.0 -6.11501 -0.127754 0 -0.00186392 -0.0004052180.708658 0.705549 uwb: 0.0 889.061 1652.45 -imu_odom_: 1691062928.71644164 0.830788 -0.306458 10.0413 -0.0660464 -0.0298274 0.0415453 0.18 0 pose: 0.50912718 -6.11226 -0.11814 0 0.000376765 -0.0028642 0.708603 0.705601 uwb: 0.0 889.061 1652.45 -imu_odom_: 1691062928.88583474 0.363919 -0.368707 9.28471 -0.0585895 0.0436758 0.0340885 0.18 0 pose: 0.0 -6.11226 -0.11814 0 0.000376765 -0.0028642 0.708603 0.705601 uwb: 0.50057892 890.711 1653.1 -imu_odom_: 1691062928.104654835 0.557849 -0.0933739 10.2687 -0.0585895 -0.0372843 0.0394148 0.18 0 pose: 0.0 -6.11226 -0.11814 0 0.000376765 -0.0028642 0.708603 0.705601 uwb: 0.0 890.711 1653.1 -imu_odom_: 1691062928.121639935 0.694318 -0.337582 9.75637 -0.0468716 0.00426106 0.0330232 0.26 0 pose: 0.47999429 -6.10951 -0.108526 0 0.00253931 -0.00335183 0.708629 0.705569 uwb: 0.0 890.711 1653.1 -imu_odom_: 1691062928.137631092 0.385466 -0.275333 10.1825 -0.0458064 0.0117179 0.0372843 0.19 0.02 pose: 0.0 -6.10951 -0.108526 0 0.00253931 -0.00335183 0.708629 0.705569 uwb: 0.0 890.711 1653.1 -imu_odom_: 1691062928.154632233 0.696713 -0.339977 9.81383 -0.0543285 -0.00426106 0.0394148 0.19 0.02 pose: 0.67043575 -6.11637 -0.0961593 0 0.00254146 -0.00472255 0.708556 0.705635 uwb: 0.0 890.711 1653.1 -imu_odom_: 1691062928.171635706 0.306458 0.035913 10.0604 -0.0426106 0.0223706 0.0479369 0.18 0.02 pose: 0.0 -6.11637 -0.0961593 0 0.00254146 -0.00472255 0.708556 0.705635 uwb: 0.0 890.711 1653.1 -imu_odom_: 1691062928.188699551 0.490811 -0.3304 9.73004 -0.0649811 -0.00532632 0.0575243 0.18 0.02 pose: 0.0 -6.11637 -0.0961593 0 0.00254146 -0.00472255 0.708556 0.705635 uwb: 0.99954503 893.562 1653.6 -imu_odom_: 1691062928.204566758 0.442927 -0.167594 9.83299 -0.0372843 -0.0245011 0.0458064 0.18 0.02 pose: 0.31880821 -6.11361 -0.0865461 0 0.00255171 -0.00502849 0.708568 0.70562 uwb: 0.0 893.562 1653.6 -imu_odom_: 1691062928.222635336 0.73502 -0.177171 9.88087 -0.0298274 -0.00106526 0.0319579 0.25 -0.02 pose: 0.42986844 -6.11361 -0.0865461 0 0.00209786 -0.00365319 0.708746 0.705451 uwb: 0.0 893.562 1653.6 -imu_odom_: 1691062928.239621019 0.811634 -0.263362 10.1299 -0.0383495 -0.0383495 0.0490022 0.25 -0.02 pose: 0.0 -6.11361 -0.0865461 0 0.00209786 -0.00365319 0.708746 0.705451 uwb: 0.49993439 892.377 1653.67 -imu_odom_: 1691062928.252558312 0.972046 -0.294487 9.414 -0.0458064 -0.00213053 0.0681769 0.25 -0.02 pose: 0.0 -6.11361 -0.0865461 0 0.00209786 -0.00365319 0.708746 0.705451 uwb: 0.0 892.377 1653.67 -imu_odom_: 1691062928.268562301 1.1971 -0.191536 10.3813 -0.0426106 0.0138484 0.106526 0.14 0 pose: 0.8071699 -6.11361 -0.0865461 0 0.00284863 -0.00399518 0.708721 0.705472 uwb: 0.0 892.377 1653.67 -imu_odom_: 1691062928.286598799 1.83396 -0.447716 10.3765 -0.0628506 -0.056459 0.120375 0.19 -0.02 pose: 0.0 -6.11361 -0.0865461 0 0.00284863 -0.00399518 0.708721 0.705472 uwb: 0.50056726 896.826 1655.12 -imu_odom_: 1691062928.303578649 1.72622 -0.246603 9.66539 -0.052198 -0.015979 0.0553937 0.19 -0.02 pose: 0.63926714 -6.11086 -0.0769317 0 0.00766062 -0.00858356 0.709449 0.704663 uwb: 0.0 896.826 1655.12 -imu_odom_: 1691062928.316581271 1.39582 0.454898 9.90002 -0.0585895 0.0298274 0.0351537 0.19 -0.02 pose: 0.0 -6.11086 -0.0769317 0 0.00766062 -0.00858356 0.709449 0.704663 uwb: 0.0 896.826 1655.12 -imu_odom_: 1691062928.332637466 0.991199 -0.0454898 9.90721 -0.0490022 0.0117179 0.0319579 0.12 -0.02 pose: 0.0 -6.11086 -0.0769317 0 0.00766062 -0.00858356 0.709449 0.704663 uwb: 0.0 896.826 1655.12 -imu_odom_: 1691062928.350591134 0.746991 -0.275333 10.149 -0.0511327 -0.0117179 0.00639159 0.12 -0.02 pose: 0.33027004 -6.10813 -0.0673112 0 0.0101902 -0.0108285 0.709784 0.704263 uwb: 0.49991105 893.937 1654.85 -imu_odom_: 1691062928.367572734 0.936133 -0.529119 9.76595 -0.052198 -0.0138484 0.0181095 0.09 -0.02 pose: 0.15005381 -6.11776 -0.0645923 0 0.011547 -0.0108957 0.709731 0.704294 uwb: 0.0 893.937 1654.85 -imu_odom_: 1691062928.380566023 0.785298 -0.306458 9.79947 -0.0735032 0.0106526 0.0181095 0.09 -0.02 pose: 0.0 -6.11776 -0.0645923 0 0.011547 -0.0108957 0.709731 0.704294 uwb: 0.0 893.937 1654.85 -imu_odom_: 1691062928.404571133 0.718261 -0.287304 9.82102 -0.0585895 0.00213053 0.0479369 0.09 -0.02 pose: 0.33108083 -6.11776 -0.0645923 0 0.011246 -0.0132261 0.709452 0.70454 uwb: 0.50074225 890.555 1653.98 -imu_odom_: 1691062928.422721082 0.617704 -0.167594 10.1706 -0.0692422 0.0287621 0.0553937 0.08 0.02 pose: 0.0 -6.11776 -0.0645923 0 0.011246 -0.0132261 0.709452 0.70454 uwb: 0.0 890.555 1653.98 -imu_odom_: 1691062928.439591855 -0.0383072 -0.292093 9.80186 -0.0575243 0.0511327 -0.0191748 0.09 0 pose: 0.0 -6.11776 -0.0645923 0 0.011246 -0.0132261 0.709452 0.70454 uwb: 0.49940941 888.873 1653.51 -imu_odom_: 1691062928.453755535 -0.600945 0.110133 10.0341 -0.0468716 0.0735032 -0.0788296 0.09 0 pose: 0.72045078 -6.11503 -0.0549713 0 0.00790779 -0.0115092 0.709359 0.704709 uwb: 0.0 888.873 1653.51 -imu_odom_: 1691062928.470744426 -1.02711 0.124498 10.1035 -0.0830906 0.0223706 0.0330232 0.1 0 pose: 0.0 -6.11503 -0.0549713 0 0.00790779 -0.0115092 0.709359 0.704709 uwb: 0.0 888.873 1653.51 -imu_odom_: 1691062928.484587874 -0.54109 -0.948104 9.96706 -0.076699 -0.0532632 0.0703074 0.1 0 pose: 0.0 -6.11503 -0.0549713 0 0.00790779 -0.0115092 0.709359 0.704709 uwb: 0.50010354 887.166 1653.19 -imu_odom_: 1691062928.508712269 0.452504 0.0335188 9.88566 -0.0351537 -0.0511327 0.0330232 0.1 0 pose: 0.31973856 -6.11503 -0.0549713 0 0.005397 -0.00829974 0.708579 0.705562 uwb: 0.0 887.166 1653.19 -imu_odom_: 1691062928.525707576 0.445322 0.0263362 9.88805 -0.0735032 0.0117179 0.0830906 0.11 0.02 pose: 0.30068509 -6.11228 -0.0453577 0 0.00401739 -0.00699139 0.708705 0.705459 uwb: 0.0 887.166 1653.19 -imu_odom_: 1691062928.542769088 -0.0502782 -0.371101 9.8282 -0.0532632 0.0447411 -0.0106526 0.11 0.02 pose: 0.0 -6.11228 -0.0453577 0 0.00401739 -0.00699139 0.708705 0.705459 uwb: 0.49884652 887.653 1653.78 -imu_odom_: 1691062928.557705640 -0.129287 -0.112527 9.98382 -0.0426106 -0.00852212 -0.100135 0.14 -0.14 pose: 0.0 -6.11228 -0.0453577 0 0.00401739 -0.00699139 0.708705 0.705459 uwb: 0.0 887.653 1653.78 -imu_odom_: 1691062928.574585746 0.136469 0.0766145 10.0341 -0.052198 -0.0447411 -0.154463 0.14 -0.14 pose: 0.41939821 -6.11228 -0.0453577 0 0.00473961 -0.00353697 0.70878 0.705404 uwb: 0.0 887.653 1653.78 -imu_odom_: 1691062928.588590768 0.325611 -0.177171 9.80665 -0.076699 -0.0170442 -0.178964 0.14 -0.14 pose: 0.0 -6.11228 -0.0453577 0 0.00473961 -0.00353697 0.70878 0.705404 uwb: 0.50146263 885.344 1653.52 -imu_odom_: 1691062928.605570910 0.536301 -0.292093 10.0916 -0.0575243 -0.00852212 -0.234358 0.14 -0.32 pose: 0.15866915 -6.11228 -0.0453577 0 0.00342494 -0.00237908 0.70829 0.705909 uwb: 0.0 885.344 1653.52 -imu_odom_: 1691062928.621700017 0.277727 -0.189142 9.55526 -0.0426106 -0.0436758 -0.292948 0.14 -0.32 pose: 0.0 -6.11228 -0.0453577 0 0.00342494 -0.00237908 0.70829 0.705909 uwb: 0.0 885.344 1653.52 -imu_odom_: 1691062928.639565316 0.632069 0.00957681 9.80426 -0.0777643 -0.0383495 -0.32384 0.14 -0.32 pose: 0.0 -6.11228 -0.0453577 0 0.00342494 -0.00237908 0.70829 0.705909 uwb: 0.50000438 887.618 1653.98 -imu_odom_: 1691062928.655681591 0.799663 -0.100556 9.98861 -0.076699 -0.0319579 -0.373908 0.15 -0.41 pose: 0.47114854 -6.10951 -0.0357466 0 0.00203858 -0.0002553640.70486 0.709344 uwb: 0.0 887.618 1653.98 -imu_odom_: 1691062928.673764169 0.107739 0.129287 9.43076 -0.0553937 -0.00426106 -0.420779 0.21 -0.58 pose: 0.0 -6.10951 -0.0357466 0 0.00203858 -0.0002553640.70486 0.709344 uwb: 0.0 887.618 1653.98 -imu_odom_: 1691062928.691756335 0.349553 -0.0143652 10.0221 -0.0500674 0.0479369 -0.462325 0.21 -0.58 pose: 0.66996329 -6.11637 -0.0233758 0 0.00446683 -0.0007969950.696059 0.71797 uwb: 0.50052059 890.474 1654.47 -imu_odom_: 1691062928.707698204 0.368707 0.205901 10.0628 -0.0245011 0.0181095 -0.491087 0.14 -0.47 pose: 0.0 -6.11637 -0.0233758 0 0.00446683 -0.0007969950.696059 0.71797 uwb: 0.0 890.474 1654.47 -imu_odom_: 1691062928.725625040 -0.129287 -0.335188 9.73722 -0.0490022 0.00106526 -0.529436 0.14 -0.47 pose: 0.0 -6.11637 -0.0233758 0 0.00446683 -0.0007969950.696059 0.71797 uwb: 0.0 890.474 1654.47 -imu_odom_: 1691062928.741696401 0.445322 -0.205901 9.7875 -0.0703074 0.0255663 -0.543285 0.14 -0.47 pose: 0.35874089 -6.11367 -0.0137471 0 0.00477715 0.00318515 0.689624 0.724144 uwb: 0.49816115 888.161 1654.27 -imu_odom_: 1691062928.758688209 0.816423 -0.158017 10.2544 -0.0703074 0.00532632 -0.547546 0.23 -0.85 pose: 0.42111311 -6.1122 -0.00860495 0 0.00287822 0.00334897 0.680932 0.732334 uwb: 0.0 888.161 1654.27 -imu_odom_: 1691062928.774741196 0.445322 -0.208296 9.51216 -0.056459 -0.0426106 -0.551807 0.23 -0.85 pose: 0.7036926 -6.11099 -0.00411301 0 0.00324854 0.00279324 0.67942 0.733737 uwb: 0.0 888.161 1654.27 -imu_odom_: 1691062928.792694865 0.797269 0.0526724 9.93354 -0.0777643 -0.0532632 -0.529436 0.21 -0.79 pose: 0.0 -6.11099 -0.00411301 0 0.00324854 0.00279324 0.67942 0.733737 uwb: 0.50051477 884.703 1653.86 -imu_odom_: 1691062928.809757543 1.22583 -0.189142 9.88566 -0.0777643 -0.0138484 -0.478304 0.14 -0.53 pose: 0.43961538 -6.11093 -0.00413107 0 0.0050229 -0.0005499640.669993 0.74235 uwb: 0.0 884.703 1653.86 -imu_odom_: 1691062928.824678929 1.65679 -0.533907 10.0485 -0.0628506 0.0138484 -0.470847 0.12 -0.44 pose: 0.0 -6.11093 -0.00413107 0 0.0050229 -0.0005499640.669993 0.74235 uwb: 0.0 884.703 1653.86 -imu_odom_: 1691062928.842599933 1.10612 -0.19393 9.50498 -0.0479369 0.0383495 -0.455933 0.12 -0.44 pose: 0.0 -6.11093 -0.00413107 0 0.0050229 -0.0005499640.669993 0.74235 uwb: 0.50033977 886.416 1654.16 -imu_odom_: 1691062928.858598090 0.88346 -0.162806 10.24 -0.0394148 -0.0138484 -0.366451 0.12 -0.44 pose: 0.24124394 -6.11099 -0.004113 0 0.0062342 -0.0026507 0.665362 0.74649 uwb: 0.0 886.416 1654.16 -imu_odom_: 1691062928.875597480 0.557849 -0.390255 9.81383 -0.04048 0.00213053 -0.294013 0.1 -0.41 pose: 0.0 -6.11099 -0.004113 0 0.0062342 -0.0026507 0.665362 0.74649 uwb: 0.0 886.416 1654.16 -imu_odom_: 1691062928.891620427 0.383072 -0.464475 9.63906 -0.0372843 0.0138484 -0.285491 0.1 -0.41 pose: 0.32728063 -6.10824 0.00550301 0 0.0079376 -0.00486948 0.659473 0.75167 uwb: 0.49919068 884.157 1653.62 -imu_odom_: 1691062928.908548947 0.399832 -0.110133 10.0221 -0.0394148 -0.0245011 -0.264186 0.11 -0.41 pose: 0.42073105 -6.10824 0.00550301 0 0.0056914 -0.006198 0.654016 0.756434 uwb: 0.0 884.157 1653.62 -imu_odom_: 1691062928.924539229 0.806846 -0.320823 9.87129 -0.0649811 -0.00639159 -0.234358 0.11 -0.41 pose: 0.0 -6.10824 0.00550301 0 0.0056914 -0.006198 0.654016 0.756434 uwb: 0.0 884.157 1653.62 -imu_odom_: 1691062928.949542656 0.90022 -0.220267 9.99819 -0.0458064 -0.0298274 -0.232228 0.1 -0.38 pose: 0.6926099 -6.10824 0.00550301 0 0.00565946 -0.00552789 0.65322 0.757127 uwb: 0.50007437 885.814 1654.24 -imu_odom_: 1691062928.963608342 0.651223 -0.354342 9.67018 -0.0713727 0.0213053 -0.216249 0.07 -0.23 pose: 0.0 -6.10824 0.00550301 0 0.00565946 -0.00552789 0.65322 0.757127 uwb: 0.0 885.814 1654.24 -imu_odom_: 1691062928.979596291 0.00957681 -0.42138 9.83059 -0.0628506 0.0937433 -0.28123 0.08 -0.35 pose: 0.0 -6.10824 0.00550301 0 0.00565946 -0.00552789 0.65322 0.757127 uwb: 0.0 885.814 1654.24 -imu_odom_: 1691062928.996531810 -0.52433 -0.0526724 10.0604 -0.036219 0.0308927 -0.42291 0.08 -0.35 pose: 0.73048936 -6.10548 0.0151125 0 0.00583017 -0.0085942 0.645476 0.76371 uwb: 0.50171928 880.163 1652.95 -imu_odom_: 1691062929.13693358 -0.253785 0.445322 10.0293 -0.0575243 -0.0223706 -0.515588 0.1 -0.41 pose: 0.0 -6.10548 0.0151125 0 0.00583017 -0.0085942 0.645476 0.76371 uwb: 0.0 880.163 1652.95 -imu_odom_: 1691062929.30639377 0.0574608 0.253785 9.97424 -0.0756338 0.00213053 -0.530502 0.1 -0.41 pose: 0.0 -6.10548 0.0151125 0 0.00583017 -0.0085942 0.645476 0.76371 uwb: 0.0 880.163 1652.95 -imu_odom_: 1691062929.46581245 -0.416591 -0.47884 9.89045 -0.0820254 0.00213053 -0.507066 0.1 -0.41 pose: 0.32963133 -6.10548 0.0151128 0 0.00405148 -0.00531143 0.639806 0.768507 uwb: 0.49863071 881.312 1653.11 -imu_odom_: 1691062929.63517640 0.117316 -0.584185 9.991 -0.0628506 -0.0394148 -0.536893 0.17 -0.79 pose: 0.42022650 -6.10277 0.0247385 0 0.00260297 -0.00202572 0.630753 0.775976 uwb: 0.0 881.312 1653.11 -imu_odom_: 1691062929.79578501 0.0574608 -0.335188 9.62948 -0.0745685 -0.0191748 -0.520914 0.17 -0.79 pose: 0.0 -6.10277 0.0247385 0 0.00260297 -0.00202572 0.630753 0.775976 uwb: 0.0 881.312 1653.11 -imu_odom_: 1691062929.96582267 0.158017 0.160412 10.1251 -0.0596548 -0.00745685 -0.531567 0.17 -0.79 pose: 0.0 -6.10277 0.0247385 0 0.00260297 -0.00202572 0.630753 0.775976 uwb: 0.49929859 885.258 1654.08 -imu_odom_: 1691062929.112578966 0.438139 -0.292093 9.80665 -0.0649811 0.00319579 -0.553937 0.12 -0.58 pose: 0.7017677 -6.10277 0.0247385 0 0.00196375 -0.00209398 0.629184 0.777251 uwb: 0.0 885.258 1654.08 -imu_odom_: 1691062929.130518635 -0.0861913 -0.011971 9.93594 -0.0543285 -0.0127832 -0.586961 0.18 -0.82 pose: 0.0 -6.10277 0.0247385 0 0.00196375 -0.00209398 0.629184 0.777251 uwb: 0.0 885.258 1654.08 -imu_odom_: 1691062929.145575347 0.25618 0.0311246 10.0652 -0.072438 -0.0127832 -0.594418 0.18 -0.82 pose: 0.66930125 -6.09998 0.0343429 0 -0.000806295-0.0005189520.613951 0.789343 uwb: 0.50003355 883.543 1653.8 -imu_odom_: 1691062929.163580929 0.493206 -0.117316 9.90242 -0.0969391 -0.0660464 -0.599744 0.18 -0.82 pose: 0.0 -6.09998 0.0343429 0 -0.000806295-0.0005189520.613951 0.789343 uwb: 0.0 883.543 1653.8 -imu_odom_: 1691062929.179569170 0.337582 -0.292093 9.80665 -0.0692422 -0.0319579 -0.613592 0.18 -0.82 pose: 0.0 -6.09998 0.0343429 0 -0.000806295-0.0005189520.613951 0.789343 uwb: 0.0 883.543 1653.8 -imu_odom_: 1691062929.196504398 0.344765 -0.0407014 10.1394 -0.0511327 0.036219 -0.656203 0.18 -0.82 pose: 0.33063461 -6.10959 0.0371028 0 0.000363428 0.0011028 0.60566 0.795722 uwb: 0.50101932 880.068 1653.48 -imu_odom_: 1691062929.213505539 0.591368 -0.251391 9.83538 -0.0617853 -0.00106526 -0.656203 0.14 -0.67 pose: 0.42911890 -6.10686 0.0467183 0 0.000605166 0.00181601 0.594215 0.804304 uwb: 0.0 880.068 1653.48 -imu_odom_: 1691062929.227563350 0.430956 -0.0694318 10.2592 -0.0511327 0.0191748 -0.653007 0.14 -0.67 pose: 0.0 -6.10686 0.0467183 0 0.000605166 0.00181601 0.594215 0.804304 uwb: 0.0 880.068 1653.48 -imu_odom_: 1691062929.243505218 0.699107 0.0191536 10.2903 -0.056459 -0.0798948 -0.592287 0.14 -0.67 pose: 0.0 -6.10686 0.0467183 0 0.000605166 0.00181601 0.594215 0.804304 uwb: 0.49945316 878.35 1653.21 -imu_odom_: 1691062929.260631768 0.995988 -0.371101 9.65821 -0.0649811 -0.0308927 -0.533697 0.17 -0.79 pose: 0.8005495 -6.10691 0.0467373 0 0.000828611 0.00105343 0.591974 0.805956 uwb: 0.0 878.35 1653.21 -imu_odom_: 1691062929.277506916 1.08457 -0.474052 9.63187 -0.0511327 -0.0245011 -0.504935 0.1 -0.47 pose: 0.0 -6.10691 0.0467373 0 0.000828611 0.00105343 0.591974 0.805956 uwb: 0.0 878.35 1653.21 -imu_odom_: 1691062929.291622765 1.11091 -0.181959 9.9527 -0.0543285 -0.0319579 -0.507066 0.1 -0.47 pose: 0.0 -6.10691 0.0467373 0 0.000828611 0.00105343 0.591974 0.805956 uwb: 0.50184470 877.175 1653.18 -imu_odom_: 1691062929.307534594 0.658405 -0.244209 9.34217 -0.0500674 0.0181095 -0.4815 0.1 -0.47 pose: 0.64019168 -6.09457 0.0536583 0 0.00472407 -0.00275909 0.575663 0.817669 uwb: 0.0 877.175 1653.18 -imu_odom_: 1691062929.324845467 0.964863 -0.136469 9.96706 -0.0617853 -0.0191748 -0.399474 0.09 -0.44 pose: 0.0 -6.09457 0.0536583 0 0.00472407 -0.00275909 0.575663 0.817669 uwb: 0.0 877.175 1653.18 -imu_odom_: 1691062929.341794985 0.706289 -0.52433 9.65821 -0.0500674 -0.0138484 -0.337689 0.09 -0.44 pose: 0.31027453 -6.09457 0.0536583 0 0.0059114 -0.0056955 0.568797 0.822437 uwb: 0.49784909 877.775 1653.12 -imu_odom_: 1691062929.356531757 0.830788 -0.344765 10.0317 -0.0500674 -0.0575243 -0.278034 0.07 -0.38 pose: 0.16195313 -6.09457 0.0536583 0 0.00654348 -0.00705616 0.565597 0.824626 uwb: 0.0 877.775 1653.12 -imu_odom_: 1691062929.373707304 0.976834 -0.306458 9.69412 -0.0617853 -0.00958738 -0.194943 0.07 -0.38 pose: 0.0 -6.09457 0.0536583 0 0.00654348 -0.00705616 0.565597 0.824626 uwb: 0.0 877.775 1653.12 -imu_odom_: 1691062929.389644215 0.162806 -0.454898 9.67736 -0.0500674 0.0639159 -0.2024 0.07 -0.38 pose: 0.0 -6.09457 0.0536583 0 0.00654348 -0.00705616 0.565597 0.824626 uwb: 0.50220050 874.953 1652.47 -imu_odom_: 1691062929.407495223 0.0933739 0 10.2568 -0.04048 -0.0553937 -0.289752 0.06 -0.29 pose: 0.33057044 -6.09457 0.0536583 0 0.00638333 -0.00996919 0.560389 0.828145 uwb: 0.0 874.953 1652.47 -imu_odom_: 1691062929.422516353 0.509965 0.181959 9.54089 -0.0639159 -0.0649811 -0.274838 0.05 -0.26 pose: 0.0 -6.09457 0.0536583 0 0.00638333 -0.00996919 0.560389 0.828145 uwb: 0.0 874.953 1652.47 -imu_odom_: 1691062929.449525748 0.849942 -0.761356 9.96467 -0.0585895 -0.00319579 -0.206661 0.05 -0.26 pose: 0.66800632 -6.0918 0.0632659 0 0.0063274 -0.00934445 0.552602 0.833369 uwb: 0.49802408 871.011 1651.54 -imu_odom_: 1691062929.474511676 -0.272939 -0.227449 9.54089 -0.0266316 0.0617853 -0.276969 0.07 -0.32 pose: 0.0 -6.0918 0.0632659 0 0.0063274 -0.00934445 0.552602 0.833369 uwb: 0.0 871.011 1651.54 -imu_odom_: 1691062929.492619919 -0.703895 0.25618 10.4579 -0.0383495 -0.0170442 -0.389887 0.07 -0.32 pose: 0.14980883 -6.0918 0.0632659 0 0.00642717 -0.00967477 0.550866 0.834513 uwb: 0.0 871.011 1651.54 -imu_odom_: 1691062929.516541617 -0.433351 0.174777 10.1754 -0.0394148 0.0287621 -0.493217 0.09 -0.44 pose: 0.51975490 -6.0918 0.0632659 0 0.00383193 -0.00740725 0.544199 0.838915 uwb: 0.0 871.011 1651.54 -imu_odom_: 1691062929.542574568 0.270545 -0.507571 9.50737 -0.0756338 -0.0298274 -0.482565 0.12 -0.58 pose: 0.0 -6.0918 0.0632659 0 0.00383193 -0.00740725 0.544199 0.838915 uwb: 0.100004960 867.588 1650.9 -imu_odom_: 1691062929.565637358 0.0407014 -0.0694318 9.6606 -0.0490022 -0.00319579 -0.519849 0.12 -0.58 pose: 0.42059982 -6.08904 0.0728768 0 0.0024651 -0.00369012 0.53525 0.844682 uwb: 0.0 867.588 1650.9 -imu_odom_: 1691062929.581551812 0.169988 0.035913 10.1131 -0.0692422 0.00106526 -0.54435 0.12 -0.58 pose: 0.0 -6.08904 0.0728768 0 0.0024651 -0.00369012 0.53525 0.844682 uwb: 0.0 867.588 1650.9 -imu_odom_: 1691062929.607645717 0.464475 -0.0622492 9.75877 -0.052198 -0.0511327 -0.598679 0.11 -0.58 pose: 0.49037702 -6.08904 0.0728768 0 0.000460385 -0.00076436 0.523825 0.851826 uwb: 0.50069851 862.562 1649.52 -imu_odom_: 1691062929.631509669 0.356736 -0.0861913 9.96706 -0.0596548 -0.0330232 -0.621049 0.13 -0.64 pose: 0.0 -6.08904 0.0728768 0 0.000460385 -0.00076436 0.523825 0.851826 uwb: 0.0 862.562 1649.52 -imu_odom_: 1691062929.657610283 0.0526724 -0.007182619.62469 -0.0681769 -0.0138484 -0.627441 0.13 -0.64 pose: 0.33982157 -6.08691 0.0797582 0 0.00350845 -3.57143e-050.514736 0.857341 uwb: 0.49852863 861.495 1648.95 -imu_odom_: 1691062929.673639063 0.102951 -0.150835 10.2161 -0.0681769 0.00319579 -0.659399 0.13 -0.67 pose: 0.6997554 -6.0863 0.0824945 0 0.0036585 0.000570104 0.51275 0.85853 uwb: 0.0 861.495 1648.95 -imu_odom_: 1691062929.698557037 0.25618 -0.174777 10.07 -0.0628506 -0.036219 -0.682835 0.13 -0.67 pose: 0.0 -6.0863 0.0824945 0 0.0036585 0.000570104 0.51275 0.85853 uwb: 0.50068101 855.919 1647.33 -imu_odom_: 1691062929.723639210 0.328006 -0.217872 9.68933 -0.0703074 0.0127832 -0.699879 0.14 -0.7 pose: 0.49847322 -6.0863 0.082495 0 0.0029022 0.00497248 0.498335 0.866965 uwb: 0.0 855.919 1647.33 -imu_odom_: 1691062929.748652553 0.0646434 0 9.98622 -0.0639159 -0.00852212 -0.714792 0.14 -0.7 pose: 0.0 -6.0863 0.082495 0 0.0029022 0.00497248 0.498335 0.866965 uwb: 0.50049436 857.083 1647.42 -imu_odom_: 1691062929.765648444 0.6608 0.071826 10.1873 -0.0798948 -0.0234358 -0.733967 0.21 -1 pose: 0.41086162 -6.08347 0.0920847 0 -0.0004941670.00572146 0.485436 0.874254 uwb: 0.0 857.083 1647.42 -imu_odom_: 1691062929.790550960 0.438139 -0.385466 9.80186 -0.0777643 0.0149137 -0.741424 0.21 -1 pose: 0.0 -6.08347 0.0920847 0 -0.0004941670.00572146 0.485436 0.874254 uwb: 0.50005688 852.612 1646.18 -imu_odom_: 1691062929.815615342 0.687136 -0.220267 9.78031 -0.0649811 0.0170442 -0.758468 0.19 -0.97 pose: 0.50093767 -6.08065 0.101679 0 -0.0008539660.00620654 0.468895 0.883232 uwb: 0.0 852.612 1646.18 -imu_odom_: 1691062929.840556065 0.186748 -0.172383 9.35654 -0.0511327 0.0117179 -0.768056 0.19 -0.97 pose: 0.0 -6.08065 0.101679 0 -0.0008539660.00620654 0.468895 0.883232 uwb: 0.49957274 852.073 1645.93 -imu_odom_: 1691062929.857602411 -0.0023942 -0.126893 9.89763 -0.052198 0.00213053 -0.771251 0.17 -0.82 pose: 0.41999901 -6.07105 0.0988697 0 -0.00154329 0.00293239 0.454333 0.890826 uwb: 0.0 852.073 1645.93 -imu_odom_: 1691062929.882479846 0.19393 -0.0454898 9.80904 -0.0490022 -0.00852212 -0.762729 0.17 -0.82 pose: 0.0 -6.07105 0.0988697 0 -0.00154329 0.00293239 0.454333 0.890826 uwb: 0.0 852.073 1645.93 -imu_odom_: 1691062929.900698333 0.471658 -0.354342 9.98861 -0.052198 0.0479369 -0.790426 0.16 -0.79 pose: 0.50846806 -6.06831 0.108487 0 -0.00172248 0.00486795 0.436012 0.899926 uwb: 0.49896319 851.535 1645.69 -imu_odom_: 1691062929.924560534 0.73502 -0.0311246 9.67257 -0.0692422 -0.015979 -0.777643 0.16 -0.79 pose: 0.0 -6.06831 0.108487 0 -0.00172248 0.00486795 0.436012 0.899926 uwb: 0.0 851.535 1645.69 -imu_odom_: 1691062929.950692938 0.179565 -0.241814 9.39485 -0.0479369 0.0170442 -0.761664 0.21 -1.03 pose: 0.76043305 -6.05894 0.116209 0 0.000182363 0.00458024 0.40795 0.912993 uwb: 0.49930151 848.23 1644.56 -imu_odom_: 1691062929.975631327 0.713472 0.126893 10.0987 -0.0713727 -0.00532632 -0.784035 0.21 -1.03 pose: 0.0 -6.05894 0.116209 0 0.000182363 0.00458024 0.40795 0.912993 uwb: 0.0 848.23 1644.56 -imu_odom_: 1691062930.1678569 0.612916 -0.385466 9.5792 -0.0798948 -0.0149137 -0.811731 0.18 -0.88 pose: 0.8098531 -6.05591 0.115315 0 -0.0004417420.00521583 0.404982 0.91431 uwb: 0.50094349 847.208 1643.86 -imu_odom_: 1691062930.24637532 0.948104 0.0885855 9.81383 -0.0479369 -0.0319579 -0.810666 0.18 -0.88 pose: 0.51008380 -6.05318 0.124935 0 -0.0001911650.00438269 0.38578 0.92258 uwb: 0.0 847.208 1643.86 -imu_odom_: 1691062930.42499331 0.675165 -0.519542 9.91439 -0.0436758 -0.00958738 -0.818123 0.17 -0.85 pose: 0.0 -6.05318 0.124935 0 -0.0001911650.00438269 0.38578 0.92258 uwb: 0.49971857 847.371 1643.17 -imu_odom_: 1691062930.68620069 0.227449 -0.141258 9.78271 -0.0298274 -0.00639159 -0.831972 0.17 -0.85 pose: 0.24980971 -6.05043 0.134549 0 -0.0001958380.0019072 0.375955 0.926636 uwb: 0.0 847.371 1643.17 -imu_odom_: 1691062930.93467464 0.241814 -0.215478 9.3326 -0.0479369 0.0436758 -0.823449 0.17 -0.85 pose: 0.43007260 -6.04079 0.131882 0 0.000495893 4.93702e-05 0.358802 0.933414 uwb: 0.49999272 845.772 1642.41 -imu_odom_: 1691062930.107507776 0.806846 0.11971 10.2807 -0.0596548 0.0372843 -0.833037 0.17 -0.85 pose: 0.0 -6.04079 0.131882 0 0.000495893 4.93702e-05 0.358802 0.933414 uwb: 0.0 845.772 1642.41 -imu_odom_: 1691062930.131584924 0.23942 -0.368707 9.15543 -0.072438 -0.0191748 -0.833037 0.18 -0.88 pose: 0.48863879 -6.03806 0.141501 0 -0.00025057 0.00424362 0.338939 0.940799 uwb: 0.0 845.772 1642.41 -imu_odom_: 1691062930.157501798 0.529119 -0.275333 9.72764 -0.0681769 0.0234358 -0.837298 0.22 -1.06 pose: 0.0 -6.03806 0.141501 0 -0.00025057 0.00424362 0.338939 0.940799 uwb: 0.49883487 843.693 1641.2 -imu_odom_: 1691062930.183466795 0.0574608 0.129287 9.99819 -0.0479369 -0.0351537 -0.857538 0.22 -1.06 pose: 0.31065369 -6.03605 0.147874 0 -0.00232932 0.00407294 0.32615 0.945306 uwb: 0.50007147 844.897 1641.11 -imu_odom_: 1691062930.209465915 0.0526724 -0.023942 9.81623 -0.0671117 0.02024 -0.844755 0.21 -1.03 pose: 0.7923833 -6.03532 0.151119 0 -0.00232409 0.00336549 0.322863 0.946437 uwb: 0.0 844.897 1641.11 -imu_odom_: 1691062930.233631141 0.213084 -0.25618 9.85693 -0.0447411 -0.0298274 -0.862864 0.21 -1.03 pose: 0.0 -6.03532 0.151119 0 -0.00232409 0.00336549 0.322863 0.946437 uwb: 0.50110099 843.301 1640.36 -imu_odom_: 1691062930.250665822 0.385466 0.112527 10.1634 -0.036219 -0.0383495 -0.873517 0.18 -0.91 pose: 0.52036154 -6.02569 0.148419 0 -0.0005660470.00441182 0.300916 0.95364 uwb: 0.0 843.301 1640.36 -imu_odom_: 1691062930.275567172 0.416591 -0.0861913 9.83777 -0.0681769 0.0149137 -0.858603 0.18 -0.91 pose: 0.0 -6.02569 0.148419 0 -0.0005660470.00441182 0.300916 0.95364 uwb: 0.0 843.301 1640.36 -imu_odom_: 1691062930.300466189 0.766145 -0.122104 9.75877 -0.0553937 0.0181095 -0.877778 0.19 -0.97 pose: 0.49962524 -6.01339 0.155403 0 -0.00141978 0.00697094 0.279449 0.960134 uwb: 0.49948525 845.613 1640.6 -imu_odom_: 1691062930.323463941 0.42138 -0.172383 9.51456 -0.0607201 -0.0234358 -0.867125 0.19 -0.97 pose: 0.0 -6.01339 0.155403 0 -0.00141978 0.00697094 0.279449 0.960134 uwb: 0.0 845.613 1640.6 -imu_odom_: 1691062930.339453932 0.268151 -0.162806 9.3709 -0.0798948 -0.02024 -0.862864 0.18 -0.88 pose: 0.42041025 -6.01076 0.165052 0 0.00147719 0.00470784 0.261158 0.965284 uwb: 0.49990523 844.089 1639.56 -imu_odom_: 1691062930.356454489 0.237026 -0.232238 9.48104 -0.0703074 -0.0234358 -0.870321 0.18 -0.88 pose: 0.0 -6.01076 0.165052 0 0.00147719 0.00470784 0.261158 0.965284 uwb: 0.0 844.089 1639.56 -imu_odom_: 1691062930.381509247 0.617704 -0.0790087 9.81144 -0.0426106 -0.00639159 -0.872452 0.18 -0.88 pose: 0.47927684 -6.00113 0.162359 0 0.00198677 0.00153163 0.240064 0.970754 uwb: 0.0 844.089 1639.56 -imu_odom_: 1691062930.407507200 0.545878 -0.011971 10.0173 -0.0415453 -0.0383495 -0.860734 0.18 -0.88 pose: 0.0 -6.00113 0.162359 0 0.00198677 0.00153163 0.240064 0.970754 uwb: 0.0 844.089 1639.56 -imu_odom_: 1691062930.420507781 0.490811 0.0646434 9.48104 -0.0415453 0.02024 -0.864995 0.18 -0.94 pose: 0.76031056 -5.98869 0.16931 0 0.00459803 -0.0004309490.206477 0.978441 uwb: 0.0 844.089 1639.56 -imu_odom_: 1691062930.437505422 0.572214 -0.0335188 9.87848 -0.0447411 0.0149137 -0.836233 0.18 -0.94 pose: 0.6003903 -5.98886 0.169372 0 0.00522291 -0.0003964570.203819 0.978995 uwb: 0.100047833 840.303 1638.12 -imu_odom_: 1691062930.452491846 0.538695 -0.344765 10.0126 -0.0511327 -0.0181095 -0.804275 0.18 -0.94 pose: 0.0 -5.98886 0.169372 0 0.00522291 -0.0003964570.203819 0.978995 uwb: 0.0 840.303 1638.12 -imu_odom_: 1691062930.468576332 0.332794 -0.40462 9.99819 -0.0511327 0.0330232 -0.76486 0.18 -0.64 pose: 0.38980743 -5.981 0.177592 0 0.00579106 -0.00223528 0.187229 0.982297 uwb: 0.0 840.303 1638.12 -imu_odom_: 1691062930.484510618 0.270545 -0.287304 10.58 -0.0745685 -0.0191748 -0.637028 0.18 -0.64 pose: 0.0 -5.981 0.177592 0 0.00579106 -0.00223528 0.187229 0.982297 uwb: 0.50009189 842.636 1638.26 -imu_odom_: 1691062930.501631627 0.617704 -0.184354 10.4938 -0.0372843 -0.056459 -0.560329 0.18 -0.64 pose: 0.0 -5.981 0.177592 0 0.00579106 -0.00223528 0.187229 0.982297 uwb: 0.0 842.636 1638.26 -imu_odom_: 1691062930.518607102 0.897826 -0.148441 9.7037 -0.0458064 -0.0713727 -0.532632 0.18 -0.55 pose: 0.40086388 -5.97655 0.176346 0 0.00300348 -0.00162245 0.173187 0.984883 uwb: 0.0 842.636 1638.26 -imu_odom_: 1691062930.534631508 0.213084 0.172383 10.2615 -0.0585895 -0.0319579 -0.491087 0.26 -0.76 pose: 0.0 -5.97655 0.176346 0 0.00300348 -0.00162245 0.173187 0.984883 uwb: 0.50051185 846.075 1638.69 -imu_odom_: 1691062930.550629957 0.665588 -0.332794 10.2137 -0.0575243 -0.00852212 -0.468716 0.26 -0.76 pose: 0.33016505 -5.96428 0.183377 0 0.00414988 -0.00447302 0.163894 0.986459 uwb: 0.0 846.075 1638.69 -imu_odom_: 1691062930.568689786 0.948104 0.186748 10.24 -0.0436758 -0.0447411 -0.450607 0.23 -0.58 pose: 0.0 -5.96428 0.183377 0 0.00414988 -0.00447302 0.163894 0.986459 uwb: 0.0 846.075 1638.69 -imu_odom_: 1691062930.585448274 0.620098 -0.220267 9.93594 -0.072438 -0.0319579 -0.395213 0.23 -0.58 pose: 0.0 -5.96428 0.183377 0 0.00414988 -0.00447302 0.163894 0.986459 uwb: 0.49930152 853.4 1639.93 -imu_odom_: 1691062930.601501845 0.574608 -0.0933739 9.89524 -0.0820254 -0.0468716 -0.354733 0.23 -0.58 pose: 0.33097584 -5.96428 0.183377 0 0.00437292 -0.00580405 0.155565 0.987799 uwb: 0.0 853.4 1639.93 -imu_odom_: 1691062930.619507428 0.531513 -0.21069 10.1969 -0.0426106 -0.00639159 -0.352603 0.18 -0.38 pose: 0.42809522 -5.95458 0.180704 0 0.00548239 -0.00831576 0.146403 0.989175 uwb: 0.0 853.4 1639.93 -imu_odom_: 1691062930.636468904 0.608127 0.105345 10.2161 -0.0639159 0.015979 -0.316384 0.18 -0.38 pose: 0.8006370 -5.95464 0.180725 0 0.00482233 -0.00796809 0.144855 0.989409 uwb: 0.50019104 860.229 1640.88 -imu_odom_: 1691062930.661651113 0.3304 -0.0407014 10.2951 -0.0692422 -0.00426106 -0.299339 0.18 -0.35 pose: 0.0 -5.95464 0.180725 0 0.00482233 -0.00796809 0.144855 0.989409 uwb: 0.0 860.229 1640.88 -imu_odom_: 1691062930.677460573 0.035913 -0.153229 9.79707 -0.0607201 -0.0372843 -0.288687 0.18 -0.32 pose: 0.26960689 -5.95197 0.190362 0 0.00562057 -0.00739417 0.13992 0.990119 uwb: 0.0 860.229 1640.88 -imu_odom_: 1691062930.693562557 0.514753 -0.272939 9.48104 -0.0585895 -0.0266316 -0.292948 0.26 -0.47 pose: 0.0 -5.95197 0.190362 0 0.00562057 -0.00739417 0.13992 0.990119 uwb: 0.49913527 865.373 1641.47 -imu_odom_: 1691062930.709486927 0.0670376 -0.0023942 9.80665 -0.0585895 -0.0170442 -0.351537 0.26 -0.47 pose: 0.47998846 -5.94234 0.187673 0 0.00495753 -0.00392718 0.131946 0.991237 uwb: 0.0 865.373 1641.47 -imu_odom_: 1691062930.726490401 0.617704 0.0167594 10.0413 -0.0553937 -0.015979 -0.405866 0.23 -0.58 pose: 0.0 -5.94234 0.187673 0 0.00495753 -0.00392718 0.131946 0.991237 uwb: 0.0 865.373 1641.47 -imu_odom_: 1691062930.742415354 0.318429 -0.126893 9.24162 -0.0777643 0.00532632 -0.434628 0.23 -0.58 pose: 0.0 -5.94234 0.187673 0 0.00495753 -0.00392718 0.131946 0.991237 uwb: 0.50090850 866.582 1641.27 -imu_odom_: 1691062930.759569028 0.486023 -0.280122 10.1706 -0.0575243 0.00852212 -0.459129 0.23 -0.58 pose: 0.33027005 -5.93006 0.194691 0 0.00505971 -0.00336211 0.125586 0.992064 uwb: 0.0 866.582 1641.27 -imu_odom_: 1691062930.776569294 0.624887 -0.146046 9.96467 -0.0777643 0.00852212 -0.472977 0.18 -0.55 pose: 0.42074273 -5.93001 0.19467 0 0.00366636 -0.00261861 0.115602 0.993285 uwb: 0.0 866.582 1641.27 -imu_odom_: 1691062930.792578242 0.447716 0.0143652 9.64145 -0.0713727 -0.0436758 -0.492152 0.18 -0.55 pose: 0.0 -5.93001 0.19467 0 0.00366636 -0.00261861 0.115602 0.993285 uwb: 0.49821658 861.682 1639.56 -imu_odom_: 1691062930.809568592 0.785298 0.241814 9.69891 -0.0735032 -0.052198 -0.54222 0.18 -0.55 pose: 0.0 -5.93001 0.19467 0 0.00366636 -0.00261861 0.115602 0.993285 uwb: 0.0 861.682 1639.56 -imu_odom_: 1691062930.825461172 0.531513 0.153229 9.87369 -0.076699 -0.0276969 -0.594418 0.24 -0.82 pose: 0.7900792 -5.93006 0.19469 0 0.00368297 -0.00335546 0.113593 0.993515 uwb: 0.0 861.682 1639.56 -imu_odom_: 1691062930.841470411 0.148441 -0.222661 9.49301 -0.0575243 -0.0213053 -0.619984 0.18 -0.64 pose: 0.0 -5.93006 0.19469 0 0.00368297 -0.00335546 0.113593 0.993515 uwb: 0.50018521 864.61 1639.54 -imu_odom_: 1691062930.858623502 0.6608 -0.162806 9.73482 -0.0490022 -0.00319579 -0.658333 0.18 -0.64 pose: 0.65159812 -5.90817 0.199173 0 0.00761235 -0.00476117 0.094736 0.995462 uwb: 0.0 864.61 1639.54 -imu_odom_: 1691062930.876449720 0.586579 -0.0454898 9.7444 -0.0447411 -0.00106526 -0.661529 0.18 -0.67 pose: 0.0 -5.90817 0.199173 0 0.00761235 -0.00476117 0.094736 0.995462 uwb: 0.0 864.61 1639.54 -imu_odom_: 1691062930.892575328 0.316035 -0.186748 9.56723 -0.0511327 -0.0149137 -0.66366 0.18 -0.67 pose: 0.0 -5.90817 0.199173 0 0.00761235 -0.00476117 0.094736 0.995462 uwb: 0.49980606 862.011 1638.04 -imu_odom_: 1691062930.909561303 0.0407014 0.191536 10.0149 -0.0490022 -0.0543285 -0.689226 0.18 -0.67 pose: 0.33795793 -5.90817 0.199173 0 0.00729043 -0.00612639 0.0831571 0.996491 uwb: 0.0 862.011 1638.04 -imu_odom_: 1691062930.925620707 0.567426 -0.275333 10.0389 -0.0692422 -0.0223706 -0.692422 0.18 -0.73 pose: 0.34148398 -5.89851 0.19656 0 0.00767981 -0.0049324 0.0710827 0.997429 uwb: 0.0 862.011 1638.04 -imu_odom_: 1691062930.942560893 0.950498 0.0502782 10.1514 -0.0617853 -0.0372843 -0.695618 0.18 -0.73 pose: 0.0 -5.89851 0.19656 0 0.00767981 -0.0049324 0.0710827 0.997429 uwb: 0.50008022 860.443 1637.2 -imu_odom_: 1691062930.958557008 1.30245 -0.344765 9.59596 -0.0830906 -0.0628506 -0.66579 0.18 -0.73 pose: 0.0 -5.89851 0.19656 0 0.00767981 -0.0049324 0.0710827 0.997429 uwb: 0.0 860.443 1637.2 -imu_odom_: 1691062930.975559316 1.35033 -0.0837971 9.6606 -0.076699 -0.0500674 -0.632767 0.16 -0.64 pose: 0.49996356 -5.89851 0.19656 0 0.00686634 -0.00782067 0.0529235 0.998544 uwb: 0.0 860.443 1637.2 -imu_odom_: 1691062930.993579189 1.39821 -0.395043 9.77553 -0.0543285 0.0106526 -0.649811 0.16 -0.64 pose: 0.0 -5.89851 0.19656 0 0.00686634 -0.00782067 0.0529235 0.998544 uwb: 0.50051186 857.831 1635.87 -imu_odom_: 1691062931.8558614 1.34315 0.0670376 10.3286 -0.0639159 -0.04048 -0.590156 0.13 -0.53 pose: 0.43009010 -5.88619 0.203572 0 0.00608052 -0.0124017 0.0382236 0.999174 uwb: 0.0 857.831 1635.87 -imu_odom_: 1691062931.24417362 0.919373 -0.225055 9.46428 -0.0553937 -0.0319579 -0.507066 0.13 -0.53 pose: 0.0 -5.88619 0.203572 0 0.00608052 -0.0124017 0.0382236 0.999174 uwb: 0.0 857.831 1635.87 -imu_odom_: 1691062931.38435801 1.19231 -0.517148 10.3406 -0.0820254 0.00532632 -0.459129 0.13 -0.53 pose: 0.0 -5.88619 0.203572 0 0.00608052 -0.0124017 0.0382236 0.999174 uwb: 0.49937734 857.388 1635.25 -imu_odom_: 1691062931.53420184 1.12527 -0.371101 9.73961 -0.0639159 -0.0234358 -0.417584 0.1 -0.38 pose: 0.7041592 -5.88624 0.203593 0 0.00627672 -0.0131946 0.0360085 0.999245 uwb: 0.0 857.388 1635.25 -imu_odom_: 1691062931.70558692 0.80924 -0.466869 9.49301 -0.056459 0.0458064 -0.361125 0.1 -0.38 pose: 0.0 -5.88624 0.203593 0 0.00627672 -0.0131946 0.0360085 0.999245 uwb: 0.0 857.388 1635.25 -imu_odom_: 1691062931.86443689 0.969652 -0.227449 9.97903 -0.0639159 0.02024 -0.300405 0.1 -0.38 pose: 0.0 -5.88624 0.203593 0 0.00627672 -0.0131946 0.0360085 0.999245 uwb: 0.49991982 855.863 1634.25 -imu_odom_: 1691062931.103690982 0.40462 -0.433351 9.7444 -0.056459 0.0383495 -0.278034 0.12 -0.5 pose: 0.44830947 -5.87661 0.200912 0 0.0045237 -0.0173837 0.0241248 0.999548 uwb: 0.0 855.863 1634.25 -imu_odom_: 1691062931.121575531 0.567426 -0.244209 10.1969 -0.0372843 0.0117179 -0.312122 0.08 -0.35 pose: 0.0 -5.87661 0.200912 0 0.0045237 -0.0173837 0.0241248 0.999548 uwb: 0.0 855.863 1634.25 -imu_odom_: 1691062931.136727029 0.730232 -0.112527 9.7037 -0.0532632 -0.0394148 -0.295078 0.08 -0.35 pose: 0.67248900 -5.87661 0.200912 0 0.00101876 -0.0166862 0.0119239 0.999789 uwb: 0.50270798 857.642 1634.12 -imu_odom_: 1691062931.153556388 0.998382 -0.160412 9.38527 -0.056459 -0.0223706 -0.254598 0.06 -0.32 pose: 0.0 -5.87661 0.200912 0 0.00101876 -0.0166862 0.0119239 0.999789 uwb: 0.0 857.642 1634.12 -imu_odom_: 1691062931.167559369 0.866701 -0.45011 10.173 -0.056459 0.00319579 -0.223706 0.06 -0.32 pose: 0.0 -5.87661 0.200912 0 0.00101876 -0.0166862 0.0119239 0.999789 uwb: 0.0 857.642 1634.12 -imu_odom_: 1691062931.184451725 0.78051 -0.411803 9.79228 -0.0532632 0.00852212 -0.231162 0.06 -0.32 pose: 0.31721580 -5.87661 0.200912 0 0.00247292 -0.0172486 0.0066799 0.999826 uwb: 0.49779369 857.719 1633.78 -imu_odom_: 1691062931.200534752 0.605733 -0.196325 9.80426 -0.0426106 0.00745685 -0.24288 0.06 -0.23 pose: 0.40029517 -5.86696 0.198269 0 -0.000390446-0.0186604 0.0012657 0.999825 uwb: 0.0 857.719 1633.78 -imu_odom_: 1691062931.217517519 0.433351 -0.0143652 9.76116 -0.0596548 -0.0223706 -0.223706 0.06 -0.23 pose: 0.7990621 -5.86696 0.198269 0 -0.000188907-0.0178249 0.000136155 0.999841 uwb: 0.0 857.719 1633.78 -imu_odom_: 1691062931.233575756 0.622492 -0.270545 9.88326 -0.0607201 -0.00958738 -0.20027 0.06 -0.23 pose: 0.0 -5.86696 0.198269 0 -0.000188907-0.0178249 0.000136155 0.999841 uwb: 0.50171346 854.524 1632.48 -imu_odom_: 1691062931.250394033 0.670376 -0.416591 9.87848 -0.0575243 0.00426106 -0.199204 0.07 -0.29 pose: 0.41133410 -5.86696 0.198269 0 -9.32597e-05-0.0145452 -0.00517109 0.999881 uwb: 0.0 854.524 1632.48 -imu_odom_: 1691062931.266397732 0.713472 -0.306458 9.91199 -0.0607201 -0.0138484 -0.183225 0.04 -0.2 pose: 0.0 -5.86696 0.198269 0 -9.32597e-05-0.0145452 -0.00517109 0.999881 uwb: 0.0 854.524 1632.48 -imu_odom_: 1691062931.283388665 0.627281 -0.134075 9.90481 -0.0628506 -0.00958738 -0.170442 0.04 -0.2 pose: 0.0 -5.86696 0.198269 0 -9.32597e-05-0.0145452 -0.00517109 0.999881 uwb: 0.49809117 856.39 1631.94 -imu_odom_: 1691062931.299440194 0.596156 -0.251391 9.90002 -0.0575243 -0.0213053 -0.15979 0.04 -0.2 pose: 0.24832813 -5.86696 0.198268 0 -0.00248739 -0.0147153 -0.00803788 0.999856 uwb: 0.0 856.39 1631.94 -imu_odom_: 1691062931.315395771 0.543484 -0.272939 9.90481 -0.056459 0.00213053 -0.160855 0.04 -0.2 pose: 0.0 -5.86696 0.198268 0 -0.00248739 -0.0147153 -0.00803788 0.999856 uwb: 0.0 856.39 1631.94 -imu_odom_: 1691062931.330488355 0.641646 -0.308852 9.92397 -0.052198 0.00213053 -0.151268 0.04 -0.2 pose: 0.33029922 -5.86696 0.198268 0 -0.00177447 -0.0136588 -0.0115241 0.999839 uwb: 0.0 856.39 1631.94 -imu_odom_: 1691062931.347399085 0.6608 -0.251391 10.0533 -0.0660464 -0.0106526 -0.128897 0.04 -0.17 pose: 0.39049864 -5.86696 0.198268 0 -0.00355692 -0.0116719 -0.0153358 0.999808 uwb: 0.50008023 852.163 1630.12 -imu_odom_: 1691062931.363392284 0.574608 -0.19393 9.78989 -0.0543285 -0.00426106 -0.124636 0.04 -0.17 pose: 0.0 -5.86696 0.198268 0 -0.00355692 -0.0116719 -0.0153358 0.999808 uwb: 0.0 852.163 1630.12 -imu_odom_: 1691062931.379501852 0.600945 -0.205901 9.94551 -0.0553937 -0.0191748 -0.111853 0.04 -0.17 pose: 0.0 -5.86696 0.198268 0 -0.00355692 -0.0116719 -0.0153358 0.999808 uwb: 0.0 852.163 1630.12 -imu_odom_: 1691062931.395424180 0.744597 -0.203507 9.81623 -0.0628506 -0.0127832 -0.0937433 0.03 -0.11 pose: 0.7019427 -5.86696 0.198268 0 -0.00304962 -0.0121465 -0.0159352 0.999795 uwb: 0.49990231 848.979 1628.86 -imu_odom_: 1691062931.412404031 0.653617 -0.308852 9.94312 -0.0532632 -0.00213053 -0.0713727 0.03 -0.14 pose: 0.0 -5.86696 0.198268 0 -0.00304962 -0.0121465 -0.0159352 0.999795 uwb: 0.0 848.979 1628.86 -imu_odom_: 1691062931.428532556 0.665588 -0.371101 9.81862 -0.0543285 -0.00639159 -0.0617853 0.03 -0.14 pose: 0.0 -5.86696 0.198268 0 -0.00304962 -0.0121465 -0.0159352 0.999795 uwb: 0.0 848.979 1628.86 -imu_odom_: 1691062931.444408220 0.591368 -0.203507 9.8665 -0.052198 0.00106526 -0.052198 0.03 -0.14 pose: 0.66061302 -5.85461 0.205197 0 -0.000891686-0.0122962 -0.0208386 0.999707 uwb: 0.50000731 850.712 1628.91 -imu_odom_: 1691062931.461597184 0.579397 -0.222661 9.90002 -0.0553937 -0.00426106 -0.0383495 0.02 -0.14 pose: 0.0 -5.85461 0.205197 0 -0.000891686-0.0122962 -0.0208386 0.999707 uwb: 0.0 850.712 1628.91 -imu_odom_: 1691062931.478600366 0.641646 -0.234632 9.8665 -0.0585895 -0.0117179 -0.0234358 0.02 -0.14 pose: 0.31868280 -5.85461 0.205197 0 -0.00277946 -0.0121683 -0.0224375 0.99967 uwb: 0.0 850.712 1628.91 -imu_odom_: 1691062931.494532611 0.624887 -0.342371 9.90721 -0.0585895 -0.00745685 -0.0117179 0.01 -0.05 pose: 0.43163002 -5.85455 0.205176 0 -0.00131826 -0.0118489 -0.0240692 0.999639 uwb: 0.50014439 853.036 1628.9 -imu_odom_: 1691062931.511522086 0.624887 -0.282516 9.8665 -0.0553937 -0.00532632 -0.00958738 0.01 -0.05 pose: 0.0 -5.85455 0.205176 0 -0.00131826 -0.0118489 -0.0240692 0.999639 uwb: 0.0 853.036 1628.9 -imu_odom_: 1691062931.527518493 0.624887 -0.237026 9.85693 -0.0553937 -0.00426106 0.00319579 0.01 -0.05 pose: 0.0 -5.85455 0.205176 0 -0.00131826 -0.0118489 -0.0240692 0.999639 uwb: 0.0 853.036 1628.9 -imu_odom_: 1691062931.543446071 0.627281 -0.25618 9.85453 -0.056459 -0.00639159 0.0181095 0 -0.02 pose: 0.7829339 -5.85461 0.205197 0 -0.00210655 -0.011764 -0.0242607 0.999634 uwb: 0.50037479 852.609 1628.25 -imu_odom_: 1691062931.558494033 0.634463 -0.296881 9.88566 -0.0553937 -0.00532632 0.0319579 0 0.02 pose: 0.0 -5.85461 0.205197 0 -0.00210655 -0.011764 -0.0242607 0.999634 uwb: 0.0 852.609 1628.25 -imu_odom_: 1691062931.572446851 0.579397 -0.272939 9.91918 -0.0553937 0.00213053 0.0436758 0 0.02 pose: 0.0 -5.85461 0.205197 0 -0.00210655 -0.011764 -0.0242607 0.999634 uwb: 0.0 852.609 1628.25 -imu_odom_: 1691062931.586387419 0.474052 -0.28491 9.88805 -0.052198 0.00958738 0.0479369 0 0.02 pose: 0.64026169 -5.85461 0.205197 0 -0.00222677 -0.0119729 -0.0253721 0.999604 uwb: 0.49926360 846.751 1626.29 -imu_odom_: 1691062931.600488395 0.335188 -0.196325 9.87848 -0.0543285 0.00213053 0.0426106 0 0 pose: 0.0 -5.85461 0.205197 0 -0.00222677 -0.0119729 -0.0253721 0.999604 uwb: 0.0 846.751 1626.29 -imu_odom_: 1691062931.614362467 0.337582 -0.179565 9.92157 -0.0543285 -0.00745685 0.04048 0 0 pose: 0.0 -5.85461 0.205197 0 -0.00222677 -0.0119729 -0.0253721 0.999604 uwb: 0.0 846.751 1626.29 -imu_odom_: 1691062931.628365156 0.42138 -0.237026 9.87369 -0.056459 -0.0117179 0.0351537 0 0 pose: 0.41932239 -5.85461 0.205197 0 -0.00300373 -0.00838142 -0.0252873 0.999641 uwb: 0.0 846.751 1626.29 -imu_odom_: 1691062931.642369595 0.536301 -0.260968 9.89763 -0.0575243 -0.00958738 0.0340885 0 0 pose: 0.35977043 -5.85461 0.205197 0 -0.00194045 -0.00500731 -0.0252994 0.999665 uwb: 0.50126432 846.812 1626.04 -imu_odom_: 1691062931.656362952 0.529119 -0.275333 9.88326 -0.0553937 -0.00319579 0.0383495 0 0 pose: 0.6028693 -5.85461 0.205197 0 -0.00214455 -0.00559384 -0.025316 0.999662 uwb: 0.0 846.812 1626.04 -imu_odom_: 1691062931.670424555 0.483629 -0.248997 9.88566 -0.0553937 0 0.0436758 0 0 pose: 0.0 -5.85461 0.205197 0 -0.00214455 -0.00559384 -0.025316 0.999662 uwb: 0.0 846.812 1626.04 -imu_odom_: 1691062931.684365123 0.416591 -0.213084 9.91678 -0.0543285 0.00106526 0.0415453 0 0 pose: 0.0 -5.85461 0.205197 0 -0.00214455 -0.00559384 -0.025316 0.999662 uwb: 0.49858114 843.1 1624.68 -imu_odom_: 1691062931.698558260 0.392649 -0.184354 9.88326 -0.056459 -0.00639159 0.0394148 0 0 pose: 0.42031984 -5.85461 0.205197 0 -0.00257159 -0.00474114 -0.0253053 0.999665 uwb: 0.0 843.1 1624.68 -imu_odom_: 1691062931.712533826 0.428562 -0.205901 9.90242 -0.056459 -0.00958738 0.036219 0 0 pose: 0.0 -5.85461 0.205197 0 -0.00257159 -0.00474114 -0.0253053 0.999665 uwb: 0.0 843.1 1624.68 -imu_odom_: 1691062931.727471253 0.500388 -0.244209 9.90721 -0.0553937 -0.00745685 0.0383495 0 0 pose: 0.0 -5.85461 0.205197 0 -0.00257159 -0.00474114 -0.0253053 0.999665 uwb: 0.0 843.1 1624.68 -imu_odom_: 1691062931.741530231 0.4956 -0.268151 9.87608 -0.0543285 -0.00319579 0.0394148 0 0 pose: 0.43008135 -5.85461 0.205197 0 -0.000560132-0.00265055 -0.0253296 0.999675 uwb: 0.50119724 849.091 1626.18 -imu_odom_: 1691062931.756525405 0.438139 -0.241814 9.88566 -0.0543285 -0.00319579 0.0415453 0 0 pose: 0.0 -5.85461 0.205197 0 -0.000560132-0.00265055 -0.0253296 0.999675 uwb: 0.0 849.091 1626.18 -imu_odom_: 1691062931.771538369 0.418985 -0.234632 9.94551 -0.056459 -0.00319579 0.0415453 0 0 pose: 0.0 -5.85461 0.205197 0 -0.000560132-0.00265055 -0.0253296 0.999675 uwb: 0.0 849.091 1626.18 -imu_odom_: 1691062931.785531143 0.438139 -0.232238 9.87608 -0.056459 -0.00532632 0.0372843 0 0 pose: 0.43983121 -5.85461 0.205197 0 -0.00146517 -0.00203628 -0.0253085 0.999677 uwb: 0.49865406 849.753 1625.83 -imu_odom_: 1691062931.800573855 0.438139 -0.246603 9.90242 -0.0553937 -0.00745685 0.0383495 0 0 pose: 0.0 -5.85461 0.205197 0 -0.00146517 -0.00203628 -0.0253085 0.999677 uwb: 0.0 849.753 1625.83 -imu_odom_: 1691062931.814584419 0.481235 -0.260968 9.8665 -0.056459 -0.00852212 0.0383495 0 0 pose: 0.0 -5.85461 0.205197 0 -0.00146517 -0.00203628 -0.0253085 0.999677 uwb: 0.0 849.753 1625.83 -imu_odom_: 1691062931.829572302 0.462081 -0.244209 9.89763 -0.0553937 -0.00213053 0.0394148 0 0 pose: 0.37156766 -5.85461 0.205197 0 -0.00181385 -0.00167842 -0.025324 0.999676 uwb: 0.0 849.753 1625.83 -imu_odom_: 1691062931.844516145 0.433351 -0.248997 9.87608 -0.0543285 -0.00319579 0.0415453 0 0 pose: 0.0 -5.85461 0.205197 0 -0.00181385 -0.00167842 -0.025324 0.999676 uwb: 0.50049436 847.615 1625.1 -imu_odom_: 1691062931.859393201 0.387861 -0.23942 9.86411 -0.0553937 -0.00532632 0.0394148 0 0 pose: 0.0 -5.85461 0.205197 0 -0.00181385 -0.00167842 -0.025324 0.999676 uwb: 0.0 847.615 1625.1 -imu_odom_: 1691062931.874569197 0.435745 -0.23942 9.87608 -0.056459 -0.00639159 0.0394148 0 0 pose: 0.43942290 -5.85461 0.205197 0 -0.00165234 -0.00167216 -0.0253215 0.999677 uwb: 0.0 847.615 1625.1 -imu_odom_: 1691062931.889454711 0.464475 -0.23942 9.8689 -0.0553937 -0.00639159 0.04048 0 0 pose: 0.0 -5.85461 0.205197 0 -0.00165234 -0.00167216 -0.0253215 0.999677 uwb: 0.49860447 850.972 1625.57 -imu_odom_: 1691062931.904390096 0.505177 -0.246603 9.85453 -0.056459 -0.00319579 0.0383495 0 0 pose: 0.44938566 -5.85461 0.205197 0 -0.0013553 -0.00324818 -0.0253192 0.999673 uwb: 0.0 850.972 1625.57 -imu_odom_: 1691062931.918563693 0.454898 -0.244209 9.87129 -0.0543285 -0.00106526 0.04048 0 0 pose: 0.0 -5.85461 0.205197 0 -0.0013553 -0.00324818 -0.0253192 0.999673 uwb: 0.0 850.972 1625.57 -imu_odom_: 1691062931.933503453 0.426168 -0.232238 9.93354 -0.0553937 -0.00319579 0.04048 0 0 pose: 0.0 -5.85461 0.205197 0 -0.0013553 -0.00324818 -0.0253192 0.999673 uwb: 0.0 850.972 1625.57 -imu_odom_: 1691062931.947439938 0.411803 -0.237026 9.88566 -0.0553937 -0.00426106 0.0383495 0 0 pose: 0.44048742 -5.85461 0.205197 0 -0.00114807 -0.00182832 -0.0253135 0.999677 uwb: 0.0 850.972 1625.57 -imu_odom_: 1691062931.962561979 0.454898 -0.217872 9.90481 -0.056459 -0.00532632 0.0383495 0 0 pose: 0.0 -5.85461 0.205197 0 -0.00114807 -0.00182832 -0.0253135 0.999677 uwb: 0.0 850.972 1625.57 -imu_odom_: 1691062931.977364664 0.488417 -0.270545 9.88805 -0.056459 -0.00639159 0.0394148 0 0 pose: 0.0 -5.85461 0.205197 0 -0.00114807 -0.00182832 -0.0253135 0.999677 uwb: 0.0 850.972 1625.57 -imu_odom_: 1691062931.991572675 0.483629 -0.268151 9.89045 -0.0543285 -0.00106526 0.0394148 0 0 pose: 0.43861211 -5.85461 0.205197 0 -0.00162426 -0.00291343 -0.0253315 0.999674 uwb: 0.100096832 847.838 1624.21 -imu_odom_: 1691062932.13341707 0.47884 -0.234632 9.89763 -0.056459 -0.00319579 0.0394148 0 0 pose: 0.0 -5.85461 0.205197 0 -0.00162426 -0.00291343 -0.0253315 0.999674 uwb: 0.0 847.838 1624.21 -imu_odom_: 1691062932.30501797 -0.201113 -0.275333 9.67497 -0.052198 0.0745685 0.0458064 0 0 pose: 0.0 -5.85461 0.205197 0 -0.00162426 -0.00291343 -0.0253315 0.999674 uwb: 0.0 847.838 1624.21 -imu_odom_: 1691062932.47505272 -1.05345 -0.25618 10.1562 -0.0415453 0.0713727 0.0415453 0.02 0 pose: 0.43210541 -5.85461 0.205197 0 -0.000510837-0.00281682 -0.0253186 0.999675 uwb: 0.49984107 851.634 1625.2 -imu_odom_: 1691062932.64501746 -1.17076 -0.23942 9.87608 -0.0617853 -0.0245011 0.0458064 0.05 0.08 pose: 0.0 -5.85461 0.205197 0 -0.000510837-0.00281682 -0.0253186 0.999675 uwb: 0.0 851.634 1625.2 -imu_odom_: 1691062932.80499904 -0.323217 -0.225055 9.93833 -0.0617853 -0.0575243 0.056459 0.05 0.08 pose: 0.33937536 -5.85461 0.205197 0 -0.0004110520.00153865 -0.0252476 0.99968 uwb: 0.0 851.634 1625.2 -imu_odom_: 1691062932.97501045 0.411803 -0.268151 9.91439 -0.0596548 -0.0468716 0.0585895 0.07 0.05 pose: 0.0 -5.85461 0.205197 0 -0.0004110520.00153865 -0.0252476 0.99968 uwb: 0.50044771 850.601 1624.68 -imu_odom_: 1691062932.116548693 0.605733 -0.263362 9.88805 -0.0543285 -0.00319579 0.0596548 0.07 0.05 pose: 0.0 -5.85461 0.205197 0 -0.0004110520.00153865 -0.0252476 0.99968 uwb: 0.0 850.601 1624.68 -imu_odom_: 1691062932.132489687 -0.181959 -0.198719 9.6223 -0.0649811 0.0319579 0.0660464 0.07 0.05 pose: 0.33069878 -5.85461 0.205197 0 -0.0008255060.00284921 -0.025014 0.999683 uwb: 0.49947651 853.933 1625.23 -imu_odom_: 1691062932.149370085 -0.181959 -0.265756 10.1538 -0.0447411 0 0.0447411 0.07 0 pose: 0.35928629 -5.85461 0.205197 0 -0.00151503 0.00071482 -0.0246407 0.999695 uwb: 0.0 853.933 1625.23 -imu_odom_: 1691062932.165363868 -0.0407014 -0.179565 9.8689 -0.0617853 -0.0308927 0.0436758 0.07 0 pose: 0.0 -5.85461 0.205197 0 -0.00151503 0.00071482 -0.0246407 0.999695 uwb: 0.0 853.933 1625.23 -imu_odom_: 1691062932.182549915 0.416591 -0.23942 10.1538 -0.0639159 -0.0298274 0.0511327 0.07 0 pose: 0.0 -5.85461 0.205197 0 -0.00151503 0.00071482 -0.0246407 0.999695 uwb: 0.0 853.933 1625.23 -imu_odom_: 1691062932.198397581 0.282516 -0.440533 9.80665 -0.0500674 0.00745685 0.04048 0.12 0 pose: 0.49044704 -5.845 0.202432 0 -0.00119162 0.00404203 -0.0243974 0.999693 uwb: 0.50075685 852.364 1624.55 -imu_odom_: 1691062932.215486801 -0.00718261-0.134075 9.95988 -0.0287621 -0.00426106 0.036219 0.12 0 pose: 0.0 -5.845 0.202432 0 -0.00119162 0.00404203 -0.0243974 0.999693 uwb: 0.0 852.364 1624.55 -imu_odom_: 1691062932.231488166 0.385466 -0.0574608 9.99819 -0.0543285 -0.0532632 0.0543285 0.1 0.02 pose: 0.42930849 -5.845 0.202432 0 -0.00181365 0.00509949 -0.0243601 0.999689 uwb: 0.0 852.364 1624.55 -imu_odom_: 1691062932.248485516 0.198719 -0.134075 9.67257 -0.0532632 -0.0127832 0.0543285 0.1 0.02 pose: 0.0 -5.845 0.202432 0 -0.00181365 0.00509949 -0.0243601 0.999689 uwb: 0.49957859 849.169 1623.45 -imu_odom_: 1691062932.264484549 0.229843 -0.399832 9.7037 -0.0543285 -0.00958738 0.056459 0.1 0.02 pose: 0.0 -5.845 0.202432 0 -0.00181365 0.00509949 -0.0243601 0.999689 uwb: 0.0 849.169 1623.45 -imu_odom_: 1691062932.280484748 0.035913 -0.181959 9.83059 -0.0532632 0.00106526 0.0383495 0.15 0.02 pose: 0.8013661 -5.845 0.202432 0 -0.00108247 0.00457427 -0.0242977 0.999694 uwb: 0.0 849.169 1623.45 -imu_odom_: 1691062932.297372729 0.725443 -0.356736 10.422 -0.0468716 -0.0351537 0.0415453 0.11 0 pose: 0.0 -5.845 0.202432 0 -0.00108247 0.00457427 -0.0242977 0.999694 uwb: 0.49950276 847.013 1622.82 -imu_odom_: 1691062932.313354262 1.01754 -0.126893 9.87369 -0.0553937 -0.0383495 0.0553937 0.11 0 pose: 0.65004947 -5.83538 0.199677 0 -0.00063695 0.00659195 -0.0239797 0.999691 uwb: 0.0 847.013 1622.82 -imu_odom_: 1691062932.328356727 1.26414 -0.217872 9.71806 -0.0585895 0.0181095 0.0841559 0.11 0 pose: 0.0 -5.83538 0.199677 0 -0.00063695 0.00659195 -0.0239797 0.999691 uwb: 0.0 847.013 1622.82 -imu_odom_: 1691062932.344484086 1.2378 -0.40462 9.93833 -0.0500674 -0.0106526 0.0969391 0.08 -0.02 pose: 0.0 -5.83538 0.199677 0 -0.00063695 0.00659195 -0.0239797 0.999691 uwb: 0.50068978 843.75 1622.04 -imu_odom_: 1691062932.361481727 1.14922 -0.380678 9.76116 -0.0458064 -0.00639159 0.104396 0.08 -0.02 pose: 0.31988440 -5.83538 0.199677 0 -0.0006826410.00311068 -0.0236889 0.999714 uwb: 0.0 843.75 1622.04 -imu_odom_: 1691062932.378478785 1.34315 -0.272939 10.0604 -0.0511327 0.0181095 0.104396 0.09 -0.02 pose: 0.40987878 -5.82577 0.196931 0 -0.00128857 -0.000896522-0.0225053 0.999745 uwb: 0.0 843.75 1622.04 -imu_odom_: 1691062932.394567646 0.682347 -0.141258 9.81383 -0.0500674 0.036219 0.0756338 0.09 -0.02 pose: 0.0 -5.82577 0.196931 0 -0.00128857 -0.000896522-0.0225053 0.999745 uwb: 0.49924319 847.058 1622.67 -imu_odom_: 1691062932.411488583 0.438139 0.023942 9.84975 -0.0490022 0.0276969 0.0127832 0.09 -0.02 pose: 0.0 -5.82577 0.196931 0 -0.00128857 -0.000896522-0.0225053 0.999745 uwb: 0.0 847.058 1622.67 -imu_odom_: 1691062932.427407995 0.742203 -0.0287304 9.95509 -0.056459 -0.0351537 0.00639159 0.05 0.02 pose: 0.8002579 -5.82577 0.196931 0 -0.00131655 -0.00160674 -0.0222471 0.99975 uwb: 0.0 847.058 1622.67 -imu_odom_: 1691062932.444419344 0.890643 -0.380678 9.94551 -0.0660464 0.00532632 0.0117179 0.06 0.02 pose: 0.0 -5.82577 0.196931 0 -0.00131655 -0.00160674 -0.0222471 0.99975 uwb: 0.50087352 848.792 1622.63 -imu_odom_: 1691062932.460362963 0.972046 -0.414197 10.0317 -0.052198 -0.00745685 0.0223706 0.06 0.02 pose: 0.65063568 -5.82577 0.196931 0 0.00142634 -0.00533804 -0.0222651 0.999737 uwb: 0.0 848.792 1622.63 -imu_odom_: 1691062932.477489514 0.675165 -0.318429 9.74679 -0.0447411 0.00852212 0.00958738 0.05 0.02 pose: 0.0 -5.82577 0.196931 0 0.00142634 -0.00533804 -0.0222651 0.999737 uwb: 0.0 848.792 1622.63 -imu_odom_: 1691062932.494407826 0.675165 0.0502782 10.1107 -0.0553937 0.00213053 0.0138484 0.05 0.02 pose: 0.0 -5.82577 0.196931 0 0.00142634 -0.00533804 -0.0222651 0.999737 uwb: 0.49988482 850.49 1622.75 -imu_odom_: 1691062932.519478626 0.311246 -0.244209 9.87608 -0.0617853 0.00958738 0.0330232 0.05 0.02 pose: 0.34005782 -5.82577 0.196931 0 -0.000317547-0.00814942 -0.0226479 0.99971 uwb: 0.0 850.49 1622.75 -imu_odom_: 1691062932.544401267 -0.696713 -0.354342 9.47146 -0.0532632 0.0735032 0.0639159 0.03 0.02 pose: 0.32991132 -5.82577 0.196931 0 0.000587557 -0.00853362 -0.0230318 0.999698 uwb: 0.49944151 849.974 1622.51 -imu_odom_: 1691062932.561453447 -1.15401 -0.160412 10.1323 -0.0532632 0.0426106 0.0692422 0.03 0.02 pose: 0.0 -5.82577 0.196931 0 0.000587557 -0.00853362 -0.0230318 0.999698 uwb: 0.0 849.974 1622.51 -imu_odom_: 1691062932.586369963 -0.452504 -0.0454898 9.76595 -0.0585895 -0.0777643 0.0735032 0.08 0.05 pose: 0.49991399 -5.81615 0.194197 0 0.000120001 -0.00230159 -0.0226802 0.99974 uwb: 0.49956984 848.42 1621.79 -imu_odom_: 1691062932.613483186 0.481235 -0.203507 9.66539 -0.0490022 -0.02024 0.0447411 0.1 0.02 pose: 0.34833776 -5.81615 0.194197 0 0.000644864 0.000445857 -0.0221121 0.999755 uwb: 0.0 848.42 1621.79 -imu_odom_: 1691062932.639450808 -0.114922 -0.150835 9.67736 -0.0617853 0.0138484 0.0617853 0.1 0.02 pose: 0.0 -5.81615 0.194197 0 0.000644864 0.000445857 -0.0221121 0.999755 uwb: 0.0 848.42 1621.79 -imu_odom_: 1691062932.666329252 0.167594 -0.160412 10.0102 -0.0639159 -0.00106526 0.0191748 0.14 -0.02 pose: 0.6994637 -5.81615 0.194197 0 0.000642182 -0.000310384-0.0220937 0.999756 uwb: 0.0 848.42 1621.79 -imu_odom_: 1691062932.691387511 0.442927 -0.54109 9.92636 -0.0681769 0 0.0756338 0.14 -0.02 pose: 0.0 -5.81615 0.194197 0 0.000642182 -0.000310384-0.0220937 0.999756 uwb: 0.100097416 847.893 1621.59 -imu_odom_: 1691062932.716317735 -0.047884 -0.0742203 9.71328 -0.0671117 0.0127832 0.0213053 0.15 0 pose: 0.54105994 -5.81343 0.203822 0 0.000958272 0.00113746 -0.0218372 0.99976 uwb: 0.0 847.893 1621.59 -imu_odom_: 1691062932.739329195 0.102951 -0.177171 9.76834 -0.0756338 -0.00852212 0.0607201 0.15 0 pose: 0.51015964 -5.80381 0.201111 0 -0.00111307 0.00315749 -0.0216485 0.99976 uwb: 0.49901571 847.446 1621.07 -imu_odom_: 1691062932.755385974 0.270545 -0.299275 9.91678 -0.0649811 -0.0319579 0.0479369 0.13 0.02 pose: 0.0 -5.80381 0.201111 0 -0.00111307 0.00315749 -0.0216485 0.99976 uwb: 0.0 847.446 1621.07 -imu_odom_: 1691062932.782458949 0.287304 -0.452504 10.0054 -0.0596548 0.0127832 0.0351537 0.13 0.02 pose: 0.23850537 -5.80381 0.201111 0 -0.0004043990.00551682 -0.0217422 0.999748 uwb: 0.49982941 845.829 1620.62 -imu_odom_: 1691062932.807523915 0.155623 -0.244209 9.77792 -0.0447411 -0.0372843 0.052198 0.18 0 pose: 0.41140702 -5.79418 0.198403 0 -0.00265211 0.00681391 -0.0215259 0.999742 uwb: 0.0 845.829 1620.62 -imu_odom_: 1691062932.824514265 0.629675 -0.536301 10.331 -0.0585895 -0.0862864 0.0596548 0.18 0 pose: 0.0 -5.79418 0.198403 0 -0.00265211 0.00681391 -0.0215259 0.999742 uwb: 0.0 845.829 1620.62 -imu_odom_: 1691062932.850337812 0.308852 -0.181959 9.18176 -0.0575243 -0.0245011 0.0223706 0.17 0.02 pose: 0.50994966 -5.78455 0.195698 0 -0.00363813 0.00775853 -0.0213377 0.999736 uwb: 0.50052936 840.077 1618.39 -imu_odom_: 1691062932.877638274 0.289698 -0.342371 9.56484 -0.0596548 -0.0127832 0.056459 0.2 -0.02 pose: 0.35865049 -5.78455 0.195698 0 -0.0017274 0.00569071 -0.02145 0.999752 uwb: 0.0 840.077 1618.39 -imu_odom_: 1691062932.903312788 0.1652 -0.356736 9.85453 -0.0490022 -0.00745685 0.0340885 0.2 -0.02 pose: 0.0 -5.78455 0.195698 0 -0.0017274 0.00569071 -0.02145 0.999752 uwb: 0.49998982 837.966 1617.64 -imu_odom_: 1691062932.930325683 0.653617 -0.150835 10.058 -0.0511327 0.0287621 0.052198 0.19 0 pose: 0.7042468 -5.78455 0.195698 0 -0.00244403 0.00572612 -0.0213943 0.999752 uwb: 0.0 837.966 1617.64 -imu_odom_: 1691062932.956341428 0.414197 -0.263362 10.3956 -0.0447411 -0.00213053 0.0255663 0.19 0 pose: 0.45932508 -5.77493 0.192996 0 -0.0053525 0.00818201 -0.0212989 0.999725 uwb: 0.50036313 837.509 1617.18 -imu_odom_: 1691062932.973444647 0.316035 -0.0430956 10.2424 -0.0468716 0.00958738 0.0490022 0.21 0 pose: 0.0 -5.77493 0.192996 0 -0.0050753 0.00764521 -0.0212569 0.999732 uwb: 0.0 837.509 1617.18 -imu_odom_: 1691062932.999464474 0.227449 -0.172383 9.92875 -0.0415453 -0.0394148 0.0447411 0.21 0 pose: 0.0 -5.77493 0.192996 0 -0.0050753 0.00764521 -0.0212569 0.999732 uwb: 0.49892821 836.462 1616.79 -imu_odom_: 1691062933.26310546 0.00957681 -0.112527 10.1059 -0.0340885 -0.00106526 0.0436758 0.22 0 pose: 0.53058096 -5.7626 0.199925 0 -0.00269121 0.00371258 -0.0212915 0.999763 uwb: 0.0 836.462 1616.79 -imu_odom_: 1691062933.51445508 0.68953 -0.414197 10.4315 -0.0511327 0.00532632 0.0372843 0.16 0 pose: 0.43087757 -5.7626 0.199925 0 0.000458133 0.0060735 -0.0211486 0.999758 uwb: 0.50066644 841.337 1617.96 -imu_odom_: 1691062933.68446941 0.622492 -0.0383072 10.0772 -0.0426106 0.0149137 0.0170442 0.17 -0.02 pose: 0.28016462 -5.75297 0.197229 0 0.0010137 0.00726942 -0.0211169 0.99975 uwb: 0.0 841.337 1617.96 -imu_odom_: 1691062933.84297232 0.246603 -0.148441 10.1873 -0.0458064 0.0330232 0.0351537 0.17 -0.02 pose: 0.0 -5.75297 0.197229 0 0.0010137 0.00726942 -0.0211169 0.99975 uwb: 0.49814660 839.871 1616.95 -imu_odom_: 1691062933.111400831 0.3304 -0.339977 9.89045 -0.0340885 -0.0245011 0.0276969 0.22 0 pose: 0.23907408 -5.75297 0.197229 0 0.000615107 0.00528932 -0.0212176 0.999761 uwb: 0.0 839.871 1616.95 -imu_odom_: 1691062933.127479776 0.0766145 -0.0383072 9.74679 -0.0383495 -0.0255663 0.0394148 0.22 0 pose: 0.0 -5.75297 0.197229 0 0.000615107 0.00528932 -0.0212176 0.999761 uwb: 0.0 839.871 1616.95 -imu_odom_: 1691062933.154430841 0.416591 -0.349553 9.76595 -0.0692422 -0.00852212 0.0479369 0.21 -0.02 pose: 0.33015923 -5.74334 0.19453 0 0.0015185 0.00580696 -0.0214074 0.999753 uwb: 0.50145682 837.895 1615.71 -imu_odom_: 1691062933.179310902 0.395043 -0.0047884 10.0102 -0.0585895 0.00958738 0.0372843 0.21 -0.02 pose: 0.0 -5.74334 0.19453 0 0.0015185 0.00580696 -0.0214074 0.999753 uwb: 0.0 837.895 1615.71 -imu_odom_: 1691062933.196312043 0.416591 -0.440533 9.53132 -0.0532632 0.0234358 0.0543285 0.18 -0.02 pose: 0.44044660 -5.73371 0.191827 0 0.000286583 0.00562629 -0.0215046 0.999753 uwb: 0.50092310 835.323 1614.56 -imu_odom_: 1691062933.221493961 0.107739 -0.248997 9.81623 -0.015979 0.0340885 0.0298274 0.18 -0.02 pose: 0.0 -5.73371 0.191827 0 0.000286583 0.00562629 -0.0215046 0.999753 uwb: 0.0 835.323 1614.56 -imu_odom_: 1691062933.248486441 0.560243 -0.289698 10.0628 -0.0745685 0.00319579 0.0649811 0.21 0 pose: 0.50884723 -5.73101 0.201454 0 0.000353529 0.00359632 -0.0214024 0.999764 uwb: 0.49999565 831.699 1613.07 -imu_odom_: 1691062933.274409733 0.617704 -0.0814029 10.1299 -0.0490022 -0.00852212 0.036219 0.18 0 pose: 0.42129687 -5.72138 0.198752 0 -0.0005016590.00576501 -0.021368 0.999755 uwb: 0.0 831.699 1613.07 -imu_odom_: 1691062933.291299755 -0.122104 -0.268151 9.69652 -0.056459 -0.00319579 0.0713727 0.22 0 pose: 0.0 -5.72138 0.198752 0 -0.0005016590.00576501 -0.021368 0.999755 uwb: 0.49768579 834.588 1613.03 -imu_odom_: 1691062933.307325620 0.184354 -0.260968 9.80665 -0.04048 -0.0351537 0.0383495 0.22 0 pose: 0.0 -5.72138 0.198752 0 -0.0005016590.00576501 -0.021368 0.999755 uwb: 0.0 834.588 1613.03 -imu_odom_: 1691062933.332286176 0.0287304 0.0023942 9.56962 -0.072438 -0.00639159 0.0596548 0.24 0 pose: 0.52829735 -5.71175 0.196052 0 1.53188e-05 0.00222896 -0.0210493 0.999776 uwb: 0.0 834.588 1613.03 -imu_odom_: 1691062933.355442878 0.31364 -0.198719 9.79947 -0.0745685 -0.00319579 0.0394148 0.24 0 pose: 0.0 -5.71175 0.196052 0 1.53188e-05 0.00222896 -0.0210493 0.999776 uwb: 0.50003065 836.426 1612.6 -imu_odom_: 1691062933.380475471 0.610521 -0.1652 9.63427 -0.0852212 -0.00639159 0.0500674 0.19 0.02 pose: 0.74142336 -5.69555 0.191521 0 0.000671086 0.00414825 -0.0206414 0.999778 uwb: 0.0 836.426 1612.6 -imu_odom_: 1691062933.407282462 0.380678 -0.380678 9.80186 -0.0543285 0.0287621 0.0298274 0.19 0.02 pose: 0.7892918 -5.69249 0.190669 0 0.000641627 0.00335791 -0.0205987 0.999782 uwb: 0.50002774 839.247 1612.74 -imu_odom_: 1691062933.432300472 0.0550666 -0.344765 10.1059 -0.0660464 0.0117179 0.0500674 0.18 0 pose: 0.43946666 -5.68386 0.195538 0 -0.00208128 0.00199352 -0.0206407 0.999783 uwb: 0.0 839.247 1612.74 -imu_odom_: 1691062933.449312405 0.426168 -0.23942 10.1347 -0.0596548 0.02024 0.0276969 0.18 0 pose: 0.0 -5.68386 0.195538 0 -0.00208128 0.00199352 -0.0206407 0.999783 uwb: 0.0 839.247 1612.74 -imu_odom_: 1691062933.474282585 0.457293 -0.378284 9.7875 -0.0617853 0.00319579 0.0447411 0.21 -0.02 pose: 0.32145640 -5.68017 0.197615 0 -0.00266851 0.00401843 -0.0205494 0.999777 uwb: 0.0 839.247 1612.74 -imu_odom_: 1691062933.491410302 0.131681 -0.399832 9.69412 -0.0585895 -0.0106526 0.0394148 0.21 -0.02 pose: 0.0 -5.68017 0.197615 0 -0.00266851 0.00401843 -0.0205494 0.999777 uwb: 0.99989798 842.498 1613.39 -imu_odom_: 1691062933.516344026 0.0502782 -0.19393 9.85214 -0.0340885 0.0458064 0.0426106 0.18 0 pose: 0.51982200 -5.67054 0.194929 0 -0.0049712 0.00309505 -0.0205505 0.999772 uwb: 0.0 842.498 1613.39 -imu_odom_: 1691062933.532252648 0.509965 -0.1652 10.1754 -0.0575243 -0.04048 0.0372843 0.18 0 pose: 0.7932291 -5.67054 0.194929 0 -0.00457076 0.00402222 -0.0205351 0.999771 uwb: 0.0 842.498 1613.39 -imu_odom_: 1691062933.558287058 0.0407014 -0.203507 9.98382 -0.0426106 0.0330232 0.0372843 0.18 0 pose: 0.0 -5.67054 0.194929 0 -0.00457076 0.00402222 -0.0205351 0.999771 uwb: 0.49994899 848.015 1614.1 -imu_odom_: 1691062933.585297620 0.354342 -0.260968 10.0796 -0.056459 -0.0213053 0.0287621 0.23 0 pose: 0.32910055 -5.66548 0.193517 0 -0.00298742 0.00431773 -0.0205201 0.999776 uwb: 0.50125850 847.137 1613.06 -imu_odom_: 1691062933.610491496 0.430956 0.0502782 9.58878 -0.0777643 0.0287621 0.0490022 0.18 0 pose: 0.53044972 -5.65403 0.190325 0 -0.00222293 0.00438005 -0.0206935 0.999774 uwb: 0.0 847.137 1613.06 -imu_odom_: 1691062933.637428562 -0.0311246 -0.459687 9.75877 -0.0458064 0.0415453 0.0266316 0.23 -0.02 pose: 0.0 -5.65403 0.190325 0 -0.00222293 0.00438005 -0.0206935 0.999774 uwb: 0.49850240 845.778 1611.68 -imu_odom_: 1691062933.663279233 -0.0837971 -0.007182619.72764 -0.0713727 -0.0266316 0.0500674 0.23 -0.02 pose: 0.32213303 -5.65127 0.189556 0 -0.0004792150.00465791 -0.0206133 0.999777 uwb: 0.0 845.778 1611.68 -imu_odom_: 1691062933.690397122 0.691924 -0.131681 9.89763 -0.0308927 -0.0234358 0.0276969 0.23 -0.02 pose: 0.45768310 -5.63895 0.196502 0 -0.0001832140.00862887 -0.0205956 0.999751 uwb: 0.0 845.778 1611.68 -imu_odom_: 1691062933.706279495 0.85473 -0.138864 10.1059 -0.0596548 0.0223706 0.0500674 0.23 -0.02 pose: 0.7062883 -5.63895 0.196502 0 2.35531e-05 0.00786347 -0.0206375 0.999756 uwb: 0.0 845.778 1611.68 -imu_odom_: 1691062933.733379302 0.440533 -0.260968 10.003 -0.0351537 0.00532632 0.0383495 0.23 0 pose: 0.0 -5.63895 0.196502 0 2.35531e-05 0.00786347 -0.0206375 0.999756 uwb: 0.100231576 843.827 1610.43 -imu_odom_: 1691062933.759330009 0.639252 -0.308852 9.73482 -0.0607201 0.0266316 0.0426106 0.23 0 pose: 0.43958040 -5.62932 0.193815 0 0.000452422 0.00363884 -0.0206775 0.999779 uwb: 0.0 843.827 1610.43 -imu_odom_: 1691062933.786408526 0.402226 -0.0694318 10.1347 -0.0340885 0.0234358 0.0553937 0.25 0.02 pose: 0.45029853 -5.6224 0.191881 0 -0.00112899 -2.88643e-05-0.0206555 0.999786 uwb: 0.49924903 845.744 1609.59 -imu_odom_: 1691062933.812315485 0.438139 -0.0957681 10.422 -0.0681769 0.0372843 0.0383495 0.18 0.02 pose: 0.0 -5.6224 0.191881 0 -0.00112899 -2.88643e-05-0.0206555 0.999786 uwb: 0.0 845.744 1609.59 -imu_odom_: 1691062933.829315751 0.0215478 -0.0622492 9.84735 -0.0532632 0.0245011 0.0468716 0.18 0.02 pose: 0.35115218 -5.61969 0.191127 0 0.00253536 9.36758e-05 -0.0204456 0.999788 uwb: 0.0 845.744 1609.59 -imu_odom_: 1691062933.855327705 0.234632 -0.351948 9.61272 -0.0788296 0.0490022 0.0458064 0.2 0 pose: 0.0 -5.61969 0.191127 0 0.00253536 9.36758e-05 -0.0204456 0.999788 uwb: 0.49918487 842.2 1607.93 -imu_odom_: 1691062933.882447052 0.158017 -0.244209 9.56962 -0.0777643 -0.00106526 0.0596548 0.2 0 pose: 0.42865812 -5.61006 0.188443 0 0.00361428 0.00216102 -0.0203744 0.999784 uwb: 0.49940652 843.014 1606.97 -imu_odom_: 1691062933.907409650 0.438139 -0.287304 10.0126 -0.0809601 -0.00745685 0.0436758 0.18 0.02 pose: 0.45136013 -5.5985 0.192672 0 0.000725088 0.00624967 -0.020057 0.999779 uwb: 0.0 843.014 1606.97 -imu_odom_: 1691062933.934460168 0.452504 -0.246603 10.0796 -0.0756338 0.00426106 0.0543285 0.18 0.02 pose: 0.7889127 -5.59774 0.195395 0 0.000239238 0.00554941 -0.0200423 0.999784 uwb: 0.50041563 847.424 1607.4 -imu_odom_: 1691062933.960373252 0.251391 -0.241814 10.0197 -0.0330232 -0.00852212 0.0340885 0.18 0.02 pose: 0.44123989 -5.58811 0.192719 0 -0.00143204 0.00147184 -0.0198135 0.999802 uwb: 0.0 847.424 1607.4 -imu_odom_: 1691062933.977302939 0.514753 -0.361524 9.73482 -0.072438 -0.0191748 0.0426106 0.18 0.02 pose: 0.0 -5.58811 0.192719 0 -0.00143204 0.00147184 -0.0198135 0.999802 uwb: 0.0 847.424 1607.4 -imu_odom_: 1691062933.994456322 0.667982 -0.237026 9.66539 -0.0713727 -0.0319579 0.0415453 0.25 0.02 pose: 0.0 -5.58811 0.192719 0 -0.00143204 0.00147184 -0.0198135 0.999802 uwb: 0.49917612 850.936 1606.86 -imu_odom_: 1691062934.19346590 0.344765 -0.311246 9.91678 -0.0575243 -0.00319579 0.0490022 0.25 0.02 pose: 0.32813518 -5.57847 0.190047 0 -0.00150941 0.00338272 -0.0198725 0.999796 uwb: 0.0 850.936 1606.86 -imu_odom_: 1691062934.42367092 0.56982 -0.311246 10.1418 -0.0287621 -0.00958738 0.04048 0.18 0 pose: 0.52072904 -5.57843 0.190032 0 -0.00405591 0.00227817 -0.0197256 0.999795 uwb: 0.50005690 850.209 1605.26 -imu_odom_: 1691062934.67273109 0.354342 -0.225055 10.1227 -0.0628506 -0.015979 0.056459 0.18 0 pose: 0.6054358 -5.57847 0.190048 0 -0.00402898 0.00165706 -0.0197256 0.999796 uwb: 0.0 850.209 1605.26 -imu_odom_: 1691062934.94298546 0.531513 -0.220267 9.76355 -0.0394148 -0.0170442 0.0436758 0.21 -0.02 pose: 0.41872161 -5.56886 0.187281 0 -0.00203202 0.0012408 -0.0195093 0.999807 uwb: 0.50235511 848.304 1603.89 -imu_odom_: 1691062934.119294975 0.124498 -0.215478 10.1682 -0.0532632 -0.00745685 0.0585895 0.18 0 pose: 0.0 -5.56886 0.187281 0 -0.00203202 0.0012408 -0.0195093 0.999807 uwb: 0.0 848.304 1603.89 -imu_odom_: 1691062934.146367075 0.373495 0.0574608 10.0197 -0.0479369 -0.0234358 0.0447411 0.18 0 pose: 0.35047848 -5.55649 0.194131 0 -0.00119309 -0.000801078-0.0193815 0.999811 uwb: 0.49877656 844.415 1601.54 -imu_odom_: 1691062934.162359692 0.54109 -0.490811 9.4164 -0.0649811 -0.052198 0.0639159 0.18 -0.02 pose: 0.0 -5.55649 0.194131 0 -0.00119309 -0.000801078-0.0193815 0.999811 uwb: 0.0 844.415 1601.54 -imu_odom_: 1691062934.189244262 0.754174 -0.138864 10.0317 -0.0330232 -0.0234358 0.0213053 0.18 -0.02 pose: 0.51987742 -5.54688 0.191373 0 0.00103233 0.000142683 -0.0190494 0.999818 uwb: 0.50074520 846.29 1600.79 -imu_odom_: 1691062934.215240175 0.402226 -0.21069 9.92875 -0.0628506 -0.0276969 0.0490022 0.19 0 pose: 0.34935563 -5.54005 0.189419 0 0.00104608 -0.0033001 -0.0191966 0.99981 uwb: 0.0 846.29 1600.79 -imu_odom_: 1691062934.242344940 0.366313 -0.294487 9.46188 -0.072438 -0.0649811 0.056459 0.19 0 pose: 0.8120988 -5.53726 0.18862 0 0.000814363 -0.00260665 -0.0191588 0.999813 uwb: 0.50003358 848.633 1600.36 -imu_odom_: 1691062934.258277185 0.543484 -0.35913 9.73722 -0.0788296 -0.0223706 0.0468716 0.2 0 pose: 0.0 -5.53726 0.18862 0 0.000814363 -0.00260665 -0.0191588 0.999813 uwb: 0.0 848.633 1600.36 -imu_odom_: 1691062934.285299997 0.584185 -0.203507 9.77313 -0.0436758 -0.0170442 0.0436758 0.2 0 pose: 0.44979690 -5.53039 0.186653 0 -0.00217685 -0.00035801 -0.0188453 0.99982 uwb: 0.49940361 851.423 1600.36 -imu_odom_: 1691062934.311247787 0.339977 -0.332794 10.1107 -0.0426106 0.0138484 0.0308927 0.18 0 pose: 0.42955057 -5.52765 0.185868 0 -0.00201594 -0.00434536 -0.0187432 0.999813 uwb: 0.0 851.423 1600.36 -imu_odom_: 1691062934.338404175 0.414197 -0.160412 10.1131 -0.0809601 -0.0266316 0.072438 0.23 0 pose: 0.0 -5.52765 0.185868 0 -0.00201594 -0.00434536 -0.0187432 0.999813 uwb: 0.49984983 856.944 1600.49 -imu_odom_: 1691062934.364361881 0.292093 -0.213084 9.84017 -0.0426106 0.0287621 0.0213053 0.18 0 pose: 0.33090877 -5.51803 0.18312 0 -0.00240817 -0.00172525 -0.0187294 0.99982 uwb: 0.0 856.944 1600.49 -imu_odom_: 1691062934.391279116 0.730232 -0.25618 10.1059 -0.0820254 -0.0639159 0.056459 0.25 0 pose: 0.45971007 -5.50835 0.190758 0 -0.0002165060.00146995 -0.0186387 0.999825 uwb: 0.49915862 855.083 1599.01 -imu_odom_: 1691062934.407239068 1.20189 -0.184354 9.87369 -0.0372843 0.0213053 0.0223706 0.25 0 pose: 0.0 -5.50835 0.190758 0 -0.0002165060.00146995 -0.0186387 0.999825 uwb: 0.0 855.083 1599.01 -imu_odom_: 1691062934.434282295 0.411803 -0.299275 10.0676 -0.0820254 0.0287621 0.0575243 0.25 0 pose: 0.42877187 -5.50058 0.188541 0 -0.000697131-0.00339538 -0.0185506 0.999822 uwb: 0.49956111 853.186 1597.7 -imu_odom_: 1691062934.450250121 0.373495 -0.464475 9.65103 -0.0745685 0.00958738 0.0319579 0.25 0 pose: 0.7049467 -5.49606 0.18725 0 -0.00132594 -0.00281971 -0.0184857 0.999824 uwb: 0.0 853.186 1597.7 -imu_odom_: 1691062934.466229322 0.361524 -0.124498 10.2472 -0.052198 0.02024 0.02024 0.25 0 pose: 0.0 -5.49606 0.18725 0 -0.00132594 -0.00281971 -0.0184857 0.999824 uwb: 0.0 853.186 1597.7 -imu_odom_: 1691062934.483248254 0.519542 -0.411803 9.7444 -0.0852212 -0.00106526 0.0479369 0.23 0 pose: 0.42950390 -5.49606 0.18725 0 -0.00410453 -0.000343264-0.0184269 0.999822 uwb: 0.50014731 858.111 1597.9 -imu_odom_: 1691062934.510259691 0.299275 -0.217872 9.8689 -0.0532632 -0.00213053 0.0458064 0.23 0 pose: 0.0 -5.49606 0.18725 0 -0.00410453 -0.000343264-0.0184269 0.999822 uwb: 0.0 858.111 1597.9 -imu_odom_: 1691062934.535221997 0.555455 -0.409408 9.75877 -0.0809601 -0.0298274 0.0266316 0.25 -0.02 pose: 0.33182456 -5.48644 0.184509 0 -0.00435581 -0.000458156-0.0184216 0.999821 uwb: 0.50282467 853.757 1595.37 -imu_odom_: 1691062934.562224685 0.368707 -0.328006 10.0149 -0.052198 -0.0191748 0.0415453 0.2 0 pose: 0.44800616 -5.4768 0.181864 0 -0.00503852 -0.00110871 -0.0185216 0.999815 uwb: 0.0 853.757 1595.37 -imu_odom_: 1691062934.587269237 1.08218 -0.227449 9.72764 -0.0340885 0.0255663 0.0223706 0.2 0 pose: 0.0 -5.4768 0.181864 0 -0.00503852 -0.00110871 -0.0185216 0.999815 uwb: 0.49687500 851.345 1594 -imu_odom_: 1691062934.614263175 0.61531 -0.318429 9.92157 -0.0745685 0.0298274 0.0458064 0.23 -0.02 pose: 0.7064633 -5.4768 0.181864 0 -0.00518167 -0.000471868-0.0185108 0.999815 uwb: 0.0 851.345 1594 -imu_odom_: 1691062934.639395221 0.73502 -0.21069 9.77074 -0.0511327 -0.00639159 0.0287621 0.23 -0.02 pose: 0.0 -5.4768 0.181864 0 -0.00518167 -0.000471868-0.0185108 0.999815 uwb: 0.50002191 849.495 1592.59 -imu_odom_: 1691062934.666242751 0.155623 -0.579397 9.93354 -0.0628506 0.0223706 0.0340885 0.21 -0.02 pose: 0.51943995 -5.46451 0.188861 0 -0.0051203 -0.0013728 -0.018694 0.999811 uwb: 0.0 849.495 1592.59 -imu_odom_: 1691062934.691244722 0.416591 0.023942 9.87369 -0.0553937 -0.0330232 0.04048 0.18 0 pose: 0.72012126 -5.45486 0.186212 0 -0.00618191 -0.0029096 -0.0188518 0.999799 uwb: 0.50017357 849.726 1591.68 -imu_odom_: 1691062934.708260446 0.785298 -0.363919 9.97185 -0.0820254 -0.00745685 0.0479369 0.23 0 pose: 0.8200609 -5.45486 0.186212 0 -0.00536825 -0.00293931 -0.0188493 0.999804 uwb: 0.0 849.726 1591.68 -imu_odom_: 1691062934.724361264 -0.0814029 -0.383072 9.43794 -0.0383495 0.0117179 0.0223706 0.23 0 pose: 0.0 -5.45486 0.186212 0 -0.00536825 -0.00293931 -0.0188493 0.999804 uwb: 0.0 849.726 1591.68 -imu_odom_: 1691062934.751261875 0.687136 -0.354342 9.64624 -0.0649811 -0.036219 0.04048 0.25 -0.02 pose: 0.23807665 -5.44522 0.183559 0 -0.00397198 -0.00368856 -0.018817 0.999808 uwb: 0.49962526 853.061 1591.5 -imu_odom_: 1691062934.776286010 0.296881 -0.203507 9.80904 -0.0298274 0.00106526 0.0234358 0.25 -0.02 pose: 0.0 -5.44522 0.183559 0 -0.00397198 -0.00368856 -0.018817 0.999808 uwb: 0.0 853.061 1591.5 -imu_odom_: 1691062934.793228530 0.270545 -0.289698 9.90002 -0.0692422 0.0149137 0.0575243 0.23 -0.02 pose: 0.34169981 -5.44522 0.183559 0 -0.00468584 -0.00385769 -0.0189075 0.999803 uwb: 0.50142766 848.61 1589.58 -imu_odom_: 1691062934.818477528 0.596156 -0.155623 10.0078 -0.0458064 0.0127832 0.04048 0.23 -0.02 pose: 0.0 -5.44522 0.183559 0 -0.00468584 -0.00385769 -0.0189075 0.999803 uwb: 0.0 848.61 1589.58 -imu_odom_: 1691062934.845417220 0.222661 -0.531513 9.64863 -0.0479369 0.0351537 0.036219 0.23 0 pose: 0.50819102 -5.43293 0.190547 0 -0.0038368 -0.00293334 -0.0190358 0.999807 uwb: 0.0 848.61 1589.58 -imu_odom_: 1691062934.861279177 0.158017 -0.114922 9.75637 -0.0234358 0.00958738 0.0298274 0.23 0 pose: 0.0 -5.43293 0.190547 0 -0.0038368 -0.00293334 -0.0190358 0.999807 uwb: 0.0 848.61 1589.58 -imu_odom_: 1691062934.878347981 0.311246 -0.462081 9.7875 -0.0830906 -0.00958738 0.0713727 0.25 0 pose: 0.42249848 -5.42328 0.187891 0 -0.00263183 -0.00294275 -0.018952 0.999813 uwb: 0.0 848.61 1589.58 -imu_odom_: 1691062934.894259519 0.426168 -0.356736 9.66539 -0.0692422 -0.0106526 0.0468716 0.25 0 pose: 0.0 -5.42328 0.187891 0 -0.00263183 -0.00294275 -0.018952 0.999813 uwb: 0.0 848.61 1589.58 -imu_odom_: 1691062934.911365363 0.565032 -0.0790087 9.71806 -0.0447411 0.00532632 0.0415453 0.25 0 pose: 0.43016886 -5.41364 0.185236 0 -0.00360802 0.000523386 -0.0189355 0.999814 uwb: 0.0 848.61 1589.58 -imu_odom_: 1691062934.936334377 0.773327 -0.430956 10.0485 -0.0884169 -0.00213053 0.0543285 0.25 0 pose: 0.0 -5.41364 0.185236 0 -0.00360802 0.000523386 -0.0189355 0.999814 uwb: 0.149986157 849.884 1588.88 -imu_odom_: 1691062934.963195906 0.351948 -0.131681 9.47146 -0.072438 0.0138484 0.0585895 0.23 -0.02 pose: 0.67827535 -5.404 0.182581 0 -0.00582901 -0.00319544 -0.0185404 0.999806 uwb: 0.0 849.884 1588.88 -imu_odom_: 1691062934.979265518 0.454898 -0.462081 10.0556 -0.0937433 -0.00532632 0.0628506 0.23 -0.02 pose: 0.0 -5.404 0.182581 0 -0.00582901 -0.00319544 -0.0185404 0.999806 uwb: 0.0 849.884 1588.88 -imu_odom_: 1691062934.996173915 0.462081 -0.306458 10.1945 -0.0447411 0.0692422 0.04048 0.23 -0.02 pose: 0.0 -5.404 0.182581 0 -0.00582901 -0.00319544 -0.0185404 0.999806 uwb: 0.49872115 847.546 1587.34 -imu_odom_: 1691062935.21228674 -0.0023942 -0.0861913 10.1203 -0.072438 0.0649811 0.0628506 0.25 0 pose: 0.7877461 -5.404 0.182581 0 -0.00520961 -0.00273371 -0.0184662 0.999812 uwb: 0.0 847.546 1587.34 -imu_odom_: 1691062935.48172741 -0.198719 -0.177171 9.80904 -0.0426106 0.0234358 0.0330232 0.23 0.02 pose: 0.41983280 -5.39436 0.179936 0 -0.00511186 -0.00201179 -0.0181006 0.999821 uwb: 0.50005107 843.704 1585.31 -imu_odom_: 1691062935.74325853 0.143652 -0.0766145 9.63187 -0.0415453 -0.0191748 0.0532632 0.23 0.02 pose: 0.0 -5.39436 0.179936 0 -0.00511186 -0.00201179 -0.0181006 0.999821 uwb: 0.0 843.704 1585.31 -imu_odom_: 1691062935.101206340 0.440533 -0.277727 9.87369 -0.0585895 -0.0106526 0.0511327 0.23 0 pose: 0.42048317 -5.38207 0.186944 0 -0.00327276 0.00152941 -0.01783 0.999835 uwb: 0.50070438 840.309 1583.68 -imu_odom_: 1691062935.117374239 0.610521 -0.208296 10.0197 -0.052198 0.0117179 0.0426106 0.23 0 pose: 0.0 -5.38207 0.186944 0 -0.00327276 0.00152941 -0.01783 0.999835 uwb: 0.0 840.309 1583.68 -imu_odom_: 1691062935.143181746 0.555455 -0.268151 9.75637 -0.0553937 -0.0223706 0.0543285 0.25 0.02 pose: 0.53118470 -5.37243 0.184292 0 -0.0009290730.0046803 -0.0176594 0.999833 uwb: 0.0 840.309 1583.68 -imu_odom_: 1691062935.166323866 0.739808 0.047884 9.9934 -0.0490022 -0.00426106 0.0458064 0.25 0.02 pose: 0.0 -5.37243 0.184292 0 -0.0009290730.0046803 -0.0176594 0.999833 uwb: 0.0 840.309 1583.68 -imu_odom_: 1691062935.191198969 0.514753 -0.117316 9.68933 -0.056459 0.0245011 0.0490022 0.18 -0.02 pose: 0.84961961 -5.35627 0.179719 0 -0.000159131-0.003196 -0.0172742 0.999846 uwb: 0.99988050 844.675 1583.72 -imu_odom_: 1691062935.218209240 0.574608 -0.392649 9.73722 -0.0319579 -0.015979 0.0266316 0.23 0.02 pose: 0.8083366 -5.35319 0.178847 0 0.000553327 -0.00345829 -0.0172385 0.999845 uwb: 0.0 844.675 1583.72 -imu_odom_: 1691062935.243168046 0.0814029 -0.627281 9.4571 -0.0703074 -0.00106526 0.0628506 0.23 0.02 pose: 0.0 -5.35319 0.178847 0 0.000553327 -0.00345829 -0.0172385 0.999845 uwb: 0.49793953 847.026 1583.08 -imu_odom_: 1691062935.260168605 0.68953 -0.268151 9.991 -0.0553937 0.00532632 0.0287621 0.21 0 pose: 0.23883785 -5.35319 0.178847 0 0.00146087 -0.004318 -0.0172067 0.999842 uwb: 0.0 847.026 1583.08 -imu_odom_: 1691062935.285176700 0.711078 -0.102951 10.1849 -0.0617853 -0.0181095 0.0468716 0.21 0 pose: 0.0 -5.35319 0.178847 0 0.00146087 -0.004318 -0.0172067 0.999842 uwb: 0.49994900 848.228 1582.64 -imu_odom_: 1691062935.312191929 0.608127 -0.3304 9.3733 -0.0511327 0.00319579 0.0383495 0.23 0.02 pose: 0.51894707 -5.34085 0.185754 0 -0.00210848 -0.00401586 -0.0170668 0.999844 uwb: 0.0 848.228 1582.64 -imu_odom_: 1691062935.328222752 0.672771 -0.265756 10.2113 -0.0585895 -0.0298274 0.0532632 0.23 0.02 pose: 0.0 -5.34085 0.185754 0 -0.00210848 -0.00401586 -0.0170668 0.999844 uwb: 0.0 848.228 1582.64 -imu_odom_: 1691062935.355420262 0.814029 -0.457293 9.80665 -0.052198 0.00639159 0.0330232 0.25 0.02 pose: 0.42188893 -5.33122 0.183039 0 -0.00139669 -0.00754478 -0.0170432 0.999825 uwb: 0.49982943 843.826 1580.82 -imu_odom_: 1691062935.380225952 0.600945 -0.351948 9.87848 -0.0319579 0.0138484 0.0532632 0.25 0.02 pose: 0.0 -5.33122 0.183039 0 -0.00139669 -0.00754478 -0.0170432 0.999825 uwb: 0.0 843.826 1580.82 -imu_odom_: 1691062935.407237682 0.342371 0.201113 10.1754 -0.0287621 0.00532632 0.0458064 0.23 0 pose: 0.43813091 -5.3216 0.180326 0 -0.00347915 -0.010926 -0.0169613 0.99979 uwb: 0.50068979 842.555 1579.48 -imu_odom_: 1691062935.433247594 -0.0167594 -0.512359 9.68215 -0.0820254 0.00532632 0.0596548 0.19 -0.02 pose: 0.50991467 -5.3216 0.180326 0 -0.00558651 -0.0100064 -0.0167943 0.999793 uwb: 0.50165223 841.785 1578.32 -imu_odom_: 1691062935.460164829 0.25618 -0.114922 10.0868 -0.0575243 -0.0191748 0.052198 0.23 0.02 pose: 0.0 -5.3216 0.180326 0 -0.00558651 -0.0100064 -0.0167943 0.999793 uwb: 0.0 841.785 1578.32 -imu_odom_: 1691062935.476211692 0.682347 -0.390255 10.0437 -0.0681769 -0.00639159 0.0585895 0.23 0.02 pose: 0.53028058 -5.31197 0.177618 0 -0.00437095 -0.00595839 -0.0164251 0.999838 uwb: 0.0 841.785 1578.32 -imu_odom_: 1691062935.503436034 0.184354 -0.0861913 9.85214 -0.0575243 0.0255663 0.0628506 0.23 0.02 pose: 0.0 -5.31197 0.177618 0 -0.00437095 -0.00595839 -0.0164251 0.999838 uwb: 0.49821077 840.541 1576.93 -imu_odom_: 1691062935.529303913 0.270545 -0.196325 10.0533 -0.076699 -0.0170442 0.0553937 0.18 -0.02 pose: 0.63228801 -5.2927 0.182601 0 -0.00272816 -0.00316832 -0.0158315 0.999866 uwb: 0.0 840.541 1576.93 -imu_odom_: 1691062935.556310685 0.701501 -0.579397 9.78989 -0.072438 0.015979 0.0490022 0.25 0 pose: 0.7854713 -5.29001 0.18185 0 -0.00253241 -0.00248301 -0.0157685 0.999869 uwb: 0.49982359 839.848 1575.52 -imu_odom_: 1691062935.582227852 0.153229 -0.296881 9.96706 -0.0436758 0.0394148 0.04048 0.18 -0.02 pose: 0.24944515 -5.29001 0.18185 0 -0.00267412 -0.00128537 -0.0155919 0.999874 uwb: 0.49982359 840.721 1574.32 -imu_odom_: 1691062935.599209453 0.366313 -0.225055 9.79468 -0.0873517 0.00106526 0.052198 0.18 -0.02 pose: 0.0 -5.29001 0.18185 0 -0.00267412 -0.00128537 -0.0155919 0.999874 uwb: 0.0 840.721 1574.32 -imu_odom_: 1691062935.625206825 0.426168 -0.40462 9.52653 -0.0596548 0.0479369 0.0372843 0.18 0.02 pose: 0.28024921 -5.28037 0.179184 0 -0.00431422 -0.00140081 -0.0154927 0.99987 uwb: 0.0 840.721 1574.32 -imu_odom_: 1691062935.652202513 0.545878 -0.155623 10.5656 -0.052198 -0.0127832 0.0308927 0.18 0.02 pose: 0.0 -5.28037 0.179184 0 -0.00431422 -0.00140081 -0.0154927 0.99987 uwb: 0.50016482 835.567 1571.57 -imu_odom_: 1691062935.678288838 0.76375 -0.0694318 10.0485 -0.0372843 -0.0298274 0.0426106 0.18 0 pose: 0.42966140 -5.27071 0.176597 0 -0.00357815 0.0012953 -0.0153794 0.999874 uwb: 0.0 835.567 1571.57 -imu_odom_: 1691062935.705224155 0.790087 -0.323217 10.1634 -0.0266316 -0.0809601 0.0266316 0.18 0 pose: 0.53088429 -5.26105 0.17401 0 -0.00288317 -0.00163138 -0.0155197 0.999874 uwb: 0.0 835.567 1571.57 -imu_odom_: 1691062935.731423348 0.416591 -0.0407014 9.84975 -0.0553937 -0.0394148 0.0628506 0.18 0 pose: 0.0 -5.26105 0.17401 0 -0.00288317 -0.00163138 -0.0155197 0.999874 uwb: 0.0 835.567 1571.57 -imu_odom_: 1691062935.756352115 1.01275 -0.217872 9.69652 -0.052198 0.00213053 0.0308927 0.23 -0.02 pose: 0.52867651 -5.24881 0.181079 0 -0.00138982 -0.00681192 -0.0155822 0.999854 uwb: 0.99962094 834.948 1569.98 -imu_odom_: 1691062935.770291808 0.442927 -0.272939 9.87129 -0.0617853 0 0.0447411 0.23 -0.02 pose: 0.0 -5.24881 0.181079 0 -0.00138982 -0.00681192 -0.0155822 0.999854 uwb: 0.0 834.948 1569.98 -imu_odom_: 1691062935.787191456 0.823605 -0.270545 10.2065 -0.0820254 -0.0149137 0.0447411 0.23 -0.02 pose: 0.0 -5.24881 0.181079 0 -0.00138982 -0.00681192 -0.0155822 0.999854 uwb: 0.50123809 833.401 1567.89 -imu_odom_: 1691062935.810313160 0.519542 -0.387861 9.78989 -0.0543285 -0.0671117 0.0298274 0.18 0.02 pose: 0.74009053 -5.23915 0.178493 0 -0.00104365 -0.00910208 -0.0154014 0.999839 uwb: 0.0 833.401 1567.89 -imu_odom_: 1691062935.836153916 0.543484 -0.320823 9.72764 -0.0553937 -0.00213053 0.0394148 0.18 0.02 pose: 0.6012360 -5.23915 0.178493 0 -0.0016017 -0.00906609 -0.0154252 0.999839 uwb: 0.49938320 832.794 1566.29 -imu_odom_: 1691062935.862144579 0.232238 -0.0670376 9.97424 -0.056459 0.00106526 0.0617853 0.25 -0.02 pose: 0.42950100 -5.23224 0.176644 0 -0.00529228 -0.00743355 -0.0154715 0.999839 uwb: 0.0 832.794 1566.29 -imu_odom_: 1691062935.888170824 0.225055 -0.189142 9.65103 -0.052198 0.0436758 0.0383495 0.19 0 pose: 0.0 -5.23224 0.176644 0 -0.00529228 -0.00743355 -0.0154715 0.999839 uwb: 0.0 832.794 1566.29 -imu_odom_: 1691062935.905169632 0.402226 -0.349553 10.0126 -0.0468716 -0.02024 0.0490022 0.19 0 pose: 0.33055004 -5.22949 0.175906 0 -0.00342612 -0.00450528 -0.015189 0.999869 uwb: 0.0 832.794 1566.29 -imu_odom_: 1691062935.931203751 0.172383 -0.318429 10.3382 -0.0287621 -0.0117179 0.0436758 0.18 0 pose: 0.0 -5.22949 0.175906 0 -0.00342612 -0.00450528 -0.015189 0.999869 uwb: 0.0 832.794 1566.29 -imu_odom_: 1691062935.958326599 0.553061 -0.244209 9.81144 -0.0820254 -0.0213053 0.0756338 0.18 0 pose: 0.43953375 -5.21725 0.182985 0 -0.00409306 -0.0007638 -0.0150926 0.999877 uwb: 0.100052213 832.033 1565.23 -imu_odom_: 1691062935.983134331 0.134075 -0.110133 9.71328 -0.0490022 0.0372843 0.0468716 0.2 0 pose: 0.45164304 -5.20758 0.180405 0 -0.00362325 -0.00188133 -0.014567 0.999886 uwb: 0.49996067 834.297 1564.82 -imu_odom_: 1691062936.10206432 0.0407014 -0.153229 10.0533 -0.072438 -0.0234358 0.0628506 0.2 0 pose: 0.6953223 -5.20758 0.180405 0 -0.00324712 -0.0011367 -0.0145407 0.999888 uwb: 0.0 834.297 1564.82 -imu_odom_: 1691062936.27135536 0.816423 -0.203507 10.1586 -0.0447411 -0.0255663 0.0308927 0.18 0.02 pose: 0.44926610 -5.19792 0.177835 0 -0.00168159 0.00309809 -0.0141507 0.999894 uwb: 0.0 834.297 1564.82 -imu_odom_: 1691062936.52183880 0.811634 -0.447716 9.42837 -0.0916127 -0.00532632 0.0692422 0.18 0.02 pose: 0.0 -5.19792 0.177835 0 -0.00168159 0.00309809 -0.0141507 0.999894 uwb: 0.49858408 835.619 1563.96 -imu_odom_: 1691062936.75208173 0.035913 -0.265756 9.69412 -0.0607201 0.015979 0.0394148 0.2 -0.02 pose: 0.41977448 -5.19068 0.175914 0 -0.00302004 -0.00102325 -0.0138592 0.999899 uwb: 0.0 835.619 1563.96 -imu_odom_: 1691062936.100133440 0.287304 -0.277727 9.991 -0.0692422 -0.0117179 0.052198 0.2 -0.02 pose: 0.0 -5.19068 0.175914 0 -0.00302004 -0.00102325 -0.0138592 0.999899 uwb: 0.50143642 835.476 1562.62 -imu_odom_: 1691062936.127293328 0.146046 -0.222661 9.79707 -0.04048 -0.0287621 0.0372843 0.23 0 pose: 0.47949560 -5.18144 0.173472 0 -0.0032425 0.00391729 -0.0136897 0.999893 uwb: 0.0 835.476 1562.62 -imu_odom_: 1691062936.144275804 0.548272 -0.426168 9.9527 -0.0553937 -0.0351537 0.0426106 0.23 0 pose: 0.0 -5.18144 0.173472 0 -0.0032425 0.00391729 -0.0136897 0.999893 uwb: 0.49926071 835.349 1561.24 -imu_odom_: 1691062936.169345729 0.658405 -0.179565 10.3262 -0.0436758 -0.056459 0.0458064 0.18 0 pose: 0.35125136 -5.17603 0.182388 0 -0.00264765 0.00537484 -0.0137007 0.999888 uwb: 0.0 835.349 1561.24 -imu_odom_: 1691062936.192286319 0.248997 -0.328006 9.88326 -0.0479369 -0.0308927 0.0447411 0.18 0 pose: 0.0 -5.17603 0.182388 0 -0.00264765 0.00537484 -0.0137007 0.999888 uwb: 0.50078021 835.627 1560.29 -imu_odom_: 1691062936.218193571 0.557849 -0.0047884 10.2448 -0.0266316 -0.0617853 0.0436758 0.2 0 pose: 0.40101556 -5.16636 0.179834 0 -0.00258692 0.00185633 -0.0136002 0.999902 uwb: 0.0 835.627 1560.29 -imu_odom_: 1691062936.235269375 0.337582 -0.380678 9.63666 -0.0617853 0.00639159 0.0500674 0.2 0 pose: 0.0 -5.16636 0.179834 0 -0.00258692 0.00185633 -0.0136002 0.999902 uwb: 0.49926363 838.838 1560.2 -imu_odom_: 1691062936.261321869 0.263362 -0.263362 9.72285 -0.0447411 0.00639159 0.0500674 0.25 0 pose: 0.49975651 -5.15672 0.177186 0 -0.00161133 0.00104192 -0.0134612 0.999908 uwb: 0.0 838.838 1560.2 -imu_odom_: 1691062936.288249312 0.306458 -0.244209 9.97664 -0.0415453 -0.0106526 0.0330232 0.25 0.02 pose: 0.35986086 -5.14972 0.175266 0 -0.00237615 0.00417589 -0.0132665 0.9999 uwb: 0.49921405 833.731 1557.75 -imu_odom_: 1691062936.313222993 0.316035 -0.253785 10.0365 -0.0671117 -0.0308927 0.0692422 0.25 0.02 pose: 0.0 -5.14972 0.175266 0 -0.00237615 0.00417589 -0.0132665 0.9999 uwb: 0.0 833.731 1557.75 -imu_odom_: 1691062936.330178054 0.811634 -0.323217 10.1299 -0.056459 0.0117179 0.0426106 0.23 0.02 pose: 0.6818772 -5.14708 0.174542 0 -0.00179503 0.00457733 -0.0132858 0.9999 uwb: 0.0 833.731 1557.75 -imu_odom_: 1691062936.355252354 0.876278 -0.201113 10.2041 -0.036219 -0.0170442 0.0319579 0.23 0.02 pose: 0.0 -5.14708 0.174542 0 -0.00179503 0.00457733 -0.0132858 0.9999 uwb: 0.49993734 834.06 1556.65 -imu_odom_: 1691062936.381216477 0.356736 -0.263362 9.31344 -0.0575243 -0.0181095 0.0351537 0.21 0 pose: 0.52119570 -5.13743 0.171901 0 -0.00234807 0.00331183 -0.0129745 0.999908 uwb: 0.0 834.06 1556.65 -imu_odom_: 1691062936.407135103 0.533907 -0.497994 9.71806 -0.0735032 -0.0372843 0.0607201 0.21 0 pose: 0.0 -5.13743 0.171901 0 -0.00234807 0.00331183 -0.0129745 0.999908 uwb: 0.50021440 835.852 1555.95 -imu_odom_: 1691062936.434154124 0.727837 -0.392649 9.79707 -0.0458064 0.00319579 0.0255663 0.23 -0.02 pose: 0.41866620 -5.13479 0.181547 0 -0.00213928 0.000376132 -0.0130775 0.999912 uwb: 0.50071605 839.671 1555.48 -imu_odom_: 1691062936.450144991 0.452504 -0.0454898 9.56244 -0.0500674 0.0223706 0.0426106 0.23 -0.02 pose: 0.0 -5.13479 0.181547 0 -0.00213928 0.000376132 -0.0130775 0.999912 uwb: 0.0 839.671 1555.48 -imu_odom_: 1691062936.477216801 0.35913 -0.363919 9.92875 -0.036219 0.0245011 0.0266316 0.2 0 pose: 0.52025367 -5.12515 0.178909 0 -0.00508539 -0.000474749-0.0129011 0.999904 uwb: 0.0 839.671 1555.48 -imu_odom_: 1691062936.502291684 0.766145 -0.490811 9.40921 -0.0820254 0.0138484 0.0745685 0.18 0.02 pose: 0.63064603 -5.10858 0.174382 0 -0.00531608 0.000304842 -0.0131964 0.999899 uwb: 0.49880574 839.99 1554.37 -imu_odom_: 1691062936.529166338 0.0694318 -0.213084 10.0796 -0.04048 -0.00852212 0.036219 0.18 0.02 pose: 0.0 -5.10858 0.174382 0 -0.00531608 0.000304842 -0.0131964 0.999899 uwb: 0.0 839.99 1554.37 -imu_odom_: 1691062936.554112896 0.687136 -0.31364 10.0317 -0.0681769 -0.0713727 0.0490022 0.19 0 pose: 0.7888544 -5.10586 0.173637 0 -0.00577281 -0.000328345-0.0130626 0.999898 uwb: 0.50138100 840.863 1553.16 -imu_odom_: 1691062936.571240030 1.08218 -0.126893 9.89763 -0.0415453 0.0319579 0.0287621 0.19 0 pose: 0.0 -5.10586 0.173637 0 -0.00577281 -0.000328345-0.0130626 0.999898 uwb: 0.0 840.863 1553.16 -imu_odom_: 1691062936.596100259 0.368707 -0.351948 9.7851 -0.0756338 0.00852212 0.0639159 0.18 0 pose: 0.52023908 -5.0962 0.171028 0 -0.0056396 -0.00032074 -0.0127657 0.999903 uwb: 0.49884657 839.689 1551.79 -imu_odom_: 1691062936.623132988 0.725443 -0.337582 9.50498 -0.0628506 -0.0170442 0.0372843 0.18 0 pose: 0.0 -5.0962 0.171028 0 -0.0056396 -0.00032074 -0.0127657 0.999903 uwb: 0.0 839.689 1551.79 -imu_odom_: 1691062936.648256868 0.371101 -0.395043 10.0341 -0.056459 0.00532632 0.0330232 0.19 0 pose: 0.42107523 -5.0962 0.171028 0 -0.00542735 -0.00311284 -0.012695 0.9999 uwb: 0.50007733 839.873 1551.16 -imu_odom_: 1691062936.675257807 0.0430956 -0.323217 10.3286 -0.0607201 -0.02024 0.056459 0.22 0 pose: 0.51908707 -5.084 0.178168 0 -0.00668949 -0.00351192 -0.0125478 0.999893 uwb: 0.0 839.873 1551.16 -imu_odom_: 1691062936.691111890 -0.11971 -0.272939 9.96946 -0.0671117 -0.015979 0.0596548 0.22 0 pose: 0.0 -5.084 0.178168 0 -0.00668949 -0.00351192 -0.0125478 0.999893 uwb: 0.49985276 841.584 1550.65 -imu_odom_: 1691062936.718098829 -0.047884 -0.411803 10.1754 -0.0543285 0.00319579 0.0276969 0.25 0 pose: 0.59966407 -5.0695 0.174376 0 -0.00698397 0.00206876 -0.0121718 0.999899 uwb: 0.0 841.584 1550.65 -imu_odom_: 1691062936.743113633 0.213084 -0.445322 9.78031 -0.0383495 -0.015979 0.0266316 0.25 0 pose: 0.8046326 -5.06465 0.17311 0 -0.00707872 0.00289691 -0.0122144 0.999896 uwb: 0.49969527 843.329 1550 -imu_odom_: 1691062936.760297056 0.646434 -0.205901 9.89045 -0.0511327 -0.02024 0.0490022 0.21 -0.02 pose: 0.0 -5.06465 0.17311 0 -0.00707872 0.00289691 -0.0122144 0.999896 uwb: 0.0 843.329 1550 -imu_odom_: 1691062936.786095231 0.509965 -0.169988 10.1873 -0.0458064 0.0298274 0.0223706 0.21 -0.02 pose: 0.51055048 -5.05497 0.170583 0 -0.00842497 0.00587744 -0.0124404 0.99987 uwb: 0.50156183 843.945 1549.67 -imu_odom_: 1691062936.812356837 0.646434 -0.627281 9.32302 -0.0703074 0.0117179 0.0553937 0.23 0 pose: 0.35881967 -5.05497 0.170583 0 -0.0060255 0.00348625 -0.0126297 0.999896 uwb: 0.0 843.945 1549.67 -imu_odom_: 1691062936.838173969 0.280122 -0.169988 10.1227 -0.0287621 0.02024 0.015979 0.23 0 pose: 0.7001053 -5.05497 0.170583 0 -0.00657422 0.00304973 -0.0125792 0.999895 uwb: 0.50159975 846.074 1549.46 -imu_odom_: 1691062936.863232812 0.248997 -0.418985 10.0149 -0.0820254 -0.00532632 0.0681769 0.2 0 pose: 0.45077685 -5.04276 0.177725 0 -0.00534596 0.00314079 -0.0127358 0.9999 uwb: 0.0 846.074 1549.46 -imu_odom_: 1691062936.877153840 0.586579 -0.342371 9.96227 -0.0585895 -0.0340885 0.0340885 0.2 0 pose: 0.0 -5.04276 0.177725 0 -0.00534596 0.00314079 -0.0127358 0.9999 uwb: 0.0 846.074 1549.46 -imu_odom_: 1691062936.894130191 0.658405 -0.105345 9.85932 -0.04048 0.0245011 0.0223706 0.17 0.02 pose: 0.0 -5.04276 0.177725 0 -0.00534596 0.00314079 -0.0127358 0.9999 uwb: 0.49736790 847.28 1548.85 -imu_odom_: 1691062936.908142506 -0.00957681-0.186748 9.44752 -0.0639159 -0.00958738 0.0479369 0.17 0.02 pose: 0.46076002 -5.03309 0.175192 0 -0.00691948 0.00283003 -0.0124838 0.999894 uwb: 0.0 847.28 1548.85 -imu_odom_: 1691062936.933090230 0.196325 -0.268151 9.77553 -0.04048 -0.00958738 0.0298274 0.18 0 pose: 0.0 -5.03309 0.175192 0 -0.00691948 0.00283003 -0.0124838 0.999894 uwb: 0.49971277 844.273 1546.71 -imu_odom_: 1691062936.960255076 0.696713 -0.325611 9.8282 -0.0490022 -0.0500674 0.052198 0.18 0 pose: 0.30886881 -5.02342 0.172661 0 -0.00544431 0.00407934 -0.0125353 0.999898 uwb: 0.0 844.273 1546.71 -imu_odom_: 1691062936.976226986 0.744597 -0.112527 9.81383 -0.0468716 -0.00319579 0.0415453 0.18 0 pose: 0.0 -5.02342 0.172661 0 -0.00544431 0.00407934 -0.0125353 0.999898 uwb: 0.0 844.273 1546.71 -imu_odom_: 1691062937.3089099 0.497994 -0.296881 9.90002 -0.0511327 0.0117179 0.0330232 0.19 0 pose: 0.53112053 -5.01374 0.17013 0 -0.00430794 0.00162832 -0.0124457 0.999912 uwb: 0.50048856 843.148 1545.24 -imu_odom_: 1691062937.28343930 0.663194 -0.186748 9.83059 -0.0553937 0.00532632 0.0617853 0.2 0 pose: 0.34840194 -5.01374 0.17013 0 -0.00402489 -0.00155719 -0.0125401 0.999912 uwb: 0.0 843.148 1545.24 -imu_odom_: 1691062937.55343703 0.373495 -0.167594 10.3693 -0.0532632 0.0234358 0.0372843 0.2 0 pose: 0.0 -5.01374 0.17013 0 -0.00402489 -0.00155719 -0.0125401 0.999912 uwb: 0.49931321 842.49 1543.95 -imu_odom_: 1691062937.80303385 0.766145 -0.251391 10.2185 -0.0628506 -0.0276969 0.0639159 0.18 0 pose: 0.8085991 -5.01374 0.17013 0 -0.00369481 -0.00225647 -0.012454 0.999913 uwb: 0.0 842.49 1543.95 -imu_odom_: 1691062937.107189122 1.20907 -0.0646434 10.1347 -0.0458064 -0.0106526 0.0255663 0.23 0 pose: 0.51963537 -5.00154 0.177276 0 -0.00110098 -0.0023532 -0.0122107 0.999922 uwb: 0.49999276 843.694 1543.34 -imu_odom_: 1691062937.132205384 0.371101 -0.356736 9.77553 -0.0852212 0.0287621 0.072438 0.18 0.02 pose: 0.0 -5.00154 0.177276 0 -0.00110098 -0.0023532 -0.0122107 0.999922 uwb: 0.50122060 845.854 1542.96 -imu_odom_: 1691062937.149072367 0.0933739 -0.205901 9.98143 -0.0713727 0.00106526 0.0426106 0.18 0.02 pose: 0.0 -5.00154 0.177276 0 -0.00110098 -0.0023532 -0.0122107 0.999922 uwb: 0.0 845.854 1542.96 -imu_odom_: 1691062937.165083358 0.629675 -0.0670376 10.5034 -0.0649811 -0.0170442 0.0351537 0.21 -0.02 pose: 0.52086322 -4.99186 0.174752 0 -0.00115684 -0.00621042 -0.0120618 0.999907 uwb: 0.0 845.854 1542.96 -imu_odom_: 1691062937.192118711 0.184354 -0.28491 9.81862 -0.0351537 0.0106526 0.0308927 0.21 -0.02 pose: 0.0 -4.99186 0.174752 0 -0.00115684 -0.00621042 -0.0120618 0.999907 uwb: 0.50044482 843.295 1541.17 -imu_odom_: 1691062937.217186012 0.505177 -0.342371 9.71088 -0.0681769 -0.0234358 0.0500674 0.25 0.02 pose: 0.57859821 -4.98218 0.172231 0 -0.0012416 -0.00317497 -0.0118236 0.999924 uwb: 0.0 843.295 1541.17 -imu_odom_: 1691062937.234110450 0.464475 -0.155623 9.57681 -0.0628506 -0.0394148 0.0447411 0.25 0.02 pose: 0.0 -4.98218 0.172231 0 -0.0012416 -0.00317497 -0.0118236 0.999924 uwb: 0.49807662 842.567 1540.15 -imu_odom_: 1691062937.259210416 0.373495 -0.328006 9.77792 -0.0607201 -0.0170442 0.0426106 0.2 0 pose: 0.61025680 -4.96681 0.168232 0 -0.00186703 -0.0032985 -0.0117311 0.999924 uwb: 0.0 842.567 1540.15 -imu_odom_: 1691062937.286207271 1.29526 -0.0933739 10.1945 -0.0458064 0.00319579 0.036219 0.2 0 pose: 0.0 -4.96681 0.168232 0 -0.00186703 -0.0032985 -0.0117311 0.999924 uwb: 0.50137226 844.984 1540.63 -imu_odom_: 1691062937.311090249 0.730232 -0.373495 9.36133 -0.0745685 0.0117179 0.0553937 0.19 0 pose: 0.6969264 -4.96283 0.167198 0 -0.00232573 -0.00280208 -0.0117181 0.999925 uwb: 0.0 844.984 1540.63 -imu_odom_: 1691062937.328196385 0.0742203 -0.246603 10.149 -0.0308927 0.0106526 0.0447411 0.19 0 pose: 0.0 -4.96283 0.167198 0 -0.00232573 -0.00280208 -0.0117181 0.999925 uwb: 0.0 844.984 1540.63 -imu_odom_: 1691062937.354243046 0.505177 -0.411803 9.85693 -0.0596548 0.00745685 0.0426106 0.18 0.02 pose: 0.53021934 -4.95063 0.174362 0 -0.00322588 -0.00471558 -0.0116786 0.999915 uwb: 0.49886990 843.306 1539.37 -imu_odom_: 1691062937.371125778 0.21069 -0.294487 10.0245 -0.052198 0.00852212 0.0319579 0.18 0.02 pose: 0.0 -4.95063 0.174362 0 -0.00322588 -0.00471558 -0.0116786 0.999915 uwb: 0.0 843.306 1539.37 -imu_odom_: 1691062937.396074669 0.155623 -0.555455 9.31344 -0.0777643 0.00745685 0.0660464 0.18 0 pose: 0.77024130 -4.94095 0.171852 0 -0.00599391 -0.00270259 -0.0115033 0.999912 uwb: 0.0 843.306 1539.37 -imu_odom_: 1691062937.423240682 -0.368707 -0.356736 9.47625 -0.0287621 0.0127832 0.0298274 0.23 0.02 pose: 0.8127697 -4.94095 0.171852 0 -0.00657486 -0.00200495 -0.011391 0.999911 uwb: 0.0 843.306 1539.37 -imu_odom_: 1691062937.448049872 0.150835 -0.0646434 9.9934 -0.0426106 -0.0319579 0.0426106 0.18 0.02 pose: 0.43987207 -4.93127 0.169344 0 -0.007371 0.00238228 -0.0112716 0.999906 uwb: 0.100002927 839.846 1537.25 -imu_odom_: 1691062937.475079393 0.0550666 0.0766145 10.2448 -0.0458064 -0.0276969 0.0447411 0.23 -0.02 pose: 0.0 -4.93127 0.169344 0 -0.007371 0.00238228 -0.0112716 0.999906 uwb: 0.0 839.846 1537.25 -imu_odom_: 1691062937.500269770 0.390255 -0.071826 9.64384 -0.0490022 -0.0223706 0.0479369 0.23 -0.02 pose: 0.31876740 -4.92159 0.166838 0 -0.00454953 0.0037542 -0.0111942 0.99992 uwb: 0.50004817 839.605 1536.34 -imu_odom_: 1691062937.527138883 0.105345 -0.107739 10.0844 -0.0490022 0.0330232 0.0372843 0.23 0 pose: 0.45152348 -4.91295 0.171927 0 -0.00038616 0.00349877 -0.0110166 0.999933 uwb: 0.0 839.605 1536.34 -imu_odom_: 1691062937.552226891 0.536301 -0.268151 9.80665 -0.036219 0.0181095 0.0351537 0.23 0 pose: 0.6985596 -4.90941 0.174015 0 -4.04573e-050.00424855 -0.0110233 0.99993 uwb: 0.50166974 840.79 1535.79 -imu_odom_: 1691062937.569288112 0.416591 -0.217872 10.2759 -0.0436758 0.0213053 0.0671117 0.22 0 pose: 0.0 -4.90941 0.174015 0 -4.04573e-050.00424855 -0.0110233 0.99993 uwb: 0.0 840.79 1535.79 -imu_odom_: 1691062937.586123597 0.0933739 -0.519542 9.44513 -0.0713727 -0.0255663 0.0585895 0.22 0 pose: 0.44971525 -4.90257 0.172248 0 0.000496095 0.00424614 -0.0111016 0.999929 uwb: 0.50054981 839.206 1534.28 -imu_odom_: 1691062937.610101003 0.191536 -0.0742203 9.71328 -0.0479369 -0.015979 0.0543285 0.19 0 pose: 0.0 -4.90257 0.172248 0 0.000496095 0.00424614 -0.0111016 0.999929 uwb: 0.0 839.206 1534.28 -imu_odom_: 1691062937.635194844 0.213084 -0.287304 9.55526 -0.0596548 0.0458064 0.0319579 0.19 0 pose: 0.40814056 -4.89973 0.171513 0 -0.0004996520.0040929 -0.0106575 0.999935 uwb: 0.49752540 838.531 1533.15 -imu_odom_: 1691062937.662113829 -0.191536 -0.222661 9.66779 -0.0671117 0.0106526 0.0660464 0.22 0 pose: 0.42153897 -4.89004 0.169019 0 -0.0008872920.00757924 -0.0106308 0.999914 uwb: 0.0 838.531 1533.15 -imu_odom_: 1691062937.687052512 0.335188 -0.354342 9.6199 -0.0607201 0.0181095 0.0308927 0.22 0 pose: 0.7011844 -4.89004 0.169019 0 -0.0009034180.00833306 -0.0105369 0.999909 uwb: 0.50047398 842.125 1533 -imu_odom_: 1691062937.714032452 0.457293 -0.0742203 10.4004 -0.0628506 -0.0298274 0.0468716 0.23 0 pose: 0.44845824 -4.88036 0.166527 0 -0.00271606 0.00892776 -0.0103979 0.999902 uwb: 0.0 842.125 1533 -imu_odom_: 1691062937.730097690 0.622492 -0.280122 9.75877 -0.0628506 -0.00106526 0.0319579 0.23 0 pose: 0.0 -4.88036 0.166527 0 -0.00271606 0.00892776 -0.0103979 0.999902 uwb: 0.0 842.125 1533 -imu_odom_: 1691062937.757012884 0.519542 -0.248997 9.85932 -0.0681769 -0.0447411 0.052198 0.19 0 pose: 0.35000601 -4.86818 0.173723 0 -0.00124756 0.00571175 -0.0103203 0.99993 uwb: 0.49951737 841.403 1532.03 -imu_odom_: 1691062937.782054519 0.694318 -0.347159 9.80665 -0.036219 -0.0106526 0.0287621 0.19 0 pose: 0.0 -4.86818 0.173723 0 -0.00124756 0.00571175 -0.0103203 0.99993 uwb: 0.49980902 840.682 1531.05 -imu_odom_: 1691062937.799024163 0.047884 -0.624887 9.4954 -0.0681769 0.00852212 0.0415453 0.19 0 pose: 0.43067635 -4.86818 0.173723 0 -0.00184138 0.000891275 -0.010231 0.999946 uwb: 0.0 840.682 1531.05 -imu_odom_: 1691062937.824139002 -0.105345 -0.263362 9.66779 -0.0287621 0.0500674 0.0308927 0.19 0 pose: 0.0 -4.86818 0.173723 0 -0.00184138 0.000891275 -0.010231 0.999946 uwb: 0.0 840.682 1531.05 -imu_odom_: 1691062937.849066603 0.531513 -0.323217 9.63427 -0.072438 0.0234358 0.0479369 0.19 0 pose: 0.41998739 -4.8585 0.171236 0 -0.00334325 0.00157203 -0.0103396 0.99994 uwb: 0.49998109 839.191 1529.3 -imu_odom_: 1691062937.872169350 0.706289 -0.208296 9.64863 -0.0543285 -0.00852212 0.0394148 0.18 0 pose: 0.0 -4.8585 0.171236 0 -0.00334325 0.00157203 -0.0103396 0.99994 uwb: 0.0 839.191 1529.3 -imu_odom_: 1691062937.888085555 0.306458 -0.332794 9.84017 -0.0479369 -0.00106526 0.0511327 0.18 0 pose: 0.48122509 -4.84881 0.168748 0 -0.00373497 0.001051 -0.0103176 0.999939 uwb: 0.50122061 837.587 1527.95 -imu_odom_: 1691062937.915032539 0.311246 -0.117316 10.1131 -0.0351537 -0.00745685 0.0266316 0.25 0 pose: 0.0 -4.84881 0.168748 0 -0.00373497 0.001051 -0.0103176 0.999939 uwb: 0.0 837.587 1527.95 -imu_odom_: 1691062937.940043259 0.632069 -0.418985 9.87608 -0.0788296 0.0287621 0.0585895 0.25 0 pose: 0.40895427 -4.83913 0.16626 0 -0.00314267 0.00112422 -0.0102778 0.999942 uwb: 0.49989651 837.801 1527.25 -imu_odom_: 1691062937.967089987 0.435745 -0.167594 9.79468 -0.0479369 0.0245011 0.0213053 0.21 0 pose: 0.43905836 -4.83051 0.171353 0 -0.00293064 0.00018421 -0.0101632 0.999944 uwb: 0.0 837.801 1527.25 -imu_odom_: 1691062937.992102750 0.184354 -0.363919 9.63427 -0.0340885 -0.0266316 0.0255663 0.21 0 pose: 0.6999012 -4.82695 0.173459 0 -0.00224313 5.02027e-05 -0.0102281 0.999945 uwb: 0.50010942 839.447 1526.8 -imu_odom_: 1691062938.19084440 0.818817 -0.287304 9.80665 -0.056459 -0.0308927 0.0500674 0.22 0 pose: 0.45060479 -4.82037 0.171767 0 -0.00133891 0.00150704 -0.0105878 0.999942 uwb: 0.0 839.447 1526.8 -imu_odom_: 1691062938.44125492 0.0885855 -0.114922 10.4603 -0.02024 0.00426106 0.0383495 0.19 0 pose: 0.0 -4.82037 0.171767 0 -0.00133891 0.00150704 -0.0105878 0.999942 uwb: 0.50179807 834.24 1524.17 -imu_odom_: 1691062938.61063638 0.134075 -0.287304 9.70609 -0.0575243 0.02024 0.0500674 0.19 0 pose: 0.35007601 -4.81727 0.170968 0 -0.00122741 -0.000755691-0.0104539 0.999944 uwb: 0.0 834.24 1524.17 -imu_odom_: 1691062938.86031486 0.799663 0.0143652 9.76834 -0.0340885 0.0170442 0.0276969 0.18 0 pose: 0.0 -4.81727 0.170968 0 -0.00122741 -0.000755691-0.0104539 0.999944 uwb: 0.49801538 833.995 1523.36 -imu_odom_: 1691062938.112008443 0.337582 -0.433351 9.73004 -0.0830906 0.00213053 0.0681769 0.18 0 pose: 0.41966657 -4.80758 0.168477 0 -0.0002700710.00212271 -0.0104209 0.999943 uwb: 0.0 833.995 1523.36 -imu_odom_: 1691062938.134070584 0.0454898 -0.146046 9.85214 -0.0500674 0.0106526 0.0436758 0.2 0 pose: 0.42931435 -4.80023 0.166586 0 -0.0021875 0.00146181 -0.0101518 0.999945 uwb: 0.49864534 833.823 1522.32 -imu_odom_: 1691062938.151068810 0.512359 -0.205901 10.2951 -0.0671117 -0.0127832 0.0596548 0.2 0 pose: 0.0 -4.80023 0.166586 0 -0.0021875 0.00146181 -0.0101518 0.999945 uwb: 0.0 833.823 1522.32 -imu_odom_: 1691062938.174197806 0.42138 -0.323217 9.63906 -0.0479369 -0.0553937 0.0308927 0.23 0.02 pose: 0.6009736 -4.7979 0.165988 0 -0.00197253 0.00207454 -0.0101381 0.999945 uwb: 0.0 833.823 1522.32 -imu_odom_: 1691062938.192021109 0.301669 -0.0694318 9.50977 -0.0841559 0.00852212 0.0628506 0.23 0.02 pose: 0.0 -4.7979 0.165988 0 -0.00197253 0.00207454 -0.0101381 0.999945 uwb: 0.50032816 834.507 1521.75 -imu_odom_: 1691062938.217073828 0.124498 -0.433351 9.9527 -0.072438 0.0191748 0.0468716 0.19 0 pose: 0.39023619 -4.78573 0.173192 0 -0.0016569 0.00149755 -0.0099587 0.999948 uwb: 0.0 834.507 1521.75 -imu_odom_: 1691062938.244081766 0.533907 -0.335188 10.0317 -0.0873517 -0.0234358 0.0511327 0.19 0 pose: 0.0 -4.78573 0.173192 0 -0.0016569 0.00149755 -0.0099587 0.999948 uwb: 0.50099604 836.681 1521.2 -imu_odom_: 1691062938.269068280 0.497994 -0.433351 10.6949 -0.0394148 -0.00958738 0.0245011 0.19 0 pose: 0.41982406 -4.78573 0.173192 0 -0.0021568 0.00168341 -0.00980112 0.999948 uwb: 0.0 836.681 1521.2 -imu_odom_: 1691062938.286199790 0.447716 -0.328006 9.55526 -0.0681769 -0.0372843 0.0447411 0.19 0 pose: 0.0 -4.78573 0.173192 0 -0.0021568 0.00168341 -0.00980112 0.999948 uwb: 0.50029900 836.088 1519.91 -imu_odom_: 1691062938.311198261 0.0694318 -0.234632 9.74679 -0.0415453 0 0.0426106 0.2 0 pose: 0.53052559 -4.77604 0.170714 0 -0.00506328 -1.3105e-05 -0.00964971 0.999941 uwb: 0.0 836.088 1519.91 -imu_odom_: 1691062938.338023336 0.380678 -0.294487 9.9503 -0.0532632 -0.0458064 0.0490022 0.2 0 pose: 0.0 -4.77604 0.170714 0 -0.00506328 -1.3105e-05 -0.00964971 0.999941 uwb: 0.0 836.088 1519.91 -imu_odom_: 1691062938.354043951 1.02951 0.0287304 10.1514 -0.0308927 -0.02024 0.0330232 0.18 -0.02 pose: 0.41929617 -4.76635 0.168239 0 -0.00580193 -0.00234682 -0.00973236 0.999933 uwb: 0.0 836.088 1519.91 -imu_odom_: 1691062938.381128011 0.299275 -0.3304 9.69173 -0.0553937 0.00319579 0.0553937 0.18 -0.02 pose: 0.0 -4.76635 0.168239 0 -0.00580193 -0.00234682 -0.00973236 0.999933 uwb: 0.0 836.088 1519.91 -imu_odom_: 1691062938.406068736 0.440533 -0.332794 10.0772 -0.0426106 0.00213053 0.0500674 0.19 0.02 pose: 0.52067074 -4.75666 0.165763 0 -0.00330533 0.000246385 -0.00958601 0.999949 uwb: 0.99852144 834.155 1518.13 -imu_odom_: 1691062938.430012018 0.447716 -0.347159 9.84735 -0.052198 -0.0213053 0.0458064 0.19 0.02 pose: 0.0 -4.75666 0.165763 0 -0.00330533 0.000246385 -0.00958601 0.999949 uwb: 0.0 834.155 1518.13 -imu_odom_: 1691062938.455168272 0.538695 -0.155623 9.91918 -0.0703074 -0.056459 0.0660464 0.18 0.02 pose: 0.43017471 -4.7445 0.17298 0 -0.00440952 0.00127562 -0.00935498 0.999946 uwb: 0.50005109 832.337 1516.04 -imu_odom_: 1691062938.480024419 0.612916 -0.160412 9.991 -0.0500674 -0.0468716 0.0415453 0.19 0 pose: 0.47979602 -4.73481 0.170493 0 -0.00601443 -0.0026992 -0.0091162 0.999937 uwb: 0.0 832.337 1516.04 -imu_odom_: 1691062938.496988521 0.517148 -0.134075 10.1083 -0.0383495 0.0340885 0.0266316 0.19 0 pose: 0.0 -4.73481 0.170493 0 -0.00601443 -0.0026992 -0.0091162 0.999937 uwb: 0.49986152 835.329 1516.02 -imu_odom_: 1691062938.522012950 0.181959 -0.220267 9.87848 -0.0585895 -0.0319579 0.04048 0.19 0 pose: 0.25936125 -4.73481 0.170493 0 -0.00393908 -0.0046757 -0.008879 0.999942 uwb: 0.0 835.329 1516.02 -imu_odom_: 1691062938.546996839 0.533907 -0.42138 9.5792 -0.0671117 -0.0681769 0.0617853 0.2 0 pose: 0.41058169 -4.72515 0.167936 0 -0.000795597-0.00514684 -0.00898707 0.999946 uwb: 0.50111854 835.186 1514.91 -imu_odom_: 1691062938.570015591 0.493206 -0.383072 9.165 -0.0639159 -0.0319579 0.036219 0.18 0 pose: 0.42932018 -4.71548 0.165378 0 -0.0033013 -0.00514511 -0.00869242 0.999944 uwb: 0.0 835.186 1514.91 -imu_odom_: 1691062938.586137409 0.754174 -0.225055 10.2759 -0.0490022 -0.0447411 0.0447411 0.18 0 pose: 0.0 -4.71548 0.165378 0 -0.0033013 -0.00514511 -0.00869242 0.999944 uwb: 0.50114186 833.678 1513.44 -imu_odom_: 1691062938.612011997 0.440533 -0.220267 10.1562 -0.0479369 -0.00426106 0.0340885 0.26 0 pose: 0.6007986 -4.71548 0.165378 0 -0.00392796 -0.00520332 -0.00869919 0.999941 uwb: 0.0 833.678 1513.44 -imu_odom_: 1691062938.637074923 0.318429 -0.0909797 10.41 -0.0500674 0.0276969 0.0692422 0.26 0 pose: 0.0 -4.71548 0.165378 0 -0.00392796 -0.00520332 -0.00869919 0.999941 uwb: 0.49764206 832.609 1512.15 -imu_odom_: 1691062938.662049188 0.430956 -0.134075 9.76595 -0.0596548 0.0436758 0.0298274 0.22 0 pose: 0.41029878 -4.70581 0.162825 0 -0.00447063 -0.00658868 -0.00870871 0.99993 uwb: 0.0 832.609 1512.15 -imu_odom_: 1691062938.676031463 0.217872 -0.0287304 9.76355 -0.0532632 -0.00958738 0.0532632 0.22 0 pose: 0.0 -4.70581 0.162825 0 -0.00447063 -0.00658868 -0.00870871 0.99993 uwb: 0.0 832.609 1512.15 -imu_odom_: 1691062938.700985312 0.0215478 -0.318429 9.73961 -0.0575243 0.0330232 0.0298274 0.18 -0.02 pose: 0.50007442 -4.69359 0.169949 0 -0.000715163-0.00270579 -0.00842848 0.999961 uwb: 0.50050315 832.901 1511.26 -imu_odom_: 1691062938.727037806 0.122104 -0.260968 9.71088 -0.0681769 -0.0149137 0.0660464 0.18 -0.02 pose: 0.0 -4.69359 0.169949 0 -0.000715163-0.00270579 -0.00842848 0.999961 uwb: 0.0 832.901 1511.26 -imu_odom_: 1691062938.751986697 0.493206 -0.464475 9.40921 -0.0681769 0.00532632 0.0308927 0.19 0 pose: 0.38922417 -4.69359 0.169949 0 0.00162148 7.9246e-05 -0.00846324 0.999963 uwb: 0.50003943 832.823 1510 -imu_odom_: 1691062938.769088167 0.268151 0.126893 10.1514 -0.0660464 0.0181095 0.0383495 0.19 0 pose: 0.0 -4.69359 0.169949 0 0.00162148 7.9246e-05 -0.00846324 0.999963 uwb: 0.0 832.823 1510 -imu_odom_: 1691062938.794034725 0.390255 -0.215478 9.94791 -0.0585895 0 0.0298274 0.19 0 pose: 0.51157418 -4.68389 0.167497 0 -0.0004464730.00413947 -0.00824535 0.999957 uwb: 0.50091729 833.101 1509.15 -imu_odom_: 1691062938.819111358 0.742203 -0.521936 9.63906 -0.0916127 0.0351537 0.0490022 0.19 0 pose: 0.0 -4.68389 0.167497 0 -0.0004464730.00413947 -0.00824535 0.999957 uwb: 0.0 833.101 1509.15 -imu_odom_: 1691062938.840134351 0.548272 -0.234632 9.70131 -0.0660464 0.052198 0.0276969 0.18 0.02 pose: 0.42966433 -4.6742 0.16505 0 -0.0003544080.00293628 -0.00837248 0.999961 uwb: 0.49881159 834.208 1508.77 -imu_odom_: 1691062938.854117501 0.177171 -0.21069 9.74201 -0.0490022 -0.0127832 0.0372843 0.18 0.02 pose: 0.0 -4.6742 0.16505 0 -0.0003544080.00293628 -0.00837248 0.999961 uwb: 0.0 834.208 1508.77 -imu_odom_: 1691062938.878246273 0.0837971 -0.418985 9.68933 -0.0596548 0.0191748 0.0330232 0.17 0 pose: 0.47915438 -4.6645 0.162599 0 -0.00217389 -0.000535825-0.00837543 0.999962 uwb: 0.0 834.208 1508.77 -imu_odom_: 1691062938.903247953 0.301669 -0.320823 10.1825 -0.052198 0.0138484 0.0490022 0.17 0 pose: 0.0 -4.6645 0.162599 0 -0.00217389 -0.000535825-0.00837543 0.999962 uwb: 0.49958445 836.683 1508.71 -imu_odom_: 1691062938.928162138 0.246603 -0.399832 9.49062 -0.0479369 0.0681769 0.0191748 0.2 0 pose: 0.35998336 -4.65236 0.169843 0 -0.00206985 0.000405939 -0.00850469 0.999962 uwb: 0.0 836.683 1508.71 -imu_odom_: 1691062938.946230718 0.426168 -0.102951 9.91439 -0.0532632 -0.0266316 0.0479369 0.2 0 pose: 0.0 -4.65236 0.169843 0 -0.00206985 0.000405939 -0.00850469 0.999962 uwb: 0.50121186 838.385 1507.97 -imu_odom_: 1691062938.962105217 0.227449 -0.600945 9.29669 -0.072438 0.0287621 0.0394148 0.18 -0.02 pose: 0.50134018 -4.64266 0.167391 0 -0.00500612 0.0050892 -0.00852161 0.999938 uwb: 0.0 838.385 1507.97 -imu_odom_: 1691062938.987084732 0.0885855 -0.0837971 9.74919 -0.0607201 -0.0106526 0.0532632 0.18 -0.02 pose: 0.0 -4.64266 0.167391 0 -0.00500612 0.0050892 -0.00852161 0.999938 uwb: 0.49919072 838.335 1506.6 -imu_odom_: 1691062939.11178214 0.167594 -0.387861 10.2232 -0.0671117 -0.0223706 0.052198 0.18 0 pose: 0.40926926 -4.63297 0.164936 0 -0.00538342 0.00577596 -0.0086222 0.999932 uwb: 0.0 838.335 1506.6 -imu_odom_: 1691062939.35033418 0.428562 -0.0574608 10.1442 -0.052198 -0.0234358 0.0319579 0.18 0 pose: 0.0 -4.63297 0.164936 0 -0.00538342 0.00577596 -0.0086222 0.999932 uwb: 0.50060524 839.084 1505.78 -imu_odom_: 1691062939.59964227 0.955286 -0.311246 10.0724 -0.0340885 -0.015979 0.015979 0.18 -0.02 pose: 0.42110149 -4.63297 0.164936 0 -0.00504347 0.00806911 -0.00838967 0.99992 uwb: 0.0 839.084 1505.78 -imu_odom_: 1691062939.76995118 0.23942 -0.0167594 9.80904 -0.0490022 0.0223706 0.0479369 0.18 -0.02 pose: 0.0 -4.63297 0.164936 0 -0.00504347 0.00806911 -0.00838967 0.99992 uwb: 0.0 839.084 1505.78 -imu_odom_: 1691062939.99002429 0.452504 -0.289698 9.81623 -0.0458064 -0.00532632 0.0479369 0.19 0 pose: 0.47848359 -4.62327 0.162485 0 -0.00431192 0.00674781 -0.00845179 0.999932 uwb: 0.49876783 839.791 1505.06 -imu_odom_: 1691062939.123960070 0.488417 -0.131681 9.67976 -0.0543285 -0.015979 0.0532632 0.19 0 pose: 0.0 -4.62327 0.162485 0 -0.00431192 0.00674781 -0.00845179 0.999932 uwb: 0.0 839.791 1505.06 -imu_odom_: 1691062939.149952776 0.567426 -0.129287 9.64863 -0.0426106 -0.0255663 0.0319579 0.23 0 pose: 0.40995173 -4.61113 0.169727 0 -0.00252494 0.00487653 -0.00857013 0.999948 uwb: 0.49999569 841.873 1504.61 -imu_odom_: 1691062939.164679342 1.34794 -0.071826 10.2185 -0.0532632 0.036219 0.0553937 0.23 0 pose: 0.0 -4.61113 0.169727 0 -0.00252494 0.00487653 -0.00857013 0.999948 uwb: 0.0 841.873 1504.61 -imu_odom_: 1691062939.181096893 1.31681 -0.440533 9.67018 -0.0820254 0.0500674 0.0660464 0.18 0 pose: 0.47985726 -4.60143 0.167276 0 -0.00066472 0.000599516 -0.00836477 0.999965 uwb: 0.0 841.873 1504.61 -imu_odom_: 1691062939.206097698 0.474052 -0.349553 9.53371 -0.0458064 -0.00639159 0.0511327 0.18 0 pose: 0.0 -4.60143 0.167276 0 -0.00066472 0.000599516 -0.00836477 0.999965 uwb: 0.49990527 841.757 1503.44 -imu_odom_: 1691062939.232272393 0.620098 -0.196325 9.47625 -0.0713727 0.0127832 0.0436758 0.2 0 pose: 0.75095160 -4.59174 0.164826 0 -0.00246082 -0.00364156 -0.00794784 0.999959 uwb: 0.49981195 842.102 1502.35 -imu_odom_: 1691062939.257039295 0.533907 -0.158017 9.38527 -0.0798948 0.00532632 0.0649811 0.2 0 pose: 0.8026203 -4.59174 0.164826 0 -0.00221286 -0.00431374 -0.00793475 0.999957 uwb: 0.0 842.102 1502.35 -imu_odom_: 1691062939.280973537 0.433351 -0.37589 9.74679 -0.0777643 0.0191748 0.0479369 0.23 0.02 pose: 0.42915394 -4.58204 0.162385 0 0.000436599 -0.00635255 -0.00760757 0.999951 uwb: 0.0 842.102 1502.35 -imu_odom_: 1691062939.308436158 0.414197 -0.395043 10.1658 -0.0937433 -0.00319579 0.052198 0.25 0.02 pose: 0.0 -4.58204 0.162385 0 0.000436599 -0.00635255 -0.00760757 0.999951 uwb: 0.50144518 841.741 1501.96 -imu_odom_: 1691062939.325080029 0.035913 -0.430956 9.84256 -0.0468716 0.0319579 0.0266316 0.25 0.02 pose: 0.31136534 -4.5699 0.16965 0 -0.00267657 -0.00452893 -0.00744787 0.999958 uwb: 0.0 841.741 1501.96 -imu_odom_: 1691062939.349942592 0.586579 -0.392649 9.60554 -0.0713727 -0.0500674 0.0500674 0.18 0.02 pose: 0.0 -4.5699 0.16965 0 -0.00267657 -0.00452893 -0.00744787 0.999958 uwb: 0.49877076 840.303 1500.42 -imu_odom_: 1691062939.374052407 0.682347 -0.186748 9.73722 -0.056459 0.0138484 0.0394148 0.18 0.02 pose: 0.43794719 -4.5699 0.16965 0 -0.00553536 -0.00229576 -0.00737697 0.999955 uwb: 0.0 840.303 1500.42 -imu_odom_: 1691062939.401048972 -0.00957681-0.272939 9.83538 -0.0500674 -0.0234358 0.0479369 0.23 -0.02 pose: 0.42081859 -4.5602 0.167219 0 -0.005069 -0.00598609 -0.0073099 0.999943 uwb: 0.0 840.303 1500.42 -imu_odom_: 1691062939.425929325 0.129287 -0.296881 9.91918 -0.0117179 -0.0511327 0.036219 0.23 -0.02 pose: 0.7949207 -4.5602 0.167219 0 -0.00498394 -0.00526943 -0.00727258 0.999947 uwb: 0.0 840.303 1500.42 -imu_odom_: 1691062939.442945634 0.387861 -0.399832 9.40921 -0.0681769 0.0138484 0.056459 0.23 0.02 pose: 0.0 -4.5602 0.167219 0 -0.00498394 -0.00526943 -0.00727258 0.999947 uwb: 0.99999137 840.675 1499.26 -imu_odom_: 1691062939.467015201 0.373495 -0.318429 9.76595 -0.0394148 0.0106526 0.0532632 0.23 0.02 pose: 0.50948306 -4.5505 0.164791 0 -0.00483173 -0.00130427 -0.00714758 0.999962 uwb: 0.0 840.675 1499.26 -imu_odom_: 1691062939.492957451 0.411803 -0.354342 9.99819 -0.0500674 -0.00958738 0.0468716 0.24 0 pose: 0.34065281 -4.5408 0.162365 0 -0.00517884 0.00173349 -0.00688334 0.999961 uwb: 0.50035149 842.124 1499.22 -imu_odom_: 1691062939.518102040 0.263362 -0.124498 10.3765 -0.0649811 -0.00958738 0.0607201 0.24 0 pose: 0.8010453 -4.5408 0.162365 0 -0.00569149 0.00111373 -0.00685807 0.99996 uwb: 0.0 842.124 1499.22 -imu_odom_: 1691062939.535957716 0.842759 -0.253785 10.1251 -0.0585895 0.0383495 0.0543285 0.19 0 pose: 0.24986223 -4.52868 0.169646 0 -0.00627487 8.25858e-05 -0.00672445 0.999958 uwb: 0.49826912 842.015 1498.06 -imu_odom_: 1691062939.559943871 0.191536 -0.196325 9.91678 -0.0372843 0.00213053 0.0340885 0.19 0 pose: 0.0 -4.52868 0.169646 0 -0.00482801 0.000996056 -0.00652685 0.999967 uwb: 0.0 842.015 1498.06 -imu_odom_: 1691062939.585085543 0.423774 -0.280122 9.28471 -0.0596548 -0.0468716 0.04048 0.19 0 pose: 0.26015454 -4.51897 0.167233 0 -0.00420155 0.000356385 -0.00642464 0.99997 uwb: 0.50118270 841.836 1497.11 -imu_odom_: 1691062939.609078698 0.466869 -0.363919 9.4571 -0.0798948 -0.0458064 0.0649811 0.19 0 pose: 0.0 -4.51897 0.167233 0 -0.00420155 0.000356385 -0.00642464 0.99997 uwb: 0.0 841.836 1497.11 -imu_odom_: 1691062939.626066425 0.306458 -0.354342 9.95988 -0.0500674 0.00106526 0.0479369 0.19 0 pose: 0.47978436 -4.51897 0.167233 0 -0.00432153 -0.00167486 -0.00636842 0.999969 uwb: 0.0 841.836 1497.11 -imu_odom_: 1691062939.650070662 0.557849 -0.229843 10.2999 -0.0394148 -0.0447411 0.0468716 0.19 0 pose: 0.0 -4.51897 0.167233 0 -0.00432153 -0.00167486 -0.00636842 0.999969 uwb: 0.49865993 844.694 1497.13 -imu_odom_: 1691062939.674990680 0.553061 -0.177171 9.91678 -0.0511327 0.0106526 0.0383495 0.19 0.02 pose: 0.24880937 -4.50927 0.164822 0 -0.00614196 -0.00196161 -0.0061145 0.999961 uwb: 0.0 844.694 1497.13 -imu_odom_: 1691062939.700976970 0.380678 -0.292093 9.95988 -0.0777643 -0.0106526 0.0735032 0.23 -0.02 pose: 0.16095861 -4.50927 0.164822 0 -0.00573215 -0.00171821 -0.00604818 0.999964 uwb: 0.49983236 845.408 1496.37 -imu_odom_: 1691062939.717085372 0.0790087 -0.272939 9.80186 -0.0532632 -0.0340885 0.0479369 0.23 -0.02 pose: 0.0 -4.50927 0.164822 0 -0.00573215 -0.00171821 -0.00604818 0.999964 uwb: 0.0 845.408 1496.37 -imu_odom_: 1691062939.742934295 0.56982 -0.248997 10.2352 -0.0596548 -0.036219 0.0617853 0.24 0 pose: 0.49919365 -4.49956 0.162417 0 -0.00268709 -0.00383021 -0.00588435 0.999972 uwb: 0.50136061 846.107 1495.65 -imu_odom_: 1691062939.767981472 0.629675 -0.325611 10.1778 -0.0319579 -0.0532632 0.0340885 0.24 0 pose: 0.0 -4.49956 0.162417 0 -0.00268709 -0.00383021 -0.00588435 0.999972 uwb: 0.0 846.107 1495.65 -imu_odom_: 1691062939.793974470 0.708684 -0.323217 9.62469 -0.0809601 0 0.0617853 0.2 0.02 pose: 0.41947992 -4.48746 0.169723 0 -0.00315995 -0.00167101 -0.00541543 0.999979 uwb: 0.49877950 842.073 1493.39 -imu_odom_: 1691062939.809967379 0.509965 -0.251391 9.88326 -0.0745685 -0.015979 0.0479369 0.2 0.02 pose: 0.0 -4.48746 0.169723 0 -0.00315995 -0.00167101 -0.00541543 0.999979 uwb: 0.0 842.073 1493.39 -imu_odom_: 1691062939.835923920 0.52433 -0.696713 10.2137 0.0149137 -0.0170442 0.00426106 0.22 0 pose: 0.50987970 -4.47775 0.167331 0 -0.00370062 -0.00744076 -0.00520394 0.999952 uwb: 0.49999860 841.149 1491.84 -imu_odom_: 1691062939.859911534 0.0646434 0.011971 10.0461 -0.0426106 -0.0191748 0.0628506 0.22 0 pose: 0.0 -4.47775 0.167331 0 -0.00370062 -0.00744076 -0.00520394 0.999952 uwb: 0.0 841.149 1491.84 -imu_odom_: 1691062939.885923489 0.596156 -0.246603 9.91199 -0.0884169 -0.00213053 0.0575243 0.21 -0.02 pose: 0.40992839 -4.46804 0.164945 0 -0.00409084 -0.00788797 -0.00505966 0.999948 uwb: 0.49998402 841.902 1490.97 -imu_odom_: 1691062939.908925034 0.727837 -0.167594 10.2496 -0.0458064 -0.0223706 0.0181095 0.21 -0.02 pose: 0.0 -4.46804 0.164945 0 -0.00409084 -0.00788797 -0.00505966 0.999948 uwb: 0.0 841.902 1490.97 -imu_odom_: 1691062939.927108817 0.713472 -0.407014 8.89207 -0.0596548 -0.0127832 0.0298274 0.19 0 pose: 0.50995552 -4.45833 0.16256 0 -0.00355762 -0.00670702 -0.00502668 0.999959 uwb: 0.0 841.902 1490.97 -imu_odom_: 1691062939.951979254 -0.0622492 -0.232238 10.24 -0.0234358 -0.015979 0.0266316 0.19 0 pose: 0.0 -4.45833 0.16256 0 -0.00355762 -0.00670702 -0.00502668 0.999959 uwb: 0.49986444 843.488 1490.44 -imu_odom_: 1691062939.976907438 0.244209 -0.397437 9.9527 -0.0543285 -0.0245011 0.0447411 0.22 -0.02 pose: 0.49210656 -4.44861 0.160175 0 -0.00225317 -0.0109147 -0.00517396 0.999925 uwb: 0.0 843.488 1490.44 -imu_odom_: 1691062940.1064792 0.337582 -0.1652 9.65821 -0.0415453 -0.00639159 0.0383495 0.22 -0.02 pose: 0.42833732 -4.44623 0.169886 0 -0.00278842 -0.00856355 -0.00534054 0.999945 uwb: 0.50054107 839.924 1488.32 -imu_odom_: 1691062940.17062951 0.469264 -0.234632 10.0293 -0.0820254 0.00426106 0.0468716 0.19 -0.02 pose: 0.41103958 -4.43652 0.167495 0 -0.0020358 -0.00508053 -0.0053018 0.999971 uwb: 0.0 839.924 1488.32 -imu_odom_: 1691062940.42908666 0.332794 -0.162806 9.65582 -0.0639159 0.00106526 0.0468716 0.19 -0.02 pose: 0.0 -4.43652 0.167495 0 -0.0020358 -0.00508053 -0.0053018 0.999971 uwb: 0.50007735 836.622 1486.88 -imu_odom_: 1691062940.69055071 0.497994 -0.373495 10.4531 -0.0649811 -0.0287621 0.0500674 0.26 0.02 pose: 0.24054985 -4.42681 0.165105 0 -0.00108253 -0.00290194 -0.00521722 0.999982 uwb: 0.0 836.622 1486.88 -imu_odom_: 1691062940.93939800 0.608127 -0.0646434 10.5345 -0.0617853 -0.0117179 0.0415453 0.23 -0.02 pose: 0.0 -4.42681 0.165105 0 -0.00108253 -0.00290194 -0.00521722 0.999982 uwb: 0.49916449 837.375 1486.04 -imu_odom_: 1691062940.117971161 0.744597 -0.215478 10.0365 -0.0298274 -0.0245011 0.015979 0.23 -0.02 pose: 0.50942473 -4.4171 0.162717 0 -0.00225384 -0.00311097 -0.00500958 0.99998 uwb: 0.0 837.375 1486.04 -imu_odom_: 1691062940.135063590 0.143652 0.00957681 9.65103 -0.0532632 0.0149137 0.0553937 0.23 -0.02 pose: 0.0 -4.4171 0.162717 0 -0.00225384 -0.00311097 -0.00500958 0.99998 uwb: 0.49990236 839.372 1485.69 -imu_odom_: 1691062940.161101794 0.299275 -0.306458 9.5385 -0.0500674 0.0245011 0.0340885 0.18 0 pose: 0.48990169 -4.4171 0.162717 0 -4.88351e-05-0.00619515 -0.00522968 0.999967 uwb: 0.0 839.372 1485.69 -imu_odom_: 1691062940.184955540 0.126893 -0.306458 9.67018 -0.0532632 -0.0106526 0.0575243 0.23 0 pose: 0.36049375 -4.40568 0.167259 0 -0.000604863-0.00253145 -0.00521978 0.999983 uwb: 0.50158227 838.68 1484.94 -imu_odom_: 1691062940.198887360 0.502782 -0.35913 9.71328 -0.0394148 -0.0106526 0.036219 0.23 0 pose: 0.0 -4.40568 0.167259 0 -0.000604863-0.00253145 -0.00521978 0.999983 uwb: 0.0 838.68 1484.94 -imu_odom_: 1691062940.223225829 0.519542 -0.0454898 10.3789 -0.0447411 -0.0149137 0.0660464 0.17 0 pose: 0.0 -4.40568 0.167259 0 -0.000604863-0.00253145 -0.00521978 0.999983 uwb: 0.0 838.68 1484.94 -imu_odom_: 1691062940.249927244 0.517148 -0.0335188 10.5177 -0.0553937 0.0138484 0.036219 0.17 0 pose: 0.45809436 -4.39529 0.16765 0 -0.00136513 -0.00153983 -0.00492205 0.999986 uwb: 0.49861326 838.517 1484.02 -imu_odom_: 1691062940.274902093 0.215478 -0.500388 9.56962 -0.0862864 0.036219 0.072438 0.19 0 pose: 0.43016014 -4.38846 0.165975 0 0.00271458 -0.00299689 -0.00475932 0.99998 uwb: 0.0 838.517 1484.02 -imu_odom_: 1691062940.299937021 0.746991 -0.1652 9.7851 -0.0532632 0.0266316 0.0287621 0.19 0 pose: 0.8024453 -4.38557 0.165268 0 0.00194226 -0.00236029 -0.00462678 0.999985 uwb: 0.49997236 841.301 1484.08 -imu_odom_: 1691062940.312868774 -0.0766145 -0.277727 9.74679 -0.0809601 0.04048 0.0628506 0.2 -0.02 pose: 0.0 -4.38557 0.165268 0 0.00194226 -0.00236029 -0.00462678 0.999985 uwb: 0.0 841.301 1484.08 -imu_odom_: 1691062940.329961494 0.287304 -0.337582 10.4148 -0.0681769 -0.0117179 0.0628506 0.2 -0.02 pose: 0.47923606 -4.37586 0.162891 0 0.000504414 -0.00239379 -0.00441279 0.999987 uwb: 0.0 841.301 1484.08 -imu_odom_: 1691062940.355034045 0.711078 0.0430956 10.3932 -0.056459 -0.0138484 0.0330232 0.18 0.02 pose: 0.0 -4.37586 0.162891 0 0.000504414 -0.00239379 -0.00441279 0.999987 uwb: 0.49987612 841.77 1482.65 -imu_odom_: 1691062940.379021659 0.392649 -0.483629 9.6199 -0.0458064 0.0223706 0.0223706 0.18 0.02 pose: 0.31200988 -4.37586 0.162891 0 -0.000437708-0.000877856-0.0041557 0.999991 uwb: 0.0 841.77 1482.65 -imu_odom_: 1691062940.403950718 0.557849 -0.241814 10.0293 -0.0628506 -0.0394148 0.0543285 0.25 0 pose: 0.0 -4.37586 0.162891 0 -0.000437708-0.000877856-0.0041557 0.999991 uwb: 0.50129936 842.868 1482.14 -imu_odom_: 1691062940.427048509 1.02951 -0.126893 9.91918 -0.0532632 0.0223706 0.04048 0.25 0 pose: 0.49867160 -4.36377 0.170238 0 -0.00149833 -0.00244639 -0.00435955 0.999986 uwb: 0.0 842.868 1482.14 -imu_odom_: 1691062940.442921550 0.641646 -0.253785 9.95748 -0.0532632 0.00639159 0.0436758 0.2 0 pose: 0.0 -4.36377 0.170238 0 -0.00149833 -0.00244639 -0.00435955 0.999986 uwb: 0.50004819 843.195 1481.14 -imu_odom_: 1691062940.468915423 0.318429 -0.452504 9.98622 -0.0351537 -0.0117179 0.0394148 0.2 0 pose: 0.48143510 -4.35406 0.167866 0 -0.00116627 -0.00714939 -0.00421531 0.999965 uwb: 0.0 843.195 1481.14 -imu_odom_: 1691062940.485024408 0.68953 0.0502782 9.9527 -0.0436758 -0.0330232 0.0468716 0.2 0 pose: 0.0 -4.35406 0.167866 0 -0.00116627 -0.00714939 -0.00421531 0.999965 uwb: 0.49983819 843.914 1480.36 -imu_odom_: 1691062940.510026672 0.840365 -0.047884 10.1107 -0.0394148 -0.0479369 0.0458064 0.2 0 pose: 0.41080626 -4.34434 0.165496 0 -0.0020666 -0.00646873 -0.00416091 0.999968 uwb: 0.0 843.914 1480.36 -imu_odom_: 1691062940.534019827 0.617704 -0.007182619.35654 -0.0532632 0.0149137 0.0436758 0.17 0.02 pose: 0.0 -4.34434 0.165496 0 -0.0020666 -0.00646873 -0.00416091 0.999968 uwb: 0.49994028 843.322 1479.33 -imu_odom_: 1691062940.556912879 0.134075 -0.318429 9.77553 -0.0543285 0.0223706 0.0340885 0.17 0.02 pose: 0.40889012 -4.33463 0.163129 0 0.00100876 -0.00973041 -0.00405805 0.999944 uwb: 0.0 843.322 1479.33 -imu_odom_: 1691062940.575121160 0.349553 -0.0287304 10.3932 -0.0607201 -0.0340885 0.0575243 0.25 0 pose: 0.0 -4.33463 0.163129 0 0.00100876 -0.00973041 -0.00405805 0.999944 uwb: 0.0 843.322 1479.33 -imu_odom_: 1691062940.598919785 0.732626 -0.0837971 9.84975 -0.0458064 -0.0649811 0.04048 0.25 0 pose: 0.47993310 -4.32491 0.160762 0 0.00243015 -0.0068566 -0.004032 0.999965 uwb: 0.49947072 842.727 1478.32 -imu_odom_: 1691062940.621936205 0.416591 -0.110133 9.97424 -0.0319579 -0.0223706 0.0287621 0.23 0 pose: 0.0 -4.32491 0.160762 0 0.00243015 -0.0068566 -0.004032 0.999965 uwb: 0.0 842.727 1478.32 -imu_odom_: 1691062940.647865331 0.409408 -0.31364 10.2304 -0.0340885 -0.0330232 0.036219 0.23 0 pose: 0.40891637 -4.32255 0.170478 0 0.00406376 -0.00853407 -0.00397803 0.999947 uwb: 0.50055274 843.013 1477.44 -imu_odom_: 1691062940.671915358 0.768539 -0.287304 10.331 -0.0543285 -0.0319579 0.0479369 0.2 0.02 pose: 0.41923785 -4.3128 0.168097 0 0.00269107 -0.00595365 -0.00410731 0.99997 uwb: 0.0 843.013 1477.44 -imu_odom_: 1691062940.686860953 0.155623 -0.0287304 9.61033 -0.0468716 -0.0106526 0.0426106 0.2 0.02 pose: 0.0 -4.3128 0.168097 0 0.00269107 -0.00595365 -0.00410731 0.99997 uwb: 0.49869493 842.006 1476.3 -imu_odom_: 1691062940.705191144 0.392649 -0.150835 10.07 -0.0426106 -0.0138484 0.0436758 0.25 0.02 pose: 0.0 -4.3128 0.168097 0 0.00269107 -0.00595365 -0.00410731 0.99997 uwb: 0.0 842.006 1476.3 -imu_odom_: 1691062940.729010184 0.514753 -0.280122 9.60793 -0.0426106 -0.0308927 0.0330232 0.25 0.02 pose: 0.46992368 -4.30314 0.165648 0 0.00233464 -0.00631191 -0.00396469 0.999969 uwb: 0.0 842.006 1476.3 -imu_odom_: 1691062940.755066761 0.629675 -0.112527 9.93115 -0.0607201 -0.0298274 0.0713727 0.23 0.02 pose: 0.34152485 -4.29671 0.164016 0 0.000317415 -0.00586419 -0.00401131 0.999975 uwb: 0.50117104 843.97 1475.93 -imu_odom_: 1691062940.779919117 0.840365 -0.0814029 10.2759 -0.0628506 -0.0117179 0.036219 0.23 0.02 pose: 0.8105531 -4.29345 0.163186 0 0.000819636 -0.00658631 -0.00388549 0.99997 uwb: 0.0 843.97 1475.93 -imu_odom_: 1691062940.805964903 0.782904 -0.225055 9.68455 -0.0798948 -0.0223706 0.0617853 0.19 0.02 pose: 0.42803402 -4.28685 0.161514 0 0.00264089 -0.0106336 -0.00365148 0.999933 uwb: 0.49878826 844.16 1475.35 -imu_odom_: 1691062940.829987224 1.23062 -0.0742203 10.0437 -0.0436758 -0.036219 0.0340885 0.2 0 pose: 0.0 -4.28685 0.161514 0 0.00264089 -0.0106336 -0.00365148 0.999933 uwb: 0.0 844.16 1475.35 -imu_odom_: 1691062940.855864437 0.624887 -0.280122 9.71806 -0.0756338 0.0149137 0.0575243 0.2 0 pose: 0.33998202 -4.28375 0.16073 0 0.00164582 -0.014233 -0.00337277 0.999892 uwb: 0.49993153 844.023 1474.36 -imu_odom_: 1691062940.869908833 0.514753 -0.232238 9.99819 -0.0798948 -0.00213053 0.0436758 0.2 0 pose: 0.0 -4.28375 0.16073 0 0.00164582 -0.014233 -0.00337277 0.999892 uwb: 0.0 844.023 1474.36 -imu_odom_: 1691062940.892854091 0.368707 -0.134075 10.0317 -0.076699 -0.00639159 0.0436758 0.2 0.02 pose: 0.47944604 -4.27161 0.167975 0 -0.000340423-0.0135668 -0.00314858 0.999903 uwb: 0.49982945 842.376 1472.41 -imu_odom_: 1691062940.918050593 0.517148 -0.280122 9.81862 -0.0585895 0.0213053 0.0255663 0.23 -0.02 pose: 0.0 -4.27161 0.167975 0 -0.000340423-0.0135668 -0.00314858 0.999903 uwb: 0.0 842.376 1472.41 -imu_odom_: 1691062940.933055101 0.512359 -0.272939 10.0054 -0.0671117 -0.00852212 0.0607201 0.23 -0.02 pose: 0.30992168 -4.26516 0.166361 0 -5.8985e-05 -0.0105915 -0.00309635 0.999939 uwb: 0.50133727 839.247 1470.81 -imu_odom_: 1691062940.956895140 0.471658 -0.141258 9.79707 -0.072438 -0.0426106 0.0351537 0.23 -0.02 pose: 0.0 -4.26516 0.166361 0 -5.8985e-05 -0.0105915 -0.00309635 0.999939 uwb: 0.0 839.247 1470.81 -imu_odom_: 1691062940.983122333 0.35913 -0.260968 10.3214 -0.0575243 -0.0394148 0.0308927 0.18 0 pose: 0.8160070 -4.26191 0.165551 0 -0.000541976-0.00982008 -0.00314867 0.999947 uwb: 0.0 839.247 1470.81 -imu_odom_: 1691062941.119392 0.301669 -0.320823 9.46188 -0.0553937 -0.00213053 0.0308927 0.18 0 pose: 0.0 -4.26191 0.165551 0 -0.000541976-0.00982008 -0.00314867 0.999947 uwb: 0.0 839.247 1470.81 -imu_odom_: 1691062941.26120848 0.0574608 -0.344765 10.4196 -0.0575243 0.0234358 0.0532632 0.19 -0.02 pose: 0.39845780 -4.25219 0.163202 0 -0.00172001 -0.00668596 -0.00311346 0.999971 uwb: 0.0 839.247 1470.81 -imu_odom_: 1691062941.50850127 0.416591 -0.275333 9.79947 -0.036219 0.0426106 0.0191748 0.18 -0.02 pose: 0.50280720 -4.24247 0.160854 0 -0.0013847 -0.0033829 -0.0032991 0.999988 uwb: 0.99880729 837.431 1469.44 -imu_odom_: 1691062941.76838459 0.555455 -0.0861913 9.77792 -0.0532632 -0.0149137 0.0511327 0.18 -0.02 pose: 0.0 -4.24247 0.160854 0 -0.0013847 -0.0033829 -0.0032991 0.999988 uwb: 0.0 837.431 1469.44 -imu_odom_: 1691062941.90845525 0.287304 -0.102951 9.80904 -0.0447411 -0.0149137 0.0245011 0.2 -0.05 pose: 0.43863840 -4.24247 0.160854 0 -0.00283171 -0.00017858 -0.00324554 0.999991 uwb: 0.50045650 840.021 1468.56 -imu_odom_: 1691062941.114836930 0.272939 0.0574608 9.75877 -0.0788296 0.0117179 0.0639159 0.2 -0.05 pose: 0.0 -4.24247 0.160854 0 -0.00283171 -0.00017858 -0.00324554 0.999991 uwb: 0.0 840.021 1468.56 -imu_odom_: 1691062941.139987061 0.871489 -0.21069 9.97903 -0.056459 0 0.0351537 0.25 0 pose: 0.47993019 -4.23039 0.168223 0 -0.00100135 -0.00222282 -0.00331511 0.999992 uwb: 0.49938031 839.045 1467.41 -imu_odom_: 1691062941.164910871 0.277727 -0.426168 9.68933 -0.0575243 0.0276969 0.0511327 0.25 0 pose: 0.0 -4.23039 0.168223 0 -0.00100135 -0.00222282 -0.00331511 0.999992 uwb: 0.0 839.045 1467.41 -imu_odom_: 1691062941.182045297 -0.035913 -0.387861 9.77313 -0.0330232 -0.0213053 0.0298274 0.18 0 pose: 0.39842573 -4.22068 0.165871 0 0.00130222 -0.00105669 -0.00310276 0.999994 uwb: 0.49868619 841.815 1467.31 -imu_odom_: 1691062941.205178377 0.964863 -0.191536 10.0485 -0.056459 -0.0671117 0.0553937 0.18 0 pose: 0.0 -4.22068 0.165871 0 0.00130222 -0.00105669 -0.00310276 0.999994 uwb: 0.0 841.815 1467.31 -imu_odom_: 1691062941.230040941 0.746991 -0.296881 9.45949 -0.04048 0.015979 0.0308927 0.2 0 pose: 0.50040984 -4.21095 0.163524 0 -0.000974551-0.000139941-0.00302828 0.999995 uwb: 0.0 841.815 1467.31 -imu_odom_: 1691062941.253873397 0.445322 -0.363919 9.33499 -0.0596548 -0.0298274 0.0553937 0.2 0 pose: 0.0 -4.21095 0.163524 0 -0.000974551-0.000139941-0.00302828 0.999995 uwb: 0.50002194 841.769 1466.11 -imu_odom_: 1691062941.278891410 0.277727 -0.177171 10.0748 -0.0340885 0.0330232 0.0340885 0.25 0 pose: 0.40124598 -4.20123 0.161179 0 -0.00111181 -0.00307603 -0.00292501 0.99999 uwb: 0.0 841.769 1466.11 -imu_odom_: 1691062941.292867269 0.433351 0.0837971 10.0916 -0.056459 -0.00532632 0.0703074 0.25 0 pose: 0.0 -4.20123 0.161179 0 -0.00111181 -0.00307603 -0.00292501 0.99999 uwb: 0.50088231 839.283 1464.09 -imu_odom_: 1691062941.316866841 0.617704 0.00718261 10.5129 -0.0543285 0.02024 0.0372843 0.18 0 pose: 0.49052583 -4.19151 0.158835 0 -0.00318211 -0.00323023 -0.00282133 0.999986 uwb: 0.0 839.283 1464.09 -imu_odom_: 1691062941.333825694 0.282516 -0.31364 9.83777 -0.0703074 -0.0149137 0.0490022 0.18 0 pose: 0.0 -4.19151 0.158835 0 -0.00318211 -0.00323023 -0.00282133 0.999986 uwb: 0.49973905 836.743 1462.3 -imu_odom_: 1691062941.358823292 -0.21069 -0.426168 9.48822 -0.056459 0.0447411 0.0394148 0.18 0 pose: 0.37988555 -4.18917 0.168557 0 -0.000244326-0.00180232 -0.00266261 0.999995 uwb: 0.0 836.743 1462.3 -imu_odom_: 1691062941.382844445 0.292093 -0.244209 9.92636 -0.0820254 0.0181095 0.0681769 0.18 0 pose: 0.0 -4.18917 0.168557 0 -0.000244326-0.00180232 -0.00266261 0.999995 uwb: 0.50014735 836.25 1461.13 -imu_odom_: 1691062941.407969785 0.459687 -0.445322 10.0748 -0.0692422 0.0245011 0.0458064 0.25 0.02 pose: 0.42791152 -4.17945 0.166218 0 -0.000288405-0.000250116-0.00260474 0.999997 uwb: 0.0 836.25 1461.13 -imu_odom_: 1691062941.420970951 0.718261 -0.234632 10.0413 -0.0543285 -0.0181095 0.0372843 0.25 0.02 pose: 0.0 -4.17945 0.166218 0 -0.000288405-0.000250116-0.00260474 0.999997 uwb: 0.0 836.25 1461.13 -imu_odom_: 1691062941.439003951 0.371101 -0.213084 9.78989 -0.0713727 0.0234358 0.0511327 0.18 0 pose: 0.48009060 -4.16972 0.163879 0 -0.00223638 0.00395394 -0.00223896 0.999987 uwb: 0.50021735 837.826 1460.52 -imu_odom_: 1691062941.463977341 0.0407014 -0.268151 10.0389 -0.0372843 -0.00106526 0.036219 0.18 0 pose: 0.0 -4.16972 0.163879 0 -0.00223638 0.00395394 -0.00223896 0.999987 uwb: 0.0 837.826 1460.52 -imu_odom_: 1691062941.489838222 0.177171 -0.500388 9.52653 -0.052198 0.0223706 0.0511327 0.21 0 pose: 0.38136713 -4.16 0.161548 0 -0.00282524 0.00190605 -0.00216459 0.999992 uwb: 0.50017651 837.698 1459.6 -imu_odom_: 1691062941.513801337 0.409408 -0.344765 9.78271 -0.0458064 0.00532632 0.0458064 0.21 0 pose: 0.0 -4.16 0.161548 0 -0.00282524 0.00190605 -0.00216459 0.999992 uwb: 0.0 837.698 1459.6 -imu_odom_: 1691062941.531892667 0.392649 -0.122104 10.0365 -0.052198 -0.0287621 0.0458064 0.19 0 pose: 0.43028847 -4.16 0.161548 0 -0.00248005 0.00503295 -0.00209967 0.999982 uwb: 0.50001903 836.942 1457.91 -imu_odom_: 1691062941.556810061 0.476446 0.0383072 10.4196 -0.0553937 -0.00745685 0.0500674 0.19 0 pose: 0.0 -4.16 0.161548 0 -0.00248005 0.00503295 -0.00209967 0.999982 uwb: 0.0 836.942 1457.91 -imu_odom_: 1691062941.574939596 0.11971 -0.397437 9.69173 -0.0479369 0.0234358 0.0468716 0.25 0 pose: 0.49798331 -4.14795 0.168945 0 -0.00406028 0.00367027 -0.00191686 0.999983 uwb: 0.0 836.942 1457.91 -imu_odom_: 1691062941.598024846 0.435745 -0.397437 10.0221 -0.0372843 -0.00213053 0.0479369 0.25 0 pose: 0.0 -4.14795 0.168945 0 -0.00406028 0.00367027 -0.00191686 0.999983 uwb: 0.49993736 837.61 1457.3 -imu_odom_: 1691062941.624084049 0.521936 -0.215478 10.1251 -0.04048 -0.0319579 0.0372843 0.2 -0.02 pose: 0.43103801 -4.13824 0.166523 0 -0.0012441 0.00292883 -0.00171894 0.999993 uwb: 0.0 837.61 1457.3 -imu_odom_: 1691062941.641061568 0.153229 -0.124498 9.95988 -0.0394148 0.0276969 0.0500674 0.2 -0.02 pose: 0.0 -4.13824 0.166523 0 -0.0012441 0.00292883 -0.00171894 0.999993 uwb: 0.0 837.61 1457.3 -imu_odom_: 1691062941.665825845 0.548272 -0.37589 10.1562 -0.0649811 0.0223706 0.0458064 0.25 0 pose: 0.41103375 -4.12854 0.164104 0 -0.00306658 0.00168823 -0.00160794 0.999993 uwb: 0.0 837.61 1457.3 -imu_odom_: 1691062941.688903220 0.624887 -0.19393 10.1107 -0.0426106 0.0191748 0.0298274 0.25 0 pose: 0.0 -4.12854 0.164104 0 -0.00306658 0.00168823 -0.00160794 0.999993 uwb: 0.100173546 837.112 1456.17 -imu_odom_: 1691062941.713876027 0.349553 -0.237026 9.34936 -0.0617853 -0.0234358 0.04048 0.18 0.02 pose: 0.42810694 -4.11884 0.161688 0 -0.00184213 0.00101657 -0.00151803 0.999997 uwb: 0.0 837.112 1456.17 -imu_odom_: 1691062941.731801117 0.129287 -0.234632 9.91678 -0.0298274 0.0138484 0.0458064 0.18 0.02 pose: 0.0 -4.11884 0.161688 0 -0.00184213 0.00101657 -0.00151803 0.999997 uwb: 0.0 837.112 1456.17 -imu_odom_: 1691062941.755854935 0.282516 -0.320823 9.80904 -0.0532632 -0.0106526 0.0426106 0.2 -0.02 pose: 0.49009710 -4.10913 0.159274 0 -0.00190796 -0.00121312 -0.00158289 0.999996 uwb: 0.49855203 835.169 1454.1 -imu_odom_: 1691062941.782073379 0.715866 -0.122104 10.2065 -0.0458064 -0.0458064 0.0447411 0.2 -0.02 pose: 0.0 -4.10913 0.159274 0 -0.00190796 -0.00121312 -0.00158289 0.999996 uwb: 0.50224139 835.538 1453.08 -imu_odom_: 1691062941.807875055 0.457293 -0.354342 10.1251 -0.0500674 0.0319579 0.0298274 0.2 0.02 pose: 0.84234883 -4.09701 0.166564 0 -0.00197173 0.000803869 -0.00141411 0.999997 uwb: 0.0 835.538 1453.08 -imu_odom_: 1691062941.832815780 0.399832 -0.368707 10.094 -0.076699 -0.0127832 0.0703074 0.2 0.02 pose: 0.0 -4.09701 0.166564 0 -0.00197173 0.000803869 -0.00141411 0.999997 uwb: 0.0 835.538 1453.08 -imu_odom_: 1691062941.847929365 0.138864 -0.40462 9.73004 -0.056459 -0.0447411 0.0500674 0.21 -0.02 pose: 0.25801676 -4.09035 0.164906 0 -0.00401835 -0.00020649 -0.00154552 0.999991 uwb: 0.0 835.538 1453.08 -imu_odom_: 1691062941.871846692 0.344765 -0.227449 9.94312 -0.056459 -0.0298274 0.0479369 0.21 -0.02 pose: 0.0 -4.09035 0.164906 0 -0.00401835 -0.00020649 -0.00154552 0.999991 uwb: 0.0 835.538 1453.08 -imu_odom_: 1691062941.897798859 0.708684 -0.392649 10.1778 -0.0415453 -0.0479369 0.0308927 0.18 -0.02 pose: 0.48000309 -4.0776 0.161738 0 -0.00634783 0.00123548 -0.00103275 0.999979 uwb: 0.99723530 833.53 1451.25 -imu_odom_: 1691062941.921854719 0.316035 -0.155623 9.52413 -0.0703074 -0.0127832 0.0639159 0.19 0 pose: 0.41923495 -4.07092 0.160082 0 -0.00525514 -0.00162137 -0.00108306 0.999984 uwb: 0.0 833.53 1451.25 -imu_odom_: 1691062941.939798182 0.521936 -0.201113 9.99819 -0.0788296 -0.0106526 0.0458064 0.19 0 pose: 0.8076075 -4.0679 0.159333 0 -0.00466745 -0.00117297 -0.00098323 0.999988 uwb: 0.49977113 835.453 1450.88 -imu_odom_: 1691062941.963793379 0.229843 0.023942 10.0365 -0.0777643 0.0149137 0.0383495 0.18 0 pose: 0.0 -4.0679 0.159333 0 -0.00466745 -0.00117297 -0.00098323 0.999988 uwb: 0.0 835.453 1450.88 -imu_odom_: 1691062941.981775632 0.260968 -0.316035 10.1897 -0.052198 -0.00639159 0.036219 0.18 0 pose: 0.33923248 -4.06656 0.164721 0 -0.0026551 -0.00179415 -0.0007350920.999995 uwb: 0.49994028 835.006 1449.66 -imu_odom_: 1691062942.4896754 0.337582 -0.244209 10.2903 -0.0585895 -0.0191748 0.0479369 0.18 0 pose: 0.0 -4.06656 0.164721 0 -0.0026551 -0.00179415 -0.0007350920.999995 uwb: 0.0 835.006 1449.66 -imu_odom_: 1691062942.30792342 0.557849 -0.225055 10.1275 -0.0745685 -0.0181095 0.0308927 0.18 -0.02 pose: 0.50050608 -4.05581 0.166749 0 -0.00167682 0.00211746 -0.0007437540.999996 uwb: 0.0 835.006 1449.66 -imu_odom_: 1691062942.54865701 0.584185 -0.42138 9.54089 -0.0777643 0.0127832 0.0415453 0.17 0 pose: 0.40943552 -4.04608 0.164447 0 -0.00144977 0.000716965 -0.0007918370.999998 uwb: 0.50029026 836.025 1449.31 -imu_odom_: 1691062942.80926945 0.620098 -0.241814 9.71328 -0.0330232 0.036219 0.0319579 0.17 0 pose: 0.8005496 -4.04608 0.164447 0 -0.00208327 0.000196345 -0.0007852510.999998 uwb: 0.0 836.025 1449.31 -imu_odom_: 1691062942.105156046 0.608127 -0.265756 9.43555 -0.0777643 0.0383495 0.0436758 0.2 -0.02 pose: 0.42129107 -4.03932 0.162848 0 -0.00258985 -0.00288633 -0.0008818820.999992 uwb: 0.50006861 836.565 1447.83 -imu_odom_: 1691062942.121789127 0.174777 -0.196325 9.88805 -0.0298274 0.0223706 0.0245011 0.2 -0.02 pose: 0.0 -4.03932 0.162848 0 -0.00258985 -0.00288633 -0.0008818820.999992 uwb: 0.0 836.565 1447.83 -imu_odom_: 1691062942.138834017 0.143652 -0.0861913 9.97185 -0.0479369 0.00319579 0.036219 0.19 -0.02 pose: 0.0 -4.03932 0.162848 0 -0.00258985 -0.00288633 -0.0008818820.999992 uwb: 0.50071899 840.485 1447.97 -imu_odom_: 1691062942.155840701 0.268151 -0.617704 9.97185 -0.0660464 0.0191748 0.0415453 0.19 -0.02 pose: 0.48907633 -4.02661 0.159838 0 -0.0018993 -0.00221612 -0.0009756770.999995 uwb: 0.0 840.485 1447.97 -imu_odom_: 1691062942.179790693 0.186748 -0.122104 9.94551 -0.0511327 -0.0170442 0.0426106 0.19 0 pose: 0.0 -4.02661 0.159838 0 -0.0018993 -0.00221612 -0.0009756770.999995 uwb: 0.0 840.485 1447.97 -imu_odom_: 1691062942.205913475 0.54109 -0.287304 10.2448 -0.0660464 -0.0394148 0.04048 0.19 0 pose: 0.33956497 -4.02431 0.169568 0 -0.00261974 9.24166e-05 -0.0009567820.999996 uwb: 0.49916450 840.323 1447.19 -imu_odom_: 1691062942.220879194 0.711078 -0.335188 9.61511 -0.0468716 0.00958738 0.0213053 0.19 0 pose: 0.0 -4.02431 0.169568 0 -0.00261974 9.24166e-05 -0.0009567820.999996 uwb: 0.0 840.323 1447.19 -imu_odom_: 1691062942.246819404 0.299275 -0.407014 9.69652 -0.0436758 -0.00213053 0.0394148 0.19 -0.02 pose: 0.49054041 -4.01458 0.167262 0 -0.00257748 -0.00231141 -0.0009856830.999994 uwb: 0.49997237 843.287 1447.49 -imu_odom_: 1691062942.271832167 0.565032 -0.277727 10.0149 -0.0575243 -0.0266316 0.052198 0.19 0.02 pose: 0.33974288 -4.00485 0.164956 0 -0.00429601 -0.00103574 -0.0010519 0.99999 uwb: 0.0 843.287 1447.49 -imu_odom_: 1691062942.288815519 0.366313 -0.237026 9.77553 -0.0500674 -0.0234358 0.0490022 0.19 0.02 pose: 0.0 -4.00485 0.164956 0 -0.00429601 -0.00103574 -0.0010519 0.99999 uwb: 0.49863078 841.667 1445.87 -imu_odom_: 1691062942.313768495 0.191536 -0.172383 9.71567 -0.0575243 0.0234358 0.0500674 0.19 0 pose: 0.8118947 -4.00485 0.164956 0 -0.00418116 -0.00193017 -0.00100388 0.999989 uwb: 0.0 841.667 1445.87 -imu_odom_: 1691062942.338902876 0.557849 -0.237026 9.87608 -0.0319579 -0.0468716 0.0436758 0.19 0 pose: 0.0 -4.00485 0.164956 0 -0.00418116 -0.00193017 -0.00100388 0.999989 uwb: 0.49995778 841.687 1444.58 -imu_odom_: 1691062942.361977335 0.320823 -0.143652 10.1131 -0.0798948 0.00852212 0.0671117 0.19 0 pose: 0.42857066 -3.99512 0.162649 0 -0.00282873 -0.00146809 -0.0007714660.999995 uwb: 0.0 841.687 1444.58 -imu_odom_: 1691062942.377972869 0.54109 -0.339977 9.87848 -0.0713727 -0.00532632 0.0532632 0.19 0 pose: 0.0 -3.99512 0.162649 0 -0.00282873 -0.00146809 -0.0007714660.999995 uwb: 0.0 841.687 1444.58 -imu_odom_: 1691062942.394936389 0.533907 -0.181959 9.7444 -0.0511327 -0.00213053 0.0458064 0.19 0 pose: 0.48124845 -3.98539 0.160347 0 -0.00128826 -0.00218326 -0.0005421220.999997 uwb: 0.50018236 845.879 1445.06 -imu_odom_: 1691062942.419905405 0.667982 -0.299275 9.59835 -0.0830906 0.00958738 0.0500674 0.25 0 pose: 0.0 -3.98539 0.160347 0 -0.00128826 -0.00218326 -0.0005421220.999997 uwb: 0.0 845.879 1445.06 -imu_odom_: 1691062942.446755854 0.0933739 -0.263362 9.59117 -0.0852212 0.0298274 0.0628506 0.24 0 pose: 0.39946693 -3.97336 0.167789 0 -0.00127175 -0.002603 -0.0001902440.999996 uwb: 0.49972446 842.784 1442.73 -imu_odom_: 1691062942.471803907 0.509965 -0.387861 10.0652 -0.0735032 0.0138484 0.0447411 0.24 0 pose: 0.0 -3.97336 0.167789 0 -0.00127175 -0.002603 -0.0001902440.999996 uwb: 0.0 842.784 1442.73 -imu_odom_: 1691062942.488904211 0.493206 -0.023942 10.24 -0.056459 -0.0170442 0.036219 0.23 0 pose: 0.85936952 -3.96362 0.165502 0 -0.00487932 -0.00322123 0.000347624 0.999983 uwb: 0.49983238 846.209 1442.86 -imu_odom_: 1691062942.512815121 0.371101 -0.318429 9.77553 -0.0575243 0.0287621 0.0308927 0.23 0 pose: 0.7012428 -3.96362 0.165502 0 -0.00418321 -0.00332613 0.000333498 0.999986 uwb: 0.0 846.209 1442.86 -imu_odom_: 1691062942.538811619 0.280122 -0.337582 9.61511 -0.0660464 -0.0319579 0.0479369 0.2 0 pose: 0.33998786 -3.95389 0.163222 0 -0.00414791 -0.0008809190.000218241 0.999991 uwb: 0.50067524 846.124 1441.86 -imu_odom_: 1691062942.552810519 0.196325 -0.481235 9.65342 -0.0585895 0.0276969 0.0511327 0.2 0 pose: 0.0 -3.95389 0.163222 0 -0.00414791 -0.0008809190.000218241 0.999991 uwb: 0.0 846.124 1441.86 -imu_odom_: 1691062942.575792816 0.481235 -0.174777 9.93354 -0.0447411 0 0.0500674 0.17 0.02 pose: 0.0 -3.95389 0.163222 0 -0.00414791 -0.0008809190.000218241 0.999991 uwb: 0.0 846.124 1441.86 -imu_odom_: 1691062942.592766836 0.538695 -0.196325 10.0293 -0.0511327 -0.0575243 0.0490022 0.17 0.02 pose: 0.39995398 -3.9487 0.162006 0 -0.00604551 0.00248791 0.00042297 0.999979 uwb: 0.50104564 843.793 1439.92 -imu_odom_: 1691062942.617813722 0.483629 0.0143652 10.2544 -0.0319579 -0.052198 0.04048 0.19 0 pose: 0.0 -3.9487 0.162006 0 -0.00604551 0.00248791 0.00042297 0.999979 uwb: 0.0 843.793 1439.92 -imu_odom_: 1691062942.643749849 0.782904 0.0574608 9.82102 -0.0426106 -0.0447411 0.0511327 0.19 0 pose: 0.39956317 -3.93933 0.159812 0 -0.00318001 -0.0007836530.000615539 0.999994 uwb: 0.50041567 842.879 1438.85 -imu_odom_: 1691062942.668785944 0.588974 0.0215478 9.70849 -0.0553937 0.00319579 0.0479369 0.19 0 pose: 0.50983013 -3.92542 0.166832 0 0.00137569 -0.00445453 0.00077162 0.999989 uwb: 0.0 842.879 1438.85 -imu_odom_: 1691062942.694030861 0.155623 -0.332794 9.7875 -0.052198 0.02024 0.0351537 0.19 0 pose: 0.0 -3.92542 0.166832 0 0.00137569 -0.00445453 0.00077162 0.999989 uwb: 0.50050026 841.76 1437.14 -imu_odom_: 1691062942.708762385 0.184354 -0.102951 10.3046 -0.0639159 -0.0138484 0.056459 0.18 -0.02 pose: 0.50281012 -3.9224 0.166126 0 0.00248363 -0.00290466 0.000811621 0.999992 uwb: 0.0 841.76 1437.14 -imu_odom_: 1691062942.732806871 0.270545 -0.143652 10.1203 -0.0447411 -0.0607201 0.0447411 0.18 -0.02 pose: 0.0 -3.9224 0.166126 0 0.00248363 -0.00290466 0.000811621 0.999992 uwb: 0.49873285 842.534 1436.2 -imu_odom_: 1691062942.759024148 0.581791 -0.134075 10.6686 -0.0436758 -0.0191748 0.036219 0.25 0 pose: 0.38776010 -3.91266 0.163856 0 0.00310056 0.000182295 0.000984554 0.999995 uwb: 0.0 842.534 1436.2 -imu_odom_: 1691062942.784791409 0.991199 0.0646434 10.1442 -0.0340885 -0.0181095 0.0330232 0.25 0 pose: 0.8014828 -3.91266 0.163856 0 0.00321458 -0.0006774230.00097338 0.999994 uwb: 0.50054692 838.266 1433.78 -imu_odom_: 1691062942.801748513 0.476446 -0.380678 9.55287 -0.0713727 -0.0660464 0.0575243 0.23 0 pose: 0.26109950 -3.90292 0.161587 0 0.00384734 -0.00342175 0.000923904 0.999986 uwb: 0.0 838.266 1433.78 -imu_odom_: 1691062942.826756027 0.490811 -0.282516 10.1011 -0.0468716 -0.0298274 0.0330232 0.23 0 pose: 0.0 -3.90292 0.161587 0 0.00384734 -0.00342175 0.000923904 0.999986 uwb: 0.0 838.266 1433.78 -imu_odom_: 1691062942.852885226 0.634463 -0.608127 9.7851 -0.0607201 -0.00426106 0.0500674 0.19 0 pose: 0.24984182 -3.90292 0.161587 0 0.00392504 -0.00536134 0.000935436 0.999977 uwb: 0.49993737 839.063 1432.8 -imu_odom_: 1691062942.878850226 0.282516 -0.0694318 9.80186 -0.0181095 0.0127832 0.0372843 0.18 0 pose: 0.60969395 -3.89089 0.169042 0 -0.00204937 -0.00621293 0.0011071 0.999978 uwb: 0.0 839.063 1432.8 -imu_odom_: 1691062942.894726767 0.577003 -0.337582 9.67497 -0.0809601 -0.00426106 0.0660464 0.18 0 pose: 0.0 -3.89089 0.169042 0 -0.00204937 -0.00621293 0.0011071 0.999978 uwb: 0.49939198 838.651 1431.59 -imu_odom_: 1691062942.919732822 0.208296 -0.294487 9.5792 -0.056459 0.0585895 0.0308927 0.18 -0.02 pose: 0.8031744 -3.89092 0.169058 0 -0.00141124 -0.00550688 0.00109695 0.999983 uwb: 0.0 838.651 1431.59 -imu_odom_: 1691062942.945791442 0.280122 -0.208296 10.1011 -0.0660464 -0.0479369 0.0596548 0.18 -0.02 pose: 0.0 -3.89092 0.169058 0 -0.00141124 -0.00550688 0.00109695 0.999983 uwb: 0.50191768 838.587 1430.62 -imu_odom_: 1691062942.961724563 1.19471 -0.258574 10.4124 -0.0415453 -0.0298274 0.0308927 0.18 -0.02 pose: 0.0 -3.89092 0.169058 0 -0.00141124 -0.00550688 0.00109695 0.999983 uwb: 0.0 838.587 1430.62 -imu_odom_: 1691062942.984726109 0.423774 -0.332794 9.61511 -0.0777643 -0.0245011 0.0607201 0.19 0 pose: 0.41831333 -3.8812 0.166695 0 -0.00157958 -0.00388572 0.00125506 0.99999 uwb: 0.49871827 839.964 1430.38 -imu_odom_: 1691062943.12067988 0.550666 -0.0814029 9.85932 -0.0575243 -0.0223706 0.0351537 0.25 0 pose: 0.81977806 -3.86498 0.16293 0 -0.00379839 -0.00156606 0.00162604 0.99999 uwb: 0.0 839.964 1430.38 -imu_odom_: 1691062943.37752421 0.600945 -0.40462 9.46667 -0.0852212 0.0127832 0.0436758 0.25 0 pose: 0.0 -3.86498 0.16293 0 -0.00379839 -0.00156606 0.00162604 0.99999 uwb: 0.49994029 838.831 1428.82 -imu_odom_: 1691062943.63999155 0.138864 -0.232238 9.77553 -0.056459 0.00639159 0.0458064 0.25 -0.02 pose: 0.8032036 -3.86172 0.162174 0 -0.00310689 -0.00203305 0.00160593 0.999992 uwb: 0.0 838.831 1428.82 -imu_odom_: 1691062943.86866835 0.184354 -0.131681 9.63666 -0.076699 -0.0511327 0.0447411 0.25 -0.02 pose: 0.0 -3.86172 0.162174 0 -0.00310689 -0.00203305 0.00160593 0.999992 uwb: 0.49865120 838.347 1427.84 -imu_odom_: 1691062943.103733235 0.859518 -0.0957681 10.0269 -0.0394148 -0.0181095 0.036219 0.18 0 pose: 0.53186720 -3.85197 0.159918 0 -0.00366072 -0.00375441 0.0016402 0.999985 uwb: 0.0 838.347 1427.84 -imu_odom_: 1691062943.128865575 0.620098 -0.124498 9.87608 -0.0553937 -0.00745685 0.0372843 0.18 0 pose: 0.0 -3.85197 0.159918 0 -0.00366072 -0.00375441 0.0016402 0.999985 uwb: 0.0 838.347 1427.84 -imu_odom_: 1691062943.153726098 0.588974 -0.153229 9.70131 -0.052198 0.00639159 0.0468716 0.19 -0.02 pose: 0.48928049 -3.83998 0.167406 0 -0.0021445 -0.00123391 0.00175114 0.999995 uwb: 0.49970697 837.375 1427.02 -imu_odom_: 1691062943.177703796 0.744597 -0.179565 10.3741 -0.0490022 0.02024 0.0276969 0.19 -0.02 pose: 0.0 -3.83998 0.167406 0 -0.0021445 -0.00123391 0.00175114 0.999995 uwb: 0.0 837.375 1427.02 -imu_odom_: 1691062943.193852447 0.402226 -0.237026 9.56244 -0.0340885 -0.00852212 0.0319579 0.25 0 pose: 0.65916943 -3.83023 0.165152 0 0.00114915 -0.00679231 0.00174191 0.999975 uwb: 0.49935990 836.312 1425.33 -imu_odom_: 1691062943.219711578 0.146046 -0.325611 10.4722 -0.0511327 -0.0319579 0.0426106 0.25 0 pose: 0.0 -3.83023 0.165152 0 0.00114915 -0.00679231 0.00174191 0.999975 uwb: 0.0 836.312 1425.33 -imu_odom_: 1691062943.244729883 0.0957681 -0.035913 9.94073 -0.0617853 -0.00639159 0.0500674 0.19 0 pose: 0.23919368 -3.83023 0.165152 0 0.0011823 -0.00761642 0.00161782 0.999969 uwb: 0.50026694 833.047 1422.77 -imu_odom_: 1691062943.271987476 1.34794 -0.514753 10.2496 -0.0596548 0.0628506 0.0330232 0.18 0 pose: 0.17012517 -3.82049 0.162896 0 0.000784482 -0.00612127 0.00159765 0.99998 uwb: 0.0 833.047 1422.77 -imu_odom_: 1691062943.287851768 -0.0670376 -0.0861913 9.15543 -0.0553937 0.0575243 0.0191748 0.18 0 pose: 0.0 -3.82049 0.162896 0 0.000784482 -0.00612127 0.00159765 0.99998 uwb: 0.50120605 833.006 1421.79 -imu_odom_: 1691062943.314791753 -0.155623 -0.435745 10.2113 -0.0276969 -0.0628506 0.0127832 0.24 0 pose: 0.51165003 -3.81075 0.160641 0 0.000875907 -0.00288731 0.00172771 0.999994 uwb: 0.0 833.006 1421.79 -imu_odom_: 1691062943.340777752 0.507571 -0.201113 10.7045 -0.0596548 -0.0330232 0.056459 0.24 0 pose: 0.0 -3.81075 0.160641 0 0.000875907 -0.00288731 0.00172771 0.999994 uwb: 0.49889036 835.122 1421.81 -imu_odom_: 1691062943.363729718 0.114922 -0.0837971 10.4028 -0.02024 -0.0255663 0.036219 0.25 -0.02 pose: 0.42992101 -3.8085 0.170383 0 0.000361845 -0.00149528 0.00139862 0.999998 uwb: 0.0 835.122 1421.81 -imu_odom_: 1691062943.380746027 0.397437 -0.304064 9.65103 -0.0532632 0.02024 0.0553937 0.25 -0.02 pose: 0.0 -3.8085 0.170383 0 0.000361845 -0.00149528 0.00139862 0.999998 uwb: 0.0 835.122 1421.81 -imu_odom_: 1691062943.405696378 0.823605 -0.181959 9.49062 -0.0436758 0.0276969 0.0287621 0.18 -0.02 pose: 0.51863212 -3.79875 0.168123 0 0.000627204 -0.00264667 0.00135264 0.999995 uwb: 0.49984113 832.749 1420.3 -imu_odom_: 1691062943.422735144 0.414197 0 10.3166 -0.0500674 -0.0138484 0.0575243 0.18 -0.02 pose: 0.0 -3.79875 0.168123 0 0.000627204 -0.00264667 0.00135264 0.999995 uwb: 0.0 832.749 1420.3 -imu_odom_: 1691062943.448862884 0.402226 -0.246603 10.6087 -0.0543285 0.02024 0.0351537 0.18 0 pose: 0.41965202 -3.78901 0.165862 0 -5.64808e-05-0.00141967 0.00141221 0.999998 uwb: 0.50024652 833.515 1419.44 -imu_odom_: 1691062943.475856534 0.011971 -0.373495 9.53132 -0.076699 0.0298274 0.0713727 0.18 0 pose: 0.0 -3.78901 0.165862 0 -5.64808e-05-0.00141967 0.00141221 0.999998 uwb: 0.0 833.515 1419.44 -imu_odom_: 1691062943.500831674 0.414197 -0.162806 10.0197 -0.0585895 0.0340885 0.0298274 0.18 0 pose: 0.41059628 -3.77927 0.163602 0 0.00124893 -0.00190483 0.00145677 0.999996 uwb: 0.50029318 831.333 1417.5 -imu_odom_: 1691062943.527756494 0.411803 -0.488417 10.1155 -0.0948085 0.0117179 0.0585895 0.23 0 pose: 0.52944942 -3.76953 0.161346 0 -0.0008385350.00206524 0.00181101 0.999996 uwb: 0.0 831.333 1417.5 -imu_odom_: 1691062943.543741238 0.146046 -0.428562 9.64384 -0.0628506 0.0330232 0.0330232 0.23 0 pose: 0.0 -3.76953 0.161346 0 -0.0008385350.00206524 0.00181101 0.999996 uwb: 0.50002196 829.239 1415.35 -imu_odom_: 1691062943.570961499 0.215478 -0.0766145 10.1634 -0.072438 -0.0127832 0.0607201 0.25 0 pose: 0.25134090 -3.76728 0.171089 0 -0.0004295260.00135523 0.00180432 0.999997 uwb: 0.0 829.239 1415.35 -imu_odom_: 1691062943.596928832 0.1652 -0.265756 9.84735 -0.0415453 0.00213053 0.0287621 0.25 0 pose: 0.43072595 -3.75753 0.168836 0 -0.00303409 0.0032624 0.00202169 0.999988 uwb: 0.50239015 831.492 1415 -imu_odom_: 1691062943.622757049 0.217872 -0.248997 9.55765 -0.0447411 -0.00852212 0.0500674 0.24 0 pose: 0.45010317 -3.74779 0.166588 0 -0.00174249 0.00684069 0.00209328 0.999973 uwb: 0.0 831.492 1415 -imu_odom_: 1691062943.648688218 0.0311246 -0.0837971 9.93354 -0.052198 0.0181095 0.04048 0.24 0 pose: 0.0 -3.74779 0.166588 0 -0.00174249 0.00684069 0.00209328 0.999973 uwb: 0.49875327 834.406 1415.09 -imu_odom_: 1691062943.673677066 0.0311246 -0.581791 9.90002 -0.056459 0.0117179 0.0426106 0.23 0.02 pose: 0.51759386 -3.73805 0.164342 0 4.81252e-05 0.0116174 0.00226167 0.99993 uwb: 0.0 834.406 1415.09 -imu_odom_: 1691062943.697701137 0.19393 -0.414197 10.082 -0.0532632 -0.00532632 0.052198 0.23 0.02 pose: 0.0 -3.73805 0.164342 0 4.81252e-05 0.0116174 0.00226167 0.99993 uwb: 0.49819914 834.986 1414.69 -imu_odom_: 1691062943.712699812 0.533907 -0.146046 9.84017 -0.0415453 -0.0394148 0.0511327 0.18 0 pose: 0.32357089 -3.73805 0.164342 0 -0.00299328 0.0125143 0.00230947 0.999915 uwb: 0.0 834.986 1414.69 -imu_odom_: 1691062943.737841777 0.675165 -0.0550666 9.97903 -0.0426106 -0.0287621 0.0415453 0.18 0 pose: 0.0 -3.73805 0.164342 0 -0.00299328 0.0125143 0.00230947 0.999915 uwb: 0.49934241 834.567 1413.63 -imu_odom_: 1691062943.760943651 0.272939 -0.100556 9.7851 -0.0532632 0.0276969 0.0351537 0.19 0.02 pose: 0.23887870 -3.7283 0.162099 0 -0.00423692 0.0112496 0.00243509 0.999925 uwb: 0.0 834.567 1413.63 -imu_odom_: 1691062943.785744385 0.227449 -0.131681 9.68933 -0.0671117 0.0117179 0.0703074 0.19 0.02 pose: 0.0 -3.7283 0.162099 0 -0.00423692 0.0112496 0.00243509 0.999925 uwb: 0.50168436 837.369 1413.91 -imu_odom_: 1691062943.801664674 0.0047884 -0.617704 9.97903 -0.0596548 0.0340885 0.0543285 0.23 0 pose: 0.39988399 -3.71631 0.169604 0 -0.00188375 0.00786239 0.00249685 0.999964 uwb: 0.0 837.369 1413.91 -imu_odom_: 1691062943.827836162 0.37589 -0.0766145 9.87129 -0.0394148 -0.00639159 0.0276969 0.23 0 pose: 0.0 -3.71631 0.169604 0 -0.00188375 0.00786239 0.00249685 0.999964 uwb: 0.0 837.369 1413.91 -imu_odom_: 1691062943.852763181 0.102951 -0.464475 10.003 -0.0458064 -0.0170442 0.0372843 0.18 0 pose: 0.46924706 -3.70657 0.167369 0 0.00141433 0.00916634 0.00291374 0.999953 uwb: 0.49883202 835.439 1412.46 -imu_odom_: 1691062943.875669649 0.514753 -0.418985 10.0054 -0.0628506 -0.0255663 0.056459 0.18 0 pose: 0.0 -3.70657 0.167369 0 0.00141433 0.00916634 0.00291374 0.999953 uwb: 0.0 835.439 1412.46 -imu_odom_: 1691062943.891736055 0.222661 -0.342371 9.92636 -0.0490022 -0.0149137 0.0511327 0.18 0 pose: 0.67864289 -3.69682 0.165139 0 -0.00021738 0.00802145 0.00284311 0.999964 uwb: 0.0 835.439 1412.46 -imu_odom_: 1691062943.909012807 0.588974 -0.0646434 9.95748 -0.0372843 0.00106526 0.036219 0.18 0 pose: 0.0 -3.69682 0.165139 0 -0.00021738 0.00802145 0.00284311 0.999964 uwb: 0.0 835.439 1412.46 -imu_odom_: 1691062943.933829873 0.442927 -0.196325 9.6199 -0.0596548 -0.0245011 0.0500674 0.18 0 pose: 0.49302236 -3.68707 0.162907 0 -0.00154818 0.00576408 0.00302676 0.999978 uwb: 0.100187838 835.743 1411.7 -imu_odom_: 1691062943.959861078 0.464475 -0.296881 9.76116 -0.0245011 -0.0287621 0.04048 0.18 0 pose: 0.0 -3.68707 0.162907 0 -0.00154818 0.00576408 0.00302676 0.999978 uwb: 0.0 835.743 1411.7 -imu_odom_: 1691062943.982700467 0.0143652 0.122104 10.0269 -0.0543285 -0.0937433 0.0490022 0.19 0 pose: 0.7707138 -3.68707 0.162907 0 -0.00132873 0.00495104 0.00306761 0.999982 uwb: 0.49804165 835.462 1410.32 -imu_odom_: 1691062944.6691582 0.294487 -0.174777 9.28471 -0.0990696 -0.0511327 0.0862864 0.19 0 pose: 0.50053525 -3.6751 0.17043 0 -0.00118811 0.000719064 0.00319738 0.999994 uwb: 0.0 835.462 1410.32 -imu_odom_: 1691062944.23768554 0.694318 -0.543484 10.1969 -0.076699 -0.0319579 0.0372843 0.18 -0.02 pose: 0.0 -3.6751 0.17043 0 -0.00118811 0.000719064 0.00319738 0.999994 uwb: 0.0 835.462 1410.32 -imu_odom_: 1691062944.48808149 0.981623 -0.332794 9.97903 -0.0553937 -0.0553937 0.0372843 0.18 -0.02 pose: 0.0 -3.6751 0.17043 0 -0.00118811 0.000719064 0.00319738 0.999994 uwb: 0.49906535 835.411 1409.41 -imu_odom_: 1691062944.74732611 0.373495 0.0502782 10.477 -0.0745685 0.0117179 0.0436758 0.2 0 pose: 0.65011662 -3.66535 0.168209 0 -0.00107259 0.000299802 0.00380641 0.999992 uwb: 0.0 835.411 1409.41 -imu_odom_: 1691062944.99763457 0.385466 -0.0766145 9.57681 -0.0820254 -0.00745685 0.0447411 0.19 0.02 pose: 0.42947479 -3.65824 0.166598 0 0.000937748 -0.00102014 0.00383388 0.999992 uwb: 0.0 835.411 1409.41 -imu_odom_: 1691062944.126722692 0.687136 -0.47884 9.64863 -0.0596548 0.0351537 0.04048 0.19 0.02 pose: 0.0 -3.65824 0.166598 0 0.000937748 -0.00102014 0.00383388 0.999992 uwb: 0.0 835.411 1409.41 -imu_odom_: 1691062944.142649980 0.1652 -0.270545 10.2472 -0.0607201 -0.00745685 0.0436758 0.19 -0.02 pose: 0.7093215 -3.65559 0.165996 0 0.00152069 -0.00082057 0.00385118 0.999991 uwb: 0.100102969 836.466 1408.85 -imu_odom_: 1691062944.168667478 0.785298 -0.131681 9.7851 -0.0671117 0.0117179 0.0181095 0.19 -0.02 pose: 0.0 -3.65559 0.165996 0 0.00152069 -0.00082057 0.00385118 0.999991 uwb: 0.0 836.466 1408.85 -imu_odom_: 1691062944.194682350 0.246603 -0.656011 9.23683 -0.0479369 -0.00426106 0.0468716 0.19 0 pose: 0.52848990 -3.64584 0.163784 0 0.000664684 -0.00080466 0.00393048 0.999992 uwb: 0.50023778 836.451 1407.86 -imu_odom_: 1691062944.220673016 0.275333 -0.294487 9.46667 -0.0149137 0.0149137 0.0298274 0.19 0 pose: 0.0 -3.64584 0.163784 0 0.000664684 -0.00080466 0.00393048 0.999992 uwb: 0.0 836.451 1407.86 -imu_odom_: 1691062944.245666239 0.208296 -0.208296 9.88566 -0.0596548 -0.0287621 0.0383495 0.2 0 pose: 0.41999324 -3.63388 0.171324 0 8.0564e-05 -0.00207308 0.00369901 0.999991 uwb: 0.50003654 836.594 1406.47 -imu_odom_: 1691062944.272661347 -0.011971 -0.260968 10.1203 -0.0394148 -0.00319579 0.0351537 0.22 0 pose: 0.52063869 -3.62413 0.169108 0 -0.0016466 0.00204598 0.00364357 0.99999 uwb: 0.0 836.594 1406.47 -imu_odom_: 1691062944.289656366 0.442927 -0.545878 9.56005 -0.0798948 0.0127832 0.0458064 0.22 0 pose: 0.0 -3.62413 0.169108 0 -0.0016466 0.00204598 0.00364357 0.99999 uwb: 0.50002779 836.971 1405.53 -imu_odom_: 1691062944.313714268 0.296881 -0.0646434 9.67018 -0.0479369 -0.0191748 0.0458064 0.25 0 pose: 0.24003655 -3.62413 0.169108 0 -0.00126816 0.00419606 0.00362198 0.999984 uwb: 0.0 836.971 1405.53 -imu_odom_: 1691062944.338718866 0.533907 -0.0095768110.0724 -0.0830906 -0.0106526 0.0553937 0.25 0 pose: 0.43919255 -3.61437 0.166891 0 -0.00223207 0.00551431 0.00364879 0.999976 uwb: 0.49929866 837.745 1404.63 -imu_odom_: 1691062944.352805844 0.363919 -0.332794 9.81862 -0.0479369 -0.0532632 0.0319579 0.25 0 pose: 0.0 -3.61437 0.166891 0 -0.00223207 0.00551431 0.00364879 0.999976 uwb: 0.0 837.745 1404.63 -imu_odom_: 1691062944.376874537 0.167594 -0.275333 9.48822 -0.0777643 -0.0170442 0.0383495 0.18 0.02 pose: 0.47999728 -3.60462 0.164675 0 0.000312778 0.00318672 0.00389449 0.999987 uwb: 0.0 837.745 1404.63 -imu_odom_: 1691062944.402671256 0.430956 -0.150835 9.96227 -0.0287621 -0.02024 0.036219 0.23 0 pose: 0.32213890 -3.59764 0.163091 0 -0.00139642 0.00497635 0.00384568 0.999979 uwb: 0.50057318 838.396 1404.03 -imu_odom_: 1691062944.428772457 0.577003 -0.0383072 10.0437 -0.0426106 -0.00106526 0.0319579 0.23 0 pose: 0.0 -3.59764 0.163091 0 -0.00139642 0.00497635 0.00384568 0.999979 uwb: 0.0 838.396 1404.03 -imu_odom_: 1691062944.445642066 0.500388 -0.205901 9.69652 -0.0372843 -0.00745685 0.0415453 0.21 0 pose: 0.6819065 -3.59487 0.162463 0 -0.0009042360.00437072 0.00383509 0.999983 uwb: 0.49994904 835.587 1401.87 -imu_odom_: 1691062944.461634392 0.260968 -0.323217 9.71088 -0.0479369 -0.0234358 0.0575243 0.21 0 pose: 0.0 -3.59487 0.162463 0 -0.0009042360.00437072 0.00383509 0.999983 uwb: 0.0 835.587 1401.87 -imu_odom_: 1691062944.488685497 0.770933 -0.0790087 10.161 -0.0234358 -0.0394148 0.0351537 0.25 0 pose: 0.52144947 -3.58291 0.170001 0 0.00204785 -6.16244e-050.00371906 0.999991 uwb: 0.49890494 836.085 1400.66 -imu_odom_: 1691062944.505653975 0.519542 -0.28491 9.46667 -0.076699 -0.00213053 0.0649811 0.25 0 pose: 0.0 -3.58291 0.170001 0 0.00204785 -6.16244e-050.00371906 0.999991 uwb: 0.0 836.085 1400.66 -imu_odom_: 1691062944.532662499 0.758962 -0.150835 9.97185 -0.0458064 -0.0436758 0.0500674 0.25 -0.02 pose: 0.32888184 -3.58291 0.170001 0 0.00117864 -0.0007767590.00385738 0.999992 uwb: 0.49936575 838.109 1400.69 -imu_odom_: 1691062944.557638223 0.672771 -0.320823 10.2041 -0.0948085 -0.0372843 0.0585895 0.25 -0.02 pose: 0.0 -3.58291 0.170001 0 0.00117864 -0.0007767590.00385738 0.999992 uwb: 0.0 838.109 1400.69 -imu_odom_: 1691062944.584780031 0.593762 -0.059855 10.1035 -0.0628506 -0.0234358 0.0553937 0.21 0.02 pose: 0.43964752 -3.57315 0.167789 0 0.000621978 -0.0046543 0.00407245 0.999981 uwb: 0.49998987 837.012 1399.38 -imu_odom_: 1691062944.600659197 0.3304 -0.395043 9.74679 -0.0894822 0.0223706 0.0596548 0.21 0.02 pose: 0.0 -3.57315 0.167789 0 0.000621978 -0.0046543 0.00407245 0.999981 uwb: 0.0 837.012 1399.38 -imu_odom_: 1691062944.626702360 0.435745 -0.347159 9.7037 -0.0543285 -0.0106526 0.0298274 0.23 0.02 pose: 0.52118116 -3.5634 0.165583 0 -0.00044866 -0.00929328 0.00447428 0.999947 uwb: 0.0 837.012 1399.38 -imu_odom_: 1691062944.651685667 0.42138 -0.296881 9.55287 -0.0916127 -0.0149137 0.0479369 0.23 0.02 pose: 0.0 -3.5634 0.165583 0 -0.00044866 -0.00929328 0.00447428 0.999947 uwb: 0.50015320 838.028 1398.88 -imu_odom_: 1691062944.676744803 0.229843 -0.222661 9.60554 -0.0447411 -0.0351537 0.0340885 0.19 0 pose: 0.42871940 -3.55364 0.163385 0 -0.000323501-0.00766627 0.00474813 0.999959 uwb: 0.0 838.028 1398.88 -imu_odom_: 1691062944.690647167 0.318429 -0.409408 10.0078 -0.0639159 -0.00532632 0.0298274 0.19 0 pose: 0.0 -3.55364 0.163385 0 -0.000323501-0.00766627 0.00474813 0.999959 uwb: 0.49992863 840.007 1399 -imu_odom_: 1691062944.716682163 0.68953 -0.220267 9.95988 -0.0308927 -0.0617853 0.0490022 0.17 0 pose: 0.50978348 -3.54169 0.170947 0 -0.00308279 -0.00376253 0.00476232 0.999977 uwb: 0.0 840.007 1399 -imu_odom_: 1691062944.741654096 0.608127 -0.28491 10.2735 -0.0649811 -0.0170442 0.0468716 0.17 0 pose: 0.0 -3.54169 0.170947 0 -0.00308279 -0.00376253 0.00476232 0.999977 uwb: 0.50213350 838.658 1397.34 -imu_odom_: 1691062944.756764182 0.845153 0.0143652 9.97903 -0.0308927 -0.00106526 0.0234358 0.18 0 pose: 0.39062119 -3.54169 0.170947 0 -0.00344282 -0.00223619 0.00468647 0.999981 uwb: 0.0 838.658 1397.34 -imu_odom_: 1691062944.782714600 0.667982 -0.454898 9.53132 -0.0788296 -0.0170442 0.0511327 0.18 0 pose: 0.0 -3.54169 0.170947 0 -0.00344282 -0.00223619 0.00468647 0.999981 uwb: 0.49814374 838.072 1395.8 -imu_odom_: 1691062944.808663560 0.447716 -0.277727 9.8689 -0.0330232 -0.0127832 0.0426106 0.24 0 pose: 0.50948891 -3.53194 0.168751 0 -0.00257513 -0.00774446 0.00479494 0.999955 uwb: 0.0 838.072 1395.8 -imu_odom_: 1691062944.834659475 0.426168 -0.423774 9.72046 -0.0607201 -0.0319579 0.0468716 0.23 0 pose: 0.59992661 -3.52218 0.166557 0 -0.00376665 -0.0072571 0.00493852 0.999954 uwb: 0.49935699 839.507 1395.25 -imu_odom_: 1691062944.850696424 0.895431 -0.213084 9.93115 -0.0340885 -0.0213053 0.0245011 0.23 0 pose: 0.0 -3.52218 0.166557 0 -0.00376665 -0.0072571 0.00493852 0.999954 uwb: 0.0 839.507 1395.25 -imu_odom_: 1691062944.876615636 0.835576 -0.299275 10.1658 -0.0596548 -0.00319579 0.0490022 0.23 0.02 pose: 0.7127922 -3.52218 0.166557 0 -0.00433055 -0.00689589 0.00497043 0.999954 uwb: 0.0 839.507 1395.25 -imu_odom_: 1691062944.902746877 0.981623 -0.363919 10.0365 -0.0234358 -0.00213053 0.0213053 0.23 0.02 pose: 0.0 -3.52218 0.166557 0 -0.00433055 -0.00689589 0.00497043 0.999954 uwb: 0.50016487 839.481 1394.32 -imu_odom_: 1691062944.926625998 0.596156 -0.124498 10.094 -0.0585895 -0.0351537 0.0468716 0.23 0 pose: 0.42925604 -3.51242 0.164367 0 -0.00512552 -0.00840227 0.00495698 0.999939 uwb: 0.0 839.481 1394.32 -imu_odom_: 1691062944.942737317 0.430956 -0.339977 9.62469 -0.0330232 0.0255663 0.0330232 0.23 0 pose: 0.0 -3.51242 0.164367 0 -0.00512552 -0.00840227 0.00495698 0.999939 uwb: 0.50099023 839.854 1393.41 -imu_odom_: 1691062944.960620409 0.531513 -0.311246 10.1394 -0.0681769 -0.0170442 0.0415453 0.23 0 pose: 0.0 -3.51242 0.164367 0 -0.00512552 -0.00840227 0.00495698 0.999939 uwb: 0.0 839.854 1393.41 -imu_odom_: 1691062944.985602258 0.526724 -0.220267 9.93833 -0.0223706 0.0127832 0.0298274 0.18 0 pose: 0.50978348 -3.50048 0.171934 0 -0.00427908 -0.0126362 0.00480441 0.999899 uwb: 0.49879120 838.847 1391.96 -imu_odom_: 1691062945.9823193 0.407014 -0.0885855 10.1873 -0.0436758 -0.00106526 0.0468716 0.23 -0.02 pose: 0.40990508 -3.49072 0.169741 0 -0.00341399 -0.00993007 0.00482178 0.999933 uwb: 0.0 838.847 1391.96 -imu_odom_: 1691062945.25821936 0.533907 -0.304064 9.54808 -0.0458064 0.0181095 0.0308927 0.23 -0.02 pose: 0.0 -3.49072 0.169741 0 -0.00341399 -0.00993007 0.00482178 0.999933 uwb: 0.0 838.847 1391.96 -imu_odom_: 1691062945.52766880 0.588974 -0.447716 9.8665 -0.0639159 0.0138484 0.052198 0.18 0.02 pose: 0.41920287 -3.48096 0.167547 0 -0.000911928-0.00684368 0.00472983 0.999965 uwb: 0.50047110 839.799 1391.58 -imu_odom_: 1691062945.78754046 0.682347 -0.105345 10.4722 -0.0479369 -0.0458064 0.04048 0.18 0.02 pose: 0.0 -3.48096 0.167547 0 -0.000911928-0.00684368 0.00472983 0.999965 uwb: 0.0 839.799 1391.58 -imu_odom_: 1691062945.103698564 0.744597 -0.263362 9.75637 -0.072438 0.0255663 0.0490022 0.23 0 pose: 0.41186497 -3.48096 0.167547 0 -0.001814 -0.00604551 0.00477988 0.999969 uwb: 0.49929575 839.509 1390.35 -imu_odom_: 1691062945.118599246 0.507571 -0.205901 10.0126 -0.0308927 0.0330232 0.0308927 0.23 0 pose: 0.0 -3.48096 0.167547 0 -0.001814 -0.00604551 0.00477988 0.999969 uwb: 0.0 839.509 1390.35 -imu_odom_: 1691062945.145734929 0.241814 -0.562637 9.84735 -0.0788296 0 0.056459 0.19 0 pose: 0.51865547 -3.46901 0.17511 0 -0.00166196 -0.00920233 0.00493518 0.999944 uwb: 0.50116232 838.204 1388.69 -imu_odom_: 1691062945.171605144 0.505177 -0.181959 9.94791 -0.0447411 0.00639159 0.0255663 0.19 0 pose: 0.0 -3.46901 0.17511 0 -0.00166196 -0.00920233 0.00493518 0.999944 uwb: 0.0 838.204 1388.69 -imu_odom_: 1691062945.197607184 0.794875 -0.222661 9.9503 -0.0660464 -0.0298274 0.0458064 0.22 -0.05 pose: 0.40954927 -3.45926 0.172919 0 -0.00185387 -0.00850107 0.00502253 0.99995 uwb: 0.50018237 838.629 1387.67 -imu_odom_: 1691062945.220600856 0.486023 -0.244209 10.1634 -0.0543285 -0.0415453 0.036219 0.22 -0.05 pose: 0.0 -3.45926 0.172919 0 -0.00185387 -0.00850107 0.00502253 0.99995 uwb: 0.0 838.629 1387.67 -imu_odom_: 1691062945.236657054 0.148441 0.0407014 9.84735 -0.0532632 -0.056459 0.0426106 0.19 0 pose: 0.53051103 -3.4495 0.170729 0 -0.00085678 -0.0069515 0.0050248 0.999963 uwb: 0.49912659 839.265 1387.09 -imu_odom_: 1691062945.262631388 -0.0622492 -0.361524 10.082 -0.0490022 0.0245011 0.0298274 0.19 0 pose: 0.0 -3.4495 0.170729 0 -0.00085678 -0.0069515 0.0050248 0.999963 uwb: 0.0 839.265 1387.09 -imu_odom_: 1691062945.287663692 0.198719 -0.486023 9.67257 -0.0479369 -0.0181095 0.0330232 0.2 -0.02 pose: 0.47945773 -3.43974 0.16854 0 -0.000726402-0.0067301 0.00505331 0.999964 uwb: 0.50009488 837.241 1385.33 -imu_odom_: 1691062945.303658644 0.648829 -0.0550666 10.3334 -0.0383495 -0.0330232 0.0372843 0.2 -0.02 pose: 0.0 -3.43974 0.16854 0 -0.000726402-0.0067301 0.00505331 0.999964 uwb: 0.0 837.241 1385.33 -imu_odom_: 1691062945.331669860 0.663194 -0.270545 10.1897 -0.052198 0.0298274 0.0223706 0.18 0.02 pose: 0.76048568 -3.42365 0.170359 0 -0.0011168 -0.00306872 0.00484601 0.999983 uwb: 0.49930159 838.813 1385.35 -imu_odom_: 1691062945.356735412 0.706289 -0.174777 9.65342 -0.072438 0.00532632 0.0511327 0.19 0 pose: 0.8020370 -3.41804 0.173915 0 -0.00123283 -0.00372383 0.00477638 0.999981 uwb: 0.0 838.813 1385.35 -imu_odom_: 1691062945.383729937 0.299275 -0.294487 10.1466 -0.0330232 -0.00319579 0.02024 0.23 -0.02 pose: 0.45056398 -3.41111 0.172356 0 -0.000908092-0.00760651 0.00473815 0.999959 uwb: 0.50131688 838.496 1384.22 -imu_odom_: 1691062945.408606501 0.648829 -0.323217 10.0293 -0.0841559 -0.0170442 0.0585895 0.18 0.02 pose: 0.0 -3.41111 0.172356 0 -0.000908092-0.00760651 0.00473815 0.999959 uwb: 0.0 838.496 1384.22 -imu_odom_: 1691062945.435587026 0.778116 -0.464475 9.84496 -0.0383495 -0.0607201 0.02024 0.18 0.02 pose: 0.34949857 -3.40828 0.171719 0 -0.00174591 -0.00571377 0.00456285 0.999972 uwb: 0.49985864 841.214 1384.31 -imu_odom_: 1691062945.451663056 0.0909797 -0.203507 9.87129 -0.052198 0.0234358 0.0468716 0.19 0 pose: 0.0 -3.40828 0.171719 0 -0.00174591 -0.00571377 0.00456285 0.999972 uwb: 0.0 841.214 1384.31 -imu_odom_: 1691062945.478666039 0.325611 -0.407014 9.94312 -0.0276969 -0.0287621 0.0298274 0.19 0 pose: 0.51934960 -3.39852 0.16952 0 -0.00414418 -0.00924098 0.00450522 0.999939 uwb: 0.0 841.214 1384.31 -imu_odom_: 1691062945.505118678 0.672771 -0.181959 9.95509 -0.0532632 -0.0266316 0.052198 0.19 0.02 pose: 0.35045810 -3.39166 0.167973 0 -0.0047713 -0.00622813 0.00442838 0.999959 uwb: 0.49886120 841.157 1383.5 -imu_odom_: 1691062945.531769056 0.545878 -0.177171 10.2376 -0.0372843 -0.0170442 0.0479369 0.19 0.02 pose: 0.0 -3.39166 0.167973 0 -0.0047713 -0.00622813 0.00442838 0.999959 uwb: 0.50048277 840.09 1382.29 -imu_odom_: 1691062945.557589107 0.608127 -0.244209 10.0197 -0.0330232 -0.0383495 0.0426106 0.19 0 pose: 0.7944250 -3.38877 0.167321 0 -0.00424158 -0.00691636 0.00447285 0.999957 uwb: 0.0 840.09 1382.29 -imu_odom_: 1691062945.574642747 0.423774 -0.129287 10.1849 -0.0351537 0.00319579 0.056459 0.19 0 pose: 0.0 -3.38877 0.167321 0 -0.00424158 -0.00691636 0.00447285 0.999957 uwb: 0.0 840.09 1382.29 -imu_odom_: 1691062945.600640413 0.502782 -0.150835 10.2017 -0.0649811 0.015979 0.0436758 0.23 0.02 pose: 0.53014355 -3.37682 0.174879 0 -0.000481009-0.00875414 0.00468625 0.999951 uwb: 0.49930742 841.769 1382.02 -imu_odom_: 1691062945.626604539 0.950498 -0.253785 10.1251 -0.0756338 -0.00426106 0.0649811 0.23 0 pose: 0.61015769 -3.36706 0.172685 0 0.00138524 -0.00679678 0.00489742 0.999964 uwb: 0.0 841.769 1382.02 -imu_odom_: 1691062945.652592580 1.00317 -0.124498 10.1035 -0.0500674 0.0276969 0.0319579 0.23 0 pose: 0.0 -3.36706 0.172685 0 0.00138524 -0.00679678 0.00489742 0.999964 uwb: 0.50275472 841.427 1380.96 -imu_odom_: 1691062945.669603056 0.0023942 -0.316035 9.57681 -0.0862864 0.0351537 0.0553937 0.21 0 pose: 0.7020011 -3.36706 0.172685 0 0.00120527 -0.00749101 0.00498776 0.999959 uwb: 0.0 841.427 1380.96 -imu_odom_: 1691062945.694701857 0.395043 -0.268151 9.93115 -0.0692422 -0.0149137 0.04048 0.21 0 pose: 0.0 -3.36706 0.172685 0 0.00120527 -0.00749101 0.00498776 0.999959 uwb: 0.49863079 840.425 1379.63 -imu_odom_: 1691062945.721699298 0.462081 -0.332794 9.92157 -0.0703074 -0.02024 0.056459 0.21 0.02 pose: 0.52001164 -3.3573 0.170494 0 0.00102183 -0.0106701 0.00518618 0.999929 uwb: 0.0 840.425 1379.63 -imu_odom_: 1691062945.747772501 0.414197 -0.244209 10.2496 -0.0372843 -0.00426106 0.0298274 0.21 0.02 pose: 0.0 -3.3573 0.170494 0 0.00102183 -0.0106701 0.00518618 0.999929 uwb: 0.49931909 839.44 1378.26 -imu_odom_: 1691062945.764570364 0.213084 -0.462081 9.66779 -0.0596548 0.00532632 0.0415453 0.23 -0.02 pose: 0.43109928 -3.34754 0.168309 0 -0.00103225 -0.00684359 0.00535277 0.999962 uwb: 0.0 839.44 1378.26 -imu_odom_: 1691062945.790663691 0.459687 -0.179565 9.83538 -0.036219 -0.0394148 0.04048 0.23 -0.02 pose: 0.0 -3.34754 0.168309 0 -0.00103225 -0.00684359 0.00535277 0.999962 uwb: 0.50060234 841.009 1378.24 -imu_odom_: 1691062945.817681256 0.531513 -0.3304 10.3286 -0.0553937 -0.0276969 0.0458064 0.18 0 pose: 0.51883629 -3.33779 0.166128 0 -0.00232635 -0.00276341 0.00540976 0.999979 uwb: 0.0 841.009 1378.24 -imu_odom_: 1691062945.842593984 0.814029 0.0502782 10.2328 -0.0458064 -0.0468716 0.0458064 0.18 0.02 pose: 0.63026111 -3.32584 0.173705 0 -0.00246698 -0.00466174 0.00552053 0.999971 uwb: 0.49982656 840.705 1377.12 -imu_odom_: 1691062945.869573051 0.54109 0.117316 10.1323 -0.0553937 -0.00852212 0.0426106 0.18 0.02 pose: 0.0 -3.32584 0.173705 0 -0.00246698 -0.00466174 0.00552053 0.999971 uwb: 0.0 840.705 1377.12 -imu_odom_: 1691062945.885853236 0.19393 -0.399832 9.97664 -0.0426106 -0.00852212 0.04048 0.18 0.02 pose: 0.7948333 -3.32584 0.173705 0 -0.00186362 -0.00539188 0.00554184 0.999968 uwb: 0.50147438 841.756 1376.46 -imu_odom_: 1691062945.912692312 0.45011 -0.155623 9.95748 -0.0458064 0.00319579 0.0383495 0.18 0.02 pose: 0.0 -3.32584 0.173705 0 -0.00186362 -0.00539188 0.00554184 0.999968 uwb: 0.0 841.756 1376.46 -imu_odom_: 1691062945.937592499 0.454898 -0.11971 10.0389 -0.0617853 0.00319579 0.0681769 0.18 0.02 pose: 0.52086617 -3.31608 0.171526 0 0.00172963 -0.0063208 0.00561514 0.999963 uwb: 0.49904785 842.111 1375.62 -imu_odom_: 1691062945.964828218 0.42138 -0.287304 9.95748 -0.0458064 0.0553937 0.0234358 0.18 0.02 pose: 0.0 -3.31608 0.171526 0 0.00172963 -0.0063208 0.00561514 0.999963 uwb: 0.0 842.111 1375.62 -imu_odom_: 1691062945.980686386 0.371101 -0.143652 9.9096 -0.0330232 0.00319579 0.0298274 0.18 0 pose: 0.42930271 -3.30635 0.169258 0 0.00342443 -0.00292329 0.00570584 0.999974 uwb: 0.0 842.111 1375.62 -imu_odom_: 1691062946.6615805 0.588974 -0.28491 9.91439 -0.0330232 -0.0298274 0.0319579 0.18 0 pose: 0.0 -3.30635 0.169258 0 0.00342443 -0.00292329 0.00570584 0.999974 uwb: 0.49954365 842.221 1374.44 -imu_odom_: 1691062946.29704847 0.651223 -0.301669 10.2615 -0.056459 -0.0191748 0.0511327 0.25 0 pose: 0.51991540 -3.29661 0.166987 0 0.00283042 -0.0003945610.0056905 0.99998 uwb: 0.0 842.221 1374.44 -imu_odom_: 1691062946.55700180 0.59855 -0.356736 9.92875 -0.0458064 -0.00106526 0.0319579 0.25 0 pose: 0.0 -3.29661 0.166987 0 0.00283042 -0.0003945610.0056905 0.99998 uwb: 0.50073651 841.292 1373 -imu_odom_: 1691062946.81682972 0.514753 -0.368707 9.94791 -0.0372843 -0.0213053 0.0468716 0.18 -0.02 pose: 0.63968140 -3.28459 0.17445 0 0.000304256 -0.00462078 0.00567169 0.999973 uwb: 0.49939784 841.715 1372 -imu_odom_: 1691062946.98549956 0.701501 -0.141258 9.61033 -0.0383495 0.00852212 0.0298274 0.18 -0.02 pose: 0.0 -3.28459 0.17445 0 0.000304256 -0.00462078 0.00567169 0.999973 uwb: 0.0 841.715 1372 -imu_odom_: 1691062946.123651090 0.469264 -0.627281 9.40921 -0.0830906 0.0298274 0.0639159 0.21 0 pose: 0.51991540 -3.27486 0.172175 0 -0.0030382 -0.00643629 0.00567992 0.999959 uwb: 0.0 841.715 1372 -imu_odom_: 1691062946.150693738 0.591368 0.0454898 10.2615 -0.0308927 -0.0319579 0.0394148 0.23 -0.02 pose: 0.35053393 -3.26797 0.170568 0 -0.00517328 -0.00630235 0.00594588 0.999949 uwb: 0.0 841.715 1372 -imu_odom_: 1691062946.176554620 0.548272 -0.416591 9.96227 -0.072438 -0.0117179 0.0575243 0.23 -0.02 pose: 0.0 -3.26797 0.170568 0 -0.00517328 -0.00630235 0.00594588 0.999949 uwb: 0.0 841.715 1372 -imu_odom_: 1691062946.193750877 0.203507 -0.191536 9.83299 -0.0298274 0.0319579 0.0287621 0.26 0.02 pose: 0.7025845 -3.26511 0.169932 0 -0.0043923 -0.00651078 0.0059414 0.999952 uwb: 0.99845736 842.705 1371.48 -imu_odom_: 1691062946.218676146 0.656011 -0.318429 9.97664 -0.0884169 0.00639159 0.0671117 0.26 0.02 pose: 0.0 -3.26511 0.169932 0 -0.0043923 -0.00651078 0.0059414 0.999952 uwb: 0.0 842.705 1371.48 -imu_odom_: 1691062946.245690795 0.445322 -0.0909797 10.0197 -0.0479369 0.00319579 0.0276969 0.21 -0.02 pose: 0.52899738 -3.25535 0.167762 0 -0.00465551 -0.00651562 0.00614106 0.999949 uwb: 0.50130522 843.601 1371.17 -imu_odom_: 1691062946.270562984 0.265756 -0.268151 10.5058 -0.056459 -0.0330232 0.0426106 0.21 -0.02 pose: 0.0 -3.25535 0.167762 0 -0.00465551 -0.00651562 0.00614106 0.999949 uwb: 0.0 843.601 1371.17 -imu_odom_: 1691062946.287674955 0.529119 -0.299275 9.71806 -0.0639159 -0.00426106 0.0468716 0.21 -0.02 pose: 0.41986492 -3.24342 0.175359 0 -0.00429388 -0.0073745 0.00637602 0.999943 uwb: 0.50173687 843.117 1370.5 -imu_odom_: 1691062946.312576892 0.112527 -0.0383072 9.80186 -0.0681769 -0.0490022 0.052198 0.21 -0.02 pose: 0.0 -3.24342 0.175359 0 -0.00429388 -0.0073745 0.00637602 0.999943 uwb: 0.0 843.117 1370.5 -imu_odom_: 1691062946.339548668 0.392649 -0.31364 10.1251 -0.056459 -0.0340885 0.04048 0.23 0 pose: 0.52011081 -3.24342 0.175359 0 -0.00294351 -0.00481067 0.00631808 0.999964 uwb: 0.49806791 846.287 1371.09 -imu_odom_: 1691062946.365544584 1.05584 -0.258574 9.95509 -0.0340885 0.00532632 0.0234358 0.19 0 pose: 0.61974422 -3.22671 0.171658 0 -0.00378886 -0.00206109 0.00653841 0.999969 uwb: 0.0 846.287 1371.09 -imu_odom_: 1691062946.392534151 0.737414 -0.225055 9.81623 -0.0692422 0.0319579 0.0511327 0.25 0 pose: 0.8089492 -3.22389 0.171035 0 -0.00365687 -0.00282968 0.00646997 0.999968 uwb: 0.0 846.287 1371.09 -imu_odom_: 1691062946.417579872 0.852336 -0.304064 9.63906 -0.0511327 -0.0276969 0.0436758 0.21 0 pose: 0.25098217 -3.22389 0.171035 0 -0.00325363 -0.00510174 0.00635624 0.999961 uwb: 0.0 846.287 1371.09 -imu_odom_: 1691062946.434512769 0.265756 -0.356736 9.55765 -0.0468716 0.00639159 0.0553937 0.21 0 pose: 0.0 -3.22389 0.171035 0 -0.00325363 -0.00510174 0.00635624 0.999961 uwb: 0.99943147 846.074 1369.78 -imu_odom_: 1691062946.459589697 0.383072 -0.155623 10.0054 -0.0351537 -0.0287621 0.0298274 0.2 0 pose: 0.27810853 -3.21413 0.168872 0 -0.00300558 -0.00756566 0.0064751 0.999946 uwb: 0.0 846.074 1369.78 -imu_odom_: 1691062946.486567014 0.821211 -0.387861 9.83059 -0.0820254 -0.00426106 0.0596548 0.2 0 pose: 0.0 -3.21413 0.168872 0 -0.00300558 -0.00756566 0.0064751 0.999946 uwb: 0.49991697 846.544 1368.65 -imu_odom_: 1691062946.512556514 0.636858 -0.232238 9.69173 -0.0500674 0.0330232 0.0266316 0.19 0 pose: 0.41981826 -3.20221 0.176477 0 -0.00293616 -0.00718596 0.00661087 0.999948 uwb: 0.0 846.544 1368.65 -imu_odom_: 1691062946.539540248 0.545878 -0.428562 9.81144 -0.0319579 -0.04048 0.0351537 0.19 0 pose: 0.52224569 -3.19244 0.17432 0 -0.00275803 -0.00902238 0.00673831 0.999933 uwb: 0.49870080 847.198 1367.98 -imu_odom_: 1691062946.556513976 0.543484 -0.0861913 9.62948 -0.0415453 0.00213053 0.0511327 0.19 0.02 pose: 0.0 -3.19244 0.17432 0 -0.00275803 -0.00902238 0.00673831 0.999933 uwb: 0.0 847.198 1367.98 -imu_odom_: 1691062946.581584779 0.323217 -0.100556 9.91678 -0.0500674 0.0319579 0.0394148 0.19 0.02 pose: 0.0 -3.19244 0.17432 0 -0.00275803 -0.00902238 0.00673831 0.999933 uwb: 0.49988781 846.552 1366.82 -imu_odom_: 1691062946.606530755 0.150835 -0.186748 9.87848 -0.056459 0.0298274 0.0553937 0.18 0.02 pose: 0.52871448 -3.18268 0.172161 0 -0.00317439 -0.00969267 0.00662152 0.999926 uwb: 0.0 846.552 1366.82 -imu_odom_: 1691062946.633566694 0.42138 -0.325611 9.53132 -0.04048 0.0127832 0.0234358 0.25 0 pose: 0.58905682 -3.17594 0.170673 0 -0.000642377-0.00394251 0.00685321 0.999969 uwb: 0.50015612 846.249 1365.75 -imu_odom_: 1691062946.649656141 0.332794 0.0143652 10.4914 -0.0479369 -0.02024 0.0639159 0.19 0.02 pose: 0.8074326 -3.17291 0.170006 0 -0.00128737 -0.00347925 0.00679127 0.99997 uwb: 0.0 846.249 1365.75 -imu_odom_: 1691062946.676674581 0.600945 -0.102951 10.331 -0.0543285 0.0181095 0.0383495 0.19 0.02 pose: 0.27092811 -3.17291 0.170006 0 -0.00202232 -0.00213839 0.00674408 0.999973 uwb: 0.0 846.249 1365.75 -imu_odom_: 1691062946.701725551 0.260968 -0.373495 9.49301 -0.0798948 0.0394148 0.0703074 0.25 0 pose: 0.0 -3.17291 0.170006 0 -0.00202232 -0.00213839 0.00674408 0.999973 uwb: 0.49987614 845.732 1364.3 -imu_odom_: 1691062946.728665246 0.198719 -0.28491 9.73722 -0.0500674 0.02024 0.0351537 0.21 0.02 pose: 0.60027659 -3.161 0.177615 0 -0.00136141 -0.00113005 0.0072061 0.999972 uwb: 0.0 845.732 1364.3 -imu_odom_: 1691062946.753650887 0.373495 -0.385466 10.1418 -0.0937433 0.0213053 0.0628506 0.21 0.02 pose: 0.0 -3.161 0.177615 0 -0.00136141 -0.00113005 0.0072061 0.999972 uwb: 0.49916744 846.679 1363.84 -imu_odom_: 1691062946.770534787 0.253785 -0.373495 9.63906 -0.0660464 0.015979 0.036219 0.23 0.02 pose: 0.6820232 -3.161 0.177615 0 -0.00147896 -0.0003776890.00719198 0.999973 uwb: 0.0 846.679 1363.84 -imu_odom_: 1691062946.796530995 0.232238 -0.129287 9.99579 -0.0692422 0.0149137 0.0596548 0.23 0.02 pose: 0.0 -3.161 0.177615 0 -0.00147896 -0.0003776890.00719198 0.999973 uwb: 0.49993155 847.044 1362.97 -imu_odom_: 1691062946.823903498 0.0909797 -0.0909797 10.1323 -0.0436758 -0.00532632 0.036219 0.25 0 pose: 0.52110824 -3.15123 0.175468 0 -0.00521005 0.00266568 0.00742639 0.999955 uwb: 0.0 847.044 1362.97 -imu_odom_: 1691062946.848645903 0.0790087 -0.158017 9.53611 -0.0436758 0.00319579 0.0511327 0.25 0 pose: 0.0 -3.15123 0.175468 0 -0.00521005 0.00266568 0.00742639 0.999955 uwb: 0.50016196 847.951 1362.58 -imu_odom_: 1691062946.875733756 0.19393 -0.292093 10.0892 -0.0575243 -0.0234358 0.0447411 0.21 -0.02 pose: 0.43143176 -3.14146 0.173325 0 -0.00311039 0.00556168 0.00767969 0.99995 uwb: 0.0 847.951 1362.58 -imu_odom_: 1691062946.891571216 0.610521 -0.0694318 10.2424 -0.052198 0.00213053 0.0479369 0.21 -0.02 pose: 0.0 -3.14146 0.173325 0 -0.00311039 0.00556168 0.00767969 0.99995 uwb: 0.49994906 847.099 1361.08 -imu_odom_: 1691062946.918708358 0.636858 -0.368707 9.51935 -0.0585895 -0.0138484 0.0543285 0.23 0 pose: 0.52873490 -3.13169 0.171187 0 -0.00126337 0.00955399 0.00782359 0.999923 uwb: 0.0 847.099 1361.08 -imu_odom_: 1691062946.944538034 0.253785 -0.509965 10.2256 -0.0426106 0.0351537 0.036219 0.19 0 pose: 0.41861666 -3.11979 0.178821 0 -0.00255038 0.00786312 0.0079732 0.999934 uwb: 0.50207226 846.458 1359.96 -imu_odom_: 1691062946.971719506 0.622492 -0.418985 9.8282 -0.0607201 -0.00852212 0.0543285 0.25 -0.02 pose: 0.0 -3.11979 0.178821 0 -0.00255038 0.00786312 0.0079732 0.999934 uwb: 0.0 846.458 1359.96 -imu_odom_: 1691062946.987703958 0.0263362 -0.416591 9.75158 -0.0447411 0.0255663 0.0383495 0.25 -0.02 pose: 0.53145891 -3.11002 0.176689 0 -0.00572224 0.00594506 0.00810128 0.999933 uwb: 0.49885245 845.841 1358.8 -imu_odom_: 1691062947.14483537 0.289698 -0.493206 9.33978 -0.076699 0.00745685 0.0628506 0.19 0 pose: 0.0 -3.11002 0.176689 0 -0.00572224 0.00594506 0.00810128 0.999933 uwb: 0.0 845.841 1358.8 -imu_odom_: 1691062947.39510009 -0.217872 -0.40462 9.64145 -0.0266316 0.0287621 0.0287621 0.19 0 pose: 0.62802707 -3.10023 0.174544 0 -0.00961556 0.00599046 0.00852885 0.999899 uwb: 0.50029904 846.534 1358.05 -imu_odom_: 1691062947.66638402 0.263362 -0.0263362 9.93115 -0.0447411 -0.0372843 0.0490022 0.19 0 pose: 0.0 -3.10023 0.174544 0 -0.00961556 0.00599046 0.00852885 0.999899 uwb: 0.0 846.534 1358.05 -imu_odom_: 1691062947.92510659 0.222661 0.0311246 10.2951 -0.0468716 -0.0117179 0.0458064 0.18 0.02 pose: 0.8005788 -3.10025 0.174559 0 -0.00952092 0.00692359 0.00849113 0.999895 uwb: 0.50060235 846.784 1357.47 -imu_odom_: 1691062947.109627879 0.337582 -0.397437 9.78031 -0.0575243 -0.015979 0.0532632 0.18 0.02 pose: 0.0 -3.10025 0.174559 0 -0.00952092 0.00692359 0.00849113 0.999895 uwb: 0.0 846.784 1357.47 -imu_odom_: 1691062947.135515885 0.679953 -0.0933739 10.1658 -0.0479369 -0.0383495 0.04048 0.18 -0.02 pose: 0.52173822 -3.0905 0.172339 0 -0.00563078 0.00822043 0.00859531 0.999913 uwb: 0.49999864 847.466 1356.73 -imu_odom_: 1691062947.162765020 0.641646 -0.383072 9.76355 -0.0426106 -0.00532632 0.04048 0.18 -0.02 pose: 0.0 -3.0905 0.172339 0 -0.00563078 0.00822043 0.00859531 0.999913 uwb: 0.0 847.466 1356.73 -imu_odom_: 1691062947.187600170 0.198719 -0.0622492 10.4267 -0.0468716 0.0351537 0.0660464 0.18 0.02 pose: 0.43031766 -3.07853 0.179871 0 -0.00466805 0.00616399 0.00877189 0.999932 uwb: 0.49990240 848.559 1355.9 -imu_odom_: 1691062947.214747520 0.442927 -0.0430956 10.149 -0.056459 0.0149137 0.0340885 0.21 -0.02 pose: 0.53085519 -3.06878 0.177657 0 -0.00365236 0.00228529 0.00888601 0.999951 uwb: 0.0 848.559 1355.9 -imu_odom_: 1691062947.230647394 0.407014 -0.260968 9.72525 -0.0511327 -0.0138484 0.0553937 0.21 -0.02 pose: 0.0 -3.06878 0.177657 0 -0.00365236 0.00228529 0.00888601 0.999951 uwb: 0.0 848.559 1355.9 -imu_odom_: 1691062947.257672250 0.732626 -0.263362 10.1251 -0.0394148 -0.052198 0.0351537 0.25 0 pose: 0.24054112 -3.06878 0.177657 0 -0.00157279 0.003338 0.00909516 0.999952 uwb: 0.50065485 848.298 1354.79 -imu_odom_: 1691062947.282479693 0.35913 -0.25618 9.54329 -0.0788296 -0.00426106 0.0628506 0.25 0 pose: 0.43676896 -3.059 0.175547 0 -0.0008474150.000399698 0.00914946 0.999958 uwb: 0.49868330 847.162 1353.17 -imu_odom_: 1691062947.309533423 0.19393 -0.136469 9.87129 -0.052198 -0.00319579 0.0372843 0.23 0 pose: 0.43968253 -3.04923 0.173438 0 -0.00189809 0.000390498 0.00939693 0.999954 uwb: 0.0 847.162 1353.17 -imu_odom_: 1691062947.334591977 0.371101 -0.0335188 10.0006 -0.0798948 -0.00426106 0.0532632 0.23 0 pose: 0.0 -3.04923 0.173438 0 -0.00189809 0.000390498 0.00939693 0.999954 uwb: 0.50107191 847.518 1351.51 -imu_odom_: 1691062947.351477336 0.567426 -0.366313 9.7444 -0.0490022 0.0330232 0.0319579 0.21 -0.02 pose: 0.52112284 -3.03802 0.178004 0 0.00165129 0.00249094 0.00954982 0.99995 uwb: 0.0 847.518 1351.51 -imu_odom_: 1691062947.367597405 0.577003 -0.0814029 10.0772 -0.0585895 -0.0245011 0.052198 0.21 -0.02 pose: 0.0 -3.03802 0.178004 0 0.00165129 0.00249094 0.00954982 0.99995 uwb: 0.0 847.518 1351.51 -imu_odom_: 1691062947.384477223 0.0837971 -0.21069 9.73243 -0.0617853 -0.0181095 0.0511327 0.21 -0.02 pose: 0.0 -3.03802 0.178004 0 0.00165129 0.00249094 0.00954982 0.99995 uwb: 0.49880871 847.474 1350.77 -imu_odom_: 1691062947.410501429 0.237026 -0.402226 9.56005 -0.0500674 0.0234358 0.0319579 0.25 0 pose: 0.39904405 -3.02756 0.179006 0 0.00133814 0.000615741 0.00962782 0.999953 uwb: 0.0 847.474 1350.77 -imu_odom_: 1691062947.437470872 0.651223 -0.191536 10.5321 -0.0223706 -0.056459 0.0276969 0.25 0 pose: 0.36005047 -3.02054 0.177498 0 -0.0009062290.00330122 0.00957997 0.999948 uwb: 0.49981781 846.886 1349.61 -imu_odom_: 1691062947.463471163 1.88184 -0.21069 9.11951 -0.0820254 0.0458064 0.0415453 0.25 0 pose: 0.7057926 -3.01778 0.176906 0 -0.00069027 0.00241909 0.00953753 0.999951 uwb: 0.0 846.886 1349.61 -imu_odom_: 1691062947.490523435 0.423774 -0.280122 8.84657 -0.052198 -0.072438 0.0372843 0.23 -0.02 pose: 0.45911808 -3.01103 0.175454 0 -0.000399487-0.00202223 0.00944297 0.999953 uwb: 0.50064611 846.227 1348.63 -imu_odom_: 1691062947.515591321 0.993594 -0.392649 9.98622 -0.0798948 -0.0490022 0.0490022 0.23 -0.02 pose: 0.0 -3.01103 0.175454 0 -0.000399487-0.00202223 0.00944297 0.999953 uwb: 0.0 846.227 1348.63 -imu_odom_: 1691062947.542516725 0.562637 -0.244209 9.64863 -0.0575243 -0.00639159 0.0479369 0.21 0 pose: 0.52120158 -3.00106 0.173309 0 -0.00379351 -0.00533116 0.0095307 0.999933 uwb: 0.50073943 842.99 1346.13 -imu_odom_: 1691062947.568531890 0.445322 -0.225055 10.1778 -0.0713727 -0.0436758 0.0500674 0.2 0 pose: 0.0 -3.00106 0.173309 0 -0.00379351 -0.00533116 0.0095307 0.999933 uwb: 0.0 842.99 1346.13 -imu_odom_: 1691062947.595580663 0.948104 -0.124498 10.2735 -0.0798948 -0.0287621 0.0511327 0.2 0 pose: 0.34968523 -2.99823 0.172702 0 -0.00201435 -0.00689316 0.00966821 0.999927 uwb: 0.49806208 841.137 1343.83 -imu_odom_: 1691062947.611455163 0.232238 -0.502782 9.64624 -0.0458064 0.0223706 0.0415453 0.18 0 pose: 0.24996433 -2.99613 0.182479 0 -0.00150227 -0.00629289 0.00979998 0.999931 uwb: 0.0 841.137 1343.83 -imu_odom_: 1691062947.638496644 0.371101 -0.21069 9.91439 -0.0596548 -0.0479369 0.0607201 0.18 0 pose: 0.0 -2.99613 0.182479 0 -0.00150227 -0.00629289 0.00979998 0.999931 uwb: 0.49996364 841.232 1342.84 -imu_odom_: 1691062947.654449598 0.639252 -0.294487 9.95748 -0.0500674 -0.0181095 0.0553937 0.17 0 pose: 0.27929554 -2.98635 0.180383 0 -0.00163711 -0.00774242 0.00992122 0.999919 uwb: 0.0 841.232 1342.84 -imu_odom_: 1691062947.681606280 0.275333 -0.155623 9.90481 -0.0532632 0.0127832 0.0543285 0.17 0 pose: 0.0 -2.98635 0.180383 0 -0.00163711 -0.00774242 0.00992122 0.999919 uwb: 0.50008030 840.742 1341.55 -imu_odom_: 1691062947.706473512 0.488417 -0.265756 10.082 -0.0308927 -0.0276969 0.0436758 0.2 0.02 pose: 0.42964395 -2.97658 0.178291 0 -0.00170726 -0.00579571 0.010285 0.999929 uwb: 0.0 840.742 1341.55 -imu_odom_: 1691062947.733464537 0.409408 -0.373495 9.72046 -0.0820254 0.00958738 0.0692422 0.2 0.02 pose: 0.0 -2.97658 0.178291 0 -0.00170726 -0.00579571 0.010285 0.999929 uwb: 0.49994323 839.071 1339.69 -imu_odom_: 1691062947.758507342 0.0215478 -0.107739 9.87848 -0.0468716 -0.0255663 0.0490022 0.18 0 pose: 0.43062973 -2.9668 0.176206 0 -0.00163489 -0.00415249 0.0105667 0.999934 uwb: 0.0 839.071 1339.69 -imu_odom_: 1691062947.785603944 0.751779 -0.186748 10.1442 -0.092678 -0.0458064 0.0596548 0.23 0.02 pose: 0.52028580 -2.95701 0.17413 0 -0.00508429 -0.0022761 0.0110629 0.999923 uwb: 0.49927826 838.883 1338.56 -imu_odom_: 1691062947.801595979 0.790087 -0.0670376 9.75877 -0.0468716 0.04048 0.0298274 0.23 0.02 pose: 0.0 -2.95701 0.17413 0 -0.00508429 -0.0022761 0.0110629 0.999923 uwb: 0.0 838.883 1338.56 -imu_odom_: 1691062947.819476156 -0.0550666 -0.220267 9.71088 -0.0820254 0.02024 0.056459 0.23 0.02 pose: 0.0 -2.95701 0.17413 0 -0.00508429 -0.0022761 0.0110629 0.999923 uwb: 0.0 838.883 1338.56 -imu_odom_: 1691062947.844605872 0.474052 -0.258574 10.1466 -0.0692422 0.00639159 0.0447411 0.18 0 pose: 0.77934377 -2.94516 0.181845 0 -0.0029548 -0.00297486 0.011478 0.999925 uwb: 0.50066069 839.327 1337.63 -imu_odom_: 1691062947.871631604 0.548272 -0.23942 9.85214 -0.0681769 -0.0117179 0.056459 0.25 0 pose: 0.7142504 -2.94516 0.181845 0 -0.00242747 -0.00335853 0.0114932 0.999925 uwb: 0.0 839.327 1337.63 -imu_odom_: 1691062947.896583705 0.586579 -0.3304 10.3573 -0.0490022 0.0298274 0.0298274 0.2 0 pose: 0.0 -2.94516 0.181845 0 -0.00242747 -0.00335853 0.0114932 0.999925 uwb: 0.49937451 839.093 1336.6 -imu_odom_: 1691062947.923604770 0.342371 -0.54109 9.59835 -0.0596548 0.02024 0.0500674 0.23 0 pose: 0.52868823 -2.93538 0.179783 0 -0.00204151 -0.00731782 0.0117224 0.999902 uwb: 0.0 839.093 1336.6 -imu_odom_: 1691062947.949576188 0.225055 -0.189142 9.81862 -0.0479369 0.00106526 0.0500674 0.23 0 pose: 0.0 -2.93538 0.179783 0 -0.00204151 -0.00731782 0.0117224 0.999902 uwb: 0.50086484 839.863 1335.75 -imu_odom_: 1691062947.976578004 0.45011 -0.555455 9.93115 -0.0490022 -0.00745685 0.0415453 0.23 0 pose: 0.70088705 -2.92561 0.177626 0 -0.00455003 -0.00330167 0.0119553 0.999913 uwb: 0.0 839.863 1335.75 -imu_odom_: 1691062948.1623142 0.433351 -0.225055 10.3908 -0.0511327 -0.00852212 0.0575243 0.23 0 pose: 0.7007179 -2.92561 0.177626 0 -0.00522714 -0.00327425 0.0119648 0.999909 uwb: 0.49948825 839.744 1334.49 -imu_odom_: 1691062948.18450171 0.483629 -0.0143652 10.0389 -0.0490022 -0.0191748 0.0532632 0.21 0.02 pose: 0.0 -2.92561 0.177626 0 -0.00522714 -0.00327425 0.0119648 0.999909 uwb: 0.0 839.744 1334.49 -imu_odom_: 1691062948.43502600 0.347159 -0.378284 9.49301 -0.0617853 0.02024 0.0500674 0.21 0.02 pose: 0.45039775 -2.91432 0.182417 0 -0.00467856 -0.00262155 0.0122139 0.999911 uwb: 0.49942701 840.623 1334.15 -imu_odom_: 1691062948.70488376 0.526724 -0.502782 9.69891 -0.0319579 -0.0319579 0.0319579 0.18 0 pose: 0.24849733 -2.90393 0.183096 0 -0.00354288 -0.00223077 0.0123697 0.999915 uwb: 0.0 840.623 1334.15 -imu_odom_: 1691062948.95596219 0.706289 -0.459687 9.4547 -0.0671117 -0.0319579 0.0660464 0.2 0 pose: 0.0 -2.90393 0.183096 0 -0.00354288 -0.00223077 0.0123697 0.999915 uwb: 0.50134315 841.339 1333.4 -imu_odom_: 1691062948.122524540 0.466869 -0.292093 9.87129 0.0266316 -0.0458064 0.0127832 0.2 0 pose: 0.52029163 -2.89416 0.180952 0 -0.00720085 -0.00337968 0.0124621 0.999891 uwb: 0.0 841.339 1333.4 -imu_odom_: 1691062948.138441621 0.129287 -0.186748 9.79468 0.00106526 -0.00852212 0.0298274 0.2 -0.02 pose: 0.0 -2.89416 0.180952 0 -0.00720085 -0.00337968 0.0124621 0.999891 uwb: 0.50062277 840.852 1332.18 -imu_odom_: 1691062948.155486221 0.488417 0.191536 10.3693 -0.052198 -0.0649811 0.0735032 0.2 -0.02 pose: 0.52121034 -2.8844 0.17881 0 -0.00395944 -0.00384354 0.0122906 0.999909 uwb: 0.0 840.852 1332.18 -imu_odom_: 1691062948.181478637 0.584185 -0.246603 9.91199 -0.105461 -0.0319579 0.0628506 0.18 0 pose: 0.0 -2.8844 0.17881 0 -0.00395944 -0.00384354 0.0122906 0.999909 uwb: 0.0 840.852 1332.18 -imu_odom_: 1691062948.198601107 0.325611 -0.215478 9.96706 -0.0649811 -0.02024 0.0117179 0.18 0 pose: 0.32886144 -2.8844 0.17881 0 -0.00193724 -0.00460055 0.0126325 0.999908 uwb: 0.49974200 838.94 1330.23 -imu_odom_: 1691062948.224522361 0.299275 -0.258574 9.74679 -0.0596548 0.056459 0.0415453 0.18 0 pose: 0.0 -2.8844 0.17881 0 -0.00193724 -0.00460055 0.0126325 0.999908 uwb: 0.0 838.94 1330.23 -imu_odom_: 1691062948.251409560 0.596156 -0.169988 9.59117 -0.0298274 -0.00213053 0.0340885 0.18 0 pose: 0.42984228 -2.87463 0.176671 0 -0.00207497 -0.00408459 0.0126086 0.99991 uwb: 0.49970407 838.255 1328.72 -imu_odom_: 1691062948.276423783 0.445322 -0.514753 9.54089 -0.0756338 -0.00745685 0.0703074 0.18 0 pose: 0.0 -2.87463 0.176671 0 -0.00207497 -0.00408459 0.0126086 0.99991 uwb: 0.0 838.255 1328.72 -imu_odom_: 1691062948.293416760 0.428562 -0.0861913 10.1394 -0.0607201 0.0255663 0.0351537 0.18 0 pose: 0.52974401 -2.86272 0.184301 0 -0.00141351 -0.00398538 0.012675 0.999911 uwb: 0.50028446 839.275 1328.09 -imu_odom_: 1691062948.318626389 0.914585 -0.335188 9.61751 -0.0884169 -0.00319579 0.0628506 0.18 0 pose: 0.0 -2.86272 0.184301 0 -0.00141351 -0.00398538 0.012675 0.999911 uwb: 0.0 839.275 1328.09 -imu_odom_: 1691062948.345483547 0.229843 -0.399832 9.96467 -0.0266316 0.0234358 0.0308927 0.18 0 pose: 0.42111319 -2.85295 0.182165 0 -0.00196186 -0.00393682 0.0129919 0.999906 uwb: 0.49955534 836.487 1325.84 -imu_odom_: 1691062948.370611805 0.47884 -0.304064 10.0126 -0.072438 0.0213053 0.0596548 0.19 0 pose: 0.43904383 -2.84597 0.180643 0 -0.00334453 -0.00281794 0.0130848 0.999905 uwb: 0.0 836.487 1325.84 -imu_odom_: 1691062948.387409378 0.0957681 -0.25618 9.65582 -0.0511327 0.0266316 0.0351537 0.19 0 pose: 0.7953000 -2.84318 0.180034 0 -0.00399107 -0.00326401 0.0131638 0.9999 uwb: 0.0 836.487 1325.84 -imu_odom_: 1691062948.413544411 0.380678 0.0694318 10.0149 -0.0777643 -0.00852212 0.0553937 0.18 0 pose: 0.33972831 -2.83781 0.178865 0 -0.00510995 -0.00230571 0.0133041 0.999896 uwb: 0.0 836.487 1325.84 -imu_odom_: 1691062948.430419562 0.821211 -0.430956 9.71088 -0.0596548 0.015979 0.0351537 0.18 0 pose: 0.0 -2.83781 0.178865 0 -0.00510995 -0.00230571 0.0133041 0.999896 uwb: 0.0 836.487 1325.84 -imu_odom_: 1691062948.456434436 0.349553 -0.40462 9.94073 -0.0649811 -0.00852212 0.0458064 0.18 -0.02 pose: 0.43010184 -2.83341 0.177907 0 -0.00350678 -0.00327945 0.0134658 0.999898 uwb: 0.99997979 835.849 1324.28 -imu_odom_: 1691062948.483585869 0.967257 0.0191536 9.99819 -0.0394148 -0.0415453 0.036219 0.25 0 pose: 0.0 -2.83341 0.177907 0 -0.00350678 -0.00327945 0.0134658 0.999898 uwb: 0.50149189 835.225 1323.41 -imu_odom_: 1691062948.509475916 0.418985 -0.225055 10.0245 -0.0649811 0.00319579 0.04048 0.19 0 pose: 0.53166307 -2.82159 0.185677 0 -0.00380066 -0.00431459 0.0135016 0.999892 uwb: 0.0 835.225 1323.41 -imu_odom_: 1691062948.536501940 0.701501 -0.339977 9.26556 -0.052198 0.0138484 0.0436758 0.21 -0.02 pose: 0.0 -2.82159 0.185677 0 -0.00380066 -0.00431459 0.0135016 0.999892 uwb: 0.49899245 835.057 1322.35 -imu_odom_: 1691062948.561489331 0.562637 -0.275333 10.3286 -0.0436758 0.0436758 0.015979 0.21 -0.02 pose: 0.32900726 -2.8118 0.183653 0 -0.00235865 -0.00293494 0.0135253 0.999901 uwb: 0.0 835.057 1322.35 -imu_odom_: 1691062948.588571351 0.40462 -0.550666 9.73722 -0.0585895 0.00426106 0.0532632 0.2 0 pose: 0.45002736 -2.80486 0.182219 0 -0.00274302 -0.00656144 0.0132595 0.999887 uwb: 0.49882622 836.222 1322.15 -imu_odom_: 1691062948.614449733 0.385466 -0.0957681 9.94791 -0.0330232 0 0.0308927 0.2 0 pose: 0.6984722 -2.80201 0.181629 0 -0.0033982 -0.00625849 0.0133121 0.999886 uwb: 0.0 836.222 1322.15 -imu_odom_: 1691062948.641438134 0.447716 -0.397437 9.97903 -0.0809601 0.0106526 0.0511327 0.23 -0.02 pose: 0.45975680 -2.79523 0.180229 0 -0.00273884 -0.00405962 0.013347 0.999899 uwb: 0.50036612 837.123 1321.76 -imu_odom_: 1691062948.666544227 0.462081 -0.373495 9.77313 -0.0479369 0.0447411 0.0223706 0.18 0.02 pose: 0.0 -2.79523 0.180229 0 -0.00273884 -0.00405962 0.013347 0.999899 uwb: 0.0 837.123 1321.76 -imu_odom_: 1691062948.683436585 0.25618 -0.225055 9.55765 -0.0745685 -0.0468716 0.0447411 0.18 0.02 pose: 0.34997689 -2.79221 0.179603 0 -0.0064754 -0.00298429 0.0134458 0.999884 uwb: 0.50007739 837.009 1320.6 -imu_odom_: 1691062948.699610318 1.00078 -0.167594 9.99579 -0.0340885 0.0181095 0.0255663 0.18 0.02 pose: 0.0 -2.79221 0.179603 0 -0.0064754 -0.00298429 0.0134458 0.999884 uwb: 0.0 837.009 1320.6 -imu_odom_: 1691062948.726470685 0.466869 -0.174777 10.1682 -0.0649811 0.0191748 0.0585895 0.18 0 pose: 0.42110153 -2.7804 0.187372 0 -0.00693904 -0.0022161 0.0132933 0.999885 uwb: 0.0 837.009 1320.6 -imu_odom_: 1691062948.751452243 0.603339 -0.258574 9.85453 -0.0426106 -0.0106526 0.0415453 0.18 -0.02 pose: 0.34913110 -2.7735 0.185944 0 -0.00403207 -0.00265169 0.0134751 0.999898 uwb: 0.49862497 836.706 1319.81 -imu_odom_: 1691062948.778589094 0.531513 -0.383072 9.84496 -0.0458064 0.00426106 0.0383495 0.18 -0.02 pose: 0.0 -2.7735 0.185944 0 -0.00403207 -0.00265169 0.0134751 0.999898 uwb: 0.0 836.706 1319.81 -imu_odom_: 1691062948.803530404 0.605733 -0.0790087 10.2951 -0.0458064 0.00106526 0.0607201 0.2 0 pose: 0.7997330 -2.7706 0.185345 0 -0.0037868 -0.00345257 0.0134796 0.999896 uwb: 0.50002489 836.813 1318.91 -imu_odom_: 1691062948.830525221 0.600945 -0.213084 10.5249 -0.056459 0.0181095 0.0394148 0.2 0 pose: 0.0 -2.7706 0.185345 0 -0.0037868 -0.00345257 0.0134796 0.999896 uwb: 0.0 836.813 1318.91 -imu_odom_: 1691062948.855400036 0.826 -0.232238 9.96946 -0.0777643 0.00106526 0.0660464 0.2 0 pose: 0.52044038 -2.76081 0.183321 0 -0.00495281 -0.00602559 0.0135613 0.999878 uwb: 0.50004531 836.568 1318.02 -imu_odom_: 1691062948.872396221 -0.0646434 -0.299275 9.82102 -0.0543285 0.0181095 0.0426106 0.2 0 pose: 0.0 -2.76081 0.183321 0 -0.00495281 -0.00602559 0.0135613 0.999878 uwb: 0.0 836.568 1318.02 -imu_odom_: 1691062948.897544312 0.0383072 -0.270545 9.62948 -0.0852212 0.0234358 0.0596548 0.22 0 pose: 0.51996208 -2.75102 0.181302 0 -0.00128448 -0.00874965 0.0138101 0.999866 uwb: 0.49989657 836.103 1316.88 -imu_odom_: 1691062948.923598850 0.591368 -0.361524 9.84017 -0.0756338 -0.00958738 0.0383495 0.23 0.02 pose: 0.23916744 -2.75102 0.181302 0 -0.00146165 -0.0096163 0.0140415 0.999854 uwb: 0.0 836.103 1316.88 -imu_odom_: 1691062948.949436984 0.577003 -0.244209 9.88326 -0.0703074 -0.0127832 0.0543285 0.23 0.02 pose: 0.35119307 -2.74122 0.179289 0 -0.00208626 -0.00565475 0.014313 0.999879 uwb: 0.50001323 836.471 1316.17 -imu_odom_: 1691062948.974438082 0.351948 -0.323217 10.2496 -0.04048 -0.00745685 0.0383495 0.23 0 pose: 0.6999013 -2.74122 0.179289 0 -0.00271025 -0.00610351 0.0143105 0.999875 uwb: 0.0 836.471 1316.17 -imu_odom_: 1691062948.991742834 0.457293 -0.486023 9.85214 -0.0628506 -0.0245011 0.0468716 0.23 0 pose: 0.0 -2.74122 0.179289 0 -0.00271025 -0.00610351 0.0143105 0.999875 uwb: 0.50124982 836.52 1315.4 -imu_odom_: 1691062949.18400795 0.205901 -0.179565 10.0485 -0.0394148 0 0.0447411 0.18 0 pose: 0.51858840 -2.72942 0.187079 0 -0.00244969 -0.0079844 0.0144706 0.99986 uwb: 0.0 836.52 1315.4 -imu_odom_: 1691062949.43371855 0.282516 -0.232238 10.1011 -0.052198 -0.0191748 0.0458064 0.18 0 pose: 0.0 -2.72942 0.187079 0 -0.00244969 -0.0079844 0.0144706 0.99986 uwb: 0.49854915 837.341 1315.16 -imu_odom_: 1691062949.70743192 0.711078 0.0742203 10.2735 -0.0490022 -0.0415453 0.0458064 0.21 0.02 pose: 0.42201148 -2.71963 0.185036 0 -0.00421896 -0.00529957 0.0145635 0.999871 uwb: 0.0 837.341 1315.16 -imu_odom_: 1691062949.95533428 0.588974 0.0407014 10.0293 -0.0543285 -0.0276969 0.0468716 0.21 0.02 pose: 0.0 -2.71963 0.185036 0 -0.00421896 -0.00529957 0.0145635 0.999871 uwb: 0.50016488 836.742 1313.63 -imu_odom_: 1691062949.112436286 0.339977 -0.263362 10.1921 -0.0415453 -0.0308927 0.04048 0.23 0.02 pose: 0.51856508 -2.70985 0.182936 0 -0.00211791 -0.00174524 0.0147248 0.999888 uwb: 0.0 836.742 1313.63 -imu_odom_: 1691062949.137508839 0.407014 -0.198719 10.0221 -0.0415453 -0.0170442 0.0372843 0.23 0.02 pose: 0.0 -2.70985 0.182936 0 -0.00211791 -0.00174524 0.0147248 0.999888 uwb: 0.0 836.742 1313.63 -imu_odom_: 1691062949.164395163 0.603339 -0.0430956 9.67976 -0.0681769 -0.0149137 0.0681769 0.18 0 pose: 0.51968501 -2.70007 0.18084 0 0.00154791 -0.00415223 0.0148696 0.99988 uwb: 0.0 836.742 1313.63 -imu_odom_: 1691062949.190524072 0.627281 -0.325611 10.1586 -0.0415453 0.0511327 0.0287621 0.19 0 pose: 0.61966841 -2.69107 0.189139 0 0.00265061 -0.00324518 0.0152289 0.999875 uwb: 0.100002063 835.998 1312.39 -imu_odom_: 1691062949.217423228 0.0981623 -0.430956 9.72764 -0.0415453 0.0106526 0.0490022 0.19 0 pose: 0.0 -2.69107 0.189139 0 0.00265061 -0.00324518 0.0152289 0.999875 uwb: 0.0 835.998 1312.39 -imu_odom_: 1691062949.233405347 0.620098 -0.237026 10.161 -0.0266316 -0.0170442 0.0330232 0.2 0 pose: 0.8321353 -2.6882 0.188525 0 0.00211541 -0.00360261 0.0151881 0.999876 uwb: 0.49960493 835.653 1311.07 -imu_odom_: 1691062949.251504845 0.617704 -0.397437 9.5816 -0.0649811 -0.0628506 0.0628506 0.2 0 pose: 0.0 -2.6882 0.188525 0 0.00211541 -0.00360261 0.0151881 0.999876 uwb: 0.0 835.653 1311.07 -imu_odom_: 1691062949.276377035 0.347159 -0.445322 9.43794 -0.0639159 -0.0181095 0.036219 0.18 0 pose: 0.51651478 -2.67842 0.186437 0 -0.000220185-0.00261469 0.01521 0.999881 uwb: 0.0 835.653 1311.07 -imu_odom_: 1691062949.293430384 0.775721 -0.138864 9.92636 -0.0436758 -0.0351537 0.0490022 0.18 0 pose: 0.0 -2.67842 0.186437 0 -0.000220185-0.00261469 0.01521 0.999881 uwb: 0.50151231 836.166 1310.75 -imu_odom_: 1691062949.318376361 0.579397 -0.23942 9.9096 -0.0479369 0.00106526 0.0372843 0.18 0 pose: 0.34039619 -2.66864 0.18435 0 -0.00220012 -0.00490924 0.0153874 0.999867 uwb: 0.0 836.166 1310.75 -imu_odom_: 1691062949.345514087 0.42138 -0.280122 9.98861 -0.0713727 0.02024 0.0713727 0.18 0 pose: 0.0 -2.66864 0.18435 0 -0.00220012 -0.00490924 0.0153874 0.999867 uwb: 0.0 836.166 1310.75 -imu_odom_: 1691062949.370437607 0.337582 -0.162806 9.60075 -0.0671117 0.0330232 0.0287621 0.19 0 pose: 0.43030017 -2.66864 0.18435 0 -0.00242017 -0.00642272 0.015426 0.999857 uwb: 0.0 836.166 1310.75 -imu_odom_: 1691062949.387511372 0.399832 -0.117316 10.3501 -0.0532632 -0.0276969 0.0543285 0.19 0 pose: 0.0 -2.66864 0.18435 0 -0.00242017 -0.00642272 0.015426 0.999857 uwb: 0.99888028 835.222 1309.27 -imu_odom_: 1691062949.412557093 0.605733 -0.337582 9.96467 -0.0383495 -0.0436758 0.0351537 0.18 0 pose: 0.52041414 -2.65678 0.192047 0 -0.00209876 -0.00409134 0.0157926 0.999865 uwb: 0.0 835.222 1309.27 -imu_odom_: 1691062949.436528960 0.332794 -0.153229 9.93354 -0.0692422 -0.0351537 0.0649811 0.18 0 pose: 0.0 -2.65678 0.192047 0 -0.00209876 -0.00409134 0.0157926 0.999865 uwb: 0.0 835.222 1309.27 -imu_odom_: 1691062949.451644296 0.483629 0.0933739 10.2304 -0.0617853 -0.0330232 0.0553937 0.18 -0.02 pose: 0.41933414 -2.647 0.189971 0 -0.000127663-0.00265301 0.015806 0.999872 uwb: 0.0 835.222 1309.27 -imu_odom_: 1691062949.476452323 0.217872 -0.0526724 10.1083 -0.0777643 0.00639159 0.0415453 0.18 -0.02 pose: 0.0 -2.647 0.189971 0 -0.000127663-0.00265301 0.015806 0.999872 uwb: 0.0 835.222 1309.27 -imu_odom_: 1691062949.500362360 0.548272 -0.234632 9.90242 -0.0553937 -0.00213053 0.0351537 0.25 0 pose: 0.48142930 -2.63721 0.187916 0 0.000605329 -0.00275085 0.0161257 0.999866 uwb: 0.99979314 835.037 1308.31 -imu_odom_: 1691062949.524404806 0.64404 -0.102951 10.0676 -0.0788296 0.0149137 0.0500674 0.25 0 pose: 0.0 -2.63721 0.187916 0 0.000605329 -0.00275085 0.0161257 0.999866 uwb: 0.0 835.037 1308.31 -imu_odom_: 1691062949.540398883 0.0407014 -0.059855 9.90721 -0.0745685 -0.0458064 0.0458064 0.18 0.02 pose: 0.39831202 -2.62741 0.185944 0 0.00198254 -0.00122897 0.0161911 0.999866 uwb: 0.49992282 837.877 1308.81 -imu_odom_: 1691062949.558375887 0.878672 -0.0526724 9.85453 -0.0415453 -0.0245011 0.036219 0.18 0.02 pose: 0.0 -2.62741 0.185944 0 0.00198254 -0.00122897 0.0161911 0.999866 uwb: 0.0 837.877 1308.81 -imu_odom_: 1691062949.582388877 0.85473 -0.105345 9.98143 -0.0713727 -0.00426106 0.04048 0.18 0 pose: 0.49204535 -2.6176 0.183973 0 0.00215172 -0.0040592 0.016305 0.999857 uwb: 0.50110983 837.777 1307.69 -imu_odom_: 1691062949.609349863 0.727837 -0.4956 9.39006 -0.052198 0.0170442 0.0468716 0.18 0 pose: 0.0 -2.6176 0.183973 0 0.00215172 -0.0040592 0.016305 0.999857 uwb: 0.0 837.777 1307.69 -imu_odom_: 1691062949.625358231 0.205901 -0.399832 9.66539 -0.0649811 -0.00958738 0.0447411 0.19 0 pose: 0.32929892 -2.6176 0.183973 0 0.00298455 -0.00606795 0.0163022 0.999844 uwb: 0.0 837.777 1307.69 -imu_odom_: 1691062949.642341876 0.550666 0 10.0389 -0.0415453 -0.0149137 0.0383495 0.19 0 pose: 0.0 -2.6176 0.183973 0 0.00298455 -0.00606795 0.0163022 0.999844 uwb: 0.50018822 838.593 1306.79 -imu_odom_: 1691062949.667410638 0.349553 -0.311246 9.79707 -0.0894822 -0.00213053 0.0532632 0.18 0 pose: 0.50894646 -2.60583 0.191808 0 0.000434859 -0.0081624 0.0164545 0.999831 uwb: 0.0 838.593 1306.79 -imu_odom_: 1691062949.694345667 0.648829 -0.167594 9.75637 -0.0649811 -0.015979 0.0479369 0.18 0 pose: 0.0 -2.60583 0.191808 0 0.000434859 -0.0081624 0.0164545 0.999831 uwb: 0.49876497 838.22 1305.55 -imu_odom_: 1691062949.719466925 0.383072 -0.217872 10.3214 -0.0660464 -0.0191748 0.0553937 0.18 0.02 pose: 0.33969332 -2.59602 0.189842 0 0.00118595 -0.00679842 0.0165145 0.99984 uwb: 0.0 838.22 1305.55 -imu_odom_: 1691062949.743394753 0.320823 -0.0957681 10.1849 -0.0468716 -0.00745685 0.0330232 0.18 0.02 pose: 0.0 -2.59602 0.189842 0 0.00118595 -0.00679842 0.0165145 0.99984 uwb: 0.50043904 837.41 1303.87 -imu_odom_: 1691062949.758466633 0.268151 -0.304064 9.75398 -0.0735032 -0.0372843 0.0490022 0.18 0 pose: 0.51977542 -2.58622 0.187878 0 0.000627143 -0.00732045 0.0168031 0.999832 uwb: 0.0 837.41 1303.87 -imu_odom_: 1691062949.783341448 0.430956 -0.0861913 10.094 -0.04048 -0.00213053 0.0383495 0.18 0 pose: 0.0 -2.58622 0.187878 0 0.000627143 -0.00732045 0.0168031 0.999832 uwb: 0.49932494 838.78 1303.85 -imu_odom_: 1691062949.807620422 0.565032 -0.263362 10.1706 -0.0468716 -0.02024 0.0543285 0.25 0 pose: 0.47972316 -2.58622 0.187878 0 0.0012019 -0.0032058 0.0168854 0.999852 uwb: 0.0 838.78 1303.85 -imu_odom_: 1691062949.831481462 0.529119 -0.169988 10.0676 -0.0415453 0.02024 0.0468716 0.25 0 pose: 0.0 -2.58622 0.187878 0 0.0012019 -0.0032058 0.0168854 0.999852 uwb: 0.50116817 839.519 1303.1 -imu_odom_: 1691062949.847367337 0.438139 -0.244209 9.74679 -0.0660464 0.0191748 0.0436758 0.18 0 pose: 0.40046439 -2.57641 0.185921 0 0.00286986 -0.00261544 0.0169564 0.999849 uwb: 0.0 839.519 1303.1 -imu_odom_: 1691062949.871465488 0.361524 -0.122104 9.76116 -0.0383495 -0.0149137 0.0511327 0.18 0 pose: 0.0 -2.57641 0.185921 0 0.00286986 -0.00261544 0.0169564 0.999849 uwb: 0.0 839.519 1303.1 -imu_odom_: 1691062949.895588138 0.280122 -0.368707 9.59117 -0.0681769 0.02024 0.0649811 0.18 0 pose: 0.48993964 -2.56465 0.193771 0 0.00192904 -0.00537621 0.0171976 0.999836 uwb: 0.49887288 839.543 1301.78 -imu_odom_: 1691062949.920327335 0.00718261 -0.306458 9.37809 -0.0639159 -0.00319579 0.0490022 0.18 0 pose: 0.0 -2.56465 0.193771 0 0.00192904 -0.00537621 0.0171976 0.999836 uwb: 0.0 839.543 1301.78 -imu_odom_: 1691062949.937576382 0.514753 -0.155623 9.96946 -0.0756338 -0.0681769 0.0617853 0.23 0.02 pose: 0.80952079 -2.54799 0.190464 0 -0.0001601540.00156916 0.0177713 0.999841 uwb: 0.50117108 841.848 1301.88 -imu_odom_: 1691062949.962382659 0.476446 0.0526724 10.3597 -0.0660464 -0.0106526 0.0500674 0.23 0.02 pose: 0.0 -2.54799 0.190464 0 -0.0001601540.00156916 0.0177713 0.999841 uwb: 0.0 841.848 1301.88 -imu_odom_: 1691062949.987353718 0.318429 -0.265756 10.556 -0.0649811 -0.0117179 0.0617853 0.23 -0.02 pose: 0.7294163 -2.54503 0.189879 0 7.13692e-05 0.000670285 0.0178528 0.99984 uwb: 0.49924327 841.99 1300.97 -imu_odom_: 1691062950.8451959 0.605733 -0.299275 9.89763 -0.052198 -0.0127832 0.036219 0.23 -0.02 pose: 0.0 -2.54503 0.189879 0 7.13692e-05 0.000670285 0.0178528 0.99984 uwb: 0.0 841.99 1300.97 -imu_odom_: 1691062950.31315556 0.177171 -0.28491 9.70609 -0.0585895 -0.0138484 0.0415453 0.18 0 pose: 0.41717593 -2.53522 0.187942 0 0.00215318 -0.0007045280.0181691 0.999832 uwb: 0.49807960 841.937 1299.8 -imu_odom_: 1691062950.47485498 0.612916 -0.42138 10.5967 -0.056459 0.0213053 0.015979 0.18 0 pose: 0.0 -2.53522 0.187942 0 0.00215318 -0.0007045280.0181691 0.999832 uwb: 0.0 841.937 1299.8 -imu_odom_: 1691062950.64375524 0.378284 -0.316035 9.56005 -0.056459 -0.0106526 -0.04048 0.23 -0.11 pose: 0.45045609 -2.53522 0.187942 0 -0.000216954-0.0009726210.0183386 0.999831 uwb: 0.0 841.937 1299.8 -imu_odom_: 1691062950.81467954 0.217872 0.0526724 9.59117 -0.0681769 -0.0372843 -0.0809601 0.23 -0.11 pose: 0.0 -2.53522 0.187942 0 -0.000216954-0.0009726210.0183386 0.999831 uwb: 0.49964284 840.225 1297.36 -imu_odom_: 1691062950.96588832 0.545878 -0.289698 10.1035 -0.0543285 -0.00319579 -0.0958738 0.23 -0.11 pose: 0.0 -2.53522 0.187942 0 -0.000216954-0.0009726210.0183386 0.999831 uwb: 0.0 840.225 1297.36 -imu_odom_: 1691062950.113382905 0.543484 -0.196325 9.75877 -0.0596548 -0.00958738 -0.155529 0.18 -0.17 pose: 0.74128056 -2.51367 0.193887 0 -0.00207035 6.34209e-05 0.0159851 0.99987 uwb: 0.0 840.225 1297.36 -imu_odom_: 1691062950.127441594 0.893037 -0.11971 9.51456 -0.0553937 -0.0149137 -0.198139 0.18 -0.17 pose: 0.0 -2.51367 0.193887 0 -0.00207035 6.34209e-05 0.0159851 0.99987 uwb: 0.0 840.225 1297.36 -imu_odom_: 1691062950.144496985 0.993594 -0.385466 9.9934 -0.0649811 -0.0223706 -0.233293 0.18 -0.29 pose: 0.38928838 -2.50839 0.192834 0 -0.00111509 -0.00370177 0.0121208 0.999919 uwb: 0.50029905 839.68 1295.89 -imu_odom_: 1691062950.158327312 0.526724 -0.107739 9.78031 -0.0575243 -0.0426106 -0.296144 0.18 -0.29 pose: 0.0 -2.50839 0.192834 0 -0.00111509 -0.00370177 0.0121208 0.999919 uwb: 0.0 839.68 1295.89 -imu_odom_: 1691062950.174429300 0.610521 0.205901 9.38288 -0.0394148 0.00426106 -0.353668 0.18 -0.29 pose: 0.0 -2.50839 0.192834 0 -0.00111509 -0.00370177 0.0121208 0.999919 uwb: 0.0 839.68 1295.89 -imu_odom_: 1691062950.189319482 0.373495 -0.189142 9.46907 -0.0585895 0.00213053 -0.388822 0.19 -0.44 pose: 0.7003387 -2.50386 0.191947 0 -0.00132881 -0.00444285 0.0111652 0.999927 uwb: 0.50123525 838.375 1294 -imu_odom_: 1691062950.205362265 0.25618 -0.0694318 10.5441 -0.036219 -0.015979 -0.417584 0.19 -0.44 pose: 0.0 -2.50386 0.191947 0 -0.00132881 -0.00444285 0.0111652 0.999927 uwb: 0.0 838.375 1294 -imu_odom_: 1691062950.220292112 0.0885855 -0.42138 8.98065 -0.0681769 0.0213053 -0.451672 0.19 -0.44 pose: 0.0 -2.50386 0.191947 0 -0.00132881 -0.00444285 0.0111652 0.999927 uwb: 0.0 838.375 1294 -imu_odom_: 1691062950.236296105 0.306458 -0.0885855 10.0533 -0.0458064 0.0319579 -0.474043 0.18 -0.47 pose: 0.46951250 -2.50386 0.191947 0 0.00144969 -0.00549221 0.00279673 0.99998 uwb: 0.49989658 837.805 1292.61 -imu_odom_: 1691062950.251293615 0.737414 0.0622492 9.91199 -0.0596548 -0.0234358 -0.471912 0.18 -0.47 pose: 0.0 -2.50386 0.191947 0 0.00144969 -0.00549221 0.00279673 0.99998 uwb: 0.0 837.805 1292.61 -imu_odom_: 1691062950.268323924 0.864307 0.035913 9.50977 -0.0607201 -0.00426106 -0.518784 0.18 -0.47 pose: 0.0 -2.50386 0.191947 0 0.00144969 -0.00549221 0.00279673 0.99998 uwb: 0.0 837.805 1292.61 -imu_odom_: 1691062950.282432193 0.191536 -0.150835 9.80186 -0.0681769 -0.0191748 -0.537959 0.18 -0.61 pose: 0.45894602 -2.49405 0.190007 0 0.00184223 -0.00117284 -0.00803905 0.999965 uwb: 0.50134899 837.855 1291.32 -imu_odom_: 1691062950.298433562 0.129287 -0.325611 9.73243 -0.056459 -0.0127832 -0.566721 0.18 -0.53 pose: 0.0 -2.49405 0.190007 0 0.00184223 -0.00117284 -0.00803905 0.999965 uwb: 0.0 837.855 1291.32 -imu_odom_: 1691062950.313434571 0.931344 0.146046 9.97185 -0.0553937 -0.00532632 -0.546481 0.18 -0.53 pose: 0.0 -2.49405 0.190007 0 0.00184223 -0.00117284 -0.00803905 0.999965 uwb: 0.0 837.855 1291.32 -imu_odom_: 1691062950.330445923 1.25935 -0.466869 10.0868 -0.0607201 -0.0596548 -0.498544 0.15 -0.47 pose: 0.62170705 -2.4725 0.196058 0 0.00340345 -0.00129574 -0.0251472 0.999677 uwb: 0.49863956 838.661 1291.07 -imu_odom_: 1691062950.344320581 1.32878 -0.296881 10.3334 -0.0553937 -0.00426106 -0.52198 0.15 -0.47 pose: 0.0 -2.4725 0.196058 0 0.00340345 -0.00129574 -0.0251472 0.999677 uwb: 0.0 838.661 1291.07 -imu_odom_: 1691062950.361357890 1.3216 -0.150835 10.7571 -0.04048 0.0127832 -0.493217 0.15 -0.47 pose: 0.30990712 -2.4725 0.196058 0 0.00337862 -0.00268533 -0.0341434 0.999408 uwb: 0.0 838.661 1291.07 -imu_odom_: 1691062950.375406663 1.35272 -0.311246 9.60793 -0.0660464 -0.0276969 -0.449542 0.14 -0.47 pose: 0.40905640 -2.46268 0.194178 0 0.00277059 -0.00676692 -0.0452429 0.998949 uwb: 0.0 838.661 1291.07 -imu_odom_: 1691062950.392557423 0.919373 -0.332794 9.27993 -0.0330232 0.0287621 -0.380299 0.14 -0.47 pose: 0.6010612 -2.46268 0.194178 0 0.00260738 -0.00741749 -0.0467089 0.998878 uwb: 0.50052946 838.841 1290.14 -imu_odom_: 1691062950.406302005 1.14443 -0.397437 9.94073 -0.0447411 0.0234358 -0.345146 0.14 -0.47 pose: 0.0 -2.46268 0.194178 0 0.00260738 -0.00741749 -0.0467089 0.998878 uwb: 0.0 838.841 1290.14 -imu_odom_: 1691062950.423296733 0.907402 -0.184354 9.81623 -0.0426106 -0.0596548 -0.279099 0.1 -0.32 pose: 0.38933503 -2.46266 0.19416 0 0.00134934 -0.0105782 -0.0548825 0.998436 uwb: 0.0 838.841 1290.14 -imu_odom_: 1691062950.440296127 0.459687 -0.493206 9.46188 -0.0436758 0.0255663 -0.24288 0.1 -0.32 pose: 0.0 -2.46266 0.19416 0 0.00134934 -0.0105782 -0.0548825 0.998436 uwb: 0.49864248 840.162 1290.15 -imu_odom_: 1691062950.457288522 0.550666 -0.45011 10.0868 -0.0383495 0.0106526 -0.252468 0.1 -0.32 pose: 0.0 -2.46266 0.19416 0 0.00134934 -0.0105782 -0.0548825 0.998436 uwb: 0.0 840.162 1290.15 -imu_odom_: 1691062950.474350621 0.378284 -0.110133 9.8665 -0.0585895 -0.0415453 -0.232228 0.09 -0.26 pose: 0.40996927 -2.45286 0.192258 0 -0.000532664-0.0112635 -0.0609719 0.998076 uwb: 0.0 840.162 1290.15 -imu_odom_: 1691062950.491312976 0.670376 -0.23942 9.88566 -0.0617853 -0.0127832 -0.218379 0.12 -0.41 pose: 0.0 -2.45286 0.192258 0 -0.000532664-0.0112635 -0.0609719 0.998076 uwb: 0.49932494 839.458 1288.44 -imu_odom_: 1691062950.508287871 1.02232 -0.342371 9.73722 -0.0681769 -0.0500674 -0.186421 0.12 -0.41 pose: 0.34053035 -2.45286 0.192258 0 -0.000809564-0.0103402 -0.0656369 0.99779 uwb: 0.0 839.458 1288.44 -imu_odom_: 1691062950.524423690 0.948104 -0.253785 9.97664 -0.0617853 0.00532632 -0.170442 0.07 -0.2 pose: 0.0 -2.45286 0.192258 0 -0.000809564-0.0103402 -0.0656369 0.99779 uwb: 0.0 839.458 1288.44 -imu_odom_: 1691062950.541290967 0.708684 -0.124498 10.07 -0.0575243 -0.0170442 -0.160855 0.07 -0.2 pose: 0.0 -2.45286 0.192258 0 -0.000809564-0.0103402 -0.0656369 0.99779 uwb: 0.49996949 838.947 1286.99 -imu_odom_: 1691062950.557401413 0.687136 -0.158017 9.8689 -0.0575243 -0.00639159 -0.15979 0.07 -0.2 pose: 0.34009580 -2.45286 0.192258 0 -0.00202798 -0.0139444 -0.069564 0.997478 uwb: 0.0 838.947 1286.99 -imu_odom_: 1691062950.574347144 0.658405 -0.316035 9.79228 -0.0490022 -0.00106526 -0.155529 0.07 -0.23 pose: 0.42039866 -2.44304 0.190369 0 0.001095 -0.0148828 -0.0738497 0.997158 uwb: 0.0 838.947 1286.99 -imu_odom_: 1691062950.592365854 0.550666 -0.335188 9.91439 -0.056459 0 -0.144876 0.07 -0.23 pose: 0.8008413 -2.44304 0.190369 0 0.000364117 -0.0146479 -0.0746174 0.997105 uwb: 0.50041863 839.293 1286.38 -imu_odom_: 1691062950.606434459 0.667982 -0.316035 10.0389 -0.0543285 0.00639159 -0.13955 0.07 -0.23 pose: 0.0 -2.44304 0.190369 0 0.000364117 -0.0146479 -0.0746174 0.997105 uwb: 0.0 839.293 1286.38 -imu_odom_: 1691062950.623431520 0.588974 -0.129287 9.8665 -0.0596548 -0.015979 -0.11931 0.04 -0.14 pose: 0.41024633 -2.44304 0.190369 0 -0.00298125 -0.0128833 -0.0783528 0.996838 uwb: 0.0 839.293 1286.38 -imu_odom_: 1691062950.640567406 0.584185 -0.335188 9.7037 -0.0596548 0.00213053 -0.107592 0.05 -0.11 pose: 0.0 -2.44304 0.190369 0 -0.00298125 -0.0128833 -0.0783528 0.996838 uwb: 0.50151523 838.405 1285.04 -imu_odom_: 1691062950.657618131 0.694318 -0.229843 9.87608 -0.0596548 -0.0330232 -0.092678 0.05 -0.11 pose: 0.0 -2.44304 0.190369 0 -0.00298125 -0.0128833 -0.0783528 0.996838 uwb: 0.0 838.405 1285.04 -imu_odom_: 1691062950.675342275 0.703895 -0.289698 9.75637 -0.0532632 0.00213053 -0.0798948 0.04 -0.08 pose: 0.25012182 -2.44304 0.190369 0 -0.00215552 -0.0118305 -0.0802971 0.996698 uwb: 0.0 838.405 1285.04 -imu_odom_: 1691062950.691416556 0.684742 -0.251391 9.96467 -0.052198 -0.00639159 -0.072438 0.04 -0.08 pose: 0.0 -2.44304 0.190369 0 -0.00215552 -0.0118305 -0.0802971 0.996698 uwb: 0.49946202 839.794 1284.9 -imu_odom_: 1691062950.708473697 0.593762 -0.234632 9.82102 -0.0553937 -0.00319579 -0.0617853 0.04 -0.08 pose: 0.34085700 -2.44304 0.190369 0 -0.00314631 -0.0136762 -0.0825515 0.996488 uwb: 0.0 839.794 1284.9 -imu_odom_: 1691062950.726348332 0.667982 -0.268151 9.93594 -0.0596548 -0.00852212 -0.0479369 0.03 -0.05 pose: 0.42941356 -2.44304 0.190369 0 -0.00210082 -0.0122767 -0.0849062 0.996311 uwb: 0.0 839.794 1284.9 -imu_odom_: 1691062950.743580463 0.471658 -0.282516 9.90242 -0.0607201 -0.00319579 -0.0479369 0.03 -0.05 pose: 0.7947458 -2.44304 0.190369 0 -0.00281834 -0.0126632 -0.0852445 0.996276 uwb: 0.50114776 840.151 1284.27 -imu_odom_: 1691062950.761286525 0.677559 -0.294487 9.94312 -0.0500674 0.00106526 -0.0447411 0.03 -0.05 pose: 0.0 -2.44304 0.190369 0 -0.00281834 -0.0126632 -0.0852445 0.996276 uwb: 0.0 840.151 1284.27 -imu_odom_: 1691062950.778320917 0.632069 -0.186748 9.90721 -0.0607201 -0.0117179 -0.0170442 0.02 -0.02 pose: 0.44865370 -2.43737 0.189251 0 -0.00471167 -0.0128247 -0.0871494 0.996102 uwb: 0.0 840.151 1284.27 -imu_odom_: 1691062950.795256440 0.591368 -0.368707 9.8258 -0.056459 -0.00426106 -0.00213053 0.02 -0.02 pose: 0.0 -2.43737 0.189251 0 -0.00471167 -0.0128247 -0.0871494 0.996102 uwb: 0.49930161 839.026 1282.79 -imu_odom_: 1691062950.812435491 0.593762 -0.179565 9.94791 -0.0500674 -0.00639159 -0.00106526 0.02 -0.02 pose: 0.0 -2.43737 0.189251 0 -0.00471167 -0.0128247 -0.0871494 0.996102 uwb: 0.0 839.026 1282.79 -imu_odom_: 1691062950.828549728 0.612916 -0.181959 9.82341 -0.0553937 -0.0127832 0.0138484 0.01 -0.02 pose: 0.24047404 -2.43323 0.188434 0 -0.00368266 -0.012167 -0.0877882 0.996058 uwb: 0.0 839.026 1282.79 -imu_odom_: 1691062950.846555897 0.703895 -0.306458 9.91199 -0.0585895 -0.00852212 0.0191748 0.01 -0.02 pose: 0.0 -2.43323 0.188434 0 -0.00368266 -0.012167 -0.0877882 0.996058 uwb: 0.50068403 838.473 1282.04 -imu_odom_: 1691062950.863456714 0.708684 -0.258574 9.85453 -0.0532632 -0.00319579 0.0245011 0.01 -0.02 pose: 0.35295172 -2.43323 0.188434 0 -0.00202875 -0.0111032 -0.0884612 0.996016 uwb: 0.0 838.473 1282.04 -imu_odom_: 1691062950.877366953 0.667982 -0.23942 9.88566 -0.0553937 -0.00213053 0.0383495 0.01 0 pose: 0.42827613 -2.43323 0.188434 0 -0.0031494 -0.0138545 -0.0888621 0.995943 uwb: 0.0 838.473 1282.04 -imu_odom_: 1691062950.893360155 0.639252 -0.282516 9.89763 -0.0532632 0 0.0447411 0.01 0 pose: 0.5911450 -2.43323 0.188434 0 -0.00266202 -0.0135129 -0.088872 0.995948 uwb: 0.49805626 839.445 1282.05 -imu_odom_: 1691062950.910350217 0.579397 -0.196325 9.87608 -0.0532632 0.00213053 0.0468716 0.01 0 pose: 0.0 -2.43323 0.188434 0 -0.00266202 -0.0135129 -0.088872 0.995948 uwb: 0.0 839.445 1282.05 -imu_odom_: 1691062950.934303418 0.550666 -0.244209 9.85932 -0.056459 -0.00426106 0.0490022 0 0.02 pose: 0.40982053 -2.43323 0.188434 0 -0.00211558 -0.0110764 -0.0887759 0.995988 uwb: 0.50134024 838.393 1281.04 -imu_odom_: 1691062950.950353784 0.349553 -0.251391 9.991 -0.052198 0.0394148 0.04048 0 0 pose: 0.0 -2.43323 0.188434 0 -0.00211558 -0.0110764 -0.0887759 0.995988 uwb: 0.0 838.393 1281.04 -imu_odom_: 1691062950.967474213 -0.775721 -0.186748 9.73961 -0.0479369 0.0905475 0.0553937 0 0 pose: 0.30028851 -2.43323 0.188434 0 -0.00212445 -0.00793866 -0.0886571 0.996028 uwb: 0.0 838.393 1281.04 -imu_odom_: 1691062950.984282285 -1.24498 -0.418985 9.86411 -0.0575243 0.00106526 0.0756338 0.03 0.02 pose: 0.0 -2.43323 0.188434 0 -0.00212445 -0.00793866 -0.0886571 0.996028 uwb: 0.49838875 838.268 1280.13 -imu_odom_: 1691062951.1320760 -0.593762 -0.299275 9.86411 -0.0585895 -0.0649811 0.052198 0.03 0.02 pose: 0.0 -2.43323 0.188434 0 -0.00212445 -0.00793866 -0.0886571 0.996028 uwb: 0.0 838.268 1280.13 -imu_odom_: 1691062951.18255991 0.378284 -0.023942 9.92397 -0.0532632 -0.0617853 0.04048 0.03 0.02 pose: 0.35098308 -2.43323 0.188434 0 -0.00170106 -0.00339981 -0.0883723 0.99608 uwb: 0.0 838.268 1280.13 -imu_odom_: 1691062951.36320491 0.529119 -0.225055 9.96467 -0.0703074 -0.00532632 0.0596548 0.06 0 pose: 0.42778615 -2.43323 0.188434 0 -8.29919e-05-0.00154159 -0.088096 0.996111 uwb: 0.50001907 838.259 1279.58 -imu_odom_: 1691062951.50302476 0.268151 -0.459687 9.7851 -0.0575243 0.015979 0.0543285 0.06 0 pose: 0.8005789 -2.43323 0.188434 0 -0.000308275-0.00232408 -0.0880158 0.996116 uwb: 0.0 838.259 1279.58 -imu_odom_: 1691062951.67295163 -0.265756 -0.308852 9.94312 -0.0490022 -0.00639159 0.0585895 0.06 0 pose: 0.0 -2.43323 0.188434 0 -0.000308275-0.00232408 -0.0880158 0.996116 uwb: 0.0 838.259 1279.58 -imu_odom_: 1691062951.83246076 0.011971 -0.217872 10.0772 -0.056459 -0.0308927 0.0617853 0.08 0.02 pose: 0.41033383 -2.43322 0.188416 0 -0.00154309 -0.000499015-0.087645 0.99615 uwb: 0.49989658 839.456 1280.32 -imu_odom_: 1691062951.100237887 0.25618 -0.3304 9.96467 -0.0500674 -0.0106526 0.0479369 0.11 0 pose: 0.0 -2.43322 0.188416 0 -0.00154309 -0.000499015-0.087645 0.99615 uwb: 0.0 839.456 1280.32 -imu_odom_: 1691062951.117235532 0.277727 -0.191536 10.3669 -0.0458064 -0.0213053 0.0468716 0.11 0 pose: 0.0 -2.43322 0.188416 0 -0.00154309 -0.000499015-0.087645 0.99615 uwb: 0.0 839.456 1280.32 -imu_odom_: 1691062951.134422457 0.342371 -0.371101 9.40921 -0.0436758 -0.00426106 0.0532632 0.12 0.02 pose: 0.22956634 -2.42342 0.186486 0 -0.00164705 0.00145798 -0.0874362 0.996168 uwb: 0.50135192 839.225 1279.59 -imu_odom_: 1691062951.150423826 0.368707 -0.201113 10.4076 -0.052198 -0.00958738 0.052198 0.12 0.02 pose: 0.0 -2.42342 0.186486 0 -0.00164705 0.00145798 -0.0874362 0.996168 uwb: 0.0 839.225 1279.59 -imu_odom_: 1691062951.168472285 0.107739 -0.19393 10.2663 -0.0479369 0.0138484 0.0511327 0.12 0.02 pose: 0.33993539 -2.42342 0.186486 0 -0.00148051 0.00340017 -0.0872809 0.996177 uwb: 0.0 839.225 1279.59 -imu_odom_: 1691062951.185292314 0.363919 -0.277727 9.89763 -0.0585895 -0.00852212 0.0543285 0.1 0 pose: 0.44226949 -2.42342 0.186486 0 -0.0004585730.00453193 -0.0870048 0.996197 uwb: 0.49993741 840.808 1280.23 -imu_odom_: 1691062951.199402334 0.454898 -0.215478 9.99819 -0.0692422 0.0298274 0.0490022 0.1 0 pose: 0.6998429 -2.42342 0.186486 0 -0.0009984590.00405728 -0.086956 0.996203 uwb: 0.0 840.808 1280.23 -imu_odom_: 1691062951.215401661 1.11809 -0.186748 10.1059 -0.0607201 -0.0585895 0.0447411 0.1 0 pose: 0.0 -2.42342 0.186486 0 -0.0009984590.00405728 -0.086956 0.996203 uwb: 0.0 840.808 1280.23 -imu_odom_: 1691062951.232270688 1.10612 -0.0263362 9.60075 -0.056459 -0.0500674 0.0543285 0.1 0 pose: 0.39930947 -2.41361 0.184549 0 -0.00158305 0.00023962 -0.0867837 0.996226 uwb: 0.49875914 841.891 1280.6 -imu_odom_: 1691062951.250258192 1.14922 -0.296881 9.99579 -0.0490022 0 0.0937433 0.09 -0.02 pose: 0.0 -2.41361 0.184549 0 -0.00158305 0.00023962 -0.0867837 0.996226 uwb: 0.0 841.891 1280.6 -imu_odom_: 1691062951.267368705 1.1133 -0.560243 10.0533 -0.0639159 -0.0500674 0.113983 0.09 -0.02 pose: 0.0 -2.41361 0.184549 0 -0.00158305 0.00023962 -0.0867837 0.996226 uwb: 0.0 841.891 1280.6 -imu_odom_: 1691062951.281364981 1.32639 -0.143652 10.2041 -0.0436758 -0.0287621 0.0756338 0.09 -0.02 pose: 0.24899605 -2.41361 0.184549 0 -0.00137845 -0.00257049 -0.0864455 0.996252 uwb: 0.49995491 841.239 1280.04 -imu_odom_: 1691062951.298257631 1.1133 -0.131681 9.56244 -0.052198 0 0.0585895 0.07 0 pose: 0.0 -2.41361 0.184549 0 -0.00137845 -0.00257049 -0.0864455 0.996252 uwb: 0.0 841.239 1280.04 -imu_odom_: 1691062951.314388493 1.09894 -0.19393 10.149 -0.0671117 0.0106526 0.0745685 0.07 0 pose: 0.0 -2.41361 0.184549 0 -0.00137845 -0.00257049 -0.0864455 0.996252 uwb: 0.0 841.239 1280.04 -imu_odom_: 1691062951.331398386 0.567426 -0.526724 9.9503 -0.056459 0.0436758 0.0255663 0.07 0 pose: 0.74087227 -2.4038 0.182642 0 -0.00223627 -0.0100783 -0.0848587 0.99634 uwb: 0.49996366 841.53 1279.53 -imu_odom_: 1691062951.348398364 0.407014 -0.0885855 10.0556 -0.052198 -0.0319579 -0.0287621 0.07 0 pose: 0.0 -2.4038 0.182642 0 -0.00223627 -0.0100783 -0.0848587 0.99634 uwb: 0.0 841.53 1279.53 -imu_odom_: 1691062951.365397758 0.691924 0.00957681 9.65582 -0.0628506 -0.015979 -0.0223706 0.07 0 pose: 0.0 -2.4038 0.182642 0 -0.00223627 -0.0100783 -0.0848587 0.99634 uwb: 0.0 841.53 1279.53 -imu_odom_: 1691062951.381275759 0.955286 -0.488417 10.1275 -0.0671117 -0.0191748 0.00852212 0.04 0 pose: 0.8054785 -2.4038 0.182642 0 -0.003012 -0.00971458 -0.084907 0.996337 uwb: 0.49933953 840.905 1278.36 -imu_odom_: 1691062951.398350983 0.792481 -0.519542 9.94312 -0.0532632 0 0.00745685 0.05 0.02 pose: 0.0 -2.4038 0.182642 0 -0.003012 -0.00971458 -0.084907 0.996337 uwb: 0.0 840.905 1278.36 -imu_odom_: 1691062951.416390984 0.577003 -0.208296 10.0844 -0.0500674 0.0117179 0.056459 0.05 0.02 pose: 0.65983152 -2.4038 0.182642 0 -0.00293903 -0.0110302 -0.086431 0.996192 uwb: 0.0 840.905 1278.36 -imu_odom_: 1691062951.441445747 0.476446 -0.225055 10.1251 -0.0543285 -0.0181095 0.0681769 0.04 0 pose: 0.0 -2.4038 0.182642 0 -0.00293903 -0.0110302 -0.086431 0.996192 uwb: 0.50327972 841.566 1278.33 -imu_odom_: 1691062951.467309838 -0.600945 -0.153229 9.66539 -0.0660464 0.0916127 0.0436758 0.04 0 pose: 0.35909679 -2.4038 0.182642 0 -0.00217381 -0.00946459 -0.0863294 0.996219 uwb: 0.0 841.566 1278.33 -imu_odom_: 1691062951.492268940 -1.01035 -0.469264 9.89763 -0.0617853 -0.0468716 0.0543285 0.07 0 pose: 0.42973729 -2.4038 0.182642 0 -0.00141962 -0.00411276 -0.086037 0.996282 uwb: 0.49942411 843.432 1279.57 -imu_odom_: 1691062951.509369245 -0.0335188 -0.220267 10.1801 -0.0511327 -0.0596548 0.0490022 0.07 0 pose: 0.0 -2.4038 0.182642 0 -0.00141962 -0.00411276 -0.086037 0.996282 uwb: 0.0 843.432 1279.57 -imu_odom_: 1691062951.533236118 0.490811 -0.356736 9.75158 -0.0543285 -0.0117179 0.0458064 0.09 0 pose: 0.42059407 -2.39398 0.180724 0 -0.00148734 -0.00092543 -0.0857664 0.996314 uwb: 0.49741172 843.538 1279.95 -imu_odom_: 1691062951.557260774 0.229843 -0.296881 9.77792 -0.0468716 0.00426106 0.0383495 0.09 0 pose: 0.0 -2.39398 0.180724 0 -0.00148734 -0.00092543 -0.0857664 0.996314 uwb: 0.0 843.538 1279.95 -imu_odom_: 1691062951.582364826 0.205901 -0.37589 9.90481 -0.0436758 -0.0213053 0.0447411 0.14 0 pose: 0.31024252 -2.39398 0.180724 0 -0.00359652 -0.0012979 -0.0856931 0.996314 uwb: 0.50127900 843.002 1279.19 -imu_odom_: 1691062951.607296221 0.354342 -0.184354 10.1945 -0.0607201 -0.00639159 0.0585895 0.11 0.02 pose: 0.24999350 -2.39398 0.180724 0 -0.00373803 0.00114531 -0.0856738 0.996316 uwb: 0.0 843.002 1279.19 -imu_odom_: 1691062951.624362695 0.452504 -0.339977 10.1562 -0.056459 -0.00106526 0.0553937 0.11 0.02 pose: 0.0 -2.39398 0.180724 0 -0.00373803 0.00114531 -0.0856738 0.996316 uwb: 0.0 843.002 1279.19 -imu_odom_: 1691062951.649229927 0.181959 -0.268151 9.77074 -0.0490022 -0.0170442 0.0479369 0.12 0 pose: 0.24030197 -2.38417 0.178813 0 -0.00356117 0.00254282 -0.0855556 0.996324 uwb: 0.49950869 842.642 1278.13 -imu_odom_: 1691062951.673294539 0.512359 -0.553061 10.1299 -0.0500674 -0.0276969 0.0543285 0.12 0 pose: 0.0 -2.38417 0.178813 0 -0.00356117 0.00254282 -0.0855556 0.996324 uwb: 0.0 842.642 1278.13 -imu_odom_: 1691062951.690382304 0.445322 -0.332794 10.003 -0.0479369 -0.036219 0.0511327 0.12 0 pose: 0.0 -2.38417 0.178813 0 -0.00356117 0.00254282 -0.0855556 0.996324 uwb: 0.50039822 842.02 1277.53 -imu_odom_: 1691062951.716423426 -0.0454898 -0.222661 9.90002 -0.0543285 0.0276969 0.052198 0.17 0.02 pose: 0.90960045 -2.37435 0.17691 0 -0.00501502 0.00141551 -0.0849361 0.996373 uwb: 0.0 842.02 1277.53 -imu_odom_: 1691062951.741240495 0.500388 -0.248997 10.4291 -0.0617853 0.00426106 0.0607201 0.18 0 pose: 0.36040337 -2.37435 0.17691 0 -0.00451635 0.00321603 -0.084708 0.99639 uwb: 0.49846166 842.183 1277.24 -imu_odom_: 1691062951.755214897 0.658405 -0.323217 9.91678 -0.0607201 -0.0447411 0.0511327 0.18 0 pose: 0.0 -2.37435 0.17691 0 -0.00451635 0.00321603 -0.084708 0.99639 uwb: 0.0 842.183 1277.24 -imu_odom_: 1691062951.778344188 0.533907 -0.237026 9.79228 -0.0490022 -0.0191748 0.0553937 0.18 0 pose: 0.0 -2.37435 0.17691 0 -0.00451635 0.00321603 -0.084708 0.99639 uwb: 0.0 842.183 1277.24 -imu_odom_: 1691062951.804280025 -0.158017 -0.31364 9.6223 -0.0490022 0.0127832 0.0415453 0.13 0 pose: 0.6976848 -2.37435 0.17691 0 -0.00432553 0.00258173 -0.0846371 0.996399 uwb: 0.50006282 842.899 1277.11 -imu_odom_: 1691062951.827303155 0.584185 -0.136469 10.2065 -0.056459 -0.0330232 0.0500674 0.15 0 pose: 0.38872549 -2.36453 0.175018 0 -0.00389426 -0.00139506 -0.0843268 0.99643 uwb: 0.0 842.899 1277.11 -imu_odom_: 1691062951.851433097 0.251391 -0.237026 9.94073 -0.076699 -0.0170442 0.0585895 0.15 0 pose: 0.0 -2.36453 0.175018 0 -0.00389426 -0.00139506 -0.0843268 0.99643 uwb: 0.49988492 843.478 1276.65 -imu_odom_: 1691062951.868241461 0.134075 -0.531513 9.14106 -0.0617853 0.00426106 0.0394148 0.19 0.02 pose: 0.48977050 -2.35471 0.173134 0 -0.00271504 -0.000869578-0.0841385 0.99645 uwb: 0.0 843.478 1276.65 -imu_odom_: 1691062951.885223356 0.711078 -0.220267 9.9527 -0.0458064 -0.0372843 0.04048 0.19 0.02 pose: 0.0 -2.35471 0.173134 0 -0.00271504 -0.000869578-0.0841385 0.99645 uwb: 0.50278974 844.661 1276.8 -imu_odom_: 1691062951.910364739 0.418985 -0.409408 9.84496 -0.0628506 0.00213053 0.052198 0.15 0 pose: 0.47019204 -2.35471 0.173134 0 -0.00226088 0.000380561 -0.0838262 0.996478 uwb: 0.0 844.661 1276.8 -imu_odom_: 1691062951.934333981 0.617704 -0.0383072 9.50259 -0.0607201 -0.0170442 0.0426106 0.15 0 pose: 0.0 -2.35471 0.173134 0 -0.00226088 0.000380561 -0.0838262 0.996478 uwb: 0.49926662 844.133 1276.05 -imu_odom_: 1691062951.960245612 0.225055 -0.227449 9.56244 -0.0703074 0.00958738 0.0756338 0.2 0 pose: 0.33972541 -2.34489 0.171259 0 -0.00347591 -0.000701167-0.083777 0.996478 uwb: 0.0 844.133 1276.05 -imu_odom_: 1691062951.982218219 0.68953 -0.143652 10.3573 -0.052198 0.00852212 0.0383495 0.2 0 pose: 0.0 -2.34489 0.171259 0 -0.00347591 -0.000701167-0.083777 0.996478 uwb: 0.49686926 844.662 1276.24 -imu_odom_: 1691062952.7223402 0.691924 -0.378284 10.2615 -0.0585895 0.00532632 0.0543285 0.17 0 pose: 0.50123525 -2.33506 0.169386 0 -0.00340488 -0.00131197 -0.0834872 0.996502 uwb: 0.0 844.662 1276.24 -imu_odom_: 1691062952.31256516 0.61531 -0.124498 10.1634 -0.0479369 -0.0468716 0.0308927 0.17 0 pose: 0.0 -2.33506 0.169386 0 -0.00340488 -0.00131197 -0.0834872 0.996502 uwb: 0.50117109 845.214 1276.38 -imu_odom_: 1691062952.48201955 0.557849 -0.241814 9.75877 -0.0756338 -0.00213053 0.0660464 0.24 0 pose: 0.48937677 -2.32524 0.167519 0 -0.00266497 -0.00214741 -0.083116 0.996534 uwb: 0.0 845.214 1276.38 -imu_odom_: 1691062952.74193789 0.337582 -0.572214 10.0221 -0.0617853 -0.00319579 0.0649811 0.24 0 pose: 0.0 -2.32524 0.167519 0 -0.00266497 -0.00214741 -0.083116 0.996534 uwb: 0.0 845.214 1276.38 -imu_odom_: 1691062952.99478373 0.651223 -0.253785 9.83538 -0.0628506 0.0170442 0.0511327 0.21 -0.02 pose: 0.46898170 -2.32524 0.167519 0 -0.00194414 -0.00638468 -0.0830231 0.996525 uwb: 0.50065196 845.043 1275.56 -imu_odom_: 1691062952.116479809 0.138864 -0.292093 9.46667 -0.0458064 0.00958738 0.0383495 0.21 -0.02 pose: 0.0 -2.32524 0.167519 0 -0.00194414 -0.00638468 -0.0830231 0.996525 uwb: 0.0 845.043 1275.56 -imu_odom_: 1691062952.141225132 0.172383 -0.294487 9.44991 -0.0479369 -0.00106526 0.0532632 0.21 0.02 pose: 0.43229507 -2.31541 0.16566 0 -0.00420035 -0.00636894 -0.082508 0.996561 uwb: 0.49993741 845.24 1275.21 -imu_odom_: 1691062952.166230023 0.378284 -0.0574608 9.95748 -0.0383495 0.0170442 0.04048 0.21 0.02 pose: 0.0 -2.31541 0.16566 0 -0.00420035 -0.00636894 -0.082508 0.996561 uwb: 0.0 845.24 1275.21 -imu_odom_: 1691062952.190215014 0.682347 -0.102951 10.5489 -0.056459 0.00426106 0.0596548 0.2 0 pose: 0.42885943 -2.30559 0.163811 0 -0.00371157 -0.00534357 -0.0823631 0.996581 uwb: 0.50046530 844.844 1274.23 -imu_odom_: 1691062952.207261073 0.122104 -0.320823 9.59596 -0.0628506 0.00106526 0.052198 0.2 0 pose: 0.0 -2.30559 0.163811 0 -0.00371157 -0.00534357 -0.0823631 0.996581 uwb: 0.0 844.844 1274.23 -imu_odom_: 1691062952.231321602 0.299275 -0.158017 9.56484 -0.0585895 0.00745685 0.0532632 0.17 0 pose: 0.50058196 -2.29576 0.161967 0 -0.000673621-0.00323281 -0.0821572 0.996614 uwb: 0.50032532 844.714 1273.34 -imu_odom_: 1691062952.257262981 0.483629 -0.442927 9.88566 -0.0596548 0 0.0436758 0.17 0 pose: 0.40908849 -2.28593 0.160127 0 -9.7067e-05 -0.00211189 -0.0818397 0.996643 uwb: 0.0 844.714 1273.34 -imu_odom_: 1691062952.270241107 0.521936 -0.155623 9.80904 -0.0553937 -0.00852212 0.0394148 0.17 0 pose: 0.41979496 -2.28593 0.160127 0 -0.00201607 -0.0010301 -0.0816771 0.996656 uwb: 0.0 844.714 1273.34 -imu_odom_: 1691062952.295465902 0.596156 -0.356736 9.67497 -0.0511327 -0.0191748 0.0447411 0.17 0 pose: 0.0 -2.28593 0.160127 0 -0.00201607 -0.0010301 -0.0816771 0.996656 uwb: 0.49919079 846.005 1273.29 -imu_odom_: 1691062952.320346259 0.758962 -0.246603 9.82102 -0.0383495 -0.0223706 0.0426106 0.22 0 pose: 0.38202921 -2.2761 0.158294 0 -0.00287688 -0.00406455 -0.0816136 0.996652 uwb: 0.0 846.005 1273.29 -imu_odom_: 1691062952.345315861 0.4956 -0.189142 9.77792 -0.0649811 -0.0181095 0.0639159 0.22 0 pose: 0.0 -2.2761 0.158294 0 -0.00287688 -0.00406455 -0.0816136 0.996652 uwb: 0.50183605 845.655 1272.79 -imu_odom_: 1691062952.362188679 0.828394 -0.222661 9.8689 -0.052198 -0.0436758 0.0394148 0.2 0 pose: 0.32900728 -2.26627 0.156463 0 -0.00206325 -0.00647576 -0.0814873 0.996651 uwb: 0.0 845.655 1272.79 -imu_odom_: 1691062952.378296792 0.826 -0.435745 9.81623 -0.0426106 0.0756338 0.0447411 0.2 0 pose: 0.0 -2.26627 0.156463 0 -0.00206325 -0.00647576 -0.0814873 0.996651 uwb: 0.0 845.655 1272.79 -imu_odom_: 1691062952.395457469 0.0215478 -0.469264 9.73243 -0.0319579 -0.00958738 0.04048 0.2 0 pose: 0.25050388 -2.26627 0.156463 0 -0.000730696-0.00676295 -0.0812907 0.996667 uwb: 0.49743798 845.876 1272.4 -imu_odom_: 1691062952.420181501 0.0335188 -0.0311246 9.43076 -0.052198 -0.0191748 0.0479369 0.24 0 pose: 0.0 -2.26627 0.156463 0 -0.000730696-0.00676295 -0.0812907 0.996667 uwb: 0.0 845.876 1272.4 -imu_odom_: 1691062952.445462001 0.3304 -0.474052 9.43076 -0.0660464 0.00106526 0.0394148 0.23 0 pose: 0.66764483 -2.25643 0.154638 0 -0.000944158-0.00477812 -0.0811253 0.996692 uwb: 0.50017074 845.229 1271.33 -imu_odom_: 1691062952.468250645 0.718261 -0.294487 9.65582 -0.0671117 -0.00319579 0.0468716 0.23 0 pose: 0.0 -2.25643 0.154638 0 -0.000944158-0.00477812 -0.0811253 0.996692 uwb: 0.0 845.229 1271.33 -imu_odom_: 1691062952.493193998 0.387861 -0.368707 9.71806 -0.0639159 0.0585895 0.0415453 0.18 0 pose: 0.8083367 -2.25643 0.154638 0 -0.00162423 -0.00425715 -0.0811228 0.996694 uwb: 0.49982075 843.812 1269.43 -imu_odom_: 1691062952.511392365 0.155623 -0.0263362 10.1227 -0.0511327 -0.00426106 0.0500674 0.18 0 pose: 0.0 -2.25643 0.154638 0 -0.00162423 -0.00425715 -0.0811228 0.996694 uwb: 0.0 843.812 1269.43 -imu_odom_: 1691062952.529276626 0.325611 -0.0574608 9.64145 -0.0852212 -0.0660464 0.0692422 0.2 0 pose: 0.49082336 -2.2466 0.152816 0 -0.00412751 -0.00430841 -0.0810267 0.996694 uwb: 0.0 843.812 1269.43 -imu_odom_: 1691062952.554301349 0.0191536 -0.272939 10.094 -0.0575243 0.0149137 0.0266316 0.2 0 pose: 0.0 -2.2466 0.152816 0 -0.00412751 -0.00430841 -0.0810267 0.996694 uwb: 0.49922579 843.399 1267.44 -imu_odom_: 1691062952.572376348 -0.11971 -0.138864 9.11473 -0.052198 0.0628506 0.0415453 0.19 0 pose: 0.42125320 -2.23677 0.150996 0 -0.00300491 -0.00119366 -0.0807865 0.996726 uwb: 0.0 843.399 1267.44 -imu_odom_: 1691062952.596170892 -0.486023 -0.299275 11.6406 -0.0298274 0.0287621 0.0372843 0.19 0 pose: 0.0 -2.23677 0.150996 0 -0.00300491 -0.00119366 -0.0807865 0.996726 uwb: 0.50190606 843.792 1266.77 -imu_odom_: 1691062952.620349831 -0.0957681 -0.0933739 11.0636 -0.0543285 -0.0223706 0.0585895 0.24 0 pose: 0.42740702 -2.22694 0.149181 0 -0.00188008 0.00262454 -0.080788 0.996726 uwb: 0.0 843.792 1266.77 -imu_odom_: 1691062952.638506784 0.847547 -0.339977 8.79869 -0.0511327 -0.0500674 0.0575243 0.24 0 pose: 0.0 -2.22694 0.149181 0 -0.00188008 0.00262454 -0.080788 0.996726 uwb: 0.49954368 843.893 1266.07 -imu_odom_: 1691062952.655182739 0.483629 0.102951 10.1275 -0.0511327 0 0.0628506 0.24 0 pose: 0.0 -2.22694 0.149181 0 -0.00188008 0.00262454 -0.080788 0.996726 uwb: 0.0 843.893 1266.07 -imu_odom_: 1691062952.680179755 0.509965 -0.047884 10.5345 -0.052198 -0.0436758 0.0234358 0.18 0 pose: 0.42033451 -2.2171 0.147365 0 -0.0007372350.00731803 -0.0807198 0.99671 uwb: 0.49968368 843.178 1264.63 -imu_odom_: 1691062952.706221170 0.754174 0.0215478 10.1131 -0.0553937 -0.00532632 0.0394148 0.19 -0.02 pose: 0.75933078 -2.20727 0.145551 0 0.00220683 0.00281743 -0.0803951 0.996757 uwb: 0.0 843.178 1264.63 -imu_odom_: 1691062952.722313242 0.0790087 -0.426168 9.38288 -0.0660464 -0.00319579 0.0479369 0.19 -0.02 pose: 0.0 -2.20727 0.145551 0 0.00220683 0.00281743 -0.0803951 0.996757 uwb: 0.0 843.178 1264.63 -imu_odom_: 1691062952.747242596 0.275333 -0.270545 9.3326 -0.0617853 -0.0170442 0.0351537 0.18 0 pose: 0.7213668 -2.20727 0.145551 0 0.00246504 0.00213925 -0.0803936 0.996758 uwb: 0.49916163 842.292 1262.98 -imu_odom_: 1691062952.770166274 0.318429 -0.308852 9.82102 -0.0500674 -0.0106526 0.0468716 0.18 0 pose: 0.0 -2.20727 0.145551 0 0.00246504 0.00213925 -0.0803936 0.996758 uwb: 0.0 842.292 1262.98 -imu_odom_: 1691062952.795146375 0.134075 -0.402226 9.90242 -0.0575243 -0.00426106 0.0639159 0.2 0 pose: 0.41934581 -2.19743 0.143743 0 0.00162789 0.00218243 -0.0803443 0.996763 uwb: 0.50120901 842.378 1262.32 -imu_odom_: 1691062952.812151894 0.866701 -0.146046 10.0006 -0.0458064 -0.0191748 0.0511327 0.2 0 pose: 0.0 -2.19743 0.143743 0 0.00162789 0.00218243 -0.0803443 0.996763 uwb: 0.0 842.378 1262.32 -imu_odom_: 1691062952.836176842 0.577003 -0.134075 9.79228 -0.052198 0.00213053 0.036219 0.18 0.02 pose: 0.49894289 -2.1876 0.141937 0 -0.00224727 0.00471979 -0.0802035 0.996765 uwb: 0.49847625 842.068 1261.28 -imu_odom_: 1691062952.861200107 0.713472 0.0191536 10.1083 -0.0436758 -0.0479369 0.0458064 0.18 0.02 pose: 0.0 -2.1876 0.141937 0 -0.00224727 0.00471979 -0.0802035 0.996765 uwb: 0.0 842.068 1261.28 -imu_odom_: 1691062952.875164593 0.31364 -0.328006 9.00938 -0.0713727 0.0191748 0.0628506 0.18 0.02 pose: 0.40056065 -2.17776 0.140135 0 -0.00247103 0.00362408 -0.0799299 0.996791 uwb: 0.0 842.068 1261.28 -imu_odom_: 1691062952.899167667 0.392649 -0.354342 9.63906 -0.0607201 -0.0276969 0.0681769 0.18 0.02 pose: 0.0 -2.17776 0.140135 0 -0.00247103 0.00362408 -0.0799299 0.996791 uwb: 0.50039822 840.294 1259.09 -imu_odom_: 1691062952.925159501 0.260968 -0.047884 10.0461 -0.0585895 0.00319579 0.0532632 0.23 0.02 pose: 0.48933594 -2.16792 0.138337 0 -0.0007902588.26355e-05 -0.0798012 0.99681 uwb: 0.0 840.294 1259.09 -imu_odom_: 1691062952.938158043 0.371101 -0.275333 9.53132 -0.0468716 -0.0276969 0.04048 0.23 0.02 pose: 0.0 -2.16792 0.138337 0 -0.0007902588.26355e-05 -0.0798012 0.99681 uwb: 0.49933954 840.751 1258.35 -imu_odom_: 1691062952.963300301 0.248997 -0.23942 9.33739 -0.0617853 -0.00106526 0.0479369 0.17 0.02 pose: 0.39009042 -2.16613 0.148175 0 -0.0030754 0.000953706 -0.0793222 0.996844 uwb: 0.0 840.751 1258.35 -imu_odom_: 1691062952.990158627 0.177171 -0.411803 9.98622 -0.04048 -0.00639159 0.04048 0.17 0.02 pose: 0.0 -2.16613 0.148175 0 -0.0030754 0.000953706 -0.0793222 0.996844 uwb: 0.50099902 840.958 1257.01 -imu_odom_: 1691062953.15217182 0.442927 -0.071826 9.83538 -0.0628506 -0.0106526 0.0628506 0.2 -0.02 pose: 0.39155742 -2.15629 0.146388 0 -0.00250228 0.0025622 -0.0791555 0.996856 uwb: 0.0 840.958 1257.01 -imu_odom_: 1691062953.32198203 0.711078 -0.435745 10.4315 -0.0681769 0.0138484 0.0372843 0.2 -0.02 pose: 0.0 -2.15629 0.146388 0 -0.00250228 0.0025622 -0.0791555 0.996856 uwb: 0.50207229 840.202 1255.23 -imu_odom_: 1691062953.58281616 0.356736 -0.141258 9.93594 -0.0660464 0.00745685 0.0628506 0.18 0.02 pose: 0.52852202 -2.14645 0.144605 0 -0.00296437 0.00559106 -0.0789629 0.996857 uwb: 0.0 840.202 1255.23 -imu_odom_: 1691062953.83171305 0.948104 -0.189142 9.87608 -0.0575243 -0.0415453 0.0458064 0.18 0.02 pose: 0.0 -2.14645 0.144605 0 -0.00296437 0.00559106 -0.0789629 0.996857 uwb: 0.49793671 840.334 1254.04 -imu_odom_: 1691062953.106163813 0.682347 -0.220267 10.0796 -0.0617853 -0.0276969 0.056459 0.2 0 pose: 0.41962580 -2.13661 0.142825 0 -0.00185008 0.00310473 -0.0786928 0.996892 uwb: 0.0 840.334 1254.04 -imu_odom_: 1691062953.122268717 0.921768 -0.148441 10.1275 -0.0628506 0.00426106 0.0372843 0.2 0 pose: 0.0 -2.13661 0.142825 0 -0.00185008 0.00310473 -0.0786928 0.996892 uwb: 0.0 840.334 1254.04 -imu_odom_: 1691062953.147157824 0.316035 -0.258574 9.49062 -0.0745685 0.0319579 0.0649811 0.25 0 pose: 0.48984925 -2.12677 0.141053 0 -0.00044219 -0.000807636-0.078355 0.996925 uwb: 0.49943286 840.249 1252.7 -imu_odom_: 1691062953.171293307 0.383072 -0.272939 9.69652 -0.0532632 0.0298274 0.0596548 0.25 0 pose: 0.0 -2.12677 0.141053 0 -0.00044219 -0.000807636-0.078355 0.996925 uwb: 0.0 840.249 1252.7 -imu_odom_: 1691062953.196276325 0.323217 0.0502782 10.2639 -0.100135 0.0117179 0.0713727 0.19 0 pose: 0.39974403 -2.11693 0.139287 0 -0.000738878-0.00319268 -0.0781402 0.996937 uwb: 0.50028740 840.275 1251.69 -imu_odom_: 1691062953.212139451 0.799663 -0.356736 9.8665 -0.0862864 -0.0191748 0.0490022 0.19 0 pose: 0.0 -2.11693 0.139287 0 -0.000738878-0.00319268 -0.0781402 0.996937 uwb: 0.0 840.275 1251.69 -imu_odom_: 1691062953.237198006 0.600945 -0.459687 9.84496 -0.0596548 -0.0617853 0.0394148 0.25 0.02 pose: 0.49164873 -2.10708 0.13753 0 -0.00188968 0.00133141 -0.0775505 0.996986 uwb: 0.50103111 840.01 1250.65 -imu_odom_: 1691062953.253195292 0.505177 -0.172383 9.79468 -0.0436758 0.0149137 0.0340885 0.25 0.02 pose: 0.0 -2.10708 0.13753 0 -0.00188968 0.00133141 -0.0775505 0.996986 uwb: 0.0 840.01 1250.65 -imu_odom_: 1691062953.270201395 0.591368 -0.0837971 10.0389 -0.0479369 -0.0149137 0.0458064 0.18 0.02 pose: 0.73879573 -2.09724 0.135785 0 -0.00202329 -0.00284956 -0.0772591 0.997005 uwb: 0.0 840.01 1250.65 -imu_odom_: 1691062953.295187912 -0.0407014 -0.40462 9.7851 -0.0617853 0.0276969 0.0426106 0.18 0.02 pose: 0.0 -2.09724 0.135785 0 -0.00202329 -0.00284956 -0.0772591 0.997005 uwb: 0.49926663 840.042 1249.16 -imu_odom_: 1691062953.311137368 0.538695 -0.222661 10.2544 -0.0245011 -0.0756338 0.0266316 0.19 -0.02 pose: 0.7953583 -2.09724 0.135785 0 -0.00140713 -0.00342818 -0.077237 0.997006 uwb: 0.0 840.042 1249.16 -imu_odom_: 1691062953.336132926 0.45011 -0.124498 10.0006 -0.0117179 -0.0628506 0.0223706 0.18 0.02 pose: 0.0 -2.09724 0.135785 0 -0.00140713 -0.00342818 -0.077237 0.997006 uwb: 0.50078028 839.66 1247.85 -imu_odom_: 1691062953.360202788 0.68953 -0.0335188 9.96227 -0.036219 -0.00639159 0.0490022 0.2 0 pose: 0.74984051 -2.0805 0.132652 0 0.00191936 -0.00388317 -0.0774945 0.996983 uwb: 0.0 839.66 1247.85 -imu_odom_: 1691062953.377201016 0.612916 -0.392649 9.7851 -0.0447411 0.0149137 0.0490022 0.2 0 pose: 0.0 -2.0805 0.132652 0 0.00191936 -0.00388317 -0.0774945 0.996983 uwb: 0.0 839.66 1247.85 -imu_odom_: 1691062953.393125681 0.605733 0.0263362 10.082 -0.00319579 0.00426106 0.0213053 0.19 0 pose: 0.41068090 -2.07758 0.132115 0 0.00176543 -0.00638585 -0.0772876 0.996987 uwb: 0.49893123 841.667 1248.05 -imu_odom_: 1691062953.410128576 0.311246 -0.277727 9.36851 -0.0607201 0.0490022 0.0436758 0.19 0 pose: 0.7008929 -2.07758 0.132115 0 0.00257946 -0.00668016 -0.0773534 0.996978 uwb: 0.0 841.667 1248.05 -imu_odom_: 1691062953.426107196 0.531513 -0.301669 10.319 -0.0596548 -0.0330232 0.0479369 0.19 0 pose: 0.0 -2.07758 0.132115 0 0.00257946 -0.00668016 -0.0773534 0.996978 uwb: 0.0 841.667 1248.05 -imu_odom_: 1691062953.443142755 0.311246 -0.296881 9.48104 -0.0394148 -0.0245011 0.0383495 0.19 -0.02 pose: 0.34014831 -2.06773 0.130367 0 0.00196404 -0.00530701 -0.0773641 0.996987 uwb: 0.49990826 841.718 1247.01 -imu_odom_: 1691062953.459263117 0.253785 -0.0885855 10.0868 -0.0426106 -0.0298274 0.0426106 0.19 -0.02 pose: 0.0 -2.06773 0.130367 0 0.00196404 -0.00530701 -0.0773641 0.996987 uwb: 0.0 841.718 1247.01 -imu_odom_: 1691062953.484193638 0.25618 -0.134075 10.3334 -0.04048 -0.052198 0.0383495 0.25 0 pose: 0.41038341 -2.05788 0.128619 0 0.00142413 -0.00296552 -0.0773155 0.997001 uwb: 0.49828376 841.608 1245.77 -imu_odom_: 1691062953.507172730 0.37589 -0.629675 9.84017 -0.0596548 -0.0234358 0.0553937 0.25 0 pose: 0.0 -2.05788 0.128619 0 0.00142413 -0.00296552 -0.0773155 0.997001 uwb: 0.0 841.608 1245.77 -imu_odom_: 1691062953.523110810 -0.100556 -0.225055 9.45231 -0.0340885 -0.0234358 0.04048 0.19 0 pose: 0.8098825 -2.05788 0.128619 0 0.00171017 -0.00239037 -0.0773225 0.997002 uwb: 0.0 841.608 1245.77 -imu_odom_: 1691062953.539098764 0.517148 -0.0909797 10.3717 -0.0617853 -0.0266316 0.052198 0.25 0 pose: 0.0 -2.05788 0.128619 0 0.00171017 -0.00239037 -0.0773225 0.997002 uwb: 0.49996076 842.09 1245.49 -imu_odom_: 1691062953.555249749 0.275333 -0.371101 9.93115 -0.0468716 0.00958738 0.0511327 0.18 -0.02 pose: 0.0 -2.05788 0.128619 0 0.00171017 -0.00239037 -0.0773225 0.997002 uwb: 0.0 842.09 1245.49 -imu_odom_: 1691062953.580151105 -0.0407014 -0.0430956 10.1059 -0.0511327 0.04048 0.0500674 0.18 -0.02 pose: 0.79863061 -2.03819 0.12513 0 0.000627545 -0.000370464-0.0769995 0.997031 uwb: 0.0 842.09 1245.49 -imu_odom_: 1691062953.596099685 0.00718261 -0.328006 9.96706 -0.0649811 0.0181095 0.0703074 0.18 0 pose: 0.0 -2.03819 0.12513 0 0.000627545 -0.000370464-0.0769995 0.997031 uwb: 0.50105152 842.473 1244.89 -imu_odom_: 1691062953.613130286 0.337582 -0.514753 9.19373 -0.0617853 0.00106526 0.0436758 0.18 0 pose: 0.39987819 -2.03819 0.12513 0 0.00101446 0.00378501 -0.0767156 0.997045 uwb: 0.0 842.473 1244.89 -imu_odom_: 1691062953.638266712 0.665588 -0.155623 10.2208 -0.0511327 -0.0372843 0.0394148 0.18 0 pose: 0.25917464 -2.02834 0.123395 0 -0.00104166 0.00479851 -0.0765538 0.997053 uwb: 0.50041573 843.069 1244.44 -imu_odom_: 1691062953.654436071 0.861913 -0.325611 9.60075 -0.0553937 0.0234358 0.0383495 0.18 0 pose: 0.8270023 -2.02834 0.123395 0 -0.0009001620.00384408 -0.0765549 0.997058 uwb: 0.0 843.069 1244.44 -imu_odom_: 1691062953.680122839 0.521936 -0.213084 9.5816 -0.0532632 0.0287621 0.0426106 0.18 0 pose: 0.0 -2.02834 0.123395 0 -0.0009001620.00384408 -0.0765549 0.997058 uwb: 0.0 843.069 1244.44 -imu_odom_: 1691062953.705357551 0.713472 -0.129287 9.94551 -0.0607201 -0.0607201 0.0596548 0.18 0 pose: 0.41887626 -2.01849 0.121663 0 -0.000924548-0.000175561-0.0765565 0.997065 uwb: 0.49865416 844.303 1244.39 -imu_odom_: 1691062953.728258772 0.622492 -0.0670376 9.96227 -0.0692422 0.00213053 0.04048 0.18 -0.02 pose: 0.42069616 -2.01132 0.120402 0 -0.000205303-0.0047239 -0.0762821 0.997075 uwb: 0.0 844.303 1244.39 -imu_odom_: 1691062953.753262788 0.416591 -0.21069 9.991 -0.0660464 0.00213053 0.0447411 0.18 -0.02 pose: 0.6763360 -2.00864 0.119933 0 0.000223463 -0.00518154 -0.0762815 0.997073 uwb: 0.50183022 845.284 1244.25 -imu_odom_: 1691062953.779377116 0.344765 -0.071826 10.0509 -0.0735032 -0.00639159 0.0479369 0.23 0 pose: 0.41141877 -2.00195 0.11876 0 0.00063466 -0.00372824 -0.0762172 0.997084 uwb: 0.0 845.284 1244.25 -imu_odom_: 1691062953.805335411 0.138864 -0.059855 10.4722 -0.0458064 -0.0170442 0.0372843 0.23 0 pose: 0.0 -2.00195 0.11876 0 0.00063466 -0.00372824 -0.0762172 0.997084 uwb: 0.49948537 844.965 1242.88 -imu_odom_: 1691062953.821115126 0.395043 -0.442927 9.54568 -0.0468716 -0.00319579 0.0415453 0.21 0.02 pose: 0.52072623 -1.99155 0.11694 0 0.00347293 0.000224608 -0.0761552 0.99709 uwb: 0.0 844.965 1242.88 -imu_odom_: 1691062953.837106578 0.158017 -0.260968 10.2232 -0.0426106 0.00213053 0.0351537 0.21 0.02 pose: 0.0 -1.99155 0.11694 0 0.00347293 0.000224608 -0.0761552 0.99709 uwb: 0.50052363 845.473 1242.08 -imu_odom_: 1691062953.861117527 0.337582 -0.237026 9.52653 -0.0660464 0.02024 0.0628506 0.23 0 pose: 0.31771167 -1.98894 0.116483 0 0.00164226 0.00192515 -0.0761791 0.997091 uwb: 0.0 845.473 1242.08 -imu_odom_: 1691062953.878226291 0.0646434 -0.248997 10.0868 -0.0458064 0.0117179 0.0511327 0.23 0 pose: 0.8039329 -1.98894 0.116483 0 0.000929555 0.00245914 -0.0760876 0.997098 uwb: 0.0 845.473 1242.08 -imu_odom_: 1691062953.903107522 0.155623 -0.131681 10.3789 -0.0319579 -0.0191748 0.0394148 0.19 0 pose: 0.33080384 -1.97909 0.114761 0 -0.0003869930.00536194 -0.075806 0.997108 uwb: 0.49931913 846.14 1241.5 -imu_odom_: 1691062953.928267863 0.629675 0.0047884 10.2735 -0.0255663 -0.0532632 0.0436758 0.19 0 pose: 0.0 -1.97909 0.114761 0 -0.0003869930.00536194 -0.075806 0.997108 uwb: 0.0 846.14 1241.5 -imu_odom_: 1691062953.953119638 0.641646 -0.0933739 9.67736 -0.0628506 0.00958738 0.0681769 0.18 0.02 pose: 0.8950733 -1.97909 0.114761 0 0.000288398 0.00597426 -0.0758036 0.997105 uwb: 0.49987909 846.412 1240.61 -imu_odom_: 1691062953.979239799 0.344765 -0.201113 9.62708 -0.052198 0.0276969 0.0447411 0.18 0.02 pose: 0.0 -1.97909 0.114761 0 0.000288398 0.00597426 -0.0758036 0.997105 uwb: 0.0 846.412 1240.61 -imu_odom_: 1691062954.2226473 0.0981623 -0.342371 9.42358 -0.0585895 0.052198 0.0458064 0.18 0.02 pose: 0.48086644 -1.96924 0.113044 0 0.00292036 0.0034773 -0.0756394 0.997125 uwb: 0.49936578 845.98 1239.44 -imu_odom_: 1691062954.27171285 0.167594 -0.047884 9.51216 -0.0532632 -0.0138484 0.0490022 0.19 0 pose: 0.50883857 -1.95939 0.11133 0 0.000598155 0.00429676 -0.0752979 0.997152 uwb: 0.0 845.98 1239.44 -imu_odom_: 1691062954.52080224 0.232238 -0.299275 10.0389 -0.0532632 0.00426106 0.0468716 0.19 0 pose: 0.0 -1.95939 0.11133 0 0.000598155 0.00429676 -0.0752979 0.997152 uwb: 0.49966911 846.546 1239.02 -imu_odom_: 1691062954.74220822 0.328006 -0.0215478 10.24 -0.0511327 0.0127832 0.0415453 0.18 -0.02 pose: 0.65932699 -1.94954 0.109624 0 -0.0002744030.008088 -0.0750474 0.997147 uwb: 0.0 846.546 1239.02 -imu_odom_: 1691062954.91148180 0.572214 -0.366313 9.34696 -0.0671117 -0.0436758 0.0532632 0.18 -0.02 pose: 0.7005138 -1.94954 0.109624 0 0.000370491 0.00782912 -0.0750359 0.99715 uwb: 0.49960203 846.669 1238.37 -imu_odom_: 1691062954.117251133 0.304064 -0.232238 9.76834 -0.0532632 -0.0266316 0.0447411 0.25 0.02 pose: 0.0 -1.94954 0.109624 0 0.000370491 0.00782912 -0.0750359 0.99715 uwb: 0.0 846.669 1238.37 -imu_odom_: 1691062954.142199444 0.61531 -0.373495 10.3094 -0.0639159 -0.0223706 0.052198 0.25 0.02 pose: 0.32062818 -1.93968 0.107922 0 0.000693985 0.00554032 -0.0749004 0.997175 uwb: 0.50099319 846.768 1237.76 -imu_odom_: 1691062954.158166690 0.275333 -0.1652 9.76834 -0.04048 0.0213053 0.0500674 0.21 -0.02 pose: 0.0 -1.93968 0.107922 0 0.000693985 0.00554032 -0.0749004 0.997175 uwb: 0.0 846.768 1237.76 -imu_odom_: 1691062954.184095529 0.332794 -0.500388 9.56244 -0.076699 0.0426106 0.0585895 0.21 -0.02 pose: 0.58072735 -1.92983 0.106223 0 -0.0023643 0.00254139 -0.0746598 0.997203 uwb: 0.50070738 846.543 1236.29 -imu_odom_: 1691062954.210080364 0.0670376 -0.215478 10.0533 -0.0553937 0.04048 0.0468716 0.23 0.02 pose: 0.34874614 -1.91996 0.104514 0 -0.00436655 0.00412565 -0.0743717 0.997212 uwb: 0.0 846.543 1236.29 -imu_odom_: 1691062954.236080656 0.567426 -0.268151 10.3142 -0.072438 0.0138484 0.0575243 0.23 0.02 pose: 0.8066160 -1.91997 0.104528 0 -0.00402907 0.00504541 -0.0743385 0.997212 uwb: 0.50016783 845.994 1234.44 -imu_odom_: 1691062954.262078033 0.658405 -0.138864 10.0413 -0.0479369 0.0287621 0.0490022 0.22 0.02 pose: 0.43918967 -1.91013 0.102727 0 -0.00347053 0.00473791 -0.0740405 0.997238 uwb: 0.0 845.994 1234.44 -imu_odom_: 1691062954.275078908 0.316035 -0.299275 9.92157 -0.0511327 0.0266316 0.04048 0.22 0.02 pose: 0.0 -1.91013 0.102727 0 -0.00347053 0.00473791 -0.0740405 0.997238 uwb: 0.0 845.994 1234.44 -imu_odom_: 1691062954.300075925 0.25618 -0.335188 9.67976 -0.0458064 0.0117179 0.0490022 0.18 0 pose: 0.38998252 -1.90558 0.101918 0 -0.00320214 0.00395208 -0.0739194 0.997251 uwb: 0.50055573 846.188 1234.15 -imu_odom_: 1691062954.324082208 0.457293 -0.244209 9.51935 -0.0458064 0.0617853 0.0340885 0.18 0 pose: 0.0 -1.90558 0.101918 0 -0.00320214 0.00395208 -0.0739194 0.997251 uwb: 0.0 846.188 1234.15 -imu_odom_: 1691062954.341218678 0.308852 -0.0574608 10.2017 -0.0436758 0.00532632 0.04048 0.26 -0.02 pose: 0.49003300 -1.89336 0.0997196 0 -0.00352726 0.00475537 -0.0738772 0.99725 uwb: 0.49747590 846.364 1232.99 -imu_odom_: 1691062954.359093314 0.28491 -0.0502782 10.0628 -0.0617853 -0.00532632 0.0596548 0.26 -0.02 pose: 0.0 -1.89336 0.0997196 0 -0.00352726 0.00475537 -0.0738772 0.99725 uwb: 0.0 846.364 1232.99 -imu_odom_: 1691062954.384072832 0.47884 -0.126893 9.55526 -0.0617853 -0.0340885 0.0532632 0.19 0 pose: 0.35011106 -1.89045 0.0992057 0 1.9171e-05 0.00482693 -0.0736751 0.997271 uwb: 0.50004241 845.004 1231.1 -imu_odom_: 1691062954.408125778 0.500388 -0.299275 9.61751 -0.0703074 -0.00213053 0.0415453 0.19 0 pose: 0.7143088 -1.89045 0.0992057 0 0.000293166 0.00407606 -0.073625 0.997278 uwb: 0.0 845.004 1231.1 -imu_odom_: 1691062954.425317954 0.397437 -0.395043 9.91678 -0.0511327 -0.00106526 0.0351537 0.24 0 pose: 0.41889376 -1.8806 0.0974185 0 -0.0007385 0.000387462 -0.0734774 0.997297 uwb: 0.0 845.004 1231.1 -imu_odom_: 1691062954.450061527 0.395043 -0.426168 9.92636 -0.04048 -0.00745685 0.0436758 0.24 0 pose: 0.0 -1.8806 0.0974185 0 -0.0007385 0.000387462 -0.0734774 0.997297 uwb: 0.50122360 844.795 1230.1 -imu_odom_: 1691062954.477214128 0.407014 -0.0167594 10.0676 -0.0415453 0.0106526 0.0479369 0.23 0 pose: 0.8015705 -1.88061 0.0974333 0 -0.00152159 0.000453935 -0.0734953 0.997294 uwb: 0.0 844.795 1230.1 -imu_odom_: 1691062954.494142361 0.21069 -0.308852 10.1083 -0.0628506 -0.0372843 0.0543285 0.23 0 pose: 0.0 -1.88061 0.0974333 0 -0.00152159 0.000453935 -0.0734953 0.997294 uwb: 0.49913831 845.138 1229.59 -imu_odom_: 1691062954.520078199 0.402226 -0.155623 10.082 -0.0415453 -0.0276969 0.0340885 0.25 0.02 pose: 0.40968929 -1.87076 0.0956635 0 -0.00395287 0.00064926 -0.0734365 0.997292 uwb: 0.0 845.138 1229.59 -imu_odom_: 1691062954.544120646 0.526724 -0.208296 9.77792 -0.0351537 -0.0553937 0.036219 0.25 0.02 pose: 0.0 -1.87076 0.0956635 0 -0.00395287 0.00064926 -0.0734365 0.997292 uwb: 0.50019699 845.799 1229.04 -imu_odom_: 1691062954.570061442 0.344765 -0.134075 9.65103 -0.0511327 -0.0127832 0.0500674 0.2 -0.02 pose: 0.45066027 -1.86092 0.0938948 0 -0.0014769 0.00154405 -0.0732469 0.997312 uwb: 0.0 845.799 1229.04 -imu_odom_: 1691062954.596189477 0.294487 -0.0215478 9.4954 -0.0490022 -0.0223706 0.0383495 0.18 0.02 pose: 0.50018241 -1.85107 0.0921504 0 0.000860212 -0.00178615 -0.0732931 0.997308 uwb: 0.50021158 845.915 1228.01 -imu_odom_: 1691062954.613177497 0.387861 -0.64404 9.72285 -0.0585895 0.00639159 0.0468716 0.18 0.02 pose: 0.0 -1.85107 0.0921504 0 0.000860212 -0.00178615 -0.0732931 0.997308 uwb: 0.0 845.915 1228.01 -imu_odom_: 1691062954.639266160 0.347159 -0.3304 10.0293 -0.0511327 0.02024 0.0479369 0.19 0 pose: 0.60982817 -1.84121 0.0904847 0 0.00256584 0.000889355 -0.0731625 0.997316 uwb: 0.49919080 845.651 1226.69 -imu_odom_: 1691062954.662187505 0.840365 -0.110133 9.76355 -0.0703074 0.00319579 0.0585895 0.19 0 pose: 0.8973775 -1.84121 0.0904847 0 0.00172906 0.00124586 -0.0731263 0.99732 uwb: 0.0 845.651 1226.69 -imu_odom_: 1691062954.679193316 0.629675 -0.395043 9.36133 -0.0788296 0.04048 0.0458064 0.25 -0.02 pose: 0.0 -1.84121 0.0904847 0 0.00172906 0.00124586 -0.0731263 0.99732 uwb: 0.0 845.651 1226.69 -imu_odom_: 1691062954.704108379 0.3304 -0.361524 9.06445 -0.04048 0.015979 0.0479369 0.25 -0.02 pose: 0.47052162 -1.83135 0.0888207 0 -0.000261103-0.000586171-0.0728167 0.997345 uwb: 0.49989659 845.135 1224.91 -imu_odom_: 1691062954.730104297 0.258574 -0.289698 9.44513 -0.036219 -0.00532632 0.0372843 0.23 0 pose: 0.34904945 -1.82452 0.0876712 0 -0.00276654 0.000767577 -0.0726775 0.997351 uwb: 0.0 845.135 1224.91 -imu_odom_: 1691062954.756060259 0.0766145 -0.395043 9.80186 -0.0436758 0.00958738 0.0468716 0.23 0 pose: 0.7069010 -1.82149 0.0871637 0 -0.00276578 0.00146375 -0.0726836 0.99735 uwb: 0.0 845.135 1224.91 -imu_odom_: 1691062954.782088550 0.4956 -0.167594 9.81383 -0.0490022 0.015979 0.0372843 0.23 -0.02 pose: 0.44882870 -1.81472 0.0860269 0 -0.00350902 0.00592745 -0.0726019 0.997337 uwb: 0.100095687 845.124 1223.67 -imu_odom_: 1691062954.808306122 0.457293 -0.150835 9.98622 -0.0543285 -0.0138484 0.0372843 0.23 -0.02 pose: 0.0 -1.81472 0.0860269 0 -0.00350902 0.00592745 -0.0726019 0.997337 uwb: 0.0 845.124 1223.67 -imu_odom_: 1691062954.824094295 0.311246 -0.272939 9.77792 -0.0692422 -0.00106526 0.0394148 0.23 0 pose: 0.52245863 -1.80445 0.0843043 0 -0.0006159330.00165749 -0.0726641 0.997355 uwb: 0.0 845.124 1223.67 -imu_odom_: 1691062954.840124829 0.292093 -0.153229 9.90002 -0.056459 -0.0340885 0.0490022 0.23 0 pose: 0.0 -1.80445 0.0843043 0 -0.0006159330.00165749 -0.0726641 0.997355 uwb: 0.0 845.124 1223.67 -imu_odom_: 1691062954.857059186 0.804452 -0.186748 9.82341 -0.0703074 -0.00213053 0.0394148 0.23 0 pose: 0.0 -1.80445 0.0843043 0 -0.0006159330.00165749 -0.0726641 0.997355 uwb: 0.0 845.124 1223.67 -imu_odom_: 1691062954.882115408 0.292093 -0.189142 9.7037 -0.0351537 0.0383495 0.0415453 0.23 0 pose: 0.38797304 -1.80177 0.083854 0 -0.0001786840.00279127 -0.0725849 0.997358 uwb: 0.99954237 845.802 1223.11 -imu_odom_: 1691062954.908076911 0.260968 -0.316035 9.78271 -0.0458064 0 0.04048 0.23 0.02 pose: 0.35011982 -1.79074 0.0891643 0 0.00119214 0.00455579 -0.0725585 0.997353 uwb: 0.0 845.802 1223.11 -imu_odom_: 1691062954.922182847 0.25618 -0.244209 9.88326 -0.0436758 -0.00852212 0.04048 0.23 0.02 pose: 0.7098465 -1.79025 0.0920631 0 0.000601277 0.00490392 -0.0725587 0.997352 uwb: 0.0 845.802 1223.11 -imu_odom_: 1691062954.939183701 0.926556 -0.071826 10.0102 -0.0575243 -0.00639159 0.0543285 0.23 0.02 pose: 0.0 -1.79025 0.0920631 0 0.000601277 0.00490392 -0.0725587 0.997352 uwb: 0.49927538 845.677 1222.04 -imu_odom_: 1691062954.954181503 0.634463 -0.124498 10.0341 -0.0500674 -0.00639159 0.0415453 0.18 0 pose: 0.41004803 -1.78039 0.0904103 0 -0.0007518560.00640576 -0.0724918 0.997348 uwb: 0.0 845.677 1222.04 -imu_odom_: 1691062954.971296974 0.25618 -0.469264 9.37809 -0.0415453 0.0170442 0.0394148 0.18 0 pose: 0.0 -1.78039 0.0904103 0 -0.0007518560.00640576 -0.0724918 0.997348 uwb: 0.0 845.677 1222.04 -imu_odom_: 1691062954.987162434 0.100556 -0.325611 10.3094 -0.0500674 0 0.0479369 0.2 0 pose: 0.0 -1.78039 0.0904103 0 -0.0007518560.00640576 -0.0724918 0.997348 uwb: 0.50180690 845.102 1220.81 -imu_odom_: 1691062955.13100897 0.593762 -0.0885855 9.92636 -0.0575243 -0.00319579 0.0553937 0.2 0 pose: 0.49177414 -1.77053 0.0887586 0 -0.00185712 0.00561361 -0.0723844 0.997359 uwb: 0.0 845.102 1220.81 -imu_odom_: 1691062955.29029937 0.414197 -0.162806 9.97185 -0.0798948 0.0106526 0.0713727 0.2 0 pose: 0.0 -1.77053 0.0887586 0 -0.00185712 0.00561361 -0.0723844 0.997359 uwb: 0.0 845.102 1220.81 -imu_odom_: 1691062955.46043623 0.42138 -0.136469 9.98861 -0.0585895 -0.00745685 0.131028 0.24 0.11 pose: 0.49633847 -1.76066 0.0870923 0 -0.00019433 0.00289536 -0.0718901 0.997408 uwb: 0.49935121 844.726 1219.3 -imu_odom_: 1691062955.62221732 0.155623 -0.737414 9.63427 -0.0649811 0.0383495 0.20027 0.18 0.14 pose: 0.0 -1.76066 0.0870923 0 -0.00019433 0.00289536 -0.0718901 0.997408 uwb: 0.0 844.726 1219.3 -imu_odom_: 1691062955.79277707 0.126893 -0.572214 9.72764 -0.0490022 -0.0191748 0.248207 0.18 0.14 pose: 0.0 -1.76066 0.0870923 0 -0.00019433 0.00289536 -0.0718901 0.997408 uwb: 0.0 844.726 1219.3 -imu_odom_: 1691062955.95026799 0.222661 -0.246603 9.84975 -0.0255663 -0.0213053 0.298274 0.18 0.14 pose: 0.25139634 -1.76066 0.087109 0 0.000221752 0.00219041 -0.0704611 0.997512 uwb: 0.49991702 844.891 1218.26 -imu_odom_: 1691062955.112087149 0.909797 -0.418985 9.9096 -0.0830906 0.0181095 0.361125 0.18 0.26 pose: 0.0 -1.76066 0.087109 0 0.000221752 0.00219041 -0.0704611 0.997512 uwb: 0.0 844.891 1218.26 -imu_odom_: 1691062955.128086185 0.739808 -0.289698 10.0916 -0.0330232 -0.00745685 0.369647 0.18 0.26 pose: 0.32973058 -1.75081 0.0853991 0 -0.00160943 0.00432165 -0.0670283 0.99774 uwb: 0.0 844.891 1218.26 -imu_odom_: 1691062955.145155576 0.141258 -0.289698 9.43794 -0.0458064 0.015979 0.412257 0.25 0.47 pose: 0.40943556 -1.74096 0.0836583 0 -0.00218486 0.00201324 -0.0606462 0.998155 uwb: 0.50040698 845.344 1217.22 -imu_odom_: 1691062955.162265215 0.608127 -0.196325 10.1323 -0.0681769 -0.0671117 0.460194 0.25 0.47 pose: 0.0 -1.74096 0.0836583 0 -0.00218486 0.00201324 -0.0606462 0.998155 uwb: 0.0 845.344 1217.22 -imu_odom_: 1691062955.179156991 0.567426 -0.514753 9.80665 -0.0372843 0.00639159 0.496413 0.25 0.47 pose: 0.0 -1.74096 0.0836583 0 -0.00218486 0.00201324 -0.0606462 0.998155 uwb: 0.0 845.344 1217.22 -imu_odom_: 1691062955.195023326 1.10852 -0.3304 10.1873 -0.0671117 -0.00319579 0.508131 0.18 0.47 pose: 0.7960000 -1.74096 0.0836583 0 -0.00220264 0.00288797 -0.0591642 0.998242 uwb: 0.49728342 845.448 1215.87 -imu_odom_: 1691062955.211027320 0.869095 0.0646434 10.0987 -0.0500674 -0.00745685 0.550742 0.25 0.67 pose: 0.0 -1.74096 0.0836583 0 -0.00220264 0.00288797 -0.0591642 0.998242 uwb: 0.0 845.448 1215.87 -imu_odom_: 1691062955.228024674 0.713472 -0.758962 10.0724 -0.0681769 0.0170442 0.579504 0.25 0.67 pose: 0.66100397 -1.73111 0.0819743 0 -0.00313372 -0.00131432 -0.0445042 0.999003 uwb: 0.0 845.448 1215.87 -imu_odom_: 1691062955.244080581 0.208296 -0.373495 9.93594 -0.0639159 0.0351537 0.589091 0.24 0.7 pose: 0.0 -1.73111 0.0819743 0 -0.00313372 -0.00131432 -0.0445042 0.999003 uwb: 0.50164650 847.033 1215.64 -imu_odom_: 1691062955.259127964 0.325611 -0.411803 10.1538 -0.0607201 0.0138484 0.617853 0.24 0.7 pose: 0.0 -1.73111 0.0819743 0 -0.00313372 -0.00131432 -0.0445042 0.999003 uwb: 0.0 847.033 1215.64 -imu_odom_: 1691062955.275005674 0.40462 -0.387861 10.0293 -0.0809601 0 0.657268 0.24 0.7 pose: 0.32950309 -1.72125 0.0802842 0 -0.00445374 -0.00176462 -0.0357094 0.999351 uwb: 0.0 847.033 1215.64 -imu_odom_: 1691062955.291002668 0.938527 -0.603339 9.92157 -0.0703074 0.00958738 0.638093 0.19 0.61 pose: 0.39908783 -1.71605 0.0793392 0 -0.00761609 0.000395772 -0.0239851 0.999683 uwb: 0.50113902 847.429 1215.08 -imu_odom_: 1691062955.308053102 1.01754 -0.588974 10.1394 -0.0372843 -0.0266316 0.608266 0.19 0.61 pose: 0.8001997 -1.7114 0.078562 0 -0.00801547 -0.000253257-0.0215972 0.999735 uwb: 0.0 847.429 1215.08 -imu_odom_: 1691062955.324050388 1.17795 -0.0550666 9.89763 -0.0340885 0.0106526 0.617853 0.19 0.61 pose: 0.0 -1.7114 0.078562 0 -0.00801547 -0.000253257-0.0215972 0.999735 uwb: 0.0 847.429 1215.08 -imu_odom_: 1691062955.341183067 1.60412 -0.292093 10.5249 -0.0532632 -0.0788296 0.591222 0.19 0.53 pose: 0.41042717 -1.7114 0.078562 0 -0.00804984 -0.00395877 -0.00976552 0.999912 uwb: 0.49880583 847.771 1214.6 -imu_odom_: 1691062955.359350228 1.6113 -0.105345 9.03572 -0.0245011 -0.0319579 0.482565 0.12 0.35 pose: 0.0 -1.7114 0.078562 0 -0.00804984 -0.00395877 -0.00976552 0.999912 uwb: 0.0 847.771 1214.6 -imu_odom_: 1691062955.376155093 1.39343 -0.146046 9.84256 -0.056459 0.052198 0.420779 0.12 0.35 pose: 0.0 -1.7114 0.078562 0 -0.00804984 -0.00395877 -0.00976552 0.999912 uwb: 0.0 847.771 1214.6 -imu_odom_: 1691062955.393031703 0.727837 -0.0646434 9.77553 -0.0479369 0.0191748 0.360059 0.14 0.41 pose: 0.26016042 -1.70154 0.076907 0 -0.00761881 -0.00724444 -0.00308815 0.99994 uwb: 0.50194398 847.365 1212.8 -imu_odom_: 1691062955.418015888 0.708684 -0.124498 9.54808 -0.0490022 -0.00639159 0.295078 0.14 0.41 pose: 0.0 -1.70154 0.076907 0 -0.00761881 -0.00724444 -0.00308815 0.99994 uwb: 0.0 847.365 1212.8 -imu_odom_: 1691062955.434068004 0.802058 -0.102951 9.72764 -0.0532632 0.00958738 0.298274 0.14 0.41 pose: 0.34237068 -1.70154 0.076907 0 -0.00616308 -0.0096587 0.00344124 0.999928 uwb: 0.49867750 846.71 1211.37 -imu_odom_: 1691062955.449149801 0.253785 -0.371101 9.88087 -0.0543285 0.0500674 0.247141 0.11 0.32 pose: 0.40729777 -1.69167 0.0752763 0 -0.00269621 -0.0117024 0.00889377 0.999888 uwb: 0.0 846.71 1211.37 -imu_odom_: 1691062955.465203084 -0.174777 0.0885855 10.2113 -0.036219 0.0490022 0.151268 0.11 0.32 pose: 0.0 -1.69167 0.0752763 0 -0.00269621 -0.0117024 0.00889377 0.999888 uwb: 0.0 846.71 1211.37 -imu_odom_: 1691062955.482073570 -0.948104 0.25618 9.77553 -0.0649811 0.0308927 0.197074 0.11 0.23 pose: 0.40169809 -1.69167 0.0752597 0 -0.00173988 -0.00852668 0.0125198 0.999884 uwb: 0.49977702 846.661 1210.67 -imu_odom_: 1691062955.499149377 -0.464475 -0.806846 9.81383 -0.0649811 -0.0671117 0.257794 0.11 0.23 pose: 0.0 -1.69167 0.0752597 0 -0.00173988 -0.00852668 0.0125198 0.999884 uwb: 0.0 846.661 1210.67 -imu_odom_: 1691062955.515005796 0.390255 -0.766145 9.35893 -0.0351537 -0.0798948 0.221575 0.11 0.23 pose: 0.0 -1.69167 0.0752597 0 -0.00173988 -0.00852668 0.0125198 0.999884 uwb: 0.0 846.661 1210.67 -imu_odom_: 1691062955.531193530 0.531513 -0.0885855 9.8258 -0.0511327 0.00106526 0.245011 0.18 0.26 pose: 0.9008772 -1.69167 0.0752764 0 -0.00151631 -0.00750978 0.0132277 0.999883 uwb: 0.49919664 847.005 1209.81 -imu_odom_: 1691062955.548002477 0.141258 -0.0287304 9.61272 -0.0777643 0.0149137 0.251402 0.18 0.26 pose: 0.0 -1.69167 0.0752764 0 -0.00151631 -0.00750978 0.0132277 0.999883 uwb: 0.0 847.005 1209.81 -imu_odom_: 1691062955.565060202 0.059855 -0.110133 9.89284 -0.0436758 -0.00426106 0.215183 0.18 0.26 pose: 0.0 -1.69167 0.0752764 0 -0.00151631 -0.00750978 0.0132277 0.999883 uwb: 0.0 847.005 1209.81 -imu_odom_: 1691062955.581140317 -0.0622492 -0.277727 9.90242 -0.0415453 -0.00213053 0.186421 0.14 0.17 pose: 0.47806078 -1.68182 0.0735786 0 -0.00295286 -0.0059595 0.0178867 0.999818 uwb: 0.49930455 847.197 1208.78 -imu_odom_: 1691062955.598036760 0.246603 -0.153229 9.99819 -0.052198 -0.0319579 0.203466 0.19 0.2 pose: 0.0 -1.68182 0.0735786 0 -0.00295286 -0.0059595 0.0178867 0.999818 uwb: 0.0 847.197 1208.78 -imu_odom_: 1691062955.615107317 0.304064 -0.402226 9.34936 -0.0458064 -0.00852212 0.20027 0.19 0.2 pose: 0.65980529 -1.67029 0.0817729 0 -0.000607417-0.0005619110.0238427 0.999715 uwb: 0.0 847.197 1208.78 -imu_odom_: 1691062955.631064939 0.0742203 -0.277727 10.0892 -0.0415453 -0.0191748 0.175769 0.21 0.17 pose: 0.0 -1.67029 0.0817729 0 -0.000607417-0.0005619110.0238427 0.999715 uwb: 0.50089404 846.471 1207.48 -imu_odom_: 1691062955.647053184 0.380678 -0.0861913 9.65821 -0.0415453 -0.0596548 0.187487 0.21 0.17 pose: 0.0 -1.67029 0.0817729 0 -0.000607417-0.0005619110.0238427 0.999715 uwb: 0.0 846.471 1207.48 -imu_odom_: 1691062955.664180905 0.500388 -0.222661 10.1059 -0.0543285 0.00106526 0.193878 0.21 0.17 pose: 0.34111659 -1.67029 0.0817729 0 -0.00169365 0.00158181 0.0265142 0.999646 uwb: 0.0 846.471 1207.48 -imu_odom_: 1691062955.680283768 0.0861913 -0.514753 9.85214 -0.0607201 0.0245011 0.175769 0.15 0.11 pose: 0.42070783 -1.66042 0.0800864 0 -7.74576e-050.000104473 0.0296318 0.999561 uwb: 0.0 846.471 1207.48 -imu_odom_: 1691062955.696134938 0.579397 -0.174777 9.48343 -0.0532632 -0.0127832 0.157659 0.15 0.11 pose: 0.7975165 -1.66043 0.0801031 0 -0.0006686610.000781325 0.0301745 0.999544 uwb: 0.50118861 846.655 1206.85 -imu_odom_: 1691062955.713273741 0.782904 0.035913 9.82102 -0.0649811 -0.0383495 0.203466 0.15 0.11 pose: 0.0 -1.66043 0.0801031 0 -0.0006686610.000781325 0.0301745 0.999544 uwb: 0.0 846.655 1206.85 -imu_odom_: 1691062955.730271678 1.01035 -0.502782 9.4954 -0.0713727 0.0117179 0.252468 0.17 0.08 pose: 0.41117671 -1.65518 0.0792223 0 0.000215417 -0.0017631 0.0330647 0.999452 uwb: 0.49808837 846.785 1206.3 -imu_odom_: 1691062955.747110957 1.4461 -0.651223 9.9503 -0.0511327 -0.0234358 0.225836 0.11 0.08 pose: 0.0 -1.65518 0.0792223 0 0.000215417 -0.0017631 0.0330647 0.999452 uwb: 0.0 846.785 1206.3 -imu_odom_: 1691062955.763063038 1.14682 0.1652 9.36851 -0.0330232 0.0266316 0.164051 0.11 0.08 pose: 0.0 -1.65518 0.0792223 0 0.000215417 -0.0017631 0.0330647 0.999452 uwb: 0.0 846.785 1206.3 -imu_odom_: 1691062955.778995578 1.39103 0.363919 10.4196 -0.0490022 0.0223706 0.14168 0.11 0.08 pose: 0.24871900 -1.65057 0.0784561 0 -0.000916241-0.00398418 0.0356075 0.999357 uwb: 0.0 846.785 1206.3 -imu_odom_: 1691062955.796003139 0.751779 -0.105345 9.67736 -0.0575243 0.0170442 0.115049 0.09 0.05 pose: 0.0 -1.65057 0.0784561 0 -0.000916241-0.00398418 0.0356075 0.999357 uwb: 0.50191190 846.57 1205.47 -imu_odom_: 1691062955.812993493 0.727837 -0.354342 10.173 -0.0607201 0.0319579 0.0873517 0.09 0.05 pose: 0.32921435 -1.65057 0.0784561 0 0.000325161 -0.00651283 0.0378341 0.999263 uwb: 0.0 846.57 1205.47 -imu_odom_: 1691062955.829051442 0.553061 -0.371101 9.78989 -0.0575243 -0.0308927 0.0649811 0.12 0.14 pose: 0.41926417 -1.64502 0.0775324 0 0.000304863 -0.0092894 0.0392892 0.999185 uwb: 0.0 846.57 1205.47 -imu_odom_: 1691062955.845044062 0.919373 -0.112527 10.0437 -0.0575243 -0.0330232 0.0745685 0.12 0.14 pose: 0.0 -1.64502 0.0775324 0 0.000304863 -0.0092894 0.0392892 0.999185 uwb: 0.49820211 847.036 1204.84 -imu_odom_: 1691062955.862307400 0.859518 -0.227449 9.7851 -0.0543285 -0.00852212 0.115049 0.12 0.14 pose: 0.0 -1.64502 0.0775324 0 0.000304863 -0.0092894 0.0392892 0.999185 uwb: 0.0 847.036 1204.84 -imu_odom_: 1691062955.878063491 0.756568 -0.316035 9.87848 -0.056459 0.0149137 0.129962 0.06 0.08 pose: 0.7003388 -1.6407 0.0768251 0 -0.000393026-0.00927759 0.0393845 0.999181 uwb: 0.0 847.036 1204.84 -imu_odom_: 1691062955.894043279 0.737414 -0.342371 9.91918 -0.0490022 0.00852212 0.124636 0.08 0.05 pose: 0.0 -1.6407 0.0768251 0 -0.000393026-0.00927759 0.0393845 0.999181 uwb: 0.50094945 847.296 1204.12 -imu_odom_: 1691062955.920978601 0.612916 -0.0287304 9.86411 -0.052198 0.00106526 0.110787 0.08 0.05 pose: 0.65087206 -1.6407 0.0768251 0 -0.00198487 -0.0142361 0.0414528 0.999037 uwb: 0.0 847.296 1204.12 -imu_odom_: 1691062955.947992377 0.270545 -0.229843 9.77553 -0.0660464 0.0330232 0.072438 0.05 0.08 pose: 0.0 -1.6407 0.0768251 0 -0.00198487 -0.0142361 0.0414528 0.999037 uwb: 0.50148318 847.686 1203.97 -imu_odom_: 1691062955.974201491 -1.23301 0.122104 9.81144 -0.0447411 0.0852212 0.0106526 0.07 0.08 pose: 0.62908290 -1.6407 0.0768251 0 -0.000396156-0.0105812 0.0432111 0.99901 uwb: 0.0 847.686 1203.97 -imu_odom_: 1691062955.990987981 -1.15161 -0.232238 10.2376 -0.0617853 -0.0394148 0.0990696 0.07 0.08 pose: 0.0 -1.6407 0.0768251 0 -0.000396156-0.0105812 0.0432111 0.99901 uwb: 0.49783463 848.302 1203.52 -imu_odom_: 1691062956.7036306 0.0143652 -0.816423 9.84975 -0.0703074 -0.0958738 0.107592 0.07 0.08 pose: 0.0 -1.6407 0.0768251 0 -0.000396156-0.0105812 0.0432111 0.99901 uwb: 0.0 848.302 1203.52 -imu_odom_: 1691062956.33985920 0.758962 -0.0550666 10.0173 -0.0500674 -0.00319579 0.105461 0.11 0.02 pose: 0.8037578 -1.6407 0.0768251 0 -0.000250462-0.00942489 0.0430947 0.999027 uwb: 0.49943871 849.322 1203.63 -imu_odom_: 1691062956.50030162 0.251391 0.0287304 10.1083 -0.0777643 0.00745685 0.105461 0.11 0.02 pose: 0.0 -1.6407 0.0768251 0 -0.000250462-0.00942489 0.0430947 0.999027 uwb: 0.0 849.322 1203.63 -imu_odom_: 1691062956.77201429 -0.342371 -0.222661 9.58399 -0.0703074 0.0490022 0.0500674 0.12 0.05 pose: 0.43221050 -1.6292 0.0850518 0 -0.000755763-0.00531261 0.0436147 0.999034 uwb: 0.0 849.322 1203.63 -imu_odom_: 1691062956.103010691 0.837971 -0.459687 10.0724 -0.0607201 -0.0649811 0.0820254 0.12 0.05 pose: 0.42799325 -1.6292 0.0850518 0 0.000753133 -0.00657045 0.0450183 0.998964 uwb: 0.50145985 849.631 1203.21 -imu_odom_: 1691062956.130023592 0.146046 -0.0550666 9.98622 -0.0436758 -0.0319579 0.0894822 0.12 0.05 pose: 0.0 -1.6292 0.0850518 0 0.000753133 -0.00657045 0.0450183 0.998964 uwb: 0.49921706 849.311 1202.53 -imu_odom_: 1691062956.156114005 0.399832 -0.0023942 9.50019 -0.0745685 0.0351537 0.0692422 0.15 0.02 pose: 0.43006979 -1.61932 0.0834537 0 0.000283432 -0.00337414 0.045585 0.998955 uwb: 0.0 849.311 1202.53 -imu_odom_: 1691062956.183020746 0.861913 -0.292093 9.88087 -0.0639159 -0.02024 0.0617853 0.15 0.02 pose: 0.0 -1.61932 0.0834537 0 0.000283432 -0.00337414 0.045585 0.998955 uwb: 0.50006284 850.188 1202.83 -imu_odom_: 1691062956.198985951 0.395043 -0.270545 9.96706 -0.056459 0.0234358 0.0660464 0.14 0.02 pose: 0.52998029 -1.60946 0.0818421 0 0.00124253 -0.00290751 0.0467549 0.998901 uwb: 0.0 850.188 1202.83 -imu_odom_: 1691062956.216163252 0.454898 -0.184354 10.4387 -0.0617853 -0.00852212 0.0735032 0.14 0.02 pose: 0.0 -1.60946 0.0818421 0 0.00124253 -0.00290751 0.0467549 0.998901 uwb: 0.0 850.188 1202.83 -imu_odom_: 1691062956.232001881 0.356736 -0.270545 9.97903 -0.0447411 0.00319579 0.0575243 0.14 0.02 pose: 0.52953697 -1.60946 0.0818421 0 0.00140164 -0.00406397 0.0474291 0.998865 uwb: 0.50101362 849.199 1201.95 -imu_odom_: 1691062956.259108694 0.727837 -0.124498 10.4962 -0.0458064 0.0106526 0.0649811 0.14 0.02 pose: 0.0 -1.60946 0.0818421 0 0.00140164 -0.00406397 0.0474291 0.998865 uwb: 0.0 849.199 1201.95 -imu_odom_: 1691062956.285102279 0.37589 -0.148441 9.7851 -0.0479369 -0.0127832 0.0649811 0.15 0 pose: 0.68099659 -1.59843 0.0871527 0 0.00164813 -0.00334131 0.0483104 0.998825 uwb: 0.49896332 848.954 1201.17 -imu_odom_: 1691062956.312006686 0.0933739 -0.37589 9.6606 -0.0681769 -0.00532632 0.0607201 0.15 0 pose: 0.0 -1.59843 0.0871527 0 0.00164813 -0.00334131 0.0483104 0.998825 uwb: 0.0 848.954 1201.17 -imu_odom_: 1691062956.337041618 0.976834 -0.294487 9.77074 -0.0532632 -0.0500674 0.072438 0.15 0 pose: 0.7904877 -1.59795 0.0900552 0 0.00193756 -0.00262655 0.0484087 0.998822 uwb: 0.49841503 848.803 1200.65 -imu_odom_: 1691062956.353006240 0.720655 -0.201113 9.83777 -0.0617853 0.0298274 0.0660464 0.15 0 pose: 0.0 -1.59795 0.0900552 0 0.00193756 -0.00262655 0.0484087 0.998822 uwb: 0.0 848.803 1200.65 -imu_odom_: 1691062956.379103360 0.474052 -0.0981623 9.6606 -0.072438 -0.0213053 0.072438 0.16 0.02 pose: 0.51980754 -1.58809 0.0884231 0 0.000814385 0.00033129 0.0490284 0.998797 uwb: 0.0 848.803 1200.65 -imu_odom_: 1691062956.406081264 0.440533 -0.203507 10.1921 -0.0511327 0.0181095 0.0607201 0.16 0.02 pose: 0.0 -1.58809 0.0884231 0 0.000814385 0.00033129 0.0490284 0.998797 uwb: 0.49964578 849.295 1200.72 -imu_odom_: 1691062956.422000388 -0.136469 -0.186748 9.46667 -0.0553937 -0.0213053 0.0617853 0.17 0 pose: 0.43144638 -1.57822 0.0868032 0 0.00151756 -0.003317 0.0496837 0.998758 uwb: 0.0 849.295 1200.72 -imu_odom_: 1691062956.449102242 -0.0957681 -0.0143652 9.90481 -0.04048 -0.0351537 0.0628506 0.17 0 pose: 0.51972296 -1.56835 0.0852043 0 0.000888001 -0.0009459930.0503337 0.998732 uwb: 0.50123527 850.103 1200.74 -imu_odom_: 1691062956.474292332 0.189142 -0.378284 10.0963 -0.0394148 -0.0191748 0.052198 0.22 0.02 pose: 0.0 -1.56835 0.0852043 0 0.000888001 -0.0009459930.0503337 0.998732 uwb: 0.0 850.103 1200.74 -imu_odom_: 1691062956.501073372 0.229843 -0.246603 9.95988 -0.0532632 -0.0117179 0.0703074 0.19 0.05 pose: 0.43059185 -1.56835 0.0852043 0 0.00132176 0.00240078 0.0507809 0.998706 uwb: 0.49967787 849.872 1199.59 -imu_odom_: 1691062956.517108281 0.418985 -0.311246 10.0533 -0.0628506 -0.00213053 0.0681769 0.19 0.05 pose: 0.0 -1.56835 0.0852043 0 0.00132176 0.00240078 0.0507809 0.998706 uwb: 0.0 849.872 1199.59 -imu_odom_: 1691062956.534096885 0.237026 -0.208296 9.99819 -0.0426106 -0.00639159 0.0511327 0.19 0.05 pose: 0.0 -1.56835 0.0852043 0 0.00132176 0.00240078 0.0507809 0.998706 uwb: 0.50160859 849.723 1199.06 -imu_odom_: 1691062956.560059263 0.205901 -0.282516 9.64863 -0.0585895 0.0383495 0.0703074 0.17 0 pose: 0.23857833 -1.55847 0.0836197 0 -0.0001286930.0039367 0.0509858 0.998692 uwb: 0.0 849.723 1199.06 -imu_odom_: 1691062956.584990660 0.337582 -0.117316 9.94791 -0.0490022 0.0276969 0.052198 0.17 0 pose: 0.0 -1.55847 0.0836197 0 -0.0001286930.0039367 0.0509858 0.998692 uwb: 0.49852001 849.59 1198.52 -imu_odom_: 1691062956.607990751 0.474052 -0.299275 10.1634 -0.0756338 0.00852212 0.0660464 0.17 0.02 pose: 0.60932946 -1.54702 0.0919183 0 -0.00147567 0.00672027 0.0517347 0.998637 uwb: 0.0 849.59 1198.52 -imu_odom_: 1691062956.623948373 0.696713 -0.253785 9.85214 -0.0671117 -0.0319579 0.0649811 0.17 0.02 pose: 0.0 -1.54702 0.0919183 0 -0.00147567 0.00672027 0.0517347 0.998637 uwb: 0.0 849.59 1198.52 -imu_odom_: 1691062956.651126348 0.411803 -0.1652 10.058 -0.0841559 0.00639159 0.0713727 0.22 0 pose: 0.50124694 -1.53714 0.0903588 0 -0.0007519730.00693204 0.0522693 0.998609 uwb: 0.49859585 849.875 1198.14 -imu_odom_: 1691062956.676216693 0.452504 -0.0143652 10.1945 -0.0841559 -0.00852212 0.0607201 0.18 0 pose: 0.40023985 -1.53714 0.0903588 0 -0.0010042 0.00314366 0.0528096 0.998599 uwb: 0.0 849.875 1198.14 -imu_odom_: 1691062956.703129558 0.509965 -0.148441 9.98382 -0.0745685 -0.02024 0.056459 0.21 0.02 pose: 0.26924531 -1.52726 0.0888154 0 0.000687681 0.00157588 0.0532006 0.998582 uwb: 0.50390387 849.743 1197.24 -imu_odom_: 1691062956.719088055 0.608127 -0.42138 9.40442 -0.0585895 -0.0820254 0.0490022 0.21 0.02 pose: 0.0 -1.52726 0.0888154 0 0.000687681 0.00157588 0.0532006 0.998582 uwb: 0.0 849.743 1197.24 -imu_odom_: 1691062956.746086082 0.464475 -0.328006 9.64863 -0.052198 -0.0553937 0.0532632 0.18 0 pose: 0.23965744 -1.52726 0.0888154 0 0.00215798 0.000200459 0.053444 0.998568 uwb: 0.49622181 850.087 1196.79 -imu_odom_: 1691062956.771998006 0.514753 0.0407014 10.1323 -0.0628506 -0.0255663 0.04048 0.17 0.02 pose: 0.63085905 -1.51585 0.0971654 0 -0.00141952 -0.00419764 0.0538892 0.998537 uwb: 0.0 850.087 1196.79 -imu_odom_: 1691062956.799209520 0.23942 -0.19393 9.98622 -0.0681769 -0.00319579 0.0543285 0.17 0.02 pose: 0.0 -1.51585 0.0971654 0 -0.00141952 -0.00419764 0.0538892 0.998537 uwb: 0.50120611 850.63 1196.43 -imu_odom_: 1691062956.816259954 0.715866 -0.335188 9.87608 -0.0553937 -0.0213053 0.04048 0.17 -0.02 pose: 0.8015122 -1.51585 0.0971654 0 -0.000642831-0.00432234 0.0538895 0.998537 uwb: 0.0 850.63 1196.43 -imu_odom_: 1691062956.833210352 0.632069 -0.31364 9.95988 -0.0458064 -0.00852212 0.0617853 0.17 -0.02 pose: 0.0 -1.51585 0.0971654 0 -0.000642831-0.00432234 0.0538895 0.998537 uwb: 0.50123819 850.132 1195.66 -imu_odom_: 1691062956.849052189 0.126893 -0.409408 10.0796 -0.0500674 -0.00852212 0.052198 0.17 -0.02 pose: 0.0 -1.51585 0.0971654 0 -0.000642831-0.00432234 0.0538895 0.998537 uwb: 0.0 850.132 1195.66 -imu_odom_: 1691062956.864999020 0.584185 -0.0430956 10.1586 -0.0543285 -0.0255663 0.0394148 0.18 0 pose: 0.52951073 -1.50598 0.0955431 0 0.000510488 -0.00266598 0.0540919 0.998532 uwb: 0.0 850.132 1195.66 -imu_odom_: 1691062956.880984640 0.538695 -0.301669 9.55765 -0.0543285 -0.0372843 0.056459 0.18 0 pose: 0.0 -1.50598 0.0955431 0 0.000510488 -0.00266598 0.0540919 0.998532 uwb: 0.50181566 849.24 1194.71 -imu_odom_: 1691062956.907943003 0.42138 -0.155623 10.0987 -0.04048 -0.04048 0.0436758 0.22 0 pose: 0.73932363 -1.48625 0.0923112 0 -0.00114331 -0.00571909 0.0545264 0.998495 uwb: 0.0 849.24 1194.71 -imu_odom_: 1691062956.932940604 0.440533 -0.162806 10.2975 -0.0511327 -0.0255663 0.0703074 0.22 0 pose: 0.0 -1.48625 0.0923112 0 -0.00114331 -0.00571909 0.0545264 0.998495 uwb: 0.49718426 849.041 1193.57 -imu_odom_: 1691062956.949093339 0.737414 -0.311246 10.0365 -0.0511327 0.00958738 0.0394148 0.21 0 pose: 0.6989389 -1.48625 0.0923112 0 -0.000636769-0.00530595 0.0545394 0.998497 uwb: 0.0 849.041 1193.57 -imu_odom_: 1691062956.966069694 -0.0311246 -0.172383 9.77313 -0.0468716 -0.00106526 -0.00213053 0.18 -0.08 pose: 0.0 -1.48625 0.0923112 0 -0.000636769-0.00530595 0.0545394 0.998497 uwb: 0.0 849.041 1193.57 -imu_odom_: 1691062956.983088922 0.0933739 0.00718261 10.4148 -0.036219 -0.0330232 -0.0479369 0.24 -0.17 pose: 0.0 -1.48625 0.0923112 0 -0.000636769-0.00530595 0.0545394 0.998497 uwb: 0.50087072 848.483 1192.2 -imu_odom_: 1691062957.58568 0.232238 -0.318429 9.68694 -0.0458064 -0.0106526 -0.105461 0.24 -0.17 pose: 0.78095665 -1.47477 0.100557 0 0.00178949 -0.00203493 0.0546004 0.998505 uwb: 0.0 848.483 1192.2 -imu_odom_: 1691062957.17113669 0.143652 0.167594 9.5816 -0.0394148 -0.0117179 -0.129962 0.26 -0.38 pose: 0.0 -1.47477 0.100557 0 0.00178949 -0.00203493 0.0546004 0.998505 uwb: 0.0 848.483 1192.2 -imu_odom_: 1691062957.33059333 0.804452 -0.227449 10.4507 -0.0798948 -0.0532632 -0.16192 0.26 -0.38 pose: 0.40893977 -1.46488 0.0990581 0 0.002214 0.000890093 0.052036 0.998642 uwb: 0.49880291 847.817 1190.98 -imu_odom_: 1691062957.50041813 0.912191 -0.258574 9.62708 -0.0543285 -0.0234358 -0.280165 0.26 -0.38 pose: 0.0 -1.46488 0.0990581 0 0.002214 0.000890093 0.052036 0.998642 uwb: 0.0 847.817 1190.98 -imu_odom_: 1691062957.67106538 0.897826 0.438139 10.331 -0.0511327 -0.0372843 -0.312122 0.25 -0.44 pose: 0.33113924 -1.46488 0.0990581 0 0.00261697 -0.00124374 0.0484561 0.998821 uwb: 0.0 847.817 1190.98 -imu_odom_: 1691062957.82978998 0.521936 -0.107739 9.78031 -0.052198 -0.0266316 -0.325971 0.25 -0.44 pose: 0.0 -1.46488 0.0990581 0 0.00261697 -0.00124374 0.0484561 0.998821 uwb: 0.50009785 846.725 1189.28 -imu_odom_: 1691062957.101045832 0.715866 -0.213084 9.98861 -0.052198 -0.0181095 -0.395213 0.18 -0.41 pose: 0.0 -1.46488 0.0990581 0 0.00261697 -0.00124374 0.0484561 0.998821 uwb: 0.0 846.725 1189.28 -imu_odom_: 1691062957.117162403 0.830788 0.316035 10.1586 -0.0308927 -0.00532632 -0.428236 0.18 -0.41 pose: 0.42901403 -1.455 0.0975088 0 0.00498297 -0.0049615 0.0409698 0.999136 uwb: 0.0 846.725 1189.28 -imu_odom_: 1691062957.134046888 0.368707 -0.011971 9.72046 -0.0617853 0.0308927 -0.431432 0.18 -0.41 pose: 0.0 -1.455 0.0975088 0 0.00498297 -0.0049615 0.0409698 0.999136 uwb: 0.50037199 846.767 1188.55 -imu_odom_: 1691062957.151041034 1.27372 -0.0861913 11.1857 -0.0798948 0.0436758 -0.460194 0.18 -0.53 pose: 0.8292480 -1.455 0.0975257 0 0.00470462 -0.00578197 0.0391736 0.999205 uwb: 0.0 846.767 1188.55 -imu_odom_: 1691062957.167033945 0.208296 0.162806 8.89207 -0.0458064 0.0245011 -0.498544 0.18 -0.53 pose: 0.0 -1.455 0.0975257 0 0.00470462 -0.00578197 0.0391736 0.999205 uwb: 0.0 846.767 1188.55 -imu_odom_: 1691062957.183042315 0.0790087 -0.0311246 10.8218 -0.0351537 0.0873517 -0.515588 0.18 -0.53 pose: 0.0 -1.455 0.0975257 0 0.00470462 -0.00578197 0.0391736 0.999205 uwb: 0.49884376 845.816 1187.04 -imu_odom_: 1691062957.199963256 0.466869 0.0143652 8.79151 -0.0745685 0.00106526 -0.536893 0.18 -0.58 pose: 0.50713828 -1.44362 0.105895 0 0.00657763 -0.00630009 0.0273197 0.999585 uwb: 0.0 845.816 1187.04 -imu_odom_: 1691062957.215964917 0.555455 0.167594 10.9583 -0.0639159 -0.0372843 -0.54435 0.22 -0.76 pose: 0.0 -1.44362 0.105895 0 0.00657763 -0.00630009 0.0273197 0.999585 uwb: 0.0 845.816 1187.04 -imu_odom_: 1691062957.231923122 1.31681 -0.280122 10.3046 -0.072438 -0.0511327 -0.487891 0.22 -0.76 pose: 0.64994754 -1.42383 0.103016 0 0.00996007 -0.00350669 0.00937088 0.9999 uwb: 0.49970120 845.851 1186.34 -imu_odom_: 1691062957.248973265 1.58496 -0.378284 9.30866 -0.0553937 -0.00213053 -0.478304 0.22 -0.76 pose: 0.0 -1.42383 0.103016 0 0.00996007 -0.00350669 0.00937088 0.9999 uwb: 0.0 845.851 1186.34 -imu_odom_: 1691062957.265953995 1.33118 -0.246603 10.1035 -0.052198 -0.0383495 -0.474043 0.19 -0.58 pose: 0.0 -1.42383 0.103016 0 0.00996007 -0.00350669 0.00937088 0.9999 uwb: 0.0 845.851 1186.34 -imu_odom_: 1691062957.282032943 1.34794 -0.0191536 9.51216 -0.0788296 0.0617853 -0.421845 0.19 -0.58 pose: 0.32958767 -1.42383 0.103016 0 0.00989639 -0.00657186 0.000486293 0.999929 uwb: 0.50232896 846.322 1185.44 -imu_odom_: 1691062957.299026797 1.29287 -0.232238 10.556 -0.0553937 -0.0330232 -0.346211 0.12 -0.38 pose: 0.42094116 -1.41854 0.102225 0 0.00910109 -0.0103176 -0.00987754 0.999857 uwb: 0.0 846.322 1185.44 -imu_odom_: 1691062957.314903340 1.25935 -0.402226 9.15064 -0.0447411 -0.0458064 -0.302535 0.12 -0.38 pose: 0.0 -1.41854 0.102225 0 0.00910109 -0.0103176 -0.00987754 0.999857 uwb: 0.0 846.322 1185.44 -imu_odom_: 1691062957.330955748 1.22823 -0.184354 9.61272 -0.0511327 0.0181095 -0.26312 0.12 -0.38 pose: 0.0 -1.41854 0.102225 0 0.00910109 -0.0103176 -0.00987754 0.999857 uwb: 0.49890208 846.366 1184.4 -imu_odom_: 1691062957.346883914 0.620098 -0.430956 9.78031 -0.0660464 -0.00319579 -0.210922 0.1 -0.32 pose: 0.7883587 -1.41394 0.101543 0 0.00887412 -0.0111688 -0.0113896 0.999833 uwb: 0.0 846.366 1184.4 -imu_odom_: 1691062957.363877768 0.325611 -0.318429 9.85932 -0.0415453 0.0138484 -0.238619 0.11 -0.35 pose: 0.0 -1.41394 0.101543 0 0.00887412 -0.0111688 -0.0113896 0.999833 uwb: 0.0 846.366 1184.4 -imu_odom_: 1691062957.379877679 0.28491 -0.0407014 9.95988 -0.0532632 -0.0181095 -0.235423 0.11 -0.35 pose: 0.64028518 -1.41394 0.101543 0 0.00574144 -0.014165 -0.0211956 0.999659 uwb: 0.0 846.366 1184.4 -imu_odom_: 1691062957.397041856 1.0319 -0.222661 9.90002 -0.0660464 -0.02024 -0.198139 0.1 -0.35 pose: 0.0 -1.41394 0.101543 0 0.00574144 -0.014165 -0.0211956 0.999659 uwb: 0.0 846.366 1184.4 -imu_odom_: 1691062957.412894776 1.10133 -0.457293 10.0796 -0.0617853 -0.00958738 -0.186421 0.1 -0.35 pose: 0.0 -1.41394 0.101543 0 0.00574144 -0.014165 -0.0211956 0.999659 uwb: 0.0 846.366 1184.4 -imu_odom_: 1691062957.428882438 0.672771 -0.328006 9.60314 -0.0436758 0.0308927 -0.185356 0.1 -0.35 pose: 0.33019722 -1.40404 0.100114 0 0.0054118 -0.0124654 -0.0256217 0.999579 uwb: 0.0 846.366 1184.4 -imu_odom_: 1691062957.445883292 0.493206 -0.136469 10.058 -0.0479369 0.0106526 -0.165116 0.06 -0.2 pose: 0.41917668 -1.40404 0.100097 0 0.00251992 -0.0143371 -0.0303533 0.999433 uwb: 0.99834664 845.639 1182.99 -imu_odom_: 1691062957.461940366 0.474052 -0.174777 9.84496 -0.0617853 0 -0.145941 0.06 -0.2 pose: 0.8009288 -1.40404 0.100114 0 0.0026674 -0.0134823 -0.0311758 0.999419 uwb: 0.0 845.639 1182.99 -imu_odom_: 1691062957.478939178 0.545878 -0.301669 10.0437 -0.0511327 0.00426106 -0.150202 0.06 -0.2 pose: 0.0 -1.40404 0.100114 0 0.0026674 -0.0134823 -0.0311758 0.999419 uwb: 0.0 845.639 1182.99 -imu_odom_: 1691062957.494945797 0.629675 -0.270545 9.81383 -0.0617853 -0.00532632 -0.138484 0.07 -0.23 pose: 0.42047452 -1.40404 0.100098 0 0.00118928 -0.010012 -0.035189 0.99933 uwb: 0.49959912 845.588 1182.08 -imu_odom_: 1691062957.510939001 0.684742 -0.153229 10.0844 -0.0553937 -0.00532632 -0.128897 0.05 -0.17 pose: 0.0 -1.40404 0.100098 0 0.00118928 -0.010012 -0.035189 0.99933 uwb: 0.0 845.588 1182.08 -imu_odom_: 1691062957.526879999 0.624887 -0.246603 9.84735 -0.0596548 -0.0127832 -0.109722 0.05 -0.17 pose: 0.0 -1.40404 0.100098 0 0.00118928 -0.010012 -0.035189 0.99933 uwb: 0.0 845.588 1182.08 -imu_odom_: 1691062957.544026094 0.608127 -0.167594 9.88566 -0.0553937 -0.00852212 -0.106526 0.04 -0.14 pose: 0.23954078 -1.40404 0.100114 0 0.000140204 -0.0111706 -0.0372718 0.999243 uwb: 0.50007160 845.409 1181.65 -imu_odom_: 1691062957.561083819 0.751779 -0.215478 9.97185 -0.0500674 -0.00958738 -0.0958738 0.04 -0.14 pose: 0.0 -1.40404 0.100114 0 0.000140204 -0.0111706 -0.0372718 0.999243 uwb: 0.0 845.409 1181.65 -imu_odom_: 1691062957.576955113 0.553061 -0.253785 9.68215 -0.0543285 0.0117179 -0.0937433 0.04 -0.14 pose: 0.32003906 -1.39415 0.0986482 0 -0.000183231-0.0113486 -0.0397194 0.999146 uwb: 0.0 845.409 1181.65 -imu_odom_: 1691062957.593948967 0.646434 -0.189142 10.1299 -0.0490022 -0.00319579 -0.0894822 0.04 -0.14 pose: 0.42057951 -1.39415 0.0986482 0 -0.000355797-0.0112631 -0.0425916 0.999029 uwb: 0.50141902 846.225 1181.01 -imu_odom_: 1691062957.609941295 0.608127 -0.198719 9.8258 -0.0596548 -0.00958738 -0.0703074 0.04 -0.14 pose: 0.6947391 -1.39415 0.0986482 0 0.000204585 -0.0117069 -0.0430452 0.999005 uwb: 0.0 846.225 1181.01 -imu_odom_: 1691062957.625876460 0.555455 -0.203507 9.96706 -0.0553937 -0.00213053 -0.0575243 0.04 -0.14 pose: 0.0 -1.39415 0.0986482 0 0.000204585 -0.0117069 -0.0430452 0.999005 uwb: 0.0 846.225 1181.01 -imu_odom_: 1691062957.642938268 0.627281 -0.294487 9.8282 -0.056459 -0.0127832 -0.0447411 0.03 -0.05 pose: 0.41973956 -1.39415 0.0986482 0 0.000332328 -0.00928381 -0.0453478 0.998928 uwb: 0.50042157 845.665 1179.75 -imu_odom_: 1691062957.660016409 0.624887 -0.172383 9.90481 -0.052198 -0.00106526 -0.0436758 0.04 -0.11 pose: 0.0 -1.39415 0.0986482 0 0.000332328 -0.00928381 -0.0453478 0.998928 uwb: 0.0 845.665 1179.75 -imu_odom_: 1691062957.676005529 0.648829 -0.167594 9.87848 -0.0585895 -0.00958738 -0.0319579 0.04 -0.11 pose: 0.0 -1.39415 0.0986482 0 0.000332328 -0.00928381 -0.0453478 0.998928 uwb: 0.0 845.665 1179.75 -imu_odom_: 1691062957.693005800 0.557849 -0.225055 9.80904 -0.056459 0.00852212 -0.0181095 0.04 -0.11 pose: 0.24071904 -1.39415 0.0986482 0 -0.000606073-0.0103061 -0.0463493 0.998872 uwb: 0.49952621 845.689 1178.77 -imu_odom_: 1691062957.708876218 0.509965 -0.289698 9.95748 -0.0532632 0.00319579 -0.00958738 0.03 -0.05 pose: 0.0 -1.39415 0.0986482 0 -0.000606073-0.0103061 -0.0463493 0.998872 uwb: 0.0 845.689 1178.77 -imu_odom_: 1691062957.724870880 0.452504 -0.237026 9.78271 -0.056459 -0.0106526 0.0106526 0.03 -0.05 pose: 0.32999599 -1.39415 0.0986482 0 0.000945398 -0.0113843 -0.0475552 0.998803 uwb: 0.0 845.689 1178.77 -imu_odom_: 1691062957.741937355 0.627281 -0.234632 9.94312 -0.056459 -0.0127832 0.0287621 0.01 -0.02 pose: 0.41922917 -1.39415 0.0986482 0 -0.000733079-0.00763845 -0.0484499 0.998796 uwb: 0.50049158 845.375 1177.88 -imu_odom_: 1691062957.758925959 0.675165 -0.232238 9.89045 -0.0532632 -0.00958738 0.0372843 0.01 -0.02 pose: 0.8009580 -1.39415 0.0986482 0 -0.000915297-0.00845347 -0.0484921 0.998787 uwb: 0.0 845.375 1177.88 -imu_odom_: 1691062957.774929953 0.670376 -0.19393 9.91678 -0.0532632 0.00106526 0.0447411 0.01 -0.02 pose: 0.0 -1.39415 0.0986482 0 -0.000915297-0.00845347 -0.0484921 0.998787 uwb: 0.0 845.375 1177.88 -imu_odom_: 1691062957.792001969 0.636858 -0.237026 9.86172 -0.0575243 0 0.0532632 0 0.02 pose: 0.42049493 -1.39415 0.0986482 0 -0.000383577-0.0124111 -0.0485277 0.998745 uwb: 0.49853751 845.346 1176.97 -imu_odom_: 1691062957.807875013 0.557849 -0.229843 9.88805 -0.0543285 0 0.0532632 0 0.02 pose: 0.0 -1.39415 0.0986482 0 -0.000383577-0.0124111 -0.0485277 0.998745 uwb: 0.0 845.346 1176.97 -imu_odom_: 1691062957.823874049 0.476446 -0.23942 9.91678 -0.056459 0.00106526 0.0543285 0 0.02 pose: 0.0 -1.39415 0.0986482 0 -0.000383577-0.0124111 -0.0485277 0.998745 uwb: 0.0 845.346 1176.97 -imu_odom_: 1691062957.838863685 0.397437 -0.191536 9.88087 -0.0543285 0 0.04048 0 0.02 pose: 0.24082404 -1.39415 0.0986482 0 -0.00185523 -0.0110883 -0.0483443 0.998767 uwb: 0.49991994 845.456 1176.53 -imu_odom_: 1691062957.853925651 0.380678 -0.138864 9.87129 -0.0553937 -0.00319579 0.0340885 0 0 pose: 0.0 -1.39415 0.0986482 0 -0.00185523 -0.0110883 -0.0483443 0.998767 uwb: 0.0 845.456 1176.53 -imu_odom_: 1691062957.868864831 0.397437 -0.237026 9.89524 -0.0596548 -0.00852212 0.0383495 0 0 pose: 0.0 -1.39415 0.0986482 0 -0.00185523 -0.0110883 -0.0483443 0.998767 uwb: 0.0 845.456 1176.53 -imu_odom_: 1691062957.883930005 0.416591 -0.289698 9.91439 -0.0553937 -0.00852212 0.036219 0 0 pose: 0.30872887 -1.39415 0.0986482 0 -0.00143086 -0.00797533 -0.0481638 0.998807 uwb: 0.50105154 845.322 1175.76 -imu_odom_: 1691062957.898919932 0.447716 -0.208296 9.93115 -0.0553937 0 0.0394148 0 0 pose: 0.14991095 -1.39415 0.0986482 0 -0.000830557-0.00658882 -0.0481794 0.998817 uwb: 0.0 845.322 1175.76 -imu_odom_: 1691062957.912917376 0.440533 -0.241814 9.82341 -0.0575243 -0.00852212 0.0468716 0 0 pose: 0.0 -1.39415 0.0986482 0 -0.000830557-0.00658882 -0.0481794 0.998817 uwb: 0.0 845.322 1175.76 -imu_odom_: 1691062957.928015506 0.418985 -0.201113 9.93833 -0.0543285 -0.00213053 0.0394148 0 0 pose: 0.30050143 -1.39415 0.0986482 0 -0.00096278 -0.00391836 -0.0482234 0.998828 uwb: 0.0 845.322 1175.76 -imu_odom_: 1691062957.942889940 0.428562 -0.186748 9.87369 -0.0543285 -0.00319579 0.0372843 0 0 pose: 0.0 -1.39415 0.0986482 0 -0.00096278 -0.00391836 -0.0482234 0.998828 uwb: 0.49747300 844.606 1174.11 -imu_odom_: 1691062957.956904882 0.426168 -0.215478 9.91439 -0.056459 -0.00532632 0.0394148 0 0 pose: 0.0 -1.39415 0.0986482 0 -0.00096278 -0.00391836 -0.0482234 0.998828 uwb: 0.0 844.606 1174.11 -imu_odom_: 1691062957.971968014 0.445322 -0.229843 9.89045 -0.0553937 -0.00639159 0.0383495 0 0 pose: 0.44009964 -1.39415 0.0986482 0 -0.000953743-0.00162059 -0.0481872 0.998837 uwb: 0.0 844.606 1174.11 -imu_odom_: 1691062957.986992648 0.426168 -0.222661 9.92157 -0.0553937 -0.00532632 0.0394148 0 0 pose: 0.0 -1.39415 0.0986482 0 -0.000953743-0.00162059 -0.0481872 0.998837 uwb: 0.50168734 844.795 1173.9 -imu_odom_: 1691062958.7856404 0.411803 -0.191536 9.89045 -0.0543285 -0.00213053 0.0426106 0 0 pose: 0.0 -1.39415 0.0986482 0 -0.000953743-0.00162059 -0.0481872 0.998837 uwb: 0.0 844.795 1173.9 -imu_odom_: 1691062958.24915880 -0.430956 -0.21069 9.63666 -0.0553937 0.0756338 0.0500674 0 0 pose: 0.44074418 -1.39415 0.0986482 0 -0.000453204-0.00164811 -0.0482106 0.998836 uwb: 0.0 844.795 1173.9 -imu_odom_: 1691062958.42004812 -1.07978 -0.272939 10.2161 -0.0500674 0.0735032 0.0553937 0.02 0.02 pose: 0.0 -1.39415 0.0986482 0 -0.000453204-0.00164811 -0.0482106 0.998836 uwb: 0.50107779 844.947 1174.04 -imu_odom_: 1691062958.57868522 -1.20668 -0.272939 9.7875 -0.0575243 -0.0351537 0.0543285 0.02 0.02 pose: 0.70003841 -1.39415 0.0986482 0 0.00170548 0.00317697 -0.048036 0.998839 uwb: 0.0 844.947 1174.04 -imu_odom_: 1691062958.73864642 -0.059855 -0.112527 9.99579 -0.056459 -0.0798948 0.0511327 0.04 0.02 pose: 0.0 -1.39415 0.0986482 0 0.00170548 0.00317697 -0.048036 0.998839 uwb: 0.0 844.947 1174.04 -imu_odom_: 1691062958.89852888 0.366313 -0.21069 9.73482 -0.0575243 -0.0458064 0.0617853 0.04 0.02 pose: 0.0 -1.39415 0.0986482 0 0.00170548 0.00317697 -0.048036 0.998839 uwb: 0.50001035 844.886 1173.19 -imu_odom_: 1691062958.106904489 0.177171 -0.268151 9.89045 -0.0511327 0.0191748 0.0543285 0.04 0.02 pose: 0.31869163 -1.39415 0.0986482 0 0.00185297 0.00618143 -0.0478116 0.998836 uwb: 0.0 844.886 1173.19 -imu_odom_: 1691062958.123862470 -0.294487 -0.172383 9.97424 -0.056459 0.0213053 0.0490022 0.07 0 pose: 0.42020621 -1.38426 0.0971724 0 0.000715637 0.00657771 -0.0474646 0.998851 uwb: 0.0 844.886 1173.19 -imu_odom_: 1691062958.140975609 -0.181959 -0.234632 9.89284 -0.056459 -0.0287621 0.0639159 0.07 0 pose: 0.8008996 -1.38426 0.0971891 0 0.000802774 0.00747756 -0.0474266 0.998846 uwb: 0.49803881 845.602 1173.61 -imu_odom_: 1691062958.156908441 -0.0023942 -0.244209 9.75877 -0.0500674 -0.015979 0.0468716 0.07 0 pose: 0.0 -1.38426 0.0971891 0 0.000802774 0.00747756 -0.0474266 0.998846 uwb: 0.0 845.602 1173.61 -imu_odom_: 1691062958.173905503 0.227449 -0.251391 10.0054 -0.0585895 -0.02024 0.0447411 0.11 0 pose: 0.41994956 -1.38426 0.0971891 0 0.000683333 0.0114729 -0.0471223 0.998823 uwb: 0.0 845.602 1173.61 -imu_odom_: 1691062958.189846209 0.00718261 -0.205901 9.87369 -0.0468716 0.00852212 0.0298274 0.09 0.02 pose: 0.0 -1.38426 0.0971891 0 0.000683333 0.0114729 -0.0471223 0.998823 uwb: 0.50118862 845.431 1172.88 -imu_odom_: 1691062958.206905393 -0.201113 -0.241814 9.65342 -0.0458064 0.00426106 0.0426106 0.09 0.02 pose: 0.0 -1.38426 0.0971891 0 0.000683333 0.0114729 -0.0471223 0.998823 uwb: 0.0 845.431 1172.88 -imu_odom_: 1691062958.223954369 0.0981623 -0.260968 9.88326 -0.0639159 0.00852212 0.0479369 0.1 0.02 pose: 0.24949770 -1.38426 0.0971891 0 -0.0002690820.0108715 -0.0471275 0.99883 uwb: 0.0 845.431 1172.88 -imu_odom_: 1691062958.239830329 0.311246 -0.201113 10.0796 -0.0490022 0.00532632 0.0255663 0.1 0.02 pose: 0.0 -1.38426 0.0971891 0 -0.0002690820.0108715 -0.0471275 0.99883 uwb: 0.49878250 845.636 1172.65 -imu_odom_: 1691062958.255889445 0.234632 0.0454898 9.69652 -0.0490022 -0.00852212 0.0436758 0.1 0.02 pose: 0.33056470 -1.37438 0.0956442 0 -0.0004997080.0141781 -0.0471106 0.998789 uwb: 0.0 845.636 1172.65 -imu_odom_: 1691062958.271828985 -0.112527 -0.169988 9.59117 -0.056459 0.00639159 0.0596548 0.11 0 pose: 0.40974764 -1.37438 0.0956442 0 0.00083413 0.0128939 -0.0471375 0.998805 uwb: 0.0 845.636 1172.65 -imu_odom_: 1691062958.286826788 0.545878 -0.387861 10.1825 -0.04048 -0.0649811 0.0394148 0.11 0 pose: 0.7940459 -1.37438 0.0956442 0 0.00098702 0.0137161 -0.047056 0.998798 uwb: 0.50119154 846.046 1172.2 -imu_odom_: 1691062958.302880946 0.866701 -0.169988 9.54329 -0.0532632 -0.0298274 0.052198 0.11 0 pose: 0.0 -1.37438 0.0956442 0 0.00098702 0.0137161 -0.047056 0.998798 uwb: 0.0 846.046 1172.2 -imu_odom_: 1691062958.318883482 0.893037 -0.289698 9.93594 -0.0639159 0.0532632 0.0862864 0.1 0 pose: 0.39051042 -1.3645 0.094101 0 0.000623361 0.0109174 -0.0468847 0.99884 uwb: 0.0 846.046 1172.2 -imu_odom_: 1691062958.334989846 1.24498 -0.258574 10.2304 -0.0553937 -0.0372843 0.122505 0.1 0 pose: 0.0 -1.3645 0.094101 0 0.000623361 0.0109174 -0.0468847 0.99884 uwb: 0.49950580 845.453 1171.95 -imu_odom_: 1691062958.351860915 1.32639 -0.268151 9.23922 -0.0500674 -0.0127832 0.129962 0.1 0 pose: 0.0 -1.3645 0.094101 0 0.000623361 0.0109174 -0.0468847 0.99884 uwb: 0.0 845.453 1171.95 -imu_odom_: 1691062958.367840411 1.34554 -0.0957681 10.0748 -0.0426106 0.0287621 0.102265 0.06 0 pose: 0.39045208 -1.3645 0.094101 0 0.000141986 0.00720529 -0.045535 0.998937 uwb: 0.0 845.453 1171.95 -imu_odom_: 1691062958.384860805 0.500388 -0.023942 9.75637 -0.0511327 0.0553937 0.0383495 0.09 -0.02 pose: 0.0 -1.3645 0.094101 0 0.000141986 0.00720529 -0.045535 0.998937 uwb: 0.49989953 845.777 1171.89 -imu_odom_: 1691062958.401942738 0.696713 -0.0191536 10.2639 -0.0543285 -0.0330232 0.00852212 0.09 -0.02 pose: 0.0 -1.3645 0.094101 0 0.000141986 0.00720529 -0.045535 0.998937 uwb: 0.0 845.777 1171.89 -imu_odom_: 1691062958.416849837 0.68953 -0.306458 9.55765 -0.0649811 -0.0170442 -0.00213053 0.05 0.05 pose: 0.32953226 -1.3645 0.094101 0 0.00080347 0.00452182 -0.0445895 0.998995 uwb: 0.0 845.777 1171.89 -imu_odom_: 1691062958.431869221 0.905008 -0.260968 9.97903 -0.0607201 0.00532632 0.00852212 0.05 0.05 pose: 0.0 -1.3645 0.094101 0 0.00080347 0.00452182 -0.0445895 0.998995 uwb: 0.50010368 845.998 1171.64 -imu_odom_: 1691062958.448861034 0.773327 -0.378284 9.81144 -0.0553937 0.00532632 0.0245011 0.05 0.05 pose: 0.34009291 -1.3645 0.094101 0 0.00181304 0.00156547 -0.044997 0.998984 uwb: 0.0 845.998 1171.64 -imu_odom_: 1691062958.465848764 0.732626 -0.107739 10.0461 -0.0585895 0.00852212 0.0213053 0.04 0.02 pose: 0.39972363 -1.35461 0.0925985 0 0.000284962 -0.00200376 -0.0455187 0.998961 uwb: 0.0 845.998 1171.64 -imu_odom_: 1691062958.481987209 0.476446 -0.186748 9.76834 -0.0468716 -0.00213053 0.0138484 0.04 0.02 pose: 0.8038162 -1.35461 0.0925985 0 0.000500319 -0.00272335 -0.0455923 0.998956 uwb: 0.49909166 845.998 1171.64 -imu_odom_: 1691062958.500050543 0.392649 -0.160412 10.003 -0.0585895 0.00745685 0.0436758 0.04 0.02 pose: 0.0 -1.35461 0.0925985 0 0.000500319 -0.00272335 -0.0455923 0.998956 uwb: 0.0 845.998 1171.64 -imu_odom_: 1691062958.517943845 0.430956 -0.423774 9.84735 -0.056459 -0.015979 0.076699 0.03 0 pose: 0.43151347 -1.35461 0.0925985 0 0.00236943 -0.00247619 -0.0458532 0.998942 uwb: 0.0 845.998 1171.64 -imu_odom_: 1691062958.542990152 0.804452 -0.0670376 9.8689 -0.0490022 -0.00958738 0.076699 0.03 0.02 pose: 0.0 -1.35461 0.0925985 0 0.00236943 -0.00247619 -0.0458532 0.998942 uwb: 0.49894583 846.212 1171.11 -imu_odom_: 1691062958.559848680 0.00718261 -0.131681 9.71567 -0.0628506 0.0809601 0.0894822 0.03 0.02 pose: 0.23945328 -1.35461 0.0925985 0 0.000782467 -0.00296602 -0.0454058 0.998964 uwb: 0.0 846.212 1171.11 -imu_odom_: 1691062958.585881055 -1.40779 -0.328006 10.1538 -0.0511327 0.0255663 0.0585895 0.03 0.05 pose: 0.0 -1.35461 0.0925985 0 0.000782467 -0.00296602 -0.0454058 0.998964 uwb: 0.50048575 844.946 1170.41 -imu_odom_: 1691062958.611895056 -0.31364 -0.299275 9.81623 -0.0575243 -0.0671117 0.0639159 0.08 0 pose: 0.43894763 -1.35461 0.0925985 0 0.0016426 -0.00151575 -0.0445611 0.999004 uwb: 0.0 844.946 1170.41 -imu_odom_: 1691062958.637886309 0.646434 -0.131681 9.5792 -0.0596548 -0.0255663 0.0511327 0.08 0 pose: 0.0 -1.35461 0.0925985 0 0.0016426 -0.00151575 -0.0445611 0.999004 uwb: 0.49920540 845.079 1170.56 -imu_odom_: 1691062958.663962431 -0.514753 -0.272939 9.80665 -0.056459 0.0500674 0.0479369 0.12 0 pose: 0.25113969 -1.35461 0.0925985 0 0.00152731 0.00103454 -0.0443076 0.999016 uwb: 0.0 845.079 1170.56 -imu_odom_: 1691062958.689853356 0.220267 -0.0909797 9.6199 -0.0479369 -0.0852212 0.0319579 0.12 0 pose: 0.0 -1.35461 0.0925985 0 0.00152731 0.00103454 -0.0443076 0.999016 uwb: 0.50051491 845.026 1170.32 -imu_odom_: 1691062958.705975760 0.383072 -0.241814 9.87129 -0.0607201 -0.00958738 0.0596548 0.14 0 pose: 0.51893551 -1.34472 0.0911097 0 0.00158391 0.000371765 -0.0438996 0.999035 uwb: 0.0 845.026 1170.32 -imu_odom_: 1691062958.731096729 0.102951 -0.0023942 9.65821 -0.0628506 0.00639159 0.0340885 0.14 0 pose: 0.0 -1.34472 0.0911097 0 0.00158391 0.000371765 -0.0438996 0.999035 uwb: 0.50194399 845.286 1170.33 -imu_odom_: 1691062958.756984446 0.011971 -0.395043 10.0197 -0.0553937 -0.0436758 0.0511327 0.14 0 pose: 0.51990963 -1.34472 0.0911097 0 0.00257458 0.00336533 -0.0438511 0.999029 uwb: 0.0 845.286 1170.33 -imu_odom_: 1691062958.774017964 0.203507 -0.229843 9.87369 -0.052198 -0.0585895 0.0266316 0.14 0 pose: 0.0 -1.34472 0.0911097 0 0.00257458 0.00336533 -0.0438511 0.999029 uwb: 0.0 845.286 1170.33 -imu_odom_: 1691062958.799947095 0.37589 -0.129287 9.79947 -0.0585895 0.0479369 0.0447411 0.16 0 pose: 0.42106657 -1.33335 0.09952 0 0.00277699 0.00544615 -0.0437876 0.999022 uwb: 0.49909166 844.46 1169.45 -imu_odom_: 1691062958.825941264 0.162806 -0.150835 9.81144 -0.0511327 -0.0276969 0.0383495 0.12 0 pose: 0.41956457 -1.33335 0.09952 0 0.00121031 0.00714068 -0.0437922 0.999014 uwb: 0.0 844.46 1169.45 -imu_odom_: 1691062958.850873536 0.445322 -0.009576819.85693 -0.0628506 -0.0106526 0.0575243 0.17 0 pose: 0.0 -1.33335 0.09952 0 0.00121031 0.00714068 -0.0437922 0.999014 uwb: 0.50076281 844.197 1169.14 -imu_odom_: 1691062958.872830104 0.328006 -0.248997 10.0485 -0.0553937 0.0458064 0.0426106 0.14 0.02 pose: 0.52025086 -1.32346 0.0980414 0 0.0032343 0.00758536 -0.043684 0.999011 uwb: 0.0 844.197 1169.14 -imu_odom_: 1691062958.889869164 0.301669 -0.186748 10.1514 -0.111853 -0.052198 0.0745685 0.14 0.02 pose: 0.0 -1.32346 0.0980414 0 0.0032343 0.00758536 -0.043684 0.999011 uwb: 0.49895166 844.229 1169.11 -imu_odom_: 1691062958.914832058 0.198719 -0.0957681 10.2711 -0.100135 0.0191748 0.0490022 0.14 0.02 pose: 0.23902164 -1.32346 0.0980414 0 0.00363846 0.00599889 -0.0435038 0.999029 uwb: 0.0 844.229 1169.11 -imu_odom_: 1691062958.939822077 0.557849 -0.289698 9.66539 -0.0745685 -0.0575243 0.0340885 0.18 -0.02 pose: 0.39997737 -1.31357 0.0965689 0 0.00105361 0.00461607 -0.0431526 0.999057 uwb: 0.50012702 845.363 1170.24 -imu_odom_: 1691062958.965819745 0.383072 -0.203507 9.52413 -0.0671117 0 0.0543285 0.15 0 pose: 0.42944859 -1.30642 0.0955081 0 0.000632674 0.0031964 -0.0431326 0.999064 uwb: 0.0 845.363 1170.24 -imu_odom_: 1691062958.980829797 0.059855 -0.244209 10.0533 -0.0607201 0.0340885 0.0447411 0.15 0 pose: 0.0 -1.30642 0.0955081 0 0.000632674 0.0031964 -0.0431326 0.999064 uwb: 0.49982953 845.49 1170.1 -imu_odom_: 1691062959.7868364 0.237026 -0.280122 10.1323 -0.04048 -0.00852212 0.0319579 0.16 0.02 pose: 0.7223000 -1.30368 0.0951031 0 0.000592002 0.00249002 -0.0430788 0.999068 uwb: 0.0 845.49 1170.1 -imu_odom_: 1691062959.32846133 0.347159 -0.411803 9.9527 -0.0436758 -0.052198 0.0319579 0.16 0.02 pose: 0.0 -1.30368 0.0951031 0 0.000592002 0.00249002 -0.0430788 0.999068 uwb: 0.50043908 845.337 1169.68 -imu_odom_: 1691062959.58948213 0.277727 -0.114922 9.74679 -0.0490022 0.00958738 0.052198 0.17 0.02 pose: 0.41919126 -1.30368 0.0951031 0 1.7982e-05 0.00313727 -0.0429332 0.999073 uwb: 0.0 845.337 1169.68 -imu_odom_: 1691062959.76013813 0.222661 -0.179565 10.1323 -0.0479369 -0.0170442 0.0436758 0.17 0.02 pose: 0.0 -1.30368 0.0951031 0 1.7982e-05 0.00313727 -0.0429332 0.999073 uwb: 0.0 845.337 1169.68 -imu_odom_: 1691062959.100801135 0.0215478 -0.275333 9.84975 -0.0479369 0.00639159 0.0372843 0.22 0 pose: 0.51003437 -1.29379 0.0936414 0 -0.00238751 0.00399948 -0.0430674 0.999061 uwb: 0.50029618 845.337 1169.68 -imu_odom_: 1691062959.125831693 0.251391 -0.277727 9.75158 -0.056459 0.00426106 0.0490022 0.22 0 pose: 0.0 -1.29379 0.0936414 0 -0.00238751 0.00399948 -0.0430674 0.999061 uwb: 0.0 845.337 1169.68 -imu_odom_: 1691062959.151948355 0.325611 -0.158017 9.23204 -0.0692422 0.00958738 0.0436758 0.17 0.02 pose: 0.42880404 -1.2839 0.0921769 0 0.000351127 0.00671435 -0.0429089 0.999056 uwb: 0.50065782 845.888 1169.66 -imu_odom_: 1691062959.174804080 0.474052 -0.1652 9.90721 -0.0607201 -0.0266316 0.0372843 0.17 0.02 pose: 0.0 -1.2839 0.0921769 0 0.000351127 0.00671435 -0.0429089 0.999056 uwb: 0.0 845.888 1169.66 -imu_odom_: 1691062959.190959149 0.387861 -0.19393 9.6606 -0.0426106 -0.0298274 0.0319579 0.17 0 pose: 0.51053017 -1.274 0.090716 0 -0.00179616 0.0078008 -0.0428145 0.999051 uwb: 0.49859002 845.6 1168.79 -imu_odom_: 1691062959.216811284 0.469264 -0.198719 9.65582 -0.0511327 -0.0330232 0.0447411 0.17 0 pose: 0.0 -1.274 0.090716 0 -0.00179616 0.0078008 -0.0428145 0.999051 uwb: 0.0 845.6 1168.79 -imu_odom_: 1691062959.242860867 0.577003 -0.217872 10.0245 -0.0543285 -0.0276969 0.0511327 0.21 -0.02 pose: 0.64062351 -1.26411 0.0892574 0 0.000624928 0.00184358 -0.0428328 0.99908 uwb: 0.49966330 846.13 1168.51 -imu_odom_: 1691062959.268926782 0.3304 -0.0909797 10.1323 -0.0415453 -0.0308927 0.0394148 0.21 0 pose: 0.44897455 -1.25422 0.0877978 0 0.000305649 -0.00320231 -0.0426311 0.999086 uwb: 0.0 846.13 1168.51 -imu_odom_: 1691062959.285955051 0.59855 -0.105345 10.1107 -0.0415453 -0.0681769 0.0479369 0.21 0 pose: 0.0 -1.25422 0.0877978 0 0.000305649 -0.00320231 -0.0426311 0.999086 uwb: 0.50036034 846.063 1168.29 -imu_odom_: 1691062959.311817686 0.586579 -0.323217 9.94073 -0.0447411 -0.0191748 0.0479369 0.23 -0.02 pose: 0.6951766 -1.25422 0.0877978 0 0.000819996 -0.00278358 -0.0426333 0.999087 uwb: 0.0 846.063 1168.29 -imu_odom_: 1691062959.336792830 0.672771 -0.332794 9.78031 -0.0671117 -0.0330232 0.0575243 0.23 -0.02 pose: 0.0 -1.25422 0.0877978 0 0.000819996 -0.00278358 -0.0426333 0.999087 uwb: 0.50138403 846.007 1167.47 -imu_odom_: 1691062959.362854954 0.68953 0.102951 10.3884 -0.052198 -0.04048 0.0468716 0.2 -0.02 pose: 0.43028854 -1.24432 0.086342 0 0.00231576 -0.00420623 -0.0425341 0.999083 uwb: 0.0 846.007 1167.47 -imu_odom_: 1691062959.378797702 0.555455 -0.172383 9.63427 -0.0660464 -0.0330232 0.04048 0.2 -0.02 pose: 0.0 -1.24432 0.086342 0 0.00231576 -0.00420623 -0.0425341 0.999083 uwb: 0.0 846.007 1167.47 -imu_odom_: 1691062959.404947903 0.509965 -0.172383 9.43555 -0.0671117 0.00426106 0.0490022 0.22 0 pose: 0.51965590 -1.23443 0.0848901 0 -0.000307462-0.00801638 -0.0421885 0.999077 uwb: 0.49852003 845.908 1166.99 -imu_odom_: 1691062959.430857202 0.42138 -0.538695 9.42118 -0.0703074 0.00958738 0.0511327 0.22 0 pose: 0.0 -1.23443 0.0848901 0 -0.000307462-0.00801638 -0.0421885 0.999077 uwb: 0.50076573 846.31 1166.84 -imu_odom_: 1691062959.456815207 0.392649 -0.268151 10.003 -0.0713727 -0.0468716 0.0479369 0.22 0.02 pose: 0.42160029 -1.23443 0.0848901 0 0.00196602 -0.00703293 -0.0421019 0.999087 uwb: 0.0 846.31 1166.84 -imu_odom_: 1691062959.482825416 0.584185 -0.203507 10.0724 -0.0639159 -0.0671117 0.0276969 0.18 0 pose: 0.50847112 -1.22454 0.0834446 0 -0.00112825 -0.00382116 -0.0418313 0.999117 uwb: 0.49850836 847.34 1166.89 -imu_odom_: 1691062959.499924556 0.641646 -0.136469 9.76355 -0.0479369 -0.00426106 0.036219 0.18 0 pose: 0.0 -1.22454 0.0834446 0 -0.00112825 -0.00382116 -0.0418313 0.999117 uwb: 0.0 847.34 1166.89 -imu_odom_: 1691062959.524815706 0.68953 -0.282516 9.50977 -0.052198 0.00426106 0.0511327 0.18 0 pose: 0.62110338 -1.20877 0.081152 0 -0.000254664-0.00712849 -0.0419432 0.999095 uwb: 0.0 847.34 1166.89 -imu_odom_: 1691062959.550779543 0.553061 -0.0550666 10.2328 -0.0532632 0.0575243 0.0298274 0.18 0 pose: 0.6925226 -1.20474 0.0805652 0 -0.000554133-0.00771901 -0.0419009 0.999092 uwb: 0.49986162 847.499 1166.72 -imu_odom_: 1691062959.575771311 0.529119 -0.0861913 9.74201 -0.072438 -0.0191748 0.0490022 0.19 0 pose: 0.43929761 -1.19766 0.0795336 0 0.00129361 -0.00801439 -0.0419416 0.999087 uwb: 0.0 847.499 1166.72 -imu_odom_: 1691062959.593775149 -0.0933739 -0.241814 10.0173 -0.0490022 -0.0298274 0.0340885 0.19 0 pose: 0.0 -1.19766 0.0795336 0 0.00129361 -0.00801439 -0.0419416 0.999087 uwb: 0.50053241 848.09 1166.07 -imu_odom_: 1691062959.618768959 0.361524 -0.138864 9.87848 -0.0703074 -0.0511327 0.0351537 0.18 0 pose: 0.42995606 -1.19485 0.0791237 0 0.00334457 -0.00606237 -0.0419011 0.999098 uwb: 0.0 848.09 1166.07 -imu_odom_: 1691062959.643861930 0.490811 -0.337582 10.4004 -0.052198 0.0127832 0.04048 0.18 0 pose: 0.0 -1.19485 0.0791237 0 0.00334457 -0.00606237 -0.0419011 0.999098 uwb: 0.49881459 848.746 1165.64 -imu_odom_: 1691062959.665794000 0.878672 -0.148441 10.4148 -0.0671117 -0.0596548 0.04048 0.18 0 pose: 0.50086781 -1.18386 0.0851846 0 0.000865553 -0.00389788 -0.0419473 0.999112 uwb: 0.0 848.746 1165.64 -imu_odom_: 1691062959.682769189 0.490811 -0.244209 9.50977 -0.0436758 0.0276969 0.0340885 0.18 0 pose: 0.0 -1.18386 0.0851846 0 0.000865553 -0.00389788 -0.0419473 0.999112 uwb: 0.50128487 848.44 1165.11 -imu_odom_: 1691062959.709046258 0.361524 -0.0861913 9.71088 -0.056459 -0.00532632 0.0351537 0.24 0 pose: 0.38907259 -1.17362 0.086135 0 -0.000352506-0.00536571 -0.0419746 0.999104 uwb: 0.0 848.44 1165.11 -imu_odom_: 1691062959.734770068 0.308852 -0.366313 9.54568 -0.0596548 0.0287621 0.0447411 0.24 0 pose: 0.0 -1.17362 0.086135 0 -0.000352506-0.00536571 -0.0419746 0.999104 uwb: 0.50108072 847.93 1164.22 -imu_odom_: 1691062959.759902995 0.459687 -0.270545 9.63427 -0.0330232 0.00745685 0.0372843 0.21 0 pose: 0.34316397 -1.16372 0.0846919 0 0.000881171 -0.00281849 -0.0420204 0.999112 uwb: 0.0 847.93 1164.22 -imu_odom_: 1691062959.784979341 0.483629 -0.361524 9.96706 -0.056459 0.0149137 0.0500674 0.18 0 pose: 0.0 -1.16372 0.0846919 0 0.000881171 -0.00281849 -0.0420204 0.999112 uwb: 0.49957288 848.507 1163.88 -imu_odom_: 1691062959.801880743 0.371101 -0.371101 9.97185 -0.0617853 0.00639159 0.0468716 0.18 0 pose: 0.42817409 -1.16372 0.0846919 0 -0.00231024 -0.0024394 -0.0419979 0.999112 uwb: 0.0 848.507 1163.88 -imu_odom_: 1691062959.818901429 0.325611 -0.277727 9.8282 -0.056459 0 0.0436758 0.18 0 pose: 0.0 -1.16372 0.0846919 0 -0.00231024 -0.0024394 -0.0419979 0.999112 uwb: 0.0 848.507 1163.88 -imu_odom_: 1691062959.844902597 0.562637 -0.416591 9.9096 -0.0543285 -0.0426106 0.0490022 0.24 0 pose: 0.58998434 -1.14802 0.0824034 0 -0.00498706 0.00026695 -0.0417496 0.999116 uwb: 0.0 848.507 1163.88 -imu_odom_: 1691062959.861990363 0.201113 -0.0909797 9.43315 -0.0639159 0.0383495 0.0458064 0.24 0 pose: 0.6941266 -1.14393 0.081809 0 -0.00539063 -0.000432269-0.0417191 0.999115 uwb: 0.0 848.507 1163.88 -imu_odom_: 1691062959.887768419 0.253785 -0.277727 9.31344 -0.072438 0.0287621 0.0394148 0.23 0 pose: 0.36147668 -1.14393 0.081809 0 -0.00531737 -0.000807257-0.0415803 0.999121 uwb: 0.100097733 848.063 1162.08 -imu_odom_: 1691062959.903804495 0.608127 -0.356736 10.0365 -0.0511327 -0.0191748 0.0372843 0.19 0 pose: 0.0 -1.14393 0.081809 0 -0.00531737 -0.000807257-0.0415803 0.999121 uwb: 0.0 848.063 1162.08 -imu_odom_: 1691062959.929955572 0.610521 -0.169988 10.2089 -0.0585895 -0.0351537 0.0415453 0.21 0 pose: 0.32918812 -1.13403 0.0803742 0 -0.00504465 0.0013808 -0.0415838 0.999121 uwb: 0.0 848.063 1162.08 -imu_odom_: 1691062959.955914160 0.342371 -0.280122 9.67257 -0.052198 0.0234358 0.0458064 0.18 0 pose: 0.35046397 -1.12689 0.0793388 0 -0.00385684 -0.00215143 -0.0415815 0.999125 uwb: 0.0 848.063 1162.08 -imu_odom_: 1691062959.981879164 0.308852 -0.246603 9.69173 -0.0671117 0.00745685 0.0436758 0.18 0 pose: 0.0 -1.12689 0.0793388 0 -0.00385684 -0.00215143 -0.0415815 0.999125 uwb: 0.99942867 848.331 1161.23 -imu_odom_: 1691062959.998791356 0.102951 -0.129287 9.96227 -0.0639159 -0.00852212 0.0585895 0.18 0 pose: 0.0 -1.12689 0.0793388 0 -0.00385684 -0.00215143 -0.0415815 0.999125 uwb: 0.0 848.331 1161.23 -imu_odom_: 1691062960.24944475 0.385466 -0.299275 9.64384 -0.0692422 -0.0479369 0.0383495 0.18 0 pose: 0.59863468 -1.11424 0.0775056 0 -0.0021384 0.00393552 -0.0413522 0.999135 uwb: 0.0 848.331 1161.23 -imu_odom_: 1691062960.50823734 0.383072 -0.205901 10.1897 -0.0628506 -0.0170442 0.0553937 0.19 0.02 pose: 0.35125435 -1.107 0.0764596 0 -0.00348249 0.0020266 -0.0412885 0.999139 uwb: 0.49903042 848.321 1159.55 -imu_odom_: 1691062960.76773572 0.603339 -0.23942 9.72764 -0.0703074 0.00106526 0.0468716 0.19 0.02 pose: 0.0 -1.107 0.0764596 0 -0.00348249 0.0020266 -0.0412885 0.999139 uwb: 0.0 848.321 1159.55 -imu_odom_: 1691062960.102770658 0.416591 -0.234632 9.81862 -0.056459 -0.00213053 0.0575243 0.2 -0.02 pose: 0.7013595 -1.10434 0.0760754 0 -0.00283163 0.00180289 -0.0412323 0.999144 uwb: 0.50030784 847.323 1157.55 -imu_odom_: 1691062960.128778826 0.31364 -0.3304 9.88326 -0.0372843 0 0.0458064 0.23 -0.02 pose: 0.52867080 -1.09444 0.0746514 0 -0.00103916 -0.000595929-0.0409165 0.999162 uwb: 0.0 847.323 1157.55 -imu_odom_: 1691062960.153883464 0.411803 0.105345 10.24 -0.0596548 -0.02024 0.0426106 0.23 -0.02 pose: 0.0 -1.09444 0.0746514 0 -0.00103916 -0.000595929-0.0409165 0.999162 uwb: 0.0 847.323 1157.55 -imu_odom_: 1691062960.170884609 0.768539 -0.174777 10.319 -0.04048 0.0149137 0.0500674 0.2 0 pose: 0.24985061 -1.09444 0.0746514 0 -0.0007186920.00141909 -0.0407332 0.999169 uwb: 0.0 847.323 1157.55 -imu_odom_: 1691062960.196774368 0.770933 -0.320823 9.9503 -0.0511327 -0.0106526 0.036219 0.2 0 pose: 0.52152829 -1.09444 0.0746514 0 0.000394892 0.00110243 -0.0405894 0.999175 uwb: 0.99931785 847.862 1156.72 -imu_odom_: 1691062960.222760954 0.390255 -0.0837971 9.77074 -0.056459 0.0106526 0.0553937 0.25 0 pose: 0.34811328 -1.08771 0.0736883 0 -0.000308028-0.00223119 -0.040585 0.999174 uwb: 0.0 847.862 1156.72 -imu_odom_: 1691062960.247872299 0.651223 -0.160412 9.43076 -0.0692422 -0.0255663 0.0415453 0.25 0 pose: 0.0 -1.08771 0.0736883 0 -0.000308028-0.00223119 -0.040585 0.999174 uwb: 0.50036034 848.488 1156.07 -imu_odom_: 1691062960.265870304 0.189142 -0.208296 10.0533 -0.0415453 -0.015979 0.0436758 0.2 0 pose: 0.51097931 -1.07766 0.0722525 0 0.001989 -0.00390829 -0.0403554 0.999176 uwb: 0.0 848.488 1156.07 -imu_odom_: 1691062960.290812492 0.481235 -0.304064 9.9934 -0.0458064 -0.0436758 0.0394148 0.2 0 pose: 0.0 -1.07766 0.0722525 0 0.001989 -0.00390829 -0.0403554 0.999176 uwb: 0.49849379 847.747 1153.85 -imu_odom_: 1691062960.315785595 0.682347 -0.25618 10.1658 -0.0426106 0.0330232 0.0447411 0.25 0.02 pose: 0.42940193 -1.0672 0.0707621 0 -0.000374393-0.00328472 -0.0403178 0.999181 uwb: 0.0 847.747 1153.85 -imu_odom_: 1691062960.339764464 0.54109 -0.172383 9.97664 -0.0479369 0.00532632 0.0394148 0.25 0.02 pose: 0.0 -1.0672 0.0707621 0 -0.000374393-0.00328472 -0.0403178 0.999181 uwb: 0.50015619 848.816 1153.84 -imu_odom_: 1691062960.356742569 0.155623 -0.110133 10.1323 -0.0394148 -0.0170442 0.0372843 0.19 0 pose: 0.30914011 -1.06475 0.070413 0 -0.000210397-0.00558333 -0.040255 0.999174 uwb: 0.0 848.816 1153.84 -imu_odom_: 1691062960.382743738 0.205901 -0.342371 9.88805 -0.0436758 -0.0106526 0.0383495 0.19 0 pose: 0.0 -1.06475 0.070413 0 -0.000210397-0.00558333 -0.040255 0.999174 uwb: 0.50137236 848.696 1152.63 -imu_odom_: 1691062960.409763057 1.07978 -0.186748 10.635 -0.0490022 -0.0245011 0.0436758 0.21 0 pose: 0.25006935 -1.05484 0.0690043 0 0.00154997 -0.005903 -0.0402743 0.99917 uwb: 0.0 848.696 1152.63 -imu_odom_: 1691062960.435712604 0.699107 -0.141258 9.9503 -0.052198 0.015979 0.0436758 0.19 -0.05 pose: 0.43033521 -1.05484 0.0690043 0 0.000803456 -0.00354944 -0.0402873 0.999182 uwb: 0.49857253 848.504 1150.96 -imu_odom_: 1691062960.462699257 0.612916 -0.112527 9.4954 -0.072438 -0.0436758 0.0394148 0.23 -0.02 pose: 0.0 -1.05484 0.0690043 0 0.000803456 -0.00354944 -0.0402873 0.999182 uwb: 0.0 848.504 1150.96 -imu_odom_: 1691062960.479701278 0.153229 -0.131681 10.2376 -0.0372843 0.0245011 0.0415453 0.23 -0.02 pose: 0.52960699 -1.04354 0.0774956 0 0.0019167 -0.00863819 -0.0401959 0.999153 uwb: 0.0 848.504 1150.96 -imu_odom_: 1691062960.505792275 0.416591 -0.280122 10.3358 -0.0585895 -0.0298274 0.0532632 0.19 0 pose: 0.0 -1.04354 0.0774956 0 0.0019167 -0.00863819 -0.0401959 0.999153 uwb: 0.50077741 848.127 1149.51 -imu_odom_: 1691062960.530722505 0.6608 -0.208296 10.094 -0.0692422 0.0308927 0.0426106 0.18 0 pose: 0.63064617 -1.02638 0.0750557 0 0.00170588 -0.00680658 -0.040013 0.999175 uwb: 0.49993161 848.322 1148.79 -imu_odom_: 1691062960.556714341 0.56982 -0.222661 10.0126 -0.0671117 0.00106526 0.0415453 0.18 0 pose: 0.0 -1.02638 0.0750557 0 0.00170588 -0.00680658 -0.040013 0.999175 uwb: 0.0 848.322 1148.79 -imu_odom_: 1691062960.582717260 0.035913 -0.253785 9.89045 -0.0468716 0.0149137 0.0415453 0.18 -0.02 pose: 0.6941850 -1.02374 0.0746806 0 0.0014558 -0.00734535 -0.0399999 0.999172 uwb: 0.49879710 848.846 1148.28 -imu_odom_: 1691062960.597857971 0.181959 -0.136469 10.3765 -0.0447411 -0.0213053 0.0511327 0.18 -0.02 pose: 0.0 -1.02374 0.0746806 0 0.0014558 -0.00734535 -0.0399999 0.999172 uwb: 0.0 848.846 1148.28 -imu_odom_: 1691062960.621831882 0.100556 -0.363919 9.73004 -0.0479369 0.0213053 0.0351537 0.17 0.02 pose: 0.51056225 -1.01383 0.0732774 0 -0.00183059 -0.00733189 -0.039912 0.999175 uwb: 0.0 848.846 1148.28 -imu_odom_: 1691062960.648752040 0.0694318 -0.0933739 10.3789 -0.0490022 0 0.0436758 0.17 0.02 pose: 0.0 -1.01383 0.0732774 0 -0.00183059 -0.00733189 -0.039912 0.999175 uwb: 0.49997245 847.709 1145.54 -imu_odom_: 1691062960.673740308 0.308852 -0.287304 10.1107 -0.0426106 -0.0532632 0.0308927 0.19 0 pose: 0.41059927 -1.01383 0.0732774 0 -0.00126579 -0.00321448 -0.039817 0.999201 uwb: 0.0 847.709 1145.54 -imu_odom_: 1691062960.690855781 0.318429 -0.227449 9.55287 -0.0660464 -0.0213053 0.0394148 0.19 0 pose: 0.0 -1.01383 0.0732774 0 -0.00126579 -0.00321448 -0.039817 0.999201 uwb: 0.50114197 848.101 1144.4 -imu_odom_: 1691062960.706741366 0.641646 -0.167594 10.1083 -0.0596548 -0.015979 0.0394148 0.19 0 pose: 0.52107331 -1.00393 0.0718776 0 -0.0009132160.00155074 -0.0398292 0.999205 uwb: 0.0 848.101 1144.4 -imu_odom_: 1691062960.733755726 0.842759 -0.234632 10.003 -0.0553937 -0.00958738 0.0319579 0.19 0 pose: 0.0 -1.00393 0.0718776 0 -0.0009132160.00155074 -0.0398292 0.999205 uwb: 0.49954080 848.257 1143.5 -imu_odom_: 1691062960.758699373 0.667982 -0.177171 9.34457 -0.0436758 0.0447411 0.0351537 0.18 0.02 pose: 0.41907170 -0.994031 0.0704774 0 -0.0008969260.00289436 -0.0398992 0.999199 uwb: 0.0 848.257 1143.5 -imu_odom_: 1691062960.785863058 0.253785 -0.19393 9.54808 -0.056459 0.0117179 0.0319579 0.18 0.02 pose: 0.0 -0.994031 0.0704774 0 -0.0008969260.00289436 -0.0398992 0.999199 uwb: 0.50121488 848.181 1142.07 -imu_odom_: 1691062960.811835645 0.146046 -0.414197 9.71806 -0.0596548 0.0500674 0.0500674 0.19 0 pose: 0.42852115 -0.98413 0.0690752 0 -0.000712386-0.00129016 -0.0400239 0.999198 uwb: 0.0 848.181 1142.07 -imu_odom_: 1691062960.838779134 0.304064 -0.0909797 10.137 -0.0319579 -0.0319579 0.0351537 0.22 0.02 pose: 0.52123955 -0.97423 0.0676695 0 -0.0003559740.00120318 -0.0401257 0.999194 uwb: 0.49931040 848.68 1141.36 -imu_odom_: 1691062960.863834191 0.634463 -0.258574 10.1442 -0.0458064 -0.00852212 0.052198 0.22 0.02 pose: 0.0 -0.97423 0.0676695 0 -0.0003559740.00120318 -0.0401257 0.999194 uwb: 0.0 848.68 1141.36 -imu_odom_: 1691062960.880834462 0.1652 -0.347159 9.65103 -0.0532632 0.0106526 0.0415453 0.23 0.02 pose: 0.25039308 -0.97423 0.0676695 0 -0.0006786510.00317715 -0.040045 0.999193 uwb: 0.49984413 849.494 1140.6 -imu_odom_: 1691062960.905865312 0.260968 -0.201113 9.79947 -0.0639159 -0.0266316 0.0596548 0.23 0.02 pose: 0.51973173 -0.964329 0.066265 0 0.000574116 0.00146 -0.0399179 0.999202 uwb: 0.0 849.494 1140.6 -imu_odom_: 1691062960.932853132 0.459687 -0.189142 10.0556 -0.0532632 -0.0127832 0.04048 0.23 0 pose: 0.35011983 -0.954427 0.0648631 0 0.000407876 0.00456819 -0.0396566 0.999203 uwb: 0.49877085 849.979 1140.14 -imu_odom_: 1691062960.958956670 0.567426 -0.136469 10.1562 -0.0639159 -0.0298274 0.0394148 0.23 0 pose: 0.0 -0.954427 0.0648631 0 0.000407876 0.00456819 -0.0396566 0.999203 uwb: 0.0 849.979 1140.14 -imu_odom_: 1691062960.985855245 0.435745 -0.263362 10.4651 -0.0692422 0.036219 0.0553937 0.25 0 pose: 0.6926392 -0.954427 0.0648631 0 0.000484226 0.00384875 -0.0396531 0.999206 uwb: 0.50125571 850.446 1139.46 -imu_odom_: 1691062961.10758061 0.653617 -0.0957681 10.0437 -0.0553937 -0.0106526 0.0351537 0.18 0.02 pose: 0.53055194 -0.944525 0.0634665 0 0.000564451 -0.00101059 -0.0395864 0.999215 uwb: 0.0 850.446 1139.46 -imu_odom_: 1691062961.27824536 0.672771 -0.126893 9.77074 -0.0543285 -0.0149137 0.0394148 0.21 -0.02 pose: 0.0 -0.944525 0.0634665 0 0.000564451 -0.00101059 -0.0395864 0.999215 uwb: 0.0 850.446 1139.46 -imu_odom_: 1691062961.52818930 0.402226 -0.19393 9.68694 -0.0703074 -0.0255663 0.0436758 0.21 -0.02 pose: 0.0 -0.944525 0.0634665 0 0.000564451 -0.00101059 -0.0395864 0.999215 uwb: 0.49869502 850.776 1138.67 -imu_odom_: 1691062961.79820750 0.605733 -0.272939 9.9096 -0.0628506 0.0255663 0.0490022 0.18 0 pose: 0.51996796 -0.934623 0.062072 0 -3.60484e-05-0.00374934 -0.0394862 0.999213 uwb: 0.49869211 851.002 1138.22 -imu_odom_: 1691062961.104834684 0.577003 -0.246603 9.32063 -0.0607201 0.0447411 0.0351537 0.18 0.02 pose: 0.61977056 -0.917724 0.0596944 0 -0.000786809-0.00452939 -0.0393093 0.999217 uwb: 0.0 851.002 1138.22 -imu_odom_: 1691062961.128701851 0.59855 -0.462081 9.49062 -0.0788296 0.036219 0.056459 0.18 0.02 pose: 0.0 -0.917724 0.0596944 0 -0.000786809-0.00452939 -0.0393093 0.999217 uwb: 0.0 851.002 1138.22 -imu_odom_: 1691062961.145807407 0.251391 -0.430956 10.1107 -0.0671117 0.0234358 0.0468716 0.18 0 pose: 0.7940751 -0.914818 0.0592865 0 -0.0010094 -0.00510027 -0.0393266 0.999213 uwb: 0.50012994 852.006 1138.01 -imu_odom_: 1691062961.171817034 0.622492 -0.0766145 10.0006 -0.0575243 0.0298274 0.0479369 0.18 0 pose: 0.0 -0.914818 0.0592865 0 -0.0010094 -0.00510027 -0.0393266 0.999213 uwb: 0.0 852.006 1138.01 -imu_odom_: 1691062961.197954404 0.265756 -0.282516 10.0652 -0.0351537 -0.00106526 0.0447411 0.18 -0.02 pose: 0.48059523 -0.914818 0.0592865 0 -0.00436736 -0.00575745 -0.0391215 0.999208 uwb: 0.50238149 851.109 1136.2 -imu_odom_: 1691062961.223810915 0.536301 0.0023942 10.1778 -0.0308927 -0.0234358 0.0372843 0.18 -0.02 pose: 0.0 -0.914818 0.0592865 0 -0.00436736 -0.00575745 -0.0391215 0.999208 uwb: 0.0 851.109 1136.2 -imu_odom_: 1691062961.241003966 0.174777 -0.407014 9.69412 -0.0436758 -0.0117179 0.0426106 0.18 0 pose: 0.43025064 -0.904915 0.0579009 0 -0.00255306 -0.00486413 -0.0389701 0.999225 uwb: 0.49994037 850.614 1134.98 -imu_odom_: 1691062961.266949430 0.687136 -0.112527 9.67497 -0.0468716 -0.0394148 0.0394148 0.18 0 pose: 0.0 -0.904915 0.0579009 0 -0.00255306 -0.00486413 -0.0389701 0.999225 uwb: 0.0 850.614 1134.98 -imu_odom_: 1691062961.291806748 0.562637 -0.1652 9.7037 -0.0543285 -0.0628506 0.0500674 0.19 0 pose: 0.88103342 -0.883724 0.0650394 0 0.000630398 -0.00542731 -0.0389276 0.999227 uwb: 0.50067241 850.373 1134.26 -imu_odom_: 1691062961.317683091 0.555455 -0.191536 10.3837 -0.0639159 -0.036219 0.04048 0.19 0 pose: 0.7770719 -0.883724 0.0650394 0 0.00099636 -0.00633842 -0.0388884 0.999223 uwb: 0.0 850.373 1134.26 -imu_odom_: 1691062961.334813438 0.435745 -0.237026 9.69891 -0.0628506 0.0170442 0.036219 0.2 0.02 pose: 0.0 -0.883724 0.0650394 0 0.00099636 -0.00633842 -0.0388884 0.999223 uwb: 0.49853170 849.893 1133.04 -imu_odom_: 1691062961.359663756 0.629675 -0.241814 10.0556 -0.0617853 -0.0149137 0.0426106 0.2 0.02 pose: 0.42962942 -0.87382 0.0636578 0 -0.00023454 -0.00700298 -0.03878 0.999223 uwb: 0.0 849.893 1133.04 -imu_odom_: 1691062961.384701898 0.509965 -0.306458 10.0221 -0.04048 -0.0181095 0.0447411 0.19 0 pose: 0.41980665 -0.866418 0.0626267 0 -0.00116466 -0.00770128 -0.0387682 0.999218 uwb: 0.49949415 849.688 1132.06 -imu_odom_: 1691062961.408727431 0.493206 -0.356736 9.8282 -0.0394148 -0.0106526 0.04048 0.19 0 pose: 0.0 -0.866418 0.0626267 0 -0.00116466 -0.00770128 -0.0387682 0.999218 uwb: 0.0 849.688 1132.06 -imu_odom_: 1691062961.432674218 0.52433 -0.0670376 10.2137 -0.0415453 -0.02024 0.0330232 0.25 -0.02 pose: 0.49063675 -0.856915 0.0613051 0 -0.00503893 -0.00552062 -0.038655 0.999225 uwb: 0.49982371 849.391 1130.92 -imu_odom_: 1691062961.447670854 0.383072 -0.351948 9.98143 -0.0585895 -0.0596548 0.0511327 0.25 -0.02 pose: 0.0 -0.856915 0.0613051 0 -0.00503893 -0.00552062 -0.038655 0.999225 uwb: 0.0 849.391 1130.92 -imu_odom_: 1691062961.472804948 0.409408 -0.263362 10.0102 -0.0351537 -0.02024 0.0436758 0.17 -0.02 pose: 0.38943423 -0.84881 0.0601786 0 -0.00332106 -0.00500553 -0.0386508 0.999235 uwb: 0.0 849.391 1130.92 -imu_odom_: 1691062961.499792185 0.105345 -0.0885855 9.58638 -0.0553937 0.0276969 0.0532632 0.17 -0.02 pose: 0.7211626 -0.844106 0.0595249 0 -0.00312482 -0.00435567 -0.0386339 0.999239 uwb: 0.50164361 849.642 1130.02 -imu_odom_: 1691062961.515715393 0.234632 -0.464475 9.91678 -0.0649811 0.00106526 0.0468716 0.19 0 pose: 0.17922468 -0.844106 0.0595249 0 -0.00263711 -0.00274063 -0.0385918 0.999248 uwb: 0.0 849.642 1130.02 -imu_odom_: 1691062961.542652758 0.454898 -0.234632 10.1035 -0.0490022 -0.00958738 0.0372843 0.19 0 pose: 0.34957737 -0.834201 0.0581511 0 -0.00198822 0.000588791 -0.0383762 0.999261 uwb: 0.49852003 849.405 1128.4 -imu_odom_: 1691062961.558666669 0.648829 -0.0287304 9.67018 -0.0692422 -0.00852212 0.0500674 0.25 0 pose: 0.0 -0.834201 0.0581511 0 -0.00198822 0.000588791 -0.0383762 0.999261 uwb: 0.0 849.405 1128.4 -imu_odom_: 1691062961.575780392 0.521936 -0.409408 10.0509 -0.0628506 0.0191748 0.0575243 0.25 0 pose: 0.0 -0.834201 0.0581511 0 -0.00198822 0.000588791 -0.0383762 0.999261 uwb: 0.0 849.405 1128.4 -imu_odom_: 1691062961.592777163 0.586579 -0.0957681 10.3837 -0.0649811 -0.0266316 0.0394148 0.19 0 pose: 0.15052633 -0.834201 0.0581511 0 -0.00234601 0.000439674 -0.0383562 0.999261 uwb: 0.49975663 848.912 1127.01 -imu_odom_: 1691062961.607677846 -0.071826 0.023942 10.0652 -0.0479369 -0.0106526 0.052198 0.19 0 pose: 0.52965074 -0.824295 0.0567801 0 -0.00223919 -0.00296327 -0.038145 0.999265 uwb: 0.0 848.912 1127.01 -imu_odom_: 1691062961.632778692 -0.0622492 -0.37589 9.9096 -0.0607201 0.015979 0.036219 0.19 0 pose: 0.0 -0.824295 0.0567801 0 -0.00223919 -0.00296327 -0.038145 0.999265 uwb: 0.50011828 848.616 1126.13 -imu_odom_: 1691062961.657907828 0.335188 -0.323217 10.058 -0.0415453 -0.00958738 0.0447411 0.23 -0.05 pose: 0.7924419 -0.824295 0.0567801 0 -0.0016633 -0.00354754 -0.0381485 0.999264 uwb: 0.0 848.616 1126.13 -imu_odom_: 1691062961.683671594 0.387861 -0.179565 9.86411 -0.0553937 -0.0255663 0.0490022 0.2 0 pose: 0.74203017 -0.807476 0.0544604 0 -0.00268151 0.00134941 -0.0380328 0.999272 uwb: 0.49866295 848.543 1124.85 -imu_odom_: 1691062961.700895269 0.620098 -0.131681 10.0868 -0.0585895 0.015979 0.0340885 0.2 0 pose: 0.0 -0.807476 0.0544604 0 -0.00268151 0.00134941 -0.0380328 0.999272 uwb: 0.0 848.543 1124.85 -imu_odom_: 1691062961.725719923 0.234632 -0.071826 10.0413 -0.0649811 -0.00532632 0.0543285 0.21 0 pose: 0.32962852 -0.804483 0.0540482 0 7.90742e-05 0.000104992 -0.0379282 0.99928 uwb: 0.0 848.543 1124.85 -imu_odom_: 1691062961.752726117 0.507571 -0.557849 10.2472 -0.0607201 0.0170442 0.0276969 0.23 0 pose: 0.34849243 -0.797469 0.0530835 0 0.00180945 0.00119027 -0.0377746 0.999284 uwb: 0.50104864 848.927 1124.54 -imu_odom_: 1691062961.777703303 0.129287 -0.258574 9.87369 -0.0458064 0.015979 0.036219 0.23 0 pose: 0.6941850 -0.794576 0.0526866 0 0.00112891 0.00106471 -0.0378161 0.999284 uwb: 0.0 848.927 1124.54 -imu_odom_: 1691062961.804953026 0.806846 -0.339977 10.0844 -0.0628506 -0.0660464 0.0351537 0.22 0 pose: 0.45041530 -0.787565 0.051724 0 -0.0008728980.00344329 -0.0379761 0.999272 uwb: 0.50121196 848.773 1123.34 -imu_odom_: 1691062961.830644754 0.579397 -0.253785 9.48583 -0.0426106 0.036219 0.0372843 0.22 0 pose: 0.0 -0.787565 0.051724 0 -0.0008728980.00344329 -0.0379761 0.999272 uwb: 0.49955248 849.007 1122.27 -imu_odom_: 1691062961.847708896 0.292093 -0.316035 9.92875 -0.0458064 0.00745685 0.0383495 0.25 0 pose: 0.52941451 -0.777563 0.0503464 0 -0.00172351 -0.00207933 -0.0380747 0.999271 uwb: 0.0 849.007 1122.27 -imu_odom_: 1691062961.872639127 0.316035 -0.332794 9.92397 -0.0351537 -0.00852212 0.0468716 0.25 0 pose: 0.0 -0.777563 0.0503464 0 -0.00172351 -0.00207933 -0.0380747 0.999271 uwb: 0.0 849.007 1122.27 -imu_odom_: 1691062961.897779346 0.555455 -0.40462 10.0078 -0.0500674 -0.0308927 0.0500674 0.21 0.02 pose: 0.41994373 -0.767752 0.0489942 0 -0.00346831 0.00157571 -0.0379847 0.999271 uwb: 0.49908875 848.808 1121.35 -imu_odom_: 1691062961.921767256 0.579397 -0.181959 10.2041 -0.0468716 0.02024 0.0490022 0.21 0.02 pose: 0.7008055 -0.764856 0.0485956 0 -0.00386361 0.000912749 -0.0379502 0.999272 uwb: 0.0 848.808 1121.35 -imu_odom_: 1691062961.937712046 0.454898 -0.11971 10.0197 -0.056459 -0.00852212 0.0596548 0.2 0.02 pose: 0.25447909 -0.764856 0.0485956 0 -0.00440463 -0.00129307 -0.0378303 0.999274 uwb: 0.50147154 848.522 1119.85 -imu_odom_: 1691062961.964768404 0.466869 -0.071826 9.90002 -0.052198 0 0.04048 0.2 0.02 pose: 0.0 -0.764856 0.0485956 0 -0.00440463 -0.00129307 -0.0378303 0.999274 uwb: 0.0 848.522 1119.85 -imu_odom_: 1691062961.989632139 0.260968 -0.339977 9.64624 -0.0585895 -0.0127832 0.0500674 0.23 0 pose: 0.24563335 -0.754949 0.0472356 0 -0.00252306 -0.00246506 -0.037683 0.999284 uwb: 0.50028160 848.347 1119.12 -imu_odom_: 1691062962.6824898 0.21069 -0.0407014 10.1801 -0.0553937 -0.00319579 0.0490022 0.23 0 pose: 0.0 -0.754949 0.0472356 0 -0.00252306 -0.00246506 -0.037683 0.999284 uwb: 0.0 848.347 1119.12 -imu_odom_: 1691062962.31671426 0.514753 -0.102951 9.9503 -0.0703074 -0.0351537 0.0436758 0.23 0.02 pose: 0.67001308 -0.745041 0.0458797 0 2.8413e-05 -0.000319163-0.0374348 0.999299 uwb: 0.50034285 848.26 1118.13 -imu_odom_: 1691062962.56773438 0.708684 0.0383072 10.2448 -0.0585895 -0.0319579 0.0532632 0.21 0.02 pose: 0.0 -0.745041 0.0458797 0 2.8413e-05 -0.000319163-0.0374348 0.999299 uwb: 0.0 848.26 1118.13 -imu_odom_: 1691062962.82658531 0.639252 -0.0861913 10.3908 -0.0500674 -0.00532632 0.0383495 0.21 0.02 pose: 0.35011692 -0.738339 0.0449646 0 0.00201663 -0.00193625 -0.0373343 0.999299 uwb: 0.49990538 848.132 1116.95 -imu_odom_: 1691062962.107643301 0.471658 -0.272939 9.71567 -0.0596548 -0.0117179 0.0436758 0.21 0 pose: 0.8133240 -0.735133 0.0445276 0 0.00247854 -0.00270723 -0.0372784 0.999298 uwb: 0.0 848.132 1116.95 -imu_odom_: 1691062962.123635630 0.617704 -0.007182619.69891 -0.0745685 -0.0500674 0.0394148 0.21 0 pose: 0.0 -0.735133 0.0445276 0 0.00247854 -0.00270723 -0.0372784 0.999298 uwb: 0.0 848.132 1116.95 -imu_odom_: 1691062962.149689587 0.591368 -0.47884 9.69173 -0.072438 -0.00319579 0.0553937 0.18 0.02 pose: 0.49871836 -0.723875 0.0530868 0 0.00364435 -0.00653536 -0.0371547 0.999282 uwb: 0.49684597 847.704 1115.18 -imu_odom_: 1691062962.174766227 0.718261 -0.191536 9.76355 -0.0532632 -0.0330232 0.0340885 0.18 0.02 pose: 0.0 -0.723875 0.0530868 0 0.00364435 -0.00653536 -0.0371547 0.999282 uwb: 0.0 847.704 1115.18 -imu_odom_: 1691062962.198760845 0.337582 -0.215478 10.0963 -0.0607201 0 0.0607201 0.22 0.02 pose: 0.41956750 -0.723875 0.0530868 0 0.00225486 -0.00721865 -0.0370508 0.999285 uwb: 0.50034868 848.403 1115.28 -imu_odom_: 1691062962.216771391 0.73502 -0.270545 9.61272 -0.0735032 -0.015979 0.0490022 0.22 0.02 pose: 0.0 -0.723875 0.0530868 0 0.00225486 -0.00721865 -0.0370508 0.999285 uwb: 0.0 848.403 1115.28 -imu_odom_: 1691062962.240764843 0.502782 -0.220267 9.80426 -0.0735032 0.0117179 0.0415453 0.18 -0.02 pose: 0.50044493 -0.713966 0.0517414 0 0.000365181 -0.00959503 -0.036891 0.999273 uwb: 0.50052368 848.66 1114.04 -imu_odom_: 1691062962.267768996 0.711078 -0.296881 9.9096 -0.0479369 -0.0276969 0.0436758 0.18 -0.02 pose: 0.0 -0.713966 0.0517414 0 0.000365181 -0.00959503 -0.036891 0.999273 uwb: 0.0 848.66 1114.04 -imu_odom_: 1691062962.292710018 1.02232 -0.383072 10.058 -0.0426106 -0.0372843 0.0276969 0.19 0 pose: 0.42097326 -0.704056 0.0503993 0 -0.000615164-0.00885726 -0.0366157 0.99929 uwb: 0.49963706 849.309 1113.76 -imu_odom_: 1691062962.317675830 1.17795 -0.122104 10.1011 -0.0511327 0.0319579 0.0383495 0.23 0 pose: 0.51902011 -0.694146 0.0490629 0 -0.00202757 -0.010652 -0.0365817 0.999272 uwb: 0.0 849.309 1113.76 -imu_odom_: 1691062962.331698064 0.54109 -0.253785 10.1442 -0.0490022 0.0170442 0.0458064 0.23 0 pose: 0.0 -0.694146 0.0490629 0 -0.00202757 -0.010652 -0.0365817 0.999272 uwb: 0.49990829 849.509 1113.2 -imu_odom_: 1691062962.347618064 0.304064 -0.337582 9.95509 -0.0372843 -0.0106526 0.04048 0.23 0 pose: 0.0 -0.694146 0.0490629 0 -0.00202757 -0.010652 -0.0365817 0.999272 uwb: 0.0 849.509 1113.2 -imu_odom_: 1691062962.371776589 0.112527 -0.277727 9.78989 -0.0617853 0.00426106 0.0500674 0.19 0 pose: 0.71940982 -0.678756 0.0469874 0 -0.00213424 -0.0114814 -0.0366423 0.99926 uwb: 0.0 849.509 1113.2 -imu_odom_: 1691062962.396805398 0.268151 -0.428562 9.92875 -0.0660464 -0.00639159 0.0394148 0.19 0 pose: 0.7147463 -0.674326 0.0463899 0 -0.00217191 -0.0107354 -0.0366038 0.99927 uwb: 0.49941832 849.809 1112.77 -imu_odom_: 1691062962.423718265 0.363919 -0.454898 9.75158 -0.0532632 0.0181095 0.0394148 0.23 0 pose: 0.42039871 -0.667641 0.0454902 0 -0.00354552 -0.00675613 -0.0365004 0.999305 uwb: 0.0 849.809 1112.77 -imu_odom_: 1691062962.439633307 0.213084 -0.282516 9.62708 -0.0500674 0.0245011 0.0351537 0.23 0 pose: 0.0 -0.667641 0.0454902 0 -0.00354552 -0.00675613 -0.0365004 0.999305 uwb: 0.49999288 849.643 1111.87 -imu_odom_: 1691062962.465613769 1.00078 -0.390255 10.4459 -0.0468716 -0.0191748 0.052198 0.19 0.02 pose: 0.34857409 -0.664415 0.0450561 0 -0.0052243 -0.00361149 -0.0364987 0.999314 uwb: 0.0 849.643 1111.87 -imu_odom_: 1691062962.490663576 1.08697 -0.531513 9.34217 -0.0543285 0.072438 0.0436758 0.19 0.02 pose: 0.0 -0.664415 0.0450561 0 -0.0052243 -0.00361149 -0.0364987 0.999314 uwb: 0.50052659 850.098 1111.33 -imu_odom_: 1691062962.514661402 -0.0047884 -0.418985 9.17698 -0.0276969 -0.0138484 0.052198 0.19 0.02 pose: 0.40965433 -0.654504 0.0437232 0 -0.00568149 -0.00584405 -0.0363484 0.999306 uwb: 0.0 850.098 1111.33 -imu_odom_: 1691062962.537667911 0.361524 -0.105345 9.90721 -0.00958738 -0.00106526 0.0500674 0.18 -0.02 pose: 0.0 -0.654504 0.0437232 0 -0.00568149 -0.00584405 -0.0363484 0.999306 uwb: 0.49994912 850.304 1110.37 -imu_odom_: 1691062962.551596525 0.737414 -0.196325 10.319 -0.0394148 -0.0372843 0.0479369 0.18 -0.02 pose: 0.49052591 -0.644593 0.0423938 0 -0.00557326 -0.00422451 -0.0361121 0.999323 uwb: 0.0 850.304 1110.37 -imu_odom_: 1691062962.568642002 0.59855 -0.205901 9.42597 -0.0628506 0.00106526 0.0553937 0.18 -0.02 pose: 0.0 -0.644593 0.0423938 0 -0.00557326 -0.00422451 -0.0361121 0.999323 uwb: 0.0 850.304 1110.37 -imu_odom_: 1691062962.593615106 0.318429 -0.11971 9.92636 -0.072438 0.00852212 0.0490022 0.2 0 pose: 0.46961171 -0.634681 0.0410678 0 -0.00244747 -0.00641911 -0.0358504 0.999334 uwb: 0.50141029 850.17 1109.06 -imu_odom_: 1691062962.617656388 0.677559 -0.141258 9.97185 -0.0735032 -0.0436758 0.0415453 0.2 0 pose: 0.0 -0.634681 0.0410678 0 -0.00244747 -0.00641911 -0.0358504 0.999334 uwb: 0.0 850.17 1109.06 -imu_odom_: 1691062962.642718153 1.00556 -0.292093 9.87129 -0.0713727 -0.0117179 0.0607201 0.23 0 pose: 0.49014386 -0.627689 0.0401375 0 -0.000462594-0.00686912 -0.0357225 0.999338 uwb: 0.49883211 850.686 1109.08 -imu_odom_: 1691062962.667783418 0.122104 -0.0981623 10.0485 -0.0543285 0.0213053 0.0319579 0.19 -0.02 pose: 0.0 -0.627689 0.0401375 0 -0.000462594-0.00686912 -0.0357225 0.999338 uwb: 0.0 850.686 1109.08 -imu_odom_: 1691062962.691724664 0.335188 -0.301669 9.77313 -0.0575243 -0.0532632 0.0468716 0.19 -0.02 pose: 0.32021697 -0.624769 0.039749 0 -0.000923595-0.00866481 -0.0354843 0.999332 uwb: 0.49972164 849.973 1107.61 -imu_odom_: 1691062962.706660054 0.818817 -0.169988 10.173 -0.056459 -0.0585895 0.0298274 0.19 -0.02 pose: 0.0 -0.624769 0.039749 0 -0.000923595-0.00866481 -0.0354843 0.999332 uwb: 0.0 849.973 1107.61 -imu_odom_: 1691062962.730708335 0.950498 -0.107739 10.1754 -0.0596548 -0.00213053 0.0490022 0.18 -0.02 pose: 0.49182085 -0.614855 0.0384351 0 -0.00115249 -0.00595766 -0.0354997 0.999351 uwb: 0.50194109 849.773 1105.98 -imu_odom_: 1691062962.754580752 0.754174 -0.268151 9.64384 -0.0575243 -0.0138484 0.0458064 0.22 0 pose: 0.31848165 -0.604942 0.0371209 0 -0.000468994-0.00923724 -0.0354321 0.999329 uwb: 0.0 849.773 1105.98 -imu_odom_: 1691062962.771633520 0.548272 -0.217872 9.97903 -0.0639159 0.0266316 0.0351537 0.22 0 pose: 0.0 -0.604942 0.0371209 0 -0.000468994-0.00923724 -0.0354321 0.999329 uwb: 0.0 849.773 1105.98 -imu_odom_: 1691062962.796586208 0.526724 -0.56982 9.25598 -0.076699 0.0191748 0.0500674 0.18 0 pose: 0.6944475 -0.604942 0.0371209 0 -0.000695352-0.00992988 -0.0354086 0.999323 uwb: 0.50227941 850.026 1105.8 -imu_odom_: 1691062962.821728469 0.778116 -0.54109 10.0533 -0.0703074 0.00639159 0.0308927 0.18 0 pose: 0.0 -0.604942 0.0371209 0 -0.000695352-0.00992988 -0.0354086 0.999323 uwb: 0.0 850.026 1105.8 -imu_odom_: 1691062962.846612327 0.275333 -0.217872 9.94791 -0.0415453 -0.00852212 0.04048 0.19 0 pose: 0.40938310 -0.595028 0.0358093 0 -0.00174253 -0.00945962 -0.0353501 0.999329 uwb: 0.49631808 850.628 1105.37 -imu_odom_: 1691062962.871659218 0.337582 -0.203507 9.75158 -0.0607201 -0.0809601 0.036219 0.19 0 pose: 0.0 -0.595028 0.0358093 0 -0.00174253 -0.00945962 -0.0353501 0.999329 uwb: 0.0 850.628 1105.37 -imu_odom_: 1691062962.888709945 0.402226 -0.368707 9.86172 -0.0511327 0.0245011 0.0415453 0.18 0 pose: 0.51025603 -0.585115 0.0344986 0 -0.00561752 -0.00947989 -0.0353322 0.999315 uwb: 0.50030202 850.156 1103.95 -imu_odom_: 1691062962.911709162 1.04627 -0.371101 10.4076 -0.0671117 0.0276969 0.0394148 0.18 0 pose: 0.0 -0.585115 0.0344986 0 -0.00561752 -0.00947989 -0.0353322 0.999315 uwb: 0.0 850.156 1103.95 -imu_odom_: 1691062962.936578438 0.639252 -0.234632 9.81862 -0.0479369 0.0351537 0.0415453 0.2 0 pose: 0.50017953 -0.573891 0.0431021 0 -0.00428683 -0.00582855 -0.0353438 0.999349 uwb: 0.49981789 850.272 1102.91 -imu_odom_: 1691062962.959612361 0.474052 -0.227449 9.93354 -0.0628506 -0.0138484 0.0553937 0.2 0 pose: 0.0 -0.573891 0.0431021 0 -0.00428683 -0.00582855 -0.0353438 0.999349 uwb: 0.0 850.272 1102.91 -imu_odom_: 1691062962.973778671 0.047884 -0.184354 9.93115 -0.0511327 -0.00426106 0.0468716 0.19 0 pose: 0.39961282 -0.573891 0.0431021 0 -0.00469688 -0.00730419 -0.0353413 0.999338 uwb: 0.0 850.272 1102.91 -imu_odom_: 1691062962.998643572 0.459687 -0.198719 10.0628 -0.0628506 -0.00106526 0.0500674 0.19 0 pose: 0.0 -0.573891 0.0431021 0 -0.00469688 -0.00730419 -0.0353413 0.999338 uwb: 0.50172819 850.138 1102.04 -imu_odom_: 1691062963.23617842 0.181959 -0.35913 9.71567 -0.0511327 0.00319579 0.0436758 0.18 0 pose: 0.46074554 -0.563977 0.0417916 0 -0.00242441 -0.00589744 -0.0351384 0.999362 uwb: 0.0 850.138 1102.04 -imu_odom_: 1691062963.47573379 0.263362 -0.0909797 9.84256 -0.0543285 -0.0436758 0.0628506 0.18 0 pose: 0.0 -0.563977 0.0417916 0 -0.00242441 -0.00589744 -0.0351384 0.999362 uwb: 0.49812631 850.217 1100.84 -imu_odom_: 1691062963.65627965 0.830788 -0.102951 9.9096 -0.0479369 -0.0287621 0.0436758 0.25 0 pose: 0.39921326 -0.554063 0.0404847 0 -0.00062513 -0.00289514 -0.0349698 0.999384 uwb: 0.0 850.217 1100.84 -imu_odom_: 1691062963.81555548 0.117316 -0.323217 9.4571 -0.0671117 0.00745685 0.0458064 0.25 0 pose: 0.0 -0.554063 0.0404847 0 -0.00062513 -0.00289514 -0.0349698 0.999384 uwb: 0.49912668 850.185 1099.72 -imu_odom_: 1691062963.107550593 0.490811 -0.301669 9.55765 -0.0607201 -0.00958738 0.036219 0.25 0 pose: 0.75963710 -0.538893 0.0384935 0 0.000167826 -0.000322045-0.0345635 0.999402 uwb: 0.0 850.185 1099.72 -imu_odom_: 1691062963.131711160 0.0622492 -0.143652 10.1275 -0.0937433 -0.0117179 0.076699 0.25 0 pose: 0.7012721 -0.534233 0.0378845 0 -0.000387807-0.000791987-0.034575 0.999402 uwb: 0.49937749 850.494 1099.33 -imu_odom_: 1691062963.154594300 0.514753 -0.241814 9.8282 -0.0777643 -0.0106526 0.0298274 0.21 0 pose: 0.43142891 -0.527224 0.0369685 0 -0.00162737 0.000165495 -0.0341561 0.999415 uwb: 0.0 850.494 1099.33 -imu_odom_: 1691062963.179596569 0.857124 -0.368707 9.89045 -0.0745685 -0.0298274 0.0543285 0.21 0 pose: 0.0 -0.527224 0.0369685 0 -0.00162737 0.000165495 -0.0341561 0.999415 uwb: 0.50078325 850.401 1097.89 -imu_odom_: 1691062963.193588472 0.826 -0.134075 9.82102 -0.0894822 -0.0319579 0.0585895 0.18 0.02 pose: 0.0 -0.527224 0.0369685 0 -0.00162737 0.000165495 -0.0341561 0.999415 uwb: 0.0 850.401 1097.89 -imu_odom_: 1691062963.217712583 0.0383072 -0.198719 9.7037 -0.0426106 -0.0234358 0.0276969 0.18 0.02 pose: 0.47885409 -0.524317 0.036591 0 -0.00290421 -0.00487838 -0.0340891 0.999403 uwb: 0.0 850.401 1097.89 -imu_odom_: 1691062963.243578427 0.442927 -0.100556 10.386 -0.0575243 -0.0308927 0.0543285 0.21 0 pose: 0.38116014 -0.5144 0.0353062 0 -0.0021281 -0.00423335 -0.0341011 0.999407 uwb: 0.49983830 850.659 1097.72 -imu_odom_: 1691062963.268605777 0.260968 -0.292093 10.2855 -0.0575243 0.00426106 0.0511327 0.21 0 pose: 0.0 -0.5144 0.0353062 0 -0.0021281 -0.00423335 -0.0341011 0.999407 uwb: 0.0 850.659 1097.72 -imu_odom_: 1691062963.293641002 0.627281 -0.177171 9.7875 -0.0756338 0.00639159 0.0490022 0.19 -0.02 pose: 0.50893194 -0.504482 0.0340207 0 -0.000534774-0.00141828 -0.0337724 0.999428 uwb: 0.50001621 850.718 1096.94 -imu_odom_: 1691062963.309564502 0.442927 -0.299275 9.84975 -0.0788296 0.0117179 0.0426106 0.19 -0.02 pose: 0.0 -0.504482 0.0340207 0 -0.000534774-0.00141828 -0.0337724 0.999428 uwb: 0.0 850.718 1096.94 -imu_odom_: 1691062963.333673739 0.277727 -0.550666 9.75398 -0.0479369 -0.00639159 0.04048 0.19 0 pose: 0.32040072 -0.494565 0.0327415 0 -0.00100652 -0.00338763 -0.033644 0.999428 uwb: 0.49952916 850.677 1094.94 -imu_odom_: 1691062963.358571014 0.567426 -0.622492 9.62948 -0.04048 -0.0170442 0.0383495 0.19 0 pose: 0.0 -0.494565 0.0327415 0 -0.00100652 -0.00338763 -0.033644 0.999428 uwb: 0.0 850.677 1094.94 -imu_odom_: 1691062963.372553292 0.517148 0.011971 9.77074 -0.0607201 -0.0298274 0.0479369 0.25 0 pose: 0.40967766 -0.494565 0.0327415 0 -0.00454525 -0.00196973 -0.0336123 0.999423 uwb: 0.0 850.677 1094.94 -imu_odom_: 1691062963.395697459 0.445322 -0.0957681 10.173 -0.0532632 -0.0426106 0.0500674 0.25 0 pose: 0.0 -0.494565 0.0327415 0 -0.00454525 -0.00196973 -0.0336123 0.999423 uwb: 0.49991996 850.339 1093.33 -imu_odom_: 1691062963.420611066 0.550666 -0.158017 10.07 -0.0447411 -0.0394148 0.0351537 0.19 0 pose: 0.37945398 -0.484646 0.0314648 0 -0.00399495 -0.00318622 -0.0335321 0.999425 uwb: 0.0 850.339 1093.33 -imu_odom_: 1691062963.445583003 0.706289 -0.328006 10.2831 -0.0500674 -0.0436758 0.0500674 0.19 0 pose: 0.0 -0.484646 0.0314648 0 -0.00399495 -0.00318622 -0.0335321 0.999425 uwb: 0.50001912 850.985 1092.39 -imu_odom_: 1691062963.462676019 0.548272 -0.110133 9.79947 -0.072438 -0.0191748 0.0500674 0.18 0 pose: 0.48067108 -0.474728 0.0301898 0 -0.000698612-0.00614338 -0.0334756 0.99942 uwb: 0.0 850.985 1092.39 -imu_odom_: 1691062963.487619666 0.462081 -0.308852 9.49301 -0.0671117 -0.0234358 0.04048 0.18 0 pose: 0.0 -0.474728 0.0301898 0 -0.000698612-0.00614338 -0.0334756 0.99942 uwb: 0.50052952 850.805 1091.78 -imu_odom_: 1691062963.513613253 0.23942 -0.37589 9.65821 -0.0479369 -0.00426106 0.0340885 0.18 -0.02 pose: 0.42962068 -0.46481 0.0289157 0 -0.000657077-0.00757459 -0.0332935 0.999417 uwb: 0.0 850.805 1091.78 -imu_odom_: 1691062963.538562150 0.560243 -0.416591 9.84975 -0.0426106 -0.0298274 0.0447411 0.18 0.02 pose: 0.24187107 -0.46481 0.0289157 0 -0.00220861 -0.00586362 -0.0332937 0.999426 uwb: 0.50290937 851.49 1092.26 -imu_odom_: 1691062963.555695413 0.490811 -0.0383072 10.0365 -0.0426106 0.00639159 0.0426106 0.18 0.02 pose: 0.0 -0.46481 0.0289157 0 -0.00220861 -0.00586362 -0.0332937 0.999426 uwb: 0.0 851.49 1092.26 -imu_odom_: 1691062963.579559955 0.653617 -0.162806 10.4244 -0.0436758 -0.0170442 0.0330232 0.18 0 pose: 0.25771932 -0.454891 0.0276452 0 -0.00343202 -0.00449766 -0.0333169 0.999429 uwb: 0.49658058 851.132 1091.22 -imu_odom_: 1691062963.604582640 1.01754 -0.143652 9.76834 -0.0500674 -0.0106526 0.0479369 0.18 0 pose: 0.0 -0.454891 0.0276452 0 -0.00343202 -0.00449766 -0.0333169 0.999429 uwb: 0.0 851.132 1091.22 -imu_odom_: 1691062963.630640681 0.756568 -0.299275 10.1778 -0.0500674 0.0223706 0.0447411 0.18 -0.02 pose: 0.42039288 -0.444972 0.0263751 0 -0.00268258 -0.00589995 -0.0332736 0.999425 uwb: 0.50033702 850.933 1089.56 -imu_odom_: 1691062963.647680616 -0.134075 -0.155623 9.54089 -0.0575243 -0.02024 0.0596548 0.18 -0.02 pose: 0.0 -0.444972 0.0263751 0 -0.00268258 -0.00589995 -0.0332736 0.999425 uwb: 0.0 850.933 1089.56 -imu_odom_: 1691062963.665741910 0.442927 0.189142 10.1203 -0.0468716 -0.0106526 0.116114 0.18 0.08 pose: 0.50182444 -0.435052 0.0251054 0 -0.00141641 -0.0105421 -0.0332146 0.999392 uwb: 0.0 850.933 1089.56 -imu_odom_: 1691062963.679608111 0.0526724 -0.476446 9.36851 -0.0585895 -0.0351537 0.171508 0.18 0.08 pose: 0.0 -0.435052 0.0251054 0 -0.00141641 -0.0105421 -0.0332146 0.999392 uwb: 0.50031077 850.938 1088.51 -imu_odom_: 1691062963.696547428 0.574608 -0.296881 9.87608 -0.0596548 -0.0479369 0.229032 0.18 0.08 pose: 0.0 -0.435052 0.0251054 0 -0.00141641 -0.0105421 -0.0332146 0.999392 uwb: 0.0 850.938 1088.51 -imu_odom_: 1691062963.710665615 0.861913 -0.325611 9.87129 -0.0735032 0.00426106 0.286556 0.19 0.26 pose: 0.42992399 -0.433761 0.0350218 0 -0.00112633 -0.0101206 -0.0326887 0.999414 uwb: 0.0 850.938 1088.51 -imu_odom_: 1691062963.728656620 0.409408 -0.323217 9.8665 -0.056459 0.0106526 0.333428 0.19 0.26 pose: 0.0 -0.433761 0.0350218 0 -0.00112633 -0.0101206 -0.0326887 0.999414 uwb: 0.0 850.938 1088.51 -imu_odom_: 1691062963.745595645 0.134075 -0.35913 9.98622 -0.0553937 -0.0117179 0.372843 0.19 0.26 pose: 0.0 -0.433761 0.0350218 0 -0.00112633 -0.0101206 -0.0326887 0.999414 uwb: 0.49990830 850.604 1087.47 -imu_odom_: 1691062963.762540794 0.272939 -0.390255 9.81144 -0.0735032 -0.0106526 0.410127 0.19 0.35 pose: 0.47943156 -0.423854 0.0336642 0 -0.00277856 -0.00974183 -0.0288947 0.999531 uwb: 0.0 850.604 1087.47 -imu_odom_: 1691062963.780595088 0.174777 -0.1652 9.52413 -0.0383495 -0.00213053 0.442085 0.18 0.38 pose: 0.0 -0.423854 0.0336642 0 -0.00277856 -0.00974183 -0.0288947 0.999531 uwb: 0.49957582 850.725 1086.88 -imu_odom_: 1691062963.797766266 0.452504 -0.311246 9.93354 -0.0575243 -0.0191748 0.494283 0.18 0.38 pose: 0.66913231 -0.404026 0.0310454 0 -0.00417627 -0.00456011 -0.0177802 0.999823 uwb: 0.0 850.725 1086.88 -imu_odom_: 1691062963.813543066 0.85473 -0.488417 10.1658 -0.0415453 -0.0223706 0.516653 0.2 0.5 pose: 0.0 -0.404026 0.0310454 0 -0.00417627 -0.00456011 -0.0177802 0.999823 uwb: 0.0 850.725 1086.88 -imu_odom_: 1691062963.830530796 0.730232 -0.31364 9.76834 -0.056459 0.0106526 0.528371 0.2 0.5 pose: 0.0 -0.404026 0.0310454 0 -0.00417627 -0.00456011 -0.0177802 0.999823 uwb: 0.50105740 849.808 1084.46 -imu_odom_: 1691062963.846592246 0.687136 0.1652 10.1658 -0.0468716 -0.0266316 0.56246 0.2 0.5 pose: 0.33989459 -0.404026 0.0310454 0 -0.00523075 -0.00323269 -0.0102276 0.999929 uwb: 0.0 849.808 1084.46 -imu_odom_: 1691062963.863538270 0.577003 -0.732626 10.1754 -0.0543285 0.0372843 0.597613 0.25 0.7 pose: 0.41985041 -0.394123 0.0297209 0 -0.00397142 -0.00635553 0.000231269 0.999972 uwb: 0.0 849.808 1084.46 -imu_odom_: 1691062963.879528850 0.409408 -0.399832 10.2472 -0.0394148 0.00639159 0.597613 0.25 0.7 pose: 0.8175238 -0.394112 0.029737 0 -0.00479551 -0.00626238 0.00251636 0.999966 uwb: 0.0 849.808 1084.46 -imu_odom_: 1691062963.896583076 0.507571 -0.390255 9.44991 -0.0330232 -0.0468716 0.630637 0.25 0.7 pose: 0.0 -0.394112 0.029737 0 -0.00479551 -0.00626238 0.00251636 0.999966 uwb: 0.49942416 849.888 1083.04 -imu_odom_: 1691062963.913539600 0.756568 -0.466869 10.2999 -0.0415453 -0.0628506 0.632767 0.17 0.53 pose: 0.41815592 -0.384215 0.0283681 0 -0.0078426 -0.0055554 0.0144888 0.999849 uwb: 0.0 849.888 1083.04 -imu_odom_: 1691062963.930716902 0.976834 -0.61531 9.61751 -0.0532632 -0.0330232 0.619984 0.22 0.64 pose: 0.0 -0.384215 0.0283681 0 -0.0078426 -0.0055554 0.0144888 0.999849 uwb: 0.50074533 849.789 1082.07 -imu_odom_: 1691062963.947643678 1.56102 -0.445322 10.1131 -0.0500674 -0.131028 0.581634 0.22 0.64 pose: 0.0 -0.384215 0.0283681 0 -0.0078426 -0.0055554 0.0144888 0.999849 uwb: 0.0 849.789 1082.07 -imu_odom_: 1691062963.964583285 1.08218 -0.294487 8.76278 -0.0340885 0.0117179 0.493217 0.14 0.38 pose: 0.24146568 -0.384204 0.0283841 0 -0.00866015 -0.008328 0.0215958 0.999695 uwb: 0.0 849.789 1082.07 -imu_odom_: 1691062963.981581515 1.43652 -0.169988 10.6087 -0.0873517 0.0660464 0.438889 0.14 0.38 pose: 0.0 -0.384204 0.0283841 0 -0.00866015 -0.008328 0.0215958 0.999695 uwb: 0.49856088 849.687 1080.43 -imu_odom_: 1691062963.998642741 1.37427 -0.0095768110.0054 -0.0553937 0.0127832 0.394148 0.14 0.38 pose: 0.34922447 -0.374285 0.027113 0 -0.00891644 -0.0127529 0.0308767 0.999402 uwb: 0.0 849.687 1080.43 -imu_odom_: 1691062964.16717159 1.12049 -0.280122 9.95748 -0.0671117 0.0372843 0.366451 0.12 0.32 pose: 0.33885049 -0.374285 0.027113 0 -0.00805532 -0.015125 0.037648 0.999144 uwb: 0.0 849.687 1080.43 -imu_odom_: 1691062964.33534857 0.617704 -0.418985 9.50498 -0.0703074 0.015979 0.334493 0.12 0.32 pose: 0.0 -0.374285 0.027113 0 -0.00805532 -0.015125 0.037648 0.999144 uwb: 0.50040993 849.375 1079.07 -imu_odom_: 1691062964.49515229 0.629675 -0.23942 9.63906 -0.0479369 -0.0170442 0.265251 0.09 0.29 pose: 0.0 -0.374285 0.027113 0 -0.00805532 -0.015125 0.037648 0.999144 uwb: 0.0 849.375 1079.07 -imu_odom_: 1691062964.67648851 0.727837 0.0837971 9.9527 -0.0585895 -0.0138484 0.253533 0.09 0.29 pose: 0.43997717 -0.364374 0.0258482 0 -0.00832048 -0.0155282 0.0446707 0.998846 uwb: 0.0 849.375 1079.07 -imu_odom_: 1691062964.91519519 0.919373 -0.428562 9.90242 -0.0575243 0.00426106 0.252468 0.09 0.29 pose: 0.0 -0.364374 0.0258482 0 -0.00832048 -0.0155282 0.0446707 0.998846 uwb: 0.50021746 849.47 1078.02 -imu_odom_: 1691062964.108696238 0.514753 -0.301669 9.82102 -0.0628506 0.0191748 0.223706 0.1 0.32 pose: 0.6987348 -0.364363 0.0258641 0 -0.00767299 -0.0152648 0.0454521 0.99882 uwb: 0.0 849.47 1078.02 -imu_odom_: 1691062964.124585615 -0.572214 -0.071826 9.82102 -0.0500674 0.103331 0.215183 0.1 0.23 pose: 0.0 -0.364363 0.0258641 0 -0.00767299 -0.0152648 0.0454521 0.99882 uwb: 0.0 849.47 1078.02 -imu_odom_: 1691062964.142542206 -1.12049 -0.435745 9.90481 -0.0617853 -0.036219 0.251402 0.1 0.23 pose: 0.76047997 -0.364363 0.025864 0 -0.00572164 -0.0140711 0.0531794 0.998469 uwb: 0.50029328 849.303 1076.44 -imu_odom_: 1691062964.158521120 -0.260968 -0.344765 9.80904 -0.0500674 -0.092678 0.22051 0.1 0.23 pose: 0.0 -0.364363 0.025864 0 -0.00572164 -0.0140711 0.0531794 0.998469 uwb: 0.0 849.303 1076.44 -imu_odom_: 1691062964.175570680 0.90022 -0.237026 10.1227 -0.0436758 -0.04048 0.232228 0.11 0.2 pose: 0.0 -0.364363 0.025864 0 -0.00572164 -0.0140711 0.0531794 0.998469 uwb: 0.0 849.303 1076.44 -imu_odom_: 1691062964.192623156 0.500388 -0.047884 9.78271 -0.0713727 0.0479369 0.24288 0.11 0.2 pose: 0.34128576 -0.353115 0.0344362 0 -0.00588577 -0.0108749 0.0565414 0.998324 uwb: 0.49780842 849.177 1075.18 -imu_odom_: 1691062964.206642766 0.265756 -0.282516 10.2855 -0.0490022 0.0596548 0.20027 0.12 0.17 pose: 0.41924378 -0.353115 0.0344362 0 -0.0038187 -0.0110201 0.0605939 0.998094 uwb: 0.0 849.177 1075.18 -imu_odom_: 1691062964.224778430 -0.402226 -0.0742203 9.82102 -0.0511327 0.0436758 0.18216 0.12 0.17 pose: 0.6942726 -0.353115 0.0344362 0 -0.0038132 -0.0101 0.0611532 0.99807 uwb: 0.0 849.177 1075.18 -imu_odom_: 1691062964.239654615 0.0694318 -0.31364 9.78989 -0.056459 0.00319579 0.211988 0.12 0.17 pose: 0.0 -0.353115 0.0344362 0 -0.0038132 -0.0101 0.0611532 0.99807 uwb: 0.50114781 848.784 1073.25 -imu_odom_: 1691062964.257652621 0.363919 -0.4956 9.84496 -0.056459 -0.0340885 0.198139 0.15 0.2 pose: 0.40088733 -0.343197 0.0331565 0 -0.00369809 -0.00539456 0.0643035 0.997909 uwb: 0.0 848.784 1073.25 -imu_odom_: 1691062964.273542289 0.342371 -0.222661 9.75877 -0.0479369 0.0223706 0.177899 0.14 0.11 pose: 0.0 -0.343197 0.0331565 0 -0.00369809 -0.00539456 0.0643035 0.997909 uwb: 0.0 848.784 1073.25 -imu_odom_: 1691062964.291632456 0.11971 -0.21069 10.2065 -0.0500674 0.0383495 0.191748 0.14 0.11 pose: 0.0 -0.343197 0.0331565 0 -0.00369809 -0.00539456 0.0643035 0.997909 uwb: 0.49927834 848.581 1071.72 -imu_odom_: 1691062964.308510234 0.0981623 -0.110133 9.62469 -0.0575243 0.0458064 0.162985 0.14 0.14 pose: 0.26015169 -0.343197 0.0331565 0 -0.00481608 -0.003932 0.0662947 0.997781 uwb: 0.0 848.581 1071.72 -imu_odom_: 1691062964.322558426 0.629675 -0.0981623 10.1682 -0.0436758 0.0170442 0.165116 0.14 0.14 pose: 0.0 -0.343197 0.0331565 0 -0.00481608 -0.003932 0.0662947 0.997781 uwb: 0.0 848.581 1071.72 -imu_odom_: 1691062964.338566796 0.517148 -0.488417 9.76355 -0.0745685 0.0191748 0.191748 0.14 0.14 pose: 0.34018625 -0.333279 0.0318792 0 -0.00367409 -4.9597e-05 0.0687158 0.99763 uwb: 0.50164654 848.231 1070.76 -imu_odom_: 1691062964.356621964 0.378284 -0.301669 10.082 -0.0607201 0.0223706 0.166181 0.22 0.17 pose: 0.0 -0.333279 0.0318792 0 -0.00367409 -4.9597e-05 0.0687158 0.99763 uwb: 0.0 848.231 1070.76 -imu_odom_: 1691062964.372556839 0.608127 -0.179565 9.90721 -0.0479369 -0.056459 0.166181 0.22 0.17 pose: 0.0 -0.333279 0.0318792 0 -0.00367409 -4.9597e-05 0.0687158 0.99763 uwb: 0.0 848.231 1070.76 -imu_odom_: 1691062964.389550985 1.11809 -0.227449 9.77553 -0.0639159 -0.0255663 0.235423 0.22 0.17 pose: 0.46822638 -0.333279 0.0318792 0 -0.00418114 0.000244194 0.0718537 0.997406 uwb: 0.49858421 848.187 1069.81 -imu_odom_: 1691062964.407605279 1.24498 -0.646434 9.87608 -0.076699 -0.0607201 0.298274 0.12 0.05 pose: 0.34009292 -0.32336 0.030613 0 -0.00355251 -0.00131155 0.0742732 0.997231 uwb: 0.0 848.187 1069.81 -imu_odom_: 1691062964.420544909 1.58017 -0.656011 10.3932 -0.0649811 -0.0351537 0.217314 0.11 0.08 pose: 0.0 -0.32336 0.030613 0 -0.00355251 -0.00131155 0.0742732 0.997231 uwb: 0.0 848.187 1069.81 -imu_odom_: 1691062964.436488241 1.4461 0.215478 9.40921 -0.0490022 0.0575243 0.112918 0.11 0.08 pose: 0.0 -0.32336 0.030613 0 -0.00355251 -0.00131155 0.0742732 0.997231 uwb: 0.50224150 847.784 1068.23 -imu_odom_: 1691062964.453541010 0.979228 0.433351 9.89763 -0.0788296 0.0372843 0.147006 0.11 0.08 pose: 0.33046555 -0.32209 0.040532 0 -0.00438058 -0.00518703 0.0780029 0.99693 uwb: 0.0 847.784 1068.23 -imu_odom_: 1691062964.471501975 0.526724 -0.617704 9.73961 -0.0617853 0.0426106 0.0980043 0.13 0.08 pose: 0.0 -0.32209 0.040532 0 -0.00438058 -0.00518703 0.0780029 0.99693 uwb: 0.0 847.784 1068.23 -imu_odom_: 1691062964.484557974 0.696713 -0.486023 10.3645 -0.0596548 -0.00958738 0.0372843 0.13 0.08 pose: 0.30939094 -0.312168 0.0392894 0 -0.00306979 -0.00701117 0.0796098 0.996797 uwb: 0.49782009 847.929 1066.73 -imu_odom_: 1691062964.500492848 0.723049 -0.277727 9.64384 -0.052198 -0.0479369 0.0426106 0.07 0.08 pose: 0.0 -0.312168 0.0392894 0 -0.00306979 -0.00701117 0.0796098 0.996797 uwb: 0.0 847.929 1066.73 -imu_odom_: 1691062964.517469787 0.893037 -0.184354 9.89045 -0.0639159 0.015979 0.0980043 0.07 0.08 pose: 0.40051986 -0.312168 0.0392894 0 -0.00518895 -0.00790786 0.080605 0.996701 uwb: 0.0 847.929 1066.73 -imu_odom_: 1691062964.535473917 0.715866 -0.500388 9.99819 -0.0543285 -0.0127832 0.127832 0.07 0.08 pose: 0.0 -0.312168 0.0392894 0 -0.00518895 -0.00790786 0.080605 0.996701 uwb: 0.50033994 847.507 1065.04 -imu_odom_: 1691062964.548471586 0.512359 -0.4956 9.64384 -0.0490022 0.015979 0.092678 0.06 0.05 pose: 0.7980999 -0.312168 0.0392894 0 -0.00489424 -0.00883239 0.0806116 0.996694 uwb: 0.0 847.507 1065.04 -imu_odom_: 1691062964.564472665 0.588974 -0.0191536 10.0748 -0.0447411 -0.0127832 0.0798948 0.06 0.05 pose: 0.0 -0.312168 0.0392894 0 -0.00489424 -0.00883239 0.0806116 0.996694 uwb: 0.0 847.507 1065.04 -imu_odom_: 1691062964.581470311 0.64404 -0.215478 9.73243 -0.056459 -0.00852212 0.0948085 0.06 0.05 pose: 0.0 -0.312168 0.0392894 0 -0.00489424 -0.00883239 0.0806116 0.996694 uwb: 0.50009204 847.795 1064.13 -imu_odom_: 1691062964.605484178 0.773327 -0.387861 10.0102 -0.0553937 -0.0170442 0.0905475 0.05 0.08 pose: 0.48942057 -0.312168 0.0392894 0 -0.00590313 -0.0117512 0.0820658 0.99654 uwb: 0.0 847.795 1064.13 -imu_odom_: 1691062964.631645756 0.122104 -0.129287 9.8665 -0.0543285 0.0798948 0.0585895 0.06 0.05 pose: 0.64003148 -0.302247 0.0380296 0 -0.00426669 -0.0138358 0.0836287 0.996392 uwb: 0.50135197 847.781 1063.67 -imu_odom_: 1691062964.656605152 -1.55863 -0.208296 10.1347 -0.0596548 0.04048 0.092678 0.08 0.05 pose: 0.0 -0.302247 0.0380296 0 -0.00426669 -0.0138358 0.0836287 0.996392 uwb: 0.0 847.781 1063.67 -imu_odom_: 1691062964.680628644 -0.189142 -0.380678 9.87848 -0.0479369 -0.0990696 0.0692422 0.08 0.05 pose: 0.34073747 -0.302247 0.0380296 0 -0.00375462 -0.00923574 0.0840886 0.996408 uwb: 0.49835090 847.692 1063.08 -imu_odom_: 1691062964.704656802 0.64404 -0.198719 9.9934 -0.0585895 -0.0372843 0.1012 0.13 0.05 pose: 0.41070719 -0.302258 0.0380151 0 -0.0041713 -0.00592013 0.0849195 0.996361 uwb: 0.0 847.692 1063.08 -imu_odom_: 1691062964.729638072 0.158017 -0.100556 10.3046 -0.052198 0.0149137 0.0660464 0.13 0.05 pose: 0.8028246 -0.302247 0.0380296 0 -0.00361299 -0.00662813 0.0851606 0.996339 uwb: 0.50024078 847.695 1062.15 -imu_odom_: 1691062964.745694564 0.107739 -0.181959 9.91678 -0.056459 0.015979 0.0607201 0.11 0.02 pose: 0.0 -0.302247 0.0380296 0 -0.00361299 -0.00662813 0.0851606 0.996339 uwb: 0.0 847.695 1062.15 -imu_odom_: 1691062964.763621699 0.31364 -0.373495 10.3525 -0.0458064 0.0298274 0.0713727 0.11 0.02 pose: 0.47913116 -0.292332 0.0367311 0 -0.00161311 -0.00467233 0.0860447 0.996279 uwb: 0.0 847.695 1062.15 -imu_odom_: 1691062964.787672898 0.146046 -0.100556 9.75158 -0.056459 -0.0191748 0.0713727 0.12 0 pose: 0.0 -0.292332 0.0367311 0 -0.00161311 -0.00467233 0.0860447 0.996279 uwb: 0.49935417 847.34 1059.98 -imu_odom_: 1691062964.814487770 0.150835 -0.246603 10.1873 -0.0468716 -0.0138484 0.0607201 0.12 0 pose: 0.35068565 -0.292332 0.0367311 0 -0.0023316 -0.00135576 0.0865608 0.996243 uwb: 0.0 847.34 1059.98 -imu_odom_: 1691062964.840608225 -0.114922 -0.447716 9.34696 -0.0553937 -0.00958738 0.0553937 0.13 -0.02 pose: 0.42849199 -0.281554 0.0421641 0 -0.00174486 0.00253361 0.0871044 0.996194 uwb: 0.50064034 847.406 1059.49 -imu_odom_: 1691062964.857537917 0.059855 -0.299275 9.74201 -0.0575243 -0.0255663 0.0660464 0.13 -0.02 pose: 0.9062729 -0.281145 0.0453794 0 -0.00217736 0.00330594 0.0871758 0.996185 uwb: 0.0 847.406 1059.49 -imu_odom_: 1691062964.881463706 0.217872 -0.160412 9.86172 -0.0490022 0.0308927 0.0703074 0.14 0.02 pose: 0.0 -0.281145 0.0453794 0 -0.00217736 0.00330594 0.0871758 0.996185 uwb: 0.49923751 847.234 1058.19 -imu_odom_: 1691062964.907454085 0.339977 -0.251391 10.3358 -0.0639159 -0.0127832 0.0639159 0.14 0.02 pose: 0.33987418 -0.275629 0.0446793 0 -0.00337756 0.00622746 0.0875361 0.996136 uwb: 0.0 847.234 1058.19 -imu_odom_: 1691062964.932608595 0.435745 -0.225055 9.89284 -0.0479369 -0.04048 0.0628506 0.14 0 pose: 0.49916168 -0.271225 0.0441235 0 -0.00180538 0.00527342 0.0882278 0.996085 uwb: 0.49854629 847.076 1057.64 -imu_odom_: 1691062964.956591548 0.131681 -0.42138 9.81623 -0.0426106 0.0149137 0.0500674 0.14 0 pose: 0.0 -0.271225 0.0441235 0 -0.00180538 0.00527342 0.0882278 0.996085 uwb: 0.0 847.076 1057.64 -imu_odom_: 1691062964.978525951 0.658405 -0.442927 10.2376 -0.0319579 0.00319579 0.0415453 0.2 0.02 pose: 0.49137463 -0.261301 0.0428871 0 -0.00273653 0.0042944 0.0886405 0.996051 uwb: 0.0 847.076 1057.64 -imu_odom_: 1691062964.995574053 0.356736 -0.0047884 9.97424 -0.0372843 -0.0234358 0.0660464 0.2 0.02 pose: 0.0 -0.261301 0.0428871 0 -0.00273653 0.0042944 0.0886405 0.996051 uwb: 0.50086200 847.182 1057.44 -imu_odom_: 1691062965.11524093 0.373495 -0.37589 9.69412 -0.04048 -0.02024 0.0617853 0.15 0 pose: 0.0 -0.261301 0.0428871 0 -0.00273653 0.0042944 0.0886405 0.996051 uwb: 0.0 847.182 1057.44 -imu_odom_: 1691062965.37467225 0.227449 -0.0407014 9.77792 -0.0436758 -0.0127832 0.056459 0.15 0 pose: 0.46994127 -0.251377 0.0416596 0 -0.00217322 0.00210663 0.0889679 0.99603 uwb: 0.49908002 846.95 1056.62 -imu_odom_: 1691062965.61526007 0.725443 -0.220267 10.0102 -0.0692422 -0.015979 0.0628506 0.16 0.02 pose: 0.33881550 -0.250533 0.0485032 0 -0.0006193230.00330378 0.0892798 0.996001 uwb: 0.0 846.95 1056.62 -imu_odom_: 1691062965.87467097 0.237026 -0.229843 9.76116 -0.0553937 0.0234358 0.0436758 0.16 0.02 pose: 0.0 -0.250533 0.0485032 0 -0.0006193230.00330378 0.0892798 0.996001 uwb: 0.50148613 846.253 1055.96 -imu_odom_: 1691062965.111534920 0.351948 -0.385466 9.8282 -0.0713727 -0.0213053 0.0639159 0.17 0 pose: 0.8057703 -0.250156 0.0515847 0 -0.0005969950.00244924 0.0893734 0.995995 uwb: 0.0 846.253 1055.96 -imu_odom_: 1691062965.137504008 0.361524 -0.45011 9.70849 -0.0607201 0.036219 0.04048 0.17 0.02 pose: 0.48985222 -0.24023 0.0503696 0 -0.0016565 0.00346053 0.0896952 0.995962 uwb: 0.49883795 845.616 1054.82 -imu_odom_: 1691062965.162658227 0.258574 -0.486023 9.61272 -0.0426106 0.0628506 0.0490022 0.17 0.02 pose: 0.0 -0.24023 0.0503696 0 -0.0016565 0.00346053 0.0896952 0.995962 uwb: 0.0 845.616 1054.82 -imu_odom_: 1691062965.179585294 0.00718261 -0.0766145 9.95509 -0.0436758 -0.00639159 0.0553937 0.18 0 pose: 0.25127386 -0.24023 0.0503696 0 -0.0042707 0.00292018 0.0898954 0.995938 uwb: 0.50226776 845.543 1054.55 -imu_odom_: 1691062965.195541750 0.105345 -0.153229 9.68933 -0.0415453 -0.0319579 0.0458064 0.18 0 pose: 0.50973691 -0.230303 0.0491647 0 -0.00780493 0.0052726 0.0900744 0.99589 uwb: 0.0 845.543 1054.55 -imu_odom_: 1691062965.220540811 0.35913 -0.241814 9.94551 -0.0671117 -0.0319579 0.0692422 0.18 0 pose: 0.0 -0.230303 0.0491647 0 -0.00780493 0.0052726 0.0900744 0.99589 uwb: 0.0 845.543 1054.55 -imu_odom_: 1691062965.236495226 0.399832 -0.0095768110.0844 -0.0319579 0.00213053 0.0543285 0.23 0 pose: 0.32937187 -0.220375 0.0479628 0 -0.00546268 0.00621683 0.0903386 0.995877 uwb: 0.49749636 845.077 1053.65 -imu_odom_: 1691062965.261443832 0.23942 -0.169988 10.2352 -0.052198 0.0181095 0.0490022 0.23 0 pose: 0.0 -0.220375 0.0479628 0 -0.00546268 0.00621683 0.0903386 0.995877 uwb: 0.0 845.077 1053.65 -imu_odom_: 1691062965.286579676 0.462081 -0.248997 10.1897 -0.0532632 0.0127832 0.0426106 0.17 0.02 pose: 0.40929853 -0.219179 0.057891 0 -0.00207504 0.0050383 0.0907565 0.995858 uwb: 0.50127323 844.638 1052.44 -imu_odom_: 1691062965.310496425 0.452504 -0.287304 9.7851 -0.0617853 -0.0607201 0.0458064 0.17 0 pose: 0.0 -0.219179 0.057891 0 -0.00207504 0.0050383 0.0907565 0.995858 uwb: 0.0 844.638 1052.44 -imu_odom_: 1691062965.328462349 0.893037 -0.497994 9.75637 -0.0660464 0.0245011 0.0383495 0.17 0 pose: 0.42101409 -0.209249 0.0567034 0 -0.00097843 0.00409558 0.0908792 0.995853 uwb: 0.0 844.638 1052.44 -imu_odom_: 1691062965.345586863 0.117316 -0.45011 9.50019 -0.0447411 -0.0191748 -0.02024 0.17 0 pose: 0.0 -0.209249 0.0567034 0 -0.00097843 0.00409558 0.0908792 0.995853 uwb: 0.49981498 844.614 1051.54 -imu_odom_: 1691062965.360453132 0.301669 -0.035913 9.80904 -0.0660464 -0.0372843 -0.0745685 0.18 -0.11 pose: 0.8068203 -0.209249 0.0567034 0 -0.00125896 0.00310705 0.0909029 0.995854 uwb: 0.0 844.614 1051.54 -imu_odom_: 1691062965.377585813 0.620098 0.0407014 9.87129 -0.0671117 -0.0234358 -0.107592 0.18 -0.11 pose: 0.0 -0.209249 0.0567034 0 -0.00125896 0.00310705 0.0909029 0.995854 uwb: 0.0 844.614 1051.54 -imu_odom_: 1691062965.393610224 0.0311246 -0.150835 9.47864 -0.0436758 0.0255663 -0.142745 0.18 -0.11 pose: 0.0 -0.209249 0.0567034 0 -0.00125896 0.00310705 0.0909029 0.995854 uwb: 0.49973331 844.415 1050.55 -imu_odom_: 1691062965.411832508 0.179565 -0.282516 10.1131 -0.0735032 -0.0138484 -0.168312 0.21 -0.32 pose: 0.57946456 -0.19932 0.0555187 0 -0.00290671 0.00110413 0.0900315 0.995934 uwb: 0.0 844.415 1050.55 -imu_odom_: 1691062965.429435911 0.553061 -0.0981623 9.96467 -0.0330232 -0.0340885 -0.252468 0.18 -0.35 pose: 0.0 -0.19932 0.0555187 0 -0.00290671 0.00110413 0.0900315 0.995934 uwb: 0.50067826 844.19 1050.47 -imu_odom_: 1691062965.443575972 0.363919 0.124498 9.98143 -0.0287621 -0.0223706 -0.298274 0.18 -0.35 pose: 0.67036016 -0.178294 0.0630814 0 -0.0009187020.00280398 0.0838563 0.996473 uwb: 0.0 844.19 1050.47 -imu_odom_: 1691062965.461583311 0.531513 -0.110133 10.1011 -0.072438 -0.0245011 -0.354733 0.17 -0.38 pose: 0.0 -0.178294 0.0630814 0 -0.0009187020.00280398 0.0838563 0.996473 uwb: 0.0 844.19 1050.47 -imu_odom_: 1691062965.477553475 0.672771 -0.126893 9.72764 -0.0543285 -0.0287621 -0.411192 0.17 -0.38 pose: 0.0 -0.178294 0.0630814 0 -0.0009187020.00280398 0.0838563 0.996473 uwb: 0.0 844.19 1050.47 -imu_odom_: 1691062965.494677114 0.550666 -0.378284 10.228 -0.0649811 0.0106526 -0.455933 0.17 -0.38 pose: 0.31938286 -0.178293 0.0630814 0 0.00171479 0.00110919 0.0784827 0.996913 uwb: 0.49998122 843.675 1049.89 -imu_odom_: 1691062965.511558976 1.07021 0.160412 10.6279 -0.0628506 -0.0138484 -0.474043 0.25 -0.64 pose: 0.34007251 -0.168358 0.0619472 0 0.00181358 -0.00197306 0.0709496 0.997476 uwb: 0.0 843.675 1049.89 -imu_odom_: 1691062965.527558596 0.399832 -0.150835 9.62948 -0.0660464 -0.015979 -0.500674 0.25 -0.64 pose: 0.0 -0.168358 0.0619472 0 0.00181358 -0.00197306 0.0709496 0.997476 uwb: 0.0 843.675 1049.89 -imu_odom_: 1691062965.543579216 -0.258574 0.0694318 10.0365 -0.0500674 0.0308927 -0.52411 0.25 -0.64 pose: 0.0 -0.168358 0.0619472 0 0.00181358 -0.00197306 0.0709496 0.997476 uwb: 0.50225901 843.124 1047.96 -imu_odom_: 1691062965.560665232 0.397437 -0.54109 9.95748 -0.0745685 -0.00319579 -0.523045 0.18 -0.55 pose: 0.49990247 -0.158417 0.0608615 0 0.0025748 -0.0015176 0.057802 0.998324 uwb: 0.0 843.124 1047.96 -imu_odom_: 1691062965.576499196 0.814029 0.110133 10.2256 -0.0372843 -0.0426106 -0.561394 0.18 -0.55 pose: 0.0 -0.158417 0.0608615 0 0.0025748 -0.0015176 0.057802 0.998324 uwb: 0.0 843.124 1047.96 -imu_odom_: 1691062965.594432163 1.05345 -0.272939 9.78271 -0.0532632 -0.0596548 -0.578439 0.25 -0.82 pose: 0.40933061 -0.158431 0.0608448 0 0.00212268 -0.00208221 0.0459946 0.998937 uwb: 0.49882337 842.61 1046.92 -imu_odom_: 1691062965.611546762 1.61369 0.124498 9.79707 -0.0532632 -0.0703074 -0.535828 0.25 -0.82 pose: 0.0 -0.158431 0.0608448 0 0.00212268 -0.00208221 0.0459946 0.998937 uwb: 0.0 842.61 1046.92 -imu_odom_: 1691062965.625423171 1.65918 -0.42138 9.68933 -0.0575243 -0.0191748 -0.502805 0.25 -0.82 pose: 0.0 -0.158431 0.0608448 0 0.00212268 -0.00208221 0.0459946 0.998937 uwb: 0.0 842.61 1046.92 -imu_odom_: 1691062965.643549503 1.62087 -0.325611 10.2615 -0.0585895 -0.0255663 -0.484695 0.13 -0.41 pose: 0.7999081 -0.158417 0.0608615 0 0.00205633 -0.00309309 0.0435267 0.999045 uwb: 0.49984997 842.286 1045.82 -imu_odom_: 1691062965.656429053 1.17555 -0.339977 9.56005 -0.0372843 -0.0234358 -0.454868 0.13 -0.5 pose: 0.0 -0.158417 0.0608615 0 0.00205633 -0.00309309 0.0435267 0.999045 uwb: 0.0 842.286 1045.82 -imu_odom_: 1691062965.673416783 1.41976 -0.258574 10.1897 -0.0543285 0.0213053 -0.386691 0.13 -0.5 pose: 0.0 -0.158417 0.0608615 0 0.00205633 -0.00309309 0.0435267 0.999045 uwb: 0.0 842.286 1045.82 -imu_odom_: 1691062965.687476932 1.12049 -0.500388 9.75877 -0.0713727 0 -0.330232 0.13 -0.5 pose: 0.65059213 -0.147353 0.0696628 0 0.00204975 -0.0106173 0.0255579 0.999615 uwb: 0.49919085 842.307 1044.77 -imu_odom_: 1691062965.703477720 0.857124 -0.272939 9.8258 -0.0511327 0.00426106 -0.315318 0.11 -0.38 pose: 0.0 -0.147353 0.0696628 0 0.00204975 -0.0106173 0.0255579 0.999615 uwb: 0.0 842.307 1044.77 -imu_odom_: 1691062965.720473616 0.636858 -0.0335188 9.85693 -0.0511327 -0.0319579 -0.264186 0.11 -0.38 pose: 0.30917512 -0.137424 0.0684685 0 0.00145992 -0.0133918 0.018949 0.99973 uwb: 0.0 842.307 1044.77 -imu_odom_: 1691062965.736412865 0.61531 -0.263362 9.5792 -0.0660464 -0.0276969 -0.230097 0.09 -0.29 pose: 0.39998614 -0.137424 0.0684685 0 0.00219898 -0.0149946 0.012226 0.99981 uwb: 0.49944750 841.868 1044 -imu_odom_: 1691062965.753472342 1.09894 -0.459687 10.0604 -0.0596548 -0.0223706 -0.225836 0.09 -0.29 pose: 0.0 -0.137424 0.0684685 0 0.00219898 -0.0149946 0.012226 0.99981 uwb: 0.0 841.868 1044 -imu_odom_: 1691062965.769522126 0.972046 -0.23942 9.991 -0.0639159 0.0106526 -0.215183 0.09 -0.29 pose: 0.0 -0.137424 0.0684685 0 0.00219898 -0.0149946 0.012226 0.99981 uwb: 0.0 841.868 1044 -imu_odom_: 1691062965.786411862 0.699107 -0.0383072 10.058 -0.052198 0.00745685 -0.208792 0.1 -0.35 pose: 0.8008414 -0.137424 0.0684685 0 0.00155126 -0.0145826 0.0111538 0.99983 uwb: 0.49833923 841.624 1044.37 -imu_odom_: 1691062965.802462813 0.876278 -0.148441 9.74201 -0.0585895 -0.0234358 -0.185356 0.06 -0.2 pose: 0.0 -0.137424 0.0684685 0 0.00155126 -0.0145826 0.0111538 0.99983 uwb: 0.0 841.624 1044.37 -imu_odom_: 1691062965.819552038 0.821211 -0.289698 9.84735 -0.052198 0.00958738 -0.166181 0.06 -0.2 pose: 0.65995701 -0.127495 0.0672861 0 0.00174354 -0.0175833 0.00276401 0.99984 uwb: 0.0 841.624 1044.37 -imu_odom_: 1691062965.835420416 0.565032 -0.248997 9.98861 -0.0585895 0.00213053 -0.165116 0.06 -0.2 pose: 0.0 -0.127495 0.0672861 0 0.00174354 -0.0175833 0.00276401 0.99984 uwb: 0.50023495 841.165 1043.15 -imu_odom_: 1691062965.852555138 0.718261 -0.198719 9.79947 -0.0607201 -0.0138484 -0.153398 0.06 -0.17 pose: 0.0 -0.127495 0.0672861 0 0.00174354 -0.0175833 0.00276401 0.99984 uwb: 0.0 841.165 1043.15 -imu_odom_: 1691062965.871606291 0.663194 -0.227449 9.76116 -0.0575243 -0.0117179 -0.123571 0.06 -0.17 pose: 0.33152425 -0.127495 0.0672861 0 0.000331963 -0.0182916 -0.0006882590.999832 uwb: 0.0 841.165 1043.15 -imu_odom_: 1691062965.887445796 0.68953 -0.328006 9.87608 -0.0575243 -0.00532632 -0.106526 0.05 -0.14 pose: 0.43976135 -0.127508 0.0672695 0 -8.92025e-05-0.014513 -0.00469032 0.999884 uwb: 0.49965749 841.249 1043.28 -imu_odom_: 1691062965.905665164 0.488417 -0.306458 9.72285 -0.0511327 0.00426106 -0.102265 0.05 -0.14 pose: 0.0 -0.127508 0.0672695 0 -8.92025e-05-0.014513 -0.00469032 0.999884 uwb: 0.0 841.249 1043.28 -imu_odom_: 1691062965.922603606 0.593762 -0.100556 10.0078 -0.0532632 -0.0255663 -0.0969391 0.05 -0.14 pose: 0.0 -0.127508 0.0672695 0 -8.92025e-05-0.014513 -0.00469032 0.999884 uwb: 0.0 841.249 1043.28 -imu_odom_: 1691062965.937551537 0.64404 -0.253785 9.81144 -0.0596548 -0.0181095 -0.0830906 0.04 -0.11 pose: 0.8008998 -0.127495 0.067286 0 -0.000890589-0.0145351 -0.00526383 0.99988 uwb: 0.50000455 840.923 1041.88 -imu_odom_: 1691062965.954597889 0.744597 -0.294487 9.89284 -0.0607201 -0.0117179 -0.076699 0.04 -0.08 pose: 0.0 -0.127495 0.067286 0 -0.000890589-0.0145351 -0.00526383 0.99988 uwb: 0.0 840.923 1041.88 -imu_odom_: 1691062965.971541872 0.799663 -0.387861 9.81862 -0.0585895 -0.0127832 -0.0660464 0.04 -0.08 pose: 0.65816919 -0.117556 0.0661753 0 -0.00239137 -0.0132536 -0.00963436 0.999863 uwb: 0.0 840.923 1041.88 -imu_odom_: 1691062965.987660486 0.754174 -0.205901 9.991 -0.0575243 -0.00106526 -0.0468716 0.04 -0.08 pose: 0.0 -0.117556 0.0661753 0 -0.00239137 -0.0132536 -0.00963436 0.999863 uwb: 0.50022329 840.786 1040.88 -imu_odom_: 1691062966.4471768 0.588974 -0.248997 9.78271 -0.056459 0.00426106 -0.036219 0.04 -0.08 pose: 0.0 -0.117556 0.0661753 0 -0.00239137 -0.0132536 -0.00963436 0.999863 uwb: 0.0 840.786 1040.88 -imu_odom_: 1691062966.21547868 0.342371 -0.220267 9.87129 -0.0511327 0.00639159 -0.0383495 0.04 -0.08 pose: 0.33128218 -0.117556 0.0661753 0 -0.00340103 -0.0157199 -0.0113594 0.999806 uwb: 0.0 840.786 1040.88 -imu_odom_: 1691062966.37566446 0.438139 -0.28491 9.85693 -0.0575243 -0.0181095 -0.00106526 0.02 -0.02 pose: 0.42987442 -0.117556 0.0661753 0 -0.0021683 -0.0126265 -0.0130673 0.999833 uwb: 0.50001330 840.366 1040.1 -imu_odom_: 1691062966.54608716 0.754174 -0.40462 9.9503 -0.0607201 -0.015979 0.0170442 0.02 -0.02 pose: 0.7944835 -0.117556 0.0661753 0 -0.00228157 -0.0118937 -0.0132258 0.999839 uwb: 0.0 840.366 1040.1 -imu_odom_: 1691062966.79659690 0.766145 -0.220267 9.83538 -0.0532632 0.00639159 0.0394148 0.01 0.02 pose: 0.0 -0.117556 0.0661753 0 -0.00228157 -0.0118937 -0.0132258 0.999839 uwb: 0.50166988 840.666 1039.43 -imu_odom_: 1691062966.96601340 0.469264 -0.248997 9.991 -0.0543285 0.0490022 0.056459 0.01 0.02 pose: 0.34080163 -0.117556 0.0661753 0 -0.0033087 -0.0131245 -0.013576 0.999816 uwb: 0.0 840.666 1039.43 -imu_odom_: 1691062966.113556698 -1.09894 -0.191536 9.91199 -0.0394148 0.12144 0.1012 0.04 0.08 pose: 0.0 -0.117556 0.0661753 0 -0.0033087 -0.0131245 -0.013576 0.999816 uwb: 0.0 840.666 1039.43 -imu_odom_: 1691062966.130412894 -1.62806 -0.526724 10.0221 -0.0543285 0.00958738 0.18003 0.04 0.08 pose: 0.42036373 -0.117556 0.0661753 0 -0.00231028 -0.0108677 -0.0131688 0.999852 uwb: 0.50141905 840.771 1039.26 -imu_odom_: 1691062966.147421915 -0.73502 -0.545878 9.56005 -0.0617853 -0.0692422 0.264186 0.06 0.2 pose: 0.0 -0.117556 0.0661753 0 -0.00231028 -0.0108677 -0.0131688 0.999852 uwb: 0.0 840.771 1039.26 -imu_odom_: 1691062966.163567069 0.167594 -0.378284 10.161 -0.0511327 -0.0628506 0.332363 0.06 0.2 pose: 0.0 -0.117556 0.0661753 0 -0.00231028 -0.0108677 -0.0131688 0.999852 uwb: 0.0 840.771 1039.26 -imu_odom_: 1691062966.180534384 0.691924 -0.363919 9.95748 -0.0585895 -0.0266316 0.365386 0.06 0.2 pose: 0.32881774 -0.117556 0.0661753 0 -0.00258893 -0.00724634 -0.0108237 0.999912 uwb: 0.49791635 840.452 1038.45 -imu_odom_: 1691062966.196529339 0.37589 -0.0502782 9.76834 -0.0511327 -0.00213053 0.369647 0.13 0.44 pose: 0.42043371 -0.107626 0.064995 0 -0.00403319 -0.00727412 -0.00468105 0.999954 uwb: 0.0 840.452 1038.45 -imu_odom_: 1691062966.213455531 0.00718261 -0.282516 9.50498 -0.0649811 0.0372843 0.399474 0.13 0.44 pose: 0.0 -0.107626 0.064995 0 -0.00403319 -0.00727412 -0.00468105 0.999954 uwb: 0.0 840.452 1038.45 -imu_odom_: 1691062966.229444361 -0.011971 -0.426168 10.2735 -0.0798948 0 0.452737 0.13 0.44 pose: 0.0 -0.107626 0.064995 0 -0.00403319 -0.00727412 -0.00468105 0.999954 uwb: 0.50010663 840.594 1038.12 -imu_odom_: 1691062966.245436982 0.0885855 -0.818817 9.69652 -0.052198 -0.00852212 0.452737 0.11 0.38 pose: 0.7011264 -0.107626 0.064995 0 -0.00344932 -0.00686449 -0.00352653 0.999964 uwb: 0.0 840.594 1038.12 -imu_odom_: 1691062966.262497625 0.553061 -0.186748 10.2256 -0.0596548 -0.015979 0.465521 0.14 0.55 pose: 0.0 -0.107626 0.064995 0 -0.00344932 -0.00686449 -0.00352653 0.999964 uwb: 0.0 840.594 1038.12 -imu_odom_: 1691062966.278515328 -0.0023942 0.0215478 9.74919 -0.052198 0.0255663 0.498544 0.14 0.55 pose: 0.65901498 -0.107626 0.064995 0 -0.00426351 -0.00241046 0.00932329 0.999945 uwb: 0.0 840.594 1038.12 -imu_odom_: 1691062966.295393982 0.306458 -0.565032 9.8282 -0.0735032 -0.00745685 0.519849 0.14 0.55 pose: 0.0 -0.107626 0.064995 0 -0.00426351 -0.00241046 0.00932329 0.999945 uwb: 0.0 840.594 1038.12 -imu_odom_: 1691062966.311463307 0.287304 -0.502782 9.73482 -0.036219 -0.0308927 0.523045 0.16 0.64 pose: 0.0 -0.107626 0.064995 0 -0.00426351 -0.00241046 0.00932329 0.999945 uwb: 0.0 840.594 1038.12 -imu_odom_: 1691062966.328436163 0.435745 -0.526724 10.137 -0.0372843 -0.0298274 0.555003 0.16 0.64 pose: 0.33065805 -0.0977007 0.0637767 0 -0.00354529 -0.00116586 0.0168457 0.999851 uwb: 0.0 840.594 1038.12 -imu_odom_: 1691062966.344375413 0.328006 -0.347159 9.56962 -0.0585895 0.00213053 0.578439 0.13 0.53 pose: 0.41923212 -0.0924773 0.0631189 0 -0.00717818 -0.0006850320.0272414 0.999603 uwb: 0.99851586 840.527 1037.84 -imu_odom_: 1691062966.361366643 0.646434 -0.428562 10.2256 -0.0351537 -0.0330232 0.577373 0.13 0.53 pose: 0.0 -0.0924773 0.0631189 0 -0.00717818 -0.0006850320.0272414 0.999603 uwb: 0.0 840.527 1037.84 -imu_odom_: 1691062966.377363347 1.12527 -0.296881 9.92157 -0.04048 -0.0543285 0.541154 0.13 0.53 pose: 0.0 -0.0924773 0.0631189 0 -0.00717818 -0.0006850320.0272414 0.999603 uwb: 0.0 840.527 1037.84 -imu_odom_: 1691062966.394523735 1.07021 -0.234632 9.49301 -0.0511327 -0.00426106 0.546481 0.14 0.55 pose: 0.7997915 -0.0877715 0.0625874 0 -0.00718197 0.000156341 0.0294009 0.999542 uwb: 0.50044203 840.178 1037.19 -imu_odom_: 1691062966.411394514 1.96325 -0.433351 10.6015 -0.0585895 -0.0532632 0.495348 0.09 0.32 pose: 0.0 -0.0877715 0.0625874 0 -0.00718197 0.000156341 0.0294009 0.999542 uwb: 0.0 840.178 1037.19 -imu_odom_: 1691062966.436430323 1.47243 0.146046 10.228 -0.0415453 0.0553937 0.309992 0.09 0.32 pose: 0.66122278 -0.0877715 0.0625874 0 -0.00666119 -0.00546263 0.0462567 0.998892 uwb: 0.49955250 840.221 1036.74 -imu_odom_: 1691062966.453426511 0.675165 0.105345 9.81144 -0.0628506 0.0585895 0.268447 0.08 0.29 pose: 0.0 -0.0877715 0.0625874 0 -0.00666119 -0.00546263 0.0462567 0.998892 uwb: 0.0 840.221 1036.74 -imu_odom_: 1691062966.469481254 0.107739 -0.311246 9.75398 -0.0713727 0.0394148 0.176834 0.08 0.29 pose: 0.0 -0.0877715 0.0625874 0 -0.00666119 -0.00546263 0.0462567 0.998892 uwb: 0.0 840.221 1036.74 -imu_odom_: 1691062966.485545329 -1.15879 0.0837971 9.48583 -0.0319579 0.115049 0.0894822 0.08 0.29 pose: 0.16981897 -0.0877715 0.0625874 0 -0.00622638 -0.00699846 0.0493546 0.998737 uwb: 0.50037786 840.212 1036.59 -imu_odom_: 1691062966.501411083 -1.05345 0.0167594 10.7691 -0.0777643 0.015979 0.221575 0.09 0.23 pose: 0.56959222 -0.0767169 0.0714076 0 -0.00385961 -0.00470822 0.0548226 0.998478 uwb: 0.0 840.212 1036.59 -imu_odom_: 1691062966.519432420 -0.205901 -1.13246 9.77313 -0.0490022 -0.103331 0.253533 0.09 0.23 pose: 0.0 -0.0767169 0.0714076 0 -0.00385961 -0.00470822 0.0548226 0.998478 uwb: 0.0 840.212 1036.59 -imu_odom_: 1691062966.535444290 0.622492 -0.11971 9.81144 -0.0181095 -0.0511327 0.186421 0.11 0.14 pose: 0.42934945 -0.0767314 0.071391 0 -0.00498645 -0.00142554 0.0584284 0.998278 uwb: 0.50078618 840.155 1036.02 -imu_odom_: 1691062966.551374790 0.682347 0.136469 9.9096 -0.04048 0.00958738 0.243946 0.11 0.14 pose: 0.0 -0.0767314 0.071391 0 -0.00498645 -0.00142554 0.0584284 0.998278 uwb: 0.0 840.155 1036.02 -imu_odom_: 1691062966.568429600 0.490811 -0.0837971 10.1897 -0.0660464 0.0298274 0.235423 0.11 0.14 pose: 0.0 -0.0767314 0.071391 0 -0.00498645 -0.00142554 0.0584284 0.998278 uwb: 0.0 840.155 1036.02 -imu_odom_: 1691062966.585417914 0.205901 -0.23942 9.76595 -0.0351537 -0.00852212 0.178964 0.13 0.14 pose: 0.8058286 -0.0767169 0.0714076 0 -0.00422932 -0.00214555 0.0590167 0.998246 uwb: 0.49877671 840.267 1036.73 -imu_odom_: 1691062966.601476448 -0.126893 -0.232238 9.7875 -0.0585895 0.0106526 0.186421 0.17 0.2 pose: 0.0 -0.0767169 0.0714076 0 -0.00422932 -0.00214555 0.0590167 0.998246 uwb: 0.0 840.267 1036.73 -imu_odom_: 1691062966.617479569 0.258574 -0.351948 10.1969 -0.0553937 -0.0308927 0.201335 0.17 0.2 pose: 0.64958887 -0.066792 0.0701838 0 -0.000440848-0.0008061660.0645749 0.997912 uwb: 0.0 840.267 1036.73 -imu_odom_: 1691062966.634413052 0.42138 -0.440533 9.76834 -0.0351537 -0.0266316 0.187487 0.17 0.17 pose: 0.0 -0.066792 0.0701838 0 -0.000440848-0.0008061660.0645749 0.997912 uwb: 0.50230567 840.427 1036.25 -imu_odom_: 1691062966.650359885 0.349553 -0.138864 9.72525 -0.0415453 -0.0234358 0.157659 0.17 0.17 pose: 0.0 -0.066792 0.0701838 0 -0.000440848-0.0008061660.0645749 0.997912 uwb: 0.0 840.427 1036.25 -imu_odom_: 1691062966.666567452 0.373495 -0.047884 9.81144 -0.0340885 -0.0511327 0.166181 0.17 0.17 pose: 0.33040431 -0.0568658 0.0689713 0 -0.00235027 0.000766689 0.0671184 0.997742 uwb: 0.0 840.427 1036.25 -imu_odom_: 1691062966.683508518 0.483629 -0.0957681 9.79468 -0.0490022 0.00319579 0.170442 0.15 0.11 pose: 0.41077428 -0.0568658 0.0689713 0 0.000308258 0.000697079 0.0697434 0.997565 uwb: 0.49885254 840.713 1035.46 -imu_odom_: 1691062966.699387104 0.244209 -0.25618 10.6326 -0.0468716 -0.0223706 0.153398 0.15 0.11 pose: 0.8056244 -0.0568658 0.0689713 0 0.000985218 0.000256156 0.0702698 0.997528 uwb: 0.0 840.713 1035.46 -imu_odom_: 1691062966.715562298 0.320823 -0.158017 9.64624 -0.0639159 -0.052198 0.152333 0.15 0.11 pose: 0.0 -0.0568658 0.0689713 0 0.000985218 0.000256156 0.0702698 0.997528 uwb: 0.0 840.713 1035.46 -imu_odom_: 1691062966.732499574 1.11091 -0.213084 10.2975 -0.0500674 -0.0649811 0.192813 0.17 0.11 pose: 0.40938602 -0.0469379 0.0677728 0 0.00167414 0.00209579 0.0726573 0.997353 uwb: 0.49803592 840.635 1035.33 -imu_odom_: 1691062966.749499553 1.36469 -0.490811 9.84256 -0.056459 -0.0181095 0.24288 0.12 0.08 pose: 0.0 -0.0469379 0.0677728 0 0.00167414 0.00209579 0.0726573 0.997353 uwb: 0.0 840.635 1035.33 -imu_odom_: 1691062966.765358599 2.09253 -0.56982 10.3693 -0.0447411 -0.0660464 0.215183 0.12 0.08 pose: 0.0 -0.0469379 0.0677728 0 0.00167414 0.00209579 0.0726573 0.997353 uwb: 0.0 840.635 1035.33 -imu_odom_: 1691062966.782416617 1.71425 -0.126893 9.3709 -0.0383495 -0.00106526 0.137419 0.12 0.08 pose: 0.24899026 -0.0469378 0.0677727 0 0.00161214 -0.0009410240.0747619 0.9972 uwb: 0.49933959 840.855 1034.55 -imu_odom_: 1691062966.799429430 1.36469 0.11971 10.2448 -0.0585895 0.0447411 0.136354 0.1 0.08 pose: 0.0 -0.0469378 0.0677727 0 0.00161214 -0.0009410240.0747619 0.9972 uwb: 0.0 840.855 1034.55 -imu_odom_: 1691062966.816488906 0.658405 -0.296881 9.65821 -0.072438 0.0255663 0.113983 0.1 0.08 pose: 0.32101319 -0.0370111 0.0665643 0 0.00143133 -0.00463485 0.0774215 0.996987 uwb: 0.0 840.855 1034.55 -imu_odom_: 1691062966.832382950 0.550666 -0.292093 10.1538 -0.0607201 0.00106526 0.0692422 0.08 0.05 pose: 0.43926263 -0.0358557 0.0764973 0 0.00105407 -0.00782387 0.0793634 0.996814 uwb: 0.50260024 841.074 1033.06 -imu_odom_: 1691062966.849489965 0.636858 -0.263362 9.75637 -0.0511327 -0.0234358 0.0607201 0.08 0.05 pose: 0.0 -0.0358557 0.0764973 0 0.00105407 -0.00782387 0.0793634 0.996814 uwb: 0.0 841.074 1033.06 -imu_odom_: 1691062966.865356010 0.814029 -0.0526724 9.96706 -0.0543285 -0.02024 0.092678 0.08 0.05 pose: 0.0 -0.0358557 0.0764973 0 0.00105407 -0.00782387 0.0793634 0.996814 uwb: 0.0 841.074 1033.06 -imu_odom_: 1691062966.882621683 0.617704 -0.380678 9.71567 -0.0532632 -0.00745685 0.116114 0.09 0.05 pose: 0.8013080 -0.0358557 0.0764973 0 0.000228323 -0.00776907 0.079488 0.996806 uwb: 0.49876796 841.203 1032.74 -imu_odom_: 1691062966.901557635 0.78051 -0.203507 9.991 -0.0426106 -0.0117179 0.108657 0.06 0.05 pose: 0.0 -0.0358557 0.0764973 0 0.000228323 -0.00776907 0.079488 0.996806 uwb: 0.0 841.203 1032.74 -imu_odom_: 1691062966.917422805 0.713472 -0.191536 9.81623 -0.0458064 -0.00106526 0.124636 0.06 0.05 pose: 0.67017935 -0.0259179 0.0753822 0 -0.00102735 -0.0118809 0.0811771 0.996628 uwb: 0.0 841.203 1032.74 -imu_odom_: 1691062966.944478289 0.565032 -0.263362 9.90242 -0.0511327 -0.00426106 0.115049 0.06 0.08 pose: 0.0 -0.0259179 0.0753822 0 -0.00102735 -0.0118809 0.0811771 0.996628 uwb: 0.50007455 840.95 1032.21 -imu_odom_: 1691062966.962597330 0.158017 -0.287304 9.72046 -0.0617853 0.0415453 0.0458064 0.06 0.08 pose: 0.33971961 -0.0259179 0.0753822 0 0.000323345 -0.0131785 0.0824823 0.996505 uwb: 0.0 840.95 1032.21 -imu_odom_: 1691062966.978414961 -0.627281 0.0263362 10.003 -0.0415453 0.0330232 -0.1012 0.07 -0.11 pose: 0.37105448 -0.0259179 0.0753822 0 -0.000843419-0.00925213 0.0832695 0.996484 uwb: 0.0 840.95 1032.21 -imu_odom_: 1691062966.994495077 -0.861913 0.335188 9.87608 -0.0447411 -0.0255663 -0.219444 0.07 -0.11 pose: 0.7843340 -0.0259179 0.0753822 0 -0.000688407-0.0083257 0.0827199 0.996538 uwb: 0.49993456 840.862 1031.65 -imu_odom_: 1691062967.11358565 -0.600945 0.205901 9.51935 -0.0756338 -0.0298274 -0.236489 0.07 -0.11 pose: 0.0 -0.0259179 0.0753822 0 -0.000688407-0.0083257 0.0827199 0.996538 uwb: 0.0 840.862 1031.65 -imu_odom_: 1691062967.28540535 0.0550666 -0.543484 9.75637 -0.0735032 -0.0756338 -0.268447 0.13 -0.38 pose: 0.40917895 -0.0259179 0.0753822 0 0.000401867 -0.00462439 0.0777605 0.996961 uwb: 0.0 840.862 1031.65 -imu_odom_: 1691062967.44359624 0.201113 -0.318429 9.32302 -0.0543285 -0.0127832 -0.325971 0.13 -0.38 pose: 0.0 -0.0259179 0.0753822 0 0.000401867 -0.00462439 0.0777605 0.996961 uwb: 0.50070160 840.522 1031.29 -imu_odom_: 1691062967.60482613 -0.00957681-0.126893 10.0126 -0.0447411 0.00958738 -0.325971 0.13 -0.38 pose: 0.0 -0.0259179 0.0753822 0 0.000401867 -0.00462439 0.0777605 0.996961 uwb: 0.0 840.522 1031.29 -imu_odom_: 1691062967.77542381 -0.342371 -0.0742203 9.92875 -0.0596548 -0.0127832 -0.329167 0.11 -0.38 pose: 0.40028655 -0.0159865 0.0742118 0 -0.00121737 -0.00181034 0.0709661 0.997476 uwb: 0.0 840.522 1031.29 -imu_odom_: 1691062967.93344847 -0.277727 -0.0981623 9.75398 -0.0596548 -0.0245011 -0.38243 0.16 -0.58 pose: 0.0 -0.0159865 0.0742118 0 -0.00121737 -0.00181034 0.0709661 0.997476 uwb: 0.49937459 840.748 1030.95 -imu_odom_: 1691062967.109356134 0.414197 -0.205901 10.0892 -0.0671117 -0.0681769 -0.413323 0.16 -0.58 pose: 0.0 -0.0159865 0.0742118 0 -0.00121737 -0.00181034 0.0709661 0.997476 uwb: 0.0 840.748 1030.95 -imu_odom_: 1691062967.126538395 0.143652 -0.0670376 9.17937 -0.0639159 -0.0266316 -0.415453 0.15 -0.58 pose: 0.33043640 -0.0159865 0.0742118 0 -0.0007214960.00137258 0.0647225 0.997902 uwb: 0.0 840.748 1030.95 -imu_odom_: 1691062967.144412450 0.323217 -0.112527 10.1562 -0.0660464 -0.0340885 -0.425041 0.15 -0.58 pose: 0.0 -0.0159865 0.0742118 0 -0.0007214960.00137258 0.0647225 0.997902 uwb: 0.49987332 840.621 1030.55 -imu_odom_: 1691062967.158347189 0.328006 -0.452504 9.663 -0.0777643 -0.00106526 -0.455933 0.15 -0.58 pose: 0.33075430 -0.006048960.0730964 0 0.000249007 0.000796862 0.0573772 0.998352 uwb: 0.0 840.621 1030.55 -imu_odom_: 1691062967.173329827 0.0981623 -0.0957681 9.91678 -0.0543285 0.0138484 -0.478304 0.13 -0.5 pose: 0.40840899 -0.006064450.0730797 0 0.000478825 0.00233096 0.0477296 0.998857 uwb: 0.0 840.621 1030.55 -imu_odom_: 1691062967.190326307 0.222661 -0.126893 9.96467 -0.0820254 -0.0191748 -0.4815 0.13 -0.5 pose: 0.7013305 -0.006049060.0730965 0 0.000712104 0.00305673 0.0459157 0.99894 uwb: 0.50173404 840.729 1030.09 -imu_odom_: 1691062967.206384550 0.684742 0.0311246 10.0892 -0.0756338 -0.0830906 -0.493217 0.13 -0.5 pose: 0.0 -0.006049060.0730965 0 0.000712104 0.00305673 0.0459157 0.99894 uwb: 0.0 840.729 1030.09 -imu_odom_: 1691062967.223448401 0.775721 -0.047884 9.8665 -0.0479369 -0.0415453 -0.532632 0.19 -0.79 pose: 0.41024056 0.00496325 0.0819331 0 0.00223786 0.0032195 0.0351639 0.999374 uwb: 0.0 840.729 1030.09 -imu_odom_: 1691062967.241349871 1.56102 -0.146046 9.61272 -0.0490022 -0.0575243 -0.512392 0.13 -0.55 pose: 0.0 0.00496325 0.0819331 0 0.00223786 0.0032195 0.0351639 0.999374 uwb: 0.49866589 840.974 1029.33 -imu_odom_: 1691062967.255463975 1.6113 -0.220267 9.55287 -0.0703074 -0.0479369 -0.471912 0.13 -0.55 pose: 0.0 0.00496325 0.0819331 0 0.00223786 0.0032195 0.0351639 0.999374 uwb: 0.0 840.974 1029.33 -imu_odom_: 1691062967.270326745 1.19471 -0.229843 10.8649 -0.0468716 0 -0.46339 0.13 -0.55 pose: 0.25007227 0.00497876 0.0819501 0 0.00287559 0.000288366 0.0280993 0.999601 uwb: 0.0 840.974 1029.33 -imu_odom_: 1691062967.286327241 1.20668 0.124498 9.92636 -0.0490022 -0.0181095 -0.427171 0.1 -0.44 pose: 0.0 0.00497876 0.0819501 0 0.00287559 0.000288366 0.0280993 0.999601 uwb: 0.49802425 841.081 1028.45 -imu_odom_: 1691062967.303445048 1.29766 -0.272939 9.6223 -0.0458064 -0.0138484 -0.370712 0.1 -0.44 pose: 0.31086378 0.0149241 0.0809062 0 0.00280187 -0.00335396 0.0199873 0.999791 uwb: 0.0 841.081 1028.45 -imu_odom_: 1691062967.319380214 0.955286 -0.387861 9.91678 -0.072438 -0.0138484 -0.295078 0.12 -0.44 pose: 0.40966893 0.0149241 0.0809062 0 0.00332524 -0.00745495 0.0107802 0.999909 uwb: 0.0 841.081 1028.45 -imu_odom_: 1691062967.336353070 1.08936 -0.395043 10.1993 -0.052198 0.00319579 -0.24288 0.12 -0.44 pose: 0.0 0.0149241 0.0809062 0 0.00332524 -0.00745495 0.0107802 0.999909 uwb: 0.50246317 841.288 1027.84 -imu_odom_: 1691062967.353328843 0.97444 -0.383072 9.86411 -0.0639159 -0.00213053 -0.2024 0.12 -0.44 pose: 0.0 0.0149241 0.0809062 0 0.00332524 -0.00745495 0.0107802 0.999909 uwb: 0.0 841.288 1027.84 -imu_odom_: 1691062967.369458832 0.40462 -0.253785 9.56962 -0.052198 0.0319579 -0.201335 0.06 -0.26 pose: 0.7001638 0.0149241 0.0809062 0 0.00292781 -0.00809373 0.00961273 0.999917 uwb: 0.0 841.288 1027.84 -imu_odom_: 1691062967.386336902 0.481235 -0.179565 9.90481 -0.0575243 -0.00852212 -0.201335 0.09 -0.32 pose: 0.0 0.0149241 0.0809062 0 0.00292781 -0.00809373 0.00961273 0.999917 uwb: 0.49986748 841.667 1028.2 -imu_odom_: 1691062967.403333674 0.684742 -0.0335188 9.73722 -0.0585895 -0.0191748 -0.18003 0.09 -0.32 pose: 0.66090780 0.0149241 0.0809062 0 0.000716222 -0.00933094 0.000899447 0.999956 uwb: 0.0 841.667 1028.2 -imu_odom_: 1691062967.419365960 1.1157 -0.349553 10.1035 -0.0639159 -0.0234358 -0.155529 0.05 -0.23 pose: 0.0 0.0149241 0.0809062 0 0.000716222 -0.00933094 0.000899447 0.999956 uwb: 0.0 841.667 1028.2 -imu_odom_: 1691062967.436337358 0.835576 -0.280122 9.84017 -0.0532632 0.00213053 -0.138484 0.05 -0.23 pose: 0.0 0.0149241 0.0809062 0 0.000716222 -0.00933094 0.000899447 0.999956 uwb: 0.50036913 841.406 1027.82 -imu_odom_: 1691062967.453320714 0.799663 -0.131681 10.0437 -0.0543285 0.00958738 -0.123571 0.05 -0.23 pose: 0.33829637 0.0248647 0.0798183 0 0.00201548 -0.0102539 -0.00284349 0.999941 uwb: 0.0 841.406 1027.82 -imu_odom_: 1691062967.469294087 0.464475 -0.203507 9.7444 -0.056459 0.00852212 -0.122505 0.05 -0.17 pose: 0.33963503 0.0248647 0.0798183 0 0.00132867 -0.0133515 -0.00587193 0.999893 uwb: 0.0 841.406 1027.82 -imu_odom_: 1691062967.486310107 0.59855 -0.0694318 10.1227 -0.0553937 -0.0266316 -0.136354 0.05 -0.17 pose: 0.0 0.0248647 0.0798183 0 0.00132867 -0.0133515 -0.00587193 0.999893 uwb: 0.50122073 841.356 1026.83 -imu_odom_: 1691062967.502311770 0.782904 -0.222661 9.7444 -0.0607201 -0.0181095 -0.124636 0.05 -0.17 pose: 0.0 0.0248647 0.0798183 0 0.00132867 -0.0133515 -0.00587193 0.999893 uwb: 0.0 841.356 1026.83 -imu_odom_: 1691062967.519312041 0.790087 -0.320823 10.0365 -0.056459 0.00852212 -0.100135 0.05 -0.2 pose: 0.48986098 0.0248647 0.0798183 0 0.00278467 -0.0125796 -0.00999074 0.999867 uwb: 0.0 841.356 1026.83 -imu_odom_: 1691062967.535458945 0.703895 -0.35913 9.84975 -0.056459 -0.00213053 -0.0798948 0.05 -0.2 pose: 0.0 0.0248647 0.0798183 0 0.00278467 -0.0125796 -0.00999074 0.999867 uwb: 0.49616645 841.123 1026.3 -imu_odom_: 1691062967.551447775 0.651223 -0.179565 9.85453 -0.0532632 0 -0.0703074 0.03 -0.11 pose: 0.17030312 0.0248647 0.0798183 0 0.00174529 -0.0138842 -0.0112738 0.999839 uwb: 0.0 841.123 1026.3 -imu_odom_: 1691062967.567446521 0.471658 -0.234632 9.7851 -0.0596548 -0.00106526 -0.0628506 0.03 -0.11 pose: 0.0 0.0248647 0.0798183 0 0.00174529 -0.0138842 -0.0112738 0.999839 uwb: 0.0 841.123 1026.3 -imu_odom_: 1691062967.584334216 0.617704 -0.241814 9.99579 -0.0532632 -0.00958738 -0.0660464 0.03 -0.11 pose: 0.0 0.0248647 0.0798183 0 0.00174529 -0.0138842 -0.0112738 0.999839 uwb: 0.50100784 841.021 1024.61 -imu_odom_: 1691062967.600309047 0.718261 -0.268151 9.88566 -0.0543285 -0.0149137 -0.052198 0.03 -0.08 pose: 0.32109485 0.0248647 0.0798183 0 -8.83588e-06-0.0140773 -0.0132222 0.999813 uwb: 0.0 841.021 1024.61 -imu_odom_: 1691062967.616377497 0.667982 -0.280122 9.89763 -0.056459 0 -0.0340885 0.02 -0.05 pose: 0.0 0.0248647 0.0798183 0 -8.83588e-06-0.0140773 -0.0132222 0.999813 uwb: 0.0 841.021 1024.61 -imu_odom_: 1691062967.633315356 0.622492 -0.272939 9.88326 -0.0553937 -0.00426106 -0.0191748 0.02 -0.05 pose: 0.64873142 0.0248647 0.0798183 0 -0.00227347 -0.0129499 -0.0163958 0.999779 uwb: 0.50151822 841.186 1024.59 -imu_odom_: 1691062967.649314977 0.565032 -0.186748 9.89284 -0.0575243 -0.00639159 -0.0138484 0.02 -0.05 pose: 0.0 0.0248647 0.0798183 0 -0.00227347 -0.0129499 -0.0163958 0.999779 uwb: 0.0 841.186 1024.59 -imu_odom_: 1691062967.665307015 0.636858 -0.203507 9.92397 -0.056459 -0.00745685 -0.00639159 0.01 -0.05 pose: 0.0 0.0248647 0.0798183 0 -0.00227347 -0.0129499 -0.0163958 0.999779 uwb: 0.0 841.186 1024.59 -imu_odom_: 1691062967.681307802 0.620098 -0.263362 9.87848 -0.056459 -0.00852212 0.00106526 0.01 -0.05 pose: 0.32992601 0.0248647 0.0798183 0 -0.00259657 -0.0111651 -0.0174033 0.999783 uwb: 0.49856672 840.925 1024.77 -imu_odom_: 1691062967.697368961 0.701501 -0.277727 9.87369 -0.0553937 -0.00532632 0.0117179 0 -0.02 pose: 0.40985558 0.0248647 0.0798183 0 -0.00207867 -0.0112118 -0.018324 0.999767 uwb: 0.0 840.925 1024.77 -imu_odom_: 1691062967.713355166 0.677559 -0.260968 9.84496 -0.056459 -0.00213053 0.0287621 0 -0.02 pose: 0.0 0.0248647 0.0798183 0 -0.00207867 -0.0112118 -0.018324 0.999767 uwb: 0.0 840.925 1024.77 -imu_odom_: 1691062967.729414867 0.593762 -0.229843 9.93115 -0.0543285 0.00213053 0.0394148 0 -0.02 pose: 0.0 0.0248647 0.0798183 0 -0.00207867 -0.0112118 -0.018324 0.999767 uwb: 0.0 840.925 1024.77 -imu_odom_: 1691062967.743357190 0.42138 -0.225055 9.84735 -0.0543285 0.00532632 0.0458064 0 0 pose: 0.7018263 0.0248647 0.0798183 0 -0.00231431 -0.0118775 -0.0184204 0.999757 uwb: 0.50007164 840.882 1024.49 -imu_odom_: 1691062967.758296955 0.387861 -0.229843 9.90481 -0.0543285 -0.00106526 0.0394148 0 0 pose: 0.0 0.0248647 0.0798183 0 -0.00231431 -0.0118775 -0.0184204 0.999757 uwb: 0.0 840.882 1024.49 -imu_odom_: 1691062967.772289733 0.349553 -0.203507 9.90242 -0.0553937 -0.00852212 0.036219 0 0 pose: 0.0 0.0248647 0.0798183 0 -0.00231431 -0.0118775 -0.0184204 0.999757 uwb: 0.0 840.882 1024.49 -imu_odom_: 1691062967.786304093 0.466869 -0.220267 9.87848 -0.0553937 -0.0106526 0.0383495 0 0 pose: 0.47041668 0.0348069 0.0787444 0 -0.00201257 -0.0121402 -0.0186215 0.999751 uwb: 0.49962541 840.625 1024.39 -imu_odom_: 1691062967.800295121 0.548272 -0.294487 9.84735 -0.0553937 -0.00639159 0.04048 0 0 pose: 0.0 0.0348069 0.0787444 0 -0.00201257 -0.0121402 -0.0186215 0.999751 uwb: 0.0 840.625 1024.39 -imu_odom_: 1691062967.814349146 0.52433 -0.248997 9.92157 -0.0553937 -0.00106526 0.04048 0 0 pose: 0.0 0.0348069 0.0787444 0 -0.00201257 -0.0121402 -0.0186215 0.999751 uwb: 0.0 840.625 1024.39 -imu_odom_: 1691062967.828348340 0.459687 -0.203507 9.88566 -0.0553937 0 0.04048 0 0 pose: 0.42988901 0.0348069 0.0787444 0 -0.00136595 -0.00788108 -0.0186246 0.999795 uwb: 0.0 840.625 1024.39 -imu_odom_: 1691062967.843334478 0.430956 -0.189142 9.89524 -0.056459 -0.00426106 0.0415453 0 0 pose: 0.0 0.0348069 0.0787444 0 -0.00136595 -0.00788108 -0.0186246 0.999795 uwb: 0.50012414 840.656 1023.96 -imu_odom_: 1691062967.857272134 0.442927 -0.203507 9.91439 -0.056459 -0.00745685 0.0383495 0 0 pose: 0.0 0.0348069 0.0787444 0 -0.00136595 -0.00788108 -0.0186246 0.999795 uwb: 0.0 840.656 1023.96 -imu_odom_: 1691062967.871272495 0.483629 -0.248997 9.89045 -0.0553937 -0.00639159 0.0372843 0 0 pose: 0.41975126 0.0348069 0.0787444 0 -0.00146809 -0.00556411 -0.0186087 0.99981 uwb: 0.0 840.656 1023.96 -imu_odom_: 1691062967.886331253 0.536301 -0.244209 9.90242 -0.0543285 -0.00532632 0.0394148 0 0 pose: 0.0 0.0348069 0.0787444 0 -0.00146809 -0.00556411 -0.0186087 0.99981 uwb: 0.49993748 840.609 1023.96 -imu_odom_: 1691062967.901300184 0.507571 -0.260968 9.88087 -0.0553937 -0.00213053 0.04048 0 0 pose: 0.0 0.0348069 0.0787444 0 -0.00146809 -0.00556411 -0.0186087 0.99981 uwb: 0.0 840.609 1023.96 -imu_odom_: 1691062967.915430329 0.464475 -0.189142 9.88566 -0.052198 -0.00213053 0.04048 0 0 pose: 0.42945737 0.0348069 0.0787444 0 -0.000101103-0.00276383 -0.0186113 0.999823 uwb: 0.0 840.609 1023.96 -imu_odom_: 1691062967.930431049 0.442927 -0.220267 9.89284 -0.0553937 -0.00639159 0.0394148 0 0 pose: 0.0 0.0348069 0.0787444 0 -0.000101103-0.00276383 -0.0186113 0.999823 uwb: 0.50077743 840.756 1023.66 -imu_odom_: 1691062967.945311026 0.493206 -0.246603 9.88805 -0.0543285 -0.00639159 0.0383495 0 0 pose: 0.0 0.0348069 0.0787444 0 -0.000101103-0.00276383 -0.0186113 0.999823 uwb: 0.0 840.756 1023.66 -imu_odom_: 1691062967.967296469 0.505177 -0.265756 9.88087 -0.0553937 -0.00426106 0.0394148 0 0 pose: 0.44053131 0.0348069 0.0787444 0 -0.00195034 -0.00498644 -0.0186063 0.999813 uwb: 0.0 840.756 1023.66 -imu_odom_: 1691062967.982377101 0.201113 -0.294487 9.86172 -0.0639159 0.0245011 0.0191748 0 0 pose: 0.0 0.0348069 0.0787444 0 -0.00195034 -0.00498644 -0.0186063 0.999813 uwb: 0.0 840.756 1023.66 -imu_odom_: 1691062967.996294050 -0.574608 -0.189142 9.88566 -0.04048 0.0894822 -0.0266316 0.01 0.02 pose: 0.43984594 0.0348069 0.0787444 0 -0.00208144 -0.00474583 -0.0186133 0.999813 uwb: 0.0 840.756 1023.66 -imu_odom_: 1691062968.12442121 -1.45567 0.0215478 9.94791 -0.0458064 0.0479369 0.0213053 0.03 0.02 pose: 0.0 0.0348069 0.0787444 0 -0.00208144 -0.00474583 -0.0186133 0.999813 uwb: 0.0 840.756 1023.66 -imu_odom_: 1691062968.28424826 -0.509965 -0.665588 10.1203 -0.0639159 -0.0852212 0.0713727 0.04 0.05 pose: 0.0 0.0348069 0.0787444 0 -0.00208144 -0.00474583 -0.0186133 0.999813 uwb: 0.0 840.756 1023.66 -imu_odom_: 1691062968.45442014 0.229843 -0.42138 9.58638 -0.052198 -0.0575243 0.0585895 0.04 0.05 pose: 0.68011586 0.0348069 0.0787444 0 -0.00317396 0.000484957 -0.0192501 0.99981 uwb: 0.99819797 840.934 1024.2 -imu_odom_: 1691062968.62322417 0.641646 -0.138864 10.24 -0.056459 -0.0127832 0.0692422 0.06 0.02 pose: 0.0 0.0348069 0.0787444 0 -0.00317396 0.000484957 -0.0192501 0.99981 uwb: 0.0 840.934 1024.2 -imu_odom_: 1691062968.79477847 -0.0335188 -0.047884 9.5792 -0.0468716 0.0245011 0.0447411 0.06 0.02 pose: 0.0 0.0348069 0.0787444 0 -0.00317396 0.000484957 -0.0192501 0.99981 uwb: 0.50041288 840.986 1023.91 -imu_odom_: 1691062968.95353517 -0.071826 -0.215478 10.0293 -0.0596548 0.0223706 0.0298274 0.06 0.02 pose: 0.34001127 0.0348069 0.0787444 0 -0.00425209 0.00109209 -0.0188205 0.999813 uwb: 0.0 840.986 1023.91 -imu_odom_: 1691062968.111480005 -0.1652 -0.35913 9.79947 -0.056459 -0.0117179 0.0511327 0.11 0.05 pose: 0.42025582 0.0348069 0.0787444 0 -0.00265732 0.00379827 -0.0187134 0.999814 uwb: 0.0 840.986 1023.91 -imu_odom_: 1691062968.128478527 0.332794 -0.47884 10.0317 -0.036219 -0.015979 0.052198 0.11 0.05 pose: 0.6962557 0.0348069 0.0787444 0 -0.00277519 0.00445935 -0.0186717 0.999812 uwb: 0.0 840.986 1023.91 -imu_odom_: 1691062968.145421344 0.155623 -0.225055 9.77313 -0.0500674 -0.0127832 0.0596548 0.11 0.05 pose: 0.0 0.0348069 0.0787444 0 -0.00277519 0.00445935 -0.0186717 0.999812 uwb: 0.49940084 841.028 1024.18 -imu_odom_: 1691062968.161421548 0.289698 -0.208296 9.92875 -0.0607201 0.00639159 0.0681769 0.1 0 pose: 0.43105270 0.0447371 0.0775655 0 -0.00361317 0.00640452 -0.0183389 0.999805 uwb: 0.0 841.028 1024.18 -imu_odom_: 1691062968.177365173 0.229843 -0.241814 9.80665 -0.052198 -0.0149137 0.0479369 0.13 0.02 pose: 0.0 0.0447371 0.0775655 0 -0.00361317 0.00640452 -0.0183389 0.999805 uwb: 0.0 841.028 1024.18 -imu_odom_: 1691062968.194415900 0.25618 -0.059855 9.83299 -0.0447411 -0.0287621 0.0319579 0.13 0.02 pose: 0.0 0.0447371 0.0775655 0 -0.00361317 0.00640452 -0.0183389 0.999805 uwb: 0.49978583 840.936 1024.06 -imu_odom_: 1691062968.211291929 0.244209 0.0550666 9.78031 -0.0479369 0.0106526 0.0596548 0.14 0 pose: 0.22970637 0.0447371 0.0775655 0 -0.00185622 0.00687411 -0.0180692 0.999811 uwb: 0.0 840.936 1024.06 -imu_odom_: 1691062968.228422860 0.37589 -0.627281 10.1993 -0.0479369 0.0106526 0.0607201 0.14 0 pose: 0.0 0.0447371 0.0775655 0 -0.00185622 0.00687411 -0.0180692 0.999811 uwb: 0.0 840.936 1024.06 -imu_odom_: 1691062968.244543224 0.603339 -0.318429 9.79468 -0.0458064 -0.0351537 0.0287621 0.14 0 pose: 0.33028474 0.0447371 0.0775655 0 0.000938556 0.00750632 -0.0180052 0.999809 uwb: 0.50129074 840.779 1023.65 -imu_odom_: 1691062968.262411737 1.10133 -0.222661 9.79707 -0.0575243 -0.0117179 0.0447411 0.1 0.02 pose: 0.43122769 0.054669 0.0764002 0 -6.90326e-050.0055281 -0.0178213 0.999826 uwb: 0.0 840.779 1023.65 -imu_odom_: 1691062968.278378985 1.39103 -0.148441 10.4244 -0.0607201 -0.0106526 0.0958738 0.1 0.02 pose: 0.7897296 0.054669 0.0764002 0 -9.66913e-050.00470908 -0.0178011 0.99983 uwb: 0.0 840.779 1023.65 -imu_odom_: 1691062968.294534056 1.43173 -0.304064 10.1155 -0.0511327 -0.0447411 0.127832 0.1 0.02 pose: 0.0 0.054669 0.0764002 0 -9.66913e-050.00470908 -0.0178011 0.99983 uwb: 0.49877088 840.963 1023.91 -imu_odom_: 1691062968.311468706 1.13485 -0.361524 9.23444 -0.0532632 -0.0127832 0.137419 0.07 0 pose: 0.42093536 0.054669 0.0764002 0 -0.0002251929.38464e-05 -0.0166139 0.999862 uwb: 0.0 840.963 1023.91 -imu_odom_: 1691062968.328392566 1.23062 -0.0957681 10.2927 -0.0319579 0.02024 0.0948085 0.09 -0.02 pose: 0.0 0.054669 0.0764002 0 -0.0002251929.38464e-05 -0.0166139 0.999862 uwb: 0.0 840.963 1023.91 -imu_odom_: 1691062968.344379354 0.845153 0.117316 10.1179 -0.0575243 0.00852212 0.0553937 0.09 -0.02 pose: 0.0 0.054669 0.0764002 0 -0.0002251929.38464e-05 -0.0166139 0.999862 uwb: 0.50003665 840.494 1023.84 -imu_odom_: 1691062968.361421040 0.816423 -0.110133 10.1873 -0.0575243 -0.00639159 0.0266316 0.07 0 pose: 0.23981203 0.054669 0.0764002 0 -0.000373427-0.00224758 -0.0155918 0.999876 uwb: 0.0 840.494 1023.84 -imu_odom_: 1691062968.377406662 0.696713 -0.3304 9.59117 -0.0639159 -0.02024 0 0.07 0 pose: 0.0 0.054669 0.0764002 0 -0.000373427-0.00224758 -0.0155918 0.999876 uwb: 0.0 840.494 1023.84 -imu_odom_: 1691062968.393283790 1.01035 -0.189142 9.93833 -0.0532632 -0.00426106 0.0106526 0.07 0 pose: 0.32820528 0.0646063 0.0752827 0 0.00106391 -0.00490553 -0.0152418 0.999871 uwb: 0.50110991 840.105 1023.33 -imu_odom_: 1691062968.410297186 0.766145 -0.301669 9.88087 -0.0596548 0.0149137 0.0255663 0.04 0.02 pose: 0.41948003 0.0646063 0.0752827 0 0.000279226 -0.00885813 -0.0158456 0.999835 uwb: 0.0 840.105 1023.33 -imu_odom_: 1691062968.427426659 0.629675 -0.146046 9.98861 -0.052198 0.00319579 0.00958738 0.04 0.02 pose: 0.8165905 0.0646063 0.0752827 0 -0.000114155-0.00950441 -0.0158993 0.999828 uwb: 0.0 840.105 1023.33 -imu_odom_: 1691062968.453277922 0.691924 -0.124498 9.91439 -0.056459 -0.00213053 0.00213053 0.03 0.02 pose: 0.25976964 0.0646063 0.0752827 0 0.00111126 -0.0107012 -0.0162308 0.99981 uwb: 0.50020289 839.918 1022.36 -imu_odom_: 1691062968.470265652 0.292093 -0.318429 9.95748 -0.0575243 0.0543285 0.0287621 0.04 0.05 pose: 0.0 0.0646063 0.0752827 0 0.00111126 -0.0107012 -0.0162308 0.99981 uwb: 0.0 839.918 1022.36 -imu_odom_: 1691062968.496252240 -1.50116 -0.308852 10.2424 -0.04048 0.0575243 0.0639159 0.05 0.02 pose: 0.42838993 0.0646063 0.0752827 0 0.00202955 -0.0106419 -0.0168162 0.9998 uwb: 0.49975374 839.935 1021.78 -imu_odom_: 1691062968.523321433 -0.237026 -0.0263362 9.77313 -0.0543285 -0.105461 0.0490022 0.09 0.02 pose: 0.0 0.0646063 0.0752827 0 0.00202955 -0.0106419 -0.0168162 0.9998 uwb: 0.0 839.935 1021.78 -imu_odom_: 1691062968.539277015 0.725443 -0.246603 9.85453 -0.052198 -0.0628506 0.0532632 0.09 0.02 pose: 0.0 0.0646063 0.0752827 0 0.00202955 -0.0106419 -0.0168162 0.9998 uwb: 0.0 839.935 1021.78 -imu_odom_: 1691062968.566330166 0.538695 -0.469264 9.96946 -0.0575243 0.0479369 0.0607201 0.12 0.02 pose: 0.69011363 0.0745417 0.0741474 0 0.00202234 -0.00790029 -0.0162698 0.999834 uwb: 0.0 839.935 1021.78 -imu_odom_: 1691062968.592314713 -0.464475 -0.0885855 10.2927 -0.0553937 -0.00532632 0.036219 0.12 0.02 pose: 0.8058869 0.0745417 0.0741474 0 0.001213 -0.00762436 -0.0161781 0.999839 uwb: 0.100029203 839.865 1021.08 -imu_odom_: 1691062968.619316534 0.442927 -0.45011 9.38527 -0.0681769 -0.0372843 0.0500674 0.15 0.02 pose: 0.44978829 0.0745417 0.0741474 0 -0.000302035-0.00441974 -0.0160068 0.999862 uwb: 0.0 839.865 1021.08 -imu_odom_: 1691062968.645449531 0.694318 -0.150835 9.84256 -0.0511327 0.02024 0.0511327 0.15 0.02 pose: 0.0 0.0745417 0.0741474 0 -0.000302035-0.00441974 -0.0160068 0.999862 uwb: 0.49839757 840.541 1021.28 -imu_odom_: 1691062968.672301444 -0.138864 -0.184354 9.81144 -0.0617853 0.0181095 0.0255663 0.17 0 pose: 0.35029776 0.0844782 0.0730226 0 -0.0027105 -0.00493243 -0.0158117 0.999859 uwb: 0.0 840.541 1021.28 -imu_odom_: 1691062968.688300190 0.0622492 0.220267 9.86172 -0.056459 0.00639159 0.0415453 0.17 0 pose: 0.0 0.0844782 0.0730226 0 -0.0027105 -0.00493243 -0.0158117 0.999859 uwb: 0.50060244 840.314 1021.73 -imu_odom_: 1691062968.715407297 0.773327 -0.459687 10.3525 -0.072438 0.0106526 0.0415453 0.13 0.02 pose: 0.52956911 0.0844782 0.0730226 0 -0.000942366-0.00274462 -0.0158964 0.999869 uwb: 0.0 840.314 1021.73 -imu_odom_: 1691062968.741240185 0.423774 -0.189142 9.75398 -0.0511327 0.0117179 0.0340885 0.13 -0.02 pose: 0.35105897 0.0944149 0.0718991 0 -0.00220251 -0.00413879 -0.0158608 0.999863 uwb: 0.49959042 840.139 1021.33 -imu_odom_: 1691062968.768225091 0.162806 -0.148441 9.69652 -0.0713727 -0.0127832 0.0703074 0.13 -0.02 pose: 0.7835466 0.0944149 0.0718991 0 -0.00159289 -0.00356225 -0.0158838 0.999866 uwb: 0.0 840.139 1021.33 -imu_odom_: 1691062968.794362170 0.457293 -0.323217 9.90721 -0.0639159 0.0191748 0.0351537 0.14 0 pose: 0.44982328 0.10149 0.0710993 0 0.000270737 0.000261185 -0.0155234 0.999879 uwb: 0.49989665 839.97 1020.22 -imu_odom_: 1691062968.810264089 0.21069 -0.222661 10.0676 -0.0703074 0.0479369 0.0319579 0.14 0 pose: 0.0 0.10149 0.0710993 0 0.000270737 0.000261185 -0.0155234 0.999879 uwb: 0.0 839.97 1020.22 -imu_odom_: 1691062968.836278967 0.517148 -0.586579 9.67736 -0.0745685 0.0426106 0.0575243 0.14 0 pose: 0.42038998 0.105468 0.0807154 0 -0.00199272 0.00137674 -0.0156398 0.999875 uwb: 0.50032247 839.953 1020.08 -imu_odom_: 1691062968.863248415 0.0502782 -0.220267 9.81144 -0.0511327 -0.02024 0.0479369 0.14 0 pose: 0.0 0.105468 0.0807154 0 -0.00199272 0.00137674 -0.0156398 0.999875 uwb: 0.0 839.953 1020.08 -imu_odom_: 1691062968.888263809 0.696713 -0.253785 10.5105 -0.0628506 0.00745685 0.0543285 0.15 0.02 pose: 0.52984326 0.115406 0.0795983 0 -0.00389038 0.00341352 -0.0152859 0.99987 uwb: 0.49954667 840.013 1019.79 -imu_odom_: 1691062968.915243173 0.581791 0.0311246 10.7284 -0.0447411 0.0127832 0.0255663 0.18 -0.02 pose: 0.0 0.115406 0.0795983 0 -0.00389038 0.00341352 -0.0152859 0.99987 uwb: 0.0 840.013 1019.79 -imu_odom_: 1691062968.932228279 0.399832 -0.294487 9.3733 -0.0671117 0 0.0671117 0.18 -0.02 pose: 0.32075946 0.115406 0.0795983 0 -0.00309147 0.000749395 -0.0151612 0.99988 uwb: 0.49986749 839.948 1019.65 -imu_odom_: 1691062968.959427256 0.483629 -0.112527 9.96946 -0.0458064 -0.0596548 0.0383495 0.23 0 pose: 0.36903918 0.125344 0.0784894 0 -0.00308389 0.000106415 -0.0150695 0.999882 uwb: 0.0 839.948 1019.65 -imu_odom_: 1691062968.984368279 0.56982 -0.059855 9.31823 -0.0607201 0.0671117 0.0447411 0.23 0 pose: 0.0 0.125344 0.0784894 0 -0.00308389 0.000106415 -0.0150695 0.999882 uwb: 0.50187987 839.888 1018.95 -imu_odom_: 1691062969.11244691 -0.823605 -0.248997 9.64863 -0.0479369 -0.00639159 0.0276969 0.2 0 pose: 0.7064344 0.125344 0.0784894 0 -0.00242586 -0.000416256-0.0150742 0.999883 uwb: 0.0 839.888 1018.95 -imu_odom_: 1691062969.37249361 0.232238 -0.146046 9.9503 -0.0617853 -0.0649811 0.0607201 0.2 0 pose: 0.0 0.125344 0.0784894 0 -0.00242586 -0.000416256-0.0150742 0.999883 uwb: 0.49955834 839.925 1018.24 -imu_odom_: 1691062969.64227851 0.497994 -0.0742203 9.97424 -0.0479369 -0.00958738 0.0255663 0.22 0 pose: 0.52078461 0.135283 0.0773822 0 0.00132581 -0.00191077 -0.0150707 0.999884 uwb: 0.0 839.925 1018.24 -imu_odom_: 1691062969.90302226 0.409408 -0.0742203 9.77792 -0.0649811 0.0340885 0.0617853 0.17 0 pose: 0.52867959 0.145221 0.076275 0 0.00236152 0.00120972 -0.0149679 0.999884 uwb: 0.49980624 839.974 1017.38 -imu_odom_: 1691062969.107273041 0.0047884 -0.560243 10.0556 -0.0458064 0.0426106 0.0340885 0.17 0 pose: 0.0 0.145221 0.076275 0 0.00236152 0.00120972 -0.0149679 0.999884 uwb: 0.0 839.974 1017.38 -imu_odom_: 1691062969.124275646 0.574608 0.035913 9.94551 -0.0138484 -0.0415453 0.0276969 0.17 0 pose: 0.0 0.145221 0.076275 0 0.00236152 0.00120972 -0.0149679 0.999884 uwb: 0.0 839.974 1017.38 -imu_odom_: 1691062969.141278543 0.579397 -0.502782 9.7875 -0.0617853 0.0149137 0.0585895 0.17 0 pose: 0.71042996 0.15516 0.0751691 0 0.00559071 0.000778642 -0.0149084 0.999873 uwb: 0.49975375 840.312 1016.5 -imu_odom_: 1691062969.157272039 0.428562 -0.366313 9.98143 -0.0436758 -0.0266316 0.0298274 0.17 0 pose: 0.0 0.15516 0.0751691 0 0.00559071 0.000778642 -0.0149084 0.999873 uwb: 0.0 840.312 1016.5 -imu_odom_: 1691062969.173269911 0.311246 0.0023942 9.67976 -0.0426106 -0.0383495 0.0447411 0.23 -0.02 pose: 0.0 0.15516 0.0751691 0 0.00559071 0.000778642 -0.0149084 0.999873 uwb: 0.0 840.312 1016.5 -imu_odom_: 1691062969.189215285 1.07978 -0.349553 10.094 -0.0671117 -0.0245011 0.072438 0.23 -0.02 pose: 0.41990000 0.165099 0.0740653 0 0.00317278 -0.000856229-0.0148693 0.999884 uwb: 0.49949710 840.486 1015.36 -imu_odom_: 1691062969.206325509 -0.0933739 -0.253785 9.44513 -0.0351537 0.0276969 0.0319579 0.23 -0.02 pose: 0.0 0.165099 0.0740653 0 0.00317278 -0.000856229-0.0148693 0.999884 uwb: 0.0 840.486 1015.36 -imu_odom_: 1691062969.222326588 0.232238 0.184354 10.3525 -0.0500674 -0.0276969 0.0447411 0.17 0 pose: 0.7007181 0.165099 0.0740653 0 0.00379895 -0.000587899-0.0148533 0.999882 uwb: 0.0 840.486 1015.36 -imu_odom_: 1691062969.239209909 0.378284 -0.397437 9.84735 -0.072438 -0.00852212 0.0628506 0.17 0 pose: 0.0 0.165099 0.0740653 0 0.00379895 -0.000587899-0.0148533 0.999882 uwb: 0.49904503 840.41 1014.8 -imu_odom_: 1691062969.256265886 0.37589 -0.260968 10.058 -0.0649811 -0.0117179 0.0298274 0.17 0 pose: 0.0 0.165099 0.0740653 0 0.00379895 -0.000587899-0.0148533 0.999882 uwb: 0.0 840.41 1014.8 -imu_odom_: 1691062969.270221916 0.430956 0.0023942 9.3733 -0.0596548 -0.0255663 0.0394148 0.17 0 pose: 0.50000165 0.175038 0.0729624 0 0.00454648 0.000308509 -0.0146155 0.999883 uwb: 0.0 840.41 1014.8 -imu_odom_: 1691062969.285325881 0.68953 -0.6608 9.91199 -0.0788296 0.00958738 0.0777643 0.16 0 pose: 0.0 0.175038 0.0729624 0 0.00454648 0.000308509 -0.0146155 0.999883 uwb: 0.50000165 840.454 1014.24 -imu_odom_: 1691062969.301265130 0.141258 -0.385466 9.76116 -0.0628506 -0.00958738 0.052198 0.16 0 pose: 0.0 0.175038 0.0729624 0 0.00454648 0.000308509 -0.0146155 0.999883 uwb: 0.0 840.454 1014.24 -imu_odom_: 1691062969.318265402 0.756568 0.0622492 10.2592 -0.0500674 -0.02024 0.036219 0.17 0 pose: 0.61992808 0.184977 0.0718644 0 0.00240256 6.44207e-05 -0.0143702 0.999894 uwb: 0.0 840.454 1014.24 -imu_odom_: 1691062969.334220109 0.723049 -0.387861 9.61511 -0.0820254 0.0628506 0.052198 0.17 0 pose: 0.0 0.184977 0.0718644 0 0.00240256 6.44207e-05 -0.0143702 0.999894 uwb: 0.50109243 840.216 1013.14 -imu_odom_: 1691062969.351343749 0 -0.361524 9.67018 -0.0660464 -0.00745685 0.0394148 0.17 0 pose: 0.33000185 0.194918 0.0707738 0 0.000987358 0.000211561 -0.0141101 0.9999 uwb: 0.0 840.216 1013.14 -imu_odom_: 1691062969.368217153 0.663194 0.011971 10.1754 -0.0426106 -0.0820254 0.0245011 0.23 0 pose: 0.42071371 0.194918 0.0707738 0 -0.0002260530.000208138 -0.014022 0.999902 uwb: 0.0 840.216 1013.14 -imu_odom_: 1691062969.384287937 1.17555 -0.399832 9.0022 -0.0575243 -0.0138484 0.0585895 0.23 0 pose: 0.7008638 0.194918 0.0707738 0 0.000269698 -0.000599751-0.0140748 0.999901 uwb: 0.50080368 840.699 1011.98 -imu_odom_: 1691062969.401259919 0.773327 -0.416591 10.0221 -0.0543285 0.00639159 0.103331 0.23 0 pose: 0.0 0.194918 0.0707738 0 0.000269698 -0.000599751-0.0140748 0.999901 uwb: 0.0 840.699 1011.98 -imu_odom_: 1691062969.417292788 1.64003 -0.287304 10.0509 -0.0426106 -0.0532632 0.0681769 0.13 0 pose: 0.42907532 0.204858 0.0696865 0 -0.000482829-0.00464643 -0.013449 0.999899 uwb: 0.0 840.699 1011.98 -imu_odom_: 1691062969.434356056 1.50835 -0.0814029 10.1442 -0.0490022 -0.0213053 0.0149137 0.17 -0.05 pose: 0.0 0.204858 0.0696865 0 -0.000482829-0.00464643 -0.013449 0.999899 uwb: 0.49883797 840.993 1012.38 -imu_odom_: 1691062969.452405685 1.67355 -0.253785 10.0844 -0.0553937 0.02024 -0.0117179 0.17 -0.05 pose: 0.0 0.204858 0.0696865 0 -0.000482829-0.00464643 -0.013449 0.999899 uwb: 0.0 840.993 1012.38 -imu_odom_: 1691062969.466245055 1.06781 -0.282516 9.94791 -0.072438 0.0117179 0.015979 0.1 0 pose: 0.23156126 0.204858 0.0696865 0 -0.000382706-0.00740981 -0.0133079 0.999884 uwb: 0.0 840.993 1012.38 -imu_odom_: 1691062969.482359586 1.03669 -0.229843 10.003 -0.0617853 0.0330232 0.0436758 0.1 0 pose: 0.0 0.204858 0.0696865 0 -0.000382706-0.00740981 -0.0133079 0.999884 uwb: 0.50133449 840.771 1011.97 -imu_odom_: 1691062969.498229715 0.794875 -0.301669 9.69652 -0.0479369 -0.00426106 0.076699 0.1 0 pose: 0.0 0.204858 0.0696865 0 -0.000382706-0.00740981 -0.0133079 0.999884 uwb: 0.0 840.771 1011.97 -imu_odom_: 1691062969.514379536 0.438139 -0.323217 9.82102 -0.0585895 0.0447411 0.0798948 0.08 0 pose: 0.73813670 0.214801 0.0686144 0 -0.0014074 -0.0140336 -0.0137205 0.999806 uwb: 0.0 840.771 1011.97 -imu_odom_: 1691062969.533369152 0.21069 -0.150835 10.2783 -0.0447411 0.0191748 0.00958738 0.08 0 pose: 0.0 0.214801 0.0686144 0 -0.0014074 -0.0140336 -0.0137205 0.999806 uwb: 0.50016789 840.634 1010.73 -imu_odom_: 1691062969.550214557 0.471658 -0.0837971 9.96467 -0.0607201 -0.0468716 -0.00319579 0.08 0 pose: 0.0 0.214801 0.0686144 0 -0.0014074 -0.0140336 -0.0137205 0.999806 uwb: 0.0 840.634 1010.73 -imu_odom_: 1691062969.566336963 0.679953 -0.172383 9.71328 -0.0639159 -0.00639159 0.0170442 0.06 0.02 pose: 0.7046553 0.214801 0.0686144 0 -0.00164648 -0.0131942 -0.0135749 0.999819 uwb: 0.0 840.634 1010.73 -imu_odom_: 1691062969.583350359 0.869095 -0.471658 10.1849 -0.0649811 -0.0223706 0.04048 0.09 0.02 pose: 0.0 0.214801 0.0686144 0 -0.00164648 -0.0131942 -0.0135749 0.999819 uwb: 0.49910337 840.797 1010.3 -imu_odom_: 1691062969.600351798 0.948104 -0.325611 9.85932 -0.0479369 -0.00213053 0.0383495 0.09 0.02 pose: 0.68024128 0.225827 0.0774784 0 -0.000135682-0.0113742 -0.0142242 0.999834 uwb: 0.0 840.797 1010.3 -imu_odom_: 1691062969.615328020 0.770933 -0.208296 9.91199 -0.0532632 0.0106526 0.0458064 0.06 0 pose: 0.0 0.225827 0.0774784 0 -0.000135682-0.0113742 -0.0142242 0.999834 uwb: 0.0 840.797 1010.3 -imu_odom_: 1691062969.631322099 0.502782 -0.1652 9.69891 -0.0543285 0.0138484 0.0426106 0.06 0 pose: 0.0 0.225827 0.0774784 0 -0.000135682-0.0113742 -0.0142242 0.999834 uwb: 0.49747013 840.618 1008.91 -imu_odom_: 1691062969.646323695 0.562637 -0.248997 10.1299 -0.0490022 0.0170442 0.0138484 0.06 0 pose: 0.33922673 0.225827 0.0774784 0 -0.00120221 -0.0143451 -0.0141982 0.999796 uwb: 0.0 840.618 1008.91 -imu_odom_: 1691062969.662264986 0.474052 -0.131681 9.94073 -0.0617853 -0.00426106 0.0447411 0.04 0 pose: 0.39100626 0.225827 0.0774784 0 -0.000745869-0.0117977 -0.0143467 0.999827 uwb: 0.0 840.618 1008.91 -imu_odom_: 1691062969.679315713 0.531513 -0.442927 9.78989 -0.0639159 0.0138484 0.0873517 0.04 0 pose: 0.7118590 0.225827 0.0774784 0 -0.000400472-0.0111881 -0.0143326 0.999835 uwb: 0.50201403 840.951 1007.5 -imu_odom_: 1691062969.696312485 0.562637 -0.371101 9.93115 -0.052198 -0.00319579 0.0862864 0.04 0 pose: 0.0 0.225827 0.0774784 0 -0.000400472-0.0111881 -0.0143326 0.999835 uwb: 0.0 840.951 1007.5 -imu_odom_: 1691062969.711191879 0.4956 -0.0622492 9.81862 -0.0500674 0.00106526 0.0958738 0.04 0.08 pose: 0.42870200 0.225827 0.0774784 0 -0.00328345 -0.00928862 -0.013478 0.999861 uwb: 0.0 840.951 1007.5 -imu_odom_: 1691062969.727186542 0.591368 -0.232238 9.94312 -0.0617853 -0.00426106 0.110787 0.03 0.08 pose: 0.0 0.225827 0.0774784 0 -0.00328345 -0.00928862 -0.013478 0.999861 uwb: 0.0 840.951 1007.5 -imu_odom_: 1691062969.744246019 0.677559 -0.320823 9.93354 -0.0468716 -0.00639159 0.0990696 0.03 0.08 pose: 0.0 0.225827 0.0774784 0 -0.00328345 -0.00928862 -0.013478 0.999861 uwb: 0.49921711 840.903 1007.51 -imu_odom_: 1691062969.761301121 0.612916 -0.301669 9.91918 -0.052198 0.00745685 0.0980043 0.03 0.05 pose: 0.21885116 0.235767 0.0763843 0 -0.00140153 -0.00919879 -0.0128261 0.999874 uwb: 0.0 840.903 1007.51 -imu_odom_: 1691062969.776178182 0.526724 -0.189142 9.89763 -0.0543285 0.00213053 0.113983 0.03 0.05 pose: 0.0 0.235767 0.0763843 0 -0.00140153 -0.00919879 -0.0128261 0.999874 uwb: 0.0 840.903 1007.51 -imu_odom_: 1691062969.792229134 0.497994 -0.265756 9.8689 -0.0596548 -0.00426106 0.122505 0.03 0.05 pose: 0.0 0.235767 0.0763843 0 -0.00140153 -0.00919879 -0.0128261 0.999874 uwb: 0.49986166 841.094 1007.5 -imu_odom_: 1691062969.808177716 0.629675 -0.292093 9.9527 -0.0575243 -0.015979 0.117179 0.02 0.08 pose: 0.74031533 0.235767 0.0763843 0 -0.00265646 -0.00801527 -0.0102613 0.999912 uwb: 0.0 841.094 1007.5 -imu_odom_: 1691062969.825318855 0.663194 -0.220267 9.83777 -0.0490022 -0.00532632 0.107592 0.02 0.08 pose: 0.7068135 0.235767 0.0763843 0 -0.00293209 -0.00871163 -0.00998656 0.999908 uwb: 0.0 841.094 1007.5 -imu_odom_: 1691062969.841246439 0.565032 -0.248997 9.94551 -0.0532632 0.00319579 0.117179 0.02 0.08 pose: 0.0 0.235767 0.0763843 0 -0.00293209 -0.00871163 -0.00998656 0.999908 uwb: 0.50160281 841.087 1006.8 -imu_odom_: 1691062969.857330346 0.529119 -0.320823 9.91678 -0.056459 0.00213053 0.126766 0.02 0.08 pose: 0.41949170 0.235767 0.0763843 0 -0.00197111 -0.00932207 -0.00845335 0.999919 uwb: 0.0 841.087 1006.8 -imu_odom_: 1691062969.874391865 0.586579 -0.28491 9.89524 -0.0532632 -0.00426106 0.12144 0.01 0.05 pose: 0.0 0.235767 0.0763843 0 -0.00197111 -0.00932207 -0.00845335 0.999919 uwb: 0.0 841.087 1006.8 -imu_odom_: 1691062969.891211314 0.536301 -0.158017 9.89524 -0.0543285 -0.00532632 0.122505 0.01 0.05 pose: 0.0 0.235767 0.0763843 0 -0.00197111 -0.00932207 -0.00845335 0.999919 uwb: 0.49824592 841.201 1006.1 -imu_odom_: 1691062969.909188030 0.653617 -0.21069 9.90481 -0.0607201 -0.00319579 0.123571 0 0.05 pose: 0.24099030 0.235767 0.0763842 0 -0.0035115 -0.0089771 -0.00741073 0.999926 uwb: 0.0 841.201 1006.1 -imu_odom_: 1691062969.924299285 0.584185 -0.351948 9.8689 -0.056459 0.00426106 0.109722 0 0.05 pose: 0.0 0.235767 0.0763842 0 -0.0035115 -0.0089771 -0.00741073 0.999926 uwb: 0.0 841.201 1006.1 -imu_odom_: 1691062969.941304224 0.416591 -0.225055 9.92636 -0.0532632 0.00852212 0.0990696 0 0.05 pose: 0.33869301 0.235767 0.0763842 0 -0.00188414 -0.00979866 -0.00602503 0.999932 uwb: 0.49996957 841.181 1005.55 -imu_odom_: 1691062969.957189226 0.392649 -0.205901 9.90721 -0.056459 -0.00639159 0.0948085 0 0.02 pose: 0.42089454 0.235767 0.0763842 0 -0.00243222 -0.00844305 -0.00456136 0.999951 uwb: 0.0 841.181 1005.55 -imu_odom_: 1691062969.974187748 0.493206 -0.215478 9.84496 -0.0543285 -0.00852212 0.0692422 0 0.02 pose: 0.6882645 0.235767 0.0763842 0 -0.00222726 -0.00779432 -0.00437153 0.999958 uwb: 0.0 841.181 1005.55 -imu_odom_: 1691062969.989165137 0.526724 -0.169988 9.87129 -0.052198 -0.00106526 0.0479369 0 0.02 pose: 0.0 0.235767 0.0763842 0 -0.00222726 -0.00779432 -0.00437153 0.999958 uwb: 0.49986457 841.44 1004.71 -imu_odom_: 1691062970.4283684 0.476446 -0.248997 9.9096 -0.0585895 -0.00319579 0.0383495 0 0 pose: 0.40978268 0.235767 0.0763842 0 0.000612011 -0.00595834 -0.00382181 0.999975 uwb: 0.0 841.44 1004.71 -imu_odom_: 1691062970.19222574 0.438139 -0.270545 9.84735 -0.0575243 0.00213053 0.0319579 0 0 pose: 0.0 0.235767 0.0763842 0 0.000612011 -0.00595834 -0.00382181 0.999975 uwb: 0.0 841.44 1004.71 -imu_odom_: 1691062970.33288848 0.318429 -0.296881 9.87848 -0.0543285 0 0.036219 0 0 pose: 0.0 0.235767 0.0763842 0 0.000612011 -0.00595834 -0.00382181 0.999975 uwb: 0.49940377 841.156 1003.88 -imu_odom_: 1691062970.48149577 0.347159 -0.282516 9.90721 -0.0553937 -0.00958738 0.0447411 0 0 pose: 0.21012208 0.235767 0.0763842 0 -0.000879092-0.00442998 -0.00384584 0.999982 uwb: 0.0 841.156 1003.88 -imu_odom_: 1691062970.63306330 0.426168 -0.234632 9.88805 -0.0532632 -0.00852212 0.0415453 0 0 pose: 0.0 0.235767 0.0763842 0 -0.000879092-0.00442998 -0.00384584 0.999982 uwb: 0.0 841.156 1003.88 -imu_odom_: 1691062970.77330315 0.462081 -0.196325 9.86411 -0.0532632 -0.00426106 0.0372843 0 0 pose: 0.0 0.235767 0.0763842 0 -0.000879092-0.00442998 -0.00384584 0.999982 uwb: 0.0 841.156 1003.88 -imu_odom_: 1691062970.92258414 0.416591 -0.232238 9.87608 -0.0553937 -0.00319579 0.0394148 0 0 pose: 0.29105784 0.235767 0.0763842 0 -0.00205839 -0.00175884 -0.00388043 0.999989 uwb: 0.49971292 841.197 1003.6 -imu_odom_: 1691062970.107307257 0.361524 -0.270545 9.86411 -0.0553937 -0.00106526 0.036219 0 0 pose: 0.43930639 0.235767 0.0763842 0 -0.000152698-0.00176474 -0.00386031 0.999991 uwb: 0.0 841.197 1003.6 -imu_odom_: 1691062970.122242065 0.351948 -0.296881 9.87848 -0.056459 -0.00745685 0.04048 0 0 pose: 0.0 0.235767 0.0763842 0 -0.000152698-0.00176474 -0.00386031 0.999991 uwb: 0.0 841.197 1003.6 -imu_odom_: 1691062970.137231702 0.40462 -0.28491 9.88326 -0.0553937 -0.00745685 0.0415453 0 0 pose: 0.0 0.235767 0.0763842 0 -0.000152698-0.00176474 -0.00386031 0.999991 uwb: 0.50106035 840.836 1003.47 -imu_odom_: 1691062970.151193858 0.457293 -0.25618 9.90002 -0.0543285 -0.00532632 0.0394148 0 0 pose: 0.44977663 0.235767 0.0763842 0 -0.00300464 0.000729253 -0.00387145 0.999988 uwb: 0.0 840.836 1003.47 -imu_odom_: 1691062970.166205077 0.423774 -0.234632 9.92875 -0.0543285 -0.00106526 0.0394148 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00300464 0.000729253 -0.00387145 0.999988 uwb: 0.0 840.836 1003.47 -imu_odom_: 1691062970.180171607 0.366313 -0.246603 9.85453 -0.056459 -0.00213053 0.0383495 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00300464 0.000729253 -0.00387145 0.999988 uwb: 0.50259442 840.538 1002.92 -imu_odom_: 1691062970.195431021 0.354342 -0.277727 9.90721 -0.0532632 -0.00532632 0.0394148 0 0 pose: 0.44147044 0.235767 0.0763842 0 -0.00145171 -0.000449704-0.00387624 0.999991 uwb: 0.0 840.538 1002.92 -imu_odom_: 1691062970.210377786 0.411803 -0.227449 9.86172 -0.0553937 -0.00319579 0.0394148 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00145171 -0.000449704-0.00387624 0.999991 uwb: 0.0 840.538 1002.92 -imu_odom_: 1691062970.224195866 0.402226 -0.244209 9.89045 -0.056459 -0.00958738 0.04048 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00145171 -0.000449704-0.00387624 0.999991 uwb: 0.0 840.538 1002.92 -imu_odom_: 1691062970.239215544 0.447716 -0.258574 9.87129 -0.0553937 -0.00213053 0.0383495 0 0 pose: 0.44040591 0.235767 0.0763842 0 -0.00155756 -0.000174202-0.00388029 0.999991 uwb: 0.49866590 840.87 1002.78 -imu_odom_: 1691062970.254302885 0.409408 -0.270545 9.89284 -0.0543285 -0.00106526 0.04048 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00155756 -0.000174202-0.00388029 0.999991 uwb: 0.0 840.87 1002.78 -imu_odom_: 1691062970.269181112 0.37589 -0.251391 9.87608 -0.0532632 -0.00319579 0.04048 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00155756 -0.000174202-0.00388029 0.999991 uwb: 0.0 840.87 1002.78 -imu_odom_: 1691062970.283195764 0.366313 -0.251391 9.92397 -0.0543285 -0.00532632 0.04048 0 0 pose: 0.43929765 0.235767 0.0763842 0 -0.00248402 -0.000285365-0.00387389 0.999989 uwb: 0.49903920 840.718 1002.22 -imu_odom_: 1691062970.298295062 0.445322 -0.246603 9.88326 -0.0553937 -0.00639159 0.0394148 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00248402 -0.000285365-0.00387389 0.999989 uwb: 0.0 840.718 1002.22 -imu_odom_: 1691062970.313303949 0.445322 -0.25618 9.89524 -0.056459 -0.00639159 0.04048 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00248402 -0.000285365-0.00387389 0.999989 uwb: 0.0 840.718 1002.22 -imu_odom_: 1691062970.327313351 0.416591 -0.28491 9.89284 -0.056459 -0.00319579 0.0372843 0 0 pose: 0.37986231 0.235767 0.0763842 0 -0.00177615 0.000388004 -0.00386233 0.999991 uwb: 0.0 840.718 1002.22 -imu_odom_: 1691062970.342302114 0.378284 -0.265756 9.89045 -0.0543285 -0.00319579 0.0394148 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00177615 0.000388004 -0.00386233 0.999991 uwb: 0.49969543 840.666 1001.95 -imu_odom_: 1691062970.357225256 0.380678 -0.237026 9.85453 -0.0543285 -0.00532632 0.0394148 0 0 pose: 0.6010321 0.235767 0.0763842 0 -0.00186342 -0.000213658-0.00386071 0.999991 uwb: 0.0 840.666 1001.95 -imu_odom_: 1691062970.371204910 0.409408 -0.251391 9.87848 -0.0543285 -0.00532632 0.04048 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00186342 -0.000213658-0.00386071 0.999991 uwb: 0.0 840.666 1001.95 -imu_odom_: 1691062970.386136801 0.426168 -0.234632 9.85214 -0.0553937 -0.00532632 0.0394148 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00186342 -0.000213658-0.00386071 0.999991 uwb: 0.50043038 840.593 1001.81 -imu_odom_: 1691062970.401132272 0.411803 -0.263362 9.91918 -0.0553937 -0.00213053 0.0394148 0 0 pose: 0.43999761 0.235767 0.0763842 0 -0.00224609 0.000841217 -0.00386868 0.99999 uwb: 0.0 840.593 1001.81 -imu_odom_: 1691062970.415187463 0.397437 -0.237026 9.8689 -0.056459 -0.00426106 0.0394148 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00224609 0.000841217 -0.00386868 0.99999 uwb: 0.0 840.593 1001.81 -imu_odom_: 1691062970.430126937 0.402226 -0.270545 9.88805 -0.056459 -0.00426106 0.04048 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00224609 0.000841217 -0.00386868 0.99999 uwb: 0.49971875 840.321 1000 -imu_odom_: 1691062970.445320146 0.402226 -0.251391 9.91199 -0.0553937 -0.00319579 0.0394148 0 0 pose: 0.81821793 0.235767 0.0763842 0 -0.00260657 9.81132e-05 -0.00386035 0.999989 uwb: 0.0 840.321 1000 -imu_odom_: 1691062970.459280843 0.40462 -0.25618 9.89045 -0.0543285 -0.00532632 0.04048 0 0 pose: 0.6067484 0.235767 0.0763842 0 -0.00200056 6.39925e-05 -0.0038609 0.999991 uwb: 0.0 840.321 1000 -imu_odom_: 1691062970.474278064 0.411803 -0.244209 9.92397 -0.0553937 -0.00426106 0.0415453 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00200056 6.39925e-05 -0.0038609 0.999991 uwb: 0.0 840.321 1000 -imu_odom_: 1691062970.489160666 0.407014 -0.234632 9.93115 -0.0532632 -0.00426106 0.0394148 0 0 pose: 0.38083643 0.235767 0.0763842 0 -0.00105648 -0.000593571-0.00384221 0.999992 uwb: 0.49962834 840.608 999.443 -imu_odom_: 1691062970.504206592 0.414197 -0.227449 9.91199 -0.0543285 -0.00426106 0.0394148 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00105648 -0.000593571-0.00384221 0.999992 uwb: 0.0 840.608 999.443 -imu_odom_: 1691062970.519171731 0.40462 -0.227449 9.91439 -0.056459 -0.00639159 0.0394148 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00105648 -0.000593571-0.00384221 0.999992 uwb: 0.0 840.608 999.443 -imu_odom_: 1691062970.533189592 0.402226 -0.248997 9.90481 -0.056459 -0.00532632 0.0394148 0 0 pose: 0.44893667 0.235767 0.0763842 0 -0.0006855010.000887786 -0.00384457 0.999992 uwb: 0.49875048 840.822 999.722 -imu_odom_: 1691062970.548297639 0.402226 -0.272939 9.8665 -0.0543285 -0.00532632 0.0394148 0 0 pose: 0.0 0.235767 0.0763842 0 -0.0006855010.000887786 -0.00384457 0.999992 uwb: 0.0 840.822 999.722 -imu_odom_: 1691062970.563288152 0.402226 -0.246603 9.93115 -0.0543285 -0.00319579 0.04048 0 0 pose: 0.0 0.235767 0.0763842 0 -0.0006855010.000887786 -0.00384457 0.999992 uwb: 0.0 840.822 999.722 -imu_odom_: 1691062970.577194602 0.397437 -0.253785 9.92397 -0.056459 -0.00532632 0.0394148 0 0 pose: 0.44116421 0.235767 0.0763842 0 -0.00179472 6.08814e-05 -0.00384169 0.999991 uwb: 0.0 840.822 999.722 -imu_odom_: 1691062970.592190364 0.373495 -0.244209 9.81862 -0.0553937 -0.00532632 0.0394148 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00179472 6.08814e-05 -0.00384169 0.999991 uwb: 0.49983250 840.584 1000.55 -imu_odom_: 1691062970.607128380 0.392649 -0.220267 9.89045 -0.0553937 -0.00532632 0.0394148 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00179472 6.08814e-05 -0.00384169 0.999991 uwb: 0.0 840.584 1000.55 -imu_odom_: 1691062970.622192097 0.411803 -0.253785 9.90721 -0.0553937 -0.00426106 0.0394148 0 0 pose: 0.43840228 0.235767 0.0763842 0 -0.0002683010.000508315 -0.00384027 0.999992 uwb: 0.0 840.584 1000.55 -imu_odom_: 1691062970.637200400 0.395043 -0.225055 9.92875 -0.056459 -0.00319579 0.0383495 0 0 pose: 0.0 0.235767 0.0763842 0 -0.0002683010.000508315 -0.00384027 0.999992 uwb: 0.50014456 840.655 1000.42 -imu_odom_: 1691062970.652250118 0.397437 -0.272939 9.86411 -0.0553937 -0.00639159 0.04048 0 0 pose: 0.0 0.235767 0.0763842 0 -0.0002683010.000508315 -0.00384027 0.999992 uwb: 0.0 840.655 1000.42 -imu_odom_: 1691062970.666195649 0.402226 -0.244209 9.88326 -0.0532632 -0.00532632 0.04048 0 0 pose: 0.45121738 0.235767 0.0763842 0 -0.00180672 0.000399955 -0.0038448 0.999991 uwb: 0.0 840.655 1000.42 -imu_odom_: 1691062970.681182078 0.397437 -0.248997 9.92157 -0.0553937 -0.00745685 0.0415453 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00180672 0.000399955 -0.0038448 0.999991 uwb: 0.50110409 840.774 1000.42 -imu_odom_: 1691062970.696242004 0.430956 -0.232238 9.87848 -0.0553937 -0.00426106 0.0383495 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00180672 0.000399955 -0.0038448 0.999991 uwb: 0.0 840.774 1000.42 -imu_odom_: 1691062970.710173827 0.397437 -0.237026 9.89284 -0.0553937 -0.00426106 0.04048 0 0 pose: 0.43991886 0.235767 0.0763842 0 -0.0011797 -0.000910178-0.00383516 0.999992 uwb: 0.0 840.774 1000.42 -imu_odom_: 1691062970.725269042 0.40462 -0.260968 9.89524 -0.0553937 -0.00532632 0.0383495 0 0 pose: 0.5944408 0.235767 0.0763842 0 -0.00116298 -0.000315846-0.0038318 0.999992 uwb: 0.0 840.774 1000.42 -imu_odom_: 1691062970.740283179 0.390255 -0.227449 9.91918 -0.056459 -0.00426106 0.04048 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00116298 -0.000315846-0.0038318 0.999992 uwb: 0.49853174 841.186 998.613 -imu_odom_: 1691062970.754189629 0.411803 -0.260968 9.88326 -0.056459 -0.00532632 0.04048 0 0 pose: 0.13929782 0.235767 0.0763842 0 -0.00168355 0.00023684 -0.00383148 0.999991 uwb: 0.0 841.186 998.613 -imu_odom_: 1691062970.769241388 0.390255 -0.258574 9.84735 -0.0543285 -0.00532632 0.0394148 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00168355 0.00023684 -0.00383148 0.999991 uwb: 0.0 841.186 998.613 -imu_odom_: 1691062970.784119032 0.392649 -0.234632 9.88566 -0.0553937 -0.00319579 0.0394148 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00168355 0.00023684 -0.00383148 0.999991 uwb: 0.50182738 841.335 998.06 -imu_odom_: 1691062970.798115602 0.37589 -0.265756 9.89045 -0.0553937 -0.00426106 0.04048 0 0 pose: 0.30164765 0.235767 0.0763842 0 -0.00163651 9.66337e-05 -0.00382781 0.999991 uwb: 0.0 841.335 998.06 -imu_odom_: 1691062970.813176402 0.397437 -0.251391 9.8689 -0.0543285 -0.00426106 0.04048 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00163651 9.66337e-05 -0.00382781 0.999991 uwb: 0.0 841.335 998.06 -imu_odom_: 1691062970.828232536 0.409408 -0.260968 9.86411 -0.0553937 -0.00532632 0.0394148 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00163651 9.66337e-05 -0.00382781 0.999991 uwb: 0.0 841.335 998.06 -imu_odom_: 1691062970.842174276 0.407014 -0.225055 9.90242 -0.0553937 -0.00319579 0.04048 0 0 pose: 0.57907960 0.235767 0.0763842 0 -0.0019587 0.000562823 -0.00381609 0.999991 uwb: 0.50148615 841.295 997.505 -imu_odom_: 1691062970.857108500 0.411803 -0.268151 9.88805 -0.0553937 -0.00426106 0.0394148 0 0 pose: 0.0 0.235767 0.0763842 0 -0.0019587 0.000562823 -0.00381609 0.999991 uwb: 0.0 841.295 997.505 -imu_odom_: 1691062970.872100179 0.40462 -0.237026 9.87848 -0.0543285 -0.00532632 0.0394148 0 0 pose: 0.0 0.235767 0.0763842 0 -0.0019587 0.000562823 -0.00381609 0.999991 uwb: 0.0 841.295 997.505 -imu_odom_: 1691062970.886146329 0.402226 -0.251391 9.91199 -0.0543285 -0.00532632 0.0394148 0 0 pose: 0.29942528 0.235767 0.0763842 0 -0.00261976 -0.000301828-0.00381189 0.999989 uwb: 0.49933961 841.534 997.508 -imu_odom_: 1691062970.901261668 0.399832 -0.248997 9.91439 -0.056459 -0.00532632 0.0394148 0 0 pose: 0.43975553 0.235767 0.0763842 0 -0.00195027 0.000354449 -0.00381016 0.999991 uwb: 0.0 841.534 997.508 -imu_odom_: 1691062970.916263264 0.397437 -0.272939 9.90721 -0.0553937 -0.00532632 0.04048 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00195027 0.000354449 -0.00381016 0.999991 uwb: 0.0 841.534 997.508 -imu_odom_: 1691062970.931142366 0.378284 -0.23942 9.84496 -0.0543285 -0.00532632 0.0383495 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00195027 0.000354449 -0.00381016 0.999991 uwb: 0.49927545 841.247 997.504 -imu_odom_: 1691062970.946257413 0.423774 -0.227449 9.87608 -0.0543285 -0.00426106 0.0415453 0 0 pose: 0.44161335 0.235767 0.0763842 0 -0.00244546 0.000589116 -0.00380752 0.99999 uwb: 0.0 841.247 997.504 -imu_odom_: 1691062970.960253983 0.392649 -0.234632 9.88805 -0.056459 -0.00532632 0.04048 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00244546 0.000589116 -0.00380752 0.99999 uwb: 0.0 841.247 997.504 -imu_odom_: 1691062970.975306325 0.390255 -0.237026 9.86411 -0.0553937 -0.00426106 0.04048 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00244546 0.000589116 -0.00380752 0.99999 uwb: 0.0 841.247 997.504 -imu_odom_: 1691062970.990126515 0.416591 -0.251391 9.90721 -0.0553937 -0.00426106 0.0394148 0 0 pose: 0.15072174 0.235767 0.0763842 0 -0.0014009 0.000474328 -0.003806 0.999992 uwb: 0.49923461 841.066 996.946 -imu_odom_: 1691062971.5266352 0.392649 -0.237026 9.9096 -0.0543285 -0.00532632 0.04048 0 0 pose: 0.0 0.235767 0.0763842 0 -0.0014009 0.000474328 -0.003806 0.999992 uwb: 0.0 841.066 996.946 -imu_odom_: 1691062971.20330069 0.402226 -0.253785 9.88566 -0.0543285 -0.00319579 0.0383495 0 0 pose: 0.28917670 0.235767 0.0763842 0 -0.00119599 0.000484814 -0.00378854 0.999992 uwb: 0.0 841.066 996.946 -imu_odom_: 1691062971.35386203 0.373495 -0.241814 9.87129 -0.0532632 -0.00426106 0.04048 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00119599 0.000484814 -0.00378854 0.999992 uwb: 0.50149782 841.104 997.503 -imu_odom_: 1691062971.50365050 0.40462 -0.241814 9.88805 -0.0543285 -0.00639159 0.0383495 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00119599 0.000484814 -0.00378854 0.999992 uwb: 0.0 841.104 997.503 -imu_odom_: 1691062971.64382035 0.392649 -0.244209 9.87129 -0.0553937 -0.00319579 0.0383495 0 0 pose: 0.45036576 0.235767 0.0763842 0 -0.0022302 0.000138776 -0.00378217 0.99999 uwb: 0.0 841.104 997.503 -imu_odom_: 1691062971.79386256 0.409408 -0.25618 9.92157 -0.0543285 -0.00532632 0.04048 0 0 pose: 0.0 0.235767 0.0763842 0 -0.0022302 0.000138776 -0.00378217 0.99999 uwb: 0.50007165 841.095 996.669 -imu_odom_: 1691062971.94257775 0.380678 -0.234632 9.93354 -0.056459 -0.00532632 0.04048 0 0 pose: 0.0 0.235767 0.0763842 0 -0.0022302 0.000138776 -0.00378217 0.99999 uwb: 0.0 841.095 996.669 -imu_odom_: 1691062971.108139435 0.418985 -0.234632 9.90721 -0.0553937 -0.00426106 0.0394148 0 0 pose: 0.45094032 0.235767 0.0763842 0 -0.00148258 0.000396663 -0.00379148 0.999992 uwb: 0.0 841.095 996.669 -imu_odom_: 1691062971.123263232 0.407014 -0.260968 9.85453 -0.056459 -0.00426106 0.0383495 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00148258 0.000396663 -0.00379148 0.999992 uwb: 0.0 841.095 996.669 -imu_odom_: 1691062971.138262203 0.40462 -0.248997 9.87608 -0.0543285 -0.00426106 0.0394148 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00148258 0.000396663 -0.00379148 0.999992 uwb: 0.49839759 841.084 996.113 -imu_odom_: 1691062971.152222608 0.383072 -0.268151 9.91199 -0.0553937 -0.00532632 0.04048 0 0 pose: 0.43860935 0.235767 0.0763842 0 -0.0011369 0.000318162 -0.00378368 0.999992 uwb: 0.0 841.084 996.113 -imu_odom_: 1691062971.167164998 0.40462 -0.237026 9.89763 -0.0553937 -0.00426106 0.04048 0 0 pose: 0.0 0.235767 0.0763842 0 -0.0011369 0.000318162 -0.00378368 0.999992 uwb: 0.0 841.084 996.113 -imu_odom_: 1691062971.182121388 0.392649 -0.246603 9.9096 -0.0543285 -0.00532632 0.0394148 0 0 pose: 0.0 0.235767 0.0763842 0 -0.0011369 0.000318162 -0.00378368 0.999992 uwb: 0.50151532 841.405 995.705 -imu_odom_: 1691062971.196108625 0.42138 -0.232238 9.87369 -0.0543285 -0.00426106 0.0394148 0 0 pose: 0.43927140 0.235767 0.0763842 0 -0.00155525 0.000313454 -0.00379156 0.999992 uwb: 0.0 841.405 995.705 -imu_odom_: 1691062971.211093597 0.392649 -0.220267 9.92636 -0.0532632 -0.00319579 0.0394148 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00155525 0.000313454 -0.00379156 0.999992 uwb: 0.0 841.405 995.705 -imu_odom_: 1691062971.226154689 0.390255 -0.232238 9.90481 -0.0532632 -0.00426106 0.04048 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00155525 0.000313454 -0.00379156 0.999992 uwb: 0.0 841.405 995.705 -imu_odom_: 1691062971.240125594 0.42138 -0.248997 9.85453 -0.0575243 -0.00426106 0.0394148 0 0 pose: 0.43942015 0.235767 0.0763842 0 -0.0017003 0.000453104 -0.00378304 0.999991 uwb: 0.49922004 841.298 995.287 -imu_odom_: 1691062971.255145271 0.37589 -0.248997 9.86172 -0.056459 -0.00532632 0.0394148 0 0 pose: 0.0 0.235767 0.0763842 0 -0.0017003 0.000453104 -0.00378304 0.999991 uwb: 0.0 841.298 995.287 -imu_odom_: 1691062971.270237570 0.392649 -0.246603 9.88326 -0.0553937 -0.00532632 0.0394148 0 0 pose: 0.0 0.235767 0.0763842 0 -0.0017003 0.000453104 -0.00378304 0.999991 uwb: 0.0 841.298 995.287 -imu_odom_: 1691062971.284114855 0.373495 -0.270545 9.85214 -0.0553937 -0.00426106 0.04048 0 0 pose: 0.44108254 0.235767 0.0763842 0 -0.0016605 4.14845e-05 -0.00378082 0.999991 uwb: 0.49908004 841.484 995.431 -imu_odom_: 1691062971.299092827 0.418985 -0.234632 9.90002 -0.0532632 -0.00319579 0.04048 0 0 pose: 0.0 0.235767 0.0763842 0 -0.0016605 4.14845e-05 -0.00378082 0.999991 uwb: 0.0 841.484 995.431 -imu_odom_: 1691062971.314199125 0.380678 -0.265756 9.90242 -0.0532632 -0.00532632 0.04048 0 0 pose: 0.0 0.235767 0.0763842 0 -0.0016605 4.14845e-05 -0.00378082 0.999991 uwb: 0.0 841.484 995.431 -imu_odom_: 1691062971.328102950 0.402226 -0.227449 9.88805 -0.056459 -0.00426106 0.0394148 0 0 pose: 0.43867644 0.235767 0.0763842 0 -0.00136397 -0.000102658-0.003781 0.999992 uwb: 0.0 841.484 995.431 -imu_odom_: 1691062971.343091421 0.383072 -0.275333 9.87608 -0.0543285 -0.00639159 0.0394148 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00136397 -0.000102658-0.003781 0.999992 uwb: 0.50035164 841.616 995.019 -imu_odom_: 1691062971.358112849 0.397437 -0.246603 9.83777 -0.056459 -0.00532632 0.0394148 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00136397 -0.000102658-0.003781 0.999992 uwb: 0.0 841.616 995.019 -imu_odom_: 1691062971.372148208 0.368707 -0.248997 9.92157 -0.0553937 -0.00426106 0.0394148 0 0 pose: 0.44051674 0.235767 0.0763842 0 -0.00142148 0.000258591 -0.00376358 0.999992 uwb: 0.0 841.616 995.019 -imu_odom_: 1691062971.387110723 0.40462 -0.248997 9.90481 -0.0553937 -0.00319579 0.04048 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00142148 0.000258591 -0.00376358 0.999992 uwb: 0.49888755 841.433 995.568 -imu_odom_: 1691062971.402100361 0.399832 -0.270545 9.90242 -0.0553937 -0.00532632 0.0394148 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00142148 0.000258591 -0.00376358 0.999992 uwb: 0.0 841.433 995.568 -imu_odom_: 1691062971.416092556 0.416591 -0.268151 9.87369 -0.0553937 -0.00426106 0.0394148 0 0 pose: 0.44010552 0.235767 0.0763842 0 -0.00108551 0.000241679 -0.00376757 0.999992 uwb: 0.0 841.433 995.568 -imu_odom_: 1691062971.431227727 0.414197 -0.23942 9.88566 -0.0553937 -0.00532632 0.0383495 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00108551 0.000241679 -0.00376757 0.999992 uwb: 0.49969835 841.787 995.716 -imu_odom_: 1691062971.446101288 0.387861 -0.244209 9.90242 -0.056459 -0.00532632 0.0394148 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00108551 0.000241679 -0.00376757 0.999992 uwb: 0.0 841.787 995.716 -imu_odom_: 1691062971.460236392 0.385466 -0.23942 9.90002 -0.0553937 -0.00639159 0.0394148 0 0 pose: 0.81944287 0.235767 0.0763842 0 -0.00154614 0.000893364 -0.00377643 0.999991 uwb: 0.0 841.787 995.716 -imu_odom_: 1691062971.475120161 0.402226 -0.241814 9.89045 -0.056459 -0.00319579 0.04048 0 0 pose: 0.6136314 0.235767 0.0763842 0 -0.0009325720.000917388 -0.00377633 0.999992 uwb: 0.0 841.787 995.716 -imu_odom_: 1691062971.490259707 0.402226 -0.220267 9.89284 -0.0543285 -0.00639159 0.0383495 0 0 pose: 0.0 0.235767 0.0763842 0 -0.0009325720.000917388 -0.00377633 0.999992 uwb: 0.50036913 841.914 995.443 -imu_odom_: 1691062971.504351646 0.380678 -0.23942 9.90242 -0.0553937 -0.00426106 0.0383495 0 0 pose: 0.38022105 0.235767 0.0763842 0 0.000170256 1.15283e-05 -0.00378002 0.999993 uwb: 0.0 841.914 995.443 -imu_odom_: 1691062971.519245331 0.399832 -0.268151 9.90242 -0.0575243 -0.00532632 0.0394148 0 0 pose: 0.0 0.235767 0.0763842 0 0.000170256 1.15283e-05 -0.00378002 0.999993 uwb: 0.0 841.914 995.443 -imu_odom_: 1691062971.534157682 0.399832 -0.253785 9.91678 -0.0543285 -0.00532632 0.0394148 0 0 pose: 0.0 0.235767 0.0763842 0 0.000170256 1.15283e-05 -0.00378002 0.999993 uwb: 0.50026123 841.865 996.408 -imu_odom_: 1691062971.548287536 0.414197 -0.232238 9.84256 -0.0543285 -0.00532632 0.0394148 0 0 pose: 0.43897975 0.235767 0.0763842 0 -0.000978842-0.000309932-0.00379407 0.999992 uwb: 0.0 841.865 996.408 -imu_odom_: 1691062971.563283006 0.363919 -0.251391 9.88087 -0.0543285 -0.00426106 0.04048 0 0 pose: 0.0 0.235767 0.0763842 0 -0.000978842-0.000309932-0.00379407 0.999992 uwb: 0.0 841.865 996.408 -imu_odom_: 1691062971.578113695 0.395043 -0.272939 9.87848 -0.0553937 -0.00426106 0.0394148 0 0 pose: 0.0 0.235767 0.0763842 0 -0.000978842-0.000309932-0.00379407 0.999992 uwb: 0.0 841.865 996.408 -imu_odom_: 1691062971.592351460 0.399832 -0.265756 9.87608 -0.0553937 -0.00426106 0.0383495 0 0 pose: 0.20078636 0.235767 0.0763842 0 -0.000788628-0.00112047 -0.00379334 0.999992 uwb: 0.49898963 842.132 995.314 -imu_odom_: 1691062971.607212480 0.383072 -0.25618 9.90242 -0.0575243 -0.00532632 0.04048 0 0 pose: 0.0 0.235767 0.0763842 0 -0.000788628-0.00112047 -0.00379334 0.999992 uwb: 0.0 842.132 995.314 -imu_odom_: 1691062971.622078166 0.414197 -0.23942 9.90002 -0.0553937 -0.00532632 0.0383495 0 0 pose: 0.0 0.235767 0.0763842 0 -0.000788628-0.00112047 -0.00379334 0.999992 uwb: 0.0 842.132 995.314 -imu_odom_: 1691062971.637072471 0.409408 -0.237026 9.87848 -0.0553937 -0.00426106 0.0383495 0 0 pose: 0.30032356 0.235767 0.0763842 0 -0.0030422 -3.91901e-07-0.00379307 0.999988 uwb: 0.50004249 842.136 995.176 -imu_odom_: 1691062971.652218141 0.409408 -0.265756 9.89524 -0.0553937 -0.00426106 0.04048 0 0 pose: 0.43921891 0.235767 0.0763842 0 -0.000905938-0.000287371-0.003804 0.999992 uwb: 0.0 842.136 995.176 -imu_odom_: 1691062971.666233377 0.411803 -0.227449 9.88326 -0.0543285 -0.00319579 0.0383495 0 0 pose: 0.0 0.235767 0.0763842 0 -0.000905938-0.000287371-0.003804 0.999992 uwb: 0.0 842.136 995.176 -imu_odom_: 1691062971.681211640 0.392649 -0.23942 9.89763 -0.056459 -0.00639159 0.04048 0 0 pose: 0.0 0.235767 0.0763842 0 -0.000905938-0.000287371-0.003804 0.999992 uwb: 0.49997833 841.965 995.309 -imu_odom_: 1691062971.696200695 0.442927 -0.23942 9.88326 -0.056459 -0.00532632 0.04048 0 0 pose: 0.44054008 0.235767 0.0763842 0 -0.000590301-0.000126608-0.00380897 0.999993 uwb: 0.0 841.965 995.309 -imu_odom_: 1691062971.710215055 0.395043 -0.244209 9.90721 -0.0575243 -0.00319579 0.04048 0 0 pose: 0.0 0.235767 0.0763842 0 -0.000590301-0.000126608-0.00380897 0.999993 uwb: 0.0 841.965 995.309 -imu_odom_: 1691062971.725131781 0.392649 -0.246603 9.88566 -0.0553937 -0.00426106 0.0394148 0 0 pose: 0.0 0.235767 0.0763842 0 -0.000590301-0.000126608-0.00380897 0.999993 uwb: 0.0 841.965 995.309 -imu_odom_: 1691062971.740127835 0.416591 -0.246603 9.90721 -0.056459 -0.00319579 0.0394148 0 0 pose: 0.43897975 0.235767 0.0763842 0 -0.00185736 0.000857736 -0.00379122 0.999991 uwb: 0.50148032 841.745 996.408 -imu_odom_: 1691062971.754128488 0.409408 -0.244209 9.88566 -0.0543285 -0.00639159 0.0394148 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00185736 0.000857736 -0.00379122 0.999991 uwb: 0.0 841.745 996.408 -imu_odom_: 1691062971.769062129 0.399832 -0.23942 9.89763 -0.056459 -0.00532632 0.04048 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00185736 0.000857736 -0.00379122 0.999991 uwb: 0.0 841.745 996.408 -imu_odom_: 1691062971.784066349 0.390255 -0.260968 9.87369 -0.056459 -0.00532632 0.04048 0 0 pose: 0.43924515 0.235767 0.0763842 0 -0.00115593 -0.000344957-0.00379461 0.999992 uwb: 0.49996374 841.701 996.268 -imu_odom_: 1691062971.798120666 0.426168 -0.268151 9.87608 -0.0553937 -0.00532632 0.0394148 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00115593 -0.000344957-0.00379461 0.999992 uwb: 0.0 841.701 996.268 -imu_odom_: 1691062971.813123428 0.418985 -0.265756 9.89763 -0.0553937 -0.00532632 0.04048 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00115593 -0.000344957-0.00379461 0.999992 uwb: 0.0 841.701 996.268 -imu_odom_: 1691062971.828105483 0.416591 -0.251391 9.89524 -0.0543285 -0.00639159 0.04048 0 0 pose: 0.43997136 0.235767 0.0763842 0 -0.0022964 -0.00103997 -0.00378694 0.99999 uwb: 0.0 841.701 996.268 -imu_odom_: 1691062971.842270918 0.395043 -0.23942 9.85932 -0.0543285 -0.00426106 0.04048 0 0 pose: 0.0 0.235767 0.0763842 0 -0.0022964 -0.00103997 -0.00378694 0.99999 uwb: 0.50001624 842.107 996.278 -imu_odom_: 1691062971.857222058 0.399832 -0.244209 9.91439 -0.056459 -0.00532632 0.0383495 0 0 pose: 0.0 0.235767 0.0763842 0 -0.0022964 -0.00103997 -0.00378694 0.99999 uwb: 0.0 842.107 996.278 -imu_odom_: 1691062971.872186614 0.414197 -0.246603 9.92397 -0.0543285 -0.00532632 0.04048 0 0 pose: 0.38206719 0.235767 0.0763842 0 -0.0009264850.000679604 -0.00376713 0.999992 uwb: 0.0 842.107 996.278 -imu_odom_: 1691062971.886131270 0.395043 -0.237026 9.88326 -0.0553937 -0.00532632 0.04048 0 0 pose: 0.0 0.235767 0.0763842 0 -0.0009264850.000679604 -0.00376713 0.999992 uwb: 0.49870382 841.81 995.718 -imu_odom_: 1691062971.901060828 0.385466 -0.237026 9.87848 -0.0543285 -0.00426106 0.0426106 0 0 pose: 0.6005655 0.235767 0.0763842 0 -0.00138364 0.000283129 -0.0037715 0.999992 uwb: 0.0 841.81 995.718 -imu_odom_: 1691062971.916214374 0.428562 -0.23942 9.90002 -0.0532632 -0.00319579 0.0394148 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00138364 0.000283129 -0.0037715 0.999992 uwb: 0.0 841.81 995.718 -imu_odom_: 1691062971.930082618 0.414197 -0.260968 9.92636 -0.0543285 -0.00532632 0.04048 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00138364 0.000283129 -0.0037715 0.999992 uwb: 0.50171947 842.014 996.137 -imu_odom_: 1691062971.945172291 0.371101 -0.23942 9.90721 -0.0543285 -0.00639159 0.0394148 0 0 pose: 0.43797647 0.235767 0.0763842 0 -0.00113979 0.000867564 -0.00375587 0.999992 uwb: 0.0 842.014 996.137 -imu_odom_: 1691062971.960105932 0.409408 -0.23942 9.88566 -0.0553937 -0.00319579 0.0394148 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00113979 0.000867564 -0.00375587 0.999992 uwb: 0.0 842.014 996.137 -imu_odom_: 1691062971.974113293 0.383072 -0.263362 9.92636 -0.0543285 -0.00319579 0.04048 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00113979 0.000867564 -0.00375587 0.999992 uwb: 0.0 842.014 996.137 -imu_odom_: 1691062971.989175552 0.390255 -0.25618 9.8689 -0.0575243 -0.00426106 0.0394148 0 0 pose: 0.44145295 0.235767 0.0763842 0 -0.00206483 -5.37452e-06-0.0037388 0.999991 uwb: 0.49699184 842.087 997.242 -imu_odom_: 1691062972.4053196 0.387861 -0.234632 9.91439 -0.056459 -0.00426106 0.0394148 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00206483 -5.37452e-06-0.0037388 0.999991 uwb: 0.0 842.087 997.242 -imu_odom_: 1691062972.19104664 0.399832 -0.253785 9.87369 -0.056459 -0.00426106 0.04048 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00206483 -5.37452e-06-0.0037388 0.999991 uwb: 0.0 842.087 997.242 -imu_odom_: 1691062972.33119900 0.426168 -0.244209 9.87608 -0.0553937 -0.00426106 0.04048 0 0 pose: 0.43851311 0.235767 0.0763842 0 -0.00232164 0.00101557 -0.00373251 0.99999 uwb: 0.50091452 842.254 997.245 -imu_odom_: 1691062972.48158826 0.407014 -0.251391 9.87608 -0.0543285 -0.00426106 0.0383495 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00232164 0.00101557 -0.00373251 0.99999 uwb: 0.0 842.254 997.245 -imu_odom_: 1691062972.63107050 0.409408 -0.253785 9.85932 -0.0543285 -0.00532632 0.04048 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00232164 0.00101557 -0.00373251 0.99999 uwb: 0.0 842.254 997.245 -imu_odom_: 1691062972.77106828 0.392649 -0.246603 9.91199 -0.0553937 -0.00319579 0.0394148 0 0 pose: 0.45049409 0.235767 0.0763842 0 -0.00188747 -0.000713136-0.00372725 0.999991 uwb: 0.0 842.254 997.245 -imu_odom_: 1691062972.92097633 0.392649 -0.244209 9.85932 -0.0553937 -0.00426106 0.0415453 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00188747 -0.000713136-0.00372725 0.999991 uwb: 0.49922587 841.875 997.1 -imu_odom_: 1691062972.107157267 0.397437 -0.248997 9.90721 -0.056459 -0.00639159 0.04048 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00188747 -0.000713136-0.00372725 0.999991 uwb: 0.0 841.875 997.1 -imu_odom_: 1691062972.122040453 0.414197 -0.251391 9.87369 -0.0553937 -0.00426106 0.0394148 0 0 pose: 0.43990428 0.235767 0.0763842 0 -0.001972 -0.000869434-0.00372741 0.999991 uwb: 0.0 841.875 997.1 -imu_odom_: 1691062972.136035564 0.395043 -0.263362 9.88087 -0.0532632 -0.00532632 0.0383495 0 0 pose: 0.0 0.235767 0.0763842 0 -0.001972 -0.000869434-0.00372741 0.999991 uwb: 0.50099036 842.087 997.242 -imu_odom_: 1691062972.151036285 0.399832 -0.253785 9.87608 -0.0543285 -0.00426106 0.0394148 0 0 pose: 0.0 0.235767 0.0763842 0 -0.001972 -0.000869434-0.00372741 0.999991 uwb: 0.0 842.087 997.242 -imu_odom_: 1691062972.166033214 0.416591 -0.234632 9.89524 -0.0553937 -0.00532632 0.0394148 0 0 pose: 0.43933849 0.235767 0.0763842 0 -0.00188078 -0.000624298-0.00370693 0.999991 uwb: 0.0 842.087 997.242 -imu_odom_: 1691062972.180030368 0.411803 -0.258574 9.94791 -0.0543285 -0.00319579 0.0394148 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00188078 -0.000624298-0.00370693 0.999991 uwb: 0.50020290 841.961 997.654 -imu_odom_: 1691062972.195127333 0.414197 -0.244209 9.87848 -0.0553937 -0.00532632 0.04048 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00188078 -0.000624298-0.00370693 0.999991 uwb: 0.0 841.961 997.654 -imu_odom_: 1691062972.210097430 0.407014 -0.268151 9.8665 -0.0543285 -0.00426106 0.04048 0 0 pose: 0.44055466 0.235767 0.0763842 0 -0.00129981 0.000463222 -0.00371467 0.999992 uwb: 0.0 841.961 997.654 -imu_odom_: 1691062972.224156997 0.402226 -0.241814 9.86411 -0.0543285 -0.00426106 0.0394148 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00129981 0.000463222 -0.00371467 0.999992 uwb: 0.0 841.961 997.654 -imu_odom_: 1691062972.239224213 0.385466 -0.232238 9.87129 -0.0543285 -0.00319579 0.04048 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00129981 0.000463222 -0.00371467 0.999992 uwb: 0.50152991 842.323 997.384 -imu_odom_: 1691062972.254164271 0.40462 -0.277727 9.85932 -0.0532632 -0.00319579 0.0394148 0 0 pose: 0.43946973 0.235767 0.0763842 0 -0.00156196 -0.000493286-0.00370821 0.999992 uwb: 0.0 842.323 997.384 -imu_odom_: 1691062972.268165216 0.418985 -0.232238 9.8665 -0.0543285 -0.00426106 0.0394148 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00156196 -0.000493286-0.00370821 0.999992 uwb: 0.0 842.323 997.384 -imu_odom_: 1691062972.283331302 0.383072 -0.260968 9.90721 -0.056459 -0.00532632 0.0394148 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00156196 -0.000493286-0.00370821 0.999992 uwb: 0.49810885 842.319 997.659 -imu_odom_: 1691062972.298202238 0.40462 -0.272939 9.89524 -0.0543285 -0.00426106 0.0394148 0 0 pose: 0.44124879 0.235767 0.0763842 0 -0.00121398 0.00129134 -0.00369701 0.999992 uwb: 0.0 842.319 997.659 -imu_odom_: 1691062972.312188892 0.423774 -0.265756 9.88566 -0.0553937 -0.00426106 0.04048 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00121398 0.00129134 -0.00369701 0.999992 uwb: 0.0 842.319 997.659 -imu_odom_: 1691062972.327188446 0.428562 -0.251391 9.85453 -0.0543285 -0.00319579 0.0383495 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00121398 0.00129134 -0.00369701 0.999992 uwb: 0.0 842.319 997.659 -imu_odom_: 1691062972.342060258 0.387861 -0.246603 9.94073 -0.056459 -0.00426106 0.0394148 0 0 pose: 0.44150836 0.235767 0.0763842 0 -0.00257934 0.000347284 -0.00370346 0.99999 uwb: 0.49999583 842.336 998.21 -imu_odom_: 1691062972.356187779 0.397437 -0.215478 9.90242 -0.0553937 -0.00639159 0.0383495 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00257934 0.000347284 -0.00370346 0.99999 uwb: 0.0 842.336 998.21 -imu_odom_: 1691062972.371245663 0.409408 -0.270545 9.85453 -0.0543285 -0.00426106 0.0394148 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00257934 0.000347284 -0.00370346 0.99999 uwb: 0.0 842.336 998.21 -imu_odom_: 1691062972.386093267 0.409408 -0.237026 9.89524 -0.056459 -0.00319579 0.0394148 0 0 pose: 0.43881059 0.235767 0.0763842 0 -0.00111076 -0.000497274-0.00371385 0.999992 uwb: 0.50020873 842.293 997.796 -imu_odom_: 1691062972.400046090 0.409408 -0.270545 9.84017 -0.056459 -0.00426106 0.0394148 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00111076 -0.000497274-0.00371385 0.999992 uwb: 0.0 842.293 997.796 -imu_odom_: 1691062972.415103974 0.395043 -0.258574 9.84975 -0.0543285 -0.00426106 0.0394148 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00111076 -0.000497274-0.00371385 0.999992 uwb: 0.0 842.293 997.796 -imu_odom_: 1691062972.430175274 0.378284 -0.246603 9.89045 -0.0553937 -0.00426106 0.0383495 0 0 pose: 0.58874489 0.235767 0.0763842 0 -0.000937731-0.000810252-0.00372602 0.999992 uwb: 0.49978584 842.361 998.072 -imu_odom_: 1691062972.444175635 0.409408 -0.253785 9.89045 -0.0532632 -0.00532632 0.0394148 0 0 pose: 0.0 0.235767 0.0763842 0 -0.000937731-0.000810252-0.00372602 0.999992 uwb: 0.0 842.361 998.072 -imu_odom_: 1691062972.459307598 0.407014 -0.23942 9.87608 -0.0553937 -0.00532632 0.0383495 0 0 pose: 0.0 0.235767 0.0763842 0 -0.000937731-0.000810252-0.00372602 0.999992 uwb: 0.0 842.361 998.072 -imu_odom_: 1691062972.474177660 0.402226 -0.253785 9.85693 -0.0553937 -0.00426106 0.04048 0 0 pose: 0.29108701 0.235767 0.0763842 0 -0.00191164 0.00107653 -0.00372693 0.999991 uwb: 0.0 842.361 998.072 -imu_odom_: 1691062972.489177505 0.407014 -0.268151 9.87129 -0.0543285 -0.00426106 0.0383495 0 0 pose: 0.44122255 0.235767 0.0763842 0 -0.00120549 -0.000492656-0.00374185 0.999992 uwb: 0.50008041 842.245 997.796 -imu_odom_: 1691062972.504277970 0.399832 -0.234632 9.8665 -0.0553937 -0.00532632 0.0383495 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00120549 -0.000492656-0.00374185 0.999992 uwb: 0.0 842.245 997.796 -imu_odom_: 1691062972.518094884 0.397437 -0.248997 9.91439 -0.0543285 -0.00532632 0.0383495 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00120549 -0.000492656-0.00374185 0.999992 uwb: 0.0 842.245 997.796 -imu_odom_: 1691062972.533236472 0.416591 -0.253785 9.85932 -0.0553937 -0.00532632 0.0394148 0 0 pose: 0.44787799 0.235767 0.0763842 0 -0.00165515 0.000488888 -0.00375808 0.999991 uwb: 0.50219487 842.085 997.381 -imu_odom_: 1691062972.548042662 0.407014 -0.248997 9.87608 -0.0553937 -0.00532632 0.0394148 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00165515 0.000488888 -0.00375808 0.999991 uwb: 0.0 842.085 997.381 -imu_odom_: 1691062972.562023191 0.42138 -0.234632 9.90481 -0.056459 -0.00639159 0.0394148 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00165515 0.000488888 -0.00375808 0.999991 uwb: 0.0 842.085 997.381 -imu_odom_: 1691062972.577309437 0.40462 -0.244209 9.92875 -0.0543285 -0.00319579 0.04048 0 0 pose: 0.43937931 0.235767 0.0763842 0 -0.000713154-0.000221416-0.00376668 0.999993 uwb: 0.0 842.085 997.381 -imu_odom_: 1691062972.592016466 0.392649 -0.237026 9.90002 -0.0553937 -0.00426106 0.0394148 0 0 pose: 0.0 0.235767 0.0763842 0 -0.000713154-0.000221416-0.00376668 0.999993 uwb: 0.49757513 841.992 997.241 -imu_odom_: 1691062972.606079824 0.40462 -0.270545 9.9096 -0.0553937 -0.00319579 0.04048 0 0 pose: 0.0 0.235767 0.0763842 0 -0.000713154-0.000221416-0.00376668 0.999993 uwb: 0.0 841.992 997.241 -imu_odom_: 1691062972.621128084 0.399832 -0.275333 9.87608 -0.0553937 -0.00426106 0.0394148 0 0 pose: 0.43989846 0.235767 0.0763842 0 -0.0008846530.000554657 -0.00375666 0.999992 uwb: 0.0 841.992 997.241 -imu_odom_: 1691062972.636014477 0.42138 -0.241814 9.87129 -0.0553937 -0.00426106 0.0394148 0 0 pose: 0.0 0.235767 0.0763842 0 -0.0008846530.000554657 -0.00375666 0.999992 uwb: 0.50023790 841.796 997.514 -imu_odom_: 1691062972.650024755 0.385466 -0.241814 9.90721 -0.0553937 -0.00319579 0.0383495 0 0 pose: 0.0 0.235767 0.0763842 0 -0.0008846530.000554657 -0.00375666 0.999992 uwb: 0.0 841.796 997.514 -imu_odom_: 1691062972.665076223 0.361524 -0.229843 9.88566 -0.0553937 -0.00532632 0.04048 0 0 pose: 0.37989731 0.235767 0.0763842 0 -0.00189216 -0.000619054-0.00375915 0.999991 uwb: 0.0 841.796 997.514 -imu_odom_: 1691062972.680017739 0.409408 -0.241814 9.85932 -0.0553937 -0.00426106 0.0394148 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00189216 -0.000619054-0.00375915 0.999991 uwb: 0.49941836 841.701 997.513 -imu_odom_: 1691062972.694208256 0.392649 -0.237026 9.8665 -0.0553937 -0.00426106 0.0383495 0 0 pose: 0.6148564 0.235767 0.0763842 0 -0.00169875 -3.2197e-05 -0.00376196 0.999991 uwb: 0.0 841.701 997.513 -imu_odom_: 1691062972.709086192 0.402226 -0.25618 9.86172 -0.0532632 -0.00319579 0.0394148 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00169875 -3.2197e-05 -0.00376196 0.999991 uwb: 0.0 841.701 997.513 -imu_odom_: 1691062972.724254903 0.387861 -0.25618 9.88326 -0.0532632 -0.00426106 0.04048 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00169875 -3.2197e-05 -0.00376196 0.999991 uwb: 0.0 841.701 997.513 -imu_odom_: 1691062972.753147491 0.37589 -0.251391 9.90242 -0.0543285 -0.00532632 0.04048 0 0 pose: 0.43918974 0.235767 0.0763842 0 -0.00104141 2.29823e-05 -0.00376383 0.999992 uwb: 0.50148908 841.866 997.653 -imu_odom_: 1691062972.768143545 0.42138 -0.227449 9.87848 -0.0553937 -0.00532632 0.0394148 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00104141 2.29823e-05 -0.00376383 0.999992 uwb: 0.0 841.866 997.653 -imu_odom_: 1691062972.782096076 0.414197 -0.248997 9.86172 -0.0532632 -0.00639159 0.0394148 0 0 pose: 0.43934431 0.235767 0.0763842 0 -0.0017571 0.00112673 -0.00376 0.999991 uwb: 0.49843550 841.761 998.343 -imu_odom_: 1691062972.797013094 0.390255 -0.265756 9.89763 -0.0543285 -0.00426106 0.0383495 0 0 pose: 0.0 0.235767 0.0763842 0 -0.0017571 0.00112673 -0.00376 0.999991 uwb: 0.0 841.761 998.343 -imu_odom_: 1691062972.812006523 0.397437 -0.237026 9.87369 -0.0543285 -0.00532632 0.0394148 0 0 pose: 0.0 0.235767 0.0763842 0 -0.0017571 0.00112673 -0.00376 0.999991 uwb: 0.0 841.761 998.343 -imu_odom_: 1691062972.826194124 0.402226 -0.270545 9.87369 -0.0543285 -0.00426106 0.04048 0 0 pose: 0.44245039 0.235767 0.0763842 0 -0.0016081 -0.000172443-0.0037574 0.999992 uwb: 0.0 841.761 998.343 -imu_odom_: 1691062972.841129806 0.407014 -0.246603 9.87608 -0.0543285 -0.00532632 0.04048 0 0 pose: 0.0 0.235767 0.0763842 0 -0.0016081 -0.000172443-0.0037574 0.999992 uwb: 0.50280442 841.352 998.754 -imu_odom_: 1691062972.856056740 0.40462 -0.234632 9.90481 -0.0553937 -0.00426106 0.0394148 0 0 pose: 0.0 0.235767 0.0763842 0 -0.0016081 -0.000172443-0.0037574 0.999992 uwb: 0.0 841.352 998.754 -imu_odom_: 1691062972.870020353 0.414197 -0.260968 9.84975 -0.0543285 -0.00426106 0.04048 0 0 pose: 0.43810481 0.235767 0.0763842 0 -0.00160022 0.000202895 -0.00376371 0.999992 uwb: 0.0 841.352 998.754 -imu_odom_: 1691062972.885008533 0.418985 -0.265756 9.89524 -0.0553937 -0.00532632 0.0394148 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00160022 0.000202895 -0.00376371 0.999992 uwb: 0.49985000 841.829 998.758 -imu_odom_: 1691062972.900007212 0.40462 -0.251391 9.92397 -0.0553937 -0.00426106 0.04048 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00160022 0.000202895 -0.00376371 0.999992 uwb: 0.0 841.829 998.758 -imu_odom_: 1691062972.915006766 0.397437 -0.234632 9.84256 -0.0553937 -0.00426106 0.0394148 0 0 pose: 0.44003261 0.235767 0.0763842 0 -0.00145148 0.000575856 -0.00375271 0.999992 uwb: 0.0 841.829 998.758 -imu_odom_: 1691062972.929120871 0.40462 -0.260968 9.88566 -0.0553937 -0.00426106 0.0394148 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00145148 0.000575856 -0.00375271 0.999992 uwb: 0.49912088 841.86 998.068 -imu_odom_: 1691062972.944125092 0.385466 -0.23942 9.89524 -0.0553937 -0.00532632 0.0394148 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00145148 0.000575856 -0.00375271 0.999992 uwb: 0.0 841.86 998.068 -imu_odom_: 1691062972.959138645 0.387861 -0.253785 9.90242 -0.0543285 -0.00319579 0.0383495 0 0 pose: 0.43991303 0.235767 0.0763842 0 -0.00134817 0.000152894 -0.0037451 0.999992 uwb: 0.0 841.86 998.068 -imu_odom_: 1691062972.974178446 0.411803 -0.234632 9.88805 -0.0553937 -0.00532632 0.0394148 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00134817 0.000152894 -0.0037451 0.999992 uwb: 0.0 841.86 998.068 -imu_odom_: 1691062972.989123462 0.40462 -0.280122 9.91439 -0.0553937 -0.00319579 0.04048 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00134817 0.000152894 -0.0037451 0.999992 uwb: 0.50024957 841.531 997.649 -imu_odom_: 1691062973.3050619 0.409408 -0.251391 9.88326 -0.0553937 -0.00426106 0.0394148 0 0 pose: 0.44066549 0.235767 0.0763842 0 -0.00151492 0.00102486 -0.00375086 0.999991 uwb: 0.0 841.531 997.649 -imu_odom_: 1691062973.18046090 0.392649 -0.25618 9.85453 -0.0553937 -0.00532632 0.04048 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00151492 0.00102486 -0.00375086 0.999991 uwb: 0.0 841.531 997.649 -imu_odom_: 1691062973.32104782 0.392649 -0.265756 9.87369 -0.056459 -0.00639159 0.0383495 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00151492 0.00102486 -0.00375086 0.999991 uwb: 0.0 841.531 997.649 -imu_odom_: 1691062973.47178415 0.402226 -0.227449 9.90481 -0.0543285 -0.00639159 0.0394148 0 0 pose: 0.44999246 0.235767 0.0763842 0 -0.00206255 -0.000274441-0.00375407 0.999991 uwb: 0.0 841.531 997.649 -imu_odom_: 1691062973.62124306 0.402226 -0.232238 9.91199 -0.056459 -0.00532632 0.0394148 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00206255 -0.000274441-0.00375407 0.999991 uwb: 0.0 841.531 997.649 -imu_odom_: 1691062973.77029949 0.399832 -0.246603 9.88566 -0.0553937 -0.00426106 0.04048 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00206255 -0.000274441-0.00375407 0.999991 uwb: 0.0 841.531 997.649 -imu_odom_: 1691062973.92055168 0.414197 -0.244209 9.91918 -0.0543285 -0.00639159 0.0394148 0 0 pose: 0.43048691 0.235767 0.0763842 0 -0.00296542 0.000129693 -0.00375777 0.999989 uwb: 0.99940253 841.464 997.371 -imu_odom_: 1691062973.107132884 0.442927 -0.244209 9.8689 -0.0553937 -0.00426106 0.0394148 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00296542 0.000129693 -0.00375777 0.999989 uwb: 0.0 841.464 997.371 -imu_odom_: 1691062973.121051584 0.397437 -0.251391 9.88326 -0.056459 -0.00426106 0.0394148 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00296542 0.000129693 -0.00375777 0.999989 uwb: 0.0 841.464 997.371 -imu_odom_: 1691062973.136039181 0.409408 -0.270545 9.9096 -0.0543285 -0.00426106 0.0415453 0 0 pose: 0.44944707 0.235767 0.0763842 0 -0.00170593 -0.00027828 -0.00375434 0.999991 uwb: 0.49863091 841.746 997.652 -imu_odom_: 1691062973.150983030 0.385466 -0.253785 9.91918 -0.0543285 -0.00426106 0.0394148 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00170593 -0.00027828 -0.00375434 0.999991 uwb: 0.0 841.746 997.652 -imu_odom_: 1691062973.165113175 0.397437 -0.229843 9.93354 -0.0543285 -0.00532632 0.0394148 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00170593 -0.00027828 -0.00375434 0.999991 uwb: 0.0 841.746 997.652 -imu_odom_: 1691062973.179985862 0.414197 -0.270545 9.88805 -0.0553937 -0.00426106 0.0394148 0 0 pose: 0.58866615 0.235767 0.0763842 0 -0.00259617 0.000237232 -0.00373919 0.99999 uwb: 0.50047705 841.359 998.062 -imu_odom_: 1691062973.194995624 0.385466 -0.241814 9.88805 -0.0553937 -0.00426106 0.0394148 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00259617 0.000237232 -0.00373919 0.99999 uwb: 0.0 841.359 998.062 -imu_odom_: 1691062973.208990152 0.383072 -0.258574 9.84017 -0.056459 -0.00532632 0.0383495 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00259617 0.000237232 -0.00373919 0.99999 uwb: 0.0 841.359 998.062 -imu_odom_: 1691062973.223990290 0.411803 -0.244209 9.83059 -0.0543285 -0.00426106 0.0394148 0 0 pose: 0.29127075 0.235767 0.0763842 0 -0.00128137 4.67873e-05 -0.00374015 0.999992 uwb: 0.0 841.359 998.062 -imu_odom_: 1691062973.238983136 0.40462 -0.23942 9.89763 -0.0532632 -0.00426106 0.04048 0 0 pose: 0.43874061 0.235767 0.0763842 0 -0.00235179 0.000579905 -0.00375141 0.99999 uwb: 0.50009208 841.577 997.788 -imu_odom_: 1691062973.253054952 0.402226 -0.251391 9.87848 -0.056459 -0.00426106 0.0394148 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00235179 0.000579905 -0.00375141 0.99999 uwb: 0.0 841.577 997.788 -imu_odom_: 1691062973.268045173 0.392649 -0.265756 9.90481 -0.0543285 -0.00426106 0.0383495 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00235179 0.000579905 -0.00375141 0.99999 uwb: 0.0 841.577 997.788 -imu_odom_: 1691062973.282976481 0.426168 -0.248997 9.91199 -0.0543285 -0.00532632 0.0394148 0 0 pose: 0.44056925 0.235767 0.0763842 0 -0.00220958 0.000331878 -0.00375109 0.99999 uwb: 0.50044206 841.226 997.367 -imu_odom_: 1691062973.297118877 0.387861 -0.232238 9.88087 -0.056459 -0.00426106 0.0383495 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00220958 0.000331878 -0.00375109 0.99999 uwb: 0.0 841.226 997.367 -imu_odom_: 1691062973.312121347 0.416591 -0.251391 9.85693 -0.0553937 -0.00639159 0.0394148 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00220958 0.000331878 -0.00375109 0.99999 uwb: 0.0 841.226 997.367 -imu_odom_: 1691062973.327116527 0.407014 -0.246603 9.85932 -0.0543285 -0.00319579 0.0394148 0 0 pose: 0.44075590 0.235767 0.0763842 0 -0.00149896 -2.6797e-05 -0.00376862 0.999992 uwb: 0.0 841.226 997.367 -imu_odom_: 1691062973.342015753 0.40462 -0.253785 9.88087 -0.0553937 -0.00426106 0.04048 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00149896 -2.6797e-05 -0.00376862 0.999992 uwb: 0.49813219 841.369 997.37 -imu_odom_: 1691062973.357052347 0.438139 -0.260968 9.91199 -0.0553937 -0.00426106 0.0415453 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00149896 -2.6797e-05 -0.00376862 0.999992 uwb: 0.0 841.369 997.37 -imu_odom_: 1691062973.372119564 0.423774 -0.227449 9.87848 -0.0543285 -0.00532632 0.04048 0 0 pose: 0.38889764 0.235767 0.0763842 0 -0.00242214 -0.000408946-0.00376479 0.99999 uwb: 0.0 841.369 997.37 -imu_odom_: 1691062973.386995750 0.399832 -0.25618 9.88566 -0.056459 -0.00532632 0.0394148 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00242214 -0.000408946-0.00376479 0.99999 uwb: 0.49961668 841.356 998.333 -imu_odom_: 1691062973.401981888 0.387861 -0.246603 9.90242 -0.0543285 -0.00532632 0.0394148 0 0 pose: 0.6004197 0.235767 0.0763842 0 -0.00240082 -0.00100973 -0.00376036 0.99999 uwb: 0.0 841.356 998.333 -imu_odom_: 1691062973.416003540 0.399832 -0.25618 9.90721 -0.0553937 -0.00639159 0.0394148 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00240082 -0.00100973 -0.00376036 0.99999 uwb: 0.0 841.356 998.333 -imu_odom_: 1691062973.430994053 0.411803 -0.234632 9.85693 -0.0553937 -0.00532632 0.04048 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00240082 -0.00100973 -0.00376036 0.99999 uwb: 0.50012125 841.378 998.472 -imu_odom_: 1691062973.446020148 0.409408 -0.260968 9.89284 -0.0553937 -0.00532632 0.0415453 0 0 pose: 0.44966289 0.235767 0.0763842 0 -0.00173635 0.000482447 -0.00374617 0.999991 uwb: 0.0 841.378 998.472 -imu_odom_: 1691062973.459996594 0.402226 -0.246603 9.89763 -0.0553937 -0.00426106 0.04048 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00173635 0.000482447 -0.00374617 0.999991 uwb: 0.0 841.378 998.472 -imu_odom_: 1691062973.475046020 0.40462 -0.25618 9.88566 -0.0532632 -0.00426106 0.0394148 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00173635 0.000482447 -0.00374617 0.999991 uwb: 0.0 841.378 998.472 -imu_odom_: 1691062973.489959246 0.40462 -0.260968 9.88805 -0.056459 -0.00426106 0.0394148 0 0 pose: 0.44088132 0.235767 0.0763842 0 -0.00140864 -0.000467241-0.00373723 0.999992 uwb: 0.50110410 841.186 998.609 -imu_odom_: 1691062973.504083267 0.42138 -0.248997 9.91199 -0.0553937 -0.00426106 0.0394148 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00140864 -0.000467241-0.00373723 0.999992 uwb: 0.0 841.186 998.609 -imu_odom_: 1691062973.519022742 0.395043 -0.241814 9.87848 -0.0575243 -0.00639159 0.0383495 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00140864 -0.000467241-0.00373723 0.999992 uwb: 0.0 841.186 998.609 -imu_odom_: 1691062973.533961633 0.411803 -0.251391 9.88087 -0.0532632 -0.00639159 0.0394148 0 0 pose: 0.43890101 0.235767 0.0763842 0 -0.00216616 0.000298717 -0.00372203 0.999991 uwb: 0.49989375 841.252 1000.13 -imu_odom_: 1691062973.547958494 0.397437 -0.225055 9.90002 -0.0553937 -0.00532632 0.0394148 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00216616 0.000298717 -0.00372203 0.999991 uwb: 0.0 841.252 1000.13 -imu_odom_: 1691062973.562958340 0.416591 -0.265756 9.93115 -0.056459 -0.00426106 0.0394148 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00216616 0.000298717 -0.00372203 0.999991 uwb: 0.0 841.252 1000.13 -imu_odom_: 1691062973.578004558 0.409408 -0.258574 9.93594 -0.056459 -0.00319579 0.0394148 0 0 pose: 0.43998595 0.235767 0.0763842 0 -0.00139641 0.000469781 -0.00373297 0.999992 uwb: 0.0 841.252 1000.13 -imu_odom_: 1691062973.592002587 0.387861 -0.251391 9.88326 -0.0543285 -0.00426106 0.0394148 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00139641 0.000469781 -0.00373297 0.999992 uwb: 0.50071913 841.538 999.717 -imu_odom_: 1691062973.606944103 0.433351 -0.258574 9.93354 -0.0543285 -0.00639159 0.0383495 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00139641 0.000469781 -0.00373297 0.999992 uwb: 0.0 841.538 999.717 -imu_odom_: 1691062973.622000529 0.390255 -0.227449 9.92636 -0.0543285 -0.00426106 0.04048 0 0 pose: 0.44100089 0.235767 0.0763842 0 -0.00252991 -0.000269723-0.00373759 0.99999 uwb: 0.0 841.538 999.717 -imu_odom_: 1691062973.636055429 0.392649 -0.260968 9.88805 -0.0543285 -0.00426106 0.0394148 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00252991 -0.000269723-0.00373759 0.99999 uwb: 0.49928712 841.611 1000.55 -imu_odom_: 1691062973.650994320 0.37589 -0.263362 9.89284 -0.0553937 -0.00532632 0.0394148 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00252991 -0.000269723-0.00373759 0.99999 uwb: 0.0 841.611 1000.55 -imu_odom_: 1691062973.665938169 0.385466 -0.241814 9.89045 -0.052198 -0.00532632 0.0415453 0 0 pose: 0.43939973 0.235767 0.0763842 0 -0.00179826 -0.000500492-0.00374585 0.999991 uwb: 0.0 841.611 1000.55 -imu_odom_: 1691062973.679941155 0.402226 -0.275333 9.89045 -0.056459 -0.00532632 0.0394148 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00179826 -0.000500492-0.00374585 0.999991 uwb: 0.50113619 841.302 1000.96 -imu_odom_: 1691062973.695155655 0.407014 -0.25618 9.87369 -0.0543285 -0.00426106 0.0394148 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00179826 -0.000500492-0.00374585 0.999991 uwb: 0.0 841.302 1000.96 -imu_odom_: 1691062973.710037383 0.402226 -0.253785 9.89524 -0.0553937 -0.00213053 0.0394148 0 0 pose: 0.44053425 0.235767 0.0763842 0 -0.00206511 0.00162854 -0.00373359 0.99999 uwb: 0.0 841.302 1000.96 -imu_odom_: 1691062973.724100741 0.42138 -0.244209 9.8665 -0.056459 -0.00532632 0.0394148 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00206511 0.00162854 -0.00373359 0.99999 uwb: 0.0 841.302 1000.96 -imu_odom_: 1691062973.739100295 0.407014 -0.237026 9.93354 -0.056459 -0.00426106 0.0394148 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00206511 0.00162854 -0.00373359 0.99999 uwb: 0.49994916 841.544 1001.38 -imu_odom_: 1691062973.754185594 0.399832 -0.248997 9.88087 -0.0543285 -0.00532632 0.0394148 0 0 pose: 0.44166294 0.235767 0.0763842 0 -0.00184707 -0.000196972-0.00373169 0.999991 uwb: 0.0 841.544 1001.38 -imu_odom_: 1691062973.769154817 0.414197 -0.241814 9.87608 -0.0543285 -0.00532632 0.0383495 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00184707 -0.000196972-0.00373169 0.999991 uwb: 0.0 841.544 1001.38 -imu_odom_: 1691062973.784015254 0.430956 -0.244209 9.88326 -0.0553937 -0.00532632 0.0394148 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00184707 -0.000196972-0.00373169 0.999991 uwb: 0.50125576 841.45 1001.52 -imu_odom_: 1691062973.798070738 0.402226 -0.263362 9.91199 -0.0553937 -0.00532632 0.0394148 0 0 pose: 0.43881352 0.235767 0.0763842 0 -0.00117317 0.000258048 -0.00373563 0.999992 uwb: 0.0 841.45 1001.52 -imu_odom_: 1691062973.828116218 0.418985 -0.229843 9.89284 -0.0553937 -0.00639159 0.0394148 0 0 pose: 0.44977372 0.235767 0.0763842 0 -0.00222322 -0.00136971 -0.00374824 0.99999 uwb: 0.49929879 841.445 1000.96 -imu_odom_: 1691062973.843056276 0.395043 -0.251391 9.89045 -0.0553937 -0.00532632 0.0383495 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00222322 -0.00136971 -0.00374824 0.99999 uwb: 0.0 841.445 1000.96 -imu_odom_: 1691062973.858118826 0.42138 -0.260968 9.89045 -0.0543285 -0.00426106 0.0394148 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00222322 -0.00136971 -0.00374824 0.99999 uwb: 0.0 841.445 1000.96 -imu_odom_: 1691062973.872001945 0.40462 -0.263362 9.85932 -0.0543285 -0.00639159 0.0415453 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00222322 -0.00136971 -0.00374824 0.99999 uwb: 0.0 841.445 1000.96 -imu_odom_: 1691062973.886993916 0.418985 -0.222661 9.8689 -0.0553937 -0.00426106 0.0383495 0 0 pose: 0.58895488 0.235767 0.0763842 0 -0.00194834 -0.000468569-0.00375813 0.999991 uwb: 0.49876507 841.808 1001.51 -imu_odom_: 1691062973.901981512 0.392649 -0.272939 9.88566 -0.0553937 -0.00426106 0.04048 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00194834 -0.000468569-0.00375813 0.999991 uwb: 0.0 841.808 1001.51 -imu_odom_: 1691062973.916050995 0.40462 -0.263362 9.89524 -0.0543285 -0.00426106 0.0394148 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00194834 -0.000468569-0.00375813 0.999991 uwb: 0.0 841.808 1001.51 -imu_odom_: 1691062973.929927697 0.397437 -0.23942 9.90481 -0.0553937 -0.00532632 0.0394148 0 0 pose: 0.29030831 0.235767 0.0763842 0 -0.00194077 -3.73858e-05-0.003747 0.999991 uwb: 0.50047997 841.384 1002.07 -imu_odom_: 1691062973.945050036 0.402226 -0.232238 9.86172 -0.0575243 -0.00532632 0.04048 0 0 pose: 0.43994512 0.235767 0.0763842 0 -0.00218583 -0.00070159 -0.00374968 0.99999 uwb: 0.0 841.384 1002.07 -imu_odom_: 1691062973.958980693 0.399832 -0.227449 9.89045 -0.0553937 -0.00426106 0.04048 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00218583 -0.00070159 -0.00374968 0.99999 uwb: 0.0 841.384 1002.07 -imu_odom_: 1691062973.972990388 0.390255 -0.260968 9.92157 -0.0553937 -0.00426106 0.0394148 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00218583 -0.00070159 -0.00374968 0.99999 uwb: 0.0 841.384 1002.07 -imu_odom_: 1691062973.987105951 0.363919 -0.246603 9.87369 -0.0553937 -0.00319579 0.0394148 0 0 pose: 0.42983362 0.235767 0.0763842 0 -0.00206389 0.000445627 -0.00373626 0.999991 uwb: 0.49875341 841.603 1002.35 -imu_odom_: 1691062974.1096688 0.409408 -0.263362 9.85693 -0.0543285 -0.00532632 0.0383495 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00206389 0.000445627 -0.00373626 0.999991 uwb: 0.0 841.603 1002.35 -imu_odom_: 1691062974.16123074 0.40462 -0.232238 9.89524 -0.0543285 -0.00532632 0.04048 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00206389 0.000445627 -0.00373626 0.999991 uwb: 0.0 841.603 1002.35 -imu_odom_: 1691062974.31073631 0.37589 -0.237026 9.89045 -0.0553937 -0.00532632 0.04048 0 0 pose: 0.41966670 0.235767 0.0763842 0 -0.00165316 0.000326437 -0.00374322 0.999992 uwb: 0.50127034 842.104 1002.34 -imu_odom_: 1691062974.45064077 0.414197 -0.263362 9.91678 -0.0553937 -0.00319579 0.0394148 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00165316 0.000326437 -0.00374322 0.999992 uwb: 0.0 842.104 1002.34 -imu_odom_: 1691062974.60219664 0.397437 -0.258574 9.92157 -0.056459 -0.00532632 0.0394148 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00165316 0.000326437 -0.00374322 0.999992 uwb: 0.0 842.104 1002.34 -imu_odom_: 1691062974.73997497 0.402226 -0.253785 9.93833 -0.0553937 -0.00426106 0.04048 0 0 pose: 0.44236290 0.235767 0.0763842 0 -0.00253858 0.000379068 -0.00373539 0.99999 uwb: 0.0 842.104 1002.34 -imu_odom_: 1691062974.87962277 0.407014 -0.253785 9.90002 -0.0543285 -0.00532632 0.0394148 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00253858 0.000379068 -0.00373539 0.99999 uwb: 0.49993168 842.194 1001.92 -imu_odom_: 1691062974.101995887 0.399832 -0.25618 9.92875 -0.0543285 -0.00319579 0.0394148 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00253858 0.000379068 -0.00373539 0.99999 uwb: 0.0 842.194 1001.92 -imu_odom_: 1691062974.116951402 0.416591 -0.258574 9.89763 -0.056459 -0.00639159 0.04048 0 0 pose: 0.42820913 0.235767 0.0763842 0 -0.00179395 -0.000616347-0.00373377 0.999991 uwb: 0.0 842.194 1001.92 -imu_odom_: 1691062974.130931057 0.411803 -0.263362 9.8689 -0.0543285 -0.00426106 0.0394148 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00179395 -0.000616347-0.00373377 0.999991 uwb: 0.49925796 842.176 1002.34 -imu_odom_: 1691062974.145104075 0.40462 -0.263362 9.9096 -0.0543285 -0.00426106 0.0394148 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00179395 -0.000616347-0.00373377 0.999991 uwb: 0.0 842.176 1002.34 -imu_odom_: 1691062974.158921281 0.387861 -0.253785 9.87848 -0.056459 -0.00426106 0.04048 0 0 pose: 0.42938156 0.235767 0.0763842 0 -0.00223835 -0.000480256-0.00372866 0.99999 uwb: 0.0 842.176 1002.34 -imu_odom_: 1691062974.172923684 0.378284 -0.241814 9.89524 -0.0553937 -0.00532632 0.0394148 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00223835 -0.000480256-0.00372866 0.99999 uwb: 0.0 842.176 1002.34 -imu_odom_: 1691062974.187171948 0.395043 -0.25618 9.91199 -0.0543285 -0.00532632 0.04048 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00223835 -0.000480256-0.00372866 0.99999 uwb: 0.50122077 842.266 1001.92 -imu_odom_: 1691062974.201928266 0.363919 -0.241814 9.88326 -0.0553937 -0.00532632 0.0394148 0 0 pose: 0.50224154 0.235767 0.0763842 0 -0.00219343 0.000314131 -0.00371716 0.999991 uwb: 0.0 842.266 1001.92 -imu_odom_: 1691062974.216058704 0.414197 -0.232238 9.91199 -0.0553937 -0.00639159 0.04048 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00219343 0.000314131 -0.00371716 0.999991 uwb: 0.0 842.266 1001.92 -imu_odom_: 1691062974.229928990 0.402226 -0.268151 9.89524 -0.0543285 -0.00532632 0.04048 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00219343 0.000314131 -0.00371716 0.999991 uwb: 0.50004833 841.864 1002.2 -imu_odom_: 1691062974.244927961 0.371101 -0.25618 9.91439 -0.0553937 -0.00426106 0.0394148 0 0 pose: 0.5888120 0.235767 0.0763842 0 -0.00194041 0.000843008 -0.0037164 0.999991 uwb: 0.0 841.864 1002.2 -imu_odom_: 1691062974.258918407 0.399832 -0.25618 9.85932 -0.0553937 -0.00319579 0.0372843 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00194041 0.000843008 -0.0037164 0.999991 uwb: 0.0 841.864 1002.2 -imu_odom_: 1691062974.272981765 0.423774 -0.222661 9.91199 -0.0553937 -0.00319579 0.0415453 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00194041 0.000843008 -0.0037164 0.999991 uwb: 0.0 841.864 1002.2 -imu_odom_: 1691062974.287990652 0.395043 -0.251391 9.8665 -0.0553937 -0.00532632 0.0394148 0 0 pose: 0.71929906 0.235767 0.0763842 0 -0.00163262 -0.000207236-0.00371599 0.999992 uwb: 0.49800387 842.011 1002.48 -imu_odom_: 1691062974.302058676 0.387861 -0.246603 9.8689 -0.0543285 -0.00532632 0.0383495 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00163262 -0.000207236-0.00371599 0.999992 uwb: 0.0 842.011 1002.48 -imu_odom_: 1691062974.316059913 0.418985 -0.258574 9.91199 -0.0543285 -0.00319579 0.04048 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00163262 -0.000207236-0.00371599 0.999992 uwb: 0.0 842.011 1002.48 -imu_odom_: 1691062974.329932824 0.399832 -0.246603 9.91439 -0.0553937 -0.00426106 0.04048 0 0 pose: 0.28973084 0.235767 0.0763842 0 -0.00151804 0.000902562 -0.00371115 0.999992 uwb: 0.49996958 841.86 1001.93 -imu_odom_: 1691062974.344047804 0.380678 -0.25618 9.89524 -0.0543285 -0.00532632 0.0383495 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00151804 0.000902562 -0.00371115 0.999992 uwb: 0.0 841.86 1001.93 -imu_odom_: 1691062974.358990486 0.378284 -0.263362 9.89524 -0.0543285 -0.00426106 0.0394148 0 0 pose: 0.41971921 0.235767 0.0763842 0 -0.0017612 -0.000538987-0.00370924 0.999991 uwb: 0.0 841.86 1001.93 -imu_odom_: 1691062974.372919685 0.392649 -0.253785 9.89763 -0.0553937 -0.00426106 0.04048 0 0 pose: 0.0 0.235767 0.0763842 0 -0.0017612 -0.000538987-0.00370924 0.999991 uwb: 0.0 841.86 1001.93 -imu_odom_: 1691062974.386932005 0.430956 -0.265756 9.92397 -0.056459 -0.00426106 0.0394148 0 0 pose: 0.0 0.235767 0.0763842 0 -0.0017612 -0.000538987-0.00370924 0.999991 uwb: 0.50009792 841.873 1000.41 -imu_odom_: 1691062974.400921867 0.411803 -0.248997 9.88566 -0.0553937 -0.00426106 0.04048 0 0 pose: 0.14119646 0.235767 0.0763842 0 -0.00221045 0.000777969 -0.00371228 0.99999 uwb: 0.0 841.873 1000.41 -imu_odom_: 1691062974.415982085 0.409408 -0.25618 9.88566 -0.0553937 -0.00532632 0.0394148 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00221045 0.000777969 -0.00371228 0.99999 uwb: 0.0 841.873 1000.41 -imu_odom_: 1691062974.429918283 0.371101 -0.244209 9.8665 -0.0553937 -0.00532632 0.0394148 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00221045 0.000777969 -0.00371228 0.99999 uwb: 0.49874174 841.801 1000.27 -imu_odom_: 1691062974.443926228 0.399832 -0.23942 9.88566 -0.056459 -0.00532632 0.04048 0 0 pose: 0.71939531 0.235767 0.0763842 0 -0.00245261 3.19874e-05 -0.0037047 0.99999 uwb: 0.0 841.801 1000.27 -imu_odom_: 1691062974.457974129 0.385466 -0.241814 9.91918 -0.0532632 -0.00426106 0.0394148 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00245261 3.19874e-05 -0.0037047 0.99999 uwb: 0.0 841.801 1000.27 -imu_odom_: 1691062974.471903619 0.390255 -0.25618 9.84975 -0.0553937 -0.00426106 0.0383495 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00245261 3.19874e-05 -0.0037047 0.99999 uwb: 0.0 841.801 1000.27 -imu_odom_: 1691062974.485967561 0.407014 -0.260968 9.90002 -0.056459 -0.00532632 0.04048 0 0 pose: 0.27991682 0.235767 0.0763842 0 -0.00116317 0.000458144 -0.00369813 0.999992 uwb: 0.49979168 841.849 1000.41 -imu_odom_: 1691062974.499913384 0.37589 -0.268151 9.89284 -0.056459 -0.00532632 0.0394148 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00116317 0.000458144 -0.00369813 0.999992 uwb: 0.0 841.849 1000.41 -imu_odom_: 1691062974.513981700 0.409408 -0.280122 9.89763 -0.0553937 -0.00426106 0.0394148 0 0 pose: 0.49927546 0.235767 0.0763842 0 -0.00243064 0.000336094 -0.00370412 0.99999 uwb: 0.0 841.849 1000.41 -imu_odom_: 1691062974.527942689 0.416591 -0.260968 9.9096 -0.0543285 -0.00426106 0.0394148 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00243064 0.000336094 -0.00370412 0.99999 uwb: 0.50026416 841.467 999.446 -imu_odom_: 1691062974.542911329 0.40462 -0.253785 9.88566 -0.0543285 -0.00426106 0.04048 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00243064 0.000336094 -0.00370412 0.99999 uwb: 0.0 841.467 999.446 -imu_odom_: 1691062974.557907383 0.380678 -0.263362 9.8665 -0.0553937 -0.00426106 0.04048 0 0 pose: 0.6056693 0.235767 0.0763842 0 -0.00292725 -1.20295e-05-0.00370563 0.999989 uwb: 0.0 841.467 999.446 -imu_odom_: 1691062974.571896662 0.411803 -0.268151 9.90721 -0.0543285 -0.00319579 0.0394148 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00292725 -1.20295e-05-0.00370563 0.999989 uwb: 0.0 841.467 999.446 -imu_odom_: 1691062974.586011351 0.430956 -0.248997 9.88566 -0.0553937 -0.00426106 0.04048 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00292725 -1.20295e-05-0.00370563 0.999989 uwb: 0.50037206 841.278 999.168 -imu_odom_: 1691062974.601045320 0.409408 -0.244209 9.90002 -0.0553937 -0.00426106 0.0372843 0 0 pose: 0.71980654 0.235767 0.0763842 0 -0.00247365 -0.000387743-0.00369728 0.99999 uwb: 0.0 841.278 999.168 -imu_odom_: 1691062974.615101678 0.392649 -0.241814 9.90002 -0.0553937 -0.00639159 0.04048 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00247365 -0.000387743-0.00369728 0.99999 uwb: 0.0 841.278 999.168 -imu_odom_: 1691062974.630012862 0.426168 -0.258574 9.92875 -0.0553937 -0.00426106 0.04048 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00247365 -0.000387743-0.00369728 0.99999 uwb: 0.49976543 841.172 997.782 -imu_odom_: 1691062974.644039181 0.430956 -0.248997 9.87369 -0.0543285 -0.00426106 0.04048 0 0 pose: 0.28988541 0.235767 0.0763842 0 -0.00148309 0.000684114 -0.00370795 0.999992 uwb: 0.0 841.172 997.782 -imu_odom_: 1691062974.658037793 0.416591 -0.253785 9.89284 -0.0543285 -0.00426106 0.0394148 0 0 pose: 0.0 0.235767 0.0763842 0 -0.00148309 0.000684114 -0.00370795 0.999992 uwb: 0.0 841.172 997.782 -imu_odom_: 1691062974.672041363 0.418985 -0.215478 9.9096 -0.0532632 -0.00532632 0.0394148 0 0 pose: 0.42990945 0.235767 0.0763842 0 -0.00192781 -0.000911486-0.00369577 0.999991 uwb: 0.0 841.172 997.782 diff --git a/Code/MowingRobot/Robot_ROS_APP/dataset/data2.txt b/Code/MowingRobot/Robot_ROS_APP/dataset/data2.txt deleted file mode 100644 index c3e001f..0000000 --- a/Code/MowingRobot/Robot_ROS_APP/dataset/data2.txt +++ /dev/null @@ -1,9313 +0,0 @@ -imu_odom_: 1691062406.60567234 0.40462 -0.203507 9.88087 -0.0553937 -0.00532632 0.04048 0 0 pose: 4.992375385 0 0 0 -0.0001201543.25945e-05 0.0017383 0.999998 uwb: 5.69647 848.899 990.624 -imu_odom_: 1691062406.74560911 0.395043 -0.217872 9.89284 -0.0532632 -0.00532632 0.04048 0 0 pose: 0.0 0 0 0 -0.0001201543.25945e-05 0.0017383 0.999998 uwb: 0.0 848.899 990.624 -imu_odom_: 1691062406.88551088 0.407014 -0.220267 9.93354 -0.056459 -0.00319579 0.0394148 0 0 pose: 0.0 0 0 0 -0.0001201543.25945e-05 0.0017383 0.999998 uwb: 0.0 848.899 990.624 -imu_odom_: 1691062406.103499256 0.407014 -0.201113 9.86411 -0.0553937 -0.00426106 0.0394148 0 0 pose: 0.41938452 0 0 0 -0.000324512-8.4751e-05 0.00174832 0.999998 uwb: 0.49796316 848.749 990.349 -imu_odom_: 1691062406.117553882 0.395043 -0.215478 9.90721 -0.0553937 -0.00639159 0.0383495 0 0 pose: 0.0 0 0 0 -0.000324512-8.4751e-05 0.00174832 0.999998 uwb: 0.0 848.749 990.349 -imu_odom_: 1691062406.131637380 0.411803 -0.234632 9.89763 -0.0543285 -0.00639159 0.0394148 0 0 pose: 0.0 0 0 0 -0.000324512-8.4751e-05 0.00174832 0.999998 uwb: 0.0 848.749 990.349 -imu_odom_: 1691062406.145511781 0.402226 -0.213084 9.86172 -0.0543285 -0.00426106 0.04048 0 0 pose: 0.42989764 0 0 0 -0.000664817-3.48417e-060.00173524 0.999998 uwb: 0.0 848.749 990.349 -imu_odom_: 1691062406.159568449 0.385466 -0.21069 9.90242 -0.0543285 -0.00426106 0.04048 0 0 pose: 0.0 0 0 0 -0.000664817-3.48417e-060.00173524 0.999998 uwb: 0.50022618 848.829 990.222 -imu_odom_: 1691062406.174740294 0.395043 -0.198719 9.88805 -0.0553937 -0.00426106 0.0394148 0 0 pose: 0.0 0 0 0 -0.000664817-3.48417e-060.00173524 0.999998 uwb: 0.0 848.829 990.222 -imu_odom_: 1691062406.189629554 0.368707 -0.21069 9.90242 -0.0553937 -0.00213053 0.0394148 0 0 pose: 0.42203248 0 0 0 0.000574562 0.000871917 0.00174669 0.999998 uwb: 0.0 848.829 990.222 -imu_odom_: 1691062406.203636062 0.399832 -0.215478 9.88326 -0.056459 -0.00426106 0.0394148 0 0 pose: 0.0 0 0 0 0.000574562 0.000871917 0.00174669 0.999998 uwb: 0.50110397 848.408 991.655 -imu_odom_: 1691062406.218761831 0.40462 -0.198719 9.85693 -0.0553937 -0.00532632 0.0394148 0 0 pose: 0.0 0 0 0 0.000574562 0.000871917 0.00174669 0.999998 uwb: 0.0 848.408 991.655 -imu_odom_: 1691062406.232487212 0.397437 -0.227449 9.91918 -0.0543285 -0.00426106 0.04048 0 0 pose: 0.43939590 0 0 0 0.000515237 -2.01853e-050.00174243 0.999998 uwb: 0.0 848.408 991.655 -imu_odom_: 1691062406.246468640 0.392649 -0.205901 9.88566 -0.056459 -0.00319579 0.04048 0 0 pose: 0.0 0 0 0 0.000515237 -2.01853e-050.00174243 0.999998 uwb: 0.49904509 848.374 990.99 -imu_odom_: 1691062406.261469884 0.442927 -0.208296 9.88805 -0.0553937 -0.00426106 0.0383495 0 0 pose: 0.0 0 0 0 0.000515237 -2.01853e-050.00174243 0.999998 uwb: 0.0 848.374 990.99 -imu_odom_: 1691062406.275469393 0.392649 -0.203507 9.90721 -0.0543285 -0.00532632 0.0394148 0 0 pose: 0.42895860 0 0 0 0.000866584 0.000589087 0.00175076 0.999998 uwb: 0.0 848.374 990.99 -imu_odom_: 1691062406.289530144 0.397437 -0.208296 9.88566 -0.0553937 -0.00532632 0.04048 0 0 pose: 0.0 0 0 0 0.000866584 0.000589087 0.00175076 0.999998 uwb: 0.0 848.374 990.99 -imu_odom_: 1691062406.303534610 0.395043 -0.196325 9.91678 -0.0553937 -0.00532632 0.0394148 0 0 pose: 0.0 0 0 0 0.000866584 0.000589087 0.00175076 0.999998 uwb: 0.49984707 848.287 991.251 -imu_odom_: 1691062406.317526828 0.407014 -0.246603 9.88087 -0.056459 -0.00532632 0.0394148 0 0 pose: 0.43000554 0 0 0 0.000633687 0.000122746 0.00174983 0.999998 uwb: 0.0 848.287 991.251 -imu_odom_: 1691062406.331611784 0.390255 -0.208296 9.88087 -0.0553937 -0.00426106 0.0415453 0 0 pose: 0.0 0 0 0 0.000633687 0.000122746 0.00174983 0.999998 uwb: 0.0 848.287 991.251 -imu_odom_: 1691062406.346509209 0.397437 -0.222661 9.86172 -0.0543285 -0.00426106 0.04048 0 0 pose: 0.0 0 0 0 0.000633687 0.000122746 0.00174983 0.999998 uwb: 0.50000746 848.374 990.591 -imu_odom_: 1691062406.361576361 0.399832 -0.222661 9.85932 -0.0553937 -0.00426106 0.0394148 0 0 pose: 0.42095055 0 0 0 0.000423404 0.000852043 0.00176396 0.999998 uwb: 0.0 848.374 990.591 -imu_odom_: 1691062406.375555456 0.407014 -0.213084 9.87608 -0.0553937 -0.00532632 0.04048 0 0 pose: 0.0 0 0 0 0.000423404 0.000852043 0.00176396 0.999998 uwb: 0.0 848.374 990.591 -imu_odom_: 1691062406.389449105 0.409408 -0.246603 9.92875 -0.0553937 -0.00532632 0.0394148 0 0 pose: 0.0 0 0 0 0.000423404 0.000852043 0.00176396 0.999998 uwb: 0.0 848.374 990.591 -imu_odom_: 1691062406.403450072 0.407014 -0.232238 9.90242 -0.0543285 -0.00532632 0.04048 0 0 pose: 0.43840729 0 0 0 -0.000477101-0.0002333210.00177124 0.999998 uwb: 0.49956418 848.589 991.4 -imu_odom_: 1691062406.417437916 0.40462 -0.232238 9.90002 -0.0553937 -0.00426106 0.04048 0 0 pose: 0.0 0 0 0 -0.000477101-0.0002333210.00177124 0.999998 uwb: 0.0 848.589 991.4 -imu_odom_: 1691062406.431440341 0.387861 -0.213084 9.89284 -0.0543285 -0.00426106 0.04048 0 0 pose: 0.0 0 0 0 -0.000477101-0.0002333210.00177124 0.999998 uwb: 0.0 848.589 991.4 -imu_odom_: 1691062406.445570207 0.385466 -0.234632 9.87369 -0.056459 -0.00532632 0.0383495 0 0 pose: 0.0 0 0 0 -0.000477101-0.0002333210.00177124 0.999998 uwb: 0.49974208 848.861 991.68 -imu_odom_: 1691062406.459430902 0.40462 -0.222661 9.89524 -0.0553937 -0.00426106 0.04048 0 0 pose: 0.41972863 0 0 0 -0.00079746 0.000198817 0.00178639 0.999998 uwb: 0.0 848.861 991.68 -imu_odom_: 1691062406.473489903 0.385466 -0.203507 9.92636 -0.056459 -0.00426106 0.0394148 0 0 pose: 0.0 0 0 0 -0.00079746 0.000198817 0.00178639 0.999998 uwb: 0.0 848.861 991.68 -imu_odom_: 1691062406.487484162 0.378284 -0.21069 9.90242 -0.0543285 -0.00426106 0.04048 0 0 pose: 0.41991528 0 0 0 -5.58655e-050.000411178 0.00178643 0.999998 uwb: 0.0 848.861 991.68 -imu_odom_: 1691062406.501428554 0.383072 -0.196325 9.88566 -0.0553937 -0.00426106 0.0394148 0 0 pose: 0.0 0 0 0 -5.58655e-050.000411178 0.00178643 0.999998 uwb: 0.50040991 849.074 991.295 -imu_odom_: 1691062406.515422522 0.418985 -0.215478 9.93833 -0.0553937 -0.00426106 0.0394148 0 0 pose: 0.0 0 0 0 -5.58655e-050.000411178 0.00178643 0.999998 uwb: 0.0 849.074 991.295 -imu_odom_: 1691062406.529420281 0.423774 -0.203507 9.91199 -0.0553937 -0.00639159 0.04048 0 0 pose: 0.42008151 0 0 0 0.000522006 0.000584839 0.00179126 0.999998 uwb: 0.0 849.074 991.295 -imu_odom_: 1691062406.543414541 0.414197 -0.213084 9.87848 -0.0553937 -0.00426106 0.04048 0 0 pose: 0.0 0 0 0 0.000522006 0.000584839 0.00179126 0.999998 uwb: 0.0 849.074 991.295 -imu_odom_: 1691062406.557481999 0.42138 -0.232238 9.91439 -0.0543285 -0.00426106 0.04048 0 0 pose: 0.0 0 0 0 0.000522006 0.000584839 0.00179126 0.999998 uwb: 0.49959626 849.679 990.803 -imu_odom_: 1691062406.571417058 0.399832 -0.222661 9.89524 -0.0553937 -0.00532632 0.04048 0 0 pose: 0.50036616 0 0 0 -0.00121253 -0.00117036 0.00181061 0.999997 uwb: 0.0 849.679 990.803 -imu_odom_: 1691062406.585471685 0.402226 -0.232238 9.90242 -0.0553937 -0.00319579 0.0394148 0 0 pose: 0.0 0 0 0 -0.00121253 -0.00117036 0.00181061 0.999997 uwb: 0.0 849.679 990.803 -imu_odom_: 1691062406.600479636 0.428562 -0.198719 9.87848 -0.0553937 -0.00213053 0.0394148 0 0 pose: 0.0 0 0 0 -0.00121253 -0.00117036 0.00181061 0.999997 uwb: 0.50178346 849.711 991.069 -imu_odom_: 1691062406.614416446 0.390255 -0.196325 9.91199 -0.0543285 -0.00426106 0.0383495 0 0 pose: 0.5995248 0 0 0 -0.000904869-0.0006590710.00181358 0.999998 uwb: 0.0 849.711 991.069 -imu_odom_: 1691062406.628428786 0.387861 -0.191536 9.87129 -0.0553937 -0.00532632 0.0394148 0 0 pose: 0.0 0 0 0 -0.000904869-0.0006590710.00181358 0.999998 uwb: 0.0 849.711 991.069 -imu_odom_: 1691062406.642425087 0.40462 -0.229843 9.90002 -0.0553937 -0.00532632 0.0383495 0 0 pose: 0.0 0 0 0 -0.000904869-0.0006590710.00181358 0.999998 uwb: 0.0 849.711 991.069 -imu_odom_: 1691062406.657601891 0.392649 -0.208296 9.91199 -0.0553937 -0.00319579 0.0394148 0 0 pose: 0.70946788 0 0 0 0.00112456 0.00085094 0.00180015 0.999997 uwb: 0.49945046 849.52 990.662 -imu_odom_: 1691062406.671486499 0.387861 -0.198719 9.90481 -0.0553937 -0.00532632 0.0394148 0 0 pose: 0.0 0 0 0 0.00112456 0.00085094 0.00180015 0.999997 uwb: 0.0 849.52 990.662 -imu_odom_: 1691062406.685474634 0.409408 -0.220267 9.90242 -0.0575243 -0.00532632 0.04048 0 0 pose: 0.0 0 0 0 0.00112456 0.00085094 0.00180015 0.999997 uwb: 0.0 849.52 990.662 -imu_odom_: 1691062406.699437690 0.385466 -0.234632 9.87369 -0.0543285 -0.00426106 0.04048 0 0 pose: 0.29053246 0 0 0 -0.0003847890.00103862 0.00179286 0.999998 uwb: 0.49975666 849.584 991.193 -imu_odom_: 1691062406.713414744 0.387861 -0.234632 9.87608 -0.0553937 -0.00319579 0.0383495 0 0 pose: 0.0 0 0 0 -0.0003847890.00103862 0.00179286 0.999998 uwb: 0.0 849.584 991.193 -imu_odom_: 1691062406.728469356 0.42138 -0.229843 9.88805 -0.0543285 -0.00426106 0.0383495 0 0 pose: 0.49937463 0 0 0 -0.00147886 -0.0004448520.00179571 0.999997 uwb: 0.0 849.584 991.193 -imu_odom_: 1691062406.742406457 0.409408 -0.227449 9.91199 -0.0553937 -0.00319579 0.0394148 0 0 pose: 0.0 0 0 0 -0.00147886 -0.0004448520.00179571 0.999997 uwb: 0.0 849.584 991.193 -imu_odom_: 1691062406.756404799 0.407014 -0.222661 9.92875 -0.056459 -0.00426106 0.04048 0 0 pose: 0.0 0 0 0 -0.00147886 -0.0004448520.00179571 0.999997 uwb: 0.49735366 849.998 991.48 -imu_odom_: 1691062406.770462342 0.407014 -0.232238 9.90721 -0.056459 -0.00426106 0.04048 0 0 pose: 0.6061447 0 0 0 -0.000978658-0.0007928610.00179124 0.999998 uwb: 0.0 849.998 991.48 -imu_odom_: 1691062406.784402651 0.42138 -0.215478 9.88087 -0.0553937 -0.00319579 0.0394148 0 0 pose: 0.0 0 0 0 -0.000978658-0.0007928610.00179124 0.999998 uwb: 0.0 849.998 991.48 -imu_odom_: 1691062406.798463401 0.390255 -0.201113 9.90242 -0.0553937 -0.00426106 0.04048 0 0 pose: 0.0 0 0 0 -0.000978658-0.0007928610.00179124 0.999998 uwb: 0.50061404 849.918 990.424 -imu_odom_: 1691062406.813396988 0.445322 -0.225055 9.86411 -0.0553937 -0.00532632 0.0394148 0 0 pose: 0.70934831 0 0 0 0.000341352 -0.0005377510.00179746 0.999998 uwb: 0.0 849.918 990.424 -imu_odom_: 1691062406.827453656 0.440533 -0.215478 9.89284 -0.0553937 -0.00426106 0.0383495 0 0 pose: 0.0 0 0 0 0.000341352 -0.0005377510.00179746 0.999998 uwb: 0.0 849.918 990.424 -imu_odom_: 1691062406.841578272 0.411803 -0.213084 9.91918 -0.0553937 -0.00426106 0.0394148 0 0 pose: 0.0 0 0 0 0.000341352 -0.0005377510.00179746 0.999998 uwb: 0.0 849.918 990.424 -imu_odom_: 1691062406.856536939 0.378284 -0.21069 9.85214 -0.0553937 -0.00426106 0.04048 0 0 pose: 0.42987139 0 0 0 6.30002e-07 -0.00194115 0.00179076 0.999997 uwb: 0.49960501 849.951 990.295 -imu_odom_: 1691062406.871512521 0.399832 -0.213084 9.87369 -0.0553937 -0.00319579 0.04048 0 0 pose: 0.0 0 0 0 6.30002e-07 -0.00194115 0.00179076 0.999997 uwb: 0.0 849.951 990.295 -imu_odom_: 1691062406.885396254 0.414197 -0.213084 9.89524 -0.0553937 -0.00532632 0.04048 0 0 pose: 0.38114360 0 0 0 -0.000303558-0.00105341 0.00180333 0.999998 uwb: 0.0 849.951 990.295 -imu_odom_: 1691062406.900382917 0.409408 -0.208296 9.87369 -0.0553937 -0.00639159 0.04048 0 0 pose: 0.5994373 0 0 0 6.63217e-05 -0.0005848740.00180578 0.999998 uwb: 0.0 849.951 990.295 -imu_odom_: 1691062406.914379510 0.373495 -0.220267 9.92157 -0.0543285 -0.00426106 0.0394148 0 0 pose: 0.0 0 0 0 6.63217e-05 -0.0005848740.00180578 0.999998 uwb: 0.0 849.951 990.295 -imu_odom_: 1691062406.929440538 0.390255 -0.21069 9.88805 -0.0553937 -0.00532632 0.0394148 0 0 pose: 0.36872616 0 0 0 -0.0002704940.00015937 0.00181564 0.999998 uwb: 0.0 849.951 990.295 -imu_odom_: 1691062406.944369167 0.42138 -0.25618 9.91918 -0.056459 -0.00426106 0.0394148 0 0 pose: 0.0 0 0 0 -0.0002704940.00015937 0.00181564 0.999998 uwb: 0.0 849.951 990.295 -imu_odom_: 1691062406.958454706 0.395043 -0.21069 9.91678 -0.0553937 -0.00532632 0.0383495 0 0 pose: 0.0 0 0 0 -0.0002704940.00015937 0.00181564 0.999998 uwb: 0.100083731 849.831 990.287 -imu_odom_: 1691062406.973370504 0.416591 -0.220267 9.85214 -0.0553937 -0.00426106 0.0394148 0 0 pose: 0.44075196 0 0 0 0.000963665 0.000485006 0.00180471 0.999998 uwb: 0.0 849.831 990.287 -imu_odom_: 1691062406.987376429 0.407014 -0.217872 9.90481 -0.0553937 -0.00532632 0.0383495 0 0 pose: 0.0 0 0 0 0.000963665 0.000485006 0.00180471 0.999998 uwb: 0.0 849.831 990.287 -imu_odom_: 1691062407.1429305 0.423774 -0.232238 9.9096 -0.0543285 -0.00426106 0.04048 0 0 pose: 0.0 0 0 0 0.000963665 0.000485006 0.00180471 0.999998 uwb: 0.50059946 849.568 990.666 -imu_odom_: 1691062407.15432613 0.390255 -0.217872 9.89763 -0.056459 -0.00319579 0.0394148 0 0 pose: 0.0 0 0 0 0.000963665 0.000485006 0.00180471 0.999998 uwb: 0.0 849.568 990.666 -imu_odom_: 1691062407.30440866 0.37589 -0.220267 9.85453 -0.0553937 -0.00426106 0.04048 0 0 pose: 0.42974599 0 0 0 -0.000713508-0.0004941290.00180113 0.999998 uwb: 0.0 849.568 990.666 -imu_odom_: 1691062407.44421428 0.402226 -0.222661 9.88326 -0.0553937 -0.00532632 0.0415453 0 0 pose: 0.0 0 0 0 -0.000713508-0.0004941290.00180113 0.999998 uwb: 0.0 849.568 990.666 -imu_odom_: 1691062407.58423863 0.395043 -0.227449 9.93115 -0.0532632 -0.00639159 0.0394148 0 0 pose: 0.0 0 0 0 -0.000713508-0.0004941290.00180113 0.999998 uwb: 0.49981234 848.948 991.024 -imu_odom_: 1691062407.73422784 0.411803 -0.201113 9.89763 -0.0553937 -0.00532632 0.0394148 0 0 pose: 0.42992123 0 0 0 -0.0004521030.000819597 0.00182034 0.999998 uwb: 0.0 848.948 991.024 -imu_odom_: 1691062407.87360769 0.399832 -0.208296 9.9096 -0.0553937 -0.00532632 0.0394148 0 0 pose: 0.0 0 0 0 -0.0004521030.000819597 0.00182034 0.999998 uwb: 0.0 848.948 991.024 -imu_odom_: 1691062407.101494435 0.399832 -0.227449 9.89284 -0.0543285 -0.00532632 0.04048 0 0 pose: 0.0 0 0 0 -0.0004521030.000819597 0.00182034 0.999998 uwb: 0.50077476 848.995 990.63 -imu_odom_: 1691062407.115550820 0.397437 -0.227449 9.8689 -0.0543285 -0.00426106 0.04048 0 0 pose: 0.42939341 0 0 0 0.000178155 0.000909794 0.00181455 0.999998 uwb: 0.0 848.995 990.63 -imu_odom_: 1691062407.130418218 0.385466 -0.198719 9.88326 -0.056459 -0.00426106 0.0394148 0 0 pose: 0.0 0 0 0 0.000178155 0.000909794 0.00181455 0.999998 uwb: 0.0 848.995 990.63 -imu_odom_: 1691062407.144481018 0.380678 -0.227449 9.90242 -0.0543285 -0.00532632 0.04048 0 0 pose: 0.0 0 0 0 0.000178155 0.000909794 0.00181455 0.999998 uwb: 0.0 848.995 990.63 -imu_odom_: 1691062407.159402659 0.37589 -0.215478 9.87369 -0.0553937 -0.00319579 0.0394148 0 0 pose: 0.49119775 0 0 0 0.000739394 0.000878484 0.00182992 0.999998 uwb: 0.49777976 848.884 990.491 -imu_odom_: 1691062407.173460794 0.380678 -0.215478 9.91678 -0.0543285 -0.00426106 0.0394148 0 0 pose: 0.0 0 0 0 0.000739394 0.000878484 0.00182992 0.999998 uwb: 0.0 848.884 990.491 -imu_odom_: 1691062407.187552757 0.402226 -0.222661 9.87848 -0.056459 -0.00532632 0.0394148 0 0 pose: 0.0 0 0 0 0.000739394 0.000878484 0.00182992 0.999998 uwb: 0.0 848.884 990.491 -imu_odom_: 1691062407.202425404 0.392649 -0.225055 9.90721 -0.0553937 -0.00426106 0.04048 0 0 pose: 0.42984834 0 0 0 -0.0002404190.000545218 0.00182954 0.999998 uwb: 0.50013609 848.685 990.611 -imu_odom_: 1691062407.216487038 0.409408 -0.241814 9.90242 -0.0553937 -0.00532632 0.0394148 0 0 pose: 0.0 0 0 0 -0.0002404190.000545218 0.00182954 0.999998 uwb: 0.0 848.685 990.611 -imu_odom_: 1691062407.230513094 0.390255 -0.217872 9.90002 -0.056459 -0.00532632 0.04048 0 0 pose: 0.37021660 0 0 0 -0.00121172 8.37096e-06 0.00183332 0.999998 uwb: 0.0 848.685 990.611 -imu_odom_: 1691062407.245489560 0.387861 -0.203507 9.88566 -0.0553937 -0.00426106 0.0394148 0 0 pose: 0.6008959 0 0 0 -0.0007046690.000322611 0.00183642 0.999998 uwb: 0.50020317 849.112 989.58 -imu_odom_: 1691062407.259619727 0.407014 -0.222661 9.88805 -0.0553937 -0.00532632 0.04048 0 0 pose: 0.0 0 0 0 -0.0007046690.000322611 0.00183642 0.999998 uwb: 0.0 849.112 989.58 -imu_odom_: 1691062407.273382444 0.409408 -0.21069 9.91678 -0.0553937 -0.00426106 0.04048 0 0 pose: 0.37123730 0 0 0 0.000229183 0.000148828 0.00184672 0.999998 uwb: 0.0 849.112 989.58 -imu_odom_: 1691062407.288316916 0.402226 -0.208296 9.88566 -0.056459 -0.00426106 0.04048 0 0 pose: 0.0 0 0 0 0.000229183 0.000148828 0.00184672 0.999998 uwb: 0.0 849.112 989.58 -imu_odom_: 1691062407.302315267 0.407014 -0.198719 9.87369 -0.056459 -0.00532632 0.0394148 0 0 pose: 0.0 0 0 0 0.000229183 0.000148828 0.00184672 0.999998 uwb: 0.50020901 849.288 989.46 -imu_odom_: 1691062407.316325867 0.378284 -0.220267 9.90721 -0.0553937 -0.00532632 0.0394148 0 0 pose: 0.42695540 0 0 0 0.00134726 -0.0007230960.00185888 0.999997 uwb: 0.0 849.288 989.46 -imu_odom_: 1691062407.331441731 0.411803 -0.215478 9.90721 -0.0543285 -0.00532632 0.0394148 0 0 pose: 0.0 0 0 0 0.00134726 -0.0007230960.00185888 0.999997 uwb: 0.0 849.288 989.46 -imu_odom_: 1691062407.345438041 0.407014 -0.220267 9.88087 -0.0553937 -0.00532632 0.0394148 0 0 pose: 0.0 0 0 0 0.00134726 -0.0007230960.00185888 0.999997 uwb: 0.50005444 849.274 989.327 -imu_odom_: 1691062407.360320311 0.416591 -0.205901 9.89284 -0.0553937 -0.00426106 0.0394148 0 0 pose: 0.43122774 0 0 0 -0.0002431980.000452744 0.00185516 0.999998 uwb: 0.0 849.274 989.327 -imu_odom_: 1691062407.375309025 0.409408 -0.225055 9.89045 -0.0553937 -0.00426106 0.0394148 0 0 pose: 0.0 0 0 0 -0.0002431980.000452744 0.00185516 0.999998 uwb: 0.0 849.274 989.327 -imu_odom_: 1691062407.389306794 0.395043 -0.196325 9.8689 -0.0553937 -0.00319579 0.0394148 0 0 pose: 0.0 0 0 0 -0.0002431980.000452744 0.00185516 0.999998 uwb: 0.0 849.274 989.327 -imu_odom_: 1691062407.403402257 0.392649 -0.232238 9.87848 -0.0553937 -0.00532632 0.0394148 0 0 pose: 0.43868753 0 0 0 0.000496921 0.000274422 0.00185247 0.999998 uwb: 0.49890835 849.246 989.722 -imu_odom_: 1691062407.417313412 0.366313 -0.205901 9.88326 -0.0553937 -0.00639159 0.0394148 0 0 pose: 0.0 0 0 0 0.000496921 0.000274422 0.00185247 0.999998 uwb: 0.0 849.246 989.722 -imu_odom_: 1691062407.432424901 0.399832 -0.203507 9.85932 -0.0575243 -0.00426106 0.0394148 0 0 pose: 0.0 0 0 0 0.000496921 0.000274422 0.00185247 0.999998 uwb: 0.0 849.246 989.722 -imu_odom_: 1691062407.446329640 0.414197 -0.237026 9.87369 -0.056459 -0.00319579 0.04048 0 0 pose: 0.0 0 0 0 0.000496921 0.000274422 0.00185247 0.999998 uwb: 0.49992904 849.274 989.328 -imu_odom_: 1691062407.461370847 0.40462 -0.19393 9.89284 -0.0543285 -0.00319579 0.0394148 0 0 pose: 0.49024996 0 0 0 2.81445e-05 -0.0001227620.00185344 0.999998 uwb: 0.0 849.274 989.328 -imu_odom_: 1691062407.476362186 0.399832 -0.215478 9.90002 -0.0532632 -0.00319579 0.0383495 0 0 pose: 0.0 0 0 0 2.81445e-05 -0.0001227620.00185344 0.999998 uwb: 0.0 849.274 989.328 -imu_odom_: 1691062407.490371619 0.395043 -0.213084 9.86411 -0.0553937 -0.00532632 0.0394148 0 0 pose: 0.38030396 0 0 0 -0.00063261 0.000392392 0.00184606 0.999998 uwb: 0.0 849.274 989.328 -imu_odom_: 1691062407.505449863 0.407014 -0.203507 9.92157 -0.0553937 -0.00426106 0.0394148 0 0 pose: 0.0 0 0 0 -0.00063261 0.000392392 0.00184606 0.999998 uwb: 0.49953535 848.927 989.833 -imu_odom_: 1691062407.520425454 0.40462 -0.225055 9.87369 -0.0553937 -0.00426106 0.04048 0 0 pose: 0.0 0 0 0 -0.00063261 0.000392392 0.00184606 0.999998 uwb: 0.0 848.927 989.833 -imu_odom_: 1691062407.534504877 0.414197 -0.21069 9.89045 -0.0553937 -0.00319579 0.0394148 0 0 pose: 0.6003710 0 0 0 -3.18713e-050.000408123 0.00184581 0.999998 uwb: 0.0 848.927 989.833 -imu_odom_: 1691062407.549458013 0.402226 -0.215478 9.86172 -0.0532632 -0.00532632 0.0383495 0 0 pose: 0.0 0 0 0 -3.18713e-050.000408123 0.00184581 0.999998 uwb: 0.50132593 848.719 990.084 -imu_odom_: 1691062407.564475015 0.380678 -0.222661 9.91199 -0.0553937 -0.00532632 0.0394148 0 0 pose: 0.0 0 0 0 -3.18713e-050.000408123 0.00184581 0.999998 uwb: 0.0 848.719 990.084 -imu_odom_: 1691062407.578365465 0.402226 -0.222661 9.90481 -0.0553937 -0.00426106 0.04048 0 0 pose: 0.44148422 0 0 0 -0.000211341-0.0002558890.00185183 0.999998 uwb: 0.0 848.719 990.084 -imu_odom_: 1691062407.593355054 0.40462 -0.229843 9.90242 -0.056459 -0.00426106 0.04048 0 0 pose: 0.0 0 0 0 -0.000211341-0.0002558890.00185183 0.999998 uwb: 0.0 848.719 990.084 -imu_odom_: 1691062407.608349892 0.385466 -0.232238 9.85453 -0.0553937 -0.00639159 0.0394148 0 0 pose: 0.0 0 0 0 -0.000211341-0.0002558890.00185183 0.999998 uwb: 0.50094682 847.842 990.694 -imu_odom_: 1691062407.622390530 0.373495 -0.241814 9.89763 -0.0553937 -0.00319579 0.04048 0 0 pose: 0.43854755 0 0 0 -0.0004917090.00143281 0.00184329 0.999997 uwb: 0.0 847.842 990.694 -imu_odom_: 1691062407.637341333 0.383072 -0.215478 9.92397 -0.0553937 -0.00426106 0.0394148 0 0 pose: 0.0 0 0 0 -0.0004917090.00143281 0.00184329 0.999997 uwb: 0.0 847.842 990.694 -imu_odom_: 1691062407.651341142 0.418985 -0.213084 9.91678 -0.0543285 -0.00532632 0.04048 0 0 pose: 0.0 0 0 0 -0.0004917090.00143281 0.00184329 0.999997 uwb: 0.49902500 847.818 990.692 -imu_odom_: 1691062407.665261921 0.390255 -0.208296 9.90721 -0.0543285 -0.00426106 0.04048 0 0 pose: 0.80972069 0 0 0 -5.6394e-05 -0.0001700510.00186564 0.999998 uwb: 0.0 847.818 990.692 -imu_odom_: 1691062407.680261425 0.392649 -0.225055 9.91199 -0.0553937 -0.00319579 0.0394148 0 0 pose: 0.0 0 0 0 -5.6394e-05 -0.0001700510.00186564 0.999998 uwb: 0.0 847.818 990.692 -imu_odom_: 1691062407.694314894 0.397437 -0.225055 9.88805 -0.056459 -0.00426106 0.04048 0 0 pose: 0.0 0 0 0 -5.6394e-05 -0.0001700510.00186564 0.999998 uwb: 0.0 847.818 990.692 -imu_odom_: 1691062407.708345325 0.402226 -0.220267 9.92875 -0.0553937 -0.00426106 0.0394148 0 0 pose: 0.42973752 0 0 0 0.000487665 -0.0001557160.00187594 0.999998 uwb: 0.49846217 847.849 990.961 -imu_odom_: 1691062407.723336664 0.399832 -0.208296 9.89763 -0.0553937 -0.00426106 0.04048 0 0 pose: 0.5950051 0 0 0 -8.83478e-05-6.57095e-060.00187547 0.999998 uwb: 0.0 847.849 990.961 -imu_odom_: 1691062407.738328877 0.397437 -0.208296 9.86172 -0.0543285 -0.00426106 0.0394148 0 0 pose: 0.0 0 0 0 -8.83478e-05-6.57095e-060.00187547 0.999998 uwb: 0.0 847.849 990.961 -imu_odom_: 1691062407.752334228 0.428562 -0.222661 9.90481 -0.056459 -0.00426106 0.04048 0 0 pose: 0.38063932 0 0 0 -0.0007430650.000750997 0.00187999 0.999998 uwb: 0.49974531 847.778 990.956 -imu_odom_: 1691062407.767246828 0.40462 -0.215478 9.85932 -0.0553937 -0.00426106 0.0383495 0 0 pose: 0.0 0 0 0 -0.0007430650.000750997 0.00187999 0.999998 uwb: 0.0 847.778 990.956 -imu_odom_: 1691062407.781369703 0.42138 -0.19393 9.91199 -0.056459 -0.00319579 0.0394148 0 0 pose: 0.0 0 0 0 -0.0007430650.000750997 0.00187999 0.999998 uwb: 0.0 847.778 990.956 -imu_odom_: 1691062407.795250238 0.397437 -0.201113 9.92397 -0.0553937 -0.00319579 0.04048 0 0 pose: 0.6001668 0 0 0 -0.0006497120.00015766 0.00188232 0.999998 uwb: 0.50001653 847.651 991.082 -imu_odom_: 1691062407.810257908 0.390255 -0.23942 9.91199 -0.0553937 -0.00426106 0.0394148 0 0 pose: 0.0 0 0 0 -0.0006497120.00015766 0.00188232 0.999998 uwb: 0.0 847.651 991.082 -imu_odom_: 1691062407.824384283 0.392649 -0.215478 9.89284 -0.0543285 -0.00426106 0.0394148 0 0 pose: 0.0 0 0 0 -0.0006497120.00015766 0.00188232 0.999998 uwb: 0.0 847.651 991.082 -imu_odom_: 1691062407.838398383 0.42138 -0.21069 9.88805 -0.0553937 -0.00426106 0.0394148 0 0 pose: 0.42994458 0 0 0 0.000832779 -0.0002189910.00187816 0.999998 uwb: 0.0 847.651 991.082 -imu_odom_: 1691062407.853310982 0.387861 -0.222661 9.87848 -0.056459 -0.00426106 0.0394148 0 0 pose: 0.0 0 0 0 0.000832779 -0.0002189910.00187816 0.999998 uwb: 0.50142801 847.819 991.492 -imu_odom_: 1691062407.867266173 0.411803 -0.21069 9.87369 -0.0553937 -0.00426106 0.0394148 0 0 pose: 0.0 0 0 0 0.000832779 -0.0002189910.00187816 0.999998 uwb: 0.0 847.819 991.492 -imu_odom_: 1691062407.881337140 0.402226 -0.208296 9.89524 -0.056459 -0.00319579 0.04048 0 0 pose: 0.43000873 0 0 0 0.000393929 -0.0001092860.00187834 0.999998 uwb: 0.0 847.819 991.492 -imu_odom_: 1691062407.896259655 0.426168 -0.203507 9.92157 -0.0553937 -0.00532632 0.0394148 0 0 pose: 0.0 0 0 0 0.000393929 -0.0001092860.00187834 0.999998 uwb: 0.50050646 847.754 990.955 -imu_odom_: 1691062407.910362117 0.387861 -0.215478 9.92636 -0.056459 -0.00532632 0.0394148 0 0 pose: 0.0 0 0 0 0.000393929 -0.0001092860.00187834 0.999998 uwb: 0.0 847.754 990.955 -imu_odom_: 1691062407.925347040 0.409408 -0.229843 9.89045 -0.0553937 -0.00639159 0.0383495 0 0 pose: 0.42962088 0 0 0 0.000325992 -0.0001172390.00187823 0.999998 uwb: 0.0 847.754 990.955 -imu_odom_: 1691062407.939314187 0.397437 -0.220267 9.86411 -0.0543285 -0.00426106 0.04048 0 0 pose: 0.0 0 0 0 0.000325992 -0.0001172390.00187823 0.999998 uwb: 0.0 847.754 990.955 -imu_odom_: 1691062407.953262962 0.407014 -0.234632 9.88566 -0.0553937 -0.00639159 0.0394148 0 0 pose: 0.0 0 0 0 0.000325992 -0.0001172390.00187823 0.999998 uwb: 0.49909207 847.484 991.073 -imu_odom_: 1691062407.968366286 0.385466 -0.203507 9.87129 -0.0553937 -0.00426106 0.0394148 0 0 pose: 0.43028869 0 0 0 -0.00037905 9.11783e-05 0.00187558 0.999998 uwb: 0.0 847.484 991.073 -imu_odom_: 1691062407.983340418 0.416591 -0.222661 9.92875 -0.0553937 -0.00426106 0.04048 0 0 pose: 0.0 0 0 0 -0.00037905 9.11783e-05 0.00187558 0.999998 uwb: 0.0 847.484 991.073 -imu_odom_: 1691062407.997255948 0.418985 -0.208296 9.88087 -0.0553937 -0.00532632 0.0394148 0 0 pose: 0.0 0 0 0 -0.00037905 9.11783e-05 0.00187558 0.999998 uwb: 0.49886461 847.897 990.564 -imu_odom_: 1691062408.12244668 0.399832 -0.234632 9.89524 -0.0553937 -0.00426106 0.04048 0 0 pose: 0.42967628 0 0 0 -0.000720653-1.03628e-050.00187451 0.999998 uwb: 0.0 847.897 990.564 -imu_odom_: 1691062408.27431114 0.395043 -0.203507 9.9096 -0.056459 -0.00426106 0.04048 0 0 pose: 0.0 0 0 0 -0.000720653-1.03628e-050.00187451 0.999998 uwb: 0.0 847.897 990.564 -imu_odom_: 1691062408.42303188 0.409408 -0.220267 9.92397 -0.0553937 -0.00426106 0.04048 0 0 pose: 0.0 0 0 0 -0.000720653-1.03628e-050.00187451 0.999998 uwb: 0.0 847.897 990.564 -imu_odom_: 1691062408.56234474 0.399832 -0.189142 9.89284 -0.0543285 -0.00532632 0.04048 0 0 pose: 0.43991819 0 0 0 0.000357955 -0.0004988840.0018812 0.999998 uwb: 0.50114248 848.35 990.592 -imu_odom_: 1691062408.71271900 0.426168 -0.229843 9.89045 -0.056459 -0.00532632 0.04048 0 0 pose: 0.0 0 0 0 0.000357955 -0.0004988840.0018812 0.999998 uwb: 0.0 848.35 990.592 -imu_odom_: 1691062408.86254499 0.402226 -0.227449 9.91678 -0.0575243 -0.00532632 0.04048 0 0 pose: 0.0 0 0 0 0.000357955 -0.0004988840.0018812 0.999998 uwb: 0.0 848.35 990.592 -imu_odom_: 1691062408.100252860 0.42138 -0.191536 9.87608 -0.0543285 -0.00532632 0.0394148 0 0 pose: 0.44978128 0 0 0 0.000284091 -0.0001479330.00190184 0.999998 uwb: 0.49924696 848.318 991.121 -imu_odom_: 1691062408.115283869 0.407014 -0.23942 9.89524 -0.0553937 -0.00426106 0.04048 0 0 pose: 0.0 0 0 0 0.000284091 -0.0001479330.00190184 0.999998 uwb: 0.0 848.318 991.121 -imu_odom_: 1691062408.129218364 0.423774 -0.215478 9.89524 -0.0543285 -0.00426106 0.04048 0 0 pose: 0.0 0 0 0 0.000284091 -0.0001479330.00190184 0.999998 uwb: 0.0 848.318 991.121 -imu_odom_: 1691062408.144344443 0.411803 -0.237026 9.94312 -0.0553937 -0.00532632 0.0394148 0 0 pose: 0.44066213 0 0 0 -0.0004370390.000174625 0.00191979 0.999998 uwb: 0.0 848.318 991.121 -imu_odom_: 1691062408.159348623 0.40462 -0.198719 9.88566 -0.0543285 -0.00426106 0.0394148 0 0 pose: 0.0 0 0 0 -0.0004370390.000174625 0.00191979 0.999998 uwb: 0.49949484 848.255 990.984 -imu_odom_: 1691062408.174455456 0.423774 -0.191536 9.91678 -0.056459 -0.00426106 0.0383495 0 0 pose: 0.0 0 0 0 -0.0004370390.000174625 0.00191979 0.999998 uwb: 0.0 848.255 990.984 -imu_odom_: 1691062408.188266592 0.399832 -0.213084 9.84975 -0.056459 -0.00532632 0.0383495 0 0 pose: 0.42966197 0 0 0 -0.000659841-0.0007072660.0019313 0.999998 uwb: 0.0 848.255 990.984 -imu_odom_: 1691062408.203339888 0.411803 -0.208296 9.90242 -0.0553937 -0.00426106 0.04048 0 0 pose: 0.0 0 0 0 -0.000659841-0.0007072660.0019313 0.999998 uwb: 0.50012767 848.43 990.862 -imu_odom_: 1691062408.218335611 0.387861 -0.213084 9.88326 -0.056459 -0.00426106 0.04048 0 0 pose: 0.0 0 0 0 -0.000659841-0.0007072660.0019313 0.999998 uwb: 0.0 848.43 990.862 -imu_odom_: 1691062408.232210030 0.411803 -0.213084 9.88805 -0.0543285 -0.00426106 0.0394148 0 0 pose: 0.58924579 0 0 0 0.000346888 -0.00066466 0.00191459 0.999998 uwb: 0.0 848.43 990.862 -imu_odom_: 1691062408.247255912 0.414197 -0.201113 9.85693 -0.0543285 -0.00639159 0.04048 0 0 pose: 0.0 0 0 0 0.000346888 -0.00066466 0.00191459 0.999998 uwb: 0.50067592 848.183 990.98 -imu_odom_: 1691062408.261395129 0.414197 -0.21069 9.89045 -0.0553937 -0.00532632 0.0394148 0 0 pose: 0.0 0 0 0 0.000346888 -0.00066466 0.00191459 0.999998 uwb: 0.0 848.183 990.98 -imu_odom_: 1691062408.276198086 0.402226 -0.191536 9.88805 -0.0553937 -0.00426106 0.04048 0 0 pose: 0.30022942 0 0 0 9.4087e-06 -0.0006464870.00192502 0.999998 uwb: 0.0 848.183 990.98 -imu_odom_: 1691062408.291196142 0.409408 -0.23942 9.85693 -0.056459 -0.00532632 0.04048 0 0 pose: 0.42974946 0 0 0 2.88088e-05 -0.0004788010.00193201 0.999998 uwb: 0.0 848.183 990.98 -imu_odom_: 1691062408.306192740 0.397437 -0.205901 9.91918 -0.0553937 -0.00639159 0.0394148 0 0 pose: 0.0 0 0 0 2.88088e-05 -0.0004788010.00193201 0.999998 uwb: 0.50139042 847.96 990.7 -imu_odom_: 1691062408.320313875 0.383072 -0.205901 9.91678 -0.0553937 -0.00319579 0.04048 0 0 pose: 0.0 0 0 0 2.88088e-05 -0.0004788010.00193201 0.999998 uwb: 0.0 847.96 990.7 -imu_odom_: 1691062408.335313389 0.395043 -0.205901 9.86172 -0.056459 -0.00532632 0.0394148 0 0 pose: 0.45125982 0 0 0 0.000462345 0.000973844 0.00194381 0.999998 uwb: 0.0 847.96 990.7 -imu_odom_: 1691062408.350342941 0.418985 -0.220267 9.87129 -0.0543285 -0.00426106 0.04048 0 0 pose: 0.0 0 0 0 0.000462345 0.000973844 0.00194381 0.999998 uwb: 0.50057969 848.175 990.714 -imu_odom_: 1691062408.364306014 0.399832 -0.237026 9.91199 -0.0543285 -0.00319579 0.04048 0 0 pose: 0.0 0 0 0 0.000462345 0.000973844 0.00194381 0.999998 uwb: 0.0 848.175 990.714 -imu_odom_: 1691062408.379376977 0.416591 -0.198719 9.93115 -0.0543285 -0.00426106 0.04048 0 0 pose: 0.43983099 0 0 0 -0.000721934-0.00047258 0.00195666 0.999998 uwb: 0.0 848.175 990.714 -imu_odom_: 1691062408.393308555 0.387861 -0.213084 9.9096 -0.0543285 -0.00532632 0.0394148 0 0 pose: 0.0 0 0 0 -0.000721934-0.00047258 0.00195666 0.999998 uwb: 0.0 848.175 990.714 -imu_odom_: 1691062408.408194626 0.426168 -0.241814 9.92397 -0.0543285 -0.00426106 0.04048 0 0 pose: 0.0 0 0 0 -0.000721934-0.00047258 0.00195666 0.999998 uwb: 0.49794922 848.104 990.709 -imu_odom_: 1691062408.423323914 0.385466 -0.21069 9.89524 -0.0543285 -0.00532632 0.0394148 0 0 pose: 0.42995069 0 0 0 -0.0002737120.000458477 0.00196829 0.999998 uwb: 0.0 848.104 990.709 -imu_odom_: 1691062408.438302139 0.409408 -0.215478 9.8665 -0.0543285 -0.00426106 0.04048 0 0 pose: 0.0 0 0 0 -0.0002737120.000458477 0.00196829 0.999998 uwb: 0.0 848.104 990.709 -imu_odom_: 1691062408.452176267 0.399832 -0.225055 9.88805 -0.056459 -0.00426106 0.04048 0 0 pose: 0.0 0 0 0 -0.0002737120.000458477 0.00196829 0.999998 uwb: 0.49977771 848.033 990.305 -imu_odom_: 1691062408.467296222 0.390255 -0.19393 9.88566 -0.0543285 -0.00426106 0.0394148 0 0 pose: 0.45009915 0 0 0 -0.000400283-6.45934e-050.00198092 0.999998 uwb: 0.0 848.033 990.305 -imu_odom_: 1691062408.482293403 0.390255 -0.213084 9.90481 -0.0543285 -0.00319579 0.0394148 0 0 pose: 0.0 0 0 0 -0.000400283-6.45934e-050.00198092 0.999998 uwb: 0.0 848.033 990.305 -imu_odom_: 1691062408.496224398 0.423774 -0.208296 9.88566 -0.0553937 -0.00532632 0.0394148 0 0 pose: 0.0 0 0 0 -0.000400283-6.45934e-050.00198092 0.999998 uwb: 0.49995270 848.214 989.386 -imu_odom_: 1691062408.511290986 0.411803 -0.189142 9.90002 -0.0543285 -0.00426106 0.0394148 0 0 pose: 0.44035592 0 0 0 -0.0004511660.00015853 0.00198154 0.999998 uwb: 0.0 848.214 989.386 -imu_odom_: 1691062408.526294875 0.411803 -0.220267 9.92636 -0.0553937 -0.00532632 0.0394148 0 0 pose: 0.0 0 0 0 -0.0004511660.00015853 0.00198154 0.999998 uwb: 0.0 848.214 989.386 -imu_odom_: 1691062408.540206039 0.407014 -0.237026 9.87608 -0.056459 -0.00532632 0.04048 0 0 pose: 0.0 0 0 0 -0.0004511660.00015853 0.00198154 0.999998 uwb: 0.0 848.214 989.386 -imu_odom_: 1691062408.555157434 0.414197 -0.225055 9.87129 -0.0543285 -0.00319579 0.04048 0 0 pose: 0.37935933 0 0 0 -1.71129e-05-0.0004492120.00197805 0.999998 uwb: 0.50000810 848.262 989.389 -imu_odom_: 1691062408.570146450 0.402226 -0.201113 9.9096 -0.056459 -0.00426106 0.0394148 0 0 pose: 0.0 0 0 0 -1.71129e-05-0.0004492120.00197805 0.999998 uwb: 0.0 848.262 989.389 -imu_odom_: 1691062408.584201969 0.395043 -0.217872 9.91918 -0.0553937 -0.00426106 0.04048 0 0 pose: 0.5918850 0 0 0 -0.000598935-0.0003256810.00198097 0.999998 uwb: 0.0 848.262 989.389 -imu_odom_: 1691062408.599169404 0.399832 -0.229843 9.88087 -0.0543285 -0.00532632 0.0394148 0 0 pose: 0.0 0 0 0 -0.000598935-0.0003256810.00198097 0.999998 uwb: 0.49993519 848.733 989.157 -imu_odom_: 1691062408.613214133 0.378284 -0.201113 9.88805 -0.0553937 -0.00532632 0.04048 0 0 pose: 0.0 0 0 0 -0.000598935-0.0003256810.00198097 0.999998 uwb: 0.0 848.733 989.157 -imu_odom_: 1691062408.628153864 0.402226 -0.241814 9.89524 -0.0553937 -0.00532632 0.0394148 0 0 pose: 0.43935272 0 0 0 0.000332678 0.000381464 0.00199099 0.999998 uwb: 0.0 848.733 989.157 -imu_odom_: 1691062408.643259822 0.397437 -0.220267 9.90002 -0.0543285 -0.00532632 0.0394148 0 0 pose: 0.0 0 0 0 0.000332678 0.000381464 0.00199099 0.999998 uwb: 0.0 848.733 989.157 -imu_odom_: 1691062408.657166611 0.373495 -0.205901 9.93115 -0.0543285 -0.00426106 0.0394148 0 0 pose: 0.0 0 0 0 0.000332678 0.000381464 0.00199099 0.999998 uwb: 0.50061177 848.9 989.169 -imu_odom_: 1691062408.672139879 0.395043 -0.203507 9.91439 -0.0543285 -0.00532632 0.0383495 0 0 pose: 0.43072641 0 0 0 -0.00107771 0.000137046 0.00199845 0.999997 uwb: 0.0 848.9 989.169 -imu_odom_: 1691062408.687139685 0.426168 -0.222661 9.8689 -0.0553937 -0.00426106 0.0394148 0 0 pose: 0.0 0 0 0 -0.00107771 0.000137046 0.00199845 0.999997 uwb: 0.0 848.9 989.169 -imu_odom_: 1691062408.702133074 0.407014 -0.225055 9.92875 -0.0543285 -0.00532632 0.04048 0 0 pose: 0.0 0 0 0 -0.00107771 0.000137046 0.00199845 0.999997 uwb: 0.50050387 849.067 989.181 -imu_odom_: 1691062408.717196746 0.414197 -0.205901 9.89045 -0.0532632 -0.00426106 0.0394148 0 0 pose: 0.43925648 0 0 0 0.00048425 0.000785263 0.00199286 0.999998 uwb: 0.0 849.067 989.181 -imu_odom_: 1691062408.731205605 0.418985 -0.19393 9.88087 -0.056459 -0.00532632 0.04048 0 0 pose: 0.0 0 0 0 0.00048425 0.000785263 0.00199286 0.999998 uwb: 0.0 849.067 989.181 -imu_odom_: 1691062408.746201037 0.409408 -0.217872 9.89045 -0.0553937 -0.00426106 0.04048 0 0 pose: 0.0 0 0 0 0.00048425 0.000785263 0.00199286 0.999998 uwb: 0.49811545 849.062 988.916 -imu_odom_: 1691062408.760151570 0.42138 -0.205901 9.89284 -0.0575243 -0.00426106 0.0394148 0 0 pose: 0.45044328 0 0 0 -0.00013769 -6.95455e-050.00199448 0.999998 uwb: 0.0 849.062 988.916 -imu_odom_: 1691062408.775239155 0.414197 -0.225055 9.90002 -0.056459 -0.00426106 0.0394148 0 0 pose: 0.0 0 0 0 -0.00013769 -6.95455e-050.00199448 0.999998 uwb: 0.0 849.062 988.916 -imu_odom_: 1691062408.790250043 0.414197 -0.21069 9.88326 -0.0543285 -0.00532632 0.04048 0 0 pose: 0.0 0 0 0 -0.00013769 -6.95455e-050.00199448 0.999998 uwb: 0.0 849.062 988.916 -imu_odom_: 1691062408.812188516 0.40462 -0.217872 9.91439 -0.0532632 -0.00426106 0.0383495 0 0 pose: 0.44013428 0 0 0 0.00041827 -0.00116151 0.00200636 0.999997 uwb: 0.50263274 848.816 989.691 -imu_odom_: 1691062408.829120930 0.0909797 -0.270545 9.8282 -0.0639159 0.0266316 0.0138484 0 0 pose: 0.0 0 0 0 0.00041827 -0.00116151 0.00200636 0.999997 uwb: 0.0 848.816 989.691 -imu_odom_: 1691062408.845170299 -0.0430956 0.0215478 10.0437 -0.052198 0.00639159 -0.0607201 0.02 0.05 pose: 0.43972308 0 0 0 0.00045809 -0.0002698340.00200829 0.999998 uwb: 0.49653483 848.807 989.823 -imu_odom_: 1691062408.862170954 -0.64404 0.184354 9.43076 -0.0511327 0.0245011 -0.0319579 0.04 0.11 pose: 0.0 0 0 0 0.00045809 -0.0002698340.00200829 0.999998 uwb: 0.0 848.807 989.823 -imu_odom_: 1691062408.878282731 -0.739808 -0.675165 10.094 -0.0649811 0.0127832 0.106526 0.03 0.11 pose: 0.0 0 0 0 0.00045809 -0.0002698340.00200829 0.999998 uwb: 0.0 848.807 989.823 -imu_odom_: 1691062408.895170235 -0.342371 -0.976834 9.83777 -0.0479369 -0.0671117 0.153398 0.03 0.11 pose: 0.74006915 0 0 0 -0.0001087880.00620026 0.000642013 0.999981 uwb: 0.49887076 848.631 989.944 -imu_odom_: 1691062408.911129491 0.213084 0.0287304 9.89284 -0.0276969 -0.0458064 0.152333 0.03 0.11 pose: 0.0 0 0 0 -0.0001087880.00620026 0.000642013 0.999981 uwb: 0.0 848.631 989.944 -imu_odom_: 1691062408.928170099 0.385466 0.222661 9.76116 -0.052198 -0.0170442 0.18003 0.05 0.11 pose: 0.0 0 0 0 -0.0001087880.00620026 0.000642013 0.999981 uwb: 0.0 848.631 989.944 -imu_odom_: 1691062408.944113316 0.184354 -0.237026 10.0556 -0.0607201 0.0149137 0.149137 0.05 0.11 pose: 0.32988199 0 0 0 -0.0008164670.00749711 0.00232018 0.999969 uwb: 0.0 848.631 989.944 -imu_odom_: 1691062408.961166463 -0.11971 -0.287304 9.98861 -0.0553937 -0.00745685 0.111853 0.09 0.11 pose: 0.40940852 0 0 0 0.000799371 0.00832667 0.00484823 0.999953 uwb: 0.50107837 848.885 990.093 -imu_odom_: 1691062408.977217874 -0.244209 -0.301669 9.59835 -0.0596548 -0.00745685 0.126766 0.09 0.11 pose: 0.0 0 0 0 0.000799371 0.00832667 0.00484823 0.999953 uwb: 0.0 848.885 990.093 -imu_odom_: 1691062408.994266647 -0.0263362 -0.181959 9.95988 -0.0639159 -0.0191748 0.118244 0.09 0.11 pose: 0.0 0 0 0 0.000799371 0.00832667 0.00484823 0.999953 uwb: 0.0 848.885 990.093 -imu_odom_: 1691062409.10154167 0.131681 -0.124498 9.78271 -0.0639159 -0.00852212 0.122505 0.08 0.05 pose: 0.7076607 0 0 0 0.00062707 0.00900129 0.00510189 0.999946 uwb: 0.50116294 848.787 990.485 -imu_odom_: 1691062409.27200035 0.35913 -0.28491 10.1418 -0.0639159 -0.00532632 0.118244 0.12 0.08 pose: 0.0 0 0 0 0.00062707 0.00900129 0.00510189 0.999946 uwb: 0.0 848.787 990.485 -imu_odom_: 1691062409.43199838 -0.0502782 -0.234632 9.51935 -0.0617853 -0.00958738 0.0830906 0.12 0.08 pose: 0.50992632 0.00999995 3.22119e-05 0 0.000945413 0.013217 0.00716805 0.999887 uwb: 0.0 848.787 990.485 -imu_odom_: 1691062409.60086186 -0.222661 -0.155623 9.8665 -0.0660464 -0.0138484 0.0894822 0.13 0.08 pose: 0.7142520 0.00999995 3.22119e-05 0 0.00136536 0.0127285 0.0077875 0.999888 uwb: 0.49916557 848.787 991.279 -imu_odom_: 1691062409.76209055 0.423774 -0.265756 10.1347 -0.0820254 -0.00852212 0.107592 0.13 0.08 pose: 0.0 0.00999995 3.22119e-05 0 0.00136536 0.0127285 0.0077875 0.999888 uwb: 0.0 848.787 991.279 -imu_odom_: 1691062409.93085487 0.380678 -0.122104 10.1275 -0.0798948 -0.02024 0.0788296 0.13 0.08 pose: 0.33829562 0.00999995 3.22119e-05 0 0.000636734 0.0141049 0.0087162 0.999862 uwb: 0.0 848.787 991.279 -imu_odom_: 1691062409.109086457 0.837971 0.0047884 9.63666 -0.092678 -0.0671117 0.0980043 0.11 0.05 pose: 0.41959238 0.0158599 7.59036e-05 0 0.000546147 0.0116114 0.00983104 0.999884 uwb: 0.49943975 848.844 991.547 -imu_odom_: 1691062409.126130283 0.933739 -0.141258 9.85932 -0.1012 -0.0330232 0.125701 0.11 0.05 pose: 0.7017120 0.0199998 7.4575e-05 0 0.000637725 0.0107217 0.0100404 0.999892 uwb: 0.0 848.844 991.547 -imu_odom_: 1691062409.142129794 0.857124 -0.632069 9.91439 -0.0894822 -0.00106526 0.12144 0.11 0.05 pose: 0.0 0.0199998 7.4575e-05 0 0.000637725 0.0107217 0.0100404 0.999892 uwb: 0.0 848.844 991.547 -imu_odom_: 1691062409.159078842 1.16358 -0.452504 10.1323 -0.0713727 -0.0319579 0.0894822 0.11 0 pose: 0.42027187 0.0199998 7.4575e-05 0 -0.0006555480.00634185 0.0116994 0.999911 uwb: 0.50039337 849.131 991.563 -imu_odom_: 1691062409.175124430 0.962469 0.100556 9.84975 -0.0639159 -0.0340885 0.0671117 0.08 -0.02 pose: 0.0 0.0199998 7.4575e-05 0 -0.0006555480.00634185 0.0116994 0.999911 uwb: 0.0 849.131 991.563 -imu_odom_: 1691062409.192118971 1.1564 -0.0454898 10.149 -0.0639159 0.0394148 0.0596548 0.08 -0.02 pose: 0.0 0.0199998 7.4575e-05 0 -0.0006555480.00634185 0.0116994 0.999911 uwb: 0.0 849.131 991.563 -imu_odom_: 1691062409.208068906 0.476446 -0.344765 9.83538 -0.056459 0.036219 0.0319579 0.06 0.02 pose: 0.23952169 0.0199998 7.4575e-05 0 -0.000882 0.00373478 0.0122172 0.999918 uwb: 0.50006383 849.114 991.43 -imu_odom_: 1691062409.225062281 0.481235 -0.445322 10.0365 -0.0500674 -0.00106526 0.00745685 0.06 0.02 pose: 0.0 0.0199998 7.4575e-05 0 -0.000882 0.00373478 0.0122172 0.999918 uwb: 0.0 849.114 991.43 -imu_odom_: 1691062409.241060917 0.890643 -0.349553 9.68455 -0.0628506 -0.00106526 0.0138484 0.06 0.02 pose: 0.34065489 0.0199998 7.4575e-05 0 -0.0008057940.00116573 0.0124822 0.999921 uwb: 0.0 849.114 991.43 -imu_odom_: 1691062409.268142240 0.737414 -0.378284 9.93354 -0.0511327 -0.0287621 0.0490022 0.07 0.02 pose: 0.40913465 0.0299997 0.00012129 0 -0.00320648 -0.0014515 0.0119651 0.999922 uwb: 0.49941642 849.392 990.787 -imu_odom_: 1691062409.293055902 0.196325 -0.246603 9.68694 -0.0479369 0.0511327 -0.0308927 0.05 0 pose: 0.7018578 0.0299997 0.00012129 0 -0.00340129 -0.0022077 0.0119966 0.99992 uwb: 0.0 849.392 990.787 -imu_odom_: 1691062409.310065608 -1.29287 0.296881 9.98143 -0.0383495 0.0798948 -0.0543285 0.08 0.05 pose: 0.0 0.0299997 0.00012129 0 -0.00340129 -0.0022077 0.0119966 0.99992 uwb: 0.50004633 849.432 990.526 -imu_odom_: 1691062409.335110210 -0.612916 -0.770933 10.0149 -0.0660464 -0.052198 0.0788296 0.08 0.05 pose: 0.0 0.0299997 0.00012129 0 -0.00340129 -0.0022077 0.0119966 0.99992 uwb: 0.0 849.432 990.526 -imu_odom_: 1691062409.352102127 0.229843 -0.802058 9.84256 -0.0351537 -0.076699 0.0575243 0.1 0 pose: 0.52051852 0.0299997 0.00012129 0 -0.00324234 -0.00024472 0.0108837 0.999935 uwb: 0.50108744 849.338 990.124 -imu_odom_: 1691062409.377201847 0.711078 0.0622492 9.36372 -0.0426106 0.00213053 0.0735032 0.1 0 pose: 0.0 0.0299997 0.00012129 0 -0.00324234 -0.00024472 0.0108837 0.999935 uwb: 0.0 849.338 990.124 -imu_odom_: 1691062409.401203009 -0.0861913 -0.208296 10.0293 -0.0607201 0.0298274 0.0500674 0.12 0 pose: 0.77070500 0.0399997 0.000140628 0 -0.00359622 0.000890675 0.0114886 0.999927 uwb: 0.49867568 849.249 990.382 -imu_odom_: 1691062409.425189590 0.0574608 -0.349553 9.39245 -0.0532632 -0.0415453 0.0490022 0.12 0 pose: 0.6903968 0.0399997 0.000140628 0 -0.00351178 0.00169089 0.0115269 0.999926 uwb: 0.0 849.249 990.382 -imu_odom_: 1691062409.450047260 0.258574 -0.507571 9.90481 -0.0543285 0.00213053 0.0788296 0.11 0 pose: 0.41083775 0.0399997 0.000140628 0 -0.0039215 0.00553469 0.0117413 0.999908 uwb: 0.50004050 849.436 989.735 -imu_odom_: 1691062409.475034995 0.0742203 -0.0981623 9.91918 -0.052198 -0.0276969 0.0639159 0.14 0 pose: 0.0 0.0399997 0.000140628 0 -0.0039215 0.00553469 0.0117413 0.999908 uwb: 0.0 849.436 989.735 -imu_odom_: 1691062409.489026074 0.282516 -0.414197 9.51456 -0.0500674 -0.00532632 0.072438 0.14 0 pose: 0.0 0.0399997 0.000140628 0 -0.0039215 0.00553469 0.0117413 0.999908 uwb: 0.0 849.436 989.735 -imu_odom_: 1691062409.505228849 0.476446 -0.407014 9.74919 -0.0511327 -0.0170442 0.0617853 0.14 0 pose: 0.31914451 0.0499996 0.000179442 0 -0.00582917 0.00637566 0.0123088 0.999887 uwb: 0.0 849.436 989.735 -imu_odom_: 1691062409.529199099 0.481235 -0.248997 10.0054 -0.0458064 0.0170442 0.0585895 0.19 0.05 pose: 0.0 0.0499996 0.000179442 0 -0.00582917 0.00637566 0.0123088 0.999887 uwb: 0.0 849.436 989.735 -imu_odom_: 1691062409.554056769 0.184354 -0.184354 9.71567 -0.0458064 -0.00106526 0.0553937 0.19 0.05 pose: 0.55059689 0.0499996 0.000179442 0 -0.00599331 0.00495178 0.0129925 0.999885 uwb: 0.100085090 849.165 989.848 -imu_odom_: 1691062409.579369667 0.107739 -0.318429 9.97903 -0.0372843 -0.00532632 0.0458064 0.14 0.02 pose: 0.41893039 0.0599994 0.000238711 0 -0.00344069 0.00554724 0.0133589 0.999889 uwb: 0.0 849.165 989.848 -imu_odom_: 1691062409.606126118 0.557849 -0.124498 9.60554 -0.0660464 -0.0117179 0.056459 0.19 0.02 pose: 0.7053281 0.0599994 0.000238711 0 -0.00352574 0.00623393 0.013382 0.999885 uwb: 0.50027963 849.173 989.717 -imu_odom_: 1691062409.631229046 0.469264 -0.476446 9.8665 -0.0735032 -0.036219 0.0617853 0.19 0.02 pose: 0.0 0.0599994 0.000238711 0 -0.00352574 0.00623393 0.013382 0.999885 uwb: 0.0 849.173 989.717 -imu_odom_: 1691062409.648058527 0.28491 -0.181959 9.83538 -0.056459 -0.0117179 0.0490022 0.18 0.02 pose: 0.25057726 0.0599994 0.000238711 0 -0.00346067 0.00738586 0.0134999 0.999876 uwb: 0.50041670 848.763 989.423 -imu_odom_: 1691062409.673209573 0.011971 -0.220267 9.7037 -0.056459 -0.00639159 0.0426106 0.18 0.02 pose: 0.0 0.0599994 0.000238711 0 -0.00346067 0.00738586 0.0134999 0.999876 uwb: 0.0 848.763 989.423 -imu_odom_: 1691062409.698152398 0.512359 -0.418985 9.97664 -0.0490022 -0.0149137 0.0372843 0.19 0 pose: 0.52016273 0.0699992 0.000308221 0 -0.00411926 0.0037554 0.0139731 0.999887 uwb: 0.49926769 848.748 989.289 -imu_odom_: 1691062409.711992705 0.320823 -0.0430956 9.8258 -0.0394148 -0.00319579 0.0383495 0.19 0 pose: 0.0 0.0699992 0.000308221 0 -0.00411926 0.0037554 0.0139731 0.999887 uwb: 0.0 848.748 989.289 -imu_odom_: 1691062409.736134432 0.351948 -0.328006 10.3477 -0.0436758 0.015979 0.0426106 0.16 0 pose: 0.42133631 0.0799991 0.000287955 0 -0.00316824 0.00590524 0.0140602 0.999879 uwb: 0.0 848.748 989.289 -imu_odom_: 1691062409.753110892 0.110133 -0.0550666 9.90242 -0.04048 -0.00106526 0.0458064 0.16 0 pose: 0.0 0.0799991 0.000287955 0 -0.00316824 0.00590524 0.0140602 0.999879 uwb: 0.49995301 848.667 988.752 -imu_odom_: 1691062409.778114958 0.37589 -0.0814029 10.2232 -0.0447411 -0.00745685 0.0479369 0.16 0 pose: 0.38782549 0.0799991 0.000287955 0 -0.00311066 0.0040003 0.0140331 0.999889 uwb: 0.0 848.667 988.752 -imu_odom_: 1691062409.795004222 0.521936 -0.155623 10.3741 -0.0553937 -0.0170442 0.0500674 0.16 0 pose: 0.0 0.0799991 0.000287955 0 -0.00311066 0.0040003 0.0140331 0.999889 uwb: 0.49881275 848.636 988.218 -imu_odom_: 1691062409.819998665 0.775721 -0.213084 9.81383 -0.0500674 0.00213053 0.056459 0.17 0.02 pose: 0.40916965 0.0899991 0.000268383 0 -0.00240933 0.00425923 0.0141421 0.999888 uwb: 0.0 848.636 988.218 -imu_odom_: 1691062409.844996899 0.392649 -0.241814 9.77313 -0.0745685 -0.0351537 0.0649811 0.17 0.02 pose: 0.0 0.0899991 0.000268383 0 -0.00240933 0.00425923 0.0141421 0.999888 uwb: 0.50114285 848.589 986.752 -imu_odom_: 1691062409.868009739 0.833182 -0.146046 10.2496 -0.0500674 -0.00319579 0.036219 0.17 0 pose: 0.43129827 0.0999988 0.000351029 0 4.45041e-05 0.00121224 0.0143822 0.999896 uwb: 0.0 848.589 986.752 -imu_odom_: 1691062409.884019165 0.275333 -0.138864 10.1825 -0.0660464 -0.02024 0.052198 0.17 0 pose: 0.0 0.0999988 0.000351029 0 4.45041e-05 0.00121224 0.0143822 0.999896 uwb: 0.0 848.589 986.752 -imu_odom_: 1691062409.911027873 0.428562 -0.177171 9.44991 -0.0490022 -0.0511327 0.0415453 0.21 -0.02 pose: 0.47865260 0.109999 0.000340999 0 -0.00207654 -7.61926e-050.014831 0.999888 uwb: 0.49736628 848.269 985.789 -imu_odom_: 1691062409.936120011 0.536301 -0.213084 10.1418 -0.0703074 0.00213053 0.0532632 0.21 -0.02 pose: 0.0 0.109999 0.000340999 0 -0.00207654 -7.61926e-050.014831 0.999888 uwb: 0.0 848.269 985.789 -imu_odom_: 1691062409.952992944 0.162806 -0.174777 10.0652 -0.0596548 0.00958738 0.0479369 0.21 0.02 pose: 0.40070373 0.109999 0.000340999 0 -9.21659e-05-0.0008595810.0149073 0.999889 uwb: 0.50115743 848.129 985.241 -imu_odom_: 1691062409.978108120 0.071826 -0.136469 9.69891 -0.0745685 0.0234358 0.0490022 0.21 0.02 pose: 0.0 0.109999 0.000340999 0 -9.21659e-05-0.0008595810.0149073 0.999889 uwb: 0.0 848.129 985.241 -imu_odom_: 1691062410.3023240 0.136469 -0.294487 10.4076 -0.0639159 0.0181095 0.0255663 0.21 -0.02 pose: 0.52022106 0.119998 0.000439156 0 0.000874678 -0.00343258 0.0151317 0.999879 uwb: 0.50003758 848.079 984.298 -imu_odom_: 1691062410.26077797 0.636858 -0.0335188 9.97424 -0.036219 0.00639159 0.0276969 0.21 -0.02 pose: 0.0 0.119998 0.000439156 0 0.000874678 -0.00343258 0.0151317 0.999879 uwb: 0.0 848.079 984.298 -imu_odom_: 1691062410.50984184 0.462081 -0.150835 10.2113 -0.0692422 -0.0138484 0.0308927 0.17 -0.02 pose: 0.41930075 0.129998 0.000541744 0 0.000736568 0.00117063 0.0152376 0.999883 uwb: 0.50097397 847.89 982.936 -imu_odom_: 1691062410.68022771 0.246603 -0.179565 9.89524 -0.052198 0 0.0245011 0.17 -0.02 pose: 0.0 0.129998 0.000541744 0 0.000736568 0.00117063 0.0152376 0.999883 uwb: 0.0 847.89 982.936 -imu_odom_: 1691062410.92954238 0.45011 -0.440533 9.46907 -0.0607201 -0.0127832 0.0468716 0.17 -0.02 pose: 0.49006415 0.139997 0.000644866 0 0.00169411 0.00044293 0.0149427 0.999887 uwb: 0.0 847.89 982.936 -imu_odom_: 1691062410.117986317 0.476446 -0.275333 9.55526 -0.0468716 -0.00958738 0.0234358 0.17 -0.02 pose: 0.0 0.139997 0.000644866 0 0.00169411 0.00044293 0.0149427 0.999887 uwb: 0.49874891 847.942 981.464 -imu_odom_: 1691062410.140991005 -0.174777 -0.0335188 10.0221 -0.0692422 0.00213053 0.0330232 0.19 -0.05 pose: 0.41930393 0.149997 0.000740542 0 0.0013751 0.000331139 0.014769 0.99989 uwb: 0.0 847.942 981.464 -imu_odom_: 1691062410.156952324 0.181959 -0.351948 10.343 -0.0468716 0.00532632 0.0245011 0.19 -0.05 pose: 0.0 0.149997 0.000740542 0 0.0013751 0.000331139 0.014769 0.99989 uwb: 0.50111692 847.782 979.692 -imu_odom_: 1691062410.184063993 0.687136 -0.102951 10.2807 -0.0639159 -0.0351537 0.0394148 0.25 0.02 pose: 0.48015770 0.149997 0.000740542 0 -0.00156645 -0.00160602 0.014609 0.999891 uwb: 0.0 847.782 979.692 -imu_odom_: 1691062410.209946455 0.414197 -0.102951 9.97185 -0.0479369 -0.0234358 0.036219 0.18 0 pose: 0.40024321 0.159996 0.000832782 0 -0.00155694 0.000801571 0.0144346 0.999894 uwb: 0.49877515 847.581 979.394 -imu_odom_: 1691062410.237045292 0.658405 -0.280122 10.3046 -0.0575243 -0.00426106 0.0319579 0.21 -0.02 pose: 0.28012796 0.169996 0.000921454 0 6.30117e-05 -0.00128815 0.0144174 0.999895 uwb: 0.0 847.581 979.394 -imu_odom_: 1691062410.252919997 0.335188 -0.1652 9.55765 -0.0511327 -0.015979 0.04048 0.21 -0.02 pose: 0.0 0.169996 0.000921454 0 6.30117e-05 -0.00128815 0.0144174 0.999895 uwb: 0.50149020 847.531 978.708 -imu_odom_: 1691062410.280039540 0.385466 -0.452504 9.61511 -0.0628506 -0.0213053 0.0426106 0.24 0 pose: 0.25035286 0.169996 0.000921454 0 0.00161788 -0.00188057 0.0143598 0.999894 uwb: 0.0 847.531 978.708 -imu_odom_: 1691062410.305113904 0.452504 -0.167594 9.92397 -0.0351537 0.0127832 0.0383495 0.18 -0.02 pose: 0.42995414 0.179996 0.0010086 0 0.000480605 -0.00216994 0.0143048 0.999895 uwb: 0.49774280 847.388 978.01 -imu_odom_: 1691062410.329982380 0.675165 -0.148441 10.2711 -0.0479369 -0.0106526 0.0287621 0.23 0 pose: 0.0 0.179996 0.0010086 0 0.000480605 -0.00216994 0.0143048 0.999895 uwb: 0.0 847.388 978.01 -imu_odom_: 1691062410.351932255 -0.0502782 -0.282516 9.94312 -0.0585895 -0.00426106 0.0543285 0.23 0 pose: 0.51971396 0.189995 0.0010949 0 0.00135025 -0.00275179 0.0142811 0.999893 uwb: 0.50178183 847.502 977.074 -imu_odom_: 1691062410.367966480 0.414197 -0.0526724 10.3453 -0.0394148 -0.0234358 0.0490022 0.18 -0.02 pose: 0.0 0.189995 0.0010949 0 0.00135025 -0.00275179 0.0142811 0.999893 uwb: 0.0 847.502 977.074 -imu_odom_: 1691062410.393127749 0.550666 0.0287304 9.70131 -0.0511327 -0.036219 0.052198 0.18 -0.02 pose: 0.24023925 0.189995 0.0010949 0 0.00164105 -0.003975 0.0142296 0.99989 uwb: 0.0 847.502 977.074 -imu_odom_: 1691062410.415186692 0.198719 -0.117316 9.67736 -0.076699 -0.0479369 0.052198 0.21 0 pose: 0.38884351 0.199995 0.00117938 0 0.00359645 -0.00255431 0.0144599 0.999886 uwb: 0.49887139 847.545 975.854 -imu_odom_: 1691062410.430954953 0.790087 -0.177171 10.228 -0.0543285 0.0287621 0.0372843 0.21 0 pose: 0.0 0.199995 0.00117938 0 0.00359645 -0.00255431 0.0144599 0.999886 uwb: 0.0 847.545 975.854 -imu_odom_: 1691062410.455904209 0.837971 -0.265756 10.307 -0.0745685 -0.0223706 0.036219 0.22 0 pose: 0.56020051 0.209994 0.0012684 0 0.00470743 -0.00329706 0.0146889 0.999876 uwb: 0.50122482 847.716 974.654 -imu_odom_: 1691062410.479940090 0.23942 -0.232238 9.94551 -0.0639159 0.0117179 0.0340885 0.22 0 pose: 0.0 0.209994 0.0012684 0 0.00470743 -0.00329706 0.0146889 0.999876 uwb: 0.0 847.716 974.654 -imu_odom_: 1691062410.497043128 0.409408 -0.215478 9.83777 -0.0862864 -0.0191748 0.056459 0.18 0.02 pose: 0.6964631 0.209994 0.0012684 0 0.00439303 -0.00401186 0.0146805 0.999875 uwb: 0.49976085 847.569 973.945 -imu_odom_: 1691062410.521097381 0.603339 -0.287304 9.33739 -0.0681769 0.0223706 0.0543285 0.18 0.02 pose: 0.0 0.209994 0.0012684 0 0.00439303 -0.00401186 0.0146805 0.999875 uwb: 0.0 847.569 973.945 -imu_odom_: 1691062410.546917435 0.225055 -0.186748 10.3956 -0.0426106 0.00213053 0.0255663 0.18 0 pose: 0.49082249 0.219994 0.00136167 0 0.00214947 -0.00290943 0.0146486 0.999886 uwb: 0.49915427 848.203 972.279 -imu_odom_: 1691062410.571883897 -0.0694318 -0.1652 9.99579 -0.04048 0.0319579 0.0255663 0.18 0 pose: 0.41046473 0.229994 0.00145453 0 5.4736e-05 -0.00328385 0.014867 0.999884 uwb: 0.0 848.203 972.279 -imu_odom_: 1691062410.596884188 0.0670376 -0.320823 9.90242 -0.0511327 -0.0223706 0.0308927 0.18 0 pose: 0.43835591 0.239993 0.00155188 0 0.000720276 0.0016003 0.014559 0.999892 uwb: 0.49947797 848.189 971.179 -imu_odom_: 1691062410.613071809 0.794875 -0.150835 9.56723 -0.0426106 -0.015979 0.04048 0.18 0 pose: 0.0 0.239993 0.00155188 0 0.000720276 0.0016003 0.014559 0.999892 uwb: 0.0 848.189 971.179 -imu_odom_: 1691062410.634896867 0.332794 -0.347159 9.84975 -0.0447411 -0.0138484 0.0436758 0.19 0 pose: 0.41187912 0.246348 0.0016095 0 0.000178374 0.00199674 0.0144545 0.999894 uwb: 0.0 848.189 971.179 -imu_odom_: 1691062410.660038597 0.418985 -0.181959 9.84256 -0.0319579 0.0138484 0.0276969 0.19 0 pose: 0.0 0.246348 0.0016095 0 0.000178374 0.00199674 0.0144545 0.999894 uwb: 0.50058325 848.655 970.033 -imu_odom_: 1691062410.677019443 0.418985 -0.306458 9.95988 -0.0553937 -0.00319579 0.0426106 0.21 0 pose: 0.28936670 0.249993 0.00164198 0 -0.0012274 0.00194653 0.0144524 0.999893 uwb: 0.0 848.655 970.033 -imu_odom_: 1691062410.702084767 0.56982 -0.196325 9.73482 -0.0287621 0.0308927 0.0287621 0.21 0 pose: 0.0 0.249993 0.00164198 0 -0.0012274 0.00194653 0.0144524 0.999893 uwb: 0.49871099 848.583 968.23 -imu_odom_: 1691062410.727990559 0.538695 -0.198719 10.0317 -0.0426106 0.0255663 0.0276969 0.23 0.02 pose: 0.24953047 0.259992 0.00173041 0 -0.0003239960.000682612 0.0143554 0.999897 uwb: 0.0 848.583 968.23 -imu_odom_: 1691062410.755164636 0.361524 0.023942 10.0652 -0.0500674 -0.0383495 0.0479369 0.23 0.02 pose: 0.43037992 0.259992 0.00173041 0 -8.27458e-05-0.00228652 0.0141833 0.999897 uwb: 0.50165351 848.607 967.545 -imu_odom_: 1691062410.770865531 0.711078 -0.392649 9.78271 -0.0809601 0.0170442 0.0436758 0.23 0 pose: 0.0 0.259992 0.00173041 0 -8.27458e-05-0.00228652 0.0141833 0.999897 uwb: 0.0 848.607 967.545 -imu_odom_: 1691062410.795850366 0.215478 -0.25618 9.95509 -0.0298274 0.00958738 0.02024 0.23 0 pose: 0.50912499 0.269992 0.00181409 0 0.00246155 -0.00333799 0.0141933 0.999891 uwb: 0.49888598 848.843 966.351 -imu_odom_: 1691062410.818909881 0.603339 -0.201113 9.60314 -0.04048 -0.02024 0.0255663 0.22 -0.02 pose: 0.0 0.269992 0.00181409 0 0.00246155 -0.00333799 0.0141933 0.999891 uwb: 0.0 848.843 966.351 -imu_odom_: 1691062410.836904421 0.356736 -0.31364 9.20331 -0.0223706 0.00745685 0.0266316 0.22 -0.02 pose: 0.0 0.269992 0.00181409 0 0.00246155 -0.00333799 0.0141933 0.999891 uwb: 0.0 848.843 966.351 -imu_odom_: 1691062410.860965382 0.258574 -0.337582 9.69891 -0.0511327 -0.0106526 0.0394148 0.18 -0.02 pose: 0.75992404 0.289991 0.00197646 0 0.000327618 -0.00254233 0.0137064 0.999903 uwb: 0.49855935 848.89 966.362 -imu_odom_: 1691062410.885892766 0.665588 -0.0143652 9.98382 -0.0308927 -0.0415453 0.036219 0.18 -0.02 pose: 0.5949770 0.289991 0.00197646 0 4.23546e-06 -0.00207026 0.0137066 0.999904 uwb: 0.0 848.89 966.362 -imu_odom_: 1691062410.910905889 0.553061 -0.368707 9.93354 -0.0585895 -0.00958738 0.0490022 0.19 0 pose: 0.43038575 0.297469 0.00203174 0 0.00100464 -0.00294734 0.0136631 0.999902 uwb: 0.49976960 849.149 964.897 -imu_odom_: 1691062410.934077972 0.593762 -0.220267 10.2089 -0.0511327 -0.04048 0.0553937 0.18 0 pose: 0.0 0.297469 0.00203174 0 0.00100464 -0.00294734 0.0136631 0.999902 uwb: 0.0 849.149 964.897 -imu_odom_: 1691062410.951877997 -0.059855 -0.251391 9.54568 -0.0777643 0.04048 0.052198 0.18 0 pose: 0.30978933 0.299991 0.0020502 0 -0.00109394 -0.00490976 0.0138345 0.999892 uwb: 0.50147562 849.329 963.827 -imu_odom_: 1691062410.975932542 0.292093 -0.035913 9.58399 -0.0532632 0.0127832 0.0255663 0.18 0 pose: 0.0 0.299991 0.0020502 0 -0.00109394 -0.00490976 0.0138345 0.999892 uwb: 0.0 849.329 963.827 -imu_odom_: 1691062411.862843 0.11971 -0.323217 10.137 -0.0788296 -0.00745685 0.0383495 0.18 0 pose: 0.41015851 0.309991 0.00212702 0 -0.000577791-0.00425005 0.0140363 0.999892 uwb: 0.49971711 849.265 962.975 -imu_odom_: 1691062411.25825819 0.383072 -0.222661 10.343 -0.0553937 0.00213053 0.0394148 0.19 0 pose: 0.42975293 0.31999 0.00220781 0 -0.000472306-0.0005026780.01389 0.999903 uwb: 0.0 849.265 962.975 -imu_odom_: 1691062411.41825059 0.332794 -0.177171 9.9527 -0.0639159 -0.0106526 0.0511327 0.19 0 pose: 0.6006056 0.31999 0.00220781 0 -0.00044633 0.000116802 0.0138897 0.999903 uwb: 0.0 849.265 962.975 -imu_odom_: 1691062411.66819825 0.521936 -0.0694318 10.2304 -0.0617853 -0.0223706 0.0351537 0.18 -0.02 pose: 0.0 0.31999 0.00220781 0 -0.00044633 0.000116802 0.0138897 0.999903 uwb: 0.49980486 849.396 962.449 -imu_odom_: 1691062411.82943589 0.110133 -0.19393 9.89524 -0.0628506 0.0383495 0.0298274 0.18 -0.02 pose: 0.40958135 0.32999 0.00228561 0 0.00122292 0.0023898 0.0139727 0.999899 uwb: 0.0 849.396 962.449 -imu_odom_: 1691062411.108809445 -0.122104 0.0167594 9.97424 -0.0479369 -0.0213053 0.0340885 0.19 0 pose: 0.0 0.32999 0.00228561 0 0.00122292 0.0023898 0.0139727 0.999899 uwb: 0.50140885 849.317 961.589 -imu_odom_: 1691062411.133927277 -0.035913 -0.198719 10.3382 -0.0703074 -0.0255663 0.0319579 0.19 0 pose: 0.42013242 0.33999 0.00236419 0 0.00233512 0.00321807 0.0138339 0.999896 uwb: 0.0 849.317 961.589 -imu_odom_: 1691062411.158808017 0.37589 -0.294487 9.78271 -0.0585895 -0.0447411 0.0468716 0.18 -0.02 pose: 0.44087001 0.347589 0.00242258 0 0.00251598 0.00704307 0.013674 0.999879 uwb: 0.49983699 849.029 961.656 -imu_odom_: 1691062411.181785015 0.332794 -0.577003 10.0341 -0.0820254 -0.0372843 0.0479369 0.18 -0.02 pose: 0.6011599 0.34999 0.00244031 0 0.00205025 0.00653032 0.0136934 0.999883 uwb: 0.0 849.029 961.656 -imu_odom_: 1691062411.205811288 0.665588 -0.167594 10.1011 -0.0468716 -0.0745685 0.0383495 0.23 -0.02 pose: 0.41846139 0.357019 0.00249245 0 -0.00200224 0.00434008 0.0138407 0.999893 uwb: 0.49762063 849.058 959.837 -imu_odom_: 1691062411.222855427 0.593762 -0.0454898 9.93594 -0.076699 -0.0479369 0.0330232 0.23 -0.02 pose: 0.0 0.357019 0.00249245 0 -0.00200224 0.00434008 0.0138407 0.999893 uwb: 0.0 849.058 959.837 -imu_odom_: 1691062411.246824832 0.248997 -0.251391 9.71328 -0.0575243 0.00426106 0.0266316 0.19 0 pose: 0.41070412 0.359989 0.00251521 0 -0.000295431-0.0004547770.0137698 0.999905 uwb: 0.50114348 848.866 958.088 -imu_odom_: 1691062411.271788685 0.407014 -0.299275 9.54089 -0.0756338 -0.00852212 0.0319579 0.19 0 pose: 0.0 0.359989 0.00251521 0 -0.000295431-0.0004547770.0137698 0.999905 uwb: 0.0 848.866 958.088 -imu_odom_: 1691062411.288783831 0.629675 -0.220267 10.24 -0.0383495 -0.00745685 0.036219 0.19 0 pose: 0.0 0.359989 0.00251521 0 -0.000295431-0.0004547770.0137698 0.999905 uwb: 0.0 848.866 958.088 -imu_odom_: 1691062411.312907507 0.864307 -0.282516 10.1035 -0.0745685 -0.0426106 0.0500674 0.19 0 pose: 0.48933258 0.369989 0.00258971 0 -0.00318602 0.000632022 0.0135155 0.999903 uwb: 0.0 848.866 958.088 -imu_odom_: 1691062411.336772802 0.708684 -0.349553 10.2975 -0.04048 -0.0234358 0.0394148 0.19 0 pose: 0.41118822 0.379989 0.00265975 0 -0.00289243 -0.00391939 0.013603 0.999896 uwb: 0.0 848.866 958.088 -imu_odom_: 1691062411.353793611 0.213084 -0.339977 9.55526 -0.0575243 -0.00958738 0.0426106 0.19 0 pose: 0.0 0.379989 0.00265975 0 -0.00289243 -0.00391939 0.013603 0.999896 uwb: 0.99841998 848.757 957.06 -imu_odom_: 1691062411.377825716 0.385466 -0.433351 9.75398 -0.0436758 0.0170442 0.0383495 0.19 0 pose: 0.40886104 0.389988 0.00273208 0 -0.00378944 -0.00479822 0.0136323 0.999888 uwb: 0.0 848.757 957.06 -imu_odom_: 1691062411.402823398 0.586579 -0.550666 9.47864 -0.0692422 0.0372843 0.0276969 0.19 0 pose: 0.0 0.389988 0.00273208 0 -0.00378944 -0.00479822 0.0136323 0.999888 uwb: 0.50031526 848.679 956.466 -imu_odom_: 1691062411.426772098 0.349553 -0.440533 9.57681 -0.0490022 -0.0340885 0.0596548 0.2 -0.02 pose: 0.49029787 0.397477 0.00280557 0 -0.0079478 -0.00383507 0.0134796 0.99987 uwb: 0.0 848.679 956.466 -imu_odom_: 1691062411.443849191 0.691924 -0.189142 10.1969 -0.0479369 -0.0394148 0.0468716 0.2 -0.02 pose: 0.0 0.397477 0.00280557 0 -0.0079478 -0.00383507 0.0134796 0.99987 uwb: 0.0 848.679 956.466 -imu_odom_: 1691062411.467911042 0.667982 -0.0383072 10.161 -0.0511327 -0.00213053 0.0447411 0.2 0 pose: 0.41025793 0.406058 0.0129288 0 -0.00793795 -0.00374099 0.013795 0.999866 uwb: 0.49955994 848.705 955.184 -imu_odom_: 1691062411.491920983 0.402226 -0.380678 9.75158 -0.0745685 0.0276969 0.0394148 0.2 0 pose: 0.0 0.406058 0.0129288 0 -0.00793795 -0.00374099 0.013795 0.999866 uwb: 0.0 848.705 955.184 -imu_odom_: 1691062411.517801711 0.402226 -0.229843 9.3733 -0.0681769 0.00958738 0.0479369 0.23 0 pose: 0.48071792 0.416939 0.0131009 0 -0.00723827 -0.00242659 0.0138527 0.999875 uwb: 0.50109973 848.514 953.829 -imu_odom_: 1691062411.541755369 0.435745 -0.181959 9.13388 -0.0596548 0.0170442 0.0436758 0.19 -0.02 pose: 0.0 0.416939 0.0131009 0 -0.00723827 -0.00242659 0.0138527 0.999875 uwb: 0.0 848.514 953.829 -imu_odom_: 1691062411.558752556 0.318429 -0.229843 9.83299 -0.0713727 0.0127832 0.052198 0.19 -0.02 pose: 0.31894369 0.419814 0.013152 0 -0.00440155 -0.00129708 0.0139712 0.999892 uwb: 0.49946079 848.619 952.124 -imu_odom_: 1691062411.582807408 0.148441 -0.363919 9.96227 -0.0607201 0.0372843 0.052198 0.18 0.02 pose: 0.0 0.419814 0.013152 0 -0.00440155 -0.00129708 0.0139712 0.999892 uwb: 0.0 848.619 952.124 -imu_odom_: 1691062411.606759899 0.746991 -0.4956 10.0748 -0.0617853 -0.0255663 0.0383495 0.18 0.02 pose: 0.42003909 0.429812 0.0133316 0 -0.00257465 0.00132522 0.0141599 0.999896 uwb: 0.50052815 848.638 950.966 -imu_odom_: 1691062411.630758759 0.349553 -0.395043 9.48343 -0.0383495 -0.00319579 0.0394148 0.25 0.02 pose: 0.40940638 0.436872 0.0133903 0 -0.00448025 0.000836703 0.0142451 0.999888 uwb: 0.0 848.638 950.966 -imu_odom_: 1691062411.647728825 0.445322 -0.371101 9.91918 -0.0383495 -0.00958738 0.0351537 0.25 0.02 pose: 0.0 0.436872 0.0133903 0 -0.00448025 0.000836703 0.0142451 0.999888 uwb: 0.49981366 848.298 950.855 -imu_odom_: 1691062411.672798538 0.414197 -0.280122 9.2895 -0.0447411 -0.0117179 0.0468716 0.18 0 pose: 0.40968926 0.445685 0.013465 0 -0.00696463 2.96602e-05 0.0141955 0.999875 uwb: 0.0 848.298 950.855 -imu_odom_: 1691062411.696798856 0.272939 -0.428562 9.40921 -0.0532632 -0.00532632 0.052198 0.18 0 pose: 0.0 0.445685 0.013465 0 -0.00696463 2.96602e-05 0.0141955 0.999875 uwb: 0.49995947 848.372 949.558 -imu_odom_: 1691062411.713745883 1.02232 -0.205901 10.307 -0.0383495 -0.0117179 0.0415453 0.18 0.02 pose: 0.0 0.445685 0.013465 0 -0.00696463 2.96602e-05 0.0141955 0.999875 uwb: 0.0 848.372 949.558 -imu_odom_: 1691062411.737907763 0.68953 -0.275333 10.2065 -0.0596548 -0.0383495 0.0532632 0.18 0.02 pose: 0.56113114 0.459811 0.0135853 0 -0.0058122 0.00043354 0.0144472 0.999879 uwb: 0.0 848.372 949.558 -imu_odom_: 1691062411.761857629 0.782904 -0.0191536 10.0485 -0.0266316 -0.0138484 0.0372843 0.19 0 pose: 0.34065824 0.459811 0.0135853 0 -0.00509058 -0.0033553 0.0146056 0.999875 uwb: 0.49725317 848.507 949.455 -imu_odom_: 1691062411.778782493 0.270545 -0.201113 9.47864 -0.0458064 0.0191748 0.04048 0.19 0 pose: 0.6955012 0.459811 0.0135853 0 -0.00450438 -0.00388609 0.014594 0.999876 uwb: 0.0 848.507 949.455 -imu_odom_: 1691062411.795840630 0.227449 -0.201113 10.2663 -0.0511327 -0.00745685 0.0458064 0.19 0 pose: 0.0 0.459811 0.0135853 0 -0.00450438 -0.00388609 0.014594 0.999876 uwb: 0.50265411 848.616 947.869 -imu_odom_: 1691062411.819855237 0.445322 -0.0837971 10.2807 -0.0511327 0.00213053 0.0607201 0.19 0 pose: 0.41866553 0.469811 0.0136775 0 -0.00229465 -0.00260508 0.0146016 0.999887 uwb: 0.0 848.616 947.869 -imu_odom_: 1691062411.844778554 0.94571 -0.0885855 10.2831 -0.0713727 -0.0383495 0.0330232 0.19 0 pose: 0.0 0.469811 0.0136775 0 -0.00229465 -0.00260508 0.0146016 0.999887 uwb: 0.49889795 848.644 946.988 -imu_odom_: 1691062411.861707209 0.363919 -0.222661 9.78031 -0.0351537 -0.00213053 0.0266316 0.19 0 pose: 0.41064287 0.47981 0.0137714 0 0.000532899 -0.00263415 0.0148548 0.999886 uwb: 0.0 848.644 946.988 -imu_odom_: 1691062411.885775184 0.0670376 -0.289698 9.9527 -0.0383495 -0.00213053 0.0308927 0.19 0 pose: 0.0 0.47981 0.0137714 0 0.000532899 -0.00263415 0.0148548 0.999886 uwb: 0.0 848.644 946.988 -imu_odom_: 1691062411.910869103 0.529119 -0.416591 9.94312 -0.0276969 -0.0213053 0.04048 0.19 0 pose: 0.40995756 0.48981 0.0138685 0 0.00056242 -0.00219203 0.0146595 0.99989 uwb: 0.50030651 848.751 944.499 -imu_odom_: 1691062411.935813126 0.337582 -0.402226 9.5816 -0.04048 -0.0213053 0.0447411 0.19 0.02 pose: 0.42079732 0.497003 0.0139355 0 -0.0015107 -0.00197992 0.0145991 0.99989 uwb: 0.0 848.751 944.499 -imu_odom_: 1691062411.952692204 0.586579 0.0933739 10.0963 -0.0490022 -0.0106526 0.0511327 0.19 0.02 pose: 0.0 0.497003 0.0139355 0 -0.0015107 -0.00197992 0.0145991 0.99989 uwb: 0.49991864 848.861 943.789 -imu_odom_: 1691062411.976676774 0.732626 -0.172383 9.94791 -0.0713727 0.0308927 0.0500674 0.18 -0.02 pose: 0.41823101 0.50536 0.0140127 0 -0.00182783 -0.00157981 0.0147644 0.999888 uwb: 0.0 848.861 943.789 -imu_odom_: 1691062411.994679491 0.47884 -0.325611 10.2855 -0.0447411 0.02024 0.056459 0.18 -0.02 pose: 0.0 0.50536 0.0140127 0 -0.00182783 -0.00157981 0.0147644 0.999888 uwb: 0.49975242 848.862 942.432 -imu_odom_: 1691062412.18712189 0.790087 -0.325611 10.0341 -0.0809601 -0.00639159 0.0426106 0.19 0 pose: 0.0 0.50536 0.0140127 0 -0.00182783 -0.00157981 0.0147644 0.999888 uwb: 0.0 848.862 942.432 -imu_odom_: 1691062412.42687442 0.385466 -0.435745 9.77313 -0.0596548 -0.0468716 0.0436758 0.19 0 pose: 0.41987287 0.509809 0.0140551 0 -0.00308567 -0.00339796 0.0150417 0.999876 uwb: 0.0 848.862 942.432 -imu_odom_: 1691062412.67736757 0.557849 -0.452504 9.7037 -0.0447411 0.00958738 0.036219 0.19 0 pose: 0.48007951 0.519809 0.0141564 0 -0.00559293 -0.00477456 0.0151378 0.999858 uwb: 0.0 848.862 942.432 -imu_odom_: 1691062412.91674098 0.88346 -0.023942 9.59117 -0.0692422 -0.0681769 0.0628506 0.19 0 pose: 0.0 0.519809 0.0141564 0 -0.00559293 -0.00477456 0.0151378 0.999858 uwb: 0.0 848.862 942.432 -imu_odom_: 1691062412.108685294 0.723049 -0.191536 10.1083 -0.0916127 -0.0447411 0.0532632 0.24 0 pose: 0.48986656 0.529808 0.0142596 0 -0.00620749 -0.00827243 0.0153597 0.999829 uwb: 0.99998367 848.654 941.443 -imu_odom_: 1691062412.124722164 0.418985 0.107739 9.7444 -0.0607201 -0.056459 0.0596548 0.24 0 pose: 0.7011884 0.529808 0.0142596 0 -0.00583996 -0.00891579 0.0154003 0.999825 uwb: 0.0 848.654 941.443 -imu_odom_: 1691062412.141665119 1.70946 -0.418985 10.4004 -0.072438 -0.0692422 0.0255663 0.24 0 pose: 0.0 0.529808 0.0142596 0 -0.00583996 -0.00891579 0.0154003 0.999825 uwb: 0.0 848.654 941.443 -imu_odom_: 1691062412.157673118 1.89142 -0.169988 9.28711 -0.072438 -0.0138484 -0.0937433 0.22 -0.26 pose: 0.33048940 0.539807 0.0143687 0 -0.00399612 -0.010558 0.0155588 0.999815 uwb: 0.49949027 848.974 939.588 -imu_odom_: 1691062412.175658931 1.64003 0.160412 10.1251 -0.0340885 0.04048 -0.205596 0.22 -0.26 pose: 0.0 0.539807 0.0143687 0 -0.00399612 -0.010558 0.0155588 0.999815 uwb: 0.0 848.974 939.588 -imu_odom_: 1691062412.191668388 1.0343 0.368707 9.67976 -0.0372843 0.00958738 -0.279099 0.12 -0.35 pose: 0.43924009 0.539807 0.0143687 0 -0.00309589 -0.0147632 0.0121882 0.999812 uwb: 0.0 848.974 939.588 -imu_odom_: 1691062412.206660941 0.890643 -0.237026 9.55047 -0.0543285 0.0490022 -0.371777 0.12 -0.35 pose: 0.0 0.539807 0.0143687 0 -0.00309589 -0.0147632 0.0121882 0.999812 uwb: 0.49929487 849.139 937.352 -imu_odom_: 1691062412.223687885 0.567426 -0.136469 9.62948 -0.0617853 -0.02024 -0.406931 0.12 -0.35 pose: 0.0 0.539807 0.0143687 0 -0.00309589 -0.0147632 0.0121882 0.999812 uwb: 0.0 849.139 937.352 -imu_odom_: 1691062412.237709027 0.514753 -0.114922 10.0245 -0.0607201 0.0319579 -0.409062 0.1 -0.41 pose: 0.7069335 0.539807 0.0143687 0 -0.00238987 -0.0150457 0.0110525 0.999823 uwb: 0.0 849.139 937.352 -imu_odom_: 1691062412.252707412 1.18274 -0.387861 9.58878 -0.0681769 0.0170442 -0.421845 0.1 -0.41 pose: 0.0 0.539807 0.0143687 0 -0.00238987 -0.0150457 0.0110525 0.999823 uwb: 0.0 849.139 937.352 -imu_odom_: 1691062412.269648034 0.816423 -0.454898 9.5816 -0.0692422 -0.0298274 -0.435693 0.1 -0.41 pose: 0.0 0.539807 0.0143687 0 -0.00238987 -0.0150457 0.0110525 0.999823 uwb: 0.0 849.139 937.352 -imu_odom_: 1691062412.285762185 0.785298 -0.0694318 9.98143 -0.0628506 -0.0117179 -0.444215 0.08 -0.47 pose: 0.46934476 0.549805 0.0145905 0 -8.23879e-05-0.0146233 0.00136852 0.999892 uwb: 0.0 849.139 937.352 -imu_odom_: 1691062412.303853860 0.708684 0.0694318 9.97664 -0.0639159 -0.0191748 -0.446346 0.08 -0.47 pose: 0.0 0.549805 0.0145905 0 -8.23879e-05-0.0146233 0.00136852 0.999892 uwb: 0.100171891 849.757 936.067 -imu_odom_: 1691062412.319974135 0.821211 -0.0550666 9.93833 -0.0543285 -0.0127832 -0.488956 0.07 -0.53 pose: 0.46989885 0.559804 0.0147485 0 -0.001117 -0.0163287 -0.00960608 0.99982 uwb: 0.0 849.757 936.067 -imu_odom_: 1691062412.336842433 0.768539 -0.110133 10.0724 -0.056459 0.00958738 -0.52198 0.07 -0.5 pose: 0.0 0.559804 0.0147485 0 -0.001117 -0.0163287 -0.00960608 0.99982 uwb: 0.0 849.757 936.067 -imu_odom_: 1691062412.353641908 0.792481 -0.208296 9.65342 -0.076699 0.0106526 -0.509196 0.06 -0.53 pose: 0.0 0.559804 0.0147485 0 -0.001117 -0.0163287 -0.00960608 0.99982 uwb: 0.50037681 849.788 936.544 -imu_odom_: 1691062412.369633284 0.574608 -0.373495 9.96227 -0.0639159 -0.0181095 -0.527306 0.06 -0.53 pose: 0.67187692 0.559804 0.0147484 0 0.00389373 -0.0184121 -0.0271953 0.999453 uwb: 0.0 849.788 936.544 -imu_odom_: 1691062412.386644480 0.52433 -0.0861913 9.77074 -0.0735032 -0.0276969 -0.520914 0.06 -0.53 pose: 0.0 0.559804 0.0147484 0 0.00389373 -0.0184121 -0.0271953 0.999453 uwb: 0.0 849.788 936.544 -imu_odom_: 1691062412.402766213 0.509965 -0.258574 9.8665 -0.0692422 -0.0127832 -0.461259 0.08 -0.67 pose: 0.0 0.559804 0.0147484 0 0.00389373 -0.0184121 -0.0271953 0.999453 uwb: 0.49818085 850.021 936.178 -imu_odom_: 1691062412.419721999 0.711078 -0.512359 9.86172 -0.056459 0.0149137 -0.434628 0.08 -0.67 pose: 0.32797849 0.559804 0.0147484 0 0.00202002 -0.0171876 -0.0363487 0.999189 uwb: 0.0 850.021 936.178 -imu_odom_: 1691062412.435757411 0.545878 -0.354342 9.97664 -0.0500674 0.0234358 -0.4048 0.04 -0.38 pose: 0.43083831 0.565645 0.014873 0 2.06073e-05 -0.0147981 -0.0471809 0.998777 uwb: 0.0 850.021 936.178 -imu_odom_: 1691062412.452806518 0.749385 -0.131681 10.1778 -0.056459 -0.00213053 -0.352603 0.04 -0.38 pose: 0.7008968 0.569803 0.0148963 0 -0.000413967-0.0141914 -0.0487292 0.998711 uwb: 0.50123128 849.977 936.159 -imu_odom_: 1691062412.468894423 0.423774 -0.213084 9.7875 -0.0543285 -0.00106526 -0.325971 0.04 -0.38 pose: 0.0 0.569803 0.0148963 0 -0.000413967-0.0141914 -0.0487292 0.998711 uwb: 0.0 849.977 936.159 -imu_odom_: 1691062412.486789832 0.572214 -0.244209 9.7851 -0.052198 -0.00852212 -0.315318 0.05 -0.47 pose: 0.42163456 0.569795 0.0148961 0 0.000322298 -0.012931 -0.0570152 0.99829 uwb: 0.0 849.977 936.159 -imu_odom_: 1691062412.501772178 0.684742 -0.246603 9.82341 -0.0575243 -0.00958738 -0.285491 0.04 -0.29 pose: 0.0 0.569795 0.0148961 0 0.000322298 -0.012931 -0.0570152 0.99829 uwb: 0.50045263 850.024 934.782 -imu_odom_: 1691062412.518642226 0.871489 -0.25618 10.0796 -0.0607201 -0.0149137 -0.247141 0.04 -0.29 pose: 0.0 0.569795 0.0148961 0 0.000322298 -0.012931 -0.0570152 0.99829 uwb: 0.0 850.024 934.782 -imu_odom_: 1691062412.534815577 0.579397 -0.332794 9.84256 -0.0585895 -0.00639159 -0.230097 0.04 -0.29 pose: 0.24895336 0.569803 0.0148963 0 -0.000862751-0.0119966 -0.0613062 0.998047 uwb: 0.0 850.024 934.782 -imu_odom_: 1691062412.552605126 0.588974 -0.282516 9.97185 -0.0479369 -0.00213053 -0.225836 0.03 -0.23 pose: 0.0 0.569803 0.0148963 0 -0.000862751-0.0119966 -0.0613062 0.998047 uwb: 0.49803213 850.267 934.108 -imu_odom_: 1691062412.567653671 0.471658 -0.198719 9.95509 -0.0553937 -0.0106526 -0.208792 0.03 -0.23 pose: 0.32860841 0.569803 0.0148963 0 -0.00219897 -0.0138214 -0.0660753 0.997716 uwb: 0.0 850.267 934.108 -imu_odom_: 1691062412.584883879 0.588974 -0.234632 9.94551 -0.0553937 -0.00852212 -0.192813 0.04 -0.29 pose: 0.33013653 0.569803 0.0148963 0 -0.00288313 -0.0109 -0.0703857 0.997456 uwb: 0.0 850.267 934.108 -imu_odom_: 1691062412.600674032 0.667982 -0.366313 9.80904 -0.0596548 -0.0149137 -0.175769 0.04 -0.29 pose: 0.0 0.569803 0.0148963 0 -0.00288313 -0.0109 -0.0703857 0.997456 uwb: 0.50276232 850.586 934.093 -imu_odom_: 1691062412.617604447 0.593762 -0.260968 9.95509 -0.0553937 -0.00639159 -0.160855 0.04 -0.29 pose: 0.0 0.569803 0.0148963 0 -0.00288313 -0.0109 -0.0703857 0.997456 uwb: 0.0 850.586 934.093 -imu_odom_: 1691062412.633715682 0.682347 -0.213084 9.96467 -0.056459 -0.0117179 -0.132093 0.01 -0.14 pose: 0.14989054 0.569803 0.0148963 0 -0.00203267 -0.00972495 -0.0721928 0.997341 uwb: 0.0 850.586 934.093 -imu_odom_: 1691062412.650593896 0.620098 -0.280122 9.85932 -0.0543285 0.00319579 -0.107592 0.02 -0.17 pose: 0.0 0.569803 0.0148963 0 -0.00203267 -0.00972495 -0.0721928 0.997341 uwb: 0.49652150 850.643 933.494 -imu_odom_: 1691062412.666654679 0.61531 -0.25618 9.93594 -0.0543285 -0.00852212 -0.0916127 0.02 -0.17 pose: 0.67018256 0.569803 0.0148964 0 -0.00379338 -0.0105458 -0.0787124 0.996834 uwb: 0.0 850.643 933.494 -imu_odom_: 1691062412.683745489 0.684742 -0.208296 9.88805 -0.0543285 -0.00745685 -0.0607201 0.01 -0.17 pose: 0.0 0.569803 0.0148964 0 -0.00379338 -0.0105458 -0.0787124 0.996834 uwb: 0.0 850.643 933.494 -imu_odom_: 1691062412.699673290 0.634463 -0.342371 9.87608 -0.0553937 0.00106526 -0.0340885 0.01 -0.17 pose: 0.0 0.569803 0.0148964 0 -0.00379338 -0.0105458 -0.0787124 0.996834 uwb: 0.49990729 850.273 933.329 -imu_odom_: 1691062412.715650959 0.52433 -0.339977 9.9503 -0.0553937 0 -0.00639159 0.01 -0.17 pose: 0.31984501 0.569803 0.0148964 0 -0.00260586 -0.011265 -0.080781 0.996665 uwb: 0.0 850.273 933.329 -imu_odom_: 1691062412.730762204 0.519542 -0.28491 9.90002 -0.0543285 -0.00213053 0.0234358 0 -0.02 pose: 0.41994895 0.569803 0.0148964 0 -0.00438321 -0.0104067 -0.0822107 0.996551 uwb: 0.0 850.273 933.329 -imu_odom_: 1691062412.745581530 0.533907 -0.25618 9.93354 -0.0553937 -0.00639159 0.0447411 0 -0.02 pose: 0.7002552 0.569803 0.0148964 0 -0.00433246 -0.00970106 -0.0822651 0.996554 uwb: 0.49990437 851.086 931.191 -imu_odom_: 1691062412.759577593 0.4956 -0.270545 9.8282 -0.0543285 0.00106526 0.0500674 0 -0.02 pose: 0.0 0.569803 0.0148964 0 -0.00433246 -0.00970106 -0.0822651 0.996554 uwb: 0.0 851.086 931.191 -imu_odom_: 1691062412.773748049 0.433351 -0.203507 9.9096 -0.0500674 0.00213053 0.04048 0 0 pose: 0.36924082 0.569803 0.0148964 0 -0.00335836 -0.00623273 -0.0822165 0.996589 uwb: 0.0 851.086 931.191 -imu_odom_: 1691062412.787730988 0.342371 -0.162806 9.86411 -0.0543285 -0.00426106 0.0394148 0 0 pose: 0.0 0.569803 0.0148964 0 -0.00335836 -0.00623273 -0.0822165 0.996589 uwb: 0.0 851.086 931.191 -imu_odom_: 1691062412.801862949 0.392649 -0.237026 9.92157 -0.056459 -0.00852212 0.0394148 0 0 pose: 0.0 0.569803 0.0148964 0 -0.00335836 -0.00623273 -0.0822165 0.996589 uwb: 0.50112921 850.76 931.671 -imu_odom_: 1691062412.816741767 0.466869 -0.272939 9.90002 -0.0553937 -0.00852212 0.0351537 0 0 pose: 0.42285356 0.569803 0.0148964 0 -0.00148016 -0.00255511 -0.0822154 0.99661 uwb: 0.0 850.76 931.671 -imu_odom_: 1691062412.830841649 0.4956 -0.248997 9.87848 -0.0543285 -0.00426106 0.0383495 0 0 pose: 0.0 0.569803 0.0148964 0 -0.00148016 -0.00255511 -0.0822154 0.99661 uwb: 0.0 850.76 931.671 -imu_odom_: 1691062412.844794259 0.466869 -0.270545 9.90002 -0.056459 -0.00106526 0.0426106 0 0 pose: 0.0 0.569803 0.0148964 0 -0.00148016 -0.00255511 -0.0822154 0.99661 uwb: 0.50045847 851.02 930.37 -imu_odom_: 1691062412.858580933 0.438139 -0.232238 9.87369 -0.0553937 -0.00213053 0.04048 0 0 pose: 0.0 0.569803 0.0148964 0 -0.00148016 -0.00255511 -0.0822154 0.99661 uwb: 0.0 851.02 930.37 -imu_odom_: 1691062412.873562987 0.409408 -0.225055 9.87608 -0.0543285 -0.00426106 0.04048 0 0 pose: 0.42931310 0.569803 0.0148964 0 -0.00308728 -0.00304234 -0.0822319 0.996604 uwb: 0.0 851.02 930.37 -imu_odom_: 1691062412.887563133 0.452504 -0.272939 9.88326 -0.0543285 -0.00639159 0.0383495 0 0 pose: 0.0 0.569803 0.0148964 0 -0.00308728 -0.00304234 -0.0822319 0.996604 uwb: 0.0 851.02 930.37 -imu_odom_: 1691062412.901565611 0.457293 -0.265756 9.87129 -0.0543285 -0.00532632 0.0372843 0 0 pose: 0.0 0.569803 0.0148964 0 -0.00308728 -0.00304234 -0.0822319 0.996604 uwb: 0.49881660 850.964 930.66 -imu_odom_: 1691062412.916559331 0.447716 -0.260968 9.89524 -0.0543285 -0.00319579 0.0383495 0 0 pose: 0.42768874 0.569803 0.0148964 0 -0.00227781 -0.00176265 -0.0822282 0.996609 uwb: 0.0 850.964 930.66 -imu_odom_: 1691062412.930840896 0.440533 -0.23942 9.86172 -0.056459 -0.00319579 0.0415453 0 0 pose: 0.0 0.569803 0.0148964 0 -0.00227781 -0.00176265 -0.0822282 0.996609 uwb: 0.0 850.964 930.66 -imu_odom_: 1691062412.944616780 0.426168 -0.248997 9.8689 -0.056459 -0.00426106 0.0394148 0 0 pose: 0.0 0.569803 0.0148964 0 -0.00227781 -0.00176265 -0.0822282 0.996609 uwb: 0.50047597 851.067 929.597 -imu_odom_: 1691062412.959572296 0.45011 -0.225055 9.88805 -0.0543285 -0.00532632 0.0372843 0 0 pose: 0.43277763 0.569803 0.0148964 0 -0.000871205-0.00191191 -0.0822422 0.99661 uwb: 0.0 851.067 929.597 -imu_odom_: 1691062412.973722630 0.502782 -0.232238 9.89763 -0.056459 -0.00532632 0.04048 0 0 pose: 0.0 0.569803 0.0148964 0 -0.000871205-0.00191191 -0.0822422 0.99661 uwb: 0.0 851.067 929.597 -imu_odom_: 1691062412.987676406 0.486023 -0.251391 9.90242 -0.0532632 -0.00426106 0.0383495 0 0 pose: 0.0 0.569803 0.0148964 0 -0.000871205-0.00191191 -0.0822422 0.99661 uwb: 0.0 851.067 929.597 -imu_odom_: 1691062413.1710089 0.459687 -0.25618 9.88326 -0.0553937 -0.00213053 0.0394148 0 0 pose: 0.48868256 0.569803 0.0148964 0 -0.00165661 -0.00380177 -0.0822568 0.996603 uwb: 0.50072676 851.181 929.969 -imu_odom_: 1691062413.16548962 0.440533 -0.222661 9.88566 -0.056459 -0.00532632 0.0415453 0 0 pose: 0.0 0.569803 0.0148964 0 -0.00165661 -0.00380177 -0.0822568 0.996603 uwb: 0.0 851.181 929.969 -imu_odom_: 1691062413.30742465 0.438139 -0.241814 9.90721 -0.0553937 -0.00426106 0.0394148 0 0 pose: 0.0 0.569803 0.0148964 0 -0.00165661 -0.00380177 -0.0822568 0.996603 uwb: 0.0 851.181 929.969 -imu_odom_: 1691062413.44718414 0.476446 -0.248997 9.90481 -0.0553937 -0.00532632 0.0383495 0 0 pose: 0.43008895 0.569803 0.0148964 0 -0.00149798 -0.00169664 -0.0822447 0.99661 uwb: 0.50107697 851.052 929.908 -imu_odom_: 1691062413.58736941 0.47884 -0.237026 9.85932 -0.056459 -0.00532632 0.0383495 0 0 pose: 0.0 0.569803 0.0148964 0 -0.00149798 -0.00169664 -0.0822447 0.99661 uwb: 0.0 851.052 929.908 -imu_odom_: 1691062413.72568243 0.471658 -0.263362 9.91678 -0.056459 -0.00426106 0.0394148 0 0 pose: 0.0 0.569803 0.0148964 0 -0.00149798 -0.00169664 -0.0822447 0.99661 uwb: 0.0 851.052 929.908 -imu_odom_: 1691062413.86633429 0.459687 -0.244209 9.84496 -0.0553937 -0.00213053 0.04048 0 0 pose: 0.41888477 0.569803 0.0148964 0 -0.00199159 -0.00360883 -0.0822655 0.996602 uwb: 0.0 851.052 929.908 -imu_odom_: 1691062413.100553094 0.440533 -0.248997 9.92875 -0.0543285 -0.00319579 0.0415453 0 0 pose: 0.0 0.569803 0.0148964 0 -0.00199159 -0.00360883 -0.0822655 0.996602 uwb: 0.49744626 851.02 930.37 -imu_odom_: 1691062413.114537209 0.442927 -0.215478 9.88326 -0.0543285 -0.00639159 0.04048 0 0 pose: 0.0 0.569803 0.0148964 0 -0.00199159 -0.00360883 -0.0822655 0.996602 uwb: 0.0 851.02 930.37 -imu_odom_: 1691062413.128550195 0.466869 -0.217872 9.87129 -0.0553937 -0.00639159 0.0383495 0 0 pose: 0.41943012 0.569803 0.0148964 0 -0.00151909 -0.00156314 -0.0822408 0.99661 uwb: 0.0 851.02 930.37 -imu_odom_: 1691062413.143533133 0.433351 -0.260968 9.89524 -0.0553937 -0.00532632 0.0394148 0 0 pose: 0.0 0.569803 0.0148964 0 -0.00151909 -0.00156314 -0.0822408 0.99661 uwb: 0.0 851.02 930.37 -imu_odom_: 1691062413.157538536 0.459687 -0.234632 9.85214 -0.0543285 -0.00426106 0.0394148 0 0 pose: 0.0 0.569803 0.0148964 0 -0.00151909 -0.00156314 -0.0822408 0.99661 uwb: 0.50009133 851.717 930.063 -imu_odom_: 1691062413.171640760 0.445322 -0.244209 9.90002 -0.0543285 -0.00319579 0.04048 0 0 pose: 0.43003660 0.569803 0.0148964 0 -0.00128594 -0.00275889 -0.082248 0.996607 uwb: 0.0 851.717 930.063 -imu_odom_: 1691062413.185584921 0.454898 -0.229843 9.89045 -0.0543285 -0.00319579 0.04048 0 0 pose: 0.0 0.569803 0.0148964 0 -0.00128594 -0.00275889 -0.082248 0.996607 uwb: 0.0 851.717 930.063 -imu_odom_: 1691062413.199585659 0.438139 -0.253785 9.88566 -0.0543285 -0.00319579 0.0394148 0 0 pose: 0.0 0.569803 0.0148964 0 -0.00128594 -0.00275889 -0.082248 0.996607 uwb: 0.50045002 851.677 930.203 -imu_odom_: 1691062413.214517562 0.445322 -0.23942 9.90002 -0.0553937 -0.00426106 0.0394148 0 0 pose: 0.41991422 0.569803 0.0148964 0 -0.000851786-0.00258398 -0.0822373 0.996609 uwb: 0.0 851.677 930.203 -imu_odom_: 1691062413.228518299 0.435745 -0.241814 9.89763 -0.056459 -0.00532632 0.0394148 0 0 pose: 0.0 0.569803 0.0148964 0 -0.000851786-0.00258398 -0.0822373 0.996609 uwb: 0.0 851.677 930.203 -imu_odom_: 1691062413.250551620 0.474052 -0.25618 9.94551 -0.0553937 -0.00426106 0.0394148 0 0 pose: 0.36973681 0.569803 0.0148964 0 -0.00172132 -0.00164854 -0.0822379 0.99661 uwb: 0.50077665 851.659 931.141 -imu_odom_: 1691062413.266630786 0.19393 -0.244209 9.9096 -0.0500674 0.0372843 0.00958738 0 0 pose: 0.0 0.569803 0.0148964 0 -0.00172132 -0.00164854 -0.0822379 0.99661 uwb: 0.0 851.659 931.141 -imu_odom_: 1691062413.282577844 -0.696713 -0.0550666 9.92636 -0.0330232 0.076699 -0.00639159 0 0 pose: 0.0 0.569803 0.0148964 0 -0.00172132 -0.00164854 -0.0822379 0.99661 uwb: 0.0 851.659 931.141 -imu_odom_: 1691062413.299511186 -1.03669 -0.220267 9.84256 -0.0500674 -0.0149137 0.0319579 0.04 0.08 pose: 0.6035812 0.569803 0.0148964 0 -0.00193836 -0.00221175 -0.0822389 0.996608 uwb: 0.49780497 852.07 930.544 -imu_odom_: 1691062413.315505779 -0.361524 -0.402226 9.90721 -0.0596548 -0.0553937 0.0681769 0.04 0.08 pose: 0.0 0.569803 0.0148964 0 -0.00193836 -0.00221175 -0.0822389 0.996608 uwb: 0.0 852.07 930.544 -imu_odom_: 1691062413.332500655 0.407014 -0.476446 9.94312 -0.0426106 -0.0319579 0.0798948 0.04 0.08 pose: 0.0 0.569803 0.0148964 0 -0.00193836 -0.00221175 -0.0822389 0.996608 uwb: 0.0 852.07 930.544 -imu_odom_: 1691062413.348690638 0.275333 -0.160412 9.89763 -0.0298274 0.0106526 0.0884169 0.06 0.02 pose: 0.55020456 0.569803 0.0148964 0 -0.00151127 0.00105179 -0.0828687 0.996559 uwb: 0.50047044 852.256 929.37 -imu_odom_: 1691062413.365558656 -0.0526724 -0.0167594 9.85693 -0.0468716 0.02024 0.0788296 0.09 0.05 pose: 0.0 0.569803 0.0148964 0 -0.00151127 0.00105179 -0.0828687 0.996559 uwb: 0.0 852.256 929.37 -imu_odom_: 1691062413.381555874 -0.0215478 -0.11971 10.1514 -0.052198 -0.00213053 0.0713727 0.09 0.05 pose: 0.65997894 0.579803 0.0149371 0 -0.00117505 0.0041407 -0.081802 0.996639 uwb: 0.0 852.256 929.37 -imu_odom_: 1691062413.398514587 0.177171 -0.301669 9.78989 -0.0532632 -0.0138484 0.0703074 0.1 0.05 pose: 0.0 0.579803 0.0149371 0 -0.00117505 0.0041407 -0.081802 0.996639 uwb: 0.49936225 852.305 929.71 -imu_odom_: 1691062413.414492558 0.332794 -0.246603 9.94791 -0.0532632 -0.00852212 0.0649811 0.1 0.05 pose: 0.0 0.579803 0.0149371 0 -0.00117505 0.0041407 -0.081802 0.996639 uwb: 0.0 852.305 929.71 -imu_odom_: 1691062413.431665035 0.035913 -0.186748 9.60075 -0.0426106 0.0234358 0.052198 0.1 0.05 pose: 0.32929685 0.579864 0.00493726 0 -0.00024034 0.00709102 -0.0812413 0.996669 uwb: 0.0 852.305 929.71 -imu_odom_: 1691062413.446665762 0.138864 -0.205901 10.0748 -0.0500674 -0.015979 0.0639159 0.09 0.02 pose: 0.43162889 0.579864 0.00493726 0 -0.00034317 0.00811941 -0.0807802 0.996699 uwb: 0.0 852.305 929.71 -imu_odom_: 1691062413.464605510 0.112527 -0.244209 9.68933 -0.0436758 -0.02024 0.0543285 0.09 0.02 pose: 0.7887353 0.579864 0.00493726 0 -5.45902e-050.0088131 -0.0806817 0.996701 uwb: 0.0 852.305 929.71 -imu_odom_: 1691062413.480660470 0.162806 -0.361524 9.5816 -0.0511327 0.00319579 0.052198 0.09 0.02 pose: 0.0 0.579864 0.00493726 0 -5.45902e-050.0088131 -0.0806817 0.996701 uwb: 0.0 852.305 929.71 -imu_odom_: 1691062413.497513615 0.37589 -0.296881 9.89284 -0.0479369 0.00106526 0.052198 0.14 0.05 pose: 0.41108082 0.589864 0.00502167 0 -0.00135214 0.0116231 -0.0803784 0.996696 uwb: 0.99973937 852.648 928.448 -imu_odom_: 1691062413.513479045 0.181959 -0.134075 9.56244 -0.0585895 -0.00319579 0.0447411 0.11 -0.02 pose: 0.0 0.589864 0.00502167 0 -0.00135214 0.0116231 -0.0803784 0.996696 uwb: 0.0 852.648 928.448 -imu_odom_: 1691062413.530596404 -0.222661 0.117316 9.80904 -0.0500674 -0.0117179 0.0436758 0.11 -0.02 pose: 0.0 0.589864 0.00502167 0 -0.00135214 0.0116231 -0.0803784 0.996696 uwb: 0.0 852.648 928.448 -imu_odom_: 1691062413.545521017 1.07021 -0.227449 10.4124 -0.0511327 -0.111853 0.0628506 0.11 -0.02 pose: 0.24856566 0.589864 0.00502167 0 -0.0009572290.01019 -0.0802531 0.996722 uwb: 0.50003300 853.365 927.688 -imu_odom_: 1691062413.562624378 1.1157 -0.253785 9.64384 -0.0575243 0.00213053 0.0830906 0.11 0.02 pose: 0.0 0.589864 0.00502167 0 -0.0009572290.01019 -0.0802531 0.996722 uwb: 0.0 853.365 927.688 -imu_odom_: 1691062413.578492696 0.950498 -0.531513 9.79707 -0.0575243 0.0351537 0.107592 0.11 0.02 pose: 0.33136157 0.599864 0.00511443 0 0.000953633 0.0102678 -0.0800841 0.996735 uwb: 0.0 853.365 927.688 -imu_odom_: 1691062413.595630469 0.80924 -0.435745 9.79228 -0.0649811 -0.00426106 0.126766 0.1 -0.02 pose: 0.39839503 0.599864 0.00511443 0 -0.0001153730.0064988 -0.0791036 0.996845 uwb: 0.49945558 852.984 928.138 -imu_odom_: 1691062413.610545750 0.914585 -0.105345 9.75637 -0.0543285 0.0255663 0.0937433 0.1 -0.02 pose: 0.0 0.599864 0.00511443 0 -0.0001153730.0064988 -0.0791036 0.996845 uwb: 0.0 852.984 928.138 -imu_odom_: 1691062413.628612064 0.794875 -0.035913 9.85932 -0.0543285 -0.0170442 0.072438 0.1 -0.02 pose: 0.0 0.599864 0.00511443 0 -0.0001153730.0064988 -0.0791036 0.996845 uwb: 0.0 852.984 928.138 -imu_odom_: 1691062413.644549790 0.533907 -0.0550666 9.29908 -0.0607201 0 0.0415453 0.06 0 pose: 0.7199405 0.599864 0.00511443 0 -0.0004639180.00585357 -0.078793 0.996874 uwb: 0.49965971 853.341 927.198 -imu_odom_: 1691062413.661558080 0.878672 -0.328006 10.1658 -0.0543285 -0.0298274 0.0234358 0.07 0.02 pose: 0.0 0.599864 0.00511443 0 -0.0004639180.00585357 -0.078793 0.996874 uwb: 0.0 853.341 927.198 -imu_odom_: 1691062413.677610416 0.826 -0.328006 9.83059 -0.0596548 -0.0213053 0.0223706 0.07 0.02 pose: 0.65946275 0.599864 0.00511443 0 0.000630246 -5.58816e-05-0.0777054 0.996976 uwb: 0.0 853.341 927.198 -imu_odom_: 1691062413.694576712 0.926556 -0.296881 9.97185 -0.0543285 0.00958738 0.0308927 0.06 0.02 pose: 0.0 0.599864 0.00511443 0 0.000630246 -5.58816e-05-0.0777054 0.996976 uwb: 0.50153197 853.491 927.432 -imu_odom_: 1691062413.709541569 0.766145 -0.299275 9.8665 -0.0607201 -0.00958738 0.0340885 0.06 0.02 pose: 0.0 0.599864 0.00511443 0 0.000630246 -5.58816e-05-0.0777054 0.996976 uwb: 0.0 853.491 927.432 -imu_odom_: 1691062413.735505152 0.742203 -0.172383 9.97903 -0.052198 -0.00426106 0.00958738 0.06 0.02 pose: 0.32922978 0.609863 0.0052102 0 -0.000489959-0.00337725 -0.0779509 0.996951 uwb: 0.0 853.491 927.432 -imu_odom_: 1691062413.749481976 0.390255 -0.253785 9.8689 -0.0649811 0.0383495 0.00213053 0.05 0.05 pose: 0.32985094 0.609863 0.0052102 0 -0.00112351 -0.00651483 -0.078154 0.996919 uwb: 0.49881108 853.066 927.701 -imu_odom_: 1691062413.772490207 -1.41497 -0.263362 10.2496 -0.0607201 0.0777643 0.0468716 0.05 0.05 pose: 0.0 0.609863 0.0052102 0 -0.00112351 -0.00651483 -0.078154 0.996919 uwb: 0.0 853.066 927.701 -imu_odom_: 1691062413.795541890 -0.806846 -0.430956 9.70609 -0.0585895 -0.103331 0.0628506 0.05 0.05 pose: 0.38938958 0.609863 0.0052102 0 -0.000952515-0.00560988 -0.0786601 0.996885 uwb: 0.50097787 852.674 928.941 -imu_odom_: 1691062413.813444310 0.766145 -0.105345 10.1059 -0.0468716 -0.0841559 0.0426106 0.05 0.05 pose: 0.0 0.609863 0.0052102 0 -0.000952515-0.00560988 -0.0786601 0.996885 uwb: 0.0 852.674 928.941 -imu_odom_: 1691062413.837432701 0.6608 -0.237026 9.94073 -0.0671117 0.0308927 0.052198 0.09 0.02 pose: 0.56958904 0.609863 0.0052102 0 -0.000601219-0.0046161 -0.0783068 0.996918 uwb: 0.0 852.674 928.941 -imu_odom_: 1691062413.862591100 -0.387861 -0.225055 9.95988 -0.0458064 0.0276969 0.0319579 0.09 0.02 pose: 0.0 0.609863 0.0052102 0 -0.000601219-0.0046161 -0.0783068 0.996918 uwb: 0.49866235 852.939 927.798 -imu_odom_: 1691062413.876549260 -0.217872 -0.356736 9.65821 -0.0585895 -0.0266316 0.0426106 0.1 0.02 pose: 0.8099950 0.609863 0.0052102 0 -0.000786651-0.00526798 -0.0782556 0.996919 uwb: 0.0 852.939 927.798 -imu_odom_: 1691062413.899448131 0.402226 -0.179565 10.149 -0.0553937 -0.0234358 0.0426106 0.1 0.02 pose: 0.0 0.609863 0.0052102 0 -0.000786651-0.00526798 -0.0782556 0.996919 uwb: 0.50052293 852.83 927.425 -imu_odom_: 1691062413.922429532 0.215478 -0.0670376 9.98622 -0.0553937 0.00745685 0.0319579 0.14 0 pose: 0.77903871 0.619863 0.00524351 0 0.000745296 -0.00114537 -0.0781956 0.996937 uwb: 0.0 852.83 927.425 -imu_odom_: 1691062413.945426973 0.294487 -0.35913 9.35893 -0.0511327 -0.0127832 0.0479369 0.14 0 pose: 0.0 0.619863 0.00524351 0 0.000745296 -0.00114537 -0.0781956 0.996937 uwb: 0.50124033 853.385 925.94 -imu_odom_: 1691062413.963424463 0.323217 -0.402226 9.58638 -0.0500674 -0.0255663 0.04048 0.17 0 pose: 0.45978842 0.629863 0.00527743 0 0.0001885 0.00191084 -0.0781942 0.996936 uwb: 0.0 853.385 925.94 -imu_odom_: 1691062413.987471471 0.677559 -0.21069 9.59357 -0.0681769 0.0308927 0.0468716 0.17 0 pose: 0.8053873 0.629863 0.00527743 0 -0.0005650630.00206584 -0.0781921 0.996936 uwb: 0.0 853.385 925.94 -imu_odom_: 1691062414.12539472 0.0143652 -0.25618 9.82341 -0.0447411 -0.0149137 0.0479369 0.14 0 pose: 0.33990625 0.629863 0.00527743 0 -0.00153353 0.000283397 -0.0781061 0.996944 uwb: 0.49786038 853.192 926.164 -imu_odom_: 1691062414.26444856 -0.280122 -0.1652 9.73482 -0.0532632 -0.00639159 0.0575243 0.14 0 pose: 0.0 0.629863 0.00527743 0 -0.00153353 0.000283397 -0.0781061 0.996944 uwb: 0.0 853.192 926.164 -imu_odom_: 1691062414.49437061 0.622492 -0.296881 10.0317 -0.0575243 -0.00426106 0.0415453 0.13 0 pose: 0.6964061 0.629863 0.00527743 0 -0.00146574 0.00093917 -0.0780759 0.996946 uwb: 0.50208047 853.888 924.588 -imu_odom_: 1691062414.73419634 0.129287 -0.0981623 9.6199 -0.0585895 0.0234358 0.0479369 0.13 0 pose: 0.0 0.629863 0.00527743 0 -0.00146574 0.00093917 -0.0780759 0.996946 uwb: 0.0 853.888 924.588 -imu_odom_: 1691062414.90460014 0.56982 -0.19393 9.88087 -0.0628506 -0.036219 0.0553937 0.19 0 pose: 0.39130576 0.639863 0.00531429 0 -0.00119275 0.00330623 -0.0778648 0.996958 uwb: 0.0 853.888 924.588 -imu_odom_: 1691062414.114546989 0.378284 -0.138864 10.2687 -0.0500674 0.0213053 0.0308927 0.19 0 pose: 0.0 0.639863 0.00531429 0 -0.00119275 0.00330623 -0.0778648 0.996958 uwb: 0.49819314 854.415 923.729 -imu_odom_: 1691062414.137531904 -0.0694318 -0.354342 9.47864 -0.0639159 0.00639159 0.0500674 0.19 0 pose: 0.47864243 0.649863 0.00535612 0 -0.0002225840.00312224 -0.0776841 0.996973 uwb: 0.0 854.415 923.729 -imu_odom_: 1691062414.155428794 0.416591 -0.387861 10.1083 -0.0447411 -0.052198 0.0351537 0.19 0 pose: 0.0 0.649863 0.00535612 0 -0.0002225840.00312224 -0.0776841 0.996973 uwb: 0.50189389 854.704 922.418 -imu_odom_: 1691062414.179392119 -0.00718261-0.217872 9.67976 -0.0532632 0.0149137 0.0553937 0.14 0 pose: 0.41162642 0.649863 0.00535612 0 0.00190938 0.00253252 -0.0776725 0.996974 uwb: 0.0 854.704 922.418 -imu_odom_: 1691062414.197424324 0.222661 -0.361524 9.96467 -0.0607201 -0.0319579 0.0490022 0.14 0 pose: 0.0 0.649863 0.00535612 0 0.00190938 0.00253252 -0.0776725 0.996974 uwb: 0.49924299 854.936 921.234 -imu_odom_: 1691062414.221391441 0.440533 -0.0742203 10.0509 -0.0511327 -0.00639159 0.0340885 0.15 0 pose: 0.40909800 0.659863 0.00540119 0 -0.0001149790.00382016 -0.07758 0.996979 uwb: 0.0 854.936 921.234 -imu_odom_: 1691062414.247382744 0.0454898 -0.184354 9.69173 -0.0500674 -0.00639159 0.0415453 0.15 0 pose: 0.0 0.659863 0.00540119 0 -0.0001149790.00382016 -0.07758 0.996979 uwb: 0.50036867 855.005 921.107 -imu_odom_: 1691062414.271385731 0.146046 -0.301669 9.75398 -0.0340885 0.00106526 0.0394148 0.16 0 pose: 0.41921749 0.669863 0.0054497 0 -0.0009710680.00566799 -0.0773963 0.996984 uwb: 0.0 855.005 921.107 -imu_odom_: 1691062414.294431012 0.411803 -0.301669 9.20571 -0.0415453 -0.0255663 0.0394148 0.16 0 pose: 0.0 0.669863 0.0054497 0 -0.0009710680.00566799 -0.0773963 0.996984 uwb: 0.50026661 855.121 920.348 -imu_odom_: 1691062414.320498430 0.112527 -0.251391 10.4483 -0.0468716 -0.0308927 0.04048 0.22 -0.02 pose: 0.48986717 0.669863 0.0054497 0 0.000458481 0.00762677 -0.0774112 0.99697 uwb: 0.0 855.121 920.348 -imu_odom_: 1691062414.345468454 -0.205901 -0.0502782 10.5919 -0.0340885 0.00106526 0.036219 0.17 0 pose: 0.48035719 0.679863 0.00549986 0 -0.00107583 0.00745613 -0.0774295 0.996969 uwb: 0.50023161 854.71 920.452 -imu_odom_: 1691062414.362413471 0.572214 -0.189142 10.0533 -0.0511327 -0.0426106 0.0468716 0.17 0 pose: 0.0 0.679863 0.00549986 0 -0.00107583 0.00745613 -0.0774295 0.996969 uwb: 0.0 854.71 920.452 -imu_odom_: 1691062414.387378537 0.308852 -0.110133 10.2951 -0.04048 0.00639159 0.0436758 0.17 0 pose: 0.26181445 0.689862 0.00554948 0 -0.0004148340.00973704 -0.0774274 0.99695 uwb: 0.0 854.71 920.452 -imu_odom_: 1691062414.410398739 0.248997 -0.476446 9.3709 -0.0713727 0.00852212 0.0543285 0.17 0 pose: 0.41975407 0.689862 0.00554948 0 0.00124838 0.0086647 -0.0773652 0.996964 uwb: 0.49842060 854.39 920.442 -imu_odom_: 1691062414.427507360 0.265756 -0.323217 9.89284 -0.0436758 0.0106526 0.0255663 0.17 0 pose: 0.0 0.689862 0.00554948 0 0.00124838 0.0086647 -0.0773652 0.996964 uwb: 0.0 854.39 920.442 -imu_odom_: 1691062414.451372698 0.742203 -0.323217 9.2081 -0.0490022 0.0170442 0.0330232 0.23 0 pose: 0.47806501 0.699913 -0.00439919 0 -0.00065345 0.00793863 -0.0772307 0.996981 uwb: 0.50002456 854.72 919.299 -imu_odom_: 1691062414.477398414 0.0430956 -0.363919 9.44513 -0.0394148 0.0170442 0.0383495 0.2 -0.02 pose: 0.32962367 0.706498 -0.0043653 0 -0.00193285 0.00582619 -0.0773897 0.996982 uwb: 0.0 854.72 919.299 -imu_odom_: 1691062414.501340450 0.351948 -0.208296 10.003 -0.0553937 -0.0426106 0.056459 0.2 -0.02 pose: 0.0 0.706498 -0.0043653 0 -0.00193285 0.00582619 -0.0773897 0.996982 uwb: 0.50006247 855.041 918.481 -imu_odom_: 1691062414.527407285 0.383072 -0.337582 9.70609 -0.0575243 -0.0287621 0.04048 0.18 -0.02 pose: 0.49967752 0.716567 -0.00431472 0 -0.00146489 0.00596855 -0.0772006 0.996997 uwb: 0.0 855.041 918.481 -imu_odom_: 1691062414.542401897 0.713472 -0.136469 10.0149 -0.0596548 -0.015979 0.0447411 0.18 -0.02 pose: 0.0 0.716567 -0.00431472 0 -0.00146489 0.00596855 -0.0772006 0.996997 uwb: 0.0 855.041 918.481 -imu_odom_: 1691062414.559490687 0.433351 -0.399832 9.47146 -0.0628506 -0.0181095 0.0383495 0.17 -0.02 pose: 0.0 0.716567 -0.00431472 0 -0.00146489 0.00596855 -0.0772006 0.996997 uwb: 0.49986707 854.607 918.572 -imu_odom_: 1691062414.583344944 0.567426 -0.440533 9.165 -0.0692422 -0.0298274 0.0639159 0.17 -0.02 pose: 0.49014422 0.719913 -0.00429659 0 -0.00379026 0.00198894 -0.0771745 0.997008 uwb: 0.0 854.607 918.572 -imu_odom_: 1691062414.606356980 0.217872 -0.114922 10.0676 -0.0500674 0.0255663 0.0340885 0.2 -0.02 pose: 0.32990072 0.729913 -0.00424176 0 -0.00642299 -0.000535192-0.0769017 0.997018 uwb: 0.50054074 854.932 917.416 -imu_odom_: 1691062414.629347728 0.306458 0.0957681 10.2496 -0.0671117 0.0149137 0.0490022 0.2 -0.02 pose: 0.8040754 0.729913 -0.00424176 0 -0.00575766 7.59938e-05 -0.076922 0.99702 uwb: 0.0 854.932 917.416 -imu_odom_: 1691062414.655450724 0.725443 -0.265756 10.307 -0.0511327 0.0181095 0.036219 0.24 -0.02 pose: 0.37962030 0.739913 -0.0041817 0 -0.00235256 0.00171226 -0.076849 0.997038 uwb: 0.49878805 855.027 916.292 -imu_odom_: 1691062414.671408291 0.217872 -0.354342 9.57202 -0.0596548 -0.0372843 0.0426106 0.24 -0.02 pose: 0.0 0.739913 -0.0041817 0 -0.00235256 0.00171226 -0.076849 0.997038 uwb: 0.0 855.027 916.292 -imu_odom_: 1691062414.694386499 0.251391 -0.177171 9.36612 -0.0809601 -0.0426106 0.0575243 0.17 0.02 pose: 0.42060563 0.745519 -0.00414743 0 -0.00309924 0.00062604 -0.0768712 0.997036 uwb: 0.0 855.027 916.292 -imu_odom_: 1691062414.718404358 0.428562 -0.0502782 9.9934 -0.072438 0.00426106 0.0458064 0.17 0.02 pose: 0.0 0.745519 -0.00414743 0 -0.00309924 0.00062604 -0.0768712 0.997036 uwb: 0.0 855.027 916.292 -imu_odom_: 1691062414.735408868 0.445322 -0.557849 9.663 -0.0649811 0.00426106 0.036219 0.24 0 pose: 0.0 0.745519 -0.00414743 0 -0.00309924 0.00062604 -0.0768712 0.997036 uwb: 0.0 855.027 916.292 -imu_odom_: 1691062414.759407188 0.222661 -0.23942 9.63427 -0.0340885 0.00532632 0.0351537 0.24 0 pose: 0.46996067 0.756857 -0.00407733 0 3.15403e-05 0.00127614 -0.0765805 0.997063 uwb: 0.100048656 854.75 915.962 -imu_odom_: 1691062414.776396825 0.557849 -0.277727 10.0963 -0.0511327 -0.00639159 0.0394148 0.22 -0.02 pose: 0.0 0.756857 -0.00407733 0 3.15403e-05 0.00127614 -0.0765805 0.997063 uwb: 0.0 854.75 915.962 -imu_odom_: 1691062414.801318438 0.428562 -0.122104 9.75158 -0.0426106 0.0255663 0.0479369 0.22 -0.02 pose: 0.49082079 0.759979 -0.0140567 0 -0.00131017 0.00283693 -0.0766619 0.997052 uwb: 0.50130188 855.638 914.445 -imu_odom_: 1691062414.825334548 0.701501 -0.275333 10.0341 -0.0575243 -0.015979 0.052198 0.22 0 pose: 0.33832001 0.769979 -0.0139915 0 0.000842636 0.0010486 -0.0765595 0.997064 uwb: 0.0 855.638 914.445 -imu_odom_: 1691062414.849310997 0.768539 -0.289698 10.0556 -0.0383495 0.00639159 0.0415453 0.22 0 pose: 0.8078083 0.769979 -0.0139915 0 0.000584448 0.000231233 -0.0765084 0.997069 uwb: 0.49916425 855.882 912.373 -imu_odom_: 1691062414.872301744 0.78051 -0.220267 10.1035 -0.0468716 -0.0351537 0.0447411 0.17 0.02 pose: 0.39914476 0.779979 -0.0139232 0 -0.00043297 -0.0035604 -0.076382 0.997072 uwb: 0.0 855.882 912.373 -imu_odom_: 1691062414.896309106 0.136469 -0.186748 10.0293 -0.0383495 -0.0191748 0.0436758 0.17 0.02 pose: 0.0 0.779979 -0.0139232 0 -0.00043297 -0.0035604 -0.076382 0.997072 uwb: 0.49945880 856.08 912.322 -imu_odom_: 1691062414.913293784 0.435745 -0.253785 9.96227 -0.0575243 -0.02024 0.0617853 0.21 0 pose: 0.46998109 0.789978 -0.0138519 0 -4.03012e-06-0.00403375 -0.0762733 0.997079 uwb: 0.0 856.08 912.322 -imu_odom_: 1691062414.928401548 1.09894 -0.124498 10.1323 -0.0809601 -0.092678 0.128897 0.21 0 pose: 0.0 0.789978 -0.0138519 0 -4.03012e-06-0.00403375 -0.0762733 0.997079 uwb: 0.0 856.08 912.322 -imu_odom_: 1691062414.946296397 0.723049 -0.1652 9.17937 -0.0894822 0.0117179 0.197074 0.21 0 pose: 0.0 0.789978 -0.0138519 0 -4.03012e-06-0.00403375 -0.0762733 0.997079 uwb: 0.49999831 856.157 912.196 -imu_odom_: 1691062414.961284302 0.940921 -0.579397 10.2663 -0.0671117 0.0426106 0.223706 0.2 0.14 pose: 0.40100826 0.789978 -0.0138519 0 -0.00119995 -0.00572751 -0.0747833 0.997183 uwb: 0.0 856.157 912.196 -imu_odom_: 1691062414.978278896 1.21625 -0.37589 9.92397 -0.0500674 0.00319579 0.236489 0.2 0.14 pose: 0.0 0.789978 -0.0138519 0 -0.00119995 -0.00572751 -0.0747833 0.997183 uwb: 0.0 856.157 912.196 -imu_odom_: 1691062414.994395982 0.991199 -0.131681 9.92636 -0.0447411 -0.00852212 0.287621 0.12 0.32 pose: 0.0 0.789978 -0.0138519 0 -0.00119995 -0.00572751 -0.0747833 0.997183 uwb: 0.49983791 855.501 913.003 -imu_odom_: 1691062415.11337213 1.27132 -0.488417 9.41161 -0.0596548 -0.0330232 0.338754 0.12 0.32 pose: 0.49998372 0.799978 -0.013749 0 -0.00249405 -0.0096914 -0.0699559 0.9975 uwb: 0.0 855.501 913.003 -imu_odom_: 1691062415.26331252 1.13485 -0.397437 9.97424 -0.0426106 0.00319579 0.38456 0.12 0.32 pose: 0.0 0.799978 -0.013749 0 -0.00249405 -0.0096914 -0.0699559 0.9975 uwb: 0.0 855.501 913.003 -imu_odom_: 1691062415.43266072 0.751779 -0.289698 9.75637 -0.052198 0.0308927 0.468716 0.13 0.5 pose: 0.39922948 0.809968 -0.0137487 0 -0.0034938 -0.0136245 -0.0638523 0.99786 uwb: 0.0 855.501 913.003 -imu_odom_: 1691062415.59388127 0.799663 -0.555455 9.77074 -0.0660464 -0.0308927 0.54435 0.13 0.5 pose: 0.0 0.809968 -0.0137487 0 -0.0034938 -0.0136245 -0.0638523 0.99786 uwb: 0.49995773 856.207 911.023 -imu_odom_: 1691062415.76265788 0.749385 -0.272939 9.414 -0.04048 -0.0138484 0.552872 0.13 0.5 pose: 0.0 0.809968 -0.0137487 0 -0.0034938 -0.0136245 -0.0638523 0.99786 uwb: 0.0 856.207 911.023 -imu_odom_: 1691062415.91388726 0.766145 -0.296881 9.79468 -0.0543285 0.0298274 0.585895 0.08 0.47 pose: 0.8004305 0.809978 -0.013749 0 -0.00377419 -0.01423 -0.0621369 0.997959 uwb: 0.0 856.207 911.023 -imu_odom_: 1691062415.108381289 0.828394 -0.301669 10.0389 -0.0511327 -0.00745685 0.64342 0.1 0.64 pose: 0.0 0.809978 -0.013749 0 -0.00377419 -0.01423 -0.0621369 0.997959 uwb: 0.50108055 856.091 910.082 -imu_odom_: 1691062415.124275290 0.857124 -0.426168 9.8282 -0.0500674 0.0394148 0.680704 0.1 0.64 pose: 0.65078472 0.809978 -0.013749 0 -0.00534236 -0.0191002 -0.0452924 0.998777 uwb: 0.0 856.091 910.082 -imu_odom_: 1691062415.141319471 0.292093 -0.490811 9.96467 -0.0532632 0.052198 0.681769 0.09 0.73 pose: 0.0 0.809978 -0.013749 0 -0.00534236 -0.0191002 -0.0452924 0.998777 uwb: 0.0 856.091 910.082 -imu_odom_: 1691062415.154262784 0.316035 -0.356736 9.97185 -0.0372843 0.0149137 0.649811 0.09 0.73 pose: 0.0 0.809978 -0.013749 0 -0.00534236 -0.0191002 -0.0452924 0.998777 uwb: 0.49920539 855.752 910.221 -imu_odom_: 1691062415.171255930 0.296881 0.0191536 9.76355 -0.0490022 -0.0255663 0.646616 0.09 0.73 pose: 0.32913102 0.819978 -0.0137497 0 -0.00714801 -0.0192472 -0.0348852 0.99918 uwb: 0.0 855.752 910.221 -imu_odom_: 1691062415.186257551 0.914585 -0.160412 9.85214 -0.0532632 -0.0138484 0.639159 0.06 0.58 pose: 0.38928799 0.819968 -0.0137495 0 -0.00624501 -0.0155389 -0.0228877 0.999598 uwb: 0.0 855.752 910.221 -imu_odom_: 1691062415.203255946 0.861913 -0.414197 9.97185 -0.0458064 -0.00106526 0.586961 0.06 0.58 pose: 0.7004606 0.819978 -0.0137496 0 -0.00583912 -0.0161116 -0.0207983 0.999637 uwb: 0.50063728 855.115 910.526 -imu_odom_: 1691062415.219304510 0.718261 -0.227449 9.93594 -0.0490022 -0.00106526 0.551807 0.06 0.58 pose: 0.0 0.819978 -0.0137496 0 -0.00583912 -0.0161116 -0.0207983 0.999637 uwb: 0.0 855.115 910.526 -imu_odom_: 1691062415.235245172 0.574608 -0.0694318 9.89763 -0.056459 0.00745685 0.536893 0.06 0.55 pose: 0.41043974 0.819968 -0.0137495 0 -0.00496186 -0.0174364 -0.00966332 0.999789 uwb: 0.0 855.115 910.526 -imu_odom_: 1691062415.251274489 0.565032 -0.114922 9.84256 -0.0553937 0 0.517718 0.06 0.55 pose: 0.0 0.819968 -0.0137495 0 -0.00496186 -0.0174364 -0.00966332 0.999789 uwb: 0.49995195 854.788 910.149 -imu_odom_: 1691062415.268250137 0.651223 -0.28491 9.84975 -0.0532632 0 0.478304 0.06 0.55 pose: 0.0 0.819968 -0.0137495 0 -0.00496186 -0.0174364 -0.00966332 0.999789 uwb: 0.0 854.788 910.149 -imu_odom_: 1691062415.292366582 0.708684 -0.131681 9.80186 -0.0532632 -0.00319579 0.426106 0.04 0.35 pose: 0.39102318 0.819978 -0.0137496 0 -0.00289462 -0.0145977 -0.0003329040.999889 uwb: 0.0 854.788 910.149 -imu_odom_: 1691062415.309294987 0.579397 -0.184354 10.003 -0.0596548 0.0181095 0.393083 0.04 0.38 pose: 0.0 0.819978 -0.0137496 0 -0.00289462 -0.0145977 -0.0003329040.999889 uwb: 0.49857255 854.598 909.326 -imu_odom_: 1691062415.324226617 0.122104 -0.251391 9.77074 -0.0649811 0.0426106 0.32384 0.04 0.38 pose: 0.42030259 0.819978 -0.0137497 0 -0.00068663 -0.0134544 0.00788274 0.999878 uwb: 0.0 854.598 909.326 -imu_odom_: 1691062415.341355078 -0.454898 0.122104 10.1873 -0.052198 0.056459 0.175769 0.04 0.38 pose: 0.0 0.819978 -0.0137497 0 -0.00068663 -0.0134544 0.00788274 0.999878 uwb: 0.0 854.598 909.326 -imu_odom_: 1691062415.357228374 -1.34075 0.402226 9.58878 -0.0649811 0.0308927 0.176834 0.08 0.29 pose: 0.0 0.819978 -0.0137497 0 -0.00068663 -0.0134544 0.00788274 0.999878 uwb: 0.50114471 854.495 908.908 -imu_odom_: 1691062415.373230861 -0.811634 -0.670376 9.92875 -0.0862864 -0.0628506 0.26099 0.08 0.29 pose: 0.31798501 0.829977 -0.0135918 0 -0.000295395-0.00970658 0.0121093 0.99988 uwb: 0.0 854.495 908.908 -imu_odom_: 1691062415.386282659 0.167594 -0.885855 9.96946 -0.0756338 -0.0873517 0.252468 0.08 0.17 pose: 0.0 0.829977 -0.0135918 0 -0.000295395-0.00970658 0.0121093 0.99988 uwb: 0.0 854.495 908.908 -imu_odom_: 1691062415.401277280 0.775721 -0.529119 9.70131 -0.0447411 -0.0127832 0.207727 0.08 0.17 pose: 0.40995273 0.829977 -0.0135918 0 -0.000427854-0.00572894 0.0155853 0.999862 uwb: 0.49960491 854.291 908.426 -imu_odom_: 1691062415.418281508 0.294487 0.179565 9.87369 -0.0809601 0.0191748 0.24288 0.08 0.17 pose: 0.0 0.829977 -0.0135918 0 -0.000427854-0.00572894 0.0155853 0.999862 uwb: 0.0 854.291 908.426 -imu_odom_: 1691062415.434510007 0.0981623 -0.0814029 9.9096 -0.0745685 0.036219 0.230097 0.1 0.17 pose: 0.6023570 0.829977 -0.0135918 0 -0.00102611 -0.00570733 0.0162294 0.999851 uwb: 0.0 854.291 908.426 -imu_odom_: 1691062415.451220857 0.213084 -0.476446 9.61272 -0.0639159 0.0276969 0.168312 0.1 0.17 pose: 0.0 0.829977 -0.0135918 0 -0.00102611 -0.00570733 0.0162294 0.999851 uwb: 0.49916165 855.289 905.501 -imu_odom_: 1691062415.466330380 0.126893 -0.31364 9.67257 -0.0639159 0.00532632 0.154463 0.1 0.17 pose: 0.0 0.829977 -0.0135918 0 -0.00102611 -0.00570733 0.0162294 0.999851 uwb: 0.0 855.289 905.501 -imu_odom_: 1691062415.483210083 0.181959 -0.299275 9.50019 -0.0692422 -0.0298274 0.181095 0.15 0.17 pose: 0.47198194 0.839974 -0.0133791 0 -0.00127203 -0.00483091 0.0207415 0.999772 uwb: 0.0 855.289 905.501 -imu_odom_: 1691062415.499206446 0.0574608 -0.447716 9.6199 -0.0585895 -0.0298274 0.18216 0.12 0.11 pose: 0.0 0.839974 -0.0133791 0 -0.00127203 -0.00483091 0.0207415 0.999772 uwb: 0.49906540 855.688 904.677 -imu_odom_: 1691062415.516209216 0.0837971 -0.196325 10.1083 -0.0553937 -0.00852212 0.173638 0.12 0.11 pose: 0.0 0.839974 -0.0133791 0 -0.00127203 -0.00483091 0.0207415 0.999772 uwb: 0.0 855.688 904.677 -imu_odom_: 1691062415.531267121 0.225055 -0.19393 9.89284 -0.0415453 -0.0287621 0.166181 0.12 0.11 pose: 0.64893871 0.839974 -0.0133791 0 -0.00346193 0.00118366 0.0252411 0.999675 uwb: 0.0 855.688 904.677 -imu_odom_: 1691062415.548200775 0.593762 -0.191536 9.80904 -0.04048 -0.04048 0.160855 0.13 0.08 pose: 0.0 0.839974 -0.0133791 0 -0.00346193 0.00118366 0.0252411 0.999675 uwb: 0.50246870 855.319 904.978 -imu_odom_: 1691062415.564318455 0.320823 -0.191536 9.71806 -0.0585895 -0.0372843 0.176834 0.13 0.08 pose: 0.31865284 0.849972 -0.0131744 0 -0.00289047 0.00385228 0.0273963 0.999613 uwb: 0.0 855.319 904.978 -imu_odom_: 1691062415.580199625 0.905008 -0.371101 10.0149 -0.0500674 -0.0479369 0.172573 0.17 0.14 pose: 0.33127158 0.849972 -0.0131744 0 -0.00110206 0.00278099 0.0294957 0.99956 uwb: 0.0 855.319 904.978 -imu_odom_: 1691062415.595322854 0.988805 -0.25618 9.5792 -0.0553937 -0.0500674 0.206661 0.17 0.14 pose: 0.0 0.849972 -0.0131744 0 -0.00110206 0.00278099 0.0294957 0.99956 uwb: 0.49882627 855.463 903.982 -imu_odom_: 1691062415.611311343 0.761356 -0.337582 9.39485 -0.0532632 -0.00745685 0.26099 0.17 0.14 pose: 0.0 0.849972 -0.0131744 0 -0.00110206 0.00278099 0.0294957 0.99956 uwb: 0.0 855.463 903.982 -imu_odom_: 1691062415.625317055 1.54665 -0.493206 10.6638 -0.052198 -0.0287621 0.232228 0.09 0.05 pose: 0.14866305 0.849972 -0.0131744 0 -0.0005719070.00226228 0.0305028 0.999532 uwb: 0.0 855.463 903.982 -imu_odom_: 1691062415.642368818 1.4054 0.112527 9.663 -0.0298274 -0.0127832 0.109722 0.09 0.05 pose: 0.0 0.849972 -0.0131744 0 -0.0005719070.00226228 0.0305028 0.999532 uwb: 0.0 855.463 903.982 -imu_odom_: 1691062415.658186122 1.01514 0.0430956 9.62708 -0.0585895 0.0298274 0.105461 0.09 0.05 pose: 0.0 0.849972 -0.0131744 0 -0.0005719070.00226228 0.0305028 0.999532 uwb: 0.50047105 855.647 903.192 -imu_odom_: 1691062415.675304376 0.670376 -0.275333 9.84017 -0.0681769 0.0191748 0.118244 0.11 0.11 pose: 0.47122079 0.85997 -0.0129643 0 -0.00128945 -0.00300712 0.0348045 0.999389 uwb: 0.0 855.647 903.192 -imu_odom_: 1691062415.691187879 0.536301 -0.624887 9.94073 -0.0511327 0.00106526 0.0830906 0.07 0.08 pose: 0.0 0.85997 -0.0129643 0 -0.00128945 -0.00300712 0.0348045 0.999389 uwb: 0.0 855.647 903.192 -imu_odom_: 1691062415.707247525 0.715866 -0.143652 9.92636 -0.0490022 -0.0223706 0.0777643 0.07 0.08 pose: 0.64983401 0.85997 -0.0129643 0 -0.00129669 -0.00787473 0.0374422 0.999267 uwb: 0.0 855.647 903.192 -imu_odom_: 1691062415.723180313 0.732626 -0.110133 9.71806 -0.0585895 0.00106526 0.11931 0.06 0.05 pose: 0.0 0.85997 -0.0129643 0 -0.00129669 -0.00787473 0.0374422 0.999267 uwb: 0.0 855.647 903.192 -imu_odom_: 1691062415.740235576 0.730232 -0.40462 9.97664 -0.0553937 0.00319579 0.135289 0.06 0.05 pose: 0.0 0.85997 -0.0129643 0 -0.00129669 -0.00787473 0.0374422 0.999267 uwb: 0.0 855.647 903.192 -imu_odom_: 1691062415.755194327 0.715866 -0.430956 9.88087 -0.0436758 -0.00319579 0.115049 0.06 0.05 pose: 0.30881041 0.869967 -0.012715 0 -0.000562915-0.00973396 0.0381875 0.999223 uwb: 0.99939063 855.691 902.487 -imu_odom_: 1691062415.781189729 0.687136 -0.162806 9.67497 -0.0543285 0.0170442 0.120375 0.06 0.11 pose: 0.41002563 0.869956 -0.012715 0 -0.00258466 -0.0120364 0.0399464 0.999126 uwb: 0.0 855.691 902.487 -imu_odom_: 1691062415.794175036 0.45011 -0.270545 9.97185 -0.0607201 0.0351537 0.1012 0.06 0.11 pose: 0.0 0.869956 -0.012715 0 -0.00258466 -0.0120364 0.0399464 0.999126 uwb: 0.49866296 855.675 901.368 -imu_odom_: 1691062415.818189410 -0.924162 -0.0502782 9.86411 -0.0319579 0.0958738 -0.0138484 0.05 0.08 pose: 0.8067589 0.869967 -0.012715 0 -0.00185433 -0.0122855 0.0402621 0.999112 uwb: 0.0 855.675 901.368 -imu_odom_: 1691062415.843216900 -0.794875 -0.600945 9.92157 -0.0841559 -0.0873517 0.116114 0.1 0.11 pose: 0.0 0.869967 -0.012715 0 -0.00185433 -0.0122855 0.0402621 0.999112 uwb: 0.0 855.675 901.368 -imu_odom_: 1691062415.866230117 0.466869 -0.4956 9.69173 -0.0319579 -0.0532632 0.0639159 0.08 0.05 pose: 0.79954984 0.869967 -0.012715 0 -0.00126011 -0.00638574 0.0416904 0.999109 uwb: 0.50182129 855.266 901.461 -imu_odom_: 1691062415.882188859 0.648829 0.232238 9.90002 -0.0468716 -0.0426106 0.0905475 0.08 0.05 pose: 0.0 0.869967 -0.012715 0 -0.00126011 -0.00638574 0.0416904 0.999109 uwb: 0.0 855.266 901.461 -imu_odom_: 1691062415.899158967 0.497994 -0.047884 10.1778 -0.0692422 0.0372843 0.118244 0.14 0.05 pose: 0.38971959 0.879964 -0.0124788 0 -0.00158677 -0.00712028 0.0423841 0.999075 uwb: 0.49739437 855.64 900.788 -imu_odom_: 1691062415.923364358 -0.0957681 -0.411803 9.94791 -0.0617853 -0.00745685 0.0553937 0.14 0.05 pose: 0.8076046 0.879964 -0.0124788 0 -0.000872959-0.00674092 0.0426957 0.999065 uwb: 0.0 855.64 900.788 -imu_odom_: 1691062415.949154454 0.40462 -0.294487 10.0628 -0.0532632 -0.0276969 0.0937433 0.13 0 pose: 0.33099453 0.879964 -0.0124788 0 -0.00097051 -0.00407945 0.0432353 0.999056 uwb: 0.50023483 855.577 899.624 -imu_odom_: 1691062415.973202366 0.215478 -0.40462 9.67736 -0.0511327 -0.0245011 0.0639159 0.13 0 pose: 0.0 0.879964 -0.0124788 0 -0.00097051 -0.00407945 0.0432353 0.999056 uwb: 0.0 855.577 899.624 -imu_odom_: 1691062415.999143816 0.227449 0.102951 10.0916 -0.0500674 -0.0234358 0.0809601 0.13 0.05 pose: 0.7897278 0.879964 -0.0124788 0 -0.00144986 -0.00355258 0.0434518 0.999048 uwb: 0.50039231 855.564 898.108 -imu_odom_: 1691062416.24161988 0.1652 -0.481235 9.73004 -0.0383495 -0.0127832 0.0596548 0.13 0.05 pose: 0.50029899 0.88996 -0.0122095 0 -0.00306884 -0.0002966530.044412 0.999009 uwb: 0.0 855.564 898.108 -imu_odom_: 1691062416.47168512 0.94571 -0.265756 10.2639 -0.0500674 -0.00426106 0.0639159 0.13 0.05 pose: 0.0 0.88996 -0.0122095 0 -0.00306884 -0.0002966530.044412 0.999009 uwb: 0.50055589 855.658 897.234 -imu_odom_: 1691062416.64139213 0.395043 -0.328006 9.87608 -0.0426106 0.0245011 0.0756338 0.13 0.05 pose: 0.0 0.88996 -0.0122095 0 -0.00306884 -0.0002966530.044412 0.999009 uwb: 0.0 855.658 897.234 -imu_odom_: 1691062416.88424816 0.19393 -0.0981623 9.85214 -0.0575243 -0.0181095 0.0745685 0.19 0.02 pose: 0.73884203 0.899959 -0.0120119 0 -0.00363491 -0.00011811 0.0454537 0.99896 uwb: 0.0 855.658 897.234 -imu_odom_: 1691062416.115280535 0.454898 -0.0742203 10.2759 -0.0553937 0.00532632 0.072438 0.17 0 pose: 0.33249078 0.906664 -0.0118715 0 -0.00283898 0.00179667 0.046049 0.998934 uwb: 0.49978311 854.803 897.577 -imu_odom_: 1691062416.132197577 0.387861 -0.28491 9.67497 -0.072438 0.0213053 0.0809601 0.17 0 pose: 0.0 0.906664 -0.0118715 0 -0.00283898 0.00179667 0.046049 0.998934 uwb: 0.0 854.803 897.577 -imu_odom_: 1691062416.156155099 0.555455 -0.100556 10.2448 -0.0543285 -0.0138484 0.0617853 0.22 0.02 pose: 0.43772761 0.909956 -0.0117987 0 -0.00219668 0.000977277 0.0468392 0.9989 uwb: 0.49927568 854.296 898.549 -imu_odom_: 1691062416.180199234 0.148441 -0.0191536 10.5201 -0.0511327 0.00213053 0.0745685 0.22 0.02 pose: 0.0 0.909956 -0.0117987 0 -0.00219668 0.000977277 0.0468392 0.9989 uwb: 0.0 854.296 898.549 -imu_odom_: 1691062416.204143924 0.035913 -0.184354 10.0556 -0.0596548 -0.0234358 0.0575243 0.22 0 pose: 0.48001657 0.919953 -0.0115598 0 0.000923597 0.00122523 0.0475231 0.998869 uwb: 0.50011264 854.215 897.544 -imu_odom_: 1691062416.220144671 0.505177 0.174777 10.161 -0.0458064 -0.0500674 0.0500674 0.22 0 pose: 0.0 0.919953 -0.0115598 0 0.000923597 0.00122523 0.0475231 0.998869 uwb: 0.0 854.215 897.544 -imu_odom_: 1691062416.244195222 0.141258 -0.28491 10.0892 -0.0639159 0.0149137 0.0649811 0.17 0 pose: 0.0 0.919953 -0.0115598 0 0.000923597 0.00122523 0.0475231 0.998869 uwb: 0.49905404 855.485 895.395 -imu_odom_: 1691062416.267191539 0.435745 -0.217872 10.1586 -0.0607201 0.0245011 0.0458064 0.17 0 pose: 0.47947414 0.92995 -0.0113077 0 0.00196215 0.00318506 0.0479228 0.998844 uwb: 0.0 855.485 895.395 -imu_odom_: 1691062416.284176238 -0.009576810 9.93115 -0.0596548 0.0447411 0.0617853 0.2 0.02 pose: 0.0 0.92995 -0.0113077 0 0.00196215 0.00318506 0.0479228 0.998844 uwb: 0.0 855.485 895.395 -imu_odom_: 1691062416.309120628 0.560243 -0.361524 9.86411 -0.0660464 0.00745685 0.0500674 0.2 0.02 pose: 0.46992042 0.939947 -0.011047 0 0.000886632 0.00366371 0.0482831 0.998827 uwb: 0.50079506 855.606 894.904 -imu_odom_: 1691062416.336152200 0.610521 -0.059855 9.83777 -0.0649811 -0.0138484 0.0575243 0.19 -0.02 pose: 0.33981938 0.939947 -0.011047 0 -0.0002248490.00273197 0.0485122 0.998819 uwb: 0.0 855.606 894.904 -imu_odom_: 1691062416.352150613 0.122104 -0.155623 10.2065 -0.0585895 0.0213053 0.0415453 0.19 -0.02 pose: 0.8066427 0.939947 -0.011047 0 0.000186926 0.00202086 0.0485857 0.998817 uwb: 0.49934567 855.648 894.161 -imu_odom_: 1691062416.378090330 0.428562 -0.143652 10.1107 -0.0394148 0.0276969 0.0319579 0.21 0.02 pose: 0.0 0.939947 -0.011047 0 0.000186926 0.00202086 0.0485857 0.998817 uwb: 0.0 855.648 894.161 -imu_odom_: 1691062416.402141464 0.270545 -0.440533 9.60793 -0.0500674 0.0458064 0.0543285 0.21 0.02 pose: 0.34963558 0.949943 -0.010775 0 0.00124594 0.00214827 0.0487726 0.998807 uwb: 0.49982102 855.898 892.982 -imu_odom_: 1691062416.425100744 0.866701 -0.356736 10.2113 -0.0372843 0.00745685 0.0308927 0.17 0 pose: 0.49990851 0.956744 -0.0105877 0 0.000750977 0.00195188 0.0488551 0.998804 uwb: 0.0 855.898 892.982 -imu_odom_: 1691062416.442154267 0.751779 -0.42138 9.62708 -0.0607201 -0.00532632 0.0649811 0.17 0 pose: 0.0 0.956744 -0.0105877 0 0.000750977 0.00195188 0.0488551 0.998804 uwb: 0.0 855.898 892.982 -imu_odom_: 1691062416.467095742 0.713472 -0.179565 10.0652 -0.0596548 -0.0181095 0.0394148 0.17 0 pose: 0.40012803 0.965208 -0.0103531 0 -0.000504063-0.00162935 0.0489728 0.998799 uwb: 0.50038094 856.439 891.822 -imu_odom_: 1691062416.491100799 0.519542 -0.0622492 10.3334 -0.0596548 -0.0490022 0.0490022 0.17 0 pose: 0.0 0.965208 -0.0103531 0 -0.000504063-0.00162935 0.0489728 0.998799 uwb: 0.0 856.439 891.822 -imu_odom_: 1691062416.514091282 0.921768 -0.189142 10.0126 -0.0596548 -0.0426106 0.0394148 0.25 0.02 pose: 0.48946532 0.969935 -0.0102207 0 0.00233614 -0.00511605 0.0490707 0.998779 uwb: 0.49938941 855.171 893.806 -imu_odom_: 1691062416.537138050 0.533907 -0.263362 9.78031 -0.0809601 -0.0351537 0.0617853 0.25 0.02 pose: 0.0 0.969935 -0.0102207 0 0.00233614 -0.00511605 0.0490707 0.998779 uwb: 0.0 855.171 893.806 -imu_odom_: 1691062416.554074339 0.749385 -0.414197 10.0963 -0.076699 -0.0191748 0.0575243 0.23 0 pose: 0.46037251 0.97965 5.684e-05 0 -0.000198956-0.00774229 0.0493412 0.998752 uwb: 0.50059967 854.985 892.695 -imu_odom_: 1691062416.569073053 0.395043 -0.395043 9.44034 -0.04048 0.00639159 0.0351537 0.23 0 pose: 0.0 0.97965 5.684e-05 0 -0.000198956-0.00774229 0.0493412 0.998752 uwb: 0.0 854.985 892.695 -imu_odom_: 1691062416.585098005 0.395043 -0.208296 10.1011 -0.0479369 0.02024 0.0447411 0.23 0 pose: 0.0 0.97965 5.684e-05 0 -0.000198956-0.00774229 0.0493412 0.998752 uwb: 0.0 854.985 892.695 -imu_odom_: 1691062416.610077974 0.409408 -0.0957681 9.8258 -0.052198 0.0245011 0.0426106 0.21 0.02 pose: 0.39110798 0.989646 0.00034575 0 -0.00215122 -0.00717198 0.0494971 0.998746 uwb: 0.49929026 855.112 891.609 -imu_odom_: 1691062416.635131433 0.337582 -0.452504 10.0963 -0.0639159 0.00532632 0.0543285 0.2 0 pose: 0.33829126 0.99669 0.000550592 0 0.000142064 -0.00432549 0.0495485 0.998762 uwb: 0.0 855.112 891.609 -imu_odom_: 1691062416.657280571 0.632069 -0.126893 10.2831 -0.0287621 -0.0255663 0.0436758 0.2 0 pose: 0.7080725 0.999642 0.000636633 0 -0.000504858-0.00393991 0.0496032 0.998761 uwb: 0.50003099 854.581 892.003 -imu_odom_: 1691062416.673072803 0.299275 -0.294487 10.1035 -0.052198 -0.00319579 0.0543285 0.2 0 pose: 0.0 0.999642 0.000636633 0 -0.000504858-0.00393991 0.0496032 0.998761 uwb: 0.0 854.581 892.003 -imu_odom_: 1691062416.699089510 0.301669 -0.196325 9.8258 -0.0426106 -0.0351537 0.0479369 0.19 0 pose: 0.48069606 0.999642 0.000636633 0 -0.000665179-0.0041101 0.0498409 0.998748 uwb: 0.49987643 854.37 891.45 -imu_odom_: 1691062416.714080641 0.363919 -0.215478 9.68933 -0.0553937 -0.0223706 0.0532632 0.19 0 pose: 0.0 0.999642 0.000636633 0 -0.000665179-0.0041101 0.0498409 0.998748 uwb: 0.0 854.37 891.45 -imu_odom_: 1691062416.740133509 0.483629 -0.169988 9.83777 -0.0436758 -0.0394148 0.0479369 0.19 0 pose: 0.40945138 1.00964 0.000933898 0 -0.000243716-0.0005630920.0500597 0.998746 uwb: 0.0 854.37 891.45 -imu_odom_: 1691062416.764134192 0.177171 -0.105345 10.0269 -0.0596548 -0.00639159 0.0479369 0.17 0.02 pose: 0.33960066 1.01694 0.0011543 0 0.00138374 -0.00248021 0.0502223 0.998734 uwb: 0.49943899 853.799 891.422 -imu_odom_: 1691062416.788126417 -0.0407014 -0.263362 9.75877 -0.076699 0.0127832 0.0436758 0.17 0.02 pose: 0.0 1.01694 0.0011543 0 0.00138374 -0.00248021 0.0502223 0.998734 uwb: 0.0 853.799 891.422 -imu_odom_: 1691062416.812055068 0.378284 -0.146046 10.0102 -0.0756338 0.00106526 0.0596548 0.21 0 pose: 0.6959408 1.01963 0.00123633 0 0.00153889 -0.00181233 0.05025 0.998734 uwb: 0.49913278 853.532 891.422 -imu_odom_: 1691062416.828160217 0.462081 -0.430956 9.84256 -0.0852212 0 0.0607201 0.21 0 pose: 0.0 1.01963 0.00123633 0 0.00153889 -0.00181233 0.05025 0.998734 uwb: 0.0 853.532 891.422 -imu_odom_: 1691062416.852113948 0.383072 -0.366313 9.59357 -0.0607201 0.0149137 0.0532632 0.17 0 pose: 0.47985909 1.02963 0.00154234 0 0.00166105 0.00210472 0.0504343 0.998724 uwb: 0.50043052 853.631 889.702 -imu_odom_: 1691062416.878038792 0.737414 -0.294487 9.85214 -0.0660464 -0.0298274 0.0298274 0.17 0 pose: 0.0 1.02963 0.00154234 0 0.00166105 0.00210472 0.0504343 0.998724 uwb: 0.0 853.631 889.702 -imu_odom_: 1691062416.902043557 0.363919 -0.474052 9.81144 -0.0607201 -0.0607201 0.0468716 0.18 0.02 pose: 0.41085993 1.03962 0.00185469 0 0.000483385 0.00103103 0.0508334 0.998706 uwb: 0.50059967 853.235 889.202 -imu_odom_: 1691062416.918100005 0.732626 -0.294487 10.0389 -0.0490022 -0.04048 0.0479369 0.18 0.02 pose: 0.0 1.03962 0.00185469 0 0.000483385 0.00103103 0.0508334 0.998706 uwb: 0.0 853.235 889.202 -imu_odom_: 1691062416.942082607 0.936133 -0.174777 9.94073 -0.0500674 0.0223706 0.052198 0.19 0.02 pose: 0.48885290 1.03962 0.00185469 0 -0.00225726 -0.00181254 0.0508392 0.998703 uwb: 0.0 853.235 889.202 -imu_odom_: 1691062416.967327082 0.531513 -0.124498 10.0652 -0.0479369 -0.0149137 0.0458064 0.19 0.02 pose: 0.0 1.03962 0.00185469 0 -0.00225726 -0.00181254 0.0508392 0.998703 uwb: 0.49990559 852.392 889.573 -imu_odom_: 1691062416.983045533 0.390255 -0.301669 9.4547 -0.0511327 0.00639159 0.0415453 0.18 0 pose: 0.39988598 1.04962 0.00217195 0 -0.00355697 -0.00432379 0.0510068 0.998683 uwb: 0.0 852.392 889.573 -imu_odom_: 1691062417.9020834 0.299275 -0.399832 9.66779 -0.0532632 0.0170442 0.052198 0.18 0 pose: 0.0 1.04962 0.00217195 0 -0.00355697 -0.00432379 0.0510068 0.998683 uwb: 0.49881490 852.241 889.259 -imu_odom_: 1691062417.34030855 0.395043 -0.337582 9.78271 -0.0255663 0.0245011 0.0319579 0.17 0 pose: 0.49198498 1.05961 0.0024928 0 -0.000769626-0.00539627 0.0511794 0.998675 uwb: 0.0 852.241 889.259 -imu_odom_: 1691062417.60150522 0.548272 -0.0909797 10.228 -0.052198 0.00106526 0.0490022 0.17 0 pose: 0.0 1.05961 0.0024928 0 -0.000769626-0.00539627 0.0511794 0.998675 uwb: 0.50187143 852.877 887.513 -imu_odom_: 1691062417.84012404 0.378284 -0.222661 10.3238 -0.0490022 -0.0170442 0.0543285 0.2 0 pose: 0.42831980 1.06961 0.00281807 0 -0.00351423 -0.00181823 0.0513377 0.998674 uwb: 0.0 852.877 887.513 -imu_odom_: 1691062417.108215491 0.881066 -0.150835 10.161 -0.0511327 -0.015979 0.0372843 0.2 0 pose: 0.50232057 1.0796 0.0031452 0 -0.00192263 -0.00120749 0.0514485 0.998673 uwb: 0.49820570 852.217 888.027 -imu_odom_: 1691062417.124003942 0.31364 -0.23942 9.71806 -0.0500674 0.0340885 0.0383495 0.19 0 pose: 0.0 1.0796 0.0031452 0 -0.00192263 -0.00120749 0.0514485 0.998673 uwb: 0.0 852.217 888.027 -imu_odom_: 1691062417.140035903 0.378284 -0.380678 10.0461 -0.0479369 -0.0223706 0.04048 0.19 0 pose: 0.0 1.0796 0.0031452 0 -0.00192263 -0.00120749 0.0514485 0.998673 uwb: 0.0 852.217 888.027 -imu_odom_: 1691062417.165039217 0.371101 -0.0766145 9.991 -0.0468716 -0.00106526 0.0308927 0.18 0.02 pose: 0.72734661 1.0896 0.0034769 0 -0.00212117 -0.0004010170.0515435 0.998668 uwb: 0.50282800 851.906 887.179 -imu_odom_: 1691062417.188972548 0.28491 -0.272939 10.2352 -0.056459 -0.0266316 0.0447411 0.18 0.02 pose: 0.0 1.0896 0.0034769 0 -0.00212117 -0.0004010170.0515435 0.998668 uwb: 0.0 851.906 887.179 -imu_odom_: 1691062417.214056935 0.68953 -0.244209 9.85453 -0.0340885 -0.00745685 0.0458064 0.26 0 pose: 0.7976902 1.0896 0.0034769 0 -0.00131609 -0.0001828620.0515091 0.998672 uwb: 0.49786158 852.21 885.769 -imu_odom_: 1691062417.236141636 0.54109 -0.253785 9.87608 -0.0426106 0 0.0511327 0.18 0 pose: 0.0 1.0896 0.0034769 0 -0.00131609 -0.0001828620.0515091 0.998672 uwb: 0.0 852.21 885.769 -imu_odom_: 1691062417.252260793 0.476446 -0.167594 9.8282 -0.056459 0.0213053 0.0426106 0.2 0 pose: 0.72084913 1.10925 0.014133 0 -0.000679935-0.00111192 0.0516056 0.998667 uwb: 0.49904851 851.447 885.592 -imu_odom_: 1691062417.275981527 0.56982 -0.287304 10.058 -0.0681769 -0.0372843 0.0532632 0.2 0 pose: 0.0 1.10925 0.014133 0 -0.000679935-0.00111192 0.0516056 0.998667 uwb: 0.0 851.447 885.592 -imu_odom_: 1691062417.301005547 0.76375 -0.208296 10.4291 -0.0543285 0.0138484 0.04048 0.18 0 pose: 0.55883809 1.1163 0.0143698 0 -0.00077464 -0.00524961 0.051883 0.998639 uwb: 0.50127945 851.629 884.696 -imu_odom_: 1691062417.315966941 0.830788 -0.174777 10.0389 -0.0500674 -0.00532632 0.0511327 0.18 0 pose: 0.0 1.1163 0.0143698 0 -0.00077464 -0.00524961 0.051883 0.998639 uwb: 0.0 851.629 884.696 -imu_odom_: 1691062417.339011098 0.88346 -0.023942 10.1682 -0.052198 -0.0383495 0.0383495 0.25 -0.02 pose: 0.39985414 1.12451 0.0146475 0 3.32989e-05 -0.00895176 0.051972 0.998608 uwb: 0.0 851.629 884.696 -imu_odom_: 1691062417.364959287 0.471658 -0.153229 9.8689 -0.0745685 -0.0394148 0.0532632 0.25 -0.02 pose: 0.7014529 1.12924 0.0148085 0 0.000468777 -0.00963485 0.0519638 0.998602 uwb: 0.49980674 851.438 884.13 -imu_odom_: 1691062417.379962676 0.608127 -0.31364 9.74679 -0.0703074 -0.0191748 0.0500674 0.19 0.02 pose: 0.41977817 1.12924 0.0148085 0 0.00183607 -0.00913798 0.0521096 0.998598 uwb: 0.0 851.438 884.13 -imu_odom_: 1691062417.398032241 0.454898 -0.131681 10.2687 -0.0490022 0.0127832 0.0383495 0.19 0.02 pose: 0.0 1.12924 0.0148085 0 0.00183607 -0.00913798 0.0521096 0.998598 uwb: 0.50034625 850.959 883.548 -imu_odom_: 1691062417.423077258 0.378284 -0.129287 10.1466 -0.0575243 0.015979 0.0383495 0.18 -0.02 pose: 0.6018328 1.12924 0.0148085 0 0.00121263 -0.00934429 0.0521462 0.998595 uwb: 0.0 850.959 883.548 -imu_odom_: 1691062417.446979385 0.502782 -0.0287304 10.1993 -0.0468716 -0.0479369 0.0372843 0.18 -0.02 pose: 0.0 1.12924 0.0148085 0 0.00121263 -0.00934429 0.0521462 0.998595 uwb: 0.49952094 850.604 883.27 -imu_odom_: 1691062417.461950986 0.452504 -0.488417 9.23204 -0.0607201 0.02024 0.04048 0.18 -0.02 pose: 0.0 1.12924 0.0148085 0 0.00121263 -0.00934429 0.0521462 0.998595 uwb: 0.0 850.604 883.27 -imu_odom_: 1691062417.488966242 0.584185 -0.423774 9.6606 -0.04048 0.0394148 0.0298274 0.18 0 pose: 0.35202714 1.13924 0.0151517 0 0.00142302 -0.00704357 0.0521747 0.998612 uwb: 0.0 850.604 883.27 -imu_odom_: 1691062417.514018550 0.225055 -0.361524 9.73004 -0.0500674 0.02024 0.0436758 0.18 -0.02 pose: 0.82785913 1.15653 0.0157456 0 0.000506754 -0.00551379 0.0520198 0.998631 uwb: 0.49992048 851.014 881.483 -imu_odom_: 1691062417.529957190 0.648829 -0.268151 9.23683 -0.04048 -0.0298274 0.0276969 0.18 -0.02 pose: 0.0 1.15653 0.0157456 0 0.000506754 -0.00551379 0.0520198 0.998631 uwb: 0.0 851.014 881.483 -imu_odom_: 1691062417.554955255 0.493206 -0.246603 10.5608 -0.0436758 0.015979 0.0330232 0.18 -0.02 pose: 0.7009864 1.15923 0.0158375 0 0.000159576 -0.00482509 0.0520362 0.998634 uwb: 0.50049789 850.172 881.666 -imu_odom_: 1691062417.580965853 0.418985 0.00718261 10.647 -0.0415453 0.00213053 0.0191748 0.18 -0.02 pose: 0.0 1.15923 0.0158375 0 0.000159576 -0.00482509 0.0520362 0.998634 uwb: 0.0 850.172 881.666 -imu_odom_: 1691062417.605967125 0.148441 0.0215478 9.73243 -0.0585895 -0.0426106 0.0458064 0.19 0 pose: 0.42057140 1.16922 0.0161782 0 -0.00137827 -0.0041964 0.0519603 0.998639 uwb: 0.49809488 849.84 880.977 -imu_odom_: 1691062417.631935437 0.545878 -0.11971 9.50977 -0.0713727 0.00532632 0.0447411 0.19 0 pose: 0.0 1.16922 0.0161782 0 -0.00137827 -0.0041964 0.0519603 0.998639 uwb: 0.0 849.84 880.977 -imu_odom_: 1691062417.647944942 0.306458 -0.292093 10.2352 -0.0596548 0.00426106 0.0351537 0.19 0 pose: 0.50203185 1.17921 0.0165162 0 0.000610555 -0.00180603 0.0516633 0.998663 uwb: 0.50063788 849.256 880.3 -imu_odom_: 1691062417.671049175 0.0622492 -0.294487 9.93354 -0.0287621 0.0181095 0.0170442 0.19 0 pose: 0.0 1.17921 0.0165162 0 0.000610555 -0.00180603 0.0516633 0.998663 uwb: 0.0 849.256 880.3 -imu_odom_: 1691062417.696981908 0.442927 -0.258574 9.80665 -0.0458064 -0.0372843 0.0458064 0.24 0 pose: 0.50788192 1.18921 0.0168515 0 0.00220887 -0.00228349 0.0517695 0.998654 uwb: 0.50024418 848.945 879.622 -imu_odom_: 1691062417.713929289 0.11971 0.035913 9.89284 -0.0511327 0.0181095 0.0479369 0.24 0 pose: 0.0 1.18921 0.0168515 0 0.00220887 -0.00228349 0.0517695 0.998654 uwb: 0.0 848.945 879.622 -imu_odom_: 1691062417.737924736 0.600945 -0.150835 9.65582 -0.0511327 -0.015979 0.04048 0.25 0 pose: 0.74904666 1.1992 0.0171821 0 0.000419318 0.000214681 0.0516392 0.998666 uwb: 0.0 848.945 879.622 -imu_odom_: 1691062417.762983460 0.205901 -0.280122 10.2065 -0.0394148 0.04048 0.0500674 0.25 0 pose: 0.7008405 1.1992 0.0171821 0 0.000657542 -0.0004914910.0516426 0.998665 uwb: 0.50073995 848.836 878.885 -imu_odom_: 1691062417.786046573 0.651223 -0.363919 10.0556 -0.0468716 0.0234358 0.052198 0.18 0 pose: 0.42045766 1.20672 0.0174333 0 0.000430587 0.000675048 0.0517826 0.998658 uwb: 0.0 848.836 878.885 -imu_odom_: 1691062417.802900925 0.28491 -0.114922 10.0054 -0.0447411 -0.0191748 0.0543285 0.18 0 pose: 0.0 1.20672 0.0174333 0 0.000430587 0.000675048 0.0517826 0.998658 uwb: 0.49802489 849.314 877.311 -imu_odom_: 1691062417.826926993 0.56982 -0.148441 9.63906 -0.0458064 -0.0245011 0.0532632 0.18 0.02 pose: 0.39917465 1.21479 0.0177051 0 0.00050992 0.000210207 0.0520522 0.998644 uwb: 0.0 849.314 877.311 -imu_odom_: 1691062417.842893629 0.814029 -0.328006 10.1514 -0.0607201 0.0319579 0.0490022 0.18 0.02 pose: 0.0 1.21479 0.0177051 0 0.00050992 0.000210207 0.0520522 0.998644 uwb: 0.0 849.326 876.884 -imu_odom_: 1691062417.866978607 0.646434 -0.304064 10.4244 -0.0873517 -0.0255663 0.0617853 0.18 0 pose: 0.0 1.21479 0.0177051 0 0.00050992 0.000210207 0.0520522 0.998644 uwb: 0.0 849.326 876.884 -imu_odom_: 1691062417.890895607 0.557849 0.0550666 9.85453 -0.0607201 -0.0106526 0.0553937 0.18 0 pose: 0.47009567 1.22919 0.0181996 0 0.000506778 -0.00419363 0.052375 0.998619 uwb: 0.0 849.326 876.884 -imu_odom_: 1691062417.914958420 0.452504 -0.258574 9.89045 -0.0820254 -0.0181095 0.0479369 0.18 0.02 pose: 0.40985115 1.22919 0.0181996 0 0.00174681 -0.00617859 0.0527411 0.998588 uwb: 0.49992339 849.572 875.985 -imu_odom_: 1691062417.939931989 0.368707 -0.328006 9.75158 -0.0575243 0.0117179 0.036219 0.18 -0.02 pose: 0.7025611 1.22919 0.0181996 0 0.00113761 -0.00575737 0.0527723 0.998589 uwb: 0.0 849.572 875.985 -imu_odom_: 1691062417.954954333 0.416591 -0.347159 9.83059 -0.0713727 0.00213053 0.036219 0.18 -0.02 pose: 0.17037202 1.236 0.0184422 0 -0.000339699-0.0047359 0.0528479 0.998591 uwb: 0.50013919 850.732 874.076 -imu_odom_: 1691062417.981948009 -0.272939 -0.220267 9.65342 -0.0415453 0.0426106 0.0479369 0.18 -0.02 pose: 0.0 1.236 0.0184422 0 -0.000339699-0.0047359 0.0528479 0.998591 uwb: 0.0 850.732 874.076 -imu_odom_: 1691062418.7010817 0.186748 -0.134075 9.71806 -0.0415453 -0.0266316 0.0351537 0.18 0 pose: 0.7949489 1.23918 0.018556 0 -0.000886422-0.00408322 0.0528373 0.998594 uwb: 0.50169358 851.182 872.667 -imu_odom_: 1691062418.30945620 0.526724 -0.241814 9.95509 -0.0383495 -0.0149137 0.0426106 0.2 0.02 pose: 0.40049572 1.24917 0.0189132 0 -0.00352352 -0.00116224 0.0528294 0.998597 uwb: 0.0 851.182 872.667 -imu_odom_: 1691062418.48032410 0.703895 -0.203507 10.1658 -0.0490022 0.00745685 0.0394148 0.2 0.02 pose: 0.0 1.24917 0.0189132 0 -0.00352352 -0.00116224 0.0528294 0.998597 uwb: 0.49939578 850.951 872.243 -imu_odom_: 1691062418.70874482 0.244209 -0.0526724 9.81862 -0.04048 0.0287621 0.0532632 0.19 0 pose: 0.50034339 1.25917 0.0192704 0 -0.00165684 0.00236914 0.0528759 0.998597 uwb: 0.0 850.951 872.243 -imu_odom_: 1691062418.96853891 0.557849 -0.143652 9.63906 -0.0511327 -0.0298274 0.0436758 0.19 0 pose: 0.0 1.25917 0.0192704 0 -0.00165684 0.00236914 0.0528759 0.998597 uwb: 0.49899922 851.599 870.083 -imu_odom_: 1691062418.111866620 0.526724 -0.433351 9.87848 -0.0340885 0.00639159 0.0340885 0.19 0 pose: 0.0 1.25917 0.0192704 0 -0.00165684 0.00236914 0.0528759 0.998597 uwb: 0.0 851.599 870.083 -imu_odom_: 1691062418.137879566 0.363919 -0.361524 10.1083 -0.0436758 -0.0447411 0.0479369 0.25 0 pose: 0.40906983 1.25917 0.0192704 0 -0.000583403-0.0005587910.0529365 0.998598 uwb: 0.0 851.599 870.083 -imu_odom_: 1691062418.162936847 0.366313 -0.110133 10.4866 -0.0500674 -0.00852212 0.0543285 0.21 -0.02 pose: 0.83980763 1.27915 0.0199918 0 -0.00170514 -0.00163719 0.0531838 0.998582 uwb: 0.0 851.599 870.083 -imu_odom_: 1691062418.186873983 0.943315 -0.112527 10.4004 -0.056459 -0.0149137 0.036219 0.21 -0.02 pose: 0.0 1.27915 0.0199918 0 -0.00170514 -0.00163719 0.0531838 0.998582 uwb: 0.0 851.599 870.083 -imu_odom_: 1691062418.211035673 0.555455 -0.0502782 10.4603 -0.0458064 -0.0234358 0.0383495 0.18 0.02 pose: 0.7132352 1.27915 0.0199918 0 -0.00106156 -0.00130581 0.053236 0.998581 uwb: 0.99937785 852.472 868.094 -imu_odom_: 1691062418.226994445 0.770933 -0.325611 9.55526 -0.0617853 -0.04048 0.0394148 0.18 0.02 pose: 0.0 1.27915 0.0199918 0 -0.00106156 -0.00130581 0.053236 0.998581 uwb: 0.0 852.472 868.094 -imu_odom_: 1691062418.251865374 0.667982 -0.531513 9.54329 -0.0543285 -0.0138484 0.0394148 0.19 0 pose: 0.48893513 1.28915 0.0203575 0 0.00173509 -0.00334101 0.0533218 0.99857 uwb: 0.50129142 852.271 867.216 -imu_odom_: 1691062418.277986223 0.509965 -0.260968 9.83059 -0.0458064 -0.0234358 0.0383495 0.19 0 pose: 0.0 1.28915 0.0203575 0 0.00173509 -0.00334101 0.0533218 0.99857 uwb: 0.0 852.271 867.216 -imu_odom_: 1691062418.302852778 0.703895 -0.311246 9.90481 -0.0255663 -0.0436758 0.0447411 0.19 0 pose: 0.41072336 1.29914 0.0207243 0 0.00183143 -0.00641623 0.053317 0.998555 uwb: 0.50033197 851.876 866.627 -imu_odom_: 1691062418.317859967 0.624887 -0.0526724 9.82102 -0.0543285 0.00852212 0.0436758 0.19 0 pose: 0.0 1.29914 0.0207243 0 0.00183143 -0.00641623 0.053317 0.998555 uwb: 0.0 851.876 866.627 -imu_odom_: 1691062418.344910818 0.849942 -0.201113 9.28711 -0.0575243 -0.0308927 0.0575243 0.18 0 pose: 0.49951832 1.30913 0.021091 0 -0.0017734 -0.00682387 0.0533451 0.998551 uwb: 0.49915087 851.605 865.441 -imu_odom_: 1691062418.369833658 0.215478 -0.215478 9.92157 -0.0511327 0.0191748 0.036219 0.18 0 pose: 0.0 1.30913 0.021091 0 -0.0017734 -0.00682387 0.0533451 0.998551 uwb: 0.0 851.605 865.441 -imu_odom_: 1691062418.384918419 0.531513 -0.102951 10.3262 -0.0394148 -0.0319579 0.0383495 0.19 -0.02 pose: 0.40998263 1.31913 0.0214592 0 -0.000317181-0.00998903 0.0534795 0.998519 uwb: 0.0 851.605 865.441 -imu_odom_: 1691062418.409845050 0.0766145 -0.3304 9.91678 -0.052198 -0.0372843 0.0468716 0.19 -0.02 pose: 0.0 1.31913 0.0214592 0 -0.000317181-0.00998903 0.0534795 0.998519 uwb: 0.49999659 851.959 864.104 -imu_odom_: 1691062418.434949283 0.407014 -0.0191536 10.1083 -0.0671117 -0.0106526 0.0383495 0.19 0 pose: 0.50017448 1.31913 0.0214592 0 0.000540013 -0.00910638 0.0535977 0.998521 uwb: 0.0 851.959 864.104 -imu_odom_: 1691062418.449838653 0.493206 -0.23942 9.85693 -0.076699 -0.0138484 0.0458064 0.19 0 pose: 0.0 1.31913 0.0214592 0 0.000540013 -0.00910638 0.0535977 0.998521 uwb: 0.50034946 852.208 863.378 -imu_odom_: 1691062418.475957460 0.624887 -0.148441 9.50498 -0.0607201 -0.0276969 0.0479369 0.26 -0.02 pose: 0.73893343 1.33911 0.0222043 0 0.000897194 -0.00515811 0.0537028 0.998543 uwb: 0.0 852.208 863.378 -imu_odom_: 1691062418.499938924 0.071826 -0.0430956 10.2639 -0.056459 -0.0106526 0.0351537 0.26 -0.02 pose: 0.0 1.33911 0.0222043 0 0.000897194 -0.00515811 0.0537028 0.998543 uwb: 0.50153639 852.456 861.684 -imu_odom_: 1691062418.523988337 0.100556 -0.311246 10.3118 -0.0660464 -0.0138484 0.0298274 0.19 -0.02 pose: 0.7082192 1.33911 0.0222043 0 0.00120246 -0.00587523 0.0537308 0.998537 uwb: 0.0 852.456 861.684 -imu_odom_: 1691062418.539819376 0.438139 -0.0215478 10.1586 -0.0458064 -0.0596548 0.0298274 0.19 -0.02 pose: 0.0 1.33911 0.0222043 0 0.00120246 -0.00587523 0.0537308 0.998537 uwb: 0.0 852.456 861.684 -imu_odom_: 1691062418.565839029 0.557849 -0.253785 9.38288 -0.0575243 -0.036219 0.0447411 0.19 0 pose: 0.49926169 1.34911 0.0225793 0 0.00224977 -0.00493443 0.0537109 0.998542 uwb: 0.49805435 852.094 860.858 -imu_odom_: 1691062418.591153234 0.445322 -0.162806 9.88566 -0.0617853 0.00106526 0.0308927 0.19 0 pose: 0.41137369 1.35873 0.0329452 0 0.00258545 -0.00416933 0.0535676 0.998552 uwb: 0.0 852.094 860.858 -imu_odom_: 1691062418.614924434 0.433351 -0.316035 9.52174 -0.0692422 -0.00532632 0.0500674 0.19 -0.02 pose: 0.43168851 1.36639 0.0332307 0 0.00215979 -0.00331304 0.0535027 0.99856 uwb: 0.50031738 852.292 859.579 -imu_odom_: 1691062418.631922568 0.282516 -0.220267 10.5489 -0.0468716 0.0106526 0.0319579 0.19 -0.02 pose: 0.0 1.36639 0.0332307 0 0.00215979 -0.00331304 0.0535027 0.99856 uwb: 0.0 852.292 859.579 -imu_odom_: 1691062418.655797588 -0.0407014 -0.246603 10.647 -0.0479369 0.0276969 0.0223706 0.21 0 pose: 0.5812151 1.36872 0.0333169 0 0.00154873 -0.00320968 0.0535347 0.99856 uwb: 0.49833431 852.449 858.249 -imu_odom_: 1691062418.679784593 0.636858 -0.0454898 10.4172 -0.0713727 -0.0287621 0.0330232 0.21 0 pose: 0.0 1.36872 0.0333169 0 0.00154873 -0.00320968 0.0535347 0.99856 uwb: 0.0 852.449 858.249 -imu_odom_: 1691062418.704946859 0.890643 -0.512359 9.31823 -0.0703074 -0.0394148 0.0479369 0.19 0 pose: 0.41836110 1.37871 0.0336883 0 -0.000373896-0.0002619560.053511 0.998567 uwb: 0.50020657 853.305 856.345 -imu_odom_: 1691062418.727774350 0.943315 -0.414197 9.44991 -0.0500674 -0.0149137 0.0276969 0.19 0 pose: 0.48078704 1.38871 0.0340552 0 0.000344274 -0.00126986 0.0533192 0.998577 uwb: 0.0 853.305 856.345 -imu_odom_: 1691062418.744830518 0.407014 -0.277727 10.1155 -0.0436758 0.015979 0.0383495 0.18 -0.02 pose: 0.0 1.38871 0.0340552 0 0.000344274 -0.00126986 0.0533192 0.998577 uwb: 0.50098229 853.402 854.929 -imu_odom_: 1691062418.769771439 0.622492 -0.289698 9.90481 -0.0543285 0.00426106 0.0500674 0.18 -0.02 pose: 0.0 1.38871 0.0340552 0 0.000344274 -0.00126986 0.0533192 0.998577 uwb: 0.0 853.402 854.929 -imu_odom_: 1691062418.792780906 0.577003 -0.414197 9.65103 -0.0607201 -0.0276969 0.0575243 0.19 -0.02 pose: 0.41036174 1.3987 0.0344229 0 -0.00192399 -0.00433105 0.053292 0.998568 uwb: 0.0 853.402 854.929 -imu_odom_: 1691062418.808785171 0.23942 -0.112527 10.2185 -0.0340885 -0.0117179 0.0372843 0.19 -0.02 pose: 0.0 1.3987 0.0344229 0 -0.00192399 -0.00433105 0.053292 0.998568 uwb: 0.49799602 853.761 853.761 -imu_odom_: 1691062418.834766622 0.665588 -0.208296 9.76595 -0.0511327 -0.00532632 0.052198 0.18 -0.02 pose: 0.56908331 1.40869 0.0347894 0 -0.00340559 -0.00593251 0.0535831 0.99854 uwb: 0.0 853.761 853.761 -imu_odom_: 1691062418.858803495 0.550666 -0.390255 9.52413 -0.0458064 0.0490022 0.04048 0.18 -0.02 pose: 0.0 1.40869 0.0347894 0 -0.00340559 -0.00593251 0.0535831 0.99854 uwb: 0.50088315 853.934 852.654 -imu_odom_: 1691062418.883831321 0.280122 -0.282516 9.27753 -0.0617853 -0.00319579 0.0607201 0.19 0 pose: 0.7007535 1.40869 0.0347894 0 -0.00303656 -0.00654112 0.0536231 0.998535 uwb: 0.0 853.934 852.654 -imu_odom_: 1691062418.898778142 0.191536 -0.260968 9.9503 -0.0660464 -0.0149137 0.0532632 0.19 0 pose: 0.0 1.40869 0.0347894 0 -0.00303656 -0.00654112 0.0536231 0.998535 uwb: 0.49983911 853.483 852.199 -imu_odom_: 1691062418.925848241 0.768539 -0.107739 10.422 -0.0809601 -0.0298274 0.0575243 0.25 0 pose: 0.50024448 1.41868 0.0351627 0 -0.00437047 -0.00688821 0.0538377 0.998516 uwb: 0.0 853.483 852.199 -imu_odom_: 1691062418.950862360 0.521936 -0.0550666 10.0197 -0.0639159 0 0.0511327 0.19 0 pose: 0.40021891 1.42868 0.0355406 0 -0.00398642 -0.00433024 0.0542031 0.998513 uwb: 0.49842763 853.322 851.259 -imu_odom_: 1691062418.967777964 0.373495 -0.222661 9.64624 -0.0905475 0.00745685 0.0500674 0.24 0 pose: 0.28154955 1.42868 0.0355406 0 -0.00223662 -0.00613225 0.0544129 0.998497 uwb: 0.0 853.322 851.259 -imu_odom_: 1691062418.992905526 0.521936 -0.289698 9.56962 -0.076699 -0.0106526 0.0340885 0.24 0 pose: 0.0 1.42868 0.0355406 0 -0.00223662 -0.00613225 0.0544129 0.998497 uwb: 0.50090356 853.111 849.739 -imu_odom_: 1691062419.17814960 0.320823 -0.447716 10.0054 -0.0639159 -0.00745685 0.0372843 0.23 0 pose: 0.23914681 1.43867 0.0359301 0 -0.000740168-0.00526581 0.0545363 0.998498 uwb: 0.0 853.111 849.739 -imu_odom_: 1691062419.31805249 0.725443 -0.181959 10.1897 -0.0649811 -0.0234358 0.0394148 0.23 0 pose: 0.0 1.43867 0.0359301 0 -0.000740168-0.00526581 0.0545363 0.998498 uwb: 0.0 853.111 849.739 -imu_odom_: 1691062419.55899295 0.414197 -0.282516 10.2927 -0.0490022 -0.0170442 0.0351537 0.17 -0.02 pose: 0.41868773 1.44866 0.0363214 0 -0.00359962 -0.00544573 0.0545202 0.998491 uwb: 0.49915694 852.746 848.839 -imu_odom_: 1691062419.80814276 0.438139 -0.131681 10.2472 -0.0415453 -0.0191748 0.0436758 0.17 -0.02 pose: 0.0 1.44866 0.0363214 0 -0.00359962 -0.00544573 0.0545202 0.998491 uwb: 0.0 852.746 848.839 -imu_odom_: 1691062419.102734232 1.9393 -0.260968 11.734 -0.0479369 0.0127832 0.04048 0.2 -0.02 pose: 0.39009962 1.44866 0.0363214 0 -0.00406608 -0.00484558 0.054488 0.998494 uwb: 0.50359849 852.914 847.421 -imu_odom_: 1691062419.118723342 0.25618 0.186748 8.53054 -0.0649811 -0.00106526 0.0383495 0.2 -0.02 pose: 0.0 1.44866 0.0363214 0 -0.00406608 -0.00484558 0.054488 0.998494 uwb: 0.0 852.914 847.421 -imu_odom_: 1691062419.143718521 -0.914585 -0.351948 10.9702 -0.0692422 0.00213053 0.0468716 0.23 0.02 pose: 0.48062984 1.45866 0.036712 0 -0.00102039 -0.00345097 0.0545053 0.998507 uwb: 0.49755887 852.536 847.029 -imu_odom_: 1691062419.165788666 -0.682347 -0.167594 10.8577 -0.0543285 -0.0138484 0.04048 0.23 0.02 pose: 0.0 1.45866 0.036712 0 -0.00102039 -0.00345097 0.0545053 0.998507 uwb: 0.0 852.536 847.029 -imu_odom_: 1691062419.189755271 0.390255 -0.208296 10.2256 -0.0500674 0.015979 0.0490022 0.19 0 pose: 0.38939390 1.46865 0.0371026 0 0.000225285 -0.00332019 0.0545201 0.998507 uwb: 0.0 852.536 847.029 -imu_odom_: 1691062419.214731493 0.555455 -0.294487 9.93354 -0.0543285 0.0990696 0.0415453 0.19 0 pose: 0.46942548 1.47864 0.0374939 0 0.00052884 0.000748817 0.054629 0.998506 uwb: 0.50113133 852.229 846.174 -imu_odom_: 1691062419.229724109 0.141258 -0.342371 9.50737 -0.0532632 -0.00213053 0.036219 0.24 0 pose: 0.0 1.47864 0.0374939 0 0.00052884 0.000748817 0.054629 0.998506 uwb: 0.0 852.229 846.174 -imu_odom_: 1691062419.246738585 0.806846 -0.167594 10.5058 -0.0628506 0.00106526 0.0351537 0.24 0 pose: 0.0 1.47864 0.0374939 0 0.00052884 0.000748817 0.054629 0.998506 uwb: 0.50047515 851.848 846.047 -imu_odom_: 1691062419.272792083 0.304064 -0.320823 10.082 -0.0585895 0.00106526 0.0415453 0.23 0 pose: 0.48069400 1.48824 0.0478811 0 0.000521424 0.000813439 0.0547301 0.998501 uwb: 0.0 851.848 846.047 -imu_odom_: 1691062419.297854044 0.337582 -0.0837971 9.80426 -0.0575243 -0.0170442 0.0330232 0.23 0 pose: 0.0 1.48824 0.0478811 0 0.000521424 0.000813439 0.0547301 0.998501 uwb: 0.49948071 851.842 845.232 -imu_odom_: 1691062419.322765233 0.402226 -0.253785 10.0126 -0.0639159 -0.0298274 0.0426106 0.19 -0.02 pose: 0.77052306 1.49823 0.0482752 0 0.000596233 0.00209427 0.0546259 0.998505 uwb: 0.0 851.842 845.232 -imu_odom_: 1691062419.346714923 0.696713 -0.294487 9.73961 -0.0479369 0.0394148 0.0351537 0.19 -0.02 pose: 0.5939304 1.49823 0.0482752 0 0.000119505 0.00163549 0.0546343 0.998505 uwb: 0.49739264 852.052 843.823 -imu_odom_: 1691062419.370752977 0.505177 -0.392649 9.59117 -0.0553937 0.0127832 0.0468716 0.19 0 pose: 0.42921575 1.50822 0.0486684 0 -0.00163297 -0.00168054 0.0546035 0.998505 uwb: 0.0 852.052 843.823 -imu_odom_: 1691062419.386702134 0.311246 -0.122104 10.1179 -0.0553937 0.0383495 0.0458064 0.19 0 pose: 0.0 1.50822 0.0486684 0 -0.00163297 -0.00168054 0.0546035 0.998505 uwb: 0.0 852.052 843.823 -imu_odom_: 1691062419.403707861 0.438139 -0.0885855 9.93115 -0.0639159 0.00532632 0.056459 0.18 -0.02 pose: 0.0 1.50822 0.0486684 0 -0.00163297 -0.00168054 0.0546035 0.998505 uwb: 0.50074054 851.805 843.014 -imu_odom_: 1691062419.429692534 0.282516 -0.351948 10.094 -0.0639159 0.00213053 0.0436758 0.18 -0.02 pose: 0.48036155 1.51821 0.0490615 0 -0.00181836 -0.00121655 0.0548081 0.998495 uwb: 0.0 851.805 843.014 -imu_odom_: 1691062419.454761495 0.234632 -0.280122 10.1466 -0.0660464 -0.0234358 0.0532632 0.17 -0.02 pose: 0.34941456 1.52546 0.0493492 0 -0.00282905 0.000804474 0.054939 0.998485 uwb: 0.50088927 851.519 842.437 -imu_odom_: 1691062419.480748793 0.31364 -0.0837971 9.81862 -0.04048 0.0117179 0.0351537 0.17 -0.02 pose: 0.7120983 1.52821 0.0494588 0 -0.00294861 0.00144203 0.0549897 0.998482 uwb: 0.0 851.519 842.437 -imu_odom_: 1691062419.505795881 0.442927 -0.203507 10.0963 -0.0681769 -0.0468716 0.0500674 0.19 0 pose: 0.43935276 1.53551 0.0497529 0 -0.0005187950.00377173 0.0550684 0.998475 uwb: 0.49950695 851.227 841.574 -imu_odom_: 1691062419.529689870 0.64404 0.0215478 10.0341 -0.0553937 -0.0287621 0.04048 0.21 0 pose: 0.0 1.53551 0.0497529 0 -0.0005187950.00377173 0.0550684 0.998475 uwb: 0.0 851.227 841.574 -imu_odom_: 1691062419.553784500 0.457293 -0.172383 9.88087 -0.0596548 -0.00639159 0.0479369 0.21 0 pose: 0.30967727 1.5382 0.0498611 0 0.000288844 0.000291375 0.0552042 0.998475 uwb: 0.49989481 851.86 840.304 -imu_odom_: 1691062419.578674400 0.586579 0.0861913 9.9527 -0.0585895 -0.052198 0.0394148 0.19 0 pose: 0.0 1.5382 0.0498611 0 0.000288844 0.000291375 0.0552042 0.998475 uwb: 0.0 851.86 840.304 -imu_odom_: 1691062419.593839369 0.296881 -0.399832 9.82102 -0.0575243 0.056459 0.0287621 0.19 0 pose: 0.48976365 1.54819 0.0502656 0 0.00324317 -0.00378959 0.0553126 0.998457 uwb: 0.50034101 851.677 839.827 -imu_odom_: 1691062419.610669243 0.684742 -0.497994 10.1394 -0.0479369 -0.00852212 0.0351537 0.19 0 pose: 0.0 1.54819 0.0502656 0 0.00324317 -0.00378959 0.0553126 0.998457 uwb: 0.0 851.677 839.827 -imu_odom_: 1691062419.635734704 0.921768 -0.232238 9.39724 -0.0575243 0.00106526 0.0468716 0.25 0 pose: 0.40055160 1.55818 0.0506721 0 0.003063 -0.00396542 0.0552163 0.998462 uwb: 0.0 851.677 839.827 -imu_odom_: 1691062419.662724329 -0.258574 -0.141258 9.97664 -0.0426106 0.0127832 0.0383495 0.24 0 pose: 0.34986659 1.56817 0.0510766 0 0.00206368 -0.00696945 0.0552964 0.998444 uwb: 0.50062389 851.809 839.126 -imu_odom_: 1691062419.687746629 0.198719 -0.363919 9.81862 -0.0617853 0.0138484 0.0415453 0.24 0 pose: 0.0 1.56817 0.0510766 0 0.00206368 -0.00696945 0.0552964 0.998444 uwb: 0.0 851.809 839.126 -imu_odom_: 1691062419.714687260 0.0550666 -0.131681 10.5417 -0.052198 -0.00426106 0.0319579 0.22 0 pose: 0.6959420 1.56817 0.0510766 0 0.00210132 -0.00621186 0.0552914 0.998449 uwb: 0.49934655 851.844 838.033 -imu_odom_: 1691062419.739871122 0.751779 -0.514753 10.2472 -0.0468716 -0.0127832 0.0308927 0.22 0 pose: 0.0 1.56817 0.0510766 0 0.00210132 -0.00621186 0.0552914 0.998449 uwb: 0.0 851.844 838.033 -imu_odom_: 1691062419.763773860 0.653617 -0.4956 9.13627 -0.0106526 -0.0607201 0.0234358 0.2 0 pose: 0.51993260 1.57816 0.0514827 0 0.000724686 -0.00110773 0.0552766 0.99847 uwb: 0.49995315 851.858 837.764 -imu_odom_: 1691062419.778774641 -0.0766145 -0.0335188 9.71567 -0.0436758 -0.0223706 0.0585895 0.2 0 pose: 0.0 1.57816 0.0514827 0 0.000724686 -0.00110773 0.0552766 0.99847 uwb: 0.0 851.858 837.764 -imu_odom_: 1691062419.794650308 0.557849 -0.141258 9.97664 -0.0308927 -0.0532632 0.0511327 0.18 0 pose: 0.52133826 1.58816 0.0518887 0 -0.00077087 -0.00186647 0.0550346 0.998482 uwb: 0.49925031 851.045 837.159 -imu_odom_: 1691062419.818657741 0.531513 -0.25618 9.8282 -0.0447411 -0.0117179 0.0479369 0.18 0 pose: 0.0 1.58816 0.0518887 0 -0.00077087 -0.00186647 0.0550346 0.998482 uwb: 0.0 851.045 837.159 -imu_odom_: 1691062419.842659633 0.622492 -0.0311246 9.93115 -0.076699 -0.0127832 0.056459 0.18 0.02 pose: 0.38857151 1.59815 0.0522899 0 -0.000461203-0.00285807 0.0550817 0.998478 uwb: 0.0 851.045 837.159 -imu_odom_: 1691062419.867674642 -0.198719 -0.328006 9.87608 -0.0639159 -0.036219 0.0287621 0.18 0.02 pose: 0.0 1.59815 0.0522899 0 -0.000461203-0.00285807 0.0550817 0.998478 uwb: 0.50011062 850.169 836.775 -imu_odom_: 1691062419.891683825 0.742203 -0.620098 10.2185 -0.0394148 -0.0553937 0.036219 0.23 0 pose: 0.40009957 1.59815 0.0522899 0 -0.000378273-0.0061082 0.0552922 0.998451 uwb: 0.0 850.169 836.775 -imu_odom_: 1691062419.916781073 0.869095 -0.292093 9.96946 -0.04048 0 0.0511327 0.23 0 pose: 0.0 1.59815 0.0522899 0 -0.000378273-0.0061082 0.0552922 0.998451 uwb: 0.0 850.169 836.775 -imu_odom_: 1691062419.933770468 0.205901 -0.0957681 9.99819 -0.0596548 0.0245011 0.0596548 0.19 0 pose: 0.49033524 1.60814 0.0526964 0 -0.000163871-0.00541528 0.0552816 0.998456 uwb: 0.0 850.169 836.775 -imu_odom_: 1691062419.956656007 0.0215478 0.0263362 10.0173 -0.0532632 0.0106526 0.0511327 0.19 0 pose: 0.0 1.60814 0.0526964 0 -0.000163871-0.00541528 0.0552816 0.998456 uwb: 0.99922096 850.23 835.405 -imu_odom_: 1691062419.972693235 0.287304 -0.270545 9.73004 -0.0553937 -0.0266316 0.0447411 0.2 0.02 pose: 0.50119256 1.61773 0.0630943 0 -0.00116678 -0.00835271 0.0554823 0.998424 uwb: 0.0 850.23 835.405 -imu_odom_: 1691062419.999644365 0.488417 -0.105345 10.003 -0.0628506 -0.0511327 0.0490022 0.2 0.02 pose: 0.0 1.61773 0.0630943 0 -0.00116678 -0.00835271 0.0554823 0.998424 uwb: 0.50063264 850.282 834.304 -imu_odom_: 1691062420.24692924 0.287304 -0.237026 9.90721 -0.0862864 0.0191748 0.052198 0.19 0 pose: 0.74803267 1.6351 0.0638111 0 0.00221386 -0.00449756 0.0558584 0.998426 uwb: 0.0 850.282 834.304 -imu_odom_: 1691062420.49835972 0.071826 -0.320823 9.4547 -0.076699 -0.00958738 0.04048 0.19 0 pose: 0.7020081 1.63771 0.0639202 0 0.00186467 -0.00375964 0.0559021 0.998427 uwb: 0.50004669 850.044 834.04 -imu_odom_: 1691062420.72752729 0.395043 -0.181959 10.3956 -0.0500674 0.00106526 0.0383495 0.18 0.02 pose: 0.43171526 1.64527 0.0642388 0 -0.0002233390.000391084 0.0560244 0.998429 uwb: 0.0 850.044 834.04 -imu_odom_: 1691062420.88692854 0.124498 -0.430956 9.48104 -0.0553937 0.00532632 0.0458064 0.18 0.02 pose: 0.0 1.64527 0.0642388 0 -0.0002233390.000391084 0.0560244 0.998429 uwb: 0.0 850.044 834.04 -imu_odom_: 1691062420.114611635 0.215478 -0.452504 10.2089 -0.0458064 0.00319579 0.0330232 0.25 0 pose: 0.0 1.64527 0.0642388 0 -0.0002233390.000391084 0.0560244 0.998429 uwb: 0.50090415 849.484 834.005 -imu_odom_: 1691062420.138619082 0.172383 -0.282516 9.90721 -0.052198 -0.00106526 0.0479369 0.25 0 pose: 0.38856882 1.65306 0.0645667 0 0.00096118 0.00173983 0.0560578 0.998426 uwb: 0.0 849.484 834.005 -imu_odom_: 1691062420.162620113 0.272939 -0.407014 10.0772 -0.0394148 0.00213053 0.0383495 0.18 0.02 pose: 0.49926228 1.66488 0.0650645 0 -0.00195995 0.00535522 0.0560673 0.998411 uwb: 0.49967638 849.349 832.978 -imu_odom_: 1691062420.188607718 0.608127 -0.402226 9.71806 -0.0458064 -0.00852212 0.0479369 0.23 -0.02 pose: 0.0 1.66488 0.0650645 0 -0.00195995 0.00535522 0.0560673 0.998411 uwb: 0.0 849.349 832.978 -imu_odom_: 1691062420.203710870 0.509965 -0.253785 9.97903 -0.0639159 -0.00958738 0.0553937 0.23 -0.02 pose: 0.31083231 1.66768 0.0651829 0 -0.00433467 0.00493608 0.0560641 0.998406 uwb: 0.0 849.349 832.978 -imu_odom_: 1691062420.219577797 0.411803 -0.294487 10.0509 -0.0553937 0.02024 0.036219 0.23 -0.02 pose: 0.0 1.66768 0.0651829 0 -0.00433467 0.00493608 0.0560641 0.998406 uwb: 0.0 849.349 832.978 -imu_odom_: 1691062420.246591059 0.476446 -0.328006 10.1466 -0.0426106 -0.015979 0.0383495 0.18 0 pose: 0.49875484 1.67767 0.0656042 0 -0.00410666 0.000243157 0.0562133 0.99841 uwb: 0.100006435 849.512 831.688 -imu_odom_: 1691062420.270743737 0.596156 -0.112527 9.88087 -0.0490022 -0.0255663 0.036219 0.18 0 pose: 0.8083652 1.67767 0.0656042 0 -0.00429672 -0.00057312 0.0562053 0.99841 uwb: 0.0 849.512 831.688 -imu_odom_: 1691062420.295577368 0.536301 -0.349553 10.2256 -0.0458064 -0.02024 0.0500674 0.19 0 pose: 0.43082288 1.68766 0.0660289 0 -0.00264784 -0.00408773 0.0561359 0.998411 uwb: 0.49781288 849.249 831.098 -imu_odom_: 1691062420.320608722 0.948104 -0.0766145 10.0892 -0.0511327 -0.0149137 0.0351537 0.19 0 pose: 0.0 1.68766 0.0660289 0 -0.00264784 -0.00408773 0.0561359 0.998411 uwb: 0.0 849.249 831.098 -imu_odom_: 1691062420.337692907 0.0837971 -0.397437 10.3142 -0.0543285 0 0.0394148 0.19 0 pose: 0.31974448 1.69766 0.0664537 0 -0.00408246 -0.00645985 0.0562494 0.998388 uwb: 0.0 849.249 831.098 -imu_odom_: 1691062420.362587780 0.493206 -0.31364 9.97903 -0.0511327 0.0234358 0.0351537 0.19 0 pose: 0.0 1.69766 0.0664537 0 -0.00408246 -0.00645985 0.0562494 0.998388 uwb: 0.50093914 848.953 829.872 -imu_odom_: 1691062420.386570730 0.579397 -0.617704 9.56244 -0.056459 -0.0543285 0.0479369 0.19 0 pose: 0.42876690 1.69766 0.0664537 0 -0.00403986 -0.00566122 0.0561936 0.998396 uwb: 0.0 848.953 829.872 -imu_odom_: 1691062420.411664201 0.610521 -0.270545 9.95988 -0.0223706 0.00213053 0.0447411 0.19 0 pose: 0.40975855 1.70765 0.0668786 0 -0.0072467 -0.00558099 0.0562733 0.998374 uwb: 0.50117536 849.135 828.575 -imu_odom_: 1691062420.435577452 0.526724 -0.23942 9.85453 -0.0681769 0.00852212 0.0468716 0.19 0 pose: 0.0 1.70765 0.0668786 0 -0.0072467 -0.00558099 0.0562733 0.998374 uwb: 0.0 849.135 828.575 -imu_odom_: 1691062420.452589896 0.169988 -0.0694318 9.54808 -0.0490022 0.0191748 0.0543285 0.22 0 pose: 0.7064119 1.70765 0.0668786 0 -0.00663602 -0.00605674 0.0562856 0.998374 uwb: 0.49994468 848.776 828.167 -imu_odom_: 1691062420.477625042 0.423774 -0.397437 9.77553 -0.0692422 -0.0458064 0.056459 0.22 0 pose: 0.0 1.70765 0.0668786 0 -0.00663602 -0.00605674 0.0562856 0.998374 uwb: 0.0 848.776 828.167 -imu_odom_: 1691062420.502639191 0.4956 -0.205901 10.1131 -0.0479369 -0.0383495 0.0426106 0.22 0.02 pose: 0.48934398 1.71764 0.0673056 0 -0.00255933 -0.00593342 0.0564395 0.998385 uwb: 0.49971430 848.53 827.281 -imu_odom_: 1691062420.516619865 0.517148 -0.198719 10.07 -0.072438 -0.0426106 0.0596548 0.22 0.02 pose: 0.0 1.71764 0.0673056 0 -0.00255933 -0.00593342 0.0564395 0.998385 uwb: 0.0 848.53 827.281 -imu_odom_: 1691062420.540578026 0.399832 -0.107739 10.0533 -0.0532632 -0.00958738 0.0351537 0.18 0 pose: 0.42063338 1.72763 0.0677352 0 -0.00377239 -0.00455532 0.0567456 0.998371 uwb: 0.0 848.53 827.281 -imu_odom_: 1691062420.564552811 0.847547 -0.143652 10.1801 -0.0628506 -0.0617853 0.0490022 0.18 0 pose: 0.0 1.72763 0.0677352 0 -0.00377239 -0.00455532 0.0567456 0.998371 uwb: 0.49903480 848.543 826.075 -imu_odom_: 1691062420.589579208 0.457293 0.0454898 9.99819 -0.052198 -0.0138484 0.0415453 0.19 0 pose: 0.38929498 1.73762 0.0681723 0 -0.000136502-0.00505994 0.0568818 0.998368 uwb: 0.0 848.543 826.075 -imu_odom_: 1691062420.614656057 0.184354 -0.0694318 9.84735 -0.0660464 0.0149137 0.0383495 0.19 0 pose: 0.0 1.73762 0.0681723 0 -0.000136502-0.00505994 0.0568818 0.998368 uwb: 0.49740169 849.237 824.413 -imu_odom_: 1691062420.631600843 0.265756 -0.509965 10.0556 -0.0639159 0.0372843 0.0298274 0.26 0 pose: 0.48012560 1.74761 0.0686108 0 0.00218096 -0.00670325 0.0569523 0.998352 uwb: 0.0 849.237 824.413 -imu_odom_: 1691062420.656582037 0.217872 -0.136469 10.082 -0.0415453 -0.04048 0.0340885 0.26 0 pose: 0.0 1.74761 0.0686108 0 0.00218096 -0.00670325 0.0569523 0.998352 uwb: 0.50102371 849.191 823.114 -imu_odom_: 1691062420.673743504 0.390255 -0.428562 9.42358 -0.0351537 0.00426106 0.0340885 0.21 -0.02 pose: 0.50001468 1.75716 0.0790403 0 0.00347628 -0.00293494 0.0568984 0.99837 uwb: 0.0 849.191 823.114 -imu_odom_: 1691062420.698581217 0.304064 -0.23942 9.47386 -0.0511327 0.0458064 0.0468716 0.21 -0.02 pose: 0.0 1.75716 0.0790403 0 0.00347628 -0.00293494 0.0568984 0.99837 uwb: 0.50021590 849.372 821.441 -imu_odom_: 1691062420.725650472 0.371101 -0.023942 9.75637 -0.0479369 -0.0532632 0.0415453 0.21 -0.02 pose: 0.42127788 1.76715 0.0794779 0 0.00225841 -0.0001910330.0567568 0.998385 uwb: 0.0 849.372 821.441 -imu_odom_: 1691062420.750608045 0.275333 -0.299275 10.1203 -0.0553937 0.0127832 0.0308927 0.21 -0.02 pose: 0.0 1.76715 0.0794779 0 0.00225841 -0.0001910330.0567568 0.998385 uwb: 0.50107037 848.263 821.078 -imu_odom_: 1691062420.774560083 0.246603 -0.179565 10.5441 -0.0490022 -0.0372843 0.0436758 0.23 0 pose: 0.41928314 1.76715 0.0794779 0 0.000899397 0.00246537 0.0568267 0.998381 uwb: 0.0 848.263 821.078 -imu_odom_: 1691062420.790597029 0.37589 -0.191536 9.59117 -0.0681769 -0.0372843 0.056459 0.23 0 pose: 0.0 1.76715 0.0794779 0 0.000899397 0.00246537 0.0568267 0.998381 uwb: 0.0 848.263 821.078 -imu_odom_: 1691062420.807592559 0.557849 -0.28491 10.0317 -0.0553937 0.0223706 0.0383495 0.19 0 pose: 0.51941672 1.77714 0.0799149 0 0.000909314 0.00390062 0.0567495 0.99838 uwb: 0.49854778 847.819 820.556 -imu_odom_: 1691062420.832655409 0.658405 -0.196325 10.319 -0.0745685 -0.0255663 0.04048 0.19 0 pose: 0.0 1.77714 0.0799149 0 0.000909314 0.00390062 0.0567495 0.99838 uwb: 0.0 847.819 820.556 -imu_odom_: 1691062420.849585906 0.699107 -0.411803 9.39724 -0.0372843 0.0255663 0.0213053 0.21 -0.02 pose: 0.75081524 1.79437 0.0806683 0 0.000437851 -0.0007130360.0569232 0.998378 uwb: 0.49985428 847.604 819.344 -imu_odom_: 1691062420.874525398 0.816423 -0.318429 9.78271 -0.0692422 -0.00319579 0.0532632 0.21 -0.02 pose: 0.6899057 1.79712 0.0807894 0 0.000121796 -0.00118793 0.0568608 0.998381 uwb: 0.0 847.604 819.344 -imu_odom_: 1691062420.901531078 0.581791 -0.220267 9.60075 -0.0458064 -0.0170442 0.0490022 0.23 -0.02 pose: 0.34970932 1.80413 0.0810964 0 -0.000983355-0.00432415 0.0569397 0.998368 uwb: 0.50067959 848.566 817.921 -imu_odom_: 1691062420.926536769 0.0670376 -0.349553 9.75158 -0.0490022 -0.00852212 0.0330232 0.23 -0.02 pose: 0.0 1.80413 0.0810964 0 -0.000983355-0.00432415 0.0569397 0.998368 uwb: 0.0 848.566 817.921 -imu_odom_: 1691062420.943532007 0.287304 -0.258574 10.0317 -0.0266316 0.0191748 0.0308927 0.21 0.02 pose: 0.52011371 1.81428 0.0815445 0 -0.000898401-0.00478524 0.0569868 0.998363 uwb: 0.49925352 848.697 817.107 -imu_odom_: 1691062420.968529825 0.31364 -0.339977 9.64624 -0.0383495 0.00639159 0.0511327 0.21 0.02 pose: 0.0 1.81428 0.0815445 0 -0.000898401-0.00478524 0.0569868 0.998363 uwb: 0.0 848.697 817.107 -imu_odom_: 1691062420.993483315 0.526724 -0.0287304 10.137 -0.0511327 0.0170442 0.0607201 0.24 0 pose: 0.41993056 1.82416 0.0819794 0 -0.00231044 -0.0008128990.0570683 0.998367 uwb: 0.50191318 848.07 816.674 -imu_odom_: 1691062421.16519646 0.335188 -0.184354 9.81144 -0.052198 0.036219 0.0532632 0.24 0 pose: 0.7029706 1.82709 0.082109 0 -0.00164804 -0.00100043 0.0571412 0.998364 uwb: 0.0 848.07 816.674 -imu_odom_: 1691062421.32497109 0.318429 -0.294487 9.54329 -0.0585895 -0.00106526 0.0447411 0.19 0 pose: 0.23956412 1.82709 0.082109 0 0.000195136 -0.0007720440.0573681 0.998353 uwb: 0.0 848.07 816.674 -imu_odom_: 1691062421.59492015 0.574608 -0.0957681 10.1706 -0.0777643 -0.0372843 0.0511327 0.19 0 pose: 0.0 1.82709 0.082109 0 0.000195136 -0.0007720440.0573681 0.998353 uwb: 0.49774312 847.633 816.147 -imu_odom_: 1691062421.84565962 0.237026 -0.328006 9.8665 -0.0841559 0.0319579 0.0500674 0.18 0.02 pose: 0.25164350 1.82709 0.082109 0 -8.68974e-050.00164666 0.0575034 0.998344 uwb: 0.0 847.633 816.147 -imu_odom_: 1691062421.109499927 -0.0814029 -0.349553 9.26077 -0.0745685 -0.0117179 0.04048 0.18 0.02 pose: 0.42849593 1.83708 0.0825596 0 -0.0001169790.000157646 0.0577227 0.998333 uwb: 0.50023952 848.145 814.469 -imu_odom_: 1691062421.123530477 0.311246 -0.222661 9.96946 -0.0543285 0.0372843 0.0266316 0.18 0 pose: 0.0 1.83708 0.0825596 0 -0.0001169790.000157646 0.0577227 0.998333 uwb: 0.0 848.145 814.469 -imu_odom_: 1691062421.139589889 0.227449 -0.428562 10.0173 -0.0617853 -0.0255663 0.0415453 0.18 0 pose: 0.0 1.83708 0.0825596 0 -0.0001169790.000157646 0.0577227 0.998333 uwb: 0.0 848.145 814.469 -imu_odom_: 1691062421.156478692 0.737414 -0.251391 9.87608 -0.0468716 0.0298274 0.0351537 0.18 0 pose: 0.48024254 1.84707 0.0830145 0 -0.00181915 0.00438871 0.0577884 0.998318 uwb: 0.50040575 848.405 813.129 -imu_odom_: 1691062421.181503645 0.701501 -0.158017 10.0006 -0.0585895 -0.0340885 0.0458064 0.18 0 pose: 0.0 1.84707 0.0830145 0 -0.00181915 0.00438871 0.0577884 0.998318 uwb: 0.0 848.405 813.129 -imu_odom_: 1691062421.205461821 0.845153 -0.134075 9.91678 -0.0500674 0.0138484 0.0468716 0.2 0 pose: 0.65949505 1.85706 0.0834703 0 -0.00167552 0.000992031 0.0577838 0.998327 uwb: 0.50059530 848.301 811.997 -imu_odom_: 1691062421.222500521 0.560243 -0.442927 9.87848 -0.0426106 -0.02024 0.0383495 0.2 0 pose: 0.5972265 1.85706 0.0834703 0 -0.00148889 0.000475479 0.0578047 0.998327 uwb: 0.0 848.301 811.997 -imu_odom_: 1691062421.246463946 0.579397 -0.260968 9.83059 -0.0383495 -0.0117179 0.0436758 0.18 -0.02 pose: 0.0 1.85706 0.0834703 0 -0.00148889 0.000475479 0.0578047 0.998327 uwb: 0.49865890 848.663 811.1 -imu_odom_: 1691062421.263448404 0.612916 -0.0550666 10.2951 -0.0543285 -0.00532632 0.0553937 0.18 -0.02 pose: 0.40988711 1.86705 0.0839268 0 -0.00209906 -0.00284104 0.0578685 0.998318 uwb: 0.0 848.663 811.1 -imu_odom_: 1691062421.278626513 0.493206 -0.0502782 9.87848 -0.0479369 -0.0319579 0.0426106 0.18 -0.02 pose: 0.0 1.86705 0.0839268 0 -0.00209906 -0.00284104 0.0578685 0.998318 uwb: 0.0 848.663 811.1 -imu_odom_: 1691062421.294506864 0.351948 -0.325611 9.98622 -0.0340885 0.0287621 0.0319579 0.17 0 pose: 0.50161892 1.87658 0.0943743 0 0.00124155 -0.00544894 0.058042 0.998299 uwb: 0.50103275 847.724 810.945 -imu_odom_: 1691062421.309509996 0.718261 -0.265756 10.3693 -0.036219 -0.0191748 0.0500674 0.17 0 pose: 0.5997928 1.87658 0.0943743 0 0.000896208 -0.00490236 0.0580214 0.998303 uwb: 0.0 847.724 810.945 -imu_odom_: 1691062421.327511072 0.141258 -0.292093 9.27753 -0.0383495 -0.00532632 0.0436758 0.17 0 pose: 0.0 1.87658 0.0943743 0 0.000896208 -0.00490236 0.0580214 0.998303 uwb: 0.0 847.724 810.945 -imu_odom_: 1691062421.351452624 0.208296 -0.351948 9.64145 -0.0532632 0.00213053 0.0532632 0.19 0 pose: 0.42886631 1.88657 0.0948352 0 -8.61223e-05-0.00384845 0.058108 0.998303 uwb: 0.49889802 847.596 810.108 -imu_odom_: 1691062421.376484577 -0.0957681 -0.0694318 9.98143 -0.0500674 0.00745685 0.0394148 0.21 0 pose: 0.0 1.88657 0.0948352 0 -8.61223e-05-0.00384845 0.058108 0.998303 uwb: 0.0 847.596 810.108 -imu_odom_: 1691062421.400462000 0.0167594 -0.246603 10.0078 -0.0607201 -0.0149137 0.0436758 0.18 0 pose: 0.30981762 1.89656 0.0952996 0 -0.00104971 -0.00096168 0.0582766 0.998299 uwb: 0.50013162 847.329 809.776 -imu_odom_: 1691062421.425496577 0.6608 -0.308852 9.9934 -0.0447411 -0.00106526 0.0287621 0.18 0 pose: 0.0 1.89656 0.0952996 0 -0.00104971 -0.00096168 0.0582766 0.998299 uwb: 0.0 847.329 809.776 -imu_odom_: 1691062421.451437536 0.565032 -0.54109 9.56723 -0.0426106 -0.0149137 0.0436758 0.25 -0.02 pose: 0.67003743 1.90655 0.0957658 0 -0.00122944 0.000725005 0.0581874 0.998305 uwb: 0.49996830 846.764 809.412 -imu_odom_: 1691062421.467509196 0.19393 -0.244209 10.058 -0.0383495 0.0181095 0.0351537 0.25 -0.02 pose: 0.8139650 1.90655 0.0957658 0 -0.00185402 0.000234766 0.0582029 0.998303 uwb: 0.0 846.764 809.412 -imu_odom_: 1691062421.493593053 0.433351 -0.0407014 9.991 -0.0447411 -0.00319579 0.0479369 0.22 0 pose: 0.0 1.90655 0.0957658 0 -0.00185402 0.000234766 0.0582029 0.998303 uwb: 0.49893303 845.82 809.263 -imu_odom_: 1691062421.518515062 0.112527 -0.150835 9.73243 -0.0511327 0.0276969 0.0479369 0.22 0 pose: 0.40986085 1.91654 0.0962304 0 -0.00219484 0.000840224 0.0582359 0.9983 uwb: 0.0 845.82 809.263 -imu_odom_: 1691062421.544430649 0.45011 -0.248997 9.90721 -0.0628506 -0.0298274 0.0447411 0.21 0 pose: 0.43892750 1.92653 0.0966955 0 0.000248968 0.00340023 0.0584202 0.998286 uwb: 0.49932672 845.753 808.497 -imu_odom_: 1691062421.569436355 0.553061 -0.146046 10.4339 -0.0426106 -0.0415453 0.0447411 0.21 0 pose: 0.6998506 1.92653 0.0966955 0 1.74592e-05 0.00264198 0.0584379 0.998288 uwb: 0.0 845.753 808.497 -imu_odom_: 1691062421.586429270 0.64404 -0.102951 9.69412 -0.0713727 0.00106526 0.0607201 0.2 -0.02 pose: 0.0 1.92653 0.0966955 0 1.74592e-05 0.00264198 0.0584379 0.998288 uwb: 0.0 845.753 808.497 -imu_odom_: 1691062421.611494468 0.438139 -0.25618 9.81862 -0.0660464 -0.0276969 0.0436758 0.2 -0.02 pose: 0.51976406 1.93652 0.0971648 0 0.00114642 -0.00272533 0.0586338 0.998275 uwb: 0.50006162 844.29 808.739 -imu_odom_: 1691062421.628415642 0.368707 -0.385466 9.70849 -0.0532632 -0.00106526 0.0426106 0.23 0 pose: 0.0 1.93652 0.0971648 0 0.00114642 -0.00272533 0.0586338 0.998275 uwb: 0.0 844.29 808.739 -imu_odom_: 1691062421.653407350 0.344765 -0.102951 10.3286 -0.0479369 0.00958738 0.0340885 0.23 0 pose: 0.42023118 1.94651 0.0976389 0 -0.00160855 -0.00240611 0.058799 0.998266 uwb: 0.50010537 843.097 808.983 -imu_odom_: 1691062421.679526203 0.366313 -0.253785 9.89524 -0.0585895 0.0106526 0.0500674 0.22 0 pose: 0.33894258 1.95364 0.0979792 0 -0.00023866 -0.0004198110.0587458 0.998273 uwb: 0.0 843.097 808.983 -imu_odom_: 1691062421.704398926 0.3304 0.0311246 10.1275 -0.0490022 -0.0287621 0.0415453 0.22 0 pose: 0.7174359 1.9565 0.0981151 0 -0.0007209730.000177825 0.0587836 0.99827 uwb: 0.50098609 842.692 808.49 -imu_odom_: 1691062421.730451871 0.260968 -0.308852 9.78271 -0.0511327 0.0181095 0.0245011 0.22 0 pose: 0.43817217 1.96334 0.0984429 0 0.000552515 0.00190902 0.0589135 0.998261 uwb: 0.0 842.692 808.49 -imu_odom_: 1691062421.754463706 0.435745 -0.4956 9.91199 -0.0511327 0.0255663 0.0383495 0.19 0 pose: 0.0 1.96334 0.0984429 0 0.000552515 0.00190902 0.0589135 0.998261 uwb: 0.49998580 842.839 807.301 -imu_odom_: 1691062421.780459200 0.402226 -0.416591 9.65821 -0.04048 0 0.0330232 0.19 0 pose: 0.33034537 1.96648 0.0985936 0 -0.00198331 0.00371514 0.0587051 0.998266 uwb: 0.0 842.839 807.301 -imu_odom_: 1691062421.796451245 0.59855 0.0047884 10.2759 -0.0681769 -0.00852212 0.0447411 0.19 0 pose: 0.0 1.96648 0.0985936 0 -0.00198331 0.00371514 0.0587051 0.998266 uwb: 0.50084611 842.455 806.486 -imu_odom_: 1691062421.820553777 0.912191 -0.179565 10.3286 -0.0649811 -0.015979 0.0287621 0.19 0 pose: 0.50039117 1.97647 0.0990681 0 -0.00504869 0.00164827 0.0586066 0.998267 uwb: 0.0 842.455 806.486 -imu_odom_: 1691062421.837408460 0.339977 -0.3304 10.0293 -0.0553937 0.00852212 0.0298274 0.19 0 pose: 0.0 1.97647 0.0990681 0 -0.00504869 0.00164827 0.0586066 0.998267 uwb: 0.0 842.455 806.486 -imu_odom_: 1691062421.863390247 0.586579 -0.0502782 10.6542 -0.0660464 -0.0234358 0.0298274 0.18 -0.02 pose: 0.39954886 1.98646 0.0995405 0 -0.00411416 -0.0006783210.0584595 0.998281 uwb: 0.49895635 841.854 806.093 -imu_odom_: 1691062421.889518723 0.725443 -0.548272 9.22007 -0.0788296 -0.0266316 0.0500674 0.21 0 pose: 0.35962781 1.99371 0.0998814 0 -0.00254437 -0.00142308 0.0582836 0.998296 uwb: 0.0 841.854 806.093 -imu_odom_: 1691062421.914511889 0.634463 -0.426168 9.22486 -0.0308927 0.0287621 0.0223706 0.21 0 pose: 0.0 1.99371 0.0998814 0 -0.00254437 -0.00142308 0.0582836 0.998296 uwb: 0.50129230 841.367 805.149 -imu_odom_: 1691062421.939428940 0.828394 -0.399832 9.62708 -0.0756338 -0.00639159 0.0532632 0.19 -0.02 pose: 0.51121642 1.99645 0.100009 0 -0.00561802 -0.00538779 0.0581967 0.998275 uwb: 0.0 841.367 805.149 -imu_odom_: 1691062421.956366446 0.244209 -0.25618 9.60314 -0.0372843 0.0213053 0.04048 0.19 -0.02 pose: 0.0 1.99645 0.100009 0 -0.00561802 -0.00538779 0.0581967 0.998275 uwb: 0.49914883 841.758 803.889 -imu_odom_: 1691062421.971413905 0.85473 -0.0909797 10.3238 -0.0426106 -0.00639159 0.0543285 0.17 -0.11 pose: 0.0 1.99645 0.100009 0 -0.00561802 -0.00538779 0.0581967 0.998275 uwb: 0.0 841.758 803.889 -imu_odom_: 1691062421.988356368 1.87466 -0.390255 10.1754 -0.0607201 -0.0745685 0.00852212 0.17 -0.11 pose: 0.47857151 2.00597 0.110464 0 -0.00533236 -0.00647653 0.058408 0.998258 uwb: 0.0 841.758 803.889 -imu_odom_: 1691062422.5415484 1.80523 0.0263362 9.38288 -0.0394148 0.0245011 -0.143811 0.17 -0.11 pose: 0.0 2.00597 0.110464 0 -0.00533236 -0.00647653 0.058408 0.998258 uwb: 0.49987498 842.346 802.51 -imu_odom_: 1691062422.22352999 1.74298 0.270545 9.99579 -0.0585895 -0.00319579 -0.213053 0.13 -0.29 pose: 0.43046444 2.01596 0.110934 0 -0.00401335 -0.0108453 0.0566234 0.998329 uwb: 0.0 842.346 802.51 -imu_odom_: 1691062422.38459080 1.35512 0.0574608 9.93594 -0.0649811 0.0255663 -0.309992 0.13 -0.29 pose: 0.6960890 2.01596 0.110934 0 -0.00366415 -0.0114471 0.0557389 0.998373 uwb: 0.0 842.346 802.51 -imu_odom_: 1691062422.55356058 0.888249 -0.196325 10.1299 -0.052198 0.0298274 -0.399474 0.13 -0.29 pose: 0.0 2.01596 0.110934 0 -0.00366415 -0.0114471 0.0557389 0.998373 uwb: 0.49939403 842.162 801.569 -imu_odom_: 1691062422.72342276 0.584185 0.0837971 9.4571 -0.0532632 -0.0181095 -0.401605 0.14 -0.53 pose: 0.42979684 2.02595 0.11145 0 -0.00170427 -0.0147623 0.0479253 0.99874 uwb: 0.0 842.162 801.569 -imu_odom_: 1691062422.88405779 0.553061 -0.447716 9.48343 -0.0639159 -0.00745685 -0.411192 0.1 -0.44 pose: 0.0 2.02595 0.11145 0 -0.00170427 -0.0147623 0.0479253 0.99874 uwb: 0.0 842.162 801.569 -imu_odom_: 1691062422.105359333 0.591368 -0.342371 9.57681 -0.052198 -0.0468716 -0.426106 0.1 -0.44 pose: 0.0 2.02595 0.11145 0 -0.00170427 -0.0147623 0.0479253 0.99874 uwb: 0.50049352 841.374 801.291 -imu_odom_: 1691062422.121380842 0.349553 -0.296881 9.43076 -0.0649811 0.00319579 -0.444215 0.1 -0.44 pose: 0.24998430 2.02595 0.11145 0 -0.000737914-0.0140295 0.0423666 0.999003 uwb: 0.0 841.374 801.291 -imu_odom_: 1691062422.138398847 0.600945 -0.0383072 9.87608 -0.0575243 -0.0383495 -0.456998 0.08 -0.5 pose: 0.0 2.02595 0.11145 0 -0.000737914-0.0140295 0.0423666 0.999003 uwb: 0.0 841.374 801.291 -imu_odom_: 1691062422.154473724 0.878672 -0.294487 9.67257 -0.0788296 -0.0330232 -0.477238 0.08 -0.5 pose: 0.33080341 2.02595 0.11145 0 -0.00285869 -0.0122476 0.0346922 0.999319 uwb: 0.49990443 841.28 800.46 -imu_odom_: 1691062422.171344164 0.658405 -0.0837971 9.96706 -0.0458064 -0.0245011 -0.529436 0.1 -0.67 pose: 0.41038895 2.031 0.111751 0 -0.00163098 -0.0133466 0.0243801 0.999612 uwb: 0.0 841.28 800.46 -imu_odom_: 1691062422.187345259 0.624887 -0.270545 9.5792 -0.0671117 -0.00639159 -0.517718 0.1 -0.67 pose: 0.0 2.031 0.111751 0 -0.00163098 -0.0133466 0.0243801 0.999612 uwb: 0.0 841.28 800.46 -imu_odom_: 1691062422.204454251 0.354342 -0.356736 9.76595 -0.0809601 0.0170442 -0.497478 0.1 -0.67 pose: 0.0 2.031 0.111751 0 -0.00163098 -0.0133466 0.0243801 0.999612 uwb: 0.49924827 841.087 799.859 -imu_odom_: 1691062422.220384772 0.500388 -0.368707 10.0604 -0.0458064 -0.00745685 -0.540089 0.06 -0.58 pose: 0.7932306 2.03593 0.111992 0 -0.000768104-0.0133782 0.0221142 0.999666 uwb: 0.0 841.087 799.859 -imu_odom_: 1691062422.237500764 0.758962 0.0454898 10.1083 -0.0713727 -0.0394148 -0.493217 0.07 -0.64 pose: 0.0 2.03593 0.111992 0 -0.000768104-0.0133782 0.0221142 0.999666 uwb: 0.0 841.087 799.859 -imu_odom_: 1691062422.253379083 0.526724 -0.366313 9.53132 -0.0745685 -0.00852212 -0.426106 0.07 -0.64 pose: 0.64997666 2.03593 0.111992 0 -0.00242064 -0.0102119 0.00405609 0.999937 uwb: 0.0 841.087 799.859 -imu_odom_: 1691062422.270444623 0.761356 -0.519542 9.94073 -0.0532632 0.0127832 -0.413323 0.07 -0.64 pose: 0.0 2.03593 0.111992 0 -0.00242064 -0.0102119 0.00405609 0.999937 uwb: 0.0 841.087 799.859 -imu_odom_: 1691062422.286379518 0.675165 -0.148441 9.95748 -0.0575243 -0.0266316 -0.394148 0.06 -0.55 pose: 0.0 2.03593 0.111992 0 -0.00242064 -0.0102119 0.00405609 0.999937 uwb: 0.0 841.087 799.859 -imu_odom_: 1691062422.303530505 0.794875 -0.205901 10.0173 -0.0660464 -0.0138484 -0.339819 0.06 -0.55 pose: 0.33039222 2.03593 0.111992 0 -0.0035736 -0.0103416 -0.00392166 0.999932 uwb: 0.100016466 840.281 799.565 -imu_odom_: 1691062422.319469483 0.581791 -0.363919 9.66539 -0.0607201 0.00106526 -0.32384 0.04 -0.32 pose: 0.43087587 2.03591 0.11199 0 -0.00231832 -0.0132855 -0.0129184 0.999826 uwb: 0.0 840.281 799.565 -imu_odom_: 1691062422.346352710 0.588974 -0.225055 9.96467 -0.0596548 -0.00319579 -0.300405 0.04 -0.32 pose: 0.0 2.03591 0.11199 0 -0.00231832 -0.0132855 -0.0129184 0.999826 uwb: 0.50372477 840.998 797.943 -imu_odom_: 1691062422.362472206 0.124498 -0.241814 9.85214 -0.0660464 0.0532632 -0.243946 0.04 -0.26 pose: 0.7909851 2.03593 0.111992 0 -0.00296321 -0.0128057 -0.0143462 0.999811 uwb: 0.0 840.998 797.943 -imu_odom_: 1691062422.379468630 -1.01993 -0.402226 10.0461 -0.0468716 0.0905475 -0.206661 0.07 -0.32 pose: 0.0 2.03593 0.111992 0 -0.00296321 -0.0128057 -0.0143462 0.999811 uwb: 0.0 840.998 797.943 -imu_odom_: 1691062422.395473808 -1.28808 -0.356736 10.0461 -0.0553937 -0.0276969 -0.193878 0.07 -0.23 pose: 0.0 2.03593 0.111992 0 -0.00296321 -0.0128057 -0.0143462 0.999811 uwb: 0.49615117 841.431 796.674 -imu_odom_: 1691062422.413514263 -0.337582 -0.047884 9.94073 -0.056459 -0.0937433 -0.166181 0.07 -0.23 pose: 0.76029405 2.04593 0.112405 0 -0.0017618 -0.00515921 -0.0256879 0.999655 uwb: 0.0 841.431 796.674 -imu_odom_: 1691062422.429327257 0.588974 -0.411803 9.72285 -0.0735032 -0.0692422 -0.124636 0.07 -0.23 pose: 0.0 2.04593 0.112405 0 -0.0017618 -0.00515921 -0.0256879 0.999655 uwb: 0.0 841.431 796.674 -imu_odom_: 1691062422.446307350 0.584185 -0.277727 9.75877 -0.0575243 0 -0.132093 0.1 -0.2 pose: 0.0 2.04593 0.112405 0 -0.0017618 -0.00515921 -0.0256879 0.999655 uwb: 0.50122259 841.844 795.367 -imu_odom_: 1691062422.462341399 0.270545 -0.342371 9.94791 -0.0500674 0.0394148 -0.137419 0.1 -0.2 pose: 0.32877951 2.04593 0.112405 0 -0.00198485 -0.00410862 -0.0290325 0.999568 uwb: 0.0 841.844 795.367 -imu_odom_: 1691062422.479342489 -0.19393 -0.253785 9.9503 -0.052198 0.0255663 -0.11931 0.15 -0.2 pose: 0.41993687 2.05123 0.112628 0 -0.00341955 -0.00462074 -0.0326393 0.999451 uwb: 0.0 841.844 795.367 -imu_odom_: 1691062422.495352041 -0.129287 -0.292093 9.77074 -0.0617853 -0.0149137 -0.127832 0.15 -0.2 pose: 0.0 2.05123 0.112628 0 -0.00341955 -0.00462074 -0.0326393 0.999451 uwb: 0.49849879 842.473 793.96 -imu_odom_: 1691062422.512287223 0.0622492 -0.110133 9.8258 -0.0585895 0.015979 -0.12144 0.15 -0.2 pose: 0.0 2.05123 0.112628 0 -0.00341955 -0.00462074 -0.0326393 0.999451 uwb: 0.0 842.473 793.96 -imu_odom_: 1691062422.528403511 0.275333 -0.31364 10.1347 -0.0639159 0.0117179 -0.0969391 0.11 -0.11 pose: 0.6952725 2.05592 0.112791 0 -0.00335458 -0.00382473 -0.0331896 0.999436 uwb: 0.0 842.473 793.96 -imu_odom_: 1691062422.546292903 -0.0047884 -0.196325 9.59357 -0.0735032 -0.0266316 -0.0798948 0.17 -0.17 pose: 0.0 2.05592 0.112791 0 -0.00335458 -0.00382473 -0.0331896 0.999436 uwb: 0.50187292 843.083 792.518 -imu_odom_: 1691062422.562333951 0.260968 -0.361524 9.53371 -0.0607201 -0.0234358 -0.0873517 0.17 -0.17 pose: 0.67005531 2.05625 0.102797 0 -0.00304494 0.00284475 -0.038242 0.99926 uwb: 0.0 843.083 792.518 -imu_odom_: 1691062422.579400074 0.452504 -0.234632 9.85214 -0.0671117 -0.0490022 -0.0735032 0.18 -0.17 pose: 0.0 2.05625 0.102797 0 -0.00304494 0.00284475 -0.038242 0.99926 uwb: 0.0 843.083 792.518 -imu_odom_: 1691062422.595283059 0.414197 -0.0383072 9.83059 -0.0479369 -0.0372843 -0.092678 0.18 -0.17 pose: 0.0 2.05625 0.102797 0 -0.00304494 0.00284475 -0.038242 0.99926 uwb: 0.49825965 843.202 791.541 -imu_odom_: 1691062422.612403134 0.500388 -0.196325 9.78271 -0.0532632 -0.036219 -0.0735032 0.18 -0.17 pose: 0.33107463 2.06625 0.103131 0 -0.00391247 0.00381028 -0.0402523 0.999175 uwb: 0.0 843.202 791.541 -imu_odom_: 1691062422.628333363 0.588974 -0.486023 9.78031 -0.0628506 -0.0426106 -0.0703074 0.18 -0.14 pose: 0.33012975 2.06625 0.103131 0 -0.00175751 0.00118241 -0.042268 0.999104 uwb: 0.0 843.202 791.541 -imu_odom_: 1691062422.645298291 1.04627 -0.114922 9.79468 -0.0436758 -0.0266316 -0.0735032 0.18 -0.14 pose: 0.0 2.06625 0.103131 0 -0.00175751 0.00118241 -0.042268 0.999104 uwb: 0.50001525 843.943 790.249 -imu_odom_: 1691062422.661395332 0.940921 -0.112527 10.0556 -0.0436758 0.0298274 -0.0223706 0.18 -0.14 pose: 0.0 2.06625 0.103131 0 -0.00175751 0.00118241 -0.042268 0.999104 uwb: 0.0 843.943 790.249 -imu_odom_: 1691062422.678385923 1.00078 -0.397437 9.83059 -0.0596548 -0.0234358 0.00106526 0.1 -0.11 pose: 0.32917321 2.07624 0.103486 0 -0.00259484 -0.00189267 -0.0441055 0.999022 uwb: 0.0 843.943 790.249 -imu_odom_: 1691062422.694361938 1.51792 -0.292093 9.98622 -0.0511327 -0.0276969 -0.0319579 0.1 -0.11 pose: 0.0 2.07624 0.103486 0 -0.00259484 -0.00189267 -0.0441055 0.999022 uwb: 0.49968571 844.211 789.463 -imu_odom_: 1691062422.711334157 1.34075 -0.0981623 9.52653 -0.0458064 0.0319579 -0.0735032 0.11 -0.14 pose: 0.17974256 2.07624 0.103486 0 -0.00209105 -0.00362834 -0.0449211 0.998982 uwb: 0.0 844.211 789.463 -imu_odom_: 1691062422.727319503 0.481235 -0.0646434 9.88566 -0.0628506 0.02024 -0.0692422 0.11 -0.14 pose: 0.0 2.07624 0.103486 0 -0.00209105 -0.00362834 -0.0449211 0.998982 uwb: 0.0 844.211 789.463 -imu_odom_: 1691062422.744274808 0.426168 -0.100556 9.9503 -0.0617853 -0.00319579 -0.0862864 0.11 -0.14 pose: 0.0 2.07624 0.103486 0 -0.00209105 -0.00362834 -0.0449211 0.998982 uwb: 0.49982861 844.17 789.023 -imu_odom_: 1691062422.760384972 0.871489 -0.361524 10.1131 -0.0628506 -0.0543285 -0.0798948 0.06 -0.05 pose: 0.47951082 2.07624 0.103486 0 -0.00238463 -0.00838845 -0.0464654 0.998882 uwb: 0.0 844.17 789.023 -imu_odom_: 1691062422.777376146 0.852336 -0.368707 9.60793 -0.0607201 0.00426106 -0.0628506 0.08 -0.11 pose: 0.0 2.07624 0.103486 0 -0.00238463 -0.00838845 -0.0464654 0.998882 uwb: 0.0 844.17 789.023 -imu_odom_: 1691062422.793249508 1.02472 -0.447716 9.92636 -0.0628506 -0.00106526 -0.0340885 0.08 -0.11 pose: 0.66128021 2.08624 0.103856 0 -0.000892336-0.00943187 -0.0503053 0.998689 uwb: 0.50023106 844.999 787.829 -imu_odom_: 1691062422.810286760 0.579397 -0.380678 9.79228 -0.0596548 0.0106526 -0.0351537 0.07 -0.08 pose: 0.0 2.08624 0.103856 0 -0.000892336-0.00943187 -0.0503053 0.998689 uwb: 0.0 844.999 787.829 -imu_odom_: 1691062422.835391634 0.806846 -0.198719 9.93354 -0.0543285 -0.015979 -0.0372843 0.07 -0.08 pose: 0.0 2.08624 0.103856 0 -0.000892336-0.00943187 -0.0503053 0.998689 uwb: 0.0 844.999 787.829 -imu_odom_: 1691062422.852338773 0.328006 -0.253785 9.73004 -0.0660464 0.0351537 -0.0319579 0.07 -0.08 pose: 0.32878534 2.08624 0.103856 0 -0.00293532 -0.0112555 -0.0516433 0.998598 uwb: 0.49897706 844.836 787.217 -imu_odom_: 1691062422.877529969 -1.18992 -0.217872 9.96467 -0.0500674 0.0841559 -0.0234358 0.05 -0.05 pose: 0.42089925 2.08624 0.103856 0 -0.0029645 -0.0124541 -0.0532347 0.9985 uwb: 0.0 844.836 787.217 -imu_odom_: 1691062422.902397749 -0.787692 -0.502782 9.93115 -0.0553937 -0.104396 0.0181095 0.1 -0.02 pose: 0.35170737 2.09336 0.104115 0 -0.00260636 -0.00763927 -0.054382 0.998488 uwb: 0.50125175 845.275 786.256 -imu_odom_: 1691062422.925257080 0.687136 -0.0790087 9.67018 -0.0447411 -0.056459 -0.0138484 0.1 -0.02 pose: 0.0 2.09336 0.104115 0 -0.00260636 -0.00763927 -0.054382 0.998488 uwb: 0.0 845.275 786.256 -imu_odom_: 1691062422.941374535 0.612916 -0.196325 9.65582 -0.0468716 -0.0149137 0.00319579 0.11 -0.02 pose: 0.6871069 2.09623 0.104205 0 -0.00271117 -0.00730031 -0.0544526 0.998486 uwb: 0.0 845.275 786.256 -imu_odom_: 1691062422.968298299 -0.25618 -0.344765 9.76595 -0.04048 0.0468716 -0.015979 0.11 -0.02 pose: 0.0 2.09623 0.104205 0 -0.00271117 -0.00730031 -0.0544526 0.998486 uwb: 0.49800302 845.144 785.681 -imu_odom_: 1691062422.993224696 0.184354 -0.177171 10.1849 -0.0468716 -0.0351537 0.0181095 0.12 -0.02 pose: 0.48994239 2.09623 0.104205 0 -0.000759749-0.00932082 -0.0554112 0.99842 uwb: 0.50055768 844.625 785.357 -imu_odom_: 1691062423.18235382 0.0909797 -0.397437 9.44513 -0.0490022 -0.0138484 -0.0117179 0.12 -0.02 pose: 0.0 2.09623 0.104205 0 -0.000759749-0.00932082 -0.0554112 0.99842 uwb: 0.0 844.625 785.357 -imu_odom_: 1691062423.40277582 0.452504 -0.186748 10.0916 -0.0628506 -0.0617853 0.0106526 0.13 -0.05 pose: 0.42853992 2.10622 0.104591 0 -0.000165888-0.00601549 -0.0563884 0.998391 uwb: 0.0 844.625 785.357 -imu_odom_: 1691062423.56372007 0.605733 -0.011971 9.65821 -0.0532632 -0.056459 0.00532632 0.13 -0.05 pose: 0.0 2.10622 0.104591 0 -0.000165888-0.00601549 -0.0563884 0.998391 uwb: 0.50065123 844.939 784.607 -imu_odom_: 1691062423.81293461 0.122104 -0.531513 9.79468 -0.0607201 0.0191748 0.0191748 0.13 -0.02 pose: 0.47995422 2.10622 0.104591 0 -0.000147899-0.00262666 -0.0572964 0.998354 uwb: 0.0 844.939 784.607 -imu_odom_: 1691062423.104275873 0.502782 -0.0191536 9.79947 -0.052198 -0.0426106 0.0223706 0.13 -0.02 pose: 0.0 2.10622 0.104591 0 -0.000147899-0.00262666 -0.0572964 0.998354 uwb: 0.49941478 844.903 783.761 -imu_odom_: 1691062423.120236440 0.289698 -0.311246 9.71806 -0.0553937 0.0117179 0.0181095 0.15 0 pose: 0.39089377 2.11622 0.10494 0 0.00206127 -0.00411058 -0.0578793 0.998313 uwb: 0.0 844.903 783.761 -imu_odom_: 1691062423.144290589 0.526724 -0.237026 10.0054 -0.0607201 -0.0426106 0.0181095 0.15 0 pose: 0.0 2.11622 0.10494 0 0.00206127 -0.00411058 -0.0578793 0.998313 uwb: 0.49979973 844.388 783.84 -imu_odom_: 1691062423.161272150 0.706289 -0.387861 9.85214 -0.0479369 -0.00106526 0.0117179 0.14 -0.02 pose: 0.47953734 2.11622 0.10494 0 0.00258195 -0.00315612 -0.0583374 0.998289 uwb: 0.0 844.388 783.84 -imu_odom_: 1691062423.178216382 0.191536 -0.215478 9.79468 -0.0490022 0.0170442 0.0170442 0.14 -0.02 pose: 0.0 2.11622 0.10494 0 0.00258195 -0.00315612 -0.0583374 0.998289 uwb: 0.0 844.388 783.84 -imu_odom_: 1691062423.203235532 0.509965 -0.433351 10.3741 -0.0490022 0.0415453 0.02024 0.15 -0.02 pose: 0.40002468 2.12656 0.0952784 0 -0.000151616-0.00508694 -0.0587791 0.998258 uwb: 0.49963350 844.787 782.799 -imu_odom_: 1691062423.228312132 0.466869 -0.136469 10.3789 -0.0553937 -0.0372843 0.036219 0.15 -0.02 pose: 0.0 2.12656 0.0952784 0 -0.000151616-0.00508694 -0.0587791 0.998258 uwb: 0.0 844.787 782.799 -imu_odom_: 1691062423.242312077 0.782904 -0.407014 9.76116 -0.0735032 -0.0351537 0.0436758 0.15 -0.02 pose: 0.0 2.12656 0.0952784 0 -0.000151616-0.00508694 -0.0587791 0.998258 uwb: 0.49975016 844.012 782.919 -imu_odom_: 1691062423.266235868 0.287304 -0.349553 9.87129 -0.0585895 0.00106526 0.0245011 0.17 0 pose: 0.34924039 2.12656 0.0952784 0 -0.0013624 -0.00379194 -0.0591786 0.998239 uwb: 0.0 844.012 782.919 -imu_odom_: 1691062423.283172809 0.519542 -0.320823 9.42118 -0.0639159 -0.0617853 0.0372843 0.17 0 pose: 0.0 2.12656 0.0952784 0 -0.0013624 -0.00379194 -0.0591786 0.998239 uwb: 0.0 844.012 782.919 -imu_odom_: 1691062423.299177704 0.828394 -0.385466 9.59835 -0.0681769 -0.0308927 0.0820254 0.2 -0.02 pose: 0.86971080 2.14654 0.0961058 0 -0.00302572 -0.00359549 -0.0595341 0.998215 uwb: 0.50156117 845.244 781.431 -imu_odom_: 1691062423.316396943 1.01514 -0.31364 9.23922 -0.0596548 -0.00213053 0.108657 0.2 -0.02 pose: 0.0 2.14654 0.0961058 0 -0.00302572 -0.00359549 -0.0595341 0.998215 uwb: 0.0 845.244 781.431 -imu_odom_: 1691062423.333236188 1.6113 -0.265756 10.2568 -0.0426106 -0.0660464 0.167247 0.11 0.23 pose: 0.43211554 2.15216 0.0963356 0 -0.0047586 -0.00790619 -0.0586196 0.998238 uwb: 0.0 845.244 781.431 -imu_odom_: 1691062423.350214833 1.44849 -0.452504 9.55526 -0.0436758 -0.0266316 0.268447 0.11 0.23 pose: 0.0 2.15216 0.0963356 0 -0.0047586 -0.00790619 -0.0586196 0.998238 uwb: 0.50000971 844.917 781.374 -imu_odom_: 1691062423.366268138 1.41976 -0.667982 10.5225 -0.056459 0.0415453 0.324906 0.11 0.23 pose: 0.0 2.15216 0.0963356 0 -0.0047586 -0.00790619 -0.0586196 0.998238 uwb: 0.0 844.917 781.374 -imu_odom_: 1691062423.383178833 1.05824 -0.42138 9.991 -0.0532632 0.00106526 0.373908 0.12 0.44 pose: 0.7953308 2.15654 0.096479 0 -0.0047456 -0.00894697 -0.0581145 0.998259 uwb: 0.0 844.917 781.374 -imu_odom_: 1691062423.399227472 0.701501 -0.203507 9.91199 -0.056459 0.0330232 0.425041 0.09 0.38 pose: 0.0 2.15654 0.096479 0 -0.0047456 -0.00894697 -0.0581145 0.998259 uwb: 0.49922813 845.245 780.621 -imu_odom_: 1691062423.416178704 0.586579 -0.126893 10.0796 -0.0426106 -0.00852212 0.494283 0.09 0.38 pose: 0.66837591 2.15654 0.0964789 0 -0.00561743 -0.0144549 -0.0489738 0.99868 uwb: 0.0 845.245 780.621 -imu_odom_: 1691062423.433171055 0.567426 -0.538695 9.79707 -0.0553937 -0.0276969 0.526241 0.09 0.38 pose: 0.0 2.15654 0.0964789 0 -0.00561743 -0.0144549 -0.0489738 0.99868 uwb: 0.0 845.245 780.621 -imu_odom_: 1691062423.450167780 0.902614 -0.220267 9.83059 -0.0340885 -0.00213053 0.502805 0.07 0.41 pose: 0.0 2.15654 0.0964789 0 -0.00561743 -0.0144549 -0.0489738 0.99868 uwb: 0.49991055 844.384 780.623 -imu_odom_: 1691062423.467228664 0.696713 -0.102951 9.59357 -0.0415453 -0.00745685 0.520914 0.07 0.41 pose: 0.32991705 2.16653 0.0968003 0 -0.00408044 -0.0133498 -0.0416501 0.999035 uwb: 0.0 844.384 780.623 -imu_odom_: 1691062423.483232976 0.778116 -0.215478 10.0173 -0.0617853 0.0138484 0.569916 0.06 0.5 pose: 0.43049117 2.16651 0.0967991 0 -0.00258679 -0.0148852 -0.0314501 0.999391 uwb: 0.0 844.384 780.623 -imu_odom_: 1691062423.500178374 0.907402 -0.481235 10.1849 -0.0479369 0.02024 0.58483 0.06 0.5 pose: 0.0 2.16651 0.0967991 0 -0.00258679 -0.0148852 -0.0314501 0.999391 uwb: 0.50047048 844.029 780.123 -imu_odom_: 1691062423.517163726 0.754174 -0.428562 9.92875 -0.0596548 0.0223706 0.607201 0.06 0.5 pose: 0.0 2.16651 0.0967991 0 -0.00258679 -0.0148852 -0.0314501 0.999391 uwb: 0.0 844.029 780.123 -imu_odom_: 1691062423.534163368 0.509965 -0.222661 9.67497 -0.056459 0 0.66366 0.07 0.82 pose: 0.7000556 2.16653 0.0968004 0 -0.00233026 -0.0154474 -0.0296013 0.99944 uwb: 0.0 844.029 780.123 -imu_odom_: 1691062423.550177303 0.608127 -0.306458 9.84496 -0.0426106 -0.00745685 0.670051 0.05 0.58 pose: 0.0 2.16653 0.0968004 0 -0.00233026 -0.0154474 -0.0296013 0.99944 uwb: 0.50001846 843.92 779.969 -imu_odom_: 1691062423.567152740 0.749385 0.011971 10.1203 -0.0436758 0 0.641289 0.05 0.58 pose: 0.66999445 2.16653 0.0968004 0 -0.00466015 -0.0145065 -0.0102076 0.999832 uwb: 0.0 843.92 779.969 -imu_odom_: 1691062423.583150927 0.500388 -0.158017 9.75877 -0.0490022 0.0181095 0.606135 0.05 0.58 pose: 0.0 2.16653 0.0968004 0 -0.00466015 -0.0145065 -0.0102076 0.999832 uwb: 0.0 843.92 779.969 -imu_odom_: 1691062423.600173025 0.272939 -0.158017 9.88805 -0.0596548 0.00639159 0.525175 0.04 0.41 pose: 0.0 2.16653 0.0968004 0 -0.00466015 -0.0145065 -0.0102076 0.999832 uwb: 0.50075336 843.923 779.157 -imu_odom_: 1691062423.616148757 0.526724 -0.0550666 9.91199 -0.0436758 -0.0245011 0.462325 0.04 0.41 pose: 0.33930751 2.16653 0.0968004 0 -0.00256419 -0.0131848 -3.43402e-050.99991 uwb: 0.0 843.923 779.157 -imu_odom_: 1691062423.634151894 0.818817 -0.184354 9.76834 -0.0553937 -0.0223706 0.426106 0.05 0.53 pose: 0.40989341 2.17652 0.0972003 0 -0.000262757-0.0101845 0.00971889 0.999901 uwb: 0.0 843.923 779.157 -imu_odom_: 1691062423.649197913 0.828394 -0.162806 9.92397 -0.0553937 0.00319579 0.415453 0.05 0.53 pose: 0.0 2.17652 0.0972003 0 -0.000262757-0.0101845 0.00971889 0.999901 uwb: 0.49847282 843.347 779.161 -imu_odom_: 1691062423.666204845 0.679953 -0.3304 9.90481 -0.0479369 -0.00106526 0.38243 0.05 0.53 pose: 0.0 2.17652 0.0972003 0 -0.000262757-0.0101845 0.00971889 0.999901 uwb: 0.0 843.347 779.161 -imu_odom_: 1691062423.691194832 0.59855 -0.0502782 9.90481 -0.0447411 -0.00106526 0.316384 0.03 0.29 pose: 0.8007259 2.17652 0.0972003 0 -0.000135917-0.0110452 0.0112644 0.999876 uwb: 0.0 843.347 779.161 -imu_odom_: 1691062423.708223345 0.488417 -0.141258 9.97664 -0.056459 0.015979 0.275903 0.03 0.29 pose: 0.0 2.17652 0.0972003 0 -0.000135917-0.0110452 0.0112644 0.999876 uwb: 0.49958975 844.527 777.55 -imu_odom_: 1691062423.724151541 -0.138864 -0.023942 9.89524 -0.0596548 0.0990696 0.192813 0.03 0.29 pose: 0.74004959 2.17652 0.0972002 0 0.00136474 -0.011981 0.0232024 0.999658 uwb: 0.0 844.527 777.55 -imu_odom_: 1691062423.742124932 -1.38624 -0.023942 10.058 -0.0809601 0.0713727 0.189617 0.07 0.26 pose: 0.0 2.17652 0.0972002 0 0.00136474 -0.011981 0.0232024 0.999658 uwb: 0.49929813 844.004 777.628 -imu_odom_: 1691062423.757191948 -1.23541 -0.52433 10.082 -0.0628506 -0.0607201 0.22051 0.07 0.26 pose: 0.0 2.17652 0.0972002 0 0.00136474 -0.011981 0.0232024 0.999658 uwb: 0.0 844.004 777.628 -imu_odom_: 1691062423.774175550 -0.107739 -0.770933 9.6606 -0.0479369 -0.102265 0.22264 0.07 0.26 pose: 0.34021739 2.17652 0.0972002 0 0.00180185 -0.00743334 0.026202 0.999627 uwb: 0.0 844.004 777.628 -imu_odom_: 1691062423.790117745 0.634463 -0.244209 9.97903 -0.0266316 -0.0458064 0.217314 0.08 0.17 pose: 0.41992836 2.17652 0.0972002 0 0.000205163 -0.00466092 0.0298638 0.999543 uwb: 0.0 844.004 777.628 -imu_odom_: 1691062423.808119424 0.342371 0.126893 9.62469 -0.0458064 0.0181095 0.238619 0.08 0.17 pose: 0.7980138 2.17652 0.0972002 0 0.000171761 -0.00560854 0.0305739 0.999517 uwb: 0.50005345 843.607 777.475 -imu_odom_: 1691062423.824111779 0.0861913 -0.141258 10.3334 -0.0596548 0.0223706 0.219444 0.08 0.17 pose: 0.0 2.17652 0.0972002 0 0.000171761 -0.00560854 0.0305739 0.999517 uwb: 0.0 843.607 777.475 -imu_odom_: 1691062423.839238579 -0.3304 -0.160412 9.72764 -0.0735032 0.00532632 0.181095 0.1 0.11 pose: 0.41956091 2.18651 0.0977116 0 0.0018131 -0.00363879 0.0344977 0.999397 uwb: 0.0 843.607 777.475 -imu_odom_: 1691062423.854177570 -0.0622492 -0.107739 9.81623 -0.0607201 -0.0319579 0.175769 0.11 0.14 pose: 0.0 2.18651 0.0977116 0 0.0018131 -0.00363879 0.0344977 0.999397 uwb: 0.50093417 843.968 777.164 -imu_odom_: 1691062423.872113632 0.304064 -0.553061 9.34217 -0.0585895 -0.0436758 0.199204 0.11 0.14 pose: 0.0 2.18651 0.0977116 0 0.0018131 -0.00363879 0.0344977 0.999397 uwb: 0.0 843.968 777.164 -imu_odom_: 1691062423.888120277 0.148441 -0.490811 9.50737 -0.0585895 0 0.185356 0.11 0.11 pose: 0.22141354 2.18651 0.0977116 0 0.00172183 -0.00146144 0.0360403 0.999348 uwb: 0.0 843.968 777.164 -imu_odom_: 1691062423.905194867 0.361524 -0.246603 9.9503 -0.0617853 0.00213053 0.167247 0.11 0.11 pose: 0.0 2.18651 0.0977116 0 0.00172183 -0.00146144 0.0360403 0.999348 uwb: 0.49866530 844.323 776.427 -imu_odom_: 1691062423.922109353 0.488417 0.0047884 9.83299 -0.0692422 -0.0191748 0.171508 0.11 0.11 pose: 0.32865721 2.1965 0.0982242 0 -0.000490048-0.0001931570.0385189 0.999258 uwb: 0.0 844.323 776.427 -imu_odom_: 1691062423.938106958 0.390255 -0.158017 10.0126 -0.0660464 0.015979 0.165116 0.14 0.14 pose: 0.42990499 2.1965 0.0982242 0 -0.0003333310.00127119 0.0413829 0.999142 uwb: 0.0 844.323 776.427 -imu_odom_: 1691062423.955165508 0.512359 -0.177171 10.0652 -0.0575243 -0.0447411 0.144876 0.14 0.14 pose: 0.8004927 2.1965 0.0982242 0 0.000411862 0.00122477 0.0418859 0.999122 uwb: 0.50038299 844.215 776.272 -imu_odom_: 1691062423.971100704 1.01514 -0.342371 10.0269 -0.036219 -0.0745685 0.152333 0.14 0.14 pose: 0.0 2.1965 0.0982242 0 0.000411862 0.00122477 0.0418859 0.999122 uwb: 0.0 844.215 776.272 -imu_odom_: 1691062423.988101221 1.41497 -0.371101 10.0221 -0.0617853 -0.0266316 0.209857 0.16 0.17 pose: 0.40986424 2.20648 0.0987619 0 0.00124012 -0.00296965 0.0441864 0.999018 uwb: 0.0 844.215 776.272 -imu_odom_: 1691062424.4255722 1.31442 -0.529119 9.62948 -0.0543285 0.00426106 0.272708 0.1 0.08 pose: 0.0 2.20648 0.0987619 0 0.00124012 -0.00296965 0.0441864 0.999018 uwb: 0.50002720 844.627 775.612 -imu_odom_: 1691062424.21097310 1.25696 -0.766145 9.76116 -0.0628506 -0.0106526 0.258859 0.1 0.08 pose: 0.0 2.20648 0.0987619 0 0.00124012 -0.00296965 0.0441864 0.999018 uwb: 0.0 844.627 775.612 -imu_odom_: 1691062424.38162578 1.26893 0.0335188 10.0748 -0.0234358 -0.0106526 0.157659 0.08 0.05 pose: 0.25015942 2.20648 0.0987619 0 0.000684431 -0.00557128 0.0465696 0.998899 uwb: 0.0 844.627 775.612 -imu_odom_: 1691062424.54162524 1.18034 0.438139 9.90002 -0.0511327 0.0266316 0.118244 0.08 0.05 pose: 0.0 2.20648 0.0987619 0 0.000684431 -0.00557128 0.0465696 0.998899 uwb: 0.49954040 844.399 775.283 -imu_odom_: 1691062424.70095396 0.802058 -0.0957681 9.83059 -0.0777643 0.0319579 0.111853 0.08 0.05 pose: 0.32993177 2.20648 0.0987619 0 -0.00016514 -0.00850879 0.0498393 0.998721 uwb: 0.0 844.399 775.283 -imu_odom_: 1691062424.88096502 0.380678 -0.605733 9.85453 -0.0660464 0.0127832 0.0809601 0.07 0.08 pose: 0.40985573 2.21644 0.0993568 0 0.00216497 -0.0112446 0.0515548 0.998605 uwb: 0.0 844.399 775.283 -imu_odom_: 1691062424.104159440 0.711078 -0.577003 10.0078 -0.0511327 -0.0223706 0.0479369 0.07 0.08 pose: 0.8065298 2.21647 0.0993589 0 0.00139821 -0.0108124 0.0517286 0.998602 uwb: 0.49986709 844.23 775.457 -imu_odom_: 1691062424.121088517 0.756568 -0.0430956 9.92636 -0.0468716 -0.02024 0.0713727 0.07 0.08 pose: 0.0 2.21647 0.0993589 0 0.00139821 -0.0108124 0.0517286 0.998602 uwb: 0.0 844.23 775.457 -imu_odom_: 1691062424.137145331 0.758962 -0.169988 9.88087 -0.0532632 0.0138484 0.109722 0.05 0.08 pose: 0.32942730 2.21647 0.0993589 0 -0.000401408-0.0113674 0.0521291 0.998576 uwb: 0.0 844.23 775.457 -imu_odom_: 1691062424.154088990 0.553061 -0.308852 9.90721 -0.0511327 0.0117179 0.0990696 0.06 0.08 pose: 0.0 2.21647 0.0993589 0 -0.000401408-0.0113674 0.0521291 0.998576 uwb: 0.49999249 845.679 773.773 -imu_odom_: 1691062424.170086311 0.59855 -0.138864 9.84735 -0.0394148 -0.0127832 0.0788296 0.06 0.08 pose: 0.0 2.21647 0.0993589 0 -0.000401408-0.0113674 0.0521291 0.998576 uwb: 0.0 845.679 773.773 -imu_odom_: 1691062424.187085671 0.715866 -0.155623 9.97185 -0.0585895 -0.00852212 0.104396 0.05 0.08 pose: 0.33051216 2.21647 0.0993589 0 0.000659956 -0.0127433 0.0530474 0.99851 uwb: 0.0 845.679 773.773 -imu_odom_: 1691062424.212099877 0.481235 -0.337582 10.003 -0.0543285 0.00106526 0.0990696 0.05 0.08 pose: 0.0 2.21647 0.0993589 0 0.000659956 -0.0127433 0.0530474 0.99851 uwb: 0.50008290 844.165 774.526 -imu_odom_: 1691062424.237083754 -0.134075 -0.244209 9.663 -0.0511327 0.0681769 0.107592 0.04 0.11 pose: 0.67945237 2.21647 0.0993589 0 0.000558017 -0.011011 0.0549547 0.998428 uwb: 0.0 844.165 774.526 -imu_odom_: 1691062424.260065887 -1.32878 -0.316035 9.95509 -0.0543285 0.0596548 0.115049 0.04 0.11 pose: 0.7157165 2.21647 0.0993589 0 0.000489582 -0.0100389 0.0551988 0.998425 uwb: 0.49980584 844.911 773.498 -imu_odom_: 1691062424.285080676 -0.289698 -0.325611 10.094 -0.0553937 -0.0756338 0.0937433 0.07 0.08 pose: 0.40808845 2.22325 0.0997015 0 3.45027e-05 -0.00459856 0.0566745 0.998382 uwb: 0.0 844.911 773.498 -imu_odom_: 1691062424.310061345 0.706289 -0.141258 9.81383 -0.052198 -0.0319579 0.076699 0.07 0.08 pose: 0.0 2.22325 0.0997015 0 3.45027e-05 -0.00459856 0.0566745 0.998382 uwb: 0.49980585 843.696 773.847 -imu_odom_: 1691062424.324119040 0.435745 -0.047884 9.73243 -0.056459 0.0245011 0.0894822 0.1 0.02 pose: 0.0 2.22325 0.0997015 0 3.45027e-05 -0.00459856 0.0566745 0.998382 uwb: 0.0 843.696 773.847 -imu_odom_: 1691062424.348066467 -0.347159 -0.464475 9.73482 -0.0671117 0.0351537 0.0607201 0.1 0.02 pose: 0.56074469 2.22645 0.0998727 0 0.00113514 -0.00530826 0.0579605 0.998304 uwb: 0.50133107 843.942 772.933 -imu_odom_: 1691062424.373048010 0.268151 -0.335188 9.93594 -0.0585895 -0.0383495 0.0777643 0.13 0.02 pose: 0.31926111 2.23351 0.100268 0 0.00076917 -0.00211779 0.0584086 0.99829 uwb: 0.0 843.942 772.933 -imu_odom_: 1691062424.386133122 0.339977 -0.289698 9.87848 -0.0671117 0.00213053 0.0884169 0.13 0.02 pose: 0.7018349 2.23644 0.100435 0 0.000310522 -0.00170178 0.0585429 0.998283 uwb: 0.0 843.942 772.933 -imu_odom_: 1691062424.411078212 0.268151 -0.287304 9.90002 -0.0490022 -0.0330232 0.0660464 0.11 0.05 pose: 0.0 2.23644 0.100435 0 0.000310522 -0.00170178 0.0585429 0.998283 uwb: 0.0 843.942 772.933 -imu_odom_: 1691062424.436112832 0.105345 -0.318429 9.8689 -0.0745685 0.0213053 0.0713727 0.11 0.05 pose: 0.39058486 2.23644 0.100435 0 -0.00204674 0.00102633 0.0593139 0.998237 uwb: 0.0 843.942 772.933 -imu_odom_: 1691062424.449050671 0.483629 -0.071826 10.2017 -0.0543285 0.0127832 0.04048 0.11 0.05 pose: 0.0 2.23644 0.100435 0 -0.00204674 0.00102633 0.0593139 0.998237 uwb: 0.99832561 843.82 772.33 -imu_odom_: 1691062424.473164909 -0.0766145 -0.201113 9.29669 -0.0852212 0.0170442 0.0841559 0.14 0.02 pose: 0.47972426 2.24642 0.101 0 -0.00305338 0.00476218 0.0599449 0.998186 uwb: 0.0 843.82 772.33 -imu_odom_: 1691062424.497117585 0.59855 -0.40462 10.0509 -0.0756338 -0.0170442 0.0681769 0.16 0.02 pose: 0.0 2.24642 0.101 0 -0.00305338 0.00476218 0.0599449 0.998186 uwb: 0.50027828 844.563 771.708 -imu_odom_: 1691062424.520178458 0.0023942 -0.172383 9.79707 -0.0585895 -0.00426106 0.0575243 0.16 0.02 pose: 0.37939797 2.24642 0.101 0 -0.00299617 0.00633386 0.0605885 0.998138 uwb: 0.0 844.563 771.708 -imu_odom_: 1691062424.536044255 -0.1652 -0.40462 9.414 -0.0660464 0.0191748 0.0809601 0.15 0 pose: 0.0 2.24642 0.101 0 -0.00299617 0.00633386 0.0605885 0.998138 uwb: 0.0 844.563 771.708 -imu_odom_: 1691062424.561027840 -0.366313 -0.0430956 10.5752 -0.0394148 0.00852212 0.0607201 0.15 0 pose: 0.47022298 2.25641 0.101511 0 -0.00342432 0.00754816 0.0611852 0.998092 uwb: 0.49977669 843.62 772.038 -imu_odom_: 1691062424.583023100 0.011971 -0.220267 10.3813 -0.0543285 0.0351537 0.0596548 0.14 0 pose: 0.0 2.25641 0.101511 0 -0.00342432 0.00754816 0.0611852 0.998092 uwb: 0.0 843.62 772.038 -imu_odom_: 1691062424.599046085 0.610521 -0.220267 10.3717 -0.0553937 -0.0511327 0.0671117 0.14 0 pose: 0.40039527 2.25641 0.101511 0 -0.00270922 0.0117463 0.0617091 0.998021 uwb: 0.49974460 844.285 770.87 -imu_odom_: 1691062424.624063207 0.897826 -0.222661 10.0628 -0.0436758 -0.0298274 0.052198 0.18 0.02 pose: 0.0 2.25641 0.101511 0 -0.00270922 0.0117463 0.0617091 0.998021 uwb: 0.0 844.285 770.87 -imu_odom_: 1691062424.648034547 0.543484 -0.260968 9.56484 -0.0500674 -0.0234358 0.0532632 0.18 0.02 pose: 0.38928128 2.26639 0.102046 0 -0.00212565 0.0108794 0.062138 0.998006 uwb: 0.50068949 843.858 771.103 -imu_odom_: 1691062424.664014954 0.452504 -0.392649 9.92397 -0.0617853 -0.00958738 0.0649811 0.18 0.02 pose: 0.0 2.26639 0.102046 0 -0.00212565 0.0108794 0.062138 0.998006 uwb: 0.0 843.858 771.103 -imu_odom_: 1691062424.689013121 0.325611 -0.205901 9.87129 -0.0415453 0.0149137 0.0500674 0.15 0.02 pose: 0.50202807 2.27638 0.102591 0 -0.00230434 0.00555923 0.06251 0.998026 uwb: 0.0 843.858 771.103 -imu_odom_: 1691062424.703014824 0.25618 -0.337582 9.50498 -0.052198 0.0117179 0.0511327 0.15 0.02 pose: 0.0 2.27638 0.102591 0 -0.00230434 0.00555923 0.06251 0.998026 uwb: 0.49933049 844.648 770.111 -imu_odom_: 1691062424.726021745 0.509965 -0.203507 10.0868 -0.0383495 -0.015979 0.052198 0.15 0 pose: 0.38811185 2.27638 0.102591 0 -0.00080078 0.0047232 0.0627764 0.998016 uwb: 0.0 844.648 770.111 -imu_odom_: 1691062424.749004171 0.217872 -0.258574 10.0317 -0.0319579 -0.00426106 0.0532632 0.15 0 pose: 0.0 2.27638 0.102591 0 -0.00080078 0.0047232 0.0627764 0.998016 uwb: 0.50061657 844.384 769.72 -imu_odom_: 1691062424.767013151 0.114922 -0.37589 9.37569 -0.0532632 0.0117179 0.0479369 0.2 0.02 pose: 0.39075984 2.28636 0.103147 0 -0.0009433970.00352312 0.0630177 0.998006 uwb: 0.0 844.384 769.72 -imu_odom_: 1691062424.791057981 0.426168 -0.186748 10.0892 -0.0458064 0.0276969 0.0628506 0.2 0.02 pose: 0.0 2.28636 0.103147 0 -0.0009433970.00352312 0.0630177 0.998006 uwb: 0.0 844.384 769.72 -imu_odom_: 1691062424.808011847 0.213084 -0.416591 10.2352 -0.0500674 0.0394148 0.0511327 0.16 0 pose: 0.39928708 2.29579 0.113692 0 -0.00201567 0.00596079 0.0632707 0.997977 uwb: 0.49970378 845.537 767.952 -imu_odom_: 1691062424.833014096 0.107739 -0.0909797 9.78031 -0.0479369 0.0298274 0.0426106 0.16 0 pose: 0.0 2.29579 0.113692 0 -0.00201567 0.00596079 0.0632707 0.997977 uwb: 0.0 845.537 767.952 -imu_odom_: 1691062424.849998874 0.294487 -0.155623 9.91918 -0.056459 -0.0447411 0.0532632 0.21 0 pose: 0.42085598 2.30577 0.114258 0 -0.00217815 0.00652911 0.0635752 0.997953 uwb: 0.50073323 845.669 767.27 -imu_odom_: 1691062424.873995586 0.356736 -0.169988 9.8665 -0.0479369 -0.00958738 0.04048 0.21 0 pose: 0.0 2.30577 0.114258 0 -0.00217815 0.00652911 0.0635752 0.997953 uwb: 0.0 845.669 767.27 -imu_odom_: 1691062424.899011833 0.227449 -0.237026 9.97664 -0.0543285 -0.0234358 0.0543285 0.2 0 pose: 0.41886124 2.30577 0.114258 0 0.000711208 0.00609067 0.0637422 0.997948 uwb: 0.49903886 845.369 766.818 -imu_odom_: 1691062424.924032455 0.493206 -0.189142 10.1682 -0.0372843 0.02024 0.0447411 0.15 0 pose: 0.0 2.30577 0.114258 0 0.000711208 0.00609067 0.0637422 0.997948 uwb: 0.0 845.369 766.818 -imu_odom_: 1691062424.948000295 0.608127 -0.0263362 9.93594 -0.0340885 -0.0340885 0.0532632 0.18 0 pose: 0.40975949 2.31575 0.114833 0 -6.63615e-050.0063595 0.0639276 0.997934 uwb: 0.50040077 844.913 766.13 -imu_odom_: 1691062424.961983625 -0.0167594 -0.148441 9.9527 -0.052198 -0.00213053 0.0575243 0.18 0 pose: 0.0 2.31575 0.114833 0 -6.63615e-050.0063595 0.0639276 0.997934 uwb: 0.0 844.913 766.13 -imu_odom_: 1691062424.978041022 0.167594 -0.23942 10.07 -0.0543285 -0.0149137 0.0607201 0.17 0 pose: 0.8045759 2.31575 0.114833 0 0.000119927 0.00566607 0.0639489 0.997937 uwb: 0.0 844.913 766.13 -imu_odom_: 1691062425.3030731 0.368707 -0.35913 9.89284 -0.0681769 -0.0458064 0.0596548 0.17 0 pose: 0.0 2.31575 0.114833 0 0.000119927 0.00566607 0.0639489 0.997937 uwb: 0.49904470 844.257 766.028 -imu_odom_: 1691062425.16985781 0.519542 -0.258574 10.0485 -0.0596548 -0.0426106 0.0479369 0.17 -0.02 pose: 0.47941221 2.32574 0.115413 0 0.00216478 0.00259805 0.064224 0.99793 uwb: 0.0 844.257 766.028 -imu_odom_: 1691062425.40027711 0.124498 -0.129287 10.0892 -0.0703074 -0.0468716 0.0660464 0.17 -0.02 pose: 0.0 2.32574 0.115413 0 0.00216478 0.00259805 0.064224 0.99793 uwb: 0.0 844.257 766.028 -imu_odom_: 1691062425.56989169 0.646434 -0.107739 10.2735 -0.0500674 -0.0490022 0.0436758 0.17 -0.02 pose: 0.54028985 2.33572 0.115998 0 -0.00105286 0.00253474 0.0647137 0.9979 uwb: 0.49948527 844.288 765.186 -imu_odom_: 1691062425.73118608 0.35913 -0.177171 10.1706 -0.0671117 -0.0351537 0.0479369 0.22 0 pose: 0.0 2.33572 0.115998 0 -0.00105286 0.00253474 0.0647137 0.9979 uwb: 0.0 844.288 765.186 -imu_odom_: 1691062425.90117102 0.42138 -0.42138 9.92397 -0.0607201 0.0138484 0.0532632 0.22 0 pose: 0.0 2.33572 0.115998 0 -0.00105286 0.00253474 0.0647137 0.9979 uwb: 0.0 844.288 765.186 -imu_odom_: 1691062425.113949640 0.107739 -0.328006 9.71328 -0.0479369 0.0447411 0.0394148 0.17 -0.02 pose: 0.70989595 2.3457 0.116597 0 0.000836181 0.00183425 0.0652061 0.99787 uwb: 0.49928703 844.605 764.326 -imu_odom_: 1691062425.137955988 0.047884 -0.332794 9.91199 -0.0745685 0.0426106 0.0490022 0.17 -0.02 pose: 0.0 2.3457 0.116597 0 0.000836181 0.00183425 0.0652061 0.99787 uwb: 0.0 844.605 764.326 -imu_odom_: 1691062425.163125064 0.409408 -0.538695 9.61033 -0.0681769 0.0138484 0.0436758 0.24 0 pose: 0.18118642 2.35568 0.117201 0 -0.0005088990.00254832 0.0652725 0.997864 uwb: 0.49999568 844.628 763.464 -imu_odom_: 1691062425.187945350 0.433351 -0.390255 9.53611 -0.0543285 0.0276969 0.0308927 0.18 0 pose: 0.39819953 2.36273 0.117629 0 -0.0024427 0.00708997 0.0653801 0.997832 uwb: 0.0 844.628 763.464 -imu_odom_: 1691062425.210949077 0.438139 -0.500388 9.61751 -0.0308927 0.00319579 0.0287621 0.18 -0.02 pose: 0.7015729 2.36567 0.117808 0 -0.00309782 0.00679512 0.0653895 0.997832 uwb: 0.0 844.628 763.464 -imu_odom_: 1691062425.236114653 -0.0430956 -0.517148 9.36372 -0.0127832 -0.0149137 0.0170442 0.18 -0.02 pose: 0.0 2.36567 0.117808 0 -0.00309782 0.00679512 0.0653895 0.997832 uwb: 0.0 844.628 763.464 -imu_odom_: 1691062425.248935556 0.469264 -0.304064 10.0963 -0.0298274 -0.0649811 0.0372843 0.25 0.02 pose: 0.0 2.36567 0.117808 0 -0.00309782 0.00679512 0.0653895 0.997832 uwb: 0.100165950 844.33 763.01 -imu_odom_: 1691062425.264048374 0.715866 0.0335188 9.7037 -0.0436758 -0.0532632 0.0660464 0.25 0.02 pose: 0.50059936 2.36567 0.117808 0 -0.00644832 0.0038288 0.0652431 0.997841 uwb: 0.0 844.33 763.01 -imu_odom_: 1691062425.281932256 1.72622 -0.251391 10.5512 -0.0681769 -0.125701 0.0553937 0.21 -0.23 pose: 0.0 2.36567 0.117808 0 -0.00644832 0.0038288 0.0652431 0.997841 uwb: 0.0 844.33 763.01 -imu_odom_: 1691062425.298069860 1.55623 -0.294487 9.35654 -0.056459 -0.0106526 -0.0873517 0.21 -0.23 pose: 0.86900603 2.3856 0.119008 0 -0.00597487 -0.0007333950.0651914 0.997855 uwb: 0.0 844.33 763.01 -imu_odom_: 1691062425.314918457 1.94649 0.126893 9.84017 -0.0543285 0.0213053 -0.20027 0.21 -0.23 pose: 0.0 2.3856 0.119008 0 -0.00597487 -0.0007333950.0651914 0.997855 uwb: 0.0 844.33 763.01 -imu_odom_: 1691062425.330982571 1.38385 0.138864 9.88087 -0.0681769 0.0213053 -0.298274 0.11 -0.35 pose: 0.0 2.3856 0.119008 0 -0.00597487 -0.0007333950.0651914 0.997855 uwb: 0.0 844.33 763.01 -imu_odom_: 1691062425.348049889 0.940921 0.244209 10.6159 -0.0745685 0.0127832 -0.415453 0.11 -0.35 pose: 0.7999977 2.38563 0.11901 0 -0.00590327 -0.00155884 0.0646801 0.997887 uwb: 0.100116664 845.03 761.82 -imu_odom_: 1691062425.362914823 0.591368 0.105345 10.331 -0.0873517 -0.0340885 -0.417584 0.11 -0.35 pose: 0.0 2.38563 0.11901 0 -0.00590327 -0.00155884 0.0646801 0.997887 uwb: 0.0 845.03 761.82 -imu_odom_: 1691062425.380982723 0.847547 -0.248997 9.72525 -0.0980043 -0.0468716 -0.426106 0.13 -0.58 pose: 0.66188792 2.39561 0.119704 0 -0.00259014 -0.00606694 0.0536742 0.998537 uwb: 0.0 845.03 761.82 -imu_odom_: 1691062425.396968388 1.04387 -0.248997 9.87608 -0.0830906 -0.100135 -0.420779 0.08 -0.44 pose: 0.0 2.39561 0.119704 0 -0.00259014 -0.00606694 0.0536742 0.998537 uwb: 0.49796303 844.789 760.993 -imu_odom_: 1691062425.413918763 1.10133 -0.146046 9.97185 -0.0553937 -0.0117179 -0.446346 0.08 -0.44 pose: 0.0 2.39561 0.119704 0 -0.00259014 -0.00606694 0.0536742 0.998537 uwb: 0.0 844.789 760.993 -imu_odom_: 1691062425.429913761 1.18274 -0.158017 9.93115 -0.0511327 -0.02024 -0.472977 0.07 -0.5 pose: 0.32808015 2.39561 0.119705 0 -0.00220666 -0.00966383 0.046081 0.998889 uwb: 0.0 844.789 760.993 -imu_odom_: 1691062425.446925962 0.842759 0.0047884 9.73961 -0.052198 0.0436758 -0.50387 0.07 -0.5 pose: 0.40984721 2.40053 0.120086 0 -0.00123975 -0.0142491 0.0360029 0.999249 uwb: 0.50052645 845.438 759.703 -imu_odom_: 1691062425.462971411 0.88346 -0.323217 10.2879 -0.0553937 0.0191748 -0.517718 0.07 -0.5 pose: 0.8068219 2.40558 0.1204 0 -0.000512923-0.0144765 0.0338016 0.999324 uwb: 0.0 845.438 759.703 -imu_odom_: 1691062425.479975738 0.588974 -0.186748 9.94312 -0.0596548 0 -0.526241 0.08 -0.7 pose: 0.0 2.40558 0.1204 0 -0.000512923-0.0144765 0.0338016 0.999324 uwb: 0.0 845.438 759.703 -imu_odom_: 1691062425.495912702 0.61531 -0.320823 9.80426 -0.0596548 -0.0234358 -0.52198 0.08 -0.7 pose: 0.41993758 2.40555 0.120398 0 0.000144963 -0.0142957 0.0220874 0.999654 uwb: 0.50119428 844.622 759.359 -imu_odom_: 1691062425.512914696 0.799663 -0.0646434 9.90242 -0.0532632 -0.0234358 -0.543285 0.08 -0.7 pose: 0.0 2.40555 0.120398 0 0.000144963 -0.0142957 0.0220874 0.999654 uwb: 0.0 844.622 759.359 -imu_odom_: 1691062425.527965397 0.737414 -0.0670376 9.76116 -0.0607201 -0.0245011 -0.512392 0.05 -0.5 pose: 0.0 2.40555 0.120398 0 0.000144963 -0.0142957 0.0220874 0.999654 uwb: 0.0 844.622 759.359 -imu_odom_: 1691062425.553021029 0.624887 -0.572214 9.97424 -0.0575243 -0.00745685 -0.444215 0.07 -0.64 pose: 0.24015390 2.40558 0.1204 0 -0.000485017-0.014175 0.0152699 0.999783 uwb: 0.49944451 843.633 759.213 -imu_odom_: 1691062425.566962372 0.483629 -0.411803 9.92397 -0.0575243 0.0181095 -0.416518 0.07 -0.64 pose: 0.0 2.40558 0.1204 0 -0.000485017-0.014175 0.0152699 0.999783 uwb: 0.0 843.633 759.213 -imu_odom_: 1691062425.582964369 0.105345 -0.126893 9.95748 -0.0415453 0.0340885 -0.427171 0.06 -0.32 pose: 0.32014783 2.40558 0.1204 0 0.000980741 -0.0152429 0.00655159 0.999862 uwb: 0.0 843.633 759.213 -imu_odom_: 1691062425.600966651 -1.00317 0.237026 9.38288 -0.0181095 0.0511327 -0.415453 0.06 -0.32 pose: 0.38976269 2.40558 0.1204 0 -0.00128165 -0.0127829 -0.00257603 0.999914 uwb: 0.49737102 843.605 758.248 -imu_odom_: 1691062425.616891366 -1.31681 -0.251391 9.99579 -0.0617853 -0.0245011 -0.262055 0.06 -0.32 pose: 0.0 2.40558 0.1204 0 -0.00128165 -0.0127829 -0.00257603 0.999914 uwb: 0.0 843.605 758.248 -imu_odom_: 1691062425.633037720 -0.52433 -1.075 9.8258 -0.0681769 -0.100135 -0.192813 0.09 -0.23 pose: 0.0 2.40558 0.1204 0 -0.00128165 -0.0127829 -0.00257603 0.999914 uwb: 0.0 843.605 758.248 -imu_odom_: 1691062425.649907605 0.727837 -0.713472 10.0844 -0.0276969 -0.092678 -0.206661 0.09 -0.23 pose: 0.41909186 2.41557 0.120949 0 -0.000189155-0.00819712 -0.0109375 0.999907 uwb: 0.50123803 844.641 756.601 -imu_odom_: 1691062425.665918351 0.6608 0.347159 9.25119 -0.0458064 -0.0276969 -0.164051 0.11 -0.26 pose: 0.0 2.41557 0.120949 0 -0.000189155-0.00819712 -0.0109375 0.999907 uwb: 0.0 844.641 756.601 -imu_odom_: 1691062425.682031167 0.335188 -0.215478 9.75637 -0.0649811 0.0298274 -0.153398 0.11 -0.26 pose: 0.7065014 2.41557 0.120949 0 -0.000663811-0.0079756 -0.0117551 0.999899 uwb: 0.0 844.641 756.601 -imu_odom_: 1691062425.698107529 -0.299275 -0.430956 9.87848 -0.0479369 0.00426106 -0.190682 0.11 -0.26 pose: 0.0 2.41557 0.120949 0 -0.000663811-0.0079756 -0.0117551 0.999899 uwb: 0.49994903 843.762 756.632 -imu_odom_: 1691062425.715027575 -0.423774 -0.35913 9.60554 -0.0447411 -0.02024 -0.174703 0.14 -0.23 pose: 0.0 2.41557 0.120949 0 -0.000663811-0.0079756 -0.0117551 0.999899 uwb: 0.0 843.762 756.632 -imu_odom_: 1691062425.731027239 0.136469 -0.265756 9.81383 -0.0447411 -0.0415453 -0.150202 0.14 -0.23 pose: 0.49084144 2.41557 0.120949 0 -0.000930785-0.00862 -0.0171994 0.999814 uwb: 0.0 843.762 756.632 -imu_odom_: 1691062425.747870878 0.354342 -0.282516 9.65103 -0.0777643 -0.0170442 -0.132093 0.14 -0.23 pose: 0.0 2.41557 0.120949 0 -0.000930785-0.00862 -0.0171994 0.999814 uwb: 0.50060810 843.529 755.801 -imu_odom_: 1691062425.764987774 0.407014 -0.213084 10.0413 -0.0628506 0.00213053 -0.129962 0.13 -0.17 pose: 0.66005357 2.42555 0.121505 0 -0.00164486 -0.00239627 -0.0239237 0.99971 uwb: 0.0 843.529 755.801 -imu_odom_: 1691062425.780921529 -0.0430956 -0.126893 9.5385 -0.0596548 0.0298274 -0.145941 0.13 -0.17 pose: 0.0 2.42555 0.121505 0 -0.00164486 -0.00239627 -0.0239237 0.99971 uwb: 0.0 843.529 755.801 -imu_odom_: 1691062425.797866364 0.0454898 -0.241814 10.331 -0.0447411 0.0127832 -0.144876 0.13 -0.17 pose: 0.0 2.42555 0.121505 0 -0.00164486 -0.00239627 -0.0239237 0.99971 uwb: 0.50029315 843.662 754.597 -imu_odom_: 1691062425.812856698 0.162806 -0.464475 9.99819 -0.0703074 -0.00213053 -0.105461 0.13 -0.11 pose: 0.32827554 2.43554 0.122007 0 -0.0005474980.000163054 -0.0267686 0.999641 uwb: 0.0 843.662 754.597 -imu_odom_: 1691062425.830982632 0.399832 -0.45011 10.0485 -0.052198 -0.0351537 -0.112918 0.13 -0.11 pose: 0.40983263 2.43554 0.122007 0 -0.00159462 0.00398214 -0.0302583 0.999533 uwb: 0.0 843.662 754.597 -imu_odom_: 1691062425.845861272 0.727837 -0.430956 9.67736 -0.0596548 -0.0990696 -0.0937433 0.13 -0.11 pose: 0.8007268 2.43554 0.122007 0 -0.00234748 0.00360096 -0.0308719 0.999514 uwb: 0.49896332 843.762 753.807 -imu_odom_: 1691062425.862973793 1.16119 -0.184354 9.59117 -0.0841559 -0.0234358 -0.0543285 0.15 -0.17 pose: 0.0 2.43554 0.122007 0 -0.00234748 0.00360096 -0.0308719 0.999514 uwb: 0.0 843.762 753.807 -imu_odom_: 1691062425.877855350 1.403 -0.280122 10.1993 -0.0532632 -0.0138484 -0.0191748 0.15 -0.17 pose: 0.42109827 2.44553 0.122489 0 -0.00402446 -0.00081625 -0.0334511 0.999432 uwb: 0.0 843.762 753.807 -imu_odom_: 1691062425.895867256 1.32639 -0.354342 9.72285 -0.0553937 -0.0415453 -0.0234358 0.15 -0.17 pose: 0.0 2.44553 0.122489 0 -0.00402446 -0.00081625 -0.0334511 0.999432 uwb: 0.50172213 843.446 753.309 -imu_odom_: 1691062425.911921163 1.652 -0.181959 9.79947 -0.0351537 -0.00745685 -0.0852212 0.09 -0.14 pose: 0.0 2.44553 0.122489 0 -0.00402446 -0.00081625 -0.0334511 0.999432 uwb: 0.0 843.446 753.309 -imu_odom_: 1691062425.928867747 1.15401 0.0502782 10.0078 -0.0660464 0.0149137 -0.0980043 0.11 -0.17 pose: 0.23007227 2.44553 0.122489 0 -0.00412881 -0.00333945 -0.0341518 0.999403 uwb: 0.0 843.446 753.309 -imu_odom_: 1691062425.944881118 0.876278 -0.289698 10.0054 -0.0628506 -0.00958738 -0.0948085 0.11 -0.17 pose: 0.0 2.44553 0.122489 0 -0.00412881 -0.00333945 -0.0341518 0.999403 uwb: 0.49821675 843.131 752.812 -imu_odom_: 1691062425.962145870 0.746991 -0.373495 9.87369 -0.0649811 -0.0287621 -0.116114 0.1 -0.11 pose: 0.0 2.44553 0.122489 0 -0.00412881 -0.00333945 -0.0341518 0.999403 uwb: 0.0 843.131 752.812 -imu_odom_: 1691062425.976895610 0.859518 -0.225055 9.89524 -0.0543285 -0.00213053 -0.0980043 0.1 -0.11 pose: 0.76164850 2.45551 0.123069 0 -0.00450726 -0.0108081 -0.0390677 0.999168 uwb: 0.0 843.131 752.812 -imu_odom_: 1691062425.995127113 0.85473 -0.270545 10.0293 -0.0596548 0.00532632 -0.0575243 0.1 -0.11 pose: 0.7785921 2.45551 0.123069 0 -0.00431156 -0.0115584 -0.039608 0.999139 uwb: 0.49998694 844.348 750.903 -imu_odom_: 1691062426.10124450 0.663194 -0.31364 9.88326 -0.0458064 0.00745685 -0.0575243 0.06 -0.08 pose: 0.0 2.45551 0.123069 0 -0.00431156 -0.0115584 -0.039608 0.999139 uwb: 0.0 844.348 750.903 -imu_odom_: 1691062426.27157950 0.677559 -0.217872 9.79468 -0.0511327 -0.0191748 -0.0543285 0.06 -0.08 pose: 0.40192659 2.45551 0.123069 0 -0.00530623 -0.0131353 -0.0416895 0.99903 uwb: 0.0 844.348 750.903 -imu_odom_: 1691062426.44861614 0.706289 -0.169988 9.94551 -0.0553937 0 -0.0351537 0.06 -0.08 pose: 0.0 2.45551 0.123069 0 -0.00530623 -0.0131353 -0.0416895 0.99903 uwb: 0.49970136 844.864 750.276 -imu_odom_: 1691062426.68991335 0.679953 -0.318429 9.85932 -0.0553937 -0.015979 -0.0447411 0.04 -0.08 pose: 0.25899330 2.45551 0.123069 0 -0.00276034 -0.0139216 -0.0428547 0.998981 uwb: 0.0 844.864 750.276 -imu_odom_: 1691062426.92835551 -0.316035 -0.0766145 9.59357 -0.0415453 0.108657 -0.0777643 0.04 -0.05 pose: 0.0 2.45551 0.123069 0 -0.00276034 -0.0139216 -0.0428547 0.998981 uwb: 0.49999596 845.559 748.959 -imu_odom_: 1691062426.116845121 -1.39103 -0.418985 10.1993 -0.0756338 -0.0266316 0.0106526 0.04 -0.05 pose: 0.40983285 2.45551 0.123069 0 -0.00404269 -0.0129753 -0.0446492 0.99891 uwb: 0.0 845.559 748.959 -imu_odom_: 1691062426.141824651 0.600945 -0.289698 10.0676 -0.04048 -0.109722 -0.00958738 0.09 -0.05 pose: 0.39838056 2.4655 0.123576 0 -0.00380121 -0.00841714 -0.0459195 0.998902 uwb: 0.49989390 844.58 748.843 -imu_odom_: 1691062426.163823436 0.486023 0.102951 9.36133 -0.0692422 0.0117179 0.00852212 0.09 -0.02 pose: 0.0 2.4655 0.123576 0 -0.00380121 -0.00841714 -0.0459195 0.998902 uwb: 0.0 844.58 748.843 -imu_odom_: 1691062426.178824568 -0.0023942 -0.349553 9.95509 -0.0649811 0.0511327 0.0191748 0.09 -0.02 pose: 0.7188961 2.4655 0.123576 0 -0.00398112 -0.00948495 -0.0460946 0.998884 uwb: 0.0 844.58 748.843 -imu_odom_: 1691062426.202875550 -0.172383 -0.304064 9.73243 -0.056459 -0.0234358 -0.0330232 0.09 -0.02 pose: 0.0 2.4655 0.123576 0 -0.00398112 -0.00948495 -0.0460946 0.998884 uwb: 0.50065213 844.282 748.362 -imu_odom_: 1691062426.227854497 0.632069 -0.395043 9.92636 -0.0820254 -0.02024 0.0330232 0.13 -0.05 pose: 0.23829926 2.4655 0.123576 0 -0.00388897 -0.0118932 -0.0466284 0.998834 uwb: 0.0 844.282 748.362 -imu_odom_: 1691062426.241856507 0.586579 -0.205901 9.43555 -0.0649811 0.0447411 -0.00426106 0.13 -0.05 pose: 0.0 2.4655 0.123576 0 -0.00388897 -0.0118932 -0.0466284 0.998834 uwb: 0.0 844.282 748.362 -imu_odom_: 1691062426.264837208 0.047884 -0.220267 9.51935 -0.0490022 -0.0138484 0 0.12 0 pose: 0.62063145 2.47548 0.124057 0 -0.00343661 -0.00759392 -0.0479303 0.998816 uwb: 0.49977724 845.135 747.283 -imu_odom_: 1691062426.288828697 0.3304 -0.294487 10.2448 -0.0340885 0.00745685 -0.00745685 0.12 0 pose: 0.0 2.47548 0.124057 0 -0.00343661 -0.00759392 -0.0479303 0.998816 uwb: 0.0 845.135 747.283 -imu_odom_: 1691062426.314818723 0.265756 -0.134075 10.0509 -0.056459 -0.0234358 0.0138484 0.18 -0.02 pose: 0.63120593 2.47602 0.114072 0 -0.00340823 -0.00557736 -0.0489416 0.99878 uwb: 0.49812954 843.736 747.48 -imu_odom_: 1691062426.328812568 0.177171 -0.438139 9.67736 -0.0490022 0.00639159 0.00106526 0.18 -0.02 pose: 0.0 2.47602 0.114072 0 -0.00340823 -0.00557736 -0.0489416 0.99878 uwb: 0.0 843.736 747.48 -imu_odom_: 1691062426.345851900 -0.047884 -0.114922 9.66539 -0.0596548 -0.00639159 0.00213053 0.14 -0.02 pose: 0.55764822 2.48601 0.11459 0 -0.00249225 -0.000808918-0.0499044 0.998751 uwb: 0.50012428 844.717 746.102 -imu_odom_: 1691062426.369812476 0.0167594 -0.169988 10.0892 -0.0543285 -0.0436758 0.0138484 0.14 -0.02 pose: 0.7019523 2.48601 0.11459 0 -0.00226502 -0.000157283-0.0500343 0.998745 uwb: 0.0 844.717 746.102 -imu_odom_: 1691062426.386805147 0.138864 -0.225055 10.2017 -0.0436758 -0.0106526 0.00213053 0.17 -0.05 pose: 0.0 2.48601 0.11459 0 -0.00226502 -0.000157283-0.0500343 0.998745 uwb: 0.0 844.717 746.102 -imu_odom_: 1691062426.401873938 0.407014 -0.205901 10.0724 -0.04048 -0.0181095 0.00639159 0.17 -0.05 pose: 0.42159719 2.496 0.115089 0 -0.00115002 0.0033906 -0.0506731 0.998709 uwb: 0.49976266 845.519 745.42 -imu_odom_: 1691062426.424822851 0.430956 -0.387861 9.65582 -0.0447411 -0.0106526 0.0127832 0.17 -0.05 pose: 0.0 2.496 0.115089 0 -0.00115002 0.0033906 -0.0506731 0.998709 uwb: 0.0 845.519 745.42 -imu_odom_: 1691062426.451010019 0.45011 -0.287304 9.54568 -0.0319579 0.0181095 0 0.19 -0.05 pose: 0.31834866 2.496 0.115089 0 -0.00111196 0.00234825 -0.0511949 0.998685 uwb: 0.49994930 845.472 744.842 -imu_odom_: 1691062426.474777829 0.581791 -0.21069 9.92875 -0.0490022 0.00213053 0.0223706 0.15 -0.02 pose: 0.41183343 2.50599 0.115564 0 -0.00304973 -0.000455469-0.0519259 0.998646 uwb: 0.0 845.472 744.842 -imu_odom_: 1691062426.500791769 0.0430956 -0.294487 9.56723 -0.0426106 0.00745685 0.0106526 0.15 -0.02 pose: 0.0 2.50599 0.115564 0 -0.00304973 -0.000455469-0.0519259 0.998646 uwb: 0.50006596 846.357 743.786 -imu_odom_: 1691062426.523847710 0.811634 -0.351948 10.0437 -0.056459 -0.00106526 0.0191748 0.15 -0.05 pose: 0.7873999 2.50599 0.115564 0 -0.00278235 -0.00118245 -0.0519961 0.998643 uwb: 0.0 846.357 743.786 -imu_odom_: 1691062426.539788474 0.440533 -0.426168 9.4978 -0.0490022 0.0447411 0.0213053 0.15 -0.05 pose: 0.0 2.50599 0.115564 0 -0.00278235 -0.00118245 -0.0519961 0.998643 uwb: 0.0 846.357 743.786 -imu_odom_: 1691062426.563768297 0.201113 -0.246603 9.73004 -0.0628506 -0.0117179 0.0340885 0.22 -0.02 pose: 0.48924066 2.51597 0.116024 0 -0.00238113 -0.000569246-0.0525802 0.998614 uwb: 0.0 846.357 743.786 -imu_odom_: 1691062426.579777302 0.811634 -0.129287 10.0916 -0.052198 -0.0372843 0.0138484 0.22 -0.02 pose: 0.0 2.51597 0.116024 0 -0.00238113 -0.000569246-0.0525802 0.998614 uwb: 0.0 846.357 743.786 -imu_odom_: 1691062426.595834717 0.608127 -0.282516 10.0078 -0.0649811 -0.0223706 0.02024 0.22 -0.02 pose: 0.0 2.51597 0.116024 0 -0.00238113 -0.000569246-0.0525802 0.998614 uwb: 0.100091931 847.164 742.591 -imu_odom_: 1691062426.621885403 1.01754 -0.277727 10.0987 -0.0479369 -0.0458064 0.0106526 0.16 -0.02 pose: 0.77965413 2.52596 0.116569 0 -0.00338924 -0.00177988 -0.0532158 0.998576 uwb: 0.0 847.164 742.591 -imu_odom_: 1691062426.645772780 1.24259 -0.258574 10.0987 -0.0500674 -0.0245011 0.036219 0.17 0 pose: 0.36111906 2.53595 0.117104 0 -0.00356763 -0.00602534 -0.053698 0.998533 uwb: 0.50132580 847.242 741.695 -imu_odom_: 1691062426.668809182 0.196325 -0.246603 9.69173 -0.0660464 -0.0234358 0.0308927 0.17 0 pose: 0.0 2.53595 0.117104 0 -0.00356763 -0.00602534 -0.053698 0.998533 uwb: 0.0 847.242 741.695 -imu_odom_: 1691062426.693752842 0.351948 -0.047884 9.91199 -0.0553937 -0.0170442 0.036219 0.23 0 pose: 0.7920367 2.53595 0.117104 0 -0.00357047 -0.00689937 -0.0537133 0.998526 uwb: 0.49964892 846.325 741.691 -imu_odom_: 1691062426.715797703 0.237026 -0.131681 10.149 -0.0490022 0.0181095 0.02024 0.23 0 pose: 0.0 2.53595 0.117104 0 -0.00357047 -0.00689937 -0.0537133 0.998526 uwb: 0.0 846.325 741.691 -imu_odom_: 1691062426.731740217 0.356736 -0.31364 9.29429 -0.0596548 0.0149137 0.0394148 0.16 -0.02 pose: 0.47006602 2.54646 0.107642 0 -0.00277288 -0.00617164 -0.0538558 0.998526 uwb: 0.0 846.325 741.691 -imu_odom_: 1691062426.754792367 0.323217 -0.509965 9.94551 -0.0628506 -0.0340885 0.0415453 0.16 -0.02 pose: 0.0 2.54646 0.107642 0 -0.00277288 -0.00617164 -0.0538558 0.998526 uwb: 0.49950603 847.596 740.229 -imu_odom_: 1691062426.777796690 0.380678 -0.244209 9.93354 -0.0532632 0.0234358 0.0298274 0.23 0 pose: 0.77979995 2.55644 0.108163 0 -0.00363701 -0.000969841-0.0540752 0.99853 uwb: 0.0 847.596 740.229 -imu_odom_: 1691062426.800748811 0.775721 -0.40462 9.60793 -0.056459 0.0181095 0.0415453 0.23 0 pose: 0.0 2.55644 0.108163 0 -0.00363701 -0.000969841-0.0540752 0.99853 uwb: 0.49992306 848.831 738.691 -imu_odom_: 1691062426.817743232 0.481235 -0.172383 10.1897 -0.0458064 0.0170442 0.0213053 0.23 0 pose: 0.0 2.55644 0.108163 0 -0.00363701 -0.000969841-0.0540752 0.99853 uwb: 0.0 848.831 738.691 -imu_odom_: 1691062426.842746384 0.287304 -0.0790087 10.1658 -0.0575243 -0.02024 0.0436758 0.23 -0.02 pose: 0.54059955 2.56643 0.10868 0 -0.00219336 -0.00122129 -0.0542432 0.998525 uwb: 0.50002512 847.718 738.874 -imu_odom_: 1691062426.867754785 0.577003 -0.059855 10.4603 -0.0735032 0.00106526 0.0266316 0.19 0 pose: 0.33894062 2.57642 0.109194 0 0.000490162 -0.000215428-0.0542763 0.998526 uwb: 0.0 847.718 738.874 -imu_odom_: 1691062426.891814807 0.605733 -0.0933739 10.0054 -0.0798948 -0.00745685 0.0372843 0.19 0 pose: 0.8033811 2.57642 0.109194 0 0.000905187 -0.000830331-0.054328 0.998522 uwb: 0.49940979 846.329 739.115 -imu_odom_: 1691062426.915860248 0.423774 -0.270545 9.43315 -0.056459 0.00639159 0.015979 0.18 0 pose: 0.41034612 2.58319 0.109542 0 0.00247072 -0.00434927 -0.0544631 0.998503 uwb: 0.0 846.329 739.115 -imu_odom_: 1691062426.931911539 0.725443 -0.387861 10.3022 -0.0617853 -0.00106526 0.0330232 0.18 0 pose: 0.0 2.58319 0.109542 0 0.00247072 -0.00434927 -0.0544631 0.998503 uwb: 0.0 846.329 739.115 -imu_odom_: 1691062426.947769480 0.459687 -0.363919 9.61511 -0.076699 -0.0181095 0.0351537 0.18 0 pose: 0.0 2.58319 0.109542 0 0.00247072 -0.00434927 -0.0544631 0.998503 uwb: 0.50091169 846.439 738.257 -imu_odom_: 1691062426.970888121 0.411803 -0.471658 9.82102 -0.0426106 0.00106526 0.0415453 0.17 0 pose: 0.48032556 2.59639 0.110212 0 -0.00148819 -0.00406735 -0.0548043 0.998488 uwb: 0.0 846.439 738.257 -imu_odom_: 1691062426.995737293 0.385466 -0.198719 9.66539 -0.0468716 -0.0149137 0.0351537 0.24 0 pose: 0.0 2.59639 0.110212 0 -0.00148819 -0.00406735 -0.0548043 0.998488 uwb: 0.49714382 846.963 737.05 -imu_odom_: 1691062427.18874024 0.198719 -0.246603 9.79228 -0.0479369 0.0181095 0.0383495 0.24 0 pose: 0.38943919 2.59639 0.110212 0 -0.00369179 -0.00262491 -0.0548022 0.998487 uwb: 0.0 846.963 737.05 -imu_odom_: 1691062427.43774536 0.241814 -0.42138 9.56244 -0.0596548 0.0383495 0.0319579 0.18 0 pose: 0.40082742 2.60688 0.100728 0 -0.00194577 0.00085495 -0.054849 0.998492 uwb: 0.49896090 846.979 736.55 -imu_odom_: 1691062427.60726389 0.0191536 -0.0814029 10.137 -0.04048 -0.02024 0.036219 0.18 0 pose: 0.7891792 2.60688 0.100728 0 -0.00251971 0.00157376 -0.0548786 0.998489 uwb: 0.0 846.979 736.55 -imu_odom_: 1691062427.84773301 0.19393 -0.37589 9.54089 -0.052198 -0.0127832 0.0447411 0.18 0 pose: 0.0 2.60688 0.100728 0 -0.00251971 0.00157376 -0.0548786 0.998489 uwb: 0.0 846.979 736.55 -imu_odom_: 1691062427.101775313 0.761356 -0.251391 9.99579 -0.0543285 0.00426106 0.036219 0.18 0 pose: 0.41997888 2.61687 0.101229 0 -0.00310258 0.00496237 -0.0549417 0.998472 uwb: 0.50069907 846.66 736 -imu_odom_: 1691062427.126773813 0.687136 -0.160412 10.3214 -0.0756338 0.0106526 0.052198 0.17 0.02 pose: 0.0 2.61687 0.101229 0 -0.00310258 0.00496237 -0.0549417 0.998472 uwb: 0.0 846.66 736 -imu_odom_: 1691062427.149824518 0.938527 -0.205901 9.87608 -0.056459 0.0106526 0.0266316 0.17 0.02 pose: 0.40988266 2.62686 0.101729 0 -0.00377391 0.00386 -0.0548881 0.998478 uwb: 0.50061158 846.536 735.255 -imu_odom_: 1691062427.174763234 0.873884 -0.414197 9.92397 -0.0703074 -0.0266316 0.0394148 0.24 -0.02 pose: 0.0 2.62686 0.101729 0 -0.00377391 0.00386 -0.0548881 0.998478 uwb: 0.0 846.536 735.255 -imu_odom_: 1691062427.197697870 0.943315 -0.232238 9.49062 -0.0511327 0.0181095 0.0308927 0.24 -0.02 pose: 0.47969589 2.62686 0.101729 0 -0.00357333 -0.000587612-0.054945 0.998483 uwb: 0.49982709 846.448 734.57 -imu_odom_: 1691062427.213764918 0.354342 -0.392649 10.4627 -0.0596548 0.0330232 0.0447411 0.18 0 pose: 0.0 2.62686 0.101729 0 -0.00357333 -0.000587612-0.054945 0.998483 uwb: 0.0 846.448 734.57 -imu_odom_: 1691062427.238885610 0.476446 -0.201113 10.1849 -0.0681769 0.0383495 0.0394148 0.18 0 pose: 0.48040456 2.63684 0.10223 0 -0.00448456 -0.00357536 -0.0550364 0.998468 uwb: 0.0 846.448 734.57 -imu_odom_: 1691062427.254744434 0.433351 -0.356736 9.89524 -0.0468716 -0.00213053 0.0500674 0.18 0.02 pose: 0.0 2.63684 0.10223 0 -0.00448456 -0.00357536 -0.0550364 0.998468 uwb: 0.49991750 845.677 734.309 -imu_odom_: 1691062427.280670900 0.531513 -0.174777 9.70609 -0.0500674 -0.00852212 0.0351537 0.18 0.02 pose: 0.40957644 2.64683 0.102729 0 -0.00327784 -0.00238813 -0.0549826 0.998479 uwb: 0.0 845.677 734.309 -imu_odom_: 1691062427.304705855 0.577003 -0.311246 9.86411 -0.052198 -0.0138484 0.0447411 0.18 0 pose: 0.0 2.64683 0.102729 0 -0.00327784 -0.00238813 -0.0549826 0.998479 uwb: 0.50001666 845.925 733.13 -imu_odom_: 1691062427.327748103 0.318429 -0.222661 9.86411 -0.0553937 -0.0255663 0.0383495 0.18 0 pose: 0.40988266 2.65682 0.103228 0 -0.00233739 -0.00444448 -0.0549867 0.998474 uwb: 0.0 845.925 733.13 -imu_odom_: 1691062427.350734066 0.325611 -0.392649 9.92157 -0.072438 -0.0234358 0.0596548 0.25 0 pose: 0.40040178 2.66396 0.0935732 0 -0.00265753 -0.00393975 -0.0549516 0.998478 uwb: 0.50118026 846.845 731.489 -imu_odom_: 1691062427.367832025 0.859518 -0.308852 10.1849 -0.0617853 -0.015979 0.0383495 0.25 0 pose: 0.0 2.66396 0.0935732 0 -0.00265753 -0.00393975 -0.0549516 0.998478 uwb: 0.0 846.845 731.489 -imu_odom_: 1691062427.392696666 0.895431 -0.222661 10.3142 -0.076699 -0.00426106 0.0575243 0.18 0.02 pose: 0.40083922 2.6726 0.0940071 0 -0.00443477 -0.00409988 -0.054728 0.998483 uwb: 0.49992625 846.589 731.038 -imu_odom_: 1691062427.417796653 0.550666 -0.117316 10.1251 -0.0671117 -0.0287621 0.0351537 0.18 0.02 pose: 0.0 2.6726 0.0940071 0 -0.00443477 -0.00409988 -0.054728 0.998483 uwb: 0.0 846.589 731.038 -imu_odom_: 1691062427.440661881 0.392649 -0.258574 9.84496 -0.0532632 0.00958738 0.036219 0.18 0 pose: 0.49964628 2.67729 0.0942441 0 -0.00203337 -0.00715257 -0.054591 0.998481 uwb: 0.0 846.589 731.038 -imu_odom_: 1691062427.455666522 0.620098 -0.282516 10.1993 -0.0681769 0.0106526 0.0383495 0.18 0 pose: 0.0 2.67729 0.0942441 0 -0.00203337 -0.00715257 -0.054591 0.998481 uwb: 0.49967836 846.462 730.27 -imu_odom_: 1691062427.481721596 0.557849 -0.201113 10.3908 -0.0628506 -0.0213053 0.0330232 0.23 0 pose: 0.37869869 2.68728 0.0947516 0 -0.00260875 -0.00602104 -0.0546354 0.998485 uwb: 0.0 846.462 730.27 -imu_odom_: 1691062427.505741678 0.265756 -0.023942 9.9503 -0.056459 0 0.0330232 0.23 0 pose: 0.0 2.68728 0.0947516 0 -0.00260875 -0.00602104 -0.0546354 0.998485 uwb: 0.50021205 845.9 729.831 -imu_odom_: 1691062427.521803185 0.380678 -0.366313 9.84256 -0.0500674 -0.02024 0.0351537 0.18 0.02 pose: 0.0 2.68728 0.0947516 0 -0.00260875 -0.00602104 -0.0546354 0.998485 uwb: 0.0 845.9 729.831 -imu_odom_: 1691062427.546645663 0.593762 -0.268151 9.8282 -0.04048 -0.0213053 0.0298274 0.18 0.02 pose: 0.50075156 2.69408 0.0950963 0 0.00101556 -0.00549899 -0.0548269 0.99848 uwb: 0.49866057 846.248 728.793 -imu_odom_: 1691062427.570643873 0.54109 -0.25618 9.75398 -0.0372843 -0.0234358 0.0319579 0.18 -0.02 pose: 0.40903985 2.7043 0.0956103 0 -0.00132613 -0.00695642 -0.0549705 0.998463 uwb: 0.0 846.248 728.793 -imu_odom_: 1691062427.585696341 0.792481 0.023942 9.85214 -0.0500674 -0.00532632 0.0394148 0.18 -0.02 pose: 0.0 2.7043 0.0956103 0 -0.00132613 -0.00695642 -0.0549705 0.998463 uwb: 0.0 846.248 728.793 -imu_odom_: 1691062427.611697755 0.536301 -0.356736 9.97664 -0.0532632 0.0106526 0.0383495 0.25 -0.02 pose: 0.39050678 2.71225 0.0960081 0 -0.00236331 -0.00836037 -0.0550556 0.998445 uwb: 0.50071657 845.894 728.722 -imu_odom_: 1691062427.625697440 0.502782 -0.572214 9.19134 -0.0777643 -0.00106526 0.0500674 0.25 -0.02 pose: 0.0 2.71225 0.0960081 0 -0.00236331 -0.00836037 -0.0550556 0.998445 uwb: 0.0 845.894 728.722 -imu_odom_: 1691062427.641751073 0.203507 -0.117316 9.89524 -0.0468716 0.015979 0.0415453 0.25 -0.02 pose: 0.0 2.71225 0.0960081 0 -0.00236331 -0.00836037 -0.0550556 0.998445 uwb: 0.49933716 845.067 728.922 -imu_odom_: 1691062427.663649549 0.438139 -0.260968 10.2089 -0.0511327 -0.0276969 0.0553937 0.18 0 pose: 0.47101700 2.71774 0.0862696 0 -0.00584351 -0.00628964 -0.0549585 0.998452 uwb: 0.0 845.067 728.922 -imu_odom_: 1691062427.676690647 0.385466 -0.507571 9.37569 -0.072438 -0.00319579 0.0479369 0.18 0 pose: 0.0 2.71774 0.0862696 0 -0.00584351 -0.00628964 -0.0549585 0.998452 uwb: 0.0 845.067 728.922 -imu_odom_: 1691062427.700699938 0.557849 -0.349553 9.8282 -0.0394148 -0.0170442 0.0330232 0.18 0.02 pose: 0.43892606 2.72773 0.0867703 0 -0.00522266 -0.00338616 -0.0547126 0.998483 uwb: 0.50005457 845.261 728.161 -imu_odom_: 1691062427.726804006 0.356736 -0.0861913 10.0628 -0.04048 0.00639159 0.036219 0.18 0.02 pose: 0.8086892 2.72773 0.0867703 0 -0.00553051 -0.00416123 -0.0547408 0.998477 uwb: 0.0 845.261 728.161 -imu_odom_: 1691062427.750780052 0.447716 -0.251391 10.477 -0.0468716 0.0394148 0.0479369 0.19 0 pose: 0.42026467 2.73772 0.0872752 0 -0.0036963 -0.00421033 -0.0548452 0.998479 uwb: 0.50077197 844.603 727.559 -imu_odom_: 1691062427.767689910 0.0766145 -0.505177 9.72764 -0.0553937 -0.0106526 0.0447411 0.19 0 pose: 0.0 2.73772 0.0872752 0 -0.0036963 -0.00421033 -0.0548452 0.998479 uwb: 0.0 844.603 727.559 -imu_odom_: 1691062427.792669745 0.181959 -0.114922 9.80904 -0.0436758 -0.0585895 0.056459 0.18 -0.02 pose: 0.40885904 2.7477 0.0877784 0 -0.00291906 -0.000465631-0.0546986 0.998499 uwb: 0.49937799 843.632 727.518 -imu_odom_: 1691062427.815615464 0.462081 -0.272939 9.22007 -0.056459 -0.0447411 0.0436758 0.18 -0.02 pose: 0.0 2.7477 0.0877784 0 -0.00291906 -0.000465631-0.0546986 0.998499 uwb: 0.0 843.632 727.518 -imu_odom_: 1691062427.832613102 0.4956 0.220267 10.2352 -0.0426106 0.0276969 0.0500674 0.25 -0.02 pose: 0.47925554 2.75435 0.0881177 0 -0.00242052 -0.0016435 -0.054437 0.998513 uwb: 0.0 843.632 727.518 -imu_odom_: 1691062427.857619476 0.430956 -0.296881 9.79707 -0.0553937 0.00213053 0.04048 0.25 -0.02 pose: 0.0 2.75435 0.0881177 0 -0.00242052 -0.0016435 -0.054437 0.998513 uwb: 0.49952963 844.462 726.203 -imu_odom_: 1691062427.883683590 0.00718261 -0.114922 10.1801 -0.0649811 0.0415453 0.0543285 0.23 0.02 pose: 0.42004012 2.76434 0.0886289 0 -0.00310172 -0.00127705 -0.0543363 0.998517 uwb: 0.0 844.462 726.203 -imu_odom_: 1691062427.907612975 0.162806 -0.213084 10.4244 -0.0553937 0.0298274 0.0319579 0.23 0.02 pose: 0.8008443 2.76768 0.0888002 0 -0.00280641 -0.000358127-0.0542761 0.998522 uwb: 0.49986209 845.792 724.641 -imu_odom_: 1691062427.923676232 0.35913 -0.153229 9.92636 -0.0511327 -0.0479369 0.0415453 0.19 -0.02 pose: 0.25044286 2.76768 0.0888002 0 -0.00194158 0.00250443 -0.0541654 0.998527 uwb: 0.0 845.792 724.641 -imu_odom_: 1691062427.939607381 0.627281 0.0167594 9.68215 -0.0681769 -0.00852212 0.056459 0.19 -0.02 pose: 0.0 2.76768 0.0888002 0 -0.00194158 0.00250443 -0.0541654 0.998527 uwb: 0.0 845.792 724.641 -imu_odom_: 1691062427.962591594 0.500388 -0.134075 10.2089 -0.0553937 0.00106526 0.0308927 0.23 -0.02 pose: 0.24020082 2.77766 0.0893157 0 -0.0008189620.0039494 -0.0542166 0.998521 uwb: 0.50045410 846.193 723.662 -imu_odom_: 1691062427.985791613 0.723049 0.0023942 10.963 -0.0500674 -0.00639159 0.04048 0.23 -0.02 pose: 0.0 2.77766 0.0893157 0 -0.0008189620.0039494 -0.0542166 0.998521 uwb: 0.0 846.193 723.662 -imu_odom_: 1691062428.11644301 0.924162 0.0311246 10.0509 -0.04048 -0.0351537 0.0266316 0.25 0 pose: 0.31917998 2.77766 0.0893157 0 0.00109538 0.00140502 -0.0540965 0.998534 uwb: 0.49997875 846.183 723.075 -imu_odom_: 1691062428.35625901 0.600945 -0.25618 9.91199 -0.0468716 -0.0149137 0.0415453 0.25 0 pose: 0.0 2.77766 0.0893157 0 0.00109538 0.00140502 -0.0540965 0.998534 uwb: 0.0 846.183 723.075 -imu_odom_: 1691062428.51606635 0.172383 -0.189142 9.50977 -0.0511327 0.0117179 0.0426106 0.17 0.02 pose: 0.47028501 2.78765 0.089833 0 0.00308613 -0.00301458 -0.0541984 0.998521 uwb: 0.50072844 846.532 721.993 -imu_odom_: 1691062428.76585609 0.42138 -0.347159 10.0221 -0.0532632 -0.0245011 0.0617853 0.17 0.02 pose: 0.0 2.78765 0.089833 0 0.00308613 -0.00301458 -0.0541984 0.998521 uwb: 0.0 846.532 721.993 -imu_odom_: 1691062428.100623494 0.225055 -0.354342 10.0389 -0.04048 0.0340885 0.0394148 0.21 0 pose: 0.48986232 2.79764 0.0903481 0 0.00198156 -0.0058527 -0.0542633 0.998508 uwb: 0.49879500 847.13 720.777 -imu_odom_: 1691062428.123645340 0.351948 -0.579397 9.663 -0.0671117 0.0468716 0.0500674 0.21 0 pose: 0.0 2.79764 0.0903481 0 0.00198156 -0.0058527 -0.0542633 0.998508 uwb: 0.0 847.13 720.777 -imu_odom_: 1691062428.138620826 0.361524 -0.354342 9.81623 -0.052198 0.0394148 0.0383495 0.18 0 pose: 0.40979247 2.80762 0.0908636 0 -0.000461481-0.0032629 -0.0539658 0.998537 uwb: 0.0 847.13 720.777 -imu_odom_: 1691062428.163703329 0.555455 -0.512359 9.46188 -0.0596548 -0.0383495 0.0490022 0.18 0 pose: 0.0 2.80762 0.0908636 0 -0.000461481-0.0032629 -0.0539658 0.998537 uwb: 0.0 847.13 720.777 -imu_odom_: 1691062428.187632144 0.189142 -0.0383072 9.47146 -0.0479369 -0.0127832 0.0468716 0.18 0 pose: 0.47013654 2.81761 0.0913843 0 -0.00390944 0.000386767 -0.0538431 0.998542 uwb: 0.0 847.13 720.777 -imu_odom_: 1691062428.210638242 0.167594 -0.234632 9.69652 -0.0692422 -0.0671117 0.0553937 0.18 0 pose: 0.0 2.81761 0.0913843 0 -0.00390944 0.000386767 -0.0538431 0.998542 uwb: 0.99983555 847.313 719.952 -imu_odom_: 1691062428.227566773 1.0319 -0.150835 10.24 -0.052198 -0.0234358 0.0330232 0.21 0 pose: 0.39973707 2.81761 0.0913843 0 -0.00607832 -0.000471424-0.0537075 0.998538 uwb: 0.0 847.313 719.952 -imu_odom_: 1691062428.251561205 0.720655 -0.464475 9.64384 -0.0639159 0.00639159 0.0394148 0.21 0 pose: 0.0 2.81761 0.0913843 0 -0.00607832 -0.000471424-0.0537075 0.998538 uwb: 0.49973113 847.442 719.024 -imu_odom_: 1691062428.277558551 0.112527 -0.471658 9.55287 -0.0585895 0.036219 0.0436758 0.21 0.02 pose: 0.47020653 2.8276 0.0919095 0 -0.00392812 0.00113186 -0.0534699 0.998561 uwb: 0.0 847.442 719.024 -imu_odom_: 1691062428.300625016 0.0861913 -0.160412 9.62948 -0.0681769 0.00106526 0.0394148 0.21 0.02 pose: 0.41987995 2.83758 0.0924393 0 -0.00546109 -0.000933847-0.0534956 0.998553 uwb: 0.50042521 848.751 717.329 -imu_odom_: 1691062428.316550632 0.35913 -0.306458 9.81383 -0.072438 0.00639159 0.0479369 0.18 0 pose: 0.41024742 2.8481 0.0829827 0 -0.0050683 0.00309415 -0.0534397 0.998553 uwb: 0.0 848.751 717.329 -imu_odom_: 1691062428.339606016 0.301669 -0.47884 10.252 -0.056459 -0.0117179 0.04048 0.18 0 pose: 0.0 2.8481 0.0829827 0 -0.0050683 0.00309415 -0.0534397 0.998553 uwb: 0.0 848.751 717.329 -imu_odom_: 1691062428.354694071 0.462081 -0.11971 9.90481 -0.0468716 -0.0138484 0.0394148 0.19 0 pose: 0.6965871 2.8481 0.0829827 0 -0.0046904 0.00259009 -0.0534123 0.998558 uwb: 0.49948033 848.731 716.699 -imu_odom_: 1691062428.381670710 0.797269 -0.184354 10.0197 -0.0500674 -0.0298274 0.0490022 0.19 0 pose: 0.0 2.8481 0.0829827 0 -0.0046904 0.00259009 -0.0534123 0.998558 uwb: 0.0 848.731 716.699 -imu_odom_: 1691062428.406535948 0.799663 -0.071826 9.89524 -0.0511327 0.0149137 0.0447411 0.19 0 pose: 0.39134689 2.85808 0.0835143 0 -0.00568125 0.00240544 -0.0533668 0.998556 uwb: 0.50049521 848.431 716.138 -imu_odom_: 1691062428.429523090 0.732626 -0.234632 9.78989 -0.0681769 0.0127832 0.0436758 0.19 0 pose: 0.0 2.85808 0.0835143 0 -0.00568125 0.00240544 -0.0533668 0.998556 uwb: 0.0 848.431 716.138 -imu_odom_: 1691062428.452527439 0.656011 -0.191536 9.80904 -0.0543285 0.00639159 0.0415453 0.25 0 pose: 0.82797514 2.86807 0.0840467 0 -0.00297509 -0.00504253 -0.0531599 0.998569 uwb: 0.50192418 849.071 714.944 -imu_odom_: 1691062428.468524504 0.474052 -0.306458 10.1179 -0.0713727 0.00213053 0.0649811 0.25 0 pose: 0.7020115 2.86807 0.0840467 0 -0.00269104 -0.00565101 -0.0531562 0.998567 uwb: 0.0 849.071 714.944 -imu_odom_: 1691062428.494530599 0.730232 -0.220267 10.0796 -0.0681769 0.00745685 0.036219 0.18 0.02 pose: 0.0 2.86807 0.0840467 0 -0.00269104 -0.00565101 -0.0531562 0.998567 uwb: 0.49862003 849.357 713.674 -imu_odom_: 1691062428.519529987 0.227449 -0.476446 10.2208 -0.0447411 -0.00532632 0.0308927 0.18 0.02 pose: 0.31981299 2.87806 0.0845831 0 -0.00311469 -0.00568533 -0.0529371 0.998577 uwb: 0.0 849.357 713.674 -imu_odom_: 1691062428.534661204 0.215478 -0.102951 9.74679 -0.0447411 0.00319579 0.0426106 0.2 -0.02 pose: 0.0 2.87806 0.0845831 0 -0.00311469 -0.00568533 -0.0529371 0.998577 uwb: 0.0 849.357 713.674 -imu_odom_: 1691062428.559529358 0.335188 -0.138864 10.3525 -0.0543285 -0.0319579 0.0436758 0.2 -0.02 pose: 0.57091799 2.88804 0.0851235 0 -0.00351148 -0.00539106 -0.0530749 0.99857 uwb: 0.49872500 850.501 712.199 -imu_odom_: 1691062428.582534873 0.514753 -0.138864 10.2855 -0.0617853 -0.0319579 0.0383495 0.18 -0.02 pose: 0.0 2.88804 0.0851235 0 -0.00351148 -0.00539106 -0.0530749 0.99857 uwb: 0.0 850.501 712.199 -imu_odom_: 1691062428.608513263 0.509965 -0.248997 10.3166 -0.0575243 -0.0255663 0.0394148 0.18 -0.02 pose: 0.7015741 2.89803 0.0856619 0 -0.00072962 -0.00351989 -0.0530187 0.998587 uwb: 0.49860836 850.197 711.614 -imu_odom_: 1691062428.632524901 1.00556 -0.258574 10.2041 -0.0340885 -0.00213053 0.0351537 0.23 0 pose: 0.41968164 2.90571 0.0760619 0 -0.00195361 -0.00540368 -0.053024 0.998577 uwb: 0.0 850.197 711.614 -imu_odom_: 1691062428.648515551 0.462081 -0.260968 9.73961 -0.036219 0.00639159 0.0383495 0.23 0 pose: 0.0 2.90571 0.0760619 0 -0.00195361 -0.00540368 -0.053024 0.998577 uwb: 0.50055645 850.564 710.469 -imu_odom_: 1691062428.674519312 0.411803 -0.3304 9.70609 -0.0500674 0.036219 0.036219 0.18 -0.02 pose: 0.40002288 2.90855 0.0762151 0 -0.00194312 -0.00612678 -0.0530832 0.998569 uwb: 0.0 850.564 710.469 -imu_odom_: 1691062428.699494204 0.4956 -0.533907 9.65821 -0.0692422 -0.0308927 0.0426106 0.18 -0.02 pose: 0.0 2.90855 0.0762151 0 -0.00194312 -0.00612678 -0.0530832 0.998569 uwb: 0.50113387 851.494 708.537 -imu_odom_: 1691062428.723504967 0.553061 -0.474052 9.69652 -0.0575243 0.0223706 0.0490022 0.21 -0.02 pose: 0.50978653 2.91854 0.0767527 0 -0.00600698 -0.00386992 -0.0530673 0.998565 uwb: 0.0 851.494 708.537 -imu_odom_: 1691062428.739561233 0.488417 -0.268151 10.4722 -0.0468716 -0.0223706 0.052198 0.21 -0.02 pose: 0.0 2.91854 0.0767527 0 -0.00600698 -0.00386992 -0.0530673 0.998565 uwb: 0.0 851.494 708.537 -imu_odom_: 1691062428.764514835 0.730232 -0.342371 10.3813 -0.0490022 0.0213053 0.0255663 0.18 -0.02 pose: 0.40067029 2.92852 0.0772918 0 -0.00658253 -0.00446207 -0.0528562 0.99857 uwb: 0.50000526 851.576 707.438 -imu_odom_: 1691062428.787534057 0.651223 -0.332794 9.70609 -0.056459 -0.0490022 0.0340885 0.18 -0.02 pose: 0.6968788 2.92852 0.0772918 0 -0.00658515 -0.00507183 -0.0529097 0.998565 uwb: 0.0 851.576 707.438 -imu_odom_: 1691062428.812636682 0.42138 -0.28491 9.54568 -0.0351537 0.0234358 0.0426106 0.19 0 pose: 0.24116041 2.93851 0.0778335 0 -0.00662779 -0.00739517 -0.0530672 0.998542 uwb: 0.50124761 852.12 706.609 -imu_odom_: 1691062428.828557049 0.0933739 -0.19393 10.0533 -0.052198 -0.0255663 0.0479369 0.19 0 pose: 0.0 2.93851 0.0778335 0 -0.00662779 -0.00739517 -0.0530672 0.998542 uwb: 0.0 852.12 706.609 -imu_odom_: 1691062428.853494320 0.325611 -0.0837971 9.95748 -0.0745685 -0.0170442 0.0458064 0.18 0 pose: 0.25032343 2.93851 0.0778335 0 -0.00637631 -0.00858013 -0.0531063 0.998532 uwb: 0.49827298 853.733 704.697 -imu_odom_: 1691062428.879541826 0.332794 -0.667982 9.59117 -0.0639159 -0.0340885 0.0383495 0.21 0 pose: 0.40882426 2.94849 0.0783716 0 -0.00456076 -0.00497497 -0.0529804 0.998573 uwb: 0.0 853.733 704.697 -imu_odom_: 1691062428.895481732 0.189142 -0.0143652 10.635 -0.0458064 0.0138484 0.0319579 0.19 -0.02 pose: 0.0 2.94849 0.0783716 0 -0.00456076 -0.00497497 -0.0529804 0.998573 uwb: 0.50020649 853.077 704.024 -imu_odom_: 1691062428.921479953 0.385466 -0.0933739 10.0341 -0.0671117 0.0127832 0.0511327 0.19 -0.02 pose: 0.0 2.94849 0.0783716 0 -0.00456076 -0.00497497 -0.0529804 0.998573 uwb: 0.0 853.077 704.024 -imu_odom_: 1691062428.946473509 0.581791 -0.308852 9.5385 -0.0479369 0.0223706 0.0298274 0.23 -0.02 pose: 0.49969905 2.95848 0.0789125 0 -0.00531118 -0.0028757 -0.0529586 0.998578 uwb: 0.50115429 852.991 703.199 -imu_odom_: 1691062428.962530650 0.172383 -0.265756 9.87129 -0.0703074 -0.04048 0.0553937 0.23 -0.02 pose: 0.0 2.95848 0.0789125 0 -0.00531118 -0.0028757 -0.0529586 0.998578 uwb: 0.0 852.991 703.199 -imu_odom_: 1691062428.987481919 0.588974 -0.490811 9.67257 -0.0511327 -0.00745685 0.0276969 0.22 0 pose: 0.75999914 2.969 0.0694675 0 -0.00307625 -0.00200685 -0.0528409 0.998596 uwb: 0.0 852.991 703.199 -imu_odom_: 1691062429.12473730 0.490811 -0.0837971 10.0078 -0.0543285 -0.0170442 0.056459 0.2 0 pose: 0.0 2.969 0.0694675 0 -0.00307625 -0.00200685 -0.0528409 0.998596 uwb: 0.49826423 852.833 702.227 -imu_odom_: 1691062429.36459134 0.454898 -0.196325 10.2592 -0.0543285 0.00852212 0.0319579 0.22 0 pose: 0.31979841 2.97899 0.0700091 0 -0.0044822 -0.00344408 -0.0529311 0.998582 uwb: 0.0 852.833 702.227 -imu_odom_: 1691062429.60514238 0.976834 0 10.5824 -0.0596548 -0.0383495 0.0330232 0.19 0 pose: 0.0 2.97899 0.0700091 0 -0.0044822 -0.00344408 -0.0529311 0.998582 uwb: 0.50151903 851.417 701.983 -imu_odom_: 1691062429.76460277 0.591368 -0.244209 9.82341 -0.0553937 0.00852212 0.0319579 0.19 0 pose: 0.48960596 2.98897 0.0705518 0 -0.000182444-0.00363002 -0.0529087 0.998593 uwb: 0.0 851.417 701.983 -imu_odom_: 1691062429.101452680 0.299275 -0.282516 9.28711 -0.0553937 -0.0213053 0.04048 0.18 0 pose: 0.0 2.98897 0.0705518 0 -0.000182444-0.00363002 -0.0529087 0.998593 uwb: 0.49826159 850.841 701.481 -imu_odom_: 1691062429.127510407 0.158017 -0.433351 9.69412 -0.0511327 -0.00106526 0.0415453 0.18 0 pose: 0.41053344 2.99896 0.0710928 0 -0.000634022-0.00607746 -0.0530167 0.998575 uwb: 0.0 850.841 701.481 -imu_odom_: 1691062429.143447406 0.490811 -0.339977 9.991 -0.0543285 -0.0340885 0.0458064 0.17 -0.02 pose: 0.0 2.99896 0.0710928 0 -0.000634022-0.00607746 -0.0530167 0.998575 uwb: 0.50115748 849.274 701.609 -imu_odom_: 1691062429.169723855 0.296881 -0.0742203 9.87848 -0.04048 0.0287621 0.0426106 0.17 -0.02 pose: 0.49986264 3.00894 0.0716318 0 -0.002854 -0.00261999 -0.0529497 0.99859 uwb: 0.0 849.274 701.609 -imu_odom_: 1691062429.193459333 0.926556 -0.059855 10.0413 -0.0607201 -0.00958738 0.0458064 0.19 -0.02 pose: 0.35213160 3.00894 0.0716318 0 -0.00133801 -0.00112684 -0.0528829 0.998599 uwb: 0.49940186 849.517 700.142 -imu_odom_: 1691062429.217487023 0.497994 -0.311246 9.97424 -0.0553937 -0.00958738 0.0372843 0.19 -0.02 pose: 0.0 3.00894 0.0716318 0 -0.00133801 -0.00112684 -0.0528829 0.998599 uwb: 0.0 849.517 700.142 -imu_odom_: 1691062429.233437437 0.514753 -0.402226 9.54808 -0.0511327 -0.0351537 0.052198 0.18 0.02 pose: 0.6893260 3.00894 0.0716318 0 -0.00115819 -0.00180446 -0.0528625 0.998599 uwb: 0.0 849.517 700.142 -imu_odom_: 1691062429.257580613 0.0957681 -0.169988 9.55287 -0.0458064 0.0245011 0.0426106 0.18 0.02 pose: 0.0 3.00894 0.0716318 0 -0.00115819 -0.00180446 -0.0528625 0.998599 uwb: 0.50119247 851.492 698.188 -imu_odom_: 1691062429.281440908 0.0646434 -0.253785 9.63427 -0.0745685 -0.0490022 0.0543285 0.25 0 pose: 0.47829951 3.01893 0.0721738 0 -0.00373554 -0.0043278 -0.0527853 0.99859 uwb: 0.0 851.492 698.188 -imu_odom_: 1691062429.306707151 0.368707 -0.304064 10.1394 -0.056459 -0.0298274 0.0394148 0.25 0 pose: 0.0 3.01893 0.0721738 0 -0.00373554 -0.0043278 -0.0527853 0.99859 uwb: 0.49797870 850.864 697.579 -imu_odom_: 1691062429.321666023 0.842759 -0.337582 9.85693 -0.0628506 -0.0298274 0.04048 0.19 0 pose: 0.40157748 3.02946 0.0627324 0 -0.00361173 -0.00147956 -0.052629 0.998607 uwb: 0.0 850.864 697.579 -imu_odom_: 1691062429.347631595 0.596156 -0.234632 9.84975 -0.0553937 0.0511327 0.0394148 0.19 0 pose: 0.0 3.02946 0.0627324 0 -0.00361173 -0.00147956 -0.052629 0.998607 uwb: 0.49874278 851.008 696.537 -imu_odom_: 1691062429.372430355 1.3623 -0.588974 9.1267 -0.0980043 0.0820254 0.0372843 0.18 0.02 pose: 0.48863488 3.03944 0.0632799 0 -0.00460218 0.00111871 -0.0524902 0.99861 uwb: 0.0 851.008 696.537 -imu_odom_: 1691062429.398440838 0.368707 -0.387861 9.44991 -0.0415453 -0.0106526 0.0447411 0.18 0.02 pose: 0.0 3.03944 0.0632799 0 -0.00460218 0.00111871 -0.0524902 0.99861 uwb: 0.50044882 851.78 695.426 -imu_odom_: 1691062429.414471450 0.011971 -0.102951 10.3286 -0.0468716 -0.0735032 0.0426106 0.18 -0.02 pose: 0.42181952 3.04943 0.0638292 0 -0.00435874 -0.0019495 -0.0525203 0.998608 uwb: 0.0 851.78 695.426 -imu_odom_: 1691062429.440628040 0.282516 -0.201113 9.85693 -0.0500674 0.0287621 0.0436758 0.18 -0.02 pose: 0.0 3.04943 0.0638292 0 -0.00435874 -0.0019495 -0.0525203 0.998608 uwb: 0.0 851.78 695.426 -imu_odom_: 1691062429.465533829 0.277727 -0.387861 9.73722 -0.056459 0.0372843 0.0458064 0.23 -0.02 pose: 0.49820035 3.05941 0.0643785 0 -0.00627783 -0.000456117-0.0524485 0.998604 uwb: 0.50071711 851.686 694.556 -imu_odom_: 1691062429.480411335 0.174777 -0.258574 9.81383 -0.0543285 -0.00106526 0.0543285 0.23 -0.02 pose: 0.0 3.05941 0.0643785 0 -0.00627783 -0.000456117-0.0524485 0.998604 uwb: 0.0 851.686 694.556 -imu_odom_: 1691062429.507471395 0.902614 -0.268151 10.0173 -0.0639159 -0.0447411 0.0415453 0.18 0 pose: 0.42101754 3.0694 0.0649292 0 -0.00422053 0.00279983 -0.0523456 0.998616 uwb: 0.49843948 852.128 693.427 -imu_odom_: 1691062429.531401973 0.509965 -0.177171 10.0485 -0.0649811 -0.015979 0.0500674 0.18 0 pose: 0.0 3.0694 0.0649292 0 -0.00422053 0.00279983 -0.0523456 0.998616 uwb: 0.0 852.128 693.427 -imu_odom_: 1691062429.556411873 0.454898 -0.0215478 9.86172 -0.056459 -0.0319579 0.0394148 0.19 -0.02 pose: 0.40916278 3.0694 0.0649292 0 -0.00482514 0.00480813 -0.0521639 0.998615 uwb: 0.50017760 851.573 692.962 -imu_odom_: 1691062429.579402236 0.414197 -0.138864 9.9527 -0.0447411 -0.0170442 0.0330232 0.2 0 pose: 0.49932895 3.07938 0.0654847 0 -0.00282523 0.000251152 -0.0520322 0.998641 uwb: 0.0 851.573 692.962 -imu_odom_: 1691062429.595404851 0.605733 -0.301669 9.92397 -0.0628506 -0.00213053 0.0458064 0.2 0 pose: 0.0 3.07938 0.0654847 0 -0.00282523 0.000251152 -0.0520322 0.998641 uwb: 0.49999095 851.483 692.091 -imu_odom_: 1691062429.620464620 0.356736 -0.442927 10.2663 -0.0649811 -0.0276969 0.0447411 0.2 0 pose: 0.0 3.07938 0.0654847 0 -0.00282523 0.000251152 -0.0520322 0.998641 uwb: 0.0 851.483 692.091 -imu_odom_: 1691062429.646389073 0.474052 -0.0861913 10.2328 -0.056459 -0.0287621 0.04048 0.19 -0.02 pose: 0.63999671 3.08993 0.0560589 0 -0.000338627-0.00187823 -0.0520387 0.998643 uwb: 0.50105832 852.494 690.744 -imu_odom_: 1691062429.670394308 0.37589 -0.23942 10.0461 -0.0543285 -0.0127832 0.0383495 0.21 0 pose: 0.43968186 3.09991 0.0566173 0 0.000365104 -0.00242918 -0.0519819 0.998645 uwb: 0.0 852.494 690.744 -imu_odom_: 1691062429.686384966 0.550666 -0.129287 9.7444 -0.0415453 0.0319579 0.0383495 0.21 0 pose: 0.0 3.09991 0.0566173 0 0.000365104 -0.00242918 -0.0519819 0.998645 uwb: 0.0 852.494 690.744 -imu_odom_: 1691062429.702393706 0.124498 -0.418985 9.66539 -0.0372843 0.0170442 0.0394148 0.21 0 pose: 0.0 3.09991 0.0566173 0 0.000365104 -0.00242918 -0.0519819 0.998645 uwb: 0.49875153 853.274 689.592 -imu_odom_: 1691062429.727438893 0.126893 -0.64404 9.56244 -0.052198 0.0394148 0.04048 0.23 -0.02 pose: 0.7013119 3.09991 0.0566173 0 0.000106926 -0.00180689 -0.0519859 0.998646 uwb: 0.0 853.274 689.592 -imu_odom_: 1691062429.750438005 0.141258 -0.275333 10.0509 -0.0394148 0.00106526 0.04048 0.23 -0.02 pose: 0.0 3.09991 0.0566173 0 0.000106926 -0.00180689 -0.0519859 0.998646 uwb: 0.50003762 853.294 688.932 -imu_odom_: 1691062429.775439157 0.526724 -0.229843 9.81862 -0.0436758 0.00852212 0.0426106 0.19 0 pose: 0.55058585 3.1099 0.0571768 0 -0.0007425080.000616871 -0.0520041 0.998646 uwb: 0.0 853.294 688.932 -imu_odom_: 1691062429.801424268 0.627281 -0.102951 10.659 -0.0490022 -0.0276969 0.0543285 0.23 0 pose: 0.48944561 3.11988 0.057736 0 -0.00196707 0.00384269 -0.0519711 0.998639 uwb: 0.50043423 853.447 687.845 -imu_odom_: 1691062429.817408802 0.169988 -0.169988 9.91918 -0.0575243 -0.00213053 0.0340885 0.23 0 pose: 0.0 3.11988 0.057736 0 -0.00196707 0.00384269 -0.0519711 0.998639 uwb: 0.0 853.447 687.845 -imu_odom_: 1691062429.833365048 0.440533 -0.234632 10.1418 -0.0543285 -0.0308927 0.0245011 0.23 0 pose: 0.0 3.11988 0.057736 0 -0.00196707 0.00384269 -0.0519711 0.998639 uwb: 0.0 853.447 687.845 -imu_odom_: 1691062429.849366205 0.488417 -0.447716 9.74919 -0.056459 -0.0181095 0.0308927 0.19 -0.02 pose: 0.75959710 3.13985 0.0588572 0 -0.000607548-0.000646162-0.0519219 0.998651 uwb: 0.49934645 850.997 688.302 -imu_odom_: 1691062429.873343152 0.545878 -0.265756 9.69891 -0.0340885 0.0223706 0.0372843 0.19 -0.02 pose: 0.7017785 3.13985 0.0588572 0 -0.00129166 -0.000876772-0.051952 0.998648 uwb: 0.0 850.997 688.302 -imu_odom_: 1691062429.898383674 0.61531 -0.292093 9.51216 -0.0809601 0.0511327 0.0426106 0.19 -0.02 pose: 0.32960319 3.14746 0.0492684 0 -0.00223862 -0.00323964 -0.0520227 0.998638 uwb: 0.50009594 852.068 687.037 -imu_odom_: 1691062429.914353043 0.203507 -0.344765 9.57681 -0.0628506 0.0181095 0.0383495 0.18 -0.02 pose: 0.0 3.14746 0.0492684 0 -0.00223862 -0.00323964 -0.0520227 0.998638 uwb: 0.0 852.068 687.037 -imu_odom_: 1691062429.929465603 0.636858 -0.232238 9.70849 -0.056459 -0.0447411 0.0426106 0.19 0.02 pose: 0.0 3.14746 0.0492684 0 -0.00223862 -0.00323964 -0.0520227 0.998638 uwb: 0.0 852.068 687.037 -imu_odom_: 1691062429.956482210 0.790087 -0.0047884 10.2735 -0.0617853 0.00426106 0.036219 0.19 0.02 pose: 0.47057423 3.15039 0.0494328 0 -0.00350162 -0.00388257 -0.051987 0.998634 uwb: 0.50073461 852.284 686.077 -imu_odom_: 1691062429.981467906 0.237026 -0.146046 10.1203 -0.1012 -0.00426106 0.0607201 0.17 -0.02 pose: 0.36081635 3.16038 0.0499925 0 -0.00162335 -0.00687428 -0.0520375 0.99862 uwb: 0.0 852.284 686.077 -imu_odom_: 1691062430.7471392 0.452504 -0.246603 9.40442 -0.0916127 0.00213053 0.0351537 0.2 0.02 pose: 0.6941087 3.16038 0.0499925 0 -0.00154425 -0.00621368 -0.0519662 0.998628 uwb: 0.50034091 851.87 685.908 -imu_odom_: 1691062430.23475182 0.409408 -0.565032 9.82341 -0.0894822 -0.0735032 0.0479369 0.17 0 pose: 0.0 3.16038 0.0499925 0 -0.00154425 -0.00621368 -0.0519662 0.998628 uwb: 0.0 851.87 685.908 -imu_odom_: 1691062430.47325866 0.548272 -0.512359 9.44273 -0.04048 0.0181095 0.0223706 0.17 0 pose: 0.50953315 3.17036 0.0505537 0 -0.00329179 -0.00199982 -0.0518034 0.99865 uwb: 0.49904337 853.207 684.475 -imu_odom_: 1691062430.63392940 0.392649 0.102951 10.4698 -0.0639159 0.0106526 0.052198 0.19 -0.02 pose: 0.0 3.17036 0.0505537 0 -0.00329179 -0.00199982 -0.0518034 0.99865 uwb: 0.0 853.207 684.475 -imu_odom_: 1691062430.79320907 0.124498 -0.304064 9.59357 -0.0756338 -0.0468716 0.0511327 0.19 -0.02 pose: 0.39973459 3.18035 0.051117 0 -0.00571363 -0.00265602 -0.0519247 0.998631 uwb: 0.0 853.207 684.475 -imu_odom_: 1691062430.104404020 0.770933 -0.294487 10.0413 -0.0500674 0.00958738 0.0245011 0.19 0 pose: 0.24970836 3.18594 0.0514312 0 -0.00494614 -0.00121998 -0.0517699 0.998646 uwb: 0.50076696 853.077 683.472 -imu_odom_: 1691062430.129331403 0.167594 -0.208296 9.71088 -0.052198 -0.0276969 0.0266316 0.19 0 pose: 0.7024496 3.19033 0.0516793 0 -0.00492624 -0.00187631 -0.0518264 0.998642 uwb: 0.0 853.077 683.472 -imu_odom_: 1691062430.152369897 0.397437 -0.275333 10.2927 -0.0458064 0.0266316 0.0372843 0.19 0 pose: 0.42986000 3.19033 0.0516793 0 -0.00398448 -0.00151637 -0.0521234 0.998632 uwb: 0.49898218 854.87 681.533 -imu_odom_: 1691062430.177320027 0.363919 -0.222661 10.1442 -0.0351537 0.0308927 0.0458064 0.19 0 pose: 0.0 3.19033 0.0516793 0 -0.00398448 -0.00151637 -0.0521234 0.998632 uwb: 0.0 854.87 681.533 -imu_odom_: 1691062430.201353854 0.507571 -0.28491 9.95509 -0.052198 -0.0213053 0.0479369 0.24 0 pose: 0.47988624 3.20805 0.0426516 0 -0.0002268920.00230922 -0.0520639 0.998641 uwb: 0.50020703 855.213 680.808 -imu_odom_: 1691062430.215299902 0.0383072 -0.117316 9.98143 -0.04048 0.0106526 0.04048 0.24 0 pose: 0.0 3.20805 0.0426516 0 -0.0002268920.00230922 -0.0520639 0.998641 uwb: 0.0 855.213 680.808 -imu_odom_: 1691062430.231430260 0.100556 -0.232238 9.95748 -0.0383495 0.00745685 0.0308927 0.18 0.02 pose: 0.0 3.20805 0.0426516 0 -0.0002268920.00230922 -0.0520639 0.998641 uwb: 0.0 855.213 680.808 -imu_odom_: 1691062430.255336645 0.0023942 -0.304064 9.73722 -0.0447411 -0.0181095 0.04048 0.18 0.02 pose: 0.44985416 3.21086 0.0428086 0 -0.0005480390.00207527 -0.0519889 0.998645 uwb: 0.49957128 853.795 680.653 -imu_odom_: 1691062430.280430841 0.270545 -0.201113 10.1179 -0.0490022 0.00852212 0.0447411 0.18 0 pose: 0.33031202 3.21789 0.0432027 0 -0.0007236460.00522325 -0.0520171 0.998632 uwb: 0.0 853.795 680.653 -imu_odom_: 1691062430.306392052 0.213084 -0.158017 10.3214 -0.0607201 -0.0127832 0.0458064 0.18 0 pose: 0.7059493 3.22084 0.0433679 0 -0.0001416730.00570242 -0.0519958 0.998631 uwb: 0.50093902 853.521 680.053 -imu_odom_: 1691062430.330320018 0.80924 -0.124498 10.41 -0.0777643 -0.00319579 0.0575243 0.21 0 pose: 0.43995914 3.22816 0.0437792 0 0.00295956 0.00879274 -0.05185 0.998612 uwb: 0.0 853.521 680.053 -imu_odom_: 1691062430.355320892 0.488417 -0.213084 9.94551 -0.056459 0.0415453 0.0330232 0.21 0 pose: 0.0 3.22816 0.0437792 0 0.00295956 0.00879274 -0.05185 0.998612 uwb: 0.50067364 853.187 679.326 -imu_odom_: 1691062430.379379217 0.617704 -0.244209 9.81383 -0.0607201 -0.0340885 0.0447411 0.19 0 pose: 0.48928840 3.23828 0.0443527 0 0.00209683 0.00457625 -0.0517053 0.99865 uwb: 0.0 853.187 679.326 -imu_odom_: 1691062430.395416253 0.100556 -0.246603 9.56484 -0.0458064 -0.0426106 0.0351537 0.19 0 pose: 0.0 3.23828 0.0443527 0 0.00209683 0.00457625 -0.0517053 0.99865 uwb: 0.49678912 853.367 678.235 -imu_odom_: 1691062430.419412752 0.371101 -0.323217 9.21528 -0.0735032 -0.0383495 0.0383495 0.19 0 pose: 0.40095361 3.24644 0.0448147 0 0.00119624 0.00317149 -0.0516807 0.998658 uwb: 0.0 853.367 678.235 -imu_odom_: 1691062430.435271019 0.656011 0.124498 10.319 -0.0628506 -0.0191748 0.04048 0.19 0 pose: 0.7006707 3.25079 0.0450612 0 0.000433277 0.00294692 -0.0516871 0.998659 uwb: 0.0 853.367 678.235 -imu_odom_: 1691062430.461376004 0.454898 -0.361524 9.93833 -0.0681769 0.00639159 0.0447411 0.25 0.02 pose: 0.32848059 3.25079 0.0450612 0 -0.0003024990.00122553 -0.0516938 0.998662 uwb: 0.50086612 852.433 677.678 -imu_odom_: 1691062430.477490031 0.387861 -0.174777 9.8689 -0.0447411 -0.0223706 0.0351537 0.25 0.02 pose: 0.0 3.25079 0.0450612 0 -0.0003024990.00122553 -0.0516938 0.998662 uwb: 0.0 852.433 677.678 -imu_odom_: 1691062430.502274223 0.610521 -0.253785 9.95509 -0.0511327 -0.0245011 0.0500674 0.24 0 pose: 0.7185768 3.25079 0.0450612 0 -0.0009960670.000957323 -0.0516761 0.998663 uwb: 0.50008454 852.44 676.95 -imu_odom_: 1691062430.525313884 0.68953 -0.160412 9.67736 -0.0596548 -0.00958738 0.0372843 0.24 0 pose: 0.0 3.25079 0.0450612 0 -0.0009960670.000957323 -0.0516761 0.998663 uwb: 0.0 852.44 676.95 -imu_odom_: 1691062430.550299009 0.605733 -0.474052 9.7875 -0.0713727 -0.0234358 0.0532632 0.19 0 pose: 0.41832310 3.26134 0.0356429 0 -0.00121584 -0.00050414 -0.0516291 0.998665 uwb: 0.50032077 852.371 676.05 -imu_odom_: 1691062430.576271886 0.706289 -0.009576819.79707 -0.056459 0.0436758 0.036219 0.22 0.02 pose: 0.48989207 3.27133 0.0362096 0 -0.0016732 -0.0051118 -0.0515098 0.998658 uwb: 0.0 852.371 676.05 -imu_odom_: 1691062430.601382121 0.277727 -0.143652 9.54089 -0.0852212 -0.0213053 0.0596548 0.17 0 pose: 0.0 3.27133 0.0362096 0 -0.0016732 -0.0051118 -0.0515098 0.998658 uwb: 0.50032368 852.225 674.979 -imu_odom_: 1691062430.618264593 0.675165 -0.433351 10.2592 -0.0500674 0.0394148 0.0298274 0.17 0 pose: 0.0 3.27133 0.0362096 0 -0.0016732 -0.0051118 -0.0515098 0.998658 uwb: 0.0 852.225 674.979 -imu_odom_: 1691062430.634374245 0.474052 -0.153229 9.97664 -0.0479369 -0.00426106 0.0351537 0.2 -0.02 pose: 0.50033827 3.28131 0.0367796 0 -0.00118299 -0.00625996 -0.0513809 0.998659 uwb: 0.0 852.225 674.979 -imu_odom_: 1691062430.660290254 0.428562 -0.311246 9.67736 -0.0553937 -0.0127832 0.0447411 0.2 -0.02 pose: 0.0 3.28131 0.0367796 0 -0.00118299 -0.00625996 -0.0513809 0.998659 uwb: 0.50161561 851.59 674.337 -imu_odom_: 1691062430.686264006 0.282516 -0.198719 9.88566 -0.056459 0.00852212 0.0372843 0.23 0.02 pose: 0.58140854 3.29129 0.0373513 0 -0.00101424 -0.00446424 -0.0513024 0.998673 uwb: 0.0 851.59 674.337 -imu_odom_: 1691062430.702278295 0.490811 -0.198719 10.1634 -0.0596548 -0.0223706 0.0372843 0.23 0.02 pose: 0.0 3.29129 0.0373513 0 -0.00101424 -0.00446424 -0.0513024 0.998673 uwb: 0.49748028 851.808 673.307 -imu_odom_: 1691062430.728265170 0.600945 -0.383072 10.4507 -0.0532632 -0.02024 0.0394148 0.23 0 pose: 0.51841350 3.30128 0.0379246 0 -0.001221 -0.00142684 -0.0512831 0.998682 uwb: 0.0 851.808 673.307 -imu_odom_: 1691062430.744290833 0.177171 -0.160412 9.7875 -0.0426106 0.0287621 0.0426106 0.23 0 pose: 0.0 3.30128 0.0379246 0 -0.001221 -0.00142684 -0.0512831 0.998682 uwb: 0.50062698 853.204 671.827 -imu_odom_: 1691062430.769299872 0.505177 -0.337582 10.2472 -0.0394148 0.00958738 0.04048 0.2 0 pose: 0.50996498 3.31126 0.0384982 0 -0.00203272 -0.00245021 -0.0512679 0.99868 uwb: 0.0 853.204 671.827 -imu_odom_: 1691062430.795244753 0.172383 -0.316035 9.96946 -0.0330232 0.0181095 0.0319579 0.2 0 pose: 0.0 3.31126 0.0384982 0 -0.00203272 -0.00245021 -0.0512679 0.99868 uwb: 0.49940505 851.376 671.591 -imu_odom_: 1691062430.811268082 0.225055 -0.155623 10.1418 -0.0479369 -0.0351537 0.04048 0.19 -0.02 pose: 0.7081948 3.31126 0.0384982 0 -0.00259981 -0.0027355 -0.0512637 0.998678 uwb: 0.0 851.376 671.591 -imu_odom_: 1691062430.837235710 0.562637 -0.198719 9.86172 -0.0553937 0.0245011 0.0415453 0.19 -0.02 pose: 0.0 3.31126 0.0384982 0 -0.00259981 -0.0027355 -0.0512637 0.998678 uwb: 0.0 851.376 671.591 -imu_odom_: 1691062430.861353819 0.227449 -0.294487 10.0365 -0.0745685 0.0106526 0.0585895 0.23 0.02 pose: 0.50888303 3.32182 0.0290887 0 -0.00336508 -0.000144811-0.051336 0.998676 uwb: 0.50168559 854.299 668.87 -imu_odom_: 1691062430.886225500 0.186748 -0.0933739 10.1107 -0.0468716 0.00426106 0.0276969 0.2 0 pose: 0.16032370 3.3318 0.0296612 0 -0.00253892 -0.000132013-0.0513243 0.998679 uwb: 0.0 854.299 668.87 -imu_odom_: 1691062430.910285575 0.47884 -0.1652 9.8282 -0.0532632 -0.0372843 0.0298274 0.2 0 pose: 0.43060365 3.3389 0.0300687 0 -0.00247084 0.000936662 -0.0510779 0.998691 uwb: 0.49958295 853.079 668.456 -imu_odom_: 1691062430.936248828 0.797269 -0.229843 10.2496 -0.0458064 -0.0532632 0.0426106 0.19 0.02 pose: 0.6933799 3.34178 0.0302354 0 -0.00196238 0.00146749 -0.0511174 0.99869 uwb: 0.0 853.079 668.456 -imu_odom_: 1691062430.961339815 0.672771 -0.007182619.7851 -0.0468716 -0.04048 0.0394148 0.19 0.02 pose: 0.0 3.34178 0.0302354 0 -0.00196238 0.00146749 -0.0511174 0.99869 uwb: 0.0 853.079 668.456 -imu_odom_: 1691062430.976253783 0.792481 -0.31364 9.85453 -0.0490022 0.0191748 0.0340885 0.2 0 pose: 0.49061823 3.35177 0.030811 0 0.000269696 -0.000642827-0.0513247 0.998682 uwb: 0.0 853.079 668.456 -imu_odom_: 1691062430.993221995 0.263362 -0.699107 9.37569 -0.0681769 -0.0149137 0.0426106 0.2 0 pose: 0.0 3.35177 0.030811 0 0.000269696 -0.000642827-0.0513247 0.998682 uwb: 0.99836390 852.784 667.79 -imu_odom_: 1691062431.19232209 0.442927 -0.363919 9.32302 -0.0447411 0.00745685 0.0415453 0.19 0 pose: 0.49897927 3.35177 0.030811 0 0.00159156 -0.00580265 -0.0513148 0.998664 uwb: 0.0 852.784 667.79 -imu_odom_: 1691062431.44337208 0.560243 -0.409408 9.72764 -0.0596548 0.0245011 0.036219 0.19 0 pose: 0.0 3.35177 0.030811 0 0.00159156 -0.00580265 -0.0513148 0.998664 uwb: 0.0 852.784 667.79 -imu_odom_: 1691062431.59413331 0.399832 -0.316035 9.74201 -0.0468716 0.0191748 0.0351537 0.19 0 pose: 0.0 3.35177 0.030811 0 0.00159156 -0.00580265 -0.0513148 0.998664 uwb: 0.0 852.784 667.79 -imu_odom_: 1691062431.86231075 0.251391 -0.222661 10.2065 -0.0575243 0.0468716 0.0394148 0.19 -0.05 pose: 0.32999707 3.36175 0.0313837 0 -0.000985709-0.00537203 -0.0512913 0.998669 uwb: 0.0 852.784 667.79 -imu_odom_: 1691062431.111269290 0.349553 -0.179565 9.96946 -0.0468716 -0.0266316 0.0372843 0.19 0 pose: 0.50006146 3.37173 0.0319572 0 -0.00494221 -0.00432694 -0.0513073 0.998661 uwb: 0.100112902 854.327 665.775 -imu_odom_: 1691062431.126191432 0.526724 -0.301669 9.56005 -0.0585895 -0.0266316 0.0596548 0.19 0 pose: 0.0 3.37173 0.0319572 0 -0.00494221 -0.00432694 -0.0513073 0.998661 uwb: 0.0 854.327 665.775 -imu_odom_: 1691062431.142189982 0.634463 -0.0861913 10.5369 -0.0596548 -0.0181095 0.036219 0.19 0 pose: 0.0 3.37173 0.0319572 0 -0.00494221 -0.00432694 -0.0513073 0.998661 uwb: 0.49920701 855.085 664.317 -imu_odom_: 1691062431.157247732 0.213084 -0.222661 9.34696 -0.072438 -0.0127832 0.0383495 0.19 -0.02 pose: 0.42967358 3.38172 0.0325305 0 -0.00317826 4.74422e-05 -0.0513278 0.998677 uwb: 0.0 855.085 664.317 -imu_odom_: 1691062431.182245994 0.229843 -0.328006 9.61272 -0.0703074 0.00745685 0.036219 0.19 -0.02 pose: 0.0 3.38172 0.0325305 0 -0.00317826 4.74422e-05 -0.0513278 0.998677 uwb: 0.0 855.085 664.317 -imu_odom_: 1691062431.207187388 0.605733 -0.514753 10.647 -0.0479369 0.00958738 0.0351537 0.19 0.02 pose: 0.89025415 3.39948 0.0235368 0 -0.0023834 0.00164197 -0.0512744 0.99868 uwb: 0.49900870 855.715 663.355 -imu_odom_: 1691062431.230222103 0.591368 -0.263362 10.1945 -0.056459 0.02024 0.0500674 0.19 0.02 pose: 0.0 3.39948 0.0235368 0 -0.0023834 0.00164197 -0.0512744 0.99868 uwb: 0.0 855.715 663.355 -imu_odom_: 1691062431.246194406 0.311246 -0.277727 10.4148 -0.036219 -0.00213053 0.0532632 0.25 0 pose: 0.6950426 3.40226 0.0236966 0 -0.0028847 0.00123733 -0.0512918 0.998679 uwb: 0.50040852 853.947 663.297 -imu_odom_: 1691062431.263186832 0.25618 -0.205901 9.72285 -0.0511327 -0.0106526 0.0415453 0.25 0 pose: 0.0 3.40226 0.0236966 0 -0.0028847 0.00123733 -0.0512918 0.998679 uwb: 0.0 853.947 663.297 -imu_odom_: 1691062431.287183927 0.299275 -0.306458 9.48583 -0.0426106 0.0298274 0.0458064 0.24 0 pose: 0.47987483 3.41224 0.0242703 0 -0.00368981 -0.00111904 -0.0511768 0.998682 uwb: 0.0 853.947 663.297 -imu_odom_: 1691062431.312269095 0.481235 -0.52433 9.7875 -0.0490022 0.0479369 0.0415453 0.24 0 pose: 0.0 3.41224 0.0242703 0 -0.00368981 -0.00111904 -0.0511768 0.998682 uwb: 0.49876081 853.582 662.455 -imu_odom_: 1691062431.337213114 0.0814029 -0.205901 10.0461 -0.0468716 0.0426106 0.0479369 0.19 0 pose: 0.75085192 3.42222 0.024848 0 -0.00548611 0.00325078 -0.051002 0.998678 uwb: 0.0 853.582 662.455 -imu_odom_: 1691062431.354258325 0.636858 -0.0790087 10.3046 -0.0490022 -0.0415453 0.0468716 0.19 0 pose: 0.8037041 3.42222 0.024848 0 -0.00506915 0.00415061 -0.0509645 0.998679 uwb: 0.0 853.582 662.455 -imu_odom_: 1691062431.379169390 0.744597 0.124498 9.96946 -0.056459 -0.00106526 0.0468716 0.18 -0.02 pose: 0.0 3.42222 0.024848 0 -0.00506915 0.00415061 -0.0509645 0.998679 uwb: 0.0 853.582 662.455 -imu_odom_: 1691062431.404166194 0.392649 -0.19393 9.75158 -0.0585895 -0.00958738 0.0394148 0.18 -0.02 pose: 0.33952189 3.43221 0.0254275 0 -0.00330393 0.00424564 -0.0508239 0.998693 uwb: 0.100092204 853.798 661.336 -imu_odom_: 1691062431.427415841 0.632069 -0.131681 9.57441 -0.0585895 -0.0127832 0.0351537 0.18 -0.02 pose: 0.49907869 3.43962 0.0258604 0 0.000339539 0.000919925 -0.0507325 0.998712 uwb: 0.0 853.798 661.336 -imu_odom_: 1691062431.452212878 -0.347159 -0.225055 9.414 -0.0628506 0.0191748 0.0319579 0.18 -0.02 pose: 0.0 3.43962 0.0258604 0 0.000339539 0.000919925 -0.0507325 0.998712 uwb: 0.50000315 854.037 660.26 -imu_odom_: 1691062431.478209391 0.318429 -0.198719 9.98861 -0.0628506 -0.0394148 0.0394148 0.19 0 pose: 0.31222529 3.44278 0.0160281 0 0.000867032 -0.000537812-0.0508136 0.998708 uwb: 0.0 854.037 660.26 -imu_odom_: 1691062431.493164195 0.68953 -0.0383072 9.87129 -0.0458064 -0.0372843 0.036219 0.19 0 pose: 0.0 3.44278 0.0160281 0 0.000867032 -0.000537812-0.0508136 0.998708 uwb: 0.49995650 854.475 658.818 -imu_odom_: 1691062431.520381181 0.754174 -0.296881 9.99579 -0.0596548 -0.00213053 0.0468716 0.19 0 pose: 0.48766136 3.45276 0.0166111 0 0.00112552 0.00283781 -0.0508921 0.998699 uwb: 0.0 854.475 658.818 -imu_odom_: 1691062431.536290784 0.442927 -0.150835 9.7037 -0.0468716 0.0298274 0.0330232 0.19 0 pose: 0.0 3.45276 0.0166111 0 0.00112552 0.00283781 -0.0508921 0.998699 uwb: 0.0 854.475 658.818 -imu_odom_: 1691062431.562370703 0.294487 -0.320823 10.0676 -0.052198 -0.0245011 0.0500674 0.17 -0.02 pose: 0.44110841 3.46274 0.0171925 0 0.00128664 -0.000961811-0.0508302 0.998706 uwb: 0.50135341 854.704 657.698 -imu_odom_: 1691062431.587289642 0.371101 -0.177171 9.75877 -0.056459 -0.00639159 0.0394148 0.17 0.02 pose: 0.34105003 3.4701 0.0176218 0 0.00018909 0.000331325 -0.050722 0.998713 uwb: 0.0 854.704 657.698 -imu_odom_: 1691062431.612313276 0.507571 -0.407014 9.60075 -0.0639159 -0.02024 0.0479369 0.17 0.02 pose: 0.0 3.4701 0.0176218 0 0.00018909 0.000331325 -0.050722 0.998713 uwb: 0.49847793 854.899 656.491 -imu_odom_: 1691062431.634126351 0.0407014 -0.294487 9.81144 -0.052198 -0.00745685 0.0351537 0.18 0 pose: 0.49942573 3.48027 0.0182175 0 -8.58538e-050.000330127 -0.0506206 0.998718 uwb: 0.0 854.899 656.491 -imu_odom_: 1691062431.658180315 0.3304 -0.476446 9.92397 -0.0809601 0.0372843 0.0628506 0.18 0 pose: 0.0 3.48027 0.0182175 0 -8.58538e-050.000330127 -0.0506206 0.998718 uwb: 0.50082555 853.613 655.963 -imu_odom_: 1691062431.675198987 0.730232 -0.191536 10.149 -0.0671117 0.00639159 0.0287621 0.19 0.02 pose: 0.5831440 3.48271 0.018361 0 -0.0001727230.000895907 -0.0506335 0.998717 uwb: 0.0 853.613 655.963 -imu_odom_: 1691062431.691126379 0.174777 -0.366313 9.67018 -0.0479369 0.0117179 0.0340885 0.19 0.02 pose: 0.40035599 3.4899 0.0187834 0 -0.00307012 0.00332202 -0.0503939 0.998719 uwb: 0.49799382 854.048 654.475 -imu_odom_: 1691062431.717192008 0.196325 -0.143652 9.85214 -0.0490022 -0.0170442 0.0436758 0.19 0.02 pose: 0.7004961 3.49269 0.0189488 0 -0.00299015 0.00267087 -0.0504336 0.998719 uwb: 0.0 854.048 654.475 -imu_odom_: 1691062431.742130778 0.414197 -0.232238 10.2256 -0.056459 -0.0213053 0.0351537 0.19 0.02 pose: 0.0 3.49269 0.0189488 0 -0.00299015 0.00267087 -0.0504336 0.998719 uwb: 0.49992442 854.324 653.44 -imu_odom_: 1691062431.769269607 0.445322 -0.251391 9.87608 -0.052198 0.0511327 0.0447411 0.2 -0.02 pose: 0.33075256 3.49269 0.0189488 0 -0.00288513 0.00377371 -0.0505129 0.998712 uwb: 0.0 854.324 653.44 -imu_odom_: 1691062431.785168127 0.304064 -0.349553 9.92157 -0.0490022 0.00319579 0.0383495 0.2 -0.02 pose: 0.0 3.49269 0.0189488 0 -0.00288513 0.00377371 -0.0505129 0.998712 uwb: 0.0 854.324 653.44 -imu_odom_: 1691062431.802114475 0.761356 -0.160412 10.2544 -0.0383495 -0.0181095 0.0330232 0.23 0.02 pose: 0.0 3.49269 0.0189488 0 -0.00288513 0.00377371 -0.0505129 0.998712 uwb: 0.50039103 853.968 652.594 -imu_odom_: 1691062431.818178933 0.447716 -0.148441 9.71806 -0.0351537 0.0276969 0.0447411 0.23 0.02 pose: 0.50868208 3.50326 0.0095549 0 -0.00132307 0.00174824 -0.0505058 0.998721 uwb: 0.0 853.968 652.594 -imu_odom_: 1691062431.835250391 0.3304 -0.25618 10.1323 -0.0415453 -0.00639159 0.0436758 0.23 0.02 pose: 0.0 3.50326 0.0095549 0 -0.00132307 0.00174824 -0.0505058 0.998721 uwb: 0.0 853.968 652.594 -imu_odom_: 1691062431.851496243 0.770933 -0.0837971 9.81383 -0.0500674 -0.0149137 0.0340885 0.2 -0.02 pose: 0.86121651 3.52323 0.0107333 0 -0.0009009690.000980092 -0.0504503 0.998726 uwb: 0.49923908 852.185 652.607 -imu_odom_: 1691062431.868277820 0.545878 -0.258574 9.60314 -0.0426106 0.0138484 0.0394148 0.2 -0.02 pose: 0.0 3.52323 0.0107333 0 -0.0009009690.000980092 -0.0504503 0.998726 uwb: 0.0 852.185 652.607 -imu_odom_: 1691062431.884148927 0.517148 -0.217872 9.84017 -0.0468716 -0.0372843 0.0447411 0.2 -0.02 pose: 0.0 3.52323 0.0107333 0 -0.0009009690.000980092 -0.0504503 0.998726 uwb: 0.0 852.185 652.607 -imu_odom_: 1691062431.911139900 0.967257 -0.0023942 10.3837 -0.0500674 -0.0149137 0.0543285 0.25 -0.02 pose: 0.6850980 3.52323 0.0107333 0 -0.0006699720.00029158 -0.0504695 0.998725 uwb: 0.50019855 850.757 651.785 -imu_odom_: 1691062431.936171408 0.440533 -0.0790087 9.61272 -0.056459 -0.0181095 0.0447411 0.18 0.02 pose: 0.69038529 3.53321 0.0113232 0 0.000461103 -0.00659733 -0.0502628 0.998714 uwb: 0.0 850.757 651.785 -imu_odom_: 1691062431.953149252 0.237026 -0.244209 10.0533 -0.0553937 -0.0245011 0.0276969 0.18 0.02 pose: 0.0 3.53321 0.0113232 0 0.000461103 -0.00659733 -0.0502628 0.998714 uwb: 0.49989817 851.512 650.184 -imu_odom_: 1691062431.978137307 0.703895 -0.37589 9.99819 -0.0532632 -0.0372843 0.0372843 0.23 -0.02 pose: 0.32042301 3.54319 0.0119173 0 0.00235654 -0.00479685 -0.0502559 0.998722 uwb: 0.0 851.512 650.184 -imu_odom_: 1691062432.3204686 1.0319 -0.1652 10.161 -0.0458064 -0.0213053 0.0532632 0.21 0 pose: 0.0 3.54319 0.0119173 0 0.00235654 -0.00479685 -0.0502559 0.998722 uwb: 0.49988942 849.21 650.709 -imu_odom_: 1691062432.26201209 0.217872 -0.100556 9.83299 -0.0447411 -0.0468716 0.0458064 0.21 0 pose: 0.42090134 3.55317 0.0125107 0 0.00037243 -0.00687473 -0.0502858 0.998711 uwb: 0.0 849.21 650.709 -imu_odom_: 1691062432.42071158 0.682347 -0.3304 10.1778 -0.0468716 0.0223706 0.0340885 0.21 0 pose: 0.0 3.55317 0.0125107 0 0.00037243 -0.00687473 -0.0502858 0.998711 uwb: 0.49997128 848.865 649.91 -imu_odom_: 1691062432.66079348 0.47884 -0.153229 10.0916 -0.0458064 -0.00426106 0.0351537 0.2 0 pose: 0.47817770 3.56316 0.0131041 0 0.000799887 -0.00748213 -0.0501116 0.998715 uwb: 0.0 848.865 649.91 -imu_odom_: 1691062432.82091321 0.462081 -0.395043 9.14346 -0.0511327 0.0372843 0.0511327 0.2 0 pose: 0.0 3.56316 0.0131041 0 0.000799887 -0.00748213 -0.0501116 0.998715 uwb: 0.0 848.865 649.91 -imu_odom_: 1691062432.108137134 0.531513 -0.500388 9.53132 -0.0649811 0.036219 0.0479369 0.18 0 pose: 0.40007915 3.56375 0.00312193 0 0.000968303 -0.00563317 -0.0501494 0.998725 uwb: 0.49972637 848.659 648.59 -imu_odom_: 1691062432.131101870 0.258574 -0.294487 10.2544 -0.0500674 0.056459 0.0266316 0.18 0 pose: 0.0 3.56375 0.00312193 0 0.000968303 -0.00563317 -0.0501494 0.998725 uwb: 0.0 848.659 648.59 -imu_odom_: 1691062432.156071857 0.344765 -0.19393 9.80904 -0.0628506 -0.02024 0.052198 0.18 -0.02 pose: 0.41048744 3.57373 0.00371801 0 -0.00259566 -0.00403799 -0.0500081 0.998737 uwb: 0.50247062 845.916 648.987 -imu_odom_: 1691062432.173114452 0.373495 -0.102951 9.4164 -0.0308927 -0.00532632 0.0245011 0.18 -0.02 pose: 0.0 3.57373 0.00371801 0 -0.00259566 -0.00403799 -0.0500081 0.998737 uwb: 0.0 845.916 648.987 -imu_odom_: 1691062432.198083273 0.438139 -0.237026 9.81144 -0.0777643 0.00958738 0.0585895 0.22 0 pose: 0.48999466 3.58372 0.00431726 0 -0.0004140343.3274e-05 -0.0500075 0.998749 uwb: 0.49935017 845.595 648.255 -imu_odom_: 1691062432.215201984 0.538695 -0.301669 9.48583 -0.0628506 0.00532632 0.0372843 0.22 0 pose: 0.0 3.58372 0.00431726 0 -0.0004140343.3274e-05 -0.0500075 0.998749 uwb: 0.0 845.595 648.255 -imu_odom_: 1691062432.240058819 0.629675 -0.493206 9.43076 -0.0596548 0.00213053 0.0394148 0.21 -0.02 pose: 0.42067118 3.5937 0.00491634 0 -0.00175538 -0.00194449 -0.0498527 0.998753 uwb: 0.0 845.595 648.255 -imu_odom_: 1691062432.257064960 0.663194 -0.225055 9.7444 -0.0500674 -0.00745685 0.0276969 0.21 -0.02 pose: 0.0 3.5937 0.00491634 0 -0.00175538 -0.00194449 -0.0498527 0.998753 uwb: 0.49923352 844.351 647.929 -imu_odom_: 1691062432.273122719 0.823605 -0.354342 9.95509 -0.0575243 0.0117179 0.0426106 0.21 -0.02 pose: 0.41878724 3.60368 0.00551857 0 -0.0042166 -0.00469173 -0.0499092 0.998734 uwb: 0.0 844.351 647.929 -imu_odom_: 1691062432.290051287 0.433351 -0.440533 9.66539 -0.0649811 -0.00532632 0.0447411 0.21 -0.02 pose: 0.0 3.60368 0.00551857 0 -0.0042166 -0.00469173 -0.0499092 0.998734 uwb: 0.0 844.351 647.929 -imu_odom_: 1691062432.306058011 0.270545 -0.0694318 9.73004 -0.0351537 0.0149137 0.0532632 0.2 -0.02 pose: 0.0 3.60368 0.00551857 0 -0.0042166 -0.00469173 -0.0499092 0.998734 uwb: 0.50048461 844.691 647.033 -imu_odom_: 1691062432.323118687 0.462081 -0.409408 10.1107 -0.0532632 -0.00852212 0.0511327 0.2 -0.02 pose: 0.51069459 3.61366 0.00611997 0 -0.00503074 -0.00539224 -0.0498411 0.99873 uwb: 0.0 844.691 647.033 -imu_odom_: 1691062432.339049295 0.402226 -0.253785 10.0796 -0.0415453 -0.00213053 0.0415453 0.2 -0.02 pose: 0.0 3.61366 0.00611997 0 -0.00503074 -0.00539224 -0.0498411 0.99873 uwb: 0.0 844.691 647.033 -imu_odom_: 1691062432.356111430 0.177171 -0.196325 9.61272 -0.0458064 0.0340885 0.0436758 0.25 0 pose: 0.40887764 3.61366 0.00611997 0 -0.0047325 -0.00297499 -0.0496605 0.998751 uwb: 0.50007050 845.885 645.561 -imu_odom_: 1691062432.372107946 0.227449 -0.201113 10.1897 -0.052198 0.00319579 0.0468716 0.25 0 pose: 0.0 3.61366 0.00611997 0 -0.0047325 -0.00297499 -0.0496605 0.998751 uwb: 0.0 845.885 645.561 -imu_odom_: 1691062432.389238906 0.782904 -0.114922 9.59357 -0.0500674 -0.0117179 0.0330232 0.25 0 pose: 0.0 3.61366 0.00611997 0 -0.0047325 -0.00297499 -0.0496605 0.998751 uwb: 0.0 845.885 645.561 -imu_odom_: 1691062432.405181762 0.560243 -0.215478 9.71567 -0.0415453 0.0117179 0.0468716 0.18 -0.02 pose: 0.40002082 3.62425 -0.0032551 0 -0.00294783 -0.000281409-0.0495838 0.998766 uwb: 0.49875233 846.788 644.247 -imu_odom_: 1691062432.432035974 0.462081 -0.153229 10.137 -0.0490022 -0.0127832 0.0447411 0.25 0.02 pose: 0.0 3.62425 -0.0032551 0 -0.00294783 -0.000281409-0.0495838 0.998766 uwb: 0.0 846.788 644.247 -imu_odom_: 1691062432.448034532 0.881066 0.0574608 9.36612 -0.0532632 -0.0777643 0.0681769 0.25 0.02 pose: 0.34010242 3.63423 -0.00264738 0 -0.00118063 -0.00278437 -0.0495484 0.998767 uwb: 0.50235105 847.918 642.587 -imu_odom_: 1691062432.465031050 0.852336 -0.268151 9.48583 -0.0692422 0.0213053 0.136354 0.17 0.02 pose: 0.0 3.63423 -0.00264738 0 -0.00118063 -0.00278437 -0.0495484 0.998767 uwb: 0.0 847.918 642.587 -imu_odom_: 1691062432.481028442 1.16119 -0.304064 10.082 -0.056459 0.0106526 0.158724 0.17 0.02 pose: 0.0 3.63423 -0.00264738 0 -0.00118063 -0.00278437 -0.0495484 0.998767 uwb: 0.0 847.918 642.587 -imu_odom_: 1691062432.498276928 0.486023 -0.56982 9.32781 -0.0276969 -0.0383495 0.196009 0.19 0.35 pose: 0.67966823 3.64417 -0.00203713 0 0.000549954 -0.0078723 -0.0474947 0.99884 uwb: 0.49903229 846.43 642.558 -imu_odom_: 1691062432.514030516 1.42934 -0.354342 9.79468 -0.0585895 -0.0287621 0.290817 0.19 0.35 pose: 0.0 3.64417 -0.00203713 0 0.000549954 -0.0078723 -0.0474947 0.99884 uwb: 0.0 846.43 642.558 -imu_odom_: 1691062432.531143395 1.48201 -0.653617 10.1873 -0.0628506 0.0330232 0.38243 0.19 0.35 pose: 0.0 3.64417 -0.00203713 0 0.000549954 -0.0078723 -0.0474947 0.99884 uwb: 0.0 846.43 642.558 -imu_odom_: 1691062432.547180156 0.933739 -0.486023 9.71806 -0.0372843 0.0351537 0.411192 0.11 0.38 pose: 0.7121908 3.64421 -0.00203616 0 -5.81585e-05-0.00784921 -0.0469322 0.998867 uwb: 0.49909353 846.436 641.711 -imu_odom_: 1691062432.574194473 0.790087 -0.28491 9.96706 -0.0681769 -0.0149137 0.565655 0.11 0.38 pose: 0.0 3.64421 -0.00203616 0 -5.81585e-05-0.00784921 -0.0469322 0.998867 uwb: 0.0 846.436 641.711 -imu_odom_: 1691062432.590002014 0.828394 -0.61531 9.57681 -0.0532632 -0.0181095 0.637028 0.1 0.44 pose: 0.50880483 3.6542 -0.00146899 0 -0.00258808 -0.0111986 -0.0397491 0.999144 uwb: 0.0 846.436 641.711 -imu_odom_: 1691062432.607020987 -0.344765 -0.679953 9.06684 -0.0543285 0.116114 0.532632 0.14 0.47 pose: 0.0 3.6542 -0.00146899 0 -0.00258808 -0.0111986 -0.0397491 0.999144 uwb: 0.49985469 845.283 641.617 -imu_odom_: 1691062432.623069997 -1.40061 0.641646 10.3741 -0.0213053 -0.00106526 0.328101 0.11 0.32 pose: 0.0 3.6542 -0.00146899 0 -0.00258808 -0.0111986 -0.0397491 0.999144 uwb: 0.0 845.283 641.617 -imu_odom_: 1691062432.640007022 -0.909797 0.459687 9.76595 -0.0660464 -0.106526 0.297209 0.11 0.32 pose: 0.75989579 3.6542 -0.00146901 0 -0.00535069 -0.0117501 -0.0210347 0.999695 uwb: 0.0 845.283 641.617 -imu_odom_: 1691062432.656126607 0.560243 -0.407014 10.4818 -0.072438 -0.0500674 0.291882 0.13 0.26 pose: 0.0 3.6542 -0.00146901 0 -0.00535069 -0.0117501 -0.0210347 0.999695 uwb: 0.49927435 844.737 641.213 -imu_odom_: 1691062432.673177659 0.758962 -0.739808 9.34457 -0.0553937 -0.0266316 0.262055 0.13 0.26 pose: 0.33112602 3.66417 -0.0007890840 -0.0050022 -0.0101451 -0.016656 0.999797 uwb: 0.0 844.737 641.213 -imu_odom_: 1691062432.689126057 0.122104 -0.31364 9.47146 -0.052198 0.0777643 0.245011 0.13 0.26 pose: 0.0 3.66417 -0.0007890840 -0.0050022 -0.0101451 -0.016656 0.999797 uwb: 0.0 844.737 641.213 -imu_odom_: 1691062432.706196065 -0.265756 0.0430956 9.60075 -0.0543285 0.015979 0.247141 0.19 0.23 pose: 0.40993043 3.66417 -0.0007890840 -0.00723249 -0.00846985 -0.0120856 0.999865 uwb: 0.50117578 843.941 641.097 -imu_odom_: 1691062432.722109759 -0.275333 -0.40462 10.0844 -0.0756338 -0.0330232 0.246076 0.19 0.23 pose: 0.0 3.66417 -0.0007890840 -0.00723249 -0.00846985 -0.0120856 0.999865 uwb: 0.0 843.941 641.097 -imu_odom_: 1691062432.739105985 0.682347 -0.47884 10.2831 -0.0596548 -0.0415453 0.207727 0.19 0.23 pose: 0.0 3.66417 -0.0007890840 -0.00723249 -0.00846985 -0.0120856 0.999865 uwb: 0.0 843.941 641.097 -imu_odom_: 1691062432.754993432 0.548272 -0.287304 9.91199 -0.0532632 -0.00958738 0.2024 0.14 0.17 pose: 0.8021880 3.66417 -0.0007890840 -0.00688279 -0.00766175 -0.0112516 0.999884 uwb: 0.49793576 844.326 640.263 -imu_odom_: 1691062432.772054691 0.275333 -0.0574608 9.74679 -0.0639159 0.0394148 0.225836 0.2 0.17 pose: 0.0 3.66417 -0.0007890840 -0.00688279 -0.00766175 -0.0112516 0.999884 uwb: 0.0 844.326 640.263 -imu_odom_: 1691062432.788046542 -0.126893 -0.301669 9.94312 -0.0884169 0.00532632 0.224771 0.2 0.17 pose: 0.64997441 3.67415 -0.0001135950 -0.00577582 -0.00654618 -0.00528359 0.999948 uwb: 0.0 844.326 640.263 -imu_odom_: 1691062432.805167294 0.526724 -0.272939 9.88326 -0.0607201 -0.0255663 0.169377 0.19 0.14 pose: 0.0 3.67415 -0.0001135950 -0.00577582 -0.00654618 -0.00528359 0.999948 uwb: 0.50009091 843.999 639.508 -imu_odom_: 1691062432.821064073 0.730232 -0.186748 10.173 -0.0553937 -0.0287621 0.169377 0.19 0.14 pose: 0.0 3.67415 -0.0001135950 -0.00577582 -0.00654618 -0.00528359 0.999948 uwb: 0.0 843.999 639.508 -imu_odom_: 1691062432.839246069 0.275333 -0.337582 9.50977 -0.0553937 0.0532632 0.170442 0.19 0.14 pose: 0.32855968 3.68413 0.000580923 0 -0.00487133 -0.00452094 -0.00242951 0.999975 uwb: 0.0 843.999 639.508 -imu_odom_: 1691062432.855008406 0.565032 -0.466869 10.3046 -0.0436758 -0.0276969 0.158724 0.16 0.14 pose: 0.44244723 3.69001 0.000942103 0 -0.00387705 -0.00465317 0.000443445 0.999982 uwb: 0.50263976 843.997 638.638 -imu_odom_: 1691062432.872186318 1.09654 -0.0670376 9.28232 -0.0468716 -0.0106526 0.191748 0.16 0.14 pose: 0.6842526 3.69411 0.00123151 0 -0.00447738 -0.00497957 0.000853558 0.999977 uwb: 0.0 843.997 638.638 -imu_odom_: 1691062432.889256910 1.01993 -0.0071826110.1682 -0.0511327 0.0170442 0.257794 0.16 0.14 pose: 0.0 3.69411 0.00123151 0 -0.00447738 -0.00497957 0.000853558 0.999977 uwb: 0.0 843.997 638.638 -imu_odom_: 1691062432.905086614 1.63763 -0.536301 9.7851 -0.0468716 -0.0447411 0.24075 0.17 0.11 pose: 0.43168315 3.69411 0.00123151 0 -0.00360135 -0.00829753 0.00453267 0.999949 uwb: 0.49783078 846.357 637.168 -imu_odom_: 1691062432.922130084 1.60412 -0.007182619.61272 -0.0276969 0.00958738 0.134223 0.11 0.08 pose: 0.0 3.69411 0.00123151 0 -0.00360135 -0.00829753 0.00453267 0.999949 uwb: 0.0 846.357 637.168 -imu_odom_: 1691062432.939175595 1.30484 0.304064 9.85693 -0.0479369 0.0287621 0.117179 0.11 0.08 pose: 0.0 3.69411 0.00123151 0 -0.00360135 -0.00829753 0.00453267 0.999949 uwb: 0.0 846.357 637.168 -imu_odom_: 1691062432.954996842 0.677559 -0.277727 9.91199 -0.0617853 0.0394148 0.11931 0.1 0.05 pose: 0.23883955 3.70408 0.00194444 0 -0.00357007 -0.0108737 0.00650046 0.999913 uwb: 0.49998592 847.752 636.045 -imu_odom_: 1691062432.972109429 0.392649 -0.593762 9.9934 -0.0543285 0.00426106 0.0852212 0.1 0.05 pose: 0.0 3.70408 0.00194444 0 -0.00357007 -0.0108737 0.00650046 0.999913 uwb: 0.0 847.752 636.045 -imu_odom_: 1691062432.988027205 0.653617 -0.009576819.67736 -0.0436758 -0.0234358 0.0649811 0.1 0.05 pose: 0.33016365 3.70408 0.00194444 0 -0.00248936 -0.0130648 0.00784673 0.999881 uwb: 0.0 847.752 636.045 -imu_odom_: 1691062433.5136293 0.770933 0 9.76355 -0.0553937 0.00106526 0.122505 0.1 0.11 pose: 0.41869975 3.70408 0.00194444 0 -0.00268839 -0.0125846 0.00879937 0.999878 uwb: 0.49933268 849.011 634.579 -imu_odom_: 1691062433.20960756 0.711078 -0.459687 9.8282 -0.0585895 -0.00106526 0.134223 0.1 0.11 pose: 0.7959180 3.70408 0.00194444 0 -0.00196869 -0.0128929 0.00911926 0.999873 uwb: 0.0 849.011 634.579 -imu_odom_: 1691062433.37954949 0.68953 -0.435745 9.92157 -0.0436758 -0.00852212 0.110787 0.1 0.11 pose: 0.0 3.70408 0.00194444 0 -0.00196869 -0.0128929 0.00911926 0.999873 uwb: 0.0 849.011 634.579 -imu_odom_: 1691062433.54135785 0.617704 -0.0646434 9.93354 -0.0436758 0.00745685 0.0937433 0.05 0.08 pose: 0.41968564 3.71474 -0.00734984 0 -0.00431178 -0.0138506 0.0108839 0.999836 uwb: 0.50151718 849.398 633.707 -imu_odom_: 1691062433.81071376 0.663194 -0.244209 9.79707 -0.0681769 -0.00852212 0.111853 0.07 0.08 pose: 0.0 3.71474 -0.00734984 0 -0.00431178 -0.0138506 0.0108839 0.999836 uwb: 0.0 849.398 633.707 -imu_odom_: 1691062433.105957387 0.100556 -0.325611 9.85693 -0.0532632 0.0372843 0.0117179 0.05 0.02 pose: 0.24148477 3.71474 -0.00734984 0 -0.00191389 -0.0134307 0.0115795 0.999841 uwb: 0.49967998 849.228 633.294 -imu_odom_: 1691062433.133078455 -1.41737 0.155623 10.1083 -0.0681769 0.0340885 0.0585895 0.05 0.02 pose: 0.0 3.71474 -0.00734984 0 -0.00191389 -0.0134307 0.0115795 0.999841 uwb: 0.0 849.228 633.294 -imu_odom_: 1691062433.158036499 -0.354342 -0.869095 9.663 -0.0575243 -0.103331 0.0681769 0.09 0.02 pose: 0.70975029 3.71474 -0.00734984 0 -0.000318458-0.00744581 0.012151 0.999898 uwb: 0.49949041 850.431 631.659 -imu_odom_: 1691062433.184944094 0.691924 0.0191536 9.663 -0.0607201 -0.0308927 0.0969391 0.09 0.02 pose: 0.7999721 3.71474 -0.00734984 0 -0.000798665-0.00719732 0.0122693 0.999899 uwb: 0.0 850.431 631.659 -imu_odom_: 1691062433.201010902 0.23942 -0.0646434 9.54568 -0.0713727 0.0372843 0.0980043 0.11 0 pose: 0.0 3.71474 -0.00734984 0 -0.000798665-0.00719732 0.0122693 0.999899 uwb: 0.49983454 848.352 632.078 -imu_odom_: 1691062433.227954075 -0.155623 -0.191536 9.97185 -0.0458064 -0.00319579 0.0543285 0.11 0 pose: 0.50886343 3.72472 -0.00670477 0 0.000657383 -0.00759467 0.0134757 0.99988 uwb: 0.0 848.352 632.078 -imu_odom_: 1691062433.252936033 0.172383 -0.277727 9.87608 -0.0415453 0.00745685 0.0756338 0.16 0.02 pose: 0.35989556 3.72472 -0.00670477 0 0.00105386 -0.00386247 0.0139333 0.999895 uwb: 0.0 848.352 632.078 -imu_odom_: 1691062433.269934601 0.0837971 -0.0790087 9.60554 -0.0447411 0.015979 0.0639159 0.16 0.02 pose: 0.7063003 3.72472 -0.00670477 0 0.000908043 -0.00314052 0.0140609 0.999896 uwb: 0.0 848.352 632.078 -imu_odom_: 1691062433.285929084 -0.102951 -0.0957681 10.1682 -0.0415453 0.0245011 0.0809601 0.15 0.05 pose: 0.0 3.72472 -0.00670477 0 0.000908043 -0.00314052 0.0140609 0.999896 uwb: 0.0 848.352 632.078 -imu_odom_: 1691062433.303046346 -0.208296 -0.268151 9.46428 -0.0490022 -0.0213053 0.0617853 0.15 0.05 pose: 0.42925117 3.7347 -0.00602412 0 0.00137846 0.00137385 0.014755 0.999889 uwb: 0.99929288 848.324 631.097 -imu_odom_: 1691062433.327939065 0.397437 -0.0742203 9.89045 -0.0383495 -0.02024 0.0628506 0.14 0.02 pose: 0.0 3.7347 -0.00602412 0 0.00137846 0.00137385 0.014755 0.999889 uwb: 0.0 848.324 631.097 -imu_odom_: 1691062433.352918980 1.1157 -0.459687 10.1969 -0.0596548 -0.0532632 0.0894822 0.14 0.02 pose: 0.33111163 3.7347 -0.00602412 0 0.00211421 0.00335105 0.0152017 0.999877 uwb: 0.50138018 849.835 629.261 -imu_odom_: 1691062433.375905893 -0.227449 -0.189142 9.57441 -0.0458064 0.0308927 0.056459 0.14 0.02 pose: 0.0 3.7347 -0.00602412 0 0.00211421 0.00335105 0.0152017 0.999877 uwb: 0.0 849.835 629.261 -imu_odom_: 1691062433.391924290 -0.0335188 -0.0837971 10.1227 -0.0575243 0.00213053 0.0916127 0.14 0 pose: 0.47900044 3.74467 -0.00532051 0 0.00273128 0.000140661 0.0160812 0.999867 uwb: 0.49886925 848.878 628.762 -imu_odom_: 1691062433.408980892 -0.107739 -0.347159 9.13627 -0.072438 -0.00745685 0.0884169 0.2 0.05 pose: 0.0 3.74467 -0.00532051 0 0.00273128 0.000140661 0.0160812 0.999867 uwb: 0.0 848.878 628.762 -imu_odom_: 1691062433.433955267 0.536301 -0.0430956 10.2065 -0.0617853 -0.0458064 0.0596548 0.2 0.05 pose: 0.39991313 3.75465 -0.00459949 0 0.00262815 0.00439192 0.0168022 0.999846 uwb: 0.0 848.878 628.762 -imu_odom_: 1691062433.458043085 -0.272939 -0.260968 10.4363 -0.0596548 0.00319579 0.0884169 0.16 0.02 pose: 0.35010552 3.75465 -0.00459949 0 0.00327438 0.00258293 0.0173042 0.999842 uwb: 0.0 848.878 628.762 -imu_odom_: 1691062433.481081616 0.383072 -0.296881 9.72764 -0.0553937 0.0138484 0.0479369 0.16 0.02 pose: 0.0 3.75465 -0.00459949 0 0.00327438 0.00258293 0.0173042 0.999842 uwb: 0.0 848.878 628.762 -imu_odom_: 1691062433.494904618 0.773327 -0.131681 9.98143 -0.0447411 -0.0351537 0.0596548 0.15 0.02 pose: 0.0 3.75465 -0.00459949 0 0.00327438 0.00258293 0.0173042 0.999842 uwb: 0.100052939 848.243 628.132 -imu_odom_: 1691062433.511928557 0.11971 -0.241814 9.94551 -0.0639159 -0.00532632 0.0894822 0.15 0.02 pose: 0.53017871 3.76462 -0.00385053 0 0.000874939 0.00341408 0.0180335 0.999831 uwb: 0.0 848.243 628.132 -imu_odom_: 1691062433.536912265 0.011971 -0.383072 9.81862 -0.0585895 0.0681769 0.0468716 0.16 0.02 pose: 0.0 3.76462 -0.00385053 0 0.000874939 0.00341408 0.0180335 0.999831 uwb: 0.0 848.243 628.132 -imu_odom_: 1691062433.561897430 0.23942 -0.500388 9.43315 -0.0543285 -0.00106526 0.0830906 0.16 0.02 pose: 0.32953390 3.7746 -0.00319025 0 0.000167325 0.00513128 0.0185633 0.999815 uwb: 0.49924836 845.739 628.501 -imu_odom_: 1691062433.575955194 0.708684 -0.517148 9.36372 -0.0735032 -0.0543285 0.0713727 0.18 0.02 pose: 0.0 3.7746 -0.00319025 0 0.000167325 0.00513128 0.0185633 0.999815 uwb: 0.0 845.739 628.501 -imu_odom_: 1691062433.599911487 0.143652 -0.153229 9.90242 -0.0511327 -0.0223706 0.0543285 0.15 0 pose: 0.56028666 3.77992 -0.002832 0 -0.00400705 0.00585881 0.019363 0.999787 uwb: 0.49952541 845.848 627.845 -imu_odom_: 1691062433.624893736 0.122104 -0.361524 10.1059 -0.0649811 0.0351537 0.0628506 0.2 0 pose: 0.0 3.77992 -0.002832 0 -0.00400705 0.00585881 0.019363 0.999787 uwb: 0.0 845.848 627.845 -imu_odom_: 1691062433.647898729 0.636858 0.0143652 9.34696 -0.052198 -0.02024 0.0468716 0.2 0 pose: 0.6969390 3.78457 -0.00251223 0 -0.00351786 0.00630821 0.0194194 0.999785 uwb: 0.50059278 845.008 627.659 -imu_odom_: 1691062433.672890893 0.414197 -0.438139 10.0221 -0.0681769 0.00852212 0.0692422 0.18 0 pose: 0.48063066 3.79455 -0.0018195 0 -0.00365505 0.00929799 0.0198634 0.999753 uwb: 0.0 845.008 627.659 -imu_odom_: 1691062433.696888014 0.806846 -0.342371 10.1706 -0.0319579 -0.0181095 0.0372843 0.2 0 pose: 0.0 3.79455 -0.0018195 0 -0.00365505 0.00929799 0.0198634 0.999753 uwb: 0.49917546 847.292 625.802 -imu_odom_: 1691062433.712876082 0.260968 -0.138864 9.43555 -0.0745685 0.0149137 0.072438 0.2 0 pose: 0.0 3.79455 -0.0018195 0 -0.00365505 0.00929799 0.0198634 0.999753 uwb: 0.0 847.292 625.802 -imu_odom_: 1691062433.738866206 0.361524 -0.0790087 10.1586 -0.0330232 -0.00319579 0.0383495 0.17 0 pose: 0.72914373 3.80452 -0.00111986 0 -0.00382438 0.00402356 0.0203621 0.999777 uwb: 0.0 847.292 625.802 -imu_odom_: 1691062433.752862728 0.244209 -0.141258 9.71806 -0.0692422 0.00745685 0.0532632 0.17 0 pose: 0.0 3.80452 -0.00111986 0 -0.00382438 0.00402356 0.0203621 0.999777 uwb: 0.50058111 848.628 624.397 -imu_odom_: 1691062433.768898332 0.395043 -0.320823 9.9503 -0.0777643 -0.00639159 0.0639159 0.17 0 pose: 0.48960705 3.8145 -0.0004134750 0.000548768 0.00505738 0.0206064 0.999775 uwb: 0.0 848.628 624.397 -imu_odom_: 1691062433.793916451 0.732626 -0.454898 10.2113 -0.0426106 -0.0223706 0.0330232 0.17 0.02 pose: 0.0 3.8145 -0.0004134750 0.000548768 0.00505738 0.0206064 0.999775 uwb: 0.49875259 847.584 623.703 -imu_odom_: 1691062433.818971316 0.567426 -0.332794 10.1634 -0.0660464 -0.00852212 0.0596548 0.17 0.02 pose: 0.7015176 3.8145 -0.0004134750 -7.72448e-050.00461045 0.0206897 0.999775 uwb: 0.0 847.584 623.703 -imu_odom_: 1691062433.835847691 0.452504 -0.189142 9.98143 -0.0245011 0.00958738 0.036219 0.24 0 pose: 0.0 3.8145 -0.0004134750 -7.72448e-050.00461045 0.0206897 0.999775 uwb: 0.0 847.584 623.703 -imu_odom_: 1691062433.860904014 0.579397 -0.0981623 10.058 -0.0628506 0.0127832 0.0649811 0.24 0 pose: 0.75969787 3.82447 0.00029983 0 -0.00108002 -0.0012992 0.0209221 0.99978 uwb: 0.50113230 848.263 622.542 -imu_odom_: 1691062433.885846310 1.67834 -0.0694318 9.11233 -0.0468716 0.0479369 0.0191748 0.17 0.02 pose: 0.0 3.82447 0.00029983 0 -0.00108002 -0.0012992 0.0209221 0.99978 uwb: 0.0 848.263 622.542 -imu_odom_: 1691062433.899892118 -0.203507 0.100556 11.0971 -0.0490022 0.116114 0.0671117 0.17 0.02 pose: 0.32035045 3.83445 0.00101972 0 0.000672383 -0.00340849 0.0211647 0.99977 uwb: 0.49933002 847.6 621.846 -imu_odom_: 1691062433.916056330 0.371101 -0.445322 8.7556 -0.052198 -0.0213053 0.0458064 0.17 0 pose: 0.0 3.83445 0.00101972 0 0.000672383 -0.00340849 0.0211647 0.99977 uwb: 0.0 847.6 621.846 -imu_odom_: 1691062433.940942341 1.21386 -0.392649 9.23204 -0.0639159 -0.0958738 0.0649811 0.17 0 pose: 0.48173594 3.84442 0.00174238 0 -1.28184e-05-0.00227125 0.0212263 0.999772 uwb: 0.49982579 847.98 620.881 -imu_odom_: 1691062433.965858973 1.17076 -0.390255 9.79468 -0.0639159 0.0138484 0.056459 0.19 0.02 pose: 0.6890650 3.84442 0.00174238 0 -0.000175975-0.00326272 0.021314 0.999767 uwb: 0.0 847.98 620.881 -imu_odom_: 1691062433.981985566 0.445322 -0.227449 10.4052 -0.0447411 -0.0223706 0.0426106 0.18 0 pose: 0.0 3.84442 0.00174238 0 -0.000175975-0.00326272 0.021314 0.999767 uwb: 0.0 847.98 620.881 -imu_odom_: 1691062433.996004543 0.366313 -0.0814029 9.67976 -0.0756338 -0.0447411 0.0319579 0.17 -0.02 pose: 0.48930667 3.85439 0.00247024 0 -0.00115905 -0.00751956 0.0217635 0.999734 uwb: 0.49949041 845.338 621.012 -imu_odom_: 1691062434.19915350 0.306458 -0.217872 10.07 -0.0639159 -0.0511327 0.0468716 0.17 -0.02 pose: 0.0 3.85439 0.00247024 0 -0.00115905 -0.00751956 0.0217635 0.999734 uwb: 0.0 845.338 621.012 -imu_odom_: 1691062434.47006686 0.914585 -0.162806 10.0173 -0.0713727 -0.0127832 0.0553937 0.22 0.02 pose: 0.31044084 3.85439 0.00247024 0 -0.000212066-0.0053262 0.0217461 0.999749 uwb: 0.50169243 845.977 619.737 -imu_odom_: 1691062434.71874629 0.991199 0.122104 10.4986 -0.0607201 -0.015979 0.0511327 0.22 0.02 pose: 0.0 3.85439 0.00247024 0 -0.000212066-0.0053262 0.0217461 0.999749 uwb: 0.0 845.977 619.737 -imu_odom_: 1691062434.88880496 0.138864 -0.435745 9.73004 -0.092678 -0.0383495 0.0671117 0.23 0 pose: 0.68952898 3.87142 0.00372583 0 0.00141275 -0.00891412 0.0221507 0.999714 uwb: 0.0 845.977 619.737 -imu_odom_: 1691062434.113966871 0.349553 -0.277727 9.61511 -0.0617853 -0.00745685 0.04048 0.23 0 pose: 0.6958602 3.87434 0.00394323 0 0.000931206 -0.00843648 0.0222476 0.999716 uwb: 0.49879659 845.309 619.044 -imu_odom_: 1691062434.139908598 0.428562 -0.248997 10.1155 -0.0820254 0.0181095 0.0649811 0.19 0.02 pose: 0.35133640 3.88156 0.00448182 0 -0.000663038-0.00541439 0.0224042 0.999734 uwb: 0.0 845.309 619.044 -imu_odom_: 1691062434.163844197 0.40462 -0.189142 9.93594 -0.0468716 0.0138484 0.0287621 0.2 0 pose: 0.0 3.88156 0.00448182 0 -0.000663038-0.00541439 0.0224042 0.999734 uwb: 0.50003020 847.634 617.121 -imu_odom_: 1691062434.181823820 0.155623 -0.423774 9.65821 -0.0830906 0.00426106 0.0607201 0.2 0 pose: 0.49877326 3.89119 0.00520525 0 0.00025435 -0.00082117 0.0226053 0.999744 uwb: 0.0 847.634 617.121 -imu_odom_: 1691062434.205834368 0.603339 -0.186748 10.0533 -0.0276969 -0.00319579 0.0394148 0.18 -0.02 pose: 0.0 3.89119 0.00520525 0 0.00025435 -0.00082117 0.0226053 0.999744 uwb: 0.50060179 848.327 615.935 -imu_odom_: 1691062434.229827710 0.773327 -0.124498 9.84256 -0.0575243 0.00213053 0.0468716 0.18 -0.02 pose: 0.41990171 3.89428 0.0054383 0 -0.00022111 -0.00168381 0.0227911 0.999739 uwb: 0.0 848.327 615.935 -imu_odom_: 1691062434.255945874 0.718261 -0.227449 9.89045 -0.0468716 -0.015979 0.0500674 0.19 0 pose: 0.0 3.89428 0.0054383 0 -0.00022111 -0.00168381 0.0227911 0.999739 uwb: 0.49935361 850.11 614.555 -imu_odom_: 1691062434.279817606 0.169988 -0.0454898 9.85932 -0.0585895 -0.02024 0.0436758 0.19 0 pose: 0.31026894 3.90426 0.00619395 0 0.00044365 -0.00464723 0.022914 0.999727 uwb: 0.0 850.11 614.555 -imu_odom_: 1691062434.296982704 0.409408 -0.167594 10.0006 -0.0223706 -0.0308927 0.0447411 0.25 -0.02 pose: 0.0 3.90426 0.00619395 0 0.00044365 -0.00464723 0.022914 0.999727 uwb: 0.50213869 851.066 613.025 -imu_odom_: 1691062434.312967281 0.47884 -0.107739 10.3094 -0.056459 -0.0117179 0.0575243 0.25 -0.02 pose: 0.49974440 3.91423 0.00695375 0 0.00159474 -0.00406481 0.023074 0.999724 uwb: 0.0 851.066 613.025 -imu_odom_: 1691062434.339889763 0.483629 -0.131681 9.991 -0.0543285 0.00639159 0.0394148 0.25 -0.02 pose: 0.0 3.91423 0.00695375 0 0.00159474 -0.00406481 0.023074 0.999724 uwb: 0.0 851.066 613.025 -imu_odom_: 1691062434.364999176 0.272939 -0.301669 9.98861 -0.056459 -0.0127832 0.0426106 0.25 -0.02 pose: 0.33009400 3.91423 0.00695375 0 0.00414276 -0.00382749 0.0232359 0.999714 uwb: 0.49814334 852.177 611.869 -imu_odom_: 1691062434.381937677 0.0933739 -0.1652 9.98143 -0.0468716 -0.0308927 0.036219 0.23 0 pose: 0.0 3.91423 0.00695375 0 0.00414276 -0.00382749 0.0232359 0.999714 uwb: 0.0 852.177 611.869 -imu_odom_: 1691062434.406804745 0.797269 -0.241814 9.83299 -0.0543285 -0.00426106 0.0468716 0.23 0 pose: 0.62092575 3.92975 0.00814282 0 0.0039709 -0.00170322 0.023233 0.999721 uwb: 0.49921946 850.221 611.839 -imu_odom_: 1691062434.432815880 0.474052 -0.107739 10.0317 -0.0223706 -0.00213053 0.0298274 0.23 0 pose: 0.7901154 3.93417 0.00848121 0 0.00377375 -0.00246759 0.0232652 0.999719 uwb: 0.0 850.221 611.839 -imu_odom_: 1691062434.458055361 0.335188 -0.225055 9.80904 -0.0553937 -0.02024 0.0340885 0.23 0 pose: 0.0 3.93417 0.00848121 0 0.00377375 -0.00246759 0.0232652 0.999719 uwb: 0.49950817 850.722 611.117 -imu_odom_: 1691062434.474941368 0.675165 -0.0766145 9.73004 -0.0245011 -0.0149137 0.0351537 0.21 0 pose: 0.0 3.93417 0.00848121 0 0.00377375 -0.00246759 0.0232652 0.999719 uwb: 0.0 850.722 611.117 -imu_odom_: 1691062434.490832915 0.363919 -0.169988 9.85453 -0.0511327 0.00745685 0.0575243 0.21 0 pose: 0.50016142 3.94414 0.00924556 0 0.00576691 -0.00286 0.0231752 0.999711 uwb: 0.49939153 852.162 609.787 -imu_odom_: 1691062434.516858340 0.179565 -0.0814029 10.0724 -0.0394148 0.00213053 0.0351537 0.25 0 pose: 0.0 3.94414 0.00924556 0 0.00576691 -0.00286 0.0231752 0.999711 uwb: 0.0 852.162 609.787 -imu_odom_: 1691062434.541937132 0.191536 -0.268151 9.29669 -0.072438 0.0191748 0.0532632 0.25 0 pose: 0.58089942 3.95411 0.0100068 0 0.00459545 -0.00122267 0.0232097 0.999719 uwb: 0.49960441 853.31 608.701 -imu_odom_: 1691062434.566809449 0.114922 -0.201113 9.59835 -0.0308927 0.00745685 0.0245011 0.18 0 pose: 0.0 3.95411 0.0100068 0 0.00459545 -0.00122267 0.0232097 0.999719 uwb: 0.0 853.31 608.701 -imu_odom_: 1691062434.588925855 0.107739 -0.335188 9.59596 -0.0639159 0.0340885 0.0479369 0.18 0 pose: 0.43992217 3.96128 0.0105556 0 0.0032807 0.00299469 0.0233217 0.999718 uwb: 0.0 853.31 608.701 -imu_odom_: 1691062434.614927659 0.337582 -0.158017 9.88326 -0.0553937 0.00852212 0.0458064 0.19 -0.02 pose: 0.7027428 3.96408 0.0107709 0 0.003202 0.00372135 0.0232658 0.999717 uwb: 0.50008560 854.319 607.221 -imu_odom_: 1691062434.631921569 0.557849 0.00957681 9.94551 -0.0639159 -0.0223706 0.052198 0.19 -0.02 pose: 0.0 3.96408 0.0107709 0 0.003202 0.00372135 0.0232658 0.999717 uwb: 0.0 854.319 607.221 -imu_odom_: 1691062434.647852486 0.402226 -0.339977 9.81623 -0.0639159 0.0639159 0.0181095 0.2 0 pose: 0.0 3.96408 0.0107709 0 0.003202 0.00372135 0.0232658 0.999717 uwb: 0.50019934 855.311 605.677 -imu_odom_: 1691062434.674825420 0.225055 -0.335188 10.1921 -0.0607201 -0.015979 0.0543285 0.2 0 pose: 0.47998349 3.97405 0.0115353 0 0.00161298 0.00685759 0.0232328 0.999705 uwb: 0.0 855.311 605.677 -imu_odom_: 1691062434.699777352 0.414197 -0.0766145 10.0341 -0.0511327 -0.0447411 0.0426106 0.19 0 pose: 0.77862511 3.98479 0.0023308 0 -0.0007524830.00499569 0.023427 0.999713 uwb: 0.0 855.311 605.677 -imu_odom_: 1691062434.716761639 0.699107 -0.280122 9.93594 -0.0660464 0.0330232 0.0490022 0.19 0 pose: 0.0 3.98479 0.0023308 0 -0.0007524830.00499569 0.023427 0.999713 uwb: 0.0 855.311 605.677 -imu_odom_: 1691062434.741768982 0.0574608 0.251391 9.88566 -0.0415453 -0.0255663 0.0351537 0.19 0 pose: 0.8010807 3.98479 0.0023308 0 -7.43923e-050.00437511 0.0234422 0.999716 uwb: 0.100066698 853.624 605.348 -imu_odom_: 1691062434.766738704 0.538695 -0.131681 9.53371 -0.0692422 0.00639159 0.052198 0.19 0 pose: 0.0 3.98479 0.0023308 0 -7.43923e-050.00437511 0.0234422 0.999716 uwb: 0.0 853.624 605.348 -imu_odom_: 1691062434.780805224 0.593762 -0.31364 9.39724 -0.0468716 0.0276969 0.0170442 0.19 0 pose: 0.0 3.98479 0.0023308 0 -7.43923e-050.00437511 0.0234422 0.999716 uwb: 0.0 853.624 605.348 -imu_odom_: 1691062434.796772303 0.536301 -0.265756 10.2161 -0.0607201 -0.0213053 0.0383495 0.19 0 pose: 0.41978797 3.99476 0.00309894 0 0.00157601 0.00211569 0.0235387 0.999719 uwb: 0.50078552 852.203 604.698 -imu_odom_: 1691062434.820804432 0.790087 -0.414197 9.84017 -0.0553937 -0.0287621 0.0383495 0.27 0 pose: 0.0 3.99476 0.00309894 0 0.00157601 0.00211569 0.0235387 0.999719 uwb: 0.0 852.203 604.698 -imu_odom_: 1691062434.837863376 0.373495 -0.0574608 9.93833 -0.0351537 0.0500674 0.0287621 0.27 0 pose: 0.78971583 4.00473 0.00386906 0 0.00109277 -0.00238859 0.023505 0.99972 uwb: 0.0 852.203 604.698 -imu_odom_: 1691062434.861880049 0.548272 -0.107739 9.65103 -0.0617853 -0.0298274 0.036219 0.18 0 pose: 0.0 4.00473 0.00386906 0 0.00109277 -0.00238859 0.023505 0.99972 uwb: 0.50031016 854.353 603.074 -imu_odom_: 1691062434.885772487 0.363919 -0.158017 9.79468 -0.0426106 0.0170442 0.0276969 0.18 0 pose: 0.58093442 4.02179 0.00518539 0 0.00319859 -0.00473131 0.0233586 0.999711 uwb: 0.0 854.353 603.074 -imu_odom_: 1691062434.901765812 0.344765 -0.308852 9.991 -0.0703074 -0.036219 0.052198 0.19 0 pose: 0.0 4.02179 0.00518539 0 0.00319859 -0.00473131 0.0233586 0.999711 uwb: 0.49975315 852.962 602.509 -imu_odom_: 1691062434.926718620 0.42138 -0.205901 10.0221 -0.0394148 0.0127832 0.0436758 0.19 0 pose: 0.6913400 4.02467 0.00540681 0 0.00320847 -0.00396542 0.023316 0.999715 uwb: 0.0 852.962 602.509 -imu_odom_: 1691062434.940768809 0.92895 -0.265756 9.71088 -0.0585895 -0.0117179 0.0596548 0.19 0 pose: 0.0 4.02467 0.00540681 0 0.00320847 -0.00396542 0.023316 0.999715 uwb: 0.49913780 855.121 600.866 -imu_odom_: 1691062434.956721889 0.605733 -0.311246 10.0102 -0.0553937 0.0607201 0.0340885 0.17 -0.02 pose: 0.71975360 4.03464 0.00617283 0 -0.000428578-0.00169939 0.0235052 0.999722 uwb: 0.0 855.121 600.866 -imu_odom_: 1691062434.973839452 0.258574 -0.143652 9.90721 -0.0308927 0.00639159 0.0383495 0.17 -0.02 pose: 0.0 4.03464 0.00617283 0 -0.000428578-0.00169939 0.0235052 0.999722 uwb: 0.0 855.121 600.866 -imu_odom_: 1691062434.990827530 0.110133 -0.244209 9.96227 -0.0639159 -0.0234358 0.0671117 0.18 0 pose: 0.0 4.03464 0.00617283 0 -0.000428578-0.00169939 0.0235052 0.999722 uwb: 0.49980272 855.15 599.856 -imu_odom_: 1691062435.6792569 0.167594 -0.213084 9.77074 -0.056459 -0.00426106 0.0372843 0.18 0 pose: 0.40082614 4.04461 0.00694185 0 -0.000322302-0.0003301760.0235483 0.999723 uwb: 0.0 855.15 599.856 -imu_odom_: 1691062435.31784176 0.347159 -0.215478 10.1227 -0.0671117 -0.0372843 0.0628506 0.25 0.02 pose: 0.0 4.04461 0.00694185 0 -0.000322302-0.0003301760.0235483 0.999723 uwb: 0.0 855.15 599.856 -imu_odom_: 1691062435.45915738 0.471658 -0.565032 9.97185 -0.0660464 0.00319579 0.0319579 0.18 0 pose: 0.33001240 4.04461 0.00694185 0 -0.0001510840.00267243 0.0237515 0.999714 uwb: 0.50104527 855.49 598.608 -imu_odom_: 1691062435.61994811 0.629675 -0.105345 10.5177 -0.0394148 -0.0276969 0.0383495 0.17 0.02 pose: 0.0 4.04461 0.00694185 0 -0.0001510840.00267243 0.0237515 0.999714 uwb: 0.0 855.49 598.608 -imu_odom_: 1691062435.86718993 0.397437 -0.220267 10.2568 -0.0617853 -0.0575243 0.0415453 0.17 0.02 pose: 0.48142148 4.06023 0.00815483 0 -1.0619e-05 0.00180305 0.0238955 0.999713 uwb: 0.0 855.49 598.608 -imu_odom_: 1691062435.100765690 0.725443 -0.201113 9.47864 -0.052198 -0.0266316 0.0383495 0.18 0 pose: 0.0 4.06023 0.00815483 0 -1.0619e-05 0.00180305 0.0238955 0.999713 uwb: 0.49896891 854.222 598.391 -imu_odom_: 1691062435.124859074 0.866701 -0.122104 10.1323 -0.0809601 0.0106526 0.0543285 0.18 0 pose: 0.6879574 4.06455 0.00849169 0 -0.0001501370.00094226 0.0239021 0.999714 uwb: 0.0 854.222 598.391 -imu_odom_: 1691062435.148732276 0.845153 0.0167594 10.7284 -0.0596548 -0.00958738 0.0372843 0.23 0 pose: 0.0 4.06455 0.00849169 0 -0.0001501370.00094226 0.0239021 0.999714 uwb: 0.49878811 855.292 596.955 -imu_odom_: 1691062435.173706094 0.562637 -0.0311246 10.1083 -0.0809601 -0.00852212 0.0543285 0.23 0 pose: 0.79857891 4.07452 0.00927091 0 0.00134423 -0.00698821 0.0240484 0.999685 uwb: 0.0 855.292 596.955 -imu_odom_: 1691062435.197775855 0.363919 -0.0454898 9.84975 -0.0617853 0.0468716 0.0426106 0.18 0.02 pose: 0.0 4.07452 0.00927091 0 0.00134423 -0.00698821 0.0240484 0.999685 uwb: 0.50045915 854.566 596.042 -imu_odom_: 1691062435.214783190 0.332794 -0.225055 9.99579 -0.0830906 0.00958738 0.0607201 0.18 0.02 pose: 0.32090488 4.08449 0.0100524 0 0.00382363 -0.00648008 0.0242196 0.999678 uwb: 0.0 854.566 596.042 -imu_odom_: 1691062435.239675351 0.517148 -0.217872 10.0748 -0.0500674 -0.00106526 0.0266316 0.2 0 pose: 0.0 4.08449 0.0100524 0 0.00382363 -0.00648008 0.0242196 0.999678 uwb: 0.49946761 853.886 595.263 -imu_odom_: 1691062435.263966169 0.241814 -0.244209 9.76595 -0.0553937 -0.0426106 0.0490022 0.2 0 pose: 0.41943532 4.08449 0.0100524 0 0.00280204 -0.00349299 0.0243645 0.999693 uwb: 0.0 853.886 595.263 -imu_odom_: 1691062435.287975272 0.299275 -0.316035 10.0245 -0.0436758 -0.0308927 0.0532632 0.18 0 pose: 0.41199873 4.09446 0.0108388 0 0.000932275 -0.00262673 0.0243758 0.999699 uwb: 0.0 853.886 595.263 -imu_odom_: 1691062435.303846120 0.893037 -0.105345 9.9503 -0.056459 -0.0276969 0.0479369 0.18 0 pose: 0.0 4.09446 0.0108388 0 0.000932275 -0.00262673 0.0243758 0.999699 uwb: 0.49982339 852.498 594.741 -imu_odom_: 1691062435.330720206 0.80924 -0.0263362 10.3669 -0.0458064 -0.00639159 0.0479369 0.25 -0.02 pose: 0.6774588 4.09446 0.0108388 0 0.00055141 -0.00218646 0.0244228 0.999699 uwb: 0.0 852.498 594.741 -imu_odom_: 1691062435.346688167 0.186748 -0.411803 9.63187 -0.0745685 -0.00958738 0.056459 0.25 -0.02 pose: 0.0 4.09446 0.0108388 0 0.00055141 -0.00218646 0.0244228 0.999699 uwb: 0.50040374 853.2 593.361 -imu_odom_: 1691062435.370797883 0.246603 -0.411803 9.93594 -0.0426106 -0.0394148 0.0383495 0.25 0 pose: 0.40201328 4.10443 0.0116264 0 0.000391285 -0.00340384 0.0246363 0.999691 uwb: 0.0 853.2 593.361 -imu_odom_: 1691062435.395674879 0.790087 -0.248997 10.1418 -0.0628506 0.0106526 0.0532632 0.25 0 pose: 0.0 4.10443 0.0116264 0 0.000391285 -0.00340384 0.0246363 0.999691 uwb: 0.50088785 851.096 593.1 -imu_odom_: 1691062435.419662109 0.474052 -0.158017 10.2113 -0.0468716 -0.0351537 0.0415453 0.18 0 pose: 0.42831548 4.11439 0.0124183 0 -6.34763e-05-0.00350368 0.0248508 0.999685 uwb: 0.0 851.096 593.1 -imu_odom_: 1691062435.443741203 0.533907 -0.186748 10.1466 -0.0628506 -0.056459 0.0447411 0.23 0 pose: 0.0 4.11439 0.0124183 0 -6.34763e-05-0.00350368 0.0248508 0.999685 uwb: 0.49826026 851.5 592.002 -imu_odom_: 1691062435.468732810 0.509965 -0.0766145 10.0461 -0.0426106 -0.00319579 0.04048 0.23 0 pose: 0.48927802 4.12436 0.0132155 0 -0.000515146-0.00473029 0.0250158 0.999676 uwb: 0.0 851.5 592.002 -imu_odom_: 1691062435.484829381 0.679953 -0.289698 9.83538 -0.0596548 0.0191748 0.0479369 0.23 0 pose: 0.0 4.12436 0.0132155 0 -0.000515146-0.00473029 0.0250158 0.999676 uwb: 0.0 851.5 592.002 -imu_odom_: 1691062435.501781889 0.167594 -0.299275 10.0461 -0.0213053 -0.00426106 0.0213053 0.18 0 pose: 0.48021413 4.13433 0.0140154 0 0.00223001 -0.00717411 0.0250857 0.999657 uwb: 0.50134862 850.076 591.421 -imu_odom_: 1691062435.525709627 0.454898 -0.387861 9.93833 -0.0575243 -0.0170442 0.0511327 0.18 0 pose: 0.0 4.13433 0.0140154 0 0.00223001 -0.00717411 0.0250857 0.999657 uwb: 0.0 850.076 591.421 -imu_odom_: 1691062435.542663885 0.392649 -0.146046 10.1011 -0.0234358 0.0255663 0.0287621 0.2 -0.05 pose: 0.0 4.13433 0.0140154 0 0.00223001 -0.00717411 0.0250857 0.999657 uwb: 0.50002171 848.616 590.756 -imu_odom_: 1691062435.566642658 0.531513 -0.366313 9.83059 -0.0511327 -0.00852212 0.0596548 0.2 -0.05 pose: 0.40947029 4.13433 0.0140154 0 0.00273145 -0.00682239 0.0250993 0.999658 uwb: 0.0 848.616 590.756 -imu_odom_: 1691062435.591688217 0.392649 -0.0191536 9.90481 -0.0308927 0.00958738 0.0372843 0.18 0 pose: 0.74972781 4.15427 0.0156178 0 -0.000942277-0.00450341 0.0253135 0.999669 uwb: 0.49994004 847.85 589.787 -imu_odom_: 1691062435.614640448 0.402226 -0.153229 9.8282 -0.0798948 -0.0117179 0.0596548 0.18 0 pose: 0.0 4.15427 0.0156178 0 -0.000942277-0.00450341 0.0253135 0.999669 uwb: 0.0 847.85 589.787 -imu_odom_: 1691062435.630755101 0.37589 -0.251391 9.64384 -0.0639159 0.0340885 0.0351537 0.2 0.02 pose: 0.7052511 4.15427 0.0156178 0 -0.000222471-0.00414467 0.0253032 0.999671 uwb: 0.0 847.85 589.787 -imu_odom_: 1691062435.655640846 0.423774 -0.275333 10.0102 -0.0585895 0.00532632 0.056459 0.2 0.02 pose: 0.0 4.15427 0.0156178 0 -0.000222471-0.00414467 0.0253032 0.999671 uwb: 0.49739995 847.173 589.06 -imu_odom_: 1691062435.669638841 0.153229 -0.474052 9.7444 -0.0777643 -0.0372843 0.0426106 0.25 -0.02 pose: 0.0 4.15427 0.0156178 0 -0.000222471-0.00414467 0.0253032 0.999671 uwb: 0.0 847.173 589.06 -imu_odom_: 1691062435.685702749 0.751779 0.00957681 10.0796 -0.0553937 -0.00852212 0.0394148 0.25 -0.02 pose: 0.48961340 4.16423 0.0164243 0 0.00157339 -0.0006625220.0254822 0.999674 uwb: 0.0 847.173 589.06 -imu_odom_: 1691062435.710643321 0.543484 -0.0837971 9.97424 -0.0585895 -0.0340885 0.0532632 0.19 0 pose: 0.0 4.16423 0.0164243 0 0.00157339 -0.0006625220.0254822 0.999674 uwb: 0.50104824 845.808 588.692 -imu_odom_: 1691062435.726644820 0.588974 -0.282516 9.76355 -0.0575243 0.0596548 0.0149137 0.19 0 pose: 0.70002514 4.1742 0.0172331 0 -0.00111447 -0.00158537 0.0257411 0.999667 uwb: 0.0 845.808 588.692 -imu_odom_: 1691062435.743748393 0.459687 -0.514753 9.63187 -0.0607201 -0.0351537 0.0575243 0.19 0 pose: 0.0 4.1742 0.0172331 0 -0.00111447 -0.00158537 0.0257411 0.999667 uwb: 0.50009170 847.295 587.185 -imu_odom_: 1691062435.760671738 0.347159 -0.0861913 10.3717 -0.0607201 0.0127832 0.0447411 0.18 0 pose: 0.0 4.1742 0.0172331 0 -0.00111447 -0.00158537 0.0257411 0.999667 uwb: 0.0 847.295 587.185 -imu_odom_: 1691062435.785749377 0.136469 -0.0981623 9.84496 -0.0649811 0.0394148 0.0436758 0.18 0 pose: 0.51089370 4.18417 0.0180471 0 -0.00218183 -0.00399997 0.0258262 0.999656 uwb: 0.0 847.295 587.185 -imu_odom_: 1691062435.810690823 0.251391 -0.574608 9.34457 -0.056459 0.00426106 0.0351537 0.23 0 pose: 0.6963856 4.18417 0.0180471 0 -0.0016638 -0.00349817 0.0258429 0.999659 uwb: 0.0 847.295 587.185 -imu_odom_: 1691062435.824817136 0.0287304 -0.0814029 10.1299 -0.0436758 0.00213053 0.04048 0.23 0 pose: 0.0 4.18417 0.0180471 0 -0.0016638 -0.00349817 0.0258429 0.999659 uwb: 0.0 847.295 587.185 -imu_odom_: 1691062435.839819216 0.699107 -0.368707 10.1011 -0.0639159 -0.0649811 0.056459 0.23 0 pose: 0.0 4.18417 0.0180471 0 -0.0016638 -0.00349817 0.0258429 0.999659 uwb: 0.0 847.295 587.185 -imu_odom_: 1691062435.856773473 0.577003 -0.198719 9.14824 -0.0479369 0.00532632 0.0223706 0.24 0 pose: 0.81068159 4.2041 0.0196802 0 -0.00201452 0.00155143 0.0259289 0.999661 uwb: 0.99971678 846.567 586.327 -imu_odom_: 1691062435.880655717 0.258574 -0.318429 9.40203 -0.0894822 0.0287621 0.0479369 0.24 0 pose: 0.0 4.2041 0.0196802 0 -0.00201452 0.00155143 0.0259289 0.999661 uwb: 0.0 846.567 586.327 -imu_odom_: 1691062435.904628948 0.328006 -0.19393 9.96467 -0.0500674 -0.0276969 0.0298274 0.21 -0.02 pose: 0.32981713 4.21407 0.0204972 0 -0.00216692 -0.0001357420.0258804 0.999663 uwb: 0.50008878 845.927 585.711 -imu_odom_: 1691062435.927739828 0.591368 -0.1652 10.3501 -0.0841559 0 0.0415453 0.18 0 pose: 0.39866827 4.21407 0.0204972 0 -0.0009645550.00244795 0.0258399 0.999663 uwb: 0.0 845.927 585.711 -imu_odom_: 1691062435.952628197 0.636858 -0.136469 9.93115 -0.04048 0.00319579 0.0213053 0.17 -0.02 pose: 0.7050179 4.21407 0.0204972 0 -0.0008561750.00178721 0.025847 0.999664 uwb: 0.50007420 845.706 585.117 -imu_odom_: 1691062435.975632340 0.37589 -0.23942 9.52413 -0.056459 -0.0191748 0.0511327 0.17 -0.02 pose: 0.40949070 4.22403 0.0213132 0 0.000508538 -0.00192764 0.0256344 0.999669 uwb: 0.0 845.706 585.117 -imu_odom_: 1691062435.992613719 0.486023 -0.260968 9.54329 -0.0479369 -0.0330232 0.0372843 0.21 0 pose: 0.0 4.22403 0.0213132 0 0.000508538 -0.00192764 0.0256344 0.999669 uwb: 0.0 845.706 585.117 -imu_odom_: 1691062436.8602973 0.773327 -0.0861913 10.2017 -0.0607201 0.00213053 0.0607201 0.21 0 pose: 0.0 4.22403 0.0213132 0 0.000508538 -0.00192764 0.0256344 0.999669 uwb: 0.0 845.706 585.117 -imu_odom_: 1691062436.32597214 1.16837 -0.169988 10.1873 -0.0468716 0.015979 0.0308927 0.25 0 pose: 0.48059034 4.234 0.0221259 0 -0.00084029 -0.00261378 0.0258317 0.999663 uwb: 0.0 845.706 585.117 -imu_odom_: 1691062436.57617706 0.225055 0.0550666 10.0173 -0.056459 0 0.0575243 0.25 0 pose: 0.0 4.234 0.0221259 0 -0.00084029 -0.00261378 0.0258317 0.999663 uwb: 0.99965281 843.59 584.98 -imu_odom_: 1691062436.81800050 0.117316 -0.174777 9.87848 -0.052198 -0.0106526 0.0340885 0.18 0.02 pose: 0.39008868 4.24397 0.0229416 0 0.000315128 -0.00490583 0.0258686 0.999653 uwb: 0.0 843.59 584.98 -imu_odom_: 1691062436.105617271 0.440533 -0.232238 10.1586 -0.0671117 -0.0149137 0.0575243 0.18 0.02 pose: 0.42103951 4.25104 0.0235213 0 0.00157413 -0.00120199 0.025953 0.999661 uwb: 0.50088519 843.927 583.673 -imu_odom_: 1691062436.130724669 0.351948 -0.112527 9.68694 -0.0372843 -0.0127832 0.0266316 0.23 0 pose: 0.0 4.25104 0.0235213 0 0.00157413 -0.00120199 0.025953 0.999661 uwb: 0.0 843.927 583.673 -imu_odom_: 1691062436.146606608 -0.0933739 -0.409408 10.003 -0.0617853 -0.00745685 0.0639159 0.23 0 pose: 0.48924619 4.26171 0.0171672 0 0.00135213 -0.0005356140.0260055 0.999661 uwb: 0.49898084 843.556 582.683 -imu_odom_: 1691062436.161579533 0.337582 -0.268151 9.97185 -0.0628506 -0.0266316 0.0415453 0.18 0 pose: 0.0 4.26171 0.0171672 0 0.00135213 -0.0005356140.0260055 0.999661 uwb: 0.0 843.556 582.683 -imu_odom_: 1691062436.185744378 0.244209 -0.114922 9.98382 -0.0436758 -0.0213053 0.0383495 0.18 0 pose: 0.0 4.26171 0.0171672 0 0.00135213 -0.0005356140.0260055 0.999661 uwb: 0.0 843.556 582.683 -imu_odom_: 1691062436.208688165 0.11971 -0.184354 9.58878 -0.0596548 -0.0245011 0.0468716 0.21 0.02 pose: 0.37894839 4.26472 0.0146133 0 -0.0001626120.00204632 0.0262067 0.999654 uwb: 0.50069855 844.993 580.969 -imu_odom_: 1691062436.233699907 0.47884 -0.205901 9.83777 -0.0692422 -0.0149137 0.0447411 0.21 0.02 pose: 0.40068657 4.27469 0.0154365 0 0.00102689 0.00528461 0.0262796 0.99964 uwb: 0.0 844.993 580.969 -imu_odom_: 1691062436.255564075 0.835576 -0.31364 9.90481 -0.0735032 -0.00319579 0.0426106 0.18 0 pose: 0.7071763 4.27469 0.0154365 0 0.000942199 0.00453874 0.0262987 0.999643 uwb: 0.49993447 844.732 580.263 -imu_odom_: 1691062436.271630617 0.600945 -0.0526724 9.8665 -0.052198 0.0330232 0.04048 0.18 0 pose: 0.0 4.27469 0.0154365 0 0.000942199 0.00453874 0.0262987 0.999643 uwb: 0.0 844.732 580.263 -imu_odom_: 1691062436.296563036 0.1652 -0.296881 9.78989 -0.0873517 0.0106526 0.0553937 0.23 0 pose: 0.45895447 4.28465 0.0162618 0 0.000472652 0.00015378 0.0263841 0.999652 uwb: 0.50051190 845.921 578.974 -imu_odom_: 1691062436.318614431 0.457293 -0.0981623 10.2137 -0.0426106 0.00639159 0.0319579 0.23 0 pose: 0.0 4.28465 0.0162618 0 0.000472652 0.00015378 0.0263841 0.999652 uwb: 0.0 845.921 578.974 -imu_odom_: 1691062436.343564348 0.481235 -0.220267 9.63427 -0.0585895 -0.0117179 0.0394148 0.18 -0.02 pose: 0.40930427 4.29462 0.0170895 0 0.000205957 0.00169127 0.0265618 0.999646 uwb: 0.50124098 846.271 577.646 -imu_odom_: 1691062436.360544570 0.0335188 -0.244209 10.2137 -0.0394148 -0.00958738 0.0479369 0.18 -0.02 pose: 0.0 4.29462 0.0170895 0 0.000205957 0.00169127 0.0265618 0.999646 uwb: 0.0 846.271 577.646 -imu_odom_: 1691062436.376578740 0.433351 -0.105345 10.319 -0.0436758 -0.0660464 0.0468716 0.18 0 pose: 0.47994316 4.30458 0.0179195 0 0.000672727 -0.0009366850.0265327 0.999647 uwb: 0.0 846.271 577.646 -imu_odom_: 1691062436.401710635 0.481235 -0.0215478 10.2615 -0.0287621 -0.0447411 0.0383495 0.18 0 pose: 0.0 4.30458 0.0179195 0 0.000672727 -0.0009366850.0265327 0.999647 uwb: 0.49768600 844.865 577.234 -imu_odom_: 1691062436.426743083 0.452504 -0.191536 9.67736 -0.0426106 0.00639159 0.0458064 0.19 0 pose: 0.34057556 4.30458 0.0179195 0 0.00313782 -0.0013445 0.026627 0.99964 uwb: 0.0 844.865 577.234 -imu_odom_: 1691062436.451546018 0.371101 0.0335188 9.34936 -0.0330232 0.0170442 0.0383495 0.19 0 pose: 0.0 4.30458 0.0179195 0 0.00313782 -0.0013445 0.026627 0.99964 uwb: 0.49964284 844.952 576.326 -imu_odom_: 1691062436.475546384 0.275333 0.0646434 9.87369 -0.056459 -0.0170442 0.0479369 0.2 0 pose: 0.49082683 4.31455 0.0187511 0 0.00335637 -0.00198005 0.0266952 0.999636 uwb: 0.0 844.952 576.326 -imu_odom_: 1691062436.499575038 0.399832 0.0622492 10.1514 -0.0585895 -0.0138484 0.0436758 0.18 0.02 pose: 0.41826027 4.32452 0.019584 0 0.00697625 0.000344138 0.0267682 0.999617 uwb: 0.50060231 846.403 574.548 -imu_odom_: 1691062436.524596988 0.445322 -0.253785 9.83059 -0.0703074 0.0106526 0.0276969 0.18 0.02 pose: 0.0 4.32452 0.019584 0 0.00697625 0.000344138 0.0267682 0.999617 uwb: 0.0 846.403 574.548 -imu_odom_: 1691062436.538527331 0.416591 -0.280122 9.65103 -0.0490022 0.0149137 0.0330232 0.18 0.02 pose: 0.0 4.32452 0.019584 0 0.00697625 0.000344138 0.0267682 0.999617 uwb: 0.0 846.403 574.548 -imu_odom_: 1691062436.554539629 0.483629 -0.397437 9.79947 -0.056459 -0.0628506 0.052198 0.2 0 pose: 0.54997545 4.33448 0.0204187 0 0.00613307 -5.29946e-050.0266558 0.999626 uwb: 0.50047399 847.249 573.394 -imu_odom_: 1691062436.571612881 0.828394 -0.246603 10.1658 -0.0426106 0.0681769 0.0223706 0.2 0 pose: 0.0 4.33448 0.0204187 0 0.00613307 -5.29946e-050.0266558 0.999626 uwb: 0.0 847.249 573.394 -imu_odom_: 1691062436.595546172 0.129287 -0.138864 9.9503 -0.0351537 0.0234358 0.0447411 0.18 0 pose: 0.30993680 4.34445 0.0212509 0 0.00370422 -0.0013858 0.0266754 0.999636 uwb: 0.49919081 845.831 572.955 -imu_odom_: 1691062436.619682146 -0.126893 0.0694318 10.0676 -0.0319579 -0.0127832 0.0287621 0.18 0 pose: 0.34008563 4.35137 0.0218296 0 0.00375022 0.000733345 0.0266492 0.999638 uwb: 0.0 845.831 572.955 -imu_odom_: 1691062436.644679016 0.366313 -0.160412 10.1778 -0.0649811 -0.0330232 0.0607201 0.19 0 pose: 0.0 4.35137 0.0218296 0 0.00375022 0.000733345 0.0266492 0.999638 uwb: 0.50012404 845.17 572.295 -imu_odom_: 1691062436.660513127 0.624887 -0.490811 9.8258 -0.0490022 -0.00852212 0.0340885 0.21 0 pose: 0.7005271 4.35441 0.0220833 0 0.00407834 0.00136294 0.0266088 0.999637 uwb: 0.0 845.17 572.295 -imu_odom_: 1691062436.677519596 0.483629 0.129287 10.4004 -0.0426106 0.0213053 0.052198 0.18 0 pose: 0.0 4.35441 0.0220833 0 0.00407834 0.00136294 0.0266088 0.999637 uwb: 0.0 845.17 572.295 -imu_odom_: 1691062436.700496045 0.593762 -0.143652 10.3837 -0.0649811 -0.0191748 0.0383495 0.18 0 pose: 0.0 4.35441 0.0220833 0 0.00407834 0.00136294 0.0266088 0.999637 uwb: 0.49947661 846.395 571.004 -imu_odom_: 1691062436.725512162 0.61531 -0.282516 9.59357 -0.0735032 0.00745685 0.0532632 0.25 0 pose: 0.48136632 4.36438 0.0229155 0 0.00204235 0.00112529 0.0267551 0.999639 uwb: 0.0 846.395 571.004 -imu_odom_: 1691062436.747579888 0.857124 -0.337582 10.149 -0.0735032 0.00426106 0.0266316 0.25 0 pose: 0.33828043 4.36438 0.0229155 0 0.00307799 -0.0004659790.0268349 0.999635 uwb: 0.49865713 845.703 570.254 -imu_odom_: 1691062436.772576758 0.272939 -0.0861913 10.0485 -0.0596548 0.0351537 0.056459 0.19 0 pose: 0.40996044 4.37434 0.0237513 0 0.00144177 -0.00409267 0.02701 0.999626 uwb: 0.0 845.703 570.254 -imu_odom_: 1691062436.797565753 0.818817 -0.160412 9.47625 -0.0468716 0.0394148 0.0170442 0.18 -0.02 pose: 0.6009642 4.37434 0.0237513 0 0.00117716 -0.00463176 0.0269725 0.999625 uwb: 0.50081520 844.922 569.261 -imu_odom_: 1691062436.813636086 0.179565 -0.289698 9.9096 -0.0745685 0.00319579 0.0426106 0.18 -0.02 pose: 0.0 4.37434 0.0237513 0 0.00117716 -0.00463176 0.0269725 0.999625 uwb: 0.0 844.922 569.261 -imu_odom_: 1691062436.838497347 0.6608 -0.562637 9.45231 -0.0468716 -0.00532632 0.0308927 0.18 -0.02 pose: 0.48091138 4.38431 0.0245897 0 0.00154051 -0.003848 0.0269978 0.999627 uwb: 0.0 844.922 569.261 -imu_odom_: 1691062436.851632704 0.960075 -0.112527 9.77074 -0.0479369 -0.015979 0.0245011 0.18 -0.02 pose: 0.0 4.38431 0.0245897 0 0.00154051 -0.003848 0.0269978 0.999627 uwb: 0.50005404 845.309 567.973 -imu_odom_: 1691062436.874487834 0.636858 -0.215478 10.4627 -0.0671117 -0.0447411 0.036219 0.18 -0.02 pose: 0.0 4.38431 0.0245897 0 0.00154051 -0.003848 0.0269978 0.999627 uwb: 0.0 845.309 567.973 -imu_odom_: 1691062436.892565172 0.347159 0.0837971 9.80426 -0.0468716 -0.0330232 0.0340885 0.21 -0.02 pose: 0.40890473 4.39427 0.0254272 0 0.000529064 -0.00400267 0.0267949 0.999633 uwb: 0.50017652 848.828 565.908 -imu_odom_: 1691062436.916492922 0.186748 -0.399832 9.56723 -0.0884169 -0.00213053 0.0372843 0.21 -0.02 pose: 0.0 4.39427 0.0254272 0 0.000529064 -0.00400267 0.0267949 0.999633 uwb: 0.0 848.828 565.908 -imu_odom_: 1691062436.942497086 0.222661 -0.11971 10.2185 -0.0458064 -0.0138484 0.0351537 0.22 0.02 pose: 0.80057116 4.40424 0.0262622 0 0.0006585 -0.00738421 0.0265102 0.999621 uwb: 0.49974492 847.705 565.13 -imu_odom_: 1691062436.966697219 0.588974 -0.548272 9.83059 -0.0788296 -0.00319579 0.0372843 0.19 0 pose: 0.41936555 4.4142 0.0270914 0 0.000517119 -0.00364511 0.0264347 0.999644 uwb: 0.0 847.705 565.13 -imu_odom_: 1691062436.990617678 0.320823 -0.447716 9.56005 -0.0639159 -0.0234358 0.036219 0.18 0 pose: 0.0 4.4142 0.0270914 0 0.000517119 -0.00364511 0.0264347 0.999644 uwb: 0.49998988 847.317 564.021 -imu_odom_: 1691062437.15625052 0.260968 -0.323217 9.29908 -0.0394148 0.0213053 0.02024 0.22 0 pose: 0.7011103 4.4142 0.0270914 0 -0.000224129-0.00388446 0.0264289 0.999643 uwb: 0.0 847.317 564.021 -imu_odom_: 1691062437.28505239 0.550666 -0.380678 10.0916 -0.0245011 0.00106526 0.0266316 0.22 0 pose: 0.0 4.4142 0.0270914 0 -0.000224129-0.00388446 0.0264289 0.999643 uwb: 0.0 847.317 564.021 -imu_odom_: 1691062437.51474409 0.56982 -0.296881 10.1849 -0.0649811 -0.0415453 0.052198 0.22 0 pose: 0.48126717 4.42417 0.0279192 0 -0.00407311 -0.00240955 0.0263209 0.999642 uwb: 0.50108077 848.572 562.713 -imu_odom_: 1691062437.69637495 0.373495 0.0670376 9.84256 -0.0340885 0.0181095 0.04048 0.21 -0.02 pose: 0.0 4.42417 0.0279192 0 -0.00407311 -0.00240955 0.0263209 0.999642 uwb: 0.0 848.572 562.713 -imu_odom_: 1691062437.93462312 0.0957681 -0.244209 9.65342 -0.0713727 0.0191748 0.052198 0.21 -0.02 pose: 0.38854322 4.43413 0.0287449 0 -0.00463236 -0.0024513 0.0261137 0.999645 uwb: 0.49808871 847.476 562.024 -imu_odom_: 1691062437.116667703 0.519542 -0.134075 9.84496 -0.0287621 -0.0181095 0.0298274 0.22 0 pose: 0.0 4.43413 0.0287449 0 -0.00463236 -0.0024513 0.0261137 0.999645 uwb: 0.0 847.476 562.024 -imu_odom_: 1691062437.141532768 0.68953 -0.241814 9.73004 -0.0756338 -0.0330232 0.0543285 0.25 0 pose: 0.41017645 4.4441 0.0295673 0 -0.00264235 -0.00257788 0.0262567 0.999648 uwb: 0.49946811 848.033 561.159 -imu_odom_: 1691062437.165459072 0.47884 -0.414197 9.56005 -0.0553937 -0.0117179 0.0468716 0.18 0 pose: 0.0 4.4441 0.0295673 0 -0.00264235 -0.00257788 0.0262567 0.999648 uwb: 0.0 848.033 561.159 -imu_odom_: 1691062437.180465542 0.380678 -0.23942 10.0221 -0.0575243 -0.00319579 0.0447411 0.18 0 pose: 0.46985005 4.45407 0.0303916 0 -0.000633998-0.00321003 0.0262999 0.999649 uwb: 0.0 848.033 561.159 -imu_odom_: 1691062437.204499749 0.474052 -0.191536 10.3669 -0.036219 -0.0511327 0.0351537 0.25 -0.02 pose: 0.0 4.45407 0.0303916 0 -0.000633998-0.00321003 0.0262999 0.999649 uwb: 0.49988515 848.086 560.071 -imu_odom_: 1691062437.221451400 0.620098 -0.438139 9.3709 -0.0798948 -0.076699 0.0596548 0.25 -0.02 pose: 0.0 4.45407 0.0303916 0 -0.000633998-0.00321003 0.0262999 0.999649 uwb: 0.0 848.086 560.071 -imu_odom_: 1691062437.236446204 0.828394 -0.237026 9.92157 -0.0585895 0.0191748 0.0351537 0.2 0 pose: 0.49039839 4.46403 0.0312183 0 -0.00301135 -0.00426096 0.0265461 0.999634 uwb: 0.0 848.086 560.071 -imu_odom_: 1691062437.259473992 0.536301 -0.227449 9.80904 -0.0660464 0.00319579 0.0490022 0.2 0 pose: 0.0 4.46403 0.0312183 0 -0.00301135 -0.00426096 0.0265461 0.999634 uwb: 0.50121499 846.27 559.806 -imu_odom_: 1691062437.285428300 0.632069 -0.380678 9.5816 -0.0532632 0.0394148 0.0287621 0.25 0.02 pose: 0.70962635 4.474 0.032049 0 -0.000907505-0.00687943 0.0266757 0.99962 uwb: 0.0 846.27 559.806 -imu_odom_: 1691062437.299450514 0.105345 -0.260968 10.0509 -0.0532632 0.0127832 0.0458064 0.25 0.02 pose: 0.0 4.474 0.032049 0 -0.000907505-0.00687943 0.0266757 0.99962 uwb: 0.50050924 845.184 559.165 -imu_odom_: 1691062437.323457308 0.4956 -0.275333 10.1083 -0.0841559 0.00958738 0.0479369 0.17 -0.02 pose: 0.54956162 4.48396 0.0328818 0 -0.00173703 -0.00601978 0.0266574 0.999625 uwb: 0.0 845.184 559.165 -imu_odom_: 1691062437.341434043 0.603339 -0.0430956 10.0413 -0.0490022 0.00639159 0.0372843 0.17 -0.02 pose: 0.0 4.48396 0.0328818 0 -0.00173703 -0.00601978 0.0266574 0.999625 uwb: 0.50029927 844.943 558.478 -imu_odom_: 1691062437.364438500 0.332794 -0.383072 9.63187 -0.0905475 0 0.0607201 0.18 0 pose: 0.41983529 4.49393 0.0337151 0 -0.00200207 -0.00472656 0.026738 0.999629 uwb: 0.0 844.943 558.478 -imu_odom_: 1691062437.387565443 0.54109 -0.28491 10.1347 -0.0458064 0.00532632 0.0319579 0.18 0 pose: 0.0 4.49393 0.0337151 0 -0.00200207 -0.00472656 0.026738 0.999629 uwb: 0.0 844.943 558.478 -imu_odom_: 1691062437.404482389 0.258574 -0.411803 9.54089 -0.0703074 0.0298274 0.0458064 0.18 0 pose: 0.46131400 4.50056 0.0342736 0 -0.00346391 -0.00511184 0.0268914 0.999619 uwb: 0.49889944 845.103 557.7 -imu_odom_: 1691062437.429484521 0.395043 -0.134075 9.91918 -0.0351537 0.0127832 0.0436758 0.25 0.02 pose: 0.0 4.50056 0.0342736 0 -0.00346391 -0.00511184 0.0268914 0.999619 uwb: 0.0 845.103 557.7 -imu_odom_: 1691062437.452475855 0.481235 -0.186748 10.0676 -0.0511327 0.0308927 0.0415453 0.23 0 pose: 0.25906480 4.50389 0.0345532 0 -0.00353643 -0.00290743 0.0269692 0.999626 uwb: 0.49878278 845.226 556.81 -imu_odom_: 1691062437.476474192 0.964863 0.0287304 10.331 -0.0383495 -0.0372843 0.0415453 0.23 0 pose: 0.0 4.50389 0.0345532 0 -0.00353643 -0.00290743 0.0269692 0.999626 uwb: 0.0 845.226 556.81 -imu_odom_: 1691062437.500621843 0.723049 -0.186748 9.67018 -0.0458064 -0.0138484 0.0458064 0.24 0 pose: 0.46954092 4.51386 0.0353919 0 0.000591533 -0.00359748 0.0270227 0.999628 uwb: 0.50310185 843.706 556.198 -imu_odom_: 1691062437.514471704 0.0957681 -0.134075 9.95748 -0.0426106 0.00106526 0.04048 0.24 0 pose: 0.0 4.51386 0.0353919 0 0.000591533 -0.00359748 0.0270227 0.999628 uwb: 0.0 843.706 556.198 -imu_odom_: 1691062437.537598355 0.299275 -0.158017 10.3813 -0.0692422 -0.00958738 0.0553937 0.17 0 pose: 0.54045689 4.52382 0.0362314 0 0.00188317 -0.00639693 0.027119 0.99961 uwb: 0.0 843.706 556.198 -imu_odom_: 1691062437.555405943 0.442927 -0.366313 9.76116 -0.056459 -0.02024 0.0351537 0.17 0 pose: 0.0 4.52382 0.0362314 0 0.00188317 -0.00639693 0.027119 0.99961 uwb: 0.49814411 842.554 555.408 -imu_odom_: 1691062437.570401914 0.304064 -0.0814029 10.4124 -0.0490022 -0.0191748 0.0394148 0.17 0 pose: 0.7137092 4.52382 0.0362314 0 0.00187937 -0.00570459 0.0271736 0.999613 uwb: 0.0 842.554 555.408 -imu_odom_: 1691062437.593416287 0.699107 -0.196325 10.228 -0.0649811 -0.0500674 0.04048 0.25 0.02 pose: 0.0 4.52382 0.0362314 0 0.00187937 -0.00570459 0.0271736 0.999613 uwb: 0.49980641 846.019 552.829 -imu_odom_: 1691062437.618618769 0.639252 -0.0526724 10.3525 -0.0490022 -0.00319579 0.0479369 0.25 0.02 pose: 0.71807491 4.54111 0.0276586 0 0.000983199 -0.0056673 0.0272696 0.999612 uwb: 0.0 846.019 552.829 -imu_odom_: 1691062437.634385522 0.605733 -0.246603 9.7851 -0.0596548 0.0245011 0.0500674 0.18 0 pose: 0.0 4.54111 0.0276586 0 0.000983199 -0.0056673 0.0272696 0.999612 uwb: 0.0 846.019 552.829 -imu_odom_: 1691062437.657448597 0.701501 -0.0885855 9.83299 -0.0181095 -0.00852212 0.0213053 0.18 0 pose: 0.40969235 4.54459 0.0279537 0 0.00174805 -0.00792545 0.0274602 0.99959 uwb: 0.49996389 845.812 552.229 -imu_odom_: 1691062437.680463554 0.114922 -0.308852 9.84975 -0.0468716 -0.0106526 0.0479369 0.24 0 pose: 0.7012274 4.54459 0.0279537 0 0.00228674 -0.00850872 0.0273947 0.999586 uwb: 0.0 845.812 552.229 -imu_odom_: 1691062437.697520191 0.035913 -0.047884 10.137 -0.0372843 -0.0298274 0.0223706 0.24 0 pose: 0.24082326 4.55456 0.0288004 0 0.00328397 -0.00911251 0.027279 0.999581 uwb: 0.50078337 847.443 550.604 -imu_odom_: 1691062437.721448245 0.521936 -0.251391 9.8665 -0.0649811 -0.036219 0.0607201 0.18 0 pose: 0.0 4.55456 0.0288004 0 0.00328397 -0.00911251 0.027279 0.999581 uwb: 0.0 847.443 550.604 -imu_odom_: 1691062437.739481264 0.907402 -0.428562 9.73482 -0.0426106 0.015979 0.0298274 0.18 0 pose: 0.21956335 4.55456 0.0288004 0 0.0030397 -0.00715012 0.0272798 0.999598 uwb: 0.49786707 848.693 549.116 -imu_odom_: 1691062437.762436436 -0.155623 -0.146046 9.79947 -0.0585895 -0.00213053 0.0617853 0.18 0 pose: 0.0 4.55456 0.0288004 0 0.0030397 -0.00715012 0.0272798 0.999598 uwb: 0.0 848.693 549.116 -imu_odom_: 1691062437.779381087 0.656011 -0.220267 10.3717 -0.0628506 -0.00106526 0.0351537 0.18 0 pose: 0.42109222 4.56452 0.0296446 0 0.000476233 -0.00722619 0.0274191 0.999598 uwb: 0.0 848.693 549.116 -imu_odom_: 1691062437.803368925 0.881066 -0.201113 9.72764 -0.0713727 0.00639159 0.0479369 0.18 0 pose: 0.0 4.56452 0.0296446 0 0.000476233 -0.00722619 0.0274191 0.999598 uwb: 0.49990848 850.01 547.809 -imu_odom_: 1691062437.826397880 0.787692 -0.337582 10.1035 -0.072438 0.00532632 0.0287621 0.18 0 pose: 0.39903614 4.57449 0.0304933 0 0.000138612 -0.00636688 0.0276128 0.999598 uwb: 0.0 850.01 547.809 -imu_odom_: 1691062437.849581690 0.811634 -0.37589 9.70849 -0.0617853 -0.00852212 0.0543285 0.25 0 pose: 0.0 4.57449 0.0304933 0 0.000138612 -0.00636688 0.0276128 0.999598 uwb: 0.50010096 849.677 546.806 -imu_odom_: 1691062437.866486680 0.222661 -0.186748 10.3382 -0.0820254 -0.0223706 0.0479369 0.25 0 pose: 0.42098140 4.57449 0.0304933 0 -0.000414399-0.0102894 0.0276467 0.999565 uwb: 0.0 849.677 546.806 -imu_odom_: 1691062437.890379446 0.232238 0.0407014 10.2208 -0.0468716 0.052198 0.0287621 0.18 0 pose: 0.0 4.57449 0.0304933 0 -0.000414399-0.0102894 0.0276467 0.999565 uwb: 0.50100501 845.47 547.378 -imu_odom_: 1691062437.907398464 0.505177 -0.320823 9.58399 -0.0713727 -0.0607201 0.0511327 0.18 0 pose: 0.46005123 4.58445 0.0313454 0 -0.002603 -0.0127887 0.0277861 0.999529 uwb: 0.0 845.47 547.378 -imu_odom_: 1691062437.932505874 0.725443 -0.138864 9.65582 -0.0511327 -0.0735032 0.0276969 0.18 0.02 pose: 0.0 4.58445 0.0313454 0 -0.002603 -0.0127887 0.0277861 0.999529 uwb: 0.0 845.47 547.378 -imu_odom_: 1691062437.949529266 0.134075 -0.23942 9.8258 -0.0735032 0.0234358 0.0585895 0.18 0.02 pose: 0.40863956 4.59441 0.032201 0 -0.00175525 -0.00907371 0.0277342 0.999573 uwb: 0.50009513 847.889 545.395 -imu_odom_: 1691062437.965503660 0.54109 -0.517148 9.52653 -0.0532632 0.0170442 0.0223706 0.18 0.02 pose: 0.0 4.59441 0.032201 0 -0.00175525 -0.00907371 0.0277342 0.999573 uwb: 0.0 847.889 545.395 -imu_odom_: 1691062437.990516290 0.282516 -0.272939 10.5848 -0.0575243 0.00426106 0.0426106 0.18 0 pose: 0.42103098 4.60438 0.0330544 0 -0.00088072 -0.0105964 0.0277031 0.99956 uwb: 0.49986182 850.349 543.491 -imu_odom_: 1691062438.14495093 -0.0957681 -0.186748 10.2065 -0.0436758 0.0255663 0.015979 0.18 0 pose: 0.0 4.60438 0.0330544 0 -0.00088072 -0.0105964 0.0277031 0.99956 uwb: 0.0 850.349 543.491 -imu_odom_: 1691062438.30410294 0.227449 -0.596156 9.7851 -0.0511327 -0.0276969 0.0479369 0.18 0 pose: 0.0 4.60438 0.0330544 0 -0.00088072 -0.0105964 0.0277031 0.99956 uwb: 0.0 850.349 543.491 -imu_odom_: 1691062438.46365741 0.955286 -0.248997 10.7404 -0.0532632 0.285491 0.0394148 0.18 0 pose: 0.32908546 4.60438 0.0330544 0 -0.00260125 -0.00838475 0.0276812 0.999578 uwb: 0.50033445 849.946 542.263 -imu_odom_: 1691062438.63492962 2.09253 -0.306458 7.91284 -0.0500674 0.286556 0.0223706 0.25 0 pose: 0.0 4.60438 0.0330544 0 -0.00260125 -0.00838475 0.0276812 0.999578 uwb: 0.0 849.946 542.263 -imu_odom_: 1691062438.87384574 -0.356736 -0.54109 8.67659 -0.0735032 -0.112918 0.0351537 0.25 0 pose: 0.90064806 4.6243 0.0347561 0 -0.00342119 -0.00162755 0.0273307 0.999619 uwb: 0.0 849.946 542.263 -imu_odom_: 1691062438.111417918 0.500388 -0.316035 10.6231 -0.0458064 -0.156594 0.0170442 0.19 0 pose: 0.0 4.6243 0.0347561 0 -0.00342119 -0.00162755 0.0273307 0.999619 uwb: 0.49939838 850.848 540.956 -imu_odom_: 1691062438.136328199 0.632069 -0.294487 10.5273 -0.0671117 -0.0351537 0.0628506 0.25 0 pose: 0.8007615 4.6243 0.0347561 0 -0.00376012 -0.00131351 0.0273173 0.999619 uwb: 0.0 850.848 540.956 -imu_odom_: 1691062438.161395668 0.0885855 -0.141258 10.5393 -0.0447411 0.00639159 0.0458064 0.19 0 pose: 0.0 4.6243 0.0347561 0 -0.00376012 -0.00131351 0.0273173 0.999619 uwb: 0.49998747 852.496 539.19 -imu_odom_: 1691062438.178348494 0.272939 0.0143652 9.67257 -0.0681769 0.0532632 0.0266316 0.19 0 pose: 0.64827622 4.64103 0.036173 0 -0.00420827 -0.00777257 0.0272952 0.999588 uwb: 0.0 852.496 539.19 -imu_odom_: 1691062438.202329637 0.505177 -0.203507 9.65103 -0.04048 0.0447411 0.0287621 0.18 0 pose: 0.0 4.64103 0.036173 0 -0.00420827 -0.00777257 0.0272952 0.999588 uwb: 0.49864306 850.635 538.925 -imu_odom_: 1691062438.219348954 0.177171 -0.533907 9.93594 -0.056459 0.00958738 0.0511327 0.18 0 pose: 0.50092944 4.6542 0.0372904 0 -0.00137349 -0.00389175 0.027216 0.999621 uwb: 0.0 850.635 538.925 -imu_odom_: 1691062438.234400635 -0.0311246 -0.234632 10.4507 -0.036219 0.00532632 0.0394148 0.19 0 pose: 0.0 4.6542 0.0372904 0 -0.00137349 -0.00389175 0.027216 0.999621 uwb: 0.0 850.635 538.925 -imu_odom_: 1691062438.257333654 0.584185 -0.203507 10.1035 -0.0500674 -0.0223706 0.0607201 0.19 0 pose: 0.47979492 4.65945 0.0377349 0 -0.00103509 -0.00144088 0.0272274 0.999628 uwb: 0.50082737 851.519 537.529 -imu_odom_: 1691062438.283387421 0.354342 -0.0981623 9.76595 -0.0372843 -0.0138484 0.0276969 0.25 -0.02 pose: 0.0 4.65945 0.0377349 0 -0.00103509 -0.00144088 0.0272274 0.999628 uwb: 0.0 851.519 537.529 -imu_odom_: 1691062438.307356607 0.73502 -0.397437 9.39485 -0.0777643 0 0.0490022 0.25 -0.02 pose: 0.8069149 4.66416 0.0381339 0 -0.000822318-0.00229766 0.0273116 0.999624 uwb: 0.49983583 850.451 536.984 -imu_odom_: 1691062438.322357544 0.751779 -0.23942 10.0006 -0.0617853 0.0298274 0.0340885 0.18 0 pose: 0.0 4.66416 0.0381339 0 -0.000822318-0.00229766 0.0273116 0.999624 uwb: 0.0 850.451 536.984 -imu_odom_: 1691062438.339393776 0.150835 -0.177171 9.76834 -0.0436758 -0.0351537 0.0372843 0.18 0 pose: 0.0 4.66416 0.0381339 0 -0.000822318-0.00229766 0.0273116 0.999624 uwb: 0.0 850.451 534.915 -imu_odom_: 1691062438.355365262 0.852336 -0.325611 10.3884 -0.0798948 -0.0607201 0.0543285 0.18 0 pose: 0.32029295 4.67413 0.0389803 0 -0.000137642-0.0053039 0.0273839 0.999611 uwb: 0.0 852.913 534.915 -imu_odom_: 1691062438.380328619 1.17076 -0.0407014 10.6494 -0.0543285 0.00106526 0.0394148 0.18 0 pose: 0.0 4.67413 0.0389803 0 -0.000137642-0.0053039 0.0273839 0.999611 uwb: 0.0 852.913 534.915 -imu_odom_: 1691062438.404308887 0.651223 -0.131681 10.0173 -0.0777643 -0.00213053 0.0479369 0.17 0 pose: 0.41029331 4.68409 0.0398269 0 -0.000226533-0.00660768 0.0274805 0.9996 uwb: 0.49989416 853.767 533.365 -imu_odom_: 1691062438.421445149 0.225055 -0.301669 9.73243 -0.0468716 -0.00319579 0.0298274 0.17 0 pose: 0.40922012 4.69073 0.0403922 0 0.00172486 -0.00985441 0.0275591 0.99957 uwb: 0.0 853.767 533.365 -imu_odom_: 1691062438.437507332 0.248997 -0.181959 10.082 -0.0777643 -0.00639159 0.0607201 0.17 0 pose: 0.0 4.69073 0.0403922 0 0.00172486 -0.00985441 0.0275591 0.99957 uwb: 0.0 853.767 533.365 -imu_odom_: 1691062438.454325715 0.0766145 -0.433351 9.71567 -0.0798948 -0.0106526 0.0500674 0.25 0 pose: 0.0 4.69073 0.0403922 0 0.00172486 -0.00985441 0.0275591 0.99957 uwb: 0.50042784 851.847 532.96 -imu_odom_: 1691062438.479418265 0.679953 -0.454898 9.63427 -0.0628506 0.0266316 0.0287621 0.25 0 pose: 0.7996825 4.69405 0.0406761 0 0.00149995 -0.0090928 0.027522 0.999579 uwb: 0.0 851.847 532.96 -imu_odom_: 1691062438.503360329 0.371101 -0.299275 10.003 -0.0468716 0.0383495 0.0351537 0.21 0 pose: 0.32213314 4.69405 0.0406761 0 0.000654801 -0.00604929 0.0276837 0.999598 uwb: 0.50086237 852.485 532.142 -imu_odom_: 1691062438.520381105 0.124498 -0.292093 9.93115 -0.04048 -0.0287621 0.0458064 0.25 0 pose: 0.0 4.69405 0.0406761 0 0.000654801 -0.00604929 0.0276837 0.999598 uwb: 0.0 852.485 532.142 -imu_odom_: 1691062438.545357877 0.42138 -0.237026 9.56244 -0.0479369 -0.0255663 0.0351537 0.18 0 pose: 0.0 4.69405 0.0406761 0 0.000654801 -0.00604929 0.0276837 0.999598 uwb: 0.49887344 852.647 531.229 -imu_odom_: 1691062438.568355347 0.694318 -0.272939 10.2352 -0.0500674 -0.0170442 0.0468716 0.18 0 pose: 0.42924644 4.70402 0.0415287 0 -0.00221229 -0.00545031 0.0275958 0.999602 uwb: 0.0 852.647 531.229 -imu_odom_: 1691062438.585486651 0.301669 -0.071826 9.88326 -0.0511327 0.00213053 0.0479369 0.23 0 pose: 0.0 4.70402 0.0415287 0 -0.00221229 -0.00545031 0.0275958 0.999602 uwb: 0.0 852.647 531.229 -imu_odom_: 1691062438.611394311 0.203507 -0.198719 9.42118 -0.0447411 0.0276969 0.0426106 0.23 0 pose: 0.88959538 4.72394 0.0432312 0 -0.000226617-0.00266984 0.0276863 0.999613 uwb: 0.50063781 850.358 531.116 -imu_odom_: 1691062438.628331680 0.378284 -0.260968 10.1466 -0.0596548 0.0127832 0.0458064 0.18 0.02 pose: 0.0 4.72394 0.0432312 0 -0.000226617-0.00266984 0.0276863 0.999613 uwb: 0.0 850.358 531.116 -imu_odom_: 1691062438.643285081 0.227449 -0.122104 10.0413 -0.0436758 0.0117179 0.0266316 0.18 0.02 pose: 0.43027007 4.73391 0.044084 0 -0.0002599820.00114343 0.0277856 0.999613 uwb: 0.49874804 848.852 530.637 -imu_odom_: 1691062438.669489913 0.620098 -0.445322 9.68933 -0.0777643 -0.0213053 0.0543285 0.21 0 pose: 0.0 4.73391 0.044084 0 -0.0002599820.00114343 0.0277856 0.999613 uwb: 0.0 848.852 530.637 -imu_odom_: 1691062438.694271001 0.636858 -0.0957681 9.5792 -0.0468716 0.00639159 0.0223706 0.21 0 pose: 0.31908268 4.73391 0.044084 0 -0.0008046750.00189582 0.027776 0.999612 uwb: 0.50062032 848.11 529.74 -imu_odom_: 1691062438.719354510 0.713472 -0.438139 10.0437 -0.0596548 0.0149137 0.0500674 0.21 0 pose: 0.0 4.73391 0.044084 0 -0.0008046750.00189582 0.027776 0.999612 uwb: 0.0 848.11 529.74 -imu_odom_: 1691062438.742276739 0.325611 -0.363919 9.80904 0.0468716 -0.0287621 0.00319579 0.21 0 pose: 0.50947132 4.74387 0.0449385 0 -0.00110406 -0.00214992 0.027732 0.999612 uwb: 0.49998456 845.766 529.515 -imu_odom_: 1691062438.758264265 0.320823 -0.198719 10.1418 -0.113983 -0.0958738 0.0916127 0.18 0 pose: 0.0 4.74387 0.0449385 0 -0.00110406 -0.00214992 0.027732 0.999612 uwb: 0.0 845.766 529.515 -imu_odom_: 1691062438.781380721 0.215478 -0.035913 9.75877 -0.176834 -0.107592 0.113983 0.18 0 pose: 0.48027028 4.75384 0.0457922 0 -0.00223757 -0.00149058 0.0276288 0.999615 uwb: 0.0 845.766 529.515 -imu_odom_: 1691062438.804398021 0.857124 -0.675165 10.0676 -0.0873517 -0.0756338 0.00532632 0.23 0 pose: 0.0 4.75384 0.0457922 0 -0.00223757 -0.00149058 0.0276288 0.999615 uwb: 0.49936046 846.377 528.598 -imu_odom_: 1691062438.821542157 0.924162 -0.811634 9.60075 -0.0575243 -0.00745685 -0.0117179 0.23 0 pose: 0.39025824 4.7638 0.0466439 0 -0.00249139 -0.00162288 0.0285627 0.999588 uwb: 0.0 846.377 528.598 -imu_odom_: 1691062438.837520059 0.61531 -0.0814029 10.489 -0.0447411 0.0266316 0.0575243 0.17 -0.02 pose: 0.0 4.7638 0.0466439 0 -0.00249139 -0.00162288 0.0285627 0.999588 uwb: 0.0 846.377 528.598 -imu_odom_: 1691062438.863269071 0.507571 -0.428562 10.0365 -0.0490022 0.0255663 0.0319579 0.17 -0.02 pose: 0.40218888 4.77376 0.0475142 0 -0.0042389 -0.00469935 0.0279307 0.99959 uwb: 0.50182767 844.517 528.491 -imu_odom_: 1691062438.888376495 0.610521 -0.232238 9.86172 -0.0703074 0.00426106 0.0660464 0.2 0 pose: 0.0 4.77376 0.0475142 0 -0.0042389 -0.00469935 0.0279307 0.99959 uwb: 0.0 844.517 528.491 -imu_odom_: 1691062438.911247688 0.799663 -0.395043 9.7851 -0.0713727 0.0106526 0.0298274 0.19 0 pose: 0.41798364 4.77376 0.0475142 0 -0.00549483 -0.00532864 0.0280095 0.999578 uwb: 0.49715865 847.903 526.277 -imu_odom_: 1691062438.935370564 0.624887 -0.351948 9.50498 -0.0639159 0.0117179 0.0415453 0.25 0 pose: 0.0 4.77376 0.0475142 0 -0.00549483 -0.00532864 0.0280095 0.999578 uwb: 0.0 847.903 526.277 -imu_odom_: 1691062438.958301250 0.505177 -0.521936 10.1514 -0.0394148 -0.00852212 0.0223706 0.25 0 pose: 0.48103726 4.78372 0.0483754 0 -0.00571354 -0.00922213 0.0281074 0.999546 uwb: 0.49994082 847.238 525.628 -imu_odom_: 1691062438.975372186 0.11971 0.0143652 10.0509 -0.0394148 0.0383495 0.0298274 0.26 0 pose: 0.0 4.78372 0.0483754 0 -0.00571354 -0.00922213 0.0281074 0.999546 uwb: 0.0 847.238 525.628 -imu_odom_: 1691062438.991528858 0.351948 -0.213084 10.1203 -0.0596548 -0.0468716 0.0660464 0.26 0 pose: 0.46791677 4.79369 0.0492376 0 -0.00771211 -0.00864136 0.0279138 0.999543 uwb: 0.50080404 846.157 525.113 -imu_odom_: 1691062439.7445228 0.251391 -0.304064 9.73004 -0.04048 0.00319579 0.0319579 0.22 -0.02 pose: 0.0 4.79369 0.0492376 0 -0.00771211 -0.00864136 0.0279138 0.999543 uwb: 0.0 846.157 525.113 -imu_odom_: 1691062439.23371519 0.311246 0.110133 10.1778 -0.052198 0.0585895 0.0383495 0.22 -0.02 pose: 0.0 4.79369 0.0492376 0 -0.00771211 -0.00864136 0.0279138 0.999543 uwb: 0.0 846.157 525.113 -imu_odom_: 1691062439.40412426 0.0215478 -0.586579 10.0556 -0.0628506 -0.0138484 0.0340885 0.22 -0.02 pose: 0.41194106 4.80413 0.0445061 0 -0.00592243 -0.00509886 0.0280368 0.999576 uwb: 0.50062925 844.672 524.781 -imu_odom_: 1691062439.56258810 0.301669 -0.244209 10.2376 -0.04048 -0.0117179 0.0138484 0.19 -0.02 pose: 0.0 4.80413 0.0445061 0 -0.00592243 -0.00509886 0.0280368 0.999576 uwb: 0.0 844.672 524.781 -imu_odom_: 1691062439.79299744 0.684742 -0.301669 10.2999 -0.0617853 -0.0692422 0.0575243 0.23 0 pose: 0.7073523 4.80451 0.0401333 0 -0.00527499 -0.00458009 0.0280298 0.999583 uwb: 0.0 844.672 524.781 -imu_odom_: 1691062439.96220499 0.203507 -0.184354 9.65342 -0.0436758 0.0138484 0.0213053 0.23 0 pose: 0.0 4.80451 0.0401333 0 -0.00527499 -0.00458009 0.0280298 0.999583 uwb: 0.50050100 841.544 525.047 -imu_odom_: 1691062439.122406971 0.0502782 -0.102951 9.55526 -0.076699 0.00852212 0.0511327 0.18 0 pose: 0.49797839 4.81447 0.0409934 0 -0.00459002 -0.00229735 0.0278568 0.999599 uwb: 0.0 841.544 525.047 -imu_odom_: 1691062439.138267062 0.471658 -0.392649 9.92397 -0.0713727 -0.0170442 0.0319579 0.18 0 pose: 0.0 4.81447 0.0409934 0 -0.00459002 -0.00229735 0.0278568 0.999599 uwb: 0.0 841.544 525.047 -imu_odom_: 1691062439.162281171 0.385466 -0.280122 9.75398 -0.0639159 -0.015979 0.0372843 0.18 0 pose: 0.73950472 4.83005 0.0423332 0 -0.00453339 -0.0009424020.0279298 0.999599 uwb: 0.49879787 840.498 524.678 -imu_odom_: 1691062439.178271621 0.428562 -0.344765 9.72285 -0.0713727 -0.0308927 0.0426106 0.18 0 pose: 0.0 4.83005 0.0423332 0 -0.00453339 -0.0009424020.0279298 0.999599 uwb: 0.0 840.498 524.678 -imu_odom_: 1691062439.202207281 0.562637 -0.316035 10.0868 -0.0266316 -0.0181095 0.0223706 0.2 0 pose: 0.40004559 4.8344 0.0427076 0 -0.00476751 -0.00020927 0.0279315 0.999598 uwb: 0.49982441 839.382 524.112 -imu_odom_: 1691062439.225214678 0.40462 -0.354342 9.76355 -0.0713727 -0.0276969 0.052198 0.2 0 pose: 0.7967958 4.8344 0.0427076 0 -0.00466091 -0.00105861 0.0278594 0.9996 uwb: 0.0 839.382 524.112 -imu_odom_: 1691062439.248204869 0.351948 -0.232238 9.71328 -0.0458064 0 0.0372843 0.25 0 pose: 0.24060187 4.84436 0.0435639 0 -0.00511459 -0.00231862 0.0277702 0.999599 uwb: 0.49992648 838.702 523.473 -imu_odom_: 1691062439.274263315 0.148441 -0.608127 9.65342 -0.0628506 -0.0138484 0.0511327 0.25 0 pose: 0.22949945 4.84436 0.0435639 0 -0.00567076 -0.0009935860.0278651 0.999595 uwb: 0.0 838.702 523.473 -imu_odom_: 1691062439.298196934 0.383072 -0.244209 10.0341 -0.0330232 0.0106526 0.0330232 0.19 0 pose: 0.0 4.84436 0.0435639 0 -0.00567076 -0.0009935860.0278651 0.999595 uwb: 0.50018896 838.743 522.219 -imu_odom_: 1691062439.314194675 0.00718261 -0.21069 9.94073 -0.0628506 -0.0287621 0.0596548 0.19 0 pose: 0.0 4.84436 0.0435639 0 -0.00567076 -0.0009935860.0278651 0.999595 uwb: 0.0 838.743 522.219 -imu_odom_: 1691062439.330209330 0.150835 -0.222661 9.86172 -0.0490022 -0.0319579 0.0298274 0.24 0 pose: 0.71955713 4.86429 0.0452773 0 -0.00381935 0.00199671 0.0280057 0.999598 uwb: 0.0 838.743 522.219 -imu_odom_: 1691062439.355235984 0.746991 -0.296881 10.252 -0.0649811 -0.0426106 0.0543285 0.24 0 pose: 0.0 4.86429 0.0452773 0 -0.00381935 0.00199671 0.0280057 0.999598 uwb: 0.50029102 835.601 522.546 -imu_odom_: 1691062439.371196980 0.682347 -0.593762 9.44513 -0.0585895 0.0234358 0.0213053 0.19 0.02 pose: 0.50030560 4.87142 0.0458919 0 -0.00333717 0.00110315 0.028208 0.999596 uwb: 0.0 835.601 522.546 -imu_odom_: 1691062439.395250167 -0.189142 -0.454898 9.85214 -0.0617853 -0.0127832 0.0617853 0.19 0.02 pose: 0.0 4.87142 0.0458919 0 -0.00333717 0.00110315 0.028208 0.999596 uwb: 0.49928198 833.671 522.369 -imu_odom_: 1691062439.411257824 0.378284 -0.287304 10.2185 -0.0543285 -0.0415453 0.0308927 0.19 0 pose: 0.7145848 4.87425 0.0461375 0 -0.00385582 0.000694619 0.0281401 0.999596 uwb: 0.0 833.671 522.369 -imu_odom_: 1691062439.434305757 0.588974 -0.177171 9.7037 -0.056459 -0.0351537 0.0447411 0.19 0 pose: 0.0 4.87425 0.0461375 0 -0.00385582 0.000694619 0.0281401 0.999596 uwb: 0.0 833.671 522.369 -imu_odom_: 1691062439.460335915 0.828394 -0.263362 9.81862 -0.0596548 -0.0138484 0.0287621 0.18 0.02 pose: 0.71923925 4.88421 0.0470021 0 -0.00281751 -0.00124725 0.0283182 0.999594 uwb: 0.50101135 834.624 521.069 -imu_odom_: 1691062439.475307696 0.538695 -0.277727 10.1682 -0.0607201 0.0287621 0.0351537 0.18 0.02 pose: 0.0 4.88421 0.0470021 0 -0.00281751 -0.00124725 0.0283182 0.999594 uwb: 0.0 834.624 521.069 -imu_odom_: 1691062439.498298762 0.493206 -0.23942 10.5632 -0.0916127 -0.0245011 0.0575243 0.17 -0.02 pose: 0.41001939 4.88917 0.0474319 0 -0.00290246 -0.00522455 0.0281322 0.999586 uwb: 0.50020062 834.348 520.27 -imu_odom_: 1691062439.515172272 0.490811 -0.392649 9.61272 -0.0511327 -0.0276969 0.0340885 0.17 -0.02 pose: 0.8013452 4.89418 0.0478653 0 -0.00232225 -0.00496265 0.0282009 0.999587 uwb: 0.0 834.348 520.27 -imu_odom_: 1691062439.540228673 0.514753 -0.227449 9.94551 -0.0873517 0.0191748 0.0607201 0.18 0 pose: 0.31851124 4.89911 0.0482928 0 -0.00288252 -0.00475569 0.0282906 0.999584 uwb: 0.50033185 831.647 520.588 -imu_odom_: 1691062439.563222654 0.409408 -0.306458 10.1251 -0.0479369 -0.00745685 0.0245011 0.18 0 pose: 0.0 4.89911 0.0482928 0 -0.00288252 -0.00475569 0.0282906 0.999584 uwb: 0.0 831.647 520.588 -imu_odom_: 1691062439.587292465 0.263362 -0.35913 9.78989 -0.0575243 -0.0245011 0.0479369 0.25 0.02 pose: 0.9140608 4.90414 0.0487295 0 -0.00218116 -0.00498689 0.0283812 0.999582 uwb: 0.0 831.647 520.588 -imu_odom_: 1691062439.610151130 0.107739 -0.332794 10.0533 -0.0426106 -0.00106526 0.0511327 0.25 0.02 pose: 0.0 4.90414 0.0487295 0 -0.00218116 -0.00498689 0.0283812 0.999582 uwb: 0.49815919 832.588 519.239 -imu_odom_: 1691062439.627229657 0.64404 -0.174777 10.1825 -0.0500674 -0.0607201 0.0447411 0.24 0 pose: 0.46969596 4.90414 0.0487295 0 -0.00260565 -0.00293316 0.0284121 0.999589 uwb: 0.0 832.588 519.239 -imu_odom_: 1691062439.643161489 0.591368 -0.227449 9.80904 -0.0468716 0.0532632 0.0276969 0.24 0 pose: 0.0 4.90414 0.0487295 0 -0.00260565 -0.00293316 0.0284121 0.999589 uwb: 0.50017146 833.035 517.815 -imu_odom_: 1691062439.659195101 0.31364 -0.134075 10.2017 -0.0426106 0.00745685 0.0436758 0.24 0 pose: 0.71879013 4.92406 0.0504666 0 -0.00232498 -0.00247585 0.0285653 0.999586 uwb: 0.0 833.035 517.815 -imu_odom_: 1691062439.683308948 0.557849 -0.385466 9.95509 -0.0532632 -0.0340885 0.0394148 0.18 0 pose: 0.0 4.92406 0.0504666 0 -0.00232498 -0.00247585 0.0285653 0.999586 uwb: 0.0 833.035 517.815 -imu_odom_: 1691062439.708308480 0.411803 -0.462081 9.85214 -0.0490022 -0.00852212 0.0447411 0.18 0 pose: 0.6996242 4.92406 0.0504666 0 -0.00181872 -0.00190833 0.0285798 0.999588 uwb: 0.49894368 831.947 517.397 -imu_odom_: 1691062439.733302180 0.493206 -0.311246 9.84975 -0.0553937 -0.0266316 0.0298274 0.18 0 pose: 0.0 4.92406 0.0504666 0 -0.00181872 -0.00190833 0.0285798 0.999588 uwb: 0.0 831.947 517.397 -imu_odom_: 1691062439.749178018 0.260968 -0.129287 10.2855 -0.0490022 -0.0149137 0.0426106 0.18 0 pose: 0.83144449 4.94121 0.0519665 0 -0.00475621 -0.0053972 0.0285362 0.999567 uwb: 0.50109010 833.382 516.08 -imu_odom_: 1691062439.765155345 0.572214 -0.620098 9.53611 -0.0777643 -0.0213053 0.0468716 0.18 0 pose: 0.0 4.94121 0.0519665 0 -0.00475621 -0.0053972 0.0285362 0.999567 uwb: 0.0 833.382 516.08 -imu_odom_: 1691062439.791152257 0.368707 -0.184354 9.62708 -0.0458064 0.0170442 0.0330232 0.18 0 pose: 0.31853165 4.94399 0.0522089 0 -0.00549598 -0.00479366 0.0286248 0.999564 uwb: 0.49847999 829.647 516.236 -imu_odom_: 1691062439.815199904 0.423774 -0.40462 10.0149 -0.0585895 0.00852212 0.0479369 0.19 0 pose: 0.8091609 4.94399 0.0522089 0 -0.00487143 -0.0041507 0.0285984 0.99957 uwb: 0.0 829.647 516.236 -imu_odom_: 1691062439.832128824 0.557849 -0.184354 9.87129 -0.0191748 -0.0234358 0.0149137 0.19 0 pose: 0.24966286 4.95395 0.0530802 0 -0.00418979 -0.00252332 0.0285715 0.99958 uwb: 0.0 829.647 516.236 -imu_odom_: 1691062439.847139392 0.560243 -0.203507 10.3406 -0.0266316 0.0213053 0.04048 0.18 -0.02 pose: 0.0 4.95395 0.0530802 0 -0.00418979 -0.00252332 0.0285715 0.99958 uwb: 0.50183375 829.013 515.787 -imu_odom_: 1691062439.864175050 0.397437 -0.380678 9.38527 -0.0532632 -0.00532632 0.0330232 0.18 -0.02 pose: 0.0 4.95395 0.0530802 0 -0.00418979 -0.00252332 0.0285715 0.99958 uwb: 0.0 829.013 515.787 -imu_odom_: 1691062439.880171624 0.311246 -0.110133 9.81383 -0.0191748 -0.00639159 0.0351537 0.18 -0.02 pose: 0.24950247 4.95395 0.0530802 0 -0.00509549 -0.00258781 0.0285462 0.999576 uwb: 0.0 829.013 515.787 -imu_odom_: 1691062439.905212859 0.620098 -0.203507 9.5792 -0.0532632 -0.0191748 0.0575243 0.18 0 pose: 0.0 4.95395 0.0530802 0 -0.00509549 -0.00258781 0.0285462 0.999576 uwb: 0.49856457 826.586 515.653 -imu_odom_: 1691062439.921143525 0.624887 -0.0383072 10.1275 -0.0319579 -0.00639159 0.0340885 0.18 0 pose: 0.82049372 4.97099 0.0545665 0 -0.00182361 -0.00457724 0.0285664 0.99958 uwb: 0.0 826.586 515.653 -imu_odom_: 1691062439.937176553 0.1652 -0.248997 9.72046 -0.0628506 -0.00426106 0.0585895 0.18 0 pose: 0.0 4.97099 0.0545665 0 -0.00182361 -0.00457724 0.0285664 0.99958 uwb: 0.0 826.586 515.653 -imu_odom_: 1691062439.962107844 0.158017 -0.114922 10.0652 -0.0596548 -0.0138484 0.0351537 0.18 0 pose: 0.6942581 4.97387 0.0548187 0 -0.00113906 -0.00492642 0.0285443 0.99958 uwb: 0.50064098 828.41 514.107 -imu_odom_: 1691062439.977164198 0.440533 -0.265756 9.64145 -0.0671117 -0.0287621 0.052198 0.19 0 pose: 0.0 4.97387 0.0548187 0 -0.00113906 -0.00492642 0.0285443 0.99958 uwb: 0.0 828.41 514.107 -imu_odom_: 1691062439.993109736 0.691924 -0.356736 10.0772 -0.0713727 -0.00532632 0.0553937 0.18 0.02 pose: 0.0 4.97387 0.0548187 0 -0.00113906 -0.00492642 0.0285443 0.99958 uwb: 0.50087720 827.617 513.216 -imu_odom_: 1691062440.9165515 0.153229 -0.25618 9.56005 -0.0490022 0.02024 0.0266316 0.18 0 pose: 0.71967378 4.98384 0.0556898 0 -0.0016726 -0.00262652 0.0287639 0.999581 uwb: 0.0 827.617 513.216 -imu_odom_: 1691062440.25219840 0.696713 -0.19393 10.1227 -0.0596548 -0.0426106 0.0479369 0.18 0 pose: 0.0 4.98384 0.0556898 0 -0.0016726 -0.00262652 0.0287639 0.999581 uwb: 0.0 827.617 513.216 -imu_odom_: 1691062440.41157221 0.481235 -0.0694318 10.2185 -0.0735032 -0.0266316 0.0479369 0.18 0 pose: 0.0 4.98384 0.0556898 0 -0.0016726 -0.00262652 0.0287639 0.999581 uwb: 0.0 827.617 513.216 -imu_odom_: 1691062440.58155267 0.124498 -0.213084 10.0365 -0.0308927 -0.00639159 0.0276969 0.18 0 pose: 0.32108641 4.9938 0.0565641 0 -0.00192032 -0.00247481 0.0287618 0.999581 uwb: 0.0 827.617 513.216 -imu_odom_: 1691062440.73255373 0.399832 -0.543484 9.46428 -0.0511327 -0.0351537 0.0532632 0.18 0 pose: 0.41923808 4.99973 0.0570846 0 -4.06345e-05-0.00203288 0.0287586 0.999584 uwb: 0.0 827.617 513.216 -imu_odom_: 1691062440.89103806 0.184354 -0.189142 10.3022 -0.0575243 -0.00319579 0.04048 0.18 -0.02 pose: 0.0 4.99973 0.0570846 0 -4.06345e-05-0.00203288 0.0287586 0.999584 uwb: 0.0 827.617 513.216 -imu_odom_: 1691062440.106227545 0.402226 -0.0957681 10.0341 -0.0458064 -0.0649811 0.0372843 0.18 -0.02 pose: 0.0 4.99973 0.0570846 0 -4.06345e-05-0.00203288 0.0287586 0.999584 uwb: 0.99926431 827.62 511.87 -imu_odom_: 1691062440.122272247 0.617704 -0.258574 9.98861 -0.0671117 0.0287621 0.0490022 0.18 -0.02 pose: 0.6113475 5.00376 0.0574384 0 -0.000634409-0.00206779 0.0288016 0.999583 uwb: 0.0 827.62 511.87 -imu_odom_: 1691062440.138092392 0.191536 -0.402226 10.0365 -0.056459 0.0575243 0.0330232 0.25 -0.02 pose: 0.0 5.00376 0.0574384 0 -0.000634409-0.00206779 0.0288016 0.999583 uwb: 0.0 827.62 511.87 -imu_odom_: 1691062440.163087270 0.861913 -0.35913 9.4547 -0.0436758 0.00639159 0.0500674 0.25 -0.02 pose: 0.48963797 5.01372 0.0583139 0 0.000360781 -0.00145461 0.0288877 0.999582 uwb: 0.49964968 831.2 509.775 -imu_odom_: 1691062440.188163222 0.208296 -0.253785 9.84496 -0.04048 0.0426106 0.0138484 0.21 -0.02 pose: 0.0 5.01372 0.0583139 0 0.000360781 -0.00145461 0.0288877 0.999582 uwb: 0.0 831.2 509.775 -imu_odom_: 1691062440.212093062 -0.0311246 -0.603339 9.39245 -0.0916127 0.00958738 0.0532632 0.18 -0.02 pose: 0.74930683 5.02368 0.0591918 0 -0.00139082 0.000355925 0.0286912 0.999587 uwb: 0.50033793 830.803 508.62 -imu_odom_: 1691062440.229088774 0.486023 -0.368707 9.68215 -0.0532632 -0.0351537 0.0340885 0.18 -0.02 pose: 0.0 5.02368 0.0591918 0 -0.00139082 0.000355925 0.0286912 0.999587 uwb: 0.0 830.803 508.62 -imu_odom_: 1691062440.253155972 0.823605 -0.282516 9.41879 -0.0479369 -0.0298274 0.0330232 0.18 -0.02 pose: 0.40925552 5.03364 0.0600655 0 -0.00433962 0.000602384 0.0288036 0.999575 uwb: 0.49846274 832.203 507.098 -imu_odom_: 1691062440.269171802 0.555455 -0.253785 9.40442 -0.0596548 -0.00745685 0.0351537 0.18 0 pose: 0.7074985 5.03364 0.0600655 0 -0.00426997 -0.0001942450.0287778 0.999577 uwb: 0.0 832.203 507.098 -imu_odom_: 1691062440.293134888 0.507571 -0.237026 10.058 -0.0415453 0.0308927 0.0234358 0.18 0 pose: 0.33008043 5.03925 0.0605573 0 -0.00358989 -0.00364018 0.0286729 0.999576 uwb: 0.50048667 831.87 506.12 -imu_odom_: 1691062440.309191546 0.344765 -0.265756 9.63666 -0.0745685 -0.0181095 0.056459 0.18 0.02 pose: 0.0 5.03925 0.0605573 0 -0.00358989 -0.00364018 0.0286729 0.999576 uwb: 0.0 831.87 506.12 -imu_odom_: 1691062440.326285247 0.54109 -0.248997 10.1083 -0.0276969 -0.00319579 0.0372843 0.18 0.02 pose: 0.6998286 5.04361 0.0609392 0 -0.00295237 -0.00388864 0.0286126 0.999579 uwb: 0.0 831.87 506.12 -imu_odom_: 1691062440.343227591 0.196325 -0.1652 9.72525 -0.0617853 0.00426106 0.0585895 0.18 0.02 pose: 0.0 5.04361 0.0609392 0 -0.00295237 -0.00388864 0.0286126 0.999579 uwb: 0.49975759 829.522 506.304 -imu_odom_: 1691062440.360103734 0.950498 -0.246603 10.0437 -0.0468716 -0.0436758 0.0415453 0.23 0.02 pose: 0.0 5.04361 0.0609392 0 -0.00295237 -0.00388864 0.0286126 0.999579 uwb: 0.0 829.522 506.304 -imu_odom_: 1691062440.385055743 0.325611 -0.253785 10.4148 -0.0330232 0.0117179 0.0372843 0.18 -0.02 pose: 0.41108697 5.04361 0.0609392 0 -0.00166846 -0.00382552 0.0285945 0.999582 uwb: 0.0 829.522 506.304 -imu_odom_: 1691062440.402335796 0.445322 -0.339977 9.67257 -0.0681769 -0.02024 0.0490022 0.18 -0.02 pose: 0.0 5.04361 0.0609392 0 -0.00166846 -0.00382552 0.0285945 0.999582 uwb: 0.49998797 827.466 505.949 -imu_odom_: 1691062440.427284597 0.47884 -0.426168 9.5792 -0.0681769 -0.0245011 0.0479369 0.18 0.02 pose: 0.74967721 5.06353 0.0626843 0 -0.00179889 -0.00239153 0.0287711 0.999582 uwb: 0.0 827.466 505.949 -imu_odom_: 1691062440.443209729 0.529119 -0.177171 9.91439 -0.0671117 -0.00319579 0.0500674 0.18 0.02 pose: 0.0 5.06353 0.0626843 0 -0.00179889 -0.00239153 0.0287711 0.999582 uwb: 0.49989757 828.848 504.349 -imu_odom_: 1691062440.469199072 0.694318 -0.0335188 10.647 -0.0394148 -0.015979 0.0383495 0.18 0 pose: 0.50963223 5.07437 0.0535971 0 -0.00407948 -0.00388611 0.0290046 0.999563 uwb: 0.0 828.848 504.349 -imu_odom_: 1691062440.493211443 0.407014 -0.414197 10.2065 -0.0585895 -0.0426106 0.0351537 0.18 0 pose: 0.0 5.07437 0.0535971 0 -0.00407948 -0.00388611 0.0290046 0.999563 uwb: 0.50086871 829.387 503.096 -imu_odom_: 1691062440.510068922 0.402226 -0.158017 9.44034 -0.0468716 0.00106526 0.0330232 0.27 0.02 pose: 0.9022794 5.07437 0.0535971 0 -0.00328007 -0.00447469 0.0289945 0.999564 uwb: 0.0 829.387 503.096 -imu_odom_: 1691062440.535203201 0.287304 -0.457293 9.44991 -0.0841559 0.0266316 0.0532632 0.27 0.02 pose: 0.0 5.07437 0.0535971 0 -0.00328007 -0.00447469 0.0289945 0.999564 uwb: 0.0 829.387 503.096 -imu_odom_: 1691062440.552030642 0.758962 -0.0933739 10.6231 -0.0479369 -0.02024 0.0287621 0.21 0 pose: 0.47959708 5.08433 0.0544762 0 -0.00323607 -0.00433795 0.0289128 0.999567 uwb: 0.49998505 828.166 502.373 -imu_odom_: 1691062440.577125550 0.502782 -0.241814 9.80665 -0.0777643 -0.0383495 0.0575243 0.21 0 pose: 0.0 5.08433 0.0544762 0 -0.00323607 -0.00433795 0.0289128 0.999567 uwb: 0.0 828.166 502.373 -imu_odom_: 1691062440.601034100 0.639252 -0.105345 10.2232 -0.0458064 0.00958738 0.0351537 0.2 0 pose: 0.76933319 5.10134 0.0559768 0 -0.00195264 -0.0052494 0.029175 0.999559 uwb: 0.49981300 828.536 500.631 -imu_odom_: 1691062440.626371354 0.395043 -0.299275 9.76355 -0.0798948 -0.0287621 0.0575243 0.2 0 pose: 0.6929752 5.10425 0.056235 0 -0.0013835 -0.00563827 0.0291561 0.999558 uwb: 0.0 828.536 500.631 -imu_odom_: 1691062440.650108717 0.778116 -0.181959 10.0102 -0.0607201 0.0255663 0.0330232 0.18 0.02 pose: 0.42316052 5.11151 0.0568785 0 -0.00166052 -0.00477456 0.029344 0.999557 uwb: 0.50010755 826.483 500.346 -imu_odom_: 1691062440.675176503 0.507571 -0.287304 9.85214 -0.0479369 0.0383495 0.0340885 0.18 0.02 pose: 0.0 5.11151 0.0568785 0 -0.00166052 -0.00477456 0.029344 0.999557 uwb: 0.0 826.483 500.346 -imu_odom_: 1691062440.690062552 0.0311246 -0.246603 10.058 -0.0383495 0.0234358 0.0490022 0.22 0.02 pose: 0.30732733 5.11421 0.0571185 0 -0.00170966 -0.00625082 0.0292436 0.999551 uwb: 0.49977216 828.295 498.504 -imu_odom_: 1691062440.707174334 0.469264 -0.248997 10.1538 -0.0458064 -0.0788296 0.0511327 0.22 0.02 pose: 0.0 5.11421 0.0571185 0 -0.00170966 -0.00625082 0.0292436 0.999551 uwb: 0.0 828.295 498.504 -imu_odom_: 1691062440.724121344 0.543484 -0.387861 9.72525 -0.0426106 0.052198 0.0308927 0.18 0 pose: 0.0 5.11421 0.0571185 0 -0.00170966 -0.00625082 0.0292436 0.999551 uwb: 0.0 828.295 498.504 -imu_odom_: 1691062440.749162300 -0.174777 -0.306458 9.42118 -0.0628506 -0.00106526 0.0607201 0.18 0 pose: 0.58158652 5.12417 0.0580025 0 -0.00195264 -0.00409617 0.0293431 0.999559 uwb: 0.49969926 829.306 497.166 -imu_odom_: 1691062440.772167667 0.107739 -0.19393 10.0676 -0.0394148 0.00213053 0.0436758 0.18 -0.02 pose: 0.33899561 5.13162 0.0586654 0 -0.00302328 -0.00169058 0.0295791 0.999556 uwb: 0.0 829.306 497.166 -imu_odom_: 1691062440.788035932 0.474052 -0.464475 9.71567 -0.0468716 -0.0138484 0.0468716 0.18 0 pose: 0.6024236 5.13413 0.0588896 0 -0.00284683 -0.00108042 0.0295931 0.999557 uwb: 0.0 829.306 497.166 -imu_odom_: 1691062440.814038689 0.890643 -0.301669 9.4978 -0.0511327 0 0.036219 0.25 -0.02 pose: 0.0 5.13413 0.0588896 0 -0.00284683 -0.00108042 0.0295931 0.999557 uwb: 0.49868730 830.689 495.46 -imu_odom_: 1691062440.839046108 0.318429 -0.246603 9.79228 -0.0607201 -0.0436758 0.0543285 0.18 0 pose: 0.32849396 5.13909 0.0593341 0 -0.00372944 -8.28618e-050.0296877 0.999552 uwb: 0.49992382 831.639 493.904 -imu_odom_: 1691062440.854209207 0.526724 -0.275333 9.87848 -0.0681769 -0.0106526 0.0351537 0.18 0 pose: 0.0 5.13909 0.0593341 0 -0.00372944 -8.28618e-050.0296877 0.999552 uwb: 0.0 831.639 493.904 -imu_odom_: 1691062440.871157967 0.560243 -0.167594 9.74919 -0.0415453 0.015979 0.036219 0.18 0 pose: 0.33149775 5.14409 0.059782 0 -0.00351517 -0.00207743 0.0296893 0.999551 uwb: 0.0 831.639 493.904 -imu_odom_: 1691062440.895164797 0.184354 -0.572214 9.47864 -0.0585895 0.0276969 0.0511327 0.22 0.02 pose: 0.0 5.14409 0.059782 0 -0.00351517 -0.00207743 0.0296893 0.999551 uwb: 0.50006963 830.405 493.152 -imu_odom_: 1691062440.920178631 0.227449 -0.155623 10.1011 -0.0117179 0 0.0276969 0.22 0.02 pose: 0.56983377 5.15405 0.0606748 0 -0.00237748 -0.0027422 0.0297967 0.999549 uwb: 0.0 830.405 493.152 -imu_odom_: 1691062440.944051019 0.577003 -0.411803 10.0054 -0.0479369 0 0.0276969 0.19 0 pose: 0.42009547 5.16156 0.0613507 0 -0.00186024 0.000796416 0.0297587 0.999555 uwb: 0.50023587 831.091 492.255 -imu_odom_: 1691062440.968117926 0.608127 -0.555455 9.67976 -0.0543285 -0.0458064 0.0490022 0.23 0.02 pose: 0.0 5.16156 0.0613507 0 -0.00186024 0.000796416 0.0297587 0.999555 uwb: 0.0 831.091 492.255 -imu_odom_: 1691062440.992984778 0.691924 -0.438139 9.84975 -0.0383495 -0.00639159 0.0308927 0.23 0.02 pose: 0.23872388 5.16401 0.0615704 0 -0.00325726 -0.00102004 0.029612 0.999556 uwb: 0.0 831.091 492.255 -imu_odom_: 1691062441.8002938 0.584185 0.047884 10.2783 -0.0383495 0.00106526 0.0468716 0.23 0.02 pose: 0.0 5.16401 0.0615704 0 -0.00325726 -0.00102004 0.029612 0.999556 uwb: 0.0 831.091 492.255 -imu_odom_: 1691062441.33000162 0.744597 -0.246603 10.3142 -0.0639159 0.0255663 0.0330232 0.18 0 pose: 0.54950704 5.17397 0.0624624 0 -0.0054039 -0.00527623 0.0296263 0.999533 uwb: 0.0 831.091 492.255 -imu_odom_: 1691062441.47065858 0.105345 -0.059855 9.44513 -0.0543285 0.0191748 0.036219 0.18 0 pose: 0.0 5.17397 0.0624624 0 -0.0054039 -0.00527623 0.0296263 0.999533 uwb: 0.100029984 827.169 492.311 -imu_odom_: 1691062441.62000325 0.414197 -0.160412 10.1969 -0.072438 -0.0181095 0.0553937 0.19 0 pose: 0.0 5.17397 0.0624624 0 -0.0054039 -0.00527623 0.0296263 0.999533 uwb: 0.0 827.169 492.311 -imu_odom_: 1691062441.78997504 0.857124 -0.457293 9.69652 -0.0660464 0.0170442 0.0276969 0.19 0 pose: 0.40011888 5.18393 0.0633544 0 -0.00358087 -0.00682283 0.0295448 0.999534 uwb: 0.0 827.169 492.311 -imu_odom_: 1691062441.104041680 0.445322 -0.172383 10.1969 -0.0607201 0.0298274 0.0532632 0.18 0 pose: 0.39983893 5.19389 0.0642447 0 -0.0031253 -0.00642874 0.0295443 0.999538 uwb: 0.0 827.169 492.311 -imu_odom_: 1691062441.128975037 0.634463 -0.304064 9.91199 -0.0415453 0.0713727 0.0170442 0.18 0 pose: 0.0 5.19389 0.0642447 0 -0.0031253 -0.00642874 0.0295443 0.999538 uwb: 0.0 827.169 492.311 -imu_odom_: 1691062441.150990325 0.756568 -0.316035 9.6223 -0.0500674 0.00745685 0.0479369 0.2 -0.02 pose: 0.8078494 5.19389 0.0642447 0 -0.00252994 -0.00577414 0.0295967 0.999542 uwb: 0.99904906 827.273 491.159 -imu_odom_: 1691062441.175978508 0.782904 -0.0861913 9.67257 -0.0340885 0.02024 0.0181095 0.2 0 pose: 0.0 5.19389 0.0642447 0 -0.00252994 -0.00577414 0.0295967 0.999542 uwb: 0.0 827.273 491.159 -imu_odom_: 1691062441.190978593 0.174777 -0.244209 9.663 -0.0639159 0.0138484 0.0447411 0.19 0 pose: 0.71949368 5.21381 0.0660246 0 -0.00184802 -0.00832171 0.0294245 0.999531 uwb: 0.49988615 827.046 490.492 -imu_odom_: 1691062441.205158608 -0.100556 -0.481235 10.082 -0.0703074 -0.00213053 0.0490022 0.19 0 pose: 0.0 5.21381 0.0660246 0 -0.00184802 -0.00832171 0.0294245 0.999531 uwb: 0.0 827.046 490.492 -imu_odom_: 1691062441.229033049 -0.0646434 -0.215478 10.1801 -0.0394148 0.052198 0.0372843 0.19 0.02 pose: 0.46133242 5.21922 0.0665045 0 -0.00140035 -0.00646104 0.0293431 0.999548 uwb: 0.0 827.046 490.492 -imu_odom_: 1691062441.246074556 0.64404 -0.308852 9.84735 -0.0617853 -0.0319579 0.0553937 0.19 0.02 pose: 0.6881637 5.22377 0.0669095 0 -0.00133542 -0.00557649 0.0293363 0.999553 uwb: 0.50010487 824.486 490.275 -imu_odom_: 1691062441.271131273 0.926556 -0.0694318 9.89524 -0.0415453 0.00106526 0.0245011 0.2 0.02 pose: 0.34034311 5.22377 0.0669095 0 -0.00180332 -0.00523237 0.0294539 0.999551 uwb: 0.0 824.486 490.275 -imu_odom_: 1691062441.295961392 0.744597 -0.134075 10.1227 -0.076699 -0.0138484 0.0426106 0.2 0.02 pose: 0.0 5.22377 0.0669095 0 -0.00180332 -0.00523237 0.0294539 0.999551 uwb: 0.49993573 825.962 488.777 -imu_odom_: 1691062441.310987140 0.124498 -0.337582 9.34696 -0.0468716 -0.0308927 0.0308927 0.18 0 pose: 0.8079369 5.22377 0.0669095 0 -0.00140389 -0.00594097 0.0293901 0.999549 uwb: 0.0 825.962 488.777 -imu_odom_: 1691062441.337014407 0.198719 -0.222661 9.92397 -0.0777643 -0.0191748 0.0468716 0.18 0 pose: 0.0 5.22377 0.0669095 0 -0.00140389 -0.00594097 0.0293901 0.999549 uwb: 0.0 825.962 488.777 -imu_odom_: 1691062441.360027368 0.416591 -0.42138 10.1658 -0.0351537 -0.00745685 0.0255663 0.18 0.02 pose: 0.47843080 5.23373 0.0677964 0 0.000199966 -0.0092498 0.0292567 0.999529 uwb: 0.50123641 826.871 487.055 -imu_odom_: 1691062441.376021625 0.447716 -0.584185 9.89284 -0.0660464 -0.00745685 0.0532632 0.18 0.02 pose: 0.0 5.23373 0.0677964 0 0.000199966 -0.0092498 0.0292567 0.999529 uwb: 0.0 826.871 487.055 -imu_odom_: 1691062441.392964853 0.107739 -0.248997 9.68694 -0.052198 0 0.0468716 0.18 0.02 pose: 0.0 5.23373 0.0677964 0 0.000199966 -0.0092498 0.0292567 0.999529 uwb: 0.49977533 823.878 487.056 -imu_odom_: 1691062441.408954152 0.521936 -0.169988 10.1538 -0.0447411 -0.00319579 0.0447411 0.25 0 pose: 0.41987404 5.24369 0.0686805 0 -0.000948102-0.00579549 0.0292699 0.999554 uwb: 0.0 823.878 487.056 -imu_odom_: 1691062441.432929498 0.414197 -0.399832 9.92875 -0.0479369 -0.04048 0.0458064 0.25 0 pose: 0.0 5.24369 0.0686805 0 -0.000948102-0.00579549 0.0292699 0.999554 uwb: 0.0 823.878 487.056 -imu_odom_: 1691062441.454933704 0.45011 -0.272939 10.0413 -0.0330232 0.0234358 0.036219 0.18 0 pose: 0.88945089 5.26101 0.0702185 0 -0.00428965 -0.00332139 0.0294735 0.999551 uwb: 0.50001447 827.087 484.702 -imu_odom_: 1691062441.471033824 0.220267 -0.148441 9.991 -0.0617853 -0.0213053 0.0596548 0.18 0 pose: 0.0 5.26101 0.0702185 0 -0.00428965 -0.00332139 0.0294735 0.999551 uwb: 0.0 827.087 484.702 -imu_odom_: 1691062441.495956390 0.378284 0.0143652 10.1658 -0.0415453 0.0308927 0.0500674 0.21 0 pose: 0.38104326 5.26925 0.0709534 0 -0.00153946 -0.00054238 0.0295987 0.999561 uwb: 0.49861172 830.808 482.332 -imu_odom_: 1691062441.517999675 0.356736 -0.356736 9.95748 -0.0703074 0.00532632 0.0490022 0.19 0 pose: 0.0 5.26925 0.0709534 0 -0.00153946 -0.00054238 0.0295987 0.999561 uwb: 0.0 830.808 482.332 -imu_odom_: 1691062441.533935314 0.023942 0 9.68933 -0.0458064 -0.00745685 0.0276969 0.18 0 pose: 0.46965851 5.28053 0.0719646 0 -0.0012446 0.000878155 0.0298308 0.999554 uwb: 0.0 830.808 482.332 -imu_odom_: 1691062441.548992849 0.1652 -0.512359 9.8689 -0.072438 0.00958738 0.0617853 0.18 0 pose: 0.0 5.28053 0.0719646 0 -0.0012446 0.000878155 0.0298308 0.999554 uwb: 0.50130057 829.142 481.84 -imu_odom_: 1691062441.574053941 0.222661 -0.220267 10.1801 -0.0394148 0 0.0330232 0.18 0.02 pose: 0.0 5.28053 0.0719646 0 -0.0012446 0.000878155 0.0298308 0.999554 uwb: 0.0 829.142 481.84 -imu_odom_: 1691062441.599912353 0.502782 -0.184354 10.2927 -0.0820254 -0.0628506 0.0553937 0.18 0.02 pose: 0.39029673 5.28354 0.0722353 0 -0.00151734 0.0039174 0.0298784 0.999545 uwb: 0.49949536 832.36 479.433 -imu_odom_: 1691062441.624906953 0.634463 -0.0742203 10.0676 -0.0468716 -0.0490022 0.0287621 0.18 0.02 pose: 0.42883005 5.2935 0.0731316 0 -0.00072274 0.00235102 0.0300342 0.999546 uwb: 0.0 832.36 479.433 -imu_odom_: 1691062441.649921091 0.708684 -0.191536 10.0293 -0.0777643 -0.0372843 0.0543285 0.18 0.02 pose: 0.0 5.2935 0.0731316 0 -0.00072274 0.00235102 0.0300342 0.999546 uwb: 0.49926790 833.383 477.921 -imu_odom_: 1691062441.663953249 0.323217 -0.035913 9.64384 -0.0447411 0.02024 0.0372843 0.2 -0.02 pose: 0.8025417 5.2935 0.0731316 0 -0.0002750350.00148099 0.0299913 0.999549 uwb: 0.0 833.383 477.921 -imu_odom_: 1691062441.688180857 0.299275 -0.122104 9.85693 -0.0905475 0 0.0639159 0.2 -0.02 pose: 0.0 5.2935 0.0731316 0 -0.0002750350.00148099 0.0299913 0.999549 uwb: 0.0 833.383 477.921 -imu_odom_: 1691062441.712113333 0.205901 -0.189142 9.82102 -0.0575243 0.00106526 0.0330232 0.24 0 pose: 0.48017767 5.30346 0.0740302 0 0.001043 -0.00280121 0.0300777 0.999543 uwb: 0.49981324 835.811 476.07 -imu_odom_: 1691062441.737065354 0.339977 -0.457293 9.54808 -0.0713727 0.0319579 0.0479369 0.24 0 pose: 0.0 5.30346 0.0740302 0 0.001043 -0.00280121 0.0300777 0.999543 uwb: 0.0 835.811 476.07 -imu_odom_: 1691062441.752917586 0.162806 -0.311246 10.0604 -0.0298274 -0.0213053 0.0372843 0.18 0.02 pose: 0.81109817 5.32061 0.0755864 0 -0.0008867340.00308753 0.0303702 0.999534 uwb: 0.49980450 838.758 474.221 -imu_odom_: 1691062441.767968998 0.320823 -0.423774 9.91918 -0.0447411 -0.0458064 0.0458064 0.18 0.02 pose: 0.0 5.32061 0.0755864 0 -0.0008867340.00308753 0.0303702 0.999534 uwb: 0.0 838.758 474.221 -imu_odom_: 1691062441.784037912 0.656011 -0.158017 10.1179 -0.0543285 0.015979 0.0436758 0.18 0.02 pose: 0.0 5.32061 0.0755864 0 -0.0008867340.00308753 0.0303702 0.999534 uwb: 0.0 838.758 474.221 -imu_odom_: 1691062441.799902685 0.248997 -0.21069 9.91439 -0.0223706 -0.00745685 0.0383495 0.18 -0.02 pose: 0.6891552 5.32337 0.0758374 0 -0.00110046 0.00365023 0.0303616 0.999532 uwb: 0.50020694 838.071 473.622 -imu_odom_: 1691062441.813926677 0.574608 -0.423774 9.88326 -0.0532632 0.0213053 0.0575243 0.18 -0.02 pose: 0.0 5.32337 0.0758374 0 -0.00110046 0.00365023 0.0303616 0.999532 uwb: 0.0 838.071 473.622 -imu_odom_: 1691062441.839110837 0.61531 -0.356736 10.3765 -0.0319579 0.04048 0.0351537 0.17 0 pose: 0.30982676 5.32337 0.0758374 0 -0.00255257 0.00340476 0.0304038 0.999529 uwb: 0.0 838.071 473.622 -imu_odom_: 1691062441.856048232 0.521936 -0.45011 9.71088 -0.0500674 -0.0394148 0.04048 0.17 0 pose: 0.0 5.32337 0.0758374 0 -0.00255257 0.00340476 0.0304038 0.999529 uwb: 0.50088354 833.639 473.971 -imu_odom_: 1691062441.872090025 0.94571 -0.0957681 9.69891 -0.0607201 -0.0372843 0.052198 0.17 0 pose: 0.0 5.32337 0.0758374 0 -0.00255257 0.00340476 0.0304038 0.999529 uwb: 0.0 833.639 473.971 -imu_odom_: 1691062441.889039376 1.67594 -0.323217 10.07 -0.0575243 -0.0447411 0.0117179 0.21 -0.26 pose: 0.46127993 5.33424 0.0667855 0 -0.00229012 0.00259275 0.0305177 0.999528 uwb: 0.0 833.639 473.971 -imu_odom_: 1691062441.906026348 1.60172 -0.174777 9.21289 -0.0671117 -0.02024 -0.122505 0.13 -0.29 pose: 0.0 5.33424 0.0667855 0 -0.00229012 0.00259275 0.0305177 0.999528 uwb: 0.49985115 827.948 475.162 -imu_odom_: 1691062441.922901042 1.75495 0.141258 9.86411 -0.0607201 0.0213053 -0.213053 0.13 -0.29 pose: 0.75991385 5.3442 0.0676949 0 -0.00330663 -0.0047593 0.0296774 0.999543 uwb: 0.0 827.948 475.162 -imu_odom_: 1691062441.939027117 0.881066 -0.0981623 9.71088 -0.0500674 0.0468716 -0.298274 0.13 -0.29 pose: 0.0 5.3442 0.0676949 0 -0.00330663 -0.0047593 0.0296774 0.999543 uwb: 0.0 827.948 475.162 -imu_odom_: 1691062441.956093704 0.73502 0.158017 9.81862 -0.0575243 0.00213053 -0.374973 0.13 -0.44 pose: 0.0 5.3442 0.0676949 0 -0.00330663 -0.0047593 0.0296774 0.999543 uwb: 0.49755018 829.05 473.863 -imu_odom_: 1691062441.971948853 0.54109 -0.0933739 9.69412 -0.0596548 -0.0234358 -0.394148 0.13 -0.44 pose: 0.33982110 5.35415 0.0686872 0 -0.00228472 -0.00761435 0.0254274 0.999645 uwb: 0.0 829.05 473.863 -imu_odom_: 1691062441.989142300 0.957681 -0.440533 9.98382 -0.0500674 -0.0383495 -0.421845 0.13 -0.55 pose: 0.40907783 5.35415 0.0686872 0 0.00125671 -0.00848133 0.0170717 0.999818 uwb: 0.0 829.05 473.863 -imu_odom_: 1691062442.5006490 0.938527 -0.148441 9.84256 -0.0479369 -0.0330232 -0.434628 0.13 -0.55 pose: 0.0 5.35415 0.0686872 0 0.00125671 -0.00848133 0.0170717 0.999818 uwb: 0.49997365 830.597 472.352 -imu_odom_: 1691062442.20967801 1.08936 0.0023942 10.1442 -0.0383495 -0.0170442 -0.425041 0.13 -0.55 pose: 0.0 5.35415 0.0686872 0 0.00125671 -0.00848133 0.0170717 0.999818 uwb: 0.0 830.597 472.352 -imu_odom_: 1691062442.37908703 1.17555 -0.217872 10.0293 -0.0617853 -0.00958738 -0.437824 0.08 -0.47 pose: 0.7068864 5.35415 0.0686872 0 0.000919914 -0.00920139 0.0154449 0.999838 uwb: 0.0 830.597 472.352 -imu_odom_: 1691062442.52849010 0.85473 -0.148441 9.98861 -0.0468716 0.00213053 -0.492152 0.1 -0.7 pose: 0.0 5.35415 0.0686872 0 0.000919914 -0.00920139 0.0154449 0.999838 uwb: 0.49995632 832.002 470.375 -imu_odom_: 1691062442.66914713 0.68953 -0.162806 10.0892 -0.056459 -0.0351537 -0.494283 0.1 -0.7 pose: 0.0 5.35415 0.0686872 0 0.000919914 -0.00920139 0.0154449 0.999838 uwb: 0.0 832.002 470.375 -imu_odom_: 1691062442.81849770 0.787692 -0.148441 9.57441 -0.0617853 -0.0319579 -0.476173 0.1 -0.7 pose: 0.64849319 5.3641 0.0696944 0 0.00177364 -0.0158478 1.45038e-05 0.999873 uwb: 0.0 832.002 470.375 -imu_odom_: 1691062442.98909367 0.833182 -0.538695 9.63666 -0.0649811 -0.0191748 -0.50174 0.06 -0.5 pose: 0.0 5.3641 0.0696944 0 0.00177364 -0.0158478 1.45038e-05 0.999873 uwb: 0.50112875 831.219 469.515 -imu_odom_: 1691062442.114845889 0.603339 -0.184354 10.0533 -0.0553937 0.0117179 -0.516653 0.06 -0.5 pose: 0.29987060 5.3641 0.0696944 0 0.00255038 -0.0162957 -0.007927 0.999833 uwb: 0.0 831.219 469.515 -imu_odom_: 1691062442.130845986 0.557849 -0.155623 10.161 -0.0617853 0.00213053 -0.476173 0.07 -0.67 pose: 0.0 5.3641 0.0696944 0 0.00255038 -0.0162957 -0.007927 0.999833 uwb: 0.0 831.219 469.515 -imu_odom_: 1691062442.146843167 0.574608 -0.181959 9.94312 -0.0617853 -0.0266316 -0.426106 0.07 -0.67 pose: 0.48037913 5.3641 0.0696944 0 0.00134458 -0.0152894 -0.0208322 0.999665 uwb: 0.50135039 829.647 469.401 -imu_odom_: 1691062442.163891974 0.821211 -0.4956 9.59835 -0.0532632 -0.015979 -0.381365 0.07 -0.67 pose: 0.0 5.3641 0.0696944 0 0.00134458 -0.0152894 -0.0208322 0.999665 uwb: 0.0 829.647 469.401 -imu_odom_: 1691062442.179897029 0.778116 -0.354342 10.0317 -0.0553937 0.00532632 -0.337689 0.05 -0.38 pose: 0.41999965 5.37398 0.0706717 0 4.73243e-05 -0.0138224 -0.0304373 0.999441 uwb: 0.0 829.647 469.401 -imu_odom_: 1691062442.196863303 0.366313 -0.356736 9.7875 -0.0596548 0.0138484 -0.311057 0.05 -0.38 pose: 0.0 5.37398 0.0706717 0 4.73243e-05 -0.0138224 -0.0304373 0.999441 uwb: 0.49901441 831.644 467.631 -imu_odom_: 1691062442.212972763 0.418985 -0.0694318 10.1035 -0.0543285 -0.0245011 -0.296144 0.05 -0.38 pose: 0.0 5.37398 0.0706717 0 4.73243e-05 -0.0138224 -0.0304373 0.999441 uwb: 0.0 831.644 467.631 -imu_odom_: 1691062442.229969950 0.610521 -0.272939 9.81144 -0.0628506 -0.0170442 -0.26312 0.05 -0.32 pose: 0.8004423 5.37405 0.070676 0 -0.000607343-0.014213 -0.0319368 0.999389 uwb: 0.0 831.644 467.631 -imu_odom_: 1691062442.245851354 0.758962 -0.40462 9.83538 -0.0617853 -0.0127832 -0.224771 0.03 -0.26 pose: 0.0 5.37405 0.070676 0 -0.000607343-0.014213 -0.0319368 0.999389 uwb: 0.49934105 832.315 466.508 -imu_odom_: 1691062442.261964021 0.629675 -0.442927 9.96706 -0.0596548 0.00852212 -0.206661 0.03 -0.26 pose: 0.66081768 5.37405 0.0706762 0 -0.00302652 -0.0117014 -0.0427156 0.999014 uwb: 0.0 832.315 466.508 -imu_odom_: 1691062442.277900252 0.476446 -0.155623 10.0628 -0.0553937 0.00426106 -0.194943 0.03 -0.26 pose: 0.0 5.37405 0.0706762 0 -0.00302652 -0.0117014 -0.0427156 0.999014 uwb: 0.0 832.315 466.508 -imu_odom_: 1691062442.294903563 0.488417 -0.220267 9.83538 -0.0553937 -0.00745685 -0.175769 0.03 -0.23 pose: 0.0 5.37405 0.0706762 0 -0.00302652 -0.0117014 -0.0427156 0.999014 uwb: 0.50199198 830.195 466.292 -imu_odom_: 1691062442.310841252 0.517148 -0.268151 9.80426 -0.0628506 -0.0149137 -0.157659 0.03 -0.23 pose: 0.31933411 5.37405 0.0706762 0 -0.00467662 -0.01131 -0.0466465 0.998836 uwb: 0.0 830.195 466.292 -imu_odom_: 1691062442.327999712 0.627281 -0.380678 9.78031 -0.0543285 -0.00745685 -0.143811 0.04 -0.23 pose: 0.0 5.37405 0.0706762 0 -0.00467662 -0.01131 -0.0466465 0.998836 uwb: 0.0 830.195 466.292 -imu_odom_: 1691062442.352980033 0.629675 -0.275333 9.92397 -0.052198 -0.00639159 -0.117179 0.04 -0.23 pose: 0.47934968 5.37405 0.0706762 0 -0.00380638 -0.00812064 -0.0516227 0.998626 uwb: 0.49947811 831.075 465.84 -imu_odom_: 1691062442.368815359 0.512359 -0.299275 9.80186 -0.0596548 0.00106526 -0.0990696 0.03 -0.17 pose: 0.0 5.37405 0.0706762 0 -0.00380638 -0.00812064 -0.0516227 0.998626 uwb: 0.0 831.075 465.84 -imu_odom_: 1691062442.384975854 0.169988 -0.270545 9.83299 -0.0490022 0.0234358 -0.135289 0.02 -0.23 pose: 0.42020379 5.37405 0.0706762 0 -0.0038945 -0.0103334 -0.054992 0.998426 uwb: 0.0 831.075 465.84 -imu_odom_: 1691062442.409824941 0.0215478 0.0143652 9.7037 -0.0575243 -0.0213053 -0.211988 0.03 -0.35 pose: 0.0 5.37405 0.0706762 0 -0.0038945 -0.0103334 -0.054992 0.998426 uwb: 0.49746002 834.74 464.474 -imu_odom_: 1691062442.431805827 0.782904 -0.0670376 9.73482 -0.0553937 -0.0287621 -0.302535 0.03 -0.35 pose: 0.31967532 5.37405 0.0706765 0 -0.00346929 -0.00708135 -0.0578759 0.998293 uwb: 0.0 834.74 464.474 -imu_odom_: 1691062442.447803009 0.732626 -0.222661 9.94551 -0.0617853 0.00958738 -0.334493 0.02 -0.32 pose: 0.0 5.37405 0.0706765 0 -0.00346929 -0.00708135 -0.0578759 0.998293 uwb: 0.50113167 833.162 464.348 -imu_odom_: 1691062442.464859397 0.366313 -0.35913 9.96706 -0.0617853 0.00852212 -0.336624 0.02 -0.32 pose: 0.24119715 5.384 0.0717168 0 -0.00219465 -0.00631889 -0.0611859 0.998104 uwb: 0.0 833.162 464.348 -imu_odom_: 1691062442.489828054 0.52433 -0.167594 9.96467 -0.0458064 -0.00213053 -0.38456 0.02 -0.41 pose: 0.48905227 5.38393 0.071713 0 -0.00216953 -0.00772312 -0.0700793 0.997509 uwb: 0.49925064 833.05 463.989 -imu_odom_: 1691062442.516827052 0.653617 -0.117316 9.85214 -0.0596548 0.00532632 -0.413323 0.02 -0.41 pose: 0.0 5.38393 0.071713 0 -0.00216953 -0.00772312 -0.0700793 0.997509 uwb: 0.0 833.05 463.989 -imu_odom_: 1691062442.541866866 0.52433 -0.344765 10.0245 -0.0649811 0.00106526 -0.435693 0.02 -0.5 pose: 0.7954846 5.384 0.0717174 0 -0.00136454 -0.00746182 -0.0717672 0.997393 uwb: 0.49967642 834.821 463.072 -imu_odom_: 1691062442.558820892 0.653617 -0.383072 9.60314 -0.0649811 -0.00745685 -0.433563 0.02 -0.5 pose: 0.0 5.384 0.0717174 0 -0.00136454 -0.00746182 -0.0717672 0.997393 uwb: 0.0 834.821 463.072 -imu_odom_: 1691062442.583809963 0.395043 -0.201113 10.0389 -0.0639159 -0.00426106 -0.442085 0.02 -0.47 pose: 0.51103257 5.384 0.0717173 0 0.00103396 -0.00881553 -0.0831527 0.996497 uwb: 0.0 834.821 463.072 -imu_odom_: 1691062442.600854686 0.488417 -0.349553 9.73243 -0.0553937 -0.0127832 -0.448476 0.02 -0.47 pose: 0.0 5.384 0.0717173 0 0.00103396 -0.00881553 -0.0831527 0.996497 uwb: 0.50079629 831.516 463.977 -imu_odom_: 1691062442.616794707 0.407014 -0.304064 9.991 -0.0660464 0.00319579 -0.462325 0.02 -0.5 pose: 0.43028843 5.384 0.0717172 0 -0.00203053 -0.00803989 -0.0933221 0.995601 uwb: 0.0 831.516 463.977 -imu_odom_: 1691062442.642846485 0.471658 -0.270545 9.84975 -0.056459 -0.00532632 -0.46339 0.02 -0.5 pose: 0.41873396 5.384 0.0717171 0 -0.0032858 -0.00500126 -0.103481 0.994613 uwb: 0.50033259 831.802 463.247 -imu_odom_: 1691062442.664809582 0.536301 -0.318429 9.84975 -0.0575243 -0.015979 -0.467651 0.03 -0.53 pose: 0.34026746 5.38395 0.0717141 0 -0.00280662 -0.00171476 -0.111976 0.993705 uwb: 0.0 831.802 463.247 -imu_odom_: 1691062442.689854354 0.383072 -0.136469 9.88805 -0.0575243 -0.0106526 -0.493217 0.03 -0.53 pose: 0.0 5.38395 0.0717141 0 -0.00280662 -0.00171476 -0.111976 0.993705 uwb: 0.0 831.802 463.247 -imu_odom_: 1691062442.713849251 0.4956 -0.059855 9.94073 -0.0436758 -0.00958738 -0.540089 0.02 -0.64 pose: 0.6128938 5.384 0.0717172 0 -0.00317523 -0.00225062 -0.113521 0.993528 uwb: 0.0 831.802 463.247 -imu_odom_: 1691062442.728902420 0.639252 -0.287304 9.89524 -0.056459 -0.0117179 -0.543285 0.02 -0.64 pose: 0.0 5.384 0.0717172 0 -0.00317523 -0.00225062 -0.113521 0.993528 uwb: 0.0 831.802 463.247 -imu_odom_: 1691062442.743950922 0.557849 -0.320823 9.75877 -0.0511327 -0.00426106 -0.569916 0.02 -0.64 pose: 0.0 5.384 0.0717172 0 -0.00317523 -0.00225062 -0.113521 0.993528 uwb: 0.99939368 830.382 463.645 -imu_odom_: 1691062442.761057763 0.438139 -0.0957681 9.87369 -0.0490022 -0.00426106 -0.600809 0.02 -0.61 pose: 0.47837854 5.384 0.0717178 0 -0.00120175 -0.00284925 -0.126141 0.992007 uwb: 0.0 830.382 463.645 -imu_odom_: 1691062442.785917349 0.701501 -0.201113 9.77313 -0.072438 -0.0308927 -0.60507 0.02 -0.61 pose: 0.0 5.384 0.0717178 0 -0.00120175 -0.00284925 -0.126141 0.992007 uwb: 0.0 830.382 463.645 -imu_odom_: 1691062442.802800800 0.505177 -0.351948 9.86172 -0.056459 0.00319579 -0.616788 0.01 -0.61 pose: 0.72126424 5.384 0.0717178 0 -0.000191798-0.00561142 -0.147863 0.988992 uwb: 0.50135330 827.94 464.078 -imu_odom_: 1691062442.818833560 0.47884 -0.129287 10.0197 -0.0511327 -0.0117179 -0.640224 0.01 -0.61 pose: 0.0 5.384 0.0717178 0 -0.000191798-0.00561142 -0.147863 0.988992 uwb: 0.0 827.94 464.078 -imu_odom_: 1691062442.835776213 0.311246 -0.148441 9.65103 -0.0575243 0 -0.647681 0.02 -0.97 pose: 0.49893859 5.38927 0.0722911 0 -0.000517887-0.00619964 -0.164119 0.986421 uwb: 0.0 827.94 464.078 -imu_odom_: 1691062442.851766103 0.366313 -0.208296 9.94791 -0.0500674 -0.0181095 -0.666856 0.02 -0.97 pose: 0.0 5.38927 0.0722911 0 -0.000517887-0.00619964 -0.164119 0.986421 uwb: 0.49861197 827.4 464.005 -imu_odom_: 1691062442.868766207 0.701501 -0.186748 9.73961 -0.0596548 -0.0170442 -0.692422 0.02 -0.97 pose: 0.0 5.38927 0.0722911 0 -0.000517887-0.00619964 -0.164119 0.986421 uwb: 0.0 827.4 464.005 -imu_odom_: 1691062442.884825214 0.68953 -0.213084 10.0269 -0.056459 -0.00532632 -0.702009 0.01 -0.73 pose: 0.6944050 5.39394 0.0727592 0 -0.000219775-0.00555257 -0.166474 0.98603 uwb: 0.0 827.4 464.005 -imu_odom_: 1691062442.901761742 0.620098 -0.318429 9.71328 -0.0607201 -0.00106526 -0.714792 0.01 -0.73 pose: 0.0 5.39394 0.0727592 0 -0.000219775-0.00555257 -0.166474 0.98603 uwb: 0.50046091 828.689 463.198 -imu_odom_: 1691062442.917762423 0.452504 -0.263362 9.95748 -0.0490022 -0.00958738 -0.729706 0.01 -0.73 pose: 0.0 5.39394 0.0727592 0 -0.000219775-0.00555257 -0.166474 0.98603 uwb: 0.0 828.689 463.198 -imu_odom_: 1691062442.934766318 0.409408 -0.148441 10.0197 -0.0607201 -0.0117179 -0.72651 0.01 -1 pose: 0.50998561 5.39394 0.0727593 0 -0.000106867-0.00569735 -0.184466 0.982822 uwb: 0.0 828.689 463.198 -imu_odom_: 1691062442.950760583 0.59855 -0.272939 9.94073 -0.056459 -0.0298274 -0.735032 0.01 -0.76 pose: 0.0 5.39394 0.0727593 0 -0.000106867-0.00569735 -0.184466 0.982822 uwb: 0.49995056 832.921 461.939 -imu_odom_: 1691062442.967829220 0.617704 -0.198719 9.90002 -0.0532632 -0.00745685 -0.782969 0.01 -0.76 pose: 0.65999528 5.39394 0.0727602 0 -0.00137252 -0.0053259 -0.209104 0.977878 uwb: 0.0 832.921 461.939 -imu_odom_: 1691062442.992745382 0.536301 -0.0933739 10.1107 -0.0596548 -0.0213053 -0.782969 0 -0.79 pose: 0.0 5.39394 0.0727602 0 -0.00137252 -0.0053259 -0.209104 0.977878 uwb: 0.50003221 835.209 461.013 -imu_odom_: 1691062443.9811108 0.565032 -0.23942 9.61511 -0.0596548 -0.0170442 -0.778708 0 -0.79 pose: 0.33331787 5.39394 0.0727599 0 -0.000912336-0.00783999 -0.222307 0.974945 uwb: 0.0 835.209 461.013 -imu_odom_: 1691062443.25922908 0.430956 -0.392649 10.0413 -0.0671117 -0.0234358 -0.791491 0 -0.79 pose: 0.0 5.39394 0.0727599 0 -0.000912336-0.00783999 -0.222307 0.974945 uwb: 0.0 835.209 461.013 -imu_odom_: 1691062443.41749201 0.426168 -0.148441 9.93833 -0.0553937 -0.00958738 -0.80534 0 -0.88 pose: 0.41822369 5.39394 0.0727599 0 -0.00155794 -0.00755929 -0.239037 0.97098 uwb: 0.50033571 833.715 461.177 -imu_odom_: 1691062443.57744640 0.500388 -0.203507 9.94312 -0.0575243 -0.0287621 -0.80534 0 -0.88 pose: 0.0 5.39394 0.0727599 0 -0.00155794 -0.00755929 -0.239037 0.97098 uwb: 0.0 833.715 461.177 -imu_odom_: 1691062443.74743294 0.502782 -0.31364 9.93833 -0.0681769 -0.0276969 -0.819188 0 -1.06 pose: 0.39814785 5.39387 0.0727553 0 -0.000569587-0.00462183 -0.255287 0.966854 uwb: 0.0 833.715 461.177 -imu_odom_: 1691062443.90747774 0.596156 -0.268151 9.80426 -0.0745685 -0.0127832 -0.814927 0 -1.06 pose: 0.0 5.39387 0.0727553 0 -0.000569587-0.00462183 -0.255287 0.966854 uwb: 0.50085194 833.674 461.042 -imu_odom_: 1691062443.107852874 0.428562 -0.296881 9.96227 -0.0596548 -0.0319579 -0.836233 0 -1.06 pose: 0.0 5.39387 0.0727553 0 -0.000569587-0.00462183 -0.255287 0.966854 uwb: 0.0 833.674 461.042 -imu_odom_: 1691062443.123756449 0.521936 -0.110133 9.89045 -0.0671117 -0.0223706 -0.837298 0 -0.85 pose: 0.7069163 5.39394 0.07276 0 -0.00131702 -0.00456729 -0.258218 0.966075 uwb: 0.0 833.674 461.042 -imu_odom_: 1691062443.140737313 0.701501 -0.35913 9.78989 -0.0490022 -0.02024 -0.828776 0 -0.85 pose: 0.0 5.39394 0.07276 0 -0.00131702 -0.00456729 -0.258218 0.966075 uwb: 0.49787146 832.832 461.647 -imu_odom_: 1691062443.156852030 0.383072 -0.234632 9.91678 -0.056459 -0.00213053 -0.833037 0 -0.85 pose: 0.0 5.39394 0.07276 0 -0.00131702 -0.00456729 -0.258218 0.966075 uwb: 0.0 832.832 461.647 -imu_odom_: 1691062443.173849517 0.351948 -0.280122 10.0413 -0.0511327 -0.00532632 -0.851146 0 -1.09 pose: 0.50924220 5.39394 0.0727599 0 -0.00304798 -0.00478695 -0.279446 0.960145 uwb: 0.0 832.832 461.647 -imu_odom_: 1691062443.189976774 0.56982 -0.186748 9.83777 -0.0532632 -0.0149137 -0.850081 0 -1.09 pose: 0.0 5.39394 0.0727599 0 -0.00304798 -0.00478695 -0.279446 0.960145 uwb: 0.50086361 833.316 461.546 -imu_odom_: 1691062443.206725208 0.622492 -0.337582 10.07 -0.0575243 -0.0191748 -0.841559 0 -1.09 pose: 0.47999150 5.39394 0.0727599 0 -0.0029193 -0.00422493 -0.299529 0.954073 uwb: 0.0 833.316 461.546 -imu_odom_: 1691062443.222834384 0.203507 -0.349553 9.53611 -0.0617853 -0.00426106 -0.836233 0 -0.85 pose: 0.0 5.39394 0.0727599 0 -0.0029193 -0.00422493 -0.299529 0.954073 uwb: 0.0 833.316 461.546 -imu_odom_: 1691062443.239780544 0.392649 -0.258574 10.0987 -0.0511327 -0.0117179 -0.844755 0 -1.17 pose: 0.0 5.39394 0.0727599 0 -0.0029193 -0.00422493 -0.299529 0.954073 uwb: 0.49930629 830.504 462.449 -imu_odom_: 1691062443.255724656 0.454898 -0.059855 9.88566 -0.0575243 -0.0138484 -0.84795 0 -1.17 pose: 0.66061094 5.39394 0.0727603 0 -0.0035626 -0.00358886 -0.327237 0.944929 uwb: 0.0 830.504 462.449 -imu_odom_: 1691062443.272838796 0.612916 -0.153229 9.79707 -0.052198 -0.0181095 -0.844755 0 -1.17 pose: 0.0 5.39394 0.0727603 0 -0.0035626 -0.00358886 -0.327237 0.944929 uwb: 0.0 830.504 462.449 -imu_odom_: 1691062443.288841818 0.368707 -0.325611 9.74201 -0.0468716 -0.00958738 -0.826645 0 -1.17 pose: 0.0 5.39394 0.0727603 0 -0.0035626 -0.00358886 -0.327237 0.944929 uwb: 0.0 830.504 462.449 -imu_odom_: 1691062443.305829389 0.605733 -0.387861 10.0365 -0.072438 -0.0330232 -0.76486 0 -1.17 pose: 0.32994677 5.39394 0.0727605 0 -0.00158902 -0.00393378 -0.341017 0.940048 uwb: 0.49988665 831.338 461.818 -imu_odom_: 1691062443.321767669 0.514753 -0.423774 9.74679 -0.0553937 -0.015979 -0.713727 0 -0.7 pose: 0.43036445 5.39388 0.0727563 0 -0.00377677 -0.0042614 -0.358063 0.93368 uwb: 0.0 831.338 461.818 -imu_odom_: 1691062443.338881226 0.497994 -0.507571 10.0078 -0.0543285 -0.00319579 -0.659399 0 -0.7 pose: 0.6886310 5.39394 0.0727605 0 -0.00443608 -0.00409597 -0.36048 0.932748 uwb: 0.0 831.338 461.818 -imu_odom_: 1691062443.354708393 0.64404 -0.275333 9.90721 -0.0585895 -0.0266316 -0.600809 0 -0.7 pose: 0.0 5.39394 0.0727605 0 -0.00443608 -0.00409597 -0.36048 0.932748 uwb: 0.49986039 830.44 462.248 -imu_odom_: 1691062443.370709082 0.486023 -0.366313 9.89045 -0.0511327 0.00745685 -0.551807 0 -0.85 pose: 0.41992694 5.39387 0.0727565 0 -0.00702631 -0.00494721 -0.373915 0.927423 uwb: 0.0 830.44 462.248 -imu_odom_: 1691062443.387762854 0.553061 -0.328006 10.003 -0.0585895 -0.0266316 -0.523045 0 -0.58 pose: 0.0 5.39387 0.0727565 0 -0.00702631 -0.00494721 -0.373915 0.927423 uwb: 0.0 830.44 462.248 -imu_odom_: 1691062443.404715722 0.574608 -0.158017 9.73961 -0.0468716 -0.00532632 -0.509196 0 -0.58 pose: 0.0 5.39387 0.0727565 0 -0.00702631 -0.00494721 -0.373915 0.927423 uwb: 0.49994788 828.455 462.483 -imu_odom_: 1691062443.420707370 0.509965 -0.28491 9.92636 -0.0500674 0 -0.48363 0 -0.47 pose: 0.24012115 5.39394 0.0727605 0 -0.00793816 -0.00427886 -0.380374 0.924789 uwb: 0.0 828.455 462.483 -imu_odom_: 1691062443.436698726 0.397437 -0.383072 9.81623 -0.052198 0 -0.449542 0 -0.47 pose: 0.0 5.39394 0.0727605 0 -0.00793816 -0.00427886 -0.380374 0.924789 uwb: 0.0 828.455 462.483 -imu_odom_: 1691062443.453720711 0.454898 -0.435745 9.99819 -0.0511327 -0.0127832 -0.407996 0 -0.47 pose: 0.33980976 5.39394 0.0727606 0 -0.00632873 -0.00540794 -0.388961 0.921217 uwb: 0.49990997 831.095 461.033 -imu_odom_: 1691062443.470699533 0.390255 -0.349553 9.89763 -0.0585895 -0.0149137 -0.357929 0 -0.58 pose: 0.41019227 5.39394 0.0727606 0 -0.00740141 -0.00204381 -0.397962 0.91737 uwb: 0.0 831.095 461.033 -imu_odom_: 1691062443.486698181 0.402226 -0.35913 9.89284 -0.052198 -0.0149137 -0.318514 0 -0.58 pose: 0.6984589 5.39394 0.0727606 0 -0.00725564 -0.00140487 -0.399232 0.91682 uwb: 0.0 831.095 461.033 -imu_odom_: 1691062443.513699817 0.488417 -0.100556 9.84496 -0.0500674 -0.0106526 -0.305731 0 -0.53 pose: 0.0 5.39394 0.0727606 0 -0.00725564 -0.00140487 -0.399232 0.91682 uwb: 0.49991873 832.901 460.199 -imu_odom_: 1691062443.538763557 0.395043 -0.335188 9.91439 -0.0585895 0.00106526 -0.302535 0 -0.35 pose: 0.34000224 5.39394 0.0727609 0 -0.00625876 0.0004959 -0.404927 0.914327 uwb: 0.50006162 830.974 460.652 -imu_odom_: 1691062443.563755265 0.301669 0.0454898 9.89045 -0.0490022 -0.00852212 -0.409062 0 -0.47 pose: 0.44058033 5.39394 0.072761 0 -0.00521623 0.00181863 -0.41183 0.911244 uwb: 0.0 830.974 460.652 -imu_odom_: 1691062443.577806101 0.292093 0.0574608 9.8282 -0.0532632 -0.0191748 -0.437824 0 -0.47 pose: 0.0 5.39394 0.072761 0 -0.00521623 0.00181863 -0.41183 0.911244 uwb: 0.0 830.974 460.652 -imu_odom_: 1691062443.593805331 0.481235 -0.248997 9.88326 -0.0553937 -0.0181095 -0.486826 0 -0.44 pose: 0.0 5.39394 0.072761 0 -0.00521623 0.00181863 -0.41183 0.911244 uwb: 0.49881051 830.404 460.486 -imu_odom_: 1691062443.609756734 0.447716 -0.184354 9.85453 -0.0468716 -0.00958738 -0.52411 0 -0.44 pose: 0.45997095 5.39394 0.072761 0 -0.00166114 0.000438912 -0.421641 0.906761 uwb: 0.0 830.404 460.486 -imu_odom_: 1691062443.636679630 0.459687 -0.445322 9.82341 -0.0575243 -0.0149137 -0.536893 0 -0.53 pose: 0.0 5.39394 0.072761 0 -0.00166114 0.000438912 -0.421641 0.906761 uwb: 0.0 830.404 460.486 -imu_odom_: 1691062443.661696417 0.608127 -0.107739 9.89045 -0.0479369 -0.0117179 -0.58483 0 -0.53 pose: 0.32988261 5.39394 0.0727611 0 -0.00163366 -0.00135138 -0.429949 0.90285 uwb: 0.49979332 829.82 460.276 -imu_odom_: 1691062443.688677639 0.466869 -0.251391 9.91678 -0.0607201 -0.00958738 -0.609331 0 -0.7 pose: 0.43947504 5.39388 0.0727575 0 -0.00259615 -0.00330906 -0.441891 0.897059 uwb: 0.50024243 828.457 460.881 -imu_odom_: 1691062443.713719507 0.308852 -0.167594 9.9527 -0.0532632 0.00106526 -0.631702 0 -0.7 pose: 0.8054880 5.39394 0.0727611 0 -0.00293449 -0.00258515 -0.444231 0.895904 uwb: 0.0 828.457 460.881 -imu_odom_: 1691062443.739808918 0.483629 -0.217872 9.98143 -0.056459 -0.0287621 -0.656203 0 -0.85 pose: 0.43968210 5.39371 0.072747 0 -0.00143474 0.000271139 -0.457211 0.889357 uwb: 0.0 828.457 460.881 -imu_odom_: 1691062443.755806690 0.708684 -0.0694318 9.90242 -0.0511327 -0.0223706 -0.691357 0 -0.85 pose: 0.0 5.39371 0.072747 0 -0.00143474 0.000271139 -0.457211 0.889357 uwb: 0.0 828.457 460.881 -imu_odom_: 1691062443.772667985 0.517148 -0.0861913 9.90481 -0.0585895 -0.0117179 -0.698813 0 -0.91 pose: 0.0 5.39371 0.072747 0 -0.00143474 0.000271139 -0.457211 0.889357 uwb: 0.0 828.457 460.881 -imu_odom_: 1691062443.797727060 0.0694318 -0.299275 9.65103 -0.052198 0.00852212 -0.730771 0 -0.91 pose: 0.49022487 5.39394 0.0727616 0 -0.00133406 -0.00480273 -0.472692 0.881214 uwb: 0.99963914 831.221 459.787 -imu_odom_: 1691062443.823833968 0.464475 -0.248997 9.83299 -0.0596548 -0.0394148 -0.738228 0 -0.91 pose: 0.34985066 5.39371 0.0727469 0 0.000126831 -0.00288269 -0.484393 0.874846 uwb: 0.0 831.221 459.787 -imu_odom_: 1691062443.848657987 0.459687 -0.143652 9.94791 -0.0596548 -0.0181095 -0.755272 0 -0.91 pose: 0.8068294 5.39394 0.0727609 0 -0.000719955-0.00276239 -0.487134 0.873322 uwb: 0.50038533 832.075 459.202 -imu_odom_: 1691062443.874766062 0.253785 -0.162806 9.74201 -0.0628506 0.00532632 -0.778708 0 -0.91 pose: 0.42862633 5.39371 0.0727468 0 -0.000423456-0.00359035 -0.501808 0.864971 uwb: 0.0 832.075 459.202 -imu_odom_: 1691062443.898657442 0.229843 -0.246603 9.75398 -0.0596548 -0.0106526 -0.80534 0 -0.82 pose: 0.0 5.39371 0.0727468 0 -0.000423456-0.00359035 -0.501808 0.864971 uwb: 0.49948127 831.97 458.865 -imu_odom_: 1691062443.915641222 0.694318 -0.189142 10.1059 -0.0649811 -0.0255663 -0.801079 0 -0.82 pose: 0.33119495 5.39394 0.0727608 0 0.00127085 -0.000659586-0.513571 0.858046 uwb: 0.0 831.97 458.865 -imu_odom_: 1691062443.941645476 0.378284 -0.387861 9.78989 -0.0681769 0.00426106 -0.800014 0 -0.79 pose: 0.0 5.39394 0.0727608 0 0.00127085 -0.000659586-0.513571 0.858046 uwb: 0.50113774 833.389 458.427 -imu_odom_: 1691062443.957799272 0.4956 -0.311246 10.1083 -0.0596548 -0.00532632 -0.811731 0 -0.79 pose: 0.40865245 5.39394 0.0727606 0 -8.36158e-06-9.72928e-05-0.528261 0.849082 uwb: 0.0 833.389 458.427 -imu_odom_: 1691062443.981793889 0.416591 0.0023942 9.83059 -0.0607201 -0.0181095 -0.829841 0 -0.79 pose: 0.0 5.39394 0.0727606 0 -8.36158e-06-9.72928e-05-0.528261 0.849082 uwb: 0.0 833.389 458.427 -imu_odom_: 1691062443.998784377 0.78051 -0.153229 10.149 -0.0639159 -0.0436758 -0.820254 0 -0.88 pose: 0.42076101 5.39394 0.0727606 0 -0.0024375 0.000142277 -0.543342 0.839508 uwb: 0.49996247 832.332 458.36 -imu_odom_: 1691062444.14659379 0.241814 -0.385466 9.51216 -0.0585895 -0.015979 -0.830906 0 -0.88 pose: 0.0 5.39394 0.0727606 0 -0.0024375 0.000142277 -0.543342 0.839508 uwb: 0.0 832.332 458.36 -imu_odom_: 1691062444.39630101 0.433351 -0.126893 9.8258 -0.0628506 -0.0266316 -0.855407 0 -1.11 pose: 0.49940551 5.39368 0.0727443 0 -0.00209612 -0.00114504 -0.561377 0.827557 uwb: 0.49941147 829.497 459.246 -imu_odom_: 1691062444.64625904 0.665588 -0.316035 10.3046 -0.0596548 -0.0223706 -0.840494 0 -1.11 pose: 0.0 5.39368 0.0727443 0 -0.00209612 -0.00114504 -0.561377 0.827557 uwb: 0.0 829.497 459.246 -imu_odom_: 1691062444.88737768 0.737414 -0.172383 10.0844 -0.0628506 -0.0213053 -0.870321 0 -0.85 pose: 0.6991301 5.39394 0.07276 0 -0.00154215 -0.00153431 -0.563965 0.825796 uwb: 0.49988688 831.31 458.407 -imu_odom_: 1691062444.105742846 0.514753 -0.0526724 9.65103 -0.0628506 -0.0298274 -0.879908 0 -0.85 pose: 0.0 5.39394 0.07276 0 -0.00154215 -0.00153431 -0.563965 0.825796 uwb: 0.0 831.31 458.407 -imu_odom_: 1691062444.121621932 0.433351 -0.059855 9.93354 -0.0575243 0.0117179 -0.880974 0 -0.88 pose: 0.49063047 5.39394 0.0727627 0 -0.00283934 -0.00431858 -0.581835 0.81329 uwb: 0.0 831.31 458.407 -imu_odom_: 1691062444.148617457 0.395043 -0.258574 9.59596 -0.0607201 -0.0458064 -0.878843 0 -0.88 pose: 0.0 5.39394 0.0727627 0 -0.00283934 -0.00431858 -0.581835 0.81329 uwb: 0.50054306 830.978 459.002 -imu_odom_: 1691062444.164787883 0.612916 -0.311246 9.79707 -0.0660464 -0.0255663 -0.889496 0 -1 pose: 0.77903730 5.39347 0.0727364 0 -0.00128281 -0.0044055 -0.610531 0.791979 uwb: 0.0 830.978 459.002 -imu_odom_: 1691062444.181724136 0.723049 -0.0670376 10.0748 -0.0607201 -0.00106526 -0.894822 0 -1 pose: 0.7124285 5.39394 0.0727622 0 -0.00205234 -0.00453267 -0.613145 0.789955 uwb: 0.0 830.978 459.002 -imu_odom_: 1691062444.197898937 0.605733 -0.1652 10.1394 -0.0660464 -0.02024 -0.882039 0 -1 pose: 0.0 5.39394 0.0727622 0 -0.00205234 -0.00453267 -0.613145 0.789955 uwb: 0.50105924 834.21 457.733 -imu_odom_: 1691062444.214757032 0.531513 -0.280122 9.91199 -0.0585895 -0.0234358 -0.874582 0 -0.97 pose: 0.34028820 5.39394 0.0727622 0 -0.00349572 -0.00714059 -0.625556 0.780139 uwb: 0.0 834.21 457.733 -imu_odom_: 1691062444.230764728 0.56982 -0.361524 9.76834 -0.0596548 -0.0213053 -0.8863 0 -0.97 pose: 0.0 5.39394 0.0727622 0 -0.00349572 -0.00714059 -0.625556 0.780139 uwb: 0.0 834.21 457.733 -imu_odom_: 1691062444.247629239 0.706289 -0.162806 9.96706 -0.0596548 0.0127832 -0.895887 0 -1.23 pose: 0.0 5.39394 0.0727622 0 -0.00349572 -0.00714059 -0.625556 0.780139 uwb: 0.49947568 833.202 457.821 -imu_odom_: 1691062444.264664647 0.469264 -0.323217 10.0365 -0.0681769 0.00319579 -0.889496 0 -1.23 pose: 0.48003548 5.39394 0.0727621 0 -0.00622421 -0.00644279 -0.642653 0.766105 uwb: 0.0 833.202 457.821 -imu_odom_: 1691062444.289614079 0.521936 -0.332794 10.1778 -0.0490022 -0.0223706 -0.909736 0 -0.88 pose: 0.0 5.39394 0.0727621 0 -0.00622421 -0.00644279 -0.642653 0.766105 uwb: 0.49911114 834.244 457.845 -imu_odom_: 1691062444.306616533 0.215478 -0.0861913 9.66539 -0.0617853 0.0298274 -0.899083 0 -0.91 pose: 0.33838967 5.39394 0.0727621 0 -0.00661068 -0.00501717 -0.654688 0.755854 uwb: 0.0 834.244 457.845 -imu_odom_: 1691062444.321659217 -0.0742203 -0.162806 10.1754 -0.0607201 0.00958738 -0.874582 0.01 -0.97 pose: 0.0 5.39394 0.0727621 0 -0.00661068 -0.00501717 -0.654688 0.755854 uwb: 0.0 834.244 457.845 -imu_odom_: 1691062444.336651449 -0.557849 -0.483629 9.55765 -0.0585895 0.00213053 -0.921454 0.01 -0.97 pose: 0.0 5.39394 0.0727621 0 -0.00661068 -0.00501717 -0.654688 0.755854 uwb: 0.0 834.244 457.845 -imu_odom_: 1691062444.352654187 -0.280122 0.0407014 10.3621 -0.0532632 -0.0181095 -0.932106 0.01 -0.97 pose: 0.41002332 5.39394 0.0727641 0 -0.00501114 -0.00240526 -0.669131 0.743124 uwb: 0.49997438 834.326 458.115 -imu_odom_: 1691062444.368586350 -0.514753 -0.205901 9.81383 -0.0777643 -0.00852212 -0.797883 0.03 -0.82 pose: 0.0 5.39394 0.0727641 0 -0.00501114 -0.00240526 -0.669131 0.743124 uwb: 0.0 834.326 458.115 -imu_odom_: 1691062444.385648879 -0.493206 -0.787692 9.87848 -0.0596548 -0.0639159 -0.666856 0.03 -0.82 pose: 0.31058837 5.39394 0.0727641 0 -0.00289109 -0.000225485-0.680022 0.733186 uwb: 0.0 834.326 458.115 -imu_odom_: 1691062444.402586299 -0.213084 -0.687136 9.50737 -0.0436758 -0.104396 -0.609331 0.07 -0.85 pose: 0.41974633 5.39472 0.0627968 0 -0.00114834 0.00260462 -0.692427 0.721483 uwb: 0.49988396 833.915 458.462 -imu_odom_: 1691062444.419580586 0.574608 -0.0933739 9.9096 -0.0596548 -0.036219 -0.583765 0.07 -0.85 pose: 0.0 5.39472 0.0627968 0 -0.00114834 0.00260462 -0.692427 0.721483 uwb: 0.0 833.915 458.462 -imu_odom_: 1691062444.435582157 0.646434 0.114922 10.0293 -0.0479369 -0.0127832 -0.590156 0.07 -0.85 pose: 0.0 5.39472 0.0627968 0 -0.00114834 0.00260462 -0.692427 0.721483 uwb: 0.0 833.915 458.462 -imu_odom_: 1691062444.451627765 0.136469 -0.0383072 9.91918 -0.0607201 0.0308927 -0.586961 0.08 -0.61 pose: 0.7955437 5.39478 0.0627998 0 -0.00128042 0.00306906 -0.694284 0.719694 uwb: 0.50184082 833.094 459.157 -imu_odom_: 1691062444.468725874 0.217872 -0.428562 10.1897 -0.0426106 0.00745685 -0.569916 0.09 -0.55 pose: 0.0 5.39478 0.0627998 0 -0.00128042 0.00306906 -0.694284 0.719694 uwb: 0.0 833.094 459.157 -imu_odom_: 1691062444.485616632 0.0694318 -0.37589 10.0341 -0.0788296 0.00106526 -0.519849 0.09 -0.55 pose: 0.66074541 5.39478 0.0627998 0 0.000377829 0.0013742 -0.709056 0.70515 uwb: 0.0 833.094 459.157 -imu_odom_: 1691062444.502601004 0.241814 -0.282516 9.98143 -0.072438 0 -0.491087 0.1 -0.5 pose: 0.0 5.39478 0.0627998 0 0.000377829 0.0013742 -0.709056 0.70515 uwb: 0.49861245 830.836 460.203 -imu_odom_: 1691062444.519714278 0.0622492 -0.270545 9.88566 -0.0703074 -0.0511327 -0.442085 0.1 -0.5 pose: 0.0 5.39478 0.0627998 0 0.000377829 0.0013742 -0.709056 0.70515 uwb: 0.0 830.836 460.203 -imu_odom_: 1691062444.537717321 0.354342 -0.318429 9.72285 -0.0703074 -0.0149137 -0.436758 0.1 -0.5 pose: 0.33958537 5.39562 0.0528349 0 0.00122773 0.00476926 -0.715791 0.698298 uwb: 0.0 830.836 460.203 -imu_odom_: 1691062444.554681279 0.155623 -0.213084 9.8665 -0.0585895 0.00852212 -0.410127 0.1 -0.47 pose: 0.34088897 5.39562 0.0528349 0 0.00161114 0.00645851 -0.721626 0.692251 uwb: 0.49971482 828.184 461.633 -imu_odom_: 1691062444.569733296 0.560243 -0.335188 10.0149 -0.0735032 -0.0671117 -0.380299 0.1 -0.47 pose: 0.0 5.39562 0.0528349 0 0.00161114 0.00645851 -0.721626 0.692251 uwb: 0.0 828.184 461.633 -imu_odom_: 1691062444.585563970 1.21625 -0.397437 9.72764 -0.0735032 -0.056459 -0.353668 0.1 -0.47 pose: 0.0 5.39562 0.0528349 0 0.00161114 0.00645851 -0.721626 0.692251 uwb: 0.0 828.184 461.633 -imu_odom_: 1691062444.601624743 1.26893 -0.248997 10.1083 -0.0649811 0.0298274 -0.320645 0.09 -0.38 pose: 0.48017254 5.3965 0.0428733 0 -0.0001683210.0053605 -0.728886 0.684614 uwb: 0.49840248 827.829 462.141 -imu_odom_: 1691062444.617559822 1.41976 -0.533907 10.1873 -0.0585895 0.0106526 -0.285491 0.09 -0.38 pose: 0.0 5.3965 0.0428733 0 -0.0001683210.0053605 -0.728886 0.684614 uwb: 0.0 827.829 462.141 -imu_odom_: 1691062444.633565768 1.14922 -0.122104 9.70849 -0.0585895 0.00639159 -0.26099 0.07 -0.38 pose: 0.41816277 5.38647 0.0420061 0 -0.00351387 0.0030377 -0.733957 0.67918 uwb: 0.0 827.829 462.141 -imu_odom_: 1691062444.649558007 1.03908 -0.0694318 9.96706 -0.0372843 0.00958738 -0.24288 0.07 -0.38 pose: 0.0 5.38647 0.0420061 0 -0.00351387 0.0030377 -0.733957 0.67918 uwb: 0.50012893 827.453 462.582 -imu_odom_: 1691062444.665556662 0.938527 -0.181959 9.76116 -0.0617853 0.00213053 -0.24075 0.07 -0.38 pose: 0.0 5.38647 0.0420061 0 -0.00351387 0.0030377 -0.733957 0.67918 uwb: 0.0 827.453 462.582 -imu_odom_: 1691062444.682549783 0.699107 -0.196325 10.1203 -0.056459 0.00745685 -0.252468 0.07 -0.38 pose: 0.7005882 5.38653 0.0420089 0 -0.00388308 0.00248262 -0.734674 0.678405 uwb: 0.0 827.453 462.582 -imu_odom_: 1691062444.698559228 0.847547 -0.203507 9.94312 -0.0585895 -0.00852212 -0.264186 0.07 -0.38 pose: 0.0 5.38653 0.0420089 0 -0.00388308 0.00248262 -0.734674 0.678405 uwb: 0.49969441 827.575 462.962 -imu_odom_: 1691062444.715614759 0.864307 -0.222661 9.76116 -0.0617853 -0.02024 -0.243946 0.07 -0.38 pose: 0.0 5.38653 0.0420089 0 -0.00388308 0.00248262 -0.734674 0.678405 uwb: 0.0 827.575 462.962 -imu_odom_: 1691062444.732613421 0.742203 -0.294487 9.81383 -0.0575243 0 -0.229032 0.04 -0.23 pose: 0.47992466 5.38653 0.0420089 0 -0.00608282 -0.00156033 -0.73933 0.673314 uwb: 0.0 827.575 462.962 -imu_odom_: 1691062444.749552590 0.924162 -0.275333 9.90002 -0.0585895 -0.0181095 -0.216249 0.06 -0.32 pose: 0.0 5.38653 0.0420089 0 -0.00608282 -0.00156033 -0.73933 0.673314 uwb: 0.49993646 830.922 462.121 -imu_odom_: 1691062444.765606655 0.675165 -0.198719 9.77553 -0.0596548 0.00213053 -0.210922 0.06 -0.32 pose: 0.66994641 5.3874 0.0320469 0 -0.0107834 -0.00630366 -0.745647 0.666225 uwb: 0.0 830.922 462.121 -imu_odom_: 1691062444.792741872 0.675165 -0.23942 9.90242 -0.0596548 -0.0181095 -0.199204 0.05 -0.29 pose: 0.0 5.3874 0.0320469 0 -0.0107834 -0.00630366 -0.745647 0.666225 uwb: 0.50007644 829.507 462.543 -imu_odom_: 1691062444.808551257 0.502782 -0.289698 9.92157 -0.0692422 0.0191748 -0.20027 0.05 -0.29 pose: 0.34241128 5.3874 0.0320469 0 -0.0116578 -0.00823981 -0.748476 0.663009 uwb: 0.0 829.507 462.543 -imu_odom_: 1691062444.825561876 -1.03908 -0.0957681 9.61033 -0.0223706 0.131028 -0.227967 0.06 -0.26 pose: 0.34757318 5.38734 0.0320441 0 -0.012443 -0.00665674 -0.751212 0.65991 uwb: 0.0 829.507 462.543 -imu_odom_: 1691062444.842582411 -1.55623 -0.253785 10.1586 -0.0500674 0.0511327 -0.155529 0.06 -0.26 pose: 0.7050502 5.3874 0.0320467 0 -0.0114255 -0.00603365 -0.751846 0.659212 uwb: 0.50003853 831.034 462.479 -imu_odom_: 1691062444.869575019 0.392649 -0.332794 10.0604 -0.0543285 -0.116114 -0.120375 0.11 -0.2 pose: 0.0 5.3874 0.0320467 0 -0.0114255 -0.00603365 -0.751846 0.659212 uwb: 0.0 831.034 462.479 -imu_odom_: 1691062444.894576654 0.797269 -0.047884 9.58878 -0.0628506 0.0191748 -0.107592 0.11 -0.2 pose: 0.26980652 5.3874 0.0320467 0 -0.00830586 -0.00378201 -0.753843 0.656991 uwb: 0.50113799 830.642 462.874 -imu_odom_: 1691062444.911568025 -0.21069 -0.325611 10.0221 -0.0532632 0.0532632 -0.116114 0.12 -0.2 pose: 0.0 5.3874 0.0320467 0 -0.00830586 -0.00378201 -0.753843 0.656991 uwb: 0.0 830.642 462.874 -imu_odom_: 1691062444.937552169 -0.136469 -0.440533 9.47864 -0.036219 -0.00852212 -0.108657 0.12 -0.2 pose: 0.51994243 5.38802 0.024999 0 -0.00820355 -0.00468751 -0.756464 0.653967 uwb: 0.0 830.642 462.874 -imu_odom_: 1691062444.964591439 0.6608 0.102951 9.9096 -0.0575243 -0.0319579 -0.0937433 0.15 -0.17 pose: 0.42975515 5.38821 0.0220818 0 -0.00507926 -0.00123484 -0.758598 0.651538 uwb: 0.49860662 830.223 463.178 -imu_odom_: 1691062444.980538767 0.727837 -0.229843 9.88805 -0.0479369 0.00213053 -0.072438 0.15 -0.17 pose: 0.6994217 5.38826 0.0220837 0 -0.00496325 -0.0019668 -0.758903 0.651182 uwb: 0.0 830.223 463.178 -imu_odom_: 1691062445.7579496 0.129287 -0.179565 10.2256 -0.056459 -0.0436758 -0.0745685 0.15 -0.17 pose: 0.35992381 5.38872 0.0167691 0 -0.0058426 -0.00501534 -0.760347 0.649472 uwb: 0.50006769 830.287 463.38 -imu_odom_: 1691062445.32632471 0.136469 -0.232238 9.9934 -0.0607201 0.00426106 -0.0575243 0.15 -0.17 pose: 0.0 5.38872 0.0167691 0 -0.0058426 -0.00501534 -0.760347 0.649472 uwb: 0.0 830.287 463.38 -imu_odom_: 1691062445.59628300 0.469264 0.0191536 10.0509 -0.0745685 -0.0287621 -0.056459 0.16 -0.14 pose: 0.6980218 5.38911 0.0121195 0 -0.00538185 -0.00469477 -0.760609 0.649171 uwb: 0.50258465 831.756 463.139 -imu_odom_: 1691062445.85624122 0.344765 -0.380678 10.3286 -0.0511327 0.00106526 -0.0575243 0.14 -0.08 pose: 0.0 5.38911 0.0121195 0 -0.00538185 -0.00469477 -0.760609 0.649171 uwb: 0.0 831.756 463.139 -imu_odom_: 1691062445.102616376 0.430956 0.0047884 10.5584 -0.0500674 -0.0255663 -0.072438 0.18 -0.11 pose: 0.52149118 5.38911 0.0121195 0 -0.00187887 -0.00247991 -0.762377 0.647126 uwb: 0.49823649 831.456 463.824 -imu_odom_: 1691062445.119622920 0.220267 0.0885855 9.94312 -0.0681769 0.00532632 -0.0330232 0.18 -0.11 pose: 0.0 5.38911 0.0121195 0 -0.00187887 -0.00247991 -0.762377 0.647126 uwb: 0.0 831.456 463.824 -imu_odom_: 1691062445.136627132 0.349553 -0.409408 9.56005 -0.0671117 0.0170442 -0.0223706 0.21 -0.11 pose: 0.52976778 5.38997 0.00215651 0 -0.000862945-0.00206891 -0.764069 0.64513 uwb: 0.0 831.456 463.824 -imu_odom_: 1691062445.152502434 0.102951 -0.110133 9.76355 -0.0617853 0.00532632 -0.0372843 0.21 -0.11 pose: 0.0 5.38997 0.00215651 0 -0.000862945-0.00206891 -0.764069 0.64513 uwb: 0.49987545 829.571 464.37 -imu_odom_: 1691062445.169607550 0.0383072 -0.0191536 9.97185 -0.0735032 -0.00106526 -0.0255663 0.21 -0.11 pose: 0.0 5.38997 0.00215651 0 -0.000862945-0.00206891 -0.764069 0.64513 uwb: 0.0 829.571 464.37 -imu_odom_: 1691062445.186539145 0.217872 -0.47884 9.13867 -0.0756338 0.0276969 -0.00639159 0.2 -0.08 pose: 0.66976883 5.38088 -0.00861165 0 0.00290503 -0.000261538-0.765713 0.643175 uwb: 0.0 829.571 464.37 -imu_odom_: 1691062445.203513901 -0.0215478 -0.517148 9.71567 -0.0490022 -0.00426106 -0.0340885 0.2 -0.08 pose: 0.0 5.38088 -0.00861165 0 0.00290503 -0.000261538-0.765713 0.643175 uwb: 0.49886058 829.735 464.885 -imu_odom_: 1691062445.229499224 0.198719 -0.035913 10.0485 -0.0383495 0.0276969 -0.0181095 0.16 -0.05 pose: 0.43892137 5.38135 -0.0140532 0 0.00369885 0.00364308 -0.766575 0.642134 uwb: 0.0 829.735 464.885 -imu_odom_: 1691062445.256762480 0.620098 -0.373495 10.1538 -0.052198 -0.0127832 -0.0319579 0.16 -0.05 pose: 0.0 5.38135 -0.0140532 0 0.00369885 0.00364308 -0.766575 0.642134 uwb: 0.50005627 832.185 464.506 -imu_odom_: 1691062445.273648872 0.342371 -0.11971 10.1993 -0.0543285 0.00426106 -0.0245011 0.15 -0.08 pose: 0.53248579 5.3823 -0.0257216 0 0.00382945 0.00219599 -0.76768 0.640818 uwb: 0.0 832.185 464.506 -imu_odom_: 1691062445.300701278 0.316035 -0.124498 10.5034 -0.056459 -0.0372843 0 0.15 -0.08 pose: 0.0 5.3823 -0.0257216 0 0.00382945 0.00219599 -0.76768 0.640818 uwb: 0.50178857 833.699 464.427 -imu_odom_: 1691062445.317471017 0.466869 -0.3304 10.2161 -0.0532632 0.00852212 -0.0138484 0.23 -0.05 pose: 0.23894611 5.38253 -0.0285435 0 0.00493639 0.000128706 -0.768107 0.640302 uwb: 0.0 833.699 464.427 -imu_odom_: 1691062445.344483761 0.732626 -0.131681 9.87129 -0.0394148 0.00213053 0.0138484 0.23 -0.05 pose: 0.0 5.38253 -0.0285435 0 0.00493639 0.000128706 -0.768107 0.640302 uwb: 0.49949050 834.194 464.372 -imu_odom_: 1691062445.370534118 -0.100556 -0.517148 10.0102 -0.0479369 0.0426106 0.00745685 0.21 -0.05 pose: 0.43878138 5.38253 -0.0285435 0 0.00420308 -0.00133687 -0.768702 0.639591 uwb: 0.0 834.194 464.372 -imu_odom_: 1691062445.387469504 0.203507 -0.0047884 10.3334 -0.036219 0.0127832 0.00319579 0.21 -0.05 pose: 0.0 5.38253 -0.0285435 0 0.00420308 -0.00133687 -0.768702 0.639591 uwb: 0.0 834.194 464.372 -imu_odom_: 1691062445.413518695 0.35913 -0.335188 9.61511 -0.0500674 -0.0127832 0.0106526 0.19 -0.02 pose: 0.52981444 5.37343 -0.0393689 0 0.00474201 -1.53259e-05-0.769213 0.638974 uwb: 0.49907930 835.694 464.254 -imu_odom_: 1691062445.430498992 0.61531 -0.107739 9.73961 -0.04048 -0.0245011 -0.00532632 0.19 -0.02 pose: 0.0 5.37343 -0.0393689 0 0.00474201 -1.53259e-05-0.769213 0.638974 uwb: 0.0 835.694 464.254 -imu_odom_: 1691062445.456532143 0.160412 -0.31364 10.1131 -0.0681769 0.0266316 0.0490022 0.22 -0.02 pose: 0.42974369 5.37427 -0.049333 0 0.00336362 0.000652648 -0.769679 0.638422 uwb: 0.49865060 837.977 463.363 -imu_odom_: 1691062445.473528480 0.445322 -0.268151 10.0197 -0.0511327 -0.0490022 0.0106526 0.22 -0.02 pose: 0.0 5.37427 -0.049333 0 0.00336362 0.000652648 -0.769679 0.638422 uwb: 0.0 837.977 463.363 -imu_odom_: 1691062445.490524817 0.732626 -0.213084 9.69891 -0.0426106 -0.00745685 0.0191748 0.21 -0.05 pose: 0.43041154 5.37511 -0.0592983 0 0.00289993 0.00230271 -0.769811 0.638261 uwb: 0.50077660 839.436 463.12 -imu_odom_: 1691062445.507462244 0.181959 -0.335188 9.92397 -0.0511327 0.0266316 0.0308927 0.21 -0.05 pose: 0.0 5.37511 -0.0592983 0 0.00289993 0.00230271 -0.769811 0.638261 uwb: 0.0 839.436 463.12 -imu_odom_: 1691062445.523460324 0.169988 -0.311246 9.21528 -0.0458064 -0.0426106 0.00319579 0.17 0 pose: 0.0 5.37511 -0.0592983 0 0.00289993 0.00230271 -0.769811 0.638261 uwb: 0.0 839.436 463.12 -imu_odom_: 1691062445.540523445 0.442927 -0.141258 10.0006 -0.0543285 -0.0223706 0.0330232 0.17 0 pose: 0.43930048 5.37556 -0.0648131 0 0.00135457 0.00240074 -0.770065 0.637959 uwb: 0.49998045 842.264 462.332 -imu_odom_: 1691062445.558514248 0.349553 -0.272939 10.307 -0.0756338 -0.0223706 0.0436758 0.17 0 pose: 0.0 5.37556 -0.0648131 0 0.00135457 0.00240074 -0.770065 0.637959 uwb: 0.0 842.264 462.332 -imu_odom_: 1691062445.572511729 0.390255 -0.189142 9.69412 -0.0585895 -0.052198 0.0245011 0.18 0.02 pose: 0.8005310 5.37593 -0.0692642 0 0.00162998 0.00298485 -0.770157 0.637846 uwb: 0.0 842.264 462.332 -imu_odom_: 1691062445.588507476 0.605733 -0.100556 9.87848 -0.0575243 -0.00106526 0.0255663 0.18 0.02 pose: 0.0 5.37593 -0.0692642 0 0.00162998 0.00298485 -0.770157 0.637846 uwb: 0.49869434 845.59 461.514 -imu_odom_: 1691062445.612567150 0.847547 -0.308852 9.39964 -0.0681769 -0.0553937 0.0287621 0.17 -0.02 pose: 0.49048781 5.36596 -0.0700801 0 0.000374327 0.002658 -0.770292 0.637686 uwb: 0.0 845.59 461.514 -imu_odom_: 1691062445.628442744 0.897826 -0.071826 10.568 -0.0607201 -0.0170442 0.0170442 0.17 0 pose: 0.0 5.36596 -0.0700801 0 0.000374327 0.002658 -0.770292 0.637686 uwb: 0.0 845.59 461.514 -imu_odom_: 1691062445.654453147 0.466869 -0.0981623 10.0389 -0.076699 0.00106526 0.0607201 0.23 0 pose: 0.63926409 5.3672 -0.0852484 0 -0.00370565 -0.00253135 -0.770596 0.637309 uwb: 0.49972381 849.384 460.562 -imu_odom_: 1691062445.671506644 0.658405 -0.387861 9.6606 -0.056459 -0.0490022 0.0213053 0.23 0 pose: 0.0 5.3672 -0.0852484 0 -0.00370565 -0.00253135 -0.770596 0.637309 uwb: 0.0 849.384 460.562 -imu_odom_: 1691062445.688502690 0.517148 0.0023942 10.3573 -0.0575243 -0.0117179 0.0383495 0.18 0 pose: 0.0 5.3672 -0.0852484 0 -0.00370565 -0.00253135 -0.770596 0.637309 uwb: 0.0 849.384 460.562 -imu_odom_: 1691062445.705438951 0.107739 -0.440533 9.64863 -0.0639159 -0.00319579 0.0436758 0.18 0 pose: 0.33006373 5.36758 -0.0900146 0 -0.00262506 -0.00389456 -0.770467 0.637463 uwb: 0.50105365 850.377 460.481 -imu_odom_: 1691062445.722451036 0.481235 -0.260968 9.97185 -0.0447411 -0.0213053 0.00958738 0.25 -0.02 pose: 0.43989834 5.36839 -0.099982 0 -0.00235388 -0.0035385 -0.770514 0.637409 uwb: 0.0 850.377 460.481 -imu_odom_: 1691062445.748437526 0.172383 -0.100556 9.71806 -0.0628506 -0.00532632 0.0575243 0.25 -0.02 pose: 0.7069753 5.36839 -0.099982 0 -0.00281097 -0.00304738 -0.77058 0.63733 uwb: 0.50015834 848.627 461.482 -imu_odom_: 1691062445.775580338 0.59855 -0.244209 10.1011 -0.0500674 -0.0255663 0.0308927 0.24 0 pose: 0.35928822 5.36897 -0.107146 0 -0.00105486 -0.00147551 -0.770531 0.6374 uwb: 0.0 848.627 461.482 -imu_odom_: 1691062445.792454189 0.814029 0.0215478 10.0437 -0.0713727 0.0330232 0.0426106 0.18 0 pose: 0.0 5.36897 -0.107146 0 -0.00105486 -0.00147551 -0.770531 0.6374 uwb: 0.49987254 851.123 461.346 -imu_odom_: 1691062445.817564615 0.557849 -0.248997 10.398 -0.0458064 -0.00745685 0.0117179 0.25 -0.02 pose: 0.44016663 5.35923 -0.110754 0 -0.0039148 -0.00424207 -0.770581 0.637317 uwb: 0.0 851.123 461.346 -imu_odom_: 1691062445.840482840 0.658405 -0.134075 9.49062 -0.0532632 -0.0149137 0.0511327 0.17 0 pose: 0.0 5.35923 -0.110754 0 -0.0039148 -0.00424207 -0.770581 0.637317 uwb: 0.50057538 849.369 462.322 -imu_odom_: 1691062445.856457589 0.222661 -0.42138 9.40921 -0.0628506 -0.00745685 0.0351537 0.17 0 pose: 0.31164715 5.36003 -0.120722 0 -0.00643087 -0.0043771 -0.770764 0.637073 uwb: 0.0 849.369 462.322 -imu_odom_: 1691062445.883437378 0.550666 -0.225055 10.0916 -0.0617853 -0.0394148 0.0447411 0.17 0 pose: 0.0 5.36003 -0.120722 0 -0.00643087 -0.0043771 -0.770764 0.637073 uwb: 0.0 849.369 462.322 -imu_odom_: 1691062445.908405196 0.610521 -0.253785 10.5034 -0.0511327 -0.0308927 0.0298274 0.24 -0.02 pose: 0.40959773 5.36003 -0.120722 0 -0.00584667 -0.00409298 -0.770716 0.637138 uwb: 0.49969756 850.953 462.563 -imu_odom_: 1691062445.935413274 0.474052 -0.129287 9.9096 -0.072438 -0.04048 0.0415453 0.22 -0.02 pose: 0.43826519 5.36083 -0.13069 0 -0.00723701 -0.00429064 -0.770753 0.637079 uwb: 0.0 850.953 462.563 -imu_odom_: 1691062445.960558112 0.555455 -0.186748 9.82341 -0.0330232 0.00745685 0.0170442 0.22 -0.02 pose: 0.0 5.36083 -0.13069 0 -0.00723701 -0.00429064 -0.770753 0.637079 uwb: 0.49977339 852.067 462.938 -imu_odom_: 1691062445.977538993 0.629675 -0.229843 9.95748 -0.0436758 0.0213053 0.0330232 0.23 0 pose: 0.7017551 5.36083 -0.13069 0 -0.00668277 -0.00445684 -0.770754 0.637083 uwb: 0.0 852.067 462.938 -imu_odom_: 1691062445.994421593 0.114922 -0.414197 9.96227 -0.0468716 -0.00532632 0.0330232 0.23 0 pose: 0.0 5.36083 -0.13069 0 -0.00668277 -0.00445684 -0.770754 0.637083 uwb: 0.50029540 853.559 462.87 -imu_odom_: 1691062446.21471967 0.620098 -0.270545 9.77074 -0.0607201 -0.0191748 0.0543285 0.26 -0.02 pose: 0.52148250 5.35166 -0.141454 0 -0.00546766 -0.00741587 -0.770939 0.636843 uwb: 0.0 853.559 462.87 -imu_odom_: 1691062446.46381470 0.577003 -0.23942 10.003 -0.0426106 -0.0266316 0.036219 0.26 -0.02 pose: 0.0 5.35166 -0.141454 0 -0.00546766 -0.00741587 -0.770939 0.636843 uwb: 0.50021976 853.701 463.391 -imu_odom_: 1691062446.63416602 0.581791 -0.0957681 9.63906 -0.0426106 -0.0138484 0.0351537 0.22 0.02 pose: 0.33845983 5.35245 -0.151423 0 -0.00631372 -0.00562983 -0.770955 0.636833 uwb: 0.0 853.701 463.391 -imu_odom_: 1691062446.88388514 0.395043 -0.308852 9.94551 -0.0468716 -0.02024 0.0372843 0.22 0.02 pose: 0.0 5.35245 -0.151423 0 -0.00631372 -0.00562983 -0.770955 0.636833 uwb: 0.49861292 856.599 462.95 -imu_odom_: 1691062446.105428604 0.059855 -0.0885855 9.85214 -0.0458064 -0.0127832 0.0415453 0.23 0 pose: 0.86971534 5.3538 -0.168421 0 -0.00519042 -0.00354924 -0.770932 0.636886 uwb: 0.0 856.599 462.95 -imu_odom_: 1691062446.130539334 0.296881 -0.263362 9.94551 -0.072438 -0.0511327 0.0340885 0.23 0 pose: 0.7083755 5.35403 -0.17136 0 -0.00454083 -0.00331629 -0.770931 0.636894 uwb: 0.0 856.599 462.95 -imu_odom_: 1691062446.147374115 0.636858 -0.0622492 10.0604 -0.0479369 -0.00532632 0.0276969 0.23 0 pose: 0.0 5.35403 -0.17136 0 -0.00454083 -0.00331629 -0.770931 0.636894 uwb: 0.49932451 857.212 463.37 -imu_odom_: 1691062446.172363233 0.830788 -0.339977 9.4547 -0.0660464 0.00319579 0.0436758 0.23 0 pose: 0.42078203 5.35403 -0.17136 0 -0.00278717 -0.00190338 -0.771004 0.636822 uwb: 0.0 857.212 463.37 -imu_odom_: 1691062446.189522601 0.263362 -0.148441 10.1969 -0.04048 -0.015979 0.0276969 0.21 0 pose: 0.0 5.35403 -0.17136 0 -0.00278717 -0.00190338 -0.771004 0.636822 uwb: 0.50177714 858.281 463.621 -imu_odom_: 1691062446.205437573 0.52433 -0.220267 9.72525 -0.0468716 -0.0276969 0.0532632 0.21 0 pose: 0.41877560 5.34496 -0.18221 0 -0.00461167 -0.00334372 -0.771026 0.636778 uwb: 0.0 858.281 463.621 -imu_odom_: 1691062446.232378005 0.588974 -0.201113 9.82102 -0.0458064 -0.00319579 0.0266316 0.25 0 pose: 0.0 5.34496 -0.18221 0 -0.00461167 -0.00334372 -0.771026 0.636778 uwb: 0.0 858.281 463.621 -imu_odom_: 1691062446.257437699 0.47884 -0.177171 10.0892 -0.0500674 0.0383495 0.0458064 0.25 0 pose: 0.33977234 5.34585 -0.192171 0 -0.00559082 -0.00466513 -0.77102 0.636769 uwb: 0.49929535 859.776 463.592 -imu_odom_: 1691062446.282432941 0.378284 0.0430956 10.252 -0.0426106 0.0553937 0.0234358 0.19 -0.02 pose: 0.44032433 5.34648 -0.199217 0 -0.00388019 -0.00489055 -0.77106 0.636732 uwb: 0.0 859.776 463.592 -imu_odom_: 1691062446.296600451 0.215478 -0.325611 9.84496 -0.0628506 0.0276969 0.0585895 0.19 -0.02 pose: 0.0 5.34648 -0.199217 0 -0.00388019 -0.00489055 -0.77106 0.636732 uwb: 0.0 859.776 463.592 -imu_odom_: 1691062446.312431141 0.440533 -0.529119 9.82341 -0.076699 0.0383495 0.0468716 0.19 -0.02 pose: 0.0 5.34648 -0.199217 0 -0.00388019 -0.00489055 -0.77106 0.636732 uwb: 0.0 859.776 463.592 -imu_odom_: 1691062446.336422001 0.411803 -0.112527 10.6231 -0.0511327 0.0127832 0.0383495 0.18 -0.02 pose: 0.7012888 5.34674 -0.202131 0 -0.00302171 -0.00500595 -0.7711 0.636687 uwb: 0.0 859.776 463.592 -imu_odom_: 1691062446.361384290 0.452504 -0.213084 9.98143 -0.0426106 -0.0394148 0.0223706 0.18 -0.02 pose: 0.0 5.34674 -0.202131 0 -0.00302171 -0.00500595 -0.7711 0.636687 uwb: 0.99944517 862.136 463.053 -imu_odom_: 1691062446.378396675 0.136469 -0.0430956 9.72525 -0.0479369 0.02024 0.0426106 0.22 0 pose: 0.54976235 5.34763 -0.212092 0 -0.000406762-0.00243005 -0.771088 0.636724 uwb: 0.0 862.136 463.053 -imu_odom_: 1691062446.394508207 0.452504 -0.442927 10.2352 -0.072438 -0.0191748 0.0426106 0.22 0 pose: 0.0 5.34763 -0.212092 0 -0.000406762-0.00243005 -0.771088 0.636724 uwb: 0.50101598 862.773 463.593 -imu_odom_: 1691062446.412451191 0.794875 -0.1652 9.51456 -0.0479369 -0.02024 0.0223706 0.25 0 pose: 0.49089342 5.33855 -0.222938 0 -0.000466223-0.00224973 -0.771225 0.636558 uwb: 0.0 862.773 463.593 -imu_odom_: 1691062446.436509419 0.280122 -0.220267 9.63666 -0.0649811 -0.02024 0.0553937 0.25 0 pose: 0.0 5.33855 -0.222938 0 -0.000466223-0.00224973 -0.771225 0.636558 uwb: 0.0 862.773 463.593 -imu_odom_: 1691062446.463501761 0.371101 -0.0933739 10.2017 -0.036219 0.0340885 0.0340885 0.23 0 pose: 0.67993255 5.33944 -0.232899 0 -0.000536016-0.000634055-0.77118 0.636617 uwb: 0.49948199 865.573 462.836 -imu_odom_: 1691062446.479370655 0.337582 -0.191536 9.74679 -0.0575243 -0.0287621 0.0649811 0.23 0 pose: 0.0 5.33944 -0.232899 0 -0.000536016-0.000634055-0.77118 0.636617 uwb: 0.0 865.573 462.836 -imu_odom_: 1691062446.497559778 0.830788 -0.213084 9.96706 -0.0340885 -0.0234358 0.0436758 0.25 0.02 pose: 0.7003555 5.33944 -0.232899 0 0.000227677 -0.000930843-0.771192 0.636601 uwb: 0.0 865.573 462.836 -imu_odom_: 1691062446.514488464 0.0861913 -0.265756 9.62948 -0.0394148 0.00426106 0.0447411 0.25 0.02 pose: 0.0 5.33944 -0.232899 0 0.000227677 -0.000930843-0.771192 0.636601 uwb: 0.0 865.573 462.836 -imu_odom_: 1691062446.537413699 0.289698 -0.387861 9.82102 -0.0490022 0.00639159 0.0490022 0.25 0.02 pose: 0.0 5.33944 -0.232899 0 0.000227677 -0.000930843-0.771192 0.636601 uwb: 0.0 865.573 462.836 -imu_odom_: 1691062446.563341874 0.390255 -0.483629 10.058 -0.0692422 0.0117179 0.0681769 0.18 -0.02 pose: 0.43869411 5.34032 -0.242859 0 0.00207245 -0.000951964-0.77109 0.636722 uwb: 0.99840988 865.322 463.819 -imu_odom_: 1691062446.588351407 0.538695 -0.40462 9.7875 -0.0426106 -0.0276969 0.0415453 0.25 0.05 pose: 0.33072881 5.34032 -0.242859 0 0.00218827 0.00023263 -0.771033 0.636791 uwb: 0.50146218 866.389 464.109 -imu_odom_: 1691062446.611388046 0.617704 -0.225055 10.252 -0.0490022 -0.00745685 0.0468716 0.25 0.05 pose: 0.0 5.34032 -0.242859 0 0.00218827 0.00023263 -0.771033 0.636791 uwb: 0.0 866.389 464.109 -imu_odom_: 1691062446.627633437 0.342371 -0.270545 9.63187 -0.0468716 0.00958738 0.0415453 0.2 0 pose: 0.49953157 5.33125 -0.253709 0 -0.0008418210.00374301 -0.770746 0.637131 uwb: 0.0 866.389 464.109 -imu_odom_: 1691062446.644444888 0.493206 -0.102951 10.0293 -0.0500674 -0.00426106 0.0372843 0.2 0 pose: 0.0 5.33125 -0.253709 0 -0.0008418210.00374301 -0.770746 0.637131 uwb: 0.50112388 866.976 464.471 -imu_odom_: 1691062446.669315895 0.766145 -0.198719 9.91918 -0.0671117 0.0149137 0.0500674 0.2 0 pose: 0.0 5.33125 -0.253709 0 -0.0008418210.00374301 -0.770746 0.637131 uwb: 0.0 866.976 464.471 -imu_odom_: 1691062446.694434207 0.47884 -0.184354 9.81383 -0.0575243 -0.00319579 0.0447411 0.18 0 pose: 0.49005059 5.33205 -0.263677 0 -0.0031444 0.00178907 -0.770685 0.637206 uwb: 0.49987570 867.545 464.766 -imu_odom_: 1691062446.717402020 0.816423 -0.486023 9.54329 -0.0671117 0.0490022 0.0394148 0.18 0 pose: 0.75020725 5.33285 -0.273645 0 -0.00230544 -0.00315172 -0.770576 0.637336 uwb: 0.0 867.545 464.766 -imu_odom_: 1691062446.742316481 0.294487 0.0742203 9.60554 -0.0681769 0.0223706 0.0532632 0.18 0 pose: 0.0 5.33285 -0.273645 0 -0.00230544 -0.00315172 -0.770576 0.637336 uwb: 0.49985528 864.922 466.173 -imu_odom_: 1691062446.759316326 0.718261 -0.320823 10.2639 -0.072438 0.0213053 0.0575243 0.21 -0.02 pose: 0.5898560 5.33285 -0.273645 0 -0.00279653 -0.00301817 -0.770575 0.637336 uwb: 0.0 864.922 466.173 -imu_odom_: 1691062446.784345107 0.584185 -0.0670376 10.0916 -0.0511327 -0.0106526 0.0458064 0.21 -0.02 pose: 0.0 5.33285 -0.273645 0 -0.00279653 -0.00301817 -0.770575 0.637336 uwb: 0.0 864.922 466.173 -imu_odom_: 1691062446.809310603 0.481235 -0.368707 9.83538 -0.0660464 0.0149137 0.0436758 0.23 0 pose: 0.49047638 5.32369 -0.284418 0 -0.0023363 -0.00304809 -0.77043 0.637514 uwb: 0.49881415 864.089 466.796 -imu_odom_: 1691062446.823362043 0.73502 0.0502782 9.95748 -0.0298274 -0.0138484 0.0234358 0.23 0 pose: 0.0 5.32369 -0.284418 0 -0.0023363 -0.00304809 -0.77043 0.637514 uwb: 0.0 864.089 466.796 -imu_odom_: 1691062446.839305594 0.529119 -0.452504 9.5792 -0.0649811 0.0223706 0.0607201 0.23 0 pose: 0.0 5.32369 -0.284418 0 -0.0023363 -0.00304809 -0.77043 0.637514 uwb: 0.50000110 867.894 466.18 -imu_odom_: 1691062446.862364105 0.490811 -0.201113 9.77792 -0.0553937 0 0.0479369 0.17 -0.02 pose: 0.41957759 5.3245 -0.294385 0 -0.00331319 -0.00500503 -0.770307 0.637644 uwb: 0.0 867.894 466.18 -imu_odom_: 1691062446.884286708 0.632069 -0.0861913 9.97903 -0.0735032 0.0287621 0.0500674 0.17 -0.02 pose: 0.0 5.3245 -0.294385 0 -0.00331319 -0.00500503 -0.770307 0.637644 uwb: 0.0 867.894 466.18 -imu_odom_: 1691062446.909347860 0.603339 -0.241814 10.2208 -0.0532632 0.00532632 0.0308927 0.19 0 pose: 0.55036020 5.32531 -0.304352 0 -0.00430111 -0.00343226 -0.770224 0.637749 uwb: 0.49987861 867.541 466.751 -imu_odom_: 1691062446.936463854 0.916979 -0.457293 10.4172 -0.0628506 -0.0266316 0.0436758 0.21 -0.02 pose: 0.22072210 5.32612 -0.314319 0 -0.00277287 -0.00388317 -0.770169 0.637822 uwb: 0.0 867.541 466.751 -imu_odom_: 1691062446.961461139 0.593762 -0.342371 10.0317 -0.0340885 0.00958738 0.0330232 0.21 -0.02 pose: 0.0 5.32612 -0.314319 0 -0.00277287 -0.00388317 -0.770169 0.637822 uwb: 0.50120554 871.338 466.136 -imu_odom_: 1691062446.978285421 -0.292093 -0.0909797 9.9096 -0.0745685 0.0117179 0.056459 0.21 0 pose: 0.47897731 5.32612 -0.314319 0 -0.00619761 -0.00523974 -0.770151 0.63781 uwb: 0.0 871.338 466.136 -imu_odom_: 1691062446.994286716 0.361524 -0.344765 10.1347 -0.0585895 -0.04048 0.0383495 0.21 0 pose: 0.0 5.32612 -0.314319 0 -0.00619761 -0.00523974 -0.770151 0.63781 uwb: 0.49856626 872.835 466.212 -imu_odom_: 1691062447.12338775 0.794875 0.0502782 9.64624 -0.072438 -0.036219 0.0490022 0.21 0 pose: 0.0 5.32612 -0.314319 0 -0.00619761 -0.00523974 -0.770151 0.63781 uwb: 0.0 872.835 466.212 -imu_odom_: 1691062447.28276793 0.342371 -0.399832 9.84256 -0.0713727 0.0330232 0.0372843 0.25 0.02 pose: 0.52132818 5.31697 -0.325102 0 -0.00895533 -0.00313256 -0.770107 0.637844 uwb: 0.0 872.835 466.212 -imu_odom_: 1691062447.43276629 0.493206 -0.222661 9.9503 -0.0351537 -0.00213053 0.0223706 0.25 0.02 pose: 0.0 5.31697 -0.325102 0 -0.00895533 -0.00313256 -0.770107 0.637844 uwb: 0.49840895 872.468 466.734 -imu_odom_: 1691062447.59297179 0.586579 -0.294487 9.63666 -0.0468716 0.0138484 0.0330232 0.18 0 pose: 0.33810129 5.31779 -0.335068 0 -0.00760115 -0.00219261 -0.770045 0.637941 uwb: 0.0 872.468 466.734 -imu_odom_: 1691062447.74408419 0.529119 -0.3304 9.84496 -0.0628506 0.036219 0.0383495 0.18 0 pose: 0.48020238 5.31861 -0.345035 0 -0.00621287 -0.00215616 -0.770132 0.63785 uwb: 0.0 872.468 466.734 -imu_odom_: 1691062447.99331349 0.229843 -0.0383072 9.57681 -0.0415453 0.0149137 0.0447411 0.18 0 pose: 0.0 5.31861 -0.345035 0 -0.00621287 -0.00215616 -0.770132 0.63785 uwb: 0.50280684 877.154 465.78 -imu_odom_: 1691062447.116289206 0.818817 -0.272939 10.2951 -0.0628506 0.0266316 0.0532632 0.25 -0.02 pose: 0.31100585 5.31943 -0.355001 0 -0.0068445 -0.000808507-0.770138 0.63784 uwb: 0.0 877.154 465.78 -imu_odom_: 1691062447.141287961 0.718261 -0.435745 9.35654 -0.0447411 -0.00852212 0.0394148 0.18 0 pose: 0.0 5.31943 -0.355001 0 -0.0068445 -0.000808507-0.770138 0.63784 uwb: 0.49883189 878.632 465.804 -imu_odom_: 1691062447.158268857 0.268151 -0.339977 9.85453 -0.0671117 0.00958738 0.0490022 0.18 0 pose: 0.42969161 5.30946 -0.355821 0 -0.00681097 -0.00171629 -0.770037 0.63796 uwb: 0.0 878.632 465.804 -imu_odom_: 1691062447.183265570 0.282516 -0.220267 9.62948 -0.0585895 0.00106526 0.0415453 0.18 0 pose: 0.0 5.30946 -0.355821 0 -0.00681097 -0.00171629 -0.770037 0.63796 uwb: 0.0 878.632 465.804 -imu_odom_: 1691062447.200326374 1.01514 -0.0502782 10.8888 -0.0649811 -0.0213053 0.0490022 0.18 0 pose: 0.41929490 5.31028 -0.365787 0 -0.00657589 -5.78548e-05-0.769976 0.638039 uwb: 0.49833319 876.434 466.911 -imu_odom_: 1691062447.225260386 0.490811 0.0814029 9.95748 -0.0426106 -0.0191748 0.0213053 0.19 0 pose: 0.34019828 5.31111 -0.375754 0 -0.00589105 -0.000960428-0.76992 0.638113 uwb: 0.0 876.434 466.911 -imu_odom_: 1691062447.250300261 1.12767 -0.328006 9.89045 -0.0703074 -0.0127832 0.0479369 0.19 0 pose: 0.8066269 5.31111 -0.375754 0 -0.00536567 -0.00164051 -0.769971 0.638054 uwb: 0.50004508 880.17 466.106 -imu_odom_: 1691062447.264415866 0.897826 -0.107739 9.73004 -0.0490022 -0.0181095 0.0372843 0.2 0 pose: 0.0 5.31111 -0.375754 0 -0.00536567 -0.00164051 -0.769971 0.638054 uwb: 0.0 880.17 466.106 -imu_odom_: 1691062447.289262972 0.047884 -0.160412 10.1227 -0.0809601 -0.0245011 0.0607201 0.2 0 pose: 0.47904169 5.31193 -0.38572 0 -0.00696284 -0.0047964 -0.769997 0.637991 uwb: 0.49997217 881.149 466.104 -imu_odom_: 1691062447.306349439 0.442927 -0.220267 9.93833 -0.0436758 -0.0308927 0.0351537 0.25 -0.02 pose: 0.0 5.31193 -0.38572 0 -0.00696284 -0.0047964 -0.769997 0.637991 uwb: 0.0 881.149 466.104 -imu_odom_: 1691062447.331298908 0.565032 -0.272939 9.64384 -0.0553937 -0.0490022 0.0596548 0.25 -0.02 pose: 0.40011714 5.31193 -0.38572 0 -0.00519873 -0.00377696 -0.769861 0.638179 uwb: 0.0 881.149 466.104 -imu_odom_: 1691062447.356308161 0.94571 -0.162806 9.96706 -0.0447411 -0.0575243 0.0372843 0.23 0 pose: 0.34990382 5.30279 -0.396512 0 -0.00739106 -0.00350839 -0.7697 0.638354 uwb: 0.50061085 880.816 466.804 -imu_odom_: 1691062447.373388796 0.23942 -0.356736 9.54808 -0.0639159 0.0191748 0.0617853 0.23 0 pose: 0.6992185 5.30279 -0.396512 0 -0.00793136 -0.00421439 -0.769701 0.638342 uwb: 0.0 880.816 466.804 -imu_odom_: 1691062447.397526651 0.651223 -0.191536 9.40682 -0.076699 -0.0458064 0.0490022 0.18 0 pose: 0.0 5.30279 -0.396512 0 -0.00793136 -0.00421439 -0.769701 0.638342 uwb: 0.50088789 882.767 466.805 -imu_odom_: 1691062447.412513946 0.407014 -0.158017 9.9934 -0.0426106 0.0372843 0.0340885 0.18 0 pose: 0.42003273 5.30362 -0.406477 0 -0.00860743 -0.00511925 -0.769567 0.638488 uwb: 0.0 882.767 466.805 -imu_odom_: 1691062447.428358642 0.830788 -0.299275 10.2759 -0.0660464 -0.00426106 0.0372843 0.17 0 pose: 0.0 5.30362 -0.406477 0 -0.00860743 -0.00511925 -0.769567 0.638488 uwb: 0.0 882.767 466.805 -imu_odom_: 1691062447.445236301 0.462081 -0.3304 9.61511 -0.0458064 -0.00852212 0.0276969 0.17 0 pose: 0.0 5.30362 -0.406477 0 -0.00860743 -0.00511925 -0.769567 0.638488 uwb: 0.49945307 882.429 467.48 -imu_odom_: 1691062447.462225946 0.557849 -0.488417 9.84975 -0.0490022 -0.0585895 0.056459 0.17 0 pose: 0.39228389 5.30445 -0.416442 0 -0.00839008 -0.00639937 -0.769552 0.638497 uwb: 0.0 882.429 467.48 -imu_odom_: 1691062447.479345077 0.402226 -0.071826 9.81862 -0.056459 0.015979 0.0426106 0.18 0 pose: 0.0 5.30445 -0.416442 0 -0.00839008 -0.00639937 -0.769552 0.638497 uwb: 0.0 882.429 467.48 -imu_odom_: 1691062447.496217486 0.483629 -0.292093 10.1897 -0.0553937 -0.0234358 0.0372843 0.18 0 pose: 0.50884947 5.30529 -0.426407 0 -0.00902142 -0.00404511 -0.76951 0.638559 uwb: 0.50010048 884.915 467.73 -imu_odom_: 1691062447.513215298 0.0143652 -0.248997 9.41879 -0.0681769 -0.00213053 0.0575243 0.18 0.02 pose: 0.0 5.30529 -0.426407 0 -0.00902142 -0.00404511 -0.76951 0.638559 uwb: 0.0 884.915 467.73 -imu_odom_: 1691062447.530257437 0.612916 -0.320823 10.4076 -0.04048 -0.0308927 0.0330232 0.18 0.02 pose: 0.0 5.30529 -0.426407 0 -0.00902142 -0.00404511 -0.76951 0.638559 uwb: 0.0 884.915 467.73 -imu_odom_: 1691062447.555239569 0.399832 -0.263362 9.52892 -0.052198 -0.0106526 0.0607201 0.18 0.02 pose: 0.50953772 5.29616 -0.437211 0 -0.00692295 -0.0018381 -0.769446 0.638672 uwb: 0.50009758 884.55 468.29 -imu_odom_: 1691062447.579286142 0.21069 -0.316035 10.0269 -0.0394148 0.00745685 0.0319579 0.18 -0.02 pose: 0.16177448 5.29616 -0.437211 0 -0.00725132 -0.00175066 -0.769411 0.63871 uwb: 0.0 884.55 468.29 -imu_odom_: 1691062447.604232403 0.112527 -0.509965 10.0748 -0.052198 -0.00106526 0.0553937 0.25 0.02 pose: 0.25854113 5.29616 -0.437211 0 -0.00517822 -0.000239027-0.769318 0.638846 uwb: 0.49980010 883.302 469.26 -imu_odom_: 1691062447.629364725 0.486023 -0.0311246 9.95988 -0.0245011 -0.0170442 0.0330232 0.26 0.02 pose: 0.40839368 5.29701 -0.447175 0 -0.00320693 0.00329116 -0.769222 0.638965 uwb: 0.0 883.302 469.26 -imu_odom_: 1691062447.655206881 0.914585 -0.407014 10.0748 -0.0639159 -0.0383495 0.0649811 0.26 0.02 pose: 0.0 5.29701 -0.447175 0 -0.00320693 0.00329116 -0.769222 0.638965 uwb: 0.50010632 882.023 470.072 -imu_odom_: 1691062447.671269134 0.308852 -0.169988 9.98622 -0.0447411 0.0266316 0.0340885 0.21 0 pose: 0.7091632 5.29701 -0.447175 0 -0.00288024 0.00253016 -0.76924 0.638949 uwb: 0.0 882.023 470.072 -imu_odom_: 1691062447.688373975 0.778116 -0.203507 10.1945 -0.0490022 -0.0351537 0.0468716 0.21 0 pose: 0.0 5.29701 -0.447175 0 -0.00288024 0.00253016 -0.76924 0.638949 uwb: 0.49912644 881.708 470.841 -imu_odom_: 1691062447.713200083 0.842759 -0.122104 10.3238 -0.0255663 -0.04048 0.0308927 0.24 0 pose: 0.50896320 5.29785 -0.457139 0 -0.00406059 -0.000392958-0.769083 0.639136 uwb: 0.0 881.708 470.841 -imu_odom_: 1691062447.737200870 0.629675 -0.296881 9.79468 -0.056459 -0.0383495 0.0596548 0.24 0 pose: 0.0 5.29785 -0.457139 0 -0.00406059 -0.000392958-0.769083 0.639136 uwb: 0.0 881.708 470.841 -imu_odom_: 1691062447.762309278 0.562637 -0.222661 9.87848 -0.0500674 -0.0266316 0.0340885 0.18 0 pose: 0.33016029 5.2987 -0.467103 0 -0.00472955 -0.00240518 -0.769076 0.639135 uwb: 0.49939474 883.135 470.716 -imu_odom_: 1691062447.786246781 0.184354 -0.378284 9.94791 -0.072438 -0.00106526 0.0575243 0.18 0 pose: 0.0 5.2987 -0.467103 0 -0.00472955 -0.00240518 -0.769076 0.639135 uwb: 0.0 883.135 470.716 -imu_odom_: 1691062447.811247285 0.457293 -0.114922 10.1347 -0.0490022 0.0149137 0.0372843 0.18 0.02 pose: 0.49084990 5.28959 -0.477918 0 -0.00780389 -0.00474713 -0.768961 0.63923 uwb: 0.49994300 885.109 470.885 -imu_odom_: 1691062447.835227950 0.742203 -0.289698 10.4579 -0.076699 -0.0170442 0.0617853 0.18 0.02 pose: 0.0 5.28959 -0.477918 0 -0.00780389 -0.00474713 -0.768961 0.63923 uwb: 0.0 885.109 470.885 -imu_odom_: 1691062447.852174142 0.567426 -0.198719 9.76834 -0.052198 0.0276969 0.0287621 0.24 0 pose: 0.48870640 5.28959 -0.477918 0 -0.00448286 -0.00316004 -0.768886 0.639363 uwb: 0.50115328 883.853 471.784 -imu_odom_: 1691062447.869175745 0.208296 -0.311246 10.0173 -0.0596548 -0.0511327 0.0543285 0.24 0 pose: 0.0 5.28959 -0.477918 0 -0.00448286 -0.00316004 -0.768886 0.639363 uwb: 0.0 883.853 471.784 -imu_odom_: 1691062447.886204469 0.94571 -0.268151 10.0149 -0.0628506 0.0351537 0.0436758 0.24 0 pose: 0.49056118 5.29045 -0.487881 0 -0.00542713 -0.00498864 -0.768747 0.639511 uwb: 0.0 883.853 471.784 -imu_odom_: 1691062447.910179010 0.656011 0.023942 9.76834 -0.0511327 -0.0138484 0.0479369 0.23 0 pose: 0.0 5.29045 -0.487881 0 -0.00542713 -0.00498864 -0.768747 0.639511 uwb: 0.49893396 886.231 471.603 -imu_odom_: 1691062447.928232240 0.761356 -0.373495 10.1801 -0.0596548 0.00213053 0.0607201 0.23 0 pose: 0.33937005 5.29131 -0.497844 0 -0.00564697 -0.0048481 -0.768691 0.639577 uwb: 0.0 886.231 471.603 -imu_odom_: 1691062447.944180465 0.584185 -0.0981623 10.2807 -0.0426106 0.00958738 0.04048 0.2 0 pose: 0.41997732 5.28221 -0.508669 0 -0.00645322 -0.00743774 -0.76855 0.639714 uwb: 0.49897479 886.821 472.101 -imu_odom_: 1691062447.961230479 0.512359 -0.0550666 9.87369 -0.0713727 0.00639159 0.0511327 0.2 0 pose: 0.0 5.28221 -0.508669 0 -0.00645322 -0.00743774 -0.76855 0.639714 uwb: 0.0 886.821 472.101 -imu_odom_: 1691062447.979161223 0.562637 -0.440533 9.91199 -0.0447411 0.0234358 0.0319579 0.19 0 pose: 0.43047610 5.28269 -0.514218 0 -0.00432424 -0.00838125 -0.768433 0.639861 uwb: 0.0 886.821 472.101 -imu_odom_: 1691062447.996181199 0.184354 -0.287304 9.4978 -0.0511327 0.0543285 0.0426106 0.19 0 pose: 0.0 5.28269 -0.514218 0 -0.00432424 -0.00838125 -0.768433 0.639861 uwb: 0.50039503 885.093 473.028 -imu_odom_: 1691062448.13172016 0.550666 -0.328006 10.2807 -0.0607201 -0.0511327 0.0468716 0.19 0 pose: 0.0 5.28269 -0.514218 0 -0.00432424 -0.00838125 -0.768433 0.639861 uwb: 0.0 885.093 473.028 -imu_odom_: 1691062448.30164002 0.349553 -0.0311246 9.76834 -0.0308927 0.0191748 0.0287621 0.18 -0.02 pose: 0.42011147 5.28308 -0.518631 0 -0.00447711 -0.00479188 -0.768446 0.63988 uwb: 0.0 885.093 473.028 -imu_odom_: 1691062448.46248136 0.148441 -0.251391 10.1442 -0.056459 -0.0276969 0.0511327 0.19 0 pose: 0.0 5.28308 -0.518631 0 -0.00447711 -0.00479188 -0.768446 0.63988 uwb: 0.50032522 888.846 472.56 -imu_odom_: 1691062448.70253309 0.0957681 -0.234632 9.94551 -0.0543285 -0.0351537 0.0394148 0.19 0 pose: 0.33967059 5.28395 -0.528593 0 -0.00303816 -0.00396029 -0.768464 0.639874 uwb: 0.0 888.846 472.56 -imu_odom_: 1691062448.88347376 0.622492 0.153229 9.76595 -0.0575243 -0.0266316 0.0426106 0.25 0.02 pose: 0.0 5.28395 -0.528593 0 -0.00303816 -0.00396029 -0.768464 0.639874 uwb: 0.50024362 887.595 473.449 -imu_odom_: 1691062448.104148334 0.536301 -0.208296 10.0868 -0.0798948 -0.00958738 0.04048 0.25 0.02 pose: 0.41047904 5.28482 -0.538555 0 -0.00102232 -0.00270483 -0.768432 0.639924 uwb: 0.0 887.595 473.449 -imu_odom_: 1691062448.127201035 0.536301 -0.371101 9.85932 -0.0532632 0.00319579 0.0255663 0.19 0 pose: 0.25891745 5.27486 -0.539426 0 -0.00260185 -0.00392512 -0.768411 0.63994 uwb: 0.0 887.595 473.449 -imu_odom_: 1691062448.141195327 0.428562 -0.363919 9.77074 -0.052198 0.0255663 0.0372843 0.19 0 pose: 0.7015228 5.27486 -0.539426 0 -0.00314233 -0.0034988 -0.76844 0.639905 uwb: 0.50005114 885.932 474.648 -imu_odom_: 1691062448.158379209 0.435745 -0.0766145 9.78989 -0.0308927 -0.00745685 0.0319579 0.19 0 pose: 0.0 5.27486 -0.539426 0 -0.00314233 -0.0034988 -0.76844 0.639905 uwb: 0.0 885.932 474.648 -imu_odom_: 1691062448.174298861 0.117316 -0.0981623 9.75637 -0.0383495 0.0319579 0.0415453 0.19 0 pose: 0.47215647 5.27573 -0.549388 0 -0.00297379 -0.00221454 -0.768561 0.639765 uwb: 0.0 885.932 474.648 -imu_odom_: 1691062448.199194681 0.237026 -0.177171 9.93115 -0.0628506 0.00319579 0.052198 0.19 0 pose: 0.0 5.27573 -0.549388 0 -0.00297379 -0.00221454 -0.768561 0.639765 uwb: 0.49952329 891.491 473.736 -imu_odom_: 1691062448.213294545 0.110133 -0.275333 9.93354 -0.0490022 -0.0138484 0.0372843 0.18 0 pose: 0.0 5.27573 -0.549388 0 -0.00297379 -0.00221454 -0.768561 0.639765 uwb: 0.0 891.491 473.736 -imu_odom_: 1691062448.230369647 0.962469 -0.126893 9.97664 -0.0458064 0.00532632 0.0532632 0.18 0.05 pose: 0.40815472 5.27659 -0.559351 0 0.000948882 -0.000118556-0.768458 0.6399 uwb: 0.0 891.491 473.736 -imu_odom_: 1691062448.255287339 0.687136 0.00957681 9.73004 -0.0415453 -0.0170442 0.036219 0.19 0 pose: 0.0 5.27659 -0.559351 0 0.000948882 -0.000118556-0.768458 0.6399 uwb: 0.49981201 889.729 474.486 -imu_odom_: 1691062448.272120386 0.397437 -0.438139 9.63187 -0.0660464 -0.0511327 0.0585895 0.19 0 pose: 0.31174966 5.27708 -0.564958 0 0.000702389 -0.00031266 -0.768394 0.639977 uwb: 0.0 889.729 474.486 -imu_odom_: 1691062448.296115352 0.464475 -0.229843 9.61511 -0.0383495 -0.0170442 0.015979 0.19 0 pose: 0.0 5.27708 -0.564958 0 0.000702389 -0.00031266 -0.768394 0.639977 uwb: 0.50121476 889.839 475.015 -imu_odom_: 1691062448.314139427 0.840365 -0.225055 10.0341 -0.0660464 0.0149137 0.0458064 0.19 0 pose: 0.48780840 5.2675 -0.570186 0 -0.00184951 -0.00168333 -0.768366 0.640006 uwb: 0.0 889.839 475.015 -imu_odom_: 1691062448.339288384 0.770933 -0.11971 9.72764 -0.0468716 -0.02024 0.0394148 0.18 0.02 pose: 0.34988940 5.26838 -0.580148 0 -0.00480763 -0.00263658 -0.768449 0.639888 uwb: 0.50006281 888.081 475.747 -imu_odom_: 1691062448.364145708 0.531513 -0.0047884 9.83299 -0.076699 -0.00532632 0.0596548 0.18 0.02 pose: 0.8128682 5.26838 -0.580148 0 -0.00520081 -0.00343157 -0.768447 0.639883 uwb: 0.0 888.081 475.747 -imu_odom_: 1691062448.389127559 0.265756 -0.0430956 10.3597 -0.0415453 0.0458064 0.0245011 0.2 0 pose: 0.41877599 5.26925 -0.59011 0 -0.0043973 -0.00660898 -0.768296 0.640046 uwb: 0.50005989 890.032 475.982 -imu_odom_: 1691062448.406120421 0.471658 -0.136469 9.50019 -0.0575243 -0.0308927 0.0553937 0.2 0 pose: 0.0 5.26925 -0.59011 0 -0.0043973 -0.00660898 -0.768296 0.640046 uwb: 0.0 890.032 475.982 -imu_odom_: 1691062448.422304002 0.225055 -0.435745 9.63427 -0.0500674 0.0500674 0.0383495 0.2 -0.02 pose: 0.0 5.26925 -0.59011 0 -0.0043973 -0.00660898 -0.768296 0.640046 uwb: 0.0 890.032 475.982 -imu_odom_: 1691062448.440298622 0.174777 -0.253785 9.50259 -0.0479369 -0.0319579 0.0490022 0.2 -0.02 pose: 0.33110533 5.27012 -0.600072 0 -0.000690362-0.00563031 -0.768397 0.639949 uwb: 0.49847050 890.547 476.162 -imu_odom_: 1691062448.464125024 0.560243 -0.407014 9.74201 -0.0713727 0.0138484 0.0543285 0.18 -0.02 pose: 0.0 5.27012 -0.600072 0 -0.000690362-0.00563031 -0.768397 0.639949 uwb: 0.0 890.547 476.162 -imu_odom_: 1691062448.482099522 0.19393 -0.311246 9.58878 -0.076699 0.0117179 0.0458064 0.18 -0.02 pose: 0.50988501 5.27099 -0.610033 0 0.000447459 -0.00206187 -0.768281 0.640109 uwb: 0.0 890.547 476.162 -imu_odom_: 1691062448.499094425 0.471658 -0.435745 10.0987 -0.0713727 -0.015979 0.0436758 0.18 -0.02 pose: 0.0 5.27099 -0.610033 0 0.000447459 -0.00206187 -0.768281 0.640109 uwb: 0.49991116 887.888 477.133 -imu_odom_: 1691062448.520187936 0.253785 -0.21069 10.5345 -0.0298274 0.00639159 0.0266316 0.2 0 pose: 0.50849683 5.26158 -0.617102 0 -0.0018395 0.00142852 -0.768146 0.640271 uwb: 0.0 887.888 477.133 -imu_odom_: 1691062448.537242332 0.445322 -0.361524 9.63666 -0.052198 -0.0500674 0.0511327 0.19 0 pose: 0.0 5.26158 -0.617102 0 -0.0018395 0.00142852 -0.768146 0.640271 uwb: 0.49996949 888.846 477.145 -imu_odom_: 1691062448.554090252 0.339977 -0.347159 9.94551 -0.0575243 -0.00426106 0.0330232 0.19 0 pose: 0.0 5.26158 -0.617102 0 -0.0018395 0.00142852 -0.768146 0.640271 uwb: 0.0 888.846 477.145 -imu_odom_: 1691062448.578101841 0.562637 -0.263362 10.2496 -0.0713727 -0.00213053 0.0479369 0.18 0 pose: 0.28082783 5.26191 -0.62087 0 -0.0004006940.00220154 -0.768206 0.640199 uwb: 0.0 888.846 477.145 -imu_odom_: 1691062448.604153110 0.85473 -0.337582 10.3286 -0.0394148 -0.0553937 0.036219 0.18 0 pose: 0.35117550 5.26279 -0.630832 0 -0.00220091 0.00348638 -0.768179 0.640222 uwb: 0.50406109 890.208 476.809 -imu_odom_: 1691062448.630102599 0.895431 -0.0790087 10.1969 -0.0639159 -0.0319579 0.0628506 0.19 0 pose: 0.41858352 5.2634 -0.637737 0 -0.00580744 0.000322089 -0.768167 0.640224 uwb: 0.0 890.208 476.809 -imu_odom_: 1691062448.654113604 0.830788 -0.100556 10.3166 -0.036219 -0.00319579 0.0330232 0.19 0 pose: 0.7973824 5.26367 -0.640793 0 -0.0062164 -0.00046073 -0.768108 0.64029 uwb: 0.49566791 894.863 476.285 -imu_odom_: 1691062448.668088066 0.251391 -0.112527 9.62708 -0.0479369 0.0266316 0.0436758 0.18 0.02 pose: 0.0 5.26367 -0.640793 0 -0.0062164 -0.00046073 -0.768108 0.64029 uwb: 0.0 894.863 476.285 -imu_odom_: 1691062448.684141287 0.6608 -0.481235 9.76834 -0.0596548 0.00106526 0.0436758 0.18 0.02 pose: 0.48976818 5.26367 -0.640793 0 -0.0070051 -0.00439954 -0.768019 0.640374 uwb: 0.0 894.863 476.285 -imu_odom_: 1691062448.702121909 1.1564 -0.0670376 10.24 -0.0340885 -0.0490022 0.04048 0.18 0.02 pose: 0.0 5.26367 -0.640793 0 -0.0070051 -0.00439954 -0.768019 0.640374 uwb: 0.49990241 896.274 476.195 -imu_odom_: 1691062448.726297104 1.76932 -0.258574 9.60793 -0.0628506 0.0511327 0.0596548 0.25 0.02 pose: 0.31109057 5.25459 -0.651637 0 -0.00818924 -0.00424845 -0.767976 0.640412 uwb: 0.0 896.274 476.195 -imu_odom_: 1691062448.751104267 0.715866 -0.167594 9.086 -0.0308927 0.015979 0.0415453 0.23 0 pose: 0.34084295 5.25519 -0.658443 0 -0.0102355 -0.0063374 -0.7678 0.640576 uwb: 0.50003948 897.811 476.755 -imu_odom_: 1691062448.776077078 -0.0430956 -0.277727 9.49301 -0.0351537 0.0458064 0.0330232 0.23 0 pose: 0.0 5.25519 -0.658443 0 -0.0102355 -0.0063374 -0.7678 0.640576 uwb: 0.0 897.811 476.755 -imu_odom_: 1691062448.793092687 0.301669 -0.222661 9.94551 -0.0447411 0.00745685 0.0458064 0.2 0 pose: 0.7945536 5.25548 -0.661598 0 -0.0102783 -0.00713831 -0.767795 0.640574 uwb: 0.49939497 898.34 477.035 -imu_odom_: 1691062448.809206275 0.42138 -0.0981623 10.2161 -0.0692422 0.00852212 0.0575243 0.2 0 pose: 0.0 5.25548 -0.661598 0 -0.0102783 -0.00713831 -0.767795 0.640574 uwb: 0.0 898.34 477.035 -imu_odom_: 1691062448.826200012 0.509965 -0.25618 9.54329 -0.0490022 -0.0468716 0.0308927 0.2 0 pose: 0.0 5.25548 -0.661598 0 -0.0102783 -0.00713831 -0.767795 0.640574 uwb: 0.0 898.34 477.035 -imu_odom_: 1691062448.843091677 0.684742 0.105345 10.1682 -0.0511327 -0.036219 0.0511327 0.23 0.02 pose: 0.48903034 5.25637 -0.671558 0 -0.00738496 -0.00638998 -0.767849 0.640556 uwb: 0.50063441 900.609 476.503 -imu_odom_: 1691062448.868135938 0.675165 -0.0167594 10.0245 -0.0426106 0.00213053 0.0308927 0.23 0.02 pose: 0.0 5.25637 -0.671558 0 -0.00738496 -0.00638998 -0.767849 0.640556 uwb: 0.0 900.609 476.503 -imu_odom_: 1691062448.892221018 0.684742 -0.354342 9.70131 -0.0830906 0.0149137 0.0649811 0.18 0 pose: 0.84990264 5.25035 -0.682136 0 -0.00485267 -0.00845637 -0.767806 0.640608 uwb: 0.50089980 899.276 476.973 -imu_odom_: 1691062448.916062877 0.593762 -0.220267 9.73243 -0.0575243 0.00958738 0.0330232 0.18 0 pose: 0.0 5.25035 -0.682136 0 -0.00485267 -0.00845637 -0.767806 0.640608 uwb: 0.0 899.276 476.973 -imu_odom_: 1691062448.939102453 0.871489 -0.0454898 9.91678 -0.0681769 -0.0149137 0.0543285 0.27 0.02 pose: 0.7949327 5.2473 -0.682409 0 -0.00559906 -0.00801559 -0.767737 0.640691 uwb: 0.49927540 900.217 476.937 -imu_odom_: 1691062448.965081980 0.572214 -0.112527 10.0485 -0.0436758 0.0181095 0.0351537 0.24 0 pose: 0.47023461 5.24819 -0.692369 0 -0.00859016 -0.00570092 -0.767597 0.64085 uwb: 0.0 900.217 476.937 -imu_odom_: 1691062448.990058582 0.0191536 -0.0766145 9.6199 -0.0745685 0.0308927 0.0479369 0.24 0 pose: 0.0 5.24819 -0.692369 0 -0.00859016 -0.00570092 -0.767597 0.64085 uwb: 0.50083272 905.76 476.244 -imu_odom_: 1691062449.8082077 0.792481 -0.222661 10.3022 -0.0660464 -0.00532632 0.0447411 0.18 -0.02 pose: 0.24023546 5.24908 -0.702329 0 -0.008278 -0.00748157 -0.767538 0.640906 uwb: 0.0 905.76 476.244 -imu_odom_: 1691062449.32122840 0.306458 -0.316035 10.1969 -0.0735032 0.0149137 0.0468716 0.18 -0.02 pose: 0.51037203 5.24998 -0.712288 0 -0.00478376 -0.00667565 -0.767521 0.640971 uwb: 0.0 905.76 476.244 -imu_odom_: 1691062449.58036762 0.639252 -0.0502782 10.3142 -0.0553937 -0.0319579 0.036219 0.2 0 pose: 0.33953365 5.24998 -0.712288 0 -0.00470032 -0.00457615 -0.767453 0.641071 uwb: 0.49929306 904.45 476.839 -imu_odom_: 1691062449.80042802 0.849942 -0.363919 10.3286 -0.0671117 -0.0415453 0.0447411 0.2 0 pose: 0.0 5.24998 -0.712288 0 -0.00470032 -0.00457615 -0.767453 0.641071 uwb: 0.0 904.45 476.839 -imu_odom_: 1691062449.105169023 0.610521 -0.237026 10.1442 -0.036219 -0.00213053 0.0266316 0.19 0 pose: 0.47919962 5.24092 -0.723148 0 -0.00729375 -0.00768372 -0.767418 0.641059 uwb: 0.49945062 903.607 477.4 -imu_odom_: 1691062449.123067996 -0.110133 -0.201113 9.51216 -0.0777643 0.0458064 0.0500674 0.19 0 pose: 0.0 5.24092 -0.723148 0 -0.00729375 -0.00768372 -0.767418 0.641059 uwb: 0.0 903.607 477.4 -imu_odom_: 1691062449.146050424 0.177171 -0.0335188 9.97664 -0.0500674 0 0.036219 0.18 0.02 pose: 0.43025194 5.24182 -0.733108 0 -0.0069328 -0.00427949 -0.767463 0.641042 uwb: 0.50115083 906.315 476.741 -imu_odom_: 1691062449.172192111 0.572214 -0.232238 10.0844 -0.0756338 0.00426106 0.0394148 0.18 0.02 pose: 0.0 5.24182 -0.733108 0 -0.0069328 -0.00427949 -0.767463 0.641042 uwb: 0.0 906.315 476.741 -imu_odom_: 1691062449.195042720 0.529119 -0.378284 9.91199 -0.0436758 0.0255663 0.0223706 0.19 0 pose: 0.49124115 5.24247 -0.740254 0 -0.00713389 -0.00447333 -0.767489 0.641007 uwb: 0.49937479 902.257 477.77 -imu_odom_: 1691062449.212099166 0.0502782 -0.363919 9.77074 -0.056459 0.0138484 0.0426106 0.19 0 pose: 0.0 5.24247 -0.740254 0 -0.00713389 -0.00447333 -0.767489 0.641007 uwb: 0.0 902.257 477.77 -imu_odom_: 1691062449.235146044 0.37589 -0.0502782 10.4459 -0.00958738 0.00958738 0.0298274 0.19 0 pose: 0.39907055 5.24323 -0.748659 0 -0.00654081 -0.000876821-0.767591 0.640906 uwb: 0.0 902.257 477.77 -imu_odom_: 1691062449.259171059 0.667982 -0.146046 10.3717 -0.0649811 -0.00852212 0.0575243 0.19 0 pose: 0.0 5.24323 -0.748659 0 -0.00654081 -0.000876821-0.767591 0.640906 uwb: 0.50051216 903.75 478.186 -imu_odom_: 1691062449.285016155 0.474052 -0.28491 9.89763 -0.0436758 -0.0287621 0.0351537 0.25 0 pose: 0.47071893 5.23426 -0.760578 0 -0.00497296 -0.00408297 -0.767533 0.640977 uwb: 0.0 903.75 478.186 -imu_odom_: 1691062449.298083937 0.23942 -0.0694318 9.84975 -0.0585895 0.0426106 0.0511327 0.25 0 pose: 0.0 5.23426 -0.760578 0 -0.00497296 -0.00408297 -0.767533 0.640977 uwb: 0.49991139 903.784 478.37 -imu_odom_: 1691062449.323083298 0.37589 0.110133 9.99579 -0.0532632 0.0149137 0.0436758 0.18 0 pose: 0.38912878 5.23456 -0.763883 0 -0.00365927 -0.00148549 -0.767524 0.641008 uwb: 0.0 903.784 478.37 -imu_odom_: 1691062449.340151117 0.706289 -0.0861913 10.149 -0.0735032 -0.0415453 0.0553937 0.18 0 pose: 0.7944082 5.23456 -0.763883 0 -0.00293543 -0.00188651 -0.767517 0.641019 uwb: 0.50039550 906.12 478.303 -imu_odom_: 1691062449.365015160 0.349553 -0.11971 9.79228 -0.0532632 -0.0181095 0.0234358 0.18 0 pose: 0.34123098 5.23546 -0.773842 0 -0.00250787 -0.0043501 -0.767407 0.641141 uwb: 0.0 906.12 478.303 -imu_odom_: 1691062449.390041935 0.316035 -0.323217 10.3262 -0.076699 -0.0553937 0.0543285 0.18 0 pose: 0.0 5.23546 -0.773842 0 -0.00250787 -0.0043501 -0.767407 0.641141 uwb: 0.49804203 905.227 478.536 -imu_odom_: 1691062449.413074523 0.181959 -0.141258 9.93594 -0.052198 -0.00639159 0.0340885 0.19 0 pose: 0.7967121 5.23546 -0.773842 0 -0.00178136 -0.00416036 -0.767452 0.641091 uwb: 0.0 905.227 478.536 -imu_odom_: 1691062449.437070083 0.715866 -0.138864 9.98622 -0.092678 -0.0458064 0.0553937 0.19 0 pose: 0.0 5.23546 -0.773842 0 -0.00178136 -0.00416036 -0.767452 0.641091 uwb: 0.0 905.227 478.536 -imu_odom_: 1691062449.455120705 0.555455 -0.172383 9.27514 -0.0681769 -0.0138484 0.0319579 0.19 0 pose: 0.48903348 5.23636 -0.783801 0 -0.00024976 -0.00116677 -0.767446 0.641112 uwb: 0.49982682 907.54 478.336 -imu_odom_: 1691062449.479046857 0.117316 -0.344765 10.0916 -0.0798948 -0.015979 0.0426106 0.19 0 pose: 0.0 5.23636 -0.783801 0 -0.00024976 -0.00116677 -0.767446 0.641112 uwb: 0.0 907.54 478.336 -imu_odom_: 1691062449.505187086 -0.0622492 -0.184354 10.2687 -0.04048 0.0213053 0.0319579 0.18 0 pose: 0.65986333 5.2273 -0.794663 0 -0.00205252 -0.00291659 -0.767384 0.641178 uwb: 0.0 907.54 478.336 -imu_odom_: 1691062449.518108759 0.0766145 -0.201113 9.991 -0.0585895 0.00426106 0.0585895 0.18 0 pose: 0.0 5.2273 -0.794663 0 -0.00205252 -0.00291659 -0.767384 0.641178 uwb: 0.0 907.54 478.336 -imu_odom_: 1691062449.542002540 0.557849 -0.268151 10.1442 -0.0447411 0.0351537 0.0340885 0.18 -0.02 pose: 0.55100840 5.22821 -0.804622 0 0.00198983 0.0010924 -0.767357 0.641216 uwb: 0.100042938 908.028 478.44 -imu_odom_: 1691062449.568009492 0.696713 -0.440533 10.3932 -0.0628506 -0.00532632 0.04048 0.18 -0.02 pose: 0.0 5.22821 -0.804622 0 0.00198983 0.0010924 -0.767357 0.641216 uwb: 0.0 908.028 478.44 -imu_odom_: 1691062449.593040350 0.610521 -0.023942 10.1801 -0.04048 -0.00639159 0.0308927 0.19 0 pose: 0.8015241 5.22821 -0.804622 0 0.00139771 0.000853809 -0.767372 0.6412 uwb: 0.49967809 909.895 478.377 -imu_odom_: 1691062449.610103211 0.339977 -0.505177 10.5201 -0.0575243 -0.0106526 0.0394148 0.19 0 pose: 0.0 5.22821 -0.804622 0 0.00139771 0.000853809 -0.767372 0.6412 uwb: 0.0 909.895 478.377 -imu_odom_: 1691062449.634094689 0.0885855 -0.258574 10.137 -0.036219 0.0117179 0.0245011 0.21 0 pose: 0.49907732 5.22911 -0.814581 0 -0.0023805 -0.000564884-0.767416 0.641145 uwb: 0.0 909.895 478.377 -imu_odom_: 1691062449.659990821 0.828394 -0.466869 9.49062 -0.0511327 -0.0308927 0.0351537 0.2 -0.02 pose: 0.25094142 5.23001 -0.82454 0 -0.00249133 -0.00160967 -0.767463 0.641086 uwb: 0.49936604 911.38 478.837 -imu_odom_: 1691062449.686097804 0.378284 -0.162806 9.68215 -0.0234358 -0.0468716 0.0458064 0.2 -0.02 pose: 0.32968815 5.22393 -0.831827 0 -0.0007199950.000824773 -0.767579 0.640954 uwb: 0.0 911.38 478.837 -imu_odom_: 1691062449.709977586 0.129287 -0.11971 9.99819 -0.0458064 -0.0127832 0.0500674 0.22 0 pose: 0.7899753 5.22095 -0.8354 0 -0.00156483 0.000590291 -0.76759 0.640939 uwb: 0.49919106 910.009 479.025 -imu_odom_: 1691062449.724051793 0.641646 -0.225055 9.84975 -0.0447411 0.0213053 0.0340885 0.22 0 pose: 0.0 5.22095 -0.8354 0 -0.00156483 0.000590291 -0.76759 0.640939 uwb: 0.0 910.009 479.025 -imu_odom_: 1691062449.748043562 0.739808 -0.124498 9.91918 -0.0415453 -0.0255663 0.0447411 0.18 0.02 pose: 0.50997565 5.22095 -0.8354 0 -0.000461377-0.000927301-0.767541 0.640998 uwb: 0.50127040 909.151 479.483 -imu_odom_: 1691062449.774044098 0.301669 -0.009576819.80426 -0.0596548 0.00639159 0.0607201 0.18 0.02 pose: 0.0 5.22095 -0.8354 0 -0.000461377-0.000927301-0.767541 0.640998 uwb: 0.0 909.151 479.483 -imu_odom_: 1691062449.786961397 0.011971 -0.306458 9.62708 -0.0798948 -0.0127832 0.0745685 0.18 0.02 pose: 0.0 5.22095 -0.8354 0 -0.000461377-0.000927301-0.767541 0.640998 uwb: 0.0 909.151 479.483 -imu_odom_: 1691062449.811033074 -0.011971 -0.294487 10.0509 -0.0543285 0.0191748 0.036219 0.18 0.02 pose: 0.39160766 5.22185 -0.845359 0 -0.000419957-0.00181917 -0.767494 0.641053 uwb: 0.49872737 910.484 479.062 -imu_odom_: 1691062449.837007947 0.486023 -0.380678 9.91199 -0.052198 -0.0490022 0.0490022 0.22 0 pose: 0.78880301 5.21675 -0.862525 0 0.00319797 -3.22951e-05-0.767181 0.641423 uwb: 0.0 910.484 479.062 -imu_odom_: 1691062449.850943920 0.632069 -0.179565 10.2831 -0.0330232 -0.0490022 0.0266316 0.22 0 pose: 0.0 5.21675 -0.862525 0 0.00319797 -3.22951e-05-0.767181 0.641423 uwb: 0.50038675 911.86 478.899 -imu_odom_: 1691062449.878106031 0.117316 -0.229843 10.0987 -0.0788296 -0.015979 0.0607201 0.18 0 pose: 0.8022531 5.2137 -0.866186 0 0.00230477 8.82657e-05 -0.76716 0.641452 uwb: 0.0 911.86 478.899 -imu_odom_: 1691062449.902971532 0.533907 -0.246603 9.61751 -0.0639159 -0.00319579 0.0394148 0.18 0 pose: 0.0 5.2137 -0.866186 0 0.00230477 8.82657e-05 -0.76716 0.641452 uwb: 0.49987640 913.785 479.243 -imu_odom_: 1691062449.929009981 0.725443 -0.31364 9.5816 -0.0639159 -0.0255663 0.04048 0.2 0 pose: 0.40253806 5.21461 -0.876145 0 -0.000251183-0.000385443-0.76711 0.641515 uwb: 0.0 913.785 479.243 -imu_odom_: 1691062449.941947403 0.665588 -0.260968 10.1299 -0.0543285 -0.0191748 0.036219 0.2 0 pose: 0.0 5.21461 -0.876145 0 -0.000251183-0.000385443-0.76711 0.641515 uwb: 0.49939812 915.21 479.39 -imu_odom_: 1691062449.965951712 0.620098 -0.308852 10.4531 -0.0809601 -0.0490022 0.0660464 0.18 0 pose: 0.51747937 5.21461 -0.876145 0 -0.00216703 -0.000493754-0.766981 0.641666 uwb: 0.0 915.21 479.39 -imu_odom_: 1691062449.991061602 0.667982 -0.213084 10.3453 -0.0500674 -0.00958738 0.036219 0.18 0 pose: 0.0 5.21461 -0.876145 0 -0.00216703 -0.000493754-0.766981 0.641666 uwb: 0.50012137 914.32 479.655 -imu_odom_: 1691062450.4987368 0.828394 -0.201113 9.84017 -0.0575243 0.0170442 0.056459 0.18 0 pose: 0.0 5.21461 -0.876145 0 -0.00216703 -0.000493754-0.766981 0.641666 uwb: 0.0 914.32 479.655 -imu_odom_: 1691062450.28920530 0.718261 -0.112527 9.92875 -0.0170442 0.0181095 0.0223706 0.18 0 pose: 0.38895088 5.21553 -0.886103 0 -0.00611833 -0.00229848 -0.766909 0.641723 uwb: 0.0 914.32 479.655 -imu_odom_: 1691062450.55077394 0.244209 0.0047884 9.85214 -0.0575243 -0.015979 0.0671117 0.23 0.02 pose: 0.78968094 5.2071 -0.9036 0 -0.00892744 -0.00871795 -0.766839 0.641718 uwb: 0.49992322 911.202 480.536 -imu_odom_: 1691062450.76911964 0.641646 -0.011971 10.1323 -0.0468716 0.0106526 0.0436758 0.23 0.02 pose: 0.0 5.2071 -0.9036 0 -0.00892744 -0.00871795 -0.766839 0.641718 uwb: 0.0 911.202 480.536 -imu_odom_: 1691062450.93918840 0.500388 -0.268151 9.84496 -0.0660464 -0.00745685 0.0479369 0.19 0 pose: 0.8065696 5.20741 -0.90694 0 -0.00818486 -0.00855458 -0.766777 0.641804 uwb: 0.50246633 911.262 480.883 -imu_odom_: 1691062450.118033397 0.706289 -0.311246 10.2161 -0.04048 -0.0649811 0.0308927 0.19 0 pose: 0.0 5.20741 -0.90694 0 -0.00818486 -0.00855458 -0.766777 0.641804 uwb: 0.0 911.262 480.883 -imu_odom_: 1691062450.141908524 0.632069 -0.198719 10.2161 -0.052198 -0.0298274 0.0458064 0.18 -0.02 pose: 0.47940982 5.20833 -0.916898 0 -0.00536284 -0.00925256 -0.766595 0.642042 uwb: 0.49772729 914.889 480.3 -imu_odom_: 1691062450.158918900 0.701501 -0.332794 9.56005 -0.0415453 -0.00426106 0.0255663 0.18 -0.02 pose: 0.0 5.20833 -0.916898 0 -0.00536284 -0.00925256 -0.766595 0.642042 uwb: 0.0 914.889 480.3 -imu_odom_: 1691062450.183993222 0.0383072 -0.153229 9.48822 -0.0735032 0.0308927 0.0553937 0.19 0 pose: 0.40996615 5.20833 -0.916898 0 -0.00822996 -0.00761765 -0.766597 0.642031 uwb: 0.0 914.889 480.3 -imu_odom_: 1691062450.201028094 0.23942 -0.229843 10.0916 -0.0458064 -0.0415453 0.0394148 0.19 0 pose: 0.0 5.20833 -0.916898 0 -0.00822996 -0.00761765 -0.766597 0.642031 uwb: 0.50125022 917.719 480.534 -imu_odom_: 1691062450.217046042 0.687136 -0.105345 9.46188 -0.052198 -0.015979 0.0372843 0.19 0 pose: 0.0 5.20833 -0.916898 0 -0.00822996 -0.00761765 -0.766597 0.642031 uwb: 0.0 917.719 480.534 -imu_odom_: 1691062450.233980010 0.392649 -0.332794 10.1801 -0.0809601 0.00106526 0.0458064 0.18 0.02 pose: 0.42006831 5.20926 -0.926855 0 -0.00903089 -0.00545773 -0.766586 0.642055 uwb: 0.0 917.719 480.534 -imu_odom_: 1691062450.259035667 0.339977 -0.4956 9.98861 -0.0458064 -0.00639159 0.0298274 0.18 0.02 pose: 0.0 5.20926 -0.926855 0 -0.00903089 -0.00545773 -0.766586 0.642055 uwb: 0.49932836 920.951 480.412 -imu_odom_: 1691062450.282012856 0.679953 -0.442927 10.3597 -0.0532632 0.00426106 0.0351537 0.18 0.02 pose: 0.74990826 5.20116 -0.947696 0 -0.00623441 -0.00257506 -0.766534 0.642169 uwb: 0.0 920.951 480.412 -imu_odom_: 1691062450.307900543 0.237026 -0.0766145 10.0149 -0.0468716 -0.02024 0.052198 0.18 0.02 pose: 0.0 5.20116 -0.947696 0 -0.00623441 -0.00257506 -0.766534 0.642169 uwb: 0.50002244 924.197 480.427 -imu_odom_: 1691062450.331938984 0.593762 -0.229843 9.94073 -0.0532632 -0.036219 0.0394148 0.25 -0.02 pose: 0.24099685 5.20116 -0.947696 0 -0.00700838 -0.000954096-0.766586 0.642102 uwb: 0.0 924.197 480.427 -imu_odom_: 1691062450.356974227 0.68953 -0.35913 10.3046 -0.0532632 -0.0287621 0.0553937 0.2 0 pose: 0.22902822 5.20116 -0.947696 0 -0.00768177 -0.000837432-0.76657 0.642114 uwb: 0.50037532 927.869 480.213 -imu_odom_: 1691062450.372953971 0.849942 -0.500388 9.52892 -0.0532632 0.0468716 0.0372843 0.2 0 pose: 0.0 5.20116 -0.947696 0 -0.00768177 -0.000837432-0.76657 0.642114 uwb: 0.0 927.869 480.213 -imu_odom_: 1691062450.397952469 0.251391 0.160412 9.4547 -0.0575243 0.00958738 0.0639159 0.18 0 pose: 0.50065820 5.20209 -0.957653 0 -0.008033 -0.0034801 -0.766456 0.642237 uwb: 0.49961708 929.754 480.476 -imu_odom_: 1691062450.422889432 0.184354 -0.196325 9.87129 -0.0735032 -0.00852212 0.0234358 0.18 0 pose: 0.0 5.20209 -0.957653 0 -0.008033 -0.0034801 -0.766456 0.642237 uwb: 0.0 929.754 480.476 -imu_odom_: 1691062450.446901043 0.332794 -0.411803 10.1299 -0.0681769 -0.00426106 0.0553937 0.18 0 pose: 0.40973284 5.20302 -0.967609 0 -0.0103386 -0.00354482 -0.766299 0.642391 uwb: 0.50043073 927.541 481.184 -imu_odom_: 1691062450.469875315 0.636858 -0.153229 9.48343 -0.0532632 -0.0181095 0.0266316 0.18 0 pose: 0.0 5.20302 -0.967609 0 -0.0103386 -0.00354482 -0.766299 0.642391 uwb: 0.0 927.541 481.184 -imu_odom_: 1691062450.487897366 0.881066 -0.0814029 9.64863 -0.0649811 -0.0468716 0.052198 0.25 -0.02 pose: 0.49997870 5.194 -0.978502 0 -0.00647205 -0.00161195 -0.766287 0.642464 uwb: 0.49935169 929.389 481.19 -imu_odom_: 1691062450.502873017 0.804452 -0.11971 9.95509 -0.0788296 -0.0383495 0.056459 0.25 -0.02 pose: 0.0 5.194 -0.978502 0 -0.00647205 -0.00161195 -0.766287 0.642464 uwb: 0.0 929.389 481.19 -imu_odom_: 1691062450.527935965 0.849942 -0.373495 9.87369 -0.0681769 -0.00852212 0.0372843 0.25 0 pose: 0.46970427 5.19494 -0.988458 0 -0.00701949 -0.00320939 -0.766269 0.642474 uwb: 0.0 929.389 481.19 -imu_odom_: 1691062450.542877495 0.0047884 -0.237026 10.0149 -0.0692422 0.0213053 0.0511327 0.25 0 pose: 0.0 5.19494 -0.988458 0 -0.00701949 -0.00320939 -0.766269 0.642474 uwb: 0.50060279 929.456 481.678 -imu_odom_: 1691062450.565968421 0.881066 -0.0766145 9.59357 -0.052198 0.0308927 0.0276969 0.25 0 pose: 0.0 5.19494 -0.988458 0 -0.00701949 -0.00320939 -0.766269 0.642474 uwb: 0.0 929.456 481.678 -imu_odom_: 1691062450.582982004 0.351948 -0.131681 9.90721 -0.0671117 0.00426106 0.0607201 0.17 0.02 pose: 0.32956581 5.19588 -0.998414 0 -0.00929435 -0.00577596 -0.766137 0.642584 uwb: 0.0 929.456 481.678 -imu_odom_: 1691062450.606865005 0.742203 -0.275333 9.65103 -0.0617853 0.00852212 0.0330232 0.17 0.02 pose: 0.0 5.19588 -0.998414 0 -0.00929435 -0.00577596 -0.766137 0.642584 uwb: 0.49955000 928.579 482.012 -imu_odom_: 1691062450.631911914 0.347159 -0.452504 10.3549 -0.072438 -0.0181095 0.0468716 0.18 0 pose: 0.40025768 5.19588 -0.998414 0 -0.0099085 -0.00562401 -0.766121 0.642595 uwb: 0.0 928.579 482.012 -imu_odom_: 1691062450.654903392 0.277727 -0.0407014 10.647 -0.0266316 0.00426106 0.0245011 0.18 0 pose: 0.0 5.19588 -0.998414 0 -0.0099085 -0.00562401 -0.766121 0.642595 uwb: 0.50170517 929.909 481.617 -imu_odom_: 1691062450.670868846 0.390255 -0.292093 9.66779 -0.0543285 -0.0394148 0.0490022 0.2 -0.02 pose: 0.40003021 5.18687 -1.00931 0 -0.0092327 -0.00645414 -0.766092 0.642632 uwb: 0.0 929.909 481.617 -imu_odom_: 1691062450.693939066 0.411803 -0.0814029 9.48343 -0.0458064 -0.0127832 0.0287621 0.2 -0.02 pose: 0.0 5.18687 -1.00931 0 -0.0092327 -0.00645414 -0.766092 0.642632 uwb: 0.49815308 929.538 482.284 -imu_odom_: 1691062450.718940480 0.308852 -0.201113 9.49301 -0.0735032 0.0181095 0.0575243 0.25 0.02 pose: 0.88185182 5.18875 -1.02922 0 -0.00613968 -0.00354412 -0.766175 0.642593 uwb: 0.0 929.538 482.284 -imu_odom_: 1691062450.742123853 0.811634 -0.124498 10.2472 -0.0287621 0.00426106 0.0351537 0.25 0.02 pose: 0.0 5.18875 -1.02922 0 -0.00613968 -0.00354412 -0.766175 0.642593 uwb: 0.50164392 932.729 482.049 -imu_odom_: 1691062450.760904441 0.0814029 -0.493206 9.65582 -0.0532632 0.00319579 0.056459 0.18 0.02 pose: 0.46924641 5.18875 -1.02922 0 -0.00293132 -0.00275092 -0.766111 0.642695 uwb: 0.0 932.729 482.049 -imu_odom_: 1691062450.784891555 0.61531 -0.148441 10.1682 -0.0330232 -0.0234358 0.0319579 0.18 0.02 pose: 0.0 5.18875 -1.02922 0 -0.00293132 -0.00275092 -0.766111 0.642695 uwb: 0.0 932.729 482.049 -imu_odom_: 1691062450.801908346 0.624887 0 9.77553 -0.0458064 -0.0106526 0.0415453 0.2 0 pose: 0.42894854 5.18969 -1.03918 0 -0.00340951 -0.00320901 -0.766048 0.642766 uwb: 0.49808017 934.151 482.387 -imu_odom_: 1691062450.818021658 0.837971 -0.275333 10.3382 -0.0596548 0.00639159 0.0415453 0.2 0 pose: 0.0 5.18969 -1.03918 0 -0.00340951 -0.00320901 -0.766048 0.642766 uwb: 0.0 934.151 482.387 -imu_odom_: 1691062450.835027076 0.383072 -0.059855 10.1778 -0.0245011 -0.00319579 0.0415453 0.23 0 pose: 0.49100223 5.18068 -1.05008 0 -0.0051402 -0.00709929 -0.766047 0.642725 uwb: 0.0 934.151 482.387 -imu_odom_: 1691062450.850837673 0.191536 -0.320823 9.61033 -0.0649811 0.0191748 0.0735032 0.23 0 pose: 0.0 5.18068 -1.05008 0 -0.0051402 -0.00709929 -0.766047 0.642725 uwb: 0.50243716 939.147 482.06 -imu_odom_: 1691062450.867848631 0.354342 -0.203507 9.85932 -0.0479369 -0.0479369 0.0383495 0.23 0 pose: 0.0 5.18068 -1.05008 0 -0.0051402 -0.00709929 -0.766047 0.642725 uwb: 0.0 939.147 482.06 -imu_odom_: 1691062450.884025811 0.766145 -0.263362 9.73482 -0.0394148 -0.02024 0.0372843 0.18 0 pose: 0.49826973 5.18163 -1.06003 0 -0.00178484 -0.00430324 -0.765898 0.642945 uwb: 0.0 939.147 482.06 -imu_odom_: 1691062450.900956570 -0.0814029 -0.452504 10.1706 -0.0607201 -0.00745685 0.056459 0.25 0.02 pose: 0.0 5.18163 -1.06003 0 -0.00178484 -0.00430324 -0.765898 0.642945 uwb: 0.49845930 936.924 482.657 -imu_odom_: 1691062450.917013014 0.59855 -0.148441 10.3286 -0.0223706 -0.052198 0.0287621 0.25 0.02 pose: 0.0 5.18163 -1.06003 0 -0.00178484 -0.00430324 -0.765898 0.642945 uwb: 0.0 936.924 482.657 -imu_odom_: 1691062450.932960095 0.00718261 -0.124498 9.49062 -0.0596548 0.00213053 0.0681769 0.23 0.02 pose: 0.24144596 5.18258 -1.06999 0 -0.00297693 -0.00437303 -0.76586 0.642985 uwb: 0.0 936.924 482.657 -imu_odom_: 1691062450.949838944 0.380678 -0.31364 10.1849 -0.0596548 -0.0266316 0.0500674 0.23 0.02 pose: 0.0 5.18258 -1.06999 0 -0.00297693 -0.00437303 -0.76586 0.642985 uwb: 0.49829597 940.553 482.346 -imu_odom_: 1691062450.966853985 0.521936 -0.107739 9.9096 -0.0500674 0.0106526 0.0340885 0.23 0.02 pose: 0.32059518 5.18258 -1.06999 0 -0.00288844 -0.00501191 -0.765802 0.643051 uwb: 0.0 940.553 482.346 -imu_odom_: 1691062450.982879807 0.189142 -0.112527 10.1945 -0.0703074 -0.0255663 0.0617853 0.18 0 pose: 0.42801240 5.17829 -1.08044 0 -0.0018294 -0.00449614 -0.765699 0.64318 uwb: 0.0 940.553 482.346 -imu_odom_: 1691062450.999880850 0.806846 -0.296881 9.64145 -0.0596548 -0.0351537 0.0340885 0.18 0 pose: 0.0 5.17829 -1.08044 0 -0.0018294 -0.00449614 -0.765699 0.64318 uwb: 0.49817933 939.726 483.104 -imu_odom_: 1691062451.15999709 0.536301 -0.131681 10.1945 -0.0553937 0.00958738 0.0436758 0.18 0 pose: 0.0 5.17829 -1.08044 0 -0.0018294 -0.00449614 -0.765699 0.64318 uwb: 0.0 939.726 483.104 -imu_odom_: 1691062451.32862817 0.543484 -0.344765 9.50737 -0.0777643 -0.0127832 0.0692422 0.24 0 pose: 0.8082028 5.17357 -1.0809 0 -0.0012304 -0.00410848 -0.765646 0.643248 uwb: 0.0 939.726 483.104 -imu_odom_: 1691062451.48868232 0.246603 -0.373495 9.56962 -0.0532632 -0.00213053 0.0372843 0.18 0 pose: 0.0 5.17357 -1.0809 0 -0.0012304 -0.00410848 -0.765646 0.643248 uwb: 0.49969014 942.432 482.772 -imu_odom_: 1691062451.65798708 0.703895 -0.155623 9.85453 -0.056459 -0.0138484 0.0447411 0.18 0 pose: 0.65885767 5.17453 -1.09085 0 -0.00359656 -0.00404462 -0.765433 0.643493 uwb: 0.0 942.432 482.772 -imu_odom_: 1691062451.81009422 1.19471 -0.112527 10.0604 -0.0617853 -0.02024 0.0852212 0.18 0 pose: 0.0 5.17453 -1.09085 0 -0.00359656 -0.00404462 -0.765433 0.643493 uwb: 0.0 942.432 482.772 -imu_odom_: 1691062451.98819464 1.0343 -0.481235 9.59357 -0.0511327 0.0234358 0.11931 0.16 0 pose: 0.0 5.17453 -1.09085 0 -0.00359656 -0.00404462 -0.765433 0.643493 uwb: 0.50025306 944.725 482.852 -imu_odom_: 1691062451.115872717 1.51314 -0.402226 10.0963 -0.0575243 -0.0703074 0.108657 0.16 0 pose: 0.32044951 5.1755 -1.1008 0 -0.00496139 -0.00522969 -0.765298 0.643636 uwb: 0.0 944.725 482.852 -imu_odom_: 1691062451.138879079 1.2378 0.0143652 9.61272 -0.0490022 0.0575243 0.0436758 0.14 -0.02 pose: 0.43005986 5.1755 -1.1008 0 -0.00907325 -0.00717381 -0.764302 0.644754 uwb: 0.49986519 939.827 483.943 -imu_odom_: 1691062451.163914042 -0.0407014 -0.153229 9.28471 -0.0692422 0.0426106 -0.00106526 0.14 -0.02 pose: 0.0 5.1755 -1.1008 0 -0.00907325 -0.00717381 -0.764302 0.644754 uwb: 0.0 939.827 483.943 -imu_odom_: 1691062451.188820395 -0.366313 0.0909797 10.0987 -0.0351537 0.0149137 -0.11931 0.17 0.02 pose: 0.7011446 5.1755 -1.1008 0 -0.00923226 -0.00766606 -0.764291 0.64476 uwb: 0.49993519 937.119 484.242 -imu_odom_: 1691062451.211963534 -0.493206 -0.47884 10.1921 -0.0820254 -0.00958738 0.0532632 0.17 0.02 pose: 0.0 5.1755 -1.1008 0 -0.00923226 -0.00766606 -0.764291 0.64476 uwb: 0.0 937.119 484.242 -imu_odom_: 1691062451.227798052 0.318429 -0.881066 9.66779 -0.0479369 -0.0756338 0.0426106 0.14 0.05 pose: 0.48075738 5.17649 -1.11075 0 -0.0064745 -0.00655494 -0.76499 0.643976 uwb: 0.0 937.119 484.242 -imu_odom_: 1691062451.252907381 1.01993 0.0143652 9.85932 -0.0543285 -0.0181095 0.0639159 0.14 0.05 pose: 0.0 5.17649 -1.11075 0 -0.0064745 -0.00655494 -0.76499 0.643976 uwb: 0.50046595 936.679 484.391 -imu_odom_: 1691062451.275907619 0.282516 -0.299275 9.56484 -0.0585895 0 0.0394148 0.2 0 pose: 0.64847274 5.16749 -1.12166 0 -0.00495847 -0.00351712 -0.765742 0.643119 uwb: 0.0 936.679 484.391 -imu_odom_: 1691062451.300913127 -0.0957681 -0.217872 9.55287 -0.04048 -0.00319579 0.0308927 0.15 0 pose: 0.0 5.16749 -1.12166 0 -0.00495847 -0.00351712 -0.765742 0.643119 uwb: 0.0 936.679 484.391 -imu_odom_: 1691062451.317913887 0.579397 -0.371101 9.79947 -0.0692422 -0.0756338 0.0596548 0.15 0 pose: 0.40100444 5.1681 -1.12801 0 -0.00453869 -0.00313404 -0.765612 0.643279 uwb: 0.0 936.679 484.391 -imu_odom_: 1691062451.333838228 0.770933 -0.354342 10.3501 -0.0468716 -0.0639159 0.0308927 0.15 0 pose: 0.0 5.1681 -1.12801 0 -0.00453869 -0.00313404 -0.765612 0.643279 uwb: 0.0 936.679 484.391 -imu_odom_: 1691062451.360801761 0.720655 -0.248997 10.0341 -0.0660464 -0.036219 0.0532632 0.22 0 pose: 0.9014967 5.16844 -1.13161 0 -0.00379489 -0.00260992 -0.76564 0.643253 uwb: 0.100055571 933.107 485.079 -imu_odom_: 1691062451.384817175 0.670376 -0.263362 10.0748 -0.0458064 -0.00958738 0.0149137 0.22 0 pose: 0.0 5.16844 -1.13161 0 -0.00379489 -0.00260992 -0.76564 0.643253 uwb: 0.0 933.107 485.079 -imu_odom_: 1691062451.409785062 0.440533 -0.37589 9.87608 -0.0617853 0.00319579 0.0490022 0.19 0 pose: 0.56971718 5.1694 -1.14157 0 -0.0072203 -0.00311902 -0.765566 0.643309 uwb: 0.49867533 931.352 485.642 -imu_odom_: 1691062451.434833440 0.794875 -0.299275 9.7875 -0.0266316 -0.0298274 0.0191748 0.17 0 pose: 0.50942493 5.1694 -1.14157 0 -0.0105114 -0.00531697 -0.765621 0.643184 uwb: 0.0 931.352 485.642 -imu_odom_: 1691062451.459815909 0.306458 -0.205901 9.65342 -0.0692422 0.00426106 0.0628506 0.17 0 pose: 0.0 5.1694 -1.14157 0 -0.0105114 -0.00531697 -0.765621 0.643184 uwb: 0.50183663 932.233 485.383 -imu_odom_: 1691062451.486812689 0.294487 -0.179565 9.90721 -0.0436758 -0.00639159 0.036219 0.23 -0.02 pose: 0.66979112 5.16108 -1.15949 0 -0.00979261 -0.00421669 -0.76555 0.643288 uwb: 0.0 932.233 485.383 -imu_odom_: 1691062451.502907053 0.706289 -0.141258 10.1514 -0.0575243 -0.0330232 0.0617853 0.23 -0.02 pose: 0.7129558 5.16136 -1.16243 0 -0.00911398 -0.00397596 -0.765563 0.643284 uwb: 0.49930817 932.273 485.686 -imu_odom_: 1691062451.519958264 0.723049 -0.423774 10.0987 -0.0553937 -0.00213053 0.0436758 0.23 0 pose: 0.0 5.16136 -1.16243 0 -0.00911398 -0.00397596 -0.765563 0.643284 uwb: 0.0 932.273 485.686 -imu_odom_: 1691062451.537956992 0.112527 0.0622492 9.7875 -0.0394148 0.015979 0.0383495 0.23 0 pose: 0.42952034 5.16136 -1.16243 0 -0.00842639 -0.00484401 -0.765465 0.643404 uwb: 0.50027056 931.86 486.025 -imu_odom_: 1691062451.553953367 0.679953 -0.21069 10.2663 -0.0660464 -0.0351537 0.0585895 0.23 0 pose: 0.0 5.16136 -1.16243 0 -0.00842639 -0.00484401 -0.765465 0.643404 uwb: 0.0 931.86 486.025 -imu_odom_: 1691062451.571901934 0.354342 -0.287304 9.76355 -0.0596548 -0.0426106 0.0276969 0.17 -0.02 pose: 0.0 5.16136 -1.16243 0 -0.00842639 -0.00484401 -0.765465 0.643404 uwb: 0.0 931.86 486.025 -imu_odom_: 1691062451.588032751 0.658405 -0.289698 9.7444 -0.056459 0.0127832 0.036219 0.17 -0.02 pose: 0.44055866 5.16233 -1.17238 0 -0.0084925 -0.00583165 -0.76536 0.64352 uwb: 0.0 931.86 486.025 -imu_odom_: 1691062451.603764614 0.253785 -0.347159 9.89045 -0.0660464 -0.0117179 0.0585895 0.17 -0.02 pose: 0.0 5.16233 -1.17238 0 -0.0084925 -0.00583165 -0.76536 0.64352 uwb: 0.50163249 933.69 486.046 -imu_odom_: 1691062451.618809973 0.28491 -0.246603 9.64863 -0.0351537 0.0117179 0.0287621 0.17 0.02 pose: 0.49811247 5.16329 -1.18234 0 -0.00835177 -0.00350069 -0.765348 0.643553 uwb: 0.0 933.69 486.046 -imu_odom_: 1691062451.635836396 0.270545 -0.0646434 10.0269 -0.0479369 0.0138484 0.0458064 0.2 0 pose: 0.0 5.16329 -1.18234 0 -0.00835177 -0.00350069 -0.765348 0.643553 uwb: 0.0 933.69 486.046 -imu_odom_: 1691062451.660892065 0.275333 -0.531513 9.53371 -0.0798948 0.0617853 0.0415453 0.2 0 pose: 0.23015987 5.16329 -1.18234 0 -0.00607472 -0.00257369 -0.765398 0.643524 uwb: 0.49869574 937.796 486.077 -imu_odom_: 1691062451.686768973 0.536301 -0.335188 9.20571 -0.0447411 0.00426106 0.0436758 0.21 0.02 pose: 0.0 5.16329 -1.18234 0 -0.00607472 -0.00257369 -0.765398 0.643524 uwb: 0.0 937.796 486.077 -imu_odom_: 1691062451.712854399 0.586579 -0.258574 9.71328 -0.0479369 0.015979 0.0298274 0.18 0 pose: 0.42009183 5.1543 -1.19326 0 -0.0054542 0.00071251 -0.765354 0.643586 uwb: 0.49917694 937.426 486.785 -imu_odom_: 1691062451.738731016 -0.0023942 -0.351948 10.1442 -0.0735032 0.0234358 0.0703074 0.22 0.02 pose: 0.26048389 5.15527 -1.20321 0 -0.00730193 -0.000195182-0.765352 0.643571 uwb: 0.50058261 938.817 486.995 -imu_odom_: 1691062451.753737295 0.237026 -0.533907 10.1514 -0.0777643 0.04048 0.056459 0.22 0.02 pose: 0.0 5.15527 -1.20321 0 -0.00730193 -0.000195182-0.765352 0.643571 uwb: 0.0 938.817 486.995 -imu_odom_: 1691062451.770851792 0.162806 0.0335188 10.0916 -0.0628506 0.0308927 0.0383495 0.18 0 pose: 0.25986271 5.15527 -1.20321 0 -0.00711211 -0.00112763 -0.765337 0.64359 uwb: 0.0 938.817 486.995 -imu_odom_: 1691062451.787914669 0.438139 -0.373495 9.67976 -0.0756338 0.00958738 0.0607201 0.18 0 pose: 0.0 5.15527 -1.20321 0 -0.00711211 -0.00112763 -0.765337 0.64359 uwb: 0.0 938.817 486.995 -imu_odom_: 1691062451.803850092 0.282516 -0.306458 9.72525 -0.0351537 -0.00426106 0.0213053 0.18 0 pose: 0.40974469 5.15624 -1.21316 0 -0.00460603 0.00227931 -0.765083 0.643911 uwb: 0.0 938.817 486.995 -imu_odom_: 1691062451.819913250 0.416591 0.0502782 10.1801 -0.0415453 -0.015979 0.036219 0.24 0 pose: 0.0 5.15624 -1.21316 0 -0.00460603 0.00227931 -0.765083 0.643911 uwb: 0.0 938.817 486.995 -imu_odom_: 1691062451.836919842 0.454898 -0.366313 10.149 -0.072438 -0.0213053 0.0468716 0.24 0 pose: 0.0 5.15624 -1.21316 0 -0.00460603 0.00227931 -0.765083 0.643911 uwb: 0.0 938.817 486.995 -imu_odom_: 1691062451.852735404 0.464475 -0.162806 9.98143 -0.0500674 -0.0308927 0.0319579 0.18 0 pose: 0.75120929 5.15188 -1.22364 0 -0.00429176 0.00338393 -0.765035 0.643965 uwb: 0.100227051 939.743 487.146 -imu_odom_: 1691062451.876780564 0.703895 -0.289698 10.58 -0.0692422 -0.0255663 0.0543285 0.18 0 pose: 0.0 5.15188 -1.22364 0 -0.00429176 0.00338393 -0.765035 0.643965 uwb: 0.0 939.743 487.146 -imu_odom_: 1691062451.899728016 0.488417 -0.332794 9.98622 -0.0308927 -0.0191748 0.0255663 0.26 0 pose: 0.7893053 5.14727 -1.22409 0 -0.00401259 0.00258951 -0.765058 0.643943 uwb: 0.49815913 940.197 487.14 -imu_odom_: 1691062451.925772613 0.629675 -0.378284 9.69412 -0.052198 -0.0266316 0.056459 0.24 0 pose: 0.0 5.14727 -1.22409 0 -0.00401259 0.00258951 -0.765058 0.643943 uwb: 0.0 940.197 487.14 -imu_odom_: 1691062451.951932406 0.481235 -0.167594 10.1682 -0.0330232 -0.00213053 0.0308927 0.18 -0.02 pose: 0.80959718 5.14891 -1.24089 0 -0.00988475 0.000513454 -0.764901 0.644072 uwb: 0.49751172 939.821 487.775 -imu_odom_: 1691062451.977711325 0.162806 -0.418985 10.0389 -0.0500674 -0.0255663 0.052198 0.22 0 pose: 0.0 5.14891 -1.24089 0 -0.00988475 0.000513454 -0.764901 0.644072 uwb: 0.0 939.821 487.775 -imu_odom_: 1691062452.693774 0.665588 -0.124498 9.8282 -0.0266316 -0.00958738 0.0340885 0.22 0 pose: 0.33107371 5.14922 -1.244 0 -0.00708956 -0.000456666-0.764967 0.64403 uwb: 0.50124753 940.291 487.91 -imu_odom_: 1691062452.16721067 0.706289 -0.356736 9.90481 -0.0692422 0.00852212 0.0745685 0.22 0 pose: 0.0 5.14922 -1.244 0 -0.00708956 -0.000456666-0.764967 0.64403 uwb: 0.0 940.291 487.91 -imu_odom_: 1691062452.39725690 0.670376 -0.141258 9.78989 -0.0458064 -0.052198 0.0298274 0.18 0 pose: 0.48866650 5.1502 -1.25395 0 -0.00694298 -0.00171375 -0.764853 0.644166 uwb: 0.49853550 938.574 488.704 -imu_odom_: 1691062452.65731512 0.627281 -0.306458 9.94791 -0.0458064 0.015979 0.052198 0.18 0 pose: 0.31979056 5.14435 -1.26107 0 -0.0082287 -0.00460677 -0.764819 0.644176 uwb: 0.0 938.574 488.704 -imu_odom_: 1691062452.90842020 0.97444 0.023942 10.2041 -0.0276969 -0.0127832 0.0308927 0.18 0 pose: 0.0 5.14435 -1.26107 0 -0.0082287 -0.00460677 -0.764819 0.644176 uwb: 0.50051576 940.805 488.418 -imu_odom_: 1691062452.104960283 0.110133 -0.282516 9.26077 -0.0745685 -0.0213053 0.0671117 0.18 0 pose: 0.0 5.14435 -1.26107 0 -0.0082287 -0.00460677 -0.764819 0.644176 uwb: 0.0 940.805 488.418 -imu_odom_: 1691062452.129783531 -0.059855 -0.342371 9.65342 -0.0639159 -0.0447411 0.036219 0.18 0 pose: 0.9010305 5.14123 -1.26488 0 -0.00900913 -0.0043708 -0.764774 0.64422 uwb: 0.0 940.805 488.418 -imu_odom_: 1691062452.154782927 0.385466 -0.201113 10.319 -0.0692422 -0.0660464 0.0617853 0.24 0 pose: 0.48122130 5.14221 -1.27483 0 -0.0103604 -0.00631437 -0.76471 0.644261 uwb: 0.49994416 943.101 488.724 -imu_odom_: 1691062452.177896037 0.301669 -0.0023942 9.84017 -0.0585895 -0.0308927 0.0308927 0.24 0 pose: 0.0 5.14221 -1.27483 0 -0.0103604 -0.00631437 -0.76471 0.644261 uwb: 0.0 943.101 488.724 -imu_odom_: 1691062452.193721813 0.529119 -0.25618 9.79947 -0.072438 -0.0149137 0.0596548 0.2 0 pose: 0.39931898 5.1432 -1.28478 0 -0.00821368 -0.00396473 -0.764633 0.644401 uwb: 0.50006081 943.558 488.768 -imu_odom_: 1691062452.219752132 0.339977 -0.270545 10.0389 -0.0511327 -0.0191748 0.036219 0.2 0 pose: 0.0 5.1432 -1.28478 0 -0.00821368 -0.00396473 -0.764633 0.644401 uwb: 0.0 943.558 488.768 -imu_odom_: 1691062452.244821811 0.713472 -0.153229 9.73961 -0.0681769 -0.0330232 0.056459 0.18 0.02 pose: 0.49128265 5.1432 -1.28478 0 -0.00566755 -0.00328358 -0.764536 0.644548 uwb: 0.50058284 949.388 488.465 -imu_odom_: 1691062452.268821487 0.718261 -0.143652 9.63187 -0.0308927 -0.0287621 0.0181095 0.18 0.02 pose: 0.0 5.1432 -1.28478 0 -0.00566755 -0.00328358 -0.764536 0.644548 uwb: 0.0 949.388 488.465 -imu_odom_: 1691062452.284744086 0.351948 -0.143652 9.76834 -0.056459 -0.0106526 0.0553937 0.18 0.02 pose: 0.41792227 5.13424 -1.29573 0 -0.00503748 -0.00178837 -0.76447 0.644637 uwb: 0.0 949.388 488.465 -imu_odom_: 1691062452.311674677 0.1652 -0.277727 9.39006 -0.0479369 -0.0191748 0.0415453 0.18 0.02 pose: 0.0 5.13424 -1.29573 0 -0.00503748 -0.00178837 -0.76447 0.644637 uwb: 0.49880096 953.423 488.247 -imu_odom_: 1691062452.336733274 0.754174 -0.28491 10.0676 -0.0681769 -0.0372843 0.0490022 0.18 0 pose: 0.47999644 5.13523 -1.30568 0 -0.00638611 -0.00577482 -0.764501 0.644566 uwb: 0.0 953.423 488.247 -imu_odom_: 1691062452.361805869 0.47884 -0.244209 10.1825 -0.04048 -0.0351537 0.0223706 0.18 0 pose: 0.0 5.13523 -1.30568 0 -0.00638611 -0.00577482 -0.764501 0.644566 uwb: 0.50094737 956.149 488.501 -imu_odom_: 1691062452.377945151 0.387861 -0.169988 9.92397 -0.0607201 -0.0383495 0.0532632 0.18 0.02 pose: 0.44045095 5.13623 -1.31563 0 -0.00485356 -0.00391123 -0.764425 0.644682 uwb: 0.0 956.149 488.501 -imu_odom_: 1691062452.394813517 0.562637 -0.368707 9.70131 -0.0628506 0.0191748 0.0330232 0.18 0.02 pose: 0.0 5.13623 -1.31563 0 -0.00485356 -0.00391123 -0.764425 0.644682 uwb: 0.50009873 962.376 487.747 -imu_odom_: 1691062452.419716089 0.648829 -0.349553 9.67976 -0.0447411 -0.00106526 0.036219 0.18 0 pose: 0.48971367 5.13722 -1.32558 0 -0.00467846 -0.00305069 -0.76448 0.644623 uwb: 0.0 962.376 487.747 -imu_odom_: 1691062452.435770215 0.265756 -0.232238 9.88566 -0.0745685 -0.0223706 0.0479369 0.18 0 pose: 0.0 5.13722 -1.32558 0 -0.00467846 -0.00305069 -0.76448 0.644623 uwb: 0.0 962.376 487.747 -imu_odom_: 1691062452.460774276 0.418985 -0.232238 9.98622 -0.0532632 -0.0383495 0.0330232 0.18 0 pose: 0.67043594 5.12826 -1.33652 0 -0.00653259 -0.00145585 -0.764446 0.644653 uwb: 0.50009289 962.371 487.676 -imu_odom_: 1691062452.486700190 0.73502 -0.356736 9.74679 -0.0628506 0.0255663 0.0266316 0.18 0 pose: 0.7977047 5.12826 -1.33652 0 -0.00586674 -0.00131828 -0.764465 0.644637 uwb: 0.0 962.371 487.676 -imu_odom_: 1691062452.511652633 0.68953 -0.292093 9.75877 -0.0415453 -0.0181095 0.0340885 0.19 0 pose: 0.42952928 5.12926 -1.34647 0 -0.00667835 -0.0015145 -0.764606 0.644462 uwb: 0.50040203 965.082 487.861 -imu_odom_: 1691062452.527719298 0.538695 -0.45011 9.9527 -0.0575243 -0.0127832 0.0383495 0.19 0 pose: 0.0 5.12926 -1.34647 0 -0.00667835 -0.0015145 -0.764606 0.644462 uwb: 0.0 965.082 487.861 -imu_odom_: 1691062452.544705775 0.806846 -0.131681 9.94312 -0.0191748 -0.0149137 0.0298274 0.18 -0.02 pose: 0.0 5.12926 -1.34647 0 -0.00667835 -0.0015145 -0.764606 0.644462 uwb: 0.49991791 966.448 488.194 -imu_odom_: 1691062452.570644813 0.52433 -0.0957681 10.0485 -0.0713727 0.0191748 0.0543285 0.18 -0.02 pose: 0.49092394 5.13025 -1.35642 0 -0.00970387 -0.00271162 -0.764658 0.644358 uwb: 0.0 966.448 488.194 -imu_odom_: 1691062452.595638375 0.782904 -0.1652 9.83059 -0.0458064 -0.0245011 0.0319579 0.19 0.02 pose: 0.34852229 5.13097 -1.36368 0 -0.00744644 -0.00459104 -0.764592 0.644456 uwb: 0.49924424 968.254 488.361 -imu_odom_: 1691062452.621694066 0.782904 -0.395043 9.80186 -0.052198 0.0213053 0.0372843 0.19 0.02 pose: 0.7014365 5.13123 -1.36638 0 -0.00783515 -0.00526754 -0.764606 0.644429 uwb: 0.0 968.254 488.361 -imu_odom_: 1691062452.644670693 0.0957681 0.0335188 9.52892 -0.0745685 0.00426106 0.0596548 0.19 0.02 pose: 0.44034888 5.12477 -1.37426 0 -0.0111357 -0.00650151 -0.76463 0.644341 uwb: 0.50042827 969.602 488.397 -imu_odom_: 1691062452.671775681 0.550666 -0.497994 9.60554 -0.0681769 -0.0276969 0.0255663 0.19 -0.02 pose: 0.0 5.12477 -1.37426 0 -0.0111357 -0.00650151 -0.76463 0.644341 uwb: 0.0 969.602 488.397 -imu_odom_: 1691062452.687776729 0.914585 -0.378284 9.91918 -0.04048 -0.0106526 0.0330232 0.19 -0.02 pose: 0.30993919 5.12227 -1.37731 0 -0.00944357 -0.00509784 -0.76454 0.644487 uwb: 0.49894677 966.911 488.399 -imu_odom_: 1691062452.714784603 0.488417 -0.0885855 9.88566 -0.0308927 -0.0138484 0.036219 0.23 0 pose: 0.0 5.12227 -1.37731 0 -0.00944357 -0.00509784 -0.76454 0.644487 uwb: 0.0 966.911 488.399 -imu_odom_: 1691062452.740646358 0.1652 -0.260968 9.59117 -0.0639159 0.00958738 0.0607201 0.23 0 pose: 0.42048282 5.12326 -1.38726 0 -0.0113122 -0.00454753 -0.764645 0.644336 uwb: 0.49862889 968.247 488.244 -imu_odom_: 1691062452.756642448 0.459687 -0.31364 9.47386 -0.0617853 -0.0149137 0.0340885 0.23 -0.02 pose: 0.0 5.12326 -1.38726 0 -0.0113122 -0.00454753 -0.764645 0.644336 uwb: 0.0 968.247 488.244 -imu_odom_: 1691062452.782657894 0.577003 -0.363919 10.3932 -0.0436758 0.0500674 0.0394148 0.23 -0.02 pose: 0.52922998 5.12425 -1.39722 0 -0.007138 -0.00273798 -0.764539 0.644532 uwb: 0.0 968.247 488.244 -imu_odom_: 1691062452.807601587 0.481235 -0.0071826110.738 -0.0372843 -0.0106526 0.0266316 0.23 0 pose: 0.34998629 5.12425 -1.39722 0 -0.00866286 -0.000432352-0.76454 0.644518 uwb: 0.50130317 969.587 488.139 -imu_odom_: 1691062452.829611157 0.258574 -0.253785 9.92397 -0.0713727 -0.00213053 0.0692422 0.23 0 pose: 0.0 5.12425 -1.39722 0 -0.00866286 -0.000432352-0.76454 0.644518 uwb: 0.0 969.587 488.139 -imu_odom_: 1691062452.854734205 0.548272 -0.208296 9.73243 -0.0671117 -0.0692422 0.0426106 0.19 0 pose: 0.6967412 5.12425 -1.39722 0 -0.00808845 -0.000921912-0.764574 0.644484 uwb: 0.49919175 971.832 488.269 -imu_odom_: 1691062452.879627445 0.438139 -0.402226 10.4076 -0.072438 -0.02024 0.0490022 0.19 0 pose: 0.0 5.12425 -1.39722 0 -0.00808845 -0.000921912-0.764574 0.644484 uwb: 0.0 971.832 488.269 -imu_odom_: 1691062452.893653260 0.299275 -0.203507 9.83538 -0.0447411 0.00106526 0.0191748 0.18 0.02 pose: 0.46997300 5.11529 -1.40816 0 -0.00525379 -0.00149752 -0.764451 0.644659 uwb: 0.50046910 969.622 488.772 -imu_odom_: 1691062452.917663435 0.742203 -0.416591 9.64384 -0.0660464 -0.00958738 0.0426106 0.18 0.02 pose: 0.0 5.11529 -1.40816 0 -0.00525379 -0.00149752 -0.764451 0.644659 uwb: 0.0 969.622 488.772 -imu_odom_: 1691062452.944593152 0.447716 -0.1652 9.43794 -0.0468716 0.0149137 0.0234358 0.23 0 pose: 0.48987406 5.11628 -1.41811 0 -0.0060143 -0.00089317 -0.764389 0.644726 uwb: 0.49932590 970.073 488.84 -imu_odom_: 1691062452.960645235 0.608127 -0.320823 10.2256 -0.0681769 -0.0213053 0.0447411 0.23 0 pose: 0.0 5.11628 -1.41811 0 -0.0060143 -0.00089317 -0.764389 0.644726 uwb: 0.0 970.073 488.84 -imu_odom_: 1691062452.976584457 0.639252 -0.332794 9.48822 -0.0458064 0.0170442 0.0298274 0.25 -0.02 pose: 0.39994600 5.11728 -1.42806 0 -0.00687733 -0.00123295 -0.764457 0.644637 uwb: 0.0 970.073 488.84 -imu_odom_: 1691062453.2585029 0.299275 -0.138864 9.26317 -0.0639159 -0.0458064 0.0543285 0.25 -0.02 pose: 0.0 5.11728 -1.42806 0 -0.00687733 -0.00123295 -0.764457 0.644637 uwb: 0.50011330 970.972 488.905 -imu_odom_: 1691062453.18736275 -0.0814029 -0.260968 10.1035 -0.0458064 0.0181095 0.0500674 0.23 -0.02 pose: 0.41984414 5.11827 -1.43801 0 -0.00725657 -0.00208882 -0.764551 0.644519 uwb: 0.0 970.972 488.905 -imu_odom_: 1691062453.44737734 0.328006 -0.112527 10.319 -0.036219 -0.0191748 0.0426106 0.23 -0.02 pose: 0.0 5.11827 -1.43801 0 -0.00725657 -0.00208882 -0.764551 0.644519 uwb: 0.50007847 970.093 489.191 -imu_odom_: 1691062453.71724623 -0.0407014 -0.225055 10.003 -0.036219 0.00852212 0.0340885 0.21 0.02 pose: 0.77148708 5.10932 -1.44895 0 -0.00193491 -0.00136943 -0.764394 0.644745 uwb: 0.0 970.093 489.191 -imu_odom_: 1691062453.97625760 0.474052 -0.40462 9.77553 -0.072438 0.0213053 0.0735032 0.21 0.02 pose: 0.0 5.10932 -1.44895 0 -0.00193491 -0.00136943 -0.764394 0.644745 uwb: 0.49965275 973.679 489.3 -imu_odom_: 1691062453.124710055 0.275333 -0.114922 10.2544 -0.0394148 0.0127832 0.0330232 0.23 -0.02 pose: 0.7004162 5.10932 -1.44895 0 -0.00132806 -0.000933321-0.764407 0.644731 uwb: 0.0 973.679 489.3 -imu_odom_: 1691062453.150603318 -0.0909797 -0.414197 10.2113 -0.0628506 -0.00532632 0.052198 0.18 0.02 pose: 0.53878413 5.11031 -1.4589 0 -0.0009152090.00173433 -0.764175 0.645006 uwb: 0.50146963 972.351 489.582 -imu_odom_: 1691062453.177717359 0.445322 -0.1652 10.0796 -0.056459 -0.0138484 0.0500674 0.18 0.02 pose: 0.0 5.11031 -1.4589 0 -0.0009152090.00173433 -0.764175 0.645006 uwb: 0.0 972.351 489.582 -imu_odom_: 1691062453.193588345 0.483629 -0.129287 10.0556 -0.0681769 0 0.0575243 0.2 0 pose: 0.52143194 5.11131 -1.46885 0 0.00204098 0.00309541 -0.764081 0.64511 uwb: 0.49971691 974.586 489.56 -imu_odom_: 1691062453.220640560 0.390255 -0.0766145 9.71806 -0.0596548 -0.0351537 0.0394148 0.2 0 pose: 0.0 5.11131 -1.46885 0 0.00204098 0.00309541 -0.764081 0.64511 uwb: 0.0 974.586 489.56 -imu_odom_: 1691062453.236559957 0.78051 -0.222661 9.96227 -0.0820254 -0.0298274 0.056459 0.18 0.02 pose: 0.27851582 5.11232 -1.4788 0 0.00113758 0.00042243 -0.76397 0.64525 uwb: 0.0 974.586 489.56 -imu_odom_: 1691062453.263553845 0.725443 -0.179565 10.1682 -0.0639159 -0.00745685 0.0394148 0.18 0.02 pose: 0.50944872 5.10291 -1.48508 0 0.000684456 -0.00329114 -0.763831 0.645408 uwb: 0.49918614 974.594 489.724 -imu_odom_: 1691062453.289584468 0.521936 -0.134075 10.0126 -0.0820254 -0.00532632 0.0553937 0.18 -0.02 pose: 0.7023118 5.10338 -1.48976 0 8.30414e-05 -0.00368299 -0.763829 0.645408 uwb: 0.49960900 971.492 490.17 -imu_odom_: 1691062453.316733213 0.500388 -0.347159 9.4164 -0.0671117 -0.0138484 0.0500674 0.18 -0.02 pose: 0.0 5.10338 -1.48976 0 8.30414e-05 -0.00368299 -0.763829 0.645408 uwb: 0.0 971.492 490.17 -imu_odom_: 1691062453.341700248 0.579397 -0.553061 9.7875 -0.0607201 0.052198 0.0319579 0.18 0 pose: 0.54071183 5.1044 -1.49971 0 -0.00277374 -0.00644191 -0.763652 0.64559 uwb: 0.50034684 970.618 490.526 -imu_odom_: 1691062453.358721146 0.486023 -0.220267 9.82341 -0.0458064 0.00532632 0.0330232 0.18 0 pose: 0.0 5.1044 -1.49971 0 -0.00277374 -0.00644191 -0.763652 0.64559 uwb: 0.0 970.618 490.526 -imu_odom_: 1691062453.374754572 0.225055 -0.162806 9.72046 -0.0649811 0.00213053 0.0703074 0.18 -0.02 pose: 0.26945769 5.1044 -1.49971 0 -0.00444118 -0.00416908 -0.763602 0.645659 uwb: 0.0 970.618 490.526 -imu_odom_: 1691062453.401689258 0.246603 -0.220267 9.46907 -0.0575243 0.00213053 0.0383495 0.18 -0.02 pose: 0.50154545 5.10542 -1.50965 0 -0.00217447 -0.00172898 -0.763528 0.645769 uwb: 0.49994439 970.206 491.091 -imu_odom_: 1691062453.418747776 0.794875 -0.186748 10.4363 -0.0649811 0.0223706 0.052198 0.18 -0.02 pose: 0.7952846 5.10542 -1.50965 0 -0.00156273 -0.00118 -0.763533 0.645766 uwb: 0.0 970.206 491.091 -imu_odom_: 1691062453.434684964 -0.00957681-0.124498 9.85932 -0.0372843 0.0351537 0.0234358 0.18 -0.02 pose: 0.0 5.10542 -1.50965 0 -0.00156273 -0.00118 -0.763533 0.645766 uwb: 0.0 970.206 491.091 -imu_odom_: 1691062453.452560930 0.126893 -0.189142 9.62469 -0.056459 -0.02024 0.0500674 0.18 -0.02 pose: 0.51977546 5.09649 -1.52062 0 0.000542513 -1.12154e-05-0.763555 0.645742 uwb: 0.49982189 970.242 491.701 -imu_odom_: 1691062453.468691179 0.826 -0.162806 10.1993 -0.056459 -0.00958738 0.0383495 0.18 0 pose: 0.0 5.09649 -1.52062 0 0.000542513 -1.12154e-05-0.763555 0.645742 uwb: 0.0 970.242 491.701 -imu_odom_: 1691062453.485686704 0.306458 -0.220267 9.55047 -0.0276969 0.0149137 0.0234358 0.18 0 pose: 0.0 5.09649 -1.52062 0 0.000542513 -1.12154e-05-0.763555 0.645742 uwb: 0.0 970.242 491.701 -imu_odom_: 1691062453.510617285 0.0191536 -0.361524 9.76355 -0.076699 0.0181095 0.052198 0.2 0 pose: 0.25017779 5.09752 -1.53057 0 0.00135224 0.00044383 -0.763497 0.64581 uwb: 0.50036143 968.917 491.898 -imu_odom_: 1691062453.537610590 0.203507 -0.196325 9.75158 -0.0511327 -0.0426106 0.0319579 0.23 0.02 pose: 0.33874689 5.09752 -1.53057 0 0.00238951 0.00187671 -0.763555 0.645735 uwb: 0.0 968.917 491.898 -imu_odom_: 1691062453.563546140 0.907402 -0.418985 10.2089 -0.0735032 -0.0117179 0.0330232 0.18 -0.02 pose: 0.44033158 5.09854 -1.54052 0 0.00526723 0.00435918 -0.763535 0.64573 uwb: 0.0 968.917 491.898 -imu_odom_: 1691062453.590543528 0.320823 -0.0694318 9.93115 -0.0372843 0.00213053 0.036219 0.23 0.02 pose: 0.25935550 5.09927 -1.54766 0 0.00264051 0.00348458 -0.763603 0.645671 uwb: 0.99887096 972.907 491.575 -imu_odom_: 1691062453.606590369 0.653617 -0.445322 9.96706 -0.0468716 -0.00639159 0.0383495 0.23 0.02 pose: 0.0 5.09927 -1.54766 0 0.00264051 0.00348458 -0.763603 0.645671 uwb: 0.0 972.907 491.575 -imu_odom_: 1691062453.633832437 0.488417 -0.0191536 9.80904 -0.0383495 -0.0181095 0.0500674 0.23 0 pose: 0.43044229 5.08961 -1.55149 0 0.00301662 0.00117079 -0.763637 0.645638 uwb: 0.0 972.907 491.575 -imu_odom_: 1691062453.659669123 0.311246 -0.0861913 10.4794 -0.0511327 -0.0394148 0.0394148 0.23 0 pose: 0.0 5.08961 -1.55149 0 0.00301662 0.00117079 -0.763637 0.645638 uwb: 0.50066764 972.032 491.881 -imu_odom_: 1691062453.686654554 0.488417 -0.0957681 9.76595 -0.0553937 0.00852212 0.052198 0.25 0 pose: 0.53078754 5.09063 -1.56144 0 0.00532978 -0.00219809 -0.763537 0.645739 uwb: 0.0 972.032 491.881 -imu_odom_: 1691062453.712527403 0.658405 -0.0766145 9.73004 -0.0479369 0.0223706 0.036219 0.25 0 pose: 0.0 5.09063 -1.56144 0 0.00532978 -0.00219809 -0.763537 0.645739 uwb: 0.50001438 972.04 492.022 -imu_odom_: 1691062453.729529052 0.610521 -0.387861 9.62948 -0.0681769 -0.00745685 0.0553937 0.23 0 pose: 0.34918737 5.09166 -1.57138 0 0.00323368 -0.00465192 -0.763422 0.645875 uwb: 0.0 972.04 492.022 -imu_odom_: 1691062453.755621793 0.40462 -0.047884 9.72046 -0.0415453 0.00319579 0.0245011 0.23 0 pose: 0.0 5.09166 -1.57138 0 0.00323368 -0.00465192 -0.763422 0.645875 uwb: 0.50006395 974.721 492.234 -imu_odom_: 1691062453.780649779 0.452504 -0.241814 9.92157 -0.0692422 -0.0617853 0.0415453 0.2 -0.02 pose: 0.42998442 5.09268 -1.58133 0 0.00137726 -0.00548379 -0.763384 0.64592 uwb: 0.0 974.721 492.234 -imu_odom_: 1691062453.803493431 0.122104 -0.0933739 10.058 -0.0319579 -0.00213053 0.0298274 0.18 0 pose: 0.0 5.09268 -1.58133 0 0.00137726 -0.00548379 -0.763384 0.64592 uwb: 0.50054223 977.839 492.371 -imu_odom_: 1691062453.828584119 0.418985 -0.141258 10.4148 -0.0809601 -0.0617853 0.0585895 0.18 0 pose: 0.49067044 5.09268 -1.58133 0 0.00127465 -0.00440875 -0.763486 0.645808 uwb: 0.0 977.839 492.371 -imu_odom_: 1691062453.845612598 0.521936 -0.0383072 9.28711 -0.0511327 -0.056459 0.0319579 0.18 0 pose: 0.0 5.09268 -1.58133 0 0.00127465 -0.00440875 -0.763486 0.645808 uwb: 0.49864662 979.623 492.531 -imu_odom_: 1691062453.870634169 0.342371 -0.280122 9.31344 -0.0735032 0.0106526 0.0468716 0.21 0 pose: 0.48902563 5.08376 -1.5923 0 -0.000293518-0.00380067 -0.763408 0.645906 uwb: 0.0 979.623 492.531 -imu_odom_: 1691062453.897650804 0.328006 -0.0694318 10.1418 -0.0500674 -0.00319579 0.0426106 0.23 -0.02 pose: 0.35078260 5.08479 -1.60225 0 -0.000171894-0.00218524 -0.763378 0.645948 uwb: 0.50117216 977.855 492.676 -imu_odom_: 1691062453.922485438 0.416591 -0.560243 10.1634 -0.0788296 0.0394148 0.0596548 0.23 -0.02 pose: 0.0 5.08479 -1.60225 0 -0.000171894-0.00218524 -0.763378 0.645948 uwb: 0.0 977.855 492.676 -imu_odom_: 1691062453.939548914 0.23942 -0.0047884 10.0126 -0.0617853 0.0298274 0.0372843 0.23 0.02 pose: 0.6884592 5.08479 -1.60225 0 0.000526262 -0.00227863 -0.763372 0.645955 uwb: 0.50056265 980.074 492.772 -imu_odom_: 1691062453.964592649 0.248997 -0.289698 10.1035 -0.0660464 0.0287621 0.0415453 0.23 0.02 pose: 0.0 5.08479 -1.60225 0 0.000526262 -0.00227863 -0.763372 0.645955 uwb: 0.0 980.074 492.772 -imu_odom_: 1691062453.991536959 -0.0143652 -0.191536 9.63427 -0.0490022 -0.0213053 0.0543285 0.21 0 pose: 0.51983670 5.08581 -1.6122 0 0.00186351 -0.000213938-0.763199 0.646161 uwb: 0.49858537 976.084 492.874 -imu_odom_: 1691062454.16624736 0.232238 -0.215478 9.48104 -0.0532632 -0.0223706 0.0351537 0.21 0 pose: 0.0 5.08581 -1.6122 0 0.00186351 -0.000213938-0.763199 0.646161 uwb: 0.0 976.084 492.874 -imu_odom_: 1691062454.33638933 0.766145 -0.311246 9.72046 -0.0575243 -0.0127832 0.0436758 0.23 0.02 pose: 0.42002223 5.08685 -1.62214 0 0.00386251 0.00294316 -0.763154 0.646199 uwb: 0.0 976.084 492.874 -imu_odom_: 1691062454.49646120 -0.0742203 -0.507571 9.58399 -0.0703074 -0.02024 0.0532632 0.23 0.02 pose: 0.0 5.08685 -1.62214 0 0.00386251 0.00294316 -0.763154 0.646199 uwb: 0.50063571 978.302 492.821 -imu_odom_: 1691062454.76749966 0.639252 -0.253785 9.79468 -0.036219 -0.00852212 0.0383495 0.25 0.02 pose: 0.52207946 5.07794 -1.63312 0 0.00614532 0.00541186 -0.763072 0.646262 uwb: 0.0 978.302 492.821 -imu_odom_: 1691062454.101476414 0.265756 -0.351948 10.2137 -0.0447411 0.0255663 0.0500674 0.25 0.02 pose: 0.0 5.07794 -1.63312 0 0.00614532 0.00541186 -0.763072 0.646262 uwb: 0.49926802 981.403 492.698 -imu_odom_: 1691062454.128630421 0.328006 0.00957681 9.84256 -0.0458064 -0.02024 0.0447411 0.23 0 pose: 0.77763814 5.07898 -1.64307 0 0.0025995 0.00689235 -0.762938 0.64643 uwb: 0.0 981.403 492.698 -imu_odom_: 1691062454.153519018 0.215478 -0.229843 9.67018 -0.0436758 0.00426106 0.0308927 0.18 0 pose: 0.7066283 5.07898 -1.64307 0 0.002938 0.00622173 -0.762926 0.646449 uwb: 0.49951882 979.195 492.948 -imu_odom_: 1691062454.179523988 0.325611 -0.447716 9.40442 -0.0713727 0.0255663 0.0735032 0.23 0 pose: 0.44976321 5.08002 -1.65301 0 0.00596462 0.00589623 -0.762946 0.646408 uwb: 0.0 979.195 492.948 -imu_odom_: 1691062454.201481667 0.68953 -0.122104 9.94791 -0.0383495 -0.0255663 0.0340885 0.23 0 pose: 0.0 5.08002 -1.65301 0 0.00596462 0.00589623 -0.762946 0.646408 uwb: 0.49988337 980.081 492.913 -imu_odom_: 1691062454.218491199 0.208296 -0.131681 9.96227 -0.0426106 -0.0394148 0.0490022 0.2 0 pose: 0.32115570 5.07111 -1.664 0 0.00356175 0.00700542 -0.762688 0.646719 uwb: 0.0 980.081 492.913 -imu_odom_: 1691062454.235619716 0.526724 -0.31364 9.72046 -0.0500674 -0.0383495 0.0372843 0.2 0 pose: 0.0 5.07111 -1.664 0 0.00356175 0.00700542 -0.762688 0.646719 uwb: 0.0 980.081 492.913 -imu_odom_: 1691062454.260590846 0.0287304 -0.208296 9.43315 -0.0575243 -0.00213053 0.0607201 0.2 0.02 pose: 0.49985128 5.07216 -1.67395 0 0.00241045 0.00381167 -0.76269 0.646749 uwb: 0.0 980.081 492.913 -imu_odom_: 1691062454.286441833 0.0766145 -0.304064 9.66779 -0.056459 -0.0127832 0.0415453 0.2 0.02 pose: 0.6890720 5.07216 -1.67395 0 0.00298164 0.00420926 -0.762639 0.646803 uwb: 0.0 980.081 492.913 -imu_odom_: 1691062454.311509493 0.174777 -0.25618 10.1107 -0.0649811 -0.036219 0.0575243 0.19 0.02 pose: 0.43931397 5.07293 -1.6812 0 0.00570051 0.00742096 -0.762476 0.646949 uwb: 0.99976964 979.202 493.136 -imu_odom_: 1691062454.327450771 1.09894 -0.447716 9.8689 -0.0596548 -0.0287621 0.0308927 0.19 0.02 pose: 0.0 5.07293 -1.6812 0 0.00570051 0.00742096 -0.762476 0.646949 uwb: 0.0 979.202 493.136 -imu_odom_: 1691062454.343438418 0.299275 0.0143652 9.8282 -0.0479369 0.0223706 0.0436758 0.18 0 pose: 0.0 5.07293 -1.6812 0 0.00570051 0.00742096 -0.762476 0.646949 uwb: 0.49990962 976.981 493.068 -imu_odom_: 1691062454.369495007 0.476446 -0.502782 9.44513 -0.0894822 0.0340885 0.0500674 0.18 0 pose: 0.48010186 5.07427 -1.69384 0 0.00595533 0.00750344 -0.762361 0.647081 uwb: 0.0 976.981 493.068 -imu_odom_: 1691062454.395422986 0.272939 -0.246603 9.84496 -0.0553937 -0.0308927 0.0511327 0.19 0 pose: 0.35042988 5.06711 -1.6946 0 0.00394658 0.00772799 -0.762273 0.647198 uwb: 0.50016625 984.914 492.44 -imu_odom_: 1691062454.421493283 0.179565 -0.184354 9.9527 -0.0351537 -0.0308927 0.0266316 0.19 0 pose: 0.6989583 5.06433 -1.69489 0 0.00390504 0.00696814 -0.762249 0.647235 uwb: 0.0 984.914 492.44 -imu_odom_: 1691062454.447517792 0.641646 -0.356736 9.73243 -0.0735032 -0.0106526 0.0639159 0.19 0.02 pose: 0.45008693 5.06539 -1.70484 0 0.00624569 0.00503808 -0.762276 0.647203 uwb: 0.50003501 984.02 492.233 -imu_odom_: 1691062454.472490671 0.459687 -0.114922 10.0963 -0.052198 0.015979 0.0458064 0.23 0 pose: 0.0 5.06539 -1.70484 0 0.00624569 0.00503808 -0.762276 0.647203 uwb: 0.0 984.02 492.233 -imu_odom_: 1691062454.486423468 0.387861 -0.0263362 9.79707 -0.0639159 0 0.0575243 0.23 0 pose: 0.33015842 5.06645 -1.71478 0 0.00347204 0.00363285 -0.762074 0.647471 uwb: 0.0 984.02 492.233 -imu_odom_: 1691062454.511560245 0.246603 -0.354342 9.6606 -0.0458064 -0.00106526 0.0276969 0.23 0 pose: 0.0 5.06645 -1.71478 0 0.00347204 0.00363285 -0.762074 0.647471 uwb: 0.49961215 983.123 491.956 -imu_odom_: 1691062454.528417835 0.452504 -0.131681 10.0006 -0.0553937 -0.015979 0.052198 0.18 0 pose: 0.38978584 5.06752 -1.72472 0 0.00358983 0.00143513 -0.761983 0.647585 uwb: 0.0 983.123 491.956 -imu_odom_: 1691062454.553443500 0.466869 -0.174777 9.7444 -0.0479369 0.00426106 0.0287621 0.18 0 pose: 0.0 5.06752 -1.72472 0 0.00358983 0.00143513 -0.761983 0.647585 uwb: 0.50059203 985.339 491.817 -imu_odom_: 1691062454.580473271 0.308852 -0.19393 9.53611 -0.072438 0.0127832 0.0532632 0.2 0 pose: 0.42960258 5.06752 -1.72472 0 0.00227238 0.000834218 -0.762017 0.647553 uwb: 0.0 985.339 491.817 -imu_odom_: 1691062454.606541234 0.184354 -0.272939 10.1059 -0.0500674 -0.0298274 0.0330232 0.19 0.02 pose: 0.44025304 5.06149 -1.73543 0 0.00336471 0.00163374 -0.761954 0.64762 uwb: 0.49934676 984.013 492.045 -imu_odom_: 1691062454.633408565 0.957681 -0.31364 10.1682 -0.0756338 -0.0149137 0.0308927 0.19 0.02 pose: 0.0 5.06149 -1.73543 0 0.00336471 0.00163374 -0.761954 0.64762 uwb: 0.0 984.013 492.045 -imu_odom_: 1691062454.649401170 0.600945 0.0407014 9.8282 -0.0394148 0.0245011 0.0181095 0.19 0.02 pose: 0.7947599 5.05865 -1.73574 0 0.00359774 0.00229039 -0.761971 0.647597 uwb: 0.50057162 982.683 492.112 -imu_odom_: 1691062454.676408193 0.383072 -0.42138 10.0987 -0.056459 -0.0245011 0.04048 0.19 0.02 pose: 0.0 5.05865 -1.73574 0 0.00359774 0.00229039 -0.761971 0.647597 uwb: 0.0 982.683 492.112 -imu_odom_: 1691062454.702450201 0.368707 -0.0502782 10.0796 -0.0415453 0.00213053 0.0479369 0.19 -0.02 pose: 0.52992746 5.05972 -1.74568 0 0.00166248 0.00169154 -0.762149 0.647398 uwb: 0.49927677 984.909 492.253 -imu_odom_: 1691062454.729391315 0.610521 -0.117316 10.0485 -0.052198 -0.00852212 0.0340885 0.19 -0.02 pose: 0.0 5.05972 -1.74568 0 0.00166248 0.00169154 -0.762149 0.647398 uwb: 0.0 984.909 492.253 -imu_odom_: 1691062454.755452280 0.47884 -0.0885855 9.79228 -0.0639159 0.0394148 0.0543285 0.19 0.02 pose: 0.43016543 5.06078 -1.75562 0 0.000210943 0.00203339 -0.762177 0.647365 uwb: 0.50082242 985.801 492.391 -imu_odom_: 1691062454.782431306 0.4956 -0.124498 9.99579 -0.0436758 0.0213053 0.04048 0.22 -0.02 pose: 0.52990122 5.06185 -1.76556 0 0.000448537 -0.0024276 -0.762134 0.647414 uwb: 0.0 985.801 492.391 -imu_odom_: 1691062454.798390956 0.514753 -0.316035 9.9934 -0.0671117 -0.0106526 0.0543285 0.22 -0.02 pose: 0.0 5.06185 -1.76556 0 0.000448537 -0.0024276 -0.762134 0.647414 uwb: 0.49914845 986.692 492.508 -imu_odom_: 1691062454.825418978 0.0957681 0.184354 9.94551 -0.052198 0.0149137 0.0234358 0.25 0.02 pose: 0.60970675 5.05297 -1.77657 0 -0.00136953 -0.00501413 -0.761945 0.647621 uwb: 0.0 986.692 492.508 -imu_odom_: 1691062454.842397887 0.371101 -0.536301 10.1586 -0.0607201 -0.0106526 0.0532632 0.25 0.02 pose: 0.7022538 5.05297 -1.77657 0 -0.000608359-0.00498778 -0.761985 0.647575 uwb: 0.49993003 987.568 492.157 -imu_odom_: 1691062454.869410452 0.579397 -0.0287304 10.489 -0.0372843 0.0213053 0.0319579 0.25 -0.02 pose: 0.0 5.05297 -1.77657 0 -0.000608359-0.00498778 -0.761985 0.647575 uwb: 0.0 987.568 492.157 -imu_odom_: 1691062454.885402182 0.342371 -0.35913 9.49062 -0.076699 0.0319579 0.0585895 0.25 -0.02 pose: 0.36984393 5.05404 -1.78652 0 0.000625168 -0.00345081 -0.762024 0.647539 uwb: 0.0 987.568 492.157 -imu_odom_: 1691062454.912442743 0.335188 -0.0837971 9.57441 -0.0490022 -0.0575243 0.0351537 0.23 -0.02 pose: 0.0 5.05404 -1.78652 0 0.000625168 -0.00345081 -0.762024 0.647539 uwb: 0.49884223 987.575 492.439 -imu_odom_: 1691062454.928402685 0.715866 -0.294487 10.082 -0.0479369 0.0415453 0.0351537 0.23 -0.02 pose: 0.43004295 5.05511 -1.79646 0 0.000411935 -0.00421012 -0.761986 0.64758 uwb: 0.0 987.575 492.439 -imu_odom_: 1691062454.955389586 0.696713 0.0622492 9.97903 -0.0468716 -0.0458064 0.0351537 0.23 0 pose: 0.0 5.05511 -1.79646 0 0.000411935 -0.00421012 -0.761986 0.64758 uwb: 0.50050454 988.022 492.593 -imu_odom_: 1691062454.981477672 0.332794 -0.134075 9.90002 -0.0894822 0.0266316 0.052198 0.23 0 pose: 0.43000503 5.05564 -1.80141 0 0.0013209 -0.00431843 -0.76205 0.647503 uwb: 0.0 988.022 492.593 -imu_odom_: 1691062455.8429870 0.318429 -0.129287 9.93354 -0.0692422 -0.00852212 0.0394148 0.25 -0.02 pose: 0.53074987 5.04701 -1.81465 0 0.00198026 -0.00472809 -0.761985 0.647575 uwb: 0.49985129 988.021 492.522 -imu_odom_: 1691062455.24507639 0.603339 -0.253785 10.161 -0.0671117 -0.0117179 0.0511327 0.25 -0.02 pose: 0.0 5.04701 -1.81465 0 0.00198026 -0.00472809 -0.761985 0.647575 uwb: 0.0 988.021 492.522 -imu_odom_: 1691062455.51362733 0.466869 0.0191536 10.228 -0.0415453 0.0138484 0.0340885 0.23 0.02 pose: 0.43029967 5.0473 -1.81741 0 0.00201265 -0.00294951 -0.761937 0.647642 uwb: 0.49925359 992.898 492.618 -imu_odom_: 1691062455.67351846 0.40462 -0.318429 9.84017 -0.0639159 -0.0308927 0.0468716 0.23 0.02 pose: 0.0 5.0473 -1.81741 0 0.00201265 -0.00294951 -0.761937 0.647642 uwb: 0.0 992.898 492.618 -imu_odom_: 1691062455.84489412 0.457293 -0.234632 9.65821 -0.0532632 -0.0351537 0.0298274 0.23 0 pose: 0.0 5.0473 -1.81741 0 0.00201265 -0.00294951 -0.761937 0.647642 uwb: 0.0 992.898 492.618 -imu_odom_: 1691062455.100629007 0.708684 -0.244209 9.9527 -0.0628506 -0.0138484 0.0415453 0.23 0 pose: 0.49852457 5.04838 -1.82736 0 0.00148327 -0.00392657 -0.761964 0.647605 uwb: 0.50001774 995.115 492.733 -imu_odom_: 1691062455.117510227 -0.0814029 -0.486023 9.52413 -0.0649811 -0.0181095 0.0468716 0.23 0 pose: 0.0 5.04838 -1.82736 0 0.00148327 -0.00392657 -0.761964 0.647605 uwb: 0.0 995.115 492.733 -imu_odom_: 1691062455.142498282 0.1652 -0.320823 9.98143 -0.0340885 0.0234358 0.0308927 0.18 0 pose: 0.43150131 5.04945 -1.8373 0 -0.000651124-0.00252576 -0.761947 0.647634 uwb: 0.49986608 995.115 492.663 -imu_odom_: 1691062455.159487698 0.802058 -0.023942 9.81144 -0.0585895 -0.0415453 0.0671117 0.18 0 pose: 0.8054049 5.04945 -1.8373 0 -0.000186133-0.00178166 -0.761971 0.647609 uwb: 0.0 995.115 492.663 -imu_odom_: 1691062455.176484696 0.866701 -0.304064 9.81144 -0.0553937 -0.0703074 0.105461 0.16 0.08 pose: 0.0 5.04945 -1.8373 0 -0.000186133-0.00178166 -0.761971 0.647609 uwb: 0.0 995.115 492.663 -imu_odom_: 1691062455.192339365 1.04148 -0.610521 9.82341 -0.0383495 0.0170442 0.138484 0.15 0.11 pose: 0.50920420 5.04057 -1.84831 0 -0.00217967 -0.00302636 -0.761498 0.648157 uwb: 0.50038228 996.447 492.934 -imu_odom_: 1691062455.208322645 1.37667 -0.469264 10.2113 -0.0532632 -0.0234358 0.170442 0.14 0.26 pose: 0.0 5.04057 -1.84831 0 -0.00217967 -0.00302636 -0.761498 0.648157 uwb: 0.0 996.447 492.934 -imu_odom_: 1691062455.224385249 1.86987 -0.253785 10.2113 -0.04048 -0.0266316 0.251402 0.14 0.26 pose: 0.0 5.04057 -1.84831 0 -0.00217967 -0.00302636 -0.761498 0.648157 uwb: 0.0 996.447 492.934 -imu_odom_: 1691062455.240507929 1.84832 -0.383072 9.85693 -0.0415453 0.0138484 0.363255 0.13 0.38 pose: 0.22875460 5.04057 -1.84831 0 -0.00423791 -0.00347448 -0.760681 0.649102 uwb: 0.50081390 997.778 493.114 -imu_odom_: 1691062455.257441643 1.55384 -0.785298 9.67976 -0.056459 0.0170442 0.4048 0.13 0.38 pose: 0.0 5.04057 -1.84831 0 -0.00423791 -0.00347448 -0.760681 0.649102 uwb: 0.0 997.778 493.114 -imu_odom_: 1691062455.274447974 0.897826 -0.0143652 10.094 -0.0287621 0.0575243 0.441019 0.13 0.38 pose: 0.31971517 5.04159 -1.85826 0 -0.006938 -0.00548807 -0.758442 0.65168 uwb: 0.0 997.778 493.114 -imu_odom_: 1691062455.290332682 0.620098 -0.351948 10.3789 -0.0617853 0.0234358 0.546481 0.1 0.44 pose: 0.43116301 5.04152 -1.85824 0 -0.00892284 -0.00761478 -0.753191 0.657698 uwb: 0.50114636 1000.44 492.921 -imu_odom_: 1691062455.307396756 0.797269 -0.538695 9.84496 -0.0479369 -0.0426106 0.611462 0.1 0.44 pose: 0.7000085 5.04159 -1.85826 0 -0.00923993 -0.00691884 -0.752019 0.65904 uwb: 0.0 1000.44 492.921 -imu_odom_: 1691062455.324498743 0.723049 -0.703895 9.75158 -0.0287621 0.0266316 0.612527 0.1 0.44 pose: 0.0 5.04159 -1.85826 0 -0.00923993 -0.00691884 -0.752019 0.65904 uwb: 0.0 1000.44 492.921 -imu_odom_: 1691062455.340431861 0.543484 0.0143652 10.1275 -0.0458064 0.0149137 0.595483 0.08 0.5 pose: 0.43050684 5.0425 -1.86819 0 -0.0125426 -0.00463763 -0.743987 0.66806 uwb: 0.49868789 1002.65 493.233 -imu_odom_: 1691062455.367388152 0.567426 -0.169988 9.67976 -0.0468716 -0.0117179 0.572047 0.07 0.5 pose: 0.0 5.0425 -1.86819 0 -0.0125426 -0.00463763 -0.743987 0.66806 uwb: 0.0 1002.65 493.233 -imu_odom_: 1691062455.384376693 0.787692 -0.493206 9.80186 -0.0649811 -0.0138484 0.576308 0.07 0.5 pose: 0.23894136 5.04256 -1.86821 0 -0.010272 -0.00561256 -0.739628 0.672915 uwb: 0.0 1002.65 493.233 -imu_odom_: 1691062455.401314199 -0.1652 -0.454898 9.4978 -0.04048 0.0820254 0.526241 0.06 0.55 pose: 0.0 5.04256 -1.86821 0 -0.010272 -0.00561256 -0.739628 0.672915 uwb: 0.50052518 1000.45 493.861 -imu_odom_: 1691062455.418382356 -1.17795 0.234632 9.8689 -0.0649811 0.0266316 0.462325 0.06 0.55 pose: 0.0 5.04256 -1.86821 0 -0.010272 -0.00561256 -0.739628 0.672915 uwb: 0.0 1000.45 493.861 -imu_odom_: 1691062455.434370302 -0.715866 0.126893 9.50498 -0.052198 -0.0617853 0.405866 0.1 0.38 pose: 0.27058363 5.04256 -1.86821 0 -0.00936013 -0.0060973 -0.73476 0.678235 uwb: 0.0 1000.45 493.861 -imu_odom_: 1691062455.450312461 0.0023942 -0.155623 9.71567 -0.0479369 -0.0340885 0.336624 0.1 0.38 pose: 0.42931114 5.04256 -1.86821 0 -0.0071298 -0.00297974 -0.72787 0.685672 uwb: 0.49997108 1006.62 493.904 -imu_odom_: 1691062455.466367774 0.629675 -0.320823 9.68933 -0.0511327 -0.0276969 0.311057 0.1 0.38 pose: 0.0 5.04256 -1.86821 0 -0.0071298 -0.00297974 -0.72787 0.685672 uwb: 0.0 1006.62 493.904 -imu_odom_: 1691062455.483482301 0.138864 -0.371101 9.55287 -0.0575243 0.0266316 0.335558 0.14 0.32 pose: 0.47985418 5.04368 -1.87815 0 -0.00646373 -0.00252522 -0.722724 0.691102 uwb: 0.0 1006.62 493.904 -imu_odom_: 1691062455.499302265 -0.201113 -0.277727 9.8258 -0.0671117 0.0479369 0.32171 0.14 0.32 pose: 0.0 5.04368 -1.87815 0 -0.00646373 -0.00252522 -0.722724 0.691102 uwb: 0.49995649 1007.94 494.346 -imu_odom_: 1691062455.516582732 0.349553 -0.0502782 10.3046 -0.0575243 -0.0266316 0.285491 0.14 0.32 pose: 0.0 5.04368 -1.87815 0 -0.00646373 -0.00252522 -0.722724 0.691102 uwb: 0.0 1007.94 494.346 -imu_odom_: 1691062455.533604228 0.591368 -0.0287304 9.96946 -0.0735032 0 0.296144 0.13 0.23 pose: 0.40115973 5.04479 -1.88809 0 -0.0034399 0.000311094 -0.718816 0.695192 uwb: 0.0 1007.94 494.346 -imu_odom_: 1691062455.550318633 0.433351 -0.409408 9.81623 -0.052198 -0.00958738 0.286556 0.14 0.2 pose: 0.0 5.04479 -1.88809 0 -0.0034399 0.000311094 -0.718816 0.695192 uwb: 0.50206793 1007.5 494.551 -imu_odom_: 1691062455.566333409 0.105345 -0.222661 9.85693 -0.0585895 -0.0106526 0.253533 0.14 0.2 pose: 0.34213305 5.04479 -1.88809 0 -0.00281014 -0.00111394 -0.715822 0.698276 uwb: 0.0 1007.5 494.551 -imu_odom_: 1691062455.584442990 0.0742203 -0.126893 9.91918 -0.0745685 -0.0490022 0.262055 0.14 0.17 pose: 0.0 5.04479 -1.88809 0 -0.00281014 -0.00111394 -0.715822 0.698276 uwb: 0.0 1007.5 494.551 -imu_odom_: 1691062455.601578515 0.349553 -0.174777 10.2687 -0.052198 0 0.232228 0.14 0.17 pose: 0.0 5.04479 -1.88809 0 -0.00281014 -0.00111394 -0.715822 0.698276 uwb: 0.49850416 1009.26 494.697 -imu_odom_: 1691062455.618459735 0.407014 -0.222661 9.80665 -0.0756338 -0.0181095 0.254598 0.14 0.17 pose: 0.33868303 5.03592 -1.89907 0 -0.00163754 0.000902989 -0.713149 0.70101 uwb: 0.0 1009.26 494.697 -imu_odom_: 1691062455.635332206 0.588974 -0.280122 9.89284 -0.0468716 -0.0149137 0.217314 0.21 0.26 pose: 0.43894380 5.03592 -1.89907 0 -0.00085243 5.45926e-05 -0.70994 0.704261 uwb: 0.0 1009.26 494.697 -imu_odom_: 1691062455.651568623 1.05345 0.0622492 9.92157 -0.0639159 -0.102265 0.231162 0.21 0.26 pose: 0.7012333 5.03592 -1.89907 0 -0.00147812 -0.000320678-0.709501 0.704703 uwb: 0.49992441 1010.14 494.597 -imu_odom_: 1691062455.668409015 1.49877 -0.208296 9.54329 -0.0649811 -0.0607201 0.290817 0.21 0.26 pose: 0.0 5.03592 -1.89907 0 -0.00147812 -0.000320678-0.709501 0.704703 uwb: 0.0 1010.14 494.597 -imu_odom_: 1691062455.684395210 1.41018 -0.639252 9.91439 -0.0713727 -0.052198 0.327036 0.12 0.14 pose: 0.42936947 5.03704 -1.90901 0 -0.00507609 -0.0043729 -0.706277 0.707904 uwb: 0.0 1010.14 494.597 -imu_odom_: 1691062455.701399500 1.88184 -0.500388 10.3262 -0.0340885 -0.0181095 0.24075 0.15 0.14 pose: 0.0 5.03704 -1.90901 0 -0.00507609 -0.0043729 -0.706277 0.707904 uwb: 0.49935573 1011.47 494.625 -imu_odom_: 1691062455.718406414 1.41018 0.325611 9.89763 -0.0458064 0.0298274 0.184291 0.15 0.14 pose: 0.0 5.03704 -1.90901 0 -0.00507609 -0.0043729 -0.706277 0.707904 uwb: 0.0 1011.47 494.625 -imu_odom_: 1691062455.733277986 1.10373 0.110133 9.7037 -0.0628506 0.0383495 0.168312 0.1 0.11 pose: 0.23016902 5.03704 -1.90901 0 -0.00751995 -0.00555787 -0.704129 0.710011 uwb: 0.0 1011.47 494.625 -imu_odom_: 1691062455.748268544 0.64404 -0.225055 9.96227 -0.0639159 0.0308927 0.120375 0.1 0.11 pose: 0.0 5.03704 -1.90901 0 -0.00751995 -0.00555787 -0.704129 0.710011 uwb: 0.49948405 1013.23 494.739 -imu_odom_: 1691062455.765325327 0.663194 -0.423774 10.2208 -0.0660464 -0.0223706 0.1012 0.1 0.11 pose: 0.0 5.03704 -1.90901 0 -0.00751995 -0.00555787 -0.704129 0.710011 uwb: 0.0 1013.23 494.739 -imu_odom_: 1691062455.782394359 0.833182 -0.272939 9.7875 -0.0415453 -0.0234358 0.0980043 0.07 0.11 pose: 0.73899410 5.03816 -1.91895 0 -0.0108017 -0.00656064 -0.701018 0.713032 uwb: 0.0 1013.23 494.739 -imu_odom_: 1691062455.797280804 0.790087 -0.150835 9.85214 -0.0585895 0.00852212 0.131028 0.07 0.11 pose: 0.7946728 5.03816 -1.91895 0 -0.0113693 -0.00722244 -0.700846 0.713186 uwb: 0.0 1013.23 494.739 -imu_odom_: 1691062455.812388891 0.651223 -0.232238 9.86172 -0.056459 0.0138484 0.145941 0.07 0.11 pose: 0.0 5.03816 -1.91895 0 -0.0113693 -0.00722244 -0.700846 0.713186 uwb: 0.0 1013.23 494.739 -imu_odom_: 1691062455.829273319 0.737414 -0.304064 9.9934 -0.0479369 -0.00106526 0.122505 0.09 0.14 pose: 0.39116836 5.03816 -1.91895 0 -0.0104134 -0.00871008 -0.699615 0.714391 uwb: 0.0 1013.23 494.739 -imu_odom_: 1691062455.845290136 0.61531 -0.150835 9.67018 -0.0468716 -0.00532632 0.115049 0.09 0.14 pose: 0.0 5.03816 -1.91895 0 -0.0104134 -0.00871008 -0.699615 0.714391 uwb: 0.100109411 1014.12 494.551 -imu_odom_: 1691062455.872398952 0.68953 -0.184354 9.94073 -0.0575243 -0.00852212 0.120375 0.07 0.11 pose: 0.32901245 5.03816 -1.91895 0 -0.0104406 -0.00919436 -0.698681 0.715298 uwb: 0.0 1014.12 494.551 -imu_odom_: 1691062455.898291655 -0.622492 -0.1652 9.83059 -0.0468716 0.116114 0.0894822 0.05 0.11 pose: 0.0 5.03816 -1.91895 0 -0.0104406 -0.00919436 -0.698681 0.715298 uwb: 0.49866164 1015.88 494.603 -imu_odom_: 1691062455.925259903 -1.1564 -0.373495 9.85693 -0.0671117 -0.0649811 0.132093 0.1 0.08 pose: 0.53001519 5.03928 -1.92888 0 -0.00613805 -0.00866777 -0.69749 0.716516 uwb: 0.0 1015.88 494.603 -imu_odom_: 1691062455.950314159 0.725443 -0.349553 10.1418 -0.0415453 -0.0713727 0.0916127 0.09 0.08 pose: 0.0 5.03928 -1.92888 0 -0.00613805 -0.00866777 -0.69749 0.716516 uwb: 0.49869955 1017.65 494.592 -imu_odom_: 1691062455.977291448 0.521936 -0.282516 10.2232 -0.0585895 0.036219 0.135289 0.09 0.08 pose: 0.35008882 5.03928 -1.92888 0 -0.00612364 -0.00722954 -0.696452 0.717541 uwb: 0.0 1017.65 494.592 -imu_odom_: 1691062456.3264059 -0.402226 -0.131681 9.9527 -0.0458064 -0.0127832 0.0852212 0.11 0.05 pose: 0.43990911 5.04005 -1.93596 0 -0.00707165 -0.00466356 -0.695194 0.718772 uwb: 0.49993317 1019.41 494.727 -imu_odom_: 1691062456.30282188 0.493206 -0.418985 9.96706 -0.0575243 -0.00426106 0.100135 0.11 0.05 pose: 0.8100419 5.04038 -1.93882 0 -0.00643869 -0.00420502 -0.695065 0.718906 uwb: 0.0 1019.41 494.727 -imu_odom_: 1691062456.56405293 0.172383 0.0143652 9.52653 -0.0511327 0.00106526 0.11931 0.13 0.05 pose: 0.44890321 5.04032 -1.93881 0 -0.00673815 -0.00104341 -0.694174 0.719775 uwb: 0.50189309 1025.15 494.745 -imu_odom_: 1691062456.73402882 0.0766145 -0.294487 9.65821 -0.0735032 -0.0213053 0.117179 0.13 0.05 pose: 0.0 5.04032 -1.93881 0 -0.00673815 -0.00104341 -0.694174 0.719775 uwb: 0.0 1025.15 494.745 -imu_odom_: 1691062456.89239477 0.0861913 -0.189142 9.83538 -0.0607201 -0.0394148 0.0894822 0.17 0.05 pose: 0.0 5.04032 -1.93881 0 -0.00673815 -0.00104341 -0.694174 0.719775 uwb: 0.49974674 1022.93 494.851 -imu_odom_: 1691062456.116230776 0.730232 -0.153229 9.99819 -0.04048 -0.0127832 0.0990696 0.17 0.05 pose: 0.33126984 5.04143 -1.94877 0 -0.00369237 -0.000321534-0.69324 0.720698 uwb: 0.0 1022.93 494.851 -imu_odom_: 1691062456.142242769 0.124498 -0.25618 9.64384 -0.0575243 0.056459 0.0873517 0.19 0.05 pose: 0.33861027 5.04143 -1.94877 0 -0.00242117 0.000381625 -0.692502 0.721412 uwb: 0.50073246 1023.38 494.683 -imu_odom_: 1691062456.159238608 -0.0143652 -0.272939 9.7875 -0.0447411 0.0127832 0.0681769 0.19 0.05 pose: 0.0 5.04143 -1.94877 0 -0.00242117 0.000381625 -0.692502 0.721412 uwb: 0.0 1023.38 494.683 -imu_odom_: 1691062456.184302499 1.10373 -0.311246 10.0676 -0.072438 -0.0191748 0.106526 0.18 0.05 pose: 0.52088145 5.04253 -1.95871 0 -0.0004264110.00163399 -0.691575 0.722303 uwb: 0.0 1023.38 494.683 -imu_odom_: 1691062456.211349792 0.287304 -0.418985 9.91199 -0.0532632 0.0223706 0.0543285 0.18 0.05 pose: 0.0 5.04253 -1.95871 0 -0.0004264110.00163399 -0.691575 0.722303 uwb: 0.49864436 1024.27 494.678 -imu_odom_: 1691062456.236279823 0.282516 -0.270545 10.3884 -0.0575243 -0.0106526 0.092678 0.18 0.05 pose: 0.34944155 5.04253 -1.95871 0 -0.00187478 0.000787206 -0.690867 0.722979 uwb: 0.0 1024.27 494.678 -imu_odom_: 1691062456.253559422 0.272939 -0.469264 10.1203 -0.0490022 0.0351537 0.0649811 0.18 0.02 pose: 0.0 5.04253 -1.95871 0 -0.00187478 0.000787206 -0.690867 0.722979 uwb: 0.49864437 1025.17 494.369 -imu_odom_: 1691062456.269512962 0.560243 -0.318429 9.67736 -0.0383495 0.0255663 0.0511327 0.18 0.02 pose: 0.58932209 5.04368 -1.96864 0 -0.0001564840.00562969 -0.690162 0.723633 uwb: 0.0 1025.17 494.369 -imu_odom_: 1691062456.287493066 0.186748 0.0215478 9.99579 -0.0468716 -0.0138484 0.0948085 0.18 0.02 pose: 0.0 5.04368 -1.96864 0 -0.0001564840.00562969 -0.690162 0.723633 uwb: 0.50096285 1024.75 493.784 -imu_odom_: 1691062456.303373989 0.500388 -0.469264 9.40442 -0.0777643 0.02024 0.0862864 0.15 0 pose: 0.44258358 5.04484 -1.97857 0 0.000326767 0.00493056 -0.689647 0.724129 uwb: 0.0 1024.75 493.784 -imu_odom_: 1691062456.318348805 0.0694318 -0.19393 10.1299 -0.052198 0.0575243 0.0500674 0.15 0 pose: 0.6898308 5.04484 -1.97857 0 -0.0003597820.0050813 -0.689532 0.724237 uwb: 0.0 1024.75 493.784 -imu_odom_: 1691062456.334325676 0.23942 -0.0909797 9.80904 -0.056459 -0.0245011 0.0788296 0.15 0 pose: 0.0 5.04484 -1.97857 0 -0.0003597820.0050813 -0.689532 0.724237 uwb: 0.0 1024.75 493.784 -imu_odom_: 1691062456.350421242 0.272939 -0.287304 9.88087 -0.0745685 -0.0511327 0.092678 0.16 -0.02 pose: 0.39934302 5.04602 -1.9885 0 0.00179294 0.0054454 -0.689085 0.724658 uwb: 0.49995963 1023.86 493.953 -imu_odom_: 1691062456.377251559 -0.0790087 -0.112527 9.7037 -0.0372843 0.0127832 0.0543285 0.16 0.02 pose: 0.0 5.04602 -1.9885 0 0.00179294 0.0054454 -0.689085 0.724658 uwb: 0.0 1023.86 493.953 -imu_odom_: 1691062456.403216890 0.105345 -0.435745 9.6199 -0.103331 0.0245011 0.0937433 0.17 0.02 pose: 0.23946350 5.04602 -1.9885 0 0.00233791 0.0071697 -0.688723 0.724985 uwb: 0.49959509 1024.74 493.972 -imu_odom_: 1691062456.429205844 0.500388 -0.150835 9.72285 -0.0713727 -0.0181095 0.0479369 0.17 0.02 pose: 0.0 5.04602 -1.9885 0 0.00233791 0.0071697 -0.688723 0.724985 uwb: 0.0 1024.74 493.972 -imu_odom_: 1691062456.455194506 0.73502 -0.550666 9.94073 -0.0777643 -0.0447411 0.0617853 0.15 0 pose: 0.70933818 5.04793 -2.0057 0 0.00273565 0.00862103 -0.688021 0.725634 uwb: 0.0 1024.74 493.972 -imu_odom_: 1691062456.472254213 0.337582 -0.356736 9.79947 -0.0330232 0.0532632 0.0415453 0.15 0 pose: 0.6999213 5.04824 -2.00838 0 0.00191842 0.00834609 -0.68797 0.725688 uwb: 0.0 1024.74 493.972 -imu_odom_: 1691062456.488316532 0.198719 -0.0885855 9.87369 -0.0447411 -0.015979 0.0575243 0.17 -0.02 pose: 0.0 5.04824 -2.00838 0 0.00191842 0.00834609 -0.68797 0.725688 uwb: 0.100107121 1022.99 493.537 -imu_odom_: 1691062456.506254641 0.244209 -0.047884 9.65821 -0.0490022 -0.0330232 0.0585895 0.17 -0.02 pose: 0.43045161 5.0383 -2.0095 0 -0.0008671840.00748195 -0.687782 0.725879 uwb: 0.0 1022.99 493.537 -imu_odom_: 1691062456.523277019 0.758962 -0.318429 9.51935 -0.0490022 -0.0245011 0.0511327 0.17 -0.02 pose: 0.0 5.0383 -2.0095 0 -0.0008671840.00748195 -0.687782 0.725879 uwb: 0.0 1022.99 493.537 -imu_odom_: 1691062456.537393849 0.244209 -0.071826 10.422 -0.0511327 0.00958738 0.052198 0.17 0.02 pose: 0.0 5.0383 -2.0095 0 -0.0008671840.00748195 -0.687782 0.725879 uwb: 0.49960968 1020.61 493.293 -imu_odom_: 1691062456.554522673 0.167594 -0.19393 10.2041 -0.0575243 0.00106526 0.0553937 0.17 0.02 pose: 0.50026001 5.03943 -2.01944 0 0.000639419 0.00451506 -0.687501 0.726169 uwb: 0.0 1020.61 493.293 -imu_odom_: 1691062456.571205006 0.112527 -0.452504 9.40921 -0.0372843 -0.015979 0.0468716 0.17 0.02 pose: 0.0 5.03943 -2.01944 0 0.000639419 0.00451506 -0.687501 0.726169 uwb: 0.0 1020.61 493.293 -imu_odom_: 1691062456.597181711 0.744597 -0.304064 10.0293 -0.0649811 -0.00639159 0.0617853 0.22 0 pose: 0.41928787 5.04056 -2.02937 0 0.00288646 0.0065301 -0.68731 0.726329 uwb: 0.50184650 1020.62 493.105 -imu_odom_: 1691062456.613238781 0.699107 -0.366313 9.81383 -0.0532632 0.0351537 0.0383495 0.15 0 pose: 0.0 5.04056 -2.02937 0 0.00288646 0.0065301 -0.68731 0.726329 uwb: 0.0 1020.62 493.105 -imu_odom_: 1691062456.640321945 0.378284 -0.545878 9.4571 -0.0447411 -0.0191748 0.0671117 0.15 0 pose: 0.33073032 5.04056 -2.02937 0 0.000332314 0.00459374 -0.687121 0.726529 uwb: 0.49756532 1025.53 492.341 -imu_odom_: 1691062456.657287454 -0.0023942 -0.557849 9.71806 -0.056459 -0.00745685 0.0436758 0.22 0 pose: 0.0 5.04056 -2.02937 0 0.000332314 0.00459374 -0.687121 0.726529 uwb: 0.0 1025.53 492.341 -imu_odom_: 1691062456.674343079 0.433351 -0.0670376 10.3477 -0.0532632 -0.0681769 0.0500674 0.22 0 pose: 0.17044251 5.04171 -2.03931 0 -0.0009534960.00465975 -0.687048 0.726596 uwb: 0.0 1025.53 492.341 -imu_odom_: 1691062456.690245874 0.533907 -0.31364 9.90242 -0.0681769 -0.0170442 0.0692422 0.17 -0.02 pose: 0.0 5.04171 -2.03931 0 -0.0009534960.00465975 -0.687048 0.726596 uwb: 0.50157819 1028.66 491.967 -imu_odom_: 1691062456.707167347 0.627281 -0.201113 10.2185 -0.052198 -0.00639159 0.0319579 0.17 -0.02 pose: 0.53020790 5.04235 -2.04483 0 -0.00182748 0.00535355 -0.68676 0.726862 uwb: 0.0 1028.66 491.967 -imu_odom_: 1691062456.724171644 0.213084 -0.270545 9.46188 -0.0500674 -0.00319579 0.0383495 0.17 -0.02 pose: 0.0 5.04235 -2.04483 0 -0.00182748 0.00535355 -0.68676 0.726862 uwb: 0.0 1028.66 491.967 -imu_odom_: 1691062456.748158531 0.208296 -0.277727 9.44752 -0.0543285 -0.00319579 0.0383495 0.17 0.02 pose: 0.8002725 5.04286 -2.04924 0 -0.00245266 0.00477287 -0.686678 0.726942 uwb: 0.49799694 1030.43 492.117 -imu_odom_: 1691062456.773150388 0.811634 -0.433351 9.94791 -0.052198 -0.0681769 0.0553937 0.17 0.02 pose: 0.0 5.04286 -2.04924 0 -0.00245266 0.00477287 -0.686678 0.726942 uwb: 0.0 1030.43 492.117 -imu_odom_: 1691062456.790226135 0.730232 -0.56982 9.79947 -0.0511327 -0.00213053 0.052198 0.22 0.02 pose: 0.48836719 5.04402 -2.05917 0 -0.00169959 0.00408322 -0.686654 0.726971 uwb: 0.0 1030.43 492.117 -imu_odom_: 1691062456.806212047 0.258574 -0.0837971 10.0317 -0.0394148 0.0671117 0.0500674 0.22 0.02 pose: 0.0 5.04402 -2.05917 0 -0.00169959 0.00408322 -0.686654 0.726971 uwb: 0.0 1030.43 492.117 -imu_odom_: 1691062456.823336205 0.227449 -0.260968 10.0389 -0.0532632 0.00852212 0.0585895 0.24 0 pose: 0.48981077 5.04518 -2.06911 0 -0.00379047 0.00326388 -0.686487 0.727125 uwb: 0.0 1030.43 492.117 -imu_odom_: 1691062456.840299090 0.392649 -0.222661 9.88326 -0.0490022 0.00958738 0.0458064 0.24 0 pose: 0.0 5.04518 -2.06911 0 -0.00379047 0.00326388 -0.686487 0.727125 uwb: 0.100012049 1029.57 491.713 -imu_odom_: 1691062456.856199844 0.023942 -0.177171 9.76834 -0.0490022 0.0468716 0.052198 0.24 0 pose: 0.0 5.04518 -2.06911 0 -0.00379047 0.00326388 -0.686487 0.727125 uwb: 0.0 1029.57 491.713 -imu_odom_: 1691062456.872270912 0.536301 -0.308852 10.0102 -0.0681769 -0.0138484 0.0649811 0.17 0.02 pose: 0.76036244 5.04635 -2.07904 0 0.00113201 0.0038218 -0.686149 0.72745 uwb: 0.0 1029.57 491.713 -imu_odom_: 1691062456.890161193 0.244209 -0.112527 9.77313 -0.0585895 0.00745685 0.0426106 0.17 0.02 pose: 0.0 5.04635 -2.07904 0 0.00113201 0.0038218 -0.686149 0.72745 uwb: 0.50091036 1027.37 491.261 -imu_odom_: 1691062456.917263896 0.035913 -0.186748 9.85693 -0.0628506 0.0117179 0.0681769 0.23 0 pose: 0.7011170 5.04635 -2.07904 0 0.000472694 0.00347085 -0.686086 0.727512 uwb: 0.0 1027.37 491.261 -imu_odom_: 1691062456.934260902 0.622492 -0.134075 10.1682 -0.052198 0.0138484 0.0479369 0.18 0.02 pose: 0.0 5.04635 -2.07904 0 0.000472694 0.00347085 -0.686086 0.727512 uwb: 0.0 1027.37 491.261 -imu_odom_: 1691062456.951264907 -0.105345 -0.0670376 9.51216 -0.0287621 0.0213053 0.0319579 0.18 0 pose: 0.0 5.04635 -2.07904 0 0.000472694 0.00347085 -0.686086 0.727512 uwb: 0.49961259 1029.15 491.383 -imu_odom_: 1691062456.968204462 0.52433 -0.347159 10.0604 -0.0873517 -0.00958738 0.0756338 0.18 0 pose: 0.71049888 5.04753 -2.08897 0 0.00300202 0.00347436 -0.68564 0.727926 uwb: 0.0 1029.15 491.383 -imu_odom_: 1691062456.985196218 0.21069 -0.241814 10.173 -0.0703074 -0.0138484 0.0458064 0.18 -0.02 pose: 0.0 5.04753 -2.08897 0 0.00300202 0.00347436 -0.68564 0.727926 uwb: 0.0 1029.15 491.383 -imu_odom_: 1691062457.140122 0.433351 -0.107739 10.0389 -0.0596548 -0.04048 0.0394148 0.18 -0.02 pose: 0.41945118 5.04871 -2.0989 0 0.0033456 0.00460131 -0.685444 0.728103 uwb: 0.49895641 1027.8 491.566 -imu_odom_: 1691062457.17139175 0.560243 -0.0766145 9.79468 -0.0798948 0.0266316 0.0585895 0.18 -0.02 pose: 0.0 5.04871 -2.0989 0 0.0033456 0.00460131 -0.685444 0.728103 uwb: 0.0 1027.8 491.566 -imu_odom_: 1691062457.33139092 -0.1652 -0.464475 9.6199 -0.0532632 -0.00426106 0.036219 0.18 0.02 pose: 0.40933155 5.04991 -2.10883 0 0.00301933 0.00239211 -0.685305 0.728246 uwb: 0.0 1027.8 491.566 -imu_odom_: 1691062457.51134368 1.00317 -0.0502782 10.3022 -0.0671117 -0.036219 0.0426106 0.18 0.02 pose: 0.7001841 5.04991 -2.10883 0 0.00321259 0.00306259 -0.685313 0.728235 uwb: 0.50052263 1028.27 491.122 -imu_odom_: 1691062457.68130215 0.385466 -0.289698 9.38288 -0.0841559 0.00532632 0.0532632 0.18 0.02 pose: 0.0 5.04991 -2.10883 0 0.00321259 0.00306259 -0.685313 0.728235 uwb: 0.0 1028.27 491.122 -imu_odom_: 1691062457.85126937 0.25618 -0.23942 9.78031 -0.0426106 0.0117179 0.0426106 0.18 0 pose: 0.43989199 5.0511 -2.11876 0 0.000525762 0.00289704 -0.685226 0.728325 uwb: 0.0 1028.27 491.122 -imu_odom_: 1691062457.102127742 0.0957681 -0.251391 10.0365 -0.0596548 0.0170442 0.0458064 0.23 0 pose: 0.0 5.0511 -2.11876 0 0.000525762 0.00289704 -0.685226 0.728325 uwb: 0.49986361 1027.39 490.909 -imu_odom_: 1691062457.119120964 0.629675 -0.21069 9.92157 -0.0511327 -0.00852212 0.0394148 0.23 0 pose: 0.0 5.0511 -2.11876 0 0.000525762 0.00289704 -0.685226 0.728325 uwb: 0.0 1027.39 490.909 -imu_odom_: 1691062457.136191469 0.146046 0.047884 9.60554 -0.0319579 -0.00745685 0.0351537 0.26 0 pose: 0.24014019 5.0511 -2.11876 0 0.00243722 0.00468111 -0.685182 0.728353 uwb: 0.49798840 1025.61 490.84 -imu_odom_: 1691062457.152121977 0.414197 -0.351948 9.68455 -0.0639159 0.0149137 0.0394148 0.26 0 pose: 0.0 5.0511 -2.11876 0 0.00243722 0.00468111 -0.685182 0.728353 uwb: 0.0 1025.61 490.84 -imu_odom_: 1691062457.169118699 0.438139 -0.150835 9.8689 -0.0458064 -0.0330232 0.0372843 0.26 0 pose: 0.34045938 5.0523 -2.12868 0 0.00285175 0.00391805 -0.685172 0.728365 uwb: 0.0 1025.61 490.84 -imu_odom_: 1691062457.185115407 0.770933 -0.337582 9.96706 -0.0553937 -0.0191748 0.0511327 0.25 0 pose: 0.33936867 5.0535 -2.13861 0 0.00219275 0.00301812 -0.685199 0.728346 uwb: 0.0 1025.61 490.84 -imu_odom_: 1691062457.202113004 0.955286 -0.251391 9.72285 -0.052198 -0.0436758 0.0681769 0.25 0 pose: 0.0 5.0535 -2.13861 0 0.00219275 0.00301812 -0.685199 0.728346 uwb: 0.49937367 1028.31 490.395 -imu_odom_: 1691062457.220130153 1.30005 -0.150835 9.31823 -0.0490022 -0.052198 0.127832 0.15 -0.02 pose: 0.0 5.0535 -2.13861 0 0.00219275 0.00301812 -0.685199 0.728346 uwb: 0.0 1028.31 490.395 -imu_odom_: 1691062457.234170289 1.71185 -0.536301 10.0054 -0.072438 -0.0617853 0.160855 0.15 -0.02 pose: 0.41985965 5.05417 -2.14412 0 -0.00091088 -0.000330705-0.684967 0.728573 uwb: 0.0 1028.31 490.395 -imu_odom_: 1691062457.251173135 2.16915 -0.557849 10.1203 -0.0479369 -0.076699 0.0916127 0.15 -0.02 pose: 0.0 5.05417 -2.14412 0 -0.00091088 -0.000330705-0.684967 0.728573 uwb: 0.50176798 1026.98 490.228 -imu_odom_: 1691062457.265180609 1.72622 0.0670376 9.10275 -0.0351537 0.0298274 0.00319579 0.13 -0.02 pose: 0.8008561 5.0547 -2.14854 0 -0.00152341 -0.00111412 -0.684709 0.728814 uwb: 0.0 1026.98 490.228 -imu_odom_: 1691062457.282169748 1.12767 0.258574 9.98622 -0.0671117 0.0511327 0.0383495 0.13 -0.02 pose: 0.0 5.0547 -2.14854 0 -0.00152341 -0.00111412 -0.684709 0.728814 uwb: 0.0 1026.98 490.228 -imu_odom_: 1691062457.296100813 0.603339 -0.201113 9.97903 -0.0628506 0.0298274 0.0266316 0.13 -0.02 pose: 0.0 5.0547 -2.14854 0 -0.00152341 -0.00111412 -0.684709 0.728814 uwb: 0.50002109 1027.87 490.323 -imu_odom_: 1691062457.312165181 0.962469 -0.363919 10.5896 -0.0383495 -0.0191748 -0.0276969 0.1 -0.02 pose: 0.47030651 5.0547 -2.14854 0 -0.00577275 -0.00503475 -0.683504 0.729907 uwb: 0.0 1027.87 490.323 -imu_odom_: 1691062457.327154877 1.09654 -0.304064 9.40442 -0.0532632 -0.0394148 -0.00319579 0.1 -0.02 pose: 0.0 5.0547 -2.14854 0 -0.00577275 -0.00503475 -0.683504 0.729907 uwb: 0.0 1027.87 490.323 -imu_odom_: 1691062457.344207301 0.80924 -0.172383 9.81383 -0.0585895 0.0447411 0.0426106 0.1 -0.02 pose: 0.0 5.0547 -2.14854 0 -0.00577275 -0.00503475 -0.683504 0.729907 uwb: 0.49991611 1026.53 490.393 -imu_odom_: 1691062457.358102495 0.80924 -0.23942 10.398 -0.0660464 -0.00958738 0.0575243 0.08 0 pose: 0.46011098 5.05595 -2.15846 0 -0.00713948 -0.00826721 -0.683844 0.729547 uwb: 0.0 1026.53 490.393 -imu_odom_: 1691062457.375114673 0.629675 -0.162806 9.53371 -0.0490022 -0.0255663 0.0383495 0.07 -0.02 pose: 0.0 5.05595 -2.15846 0 -0.00713948 -0.00826721 -0.683844 0.729547 uwb: 0.0 1026.53 490.393 -imu_odom_: 1691062457.389086276 0.916979 -0.0670376 9.97903 -0.0500674 -0.00532632 0.0436758 0.07 -0.02 pose: 0.0 5.05595 -2.15846 0 -0.00713948 -0.00826721 -0.683844 0.729547 uwb: 0.50083767 1027.85 490.745 -imu_odom_: 1691062457.405078610 0.861913 -0.287304 9.89045 -0.0692422 -0.00852212 0.0543285 0.07 -0.02 pose: 0.61940439 5.04602 -2.15969 0 -0.0104657 -0.011581 -0.684149 0.729176 uwb: 0.0 1027.85 490.745 -imu_odom_: 1691062457.422352967 0.756568 -0.258574 9.93594 -0.0543285 0.00319579 0.0266316 0.06 -0.02 pose: 0.0 5.04602 -2.15969 0 -0.0104657 -0.011581 -0.684149 0.729176 uwb: 0.0 1027.85 490.745 -imu_odom_: 1691062457.439269781 0.636858 -0.11971 9.84496 -0.0649811 -0.0127832 0.0415453 0.06 -0.02 pose: 0.30985822 5.04725 -2.16962 0 -0.0105534 -0.0129808 -0.68409 0.729206 uwb: 0.49845501 1029.18 490.844 -imu_odom_: 1691062457.467236608 0.758962 -0.251391 9.90721 -0.0532632 -0.00426106 0.0330232 0.05 0.02 pose: 0.43180206 5.04725 -2.16962 0 -0.0113254 -0.0121453 -0.6841 0.729199 uwb: 0.0 1029.18 490.844 -imu_odom_: 1691062457.482096819 0.6608 -0.289698 9.87608 -0.0575243 0.00852212 0.0308927 0.05 0.02 pose: 0.0 5.04725 -2.16962 0 -0.0113254 -0.0121453 -0.6841 0.729199 uwb: 0.0 1029.18 490.844 -imu_odom_: 1691062457.509082006 -1.13246 0.100556 9.69891 -0.04048 0.102265 -0.0170442 0.06 0.02 pose: 0.42827038 5.04725 -2.16962 0 -0.0134222 -0.0105279 -0.684174 0.729119 uwb: 0.50067144 1030.1 490.356 -imu_odom_: 1691062457.535090218 -1.04627 -0.4956 9.97424 -0.072438 -0.0852212 0.0713727 0.09 0.05 pose: 0.0 5.04725 -2.16962 0 -0.0134222 -0.0105279 -0.684174 0.729119 uwb: 0.0 1030.1 490.356 -imu_odom_: 1691062457.561110680 0.871489 -0.23942 10.2783 -0.0308927 -0.0426106 0.015979 0.12 0 pose: 0.35009788 5.04725 -2.16962 0 -0.0099068 -0.00758425 -0.684684 0.728733 uwb: 0.50011442 1033.67 490.508 -imu_odom_: 1691062457.578075613 0.828394 0.0574608 9.7444 -0.0447411 0.015979 0.0468716 0.12 0 pose: 0.0 5.04725 -2.16962 0 -0.0099068 -0.00758425 -0.684684 0.728733 uwb: 0.0 1033.67 490.508 -imu_odom_: 1691062457.604137778 -0.258574 -0.150835 9.98143 -0.0458064 0.0532632 0.036219 0.11 -0.02 pose: 0.50996581 5.04846 -2.17954 0 -0.0108442 -0.00981666 -0.684667 0.72871 uwb: 0.49967404 1033.84 490.637 -imu_odom_: 1691062457.630066958 0.469264 -0.399832 9.97185 -0.0692422 -0.0138484 0.0372843 0.12 0 pose: 0.36034590 5.04846 -2.17954 0 -0.00786018 -0.00848443 -0.684709 0.728724 uwb: 0.0 1033.84 490.637 -imu_odom_: 1691062457.647124923 0.639252 -0.318429 10.2041 -0.052198 0.00426106 0.0426106 0.12 0 pose: 0.6944681 5.04846 -2.17954 0 -0.00798924 -0.00778518 -0.684714 0.728726 uwb: 0.50119638 1036.97 490.502 -imu_odom_: 1691062457.663060097 0.483629 -0.296881 9.71806 -0.0671117 0.0127832 0.0500674 0.12 0 pose: 0.0 5.04846 -2.17954 0 -0.00798924 -0.00778518 -0.684714 0.728726 uwb: 0.0 1036.97 490.502 -imu_odom_: 1691062457.680174931 0.138864 -0.1652 9.8258 -0.0628506 0.0223706 0.0479369 0.13 -0.02 pose: 0.43042264 5.04968 -2.18947 0 -0.00950011 -0.00478514 -0.684666 0.728779 uwb: 0.0 1036.97 490.502 -imu_odom_: 1691062457.697263225 0.117316 -0.232238 9.72046 -0.052198 0.00106526 0.0330232 0.13 -0.02 pose: 0.0 5.04968 -2.18947 0 -0.00950011 -0.00478514 -0.684666 0.728779 uwb: 0.49815464 1036.05 490.93 -imu_odom_: 1691062457.714091383 0.0191536 -0.174777 9.51456 -0.0617853 0.0223706 0.0394148 0.14 0 pose: 0.0 5.04968 -2.18947 0 -0.00950011 -0.00478514 -0.684666 0.728779 uwb: 0.0 1036.05 490.93 -imu_odom_: 1691062457.731257836 0.25618 -0.0430956 9.89045 -0.0756338 -0.0458064 0.0841559 0.14 0 pose: 0.50084933 5.05089 -2.19939 0 -0.00540889 -0.00127574 -0.684642 0.728858 uwb: 0.0 1036.05 490.93 -imu_odom_: 1691062457.747264168 0.179565 -0.548272 9.77313 -0.0820254 -0.0170442 0.0447411 0.14 0 pose: 0.0 5.05089 -2.19939 0 -0.00540889 -0.00127574 -0.684642 0.728858 uwb: 0.50049354 1037.39 490.98 -imu_odom_: 1691062457.764260598 0.373495 -0.158017 10.3142 -0.0671117 0.015979 0.0276969 0.19 0.02 pose: 0.43054512 5.05089 -2.19939 0 -0.00352608 0.000947221 -0.684336 0.729158 uwb: 0.0 1037.39 490.98 -imu_odom_: 1691062457.781198993 -0.059855 -0.162806 9.21289 -0.0713727 0.0330232 0.052198 0.19 0.02 pose: 0.6946722 5.05089 -2.19939 0 -0.00283712 0.000843075 -0.684368 0.729131 uwb: 0.0 1037.39 490.98 -imu_odom_: 1691062457.804067474 0.708684 -0.548272 10.161 -0.0649811 -0.0479369 0.0319579 0.14 0 pose: 0.0 5.05089 -2.19939 0 -0.00283712 0.000843075 -0.684368 0.729131 uwb: 0.49853959 1037.85 490.778 -imu_odom_: 1691062457.830045649 0.3304 0.0790087 9.92636 -0.0319579 -0.0447411 0.052198 0.15 0.02 pose: 0.33939200 5.05211 -2.20932 0 -0.00118699 0.00188574 -0.684353 0.729147 uwb: 0.0 1037.85 490.778 -imu_odom_: 1691062457.847105655 0.289698 -0.474052 9.85932 -0.0617853 -0.0287621 0.0575243 0.18 0 pose: 0.0 5.05211 -2.20932 0 -0.00118699 0.00188574 -0.684353 0.729147 uwb: 0.50081142 1041.87 490.834 -imu_odom_: 1691062457.863103822 0.363919 -0.0263362 9.68694 -0.0500674 -0.0266316 0.0319579 0.18 0 pose: 0.48904690 5.05333 -2.21924 0 -0.00123888 0.00032855 -0.684234 0.729262 uwb: 0.0 1041.87 490.834 -imu_odom_: 1691062457.881101432 0.287304 -0.229843 9.92157 -0.052198 -0.0191748 0.0436758 0.21 0 pose: 0.0 5.05333 -2.21924 0 -0.00123888 0.00032855 -0.684234 0.729262 uwb: 0.0 1041.87 490.834 -imu_odom_: 1691062457.898034869 0.21069 -0.40462 10.0724 -0.0649811 -0.00532632 0.0490022 0.21 0 pose: 0.0 5.05333 -2.21924 0 -0.00123888 0.00032855 -0.684234 0.729262 uwb: 0.49997151 1047.64 491.247 -imu_odom_: 1691062457.912209157 0.4956 -0.213084 10.8314 -0.0479369 0.0788296 0.036219 0.21 0 pose: 0.34047980 5.05333 -2.21924 0 6.52333e-05 0.000760029 -0.684199 0.729295 uwb: 0.0 1047.64 491.247 -imu_odom_: 1691062457.937092537 0.0885855 0.146046 10.5441 -0.0298274 0.0937433 0.0394148 0.15 0 pose: 0.41106397 5.05456 -2.22917 0 0.0002419 0.00233416 -0.684144 0.729343 uwb: 0.50020483 1046.34 490.75 -imu_odom_: 1691062457.964175421 -0.0430956 -0.407014 9.83299 -0.0468716 -0.0394148 0.04048 0.15 0 pose: 0.7017297 5.05456 -2.22917 0 0.00123823 0.00242654 -0.684143 0.729342 uwb: 0.0 1046.34 490.75 -imu_odom_: 1691062457.980106220 0.411803 -0.208296 10.1203 -0.0436758 -0.02024 0.0298274 0.18 0 pose: 0.0 5.05456 -2.22917 0 0.00123823 0.00242654 -0.684143 0.729342 uwb: 0.0 1046.34 490.75 -imu_odom_: 1691062457.997164477 0.0814029 -0.0837971 10.1203 -0.0607201 -0.00319579 0.0479369 0.18 0 pose: 0.53019355 5.05579 -2.23909 0 0.00362546 0.00416144 -0.684161 0.72931 uwb: 0.49956322 1049.92 490.828 -imu_odom_: 1691062458.13192978 0.80924 -0.4956 10.1921 -0.0649811 -0.0223706 0.0394148 0.18 0 pose: 0.0 5.05579 -2.23909 0 0.00362546 0.00416144 -0.684161 0.72931 uwb: 0.0 1049.92 490.828 -imu_odom_: 1691062458.31173681 0.0287304 -0.244209 9.39485 -0.0426106 0.0436758 0.0191748 0.17 0 pose: 0.33049133 5.05579 -2.23909 0 0.00388708 0.00371628 -0.684137 0.729334 uwb: 0.0 1049.92 490.828 -imu_odom_: 1691062458.48037425 -0.0574608 0.244209 10.2879 -0.0500674 0.0394148 0.0607201 0.17 0 pose: 0.0 5.05579 -2.23909 0 0.00388708 0.00371628 -0.684137 0.729334 uwb: 0.0 1049.92 490.828 -imu_odom_: 1691062458.62023031 -0.0383072 -0.641646 9.52174 -0.0756338 0.00958738 0.0479369 0.17 0 pose: 0.0 5.05579 -2.23909 0 0.00388708 0.00371628 -0.684137 0.729334 uwb: 0.0 1049.92 490.828 -imu_odom_: 1691062458.79032592 0.356736 -0.347159 9.99579 -0.052198 -0.00532632 0.0223706 0.18 0 pose: 0.48749854 5.05702 -2.24902 0 0.00632894 0.00575319 -0.684106 0.729333 uwb: 0.0 1049.92 490.828 -imu_odom_: 1691062458.102137890 0.720655 -0.445322 9.91439 -0.0553937 -0.015979 0.036219 0.18 0 pose: 0.0 5.05702 -2.24902 0 0.00632894 0.00575319 -0.684106 0.729333 uwb: 0.100068123 1051.27 490.797 -imu_odom_: 1691062458.119220360 0.146046 -0.392649 9.55765 -0.0458064 -0.0106526 0.0213053 0.17 -0.02 pose: 0.31002167 5.05825 -2.25894 0 0.00384563 0.00627849 -0.684216 0.729242 uwb: 0.0 1051.27 490.797 -imu_odom_: 1691062458.146034952 0.919373 -0.184354 10.24 -0.04048 -0.0287621 0.0479369 0.25 0 pose: 0.0 5.05825 -2.25894 0 0.00384563 0.00627849 -0.684216 0.729242 uwb: 0.49858939 1052.17 490.77 -imu_odom_: 1691062458.171221934 0.835576 -0.222661 10.3022 -0.0436758 -0.015979 0.0500674 0.17 0 pose: 0.41195072 5.05947 -2.26887 0 0.00184132 0.00647196 -0.684341 0.729131 uwb: 0.0 1052.17 490.77 -imu_odom_: 1691062458.188074013 0.40462 0.124498 10.0676 -0.0415453 0.0181095 0.0468716 0.17 0 pose: 0.0 5.05947 -2.26887 0 0.00184132 0.00647196 -0.684341 0.729131 uwb: 0.50057833 1052.19 490.583 -imu_odom_: 1691062458.204132847 -0.146046 -0.153229 9.59596 -0.052198 0.00426106 0.0511327 0.17 0 pose: 0.27826271 5.05947 -2.26887 0 0.000158871 0.00386826 -0.684266 0.729223 uwb: 0.0 1052.19 490.583 -imu_odom_: 1691062458.222119382 0.797269 0.0191536 10.0317 -0.0372843 -0.04048 0.0319579 0.17 0 pose: 0.41960903 5.06069 -2.27879 0 0.00112641 0.00172511 -0.684127 0.72936 uwb: 0.0 1052.19 490.583 -imu_odom_: 1691062458.238070894 0.603339 -0.342371 9.99819 -0.0500674 -0.0117179 0.0596548 0.17 0 pose: 0.0 5.06069 -2.27879 0 0.00112641 0.00172511 -0.684127 0.72936 uwb: 0.50077664 1051.74 490.538 -imu_odom_: 1691062458.253000812 0.445322 -0.258574 10.1251 -0.0798948 0.015979 0.0649811 0.17 0 pose: 0.0 5.06069 -2.27879 0 0.00112641 0.00172511 -0.684127 0.72936 uwb: 0.0 1051.74 490.538 -imu_odom_: 1691062458.268061382 0.684742 -0.138864 10.0078 -0.0585895 -0.00213053 0.036219 0.18 0 pose: 0.49100690 5.06192 -2.28872 0 -0.00106853 -0.000104997-0.68396 0.729519 uwb: 0.0 1051.74 490.538 -imu_odom_: 1691062458.284999201 0.536301 -0.143652 10.1011 -0.052198 -0.00852212 0.0575243 0.18 0 pose: 0.0 5.06192 -2.28872 0 -0.00106853 -0.000104997-0.68396 0.729519 uwb: 0.0 1051.74 490.538 -imu_odom_: 1691062458.301998555 0.711078 -0.213084 10.2137 -0.0703074 -0.0436758 0.052198 0.17 0.02 pose: 0.39869302 5.06257 -2.29396 0 -0.00229888 -0.00302165 -0.683795 0.729664 uwb: 0.49925723 1053.54 490.511 -imu_odom_: 1691062458.317148949 0.744597 -0.11971 9.61751 -0.0543285 0.0234358 0.0255663 0.17 0.02 pose: 0.0 5.06257 -2.29396 0 -0.00229888 -0.00302165 -0.683795 0.729664 uwb: 0.0 1053.54 490.511 -imu_odom_: 1691062458.333141582 0.627281 0.0263362 10.2639 -0.052198 -0.00213053 0.0585895 0.17 0.02 pose: 0.0 5.06257 -2.29396 0 -0.00229888 -0.00302165 -0.683795 0.729664 uwb: 0.0 1053.54 490.511 -imu_odom_: 1691062458.348139159 0.153229 -0.433351 9.72046 -0.0798948 -0.0319579 0.0639159 0.18 0 pose: 0.8013815 5.06316 -2.29864 0 -0.00301498 -0.00366602 -0.683755 0.729696 uwb: 0.49960427 1055.34 490.585 -imu_odom_: 1691062458.364133250 1.14203 -0.105345 10.161 -0.0713727 -0.0106526 0.0372843 0.17 0.02 pose: 0.0 5.06316 -2.29864 0 -0.00301498 -0.00366602 -0.683755 0.729696 uwb: 0.0 1055.34 490.585 -imu_odom_: 1691062458.387989214 0.811634 -0.277727 10.1275 -0.0777643 -0.015979 0.0468716 0.17 0.02 pose: 0.47142367 5.06316 -2.29864 0 -0.0034894 -0.00640098 -0.683617 0.729805 uwb: 0.50011755 1059.81 490.784 -imu_odom_: 1691062458.403980972 -0.023942 -0.423774 9.39964 -0.0745685 0.0532632 0.0394148 0.18 0 pose: 0.0 5.06316 -2.29864 0 -0.0034894 -0.00640098 -0.683617 0.729805 uwb: 0.0 1059.81 490.784 -imu_odom_: 1691062458.422037499 0.509965 -0.0670376 10.4794 -0.0607201 -0.0500674 0.0436758 0.18 0 pose: 0.0 5.06316 -2.29864 0 -0.0034894 -0.00640098 -0.683617 0.729805 uwb: 0.0 1059.81 490.784 -imu_odom_: 1691062458.437979096 0.627281 -0.220267 9.81623 -0.0703074 -0.0298274 0.052198 0.18 0 pose: 0.71846985 5.05572 -2.31973 0 -0.00550749 -0.00634633 -0.683475 0.729926 uwb: 0.50048792 1060.74 490.539 -imu_odom_: 1691062458.454993032 0.588974 -0.11971 10.307 -0.0543285 0.0234358 0.0372843 0.17 0.02 pose: 0.0 5.05572 -2.31973 0 -0.00550749 -0.00634633 -0.683475 0.729926 uwb: 0.0 1060.74 490.539 -imu_odom_: 1691062458.472972276 0.371101 -0.280122 9.97664 -0.0500674 0.036219 0.0447411 0.17 0.02 pose: 0.32986154 5.05572 -2.31973 0 -0.00577471 -0.00781782 -0.68339 0.729988 uwb: 0.0 1060.74 490.539 -imu_odom_: 1691062458.497977862 0.349553 -0.397437 10.2975 -0.0447411 0.00426106 0.0340885 0.17 0.02 pose: 0.27983754 5.05697 -2.32965 0 -0.00403533 -0.00631086 -0.683381 0.730023 uwb: 0.49946138 1062.15 490.14 -imu_odom_: 1691062458.525158455 0.54109 -0.237026 9.97185 -0.0649811 0.0181095 0.0436758 0.17 0.02 pose: 0.8070975 5.05697 -2.32965 0 -0.004021 -0.00550787 -0.683398 0.730014 uwb: 0.0 1062.15 490.14 -imu_odom_: 1691062458.541185501 0.0454898 -0.244209 9.56723 -0.0426106 0.0127832 0.0351537 0.2 0 pose: 0.0 5.05697 -2.32965 0 -0.004021 -0.00550787 -0.683398 0.730014 uwb: 0.50133657 1063.9 490.57 -imu_odom_: 1691062458.568083792 -0.023942 -0.316035 9.70609 -0.0585895 0.00639159 0.0500674 0.2 0 pose: 0.44115204 5.05786 -2.33669 0 -0.00647399 -0.00432587 -0.683376 0.730025 uwb: 0.0 1063.9 490.57 -imu_odom_: 1691062458.593086461 0.332794 -0.0861913 9.7444 -0.0330232 -0.0330232 0.0308927 0.23 0 pose: 0.42925337 5.0591 -2.34656 0 -0.00356183 -0.000813554-0.683308 0.730121 uwb: 0.49879062 1064.84 490.263 -imu_odom_: 1691062458.610016990 0.826 -0.0023942 10.4698 -0.056459 -0.0276969 0.0596548 0.23 0 pose: 0.0 5.0591 -2.34656 0 -0.00356183 -0.000813554-0.683308 0.730121 uwb: 0.0 1064.84 490.263 -imu_odom_: 1691062458.627028884 0.229843 -0.718261 9.15303 -0.0266316 -0.0532632 0.0308927 0.23 0 pose: 0.0 5.0591 -2.34656 0 -0.00356183 -0.000813554-0.683308 0.730121 uwb: 0.0 1064.84 490.263 -imu_odom_: 1691062458.641957927 0.529119 -0.301669 10.1706 -0.00852212 0.00532632 0.0191748 0.23 0 pose: 0.49940013 5.06072 -2.35942 0 -0.002041 -0.00277145 -0.68329 0.730139 uwb: 0.50162238 1064.9 489.774 -imu_odom_: 1691062458.659005984 0.502782 0.0622492 10.1897 -0.0500674 -0.0149137 0.0660464 0.23 0 pose: 0.0 5.06072 -2.35942 0 -0.002041 -0.00277145 -0.68329 0.730139 uwb: 0.0 1064.9 489.774 -imu_odom_: 1691062458.672958344 0.605733 -0.186748 9.77313 -0.0671117 -0.0447411 0.0745685 0.17 -0.02 pose: 0.0 5.06072 -2.35942 0 -0.002041 -0.00277145 -0.68329 0.730139 uwb: 0.0 1064.9 489.774 -imu_odom_: 1691062458.688950685 0.916979 -0.177171 9.56484 -0.076699 0.00958738 0.0468716 0.17 -0.02 pose: 0.47016089 5.06072 -2.35942 0 -0.00293295 -0.00409513 -0.683183 0.73023 uwb: 0.49933597 1061.77 489.503 -imu_odom_: 1691062458.704005131 0.172383 -0.0766145 10.2783 -0.103331 -0.0287621 0.0532632 0.19 0 pose: 0.0 5.06072 -2.35942 0 -0.00293295 -0.00409513 -0.683183 0.73023 uwb: 0.0 1061.77 489.503 -imu_odom_: 1691062458.720010304 0.047884 -0.301669 9.49062 -0.0841559 0.00852212 0.0255663 0.19 0 pose: 0.38965237 5.06197 -2.36934 0 -0.00367792 -0.00502202 -0.682965 0.730425 uwb: 0.0 1061.77 489.503 -imu_odom_: 1691062458.737058069 0.186748 -0.332794 9.69891 -0.0490022 -0.0490022 0.0298274 0.19 0 pose: 0.0 5.06197 -2.36934 0 -0.00367792 -0.00502202 -0.682965 0.730425 uwb: 0.50016421 1061.79 489.316 -imu_odom_: 1691062458.763017590 0.696713 -0.500388 9.9527 -0.0468716 -0.0213053 0.0479369 0.18 0 pose: 0.33052938 5.06268 -2.37489 0 -0.00255499 -0.00214245 -0.683115 0.730303 uwb: 0.0 1061.79 489.316 -imu_odom_: 1691062458.780003820 0.416591 -0.306458 9.69173 -0.0319579 0.0628506 0.0372843 0.18 0 pose: 0.0 5.06268 -2.37489 0 -0.00255499 -0.00214245 -0.683115 0.730303 uwb: 0.0 1061.79 489.316 -imu_odom_: 1691062458.805247380 0.19393 -0.1652 9.93833 -0.0798948 0.00532632 0.0660464 0.25 0.02 pose: 0.42945751 5.06394 -2.38485 0 -0.00427496 -0.000284442-0.683038 0.730371 uwb: 0.49932722 1061.34 489.333 -imu_odom_: 1691062458.821048700 0.605733 -0.198719 10.0676 -0.0553937 0.0234358 0.0372843 0.18 -0.02 pose: 0.0 5.06394 -2.38485 0 -0.00427496 -0.000284442-0.683038 0.730371 uwb: 0.0 1061.34 489.333 -imu_odom_: 1691062458.838938997 0.134075 -0.189142 9.9096 -0.0639159 0.0127832 0.0543285 0.18 0 pose: 0.0 5.06394 -2.38485 0 -0.00427496 -0.000284442-0.683038 0.730371 uwb: 0.49885185 1060.01 489.127 -imu_odom_: 1691062458.855925519 0.423774 -0.308852 9.98382 -0.0628506 0.00745685 0.052198 0.18 0 pose: 0.49052862 5.06449 -2.38918 0 -0.00198033 0.0003674 -0.682769 0.730631 uwb: 0.0 1060.01 489.127 -imu_odom_: 1691062458.881040176 0.670376 0.011971 10.0078 -0.0649811 0.00319579 0.0660464 0.18 0.02 pose: 0.26868837 5.06576 -2.3991 0 -0.00266204 0.00188452 -0.682635 0.730752 uwb: 0.0 1060.01 489.127 -imu_odom_: 1691062458.898095815 0.3304 -0.416591 9.4164 -0.0884169 0.00958738 0.072438 0.18 0.02 pose: 0.7014675 5.06576 -2.3991 0 -0.00260408 0.00122823 -0.682569 0.730815 uwb: 0.50088747 1058.24 488.804 -imu_odom_: 1691062458.924039879 0.225055 -0.0861913 9.65342 -0.0585895 0.0223706 0.0340885 0.19 0 pose: 0.35155621 5.06703 -2.40902 0 -0.00301331 0.00146605 -0.682189 0.731168 uwb: 0.0 1058.24 488.804 -imu_odom_: 1691062458.939926649 0.507571 -0.325611 10.1634 -0.072438 -0.04048 0.0479369 0.19 0 pose: 0.0 5.06703 -2.40902 0 -0.00301331 0.00146605 -0.682189 0.731168 uwb: 0.49970343 1057.82 488.45 -imu_odom_: 1691062458.956929502 0.881066 -0.40462 9.75877 -0.0458064 0.015979 0.036219 0.19 0 pose: 0.0 5.06703 -2.40902 0 -0.00301331 0.00146605 -0.682189 0.731168 uwb: 0.0 1057.82 488.45 -imu_odom_: 1691062458.973963852 0.160412 -0.363919 10.1011 -0.0468716 0.0223706 0.0394148 0.19 0 pose: 0.49846981 5.06831 -2.41893 0 -0.00265649 0.000999713 -0.682205 0.731156 uwb: 0.0 1057.82 488.45 -imu_odom_: 1691062458.998975271 0.490811 -0.184354 10.0772 -0.0607201 0.00745685 0.0490022 0.2 0 pose: 0.0 5.06831 -2.41893 0 -0.00265649 0.000999713 -0.682205 0.731156 uwb: 0.49871187 1060.52 488.62 -imu_odom_: 1691062459.23918747 0.0215478 -0.545878 9.42597 -0.0532632 -0.0330232 0.0447411 0.2 0 pose: 0.33010652 5.06831 -2.41893 0 -0.00234935 0.00159872 -0.682192 0.731168 uwb: 0.0 1060.52 488.62 -imu_odom_: 1691062459.45927802 0.308852 -0.464475 9.78031 -0.0532632 0.00532632 0.0394148 0.18 0 pose: 0.0 5.06831 -2.41893 0 -0.00234935 0.00159872 -0.682192 0.731168 uwb: 0.49955775 1059.64 488.469 -imu_odom_: 1691062459.62984323 0.543484 -0.306458 10.3717 -0.04048 0.0383495 0.0372843 0.18 0 pose: 0.48971798 5.06959 -2.42885 0 -0.00230127 0.00268888 -0.68208 0.731269 uwb: 0.0 1059.64 488.469 -imu_odom_: 1691062459.79911651 0.23942 -0.153229 9.63906 -0.0415453 0.00532632 0.0394148 0.18 0 pose: 0.0 5.06959 -2.42885 0 -0.00230127 0.00268888 -0.68208 0.731269 uwb: 0.0 1059.64 488.469 -imu_odom_: 1691062459.95897874 0.153229 -0.225055 10.4076 -0.0298274 0.0351537 0.0213053 0.25 -0.02 pose: 0.49986405 5.07087 -2.43877 0 -0.00174143 0.00321262 -0.682098 0.731251 uwb: 0.49991946 1060.15 487.914 -imu_odom_: 1691062459.122941703 0.531513 -0.174777 9.80186 -0.0500674 -0.0319579 0.0500674 0.25 -0.02 pose: 0.0 5.07087 -2.43877 0 -0.00174143 0.00321262 -0.682098 0.731251 uwb: 0.0 1060.15 487.914 -imu_odom_: 1691062459.138900221 0.0574608 -0.1652 9.44034 -0.0426106 0.0340885 0.0298274 0.2 0 pose: 0.7077088 5.07087 -2.43877 0 -0.0009790550.00362742 -0.682144 0.731208 uwb: 0.49973280 1060.22 487.378 -imu_odom_: 1691062459.155966075 0.179565 -0.299275 10.1418 -0.0735032 -0.0628506 0.0607201 0.2 0 pose: 0.0 5.07087 -2.43877 0 -0.0009790550.00362742 -0.682144 0.731208 uwb: 0.0 1060.22 487.378 -imu_odom_: 1691062459.173048552 0.758962 -0.244209 10.0509 -0.0660464 -0.00532632 0.0319579 0.18 0 pose: 0.0 5.07087 -2.43877 0 -0.0009790550.00362742 -0.682144 0.731208 uwb: 0.0 1060.22 487.378 -imu_odom_: 1691062459.198939550 0.390255 -0.368707 9.94073 -0.056459 -0.0372843 0.04048 0.18 0 pose: 0.77084477 5.07344 -2.4586 0 0.000292936 0.00299985 -0.682047 0.731302 uwb: 0.50043565 1060.69 487.244 -imu_odom_: 1691062459.215928412 0.368707 -0.184354 9.58878 -0.0553937 -0.0308927 0.036219 0.18 0 pose: 0.0 5.07344 -2.4586 0 0.000292936 0.00299985 -0.682047 0.731302 uwb: 0.0 1060.69 487.244 -imu_odom_: 1691062459.231869141 0.505177 -0.0646434 10.0868 -0.0245011 0 0.036219 0.18 0 pose: 0.41868764 5.07473 -2.46852 0 -0.00224376 0.00310191 -0.682073 0.731274 uwb: 0.0 1060.69 487.244 -imu_odom_: 1691062459.248934120 0.131681 -0.177171 9.60075 -0.0543285 -0.0351537 0.0639159 0.23 0 pose: 0.0 5.07473 -2.46852 0 -0.00224376 0.00310191 -0.682073 0.731274 uwb: 0.50026649 1063.43 487.079 -imu_odom_: 1691062459.264927926 0.885855 -0.282516 10.2879 -0.0447411 -0.0213053 0.0511327 0.23 0 pose: 0.33012415 5.06481 -2.46981 0 -0.0003077080.00112115 -0.682045 0.731309 uwb: 0.0 1063.43 487.079 -imu_odom_: 1691062459.282162344 0.507571 0.0191536 10.0724 -0.0447411 0.0117179 0.0532632 0.23 0 pose: 0.0 5.06481 -2.46981 0 -0.0003077080.00112115 -0.682045 0.731309 uwb: 0.0 1063.43 487.079 -imu_odom_: 1691062459.299147124 0.519542 -0.282516 9.56484 -0.056459 -0.0319579 0.0458064 0.18 0 pose: 0.43207949 5.06609 -2.47972 0 8.31651e-05 -0.00115514 -0.681804 0.731534 uwb: 0.50168676 1068.37 487.454 -imu_odom_: 1691062459.314923079 0.940921 -0.129287 10.4938 -0.0617853 0.00319579 0.0468716 0.18 0 pose: 0.0 5.06609 -2.47972 0 8.31651e-05 -0.00115514 -0.681804 0.731534 uwb: 0.0 1068.37 487.454 -imu_odom_: 1691062459.339891638 0.790087 -0.102951 10.0413 -0.0703074 0.00639159 0.0628506 0.19 0.02 pose: 0.6899775 5.06609 -2.47972 0 -0.00066982 -0.00131185 -0.681787 0.731549 uwb: 0.49885499 1067.96 487.115 -imu_odom_: 1691062459.356924829 0.462081 -0.19393 9.83299 -0.0607201 0.00213053 0.0383495 0.22 0 pose: 0.0 5.06609 -2.47972 0 -0.00066982 -0.00131185 -0.681787 0.731549 uwb: 0.0 1067.96 487.115 -imu_odom_: 1691062459.381143305 0.0574608 -0.47884 9.36372 -0.0639159 -0.0149137 0.0596548 0.18 0 pose: 0.67862710 5.06815 -2.49549 0 -0.00232323 -0.00372061 -0.681517 0.73179 uwb: 0.0 1067.96 487.115 -imu_odom_: 1691062459.406021165 0.411803 -0.131681 9.46667 -0.0468716 0.00319579 0.0287621 0.2 -0.02 pose: 0.0 5.06815 -2.49549 0 -0.00232323 -0.00372061 -0.681517 0.73179 uwb: 0.49850794 1069.32 487.178 -imu_odom_: 1691062459.430874529 0.342371 -0.418985 9.59357 -0.0809601 -0.00958738 0.0692422 0.2 -0.02 pose: 0.31113585 5.06869 -2.49955 0 -0.00140239 -0.0016119 -0.681369 0.731937 uwb: 0.0 1069.32 487.178 -imu_odom_: 1691062459.455869918 0.395043 -0.246603 10.1394 -0.0511327 0.0117179 0.0426106 0.18 0.02 pose: 0.42836115 5.06962 -2.50667 0 -0.00103352 0.000101163 -0.681174 0.732121 uwb: 0.49994861 1072.48 487.449 -imu_odom_: 1691062459.471859350 0.636858 -0.0885855 9.991 -0.0713727 -0.0308927 0.0458064 0.18 0.02 pose: 0.7009138 5.06999 -2.50947 0 -0.0009087040.00082894 -0.681165 0.732129 uwb: 0.0 1072.48 487.449 -imu_odom_: 1691062459.488984114 0.351948 -0.253785 10.0604 -0.0756338 0.0553937 0.0372843 0.18 0.02 pose: 0.0 5.06999 -2.50947 0 -0.0009087040.00082894 -0.681165 0.732129 uwb: 0.49998362 1073.83 487.618 -imu_odom_: 1691062459.506113252 0.0933739 -0.0694318 9.83299 -0.0436758 -0.0170442 0.0330232 0.18 0.02 pose: 0.42046369 5.0713 -2.51938 0 -0.0005626690.00196061 -0.681113 0.732175 uwb: 0.0 1073.83 487.618 -imu_odom_: 1691062459.521973782 0.505177 -0.191536 9.71088 -0.0745685 -0.0234358 0.0426106 0.18 0.02 pose: 0.0 5.0713 -2.51938 0 -0.0005626690.00196061 -0.681113 0.732175 uwb: 0.0 1073.83 487.618 -imu_odom_: 1691062459.538975476 0.371101 -0.141258 10.3765 -0.0543285 0.00852212 0.0383495 0.25 0 pose: 0.0 5.0713 -2.51938 0 -0.0005626690.00196061 -0.681113 0.732175 uwb: 0.49993403 1074.3 487.496 -imu_odom_: 1691062459.555032858 0.694318 -0.407014 9.90481 -0.0447411 -0.0276969 0.0426106 0.25 0 pose: 0.48923106 5.07261 -2.5293 0 0.00123507 0.0013413 -0.681142 0.732149 uwb: 0.0 1074.3 487.496 -imu_odom_: 1691062459.573022026 0.318429 -0.172383 9.79947 -0.0639159 -0.0298274 0.0458064 0.25 0 pose: 0.0 5.07261 -2.5293 0 0.00123507 0.0013413 -0.681142 0.732149 uwb: 0.0 1074.3 487.496 -imu_odom_: 1691062459.589854572 0.691924 -0.325611 9.61272 -0.0426106 0.015979 0.0330232 0.18 0.02 pose: 0.44168884 5.07334 -2.53482 0 0.00182254 0.000604892 -0.681087 0.7322 uwb: 0.50111515 1073.85 487.455 -imu_odom_: 1691062459.602846296 0.629675 -0.107739 10.4172 -0.0436758 -0.00852212 0.0436758 0.18 0 pose: 0.0 5.07334 -2.53482 0 0.00182254 0.000604892 -0.681087 0.7322 uwb: 0.0 1073.85 487.455 -imu_odom_: 1691062459.619845365 0.603339 -0.277727 9.56484 -0.0692422 0.0149137 0.0415453 0.18 0 pose: 0.0 5.07334 -2.53482 0 0.00182254 0.000604892 -0.681087 0.7322 uwb: 0.0 1073.85 487.455 -imu_odom_: 1691062459.636842976 0.1652 -0.430956 10.1538 -0.036219 0.036219 0.0330232 0.26 0 pose: 0.22844003 5.07392 -2.53921 0 0.000304686 -0.000660506-0.681119 0.732172 uwb: 0.50041815 1076.09 487.759 -imu_odom_: 1691062459.652845532 0.225055 -0.241814 9.93115 -0.0649811 -0.0287621 0.0543285 0.26 0 pose: 0.0 5.07392 -2.53921 0 0.000304686 -0.000660506-0.681119 0.732172 uwb: 0.0 1076.09 487.759 -imu_odom_: 1691062459.670837907 0.61531 -0.426168 9.75877 -0.0575243 0.00745685 0.0415453 0.26 0 pose: 0.0 5.07392 -2.53921 0 0.000304686 -0.000660506-0.681119 0.732172 uwb: 0.0 1076.09 487.759 -imu_odom_: 1691062459.686888582 0.572214 0.0670376 9.88087 -0.0426106 -0.0276969 0.0458064 0.18 0 pose: 0.74971878 5.07523 -2.54912 0 -0.00186088 0.0010572 -0.681034 0.732249 uwb: 0.50045023 1080.6 488.187 -imu_odom_: 1691062459.701905414 0.593762 -0.155623 9.70609 -0.072438 0.0351537 0.0617853 0.18 0 pose: 0.7005930 5.07523 -2.54912 0 -0.00163557 0.000310871 -0.681019 0.732264 uwb: 0.0 1080.6 488.187 -imu_odom_: 1691062459.717883763 0.296881 -0.21069 10.343 -0.0458064 0.00958738 0.0330232 0.18 0 pose: 0.0 5.07523 -2.54912 0 -0.00163557 0.000310871 -0.681019 0.732264 uwb: 0.0 1080.6 488.187 -imu_odom_: 1691062459.743840671 1.0726 -0.174777 10.2496 -0.0500674 -0.056459 0.052198 0.18 0 pose: 0.40039926 5.07655 -2.55904 0 -0.000490408-0.000601574-0.680917 0.73236 uwb: 0.49720142 1083.36 488.153 -imu_odom_: 1691062459.759839726 1.24738 -0.172383 9.24401 -0.076699 0.0181095 0.104396 0.16 0 pose: 0.0 5.07655 -2.55904 0 -0.000490408-0.000601574-0.680917 0.73236 uwb: 0.0 1083.36 488.153 -imu_odom_: 1691062459.781940937 0.514753 -0.222661 10.2927 -0.0703074 -0.00106526 0.0937433 0.16 0 pose: 0.32968962 5.07786 -2.56895 0 -0.00300891 -0.00357638 -0.680624 0.732618 uwb: 0.0 1083.36 488.153 -imu_odom_: 1691062459.806981530 0.385466 -0.174777 9.30626 -0.0617853 0.00319579 -0.00745685 0.17 0 pose: 0.0 5.07786 -2.56895 0 -0.00300891 -0.00357638 -0.680624 0.732618 uwb: 0.49983488 1084.31 487.929 -imu_odom_: 1691062459.823817284 -0.0550666 -0.110133 9.62469 -0.0479369 0.0213053 -0.02024 0.17 0 pose: 0.38990918 5.07786 -2.56895 0 -0.004591 -0.00231884 -0.680099 0.733102 uwb: 0.0 1084.31 487.929 -imu_odom_: 1691062459.840902678 -0.0047884 -0.323217 9.89045 -0.0703074 -0.00319579 -0.00745685 0.17 0 pose: 0.33973641 5.0792 -2.57886 0 -0.00132734 -0.000791737-0.680773 0.732492 uwb: 0.50086726 1085.69 487.896 -imu_odom_: 1691062459.865867445 0.227449 -0.493206 10.0341 -0.0330232 -0.0351537 0.04048 0.17 0 pose: 0.8038899 5.0792 -2.57886 0 -0.000965967-5.1126e-05 -0.680912 0.732365 uwb: 0.0 1085.69 487.896 -imu_odom_: 1691062459.890853211 0.852336 -0.122104 10.0892 -0.0436758 -0.036219 0.0511327 0.17 -0.02 pose: 0.34011262 5.08015 -2.58599 0 -0.00120457 0.00273621 -0.681056 0.732226 uwb: 0.49993403 1087.5 488.059 -imu_odom_: 1691062459.915934632 0.766145 0.00957681 10.0173 -0.0468716 0.04048 0.0436758 0.17 -0.02 pose: 0.0 5.08015 -2.58599 0 -0.00120457 0.00273621 -0.681056 0.732226 uwb: 0.0 1087.5 488.059 -imu_odom_: 1691062459.930047397 0.0861913 -0.150835 10.4411 -0.0532632 0.0458064 0.04048 0.17 -0.02 pose: 0.50067187 5.08149 -2.59612 0 -0.00219506 -0.00207158 -0.680921 0.732351 uwb: 0.0 1087.5 488.059 -imu_odom_: 1691062459.946811118 0.428562 -0.390255 10.0317 -0.0745685 -0.0127832 0.0415453 0.17 -0.02 pose: 0.0 5.08149 -2.59612 0 -0.00219506 -0.00207158 -0.680921 0.732351 uwb: 0.0 1087.5 488.059 -imu_odom_: 1691062459.971812340 0.593762 -0.117316 9.96946 -0.0809601 -0.0191748 0.0639159 0.18 0 pose: 0.30876486 5.08183 -2.59869 0 -0.00221252 0.000223779 -0.680905 0.732369 uwb: 0.0 1087.5 488.059 -imu_odom_: 1691062459.988935646 0.409408 -0.35913 9.43555 -0.106526 0.00532632 0.0713727 0.18 0 pose: 0.0 5.08183 -2.59869 0 -0.00221252 0.000223779 -0.680905 0.732369 uwb: 0.99971059 1088.85 488.29 -imu_odom_: 1691062460.13868921 0.497994 -0.203507 10.0149 -0.0671117 -0.0394148 0.0308927 0.18 0 pose: 0.42124528 5.08315 -2.6086 0 -0.00370297 -0.0002623 -0.68048 0.732757 uwb: 0.0 1088.85 488.29 -imu_odom_: 1691062460.38805995 0.861913 -0.366313 10.3813 -0.0543285 -0.0255663 0.0394148 0.18 0 pose: 0.0 5.08315 -2.6086 0 -0.00370297 -0.0002623 -0.68048 0.732757 uwb: 0.50127861 1088.84 488.337 -imu_odom_: 1691062460.63795270 0.656011 -0.201113 10.3166 -0.0585895 -0.0681769 0.0479369 0.18 0 pose: 0.49870349 5.08447 -2.61851 0 -0.00594618 -0.00422188 -0.680552 0.732664 uwb: 0.0 1088.84 488.337 -imu_odom_: 1691062460.86778393 0.282516 0.0766145 9.74201 -0.0553937 -0.0575243 0.0447411 0.18 0 pose: 0.0 5.08447 -2.61851 0 -0.00594618 -0.00422188 -0.680552 0.732664 uwb: 0.49841775 1089.82 487.984 -imu_odom_: 1691062460.103779511 0.849942 -0.31364 9.83299 -0.0511327 0.0276969 0.0340885 0.24 0 pose: 0.47972398 5.07589 -2.62975 0 -0.00552446 -0.00742465 -0.680439 0.732747 uwb: 0.0 1089.82 487.984 -imu_odom_: 1691062460.127941712 0.0694318 -0.186748 9.90002 -0.052198 -0.0106526 0.0394148 0.24 0 pose: 0.0 5.07589 -2.62975 0 -0.00552446 -0.00742465 -0.680439 0.732747 uwb: 0.0 1089.82 487.984 -imu_odom_: 1691062460.151997466 0.244209 0.102951 10.2185 -0.0351537 0.0245011 0.0383495 0.21 0.02 pose: 0.41163319 5.07679 -2.63649 0 -0.0051866 -0.00629824 -0.680476 0.732725 uwb: 0.50036295 1088.92 487.827 -imu_odom_: 1691062460.169906442 0.778116 -0.138864 9.96946 -0.0575243 -0.0117179 0.0490022 0.21 0.02 pose: 0.0 5.07679 -2.63649 0 -0.0051866 -0.00629824 -0.680476 0.732725 uwb: 0.0 1088.92 487.827 -imu_odom_: 1691062460.185844844 0.902614 -0.335188 9.91678 -0.052198 0.0223706 0.0298274 0.18 0 pose: 0.0 5.07679 -2.63649 0 -0.0051866 -0.00629824 -0.680476 0.732725 uwb: 0.0 1088.92 487.827 -imu_odom_: 1691062460.200803647 0.679953 -0.0981623 9.23683 -0.0511327 -0.00426106 0.0436758 0.18 0 pose: 0.41964730 5.078 -2.64548 0 -0.003494 -0.00753737 -0.680431 0.732765 uwb: 0.50016464 1092.09 488.149 -imu_odom_: 1691062460.224967597 0.25618 -0.486023 9.69652 -0.0585895 -0.0223706 0.0340885 0.18 0 pose: 0.0 5.078 -2.64548 0 -0.003494 -0.00753737 -0.680431 0.732765 uwb: 0.0 1092.09 488.149 -imu_odom_: 1691062460.250838192 0.184354 -0.277727 10.0485 -0.072438 -0.0287621 0.0671117 0.18 -0.02 pose: 0.39089215 5.07854 -2.64957 0 -0.00502868 -0.00869911 -0.680465 0.732712 uwb: 0.49948804 1092.98 488.356 -imu_odom_: 1691062460.273951675 0.536301 -0.177171 10.0556 -0.0543285 0.00426106 0.0255663 0.19 0 pose: 0.41842535 5.07987 -2.65948 0 -0.00421964 -0.00504595 -0.68025 0.73295 uwb: 0.0 1092.98 488.356 -imu_odom_: 1691062460.292053130 0.270545 -0.146046 10.1921 -0.0479369 -0.00639159 0.0266316 0.19 0 pose: 0.7099839 5.07987 -2.65948 0 -0.00371834 -0.00555173 -0.68029 0.732913 uwb: 0.0 1092.98 488.356 -imu_odom_: 1691062460.316771769 0.555455 -0.265756 9.70609 -0.0298274 -0.0383495 0.0287621 0.18 0 pose: 0.34115099 5.0812 -2.66939 0 -0.00124612 -0.00549736 -0.680474 0.732751 uwb: 0.0 1092.98 488.356 -imu_odom_: 1691062460.334824812 0.667982 -0.347159 10.0533 -0.0372843 -0.0511327 0.0458064 0.18 0 pose: 0.0 5.0812 -2.66939 0 -0.00124612 -0.00549736 -0.680474 0.732751 uwb: 0.0 1092.98 488.356 -imu_odom_: 1691062460.358880858 0.445322 -0.23942 10.0796 -0.0585895 -0.0266316 0.0543285 0.2 0 pose: 0.0 5.0812 -2.66939 0 -0.00124612 -0.00549736 -0.680474 0.732751 uwb: 0.99862613 1089.85 487.822 -imu_odom_: 1691062460.376879074 0.610521 0.0622492 10.0724 -0.0394148 0.0234358 0.0468716 0.2 0 pose: 0.42771682 5.08194 -2.6749 0 -0.00567558 -0.005819 -0.680501 0.732703 uwb: 0.0 1089.85 487.822 -imu_odom_: 1691062460.393933562 0.275333 -0.282516 9.58399 -0.0553937 -0.02024 0.0447411 0.2 0 pose: 0.0 5.08194 -2.6749 0 -0.00567558 -0.005819 -0.680501 0.732703 uwb: 0.50119120 1086.34 486.814 -imu_odom_: 1691062460.407762281 0.720655 0.0670376 10.2903 -0.04048 -0.02024 0.0394148 0.19 0 pose: 0.59108750 5.08386 -2.68922 0 -0.00282922 -0.00396387 -0.680308 0.73291 uwb: 0.0 1086.34 486.814 -imu_odom_: 1691062460.424828434 0.830788 -0.138864 9.92397 -0.0511327 -0.0117179 0.0649811 0.19 0 pose: 0.0 5.08386 -2.68922 0 -0.00282922 -0.00396387 -0.680308 0.73291 uwb: 0.0 1086.34 486.814 -imu_odom_: 1691062460.437740546 0.562637 -0.581791 9.50498 -0.0894822 -0.00852212 0.0596548 0.19 0 pose: 0.0 5.08386 -2.68922 0 -0.00282922 -0.00396387 -0.680308 0.73291 uwb: 0.50043002 1088.63 486.941 -imu_odom_: 1691062460.452845749 0.658405 -0.272939 10.1466 -0.0585895 0.0149137 0.0351537 0.19 0 pose: 0.36952409 5.08386 -2.68922 0 -0.00419427 -0.00649374 -0.680092 0.733086 uwb: 0.0 1088.63 486.941 -imu_odom_: 1691062460.478729467 0.890643 -0.316035 9.56484 -0.0660464 -0.0511327 0.0617853 0.24 0 pose: 0.0 5.08386 -2.68922 0 -0.00419427 -0.00649374 -0.680092 0.733086 uwb: 0.0 1088.63 486.941 -imu_odom_: 1691062460.491735486 0.387861 -0.3304 10.4603 -0.0628506 -0.015979 0.0426106 0.24 0 pose: 0.29966017 5.08519 -2.69913 0 -0.00705273 -0.00671282 -0.67998 0.733166 uwb: 0.49966886 1088.7 486.525 -imu_odom_: 1691062460.507797833 0.383072 -0.035913 10.0293 -0.0490022 -0.00852212 0.04048 0.17 0 pose: 0.0 5.08519 -2.69913 0 -0.00705273 -0.00671282 -0.67998 0.733166 uwb: 0.0 1088.7 486.525 -imu_odom_: 1691062460.525787009 0.270545 -0.225055 9.65342 -0.0735032 -0.0223706 0.0649811 0.17 0 pose: 0.0 5.08519 -2.69913 0 -0.00705273 -0.00671282 -0.67998 0.733166 uwb: 0.0 1088.7 486.525 -imu_odom_: 1691062460.542814957 0.797269 0.134075 10.5201 -0.0639159 -0.0266316 0.0436758 0.17 0 pose: 0.38943398 5.08654 -2.70904 0 -0.00770376 -0.00666199 -0.679811 0.733317 uwb: 0.50019672 1083.78 485.675 -imu_odom_: 1691062460.556804076 0.253785 -0.148441 9.37809 -0.0692422 0.0127832 0.04048 0.18 0 pose: 0.33134624 5.08654 -2.70904 0 -0.00579857 -0.00604064 -0.679649 0.73349 uwb: 0.0 1083.78 485.675 -imu_odom_: 1691062460.573872561 0.328006 -0.280122 10.422 -0.0745685 -0.0479369 0.0543285 0.18 0 pose: 0.0 5.08654 -2.70904 0 -0.00579857 -0.00604064 -0.679649 0.73349 uwb: 0.0 1083.78 485.675 -imu_odom_: 1691062460.595753889 -0.0335188 -0.117316 10.2807 -0.0394148 0.0308927 0.036219 0.2 0 pose: 0.40942551 5.08789 -2.71894 0 -0.00422852 -0.00463582 -0.679554 0.733598 uwb: 0.0 1083.78 485.675 -imu_odom_: 1691062460.619733527 0.282516 -0.4956 9.33978 -0.0820254 -0.00106526 0.0383495 0.2 0 pose: 0.0 5.08789 -2.71894 0 -0.00422852 -0.00463582 -0.679554 0.733598 uwb: 0.0 1083.78 485.675 -imu_odom_: 1691062460.636734353 0.328006 -0.0909797 9.68694 -0.0340885 0.00213053 0.0447411 0.2 0 pose: 0.6878197 5.08789 -2.71894 0 -0.00355964 -0.00416522 -0.679566 0.733594 uwb: 0.99925606 1086.1 485.582 -imu_odom_: 1691062460.661877029 0.438139 -0.0933739 9.94791 -0.0607201 -0.0223706 0.0479369 0.19 0 pose: 0.0 5.08789 -2.71894 0 -0.00355964 -0.00416522 -0.679566 0.733594 uwb: 0.0 1086.1 485.582 -imu_odom_: 1691062460.686873595 0.160412 0.0263362 9.71567 -0.0490022 -0.00213053 0.0372843 0.21 0 pose: 0.81126271 5.09059 -2.73876 0 0.000470234 -0.00277118 -0.679494 0.733676 uwb: 0.50048835 1087.06 485.34 -imu_odom_: 1691062460.709787892 0.3304 -0.320823 9.42358 -0.0671117 0.0351537 0.0351537 0.19 0.02 pose: 0.0 5.09059 -2.73876 0 0.000470234 -0.00277118 -0.679494 0.733676 uwb: 0.0 1087.06 485.34 -imu_odom_: 1691062460.733871935 0.52433 -0.416591 9.63666 -0.0511327 0.0181095 0.0511327 0.19 0.02 pose: 0.32056451 5.09195 -2.74867 0 0.00274815 -0.00154618 -0.679531 0.73364 uwb: 0.0 1087.06 485.34 -imu_odom_: 1691062460.750818226 0.191536 -0.225055 10.3118 -0.0553937 -0.0383495 0.0490022 0.19 0.02 pose: 0.0 5.09195 -2.74867 0 0.00274815 -0.00154618 -0.679531 0.73364 uwb: 0.49845566 1086.65 485.055 -imu_odom_: 1691062460.776718276 0.617704 -0.035913 10.3046 -0.0479369 -0.0319579 0.0436758 0.25 0 pose: 0.47955776 5.09195 -2.74867 0 0.000472739 0.00121218 -0.679431 0.733738 uwb: 0.0 1086.65 485.055 -imu_odom_: 1691062460.801844911 0.778116 -0.129287 9.9096 -0.04048 -0.00532632 0.04048 0.23 0.02 pose: 0.34829020 5.0933 -2.75858 0 0.000518243 -0.0011454 -0.67936 0.733804 uwb: 0.50023172 1089.38 485.308 -imu_odom_: 1691062460.814717653 0.191536 -0.0694318 9.99579 -0.0308927 0.0372843 0.0319579 0.23 0.02 pose: 0.0 5.0933 -2.75858 0 0.000518243 -0.0011454 -0.67936 0.733804 uwb: 0.0 1089.38 485.308 -imu_odom_: 1691062460.831748809 0.411803 -0.220267 10.0149 -0.0532632 -0.00532632 0.0436758 0.23 0.02 pose: 0.0 5.0933 -2.75858 0 0.000518243 -0.0011454 -0.67936 0.733804 uwb: 0.0 1089.38 485.308 -imu_odom_: 1691062460.848707057 0.205901 -0.136469 9.84496 -0.056459 0.0138484 0.0436758 0.18 0 pose: 0.8080605 5.0933 -2.75858 0 0.000118329 -0.00186703 -0.679356 0.733807 uwb: 0.50069250 1090.39 484.84 -imu_odom_: 1691062460.865696510 0.715866 -0.263362 9.7875 -0.0713727 -0.0447411 0.0500674 0.18 0 pose: 0.0 5.0933 -2.75858 0 0.000118329 -0.00186703 -0.679356 0.733807 uwb: 0.0 1090.39 484.84 -imu_odom_: 1691062460.883701434 0.608127 -0.232238 10.1203 -0.0777643 -0.0149137 0.0426106 0.18 -0.02 pose: 0.53906867 5.09466 -2.76848 0 0.000651531 -0.000824718-0.679351 0.733813 uwb: 0.0 1090.39 484.84 -imu_odom_: 1691062460.899692331 0.21069 -0.263362 9.69652 -0.0628506 0.0596548 0.0298274 0.18 0 pose: 0.0 5.09466 -2.76848 0 0.000651531 -0.000824718-0.679351 0.733813 uwb: 0.50038919 1090.45 484.516 -imu_odom_: 1691062460.916694324 0.0694318 -0.227449 10.1275 -0.0553937 -0.0213053 0.0511327 0.18 0 pose: 0.0 5.09466 -2.76848 0 0.000651531 -0.000824718-0.679351 0.733813 uwb: 0.0 1090.45 484.516 -imu_odom_: 1691062460.932692803 0.840365 -0.25618 9.77313 -0.0415453 -0.0415453 0.0394148 0.18 0 pose: 0.68999821 5.08611 -2.77975 0 -0.000227338-2.67991e-05-0.679272 0.733886 uwb: 0.0 1090.45 484.516 -imu_odom_: 1691062460.949728917 0.220267 -0.268151 9.61511 -0.0287621 0.0479369 0.0351537 0.26 0 pose: 0.0 5.08611 -2.77975 0 -0.000227338-2.67991e-05-0.679272 0.733886 uwb: 0.49950263 1091.41 484.351 -imu_odom_: 1691062460.965754518 0.746991 -0.342371 9.9527 -0.0468716 0.00639159 0.0532632 0.26 0 pose: 0.0 5.08611 -2.77975 0 -0.000227338-2.67991e-05-0.679272 0.733886 uwb: 0.0 1091.41 484.351 -imu_odom_: 1691062460.982688852 0.270545 -0.0933739 9.8665 -0.0639159 0.0287621 0.0447411 0.26 0 pose: 0.32027288 5.08747 -2.78966 0 -0.000454082-9.12985e-05-0.679247 0.73391 uwb: 0.0 1091.41 484.351 -imu_odom_: 1691062461.7693586 0.0933739 -0.134075 10.137 -0.0660464 0.0266316 0.056459 0.2 -0.02 pose: 0.42955995 5.08883 -2.79956 0 0.000839506 0.000488845 -0.67915 0.733999 uwb: 0.50113870 1094.6 484.666 -imu_odom_: 1691062461.23760898 0.399832 -0.198719 9.81862 -0.0681769 0.015979 0.056459 0.2 -0.02 pose: 0.8087022 5.08883 -2.79956 0 0.00157296 0.00104824 -0.679099 0.734044 uwb: 0.0 1094.6 484.666 -imu_odom_: 1691062461.40750066 0.500388 -0.177171 9.81623 -0.0447411 0.0575243 0.0340885 0.18 0 pose: 0.0 5.08883 -2.79956 0 0.00157296 0.00104824 -0.679099 0.734044 uwb: 0.49741466 1095.14 484.287 -imu_odom_: 1691062461.57805436 0.124498 -0.184354 9.6199 -0.0905475 0.0255663 0.0681769 0.23 0 pose: 0.49974192 5.0902 -2.80947 0 0.0015567 0.00011199 -0.678927 0.734204 uwb: 0.0 1095.14 484.287 -imu_odom_: 1691062461.75734834 0.76375 -0.263362 10.501 -0.0788296 -0.0330232 0.036219 0.18 0 pose: 0.0 5.0902 -2.80947 0 0.0015567 0.00011199 -0.678927 0.734204 uwb: 0.0 1095.14 484.287 -imu_odom_: 1691062461.91817894 0.438139 -0.0694318 9.35415 -0.056459 -0.015979 0.0340885 0.18 0 pose: 0.0 5.0902 -2.80947 0 0.0015567 0.00011199 -0.678927 0.734204 uwb: 0.50045066 1097.06 483.999 -imu_odom_: 1691062461.116722023 -0.0933739 -0.31364 9.76355 -0.0617853 0.0234358 0.0340885 0.18 0.02 pose: 0.25001244 5.09157 -2.81937 0 0.00194685 0.0011945 -0.678757 0.734359 uwb: 0.0 1097.06 483.999 -imu_odom_: 1691062461.132840662 0.0215478 -0.0143652 10.2208 -0.0468716 -0.04048 0.0426106 0.18 0.02 pose: 0.0 5.09157 -2.81937 0 0.00194685 0.0011945 -0.678757 0.734359 uwb: 0.0 1097.06 483.999 -imu_odom_: 1691062461.156829350 0.225055 -0.114922 9.71088 -0.0500674 -0.0383495 0.0458064 0.23 0 pose: 0.67089352 5.09294 -2.82928 0 0.00431674 0.00179167 -0.678829 0.734281 uwb: 0.50167551 1098.05 483.685 -imu_odom_: 1691062461.173681159 0.64404 -0.222661 9.75877 -0.0479369 -0.0181095 0.0415453 0.23 0 pose: 0.6892782 5.09294 -2.82928 0 0.00491803 0.00186512 -0.678811 0.734294 uwb: 0.0 1098.05 483.685 -imu_odom_: 1691062461.189837419 0.3304 -0.179565 10.3717 -0.0703074 0.0255663 0.0426106 0.23 0 pose: 0.0 5.09294 -2.82928 0 0.00491803 0.00186512 -0.678811 0.734294 uwb: 0.50074521 1097.65 483.345 -imu_odom_: 1691062461.206838836 0.323217 -0.339977 9.68455 -0.0575243 -0.0415453 0.0447411 0.18 -0.02 pose: 0.40973190 5.09432 -2.83919 0 0.00438291 0.00129576 -0.678753 0.734352 uwb: 0.0 1097.65 483.345 -imu_odom_: 1691062461.222671674 0.560243 -0.0837971 10.0245 -0.0287621 0.0340885 0.0340885 0.18 -0.02 pose: 0.0 5.09432 -2.83919 0 0.00438291 0.00129576 -0.678753 0.734352 uwb: 0.0 1097.65 483.345 -imu_odom_: 1691062461.239706337 0.325611 -0.299275 9.5816 -0.0532632 -0.0181095 0.0543285 0.24 0 pose: 0.0 5.09432 -2.83919 0 0.00438291 0.00129576 -0.678753 0.734352 uwb: 0.49869792 1099.03 483.442 -imu_odom_: 1691062461.255669535 0.339977 -0.292093 9.91918 -0.0447411 -0.0340885 0.0255663 0.24 0 pose: 0.49964574 5.09569 -2.84909 0 0.00177354 0.00194713 -0.678711 0.734401 uwb: 0.0 1099.03 483.442 -imu_odom_: 1691062461.280713649 0.0814029 -0.0454898 10.1442 -0.0553937 0 0.0490022 0.24 -0.02 pose: 0.0 5.09569 -2.84909 0 0.00177354 0.00194713 -0.678711 0.734401 uwb: 0.0 1099.03 483.442 -imu_odom_: 1691062461.297664030 0.59855 -0.177171 9.85453 -0.0596548 -0.0149137 0.0447411 0.17 0.02 pose: 0.33016235 5.09569 -2.84909 0 0.000965264 0.00379043 -0.678717 0.73439 uwb: 0.49969824 1099.54 483.252 -imu_odom_: 1691062461.314667488 0.23942 0.107739 10.0317 -0.0436758 -0.0255663 0.0340885 0.17 0.05 pose: 0.0 5.09569 -2.84909 0 0.000965264 0.00379043 -0.678717 0.73439 uwb: 0.0 1099.54 483.252 -imu_odom_: 1691062461.330685514 0.73502 -0.380678 9.63427 -0.072438 -0.036219 0.0585895 0.17 0.05 pose: 0.42016367 5.09707 -2.859 0 0.00238584 0.00214089 -0.678637 0.734467 uwb: 0.0 1099.54 483.252 -imu_odom_: 1691062461.347665933 0.818817 -0.189142 10.0963 -0.0575243 -0.00213053 0.0234358 0.26 0 pose: 0.0 5.09707 -2.859 0 0.00238584 0.00214089 -0.678637 0.734467 uwb: 0.50044190 1102.79 483.386 -imu_odom_: 1691062461.363698540 0.294487 -0.146046 9.45949 -0.0436758 -0.00532632 0.0234358 0.26 0 pose: 0.0 5.09707 -2.859 0 0.00238584 0.00214089 -0.678637 0.734467 uwb: 0.0 1102.79 483.386 -imu_odom_: 1691062461.380786573 0.438139 0.0047884 10.4698 -0.0458064 -0.0415453 0.04048 0.26 0 pose: 0.31958768 5.09844 -2.8689 0 0.000953096 0.000438766 -0.678586 0.73452 uwb: 0.0 1102.79 483.386 -imu_odom_: 1691062461.404648983 0.40462 -0.0861913 9.71567 -0.0191748 0.0138484 0.0245011 0.18 0 pose: 0.43123995 5.09844 -2.8689 0 0.00256151 -0.00166051 -0.67873 0.734381 uwb: 0.49833339 1105.08 483.631 -imu_odom_: 1691062461.430640034 0.775721 -0.550666 9.72525 -0.0639159 -0.0266316 0.0511327 0.18 0 pose: 0.7878798 5.09844 -2.8689 0 0.00320077 -0.00232597 -0.678771 0.734339 uwb: 0.0 1105.08 483.631 -imu_odom_: 1691062461.443636143 0.742203 -0.146046 9.89763 -0.0383495 0.0415453 0.0426106 0.19 0 pose: 0.0 5.09844 -2.8689 0 0.00320077 -0.00232597 -0.678771 0.734339 uwb: 0.49946784 1104.16 483.563 -imu_odom_: 1691062461.460631727 0.378284 -0.100556 9.9527 -0.0468716 0.0223706 0.0543285 0.19 0 pose: 0.47988458 5.09982 -2.87881 0 0.00133895 -0.00407346 -0.678733 0.734373 uwb: 0.0 1104.16 483.563 -imu_odom_: 1691062461.476630505 0.459687 -0.282516 9.68455 -0.0490022 -0.02024 0.0447411 0.19 0 pose: 0.0 5.09982 -2.87881 0 0.00133895 -0.00407346 -0.678733 0.734373 uwb: 0.0 1104.16 483.563 -imu_odom_: 1691062461.493631922 0.557849 -0.155623 9.76116 -0.0500674 0.0415453 0.0479369 0.18 0 pose: 0.30985000 5.10119 -2.88871 0 0.0021779 -0.00352439 -0.678622 0.734476 uwb: 0.50075104 1105.6 483.401 -imu_odom_: 1691062461.509637698 0.464475 -0.102951 9.96946 -0.0649811 -0.00213053 0.0649811 0.18 0 pose: 0.0 5.10119 -2.88871 0 0.0021779 -0.00352439 -0.678622 0.734476 uwb: 0.0 1105.6 483.401 -imu_odom_: 1691062461.526717857 0.416591 -0.248997 9.79468 -0.0585895 0.00639159 0.0458064 0.24 0 pose: 0.41998869 5.10257 -2.89862 0 0.00142961 -0.00533787 -0.678395 0.734676 uwb: 0.0 1105.6 483.401 -imu_odom_: 1691062461.542763588 0.263362 -0.011971 9.8258 -0.0436758 -0.00639159 0.0468716 0.24 0 pose: 0.8017908 5.10257 -2.89862 0 0.00107228 -0.00458931 -0.678379 0.734697 uwb: 0.50023775 1105.69 482.964 -imu_odom_: 1691062461.568650525 0.481235 -0.339977 10.0844 -0.0713727 -0.0138484 0.0490022 0.23 0.02 pose: 0.0 5.10257 -2.89862 0 0.00107228 -0.00458931 -0.678379 0.734697 uwb: 0.0 1105.69 482.964 -imu_odom_: 1691062461.593729343 0.356736 -0.0383072 9.95748 -0.0479369 -0.0181095 0.0458064 0.18 0.02 pose: 0.25107982 5.10257 -2.89862 0 0.00230926 -0.00355936 -0.67832 0.734754 uwb: 0.50029317 1112.11 483.669 -imu_odom_: 1691062461.619633487 0.426168 -0.162806 9.50737 -0.0681769 -0.0266316 0.0500674 0.23 0 pose: 0.50965755 5.10396 -2.90852 0 0.00216295 -0.00310051 -0.678175 0.734891 uwb: 0.0 1112.11 483.669 -imu_odom_: 1691062461.642642574 0.433351 -0.162806 9.48822 -0.0745685 0.015979 0.0447411 0.23 0 pose: 0.0 5.10396 -2.90852 0 0.00216295 -0.00310051 -0.678175 0.734891 uwb: 0.50219463 1108.97 482.902 -imu_odom_: 1691062461.660812863 0.636858 -0.203507 10.3837 -0.0649811 -0.0660464 0.0511327 0.18 0.02 pose: 0.33035191 5.10535 -2.91842 0 3.847e-05 -0.00255865 -0.678062 0.735 uwb: 0.0 1108.97 482.902 -imu_odom_: 1691062461.676757105 0.632069 -0.347159 9.7444 -0.052198 0.0596548 0.0234358 0.18 0.02 pose: 0.0 5.10535 -2.91842 0 3.847e-05 -0.00255865 -0.678062 0.735 uwb: 0.0 1108.97 482.902 -imu_odom_: 1691062461.693635452 0.160412 -0.248997 9.8689 -0.0639159 -0.0383495 0.0468716 0.25 0.02 pose: 0.49992571 5.09684 -2.92972 0 -0.00171031 -0.00394233 -0.678039 0.735013 uwb: 0.49972448 1108.13 482.436 -imu_odom_: 1691062461.709758174 0.543484 -0.280122 10.0317 -0.0713727 -0.036219 0.0511327 0.25 0.02 pose: 0.8064569 5.09684 -2.92972 0 -0.00140347 -0.00333342 -0.67802 0.735034 uwb: 0.0 1108.13 482.436 -imu_odom_: 1691062461.726753467 0.596156 -0.265756 9.81623 -0.0511327 -0.0298274 0.0415453 0.25 0.02 pose: 0.0 5.09684 -2.92972 0 -0.00140347 -0.00333342 -0.67802 0.735034 uwb: 0.0 1108.13 482.436 -imu_odom_: 1691062461.742756327 0.395043 -0.416591 10.1227 -0.0660464 -0.0287621 0.0543285 0.18 0 pose: 0.41931793 5.09823 -2.93962 0 -0.0046087 -0.00375059 -0.677905 0.735126 uwb: 0.49646109 1111.32 482.969 -imu_odom_: 1691062461.759641090 0.452504 -0.184354 9.60075 -0.0426106 -0.00213053 0.0340885 0.23 0 pose: 0.0 5.09823 -2.93962 0 -0.0046087 -0.00375059 -0.677905 0.735126 uwb: 0.0 1111.32 482.969 -imu_odom_: 1691062461.784762779 0.497994 -0.265756 9.93115 -0.0692422 0.015979 0.04048 0.23 0 pose: 0.24023101 5.09823 -2.93962 0 -0.00433218 -0.00242893 -0.677833 0.735199 uwb: 0.0 1111.32 482.969 -imu_odom_: 1691062461.801757197 -0.0143652 -0.251391 9.62708 -0.0394148 0.0138484 0.0351537 0.23 0 pose: 0.0 5.09823 -2.93962 0 -0.00433218 -0.00242893 -0.677833 0.735199 uwb: 0.50021735 1107.32 481.812 -imu_odom_: 1691062461.826805393 0.141258 -0.356736 9.70609 -0.0628506 0.036219 0.0511327 0.23 0 pose: 0.41124257 5.09963 -2.94952 0 -0.00505422 -0.000745122-0.677848 0.735185 uwb: 0.0 1107.32 481.812 -imu_odom_: 1691062461.851671901 0.172383 -0.107739 9.8665 -0.0319579 -0.00532632 0.0287621 0.21 0 pose: 0.34904568 5.10057 -2.95614 0 -0.0027777 0.00260819 -0.677754 0.735279 uwb: 0.50147429 1109.61 482.077 -imu_odom_: 1691062461.866597464 0.536301 0.0861913 10.3022 -0.0575243 -0.00532632 0.0490022 0.21 0 pose: 0.7947332 5.10103 -2.95942 0 -0.001927 0.00266779 -0.677785 0.735253 uwb: 0.0 1109.61 482.077 -imu_odom_: 1691062461.890872829 0.548272 -0.328006 9.84975 -0.0436758 -0.00958738 0.04048 0.18 0 pose: 0.0 5.10103 -2.95942 0 -0.001927 0.00266779 -0.677785 0.735253 uwb: 0.49836254 1112.38 482.429 -imu_odom_: 1691062461.915586520 0.634463 0.0766145 9.89284 -0.0340885 -0.0117179 0.0383495 0.18 0 pose: 0.40035877 5.10243 -2.96932 0 -0.0003767970.00111439 -0.677797 0.735248 uwb: 0.0 1112.38 482.429 -imu_odom_: 1691062461.938714012 0.23942 -0.189142 9.62708 -0.0575243 0.0319579 0.0415453 0.18 0.02 pose: 0.0 5.10243 -2.96932 0 -0.0003767970.00111439 -0.677797 0.735248 uwb: 0.50006861 1114.27 482.435 -imu_odom_: 1691062461.962702992 0.311246 -0.174777 10.2999 -0.0745685 0.00532632 0.0532632 0.18 0.02 pose: 0.47937131 5.10243 -2.96932 0 -0.000547706-0.00149997 -0.677802 0.735243 uwb: 0.0 1114.27 482.435 -imu_odom_: 1691062461.987740981 0.3304 -0.023942 10.252 -0.0479369 0.0127832 0.0308927 0.2 0 pose: 0.39977259 5.10383 -2.97923 0 0.00278147 0.00127917 -0.677669 0.735361 uwb: 0.49982947 1115.26 482.269 -imu_odom_: 1691062462.1587204 0.42138 -0.397437 9.74201 -0.0436758 0.0234358 0.0468716 0.2 0 pose: 0.0 5.10383 -2.97923 0 0.00278147 0.00127917 -0.677669 0.735361 uwb: 0.0 1115.26 482.269 -imu_odom_: 1691062462.25614106 0.758962 -0.318429 9.37569 -0.0479369 0.0298274 0.0383495 0.17 -0.02 pose: 0.0 5.10383 -2.97923 0 0.00278147 0.00127917 -0.677669 0.735361 uwb: 0.0 1115.26 482.269 -imu_odom_: 1691062462.50617401 0.725443 -0.136469 9.62469 -0.0490022 0.00532632 0.0585895 0.17 -0.02 pose: 0.38884212 5.10523 -2.98913 0 0.00392052 0.000523435 -0.677706 0.735322 uwb: 0.50375502 1115.31 482.039 -imu_odom_: 1691062462.64629862 0.457293 -0.500388 9.67497 -0.0713727 0.0276969 0.056459 0.19 -0.02 pose: 0.0 5.10523 -2.98913 0 0.00392052 0.000523435 -0.677706 0.735322 uwb: 0.0 1115.31 482.039 -imu_odom_: 1691062462.88634308 0.462081 -0.37589 10.0126 -0.056459 -0.0276969 0.0500674 0.19 -0.02 pose: 0.55999390 5.10664 -2.99903 0 0.000294648 -0.00180333 -0.677496 0.735524 uwb: 0.49690166 1113.05 481.494 -imu_odom_: 1691062462.106585878 0.395043 -0.320823 9.76595 -0.0585895 -0.0117179 0.0628506 0.23 -0.02 pose: 0.0 5.10664 -2.99903 0 0.000294648 -0.00180333 -0.677496 0.735524 uwb: 0.0 1113.05 481.494 -imu_odom_: 1691062462.130564661 0.469264 0.0215478 9.8665 -0.0490022 0.0191748 0.0415453 0.23 -0.02 pose: 0.39012256 5.10805 -3.00893 0 -0.00275936 0.000517392 -0.677286 0.735715 uwb: 0.0 1113.05 481.494 -imu_odom_: 1691062462.155631532 0.349553 -0.363919 9.32781 -0.0862864 0.00852212 0.0660464 0.23 0 pose: 0.33965811 5.10899 -3.01552 0 -0.00133826 -0.000259788-0.677186 0.73581 uwb: 0.50074833 1111.79 480.763 -imu_odom_: 1691062462.178564513 0.25618 -0.253785 9.70849 -0.0585895 0.00213053 0.0351537 0.23 0 pose: 0.8013536 5.10946 -3.01883 0 -0.00165086 0.000622491 -0.677107 0.735882 uwb: 0.0 1111.79 480.763 -imu_odom_: 1691062462.203563434 -0.19393 -0.150835 10.0437 -0.0543285 0.052198 0.0415453 0.19 0 pose: 0.39986316 5.11037 -3.02515 0 -0.0004610510.00395982 -0.676967 0.736003 uwb: 0.0 1111.79 480.763 -imu_odom_: 1691062462.229576077 0.488417 -0.201113 10.1634 -0.0543285 0.0372843 0.0415453 0.22 0 pose: 0.0 5.11037 -3.02515 0 -0.0004610510.00395982 -0.676967 0.736003 uwb: 0.0 1111.79 480.763 -imu_odom_: 1691062462.243623242 0.136469 -0.385466 9.46667 -0.0639159 0.0479369 0.04048 0.22 0 pose: 0.33086533 5.11088 -3.02873 0 0.00185857 0.005281 -0.676934 0.736023 uwb: 0.99817786 1112.71 480.868 -imu_odom_: 1691062462.267613399 0.0646434 -0.191536 10.0461 -0.0436758 -0.00532632 0.0436758 0.22 0 pose: 0.0 5.11088 -3.02873 0 0.00185857 0.005281 -0.676934 0.736023 uwb: 0.0 1112.71 480.868 -imu_odom_: 1691062462.284540456 0.821211 -0.155623 9.72764 -0.0479369 0.0394148 0.036219 0.18 0 pose: 0.0 5.11088 -3.02873 0 0.00185857 0.005281 -0.676934 0.736023 uwb: 0.0 1112.71 480.868 -imu_odom_: 1691062462.308551027 0.694318 -0.0646434 9.34217 -0.0213053 0.0127832 0.0266316 0.18 0 pose: 0.39109662 5.11231 -3.03862 0 0.00237599 0.00595552 -0.676903 0.736045 uwb: 0.50003674 1116 481.04 -imu_odom_: 1691062462.334544713 0.565032 -0.222661 9.89045 -0.0500674 -0.00106526 0.0500674 0.23 0 pose: 0.57790319 5.11373 -3.04852 0 0.0029088 0.00314501 -0.677017 0.735955 uwb: 0.0 1116 481.04 -imu_odom_: 1691062462.347602946 0.0790087 -0.311246 9.73722 -0.0394148 0.0351537 0.0319579 0.23 0 pose: 0.0 5.11373 -3.04852 0 0.0029088 0.00314501 -0.677017 0.735955 uwb: 0.50014173 1117.42 481.094 -imu_odom_: 1691062462.362540471 0.184354 -0.126893 10.0963 -0.04048 0.0617853 0.036219 0.17 0 pose: 0.0 5.11373 -3.04852 0 0.0029088 0.00314501 -0.677017 0.735955 uwb: 0.0 1117.42 481.094 -imu_odom_: 1691062462.379521481 0.672771 -0.129287 9.81623 -0.056459 -0.02024 0.0490022 0.25 0 pose: 0.39051919 5.1144 -3.05316 0 0.00195225 0.00258582 -0.676957 0.736015 uwb: 0.0 1117.42 481.094 -imu_odom_: 1691062462.404688092 0.859518 -0.141258 10.1035 -0.0543285 -0.0383495 0.0532632 0.18 0.02 pose: 0.0 5.1144 -3.05316 0 0.00195225 0.00258582 -0.676957 0.736015 uwb: 0.50122369 1119.38 480.889 -imu_odom_: 1691062462.431540351 0.37589 -0.306458 10.1921 -0.052198 0.00745685 0.0245011 0.23 0 pose: 0.31918535 5.11515 -3.05842 0 0.0028275 0.00174003 -0.676913 0.736056 uwb: 0.0 1119.38 480.889 -imu_odom_: 1691062462.455581543 0.373495 -0.390255 9.88087 -0.0543285 -0.0319579 0.0351537 0.23 0 pose: 0.33144276 5.11658 -3.06832 0 0.00061301 5.84613e-05 -0.676832 0.736137 uwb: 0.50093498 1120.35 480.823 -imu_odom_: 1691062462.481528568 0.624887 -0.25618 9.62948 -0.0245011 -0.00639159 0.0276969 0.21 0 pose: 0.42915786 5.11753 -3.0749 0 -0.00227022 0.00314206 -0.676973 0.735998 uwb: 0.0 1120.35 480.823 -imu_odom_: 1691062462.497646339 0.639252 -0.162806 10.4818 -0.0426106 -0.015979 0.0436758 0.21 0 pose: 0.8012662 5.118 -3.07822 0 -0.00264715 0.00239728 -0.677011 0.735964 uwb: 0.49694250 1123.13 481.164 -imu_odom_: 1691062462.514692967 0.31364 0.00718261 9.78989 -0.0426106 -0.00532632 0.052198 0.21 0 pose: 0.0 5.118 -3.07822 0 -0.00264715 0.00239728 -0.677011 0.735964 uwb: 0.0 1123.13 481.164 -imu_odom_: 1691062462.530658796 0.0550666 -0.265756 9.66779 -0.04048 -0.0127832 0.052198 0.18 0 pose: 0.42053130 5.10953 -3.08954 0 -0.00301049 -0.0011938 -0.677038 0.73594 uwb: 0.0 1123.13 481.164 -imu_odom_: 1691062462.555532314 0.289698 -0.320823 9.61511 -0.0500674 -0.0479369 0.0458064 0.18 0 pose: 0.0 5.10953 -3.08954 0 -0.00301049 -0.0011938 -0.677038 0.73594 uwb: 0.0 1123.13 481.164 -imu_odom_: 1691062462.580526860 0.816423 -0.131681 10.0413 -0.0415453 -0.0351537 0.0596548 0.25 -0.02 pose: 0.32893179 5.10953 -3.08954 0 -0.00109697 0.000361588 -0.676907 0.736068 uwb: 0.0 1123.13 481.164 -imu_odom_: 1691062462.597514578 0.4956 -0.332794 10.0509 -0.0894822 0.0117179 0.0628506 0.25 -0.02 pose: 0.0 5.10953 -3.08954 0 -0.00109697 0.000361588 -0.676907 0.736068 uwb: 0.100037969 1121.43 480.279 -imu_odom_: 1691062462.610675757 0.136469 -0.153229 9.72046 -0.0628506 0.00958738 0.0372843 0.18 0.02 pose: 0.0 5.10953 -3.08954 0 -0.00109697 0.000361588 -0.676907 0.736068 uwb: 0.0 1121.43 480.279 -imu_odom_: 1691062462.627613313 0.988805 -0.21069 10.0173 -0.0585895 -0.0543285 0.0639159 0.18 0.02 pose: 0.49983259 5.11095 -3.09943 0 -0.00318724 -0.00053258 -0.676612 0.736333 uwb: 0.0 1121.43 480.279 -imu_odom_: 1691062462.643513817 0.608127 -0.287304 10.0102 -0.0681769 -0.015979 0.0660464 0.18 0.02 pose: 0.0 5.11095 -3.09943 0 -0.00318724 -0.00053258 -0.676612 0.736333 uwb: 0.50051794 1123.8 480.357 -imu_odom_: 1691062462.660649976 0.679953 -0.124498 9.65821 -0.0490022 0.0117179 0.0298274 0.18 0 pose: 0.46062233 5.11238 -3.10933 0 -0.00486709 -0.00148616 -0.676322 0.736588 uwb: 0.0 1123.8 480.357 -imu_odom_: 1691062462.685667270 0.462081 -0.402226 9.50737 -0.0905475 -0.0138484 0.0703074 0.18 0 pose: 0.0 5.11238 -3.10933 0 -0.00486709 -0.00148616 -0.676322 0.736588 uwb: 0.0 1123.8 480.357 -imu_odom_: 1691062462.711710242 0.37589 -0.45011 9.70609 -0.0628506 0.00958738 0.0415453 0.22 0.02 pose: 0.51081264 5.11382 -3.11923 0 -0.00710655 -0.00119449 -0.676003 0.736864 uwb: 0.49950013 1123.91 479.923 -imu_odom_: 1691062462.734619309 0.584185 -0.301669 9.8665 -0.0830906 0 0.052198 0.17 0 pose: 0.0 5.11382 -3.11923 0 -0.00710655 -0.00119449 -0.676003 0.736864 uwb: 0.0 1123.91 479.923 -imu_odom_: 1691062462.758577094 0.423774 -0.445322 9.43555 -0.0500674 0.0639159 0.0223706 0.17 0 pose: 0.32982710 5.11527 -3.12912 0 -0.00762668 0.0010342 -0.675941 0.736916 uwb: 0.49987051 1126.79 479.918 -imu_odom_: 1691062462.784549491 0.627281 -0.37589 9.78031 -0.0809601 -0.0245011 0.0447411 0.18 -0.02 pose: 0.0 5.11527 -3.12912 0 -0.00762668 0.0010342 -0.675941 0.736916 uwb: 0.0 1126.79 479.918 -imu_odom_: 1691062462.808669425 0.476446 -0.392649 9.90242 -0.0511327 -0.0181095 0.0458064 0.18 0.02 pose: 0.65899511 5.11627 -3.13595 0 -0.010525 0.000874092 -0.675963 0.73686 uwb: 0.50114495 1132.89 480.594 -imu_odom_: 1691062462.834493089 0.711078 -0.220267 9.91678 -0.0671117 -0.00106526 0.0458064 0.18 0.02 pose: 0.0 5.11627 -3.13595 0 -0.010525 0.000874092 -0.675963 0.73686 uwb: 0.0 1132.89 480.594 -imu_odom_: 1691062462.847490661 0.816423 -0.409408 9.77553 -0.0447411 0.02024 0.0319579 0.18 0 pose: 0.8033076 5.11672 -3.13902 0 -0.010183 0.00153737 -0.675941 0.736884 uwb: 0.50084457 1132.17 479.611 -imu_odom_: 1691062462.871549351 0.555455 -0.3304 9.99579 -0.0703074 -0.0351537 0.0415453 0.18 0 pose: 0.0 5.11672 -3.13902 0 -0.010183 0.00153737 -0.675941 0.736884 uwb: 0.0 1132.17 479.611 -imu_odom_: 1691062462.897491127 0.663194 -0.105345 10.422 -0.0394148 -0.036219 0.0458064 0.23 0.02 pose: 0.47930735 5.11817 -3.14891 0 -0.0102246 8.6888e-05 -0.675872 0.736948 uwb: 0.49800405 1136.35 480.253 -imu_odom_: 1691062462.912479689 0.548272 -0.234632 9.38766 -0.0745685 -0.00426106 0.0553937 0.23 0.02 pose: 0.0 5.11817 -3.14891 0 -0.0102246 8.6888e-05 -0.675872 0.736948 uwb: 0.0 1136.35 480.253 -imu_odom_: 1691062462.929477030 0.31364 -0.270545 9.96227 -0.0479369 0.00532632 0.0415453 0.23 0.02 pose: 0.0 5.11817 -3.14891 0 -0.0102246 8.6888e-05 -0.675872 0.736948 uwb: 0.0 1136.35 480.253 -imu_odom_: 1691062462.944543459 0.416591 0.011971 10.1514 -0.0553937 -0.0298274 0.0490022 0.18 0 pose: 0.39046670 5.11962 -3.1588 0 -0.00924756 -0.00318349 -0.675881 0.736946 uwb: 0.49989967 1134.58 479.598 -imu_odom_: 1691062462.960543701 0.0215478 -0.292093 9.81383 -0.076699 0.0319579 0.0607201 0.18 0 pose: 0.0 5.11962 -3.1588 0 -0.00924756 -0.00318349 -0.675881 0.736946 uwb: 0.0 1134.58 479.598 -imu_odom_: 1691062462.975534013 0.47884 -0.198719 10.4698 -0.0383495 -0.00958738 0.0276969 0.18 0 pose: 0.0 5.11962 -3.1588 0 -0.00924756 -0.00318349 -0.675881 0.736946 uwb: 0.0 1134.58 479.598 -imu_odom_: 1691062462.992489067 0.548272 -0.0837971 9.83777 -0.0276969 -0.0149137 0.0383495 0.18 0 pose: 0.86974779 5.12108 -3.1687 0 -0.00313672 -0.00283251 -0.675636 0.737224 uwb: 0.49963429 1133.74 479.091 -imu_odom_: 1691062463.8469772 0.40462 -0.265756 10.2855 -0.0681769 -0.0255663 0.0596548 0.18 0 pose: 0.0 5.12108 -3.1687 0 -0.00313672 -0.00283251 -0.675636 0.737224 uwb: 0.0 1133.74 479.091 -imu_odom_: 1691062463.25542070 0.823605 -0.0622492 9.83538 -0.0458064 0.00852212 0.0394148 0.23 0 pose: 0.41935021 5.12254 -3.17859 0 -0.00188084 -0.00349639 -0.675569 0.737286 uwb: 0.0 1133.74 479.091 -imu_odom_: 1691062463.41467661 0.490811 -0.0383072 10.4315 -0.0777643 0.00426106 0.056459 0.23 0 pose: 0.0 5.12254 -3.17859 0 -0.00188084 -0.00349639 -0.675569 0.737286 uwb: 0.50010978 1132.87 478.722 -imu_odom_: 1691062463.57462952 0.114922 -0.502782 9.56244 -0.0713727 -0.00426106 0.0372843 0.23 0 pose: 0.0 5.12254 -3.17859 0 -0.00188084 -0.00349639 -0.675569 0.737286 uwb: 0.0 1132.87 478.722 -imu_odom_: 1691062463.82461592 0.380678 -0.447716 9.55526 -0.0490022 0.0340885 0.0415453 0.18 0.02 pose: 0.8069242 5.12254 -3.17859 0 -0.00211204 -0.0042361 -0.675567 0.737283 uwb: 0.0 1132.87 478.722 -imu_odom_: 1691062463.99460398 0.715866 -0.500388 10.2568 -0.0500674 -0.0532632 0.0436758 0.21 0.02 pose: 0.0 5.12254 -3.17859 0 -0.00211204 -0.0042361 -0.675567 0.737283 uwb: 0.49990863 1132.51 478.219 -imu_odom_: 1691062463.115454815 1.13246 -0.311246 9.97664 -0.0394148 0 0.0266316 0.21 0.02 pose: 0.74010776 5.12546 -3.19838 0 -0.00293228 -0.00175102 -0.675455 0.737394 uwb: 0.0 1132.51 478.219 -imu_odom_: 1691062463.132460329 1.19231 -0.294487 10.0892 -0.0607201 -0.04048 0.0415453 0.21 0.02 pose: 0.0 5.12546 -3.19838 0 -0.00293228 -0.00175102 -0.675455 0.737394 uwb: 0.0 1132.51 478.219 -imu_odom_: 1691062463.148515114 1.92494 -0.565032 9.75877 -0.0479369 -0.0511327 -0.0809601 0.21 -0.23 pose: 0.0 5.12546 -3.19838 0 -0.00293228 -0.00175102 -0.675455 0.737394 uwb: 0.50040150 1133.97 478.204 -imu_odom_: 1691062463.165456468 1.66876 0.311246 9.95988 -0.056459 0.0553937 -0.218379 0.21 -0.23 pose: 0.31971627 5.12546 -3.19838 0 -0.00564445 -0.00363882 -0.675502 0.737328 uwb: 0.0 1133.97 478.204 -imu_odom_: 1691062463.181448843 1.18513 0.287304 10.1107 -0.0777643 0.00745685 -0.256729 0.12 -0.35 pose: 0.42935051 5.12685 -3.20823 0 -0.00812139 -0.00695196 -0.677801 0.735168 uwb: 0.0 1133.97 478.204 -imu_odom_: 1691062463.198449691 0.921768 0.00718261 9.78989 -0.0660464 -0.00319579 -0.367516 0.12 -0.35 pose: 0.0 5.12685 -3.20823 0 -0.00812139 -0.00695196 -0.677801 0.735168 uwb: 0.49962574 1136.37 478.339 -imu_odom_: 1691062463.214508267 0.948104 -0.155623 10.2161 -0.0436758 -0.036219 -0.438889 0.12 -0.35 pose: 0.0 5.12685 -3.20823 0 -0.00812139 -0.00695196 -0.677801 0.735168 uwb: 0.0 1136.37 478.339 -imu_odom_: 1691062463.231505324 1.09654 0.0646434 9.96467 -0.0745685 -0.0394148 -0.447411 0.13 -0.58 pose: 0.8061077 5.12692 -3.20827 0 -0.00814601 -0.00767201 -0.67868 0.734349 uwb: 0.0 1136.37 478.339 -imu_odom_: 1691062463.247448121 1.13964 -0.344765 10.0509 -0.0713727 -0.0181095 -0.416518 0.09 -0.5 pose: 0.0 5.12692 -3.20827 0 -0.00814601 -0.00767201 -0.67868 0.734349 uwb: 0.49986488 1142.43 479.352 -imu_odom_: 1691062463.264453635 1.04627 -0.399832 9.92397 -0.0628506 0.00213053 -0.451672 0.09 -0.5 pose: 0.65966323 5.12692 -3.20827 0 -0.0106968 -0.0137984 -0.689171 0.724389 uwb: 0.0 1142.43 479.352 -imu_odom_: 1691062463.280432887 0.864307 -0.0646434 10.0844 -0.0500674 -0.0245011 -0.468716 0.07 -0.53 pose: 0.0 5.12692 -3.20827 0 -0.0106968 -0.0137984 -0.689171 0.724389 uwb: 0.0 1142.43 479.352 -imu_odom_: 1691062463.297437526 0.739808 -0.143652 9.82102 -0.076699 0.0298274 -0.468716 0.07 -0.53 pose: 0.0 5.12692 -3.20827 0 -0.0106968 -0.0137984 -0.689171 0.724389 uwb: 0.49989114 1141.72 478.356 -imu_odom_: 1691062463.313465189 0.739808 -0.0909797 10.0868 -0.0660464 0.0223706 -0.504935 0.07 -0.53 pose: 0.32962601 5.1285 -3.21814 0 -0.0128722 -0.0152395 -0.69492 0.71881 uwb: 0.0 1141.72 478.356 -imu_odom_: 1691062463.330528155 0.778116 -0.138864 9.90721 -0.0649811 -0.00532632 -0.535828 0.09 -0.73 pose: 0.41018720 5.12844 -3.21811 0 -0.00920415 -0.0155871 -0.702653 0.711302 uwb: 0.0 1141.72 478.356 -imu_odom_: 1691062463.346490200 0.871489 -0.071826 9.98861 -0.056459 -0.0149137 -0.54435 0.09 -0.73 pose: 0.8007998 5.1285 -3.21814 0 -0.00991499 -0.0159418 -0.704276 0.709678 uwb: 0.50061438 1139.4 477.901 -imu_odom_: 1691062463.363512920 0.517148 -0.143652 9.77074 -0.0532632 -0.0234358 -0.547546 0.09 -0.73 pose: 0.0 5.1285 -3.21814 0 -0.00991499 -0.0159418 -0.704276 0.709678 uwb: 0.0 1139.4 477.901 -imu_odom_: 1691062463.379610284 0.782904 -0.153229 9.92397 -0.0660464 -0.0223706 -0.50387 0.05 -0.53 pose: 0.42039733 5.12327 -3.21895 0 -0.00988984 -0.0168959 -0.712922 0.70097 uwb: 0.0 1139.4 477.901 -imu_odom_: 1691062463.396590717 0.775721 -0.483629 9.85932 -0.0681769 -0.00426106 -0.453803 0.07 -0.64 pose: 0.0 5.12327 -3.21895 0 -0.00988984 -0.0168959 -0.712922 0.70097 uwb: 0.49951492 1138.58 477.317 -imu_odom_: 1691062463.412591550 0.490811 -0.270545 10.1418 -0.0681769 -0.0287621 -0.40267 0.07 -0.64 pose: 0.0 5.12327 -3.21895 0 -0.00988984 -0.0168959 -0.712922 0.70097 uwb: 0.0 1138.58 477.317 -imu_odom_: 1691062463.429449205 0.73502 -0.265756 10.0149 -0.0607201 -0.0340885 -0.356864 0.06 -0.53 pose: 0.23059852 5.11863 -3.21971 0 -0.0118201 -0.0155929 -0.71715 0.696644 uwb: 0.0 1138.58 477.317 -imu_odom_: 1691062463.445481826 0.653617 -0.126893 9.67018 -0.0681769 -0.00639159 -0.313188 0.06 -0.53 pose: 0.0 5.11863 -3.21971 0 -0.0118201 -0.0155929 -0.71715 0.696644 uwb: 0.50100226 1135.88 476.439 -imu_odom_: 1691062463.462533127 0.519542 -0.349553 9.88805 -0.0553937 -0.0213053 -0.28123 0.06 -0.53 pose: 0.34133515 5.12022 -3.22958 0 -0.01237 -0.0129108 -0.722435 0.691208 uwb: 0.0 1135.88 476.439 -imu_odom_: 1691062463.478420221 0.536301 -0.311246 9.8689 -0.0596548 -0.00745685 -0.26312 0.06 -0.47 pose: 0.32721711 5.12022 -3.22958 0 -0.011205 -0.0115121 -0.726479 0.687001 uwb: 0.0 1135.88 476.439 -imu_odom_: 1691062463.495416112 0.502782 -0.251391 9.84256 -0.0543285 -0.0138484 -0.231162 0.06 -0.47 pose: 0.0 5.12022 -3.22958 0 -0.011205 -0.0115121 -0.726479 0.687001 uwb: 0.49857295 1138.71 476.795 -imu_odom_: 1691062463.511473521 0.610521 -0.373495 9.73243 -0.0649811 -0.00745685 -0.197074 0.06 -0.47 pose: 0.0 5.12022 -3.22958 0 -0.011205 -0.0115121 -0.726479 0.687001 uwb: 0.0 1138.71 476.795 -imu_odom_: 1691062463.528559235 0.679953 -0.229843 10.058 -0.0490022 -0.00426106 -0.199204 0.03 -0.29 pose: 0.50050648 5.12022 -3.22958 0 -0.0100789 -0.00722931 -0.731367 0.681872 uwb: 0.0 1138.71 476.795 -imu_odom_: 1691062463.554550599 0.47884 -0.222661 9.83777 -0.0553937 0.00852212 -0.173638 0.03 -0.29 pose: 0.0 5.12022 -3.22958 0 -0.0100789 -0.00722931 -0.731367 0.681872 uwb: 0.49882083 1138.33 476.401 -imu_odom_: 1691062463.571552905 0.586579 -0.416591 9.96227 -0.0596548 -0.0106526 -0.164051 0.04 -0.23 pose: 0.34099394 5.12022 -3.22958 0 -0.00984871 -0.0077025 -0.734056 0.678973 uwb: 0.0 1138.33 476.401 -imu_odom_: 1691062463.589423116 0.500388 -0.232238 9.80186 -0.0639159 -0.0127832 -0.211988 0.03 -0.29 pose: 0.0 5.12022 -3.22958 0 -0.00984871 -0.0077025 -0.734056 0.678973 uwb: 0.50118016 1141.55 477.166 -imu_odom_: 1691062463.612566375 0.351948 0.105345 10.0197 -0.0479369 0.00426106 -0.313188 0.03 -0.29 pose: 0.42876433 5.12022 -3.22958 0 -0.00868976 -0.00483272 -0.737222 0.675577 uwb: 0.0 1141.55 477.166 -imu_odom_: 1691062463.637413365 0.287304 -0.155623 9.75877 -0.0628506 -0.0117179 -0.337689 0.03 -0.35 pose: 0.0 5.12022 -3.22958 0 -0.00868976 -0.00483272 -0.737222 0.675577 uwb: 0.50015943 1140.68 476.738 -imu_odom_: 1691062463.653401365 0.572214 -0.517148 9.92397 -0.0575243 -0.0223706 -0.356864 0.03 -0.35 pose: 0.40227806 5.12022 -3.22958 0 -0.00487786 -0.00470014 -0.741791 0.670597 uwb: 0.0 1140.68 476.738 -imu_odom_: 1691062463.669463733 0.409408 -0.227449 9.79947 -0.056459 0 -0.367516 0.03 -0.41 pose: 0.32719086 5.12106 -3.23506 0 -0.00489701 -0.00303933 -0.746019 0.6659 uwb: 0.0 1140.68 476.738 -imu_odom_: 1691062463.685450567 0.526724 -0.1652 9.9503 -0.052198 0.00426106 -0.378169 0.03 -0.41 pose: 0.7084100 5.12181 -3.23945 0 -0.00432699 -0.00259491 -0.746981 0.664826 uwb: 0.0 1140.68 476.738 -imu_odom_: 1691062463.701387823 0.608127 -0.155623 10.0485 -0.0585895 -0.0223706 -0.409062 0.03 -0.41 pose: 0.0 5.12181 -3.23945 0 -0.00432699 -0.00259491 -0.746981 0.664826 uwb: 0.49995238 1141.2 476.634 -imu_odom_: 1691062463.718510574 0.519542 -0.059855 9.98622 -0.0639159 -0.0255663 -0.433563 0.03 -0.61 pose: 0.40902358 5.12175 -3.23942 0 -0.00407762 -0.00514151 -0.752763 0.658259 uwb: 0.0 1141.2 476.634 -imu_odom_: 1691062463.744564056 0.610521 -0.328006 9.87129 -0.0575243 -0.00852212 -0.472977 0.03 -0.61 pose: 0.0 5.12175 -3.23942 0 -0.00407762 -0.00514151 -0.752763 0.658259 uwb: 0.49855836 1142.14 476.814 -imu_odom_: 1691062463.771400870 0.447716 -0.215478 9.93354 -0.0628506 -0.0117179 -0.488956 0.03 -0.64 pose: 0.43176233 5.12175 -3.23942 0 -0.00541818 -0.00540998 -0.759771 0.650146 uwb: 0.0 1142.14 476.814 -imu_odom_: 1691062463.796455795 0.529119 -0.241814 9.87129 -0.0553937 -0.015979 -0.509196 0.03 -0.58 pose: 0.0 5.12175 -3.23942 0 -0.00541818 -0.00540998 -0.759771 0.650146 uwb: 0.50130847 1140.2 476.73 -imu_odom_: 1691062463.812381677 0.497994 -0.138864 9.88805 -0.0553937 -0.00958738 -0.516653 0.02 -0.64 pose: 0.34913930 5.12181 -3.23945 0 -0.00452472 -0.00336611 -0.765798 0.643057 uwb: 0.0 1140.2 476.73 -imu_odom_: 1691062463.828551657 0.550666 -0.351948 9.80186 -0.0628506 -0.00106526 -0.52411 0.02 -0.64 pose: 0.0 5.12181 -3.23945 0 -0.00452472 -0.00336611 -0.765798 0.643057 uwb: 0.0 1140.2 476.73 -imu_odom_: 1691062463.845383066 0.323217 -0.136469 10.0556 -0.052198 0.00745685 -0.56246 0.02 -0.64 pose: 0.23930089 5.12181 -3.23945 0 -0.00566796 -0.00353471 -0.770014 0.637993 uwb: 0.49952076 1142 477.314 -imu_odom_: 1691062463.861378065 0.641646 -0.19393 9.92157 -0.0575243 -0.00745685 -0.574178 0.02 -0.73 pose: 0.32146316 5.12181 -3.23945 0 -0.00540815 -0.00278472 -0.775827 0.630917 uwb: 0.0 1142 477.314 -imu_odom_: 1691062463.888400067 0.679953 -0.275333 9.94791 -0.0585895 -0.00426106 -0.608266 0.02 -0.73 pose: 0.0 5.12181 -3.23945 0 -0.00540815 -0.00278472 -0.775827 0.630917 uwb: 0.50031692 1142.02 477.246 -imu_odom_: 1691062463.914520042 0.373495 -0.174777 9.95509 -0.0532632 -0.00532632 -0.64342 0.02 -0.82 pose: 0.33004014 5.12181 -3.23945 0 -0.00604141 -0.00411414 -0.782213 0.622968 uwb: 0.0 1142.02 477.246 -imu_odom_: 1691062463.931392862 0.617704 -0.181959 9.92397 -0.0585895 -0.0245011 -0.639159 0.02 -0.82 pose: 0.0 5.12181 -3.23945 0 -0.00604141 -0.00411414 -0.782213 0.622968 uwb: 0.0 1142.02 477.246 -imu_odom_: 1691062463.957486590 0.514753 -0.272939 9.92397 -0.0575243 0.00106526 -0.637028 0.02 -0.91 pose: 0.52972536 5.12181 -3.23945 0 -0.00582454 -0.00455351 -0.793133 0.609004 uwb: 0.49978614 1143.81 477.857 -imu_odom_: 1691062463.983357801 0.323217 -0.0981623 9.89524 -0.0468716 -0.0149137 -0.696683 0.02 -0.94 pose: 0.35955649 5.12159 -3.23934 0 -0.00625711 -0.00286867 -0.800483 0.599316 uwb: 0.0 1143.81 477.857 -imu_odom_: 1691062464.9360833 0.42138 -0.172383 9.85693 -0.0671117 -0.0149137 -0.70414 0.02 -0.94 pose: 0.0 5.12159 -3.23934 0 -0.00625711 -0.00286867 -0.800483 0.599316 uwb: 0.50008069 1142.91 477.562 -imu_odom_: 1691062464.34351900 0.617704 -0.3304 9.65342 -0.0575243 -0.0298274 -0.736098 0.01 -0.94 pose: 0.8004791 5.12181 -3.23945 0 -0.00546255 -0.0029063 -0.80225 0.596956 uwb: 0.0 1142.91 477.562 -imu_odom_: 1691062464.48495025 0.452504 -0.0957681 10.0317 -0.0500674 -0.0127832 -0.74462 0.01 -0.94 pose: 0.0 5.12181 -3.23945 0 -0.00546255 -0.0029063 -0.80225 0.596956 uwb: 0.50117738 1144.74 478.064 -imu_odom_: 1691062464.63365195 0.648829 -0.268151 9.74919 -0.0607201 -0.0266316 -0.741424 0.01 -0.94 pose: 0.0 5.12181 -3.23945 0 -0.00206121 -0.00255795 -0.813444 0.581634 uwb: 0.0 1144.74 478.064 -imu_odom_: 1691062464.80427585 0.502782 -0.184354 9.80665 -0.0436758 0.00426106 -0.772317 0.01 -0.76 pose: 0.0 5.12181 -3.23945 0 -0.00206121 -0.00255795 -0.813444 0.581634 uwb: 0.0 1144.74 478.064 -imu_odom_: 1691062464.96348225 0.335188 -0.107739 9.88087 -0.0479369 -0.00106526 -0.761664 0.01 -0.76 pose: 0.0 5.12181 -3.23945 0 -0.00206121 -0.00255795 -0.813444 0.581634 uwb: 0.49877438 1144.7 478.2 -imu_odom_: 1691062464.123362363 0.622492 -0.0814029 10.0509 -0.0607201 -0.0308927 -0.784035 0.01 -1.09 pose: 0.39131567 5.12181 -3.23945 0 -0.00364428 -0.00359145 -0.822215 0.569154 uwb: 0.0 1144.7 478.2 -imu_odom_: 1691062464.149479141 0.696713 -0.378284 10.1107 -0.0649811 -0.0127832 -0.770186 0 -0.79 pose: 0.48933999 5.12181 -3.23945 0 -0.00160576 -0.00491076 -0.833276 0.552833 uwb: 0.49972802 1143.35 477.755 -imu_odom_: 1691062464.165626964 0.608127 -0.0981623 9.76595 -0.056459 -0.0266316 -0.789361 0 -1.09 pose: 0.0 5.12181 -3.23945 0 -0.00160576 -0.00491076 -0.833276 0.552833 uwb: 0.0 1143.35 477.755 -imu_odom_: 1691062464.191394363 0.435745 -0.201113 10.1179 -0.0681769 -0.0170442 -0.792557 0 -1.09 pose: 0.0 5.12181 -3.23945 0 -0.00160576 -0.00491076 -0.833276 0.552833 uwb: 0.50036962 1143.76 478.062 -imu_odom_: 1691062464.216361808 0.411803 -0.318429 9.72046 -0.052198 -0.00213053 -0.820254 0 -0.79 pose: 0.51971668 5.12181 -3.23945 0 -0.00538985 -0.00643565 -0.844802 0.535012 uwb: 0.0 1143.76 478.062 -imu_odom_: 1691062464.231388878 0.672771 -0.282516 10.094 -0.0511327 -0.0245011 -0.837298 0 -0.79 pose: 0.0 5.12181 -3.23945 0 -0.00538985 -0.00643565 -0.844802 0.535012 uwb: 0.0 1143.76 478.062 -imu_odom_: 1691062464.257353714 0.47884 -0.196325 10.1131 -0.0585895 0.00958738 -0.833037 0 -0.79 pose: 0.74979034 5.12155 -3.23932 0 -0.00538343 -0.00324936 -0.861428 0.507841 uwb: 0.49835734 1140.89 477.839 -imu_odom_: 1691062464.271460093 0.64404 -0.550666 9.83299 -0.052198 -0.00426106 -0.853277 0 -0.79 pose: 0.0 5.12155 -3.23932 0 -0.00538343 -0.00324936 -0.861428 0.507841 uwb: 0.0 1140.89 477.839 -imu_odom_: 1691062464.295340032 0.543484 -0.0981623 10.0173 -0.0458064 -0.00532632 -0.858603 0 -0.85 pose: 0.6961033 5.12181 -3.23946 0 -0.00465596 -0.00308966 -0.862971 0.505223 uwb: 0.50192986 1141.25 478.325 -imu_odom_: 1691062464.322601768 0.591368 -0.071826 9.81383 -0.052198 0.0191748 -0.874582 0 -1.06 pose: 0.0 5.12181 -3.23946 0 -0.00465596 -0.00308966 -0.862971 0.505223 uwb: 0.0 1141.25 478.325 -imu_odom_: 1691062464.338332553 0.639252 -0.277727 10.2017 -0.0543285 -0.0170442 -0.859668 0 -0.94 pose: 0.64167838 5.12181 -3.23946 0 0.00360202 0.00510351 0.877063 -0.480335 uwb: 0.49927016 1142.17 478.527 -imu_odom_: 1691062464.354425257 0.0790087 -0.289698 9.51216 -0.0585895 -0.00745685 -0.844755 0 -0.94 pose: 0.0 5.12181 -3.23946 0 0.00360202 0.00510351 0.877063 -0.480335 uwb: 0.0 1142.17 478.527 -imu_odom_: 1691062464.371372743 0.620098 -0.373495 10.1658 -0.0553937 -0.0319579 -0.850081 0 -0.94 pose: 0.28038652 5.12181 -3.23946 0 0.00446913 0.00668786 0.883106 -0.469104 uwb: 0.0 1142.17 478.527 -imu_odom_: 1691062464.395341047 0.605733 -0.0742203 9.89045 -0.0575243 -0.00213053 -0.856473 0 -0.85 pose: 0.31783535 5.12181 -3.23946 0 0.00470549 0.00484419 0.889652 -0.456589 uwb: 0.50067292 1143.98 479.072 -imu_odom_: 1691062464.411378924 0.440533 -0.275333 9.97903 -0.0649811 0.0234358 -0.843689 0 -0.85 pose: 0.0 5.12181 -3.23946 0 0.00470549 0.00484419 0.889652 -0.456589 uwb: 0.0 1143.98 479.072 -imu_odom_: 1691062464.426315004 -0.217872 -0.263362 9.73961 -0.0553937 0.0490022 -0.830906 0 -1.26 pose: 0.39985475 5.12181 -3.23946 0 0.00532647 0.00604502 0.897649 -0.440637 uwb: 0.0 1143.98 479.072 -imu_odom_: 1691062464.442312635 -0.414197 -0.411803 9.88087 -0.0532632 -0.00958738 -0.855407 0 -1.26 pose: 0.0 5.12181 -3.23946 0 0.00532647 0.00604502 0.897649 -0.440637 uwb: 0.49920016 1142.54 478.969 -imu_odom_: 1691062464.458425753 -0.351948 0.148441 9.82341 -0.0479369 -0.00532632 -0.841559 0 -1.26 pose: 0.0 5.12181 -3.23946 0 0.00532647 0.00604502 0.897649 -0.440637 uwb: 0.0 1142.54 478.969 -imu_odom_: 1691062464.475422817 -1.09654 -0.215478 9.64863 -0.0532632 -0.00106526 -0.691357 0.05 -0.76 pose: 0.47985018 5.12331 -3.24934 0 0.00127447 0.00315101 0.906805 -0.421536 uwb: 0.0 1142.54 478.969 -imu_odom_: 1691062464.491295628 -0.603339 -0.955286 9.76116 -0.0798948 -0.092678 -0.573112 0.05 -0.76 pose: 0.0 5.12331 -3.24934 0 0.00127447 0.00315101 0.906805 -0.421536 uwb: 0.49839525 1141.13 478.779 -imu_odom_: 1691062464.508313981 0.19393 -0.696713 9.66539 -0.0660464 -0.0468716 -0.565655 0.09 -0.85 pose: 0.40985199 5.12331 -3.24934 0 -0.00115156 0.00107947 0.912892 -0.408198 uwb: 0.0 1141.13 478.779 -imu_odom_: 1691062464.525293547 0.385466 0.0861913 10.0533 -0.0500674 -0.0255663 -0.543285 0.09 -0.85 pose: 0.0 5.12331 -3.24934 0 -0.00115156 0.00107947 0.912892 -0.408198 uwb: 0.0 1141.13 478.779 -imu_odom_: 1691062464.541423289 0.124498 -0.0383072 9.77313 -0.0788296 -0.00745685 -0.506001 0.09 -0.85 pose: 0.0 5.12331 -3.24934 0 -0.00115156 0.00107947 0.912892 -0.408198 uwb: 0.50173447 1141.06 479.028 -imu_odom_: 1691062464.558420352 -0.0885855 -0.371101 9.97424 -0.0500674 -0.00532632 -0.526241 0.08 -0.5 pose: 0.7019652 5.12331 -3.24934 0 -0.0009662440.000401723 0.913758 -0.406257 uwb: 0.0 1141.06 479.028 -imu_odom_: 1691062464.575297262 0.0885855 -0.234632 9.93115 -0.0660464 -0.0713727 -0.485761 0.09 -0.5 pose: 0.0 5.12331 -3.24934 0 -0.0009662440.000401723 0.913758 -0.406257 uwb: 0.0 1141.06 479.028 -imu_odom_: 1691062464.591298101 0.169988 -0.189142 9.47864 -0.0596548 -0.052198 -0.430367 0.09 -0.5 pose: 0.67988546 5.11342 -3.25079 0 -0.00431704 -0.0005090850.921405 -0.388579 uwb: 0.49896977 1139.58 479.069 -imu_odom_: 1691062464.607421719 0.035913 -0.23942 9.79947 -0.0287621 -0.0170442 -0.416518 0.1 -0.47 pose: 0.0 5.11342 -3.25079 0 -0.00431704 -0.0005090850.921405 -0.388579 uwb: 0.0 1139.58 479.069 -imu_odom_: 1691062464.624348790 0.246603 0.0047884 9.43794 -0.0490022 -0.0511327 -0.393083 0.1 -0.47 pose: 0.0 5.11342 -3.25079 0 -0.00431704 -0.0005090850.921405 -0.388579 uwb: 0.0 1139.58 479.069 -imu_odom_: 1691062464.640297426 0.610521 -0.320823 10.0556 -0.0553937 -0.0308927 -0.40267 0.1 -0.47 pose: 0.32062630 5.11342 -3.25079 0 -0.00648818 -0.00167617 0.924373 -0.381431 uwb: 0.49933140 1140.86 479.754 -imu_odom_: 1691062464.656313139 0.141258 -0.349553 9.69652 -0.0671117 0.0149137 -0.376038 0.14 -0.53 pose: 0.41930970 5.1087 -3.25714 0 -0.00586887 -0.0003596780.927865 -0.37287 uwb: 0.0 1140.86 479.754 -imu_odom_: 1691062464.672414592 0.0670376 -0.299275 10.0078 -0.0511327 0.00852212 -0.346211 0.14 -0.53 pose: 0.7056106 5.10502 -3.26217 0 -0.00616133 -0.0010935 0.92841 -0.371505 uwb: 0.0 1140.86 479.754 -imu_odom_: 1691062464.689297043 0.703895 -0.263362 9.51695 -0.0585895 -0.0756338 -0.329167 0.14 -0.53 pose: 0.0 5.10502 -3.26217 0 -0.00616133 -0.0010935 0.92841 -0.371505 uwb: 0.50143409 1139.8 480.076 -imu_odom_: 1691062464.706413677 1.09894 0.112527 9.6223 -0.0628506 -0.0170442 -0.28123 0.09 -0.35 pose: 0.41943511 5.10496 -3.26213 0 -0.00552861 -0.00259865 0.931386 -0.363981 uwb: 0.0 1139.8 480.076 -imu_odom_: 1691062464.722279781 1.05105 -0.646434 9.91678 -0.0532632 0.00106526 -0.230097 0.08 -0.38 pose: 0.0 5.10496 -3.26213 0 -0.00552861 -0.00259865 0.931386 -0.363981 uwb: 0.0 1139.8 480.076 -imu_odom_: 1691062464.739278886 0.962469 -0.349553 9.90721 -0.0585895 0.0127832 -0.227967 0.08 -0.38 pose: 0.0 5.10496 -3.26213 0 -0.00552861 -0.00259865 0.931386 -0.363981 uwb: 0.49838650 1138.35 480.052 -imu_odom_: 1691062464.756272742 1.03908 -0.196325 9.80904 -0.0426106 -0.00213053 -0.230097 0.08 -0.38 pose: 0.24127828 5.10502 -3.26217 0 -0.00348541 -0.00156738 0.932733 -0.360547 uwb: 0.0 1138.35 480.052 -imu_odom_: 1691062464.773341839 1.09654 0.143652 10.0126 -0.0585895 -0.00319579 -0.245011 0.06 -0.32 pose: 0.0 5.10502 -3.26217 0 -0.00348541 -0.00156738 0.932733 -0.360547 uwb: 0.0 1138.35 480.052 -imu_odom_: 1691062464.789368926 0.68953 -0.0742203 9.63666 -0.056459 0.00745685 -0.256729 0.06 -0.32 pose: 0.33857351 5.10502 -3.26217 0 -0.000373434-0.00113573 0.934371 -0.3563 uwb: 0.50014798 1138.78 480.241 -imu_odom_: 1691062464.816417769 0.715866 -0.263362 9.84256 -0.0639159 -0.0255663 -0.269512 0.07 -0.38 pose: 0.42086704 5.09515 -3.26373 0 0.00249077 0.0017307 0.936495 -0.350668 uwb: 0.0 1138.78 480.241 -imu_odom_: 1691062464.832277456 0.586579 -0.179565 9.87369 -0.0511327 0.02024 -0.264186 0.07 -0.38 pose: 0.0 5.09515 -3.26373 0 0.00249077 0.0017307 0.936495 -0.350668 uwb: 0.0 1138.78 480.241 -imu_odom_: 1691062464.848257881 0.497994 -0.23942 10.1682 -0.0681769 0 -0.264186 0.05 -0.38 pose: 0.7917886 5.09515 -3.26373 0 0.00336655 0.00182301 0.936921 -0.349521 uwb: 0.50050960 1137.82 480.203 -imu_odom_: 1691062464.865314146 0.263362 -0.158017 9.76834 -0.0511327 0.00745685 -0.312122 0.04 -0.41 pose: 0.0 5.09515 -3.26373 0 0.00336655 0.00182301 0.936921 -0.349521 uwb: 0.0 1137.82 480.203 -imu_odom_: 1691062464.882266590 0.739808 -0.110133 10.1442 -0.0575243 -0.0383495 -0.372843 0.04 -0.53 pose: 0.0 5.09515 -3.26373 0 0.00336655 0.00182301 0.936921 -0.349521 uwb: 0.0 1137.82 480.203 -imu_odom_: 1691062464.898262180 0.773327 0.0047884 9.67018 -0.0735032 0.00426106 -0.401605 0.04 -0.53 pose: 0.75022489 5.09515 -3.26373 0 0.00441451 0.00203358 0.941122 -0.338033 uwb: 0.50090040 1136.4 480.072 -imu_odom_: 1691062464.914323679 0.543484 -0.19393 10.1011 -0.0543285 0.0191748 -0.414388 0.05 -0.58 pose: 0.0 5.09515 -3.26373 0 0.00441451 0.00203358 0.941122 -0.338033 uwb: 0.0 1136.4 480.072 -imu_odom_: 1691062464.930306436 0.258574 -0.280122 9.77553 -0.052198 0.0191748 -0.441019 0.05 -0.58 pose: 0.32997027 5.09515 -3.26373 0 0.00620604 0.00326617 0.943513 -0.33126 uwb: 0.0 1136.4 480.072 -imu_odom_: 1691062464.946257989 0.28491 -0.100556 9.93354 -0.0575243 -0.0191748 -0.419714 0.05 -0.58 pose: 0.0 5.09515 -3.26373 0 0.00620604 0.00326617 0.943513 -0.33126 uwb: 0.50040170 1135.57 479.539 -imu_odom_: 1691062464.963334961 0.691924 -0.294487 9.89045 -0.0607201 -0.0213053 -0.42291 0.03 -0.44 pose: 0.40951661 5.09661 -3.27358 0 0.00329503 0.00177656 0.946649 -0.322245 uwb: 0.0 1135.57 479.539 -imu_odom_: 1691062464.979300512 0.758962 -0.160412 10.0006 -0.052198 -0.00213053 -0.454868 0.03 -0.44 pose: 0.8118823 5.09668 -3.27361 0 0.00417408 0.00172491 0.947249 -0.320467 uwb: 0.0 1135.57 479.539 -imu_odom_: 1691062465.5272640 0.56982 -0.0670376 9.9934 -0.0575243 -0.00852212 -0.510262 0.03 -0.53 pose: 0.0 5.09668 -3.27361 0 0.00417408 0.00172491 0.947249 -0.320467 uwb: 0.49917100 1136.86 480.169 -imu_odom_: 1691062465.20352794 0.4956 -0.107739 9.99579 -0.0532632 0.00852212 -0.526241 0.03 -0.67 pose: 0.24923700 5.09661 -3.27358 0 0.00648017 0.00253161 0.949147 -0.314756 uwb: 0.0 1136.86 480.169 -imu_odom_: 1691062465.36358014 -0.198719 -0.272939 9.54808 -0.0596548 0.0426106 -0.513457 0.04 -0.53 pose: 0.0 5.09661 -3.27358 0 0.00648017 0.00253161 0.949147 -0.314756 uwb: 0.49943944 1135.48 479.88 -imu_odom_: 1691062465.53300840 -0.529119 -0.366313 9.90481 -0.0500674 0.015979 -0.546481 0.04 -0.53 pose: 0.47999902 5.09668 -3.27361 0 0.00394324 0.00536228 0.953269 -0.302051 uwb: 0.0 1135.48 479.88 -imu_odom_: 1691062465.69236943 -0.301669 0.0047884 10.2161 -0.036219 0.0181095 -0.567786 0.06 -0.38 pose: 0.0 5.09668 -3.27361 0 0.00394324 0.00536228 0.953269 -0.302051 uwb: 0.0 1135.48 479.88 -imu_odom_: 1691062465.86236930 -0.577003 0.0526724 9.96946 -0.056459 -0.02024 -0.428236 0.06 -0.38 pose: 0.0 5.09668 -3.27361 0 0.00394324 0.00536228 0.953269 -0.302051 uwb: 0.49914787 1136.41 480.049 -imu_odom_: 1691062465.102233109 -0.222661 -0.905008 9.98143 -0.0660464 -0.0830906 -0.337689 0.06 -0.38 pose: 0.33999099 5.08679 -3.27513 0 0.000351424 0.00398928 0.956228 -0.292597 uwb: 0.0 1136.41 480.049 -imu_odom_: 1691062465.119228139 0.105345 -0.220267 9.53132 -0.0415453 -0.0607201 -0.353668 0.12 -0.5 pose: 0.40933596 5.08679 -3.27513 0 -0.00209648 0.00240927 0.958945 -0.283575 uwb: 0.0 1136.41 480.049 -imu_odom_: 1691062465.135283520 0.270545 0.289698 9.84496 -0.0585895 -0.0223706 -0.305731 0.12 -0.5 pose: 0.0 5.08679 -3.27513 0 -0.00209648 0.00240927 0.958945 -0.283575 uwb: 0.0 1136.41 480.049 -imu_odom_: 1691062465.152296047 0.138864 0.023942 10.0437 -0.0649811 -0.0149137 -0.295078 0.12 -0.5 pose: 0.0 5.08679 -3.27513 0 -0.00209648 0.00240927 0.958945 -0.283575 uwb: 0.50002861 1137.17 480.833 -imu_odom_: 1691062465.169291951 0.1652 -0.387861 10.0772 -0.0479369 -0.0106526 -0.312122 0.1 -0.35 pose: 0.8011797 5.08679 -3.27513 0 -0.002601 0.00213495 0.959391 -0.28206 uwb: 0.0 1137.17 480.833 -imu_odom_: 1691062465.184240870 0.162806 -0.294487 9.73243 -0.0628506 -0.0255663 -0.290817 0.15 -0.44 pose: 0.0 5.08679 -3.27513 0 -0.002601 0.00213495 0.959391 -0.28206 uwb: 0.0 1137.17 480.833 -imu_odom_: 1691062465.201297434 0.593762 -0.208296 10.1538 -0.0596548 -0.0447411 -0.258859 0.15 -0.44 pose: 0.65035478 5.0769 -3.27656 0 -0.00585297 0.00167058 0.962526 -0.27112 uwb: 0.49989738 1137.12 481.015 -imu_odom_: 1691062465.217285447 0.636858 -0.280122 9.66539 -0.0628506 -0.02024 -0.262055 0.14 -0.38 pose: 0.0 5.0769 -3.27656 0 -0.00585297 0.00167058 0.962526 -0.27112 uwb: 0.0 1137.12 481.015 -imu_odom_: 1691062465.234288351 0.426168 0.0311246 9.80665 -0.0447411 0.00852212 -0.252468 0.14 -0.38 pose: 0.0 5.0769 -3.27656 0 -0.00585297 0.00167058 0.962526 -0.27112 uwb: 0.0 1137.12 481.015 -imu_odom_: 1691062465.251309627 0.387861 -0.0957681 9.91199 -0.0394148 0.00745685 -0.233293 0.14 -0.38 pose: 0.33015123 5.0769 -3.27656 0 -0.0033961 0.00106993 0.963904 -0.266226 uwb: 0.50105808 1136.22 480.754 -imu_odom_: 1691062465.267222691 0.409408 -0.246603 10.3238 -0.0511327 0.0106526 -0.207727 0.13 -0.29 pose: 0.43014120 5.07221 -3.28288 0 -0.00255601 0.00454226 0.965516 -0.26029 uwb: 0.0 1136.22 480.754 -imu_odom_: 1691062465.294250839 1.01993 -0.150835 10.4196 -0.056459 -0.0223706 -0.206661 0.13 -0.29 pose: 0.7999840 5.06846 -3.28791 0 -0.00223895 0.00383789 0.965777 -0.259336 uwb: 0.50021234 1137.12 481.038 -imu_odom_: 1691062465.310395752 1.14443 0 9.36372 -0.0607201 -0.0308927 -0.164051 0.11 -0.2 pose: 0.34941372 5.06846 -3.28791 0 0.000925189 0.00384551 0.966884 -0.255184 uwb: 0.0 1137.12 481.038 -imu_odom_: 1691062465.326212284 0.890643 -0.258574 9.45949 -0.0649811 0.0308927 -0.118244 0.12 -0.17 pose: 0.0 5.06846 -3.28791 0 0.000925189 0.00384551 0.966884 -0.255184 uwb: 0.0 1137.12 481.038 -imu_odom_: 1691062465.343345840 0.938527 -0.42138 10.0317 -0.0596548 0.00532632 -0.0830906 0.08 0 pose: 0.0 5.06846 -3.28791 0 0.000925189 0.00384551 0.966884 -0.255184 uwb: 0.50006069 1136.61 481.123 -imu_odom_: 1691062465.360333579 1.51792 -0.251391 9.94791 -0.0671117 -0.0458064 0.00426106 0.08 0 pose: 0.40038276 5.06846 -3.28791 0 0.00464303 0.00416658 0.967728 -0.25192 uwb: 0.0 1136.61 481.123 -imu_odom_: 1691062465.376281930 1.47004 -0.42138 9.83538 -0.0575243 0.0149137 0.0884169 0.08 0 pose: 0.0 5.06846 -3.28791 0 0.00464303 0.00416658 0.967728 -0.25192 uwb: 0.0 1136.61 481.123 -imu_odom_: 1691062465.392302315 0.696713 -0.37589 9.63666 -0.0479369 0.0841559 0.176834 0.07 0.11 pose: 0.0 5.06846 -3.28791 0 0.00464303 0.00416658 0.967728 -0.25192 uwb: 0.49892332 1136.08 481.299 -imu_odom_: 1691062465.409251266 0.320823 -0.488417 10.252 -0.0596548 0.0330232 0.296144 0.07 0.11 pose: 0.34023305 5.05856 -3.28929 0 0.0082349 0.00411243 0.967869 -0.251287 uwb: 0.0 1136.08 481.299 -imu_odom_: 1691062465.426384238 0.61531 -0.512359 9.96706 -0.0617853 -0.0479369 0.383495 0.07 0.32 pose: 0.40938846 5.05849 -3.28925 0 0.00823026 0.00119045 0.966991 -0.254674 uwb: 0.0 1136.08 481.299 -imu_odom_: 1691062465.442264639 0.857124 -0.306458 9.58399 -0.0468716 -0.00532632 0.401605 0.07 0.32 pose: 0.0 5.05849 -3.28925 0 0.00823026 0.00119045 0.966991 -0.254674 uwb: 0.49970489 1139.18 482.389 -imu_odom_: 1691062465.458204533 0.907402 0.0526724 9.97903 -0.0490022 0.00532632 0.415453 0.07 0.32 pose: 0.0 5.05849 -3.28925 0 0.00823026 0.00119045 0.966991 -0.254674 uwb: 0.0 1139.18 482.389 -imu_odom_: 1691062465.475327006 0.217872 -0.225055 9.55287 -0.0553937 0.0415453 0.428236 0.04 0.29 pose: 0.7078273 5.05856 -3.28929 0 0.00868425 0.000554262 0.966676 -0.255855 uwb: 0.0 1139.18 482.389 -imu_odom_: 1691062465.492207423 0.21069 -0.222661 10.1538 -0.04048 0.00958738 0.40267 0.05 0.47 pose: 0.0 5.05856 -3.28929 0 0.00868425 0.000554262 0.966676 -0.255855 uwb: 0.49958241 1140.08 482.656 -imu_odom_: 1691062465.508268346 0.229843 -0.0861913 9.67976 -0.0500674 -0.0308927 0.434628 0.05 0.47 pose: 0.65939547 5.05856 -3.28929 0 0.00875056 0.000689747 0.963487 -0.26761 uwb: 0.0 1140.08 482.656 -imu_odom_: 1691062465.525252876 0.711078 -0.25618 9.79947 -0.052198 -0.0127832 0.46339 0.04 0.55 pose: 0.0 5.05856 -3.28929 0 0.00875056 0.000689747 0.963487 -0.26761 uwb: 0.0 1140.08 482.656 -imu_odom_: 1691062465.541256638 0.706289 -0.378284 10.0533 -0.0447411 0.00852212 0.462325 0.04 0.55 pose: 0.0 5.05856 -3.28929 0 0.00875056 0.000689747 0.963487 -0.26761 uwb: 0.50049523 1142.78 483.396 -imu_odom_: 1691062465.557256025 0.399832 -0.3304 9.72285 -0.0426106 0.0181095 0.472977 0.04 0.55 pose: 0.33069658 5.05856 -3.28929 0 0.0070366 0.00101593 0.961747 -0.273846 uwb: 0.0 1142.78 483.396 -imu_odom_: 1691062465.573253080 0.383072 -0.361524 9.8258 -0.0543285 0.00426106 0.494283 0.03 0.41 pose: 0.41917281 5.05849 -3.28925 0 0.00789331 -0.0005591260.959247 -0.282459 uwb: 0.0 1142.78 483.396 -imu_odom_: 1691062465.590256858 0.670376 -0.294487 9.8665 -0.0458064 -0.0181095 0.434628 0.03 0.41 pose: 0.7997798 5.05856 -3.28929 0 0.00730297 -0.0011546 0.958734 -0.284208 uwb: 0.49946576 1144.2 483.546 -imu_odom_: 1691062465.605312514 0.696713 0.162806 9.83059 -0.0426106 0.00639159 0.390952 0.03 0.41 pose: 0.0 5.05856 -3.28929 0 0.00730297 -0.0011546 0.958734 -0.284208 uwb: 0.0 1144.2 483.546 -imu_odom_: 1691062465.622304627 0.620098 -0.131681 9.89045 -0.0617853 0.00106526 0.372843 0.03 0.38 pose: 0.40058691 5.05321 -3.29001 0 0.00836985 0.000271864 0.956478 -0.291685 uwb: 0.0 1144.2 483.546 -imu_odom_: 1691062465.637243922 0.47884 -0.248997 9.88566 -0.056459 0.00532632 0.348341 0.02 0.29 pose: 0.0 5.05321 -3.29001 0 0.00836985 0.000271864 0.956478 -0.291685 uwb: 0.49997611 1142.8 483.328 -imu_odom_: 1691062465.653187023 0.507571 -0.304064 9.95988 -0.0479369 -0.00426106 0.320645 0.02 0.29 pose: 0.0 5.05321 -3.29001 0 0.00836985 0.000271864 0.956478 -0.291685 uwb: 0.0 1142.8 483.328 -imu_odom_: 1691062465.669325229 0.529119 -0.136469 9.8282 -0.056459 -0.0117179 0.311057 0.02 0.26 pose: 0.23943233 5.04866 -3.29075 0 0.00794806 0.00150898 0.955338 -0.295406 uwb: 0.0 1142.8 483.328 -imu_odom_: 1691062465.686264556 0.624887 -0.177171 9.85932 -0.0479369 -0.00213053 0.291882 0.02 0.26 pose: 0.0 5.04866 -3.29075 0 0.00794806 0.00150898 0.955338 -0.295406 uwb: 0.50013944 1144.16 483.682 -imu_odom_: 1691062465.702232738 0.555455 -0.227449 9.8665 -0.0511327 0.00532632 0.272708 0.02 0.26 pose: 0.0 5.04866 -3.29075 0 0.00794806 0.00150898 0.955338 -0.295406 uwb: 0.0 1144.16 483.682 -imu_odom_: 1691062465.719352879 0.47884 -0.1652 9.90721 -0.056459 -0.00106526 0.256729 0.02 0.29 pose: 0.72976991 5.0486 -3.29071 0 0.00765351 0.000808262 0.952439 -0.304633 uwb: 0.0 1144.16 483.682 -imu_odom_: 1691062465.735347600 0.486023 -0.174777 9.90242 -0.052198 0 0.237554 0.02 0.29 pose: 0.0 5.0486 -3.29071 0 0.00765351 0.000808262 0.952439 -0.304633 uwb: 0.50240543 1144.52 484.147 -imu_odom_: 1691062465.752223643 0.47884 -0.0885855 9.82341 -0.0532632 0 0.219444 0.02 0.29 pose: 0.0 5.0486 -3.29071 0 0.00765351 0.000808262 0.952439 -0.304633 uwb: 0.0 1144.52 484.147 -imu_odom_: 1691062465.768204657 0.4956 -0.198719 9.88805 -0.0532632 0.00532632 0.211988 0.01 0.17 pose: 0.6962203 5.04866 -3.29075 0 0.0070431 0.00114753 0.952213 -0.305351 uwb: 0.0 1144.52 484.147 -imu_odom_: 1691062465.795190810 0.509965 -0.246603 9.91678 -0.052198 -0.00426106 0.193878 0.01 0.2 pose: 0.0 5.04866 -3.29075 0 0.0070431 0.00114753 0.952213 -0.305351 uwb: 0.49809216 1144.49 484.237 -imu_odom_: 1691062465.820170513 0.260968 -0.112527 9.88805 -0.052198 0.0181095 0.214118 0.01 0.14 pose: 0.66196769 5.05005 -3.30065 0 0.00455991 0.00174928 0.950337 -0.311183 uwb: 0.0 1144.49 484.237 -imu_odom_: 1691062465.837158543 0.0335188 -0.37589 9.92636 -0.0596548 0.00745685 0.265251 0.01 0.14 pose: 0.0 5.05005 -3.30065 0 0.00455991 0.00174928 0.950337 -0.311183 uwb: 0.49905163 1144 484.247 -imu_odom_: 1691062465.853155889 0.153229 -0.435745 9.94073 -0.0532632 -0.0149137 0.30147 0.01 0.14 pose: 0.27820520 5.05005 -3.30065 0 0.00481454 0.000273961 0.94964 -0.313307 uwb: 0.0 1144 484.247 -imu_odom_: 1691062465.870217411 0.399832 -0.292093 9.89524 -0.0500674 -0.0181095 0.327036 0.02 0.23 pose: 0.40963051 5.05005 -3.30065 0 0.00115769 -0.00114406 0.948288 -0.317407 uwb: 0.0 1144 484.247 -imu_odom_: 1691062465.886199592 0.567426 -0.146046 9.86411 -0.052198 -0.0106526 0.345146 0.02 0.23 pose: 0.0 5.05005 -3.30065 0 0.00115769 -0.00114406 0.948288 -0.317407 uwb: 0.50141388 1148.03 485.438 -imu_odom_: 1691062465.913304732 0.452504 -0.21069 9.83059 -0.0500674 0.0138484 0.339819 0.03 0.38 pose: 0.42024311 5.05005 -3.30065 0 0.00199216 -0.00203627 0.946342 -0.323154 uwb: 0.0 1148.03 485.438 -imu_odom_: 1691062465.929231502 0.196325 -0.217872 9.90002 -0.0575243 0.00639159 0.360059 0.03 0.38 pose: 0.0 5.05005 -3.30065 0 0.00199216 -0.00203627 0.946342 -0.323154 uwb: 0.0 1148.03 485.438 -imu_odom_: 1691062465.956256150 0.339977 -0.275333 9.78989 -0.0490022 -0.00852212 0.376038 0.03 0.44 pose: 0.6970660 5.05005 -3.30065 0 0.00200342 -0.00134859 0.946005 -0.324143 uwb: 0.49945409 1149.25 486.278 -imu_odom_: 1691062465.972201877 0.500388 -0.213084 9.85932 -0.0490022 -0.0181095 0.389887 0.02 0.41 pose: 0.0 5.05005 -3.30065 0 0.00200342 -0.00134859 0.946005 -0.324143 uwb: 0.0 1149.25 486.278 -imu_odom_: 1691062465.989164243 0.6608 -0.196325 9.93115 -0.0532632 -0.00958738 0.448476 0.02 0.55 pose: 0.0 5.05005 -3.30065 0 0.00200342 -0.00134859 0.946005 -0.324143 uwb: 0.50087727 1148.69 486.532 -imu_odom_: 1691062466.15209003 0.636858 -0.430956 10.0126 -0.0479369 0.0276969 0.495348 0.02 0.55 pose: 0.86068194 5.05005 -3.30065 0 0.00109665 -0.0007982050.941259 -0.337682 uwb: 0.0 1148.69 486.532 -imu_odom_: 1691062466.32201997 0.301669 -0.213084 9.85453 -0.0447411 0.0106526 0.531567 0.02 0.61 pose: 0.0 5.05005 -3.30065 0 0.00109665 -0.0007982050.941259 -0.337682 uwb: 0.0 1148.69 486.532 -imu_odom_: 1691062466.58141191 0.500388 -0.21069 9.90481 -0.0468716 -0.00639159 0.567786 0.02 0.61 pose: 0.42917888 5.05005 -3.30065 0 0.00316288 -0.00147057 0.937944 -0.34677 uwb: 0.49845975 1150.45 487.167 -imu_odom_: 1691062466.85136103 0.567426 -0.189142 10.0149 -0.0479369 0.00106526 0.565655 0.02 0.67 pose: 0.35984857 5.05 -3.30062 0 0.00358754 0.000701754 0.934672 -0.355493 uwb: 0.49834025 1151.64 488.081 -imu_odom_: 1691062466.101192658 0.378284 -0.332794 9.72525 -0.0447411 0.00639159 0.573112 0.02 0.67 pose: 0.7012658 5.05005 -3.30065 0 0.00407581 0.00119037 0.934013 -0.357215 uwb: 0.0 1151.64 488.081 -imu_odom_: 1691062466.117247171 0.344765 -0.241814 9.94791 -0.0543285 0 0.595483 0.02 0.73 pose: 0.0 5.05005 -3.30065 0 0.00407581 0.00119037 0.934013 -0.357215 uwb: 0.0 1151.64 488.081 -imu_odom_: 1691062466.134187671 0.577003 -0.316035 9.82341 -0.052198 -0.015979 0.628506 0.02 0.73 pose: 0.43099878 5.05005 -3.30065 0 0.0040016 0.000840936 0.929842 -0.367938 uwb: 0.0 1151.64 488.081 -imu_odom_: 1691062466.161194541 0.593762 -0.0861913 9.9934 -0.0543285 0.0191748 0.656203 0.02 0.79 pose: 0.0 5.05005 -3.30065 0 0.0040016 0.000840936 0.929842 -0.367938 uwb: 0.50061208 1154.35 488.769 -imu_odom_: 1691062466.187135776 0.411803 -0.153229 9.79947 -0.052198 0.02024 0.660464 0.02 0.79 pose: 0.32909273 5.05005 -3.30065 0 0.0049426 0.000659904 0.926248 -0.376881 uwb: 0.50244647 1155.28 488.927 -imu_odom_: 1691062466.214251425 0.529119 -0.407014 9.96227 -0.0553937 -0.00319579 0.709466 0.02 0.82 pose: 0.0 5.05005 -3.30065 0 0.0049426 0.000659904 0.926248 -0.376881 uwb: 0.0 1155.28 488.927 -imu_odom_: 1691062466.230291356 0.744597 -0.442927 9.89284 -0.0532632 0.0106526 0.711597 0.02 0.82 pose: 0.53155165 5.04015 -3.30206 0 0.00263703 0.00209421 0.919863 -0.392224 uwb: 0.0 1155.28 488.927 -imu_odom_: 1691062466.257137243 0.426168 -0.225055 9.79228 -0.0543285 0.00958738 0.740359 0.01 0.88 pose: 0.0 5.04015 -3.30206 0 0.00263703 0.00209421 0.919863 -0.392224 uwb: 0.49929973 1155.65 489.31 -imu_odom_: 1691062466.274117406 0.416591 -0.208296 10.0054 -0.0575243 0.00745685 0.740359 0.01 0.88 pose: 0.43894001 5.04015 -3.30206 0 0.00450965 3.10833e-05 0.913933 -0.405839 uwb: 0.0 1155.65 489.31 -imu_odom_: 1691062466.301289050 0.507571 -0.268151 9.81383 -0.0543285 -0.00532632 0.760599 0.01 1.03 pose: 0.0 5.04015 -3.30206 0 0.00450965 3.10833e-05 0.913933 -0.405839 uwb: 0.49899351 1155.91 490.053 -imu_odom_: 1691062466.327131128 0.457293 -0.251391 9.85932 -0.0479369 -0.00745685 0.788296 0.01 1.03 pose: 0.35905240 5.04009 -3.30203 0 0.00079443 0.000369665 0.908765 -0.417307 uwb: 0.0 1155.91 490.053 -imu_odom_: 1691062466.344118582 0.497994 -0.277727 9.85453 -0.0532632 0.00106526 0.834102 0.01 0.91 pose: 0.0 5.04009 -3.30203 0 0.00079443 0.000369665 0.908765 -0.417307 uwb: 0.49962344 1158.12 490.783 -imu_odom_: 1691062466.370143225 0.52433 -0.217872 9.92157 -0.0394148 -0.00319579 0.826645 0.01 0.91 pose: 0.53013722 5.03994 -3.30195 0 0.00271544 -0.00233489 0.900459 -0.434926 uwb: 0.0 1158.12 490.783 -imu_odom_: 1691062466.387116388 0.435745 -0.0909797 9.84017 -0.0543285 -0.00852212 0.844755 0.01 0.82 pose: 0.0 5.03994 -3.30195 0 0.00271544 -0.00233489 0.900459 -0.434926 uwb: 0.50021838 1156.23 490.594 -imu_odom_: 1691062466.403097992 0.682347 -0.215478 9.97664 -0.0575243 0 0.858603 0.01 0.82 pose: 0.25073621 5.04015 -3.30206 0 0.00440108 -0.00079033 0.896096 -0.443837 uwb: 0.0 1156.23 490.594 -imu_odom_: 1691062466.430285967 0.502782 -0.237026 10.0892 -0.052198 0.00319579 0.862864 0.01 0.97 pose: 0.50893243 5.04009 -3.30203 0 0.00508798 0.00274395 0.88684 -0.462041 uwb: 0.0 1156.23 490.594 -imu_odom_: 1691062466.456300986 0.565032 -0.265756 10.1179 -0.052198 -0.0106526 0.864995 0.01 0.97 pose: 0.8021424 5.04015 -3.30206 0 0.00498816 0.00192549 0.88531 -0.464971 uwb: 0.50103204 1153.54 489.873 -imu_odom_: 1691062466.483151831 0.691924 -0.253785 9.84735 -0.0575243 0.00426106 0.876713 0 1.06 pose: 0.45181570 5.03995 -3.30195 0 0.00718001 0.00105023 0.876483 -0.481377 uwb: 0.0 1153.54 489.873 -imu_odom_: 1691062466.509167141 0.574608 -0.229843 9.71088 -0.0468716 0.0213053 0.898018 0 0.79 pose: 0.0 5.03995 -3.30195 0 0.00718001 0.00105023 0.876483 -0.481377 uwb: 0.49922098 1152.09 489.856 -imu_odom_: 1691062466.536228838 0.52433 -0.134075 9.79947 -0.0490022 0.00852212 0.882039 0 1.03 pose: 0.34981048 5.04015 -3.30206 0 0.00873457 0.00289121 0.869293 -0.494212 uwb: 0.49862022 1150.3 489.328 -imu_odom_: 1691062466.552130534 0.490811 -0.141258 10.1323 -0.0468716 0.0106526 0.892692 0 1.03 pose: 0.0 5.04015 -3.30206 0 0.00873457 0.00289121 0.869293 -0.494212 uwb: 0.0 1150.3 489.328 -imu_odom_: 1691062466.579155777 0.509965 -0.356736 9.96227 -0.0543285 -0.00319579 0.911866 0 0.88 pose: 0.52968519 5.04015 -3.30206 0 -0.0040698 -0.00545455 -0.857992 0.513618 uwb: 0.0 1150.3 489.328 -imu_odom_: 1691062466.604289766 0.476446 -0.0885855 10.0772 -0.0479369 -0.00106526 0.936367 0 0.88 pose: 0.34905224 5.03966 -3.3018 0 -0.00464234 -0.00303935 -0.850114 0.526569 uwb: 0.50121869 1150.26 489.486 -imu_odom_: 1691062466.621279261 0.533907 -0.201113 9.81144 -0.0543285 0.0117179 0.968325 0 0.88 pose: 0.8088791 5.04015 -3.30206 0 -0.00402017 -0.00357665 -0.848202 0.529646 uwb: 0.0 1150.26 489.486 -imu_odom_: 1691062466.647101508 0.672771 -0.25618 9.93354 -0.0511327 0.0106526 0.966195 0 0.85 pose: 0.0 5.04015 -3.30206 0 -0.00402017 -0.00357665 -0.848202 0.529646 uwb: 0.49869895 1151.17 489.681 -imu_odom_: 1691062466.664236238 0.246603 -0.181959 9.83059 -0.0553937 0.0276969 0.961934 0 0.85 pose: 0.41872095 5.04015 -3.30206 0 -0.00502774 -0.00439271 -0.837889 0.5458 uwb: 0.0 1151.17 489.681 -imu_odom_: 1691062466.680220758 -0.19393 -0.213084 9.76834 -0.0543285 0.0575243 0.942759 0 0.85 pose: 0.0 5.04015 -3.30206 0 -0.00502774 -0.00439271 -0.837889 0.5458 uwb: 0.0 1151.17 489.681 -imu_odom_: 1691062466.696109331 -0.383072 -0.138864 9.80665 -0.0681769 0.00852212 0.960868 0.01 0.91 pose: 0.43124667 5.04015 -3.30206 0 -0.00414539 -0.00299257 -0.826896 0.562332 uwb: 0.49911600 1152.98 490.1 -imu_odom_: 1691062466.713053623 -0.220267 -0.189142 9.93354 -0.0543285 0.00319579 0.966195 0.01 0.91 pose: 0.0 5.04015 -3.30206 0 -0.00414539 -0.00299257 -0.826896 0.562332 uwb: 0.0 1152.98 490.1 -imu_odom_: 1691062466.730110485 -0.289698 -0.3304 9.9503 -0.0500674 0.0234358 0.916127 0.06 1 pose: 0.0 5.04015 -3.30206 0 -0.00414539 -0.00299257 -0.826896 0.562332 uwb: 0.0 1152.98 490.1 -imu_odom_: 1691062466.746216035 -0.423774 0.0407014 10.0652 -0.0426106 0.00958738 0.796818 0.06 1 pose: 0.40812293 5.04009 -3.30203 0 -0.000426549-0.00047751 -0.816206 0.577761 uwb: 0.50188945 1153.98 490.008 -imu_odom_: 1691062466.763209029 -0.201113 0.1652 9.90242 -0.0415453 -0.0575243 0.727576 0.06 1 pose: 0.0 5.04009 -3.30203 0 -0.000426549-0.00047751 -0.816206 0.577761 uwb: 0.0 1153.98 490.008 -imu_odom_: 1691062466.780099368 0.418985 -0.328006 9.69173 -0.0681769 -0.0426106 0.720119 0.06 0.67 pose: 0.7003034 5.04015 -3.30206 0 0.000158965 5.89834e-05 -0.814429 0.580264 uwb: 0.0 1153.98 490.008 -imu_odom_: 1691062466.796079806 0.447716 -0.517148 9.68455 -0.052198 0.0170442 0.700944 0.06 0.67 pose: 0.0 5.04015 -3.30206 0 0.000158965 5.89834e-05 -0.814429 0.580264 uwb: 0.50029128 1151.32 489.163 -imu_odom_: 1691062466.813050053 0.162806 -0.361524 9.8689 -0.0596548 0.0181095 0.710531 0.06 0.67 pose: 0.0 5.04015 -3.30206 0 0.000158965 5.89834e-05 -0.814429 0.580264 uwb: 0.0 1151.32 489.163 -imu_odom_: 1691062466.830051505 0.0407014 -0.272939 9.94073 -0.0628506 0.00319579 0.707336 0.1 0.79 pose: 0.51161839 5.04171 -3.31194 0 0.00320327 0.00121856 -0.803208 0.595689 uwb: 0.0 1151.32 489.163 -imu_odom_: 1691062466.846084437 0.179565 -0.181959 9.87369 -0.0617853 -0.0266316 0.66579 0.08 0.55 pose: 0.0 5.04171 -3.31194 0 0.00320327 0.00121856 -0.803208 0.595689 uwb: 0.49910725 1149.14 488.352 -imu_odom_: 1691062466.863089098 0.335188 -0.071826 9.85214 -0.0596548 -0.0191748 0.621049 0.08 0.55 pose: 0.66837810 5.04171 -3.31194 0 0.00388971 0.005379 -0.789784 0.613349 uwb: 0.0 1149.14 488.352 -imu_odom_: 1691062466.880112714 0.349553 -0.215478 9.98622 -0.0660464 -0.0138484 0.600809 0.09 0.53 pose: 0.0 5.04171 -3.31194 0 0.00388971 0.005379 -0.789784 0.613349 uwb: 0.0 1149.14 488.352 -imu_odom_: 1691062466.897167244 0.316035 -0.361524 10.0652 -0.0671117 -0.00319579 0.568851 0.09 0.53 pose: 0.0 5.04171 -3.31194 0 0.00388971 0.005379 -0.789784 0.613349 uwb: 0.50004923 1148.31 487.889 -imu_odom_: 1691062466.913043568 0.213084 -0.184354 10.0437 -0.056459 -0.00958738 0.539024 0.09 0.53 pose: 0.33115167 5.04171 -3.31194 0 0.00428245 0.00321219 -0.783778 0.621017 uwb: 0.0 1148.31 487.889 -imu_odom_: 1691062466.929048794 0.955286 -0.229843 10.1682 -0.0692422 -0.0532632 0.54222 0.13 0.61 pose: 0.41872095 5.0381 -3.32264 0 0.00392701 0.00426252 -0.776907 0.629589 uwb: 0.0 1148.31 487.889 -imu_odom_: 1691062466.945099516 1.04866 -0.325611 9.78031 -0.0681769 -0.0234358 0.548611 0.13 0.61 pose: 0.7063985 5.03341 -3.3234 0 0.00322073 0.00373784 -0.775792 0.63097 uwb: 0.0 1148.31 487.889 -imu_odom_: 1691062466.962095719 1.22104 -0.533907 9.95988 -0.056459 -0.0298274 0.56459 0.13 0.61 pose: 0.0 5.03341 -3.3234 0 0.00322073 0.00373784 -0.775792 0.63097 uwb: 0.0 1148.31 487.889 -imu_odom_: 1691062466.978154314 1.45567 -0.397437 9.80186 -0.036219 -0.0383495 0.523045 0.06 0.35 pose: 0.41988166 5.03335 -3.32337 0 -0.0009672890.00146986 -0.768947 0.63931 uwb: 0.0 1148.31 487.889 -imu_odom_: 1691062466.995037363 1.1564 0.129287 9.78989 -0.04048 0.0149137 0.444215 0.09 0.47 pose: 0.0 5.03335 -3.32337 0 -0.0009672890.00146986 -0.768947 0.63931 uwb: 0.100013637 1146.51 487.419 -imu_odom_: 1691062467.12096854 0.823605 0.203507 10.0987 -0.0639159 0.015979 0.415453 0.09 0.47 pose: 0.0 5.03335 -3.32337 0 -0.0009672890.00146986 -0.768947 0.63931 uwb: 0.0 1146.51 487.419 -imu_odom_: 1691062467.28033261 0.775721 -0.265756 9.76595 -0.0660464 0.00106526 0.38456 0.05 0.32 pose: 0.23073878 5.03341 -3.3234 0 -0.00262185 -0.000307467-0.765548 0.643373 uwb: 0.0 1146.51 487.419 -imu_odom_: 1691062467.44031495 0.665588 -0.342371 9.93594 -0.0543285 0.00319579 0.334493 0.05 0.32 pose: 0.0 5.03341 -3.3234 0 -0.00262185 -0.000307467-0.765548 0.643373 uwb: 0.49925320 1144.75 486.798 -imu_odom_: 1691062467.61032954 0.770933 -0.205901 9.91918 -0.0468716 -0.00213053 0.316384 0.05 0.32 pose: 0.33872841 5.03509 -3.33326 0 -0.00339539 -0.00304274 -0.761414 0.64825 uwb: 0.0 1144.75 486.798 -imu_odom_: 1691062467.77072891 0.739808 -0.148441 9.84256 -0.0479369 -0.00639159 0.313188 0.04 0.38 pose: 0.41990516 5.03509 -3.33326 0 -0.00683494 -0.0047289 -0.757319 0.652992 uwb: 0.0 1144.75 486.798 -imu_odom_: 1691062467.94048103 0.663194 -0.189142 9.88805 -0.0511327 -0.00106526 0.304666 0.04 0.38 pose: 0.7000995 5.03509 -3.33326 0 -0.00711156 -0.00538711 -0.756691 0.653712 uwb: 0.49956240 1144.83 486.481 -imu_odom_: 1691062467.111029731 0.703895 -0.229843 9.95509 -0.0500674 -0.00319579 0.282295 0.04 0.38 pose: 0.0 5.03509 -3.33326 0 -0.00711156 -0.00538711 -0.756691 0.653712 uwb: 0.0 1144.83 486.481 -imu_odom_: 1691062467.136096071 0.52433 -0.117316 9.8258 -0.052198 0.0149137 0.252468 0.03 0.26 pose: 0.42995782 5.03502 -3.33323 0 -0.00973434 -0.00844636 -0.753023 0.657868 uwb: 0.49961489 1145.35 486.359 -imu_odom_: 1691062467.153094322 -0.385466 -0.117316 9.74679 -0.0649811 0.0958738 0.273773 0.03 0.29 pose: 0.0 5.03502 -3.33323 0 -0.00973434 -0.00844636 -0.753023 0.657868 uwb: 0.0 1145.35 486.359 -imu_odom_: 1691062467.179300955 -1.41497 -0.428562 9.94791 -0.072438 0.0117179 0.314253 0.03 0.29 pose: 0.32036422 5.03509 -3.33326 0 -0.00625771 -0.00743843 -0.750766 0.660497 uwb: 0.0 1145.35 486.359 -imu_odom_: 1691062467.196128308 -0.833182 -0.383072 9.68933 -0.0372843 -0.0585895 0.284426 0.05 0.23 pose: 0.0 5.03509 -3.33326 0 -0.00625771 -0.00743843 -0.750766 0.660497 uwb: 0.50126555 1145.45 486.02 -imu_odom_: 1691062467.222084427 0.430956 -0.0454898 9.81383 -0.04048 -0.0585895 0.259925 0.05 0.23 pose: 0.18014599 5.03509 -3.33326 0 -0.00459842 -0.00575915 -0.749281 0.662211 uwb: 0.0 1145.45 486.02 -imu_odom_: 1691062467.249130678 0.237026 -0.277727 10.003 -0.0596548 0.0191748 0.241815 0.08 0.17 pose: 0.43028737 5.03509 -3.33326 0 -0.00198407 -0.00388359 -0.745683 0.666287 uwb: 0.49925327 1144.53 485.857 -imu_odom_: 1691062467.265128037 0.059855 -0.201113 10.2568 -0.0394148 0.0170442 0.213053 0.08 0.17 pose: 0.0 5.03509 -3.33326 0 -0.00198407 -0.00388359 -0.745683 0.666287 uwb: 0.0 1144.53 485.857 -imu_odom_: 1691062467.292125002 0.172383 0.0335188 9.94073 -0.0596548 -0.00426106 0.219444 0.1 0.17 pose: 0.53035325 5.03675 -3.34312 0 0.00106886 -0.00180633 -0.74208 0.670308 uwb: 0.50312327 1143.19 485.435 -imu_odom_: 1691062467.318005004 0.574608 -0.526724 9.99819 -0.0671117 0 0.213053 0.11 0.14 pose: 0.34980188 5.03669 -3.34309 0 0.00438147 -0.00122677 -0.739982 0.672612 uwb: 0.0 1143.19 485.435 -imu_odom_: 1691062467.345011009 0.0933739 0.174777 9.92397 -0.0490022 -0.0351537 0.18216 0.11 0.14 pose: 0.0 5.03669 -3.34309 0 0.00438147 -0.00122677 -0.739982 0.672612 uwb: 0.49904620 1142.92 484.654 -imu_odom_: 1691062467.370005898 0.423774 -0.282516 9.96227 -0.0735032 0.00532632 0.196009 0.12 0.11 pose: 0.7899523 5.03675 -3.34312 0 0.00361088 -0.000936131-0.739523 0.673121 uwb: 0.0 1142.92 484.654 -imu_odom_: 1691062467.397132349 0.361524 -0.354342 9.7875 -0.0234358 0 0.15979 0.12 0.11 pose: 0.0 5.03675 -3.34312 0 0.00361088 -0.000936131-0.739523 0.673121 uwb: 0.49849210 1143.09 484.042 -imu_odom_: 1691062467.422111198 0.641646 -0.0215478 9.98622 -0.0649811 -0.0436758 0.173638 0.13 0.08 pose: 0.53035617 5.02853 -3.35465 0 0.00350279 -0.000682615-0.736748 0.676158 uwb: 0.0 1143.09 484.042 -imu_odom_: 1691062467.439149403 0.457293 -0.342371 9.51695 -0.0703074 -0.0213053 0.16192 0.13 0.08 pose: 0.0 5.02853 -3.35465 0 0.00350279 -0.000682615-0.736748 0.676158 uwb: 0.49967031 1144.1 483.909 -imu_odom_: 1691062467.456106242 0.64404 -0.160412 10.2113 -0.0436758 0.0117179 0.132093 0.17 0.08 pose: 0.52026850 5.0302 -3.36451 0 0.000280774 0.0010947 -0.734392 0.678725 uwb: 0.0 1144.1 483.909 -imu_odom_: 1691062467.483159493 0.167594 -0.0670376 9.85693 -0.0948085 -0.0330232 0.154463 0.17 0.08 pose: 0.0 5.0302 -3.36451 0 0.000280774 0.0010947 -0.734392 0.678725 uwb: 0.0 1144.1 483.909 -imu_odom_: 1691062467.509040078 0.574608 -0.378284 9.8282 -0.0458064 0.0127832 0.108657 0.2 0.14 pose: 0.58027828 5.0302 -3.36451 0 -0.00201818 -0.00120146 -0.7321 0.681193 uwb: 0.50115181 1149.66 484.882 -imu_odom_: 1691062467.536014004 0.457293 -0.292093 9.84496 -0.0585895 -0.0298274 0.131028 0.19 0.08 pose: 0.27884119 5.03187 -3.37437 0 -0.00125939 -0.000554257-0.731133 0.682233 uwb: 0.49890914 1151.14 484.825 -imu_odom_: 1691062467.561105716 -0.110133 -0.11971 10.0078 -0.056459 0.00745685 0.122505 0.19 0.08 pose: 0.0 5.03187 -3.37437 0 -0.00125939 -0.000554257-0.731133 0.682233 uwb: 0.0 1151.14 484.825 -imu_odom_: 1691062467.587979902 -0.131681 -0.40462 10.0844 -0.0830906 0.0447411 0.110787 0.16 0.08 pose: 0.25061965 5.03187 -3.37437 0 -0.00352456 -2.34334e-05-0.730483 0.682922 uwb: 0.50101766 1155.3 485.646 -imu_odom_: 1691062467.603995342 0.220267 -0.42138 9.91439 -0.072438 0.0138484 0.092678 0.16 0.08 pose: 0.0 5.03187 -3.37437 0 -0.00352456 -2.34334e-05-0.730483 0.682922 uwb: 0.0 1155.3 485.646 -imu_odom_: 1691062467.620973179 0.0383072 -0.0167594 10.2041 -0.056459 0.00213053 0.0884169 0.22 0.05 pose: 0.52057764 5.03358 -3.38422 0 -0.00250703 0.00299648 -0.728967 0.684538 uwb: 0.0 1155.3 485.646 -imu_odom_: 1691062467.646978001 0.663194 -0.45011 9.81623 -0.0649811 0.0351537 0.1012 0.22 0.05 pose: 0.0 5.03358 -3.38422 0 -0.00250703 0.00299648 -0.728967 0.684538 uwb: 0.49914244 1154.86 485.465 -imu_odom_: 1691062467.663965461 0.596156 -0.19393 10.4579 -0.0617853 -0.00213053 0.0884169 0.22 0.05 pose: 0.42914416 5.03532 -3.39407 0 -0.0003359330.00692421 -0.728053 0.685486 uwb: 0.0 1154.86 485.465 -imu_odom_: 1691062467.690033860 0.711078 -0.476446 9.67257 -0.0692422 0.00106526 0.0852212 0.22 0.05 pose: 0.0 5.03532 -3.39407 0 -0.0003359330.00692421 -0.728053 0.685486 uwb: 0.49920661 1155.3 485.646 -imu_odom_: 1691062467.717247509 0.373495 -0.289698 9.39245 -0.0330232 0.00639159 0.0703074 0.22 0.05 pose: 0.43013863 5.02546 -3.39575 0 -0.001697 0.00572837 -0.727232 0.686366 uwb: 0.0 1155.3 485.646 -imu_odom_: 1691062467.733290364 0.52433 -0.361524 9.84735 -0.0532632 -0.0191748 0.0809601 0.22 0.05 pose: 0.0 5.02546 -3.39575 0 -0.001697 0.00572837 -0.727232 0.686366 uwb: 0.0 1155.3 485.646 -imu_odom_: 1691062467.750270242 0.0837971 -0.251391 9.74679 -0.0415453 0.0351537 0.0436758 0.21 0.05 pose: 0.43239298 5.02716 -3.40561 0 -0.00378523 0.00414931 -0.726592 0.687046 uwb: 0.50006984 1151.73 484.46 -imu_odom_: 1691062467.765999879 0.373495 -0.100556 10.343 -0.056459 -0.0117179 0.0788296 0.21 0.05 pose: 0.0 5.02716 -3.40561 0 -0.00378523 0.00414931 -0.726592 0.687046 uwb: 0.0 1151.73 484.46 -imu_odom_: 1691062467.782941261 0.454898 -0.258574 10.3238 -0.0585895 -0.00213053 0.0756338 0.21 0.05 pose: 0.0 5.02716 -3.40561 0 -0.00378523 0.00414931 -0.726592 0.687046 uwb: 0.0 1151.73 484.46 -imu_odom_: 1691062467.800059375 0.574608 -0.201113 9.94791 -0.0479369 -0.0106526 0.0617853 0.17 0 pose: 0.43846481 5.02889 -3.41546 0 -0.00235953 0.00383902 -0.726144 0.687528 uwb: 0.0 1151.73 484.46 -imu_odom_: 1691062467.816155306 0.268151 -0.105345 9.8689 -0.052198 -0.0106526 0.0639159 0.17 0 pose: 0.0 5.02889 -3.41546 0 -0.00235953 0.00383902 -0.726144 0.687528 uwb: 0.0 1151.73 484.46 -imu_odom_: 1691062467.833960804 0.490811 -0.430956 9.30866 -0.0713727 -0.04048 0.076699 0.17 0 pose: 0.0 5.02889 -3.41546 0 -0.00235953 0.00383902 -0.726144 0.687528 uwb: 0.0 1151.73 484.46 -imu_odom_: 1691062467.858996813 0.648829 -0.174777 9.92875 -0.0234358 0.00532632 0.0447411 0.17 0.02 pose: 0.92828078 5.0316 -3.43075 0 -0.00269737 0.000944358 -0.72522 0.688511 uwb: 0.99906064 1149.54 483.599 -imu_odom_: 1691062467.885227652 0.411803 -0.229843 10.1778 -0.052198 -0.0117179 0.0745685 0.21 0.02 pose: 0.0 5.0316 -3.43075 0 -0.00269737 0.000944358 -0.72522 0.688511 uwb: 0.49979280 1150.48 483.726 -imu_odom_: 1691062467.902095251 0.531513 -0.114922 9.95509 -0.0383495 -0.00532632 0.0500674 0.21 0.02 pose: 0.25036009 5.03239 -3.43515 0 -0.00336588 -0.00154505 -0.725178 0.688551 uwb: 0.0 1150.48 483.726 -imu_odom_: 1691062467.928076742 0.452504 -0.105345 9.75637 -0.0617853 0.0191748 0.0809601 0.17 -0.02 pose: 0.0 5.03239 -3.43515 0 -0.00336588 -0.00154505 -0.725178 0.688551 uwb: 0.0 1150.48 483.726 -imu_odom_: 1691062467.944924217 0.105345 -0.59855 9.59357 -0.0447411 0.0308927 0.0500674 0.17 -0.02 pose: 0.34024499 5.02255 -3.43692 0 -0.00122451 -0.00095376 -0.724838 0.688918 uwb: 0.49978112 1154.62 484.631 -imu_odom_: 1691062467.962043789 0.837971 -0.0071826110.1778 -0.0330232 -0.00532632 0.0500674 0.23 0 pose: 0.0 5.02255 -3.43692 0 -0.00122451 -0.00095376 -0.724838 0.688918 uwb: 0.0 1154.62 484.631 -imu_odom_: 1691062467.978038523 0.215478 -0.213084 9.56484 -0.0532632 0 0.0713727 0.23 0 pose: 0.58912650 5.02433 -3.44676 0 0.000485609 -0.00254785 -0.72435 0.689428 uwb: 0.0 1154.62 484.631 -imu_odom_: 1691062467.994934702 0.282516 -0.25618 10.0676 -0.0330232 -0.0596548 0.0436758 0.23 0 pose: 0.0 5.02433 -3.44676 0 0.000485609 -0.00254785 -0.72435 0.689428 uwb: 0.50075519 1154.65 484.518 -imu_odom_: 1691062468.12088981 0.486023 -0.232238 9.27993 -0.036219 -0.0308927 0.0596548 0.17 0.02 pose: 0.0 5.02433 -3.44676 0 0.000485609 -0.00254785 -0.72435 0.689428 uwb: 0.0 1154.65 484.518 -imu_odom_: 1691062468.28130675 0.42138 -0.356736 10.3046 -0.072438 0.00426106 0.0830906 0.17 0.02 pose: 0.51017792 5.02611 -3.4566 0 0.000462563 -0.00137524 -0.724063 0.689732 uwb: 0.0 1154.65 484.518 -imu_odom_: 1691062468.44976407 0.23942 -0.143652 9.23683 -0.0468716 -0.0575243 0.0479369 0.17 0.02 pose: 0.0 5.02611 -3.4566 0 0.000462563 -0.00137524 -0.724063 0.689732 uwb: 0.50009622 1152.95 483.621 -imu_odom_: 1691062468.61193957 0.687136 -0.263362 9.85932 -0.0681769 -0.0255663 0.0703074 0.19 0.02 pose: 0.0 5.02611 -3.4566 0 0.000462563 -0.00137524 -0.724063 0.689732 uwb: 0.0 1152.95 483.621 -imu_odom_: 1691062468.78950175 0.56982 -0.234632 9.85693 -0.0692422 -0.0170442 0.0639159 0.19 0.02 pose: 0.49134431 5.02789 -3.46644 0 -0.000866462-0.000583118-0.723633 0.690184 uwb: 0.0 1152.95 483.621 -imu_odom_: 1691062468.104983296 0.519542 0.0191536 9.9503 -0.0607201 -0.02024 0.0585895 0.17 0.02 pose: 0.0 5.02789 -3.46644 0 -0.000866462-0.000583118-0.723633 0.690184 uwb: 0.50037918 1154.92 483.618 -imu_odom_: 1691062468.131096908 0.351948 -0.361524 9.63187 -0.0660464 -0.0330232 0.0596548 0.17 0.02 pose: 0.33880154 5.0296 -3.47629 0 -0.00295621 -0.00280205 -0.723338 0.690482 uwb: 0.0 1154.92 483.618 -imu_odom_: 1691062468.156973421 0.414197 -0.198719 9.44034 -0.0788296 -0.0149137 0.0596548 0.19 0.02 pose: 0.45130569 5.02386 -3.48447 0 -0.00268979 -0.00199873 -0.723036 0.690803 uwb: 0.49988632 1156.73 484.139 -imu_odom_: 1691062468.183109198 0.0550666 -0.430956 9.40682 -0.0532632 0.0458064 0.0468716 0.19 0.02 pose: 0.0 5.02386 -3.48447 0 -0.00268979 -0.00199873 -0.723036 0.690803 uwb: 0.0 1156.73 484.139 -imu_odom_: 1691062468.209034414 0.0766145 -0.229843 9.81623 -0.0607201 -0.0245011 0.0671117 0.18 0.02 pose: 0.52012290 5.0227 -3.49484 0 0.000623215 0.00191971 -0.722795 0.69106 uwb: 0.50120451 1156.82 483.825 -imu_odom_: 1691062468.226023339 1.17316 -0.292093 9.92397 -0.0628506 0.00426106 0.0543285 0.18 0.02 pose: 0.0 5.0227 -3.49484 0 0.000623215 0.00191971 -0.722795 0.69106 uwb: 0.0 1156.82 483.825 -imu_odom_: 1691062468.252038962 0.476446 0.0670376 9.94551 -0.0639159 0.0191748 0.0596548 0.19 0 pose: 0.42914141 5.02321 -3.49771 0 0.000984592 0.00256542 -0.72246 0.691408 uwb: 0.49764364 1156.44 483.463 -imu_odom_: 1691062468.277895643 0.100556 -0.275333 9.65582 -0.0479369 0.00319579 0.04048 0.23 0 pose: 0.6941505 5.02321 -3.49771 0 0.00128228 0.00199783 -0.722411 0.69146 uwb: 0.0 1156.44 483.463 -imu_odom_: 1691062468.293899716 0.0885855 -0.325611 9.65821 -0.0500674 -0.0117179 0.0500674 0.18 0 pose: 0.19074118 5.02449 -3.50495 0 0.00210026 0.000438199 -0.722277 0.691601 uwb: 0.49967342 1156.12 482.899 -imu_odom_: 1691062468.311903241 0.368707 -0.258574 9.55047 -0.0585895 0.0170442 0.0543285 0.18 0 pose: 0.0 5.02449 -3.50495 0 0.00210026 0.000438199 -0.722277 0.691601 uwb: 0.0 1156.12 482.899 -imu_odom_: 1691062468.328936787 0.490811 -0.177171 10.0556 -0.0426106 -0.0266316 0.0383495 0.18 0 pose: 0.32869053 5.02495 -3.50756 0 0.00371724 0.00332976 -0.72224 0.691624 uwb: 0.0 1156.12 482.899 -imu_odom_: 1691062468.353949767 0.270545 -0.222661 9.79947 -0.0532632 0 0.0500674 0.18 0 pose: 0.0 5.02495 -3.50756 0 0.00371724 0.00332976 -0.72224 0.691624 uwb: 0.0 1156.12 482.899 -imu_odom_: 1691062468.371048056 0.490811 -0.263362 10.1107 -0.0330232 -0.0213053 0.04048 0.18 0 pose: 0.34027138 5.0267 -3.5174 0 0.00203176 0.00309848 -0.722128 0.69175 uwb: 0.0 1156.12 482.899 -imu_odom_: 1691062468.397073303 0.656011 -0.0383072 10.1155 -0.0639159 -0.0234358 0.0543285 0.18 0 pose: 0.6952587 5.01861 -3.529 0 0.00283129 0.00336235 -0.722037 0.69184 uwb: 0.100033549 1160.32 483.671 -imu_odom_: 1691062468.423913670 0.399832 -0.112527 10.0149 -0.056459 0.0106526 0.0394148 0.2 0 pose: 0.36170949 5.01861 -3.529 0 0.00102072 8.78265e-05 -0.721907 0.691989 uwb: 0.0 1160.32 483.671 -imu_odom_: 1691062468.439931158 0.308852 -0.481235 9.75637 -0.0862864 -0.00106526 0.0500674 0.2 0 pose: 0.0 5.01861 -3.529 0 0.00102072 8.78265e-05 -0.721907 0.691989 uwb: 0.50021586 1163.53 484.482 -imu_odom_: 1691062468.457047529 0.634463 -0.37589 10.1394 -0.056459 0.0340885 0.0298274 0.24 0 pose: 0.0 5.01861 -3.529 0 0.00102072 8.78265e-05 -0.721907 0.691989 uwb: 0.0 1163.53 484.482 -imu_odom_: 1691062468.482996367 0.447716 -0.0383072 9.7851 -0.0479369 0.00745685 0.0511327 0.24 0 pose: 0.49893267 5.02037 -3.53885 0 0.00117343 -0.000339061-0.721873 0.692024 uwb: 0.0 1163.53 484.482 -imu_odom_: 1691062468.509863273 0.277727 -0.287304 9.7037 -0.0308927 0.00958738 0.0213053 0.25 0 pose: 0.36029797 5.02213 -3.54869 0 0.00173936 -0.00255754 -0.7218 0.692095 uwb: 0.50004380 1164.4 484.858 -imu_odom_: 1691062468.525864138 0.174777 -0.155623 9.92397 -0.04048 0.0213053 0.0426106 0.25 0 pose: 0.6888718 5.02213 -3.54869 0 0.00185734 -0.00189683 -0.721845 0.69205 uwb: 0.0 1164.4 484.858 -imu_odom_: 1691062468.552859656 0.553061 -0.162806 10.058 -0.0436758 -0.0436758 0.0330232 0.21 0 pose: 0.0 5.02213 -3.54869 0 0.00185734 -0.00189683 -0.721845 0.69205 uwb: 0.50070581 1165.33 485.056 -imu_odom_: 1691062468.577909965 0.905008 -0.272939 10.5967 -0.0607201 -0.00319579 0.0575243 0.21 0 pose: 0.35979053 5.0239 -3.55854 0 0.00373573 0.000999096 -0.721955 0.691929 uwb: 0.0 1165.33 485.056 -imu_odom_: 1691062468.594891017 0.521936 -0.292093 9.31823 -0.0575243 0.0553937 0.0298274 0.21 -0.02 pose: 0.0 5.0239 -3.55854 0 0.00373573 0.000999096 -0.721955 0.691929 uwb: 0.49907557 1162.65 484.152 -imu_odom_: 1691062468.619880958 0.196325 -0.167594 9.77313 -0.0830906 0.0351537 0.0607201 0.21 -0.02 pose: 0.52045827 5.02514 -3.56552 0 -0.000518812-0.00275472 -0.721857 0.692037 uwb: 0.0 1162.65 484.152 -imu_odom_: 1691062468.646872976 0.320823 -0.440533 9.65821 -0.056459 -0.00532632 0.0245011 0.21 -0.02 pose: 0.41970993 5.01705 -3.5771 0 0.000339628 -6.95498e-05-0.721732 0.692173 uwb: 0.49954218 1163.19 484.003 -imu_odom_: 1691062468.662880840 0.4956 -0.167594 9.75158 -0.0319579 0.0245011 0.0383495 0.21 -0.02 pose: 0.0 5.01705 -3.5771 0 0.000339628 -6.95498e-05-0.721732 0.692173 uwb: 0.0 1163.19 484.003 -imu_odom_: 1691062468.689894147 0.61531 0.0622492 10.3286 -0.0458064 -0.00958738 0.0330232 0.23 0.02 pose: 0.42999882 5.01757 -3.57998 0 -0.00073082 0.00081105 -0.721882 0.692016 uwb: 0.50311181 1160.94 483.296 -imu_odom_: 1691062468.714993160 0.258574 -0.42138 9.8665 -0.072438 0.056459 0.0532632 0.23 0.02 pose: 0.0 5.01757 -3.57998 0 -0.00073082 0.00081105 -0.721882 0.692016 uwb: 0.0 1160.94 483.296 -imu_odom_: 1691062468.732017374 0.368707 -0.428562 9.40203 -0.0649811 -0.00958738 0.036219 0.23 0 pose: 0.52112320 5.01933 -3.58983 0 -0.0001833270.00116996 -0.721824 0.692076 uwb: 0.0 1160.94 483.296 -imu_odom_: 1691062468.756951904 0.581791 -0.258574 9.56244 -0.0628506 0.0532632 0.0436758 0.23 0 pose: 0.0 5.01933 -3.58983 0 -0.0001833270.00116996 -0.721824 0.692076 uwb: 0.49653250 1162.48 483.115 -imu_odom_: 1691062468.783990584 0.428562 -0.071826 10.0916 -0.0511327 -0.0500674 0.036219 0.18 -0.02 pose: 0.25032812 5.02109 -3.59967 0 -0.00171772 0.00215361 -0.721832 0.692062 uwb: 0.0 1162.48 483.115 -imu_odom_: 1691062468.799877711 0.888249 0.0335188 9.83538 -0.0585895 0.0308927 0.0426106 0.18 -0.02 pose: 0.0 5.02109 -3.59967 0 -0.00171772 0.00215361 -0.721832 0.692062 uwb: 0.50044626 1160.82 482.079 -imu_odom_: 1691062468.817929647 0.344765 -0.526724 10.161 -0.0511327 0.0255663 0.0308927 0.18 0 pose: 0.51885428 5.02285 -3.60951 0 -0.00133054 -0.00181623 -0.721838 0.692059 uwb: 0.0 1160.82 482.079 -imu_odom_: 1691062468.841867660 0.205901 -0.440533 9.18655 -0.0287621 -0.0181095 0.0532632 0.18 0 pose: 0.0 5.02285 -3.60951 0 -0.00133054 -0.00181623 -0.721838 0.692059 uwb: 0.49939928 1164.5 482.992 -imu_odom_: 1691062468.868914505 0.265756 -0.0311246 9.35654 -0.0308927 -0.0308927 0.015979 0.23 0 pose: 0.49956260 5.01715 -3.6177 0 -0.00173623 0.00137985 -0.721764 0.692136 uwb: 0.0 1164.5 482.992 -imu_odom_: 1691062468.893866534 0.179565 -0.399832 9.663 -0.0660464 0.00745685 0.0532632 0.18 -0.02 pose: 0.0 5.01715 -3.6177 0 -0.00173623 0.00137985 -0.721764 0.692136 uwb: 0.50069707 1167.21 483.837 -imu_odom_: 1691062468.918976920 0.435745 -0.208296 9.81383 -0.0351537 -0.04048 0.0213053 0.21 0 pose: 0.7083822 5.01477 -3.62112 0 -0.00105497 0.00108397 -0.721822 0.692077 uwb: 0.0 1167.21 483.837 -imu_odom_: 1691062468.932968126 0.505177 -0.0335188 9.89524 -0.0436758 0.0106526 0.0458064 0.21 0 pose: 0.0 5.01477 -3.62112 0 -0.00105497 0.00108397 -0.721822 0.692077 uwb: 0.0 1167.21 483.837 -imu_odom_: 1691062468.948845046 0.354342 -0.447716 9.61511 -0.0532632 -0.0330232 0.0415453 0.18 0 pose: 0.52057785 5.01653 -3.63096 0 0.000680963 0.00215106 -0.721911 0.691982 uwb: 0.50042000 1169.6 484.147 -imu_odom_: 1691062468.972824471 0.3304 -0.323217 9.71806 -0.0372843 0.0191748 0.0255663 0.18 0 pose: 0.0 5.01653 -3.63096 0 0.000680963 0.00215106 -0.721911 0.691982 uwb: 0.0 1169.6 484.147 -imu_odom_: 1691062468.988851291 0.447716 -0.179565 10.003 -0.0447411 -0.0308927 0.0553937 0.19 0 pose: 0.71815204 5.01773 -3.63765 0 -0.0004850180.002454 -0.722099 0.691786 uwb: 0.50130950 1169.6 484.17 -imu_odom_: 1691062469.6836153 0.536301 -0.339977 9.72285 -0.0447411 -0.00106526 0.0298274 0.19 0 pose: 0.8002474 5.01829 -3.64081 0 -0.0005199190.00154893 -0.722056 0.691832 uwb: 0.0 1169.6 484.17 -imu_odom_: 1691062469.30855250 0.289698 -0.186748 9.54808 -0.0649811 0.0383495 0.0553937 0.18 0 pose: 0.0 5.01829 -3.64081 0 -0.0005199190.00154893 -0.722056 0.691832 uwb: 0.0 1169.6 484.17 -imu_odom_: 1691062469.55833244 0.6608 -0.265756 9.9503 -0.0319579 -0.0298274 0.0276969 0.18 0 pose: 0.33070286 5.02004 -3.65065 0 -0.00151005 0.000807108 -0.722035 0.691854 uwb: 0.49859450 1167.43 483.167 -imu_odom_: 1691062469.69865284 0.21069 -0.169988 9.94551 -0.0458064 -0.0255663 0.0500674 0.18 0 pose: 0.0 5.02004 -3.65065 0 -0.00151005 0.000807108 -0.722035 0.691854 uwb: 0.0 1167.43 483.167 -imu_odom_: 1691062469.84885677 0.560243 -0.167594 10.398 -0.0500674 -0.0340885 0.0436758 0.2 0 pose: 0.47925039 5.02004 -3.65065 0 -0.00121102 -6.90164e-05-0.722025 0.691866 uwb: 0.49757676 1172.11 484.135 -imu_odom_: 1691062469.111944782 0.610521 -0.0742203 9.50498 -0.0490022 -0.0276969 0.0553937 0.2 0 pose: 0.0 5.02004 -3.65065 0 -0.00121102 -6.90164e-05-0.722025 0.691866 uwb: 0.0 1172.11 484.135 -imu_odom_: 1691062469.136869698 -0.0167594 -0.263362 9.35175 -0.04048 0.0639159 0.0287621 0.25 0 pose: 0.31055968 5.01196 -3.66225 0 -0.00146339 -0.00220029 -0.721929 0.691962 uwb: 0.50002358 1174.07 484.25 -imu_odom_: 1691062469.153804095 0.0694318 -0.213084 10.2256 -0.0585895 -0.02024 0.0490022 0.25 0 pose: 0.0 5.01196 -3.66225 0 -0.00146339 -0.00220029 -0.721929 0.691962 uwb: 0.0 1174.07 484.25 -imu_odom_: 1691062469.170807317 0.577003 -0.0454898 10.2472 -0.0649811 -0.0106526 0.0490022 0.23 -0.02 pose: 0.50999752 5.01372 -3.6721 0 0.000827286 -0.00134237 -0.721899 0.691996 uwb: 0.0 1174.07 484.25 -imu_odom_: 1691062469.194831663 0.325611 -0.0622492 9.8282 -0.056459 0.02024 0.0372843 0.23 -0.02 pose: 0.0 5.01372 -3.6721 0 0.000827286 -0.00134237 -0.721899 0.691996 uwb: 0.49976403 1173.74 483.764 -imu_odom_: 1691062469.219919021 0.0957681 -0.397437 9.36851 -0.0692422 0 0.0511327 0.18 0.02 pose: 0.50953673 5.01548 -3.68194 0 0.00364746 -0.00228288 -0.721828 0.69206 uwb: 0.0 1173.74 483.764 -imu_odom_: 1691062469.246798478 0.265756 -0.143652 9.32781 -0.0777643 0.00106526 0.0426106 0.22 0 pose: 0.0 5.01548 -3.68194 0 0.00364746 -0.00228288 -0.721828 0.69206 uwb: 0.50070893 1172.95 483.105 -imu_odom_: 1691062469.271956994 0.0287304 -0.493206 9.59357 -0.0436758 0.015979 0.0351537 0.19 0 pose: 0.32016616 5.01724 -3.69179 0 0.00433356 0.00074304 -0.721726 0.692164 uwb: 0.0 1172.95 483.105 -imu_odom_: 1691062469.288914138 0.316035 -0.0814029 10.1083 -0.0436758 -0.00852212 0.0319579 0.19 0 pose: 0.0 5.01724 -3.69179 0 0.00433356 0.00074304 -0.721726 0.692164 uwb: 0.50247332 1172.97 483.038 -imu_odom_: 1691062469.304845309 0.61531 -0.19393 9.89524 -0.072438 0.00745685 0.056459 0.23 0 pose: 0.52282365 5.019 -3.70163 0 0.00630054 0.00362841 -0.72176 0.692106 uwb: 0.0 1172.97 483.038 -imu_odom_: 1691062469.331793592 0.739808 -0.138864 10.1394 -0.0532632 0 0.0308927 0.23 0 pose: 0.0 5.019 -3.70163 0 0.00630054 0.00362841 -0.72176 0.692106 uwb: 0.0 1172.97 483.038 -imu_odom_: 1691062469.357799310 0.620098 -0.371101 10.4363 -0.0660464 0.00426106 0.0426106 0.18 0.02 pose: 0.52662948 5.01042 -3.71041 0 0.00354334 -0.000172833-0.721775 0.692118 uwb: 0.49927116 1171.62 482.588 -imu_odom_: 1691062469.384911784 0.600945 -0.361524 9.99579 -0.0479369 -0.0255663 0.0500674 0.25 -0.02 pose: 0.8032807 5.01092 -3.71324 0 0.00273792 -0.000197995-0.721768 0.692129 uwb: 0.49967654 1169.4 481.709 -imu_odom_: 1691062469.400776170 0.134075 -0.129287 9.663 -0.052198 0.0276969 0.0415453 0.18 0 pose: 0.0 5.01092 -3.71324 0 0.00273792 -0.000197995-0.721768 0.692129 uwb: 0.0 1169.4 481.709 -imu_odom_: 1691062469.417805348 0.828394 -0.0909797 10.1418 -0.0372843 -0.0500674 0.0383495 0.18 0 pose: 0.0 5.01092 -3.71324 0 0.00273792 -0.000197995-0.721768 0.692129 uwb: 0.0 1169.4 481.709 -imu_odom_: 1691062469.442773426 0.35913 -0.277727 10.3262 -0.0553937 0.00319579 0.0436758 0.18 0 pose: 0.52978498 5.01269 -3.72308 0 -0.00109076 -0.000370762-0.721647 0.692261 uwb: 0.49892703 1167.26 480.595 -imu_odom_: 1691062469.459909926 0.562637 -0.0814029 9.48104 -0.0213053 0.00745685 0.0330232 0.18 0 pose: 0.0 5.01269 -3.72308 0 -0.00109076 -0.000370762-0.721647 0.692261 uwb: 0.0 1167.26 480.595 -imu_odom_: 1691062469.476016661 0.0622492 -0.23942 9.96706 -0.0532632 0.0330232 0.056459 0.2 0 pose: 0.33277065 5.01269 -3.72308 0 -0.00115488 -0.000969082-0.721636 0.692271 uwb: 0.0 1167.26 480.595 -imu_odom_: 1691062469.492886897 0.629675 -0.227449 10.3669 -0.0628506 -0.0458064 0.0394148 0.2 0 pose: 0.41933972 5.01446 -3.73292 0 -2.43355e-05-0.000414636-0.721605 0.692305 uwb: 0.50137094 1167.31 480.439 -imu_odom_: 1691062469.509884287 0.476446 -0.114922 9.69412 -0.0607201 0.02024 0.0383495 0.2 0 pose: 0.0 5.01446 -3.73292 0 -2.43355e-05-0.000414636-0.721605 0.692305 uwb: 0.0 1167.31 480.439 -imu_odom_: 1691062469.526880802 0.387861 -0.543484 9.67976 -0.0884169 -0.00106526 0.0468716 0.18 0 pose: 0.41868353 5.01623 -3.74276 0 -0.000318067-0.00242646 -0.721565 0.692342 uwb: 0.0 1167.31 480.439 -imu_odom_: 1691062469.544948202 0.23942 0.047884 9.84017 -0.0330232 -0.00532632 0.0298274 0.18 0 pose: 0.0 5.01623 -3.74276 0 -0.000318067-0.00242646 -0.721565 0.692342 uwb: 0.49908160 1168.84 480.365 -imu_odom_: 1691062469.560815504 0.258574 -0.21069 9.30866 -0.056459 0.00426106 0.0351537 0.18 0 pose: 0.0 5.01623 -3.74276 0 -0.000318067-0.00242646 -0.721565 0.692342 uwb: 0.0 1168.84 480.365 -imu_odom_: 1691062469.577750776 0.37589 -0.275333 10.4698 -0.0500674 0.036219 0.0490022 0.18 0.02 pose: 0.41999881 5.00815 -3.75438 0 0.000889122 -0.000739256-0.721596 0.692314 uwb: 0.0 1168.84 480.365 -imu_odom_: 1691062469.595867462 0.260968 -0.232238 9.65103 -0.0308927 -0.0223706 0.0276969 0.18 0 pose: 0.0 5.00815 -3.75438 0 0.000889122 -0.000739256-0.721596 0.692314 uwb: 0.49971153 1171.69 480.877 -imu_odom_: 1691062469.620796462 0.21069 -0.0646434 9.60314 -0.0649811 -0.0117179 0.0511327 0.18 0 pose: 0.33999737 5.00815 -3.75438 0 0.00123947 0.00195506 -0.721588 0.692319 uwb: 0.0 1171.69 480.877 -imu_odom_: 1691062469.647871898 0.402226 -0.184354 9.63187 -0.0436758 -0.02024 0.0383495 0.18 0 pose: 0.0 5.00815 -3.75438 0 0.00123947 0.00195506 -0.721588 0.692319 uwb: 0.50030356 1173.65 481.035 -imu_odom_: 1691062469.663808610 1.10852 -0.1652 10.331 -0.0628506 -0.00426106 0.0479369 0.18 0 pose: 0.16946062 5.00992 -3.76422 0 0.00259259 0.00246141 -0.721597 0.692304 uwb: 0.0 1173.65 481.035 -imu_odom_: 1691062469.681902549 0.526724 -0.191536 10.3118 -0.0447411 -0.0127832 0.0319579 0.2 -0.02 pose: 0.53043533 5.00992 -3.76422 0 0.00179866 -0.000522033-0.72151 0.692402 uwb: 0.0 1173.65 481.035 -imu_odom_: 1691062469.698841611 1.59933 -0.316035 9.68215 -0.076699 -0.0607201 0.00745685 0.2 -0.02 pose: 0.0 5.00992 -3.76422 0 0.00179866 -0.000522033-0.72151 0.692402 uwb: 0.49827085 1175.6 481.244 -imu_odom_: 1691062469.712796368 1.81959 -0.0383072 9.92397 -0.0692422 -0.0511327 -0.12144 0.2 -0.02 pose: 0.0 5.00992 -3.76422 0 0.00179866 -0.000522033-0.72151 0.692402 uwb: 0.0 1175.6 481.244 -imu_odom_: 1691062469.729786758 1.78129 0.3304 10.07 -0.0585895 -0.0149137 -0.226901 0.14 -0.26 pose: 0.48916600 5.01169 -3.77406 0 -0.00249345 -0.00409008 -0.722043 0.691832 uwb: 0.0 1175.6 481.244 -imu_odom_: 1691062469.743891416 1.72143 0.0837971 9.56484 -0.0639159 -0.0127832 -0.295078 0.14 -0.26 pose: 0.0 5.01169 -3.77406 0 -0.00249345 -0.00409008 -0.722043 0.691832 uwb: 0.50163049 1173.37 480.371 -imu_odom_: 1691062469.760845644 1.18513 -0.007182619.89284 -0.0671117 0.0298274 -0.385626 0.11 -0.38 pose: 0.39101316 5.01348 -3.78385 0 -0.00479757 -0.00758219 -0.725658 0.687997 uwb: 0.0 1173.37 480.371 -imu_odom_: 1691062469.774834522 1.1971 0.117316 10.1251 -0.052198 0.0298274 -0.456998 0.11 -0.38 pose: 0.0 5.01348 -3.78385 0 -0.00479757 -0.00758219 -0.725658 0.687997 uwb: 0.0 1173.37 480.371 -imu_odom_: 1691062469.790756360 1.08457 -0.167594 9.79468 -0.0671117 0.00106526 -0.455933 0.11 -0.38 pose: 0.0 5.01348 -3.78385 0 -0.00479757 -0.00758219 -0.725658 0.687997 uwb: 0.49979320 1177.57 481.371 -imu_odom_: 1691062469.805779378 0.97444 -0.258574 9.90721 -0.0660464 0.0319579 -0.469782 0.09 -0.5 pose: 0.46864944 5.01355 -3.78389 0 -0.00700404 -0.0109203 -0.733163 0.679929 uwb: 0.0 1177.57 481.371 -imu_odom_: 1691062469.821745544 0.890643 -0.19393 9.48343 -0.0596548 -0.0191748 -0.488956 0.09 -0.5 pose: 0.0 5.01355 -3.78389 0 -0.00700404 -0.0109203 -0.733163 0.679929 uwb: 0.0 1177.57 481.371 -imu_odom_: 1691062469.836737065 0.758962 -0.177171 9.71567 -0.0713727 0.00639159 -0.496413 0.09 -0.5 pose: 0.0 5.01355 -3.78389 0 -0.00700404 -0.0109203 -0.733163 0.679929 uwb: 0.50039979 1179.63 481.261 -imu_odom_: 1691062469.853751953 0.859518 -0.179565 9.8258 -0.0745685 -0.0415453 -0.497478 0.07 -0.5 pose: 0.45980705 5.00555 -3.79556 0 -0.0108335 -0.0129656 -0.741252 0.671014 uwb: 0.0 1179.63 481.261 -imu_odom_: 1691062469.867929519 0.866701 -0.0191536 9.92875 -0.0639159 -0.00852212 -0.519849 0.07 -0.55 pose: 0.0 5.00555 -3.79556 0 -0.0108335 -0.0129656 -0.741252 0.671014 uwb: 0.0 1179.63 481.261 -imu_odom_: 1691062469.884895412 0.399832 -0.0957681 10.1969 -0.0553937 -0.0213053 -0.532632 0.07 -0.55 pose: 0.0 5.00555 -3.79556 0 -0.0108335 -0.0129656 -0.741252 0.671014 uwb: 0.49914867 1179.33 480.66 -imu_odom_: 1691062469.900782838 0.536301 -0.0143652 9.96706 -0.0596548 -0.0276969 -0.549676 0.07 -0.61 pose: 0.23033952 5.00562 -3.7956 0 -0.0123686 -0.014749 -0.745406 0.666333 uwb: 0.0 1179.33 480.66 -imu_odom_: 1691062469.919013554 0.588974 -0.143652 9.68455 -0.0543285 0.0426106 -0.56246 0.07 -0.61 pose: 0.0 5.00562 -3.7956 0 -0.0123686 -0.014749 -0.745406 0.666333 uwb: 0.0 1179.33 480.66 -imu_odom_: 1691062469.935933077 0.596156 -0.131681 9.84735 -0.0383495 0.0117179 -0.536893 0.07 -0.61 pose: 0.31022431 5.00562 -3.7956 0 -0.0103318 -0.0146903 -0.751327 0.659685 uwb: 0.50098890 1178 480.103 -imu_odom_: 1691062469.952756652 0.584185 -0.54109 9.83538 -0.0628506 0.015979 -0.484695 0.05 -0.5 pose: 0.45139629 5.00537 -3.79545 0 -0.0064021 -0.0117916 -0.760105 0.649661 uwb: 0.0 1178 480.103 -imu_odom_: 1691062469.970917375 0.435745 -0.457293 9.89524 -0.0436758 0.0138484 -0.456998 0.05 -0.5 pose: 0.6955797 5.00562 -3.7956 0 -0.00671356 -0.0111478 -0.761287 0.648284 uwb: 0.0 1178 480.103 -imu_odom_: 1691062469.987869270 0.665588 -0.251391 9.9934 -0.056459 -0.00852212 -0.414388 0.05 -0.41 pose: 0.0 5.00562 -3.7956 0 -0.00671356 -0.0111478 -0.761287 0.648284 uwb: 0.49832335 1179.02 480.104 -imu_odom_: 1691062470.1792822 0.447716 -0.0407014 10.1418 -0.0607201 0.0170442 -0.376038 0.05 -0.47 pose: 0.44980396 5.00562 -3.7956 0 -0.00874429 -0.00797619 -0.768318 0.639958 uwb: 0.0 1179.02 480.104 -imu_odom_: 1691062470.18734807 0.725443 -0.328006 10.0796 -0.0468716 0.00426106 -0.330232 0.04 -0.35 pose: 0.0 5.00562 -3.7956 0 -0.00874429 -0.00797619 -0.768318 0.639958 uwb: 0.0 1179.02 480.104 -imu_odom_: 1691062470.35762533 0.519542 -0.407014 9.71088 -0.0585895 -0.0170442 -0.307861 0.04 -0.35 pose: 0.0 5.00562 -3.7956 0 -0.00874429 -0.00797619 -0.768318 0.639958 uwb: 0.50095694 1185.47 481.997 -imu_odom_: 1691062470.53750907 0.672771 -0.234632 9.89763 -0.0511327 -0.015979 -0.285491 0.04 -0.38 pose: 0.21066581 5.00747 -3.80542 0 -0.00788402 -0.00774951 -0.771018 0.636717 uwb: 0.0 1185.47 481.997 -imu_odom_: 1691062470.70749762 0.579397 -0.40462 9.91199 -0.0681769 0 -0.246076 0.04 -0.38 pose: 0.0 5.00747 -3.80542 0 -0.00788402 -0.00774951 -0.771018 0.636717 uwb: 0.0 1185.47 481.997 -imu_odom_: 1691062470.84749436 0.557849 -0.19393 9.89524 -0.0607201 0.00958738 -0.219444 0.04 -0.38 pose: 0.34829162 5.00747 -3.80542 0 -0.00978721 -0.00655767 -0.774847 0.632039 uwb: 0.0 1185.47 481.997 -imu_odom_: 1691062470.101820033 0.605733 -0.383072 9.95748 -0.0543285 0.00745685 -0.175769 0.03 -0.2 pose: 0.40984423 5.0074 -3.80538 0 -0.00956057 -0.00556854 -0.778541 0.627496 uwb: 0.49929469 1185.52 481.864 -imu_odom_: 1691062470.127811470 0.454898 -0.114922 10.0054 -0.0500674 0.00532632 -0.149137 0.03 -0.2 pose: 0.7017918 5.00747 -3.80542 0 -0.00991003 -0.00496717 -0.77901 0.626914 uwb: 0.0 1185.52 481.864 -imu_odom_: 1691062470.144816449 0.344765 -0.248997 9.83538 -0.0596548 0.00745685 -0.143811 0.03 -0.23 pose: 0.0 5.00747 -3.80542 0 -0.00991003 -0.00496717 -0.77901 0.626914 uwb: 0.49996254 1184.13 481.446 -imu_odom_: 1691062470.161694275 0.641646 -0.105345 9.95509 -0.0500674 -0.0138484 -0.238619 0.02 -0.26 pose: 0.36044116 5.00741 -3.80539 0 -0.00768025 -0.00443491 -0.78124 0.624168 uwb: 0.0 1184.13 481.446 -imu_odom_: 1691062470.178692546 0.464475 0.23942 9.83299 -0.0468716 0.00852212 -0.300405 0.02 -0.35 pose: 0.0 5.00741 -3.80539 0 -0.00768025 -0.00443491 -0.78124 0.624168 uwb: 0.0 1184.13 481.446 -imu_odom_: 1691062470.205760703 0.138864 -0.260968 9.79228 -0.0660464 -0.00319579 -0.347276 0.02 -0.35 pose: 0.41087954 5.00747 -3.80542 0 -0.00568193 -0.00549923 -0.784448 0.620145 uwb: 0.49958924 1185.13 481.525 -imu_odom_: 1691062470.230716834 0.483629 -0.289698 9.83299 -0.0585895 -0.0308927 -0.390952 0.02 -0.38 pose: 0.0 5.00747 -3.80542 0 -0.00568193 -0.00549923 -0.784448 0.620145 uwb: 0.0 1185.13 481.525 -imu_odom_: 1691062470.257774491 0.667982 -0.253785 9.91918 -0.0617853 0.0138484 -0.389887 0.03 -0.53 pose: 0.61817410 5.00741 -3.80539 0 -0.00461708 -0.00198778 -0.792013 0.610484 uwb: 0.0 1185.13 481.525 -imu_odom_: 1691062470.282727706 0.177171 -0.0837971 9.87608 -0.0585895 0 -0.430367 0.03 -0.53 pose: 0.0 5.00741 -3.80539 0 -0.00461708 -0.00198778 -0.792013 0.610484 uwb: 0.0 1185.13 481.525 -imu_odom_: 1691062470.299815509 0.383072 -0.131681 9.94073 -0.0511327 -0.0213053 -0.470847 0.03 -0.61 pose: 0.6998962 5.00747 -3.80542 0 -0.00516791 -0.00231635 -0.792927 0.60929 uwb: 0.100172155 1185.58 481.687 -imu_odom_: 1691062470.325751245 0.684742 -0.167594 9.85214 -0.0649811 -0.0181095 -0.507066 0.03 -0.61 pose: 0.0 5.00747 -3.80542 0 -0.00516791 -0.00231635 -0.792927 0.60929 uwb: 0.0 1185.58 481.687 -imu_odom_: 1691062470.350714667 0.600945 -0.299275 10.0317 -0.0607201 0.0117179 -0.528371 0.03 -0.7 pose: 0.52020788 5.00747 -3.80542 0 -0.00361978 -0.00270245 -0.800167 0.599761 uwb: 0.49916929 1190.18 483.083 -imu_odom_: 1691062470.364880865 0.481235 -0.160412 9.89524 -0.0596548 -0.00532632 -0.533697 0.03 -0.7 pose: 0.0 5.00747 -3.80542 0 -0.00361978 -0.00270245 -0.800167 0.599761 uwb: 0.0 1190.18 483.083 -imu_odom_: 1691062470.389837288 0.550666 -0.339977 9.87608 -0.056459 -0.00106526 -0.553937 0.02 -0.58 pose: 0.42970461 5.00747 -3.80542 0 -0.00526748 -0.0044107 -0.80708 0.590402 uwb: 0.50008794 1189.87 482.543 -imu_odom_: 1691062470.416678552 0.691924 -0.138864 10.0748 -0.0543285 0 -0.580569 0.02 -0.58 pose: 0.0 5.00747 -3.80542 0 -0.00526748 -0.0044107 -0.80708 0.590402 uwb: 0.0 1189.87 482.543 -imu_odom_: 1691062470.441688927 0.545878 -0.177171 10.0987 -0.0447411 0.0138484 -0.62531 0.02 -0.7 pose: 0.39194947 5.00937 -3.81524 0 -0.00591764 -0.00341478 -0.813671 0.581286 uwb: 0.50346216 1192.7 483.238 -imu_odom_: 1691062470.465805148 0.509965 -0.0335188 9.94312 -0.0617853 -0.0138484 -0.631702 0.02 -0.7 pose: 0.0 5.00937 -3.81524 0 -0.00591764 -0.00341478 -0.813671 0.581286 uwb: 0.0 1192.7 483.238 -imu_odom_: 1691062470.491814375 0.620098 -0.392649 10.0006 -0.052198 -0.00106526 -0.637028 0.01 -0.64 pose: 0.52923983 5.00937 -3.81524 0 -0.00685736 -0.00498647 -0.823063 0.567887 uwb: 0.49551218 1194.54 483.828 -imu_odom_: 1691062470.508651664 0.445322 -0.102951 9.87848 -0.0500674 -0.00532632 -0.657268 0.01 -0.64 pose: 0.0 5.00937 -3.81524 0 -0.00685736 -0.00498647 -0.823063 0.567887 uwb: 0.0 1194.54 483.828 -imu_odom_: 1691062470.533681871 0.356736 -0.0957681 9.9096 -0.0617853 -0.0127832 -0.668986 0.01 -0.73 pose: 0.47902018 5.00937 -3.81524 0 -0.00385404 -0.00673915 -0.832085 0.554594 uwb: 0.0 1194.54 483.828 -imu_odom_: 1691062470.559677683 0.40462 -0.241814 9.81144 -0.0511327 -0.00319579 -0.721184 0.01 -0.73 pose: 0.60953878 5.00931 -3.81521 0 -0.00116845 -0.00523469 -0.843667 0.53684 uwb: 0.49927428 1193.63 483.51 -imu_odom_: 1691062470.584714597 0.545878 -0.220267 9.94791 -0.0596548 -0.02024 -0.725445 0.01 -0.73 pose: 0.0 5.00931 -3.81521 0 -0.00116845 -0.00523469 -0.843667 0.53684 uwb: 0.49944342 1191.27 482.935 -imu_odom_: 1691062470.602654268 0.562637 -0.208296 9.81862 -0.0543285 0 -0.739294 0.01 -0.82 pose: 0.0 5.00931 -3.81521 0 -0.00116845 -0.00523469 -0.843667 0.53684 uwb: 0.0 1191.27 482.935 -imu_odom_: 1691062470.626764948 0.292093 -0.167594 9.68933 -0.0511327 -0.0127832 -0.76486 0.01 -0.82 pose: 0.7996939 5.00937 -3.81524 0 -0.00109602 -0.00445191 -0.845299 0.534274 uwb: 0.0 1191.27 482.935 -imu_odom_: 1691062470.652671228 0.366313 -0.138864 9.83538 -0.0511327 -0.0191748 -0.774447 0 -0.97 pose: 0.50998022 4.99954 -3.81709 0 -0.00428541 -0.00348944 -0.855559 0.517675 uwb: 0.0 1191.27 482.935 -imu_odom_: 1691062470.668767762 0.600945 -0.308852 9.94073 -0.0532632 -0.02024 -0.780839 0 -0.97 pose: 0.0 4.99954 -3.81709 0 -0.00428541 -0.00348944 -0.855559 0.517675 uwb: 0.0 1191.27 482.935 -imu_odom_: 1691062470.694789821 0.339977 -0.126893 9.59596 -0.0468716 0.0245011 -0.802144 0.01 -1 pose: 0.41013878 4.99954 -3.81709 0 -0.00231153 -0.00307723 -0.863944 0.503574 uwb: 0.100056376 1190.85 482.701 -imu_odom_: 1691062470.719756743 0.521936 -0.205901 9.9096 -0.0575243 -0.0223706 -0.797883 0.01 -1 pose: 0.0 4.99954 -3.81709 0 -0.00231153 -0.00307723 -0.863944 0.503574 uwb: 0.0 1190.85 482.701 -imu_odom_: 1691062470.745638234 0.797269 -0.265756 9.9527 -0.056459 -0.0394148 -0.80747 0 -0.97 pose: 0.43006040 4.99954 -3.81709 0 0.00124528 0.00270593 0.872708 -0.488234 uwb: 0.49930635 1189.88 482.523 -imu_odom_: 1691062470.770694396 0.61531 -0.174777 9.93594 -0.0617853 0.00106526 -0.842624 0 -0.97 pose: 0.0 4.99954 -3.81709 0 0.00124528 0.00270593 0.872708 -0.488234 uwb: 0.0 1189.88 482.523 -imu_odom_: 1691062470.796647921 0.344765 -0.28491 9.78989 -0.0681769 0.00319579 -0.824515 0 -1 pose: 0.51016978 4.99954 -3.81709 0 0.00270161 0.00321437 0.882968 -0.469415 uwb: 0.49987213 1187.57 481.83 -imu_odom_: 1691062470.813659025 0.272939 -0.263362 10.0221 -0.0671117 -0.00532632 -0.814927 0 -1 pose: 0.0 4.99954 -3.81709 0 0.00270161 0.00321437 0.882968 -0.469415 uwb: 0.0 1187.57 481.83 -imu_odom_: 1691062470.839795988 0.529119 0.0837971 10.0509 -0.052198 -0.0330232 -0.870321 0 -0.97 pose: 0.51244454 4.99954 -3.81709 0 0.00610342 0.00457727 0.893156 -0.449683 uwb: 0.50260476 1193.01 483.78 -imu_odom_: 1691062470.864632257 0.612916 -0.114922 9.85693 -0.0585895 -0.0287621 -0.86606 0 -0.94 pose: 0.24791649 4.99954 -3.81709 0 0.00443878 0.00262318 0.897919 -0.440131 uwb: 0.0 1193.01 483.78 -imu_odom_: 1691062470.889658381 0.428562 -0.244209 9.89524 -0.0543285 -0.0639159 -0.895887 0 -0.94 pose: 0.36046157 4.99905 -3.81679 0 0.00320343 0.00469496 0.9049 -0.425586 uwb: 0.49921595 1190.25 482.906 -imu_odom_: 1691062470.906767182 0.363919 -0.0383072 9.92636 -0.0639159 -0.0745685 -0.913997 0 -0.88 pose: 0.8078306 4.99954 -3.81709 0 0.00384242 0.00531803 0.906446 -0.422271 uwb: 0.0 1190.25 482.906 -imu_odom_: 1691062470.932629717 0.830788 -0.363919 10.0437 -0.072438 -0.0276969 -0.872452 0 -0.88 pose: 0.0 4.99954 -3.81709 0 0.00384242 0.00531803 0.906446 -0.422271 uwb: 0.0 1190.25 482.906 -imu_odom_: 1691062470.957759080 0.785298 -0.227449 10.1107 -0.0490022 -0.0181095 -0.890561 0 -0.82 pose: 0.48901745 4.99954 -3.81709 0 0.00427119 0.00498017 0.915793 -0.401598 uwb: 0.49960382 1189.17 483.038 -imu_odom_: 1691062470.974717397 0.505177 -0.148441 9.73243 -0.0649811 -0.0149137 -0.896953 0 -0.82 pose: 0.0 4.99954 -3.81709 0 0.00427119 0.00498017 0.915793 -0.401598 uwb: 0.0 1189.17 483.038 -imu_odom_: 1691062470.999743521 0.500388 -0.316035 9.9527 -0.0671117 -0.0213053 -0.891626 0 -0.91 pose: 0.43914777 4.99954 -3.81709 0 0.00728081 0.00503626 0.923738 -0.382923 uwb: 0.49986921 1191.85 484.126 -imu_odom_: 1691062471.23764093 0.275333 -0.260968 9.92875 -0.0660464 -0.0234358 -0.884169 0 -0.91 pose: 0.0 4.99954 -3.81709 0 0.00728081 0.00503626 0.923738 -0.382923 uwb: 0.0 1191.85 484.126 -imu_odom_: 1691062471.46752568 0.471658 0.011971 9.83299 -0.056459 -0.0372843 -0.898018 0 -0.91 pose: 0.40991422 4.99954 -3.81709 0 0.0073681 0.00472514 0.930891 -0.365192 uwb: 0.49913442 1194.67 484.832 -imu_odom_: 1691062471.71788034 0.474052 -0.11971 9.78989 -0.0607201 -0.00852212 -0.908671 0 -0.91 pose: 0.0 4.99954 -3.81709 0 0.0073681 0.00472514 0.930891 -0.365192 uwb: 0.0 1194.67 484.832 -imu_odom_: 1691062471.88671699 0.509965 -0.342371 10.0796 -0.0585895 -0.00213053 -0.912932 0 -1.06 pose: 0.49026284 4.99954 -3.81709 0 0.00522105 0.002409 0.938978 -0.343929 uwb: 0.50056933 1194.61 484.985 -imu_odom_: 1691062471.111671840 0.557849 -0.131681 9.96706 -0.0596548 -0.0234358 -0.916127 0 -1.06 pose: 0.0 4.99954 -3.81709 0 0.00522105 0.002409 0.938978 -0.343929 uwb: 0.0 1194.61 484.985 -imu_odom_: 1691062471.136618065 0.390255 -0.186748 9.6606 -0.0617853 0 -0.913997 0 -0.97 pose: 0.48062146 4.99954 -3.81709 0 0.00287191 0.00470057 0.946556 -0.322493 uwb: 0.49841707 1189.5 483.559 -imu_odom_: 1691062471.161597246 0.347159 -0.289698 9.7444 -0.0596548 -0.015979 -0.909736 0 -0.97 pose: 0.0 4.99954 -3.81709 0 0.00287191 0.00470057 0.946556 -0.322493 uwb: 0.0 1189.5 483.559 -imu_odom_: 1691062471.178656767 0.550666 -0.215478 10.058 -0.0617853 -0.0127832 -0.905475 0 -0.88 pose: 0.39873015 4.99954 -3.81709 0 0.00451793 0.00503542 0.952512 -0.304425 uwb: 0.0 1189.5 483.559 -imu_odom_: 1691062471.202586059 0.287304 -0.189142 9.77553 -0.0575243 0.00106526 -0.916127 0 -0.88 pose: 0.0 4.99954 -3.81709 0 0.00451793 0.00503542 0.952512 -0.304425 uwb: 0.50089305 1189 483.548 -imu_odom_: 1691062471.227580113 0.42138 -0.0909797 9.72046 -0.0671117 -0.0138484 -0.92465 0 -1 pose: 0.49974109 4.99954 -3.81709 0 0.00262988 0.00184725 0.959488 -0.281729 uwb: 0.0 1189 483.548 -imu_odom_: 1691062471.249591025 0.47884 -0.167594 9.89045 -0.0617853 -0.0308927 -0.92678 0 -1 pose: 0.0 4.99954 -3.81709 0 0.00262988 0.00184725 0.959488 -0.281729 uwb: 0.49926280 1194.39 485.554 -imu_odom_: 1691062471.263598579 0.325611 -0.265756 9.83777 -0.0607201 -0.0127832 -0.931041 0 -0.97 pose: 0.80973233 4.99908 -3.8168 0 0.00292521 0.00336852 0.969705 -0.244239 uwb: 0.0 1194.39 485.554 -imu_odom_: 1691062471.285591701 0.423774 -0.308852 9.92636 -0.0543285 -0.00426106 -0.949151 0 -0.97 pose: 0.0 4.99908 -3.8168 0 0.00292521 0.00336852 0.969705 -0.244239 uwb: 0.50187878 1195.62 486.373 -imu_odom_: 1691062471.302773418 0.617704 -0.225055 9.9503 -0.0596548 -0.0127832 -0.953412 0 -1.23 pose: 0.36000676 4.99932 -3.81695 0 0.00204997 0.000153726 0.973876 -0.227072 uwb: 0.0 1195.62 486.373 -imu_odom_: 1691062471.327649067 0.380678 -0.263362 9.84496 -0.056459 -0.00426106 -0.945955 0 -1.23 pose: 0.0 4.99932 -3.81695 0 0.00204997 0.000153726 0.973876 -0.227072 uwb: 0.0 1195.62 486.373 -imu_odom_: 1691062471.344572978 0.497994 -0.265756 9.88087 -0.0596548 -0.0181095 -0.937433 0 -1 pose: 0.42057366 4.99933 -3.81696 0 0.00179734 -0.0009307820.978385 -0.206784 uwb: 0.49917532 1196.02 486.676 -imu_odom_: 1691062471.360564238 0.572214 -0.177171 10.0269 -0.056459 0 -0.936367 0 -1 pose: 0.0 4.99933 -3.81696 0 0.00179734 -0.0009307820.978385 -0.206784 uwb: 0.0 1196.02 486.676 -imu_odom_: 1691062471.377633967 0.368707 -0.220267 9.98143 -0.0532632 0.00426106 -0.935302 0 -1 pose: 0.0 4.99933 -3.81696 0 0.00179734 -0.0009307820.978385 -0.206784 uwb: 0.0 1196.02 486.676 -imu_odom_: 1691062471.392579713 0.373495 -0.169988 9.81623 -0.0681769 -0.0426106 -0.928911 0 -1.26 pose: 0.39985004 4.99954 -3.81709 0 0.00392132 -8.33649e-050.982229 -0.187644 uwb: 0.50043226 1193.85 485.65 -imu_odom_: 1691062471.417631219 0.675165 -0.186748 9.84256 -0.056459 -0.04048 -0.922519 0 -1.26 pose: 0.0 4.99954 -3.81709 0 0.00392132 -8.33649e-050.982229 -0.187644 uwb: 0.0 1193.85 485.65 -imu_odom_: 1691062471.434687241 -0.0622492 -0.205901 9.60554 -0.0447411 0.0490022 -0.922519 0 -0.94 pose: 0.49997148 4.99933 -3.81695 0 0.00466319 0.0012294 0.986472 -0.163857 uwb: 0.49891868 1196.88 487.082 -imu_odom_: 1691062471.452690787 -0.299275 -0.0790087 10.307 -0.0543285 -0.00852212 -0.908671 0 -0.94 pose: 0.7008005 4.99954 -3.81709 0 0.00377643 0.00113656 0.987023 -0.160531 uwb: 0.0 1196.88 487.082 -imu_odom_: 1691062471.469615864 -0.316035 -0.0861913 9.72764 -0.0426106 -0.0138484 -0.909736 0 -0.94 pose: 0.0 4.99954 -3.81709 0 0.00377643 0.00113656 0.987023 -0.160531 uwb: 0.0 1196.88 487.082 -imu_odom_: 1691062471.483548759 -1.30963 -0.129287 9.90242 -0.0468716 0.0479369 -0.831972 0.04 -0.73 pose: 0.44976640 4.99954 -3.81709 0 -0.0009055360.00117652 0.99024 -0.139368 uwb: 0.0 1196.88 487.082 -imu_odom_: 1691062471.499643550 -0.878672 -0.608127 10.1754 -0.0660464 -0.0447411 -0.658333 0.05 -0.64 pose: 0.0 4.99954 -3.81709 0 -0.0009055360.00117652 0.99024 -0.139368 uwb: 0.49935030 1196.02 486.651 -imu_odom_: 1691062471.513544365 -0.105345 -0.995988 9.98382 -0.092678 -0.0681769 -0.574178 0.05 -0.64 pose: 0.0 4.99954 -3.81709 0 -0.0009055360.00117652 0.99024 -0.139368 uwb: 0.0 1196.02 486.651 -imu_odom_: 1691062471.529669486 0.466869 -0.217872 9.85453 -0.0447411 -0.0223706 -0.580569 0.05 -0.64 pose: 0.21058722 4.99954 -3.81709 0 -0.00315997 0.00068986 0.991392 -0.130885 uwb: 0.0 1196.02 486.651 -imu_odom_: 1691062471.547546170 0.390255 0.253785 9.35175 -0.0639159 -0.00426106 -0.550742 0.06 -0.61 pose: 0.0 4.99954 -3.81709 0 -0.00315997 0.00068986 0.991392 -0.130885 uwb: 0.50178837 1198.2 487.664 -imu_odom_: 1691062471.565610085 -0.0023942 -0.299275 9.61033 -0.0681769 0.0191748 -0.547546 0.06 -0.61 pose: 0.0 4.99954 -3.81709 0 -0.00315997 0.00068986 0.991392 -0.130885 uwb: 0.0 1198.2 487.664 -imu_odom_: 1691062471.581648882 -0.342371 -0.366313 9.90002 -0.0468716 -0.00426106 -0.552872 0.09 -0.53 pose: 0.30974627 4.99954 -3.81709 0 -0.00294788 -0.00104571 0.992642 -0.121049 uwb: 0.0 1198.2 487.664 -imu_odom_: 1691062471.599698215 -0.0766145 -0.177171 9.89763 -0.0681769 -0.0500674 -0.492152 0.09 -0.53 pose: 0.43960872 4.99373 -3.81807 0 -0.00405812 1.49466e-05 0.994135 -0.108069 uwb: 0.49910240 1199.09 488.034 -imu_odom_: 1691062471.617697678 0.347159 -0.454898 9.663 -0.0649811 -0.0287621 -0.452737 0.09 -0.53 pose: 0.0 4.99373 -3.81807 0 -0.00405812 1.49466e-05 0.994135 -0.108069 uwb: 0.0 1199.09 488.034 -imu_odom_: 1691062471.633760680 0.21069 -0.227449 10.0102 -0.0511327 0.00532632 -0.429302 0.11 -0.53 pose: 0.7145366 4.98969 -3.81879 0 -0.00473491 -0.0002052130.994359 -0.105963 uwb: 0.0 1199.09 488.034 -imu_odom_: 1691062471.651584870 0.174777 -0.150835 9.6223 -0.0500674 -0.00639159 -0.417584 0.11 -0.44 pose: 0.0 4.98969 -3.81879 0 -0.00473491 -0.0002052130.994359 -0.105963 uwb: 0.49895076 1203.1 489.612 -imu_odom_: 1691062471.669583459 0.272939 -0.162806 10.0724 -0.0500674 -0.02024 -0.397344 0.11 -0.44 pose: 0.68916139 4.98969 -3.81879 0 -0.00822645 -0.00145282 0.996032 -0.0886058 uwb: 0.0 1203.1 489.612 -imu_odom_: 1691062471.683670629 -0.129287 -0.287304 9.81623 -0.0500674 -0.0127832 -0.386691 0.11 -0.41 pose: 0.0 4.98969 -3.81879 0 -0.00822645 -0.00145282 0.996032 -0.0886058 uwb: 0.0 1203.1 489.612 -imu_odom_: 1691062471.699581981 0.505177 -0.141258 10.2496 -0.0340885 -0.0788296 -0.379234 0.11 -0.41 pose: 0.0 4.98969 -3.81879 0 -0.00822645 -0.00145282 0.996032 -0.0886058 uwb: 0.49973817 1202.08 489.586 -imu_odom_: 1691062471.716524265 1.53947 -0.0502782 9.78271 -0.0596548 -0.0543285 -0.335558 0.11 -0.41 pose: 0.33863570 4.97983 -3.82044 0 -0.00822401 0.000484531 0.996665 -0.0811823 uwb: 0.0 1202.08 489.586 -imu_odom_: 1691062471.734654964 1.35272 -0.117316 9.97424 -0.0468716 0.00319579 -0.28336 0.09 -0.38 pose: 0.40989105 4.97976 -3.8204 0 -0.00475762 0.00112664 0.997322 -0.0729675 uwb: 0.50046435 1205.13 491.005 -imu_odom_: 1691062471.752579185 1.07739 -0.519542 9.414 -0.0617853 -0.0138484 -0.246076 0.09 -0.38 pose: 0.8012399 4.97983 -3.82044 0 -0.00399758 0.00126298 0.997419 -0.0716786 uwb: 0.0 1205.13 491.005 -imu_odom_: 1691062471.768637522 0.873884 -0.155623 9.89045 -0.0436758 0.0458064 -0.24288 0.09 -0.38 pose: 0.0 4.97983 -3.82044 0 -0.00399758 0.00126298 0.997419 -0.0716786 uwb: 0.0 1205.13 491.005 -imu_odom_: 1691062471.785528478 0.909797 -0.153229 10.07 -0.0585895 0 -0.249272 0.09 -0.44 pose: 0.44100858 4.96997 -3.82215 0 -9.57744e-050.00105193 0.997869 -0.0652364 uwb: 0.49935321 1205.94 491.538 -imu_odom_: 1691062471.802668782 0.6608 0.1652 10.003 -0.056459 -0.00532632 -0.276969 0.06 -0.32 pose: 0.0 4.96997 -3.82215 0 -9.57744e-050.00105193 0.997869 -0.0652364 uwb: 0.0 1205.94 491.538 -imu_odom_: 1691062471.819735011 0.639252 -0.332794 9.64863 -0.0543285 -0.00532632 -0.287621 0.06 -0.32 pose: 0.0 4.96997 -3.82215 0 -9.57744e-050.00105193 0.997869 -0.0652364 uwb: 0.0 1205.94 491.538 -imu_odom_: 1691062471.836548392 0.651223 -0.320823 9.96706 -0.0639159 -0.0340885 -0.282295 0.05 -0.26 pose: 0.25059380 4.96997 -3.82215 0 0.00193487 0.00198055 0.998102 -0.0615126 uwb: 0.50032436 1202.65 490.747 -imu_odom_: 1691062471.853611413 0.871489 -0.275333 9.80186 -0.0543285 -0.00639159 -0.280165 0.05 -0.26 pose: 0.0 4.96997 -3.82215 0 0.00193487 0.00198055 0.998102 -0.0615126 uwb: 0.0 1202.65 490.747 -imu_odom_: 1691062471.868565616 0.814029 -0.184354 9.93354 -0.0628506 -0.00532632 -0.246076 0.05 -0.26 pose: 0.32859760 4.96997 -3.82215 0 0.0043709 0.00131252 0.998408 -0.0562192 uwb: 0.0 1202.65 490.747 -imu_odom_: 1691062471.884569708 0.744597 -0.222661 9.90242 -0.0649811 0.00958738 -0.22264 0.04 -0.23 pose: 0.42008954 4.96997 -3.82215 0 0.00853797 0.000699247 0.998724 -0.0497596 uwb: 0.0 1202.65 490.747 -imu_odom_: 1691062471.899556283 0.708684 -0.344765 9.92157 -0.0468716 0.00106526 -0.22051 0.04 -0.23 pose: 0.0 4.96997 -3.82215 0 0.00853797 0.000699247 0.998724 -0.0497596 uwb: 0.50033603 1206.17 492.262 -imu_odom_: 1691062471.924792395 0.387861 -0.148441 9.93594 -0.0585895 0.0138484 -0.194943 0.03 -0.17 pose: 0.6993424 4.96997 -3.82215 0 0.00919058 0.000652108 0.998764 -0.048844 uwb: 0.0 1206.17 492.262 -imu_odom_: 1691062471.941539574 0.237026 -0.253785 9.92875 -0.0585895 0.0255663 -0.160855 0.04 -0.23 pose: 0.0 4.96997 -3.82215 0 0.00919058 0.000652108 0.998764 -0.048844 uwb: 0.50130134 1204.77 491.876 -imu_odom_: 1691062471.959633819 -0.802058 -0.361524 9.75637 -0.0532632 0.0820254 -0.110787 0.05 -0.11 pose: 0.0 4.96997 -3.82215 0 0.00919058 0.000652108 0.998764 -0.048844 uwb: 0.0 1204.77 491.876 -imu_odom_: 1691062471.981677686 -0.679953 -0.40462 10.0149 -0.0575243 -0.0479369 -0.103331 0.05 -0.11 pose: 0.73963478 4.96011 -3.82378 0 0.00532194 -0.0001048220.999166 -0.0404928 uwb: 0.0 1204.77 491.876 -imu_odom_: 1691062472.5654225 0.162806 -0.0957681 10.0269 -0.056459 -0.0575243 -0.104396 0.07 -0.14 pose: 0.0 4.96011 -3.82378 0 0.00532194 -0.0001048220.999166 -0.0404928 uwb: 0.49810501 1204.25 491.893 -imu_odom_: 1691062472.30503345 0.409408 -0.0957681 9.78031 -0.0585895 -0.0287621 -0.109722 0.07 -0.14 pose: 0.39038645 4.96011 -3.82378 0 0.00175136 -0.0004080380.999289 -0.0376677 uwb: 0.0 1204.25 491.893 -imu_odom_: 1691062472.53600318 0.0167594 -0.260968 10.228 -0.0500674 0.0458064 -0.108657 0.1 -0.11 pose: 0.41942182 4.96006 -3.82375 0 0.000715562 0.00272279 0.999398 -0.0345823 uwb: 0.49867092 1202.73 491.818 -imu_odom_: 1691062472.77607194 -0.122104 -0.229843 9.79707 -0.056459 -0.00106526 -0.0735032 0.1 -0.11 pose: 0.0 4.96006 -3.82375 0 0.000715562 0.00272279 0.999398 -0.0345823 uwb: 0.0 1202.73 491.818 -imu_odom_: 1691062472.104910721 -0.0909797 -0.213084 9.94551 -0.0490022 -0.0181095 -0.0788296 0.11 -0.14 pose: 0.7066628 4.96011 -3.82378 0 -0.0001425110.00254048 0.999417 -0.0340577 uwb: 0.50105656 1203.23 491.864 -imu_odom_: 1691062472.121543295 0.411803 -0.339977 9.87848 -0.0639159 0.0127832 -0.0873517 0.11 -0.14 pose: 0.0 4.96011 -3.82378 0 -0.0001425110.00254048 0.999417 -0.0340577 uwb: 0.0 1203.23 491.864 -imu_odom_: 1691062472.147613786 0.222661 0.023942 9.98143 -0.0532632 -0.0117179 -0.056459 0.11 -0.11 pose: 0.24003668 4.95025 -3.82544 0 -0.00289069 0.00200127 0.999468 -0.0324149 uwb: 0.49993960 1206.31 493.158 -imu_odom_: 1691062472.173543125 0.31364 -0.232238 9.39006 -0.0628506 0.00958738 -0.0575243 0.14 -0.08 pose: 0.52047367 4.95025 -3.82544 0 -0.00649795 0.000840792 0.999548 -0.0293262 uwb: 0.0 1206.31 493.158 -imu_odom_: 1691062472.197478842 0.31364 0.035913 10.4267 -0.0532632 -0.02024 -0.0639159 0.14 -0.08 pose: 0.0 4.95025 -3.82544 0 -0.00649795 0.000840792 0.999548 -0.0293262 uwb: 0.50126945 1205.79 493.174 -imu_odom_: 1691062472.212545623 0.351948 -0.241814 9.59835 -0.0458064 -0.00319579 -0.036219 0.13 -0.08 pose: 0.42892044 4.94038 -3.82709 0 -0.00633755 0.0019131 0.999609 -0.0271483 uwb: 0.0 1205.79 493.174 -imu_odom_: 1691062472.237511398 0.54109 -0.19393 9.84975 -0.0596548 -0.00532632 -0.052198 0.13 -0.08 pose: 0.0 4.94038 -3.82709 0 -0.00633755 0.0019131 0.999609 -0.0271483 uwb: 0.49864473 1202.64 492.059 -imu_odom_: 1691062472.262539874 0.440533 -0.237026 9.86172 -0.0543285 -0.0468716 -0.0298274 0.19 -0.11 pose: 0.48023377 4.94038 -3.82709 0 -0.00493489 0.00215051 0.999677 -0.0248201 uwb: 0.0 1202.64 492.059 -imu_odom_: 1691062472.285532441 0.471658 -0.45011 10.0628 -0.0639159 -0.04048 -0.0234358 0.19 -0.11 pose: 0.0 4.94038 -3.82709 0 -0.00493489 0.00215051 0.999677 -0.0248201 uwb: 0.50007375 1202.03 492.319 -imu_odom_: 1691062472.309583937 -0.023942 -0.0047884 9.82341 -0.0340885 0.0351537 -0.0351537 0.15 -0.08 pose: 0.39973353 4.93052 -3.82876 0 -0.00126403 0.00102391 0.999731 -0.0231297 uwb: 0.0 1202.03 492.319 -imu_odom_: 1691062472.327589532 -0.220267 -0.146046 9.70609 -0.0660464 0.0149137 -0.00426106 0.15 -0.08 pose: 0.0 4.93052 -3.82876 0 -0.00126403 0.00102391 0.999731 -0.0231297 uwb: 0.0 1202.03 492.319 -imu_odom_: 1691062472.352471899 0.632069 -0.23942 10.0078 -0.0543285 -0.0351537 -0.0149137 0.15 -0.02 pose: 0.49004731 4.92066 -3.83039 0 0.000774344 -0.00178291 0.999767 -0.0214834 uwb: 0.50172149 1203.63 493.442 -imu_odom_: 1691062472.369471933 0.885855 -0.191536 10.0676 -0.0500674 -0.00532632 -0.02024 0.15 -0.02 pose: 0.0 4.92066 -3.83039 0 0.000774344 -0.00178291 0.999767 -0.0214834 uwb: 0.0 1203.63 493.442 -imu_odom_: 1691062472.385464366 0.126893 -0.177171 9.35654 -0.0660464 0.0213053 -0.00426106 0.15 -0.05 pose: 0.42036093 4.91904 -3.82053 0 -0.00200577 -0.0007640250.999792 -0.0202742 uwb: 0.49818395 1204.21 494.561 -imu_odom_: 1691062472.409664888 0.756568 -0.191536 10.9319 -0.0543285 -0.0575243 -0.00852212 0.15 -0.05 pose: 0.0 4.91904 -3.82053 0 -0.00200577 -0.0007640250.999792 -0.0202742 uwb: 0.0 1204.21 494.561 -imu_odom_: 1691062472.434477846 0.754174 -0.0047884 9.80186 -0.0436758 -0.0223706 0.0149137 0.22 -0.05 pose: 0.42048051 4.90918 -3.82221 0 0.000741844 -0.0005008680.999817 -0.0191244 uwb: 0.50019623 1206.75 495.898 -imu_odom_: 1691062472.459450911 0.150835 -0.244209 10.0533 -0.0639159 0.0287621 0.00958738 0.22 -0.05 pose: 0.0 4.90918 -3.82221 0 0.000741844 -0.0005008680.999817 -0.0191244 uwb: 0.0 1206.75 495.898 -imu_odom_: 1691062472.476512773 0.150835 -0.23942 9.44991 -0.0490022 -0.0213053 0.00852212 0.17 -0.02 pose: 0.39898694 4.89932 -3.82386 0 0.00361154 0.000373009 0.999826 -0.0182715 uwb: 0.0 1206.75 495.898 -imu_odom_: 1691062472.492567907 0.0646434 -0.205901 9.81383 -0.0468716 -0.00958738 0.0213053 0.17 -0.02 pose: 0.0 4.89932 -3.82386 0 0.00361154 0.000373009 0.999826 -0.0182715 uwb: 0.50003001 1206.47 496.572 -imu_odom_: 1691062472.510729818 0.45011 -0.258574 10.0437 -0.0681769 -0.0181095 0.0298274 0.17 -0.02 pose: 0.0 4.89932 -3.82386 0 0.00361154 0.000373009 0.999826 -0.0182715 uwb: 0.0 1206.47 496.572 -imu_odom_: 1691062472.534579503 0.588974 -0.160412 9.69652 -0.0649811 0.04048 0.0191748 0.21 -0.02 pose: 0.49973545 4.88945 -3.8255 0 0.00152482 0.000842166 0.999844 -0.0175585 uwb: 0.49961004 1204.98 496.447 -imu_odom_: 1691062472.560448765 0.548272 -0.287304 10.1394 -0.0575243 0.0191748 0.0276969 0.19 -0.02 pose: 0.67108607 4.88288 -3.82658 0 0.00231243 0.000175072 0.999854 -0.0169356 uwb: 0.0 1204.98 496.447 -imu_odom_: 1691062472.573441724 0.47884 -0.31364 9.74201 -0.0511327 0.02024 0.0149137 0.19 -0.02 pose: 0.0 4.88288 -3.82658 0 0.00231243 0.000175072 0.999854 -0.0169356 uwb: 0.0 1204.98 496.447 -imu_odom_: 1691062472.597552714 0.581791 -0.454898 9.34457 -0.0596548 0.0276969 0.0149137 0.19 -0.02 pose: 0.0 4.88288 -3.82658 0 0.00231243 0.000175072 0.999854 -0.0169356 uwb: 0.50064536 1206.22 497.181 -imu_odom_: 1691062472.623418477 0.184354 -0.246603 9.41161 -0.0671117 0.00532632 0.0245011 0.16 0 pose: 0.7926369 4.87958 -3.82712 0 0.00285769 -0.0003052650.999853 -0.0168897 uwb: 0.0 1206.22 497.181 -imu_odom_: 1691062472.644444543 1.58736 -0.318429 10.4938 -0.0788296 0.0298274 0.0234358 0.17 0 pose: 0.39021746 4.87958 -3.82712 0 0.00418809 -0.00338435 0.999849 -0.0165322 uwb: 0.49939715 1205.64 497.349 -imu_odom_: 1691062472.657439835 -0.0191536 -0.265756 8.7939 -0.0628506 0.0479369 0.0149137 0.17 0 pose: 0.0 4.87958 -3.82712 0 0.00418809 -0.00338435 0.999849 -0.0165322 uwb: 0.0 1205.64 497.349 -imu_odom_: 1691062472.682437106 -0.76375 -0.136469 10.6781 -0.0596548 0.0692422 0.0287621 0.17 0 pose: 0.0 4.87958 -3.82712 0 0.00418809 -0.00338435 0.999849 -0.0165322 uwb: 0.0 1205.64 497.349 -imu_odom_: 1691062472.707481623 0.181959 -0.251391 10.6255 -0.0681769 -0.0394148 0.0234358 0.16 0 pose: 0.47915763 4.86971 -3.82873 0 0.00257526 -0.00457691 0.999857 -0.0160988 uwb: 0.50244475 1205.89 497.985 -imu_odom_: 1691062472.720539032 0.814029 -0.248997 9.165 -0.0671117 -0.0500674 0.0276969 0.16 0 pose: 0.0 4.86971 -3.82873 0 0.00257526 -0.00457691 0.999857 -0.0160988 uwb: 0.0 1205.89 497.985 -imu_odom_: 1691062472.744546200 0.232238 -0.304064 9.61033 -0.0351537 0.00106526 0.0234358 0.16 0 pose: 0.91095651 4.84999 -3.83202 0 -0.00158278 -0.00391321 0.999872 -0.0154154 uwb: 0.49793897 1203.62 497.287 -imu_odom_: 1691062472.769558928 -0.0215478 -0.0814029 9.94073 -0.0543285 -0.0213053 0.0287621 0.16 0 pose: 0.0 4.84999 -3.83202 0 -0.00158278 -0.00391321 0.999872 -0.0154154 uwb: 0.0 1203.62 497.287 -imu_odom_: 1691062472.782473437 0.270545 -0.136469 9.52892 -0.0511327 -0.00958738 0.036219 0.17 -0.02 pose: 0.7955534 4.84999 -3.83202 0 -0.0023951 -0.0039339 0.999872 -0.0153539 uwb: 0.0 1203.62 497.287 -imu_odom_: 1691062472.807485873 0.215478 -0.323217 9.69891 -0.0575243 0.0138484 0.0266316 0.17 -0.02 pose: 0.0 4.84999 -3.83202 0 -0.0023951 -0.0039339 0.999872 -0.0153539 uwb: 0.49849308 1202.57 497.369 -imu_odom_: 1691062472.824591188 0.1652 -0.122104 9.85214 -0.0340885 -0.0127832 0.0245011 0.22 -0.02 pose: 0.47058353 4.83845 -3.82384 0 -0.00605868 -0.0020845 0.999865 -0.0151026 uwb: 0.0 1202.57 497.369 -imu_odom_: 1691062472.848405293 -0.0311246 -0.248997 9.70849 -0.0436758 -0.00106526 0.0298274 0.22 -0.02 pose: 0.0 4.83845 -3.82384 0 -0.00605868 -0.0020845 0.999865 -0.0151026 uwb: 0.49950798 1203.32 498.028 -imu_odom_: 1691062472.872410128 -0.059855 -0.251391 9.74919 -0.0351537 0.0223706 0.0298274 0.22 -0.02 pose: 0.72852374 4.82859 -3.82552 0 -0.0111197 -0.0016244 0.999829 -0.0146933 uwb: 0.0 1203.32 498.028 -imu_odom_: 1691062472.897522304 0.280122 -0.299275 9.9503 -0.0553937 -0.0181095 0.0436758 0.22 -0.02 pose: 0.7008883 4.82859 -3.82552 0 -0.0119137 -0.0015899 0.99982 -0.0146588 uwb: 0.50053161 1202.25 498.153 -imu_odom_: 1691062472.918528831 0.258574 -0.138864 10.1634 -0.04048 0.00426106 0.0330232 0.17 -0.02 pose: 0.42108128 4.81873 -3.82719 0 -0.0113137 -0.00239144 0.999826 -0.0146114 uwb: 0.0 1202.25 498.153 -imu_odom_: 1691062472.931405135 -0.0837971 -0.292093 9.78989 -0.0479369 0.0191748 0.0383495 0.17 -0.02 pose: 0.0 4.81873 -3.82719 0 -0.0113137 -0.00239144 0.999826 -0.0146114 uwb: 0.0 1202.25 498.153 -imu_odom_: 1691062472.955402095 0.148441 -0.150835 9.9503 -0.0585895 -0.0138484 0.0447411 0.17 0 pose: 0.0 4.81873 -3.82719 0 -0.0113137 -0.00239144 0.999826 -0.0146114 uwb: 0.49991918 1204.22 499.584 -imu_odom_: 1691062472.972517909 0.687136 -0.203507 10.058 -0.0692422 0.0127832 0.0490022 0.17 0 pose: 0.41892900 4.80887 -3.82885 0 -0.0118604 -2.65303e-050.999823 -0.0145761 uwb: 0.0 1204.22 499.584 -imu_odom_: 1691062472.996387717 0.54109 -0.335188 9.73243 -0.0745685 -0.00958738 0.04048 0.18 0.02 pose: 0.0 4.80887 -3.82885 0 -0.0118604 -2.65303e-050.999823 -0.0145761 uwb: 0.50216770 1206.14 501.11 -imu_odom_: 1691062473.19512402 0.0454898 -0.356736 9.74201 -0.0490022 0.0383495 0.0330232 0.18 0.02 pose: 0.41123273 4.79901 -3.83052 0 -0.00999009 0.00090943 0.999841 -0.0147222 uwb: 0.0 1206.14 501.11 -imu_odom_: 1691062473.37393766 0.560243 -0.25618 10.2017 -0.0660464 -0.0308927 0.0458064 0.24 0 pose: 0.38973925 4.79901 -3.83052 0 -0.0107957 -0.00120635 0.999834 -0.0146375 uwb: 0.49907357 1208.48 502.846 -imu_odom_: 1691062473.61377613 0.720655 -0.196325 10.0269 -0.0447411 0.00958738 0.0319579 0.24 0 pose: 0.7882627 4.79901 -3.83052 0 -0.0099021 -0.00127794 0.999843 -0.0146615 uwb: 0.0 1208.48 502.846 -imu_odom_: 1691062473.87571476 0.59855 -0.234632 9.9934 -0.0596548 -0.00745685 0.0607201 0.21 0.02 pose: 0.33982584 4.78915 -3.83219 0 -0.00655061 -0.00100111 0.999871 -0.0145982 uwb: 0.0 1208.48 502.846 -imu_odom_: 1691062473.111368967 0.464475 0.107739 10.0389 -0.0436758 0.00532632 0.0319579 0.21 0.02 pose: 0.0 4.78915 -3.83219 0 -0.00655061 -0.00100111 0.999871 -0.0145982 uwb: 0.0 1208.48 502.846 -imu_odom_: 1691062473.129395858 0.471658 -0.68953 9.39245 -0.0745685 0.00213053 0.0553937 0.21 -0.02 pose: 0.49991354 4.77929 -3.83386 0 -0.0031381 0.00132334 0.999885 -0.0147896 uwb: 0.0 1208.48 502.846 -imu_odom_: 1691062473.153377662 0.349553 -0.42138 9.55287 -0.0479369 0.0575243 0.0330232 0.21 -0.02 pose: 0.0 4.77929 -3.83386 0 -0.0031381 0.00132334 0.999885 -0.0147896 uwb: 0.99989999 1207.24 503.372 -imu_odom_: 1691062473.176436440 0.126893 -0.174777 9.30147 -0.0788296 0.0117179 0.0426106 0.23 0 pose: 0.42008695 4.76832 -3.82898 0 -0.00345522 -0.00291399 0.99988 -0.014842 uwb: 0.0 1207.24 503.372 -imu_odom_: 1691062473.194396254 0.725443 -0.0335188 10.4411 -0.0543285 -0.00745685 0.0319579 0.23 0 pose: 0.0 4.76832 -3.82898 0 -0.00345522 -0.00291399 0.99988 -0.014842 uwb: 0.50051431 1206.07 503.727 -imu_odom_: 1691062473.218380392 0.979228 -0.392649 9.51216 -0.0543285 0.0138484 0.0351537 0.18 0.02 pose: 0.41018592 4.76233 -3.8266 0 -0.0041475 -0.00144362 0.999881 -0.0148194 uwb: 0.0 1206.07 503.727 -imu_odom_: 1691062473.241369468 0.995988 -0.349553 9.74919 -0.0490022 -0.0117179 0.036219 0.18 0.02 pose: 0.0 4.76233 -3.8266 0 -0.0041475 -0.00144362 0.999881 -0.0148194 uwb: 0.49730923 1203.48 503.877 -imu_odom_: 1691062473.259373028 0.311246 -0.146046 9.97424 -0.056459 -0.0276969 0.0468716 0.25 0 pose: 0.46973214 4.75148 -3.82844 0 0.000347499 -0.00218808 0.999889 -0.0147169 uwb: 0.0 1203.48 503.877 -imu_odom_: 1691062473.276362279 0.790087 -0.110133 10.0963 -0.0479369 -0.0873517 0.0916127 0.25 0 pose: 0.0 4.75148 -3.82844 0 0.000347499 -0.00218808 0.999889 -0.0147169 uwb: 0.0 1203.48 503.877 -imu_odom_: 1691062473.293481890 1.45567 -0.557849 9.086 -0.0490022 -0.0266316 0.113983 0.15 0.14 pose: 0.0 4.75148 -3.82844 0 0.000347499 -0.00218808 0.999889 -0.0147169 uwb: 0.49990771 1204.82 505.545 -imu_odom_: 1691062473.310473182 1.29287 -0.220267 10.8481 -0.0458064 -0.0490022 0.157659 0.15 0.14 pose: 0.42001697 4.74804 -3.82902 0 0.00242175 -0.0004539760.999877 -0.0154875 uwb: 0.0 1204.82 505.545 -imu_odom_: 1691062473.328531570 1.66636 -0.418985 9.10275 -0.0500674 -0.0415453 0.270577 0.15 0.14 pose: 0.0 4.74804 -3.82902 0 0.00242175 -0.0004539760.999877 -0.0154875 uwb: 0.0 1204.82 505.545 -imu_odom_: 1691062473.341362092 1.96803 -0.701501 10.1011 -0.0447411 0.0223706 0.343015 0.13 0.35 pose: 0.45160405 4.73813 -3.83067 0 0.00770029 -0.0008120570.99979 -0.0189519 uwb: 0.50021976 1204.57 506.153 -imu_odom_: 1691062473.359364194 1.02472 -0.605733 9.83299 -0.0170442 -0.02024 0.372843 0.13 0.35 pose: 0.5854882 4.73818 -3.83071 0 0.00818066 -0.0009629840.999769 -0.0198409 uwb: 0.0 1204.57 506.153 -imu_odom_: 1691062473.373351052 0.600945 -0.124498 8.83939 -0.015979 0.00106526 0.445281 0.13 0.35 pose: 0.0 4.73818 -3.83071 0 0.00818066 -0.0009629840.999769 -0.0198409 uwb: 0.0 1204.57 506.153 -imu_odom_: 1691062473.390418170 0.361524 -0.289698 9.89045 -0.0308927 -0.036219 0.553937 0.09 0.38 pose: 0.38964600 4.73812 -3.83067 0 0.0104308 -0.0002888440.999588 -0.026734 uwb: 0.49971814 1204.8 506.809 -imu_odom_: 1691062473.407412669 0.641646 -0.220267 9.57202 -0.0447411 -0.0255663 0.572047 0.09 0.41 pose: 0.0 4.73812 -3.83067 0 0.0104308 -0.0002888440.999588 -0.026734 uwb: 0.0 1204.8 506.809 -imu_odom_: 1691062473.424402795 0.995988 -0.198719 10.0652 -0.0394148 0.0138484 0.570982 0.09 0.41 pose: 0.0 4.73812 -3.83067 0 0.0104308 -0.0002888440.999588 -0.026734 uwb: 0.0 1204.8 506.809 -imu_odom_: 1691062473.441357632 0.852336 0.0526724 9.68455 -0.0436758 -0.0106526 0.58483 0.08 0.5 pose: 0.24072212 4.7283 -3.83225 0 0.00981867 -0.0004375710.999407 -0.0329919 uwb: 0.50126673 1205 507.53 -imu_odom_: 1691062473.458403460 0.591368 -0.203507 9.77553 -0.0532632 0.0319579 0.618919 0.08 0.5 pose: 0.0 4.7283 -3.83225 0 0.00981867 -0.0004375710.999407 -0.0329919 uwb: 0.0 1205 507.53 -imu_odom_: 1691062473.475551068 0.579397 -0.497994 9.84975 -0.0575243 0.00745685 0.64555 0.08 0.5 pose: 0.34008540 4.72831 -3.83225 0 0.0128595 0.00064488 0.999032 -0.0420641 uwb: 0.0 1205 507.53 -imu_odom_: 1691062473.493375564 0.557849 -0.260968 9.6199 -0.0468716 0.0170442 0.630637 0.07 0.53 pose: 0.35067469 4.72831 -3.83225 0 0.0113348 0.000363873 0.998575 -0.0521502 uwb: 0.50054639 1202.43 507.661 -imu_odom_: 1691062473.508618498 0.454898 -0.136469 10.2568 -0.0415453 0.02024 0.646616 0.07 0.53 pose: 0.0 4.72831 -3.83225 0 0.0113348 0.000363873 0.998575 -0.0521502 uwb: 0.0 1202.43 507.661 -imu_odom_: 1691062473.525461348 0.696713 -0.301669 10.0149 -0.0436758 0.00106526 0.658333 0.07 0.53 pose: 0.0 4.72831 -3.83225 0 0.0113348 0.000363873 0.998575 -0.0521502 uwb: 0.0 1202.43 507.661 -imu_odom_: 1691062473.550332350 0.658405 -0.141258 10.1418 -0.0490022 0.0181095 0.596548 0.06 0.58 pose: 0.49988437 4.72831 -3.83225 0 0.00866524 -0.0006599290.997701 -0.0672117 uwb: 0.50134547 1202.93 508.883 -imu_odom_: 1691062473.567387510 0.380678 -0.181959 9.91439 -0.0553937 0.0245011 0.530502 0.06 0.58 pose: 0.0 4.72831 -3.83225 0 0.00866524 -0.0006599290.997701 -0.0672117 uwb: 0.0 1202.93 508.883 -imu_odom_: 1691062473.584340015 -0.672771 -0.0790087 9.68933 -0.0617853 0.100135 0.435693 0.07 0.35 pose: 0.40851485 4.71844 -3.83387 0 0.00955368 0.00119454 0.996861 -0.0785825 uwb: 0.0 1202.93 508.883 -imu_odom_: 1691062473.598444986 -1.1971 0.169988 9.85214 -0.0617853 0.015979 0.403735 0.08 0.38 pose: 0.0 4.71844 -3.83387 0 0.00955368 0.00119454 0.996861 -0.0785825 uwb: 0.0 1202.93 508.883 -imu_odom_: 1691062473.616329558 -0.785298 -0.0837971 9.9503 -0.0575243 -0.0713727 0.371777 0.08 0.38 pose: 0.34117903 4.71844 -3.83387 0 0.0050628 0.00112662 0.99631 -0.0856757 uwb: 0.0 1202.93 508.883 -imu_odom_: 1691062473.631443590 -0.0790087 -0.110133 10.0963 -0.0575243 -0.0969391 0.350472 0.08 0.38 pose: 0.0 4.71844 -3.83387 0 0.0050628 0.00112662 0.99631 -0.0856757 uwb: 0.0 1202.93 508.883 -imu_odom_: 1691062473.649331954 0.483629 -0.229843 10.0389 -0.0468716 -0.0255663 0.32171 0.09 0.29 pose: 0.0 4.71844 -3.83387 0 0.0050628 0.00112662 0.99631 -0.0856757 uwb: 0.99980084 1201.45 508.831 -imu_odom_: 1691062473.666381281 0.423774 -0.122104 9.67257 -0.0585895 -0.0127832 0.324906 0.09 0.29 pose: 0.31992460 4.71844 -3.83387 0 0.00273421 0.00127302 0.995846 -0.0909999 uwb: 0.0 1201.45 508.831 -imu_odom_: 1691062473.682321225 0.107739 -0.143652 9.87848 -0.0649811 0.0127832 0.314253 0.17 0.32 pose: 0.42931723 4.70852 -3.83553 0 0.00290744 0.00158213 0.995262 -0.097168 uwb: 0.0 1201.45 508.831 -imu_odom_: 1691062473.699432963 0.0143652 -0.232238 9.7851 -0.0671117 -0.0149137 0.292948 0.17 0.32 pose: 0.0 4.70852 -3.83553 0 0.00290744 0.00158213 0.995262 -0.097168 uwb: 0.49806165 1202.76 510.513 -imu_odom_: 1691062473.716363303 0.00957681 -0.222661 9.74201 -0.0468716 -0.02024 0.279099 0.17 0.32 pose: 0.0 4.70852 -3.83553 0 0.00290744 0.00158213 0.995262 -0.097168 uwb: 0.0 1202.76 510.513 -imu_odom_: 1691062473.732313746 0.0981623 -0.114922 9.43794 -0.0628506 -0.0319579 0.289752 0.12 0.23 pose: 0.6949976 4.70858 -3.83557 0 0.00215795 0.00156185 0.995171 -0.098117 uwb: 0.0 1202.76 510.513 -imu_odom_: 1691062473.750319639 0.363919 -0.328006 9.84496 -0.092678 -0.00319579 0.30147 0.18 0.26 pose: 0.0 4.70858 -3.83557 0 0.00215795 0.00156185 0.995171 -0.098117 uwb: 0.50192291 1203.3 511.606 -imu_odom_: 1691062473.766377404 -0.0167594 -0.366313 10.0006 -0.0703074 -0.0117179 0.251402 0.18 0.26 pose: 0.67006560 4.69872 -3.83721 0 -0.00304471 0.000209866 0.994304 -0.106539 uwb: 0.0 1203.3 511.606 -imu_odom_: 1691062473.783373362 0.481235 -0.100556 9.67976 -0.0703074 0.0117179 0.238619 0.2 0.26 pose: 0.0 4.69872 -3.83721 0 -0.00304471 0.000209866 0.994304 -0.106539 uwb: 0.0 1203.3 511.606 -imu_odom_: 1691062473.799370759 -0.220267 -0.105345 9.81862 -0.0745685 0.0585895 0.236489 0.2 0.26 pose: 0.0 4.69872 -3.83721 0 -0.00304471 0.000209866 0.994304 -0.106539 uwb: 0.49885490 1203.89 512.612 -imu_odom_: 1691062473.816300807 0.114922 -0.402226 9.60075 -0.0585895 -0.0245011 0.215183 0.2 0.26 pose: 0.34041785 4.69872 -3.83721 0 -0.00364766 -0.0012539 0.993889 -0.11032 uwb: 0.0 1203.89 512.612 -imu_odom_: 1691062473.832297329 0.634463 -0.296881 9.88805 -0.0468716 -0.0575243 0.209857 0.14 0.2 pose: 0.41921205 4.68886 -3.8389 0 -0.00607778 -0.00203647 0.993432 -0.114248 uwb: 0.0 1203.89 512.612 -imu_odom_: 1691062473.850301181 1.11091 -0.316035 10.0149 -0.0575243 -0.0276969 0.250337 0.14 0.2 pose: 0.8004531 4.68886 -3.8389 0 -0.0050708 -0.00200881 0.993359 -0.114923 uwb: 0.50173627 1205.14 514.388 -imu_odom_: 1691062473.867356924 1.3216 -0.371101 9.85693 -0.056459 -0.0191748 0.30147 0.14 0.2 pose: 0.0 4.68886 -3.8389 0 -0.0050708 -0.00200881 0.993359 -0.114923 uwb: 0.0 1205.14 514.388 -imu_odom_: 1691062473.883291036 1.95127 -0.301669 10.1011 -0.0308927 -0.0447411 0.270577 0.1 0.11 pose: 0.43051586 4.68886 -3.8389 0 -0.000228669-0.00192954 0.992809 -0.119695 uwb: 0.0 1205.14 514.388 -imu_odom_: 1691062473.901415333 1.35033 0.342371 9.52653 -0.0436758 0.0330232 0.207727 0.09 0.14 pose: 0.0 4.68886 -3.8389 0 -0.000228669-0.00192954 0.992809 -0.119695 uwb: 0.49760670 1207.07 515.719 -imu_odom_: 1691062473.918289387 0.682347 0.186748 9.75158 -0.0543285 0.036219 0.174703 0.09 0.14 pose: 0.0 4.68886 -3.8389 0 -0.000228669-0.00192954 0.992809 -0.119695 uwb: 0.0 1207.07 515.719 -imu_odom_: 1691062473.935292344 0.397437 -0.368707 9.93594 -0.0596548 0.0213053 0.134223 0.09 0.14 pose: 0.24138122 4.67902 -3.84067 0 0.00212649 -0.00100392 0.992502 -0.122202 uwb: 0.49944401 1208.4 517.286 -imu_odom_: 1691062473.952408165 0.797269 -0.289698 10.0317 -0.0543285 -0.0383495 0.0937433 0.09 0.14 pose: 0.0 4.67902 -3.84067 0 0.00212649 -0.00100392 0.992502 -0.122202 uwb: 0.0 1208.4 517.286 -imu_odom_: 1691062473.969412289 0.837971 -0.117316 9.64863 -0.0490022 -0.00426106 0.108657 0.09 0.14 pose: 0.33929506 4.67902 -3.84067 0 0.00272173 0.000475116 0.992217 -0.124491 uwb: 0.0 1208.4 517.286 -imu_odom_: 1691062473.985298572 0.787692 -0.19393 10.0054 -0.0596548 0.00958738 0.147006 0.06 0.11 pose: 0.43987737 4.67902 -3.84067 0 0.00588218 0.000240026 0.992014 -0.125993 uwb: 0.50076803 1209.33 518.609 -imu_odom_: 1691062474.2401852 0.663194 -0.426168 9.72764 -0.0479369 0.00213053 0.137419 0.06 0.11 pose: 0.7005386 4.67902 -3.84067 0 0.00651709 0.000383432 0.991962 -0.126365 uwb: 0.0 1209.33 518.609 -imu_odom_: 1691062474.18292224 0.723049 -0.138864 10.0485 -0.0490022 -0.00639159 0.125701 0.06 0.11 pose: 0.0 4.67902 -3.84067 0 0.00651709 0.000383432 0.991962 -0.126365 uwb: 0.0 1209.33 518.609 -imu_odom_: 1691062474.35300437 0.658405 -0.0407014 9.81383 -0.0500674 -0.00106526 0.120375 0.06 0.11 pose: 0.41874549 4.66917 -3.84238 0 0.00948317 0.000378502 0.991684 -0.128344 uwb: 0.49821926 1210.38 519.632 -imu_odom_: 1691062474.60293061 0.653617 -0.222661 9.90002 -0.0575243 -0.00532632 0.116114 0.04 0.08 pose: 0.0 4.66917 -3.84238 0 0.00948317 0.000378502 0.991684 -0.128344 uwb: 0.0 1210.38 519.632 -imu_odom_: 1691062474.86299121 -0.0694318 -0.320823 9.62948 -0.0585895 0.0735032 0.123571 0.05 0.11 pose: 0.26175500 4.66917 -3.84238 0 0.0107317 0.00180551 0.991538 -0.12936 uwb: 0.49999247 1208.37 519.654 -imu_odom_: 1691062474.109279748 -1.50116 -0.129287 10.0006 -0.0447411 0.015979 0.12144 0.05 0.11 pose: 0.0 4.66917 -3.84238 0 0.0107317 0.00180551 0.991538 -0.12936 uwb: 0.0 1208.37 519.654 -imu_odom_: 1691062474.133279644 -0.201113 -0.105345 9.62948 -0.0415453 -0.0798948 0.1012 0.08 0.05 pose: 0.64812024 4.66917 -3.84238 0 0.00622911 0.000354055 0.991231 -0.131994 uwb: 0.0 1208.37 519.654 -imu_odom_: 1691062474.151274753 0.720655 -0.237026 10.1059 -0.0394148 -0.0980043 0.0969391 0.08 0.05 pose: 0.8026990 4.66917 -3.84238 0 0.00572027 0.000471569 0.991201 -0.13224 uwb: 0.50034535 1208.99 520.514 -imu_odom_: 1691062474.168334878 0.890643 -0.158017 9.91918 -0.0575243 -0.0308927 0.135289 0.08 0.05 pose: 0.0 4.66917 -3.84238 0 0.00572027 0.000471569 0.991201 -0.13224 uwb: 0.0 1208.99 520.514 -imu_odom_: 1691062474.185265807 1.44849 -0.490811 9.85932 -0.072438 -0.0745685 0.0916127 0.08 -0.05 pose: 0.41971383 4.65932 -3.84411 0 0.00819997 0.00124121 0.990998 -0.133617 uwb: 0.49979416 1209.96 521.708 -imu_odom_: 1691062474.202267313 1.39343 0.172383 9.75158 -0.0468716 0.00426106 -0.0937433 0.08 -0.05 pose: 0.0 4.65932 -3.84411 0 0.00819997 0.00124121 0.990998 -0.133617 uwb: 0.0 1209.96 521.708 -imu_odom_: 1691062474.217271403 1.47722 0.586579 9.89284 -0.0692422 0.0127832 -0.169377 0.05 -0.26 pose: 0.0 4.65932 -3.84411 0 0.00819997 0.00124121 0.990998 -0.133617 uwb: 0.0 1209.96 521.708 -imu_odom_: 1691062474.235268554 1.06303 -0.0694318 9.90481 -0.0596548 0.015979 -0.270577 0.05 -0.26 pose: 0.49998956 4.65932 -3.84411 0 0.0131588 0.00269159 0.991077 -0.132614 uwb: 0.49935963 1211.05 522.647 -imu_odom_: 1691062474.252321971 0.397437 -0.11971 9.77074 -0.0660464 0.0213053 -0.352603 0.05 -0.26 pose: 0.0 4.65932 -3.84411 0 0.0131588 0.00269159 0.991077 -0.132614 uwb: 0.0 1211.05 522.647 -imu_odom_: 1691062474.268333081 0.411803 -0.201113 10.0341 -0.0649811 -0.0426106 -0.361125 0.04 -0.35 pose: 0.0 4.65932 -3.84411 0 0.0131588 0.00269159 0.991077 -0.132614 uwb: 0.0 1211.05 522.647 -imu_odom_: 1691062474.286262281 0.363919 -0.316035 9.76116 -0.0628506 -0.0149137 -0.352603 0.04 -0.35 pose: 0.50047658 4.65932 -3.84411 0 0.0125808 0.00383488 0.992159 -0.124289 uwb: 0.50125234 1213.35 524.162 -imu_odom_: 1691062474.303263203 0.85473 -0.19393 10.2352 -0.0671117 -0.0276969 -0.354733 0.03 -0.41 pose: 0.0 4.65932 -3.84411 0 0.0125808 0.00383488 0.992159 -0.124289 uwb: 0.0 1213.35 524.162 -imu_odom_: 1691062474.319261772 0.612916 -0.059855 9.82341 -0.0543285 0.00532632 -0.399474 0.04 -0.41 pose: 0.43938468 4.65932 -3.84411 0 0.0123831 0.00270533 0.993205 -0.115686 uwb: 0.0 1213.35 524.162 -imu_odom_: 1691062474.336258028 0.577003 0.0694318 10.0197 -0.0607201 -0.0170442 -0.412257 0.03 -0.44 pose: 0.0 4.65932 -3.84411 0 0.0123831 0.00270533 0.993205 -0.115686 uwb: 0.50070989 1214.87 525.208 -imu_odom_: 1691062474.352242307 0.423774 -0.189142 9.73482 -0.0639159 0.00106526 -0.415453 0.03 -0.44 pose: 0.0 4.65932 -3.84411 0 0.0123831 0.00270533 0.993205 -0.115686 uwb: 0.0 1214.87 525.208 -imu_odom_: 1691062474.368366280 0.390255 -0.304064 10.2448 -0.0628506 -0.00426106 -0.414388 0.03 -0.44 pose: 0.24029642 4.65932 -3.84411 0 0.01144 0.0049834 0.993813 -0.110364 uwb: 0.0 1214.87 525.208 -imu_odom_: 1691062474.384423760 0.337582 -0.205901 9.59357 -0.0617853 -0.0191748 -0.429302 0.04 -0.61 pose: 0.0 4.65932 -3.84411 0 0.01144 0.0049834 0.993813 -0.110364 uwb: 0.0 1214.87 525.208 -imu_odom_: 1691062474.401360814 0.557849 -0.105345 9.85453 -0.0639159 -0.0330232 -0.418649 0.04 -0.61 pose: 0.32078797 4.64948 -3.8459 0 0.00910451 0.00464377 0.994617 -0.103117 uwb: 0.50073323 1215.99 526.05 -imu_odom_: 1691062474.417295515 0.701501 -0.260968 9.991 -0.0671117 -0.0234358 -0.405866 0.03 -0.47 pose: 0.41989172 4.64942 -3.84586 0 0.00746352 0.00515824 0.995581 -0.0934658 uwb: 0.0 1215.99 526.05 -imu_odom_: 1691062474.435391239 0.88346 -0.244209 9.93833 -0.0681769 0.00426106 -0.370712 0.03 -0.47 pose: 0.0 4.64942 -3.84586 0 0.00746352 0.00515824 0.995581 -0.0934658 uwb: 0.49742608 1217.56 526.978 -imu_odom_: 1691062474.450378123 0.445322 -0.363919 9.78031 -0.0607201 0.0117179 -0.327036 0.03 -0.47 pose: 0.0 4.64942 -3.84586 0 0.00746352 0.00515824 0.995581 -0.0934658 uwb: 0.0 1217.56 526.978 -imu_odom_: 1691062474.467248100 0.426168 -0.21069 9.90242 -0.0628506 -0.015979 -0.280165 0.04 -0.47 pose: 0.7928709 4.64948 -3.8459 0 0.0081596 0.00464448 0.995741 -0.0917134 uwb: 0.0 1217.56 526.978 -imu_odom_: 1691062474.482358055 0.531513 -0.23942 9.7851 -0.0553937 -0.0170442 -0.251402 0.02 -0.29 pose: 0.0 4.64948 -3.8459 0 0.0081596 0.00464448 0.995741 -0.0917134 uwb: 0.0 1217.56 526.978 -imu_odom_: 1691062474.499236490 0.670376 -0.208296 9.9527 -0.0660464 -0.0138484 -0.223706 0.02 -0.29 pose: 0.0 4.64948 -3.8459 0 0.0081596 0.00464448 0.995741 -0.0917134 uwb: 0.50052908 1216.11 526.879 -imu_odom_: 1691062474.515242933 0.627281 -0.237026 9.76834 -0.0553937 -0.00745685 -0.201335 0.02 -0.29 pose: 0.65078579 4.64948 -3.8459 0 0.00776183 0.00132754 0.996779 -0.0798131 uwb: 0.0 1216.11 526.879 -imu_odom_: 1691062474.531303038 0.596156 -0.299275 9.95748 -0.0575243 -0.00106526 -0.18003 0.02 -0.26 pose: 0.0 4.64948 -3.8459 0 0.00776183 0.00132754 0.996779 -0.0798131 uwb: 0.0 1216.11 526.879 -imu_odom_: 1691062474.544292798 0.474052 -0.201113 9.84496 -0.0553937 0.00532632 -0.175769 0.02 -0.26 pose: 0.32945831 4.64948 -3.8459 0 0.00997865 0.000460969 0.997098 -0.0754749 uwb: 0.49934504 1218.24 527.678 -imu_odom_: 1691062474.559229229 0.418985 -0.112527 9.92397 -0.0553937 -0.00426106 -0.170442 0.02 -0.26 pose: 0.0 4.64948 -3.8459 0 0.00997865 0.000460969 0.997098 -0.0754749 uwb: 0.0 1218.24 527.678 -imu_odom_: 1691062474.576505456 0.445322 -0.184354 9.88087 -0.0628506 -0.015979 -0.149137 0.01 -0.17 pose: 0.44983107 4.64948 -3.8459 0 0.00849269 -0.0005130070.997472 -0.0705452 uwb: 0.0 1218.24 527.678 -imu_odom_: 1691062474.592448614 0.593762 -0.335188 9.92397 -0.056459 -0.0127832 -0.142745 0.01 -0.17 pose: 0.0 4.64948 -3.8459 0 0.00849269 -0.0005130070.997472 -0.0705452 uwb: 0.50221766 1218.13 527.912 -imu_odom_: 1691062474.609302552 0.586579 -0.222661 9.85932 -0.0543285 -0.00958738 -0.131028 0.02 -0.23 pose: 0.40151574 4.64948 -3.8459 0 0.00731179 -0.0009805030.997743 -0.0667448 uwb: 0.0 1218.13 527.912 -imu_odom_: 1691062474.625302871 0.533907 -0.241814 9.88087 -0.0585895 -0.00745685 -0.105461 0.02 -0.23 pose: 0.0 4.64948 -3.8459 0 0.00731179 -0.0009805030.997743 -0.0667448 uwb: 0.0 1218.13 527.912 -imu_odom_: 1691062474.641302898 0.447716 -0.225055 9.86172 -0.0553937 -0.00213053 -0.0969391 0.02 -0.23 pose: 0.0 4.64948 -3.8459 0 0.00731179 -0.0009805030.997743 -0.0667448 uwb: 0.49872386 1218.69 528.869 -imu_odom_: 1691062474.656298240 0.519542 -0.201113 9.90002 -0.0511327 -0.00745685 -0.092678 0.01 -0.11 pose: 0.7839176 4.64948 -3.8459 0 0.00801498 -0.0005832540.997782 -0.0660738 uwb: 0.0 1218.69 528.869 -imu_odom_: 1691062474.674462498 0.600945 -0.215478 9.87129 -0.0585895 -0.015979 -0.0607201 0 -0.08 pose: 0.0 4.64948 -3.8459 0 0.00801498 -0.0005832540.997782 -0.0660738 uwb: 0.0 1218.69 528.869 -imu_odom_: 1691062474.690307667 0.687136 -0.339977 9.90481 -0.0553937 -0.00745685 -0.0330232 0 -0.08 pose: 0.64087893 4.64948 -3.8459 0 0.00675525 0.000842598 0.998074 -0.0616595 uwb: 0.49935087 1214.95 527.23 -imu_odom_: 1691062474.706362522 0.648829 -0.308852 9.89524 -0.0532632 -0.00106526 -0.00106526 0 -0.08 pose: 0.0 4.64948 -3.8459 0 0.00675525 0.000842598 0.998074 -0.0616595 uwb: 0.0 1214.95 527.23 -imu_odom_: 1691062474.722291973 0.567426 -0.251391 9.89524 -0.0553937 -0.00213053 0.0372843 0 -0.08 pose: 0.0 4.64948 -3.8459 0 0.00675525 0.000842598 0.998074 -0.0616595 uwb: 0.0 1214.95 527.23 -imu_odom_: 1691062474.736240925 0.560243 -0.263362 9.87129 -0.0543285 0.00426106 0.0553937 0 -0.08 pose: 0.32893627 4.64948 -3.8459 0 0.00951608 -0.0007737580.998125 -0.0604526 uwb: 0.49931296 1212.85 526.383 -imu_odom_: 1691062474.750224581 0.423774 -0.177171 9.84975 -0.0500674 0.0117179 0.0458064 0 0 pose: 0.0 4.64948 -3.8459 0 0.00951608 -0.0007737580.998125 -0.0604526 uwb: 0.0 1212.85 526.383 -imu_odom_: 1691062474.765429608 0.275333 -0.0837971 9.93354 -0.0532632 0.00213053 0.04048 0 0 pose: 0.38971615 4.64948 -3.8459 0 0.00780609 -0.00259356 0.998142 -0.0603795 uwb: 0.0 1212.85 526.383 -imu_odom_: 1691062474.780266008 0.349553 -0.169988 9.91678 -0.056459 -0.0117179 0.0383495 0 0 pose: 0.0 4.64948 -3.8459 0 0.00780609 -0.00259356 0.998142 -0.0603795 uwb: 0.0 1212.85 526.383 -imu_odom_: 1691062474.794263662 0.45011 -0.248997 9.9096 -0.056459 -0.0149137 0.0308927 0 0 pose: 0.6184725 4.64948 -3.8459 0 0.00724055 -0.00223668 0.998146 -0.0603977 uwb: 0.50142441 1211.45 526.191 -imu_odom_: 1691062474.808258984 0.526724 -0.196325 9.87369 -0.056459 -0.00852212 0.036219 0 0 pose: 0.0 4.64948 -3.8459 0 0.00724055 -0.00223668 0.998146 -0.0603977 uwb: 0.0 1211.45 526.191 -imu_odom_: 1691062474.823366313 0.505177 -0.246603 9.92636 -0.056459 -0.00319579 0.0426106 0 0 pose: 0.0 4.64948 -3.8459 0 0.00724055 -0.00223668 0.998146 -0.0603977 uwb: 0.0 1211.45 526.191 -imu_odom_: 1691062474.838279413 0.445322 -0.21069 9.90002 -0.0532632 0.00213053 0.0415453 0 0 pose: 0.43797899 4.64948 -3.8459 0 0.0034211 -0.0008507350.998169 -0.060391 uwb: 0.50054950 1208.87 525.306 -imu_odom_: 1691062474.852320813 0.390255 -0.155623 9.89524 -0.0553937 -0.00426106 0.0415453 0 0 pose: 0.0 4.64948 -3.8459 0 0.0034211 -0.0008507350.998169 -0.060391 uwb: 0.0 1208.87 525.306 -imu_odom_: 1691062474.866191023 0.416591 -0.19393 9.87608 -0.0553937 -0.00745685 0.04048 0 0 pose: 0.0 4.64948 -3.8459 0 0.0034211 -0.0008507350.998169 -0.060391 uwb: 0.0 1208.87 525.306 -imu_odom_: 1691062474.880184886 0.45011 -0.205901 9.89524 -0.0543285 -0.00745685 0.0372843 0 0 pose: 0.44068537 4.64948 -3.8459 0 0.00462683 -0.0009823360.998165 -0.0603619 uwb: 0.0 1208.87 525.306 -imu_odom_: 1691062474.894281405 0.464475 -0.21069 9.86172 -0.0553937 -0.00639159 0.0383495 0 0 pose: 0.0 4.64948 -3.8459 0 0.00462683 -0.0009823360.998165 -0.0603619 uwb: 0.49822515 1209.51 526.102 -imu_odom_: 1691062474.909255457 0.428562 -0.23942 9.90002 -0.0532632 -0.00532632 0.04048 0 0 pose: 0.0 4.64948 -3.8459 0 0.00462683 -0.0009823360.998165 -0.0603619 uwb: 0.0 1209.51 526.102 -imu_odom_: 1691062474.931256479 0.438139 -0.198719 9.95988 -0.056459 -0.00532632 0.0394148 0 0 pose: 0.41942510 4.64948 -3.8459 0 0.00210815 0.000646145 0.998173 -0.0603786 uwb: 0.0 1209.51 526.102 -imu_odom_: 1691062474.947257090 0.0909797 -0.248997 9.81623 -0.0617853 0.0276969 0.0191748 0 0 pose: 0.0 4.64948 -3.8459 0 0.00210815 0.000646145 0.998173 -0.0603786 uwb: 0.50018496 1208.29 525.489 -imu_odom_: 1691062474.964251013 -0.270545 -0.0814029 10.003 -0.0479369 0.0276969 -0.0639159 0 0 pose: 0.0 4.64948 -3.8459 0 0.00210815 0.000646145 0.998173 -0.0603786 uwb: 0.0 1208.29 525.489 -imu_odom_: 1691062474.981193608 -1.34315 0.31364 9.56484 -0.0351537 0.0649811 -0.0745685 0.04 0.05 pose: 0.44006127 4.64948 -3.8459 0 0.00240452 -5.66753e-050.998173 -0.0603712 uwb: 0.0 1208.29 525.489 -imu_odom_: 1691062474.997245838 -1.17316 -0.596156 10.2256 -0.0649811 -0.0245011 0.0426106 0.06 0.08 pose: 0.0 4.64948 -3.8459 0 0.00240452 -5.66753e-050.998173 -0.0603712 uwb: 0.50172187 1206.25 524.497 -imu_odom_: 1691062475.13184042 -0.306458 -0.902614 9.76116 -0.0660464 -0.103331 0.0649811 0.06 0.08 pose: 0.72013393 4.63963 -3.84764 0 -0.00507125 0.00125377 0.998282 -0.0583664 uwb: 0.0 1206.25 524.497 -imu_odom_: 1691062475.30196928 0.4956 -0.0454898 9.85453 -0.036219 -0.0351537 0.0703074 0.08 0.05 pose: 0.0 4.63963 -3.84764 0 -0.00507125 0.00125377 0.998282 -0.0583664 uwb: 0.0 1206.25 524.497 -imu_odom_: 1691062475.46182671 0.708684 0.131681 9.9096 -0.0500674 -0.00213053 0.0948085 0.08 0.05 pose: 0.0 4.63963 -3.84764 0 -0.00507125 0.00125377 0.998282 -0.0583664 uwb: 0.49900395 1203.14 523.721 -imu_odom_: 1691062475.62270196 -0.131681 -0.25618 9.66539 -0.0617853 0.0287621 0.0671117 0.08 0.05 pose: 0.33004456 4.63963 -3.84764 0 -0.00527065 0.000237522 0.998262 -0.0586971 uwb: 0.0 1203.14 523.721 -imu_odom_: 1691062475.79238461 -0.502782 -0.129287 10.1227 -0.0447411 0.00213053 0.0181095 0.08 0.05 pose: 0.41011624 4.63963 -3.84764 0 -0.00514964 0.00162317 0.998214 -0.0595007 uwb: 0.0 1203.14 523.721 -imu_odom_: 1691062475.95440890 -0.0047884 -0.114922 9.85214 -0.0617853 -0.0383495 0.0500674 0.08 0.05 pose: 0.8050032 4.63963 -3.84764 0 -0.00598295 0.00166273 0.998214 -0.0594127 uwb: 0.49840324 1204.48 524.039 -imu_odom_: 1691062475.111373556 0.342371 -0.349553 9.91439 -0.0553937 -0.0245011 0.0703074 0.08 0.05 pose: 0.0 4.63963 -3.84764 0 -0.00598295 0.00166273 0.998214 -0.0594127 uwb: 0.0 1204.48 524.039 -imu_odom_: 1691062475.128380026 0.323217 -0.234632 10.0078 -0.0383495 -0.0223706 0.0447411 0.12 0 pose: 0.41053328 4.63476 -3.84852 0 -0.00723218 0.000569719 0.998194 -0.059633 uwb: 0.0 1204.48 524.039 -imu_odom_: 1691062475.145251176 0.0742203 -0.112527 9.72525 -0.0426106 -0.0330232 0.0543285 0.1 0 pose: 0.0 4.63476 -3.84852 0 -0.00723218 0.000569719 0.998194 -0.059633 uwb: 0.49998683 1203.13 523.743 -imu_odom_: 1691062475.161379821 0.387861 -0.215478 10.1849 -0.0543285 -0.00958738 0.0511327 0.1 0 pose: 0.0 4.63476 -3.84852 0 -0.00723218 0.000569719 0.998194 -0.059633 uwb: 0.0 1203.13 523.743 -imu_odom_: 1691062475.178367043 0.191536 -0.186748 9.95988 -0.0383495 0.00958738 0.0394148 0.11 0.02 pose: 0.25082749 4.62979 -3.84941 0 -0.0062449 0.000233805 0.998195 -0.0597317 uwb: 0.0 1203.13 523.743 -imu_odom_: 1691062475.194166139 0.414197 -0.287304 9.64863 -0.0671117 -0.0223706 0.0628506 0.11 0.02 pose: 0.0 4.62979 -3.84941 0 -0.0062449 0.000233805 0.998195 -0.0597317 uwb: 0.50002766 1203.5 524.029 -imu_odom_: 1691062475.211163860 0.289698 -0.299275 9.51456 -0.0543285 -0.00532632 0.0447411 0.11 0.02 pose: 0.31925117 4.62979 -3.84941 0 -0.00605264 0.00053539 0.998187 -0.0598896 uwb: 0.0 1203.5 524.029 -imu_odom_: 1691062475.227223096 1.1971 -0.169988 10.4148 -0.0394148 -0.0617853 0.0511327 0.1 0 pose: 0.42782438 4.62458 -3.85035 0 -0.00564461 -0.00186996 0.998175 -0.0601019 uwb: 0.0 1203.5 524.029 -imu_odom_: 1691062475.244163073 1.22823 0.114922 9.73961 -0.0607201 -0.0255663 0.112918 0.1 0 pose: 0.8001913 4.61995 -3.85119 0 -0.00462571 -0.00167764 0.998177 -0.0601476 uwb: 0.49928107 1203 524.045 -imu_odom_: 1691062475.260163106 1.21865 -0.608127 9.64863 -0.04048 -0.0372843 0.136354 0.1 0 pose: 0.0 4.61995 -3.85119 0 -0.00462571 -0.00167764 0.998177 -0.0601476 uwb: 0.0 1203 524.045 -imu_odom_: 1691062475.276155265 1.35512 -0.349553 9.50977 -0.0575243 -0.0330232 0.0990696 0.1 0 pose: 0.40997333 4.61995 -3.85119 0 -0.00012844 -0.00122576 0.998101 -0.061585 uwb: 0.0 1203 524.045 -imu_odom_: 1691062475.290155842 1.15161 -0.0023942 9.73961 -0.0394148 0.0383495 0.0681769 0.07 0 pose: 0.0 4.61995 -3.85119 0 -0.00012844 -0.00122576 0.998101 -0.061585 uwb: 0.50053803 1202.98 524.089 -imu_odom_: 1691062475.307219764 0.823605 -0.0550666 9.96227 -0.0553937 0.015979 0.0639159 0.07 0 pose: 0.0 4.61995 -3.85119 0 -0.00012844 -0.00122576 0.998101 -0.061585 uwb: 0.0 1202.98 524.089 -imu_odom_: 1691062475.323155637 0.411803 -0.124498 9.61272 -0.0575243 0.00213053 0.0106526 0.05 0 pose: 0.23001342 4.61995 -3.85119 0 0.00219568 -0.00100745 0.998063 -0.0621566 uwb: 0.0 1202.98 524.089 -imu_odom_: 1691062475.339151005 0.61531 -0.203507 9.94073 -0.0511327 -0.0255663 -0.0170442 0.05 0 pose: 0.0 4.61995 -3.85119 0 0.00219568 -0.00100745 0.998063 -0.0621566 uwb: 0.50121753 1198.71 522.618 -imu_odom_: 1691062475.356147559 0.744597 -0.198719 9.97424 -0.0607201 -0.0138484 -0.0127832 0.05 0 pose: 0.0 4.61995 -3.85119 0 0.00219568 -0.00100745 0.998063 -0.0621566 uwb: 0.0 1198.71 522.618 -imu_odom_: 1691062475.372144093 0.909797 -0.275333 9.78989 -0.0607201 -0.00639159 0.015979 0.06 0.02 pose: 0.72983111 4.61012 -3.85301 0 0.00649077 0.00138804 0.998095 -0.06133 uwb: 0.0 1198.71 522.618 -imu_odom_: 1691062475.387145564 0.768539 -0.260968 9.89045 -0.0511327 0.0149137 0.0287621 0.06 0.02 pose: 0.0 4.61012 -3.85301 0 0.00649077 0.00138804 0.998095 -0.06133 uwb: 0.49983518 1194.84 521.356 -imu_odom_: 1691062475.403143556 0.593762 -0.150835 10.0509 -0.0447411 0.02024 0.0276969 0.06 0.02 pose: 0.0 4.61012 -3.85301 0 0.00649077 0.00138804 0.998095 -0.06133 uwb: 0.0 1194.84 521.356 -imu_odom_: 1691062475.428204724 0.339977 -0.270545 9.9527 -0.0607201 -0.00639159 0.0809601 0.03 0.02 pose: 0.7008016 4.61012 -3.85301 0 0.00719263 0.0012685 0.998096 -0.0612487 uwb: 0.0 1194.84 521.356 -imu_odom_: 1691062475.445215860 0.426168 -0.318429 9.93354 -0.0532632 0.00639159 0.0735032 0.03 0.02 pose: 0.0 4.61012 -3.85301 0 0.00719263 0.0012685 0.998096 -0.0612487 uwb: 0.49827784 1194.37 521.317 -imu_odom_: 1691062475.469139065 -0.976834 -0.0981623 10.1897 -0.052198 0.0820254 0.0703074 0.03 0.02 pose: 0.72997984 4.61012 -3.85301 0 0.00639364 0.000780939 0.998079 -0.0616184 uwb: 0.0 1194.37 521.317 -imu_odom_: 1691062475.486202695 -1.13485 -0.136469 9.98382 -0.0628506 -0.0458064 0.0575243 0.05 0.02 pose: 0.0 4.61012 -3.85301 0 0.00639364 0.000780939 0.998079 -0.0616184 uwb: 0.50002183 1197.28 522.511 -imu_odom_: 1691062475.502252015 0.0454898 -0.124498 10.1323 -0.0532632 -0.0862864 0.0447411 0.05 0.02 pose: 0.17014052 4.61012 -3.85301 0 0.0046284 9.282e-05 0.998072 -0.0618984 uwb: 0.0 1197.28 522.511 -imu_odom_: 1691062475.528223380 0.567426 -0.162806 10.0533 -0.0596548 -0.0181095 0.0468716 0.12 0.02 pose: 0.49084404 4.61012 -3.85301 0 6.71558e-05 0.000376513 0.998055 -0.0623371 uwb: 0.0 1197.28 522.511 -imu_odom_: 1691062475.543123654 0.21069 -0.241814 9.69652 -0.0436758 0.00852212 0.0436758 0.12 0.02 pose: 0.0 4.61012 -3.85301 0 6.71558e-05 0.000376513 0.998055 -0.0623371 uwb: 0.50018806 1196.69 522.773 -imu_odom_: 1691062475.559213803 -0.251391 -0.215478 9.60314 -0.0617853 0.00426106 0.0553937 0.12 0.02 pose: 0.0 4.61012 -3.85301 0 6.71558e-05 0.000376513 0.998055 -0.0623371 uwb: 0.0 1196.69 522.773 -imu_odom_: 1691062475.584118071 0.208296 -0.440533 9.54568 -0.0500674 -0.0351537 0.0436758 0.11 0 pose: 0.8033701 4.61012 -3.85301 0 0.000885327 0.000622998 0.998053 -0.0623666 uwb: 0.50090840 1197.98 523.182 -imu_odom_: 1691062475.607127579 0.402226 0.047884 9.64384 -0.0479369 -0.0479369 0.0553937 0.13 0 pose: 0.73832355 4.60027 -3.85473 0 -0.00152605 -0.00127781 0.998034 -0.0626367 uwb: 0.0 1197.98 523.182 -imu_odom_: 1691062475.633105360 0.225055 -0.354342 10.307 -0.0703074 -0.0234358 0.0447411 0.16 0.02 pose: 0.0 4.60027 -3.85473 0 -0.00152605 -0.00127781 0.998034 -0.0626367 uwb: 0.0 1197.98 523.182 -imu_odom_: 1691062475.646160743 0.102951 -0.0430956 9.55047 -0.052198 -0.00213053 0.0298274 0.16 0.02 pose: 0.0 4.60027 -3.85473 0 -0.00152605 -0.00127781 0.998034 -0.0626367 uwb: 0.0 1197.98 523.182 -imu_odom_: 1691062475.661102429 0.54109 -0.19393 9.92875 -0.0607201 0.00532632 0.0394148 0.16 0.02 pose: 0.31038251 4.59042 -3.85646 0 -0.00137984 0.000476168 0.998022 -0.0628416 uwb: 0.0 1197.98 523.182 -imu_odom_: 1691062475.678387411 0.577003 -0.153229 9.89524 -0.0735032 0.00852212 0.0426106 0.17 0 pose: 0.45946107 4.59042 -3.85646 0 -0.00208176 -7.33571e-050.998022 -0.0628236 uwb: 0.0 1197.98 523.182 -imu_odom_: 1691062475.694264666 0.445322 -0.423774 9.75398 -0.0660464 0.0319579 0.0394148 0.17 0 pose: 0.7058761 4.59042 -3.85646 0 -0.00145572 9.33864e-05 0.998023 -0.0628349 uwb: 0.100059484 1200.05 524.072 -imu_odom_: 1691062475.710155336 0.471658 -0.342371 9.91439 -0.0490022 0.0127832 0.02024 0.17 0 pose: 0.0 4.59042 -3.85646 0 -0.00145572 9.33864e-05 0.998023 -0.0628349 uwb: 0.0 1200.05 524.072 -imu_odom_: 1691062475.727381991 0.45011 -0.222661 9.84975 -0.052198 0.0245011 0.0298274 0.13 0 pose: 0.41994146 4.58057 -3.85819 0 0.000532401 -0.00245351 0.99803 -0.0626939 uwb: 0.0 1200.05 524.072 -imu_odom_: 1691062475.744222228 0.213084 -0.0885855 10.1179 -0.0490022 -0.00106526 0.0639159 0.13 0 pose: 0.0 4.58057 -3.85819 0 0.000532401 -0.00245351 0.99803 -0.0626939 uwb: 0.50109213 1201.17 524.9 -imu_odom_: 1691062475.760112607 0.222661 -0.227449 10.0748 -0.0607201 -0.0415453 0.0479369 0.13 0 pose: 0.0 4.58057 -3.85819 0 0.000532401 -0.00245351 0.99803 -0.0626939 uwb: 0.0 1201.17 524.9 -imu_odom_: 1691062475.776262833 0.706289 -0.201113 10.3525 -0.0500674 -0.0117179 0.0149137 0.18 0 pose: 0.42081053 4.57072 -3.85992 0 -0.000704547-0.00031669 0.998023 -0.0628448 uwb: 0.0 1201.17 524.9 -imu_odom_: 1691062475.793220599 0.545878 -0.0263362 9.96227 -0.0500674 -0.0383495 0.0383495 0.14 0 pose: 0.0 4.57072 -3.85992 0 -0.000704547-0.00031669 0.998023 -0.0628448 uwb: 0.49905943 1200.67 524.92 -imu_odom_: 1691062475.809215967 0.373495 -0.299275 9.55047 -0.0553937 0.0426106 0.0532632 0.14 0 pose: 0.0 4.57072 -3.85992 0 -0.000704547-0.00031669 0.998023 -0.0628448 uwb: 0.0 1200.67 524.92 -imu_odom_: 1691062475.825098179 0.392649 -0.325611 9.86411 -0.0426106 0.00639159 0.0383495 0.14 0 pose: 0.32947010 4.57072 -3.85992 0 0.00094269 0.000621848 0.998033 -0.0626728 uwb: 0.0 1200.67 524.92 -imu_odom_: 1691062475.842097650 -0.0191536 -0.100556 9.56244 -0.0426106 0.0511327 0.0223706 0.14 0 pose: 0.0 4.57072 -3.85992 0 0.00094269 0.000621848 0.998033 -0.0626728 uwb: 0.0 1200.67 524.92 -imu_odom_: 1691062475.858088059 0.0143652 0.143652 9.79707 -0.0575243 -0.00106526 0.0692422 0.14 0 pose: 0.32042646 4.56087 -3.86165 0 0.000311029 -0.0008845560.998027 -0.062774 uwb: 0.0 1200.67 524.92 -imu_odom_: 1691062475.885109606 0.332794 -0.0167594 10.6111 -0.052198 -0.00106526 0.0127832 0.21 0 pose: 0.40862014 4.56087 -3.86165 0 -0.00312279 -9.87487e-060.998017 -0.0628652 uwb: 0.99876629 1202.28 525.754 -imu_odom_: 1691062475.901099140 0.418985 -0.009576819.4954 -0.0607201 -0.0308927 0.036219 0.21 0 pose: 0.0 4.56087 -3.86165 0 -0.00312279 -9.87487e-060.998017 -0.0628652 uwb: 0.0 1202.28 525.754 -imu_odom_: 1691062475.928275254 0.842759 -0.395043 10.0509 -0.0745685 -0.0639159 0.0511327 0.21 0.02 pose: 0.7025807 4.56087 -3.86165 0 -0.00319664 0.000700736 0.998022 -0.0627733 uwb: 0.0 1202.28 525.754 -imu_odom_: 1691062475.953144234 0.301669 0.150835 9.95988 -0.036219 -0.00745685 0.0340885 0.16 0 pose: 0.0 4.56087 -3.86165 0 -0.00319664 0.000700736 0.998022 -0.0627733 uwb: 0.0 1202.28 525.754 -imu_odom_: 1691062475.979130472 0.577003 -0.466869 9.87608 -0.0873517 0.0181095 0.052198 0.2 -0.02 pose: 0.71076101 4.55102 -3.86338 0 0.000411816 0.00359433 0.99803 -0.0626294 uwb: 0.0 1202.28 525.754 -imu_odom_: 1691062476.5332230 0.304064 -0.0047884 10.3022 -0.0287621 0.0234358 0.0234358 0.18 0 pose: 0.42940505 4.54117 -3.86511 0 0.000738985 0.00260794 0.998026 -0.0627513 uwb: 0.99846298 1205.07 527.236 -imu_odom_: 1691062476.22228176 0.282516 -0.347159 9.34696 -0.0660464 -0.00745685 0.0575243 0.18 0 pose: 0.8024369 4.54117 -3.86511 0 0.000102546 0.00332014 0.998028 -0.0626851 uwb: 0.0 1205.07 527.236 -imu_odom_: 1691062476.48243005 0.114922 -0.150835 9.67976 -0.0415453 0.0234358 0.0213053 0.16 0.02 pose: 0.0 4.54117 -3.86511 0 0.000102546 0.00332014 0.998028 -0.0626851 uwb: 0.50031066 1204.03 527.374 -imu_odom_: 1691062476.65225567 0.672771 -0.134075 9.53132 -0.0532632 0.0106526 0.0500674 0.16 0.02 pose: 0.42962679 4.53132 -3.86684 0 -0.00280403 0.0032599 0.998029 -0.0626071 uwb: 0.0 1204.03 527.374 -imu_odom_: 1691062476.81187985 0.289698 -0.533907 9.48822 -0.0628506 -0.0213053 0.0490022 0.16 0.02 pose: 0.0 4.53132 -3.86684 0 -0.00280403 0.0032599 0.998029 -0.0626071 uwb: 0.0 1204.03 527.374 -imu_odom_: 1691062476.98060892 0.248997 -0.198719 10.5584 -0.04048 0.0287621 0.0181095 0.23 0 pose: 0.51070465 4.52147 -3.86857 0 -0.00329648 0.0017887 0.998032 -0.062601 uwb: 0.50055280 1205.44 528.628 -imu_odom_: 1691062476.114054807 -0.0215478 0.011971 10.4052 -0.0660464 0.0213053 0.0585895 0.23 0 pose: 0.7007436 4.52147 -3.86857 0 -0.00407519 0.00159436 0.998034 -0.0625239 uwb: 0.0 1205.44 528.628 -imu_odom_: 1691062476.130245577 0.500388 -0.411803 9.80904 -0.0692422 0.00426106 0.0532632 0.23 0 pose: 0.0 4.52147 -3.86857 0 -0.00407519 0.00159436 0.998034 -0.0625239 uwb: 0.0 1205.44 528.628 -imu_odom_: 1691062476.147147064 0.438139 -0.311246 9.61511 -0.0415453 0.0245011 0.0138484 0.16 -0.02 pose: 0.42050156 4.5099 -3.86045 0 -0.00567561 0.00073053 0.998018 -0.0626757 uwb: 0.50020283 1206.76 530.102 -imu_odom_: 1691062476.163133980 0.0430956 0.136469 10.0987 -0.0607201 0.0234358 0.0553937 0.23 0.02 pose: 0.0 4.5099 -3.86045 0 -0.00567561 0.00073053 0.998018 -0.0626757 uwb: 0.0 1206.76 530.102 -imu_odom_: 1691062476.179068401 0.258574 -0.287304 9.72525 -0.072438 0.02024 0.056459 0.23 0.02 pose: 0.0 4.5099 -3.86045 0 -0.00567561 0.00073053 0.998018 -0.0626757 uwb: 0.0 1206.76 530.102 -imu_odom_: 1691062476.195104604 0.414197 -0.280122 9.61511 -0.0585895 0.015979 0.0394148 0.2 0 pose: 0.22954981 4.5099 -3.86045 0 -0.00504011 0.000271759 0.998032 -0.0625039 uwb: 0.50155893 1209.5 531.653 -imu_odom_: 1691062476.211131182 0.383072 -0.150835 9.97185 -0.0617853 0.00745685 0.0458064 0.2 0 pose: 0.0 4.5099 -3.86045 0 -0.00504011 0.000271759 0.998032 -0.0625039 uwb: 0.0 1209.5 531.653 -imu_odom_: 1691062476.228119285 0.531513 -0.241814 9.93354 -0.076699 0.0181095 0.0468716 0.2 0 pose: 0.0 4.5099 -3.86045 0 -0.00504011 0.000271759 0.998032 -0.0625039 uwb: 0.0 1209.5 531.653 -imu_odom_: 1691062476.244273309 0.328006 -0.237026 9.39724 -0.0511327 0.0703074 0.0181095 0.17 0 pose: 0.74918727 4.49484 -3.86309 0 -0.00261978 -0.0004670410.998021 -0.0628231 uwb: 0.49872715 1209.65 532.415 -imu_odom_: 1691062476.271212041 0.610521 -0.320823 10.1418 -0.0884169 -0.00639159 0.0798948 0.17 0 pose: 0.7998999 4.4902 -3.86391 0 -0.00356192 -0.0009447160.998023 -0.0627361 uwb: 0.0 1209.65 532.415 -imu_odom_: 1691062476.296208475 0.52433 -0.191536 9.69652 -0.0500674 -0.0149137 0.0436758 0.19 -0.02 pose: 0.35093757 4.4902 -3.86391 0 -0.00183088 -0.00242856 0.997997 -0.0631855 uwb: 0.50006868 1209.9 532.963 -imu_odom_: 1691062476.323206993 0.430956 -0.308852 9.59117 -0.0681769 -0.00106526 0.0458064 0.21 -0.02 pose: 0.0 4.4902 -3.86391 0 -0.00183088 -0.00242856 0.997997 -0.0631855 uwb: 0.0 1209.9 532.963 -imu_odom_: 1691062476.339048090 0.849942 -0.304064 10.4052 -0.0415453 -0.00532632 0.0308927 0.19 0 pose: 0.51994952 4.48035 -3.86565 0 0.00137842 -0.00396504 0.997985 -0.0633171 uwb: 0.49932500 1208.45 532.908 -imu_odom_: 1691062476.366030276 0.641646 -0.244209 10.422 -0.0575243 -0.0255663 0.0639159 0.19 0 pose: 0.0 4.48035 -3.86565 0 0.00137842 -0.00396504 0.997985 -0.0633171 uwb: 0.0 1208.45 532.908 -imu_odom_: 1691062476.382040815 0.713472 0 10.0269 -0.0532632 0.00106526 0.0458064 0.18 0 pose: 0.42823283 4.4705 -3.86739 0 0.00579587 -0.00288737 0.997957 -0.0635579 uwb: 0.0 1208.45 532.908 -imu_odom_: 1691062476.407184817 0.272939 -0.265756 9.4547 -0.0607201 -0.00106526 0.052198 0.18 0 pose: 0.7027267 4.4705 -3.86739 0 0.00614865 -0.00228367 0.997956 -0.0635751 uwb: 0.50159394 1208.56 533.755 -imu_odom_: 1691062476.429032455 0.253785 -0.294487 9.96946 -0.04048 -0.036219 0.0436758 0.19 0 pose: 0.34127274 4.46308 -3.86871 0 0.00406715 -0.00189303 0.997955 -0.0637615 uwb: 0.0 1208.56 533.755 -imu_odom_: 1691062476.454069719 0.296881 -0.155623 10.3022 -0.0628506 -0.0330232 0.0585895 0.19 0 pose: 0.0 4.46308 -3.86871 0 0.00406715 -0.00189303 0.997955 -0.0637615 uwb: 0.49956414 1209.17 534.592 -imu_odom_: 1691062476.478027345 0.54109 -0.0454898 10.6279 -0.0500674 -0.0319579 0.0394148 0.18 0 pose: 0.5881137 4.46066 -3.86914 0 0.00358484 -0.00197624 0.997956 -0.0637757 uwb: 0.0 1209.17 534.592 -imu_odom_: 1691062476.502019676 0.629675 -0.294487 9.88087 -0.0607201 -0.0447411 0.0447411 0.18 0 pose: 0.0 4.46066 -3.86914 0 0.00358484 -0.00197624 0.997956 -0.0637757 uwb: 0.49925793 1210.47 536.031 -imu_odom_: 1691062476.518021174 0.481235 -0.418985 9.4164 -0.0692422 0.0308927 0.0447411 0.22 0 pose: 0.48107149 4.45081 -3.87089 0 0.000967963 -0.0003125990.997946 -0.0640529 uwb: 0.0 1210.47 536.031 -imu_odom_: 1691062476.535016859 0.225055 -0.129287 10.2855 -0.0500674 0 0.0436758 0.22 0 pose: 0.0 4.45081 -3.87089 0 0.000967963 -0.0003125990.997946 -0.0640529 uwb: 0.49922876 1211.47 537.053 -imu_odom_: 1691062476.551128887 0.612916 -0.399832 9.91918 -0.0756338 -0.0511327 0.0543285 0.17 0 pose: 0.73843756 4.44097 -3.87265 0 0.00284507 -0.0009172610.997933 -0.0641985 uwb: 0.0 1211.47 537.053 -imu_odom_: 1691062476.567009647 0.476446 -0.11971 10.0317 -0.0575243 -0.00426106 0.036219 0.17 0 pose: 0.0 4.44097 -3.87265 0 0.00284507 -0.0009172610.997933 -0.0641985 uwb: 0.0 1211.47 537.053 -imu_odom_: 1691062476.583042350 0.519542 -0.172383 10.0197 -0.0394148 -0.0330232 0.0340885 0.17 0 pose: 0.0 4.44097 -3.87265 0 0.00284507 -0.0009172610.997933 -0.0641985 uwb: 0.0 1211.47 537.053 -imu_odom_: 1691062476.609179374 0.663194 -0.342371 10.1227 -0.0490022 0.00213053 0.0319579 0.23 0 pose: 0.8006290 4.44097 -3.87265 0 0.0036252 -0.00153107 0.997926 -0.0642582 uwb: 0.49954082 1211.49 538.071 -imu_odom_: 1691062476.633162664 0.782904 -0.275333 10.2232 -0.0372843 -0.0330232 0.0479369 0.19 0 pose: 0.66156225 4.43112 -3.87441 0 0.00708809 -0.0005572430.997915 -0.0641463 uwb: 0.0 1211.49 538.071 -imu_odom_: 1691062476.649083379 0.258574 -0.19393 10.0293 -0.056459 -0.0117179 0.052198 0.19 0 pose: 0.0 4.43112 -3.87441 0 0.00708809 -0.0005572430.997915 -0.0641463 uwb: 0.49979745 1207.98 537.227 -imu_odom_: 1691062476.675087708 0.632069 -0.0287304 10.0293 -0.0490022 -0.04048 0.056459 0.24 0 pose: 0.0 4.43112 -3.87441 0 0.00708809 -0.0005572430.997915 -0.0641463 uwb: 0.0 1207.98 537.227 -imu_odom_: 1691062476.701013587 0.646434 -0.229843 9.93833 -0.0596548 0.00958738 0.0426106 0.18 0.02 pose: 0.46909399 4.42128 -3.87617 0 0.00856891 0.000242348 0.997868 -0.0645464 uwb: 0.49953790 1209.26 538.705 -imu_odom_: 1691062476.727026958 0.603339 -0.227449 10.1658 -0.0756338 0.0117179 0.0703074 0.22 0.02 pose: 0.0 4.41438 -3.87741 0 0.00937048 0.0021685 0.997868 -0.0645464 uwb: 0.0 1209.26 538.705 -imu_odom_: 1691062476.744093219 0.536301 -0.502782 9.4954 -0.0585895 -0.0245011 0.0426106 0.22 0.02 pose: 0.33101006 4.41144 -3.87794 0 0.0106088 0.000233657 0.997847 -0.0647154 uwb: 0.49991994 1209.61 540.055 -imu_odom_: 1691062476.770308110 0.6608 -0.0766145 10.0604 -0.0394148 -0.0138484 0.0436758 0.25 -0.02 pose: 0.0 4.41144 -3.87794 0 0.0106088 0.000233657 0.997847 -0.0647154 uwb: 0.0 1209.61 540.055 -imu_odom_: 1691062476.796023428 0.45011 -0.179565 10.0413 -0.0479369 -0.00852212 0.0330232 0.25 -0.02 pose: 0.42930314 4.40159 -3.87971 0 0.00911053 -0.00174498 0.997838 -0.0650598 uwb: 0.50090567 1206.76 539.948 -imu_odom_: 1691062476.811998970 0.335188 0.0191536 9.78031 -0.072438 -0.0106526 0.0479369 0.22 0.02 pose: 0.44904400 4.39175 -3.88148 0 0.00737395 0.000883241 0.997858 -0.0649948 uwb: 0.0 1206.76 539.948 -imu_odom_: 1691062476.828055587 0.4956 -0.287304 10.1035 -0.0745685 -0.00106526 0.056459 0.22 0.02 pose: 0.0 4.39175 -3.88148 0 0.00737395 0.000883241 0.997858 -0.0649948 uwb: 0.0 1206.76 539.948 -imu_odom_: 1691062476.844055627 0.73502 -0.0574608 9.98143 -0.0617853 -0.00639159 0.0298274 0.21 0 pose: 0.0 4.39175 -3.88148 0 0.00737395 0.000883241 0.997858 -0.0649948 uwb: 0.50044489 1206.42 540.698 -imu_odom_: 1691062476.861052770 0.263362 -0.251391 10.137 -0.0596548 0.052198 0.0340885 0.21 0 pose: 0.38996724 4.38191 -3.88326 0 0.00636974 0.000569031 0.997854 -0.0651584 uwb: 0.0 1206.42 540.698 -imu_odom_: 1691062476.877046394 0.78051 -0.402226 10.2232 -0.056459 -0.0319579 0.0415453 0.21 0 pose: 0.0 4.38191 -3.88326 0 0.00636974 0.000569031 0.997854 -0.0651584 uwb: 0.0 1206.42 540.698 -imu_odom_: 1691062476.892995689 0.19393 -0.208296 9.56723 -0.0245011 0.0980043 0.0276969 0.18 -0.02 pose: 0.42026242 4.37636 -3.88427 0 0.00652942 -0.0001720170.997858 -0.0650859 uwb: 0.49931042 1207.97 542.586 -imu_odom_: 1691062476.919030348 0.387861 -0.344765 9.19852 -0.0841559 0.0117179 0.0543285 0.18 -0.02 pose: 0.6978564 4.37207 -3.88504 0 0.00546758 -9.59881e-050.997867 -0.0650456 uwb: 0.0 1207.97 542.586 -imu_odom_: 1691062476.944272341 0.59855 -0.306458 9.74919 -0.0543285 -0.04048 0.0426106 0.2 -0.02 pose: 0.35005390 4.37207 -3.88504 0 0.00254363 -0.00260158 0.997866 -0.0651929 uwb: 0.50049447 1207.63 543.334 -imu_odom_: 1691062476.970134351 0.521936 -0.232238 9.83299 -0.0617853 0.0191748 0.0500674 0.19 -0.02 pose: 0.0 4.37207 -3.88504 0 0.00254363 -0.00260158 0.997866 -0.0651929 uwb: 0.0 1207.63 543.334 -imu_odom_: 1691062476.986985969 0.442927 0.0311246 10.2831 -0.0330232 -0.0106526 0.0330232 0.18 -0.02 pose: 0.33119088 4.36223 -3.88682 0 0.00559523 -0.00229927 0.99785 -0.0652623 uwb: 0.49958747 1206.5 543.7 -imu_odom_: 1691062477.3035878 0.0622492 -0.0263362 9.4547 -0.0830906 0.0245011 0.0500674 0.18 -0.02 pose: 0.0 4.36223 -3.88682 0 0.00559523 -0.00229927 0.99785 -0.0652623 uwb: 0.0 1206.5 543.7 -imu_odom_: 1691062477.19014634 0.493206 -0.11971 10.3166 -0.056459 -0.02024 0.0308927 0.18 -0.02 pose: 0.0 4.36223 -3.88682 0 0.00559523 -0.00229927 0.99785 -0.0652623 uwb: 0.0 1206.5 543.7 -imu_odom_: 1691062477.45030930 0.811634 -0.471658 9.58878 -0.0639159 -0.00319579 0.036219 0.18 0.02 pose: 0.58846073 4.35239 -3.8886 0 0.00375541 0.00218146 0.997855 -0.0653236 uwb: 0.49884976 1207.86 544.937 -imu_odom_: 1691062477.70188941 1.12288 -0.378284 9.5816 -0.0511327 0 0.0298274 0.2 0.02 pose: 0.34035421 4.34546 -3.88986 0 0.00594608 0.00121626 0.99785 -0.0652539 uwb: 0.0 1207.86 544.937 -imu_odom_: 1691062477.96125912 0.823605 -0.105345 10.0844 -0.0735032 -0.0149137 0.0660464 0.2 0.02 pose: 0.7990253 4.34255 -3.89038 0 0.00670847 0.0010558 0.997848 -0.0652168 uwb: 0.50053839 1207.15 545.44 -imu_odom_: 1691062477.121117106 0.804452 -0.270545 10.0748 -0.0383495 0.0298274 0.0213053 0.2 0 pose: 0.43104729 4.33559 -3.89164 0 0.0108248 0.00163772 0.997795 -0.0654679 uwb: 0.0 1207.15 545.44 -imu_odom_: 1691062477.147094031 0.292093 -0.227449 9.87369 -0.056459 -0.0415453 0.0436758 0.2 0 pose: 0.0 4.33559 -3.89164 0 0.0108248 0.00163772 0.997795 -0.0654679 uwb: 0.49928436 1206.83 546.145 -imu_odom_: 1691062477.172024566 0.308852 0 10.0054 -0.0490022 -0.04048 0.0532632 0.17 -0.02 pose: 0.50968119 4.32382 -3.88361 0 0.0106602 0.000768302 0.997808 -0.0653091 uwb: 0.0 1206.83 546.145 -imu_odom_: 1691062477.187968034 0.574608 -0.586579 9.56962 -0.0681769 0 0.0532632 0.17 -0.02 pose: 0.0 4.32382 -3.88361 0 0.0106602 0.000768302 0.997808 -0.0653091 uwb: 0.50192076 1205.29 546.376 -imu_odom_: 1691062477.214022534 0.438139 -0.0933739 10.3789 -0.036219 -0.0617853 0.0511327 0.18 0 pose: 0.40874003 4.32109 -3.8841 0 0.00904721 0.000468904 0.997806 -0.0655882 uwb: 0.0 1205.29 546.376 -imu_odom_: 1691062477.239960089 0.407014 -0.126893 10.1514 -0.0575243 -0.00852212 0.0447411 0.23 0 pose: 0.8019125 4.32109 -3.8841 0 0.00862023 0.0010274 0.997806 -0.0656309 uwb: 0.50069880 1204.56 546.946 -imu_odom_: 1691062477.265071437 0.138864 -0.0383072 10.2855 -0.0671117 0.0138484 0.056459 0.19 0 pose: 0.18035375 4.31427 -3.88534 0 0.00765993 0.00228348 0.997806 -0.0657267 uwb: 0.0 1204.56 546.946 -imu_odom_: 1691062477.281059817 0.349553 -0.179565 9.8689 -0.0681769 -0.0553937 0.0543285 0.19 0 pose: 0.0 4.31427 -3.88534 0 0.00765993 0.00228348 0.997806 -0.0657267 uwb: 0.0 1204.56 546.946 -imu_odom_: 1691062477.306956543 0.639252 -0.232238 10.3262 -0.0543285 -0.00319579 0.0340885 0.18 0.02 pose: 0.34025214 4.31125 -3.88589 0 0.00435835 0.00308522 0.997815 -0.0658481 uwb: 0.49831029 1203.34 547.554 -imu_odom_: 1691062477.333009585 0.94571 -0.208296 9.62948 -0.0415453 -0.0383495 0.0351537 0.18 0.02 pose: 0.41013113 4.30141 -3.88769 0 0.00222343 0.00260715 0.997809 -0.0660776 uwb: 0.0 1203.34 547.554 -imu_odom_: 1691062477.359103456 0.373495 -0.138864 9.88566 -0.076699 0.0127832 0.0681769 0.19 0 pose: 0.43948724 4.29157 -3.88948 0 0.00697022 0.0023395 0.997794 -0.0659806 uwb: 0.50011844 1206.14 549.754 -imu_odom_: 1691062477.384283048 0.0526724 -0.035913 9.62708 -0.0479369 0.04048 0.0468716 0.23 0.02 pose: 0.26093871 4.28435 -3.8908 0 0.00418899 0.00246633 0.997785 -0.0663434 uwb: 0.50011261 1205.4 550.322 -imu_odom_: 1691062477.399104299 0.23942 -0.466869 9.94551 -0.056459 -0.00745685 0.04048 0.23 0.02 pose: 0.0 4.28435 -3.8908 0 0.00418899 0.00246633 0.997785 -0.0663434 uwb: 0.0 1205.4 550.322 -imu_odom_: 1691062477.425939510 0.878672 -0.445322 10.07 -0.04048 0.0191748 0.0351537 0.23 0.02 pose: 0.0 4.28435 -3.8908 0 0.00418899 0.00246633 0.997785 -0.0663434 uwb: 0.0 1205.4 550.322 -imu_odom_: 1691062477.451932767 0.737414 -0.0814029 9.86172 -0.0532632 -0.0191748 0.0490022 0.19 0.02 pose: 0.40000843 4.28174 -3.89128 0 0.000510763 0.00180147 0.997789 -0.0664347 uwb: 0.49848236 1208.22 552.425 -imu_odom_: 1691062477.468990578 0.253785 -0.397437 9.99579 -0.0543285 0.0585895 0.0436758 0.19 0.02 pose: 0.0 4.28174 -3.89128 0 0.000510763 0.00180147 0.997789 -0.0664347 uwb: 0.0 1208.22 552.425 -imu_odom_: 1691062477.494945047 0.466869 -0.213084 10.2783 -0.0500674 -0.0447411 0.056459 0.21 0.02 pose: 0.52828468 4.2719 -3.89308 0 0.00510456 0.00202008 0.997771 -0.0665011 uwb: 0.50131124 1209.15 553.504 -imu_odom_: 1691062477.519931575 0.543484 -0.0143652 10.0149 -0.0234358 -0.04048 0.0372843 0.25 0 pose: 0.43012280 4.26207 -3.89489 0 0.0028385 -0.00148416 0.997763 -0.0667668 uwb: 0.0 1209.15 553.504 -imu_odom_: 1691062477.542049277 0.667982 -0.294487 9.83538 -0.0777643 -0.0500674 0.052198 0.25 0 pose: 0.0 4.26207 -3.89489 0 0.0028385 -0.00148416 0.997763 -0.0667668 uwb: 0.49844736 1208.02 553.885 -imu_odom_: 1691062477.567039013 0.337582 -0.263362 9.90481 -0.0468716 -0.0511327 0.0330232 0.18 -0.02 pose: 0.47104230 4.25223 -3.8967 0 0.00650686 0.000205118 0.99774 -0.0668751 uwb: 0.0 1208.02 553.885 -imu_odom_: 1691062477.582919779 0.651223 -0.143652 9.66779 -0.0639159 -0.0298274 0.0500674 0.18 -0.02 pose: 0.0 4.25223 -3.8967 0 0.00650686 0.000205118 0.99774 -0.0668751 uwb: 0.0 1208.02 553.885 -imu_odom_: 1691062477.609092976 0.131681 -0.107739 9.98861 -0.0479369 0.0628506 0.0394148 0.19 0 pose: 0.40870502 4.2424 -3.89851 0 0.00625099 0.000409953 0.997742 -0.066877 uwb: 0.50113334 1205.63 553.942 -imu_odom_: 1691062477.634921167 0.222661 -0.474052 9.94791 -0.072438 0.0106526 0.0500674 0.19 0 pose: 0.0 4.2424 -3.89851 0 0.00625099 0.000409953 0.997742 -0.066877 uwb: 0.49906271 1206.79 555.515 -imu_odom_: 1691062477.659917610 0.828394 -0.162806 10.24 -0.0340885 -0.0415453 0.0372843 0.19 0 pose: 0.33101893 4.2424 -3.89851 0 0.00233735 0.000345614 0.997756 -0.0669095 uwb: 0.0 1206.79 555.515 -imu_odom_: 1691062477.675914448 0.622492 -0.071826 9.70849 -0.0553937 -0.0426106 0.0458064 0.19 0 pose: 0.0 4.2424 -3.89851 0 0.00233735 0.000345614 0.997756 -0.0669095 uwb: 0.0 1206.79 555.515 -imu_odom_: 1691062477.701914412 0.409408 -0.363919 9.66539 -0.0490022 -0.0340885 0.0436758 0.19 0 pose: 0.50917084 4.23256 -3.90032 0 0.00451092 0.000162826 0.997743 -0.0669987 uwb: 0.49973932 1204.19 555.014 -imu_odom_: 1691062477.727970954 0.191536 -0.155623 9.7851 -0.0500674 -0.0223706 0.052198 0.19 0 pose: 0.0 4.23256 -3.90032 0 0.00451092 0.000162826 0.997743 -0.0669987 uwb: 0.0 1204.19 555.014 -imu_odom_: 1691062477.753906467 0.0909797 -0.287304 9.82341 -0.056459 -0.0117179 0.0511327 0.21 0 pose: 0.42038506 4.22273 -3.90214 0 0.0038271 -0.00115409 0.997736 -0.0671332 uwb: 0.50006303 1202.28 555.095 -imu_odom_: 1691062477.779931804 0.543484 -0.141258 9.96946 -0.0436758 0.00745685 0.04048 0.21 0.02 pose: 0.44929205 4.21289 -3.90396 0 -0.000286597-0.00125339 0.997725 -0.0674067 uwb: 0.0 1202.28 555.095 -imu_odom_: 1691062477.796039464 0.328006 -0.143652 10.1131 -0.0735032 0.0138484 0.072438 0.21 0.02 pose: 0.0 4.21289 -3.90396 0 -0.000286597-0.00125339 0.997725 -0.0674067 uwb: 0.50181576 1205.56 557.144 -imu_odom_: 1691062477.812881463 0.430956 -0.500388 9.58399 -0.0607201 -0.0276969 0.0500674 0.21 0.02 pose: 0.0 4.21289 -3.90396 0 -0.000286597-0.00125339 0.997725 -0.0674067 uwb: 0.0 1205.56 557.144 -imu_odom_: 1691062477.838888719 0.919373 -0.0885855 10.0556 -0.036219 -0.0276969 0.0436758 0.18 0 pose: 0.50002221 4.20306 -3.90578 0 0.00026078 0.000242381 0.997704 -0.0677192 uwb: 0.49916771 1206.24 558.706 -imu_odom_: 1691062477.863897120 0.347159 -0.143652 10.0269 -0.0468716 0.0276969 0.036219 0.18 0 pose: 0.34980031 4.19601 -3.90709 0 0.00324538 0.000466772 0.997692 -0.0678173 uwb: 0.0 1206.24 558.706 -imu_odom_: 1691062477.887886252 0.371101 -0.232238 9.9527 -0.0788296 -0.0276969 0.0681769 0.2 0 pose: 0.7063724 4.19323 -3.90761 0 0.00248877 0.000785792 0.997695 -0.0678044 uwb: 0.50075129 1208.99 560.836 -imu_odom_: 1691062477.911889382 0.78051 -0.0981623 9.87129 -0.0649811 0.00106526 0.0340885 0.2 0 pose: 0.41933809 4.18617 -3.90893 0 -0.000653963-0.0005224260.997677 -0.0681119 uwb: 0.0 1208.99 560.836 -imu_odom_: 1691062477.937886722 0.328006 -0.110133 9.42837 -0.0628506 0.0276969 0.052198 0.18 -0.02 pose: 0.0 4.18617 -3.90893 0 -0.000653963-0.0005224260.997677 -0.0681119 uwb: 0.50040716 1209.05 561.697 -imu_odom_: 1691062477.953876560 0.114922 -0.361524 9.93594 -0.0490022 -0.00745685 0.036219 0.18 -0.02 pose: 0.50000470 4.17622 -3.91078 0 -0.0008616190.00181319 0.997669 -0.068206 uwb: 0.0 1209.05 561.697 -imu_odom_: 1691062477.979877983 0.325611 -0.320823 10.0413 -0.0596548 -0.0181095 0.056459 0.2 -0.02 pose: 0.0 4.17622 -3.91078 0 -0.0008616190.00181319 0.997669 -0.068206 uwb: 0.0 1209.05 561.697 -imu_odom_: 1691062478.5896613 0.553061 0.181959 10.0724 -0.0308927 -0.0223706 0.04048 0.2 0.02 pose: 0.23092933 4.17357 -3.91128 0 -0.00220799 0.000179431 0.997667 -0.0682341 uwb: 0.0 1209.05 561.697 -imu_odom_: 1691062478.29870005 0.620098 -0.0263362 10.1562 -0.0713727 -0.0266316 0.056459 0.2 0.02 pose: 0.0 4.17357 -3.91128 0 -0.00220799 0.000179431 0.997667 -0.0682341 uwb: 0.0 1209.05 561.697 -imu_odom_: 1691062478.45931592 0.483629 -0.356736 9.45949 -0.0468716 0.0170442 0.0330232 0.19 0 pose: 0.51958812 4.16374 -3.91312 0 -0.0006826210.00144654 0.997652 -0.068465 uwb: 0.99622116 1210.64 563.292 -imu_odom_: 1691062478.72868011 0.248997 -0.201113 9.68215 -0.0905475 -0.00213053 0.0607201 0.19 0 pose: 0.0 4.16374 -3.91312 0 -0.0006826210.00144654 0.997652 -0.068465 uwb: 0.0 1210.64 563.292 -imu_odom_: 1691062478.98872651 0.521936 -0.378284 10.0197 -0.0458064 -0.052198 0.0319579 0.19 0.02 pose: 0.32993125 4.15852 -3.9141 0 0.00128292 0.000944937 0.997646 -0.0685609 uwb: 0.50045693 1209.89 563.87 -imu_odom_: 1691062478.124870293 0.517148 -0.0143652 9.78989 -0.0607201 0 0.0415453 0.19 0.02 pose: 0.7950594 4.15391 -3.91496 0 0.000491496 0.000737633 0.997641 -0.068644 uwb: 0.0 1209.89 563.87 -imu_odom_: 1691062478.149865871 0 -0.172383 10.0533 -0.0703074 0.0266316 0.0617853 0.19 0.02 pose: 0.0 4.15391 -3.91496 0 0.000491496 0.000737633 0.997641 -0.068644 uwb: 0.50062024 1208.75 564.288 -imu_odom_: 1691062478.165874380 0.201113 -0.0502782 9.7875 -0.0649811 -0.0607201 0.0617853 0.19 0.02 pose: 0.52052734 4.14224 -3.90698 0 0.00125485 -0.0007963620.997633 -0.0687466 uwb: 0.0 1208.75 564.288 -imu_odom_: 1691062478.191944347 0.610521 -0.294487 10.1035 -0.0543285 -0.0191748 0.0340885 0.21 -0.02 pose: 0.0 4.14224 -3.90698 0 0.00125485 -0.0007963620.997633 -0.0687466 uwb: 0.50130267 1210.72 566.021 -imu_odom_: 1691062478.217994774 0.694318 -0.105345 10.0389 -0.0415453 -0.0266316 0.0298274 0.24 0 pose: 0.50932851 4.13241 -3.90883 0 -0.00142087 0.00109083 0.997607 -0.0691142 uwb: 0.0 1210.72 566.021 -imu_odom_: 1691062478.242863199 0.663194 -0.198719 10.4315 -0.0596548 0.0223706 0.0511327 0.24 0 pose: 0.0 4.13241 -3.90883 0 -0.00142087 0.00109083 0.997607 -0.0691142 uwb: 0.49865169 1211.93 567.393 -imu_odom_: 1691062478.268845675 0.225055 -0.0957681 9.20092 -0.0319579 0.0490022 0.0298274 0.22 0 pose: 0.42013732 4.12258 -3.91069 0 0.00143804 0.000998888 0.997607 -0.0691106 uwb: 0.0 1211.93 567.393 -imu_odom_: 1691062478.284850976 0.134075 -0.270545 9.99579 -0.0713727 -0.036219 0.0628506 0.22 0 pose: 0.0 4.12258 -3.91069 0 0.00143804 0.000998888 0.997607 -0.0691106 uwb: 0.0 1211.93 567.393 -imu_odom_: 1691062478.311128296 0.567426 -0.344765 9.7875 -0.0458064 0.0106526 0.0276969 0.24 0 pose: 0.51991783 4.11276 -3.91255 0 0.00456623 0.00203535 0.997595 -0.0691255 uwb: 0.0 1211.93 567.393 -imu_odom_: 1691062478.335980972 0.821211 -0.11971 9.4571 -0.0798948 -0.0213053 0.0607201 0.24 0 pose: 0.42107639 4.11276 -3.91255 0 0.00161635 0.00139715 0.997603 -0.069171 uwb: 0.100134839 1213.02 568.979 -imu_odom_: 1691062478.352835519 0.636858 -0.117316 9.91918 -0.0660464 0.00745685 0.04048 0.21 0.02 pose: 0.43000047 4.10293 -3.91441 0 0.00532944 0.000669599 0.99758 -0.0693264 uwb: 0.0 1213.02 568.979 -imu_odom_: 1691062478.378826744 0.287304 -0.100556 10.0724 -0.0692422 -0.0234358 0.0511327 0.21 0.02 pose: 0.0 4.10293 -3.91441 0 0.00532944 0.000669599 0.99758 -0.0693264 uwb: 0.0 1213.02 568.979 -imu_odom_: 1691062478.403854110 0.385466 -0.0622492 10.228 -0.0458064 0.00106526 0.0383495 0.25 0 pose: 0.8008921 4.10293 -3.91441 0 0.00590509 0.00113242 0.997576 -0.0693272 uwb: 0.49869252 1214.48 570.755 -imu_odom_: 1691062478.425830085 0.40462 -0.416591 9.81144 -0.0969391 -0.0117179 0.0692422 0.25 0 pose: 0.0 4.10293 -3.91441 0 0.00590509 0.00113242 0.997576 -0.0693272 uwb: 0.0 1214.48 570.755 -imu_odom_: 1691062478.442841531 0.56982 -0.275333 9.34217 -0.0532632 0.0575243 0.0415453 0.19 0 pose: 0.41843708 4.09311 -3.91627 0 0.00376807 0.0027067 0.997574 -0.0694611 uwb: 0.49968409 1213.1 570.72 -imu_odom_: 1691062478.467831568 0.0263362 -0.0861913 9.60075 -0.0575243 0.0234358 0.052198 0.19 0 pose: 0.0 4.09311 -3.91627 0 0.00376807 0.0027067 0.997574 -0.0694611 uwb: 0.0 1213.1 570.72 -imu_odom_: 1691062478.491833833 -0.339977 -0.0933739 9.74679 -0.0127832 0.0308927 0.0308927 0.19 0 pose: 0.47024048 4.08328 -3.91813 0 0.00265533 0.00101355 0.997558 -0.0697795 uwb: 0.50001947 1215.06 572.41 -imu_odom_: 1691062478.515828515 -0.225055 -0.0622492 9.74679 -0.0458064 -0.0106526 0.0543285 0.19 0 pose: 0.0 4.08328 -3.91813 0 0.00265533 0.00101355 0.997558 -0.0697795 uwb: 0.0 1215.06 572.41 -imu_odom_: 1691062478.532879041 0.54109 -0.289698 9.19134 -0.0458064 0.118244 0.0553937 0.21 0.02 pose: 0.41028876 4.07346 -3.92 0 -0.0002978180.00111999 0.997552 -0.0699199 uwb: 0.0 1215.06 572.41 -imu_odom_: 1691062478.558851309 0.328006 -0.251391 10.0652 -0.0511327 0.0234358 0.0468716 0.21 0.02 pose: 0.0 4.07346 -3.92 0 -0.0002978180.00111999 0.997552 -0.0699199 uwb: 0.49883251 1210.48 571.314 -imu_odom_: 1691062478.583888883 0.627281 0.0143652 9.88087 -0.0276969 -0.0276969 0.0426106 0.18 0 pose: 0.24942500 4.07346 -3.92 0 -0.00310367 0.00172457 0.997548 -0.069891 uwb: 0.50114227 1209.43 571.559 -imu_odom_: 1691062478.608833425 0.986411 -0.191536 9.58399 -0.0607201 -0.0149137 0.0426106 0.18 0 pose: 0.41073788 4.06363 -3.92187 0 -0.00420785 0.000659222 0.997526 -0.0701727 uwb: 0.0 1209.43 571.559 -imu_odom_: 1691062478.623820331 0.488417 -0.533907 9.50737 -0.0553937 0.0553937 0.0383495 0.18 0 pose: 0.0 4.06363 -3.92187 0 -0.00420785 0.000659222 0.997526 -0.0701727 uwb: 0.0 1209.43 571.559 -imu_odom_: 1691062478.647934001 0.560243 -0.215478 9.70131 -0.0649811 -0.0181095 0.0500674 0.18 0 pose: 0.49931955 4.05381 -3.92375 0 -0.00142001 0.000911235 0.997525 -0.070286 uwb: 0.50002822 1212.07 573.726 -imu_odom_: 1691062478.673986178 0.148441 -0.184354 10.4004 -0.0458064 0.0287621 0.0415453 0.19 0 pose: 0.0 4.05381 -3.92375 0 -0.00142001 0.000911235 0.997525 -0.070286 uwb: 0.0 1212.07 573.726 -imu_odom_: 1691062478.699827502 0.497994 -0.347159 9.81862 -0.0671117 -0.0106526 0.0543285 0.25 0.02 pose: 0.40983964 4.04399 -3.92563 0 0.00130005 -0.0003987430.997522 -0.0703455 uwb: 0.0 1212.07 573.726 -imu_odom_: 1691062478.725913801 0.440533 -0.102951 10.1394 -0.0383495 -0.0298274 0.0383495 0.25 0.02 pose: 0.0 4.04399 -3.92563 0 0.00130005 -0.0003987430.997522 -0.0703455 uwb: 0.0 1212.07 573.726 -imu_odom_: 1691062478.742890251 0.435745 -0.141258 9.79228 -0.052198 -0.0553937 0.0458064 0.23 0 pose: 0.50205509 4.03417 -3.92751 0 0.000553871 -0.0006018690.997511 -0.0705119 uwb: 0.99974147 1212.31 575.106 -imu_odom_: 1691062478.758808061 0.766145 -0.411803 9.50498 -0.0330232 0.02024 0.0319579 0.23 0 pose: 0.0 4.03417 -3.92751 0 0.000553871 -0.0006018690.997511 -0.0705119 uwb: 0.0 1212.31 575.106 -imu_odom_: 1691062478.784869279 0.469264 -0.172383 9.79947 -0.0543285 -0.0170442 0.0575243 0.25 0.02 pose: 0.51801344 4.02435 -3.9294 0 0.00206436 0.00138855 0.997498 -0.0706507 uwb: 0.49947119 1211.55 575.699 -imu_odom_: 1691062478.810803051 0.804452 -0.059855 10.4076 -0.0500674 -0.0479369 0.0511327 0.25 0.02 pose: 0.0 4.02435 -3.9294 0 0.00206436 0.00138855 0.997498 -0.0706507 uwb: 0.0 1211.55 575.699 -imu_odom_: 1691062478.827948651 0.225055 -0.308852 9.82102 -0.0575243 0.0351537 0.052198 0.23 0 pose: 0.34052932 4.02435 -3.9294 0 0.00330181 0.00252916 0.997489 -0.0706942 uwb: 0.0 1211.55 575.699 -imu_odom_: 1691062478.853800765 0.45011 -0.0957681 10.1442 -0.0436758 -0.0287621 0.052198 0.23 0 pose: 0.0 4.02435 -3.9294 0 0.00330181 0.00252916 0.997489 -0.0706942 uwb: 0.50072815 1212.26 577.052 -imu_odom_: 1691062478.870790631 0.624887 -0.299275 9.47625 -0.0777643 0.0106526 0.0585895 0.25 0.02 pose: 0.50928767 4.01453 -3.93128 0 0.00572231 0.00476312 0.997445 -0.0710478 uwb: 0.0 1212.26 577.052 -imu_odom_: 1691062478.896783606 0.0383072 -0.117316 9.49062 -0.0319579 0.0436758 0.0394148 0.25 0.02 pose: 0.0 4.01453 -3.93128 0 0.00572231 0.00476312 0.997445 -0.0710478 uwb: 0.49842130 1214.85 579.235 -imu_odom_: 1691062478.921850635 0.222661 -0.19393 9.87848 -0.0671117 -0.0181095 0.0490022 0.24 0 pose: 0.43002381 4.00471 -3.93318 0 0.00331609 0.00521693 0.997434 -0.0713298 uwb: 0.0 1214.85 579.235 -imu_odom_: 1691062478.936773090 0.31364 -0.134075 9.88326 -0.0468716 -0.015979 0.0298274 0.24 0 pose: 0.0 4.00471 -3.93318 0 0.00331609 0.00521693 0.997434 -0.0713298 uwb: 0.50185387 1212.24 578.913 -imu_odom_: 1691062478.963894115 0.490811 -0.241814 10.1969 -0.0703074 -0.0191748 0.0585895 0.18 0 pose: 0.42986923 3.99489 -3.93508 0 0.000110148 0.00427138 0.997435 -0.0714517 uwb: 0.0 1212.24 578.913 -imu_odom_: 1691062478.989799890 0.696713 -0.0861913 10.0126 -0.0490022 -0.0276969 0.0330232 0.18 0 pose: 0.0 3.99489 -3.93508 0 0.000110148 0.00427138 0.997435 -0.0714517 uwb: 0.49936328 1212.71 579.808 -imu_odom_: 1691062479.14927584 0.773327 -0.277727 9.88805 -0.0575243 0.0266316 0.0383495 0.23 0 pose: 0.41062123 3.98507 -3.93698 0 -0.00208557 0.00318305 0.997431 -0.0715288 uwb: 0.0 1212.71 579.808 -imu_odom_: 1691062479.29919162 -0.351948 -0.141258 9.60314 -0.0149137 0.0798948 0.0308927 0.23 0 pose: 0.0 3.98507 -3.93698 0 -0.00208557 0.00318305 0.997431 -0.0715288 uwb: 0.0 1212.71 579.808 -imu_odom_: 1691062479.56923834 0.102951 -0.438139 9.2895 -0.0713727 0.0149137 0.0447411 0.18 0.02 pose: 0.51966993 3.97526 -3.93889 0 0.00295528 0.00281827 0.997423 -0.0716302 uwb: 0.49981544 1209.07 578.824 -imu_odom_: 1691062479.81908922 0.186748 -0.179565 10.0963 -0.0458064 -0.0117179 0.0458064 0.18 0.02 pose: 0.40995059 3.96544 -3.94079 0 0.00160578 0.0018901 0.997432 -0.0715812 uwb: 0.0 1209.07 578.824 -imu_odom_: 1691062479.107964317 0.222661 -0.19393 9.90721 -0.0468716 -0.00319579 0.0383495 0.21 0 pose: 0.44088159 3.95729 -3.93529 0 -0.00240567 0.000697327 0.997423 -0.0717062 uwb: 0.50069333 1210.9 580.681 -imu_odom_: 1691062479.133755489 0.208296 -0.105345 9.95509 -0.0841559 0.015979 0.056459 0.19 -0.02 pose: 0.7928724 3.95372 -3.93288 0 -0.0032051 0.000695421 0.997421 -0.0717004 uwb: 0.49946846 1210.15 581.253 -imu_odom_: 1691062479.159768596 -0.141258 -0.25618 9.59117 -0.0372843 -0.00213053 0.00958738 0.19 -0.02 pose: 0.0 3.95372 -3.93288 0 -0.0032051 0.000695421 0.997421 -0.0717004 uwb: 0.0 1210.15 581.253 -imu_odom_: 1691062479.176752052 0.452504 -0.332794 9.89045 -0.072438 -0.0447411 0.0426106 0.19 0 pose: 0.25158320 3.95372 -3.93288 0 -0.0056485 0.00102122 0.997406 -0.0717485 uwb: 0.0 1210.15 581.253 -imu_odom_: 1691062479.202918852 0.890643 -0.328006 9.51695 -0.04048 0.0266316 0.0308927 0.19 0 pose: 0.0 3.95372 -3.93288 0 -0.0056485 0.00102122 0.997406 -0.0717485 uwb: 0.49897560 1211.25 582.703 -imu_odom_: 1691062479.228850009 1.08697 -0.100556 9.55047 -0.0777643 -0.0191748 0.0575243 0.19 0 pose: 0.52784762 3.9439 -3.93479 0 -0.0089728 0.000953381 0.997398 -0.0715198 uwb: 0.0 1211.25 582.703 -imu_odom_: 1691062479.254792832 0.25618 -0.134075 10.1945 -0.0426106 0.0245011 0.0255663 0.19 0 pose: 0.0 3.9439 -3.93479 0 -0.0089728 0.000953381 0.997398 -0.0715198 uwb: 0.49961428 1212.72 584.32 -imu_odom_: 1691062479.271743625 0.562637 -0.174777 9.55047 -0.0660464 -0.0266316 0.052198 0.19 0 pose: 0.43047016 3.93408 -3.9367 0 -0.00498343 0.000334987 0.997429 -0.0714887 uwb: 0.0 1212.72 584.32 -imu_odom_: 1691062479.297787937 0.0287304 0.011971 9.95748 -0.0468716 0.0245011 0.0298274 0.19 0 pose: 0.0 3.93408 -3.9367 0 -0.00498343 0.000334987 0.997429 -0.0714887 uwb: 0.50018005 1210.83 584.439 -imu_odom_: 1691062479.322718198 0.395043 -0.373495 9.43076 -0.0553937 -0.0170442 0.0276969 0.17 0 pose: 0.51920059 3.92427 -3.9386 0 -0.00473072 0.00206867 0.997425 -0.0715271 uwb: 0.0 1210.83 584.439 -imu_odom_: 1691062479.348726056 0.191536 -0.0814029 9.93115 -0.052198 0.0639159 0.0468716 0.17 0 pose: 0.0 3.92427 -3.9386 0 -0.00473072 0.00206867 0.997425 -0.0715271 uwb: 0.49965219 1211.14 585.624 -imu_odom_: 1691062479.365849498 0.557849 -0.395043 9.96946 -0.0532632 -0.0330232 0.0511327 0.2 -0.02 pose: 0.42087532 3.91445 -3.9405 0 -0.00605156 0.00270818 0.997425 -0.0714138 uwb: 0.0 1211.14 585.624 -imu_odom_: 1691062479.391730494 0.565032 0.117316 10.24 -0.0543285 -0.0106526 0.0426106 0.2 -0.02 pose: 0.0 3.91445 -3.9405 0 -0.00605156 0.00270818 0.997425 -0.0714138 uwb: 0.50116287 1211.15 586.499 -imu_odom_: 1691062479.417746809 0.632069 -0.143652 10.3621 -0.0532632 0.00745685 0.036219 0.21 0 pose: 0.51921226 3.90463 -3.9424 0 -0.00722085 0.00230077 0.997416 -0.0714452 uwb: 0.0 1211.15 586.499 -imu_odom_: 1691062479.443810370 0.361524 -0.328006 9.42118 -0.0777643 0.0276969 0.0458064 0.21 0.02 pose: 0.41988667 3.89482 -3.94431 0 -0.0039016 0.00380474 0.997423 -0.0715414 uwb: 0.50008673 1210.92 586.938 -imu_odom_: 1691062479.469893470 0.244209 -0.304064 9.50498 -0.036219 0.056459 0.02024 0.19 -0.02 pose: 0.26002609 3.89482 -3.94431 0 -0.00219849 0.00308925 0.997431 -0.0715388 uwb: 0.0 1210.92 586.938 -imu_odom_: 1691062479.486753855 0.440533 -0.198719 10.1682 -0.0703074 0.0181095 0.0532632 0.19 -0.02 pose: 0.26048978 3.885 -3.94621 0 -0.0031106 0.000480543 0.997434 -0.071527 uwb: 0.50023547 1212.29 588.699 -imu_odom_: 1691062479.511789980 0.45011 -0.316035 9.47146 -0.0500674 0.0543285 0.0415453 0.23 0 pose: 0.0 3.885 -3.94621 0 -0.0031106 0.000480543 0.997434 -0.071527 uwb: 0.0 1212.29 588.699 -imu_odom_: 1691062479.537969028 -0.191536 -0.0335188 9.81623 -0.0585895 0.0191748 0.052198 0.23 0.02 pose: 0.60993165 3.87824 -3.94752 0 -0.00224011 -0.00199075 0.997438 -0.0714726 uwb: 0.49808318 1211.25 588.955 -imu_odom_: 1691062479.563713538 0.00957681 -0.189142 9.60793 -0.0298274 -0.00426106 0.0298274 0.23 0.02 pose: 0.0 3.87824 -3.94752 0 -0.00224011 -0.00199075 0.997438 -0.0714726 uwb: 0.0 1211.25 588.955 -imu_odom_: 1691062479.589712647 0.0933739 -0.227449 9.29908 -0.0490022 0.00426106 0.0426106 0.23 0 pose: 0.8089123 3.87518 -3.94811 0 -0.0031055 -0.00176791 0.997432 -0.0715253 uwb: 0.50009548 1213.51 590.732 -imu_odom_: 1691062479.606701061 0.366313 0.102951 10.2568 -0.0255663 -0.0245011 0.0447411 0.23 0 pose: 0.0 3.87518 -3.94811 0 -0.0031055 -0.00176791 0.997432 -0.0715253 uwb: 0.0 1213.51 590.732 -imu_odom_: 1691062479.623778715 0.531513 -0.445322 9.62948 -0.0660464 -0.0223706 0.0607201 0.23 0 pose: 0.50844795 3.86536 -3.95002 0 -0.0083594 -0.00082578 0.997403 -0.0715289 uwb: 0.0 1213.51 590.732 -imu_odom_: 1691062479.639775856 0.21069 -0.337582 10.4052 -0.0458064 -0.00106526 0.0426106 0.23 0 pose: 0.0 3.86536 -3.95002 0 -0.0083594 -0.00082578 0.997403 -0.0715289 uwb: 0.50061168 1213.68 592.146 -imu_odom_: 1691062479.656768645 0.270545 0.0454898 10.2232 -0.0468716 -0.0106526 0.0383495 0.23 0 pose: 0.0 3.86536 -3.95002 0 -0.0083594 -0.00082578 0.997403 -0.0715289 uwb: 0.0 1213.68 592.146 -imu_odom_: 1691062479.673756183 0.378284 -0.146046 9.53132 -0.0692422 -0.0394148 0.052198 0.18 0.02 pose: 0.42986940 3.85555 -3.95192 0 -0.00884726 0.000365606 0.997388 -0.0716836 uwb: 0.0 1213.68 592.146 -imu_odom_: 1691062479.689698205 0.864307 -0.160412 10.2687 -0.0671117 -0.0426106 0.0340885 0.18 0.02 pose: 0.0 3.85555 -3.95192 0 -0.00884726 0.000365606 0.997388 -0.0716836 uwb: 0.50095289 1213.61 593.144 -imu_odom_: 1691062479.705697387 0.512359 -0.201113 9.64624 -0.0660464 0.0106526 0.0351537 0.18 0.02 pose: 0.0 3.85555 -3.95192 0 -0.00884726 0.000365606 0.997388 -0.0716836 uwb: 0.0 1213.61 593.144 -imu_odom_: 1691062479.721697153 0.490811 -0.146046 10.0269 -0.0628506 -0.076699 0.0447411 0.18 0.02 pose: 0.51006361 3.84573 -3.95383 0 -0.00722766 0.000332323 0.997389 -0.0718535 uwb: 0.0 1213.61 593.144 -imu_odom_: 1691062479.737709459 1.09176 -0.160412 9.41161 -0.0511327 0.0191748 0.0276969 0.21 0 pose: 0.0 3.84573 -3.95383 0 -0.00722766 0.000332323 0.997389 -0.0718535 uwb: 0.50003132 1214.06 593.996 -imu_odom_: 1691062479.753759678 0.471658 -0.31364 9.34936 -0.0777643 0.00639159 0.0553937 0.21 0 pose: 0.63984773 3.83592 -3.95574 0 -0.0002171750.00148208 0.997415 -0.071845 uwb: 0.0 1214.06 593.996 -imu_odom_: 1691062479.770748966 0.440533 -0.248997 10.1562 -0.0596548 -0.0649811 0.0468716 0.22 0 pose: 0.0 3.83592 -3.95574 0 -0.0002171750.00148208 0.997415 -0.071845 uwb: 0.0 1214.06 593.996 -imu_odom_: 1691062479.786690988 0.294487 0.00718261 10.1155 -0.0276969 -0.00213053 0.0308927 0.22 0 pose: 0.0 3.83592 -3.95574 0 -0.0002171750.00148208 0.997415 -0.071845 uwb: 0.49989716 1214.7 595.368 -imu_odom_: 1691062479.803686401 0.42138 -0.399832 9.79468 -0.0532632 -0.0319579 0.0468716 0.22 0 pose: 0.32052609 3.83592 -3.95574 0 0.00175852 -0.0006464490.997407 -0.0719479 uwb: 0.0 1214.7 595.368 -imu_odom_: 1691062479.819721163 0.349553 -0.289698 10.003 -0.0255663 0.00213053 0.0287621 0.18 0 pose: 0.42931820 3.8261 -3.95765 0 0.0017814 -0.00169839 0.997403 -0.0719793 uwb: 0.0 1214.7 595.368 -imu_odom_: 1691062479.836697328 0.519542 -0.342371 9.75637 -0.0490022 -0.0479369 0.0447411 0.18 0 pose: 0.7068396 3.8261 -3.95765 0 0.00112993 -0.00193209 0.997406 -0.071943 uwb: 0.49817651 1216.1 596.992 -imu_odom_: 1691062479.853682242 0.486023 -0.19393 9.69652 -0.0543285 -0.0255663 0.0511327 0.18 0 pose: 0.0 3.8261 -3.95765 0 0.00112993 -0.00193209 0.997406 -0.071943 uwb: 0.0 1216.1 596.992 -imu_odom_: 1691062479.870904548 1.35033 -0.114922 10.1227 -0.0447411 -0.0340885 0.0468716 0.18 0 pose: 0.42927445 3.81628 -3.95957 0 0.00301771 -0.00150808 0.997397 -0.0720313 uwb: 0.0 1216.1 596.992 -imu_odom_: 1691062479.887740727 0.962469 -0.28491 9.79228 -0.0500674 0.0266316 0.0948085 0.16 -0.02 pose: 0.0 3.81628 -3.95957 0 0.00301771 -0.00150808 0.997397 -0.0720313 uwb: 0.50037254 1216.33 598.239 -imu_odom_: 1691062479.904712809 1.12049 -0.339977 10.07 -0.0628506 -0.0553937 0.143811 0.16 -0.02 pose: 0.0 3.81628 -3.95957 0 0.00301771 -0.00150808 0.997397 -0.0720313 uwb: 0.0 1216.33 598.239 -imu_odom_: 1691062479.929659402 1.59933 -0.28491 9.85214 -0.0447411 0.0330232 0.0703074 0.14 -0.05 pose: 0.24075474 3.80647 -3.96148 0 0.00552783 -0.00102409 0.997369 -0.0722783 uwb: 0.0 1216.33 598.239 -imu_odom_: 1691062479.946679896 1.075 0.234632 10.0652 -0.0511327 0.0340885 0.0458064 0.14 -0.05 pose: 0.0 3.80647 -3.96148 0 0.00552783 -0.00102409 0.997369 -0.0722783 uwb: 0.49977467 1218.35 600.352 -imu_odom_: 1691062479.963712638 0.725443 -0.289698 9.67736 -0.0713727 0.0479369 0.0798948 0.11 0.08 pose: 0.33960496 3.80647 -3.96148 0 0.00906524 -0.00116262 0.997251 -0.0735382 uwb: 0.0 1218.35 600.352 -imu_odom_: 1691062479.980659639 0.94571 -0.507571 9.88805 -0.0532632 -0.0106526 0.115049 0.11 0.08 pose: 0.42018414 3.79666 -3.96343 0 0.0117231 -8.87869e-050.99719 -0.0739911 uwb: 0.0 1218.35 600.352 -imu_odom_: 1691062479.996658822 1.13485 -0.37589 9.80904 -0.0394148 -0.00426106 0.14168 0.11 0.08 pose: 0.0 3.79666 -3.96343 0 0.0117231 -8.87869e-050.99719 -0.0739911 uwb: 0.49962595 1219.36 601.817 -imu_odom_: 1691062480.13662404 0.383072 -0.0622492 9.68933 -0.0479369 0.0777643 0.237554 0.11 0.32 pose: 0.42922196 3.79666 -3.96343 0 0.0153378 -0.00177295 0.997014 -0.0756586 uwb: 0.0 1219.36 601.817 -imu_odom_: 1691062480.30656948 0.1652 -0.632069 9.8689 -0.0671117 -0.0298274 0.396278 0.11 0.32 pose: 0.0 3.79666 -3.96343 0 0.0153378 -0.00177295 0.997014 -0.0756586 uwb: 0.0 1219.36 601.817 -imu_odom_: 1691062480.47708070 0.509965 -0.696713 9.87129 -0.0447411 -0.0266316 0.412257 0.11 0.32 pose: 0.0 3.79666 -3.96343 0 0.0153378 -0.00177295 0.997014 -0.0756586 uwb: 0.50130588 1222.19 604.062 -imu_odom_: 1691062480.63692968 1.1564 -0.153229 10.3166 -0.0170442 -0.0223706 0.415453 0.07 0.35 pose: 0.7018234 3.79666 -3.96343 0 0.0144373 -0.00143327 0.996976 -0.0763476 uwb: 0.0 1222.19 604.062 -imu_odom_: 1691062480.80731549 0.85473 0.0981623 9.77553 -0.0585895 0.0276969 0.487891 0.09 0.55 pose: 0.0 3.79666 -3.96343 0 0.0144373 -0.00143327 0.996976 -0.0763476 uwb: 0.0 1222.19 604.062 -imu_odom_: 1691062480.97657851 0.718261 -0.531513 9.91439 -0.072438 0.0117179 0.502805 0.09 0.55 pose: 0.67122806 3.78684 -3.96533 0 0.0136713 -0.00231639 0.996014 -0.0881134 uwb: 0.50054478 1220.82 604.076 -imu_odom_: 1691062480.112660516 0.483629 -0.356736 9.81144 -0.04048 0.00213053 0.488956 0.09 0.55 pose: 0.0 3.78684 -3.96533 0 0.0136713 -0.00231639 0.996014 -0.0881134 uwb: 0.0 1220.82 604.076 -imu_odom_: 1691062480.128717157 0.526724 -0.241814 10.1347 -0.0458064 0.00213053 0.534763 0.06 0.44 pose: 0.0 3.78684 -3.96533 0 0.0136713 -0.00231639 0.996014 -0.0881134 uwb: 0.0 1220.82 604.076 -imu_odom_: 1691062480.143708740 0.720655 -0.294487 9.79947 -0.0628506 -0.015979 0.586961 0.06 0.44 pose: 0.34053249 3.78684 -3.96533 0 0.0134879 -0.00352665 0.995298 -0.0958546 uwb: 0.49812128 1221.14 605.119 -imu_odom_: 1691062480.159654559 0.76375 -0.301669 9.68455 -0.0436758 0 0.588026 0.04 0.5 pose: 0.38855629 3.78679 -3.96529 0 0.0127659 -0.00299411 0.994318 -0.105635 uwb: 0.0 1221.14 605.119 -imu_odom_: 1691062480.175764861 0.584185 -0.112527 9.7875 -0.0532632 0.0266316 0.604005 0.04 0.5 pose: 0.0 3.78679 -3.96529 0 0.0127659 -0.00299411 0.994318 -0.105635 uwb: 0.0 1221.14 605.119 -imu_odom_: 1691062480.193648897 0.600945 -0.263362 10.0126 -0.052198 0.0181095 0.632767 0.04 0.5 pose: 0.0 3.78679 -3.96529 0 0.0127659 -0.00299411 0.994318 -0.105635 uwb: 0.50097349 1219.75 605.178 -imu_odom_: 1691062480.209698830 0.325611 -0.40462 9.93354 -0.0660464 0.00532632 0.627441 0.04 0.55 pose: 0.7065191 3.78684 -3.96533 0 0.0134452 -0.00292884 0.994104 -0.107558 uwb: 0.0 1219.75 605.178 -imu_odom_: 1691062480.226640880 0.447716 -0.0742203 9.5792 -0.0458064 -0.00426106 0.576308 0.06 0.67 pose: 0.0 3.78684 -3.96533 0 0.0134452 -0.00292884 0.994104 -0.107558 uwb: 0.0 1219.75 605.178 -imu_odom_: 1691062480.242754973 0.584185 0.071826 9.93115 -0.0511327 0.015979 0.525175 0.06 0.67 pose: 0.0 3.78684 -3.96533 0 0.0134452 -0.00292884 0.994104 -0.116835 uwb: 0.0 1219.75 605.178 -imu_odom_: 1691062480.259697606 0.816423 -0.0766145 9.93354 -0.056459 -0.0127832 0.491087 0.05 0.61 pose: 0.32883203 3.77703 -3.96724 0 0.00931174 -0.00190585 0.991948 -0.126288 uwb: 0.0 1219.75 605.178 -imu_odom_: 1691062480.275692419 0.684742 -0.337582 9.85693 -0.052198 -0.00426106 0.439954 0.05 0.61 pose: 0.0 3.77703 -3.96724 0 0.00931174 -0.00190585 0.991948 -0.126288 uwb: 0.0 1219.75 605.178 -imu_odom_: 1691062480.293754062 0.634463 -0.0790087 9.90481 -0.0479369 0.0170442 0.398409 0.05 0.61 pose: 0.34054998 3.77703 -3.96724 0 0.0090142 0.000956916 0.990861 -0.134582 uwb: 0.99998426 1220.41 606.431 -imu_odom_: 1691062480.308621700 0.466869 -0.0454898 9.83059 -0.0607201 0.015979 0.398409 0.05 0.53 pose: 0.33052060 3.77703 -3.96724 0 0.0107512 0.00114046 0.989923 -0.141195 uwb: 0.0 1220.41 606.431 -imu_odom_: 1691062480.325731732 0.447716 -0.21069 9.94312 -0.0628506 0.00852212 0.381365 0.05 0.53 pose: 0.0 3.77703 -3.96724 0 0.0107512 0.00114046 0.989923 -0.141195 uwb: 0.0 1220.41 606.431 -imu_odom_: 1691062480.341670552 0.493206 -0.181959 9.81862 -0.0468716 -0.00319579 0.343015 0.05 0.53 pose: 0.0 3.77703 -3.96724 0 0.0107512 0.00114046 0.989923 -0.141195 uwb: 0.49984777 1221.97 607.663 -imu_odom_: 1691062480.358612601 0.588974 -0.158017 9.83777 -0.0447411 -0.0106526 0.320645 0.02 0.29 pose: 0.49974278 3.77703 -3.96724 0 0.00681526 0.00235341 0.988708 -0.149682 uwb: 0.0 1221.97 607.663 -imu_odom_: 1691062480.374725528 0.565032 -0.146046 9.90002 -0.052198 -0.00319579 0.313188 0.02 0.29 pose: 0.0 3.77703 -3.96724 0 0.00681526 0.00235341 0.988708 -0.149682 uwb: 0.0 1221.97 607.663 -imu_odom_: 1691062480.391613916 0.562637 -0.220267 9.92397 -0.052198 0 0.300405 0.03 0.32 pose: 0.40994493 3.77698 -3.9672 0 0.00766425 0.00499787 0.987811 -0.155387 uwb: 0.49957072 1222.06 608.306 -imu_odom_: 1691062480.407665307 0.562637 -0.186748 9.84256 -0.052198 -0.00532632 0.280165 0.03 0.32 pose: 0.0 3.77698 -3.9672 0 0.00766425 0.00499787 0.987811 -0.155387 uwb: 0.0 1222.06 608.306 -imu_odom_: 1691062480.424623980 0.529119 -0.124498 9.83538 -0.052198 0.00319579 0.264186 0.03 0.32 pose: 0.0 3.77698 -3.9672 0 0.00766425 0.00499787 0.987811 -0.155387 uwb: 0.0 1222.06 608.306 -imu_odom_: 1691062480.449619577 0.521936 -0.234632 9.92875 -0.056459 -0.00213053 0.254598 0.01 0.2 pose: 0.7947391 3.77703 -3.96724 0 0.00773223 0.00420851 0.987652 -0.156418 uwb: 0.50056519 1221.78 608.797 -imu_odom_: 1691062480.466611496 0.296881 -0.196325 9.97664 -0.0543285 0.0340885 0.235423 0.02 0.23 pose: 0.0 3.77703 -3.96724 0 0.00773223 0.00420851 0.987652 -0.156418 uwb: 0.0 1221.78 608.797 -imu_odom_: 1691062480.482686218 -0.723049 -0.148441 9.79468 -0.0660464 0.1012 0.218379 0.02 0.23 pose: 0.73952354 3.77703 -3.96724 0 0.00552146 0.000683634 0.986327 -0.164709 uwb: 0.0 1221.78 608.797 -imu_odom_: 1691062480.499610187 -1.49638 -0.0622492 10.0724 -0.0703074 0.0181095 0.223706 0.02 0.23 pose: 0.0 3.77703 -3.96724 0 0.00552146 0.000683634 0.986327 -0.164709 uwb: 0.50062644 1221.56 609.186 -imu_odom_: 1691062480.516612022 -0.739808 -0.45011 9.84256 -0.0532632 -0.0830906 0.207727 0.06 0.2 pose: 0.34000171 3.77703 -3.96724 0 0.00104819 3.90936e-05 0.985818 -0.167812 uwb: 0.0 1221.56 609.186 -imu_odom_: 1691062480.533726137 0.220267 -0.189142 9.88087 -0.0500674 -0.0681769 0.183225 0.06 0.2 pose: 0.0 3.77703 -3.96724 0 0.00104819 3.90936e-05 0.985818 -0.167812 uwb: 0.49796380 1221.75 609.645 -imu_odom_: 1691062480.549761780 0.555455 0.0694318 10.0413 -0.0479369 -0.0415453 0.20027 0.09 0.14 pose: 0.43100693 3.76717 -3.96915 0 -0.00204665 -0.0004104160.985226 -0.171249 uwb: 0.0 1221.75 609.645 -imu_odom_: 1691062480.567682854 0.272939 -0.371101 9.8258 -0.0745685 -0.00106526 0.186421 0.09 0.14 pose: 0.0 3.76717 -3.96915 0 -0.00204665 -0.0004104160.985226 -0.171249 uwb: 0.0 1221.75 609.645 -imu_odom_: 1691062480.583677084 -0.0766145 -0.237026 10.0461 -0.0628506 0.0181095 0.154463 0.09 0.14 pose: 0.0 3.76717 -3.96915 0 -0.00204665 -0.0004104160.985226 -0.171249 uwb: 0.50105515 1224.31 611.487 -imu_odom_: 1691062480.598751201 -0.174777 -0.100556 9.77074 -0.0660464 0.00639159 0.150202 0.1 0.11 pose: 0.8046256 3.76722 -3.96919 0 -0.00157207 0.000380443 0.985115 -0.171887 uwb: 0.0 1224.31 611.487 -imu_odom_: 1691062480.615877565 0.138864 -0.263362 10.1299 -0.0671117 -0.0213053 0.173638 0.1 0.08 pose: 0.0 3.76722 -3.96919 0 -0.00157207 0.000380443 0.985115 -0.171887 uwb: 0.0 1224.31 611.487 -imu_odom_: 1691062480.629662356 0.471658 -0.471658 9.81862 -0.0532632 -0.0138484 0.158724 0.1 0.08 pose: 0.56978808 3.76722 -3.96919 0 -0.00506956 -0.00109042 0.984459 -0.17554 uwb: 0.0 1224.31 611.487 -imu_odom_: 1691062480.645586593 0.488417 -0.301669 9.96227 -0.0553937 0.0213053 0.144876 0.1 0.08 pose: 0.0 3.76722 -3.96919 0 -0.00563749 -0.00142442 0.984372 -0.176003 uwb: 0.50050395 1224.26 612.354 -imu_odom_: 1691062480.660644378 0.42138 -0.428562 10.1634 -0.0639159 -0.0181095 0.160855 0.1 0.11 pose: 0.0 3.76722 -3.96919 0 -0.00563749 -0.00142442 0.984372 -0.176003 uwb: 0.0 1224.26 612.354 -imu_odom_: 1691062480.676716184 0.3304 -0.179565 9.91439 -0.0490022 -0.0319579 0.142745 0.1 0.11 pose: 0.30853702 3.75742 -3.9712 0 -0.00473822 -0.00283883 0.984046 -0.177828 uwb: 0.0 1224.26 612.354 -imu_odom_: 1691062480.691598987 0.179565 -0.117316 9.63187 -0.0532632 -0.0106526 0.144876 0.12 0.05 pose: 0.0 3.75742 -3.9712 0 -0.00473822 -0.00283883 0.984046 -0.177828 uwb: 0.49828751 1225.41 613.485 -imu_odom_: 1691062480.706589112 0.167594 -0.385466 9.52653 -0.0788296 0.0127832 0.152333 0.12 0.05 pose: 0.40083420 3.75742 -3.9712 0 -0.00297149 -0.00241608 0.983659 -0.180004 uwb: 0.0 1225.41 613.485 -imu_odom_: 1691062480.723670273 0.548272 -0.280122 9.84975 -0.0458064 -0.0298274 0.143811 0.12 0.05 pose: 0.0 3.75742 -3.9712 0 -0.00297149 -0.00241608 0.983659 -0.180004 uwb: 0.0 1225.41 613.485 -imu_odom_: 1691062480.741710918 0.859518 -0.232238 9.59596 -0.0649811 -0.0500674 0.18216 0.11 0.08 pose: 0.7070148 3.75742 -3.9712 0 -0.00356877 -0.0020573 0.98359 -0.180372 uwb: 0.50109598 1225.96 614.082 -imu_odom_: 1691062480.757585285 0.701501 -0.289698 9.64624 -0.0607201 0.00745685 0.227967 0.11 0.08 pose: 0.0 3.75742 -3.9712 0 -0.00356877 -0.0020573 0.98359 -0.180372 uwb: 0.0 1225.96 614.082 -imu_odom_: 1691062480.774639907 1.42934 -0.526724 10.1418 -0.0511327 -0.0575243 0.234358 0.11 0.08 pose: 0.0 3.75742 -3.9712 0 -0.00356877 -0.0020573 0.98359 -0.180372 uwb: 0.0 1225.96 614.082 -imu_odom_: 1691062480.791610537 1.53229 -0.158017 9.75877 -0.0415453 -0.0245011 0.15979 0.08 0.02 pose: 0.47871869 3.74762 -3.97319 0 -0.00230029 -0.00264493 0.9831 -0.183037 uwb: 0.50047479 1226.53 614.659 -imu_odom_: 1691062480.808696947 1.44849 0.28491 9.91678 -0.0500674 0.0255663 0.112918 0.11 0.08 pose: 0.0 3.74762 -3.97319 0 -0.00230029 -0.00264493 0.9831 -0.183037 uwb: 0.0 1226.53 614.659 -imu_odom_: 1691062480.826637269 0.80924 -0.0407014 9.9503 -0.0692422 0.0340885 0.0905475 0.11 0.08 pose: 0.66998570 3.73783 -3.97524 0 0.00475313 -0.00125577 0.982141 -0.188083 uwb: 0.0 1226.53 614.659 -imu_odom_: 1691062480.840586543 0.368707 -0.361524 9.84256 -0.0713727 0.00745685 0.0585895 0.07 0.05 pose: 0.0 3.73783 -3.97524 0 0.00475313 -0.00125577 0.982141 -0.188083 uwb: 0.49756425 1227.07 615.278 -imu_odom_: 1691062480.857633581 0.826 -0.418985 9.88326 -0.0468716 -0.0308927 0.0255663 0.07 0.05 pose: 0.0 3.73783 -3.97524 0 0.00475313 -0.00125577 0.982141 -0.188083 uwb: 0.0 1227.07 615.278 -imu_odom_: 1691062480.871847370 0.78051 -0.158017 9.80186 -0.0543285 -0.0127832 0.036219 0.07 0.05 pose: 0.34046540 3.73783 -3.97524 0 0.00591776 -5.81459e-050.981971 -0.188938 uwb: 0.0 1227.07 615.278 -imu_odom_: 1691062480.887645329 0.936133 -0.1652 10.0556 -0.0553937 0 0.0809601 0.05 0.05 pose: 0.39144059 3.73778 -3.9752 0 0.0084666 -0.0003095050.981966 -0.188866 uwb: 0.50256874 1227.25 615.74 -imu_odom_: 1691062480.904629957 0.529119 -0.373495 9.84017 -0.0532632 0.0149137 0.0713727 0.05 0.05 pose: 0.6867460 3.73783 -3.97524 0 0.00907882 -3.19659e-050.981935 -0.189002 uwb: 0.0 1227.25 615.74 -imu_odom_: 1691062480.921648707 0.679953 -0.0742203 10.058 -0.0468716 -0.00639159 0.0607201 0.05 0.05 pose: 0.0 3.73783 -3.97524 0 0.00907882 -3.19659e-050.981935 -0.189002 uwb: 0.0 1227.25 615.74 -imu_odom_: 1691062480.948825455 0.612916 -0.198719 9.9096 -0.0596548 0.00958738 0.0958738 0.06 0.11 pose: 0.42933877 3.73783 -3.97524 0 0.00972549 0.000386641 0.981809 -0.189622 uwb: 0.49822044 1224.91 614.338 -imu_odom_: 1691062480.974600596 -0.85473 -0.304064 9.61272 -0.0553937 0.110787 0.0830906 0.04 0.05 pose: 0.0 3.73783 -3.97524 0 0.00972549 0.000386641 0.981809 -0.189622 uwb: 0.0 1224.91 614.338 -imu_odom_: 1691062480.991586391 -1.39821 -0.0430956 10.173 -0.0532632 0.0213053 0.1012 0.04 0.05 pose: 0.35014192 3.73783 -3.97524 0 0.00903929 0.00262378 0.981639 -0.190515 uwb: 0.50078101 1223.34 613.942 -imu_odom_: 1691062481.17572682 0.0742203 -0.1652 9.75398 -0.0596548 -0.0948085 0.0617853 0.09 0.02 pose: 0.24968474 3.72804 -3.97724 0 0.00550771 0.00186504 0.98155 -0.191116 uwb: 0.0 1223.34 613.942 -imu_odom_: 1691062481.44564250 0.837971 -0.246603 9.80426 -0.0660464 -0.00532632 0.0745685 0.13 0.02 pose: 0.35941309 3.72804 -3.97724 0 0.00297352 0.00161101 0.981448 -0.191697 uwb: 0.49927044 1224.05 614.271 -imu_odom_: 1691062481.60556153 0.699107 -0.280122 9.65582 -0.0628506 0.0351537 0.0660464 0.13 0.02 pose: 0.0 3.72804 -3.97724 0 0.00297352 0.00161101 0.981448 -0.191697 uwb: 0.0 1224.05 614.271 -imu_odom_: 1691062481.77615447 0.677559 -0.0502782 9.97664 -0.0553937 -0.0415453 0.0479369 0.13 0.02 pose: 0.0 3.72804 -3.97724 0 0.00297352 0.00161101 0.981448 -0.191697 uwb: 0.0 1224.05 614.271 -imu_odom_: 1691062481.95598646 0.823605 -0.248997 9.70609 -0.0756338 -0.0351537 0.0649811 0.12 -0.05 pose: 0.7028155 3.72804 -3.97724 0 0.0036865 0.00161338 0.981422 -0.191818 uwb: 0.50096783 1223.52 614.401 -imu_odom_: 1691062481.109594587 1.86508 -0.64404 10.1945 -0.0500674 -0.0234358 -0.0351537 0.12 -0.05 pose: 0.0 3.72804 -3.97724 0 0.0036865 0.00161338 0.981422 -0.191818 uwb: 0.0 1223.52 614.401 -imu_odom_: 1691062481.126714833 1.37188 0.215478 9.67497 -0.036219 0.0127832 -0.198139 0.05 -0.26 pose: 0.44019657 3.72804 -3.97724 0 0.00750612 0.00193335 0.981286 -0.192399 uwb: 0.0 1223.52 614.401 -imu_odom_: 1691062481.140714857 1.37906 0.557849 9.94312 -0.0713727 0.0266316 -0.259925 0.05 -0.26 pose: 0.0 3.72804 -3.97724 0 0.00750612 0.00193335 0.981286 -0.192399 uwb: 0.49842185 1223.37 614.666 -imu_odom_: 1691062481.157557464 0.847547 0.196325 10.0221 -0.0671117 0.0351537 -0.337689 0.05 -0.26 pose: 0.0 3.72804 -3.97724 0 0.00750612 0.00193335 0.981286 -0.192399 uwb: 0.0 1223.37 614.666 -imu_odom_: 1691062481.171713514 0.414197 -0.311246 9.77553 -0.072438 0.0223706 -0.426106 0.04 -0.38 pose: 0.47965793 3.72029 -3.98907 0 0.0121604 0.00298439 0.981447 -0.191324 uwb: 0.0 1223.37 614.666 -imu_odom_: 1691062481.187555224 0.3304 -0.23942 9.92875 -0.0703074 -0.00745685 -0.44315 0.04 -0.38 pose: 0.0 3.72029 -3.98907 0 0.0121604 0.00298439 0.981447 -0.191324 uwb: 0.49998793 1224.97 615.786 -imu_odom_: 1691062481.204543067 0.292093 -0.251391 10.1131 -0.0649811 -0.0149137 -0.417584 0.04 -0.38 pose: 0.0 3.72029 -3.98907 0 0.0121604 0.00298439 0.981447 -0.191324 uwb: 0.0 1224.97 615.786 -imu_odom_: 1691062481.222680541 0.701501 -0.25618 10.3118 -0.0585895 -0.0426106 -0.415453 0.03 -0.44 pose: 0.47248951 3.72029 -3.98907 0 0.0129051 0.00584109 0.98292 -0.183486 uwb: 0.0 1224.97 615.786 -imu_odom_: 1691062481.238823512 0.531513 -0.275333 9.43794 -0.0553937 0.00426106 -0.421845 0.03 -0.44 pose: 0.0 3.72029 -3.98907 0 0.0129051 0.00584109 0.98292 -0.183486 uwb: 0.50116907 1225.62 616.199 -imu_odom_: 1691062481.255815730 0.289698 0.0263362 9.91199 -0.0649811 -0.0266316 -0.427171 0.03 -0.44 pose: 0.0 3.72029 -3.98907 0 0.0129051 0.00584109 0.98292 -0.183486 uwb: 0.0 1225.62 616.199 -imu_odom_: 1691062481.273755183 0.325611 -0.0790087 9.79707 -0.0681769 -0.00213053 -0.450607 0.03 -0.47 pose: 0.48873658 3.72029 -3.98907 0 0.0101995 0.00339844 0.984989 -0.172284 uwb: 0.0 1225.62 616.199 -imu_odom_: 1691062481.290697531 0.560243 -0.311246 10.0078 -0.0692422 -0.0245011 -0.462325 0.03 -0.5 pose: 0.0 3.72029 -3.98907 0 0.0101995 0.00339844 0.984989 -0.172284 uwb: 0.50000252 1225.86 616.558 -imu_odom_: 1691062481.305524053 0.746991 -0.205901 9.91439 -0.056459 0.00852212 -0.484695 0.03 -0.5 pose: 0.67951663 3.72029 -3.98907 0 0.0073381 0.00216893 0.987661 -0.156423 uwb: 0.0 1225.86 616.558 -imu_odom_: 1691062481.321527330 0.665588 -0.265756 9.82102 -0.0596548 -0.00532632 -0.479369 0.03 -0.5 pose: 0.0 3.72029 -3.98907 0 0.0073381 0.00216893 0.987661 -0.156423 uwb: 0.0 1225.86 616.558 -imu_odom_: 1691062481.338528005 0.205901 -0.325611 9.97185 -0.0660464 -0.0276969 -0.416518 0.03 -0.47 pose: 0.0 3.72029 -3.98907 0 0.0073381 0.00216893 0.987661 -0.156423 uwb: 0.49904595 1224.33 616.096 -imu_odom_: 1691062481.356595778 0.454898 -0.464475 9.94312 -0.072438 -0.00639159 -0.348341 0.03 -0.47 pose: 0.30893376 3.71051 -3.99118 0 0.00958275 0.00122746 0.988857 -0.148553 uwb: 0.0 1224.33 616.096 -imu_odom_: 1691062481.373530252 0.737414 -0.361524 9.75877 -0.0394148 -0.00852212 -0.318514 0.02 -0.38 pose: 0.45041843 3.71047 -3.99114 0 0.0085301 -0.0016247 0.990295 -0.138712 uwb: 0.0 1224.33 616.096 -imu_odom_: 1691062481.389652808 0.521936 -0.100556 9.89763 -0.0628506 -0.00852212 -0.268447 0.02 -0.38 pose: 0.0 3.71047 -3.99114 0 0.0085301 -0.0016247 0.990295 -0.138712 uwb: 0.50104658 1223.84 616.165 -imu_odom_: 1691062481.406642109 0.703895 -0.296881 9.79228 -0.0543285 0.00106526 -0.235423 0.02 -0.38 pose: 0.0 3.71047 -3.99114 0 0.0085301 -0.0016247 0.990295 -0.138712 uwb: 0.0 1223.84 616.165 -imu_odom_: 1691062481.422520857 0.459687 -0.347159 9.91678 -0.0532632 -0.00319579 -0.24075 0.02 -0.26 pose: 0.7029613 3.71052 -3.99118 0 0.00920006 -0.00179599 0.990462 -0.137466 uwb: 0.0 1223.84 616.165 -imu_odom_: 1691062481.448591144 0.59855 -0.296881 9.97424 -0.0543285 -0.0213053 -0.20027 0.03 -0.35 pose: 0.0 3.71052 -3.99118 0 0.00920006 -0.00179599 0.990462 -0.137466 uwb: 0.49795814 1223.34 616.254 -imu_odom_: 1691062481.464576339 0.517148 -0.316035 9.78989 -0.0639159 -0.00213053 -0.194943 0.03 -0.35 pose: 0.65998280 3.71052 -3.99118 0 0.0101788 -0.00247919 0.991733 -0.127889 uwb: 0.0 1223.34 616.254 -imu_odom_: 1691062481.482515501 0.471658 -0.203507 9.87608 -0.0479369 -0.00532632 -0.246076 0.02 -0.23 pose: 0.0 3.71052 -3.99118 0 0.0101788 -0.00247919 0.991733 -0.127889 uwb: 0.0 1223.34 616.254 -imu_odom_: 1691062481.499520551 0.387861 0.158017 9.88326 -0.0532632 -0.00958738 -0.308927 0.02 -0.23 pose: 0.25965589 3.71052 -3.99118 0 0.0107168 -0.00408057 0.992111 -0.124834 uwb: 0.49926468 1222.86 616.323 -imu_odom_: 1691062481.513510076 0.466869 0.0837971 9.94551 -0.0649811 -0.0223706 -0.339819 0.02 -0.35 pose: 0.0 3.71052 -3.99118 0 0.0107168 -0.00408057 0.992111 -0.124834 uwb: 0.0 1222.86 616.323 -imu_odom_: 1691062481.530507834 0.426168 -0.275333 9.82102 -0.056459 -0.00745685 -0.401605 0.02 -0.35 pose: 0.43931291 3.71047 -3.99114 0 0.00769552 -0.00141778 0.992947 -0.118297 uwb: 0.0 1222.86 616.323 -imu_odom_: 1691062481.547509092 0.521936 -0.0837971 9.90242 -0.0511327 -0.0138484 -0.441019 0.02 -0.35 pose: 0.0 3.71047 -3.99114 0 0.00769552 -0.00141778 0.992947 -0.118297 uwb: 0.50052455 1221.63 616.127 -imu_odom_: 1691062481.564556720 0.263362 -0.227449 9.81623 -0.0628506 0.00426106 -0.435693 0.02 -0.58 pose: 0.47988541 3.71047 -3.99114 0 0.00581034 0.000906951 0.994148 -0.107864 uwb: 0.0 1221.63 616.127 -imu_odom_: 1691062481.582609620 0.457293 -0.28491 9.96946 -0.0596548 -0.0266316 -0.477238 0.02 -0.58 pose: 0.0 3.71047 -3.99114 0 0.00581034 0.000906951 0.994148 -0.107864 uwb: 0.0 1221.63 616.127 -imu_odom_: 1691062481.596625101 0.54109 -0.0430956 9.8689 -0.0543285 0.00319579 -0.509196 0.02 -0.58 pose: 0.0 3.71047 -3.99114 0 0.00581034 0.000906951 0.994148 -0.107864 uwb: 0.50119239 1220.68 616.231 -imu_odom_: 1691062481.613516120 0.663194 -0.1652 10.0389 -0.0585895 -0.00958738 -0.527306 0.01 -0.53 pose: 0.41079666 3.71052 -3.99118 0 0.00393424 -0.0006026830.995221 -0.0975676 uwb: 0.0 1220.68 616.231 -imu_odom_: 1691062481.639507374 0.553061 -0.373495 9.83059 -0.0617853 -0.0106526 -0.552872 0.01 -0.55 pose: 0.0 3.71052 -3.99118 0 0.00393424 -0.0006026830.995221 -0.0975676 uwb: 0.50141113 1219.61 615.757 -imu_odom_: 1691062481.656608663 0.347159 -0.203507 9.92636 -0.0500674 0.0287621 -0.5827 0.01 -0.55 pose: 0.32043883 3.71052 -3.99118 0 0.00593901 0.000138701 0.996058 -0.0885039 uwb: 0.0 1219.61 615.757 -imu_odom_: 1691062481.672557404 -0.299275 -0.129287 9.81144 -0.0490022 0.0468716 -0.56246 0.03 -0.58 pose: 0.0 3.71052 -3.99118 0 0.00593901 0.000138701 0.996058 -0.0885039 uwb: 0.0 1219.61 615.757 -imu_odom_: 1691062481.690674464 -0.47884 -0.237026 9.89524 -0.0617853 -0.0223706 -0.578439 0.03 -0.58 pose: 0.43982619 3.71052 -3.99118 0 0.00364194 -0.00119202 0.997158 -0.0752385 uwb: 0.49849475 1219.6 615.777 -imu_odom_: 1691062481.707530779 -0.85473 -0.0335188 9.68215 -0.0436758 0.0213053 -0.577373 0.03 -0.58 pose: 0.0 3.71052 -3.99118 0 0.00364194 -0.00119202 0.997158 -0.0752385 uwb: 0.0 1219.6 615.777 -imu_odom_: 1691062481.721516804 -0.682347 -0.172383 10.1514 -0.0575243 -0.0138484 -0.450607 0.05 -0.41 pose: 0.33031365 3.70073 -3.99326 0 0.000230035 -0.00117162 0.997876 -0.065128 uwb: 0.0 1219.6 615.777 -imu_odom_: 1691062481.738608178 -0.134075 -0.830788 9.80186 -0.0862864 -0.0852212 -0.356864 0.05 -0.41 pose: 0.0 3.70073 -3.99326 0 0.000230035 -0.00117162 0.997876 -0.065128 uwb: 0.50013084 1220.11 616.446 -imu_odom_: 1691062481.752608493 0.275333 -0.392649 9.88805 -0.0607201 -0.0415453 -0.383495 0.05 -0.41 pose: 0.0 3.70073 -3.99326 0 0.000230035 -0.00117162 0.997876 -0.065128 uwb: 0.0 1220.11 616.446 -imu_odom_: 1691062481.769533634 0.474052 0.205901 10.228 -0.0383495 0.00213053 -0.380299 0.08 -0.47 pose: 0.46970146 3.70073 -3.99326 0 -0.00266719 -0.00320444 0.998532 -0.0540131 uwb: 0.0 1220.11 616.446 -imu_odom_: 1691062481.783605692 0.162806 0.0383072 9.92636 -0.0820254 -0.0191748 -0.330232 0.08 -0.47 pose: 0.0 3.70073 -3.99326 0 -0.00266719 -0.00320444 0.998532 -0.0540131 uwb: 0.49851225 1222.15 617.542 -imu_odom_: 1691062481.799489690 0.172383 -0.31364 9.9096 -0.0511327 -0.015979 -0.347276 0.09 -0.35 pose: 0.38988921 3.70068 -3.99322 0 -0.00327388 -0.00118674 0.998927 -0.0461852 uwb: 0.0 1222.15 617.542 -imu_odom_: 1691062481.814595309 0.100556 -0.428562 9.78989 -0.0255663 0.00532632 -0.354733 0.09 -0.35 pose: 0.0 3.70068 -3.99322 0 -0.00327388 -0.00118674 0.998927 -0.0461852 uwb: 0.0 1222.15 617.542 -imu_odom_: 1691062481.830591878 0.0981623 -0.169988 9.70609 -0.0490022 -0.0234358 -0.298274 0.09 -0.35 pose: 0.0 3.70068 -3.99322 0 -0.00327388 -0.00118674 0.998927 -0.0461852 uwb: 0.0 1222.15 617.542 -imu_odom_: 1691062481.847594886 0.0933739 -0.392649 10.0389 -0.0532632 -0.0479369 -0.268447 0.1 -0.32 pose: 0.6942706 3.70073 -3.99326 0 -0.00384517 -0.00150158 0.998986 -0.0448432 uwb: 0.50159486 1222.42 617.838 -imu_odom_: 1691062481.865590334 0.402226 -0.21069 9.85693 -0.052198 0.0138484 -0.26099 0.1 -0.32 pose: 0.0 3.70073 -3.99326 0 -0.00384517 -0.00150158 0.998986 -0.0448432 uwb: 0.0 1222.42 617.838 -imu_odom_: 1691062481.882590717 0.337582 -0.21069 9.93833 -0.0553937 0.0266316 -0.257794 0.11 -0.32 pose: 0.47053845 3.69095 -3.99532 0 -0.00743985 -0.00252008 0.999308 -0.0363614 uwb: 0.0 1222.42 617.838 -imu_odom_: 1691062481.897477900 -0.155623 -0.153229 9.52174 -0.052198 0.0415453 -0.237554 0.11 -0.29 pose: 0.0 3.69095 -3.99532 0 -0.00743985 -0.00252008 0.999308 -0.0363614 uwb: 0.50041956 1221.64 617.653 -imu_odom_: 1691062481.913605122 0.699107 -0.363919 10.0437 -0.0575243 -0.036219 -0.229032 0.11 -0.23 pose: 0.0 3.69095 -3.99532 0 -0.00743985 -0.00252008 0.999308 -0.0363614 uwb: 0.0 1221.64 617.653 -imu_odom_: 1691062481.930587716 1.08457 0.0694318 9.94073 -0.0607201 -0.0394148 -0.209857 0.11 -0.23 pose: 0.65875500 3.67916 -3.98756 0 -0.00653053 -0.00135047 0.999621 -0.0267278 uwb: 0.0 1221.64 617.653 -imu_odom_: 1691062481.947579058 1.37188 -0.0861913 10.1203 -0.0596548 0.0607201 -0.152333 0.12 -0.32 pose: 0.0 3.67916 -3.98756 0 -0.00653053 -0.00135047 0.999621 -0.0267278 uwb: 0.50060621 1223.21 618.787 -imu_odom_: 1691062481.964523738 1.33357 -0.47884 10.1251 -0.0756338 0.0127832 -0.1012 0.12 -0.32 pose: 0.0 3.67916 -3.98756 0 -0.00653053 -0.00135047 0.999621 -0.0267278 uwb: 0.0 1223.21 618.787 -imu_odom_: 1691062481.981634652 1.11091 -0.40462 9.73004 -0.0532632 0.0234358 -0.164051 0.12 -0.32 pose: 0.33998433 3.67916 -3.98756 0 -0.00306403 -0.0009179350.99974 -0.0225888 uwb: 0.0 1223.21 618.787 -imu_odom_: 1691062481.999481656 0.916979 0.148441 10.0293 -0.0468716 0.036219 -0.204531 0.07 -0.23 pose: 0.44158476 3.67916 -3.98756 0 0.000558923 -0.00167906 0.999824 -0.0186799 uwb: 0.49983336 1224.18 619.413 -imu_odom_: 1691062482.17589389 0.426168 0.035913 9.71328 -0.0830906 0.00852212 -0.156594 0.07 -0.23 pose: 0.8135791 3.67916 -3.98756 0 0.00102555 -0.00113118 0.999842 -0.0176855 uwb: 0.0 1224.18 619.413 -imu_odom_: 1691062482.33754531 0.68953 -0.543484 9.98861 -0.0532632 -0.00958738 -0.166181 0.06 -0.17 pose: 0.0 3.67916 -3.98756 0 0.00102555 -0.00113118 0.999842 -0.0176855 uwb: 0.49988598 1224 619.717 -imu_odom_: 1691062482.51460973 0.723049 -0.248997 9.90002 -0.0585895 -0.0181095 -0.170442 0.06 -0.26 pose: 0.43984088 3.66937 -3.9896 0 0.00241433 -0.00018396 0.999912 -0.0130591 uwb: 0.0 1224 619.717 -imu_odom_: 1691062482.68455821 0.773327 -0.124498 9.93833 -0.0543285 -0.00958738 -0.133158 0.05 -0.17 pose: 0.0 3.66937 -3.9896 0 0.00241433 -0.00018396 0.999912 -0.0130591 uwb: 0.0 1224 619.717 -imu_odom_: 1691062482.82459058 0.658405 -0.23942 9.85214 -0.0671117 -0.0127832 -0.0969391 0.05 -0.17 pose: 0.0 3.66937 -3.9896 0 0.00241433 -0.00018396 0.999912 -0.0130591 uwb: 0.0 1224 619.717 -imu_odom_: 1691062482.99568811 0.588974 -0.428562 9.82341 -0.052198 0.00852212 -0.100135 0.04 -0.14 pose: 0.24712143 3.66937 -3.9896 0 0.00498103 -0.0001360420.999931 -0.0105936 uwb: 0.49734005 1225.23 620.663 -imu_odom_: 1691062482.116519330 0.744597 -0.162806 10.0389 -0.0575243 -0.02024 -0.0937433 0.04 -0.14 pose: 0.0 3.66937 -3.9896 0 0.00498103 -0.0001360420.999931 -0.0105936 uwb: 0.0 1225.23 620.663 -imu_odom_: 1691062482.142582627 0.59855 -0.160412 10.1921 -0.056459 0.00426106 -0.0884169 0.04 -0.14 pose: 0.31164318 3.66937 -3.9896 0 0.0074895 -0.0008150420.999937 -0.00827876 uwb: 0.49999978 1227 621.469 -imu_odom_: 1691062482.158445049 0.124498 -0.466869 9.56723 -0.0735032 0.0213053 -0.120375 0.04 -0.14 pose: 0.33834545 3.66937 -3.9896 0 0.00934223 -0.0003615920.999938 -0.00600265 uwb: 0.0 1227 621.469 -imu_odom_: 1691062482.184508638 -1.25696 0.222661 9.58878 -0.0394148 0.0820254 -0.2024 0.04 -0.14 pose: 0.0 3.66937 -3.9896 0 0.00934223 -0.0003615920.999938 -0.00600265 uwb: 0.50149005 1224.88 620.507 -imu_odom_: 1691062482.210505442 -0.948104 -1.01993 9.60075 -0.0798948 -0.0617853 -0.0458064 0.06 -0.14 pose: 0.43059895 3.66937 -3.9896 0 0.00676061 0.000825422 0.999974 -0.00251859 uwb: 0.0 1224.88 620.507 -imu_odom_: 1691062482.234451455 0.488417 0.011971 9.93115 -0.0394148 -0.0830906 -0.0585895 0.11 -0.11 pose: 0.43980010 3.6623 -3.99104 0 0.00272842 -0.0002310620.999996 0.000769697 uwb: 0.49992687 1225.75 621.3 -imu_odom_: 1691062482.251445720 0.632069 -0.0694318 9.75158 -0.056459 0.0308927 -0.00639159 0.11 -0.11 pose: 0.0 3.6623 -3.99104 0 0.00272842 -0.0002310620.999996 0.000769697 uwb: 0.0 1225.75 621.3 -imu_odom_: 1691062482.278624820 -0.270545 -0.258574 9.8258 -0.052198 0.015979 -0.100135 0.11 -0.08 pose: 0.40940278 3.65958 -3.99162 0 0.00512307 0.0032608 0.999979 0.00234123 uwb: 0.0 1225.75 621.3 -imu_odom_: 1691062482.302421224 0.258574 -0.672771 9.70849 -0.0639159 -0.0330232 -0.0415453 0.11 -0.08 pose: 0.0 3.65958 -3.99162 0 0.00512307 0.0032608 0.999979 0.00234123 uwb: 0.49914820 1223.94 620.581 -imu_odom_: 1691062482.328418319 0.641646 0.0622492 9.96946 -0.0490022 -0.0223706 -0.0340885 0.13 -0.11 pose: 0.50975504 3.65261 -3.99303 0 0.0016707 0.000606652 0.999985 0.0052098 uwb: 0.0 1223.94 620.581 -imu_odom_: 1691062482.344472930 0.756568 -0.220267 10.0509 -0.0532632 0.00639159 -0.0298274 0.13 -0.11 pose: 0.0 3.65261 -3.99303 0 0.0016707 0.000606652 0.999985 0.0052098 uwb: 0.50006394 1225.49 621.744 -imu_odom_: 1691062482.370423655 -0.349553 -0.162806 9.90242 -0.0585895 -0.00958738 -0.0415453 0.16 -0.08 pose: 0.42051706 3.64978 -3.99364 0 0.00499821 0.0024128 0.999962 0.00672107 uwb: 0.0 1225.49 621.744 -imu_odom_: 1691062482.395429477 0.323217 -0.162806 9.8665 -0.0490022 -0.0415453 -0.0266316 0.16 -0.08 pose: 0.0 3.64978 -3.99364 0 0.00499821 0.0024128 0.999962 0.00672107 uwb: 0.49889740 1223.28 620.954 -imu_odom_: 1691062482.421502398 0.258574 -0.251391 10.1131 -0.0490022 0.0777643 -0.0223706 0.16 -0.08 pose: 0.50956547 3.63999 -3.99567 0 0.000433692 0.00259164 0.999959 0.0086156 uwb: 0.0 1223.28 620.954 -imu_odom_: 1691062482.446421312 0.634463 -0.174777 10.2017 -0.0436758 -0.0276969 -0.0340885 0.16 -0.08 pose: 0.0 3.63999 -3.99567 0 0.000433692 0.00259164 0.999959 0.0086156 uwb: 0.50009018 1223.28 620.954 -imu_odom_: 1691062482.472474985 0.328006 -0.320823 9.41161 -0.076699 0.0106526 -0.00852212 0.14 -0.02 pose: 0.34077479 3.638 -3.98587 0 -0.00201107 0.00146468 0.99995 0.00971961 uwb: 0.0 1223.28 620.954 -imu_odom_: 1691062482.497624584 0.47884 0.0167594 10.1778 -0.0479369 -0.0447411 -0.0106526 0.15 -0.08 pose: 0.42968029 3.62816 -3.98781 0 -0.0015681 -0.0009500530.999938 0.0109692 uwb: 0.49974898 1224.77 622.195 -imu_odom_: 1691062482.514418786 0.68953 -0.19393 9.71806 -0.0532632 0.00106526 -0.0117179 0.15 -0.08 pose: 0.6963998 3.6282 -3.98784 0 -0.00114608 -0.0002880210.999937 0.0111433 uwb: 0.0 1224.77 622.195 -imu_odom_: 1691062482.538614441 0.318429 -0.268151 9.98622 -0.052198 -0.0223706 -0.00319579 0.15 -0.02 pose: 0.0 3.6282 -3.98784 0 -0.00114608 -0.0002880210.999937 0.0111433 uwb: 0.50004644 1225.3 622.81 -imu_odom_: 1691062482.564399225 0.799663 -0.203507 9.56484 -0.0628506 -0.0287621 0.00213053 0.15 -0.02 pose: 0.42044415 3.61841 -3.98988 0 0.0010713 0.00100905 0.999925 0.0121774 uwb: 0.0 1225.3 622.81 -imu_odom_: 1691062482.589534825 0.488417 -0.122104 9.84975 -0.0543285 0.00958738 0 0.16 -0.02 pose: 0.42915827 3.61841 -3.98988 0 0.00270615 -4.72017e-060.999911 0.013027 uwb: 0.50142589 1223.56 621.992 -imu_odom_: 1691062482.606466971 0.275333 -0.21069 9.80665 -0.0319579 0.0308927 -0.00213053 0.16 -0.02 pose: 0.7025532 3.61841 -3.98988 0 0.0029012 0.000659029 0.999909 0.0131678 uwb: 0.0 1223.56 621.992 -imu_odom_: 1691062482.631508081 0.196325 -0.232238 9.50498 -0.0628506 0.0191748 0.00745685 0.16 -0.02 pose: 0.0 3.61841 -3.98988 0 0.0029012 0.000659029 0.999909 0.0131678 uwb: 0.0 1223.56 621.992 -imu_odom_: 1691062482.657393479 0.497994 -0.395043 9.48343 -0.0607201 -0.00852212 0.015979 0.16 -0.02 pose: 0.43097808 3.60861 -3.99189 0 0.000572376 0.00201093 0.9999 0.0140159 uwb: 0.50002311 1225.37 623.43 -imu_odom_: 1691062482.674393577 0.778116 -0.31364 9.72285 -0.0703074 -0.0436758 0.00532632 0.18 -0.05 pose: 0.0 3.60861 -3.99189 0 0.000572376 0.00201093 0.9999 0.0140159 uwb: 0.0 1225.37 623.43 -imu_odom_: 1691062482.700488954 0.548272 -0.105345 9.97185 -0.0511327 -0.04048 0.0181095 0.18 -0.05 pose: 0.49892073 3.59881 -3.99388 0 0.000845154 -0.00100345 0.999891 0.0147185 uwb: 0.49946609 1226.14 624.384 -imu_odom_: 1691062482.725398828 0.627281 -0.169988 10.1562 -0.0511327 -0.0255663 0.00639159 0.21 -0.05 pose: 0.17268695 3.59881 -3.99388 0 0.00260183 -0.0007310580.999884 0.0149698 uwb: 0.0 1226.14 624.384 -imu_odom_: 1691062482.751396506 0.869095 -0.464475 9.97664 -0.0553937 -0.02024 0.036219 0.2 -0.05 pose: 0.43715495 3.58704 -3.98605 0 0.00684598 0.00126659 0.999854 0.0155886 uwb: 0.49854743 1225.95 624.706 -imu_odom_: 1691062482.775554831 0.311246 -0.275333 9.91439 -0.0628506 -0.00852212 0.0170442 0.2 -0.05 pose: 0.0 3.58704 -3.98605 0 0.00684598 0.00126659 0.999854 0.0155886 uwb: 0.0 1225.95 624.706 -imu_odom_: 1691062482.792498060 0.636858 -0.186748 10.0916 -0.0532632 -0.0468716 0.0276969 0.2 -0.05 pose: 0.0 3.58704 -3.98605 0 0.00684598 0.00126659 0.999854 0.0155886 uwb: 0.50072012 1224.78 624.419 -imu_odom_: 1691062482.817606246 0.976834 -0.363919 10.1993 -0.0585895 -0.0383495 0.0245011 0.18 -0.02 pose: 0.8000766 3.58704 -3.98605 0 0.00751637 0.00074248 0.99985 0.0155977 uwb: 0.0 1224.78 624.419 -imu_odom_: 1691062482.843386947 0.593762 -0.141258 10.386 -0.0639159 -0.0394148 0.0500674 0.2 -0.02 pose: 0.49054491 3.57723 -3.98801 0 0.00747859 -0.0006925130.999845 0.0159295 uwb: 0.50053056 1224.47 624.943 -imu_odom_: 1691062482.859430184 0.423774 -0.258574 9.44034 -0.0830906 0.02024 0.0458064 0.2 -0.02 pose: 0.0 3.57723 -3.98801 0 0.00747859 -0.0006925130.999845 0.0159295 uwb: 0.0 1224.47 624.943 -imu_odom_: 1691062482.885379743 0.746991 -0.0215478 9.68933 -0.0660464 -0.0149137 0.0213053 0.17 -0.02 pose: 0.41958383 3.56744 -3.99006 0 0.0112322 -0.0006399450.999806 0.0161457 uwb: 0.49857951 1224.85 625.8 -imu_odom_: 1691062482.910388189 0.442927 -0.217872 10.0604 -0.0639159 0.0117179 0.0234358 0.17 -0.02 pose: 0.0 3.56744 -3.99006 0 0.0112322 -0.0006399450.999806 0.0161457 uwb: 0.0 1224.85 625.8 -imu_odom_: 1691062482.936377119 0.610521 -0.251391 9.88805 -0.0703074 0.00532632 0.0426106 0.2 0 pose: 0.43026065 3.56744 -3.99006 0 0.00967731 0.000801177 0.999823 0.0160926 uwb: 0.50068804 1224.31 625.946 -imu_odom_: 1691062482.953437002 0.675165 -0.277727 9.63187 -0.0820254 0.0117179 0.0266316 0.2 0 pose: 0.0 3.56744 -3.99006 0 0.00967731 0.000801177 0.999823 0.0160926 uwb: 0.0 1224.31 625.946 -imu_odom_: 1691062482.977387973 0.287304 -0.454898 10.1658 -0.0458064 0.0191748 0.0170442 0.24 0 pose: 0.50954214 3.55766 -3.99211 0 0.0087728 0.000582305 0.999826 0.0164522 uwb: 0.0 1224.31 625.946 -imu_odom_: 1691062483.2365215 0.418985 -0.186748 9.84017 -0.0426106 -0.0745685 0.0266316 0.24 0 pose: 0.0 3.55766 -3.99211 0 0.0087728 0.000582305 0.999826 0.0164522 uwb: 0.50252536 1223.32 626.12 -imu_odom_: 1691062483.26357898 0.411803 0.0670376 10.1754 -0.0607201 -0.0649811 0.04048 0.18 -0.02 pose: 0.41993087 3.54583 -3.98436 0 0.0103448 -0.00240922 0.999806 0.0165911 uwb: 0.0 1223.32 626.12 -imu_odom_: 1691062483.52419163 0.387861 -0.126893 10.2424 -0.0383495 -0.0298274 0.0117179 0.18 -0.02 pose: 0.0 3.54583 -3.98436 0 0.0103448 -0.00240922 0.999806 0.0165911 uwb: 0.49864961 1222.96 626.725 -imu_odom_: 1691062483.78413060 0.35913 -0.225055 9.67497 -0.0788296 -0.0500674 0.0500674 0.21 -0.02 pose: 0.49986274 3.53603 -3.98639 0 0.007325 -0.00104786 0.999829 0.016933 uwb: 0.0 1222.96 626.725 -imu_odom_: 1691062483.95344921 0.129287 -0.260968 10.0628 -0.0607201 0.00426106 0.0266316 0.21 -0.02 pose: 0.0 3.53603 -3.98639 0 0.007325 -0.00104786 0.999829 0.016933 uwb: 0.49799933 1222.42 626.895 -imu_odom_: 1691062483.120354251 -0.035913 -0.416591 10.1945 -0.0788296 0.0117179 0.0511327 0.22 -0.05 pose: 0.74999994 3.52624 -3.98842 0 0.00257324 0.000568295 0.999848 0.0172186 uwb: 0.0 1222.42 626.895 -imu_odom_: 1691062483.137377394 0.402226 -0.160412 10.1969 -0.0628506 -0.0671117 0.04048 0.22 -0.05 pose: 0.0 3.52624 -3.98842 0 0.00257324 0.000568295 0.999848 0.0172186 uwb: 0.49989497 1222.2 627.997 -imu_odom_: 1691062483.161446486 0.526724 -0.112527 9.97185 -0.0617853 0.00532632 0.0287621 0.21 -0.05 pose: 0.41985520 3.51645 -3.99044 0 -0.000558689-0.0002423750.999853 0.0171348 uwb: 0.0 1222.2 627.997 -imu_odom_: 1691062483.187366891 0.311246 -0.260968 9.55287 -0.0447411 -0.0319579 0.0298274 0.23 0.02 pose: 0.34088864 3.50463 -3.98268 0 0.00187891 0.00197789 0.999847 0.017258 uwb: 0.50032951 1223.61 629.333 -imu_odom_: 1691062483.209344946 0.529119 -0.179565 10.3094 -0.0543285 0.0181095 0.0436758 0.23 0.02 pose: 0.0 3.50463 -3.98268 0 0.00187891 0.00197789 0.999847 0.017258 uwb: 0.0 1223.61 629.333 -imu_odom_: 1691062483.234347569 0.658405 -0.0407014 10.0197 -0.0447411 0.0234358 0.036219 0.17 0 pose: 0.8026725 3.50463 -3.98268 0 0.00131431 0.00158529 0.999848 0.0172978 uwb: 0.49967624 1223.83 630.427 -imu_odom_: 1691062483.258394789 0.756568 -0.19393 10.0078 -0.0511327 -0.0234358 0.0532632 0.17 0 pose: 0.0 3.50463 -3.98268 0 0.00131431 0.00158529 0.999848 0.0172978 uwb: 0.0 1223.83 630.427 -imu_odom_: 1691062483.273331561 0.225055 -0.136469 9.68694 -0.0468716 0.0351537 0.0319579 0.19 0 pose: 0.47993242 3.49484 -3.9847 0 0.00254518 0.00154618 0.999845 0.0173535 uwb: 0.0 1223.83 630.427 -imu_odom_: 1691062483.290392616 0.383072 -0.158017 10.0173 -0.0436758 -0.0319579 0.0458064 0.19 0 pose: 0.0 3.49484 -3.9847 0 0.00254518 0.00154618 0.999845 0.0173535 uwb: 0.50001163 1224.1 631.421 -imu_odom_: 1691062483.303323217 0.543484 -0.213084 10.3094 -0.0660464 -0.02024 0.0543285 0.19 0 pose: 0.0 3.49484 -3.9847 0 0.00254518 0.00154618 0.999845 0.0173535 uwb: 0.0 1224.1 631.421 -imu_odom_: 1691062483.319338755 0.186748 -0.0837971 9.78031 -0.0553937 0.0106526 0.0447411 0.17 -0.02 pose: 0.47871921 3.48504 -3.98673 0 0.00550471 0.00244016 0.999833 0.0172383 uwb: 0.0 1224.1 631.421 -imu_odom_: 1691062483.345389812 0.138864 -0.407014 9.42597 -0.072438 0.00319579 0.0607201 0.17 -0.02 pose: 0.0 3.48504 -3.98673 0 0.00550471 0.00244016 0.999833 0.0172383 uwb: 0.50006995 1221.91 630.696 -imu_odom_: 1691062483.370328275 0.213084 -0.143652 9.49062 -0.0596548 0.00426106 0.036219 0.19 0 pose: 0.46027900 3.47525 -3.98875 0 0.00340533 0.00217584 0.999846 0.0171043 uwb: 0.0 1221.91 630.696 -imu_odom_: 1691062483.395346063 0.177171 -0.588974 9.14346 -0.100135 0.00958738 0.072438 0.21 0 pose: 0.0 3.47525 -3.98875 0 0.00340533 0.00217584 0.999846 0.0171043 uwb: 0.50167687 1224.22 632.674 -imu_odom_: 1691062483.418405216 0.344765 -0.56982 9.91918 -0.0607201 0.0436758 0.0351537 0.2 0 pose: 0.66020491 3.46343 -3.98099 0 -0.00246037 0.000565835 0.999857 0.0167414 uwb: 0.0 1224.22 632.674 -imu_odom_: 1691062483.434342012 0.339977 -0.260968 10.5249 -0.0628506 0.0191748 0.036219 0.2 0 pose: 0.0 3.46343 -3.98099 0 -0.00246037 0.000565835 0.999857 0.0167414 uwb: 0.49667530 1224.75 633.964 -imu_odom_: 1691062483.460487560 0.651223 -0.270545 10.0149 -0.0319579 -0.04048 0.0351537 0.25 0 pose: 0.56955247 3.45364 -3.98303 0 -0.00337042 -0.00244875 0.999855 0.0165338 uwb: 0.0 1224.75 633.964 -imu_odom_: 1691062483.486365385 0.316035 -0.153229 9.77313 -0.0639159 0.00106526 0.0415453 0.2 0 pose: 0.8083594 3.45364 -3.98303 0 -0.00241429 -0.00238633 0.999857 0.0165537 uwb: 0.50143481 1223.99 634.49 -imu_odom_: 1691062483.511454624 0.148441 -0.227449 9.38288 -0.0383495 0.0149137 0.0447411 0.23 0.02 pose: 0.43939779 3.44385 -3.98507 0 -0.00191581 -0.0002933180.999861 0.0165689 uwb: 0.0 1223.99 634.49 -imu_odom_: 1691062483.524358686 0.071826 -0.416591 9.97185 -0.0596548 0.00745685 0.0415453 0.23 0.02 pose: 0.0 3.44385 -3.98507 0 -0.00191581 -0.0002933180.999861 0.0165689 uwb: 0.0 1223.99 634.49 -imu_odom_: 1691062483.540313271 0.462081 -0.263362 9.98622 -0.0596548 -0.0660464 0.0458064 0.18 0 pose: 0.0 3.44385 -3.98507 0 -0.00191581 -0.0002933180.999861 0.0165689 uwb: 0.50141440 1223.9 635.346 -imu_odom_: 1691062483.565480085 0.933739 -0.208296 10.3573 -0.0436758 -0.0479369 0.0415453 0.18 0 pose: 0.46073104 3.43406 -3.98711 0 -0.00470029 -0.00111021 0.999853 0.0164708 uwb: 0.0 1223.9 635.346 -imu_odom_: 1691062483.590306559 0.459687 -0.0981623 10.0509 -0.0415453 -0.0181095 0.0447411 0.18 0.02 pose: 0.0 3.43406 -3.98711 0 -0.00470029 -0.00111021 0.999853 0.0164708 uwb: 0.49838429 1224.36 636.734 -imu_odom_: 1691062483.616349451 0.162806 -0.196325 9.64145 -0.0532632 -0.0117179 0.0479369 0.18 0.02 pose: 0.40915212 3.43406 -3.98711 0 -0.000192899-0.0002825110.999865 0.0164052 uwb: 0.0 1224.36 636.734 -imu_odom_: 1691062483.641298412 0.229843 -0.0957681 9.68215 -0.0468716 -0.00639159 0.0394148 0.19 0.02 pose: 0.42995750 3.42223 -3.97936 0 -0.00179987 0.00132994 0.999865 0.016256 uwb: 0.50017786 1223.99 637.334 -imu_odom_: 1691062483.666405150 -0.0766145 -0.565032 9.23204 -0.0575243 0.00106526 0.0511327 0.22 0 pose: 0.8079511 3.42223 -3.97936 0 -0.00245274 0.00182942 0.999863 0.0162568 uwb: 0.0 1223.99 637.334 -imu_odom_: 1691062483.687288108 -0.0263362 -0.186748 9.74679 -0.0255663 0.0617853 0.0308927 0.22 0 pose: 0.0 3.42223 -3.97936 0 -0.00245274 0.00182942 0.999863 0.0162568 uwb: 0.50108485 1224.13 638.524 -imu_odom_: 1691062483.701436877 0.371101 -0.289698 10.0102 -0.0415453 0.00319579 0.036219 0.22 0 pose: 0.0 3.42223 -3.97936 0 -0.00245274 0.00182942 0.999863 0.0162568 uwb: 0.0 1224.13 638.524 -imu_odom_: 1691062483.724333589 -0.0430956 -0.263362 9.47386 -0.0426106 0.0127832 0.0415453 0.18 -0.02 pose: 0.24002600 3.41244 -3.98141 0 -0.004352 0.00237387 0.999856 0.0162204 uwb: 0.0 1224.13 638.524 -imu_odom_: 1691062483.751616521 0.337582 -0.335188 9.68694 -0.0681769 -0.0543285 0.052198 0.18 -0.02 pose: 0.0 3.41244 -3.98141 0 -0.004352 0.00237387 0.999856 0.0162204 uwb: 0.49820056 1224.11 639.259 -imu_odom_: 1691062483.767488573 0.565032 -0.0167594 10.4196 -0.056459 -0.0415453 0.0372843 0.19 0 pose: 0.59877449 3.40265 -3.98345 0 -0.00814497 0.000676847 0.999835 0.0162433 uwb: 0.0 1224.11 639.259 -imu_odom_: 1691062483.792297840 0.380678 -0.244209 10.4483 -0.0532632 -0.02024 0.0415453 0.19 0 pose: 0.0 3.40265 -3.98345 0 -0.00814497 0.000676847 0.999835 0.0162433 uwb: 0.50174686 1223.81 640.433 -imu_odom_: 1691062483.815283793 0.0263362 -0.110133 10.2161 -0.0415453 0.015979 0.0436758 0.18 0 pose: 0.51140297 3.39286 -3.9855 0 -0.00652945 -0.00122249 0.999849 0.0160832 uwb: 0.0 1223.81 640.433 -imu_odom_: 1691062483.839302433 0.361524 -0.136469 9.73004 -0.0735032 0.0287621 0.0596548 0.18 0 pose: 0.39846654 3.38103 -3.97776 0 -0.00378852 -0.0007608270.999864 0.0160538 uwb: 0.49999121 1223.86 641.047 -imu_odom_: 1691062483.857280103 0.251391 -0.208296 10.0772 -0.0607201 0.00106526 0.0340885 0.19 -0.05 pose: 0.40006471 3.3745 -3.97913 0 -0.0043142 0.00163684 0.999865 0.0157658 uwb: 0.0 1223.86 641.047 -imu_odom_: 1691062483.881279203 -0.00718261-0.42138 9.61511 -0.0681769 -0.0340885 0.0628506 0.19 -0.05 pose: 0.0 3.3745 -3.97913 0 -0.0043142 0.00163684 0.999865 0.0157658 uwb: 0.0 1223.86 641.047 -imu_odom_: 1691062483.907270767 0.672771 -0.217872 10.0245 -0.0319579 0.0106526 0.0340885 0.22 0 pose: 0.8013601 3.37124 -3.97981 0 -0.00508988 0.00134122 0.999861 0.01579 uwb: 0.0 1223.86 641.047 -imu_odom_: 1691062483.931306905 0.205901 -0.349553 9.81623 -0.0798948 0.00852212 0.0639159 0.22 0 pose: 0.0 3.37124 -3.97981 0 -0.00508988 0.00134122 0.999861 0.01579 uwb: 0.0 1223.86 641.047 -imu_odom_: 1691062483.949287492 0.328006 -0.301669 9.87369 -0.0820254 0.0308927 0.0319579 0.21 0 pose: 0.41973563 3.37124 -3.97981 0 -0.00689121 -0.0004995520.999855 0.0155739 uwb: 0.99840467 1224.69 642.508 -imu_odom_: 1691062483.973259761 0.260968 -0.318429 10.2999 -0.0639159 0.0117179 0.0468716 0.21 0 pose: 0.0 3.37124 -3.97981 0 -0.00689121 -0.0004995520.999855 0.0155739 uwb: 0.0 1224.69 642.508 -imu_odom_: 1691062483.999339982 0.0574608 -0.213084 9.75398 -0.0415453 0.04048 0.0383495 0.18 -0.02 pose: 0.50032076 3.36145 -3.98187 0 -0.0063265 -0.00300962 0.999857 0.0153764 uwb: 0.50003787 1225.9 644.721 -imu_odom_: 1691062484.24343487 0.227449 -0.0335188 10.0724 -0.056459 -0.00852212 0.0436758 0.17 0 pose: 0.17961047 3.35167 -3.98393 0 -0.00631856 -0.00426945 0.999852 0.0153916 uwb: 0.0 1225.9 644.721 -imu_odom_: 1691062484.41271271 0.562637 -0.167594 9.36372 -0.0468716 -0.00319579 0.036219 0.17 0 pose: 0.42057262 3.34346 -3.97858 0 -0.0104691 -0.00396236 0.99982 0.0153334 uwb: 0.49913973 1227.32 646.601 -imu_odom_: 1691062484.66250863 0.371101 -0.23942 10.1634 -0.056459 0.0426106 0.0298274 0.19 -0.02 pose: 0.8001354 3.33982 -3.97621 0 -0.0103448 -0.00317361 0.999824 0.0153091 uwb: 0.0 1227.32 646.601 -imu_odom_: 1691062484.83326798 0.814029 -0.409408 9.32302 -0.0330232 -0.0245011 0.0287621 0.19 -0.02 pose: 0.0 3.33982 -3.97621 0 -0.0103448 -0.00317361 0.999824 0.0153091 uwb: 0.49950727 1226.88 647.274 -imu_odom_: 1691062484.107244832 0.749385 -0.217872 10.07 -0.0713727 -0.0298274 0.0490022 0.19 -0.02 pose: 0.0 3.33982 -3.97621 0 -0.0103448 -0.00317361 0.999824 0.0153091 uwb: 0.0 1226.88 647.274 -imu_odom_: 1691062484.133355976 0.624887 -0.280122 10.3932 -0.0479369 -0.0181095 0.0330232 0.19 0 pose: 0.41932165 3.33982 -3.97621 0 -0.00781767 -0.00109726 0.999851 0.0153261 uwb: 0.50230116 1226.64 648.322 -imu_odom_: 1691062484.158259451 0.818817 -0.172383 9.74201 -0.0532632 -0.00213053 0.0511327 0.19 0 pose: 0.84082475 3.32025 -3.98033 0 0.000739137 -0.00184354 0.999878 0.01549 uwb: 0.0 1226.64 648.322 -imu_odom_: 1691062484.184310809 0.464475 -0.0885855 10.0533 -0.0809601 0.0191748 0.0585895 0.19 0 pose: 0.0 3.32025 -3.98033 0 0.000739137 -0.00184354 0.999878 0.01549 uwb: 0.49895315 1226.19 649.033 -imu_odom_: 1691062484.209248989 0.399832 -0.25618 10.3406 -0.0532632 0.00319579 0.0351537 0.21 0 pose: 0.7960818 3.32025 -3.98033 0 0.00151507 -0.00169597 0.999878 0.0154455 uwb: 0.0 1226.19 649.033 -imu_odom_: 1691062484.227229874 0.579397 -0.0933739 10.0676 -0.0543285 -0.0138484 0.0266316 0.21 0 pose: 0.0 3.32025 -3.98033 0 0.00151507 -0.00169597 0.999878 0.0154455 uwb: 0.0 1226.19 649.033 -imu_odom_: 1691062484.251236273 0.0861913 -0.25618 9.3326 -0.0436758 -0.0181095 0.0415453 0.2 0 pose: 0.51960106 3.31046 -3.98239 0 0.00218015 0.000282832 0.999883 0.0151317 uwb: 0.50030636 1224.33 649.236 -imu_odom_: 1691062484.274377385 0.646434 -0.208296 10.331 -0.052198 -0.00426106 0.0458064 0.2 0 pose: 0.0 3.31046 -3.98239 0 0.00218015 0.000282832 0.999883 0.0151317 uwb: 0.0 1224.33 649.236 -imu_odom_: 1691062484.300212641 0.435745 -0.179565 9.63666 -0.0532632 0.0649811 0.0479369 0.25 0.02 pose: 0.41987576 3.29862 -3.97467 0 0.00168321 0.000315526 0.999882 0.0152755 uwb: 0.49834072 1224.12 650.224 -imu_odom_: 1691062484.313294314 0.514753 -0.347159 9.90721 -0.0436758 0.0351537 0.0532632 0.25 0.02 pose: 0.0 3.29862 -3.97467 0 0.00168321 0.000315526 0.999882 0.0152755 uwb: 0.0 1224.12 650.224 -imu_odom_: 1691062484.338370147 0.47884 -0.237026 9.71806 -0.0426106 0.0287621 0.0383495 0.17 0.02 pose: 0.47068769 3.28883 -3.97674 0 0.00189559 0.000961962 0.999883 0.0151557 uwb: 0.50107044 1224.72 651.306 -imu_odom_: 1691062484.364303976 -0.409408 -0.213084 10.1418 -0.0511327 -0.123571 0.0617853 0.17 0.02 pose: 0.0 3.28883 -3.97674 0 0.00189559 0.000961962 0.999883 0.0151557 uwb: 0.0 1224.72 651.306 -imu_odom_: 1691062484.390590102 2.58574 -0.0933739 9.90002 -0.072438 -0.0649811 0.0330232 0.19 0 pose: 0.39067414 3.28883 -3.97674 0 0.00131932 0.00103554 0.999886 0.0149961 uwb: 0.0 1224.72 651.306 -imu_odom_: 1691062484.407495138 0.45011 -0.155623 11.0061 -0.0745685 0.0298274 0.0671117 0.19 0 pose: 0.0 3.28883 -3.97674 0 0.00131932 0.00103554 0.999886 0.0149961 uwb: 0.0 1224.72 651.306 -imu_odom_: 1691062484.431272602 -0.711078 -0.0622492 9.81383 -0.0596548 0.0255663 0.0276969 0.23 0 pose: 0.52007643 3.27905 -3.9788 0 0.00244692 4.29259e-05 0.999888 0.0147452 uwb: 0.0 1224.72 651.306 -imu_odom_: 1691062484.457330376 -0.011971 -0.251391 9.98143 -0.112918 0.0149137 0.0660464 0.22 0 pose: 0.57864300 3.26278 -3.98225 0 0.000536862 0.00130117 0.999891 0.0147201 uwb: 0.99973489 1225.85 653.55 -imu_odom_: 1691062484.482355756 0.19393 -0.462081 9.86172 -0.0415453 0.0351537 0.0330232 0.22 0 pose: 0.0 3.26278 -3.98225 0 0.000536862 0.00130117 0.999891 0.0147201 uwb: 0.50005263 1225.66 654.495 -imu_odom_: 1691062484.499220546 0.794875 -0.126893 9.96467 -0.0639159 -0.0106526 0.0394148 0.22 0 pose: 0.0 3.26278 -3.98225 0 0.000536862 0.00130117 0.999891 0.0147201 uwb: 0.0 1225.66 654.495 -imu_odom_: 1691062484.523282064 0.579397 -0.318429 9.58878 -0.0340885 -0.0543285 0.04048 0.19 0 pose: 0.8106345 3.25948 -3.98295 0 -0.0003485740.000962737 0.999893 0.0146139 uwb: 0.0 1225.66 654.495 -imu_odom_: 1691062484.548366063 0.325611 -0.260968 9.24162 -0.0639159 -0.0138484 0.0372843 0.19 0 pose: 0.50888631 3.24762 -3.97525 0 -0.00340564 -0.00152917 0.999888 0.0144669 uwb: 0.49875484 1224.17 654.813 -imu_odom_: 1691062484.573343613 0.390255 -0.260968 9.38527 -0.0351537 0.00745685 0.0458064 0.19 0 pose: 0.0 3.24762 -3.97525 0 -0.00340564 -0.00152917 0.999888 0.0144669 uwb: 0.0 1224.17 654.813 -imu_odom_: 1691062484.590213944 0.301669 -0.289698 9.74679 -0.056459 -0.0106526 0.0426106 0.18 0 pose: 0.41168951 3.24762 -3.97525 0 -0.000411218-0.00206138 0.999893 0.0144699 uwb: 0.49989515 1224.24 656.013 -imu_odom_: 1691062484.615186829 0.85473 -0.40462 9.82102 -0.0372843 0.0298274 0.0351537 0.18 0 pose: 0.0 3.24762 -3.97525 0 -0.000411218-0.00206138 0.999893 0.0144699 uwb: 0.0 1224.24 656.013 -imu_odom_: 1691062484.636214155 0.656011 -0.3304 9.9527 -0.0681769 -0.0287621 0.0436758 0.19 0 pose: 0.83750300 3.22806 -3.97941 0 0.000711595 -0.00329478 0.99989 0.01445 uwb: 0.50120168 1224.34 657.172 -imu_odom_: 1691062484.661192873 0.543484 0.0550666 10.3597 -0.0266316 -0.00745685 0.0415453 0.19 0 pose: 0.6019973 3.22806 -3.97941 0 0.00137141 -0.00346946 0.999889 0.0144393 uwb: 0.0 1224.34 657.172 -imu_odom_: 1691062484.678180733 0.251391 -0.201113 9.61751 -0.0639159 -0.015979 0.0511327 0.21 0 pose: 0.0 3.22806 -3.97941 0 0.00137141 -0.00346946 0.999889 0.0144393 uwb: 0.0 1224.34 657.172 -imu_odom_: 1691062484.702381363 0.514753 -0.21069 9.51456 -0.056459 -0.00106526 0.0372843 0.21 0 pose: 0.39986071 3.21681 -3.97459 0 0.00363888 -0.00111218 0.999889 0.0143964 uwb: 0.0 1224.34 657.172 -imu_odom_: 1691062484.727243425 0.0766145 -0.639252 9.06684 -0.0596548 0.00639159 0.0479369 0.22 0 pose: 0.41188490 3.20939 -3.97316 0 0.00436307 -0.0002976820.999888 0.0143288 uwb: 0.0 1224.34 657.172 -imu_odom_: 1691062484.751170208 0.134075 -0.201113 9.54808 -0.0266316 -0.00213053 0.0287621 0.22 0 pose: 0.0 3.20939 -3.97316 0 0.00436307 -0.0002976820.999888 0.0143288 uwb: 0.100077311 1224.49 658.252 -imu_odom_: 1691062484.768177025 0.711078 -0.430956 9.92636 -0.0660464 -0.0127832 0.0447411 0.19 0 pose: 0.48788845 3.1998 -3.9752 0 9.99835e-05 -0.00134522 0.999896 0.0143418 uwb: 0.0 1224.49 658.252 -imu_odom_: 1691062484.792162135 0.794875 -0.248997 9.3709 -0.0458064 0.0276969 0.0490022 0.19 0 pose: 0.0 3.1998 -3.9752 0 9.99835e-05 -0.00134522 0.999896 0.0143418 uwb: 0.50065632 1224.88 659.606 -imu_odom_: 1691062484.809227571 0.373495 -0.323217 9.79228 -0.0671117 -0.0245011 0.0532632 0.19 0 pose: 0.40991927 3.19664 -3.97587 0 0.00362101 -0.00221209 0.99989 0.0141929 uwb: 0.0 1224.88 659.606 -imu_odom_: 1691062484.833158728 0.387861 -0.490811 9.28471 -0.0617853 0.0490022 0.0319579 0.19 0 pose: 0.0 3.19664 -3.97587 0 0.00362101 -0.00221209 0.99989 0.0141929 uwb: 0.49746581 1224.13 660.098 -imu_odom_: 1691062484.851299138 0.442927 -0.241814 10.4531 -0.0479369 -0.00106526 0.0372843 0.18 -0.02 pose: 0.0 3.19664 -3.97587 0 0.00362101 -0.00221209 0.99989 0.0141929 uwb: 0.0 1224.13 660.098 -imu_odom_: 1691062484.875181300 0.804452 -0.0909797 10.0173 -0.0490022 -0.0138484 0.04048 0.18 -0.02 pose: 0.40996593 3.18686 -3.97796 0 0.00105792 -0.00560762 0.999884 0.0141554 uwb: 0.0 1224.13 660.098 -imu_odom_: 1691062484.893256676 0.64404 -0.263362 10.1921 -0.0500674 -0.02024 0.0596548 0.2 -0.02 pose: 0.0 3.18686 -3.97796 0 0.00105792 -0.00560762 0.999884 0.0141554 uwb: 0.49954227 1223.87 661.137 -imu_odom_: 1691062484.908281236 0.517148 -0.531513 9.42118 -0.0756338 -0.02024 0.0458064 0.2 -0.02 pose: 0.50078172 3.17499 -3.97026 0 0.00449895 -0.00257332 0.999887 0.0140995 uwb: 0.0 1223.87 661.137 -imu_odom_: 1691062484.934157612 0.754174 -0.0694318 9.98622 -0.0575243 0.00213053 0.0511327 0.25 0 pose: 0.0 3.17499 -3.97026 0 0.00449895 -0.00257332 0.999887 0.0140995 uwb: 0.49976974 1223.75 661.96 -imu_odom_: 1691062484.956158131 0.505177 -0.304064 10.1323 -0.0468716 0.0340885 0.0340885 0.25 0 pose: 0.32959075 3.16521 -3.97235 0 0.00628656 -0.00367449 0.999877 0.0139065 uwb: 0.0 1223.75 661.96 -imu_odom_: 1691062484.980157240 0.560243 -0.0933739 10.1993 -0.072438 -0.0223706 0.0703074 0.17 -0.02 pose: 0.39962156 3.16521 -3.97235 0 0.00542639 -0.00376622 0.999882 0.0138617 uwb: 0.0 1223.75 661.96 -imu_odom_: 1691062485.6164853 0.952892 -0.107739 10.3238 -0.0639159 -0.00319579 0.0330232 0.17 -0.02 pose: 0.7043619 3.16521 -3.97235 0 0.00566187 -0.00314489 0.999884 0.013758 uwb: 0.50153706 1223.74 663.252 -imu_odom_: 1691062485.31217655 0.596156 -0.344765 9.71088 -0.036219 0.0830906 0.015979 0.2 -0.02 pose: 0.42963103 3.15543 -3.97444 0 0.00869733 -0.0009797170.999869 0.0136029 uwb: 0.0 1223.74 663.252 -imu_odom_: 1691062485.47288031 0.0957681 -0.0981623 9.83299 -0.0894822 0.0170442 0.0468716 0.2 -0.02 pose: 0.0 3.15543 -3.97444 0 0.00869733 -0.0009797170.999869 0.0136029 uwb: 0.49981359 1223.33 663.859 -imu_odom_: 1691062485.72201431 0.550666 -0.318429 10.331 -0.127832 0.056459 0.0873517 0.25 -0.02 pose: 0.41123178 3.14566 -3.97654 0 0.00645959 -0.00285658 0.99988 0.013821 uwb: 0.0 1223.33 663.859 -imu_odom_: 1691062485.97211945 -0.114922 -0.565032 9.69173 -0.0340885 0.0351537 -0.0308927 0.25 -0.02 pose: 0.0 3.14566 -3.97654 0 0.00645959 -0.00285658 0.99988 0.013821 uwb: 0.49995365 1223.22 664.661 -imu_odom_: 1691062485.122200879 0.653617 -0.476446 10.0245 -0.0500674 -0.0298274 0.0639159 0.21 -0.02 pose: 0.49923914 3.13442 -3.97183 0 0.00355282 -0.00668975 0.999872 0.0140831 uwb: 0.0 1223.22 664.661 -imu_odom_: 1691062485.138197471 0.296881 -0.464475 9.97903 -0.0458064 0.0127832 0.0276969 0.21 -0.02 pose: 0.0 3.13442 -3.97183 0 0.00355282 -0.00668975 0.999872 0.0140831 uwb: 0.49869961 1222.7 665.444 -imu_odom_: 1691062485.164350911 0.047884 -0.21069 9.74679 -0.0628506 -0.00319579 0.0490022 0.18 -0.02 pose: 0.40985526 3.12859 -3.96997 0 0.00424558 -0.00863589 0.999858 0.0138647 uwb: 0.0 1222.7 665.444 -imu_odom_: 1691062485.189150864 0.471658 -0.100556 10.4986 -0.04048 0.0181095 0.0191748 0.18 -0.02 pose: 0.7970153 3.124 -3.97095 0 0.00350087 -0.0083692 0.999863 0.0138222 uwb: 0.50014905 1221.19 665.823 -imu_odom_: 1691062485.212291692 0.548272 -0.368707 10.1059 -0.0639159 -0.036219 0.0415453 0.21 0 pose: 0.26094238 3.124 -3.97095 0 0.00180856 -0.00691467 0.999879 0.0138089 uwb: 0.0 1221.19 665.823 -imu_odom_: 1691062485.238180910 0.471658 -0.0957681 10.2208 -0.0468716 -0.0511327 0.0426106 0.21 0 pose: 0.0 3.124 -3.97095 0 0.00180856 -0.00691467 0.999879 0.0138089 uwb: 0.50170930 1221.57 667.147 -imu_odom_: 1691062485.252204867 0.397437 -0.215478 9.35893 -0.0735032 0.015979 0.0575243 0.19 0.02 pose: 0.40029830 3.11423 -3.97304 0 0.00425548 -0.0062596 0.999874 0.0139711 uwb: 0.0 1221.57 667.147 -imu_odom_: 1691062485.275170130 0.533907 -0.158017 9.663 -0.0543285 -0.00213053 0.0234358 0.19 0.02 pose: 0.0 3.11423 -3.97304 0 0.00425548 -0.0062596 0.999874 0.0139711 uwb: 0.0 1221.57 667.147 -imu_odom_: 1691062485.299173622 0.90022 -0.35913 10.1442 -0.076699 -0.04048 0.0447411 0.24 0 pose: 0.46963505 3.10445 -3.97513 0 0.00376445 -0.00228372 0.999894 0.0138729 uwb: 0.49783637 1221.64 668.297 -imu_odom_: 1691062485.316108994 0.627281 -0.354342 9.31823 -0.0266316 0.02024 0.0223706 0.24 0 pose: 0.0 3.10445 -3.97513 0 0.00376445 -0.00228372 0.999894 0.0138729 uwb: 0.0 1221.64 668.297 -imu_odom_: 1691062485.340169937 0.651223 -0.316035 9.73243 -0.0596548 -0.0415453 0.0490022 0.19 0 pose: 0.48011065 3.09258 -3.96744 0 0.00769967 -0.0024347 0.999869 0.014011 uwb: 0.50128060 1223.21 670.319 -imu_odom_: 1691062485.363115077 0.519542 -0.268151 10.2448 -0.0479369 -0.0543285 0.0500674 0.19 0 pose: 0.0 3.09258 -3.96744 0 0.00769967 -0.0024347 0.999869 0.014011 uwb: 0.0 1223.21 670.319 -imu_odom_: 1691062485.380117234 0.562637 -0.172383 9.37569 -0.0596548 -0.0106526 0.0617853 0.25 0.02 pose: 0.40871787 3.0828 -3.96953 0 0.0101642 -0.00392449 0.999844 0.0139214 uwb: 0.0 1223.21 670.319 -imu_odom_: 1691062485.405140872 0.222661 -0.229843 9.54568 -0.0287621 0.0735032 0.04048 0.25 0.02 pose: 0.0 3.0828 -3.96953 0 0.0101642 -0.00392449 0.999844 0.0139214 uwb: 0.50038235 1223.56 671.04 -imu_odom_: 1691062485.430122223 0.464475 -0.371101 9.74919 -0.0788296 0.00213053 0.056459 0.23 0.05 pose: 0.41003315 3.0828 -3.96953 0 0.00776505 -0.00162247 0.999875 0.0136603 uwb: 0.0 1223.56 671.04 -imu_odom_: 1691062485.453120441 0.105345 -0.0047884 9.84735 -0.052198 -0.0181095 0.0511327 0.23 0.05 pose: 0.0 3.0828 -3.96953 0 0.00776505 -0.00162247 0.999875 0.0136603 uwb: 0.49941121 1223.67 672.111 -imu_odom_: 1691062485.468319697 0.426168 -0.31364 9.68455 -0.0756338 -0.0553937 0.0628506 0.2 0.02 pose: 0.40980859 3.07302 -3.97163 0 0.00461507 -0.00395107 0.999891 0.0134271 uwb: 0.0 1223.67 672.111 -imu_odom_: 1691062485.495259975 0.347159 -0.253785 9.73482 -0.0490022 0.0245011 0.0415453 0.2 0.02 pose: 0.0 3.07302 -3.97163 0 0.00461507 -0.00395107 0.999891 0.0134271 uwb: 0.50024820 1224.35 673.573 -imu_odom_: 1691062485.521276638 0.454898 -0.272939 9.78271 -0.0852212 -0.0308927 0.0607201 0.22 0 pose: 0.7067536 3.07302 -3.97163 0 0.00410018 -0.00351465 0.999896 0.0133858 uwb: 0.0 1224.35 673.573 -imu_odom_: 1691062485.544231402 0.260968 -0.184354 9.91678 -0.0649811 -0.0245011 0.0308927 0.22 0 pose: 0.38973229 3.06324 -3.97373 0 0.00162147 -0.0036555 0.999906 0.0131 uwb: 0.50056025 1224.89 674.626 -imu_odom_: 1691062485.561211686 0.723049 -0.476446 9.53371 -0.076699 -0.0191748 0.0553937 0.25 0 pose: 0.0 3.06324 -3.97373 0 0.00162147 -0.0036555 0.999906 0.0131 uwb: 0.0 1224.89 674.626 -imu_odom_: 1691062485.586088630 0.418985 -0.347159 9.83059 -0.0340885 0.0735032 0.0340885 0.25 0 pose: 0.52068905 3.05136 -3.96606 0 0.00194274 -0.00314 0.999911 0.012837 uwb: 0.49808134 1227.25 677.253 -imu_odom_: 1691062485.609091514 0.409408 -0.268151 9.55047 -0.0596548 -0.015979 0.0415453 0.18 0 pose: 0.0 3.05136 -3.96606 0 0.00194274 -0.00314 0.999911 0.012837 uwb: 0.0 1227.25 677.253 -imu_odom_: 1691062485.632137269 0.445322 -0.160412 9.63906 -0.0351537 -0.00852212 0.0458064 0.18 0 pose: 0.42010630 3.04158 -3.96817 0 0.00145786 -0.00437702 0.999908 0.012794 uwb: 0.0 1227.25 677.253 -imu_odom_: 1691062485.649141759 0.76375 -0.318429 9.67736 -0.0607201 -0.0319579 0.0436758 0.24 0 pose: 0.0 3.04158 -3.96817 0 0.00145786 -0.00437702 0.999908 0.012794 uwb: 0.50011405 1228.03 678.547 -imu_odom_: 1691062485.673100630 0.608127 -0.399832 9.7444 -0.0468716 -0.0383495 0.0447411 0.24 0 pose: 0.45866366 3.03181 -3.97028 0 0.000625822 -0.00264879 0.999914 0.0127906 uwb: 0.0 1228.03 678.547 -imu_odom_: 1691062485.690092871 0.684742 -0.162806 10.1275 -0.0468716 0.00745685 0.0426106 0.19 0.02 pose: 0.0 3.03181 -3.97028 0 0.000625822 -0.00264879 0.999914 0.0127906 uwb: 0.50016071 1228.12 679.597 -imu_odom_: 1691062485.715093762 0.713472 -0.167594 9.96227 -0.0468716 -0.0127832 0.0394148 0.19 0.02 pose: 0.41010897 3.03181 -3.97028 0 0.00366964 -0.00199808 0.999911 0.0126868 uwb: 0.0 1228.12 679.597 -imu_odom_: 1691062485.741085636 0.493206 -0.227449 9.62708 -0.0628506 -0.0191748 0.0511327 0.18 0 pose: 0.0 3.03181 -3.97028 0 0.00366964 -0.00199808 0.999911 0.0126868 uwb: 0.50075274 1227.75 680.114 -imu_odom_: 1691062485.766093817 0.701501 -0.445322 9.37569 -0.0532632 0.0394148 0.0383495 0.2 -0.02 pose: 0.41977092 3.02204 -3.9724 0 0.00722665 -0.0017469 0.999893 0.0126305 uwb: 0.0 1227.75 680.114 -imu_odom_: 1691062485.789079786 -0.131681 -0.545878 9.48104 -0.0649811 0.0223706 0.052198 0.2 -0.02 pose: 0.0 3.02204 -3.9724 0 0.00722665 -0.0017469 0.999893 0.0126305 uwb: 0.50002656 1226.66 680.465 -imu_odom_: 1691062485.806080485 0.890643 -0.0574608 10.6997 -0.04048 -0.0436758 0.0298274 0.18 0 pose: 0.49992449 3.01015 -3.96474 0 0.00667824 -0.00154133 0.999899 0.0124897 uwb: 0.0 1226.66 680.465 -imu_odom_: 1691062485.830082810 0.938527 -0.205901 10.0509 -0.0543285 -0.0245011 0.0458064 0.2 0 pose: 0.0 3.01015 -3.96474 0 0.00667824 -0.00154133 0.999899 0.0124897 uwb: 0.0 1226.66 680.465 -imu_odom_: 1691062485.853073153 0.237026 -0.059855 9.82341 -0.0426106 -0.0287621 0.0383495 0.21 0 pose: 0.48017773 3.00037 -3.96686 0 0.00579088 -0.00332486 0.999901 0.0123803 uwb: 0.50038818 1226.38 680.868 -imu_odom_: 1691062485.878076085 0.782904 -0.452504 9.7037 -0.0639159 -0.052198 0.0500674 0.21 0 pose: 0.0 3.00037 -3.96686 0 0.00579088 -0.00332486 0.999901 0.0123803 uwb: 0.0 1226.38 680.868 -imu_odom_: 1691062485.893204473 0.658405 -0.0263362 10.228 -0.052198 -0.02024 0.0308927 0.19 0.02 pose: 0.39982002 2.9906 -3.96898 0 0.00884012 -0.00204686 0.999882 0.0123671 uwb: 0.50065942 1226.61 681.724 -imu_odom_: 1691062485.917060104 0.577003 -0.258574 10.1203 -0.056459 -0.0266316 0.0458064 0.19 0.02 pose: 0.0 2.9906 -3.96898 0 0.00884012 -0.00204686 0.999882 0.0123671 uwb: 0.0 1226.61 681.724 -imu_odom_: 1691062485.943084350 0.775721 -0.160412 9.89524 -0.0458064 0.0149137 0.0426106 0.23 0 pose: 0.48130928 2.9906 -3.96898 0 0.0102753 -0.00227506 0.999869 0.0122757 uwb: 0.49651524 1226.45 682.535 -imu_odom_: 1691062485.956057830 0.519542 -0.196325 9.90242 -0.0532632 -0.0319579 0.0671117 0.23 0 pose: 0.0 2.9906 -3.96898 0 0.0102753 -0.00227506 0.999869 0.0122757 uwb: 0.0 1226.45 682.535 -imu_odom_: 1691062485.980061322 0.268151 -0.134075 9.81623 -0.0660464 0.0213053 0.0340885 0.17 0 pose: 0.39857181 2.98083 -3.9711 0 0.00924349 -0.00208472 0.99988 0.0122231 uwb: 0.0 1226.45 682.535 -imu_odom_: 1691062486.6113857 0.318429 -0.462081 9.5816 -0.072438 -0.0287621 0.0607201 0.17 0 pose: 0.0 2.98083 -3.9711 0 0.00924349 -0.00208472 0.99988 0.0122231 uwb: 0.50108229 1227.41 684.118 -imu_odom_: 1691062486.31122922 0.490811 -0.253785 9.73243 -0.0383495 -0.00958738 0.0298274 0.2 0.02 pose: 0.39031848 2.96893 -3.96345 0 0.00881337 -0.0005008780.999888 0.0120557 uwb: 0.0 1227.41 684.118 -imu_odom_: 1691062486.48055383 0.418985 -0.131681 10.2185 -0.072438 -0.0223706 0.072438 0.2 0.02 pose: 0.0 2.96893 -3.96345 0 0.00881337 -0.0005008780.999888 0.0120557 uwb: 0.49963878 1228 685.618 -imu_odom_: 1691062486.73171188 0.581791 -0.107739 10.8002 -0.0553937 -0.0234358 0.0340885 0.19 0 pose: 0.49962996 2.95916 -3.96558 0 0.00487677 -0.00208033 0.999916 0.0118538 uwb: 0.0 1228 685.618 -imu_odom_: 1691062486.98128341 0.502782 -0.268151 10.0676 -0.0777643 -0.0340885 0.0394148 0.19 0 pose: 0.0 2.95916 -3.96558 0 0.00487677 -0.00208033 0.999916 0.0118538 uwb: 0.49996841 1228.06 686.682 -imu_odom_: 1691062486.122053390 0.933739 -0.395043 9.54089 -0.056459 0.0213053 0.0351537 0.18 0 pose: 0.42988505 2.94939 -3.96771 0 0.00349356 0.000380509 0.999926 0.0116865 uwb: 0.0 1228.06 686.682 -imu_odom_: 1691062486.139051470 0.481235 -0.4956 9.88326 -0.0735032 0.0511327 0.0458064 0.18 0 pose: 0.0 2.94939 -3.96771 0 0.00349356 0.000380509 0.999926 0.0116865 uwb: 0.49991882 1228.72 688.069 -imu_odom_: 1691062486.164107489 0.562637 -0.265756 10.0652 -0.0617853 -0.00213053 0.0287621 0.18 0 pose: 0.48149610 2.94939 -3.96771 0 0.0058636 -0.00157697 0.999913 0.0117409 uwb: 0.0 1228.72 688.069 -imu_odom_: 1691062486.188040704 0.186748 -0.433351 10.0006 -0.0713727 -0.015979 0.04048 0.18 0 pose: 0.0 2.94939 -3.96771 0 0.0058636 -0.00157697 0.999913 0.0117409 uwb: 0.50002965 1230.78 689.822 -imu_odom_: 1691062486.211034847 0.497994 -0.35913 9.87608 -0.0511327 0.00639159 0.0276969 0.24 0 pose: 0.82830534 2.92834 -3.96507 0 0.00620264 -0.00366166 0.999904 0.0118445 uwb: 0.0 1230.78 689.822 -imu_odom_: 1691062486.228092129 0.603339 -0.232238 10.5345 -0.0458064 0.0543285 0.04048 0.24 0 pose: 0.0 2.92834 -3.96507 0 0.00620264 -0.00366166 0.999904 0.0118445 uwb: 0.0 1230.78 689.822 -imu_odom_: 1691062486.244092810 0.141258 -0.383072 9.62948 -0.0532632 0.0213053 0.0340885 0.18 0.02 pose: 0.7027001 2.92772 -3.96221 0 0.00591769 -0.00430436 0.999903 0.0118813 uwb: 0.49990425 1230.5 690.759 -imu_odom_: 1691062486.270085567 0.23942 -0.198719 9.64145 -0.052198 0.0255663 0.0436758 0.18 0.02 pose: 0.0 2.92772 -3.96221 0 0.00591769 -0.00430436 0.999903 0.0118813 uwb: 0.0 1230.5 690.759 -imu_odom_: 1691062486.293063670 0.181959 -0.311246 9.87848 -0.0617853 -0.00213053 0.0415453 0.19 -0.02 pose: 0.41075364 2.91795 -3.96434 0 0.00502409 -0.00457044 0.999905 0.011991 uwb: 0.50143534 1230.62 691.727 -imu_odom_: 1691062486.317029840 0.248997 -0.122104 10.1131 -0.0777643 0.04048 0.0553937 0.19 -0.02 pose: 0.0 2.91795 -3.96434 0 0.00502409 -0.00457044 0.999905 0.011991 uwb: 0.0 1230.62 691.727 -imu_odom_: 1691062486.343026389 0.347159 -0.253785 10.2376 -0.0532632 0.00852212 0.0308927 0.25 -0.02 pose: 0.40997205 2.90818 -3.96647 0 0.000670764 -0.00371258 0.999922 0.011941 uwb: 0.0 1230.62 691.727 -imu_odom_: 1691062486.368039829 0.45011 -0.418985 9.81623 -0.0607201 -0.0117179 0.0415453 0.25 -0.02 pose: 0.47953921 2.89841 -3.9686 0 -0.00268449 -0.00152758 0.999926 0.0117581 uwb: 0.0 1230.62 691.727 -imu_odom_: 1691062486.385035867 0.232238 -0.323217 9.49062 -0.04048 -0.0458064 0.036219 0.21 -0.02 pose: 0.0 2.89841 -3.9686 0 -0.00268449 -0.00152758 0.999926 0.0117581 uwb: 0.99956351 1231.17 693.229 -imu_odom_: 1691062486.410016352 0.610521 -0.215478 10.1778 -0.0532632 0.00745685 0.0500674 0.21 -0.02 pose: 0.25993632 2.89841 -3.9686 0 -0.00176547 -0.0006229920.999928 0.0118267 uwb: 0.0 1231.17 693.229 -imu_odom_: 1691062486.436139180 0.191536 -0.289698 9.22007 -0.0426106 0.0788296 0.0426106 0.18 0.02 pose: 0.42981506 2.88651 -3.96096 0 -0.00143869 -0.00258638 0.999926 0.0117931 uwb: 0.49751574 1229.23 693.036 -imu_odom_: 1691062486.451181248 0.047884 -0.380678 10.1873 -0.0553937 0.00639159 0.0585895 0.18 0.02 pose: 0.0 2.88651 -3.96096 0 -0.00143869 -0.00258638 0.999926 0.0117931 uwb: 0.0 1229.23 693.036 -imu_odom_: 1691062486.468060924 0.775721 -0.203507 10.149 -0.04048 0 0.0426106 0.18 0 pose: 0.48116363 2.87674 -3.96309 0 -0.00423328 -0.00267176 0.99992 0.0116124 uwb: 0.0 1229.23 693.036 -imu_odom_: 1691062486.482118425 0.706289 -0.438139 9.60554 -0.0436758 0.0607201 0.0383495 0.18 0 pose: 0.0 2.87674 -3.96309 0 -0.00423328 -0.00267176 0.99992 0.0116124 uwb: 0.49996257 1229.98 694.809 -imu_odom_: 1691062486.499127587 0.217872 -0.251391 10.2304 -0.0532632 -0.00106526 0.0553937 0.18 0 pose: 0.39932729 2.87217 -3.96409 0 -0.00266871 -0.00316434 0.999925 0.0115208 uwb: 0.0 1229.98 694.809 -imu_odom_: 1691062486.515048942 0.25618 -0.246603 9.68933 -0.0575243 0.00213053 0.0490022 0.18 0 pose: 0.0 2.87217 -3.96409 0 -0.00266871 -0.00316434 0.999925 0.0115208 uwb: 0.0 1229.98 694.809 -imu_odom_: 1691062486.532140929 0.37589 -0.294487 10.0006 -0.0628506 -0.04048 0.0553937 0.25 0.02 pose: 0.0 2.87217 -3.96409 0 -0.00266871 -0.00316434 0.999925 0.0115208 uwb: 0.0 1229.98 694.809 -imu_odom_: 1691062486.557005926 0.737414 -0.198719 9.91199 -0.0692422 0.00426106 0.0511327 0.25 0.02 pose: 0.8021192 2.86697 -3.96523 0 -0.00346479 -0.00298096 0.999924 0.0114545 uwb: 0.0 1229.98 694.809 -imu_odom_: 1691062486.584006290 0.694318 -0.0023942 10.422 -0.0798948 -0.0106526 0.0692422 0.18 0 pose: 0.66866309 2.8572 -3.96737 0 -0.00166554 -0.00270445 0.999934 0.0110315 uwb: 0.100132500 1230.76 696.546 -imu_odom_: 1691062486.609003398 0.459687 -0.232238 10.5129 -0.0735032 0.0106526 0.0372843 0.18 -0.02 pose: 0.0 2.8572 -3.96737 0 -0.00166554 -0.00270445 0.999934 0.0110315 uwb: 0.0 1230.76 696.546 -imu_odom_: 1691062486.625994770 0.237026 -0.244209 9.27514 -0.0660464 -0.0149137 0.0351537 0.18 -0.02 pose: 0.0 2.8572 -3.96737 0 -0.00166554 -0.00270445 0.999934 0.0110315 uwb: 0.0 1230.76 696.546 -imu_odom_: 1691062486.641998075 0.407014 -0.306458 10.3789 -0.056459 -0.0458064 0.0500674 0.18 -0.02 pose: 0.35018932 2.84743 -3.96952 0 0.0012424 -0.00124575 0.999942 0.0106437 uwb: 0.0 1230.76 696.546 -imu_odom_: 1691062486.668024955 0.35913 -0.270545 10.3406 -0.0351537 0.00319579 0.0372843 0.25 0.02 pose: 0.49973217 2.8404 -3.96083 0 0.00102133 -0.00274738 0.999939 0.0106149 uwb: 0.0 1230.76 696.546 -imu_odom_: 1691062486.681984466 0.442927 -0.208296 9.8258 -0.056459 -0.0266316 0.0415453 0.25 0.02 pose: 0.8014777 2.83551 -3.96191 0 0.00019099 -0.00265746 0.99994 0.0106219 uwb: 0.99977349 1230.52 697.959 -imu_odom_: 1691062486.705999631 0.349553 -0.323217 9.74201 -0.0553937 0.0308927 0.0479369 0.18 0 pose: 0.0 2.83551 -3.96191 0 0.00019099 -0.00265746 0.99994 0.0106219 uwb: 0.0 1230.52 697.959 -imu_odom_: 1691062486.731982181 0.258574 -0.213084 9.87608 -0.0543285 -0.00106526 0.0532632 0.25 -0.02 pose: 0.40013804 2.83551 -3.96191 0 -0.000958829-0.00231759 0.999941 0.0105912 uwb: 0.49998591 1230.38 698.684 -imu_odom_: 1691062486.747049622 0.150835 -0.332794 9.84496 -0.0479369 -0.0298274 0.0479369 0.18 0 pose: 0.0 2.83551 -3.96191 0 -0.000958829-0.00231759 0.999941 0.0105912 uwb: 0.0 1230.38 698.684 -imu_odom_: 1691062486.772108557 0.318429 -0.196325 10.1538 -0.0553937 -0.0149137 0.0500674 0.18 0 pose: 0.48034996 2.82575 -3.96406 0 -0.00470887 -0.00236314 0.999933 0.0103098 uwb: 0.0 1230.38 698.684 -imu_odom_: 1691062486.797138620 0.497994 -0.459687 9.8689 -0.0298274 0.0234358 0.036219 0.18 -0.02 pose: 0.0 2.82575 -3.96406 0 -0.00470887 -0.00236314 0.999933 0.0103098 uwb: 0.50110579 1229.73 698.988 -imu_odom_: 1691062486.821093416 0.562637 -0.392649 9.83777 -0.0511327 0.00213053 0.0479369 0.18 -0.02 pose: 0.40921671 2.81598 -3.96622 0 -0.00417777 -0.0007706150.99994 0.010144 uwb: 0.0 1229.73 698.988 -imu_odom_: 1691062486.837029062 0.0263362 -0.150835 9.81862 -0.036219 0.00213053 0.0394148 0.22 0 pose: 0.0 2.81598 -3.96622 0 -0.00417777 -0.0007706150.99994 0.010144 uwb: 0.49828566 1229.57 699.749 -imu_odom_: 1691062486.861958801 0.399832 -0.248997 10.4459 -0.0532632 -0.0117179 0.0596548 0.22 0 pose: 0.49174132 2.80406 -3.95863 0 -0.00207221 -0.00290474 0.999943 0.0100894 uwb: 0.0 1229.57 699.749 -imu_odom_: 1691062486.885032561 0.842759 -0.186748 10.1778 -0.0436758 -0.00106526 0.0330232 0.2 -0.02 pose: 0.0 2.80406 -3.95863 0 -0.00207221 -0.00290474 0.999943 0.0100894 uwb: 0.50054293 1230.3 701.499 -imu_odom_: 1691062486.902967380 0.232238 -0.31364 10.0556 -0.036219 0.0287621 0.036219 0.2 -0.02 pose: 0.40828347 2.79429 -3.96079 0 0.000233648 -0.00161833 0.99995 0.00986499 uwb: 0.0 1230.3 701.499 -imu_odom_: 1691062486.926964464 -0.148441 -0.337582 9.35893 -0.0340885 0.0255663 0.0372843 0.18 0 pose: 0.0 2.79429 -3.96079 0 0.000233648 -0.00161833 0.99995 0.00986499 uwb: 0.0 1230.3 701.499 -imu_odom_: 1691062486.954076817 0.335188 -0.258574 9.56005 -0.0660464 -0.0543285 0.052198 0.18 0 pose: 0.41995188 2.79429 -3.96079 0 -0.0011017 -0.00176015 0.999948 0.00995538 uwb: 0.49930638 1230.44 702.384 -imu_odom_: 1691062486.969996422 0.632069 -0.167594 10.3693 -0.052198 -0.0426106 0.0372843 0.19 0 pose: 0.0 2.79429 -3.96079 0 -0.0011017 -0.00176015 0.999948 0.00995538 uwb: 0.0 1230.44 702.384 -imu_odom_: 1691062486.997105276 0.509965 -0.134075 9.94791 -0.0639159 -0.0319579 0.0468716 0.19 0 pose: 0.51154057 2.78453 -3.96296 0 -0.00359847 -0.00318337 0.99994 0.00980902 uwb: 0.50184364 1231.03 704.302 -imu_odom_: 1691062487.21971736 0.873884 -0.225055 9.61511 -0.052198 0.0276969 0.0426106 0.25 0 pose: 0.14873211 2.77477 -3.96513 0 -0.00207507 -0.00248226 0.999947 0.0097934 uwb: 0.0 1231.03 704.302 -imu_odom_: 1691062487.45011091 0.237026 -0.481235 9.75158 -0.0735032 0.0383495 0.0585895 0.25 0 pose: 0.0 2.77477 -3.96513 0 -0.00207507 -0.00248226 0.999947 0.0097934 uwb: 0.49932982 1232.1 706.64 -imu_odom_: 1691062487.69945214 0.268151 0.0766145 10.0221 -0.0372843 -0.0245011 0.0415453 0.21 0 pose: 0.51949069 2.76501 -3.9673 0 0.00122481 -0.00177488 0.999951 0.00961843 uwb: 0.0 1232.1 706.64 -imu_odom_: 1691062487.84954333 0.0885855 -0.514753 9.24401 -0.072438 -0.0308927 0.0596548 0.21 0 pose: 0.0 2.76501 -3.9673 0 0.00122481 -0.00177488 0.999951 0.00961843 uwb: 0.50064226 1232.21 708.078 -imu_odom_: 1691062487.109022584 0.287304 -0.277727 10.082 -0.0287621 -0.00639159 0.0266316 0.18 -0.02 pose: 0.48083425 2.76284 -3.95754 0 -0.0011749 -0.00112912 0.999955 0.00936351 uwb: 0.0 1232.21 708.078 -imu_odom_: 1691062487.133947083 0.105345 -0.134075 9.87848 -0.0798948 0.00639159 0.0649811 0.25 0 pose: 0.0 2.76284 -3.95754 0 -0.0011749 -0.00112912 0.999955 0.00936351 uwb: 0.49837040 1232.19 709.146 -imu_odom_: 1691062487.148950661 0.888249 -0.071826 10.3621 -0.0639159 -0.0426106 0.0340885 0.25 0 pose: 0.31981832 2.75308 -3.95972 0 -0.00390809 -0.00217076 0.999945 0.00943751 uwb: 0.0 1232.19 709.146 -imu_odom_: 1691062487.172939003 0.632069 -0.25618 10.3477 -0.072438 -0.00426106 0.036219 0.25 0 pose: 0.0 2.75308 -3.95972 0 -0.00390809 -0.00217076 0.999945 0.00943751 uwb: 0.0 1232.19 709.146 -imu_odom_: 1691062487.198996222 0.840365 -0.414197 9.663 -0.052198 0.04048 0.0340885 0.18 0 pose: 0.7979783 2.75308 -3.95972 0 -0.00464509 -0.00187276 0.999944 0.00933281 uwb: 0.50084058 1231.75 709.697 -imu_odom_: 1691062487.224001796 0.543484 -0.189142 10.0245 -0.0692422 0.0127832 0.0479369 0.2 -0.02 pose: 0.38945841 2.74332 -3.9619 0 -0.00377612 -0.0010339 0.99995 0.00916279 uwb: 0.0 1231.75 709.697 -imu_odom_: 1691062487.239923740 0.371101 -0.117316 10.3214 -0.0511327 0.015979 0.0330232 0.2 -0.02 pose: 0.0 2.74332 -3.9619 0 -0.00377612 -0.0010339 0.99995 0.00916279 uwb: 0.49913449 1231.7 710.8 -imu_odom_: 1691062487.265029345 0.122104 -0.464475 9.91439 -0.0745685 -0.0255663 0.0426106 0.2 -0.02 pose: 0.49996275 2.73356 -3.96408 0 0.000345544 -0.00193536 0.999955 0.00924282 uwb: 0.0 1231.7 710.8 -imu_odom_: 1691062487.292217825 0.344765 -0.294487 9.67018 -0.0223706 0.00745685 0.0266316 0.2 -0.02 pose: 0.0 2.73356 -3.96408 0 0.000345544 -0.00193536 0.999955 0.00924282 uwb: 0.50136261 1231.2 711.425 -imu_odom_: 1691062487.316974341 0.744597 -0.335188 10.1059 -0.0617853 -0.00426106 0.0394148 0.19 -0.02 pose: 0.42015617 2.7238 -3.96626 0 0.000365486 -0.0004579360.999957 0.00921253 uwb: 0.0 1231.2 711.425 -imu_odom_: 1691062487.343082013 0.100556 -0.203507 10.1969 -0.0468716 -0.015979 0.0426106 0.19 -0.02 pose: 0.0 2.7238 -3.96626 0 0.000365486 -0.0004579360.999957 0.00921253 uwb: 0.49870287 1230.12 712.252 -imu_odom_: 1691062487.358125253 0.438139 -0.339977 9.60793 -0.0543285 -0.00426106 0.0543285 0.17 0.02 pose: 0.52057567 2.71186 -3.95868 0 -0.00202812 -0.00337288 0.999948 0.00936429 uwb: 0.0 1230.12 712.252 -imu_odom_: 1691062487.384059984 0.416591 -0.0502782 10.1849 -0.0415453 -0.0298274 0.0287621 0.17 0.02 pose: 0.0 2.71186 -3.95868 0 -0.00202812 -0.00337288 0.999948 0.00936429 uwb: 0.50031562 1231.33 713.827 -imu_odom_: 1691062487.406975101 0.023942 -0.565032 9.38766 -0.0756338 -0.00745685 0.056459 0.19 0 pose: 0.50086683 2.7021 -3.96086 0 -0.00216318 -0.00327256 0.999949 0.0092731 uwb: 0.0 1231.33 713.827 -imu_odom_: 1691062487.432948036 0.191536 -0.191536 9.93115 -0.04048 -0.00532632 0.0308927 0.19 0 pose: 0.0 2.7021 -3.96086 0 -0.00216318 -0.00327256 0.999949 0.0092731 uwb: 0.49827708 1230.68 714.632 -imu_odom_: 1691062487.447049288 0.392649 -0.169988 10.4363 -0.0639159 -0.0170442 0.056459 0.19 0 pose: 0.40880564 2.7021 -3.96086 0 -0.00123557 -0.00159347 0.999955 0.00929563 uwb: 0.0 1230.68 714.632 -imu_odom_: 1691062487.470979011 0.23942 -0.0335188 9.97185 -0.0255663 0.0447411 0.0415453 0.19 0 pose: 0.0 2.7021 -3.96086 0 -0.00123557 -0.00159347 0.999955 0.00929563 uwb: 0.0 1230.68 714.632 -imu_odom_: 1691062487.493890045 0.847547 -0.349553 9.63427 -0.0596548 -0.0117179 0.0543285 0.22 0.02 pose: 0.48070301 2.69234 -3.96304 0 -0.00422469 -0.00110846 0.999948 0.00921097 uwb: 0.50004732 1229.33 714.268 -imu_odom_: 1691062487.511135440 0.248997 -0.378284 9.01896 -0.0468716 0.0585895 0.0490022 0.22 0.02 pose: 0.0 2.69234 -3.96304 0 -0.00422469 -0.00110846 0.999948 0.00921097 uwb: 0.0 1229.33 714.268 -imu_odom_: 1691062487.536038941 -0.141258 -0.416591 9.62469 -0.0490022 0 0.0628506 0.18 0 pose: 0.72080225 2.67512 -3.95665 0 -0.0042967 -0.0002679310.999951 0.00886565 uwb: 0.49977027 1230.58 716.273 -imu_odom_: 1691062487.561894929 0.162806 -0.0263362 9.72764 -0.0308927 -0.02024 0.0468716 0.18 0 pose: 0.7775053 2.67064 -3.95766 0 -0.00503164 -0.0005397650.999949 0.00877636 uwb: 0.0 1230.58 716.273 -imu_odom_: 1691062487.577006121 0.560243 -0.198719 9.98861 -0.0628506 -0.00319579 0.0585895 0.2 0 pose: 0.0 2.67064 -3.95766 0 -0.00503164 -0.0005397650.999949 0.00877636 uwb: 0.0 1230.58 716.273 -imu_odom_: 1691062487.602981973 0.586579 -0.306458 9.79228 -0.0553937 0.0415453 0.0447411 0.2 0 pose: 0.49023664 2.67064 -3.95766 0 -0.00703835 0.00141815 0.999939 0.00841236 uwb: 0.50175631 1230.2 717.241 -imu_odom_: 1691062487.626015203 0.792481 -0.361524 9.71088 -0.0798948 -0.0298274 0.0617853 0.18 0 pose: 0.35047816 2.66088 -3.95985 0 -0.00431289 0.000389969 0.999957 0.00825985 uwb: 0.0 1230.2 717.241 -imu_odom_: 1691062487.651035067 0.107739 -0.129287 9.63666 -0.0490022 0.036219 0.0458064 0.18 0 pose: 0.6920555 2.66088 -3.95985 0 -0.00356878 8.5089e-05 0.99996 0.0081834 uwb: 0.50034187 1229.46 717.643 -imu_odom_: 1691062487.667957911 0.287304 -0.287304 10.0245 -0.0990696 -0.00213053 0.0703074 0.23 0 pose: 0.0 2.66088 -3.95985 0 -0.00356878 8.5089e-05 0.99996 0.0081834 uwb: 0.0 1229.46 717.643 -imu_odom_: 1691062487.692912157 0.641646 -0.553061 9.71567 -0.0660464 0.0255663 0.0383495 0.23 0 pose: 0.41132539 2.65113 -3.96206 0 -0.00468184 0.000356388 0.999958 0.00792479 uwb: 0.49930365 1229.94 719.065 -imu_odom_: 1691062487.716940454 0.632069 -0.275333 10.1586 -0.0543285 -0.036219 0.0479369 0.2 0 pose: 0.24907001 2.64137 -3.96427 0 -0.00472071 -0.00221808 0.999957 0.00767949 uwb: 0.0 1229.94 719.065 -imu_odom_: 1691062487.742043143 0.629675 -0.42138 10.3717 -0.0415453 0.00106526 0.0394148 0.2 0 pose: 0.0 2.64137 -3.96427 0 -0.00472071 -0.00221808 0.999957 0.00767949 uwb: 0.49838790 1229.53 720.067 -imu_odom_: 1691062487.757913175 0.481235 0 9.66539 -0.0575243 -0.015979 0.0415453 0.18 0 pose: 0.48162750 2.63916 -3.95451 0 -0.000333722-0.00369647 0.999964 0.00760752 uwb: 0.0 1229.53 720.067 -imu_odom_: 1691062487.783034238 0.155623 -0.387861 9.47146 -0.056459 0.0319579 0.0458064 0.18 0 pose: 0.0 2.63916 -3.95451 0 -0.000333722-0.00369647 0.999964 0.00760752 uwb: 0.50009690 1231.31 722.856 -imu_odom_: 1691062487.807905075 0.0742203 -0.383072 9.56005 -0.0585895 -0.00213053 0.0479369 0.18 0.02 pose: 0.40875898 2.62941 -3.95673 0 0.000790945 -0.00319456 0.999966 0.00757865 uwb: 0.0 1231.31 722.856 -imu_odom_: 1691062487.824889162 0.634463 -0.177171 10.0389 -0.04048 -0.072438 0.0426106 0.18 0.02 pose: 0.0 2.62941 -3.95673 0 0.000790945 -0.00319456 0.999966 0.00757865 uwb: 0.0 1231.31 722.856 -imu_odom_: 1691062487.849074069 0.639252 -0.332794 10.1538 -0.0660464 -0.0245011 0.0426106 0.25 0 pose: 0.49925115 2.61966 -3.95894 0 -0.00273044 -0.00433375 0.99996 0.00739559 uwb: 0.50103597 1232.67 725.161 -imu_odom_: 1691062487.876095732 0.493206 0.00957681 10.0844 -0.0266316 0.0127832 0.0426106 0.2 0 pose: 0.34168238 2.61316 -3.96042 0 0.00116464 -0.00438433 0.999963 0.00735408 uwb: 0.0 1232.67 725.161 -imu_odom_: 1691062487.901933056 0.344765 -0.0981623 10.1035 -0.0543285 -0.0298274 0.0447411 0.2 0 pose: 0.0 2.61316 -3.96042 0 0.00116464 -0.00438433 0.999963 0.00735408 uwb: 0.50035354 1232.87 726.381 -imu_odom_: 1691062487.929012464 0.581791 -0.407014 10.2999 -0.0660464 -0.092678 0.0671117 0.25 0 pose: 0.8039276 2.60991 -3.96116 0 0.0012701 -0.00348271 0.999966 0.00734376 uwb: 0.0 1232.87 726.381 -imu_odom_: 1691062487.945014024 0.964863 -0.301669 9.65103 -0.0596548 -0.0276969 0.0383495 0.25 0 pose: 0.0 2.60991 -3.96116 0 0.0012701 -0.00348271 0.999966 0.00734376 uwb: 0.49998024 1234.35 728.984 -imu_odom_: 1691062487.971990484 0.40462 -0.28491 9.72764 -0.0351537 -0.0213053 0.0383495 0.25 -0.02 pose: 0.51774680 2.60016 -3.96338 0 0.00123981 0.000281189 0.999974 0.00715768 uwb: 0.0 1234.35 728.984 -imu_odom_: 1691062487.996859280 0.378284 -0.25618 9.5385 -0.0490022 0.0319579 0.0394148 0.25 -0.02 pose: 0.0 2.60016 -3.96338 0 0.00123981 0.000281189 0.999974 0.00715768 uwb: 0.49959528 1234.45 729.82 -imu_odom_: 1691062488.23869868 0.246603 -0.311246 9.88326 -0.0628506 -0.0213053 0.0500674 0.23 -0.02 pose: 0.44201439 2.58818 -3.95585 0 0.0044691 -0.00186656 0.999965 0.00689247 uwb: 0.0 1234.45 729.82 -imu_odom_: 1691062488.39850437 0.490811 -0.143652 10.2831 -0.0511327 -0.0543285 0.0436758 0.23 -0.02 pose: 0.0 2.58818 -3.95585 0 0.0044691 -0.00186656 0.999965 0.00689247 uwb: 0.50004742 1234 730.336 -imu_odom_: 1691062488.64961300 0.699107 -0.225055 10.2496 -0.052198 0.00532632 0.0383495 0.19 0 pose: 0.50788362 2.57844 -3.95808 0 -0.000673938-0.0024373 0.999973 0.00685535 uwb: 0.0 1234 730.336 -imu_odom_: 1691062488.86896523 0.363919 -0.186748 9.92875 -0.0394148 0.052198 0.0330232 0.19 0 pose: 0.0 2.57844 -3.95808 0 -0.000673938-0.0024373 0.999973 0.00685535 uwb: 0.50046745 1234.54 731.616 -imu_odom_: 1691062488.112858968 0.586579 -0.158017 10.2065 -0.0543285 0.0149137 0.0532632 0.18 -0.02 pose: 0.67031713 2.56869 -3.96031 0 0.000912546 -0.00129133 0.999976 0.00675318 uwb: 0.0 1234.54 731.616 -imu_odom_: 1691062488.139915054 -0.0311246 -0.0957681 9.75637 -0.0308927 0.0181095 0.036219 0.23 0 pose: 0.41949429 2.56169 -3.96191 0 0.0015223 0.000645569 0.999977 0.00662787 uwb: 0.49943214 1234.44 732.681 -imu_odom_: 1691062488.165836670 0.373495 -0.263362 10.094 -0.0628506 -0.0447411 0.0479369 0.23 0 pose: 0.0 2.56169 -3.96191 0 0.0015223 0.000645569 0.999977 0.00662787 uwb: 0.0 1234.44 732.681 -imu_odom_: 1691062488.181901230 0.943315 -0.198719 9.89045 -0.0372843 0.00745685 0.0276969 0.23 0 pose: 0.7070168 2.55894 -3.96254 0 0.000755718 0.000895153 0.999977 0.00664027 uwb: 0.49856305 1233.81 733.388 -imu_odom_: 1691062488.206881149 0.237026 -0.280122 9.7444 -0.0756338 0 0.0596548 0.23 0 pose: 0.0 2.55894 -3.96254 0 0.000755718 0.000895153 0.999977 0.00664027 uwb: 0.0 1233.81 733.388 -imu_odom_: 1691062488.229814647 0.466869 -0.129287 10.2711 -0.0532632 -0.0245011 0.0245011 0.21 0 pose: 0.52923749 2.54696 -3.95503 0 -0.000283929-0.0009873990.999978 0.00661397 uwb: 0.0 1233.81 733.388 -imu_odom_: 1691062488.246829653 0.737414 -0.253785 9.56723 -0.0905475 0.0149137 0.04048 0.21 0 pose: 0.0 2.54696 -3.95503 0 -0.000283929-0.0009873990.999978 0.00661397 uwb: 0.50015832 1233.53 734.176 -imu_odom_: 1691062488.273001786 0.191536 -0.497994 9.31105 -0.0394148 0.0735032 0.0340885 0.18 0 pose: 0.40983235 2.54696 -3.95503 0 -0.0013768 -0.00122015 0.999977 0.00646796 uwb: 0.0 1233.53 734.176 -imu_odom_: 1691062488.299990504 0.45011 -0.270545 9.87129 -0.0756338 0.0181095 0.0372843 0.18 0 pose: 0.0 2.54696 -3.95503 0 -0.0013768 -0.00122015 0.999977 0.00646796 uwb: 0.49980834 1234.04 735.469 -imu_odom_: 1691062488.325883831 0.131681 -0.177171 10.2592 -0.0372843 -0.0447411 0.0415453 0.2 0 pose: 0.41008315 2.53721 -3.95726 0 0.00050987 -0.00103307 0.999978 0.006601 uwb: 0.0 1234.04 735.469 -imu_odom_: 1691062488.342890671 0.505177 -0.280122 9.63187 -0.052198 0.0340885 0.0266316 0.2 0 pose: 0.0 2.53721 -3.95726 0 0.00050987 -0.00103307 0.999978 0.006601 uwb: 0.50095449 1235.42 737.167 -imu_odom_: 1691062488.368930692 0.100556 -0.213084 9.80665 -0.0415453 -0.00852212 0.036219 0.23 0 pose: 0.52994325 2.52746 -3.95949 0 0.000385712 -0.00264402 0.999974 0.00667625 uwb: 0.0 1235.42 737.167 -imu_odom_: 1691062488.392934500 0.155623 -0.433351 9.44752 -0.0490022 0.00426106 0.0287621 0.23 0 pose: 0.25075867 2.51772 -3.96173 0 -0.000408205-0.00205831 0.999975 0.00670004 uwb: 0.49948171 1234.99 738.109 -imu_odom_: 1691062488.419827852 0.153229 -0.0670376 10.1897 -0.0532632 -0.00319579 0.04048 0.23 0 pose: 0.36016065 2.5161 -3.95467 0 -0.00215058 -0.00170626 0.999973 0.0068049 uwb: 0.0 1234.99 738.109 -imu_odom_: 1691062488.435811045 0.926556 -0.172383 9.97424 -0.052198 -0.0149137 0.0490022 0.19 0 pose: 0.6900727 2.51549 -3.95198 0 -0.00269649 -0.0021424 0.999971 0.00684241 uwb: 0.50058702 1235.85 739.901 -imu_odom_: 1691062488.462811720 0.691924 0.0407014 10.2759 -0.0681769 -0.0127832 0.0532632 0.19 0 pose: 0.0 2.51549 -3.95198 0 -0.00269649 -0.0021424 0.999971 0.00684241 uwb: 0.0 1235.85 739.901 -imu_odom_: 1691062488.487978870 0.270545 -0.354342 10.1251 -0.0532632 -0.0106526 0.0330232 0.2 0 pose: 0.52064584 2.50574 -3.95421 0 -0.00487253 -0.0009854850.999964 0.00687197 uwb: 0.49999208 1236.83 742.004 -imu_odom_: 1691062488.514821185 0.390255 -0.328006 9.62708 -0.0639159 -0.036219 0.0383495 0.2 0 pose: 0.0 2.50574 -3.95421 0 -0.00487253 -0.0009854850.999964 0.00687197 uwb: 0.0 1236.83 742.004 -imu_odom_: 1691062488.540804045 0.454898 -0.225055 10.1059 -0.0351537 0.0106526 0.0170442 0.18 -0.02 pose: 0.42925541 2.49599 -3.95643 0 -0.00215941 -0.0001403470.999975 0.0066729 uwb: 0.49929798 1237.44 744.04 -imu_odom_: 1691062488.557798637 0.282516 -0.253785 10.2304 -0.0479369 0.00958738 0.0468716 0.18 -0.02 pose: 0.0 2.49599 -3.95643 0 -0.00215941 -0.0001403470.999975 0.0066729 uwb: 0.0 1237.44 744.04 -imu_odom_: 1691062488.583803953 0.306458 -0.172383 9.7875 -0.0511327 0.0660464 0.0447411 0.18 0.02 pose: 0.51992258 2.48624 -3.95867 0 -0.000825244-0.0034333 0.99997 0.00684897 uwb: 0.49935340 1237.34 744.593 -imu_odom_: 1691062488.610802003 0.442927 -0.433351 9.44752 -0.0575243 0.0117179 0.0532632 0.25 0.02 pose: 0.42992326 2.47649 -3.96089 0 -0.00222809 -0.00132068 0.999972 0.00696913 uwb: 0.0 1237.34 744.593 -imu_odom_: 1691062488.636853689 -0.241814 -0.114922 9.94073 -0.0234358 0.0543285 0.0415453 0.18 0.02 pose: 0.0 2.47649 -3.96089 0 -0.00222809 -0.00132068 0.999972 0.00696913 uwb: 0.50060451 1237.56 745.697 -imu_odom_: 1691062488.663795745 0.440533 -0.268151 9.77074 -0.0575243 0.0213053 0.0479369 0.25 0 pose: 0.53077733 2.46452 -3.95337 0 -0.00402949 -0.00200449 0.999967 0.00673502 uwb: 0.0 1237.56 745.697 -imu_odom_: 1691062488.679790020 0.0670376 -0.126893 9.85932 -0.0426106 0.0511327 0.0468716 0.25 0 pose: 0.0 2.46452 -3.95337 0 -0.00402949 -0.00200449 0.999967 0.00673502 uwb: 0.0 1237.56 745.697 -imu_odom_: 1691062488.706783987 0.414197 -0.325611 9.96227 -0.0596548 -0.0245011 0.052198 0.23 0.02 pose: 0.60906159 2.45477 -3.9556 0 -0.00586995 -0.00098143 0.999961 0.00654571 uwb: 0.49925132 1237.88 746.68 -imu_odom_: 1691062488.731861021 0.28491 0.0215478 10.489 -0.0681769 -0.00852212 0.052198 0.23 0.02 pose: 0.7035755 2.45477 -3.9556 0 -0.00523008 -0.00141109 0.999964 0.00650418 uwb: 0.0 1237.88 746.68 -imu_odom_: 1691062488.757925539 0.385466 -0.251391 9.89284 -0.0777643 -0.0181095 0.0394148 0.22 0.02 pose: 0.45035246 2.44502 -3.95784 0 -0.00375337 -0.0003089750.999974 0.00621796 uwb: 0.50022539 1237.94 747.507 -imu_odom_: 1691062488.783774246 0.438139 -0.323217 10.1538 -0.0660464 0.0127832 0.0351537 0.22 0.02 pose: 0.0 2.44502 -3.95784 0 -0.00375337 -0.0003089750.999974 0.00621796 uwb: 0.50095449 1236.37 746.97 -imu_odom_: 1691062488.800888701 0.263362 -0.1652 9.94791 -0.0660464 -0.02024 0.0394148 0.21 -0.02 pose: 0.51913225 2.43528 -3.96008 0 0.000154392 -0.00397528 0.999972 0.00628751 uwb: 0.0 1236.37 746.97 -imu_odom_: 1691062488.825824582 0.433351 -0.124498 10.0724 -0.0671117 -0.036219 0.0372843 0.21 -0.02 pose: 0.0 2.43528 -3.96008 0 0.000154392 -0.00397528 0.999972 0.00628751 uwb: 0.0 1236.37 746.97 -imu_odom_: 1691062488.852780053 0.497994 -0.100556 10.082 -0.0585895 -0.0138484 0.0468716 0.21 0.02 pose: 0.42050336 2.42612 -3.95192 0 0.000219298 -0.0007090370.99998 0.00631092 uwb: 0.49800311 1235.26 746.834 -imu_odom_: 1691062488.878775161 0.294487 -0.229843 9.90481 -0.0596548 -0.00319579 0.04048 0.18 0.02 pose: 0.26955471 2.42329 -3.95257 0 0.00191616 0.00143971 0.999978 0.00621415 uwb: 0.0 1235.26 746.834 -imu_odom_: 1691062488.895770920 0.280122 -0.215478 9.76834 -0.0415453 0.04048 0.0394148 0.23 0 pose: 0.0 2.42329 -3.95257 0 0.00191616 0.00143971 0.999978 0.00621415 uwb: 0.50064826 1234.74 747.386 -imu_odom_: 1691062488.920747339 0.833182 -0.268151 10.2017 -0.0607201 0.0458064 0.0415453 0.23 0 pose: 0.33032030 2.41355 -3.95481 0 -0.00144968 0.000624608 0.999979 0.00620577 uwb: 0.0 1234.74 747.386 -imu_odom_: 1691062488.947883042 0.486023 -0.363919 10.0293 -0.052198 0.015979 0.0372843 0.21 0.02 pose: 0.0 2.41355 -3.95481 0 -0.00144968 0.000624608 0.999979 0.00620577 uwb: 0.50005041 1233.63 747.256 -imu_odom_: 1691062488.973827405 0.581791 -0.433351 9.79947 -0.0585895 -0.0127832 0.0426106 0.19 0 pose: 0.42009215 2.4038 -3.95705 0 -0.000503441-0.0004133120.999981 0.00619017 uwb: 0.0 1233.63 747.256 -imu_odom_: 1691062489.804457 0.54109 -0.169988 10.477 -0.0287621 0.00426106 0.0479369 0.23 0.02 pose: 0.28079150 2.4038 -3.95705 0 0.000961686 -0.00266676 0.999977 0.00620308 uwb: 0.0 1233.63 747.256 -imu_odom_: 1691062489.26773326 0.751779 -0.361524 9.77074 -0.052198 0.00745685 0.036219 0.18 0.02 pose: 0.24894760 2.39405 -3.9593 0 0.00264813 -0.00333979 0.999972 0.00615151 uwb: 0.0 1233.63 747.256 -imu_odom_: 1691062489.42739902 -0.131681 -0.282516 9.37809 -0.02024 0.0490022 0.0319579 0.18 0.02 pose: 0.0 2.39405 -3.9593 0 0.00264813 -0.00333979 0.999972 0.00615151 uwb: 0.100175450 1233.33 748.03 -imu_odom_: 1691062489.68903002 0.181959 -0.201113 9.7444 -0.04048 -0.0149137 0.0458064 0.18 0 pose: 0.28165769 2.39405 -3.9593 0 0.00443382 -0.00176346 0.99997 0.00608957 uwb: 0.0 1233.33 748.03 -imu_odom_: 1691062489.95974554 0.756568 -0.0981623 10.5153 -0.0681769 -0.0511327 0.0500674 0.18 0 pose: 0.0 2.39405 -3.9593 0 0.00443382 -0.00176346 0.99997 0.00608957 uwb: 0.49934773 1232.33 748.229 -imu_odom_: 1691062489.120887696 0.588974 -0.146046 9.95748 -0.0532632 -0.0585895 0.0458064 0.18 0.02 pose: 0.41976858 2.38207 -3.95179 0 0.00317818 -0.00199814 0.999974 0.00614825 uwb: 0.0 1232.33 748.229 -imu_odom_: 1691062489.147916377 0.339977 -0.124498 10.1011 -0.0500674 -0.00426106 0.04048 0.18 0.02 pose: 0.0 2.38207 -3.95179 0 0.00317818 -0.00199814 0.999974 0.00614825 uwb: 0.50143877 1232.24 749.205 -imu_odom_: 1691062489.163860788 0.603339 -0.3304 9.5816 -0.0500674 0.0138484 0.0383495 0.2 0 pose: 0.52901310 2.37232 -3.95404 0 0.00543471 -7.50704e-050.999968 0.00592982 uwb: 0.0 1232.24 749.205 -imu_odom_: 1691062489.188728143 0.737414 -0.208296 9.65821 -0.0585895 -0.0245011 0.0617853 0.2 0 pose: 0.0 2.37232 -3.95404 0 0.00543471 -7.50704e-050.999968 0.00592982 uwb: 0.0 1232.24 749.205 -imu_odom_: 1691062489.211740099 0.347159 0.0790087 9.51935 -0.13955 0.0543285 0.0788296 0.2 0 pose: 0.51030456 2.36258 -3.95628 0 0.00499407 0.00142172 0.999969 0.00587906 uwb: 0.0 1232.24 749.205 -imu_odom_: 1691062489.236716527 0.373495 -0.861913 9.88566 -0.0745685 -0.0170442 0.0383495 0.2 0 pose: 0.39903314 2.36258 -3.95628 0 0.00763987 0.00080686 0.999955 0.00548935 uwb: 0.99728394 1231.45 749.18 -imu_odom_: 1691062489.253733872 0.545878 -0.253785 10.0916 -0.0308927 0.0181095 -0.036219 0.22 0 pose: 0.41943612 2.35124 -3.95166 0 0.0057405 -0.00121896 0.999969 0.00517667 uwb: 0.0 1231.45 749.18 -imu_odom_: 1691062489.278739755 0.378284 -0.409408 9.97903 -0.0884169 -0.0308927 0.106526 0.22 0 pose: 0.0 2.35124 -3.95166 0 0.0057405 -0.00121896 0.999969 0.00517667 uwb: 0.0 1231.45 749.18 -imu_odom_: 1691062489.305749479 0.687136 -0.150835 10.3765 -0.0607201 0.0213053 0.0106526 0.23 0 pose: 0.7042756 2.35057 -3.9488 0 0.00627783 -0.00147332 0.999964 0.00544194 uwb: 0.49986976 1232.41 751.201 -imu_odom_: 1691062489.321839709 0.292093 0.100556 9.73961 -0.0745685 -0.0127832 0.0458064 0.23 0 pose: 0.0 2.35057 -3.9488 0 0.00627783 -0.00147332 0.999964 0.00544194 uwb: 0.0 1232.41 751.201 -imu_odom_: 1691062489.345716663 -0.011971 -0.45011 10.0149 -0.0671117 -0.00639159 0.0308927 0.25 0.02 pose: 0.41993773 2.34083 -3.95105 0 0.00601052 -0.00355288 0.999963 0.005074 uwb: 0.50183248 1232.01 751.631 -imu_odom_: 1691062489.369724561 -0.0454898 -0.447716 10.0413 -0.0575243 0.0149137 0.0394148 0.25 0.02 pose: 0.0 2.34083 -3.95105 0 0.00601052 -0.00355288 0.999963 0.005074 uwb: 0.0 1232.01 751.631 -imu_odom_: 1691062489.394901635 0.474052 -0.277727 10.1059 -0.056459 -0.0266316 0.036219 0.19 0 pose: 0.42965801 2.33109 -3.95332 0 0.00579838 -0.00142935 0.999968 0.00536406 uwb: 0.0 1232.01 751.631 -imu_odom_: 1691062489.411835864 0.430956 -0.452504 9.88087 -0.0649811 0.015979 0.0372843 0.19 0 pose: 0.0 2.33109 -3.95332 0 0.00579838 -0.00142935 0.999968 0.00536406 uwb: 0.0 1232.01 751.631 -imu_odom_: 1691062489.437748448 0.481235 -0.304064 9.71806 -0.0490022 -0.0138484 0.0276969 0.2 0.02 pose: 0.49035654 2.32135 -3.95557 0 0.00261965 -0.00306607 0.999977 0.0054426 uwb: 0.99672107 1232.64 753.125 -imu_odom_: 1691062489.464804251 0.184354 -0.253785 9.84017 -0.0628506 -0.0117179 0.0479369 0.23 -0.02 pose: 0.41960818 2.31161 -3.95783 0 0.00436332 -0.00435963 0.999966 0.00553821 uwb: 0.0 1232.64 753.125 -imu_odom_: 1691062489.490802869 0.538695 -0.186748 9.93594 -0.0330232 0.00106526 0.0181095 0.18 -0.02 pose: 0.25024547 2.31161 -3.95783 0 0.00502578 -0.00298331 0.999967 0.00562484 uwb: 0.49998059 1231.8 754.016 -imu_odom_: 1691062489.517698854 0.811634 -0.208296 10.0293 -0.0511327 -0.00958738 0.0468716 0.25 -0.02 pose: 0.28159360 2.29961 -3.95034 0 0.00361023 -0.00223729 0.999975 0.00562608 uwb: 0.0 1231.8 754.016 -imu_odom_: 1691062489.533804833 0.155623 -0.160412 9.23444 -0.0383495 0.0298274 0.0266316 0.25 -0.02 pose: 0.0 2.29961 -3.95034 0 0.00361023 -0.00223729 0.999975 0.00562608 uwb: 0.49995433 1231.22 754.633 -imu_odom_: 1691062489.560847221 0.222661 -0.622492 9.55765 -0.0830906 -0.0340885 0.052198 0.23 -0.02 pose: 0.24819527 2.29961 -3.95034 0 0.00546083 -0.00064064 0.999968 0.00580077 uwb: 0.0 1231.22 754.633 -imu_odom_: 1691062489.585721283 0.462081 -0.21069 9.64863 -0.0426106 -0.02024 0.0245011 0.23 -0.02 pose: 0.0 2.29961 -3.95034 0 0.00546083 -0.00064064 0.999968 0.00580077 uwb: 0.49990476 1231.75 755.782 -imu_odom_: 1691062489.612789918 0.105345 -0.387861 9.77313 -0.0479369 -0.00106526 0.0383495 0.21 0.02 pose: 0.44142267 2.28987 -3.95259 0 0.00529815 -0.00084853 0.999969 0.00578028 uwb: 0.0 1231.75 755.782 -imu_odom_: 1691062489.628722664 0.289698 -0.316035 10.058 -0.0543285 0 0.04048 0.21 0.02 pose: 0.0 2.28987 -3.95259 0 0.00529815 -0.00084853 0.999969 0.00578028 uwb: 0.0 1231.75 755.782 -imu_odom_: 1691062489.655687185 0.409408 -0.306458 10.1107 -0.0468716 -0.0287621 0.0458064 0.25 0.02 pose: 0.51003624 2.28012 -3.95483 0 0.00292747 -0.0005311320.999978 0.00584973 uwb: 0.50104506 1232.18 757.036 -imu_odom_: 1691062489.680747312 0.0670376 -0.308852 10.1682 -0.0543285 0.036219 0.056459 0.25 0.02 pose: 0.0 2.28012 -3.95483 0 0.00292747 -0.0005311320.999978 0.00584973 uwb: 0.0 1232.18 757.036 -imu_odom_: 1691062489.705018559 0.0430956 -0.435745 9.75158 -0.0308927 0.0245011 0.0287621 0.2 0 pose: 0.43858504 2.27038 -3.95708 0 -5.5286e-05 -0.00278705 0.999979 0.00582413 uwb: 0.49996017 1232.02 757.63 -imu_odom_: 1691062489.728743278 0.651223 -0.306458 9.96706 -0.0628506 -0.0319579 0.0585895 0.2 0 pose: 0.50991376 2.25838 -3.94959 0 -0.0031269 -0.0047223 0.999968 0.00558161 uwb: 0.0 1232.02 757.63 -imu_odom_: 1691062489.744682148 0.342371 -0.280122 9.72046 -0.052198 0.0138484 0.0458064 0.19 0 pose: 0.0 2.25838 -3.94959 0 -0.0031269 -0.0047223 0.999968 0.00558161 uwb: 0.50012932 1232.29 759.035 -imu_odom_: 1691062489.771793654 -0.0981623 -0.217872 9.75158 -0.0660464 0.036219 0.0575243 0.19 0 pose: 0.24003524 2.25838 -3.94959 0 -0.00420992 -0.00518518 0.999962 0.00561025 uwb: 0.0 1232.29 759.035 -imu_odom_: 1691062489.796670633 0.0550666 -0.150835 9.47146 -0.0553937 0.00213053 0.0330232 0.25 0 pose: 0.39974183 2.24864 -3.95184 0 -0.00396611 -0.00367786 0.999971 0.00533435 uwb: 0.50001267 1231.36 759.156 -imu_odom_: 1691062489.823823552 0.474052 -0.397437 9.51216 -0.108657 0.0106526 0.0649811 0.23 0 pose: 0.44978392 2.2418 -3.95343 0 -0.00860313 -0.00222604 0.999947 0.00521312 uwb: 0.0 1231.36 759.156 -imu_odom_: 1691062489.839742007 0.584185 -0.251391 10.4339 -0.076699 0.00106526 0.0330232 0.23 0 pose: 0.0 2.2418 -3.95343 0 -0.00860313 -0.00222604 0.999947 0.00521312 uwb: 0.50031596 1230.44 759.279 -imu_odom_: 1691062489.866724901 0.646434 -0.179565 9.84017 -0.0745685 0.00213053 0.0447411 0.23 0.02 pose: 0.7133164 2.2389 -3.9541 0 -0.0080476 -0.00278718 0.999951 0.00512559 uwb: 0.0 1230.44 759.279 -imu_odom_: 1691062489.891677122 0.773327 -0.253785 9.99819 -0.036219 -0.015979 0.0287621 0.23 0.02 pose: 0.0 2.2389 -3.9541 0 -0.0080476 -0.00278718 0.999951 0.00512559 uwb: 0.49998642 1231.03 760.762 -imu_odom_: 1691062489.918660308 0.45011 -0.158017 9.63427 -0.0553937 -0.00852212 0.04048 0.22 0.02 pose: 0.43964660 2.2389 -3.9541 0 -0.0042276 -0.00408642 0.999971 0.0049174 uwb: 0.0 1231.03 760.762 -imu_odom_: 1691062489.944773830 0.533907 -0.368707 10.0245 -0.0500674 -0.02024 0.0415453 0.22 0.02 pose: 0.0 2.2389 -3.9541 0 -0.0042276 -0.00408642 0.999971 0.0049174 uwb: 0.50059302 1231.53 762.329 -imu_odom_: 1691062489.961771927 0.320823 -0.3304 9.56244 -0.056459 -0.0106526 0.0458064 0.25 0 pose: 0.50930715 2.22689 -3.94663 0 0.000406314 -0.00257089 0.999984 0.00501386 uwb: 0.0 1231.53 762.329 -imu_odom_: 1691062489.986643365 0.124498 -0.0861913 9.73961 -0.0266316 0.0340885 0.0372843 0.25 0 pose: 0.0 2.22689 -3.94663 0 0.000406314 -0.00257089 0.999984 0.00501386 uwb: 0.49944106 1231.62 763.475 -imu_odom_: 1691062490.12769722 0.452504 -0.234632 9.50259 -0.0692422 0.00639159 0.0383495 0.2 0 pose: 0.53099624 2.21715 -3.94889 0 0.00233163 -0.00301543 0.99998 0.00495559 uwb: 0.0 1231.62 763.475 -imu_odom_: 1691062490.38664525 0.292093 -0.457293 9.57441 -0.0532632 -0.00426106 0.0500674 0.19 0 pose: 0.17890509 2.20741 -3.95115 0 0.000639048 -0.00289819 0.999983 0.00492856 uwb: 0.49970654 1231.25 764.265 -imu_odom_: 1691062490.64779223 0.366313 -0.349553 9.55526 -0.0351537 0.0117179 0.0319579 0.19 0 pose: 0.43080417 2.20053 -3.95276 0 0.0013199 -0.00146534 0.999986 0.00496531 uwb: 0.0 1231.25 764.265 -imu_odom_: 1691062490.89632587 0.612916 -0.423774 10.0293 -0.0596548 -0.0245011 0.0596548 0.2 0 pose: 0.7914173 2.19767 -3.95342 0 0.00089312 -0.00212399 0.999985 0.00492229 uwb: 0.49887836 1232.15 765.814 -imu_odom_: 1691062490.105662745 0.732626 -0.337582 9.78031 -0.0426106 -0.02024 0.0330232 0.2 0 pose: 0.0 2.19767 -3.95342 0 0.00089312 -0.00212399 0.999985 0.00492229 uwb: 0.0 1232.15 765.814 -imu_odom_: 1691062490.130991479 0.337582 -0.23942 9.98622 -0.036219 0.00958738 0.0351537 0.19 0 pose: 0.51017932 2.19767 -3.95342 0 -0.000819027-0.00593035 0.99997 0.00485458 uwb: 0.0 1232.15 765.814 -imu_odom_: 1691062490.156790042 0.23942 -0.19393 9.6223 -0.0340885 -0.00852212 0.036219 0.19 0 pose: 0.0 2.19767 -3.95342 0 -0.000819027-0.00593035 0.99997 0.00485458 uwb: 0.49930415 1232.67 767.329 -imu_odom_: 1691062490.173844139 0.684742 -0.234632 9.89763 -0.0703074 -0.0596548 0.0532632 0.19 0 pose: 0.41023508 2.18793 -3.95569 0 0.00217129 -0.00599576 0.999968 0.00475978 uwb: 0.0 1232.67 767.329 -imu_odom_: 1691062490.197747348 0.751779 -0.174777 10.1179 -0.052198 -0.0809601 0.0372843 0.19 0 pose: 0.0 2.18793 -3.95569 0 0.00217129 -0.00599576 0.999968 0.00475978 uwb: 0.50271923 1233.1 768.525 -imu_odom_: 1691062490.221656098 0.304064 -0.335188 10.5058 -0.0458064 -0.00958738 0.04048 0.18 0 pose: 0.51087051 2.17593 -3.94822 0 -0.00058002 -0.00295509 0.999984 0.00478186 uwb: 0.0 1233.1 768.525 -imu_odom_: 1691062490.246651199 0.0454898 -0.184354 10.3094 -0.04048 -0.00532632 0.036219 0.18 0 pose: 0.0 2.17593 -3.94822 0 -0.00058002 -0.00295509 0.999984 0.00478186 uwb: 0.49769140 1232.56 769.056 -imu_odom_: 1691062490.263659218 0.725443 -0.138864 9.9503 -0.0500674 -0.00532632 0.0607201 0.21 0 pose: 0.41205490 2.16619 -3.95049 0 0.00325822 -0.00245714 0.99998 0.00474097 uwb: 0.0 1232.56 769.056 -imu_odom_: 1691062490.288815594 0.469264 -0.141258 10.0652 -0.0596548 0.0213053 0.0287621 0.21 0 pose: 0.0 2.16619 -3.95049 0 0.00325822 -0.00245714 0.99998 0.00474097 uwb: 0.49940331 1233.5 770.942 -imu_odom_: 1691062490.315686216 0.651223 -0.509965 9.77553 -0.0617853 -0.00319579 0.0596548 0.22 0 pose: 0.48664999 2.15645 -3.95276 0 1.21756e-05 -0.00199279 0.999987 0.00468958 uwb: 0.0 1233.5 770.942 -imu_odom_: 1691062490.332646698 0.227449 -0.237026 9.89763 -0.0340885 0.0234358 0.0276969 0.22 0 pose: 0.0 2.15645 -3.95276 0 1.21756e-05 -0.00199279 0.999987 0.00468958 uwb: 0.50111814 1233.41 771.426 -imu_odom_: 1691062490.349627012 0.505177 -0.0742203 10.0676 -0.0596548 -0.0458064 0.0607201 0.27 -0.02 pose: 0.41957041 2.14671 -3.95503 0 0.00205517 2.83891e-05 0.999987 0.00465694 uwb: 0.0 1233.41 771.426 -imu_odom_: 1691062490.374734976 0.751779 -0.270545 10.1706 -0.0660464 -0.0692422 0.0372843 0.27 -0.02 pose: 0.0 2.14671 -3.95503 0 0.00205517 2.83891e-05 0.999987 0.00465694 uwb: 0.0 1233.41 771.426 -imu_odom_: 1691062490.401609098 1.09415 -0.277727 9.83538 -0.0756338 -0.02024 0.0394148 0.23 0 pose: 0.44225399 2.1347 -3.94756 0 0.00171367 -0.0007802410.999988 0.00447516 uwb: 0.50018782 1233.5 772.531 -imu_odom_: 1691062490.426595449 0.897826 -0.392649 9.97664 -0.0575243 0.00426106 0.0298274 0.19 0 pose: 0.41748519 2.1347 -3.94756 0 0.00634446 -0.0006712660.99997 0.00440215 uwb: 0.0 1233.5 772.531 -imu_odom_: 1691062490.443596469 0.146046 -0.483629 10.1754 -0.0692422 0.00532632 0.0458064 0.22 0 pose: 0.0 2.1347 -3.94756 0 0.00634446 -0.0006712660.99997 0.00440215 uwb: 0.49997491 1232.99 773.424 -imu_odom_: 1691062490.468595361 0.572214 -0.275333 9.98382 -0.0628506 0.00639159 0.0340885 0.22 0 pose: 0.0 2.1347 -3.94756 0 0.00634446 -0.0006712660.99997 0.00440215 uwb: 0.0 1232.99 773.424 -imu_odom_: 1691062490.495588471 0.675165 -0.418985 9.63906 -0.0426106 -0.0255663 0.0372843 0.23 -0.02 pose: 0.52016792 2.12496 -3.94983 0 0.0099666 -0.00253705 0.999937 0.00449407 uwb: 0.50100441 1233.25 773.962 -imu_odom_: 1691062490.520596112 0.390255 -0.110133 9.56723 -0.0234358 -0.00639159 0.0255663 0.19 0 pose: 0.42041032 2.11522 -3.95211 0 0.00701777 -0.00399749 0.999957 0.00452228 uwb: 0.0 1233.25 773.962 -imu_odom_: 1691062490.537647293 0.268151 -0.232238 9.5792 -0.0639159 -0.00106526 0.0500674 0.23 -0.02 pose: 0.27974471 2.10548 -3.95438 0 0.00817284 -0.00448683 0.999946 0.00459786 uwb: 0.49950829 1233.62 775.187 -imu_odom_: 1691062490.562602440 0.428562 -0.244209 9.03093 -0.036219 0.00213053 0.0213053 0.23 -0.02 pose: 0.16949983 2.10548 -3.95438 0 0.00636618 -0.00286391 0.999965 0.00468138 uwb: 0.0 1233.62 775.187 -imu_odom_: 1691062490.589612173 0.691924 -0.411803 10.3477 -0.0607201 -0.0383495 0.0511327 0.23 0 pose: 0.0 2.10548 -3.95438 0 0.00636618 -0.00286391 0.999965 0.00468138 uwb: 0.49798887 1233.13 775.66 -imu_odom_: 1691062490.614592400 0.73502 0.0574608 10.2352 -0.052198 -0.0553937 0.0394148 0.18 0.02 pose: 0.42050073 2.09347 -3.94691 0 0.00358075 -0.00228275 0.999979 0.00481011 uwb: 0.0 1233.13 775.66 -imu_odom_: 1691062490.631591087 0.476446 -0.347159 9.38288 -0.0905475 0.015979 0.0596548 0.23 0 pose: 0.0 2.09347 -3.94691 0 0.00358075 -0.00228275 0.999979 0.00481011 uwb: 0.49979994 1232.39 775.98 -imu_odom_: 1691062490.656804332 0.339977 -0.45011 9.50259 -0.0596548 -0.00106526 0.0213053 0.23 0 pose: 0.51905386 2.08374 -3.94918 0 0.00710217 -0.00206937 0.999962 0.00463581 uwb: 0.0 1232.39 775.98 -imu_odom_: 1691062490.683700327 0.351948 -0.296881 9.7444 -0.0596548 -0.0149137 0.0394148 0.2 0 pose: 0.0 2.08374 -3.94918 0 0.00710217 -0.00206937 0.999962 0.00463581 uwb: 0.50070401 1232.42 776.729 -imu_odom_: 1691062490.708602979 0.792481 -0.225055 10.2232 -0.0500674 -0.0223706 0.0415453 0.19 0 pose: 0.62072167 2.074 -3.95146 0 0.00206699 -0.00471313 0.999976 0.00473392 uwb: 0.0 1232.42 776.729 -imu_odom_: 1691062490.725645702 0.37589 -0.203507 9.83538 -0.0575243 0.0276969 0.0479369 0.19 0 pose: 0.0 2.074 -3.95146 0 0.00206699 -0.00471313 0.999976 0.00473392 uwb: 0.0 1232.42 776.729 -imu_odom_: 1691062490.750737627 0.35913 -0.169988 10.319 -0.04048 0.0532632 0.0553937 0.18 0.02 pose: 0.8055617 2.074 -3.95146 0 0.00292473 -0.00450474 0.999974 0.0047297 uwb: 0.50109481 1232.28 777.258 -imu_odom_: 1691062490.777591917 0.208296 -0.131681 10.1275 -0.0223706 -0.0383495 0.0372843 0.18 0.02 pose: 0.0 2.074 -3.95146 0 0.00292473 -0.00450474 0.999974 0.0047297 uwb: 0.0 1232.28 777.258 -imu_odom_: 1691062490.802706298 0.723049 -0.3304 9.91199 -0.0649811 -0.00639159 0.0575243 0.18 0.02 pose: 0.41843885 2.06426 -3.95373 0 0.00229805 -0.00243121 0.999984 0.00458789 uwb: 0.49884045 1232.9 778.598 -imu_odom_: 1691062490.829561172 0.222661 -0.0335188 9.98143 -0.0351537 0.0255663 0.0426106 0.18 0.02 pose: 0.0 2.06426 -3.95373 0 0.00229805 -0.00243121 0.999984 0.00458789 uwb: 0.0 1232.9 778.598 -imu_odom_: 1691062490.845555167 0.0526724 -0.349553 9.27753 -0.0692422 0.00426106 0.0639159 0.19 0 pose: 0.52005417 2.05225 -3.94626 0 -0.0005790230.00026087 0.99999 0.00440977 uwb: 0.50017323 1233.27 780.181 -imu_odom_: 1691062490.872558484 0.737414 -0.251391 9.43076 -0.0639159 0.0106526 0.0308927 0.19 0 pose: 0.0 2.05225 -3.94626 0 -0.0005790230.00026087 0.99999 0.00440977 uwb: 0.0 1233.27 780.181 -imu_odom_: 1691062490.897686571 0.136469 -0.430956 9.43794 -0.0777643 0.00319579 0.0671117 0.25 0 pose: 0.51975963 2.04251 -3.94854 0 -0.00205728 0.00129085 0.999989 0.0041204 uwb: 0.50040363 1232.23 780.009 -imu_odom_: 1691062490.924588399 0.172383 -0.162806 10.0844 -0.0596548 -0.0106526 0.0308927 0.23 0 pose: 0.14994552 2.04251 -3.94854 0 -0.00216046 0.000749249 0.999989 0.00405497 uwb: 0.0 1232.23 780.009 -imu_odom_: 1691062490.940694966 0.526724 -0.344765 9.80665 -0.0830906 -0.00426106 0.0543285 0.23 0 pose: 0.45110810 2.03277 -3.95082 0 -0.00234026 -0.00152533 0.999989 0.00379569 uwb: 0.50011491 1231.23 779.808 -imu_odom_: 1691062490.967584837 0.304064 -0.31364 10.4052 -0.0330232 0.00426106 0.036219 0.25 0 pose: 0.7208701 2.03277 -3.95082 0 -0.00297417 -0.00124407 0.999987 0.00382523 uwb: 0.0 1231.23 779.808 -imu_odom_: 1691062490.992537941 0.73502 -0.100556 9.88087 -0.0671117 -0.00532632 0.0479369 0.25 0 pose: 0.0 2.03277 -3.95082 0 -0.00297417 -0.00124407 0.999987 0.00382523 uwb: 0.49980868 1231.65 781.32 -imu_odom_: 1691062491.9589416 0.184354 -0.217872 9.57202 -0.0330232 0.00106526 0.0447411 0.23 0.02 pose: 0.43711241 2.02304 -3.95311 0 -0.00367148 -0.00212295 0.999984 0.00380604 uwb: 0.0 1231.65 781.32 -imu_odom_: 1691062491.34557403 0.0646434 -0.107739 9.991 -0.0511327 -0.0223706 0.0553937 0.23 0.02 pose: 0.0 2.02304 -3.95311 0 -0.00367148 -0.00212295 0.999984 0.00380604 uwb: 0.50039498 1232.52 783.173 -imu_odom_: 1691062491.51549387 1.11091 -0.416591 9.84735 -0.036219 -0.0308927 0.04048 0.23 0.02 pose: 0.0 2.02304 -3.95311 0 -0.00367148 -0.00212295 0.999984 0.00380604 uwb: 0.0 1232.52 783.173 -imu_odom_: 1691062491.76543913 0.399832 -0.440533 9.75877 -0.0553937 -0.00852212 0.0479369 0.23 0 pose: 0.51021432 2.01102 -3.94566 0 -0.00294904 -0.00250972 0.999986 0.00372169 uwb: 0.0 1232.52 783.173 -imu_odom_: 1691062491.103539949 0.617704 -0.102951 10.3932 -0.0553937 -0.0213053 0.0511327 0.21 0 pose: 0.76915968 2.00128 -3.94795 0 -0.00309812 -0.00340283 0.999984 0.00338835 uwb: 0.49822817 1232.45 784.375 -imu_odom_: 1691062491.119582652 0.821211 -0.397437 9.38766 -0.0649811 -0.0127832 0.0511327 0.21 0 pose: 0.0 2.00128 -3.94795 0 -0.00309812 -0.00340283 0.999984 0.00338835 uwb: 0.0 1232.45 784.375 -imu_odom_: 1691062491.145536083 0.241814 -0.354342 10.003 -0.036219 0.0255663 0.0479369 0.23 0.02 pose: 0.7010389 2.00128 -3.94795 0 -0.00244987 -0.00302089 0.999987 0.00334848 uwb: 0.50059336 1231.96 784.823 -imu_odom_: 1691062491.167529364 0.213084 -0.553061 9.29429 -0.0532632 0.00319579 0.052198 0.23 0.02 pose: 0.0 2.00128 -3.94795 0 -0.00244987 -0.00302089 0.999987 0.00334848 uwb: 0.0 1231.96 784.823 -imu_odom_: 1691062491.192527681 -0.0766145 -0.215478 9.57681 -0.0266316 -0.00532632 0.0308927 0.2 0 pose: 0.43039031 1.99155 -3.95025 0 0.000248927 -0.00277593 0.999991 0.00311422 uwb: 0.0 1231.96 784.823 -imu_odom_: 1691062491.209597824 0.699107 -0.543484 9.8689 -0.0628506 -0.036219 0.0500674 0.2 0 pose: 0.0 1.99155 -3.95025 0 0.000248927 -0.00277593 0.999991 0.00311422 uwb: 0.0 1231.96 784.823 -imu_odom_: 1691062491.234575726 0.739808 -0.112527 9.57441 -0.036219 0.0149137 0.052198 0.19 0 pose: 0.48008539 1.98182 -3.95255 0 -0.00360381 -0.00504668 0.999977 0.00291839 uwb: 0.99974020 1232.35 786.348 -imu_odom_: 1691062491.251647036 0.512359 -0.347159 9.67018 -0.0660464 -0.0287621 0.056459 0.19 0 pose: 0.0 1.98182 -3.95255 0 -0.00360381 -0.00504668 0.999977 0.00291839 uwb: 0.0 1232.35 786.348 -imu_odom_: 1691062491.276529281 0.0814029 -0.526724 9.4978 -0.052198 0.0479369 0.0319579 0.18 0 pose: 0.42929375 1.96978 -3.94513 0 -0.00297574 -0.00489937 0.999979 0.00285971 uwb: 0.0 1232.35 786.348 -imu_odom_: 1691062491.303532025 0.457293 -0.277727 9.88566 -0.0415453 -0.0458064 0.0500674 0.18 0 pose: 0.0 1.96978 -3.94513 0 -0.00297574 -0.00489937 0.999979 0.00285971 uwb: 0.50000425 1233.01 787.98 -imu_odom_: 1691062491.328540549 0.31364 -0.160412 10.2879 -0.0340885 0 0.0511327 0.2 0 pose: 0.42016549 1.96005 -3.94743 0 -0.000681759-0.00514344 0.999983 0.00264924 uwb: 0.0 1233.01 787.98 -imu_odom_: 1691062491.355544459 0.397437 -0.0407014 9.92875 -0.0532632 0.00745685 0.0383495 0.2 0 pose: 0.0 1.96005 -3.94743 0 -0.000681759-0.00514344 0.999983 0.00264924 uwb: 0.49940347 1232.54 789.146 -imu_odom_: 1691062491.380534902 0.0502782 -0.320823 9.67257 -0.0671117 0.00852212 0.0585895 0.19 0 pose: 0.0 1.95032 -3.94974 0 -5.28371e-05-0.00384319 0.999989 0.0025271 uwb: 0.0 1232.54 789.146 -imu_odom_: 1691062491.397522512 0.699107 -0.380678 10.1011 -0.056459 -0.0266316 0.0426106 0.19 0 pose: 0.0 1.95032 -3.94974 0 -5.28371e-05-0.00384319 0.999989 0.0025271 uwb: 0.50121747 1232.81 790.746 -imu_odom_: 1691062491.422516746 0.588974 -0.0885855 10.2544 -0.0681769 -0.0266316 0.0649811 0.18 -0.02 pose: 0.51901904 1.95032 -3.94974 0 -0.00180763 0.000163868 0.999996 0.0023649 uwb: 0.0 1232.81 790.746 -imu_odom_: 1691062491.449745508 1.00078 -0.0933739 10.2232 -0.0681769 0.00745685 0.0319579 0.23 -0.02 pose: 0.41933432 1.9406 -3.95206 0 -0.00101462 -0.00076817 0.999997 0.00208041 uwb: 0.50005091 1233.61 792.594 -imu_odom_: 1691062491.475526581 0.517148 -0.385466 9.6223 -0.0798948 0.0394148 0.0490022 0.2 0 pose: 0.24065367 1.92855 -3.94466 0 0.00123843 0.00016654 0.999997 0.00189125 uwb: 0.0 1233.61 792.594 -imu_odom_: 1691062491.502514743 0.0933739 -0.215478 9.92157 -0.04048 0.00532632 0.0394148 0.26 -0.02 pose: 0.28022893 1.92855 -3.94466 0 0.00315595 -0.0004107580.999993 0.00192891 uwb: 0.49878812 1233.3 793.236 -imu_odom_: 1691062491.518563279 0.840365 -0.385466 9.68215 -0.076699 -0.0223706 0.0447411 0.26 -0.02 pose: 0.0 1.92855 -3.94466 0 0.00315595 -0.0004107580.999993 0.00192891 uwb: 0.0 1233.3 793.236 -imu_odom_: 1691062491.545664596 0.675165 -0.268151 9.22965 -0.0436758 0.00106526 0.0340885 0.23 0.02 pose: 0.24955446 1.91882 -3.94698 0 0.0025543 -0.00220488 0.999993 0.00183864 uwb: 0.50045921 1233.11 794.487 -imu_odom_: 1691062491.570719782 0.253785 -0.215478 10.3837 -0.052198 0.0330232 0.036219 0.23 0.02 pose: 0.0 1.91882 -3.94698 0 0.0025543 -0.00220488 0.999993 0.00183864 uwb: 0.0 1233.11 794.487 -imu_odom_: 1691062491.597650491 0.402226 -0.0167594 9.72285 -0.0511327 -0.0330232 0.0415453 0.2 0 pose: 0.43949524 1.91882 -3.94698 0 0.00292769 -0.00245932 0.999991 0.00182084 uwb: 0.49915266 1232.94 795.36 -imu_odom_: 1691062491.622513196 0.45011 -0.296881 9.9503 -0.0468716 -0.0181095 0.0234358 0.2 0 pose: 0.0 1.91882 -3.94698 0 0.00292769 -0.00245932 0.999991 0.00182084 uwb: 0.0 1232.94 795.36 -imu_odom_: 1691062491.649571643 0.320823 -0.244209 10.1849 -0.0639159 -0.04048 0.0511327 0.22 0 pose: 0.51151228 1.9091 -3.94931 0 0.0018588 -0.00119036 0.999996 0.00191134 uwb: 0.50007425 1233.24 796.531 -imu_odom_: 1691062491.666493926 0.215478 -0.368707 9.81383 -0.0660464 -0.00213053 0.0436758 0.22 0 pose: 0.0 1.9091 -3.94931 0 0.0018588 -0.00119036 0.999996 0.00191134 uwb: 0.0 1233.24 796.531 -imu_odom_: 1691062491.691502450 0.320823 -0.304064 10.0748 -0.0745685 0.0181095 0.0511327 0.27 0 pose: 0.51862824 1.89705 -3.9419 0 0.00170393 -0.00156229 0.999995 0.00204833 uwb: 0.49996050 1233.29 797.918 -imu_odom_: 1691062491.705601387 0.304064 -0.397437 9.67736 -0.072438 -0.0276969 0.0458064 0.27 0 pose: 0.0 1.89705 -3.9419 0 0.00170393 -0.00156229 0.999995 0.00204833 uwb: 0.0 1233.29 797.918 -imu_odom_: 1691062491.730544585 0.265756 -0.323217 9.67497 -0.0426106 -0.00213053 0.0308927 0.17 0 pose: 0.43961773 1.88732 -3.94423 0 -0.00203799 -0.0030902 0.999991 0.00185088 uwb: 0.0 1233.29 797.918 -imu_odom_: 1691062491.757544412 0.222661 -0.35913 9.81144 -0.036219 -0.04048 0.0394148 0.17 0 pose: 0.39054383 1.87759 -3.94655 0 -0.00464924 -0.00568465 0.999972 0.00172938 uwb: 0.50121747 1233.5 798.807 -imu_odom_: 1691062491.782730252 0.629675 -0.138864 10.3765 -0.0500674 0.0149137 0.0447411 0.19 0 pose: 0.0 1.87759 -3.94655 0 -0.00464924 -0.00568465 0.999972 0.00172938 uwb: 0.49995759 1232.9 799.33 -imu_odom_: 1691062491.809609632 0.0407014 -0.306458 9.18895 -0.0415453 0.0649811 0.0426106 0.23 0 pose: 0.52962007 1.86787 -3.94888 0 -0.00759762 -0.00637041 0.999949 0.00177781 uwb: 0.0 1232.9 799.33 -imu_odom_: 1691062491.834481670 0.459687 -0.339977 9.50259 -0.0596548 0.00532632 0.0575243 0.23 0 pose: 0.0 1.86787 -3.94888 0 -0.00759762 -0.00637041 0.999949 0.00177781 uwb: 0.49861605 1232.18 799.945 -imu_odom_: 1691062491.851714256 0.68953 -0.0957681 10.2711 -0.0340885 -0.056459 0.0383495 0.21 -0.02 pose: 0.68967089 1.85814 -3.9512 0 -0.00751578 -0.00555289 0.999955 0.00148122 uwb: 0.0 1232.18 799.945 -imu_odom_: 1691062491.877704724 0.766145 -0.347159 10.2807 -0.0692422 -0.0117179 0.0585895 0.21 -0.02 pose: 0.6999891 1.85814 -3.9512 0 -0.00671352 -0.00515266 0.999963 0.00148608 uwb: 0.0 1232.18 799.945 -imu_odom_: 1691062491.904632809 0.332794 0.0287304 9.85693 -0.04048 0.02024 0.0500674 0.23 -0.02 pose: 0.36223163 1.84609 -3.94381 0 -0.00285375 -0.00496596 0.999983 0.00125777 uwb: 0.50236652 1231.88 800.206 -imu_odom_: 1691062491.920455326 0.0981623 -0.354342 9.27274 -0.0745685 0.00852212 0.0617853 0.23 -0.02 pose: 0.0 1.84609 -3.94381 0 -0.00285375 -0.00496596 0.999983 0.00125777 uwb: 0.0 1231.88 800.206 -imu_odom_: 1691062491.947484316 0.629675 -0.299275 9.43076 -0.0575243 0.0308927 0.036219 0.25 0.02 pose: 0.42750602 1.83636 -3.94615 0 -0.00486376 -0.0028281 0.999984 0.000933548 uwb: 0.49764198 1231.79 801.335 -imu_odom_: 1691062491.973526113 0.246603 -0.287304 9.71567 -0.0788296 -0.02024 0.0607201 0.25 0.02 pose: 0.0 1.83636 -3.94615 0 -0.00486376 -0.0028281 0.999984 0.000933548 uwb: 0.0 1231.79 801.335 -imu_odom_: 1691062492.576102 0.306458 -0.169988 9.66539 -0.0703074 -0.0255663 0.0372843 0.25 0 pose: 0.53070787 1.82937 -3.94783 0 -0.00502782 -0.00373966 0.99998 0.000705121 uwb: 0.50064294 1232.1 802.819 -imu_odom_: 1691062492.25462437 0.253785 -0.40462 9.3733 -0.0671117 0 0.0394148 0.19 0 pose: 0.0 1.82937 -3.94783 0 -0.00502782 -0.00373966 0.99998 0.000705121 uwb: 0.0 1232.1 802.819 -imu_odom_: 1691062492.52454691 0.500388 -0.454898 9.79468 -0.0681769 -0.0255663 0.0415453 0.19 0 pose: 0.35072072 1.82664 -3.94849 0 -0.00504791 -0.00203666 0.999985 0.000724134 uwb: 0.50184166 1231.97 803.62 -imu_odom_: 1691062492.69524548 0.56982 -0.328006 9.93833 -0.0692422 -0.0245011 0.0511327 0.19 0 pose: 0.43856506 1.81692 -3.95084 0 -0.00328363 -0.00559756 0.999979 0.000720804 uwb: 0.0 1231.97 803.62 -imu_odom_: 1691062492.96514760 0.502782 -0.263362 10.0772 -0.0585895 0.00745685 0.0479369 0.19 0 pose: 0.0 1.81692 -3.95084 0 -0.00328363 -0.00559756 0.999979 0.000720804 uwb: 0.49604689 1231.6 803.586 -imu_odom_: 1691062492.113488377 0.656011 -0.205901 9.92636 -0.0543285 -0.0447411 0.0436758 0.18 0 pose: 0.8006626 1.81692 -3.95084 0 -0.00240183 -0.00566532 0.999981 0.000678448 uwb: 0.0 1231.6 803.586 -imu_odom_: 1691062492.140646573 0.995988 -0.356736 10.1921 -0.0479369 -0.0490022 0.0468716 0.18 0 pose: 0.0 1.81692 -3.95084 0 -0.00240183 -0.00566532 0.999981 0.000678448 uwb: 0.50046812 1231.24 803.551 -imu_odom_: 1691062492.156535005 0.533907 -0.0287304 9.77313 -0.056459 0.00852212 0.0447411 0.18 0 pose: 0.44088650 1.80485 -3.94347 0 0.00174752 -0.00423802 0.999989 0.000517099 uwb: 0.0 1231.24 803.551 -imu_odom_: 1691062492.173467209 0.474052 -0.442927 9.86172 -0.0351537 0.0255663 0.0351537 0.18 0 pose: 0.0 1.80485 -3.94347 0 0.00174752 -0.00423802 0.999989 0.000517099 uwb: 0.0 1231.24 803.551 -imu_odom_: 1691062492.189444300 0.100556 -0.304064 9.83299 -0.0458064 0 0.0479369 0.18 0 pose: 0.0 1.80485 -3.94347 0 0.00174752 -0.00423802 0.999989 0.000517099 uwb: 0.50065769 1231.42 804.785 -imu_odom_: 1691062492.206497242 0.332794 -0.304064 9.91918 -0.0585895 -0.0255663 0.04048 0.25 0 pose: 0.43983077 1.79513 -3.94582 0 0.00605039 -0.00332838 0.999976 0.000394808 uwb: 0.0 1231.42 804.785 -imu_odom_: 1691062492.222487164 0.517148 -0.363919 10.0652 -0.0447411 0.0170442 0.0415453 0.25 0 pose: 0.0 1.79513 -3.94582 0 0.00605039 -0.00332838 0.999976 0.000394808 uwb: 0.0 1231.42 804.785 -imu_odom_: 1691062492.239431326 0.653617 -0.299275 9.51695 -0.0681769 0.0138484 0.0532632 0.18 0 pose: 0.0 1.79513 -3.94582 0 0.00605039 -0.00332838 0.999976 0.000394808 uwb: 0.50094932 1231.94 806.404 -imu_odom_: 1691062492.256488060 0.656011 -0.25618 10.07 -0.04048 0.0127832 0.0255663 0.18 -0.02 pose: 0.90898282 1.78033 -3.94941 0 0.00472887 -0.00515593 0.999976 0.000197717 uwb: 0.0 1231.94 806.404 -imu_odom_: 1691062492.273483258 0.505177 -0.241814 9.94073 -0.0308927 -0.015979 0.036219 0.26 0.02 pose: 0.0 1.78033 -3.94941 0 0.00472887 -0.00515593 0.999976 0.000197717 uwb: 0.0 1231.94 806.404 -imu_odom_: 1691062492.289426226 0.363919 -0.407014 10.1323 -0.04048 0.0117179 0.0490022 0.26 0.02 pose: 0.24063042 1.7757 -3.95053 0 0.0060034 -0.00366324 0.999975 0.000342725 uwb: 0.49873579 1231.85 807.171 -imu_odom_: 1691062492.306485002 0.237026 -0.146046 9.62469 -0.0330232 -0.0127832 0.036219 0.24 0 pose: 0.0 1.7757 -3.95053 0 0.0060034 -0.00366324 0.999975 0.000342725 uwb: 0.0 1231.85 807.171 -imu_odom_: 1691062492.323452202 0.749385 -0.356736 10.1466 -0.0703074 -0.02024 0.0553937 0.24 0 pose: 0.0 1.7757 -3.95053 0 0.0060034 -0.00366324 0.999975 0.000342725 uwb: 0.0 1231.85 807.171 -imu_odom_: 1691062492.338448223 0.471658 -0.047884 9.83777 -0.0575243 0.0255663 0.0330232 0.24 0 pose: 0.32995036 1.76362 -3.94317 0 0.00385469 -0.00312941 0.999988 0.000289031 uwb: 0.50212463 1231.86 807.847 -imu_odom_: 1691062492.363491752 0.538695 -0.0263362 10.0293 -0.0479369 -0.00639159 0.0426106 0.17 0 pose: 0.41958819 1.76362 -3.94317 0 0.00439001 -0.00170814 0.999989 0.000229198 uwb: 0.0 1231.86 807.847 -imu_odom_: 1691062492.390556040 0.804452 -0.351948 9.63666 -0.052198 0.0213053 0.0340885 0.17 0 pose: 0.6999309 1.76362 -3.94317 0 0.00454722 -0.0009976820.999989 0.000221727 uwb: 0.49797170 1230.49 807.276 -imu_odom_: 1691062492.415545324 0.938527 -0.232238 9.69173 -0.0553937 -0.0117179 0.0649811 0.2 0 pose: 0.45108508 1.7539 -3.94553 0 0.00703079 -0.0003331630.999975 0.000268265 uwb: 0.0 1230.49 807.276 -imu_odom_: 1691062492.432523316 0.328006 -0.514753 9.65582 -0.0628506 0.00852212 0.0468716 0.2 0 pose: 0.0 1.7539 -3.94553 0 0.00703079 -0.0003331630.999975 0.000268265 uwb: 0.50189131 1229.67 807.282 -imu_odom_: 1691062492.458457507 0.390255 0.00718261 9.94312 -0.0479369 0.00639159 0.0511327 0.23 0 pose: 0.32015133 1.74419 -3.94789 0 0.00911202 -0.0009593 0.999958 -7.93831e-05 uwb: 0.0 1229.67 807.282 -imu_odom_: 1691062492.485410973 0.311246 -0.23942 9.99819 -0.0351537 0.0138484 0.0351537 0.25 -0.02 pose: 0.0 1.74419 -3.94789 0 0.00911202 -0.0009593 0.999958 -7.93831e-05 uwb: 0.49780255 1229.91 807.759 -imu_odom_: 1691062492.510610528 0.0933739 -0.102951 9.71806 -0.0692422 0.0127832 0.0649811 0.25 -0.02 pose: 0.42970218 1.73447 -3.95025 0 0.00600636 0.000448889 0.999982 -0.00024301 uwb: 0.0 1229.91 807.759 -imu_odom_: 1691062492.537403009 0.148441 -0.296881 9.67497 -0.0607201 0.0319579 0.0330232 0.23 -0.02 pose: 0.45069137 1.72589 -3.94503 0 0.00121472 0.000838715 0.999999 -0.000517586 uwb: 0.50012982 1230.31 809.126 -imu_odom_: 1691062492.563420026 0.0407014 -0.423774 10.2568 -0.0671117 0.00426106 0.0500674 0.23 -0.02 pose: 0.6955855 1.72239 -3.9429 0 0.000433138 0.000587835 1 -0.000494595 uwb: 0.0 1230.31 809.126 -imu_odom_: 1691062492.580400934 1.075 -0.332794 9.60793 -0.0553937 0.0149137 0.0287621 0.23 0 pose: 0.0 1.72239 -3.9429 0 0.000433138 0.000587835 1 -0.000494595 uwb: 0.0 1230.31 809.126 -imu_odom_: 1691062492.606384703 0.174777 -0.1652 9.89045 -0.0735032 0.02024 0.0532632 0.23 0 pose: 0.45853643 1.7154 -3.94461 0 -0.00410431 -0.00167416 0.99999 -0.000563477 uwb: 0.50122055 1230.19 809.567 -imu_odom_: 1691062492.623378443 0.339977 -0.102951 10.4842 -0.0511327 -0.00426106 0.0308927 0.25 -0.02 pose: 0.0 1.7154 -3.94461 0 -0.00410431 -0.00167416 0.99999 -0.000563477 uwb: 0.0 1230.19 809.567 -imu_odom_: 1691062492.649382627 0.325611 -0.442927 9.46907 -0.0745685 -0.0436758 0.0436758 0.25 -0.02 pose: 0.25000366 1.71267 -3.94527 0 -0.00340033 -0.00159246 0.999993 -0.000524849 uwb: 0.49926074 1230.14 810.284 -imu_odom_: 1691062492.676381589 1.91057 -0.0981623 8.73884 -0.0308927 0.0916127 0.02024 0.25 0.02 pose: 0.60962235 1.70296 -3.94765 0 -0.00406146 -0.00217804 0.999989 -0.000628636 uwb: 0.0 1230.14 810.284 -imu_odom_: 1691062492.701534190 0.605733 -0.328006 9.42597 -0.0553937 -0.0308927 0.0468716 0.18 0.02 pose: 0.7067553 1.70296 -3.94765 0 -0.00369592 -0.00202281 0.999991 -0.000557949 uwb: 0.50001317 1230.76 811.119 -imu_odom_: 1691062492.728386749 0.909797 -0.122104 9.23922 -0.0372843 -0.0458064 0.0426106 0.23 -0.02 pose: 0.45084010 1.69324 -3.95002 0 6.07627e-05 -0.00237913 0.999997 -0.000444922 uwb: 0.0 1230.76 811.119 -imu_odom_: 1691062492.753448068 0.557849 -0.251391 9.69652 -0.0671117 0.0191748 0.0426106 0.19 0 pose: 0.0 1.69324 -3.95002 0 6.07627e-05 -0.00237913 0.999997 -0.000444922 uwb: 0.50116805 1230.66 811.88 -imu_odom_: 1691062492.770497511 0.366313 0.0790087 10.4962 -0.0458064 -0.0436758 0.0298274 0.19 0 pose: 0.34879017 1.68116 -3.94267 0 0.00392061 -0.0015624 0.999991 -0.0004917 uwb: 0.0 1230.66 811.88 -imu_odom_: 1691062492.795553580 0.225055 -0.246603 10.0317 -0.0639159 -0.0276969 0.0426106 0.18 0 pose: 0.0 1.68116 -3.94267 0 0.00392061 -0.0015624 0.999991 -0.0004917 uwb: 0.49814085 1231.49 813.544 -imu_odom_: 1691062492.822527752 0.416591 -0.179565 10.094 -0.056459 -0.00639159 0.0340885 0.18 0 pose: 0.42065850 1.68116 -3.94267 0 0.00434983 -0.0003055820.99999 -0.000438264 uwb: 0.0 1231.49 813.544 -imu_odom_: 1691062492.847379675 0.059855 -0.301669 9.30626 -0.036219 -0.0447411 0.0372843 0.19 0 pose: 0.44048695 1.67144 -3.94504 0 0.00102801 0.00139719 0.999998 -0.000386333 uwb: 0.49916450 1231.79 814.633 -imu_odom_: 1691062492.864371082 0.713472 -0.268151 10.2831 -0.0468716 -0.052198 0.04048 0.19 0 pose: 0.7913886 1.67144 -3.94504 0 0.000432495 0.00123754 0.999999 -0.000376287 uwb: 0.0 1231.79 814.633 -imu_odom_: 1691062492.889381073 0.418985 -0.378284 10.0604 -0.0436758 -0.0223706 0.0426106 0.2 0.02 pose: 0.0 1.67144 -3.94504 0 0.000432495 0.00123754 0.999999 -0.000376287 uwb: 0.50009774 1231.92 815.52 -imu_odom_: 1691062492.906368105 0.821211 -0.237026 10.0149 -0.0447411 0.0127832 0.0511327 0.2 0.02 pose: 0.41946861 1.66173 -3.94741 0 0.00126142 -0.0001503930.999999 -0.000376303 uwb: 0.0 1231.92 815.52 -imu_odom_: 1691062492.931382470 0.672771 -0.186748 9.92875 -0.0415453 0.0255663 0.0351537 0.18 0 pose: 0.0 1.66173 -3.94741 0 0.00126142 -0.0001503930.999999 -0.000376303 uwb: 0.49940072 1232.5 817.044 -imu_odom_: 1691062492.958531333 0.332794 -0.172383 10.137 -0.0585895 0.0191748 0.0617853 0.18 0 pose: 0.42076349 1.65201 -3.94978 0 0.00354646 -0.00133246 0.999993 -0.000479211 uwb: 0.0 1232.5 817.044 -imu_odom_: 1691062492.983366633 0.397437 -0.234632 10.0628 -0.0575243 0.00532632 0.0394148 0.2 0 pose: 0.44066485 1.64335 -3.94452 0 0.00203332 6.95369e-05 0.999998 -0.000736374 uwb: 0.50106306 1232.37 817.799 -imu_odom_: 1691062493.10486334 0.691924 -0.356736 9.75637 -0.0841559 -0.0308927 0.0692422 0.21 0 pose: 0.7965798 1.63992 -3.94244 0 0.00127261 -0.0002745630.999999 -0.000736332 uwb: 0.0 1232.37 817.799 -imu_odom_: 1691062493.35482043 0.500388 -0.270545 9.64863 -0.0596548 0.0340885 0.0319579 0.2 0 pose: 0.43989203 1.63298 -3.94414 0 0.00253152 -0.0024339 0.999993 -0.00113607 uwb: 0.49949123 1232.59 818.611 -imu_odom_: 1691062493.60470169 0.718261 -0.213084 9.64145 -0.0894822 -0.0213053 0.0649811 0.21 0 pose: 0.0 1.63298 -3.94414 0 0.00253152 -0.0024339 0.999993 -0.00113607 uwb: 0.0 1232.59 818.611 -imu_odom_: 1691062493.83354419 0.311246 -0.153229 9.93594 -0.0671117 0.0127832 0.0308927 0.21 0 pose: 0.32001437 1.63021 -3.94482 0 0.00524685 -0.00290674 0.999981 -0.00112053 uwb: 0.50103115 1232.86 820.35 -imu_odom_: 1691062493.99360970 0.411803 -0.258574 10.003 -0.0862864 0.00958738 0.0479369 0.21 0 pose: 0.0 1.63021 -3.94482 0 0.00524685 -0.00290674 0.999981 -0.00112053 uwb: 0.0 1232.86 820.35 -imu_odom_: 1691062493.126422350 0.656011 -0.28491 9.97664 -0.036219 0.052198 0.0266316 0.19 0 pose: 0.47863918 1.6205 -3.9472 0 0.00415254 -0.00204608 0.999988 -0.0012685 uwb: 0.0 1232.86 820.35 -imu_odom_: 1691062493.151356232 0.651223 0.00718261 9.76355 -0.0681769 0.0149137 0.04048 0.18 -0.02 pose: 0.36070661 1.61356 -3.94891 0 0.00510964 -0.00235533 0.999984 -0.00112637 uwb: 0.49873304 1233.06 821.812 -imu_odom_: 1691062493.178381449 0.634463 -0.342371 10.2185 -0.0500674 -0.0117179 0.0458064 0.18 -0.02 pose: 0.8023544 1.61079 -3.94959 0 0.0054239 -0.00170582 0.999983 -0.00112503 uwb: 0.0 1233.06 821.812 -imu_odom_: 1691062493.194326464 0.0383072 -0.181959 9.84735 -0.056459 0.0255663 0.0553937 0.19 0 pose: 0.0 1.61079 -3.94959 0 0.0054239 -0.00170582 0.999983 -0.00112503 uwb: 0.49999875 1232.35 822.038 -imu_odom_: 1691062493.221341766 0.217872 -0.289698 9.80665 -0.052198 -0.0490022 0.036219 0.19 0 pose: 0.51908938 1.59869 -3.94226 0 0.00708696 -0.00216556 0.999972 -0.00128203 uwb: 0.0 1232.35 822.038 -imu_odom_: 1691062493.246351182 0.253785 -0.342371 9.4571 -0.0628506 0.0106526 0.0447411 0.18 0 pose: 0.34986934 1.59187 -3.94394 0 0.00409944 -0.00232317 0.999988 -0.00130919 uwb: 0.50159984 1231.33 821.531 -imu_odom_: 1691062493.263449334 0.605733 -0.0909797 10.2639 -0.0490022 -0.0127832 0.0372843 0.18 0 pose: 0.8006629 1.58898 -3.94465 0 0.00328999 -0.00263406 0.99999 -0.00133249 uwb: 0.0 1231.33 821.531 -imu_odom_: 1691062493.288328095 0.45011 0.0383072 10.1418 -0.0447411 -0.0383495 0.0479369 0.18 -0.02 pose: 0.0 1.58898 -3.94465 0 0.00328999 -0.00263406 0.99999 -0.00133249 uwb: 0.50071034 1231.58 822.626 -imu_odom_: 1691062493.315447220 0.517148 -0.174777 9.86411 -0.0713727 -0.0351537 0.0649811 0.18 -0.02 pose: 0.34100939 1.58898 -3.94465 0 0.00278361 -0.00196504 0.999993 -0.00135689 uwb: 0.0 1231.58 822.626 -imu_odom_: 1691062493.341489326 0.308852 -0.189142 10.5082 -0.0319579 0.0287621 0.0298274 0.19 0 pose: 0.51997886 1.57927 -3.94704 0 0.00596222 0.0016787 0.999979 -0.00179641 uwb: 0.0 1231.58 822.626 -imu_odom_: 1691062493.366480660 0.328006 -0.0861913 10.1227 -0.0692422 -0.0255663 0.0532632 0.23 0 pose: 0.0 1.57927 -3.94704 0 0.00596222 0.0016787 0.999979 -0.00179641 uwb: 0.0 1231.58 822.626 -imu_odom_: 1691062493.389379200 0.311246 -0.292093 9.62708 -0.0639159 -0.0138484 0.052198 0.23 0 pose: 0.32939636 1.56956 -3.94943 0 0.00243126 0.00220924 0.999993 -0.00171299 uwb: 0.99918383 1231.49 823.014 -imu_odom_: 1691062493.414467358 0.462081 -0.385466 9.75637 -0.0745685 -0.0575243 0.04048 0.2 0 pose: 0.40992344 1.56138 -3.94449 0 -0.0002251680.00123827 0.999997 -0.00197174 uwb: 0.0 1231.49 823.014 -imu_odom_: 1691062493.431534013 0.497994 -0.225055 10.1107 -0.0511327 -0.00958738 0.0436758 0.2 0 pose: 0.8107828 1.55746 -3.94212 0 0.000243091 0.000389817 0.999998 -0.00197528 uwb: 0.50061410 1231.96 824.253 -imu_odom_: 1691062493.456463228 0.588974 -0.0861913 10.003 -0.0532632 -0.0138484 0.0436758 0.2 0 pose: 0.0 1.55746 -3.94212 0 0.000243091 0.000389817 0.999998 -0.00197528 uwb: 0.0 1231.96 824.253 -imu_odom_: 1691062493.481467394 0.770933 -0.160412 9.87608 -0.0479369 0.00213053 0.0458064 0.2 0 pose: 0.41868424 1.54775 -3.94452 0 0.00347827 -0.0003399350.999992 -0.00202878 uwb: 0.49754608 1232.67 826.256 -imu_odom_: 1691062493.495344113 0.902614 -0.186748 9.7444 -0.052198 -0.0245011 0.0671117 0.2 0 pose: 0.0 1.54775 -3.94452 0 0.00347827 -0.0003399350.999992 -0.00202878 uwb: 0.0 1232.67 826.256 -imu_odom_: 1691062493.520387942 0.418985 -0.179565 10.1275 -0.056459 0.02024 0.0340885 0.18 0 pose: 0.48118810 1.54775 -3.94452 0 0.00774606 0.00140011 0.999967 -0.00222177 uwb: 0.0 1232.67 826.256 -imu_odom_: 1691062493.544318005 0.275333 -0.380678 9.58878 -0.0660464 -0.00106526 0.0617853 0.25 0.02 pose: 0.32913680 1.53804 -3.94692 0 0.00580472 0.00151042 0.999979 -0.00225823 uwb: 0.49981210 1232.16 826.953 -imu_odom_: 1691062493.568345184 0.397437 -0.248997 9.74201 -0.0351537 0.00852212 0.0245011 0.25 0.02 pose: 0.0 1.53804 -3.94692 0 0.00580472 0.00151042 0.999979 -0.00225823 uwb: 0.0 1232.16 826.953 -imu_odom_: 1691062493.584422603 0.47884 -0.107739 10.3238 -0.0703074 -0.0234358 0.0713727 0.18 -0.02 pose: 0.6988230 1.53804 -3.94692 0 0.00525323 0.00102868 0.999983 -0.00233739 uwb: 0.49954379 1231.74 827.263 -imu_odom_: 1691062493.611295002 0.993594 -0.110133 10.3142 -0.0681769 -0.00426106 0.0351537 0.18 -0.02 pose: 0.0 1.53804 -3.94692 0 0.00525323 0.00102868 0.999983 -0.00233739 uwb: 0.0 1231.74 827.263 -imu_odom_: 1691062493.636315209 0.608127 -0.332794 9.54089 -0.0852212 0.0234358 0.0468716 0.19 0 pose: 0.48946478 1.52834 -3.94933 0 0.00187014 -8.25656e-050.999995 -0.00247824 uwb: 0.49987626 1230.99 827.827 -imu_odom_: 1691062493.663298430 0.105345 -0.241814 9.54808 -0.0340885 0.036219 0.036219 0.19 0 pose: 0.0 1.52834 -3.94933 0 0.00187014 -8.25656e-050.999995 -0.00247824 uwb: 0.0 1230.99 827.827 -imu_odom_: 1691062493.679300023 0.323217 -0.203507 10.2951 -0.0617853 -0.0415453 0.0479369 0.2 0.02 pose: 0.43036726 1.51622 -3.94204 0 0.00528269 0.000163332 0.999983 -0.00257872 uwb: 0.0 1230.99 827.827 -imu_odom_: 1691062493.706347405 0.916979 -0.244209 9.18655 -0.0426106 0.00213053 0.0383495 0.2 0.02 pose: 0.0 1.51622 -3.94204 0 0.00528269 0.000163332 0.999983 -0.00257872 uwb: 0.50062285 1230.93 828.811 -imu_odom_: 1691062493.731341073 0.622492 -0.21069 9.55047 -0.0511327 0.0426106 0.0319579 0.23 -0.02 pose: 0.52150413 1.50652 -3.94445 0 0.00224759 -0.0009467160.999994 -0.00264104 uwb: 0.0 1230.93 828.811 -imu_odom_: 1691062493.758273841 0.371101 -0.0670376 9.72525 -0.0543285 -0.036219 0.0458064 0.21 -0.02 pose: 0.15824278 1.50652 -3.94445 0 0.00241229 -0.0007599280.999993 -0.00266852 uwb: 0.49929299 1230.13 829.401 -imu_odom_: 1691062493.774403463 0.708684 -0.241814 10.24 -0.0649811 -0.0106526 0.052198 0.21 -0.02 pose: 0.44007006 1.49681 -3.94686 0 0.00614954 -0.0003276040.999978 -0.00255702 uwb: 0.0 1230.13 829.401 -imu_odom_: 1691062493.801404183 0.88346 -0.186748 10.0844 -0.0500674 -0.0340885 0.036219 0.25 -0.02 pose: 0.6949441 1.49681 -3.94686 0 0.00577377 0.00017341 0.99998 -0.00257582 uwb: 0.50098740 1230.13 830.951 -imu_odom_: 1691062493.817401401 0.363919 -0.296881 9.26317 -0.056459 0.00745685 0.0553937 0.25 -0.02 pose: 0.0 1.49681 -3.94686 0 0.00577377 0.00017341 0.99998 -0.00257582 uwb: 0.0 1230.13 830.951 -imu_odom_: 1691062493.844560481 0.423774 0.0191536 10.24 -0.0426106 -0.0575243 0.0298274 0.25 -0.02 pose: 0.44173240 1.48711 -3.94927 0 0.00722664 0.00113858 0.99997 -0.00272294 uwb: 0.50034580 1230.3 832.061 -imu_odom_: 1691062493.869439534 0.679953 -0.531513 9.73722 -0.0798948 -0.02024 0.0458064 0.25 -0.02 pose: 0.0 1.48711 -3.94927 0 0.00722664 0.00113858 0.99997 -0.00272294 uwb: 0.0 1230.3 832.061 -imu_odom_: 1691062493.893473129 0.373495 -0.323217 9.5816 -0.0351537 -0.00852212 0.0266316 0.23 0.02 pose: 0.42837829 1.47499 -3.94198 0 0.00767124 0.00122845 0.999966 -0.00278067 uwb: 0.50038079 1231 833.705 -imu_odom_: 1691062493.917345448 0.244209 -0.227449 9.73961 -0.0575243 -0.00319579 0.0383495 0.23 0.02 pose: 0.0 1.47499 -3.94198 0 0.00767124 0.00122845 0.999966 -0.00278067 uwb: 0.0 1231 833.705 -imu_odom_: 1691062493.942414066 0.687136 -0.21069 10.3334 -0.052198 -0.0138484 0.0415453 0.18 0 pose: 0.51198215 1.46528 -3.9444 0 0.00765126 5.02753e-05 0.999967 -0.0027258 uwb: 0.49984126 1230.87 835.02 -imu_odom_: 1691062493.959481013 0.354342 -0.268151 9.74201 -0.0575243 0.0106526 0.0458064 0.18 0 pose: 0.0 1.46528 -3.9444 0 0.00765126 5.02753e-05 0.999967 -0.0027258 uwb: 0.0 1230.87 835.02 -imu_odom_: 1691062493.984408478 0.457293 -0.31364 9.98622 -0.04048 0.0426106 0.0468716 0.18 0.02 pose: 0.48807659 1.45558 -3.94681 0 0.00467253 -0.0006166920.999985 -0.00261807 uwb: 0.49940673 1231.3 836.234 -imu_odom_: 1691062494.9271202 0.222661 -0.454898 9.62469 -0.036219 0.02024 0.0394148 0.18 0.02 pose: 0.0 1.45558 -3.94681 0 0.00467253 -0.0006166920.999985 -0.00261807 uwb: 0.0 1231.3 836.234 -imu_odom_: 1691062494.32327817 0.536301 -0.191536 9.92875 -0.056459 0.00958738 0.0553937 0.18 0 pose: 0.42163562 1.45558 -3.94681 0 0.00415389 -0.00155011 0.999986 -0.00272263 uwb: 0.49971887 1232.12 838.068 -imu_odom_: 1691062494.48369953 0.603339 -0.299275 9.4164 -0.0692422 -0.0138484 0.0532632 0.18 0 pose: 0.0 1.45558 -3.94681 0 0.00415389 -0.00155011 0.999986 -0.00272263 uwb: 0.0 1232.12 838.068 -imu_odom_: 1691062494.74393111 0.557849 -0.232238 10.2855 -0.052198 -0.00319579 0.0585895 0.23 0.02 pose: 0.47822509 1.44588 -3.94923 0 0.00117649 -0.00384855 0.999988 -0.00284587 uwb: 0.0 1232.12 838.068 -imu_odom_: 1691062494.99368413 0.514753 -0.328006 10.1059 -0.0692422 0.00958738 0.0479369 0.23 0.02 pose: 0.0 1.44588 -3.94923 0 0.00117649 -0.00384855 0.999988 -0.00284587 uwb: 0.50398268 1231.67 838.985 -imu_odom_: 1691062494.116268548 0.222661 -0.0407014 10.0461 -0.0660464 0.00319579 0.0479369 0.19 0 pose: 0.40988566 1.43375 -3.94194 0 0.0046347 -0.00272256 0.999981 -0.00315142 uwb: 0.0 1231.67 838.985 -imu_odom_: 1691062494.141387045 0.483629 -0.320823 9.63666 -0.0873517 -0.00532632 0.0500674 0.19 0 pose: 0.0 1.43375 -3.94194 0 0.0046347 -0.00272256 0.999981 -0.00315142 uwb: 0.49553102 1231.33 839.524 -imu_odom_: 1691062494.166317726 0.452504 -0.344765 9.75158 -0.072438 -0.0213053 0.036219 0.18 0.02 pose: 0.50001933 1.42405 -3.94437 0 0.00509479 -0.00394753 0.999973 -0.00346196 uwb: 0.0 1231.33 839.524 -imu_odom_: 1691062494.180272025 0.47884 -0.325611 10.0365 -0.0596548 -0.0330232 0.0479369 0.18 0.02 pose: 0.0 1.42405 -3.94437 0 0.00509479 -0.00394753 0.999973 -0.00346196 uwb: 0.0 1231.33 839.524 -imu_odom_: 1691062494.205324028 0.237026 -0.332794 10.4579 -0.0415453 -0.0319579 0.0340885 0.17 0 pose: 0.73987998 1.41435 -3.9468 0 0.00331011 -0.00626537 0.999968 -0.00367064 uwb: 0.50065801 1231.48 840.909 -imu_odom_: 1691062494.229245642 0.68953 -0.440533 9.92875 -0.072438 -0.0213053 0.0500674 0.17 0 pose: 0.0 1.41435 -3.9468 0 0.00331011 -0.00626537 0.999968 -0.00367064 uwb: 0.0 1231.48 840.909 -imu_odom_: 1691062494.244248672 0.282516 -0.3304 9.48822 -0.0479369 0.0298274 0.0479369 0.18 0 pose: 0.7054142 1.41435 -3.9468 0 0.00270231 -0.00618373 0.999971 -0.00365636 uwb: 0.49868071 1232.51 842.877 -imu_odom_: 1691062494.269275594 0.246603 -0.198719 9.71088 -0.0500674 0.0106526 0.0458064 0.18 0 pose: 0.0 1.41435 -3.9468 0 0.00270231 -0.00618373 0.999971 -0.00365636 uwb: 0.0 1232.51 842.877 -imu_odom_: 1691062494.294272769 -0.047884 -0.112527 9.7444 -0.04048 -0.0149137 0.0436758 0.25 -0.02 pose: 0.48943870 1.40465 -3.94923 0 0.00275533 -0.00699411 0.999965 -0.00376742 uwb: 0.50005141 1232.68 843.94 -imu_odom_: 1691062494.315218507 0.672771 -0.0191536 9.92397 -0.0468716 -0.00852212 0.0468716 0.25 -0.02 pose: 0.0 1.40465 -3.94923 0 0.00275533 -0.00699411 0.999965 -0.00376742 uwb: 0.0 1232.68 843.94 -imu_odom_: 1691062494.336210617 0.347159 -0.0407014 10.1251 -0.0181095 0.0181095 0.0426106 0.17 0 pose: 0.78948470 1.38563 -3.9437 0 -0.000862898-0.00261409 0.999988 -0.00403052 uwb: 0.49974810 1231.84 844.21 -imu_odom_: 1691062494.350206620 0.0526724 -0.356736 9.93115 -0.0468716 0.0266316 0.0468716 0.17 0 pose: 0.0 1.38563 -3.9437 0 -0.000862898-0.00261409 0.999988 -0.00403052 uwb: 0.0 1231.84 844.21 -imu_odom_: 1691062494.366248173 0.280122 -0.215478 10.1538 -0.0660464 -0.00106526 0.0458064 0.17 0.02 pose: 0.6098736 1.38282 -3.94441 0 -0.0010364 -0.00189928 0.999989 -0.00404028 uwb: 0.0 1231.84 844.21 -imu_odom_: 1691062494.388315260 0.481235 0.143652 10.4914 -0.056459 -0.0106526 0.0585895 0.17 0.02 pose: 0.0 1.38282 -3.94441 0 -0.0010364 -0.00189928 0.999989 -0.00404028 uwb: 0.50067551 1232.36 845.916 -imu_odom_: 1691062494.411211183 0.581791 -0.253785 9.72525 -0.0468716 -0.0138484 0.0372843 0.19 0 pose: 0.36086713 1.38282 -3.94441 0 -0.00367933 -0.0005636790.999985 -0.00413773 uwb: 0.0 1232.36 845.916 -imu_odom_: 1691062494.427199949 0.023942 -0.258574 9.4954 -0.0245011 0.00958738 0.0298274 0.19 0 pose: 0.0 1.38282 -3.94441 0 -0.00367933 -0.0005636790.999985 -0.00413773 uwb: 0.0 1232.36 845.916 -imu_odom_: 1691062494.453335679 0.251391 -0.158017 10.1035 -0.052198 -0.056459 0.04048 0.24 0 pose: 0.37035120 1.37312 -3.94685 0 -0.00294071 0.00140457 0.999985 -0.00437813 uwb: 0.49931356 1233.3 848.206 -imu_odom_: 1691062494.474382908 0.213084 -0.222661 9.84975 -0.0490022 -0.0234358 0.0500674 0.24 0 pose: 0.0 1.37312 -3.94685 0 -0.00294071 0.00140457 0.999985 -0.00437813 uwb: 0.0 1233.3 848.206 -imu_odom_: 1691062494.499207725 0.160412 -0.497994 9.35893 -0.0820254 0.00639159 0.04048 0.18 -0.02 pose: 0.39911839 1.36343 -3.9493 0 -0.00340811 0.00126033 0.999984 -0.00428235 uwb: 0.50115672 1232.61 848.364 -imu_odom_: 1691062494.524256520 0.45011 -0.126893 9.93115 -0.0468716 -0.0308927 0.0468716 0.18 -0.02 pose: 0.0 1.36343 -3.9493 0 -0.00340811 0.00126033 0.999984 -0.00428235 uwb: 0.0 1232.61 848.364 -imu_odom_: 1691062494.538210819 0.428562 -0.411803 9.54329 -0.0415453 -0.015979 0.0490022 0.18 -0.02 pose: 0.47911762 1.35129 -3.94205 0 -0.00671897 0.000298616 0.999968 -0.00439135 uwb: 0.49934272 1233.23 850.272 -imu_odom_: 1691062494.562221382 0.107739 -0.172383 9.73722 -0.0255663 0.0330232 0.0436758 0.18 -0.02 pose: 0.0 1.35129 -3.94205 0 -0.00671897 0.000298616 0.999968 -0.00439135 uwb: 0.0 1233.23 850.272 -imu_odom_: 1691062494.579316915 0.299275 -0.399832 9.85453 -0.0756338 0.0340885 0.0628506 0.18 -0.02 pose: 0.0 1.35129 -3.94205 0 -0.00671897 0.000298616 0.999968 -0.00439135 uwb: 0.0 1233.23 850.272 -imu_odom_: 1691062494.604319339 -0.0694318 0.0790087 9.90002 -0.0319579 0.0394148 0.0394148 0.24 0 pose: 0.47934510 1.34159 -3.94449 0 -0.00462409 -0.0005525390.999979 -0.00451255 uwb: 0.49950313 1233.94 852.397 -imu_odom_: 1691062494.630206594 0.533907 -0.265756 9.93354 -0.0703074 -0.0308927 0.0532632 0.23 -0.02 pose: 0.74122152 1.3319 -3.94695 0 -0.0092821 3.63295e-05 0.999945 -0.00479805 uwb: 0.0 1233.94 852.397 -imu_odom_: 1691062494.652195230 0.220267 -0.148441 9.96946 -0.0511327 -0.00426106 0.0436758 0.23 -0.02 pose: 0.0 1.3319 -3.94695 0 -0.0092821 3.63295e-05 0.999945 -0.00479805 uwb: 0.49979185 1234.74 854.17 -imu_odom_: 1691062494.676182463 0.136469 -0.373495 9.47386 -0.0671117 -0.015979 0.056459 0.19 0 pose: 0.7069891 1.3319 -3.94695 0 -0.00848935 -0.0001297490.999952 -0.0048459 uwb: 0.0 1234.74 854.17 -imu_odom_: 1691062494.701172347 0.538695 0.0311246 9.51935 -0.0575243 0.00745685 0.0308927 0.19 0 pose: 0.0 1.3319 -3.94695 0 -0.00848935 -0.0001297490.999952 -0.0048459 uwb: 0.50056177 1234.61 855.387 -imu_odom_: 1691062494.715199847 0.423774 -0.349553 10.3262 -0.0703074 -0.0127832 0.0479369 0.18 0 pose: 0.47808814 1.3222 -3.9494 0 -0.00804634 0.000609574 0.999955 -0.00508426 uwb: 0.0 1234.61 855.387 -imu_odom_: 1691062494.732344958 1.17555 -0.272939 9.96946 -0.0617853 -0.0436758 0.0351537 0.18 0 pose: 0.0 1.3222 -3.9494 0 -0.00804634 0.000609574 0.999955 -0.00508426 uwb: 0.49962853 1235.37 857.175 -imu_odom_: 1691062494.746371000 1.75016 -0.493206 9.97903 -0.0798948 -0.120375 0.0276969 0.18 0 pose: 0.0 1.3222 -3.9494 0 -0.00804634 0.000609574 0.999955 -0.00508426 uwb: 0.0 1235.37 857.175 -imu_odom_: 1691062494.763514361 1.9824 -0.248997 9.19852 -0.0639159 -0.0639159 -0.102265 0.14 -0.26 pose: 0.48039791 1.31005 -3.94217 0 -0.00667031 0.000263503 0.999964 -0.00514377 uwb: 0.0 1235.37 857.175 -imu_odom_: 1691062494.778385279 1.61369 0.440533 9.81862 -0.0532632 0.00213053 -0.20027 0.14 -0.26 pose: 0.0 1.31005 -3.94217 0 -0.00667031 0.000263503 0.999964 -0.00514377 uwb: 0.0 1235.37 857.175 -imu_odom_: 1691062494.794216852 1.075 0.469264 10.477 -0.0596548 0.0298274 -0.253533 0.14 -0.26 pose: 0.0 1.31005 -3.94217 0 -0.00667031 0.000263503 0.999964 -0.00514377 uwb: 0.50069885 1234.78 857.53 -imu_odom_: 1691062494.809357535 1.06063 -0.280122 9.37809 -0.0713727 0.015979 -0.348341 0.12 -0.41 pose: 0.46072110 1.30036 -3.94465 0 -0.000890568-0.0009276290.999989 -0.00455907 uwb: 0.0 1234.78 857.53 -imu_odom_: 1691062494.825302264 0.950498 -0.131681 9.74679 -0.0649811 0.00745685 -0.432497 0.1 -0.35 pose: 0.0 1.30036 -3.94465 0 -0.000890568-0.0009276290.999989 -0.00455907 uwb: 0.0 1234.78 857.53 -imu_odom_: 1691062494.840206720 0.991199 -0.248997 9.50977 -0.0735032 0.0234358 -0.437824 0.1 -0.35 pose: 0.62944831 1.30036 -3.94465 0 0.00447944 0.000665191 0.999978 0.00483577 uwb: 0.49932814 1234.92 858.847 -imu_odom_: 1691062494.856245939 0.790087 -0.311246 9.6199 -0.0703074 0.00852212 -0.420779 0.1 -0.35 pose: 0.0 1.30036 -3.94465 0 0.00447944 0.000665191 0.999978 0.00483577 uwb: 0.0 1234.92 858.847 -imu_odom_: 1691062494.871238762 0.986411 -0.502782 9.663 -0.0500674 -0.0255663 -0.439954 0.1 -0.47 pose: 0.0 1.30036 -3.94465 0 0.00447944 0.000665191 0.999978 0.00483577 uwb: 0.0 1234.92 858.847 -imu_odom_: 1691062494.887228694 0.550666 -0.251391 9.8665 -0.036219 -0.00426106 -0.495348 0.1 -0.47 pose: 0.30955924 1.2907 -3.94721 0 0.00719186 0.000173146 0.9999 0.0121375 uwb: 0.50108381 1234.74 859.79 -imu_odom_: 1691062494.902219767 0.675165 0.0335188 9.89763 -0.0660464 0.00213053 -0.493217 0.08 -0.53 pose: 0.40017994 1.29067 -3.94717 0 0.00796896 -0.00159058 0.999723 0.0220676 uwb: 0.0 1234.74 859.79 -imu_odom_: 1691062494.918328688 0.648829 -0.227449 9.84975 -0.0660464 0.00852212 -0.486826 0.08 -0.53 pose: 0.0 1.29067 -3.94717 0 0.00796896 -0.00159058 0.999723 0.0220676 uwb: 0.0 1234.74 859.79 -imu_odom_: 1691062494.933208355 0.531513 -0.215478 9.84017 -0.0617853 0.00852212 -0.531567 0.08 -0.53 pose: 0.0 1.29067 -3.94717 0 0.00796896 -0.00159058 0.999723 0.0220676 uwb: 0.49866904 1234.92 860.791 -imu_odom_: 1691062494.948348746 0.605733 -0.122104 9.663 -0.0532632 -0.00319579 -0.576308 0.06 -0.53 pose: 0.6992607 1.2907 -3.94721 0 0.00823302 -0.0009736760.999679 0.0239357 uwb: 0.0 1234.92 860.791 -imu_odom_: 1691062494.966252408 0.354342 -0.11971 9.92157 -0.0575243 0.00426106 -0.586961 0.06 -0.53 pose: 0.0 1.2907 -3.94721 0 0.00823302 -0.0009736760.999679 0.0239357 uwb: 0.0 1234.92 860.791 -imu_odom_: 1691062494.982235924 0.555455 0.0143652 10.1131 -0.0553937 -0.02024 -0.576308 0.06 -0.53 pose: 0.0 1.2907 -3.94721 0 0.00823302 -0.0009736760.999679 0.0239357 uwb: 0.50038679 1234.62 861.525 -imu_odom_: 1691062494.999233758 0.811634 -0.397437 9.96227 -0.0639159 -0.0287621 -0.516653 0.07 -0.67 pose: 0.45999491 1.2907 -3.94721 0 0.00874141 0.000213775 0.999287 0.0367205 uwb: 0.0 1234.62 861.525 -imu_odom_: 1691062495.15277940 0.624887 -0.584185 9.63906 -0.0585895 -0.00106526 -0.4815 0.05 -0.47 pose: 0.0 1.2907 -3.94721 0 0.00874141 0.000213775 0.999287 0.0367205 uwb: 0.0 1234.62 861.525 -imu_odom_: 1691062495.32178372 0.579397 -0.287304 9.90002 -0.0436758 -0.0170442 -0.453803 0.05 -0.47 pose: 0.66969729 1.28104 -3.94983 0 0.00896332 0.00114901 0.99836 0.0565377 uwb: 0.49906284 1233.93 861.657 -imu_odom_: 1691062495.48270967 0.663194 -0.146046 9.91439 -0.0713727 -0.015979 -0.410127 0.05 -0.47 pose: 0.0 1.28104 -3.94983 0 0.00896332 0.00114901 0.99836 0.0565377 uwb: 0.0 1233.93 861.657 -imu_odom_: 1691062495.66315204 0.505177 -0.380678 9.87369 -0.0639159 -0.00319579 -0.365386 0.05 -0.41 pose: 0.0 1.28104 -3.94983 0 0.00896332 0.00114901 0.99836 0.0565377 uwb: 0.0 1233.93 861.657 -imu_odom_: 1691062495.82216192 0.507571 -0.342371 9.83299 -0.0500674 -0.00532632 -0.360059 0.05 -0.41 pose: 0.33114057 1.28104 -3.94983 0 0.0096911 -0.0007278180.997863 0.0646085 uwb: 0.50266173 1234.89 863.293 -imu_odom_: 1691062495.99213157 0.577003 -0.184354 9.93594 -0.0585895 -0.015979 -0.333428 0.05 -0.41 pose: 0.41911614 1.27848 -3.94016 0 0.00830498 -0.00293132 0.997279 0.073188 uwb: 0.0 1234.89 863.293 -imu_odom_: 1691062495.116211580 0.464475 -0.306458 9.76355 -0.0639159 -0.00532632 -0.28123 0.05 -0.41 pose: 0.0 1.27848 -3.94016 0 0.00830498 -0.00293132 0.997279 0.073188 uwb: 0.0 1234.89 863.293 -imu_odom_: 1691062495.133152550 0.56982 -0.426168 10.0269 -0.0575243 -0.0181095 -0.245011 0.05 -0.41 pose: 0.0 1.27848 -3.94016 0 0.00830498 -0.00293132 0.997279 0.073188 uwb: 0.49837465 1235.11 864.531 -imu_odom_: 1691062495.149152404 0.481235 -0.411803 9.78271 -0.056459 0.00106526 -0.227967 0.03 -0.26 pose: 0.7939267 1.27848 -3.94016 0 0.00848548 -0.00215203 0.99717 0.0746715 uwb: 0.0 1235.11 864.531 -imu_odom_: 1691062495.167206848 0.555455 -0.177171 10.0604 -0.0500674 -0.0149137 -0.199204 0.04 -0.29 pose: 0.0 1.27848 -3.94016 0 0.00848548 -0.00215203 0.99717 0.0746715 uwb: 0.0 1235.11 864.531 -imu_odom_: 1691062495.184156568 0.562637 -0.287304 9.9096 -0.0639159 -0.015979 -0.172573 0.04 -0.29 pose: 0.67058699 1.27848 -3.94016 0 0.00673448 -0.00444546 0.996387 0.0845485 uwb: 0.49929914 1235.04 865.118 -imu_odom_: 1691062495.198202445 0.658405 -0.339977 9.88326 -0.052198 0 -0.168312 0.04 -0.29 pose: 0.0 1.27848 -3.94016 0 0.00673448 -0.00444546 0.996387 0.0845485 uwb: 0.0 1235.04 865.118 -imu_odom_: 1691062495.214154762 0.636858 -0.246603 9.97903 -0.0543285 -0.0106526 -0.154463 0.02 -0.2 pose: 0.0 1.27848 -3.94016 0 0.00673448 -0.00444546 0.996387 0.0845485 uwb: 0.0 1235.04 865.118 -imu_odom_: 1691062495.228207348 0.634463 -0.213084 9.84496 -0.0532632 -0.0106526 -0.129962 0.02 -0.2 pose: 0.32933824 1.27848 -3.94016 0 0.00867199 -0.00510649 0.996056 0.0881487 uwb: 0.0 1235.04 865.118 -imu_odom_: 1691062495.244249781 0.667982 -0.31364 9.87608 -0.056459 -0.00532632 -0.105461 0.02 -0.11 pose: 0.38059366 1.2688 -3.94266 0 0.0110261 -0.00295086 0.995718 0.0917408 uwb: 0.50014781 1235.04 866.208 -imu_odom_: 1691062495.261190751 0.581791 -0.3304 9.80665 -0.056459 0 -0.0905475 0.02 -0.11 pose: 0.0 1.2688 -3.94266 0 0.0110261 -0.00295086 0.995718 0.0917408 uwb: 0.0 1235.04 866.208 -imu_odom_: 1691062495.277132277 0.572214 -0.277727 9.991 -0.0500674 0.00106526 -0.0916127 0.02 -0.11 pose: 0.0 1.2688 -3.94266 0 0.0110261 -0.00295086 0.995718 0.0917408 uwb: 0.0 1235.04 866.208 -imu_odom_: 1691062495.294157530 0.581791 -0.215478 9.88805 -0.0575243 -0.0149137 -0.0735032 0.01 -0.17 pose: 0.7996427 1.2688 -3.94266 0 0.0114445 -0.00363375 0.995658 0.0923113 uwb: 0.50058235 1234.85 866.588 -imu_odom_: 1691062495.310138136 0.634463 -0.28491 9.86172 -0.0553937 -0.00426106 -0.0543285 0.01 -0.17 pose: 0.0 1.2688 -3.94266 0 0.0114445 -0.00363375 0.995658 0.0923113 uwb: 0.0 1234.85 866.588 -imu_odom_: 1691062495.327199261 0.627281 -0.387861 9.93115 -0.0543285 -0.00106526 -0.0330232 0.01 -0.17 pose: 0.0 1.2688 -3.94266 0 0.0114445 -0.00363375 0.995658 0.0923113 uwb: 0.0 1234.85 866.588 -imu_odom_: 1691062495.343134663 0.519542 -0.287304 9.97424 -0.0532632 0.00106526 -0.00532632 0 -0.02 pose: 0.47937150 1.2688 -3.94266 0 0.00912717 -0.00377278 0.995389 0.0954105 uwb: 0.49887044 1235.03 867.296 -imu_odom_: 1691062495.360132210 0.490811 -0.337582 9.88087 -0.056459 -0.00426106 0.0276969 0 -0.05 pose: 0.0 1.2688 -3.94266 0 0.00912717 -0.00377278 0.995389 0.0954105 uwb: 0.0 1235.03 867.296 -imu_odom_: 1691062495.375185990 0.512359 -0.282516 9.91918 -0.0543285 -0.00639159 0.0447411 0 -0.05 pose: 0.66001511 1.2688 -3.94266 0 0.00816029 -0.00529992 0.995167 0.0977108 uwb: 0.0 1235.03 867.296 -imu_odom_: 1691062495.389125128 0.490811 -0.304064 9.83777 -0.052198 0.00213053 0.0479369 0 -0.05 pose: 0.0 1.2688 -3.94266 0 0.00816029 -0.00529992 0.995167 0.0977108 uwb: 0.49842422 1234.17 866.972 -imu_odom_: 1691062495.403118220 0.411803 -0.232238 9.90721 -0.0532632 0.00319579 0.0426106 0 0 pose: 0.0 1.2688 -3.94266 0 0.00816029 -0.00529992 0.995167 0.0977108 uwb: 0.0 1234.17 866.972 -imu_odom_: 1691062495.417169639 0.361524 -0.181959 9.88326 -0.0532632 -0.00213053 0.04048 0 0 pose: 0.30988015 1.2688 -3.94266 0 0.00545306 -0.00475465 0.99519 0.0976979 uwb: 0.0 1234.17 866.972 -imu_odom_: 1691062495.431119276 0.378284 -0.227449 9.88326 -0.056459 -0.00852212 0.0394148 0 0 pose: 0.0 1.2688 -3.94266 0 0.00545306 -0.00475465 0.99519 0.0976979 uwb: 0.50004866 1233.4 866.331 -imu_odom_: 1691062495.446124644 0.464475 -0.280122 9.92397 -0.0575243 -0.0106526 0.0340885 0 0 pose: 0.41997064 1.2688 -3.94266 0 0.00207659 -0.00257564 0.995217 0.0976339 uwb: 0.0 1233.4 866.331 -imu_odom_: 1691062495.460111902 0.4956 -0.277727 9.90721 -0.0543285 -0.00745685 0.036219 0 0 pose: 0.0 1.2688 -3.94266 0 0.00207659 -0.00257564 0.995217 0.0976339 uwb: 0.0 1233.4 866.331 -imu_odom_: 1691062495.474178195 0.497994 -0.292093 9.89284 -0.0543285 -0.00213053 0.0426106 0 0 pose: 0.0 1.2688 -3.94266 0 0.00207659 -0.00257564 0.995217 0.0976339 uwb: 0.0 1233.4 866.331 -imu_odom_: 1691062495.488176827 0.371101 -0.265756 9.92875 -0.0532632 0.00106526 0.0436758 0 0 pose: 0.51050680 1.2688 -3.94266 0 0.00463454 -0.00472683 0.995196 0.0976778 uwb: 0.0 1233.4 866.331 -imu_odom_: 1691062495.503115118 0.402226 -0.232238 9.90721 -0.0532632 -0.00213053 0.04048 0 0 pose: 0.0 1.2688 -3.94266 0 0.00463454 -0.00472683 0.995196 0.0976778 uwb: 0.0 1233.4 866.331 -imu_odom_: 1691062495.517112001 0.423774 -0.232238 9.88805 -0.0543285 -0.00639159 0.04048 0 0 pose: 0.0 1.2688 -3.94266 0 0.00463454 -0.00472683 0.995196 0.0976778 uwb: 0.0 1233.4 866.331 -imu_odom_: 1691062495.531108592 0.464475 -0.23942 9.91678 -0.0553937 -0.00745685 0.0372843 0 0 pose: 0.42933806 1.2688 -3.94266 0 0.00152263 -0.00195498 0.995219 0.0976335 uwb: 0.100125510 1233.39 866.605 -imu_odom_: 1691062495.545116557 0.47884 -0.277727 9.91199 -0.0575243 -0.00532632 0.0383495 0 0 pose: 0.0 1.2688 -3.94266 0 0.00152263 -0.00195498 0.995219 0.0976335 uwb: 0.0 1233.39 866.605 -imu_odom_: 1691062495.567168777 0.476446 -0.28491 9.91918 -0.0575243 -0.00319579 0.04048 0 0 pose: 0.0 1.2688 -3.94266 0 0.00152263 -0.00195498 0.995219 0.0976335 uwb: 0.0 1233.39 866.605 -imu_odom_: 1691062495.584165742 -0.244209 -0.227449 9.84256 -0.0479369 0.0884169 0.0308927 0 0 pose: 0.35080573 1.2688 -3.94266 0 0.00335575 -0.00366504 0.995208 0.0976517 uwb: 0.49984451 1232.64 865.682 -imu_odom_: 1691062495.600103768 -1.09176 -0.146046 10.1107 -0.0394148 0.0852212 0.0266316 0.02 0.02 pose: 0.0 1.2688 -3.94266 0 0.00335575 -0.00366504 0.995208 0.0976517 uwb: 0.0 1232.64 865.682 -imu_odom_: 1691062495.618212749 -1.1564 -0.225055 9.84017 -0.0596548 -0.0468716 0.0319579 0.02 0.02 pose: 0.38916490 1.2688 -3.94266 0 -1.61259e-05-0.00445805 0.995201 0.0977533 uwb: 0.0 1232.64 865.682 -imu_odom_: 1691062495.635099183 -0.0670376 -0.198719 9.84256 -0.0543285 -0.0745685 0.0426106 0.02 0.02 pose: 0.0 1.2688 -3.94266 0 -1.61259e-05-0.00445805 0.995201 0.0977533 uwb: 0.50130269 1232.03 864.954 -imu_odom_: 1691062495.652097023 0.519542 -0.311246 9.79468 -0.0575243 -0.0426106 0.0511327 0.04 0.02 pose: 0.35110903 1.2688 -3.94266 0 -0.00318169 -0.00374842 0.995189 0.0978511 uwb: 0.0 1232.03 864.954 -imu_odom_: 1691062495.669214142 0.205901 -0.172383 9.67497 -0.0553937 0.015979 0.0671117 0.04 0.02 pose: 0.0 1.2688 -3.94266 0 -0.00318169 -0.00374842 0.995189 0.0978511 uwb: 0.0 1232.03 864.954 -imu_odom_: 1691062495.686102909 -0.476446 -0.241814 9.70609 -0.0415453 0.0149137 0.0415453 0.07 0.02 pose: 0.42994175 1.2688 -3.94266 0 -0.00320675 -0.00278125 0.995226 0.0974999 uwb: 0.49919707 1232.24 865.644 -imu_odom_: 1691062495.703094333 -0.117316 -0.186748 10.1011 -0.0479369 -0.0276969 0.0543285 0.07 0.02 pose: 0.0 1.2688 -3.94266 0 -0.00320675 -0.00278125 0.995226 0.0974999 uwb: 0.0 1232.24 865.644 -imu_odom_: 1691062495.720095380 0.474052 -0.409408 9.81383 -0.0596548 -0.0447411 0.0553937 0.07 0.02 pose: 0.0 1.2688 -3.94266 0 -0.00320675 -0.00278125 0.995226 0.0974999 uwb: 0.0 1232.24 865.644 -imu_odom_: 1691062495.736206640 0.323217 -0.282516 9.69891 -0.0468716 0.00532632 0.0394148 0.09 0 pose: 0.8004593 1.2688 -3.94266 0 -0.00407127 -0.00260973 0.995225 0.0974897 uwb: 0.49948288 1232.55 866.276 -imu_odom_: 1691062495.753200396 0.00957681 -0.306458 9.89284 -0.052198 -0.00532632 0.0490022 0.14 0.02 pose: 0.0 1.2688 -3.94266 0 -0.00407127 -0.00260973 0.995225 0.0974897 uwb: 0.0 1232.55 866.276 -imu_odom_: 1691062495.769208416 -0.0287304 -0.0885855 9.88805 -0.0394148 -0.0223706 0.0447411 0.14 0.02 pose: 0.67000955 1.25912 -3.94517 0 -0.00412648 -0.00307068 0.995253 0.0971892 uwb: 0.0 1232.55 866.276 -imu_odom_: 1691062495.787075921 0.208296 -0.0814029 9.96467 -0.0383495 -0.0149137 0.0298274 0.13 0.02 pose: 0.0 1.25912 -3.94517 0 -0.00412648 -0.00307068 0.995253 0.0971892 uwb: 0.49995532 1232.5 866.038 -imu_odom_: 1691062495.804140254 0.37589 -0.138864 9.92636 -0.052198 -0.0245011 0.0649811 0.13 0.02 pose: 0.0 1.25912 -3.94517 0 -0.00412648 -0.00307068 0.995253 0.0971892 uwb: 0.0 1232.5 866.038 -imu_odom_: 1691062495.818194297 0.25618 -0.557849 9.88326 -0.0703074 -0.00852212 0.0692422 0.13 0.02 pose: 0.32980779 1.25912 -3.94517 0 -0.00635729 -0.00117039 0.995251 0.0971278 uwb: 0.0 1232.5 866.038 -imu_odom_: 1691062495.834115409 -0.107739 -0.148441 9.74919 -0.0415453 0.00745685 0.0340885 0.11 0 pose: 0.40993828 1.25139 -3.93684 0 -0.00534422 -0.0005980170.995294 0.0967475 uwb: 0.50052694 1232.9 866.886 -imu_odom_: 1691062495.848221656 0.311246 -0.280122 10.2232 -0.0447411 -0.015979 0.0436758 0.11 0 pose: 0.6922907 1.24693 -3.938 0 -0.00604029 -0.00033669 0.995289 0.0967648 uwb: 0.0 1232.9 866.886 -imu_odom_: 1691062495.864207802 1.17795 -0.186748 10.252 -0.0735032 -0.0660464 0.0745685 0.11 0 pose: 0.0 1.24693 -3.938 0 -0.00604029 -0.00033669 0.995289 0.0967648 uwb: 0.0 1232.9 866.886 -imu_odom_: 1691062495.882231042 1.04627 -0.42138 9.96467 -0.0617853 0.02024 0.092678 0.13 0 pose: 0.39090598 1.24693 -3.938 0 -0.00392695 -0.00129367 0.995325 0.0964902 uwb: 0.49985617 1232.09 866 -imu_odom_: 1691062495.899349620 1.35033 -0.265756 10.1011 -0.0543285 -0.04048 0.113983 0.13 0 pose: 0.0 1.24693 -3.938 0 -0.00392695 -0.00129367 0.995325 0.0964902 uwb: 0.0 1232.09 866 -imu_odom_: 1691062495.916220305 1.31442 -0.136469 9.47625 -0.0394148 -0.015979 0.137419 0.13 0 pose: 0.0 1.24693 -3.938 0 -0.00392695 -0.00129367 0.995325 0.0964902 uwb: 0.0 1232.09 866 -imu_odom_: 1691062495.933109655 1.27372 -0.217872 10.0245 -0.0490022 0.0330232 0.109722 0.09 0.02 pose: 0.42167965 1.24693 -3.938 0 0.000309582 -0.00204249 0.995471 0.0950476 uwb: 0.49999616 1231.85 865.868 -imu_odom_: 1691062495.950127909 0.653617 -0.0215478 9.9934 -0.052198 0.0340885 0.0340885 0.06 0.02 pose: 0.0 1.24693 -3.938 0 0.000309582 -0.00204249 0.995471 0.0950476 uwb: 0.0 1231.85 865.868 -imu_odom_: 1691062495.965324008 0.521936 -0.0550666 10.0365 -0.0532632 -0.0138484 0.00639159 0.06 0.02 pose: 0.34810224 1.23726 -3.94057 0 0.00316237 -0.00135908 0.995565 0.0940087 uwb: 0.0 1231.85 865.868 -imu_odom_: 1691062495.983085648 0.821211 -0.220267 9.73482 -0.072438 -0.015979 -0.0117179 0.05 0.02 pose: 0.0 1.23726 -3.94057 0 0.00316237 -0.00135908 0.995565 0.0940087 uwb: 0.49957328 1231.88 866.664 -imu_odom_: 1691062495.999132747 1.04148 -0.435745 10.0389 -0.0575243 -0.0138484 0 0.05 0.02 pose: 0.0 1.23726 -3.94057 0 0.00316237 -0.00135908 0.995565 0.0940087 uwb: 0.0 1231.88 866.664 -imu_odom_: 1691062496.16337654 0.814029 -0.335188 9.79228 -0.0596548 0.0149137 0 0.05 0.02 pose: 0.31970252 1.23726 -3.94057 0 0.00505985 0.000521415 0.995513 0.0944913 uwb: 0.0 1231.88 866.664 -imu_odom_: 1691062496.33165765 0.646434 -0.143652 9.85693 -0.0500674 0.0170442 0.00319579 0.04 0.02 pose: 0.43181411 1.23726 -3.94057 0 0.0088703 -0.00146024 0.9954 0.0953857 uwb: 0.49969878 1232.15 867.046 -imu_odom_: 1691062496.50055704 0.201113 -0.246603 9.991 -0.0607201 0.0127832 0.0575243 0.04 0.02 pose: 0.8850930 1.23726 -3.94057 0 0.00940671 -0.0008009190.99538 0.0955519 uwb: 0.0 1232.15 867.046 -imu_odom_: 1691062496.75058437 0.608127 -0.390255 9.77553 -0.0458064 -0.0266316 0.0585895 0.03 0.02 pose: 0.0 1.23726 -3.94057 0 0.00940671 -0.0008009190.99538 0.0955519 uwb: 0.0 1232.15 867.046 -imu_odom_: 1691062496.92050449 0.754174 -0.0574608 9.9934 -0.0553937 0.0276969 0.0735032 0.04 0.02 pose: 0.24867120 1.23726 -3.94057 0 0.00805422 -0.0002749350.995392 0.095552 uwb: 0.49950637 1232.78 867.764 -imu_odom_: 1691062496.117054348 -0.995988 -0.3304 10.3286 -0.0585895 0.0745685 0.0745685 0.04 0.02 pose: 0.0 1.23726 -3.94057 0 0.00805422 -0.0002749350.995392 0.095552 uwb: 0.0 1232.78 867.764 -imu_odom_: 1691062496.142191233 -1.01754 -0.203507 9.81144 -0.0532632 -0.0426106 0.0351537 0.04 0.02 pose: 0.41994745 1.23726 -3.94057 0 0.00973921 -0.00147933 0.995427 0.0950203 uwb: 0.50010130 1232 867.401 -imu_odom_: 1691062496.168048466 0.54109 -0.215478 9.75398 -0.0692422 -0.0660464 0.0490022 0.09 0.02 pose: 0.32177908 1.23481 -3.93088 0 0.00567925 -0.00128077 0.995498 0.094601 uwb: 0.0 1232 867.401 -imu_odom_: 1691062496.193145106 0.126893 -0.354342 9.80665 -0.052198 0.04048 0.0234358 0.11 0 pose: 0.43820109 1.22511 -3.93334 0 0.00758342 -0.00101777 0.995493 0.0945211 uwb: 0.49900767 1231.86 867.483 -imu_odom_: 1691062496.206064389 -0.335188 -0.0933739 9.92397 -0.0468716 0.00745685 0.015979 0.11 0 pose: 0.7021191 1.22511 -3.93334 0 0.00674109 -0.00113866 0.995494 0.0945762 uwb: 0.0 1231.86 867.483 -imu_odom_: 1691062496.231060122 0.107739 -0.169988 10.3741 -0.0735032 -0.0340885 0.0585895 0.1 0 pose: 0.0 1.22511 -3.93334 0 0.00674109 -0.00113866 0.995494 0.0945762 uwb: 0.50014505 1231.71 867.565 -imu_odom_: 1691062496.256032816 0.512359 -0.452504 9.75398 -0.0511327 -0.0298274 0.0234358 0.1 0 pose: 0.38973956 1.22511 -3.93334 0 0.00259345 -0.0009308720.995493 0.0947944 uwb: 0.0 1231.71 867.565 -imu_odom_: 1691062496.277036604 -0.0311246 -0.0574608 9.69173 -0.0553937 0.0447411 0.0468716 0.12 0 pose: 0.0 1.22511 -3.93334 0 0.00259345 -0.0009308720.995493 0.0947944 uwb: 0.0 1231.71 867.565 -imu_odom_: 1691062496.290054753 0.00957681 -0.174777 10.5417 -0.0639159 -0.00319579 0.0468716 0.12 0 pose: 0.47993743 1.21542 -3.9358 0 0.00148851 -0.00275511 0.995491 0.094809 uwb: 0.50265606 1231.11 866.84 -imu_odom_: 1691062496.305115245 0.339977 -0.196325 10.1203 -0.0649811 -0.0372843 0.0394148 0.12 0 pose: 0.0 1.21542 -3.9358 0 0.00148851 -0.00275511 0.995491 0.094809 uwb: 0.0 1231.11 866.84 -imu_odom_: 1691062496.331025848 0.356736 -0.476446 9.88087 -0.0639159 0.00319579 0.0394148 0.17 0 pose: 0.43077889 1.21542 -3.9358 0 -0.00194173 -0.0004415730.995504 0.0947013 uwb: 0.49850605 1231.31 867.528 -imu_odom_: 1691062496.353033746 0.304064 -0.124498 9.72046 -0.0426106 -0.0127832 0.0415453 0.17 0 pose: 0.0 1.21542 -3.9358 0 -0.00194173 -0.0004415730.995504 0.0947013 uwb: 0.0 1231.31 867.528 -imu_odom_: 1691062496.366057728 -0.244209 -0.129287 9.91199 -0.072438 0.02024 0.0596548 0.14 -0.02 pose: 0.47918501 1.20327 -3.92857 0 -0.00287474 -0.0008556150.995503 0.0946794 uwb: 0.0 1231.31 867.528 -imu_odom_: 1691062496.390028644 0.23942 -0.366313 9.83538 -0.0671117 -0.0106526 0.0351537 0.15 0.02 pose: 0.0 1.20327 -3.92857 0 -0.00287474 -0.0008556150.995503 0.0946794 uwb: 0.50097039 1231.34 867.776 -imu_odom_: 1691062496.415092037 0.960075 -0.131681 9.98861 -0.072438 -0.0884169 0.0585895 0.2 0.02 pose: 0.36994898 1.20327 -3.92857 0 -0.00568204 -0.00265845 0.995495 0.0946051 uwb: 0.0 1231.34 867.776 -imu_odom_: 1691062496.430027125 1.1133 -0.486023 9.85932 -0.056459 -0.0245011 0.0543285 0.2 0.02 pose: 0.0 1.20327 -3.92857 0 -0.00568204 -0.00265845 0.995495 0.0946051 uwb: 0.0 1231.34 867.776 -imu_odom_: 1691062496.454171566 -0.385466 -0.229843 9.28471 -0.0330232 0.0372843 0.0191748 0.14 0 pose: 0.39998481 1.19358 -3.93103 0 -0.000621866-0.00323538 0.995542 0.0942645 uwb: 0.49901933 1231.83 868.301 -imu_odom_: 1691062496.480001676 -0.0191536 -0.426168 10.2592 -0.0585895 -0.0468716 0.072438 0.14 0 pose: 0.7110141 1.19358 -3.93103 0 -0.00146444 -0.00303484 0.995535 0.0943348 uwb: 0.0 1231.83 868.301 -imu_odom_: 1691062496.504061250 0.447716 -0.177171 10.3022 -0.0351537 0.0213053 0.0319579 0.15 0 pose: 0.25044145 1.19358 -3.93103 0 -0.00407741 -0.00282811 0.995525 0.0943703 uwb: 0.49949761 1232.23 869.146 -imu_odom_: 1691062496.527051387 0.502782 -0.186748 9.69412 -0.0553937 0.0287621 0.0479369 0.15 0 pose: 0.24852830 1.18142 -3.92381 0 -0.00489311 -0.00297325 0.995546 0.0941022 uwb: 0.0 1232.23 869.146 -imu_odom_: 1691062496.544995014 0.0287304 -0.399832 10.2424 -0.0490022 -0.0170442 0.052198 0.16 0 pose: 0.0 1.18142 -3.92381 0 -0.00489311 -0.00297325 0.995546 0.0941022 uwb: 0.50028504 1232.06 869.511 -imu_odom_: 1691062496.568061269 0.213084 -0.299275 9.75398 -0.0553937 0.0149137 0.0447411 0.16 0 pose: 0.0 1.18142 -3.92381 0 -0.00489311 -0.00297325 0.995546 0.0941022 uwb: 0.0 1232.06 869.511 -imu_odom_: 1691062496.585076029 0.351948 -0.246603 9.52174 -0.0596548 -0.0213053 0.0617853 0.15 0 pose: 0.66033612 1.17173 -3.92628 0 -0.0042796 -0.00188204 0.995567 0.0939409 uwb: 0.50044253 1232.95 871.405 -imu_odom_: 1691062496.610001768 -0.011971 -0.299275 9.91678 -0.052198 0.00958738 0.0255663 0.15 0 pose: 0.0 1.17173 -3.92628 0 -0.0042796 -0.00188204 0.995567 0.0939409 uwb: 0.0 1232.95 871.405 -imu_odom_: 1691062496.636043316 0.0047884 -0.287304 9.92397 -0.0500674 -0.0106526 0.0479369 0.15 0 pose: 0.40980719 1.17173 -3.92628 0 -0.00505101 -0.00185661 0.995579 0.0937748 uwb: 0.50067875 1233.13 872.366 -imu_odom_: 1691062496.659013913 0.0670376 -0.339977 9.56962 -0.0308927 0.0213053 0.0266316 0.17 0 pose: 0.0 1.17173 -3.92628 0 -0.00505101 -0.00185661 0.995579 0.0937748 uwb: 0.0 1233.13 872.366 -imu_odom_: 1691062496.683005827 0.143652 -0.0023942 9.991 -0.04048 0.056459 0.0649811 0.17 0 pose: 0.49012436 1.15956 -3.91908 0 -0.0100166 -0.00192401 0.995537 0.0938143 uwb: 0.49970176 1232.79 872.288 -imu_odom_: 1691062496.701004866 0.148441 -0.577003 9.22725 -0.0681769 -0.00106526 0.0490022 0.17 0 pose: 0.0 1.15956 -3.91908 0 -0.0100166 -0.00192401 0.995537 0.0938143 uwb: 0.0 1232.79 872.288 -imu_odom_: 1691062496.725063565 0.560243 -0.126893 9.71806 -0.0479369 -0.0138484 0.0426106 0.23 0 pose: 0.48002201 1.14987 -3.92155 0 -0.0126339 -0.0004275050.995533 0.0935635 uwb: 0.0 1232.79 872.288 -imu_odom_: 1691062496.750996915 0.572214 -0.445322 10.0269 -0.0553937 -0.0106526 0.0415453 0.2 0 pose: 0.34000356 1.14987 -3.92155 0 -0.0103641 -0.0008156450.995566 0.0934913 uwb: 0.49897850 1232.15 872.109 -imu_odom_: 1691062496.776105512 0.383072 -0.217872 9.92636 -0.056459 -0.00745685 0.0639159 0.2 0 pose: 0.0 1.14987 -3.92155 0 -0.0103641 -0.0008156450.995566 0.0934913 uwb: 0.0 1232.15 872.109 -imu_odom_: 1691062496.800976133 0.227449 -0.215478 9.88326 -0.0628506 -0.0479369 0.0319579 0.18 0 pose: 0.7939852 1.14987 -3.92155 0 -0.00967317 -0.00125149 0.995573 0.0934891 uwb: 0.50095289 1231.37 872.542 -imu_odom_: 1691062496.813977075 -0.0957681 -0.138864 9.52892 -0.0511327 -0.0106526 0.0351537 0.18 0 pose: 0.0 1.14987 -3.92155 0 -0.00967317 -0.00125149 0.995573 0.0934891 uwb: 0.0 1231.37 872.542 -imu_odom_: 1691062496.838109559 0.0814029 -0.169988 10.2448 -0.0575243 -0.00852212 0.052198 0.17 0 pose: 0.51037864 1.1377 -3.91435 0 -0.00614593 -0.00110664 0.995627 0.0932065 uwb: 0.49863437 1230.88 872.545 -imu_odom_: 1691062496.863974665 0.0909797 0.11971 10.0556 -0.0458064 0.00639159 0.0447411 0.17 0 pose: 0.0 1.1377 -3.91435 0 -0.00614593 -0.00110664 0.995627 0.0932065 uwb: 0.0 1230.88 872.545 -imu_odom_: 1691062496.876993106 0.392649 -0.172383 9.65821 -0.0756338 -0.0127832 0.0713727 0.17 -0.02 pose: 0.37939515 1.12801 -3.91684 0 -0.00905859 0.000562526 0.995603 0.0932324 uwb: 0.0 1230.88 872.545 -imu_odom_: 1691062496.892961468 0.0909797 -0.335188 9.67736 -0.0649811 -0.02024 0.0543285 0.17 -0.02 pose: 0.0 1.12801 -3.91684 0 -0.00905859 0.000562526 0.995603 0.0932324 uwb: 0.50017422 1231.04 873.769 -imu_odom_: 1691062496.917987240 0.794875 -0.205901 9.76834 -0.0617853 -0.052198 0.0479369 0.17 -0.02 pose: 0.0 1.12801 -3.91684 0 -0.00905859 0.000562526 0.995603 0.0932324 uwb: 0.0 1231.04 873.769 -imu_odom_: 1691062496.943038092 0.354342 -0.500388 9.54089 -0.0628506 0.00106526 0.0330232 0.24 0 pose: 0.48058196 1.11833 -3.91933 0 -0.0105237 0.00375254 0.99561 0.0929346 uwb: 0.50014797 1231.21 874.465 -imu_odom_: 1691062496.968023910 0.251391 -0.320823 10.1754 -0.0468716 0.0245011 0.0585895 0.19 0 pose: 0.72999100 1.10615 -3.91215 0 -0.00718364 -0.0007032550.995666 0.0927157 uwb: 0.0 1231.21 874.465 -imu_odom_: 1691062496.981084055 0.428562 -0.612916 9.91918 -0.0692422 -0.00426106 0.0649811 0.19 0 pose: 0.0 1.10615 -3.91215 0 -0.00718364 -0.0007032550.995666 0.0927157 uwb: 0.0 1231.21 874.465 -imu_odom_: 1691062497.5193791 0.768539 -0.148441 9.91918 -0.0532632 -0.0308927 0.0415453 0.19 0 pose: 0.0 1.10615 -3.91215 0 -0.00718364 -0.0007032550.995666 0.0927157 uwb: 0.49992049 1231.31 875.45 -imu_odom_: 1691062497.29030270 0.787692 -0.454898 10.0916 -0.0649811 -0.0255663 0.0553937 0.17 0 pose: 0.8119793 1.10615 -3.91215 0 -0.00746489 -0.00145186 0.99567 0.0926445 uwb: 0.0 1231.31 875.45 -imu_odom_: 1691062497.54191953 0.773327 -0.167594 10.3621 -0.0585895 -0.0585895 0.0500674 0.24 0 pose: 0.37849398 1.09647 -3.91465 0 -0.00666207 -0.00412343 0.995697 0.0923363 uwb: 0.50043678 1230.94 876.166 -imu_odom_: 1691062497.79163779 0.562637 -0.244209 10.2017 -0.0735032 -0.02024 0.036219 0.24 0 pose: 0.0 1.09647 -3.91465 0 -0.00666207 -0.00412343 0.995697 0.0923363 uwb: 0.0 1230.94 876.166 -imu_odom_: 1691062497.95972356 0.447716 -0.318429 9.3302 -0.0468716 0.0106526 0.0319579 0.19 0.02 pose: 0.48037209 1.09396 -3.90497 0 -0.00144844 -0.00468696 0.995737 0.0921092 uwb: 0.49918281 1230.93 876.692 -imu_odom_: 1691062497.122074865 0.148441 -0.205901 9.8282 -0.0617853 0.0490022 0.0436758 0.19 0.02 pose: 0.0 1.09396 -3.90497 0 -0.00144844 -0.00468696 0.995737 0.0921092 uwb: 0.0 1230.93 876.692 -imu_odom_: 1691062497.146976407 0.220267 -0.277727 9.6223 -0.052198 -0.00852212 0.0479369 0.23 0.02 pose: 0.49995273 1.08428 -3.90748 0 0.0027459 -0.00445259 0.995736 0.0921022 uwb: 0.50029395 1231.22 878.09 -imu_odom_: 1691062497.171019948 0.272939 -0.320823 10.0317 -0.0500674 -0.00958738 0.0458064 0.23 0.02 pose: 0.0 1.08428 -3.90748 0 0.0027459 -0.00445259 0.995736 0.0921022 uwb: 0.0 1231.22 878.09 -imu_odom_: 1691062497.188004092 0.823605 -0.335188 9.94551 -0.0340885 -0.0607201 0.0383495 0.18 0.02 pose: 0.42959206 1.0746 -3.91 0 -0.00166686 -0.003942 0.995746 0.0920364 uwb: 0.49988857 1230.72 878.354 -imu_odom_: 1691062497.209993624 0.603339 -0.296881 9.95748 -0.0543285 -0.0458064 0.0436758 0.18 0.02 pose: 0.0 1.0746 -3.91 0 -0.00166686 -0.003942 0.995746 0.0920364 uwb: 0.0 1230.72 878.354 -imu_odom_: 1691062497.230937925 0.0335188 -0.0215478 9.39006 -0.0426106 -0.00745685 0.0383495 0.17 0.02 pose: 0.49005744 1.06241 -3.90283 0 -0.00450882 -0.004293 0.99575 0.0918853 uwb: 0.50003439 1230.64 878.911 -imu_odom_: 1691062497.243942080 0.426168 -0.263362 10.1131 -0.0735032 -0.00745685 0.0649811 0.17 0.02 pose: 0.0 1.06241 -3.90283 0 -0.00450882 -0.004293 0.99575 0.0918853 uwb: 0.0 1230.64 878.911 -imu_odom_: 1691062497.267967832 0.363919 -0.335188 10.1203 -0.0575243 0.0181095 0.036219 0.17 0 pose: 0.36938040 1.06241 -3.90283 0 -0.00112969 -0.00406699 0.995763 0.0918599 uwb: 0.0 1230.64 878.911 -imu_odom_: 1691062497.285103627 0.21069 -0.215478 9.74679 -0.0490022 0.00319579 0.0500674 0.17 0 pose: 0.0 1.06241 -3.90283 0 -0.00112969 -0.00406699 0.995763 0.0918599 uwb: 0.49785293 1230.26 879.62 -imu_odom_: 1691062497.310085953 0.0885855 -0.167594 9.52653 -0.036219 -0.00958738 0.0383495 0.18 -0.02 pose: 0.36091706 1.05273 -3.90535 0 -0.00138339 -0.00361326 0.995778 0.0917155 uwb: 0.0 1230.26 879.62 -imu_odom_: 1691062497.337084957 0.457293 -0.497994 9.20092 -0.0905475 -0.0191748 0.0628506 0.18 -0.02 pose: 0.0 1.05273 -3.90535 0 -0.00138339 -0.00361326 0.995778 0.0917155 uwb: 0.0 1230.26 879.62 -imu_odom_: 1691062497.362100530 0.272939 -0.459687 9.35654 -0.056459 0.0447411 0.0458064 0.18 -0.02 pose: 0.41959762 1.04054 -3.89819 0 -0.00446771 -0.00334929 0.995776 0.0916437 uwb: 0.0 1230.26 879.62 -imu_odom_: 1691062497.388082592 0.047884 -0.40462 10.2065 -0.0639159 -0.0234358 0.0585895 0.18 -0.02 pose: 0.0 1.04054 -3.89819 0 -0.00446771 -0.00334929 0.995776 0.0916437 uwb: 0.100068414 1230.3 880.365 -imu_odom_: 1691062497.410058417 0.37589 -0.318429 10.0173 -0.0511327 0.0468716 0.0394148 0.19 0 pose: 0.52151938 1.03086 -3.90071 0 -0.00497668 -0.00599317 0.995791 0.0913191 uwb: 0.0 1230.3 880.365 -imu_odom_: 1691062497.427058018 0.512359 -0.42138 9.85453 -0.0735032 -0.0234358 0.056459 0.19 0 pose: 0.0 1.03086 -3.90071 0 -0.00497668 -0.00599317 0.995791 0.0913191 uwb: 0.0 1230.3 880.365 -imu_odom_: 1691062497.450908495 0.761356 -0.423774 9.68933 -0.0575243 0.00639159 0.0447411 0.18 0 pose: 0.48800723 1.01866 -3.89357 0 -0.00800503 -0.00731936 0.995791 0.0910093 uwb: 0.49995273 1230.15 881.717 -imu_odom_: 1691062497.474962827 0.715866 -0.397437 9.31584 -0.0692422 -0.0319579 0.056459 0.18 0 pose: 0.0 1.01866 -3.89357 0 -0.00800503 -0.00731936 0.995791 0.0910093 uwb: 0.0 1230.15 881.717 -imu_odom_: 1691062497.493033032 0.268151 -0.0502782 9.89524 -0.052198 0.00639159 0.0394148 0.23 0.02 pose: 0.38995840 1.01866 -3.89357 0 -0.00459727 -0.00763899 0.995822 0.0908801 uwb: 0.50109887 1229.7 883.215 -imu_odom_: 1691062497.517050034 0.385466 -0.225055 9.87608 -0.0884169 0.00639159 0.0660464 0.23 0.02 pose: 0.0 1.01866 -3.89357 0 -0.00459727 -0.00763899 0.995822 0.0908801 uwb: 0.0 1229.7 883.215 -imu_odom_: 1691062497.540031429 0.514753 -0.205901 10.1562 -0.0671117 0.0340885 0.036219 0.23 0 pose: 0.48976581 1.00898 -3.8961 0 -0.00063723 -0.00786524 0.99585 0.0906657 uwb: 0.49882118 1229.48 884.832 -imu_odom_: 1691062497.566029823 0.37589 -0.651223 9.55047 -0.0607201 0.0191748 0.0575243 0.23 0 pose: 0.0 1.00898 -3.8961 0 -0.00063723 -0.00786524 0.99585 0.0906657 uwb: 0.0 1229.48 884.832 -imu_odom_: 1691062497.578898949 -0.035913 -0.591368 9.44273 -0.0394148 0.0298274 0.0340885 0.18 0 pose: 0.42002049 0.99677 -3.88897 0 -0.000661379-0.00443891 0.995899 0.0903643 uwb: 0.0 1229.48 884.832 -imu_odom_: 1691062497.593896160 0.368707 -0.155623 10.0628 -0.0298274 -0.0287621 0.0415453 0.18 0 pose: 0.0 0.99677 -3.88897 0 -0.000661379-0.00443891 0.995899 0.0903643 uwb: 0.49969025 1229.72 886.213 -imu_odom_: 1691062497.618949645 0.768539 -0.282516 10.1275 -0.0415453 -0.0383495 0.0447411 0.25 0 pose: 0.46991689 0.99677 -3.88897 0 -0.00116586 -0.0064127 0.995905 0.0901748 uwb: 0.0 1229.72 886.213 -imu_odom_: 1691062497.642071901 0.445322 -0.349553 9.73722 -0.0351537 -0.0149137 0.0436758 0.25 0 pose: 0.0 0.99677 -3.88897 0 -0.00116586 -0.0064127 0.995905 0.0901748 uwb: 0.50004314 1229.34 887.148 -imu_odom_: 1691062497.659972373 0.0454898 -0.0550666 10.2759 -0.0490022 0.0245011 0.0585895 0.18 0.02 pose: 0.70158858 0.979278 -3.88697 0 0.00169182 -0.00692568 0.99591 0.0900686 uwb: 0.0 1229.34 887.148 -imu_odom_: 1691062497.675904576 0.665588 -0.244209 9.98143 -0.0447411 -0.0585895 0.0458064 0.18 0.02 pose: 0.9057121 0.97488 -3.8844 0 0.000884934 -0.00628625 0.995923 0.0899805 uwb: 0.0 1229.34 887.148 -imu_odom_: 1691062497.701958965 0.754174 -0.438139 9.90481 -0.0692422 -0.00426106 0.0458064 0.18 0 pose: 0.0 0.97488 -3.8844 0 0.000884934 -0.00628625 0.995923 0.0899805 uwb: 0.49997607 1228.92 887.85 -imu_odom_: 1691062497.725952636 0.500388 -0.0574608 10.4052 -0.0266316 -0.0415453 0.0319579 0.18 0 pose: 0.24775554 0.97488 -3.8844 0 0.0020895 -0.00526168 0.995939 0.0898512 uwb: 0.0 1228.92 887.85 -imu_odom_: 1691062497.751081656 0.438139 -0.208296 10.1299 -0.0511327 -0.0575243 0.0490022 0.18 0 pose: 0.50048060 0.965212 -3.88696 0 0.00503666 -0.00395272 0.995932 0.0898783 uwb: 0.50019770 1228.74 888.437 -imu_odom_: 1691062497.774020471 0.483629 -0.0957681 10.0437 -0.0319579 -0.036219 0.0436758 0.18 0 pose: 0.0 0.965212 -3.88696 0 0.00503666 -0.00395272 0.995932 0.0898783 uwb: 0.0 1228.74 888.437 -imu_odom_: 1691062497.798893432 0.505177 -0.258574 9.663 -0.0436758 -0.0415453 0.0490022 0.19 0 pose: 0.48067835 0.953839 -3.88307 0 0.00466307 0.000531987 0.995956 0.0897236 uwb: 0.50158883 1228.36 889.115 -imu_odom_: 1691062497.815929779 0.318429 0.179565 10.2304 -0.0287621 -0.00532632 0.0372843 0.19 0 pose: 0.0 0.953839 -3.88307 0 0.00466307 0.000531987 0.995956 0.0897236 uwb: 0.0 1228.36 889.115 -imu_odom_: 1691062497.840957309 0.600945 -0.25618 9.84496 -0.0500674 -0.0426106 0.0511327 0.18 -0.02 pose: 0.41909308 0.947931 -3.88119 0 0.00492042 -3.66996e-060.995964 0.0896208 uwb: 0.50015688 1228.28 890.138 -imu_odom_: 1691062497.865946634 0.658405 -0.265756 10.0197 -0.0607201 -0.0543285 0.0617853 0.18 -0.02 pose: 0.0 0.947931 -3.88119 0 0.00492042 -3.66996e-060.995964 0.0896208 uwb: 0.0 1228.28 890.138 -imu_odom_: 1691062497.889049058 0.208296 -0.153229 9.51695 -0.052198 -0.00852212 0.0500674 0.18 0.02 pose: 0.50016855 0.936379 -3.88425 0 0.0104155 -0.00249208 0.995958 0.0891848 uwb: 0.50032311 1228.57 891.467 -imu_odom_: 1691062497.913876815 0.0933739 -0.143652 10.2208 -0.0607201 0.00106526 0.04048 0.18 0.02 pose: 0.0 0.936379 -3.88425 0 0.0104155 -0.00249208 0.995958 0.0891848 uwb: 0.0 1228.57 891.467 -imu_odom_: 1691062497.929990710 0.727837 -0.301669 9.85453 -0.0639159 -0.0181095 0.0447411 0.21 -0.02 pose: 0.30967036 0.931085 -3.87531 0 0.00749077 -0.00154819 0.995996 0.0890653 uwb: 0.0 1228.57 891.467 -imu_odom_: 1691062497.955019406 0.574608 -0.246603 10.4315 -0.0660464 -0.0266316 0.0639159 0.21 -0.02 pose: 0.0 0.931085 -3.87531 0 0.00749077 -0.00154819 0.995996 0.0890653 uwb: 0.49658139 1228.25 892.108 -imu_odom_: 1691062497.979894700 0.126893 -0.0454898 10.4986 -0.0681769 -0.052198 0.0553937 0.2 0 pose: 0.24060457 0.931085 -3.87531 0 0.00650105 -0.00145814 0.996006 0.0890407 uwb: 0.0 1228.25 892.108 -imu_odom_: 1691062498.2869679 0.711078 -0.277727 9.94073 -0.0660464 0.00958738 0.04048 0.2 0 pose: 0.0 0.931085 -3.87531 0 0.00650105 -0.00145814 0.996006 0.0890407 uwb: 0.49938695 1228.07 893.166 -imu_odom_: 1691062498.27870969 0.59855 -0.122104 9.96227 -0.0383495 -0.036219 0.0276969 0.19 0 pose: 0.40985106 0.921422 -3.87788 0 0.00941548 -0.0029343 0.996014 0.0886537 uwb: 0.0 1228.07 893.166 -imu_odom_: 1691062498.43905834 0.059855 -0.110133 9.05727 -0.0532632 -0.1012 0.0553937 0.19 0 pose: 0.0 0.921422 -3.87788 0 0.00941548 -0.0029343 0.996014 0.0886537 uwb: 0.50144018 1227.36 892.771 -imu_odom_: 1691062498.68852588 1.82917 -0.186748 9.59357 -0.0788296 -0.0980043 0.0319579 0.18 0 pose: 0.48946252 0.909178 -3.8708 0 0.010415 -0.00219299 0.996014 0.0885601 uwb: 0.0 1227.36 892.771 -imu_odom_: 1691062498.84865872 0.328006 0.160412 11.3916 -0.052198 -0.0245011 0.0671117 0.18 0 pose: 0.0 0.909178 -3.8708 0 0.010415 -0.00219299 0.996014 0.0885601 uwb: 0.49917421 1227.15 893.835 -imu_odom_: 1691062498.109868037 0.23942 -0.23942 9.97903 -0.0703074 0.02024 0.0383495 0.19 0 pose: 0.73960387 0.89445 -3.87473 0 0.0126631 0.000607443 0.996 0.088444 uwb: 0.0 1227.15 893.835 -imu_odom_: 1691062498.134862911 0.567426 0.114922 10.568 -0.0703074 0.0213053 0.0308927 0.19 0 pose: 0.8140796 0.889856 -3.87596 0 0.0117454 0.00051229 0.996011 0.0884505 uwb: 0.50068199 1226.78 895.214 -imu_odom_: 1691062498.157876977 0.993594 -0.220267 10.2615 -0.072438 -0.015979 0.0383495 0.19 0 pose: 0.41856243 0.88803 -3.86913 0 0.00940452 0.00265974 0.99602 0.088598 uwb: 0.0 1226.78 895.214 -imu_odom_: 1691062498.173914175 0.519542 -0.670376 9.19613 -0.0468716 -0.0308927 0.0234358 0.19 0 pose: 0.0 0.88803 -3.86913 0 0.00940452 0.00265974 0.99602 0.088598 uwb: 0.0 1226.78 895.214 -imu_odom_: 1691062498.198968544 0.150835 -0.174777 9.65342 -0.0585895 -0.00745685 0.0500674 0.25 0.02 pose: 0.39051264 0.877613 -3.86888 0 0.0115267 0.000330223 0.995991 0.0887124 uwb: 0.50056533 1226.36 895.649 -imu_odom_: 1691062498.222922852 0.217872 -0.308852 10.1442 -0.052198 -0.0127832 0.0394148 0.25 0.02 pose: 0.0 0.877613 -3.86888 0 0.0115267 0.000330223 0.995991 0.0887124 uwb: 0.0 1226.36 895.649 -imu_odom_: 1691062498.245848842 0.292093 -0.265756 10.331 -0.0458064 0.00426106 0.0468716 0.18 0.02 pose: 0.49008677 0.870661 -3.87074 0 0.00685044 5.65006e-05 0.996045 0.0885882 uwb: 0.49930837 1227.17 897.192 -imu_odom_: 1691062498.271853369 0.213084 -0.459687 10.0149 -0.0628506 -0.0127832 0.0490022 0.22 0 pose: 0.0 0.870661 -3.87074 0 0.00685044 5.65006e-05 0.996045 0.0885882 uwb: 0.0 1227.17 897.192 -imu_odom_: 1691062498.285864555 0.790087 -0.258574 10.1347 -0.0479369 -0.0255663 0.0415453 0.22 0 pose: 0.30951881 0.86537 -3.8618 0 0.00388887 -0.0007133220.996072 0.0884633 uwb: 0.50027661 1226.92 898.493 -imu_odom_: 1691062498.301835260 0.241814 -0.19393 9.7851 -0.0255663 0.0894822 0.036219 0.22 0 pose: 0.0 0.86537 -3.8618 0 0.00388887 -0.0007133220.996072 0.0884633 uwb: 0.0 1226.92 898.493 -imu_odom_: 1691062498.326923750 0.220267 -0.237026 9.79468 -0.076699 0.0319579 0.0660464 0.18 -0.02 pose: 0.47960527 0.85571 -3.86438 0 0.00181224 -0.00121859 0.996084 0.0883885 uwb: 0.0 1226.92 898.493 -imu_odom_: 1691062498.350834312 0.517148 -0.107739 9.84256 -0.0532632 -0.00319579 0.04048 0.18 -0.02 pose: 0.7098188 0.85571 -3.86438 0 0.000969053 -0.00122647 0.996093 0.0882946 uwb: 0.49977791 1226.91 899.921 -imu_odom_: 1691062498.375906470 0.581791 -0.191536 9.90242 -0.0639159 -0.00958738 0.056459 0.23 0.02 pose: 0.41900864 0.84605 -3.86697 0 0.000663716 0.000305226 0.996116 0.0880462 uwb: 0.0 1226.91 899.921 -imu_odom_: 1691062498.398831878 0.126893 0.011971 10.2208 -0.0543285 -0.00852212 0.0415453 0.23 0.02 pose: 0.0 0.84605 -3.86697 0 0.000663716 0.000305226 0.996116 0.0880462 uwb: 0.50153648 1226.09 900.283 -imu_odom_: 1691062498.414829414 0.287304 -0.632069 8.99262 -0.0777643 -0.0213053 0.0543285 0.18 0 pose: 0.32080230 0.843458 -3.85731 0 0.00269138 0.000640481 0.996132 0.0878291 uwb: 0.0 1226.09 900.283 -imu_odom_: 1691062498.430837448 0.646434 -0.186748 10.635 -0.0458064 -0.00106526 0.0340885 0.18 0 pose: 0.0 0.843458 -3.85731 0 0.00269138 0.000640481 0.996132 0.0878291 uwb: 0.0 1226.09 900.283 -imu_odom_: 1691062498.454830544 0.612916 -0.25618 10.1897 -0.0607201 -0.04048 0.0490022 0.18 0 pose: 0.0 0.843458 -3.85731 0 0.00269138 0.000640481 0.996132 0.0878291 uwb: 0.49836638 1225.94 900.82 -imu_odom_: 1691062498.471886436 0.344765 -0.380678 9.33499 -0.0575243 0.0223706 0.0394148 0.18 0 pose: 0.55925757 0.8338 -3.85991 0 0.00344531 -0.0002550750.996141 0.0877041 uwb: 0.0 1225.94 900.82 -imu_odom_: 1691062498.495822662 0.567426 -0.260968 9.38527 -0.0809601 -0.0234358 0.056459 0.18 0 pose: 0.0 0.8338 -3.85991 0 0.00344531 -0.0002550750.996141 0.0877041 uwb: 0.50049242 1226.2 901.647 -imu_odom_: 1691062498.521829230 0.64404 -0.246603 10.0509 -0.0553937 -0.00213053 0.04048 0.21 0 pose: 0.41018074 0.824143 -3.8625 0 0.00452908 -0.00232366 0.996147 0.0875557 uwb: 0.0 1226.2 901.647 -imu_odom_: 1691062498.546845685 0.519542 -0.320823 9.91678 -0.0756338 -0.0340885 0.0532632 0.2 0 pose: 0.41970857 0.811886 -3.85545 0 0.00878351 -0.00280916 0.996129 0.0874179 uwb: 0.49942794 1226.07 901.939 -imu_odom_: 1691062498.563813502 0.263362 -0.107739 9.64863 -0.0447411 0.0298274 0.0383495 0.2 0 pose: 0.0 0.811886 -3.85545 0 0.00878351 -0.00280916 0.996129 0.0874179 uwb: 0.0 1226.07 901.939 -imu_odom_: 1691062498.589822403 0.612916 -0.229843 9.87369 -0.0862864 -0.0127832 0.0639159 0.2 0.02 pose: 0.33035930 0.811886 -3.85545 0 0.00653435 -0.00425261 0.996157 0.0872357 uwb: 0.50046909 1225.89 902.718 -imu_odom_: 1691062498.612810221 0.725443 -0.174777 10.2855 -0.0543285 0.02024 0.0383495 0.25 0.02 pose: 0.0 0.811886 -3.85545 0 0.00653435 -0.00425261 0.996157 0.0872357 uwb: 0.0 1225.89 902.718 -imu_odom_: 1691062498.629807202 0.466869 -0.37589 9.92636 -0.0426106 0.00106526 0.0436758 0.25 0.02 pose: 0.41967357 0.802232 -3.85806 0 0.00873048 -0.002799 0.99617 0.0869508 uwb: 0.0 1225.89 902.718 -imu_odom_: 1691062498.653998321 0.148441 -0.191536 10.3573 -0.02024 -0.0106526 0.0340885 0.25 0.02 pose: 0.0 0.802232 -3.85806 0 0.00873048 -0.002799 0.99617 0.0869508 uwb: 0.49802516 1225.75 903.71 -imu_odom_: 1691062498.681149861 0.385466 -0.208296 9.79468 -0.052198 -0.036219 0.0447411 0.2 0 pose: 0.41022157 0.789967 -3.85102 0 0.00791258 -0.00274596 0.996178 0.0869423 uwb: 0.50134692 1225.76 904.403 -imu_odom_: 1691062498.704801448 0.426168 -0.323217 9.71088 -0.0458064 0.0213053 0.0468716 0.19 0 pose: 0.43295187 0.783084 -3.85288 0 0.00428724 -0.00119554 0.996206 0.0869142 uwb: 0.0 1225.76 904.403 -imu_odom_: 1691062498.731832250 0.220267 -0.0311246 9.72764 -0.0575243 -0.0149137 0.056459 0.19 0 pose: 0.0 0.783084 -3.85288 0 0.00428724 -0.00119554 0.996206 0.0869142 uwb: 0.49981290 1225.48 905.681 -imu_odom_: 1691062498.747910570 0.80924 -0.203507 9.76355 -0.0436758 -0.0340885 0.0458064 0.19 0 pose: 0.50682389 0.771687 -3.84868 0 0.00092558 -0.0008886260.996243 0.0865917 uwb: 0.0 1225.48 905.681 -imu_odom_: 1691062498.764877220 0.687136 -0.138864 10.07 -0.0713727 -0.0213053 0.0532632 0.19 0 pose: 0.0 0.771687 -3.84868 0 0.00092558 -0.0008886260.996243 0.0865917 uwb: 0.0 1225.48 905.681 -imu_odom_: 1691062498.790954656 0.641646 -0.155623 9.46428 -0.0788296 0.04048 0.0383495 0.19 0 pose: 0.33044970 0.768046 -3.84659 0 0.00454274 -0.0005213120.996247 0.0864295 uwb: 0.50017454 1225.49 906.828 -imu_odom_: 1691062498.816792365 0.459687 -0.567426 9.31584 -0.0884169 0.04048 0.0681769 0.19 0 pose: 0.8223621 0.768046 -3.84659 0 0.00513922 -0.0003622290.996244 0.0864362 uwb: 0.0 1225.49 906.828 -imu_odom_: 1691062498.841797738 0.215478 -0.380678 9.91678 -0.0117179 0.0106526 0.0127832 0.19 0 pose: 0.43691524 0.758396 -3.84922 0 0.00517161 -0.00289524 0.996272 0.0860694 uwb: 0.49838096 1225.96 908.475 -imu_odom_: 1691062498.867843385 0.433351 -0.354342 9.64624 -0.052198 -0.0447411 0.0553937 0.19 0 pose: 0.0 0.758396 -3.84922 0 0.00517161 -0.00289524 0.996272 0.0860694 uwb: 0.0 1225.96 908.475 -imu_odom_: 1691062498.891799152 0.593762 -0.246603 10.1323 -0.0276969 -0.0479369 0.0394148 0.2 0 pose: 0.8030848 0.758396 -3.84922 0 0.00435874 -0.00294998 0.996266 0.0861727 uwb: 0.50147524 1225.63 909.297 -imu_odom_: 1691062498.916848562 0.289698 -0.294487 10.1682 -0.0340885 0.0383495 0.0383495 0.19 0 pose: 0.50099988 0.746121 -3.84219 0 0.00303976 -0.00513447 0.996262 0.0861776 uwb: 0.0 1225.63 909.297 -imu_odom_: 1691062498.932818100 0.148441 -0.237026 10.0844 -0.0596548 -0.02024 0.0543285 0.19 0 pose: 0.0 0.746121 -3.84219 0 0.00303976 -0.00513447 0.996262 0.0861776 uwb: 0.50105237 1226.05 911.183 -imu_odom_: 1691062498.958987694 0.287304 -0.248997 9.68215 -0.0511327 -0.0266316 0.0383495 0.19 0 pose: 0.0 0.746121 -3.84219 0 0.00303976 -0.00513447 0.996262 0.0861776 uwb: 0.0 1226.05 911.183 -imu_odom_: 1691062498.984864774 0.227449 -0.122104 10.1801 -0.0585895 -0.00745685 0.04048 0.19 0 pose: 0.67201374 0.736472 -3.84482 0 -0.000240861-0.00312753 0.996284 0.0860735 uwb: 0.49929670 1225.75 911.982 -imu_odom_: 1691062499.785318 0.562637 -0.28491 9.47386 -0.0575243 0.00213053 0.0394148 0.19 0 pose: 0.0 0.736472 -3.84482 0 -0.000240861-0.00312753 0.996284 0.0860735 uwb: 0.0 1225.75 911.982 -imu_odom_: 1691062499.26942670 0.596156 -0.203507 9.93594 -0.0777643 0.00426106 0.0681769 0.21 0 pose: 0.23765035 0.726824 -3.84745 0 -0.00209169 -0.00207637 0.996284 0.0860729 uwb: 0.0 1225.75 911.982 -imu_odom_: 1691062499.51870475 0.380678 -0.227449 10.1921 -0.0639159 0.00532632 0.0287621 0.19 0 pose: 0.26931936 0.724195 -3.8378 0 -0.00255443 -0.0009130230.996286 0.0860607 uwb: 0.49968175 1225.93 913.497 -imu_odom_: 1691062499.75934446 0.253785 -0.332794 9.94312 -0.076699 0.00532632 0.0511327 0.19 0 pose: 0.0 0.724195 -3.8378 0 -0.00255443 -0.0009130230.996286 0.0860607 uwb: 0.0 1225.93 913.497 -imu_odom_: 1691062499.99762774 0.538695 -0.543484 9.69173 -0.0394148 0.0298274 0.0255663 0.18 0 pose: 0.42014321 0.714548 -3.84043 0 -0.000126285-0.0009950510.996318 0.0857346 uwb: 0.50151040 1225.81 913.77 -imu_odom_: 1691062499.116764426 0.670376 -0.229843 10.2783 -0.0490022 0.0117179 0.056459 0.18 0 pose: 0.0 0.714548 -3.84043 0 -0.000126285-0.0009950510.996318 0.0857346 uwb: 0.0 1225.81 913.77 -imu_odom_: 1691062499.141825802 0.924162 -0.186748 10.7141 -0.0436758 0.00213053 0.0319579 0.27 0.02 pose: 0.48024412 0.714548 -3.84043 0 -0.00358779 -0.00269007 0.996308 0.085739 uwb: 0.49757911 1225.51 914.563 -imu_odom_: 1691062499.164806628 0.828394 -0.409408 9.31584 -0.0809601 -0.0117179 0.0585895 0.27 0.02 pose: 0.0 0.714548 -3.84043 0 -0.00358779 -0.00269007 0.996308 0.085739 uwb: 0.0 1225.51 914.563 -imu_odom_: 1691062499.190905070 0.277727 -0.296881 9.83538 -0.0340885 0.0607201 0.0266316 0.19 0 pose: 0.40915721 0.702266 -3.83342 0 -0.000752074-0.00357125 0.996309 0.0857589 uwb: 0.49977223 1225.15 915.149 -imu_odom_: 1691062499.216894731 0.457293 -0.414197 9.24401 -0.0830906 0.0234358 0.0447411 0.19 0 pose: 0.0 0.702266 -3.83342 0 -0.000752074-0.00357125 0.996309 0.0857589 uwb: 0.0 1225.15 915.149 -imu_odom_: 1691062499.232810321 0.373495 -0.301669 10.0509 -0.0426106 0.0149137 0.0383495 0.19 0 pose: 0.93118731 0.681072 -3.83173 0 0.000131186 -0.00672806 0.996297 0.0857194 uwb: 0.49991805 1224.41 915.874 -imu_odom_: 1691062499.258751278 0.430956 0.023942 10.4387 -0.0628506 -0.0255663 0.0490022 0.19 0 pose: 0.0 0.681072 -3.83173 0 0.000131186 -0.00672806 0.996297 0.0857194 uwb: 0.0 1224.41 915.874 -imu_odom_: 1691062499.283813529 0.672771 -0.0622492 10.058 -0.0372843 -0.00958738 0.0308927 0.19 0.02 pose: 0.6933123 0.680338 -3.82905 0 -0.000364374-0.00613704 0.9963 0.0857216 uwb: 0.49945435 1224.63 917.352 -imu_odom_: 1691062499.309821271 0.596156 -0.325611 9.93594 -0.0479369 0.0255663 0.0447411 0.21 0 pose: 0.41940539 0.670691 -3.83168 0 0.000380216 -0.00249671 0.996323 0.0856341 uwb: 0.0 1224.63 917.352 -imu_odom_: 1691062499.325747069 -0.0742203 -0.158017 9.89524 -0.0276969 -0.00106526 0.0372843 0.19 0 pose: 0.0 0.670691 -3.83168 0 0.000380216 -0.00249671 0.996323 0.0856341 uwb: 0.0 1224.63 917.352 -imu_odom_: 1691062499.342742597 0.531513 -0.162806 9.64145 -0.0607201 -0.00532632 0.0532632 0.19 0 pose: 0.0 0.670691 -3.83168 0 0.000380216 -0.00249671 0.996323 0.0856341 uwb: 0.49993263 1224.4 918.103 -imu_odom_: 1691062499.367903129 1.15879 -0.265756 9.68933 -0.0468716 0.0181095 0.0340885 0.18 0.02 pose: 0.51006124 0.661045 -3.83432 0 0.00303949 -0.00242592 0.996317 0.0856557 uwb: 0.0 1224.4 918.103 -imu_odom_: 1691062499.394853448 0.342371 -0.440533 9.63427 -0.0692422 0.0234358 0.0617853 0.18 0.02 pose: 0.0 0.661045 -3.83432 0 0.00303949 -0.00242592 0.996317 0.0856557 uwb: 0.50171454 1224.54 919.381 -imu_odom_: 1691062499.410749207 0.536301 -0.363919 10.0868 -0.0436758 0.0106526 0.0298274 0.19 0 pose: 0.78078931 0.648761 -3.82731 0 0.00342345 -0.00331765 0.996343 0.0853129 uwb: 0.0 1224.54 919.381 -imu_odom_: 1691062499.435788709 0.684742 -0.414197 9.67257 -0.0692422 -0.0340885 0.0703074 0.19 0 pose: 0.6939830 0.648761 -3.82731 0 0.00371021 -0.00388119 0.996337 0.0853454 uwb: 0.49947476 1224.46 920.292 -imu_odom_: 1691062499.458800157 0.699107 -0.260968 9.69412 -0.0351537 0.0266316 0.0287621 0.19 0 pose: 0.33995431 0.641836 -3.82921 0 0.00646195 -0.00628686 0.99634 0.0850047 uwb: 0.0 1224.46 920.292 -imu_odom_: 1691062499.474790115 0.304064 -0.280122 10.2927 -0.0617853 0.0234358 0.0575243 0.19 0 pose: 0.0 0.641836 -3.82921 0 0.00646195 -0.00628686 0.99634 0.0850047 uwb: 0.0 1224.46 920.292 -imu_odom_: 1691062499.490782699 0.514753 -0.344765 10.0126 -0.052198 -0.0181095 0.036219 0.25 0 pose: 0.0 0.641836 -3.82921 0 0.00646195 -0.00628686 0.99634 0.0850047 uwb: 0.49914229 1223.7 920.561 -imu_odom_: 1691062499.515776997 0.562637 -0.282516 9.94551 -0.0649811 0.00426106 0.0532632 0.25 0 pose: 0.45941237 0.636468 -3.82032 0 0.00616708 -0.00565003 0.996345 0.0850058 uwb: 0.0 1223.7 920.561 -imu_odom_: 1691062499.539719355 0.337582 -0.397437 9.34696 -0.0383495 0.0234358 0.0266316 0.2 0 pose: 0.0 0.636468 -3.82032 0 0.00616708 -0.00565003 0.996345 0.0850058 uwb: 0.49940477 1223.69 921.445 -imu_odom_: 1691062499.564767024 0.533907 -0.308852 9.95509 -0.0617853 -0.0138484 0.0490022 0.2 0 pose: 0.41012838 0.626825 -3.82297 0 0.00654898 -0.00485914 0.996356 0.0849053 uwb: 0.0 1223.69 921.445 -imu_odom_: 1691062499.587717519 0.395043 0.0047884 10.1323 -0.0490022 -0.0234358 0.036219 0.18 0.02 pose: 0.42024240 0.617183 -3.82562 0 0.00738191 -0.00541653 0.996348 0.0848977 uwb: 0.50000554 1223.92 922.679 -imu_odom_: 1691062499.612845680 0.672771 -0.234632 9.92636 -0.0777643 -0.0468716 0.0479369 0.18 0.02 pose: 0.7020614 0.617183 -3.82562 0 0.00717945 -0.00475142 0.996351 0.0849126 uwb: 0.0 1223.92 922.679 -imu_odom_: 1691062499.628713442 0.447716 -0.0095768110.0054 -0.0500674 0.0426106 0.0319579 0.22 0 pose: 0.0 0.617183 -3.82562 0 0.00717945 -0.00475142 0.996351 0.0849126 uwb: 0.0 1223.92 922.679 -imu_odom_: 1691062499.643901394 0.380678 -0.047884 9.55047 -0.0607201 0.00745685 0.0479369 0.22 0 pose: 0.47930504 0.604889 -3.81863 0 0.0092521 -0.00253775 0.996345 0.0848827 uwb: 0.49986847 1223.27 922.684 -imu_odom_: 1691062499.667847252 0.438139 -0.383072 9.40442 -0.0756338 -0.00852212 0.0372843 0.21 0 pose: 0.0 0.604889 -3.81863 0 0.0092521 -0.00253775 0.996345 0.0848827 uwb: 0.0 1223.27 922.684 -imu_odom_: 1691062499.692696314 0.399832 -0.318429 9.63187 -0.0500674 -0.0223706 0.0532632 0.21 0 pose: 0.30999136 0.604889 -3.81863 0 0.00716341 -0.00118345 0.996365 0.0848748 uwb: 0.50247864 1223.05 923.85 -imu_odom_: 1691062499.714820598 0.486023 -0.368707 9.72046 -0.0490022 -0.00426106 0.0394148 0.18 0 pose: 0.0 0.604889 -3.81863 0 0.00716341 -0.00118345 0.996365 0.0848748 uwb: 0.0 1223.05 923.85 -imu_odom_: 1691062499.737702558 0.42138 -0.229843 9.76355 -0.0628506 -0.0117179 0.0436758 0.18 0 pose: 0.47995831 0.595248 -3.82128 0 0.00401808 -0.0041823 0.99639 0.0847012 uwb: 0.49931144 1222.98 924.526 -imu_odom_: 1691062499.753768343 0.505177 -0.100556 9.65582 -0.0500674 -0.0127832 0.0287621 0.19 0 pose: 0.0 0.595248 -3.82128 0 0.00401808 -0.0041823 0.99639 0.0847012 uwb: 0.0 1222.98 924.526 -imu_odom_: 1691062499.775696645 0.251391 -0.124498 9.44991 -0.0394148 -0.00852212 0.0340885 0.19 0 pose: 0.45994316 0.582951 -3.8143 0 0.00299806 -0.00319514 0.996398 0.08469 uwb: 0.0 1222.98 924.526 -imu_odom_: 1691062499.801720428 0.158017 -0.28491 10.0365 -0.0575243 -0.0340885 0.0447411 0.18 0.02 pose: 0.0 0.582951 -3.8143 0 0.00299806 -0.00319514 0.996398 0.08469 uwb: 0.49999096 1223.08 925.791 -imu_odom_: 1691062499.818733162 0.440533 -0.0502782 9.93354 -0.0426106 0.0330232 0.0436758 0.18 0.02 pose: 0.39010447 0.57331 -3.81695 0 0.000914408 -0.0009825240.996399 0.0847806 uwb: 0.0 1223.08 925.791 -imu_odom_: 1691062499.843732127 0.761356 0.00957681 9.87369 -0.0692422 0.00958738 0.0351537 0.18 0.02 pose: 0.0 0.57331 -3.81695 0 0.000914408 -0.0009825240.996399 0.0847806 uwb: 0.49815072 1222.54 925.537 -imu_odom_: 1691062499.870814558 0.557849 -0.304064 9.73961 -0.0479369 -0.00745685 0.0372843 0.18 0.02 pose: 0.43042641 0.57331 -3.81695 0 0.000297907 0.000812824 0.996405 0.084715 uwb: 0.0 1222.54 925.537 -imu_odom_: 1691062499.895697742 0.28491 -0.332794 9.84017 -0.036219 0.0255663 0.0276969 0.18 0.02 pose: 0.44054045 0.561013 -3.80997 0 0.00354245 -0.0005054130.996394 0.0847756 uwb: 0.50025635 1222.4 926.664 -imu_odom_: 1691062499.922858040 0.861913 -0.105345 10.2304 -0.0575243 -0.00213053 0.056459 0.18 0.02 pose: 0.7923527 0.561013 -3.80997 0 0.00272103 -0.0007731050.996392 0.0848208 uwb: 0.0 1222.4 926.664 -imu_odom_: 1691062499.938698388 0.311246 -0.1652 9.8689 -0.0511327 0.0255663 0.0276969 0.19 -0.02 pose: 0.0 0.561013 -3.80997 0 0.00272103 -0.0007731050.996392 0.0848208 uwb: 0.49959725 1221.77 926.656 -imu_odom_: 1691062499.964662968 0.490811 -0.407014 9.55047 -0.0585895 -0.02024 0.0479369 0.19 -0.02 pose: 0.44119955 0.551372 -3.81262 0 0.00358878 -0.0007952940.9964 0.0846929 uwb: 0.0 1221.77 926.656 -imu_odom_: 1691062499.987677332 0.316035 -0.227449 9.74679 -0.0234358 0.00745685 0.0351537 0.19 -0.02 pose: 0.41804928 0.542405 -3.80753 0 0.00257087 -0.00269529 0.996402 0.084675 uwb: 0.0 1221.77 926.656 -imu_odom_: 1691062500.11724974 -0.0167594 -0.134075 9.33739 -0.0671117 -0.00532632 0.056459 0.19 -0.02 pose: 0.7039571 0.539075 -3.80563 0 0.00187222 -0.00235396 0.996403 0.0846893 uwb: 0.0 1221.77 926.656 -imu_odom_: 1691062500.27664484 1.01275 0.0526724 10.6015 -0.0426106 -0.092678 0.0383495 0.25 0 pose: 0.23042945 0.539075 -3.80563 0 -0.000380866-0.0013888 0.996409 0.0846612 uwb: 0.0 1221.77 926.656 -imu_odom_: 1691062500.43701110 1.36948 -0.28491 9.31823 -0.0479369 -0.0745685 0.0756338 0.25 0 pose: 0.0 0.539075 -3.80563 0 -0.000380866-0.0013888 0.996409 0.0846612 uwb: 0.99986535 1221.64 927.556 -imu_odom_: 1691062500.59710321 0.988805 -0.445322 9.07881 -0.0511327 0.0575243 0.113983 0.18 0.2 pose: 0.23930406 0.529435 -3.80829 0 -0.00101731 -0.00068337 0.996421 0.0845203 uwb: 0.0 1221.64 927.556 -imu_odom_: 1691062500.75709617 1.36469 -0.258574 10.3573 -0.0458064 -0.015979 0.171508 0.18 0.2 pose: 0.0 0.529435 -3.80829 0 -0.00101731 -0.00068337 0.996421 0.0845203 uwb: 0.0 1221.64 927.556 -imu_odom_: 1691062500.91728452 1.23541 -0.588974 9.50019 -0.0735032 -0.00745685 0.298274 0.18 0.2 pose: 0.0 0.529435 -3.80829 0 -0.00101731 -0.00068337 0.996421 0.0845203 uwb: 0.50042274 1221.53 928.661 -imu_odom_: 1691062500.107712291 1.86508 -0.577003 9.97424 -0.0628506 0.056459 0.379234 0.13 0.32 pose: 0.73052562 0.518419 -3.8057 0 0.00640219 -0.00233749 0.996729 0.0805247 uwb: 0.0 1221.53 928.661 -imu_odom_: 1691062500.123701963 1.2378 -0.675165 9.94791 -0.0468716 0.0149137 0.428236 0.13 0.32 pose: 0.0 0.518419 -3.8057 0 0.00640219 -0.00233749 0.996729 0.0805247 uwb: 0.0 1221.53 928.661 -imu_odom_: 1691062500.140648209 1.08457 -0.102951 9.57441 -0.0436758 -0.00532632 0.432497 0.13 0.32 pose: 0.0 0.518419 -3.8057 0 0.00640219 -0.00233749 0.996729 0.0805247 uwb: 0.50002320 1221.34 929.786 -imu_odom_: 1691062500.156646630 1.04387 -0.047884 9.85693 -0.0458064 0.00426106 0.448476 0.14 0.55 pose: 0.7987399 0.517191 -3.8012 0 0.00691407 -0.00260877 0.996833 0.079173 uwb: 0.0 1221.34 929.786 -imu_odom_: 1691062500.173692617 0.452504 -0.11971 9.61272 -0.0671117 0.0255663 0.52198 0.09 0.47 pose: 0.0 0.517191 -3.8012 0 0.00691407 -0.00260877 0.996833 0.079173 uwb: 0.0 1221.34 929.786 -imu_odom_: 1691062500.190717022 0.773327 -0.641646 10.3645 -0.0585895 0 0.591222 0.09 0.47 pose: 0.64996046 0.507521 -3.80375 0 0.0108845 -0.00216025 0.997744 0.066217 uwb: 0.49960907 1220.88 930.357 -imu_odom_: 1691062500.206650116 0.663194 -0.368707 9.72285 -0.0319579 -0.00319579 0.609331 0.09 0.53 pose: 0.0 0.507521 -3.80375 0 0.0108845 -0.00216025 0.997744 0.066217 uwb: 0.0 1220.88 930.357 -imu_odom_: 1691062500.223712726 0.960075 -0.31364 10.2615 -0.0490022 0.00745685 0.621049 0.09 0.53 pose: 0.0 0.507521 -3.80375 0 0.0108845 -0.00216025 0.997744 0.066217 uwb: 0.0 1220.88 930.357 -imu_odom_: 1691062500.239772683 0.682347 0.124498 9.97185 -0.052198 0.00426106 0.629571 0.09 0.53 pose: 0.33949070 0.507521 -3.80375 0 0.0108644 -0.00398994 0.998302 0.0570932 uwb: 0.50289875 1220.87 931.206 -imu_odom_: 1691062500.265704024 0.684742 -0.306458 10.137 -0.0500674 0.00958738 0.607201 0.1 0.73 pose: 0.41111716 0.507509 -3.80372 0 0.0128442 -0.00326026 0.998892 0.0451539 uwb: 0.0 1220.87 931.206 -imu_odom_: 1691062500.282712681 0.00718261 -0.114922 9.88805 -0.0575243 0.0756338 0.600809 0.1 0.73 pose: 0.7948611 0.507521 -3.80375 0 0.0131411 -0.00397632 0.998985 0.0428922 uwb: 0.50050440 1220.66 932.117 -imu_odom_: 1691062500.298636443 -0.59855 -0.354342 10.3166 -0.0681769 0.0884169 0.558199 0.11 0.64 pose: 0.0 0.507521 -3.80375 0 0.0131411 -0.00397632 0.998985 0.0428922 uwb: 0.0 1220.66 932.117 -imu_odom_: 1691062500.314636030 -0.88346 0.0143652 10.2185 -0.0394148 -0.0106526 0.462325 0.1 0.38 pose: 0.50915149 0.502167 -3.80514 0 0.00913942 -0.00523707 0.999527 0.0288786 uwb: 0.0 1220.66 932.117 -imu_odom_: 1691062500.330646408 -0.332794 -0.0981623 9.92875 -0.0585895 -0.0468716 0.393083 0.11 0.41 pose: 0.0 0.502167 -3.80514 0 0.00913942 -0.00523707 0.999527 0.0288786 uwb: 0.0 1220.66 932.117 -imu_odom_: 1691062500.347709602 0.581791 -0.222661 10.4004 -0.0511327 -0.0884169 0.354733 0.11 0.41 pose: 0.0 0.502167 -3.80514 0 0.00913942 -0.00523707 0.999527 0.0288786 uwb: 0.49862625 1220.23 932.668 -imu_odom_: 1691062500.364650890 0.442927 -0.134075 9.79228 -0.056459 0.00958738 0.328101 0.15 0.44 pose: 0.23069491 0.497871 -3.80637 0 0.00708441 -0.00459522 0.99967 0.024241 uwb: 0.0 1220.23 932.668 -imu_odom_: 1691062500.380707347 0.610521 -0.268151 10.2065 -0.052198 0.0447411 0.329167 0.15 0.44 pose: 0.0 0.497871 -3.80637 0 0.00708441 -0.00459522 0.99967 0.024241 uwb: 0.49791756 1220.07 932.929 -imu_odom_: 1691062500.396688561 0.0502782 -0.308852 9.77074 -0.0426106 0.0127832 0.316384 0.15 0.44 pose: 0.33064239 0.497871 -3.80637 0 0.00748046 -0.00239904 0.999789 0.0189649 uwb: 0.0 1220.07 932.929 -imu_odom_: 1691062500.413701009 0.227449 -0.280122 10.1634 -0.056459 -0.0276969 0.317449 0.12 0.23 pose: 0.41918388 0.486854 -3.80378 0 0.00617104 -0.00221814 0.999894 0.0130026 uwb: 0.0 1220.07 932.929 -imu_odom_: 1691062500.430626258 0.296881 -0.158017 9.86411 -0.0649811 -0.0245011 0.295078 0.12 0.23 pose: 0.7945403 0.485603 -3.7993 0 0.00546805 -0.00227974 0.999912 0.0118967 uwb: 0.49942826 1219.88 934.45 -imu_odom_: 1691062500.446645968 0.562637 -0.241814 10.1155 -0.0330232 -0.015979 0.264186 0.12 0.23 pose: 0.0 0.485603 -3.7993 0 0.00546805 -0.00227974 0.999912 0.0118967 uwb: 0.0 1219.88 934.45 -imu_odom_: 1691062500.462635057 0.481235 -0.0383072 9.79468 -0.0490022 -0.0319579 0.273773 0.18 0.29 pose: 0.42012004 0.485603 -3.7993 0 0.00502589 -0.0014035 0.999964 0.00667579 uwb: 0.0 1219.88 934.45 -imu_odom_: 1691062500.478627353 0.19393 -0.19393 10.2089 -0.0543285 -0.0181095 0.264186 0.13 0.17 pose: 0.0 0.485603 -3.7993 0 0.00502589 -0.0014035 0.999964 0.00667579 uwb: 0.0 1219.88 934.45 -imu_odom_: 1691062500.494631315 0.474052 -0.136469 10.1418 -0.0394148 0.00319579 0.245011 0.13 0.17 pose: 0.0 0.485603 -3.7993 0 0.00502589 -0.0014035 0.999964 0.00667579 uwb: 0.50067646 1219.59 935.372 -imu_odom_: 1691062500.510627111 0.423774 -0.349553 9.8258 -0.0639159 -0.00426106 0.247141 0.13 0.17 pose: 0.24004485 0.475959 -3.80194 0 0.00435927 0.000273083 0.999983 0.0039111 uwb: 0.0 1219.59 935.372 -imu_odom_: 1691062500.526625532 0.0957681 -0.509965 9.39245 -0.0639159 0.00106526 0.238619 0.14 0.17 pose: 0.0 0.475959 -3.80194 0 0.00435927 0.000273083 0.999983 0.0039111 uwb: 0.0 1219.59 935.372 -imu_odom_: 1691062500.542621328 0.723049 -0.203507 9.77074 -0.0319579 -0.0511327 0.239684 0.14 0.17 pose: 0.0 0.475959 -3.80194 0 0.00435927 0.000273083 0.999983 0.0039111 uwb: 0.49995612 1219.87 936.952 -imu_odom_: 1691062500.558627915 0.653617 -0.220267 9.40921 -0.0756338 -0.0255663 0.28123 0.16 0.2 pose: 0.71970875 0.466314 -3.80458 0 0.00380458 -0.0003488760.999987 -0.00348145 uwb: 0.0 1219.87 936.952 -imu_odom_: 1691062500.574619920 0.749385 -0.0742203 10.0006 -0.0777643 -0.0223706 0.340885 0.16 0.2 pose: 0.0 0.466314 -3.80458 0 0.00380458 -0.0003488760.999987 -0.00348145 uwb: 0.0 1219.87 936.952 -imu_odom_: 1691062500.590616299 1.39821 -0.658405 9.77313 -0.0383495 -0.0649811 0.315318 0.16 0.2 pose: 0.0 0.466314 -3.80458 0 0.00380458 -0.0003488760.999987 -0.00348145 uwb: 0.49927660 1219.8 939.038 -imu_odom_: 1691062500.606611803 1.34075 0.0407014 9.60075 -0.036219 0 0.232228 0.1 0.14 pose: 0.7011576 0.466314 -3.80458 0 0.00458054 -0.0004162170.99998 -0.00432807 uwb: 0.0 1219.8 939.038 -imu_odom_: 1691062500.622668844 1.49877 0.215478 10.3382 -0.0607201 0 0.218379 0.1 0.14 pose: 0.0 0.466314 -3.80458 0 0.00458054 -0.0004162170.99998 -0.00432807 uwb: 0.0 1219.8 939.038 -imu_odom_: 1691062500.639613632 0.842759 -0.373495 9.56484 -0.0713727 0.0106526 0.18003 0.1 0.14 pose: 0.0 0.466314 -3.80458 0 0.00458054 -0.0004162170.99998 -0.00432807 uwb: 0.49999987 1219.22 938.992 -imu_odom_: 1691062500.656737778 0.737414 -0.342371 9.991 -0.0511327 -0.00319579 0.131028 0.11 0.17 pose: 0.48988876 0.466314 -3.80458 0 0.00971153 -8.74587e-050.999895 -0.010797 uwb: 0.0 1219.22 938.992 -imu_odom_: 1691062500.672728324 0.565032 -0.289698 9.72764 -0.0500674 -0.00958738 0.132093 0.07 0.11 pose: 0.0 0.466314 -3.80458 0 0.00971153 -8.74587e-050.999895 -0.010797 uwb: 0.0 1219.22 938.992 -imu_odom_: 1691062500.688736078 0.818817 -0.0430956 10.1849 -0.056459 -0.00213053 0.143811 0.07 0.11 pose: 0.66110688 0.456677 -3.80725 0 0.013275 -0.00195606 0.999792 -0.0153704 uwb: 0.50254878 1219.59 940.333 -imu_odom_: 1691062500.706779760 0.675165 -0.229843 9.76834 -0.0585895 -0.0149137 0.174703 0.06 0.14 pose: 0.0 0.456677 -3.80725 0 0.013275 -0.00195606 0.999792 -0.0153704 uwb: 0.0 1219.59 940.333 -imu_odom_: 1691062500.723666512 0.665588 -0.28491 9.88326 -0.0500674 0.00426106 0.165116 0.06 0.14 pose: 0.0 0.456677 -3.80725 0 0.013275 -0.00195606 0.999792 -0.0153704 uwb: 0.0 1219.59 940.333 -imu_odom_: 1691062500.748649153 0.792481 -0.117316 9.85693 -0.0490022 -0.00958738 0.164051 0.06 0.14 pose: 0.32995995 0.456677 -3.80725 0 0.0142804 -0.00049688 0.999751 -0.0171613 uwb: 0.49883331 1219.63 940.94 -imu_odom_: 1691062500.775616103 0.136469 -0.222661 9.76834 -0.0596548 0.0490022 0.105461 0.05 0.08 pose: 0.33930406 0.453983 -3.79762 0 0.0148142 -0.0009019020.999703 -0.0193367 uwb: 0.0 1219.63 940.94 -imu_odom_: 1691062500.791685392 -0.181959 0.00718261 10.1179 -0.0500674 0.0245011 -0.0191748 0.05 0.08 pose: 0.0 0.453983 -3.79762 0 0.0148142 -0.0009019020.999703 -0.0193367 uwb: 0.49778050 1219.12 941.691 -imu_odom_: 1691062500.818626386 -1.04387 -0.189142 10.2065 -0.072438 0.00426106 0.0841559 0.07 0.11 pose: 0.52097160 0.444364 -3.80036 0 0.011605 0.000483375 0.999712 -0.0210212 uwb: 0.0 1219.12 941.691 -imu_odom_: 1691062500.843730349 0.234632 -0.907402 9.85214 -0.036219 -0.0745685 0.107592 0.09 0.05 pose: 0.34870357 0.444364 -3.80036 0 0.00791645 0.000423607 0.99974 -0.0213831 uwb: 0.50010194 1218.97 942.141 -imu_odom_: 1691062500.870710714 0.632069 0.174777 9.65103 -0.0500674 -0.0330232 0.152333 0.09 0.05 pose: 0.0 0.444364 -3.80036 0 0.00791645 0.000423607 0.99974 -0.0213831 uwb: 0.0 1218.97 942.141 -imu_odom_: 1691062500.886776212 0.0957681 0.0287304 9.44991 -0.0745685 0.0191748 0.134223 0.12 0.02 pose: 0.8041061 0.444364 -3.80036 0 0.00787565 -0.0002324020.999734 -0.0216627 uwb: 0.50112267 1218.7 943.234 -imu_odom_: 1691062500.913613966 0.047884 -0.21069 9.63187 -0.036219 -0.0298274 0.0639159 0.12 0.02 pose: 0.0 0.444364 -3.80036 0 0.00787565 -0.0002324020.999734 -0.0216627 uwb: 0.0 1218.7 943.234 -imu_odom_: 1691062500.939696376 0.61531 -0.40462 10.2376 -0.0607201 0.0106526 0.110787 0.12 0.02 pose: 0.52062163 0.434734 -3.80305 0 0.00779931 0.0013574 0.999677 -0.0241315 uwb: 0.49832586 1218.64 944.062 -imu_odom_: 1691062500.966926676 0.229843 -0.237026 9.78031 -0.0553937 0.0127832 0.103331 0.18 0.05 pose: 0.42985494 0.434734 -3.80305 0 0.00497274 0.000946588 0.999671 -0.0251254 uwb: 0.0 1218.64 944.062 -imu_odom_: 1691062500.982585046 0.124498 -0.107739 10.1562 -0.0596548 0.0149137 0.0948085 0.13 0.02 pose: 0.0 0.434734 -3.80305 0 0.00497274 0.000946588 0.999671 -0.0251254 uwb: 0.50116059 1218.62 944.473 -imu_odom_: 1691062501.9574746 0.608127 -0.21069 9.96946 -0.0575243 -0.0351537 0.0905475 0.13 0.02 pose: 0.52918706 0.425099 -3.80573 0 0.00196316 -0.0005869140.999637 -0.026857 uwb: 0.0 1218.62 944.473 -imu_odom_: 1691062501.35580171 0.19393 -0.25618 9.75398 -0.0820254 0.0308927 0.113983 0.19 0.08 pose: 0.0 0.425099 -3.80573 0 0.00196316 -0.0005869140.999637 -0.026857 uwb: 0.50037616 1218.12 944.803 -imu_odom_: 1691062501.62584751 0.560243 -0.059855 9.86172 -0.0735032 -0.00639159 0.0873517 0.19 0.02 pose: 0.60946361 0.418193 -3.80766 0 0.00122518 -0.0008871910.999586 -0.0287303 uwb: 0.0 1218.12 944.803 -imu_odom_: 1691062501.87580815 0.553061 -0.280122 10.3908 -0.0841559 0.00852212 0.092678 0.19 0.02 pose: 0.0 0.418193 -3.80766 0 0.00122518 -0.0008871910.999586 -0.0287303 uwb: 0.49938174 1218.04 945.432 -imu_odom_: 1691062501.114691551 0.189142 -0.117316 10.0221 -0.0553937 0 0.0692422 0.18 0.05 pose: 0.7003996 0.415471 -3.80843 0 0.00164765 -0.0003839730.999581 -0.0288964 uwb: 0.0 1218.04 945.432 -imu_odom_: 1691062501.130679186 0.687136 -0.0622492 10.1945 -0.0532632 -0.0223706 0.0905475 0.18 0.05 pose: 0.0 0.415471 -3.80843 0 0.00164765 -0.0003839730.999581 -0.0288964 uwb: 0.50008168 1218.11 946.021 -imu_odom_: 1691062501.157566236 0.656011 -0.158017 10.2065 -0.04048 -0.015979 0.0468716 0.21 0.02 pose: 0.52022808 0.412737 -3.79881 0 0.00389773 -0.0007366980.999538 -0.0301433 uwb: 0.0 1218.11 946.021 -imu_odom_: 1691062501.183585076 0.373495 0.0047884 9.73482 -0.0671117 -0.0287621 0.0884169 0.21 0.02 pose: 0.0 0.412737 -3.79881 0 0.00389773 -0.0007366980.999538 -0.0301433 uwb: 0.49981046 1218.34 947.578 -imu_odom_: 1691062501.210649734 0.124498 -0.387861 9.44513 -0.0575243 0.0308927 0.0575243 0.2 0.05 pose: 0.42971217 0.403123 -3.80156 0 0.00413917 0.00108214 0.999514 -0.0308704 uwb: 0.0 1218.34 947.578 -imu_odom_: 1691062501.235569388 0.691924 -0.186748 10.0126 -0.0500674 -0.0127832 0.076699 0.16 0 pose: 0.53078540 0.393486 -3.80423 0 0.00413145 0.00316957 0.999486 -0.0316254 uwb: 0.50095951 1218.66 949.114 -imu_odom_: 1691062501.262893312 0.926556 -0.23942 10.3046 -0.0447411 -0.0490022 0.0479369 0.16 0 pose: 0.0 0.393486 -3.80423 0 0.00413145 0.00316957 0.999486 -0.0316254 uwb: 0.0 1218.66 949.114 -imu_odom_: 1691062501.278723754 0.711078 -0.071826 9.89524 -0.0415453 0.0394148 0.056459 0.17 0 pose: 0.72236580 0.383855 -3.80692 0 0.00805002 0.00189688 0.999441 -0.0323926 uwb: 0.0 1218.66 949.114 -imu_odom_: 1691062501.295722501 0.169988 -0.347159 9.56244 -0.0553937 0.0170442 0.0703074 0.17 0 pose: 0.8037564 0.383855 -3.80692 0 0.00850286 0.00244588 0.999434 -0.0324582 uwb: 0.49915718 1219.15 950.41 -imu_odom_: 1691062501.321604563 0.433351 -0.117316 9.65582 -0.0415453 -0.0458064 0.0543285 0.16 0.02 pose: 0.0 0.383855 -3.80692 0 0.00850286 0.00244588 0.999434 -0.0324582 uwb: 0.0 1219.15 950.41 -imu_odom_: 1691062501.348539733 0.502782 -0.363919 10.489 -0.0681769 -0.0692422 0.0756338 0.16 0.02 pose: 0.24791625 0.374226 -3.80962 0 0.00723695 0.00221694 0.999434 -0.0327859 uwb: 0.50024500 1219.28 950.984 -imu_odom_: 1691062501.374695644 0.605733 0.0861913 10.6781 -0.0415453 -0.0426106 0.0500674 0.17 0.02 pose: 0.52817232 0.367371 -3.81155 0 0.00623358 0.000737371 0.99942 -0.0334593 uwb: 0.0 1219.28 950.984 -imu_odom_: 1691062501.401600775 0.555455 -0.31364 10.1227 -0.0426106 -0.0308927 0.0458064 0.17 0.02 pose: 0.0 0.367371 -3.81155 0 0.00623358 0.000737371 0.99942 -0.0334593 uwb: 0.49955964 1219.73 952.491 -imu_odom_: 1691062501.426693371 0.42138 -0.0383072 10.0892 -0.0287621 0.0223706 0.0500674 0.19 0 pose: 0.33038877 0.361881 -3.80271 0 0.00739626 0.00285754 0.999404 -0.0336078 uwb: 0.0 1219.73 952.491 -imu_odom_: 1691062501.453621250 0.344765 -0.42138 9.72285 -0.0458064 0.00852212 0.0500674 0.19 0 pose: 0.45114761 0.352258 -3.80543 0 0.0057486 0.00317113 0.999407 -0.0338037 uwb: 0.49978421 1219.91 952.856 -imu_odom_: 1691062501.479626092 0.442927 -0.0790087 9.77074 -0.056459 -0.0223706 0.0596548 0.19 0 pose: 0.0 0.352258 -3.80543 0 0.0057486 0.00317113 0.999407 -0.0338037 uwb: 0.0 1219.91 952.856 -imu_odom_: 1691062501.506519266 0.665588 -0.390255 9.54329 -0.0639159 0.0191748 0.0319579 0.21 0 pose: 0.52932721 0.342637 -3.80815 0 0.00348279 0.0034001 0.999403 -0.0342049 uwb: 0.50067954 1219.97 953.244 -imu_odom_: 1691062501.522512151 0.275333 -0.0981623 9.84496 -0.056459 0.0340885 0.0543285 0.21 0 pose: 0.6920004 0.342637 -3.80815 0 0.00385997 0.00284741 0.999404 -0.034182 uwb: 0.0 1219.97 953.244 -imu_odom_: 1691062501.548600693 0.222661 -0.493206 9.95988 -0.056459 0.0106526 0.0490022 0.22 0 pose: 0.35966055 0.333017 -3.81089 0 0.00315005 0.00180647 0.999407 -0.0342297 uwb: 0.49931466 1219.99 953.84 -imu_odom_: 1691062501.571589408 -0.0023942 0.0454898 9.90721 -0.0340885 0.0543285 0.052198 0.22 0 pose: 0.0 0.333017 -3.81089 0 0.00315005 0.00180647 0.999407 -0.0342297 uwb: 0.0 1219.99 953.84 -imu_odom_: 1691062501.588610319 0.100556 -0.493206 9.43076 -0.0681769 0.00745685 0.0660464 0.18 0.02 pose: 0.7066114 0.333017 -3.81089 0 0.00268202 0.00122925 0.999408 -0.0342642 uwb: 0.50061830 1219.75 952.891 -imu_odom_: 1691062501.614528253 0.102951 -0.023942 9.90481 -0.036219 0.00639159 0.036219 0.18 0.02 pose: 0.0 0.333017 -3.81089 0 0.00268202 0.00122925 0.999408 -0.0342642 uwb: 0.0 1219.75 952.891 -imu_odom_: 1691062501.641576578 0.253785 -0.395043 10.0628 -0.0436758 -0.0394148 0.0596548 0.22 0.02 pose: 0.48970518 0.333017 -3.81089 0 -0.00175351 0.000466038 0.9994 -0.034592 uwb: 0.49930300 1220.23 954.992 -imu_odom_: 1691062501.666585183 0.270545 0.0790087 10.0868 -0.0553937 -0.00106526 0.0532632 0.18 -0.02 pose: 0.42992798 0.333017 -3.81089 0 -0.00475579 0.000768789 0.999384 -0.03475 uwb: 0.0 1220.23 954.992 -imu_odom_: 1691062501.693623884 0.035913 -0.134075 9.85932 -0.0639159 0.02024 0.0372843 0.23 0 pose: 0.0 0.333017 -3.81089 0 -0.00475579 0.000768789 0.999384 -0.03475 uwb: 0.50006710 1220.12 955.016 -imu_odom_: 1691062501.718669235 0.536301 -0.0407014 10.0293 -0.0468716 -0.00852212 0.0490022 0.18 0.02 pose: 0.52014934 0.320657 -3.80401 0 -0.00603804 0.00148779 0.999364 -0.035115 uwb: 0.0 1220.12 955.016 -imu_odom_: 1691062501.735579323 0.833182 -0.347159 9.73961 -0.0692422 -0.0276969 0.0351537 0.18 0.02 pose: 0.0 0.320657 -3.80401 0 -0.00603804 0.00148779 0.999364 -0.035115 uwb: 0.50039956 1220.06 955.826 -imu_odom_: 1691062501.760570138 0.454898 -0.409408 9.40921 -0.0756338 -0.00745685 0.0500674 0.18 0 pose: 0.27991777 0.311043 -3.80677 0 -0.00754141 0.00207908 0.999352 -0.0351322 uwb: 0.0 1220.06 955.826 -imu_odom_: 1691062501.787525722 0.897826 -0.45011 9.74679 -0.036219 -0.0319579 0.0308927 0.18 0 pose: 0.42140921 0.301429 -3.80952 0 -0.00373513 0.00151345 0.999371 -0.035227 uwb: 0.49965005 1220.18 956.403 -imu_odom_: 1691062501.812576031 0.770933 -0.289698 10.094 -0.0458064 0.02024 0.0426106 0.18 0 pose: 0.43836509 0.294667 -3.81145 0 2.12714e-05 -0.00082148 0.99938 -0.0351914 uwb: 0.0 1220.18 956.403 -imu_odom_: 1691062501.829506534 0.471658 -0.490811 9.49301 -0.0458064 0.0479369 0.0266316 0.18 0 pose: 0.0 0.294667 -3.81145 0 2.12714e-05 -0.00082148 0.99938 -0.0351914 uwb: 0.49848059 1220.36 957.962 -imu_odom_: 1691062501.845508751 0.232238 -0.263362 10.2496 -0.0308927 0.04048 0.0319579 0.18 0 pose: 0.0 0.294667 -3.81145 0 2.12714e-05 -0.00082148 0.99938 -0.0351914 uwb: 0.0 1220.36 957.962 -imu_odom_: 1691062501.862512455 0.536301 -0.138864 9.50498 -0.0660464 -0.0117179 0.0436758 0.18 0 pose: 0.49990670 0.291815 -3.81227 0 0.00101435 -0.00254485 0.99938 -0.0350918 uwb: 0.0 1220.36 957.962 -imu_odom_: 1691062501.887537392 0.306458 -0.0407014 9.42837 -0.0372843 0.0575243 0.0330232 0.18 0 pose: 0.0 0.291815 -3.81227 0 0.00101435 -0.00254485 0.99938 -0.0350918 uwb: 0.50114907 1221.02 959.035 -imu_odom_: 1691062501.914569969 0.0407014 -0.323217 9.76834 -0.0671117 -0.00213053 0.0436758 0.19 0 pose: 0.33014379 0.2822 -3.81502 0 0.000630474 -0.0006237770.999385 -0.0350684 uwb: 0.0 1221.02 959.035 -imu_odom_: 1691062501.939502455 0.105345 -0.213084 9.61511 -0.0692422 0.0255663 0.0351537 0.18 0 pose: 0.44039198 0.272582 -3.80737 0 -0.00335453 -0.0002411020.999379 -0.0350636 uwb: 0.49885680 1221.2 960.001 -imu_odom_: 1691062501.966492453 0.213084 -0.464475 9.98382 -0.0468716 -0.015979 0.0394148 0.18 0 pose: 0.0 0.272582 -3.80737 0 -0.00335453 -0.0002411020.999379 -0.0350636 uwb: 0.0 1221.2 960.001 -imu_odom_: 1691062501.982523251 0.442927 -0.0622492 9.92397 -0.0415453 0.00958738 0.0394148 0.18 0 pose: 0.8007816 0.269836 -3.80815 0 -0.0042725 -0.0003156570.999377 -0.0350461 uwb: 0.50064162 1221.46 961.349 -imu_odom_: 1691062502.9633114 0.730232 -0.332794 9.67018 -0.0500674 0.0383495 0.0234358 0.18 0 pose: 0.0 0.269836 -3.80815 0 -0.0042725 -0.0003156570.999377 -0.0350461 uwb: 0.0 1221.46 961.349 -imu_odom_: 1691062502.35560097 0.25618 -0.299275 9.85214 -0.0649811 0.0340885 0.0585895 0.18 0.02 pose: 0.52024558 0.260221 -3.8109 0 -0.00623975 -0.00228489 0.999366 -0.0349915 uwb: 0.49937891 1221.97 962.655 -imu_odom_: 1691062502.62563518 0.35913 -0.339977 10.0102 -0.04048 -0.0532632 0.0415453 0.23 0.02 pose: 0.42940599 0.250606 -3.81365 0 -0.00451212 -0.0025152 0.99938 -0.0348411 uwb: 0.0 1221.97 962.655 -imu_odom_: 1691062502.87623458 0.818817 -0.253785 10.1083 -0.0575243 -0.00319579 0.0532632 0.18 -0.02 pose: 0.0 0.250606 -3.81365 0 -0.00451212 -0.0025152 0.99938 -0.0348411 uwb: 0.50006725 1222.01 962.848 -imu_odom_: 1691062502.103613140 0.296881 -0.150835 9.81623 -0.0266316 0.0553937 0.036219 0.18 -0.02 pose: 0.0 0.250606 -3.81365 0 -0.00451212 -0.0025152 0.99938 -0.0348411 uwb: 0.0 1222.01 962.848 -imu_odom_: 1691062502.129482670 0.071826 -0.265756 9.39006 -0.0809601 0.0319579 0.0628506 0.18 0.02 pose: 0.52993106 0.240991 -3.8164 0 -0.00261253 -0.00476914 0.99937 -0.035072 uwb: 0.0 1222.01 962.848 -imu_odom_: 1691062502.156472968 0.545878 -0.174777 9.67736 -0.0607201 -0.0106526 0.0500674 0.21 -0.02 pose: 0.40942883 0.240991 -3.8164 0 -0.00317594 -0.00308102 0.999369 -0.035251 uwb: 0.50142629 1222.27 964.596 -imu_odom_: 1691062502.182552186 0.227449 -0.483629 10.1849 -0.0905475 0.0351537 0.0681769 0.18 -0.02 pose: 0.25180387 0.231378 -3.81915 0 -0.00461527 -0.00309471 0.999354 -0.0355021 uwb: 0.49978144 1222.67 964.731 -imu_odom_: 1691062502.209502237 0.234632 -0.0885855 10.1825 -0.0617853 -0.0181095 0.0458064 0.23 0.02 pose: 0.27844216 0.22862 -3.80954 0 -0.00324594 -0.00319805 0.999352 -0.0357184 uwb: 0.0 1222.67 964.731 -imu_odom_: 1691062502.234477894 0.620098 -0.0646434 10.5991 -0.0660464 -0.0255663 0.0436758 0.23 0.02 pose: 0.0 0.22862 -3.80954 0 -0.00324594 -0.00319805 0.999352 -0.0357184 uwb: 0.50007017 1222.68 964.929 -imu_odom_: 1691062502.251518642 0.0311246 -0.287304 9.92636 -0.0436758 0.0266316 0.0351537 0.21 0 pose: 0.25003946 0.219009 -3.8123 0 -0.0045765 -0.0045204 0.999331 -0.0359995 uwb: 0.0 1222.68 964.929 -imu_odom_: 1691062502.276613579 0.225055 -0.325611 9.21289 -0.0479369 0.00213053 0.0415453 0.21 0 pose: 0.0 0.219009 -3.8123 0 -0.0045765 -0.0045204 0.999331 -0.0359995 uwb: 0.0 1222.68 964.929 -imu_odom_: 1691062502.293502675 0.864307 -0.011971 10.4124 -0.0585895 -0.0585895 0.0479369 0.21 0.02 pose: 0.51966538 0.2094 -3.81507 0 -0.0035977 -0.00152787 0.99934 -0.036114 uwb: 0.50124547 1222.53 964.753 -imu_odom_: 1691062502.309454151 1.13485 -0.189142 9.63187 -0.0649811 -0.015979 0.056459 0.21 0.02 pose: 0.0 0.2094 -3.81507 0 -0.0035977 -0.00152787 0.99934 -0.036114 uwb: 0.0 1222.53 964.753 -imu_odom_: 1691062502.325439167 1.39343 -0.361524 9.61033 -0.0745685 -0.0532632 0.0330232 0.21 0.02 pose: 0.0 0.2094 -3.81507 0 -0.0035977 -0.00152787 0.99934 -0.036114 uwb: 0.0 1222.53 964.753 -imu_odom_: 1691062502.341452471 1.84593 -0.205901 9.84496 -0.0330232 -0.0298274 -0.0777643 0.14 -0.26 pose: 0.42025737 0.199791 -3.81784 0 -0.00580068 -0.00303969 0.999325 -0.0361397 uwb: 0.49816577 1222.68 965.527 -imu_odom_: 1691062502.358651287 1.47243 0.270545 10.2328 -0.052198 -0.0372843 -0.160855 0.14 -0.26 pose: 0.0 0.199791 -3.81784 0 -0.00580068 -0.00303969 0.999325 -0.0361397 uwb: 0.0 1222.68 965.527 -imu_odom_: 1691062502.374474734 0.981623 0.0837971 9.62469 -0.0500674 -0.04048 -0.251402 0.14 -0.26 pose: 0.49946355 0.199791 -3.81784 0 -5.53681e-05-0.00256348 0.999356 -0.0357883 uwb: 0.0 1222.68 965.527 -imu_odom_: 1691062502.391677050 1.24259 0.0814029 9.71567 -0.0628506 -0.0468716 -0.361125 0.15 -0.55 pose: 0.0 0.199791 -3.81784 0 -5.53681e-05-0.00256348 0.999356 -0.0357883 uwb: 0.49966478 1222.5 965.754 -imu_odom_: 1691062502.408565854 1.40061 0.071826 9.83059 -0.0617853 -0.00319579 -0.401605 0.1 -0.41 pose: 0.0 0.199791 -3.81784 0 -5.53681e-05-0.00256348 0.999356 -0.0357883 uwb: 0.0 1222.5 965.754 -imu_odom_: 1691062502.423454016 0.952892 -0.332794 9.8665 -0.0777643 0.00745685 -0.419714 0.1 -0.41 pose: 0.66173723 0.19018 -3.82061 0 0.00693053 0.000319989 0.999636 -0.0260833 uwb: 0.0 1222.5 965.754 -imu_odom_: 1691062502.439447780 0.837971 -0.292093 9.8689 -0.0585895 0.0319579 -0.435693 0.1 -0.41 pose: 0.0 0.19018 -3.82061 0 0.00693053 0.000319989 0.999636 -0.0260833 uwb: 0.49998851 1222.3 966.379 -imu_odom_: 1691062502.455504830 0.948104 -0.241814 9.79947 -0.0820254 0.0106526 -0.42291 0.08 -0.44 pose: 0.0 0.19018 -3.82061 0 0.00693053 0.000319989 0.999636 -0.0260833 uwb: 0.0 1222.3 966.379 -imu_odom_: 1691062502.471441142 0.967257 -0.268151 9.94791 -0.0532632 0.0255663 -0.44315 0.08 -0.44 pose: 0.30886593 0.19018 -3.82061 0 0.00966769 -0.0001335840.999772 -0.019019 uwb: 0.0 1222.3 966.379 -imu_odom_: 1691062502.487442197 0.955286 -0.0407014 9.63666 -0.052198 -0.00639159 -0.454868 0.07 -0.53 pose: 0.0 0.19018 -3.82061 0 0.00966769 -0.0001335840.999772 -0.019019 uwb: 0.49890944 1222.85 968.48 -imu_odom_: 1691062502.503434212 0.696713 0.047884 9.96227 -0.0511327 0.00213053 -0.48363 0.07 -0.53 pose: 0.40934716 0.177754 -3.8138 0 0.0132137 -0.00069791 0.999869 -0.00933663 uwb: 0.0 1222.85 968.48 -imu_odom_: 1691062502.520525997 0.672771 -0.0023942 10.1011 -0.0543285 -0.0308927 -0.499609 0.07 -0.53 pose: 0.0 0.177754 -3.8138 0 0.0132137 -0.00069791 0.999869 -0.00933663 uwb: 0.0 1222.85 968.48 -imu_odom_: 1691062502.536462891 0.725443 -0.282516 9.94791 -0.0703074 -0.0330232 -0.50174 0.08 -0.73 pose: 0.7006914 0.177763 -3.81384 0 0.0138117 -0.0002843240.999876 -0.00759929 uwb: 0.49991560 1223.03 969.447 -imu_odom_: 1691062502.553432479 0.761356 -0.186748 9.96227 -0.0490022 -0.02024 -0.541154 0.08 -0.73 pose: 0.0 0.177763 -3.81384 0 0.0138117 -0.0002843240.999876 -0.00759929 uwb: 0.0 1223.03 969.447 -imu_odom_: 1691062502.570427732 0.840365 -0.011971 9.88805 -0.0553937 -0.0383495 -0.509196 0.08 -0.73 pose: 0.0 0.177763 -3.81384 0 0.0138117 -0.0002843240.999876 -0.00759929 uwb: 0.0 1223.03 969.447 -imu_odom_: 1691062502.586438994 0.816423 -0.351948 9.99819 -0.0692422 -0.00745685 -0.437824 0.05 -0.5 pose: 0.49010195 0.177762 -3.81384 0 0.0148284 0.00301762 0.999871 0.00533621 uwb: 0.49993018 1223.15 971.018 -imu_odom_: 1691062502.603439204 0.696713 -0.416591 10.07 -0.0436758 0.00639159 -0.418649 0.07 -0.58 pose: 0.0 0.177762 -3.81384 0 0.0148284 0.00301762 0.999871 0.00533621 uwb: 0.0 1223.15 971.018 -imu_odom_: 1691062502.619433844 0.691924 -0.158017 9.92157 -0.0596548 -0.0298274 -0.377104 0.07 -0.58 pose: 0.65979492 0.168182 -3.81671 0 0.0182923 0.00108258 0.999573 0.0227438 uwb: 0.0 1223.15 971.018 -imu_odom_: 1691062502.636489173 0.775721 -0.143652 9.88566 -0.0585895 -0.0106526 -0.316384 0.06 -0.53 pose: 0.0 0.168182 -3.81671 0 0.0182923 0.00108258 0.999573 0.0227438 uwb: 0.0 1223.15 971.018 -imu_odom_: 1691062502.653487050 0.519542 -0.464475 9.8258 -0.0553937 0.0106526 -0.295078 0.06 -0.53 pose: 0.0 0.168182 -3.81671 0 0.0182923 0.00108258 0.999573 0.0227438 uwb: 0.0 1223.15 971.018 -imu_odom_: 1691062502.668549029 0.627281 -0.196325 10.0221 -0.0575243 -0.0234358 -0.286556 0.06 -0.53 pose: 0.33058718 0.168182 -3.81671 0 0.0174003 0.00165176 0.999408 0.0296283 uwb: 0.0 1223.15 971.018 -imu_odom_: 1691062502.693479482 0.617704 -0.270545 9.81144 -0.0596548 -0.00319579 -0.229032 0.03 -0.26 pose: 0.42052568 0.168174 -3.81667 0 0.0156328 0.000925261 0.999204 0.0366915 uwb: 0.100171518 1222.91 970.85 -imu_odom_: 1691062502.710426030 0.629675 -0.392649 9.96946 -0.0639159 -0.0117179 -0.203466 0.03 -0.26 pose: 0.0 0.168174 -3.81667 0 0.0156328 0.000925261 0.999204 0.0366915 uwb: 0.0 1222.91 970.85 -imu_odom_: 1691062502.726424169 -0.100556 -0.440533 9.5816 -0.0500674 0.0607201 -0.26099 0.05 -0.23 pose: 0.6937796 0.168182 -3.81671 0 0.0151123 0.000461228 0.999178 0.0376163 uwb: 0.0 1222.91 970.85 -imu_odom_: 1691062502.743467250 -1.29766 0.25618 10.094 -0.0287621 0.0958738 -0.286556 0.09 -0.26 pose: 0.0 0.168182 -3.81671 0 0.0151123 0.000461228 0.999178 0.0376163 uwb: 0.49938482 1223.01 971.826 -imu_odom_: 1691062502.760408549 -1.45089 -0.196325 10.1299 -0.0671117 -0.0394148 -0.171508 0.08 -0.17 pose: 0.0 0.168182 -3.81671 0 0.0151123 0.000461228 0.999178 0.0376163 uwb: 0.0 1223.01 971.826 -imu_odom_: 1691062502.776465307 -0.351948 -0.591368 9.85214 -0.0692422 -0.120375 -0.133158 0.08 -0.17 pose: 0.76053571 0.168182 -3.81671 0 0.00813207 -0.00182411 0.998809 0.0480744 uwb: 0.0 1223.01 971.826 -imu_odom_: 1691062502.792467238 0.811634 -0.512359 9.53132 -0.04048 -0.0490022 -0.143811 0.08 -0.17 pose: 0.0 0.168182 -3.81671 0 0.00813207 -0.00182411 0.998809 0.0480744 uwb: 0.50099174 1223.02 972.419 -imu_odom_: 1691062502.808463627 0.483629 -0.124498 9.8282 -0.0490022 0.0319579 -0.12144 0.09 -0.17 pose: 0.0 0.168182 -3.81671 0 0.00813207 -0.00182411 0.998809 0.0480744 uwb: 0.0 1223.02 972.419 -imu_odom_: 1691062502.825411342 -0.0766145 -0.158017 9.87608 -0.0628506 0.0585895 -0.107592 0.09 -0.17 pose: 0.31937658 0.158578 -3.81949 0 0.00745745 -0.00291837 0.998665 0.0510259 uwb: 0.0 1223.02 972.419 -imu_odom_: 1691062502.841462268 0.122104 -0.459687 10.0916 -0.0458064 0.0436758 -0.134223 0.11 -0.2 pose: 0.41933288 0.15857 -3.81946 0 0.00510238 -0.00168747 0.998505 0.0543879 uwb: 0.0 1223.02 972.419 -imu_odom_: 1691062502.857404704 0.122104 -0.184354 10.1059 -0.0468716 0.00213053 -0.125701 0.11 -0.2 pose: 0.0 0.15857 -3.81946 0 0.00510238 -0.00168747 0.998505 0.0543879 uwb: 0.0 1223.02 972.419 -imu_odom_: 1691062502.873453880 0.538695 -0.114922 9.76116 -0.0415453 0.0149137 -0.104396 0.11 -0.2 pose: 0.0 0.15857 -3.81946 0 0.00510238 -0.00168747 0.998505 0.0543879 uwb: 0.0 1223.02 972.419 -imu_odom_: 1691062502.890491711 0.263362 -0.277727 9.84256 -0.0426106 0.0436758 -0.0948085 0.14 -0.17 pose: 0.7062617 0.158578 -3.81949 0 0.00430242 -0.00195496 0.998475 0.0549983 uwb: 0.100019283 1223.34 974.157 -imu_odom_: 1691062502.907437968 -0.071826 -0.169988 10.0461 -0.0436758 -0.0138484 -0.106526 0.13 -0.14 pose: 0.0 0.158578 -3.81949 0 0.00430242 -0.00195496 0.998475 0.0549983 uwb: 0.0 1223.34 974.157 -imu_odom_: 1691062502.924600621 -0.0933739 -0.138864 10.0126 -0.036219 -0.0735032 -0.0884169 0.13 -0.14 pose: 0.65088535 0.146131 -3.81269 0 -0.000120903-0.0005575890.998204 0.0599021 uwb: 0.0 1223.34 974.157 -imu_odom_: 1691062502.940448566 0.402226 -0.23942 9.76116 -0.0511327 -0.0511327 -0.0735032 0.13 -0.14 pose: 0.0 0.146131 -3.81269 0 -0.000120903-0.0005575890.998204 0.0599021 uwb: 0.0 1223.34 974.157 -imu_odom_: 1691062502.957544142 0.565032 -0.258574 10.2735 -0.0394148 0.00213053 -0.0649811 0.13 -0.14 pose: 0.0 0.146131 -3.81269 0 -0.000120903-0.0005575890.998204 0.0599021 uwb: 0.0 1223.34 974.157 -imu_odom_: 1691062502.973625398 0.751779 -0.399832 10.2041 -0.04048 -0.0191748 -0.0852212 0.13 -0.14 pose: 0.33882015 0.146131 -3.81269 0 -0.00139816 -0.0002073350.998069 0.0621038 uwb: 0.0 1223.34 974.157 -imu_odom_: 1691062502.990446833 1.45328 -0.0263362 9.89284 -0.0628506 -0.0660464 -0.072438 0.17 -0.14 pose: 0.42180889 0.136532 -3.8155 0 0.00266845 -0.00170138 0.997912 0.0645078 uwb: 0.99883087 1223.25 973.773 -imu_odom_: 1691062503.7536286 1.07739 -0.162806 9.79947 -0.0788296 0.0596548 -0.00532632 0.17 -0.14 pose: 0.7936075 0.136532 -3.8155 0 0.0036966 -0.00162616 0.99788 0.0649525 uwb: 0.0 1223.25 973.773 -imu_odom_: 1691062503.22560356 1.39103 -0.435745 9.87129 -0.0479369 -0.00745685 0.00852212 0.17 -0.14 pose: 0.0 0.136532 -3.8155 0 0.0036966 -0.00162616 0.99788 0.0649525 uwb: 0.0 1223.25 973.773 -imu_odom_: 1691062503.38381475 1.15401 -0.289698 9.85453 -0.0436758 -0.0426106 -0.02024 0.09 -0.11 pose: 0.40998883 0.136532 -3.8155 0 0.00746622 -0.00196849 0.997785 0.066069 uwb: 0.49840791 1222.87 973.817 -imu_odom_: 1691062503.55381690 1.2378 0.217872 10.0389 -0.052198 -0.00106526 -0.0500674 0.12 -0.14 pose: 0.0 0.136532 -3.8155 0 0.00746622 -0.00196849 0.997785 0.066069 uwb: 0.0 1222.87 973.817 -imu_odom_: 1691062503.72377239 1.14682 -0.0502782 10.0963 -0.0575243 -0.0181095 -0.0500674 0.12 -0.14 pose: 0.0 0.136532 -3.8155 0 0.00746622 -0.00196849 0.997785 0.066069 uwb: 0.0 1222.87 973.817 -imu_odom_: 1691062503.89408368 0.699107 -0.277727 9.54568 -0.0681769 0.0149137 -0.056459 0.11 -0.14 pose: 0.22832993 0.136532 -3.8155 0 0.00992841 -0.0017344 0.997712 0.0668582 uwb: 0.50045820 1222.54 974.25 -imu_odom_: 1691062503.106378253 0.804452 -0.390255 9.98861 -0.0511327 -0.00852212 -0.056459 0.11 -0.14 pose: 0.0 0.136532 -3.8155 0 0.00992841 -0.0017344 0.997712 0.0668582 uwb: 0.0 1222.54 974.25 -imu_odom_: 1691062503.121434986 0.596156 -0.275333 9.56244 -0.0575243 0.00639159 -0.0649811 0.11 -0.14 pose: 0.33996639 0.124094 -3.80872 0 0.0128976 -0.00136844 0.997573 0.0684058 uwb: 0.0 1222.54 974.25 -imu_odom_: 1691062503.138578688 0.656011 0.00718261 10.2185 -0.0575243 0.00319579 -0.0500674 0.05 -0.05 pose: 0.42044998 0.124094 -3.80872 0 0.0129229 -0.00363787 0.997425 0.0704518 uwb: 0.49944621 1222.38 974.859 -imu_odom_: 1691062503.152584063 0.612916 -0.351948 9.663 -0.0681769 -0.00213053 -0.0372843 0.05 -0.05 pose: 0.7006917 0.124094 -3.80872 0 0.0129147 -0.00293838 0.997404 0.0707745 uwb: 0.0 1222.38 974.859 -imu_odom_: 1691062503.169584861 0.629675 -0.258574 9.8282 -0.052198 0.00426106 -0.036219 0.05 -0.05 pose: 0.0 0.124094 -3.80872 0 0.0129147 -0.00293838 0.997404 0.0707745 uwb: 0.0 1222.38 974.859 -imu_odom_: 1691062503.192493389 0.847547 -0.241814 9.98143 -0.0596548 -0.00319579 -0.0138484 0.05 -0.05 pose: 0.41142958 0.124094 -3.80872 0 0.0106297 -0.00287111 0.997315 0.0724052 uwb: 0.50186390 1222.23 975.465 -imu_odom_: 1691062503.208448954 0.167594 -0.23942 9.68694 -0.0607201 0.0543285 -0.0170442 0.05 -0.02 pose: 0.0 0.124094 -3.80872 0 0.0106297 -0.00287111 0.997315 0.0724052 uwb: 0.0 1222.23 975.465 -imu_odom_: 1691062503.235396097 -1.1971 -0.0957681 10.386 -0.0713727 0.0266316 0.00213053 0.05 -0.02 pose: 0.30882811 0.124094 -3.80872 0 0.0118804 -0.00286019 0.997239 0.0732459 uwb: 0.49880460 1222.38 976.234 -imu_odom_: 1691062503.260432131 -0.0909797 -0.392649 10.1179 -0.0607201 -0.0862864 -0.00532632 0.08 -0.05 pose: 0.0 0.124094 -3.80872 0 0.0118804 -0.00286019 0.997239 0.0732459 uwb: 0.0 1222.38 976.234 -imu_odom_: 1691062503.287395023 0.423774 0.174777 10.2328 -0.0607201 0.00852212 -0.00106526 0.11 -0.02 pose: 0.15963439 0.124094 -3.80872 0 0.00993666 -0.00270675 0.997233 0.0736215 uwb: 0.50020739 1222.04 975.682 -imu_odom_: 1691062503.313503996 -0.244209 -0.260968 9.67976 -0.0660464 0.0298274 -0.00106526 0.11 -0.02 pose: 0.44001020 0.114515 -3.81158 0 0.0062969 -0.00300708 0.997194 0.0745283 uwb: 0.0 1222.04 975.682 -imu_odom_: 1691062503.330384348 -0.129287 -0.308852 9.69412 -0.0553937 -0.00958738 -0.0106526 0.15 -0.05 pose: 0.8089480 0.114515 -3.81158 0 0.00610564 -0.00222568 0.997185 0.0746974 uwb: 0.50020156 1221.82 976.49 -imu_odom_: 1691062503.356503237 0.47884 -0.0814029 9.0022 -0.0415453 -0.015979 0.00213053 0.15 -0.05 pose: 0.0 0.114515 -3.81158 0 0.00610564 -0.00222568 0.997185 0.0746974 uwb: 0.0 1221.82 976.49 -imu_odom_: 1691062503.383357930 0.19393 -0.306458 9.70609 -0.0585895 0.015979 0.0213053 0.17 -0.05 pose: 0.51874687 0.114515 -3.81158 0 0.00192595 -0.0005234870.997122 0.0757939 uwb: 0.50066817 1221.59 977.101 -imu_odom_: 1691062503.409372996 0.490811 -0.177171 10.1921 -0.0607201 0 0.00106526 0.17 -0.05 pose: 0.0 0.114515 -3.81158 0 0.00192595 -0.0005234870.997122 0.0757939 uwb: 0.0 1221.59 977.101 -imu_odom_: 1691062503.436348720 0.402226 -0.0742203 10.1155 -0.056459 0.00852212 0.0170442 0.17 0 pose: 0.43011198 0.1021 -3.80482 0 0.00158487 0.00163013 0.99706 0.076597 uwb: 0.49925665 1221.62 978.27 -imu_odom_: 1691062503.452517473 0.311246 -0.253785 10.422 -0.0585895 0.00852212 0.00319579 0.17 0 pose: 0.0 0.1021 -3.80482 0 0.00158487 0.00163013 0.99706 0.076597 uwb: 0.0 1221.62 978.27 -imu_odom_: 1691062503.479558524 0.373495 0.0981623 10.3932 -0.0479369 -0.0245011 0.00319579 0.18 -0.02 pose: 0.53014121 0.1021 -3.80482 0 0.00183592 0.00180104 0.997 0.0773579 uwb: 0.0 1221.62 978.27 -imu_odom_: 1691062503.505373817 -0.0742203 -0.469264 9.61272 -0.072438 -0.04048 0.0191748 0.15 -0.05 pose: 0.44030184 0.0924988 -3.80762 0 -3.24021e-050.00343649 0.996945 0.078026 uwb: 0.49885710 1221.29 978.303 -imu_odom_: 1691062503.532502359 0.143652 -0.167594 9.92875 -0.0490022 -0.00319579 0.00532632 0.15 -0.05 pose: 0.0 0.0924988 -3.80762 0 -3.24021e-050.00343649 0.996945 0.078026 uwb: 0.50140894 1221.35 978.686 -imu_odom_: 1691062503.557337745 0.237026 -0.306458 9.85932 -0.0649811 0.00106526 0.0308927 0.16 0 pose: 0.72050558 0.0808665 -3.80364 0 -0.00430754 0.0037639 0.996849 0.0791223 uwb: 0.0 1221.35 978.686 -imu_odom_: 1691062503.584333009 0.521936 -0.35913 10.1011 -0.036219 0.0276969 -0.00958738 0.16 0 pose: 0.8003447 0.0800516 -3.80091 0 -0.00473695 0.00303577 0.996846 0.0791612 uwb: 0.50090441 1221.56 979.446 -imu_odom_: 1691062503.600416020 0.117316 0.0335188 9.79707 -0.04048 0.0138484 0.0266316 0.15 0 pose: 0.0 0.0800516 -3.80091 0 -0.00473695 0.00303577 0.996846 0.0791612 uwb: 0.0 1221.56 979.446 -imu_odom_: 1691062503.627519190 0.366313 -0.289698 10.0485 -0.0500674 -0.0255663 0.015979 0.15 0 pose: 0.52045879 0.0704678 -3.80376 0 -0.00451655 0.000800245 0.996787 0.0799633 uwb: 0.0 1221.56 979.446 -imu_odom_: 1691062503.652443818 0.150835 -0.148441 10.1179 -0.0532632 -0.02024 0.0287621 0.21 0 pose: 0.34967505 0.0704678 -3.80376 0 -0.00341194 -0.0008070410.996761 0.0803415 uwb: 0.49755347 1221.15 979.095 -imu_odom_: 1691062503.669318920 0.464475 -0.265756 10.1323 -0.0660464 -0.00532632 0.036219 0.21 0 pose: 0.7911581 0.0704678 -3.80376 0 -0.00403403 -0.0004093080.996756 0.080382 uwb: 0.0 1221.15 979.095 -imu_odom_: 1691062503.695317654 0.248997 -0.071826 9.81623 -0.0319579 -0.0117179 0.0191748 0.18 -0.02 pose: 0.0 0.0704678 -3.80376 0 -0.00403403 -0.0004093080.996756 0.080382 uwb: 0.49859463 1221.23 979.477 -imu_odom_: 1691062503.722444447 0.790087 -0.339977 9.663 -0.076699 -0.0245011 0.0628506 0.2 -0.02 pose: 0.33888149 0.0593172 -3.80132 0 -0.00379763 -0.0002640260.996747 0.0805001 uwb: 0.0 1221.23 979.477 -imu_odom_: 1691062503.748461262 0.940921 -0.251391 9.93354 -0.0543285 -0.0234358 0.0330232 0.2 -0.02 pose: 0.53125527 0.0512288 -3.79902 0 -0.00196173 0.00103207 0.996757 0.0804403 uwb: 0.49993033 1221.17 979.872 -imu_odom_: 1691062503.765524180 0.227449 -0.174777 9.80665 -0.0585895 -0.00639159 0.0607201 0.21 -0.02 pose: 0.0 0.0512288 -3.79902 0 -0.00196173 0.00103207 0.996757 0.0804403 uwb: 0.0 1221.17 979.872 -imu_odom_: 1691062503.791459044 0.35913 -0.0550666 9.93115 -0.0255663 -0.00213053 0.0170442 0.21 -0.02 pose: 0.32972403 0.048453 -3.79984 0 0.000182554 0.000717597 0.996758 0.0804512 uwb: 0.50000907 1221.24 980.644 -imu_odom_: 1691062503.818517302 0.442927 -0.205901 10.161 -0.0713727 -0.0106526 0.0649811 0.21 0 pose: 0.36042194 0.0368139 -3.79574 0 -0.00106665 0.00389342 0.996736 0.0806347 uwb: 0.0 1221.24 980.644 -imu_odom_: 1691062503.843518047 -0.035913 -0.0430956 10.0126 -0.0394148 0.015979 0.0223706 0.21 0 pose: 0.6880929 0.03603 -3.79308 0 -0.0006030670.00331229 0.996745 0.0805466 uwb: 0.50045820 1221.14 981.625 -imu_odom_: 1691062503.870379157 0.505177 -0.0574608 9.71567 -0.0788296 -0.0575243 0.0575243 0.21 0 pose: 0.45178074 0.0292136 -3.7951 0 -0.00180429 0.00275123 0.996749 0.0805061 uwb: 0.0 1221.14 981.625 -imu_odom_: 1691062503.895305826 0.292093 -0.105345 10.343 -0.0436758 -0.0298274 0.0308927 0.19 0 pose: 0.0 0.0292136 -3.7951 0 -0.00180429 0.00275123 0.996749 0.0805061 uwb: 0.49933247 1221.19 982.592 -imu_odom_: 1691062503.912297001 0.61531 -0.500388 9.35415 -0.0884169 -0.0149137 0.0617853 0.19 0 pose: 0.51787779 0.0196535 -3.79792 0 -0.0009014650.00470022 0.996753 0.0803768 uwb: 0.0 1221.19 982.592 -imu_odom_: 1691062503.938463135 0.0861913 -0.378284 9.31584 -0.0287621 0.00213053 0.0319579 0.17 0 pose: 0.0 0.0196535 -3.79792 0 -0.0009014650.00470022 0.996753 0.0803768 uwb: 0.50063610 1221.1 982.6 -imu_odom_: 1691062503.965632216 0.287304 -0.174777 10.094 -0.0468716 -0.0383495 0.0415453 0.17 0 pose: 0.43157309 0.0148007 -3.79183 0 -0.0023563 0.00194645 0.996767 0.0802929 uwb: 0.0 1221.1 982.6 -imu_odom_: 1691062503.990414815 0.0694318 0.138864 9.67497 -0.0543285 0.0181095 0.0394148 0.18 0 pose: 0.0 0.0148007 -3.79183 0 -0.0023563 0.00194645 0.996767 0.0802929 uwb: 0.50066526 1220.94 983 -imu_odom_: 1691062504.16291356 -0.047884 -0.227449 9.4978 -0.0884169 0 0.0628506 0.18 0 pose: 0.35013876 0.00442257 -3.792 0 -0.00508623 0.00311109 0.996755 0.0802691 uwb: 0.0 1220.94 983 -imu_odom_: 1691062504.41348104 0.555455 -0.320823 9.74679 -0.0671117 0.00958738 0.0426106 0.19 0 pose: 0.23858979 0.00442257 -3.792 0 -0.00690449 0.00431529 0.996747 0.0801875 uwb: 0.49882802 1221.08 984.346 -imu_odom_: 1691062504.66284988 0.325611 -0.538695 9.84496 -0.0617853 0.0191748 0.0415453 0.18 0.02 pose: 0.25966076 0.00442257 -3.792 0 -0.00828498 0.0032628 0.996758 0.0799654 uwb: 0.0 1221.08 984.346 -imu_odom_: 1691062504.83295124 0.371101 -0.0047884 10.386 -0.0181095 -0.0213053 0.0319579 0.24 0.02 pose: 0.0 0.00442257 -3.792 0 -0.00828498 0.0032628 0.996758 0.0799654 uwb: 0.50088706 1221.3 984.331 -imu_odom_: 1691062504.109355401 0.474052 -0.148441 9.99579 -0.0149137 -0.0106526 0.02024 0.24 0.02 pose: 0.50995995 -0.00800827-3.78526 0 -0.00647268 0.000528929 0.996777 0.0799587 uwb: 0.0 1221.3 984.331 -imu_odom_: 1691062504.135270151 0.167594 -0.110133 10.0628 -0.0415453 0.0276969 0.052198 0.24 0.02 pose: 0.35057340 -0.0175955 -3.7881 0 -0.00323033 0.00240065 0.996768 0.080238 uwb: 0.49999172 1221.15 984.924 -imu_odom_: 1691062504.151489362 0.114922 -0.0167594 9.96467 -0.0660464 -0.0532632 0.0649811 0.24 0.02 pose: 0.7057372 -0.0175955 -3.7881 0 -0.00397953 0.00275607 0.996768 0.0801938 uwb: 0.0 1221.15 984.924 -imu_odom_: 1691062504.177311078 0.632069 -0.0574608 10.0149 -0.0692422 -0.0553937 0.036219 0.23 0 pose: 0.0 -0.0175955 -3.7881 0 -0.00397953 0.00275607 0.996768 0.0801938 uwb: 0.0 1221.15 984.924 -imu_odom_: 1691062504.202284417 0.339977 -0.301669 10.0796 -0.0628506 -0.0511327 0.0532632 0.23 0 pose: 0.43079746 -0.027184 -3.79094 0 -0.00576857 0.00473631 0.996777 0.0798778 uwb: 0.50039419 1221.21 985.114 -imu_odom_: 1691062504.228418188 0.318429 -0.0981623 10.4986 -0.0383495 0.00426106 0.0308927 0.21 -0.02 pose: 0.42791898 -0.0366323 -3.78331 0 -0.00296475 0.0021498 0.996809 0.0797414 uwb: 0.0 1221.21 985.114 -imu_odom_: 1691062504.253294119 0.380678 -0.143652 10.2137 -0.0415453 -0.0287621 0.0372843 0.19 0 pose: 0.8090066 -0.0396159 -3.7842 0 -0.0031322 0.00301813 0.996803 0.0797743 uwb: 0.49838188 1221.2 985.696 -imu_odom_: 1691062504.270275674 0.426168 -0.0790087 9.65342 -0.036219 0.00319579 0.0458064 0.19 0 pose: 0.0 -0.0396159 -3.7842 0 -0.0031322 0.00301813 0.996803 0.0797743 uwb: 0.0 1221.2 985.696 -imu_odom_: 1691062504.295336505 0.0215478 -0.28491 10.07 -0.0575243 -0.00958738 0.0479369 0.19 0 pose: 0.51038574 -0.0396159 -3.7842 0 -0.0004476920.00465447 0.996796 0.0798436 uwb: 0.50118745 1221.32 986.464 -imu_odom_: 1691062504.321393283 0.699107 -0.253785 9.43555 -0.0511327 -0.0245011 0.0447411 0.18 -0.02 pose: 0.33923448 -0.051139 -3.78052 0 -0.00215603 0.00447848 0.996805 0.0797215 uwb: 0.0 1221.32 986.464 -imu_odom_: 1691062504.346252299 0.981623 -0.323217 10.0126 -0.036219 -0.0330232 0.0255663 0.19 0 pose: 0.7953870 -0.052049 -3.77746 0 -0.00134613 0.00416857 0.996809 0.0796991 uwb: 0.50047585 1221.2 987.246 -imu_odom_: 1691062504.363312597 -0.167594 -0.0526724 9.90481 -0.0511327 0.00745685 0.0607201 0.19 0 pose: 0.0 -0.052049 -3.77746 0 -0.00134613 0.00416857 0.996809 0.0796991 uwb: 0.0 1221.2 987.246 -imu_odom_: 1691062504.389318629 0.296881 -0.368707 9.43315 -0.0681769 0.0308927 0.0308927 0.19 0 pose: 0.51067447 -0.0616347 -3.78031 0 0.00234762 0.0029661 0.996809 0.0797314 uwb: 0.50009380 1221.28 987.823 -imu_odom_: 1691062504.414255513 0.392649 -0.316035 9.68694 -0.0500674 0.0372843 0.0490022 0.19 0 pose: 0.34960807 -0.0685491 -3.78236 0 -0.0005438060.000950164 0.996814 0.0797535 uwb: 0.0 1221.28 987.823 -imu_odom_: 1691062504.437367904 0.442927 -0.251391 9.34936 -0.0415453 0.0426106 0.0372843 0.18 -0.02 pose: 0.6966964 -0.0712204 -3.78315 0 -0.00073418 0.000285134 0.996817 0.0797211 uwb: 0.50066833 1221 988.805 -imu_odom_: 1691062504.462396071 0.890643 -0.356736 9.37809 -0.0862864 0.0138484 0.0671117 0.18 -0.02 pose: 0.24076549 -0.0712204 -3.78315 0 -0.00076868 -0.00151142 0.996822 0.0796456 uwb: 0.0 1221 988.805 -imu_odom_: 1691062504.480407112 0.371101 -0.248997 9.54329 -0.056459 -0.0234358 0.0330232 0.23 -0.02 pose: 0.0 -0.0712204 -3.78315 0 -0.00076868 -0.00151142 0.996822 0.0796456 uwb: 0.49932095 1220.8 989.588 -imu_odom_: 1691062504.504238392 0.816423 -0.241814 9.60075 -0.0458064 -0.0245011 0.0479369 0.23 -0.02 pose: 0.23994599 -0.0836552 -3.77642 0 0.0010969 -0.00205259 0.996826 0.0795739 uwb: 0.0 1220.8 989.588 -imu_odom_: 1691062504.530255215 0.861913 -0.107739 9.5816 -0.0234358 0.0127832 0.0170442 0.23 0 pose: 0.42928385 -0.0836552 -3.77642 0 0.00181914 -0.00242501 0.996842 0.0793568 uwb: 0.49925680 1220.71 990.749 -imu_odom_: 1691062504.555282799 0.263362 -0.438139 9.84735 -0.0735032 0.0245011 0.0596548 0.23 0 pose: 0.0 -0.0836552 -3.77642 0 0.00181914 -0.00242501 0.996842 0.0793568 uwb: 0.0 1220.71 990.749 -imu_odom_: 1691062504.572263771 0.715866 -0.126893 9.97664 -0.0458064 -0.015979 0.0298274 0.21 0.02 pose: 0.49991882 -0.0960927 -3.76969 0 0.00531696 -0.00170609 0.996818 0.0795158 uwb: 0.0 1220.71 990.749 -imu_odom_: 1691062504.598244140 0.723049 -0.146046 10.0844 -0.0745685 -0.0255663 0.0543285 0.21 0.02 pose: 0.0 -0.0960927 -3.76969 0 0.00531696 -0.00170609 0.996818 0.0795158 uwb: 0.49916055 1220.3 991.152 -imu_odom_: 1691062504.624249880 0.766145 0.0191536 10.1514 -0.0447411 -0.04048 0.0330232 0.18 0 pose: 0.25134323 -0.105677 -3.77254 0 0.0042451 -0.00252778 0.996833 0.0793665 uwb: 0.0 1220.3 991.152 -imu_odom_: 1691062504.650259121 0.529119 -0.143652 10.1275 -0.0777643 0 0.0415453 0.19 0 pose: 0.35832809 -0.105677 -3.77254 0 0.00788132 -0.001406 0.996824 0.0792362 uwb: 0.50098039 1220.05 991.931 -imu_odom_: 1691062504.676308899 0.54109 -0.277727 9.67018 -0.0543285 0.00106526 0.0319579 0.19 0 pose: 0.7032874 -0.105677 -3.77254 0 0.00849756 -0.0008698870.996817 0.0792631 uwb: 0.0 1220.05 991.931 -imu_odom_: 1691062504.693241168 0.452504 -0.138864 9.69891 -0.0607201 -0.0319579 0.0490022 0.19 0 pose: 0.0 -0.105677 -3.77254 0 0.00849756 -0.0008698870.996817 0.0792631 uwb: 0.49865893 1219.87 992.898 -imu_odom_: 1691062504.710321589 0.811634 -0.208296 10.2017 -0.0394148 -0.0415453 0.0830906 0.19 0 pose: 0.51984068 -0.115261 -3.7754 0 0.00778897 0.0010723 0.996816 0.0793519 uwb: 0.0 1219.87 992.898 -imu_odom_: 1691062504.726282991 1.29766 -0.35913 9.77553 -0.0500674 0.0149137 0.125701 0.19 0 pose: 0.0 -0.115261 -3.7754 0 0.00778897 0.0010723 0.996816 0.0793519 uwb: 0.0 1219.87 992.898 -imu_odom_: 1691062504.744337778 1.51074 -0.100556 10.477 -0.0500674 -0.0617853 0.191748 0.17 0.2 pose: 0.0 -0.115261 -3.7754 0 0.00778897 0.0010723 0.996816 0.0793519 uwb: 0.50080249 1219.67 993.48 -imu_odom_: 1691062504.760218688 1.38145 -0.320823 9.07163 -0.0170442 -0.0330232 0.28336 0.17 0.2 pose: 0.43007711 -0.127699 -3.76867 0 0.00727394 0.000303801 0.996833 0.0791854 uwb: 0.0 1219.67 993.48 -imu_odom_: 1691062504.776330576 1.50835 -0.45011 10.2232 -0.052198 0.0596548 0.360059 0.13 0.38 pose: 0.0 -0.127699 -3.76867 0 0.00727394 0.000303801 0.996833 0.0791854 uwb: 0.0 1219.67 993.48 -imu_odom_: 1691062504.794280373 1.26414 -0.428562 9.76355 -0.0511327 -0.00319579 0.421845 0.13 0.38 pose: 0.0 -0.127699 -3.76867 0 0.00727394 0.000303801 0.996833 0.0791854 uwb: 0.49893016 1219.51 993.677 -imu_odom_: 1691062504.812245043 0.823605 -0.325611 9.57202 -0.0319579 0.0617853 0.452737 0.13 0.38 pose: 0.51078820 -0.137303 -3.77145 0 0.0129639 -0.0001631620.99702 0.0760476 uwb: 0.0 1219.51 993.677 -imu_odom_: 1691062504.828218403 0.52433 -0.0885855 10.1801 -0.076699 0.0234358 0.579504 0.11 0.5 pose: 0.0 -0.137303 -3.77145 0 0.0129639 -0.0001631620.99702 0.0760476 uwb: 0.0 1219.51 993.677 -imu_odom_: 1691062504.845216290 0.893037 -0.732626 9.88326 -0.0692422 -0.0340885 0.648746 0.11 0.5 pose: 0.67016600 -0.137303 -3.77145 0 0.0166097 -0.00241529 0.997836 0.0635781 uwb: 0.50123994 1219.66 994.056 -imu_odom_: 1691062504.863221498 1.19471 -0.560243 9.58878 -0.036219 -0.00426106 0.647681 0.11 0.5 pose: 0.0 -0.137303 -3.77145 0 0.0166097 -0.00241529 0.997836 0.0635781 uwb: 0.0 1219.66 994.056 -imu_odom_: 1691062504.877284330 0.792481 0.169988 10.0078 -0.036219 0.0266316 0.678573 0.08 0.5 pose: 0.0 -0.137303 -3.77145 0 0.0166097 -0.00241529 0.997836 0.0635781 uwb: 0.0 1219.66 994.056 -imu_odom_: 1691062504.894225348 0.35913 -0.146046 9.76834 -0.0479369 0.0500674 0.659399 0.07 0.53 pose: 0.34979181 -0.149686 -3.76462 0 0.017071 -0.00421259 0.998425 0.0532693 uwb: 0.50009088 1219.74 994.246 -imu_odom_: 1691062504.910309239 0.438139 -0.146046 10.1801 -0.0415453 -0.00639159 0.62531 0.07 0.53 pose: 0.40881954 -0.149686 -3.76462 0 0.0157389 -0.00272025 0.999049 0.040561 uwb: 0.0 1219.74 994.246 -imu_odom_: 1691062504.928284116 0.617704 -0.248997 9.81623 -0.0436758 -0.0127832 0.632767 0.06 0.58 pose: 0.7016543 -0.149686 -3.76462 0 0.0150999 -0.00242366 0.999141 0.0385102 uwb: 0.0 1219.74 994.246 -imu_odom_: 1691062504.945204428 0.94571 -0.287304 9.93594 -0.0468716 0.00958738 0.648746 0.06 0.58 pose: 0.0 -0.149686 -3.76462 0 0.0150999 -0.00242366 0.999141 0.0385102 uwb: 0.49849271 1219.62 995.017 -imu_odom_: 1691062504.962320137 0.682347 -0.227449 10.0724 -0.0426106 0.0276969 0.632767 0.06 0.58 pose: 0.34976556 -0.149686 -3.76462 0 0.0132716 -0.00220745 0.999514 0.0281104 uwb: 0.0 1219.62 995.017 -imu_odom_: 1691062504.979272820 0.526724 -0.117316 10.1227 -0.0543285 0.0138484 0.573112 0.05 0.5 pose: 0.0 -0.149686 -3.76462 0 0.0132716 -0.00220745 0.999514 0.0281104 uwb: 0.0 1219.62 995.017 -imu_odom_: 1691062504.996205380 0.577003 -0.0311246 9.64145 -0.0447411 -0.0106526 0.512392 0.05 0.5 pose: 0.33105109 -0.149686 -3.76462 0 0.0130584 -0.0002055290.999744 0.0184601 uwb: 0.49976716 1219.58 995.592 -imu_odom_: 1691062505.11206418 0.646434 0.00957681 10.082 -0.0458064 -0.00106526 0.468716 0.05 0.5 pose: 0.0 -0.149686 -3.76462 0 0.0130584 -0.0002055290.999744 0.0184601 uwb: 0.0 1219.58 995.592 -imu_odom_: 1691062505.27211279 0.76375 -0.186748 9.93354 -0.0543285 -0.00106526 0.441019 0.04 0.35 pose: 0.0 -0.149686 -3.76462 0 0.0130584 -0.0002055290.999744 0.0184601 uwb: 0.0 1219.58 995.592 -imu_odom_: 1691062505.42262772 0.751779 -0.189142 9.83299 -0.0511327 -0.00745685 0.412257 0.04 0.38 pose: 0.33891659 -0.159264 -3.7675 0 0.0117467 0.00271801 0.999874 0.0103345 uwb: 0.50011721 1219.47 997.313 -imu_odom_: 1691062505.59254831 0.706289 -0.0861913 10.0197 -0.0543285 0.00213053 0.374973 0.04 0.38 pose: 0.39047557 -0.159268 -3.76746 0 0.0147321 0.00244109 0.999885 0.00258884 uwb: 0.0 1219.47 997.313 -imu_odom_: 1691062505.73186430 0.679953 -0.155623 9.8689 -0.0511327 -0.00532632 0.34408 0.04 0.38 pose: 0.6999338 -0.159264 -3.7675 0 0.0148143 0.00312067 0.999884 0.00142508 uwb: 0.0 1219.47 997.313 -imu_odom_: 1691062505.90213778 0.54109 -0.0981623 9.96467 -0.052198 0.00639159 0.305731 0.04 0.35 pose: 0.0 -0.159264 -3.7675 0 0.0148143 0.00312067 0.999884 0.00142508 uwb: 0.49989855 1219.13 998.656 -imu_odom_: 1691062505.104189123 0.581791 -0.146046 9.93833 -0.0511327 0.00852212 0.291882 0.04 0.35 pose: 0.40951668 -0.159264 -3.7675 0 0.0124946 0.00359593 0.999905 -0.00462404 uwb: 0.0 1219.13 998.656 -imu_odom_: 1691062505.121253801 0.428562 -0.253785 9.88326 -0.0585895 0.00852212 0.294013 0.03 0.23 pose: 0.0 -0.159264 -3.7675 0 0.0124946 0.00359593 0.999905 -0.00462404 uwb: 0.0 1219.13 998.656 -imu_odom_: 1691062505.135195316 0.442927 -0.25618 9.99819 -0.0553937 -0.00745685 0.294013 0.03 0.23 pose: 0.0 -0.159264 -3.7675 0 0.0124946 0.00359593 0.999905 -0.00462404 uwb: 0.50034476 1218.91 999.231 -imu_odom_: 1691062505.150192564 0.557849 -0.191536 9.79228 -0.0458064 -0.0181095 0.270577 0.03 0.23 pose: 0.44981538 -0.159264 -3.7675 0 0.00828447 0.00190174 0.99991 -0.0103355 uwb: 0.0 1218.91 999.231 -imu_odom_: 1691062505.167254033 0.6608 -0.0670376 9.97664 -0.0543285 -0.00745685 0.257794 0.04 0.29 pose: 0.0 -0.159264 -3.7675 0 0.00828447 0.00190174 0.99991 -0.0103355 uwb: 0.0 1218.91 999.231 -imu_odom_: 1691062505.185430148 0.646434 -0.100556 9.83299 -0.0532632 0 0.245011 0.04 0.29 pose: 0.0 -0.159264 -3.7675 0 0.00828447 0.00190174 0.99991 -0.0103355 uwb: 0.50272746 1218.99 999.804 -imu_odom_: 1691062505.199364663 0.667982 -0.260968 9.91918 -0.052198 -0.00532632 0.233293 0.04 0.29 pose: 0.23062818 -0.159264 -3.7675 0 0.00823428 0.00125319 0.999881 -0.0129531 uwb: 0.0 1218.99 999.804 -imu_odom_: 1691062505.215457599 0.667982 -0.208296 9.93354 -0.0490022 0.00106526 0.237554 0.01 0.2 pose: 0.0 -0.159264 -3.7675 0 0.00823428 0.00125319 0.999881 -0.0129531 uwb: 0.0 1218.99 999.804 -imu_odom_: 1691062505.232338253 0.567426 -0.294487 9.93354 -0.0553937 0.00106526 0.26312 0.01 0.2 pose: 0.0 -0.159264 -3.7675 0 0.00823428 0.00125319 0.999881 -0.0129531 uwb: 0.49922194 1218.73 1000.38 -imu_odom_: 1691062505.248162298 0.543484 -0.251391 9.90002 -0.0543285 -0.00106526 0.262055 0.01 0.2 pose: 0.74080119 -0.159264 -3.7675 0 0.0110862 -2.77327e-050.999725 -0.0206569 uwb: 0.0 1218.73 1000.38 -imu_odom_: 1691062505.265247098 0.486023 -0.071826 9.87848 -0.0511327 -0.00213053 0.236489 0.02 0.26 pose: 0.0 -0.159264 -3.7675 0 0.0110862 -2.77327e-050.999725 -0.0206569 uwb: 0.0 1218.73 1000.38 -imu_odom_: 1691062505.281312912 0.538695 -0.0263362 9.87608 -0.0543285 -0.00426106 0.214118 0.01 0.17 pose: 0.0 -0.159264 -3.7675 0 0.0110862 -2.77327e-050.999725 -0.0206569 uwb: 0.0 1218.73 1000.38 -imu_odom_: 1691062505.306227056 0.560243 -0.21069 9.8258 -0.0543285 -0.00213053 0.18216 0.01 0.17 pose: 0.7963205 -0.159264 -3.7675 0 0.0103434 -0.0003545 0.999714 -0.0215462 uwb: 0.0 1218.73 1000.38 -imu_odom_: 1691062505.320165071 0.136469 -0.1652 9.85932 -0.0575243 0.052198 0.166181 0.01 0.14 pose: 0.0 -0.159264 -3.7675 0 0.0103434 -0.0003545 0.999714 -0.0215462 uwb: 0.0 1218.73 1000.38 -imu_odom_: 1691062505.337182211 -0.943315 -0.122104 9.95988 -0.0703074 0.107592 0.166181 0.01 0.14 pose: 0.71875910 -0.168851 -3.77034 0 0.00723813 -0.0001070060.999591 -0.0276529 uwb: 0.99730068 1218.58 1000.76 -imu_odom_: 1691062505.351286752 -1.4054 -0.0981623 9.98861 -0.0703074 0.0213053 0.164051 0.01 0.14 pose: 0.0 -0.168851 -3.77034 0 0.00723813 -0.0001070060.999591 -0.0276529 uwb: 0.0 1218.58 1000.76 -imu_odom_: 1691062505.368226025 -1.01993 -0.383072 9.71088 -0.0596548 -0.052198 0.148072 0.04 0.08 pose: 0.0 -0.168851 -3.77034 0 0.00723813 -0.0001070060.999591 -0.0276529 uwb: 0.0 1218.58 1000.76 -imu_odom_: 1691062505.382278946 -0.0885855 -0.241814 10.0437 -0.0532632 -0.0916127 0.122505 0.04 0.08 pose: 0.30991902 -0.168851 -3.77034 0 0.00289447 -0.0001645160.999557 -0.029606 uwb: 0.49986647 1218.63 1000.76 -imu_odom_: 1691062505.399220843 0.418985 -0.21069 9.76595 -0.0479369 -0.0458064 0.134223 0.04 0.08 pose: 0.39109676 -0.168851 -3.77034 0 -7.95442e-05-0.0005248380.9995 -0.0316135 uwb: 0.0 1218.63 1000.76 -imu_odom_: 1691062505.413214562 0.471658 -0.150835 9.8282 -0.0703074 0.0266316 0.127832 0.08 0.05 pose: 0.0 -0.168851 -3.77034 0 -7.95442e-05-0.0005248380.9995 -0.0316135 uwb: 0.0 1218.63 1000.76 -imu_odom_: 1691062505.430277489 0.105345 -0.248997 10.0269 -0.0639159 0.00532632 0.120375 0.08 0.05 pose: 0.0 -0.168851 -3.77034 0 -7.95442e-05-0.0005248380.9995 -0.0316135 uwb: 0.50006770 1218.51 1001.14 -imu_odom_: 1691062505.444152219 -0.143652 -0.107739 9.56005 -0.0553937 0.00852212 0.0916127 0.11 0.08 pose: 0.7010420 -0.168851 -3.77034 0 0.000601577 -4.21579e-050.999489 -0.0319449 uwb: 0.0 1218.51 1001.14 -imu_odom_: 1691062505.461142820 0.0287304 -0.100556 10.0604 -0.0660464 -0.0255663 0.109722 0.11 0.08 pose: 0.0 -0.168851 -3.77034 0 0.000601577 -4.21579e-050.999489 -0.0319449 uwb: 0.0 1218.51 1001.14 -imu_odom_: 1691062505.475147037 0.172383 -0.292093 10.1083 -0.0735032 -0.00213053 0.135289 0.11 0.08 pose: 0.0 -0.168851 -3.77034 0 0.000601577 -4.21579e-050.999489 -0.0319449 uwb: 0.0 1218.51 1001.14 -imu_odom_: 1691062505.491150149 0.514753 -0.486023 10.0604 -0.0671117 0.00213053 0.0990696 0.1 0.05 pose: 0.46905772 -0.168851 -3.77034 0 -0.0002338870.00129904 0.999425 -0.0338702 uwb: 0.49968274 1218.7 1000.95 -imu_odom_: 1691062505.508155040 0.438139 -0.0167594 9.76834 -0.0649811 -0.00852212 0.102265 0.1 0.05 pose: 0.0 -0.168851 -3.77034 0 -0.0002338870.00129904 0.999425 -0.0338702 uwb: 0.0 1218.7 1000.95 -imu_odom_: 1691062505.526207791 0.316035 -0.23942 10.2185 -0.0841559 0.0436758 0.12144 0.1 0.05 pose: 0.0 -0.168851 -3.77034 0 -0.0002338870.00129904 0.999425 -0.0338702 uwb: 0.0 1218.7 1000.95 -imu_odom_: 1691062505.544147386 0.220267 -0.244209 10.4962 -0.0649811 0.04048 0.0798948 0.12 0.02 pose: 0.45964361 -0.181334 -3.76369 0 -0.00335109 0.000125733 0.999363 -0.0355424 uwb: 0.49899739 1219.05 1001.72 -imu_odom_: 1691062505.561258726 0.19393 -0.471658 10.0413 -0.0788296 0.015979 0.0830906 0.13 0.02 pose: 0.0 -0.181334 -3.76369 0 -0.00335109 0.000125733 0.999363 -0.0355424 uwb: 0.0 1219.05 1001.72 -imu_odom_: 1691062505.578191291 0.289698 -0.191536 9.97903 -0.0628506 0.0170442 0.0873517 0.13 0.02 pose: 0.68991600 -0.19091 -3.76657 0 -0.00629927 -0.00196404 0.999271 -0.0375896 uwb: 0.0 1219.05 1001.72 -imu_odom_: 1691062505.594136366 1.02472 -0.383072 10.1275 -0.0479369 -0.0426106 0.1012 0.12 0.05 pose: 0.0 -0.19091 -3.76657 0 -0.00629927 -0.00196404 0.999271 -0.0375896 uwb: 0.50053724 1219.29 1001.91 -imu_odom_: 1691062505.612188242 1.10852 -0.282516 9.74679 -0.0607201 0.00319579 0.164051 0.12 0.05 pose: 0.0 -0.19091 -3.76657 0 -0.00629927 -0.00196404 0.999271 -0.0375896 uwb: 0.0 1219.29 1001.91 -imu_odom_: 1691062505.629190801 1.34075 -0.548272 10.1873 -0.056459 -0.0532632 0.198139 0.12 0.05 pose: 0.33991993 -0.19091 -3.76657 0 -0.00569336 -0.0015317 0.999244 -0.0384311 uwb: 0.49934152 1219.65 1003.06 -imu_odom_: 1691062505.646148447 1.34794 -0.205901 9.26077 -0.036219 -0.00852212 0.11931 0.09 -0.02 pose: 0.44047709 -0.200477 -3.76948 0 -0.0008349 -0.00210789 0.99915 -0.0411696 uwb: 0.0 1219.65 1003.06 -imu_odom_: 1691062505.663202626 1.03669 0.320823 9.8689 -0.0543285 0.0383495 0.092678 0.09 -0.02 pose: 0.6949468 -0.200477 -3.76948 0 -0.00013111 -0.00197832 0.999139 -0.0414449 uwb: 0.0 1219.65 1003.06 -imu_odom_: 1691062505.679191447 0.61531 -0.047884 9.92157 -0.0671117 0.0234358 0.0607201 0.09 -0.02 pose: 0.0 -0.200477 -3.76948 0 -0.00013111 -0.00197832 0.999139 -0.0414449 uwb: 0.0 1219.65 1003.06 -imu_odom_: 1691062505.696132178 0.634463 -0.270545 9.91678 -0.0639159 -0.02024 0.0266316 0.1 0.08 pose: 0.43051178 -0.200477 -3.76948 0 0.00258428 0.000487989 0.999095 -0.0424558 uwb: 0.50072972 1219.91 1003.26 -imu_odom_: 1691062505.714182595 0.653617 -0.40462 9.84256 -0.0532632 -0.00958738 0.0223706 0.06 0.02 pose: 0.0 -0.200477 -3.76948 0 0.00258428 0.000487989 0.999095 -0.0424558 uwb: 0.0 1219.91 1003.26 -imu_odom_: 1691062505.728126735 0.924162 -0.100556 9.94791 -0.056459 0.00639159 0.0500674 0.06 0.02 pose: 0.0 -0.200477 -3.76948 0 0.00258428 0.000487989 0.999095 -0.0424558 uwb: 0.0 1219.91 1003.26 -imu_odom_: 1691062505.745189371 0.517148 -0.268151 9.86172 -0.0543285 0.0255663 0.0660464 0.06 0.02 pose: 0.24948848 -0.200477 -3.76948 0 0.00492431 -0.0006343620.999093 -0.0422813 uwb: 0.50184379 1220.34 1002.88 -imu_odom_: 1691062505.762184055 0.502782 -0.136469 9.8282 -0.0553937 -0.0106526 0.0532632 0.05 -0.02 pose: 0.0 -0.200477 -3.76948 0 0.00492431 -0.0006343620.999093 -0.0422813 uwb: 0.0 1220.34 1002.88 -imu_odom_: 1691062505.779190114 0.656011 -0.158017 9.76834 -0.0458064 -0.00852212 0.0479369 0.05 -0.02 pose: 0.32061343 -0.200477 -3.76948 0 0.00636569 -0.00154109 0.99908 -0.0423778 uwb: 0.49871158 1220.5 1003.27 -imu_odom_: 1691062505.804215955 0.706289 -0.215478 9.81383 -0.0596548 -0.00745685 0.0660464 0.04 0.02 pose: 0.42988476 -0.210051 -3.77238 0 0.00715332 0.000275824 0.999063 -0.0426749 uwb: 0.0 1220.5 1003.27 -imu_odom_: 1691062505.821125189 0.538695 -0.227449 9.99819 -0.0532632 0.0266316 0.0511327 0.04 0.02 pose: 0.0 -0.210051 -3.77238 0 0.00715332 0.000275824 0.999063 -0.0426749 uwb: 0.0 1220.5 1003.27 -imu_odom_: 1691062505.846136740 -1.37667 -0.124498 9.91678 -0.0553937 0.0948085 0.0436758 0.05 0 pose: 0.7965829 -0.210051 -3.77238 0 0.00796397 0.000291222 0.999053 -0.0427798 uwb: 0.49984897 1220.56 1003.85 -imu_odom_: 1691062505.871177163 -0.624887 -0.584185 9.95988 -0.0553937 -0.0873517 0.0543285 0.09 0.05 pose: 0.0 -0.210051 -3.77238 0 0.00796397 0.000291222 0.999053 -0.0427798 uwb: 0.0 1220.56 1003.85 -imu_odom_: 1691062505.892190342 0.672771 -0.0454898 9.95509 -0.0426106 -0.0649811 0.0596548 0.09 0.02 pose: 0.66113414 -0.210051 -3.77238 0 0.00368245 -0.0003407210.999059 -0.0432116 uwb: 0.50047308 1220.18 1004.03 -imu_odom_: 1691062505.905171490 0.227449 -0.146046 9.33739 -0.0543285 0.00213053 0.0756338 0.09 0.02 pose: 0.0 -0.210051 -3.77238 0 0.00368245 -0.0003407210.999059 -0.0432116 uwb: 0.0 1220.18 1004.03 -imu_odom_: 1691062505.930253326 0.126893 -0.203507 9.90002 -0.0468716 -0.0127832 0.0490022 0.11 0 pose: 0.51902133 -0.214533 -3.77374 0 0.00357873 0.00090871 0.999034 -0.0437846 uwb: 0.49966524 1220.13 1004.42 -imu_odom_: 1691062505.955116724 -0.0909797 -0.390255 10.0054 -0.0500674 -0.00532632 0.0479369 0.11 0 pose: 0.7956789 -0.219617 -3.77529 0 0.00281557 0.000900756 0.999035 -0.0438217 uwb: 0.0 1220.13 1004.42 -imu_odom_: 1691062505.969127649 0.328006 -0.445322 10.1778 -0.0490022 -0.0223706 0.0490022 0.11 0.02 pose: 0.0 -0.219617 -3.77529 0 0.00281557 0.000900756 0.999035 -0.0438217 uwb: 0.0 1220.13 1004.42 -imu_odom_: 1691062505.994221151 -0.0335188 -0.19393 9.9527 -0.0426106 0.0351537 0.0617853 0.11 0.02 pose: 0.48071161 -0.222535 -3.76572 0 -0.00116529 -0.0005939180.999029 -0.0440323 uwb: 0.49998022 1220.42 1005.96 -imu_odom_: 1691062506.19223375 0.572214 -0.354342 9.82102 -0.0628506 -0.0479369 0.0649811 0.17 -0.02 pose: 0.33021711 -0.22946 -3.76784 0 -0.00424288 -0.00103795 0.999007 -0.0443494 uwb: 0.0 1220.42 1005.96 -imu_odom_: 1691062506.33102483 -0.0526724 -0.270545 9.83538 -0.0372843 -0.0308927 0.0468716 0.17 -0.02 pose: 0.6887348 -0.232099 -3.76865 0 -0.00345887 -0.00133171 0.999005 -0.0444353 uwb: 0.50136558 1220.6 1007.12 -imu_odom_: 1691062506.49210589 0.531513 -0.191536 10.0724 -0.0415453 -0.0340885 0.0532632 0.17 -0.02 pose: 0.0 -0.232099 -3.76865 0 -0.00345887 -0.00133171 0.999005 -0.0444353 uwb: 0.0 1220.6 1007.12 -imu_odom_: 1691062506.74092660 0.107739 -0.457293 10.058 -0.0394148 0.0138484 0.0436758 0.12 0 pose: 0.39112896 -0.232099 -3.76865 0 -0.00183596 -0.00177111 0.998994 -0.0447627 uwb: 0.0 1220.6 1007.12 -imu_odom_: 1691062506.98370162 0.31364 -0.172383 9.66539 -0.0490022 0.0117179 0.052198 0.14 0.02 pose: 0.0 -0.232099 -3.76865 0 -0.00183596 -0.00177111 0.998994 -0.0447627 uwb: 0.49851342 1220.85 1005.78 -imu_odom_: 1691062506.124279095 0.203507 -0.0814029 10.0533 -0.0426106 -0.0149137 0.0628506 0.14 0.02 pose: 0.41920506 -0.241658 -3.77158 0 -0.0033412 -0.00202795 0.998983 -0.0449282 uwb: 0.0 1220.85 1005.78 -imu_odom_: 1691062506.150089744 0.466869 -0.208296 10.0628 -0.0511327 -0.0319579 0.0372843 0.13 0 pose: 0.42137194 -0.24859 -3.77372 0 -0.0056836 0.00160249 0.998954 -0.0453447 uwb: 0.50182352 1221.81 1006.97 -imu_odom_: 1691062506.175217667 -0.110133 -0.184354 9.54808 -0.0585895 -0.0394148 0.0660464 0.13 0 pose: 0.6819398 -0.251215 -3.77453 0 -0.00491265 0.00153415 0.998958 -0.0453374 uwb: 0.0 1221.81 1006.97 -imu_odom_: 1691062506.200084572 0.323217 -0.289698 9.84975 -0.0585895 0 0.0415453 0.15 0 pose: 0.44119174 -0.251215 -3.77453 0 -0.00483285 0.00122456 0.998945 -0.0456445 uwb: 0.49785139 1222.05 1008.33 -imu_odom_: 1691062506.217118341 0.318429 0.0287304 10.1323 -0.0479369 -0.00639159 0.0436758 0.15 0 pose: 0.0 -0.251215 -3.77453 0 -0.00483285 0.00122456 0.998945 -0.0456445 uwb: 0.0 1222.05 1008.33 -imu_odom_: 1691062506.242086445 0.380678 -0.31364 9.6199 -0.0639159 -0.056459 0.0681769 0.15 -0.02 pose: 0.32884941 -0.26077 -3.77748 0 -0.00447291 -0.0004376890.998946 -0.0456778 uwb: 0.50119649 1221.96 1008.71 -imu_odom_: 1691062506.266142302 -0.0502782 -0.148441 9.53132 -0.0287621 0.0809601 0.0266316 0.15 0 pose: 0.0 -0.26077 -3.77748 0 -0.00447291 -0.0004376890.998946 -0.0456778 uwb: 0.0 1221.96 1008.71 -imu_odom_: 1691062506.283094412 -0.0383072 0.059855 10.0628 -0.0511327 -0.0170442 0.0639159 0.15 0 pose: 0.41055796 -0.26077 -3.77748 0 -0.00352127 -0.00149283 0.998934 -0.0460031 uwb: 0.49876131 1222.2 1009.31 -imu_odom_: 1691062506.308139218 0.35913 -0.189142 10.3956 -0.0575243 -0.0191748 0.0394148 0.15 0 pose: 0.0 -0.26077 -3.77748 0 -0.00352127 -0.00149283 0.998934 -0.0460031 uwb: 0.0 1222.2 1009.31 -imu_odom_: 1691062506.333083699 0.4956 -0.0861913 9.67976 -0.0575243 -0.0426106 0.0617853 0.16 0 pose: 0.41952586 -0.273281 -3.77089 0 -0.00628855 0.000284316 0.998917 -0.0461088 uwb: 0.50054323 1222.4 1009.7 -imu_odom_: 1691062506.356090238 0.213084 -0.390255 9.8258 -0.0426106 -0.0170442 0.0532632 0.16 0 pose: 0.41972709 -0.280411 -3.7731 0 -0.00196775 0.00204298 0.998919 -0.0463949 uwb: 0.0 1222.4 1009.7 -imu_odom_: 1691062506.372116977 0.656011 0.0215478 10.7763 -0.0553937 -0.0511327 0.0394148 0.16 0 pose: 0.0 -0.280411 -3.7731 0 -0.00196775 0.00204298 0.998919 -0.0463949 uwb: 0.0 1222.4 1009.7 -imu_odom_: 1691062506.397092081 0.608127 -0.220267 10.1993 -0.0617853 -0.0245011 0.0617853 0.21 0 pose: 0.6066970 -0.282832 -3.77385 0 -0.00225828 0.00157226 0.998918 -0.0464345 uwb: 0.49948457 1222.37 1010.87 -imu_odom_: 1691062506.422077975 0.634463 -0.0957681 9.4954 -0.0468716 -0.00319579 0.0287621 0.21 0 pose: 0.0 -0.282832 -3.77385 0 -0.00225828 0.00157226 0.998918 -0.0464345 uwb: 0.0 1222.37 1010.87 -imu_odom_: 1691062506.446095627 0.538695 -0.440533 9.91678 -0.0788296 -0.00319579 0.052198 0.17 0 pose: 0.39976439 -0.292381 -3.77682 0 -0.0006639540.00118505 0.998912 -0.0466257 uwb: 0.50033324 1222.86 1011.87 -imu_odom_: 1691062506.470125237 0.665588 -0.117316 10.5872 -0.0585895 -0.02024 0.0436758 0.17 0 pose: 0.0 -0.292381 -3.77682 0 -0.0006639540.00118505 0.998912 -0.0466257 uwb: 0.0 1222.86 1011.87 -imu_odom_: 1691062506.485165360 0.533907 -0.462081 9.69412 -0.0703074 0.0106526 0.0575243 0.17 0 pose: 0.50015534 -0.292381 -3.77682 0 0.00367839 0.00152552 0.998899 -0.0467392 uwb: 0.50006785 1222.77 1012.26 -imu_odom_: 1691062506.509081522 -0.124498 -0.505177 9.94791 -0.0500674 0.00213053 0.0394148 0.17 0 pose: 0.0 -0.292381 -3.77682 0 0.00367839 0.00152552 0.998899 -0.0467392 uwb: 0.0 1222.77 1012.26 -imu_odom_: 1691062506.534074999 0.550666 -0.342371 9.42837 -0.0490022 -0.0170442 0.0458064 0.2 0 pose: 0.47932064 -0.301929 -3.77979 0 0.0063465 0.000270105 0.998877 -0.0469608 uwb: 0.0 1222.77 1012.26 -imu_odom_: 1691062506.556260282 0.349553 -0.299275 9.64624 -0.0479369 0.0287621 0.0255663 0.2 0 pose: 0.0 -0.301929 -3.77979 0 0.0063465 0.000270105 0.998877 -0.0469608 uwb: 0.0 1222.77 1012.26 -imu_odom_: 1691062506.572327850 0.526724 -0.42138 9.67976 -0.0383495 0.0458064 0.0245011 0.18 0 pose: 0.39001490 -0.311475 -3.78277 0 0.0046049 -0.00207971 0.998879 -0.0470681 uwb: 0.0 1222.77 1012.26 -imu_odom_: 1691062506.590199790 0.373495 -0.258574 9.51695 -0.0575243 0 0.0479369 0.18 0 pose: 0.0 -0.311475 -3.78277 0 0.0046049 -0.00207971 0.998879 -0.0470681 uwb: 0.99990531 1222.6 1012.64 -imu_odom_: 1691062506.614041293 0.497994 -0.0550666 9.67736 -0.036219 -0.0340885 0.0394148 0.18 0 pose: 0.47264502 -0.324 -3.7762 0 0.00345766 -0.00420704 0.998883 -0.0469284 uwb: 0.0 1222.6 1012.64 -imu_odom_: 1691062506.639048185 0.452504 -0.23942 10.3597 -0.072438 -0.00319579 0.056459 0.18 0 pose: 0.0 -0.324 -3.7762 0 0.00345766 -0.00420704 0.998883 -0.0469284 uwb: 0.50157854 1222.41 1013.21 -imu_odom_: 1691062506.660087909 0.80924 -0.0957681 9.85693 -0.0426106 -0.0138484 0.0276969 0.17 -0.02 pose: 0.33801563 -0.324 -3.7762 0 0.00224756 -0.00341159 0.998889 -0.0469389 uwb: 0.0 1222.41 1013.21 -imu_odom_: 1691062506.686157243 0.407014 -0.316035 10.2352 -0.0735032 -0.015979 0.052198 0.17 -0.02 pose: 0.0 -0.324 -3.7762 0 0.00224756 -0.00341159 0.998889 -0.0469389 uwb: 0.49782223 1222.51 1013.02 -imu_odom_: 1691062506.703036443 0.603339 -0.155623 9.33978 -0.0426106 -0.00958738 0.0245011 0.19 -0.02 pose: 0.47967644 -0.333547 -3.77918 0 0.00192758 0.000457128 0.998888 -0.0471052 uwb: 0.0 1222.51 1013.02 -imu_odom_: 1691062506.728040128 0.40462 -0.0981623 10.0389 -0.0639159 0.0468716 0.0543285 0.19 -0.02 pose: 0.0 -0.333547 -3.77918 0 0.00192758 0.000457128 0.998888 -0.0471052 uwb: 0.0 1222.51 1013.02 -imu_odom_: 1691062506.754038593 0.469264 -0.0430956 9.97664 -0.0436758 0.0213053 0.0383495 0.22 0 pose: 0.47927398 -0.343092 -3.78216 0 0.00301725 -0.00109816 0.998883 -0.0471325 uwb: 0.50035366 1222.53 1014.58 -imu_odom_: 1691062506.779255465 0.433351 -0.198719 10.1466 -0.0703074 0.015979 0.0660464 0.22 0 pose: 0.0 -0.343092 -3.78216 0 0.00301725 -0.00109816 0.998883 -0.0471325 uwb: 0.49942624 1221.97 1016.49 -imu_odom_: 1691062506.804049169 0.258574 -0.268151 9.52413 -0.0458064 -0.00745685 0.0479369 0.21 0.02 pose: 0.42071575 -0.352638 -3.78514 0 0.00190828 0.00220539 0.99888 -0.0472254 uwb: 0.0 1221.97 1016.49 -imu_odom_: 1691062506.817030320 0.526724 -0.138864 9.67018 -0.0692422 -0.0223706 0.0607201 0.21 0.02 pose: 0.0 -0.352638 -3.78514 0 0.00190828 0.00220539 0.99888 -0.0472254 uwb: 0.0 1221.97 1016.49 -imu_odom_: 1691062506.842030797 0.318429 -0.241814 9.72525 -0.0383495 -0.0191748 0.04048 0.17 0 pose: 0.81921442 -0.363573 -3.78369 0 0.000443808 0.000975771 0.998857 -0.0477886 uwb: 0.49998036 1222.33 1016.52 -imu_odom_: 1691062506.859159348 0.481235 -0.196325 10.1394 -0.0639159 0.00958738 0.0639159 0.17 0 pose: 0.8006079 -0.365174 -3.77858 0 -0.0002036990.000663608 0.998857 -0.0477917 uwb: 0.0 1222.33 1016.52 -imu_odom_: 1691062506.884102955 0.605733 0.023942 10.058 -0.0458064 -0.0458064 0.0553937 0.18 0.02 pose: 0.0 -0.365174 -3.77858 0 -0.0002036990.000663608 0.998857 -0.0477917 uwb: 0.50060447 1222.28 1017.49 -imu_odom_: 1691062506.909026147 0.782904 0.023942 10.094 -0.0958738 -0.0106526 0.072438 0.18 0.02 pose: 0.34122949 -0.374715 -3.78158 0 -1.17602e-050.000262258 0.998847 -0.048007 uwb: 0.0 1222.28 1017.49 -imu_odom_: 1691062506.935154683 0.608127 0.0287304 10.3741 -0.0607201 -0.0213053 0.0500674 0.18 0.02 pose: 0.49866799 -0.384255 -3.78458 0 0.00424783 0.00320923 0.998803 -0.0486135 uwb: 0.50128399 1222.46 1019.07 -imu_odom_: 1691062506.960028588 0.347159 -0.100556 10.0437 -0.072438 0.00852212 0.0511327 0.21 0 pose: 0.0 -0.384255 -3.78458 0 0.00424783 0.00320923 0.998803 -0.0486135 uwb: 0.0 1222.46 1019.07 -imu_odom_: 1691062506.974014436 -0.0814029 -0.335188 9.70609 -0.0468716 -0.00532632 0.036219 0.19 0.02 pose: 0.51002441 -0.393791 -3.78759 0 0.00312239 0.00525412 0.998786 -0.0488729 uwb: 0.0 1222.46 1019.07 -imu_odom_: 1691062506.991084951 0.723049 -0.351948 10.1778 -0.0575243 -0.0511327 0.0511327 0.19 0.02 pose: 0.0 -0.393791 -3.78759 0 0.00312239 0.00525412 0.998786 -0.0488729 uwb: 0.49827427 1222.53 1020.64 -imu_odom_: 1691062507.14179570 0.811634 -0.100556 9.85214 -0.0415453 -0.0596548 0.0287621 0.17 0 pose: 0.0 -0.393791 -3.78759 0 0.00312239 0.00525412 0.998786 -0.0488729 uwb: 0.0 1222.53 1020.64 -imu_odom_: 1691062507.31146558 0.442927 -0.0526724 9.68215 -0.0596548 0.0266316 0.0500674 0.17 0 pose: 0.37995626 -0.403326 -3.7906 0 0.00449511 0.00389434 0.998785 -0.0489138 uwb: 0.49993378 1222.92 1019.5 -imu_odom_: 1691062507.45189863 0.73502 -0.392649 9.68455 -0.0788296 0.00426106 0.0628506 0.17 0 pose: 0.0 -0.403326 -3.7906 0 0.00449511 0.00389434 0.998785 -0.0489138 uwb: 0.0 1222.92 1019.5 -imu_odom_: 1691062507.69178359 0.577003 -0.196325 9.81144 -0.0500674 -0.0106526 0.0458064 0.18 0.02 pose: 0.39273891 -0.403326 -3.7906 0 0.00538333 0.00486232 0.998773 -0.0489824 uwb: 0.0 1222.92 1019.5 -imu_odom_: 1691062507.87218580 0.351948 -0.0335188 9.98143 -0.0468716 -0.0500674 0.0607201 0.18 0.02 pose: 0.0 -0.403326 -3.7906 0 0.00538333 0.00486232 0.998773 -0.0489824 uwb: 0.49981719 1223.1 1019.32 -imu_odom_: 1691062507.110996220 0.311246 0.0311246 9.93594 -0.04048 0 0.0330232 0.21 0.02 pose: 0.39822757 -0.415876 -3.78408 0 0.00722235 0.00306829 0.998756 -0.0492498 uwb: 0.0 1223.1 1019.32 -imu_odom_: 1691062507.129129474 0.153229 -0.47884 9.56244 -0.0628506 0.00958738 0.056459 0.21 0.02 pose: 0.0 -0.415876 -3.78408 0 0.00722235 0.00306829 0.998756 -0.0492498 uwb: 0.0 1223.1 1019.32 -imu_odom_: 1691062507.153041268 0.488417 -0.169988 9.99819 -0.0340885 -0.0308927 0.0500674 0.25 0.02 pose: 0.41917019 -0.425409 -3.7871 0 0.00401918 0.00457188 0.998764 -0.0493258 uwb: 0.49992510 1223.33 1019.93 -imu_odom_: 1691062507.171107737 0.730232 -0.0837971 10.0102 -0.0617853 -0.0255663 0.0692422 0.25 0.02 pose: 0.0 -0.425409 -3.7871 0 0.00401918 0.00457188 0.998764 -0.0493258 uwb: 0.0 1223.33 1019.93 -imu_odom_: 1691062507.195055986 0.893037 -0.296881 9.55526 -0.0415453 0.0436758 0.0255663 0.18 0 pose: 0.52069856 -0.434941 -3.79013 0 0.00679371 0.0028034 0.998731 -0.0498137 uwb: 0.49872354 1223 1019.31 -imu_odom_: 1691062507.219062854 0.565032 -0.414197 9.29669 -0.04048 -0.0255663 0.0532632 0.18 0 pose: 0.0 -0.434941 -3.79013 0 0.00679371 0.0028034 0.998731 -0.0498137 uwb: 0.0 1223 1019.31 -imu_odom_: 1691062507.245144736 0.172383 0.0670376 9.81144 -0.02024 0.0117179 0.0351537 0.25 0.05 pose: 0.47955117 -0.441249 -3.79213 0 0.00890977 4.13447e-05 0.998717 -0.049845 uwb: 0.49979969 1223.59 1019.17 -imu_odom_: 1691062507.271144084 0.155623 -0.0670376 9.83538 -0.0660464 -0.0308927 0.0639159 0.18 0.02 pose: 0.0 -0.441249 -3.79213 0 0.00890977 4.13447e-05 0.998717 -0.049845 uwb: 0.0 1223.59 1019.17 -imu_odom_: 1691062507.295988249 0.265756 -0.222661 9.84496 -0.0681769 -0.04048 0.0532632 0.18 0.02 pose: 0.35096160 -0.44447 -3.79316 0 0.00573681 0.00208458 0.998736 -0.0498856 uwb: 0.50143870 1223.56 1020.54 -imu_odom_: 1691062507.320981442 0.387861 -0.289698 9.97664 -0.0692422 -0.0127832 0.0490022 0.2 0 pose: 0.41829235 -0.453999 -3.79619 0 0.00238804 0.00161771 0.998732 -0.0502511 uwb: 0.0 1223.56 1020.54 -imu_odom_: 1691062507.338037964 0.859518 -0.0215478 9.86411 -0.0426106 -0.0255663 0.0458064 0.2 0 pose: 0.0 -0.453999 -3.79619 0 0.00238804 0.00161771 0.998732 -0.0502511 uwb: 0.49956930 1224.02 1020.98 -imu_odom_: 1691062507.360999306 0.715866 -0.318429 9.95748 -0.0596548 -0.0287621 0.0585895 0.2 -0.02 pose: 0.7007217 -0.453999 -3.79619 0 0.0020856 0.000955109 0.998732 -0.0502849 uwb: 0.0 1224.02 1020.98 -imu_odom_: 1691062507.377126081 -0.059855 -0.0957681 9.53371 -0.0298274 0.04048 0.0298274 0.2 -0.02 pose: 0.0 -0.453999 -3.79619 0 0.0020856 0.000955109 0.998732 -0.0502849 uwb: 0.0 1224.02 1020.98 -imu_odom_: 1691062507.394991027 0.553061 -0.270545 10.137 -0.0511327 0.00958738 0.0585895 0.2 -0.02 pose: 0.0 -0.453999 -3.79619 0 0.0020856 0.000955109 0.998732 -0.0502849 uwb: 0.50136871 1224.25 1021.79 -imu_odom_: 1691062507.418964649 0.553061 -0.363919 9.93115 -0.0351537 0.0245011 0.0372843 0.21 -0.02 pose: 0.41991970 -0.466567 -3.78971 0 0.00372314 -5.14135e-050.998718 -0.0504891 uwb: 0.0 1224.25 1021.79 -imu_odom_: 1691062507.436950625 0.28491 -0.213084 9.36372 -0.0543285 0.0138484 0.0553937 0.21 -0.02 pose: 0.0 -0.466567 -3.78971 0 0.00372314 -5.14135e-050.998718 -0.0504891 uwb: 0.49950222 1224.6 1021.63 -imu_odom_: 1691062507.453951444 0.189142 -0.387861 9.92875 -0.0596548 0.00958738 0.0628506 0.23 0 pose: 0.81997584 -0.485616 -3.7958 0 0.00476953 -0.00271256 0.998695 -0.0507838 uwb: 0.0 1224.6 1021.63 -imu_odom_: 1691062507.467020966 0.275333 -0.0861913 10.2975 -0.0276969 -0.00106526 0.0426106 0.23 0 pose: 0.0 -0.485616 -3.7958 0 0.00476953 -0.00271256 0.998695 -0.0507838 uwb: 0.0 1224.6 1021.63 -imu_odom_: 1691062507.483029919 0.232238 0.146046 9.58878 -0.0820254 0.0308927 0.0607201 0.23 0 pose: 0.0 -0.485616 -3.7958 0 0.00476953 -0.00271256 0.998695 -0.0507838 uwb: 0.49924557 1224.86 1021.85 -imu_odom_: 1691062507.507153444 0.706289 -0.21069 10.0126 -0.0681769 0.0415453 0.0372843 0.17 0.02 pose: 0.48014904 -0.485616 -3.7958 0 0.00062589 -0.00155959 0.998688 -0.051173 uwb: 0.0 1224.86 1021.85 -imu_odom_: 1691062507.533001139 0.459687 -0.0861913 10.0341 -0.0703074 -0.00852212 0.0490022 0.25 0.02 pose: 0.32153520 -0.495137 -3.79886 0 0.00195903 -0.0008411180.998685 -0.0512268 uwb: 0.49990177 1225.29 1023.08 -imu_odom_: 1691062507.557949128 0.31364 0.0191536 10.2328 -0.0500674 0.0117179 0.0415453 0.18 -0.02 pose: 0.0 -0.495137 -3.79886 0 0.00195903 -0.0008411180.998685 -0.0512268 uwb: 0.0 1225.29 1023.08 -imu_odom_: 1691062507.582968568 0.0933739 -0.294487 9.79947 -0.0777643 0.0319579 0.0511327 0.23 0.02 pose: 0.50795684 -0.504657 -3.80192 0 0.000530071 0.00361041 0.998673 -0.0513608 uwb: 0.49996009 1226.16 1023.57 -imu_odom_: 1691062507.598028236 -0.0167594 -0.509965 9.91439 -0.0607201 0.00213053 0.04048 0.23 0.02 pose: 0.0 -0.504657 -3.80192 0 0.000530071 0.00361041 0.998673 -0.0513608 uwb: 0.0 1226.16 1023.57 -imu_odom_: 1691062507.621955778 0.299275 -0.517148 9.27753 -0.0490022 -0.0436758 0.0479369 0.18 0 pose: 0.40079108 -0.512755 -3.79402 0 -0.00324125 0.00104185 0.998667 -0.0515016 uwb: 0.0 1226.16 1023.57 -imu_odom_: 1691062507.647937336 0.490811 -0.105345 9.58399 -0.02024 -0.00319579 0.0191748 0.18 0 pose: 0.7151869 -0.517239 -3.79546 0 -0.00316435 0.000358633 0.998666 -0.0515289 uwb: 0.50133080 1226.78 1023.83 -imu_odom_: 1691062507.671928748 0.100556 -0.356736 9.73722 -0.0607201 -0.02024 0.0468716 0.2 -0.02 pose: 0.24850581 -0.517239 -3.79546 0 -0.00242177 -0.0005341920.998669 -0.0515111 uwb: 0.0 1226.78 1023.83 -imu_odom_: 1691062507.697937428 0.454898 -0.0430956 9.85693 -0.0308927 -0.0479369 0.0426106 0.19 0.02 pose: 0.25053854 -0.526758 -3.79853 0 -0.00171668 0.00063272 0.998679 -0.0513548 uwb: 0.49847856 1226.96 1025.46 -imu_odom_: 1691062507.720041934 0.395043 -0.263362 10.4435 -0.0681769 -0.00745685 0.0628506 0.19 0.02 pose: 0.0 -0.526758 -3.79853 0 -0.00171668 0.00063272 0.998679 -0.0513548 uwb: 0.0 1226.96 1025.46 -imu_odom_: 1691062507.732933848 0.634463 -0.220267 9.53132 -0.036219 -0.0308927 0.0330232 0.19 0.02 pose: 0.0 -0.526758 -3.79853 0 -0.00171668 0.00063272 0.998679 -0.0513548 uwb: 0.50083793 1227.36 1025.7 -imu_odom_: 1691062507.756925843 0.727837 -0.0622492 9.71088 -0.056459 -0.02024 0.0458064 0.19 -0.02 pose: 0.24926698 -0.526758 -3.79853 0 -0.00242617 0.000486666 0.998674 -0.0514274 uwb: 0.0 1227.36 1025.7 -imu_odom_: 1691062507.781979404 0.560243 -0.107739 9.85693 -0.0436758 -0.0458064 0.0308927 0.19 -0.02 pose: 0.0 -0.526758 -3.79853 0 -0.00242617 0.000486666 0.998674 -0.0514274 uwb: 0.49928349 1227.87 1025.36 -imu_odom_: 1691062507.805014823 0.897826 -0.28491 10.4483 -0.0692422 -0.0213053 0.0532632 0.18 -0.02 pose: 0.59991362 -0.536277 -3.80159 0 0.00142377 0.000487318 0.998662 -0.0516932 uwb: 0.0 1227.87 1025.36 -imu_odom_: 1691062507.820926952 0.577003 -0.308852 9.64145 -0.0447411 0.0330232 0.0181095 0.18 -0.02 pose: 0.0 -0.536277 -3.80159 0 0.00142377 0.000487318 0.998662 -0.0516932 uwb: 0.0 1227.87 1025.36 -imu_odom_: 1691062507.837923105 0.593762 -0.169988 9.98622 -0.0436758 -0.0276969 0.0447411 0.25 0 pose: 0.48304210 -0.545795 -3.80466 0 0.00601773 0.00300594 0.998641 -0.0516782 uwb: 0.50148245 1228.18 1027.01 -imu_odom_: 1691062507.861969345 0.663194 -0.272939 10.0963 -0.0458064 0.00639159 0.0468716 0.25 0 pose: 0.0 -0.545795 -3.80466 0 0.00601773 0.00300594 0.998641 -0.0516782 uwb: 0.0 1228.18 1027.01 -imu_odom_: 1691062507.884972682 0.696713 -0.136469 9.78271 -0.0479369 0 0.0553937 0.23 0 pose: 0.73662535 -0.564974 -3.80033 0 0.0106388 0.000597012 0.998601 -0.0517858 uwb: 0.49839107 1228.7 1027.07 -imu_odom_: 1691062507.902954576 0.402226 -0.328006 9.56962 -0.0596548 0.0372843 0.0553937 0.23 0 pose: 0.7080417 -0.567898 -3.80127 0 0.0111283 0.00111735 0.998593 -0.0518367 uwb: 0.0 1228.7 1027.07 -imu_odom_: 1691062507.927057685 0.229843 0.00718261 10.0365 -0.052198 0.0106526 0.0468716 0.18 0.02 pose: 0.0 -0.567898 -3.80127 0 0.0111283 0.00111735 0.998593 -0.0518367 uwb: 0.0 1228.7 1027.07 -imu_odom_: 1691062507.944920298 0.232238 -0.296881 9.57441 -0.0788296 -0.036219 0.0553937 0.18 0.02 pose: 0.33904814 -0.573171 -3.80298 0 0.0103779 0.00120338 0.998587 -0.0521035 uwb: 0.49993968 1229.48 1026.75 -imu_odom_: 1691062507.960061042 0.775721 0.0383072 9.57202 -0.0372843 -0.0617853 0.0532632 0.18 0.02 pose: 0.0 -0.573171 -3.80298 0 0.0103779 0.00120338 0.998587 -0.0521035 uwb: 0.0 1229.48 1026.75 -imu_odom_: 1691062507.977937361 1.52989 -0.37589 9.86172 -0.0820254 -0.108657 0.056459 0.16 -0.08 pose: 0.49968595 -0.577414 -3.80435 0 0.0074504 0.00205642 0.998598 -0.052372 uwb: 0.0 1229.48 1026.75 -imu_odom_: 1691062507.993937566 1.85072 -0.416591 9.92636 -0.0788296 -0.0276969 -0.0628506 0.16 -0.08 pose: 0.0 -0.577414 -3.80435 0 0.0074504 0.00205642 0.998598 -0.052372 uwb: 0.49986677 1229.78 1026.99 -imu_odom_: 1691062508.11969623 1.68073 0.347159 10.1682 -0.0490022 -0.0181095 -0.178964 0.18 -0.44 pose: 0.0 -0.577414 -3.80435 0 0.0074504 0.00205642 0.998598 -0.052372 uwb: 0.0 1229.78 1026.99 -imu_odom_: 1691062508.28968989 1.05584 0.280122 9.70131 -0.0841559 -0.0330232 -0.232228 0.18 -0.44 pose: 0.48984604 -0.586928 -3.80743 0 0.0133722 0.00224603 0.998613 -0.0508804 uwb: 0.0 1229.78 1026.99 -imu_odom_: 1691062508.41906693 1.05584 0.0909797 9.9934 -0.0745685 -0.0106526 -0.334493 0.18 -0.44 pose: 0.0 -0.586928 -3.80743 0 0.0133722 0.00224603 0.998613 -0.0508804 uwb: 0.50000391 1229.77 1028.62 -imu_odom_: 1691062508.58025891 1.1157 0.0766145 10.0461 -0.0660464 -0.0372843 -0.390952 0.1 -0.38 pose: 0.0 -0.586928 -3.80743 0 0.0133722 0.00224603 0.998613 -0.0508804 uwb: 0.0 1229.77 1028.62 -imu_odom_: 1691062508.76020039 0.967257 -0.203507 9.84256 -0.0745685 -0.0149137 -0.414388 0.13 -0.58 pose: 0.48060705 -0.596415 -3.81059 0 0.0174378 0.00510506 0.998898 -0.0432806 uwb: 0.0 1229.77 1028.62 -imu_odom_: 1691062508.92936579 1.01514 -0.351948 10.0269 -0.076699 -0.00958738 -0.431432 0.13 -0.58 pose: 0.0 -0.596415 -3.81059 0 0.0174378 0.00510506 0.998898 -0.0432806 uwb: 0.50026063 1230.2 1030.31 -imu_odom_: 1691062508.106955390 0.658405 -0.110133 9.66539 -0.0735032 -0.00319579 -0.44315 0.08 -0.5 pose: 0.16070786 -0.596415 -3.81059 0 0.0190404 0.00521631 0.999015 -0.0397321 uwb: 0.0 1230.2 1030.31 -imu_odom_: 1691062508.124050413 0.88346 0.071826 10.2376 -0.0543285 -0.0234358 -0.461259 0.08 -0.5 pose: 0.0 -0.596415 -3.81059 0 0.0190404 0.00521631 0.999015 -0.0397321 uwb: 0.0 1230.2 1030.31 -imu_odom_: 1691062508.137911740 0.756568 -0.0981623 9.63427 -0.0681769 -0.00745685 -0.462325 0.08 -0.5 pose: 0.0 -0.596415 -3.81059 0 0.0190404 0.00521631 0.999015 -0.0397321 uwb: 0.49822790 1230.61 1032.2 -imu_odom_: 1691062508.156062789 0.687136 -0.0790087 9.68933 -0.0607201 0 -0.486826 0.06 -0.5 pose: 0.33081525 -0.596415 -3.81059 0 0.0206793 0.00371286 0.999266 -0.0320235 uwb: 0.0 1230.61 1032.2 -imu_odom_: 1691062508.172103536 0.948104 -0.289698 9.61033 -0.072438 -0.0245011 -0.52198 0.06 -0.5 pose: 0.0 -0.596415 -3.81059 0 0.0206793 0.00371286 0.999266 -0.0320235 uwb: 0.0 1230.61 1032.2 -imu_odom_: 1691062508.188916252 0.608127 0.059855 10.2065 -0.0703074 -0.0149137 -0.52198 0.06 -0.5 pose: 0.0 -0.596415 -3.81059 0 0.0206793 0.00371286 0.999266 -0.0320235 uwb: 0.50182965 1230.5 1033.01 -imu_odom_: 1691062508.205314258 0.646434 -0.347159 9.83777 -0.056459 0.00958738 -0.525175 0.06 -0.53 pose: 0.46878108 -0.599609 -3.80111 0 0.018491 0.00640231 0.999605 -0.0201821 uwb: 0.0 1230.5 1033.01 -imu_odom_: 1691062508.222097810 0.605733 -0.23942 9.51456 -0.0628506 -0.0276969 -0.486826 0.07 -0.7 pose: 0.0 -0.599609 -3.80111 0 0.018491 0.00640231 0.999605 -0.0201821 uwb: 0.0 1230.5 1033.01 -imu_odom_: 1691062508.237964740 0.543484 -0.3304 9.84975 -0.0681769 0.00426106 -0.445281 0.07 -0.7 pose: 0.66116388 -0.609073 -3.80434 0 0.0165156 0.00471051 0.999851 -0.00190263 uwb: 0.49809374 1230.72 1033.45 -imu_odom_: 1691062508.256047837 0.744597 -0.275333 10.058 -0.0532632 -0.0149137 -0.40267 0.07 -0.58 pose: 0.0 -0.609073 -3.80434 0 0.0165156 0.00471051 0.999851 -0.00190263 uwb: 0.0 1230.72 1033.45 -imu_odom_: 1691062508.274013112 0.663194 -0.275333 9.74919 -0.052198 -0.00745685 -0.360059 0.07 -0.58 pose: 0.0 -0.609073 -3.80434 0 0.0165156 0.00471051 0.999851 -0.00190263 uwb: 0.0 1230.72 1033.45 -imu_odom_: 1691062508.286944401 0.636858 -0.191536 9.91199 -0.056459 -0.00213053 -0.320645 0.07 -0.58 pose: 0.33995523 -0.609073 -3.80434 0 0.0151434 0.0020385 0.999863 0.00633875 uwb: 0.50076517 1230.68 1034.89 -imu_odom_: 1691062508.311955391 0.581791 -0.232238 9.88087 -0.0511327 -0.0106526 -0.295078 0.04 -0.29 pose: 0.40833591 -0.609073 -3.80431 0 0.0136433 0.000216991 0.999803 0.0144226 uwb: 0.0 1230.68 1034.89 -imu_odom_: 1691062508.328948632 0.665588 -0.268151 9.76355 -0.0607201 -0.00106526 -0.268447 0.04 -0.29 pose: 0.8062078 -0.609073 -3.80434 0 0.0128921 3.64719e-05 0.999793 0.0157686 uwb: 0.0 1230.68 1034.89 -imu_odom_: 1691062508.345891711 -0.488417 -0.234632 9.92157 -0.0308927 0.106526 -0.282295 0.05 -0.23 pose: 0.0 -0.609073 -3.80434 0 0.0128921 3.64719e-05 0.999793 0.0157686 uwb: 0.49925155 1230.36 1035.87 -imu_odom_: 1691062508.359886608 -1.34315 -0.131681 10.1969 -0.04048 0.0735032 -0.245011 0.07 -0.23 pose: 0.50885232 -0.609073 -3.80434 0 0.0097484 -0.00135775 0.999665 0.0239235 uwb: 0.0 1230.36 1035.87 -imu_odom_: 1691062508.376947801 -1.16598 -0.268151 9.67497 -0.0500674 -0.0596548 -0.192813 0.07 -0.2 pose: 0.0 -0.609073 -3.80434 0 0.0097484 -0.00135775 0.999665 0.0239235 uwb: 0.0 1230.36 1035.87 -imu_odom_: 1691062508.390935699 -0.251391 -0.380678 10.058 -0.056459 -0.100135 -0.154463 0.07 -0.2 pose: 0.0 -0.609073 -3.80434 0 0.0097484 -0.00135775 0.999665 0.0239235 uwb: 0.50049686 1230.21 1036.05 -imu_odom_: 1691062508.407933606 0.737414 -0.23942 10.3334 -0.056459 -0.0713727 -0.142745 0.07 -0.2 pose: 0.22005646 -0.618565 -3.80749 0 0.00723552 -0.001085 0.999613 0.0268428 uwb: 0.0 1230.21 1036.05 -imu_odom_: 1691062508.421992955 0.814029 -0.0287304 9.75398 -0.0415453 -0.0106526 -0.153398 0.09 -0.23 pose: 0.0 -0.618565 -3.80749 0 0.00723552 -0.001085 0.999613 0.0268428 uwb: 0.0 1230.21 1036.05 -imu_odom_: 1691062508.436973010 0.244209 -0.0383072 9.94791 -0.0458064 -0.0138484 -0.132093 0.09 -0.23 pose: 0.0 -0.618565 -3.80749 0 0.00723552 -0.001085 0.999613 0.0268428 uwb: 0.50143301 1230.56 1037.14 -imu_odom_: 1691062508.454929244 0.0861913 -0.105345 9.86172 -0.04048 -0.00958738 -0.149137 0.16 -0.26 pose: 0.69075653 -0.618565 -3.80749 0 0.00807853 0.000406908 0.999408 0.0334499 uwb: 0.0 1230.56 1037.14 -imu_odom_: 1691062508.470987198 0.371101 0.0215478 10.2328 -0.0340885 -0.0351537 -0.137419 0.16 -0.26 pose: 0.0 -0.618565 -3.80749 0 0.00807853 0.000406908 0.999408 0.0334499 uwb: 0.0 1230.56 1037.14 -imu_odom_: 1691062508.487928236 0.428562 -0.289698 9.91199 -0.0628506 0.02024 -0.111853 0.16 -0.26 pose: 0.0 -0.618565 -3.80749 0 0.00807853 0.000406908 0.999408 0.0334499 uwb: 0.49912324 1230.39 1037.93 -imu_odom_: 1691062508.503923487 0.557849 -0.301669 10.3166 -0.0458064 -0.00426106 -0.11931 0.12 -0.17 pose: 0.7984794 -0.618565 -3.80749 0 0.0073248 0.000656431 0.999388 0.0342044 uwb: 0.0 1230.39 1037.93 -imu_odom_: 1691062508.520923436 0.337582 -0.251391 9.62469 -0.0500674 0.0138484 -0.111853 0.12 -0.17 pose: 0.0 -0.618565 -3.80749 0 0.0073248 0.000656431 0.999388 0.0342044 uwb: 0.0 1230.39 1037.93 -imu_odom_: 1691062508.535861786 0.316035 0.0287304 9.86172 -0.052198 0.0234358 -0.0969391 0.12 -0.17 pose: 0.0 -0.618565 -3.80749 0 0.0073248 0.000656431 0.999388 0.0342044 uwb: 0.49933321 1230.18 1038.31 -imu_odom_: 1691062508.553858558 0.306458 -0.387861 9.26556 -0.0575243 -0.00426106 -0.0820254 0.15 -0.14 pose: 0.49972692 -0.628058 -3.81063 0 0.00483497 0.000445067 0.99925 0.0384044 uwb: 0.0 1230.18 1038.31 -imu_odom_: 1691062508.571017159 0.280122 0.0550666 10.0628 -0.0479369 -0.0127832 -0.0969391 0.13 -0.14 pose: 0.0 -0.628058 -3.81063 0 0.00483497 0.000445067 0.99925 0.0384044 uwb: 0.0 1230.18 1038.31 -imu_odom_: 1691062508.584957519 0.37589 0.0622492 10.1131 -0.0511327 -0.076699 -0.0798948 0.13 -0.14 pose: 0.66941437 -0.640722 -3.80426 0 0.00103814 0.000143483 0.999072 0.0430594 uwb: 0.49918739 1229.68 1039.26 -imu_odom_: 1691062508.603004745 1.13246 0.0861913 10.0221 -0.0671117 -0.0894822 -0.056459 0.13 -0.14 pose: 0.0 -0.640722 -3.80426 0 0.00103814 0.000143483 0.999072 0.0430594 uwb: 0.0 1229.68 1039.26 -imu_odom_: 1691062508.617015974 1.31442 -0.248997 9.91678 -0.0585895 -0.0532632 -0.0245011 0.12 -0.14 pose: 0.0 -0.640722 -3.80426 0 0.00103814 0.000143483 0.999072 0.0430594 uwb: 0.0 1229.68 1039.26 -imu_odom_: 1691062508.635136110 1.4461 -0.579397 10.07 -0.0500674 -0.0117179 -0.0106526 0.12 -0.14 pose: 0.31168662 -0.640722 -3.80426 0 0.00214637 0.00256876 0.998986 0.0449042 uwb: 0.50402278 1229.24 1040.42 -imu_odom_: 1691062508.652005696 1.31681 0.0502782 10.1873 -0.0468716 -0.0394148 -0.036219 0.1 -0.11 pose: 0.42095515 -0.645732 -3.80591 0 0.00693433 0.00176589 0.998903 0.0462715 uwb: 0.0 1229.24 1040.42 -imu_odom_: 1691062508.669036558 1.48441 0.177171 9.91678 -0.0436758 -0.0181095 -0.0543285 0.1 -0.11 pose: 0.0 -0.645732 -3.80591 0 0.00693433 0.00176589 0.998903 0.0462715 uwb: 0.0 1229.24 1040.42 -imu_odom_: 1691062508.684968232 1.01514 -0.059855 9.62708 -0.0585895 0.0298274 -0.0639159 0.1 -0.11 pose: 0.0 -0.645732 -3.80591 0 0.00693433 0.00176589 0.998903 0.0462715 uwb: 0.49710217 1229.36 1040.44 -imu_odom_: 1691062508.702026509 0.725443 -0.342371 9.83538 -0.0511327 0.0117179 -0.092678 0.09 -0.14 pose: 0.8890917 -0.650208 -3.80742 0 0.00795656 0.00200448 0.99888 0.0466077 uwb: 0.0 1229.36 1040.44 -imu_odom_: 1691062508.717965765 0.713472 -0.225055 9.88566 -0.052198 -0.0170442 -0.100135 0.06 -0.08 pose: 0.0 -0.650208 -3.80742 0 0.00795656 0.00200448 0.99888 0.0466077 uwb: 0.0 1229.36 1040.44 -imu_odom_: 1691062508.734975630 0.861913 -0.143652 10.1131 -0.0490022 -0.0170442 -0.0798948 0.06 -0.08 pose: 0.65948987 -0.650208 -3.80742 0 0.0130832 0.00108439 0.998654 0.0501796 uwb: 0.50154968 1229.55 1040.06 -imu_odom_: 1691062508.750972631 0.703895 -0.160412 9.71088 -0.0585895 -0.0138484 -0.0543285 0.05 -0.08 pose: 0.0 -0.650208 -3.80742 0 0.0130832 0.00108439 0.998654 0.0501796 uwb: 0.0 1229.55 1040.06 -imu_odom_: 1691062508.768966195 0.78051 -0.363919 9.78031 -0.0490022 0.00532632 -0.0468716 0.05 -0.08 pose: 0.0 -0.650208 -3.80742 0 0.0130832 0.00108439 0.998654 0.0501796 uwb: 0.0 1229.55 1040.06 -imu_odom_: 1691062508.784852957 0.691924 -0.141258 9.97185 -0.0458064 0.00213053 -0.0447411 0.05 -0.08 pose: 0.32998116 -0.653364 -3.79793 0 0.0157615 0.00173267 0.998514 0.0521321 uwb: 0.49971817 1229.8 1041.76 -imu_odom_: 1691062508.811059376 0.553061 -0.136469 10.0078 -0.0532632 -0.00106526 -0.0255663 0.06 -0.08 pose: 0.41878827 -0.658089 -3.79951 0 0.0153934 0.00220003 0.998422 0.053955 uwb: 0.0 1229.8 1041.76 -imu_odom_: 1691062508.827959001 -0.572214 -0.263362 9.51695 -0.0553937 0.0575243 -0.0266316 0.06 -0.08 pose: 0.0 -0.658089 -3.79951 0 0.0153934 0.00220003 0.998422 0.053955 uwb: 0.0 1229.8 1041.76 -imu_odom_: 1691062508.854110301 -1.403 -0.153229 10.0437 -0.0468716 -0.0436758 -0.02024 0.08 -0.05 pose: 0.8040788 -0.662852 -3.80109 0 0.0145889 0.00235206 0.99842 0.0542209 uwb: 0.49933905 1229.7 1041.74 -imu_odom_: 1691062508.870159505 -1.13725 -0.153229 9.5792 -0.0500674 -0.150202 -0.0181095 0.09 -0.08 pose: 0.0 -0.662852 -3.80109 0 0.0145889 0.00235206 0.99842 0.0542209 uwb: 0.0 1229.7 1041.74 -imu_odom_: 1691062508.886872481 -0.213084 -0.37589 9.81623 -0.0468716 -0.1012 -0.0149137 0.11 -0.05 pose: 0.77265760 -0.662852 -3.80109 0 0.00803309 0.00296813 0.998358 0.0566457 uwb: 0.49928072 1229.85 1042.39 -imu_odom_: 1691062508.911834767 0.914585 -0.172383 10.5967 -0.0468716 0.0170442 -0.00745685 0.11 -0.05 pose: 0.0 -0.662852 -3.80109 0 0.00803309 0.00296813 0.998358 0.0566457 uwb: 0.0 1229.85 1042.39 -imu_odom_: 1691062508.934852402 -0.232238 -0.246603 9.67497 -0.036219 0.0426106 -0.015979 0.14 -0.02 pose: 0.41675262 -0.662852 -3.80109 0 0.0094403 0.00245208 0.998287 0.0576796 uwb: 0.50012647 1229.46 1042.94 -imu_odom_: 1691062508.960834551 -0.205901 -0.198719 9.61511 -0.0639159 -0.0245011 0.0234358 0.14 -0.02 pose: 0.7017718 -0.662852 -3.80109 0 0.00857836 0.00249435 0.998284 0.057875 uwb: 0.0 1229.46 1042.94 -imu_odom_: 1691062508.976820761 0.023942 -0.371101 9.56962 -0.052198 -0.00213053 -0.00852212 0.12 -0.05 pose: 0.24009792 -0.672336 -3.80426 0 0.00589084 0.00255469 0.998273 0.0583875 uwb: 0.0 1229.46 1042.94 -imu_odom_: 1691062509.1832043 0.672771 -0.0023942 9.83777 -0.0639159 -0.015979 0.00852212 0.12 -0.05 pose: 0.0 -0.672336 -3.80426 0 0.00589084 0.00255469 0.998273 0.0583875 uwb: 0.49733840 1229.62 1042.97 -imu_odom_: 1691062509.25031959 0.0311246 -0.129287 10.2735 -0.0426106 -0.0181095 0.00958738 0.14 -0.02 pose: 0.25000782 -0.672336 -3.80426 0 0.00360697 0.00223303 0.998266 0.0587079 uwb: 0.0 1229.62 1042.97 -imu_odom_: 1691062509.41029839 0.363919 -0.225055 10.0317 -0.0468716 -0.0628506 0.00426106 0.14 -0.02 pose: 0.0 -0.672336 -3.80426 0 0.00360697 0.00223303 0.998266 0.0587079 uwb: 0.50132811 1229.57 1043.38 -imu_odom_: 1691062509.66820972 0.514753 -0.308852 9.78031 -0.0607201 0.052198 0.0149137 0.18 -0.05 pose: 0.41049697 -0.675487 -3.79477 0 0.00430354 0.00334737 0.998218 0.0594201 uwb: 0.0 1229.57 1043.38 -imu_odom_: 1691062509.91848009 0.507571 -0.213084 10.0461 -0.0532632 0 0.0372843 0.18 -0.05 pose: 0.0 -0.675487 -3.79477 0 0.00430354 0.00334737 0.998218 0.0594201 uwb: 0.0 1229.57 1043.38 -imu_odom_: 1691062509.116812927 0.411803 0.0023942 9.68215 -0.0671117 -0.0415453 0.0106526 0.16 -0.05 pose: 0.40927802 -0.684981 -3.79791 0 0.00215662 0.00178999 0.998191 0.0600583 uwb: 0.0 1229.57 1043.38 -imu_odom_: 1691062509.139817154 0.553061 -0.203507 9.31344 -0.056459 -0.0106526 0.0255663 0.16 -0.05 pose: 0.48992216 -0.694481 -3.80104 0 0.00469434 0.000473457 0.998164 0.0603921 uwb: 0.99981577 1229.28 1043.11 -imu_odom_: 1691062509.155803077 0.442927 -0.3304 9.76595 -0.0553937 0.00639159 0.0149137 0.14 -0.02 pose: 0.0 -0.694481 -3.80104 0 0.00469434 0.000473457 0.998164 0.0603921 uwb: 0.0 1229.28 1043.11 -imu_odom_: 1691062509.172874774 0.167594 -0.0383072 10.1754 -0.0394148 -0.0170442 0.00532632 0.14 -0.02 pose: 0.0 -0.694481 -3.80104 0 0.00469434 0.000473457 0.998164 0.0603921 uwb: 0.0 1229.28 1043.11 -imu_odom_: 1691062509.197861565 0.059855 0.00718261 10.1562 -0.0436758 0.0639159 0.0351537 0.15 0 pose: 0.74042000 -0.707099 -3.79465 0 0.00423481 0.000651763 0.99811 0.0612968 uwb: 0.50000122 1228.65 1042.79 -imu_odom_: 1691062509.222809860 0.588974 -0.143652 10.0341 -0.0447411 -0.0106526 0.0170442 0.15 0 pose: 0.7956799 -0.707099 -3.79465 0 0.00327055 0.00110069 0.998112 0.0613162 uwb: 0.0 1228.65 1042.79 -imu_odom_: 1691062509.246804494 0.225055 0.102951 9.92636 -0.0585895 0.0458064 0.0234358 0.16 -0.02 pose: 0.41978287 -0.713612 -3.79685 0 0.00377753 0.00246678 0.998089 0.061633 uwb: 0.49876466 1228.87 1043.24 -imu_odom_: 1691062509.272979132 0.0407014 -0.579397 10.1155 -0.0575243 -0.015979 0.0266316 0.16 -0.02 pose: 0.0 -0.713612 -3.79685 0 0.00377753 0.00246678 0.998089 0.061633 uwb: 0.0 1228.87 1043.24 -imu_odom_: 1691062509.296796157 0.366313 0.0933739 9.59835 -0.0458064 0.0276969 0.0330232 0.17 0 pose: 0.32075962 -0.716574 -3.79785 0 0.00112248 0.00372236 0.998075 0.0618896 uwb: 0.50278054 1228.9 1043.46 -imu_odom_: 1691062509.321908937 -0.0311246 -0.201113 9.97185 -0.0713727 0.00426106 0.0255663 0.17 -0.02 pose: 0.0 -0.716574 -3.79785 0 0.00112248 0.00372236 0.998075 0.0618896 uwb: 0.0 1228.9 1043.46 -imu_odom_: 1691062509.335947292 -0.208296 -0.181959 9.91678 -0.0479369 0.00426106 0.0138484 0.17 -0.02 pose: 0.50250056 -0.72924 -3.79156 0 -0.00142995 0.0047417 0.998055 0.0621496 uwb: 0.49695941 1229.59 1042.76 -imu_odom_: 1691062509.360947207 0.00718261 -0.160412 10.1131 -0.0756338 -0.0436758 0.0479369 0.16 -0.02 pose: 0.0 -0.72924 -3.79156 0 -0.00142995 0.0047417 0.998055 0.0621496 uwb: 0.0 1229.59 1042.76 -imu_odom_: 1691062509.377936078 0.955286 -0.275333 9.72764 -0.0426106 -0.0479369 0.0170442 0.16 -0.02 pose: 0.7890013 -0.72924 -3.79156 0 -0.00527492 0.00429124 0.998026 0.0624315 uwb: 0.0 1229.59 1042.76 -imu_odom_: 1691062509.401788975 0.138864 -0.0574608 9.36612 -0.0532632 0.015979 0.0394148 0.16 -0.02 pose: 0.0 -0.72924 -3.79156 0 -0.00527492 0.00429124 0.998026 0.0624315 uwb: 0.49996913 1229.68 1042.78 -imu_odom_: 1691062509.427916952 0.52433 -0.294487 9.45949 -0.0639159 0.0458064 0.0276969 0.17 0 pose: 0.42159395 -0.738721 -3.79473 0 -0.00540177 0.0041472 0.998018 0.0625587 uwb: 0.0 1229.68 1042.78 -imu_odom_: 1691062509.452769880 0.282516 -0.19393 9.73004 -0.0490022 0.0255663 0.0436758 0.17 0 pose: 0.41920252 -0.747512 -3.79036 0 -0.00545769 0.00338417 0.998011 0.0627122 uwb: 0.50132234 1230.06 1044.09 -imu_odom_: 1691062509.475781397 0.811634 -0.0622492 10.3932 -0.0394148 -0.0596548 0.0372843 0.17 0 pose: 0.0 -0.747512 -3.79036 0 -0.00545769 0.00338417 0.998011 0.0627122 uwb: 0.0 1230.06 1044.09 -imu_odom_: 1691062509.492777851 0.457293 0.129287 9.95748 -0.0298274 0.0138484 0.0372843 0.23 -0.02 pose: 0.7956215 -0.751379 -3.78843 0 -0.00585956 0.00267311 0.998012 0.0627007 uwb: 0.49931295 1229.9 1044.9 -imu_odom_: 1691062509.516778901 0.0622492 -0.237026 9.65103 -0.0703074 0.0213053 0.0553937 0.23 -0.02 pose: 0.0 -0.751379 -3.78843 0 -0.00585956 0.00267311 0.998012 0.0627007 uwb: 0.0 1229.9 1044.9 -imu_odom_: 1691062509.542775056 -0.0311246 -0.181959 9.60314 -0.0458064 0.0213053 0.0351537 0.18 0.02 pose: 0.47912274 -0.751379 -3.78843 0 -0.00351242 0.00255069 0.998023 0.0627059 uwb: 0.50049700 1229.69 1045.48 -imu_odom_: 1691062509.566756858 -0.071826 -0.308852 9.88087 -0.0511327 -0.0181095 0.0511327 0.18 0.02 pose: 0.0 -0.751379 -3.78843 0 -0.00351242 0.00255069 0.998023 0.0627059 uwb: 0.0 1229.69 1045.48 -imu_odom_: 1691062509.584815171 0.366313 -0.0622492 10.0748 -0.04048 -0.0426106 0.0308927 0.17 0.02 pose: 0.41119118 -0.760863 -3.7916 0 -0.00675465 0.00282384 0.998015 0.0625506 uwb: 0.50038034 1230.26 1045.8 -imu_odom_: 1691062509.608764892 0.407014 -0.213084 9.98143 -0.0607201 -0.0319579 0.0468716 0.17 0.02 pose: 0.0 -0.760863 -3.7916 0 -0.00675465 0.00282384 0.998015 0.0625506 uwb: 0.0 1230.26 1045.8 -imu_odom_: 1691062509.631837071 0.320823 -0.270545 8.97107 0.00426106 0.0223706 0.0149137 0.17 0.02 pose: 0.49869175 -0.773521 -3.7853 0 -0.00998322 0.00258162 0.997992 0.0624998 uwb: 0.49955209 1230.71 1046.52 -imu_odom_: 1691062509.648774030 0.457293 -0.0766145 11.0708 0.00958738 -0.00319579 0.0276969 0.17 0.02 pose: 0.0 -0.773521 -3.7853 0 -0.00998322 0.00258162 0.997992 0.0624998 uwb: 0.0 1230.71 1046.52 -imu_odom_: 1691062509.672768372 0.047884 0.208296 10.0652 -0.0511327 0.0383495 0.0639159 0.18 0 pose: 0.41008878 -0.783003 -3.78847 0 -0.00621195 0.00184434 0.998021 0.0625432 uwb: 0.0 1230.71 1046.52 -imu_odom_: 1691062509.698823147 0.440533 -0.435745 10.0772 -0.0862864 -0.0127832 0.0543285 0.18 0 pose: 0.0 -0.783003 -3.78847 0 -0.00621195 0.00184434 0.998021 0.0625432 uwb: 0.0 1230.71 1046.52 -imu_odom_: 1691062509.722821864 0.995988 -0.023942 10.4674 -0.0543285 0.00639159 0.0500674 0.18 0.02 pose: 0.41053790 -0.783003 -3.78847 0 -0.00505919 0.00293892 0.998012 0.0627495 uwb: 0.0 1230.71 1046.52 -imu_odom_: 1691062509.740817474 0.0311246 -0.160412 9.40921 -0.105461 0.052198 0.0894822 0.18 0.02 pose: 0.0 -0.783003 -3.78847 0 -0.00505919 0.00293892 0.998012 0.0627495 uwb: 0.99990327 1230.83 1047.38 -imu_odom_: 1691062509.756867850 0.45011 -0.153229 10.1969 -0.11931 0.0319579 0.0980043 0.18 0.02 pose: 0.49947335 -0.795661 -3.78216 0 -0.00426183 0.00173971 0.998045 0.0623239 uwb: 0.0 1230.83 1047.38 -imu_odom_: 1691062509.781761608 0.337582 -0.476446 10.2735 -0.0916127 -0.00106526 0.0681769 0.18 0.02 pose: 0.0 -0.795661 -3.78216 0 -0.00426183 0.00173971 0.998045 0.0623239 uwb: 0.49984664 1231.29 1047.27 -imu_odom_: 1691062509.805759742 0.490811 -0.217872 9.56723 -0.0639159 0.0511327 0.00639159 0.18 0.02 pose: 0.41976829 -0.805141 -3.78535 0 -0.00445738 0.00169708 0.998092 0.0615535 uwb: 0.0 1231.29 1047.27 -imu_odom_: 1691062509.830864355 0.198719 -0.42138 10.094 -0.0617853 0.0170442 0.0830906 0.18 0.02 pose: 0.0 -0.805141 -3.78535 0 -0.00445738 0.00169708 0.998092 0.0615535 uwb: 0.50021120 1231.65 1047.97 -imu_odom_: 1691062509.855866020 0.500388 -0.304064 10.1993 -0.0149137 -0.00532632 0.0266316 0.18 0 pose: 0.41005378 -0.805141 -3.78535 0 -0.00334336 -0.00131312 0.998125 0.0610998 uwb: 0.0 1231.65 1047.97 -imu_odom_: 1691062509.878781004 0.893037 -0.155623 9.87608 -0.0553937 -0.0266316 0.0692422 0.18 0 pose: 0.0 -0.805141 -3.78535 0 -0.00334336 -0.00131312 0.998125 0.0610998 uwb: 0.50026660 1231.6 1047.75 -imu_odom_: 1691062509.895773376 0.833182 -0.31364 9.67497 -0.0628506 0.0298274 0.0532632 0.18 0 pose: 0.48145003 -0.817817 -3.77908 0 -0.00355263 -0.00300031 0.998135 0.060872 uwb: 0.0 1231.6 1047.75 -imu_odom_: 1691062509.920803329 0.25618 -0.299275 10.1083 -0.0607201 0.0351537 0.0681769 0.18 0 pose: 0.0 -0.817817 -3.77908 0 -0.00355263 -0.00300031 0.998135 0.060872 uwb: 0.0 1231.6 1047.75 -imu_odom_: 1691062509.936752215 0.102951 -0.289698 9.81383 -0.0575243 -0.0330232 0.0585895 0.18 0 pose: 0.66012584 -0.827289 -3.78229 0 0.00116758 -0.00305493 0.998167 0.0604332 uwb: 0.49989914 1231.46 1048.99 -imu_odom_: 1691062509.962899439 0.608127 -0.282516 9.60793 -0.0756338 -0.0575243 0.0575243 0.18 0 pose: 0.0 -0.827289 -3.78229 0 0.00116758 -0.00305493 0.998167 0.0604332 uwb: 0.0 1231.46 1048.99 -imu_odom_: 1691062509.988751232 0.294487 -0.371101 9.89524 -0.0266316 0.0170442 0.0351537 0.18 0 pose: 0.41999285 -0.839974 -3.77604 0 -0.00106709 -0.00339854 0.998195 0.0599507 uwb: 0.49986123 1231.52 1049.84 -imu_odom_: 1691062510.13743276 0.191536 -0.196325 10.0987 -0.0276969 -0.0149137 0.056459 0.2 0 pose: 0.42828416 -0.849439 -3.77926 0 -0.00145021 -0.00459548 0.998196 0.0598501 uwb: 0.0 1231.52 1049.84 -imu_odom_: 1691062510.38753697 0.565032 0.122104 9.80426 -0.0298274 -0.0138484 0.0415453 0.2 0 pose: 0.0 -0.849439 -3.77926 0 -0.00145021 -0.00459548 0.998196 0.0598501 uwb: 0.50100161 1231.85 1051.19 -imu_odom_: 1691062510.62714799 0.622492 -0.296881 9.48822 -0.0692422 -0.00319579 0.0660464 0.2 0 pose: 0.8000253 -0.849439 -3.77926 0 -0.00206456 -0.00403837 0.998201 0.0597791 uwb: 0.0 1231.85 1051.19 -imu_odom_: 1691062510.79800208 0 -0.0861913 9.97424 -0.0245011 0.0394148 0.0319579 0.2 0 pose: 0.0 -0.849439 -3.77926 0 -0.00206456 -0.00403837 0.998201 0.0597791 uwb: 0.49878522 1231.68 1052.85 -imu_odom_: 1691062510.93793363 0.521936 -0.143652 9.76355 -0.0426106 -0.0308927 0.0458064 0.2 0 pose: 0.0 -0.849439 -3.77926 0 -0.00206456 -0.00403837 0.998201 0.0597791 uwb: 0.0 1231.68 1052.85 -imu_odom_: 1691062510.118842573 0.593762 -0.205901 10.0987 -0.0319579 -0.0255663 0.0340885 0.18 0 pose: 0.49176252 -0.858903 -3.78249 0 -0.00119965 -0.0007277730.998227 0.0595073 uwb: 0.0 1231.68 1052.85 -imu_odom_: 1691062510.134842791 0.385466 0.141258 9.96227 -0.0468716 -0.015979 0.0639159 0.18 0 pose: 0.0 -0.858903 -3.78249 0 -0.00119965 -0.0007277730.998227 0.0595073 uwb: 0.50041549 1231.86 1053.53 -imu_odom_: 1691062510.151747092 0.0646434 -0.457293 9.60314 -0.0585895 -0.0266316 0.0617853 0.25 -0.02 pose: 0.79829317 -0.871599 -3.77627 0 0.00264469 0.0011484 0.998236 0.0592925 uwb: 0.0 1231.86 1053.53 -imu_odom_: 1691062510.177923779 0.248997 0 9.82102 -0.0426106 -0.0170442 0.0415453 0.25 -0.02 pose: 0.0 -0.871599 -3.77627 0 0.00264469 0.0011484 0.998236 0.0592925 uwb: 0.0 1231.86 1053.53 -imu_odom_: 1691062510.202870623 0.213084 -0.246603 10.1227 -0.0660464 -0.0255663 0.0468716 0.25 0.02 pose: 0.33992626 -0.88106 -3.7795 0 0.000886513 0.00178577 0.998256 0.0589919 uwb: 0.49937433 1231.67 1056.25 -imu_odom_: 1691062510.225821778 0.296881 -0.395043 9.86411 -0.0649811 0.04048 0.0596548 0.25 0.02 pose: 0.0 -0.88106 -3.7795 0 0.000886513 0.00178577 0.998256 0.0589919 uwb: 0.0 1231.67 1056.25 -imu_odom_: 1691062510.251831939 0.737414 -0.100556 10.0509 -0.0692422 -0.00852212 0.0415453 0.21 0 pose: 0.49975638 -0.893763 -3.77329 0 -0.00254109 0.00143202 0.998264 0.0588276 uwb: 0.50098126 1231.99 1056.55 -imu_odom_: 1691062510.267693920 0.560243 0.162806 9.84735 -0.056459 -0.036219 0.0500674 0.21 0 pose: 0.0 -0.893763 -3.77329 0 -0.00254109 0.00143202 0.998264 0.0588276 uwb: 0.0 1231.99 1056.55 -imu_odom_: 1691062510.293702040 0.0790087 -0.244209 10.2615 -0.0639159 0.036219 0.0394148 0.18 -0.02 pose: 0.49136591 -0.903221 -3.77654 0 -0.0004096740.000881952 0.998281 0.0586048 uwb: 0.50000136 1232.19 1057.24 -imu_odom_: 1691062510.306761657 0.134075 -0.150835 9.93833 -0.0308927 0.0468716 0.0245011 0.18 -0.02 pose: 0.0 -0.903221 -3.77654 0 -0.0004096740.000881952 0.998281 0.0586048 uwb: 0.0 1232.19 1057.24 -imu_odom_: 1691062510.323848233 0.85473 -0.1652 9.83059 -0.0553937 -0.0383495 0.0671117 0.18 -0.02 pose: 0.40837114 -0.906472 -3.76708 0 -0.00369045 0.00145856 0.998273 0.0586083 uwb: 0.0 1232.19 1057.24 -imu_odom_: 1691062510.346836134 0.124498 -0.265756 9.6199 -0.0479369 0.00106526 0.0436758 0.18 -0.02 pose: 0.0 -0.906472 -3.76708 0 -0.00369045 0.00145856 0.998273 0.0586083 uwb: 0.49886688 1232.18 1058.53 -imu_odom_: 1691062510.371855596 0.445322 -0.0909797 10.1227 -0.0649811 -0.00958738 0.052198 0.18 -0.02 pose: 0.47137111 -0.915929 -3.77033 0 -0.0048119 0.00114219 0.998282 0.0583829 uwb: 0.0 1232.18 1058.53 -imu_odom_: 1691062510.396841227 0.203507 -0.100556 10.137 -0.0372843 -0.0308927 0.0191748 0.18 -0.02 pose: 0.0 -0.915929 -3.77033 0 -0.0048119 0.00114219 0.998282 0.0583829 uwb: 0.49991095 1231.93 1059.33 -imu_odom_: 1691062510.419896206 0.646434 -0.584185 9.60314 -0.0798948 -0.0372843 0.0511327 0.2 -0.02 pose: 0.8032918 -0.915929 -3.77033 0 -0.00412543 0.00155218 0.998288 0.0583294 uwb: 0.0 1231.93 1059.33 -imu_odom_: 1691062510.435675653 0.565032 -0.23942 9.84496 -0.0575243 0.0213053 0.0351537 0.2 -0.02 pose: 0.0 -0.915929 -3.77033 0 -0.00412543 0.00155218 0.998288 0.0583294 uwb: 0.49870648 1232.13 1060.25 -imu_odom_: 1691062510.452839513 0.531513 -0.385466 9.83059 -0.0553937 -0.00745685 0.0372843 0.25 -0.02 pose: 0.49056391 -0.925384 -3.77359 0 -0.00400729 0.00315351 0.998278 0.0584339 uwb: 0.0 1232.13 1060.25 -imu_odom_: 1691062510.477831852 0.785298 -0.275333 10.0389 -0.04048 -0.036219 0.0298274 0.25 -0.02 pose: 0.0 -0.925384 -3.77359 0 -0.00400729 0.00315351 0.998278 0.0584339 uwb: 0.0 1232.13 1060.25 -imu_odom_: 1691062510.503676362 0.629675 -0.126893 9.88087 -0.052198 -0.0117179 0.0500674 0.21 0.02 pose: 0.73906409 -0.938094 -3.76739 0 0.00235524 -0.0005623350.998283 0.0585215 uwb: 0.50130498 1232.47 1061.2 -imu_odom_: 1691062510.528665785 0.392649 -0.071826 10.2089 -0.0436758 -0.0394148 0.0415453 0.21 0.02 pose: 0.7872517 -0.938094 -3.76739 0 0.00310069 -0.0002223730.998284 0.0584813 uwb: 0.0 1232.47 1061.2 -imu_odom_: 1691062510.552669759 0.529119 -0.0766145 9.61751 -0.0585895 -0.0372843 0.0543285 0.21 0 pose: 0.42961416 -0.94755 -3.77064 0 0.00374775 0.0026752 0.998284 0.0583751 uwb: 0.49876189 1232.52 1061.86 -imu_odom_: 1691062510.568848460 0.88346 -0.347159 9.90002 -0.0532632 0.0117179 0.0436758 0.21 0 pose: 0.0 -0.94755 -3.77064 0 0.00374775 0.0026752 0.998284 0.0583751 uwb: 0.0 1232.52 1061.86 -imu_odom_: 1691062510.592671617 0.35913 -0.220267 9.71806 -0.076699 0.02024 0.0681769 0.18 -0.02 pose: 0.0 -0.94755 -3.77064 0 0.00374775 0.0026752 0.998284 0.0583751 uwb: 0.50052048 1232.75 1062.8 -imu_odom_: 1691062510.609786482 0.466869 -0.184354 10.0748 -0.0681769 -0.0351537 0.0585895 0.18 -0.02 pose: 0.40182675 -0.960261 -3.76444 0 0.00683482 0.00360789 0.998278 0.0581567 uwb: 0.0 1232.75 1062.8 -imu_odom_: 1691062510.635733065 0.430956 -0.0909797 10.1778 -0.0532632 -0.02024 0.0532632 0.18 0.02 pose: 0.0 -0.960261 -3.76444 0 0.00683482 0.00360789 0.998278 0.0581567 uwb: 0.50179494 1232.69 1063.65 -imu_odom_: 1691062510.651742908 -0.0023942 -0.301669 10.0006 -0.0607201 0.00319579 0.0543285 0.18 0.02 pose: 0.40938022 -0.964951 -3.76606 0 0.00342382 0.00107897 0.99833 0.0576565 uwb: 0.0 1232.69 1063.65 -imu_odom_: 1691062510.677681909 0.263362 -0.371101 9.9096 -0.0649811 -0.0213053 0.056459 0.19 0.02 pose: 0.0 -0.964951 -3.76606 0 0.00342382 0.00107897 0.99833 0.0576565 uwb: 0.0 1232.69 1063.65 -imu_odom_: 1691062510.702940516 0.627281 -0.438139 10.0724 -0.072438 -0.0127832 0.0383495 0.19 0.02 pose: 0.41956426 -0.971443 -3.76271 0 0.00119824 0.00306977 0.998347 0.057375 uwb: 0.49717245 1232.39 1064.66 -imu_odom_: 1691062510.717658687 0.586579 -0.167594 10.1299 -0.0532632 0.0138484 0.0436758 0.19 0 pose: 0.0 -0.971443 -3.76271 0 0.00119824 0.00306977 0.998347 0.057375 uwb: 0.0 1232.39 1064.66 -imu_odom_: 1691062510.741725946 0.251391 -0.232238 9.73482 -0.04048 -0.0191748 0.0447411 0.19 0 pose: 0.57972393 -0.982434 -3.76153 0 0.00206243 -0.00096338 0.998362 0.057162 uwb: 0.50056422 1232.71 1065.63 -imu_odom_: 1691062510.767720358 0.347159 -0.181959 9.90242 -0.0777643 -0.00106526 0.0639159 0.25 0 pose: 0.32010645 -0.988726 -3.76371 0 0.00051391 -0.0004484120.998369 0.0570832 uwb: 0.0 1232.71 1065.63 -imu_odom_: 1691062510.792710656 0.169988 -0.371101 9.5792 -0.0543285 0.0479369 0.052198 0.19 0 pose: 0.7946010 -0.991881 -3.76481 0 -0.000156547-8.25449e-050.998375 0.0569867 uwb: 0.50090544 1232.16 1067.45 -imu_odom_: 1691062510.809670660 0.28491 -0.409408 10.1275 -0.052198 -0.00106526 0.0553937 0.2 0.02 pose: 0.0 -0.991881 -3.76481 0 -0.000156547-8.25449e-050.998375 0.0569867 uwb: 0.0 1232.16 1067.45 -imu_odom_: 1691062510.825656005 0.620098 -0.1652 9.73722 -0.0798948 0.0106526 0.052198 0.2 0.02 pose: 0.50033674 -1.00461 -3.75865 0 -0.0045083 -0.00136941 0.998388 0.0565607 uwb: 0.0 1232.16 1067.45 -imu_odom_: 1691062510.851638752 0.64404 -0.0790087 9.94073 -0.0660464 0.0149137 0.0639159 0.25 0 pose: 0.0 -1.00461 -3.75865 0 -0.0045083 -0.00136941 0.998388 0.0565607 uwb: 0.49987012 1231.82 1069.11 -imu_odom_: 1691062510.876696419 0.636858 -0.11971 10.1634 -0.0735032 0.0117179 0.0607201 0.25 0 pose: 0.33056755 -1.00461 -3.75865 0 -0.00278016 -0.00180874 0.998408 0.0563008 uwb: 0.0 1231.82 1069.11 -imu_odom_: 1691062510.900646730 0.181959 -0.122104 9.89284 -0.0660464 0.0468716 0.052198 0.2 0 pose: 0.43934034 -1.01405 -3.76195 0 0.000838168 -0.0003370170.998441 0.0558092 uwb: 0.49993720 1231.68 1070.17 -imu_odom_: 1691062510.926642018 0.639252 -0.318429 9.81383 -0.0351537 -0.0213053 0.0298274 0.26 -0.05 pose: 0.6987974 -1.01405 -3.76195 0 2.75231e-05 -6.20328e-050.998444 0.0557653 uwb: 0.0 1231.68 1070.17 -imu_odom_: 1691062510.941639580 0.517148 -0.289698 10.0533 -0.0490022 -0.0308927 0.0585895 0.26 -0.05 pose: 0.0 -1.01405 -3.76195 0 2.75231e-05 -6.20328e-050.998444 0.0557653 uwb: 0.49868315 1231.96 1070.47 -imu_odom_: 1691062510.967636326 0.416591 -0.0933739 10.1801 -0.0458064 -0.0106526 0.0426106 0.26 -0.05 pose: 0.23997557 -1.02679 -3.75581 0 -0.00124221 0.000368486 0.998447 0.0556933 uwb: 0.0 1231.96 1070.47 -imu_odom_: 1691062510.990651933 0.526724 0.047884 10.2615 -0.0490022 -0.0234358 0.0575243 0.18 0.02 pose: 0.41998714 -1.02679 -3.75581 0 0.00193558 -0.0003241970.998449 0.0556332 uwb: 0.50024050 1232.05 1071.39 -imu_odom_: 1691062511.15646317 0.715866 -0.0454898 10.3597 -0.0426106 -0.0340885 0.0383495 0.2 0.02 pose: 0.40971269 -1.03623 -3.75912 0 0.00292739 0.00369234 0.998453 0.0554048 uwb: 0.0 1232.05 1071.39 -imu_odom_: 1691062511.42702597 0.574608 -0.189142 10.0509 -0.0745685 0.00319579 0.052198 0.2 0.02 pose: 0.0 -1.03623 -3.75912 0 0.00292739 0.00369234 0.998453 0.0554048 uwb: 0.50226455 1231.78 1072.64 -imu_odom_: 1691062511.67693485 0.548272 -0.0933739 10.0269 -0.0383495 -0.00639159 0.0351537 0.19 0 pose: 0.8034960 -1.03623 -3.75912 0 0.00382185 0.00396083 0.998449 0.0554076 uwb: 0.0 1231.78 1072.64 -imu_odom_: 1691062511.84744777 0.371101 -0.418985 9.71806 -0.0372843 0.00319579 0.0543285 0.19 0 pose: 0.0 -1.03623 -3.75912 0 0.00382185 0.00396083 0.998449 0.0554076 uwb: 0.49777338 1231.82 1073.31 -imu_odom_: 1691062511.110747363 0.471658 0.117316 9.86172 -0.0138484 0.015979 0.0394148 0.2 0 pose: 0.51972215 -1.04898 -3.753 0 0.00737928 0.00301892 0.998441 0.0552467 uwb: 0.0 1231.82 1073.31 -imu_odom_: 1691062511.126616057 0.318429 -0.399832 9.64863 -0.0735032 0.0213053 0.0703074 0.2 0 pose: 0.0 -1.04898 -3.753 0 0.00737928 0.00301892 0.998441 0.0552467 uwb: 0.0 1231.82 1073.31 -imu_odom_: 1691062511.152734424 0.179565 -0.0311246 10.0844 -0.0255663 -0.00532632 0.0372843 0.2 -0.02 pose: 0.42095551 -1.05841 -3.75631 0 0.00640609 0.00454001 0.998446 0.0551669 uwb: 0.49971569 1231.7 1074.39 -imu_odom_: 1691062511.176732279 0.196325 -0.184354 10.0197 -0.0415453 -0.0511327 0.0607201 0.2 -0.02 pose: 0.0 -1.05841 -3.75631 0 0.00640609 0.00454001 0.998446 0.0551669 uwb: 0.0 1231.7 1074.39 -imu_odom_: 1691062511.192752917 0.739808 -0.1652 10.0173 -0.0255663 -0.0308927 0.0319579 0.18 0.02 pose: 0.42022932 -1.07116 -3.7502 0 0.00408453 0.00560245 0.998465 0.0549466 uwb: 0.50113014 1231.81 1074.43 -imu_odom_: 1691062511.218671220 0.627281 -0.162806 9.6606 -0.072438 0.00106526 0.0585895 0.18 0.02 pose: 0.0 -1.07116 -3.7502 0 0.00408453 0.00560245 0.998465 0.0549466 uwb: 0.0 1231.81 1074.43 -imu_odom_: 1691062511.244747590 0.407014 -0.0670376 9.89284 -0.056459 -0.0149137 0.04048 0.2 -0.02 pose: 0.48989619 -1.07116 -3.7502 0 0.00146232 0.0056701 0.998482 0.0547638 uwb: 0.49941239 1231.76 1076.42 -imu_odom_: 1691062511.270805296 0.502782 -0.191536 9.7037 -0.0735032 0.0170442 0.0490022 0.2 -0.02 pose: 0.0 -1.07116 -3.7502 0 0.00146232 0.0056701 0.998482 0.0547638 uwb: 0.0 1231.76 1076.42 -imu_odom_: 1691062511.295614202 0.433351 -0.205901 9.71567 -0.0692422 0.0127832 0.0585895 0.2 -0.02 pose: 0.41919983 -1.08059 -3.75352 0 0.00428116 0.00486073 0.998491 0.0545332 uwb: 0.49926365 1232.05 1076.74 -imu_odom_: 1691062511.321668700 0.603339 -0.294487 10.1011 -0.0660464 -0.00852212 0.0447411 0.2 0 pose: 0.51992340 -1.09335 -3.74742 0 0.00322727 0.002783 0.998514 0.054335 uwb: 0.0 1232.05 1076.74 -imu_odom_: 1691062511.346621092 0.493206 -0.071826 10.1778 -0.0553937 -0.00745685 0.0383495 0.2 0 pose: 0.0 -1.09335 -3.74742 0 0.00322727 0.002783 0.998514 0.054335 uwb: 0.49970112 1231.73 1077.99 -imu_odom_: 1691062511.372667424 0.897826 -0.428562 10.0365 -0.04048 0.00106526 0.0287621 0.2 0 pose: 0.68941559 -1.10278 -3.75075 0 0.00445836 0.00198208 0.998523 0.0541159 uwb: 0.0 1231.73 1077.99 -imu_odom_: 1691062511.388696227 0.306458 -0.160412 9.91199 -0.0372843 0.052198 0.0436758 0.2 0 pose: 0.8099414 -1.10278 -3.75075 0 0.00510051 0.00157472 0.998518 0.0541559 uwb: 0.50026106 1232.22 1078.38 -imu_odom_: 1691062511.414871756 0.509965 -0.323217 9.47146 -0.0703074 0.0117179 0.0426106 0.22 0 pose: 0.0 -1.10278 -3.75075 0 0.00510051 0.00157472 0.998518 0.0541559 uwb: 0.0 1232.22 1078.38 -imu_odom_: 1691062511.430752990 0.347159 0.0215478 10.0293 -0.0468716 0.0223706 0.0340885 0.22 0 pose: 0.33975721 -1.11554 -3.74466 0 0.00450919 0.0011689 0.998518 0.0542138 uwb: 0.50101640 1231.98 1080.11 -imu_odom_: 1691062511.456612089 0.344765 -0.122104 10.1299 -0.056459 -0.0245011 0.0330232 0.23 0 pose: 0.0 -1.11554 -3.74466 0 0.00450919 0.0011689 0.998518 0.0542138 uwb: 0.0 1231.98 1080.11 -imu_odom_: 1691062511.482659296 0.560243 -0.131681 9.63666 -0.0777643 -0.0149137 0.0490022 0.23 0 pose: 0.50027856 -1.12497 -3.748 0 0.00313916 0.000361955 0.998523 0.0542397 uwb: 0.49884952 1231.52 1080.85 -imu_odom_: 1691062511.508605887 0.155623 -0.143652 9.66779 -0.056459 0.0117179 0.0383495 0.23 0.02 pose: 0.43935213 -1.13187 -3.75044 0 0.00446607 0.00205155 0.998519 0.0541783 uwb: 0.0 1231.52 1080.85 -imu_odom_: 1691062511.533589193 0.407014 -0.40462 9.97424 -0.072438 -0.0276969 0.0511327 0.23 0.02 pose: 0.6946564 -1.1344 -3.75133 0 0.00372117 0.00214539 0.998522 0.0541844 uwb: 0.50110974 1231.31 1082.59 -imu_odom_: 1691062511.549580084 0.984017 -0.277727 10.2328 -0.0298274 0 0.0287621 0.21 0 pose: 0.0 -1.1344 -3.75133 0 0.00372117 0.00214539 0.998522 0.0541844 uwb: 0.0 1231.31 1082.59 -imu_odom_: 1691062511.566577422 0.134075 -0.0885855 9.7875 -0.0415453 0.0181095 0.0500674 0.21 0 pose: 0.51022055 -1.13773 -3.7419 0 0.00223897 -0.00031351 0.998533 0.0540929 uwb: 0.0 1231.31 1082.59 -imu_odom_: 1691062511.582572104 0.316035 -0.19393 10.2424 -0.0617853 -0.0191748 0.0639159 0.21 0 pose: 0.0 -1.13773 -3.7419 0 0.00223897 -0.00031351 0.998533 0.0540929 uwb: 0.49846455 1231.27 1083.26 -imu_odom_: 1691062511.598702107 0.320823 0.0670376 10.1155 -0.0330232 -0.0298274 0.0436758 0.25 0 pose: 0.32967523 -1.14716 -3.74524 0 0.000734264 0.000561059 0.998542 0.0539688 uwb: 0.0 1231.27 1083.26 -imu_odom_: 1691062511.624640824 0.447716 -0.169988 9.58399 -0.0681769 -0.00639159 0.0543285 0.25 0 pose: 0.0 -1.14716 -3.74524 0 0.000734264 0.000561059 0.998542 0.0539688 uwb: 0.0 1231.27 1083.26 -imu_odom_: 1691062511.640585344 0.658405 -0.402226 9.81383 -0.0330232 0.0340885 0.0394148 0.21 0 pose: 0.32074814 -1.15659 -3.74858 0 0.00045076 0.00230242 0.99855 0.0537747 uwb: 0.50150637 1230.79 1085.14 -imu_odom_: 1691062511.666575389 0.469264 -0.3304 9.9934 -0.072438 -0.00745685 0.0703074 0.21 0 pose: 0.0 -1.15659 -3.74858 0 0.00045076 0.00230242 0.99855 0.0537747 uwb: 0.0 1230.79 1085.14 -imu_odom_: 1691062511.692714754 0.620098 -0.184354 10.2041 -0.0447411 -0.0500674 0.052198 0.23 0.02 pose: 0.42045096 -1.15993 -3.73915 0 0.00308415 0.0002549 0.998562 0.0535142 uwb: 0.49984693 1230.96 1085.9 -imu_odom_: 1691062511.716577581 0.531513 -0.0191536 10.2376 -0.0713727 -0.00745685 0.0585895 0.23 0.02 pose: 0.44999406 -1.16935 -3.7425 0 0.00616587 -0.0008209170.998572 0.0530599 uwb: 0.0 1230.96 1085.9 -imu_odom_: 1691062511.732566138 -0.0047884 -0.0311246 9.64624 -0.0298274 0.0308927 0.0319579 0.23 0.02 pose: 0.0 -1.16935 -3.7425 0 0.00616587 -0.0008209170.998572 0.0530599 uwb: 0.49994608 1230.7 1086.72 -imu_odom_: 1691062511.759574881 0.426168 -0.438139 9.75637 -0.0788296 -0.0213053 0.0532632 0.18 -0.02 pose: 0.7039889 -1.16935 -3.7425 0 0.00622134 -0.0001756550.998575 0.0529978 uwb: 0.0 1230.7 1086.72 -imu_odom_: 1691062511.784563144 0.244209 -0.304064 9.69652 -0.0479369 -0.0671117 0.0394148 0.18 -0.02 pose: 0.0 -1.16935 -3.7425 0 0.00622134 -0.0001756550.998575 0.0529978 uwb: 0.49870663 1230.33 1088.19 -imu_odom_: 1691062511.810674512 0.462081 -0.301669 9.59357 -0.0596548 -0.0117179 0.0468716 0.21 0 pose: 0.40852582 -1.17877 -3.74586 0 0.00440912 0.00123577 0.998592 0.0528569 uwb: 0.0 1230.33 1088.19 -imu_odom_: 1691062511.826553413 0.275333 -0.0311246 10.2472 -0.04048 0.0181095 0.036219 0.21 0 pose: 0.0 -1.17877 -3.74586 0 0.00440912 0.00123577 0.998592 0.0528569 uwb: 0.0 1230.33 1088.19 -imu_odom_: 1691062511.851569966 0.205901 -0.354342 9.96706 -0.0841559 -0.00213053 0.0660464 0.23 0.02 pose: 0.51089132 -1.19155 -3.7398 0 0.0025298 -0.00214626 0.998605 0.0526908 uwb: 0.50003358 1229.99 1089.9 -imu_odom_: 1691062511.874596953 0.397437 -0.110133 10.0173 -0.0479369 0 0.0511327 0.23 0.02 pose: 0.0 -1.19155 -3.7398 0 0.0025298 -0.00214626 0.998605 0.0526908 uwb: 0.0 1229.99 1089.9 -imu_odom_: 1691062511.900558710 0.361524 -0.189142 9.99579 -0.0575243 0.0511327 0.052198 0.19 0 pose: 0.41856698 -1.19155 -3.7398 0 0.00114505 -0.00292511 0.998613 0.0525505 uwb: 0.50048270 1230.11 1090.88 -imu_odom_: 1691062511.926550797 0.529119 -0.0095768110.1083 -0.0692422 0.0170442 0.0607201 0.19 0 pose: 0.0 -1.19155 -3.7398 0 0.00114505 -0.00292511 0.998613 0.0525505 uwb: 0.0 1230.11 1090.88 -imu_odom_: 1691062511.951579015 0.658405 -0.196325 10.2663 -0.0628506 0.0127832 0.04048 0.19 0 pose: 0.48017584 -1.20434 -3.73375 0 -0.00103061 -0.0007385040.99864 0.0521298 uwb: 0.50078601 1229.96 1091.98 -imu_odom_: 1691062511.977670259 0.40462 -0.54109 9.95748 -0.0639159 0.0319579 0.0543285 0.21 0.02 pose: 0.52025879 -1.21375 -3.73712 0 -0.0002668220.00242327 0.998659 0.0517225 uwb: 0.0 1229.96 1091.98 -imu_odom_: 1691062511.993535453 -0.320823 -0.275333 9.69173 -0.0426106 0.0298274 0.0298274 0.21 0.02 pose: 0.0 -1.21375 -3.73712 0 -0.0002668220.00242327 0.998659 0.0517225 uwb: 0.49961945 1229.76 1093.3 -imu_odom_: 1691062512.19540085 -0.059855 -0.500388 9.33499 -0.0681769 0.0149137 0.0511327 0.23 0.02 pose: 0.26166196 -1.22316 -3.74051 0 0.00110807 0.00121902 0.998664 0.0516483 uwb: 0.0 1229.76 1093.3 -imu_odom_: 1691062512.35551395 0.593762 -0.0430956 10.2568 -0.0490022 -0.0170442 0.0340885 0.23 0.02 pose: 0.40826626 -1.22655 -3.7311 0 -0.00196215 -0.0009147510.998668 0.0515496 uwb: 0.49889043 1229.87 1094.28 -imu_odom_: 1691062512.61546114 0.826 0.0311246 10.0461 -0.0639159 -0.00106526 0.0543285 0.23 0.02 pose: 0.0 -1.22655 -3.7311 0 -0.00196215 -0.0009147510.998668 0.0515496 uwb: 0.0 1229.87 1094.28 -imu_odom_: 1691062512.86569090 0.553061 -0.0766145 9.76595 -0.0543285 0.0138484 0.0468716 0.23 0 pose: 0.41975406 -1.23599 -3.73439 0 -0.00179249 -0.0006725310.998675 0.0514315 uwb: 0.49996373 1230.29 1094.69 -imu_odom_: 1691062512.112532896 0.586579 -0.11971 10.0509 -0.0756338 0.0191748 0.0500674 0.22 0 pose: 0.44004344 -1.2454 -3.73777 0 0.00159576 0.00169576 0.998686 0.0511996 uwb: 0.0 1230.29 1094.69 -imu_odom_: 1691062512.128533415 0.641646 -0.282516 9.59357 -0.0490022 0.0138484 0.0276969 0.22 0 pose: 0.0 -1.2454 -3.73777 0 0.00159576 0.00169576 0.998686 0.0511996 uwb: 0.50166690 1230.41 1095.68 -imu_odom_: 1691062512.154537175 0.308852 -0.174777 9.84735 -0.0287621 -0.00745685 0.0490022 0.22 0 pose: 0.7981595 -1.2454 -3.73777 0 0.00225731 0.00187065 0.998686 0.0511568 uwb: 0.0 1230.41 1095.68 -imu_odom_: 1691062512.170539444 0.490811 -0.294487 9.84017 -0.0447411 -0.015979 0.0351537 0.22 0 pose: 0.0 -1.2454 -3.73777 0 0.00225731 0.00187065 0.998686 0.0511568 uwb: 0.0 1230.41 1095.68 -imu_odom_: 1691062512.196551078 0.198719 -0.555455 9.65342 -0.0617853 0.00639159 0.0713727 0.23 -0.02 pose: 0.41054409 -1.2582 -3.73176 0 0.00419829 0.00152303 0.998683 0.0511157 uwb: 0.49833638 1231.17 1096 -imu_odom_: 1691062512.221538182 0.0454898 -0.0023942 10.2927 -0.0223706 -0.0191748 0.0319579 0.23 -0.02 pose: 0.0 -1.2582 -3.73176 0 0.00419829 0.00152303 0.998683 0.0511157 uwb: 0.0 1231.17 1096 -imu_odom_: 1691062512.237520328 0.68953 -0.258574 9.6199 -0.0500674 -0.0319579 0.0500674 0.21 0 pose: 0.42057357 -1.2582 -3.73176 0 0.00243604 -6.77605e-050.998698 0.0509457 uwb: 0.50106030 1231.01 1097.12 -imu_odom_: 1691062512.264574866 0.409408 -0.158017 9.80665 -0.0181095 0.0426106 0.0383495 0.21 0 pose: 0.0 -1.2582 -3.73176 0 0.00243604 -6.77605e-050.998698 0.0509457 uwb: 0.0 1231.01 1097.12 -imu_odom_: 1691062512.290632579 0.244209 -0.40462 9.56484 -0.0788296 0.00106526 0.0628506 0.25 -0.02 pose: 0.50881791 -1.271 -3.72575 0 8.72407e-05 0.000130155 0.998714 0.0506984 uwb: 0.50130819 1230.38 1099.46 -imu_odom_: 1691062512.306504777 0.158017 -0.0430956 9.98622 -0.0394148 -0.036219 0.0415453 0.25 -0.02 pose: 0.0 -1.271 -3.72575 0 8.72407e-05 0.000130155 0.998714 0.0506984 uwb: 0.0 1230.38 1099.46 -imu_odom_: 1691062512.323502412 1.09654 -0.11971 10.3406 -0.072438 -0.0511327 0.0916127 0.22 0.05 pose: 0.43158298 -1.2804 -3.72915 0 -0.0005030690.00247535 0.998716 0.0505886 uwb: 0.0 1230.38 1099.46 -imu_odom_: 1691062512.339681415 1.37427 -0.31364 9.52413 -0.0681769 0.00106526 0.136354 0.22 0.05 pose: 0.0 -1.2804 -3.72915 0 -0.0005030690.00247535 0.998716 0.0505886 uwb: 0.50058492 1230.15 1101.51 -imu_odom_: 1691062512.356679925 1.33596 -0.349553 9.8258 -0.0468716 0.00213053 0.20027 0.22 0.05 pose: 0.0 -1.2804 -3.72915 0 -0.0005030690.00247535 0.998716 0.0505886 uwb: 0.0 1230.15 1101.51 -imu_odom_: 1691062512.372686277 1.6927 -0.186748 9.83299 -0.0703074 0.0213053 0.319579 0.13 0.29 pose: 0.41933410 -1.28981 -3.73255 0 -0.00172373 0.00178309 0.998738 0.0501693 uwb: 0.0 1230.15 1101.51 -imu_odom_: 1691062512.388531061 1.26893 -0.54109 10.1466 -0.0671117 0.0394148 0.395213 0.13 0.29 pose: 0.0 -1.28981 -3.73255 0 -0.00172373 0.00178309 0.998738 0.0501693 uwb: 0.49663320 1229.96 1102.86 -imu_odom_: 1691062512.405503906 1.08697 -0.548272 10.137 -0.036219 0.0511327 0.407996 0.13 0.29 pose: 0.0 -1.28981 -3.73255 0 -0.00172373 0.00178309 0.998738 0.0501693 uwb: 0.0 1229.96 1102.86 -imu_odom_: 1691062512.421501218 1.08218 -0.0407014 9.75158 -0.036219 0.0266316 0.426106 0.14 0.53 pose: 0.50048577 -1.29317 -3.72313 0 0.00325358 0.000938088 0.9989 0.0467794 uwb: 0.0 1229.96 1102.86 -imu_odom_: 1691062512.438520434 0.984017 -0.0766145 10.1227 -0.0639159 0.0170442 0.486826 0.1 0.41 pose: 0.0 -1.29317 -3.72313 0 0.00325358 0.000938088 0.9989 0.0467794 uwb: 0.49865718 1230.27 1103.73 -imu_odom_: 1691062512.454498789 0.328006 -0.457293 9.90242 -0.0713727 0.0543285 0.543285 0.1 0.41 pose: 0.65823366 -1.30262 -3.72642 0 0.00805991 3.46401e-05 0.999365 0.0346965 uwb: 0.0 1230.27 1103.73 -imu_odom_: 1691062512.470496975 0.636858 -0.497994 10.1634 -0.0468716 0.0223706 0.573112 0.08 0.47 pose: 0.0 -1.30262 -3.72642 0 0.00805991 3.46401e-05 0.999365 0.0346965 uwb: 0.0 1230.27 1103.73 -imu_odom_: 1691062512.486509159 0.445322 -0.294487 9.70849 -0.0479369 -0.02024 0.621049 0.08 0.47 pose: 0.0 -1.30262 -3.72642 0 0.00805991 3.46401e-05 0.999365 0.0346965 uwb: 0.50064909 1230.34 1104.73 -imu_odom_: 1691062512.503553457 0.866701 -0.275333 10.2137 -0.0596548 0.00106526 0.622114 0.08 0.47 pose: 0.32015037 -1.30262 -3.72642 0 0.00731262 -0.00168542 0.999613 0.0267761 uwb: 0.0 1230.34 1104.73 -imu_odom_: 1691062512.520556050 0.6608 -0.105345 10.1035 -0.0372843 0.00532632 0.591222 0.1 0.67 pose: 0.42030527 -1.31206 -3.72967 0 0.0076846 -0.00309731 0.999857 0.0147562 uwb: 0.0 1230.34 1104.73 -imu_odom_: 1691062512.536554819 0.725443 -0.134075 10.0628 -0.0532632 0.00745685 0.590156 0.1 0.67 pose: 0.7014518 -1.31206 -3.72971 0 0.00802078 -0.00245525 0.999883 0.0128271 uwb: 0.50113612 1230.46 1105.27 -imu_odom_: 1691062512.552544840 0.778116 -0.3304 9.94791 -0.0596548 0.00106526 0.597613 0.1 0.67 pose: 0.0 -1.31206 -3.72971 0 0.00802078 -0.00245525 0.999883 0.0128271 uwb: 0.0 1230.46 1105.27 -imu_odom_: 1691062512.569606636 0.581791 -0.399832 9.64863 -0.0681769 0 0.607201 0.06 0.55 pose: 0.41976865 -1.31206 -3.72967 0 0.0110516 -0.00151597 0.999937 0.00121825 uwb: 0.0 1230.46 1105.27 -imu_odom_: 1691062512.585492249 0.622492 -0.131681 9.73243 -0.0543285 -0.00213053 0.588026 0.08 0.73 pose: 0.0 -1.31206 -3.72967 0 0.0110516 -0.00151597 0.999937 0.00121825 uwb: 0.50005122 1230.44 1106.72 -imu_odom_: 1691062512.602563085 0.4956 0.0454898 10.0245 -0.0447411 0.0127832 0.54222 0.08 0.73 pose: 0.0 -1.31206 -3.72967 0 0.0110516 -0.00151597 0.999937 0.00121825 uwb: 0.0 1230.44 1106.72 -imu_odom_: 1691062512.619559846 0.553061 0.011971 10.161 -0.056459 0.00532632 0.50387 0.06 0.5 pose: 0.23949450 -1.31206 -3.72971 0 0.0107134 -0.00268296 0.999924 -0.00552258 uwb: 0.0 1230.44 1106.72 -imu_odom_: 1691062512.635490080 0.612916 -0.124498 9.80426 -0.0500674 -0.00319579 0.453803 0.06 0.5 pose: 0.0 -1.31206 -3.72971 0 0.0107134 -0.00268296 0.999924 -0.00552258 uwb: 0.49920546 1230.45 1107.7 -imu_odom_: 1691062512.651486224 0.596156 -0.141258 9.94312 -0.0500674 -0.00639159 0.397344 0.06 0.5 pose: 0.33074272 -1.31206 -3.72971 0 0.00978048 0.000475523 0.999856 -0.013874 uwb: 0.0 1230.45 1107.7 -imu_odom_: 1691062512.668556478 0.830788 -0.035913 9.81623 -0.052198 0.00426106 0.358994 0.04 0.32 pose: 0.0 -1.31206 -3.72971 0 0.00978048 0.000475523 0.999856 -0.013874 uwb: 0.0 1230.45 1107.7 -imu_odom_: 1691062512.685543906 0.711078 -0.126893 9.92157 -0.0596548 0.00532632 0.336624 0.04 0.32 pose: 0.0 -1.31206 -3.72971 0 0.00978048 0.000475523 0.999856 -0.013874 uwb: 0.49989665 1230.18 1109.05 -imu_odom_: 1691062512.701482889 0.560243 -0.0694318 9.87848 -0.0596548 0.015979 0.304666 0.04 0.32 pose: 0.49925796 -1.32147 -3.7331 0 0.0103128 0.00479045 0.999657 -0.0235918 uwb: 0.0 1230.18 1109.05 -imu_odom_: 1691062512.718535352 0.316035 -0.129287 9.77792 -0.056459 0.02024 0.282295 0.04 0.35 pose: 0.41988531 -1.32485 -3.72366 0 0.0111934 0.00567233 0.999481 -0.0296658 uwb: 0.0 1230.18 1109.05 -imu_odom_: 1691062512.735539695 0.318429 -0.217872 9.95748 -0.0543285 -0.00106526 0.286556 0.03 0.26 pose: 0.0 -1.32485 -3.72366 0 0.0111934 0.00567233 0.999481 -0.0296658 uwb: 0.50069575 1230.32 1109.86 -imu_odom_: 1691062512.751534090 0.471658 -0.263362 9.89524 -0.0479369 -0.0149137 0.282295 0.03 0.26 pose: 0.0 -1.32485 -3.72366 0 0.0111934 0.00567233 0.999481 -0.0296658 uwb: 0.0 1230.32 1109.86 -imu_odom_: 1691062512.768528517 0.651223 -0.126893 9.83299 -0.0490022 -0.015979 0.265251 0.03 0.23 pose: 0.25056223 -1.32486 -3.72369 0 0.00855306 0.00516517 0.999415 -0.0327149 uwb: 0.0 1230.32 1109.86 -imu_odom_: 1691062512.784524953 0.64404 -0.0143652 9.87369 -0.0511327 0.00106526 0.247141 0.03 0.23 pose: 0.0 -1.32486 -3.72369 0 0.00855306 0.00516517 0.999415 -0.0327149 uwb: 0.50048868 1231.15 1109.76 -imu_odom_: 1691062512.801671908 0.507571 -0.0933739 9.90242 -0.0553937 0.00852212 0.230097 0.03 0.23 pose: 0.32938659 -1.32486 -3.72369 0 0.00782608 0.00369228 0.99929 -0.0366686 uwb: 0.0 1231.15 1109.76 -imu_odom_: 1691062512.818479103 0.493206 -0.215478 9.98143 -0.0532632 -0.00426106 0.219444 0.02 0.2 pose: 0.42194137 -1.32485 -3.72366 0 0.00762734 0.0057781 0.999115 -0.0409594 uwb: 0.0 1231.15 1109.76 -imu_odom_: 1691062512.834753471 0.581791 -0.268151 9.90242 -0.0532632 -0.0117179 0.223706 0.02 0.2 pose: 0.7955930 -1.32486 -3.72369 0 0.00725127 0.00508222 0.999092 -0.0416778 uwb: 0.50013288 1231.91 1108.88 -imu_odom_: 1691062512.852575864 0.629675 -0.215478 9.91918 -0.0543285 -0.00213053 0.232228 0.01 0.2 pose: 0.0 -1.32486 -3.72369 0 0.00725127 0.00508222 0.999092 -0.0416778 uwb: 0.0 1231.91 1108.88 -imu_odom_: 1691062512.876515398 0.471658 -0.150835 9.93354 -0.0543285 0.00426106 0.233293 0.01 0.17 pose: 0.42948026 -1.32485 -3.72366 0 0.00898955 0.00190076 0.998912 -0.0457119 uwb: 0.0 1231.91 1108.88 -imu_odom_: 1691062512.893504867 0.275333 -0.100556 10.0149 -0.0575243 0.0394148 0.210922 0.01 0.17 pose: 0.0 -1.32485 -3.72366 0 0.00898955 0.00190076 0.998912 -0.0457119 uwb: 0.49888758 1232.33 1109.32 -imu_odom_: 1691062512.909447350 -1.01514 -0.0790087 9.70849 -0.0628506 0.108657 0.18216 0.01 0.17 pose: 0.30893974 -1.32486 -3.72369 0 0.00574752 0.00263528 0.998798 -0.0486121 uwb: 0.0 1232.33 1109.32 -imu_odom_: 1691062512.925444953 -1.64721 -0.0407014 10.0461 -0.0585895 0.0213053 0.168312 0.01 0.17 pose: 0.0 -1.32486 -3.72369 0 0.00574752 0.00263528 0.998798 -0.0486121 uwb: 0.0 1232.33 1109.32 -imu_odom_: 1691062512.942573243 -0.730232 -0.328006 9.79707 -0.0585895 -0.076699 0.155529 0.06 0.17 pose: 0.0 -1.32486 -3.72369 0 0.00574752 0.00263528 0.998798 -0.0486121 uwb: 0.50094072 1232.73 1109.51 -imu_odom_: 1691062512.959574961 0.181959 -0.215478 9.66779 -0.0426106 -0.0788296 0.14168 0.06 0.17 pose: 0.32989697 -1.32486 -3.72369 0 0.00127472 0.00271638 0.998692 -0.0510497 uwb: 0.0 1232.73 1109.51 -imu_odom_: 1691062512.975439284 0.526724 -0.181959 10.082 -0.0490022 -0.0213053 0.145941 0.08 0.11 pose: 0.43115426 -1.33428 -3.72703 0 -0.00180431 0.00205434 0.998566 -0.0534715 uwb: 0.0 1232.73 1109.51 -imu_odom_: 1691062512.991570750 0.342371 -0.138864 9.68933 -0.0639159 0.0191748 0.13955 0.08 0.11 pose: 0.0 -1.33428 -3.72703 0 -0.00180431 0.00205434 0.998566 -0.0534715 uwb: 0.50116528 1232.57 1109.69 -imu_odom_: 1691062513.9569294 -0.172383 -0.158017 9.94791 -0.0660464 0.0351537 0.12144 0.08 0.11 pose: 0.0 -1.33428 -3.72703 0 -0.00180431 0.00205434 0.998566 -0.0534715 uwb: 0.0 1232.57 1109.69 -imu_odom_: 1691062513.26571309 -0.19393 -0.167594 9.95748 -0.0553937 -0.00426106 0.118244 0.14 0.11 pose: 0.7885937 -1.33428 -3.72703 0 -0.0009488840.00207514 0.998544 -0.0538917 uwb: 0.0 1232.57 1109.69 -imu_odom_: 1691062513.43442377 0.107739 -0.0790087 9.73004 -0.0532632 -0.0298274 0.125701 0.1 0.05 pose: 0.0 -1.33428 -3.72703 0 -0.0009488840.00207514 0.998544 -0.0538917 uwb: 0.49620457 1232.42 1109.62 -imu_odom_: 1691062513.59447275 0.349553 -0.251391 9.91678 -0.056459 -0.0127832 0.129962 0.1 0.05 pose: 0.67008015 -1.33428 -3.72703 0 -0.00618729 0.00271286 0.99836 -0.0568516 uwb: 0.0 1232.42 1109.62 -imu_odom_: 1691062513.75439633 0.390255 -0.411803 10.2448 -0.0447411 -0.0319579 0.128897 0.1 0.05 pose: 0.0 -1.33428 -3.72703 0 -0.00618729 0.00271286 0.99836 -0.0568516 uwb: 0.0 1232.42 1109.62 -imu_odom_: 1691062513.92605257 0.0047884 -0.237026 9.7444 -0.0543285 0.0426106 0.109722 0.11 0.05 pose: 0.0 -1.33428 -3.72703 0 -0.00618729 0.00271286 0.99836 -0.0568516 uwb: 0.49999595 1232.25 1110.03 -imu_odom_: 1691062513.108507499 0.011971 -0.059855 10.1083 -0.0607201 0.0394148 0.112918 0.11 0.05 pose: 0.31979466 -1.3437 -3.73039 0 -0.00540365 0.00123697 0.998286 -0.0582624 uwb: 0.0 1232.25 1110.03 -imu_odom_: 1691062513.125433395 0.260968 -0.0263362 10.3118 -0.0607201 -0.0490022 0.109722 0.12 0.08 pose: 0.42059120 -1.3437 -3.73039 0 -0.00874645 0.000812539 0.998169 -0.0598434 uwb: 0.0 1232.25 1110.03 -imu_odom_: 1691062513.141448209 0.826 -0.282516 9.90002 -0.0596548 -0.0415453 0.118244 0.12 0.08 pose: 0.0 -1.3437 -3.73039 0 -0.00874645 0.000812539 0.998169 -0.0598434 uwb: 0.50053840 1232.49 1110.14 -imu_odom_: 1691062513.157552265 0.677559 -0.31364 9.93115 -0.0585895 -0.052198 0.110787 0.12 0.08 pose: 0.0 -1.3437 -3.73039 0 -0.00874645 0.000812539 0.998169 -0.0598434 uwb: 0.0 1232.49 1110.14 -imu_odom_: 1691062513.174437915 1.22104 -0.110133 10.1682 -0.0575243 -0.0788296 0.128897 0.15 0.02 pose: 0.7953016 -1.3437 -3.73039 0 -0.00844576 0.00159118 0.998154 -0.0601289 uwb: 0.0 1232.49 1110.14 -imu_odom_: 1691062513.190464103 1.03669 -0.251391 9.6223 -0.0639159 -0.00958738 0.188552 0.1 0.02 pose: 0.0 -1.3437 -3.73039 0 -0.00844576 0.00159118 0.998154 -0.0601289 uwb: 0.49930476 1232.29 1110.55 -imu_odom_: 1691062513.206429922 0.924162 -0.385466 9.79947 -0.0479369 -0.0415453 0.217314 0.1 0.02 pose: 0.64988420 -1.3531 -3.7338 0 -0.00126573 0.0019189 0.998015 -0.0629326 uwb: 0.0 1232.29 1110.55 -imu_odom_: 1691062513.223488514 1.29287 -0.248997 9.8665 -0.0479369 -0.0330232 0.183225 0.08 0.02 pose: 0.0 -1.3531 -3.7338 0 -0.00126573 0.0019189 0.998015 -0.0629326 uwb: 0.0 1232.29 1110.55 -imu_odom_: 1691062513.239488455 1.47004 0.162806 10.1131 -0.0553937 0.0436758 0.131028 0.08 0.02 pose: 0.0 -1.3531 -3.7338 0 -0.00126573 0.0019189 0.998015 -0.0629326 uwb: 0.0 1232.29 1110.55 -imu_odom_: 1691062513.255426276 0.584185 0.0837971 9.62469 -0.0628506 0.0490022 0.092678 0.08 0.02 pose: 0.32994956 -1.3531 -3.7338 0 0.00239829 0.00145785 0.997842 -0.0655977 uwb: 0.0 1232.29 1110.55 -imu_odom_: 1691062513.271485711 0.610521 -0.011971 10.0054 -0.0575243 0.00958738 0.0287621 0.08 0.05 pose: 0.40982385 -1.36592 -3.72783 0 0.0045282 0.0035471 0.99771 -0.0673933 uwb: 0.0 1232.29 1110.55 -imu_odom_: 1691062513.288434647 0.708684 -0.294487 9.87129 -0.0532632 -0.0468716 0.0223706 0.08 0.05 pose: 0.7061765 -1.36592 -3.72783 0 0.00488923 0.00411277 0.997709 -0.0673539 uwb: 0.100110305 1232.3 1110.8 -imu_odom_: 1691062513.304416506 0.873884 -0.177171 9.84735 -0.0575243 -0.00319579 0.0468716 0.08 0.05 pose: 0.0 -1.36592 -3.72783 0 0.00488923 0.00411277 0.997709 -0.0673539 uwb: 0.0 1232.3 1110.8 -imu_odom_: 1691062513.320483815 0.991199 -0.342371 9.93115 -0.052198 -0.00106526 0.0958738 0.05 0.02 pose: 0.41928465 -1.36592 -3.72783 0 0.00866021 0.00381513 0.997693 -0.0672317 uwb: 0.0 1232.3 1110.8 -imu_odom_: 1691062513.337430710 0.509965 -0.325611 9.77553 -0.0543285 0.0223706 0.0916127 0.06 0.05 pose: 0.0 -1.36592 -3.72783 0 0.00866021 0.00381513 0.997693 -0.0672317 uwb: 0.0 1232.3 1110.8 -imu_odom_: 1691062513.363430394 0.490811 0.023942 9.89045 -0.0426106 -0.0276969 0.0671117 0.06 0.05 pose: 0.24034324 -1.36592 -3.72783 0 0.00967976 0.0025396 0.997641 -0.0679067 uwb: 0.0 1232.3 1110.8 -imu_odom_: 1691062513.389416663 -0.105345 -0.0981623 9.88805 -0.0617853 0.0969391 0.0149137 0.05 0.08 pose: 0.0 -1.36592 -3.72783 0 0.00967976 0.0025396 0.997641 -0.0679067 uwb: 0.100131011 1232.54 1110.91 -imu_odom_: 1691062513.406442884 -1.47722 0.0742203 9.90242 -0.0543285 0.0607201 0.00213053 0.05 0.08 pose: 0.42038413 -1.36592 -3.72783 0 0.00720871 0.00417646 0.997624 -0.0683944 uwb: 0.0 1232.54 1110.91 -imu_odom_: 1691062513.432435860 -0.612916 -0.701501 9.93354 -0.0639159 -0.0937433 0.0820254 0.11 0.05 pose: 0.35953641 -1.3753 -3.73131 0 0.0021061 0.00409115 0.997686 -0.067835 uwb: 0.49999303 1232.74 1110.27 -imu_odom_: 1691062513.458495623 0.833182 -0.059855 9.88566 -0.0372843 -0.0181095 0.0809601 0.11 0.05 pose: 0.7001395 -1.3753 -3.73131 0 0.00182665 0.00371283 0.997678 -0.0679804 uwb: 0.0 1232.74 1110.27 -imu_odom_: 1691062513.482552111 -0.100556 0.011971 9.63906 -0.0628506 0.036219 0.0948085 0.13 0 pose: 0.45051344 -1.3753 -3.73131 0 0.0037105 0.00375143 0.997608 -0.0689176 uwb: 0.49864274 1232.68 1111.48 -imu_odom_: 1691062513.498552927 -0.100556 -0.354342 9.96227 -0.0458064 0.0170442 0.0255663 0.13 0 pose: 0.0 -1.3753 -3.73131 0 0.0037105 0.00375143 0.997608 -0.0689176 uwb: 0.0 1232.68 1111.48 -imu_odom_: 1691062513.525476234 0.00957681 -0.258574 9.76355 -0.0607201 0.0447411 0.0639159 0.12 0.02 pose: 0.40057304 -1.3803 -3.73312 0 -0.0007327490.00345312 0.997579 -0.0694553 uwb: 0.0 1232.68 1111.48 -imu_odom_: 1691062513.551407091 0.399832 -0.356736 9.78271 -0.0511327 -0.00106526 0.0735032 0.13 0.02 pose: 0.0 -1.3803 -3.73312 0 -0.0007327490.00345312 0.997579 -0.0694553 uwb: 0.49996971 1232.08 1112.19 -imu_odom_: 1691062513.577460146 0.533907 0.023942 10.4579 -0.0607201 -0.0426106 0.0671117 0.16 0.02 pose: 0.52854164 -1.3847 -3.73471 0 -0.00291888 8.33955e-05 0.997528 -0.070207 uwb: 0.0 1232.08 1112.19 -imu_odom_: 1691062513.603401794 -0.155623 -0.035913 9.38048 -0.0639159 0.0223706 0.0692422 0.13 0 pose: 0.0 -1.3847 -3.73471 0 -0.00291888 8.33955e-05 0.997528 -0.070207 uwb: 0.50013593 1232.17 1112.23 -imu_odom_: 1691062513.620413433 0.0383072 -0.275333 10.2328 -0.0745685 -0.0127832 0.0777643 0.13 0 pose: 0.34024153 -1.3941 -3.73814 0 -0.00179377 0.00227717 0.997494 -0.0706878 uwb: 0.0 1232.17 1112.23 -imu_odom_: 1691062513.645433499 0.483629 -0.110133 10.0269 -0.0681769 0.0308927 0.0394148 0.14 0.02 pose: 0.34982189 -1.3941 -3.73814 0 -0.00524196 0.00160082 0.997442 -0.0712676 uwb: 0.50059381 1232.73 1112.26 -imu_odom_: 1691062513.671464097 0.416591 -0.275333 9.81623 -0.0798948 -0.00426106 0.0756338 0.14 0.02 pose: 0.7039309 -1.3941 -3.73814 0 -0.0047183 0.00183202 0.997444 -0.0712702 uwb: 0.0 1232.73 1112.26 -imu_odom_: 1691062513.696506620 -0.0047884 -0.174777 9.9503 -0.0553937 -0.0713727 0.0447411 0.16 0.02 pose: 0.44011355 -1.40349 -3.74158 0 -0.00175142 5.25356e-05 0.997422 -0.0717431 uwb: 0.49891980 1233.09 1112.18 -imu_odom_: 1691062513.713438641 0.3304 -0.035913 9.5816 -0.0596548 -0.0575243 0.0511327 0.16 0.02 pose: 0.0 -1.40349 -3.74158 0 -0.00175142 5.25356e-05 0.997422 -0.0717431 uwb: 0.0 1233.09 1112.18 -imu_odom_: 1691062513.729375296 0.847547 -0.138864 10.0844 -0.0607201 -0.0500674 0.0639159 0.16 0.02 pose: 0.0 -1.40349 -3.74158 0 -0.00175142 5.25356e-05 0.997422 -0.0717431 uwb: 0.49953808 1233.99 1111.61 -imu_odom_: 1691062513.746463344 0.502782 -0.37589 9.56484 -0.0490022 0.00639159 0.0319579 0.15 0 pose: 0.48927819 -1.41632 -3.73564 0 -0.00232115 0.00194532 0.9974 -0.0719961 uwb: 0.0 1233.99 1111.61 -imu_odom_: 1691062513.772517857 0.447716 -0.0167594 9.97424 -0.0585895 -0.0117179 0.0585895 0.15 0 pose: 0.0 -1.41632 -3.73564 0 -0.00232115 0.00194532 0.9974 -0.0719961 uwb: 0.0 1233.99 1111.61 -imu_odom_: 1691062513.798497710 0.727837 -0.25618 10.1658 -0.0649811 -0.0735032 0.0543285 0.15 0 pose: 0.33066991 -1.41632 -3.73564 0 -0.0001796810.00138447 0.997396 -0.0721091 uwb: 0.50010094 1233.81 1112.02 -imu_odom_: 1691062513.824501769 0.136469 -0.167594 9.90721 -0.0543285 -0.0255663 0.0532632 0.16 0 pose: 0.45038803 -1.42571 -3.73909 0 0.00369052 0.00252047 0.997359 -0.0724864 uwb: 0.0 1233.81 1112.02 -imu_odom_: 1691062513.840488877 0.37589 -0.299275 9.52174 -0.0575243 -0.04048 0.0628506 0.16 0 pose: 0.0 -1.42571 -3.73909 0 0.00369052 0.00252047 0.997359 -0.0724864 uwb: 0.50190036 1233.59 1112.92 -imu_odom_: 1691062513.866379780 0.0215478 -0.213084 9.68455 -0.0287621 0.0298274 0.02024 0.16 0 pose: 0.6964065 -1.42571 -3.73909 0 0.00306833 0.00248494 0.997358 -0.0725324 uwb: 0.0 1233.59 1112.92 -imu_odom_: 1691062513.891364849 0.378284 -0.440533 9.84017 -0.0681769 0.0245011 0.0628506 0.16 0 pose: 0.0 -1.42571 -3.73909 0 0.00306833 0.00248494 0.997358 -0.0725324 uwb: 0.49757534 1233.75 1113.5 -imu_odom_: 1691062513.915368843 0.215478 -0.339977 9.34457 -0.04048 0.00106526 0.0298274 0.18 -0.02 pose: 0.42950662 -1.43509 -3.74256 0 0.000190582 0.000894191 0.997349 -0.0727669 uwb: 0.0 1233.75 1113.5 -imu_odom_: 1691062513.940362370 0.225055 -0.426168 10.003 -0.0585895 0.0117179 0.0703074 0.18 -0.02 pose: 0.0 -1.43509 -3.74256 0 0.000190582 0.000894191 0.997349 -0.0727669 uwb: 0.50072504 1233.5 1114.89 -imu_odom_: 1691062513.955346238 -0.25618 -0.246603 9.33978 -0.0415453 0.00213053 0.0308927 0.22 0 pose: 0.48962233 -1.43509 -3.74256 0 -0.00247241 -0.00206513 0.997338 -0.0728493 uwb: 0.0 1233.5 1114.89 -imu_odom_: 1691062513.981345630 -0.617704 -0.213084 10.2089 -0.036219 0.0170442 0.0511327 0.22 0 pose: 0.0 -1.43509 -3.74256 0 -0.00247241 -0.00206513 0.997338 -0.0728493 uwb: 0.50079505 1233.89 1114.84 -imu_odom_: 1691062514.7355232 0.464475 0.00957681 11.0373 -0.0319579 0.00319579 0.0287621 0.2 0 pose: 0.48983230 -1.44447 -3.74603 0 -0.00592257 -0.0052391 0.997292 -0.0731141 uwb: 0.0 1233.89 1114.84 -imu_odom_: 1691062514.32402136 0.395043 -0.162806 10.1993 -0.0681769 -0.0138484 0.0575243 0.2 0 pose: 0.0 -1.44447 -3.74603 0 -0.00592257 -0.0052391 0.997292 -0.0731141 uwb: 0.50028183 1233.97 1115.64 -imu_odom_: 1691062514.58405036 0.61531 -0.272939 9.80426 -0.0617853 -0.0106526 0.0351537 0.2 0 pose: 0.43012782 -1.45732 -3.74012 0 -0.00929551 -0.00410387 0.997266 -0.0731982 uwb: 0.0 1233.97 1115.64 -imu_odom_: 1691062514.74343153 0.730232 -0.0454898 9.69173 -0.0500674 -0.015979 0.0479369 0.2 0 pose: 0.0 -1.45732 -3.74012 0 -0.00929551 -0.00410387 0.997266 -0.0731982 uwb: 0.0 1233.97 1115.64 -imu_odom_: 1691062514.100410213 0.426168 -0.205901 10.1849 -0.056459 -0.0149137 0.0319579 0.22 0 pose: 0.51001971 -1.46669 -3.7436 0 -0.00522171 -0.00132449 0.997294 -0.0733231 uwb: 0.49954404 1234.44 1116.12 -imu_odom_: 1691062514.126344286 0.790087 -0.308852 9.91439 -0.0692422 -0.0287621 0.0628506 0.18 -0.02 pose: 0.41028767 -1.47607 -3.74707 0 -0.00119102 -0.0003734260.997308 -0.0733222 uwb: 0.0 1234.44 1116.12 -imu_odom_: 1691062514.152555416 0.847547 -0.323217 9.65582 -0.0394148 0.0607201 0.0213053 0.22 0.02 pose: 0.27043471 -1.47607 -3.74707 0 0.00158008 0.000100847 0.997305 -0.0733436 uwb: 0.49816168 1234.77 1117.31 -imu_odom_: 1691062514.177469041 0.4956 -0.0885855 9.96467 -0.0532632 0.00106526 0.0617853 0.2 0 pose: 0.24943664 -1.48545 -3.75055 0 0.00402819 -0.00042412 0.997288 -0.0734875 uwb: 0.0 1234.77 1117.31 -imu_odom_: 1691062514.194513640 0.610521 -0.248997 9.85693 -0.0703074 0.015979 0.0372843 0.2 0 pose: 0.0 -1.48545 -3.75055 0 0.00402819 -0.00042412 0.997288 -0.0734875 uwb: 0.50239628 1235.43 1118.15 -imu_odom_: 1691062514.219353188 0.691924 -0.423774 9.35893 -0.0660464 0.0170442 0.0617853 0.2 0 pose: 0.26138803 -1.48545 -3.75055 0 0.00516336 3.91085e-05 0.99729 -0.0733868 uwb: 0.0 1235.43 1118.15 -imu_odom_: 1691062514.245617106 0.445322 -0.45011 9.58878 -0.0479369 0.0426106 0.0394148 0.18 0 pose: 0.0 -1.48545 -3.75055 0 0.00516336 3.91085e-05 0.99729 -0.0733868 uwb: 0.49900743 1234.9 1119.68 -imu_odom_: 1691062514.271610090 0.553061 -0.335188 9.58878 -0.0852212 -0.00106526 0.0543285 0.18 0 pose: 0.86089748 -1.50413 -3.74977 0 0.0060557 -0.00341046 0.997244 -0.0738665 uwb: 0.0 1234.9 1119.68 -imu_odom_: 1691062514.288610651 -0.0861913 -0.158017 9.90002 -0.0681769 0.0490022 0.0351537 0.18 0 pose: 0.0 -1.50413 -3.74977 0 0.0060557 -0.00341046 0.997244 -0.0738665 uwb: 0.49970737 1234.65 1121.11 -imu_odom_: 1691062514.304339079 0.0191536 -0.280122 9.84256 -0.0660464 -0.00319579 0.0372843 0.18 0 pose: 0.0 -1.50413 -3.74977 0 0.0060557 -0.00341046 0.997244 -0.0738665 uwb: 0.0 1234.65 1121.11 -imu_odom_: 1691062514.330329147 0.897826 -0.332794 9.64624 -0.0745685 -0.00532632 0.0308927 0.18 0 pose: 0.6894074 -1.50768 -3.74814 0 0.00653488 -0.00400646 0.997235 -0.0739175 uwb: 0.49862247 1234.66 1122.41 -imu_odom_: 1691062514.356396207 0.263362 -0.433351 10.2424 -0.0639159 0.0117179 0.0490022 0.17 0 pose: 0.42986546 -1.51705 -3.75163 0 0.0050613 -0.00548054 0.997229 -0.0740212 uwb: 0.0 1234.66 1122.41 -imu_odom_: 1691062514.382328238 0.76375 -0.440533 9.54089 -0.04048 -0.0394148 0.0276969 0.17 0 pose: 0.0 -1.51705 -3.75163 0 0.0050613 -0.00548054 0.997229 -0.0740212 uwb: 0.49998442 1234.92 1123.6 -imu_odom_: 1691062514.408383341 0.591368 -0.0526724 10.7045 -0.0490022 -0.00213053 0.0340885 0.18 0 pose: 0.41866648 -1.51705 -3.75163 0 0.00610913 -0.00592482 0.997228 -0.0739246 uwb: 0.0 1234.92 1123.6 -imu_odom_: 1691062514.424377454 0.268151 -0.191536 9.60793 -0.0426106 0.0543285 0.0298274 0.18 0 pose: 0.0 -1.51705 -3.75163 0 0.00610913 -0.00592482 0.997228 -0.0739246 uwb: 0.0 1234.92 1123.6 -imu_odom_: 1691062514.449321409 0.514753 -0.208296 9.63427 -0.0607201 0.0372843 0.0415453 0.18 -0.02 pose: 0.51971970 -1.52642 -3.75512 0 0.00722691 -0.0064388 0.997223 -0.073838 uwb: 0.50119473 1235.76 1123.77 -imu_odom_: 1691062514.475314685 0.59855 -0.198719 10.3693 -0.0479369 -0.0415453 0.0351537 0.18 -0.02 pose: 0.0 -1.52642 -3.75512 0 0.00722691 -0.0064388 0.997223 -0.073838 uwb: 0.0 1235.76 1123.77 -imu_odom_: 1691062514.500444123 0.593762 -0.430956 9.8689 -0.0809601 -0.00426106 0.0596548 0.18 -0.02 pose: 0.43003752 -1.53579 -3.75861 0 0.00527515 -0.00311628 0.997262 -0.0736994 uwb: 0.49883245 1236.15 1124.24 -imu_odom_: 1691062514.526325700 0.715866 -0.136469 10.1825 -0.04048 -0.0383495 0.0255663 0.18 -0.02 pose: 0.50996726 -1.54517 -3.7621 0 0.00793841 -0.0007754280.997247 -0.0737225 uwb: 0.0 1236.15 1124.24 -imu_odom_: 1691062514.551374938 0.512359 -0.11971 10.4244 -0.0745685 -0.0255663 0.0511327 0.21 0 pose: 0.0 -1.54517 -3.7621 0 0.00793841 -0.0007754280.997247 -0.0737225 uwb: 0.49985027 1237.2 1124.27 -imu_odom_: 1691062514.568322712 0.258574 -0.007182619.3709 -0.0426106 -0.00426106 0.0298274 0.21 0 pose: 0.68038116 -1.55803 -3.75621 0 0.00903954 0.00104331 0.997229 -0.0738301 uwb: 0.0 1237.2 1124.27 -imu_odom_: 1691062514.593306331 0.263362 -0.160412 9.46667 -0.0841559 0.0287621 0.0543285 0.21 -0.02 pose: 0.8000556 -1.55803 -3.75621 0 0.00833221 0.00147544 0.997238 -0.0737879 uwb: 0.50134929 1237.72 1124.81 -imu_odom_: 1691062514.610311266 0.646434 -0.117316 10.7978 -0.0479369 -0.0149137 0.0415453 0.21 -0.02 pose: 0.0 -1.55803 -3.75621 0 0.00833221 0.00147544 0.997238 -0.0737879 uwb: 0.0 1237.72 1124.81 -imu_odom_: 1691062514.635379752 0.529119 -0.294487 10.24 -0.0490022 -0.0213053 0.0553937 0.22 0 pose: 0.42220699 -1.5674 -3.7597 0 0.00541642 0.00208663 0.997247 -0.0739252 uwb: 0.49985902 1237.66 1125.83 -imu_odom_: 1691062514.652360482 0.397437 -0.289698 9.8258 -0.0426106 -0.0276969 0.0458064 0.22 0 pose: 0.0 -1.5674 -3.7597 0 0.00541642 0.00208663 0.997247 -0.0739252 uwb: 0.0 1237.66 1125.83 -imu_odom_: 1691062514.677437717 0.59855 -0.241814 9.57681 -0.0671117 -0.0287621 0.0607201 0.21 0.02 pose: 0.41721704 -1.57677 -3.76319 0 0.00595187 -0.0002036430.997228 -0.0741741 uwb: 0.0 1237.66 1125.83 -imu_odom_: 1691062514.704501310 1.08697 -0.153229 9.69412 -0.0351537 -0.0117179 0.0458064 0.23 0.02 pose: 0.34119820 -1.58316 -3.76557 0 0.00810863 -0.0007649060.99719 -0.0744669 uwb: 0.50054437 1238.05 1126.57 -imu_odom_: 1691062514.729503885 0.59855 -0.1652 10.0772 -0.0639159 -0.0319579 0.0585895 0.23 0.02 pose: 0.0 -1.58316 -3.76557 0 0.00810863 -0.0007649060.99719 -0.0744669 uwb: 0.49976278 1237.86 1127.81 -imu_odom_: 1691062514.746288925 0.562637 -0.0550666 9.55287 -0.0511327 -0.00319579 0.0468716 0.23 -0.02 pose: 0.7894982 -1.58614 -3.76668 0 0.00890014 -0.0004967030.997182 -0.0744895 uwb: 0.0 1237.86 1127.81 -imu_odom_: 1691062514.772269660 0.35913 -0.428562 9.83777 -0.105461 0.0276969 0.0809601 0.23 -0.02 pose: 0.0 -1.58614 -3.76668 0 0.00890014 -0.0004967030.997182 -0.0744895 uwb: 0.0 1237.86 1127.81 -imu_odom_: 1691062514.798273726 0.459687 -0.263362 10.3597 -0.0649811 0.02024 0.0436758 0.25 0.02 pose: 0.52046337 -1.59551 -3.77018 0 0.0099662 0.00314833 0.997146 -0.0747759 uwb: 0.49835708 1238.92 1127.84 -imu_odom_: 1691062514.824406989 0.653617 -0.0981623 10.477 -0.0649811 -0.0340885 0.0436758 0.25 0.02 pose: 0.0 -1.59551 -3.77018 0 0.0099662 0.00314833 0.997146 -0.0747759 uwb: 0.0 1238.92 1127.84 -imu_odom_: 1691062514.850271359 1.01275 -0.280122 9.6199 -0.0628506 -0.04048 0.0532632 0.23 0.05 pose: 0.41900771 -1.59901 -3.76082 0 0.00709761 0.000778371 0.997131 -0.0753629 uwb: 0.49999317 1239.89 1127.82 -imu_odom_: 1691062514.867271921 -0.0407014 -0.275333 9.47386 -0.0426106 0.00532632 0.0372843 0.23 0.05 pose: 0.0 -1.59901 -3.76082 0 0.00709761 0.000778371 0.997131 -0.0753629 uwb: 0.0 1239.89 1127.82 -imu_odom_: 1691062514.884282106 0.610521 0.105345 10.2639 -0.0500674 -0.0490022 0.0468716 0.2 0 pose: 0.52030005 -1.60837 -3.76433 0 0.00828937 0.0013312 0.997111 -0.0754972 uwb: 0.50124722 1239.93 1129.46 -imu_odom_: 1691062514.900385583 0.675165 -0.19393 9.85932 -0.072438 0.0106526 0.0596548 0.2 0 pose: 0.0 -1.60837 -3.76433 0 0.00828937 0.0013312 0.997111 -0.0754972 uwb: 0.0 1239.93 1129.46 -imu_odom_: 1691062514.926273576 0.447716 -0.169988 9.75877 -0.0500674 -0.0181095 0.0458064 0.25 0.02 pose: 0.69075771 -1.62709 -3.77137 0 0.0106522 0.00233487 0.997062 -0.0758244 uwb: 0.0 1239.93 1129.46 -imu_odom_: 1691062514.952314681 0.397437 -0.411803 9.83777 -0.0585895 0.00745685 0.0490022 0.25 0.02 pose: 0.0 -1.62709 -3.77137 0 0.0106522 0.00233487 0.997062 -0.0758244 uwb: 0.49856122 1239.45 1130.82 -imu_odom_: 1691062514.969254289 0.354342 -0.0215478 10.0078 -0.0276969 -0.0340885 0.0287621 0.21 0.02 pose: 0.7954185 -1.62709 -3.77137 0 0.00990916 0.00237364 0.997067 -0.0758478 uwb: 0.0 1239.45 1130.82 -imu_odom_: 1691062514.985250735 0.469264 -0.179565 10.0149 -0.0703074 -0.0191748 0.052198 0.18 0 pose: 0.0 -1.62709 -3.77137 0 0.00990916 0.00237364 0.997067 -0.0758478 uwb: 0.49986486 1239.34 1131.57 -imu_odom_: 1691062515.2303791 0.663194 -0.198719 10.3645 -0.0490022 -0.0223706 0.0468716 0.25 0 pose: 0.0 -1.62709 -3.77137 0 0.00990916 0.00237364 0.997067 -0.0758478 uwb: 0.0 1239.34 1131.57 -imu_odom_: 1691062515.19343728 0.517148 0.011971 9.37809 -0.0479369 -0.0106526 0.052198 0.25 0 pose: 0.76910967 -1.63645 -3.7749 0 0.0042691 0.00175271 0.997094 -0.0760376 uwb: 0.0 1239.34 1131.57 -imu_odom_: 1691062515.44264359 0.0670376 -0.435745 9.41161 -0.0617853 0.0575243 0.052198 0.18 0 pose: 0.0 -1.63645 -3.7749 0 0.0042691 0.00175271 0.997094 -0.0760376 uwb: 0.50062901 1239.91 1131.89 -imu_odom_: 1691062515.61391788 0.373495 -0.11971 10.2687 -0.0276969 -0.0340885 0.0308927 0.18 0 pose: 0.41098767 -1.64934 -3.76907 0 0.00525085 0.00313027 0.99707 -0.0762439 uwb: 0.0 1239.91 1131.89 -imu_odom_: 1691062515.77386780 0.282516 -0.337582 9.45231 -0.0426106 -0.0255663 0.0468716 0.18 0 pose: 0.0 -1.64934 -3.76907 0 0.00525085 0.00313027 0.99707 -0.0762439 uwb: 0.0 1239.91 1131.89 -imu_odom_: 1691062515.95330801 0.639252 -0.0454898 10.3238 -0.0479369 -0.015979 0.0383495 0.18 0 pose: 0.35042286 -1.65869 -3.7726 0 0.00196019 0.00300858 0.99708 -0.0762807 uwb: 0.49947128 1239.61 1133.91 -imu_odom_: 1691062515.112267206 0.28491 -0.059855 10.173 -0.0245011 0.0340885 0.0447411 0.18 0 pose: 0.0 -1.65869 -3.7726 0 0.00196019 0.00300858 0.99708 -0.0762807 uwb: 0.0 1239.61 1133.91 -imu_odom_: 1691062515.126371204 0.25618 -0.0790087 10.4746 -0.0447411 0.0138484 0.0671117 0.18 0.02 pose: 0.6999650 -1.65869 -3.7726 0 0.00159924 0.0025081 0.99708 -0.076306 uwb: 0.0 1239.61 1133.91 -imu_odom_: 1691062515.143311109 0.663194 -0.251391 9.56484 -0.0596548 -0.0181095 0.0436758 0.18 0.02 pose: 0.0 -1.65869 -3.7726 0 0.00159924 0.0025081 0.99708 -0.076306 uwb: 0.50175482 1240.44 1133.82 -imu_odom_: 1691062515.157238373 0.19393 -0.205901 9.64863 -0.0756338 -0.02024 0.0553937 0.18 0.02 pose: 0.0 -1.65869 -3.7726 0 0.00159924 0.0025081 0.99708 -0.076306 uwb: 0.0 1240.44 1133.82 -imu_odom_: 1691062515.172280285 0.684742 -0.282516 10.2544 -0.0745685 -0.0213053 0.0553937 0.18 0 pose: 0.49884425 -1.66805 -3.77614 0 0.000151578 0.00412731 0.997065 -0.0764473 uwb: 0.0 1240.44 1133.82 -imu_odom_: 1691062515.199292266 0.818817 0.0885855 9.87608 -0.0447411 -0.0340885 0.0447411 0.25 0.02 pose: 0.0 -1.66805 -3.77614 0 0.000151578 0.00412731 0.997065 -0.0764473 uwb: 0.49825805 1240.23 1134.53 -imu_odom_: 1691062515.215248761 0.270545 -0.217872 9.71806 -0.0490022 0.00532632 0.0703074 0.25 0.02 pose: 0.62026270 -1.6774 -3.77968 0 0.00210104 0.00304548 0.997036 -0.0768448 uwb: 0.0 1240.23 1134.53 -imu_odom_: 1691062515.242398396 0.682347 -0.167594 10.1993 -0.0330232 -0.036219 0.0298274 0.25 -0.02 pose: 0.0 -1.6774 -3.77968 0 0.00210104 0.00304548 0.997036 -0.0768448 uwb: 0.50034328 1240.82 1135.41 -imu_odom_: 1691062515.268308853 0.459687 -0.107739 9.9096 -0.0596548 -0.0266316 0.0532632 0.18 -0.02 pose: 0.43111088 -1.68675 -3.78322 0 0.00328797 0.00378335 0.997011 -0.0770993 uwb: 0.0 1240.82 1135.41 -imu_odom_: 1691062515.295368371 0.318429 -0.0502782 9.91918 -0.0415453 -0.0213053 0.0426106 0.25 -0.02 pose: 0.26884242 -1.68675 -3.78322 0 0.0048744 0.00434344 0.997005 -0.0770615 uwb: 0.50018579 1241.52 1135.81 -imu_odom_: 1691062515.321224000 0.842759 -0.0885855 9.72285 -0.052198 -0.00852212 0.0500674 0.2 -0.02 pose: 0.25022705 -1.69965 -3.77742 0 0.0028972 0.00547899 0.996998 -0.0771788 uwb: 0.0 1241.52 1135.81 -imu_odom_: 1691062515.338228357 0.383072 -0.186748 10.1825 -0.0607201 0 0.0447411 0.2 -0.02 pose: 0.0 -1.69965 -3.77742 0 0.0028972 0.00547899 0.996998 -0.0771788 uwb: 0.49813557 1242.41 1135.75 -imu_odom_: 1691062515.364281426 0.754174 -0.373495 10.2376 -0.0788296 0.00319579 0.0426106 0.18 0 pose: 0.28050220 -1.69965 -3.77742 0 0.00196583 0.00635581 0.99699 -0.0772431 uwb: 0.0 1242.41 1135.75 -imu_odom_: 1691062515.391218164 0.758962 -0.306458 10.3094 -0.0415453 -0.0117179 0.0426106 0.18 0 pose: 0.0 -1.69965 -3.77742 0 0.00196583 0.00635581 0.99699 -0.0772431 uwb: 0.50028787 1242.66 1135.89 -imu_odom_: 1691062515.417300689 0.54109 0.0742203 9.78989 -0.04048 0.0298274 0.036219 0.19 0 pose: 0.42925896 -1.70899 -3.78097 0 0.00320701 0.00467443 0.996984 -0.0774052 uwb: 0.0 1242.66 1135.89 -imu_odom_: 1691062515.444231594 -0.0167594 -0.270545 9.63187 -0.072438 -0.0287621 0.0575243 0.19 0 pose: 0.52988640 -1.71834 -3.78453 0 0.0068772 0.00321572 0.996965 -0.0774776 uwb: 0.49956751 1242.99 1136.36 -imu_odom_: 1691062515.469218719 0.134075 0.0454898 9.79947 -0.0490022 -0.0298274 0.0415453 0.18 -0.02 pose: 0.0 -1.71834 -3.78453 0 0.0068772 0.00321572 0.996965 -0.0774776 uwb: 0.0 1242.99 1136.36 -imu_odom_: 1691062515.486253115 0.548272 -0.102951 10.7188 -0.0543285 -0.00213053 0.04048 0.18 -0.02 pose: 0.53038219 -1.72769 -3.78809 0 0.00356397 0.00438933 0.996963 -0.0776707 uwb: 0.50340550 1243.09 1137.53 -imu_odom_: 1691062515.511383727 0.426168 0.169988 10.5656 -0.02024 -0.04048 0.0213053 0.23 -0.02 pose: 0.0 -1.72769 -3.78809 0 0.00356397 0.00438933 0.996963 -0.0776707 uwb: 0.0 1243.09 1137.53 -imu_odom_: 1691062515.535229082 0.366313 -0.244209 9.60793 -0.0575243 -0.0298274 0.0447411 0.23 -0.02 pose: 0.23987676 -1.72769 -3.78809 0 0.00291881 0.00524395 0.99696 -0.077684 uwb: 0.0 1243.09 1137.53 -imu_odom_: 1691062515.559275376 0.588974 0.0191536 9.38527 -0.0383495 -0.00319579 0.0330232 0.23 0 pose: 0.18133295 -1.73703 -3.79164 0 0.00377569 0.00633631 0.996956 -0.0776134 uwb: 0.0 1243.09 1137.53 -imu_odom_: 1691062515.575274451 0.361524 -0.155623 9.96227 -0.0830906 0.0117179 0.0628506 0.23 0 pose: 0.0 -1.73703 -3.79164 0 0.00377569 0.00633631 0.996956 -0.0776134 uwb: 0.0 1243.09 1137.53 -imu_odom_: 1691062515.593220513 0.656011 -0.347159 9.70849 -0.0447411 0 0.0298274 0.19 0 pose: 0.23924972 -1.74059 -3.7823 0 0.00329454 0.00765349 0.99696 -0.0774658 uwb: 0.99800056 1242.63 1139.52 -imu_odom_: 1691062515.618216971 0.490811 -0.234632 9.8689 -0.052198 -0.015979 0.0468716 0.19 0 pose: 0.0 -1.74059 -3.7823 0 0.00329454 0.00765349 0.99696 -0.0774658 uwb: 0.0 1242.63 1139.52 -imu_odom_: 1691062515.635210246 0.577003 -0.42138 9.8665 -0.0671117 0.00213053 0.0394148 0.18 0 pose: 0.48882934 -1.74994 -3.78585 0 0.00359637 0.0075575 0.996955 -0.0775226 uwb: 0.0 1242.63 1139.52 -imu_odom_: 1691062515.661244941 0.3304 -0.215478 10.1993 -0.0607201 -0.0181095 0.056459 0.18 0 pose: 0.0 -1.74994 -3.78585 0 0.00359637 0.0075575 0.996955 -0.0775226 uwb: 0.0 1242.63 1139.52 -imu_odom_: 1691062515.688218426 0.447716 -0.306458 10.3645 -0.0372843 -0.0415453 0.0213053 0.18 0.02 pose: 0.32969018 -1.75928 -3.78941 0 0.00412713 0.00496903 0.996966 -0.0775675 uwb: 0.99955791 1242.9 1141.37 -imu_odom_: 1691062515.713281669 0.663194 -0.397437 9.99579 -0.0553937 -0.0106526 0.0671117 0.18 -0.02 pose: 0.43016888 -1.75928 -3.78941 0 0.0042488 0.00134523 0.996966 -0.0777156 uwb: 0.0 1242.9 1141.37 -imu_odom_: 1691062515.730209616 0.189142 0.0023942 9.70609 -0.0298274 0.0394148 0.04048 0.18 -0.02 pose: 0.0 -1.75928 -3.78941 0 0.0042488 0.00134523 0.996966 -0.0777156 uwb: 0.50114821 1243.72 1141.56 -imu_odom_: 1691062515.755206657 0.143652 -0.138864 9.71806 -0.0660464 -0.0181095 0.0671117 0.18 0 pose: 0.52984849 -1.76863 -3.79297 0 0.00375219 -0.00191123 0.996965 -0.0777377 uwb: 0.0 1243.72 1141.56 -imu_odom_: 1691062515.772200224 0.823605 -0.368707 10.1897 -0.0575243 -0.00958738 0.0372843 0.18 0 pose: 0.0 -1.76863 -3.79297 0 0.00375219 -0.00191123 0.996965 -0.0777377 uwb: 0.0 1243.72 1141.56 -imu_odom_: 1691062515.797325294 0.627281 -0.275333 9.79947 -0.0596548 -0.0234358 0.0628506 0.2 0.02 pose: 0.42006939 -1.77797 -3.79653 0 0.00280518 -0.00142941 0.996941 -0.0780892 uwb: 0.50043368 1243.96 1142.27 -imu_odom_: 1691062515.824271365 0.641646 -0.023942 10.1658 -0.0479369 -0.0532632 0.0479369 0.2 0.02 pose: 0.0 -1.77797 -3.79653 0 0.00280518 -0.00142941 0.996941 -0.0780892 uwb: 0.0 1243.96 1142.27 -imu_odom_: 1691062515.849330817 0.761356 -0.035913 10.0413 -0.0916127 0.00426106 0.0692422 0.2 0 pose: 0.41978359 -1.79088 -3.79076 0 0.00385845 -0.00157953 0.996914 -0.0783942 uwb: 0.49839221 1244.01 1143.16 -imu_odom_: 1691062515.876192020 0.76375 -0.0287304 9.97664 -0.0756338 -0.015979 0.0447411 0.2 0 pose: 0.0 -1.79088 -3.79076 0 0.00385845 -0.00157953 0.996914 -0.0783942 uwb: 0.0 1244.01 1143.16 -imu_odom_: 1691062515.901243597 0.543484 -0.220267 10.2568 -0.0756338 0.0127832 0.0468716 0.18 0.02 pose: 0.52071432 -1.80022 -3.79433 0 0.00802414 0.00128452 0.996857 -0.0788008 uwb: 0.49982416 1243.81 1144.48 -imu_odom_: 1691062515.918247663 0.308852 -0.189142 9.72285 -0.0394148 -0.0511327 0.036219 0.18 0.02 pose: 0.0 -1.80022 -3.79433 0 0.00802414 0.00128452 0.996857 -0.0788008 uwb: 0.0 1243.81 1144.48 -imu_odom_: 1691062515.935187859 0.23942 -0.225055 10.2017 -0.0628506 -0.0149137 0.0490022 0.18 0.02 pose: 0.51931738 -1.80956 -3.79792 0 0.010554 0.00324324 0.996804 -0.0791249 uwb: 0.50027037 1243.45 1146.28 -imu_odom_: 1691062515.952198924 0.301669 -0.141258 9.6199 -0.0383495 -0.0532632 0.0340885 0.18 0.02 pose: 0.0 -1.80956 -3.79792 0 0.010554 0.00324324 0.996804 -0.0791249 uwb: 0.0 1243.45 1146.28 -imu_odom_: 1691062515.978186082 0.4956 -0.351948 9.52413 -0.0713727 -0.0234358 0.0500674 0.18 0 pose: 0.67987681 -1.81889 -3.8015 0 0.00495332 0.00205717 0.996845 -0.0791938 uwb: 0.50098489 1243.56 1146.92 -imu_odom_: 1691062516.3195664 0.76375 -0.169988 10.228 -0.0340885 -0.0330232 0.0436758 0.18 0 pose: 0.7018898 -1.81889 -3.8015 0 0.00506604 0.0013048 0.996842 -0.0792337 uwb: 0.0 1243.56 1146.92 -imu_odom_: 1691062516.29183996 0.610521 -0.0861913 10.0461 -0.0639159 -0.0276969 0.0500674 0.21 -0.02 pose: 0.43977842 -1.83071 -3.79864 0 0.00806489 0.000402063 0.996811 -0.0793866 uwb: 0.50033168 1245.03 1146.94 -imu_odom_: 1691062516.55440928 0.620098 -0.0407014 9.92875 -0.0500674 -0.0213053 0.0340885 0.21 -0.02 pose: 0.0 -1.83071 -3.79864 0 0.00806489 0.000402063 0.996811 -0.0793866 uwb: 0.0 1245.03 1146.94 -imu_odom_: 1691062516.81311146 0.407014 -0.138864 9.77792 -0.0628506 -0.0138484 0.0479369 0.23 0.02 pose: 0.52245264 -1.84115 -3.79935 0 0.00974144 0.00550317 0.99678 -0.0794056 uwb: 0.49672708 1245.01 1148.39 -imu_odom_: 1691062516.98433039 0.318429 -0.215478 10.3262 -0.0500674 -0.0330232 0.0500674 0.23 0.02 pose: 0.0 -1.84115 -3.79935 0 0.00974144 0.00550317 0.99678 -0.0794056 uwb: 0.0 1245.01 1148.39 -imu_odom_: 1691062516.115383447 0.335188 -0.308852 9.85932 -0.0660464 -0.00426106 0.072438 0.18 -0.02 pose: 0.32837789 -1.85048 -3.80294 0 0.00678758 0.00473619 0.996797 -0.0795391 uwb: 0.0 1245.01 1148.39 -imu_odom_: 1691062516.132195618 0.395043 -0.335188 9.66539 -0.0415453 -0.0426106 0.0308927 0.18 -0.02 pose: 0.0 -1.85048 -3.80294 0 0.00678758 0.00473619 0.996797 -0.0795391 uwb: 0.50167038 1244.95 1149.81 -imu_odom_: 1691062516.158309064 0.124498 -0.512359 9.36612 -0.0511327 -0.00319579 0.0383495 0.19 0 pose: 0.43916901 -1.85048 -3.80294 0 0.00439361 0.00167374 0.9968 -0.0798033 uwb: 0.0 1244.95 1149.81 -imu_odom_: 1691062516.184227986 0.294487 0.0167594 9.58399 -0.00745685 0.00639159 0.0276969 0.19 0 pose: 0.7088894 -1.85048 -3.80294 0 0.00389827 0.00117649 0.996803 -0.0798006 uwb: 0.0 1244.95 1149.81 -imu_odom_: 1691062516.209310192 -0.0167594 -0.0742203 10.1394 -0.0671117 -0.0351537 0.0639159 0.19 0 pose: 0.44943474 -1.85981 -3.80654 0 0.000787326 0.00249561 0.996821 -0.0796364 uwb: 0.0 1244.95 1149.81 -imu_odom_: 1691062516.233152054 0.3304 0.201113 10.3741 -0.0660464 -0.00319579 0.0447411 0.19 0 pose: 0.0 -1.85981 -3.80654 0 0.000787326 0.00249561 0.996821 -0.0796364 uwb: 0.99919947 1245.39 1150.67 -imu_odom_: 1691062516.259292330 0.323217 -0.172383 9.80426 -0.0703074 -0.0213053 0.0426106 0.18 0 pose: 0.32082149 -1.86914 -3.81014 0 -0.00145902 0.00334219 0.996792 -0.0799514 uwb: 0.0 1245.39 1150.67 -imu_odom_: 1691062516.276436388 0.533907 -0.0909797 10.3837 -0.0511327 -0.0330232 0.036219 0.18 0 pose: 0.0 -1.86914 -3.81014 0 -0.00145902 0.00334219 0.996792 -0.0799514 uwb: 0.0 1245.39 1150.67 -imu_odom_: 1691062516.302259943 0.869095 -0.31364 9.87129 -0.0607201 -0.0170442 0.0575243 0.17 0.02 pose: 0.49967848 -1.88207 -3.80441 0 -0.00248531 0.00297817 0.996786 -0.0800134 uwb: 0.0 1245.39 1150.67 -imu_odom_: 1691062516.328434050 0.574608 0.0861913 10.1801 -0.0426106 0.0213053 0.0458064 0.19 0 pose: 0.35981960 -1.8889 -3.80705 0 0.00126848 0.00271003 0.996771 -0.0802379 uwb: 0.0 1245.39 1150.67 -imu_odom_: 1691062516.354149990 0.603339 -0.117316 10.1347 -0.0713727 -0.00532632 0.0415453 0.19 0 pose: 0.6969321 -1.8914 -3.80802 0 0.00147215 0.00337939 0.996767 -0.0802596 uwb: 0.0 1245.39 1150.67 -imu_odom_: 1691062516.380188776 0.268151 -0.47884 9.47386 -0.0617853 0.0266316 0.0628506 0.17 -0.02 pose: 0.44920726 -1.89819 -3.81064 0 0.00463243 0.00516277 0.996742 -0.0803564 uwb: 0.150159020 1245.93 1151.59 -imu_odom_: 1691062516.406342176 0.545878 -0.272939 9.81383 -0.0383495 -0.00745685 0.04048 0.23 0.02 pose: 0.0 -1.89819 -3.81064 0 0.00463243 0.00516277 0.996742 -0.0803564 uwb: 0.0 1245.93 1151.59 -imu_odom_: 1691062516.423292585 0.138864 0.0670376 9.62469 -0.0809601 0.0319579 0.0490022 0.19 0 pose: 0.52192186 -1.90756 -3.81427 0 0.00476441 0.00101878 0.996728 -0.080688 uwb: 0.0 1245.93 1151.59 -imu_odom_: 1691062516.440306279 0.462081 -0.337582 10.5082 -0.0809601 -0.0351537 0.0436758 0.19 0 pose: 0.0 -1.90756 -3.81427 0 0.00476441 0.00101878 0.996728 -0.080688 uwb: 0.49917686 1245.78 1153.88 -imu_odom_: 1691062516.465292828 0.723049 -0.383072 9.94073 -0.0649811 -0.0340885 0.0436758 0.19 0 pose: 0.33964103 -1.91005 -3.81524 0 0.00338566 -0.0002095930.996725 -0.0808004 uwb: 0.0 1245.78 1153.88 -imu_odom_: 1691062516.492139165 0.665588 -0.263362 9.77553 -0.0436758 0.0287621 0.0340885 0.19 0 pose: 0.6878621 -1.91005 -3.81524 0 0.00410118 -0.0005509290.996721 -0.0808151 uwb: 0.49945391 1246.48 1154.32 -imu_odom_: 1691062516.508135327 0.248997 -0.124498 9.8258 -0.052198 0.0276969 0.0447411 0.19 -0.02 pose: 0.25126827 -1.91937 -3.81886 0 0.00656782 -0.00141485 0.996705 -0.080833 uwb: 0.0 1246.48 1154.32 -imu_odom_: 1691062516.535154315 0.0550666 -0.476446 9.9934 -0.052198 0.0138484 0.0308927 0.19 -0.02 pose: 0.0 -1.91937 -3.81886 0 0.00656782 -0.00141485 0.996705 -0.080833 uwb: 0.50116293 1247.36 1154.87 -imu_odom_: 1691062516.560151654 0.656011 -0.500388 9.165 -0.0458064 -0.0266316 0.0458064 0.19 -0.02 pose: 0.27855703 -1.91937 -3.81886 0 0.00732049 -0.00106885 0.996703 -0.0807949 uwb: 0.0 1247.36 1154.87 -imu_odom_: 1691062516.587154602 0.507571 0.220267 10.1658 -0.0276969 -0.036219 0.0234358 0.22 -0.02 pose: 0.43000569 -1.93231 -3.81315 0 0.0044979 -0.00274134 0.996722 -0.0807355 uwb: 0.49861399 1247.73 1155.4 -imu_odom_: 1691062516.604296326 0.586579 -0.248997 9.46667 -0.0553937 0.0213053 0.0479369 0.19 -0.02 pose: 0.0 -1.93231 -3.81315 0 0.0044979 -0.00274134 0.996722 -0.0807355 uwb: 0.0 1247.73 1155.4 -imu_odom_: 1691062516.631263110 0.694318 -0.19393 9.82341 -0.0426106 -0.056459 0.0372843 0.19 -0.02 pose: 0.52006119 -1.94164 -3.81677 0 0.00667789 -0.0008609470.996724 -0.0805955 uwb: 0.50048049 1247.77 1157.24 -imu_odom_: 1691062516.647130659 0.486023 0.126893 9.73482 -0.0532632 0.0266316 0.0596548 0.27 -0.02 pose: 0.0 -1.94164 -3.81677 0 0.00667789 -0.0008609470.996724 -0.0805955 uwb: 0.0 1247.77 1157.24 -imu_odom_: 1691062516.674240639 0.373495 -0.107739 10.252 -0.04048 -0.00106526 0.0245011 0.27 -0.02 pose: 0.15989163 -1.94164 -3.81677 0 0.00827826 -0.0005946660.99671 -0.0806221 uwb: 0.0 1247.77 1157.24 -imu_odom_: 1691062516.690278214 0.203507 -0.351948 9.25359 -0.072438 0.0127832 0.0426106 0.25 -0.02 pose: 0.43159804 -1.95096 -3.82039 0 0.00904489 0.00207247 0.996697 -0.080679 uwb: 0.50125625 1247.85 1159.12 -imu_odom_: 1691062516.717123384 0.433351 -0.296881 9.991 -0.0447411 -0.0287621 0.0276969 0.25 -0.02 pose: 0.0 -1.95096 -3.82039 0 0.00904489 0.00207247 0.996697 -0.080679 uwb: 0.0 1247.85 1159.12 -imu_odom_: 1691062516.742122765 0.816423 -0.162806 10.4866 -0.0703074 -0.00532632 0.0511327 0.25 0 pose: 0.42800503 -1.96028 -3.824 0 0.00531798 0.00122029 0.996739 -0.0805123 uwb: 0.49820861 1247.27 1160.88 -imu_odom_: 1691062516.767291880 0.761356 0.0646434 10.1107 -0.0340885 0.00745685 0.0340885 0.21 0 pose: 0.0 -1.96028 -3.824 0 0.00531798 0.00122029 0.996739 -0.0805123 uwb: 0.0 1247.27 1160.88 -imu_odom_: 1691062516.781103368 0.462081 -0.177171 9.80426 -0.0532632 0.0276969 0.0617853 0.21 0 pose: 0.44999177 -1.96961 -3.82761 0 0.00689345 0.00018045 0.996728 -0.0805402 uwb: 0.50045716 1247.86 1161.58 -imu_odom_: 1691062516.806099832 0.246603 -0.107739 9.69652 -0.0383495 -0.00106526 0.0372843 0.21 0 pose: 0.0 -1.96961 -3.82761 0 0.00689345 0.00018045 0.996728 -0.0805402 uwb: 0.0 1247.86 1161.58 -imu_odom_: 1691062516.833089947 0.610521 -0.361524 10.0437 -0.0671117 -0.0223706 0.0607201 0.17 0.02 pose: 0.7006068 -1.96961 -3.82761 0 0.00722806 0.000840199 0.996727 -0.0805173 uwb: 0.49880064 1248.07 1162.02 -imu_odom_: 1691062516.849083193 0.632069 -0.380678 9.82341 -0.0340885 0.0383495 0.0340885 0.17 0.02 pose: 0.0 -1.96961 -3.82761 0 0.00722806 0.000840199 0.996727 -0.0805173 uwb: 0.0 1248.07 1162.02 -imu_odom_: 1691062516.876105098 0.272939 -0.201113 9.51935 -0.0777643 0.0319579 0.0671117 0.19 0 pose: 0.39151212 -1.98254 -3.8219 0 0.00577239 0.00262113 0.996726 -0.0805995 uwb: 0.0 1248.07 1162.02 -imu_odom_: 1691062516.901101270 0.442927 -0.071826 9.92875 -0.0543285 0.0138484 0.0426106 0.19 0 pose: 0.52884539 -1.99187 -3.82552 0 0.00615244 0.000179933 0.996707 -0.0808531 uwb: 0.50060006 1247.72 1164.27 -imu_odom_: 1691062516.926113192 0.402226 -0.351948 9.8689 -0.1012 0.0298274 0.0681769 0.19 0 pose: 0.0 -1.99187 -3.82552 0 0.00615244 0.000179933 0.996707 -0.0808531 uwb: 0.0 1247.72 1164.27 -imu_odom_: 1691062516.947114188 0.948104 0.035913 10.2687 -0.0660464 -0.0181095 0.04048 0.2 0 pose: 0.43003193 -1.99187 -3.82552 0 0.00304939 0.000177334 0.996692 -0.0812154 uwb: 0.49859357 1247.38 1166.23 -imu_odom_: 1691062516.961098909 0.435745 -0.35913 9.18895 -0.092678 0.0287621 0.0511327 0.2 0 pose: 0.0 -1.99187 -3.82552 0 0.00304939 0.000177334 0.996692 -0.0812154 uwb: 0.0 1247.38 1166.23 -imu_odom_: 1691062516.986106164 -0.143652 -0.332794 9.40442 -0.0436758 0.0383495 0.0308927 0.17 0 pose: 0.47943575 -2.00119 -3.82914 0 0.00213226 -0.0009258820.996663 -0.0815981 uwb: 0.49998762 1247.93 1167.23 -imu_odom_: 1691062517.11154834 0.189142 -0.232238 10.2592 -0.0639159 -0.036219 0.0543285 0.17 0 pose: 0.0 -2.00119 -3.82914 0 0.00213226 -0.0009258820.996663 -0.0815981 uwb: 0.0 1247.93 1167.23 -imu_odom_: 1691062517.32069803 0.818817 -0.143652 9.77553 -0.0500674 0.0596548 0.0276969 0.18 0 pose: 0.79043482 -2.02021 -3.82852 0 -0.00198488 -0.00221399 0.996646 -0.0817741 uwb: 0.50037265 1248.47 1167.91 -imu_odom_: 1691062517.46131521 0.529119 -0.0790087 9.80904 -0.0628506 0.0181095 0.0511327 0.18 0 pose: 0.6018577 -2.02346 -3.82709 0 -0.00160615 -0.00202519 0.996651 -0.0817372 uwb: 0.0 1248.47 1167.91 -imu_odom_: 1691062517.71094453 0.253785 -0.311246 9.62469 -0.0628506 0.0287621 0.0436758 0.17 0 pose: 0.0 -2.02346 -3.82709 0 -0.00160615 -0.00202519 0.996651 -0.0817372 uwb: 0.0 1248.47 1167.91 -imu_odom_: 1691062517.88365671 0.531513 -0.184354 10.1011 -0.0426106 -0.0287621 0.0436758 0.17 0 pose: 0.35903518 -2.03277 -3.83073 0 -0.000674843-0.00091895 0.996653 -0.0817406 uwb: 0.49962029 1248.72 1168.71 -imu_odom_: 1691062517.104097611 0.512359 -0.129287 10.1466 -0.0692422 -0.02024 0.0532632 0.17 0 pose: 0.0 -2.03277 -3.83073 0 -0.000674843-0.00091895 0.996653 -0.0817406 uwb: 0.0 1248.72 1168.71 -imu_odom_: 1691062517.130217189 0.751779 -0.248997 9.97424 -0.0458064 -0.0170442 0.04048 0.23 0 pose: 0.51020682 -2.03766 -3.83263 0 0.0005626 -0.0001618720.996639 -0.0819189 uwb: 0.49978068 1249.48 1169.23 -imu_odom_: 1691062517.156227692 0.280122 -0.201113 10.1347 -0.0490022 -0.00639159 0.0468716 0.23 0 pose: 0.7140516 -2.04209 -3.83436 0 0.00132056 -0.0001293740.996638 -0.0819219 uwb: 0.0 1249.48 1169.23 -imu_odom_: 1691062517.181188583 -0.11971 -0.311246 9.85693 -0.0543285 -0.00319579 0.0575243 0.21 -0.02 pose: 0.44989565 -2.0488 -3.83699 0 0.000754622 9.94443e-05 0.99663 -0.082025 uwb: 0.50193300 1248.95 1171.1 -imu_odom_: 1691062517.204066873 -0.0646434 -0.37589 9.85453 -0.04048 0.0213053 0.0394148 0.18 0 pose: 0.0 -2.0488 -3.83699 0 0.000754622 9.94443e-05 0.99663 -0.082025 uwb: 0.0 1248.95 1171.1 -imu_odom_: 1691062517.220057790 0.675165 0.162806 10.8002 -0.036219 -0.0468716 0.0383495 0.18 0 pose: 0.30911224 -2.0514 -3.838 0 -0.00229664 -0.0007403150.996609 -0.0822475 uwb: 0.0 1248.95 1171.1 -imu_odom_: 1691062517.238118768 0.56982 -0.3304 9.61511 -0.052198 -0.00852212 0.0447411 0.18 0 pose: 0.0 -2.0514 -3.838 0 -0.00229664 -0.0007403150.996609 -0.0822475 uwb: 0.49828165 1249.09 1172.8 -imu_odom_: 1691062517.263067411 0.339977 -0.136469 9.42118 -0.0308927 -0.0191748 0.0340885 0.18 -0.02 pose: 0.50979852 -2.06071 -3.84165 0 -0.00108816 -0.0005936670.996608 -0.0822839 uwb: 0.0 1249.09 1172.8 -imu_odom_: 1691062517.288060966 0.509965 -0.0622492 9.95988 -0.072438 -0.0681769 0.0596548 0.18 -0.02 pose: 0.7977232 -2.06071 -3.84165 0 -0.00144062 0.000196878 0.99661 -0.0822629 uwb: 0.50030273 1248.47 1174.96 -imu_odom_: 1691062517.302061148 0.88346 -0.344765 9.48822 -0.0532632 -0.0149137 0.04048 0.18 0 pose: 0.0 -2.06071 -3.84165 0 -0.00144062 0.000196878 0.99661 -0.0822629 uwb: 0.0 1248.47 1174.96 -imu_odom_: 1691062517.327113905 0.497994 -0.260968 9.87129 -0.0596548 -0.00852212 0.0543285 0.18 0 pose: 0.48006581 -2.07367 -3.83598 0 0.00108807 0.00323222 0.996587 -0.0824786 uwb: 0.0 1248.47 1174.96 -imu_odom_: 1691062517.352066922 0.751779 -0.114922 10.3382 -0.0511327 -0.02024 0.0394148 0.23 0 pose: 0.33011324 -2.08036 -3.83861 0 0.00328984 0.000835573 0.996571 -0.0826765 uwb: 0.50018315 1248.49 1175.95 -imu_odom_: 1691062517.366052231 0.605733 -0.196325 9.96706 -0.0713727 -0.0298274 0.0649811 0.23 0 pose: 0.7021235 -2.08298 -3.83963 0 0.00399561 0.00112102 0.996568 -0.0826754 uwb: 0.0 1248.49 1175.95 -imu_odom_: 1691062517.391059784 0.933739 -0.325611 9.55765 -0.0394148 0.0617853 0.0276969 0.17 0 pose: 0.0 -2.08298 -3.83963 0 0.00399561 0.00112102 0.996568 -0.0826754 uwb: 0.49971653 1247.89 1177.8 -imu_odom_: 1691062517.416062963 0.545878 -0.181959 9.83777 -0.052198 0.0170442 0.0660464 0.17 0 pose: 0.38988196 -2.08298 -3.83963 0 0.00783561 0.00159434 0.996533 -0.0828113 uwb: 0.0 1247.89 1177.8 -imu_odom_: 1691062517.439066366 0.383072 0 10.3382 -0.0191748 -0.036219 0.0308927 0.18 -0.02 pose: 0.0 -2.08298 -3.83963 0 0.00783561 0.00159434 0.996533 -0.0828113 uwb: 0.50118931 1248.53 1177.6 -imu_odom_: 1691062517.464052921 0.624887 -0.143652 10.1586 -0.072438 -0.0394148 0.0703074 0.18 -0.02 pose: 0.48936330 -2.09229 -3.84329 0 0.00618141 0.00303745 0.996526 -0.0830009 uwb: 0.0 1248.53 1177.6 -imu_odom_: 1691062517.481052038 0.814029 -0.435745 9.4164 -0.0532632 -0.0149137 0.0351537 0.23 -0.02 pose: 0.0 -2.09229 -3.84329 0 0.00618141 0.00303745 0.996526 -0.0830009 uwb: 0.49941030 1249.03 1177.96 -imu_odom_: 1691062517.498041531 0.88346 0.148441 9.44752 -0.0671117 -0.0415453 0.0575243 0.23 -0.02 pose: 0.49060569 -2.10159 -3.84695 0 0.00869006 0.00383127 0.996479 -0.0832979 uwb: 0.0 1249.03 1177.96 -imu_odom_: 1691062517.513031248 1.69988 -0.318429 9.97903 -0.0809601 -0.0948085 0.0458064 0.23 -0.02 pose: 0.0 -2.10159 -3.84695 0 0.00869006 0.00383127 0.996479 -0.0832979 uwb: 0.0 1249.03 1177.96 -imu_odom_: 1691062517.529097408 1.29766 -0.342371 9.35654 -0.0553937 -0.0298274 -0.0830906 0.15 -0.17 pose: 0.33986569 -2.1109 -3.85061 0 0.0118689 0.00429753 0.996432 -0.0834461 uwb: 0.50064103 1249.35 1178.52 -imu_odom_: 1691062517.546092151 1.70467 0.114922 10.3406 -0.072438 -0.0415453 -0.166181 0.15 -0.17 pose: 0.0 -2.1109 -3.85061 0 0.0118689 0.00429753 0.996432 -0.0834461 uwb: 0.0 1249.35 1178.52 -imu_odom_: 1691062517.562101441 1.55623 0.169988 9.88326 -0.0713727 -0.0127832 -0.241815 0.12 -0.41 pose: 0.40985347 -2.1197 -3.84337 0 0.0167184 0.00438129 0.996585 -0.0807469 uwb: 0.0 1249.35 1178.52 -imu_odom_: 1691062517.580033223 1.32878 0.0407014 9.81383 -0.0607201 0.0692422 -0.367516 0.12 -0.41 pose: 0.0 -2.1197 -3.84337 0 0.0167184 0.00438129 0.996585 -0.0807469 uwb: 0.49817375 1248.75 1180.73 -imu_odom_: 1691062517.597087752 0.550666 0.124498 9.69412 -0.0596548 0.015979 -0.425041 0.12 -0.41 pose: 0.0 -2.1197 -3.84337 0 0.0167184 0.00438129 0.996585 -0.0807469 uwb: 0.0 1248.75 1180.73 -imu_odom_: 1691062517.611026981 0.52433 -0.225055 9.62708 -0.0884169 0.052198 -0.448476 0.1 -0.44 pose: 0.8004353 -2.12384 -3.84505 0 0.0174707 0.00469377 0.996661 -0.0796195 uwb: 0.0 1248.75 1180.73 -imu_odom_: 1691062517.627085267 0.694318 -0.289698 10.1251 -0.0681769 -0.00745685 -0.46339 0.08 -0.47 pose: 0.0 -2.12384 -3.84505 0 0.0174707 0.00469377 0.996661 -0.0796195 uwb: 0.0 1248.75 1180.73 -imu_odom_: 1691062517.642084900 0.397437 -0.397437 9.65582 -0.0745685 0.00319579 -0.475108 0.08 -0.47 pose: 0.0 -2.12384 -3.84505 0 0.0174707 0.00469377 0.996661 -0.0796195 uwb: 0.50172301 1249.66 1180.72 -imu_odom_: 1691062517.658076983 0.821211 -0.21069 9.73482 -0.0543285 -0.00426106 -0.470847 0.08 -0.47 pose: 0.63998083 -2.12384 -3.84505 0 0.0160921 0.00524696 0.997695 -0.0657189 uwb: 0.0 1249.66 1180.72 -imu_odom_: 1691062517.673078657 0.557849 -0.129287 9.663 -0.0692422 -0.00213053 -0.487891 0.07 -0.47 pose: 0.0 -2.12384 -3.84505 0 0.0160921 0.00524696 0.997695 -0.0657189 uwb: 0.0 1249.66 1180.72 -imu_odom_: 1691062517.689020871 0.699107 -0.0502782 9.88087 -0.0596548 -0.0138484 -0.514523 0.07 -0.47 pose: 0.30933971 -2.12384 -3.84505 0 0.0154343 0.00311453 0.9982 -0.0578692 uwb: 0.50049229 1249.86 1181.2 -imu_odom_: 1691062517.704329350 0.80924 -0.110133 9.8665 -0.0671117 -0.0255663 -0.515588 0.07 -0.53 pose: 0.0 -2.12384 -3.84505 0 0.0154343 0.00311453 0.9982 -0.0578692 uwb: 0.0 1249.86 1181.2 -imu_odom_: 1691062517.720046126 0.672771 -0.0885855 9.98382 -0.0500674 0.00532632 -0.531567 0.07 -0.53 pose: 0.47057877 -2.13311 -3.8488 0 0.0156026 0.00502966 0.998843 -0.0452134 uwb: 0.0 1249.86 1181.2 -imu_odom_: 1691062517.737228976 0.723049 -0.155623 9.92875 -0.0543285 -0.0106526 -0.548611 0.07 -0.53 pose: 0.0 -2.13311 -3.8488 0 0.0156026 0.00502966 0.998843 -0.0452134 uwb: 0.49852663 1250.43 1181.62 -imu_odom_: 1691062517.755289663 0.746991 -0.0670376 9.78031 -0.0607201 0.00639159 -0.525175 0.05 -0.47 pose: 0.41142541 -2.13309 -3.84876 0 0.0157603 0.00463649 0.999307 -0.033403 uwb: 0.0 1250.43 1181.62 -imu_odom_: 1691062517.772353232 0.682347 -0.368707 9.98143 -0.0575243 -0.0298274 -0.486826 0.05 -0.47 pose: 0.0 -2.13309 -3.84876 0 0.0157603 0.00463649 0.999307 -0.033403 uwb: 0.0 1250.43 1181.62 -imu_odom_: 1691062517.786344373 0.816423 -0.40462 9.63427 -0.0745685 -0.0234358 -0.451672 0.05 -0.47 pose: 0.0 -2.13309 -3.84876 0 0.0157603 0.00463649 0.999307 -0.033403 uwb: 0.0 1250.43 1181.62 -imu_odom_: 1691062517.803132051 0.670376 -0.217872 9.91439 -0.0575243 -0.00426106 -0.4048 0.04 -0.38 pose: 0.8122759 -2.13311 -3.8488 0 0.0160648 0.005379 0.999373 -0.0311007 uwb: 0.0 1250.43 1181.62 -imu_odom_: 1691062517.820092672 0.509965 -0.169988 9.83299 -0.0639159 -0.00852212 -0.34195 0.04 -0.38 pose: 0.0 -2.13311 -3.8488 0 0.0160648 0.005379 0.999373 -0.0311007 uwb: 0.0 1250.43 1181.62 -imu_odom_: 1691062517.837097913 0.440533 -0.217872 9.87129 -0.0543285 -0.00958738 -0.325971 0.04 -0.38 pose: 0.64794260 -2.13311 -3.8488 0 0.0150828 0.00218428 0.999766 -0.0153518 uwb: 0.99992301 1250.77 1182.19 -imu_odom_: 1691062517.854008371 0.548272 -0.253785 9.87608 -0.0585895 -0.0181095 -0.3036 0.04 -0.32 pose: 0.0 -2.13311 -3.8488 0 0.0150828 0.00218428 0.999766 -0.0153518 uwb: 0.0 1250.77 1182.19 -imu_odom_: 1691062517.871004864 0.620098 -0.258574 9.84017 -0.0617853 -0.0117179 -0.267381 0.04 -0.32 pose: 0.0 -2.13311 -3.8488 0 0.0150828 0.00218428 0.999766 -0.0153518 uwb: 0.0 1250.77 1182.19 -imu_odom_: 1691062517.889123879 0.593762 -0.361524 9.70131 -0.0543285 -0.00639159 -0.233293 0.04 -0.32 pose: 0.33951572 -2.14239 -3.85253 0 0.0119668 0.00150393 0.999885 -0.00914828 uwb: 0.49936656 1250.44 1183.29 -imu_odom_: 1691062517.905013305 0.560243 -0.23942 10.1586 -0.0553937 -0.015979 -0.213053 0.03 -0.29 pose: 0.45026312 -2.14237 -3.8525 0 0.0109508 -0.00256189 0.999934 -0.00241215 uwb: 0.0 1250.44 1183.29 -imu_odom_: 1691062517.921987633 0.730232 -0.203507 9.74679 -0.0596548 -0.0276969 -0.175769 0.03 -0.29 pose: 0.6995570 -2.14239 -3.85253 0 0.0103512 -0.00227541 0.999943 -0.00152726 uwb: 0.0 1250.44 1183.29 -imu_odom_: 1691062517.939997282 0.632069 -0.248997 10.0628 -0.0543285 -0.00532632 -0.148072 0.03 -0.23 pose: 0.0 -2.14239 -3.85253 0 0.0103512 -0.00227541 0.999943 -0.00152726 uwb: 0.49935490 1250.32 1183.88 -imu_odom_: 1691062517.957003107 0.526724 -0.292093 9.79707 -0.0543285 -0.00532632 -0.134223 0.02 -0.2 pose: 0.43877833 -2.14239 -3.85253 0 0.0119225 -0.00308569 0.999919 0.00310407 uwb: 0.0 1250.32 1183.88 -imu_odom_: 1691062517.971005039 0.675165 -0.208296 9.97903 -0.0532632 -0.00319579 -0.126766 0.03 -0.17 pose: 0.0 -2.14239 -3.85253 0 0.0119225 -0.00308569 0.999919 0.00310407 uwb: 0.0 1250.32 1183.88 -imu_odom_: 1691062517.988012322 0.536301 -0.19393 9.90002 -0.0585895 -0.00852212 -0.116114 0.03 -0.17 pose: 0.0 -2.14239 -3.85253 0 0.0119225 -0.00308569 0.999919 0.00310407 uwb: 0.50046312 1250.98 1184.03 -imu_odom_: 1691062518.3997406 0.653617 -0.153229 9.99819 -0.056459 -0.0213053 -0.108657 0.03 -0.17 pose: 0.23004861 -2.14239 -3.85253 0 0.0106765 -0.00290257 0.999926 0.00507786 uwb: 0.0 1250.98 1184.03 -imu_odom_: 1691062518.29997126 0.768539 -0.287304 9.96946 -0.0607201 -0.0106526 -0.0745685 0.02 -0.14 pose: 0.0 -2.14239 -3.85253 0 0.0106765 -0.00290257 0.999926 0.00507786 uwb: 0.49960286 1250.85 1185.28 -imu_odom_: 1691062518.46996540 0.213084 -0.371101 9.74919 -0.0660464 0.0436758 -0.0916127 0.02 -0.14 pose: 0.32061453 -2.14239 -3.85253 0 0.0103571 -0.0007100740.999917 0.00761254 uwb: 0.0 1250.85 1185.28 -imu_odom_: 1691062518.64046407 -0.54109 -0.215478 10.2999 -0.0308927 0.0990696 -0.203466 0.02 -0.14 pose: 0.41934061 -2.14239 -3.85253 0 0.0124788 -0.00142433 0.999869 0.0102103 uwb: 0.0 1250.85 1185.28 -imu_odom_: 1691062518.79990374 -1.53468 0.399832 9.78989 -0.0436758 0.0308927 -0.197074 0.02 -0.14 pose: 0.0 -2.14239 -3.85253 0 0.0124788 -0.00142433 0.999869 0.0102103 uwb: 0.50105820 1250.93 1186.36 -imu_odom_: 1691062518.98103853 -1.18513 -0.500388 9.6223 -0.0713727 -0.0660464 -0.0894822 0.09 -0.14 pose: 0.42992717 -2.14422 -3.84791 0 0.00690209 -0.00084395 0.999866 0.0148194 uwb: 0.0 1250.93 1186.36 -imu_odom_: 1691062518.115256669 0.37589 -0.562637 10.1347 -0.0596548 -0.110787 -0.0820254 0.09 -0.14 pose: 0.0 -2.14422 -3.84791 0 0.00690209 -0.00084395 0.999866 0.0148194 uwb: 0.0 1250.93 1186.36 -imu_odom_: 1691062518.131987190 0.565032 -0.148441 9.29908 -0.0500674 -0.0319579 -0.0649811 0.09 -0.14 pose: 0.0 -2.14422 -3.84791 0 0.00690209 -0.00084395 0.999866 0.0148194 uwb: 0.50024162 1251.11 1187.17 -imu_odom_: 1691062518.149039390 0.201113 -0.141258 9.81144 -0.056459 0.0490022 -0.0394148 0.09 -0.11 pose: 0.8058018 -2.14608 -3.84324 0 0.00635191 -0.00102254 0.999862 0.0153381 uwb: 0.0 1251.11 1187.17 -imu_odom_: 1691062518.165979017 -0.0885855 0.0407014 10.2663 -0.0426106 0.0308927 -0.0905475 0.1 -0.08 pose: 0.0 -2.14608 -3.84324 0 0.00635191 -0.00102254 0.999862 0.0153381 uwb: 0.0 1251.11 1187.17 -imu_odom_: 1691062518.181032607 -0.0454898 -0.114922 9.66779 -0.0340885 -0.0426106 -0.1012 0.1 -0.08 pose: 0.68940233 -2.15538 -3.84693 0 0.00388516 -0.0003924340.99981 0.0190958 uwb: 0.49832845 1251.36 1187.7 -imu_odom_: 1691062518.197973692 0.459687 -0.292093 9.88566 -0.056459 -0.0340885 -0.0490022 0.1 -0.08 pose: 0.0 -2.15538 -3.84693 0 0.00388516 -0.0003924340.99981 0.0190958 uwb: 0.0 1251.36 1187.7 -imu_odom_: 1691062518.212033372 0.268151 -0.56982 9.96467 -0.04048 -0.0298274 -0.0468716 0.1 -0.05 pose: 0.0 -2.15538 -3.84693 0 0.00388516 -0.0003924340.99981 0.0190958 uwb: 0.0 1251.36 1187.7 -imu_odom_: 1691062518.227973840 0.110133 -0.131681 10.0916 -0.0543285 -0.0372843 -0.0426106 0.1 -0.05 pose: 0.31073384 -2.15538 -3.84693 0 0.00200315 -0.0001570140.999776 0.0210518 uwb: 0.0 1251.36 1187.7 -imu_odom_: 1691062518.244968295 0.122104 -0.114922 10.1227 -0.0426106 -0.0383495 -0.036219 0.12 -0.08 pose: 0.39911831 -2.16468 -3.8506 0 0.000648259 -0.00163935 0.99974 0.0227446 uwb: 0.50125069 1251.5 1188.15 -imu_odom_: 1691062518.262970367 0.778116 -0.409408 9.9096 -0.0553937 -0.056459 -0.0436758 0.12 -0.08 pose: 0.0 -2.16468 -3.8506 0 0.000648259 -0.00163935 0.99974 0.0227446 uwb: 0.0 1251.5 1188.15 -imu_odom_: 1691062518.279968906 0.727837 -0.0574608 9.70609 -0.0490022 -0.0181095 -0.056459 0.12 -0.08 pose: 0.0 -2.16468 -3.8506 0 0.000648259 -0.00163935 0.99974 0.0227446 uwb: 0.50102030 1251.74 1187.99 -imu_odom_: 1691062518.296964527 0.409408 -0.0383072 9.84496 -0.0617853 -0.00106526 -0.0298274 0.13 -0.02 pose: 0.7001697 -2.16468 -3.8506 0 0.000136284 -0.00129593 0.999734 0.0230089 uwb: 0.0 1251.74 1187.99 -imu_odom_: 1691062518.314017894 0.976834 -0.167594 9.91199 -0.0479369 -0.0756338 -0.0234358 0.13 -0.08 pose: 0.0 -2.16468 -3.8506 0 0.000136284 -0.00129593 0.999734 0.0230089 uwb: 0.0 1251.74 1187.99 -imu_odom_: 1691062518.331972137 1.37188 -0.141258 9.67976 -0.0596548 -0.0127832 -0.00639159 0.13 -0.08 pose: 0.68995645 -2.17766 -3.845 0 0.00356878 0.000950174 0.999661 0.0257707 uwb: 0.50091530 1252.45 1187.83 -imu_odom_: 1691062518.346072647 1.24738 -0.213084 10.161 -0.0607201 0.0319579 0.036219 0.13 -0.08 pose: 0.0 -2.17766 -3.845 0 0.00356878 0.000950174 0.999661 0.0257707 uwb: 0.0 1252.45 1187.83 -imu_odom_: 1691062518.362949280 1.5682 -0.47884 10.2783 -0.0543285 -0.0458064 0.0777643 0.1 -0.11 pose: 0.0 -2.17766 -3.845 0 0.00356878 0.000950174 0.999661 0.0257707 uwb: 0.0 1252.45 1187.83 -imu_odom_: 1691062518.380084889 1.43413 -0.100556 9.50019 -0.0383495 -0.0181095 0.0319579 0.1 -0.11 pose: 0.34117233 -2.17766 -3.845 0 0.00730438 0.000978608 0.999621 0.0265067 uwb: 0.49737771 1252.08 1189.26 -imu_odom_: 1691062518.397957181 1.10852 0.100556 9.82341 -0.0511327 0.0266316 -0.00639159 0.1 -0.08 pose: 0.41996474 -2.17764 -3.84496 0 0.0117482 0.000708039 0.999586 0.0262554 uwb: 0.0 1252.08 1189.26 -imu_odom_: 1691062518.414956594 0.608127 -0.169988 9.70609 -0.0660464 0.0223706 -0.0287621 0.1 -0.08 pose: 0.0 -2.17764 -3.84496 0 0.0117482 0.000708039 0.999586 0.0262554 uwb: 0.0 1252.08 1189.26 -imu_odom_: 1691062518.429001401 0.746991 -0.265756 10.1778 -0.0617853 -0.0276969 -0.0532632 0.1 -0.08 pose: 0.0 -2.17764 -3.84496 0 0.0117482 0.000708039 0.999586 0.0262554 uwb: 0.49994997 1252.88 1188.83 -imu_odom_: 1691062518.445940153 0.68953 -0.277727 9.63906 -0.0532632 -0.00532632 -0.0713727 0.06 -0.02 pose: 0.7897616 -2.17766 -3.845 0 0.0123099 0.00112838 0.999574 0.0264405 uwb: 0.0 1252.88 1188.83 -imu_odom_: 1691062518.462942483 0.847547 -0.0837971 9.91678 -0.0639159 0.00426106 -0.0308927 0.06 0 pose: 0.0 -2.17766 -3.845 0 0.0123099 0.00112838 0.999574 0.0264405 uwb: 0.0 1252.88 1188.83 -imu_odom_: 1691062518.479976018 0.483629 -0.368707 9.87848 -0.052198 0.0170442 -0.0330232 0.06 0 pose: 0.64968678 -2.18692 -3.84876 0 0.0137367 -0.0001593080.999483 0.0290752 uwb: 0.49980416 1253.29 1189.14 -imu_odom_: 1691062518.496943351 0.682347 -0.148441 9.97424 -0.0532632 -0.0106526 -0.0372843 0.05 -0.05 pose: 0.0 -2.18692 -3.84876 0 0.0137367 -0.0001593080.999483 0.0290752 uwb: 0.0 1253.29 1189.14 -imu_odom_: 1691062518.514096750 0.78051 -0.222661 9.72525 -0.052198 -0.00745685 -0.0127832 0.05 -0.05 pose: 0.0 -2.18692 -3.84876 0 0.0137367 -0.0001593080.999483 0.0290752 uwb: 0.0 1253.29 1189.14 -imu_odom_: 1691062518.539963482 0.543484 -0.378284 10.0245 -0.0553937 -0.0117179 0.0255663 0.04 0 pose: 0.61145567 -2.18692 -3.84876 0 0.0152717 0.00046724 0.999398 0.0311496 uwb: 0.50012787 1253.35 1189.53 -imu_odom_: 1691062518.564938670 -0.387861 -0.0646434 9.59596 -0.056459 0.0894822 0.0351537 0.04 0 pose: 0.7904031 -2.18692 -3.84876 0 0.0147585 -0.0001072790.999404 0.0311967 uwb: 0.0 1253.35 1189.53 -imu_odom_: 1691062518.581954999 -1.07739 -0.184354 10.2855 -0.0585895 0.0649811 0.0191748 0.06 0.02 pose: 0.0 -2.18692 -3.84876 0 0.0147585 -0.0001072790.999404 0.0311967 uwb: 0.49932003 1252.8 1190.15 -imu_odom_: 1691062518.598935455 -1.07739 -0.220267 9.87608 -0.0511327 -0.0596548 0 0.06 0.02 pose: 0.42937889 -2.18692 -3.84876 0 0.00996748 -0.0009150960.999458 0.0313647 uwb: 0.0 1252.8 1190.15 -imu_odom_: 1691062518.623925517 0.622492 -0.280122 10.5584 -0.0649811 -0.0660464 0.0383495 0.08 -0.02 pose: 0.0 -2.18692 -3.84876 0 0.00996748 -0.0009150960.999458 0.0313647 uwb: 0.0 1252.8 1190.15 -imu_odom_: 1691062518.642063494 0.636858 -0.296881 10.0556 -0.0585895 0.0191748 0.0149137 0.08 -0.02 pose: 0.41062643 -2.19623 -3.85242 0 0.00725212 -0.00118528 0.999465 0.0318756 uwb: 0.49991498 1254.39 1188.58 -imu_odom_: 1691062518.665049988 -0.191536 -0.201113 9.73722 -0.0649811 -0.00213053 0.0213053 0.08 -0.02 pose: 0.0 -2.19623 -3.85242 0 0.00725212 -0.00118528 0.999465 0.0318756 uwb: 0.0 1254.39 1188.58 -imu_odom_: 1691062518.690101586 0.402226 -0.31364 10.0892 -0.0394148 -0.0191748 0 0.1 0 pose: 0.42940222 -2.19989 -3.84311 0 0.00969518 -0.00351623 0.99943 0.032158 uwb: 0.0 1254.39 1188.58 -imu_odom_: 1691062518.712959175 0.464475 0.124498 9.89284 -0.0617853 -0.0468716 0.0372843 0.11 0 pose: 0.41160051 -2.19989 -3.84311 0 0.00580829 -0.00365814 0.999439 0.0327845 uwb: 0.0 1254.39 1188.58 -imu_odom_: 1691062518.738920398 0.174777 -0.294487 10.1179 -0.0703074 0.00532632 0.00426106 0.11 0 pose: 0.0 -2.19989 -3.84311 0 0.00580829 -0.00365814 0.999439 0.0327845 uwb: 0.0 1254.39 1188.58 -imu_odom_: 1691062518.755952183 -0.0622492 0.0215478 10.082 -0.056459 -0.00426106 0.015979 0.15 -0.02 pose: 0.6945410 -2.19989 -3.84311 0 0.00588594 -0.00299385 0.99944 0.032796 uwb: 0.0 1254.39 1188.58 -imu_odom_: 1691062518.780934079 -0.117316 -0.181959 10.0245 -0.0617853 0.00532632 0.036219 0.15 -0.02 pose: 0.0 -2.19989 -3.84311 0 0.00588594 -0.00299385 0.99944 0.032796 uwb: 0.150067235 1254.34 1189.23 -imu_odom_: 1691062518.797984821 0.0047884 -0.402226 9.46428 -0.0660464 0.00745685 0.0266316 0.17 -0.02 pose: 0.48896972 -2.2092 -3.84675 0 0.00273883 -0.00163561 0.999438 0.0333591 uwb: 0.0 1254.34 1189.23 -imu_odom_: 1691062518.821976599 0.890643 -0.110133 10.2424 -0.0543285 -0.0426106 0.0255663 0.17 -0.02 pose: 0.0 -2.2092 -3.84675 0 0.00273883 -0.00163561 0.999438 0.0333591 uwb: 0.0 1254.34 1189.23 -imu_odom_: 1691062518.847914783 -0.124498 -0.1652 10.0844 -0.072438 -0.0170442 0.0553937 0.15 -0.02 pose: 0.42111089 -2.21852 -3.85038 0 -0.00144392 -0.00120791 0.999435 0.0335629 uwb: 0.49972833 1254.07 1190.07 -imu_odom_: 1691062518.871910352 0.373495 -0.208296 9.93833 -0.052198 0.0213053 0.02024 0.15 -0.02 pose: 0.0 -2.21852 -3.85038 0 -0.00144392 -0.00120791 0.999435 0.0335629 uwb: 0.0 1254.07 1190.07 -imu_odom_: 1691062518.896922578 0.696713 -0.179565 9.56962 -0.0735032 0.00106526 0.0372843 0.17 0 pose: 0.41873111 -2.22215 -3.84107 0 -0.00035859 -0.00104627 0.99943 0.0337328 uwb: 0.49943085 1253.67 1191.15 -imu_odom_: 1691062518.910978176 0.912191 -0.366313 10.0604 -0.0649811 0.0245011 0.0319579 0.17 0 pose: 0.0 -2.22215 -3.84107 0 -0.00035859 -0.00104627 0.99943 0.0337328 uwb: 0.0 1253.67 1191.15 -imu_odom_: 1691062518.934906959 0.253785 -0.234632 9.55287 -0.0447411 -0.02024 0.00745685 0.14 0 pose: 0.49995581 -2.23143 -3.84478 0 -0.0006336110.00128948 0.999427 0.0338253 uwb: 0.50118362 1245.93 1201.31 -imu_odom_: 1691062518.961027127 0.545878 -0.505177 9.95748 -0.076699 -0.0745685 0.0447411 0.14 0 pose: 0.0 -2.23143 -3.84478 0 -0.0006336110.00128948 0.999427 0.0338253 uwb: 0.0 1245.93 1201.31 -imu_odom_: 1691062518.985913948 1.06303 -0.0526724 10.0963 -0.0553937 -0.0308927 0.0170442 0.16 0 pose: 0.39054116 -2.23143 -3.84478 0 0.00139385 0.000489921 0.99942 0.0340222 uwb: 0.49870175 1245.7 1202.22 -imu_odom_: 1691062519.11905505 0.754174 -0.368707 10.1873 -0.052198 0.00106526 0.0351537 0.16 0 pose: 0.0 -2.23143 -3.84478 0 0.00139385 0.000489921 0.99942 0.0340222 uwb: 0.0 1245.7 1202.22 -imu_odom_: 1691062519.25902778 0.107739 -0.172383 10.2687 -0.0681769 0.00426106 0.0298274 0.18 0 pose: 0.49941628 -2.24443 -3.83921 0 0.00277475 -0.00212144 0.999405 0.0343016 uwb: 0.0 1245.7 1202.22 -imu_odom_: 1691062519.42888780 0.169988 -0.134075 10.003 -0.0447411 0.0308927 0.0319579 0.18 0 pose: 0.0 -2.24443 -3.83921 0 0.00277475 -0.00212144 0.999405 0.0343016 uwb: 0.0 1245.7 1202.22 -imu_odom_: 1691062519.64021323 0.826 -0.35913 10.0652 -0.072438 -0.0117179 0.0351537 0.16 0 pose: 0.49057961 -2.25372 -3.84291 0 0.00625127 -0.00270356 0.999379 0.0345814 uwb: 0.0 1245.7 1202.22 -imu_odom_: 1691062519.87893826 0.265756 -0.497994 9.58878 -0.0617853 0.0255663 0.0138484 0.16 0 pose: 0.0 -2.25372 -3.84291 0 0.00625127 -0.00270356 0.999379 0.0345814 uwb: 0.100196788 1246.1 1202.18 -imu_odom_: 1691062519.104949239 0.234632 -0.253785 9.99819 -0.0479369 0 0.0319579 0.17 0 pose: 0.69916372 -2.26551 -3.84034 0 0.00350649 -0.00435663 0.999371 0.0350272 uwb: 0.0 1246.1 1202.18 -imu_odom_: 1691062519.129889729 0.19393 -0.289698 10.1778 -0.0276969 0.02024 0.0234358 0.17 0 pose: 0.8090101 -2.26671 -3.83732 0 0.0027006 -0.00415123 0.999373 0.0350553 uwb: 0.49942807 1246.19 1202.62 -imu_odom_: 1691062519.146886230 0.438139 -0.0814029 9.991 -0.04048 0.00106526 0.0468716 0.17 0 pose: 0.0 -2.26671 -3.83732 0 0.0027006 -0.00415123 0.999373 0.0350553 uwb: 0.0 1246.19 1202.62 -imu_odom_: 1691062519.170904262 0.447716 -0.162806 9.72764 -0.052198 0.0234358 0.0383495 0.17 0 pose: 0.41937574 -2.276 -3.84102 0 -0.000768415-0.00262325 0.999375 0.0352496 uwb: 0.0 1246.19 1202.62 -imu_odom_: 1691062519.193925176 0.577003 -0.009576819.95988 -0.0383495 -0.00745685 0.0340885 0.18 0 pose: 0.32982761 -2.276 -3.84102 0 0.00049038 0.000336994 0.999379 0.0352338 uwb: 0.49855607 1246.52 1202.89 -imu_odom_: 1691062519.211946501 0.0742203 -0.28491 9.84256 -0.0479369 -0.0436758 0.0458064 0.18 0 pose: 0.7996775 -2.276 -3.84102 0 0.0010379 0.00100154 0.999377 0.0352558 uwb: 0.0 1246.52 1202.89 -imu_odom_: 1691062519.236046775 0.265756 0.0670376 9.90481 -0.0319579 -0.0213053 0.0276969 0.17 0 pose: 0.0 -2.276 -3.84102 0 0.0010379 0.00100154 0.999377 0.0352558 uwb: 0.50112542 1246.5 1203.61 -imu_odom_: 1691062519.259887198 0.591368 -0.414197 9.79707 -0.072438 0.0127832 0.0553937 0.17 0 pose: 0.33045464 -2.28733 -3.83957 0 0.000686672 0.00182535 0.999377 0.0352447 uwb: 0.0 1246.5 1203.61 -imu_odom_: 1691062519.284878725 0.773327 -0.11971 9.70609 -0.0490022 0.0106526 0.0308927 0.23 0 pose: 0.47940697 -2.29544 -3.83797 0 0.000809258 0.00200566 0.999378 0.0351974 uwb: 0.49868731 1246.56 1204.03 -imu_odom_: 1691062519.298869873 0.993594 -0.153229 9.82341 -0.0639159 0.0127832 0.0458064 0.23 0 pose: 0.0 -2.29544 -3.83797 0 0.000809258 0.00200566 0.999378 0.0351974 uwb: 0.0 1246.56 1204.03 -imu_odom_: 1691062519.322228215 1.10373 -0.227449 9.87848 -0.056459 0.0149137 0.0245011 0.17 0 pose: 0.0 -2.29544 -3.83797 0 0.000809258 0.00200566 0.999378 0.0351974 uwb: 0.0 1246.56 1204.03 -imu_odom_: 1691062519.348014461 0.476446 -0.306458 10.2065 -0.0841559 0.0330232 0.0681769 0.17 0 pose: 0.38982675 -2.29828 -3.8391 0 0.00438748 0.0023214 0.999366 0.0352533 uwb: 0.50006093 1245.83 1205.64 -imu_odom_: 1691062519.360892419 0.306458 -0.124498 10.1155 -0.0798948 -0.0276969 0.056459 0.17 0 pose: 0.0 -2.29828 -3.8391 0 0.00438748 0.0023214 0.999366 0.0352533 uwb: 0.0 1245.83 1205.64 -imu_odom_: 1691062519.384885661 0.768539 -0.143652 9.69173 -0.0575243 0.00213053 0.0394148 0.17 -0.02 pose: 0.55097257 -2.31126 -3.83349 0 0.00447295 -0.0004903480.999377 0.0349931 uwb: 0.50245821 1245.74 1206.69 -imu_odom_: 1691062519.409901103 0.514753 -0.328006 9.90481 -0.0617853 0.00319579 0.0372843 0.22 0 pose: 0.30918531 -2.31743 -3.83595 0 0.00621458 0.000241438 0.99937 0.0349406 uwb: 0.0 1245.74 1206.69 -imu_odom_: 1691062519.432929016 0.517148 -0.0981623 10.0772 -0.0372843 0.0468716 0.0394148 0.22 0 pose: 0.8013983 -2.32055 -3.83719 0 0.00609208 -0.0005791560.99937 0.034945 uwb: 0.49861440 1245.6 1208.07 -imu_odom_: 1691062519.445859177 0.675165 -0.433351 9.98382 -0.0788296 -0.00319579 0.0628506 0.22 0 pose: 0.0 -2.32055 -3.83719 0 0.00609208 -0.0005791560.99937 0.034945 uwb: 0.0 1245.6 1208.07 -imu_odom_: 1691062519.462856845 0.117316 -0.232238 9.49062 -0.0500674 -0.00319579 0.0340885 0.18 0 pose: 0.46039494 -2.32985 -3.84088 0 0.00561398 -0.0003537680.999375 0.0348977 uwb: 0.0 1245.6 1208.07 -imu_odom_: 1691062519.488974103 0.0837971 -0.114922 9.77074 -0.0660464 0.0287621 0.0543285 0.18 0 pose: 0.0 -2.32985 -3.84088 0 0.00561398 -0.0003537680.999375 0.0348977 uwb: 0.49864356 1246.09 1208.48 -imu_odom_: 1691062519.513935008 0.0909797 -0.134075 9.91439 -0.036219 -0.0245011 0.0149137 0.19 -0.02 pose: 0.32961179 -2.33354 -3.83159 0 0.00328085 -0.0006782040.999389 0.034794 uwb: 0.0 1246.09 1208.48 -imu_odom_: 1691062519.536873971 0.349553 -0.4956 9.79947 -0.0937433 -0.0106526 0.0490022 0.18 -0.02 pose: 0.0 -2.33354 -3.83159 0 0.00328085 -0.0006782040.999389 0.034794 uwb: 0.49865523 1247.46 1207.76 -imu_odom_: 1691062519.560998743 0.385466 -0.383072 9.81623 -0.0490022 -0.015979 0.0223706 0.18 -0.02 pose: 0.49099676 -2.34283 -3.83529 0 -0.000870835-0.0001521990.999389 0.0349447 uwb: 0.0 1247.46 1207.76 -imu_odom_: 1691062519.586875398 0.42138 -0.368707 9.6606 -0.0671117 -0.00852212 0.0436758 0.25 0 pose: 0.39998750 -2.34903 -3.83775 0 -0.000990153-0.00436517 0.999374 0.0350806 uwb: 0.50009009 1246.69 1209.36 -imu_odom_: 1691062519.599860679 1.07978 -0.42138 9.62948 -0.0276969 0.00639159 0.0191748 0.25 0 pose: 0.8022440 -2.35213 -3.83898 0 -0.000648165-0.00514662 0.999372 0.0350661 uwb: 0.0 1246.69 1209.36 -imu_odom_: 1691062519.616043504 0.481235 0.0167594 9.74679 -0.0372843 0.00852212 0.0394148 0.25 0 pose: 0.0 -2.35213 -3.83898 0 -0.000648165-0.00514662 0.999372 0.0350661 uwb: 0.0 1246.69 1209.36 -imu_odom_: 1691062519.639860304 0.529119 -0.167594 10.556 -0.0671117 -0.0245011 0.0500674 0.17 0.02 pose: 0.38860769 -2.35582 -3.82969 0 0.00142114 -0.00602945 0.999362 0.0351784 uwb: 0.50121875 1246.4 1210.62 -imu_odom_: 1691062519.664840749 0.445322 -0.25618 9.5792 -0.0862864 -0.0426106 0.0596548 0.17 0.02 pose: 0.0 -2.35582 -3.82969 0 0.00142114 -0.00602945 0.999362 0.0351784 uwb: 0.0 1246.4 1210.62 -imu_odom_: 1691062519.687925823 0.969652 -0.308852 10.5393 -0.0436758 -0.0490022 0.0287621 0.24 0 pose: 0.40038414 -2.36511 -3.83338 0 0.002651 -0.00280828 0.99938 0.0349847 uwb: 0.49873980 1245.72 1212.7 -imu_odom_: 1691062519.712844149 0.756568 0.0191536 9.95748 -0.0873517 0.052198 0.0852212 0.18 0.02 pose: 0.0 -2.36511 -3.83338 0 0.002651 -0.00280828 0.99938 0.0349847 uwb: 0.0 1245.72 1212.7 -imu_odom_: 1691062519.735830357 0.682347 -0.565032 10.082 -0.092678 0.0255663 0.0575243 0.18 0.02 pose: 0.47958487 -2.3744 -3.83708 0 0.00500548 -0.00158322 0.999382 0.0347653 uwb: 0.50020383 1245.06 1215.19 -imu_odom_: 1691062519.753902136 0.318429 -0.296881 9.48822 -0.0383495 0.0266316 0.0191748 0.24 0 pose: 0.0 -2.3744 -3.83708 0 0.00500548 -0.00158322 0.999382 0.0347653 uwb: 0.0 1245.06 1215.19 -imu_odom_: 1691062519.777899170 0.0790087 -0.275333 9.56723 -0.0511327 -0.0308927 0.0585895 0.24 0 pose: 0.47969277 -2.38739 -3.83149 0 0.00538548 -0.00318479 0.999394 0.034252 uwb: 0.50136457 1243.13 1218.11 -imu_odom_: 1691062519.801965905 -0.0957681 -0.306458 9.81623 -0.0713727 -0.0117179 0.0639159 0.23 0 pose: 0.0 -2.38739 -3.83149 0 0.00538548 -0.00318479 0.999394 0.034252 uwb: 0.0 1243.13 1218.11 -imu_odom_: 1691062519.818920994 0.679953 -0.172383 9.94312 -0.0607201 -0.0479369 0.04048 0.23 0 pose: 0.42121017 -2.38739 -3.83149 0 0.00137121 -0.0031747 0.999415 0.034014 uwb: 0.0 1243.13 1218.11 -imu_odom_: 1691062519.842845992 0.916979 -0.28491 9.8258 -0.0617853 -0.0266316 0.0468716 0.18 0.05 pose: 0.0 -2.38739 -3.83149 0 0.00137121 -0.0031747 0.999415 0.034014 uwb: 0.49827901 1242.38 1219.78 -imu_odom_: 1691062519.867856476 0.3304 -0.610521 9.34696 -0.0532632 -0.00213053 0.0426106 0.18 0.05 pose: 0.40976619 -2.39668 -3.8352 0 0.00268295 -0.0029291 0.999421 0.0337836 uwb: 0.0 1242.38 1219.78 -imu_odom_: 1691062519.881855207 0.0766145 -0.0095768110.3789 -0.04048 -0.00958738 0.0383495 0.18 0.05 pose: 0.0 -2.39668 -3.8352 0 0.00268295 -0.0029291 0.999421 0.0337836 uwb: 0.50060630 1243.15 1220.09 -imu_odom_: 1691062519.905842616 0.579397 -0.378284 10.1921 -0.0841559 0.015979 0.0681769 0.18 0.02 pose: 0.47963737 -2.40968 -3.82963 0 0.00278092 -0.00479852 0.999417 0.0336807 uwb: 0.0 1243.15 1220.09 -imu_odom_: 1691062519.931862175 0.940921 -0.186748 10.398 -0.0458064 -0.0234358 0.0468716 0.21 0 pose: 0.30933113 -2.41582 -3.83209 0 0.00401482 -0.00596579 0.999418 0.0333477 uwb: 0.49980720 1244.44 1219.68 -imu_odom_: 1691062519.955016660 0.684742 -0.248997 10.1682 -0.076699 -0.0106526 0.0490022 0.21 0 pose: 0.0 -2.41582 -3.83209 0 0.00401482 -0.00596579 0.999418 0.0333477 uwb: 0.0 1244.44 1219.68 -imu_odom_: 1691062519.970867598 -0.0742203 -0.0909797 9.79228 -0.036219 0.0607201 0.0319579 0.18 0 pose: 0.0 -2.41582 -3.83209 0 0.00401482 -0.00596579 0.999418 0.0333477 uwb: 0.0 1244.44 1219.68 -imu_odom_: 1691062519.995802255 0.304064 -0.217872 10.1801 -0.0905475 0.015979 0.0713727 0.18 0 pose: 0.57139614 -2.42269 -3.82408 0 0.00796676 -0.00414428 0.999408 0.0332072 uwb: 0.50162996 1253.15 1210.91 -imu_odom_: 1691062520.19816208 0.447716 -0.244209 10.2208 -0.0660464 0 0.0490022 0.18 0.02 pose: 0.32820025 -2.43197 -3.8278 0 0.00432529 -0.00347287 0.999445 0.0328416 uwb: 0.0 1253.15 1210.91 -imu_odom_: 1691062520.36859668 0.73502 -0.440533 9.60554 -0.0692422 -0.015979 0.0543285 0.18 0.02 pose: 0.7124771 -2.43197 -3.8278 0 0.003777 -0.00303556 0.99945 0.0328086 uwb: 0.49892068 1252.91 1212.22 -imu_odom_: 1691062520.60856125 0.730232 -0.325611 9.67736 -0.0330232 -0.00958738 0.0213053 0.18 0 pose: 0.0 -2.43197 -3.8278 0 0.003777 -0.00303556 0.99945 0.0328086 uwb: 0.0 1252.91 1212.22 -imu_odom_: 1691062520.83856630 0.25618 -0.608127 9.47386 -0.0511327 -0.00852212 0.0511327 0.18 0 pose: 0.40994129 -2.44124 -3.83154 0 0.00466694 -0.00320773 0.99945 0.0326703 uwb: 0.50002899 1252.97 1213.02 -imu_odom_: 1691062520.109820201 0.37589 -0.148441 9.88805 -0.0330232 -0.0138484 0.0351537 0.25 0.02 pose: 0.39935475 -2.4497 -3.82794 0 0.00491107 -0.00513045 0.999441 0.0326778 uwb: 0.0 1252.97 1213.02 -imu_odom_: 1691062520.123803771 0.442927 -0.114922 9.97424 -0.0468716 -0.0234358 0.0447411 0.25 0.02 pose: 0.8027692 -2.45425 -3.826 0 0.00448183 -0.00439125 0.999446 0.0326958 uwb: 0.0 1252.97 1213.02 -imu_odom_: 1691062520.147919800 0.481235 -0.272939 9.89045 -0.0490022 -0.0372843 0.0394148 0.18 0 pose: 0.0 -2.45425 -3.826 0 0.00448183 -0.00439125 0.999446 0.0326958 uwb: 0.49851245 1252.73 1214.33 -imu_odom_: 1691062520.173938782 0.826 -0.299275 9.80186 -0.0703074 -0.0266316 0.0436758 0.18 0 pose: 0.39927892 -2.45425 -3.826 0 0.00375726 -0.00206082 0.999456 0.0327018 uwb: 0.0 1252.73 1214.33 -imu_odom_: 1691062520.198779829 0.447716 -0.035913 9.89763 -0.0266316 -0.00639159 0.0308927 0.18 0.02 pose: 0.42126568 -2.46353 -3.82974 0 0.00731637 -0.00400755 0.999432 0.0326519 uwb: 0.50141136 1253.32 1214.83 -imu_odom_: 1691062520.216970894 0.481235 -0.718261 9.54089 -0.0575243 -0.00319579 0.0447411 0.18 0.02 pose: 0.8912237 -2.46353 -3.82974 0 0.00702595 -0.00304078 0.999436 0.0326947 uwb: 0.0 1253.32 1214.83 -imu_odom_: 1691062520.232795881 0.268151 -0.225055 10.1323 -0.0351537 0.0138484 0.0351537 0.2 0 pose: 0.0 -2.46353 -3.82974 0 0.00702595 -0.00304078 0.999436 0.0326947 uwb: 0.50074934 1252.95 1216.04 -imu_odom_: 1691062520.259135376 0.766145 -0.0790087 10.1323 -0.056459 0.0117179 0.0596548 0.2 0 pose: 0.42076406 -2.47654 -3.8242 0 0.00542052 -0.00288458 0.999445 0.0327283 uwb: 0.0 1252.95 1216.04 -imu_odom_: 1691062520.283782482 0.280122 -0.275333 10.003 -0.0319579 0.0681769 0.0276969 0.19 0 pose: 0.0 -2.47654 -3.8242 0 0.00542052 -0.00288458 0.999445 0.0327283 uwb: 0.49982483 1253.03 1217.25 -imu_odom_: 1691062520.309907330 0.0814029 -0.272939 9.9503 -0.0372843 -0.00319579 0.0553937 0.19 0 pose: 0.42932954 -2.48582 -3.82794 0 0.00541446 -0.00121893 0.999455 0.0325426 uwb: 0.0 1253.03 1217.25 -imu_odom_: 1691062520.334984605 0.287304 -0.167594 10.0389 -0.0287621 -0.00639159 0.0351537 0.18 -0.02 pose: 0.42046951 -2.48582 -3.82794 0 0.000650849 -0.00113945 0.999473 0.0324228 uwb: 0.50004649 1253.98 1217.3 -imu_odom_: 1691062520.360791857 0.191536 -0.222661 9.95509 -0.0479369 -0.0372843 0.0532632 0.21 0 pose: 0.0 -2.48582 -3.82794 0 0.000650849 -0.00113945 0.999473 0.0324228 uwb: 0.0 1253.98 1217.3 -imu_odom_: 1691062520.385846968 0.442927 0.0622492 10.2951 -0.0479369 -0.0213053 0.0340885 0.21 0 pose: 0.33039639 -2.49883 -3.82241 0 -0.00214979 0.000429988 0.999472 0.0324224 uwb: 0.50122471 1254.35 1217.62 -imu_odom_: 1691062520.411842910 0.493206 -0.368707 10.0844 -0.0553937 -0.0532632 0.04048 0.21 -0.02 pose: 0.0 -2.49883 -3.82241 0 -0.00214979 0.000429988 0.999472 0.0324224 uwb: 0.0 1254.35 1217.62 -imu_odom_: 1691062520.424840736 0.632069 0.0622492 10.0389 -0.0617853 -0.04048 0.0543285 0.21 -0.02 pose: 0.50938189 -2.50811 -3.82615 0 -0.00175025 0.0020684 0.999473 0.0323593 uwb: 0.0 1254.35 1217.62 -imu_odom_: 1691062520.439840381 0.344765 -0.390255 10.0149 -0.0841559 0.0213053 0.0692422 0.21 -0.02 pose: 0.0 -2.50811 -3.82615 0 -0.00175025 0.0020684 0.999473 0.0323593 uwb: 0.49876910 1254.63 1218.24 -imu_odom_: 1691062520.457887375 0.76375 -0.107739 9.7851 -0.0671117 -0.0149137 0.0383495 0.18 0 pose: 0.38884403 -2.50811 -3.82615 0 0.000374888 0.000577395 0.999483 0.0321393 uwb: 0.0 1254.63 1218.24 -imu_odom_: 1691062520.476039360 0.395043 -0.347159 9.87129 -0.0553937 0.0308927 0.0394148 0.18 0 pose: 0.0 -2.50811 -3.82615 0 0.000374888 0.000577395 0.999483 0.0321393 uwb: 0.0 1254.63 1218.24 -imu_odom_: 1691062520.491039004 0.129287 -0.275333 10.1442 -0.0543285 -0.0255663 0.0468716 0.19 -0.05 pose: 0.0 -2.50811 -3.82615 0 0.000374888 0.000577395 0.999483 0.0321393 uwb: 0.50092723 1254.4 1219.59 -imu_odom_: 1691062520.507814739 0.457293 -0.292093 10.094 -0.0255663 0.015979 0.0266316 0.19 -0.05 pose: 0.43269799 -2.52113 -3.82063 0 0.00092682 -0.00151741 0.999485 0.032044 uwb: 0.0 1254.4 1219.59 -imu_odom_: 1691062520.532748819 0.672771 -0.402226 9.90002 -0.0777643 0.0170442 0.0617853 0.18 0 pose: 0.6896418 -2.52113 -3.82063 0 0.00031152 -0.00156647 0.999486 0.0320177 uwb: 0.49757046 1252.37 1222.49 -imu_odom_: 1691062520.555802111 0.964863 -0.0694318 10.0652 -0.0585895 -0.00319579 0.0447411 0.21 -0.02 pose: 0.0 -2.52113 -3.82063 0 0.00031152 -0.00156647 0.999486 0.0320177 uwb: 0.0 1252.37 1222.49 -imu_odom_: 1691062520.581880588 0.418985 -0.356736 9.7851 -0.0798948 0.0330232 0.0511327 0.25 -0.02 pose: 0.72866333 -2.53644 -3.82682 0 0.00474437 -0.00313426 0.999479 0.0317775 uwb: 0.50072017 1252.66 1223.13 -imu_odom_: 1691062520.605795677 0.318429 -0.177171 9.71088 -0.0543285 0.0170442 0.0458064 0.25 -0.02 pose: 0.0 -2.53644 -3.82682 0 0.00474437 -0.00313426 0.999479 0.0317775 uwb: 0.0 1252.66 1223.13 -imu_odom_: 1691062520.631799785 0.435745 -0.227449 9.94551 -0.072438 -0.0106526 0.04048 0.19 0 pose: 0.32966146 -2.54342 -3.81886 0 0.00188224 -0.00478744 0.999488 0.0315932 uwb: 0.49911032 1252.47 1224.54 -imu_odom_: 1691062520.652781265 0.342371 -0.248997 9.83059 -0.056459 -0.0127832 0.0319579 0.2 0 pose: 0.43031528 -2.55037 -3.82168 0 0.00156499 -0.00131556 0.999501 0.0315312 uwb: 0.0 1252.47 1224.54 -imu_odom_: 1691062520.667032560 0.481235 -0.363919 9.72764 -0.0777643 -0.0372843 0.0511327 0.2 0 pose: 0.0 -2.55037 -3.82168 0 0.00156499 -0.00131556 0.999501 0.0315312 uwb: 0.0 1252.47 1224.54 -imu_odom_: 1691062520.692889390 0.59855 -0.220267 10.2185 -0.0245011 -0.0255663 0.0308927 0.18 0 pose: 0.6001375 -2.55269 -3.82262 0 0.000991802 -0.00136437 0.999501 0.0315532 uwb: 0.49985400 1253.06 1224.66 -imu_odom_: 1691062520.717897547 0.663194 -0.282516 10.5536 -0.0585895 -0.0372843 0.0607201 0.18 0 pose: 0.0 -2.55269 -3.82262 0 0.000991802 -0.00136437 0.999501 0.0315532 uwb: 0.0 1253.06 1224.66 -imu_odom_: 1691062520.734909802 0.785298 -0.220267 9.6223 -0.04048 -0.0149137 0.0394148 0.18 0 pose: 0.0 -2.55269 -3.82262 0 0.000991802 -0.00136437 0.999501 0.0315532 uwb: 0.50000274 1253.71 1224.85 -imu_odom_: 1691062520.759801886 0.471658 -0.308852 9.88087 -0.0617853 0.0276969 0.0458064 0.18 0 pose: 0.36993407 -2.56195 -3.82638 0 0.00142005 -0.00253573 0.999498 0.0315627 uwb: 0.0 1253.71 1224.85 -imu_odom_: 1691062520.782744938 0.531513 -0.0047884 9.8282 -0.0383495 0.00319579 0.0447411 0.2 0 pose: 0.51121922 -2.56571 -3.81711 0 0.00708653 -0.00223583 0.99948 0.0313856 uwb: 0.49944570 1254.04 1225.93 -imu_odom_: 1691062520.800847344 0.672771 -0.430956 9.68933 -0.0756338 -0.0298274 0.072438 0.2 0 pose: 0.0 -2.56571 -3.81711 0 0.00708653 -0.00223583 0.99948 0.0313856 uwb: 0.0 1254.04 1225.93 -imu_odom_: 1691062520.816735325 0.519542 -0.373495 10.0293 -0.0617853 0.0223706 0.0394148 0.2 0 pose: 0.0 -2.56571 -3.81711 0 0.00708653 -0.00223583 0.99948 0.0313856 uwb: 0.0 1254.04 1225.93 -imu_odom_: 1691062520.841797435 0.550666 -0.335188 9.78989 -0.0617853 -0.0106526 0.0671117 0.18 0 pose: 0.40834894 -2.57498 -3.82088 0 0.00555252 -0.00269147 0.999491 0.0312838 uwb: 0.0 1254.04 1225.93 -imu_odom_: 1691062520.866854879 0.169988 -0.0622492 9.92636 -0.0287621 0.02024 0.0308927 0.19 0 pose: 0.41013377 -2.588 -3.81537 0 0.0067158 -0.00329487 0.999493 0.0309433 uwb: 0.0 1254.04 1225.93 -imu_odom_: 1691062520.883737062 0.56982 -0.205901 9.75158 -0.0745685 -0.0479369 0.056459 0.19 0 pose: 0.34032675 -2.59432 -3.81794 0 0.00750725 -0.00655473 0.999483 0.0305825 uwb: 0.100174657 1254.12 1226.8 -imu_odom_: 1691062520.908772050 0.61531 -0.462081 9.50019 -0.0436758 0.00852212 0.0319579 0.19 0 pose: 0.0 -2.59432 -3.81794 0 0.00750725 -0.00655473 0.999483 0.0305825 uwb: 0.0 1254.12 1226.8 -imu_odom_: 1691062520.935748488 0.730232 -0.0885855 9.991 -0.0713727 -0.0479369 0.0553937 0.18 0.02 pose: 0.7957115 -2.59727 -3.81915 0 0.00678183 -0.00596146 0.99949 0.0306166 uwb: 0.50068226 1253.32 1228.88 -imu_odom_: 1691062520.950740841 0.670376 -0.181959 9.65342 -0.0415453 -0.0138484 0.0287621 0.18 0.02 pose: 0.0 -2.59727 -3.81915 0 0.00678183 -0.00596146 0.99949 0.0306166 uwb: 0.0 1253.32 1228.88 -imu_odom_: 1691062520.967780802 0.557849 -0.134075 9.93594 -0.0543285 0.0181095 0.0543285 0.2 0 pose: 0.43121937 -2.59727 -3.81915 0 0.0068653 -0.00426476 0.999499 0.0305886 uwb: 0.0 1253.32 1228.88 -imu_odom_: 1691062520.992713424 0.536301 -0.117316 10.1442 -0.0585895 0.0319579 0.0426106 0.2 0 pose: 0.0 -2.59727 -3.81915 0 0.0068653 -0.00426476 0.999499 0.0305886 uwb: 0.49766961 1253.56 1229.5 -imu_odom_: 1691062521.17834158 0.6608 -0.191536 10.1538 -0.0617853 0.00319579 0.0553937 0.18 0.02 pose: 0.48889707 -2.6103 -3.81366 0 0.0101072 -0.00327236 0.999479 0.030489 uwb: 0.0 1253.56 1229.5 -imu_odom_: 1691062521.40715971 1.04627 -0.208296 9.5792 -0.0458064 0.00852212 0.0340885 0.18 0.02 pose: 0.35047000 -2.61956 -3.81744 0 0.00927641 -0.00016989 0.999494 0.0304298 uwb: 0.50065025 1254.46 1229.51 -imu_odom_: 1691062521.53721383 0.893037 -0.136469 9.93115 -0.0649811 0.0149137 0.0575243 0.18 0.02 pose: 0.0 -2.61956 -3.81744 0 0.00927641 -0.00016989 0.999494 0.0304298 uwb: 0.0 1254.46 1229.51 -imu_odom_: 1691062521.80706868 0.550666 -0.21069 10.0987 -0.0745685 0.0191748 0.0500674 0.18 0.02 pose: 0.0 -2.61956 -3.81744 0 0.00927641 -0.00016989 0.999494 0.0304298 uwb: 0.50132400 1254.42 1230.69 -imu_odom_: 1691062521.104909813 0.141258 -0.227449 9.62469 -0.0713727 0.00532632 0.0511327 0.19 0.02 pose: 0.48033165 -2.61956 -3.81744 0 0.0112815 0.000872809 0.999479 0.0302332 uwb: 0.0 1254.42 1230.69 -imu_odom_: 1691062521.122763162 0.308852 -0.186748 9.72525 -0.0394148 0.00639159 0.0351537 0.19 0.02 pose: 0.0 -2.61956 -3.81744 0 0.0112815 0.000872809 0.999479 0.0302332 uwb: 0.0 1254.42 1230.69 -imu_odom_: 1691062521.146707130 0.416591 -0.23942 10.1658 -0.0479369 -0.0245011 0.0490022 0.22 0 pose: 0.87920829 -2.64186 -3.81575 0 0.00756798 0.000249676 0.999524 0.0298991 uwb: 0.49946625 1254.59 1231.65 -imu_odom_: 1691062521.164769586 0.385466 -0.196325 9.72285 -0.0383495 -0.0245011 0.0394148 0.22 0 pose: 0.0 -2.64186 -3.81575 0 0.00756798 0.000249676 0.999524 0.0298991 uwb: 0.0 1254.59 1231.65 -imu_odom_: 1691062521.188706555 0.402226 -0.277727 10.0102 -0.04048 0.0255663 0.0383495 0.23 0.02 pose: 0.42014298 -2.65111 -3.81954 0 0.00376048 9.27889e-05 0.999549 0.0298067 uwb: 0.49994162 1254.06 1233.21 -imu_odom_: 1691062521.205763435 0.533907 0.011971 9.68215 -0.072438 -0.0415453 0.0511327 0.23 0.02 pose: 0.0 -2.65111 -3.81954 0 0.00376048 9.27889e-05 0.999549 0.0298067 uwb: 0.0 1254.06 1233.21 -imu_odom_: 1691062521.221757869 0.122104 -0.148441 9.89763 -0.04048 0.00639159 0.0468716 0.23 0 pose: 0.41996508 -2.6549 -3.81029 0 0.00148306 -0.0006034380.999555 0.0297719 uwb: 0.0 1254.06 1233.21 -imu_odom_: 1691062521.246740951 0.52433 -0.356736 9.89763 -0.0788296 0.00639159 0.0458064 0.23 0 pose: 0.0 -2.6549 -3.81029 0 0.00148306 -0.0006034380.999555 0.0297719 uwb: 0.50064740 1253.87 1234.26 -imu_odom_: 1691062521.269779667 0.584185 -0.263362 9.8689 -0.0511327 -0.02024 0.0330232 0.19 0 pose: 0.49962957 -2.66416 -3.81408 0 0.0016772 -0.00174117 0.999559 0.0295842 uwb: 0.0 1253.87 1234.26 -imu_odom_: 1691062521.285705857 0.457293 -0.565032 9.37569 -0.0383495 0.00213053 0.0468716 0.19 0 pose: 0.0 -2.66416 -3.81408 0 0.0016772 -0.00174117 0.999559 0.0295842 uwb: 0.49629612 1255.38 1234 -imu_odom_: 1691062521.309685405 0.294487 -0.148441 9.7444 -0.0117179 0.0330232 0.0276969 0.25 -0.02 pose: 0.7089195 -2.66416 -3.81408 0 0.00243664 -0.00182404 0.999557 0.0296083 uwb: 0.0 1255.38 1234 -imu_odom_: 1691062521.332676584 0.876278 -0.225055 10.0245 -0.0617853 -0.036219 0.0617853 0.26 0 pose: 0.0 -2.66416 -3.81408 0 0.00243664 -0.00182404 0.999557 0.0296083 uwb: 0.0 1255.38 1234 -imu_odom_: 1691062521.349680968 0.905008 -0.349553 9.42597 -0.0575243 0.0394148 0.0255663 0.25 0.02 pose: 0.78846438 -2.68645 -3.81241 0 0.00424494 -0.00154774 0.999555 0.0294858 uwb: 0.0 1255.38 1234 -imu_odom_: 1691062521.374713046 0.0167594 -0.337582 9.80426 -0.0340885 0.0351537 0.0532632 0.25 0.02 pose: 0.0 -2.68645 -3.81241 0 0.00424494 -0.00154774 0.999555 0.0294858 uwb: 0.0 1255.38 1234 -imu_odom_: 1691062521.397684685 0.663194 -0.220267 9.7851 -0.0181095 0.0447411 0.0298274 0.22 -0.02 pose: 0.42036462 -2.693 -3.8151 0 0.00254575 -0.00210669 0.999561 0.0294274 uwb: 0.0 1255.38 1234 -imu_odom_: 1691062521.422680891 0.703895 -0.177171 9.92397 -0.0681769 -0.00852212 0.056459 0.22 -0.02 pose: 0.7021826 -2.69571 -3.81621 0 0.00307489 -0.00187993 0.999559 0.0294633 uwb: 0.0 1255.38 1234 -imu_odom_: 1691062521.445744105 0.675165 -0.162806 9.663 -0.056459 -0.036219 0.0351537 0.18 -0.02 pose: 0.23983339 -2.6995 -3.80696 0 0.00507176 -0.00121914 0.999552 0.0294791 uwb: 0.150117225 1254.99 1235.29 -imu_odom_: 1691062521.461728623 0.61531 -0.435745 9.63666 -0.0649811 0.02024 0.0479369 0.18 -0.02 pose: 0.0 -2.6995 -3.80696 0 0.00507176 -0.00121914 0.999552 0.0294791 uwb: 0.0 1254.99 1235.29 -imu_odom_: 1691062521.487733906 0.737414 -0.383072 9.5792 -0.0511327 0.0351537 0.0266316 0.25 -0.02 pose: 0.23994714 -2.6995 -3.80696 0 0.00751092 -0.00064392 0.999541 0.0293579 uwb: 0.50104986 1254.84 1236.39 -imu_odom_: 1691062521.500675448 0.308852 -0.244209 10.0149 -0.0607201 0.0191748 0.0596548 0.25 -0.02 pose: 0.0 -2.6995 -3.80696 0 0.00751092 -0.00064392 0.999541 0.0293579 uwb: 0.0 1254.84 1236.39 -imu_odom_: 1691062521.517676041 0.462081 -0.23942 10.0389 -0.0713727 -0.0106526 0.0596548 0.17 -0.02 pose: 0.39982731 -2.70875 -3.81076 0 0.00967582 -0.00221798 0.999519 0.029365 uwb: 0.0 1254.84 1236.39 -imu_odom_: 1691062521.540668970 0.383072 0.153229 10.2687 -0.0394148 -0.0287621 0.0415453 0.17 -0.02 pose: 0.0 -2.70875 -3.81076 0 0.00967582 -0.00221798 0.999519 0.029365 uwb: 0.49844551 1253.7 1238.65 -imu_odom_: 1691062521.565726712 0.723049 -0.246603 9.68694 -0.0649811 -0.0287621 0.04048 0.18 0 pose: 0.39001361 -2.718 -3.81456 0 0.0084534 -0.00310078 0.999531 0.029261 uwb: 0.0 1253.7 1238.65 -imu_odom_: 1691062521.591720329 0.90022 -0.155623 9.88326 -0.0436758 0.0447411 0.0426106 0.18 0 pose: 0.0 -2.718 -3.81456 0 0.0084534 -0.00310078 0.999531 0.029261 uwb: 0.50002328 1252.68 1240.62 -imu_odom_: 1691062521.616814818 0.73502 -0.270545 10.2472 -0.0532632 0.0117179 0.0436758 0.2 -0.02 pose: 0.40985099 -2.73105 -3.80911 0 0.00808249 -0.0007775790.999542 0.0291563 uwb: 0.0 1252.68 1240.62 -imu_odom_: 1691062521.643793595 0.502782 -0.320823 9.16979 -0.0607201 0.0330232 0.0585895 0.21 0 pose: 0.50170897 -2.73105 -3.80911 0 0.012394 -0.0008211290.9995 0.0290938 uwb: 0.50174396 1251.91 1242.41 -imu_odom_: 1691062521.668669646 0.162806 -0.459687 9.47146 -0.0500674 0.0447411 0.02024 0.2 0 pose: 0.0 -2.73105 -3.80911 0 0.012394 -0.0008211290.9995 0.0290938 uwb: 0.0 1251.91 1242.41 -imu_odom_: 1691062521.685781646 0.126893 -0.0861913 10.094 -0.0617853 -0.0308927 0.0468716 0.2 0 pose: 0.0 -2.73105 -3.80911 0 0.012394 -0.0008211290.9995 0.0290938 uwb: 0.50087779 1253.24 1242 -imu_odom_: 1691062521.709659120 0.706289 -0.31364 9.84017 -0.0671117 0.0191748 0.0276969 0.23 -0.02 pose: 0.51858327 -2.74411 -3.80367 0 0.00986672 -0.00327029 0.99953 0.0288452 uwb: 0.0 1253.24 1242 -imu_odom_: 1691062521.735701148 0.457293 -0.260968 10.1442 -0.0585895 0.0138484 0.0511327 0.23 -0.02 pose: 0.24080456 -2.75336 -3.80748 0 0.00733768 -0.00355721 0.999547 0.0289727 uwb: 0.50002037 1252.86 1243.76 -imu_odom_: 1691062521.758635749 0.454898 -0.0263362 10.0963 -0.0181095 0.0276969 0.0213053 0.2 0.02 pose: 0.41989509 -2.75336 -3.80748 0 0.00773737 -0.00371463 0.999542 0.0290349 uwb: 0.0 1252.86 1243.76 -imu_odom_: 1691062521.775705461 0.416591 -0.292093 9.31105 -0.0607201 0.0138484 0.0490022 0.2 0.02 pose: 0.0 -2.75336 -3.80748 0 0.00773737 -0.00371463 0.999542 0.0290349 uwb: 0.0 1252.86 1243.76 -imu_odom_: 1691062521.800757954 0.136469 -0.325611 9.74919 -0.0170442 0.0458064 0.0340885 0.18 -0.02 pose: 0.48893511 -2.76641 -3.80203 0 0.00426685 -0.0011601 0.999566 0.0291088 uwb: 0.49859716 1252.5 1245.12 -imu_odom_: 1691062521.824650593 0.071826 -0.189142 9.51935 -0.0479369 0.00532632 0.0543285 0.21 0 pose: 0.0 -2.76641 -3.80203 0 0.00426685 -0.0011601 0.999566 0.0291088 uwb: 0.0 1252.5 1245.12 -imu_odom_: 1691062521.848698093 0.0837971 -0.134075 9.61751 -0.0213053 0 0.0266316 0.21 0 pose: 0.41115754 -2.77566 -3.80584 0 -0.000304482-0.00159945 0.999576 0.0290725 uwb: 0.49737228 1252.63 1246.1 -imu_odom_: 1691062521.864639740 0.6608 0.131681 10.1011 -0.0660464 0.0138484 0.0585895 0.21 0 pose: 0.0 -2.77566 -3.80584 0 -0.000304482-0.00159945 0.999576 0.0290725 uwb: 0.0 1252.63 1246.1 -imu_odom_: 1691062521.889791391 0.648829 -0.447716 9.73004 -0.0575243 0.0255663 0.04048 0.18 0 pose: 0.48874264 -2.78491 -3.80964 0 -0.00380226 0.000621697 0.999571 0.0290191 uwb: 0.50068239 1251.83 1247.48 -imu_odom_: 1691062521.915739220 0.277727 -0.301669 9.91918 -0.0575243 0.00639159 0.0671117 0.18 0.02 pose: 0.33126557 -2.79379 -3.80594 0 -0.00177181 -0.0005321270.99958 0.0289323 uwb: 0.0 1251.83 1247.48 -imu_odom_: 1691062521.940759049 0.347159 -0.0861913 9.62469 -0.0340885 -0.00106526 0.0298274 0.18 0.02 pose: 0.0 -2.79379 -3.80594 0 -0.00177181 -0.0005321270.99958 0.0289323 uwb: 0.50056865 1252.61 1247.81 -imu_odom_: 1691062521.956635660 0.45011 -0.241814 9.79468 -0.0681769 -0.0458064 0.0553937 0.18 0 pose: 0.8027110 -2.79796 -3.8042 0 -0.00244678 -0.00103446 0.999581 0.0288224 uwb: 0.0 1252.61 1247.81 -imu_odom_: 1691062521.982807469 0.181959 -0.0407014 9.90242 -0.0287621 0.0287621 0.0330232 0.18 0 pose: 0.0 -2.79796 -3.8042 0 -0.00244678 -0.00103446 0.999581 0.0288224 uwb: 0.0 1252.61 1247.81 -imu_odom_: 1691062522.7660772 0.335188 -0.0670376 10.4627 -0.0617853 -0.0490022 0.0628506 0.19 0.02 pose: 0.48825268 -2.79796 -3.8042 0 -0.00297499 0.000361983 0.999585 0.0286448 uwb: 0.0 1252.61 1247.81 -imu_odom_: 1691062522.31689614 0.351948 -0.071826 10.5345 -0.0383495 -0.00532632 0.0340885 0.19 0.02 pose: 0.0 -2.79796 -3.8042 0 -0.00297499 0.000361983 0.999585 0.0286448 uwb: 0.100056575 1253.09 1248.72 -imu_odom_: 1691062522.55665085 0.766145 -0.337582 9.85693 -0.0873517 0.0181095 0.0617853 0.18 0 pose: 0.44005910 -2.8072 -3.80801 0 -0.0037649 0.00292083 0.999581 0.0285547 uwb: 0.0 1253.09 1248.72 -imu_odom_: 1691062522.71692187 0.0143652 -0.292093 9.27274 -0.04048 0.0191748 0.04048 0.18 0 pose: 0.0 -2.8072 -3.80801 0 -0.0037649 0.00292083 0.999581 0.0285547 uwb: 0.0 1253.09 1248.72 -imu_odom_: 1691062522.88628624 0.488417 -0.177171 10.0389 -0.0628506 -0.00852212 0.0553937 0.25 0 pose: 0.47991185 -2.82026 -3.80258 0 -0.00178271 0.00651615 0.999576 0.0283247 uwb: 0.49941389 1253.09 1249.59 -imu_odom_: 1691062522.113742368 1.04866 -0.268151 10.3142 -0.0458064 -0.036219 0.0415453 0.25 0 pose: 0.0 -2.82026 -3.80258 0 -0.00178271 0.00651615 0.999576 0.0283247 uwb: 0.0 1253.09 1249.59 -imu_odom_: 1691062522.138616967 0.679953 -0.40462 9.51456 -0.0873517 0.02024 0.0671117 0.21 0.02 pose: 0.41003775 -2.8295 -3.8064 0 -0.00148234 0.00443131 0.999595 0.0280608 uwb: 0.49979302 1251.94 1251.95 -imu_odom_: 1691062522.163676466 0.289698 -0.0861913 9.91918 -0.0543285 0.015979 0.0436758 0.21 0.02 pose: 0.0 -2.8295 -3.8064 0 -0.00148234 0.00443131 0.999595 0.0280608 uwb: 0.0 1251.94 1251.95 -imu_odom_: 1691062522.187609649 0.35913 -0.0215478 10.1682 -0.0436758 0.00532632 0.0553937 0.2 0.02 pose: 0.42046390 -2.8295 -3.8064 0 0.00262858 0.00283224 0.999605 0.0278418 uwb: 0.50046671 1251.56 1253.33 -imu_odom_: 1691062522.210699408 0.466869 -0.124498 9.92397 -0.0181095 0.0117179 0.0330232 0.2 0.02 pose: 0.0 -2.8295 -3.8064 0 0.00262858 0.00283224 0.999605 0.0278418 uwb: 0.0 1251.56 1253.33 -imu_odom_: 1691062522.237619573 0.213084 -0.246603 9.83299 -0.0468716 -0.00852212 0.0436758 0.23 0 pose: 0.48999098 -2.84257 -3.80099 0 0.000807465 0.00327485 0.999616 0.0275035 uwb: 0.50073793 1252.57 1253.46 -imu_odom_: 1691062522.253744958 0.011971 -0.102951 9.62948 -0.0181095 -0.015979 0.0351537 0.23 0 pose: 0.0 -2.84257 -3.80099 0 0.000807465 0.00327485 0.999616 0.0275035 uwb: 0.0 1252.57 1253.46 -imu_odom_: 1691062522.270667396 0.754174 -0.270545 9.85693 -0.076699 -0.02024 0.0575243 0.17 0.02 pose: 0.47088562 -2.8518 -3.80482 0 0.00157154 0.00476445 0.999611 0.0274241 uwb: 0.0 1252.57 1253.46 -imu_odom_: 1691062522.294607579 0.835576 -0.146046 9.72046 -0.0479369 0.0117179 0.0458064 0.17 0.02 pose: 0.0 -2.8518 -3.80482 0 0.00157154 0.00476445 0.999611 0.0274241 uwb: 0.0 1252.57 1253.46 -imu_odom_: 1691062522.320659822 0.464475 -0.272939 9.84496 -0.076699 0.00852212 0.0458064 0.18 0 pose: 0.76828890 -2.86487 -3.79942 0 0.00228175 0.00362225 0.999621 0.0271916 uwb: 0.0 1252.57 1253.46 -imu_odom_: 1691062522.346670360 0.481235 -0.280122 10.2711 -0.0351537 -0.0319579 0.0372843 0.2 -0.02 pose: 0.8018654 -2.86487 -3.79942 0 0.00232208 0.00274128 0.999625 0.0271646 uwb: 0.99847197 1252.44 1255.11 -imu_odom_: 1691062522.372744476 0.746991 -0.21069 10.2615 -0.0383495 0.0149137 0.0276969 0.2 -0.02 pose: 0.0 -2.86487 -3.79942 0 0.00232208 0.00274128 0.999625 0.0271646 uwb: 0.0 1252.44 1255.11 -imu_odom_: 1691062522.398593154 0.718261 0.0335188 10.2376 -0.0511327 0.02024 0.0596548 0.2 0 pose: 0.51192527 -2.87411 -3.80326 0 0.00423961 -0.00133504 0.999621 0.0271701 uwb: 0.49934681 1251.73 1257.06 -imu_odom_: 1691062522.415602793 0.198719 -0.445322 9.51935 -0.0511327 0.00852212 0.0468716 0.2 0 pose: 0.0 -2.87411 -3.80326 0 0.00423961 -0.00133504 0.999621 0.0271701 uwb: 0.0 1251.73 1257.06 -imu_odom_: 1691062522.440588507 0.181959 -0.179565 9.95988 -0.0468716 -0.0266316 0.0426106 0.19 0 pose: 0.26957495 -2.88718 -3.79787 0 0.0063436 -0.0003452160.99961 0.0272089 uwb: 0.50136788 1250.6 1259.51 -imu_odom_: 1691062522.467604038 0.940921 -0.162806 10.1155 -0.0276969 -0.036219 0.0276969 0.19 0 pose: 0.42899146 -2.89641 -3.80171 0 0.00501125 0.000282867 0.999624 0.0269601 uwb: 0.0 1250.6 1259.51 -imu_odom_: 1691062522.492632040 0.667982 -0.232238 9.93354 -0.0703074 0.00426106 0.056459 0.19 0 pose: 0.43928637 -2.89641 -3.80171 0 0.00665972 0.00105627 0.99961 0.0270937 uwb: 0.0 1250.6 1259.51 -imu_odom_: 1691062522.515618850 0.299275 -0.124498 9.96467 -0.0383495 -0.0266316 0.0308927 0.19 0 pose: 0.0 -2.89641 -3.80171 0 0.00665972 0.00105627 0.99961 0.0270937 uwb: 0.0 1250.6 1259.51 -imu_odom_: 1691062522.541739628 0.852336 -0.203507 9.84017 -0.0660464 -0.0458064 0.0479369 0.23 0 pose: 0.48014812 -2.90949 -3.79632 0 0.00699835 0.000974199 0.999611 0.0269804 uwb: 0.100049887 1249.01 1261.94 -imu_odom_: 1691062522.558605197 0.464475 -0.177171 9.58638 -0.0319579 0.04048 0.0372843 0.23 0 pose: 0.0 -2.90949 -3.79632 0 0.00699835 0.000974199 0.999611 0.0269804 uwb: 0.0 1249.01 1261.94 -imu_odom_: 1691062522.574728540 0.25618 -0.0909797 10.4531 -0.0607201 0.00745685 0.0628506 0.18 -0.02 pose: 0.42986347 -2.91872 -3.80016 0 0.00811267 0.00116042 0.999605 0.0268901 uwb: 0.0 1249.01 1261.94 -imu_odom_: 1691062522.599735252 0.500388 -0.102951 9.65103 -0.0703074 0.0106526 0.0287621 0.18 -0.02 pose: 0.0 -2.91872 -3.80016 0 0.00811267 0.00116042 0.999605 0.0268901 uwb: 0.49878686 1249.48 1262.89 -imu_odom_: 1691062522.625646049 0.428562 -0.462081 9.26795 -0.056459 0.00532632 0.0532632 0.2 0 pose: 0.41130055 -2.92762 -3.7965 0 0.00557269 0.00384515 0.999616 0.0268618 uwb: 0.0 1249.48 1262.89 -imu_odom_: 1691062522.650640220 0.428562 -0.143652 9.48822 -0.0255663 0.0298274 0.0223706 0.18 -0.02 pose: 0.0 -2.92762 -3.7965 0 0.00557269 0.00384515 0.999616 0.0268618 uwb: 0.49983093 1248.42 1265 -imu_odom_: 1691062522.676577265 0.0550666 -0.371101 9.81144 -0.0575243 0 0.0607201 0.18 -0.02 pose: 0.33880456 -2.9318 -3.79478 0 0.00401475 0.00191555 0.999632 0.026744 uwb: 0.0 1248.42 1265 -imu_odom_: 1691062522.702637966 0.366313 -0.0407014 9.68215 -0.0468716 0.0127832 0.0330232 0.19 0 pose: 0.42961557 -2.94103 -3.79862 0 -1.3924e-06 0.00194672 0.999644 0.026626 uwb: 0.50162744 1249.37 1265.55 -imu_odom_: 1691062522.719819089 0.737414 -0.0215478 10.0963 -0.072438 -0.0127832 0.0500674 0.19 0 pose: 0.0 -2.94103 -3.79862 0 -1.3924e-06 0.00194672 0.999644 0.026626 uwb: 0.0 1249.37 1265.55 -imu_odom_: 1691062522.744644109 0.56982 -0.0287304 10.0987 -0.0617853 -0.00958738 0.0394148 0.18 0 pose: 0.0 -2.94103 -3.79862 0 -1.3924e-06 0.00194672 0.999644 0.026626 uwb: 0.49926807 1250.09 1265.85 -imu_odom_: 1691062522.769707691 0.440533 -0.129287 10.003 -0.0788296 -0.0117179 0.0426106 0.18 0 pose: 0.51190485 -2.95411 -3.79324 0 0.0016393 0.00524387 0.999631 0.0266116 uwb: 0.0 1250.09 1265.85 -imu_odom_: 1691062522.783693601 0.0861913 -0.277727 9.89284 -0.0543285 -0.00426106 0.0298274 0.19 0 pose: 0.0 -2.95411 -3.79324 0 0.0016393 0.00524387 0.999631 0.0266116 uwb: 0.49963845 1251.09 1266.45 -imu_odom_: 1691062522.807682488 0.189142 -0.462081 9.82102 -0.072438 -0.0245011 0.0468716 0.19 0 pose: 0.47810664 -2.95411 -3.79324 0 0.00130401 0.00342344 0.999639 0.0266025 uwb: 0.0 1251.09 1266.45 -imu_odom_: 1691062522.831570175 0.395043 -0.371101 10.1921 -0.0308927 -0.02024 0.0287621 0.23 0 pose: 0.32104074 -2.96334 -3.79709 0 -0.0006781990.00103834 0.999646 0.0265615 uwb: 0.49891809 1249.9 1268.92 -imu_odom_: 1691062522.855701091 0.632069 -0.205901 10.1227 -0.0596548 0.00106526 0.0628506 0.23 0 pose: 0.0 -2.96334 -3.79709 0 -0.0006781990.00103834 0.999646 0.0265615 uwb: 0.0 1249.9 1268.92 -imu_odom_: 1691062522.871544751 0.277727 -0.141258 9.77792 -0.02024 0.0117179 0.0394148 0.26 0 pose: 0.0 -2.96334 -3.79709 0 -0.0006781990.00103834 0.999646 0.0265615 uwb: 0.0 1249.9 1268.92 -imu_odom_: 1691062522.886557527 0.464475 -0.155623 10.003 -0.0458064 0.00639159 0.0436758 0.26 0 pose: 0.6865800 -2.96334 -3.79709 0 -0.0006155820.000433296 0.999646 0.0265992 uwb: 0.50042005 1249.77 1270.2 -imu_odom_: 1691062522.913620305 0.835576 -0.416591 9.9934 -0.0511327 0.00958738 0.0394148 0.21 0.02 pose: 0.0 -2.96334 -3.79709 0 -0.0006155820.000433296 0.999646 0.0265992 uwb: 0.0 1249.77 1270.2 -imu_odom_: 1691062522.937620274 0.366313 -0.184354 10.1179 -0.0809601 0.015979 0.0671117 0.21 0.02 pose: 0.47124725 -2.97641 -3.79171 0 0.00131542 -0.0004670240.99965 0.0264149 uwb: 0.50036464 1250.3 1270.77 -imu_odom_: 1691062522.953543552 0.579397 -0.186748 10.0844 -0.0607201 -0.0447411 0.0511327 0.21 0 pose: 0.0 -2.97641 -3.79171 0 0.00131542 -0.0004670240.99965 0.0264149 uwb: 0.0 1250.3 1270.77 -imu_odom_: 1691062522.979547966 0.483629 -0.282516 9.73004 -0.0500674 -0.0106526 0.0500674 0.21 0 pose: 0.82930300 -2.98564 -3.79557 0 0.00180806 0.00041799 0.99966 0.0260147 uwb: 0.50004966 1250.42 1271.84 -imu_odom_: 1691062522.995656144 0.316035 -0.454898 9.98622 -0.0628506 0.0287621 0.052198 0.21 -0.02 pose: 0.0 -2.98564 -3.79557 0 0.00180806 0.00041799 0.99966 0.0260147 uwb: 0.0 1250.42 1271.84 -imu_odom_: 1691062523.11812444 0.328006 -0.0742203 10.0676 -0.0319579 0 0.0298274 0.21 -0.02 pose: 0.41956856 -2.99873 -3.7902 0 0.00313499 -0.00251467 0.99966 0.025772 uwb: 0.0 1250.42 1271.84 -imu_odom_: 1691062523.28759676 0.627281 -0.373495 9.72046 -0.0841559 -0.00639159 0.056459 0.21 -0.02 pose: 0.0 -2.99873 -3.7902 0 0.00313499 -0.00251467 0.99966 0.025772 uwb: 0.50170916 1251.34 1272.37 -imu_odom_: 1691062523.44592841 0.155623 -0.19393 10.0102 -0.0681769 0.00852212 0.0351537 0.18 0 pose: 0.0 -2.99873 -3.7902 0 0.00313499 -0.00251467 0.99966 0.025772 uwb: 0.0 1251.34 1272.37 -imu_odom_: 1691062523.70602803 0.390255 -0.304064 10.0389 -0.072438 -0.0245011 0.0596548 0.18 0 pose: 0.50038222 -3.00795 -3.79407 0 0.00215757 -0.00271081 0.999665 0.0256647 uwb: 0.0 1251.34 1272.37 -imu_odom_: 1691062523.93691694 0.706289 -0.213084 9.75637 -0.0383495 -0.0213053 0.0234358 0.18 0.02 pose: 0.34004412 -3.0147 -3.7969 0 -0.000320388-0.00454611 0.999667 0.0254125 uwb: 0.49779249 1252.09 1272.7 -imu_odom_: 1691062523.118588172 0.229843 -0.402226 9.27274 -0.0852212 -0.0372843 0.0607201 0.18 0.02 pose: 0.0 -3.0147 -3.7969 0 -0.000320388-0.00454611 0.999667 0.0254125 uwb: 0.0 1252.09 1272.7 -imu_odom_: 1691062523.132551338 0.373495 -0.0407014 9.8258 -0.0660464 -0.052198 0.0490022 0.19 0 pose: 0.0 -3.0147 -3.7969 0 -0.000320388-0.00454611 0.999667 0.0254125 uwb: 0.50027728 1251.93 1273.97 -imu_odom_: 1691062523.147581325 0.720655 -0.162806 10.2807 -0.0458064 -0.0287621 0.0383495 0.19 0 pose: 0.47985369 -3.02104 -3.78872 0 0.000314996 -0.00530828 0.999665 0.0253333 uwb: 0.0 1251.93 1273.97 -imu_odom_: 1691062523.173589829 1.37667 -0.208296 11.1402 -0.076699 -0.138484 0.0511327 0.25 -0.02 pose: 0.0 -3.02104 -3.78872 0 0.000314996 -0.00530828 0.999665 0.0253333 uwb: 0.0 1251.93 1273.97 -imu_odom_: 1691062523.196540190 2.44209 -0.122104 9.46907 -0.0692422 0.0191748 0.0500674 0.25 -0.02 pose: 0.36980896 -3.03026 -3.79259 0 0.00340278 -0.00341966 0.99967 0.0252349 uwb: 0.49965024 1252.3 1274.85 -imu_odom_: 1691062523.213641408 0.337582 -0.397437 10.3525 -0.0905475 0.0266316 0.0809601 0.18 -0.02 pose: 0.40971122 -3.03948 -3.79647 0 0.00842414 -0.0035587 0.999645 0.0250233 uwb: 0.0 1252.3 1274.85 -imu_odom_: 1691062523.228570779 0.577003 -0.368707 9.55526 -0.0628506 0.0617853 0.0372843 0.18 -0.02 pose: 0.7159775 -3.03948 -3.79647 0 0.00765623 -0.00397494 0.999653 0.024872 uwb: 0.49896198 1251.11 1276.92 -imu_odom_: 1691062523.245512178 0.823605 0.131681 9.60314 -0.052198 0.02024 0.00745685 0.18 -0.02 pose: 0.0 -3.03948 -3.79647 0 0.00765623 -0.00397494 0.999653 0.024872 uwb: 0.0 1251.11 1276.92 -imu_odom_: 1691062523.261513620 -0.0430956 -0.272939 10.2807 -0.0681769 0.00319579 0.0383495 0.18 0.02 pose: 0.41812213 -3.04873 -3.78951 0 0.00762867 -0.00441525 0.999649 0.0249649 uwb: 0.0 1251.11 1276.92 -imu_odom_: 1691062523.286509256 0.205901 -0.411803 10.2376 -0.0500674 -0.0713727 0.0532632 0.18 0.02 pose: 0.0 -3.04873 -3.78951 0 0.00762867 -0.00441525 0.999649 0.0249649 uwb: 0.49946651 1250.7 1278.42 -imu_odom_: 1691062523.309533402 0.706289 0.131681 10.1299 -0.0351537 -0.0255663 0.0426106 0.18 0 pose: 0.40997078 -3.05258 -3.79113 0 0.00442336 -0.00512027 0.99967 0.0247801 uwb: 0.0 1250.7 1278.42 -imu_odom_: 1691062523.334571034 0.509965 -0.282516 10.0772 -0.0490022 0.0266316 0.0490022 0.18 0.02 pose: 0.0 -3.05258 -3.79113 0 0.00442336 -0.00512027 0.99967 0.0247801 uwb: 0.50042601 1250.81 1279.53 -imu_odom_: 1691062523.361583073 0.799663 0.0167594 10.2592 -0.0351537 -0.0234358 0.0351537 0.22 0.02 pose: 0.31098214 -3.06179 -3.79502 0 0.00516301 -0.0034964 0.999675 0.0247144 uwb: 0.0 1250.81 1279.53 -imu_odom_: 1691062523.386525339 0.773327 -0.179565 9.62469 -0.072438 -0.0426106 0.0447411 0.19 0.02 pose: 0.43975603 -3.07218 -3.78854 0 0.00618689 -0.00269909 0.999672 0.0246985 uwb: 0.49979315 1250.04 1281.13 -imu_odom_: 1691062523.410694466 0.560243 -0.112527 9.61033 -0.0234358 -0.00426106 0.0276969 0.19 0.02 pose: 0.0 -3.07218 -3.78854 0 0.00618689 -0.00269909 0.999672 0.0246985 uwb: 0.0 1250.04 1281.13 -imu_odom_: 1691062523.434566702 0.715866 0.059855 9.94312 -0.0340885 -0.015979 0.052198 0.26 0 pose: 0.49111393 -3.08175 -3.79258 0 0.00884715 0.000602561 0.999653 0.0248062 uwb: 0.49971732 1251.13 1281.36 -imu_odom_: 1691062523.451648672 0.792481 -0.567426 9.39245 -0.0266316 0.0426106 0.0340885 0.26 0 pose: 0.5873349 -3.08411 -3.79357 0 0.00917478 0.00117437 0.99965 0.0247729 uwb: 0.0 1251.13 1281.36 -imu_odom_: 1691062523.467642240 0.47884 -0.0814029 10.5728 -0.0372843 0.015979 0.0532632 0.26 0 pose: 0.0 -3.08411 -3.79357 0 0.00917478 0.00117437 0.99965 0.0247729 uwb: 0.0 1251.13 1281.36 -imu_odom_: 1691062523.494773268 0.969652 -0.0335188 9.98622 -0.0585895 -0.0191748 0.04048 0.18 0.02 pose: 0.42978483 -3.08799 -3.78436 0 0.00977012 0.0021533 0.999646 0.024647 uwb: 0.50115511 1251.34 1282.09 -imu_odom_: 1691062523.519523926 0.756568 -0.454898 9.49301 -0.056459 0.0127832 0.0479369 0.18 0 pose: 0.35226970 -3.09458 -3.78714 0 0.0118304 0.00339696 0.999622 0.0245846 uwb: 0.0 1251.34 1282.09 -imu_odom_: 1691062523.546609166 0.201113 -0.129287 9.72285 -0.0245011 0.0191748 0.04048 0.18 0 pose: 0.0 -3.09458 -3.78714 0 0.0118304 0.00339696 0.999622 0.0245846 uwb: 0.50011979 1252.44 1282.33 -imu_odom_: 1691062523.571488146 0.416591 -0.356736 9.66539 -0.0660464 -0.0127832 0.0458064 0.18 -0.02 pose: 0.7936122 -3.0972 -3.78824 0 0.0120588 0.0026566 0.999623 0.0245415 uwb: 0.0 1252.44 1282.33 -imu_odom_: 1691062523.598651547 0.471658 -0.117316 9.7037 -0.0394148 -0.00852212 0.0415453 0.18 -0.02 pose: 0.0 -3.0972 -3.78824 0 0.0120588 0.0026566 0.999623 0.0245415 uwb: 0.49982523 1252.43 1283.32 -imu_odom_: 1691062523.614600493 0.521936 -0.047884 10.3741 -0.0575243 -0.0490022 0.0500674 0.18 0.02 pose: 0.51913767 -3.10642 -3.79213 0 0.00903655 0.00131346 0.99966 0.0244126 uwb: 0.0 1252.43 1283.32 -imu_odom_: 1691062523.641606699 0.545878 0.0311246 10.0197 -0.0681769 -0.04048 0.0607201 0.18 0.02 pose: 0.0 -3.10642 -3.79213 0 0.00903655 0.00131346 0.99966 0.0244126 uwb: 0.50007020 1252.13 1284.47 -imu_odom_: 1691062523.657486235 0.430956 -0.335188 9.94312 -0.0735032 -0.0287621 0.0617853 0.19 0 pose: 0.52163994 -3.11952 -3.78681 0 0.00638504 0.00308955 0.999679 0.0243032 uwb: 0.0 1252.13 1284.47 -imu_odom_: 1691062523.683478115 0.711078 -0.0646434 10.0868 -0.0458064 0.00532632 0.0308927 0.19 0 pose: 0.0 -3.11952 -3.78681 0 0.00638504 0.00308955 0.999679 0.0243032 uwb: 0.50001480 1252.86 1284.79 -imu_odom_: 1691062523.709548738 0.459687 -0.19393 10.2927 -0.0596548 -0.0500674 0.0468716 0.2 0.02 pose: 0.76690964 -3.13146 -3.78425 0 0.00921589 0.0055832 0.999656 0.0239249 uwb: 0.0 1252.86 1284.79 -imu_odom_: 1691062523.736474160 0.806846 -0.0861913 9.96227 -0.0479369 -0.0553937 0.0458064 0.21 0 pose: 0.8081651 -3.13263 -3.7815 0 0.00874568 0.00508789 0.999663 0.0238962 uwb: 0.50036768 1252.27 1286.64 -imu_odom_: 1691062523.752470935 0.354342 -0.481235 9.54568 -0.0735032 0.0117179 0.052198 0.2 0 pose: 0.0 -3.13263 -3.7815 0 0.00874568 0.00508789 0.999663 0.0238962 uwb: 0.0 1252.27 1286.64 -imu_odom_: 1691062523.777461030 0.435745 -0.169988 9.74201 -0.0585895 -0.0170442 0.0500674 0.2 0 pose: 0.44914394 -3.14184 -3.7854 0 0.0110495 0.00448832 0.999647 0.0237423 uwb: 0.49822704 1253.02 1286.98 -imu_odom_: 1691062523.791594806 0.560243 -0.248997 9.57202 -0.0490022 0.0127832 0.0543285 0.18 0 pose: 0.0 -3.14184 -3.7854 0 0.0110495 0.00448832 0.999647 0.0237423 uwb: 0.0 1253.02 1286.98 -imu_odom_: 1691062523.816477285 0.45011 -0.102951 9.92157 -0.0340885 -0.0170442 0.0234358 0.18 0 pose: 0.47013330 -3.15104 -3.7893 0 0.0076537 0.00220435 0.999693 0.0234592 uwb: 0.0 1253.02 1286.98 -imu_odom_: 1691062523.843524321 0.663194 -0.318429 10.1347 -0.0671117 -0.0234358 0.0415453 0.25 0 pose: 0.32989795 -3.15384 -3.78271 0 0.00592784 0.0032628 0.999698 0.0236067 uwb: 0.49984564 1254.87 1286.56 -imu_odom_: 1691062523.868473878 0.672771 0.0502782 9.63666 -0.0660464 0.0383495 0.0298274 0.25 0 pose: 0.7006373 -3.15495 -3.7801 0 0.00642956 0.00267 0.999697 0.0235955 uwb: 0.0 1254.87 1286.56 -imu_odom_: 1691062523.894612453 -0.0191536 -0.426168 9.60075 -0.0916127 0.00639159 0.0660464 0.23 0 pose: 0.44990220 -3.16415 -3.784 0 0.00849221 0.00306695 0.999678 0.0237017 uwb: 0.50070307 1253.59 1288.64 -imu_odom_: 1691062523.911790373 0.507571 -0.462081 10.2304 -0.0266316 -0.0383495 0.0149137 0.23 0 pose: 0.0 -3.16415 -3.784 0 0.00849221 0.00306695 0.999678 0.0237017 uwb: 0.0 1253.59 1288.64 -imu_odom_: 1691062523.938536727 0.744597 0.112527 10.5177 -0.0543285 -0.0340885 0.0543285 0.18 0.02 pose: 0.34152274 -3.17336 -3.78791 0 0.0060256 0.000849375 0.999706 0.0234521 uwb: 0.49931778 1251.95 1290.85 -imu_odom_: 1691062523.963498241 0.462081 -0.208296 10.2544 -0.0458064 0.0191748 0.0490022 0.18 0 pose: 0.0 -3.17336 -3.78791 0 0.0060256 0.000849375 0.999706 0.0234521 uwb: 0.0 1251.95 1290.85 -imu_odom_: 1691062523.990458368 0.708684 -0.189142 9.84256 -0.0553937 -0.0117179 0.0447411 0.18 0 pose: 0.44011766 -3.18647 -3.78261 0 0.00719743 0.00200485 0.9997 0.0233358 uwb: 0.50107053 1251.84 1291.75 -imu_odom_: 1691062524.15442050 0.363919 -0.215478 9.92875 -0.0830906 0.0330232 0.0596548 0.18 0 pose: 0.0 -3.18647 -3.78261 0 0.00719743 0.00200485 0.9997 0.0233358 uwb: 0.0 1251.84 1291.75 -imu_odom_: 1691062524.32496319 0.746991 -0.229843 10.2592 -0.0607201 -0.0234358 0.0447411 0.18 0 pose: 0.51814609 -3.18647 -3.78261 0 0.00728051 0.00111979 0.999706 0.0231004 uwb: 0.0 1251.84 1291.75 -imu_odom_: 1691062524.57447632 0.526724 -0.28491 9.93594 -0.052198 -0.0213053 0.0596548 0.18 0 pose: 0.0 -3.18647 -3.78261 0 0.00728051 0.00111979 0.999706 0.0231004 uwb: 0.0 1251.84 1291.75 -imu_odom_: 1691062524.84444804 0.507571 -0.181959 9.65103 -0.0447411 0.04048 0.0351537 0.18 0 pose: 0.42096281 -3.19568 -3.78652 0 0.00701546 -0.0004164970.999715 0.0227993 uwb: 0.100129842 1251.64 1293.07 -imu_odom_: 1691062524.110453606 0.373495 -0.25618 9.83059 -0.0713727 -0.0191748 0.0553937 0.19 0 pose: 0.43895996 -3.2088 -3.78125 0 0.00529564 0.000658669 0.999728 0.0226936 uwb: 0.0 1251.64 1293.07 -imu_odom_: 1691062524.137466818 0.306458 -0.296881 9.53371 -0.0596548 -0.0436758 0.0479369 0.23 0 pose: 0.0 -3.2088 -3.78125 0 0.00529564 0.000658669 0.999728 0.0226936 uwb: 0.49856547 1249.41 1296.17 -imu_odom_: 1691062524.153553423 0.823605 -0.457293 10.0149 -0.072438 -0.0266316 0.0681769 0.23 0 pose: 0.33045507 -3.2088 -3.78125 0 0.00256478 -0.0008334430.999744 0.0224553 uwb: 0.0 1249.41 1296.17 -imu_odom_: 1691062524.180450854 0.21069 -0.0407014 10.1227 -0.0490022 -0.0117179 0.0436758 0.23 0 pose: 0.0 -3.2088 -3.78125 0 0.00256478 -0.0008334430.999744 0.0224553 uwb: 0.49992452 1248.46 1297.68 -imu_odom_: 1691062524.206435450 0.289698 -0.399832 9.78031 -0.0777643 0.00319579 0.0596548 0.23 0 pose: 0.43009700 -3.21799 -3.78517 0 0.00223904 -0.00212765 0.99975 0.0221254 uwb: 0.0 1248.46 1297.68 -imu_odom_: 1691062524.231431676 0.584185 -0.234632 9.89045 -0.0585895 0.0117179 0.056459 0.25 0 pose: 0.45935439 -3.23112 -3.77991 0 -0.00085358 -0.00301754 0.999757 0.0218208 uwb: 0.0 1248.46 1297.68 -imu_odom_: 1691062524.254423747 0.581791 -0.383072 9.93833 -0.0756338 0.0245011 0.0468716 0.25 0 pose: 0.0 -3.23112 -3.77991 0 -0.00085358 -0.00301754 0.999757 0.0218208 uwb: 0.0 1248.46 1297.68 -imu_odom_: 1691062524.270474772 -0.131681 -0.11971 9.76595 -0.0351537 0.0191748 0.0394148 0.18 0 pose: 0.7053037 -3.23112 -3.77991 0 -0.000215724-0.00290429 0.999759 0.0217635 uwb: 0.0 1248.46 1297.68 -imu_odom_: 1691062524.297424990 0.409408 -0.31364 10.0413 -0.0777643 -0.0117179 0.0532632 0.18 0 pose: 0.0 -3.23112 -3.77991 0 -0.000215724-0.00290429 0.999759 0.0217635 uwb: 0.99992486 1248.56 1298.85 -imu_odom_: 1691062524.323481621 0.792481 0.0622492 9.83538 -0.0532632 0.0138484 0.0479369 0.18 0 pose: 0.48963543 -3.24031 -3.78385 0 0.0019923 -0.003971 0.999758 0.0215357 uwb: 0.0 1248.56 1298.85 -imu_odom_: 1691062524.339470818 0.426168 -0.316035 9.94551 -0.0671117 -0.0245011 0.0511327 0.18 0 pose: 0.0 -3.24031 -3.78385 0 0.0019923 -0.003971 0.999758 0.0215357 uwb: 0.49864713 1250.02 1299.01 -imu_odom_: 1691062524.365417501 0.0311246 0.143652 10.5536 -0.036219 -0.00426106 0.0447411 0.19 0.02 pose: 0.43047031 -3.25344 -3.77861 0 0.000214355 -0.00559653 0.999757 0.0213115 uwb: 0.0 1250.02 1299.01 -imu_odom_: 1691062524.392428088 0.711078 0.059855 9.98143 -0.0351537 -0.0543285 0.0245011 0.19 0.02 pose: 0.0 -3.25344 -3.77861 0 0.000214355 -0.00559653 0.999757 0.0213115 uwb: 0.50076444 1250.04 1300.1 -imu_odom_: 1691062524.418559671 0.40462 -0.143652 10.5058 -0.0479369 0.0117179 0.0447411 0.2 0 pose: 0.42043495 -3.25344 -3.77861 0 0.000507784 -0.00522726 0.999763 0.0211247 uwb: 0.0 1250.04 1300.1 -imu_odom_: 1691062524.445420939 0.691924 0.0047884 10.0963 -0.0575243 -0.00319579 0.0330232 0.23 0 pose: 0.52965727 -3.26263 -3.78256 0 0.00160985 -0.0006503110.999772 0.0212607 uwb: 0.49983411 1249.32 1301.91 -imu_odom_: 1691062524.461413635 0.0694318 -0.320823 9.57681 -0.0671117 -0.00319579 0.0468716 0.23 0 pose: 0.0 -3.26263 -3.78256 0 0.00160985 -0.0006503110.999772 0.0212607 uwb: 0.0 1249.32 1301.91 -imu_odom_: 1691062524.478458280 0.332794 -0.229843 10.3597 -0.0543285 -0.036219 0.0372843 0.23 0 pose: 0.0 -3.26263 -3.78256 0 0.00160985 -0.0006503110.999772 0.0212607 uwb: 0.49930915 1250.48 1302.24 -imu_odom_: 1691062524.504518994 0.912191 -0.0023942 9.80904 -0.0468716 0.0138484 0.0308927 0.18 0 pose: 0.77949997 -3.28088 -3.77951 0 0.000289193 0.00115945 0.999773 0.0212695 uwb: 0.0 1250.48 1302.24 -imu_odom_: 1691062524.531530748 0.52433 -0.344765 9.89524 -0.0394148 -0.0287621 0.0266316 0.25 0 pose: 0.7983953 -3.28495 -3.78127 0 0.0009716 0.0014605 0.999772 0.0213033 uwb: 0.50137689 1250.37 1303.18 -imu_odom_: 1691062524.556583260 0.483629 -0.282516 9.62948 -0.0681769 0.0117179 0.0575243 0.18 -0.02 pose: 0.45088515 -3.29437 -3.77751 0 0.00384711 -0.0001610010.99976 0.0215462 uwb: 0.0 1250.37 1303.18 -imu_odom_: 1691062524.583420613 0.667982 0.0526724 10.2137 -0.036219 -0.0553937 0.0255663 0.23 0.02 pose: 0.0 -3.29437 -3.77751 0 0.00384711 -0.0001610010.99976 0.0215462 uwb: 0.49870546 1250.26 1304.13 -imu_odom_: 1691062524.608562076 0.509965 -0.222661 9.94551 -0.0479369 -0.0372843 0.0468716 0.23 0.02 pose: 0.32009599 -3.29809 -3.77602 0 0.00440185 -0.00215804 0.99976 0.0213638 uwb: 0.0 1250.26 1304.13 -imu_odom_: 1691062524.635408470 0.481235 0.0861913 9.78271 -0.0585895 -0.0170442 0.0500674 0.22 0 pose: 0.0 -3.29809 -3.77602 0 0.00440185 -0.00215804 0.99976 0.0213638 uwb: 0.49987785 1248.34 1306.67 -imu_odom_: 1691062524.660393905 0.703895 0.11971 10.3046 -0.0511327 -0.0468716 0.0266316 0.22 0 pose: 0.52079432 -3.30728 -3.77997 0 0.00415357 -0.0005943620.999763 0.021377 uwb: 0.0 1248.34 1306.67 -imu_odom_: 1691062524.685402380 0.454898 -0.114922 10.1203 -0.0692422 -0.00958738 0.0436758 0.21 0 pose: 0.44774126 -3.31672 -3.7762 0 0.0063231 0.00341269 0.999744 0.02145 uwb: 0.49982536 1248.6 1307.55 -imu_odom_: 1691062524.708398826 0.826 -0.124498 9.99819 -0.0596548 -0.0340885 0.0351537 0.21 0 pose: 0.0 -3.31672 -3.7762 0 0.0063231 0.00341269 0.999744 0.02145 uwb: 0.0 1248.6 1307.55 -imu_odom_: 1691062524.724450726 0.620098 -0.0981623 9.67257 -0.0735032 -0.0138484 0.0511327 0.18 0 pose: 0.31003440 -3.32041 -3.77473 0 0.00476772 0.004182 0.99975 0.0214253 uwb: 0.0 1248.6 1307.55 -imu_odom_: 1691062524.741496828 1.01275 -0.28491 9.76595 -0.0788296 0.0170442 0.0436758 0.18 0 pose: 0.0 -3.32041 -3.77473 0 0.00476772 0.004182 0.99975 0.0214253 uwb: 0.50131564 1249.19 1308.28 -imu_odom_: 1691062524.766385147 0.723049 0 10.0724 -0.0383495 -0.0298274 0.0308927 0.18 0 pose: 0.50099483 -3.3296 -3.77867 0 0.00971413 0.00372407 0.999719 0.0213159 uwb: 0.0 1249.19 1308.28 -imu_odom_: 1691062524.793378236 0.794875 -0.335188 9.33739 -0.0639159 -0.0170442 0.04048 0.18 0 pose: 0.7903169 -3.3296 -3.77867 0 0.01037 0.00435406 0.999709 0.0213532 uwb: 0.49861214 1247.71 1310.31 -imu_odom_: 1691062524.818375629 0.234632 -0.251391 9.99819 -0.0447411 0.0777643 0.0394148 0.2 -0.02 pose: 0.43978239 -3.34159 -3.77609 0 0.0135454 0.00341214 0.999674 0.0213886 uwb: 0.0 1247.71 1310.31 -imu_odom_: 1691062524.834403031 0.11971 -0.215478 9.7875 -0.0532632 -0.0340885 0.0479369 0.2 -0.02 pose: 0.0 -3.34159 -3.77609 0 0.0135454 0.00341214 0.999674 0.0213886 uwb: 0.50022782 1248.84 1310.61 -imu_odom_: 1691062524.860534905 0.4956 0.00957681 10.4698 -0.0490022 0.0447411 0.0298274 0.18 -0.02 pose: 0.41024795 -3.34779 -3.7756 0 0.00873267 0.00284076 0.99973 0.0213236 uwb: 0.0 1248.84 1310.61 -imu_odom_: 1691062524.887409005 0.574608 -0.143652 9.9503 -0.0532632 0.00426106 0.0340885 0.22 0 pose: 0.0 -3.34779 -3.7756 0 0.00873267 0.00284076 0.99973 0.0213236 uwb: 0.50055446 1247.13 1312.36 -imu_odom_: 1691062524.912395898 0.423774 -0.158017 9.48104 -0.0777643 -0.00319579 0.0447411 0.18 0 pose: 0.33022175 -3.35192 -3.77737 0 0.00736597 0.00479471 0.999731 0.0214849 uwb: 0.0 1247.13 1312.36 -imu_odom_: 1691062524.939385196 0.251391 -0.217872 9.56962 -0.0628506 -0.0266316 0.0372843 0.23 0.02 pose: 0.0 -3.35192 -3.77737 0 0.00736597 0.00479471 0.999731 0.0214849 uwb: 0.49931499 1247.36 1313.21 -imu_odom_: 1691062524.964363923 0.572214 -0.40462 9.95988 -0.0703074 -0.0330232 0.0479369 0.23 0.02 pose: 0.44970692 -3.36388 -3.77486 0 0.00619687 0.00300043 0.999746 0.0214676 uwb: 0.0 1247.36 1313.21 -imu_odom_: 1691062524.981439481 1.14682 -0.265756 10.2544 -0.0330232 0.00426106 0.0276969 0.23 -0.02 pose: 0.0 -3.36388 -3.77486 0 0.00619687 0.00300043 0.999746 0.0214676 uwb: 0.49990410 1249.45 1312.48 -imu_odom_: 1691062525.6417335 0.667982 -0.009576819.88566 -0.0617853 -0.00213053 0.0436758 0.23 -0.02 pose: 0.58979941 -3.37424 -3.77607 0 0.00574801 -0.0001897990.999754 0.021432 uwb: 0.0 1249.45 1312.48 -imu_odom_: 1691062525.33416263 0.608127 -0.184354 9.68455 -0.0490022 -0.0181095 0.0458064 0.23 0 pose: 0.35041496 -3.38076 -3.77887 0 0.00808727 0.00180955 0.999735 0.021454 uwb: 0.50233061 1250.96 1312.68 -imu_odom_: 1691062525.49474000 0.354342 -0.47884 9.61272 -0.0500674 0.015979 0.052198 0.23 0 pose: 0.0 -3.38076 -3.77887 0 0.00808727 0.00180955 0.999735 0.021454 uwb: 0.0 1250.96 1312.68 -imu_odom_: 1691062525.76419850 0.399832 -0.0550666 9.94312 -0.036219 0.00639159 0.04048 0.25 0 pose: 0.6962338 -3.38343 -3.78002 0 0.00882255 0.00171181 0.99973 0.0214299 uwb: 0.0 1250.96 1312.68 -imu_odom_: 1691062525.101556945 0.430956 -0.229843 10.0748 -0.0713727 -0.00319579 0.0575243 0.25 0 pose: 0.0 -3.38343 -3.78002 0 0.00882255 0.00171181 0.99973 0.0214299 uwb: 0.49689742 1249.92 1314.75 -imu_odom_: 1691062525.128357267 0.514753 -0.131681 9.8665 -0.0532632 0.0223706 0.0490022 0.21 0 pose: 0.43003587 -3.38738 -3.77083 0 0.00912838 0.000784927 0.999732 0.0212481 uwb: 0.50095997 1249.83 1315.77 -imu_odom_: 1691062525.153349124 0.253785 -0.320823 10.0724 -0.0500674 0.0106526 0.0500674 0.19 0 pose: 0.52020534 -3.39656 -3.77477 0 0.00523669 0.00159581 0.999765 0.020994 uwb: 0.0 1249.83 1315.77 -imu_odom_: 1691062525.180374884 0.533907 -0.201113 9.84256 -0.0649811 -0.04048 0.052198 0.23 0 pose: 0.0 -3.39656 -3.77477 0 0.00523669 0.00159581 0.999765 0.020994 uwb: 0.49961259 1250.84 1315.91 -imu_odom_: 1691062525.196459743 0.723049 -0.0095768110.1227 -0.0607201 -0.0213053 0.0372843 0.23 0 pose: 0.51966872 -3.40971 -3.76954 0 0.0038543 0.00191904 0.999776 0.0207313 uwb: 0.0 1250.84 1315.91 -imu_odom_: 1691062525.223328309 0.610521 -0.220267 10.3669 -0.0532632 0.04048 0.0479369 0.18 -0.02 pose: 0.0 -3.40971 -3.76954 0 0.0038543 0.00191904 0.999776 0.0207313 uwb: 0.0 1250.84 1315.91 -imu_odom_: 1691062525.248471528 0.596156 -0.184354 9.73004 -0.0479369 -0.0372843 0.0372843 0.2 0 pose: 0.62957643 -3.41889 -3.7735 0 0.00877036 0.000223171 0.999752 0.020492 uwb: 0.50064791 1252.92 1315.69 -imu_odom_: 1691062525.275454416 0.342371 -0.433351 9.73961 -0.0713727 -0.0245011 0.0468716 0.2 0 pose: 0.0 -3.41889 -3.7735 0 0.00877036 0.000223171 0.999752 0.020492 uwb: 0.0 1252.92 1315.69 -imu_odom_: 1691062525.300364031 0.677559 -0.011971 9.46428 -0.0447411 -0.04048 0.0543285 0.2 0 pose: 0.8027410 -3.41889 -3.7735 0 0.00950634 0.000781725 0.999744 0.0205054 uwb: 0.49912555 1252.47 1316.83 -imu_odom_: 1691062525.317397014 0.639252 -0.306458 9.90721 -0.0735032 0.0170442 0.0585895 0.2 0 pose: 0.0 -3.41889 -3.7735 0 0.00950634 0.000781725 0.999744 0.0205054 uwb: 0.0 1252.47 1316.83 -imu_odom_: 1691062525.342390622 0.531513 -0.160412 9.21528 -0.052198 0.0671117 0.0319579 0.18 0.02 pose: 0.52116483 -3.43203 -3.76828 0 0.00987354 0.000676222 0.999744 0.0203698 uwb: 0.50051959 1253.01 1317.51 -imu_odom_: 1691062525.368511129 0.316035 -0.19393 9.81623 -0.0894822 0.00532632 0.0617853 0.18 0.02 pose: 0.0 -3.43203 -3.76828 0 0.00987354 0.000676222 0.999744 0.0203698 uwb: 0.0 1253.01 1317.51 -imu_odom_: 1691062525.393336168 0.531513 -0.270545 10.0748 -0.0671117 -0.015979 0.0490022 0.19 0 pose: 0.41930641 -3.44121 -3.77225 0 0.0100471 0.000855437 0.999747 0.0201139 uwb: 0.50048751 1253.26 1318.4 -imu_odom_: 1691062525.420398675 0.52433 -0.277727 9.93594 -0.0500674 0.00745685 0.0308927 0.2 0 pose: 0.50051376 -3.45039 -3.77622 0 0.00547846 0.000501047 0.999787 0.0198699 uwb: 0.0 1253.26 1318.4 -imu_odom_: 1691062525.445365743 0.335188 -0.260968 10.0724 -0.0500674 -0.0532632 0.056459 0.19 0 pose: 0.0 -3.45039 -3.77622 0 0.00547846 0.000501047 0.999787 0.0198699 uwb: 0.49848686 1252.5 1319.72 -imu_odom_: 1691062525.462304818 0.246603 -0.332794 9.7444 -0.0436758 -0.0181095 0.0340885 0.19 0 pose: 0.0 -3.45039 -3.77622 0 0.00547846 0.000501047 0.999787 0.0198699 uwb: 0.0 1252.5 1319.72 -imu_odom_: 1691062525.487370460 0.629675 -0.100556 9.73243 -0.0415453 -0.00532632 0.0458064 0.23 0 pose: 0.52896914 -3.46354 -3.77102 0 0.00538109 -0.00380705 0.999782 0.0198074 uwb: 0.50146742 1251.52 1321.36 -imu_odom_: 1691062525.514309603 0.47884 -0.301669 10.173 -0.0426106 -0.0351537 0.0319579 0.23 -0.02 pose: 0.24023611 -3.46354 -3.77102 0 0.00348616 -0.00356723 0.999794 0.0196732 uwb: 0.0 1251.52 1321.36 -imu_odom_: 1691062525.539493652 0.354342 -0.220267 9.73482 -0.0639159 -0.0394148 0.0447411 0.23 -0.02 pose: 0.34995716 -3.47272 -3.77499 0 0.00436379 -0.00175298 0.999796 0.0196285 uwb: 0.49928303 1250.05 1323.52 -imu_odom_: 1691062525.556465973 0.612916 -0.222661 9.94551 -0.0671117 -0.02024 0.0266316 0.23 0 pose: 0.6946007 -3.47272 -3.77499 0 0.00429804 -0.00238389 0.999795 0.0196513 uwb: 0.0 1250.05 1323.52 -imu_odom_: 1691062525.582310005 0.397437 -0.562637 9.80186 -0.0713727 -0.00319579 0.0447411 0.23 0 pose: 0.0 -3.47272 -3.77499 0 0.00429804 -0.00238389 0.999795 0.0196513 uwb: 0.49952802 1248.62 1325.18 -imu_odom_: 1691062525.609328474 0.634463 -0.21069 9.64624 -0.0191748 0.052198 0.0223706 0.23 -0.02 pose: 0.52064863 -3.48587 -3.7698 0 0.00310155 -0.00287744 0.999797 0.019694 uwb: 0.0 1248.62 1325.18 -imu_odom_: 1691062525.635316285 0.682347 -0.0550666 9.98382 -0.0660464 -0.0170442 0.052198 0.23 -0.02 pose: 0.0 -3.48587 -3.7698 0 0.00310155 -0.00287744 0.999797 0.019694 uwb: 0.50056334 1249.86 1325.03 -imu_odom_: 1691062525.652448134 0.1652 -0.181959 9.93115 -0.0234358 0.0372843 0.0138484 0.25 0 pose: 0.43099537 -3.49505 -3.77377 0 0.00377378 -0.00482544 0.999786 0.0197514 uwb: 0.0 1249.86 1325.03 -imu_odom_: 1691062525.678493398 0.265756 -0.222661 9.83777 -0.0436758 -0.04048 0.056459 0.25 0 pose: 0.0 -3.49505 -3.77377 0 0.00377378 -0.00482544 0.999786 0.0197514 uwb: 0.50129243 1248.2 1326.98 -imu_odom_: 1691062525.705314134 0.533907 0.131681 10.4076 -0.0415453 -0.0383495 0.0340885 0.23 0 pose: 0.52893706 -3.49902 -3.7646 0 0.00591515 -0.0013302 0.999784 0.0198781 uwb: 0.0 1248.2 1326.98 -imu_odom_: 1691062525.721294586 0.320823 -0.167594 9.73961 -0.0692422 0.0308927 0.0468716 0.23 0 pose: 0.0 -3.49902 -3.7646 0 0.00591515 -0.0013302 0.999784 0.0198781 uwb: 0.0 1248.2 1326.98 -imu_odom_: 1691062525.748297306 0.56982 -0.356736 9.62708 -0.0511327 -0.0213053 0.0319579 0.23 0 pose: 0.42924843 -3.5082 -3.76857 0 0.00286523 2.50328e-05 0.9998 0.0198045 uwb: 0.49801732 1247.98 1327.88 -imu_odom_: 1691062525.773290039 0.579397 -0.411803 9.32063 -0.0703074 0.0223706 0.04048 0.2 0 pose: 0.44038620 -3.51737 -3.77255 0 0.0023207 0.00144404 0.999799 0.0198381 uwb: 0.0 1247.98 1327.88 -imu_odom_: 1691062525.800290717 0.0909797 -0.268151 9.80665 -0.0649811 0.0426106 0.0543285 0.21 0.02 pose: 0.0 -3.51737 -3.77255 0 0.0023207 0.00144404 0.999799 0.0198381 uwb: 0.50057792 1249.69 1327.76 -imu_odom_: 1691062525.816347579 0.035913 -0.167594 9.93115 -0.0735032 0.0276969 0.0458064 0.21 0.02 pose: 0.50995709 -3.53052 -3.76734 0 0.0035435 -0.00248614 0.999794 0.0198339 uwb: 0.0 1249.69 1327.76 -imu_odom_: 1691062525.843306845 0.579397 -0.0023942 9.48822 -0.0628506 -0.0276969 0.0383495 0.24 0 pose: 0.0 -3.53052 -3.76734 0 0.0035435 -0.00248614 0.999794 0.0198339 uwb: 0.49943469 1248.63 1329.34 -imu_odom_: 1691062525.869293197 0.0215478 -0.292093 10.1562 -0.052198 0.0340885 0.0276969 0.18 -0.05 pose: 0.62973100 -3.5397 -3.77132 0 0.00123138 -0.0002617860.999806 0.0196489 uwb: 0.0 1248.63 1329.34 -imu_odom_: 1691062525.896342871 0.296881 -0.371101 9.9527 -0.0628506 -0.0308927 0.0681769 0.24 0 pose: 0.8002912 -3.5397 -3.77132 0 0.000287731 -0.0003714440.999806 0.0196962 uwb: 0.49879016 1248.33 1330.74 -imu_odom_: 1691062525.922416424 0.912191 0.131681 9.91678 -0.0426106 0.00745685 0.02024 0.18 0 pose: 0.25072059 -3.54368 -3.76215 0 -0.00206395 -0.00127686 0.999803 0.0197017 uwb: 0.0 1248.33 1330.74 -imu_odom_: 1691062525.949332236 0.814029 -0.107739 10.0437 -0.0809601 0.0149137 0.056459 0.18 0 pose: 0.0 -3.54368 -3.76215 0 -0.00206395 -0.00127686 0.999803 0.0197017 uwb: 0.49991589 1245.36 1334 -imu_odom_: 1691062525.974269848 0.454898 -0.110133 9.991 -0.0596548 -0.00319579 0.0383495 0.18 0 pose: 0.27942386 -3.55285 -3.76612 0 -0.00210538 -0.00262291 0.999804 0.0194969 uwb: 0.0 1245.36 1334 -imu_odom_: 1691062526.1269069 0.529119 -0.241814 10.0437 -0.0692422 -0.0106526 0.0255663 0.18 0 pose: 0.53132560 -3.56202 -3.7701 0 0.00173308 -0.0002514240.999809 0.0194571 uwb: 0.50085790 1243.43 1336.28 -imu_odom_: 1691062526.26265890 0.694318 -0.220267 9.84975 -0.0585895 -0.0234358 0.0383495 0.18 -0.02 pose: 0.0 -3.56202 -3.7701 0 0.00173308 -0.0002514240.999809 0.0194571 uwb: 0.49912561 1241.94 1337.93 -imu_odom_: 1691062526.43308793 0.512359 -0.0790087 9.75398 -0.0671117 0.0245011 0.0319579 0.18 -0.02 pose: 0.51863924 -3.57518 -3.76491 0 0.00523432 -0.0003524670.999793 0.019659 uwb: 0.0 1241.94 1337.93 -imu_odom_: 1691062526.68309989 0.129287 -0.0981623 9.52413 -0.0511327 0 0.0415453 0.21 0 pose: 0.0 -3.57518 -3.76491 0 0.00523432 -0.0003524670.999793 0.019659 uwb: 0.0 1241.94 1337.93 -imu_odom_: 1691062526.95395834 0.555455 -0.316035 9.96467 -0.052198 0.0181095 0.0213053 0.23 0 pose: 0.58989303 -3.58169 -3.76773 0 0.00407218 0.00182892 0.999795 0.0197293 uwb: 0.49982853 1242.28 1338.41 -imu_odom_: 1691062526.120276875 0.112527 -0.296881 9.45231 -0.0532632 0.0127832 0.0447411 0.23 0 pose: 0.0 -3.58169 -3.76773 0 0.00407218 0.00182892 0.999795 0.0197293 uwb: 0.0 1242.28 1338.41 -imu_odom_: 1691062526.147348721 0.172383 -0.0646434 9.71088 -0.0223706 -0.00745685 0.0234358 0.23 0 pose: 0.6958841 -3.58435 -3.76889 0 0.00430544 0.00121883 0.999794 0.0197895 uwb: 0.50253496 1242.93 1338.69 -imu_odom_: 1691062526.163261807 0.550666 -0.0287304 9.94073 -0.0713727 0.0287621 0.0585895 0.23 0 pose: 0.0 -3.58435 -3.76889 0 0.00430544 0.00121883 0.999794 0.0197895 uwb: 0.0 1242.93 1338.69 -imu_odom_: 1691062526.190271242 0.0814029 -0.0143652 9.98622 -0.0287621 -0.00319579 0.0351537 0.23 -0.02 pose: 0.52028130 -3.5975 -3.76369 0 0.00173553 -0.0004452610.999799 0.0199531 uwb: 0.49993352 1242.36 1339.77 -imu_odom_: 1691062526.215321143 0.282516 -0.268151 10.003 -0.052198 -0.00213053 0.0585895 0.23 -0.02 pose: 0.0 -3.5975 -3.76369 0 0.00173553 -0.0004452610.999799 0.0199531 uwb: 0.0 1242.36 1339.77 -imu_odom_: 1691062526.242320078 0.572214 0.299275 10.4004 -0.0383495 -0.0181095 0.0447411 0.23 0.02 pose: 0.43977094 -3.60668 -3.76766 0 0.00016756 0.00247938 0.999797 0.019982 uwb: 0.49991019 1240.94 1341.55 -imu_odom_: 1691062526.258255913 0.220267 -0.244209 9.84017 -0.0628506 0.0255663 0.052198 0.23 0.02 pose: 0.0 -3.60668 -3.76766 0 0.00016756 0.00247938 0.999797 0.019982 uwb: 0.0 1240.94 1341.55 -imu_odom_: 1691062526.275266736 0.248997 -0.277727 10.4387 -0.0617853 -0.0394148 0.0223706 0.25 0.02 pose: 0.51062799 -3.60668 -3.76766 0 -0.00269741 0.00229922 0.999798 0.019778 uwb: 0.0 1240.94 1341.55 -imu_odom_: 1691062526.301316089 0.627281 -0.418985 9.73961 -0.072438 -0.0394148 0.0607201 0.25 0.02 pose: 0.0 -3.60668 -3.76766 0 -0.00269741 0.00229922 0.999798 0.019778 uwb: 0.49850448 1239.27 1343.62 -imu_odom_: 1691062526.318536893 0.131681 -0.237026 9.80186 -0.0383495 -0.0308927 0.0351537 0.25 0.02 pose: 0.42923397 -3.61983 -3.76246 0 -0.00346461 0.00266628 0.999797 0.0196894 uwb: 0.0 1239.27 1343.62 -imu_odom_: 1691062526.343304777 0.349553 -0.0143652 9.78271 -0.0713727 0.0245011 0.056459 0.25 0.02 pose: 0.0 -3.61983 -3.76246 0 -0.00346461 0.00266628 0.999797 0.0196894 uwb: 0.50125173 1240.76 1343.2 -imu_odom_: 1691062526.360279728 0.548272 -0.0646434 9.78271 -0.0628506 -0.0330232 0.04048 0.23 0 pose: 0.43254408 -3.62901 -3.76644 0 -0.00202539 -6.5563e-05 0.999807 0.019524 uwb: 0.0 1240.76 1343.2 -imu_odom_: 1691062526.376271558 0.76375 -0.0957681 10.1778 -0.0372843 -0.0223706 0.0351537 0.23 0 pose: 0.0 -3.62901 -3.76644 0 -0.00202539 -6.5563e-05 0.999807 0.019524 uwb: 0.0 1240.76 1343.2 -imu_odom_: 1691062526.393380664 0.368707 -0.409408 9.27993 -0.0671117 0.0138484 0.0671117 0.23 0 pose: 0.0 -3.62901 -3.76644 0 -0.00202539 -6.5563e-05 0.999807 0.019524 uwb: 0.50022808 1239.02 1345.19 -imu_odom_: 1691062526.419379855 -0.0981623 -0.184354 9.55765 -0.0319579 0.0553937 0.036219 0.25 0.02 pose: 0.41887781 -3.64216 -3.76124 0 -0.00243626 0.00252652 0.999807 0.0193241 uwb: 0.0 1239.02 1345.19 -imu_odom_: 1691062526.443251235 0.287304 -0.241814 9.8258 -0.0852212 0.0245011 0.0660464 0.24 0 pose: 0.68977416 -3.64876 -3.76411 0 -0.00349521 0.00187638 0.999809 0.0191584 uwb: 0.49725626 1239.86 1345.76 -imu_odom_: 1691062526.467308682 0.416591 -0.268151 10.2639 -0.0575243 -0.00958738 0.0543285 0.24 0 pose: 0.0 -3.64876 -3.76411 0 -0.00349521 0.00187638 0.999809 0.0191584 uwb: 0.0 1239.86 1345.76 -imu_odom_: 1691062526.492364415 0.172383 -0.349553 10.0868 -0.0617853 -0.0298274 0.0500674 0.19 0 pose: 0.7029417 -3.65133 -3.76523 0 -0.0040338 0.00122138 0.999809 0.0190676 uwb: 0.50178836 1239.6 1346.68 -imu_odom_: 1691062526.519423429 0.608127 -0.347159 10.0317 -0.0553937 -0.0490022 0.0639159 0.19 0 pose: 0.0 -3.65133 -3.76523 0 -0.0040338 0.00122138 0.999809 0.0190676 uwb: 0.0 1239.6 1346.68 -imu_odom_: 1691062526.535307060 0.423774 -0.344765 9.67736 -0.0585895 0.0117179 0.0511327 0.18 -0.02 pose: 0.48964444 -3.66449 -3.76005 0 -0.00360327 -0.00169218 0.999818 0.0186358 uwb: 0.49821575 1238.38 1348.14 -imu_odom_: 1691062526.562224336 0.68953 -0.208296 9.76595 -0.04048 -0.00745685 0.0458064 0.18 -0.02 pose: 0.0 -3.66449 -3.76005 0 -0.00360327 -0.00169218 0.999818 0.0186358 uwb: 0.0 1238.38 1348.14 -imu_odom_: 1691062526.587259946 0.3304 -0.378284 9.95988 -0.056459 0.0149137 0.0500674 0.25 0.02 pose: 0.51917306 -3.67366 -3.76405 0 -0.00121812 -0.00402203 0.999826 0.0181841 uwb: 0.49988978 1239.96 1348.48 -imu_odom_: 1691062526.614550815 0.505177 -0.222661 9.84256 -0.0660464 -0.0553937 0.0596548 0.22 0 pose: 0.16062407 -3.67366 -3.76405 0 -1.57893e-05-0.00438296 0.999826 0.0181191 uwb: 0.0 1239.96 1348.48 -imu_odom_: 1691062526.630353953 0.512359 0.0790087 9.92397 -0.0543285 -0.0394148 0.0500674 0.22 0 pose: 0.43906517 -3.68289 -3.76044 0 -0.00037085 -0.00527478 0.999825 0.0179278 uwb: 0.50117007 1238.01 1350.87 -imu_odom_: 1691062526.657212318 0.213084 -0.134075 9.95748 -0.0511327 -0.0117179 0.0415453 0.25 0.02 pose: 0.7138783 -3.68683 -3.7589 0 0.000355413 -0.00485311 0.999829 0.0178579 uwb: 0.0 1238.01 1350.87 -imu_odom_: 1691062526.682385874 0.620098 -0.344765 9.84017 -0.0426106 0 0.0415453 0.25 0.02 pose: 0.0 -3.68683 -3.7589 0 0.000355413 -0.00485311 0.999829 0.0178579 uwb: 0.50131007 1239.72 1350.76 -imu_odom_: 1691062526.709279527 0.54109 -0.390255 10.1251 -0.0490022 -0.0181095 0.0692422 0.23 -0.02 pose: 0.42953144 -3.68683 -3.7589 0 0.00237217 -0.00177337 0.999841 0.0175743 uwb: 0.0 1239.72 1350.76 -imu_odom_: 1691062526.734277224 0.581791 0.229843 10.4531 -0.0319579 -0.0415453 0.0372843 0.23 -0.02 pose: 0.0 -3.68683 -3.7589 0 0.00237217 -0.00177337 0.999841 0.0175743 uwb: 0.49977603 1240.61 1351.4 -imu_odom_: 1691062526.751269090 0.339977 -0.445322 9.66779 -0.052198 0.0181095 0.0532632 0.23 0 pose: 0.51865686 -3.69599 -3.76291 0 0.00318137 -0.00251556 0.99984 0.017427 uwb: 0.0 1240.61 1351.4 -imu_odom_: 1691062526.776207875 0.476446 -0.229843 9.67497 -0.0266316 0.0447411 0.0372843 0.23 0 pose: 0.0 -3.69599 -3.76291 0 0.00318137 -0.00251556 0.99984 0.017427 uwb: 0.0 1240.61 1351.4 -imu_odom_: 1691062526.803219935 0.292093 -0.42138 9.41161 -0.0607201 -0.0372843 0.0639159 0.21 0 pose: 0.52014422 -3.70916 -3.75777 0 0.00471266 -0.00198167 0.99984 0.0171131 uwb: 0.0 1240.61 1351.4 -imu_odom_: 1691062526.828265753 0.536301 -0.141258 9.68694 -0.0351537 -0.0319579 0.0394148 0.21 0 pose: 0.0 -3.70916 -3.75777 0 0.00471266 -0.00198167 0.99984 0.0171131 uwb: 0.99921669 1240.22 1352.81 -imu_odom_: 1691062526.845316822 0.620098 -0.110133 9.89045 -0.0735032 -0.0351537 0.0532632 0.23 0 pose: 0.41992771 -3.71832 -3.7618 0 0.00283516 -0.0004400250.999852 0.0169909 uwb: 0.0 1240.22 1352.81 -imu_odom_: 1691062526.870196696 0.275333 0.107739 10.1466 -0.0607201 -0.00319579 0.056459 0.23 0 pose: 0.0 -3.71832 -3.7618 0 0.00283516 -0.0004400250.999852 0.0169909 uwb: 0.0 1240.22 1352.81 -imu_odom_: 1691062526.897199423 0.296881 -0.335188 9.97185 -0.0820254 -0.0692422 0.0575243 0.19 0 pose: 0.52125246 -3.7315 -3.75668 0 0.00458952 0.000418774 0.99985 0.0167042 uwb: 0.49814284 1240.53 1353.93 -imu_odom_: 1691062526.922373270 0.186748 -0.483629 10.2352 -0.056459 0.0245011 0.0383495 0.19 0 pose: 0.61849425 -3.74065 -3.76071 0 0.00292896 0.000595798 0.999864 0.0162013 uwb: 0.0 1240.53 1353.93 -imu_odom_: 1691062526.939368636 0.859518 -0.0574608 9.7444 -0.0660464 -0.0692422 0.0532632 0.19 0 pose: 0.0 -3.74065 -3.76071 0 0.00292896 0.000595798 0.999864 0.0162013 uwb: 0.50186710 1241.78 1354.42 -imu_odom_: 1691062526.955191898 0.931344 -0.0742203 9.07163 -0.0479369 -0.0426106 0.0788296 0.19 0 pose: 0.0 -3.74065 -3.76071 0 0.00292896 0.000595798 0.999864 0.0162013 uwb: 0.0 1241.78 1354.42 -imu_odom_: 1691062526.972353207 0.80924 -0.361524 10.1801 -0.0468716 0.00213053 0.111853 0.22 0.23 pose: 0.8150193 -3.74065 -3.76071 0 0.00223282 1.94351e-05 0.999866 0.0162049 uwb: 0.0 1241.78 1354.42 -imu_odom_: 1691062526.989238333 1.56581 -0.272939 10.7141 -0.0500674 -0.04048 0.183225 0.22 0.23 pose: 0.0 -3.74065 -3.76071 0 0.00223282 1.94351e-05 0.999866 0.0162049 uwb: 0.0 1241.78 1354.42 -imu_odom_: 1691062527.5187583 1.72383 -0.342371 9.18655 -0.0479369 0.00958738 0.271642 0.22 0.23 pose: 0.0 -3.74065 -3.76071 0 0.00223282 1.94351e-05 0.999866 0.0162049 uwb: 0.0 1241.78 1354.42 -imu_odom_: 1691062527.22164872 1.69509 -0.366313 10.3884 -0.0585895 0.0287621 0.361125 0.12 0.29 pose: 0.56960066 -3.75382 -3.7556 0 0.00535364 -0.0004414510.999865 0.0155306 uwb: 0.0 1241.78 1354.42 -imu_odom_: 1691062527.39247151 1.38385 -0.490811 9.44991 -0.0660464 0 0.415453 0.11 0.38 pose: 0.0 -3.75382 -3.7556 0 0.00535364 -0.0004414510.999865 0.0155306 uwb: 0.99996043 1245.02 1353.19 -imu_odom_: 1691062527.57187145 1.14443 -0.248997 9.84496 -0.0458064 0.0340885 0.425041 0.11 0.38 pose: 0.67893686 -3.76299 -3.75959 0 0.0118352 -0.001626 0.999898 0.00786099 uwb: 0.0 1245.02 1353.19 -imu_odom_: 1691062527.74241135 1.00317 0.0143652 10.0197 -0.0447411 0.0181095 0.471912 0.1 0.44 pose: 0.0 -3.76299 -3.75959 0 0.0118352 -0.001626 0.999898 0.00786099 uwb: 0.0 1245.02 1353.19 -imu_odom_: 1691062527.90445867 0.351948 -0.328006 9.50259 -0.0681769 0.0394148 0.552872 0.1 0.44 pose: 0.0 -3.76299 -3.75959 0 0.0118352 -0.001626 0.999898 0.00786099 uwb: 0.49921621 1247.29 1352.49 -imu_odom_: 1691062527.108457314 0.895431 -0.830788 9.98622 -0.0607201 -0.015979 0.599744 0.1 0.44 pose: 0.34045860 -3.76299 -3.75959 0 0.0145754 -0.00147333 0.999892 0.00118648 uwb: 0.0 1247.29 1352.49 -imu_odom_: 1691062527.125372191 0.821211 -0.505177 9.77553 -0.0383495 -0.00639159 0.635963 0.08 0.5 pose: 0.44208086 -3.76844 -3.76189 0 0.0140795 -0.00322281 0.999844 -0.0101928 uwb: 0.0 1247.29 1352.49 -imu_odom_: 1691062527.142196368 0.833182 -0.265756 9.99819 -0.0607201 0.0181095 0.678573 0.08 0.5 pose: 0.6762567 -3.77218 -3.76353 0 0.0144543 -0.00375723 0.999814 -0.0122163 uwb: 0.50103313 1249.42 1352.26 -imu_odom_: 1691062527.159312769 0.603339 -0.158017 9.80665 -0.0511327 0.0191748 0.66366 0.09 0.67 pose: 0.0 -3.77218 -3.76353 0 0.0144543 -0.00375723 0.999814 -0.0122163 uwb: 0.0 1249.42 1352.26 -imu_odom_: 1691062527.176311638 0.416591 -0.160412 9.75637 -0.0308927 -0.00426106 0.639159 0.06 0.55 pose: 0.44092888 -3.77214 -3.76349 0 0.0150727 -0.00289164 0.999546 -0.0259326 uwb: 0.0 1249.42 1352.26 -imu_odom_: 1691062527.192447543 0.517148 -0.0335188 9.93354 -0.0468716 -0.00213053 0.647681 0.06 0.58 pose: 0.0 -3.77214 -3.76349 0 0.0150727 -0.00289164 0.999546 -0.0259326 uwb: 0.49883708 1249.04 1353.68 -imu_odom_: 1691062527.210446741 0.751779 -0.320823 10.1466 -0.052198 0.00745685 0.638093 0.06 0.58 pose: 0.0 -3.77214 -3.76349 0 0.0150727 -0.00289164 0.999546 -0.0259326 uwb: 0.0 1249.04 1353.68 -imu_odom_: 1691062527.227163885 0.672771 -0.325611 10.1514 -0.0490022 0.00426106 0.585895 0.05 0.5 pose: 0.23900841 -3.77218 -3.76353 0 0.0130678 -0.00156521 0.999365 -0.0331162 uwb: 0.49876708 1249.89 1354.23 -imu_odom_: 1691062527.243222213 0.622492 -0.0622492 9.69412 -0.0490022 -0.00745685 0.548611 0.05 0.5 pose: 0.0 -3.77218 -3.76353 0 0.0130678 -0.00156521 0.999365 -0.0331162 uwb: 0.0 1249.89 1354.23 -imu_odom_: 1691062527.260161297 0.56982 -0.0526724 9.71567 -0.0543285 -0.00106526 0.52411 0.05 0.5 pose: 0.35132806 -3.77621 -3.75438 0 0.0137531 -0.00273612 0.998956 -0.0434742 uwb: 0.0 1249.89 1354.23 -imu_odom_: 1691062527.277218786 0.708684 -0.1652 10.003 -0.0511327 -0.00213053 0.499609 0.04 0.35 pose: 0.0 -3.77621 -3.75438 0 0.0137531 -0.00273612 0.998956 -0.0434742 uwb: 0.50069192 1249.81 1355.43 -imu_odom_: 1691062527.294273359 0.737414 -0.342371 9.9096 -0.0490022 -0.0127832 0.46339 0.04 0.35 pose: 0.0 -3.77621 -3.75438 0 0.0137531 -0.00273612 0.998956 -0.0434742 uwb: 0.0 1249.81 1355.43 -imu_odom_: 1691062527.312163192 0.723049 -0.196325 9.84017 -0.056459 -0.00852212 0.430367 0.04 0.35 pose: 0.75926943 -3.78534 -3.75834 0 0.0144937 -0.0006279610.997998 -0.0615611 uwb: 0.0 1249.81 1355.43 -imu_odom_: 1691062527.329376126 0.68953 -0.0430956 9.87129 -0.056459 0.00213053 0.394148 0.04 0.29 pose: 0.0 -3.78534 -3.75834 0 0.0144937 -0.0006279610.997998 -0.0615611 uwb: 0.50117603 1250.81 1355.53 -imu_odom_: 1691062527.355307080 0.521936 -0.172383 9.94551 -0.0543285 0 0.340885 0.03 0.26 pose: 0.8004083 -3.78538 -3.75838 0 0.0149786 -5.24196e-060.997894 -0.0631116 uwb: 0.0 1250.81 1355.53 -imu_odom_: 1691062527.372428147 0.531513 -0.208296 9.88087 -0.0511327 0.00639159 0.30147 0.03 0.26 pose: 0.0 -3.78538 -3.75838 0 0.0149786 -5.24196e-060.997894 -0.0631116 uwb: 0.0 1250.81 1355.53 -imu_odom_: 1691062527.389172997 0.071826 -0.201113 9.83059 -0.0639159 0.0436758 0.213053 0.03 0.23 pose: 0.0 -3.78538 -3.75838 0 0.0149786 -5.24196e-060.997894 -0.0631116 uwb: 0.49937370 1252.92 1355.22 -imu_odom_: 1691062527.406288523 -0.471658 0.253785 10.2089 -0.0458064 0.0649811 0.0980043 0.03 0.23 pose: 0.77172833 -3.78538 -3.75838 0 0.00999302 0.00184765 0.997148 -0.0747837 uwb: 0.0 1252.92 1355.22 -imu_odom_: 1691062527.423141281 -1.35751 0.251391 10.1107 -0.0756338 0.0330232 0.140615 0.11 0.29 pose: 0.0 -3.78538 -3.75838 0 0.00999302 0.00184765 0.997148 -0.0747837 uwb: 0.0 1252.92 1355.22 -imu_odom_: 1691062527.439262895 -0.739808 -0.830788 9.8282 -0.0862864 -0.110787 0.219444 0.11 0.29 pose: 0.26838248 -3.78538 -3.75838 0 0.0065763 0.00227325 0.997075 -0.0761178 uwb: 0.49856002 1250.6 1357.87 -imu_odom_: 1691062527.456132568 0.234632 -0.938527 9.75637 -0.0436758 -0.0862864 0.192813 0.11 0.29 pose: 0.7006672 -3.78538 -3.75838 0 0.00575905 0.00229313 0.997053 -0.0764686 uwb: 0.0 1250.6 1357.87 -imu_odom_: 1691062527.482255421 0.641646 0.299275 9.70849 -0.0575243 0.015979 0.22264 0.1 0.14 pose: 0.33986073 -3.78538 -3.75838 0 0.00425475 0.000561499 0.996864 -0.0790205 uwb: 0.50114979 1251.11 1358.6 -imu_odom_: 1691062527.499143468 0.292093 0.0742203 9.90242 -0.0649811 0.0181095 0.217314 0.14 0.14 pose: 0.0 -3.78538 -3.75838 0 0.00425475 0.000561499 0.996864 -0.0790205 uwb: 0.0 1251.11 1358.6 -imu_odom_: 1691062527.516130380 0.56982 -0.277727 10.2137 -0.0479369 -0.0553937 0.185356 0.14 0.14 pose: 0.41881667 -3.79452 -3.76243 0 0.00412068 0.00273711 0.996564 -0.0826793 uwb: 0.0 1251.11 1358.6 -imu_odom_: 1691062527.532193083 1.05105 -0.366313 9.64863 -0.0607201 -0.0756338 0.154463 0.08 0 pose: 0.0 -3.79452 -3.76243 0 0.00412068 0.00273711 0.996564 -0.0826793 uwb: 0.49880208 1252.4 1358.44 -imu_odom_: 1691062527.548127463 1.69749 -0.126893 9.93594 -0.0394148 -0.0351537 0.0639159 0.08 0 pose: 0.0 -3.79452 -3.76243 0 0.00412068 0.00273711 0.996564 -0.0826793 uwb: 0.0 1252.4 1358.44 -imu_odom_: 1691062527.563123344 1.5275 0.237026 9.65821 -0.0639159 0.0149137 -0.0191748 0.08 0 pose: 0.49970325 -3.79452 -3.76243 0 0.00780811 0.0020007 0.996279 -0.0858054 uwb: 0.0 1252.4 1358.44 -imu_odom_: 1691062527.581193119 1.04387 0.0622492 9.68933 -0.0553937 0.0234358 -0.142745 0.06 -0.23 pose: 0.0 -3.79452 -3.76243 0 0.00780811 0.0020007 0.996279 -0.0858054 uwb: 0.50054317 1252.23 1359.54 -imu_odom_: 1691062527.598252066 0.730232 0.213084 10.0078 -0.0468716 0.04048 -0.290817 0.06 -0.23 pose: 0.42059859 -3.80358 -3.76656 0 0.0112668 0.00384503 0.99641 -0.0838232 uwb: 0.0 1252.23 1359.54 -imu_odom_: 1691062527.612183749 0.586579 0.0694318 10.058 -0.0553937 0.00639159 -0.295078 0.06 -0.23 pose: 0.0 -3.80358 -3.76656 0 0.0112668 0.00384503 0.99641 -0.0838232 uwb: 0.0 1252.23 1359.54 -imu_odom_: 1691062527.630129869 0.562637 -0.512359 9.70849 -0.0756338 0.00639159 -0.278034 0.04 -0.26 pose: 0.0 -3.80358 -3.76656 0 0.0112668 0.00384503 0.99641 -0.0838232 uwb: 0.49981116 1254.46 1359.38 -imu_odom_: 1691062527.646132202 0.579397 -0.47884 10.0078 -0.0511327 0.00319579 -0.30147 0.04 -0.29 pose: 0.48936750 -3.80361 -3.7666 0 0.0104468 0.00498626 0.997053 -0.0758347 uwb: 0.0 1254.46 1359.38 -imu_odom_: 1691062527.663123197 0.445322 0.00957681 9.9503 -0.0596548 -0.0127832 -0.319579 0.04 -0.29 pose: 0.0 -3.80361 -3.7666 0 0.0104468 0.00498626 0.997053 -0.0758347 uwb: 0.0 1254.46 1359.38 -imu_odom_: 1691062527.681118312 0.770933 0.0861913 9.85932 -0.0607201 -0.0340885 -0.353668 0.04 -0.41 pose: 0.0 -3.80361 -3.7666 0 0.0104468 0.00498626 0.997053 -0.0758347 uwb: 0.50009405 1255.82 1359.3 -imu_odom_: 1691062527.696124691 0.732626 -0.0814029 9.81144 -0.0671117 -0.0127832 -0.406931 0.04 -0.41 pose: 0.23074915 -3.80361 -3.7666 0 0.00982154 0.00391489 0.997359 -0.0718579 uwb: 0.0 1255.82 1359.3 -imu_odom_: 1691062527.713131435 0.653617 -0.234632 9.94791 -0.0628506 0.00106526 -0.428236 0.04 -0.41 pose: 0.0 -3.80361 -3.7666 0 0.00982154 0.00391489 0.997359 -0.0718579 uwb: 0.0 1255.82 1359.3 -imu_odom_: 1691062527.731123342 0.509965 -0.311246 9.94312 -0.072438 0.00106526 -0.421845 0.03 -0.44 pose: 0.33921329 -3.80361 -3.7666 0 0.0110105 0.0062117 0.997793 -0.0651931 uwb: 0.49956035 1258.38 1358.25 -imu_odom_: 1691062527.747123050 0.205901 -0.366313 9.76834 -0.0617853 -0.00106526 -0.420779 0.03 -0.44 pose: 0.34065400 -3.80361 -3.7666 0 0.0115737 0.00403444 0.998277 -0.0573898 uwb: 0.0 1258.38 1358.25 -imu_odom_: 1691062527.764120754 0.409408 -0.110133 9.78271 -0.0585895 -0.02024 -0.405866 0.03 -0.44 pose: 0.0 -3.80361 -3.7666 0 0.0115737 0.00403444 0.998277 -0.0573898 uwb: 0.0 1258.38 1358.25 -imu_odom_: 1691062527.781116415 0.684742 -0.292093 9.94791 -0.0660464 -0.02024 -0.337689 0.04 -0.53 pose: 0.42929241 -3.80358 -3.76656 0 0.00806095 0.00289766 0.998828 -0.0476464 uwb: 0.49953701 1258.17 1359.27 -imu_odom_: 1691062527.797114665 0.749385 -0.373495 9.85932 -0.056459 -0.0170442 -0.304666 0.03 -0.35 pose: 0.0 -3.80358 -3.76656 0 0.00806095 0.00289766 0.998828 -0.0476464 uwb: 0.0 1258.17 1359.27 -imu_odom_: 1691062527.814222317 0.782904 -0.318429 10.0006 -0.0447411 -0.00852212 -0.279099 0.03 -0.35 pose: 0.0 -3.80358 -3.76656 0 0.00806095 0.00289766 0.998828 -0.0476464 uwb: 0.0 1258.17 1359.27 -imu_odom_: 1691062527.830114118 0.665588 -0.138864 9.85932 -0.0649811 0.00319579 -0.236489 0.02 -0.29 pose: 0.7002879 -3.80361 -3.7666 0 0.00862155 0.00238901 0.998886 -0.0463317 uwb: 0.50146476 1258.3 1359.46 -imu_odom_: 1691062527.847178607 0.4956 -0.301669 9.98382 -0.056459 0.00639159 -0.215183 0.02 -0.29 pose: 0.0 -3.80361 -3.7666 0 0.00862155 0.00238901 0.998886 -0.0463317 uwb: 0.0 1258.3 1359.46 -imu_odom_: 1691062527.863168691 0.438139 -0.258574 9.87608 -0.0553937 -0.00532632 -0.217314 0.02 -0.29 pose: 0.0 -3.80361 -3.7666 0 0.00862155 0.00238901 0.998886 -0.0463317 uwb: 0.0 1258.3 1359.46 -imu_odom_: 1691062527.880105150 0.557849 -0.105345 9.91199 -0.0553937 -0.0213053 -0.183225 0.02 -0.32 pose: 0.51068645 -3.80361 -3.7666 0 0.0123151 0.000558221 0.999206 -0.037894 uwb: 0.49868834 1259.76 1358.85 -imu_odom_: 1691062527.896378125 0.612916 -0.356736 9.84496 -0.0639159 -0.0127832 -0.162985 0.02 -0.32 pose: 0.0 -3.80361 -3.7666 0 0.0123151 0.000558221 0.999206 -0.037894 uwb: 0.0 1259.76 1358.85 -imu_odom_: 1691062527.914283415 0.605733 -0.217872 9.95509 -0.0490022 -0.00319579 -0.15979 0.02 -0.32 pose: 0.65995989 -3.81684 -3.7616 0 0.00934016 0.000742707 0.99951 -0.0298704 uwb: 0.0 1259.76 1358.85 -imu_odom_: 1691062527.930137011 0.605733 -0.153229 9.87848 -0.0607201 -0.00532632 -0.135289 0.01 -0.17 pose: 0.0 -3.81684 -3.7616 0 0.00934016 0.000742707 0.99951 -0.0298704 uwb: 0.50247967 1261.76 1357.65 -imu_odom_: 1691062527.947271785 0.56982 -0.260968 9.91199 -0.056459 -0.00319579 -0.11931 0.01 -0.17 pose: 0.0 -3.81684 -3.7616 0 0.00934016 0.000742707 0.99951 -0.0298704 uwb: 0.0 1261.76 1357.65 -imu_odom_: 1691062527.972214660 0.514753 -0.217872 9.88805 -0.0553937 -0.00745685 -0.109722 0.01 -0.17 pose: 0.33103277 -3.81684 -3.7616 0 0.0110414 0.00114447 0.999583 -0.0266393 uwb: 0.0 1261.76 1357.65 -imu_odom_: 1691062527.986116304 0.493206 -0.191536 9.90721 -0.0575243 -0.0117179 -0.100135 0.01 -0.14 pose: 0.32872298 -3.81684 -3.7616 0 0.00927328 0.000388953 0.999669 -0.0239967 uwb: 0.49752470 1259.9 1359.04 -imu_odom_: 1691062528.11209375 0.349553 -0.0670376 9.94312 -0.0543285 0.00213053 -0.184291 0.01 -0.14 pose: 0.0 -3.81684 -3.7616 0 0.00927328 0.000388953 0.999669 -0.0239967 uwb: 0.0 1259.9 1359.04 -imu_odom_: 1691062528.38091668 0.486023 0.105345 9.991 -0.0617853 -0.0340885 -0.276969 0.02 -0.35 pose: 0.38979548 -3.81684 -3.7616 0 0.00566635 0.00109861 0.999765 -0.0208872 uwb: 0.50114110 1259.78 1359.53 -imu_odom_: 1691062528.54307778 0.454898 -0.275333 9.67018 -0.0660464 -0.0234358 -0.331297 0.02 -0.35 pose: 0.0 -3.81684 -3.7616 0 0.00566635 0.00109861 0.999765 -0.0208872 uwb: 0.0 1259.78 1359.53 -imu_odom_: 1691062528.81235275 0.512359 -0.222661 9.88087 -0.0575243 -0.0245011 -0.383495 0.02 -0.47 pose: 0.53248670 -3.81684 -3.7616 0 0.00439253 0.00397924 0.999897 -0.0130543 uwb: 0.50122865 1258.44 1360.99 -imu_odom_: 1691062528.106181656 0.526724 -0.177171 9.91439 -0.0649811 -0.0213053 -0.406931 0.02 -0.47 pose: 0.34843215 -3.81681 -3.76157 0 0.0054848 0.00064283 0.999967 -0.0059057 uwb: 0.0 1258.44 1360.99 -imu_odom_: 1691062528.133205103 0.663194 -0.1652 10.0509 -0.0660464 -0.0127832 -0.421845 0.02 -0.58 pose: 0.0 -3.81681 -3.76157 0 0.0054848 0.00064283 0.999967 -0.0059057 uwb: 0.0 1258.44 1360.99 -imu_odom_: 1691062528.158139526 0.42138 -0.162806 9.96467 -0.0575243 0.0191748 -0.471912 0.02 -0.55 pose: 0.8046081 -3.81684 -3.7616 0 0.00597733 0.00129776 0.999973 -0.00410572 uwb: 0.0 1258.44 1360.99 -imu_odom_: 1691062528.185092688 0.505177 -0.102951 9.83538 -0.0617853 -0.00958738 -0.490022 0.02 -0.55 pose: 0.0 -3.81684 -3.7616 0 0.00597733 0.00129776 0.999973 -0.00410572 uwb: 0.99869515 1255.64 1363.06 -imu_odom_: 1691062528.210087481 0.720655 -0.143652 9.95748 -0.0585895 -0.0340885 -0.533697 0.01 -0.61 pose: 0.51819050 -3.81684 -3.7616 0 0.0089234 0.0025155 0.999926 0.0079238 uwb: 0.0 1255.64 1363.06 -imu_odom_: 1691062528.227240049 0.672771 -0.217872 9.80426 -0.0607201 0.00532632 -0.560329 0.01 -0.61 pose: 0.0 -3.81684 -3.7616 0 0.0089234 0.0025155 0.999926 0.0079238 uwb: 0.49859222 1256.37 1362.75 -imu_odom_: 1691062528.253337537 0.509965 -0.196325 9.85214 -0.0607201 -0.00852212 -0.596548 0.01 -0.58 pose: 0.52027864 -3.81684 -3.7616 0 0.00667569 0.00477783 0.99973 0.0217408 uwb: 0.0 1256.37 1362.75 -imu_odom_: 1691062528.270224421 0.543484 -0.155623 10.0006 -0.0607201 -0.00639159 -0.615723 0.01 -0.58 pose: 0.0 -3.81684 -3.7616 0 0.00667569 0.00477783 0.99973 0.0217408 uwb: 0.0 1256.37 1362.75 -imu_odom_: 1691062528.286054689 0.612916 -0.227449 9.94551 -0.0617853 -0.0223706 -0.619984 0.01 -0.64 pose: 0.66979711 -3.81684 -3.7616 0 0.0072553 0.00260298 0.999078 0.0422308 uwb: 0.50119658 1255.49 1363.51 -imu_odom_: 1691062528.303062896 0.371101 -0.138864 9.79468 -0.0649811 -0.0127832 -0.638093 0.01 -0.64 pose: 0.0 -3.81684 -3.7616 0 0.0072553 0.00260298 0.999078 0.0422308 uwb: 0.0 1255.49 1363.51 -imu_odom_: 1691062528.320066144 0.497994 -0.234632 9.76834 -0.0553937 -0.0191748 -0.650877 0.01 -0.64 pose: 0.0 -3.81684 -3.7616 0 0.0072553 0.00260298 0.999078 0.0422308 uwb: 0.0 1255.49 1363.51 -imu_odom_: 1691062528.335160312 0.596156 -0.1652 9.89524 -0.0649811 -0.0213053 -0.66579 0.01 -0.64 pose: 0.50960458 -3.81684 -3.7616 0 0.00612005 0.00181031 0.998222 0.0592707 uwb: 0.49871471 1256.51 1362.94 -imu_odom_: 1691062528.351288346 0.684742 -0.11971 9.75877 -0.0511327 -0.0191748 -0.696683 0.01 -0.64 pose: 0.0 -3.81684 -3.7616 0 0.00612005 0.00181031 0.998222 0.0592707 uwb: 0.0 1256.51 1362.94 -imu_odom_: 1691062528.377118982 0.531513 -0.19393 9.94791 -0.0607201 0.0138484 -0.709466 0.01 -0.7 pose: 0.40219907 -3.8168 -3.76156 0 0.00907913 0.00187575 0.997245 0.0736025 uwb: 0.50076204 1255.59 1363.67 -imu_odom_: 1691062528.394054278 -0.071826 -0.248997 9.77074 -0.0532632 0.04048 -0.716923 0.01 -0.7 pose: 0.0 -3.8168 -3.76156 0 0.00907913 0.00187575 0.997245 0.0736025 uwb: 0.0 1255.59 1363.67 -imu_odom_: 1691062528.410053407 -0.21069 -0.162806 10.1131 -0.0458064 0.0426106 -0.719054 0.01 -0.7 pose: 0.6927930 -3.81684 -3.7616 0 0.00839635 0.00156299 0.997057 0.0761885 uwb: 0.0 1255.59 1363.67 -imu_odom_: 1691062528.428055525 -0.28491 -0.124498 10.173 -0.0628506 -0.0575243 -0.72438 0.04 -0.79 pose: 0.0 -3.81684 -3.7616 0 0.00839635 0.00156299 0.997057 0.0761885 uwb: 0.50103325 1255.65 1363.74 -imu_odom_: 1691062528.445055274 -0.158017 0.00718261 10.1825 -0.0553937 -0.00213053 -0.677508 0.05 -0.53 pose: 0.0 -3.81684 -3.7616 0 0.00839635 0.00156299 0.997057 0.0761885 uwb: 0.0 1255.65 1363.74 -imu_odom_: 1691062528.459107700 -0.533907 -0.512359 9.63187 -0.0713727 -0.0138484 -0.557133 0.05 -0.53 pose: 0.76892002 -3.81684 -3.7616 0 0.000535598 0.00164322 0.994467 0.105032 uwb: 0.0 1255.65 1363.74 -imu_odom_: 1691062528.476198441 -0.162806 -0.706289 9.98143 -0.076699 -0.04048 -0.461259 0.06 -0.5 pose: 0.0 -3.81684 -3.7616 0 0.000535598 0.00164322 0.994467 0.105032 uwb: 0.0 1255.65 1363.74 -imu_odom_: 1691062528.492166656 0.347159 -0.435745 9.84017 -0.0479369 -0.0319579 -0.466586 0.06 -0.5 pose: 0.0 -3.81684 -3.7616 0 0.000535598 0.00164322 0.994467 0.105032 uwb: 0.49989878 1257.69 1362.59 -imu_odom_: 1691062528.509126159 0.464475 0.160412 9.84496 -0.0500674 -0.0298274 -0.451672 0.06 -0.5 pose: 0.31053633 -3.82598 -3.76566 0 -0.00214667 0.00107515 0.99342 0.114506 uwb: 0.0 1257.69 1362.59 -imu_odom_: 1691062528.526080703 0.246603 0.047884 9.91918 -0.0553937 -0.0234358 -0.432497 0.09 -0.44 pose: 0.42964248 -3.82594 -3.76562 0 -0.00187622 0.000338831 0.992136 0.125152 uwb: 0.0 1257.69 1362.59 -imu_odom_: 1691062528.541061422 -0.023942 -0.260968 9.84017 -0.0532632 0.015979 -0.442085 0.09 -0.44 pose: 0.0 -3.82594 -3.76562 0 -0.00187622 0.000338831 0.992136 0.125152 uwb: 0.49701445 1256.99 1362.94 -imu_odom_: 1691062528.557132003 -0.265756 -0.270545 9.72525 -0.0468716 0.00852212 -0.430367 0.09 -0.44 pose: 0.0 -3.82594 -3.76562 0 -0.00187622 0.000338831 0.992136 0.125152 uwb: 0.0 1256.99 1362.94 -imu_odom_: 1691062528.572201089 0.129287 -0.222661 10.1466 -0.0511327 0.00213053 -0.387756 0.1 -0.44 pose: 0.7957422 -3.82598 -3.76566 0 -0.00203943 0.00108628 0.991898 0.127014 uwb: 0.0 1256.99 1362.94 -imu_odom_: 1691062528.588035732 0.059855 -0.476446 9.71567 -0.0703074 -0.00745685 -0.340885 0.09 -0.41 pose: 0.0 -3.82598 -3.76566 0 -0.00203943 0.00108628 0.991898 0.127014 uwb: 0.50105367 1256.16 1363.79 -imu_odom_: 1691062528.605219507 0.0957681 -0.0383072 10.0772 -0.0490022 -0.0351537 -0.333428 0.09 -0.41 pose: 0.0 -3.82598 -3.76566 0 -0.00203943 0.00108628 0.991898 0.127014 uwb: 0.0 1256.16 1363.79 -imu_odom_: 1691062528.623098261 0.629675 -0.0167594 10.0006 -0.0607201 -0.0351537 -0.313188 0.11 -0.35 pose: 0.62196216 -3.83 -3.7565 0 -0.00762676 0.001274 0.989984 0.140969 uwb: 0.0 1256.16 1363.79 -imu_odom_: 1691062528.640116675 0.68953 -0.138864 9.83777 -0.0436758 0.00852212 -0.309992 0.11 -0.35 pose: 0.0 -3.83 -3.7565 0 -0.00762676 0.001274 0.989984 0.140969 uwb: 0.49932716 1256.53 1363.64 -imu_odom_: 1691062528.654111356 0.299275 0.0263362 10.1634 -0.0479369 -0.0511327 -0.296144 0.11 -0.35 pose: 0.33945836 -3.83916 -3.76052 0 -0.00791416 0.00222771 0.989076 0.147175 uwb: 0.0 1256.53 1363.64 -imu_odom_: 1691062528.671238844 1.2402 -0.294487 10.4914 -0.0628506 -0.0713727 -0.282295 0.1 -0.29 pose: 0.40885723 -3.83912 -3.76049 0 -0.00462998 0.00383459 0.98803 0.154148 uwb: 0.0 1256.53 1363.64 -imu_odom_: 1691062528.688092481 1.42455 0.0861913 9.67018 -0.0596548 -0.0639159 -0.230097 0.1 -0.29 pose: 0.6962635 -3.83916 -3.76052 0 -0.0037428 0.00355793 0.987861 0.155254 uwb: 0.50065704 1256.86 1363.44 -imu_odom_: 1691062528.706084975 1.1971 -0.426168 10.0293 -0.0671117 0.0415453 -0.194943 0.1 -0.29 pose: 0.0 -3.83916 -3.76052 0 -0.0037428 0.00355793 0.987861 0.155254 uwb: 0.0 1256.86 1363.44 -imu_odom_: 1691062528.722037150 1.22583 -0.529119 9.72285 -0.0511327 0.0170442 -0.193878 0.07 -0.26 pose: 0.35021991 -3.8432 -3.75138 0 0.000237837 0.00276057 0.987108 0.160034 uwb: 0.0 1256.86 1363.44 -imu_odom_: 1691062528.739085311 1.03669 -0.0550666 9.8665 -0.0415453 0.0191748 -0.199204 0.07 -0.29 pose: 0.0 -3.8432 -3.75138 0 0.000237837 0.00276057 0.987108 0.160034 uwb: 0.50103909 1254.67 1365.06 -imu_odom_: 1691062528.757043100 0.696713 0.0981623 9.91439 -0.0553937 -0.0106526 -0.211988 0.07 -0.29 pose: 0.32940841 -3.85236 -3.75541 0 0.00267883 0.00155412 0.986482 0.163843 uwb: 0.0 1254.67 1365.06 -imu_odom_: 1691062528.774020101 0.560243 -0.134075 9.88566 -0.0500674 0.0127832 -0.221575 0.06 -0.26 pose: 0.0 -3.85236 -3.75541 0 0.00267883 0.00155412 0.986482 0.163843 uwb: 0.0 1254.67 1365.06 -imu_odom_: 1691062528.788017699 0.634463 -0.316035 9.84256 -0.0649811 -0.0298274 -0.213053 0.06 -0.26 pose: 0.0 -3.85236 -3.75541 0 0.00267883 0.00155412 0.986482 0.163843 uwb: 0.49950798 1254.39 1365.34 -imu_odom_: 1691062528.805166184 0.924162 -0.222661 9.97664 -0.0660464 -0.0170442 -0.203466 0.06 -0.26 pose: 0.35046781 -3.85236 -3.75541 0 0.00565384 0.00284863 0.98574 0.168155 uwb: 0.0 1254.39 1365.34 -imu_odom_: 1691062528.822080774 0.727837 -0.311246 9.77553 -0.0596548 0.00426106 -0.178964 0.04 -0.2 pose: 0.41082580 -3.85232 -3.75537 0 0.00898668 0.000837774 0.984844 0.173208 uwb: 0.0 1254.39 1365.34 -imu_odom_: 1691062528.839172098 0.679953 -0.184354 9.7875 -0.0628506 0 -0.170442 0.04 -0.2 pose: 0.6918306 -3.85236 -3.75541 0 0.00937777 0.000286933 0.98471 0.173947 uwb: 0.49989585 1254.05 1365.52 -imu_odom_: 1691062528.855111149 0.574608 -0.21069 9.90002 -0.0511327 0.0106526 -0.15979 0.04 -0.2 pose: 0.0 -3.85236 -3.75541 0 0.00937777 0.000286933 0.98471 0.173947 uwb: 0.0 1254.05 1365.52 -imu_odom_: 1691062528.882057311 0.708684 -0.225055 9.79947 -0.056459 -0.0149137 -0.128897 0.05 -0.2 pose: 0.43026659 -3.85232 -3.75537 0 0.00993053 -0.0009841560.983919 0.178338 uwb: 0.50035082 1253.92 1366.01 -imu_odom_: 1691062528.898129934 0.287304 -0.37589 9.75158 -0.0617853 0.0372843 -0.135289 0.03 -0.14 pose: 0.0 -3.85232 -3.75537 0 0.00993053 -0.0009841560.983919 0.178338 uwb: 0.0 1253.92 1366.01 -imu_odom_: 1691062528.925014852 -1.40061 0.167594 9.79947 -0.0394148 0.0756338 -0.166181 0.03 -0.14 pose: 0.35044739 -3.85236 -3.75541 0 0.0115942 -0.00225098 0.983366 0.181252 uwb: 0.0 1253.92 1366.01 -imu_odom_: 1691062528.942020725 -1.25456 -0.294487 10.1131 -0.0777643 -0.0692422 -0.0735032 0.07 -0.11 pose: 0.0 -3.85236 -3.75541 0 0.0115942 -0.00225098 0.983366 0.181252 uwb: 0.49891595 1252.14 1367.55 -imu_odom_: 1691062528.964069945 0.342371 -0.387861 9.90481 -0.0617853 -0.0862864 -0.0958738 0.07 -0.11 pose: 0.42880255 -3.85638 -3.74625 0 0.00658813 -0.00103718 0.982695 0.185111 uwb: 0.0 1252.14 1367.55 -imu_odom_: 1691062528.987117451 0.732626 0.11971 9.89524 -0.056459 -0.0266316 -0.0862864 0.09 -0.08 pose: 0.31033802 -3.86287 -3.74912 0 0.00500492 -0.00250828 0.982331 0.187071 uwb: 0.49896260 1251.23 1368.29 -imu_odom_: 1691062529.12172324 0.0383072 -0.442927 9.62469 -0.0628506 0.0245011 -0.0596548 0.09 -0.08 pose: 0.6131750 -3.86553 -3.75028 0 0.00548656 -0.00206908 0.982256 0.187453 uwb: 0.0 1251.23 1368.29 -imu_odom_: 1691062529.37061549 0.169988 -0.265756 9.80426 -0.036219 -0.0266316 -0.0894822 0.14 -0.11 pose: 0.41970629 -3.8655 -3.75025 0 0.00401745 -0.00150924 0.981828 0.189723 uwb: 0.50042379 1252.42 1367.96 -imu_odom_: 1691062529.51074607 0.294487 -0.0215478 9.66779 -0.0372843 -0.0181095 -0.0649811 0.14 -0.11 pose: 0.0 -3.8655 -3.75025 0 0.00401745 -0.00150924 0.981828 0.189723 uwb: 0.0 1252.42 1367.96 -imu_odom_: 1691062529.76186938 0.418985 -0.325611 9.96467 -0.0553937 0.0479369 -0.04048 0.11 -0.08 pose: 0.38902283 -3.86553 -3.75028 0 0.00139519 0.000245385 0.98139 0.192018 uwb: 0.0 1252.42 1367.96 -imu_odom_: 1691062529.99991550 0.323217 -0.23942 10.2352 -0.0479369 -0.0138484 -0.052198 0.11 -0.08 pose: 0.0 -3.86553 -3.75028 0 0.00139519 0.000245385 0.98139 0.192018 uwb: 0.50056676 1250.57 1369.39 -imu_odom_: 1691062529.124107926 -0.0215478 -0.162806 9.58878 -0.072438 -0.0255663 -0.0276969 0.13 -0.08 pose: 0.48916943 -3.87866 -3.74508 0 -0.00202929 -0.00112444 0.980985 0.194068 uwb: 0.0 1250.57 1369.39 -imu_odom_: 1691062529.140007318 0.272939 -0.25618 9.89045 -0.0543285 -0.00852212 -0.0255663 0.13 -0.08 pose: 0.0 -3.87866 -3.74508 0 -0.00202929 -0.00112444 0.980985 0.194068 uwb: 0.50140085 1251.04 1369.39 -imu_odom_: 1691062529.164058658 0.304064 -0.196325 10.1754 -0.0639159 0.0436758 -0.0319579 0.2 -0.11 pose: 0.40015768 -3.87869 -3.74512 0 -0.00558538 -0.0006315960.980715 0.195364 uwb: 0.0 1251.04 1369.39 -imu_odom_: 1691062529.191048574 0.679953 -0.217872 9.60075 -0.0798948 -0.0138484 -0.00639159 0.2 -0.11 pose: 0.0 -3.87869 -3.74512 0 -0.00558538 -0.0006315960.980715 0.195364 uwb: 0.49879941 1253.5 1368.16 -imu_odom_: 1691062529.207054123 0.988805 0.0454898 10.1011 -0.0649811 -0.0330232 -0.00958738 0.13 -0.05 pose: 0.51041256 -3.88916 -3.73878 0 -0.00263701 0.000651044 0.980439 0.196804 uwb: 0.0 1253.5 1368.16 -imu_odom_: 1691062529.224970503 0.730232 -0.306458 9.1267 -0.0788296 -0.0106526 0.0415453 0.13 -0.05 pose: 0.0 -3.88916 -3.73878 0 -0.00263701 0.000651044 0.980439 0.196804 uwb: 0.0 1253.5 1368.16 -imu_odom_: 1691062529.242098287 0.799663 -0.447716 9.90242 -0.0479369 0.00639159 0.0543285 0.11 0.14 pose: 0.0 -3.88916 -3.73878 0 -0.00263701 0.000651044 0.980439 0.196804 uwb: 0.50050260 1252.43 1369.35 -imu_odom_: 1691062529.256099971 1.30005 -0.306458 10.3406 -0.036219 -0.0149137 0.0894822 0.11 0.14 pose: 0.41045260 -3.89188 -3.73997 0 0.00123824 -0.0006853960.980379 0.197119 uwb: 0.0 1252.43 1369.35 -imu_odom_: 1691062529.273065602 1.28569 -0.308852 9.61751 -0.0553937 0.00319579 0.24288 0.11 0.14 pose: 0.0 -3.89188 -3.73997 0 0.00123824 -0.0006853960.980379 0.197119 uwb: 0.0 1252.43 1369.35 -imu_odom_: 1691062529.286977168 1.43413 -0.629675 10.1873 -0.0511327 0.00426106 0.334493 0.09 0.32 pose: 0.0 -3.89188 -3.73997 0 0.00123824 -0.0006853960.980379 0.197119 uwb: 0.49977057 1251.62 1370.24 -imu_odom_: 1691062529.302981843 0.785298 -0.694318 9.63906 -0.0479369 0.0117179 0.395213 0.09 0.32 pose: 0.46914828 -3.89188 -3.73997 0 0.00540182 -0.00239783 0.980954 0.19415 uwb: 0.0 1251.62 1370.24 -imu_odom_: 1691062529.320132082 0.842759 -0.342371 10.0341 -0.0383495 0.00852212 0.464455 0.09 0.32 pose: 0.0 -3.89188 -3.73997 0 0.00540182 -0.00239783 0.980954 0.19415 uwb: 0.0 1251.62 1370.24 -imu_odom_: 1691062529.338032131 0.952892 -0.110133 9.79228 -0.0532632 -0.00852212 0.531567 0.07 0.41 pose: 0.41123420 -3.90097 -3.73297 0 0.00789559 -0.00483328 0.98239 0.186615 uwb: 0.0 1251.62 1370.24 -imu_odom_: 1691062529.355143000 0.842759 -0.325611 9.81144 -0.052198 0.0181095 0.549676 0.06 0.38 pose: 0.0 -3.90097 -3.73297 0 0.00789559 -0.00483328 0.98239 0.186615 uwb: 0.0 1251.62 1370.24 -imu_odom_: 1691062529.372149169 0.577003 -0.246603 10.0269 -0.0458064 0.0223706 0.552872 0.06 0.38 pose: 0.25851641 -3.90502 -3.73476 0 0.0102895 -0.00477668 0.983546 0.1803 uwb: 0.0 1251.62 1370.24 -imu_odom_: 1691062529.389977766 0.368707 -0.124498 9.96706 -0.0490022 0.0127832 0.556068 0.07 0.58 pose: 0.0 -3.90502 -3.73476 0 0.0102895 -0.00477668 0.983546 0.1803 uwb: 0.99910078 1250.82 1371.16 -imu_odom_: 1691062529.407093009 0.411803 -0.0981623 9.87608 -0.0490022 -0.0234358 0.56459 0.07 0.58 pose: 0.0 -3.90502 -3.73476 0 0.0102895 -0.00477668 0.983546 0.1803 uwb: 0.0 1250.82 1371.16 -imu_odom_: 1691062529.422030860 0.742203 -0.248997 9.84975 -0.0468716 -0.00958738 0.565655 0.07 0.58 pose: 0.34109746 -3.90502 -3.73476 0 0.00874672 -0.00352144 0.985105 0.171695 uwb: 0.0 1250.82 1371.16 -imu_odom_: 1691062529.438080738 0.80924 -0.311246 9.92157 -0.0553937 0.00426106 0.566721 0.04 0.53 pose: 0.41937391 -3.90499 -3.73473 0 0.00850983 -0.00191548 0.986935 0.160883 uwb: 0.0 1250.82 1371.16 -imu_odom_: 1691062529.455138236 0.565032 -0.280122 9.77792 -0.0500674 0.00745685 0.575243 0.04 0.53 pose: 0.6107254 -3.90502 -3.73476 0 0.00901291 -0.00222497 0.987188 0.159292 uwb: 0.0 1250.82 1371.16 -imu_odom_: 1691062529.472022791 0.407014 -0.191536 9.97185 -0.0436758 0.00852212 0.580569 0.04 0.53 pose: 0.0 -3.90502 -3.73476 0 0.00901291 -0.00222497 0.987188 0.159292 uwb: 0.0 1250.82 1371.16 -imu_odom_: 1691062529.487967096 0.581791 -0.287304 10.0078 -0.0447411 -0.00426106 0.548611 0.04 0.47 pose: 0.43884677 -3.90499 -3.73473 0 0.00692801 -0.00291048 0.989009 0.147662 uwb: 0.99893454 1249.15 1372.87 -imu_odom_: 1691062529.505045592 0.641646 0.0215478 9.76116 -0.0500674 0.00106526 0.502805 0.05 0.61 pose: 0.0 -3.90499 -3.73473 0 0.00692801 -0.00291048 0.989009 0.147662 uwb: 0.0 1249.15 1372.87 -imu_odom_: 1691062529.521191128 0.675165 -0.0167594 10.0173 -0.0532632 0.00958738 0.468716 0.05 0.61 pose: 0.0 -3.90499 -3.73473 0 0.00692801 -0.00291048 0.989009 0.147662 uwb: 0.0 1249.15 1372.87 -imu_odom_: 1691062529.537965151 0.696713 -0.220267 9.77792 -0.0532632 0.00106526 0.416518 0.04 0.55 pose: 0.22944855 -3.90502 -3.73476 0 0.00810267 -0.00350163 0.989822 0.14204 uwb: 0.50178873 1249.16 1372.89 -imu_odom_: 1691062529.554070442 0.632069 -0.126893 9.98622 -0.0458064 0.00852212 0.369647 0.04 0.55 pose: 0.0 -3.90502 -3.73476 0 0.00810267 -0.00350163 0.989822 0.14204 uwb: 0.0 1249.16 1372.89 -imu_odom_: 1691062529.571074569 0.428562 -0.189142 9.90481 -0.0553937 0.00852212 0.367516 0.04 0.55 pose: 0.32991303 -3.90502 -3.73476 0 0.00984261 -0.0013228 0.990788 0.135055 uwb: 0.0 1249.16 1372.89 -imu_odom_: 1691062529.587141363 0.414197 -0.270545 9.95988 -0.0553937 0.00106526 0.366451 0.02 0.29 pose: 0.43115620 -3.90899 -3.72558 0 0.00935742 0.000247368 0.991755 0.127806 uwb: 0.50185581 1247.67 1374.19 -imu_odom_: 1691062529.604010753 0.531513 -0.272939 9.8258 -0.0490022 -0.0170442 0.34408 0.02 0.29 pose: 0.7032339 -3.90899 -3.72558 0 0.00867382 1.11195e-05 0.991908 0.126665 uwb: 0.0 1247.67 1374.19 -imu_odom_: 1691062529.620007552 0.667982 -0.124498 9.8689 -0.0479369 -0.00426106 0.316384 0.02 0.29 pose: 0.0 -3.90899 -3.72558 0 0.00867382 1.11195e-05 0.991908 0.126665 uwb: 0.0 1247.67 1374.19 -imu_odom_: 1691062529.636976100 0.641646 -0.059855 9.94791 -0.0575243 0.00213053 0.299339 0.03 0.35 pose: 0.41900644 -3.90895 -3.72554 0 0.00852661 -0.0008517810.992683 0.120447 uwb: 0.49695916 1247.93 1374.58 -imu_odom_: 1691062529.652967067 0.536301 -0.177171 9.94551 -0.056459 0.00852212 0.282295 0.02 0.23 pose: 0.0 -3.90895 -3.72554 0 0.00852661 -0.0008517810.992683 0.120447 uwb: 0.0 1247.93 1374.58 -imu_odom_: 1691062529.669943197 0.54109 -0.23942 9.90721 -0.0575243 -0.00319579 0.26312 0.02 0.23 pose: 0.0 -3.90895 -3.72554 0 0.00852661 -0.0008517810.992683 0.120447 uwb: 0.0 1247.93 1374.58 -imu_odom_: 1691062529.685999492 0.466869 -0.0957681 9.80426 -0.052198 0.00426106 0.245011 0.01 0.2 pose: 0.23960349 -3.90899 -3.72558 0 0.00863654 0.000705511 0.993043 0.117432 uwb: 0.50101297 1246.32 1375.7 -imu_odom_: 1691062529.702996328 0.507571 -0.148441 9.92636 -0.0553937 0.00106526 0.246076 0.01 0.2 pose: 0.0 -3.90899 -3.72558 0 0.00863654 0.000705511 0.993043 0.117432 uwb: 0.0 1246.32 1375.7 -imu_odom_: 1691062529.718992253 0.493206 -0.205901 9.84496 -0.056459 -0.00532632 0.229032 0.01 0.2 pose: 0.33022509 -3.91815 -3.72959 0 0.00687819 -0.0001338370.993487 0.113739 uwb: 0.0 1246.32 1375.7 -imu_odom_: 1691062529.736004547 0.593762 -0.141258 9.87129 -0.0511327 -0.00106526 0.208792 0.02 0.23 pose: 0.42001843 -3.91815 -3.72959 0 0.00510694 0.000819471 0.993964 0.109581 uwb: 0.49787782 1245.76 1376.27 -imu_odom_: 1691062529.751991431 0.560243 -0.0933739 9.88326 -0.0543285 -0.00106526 0.198139 0.02 0.23 pose: 0.0 -3.91815 -3.72959 0 0.00510694 0.000819471 0.993964 0.109581 uwb: 0.0 1245.76 1376.27 -imu_odom_: 1691062529.768987684 0.536301 -0.181959 9.93354 -0.0553937 0.00213053 0.18003 0.02 0.23 pose: 0.0 -3.91815 -3.72959 0 0.00510694 0.000819471 0.993964 0.109581 uwb: 0.0 1245.76 1376.27 -imu_odom_: 1691062529.785006065 0.526724 -0.158017 9.85214 -0.0543285 -0.00213053 0.156594 0.01 0.14 pose: 0.7005217 -3.91815 -3.72959 0 0.00575581 0.00107457 0.994025 0.108992 uwb: 0.49999515 1245.81 1376.35 -imu_odom_: 1691062529.802009027 0.500388 -0.162806 9.8665 -0.0553937 0.00106526 0.147006 0.01 0.14 pose: 0.0 -3.91815 -3.72959 0 0.00575581 0.00107457 0.994025 0.108992 uwb: 0.0 1245.81 1376.35 -imu_odom_: 1691062529.818058905 0.54109 -0.174777 9.87129 -0.0553937 -0.00639159 0.138484 0.01 0.14 pose: 0.66016437 -3.91815 -3.72959 0 0.00579868 0.00241867 0.994515 0.104405 uwb: 0.0 1245.81 1376.35 -imu_odom_: 1691062529.834089827 0.533907 -0.179565 9.8665 -0.0543285 -0.00426106 0.11931 0 0.08 pose: 0.0 -3.91815 -3.72959 0 0.00579868 0.00241867 0.994515 0.104405 uwb: 0.50025470 1248.23 1375.03 -imu_odom_: 1691062529.851141784 0.553061 -0.162806 9.8665 -0.0553937 -0.00426106 0.104396 0 0.08 pose: 0.0 -3.91815 -3.72959 0 0.00579868 0.00241867 0.994515 0.104405 uwb: 0.0 1248.23 1375.03 -imu_odom_: 1691062529.866935018 0.54109 -0.146046 9.93833 -0.056459 -0.00319579 0.0905475 0 0.08 pose: 0.33101543 -3.91815 -3.72959 0 0.0069405 0.00101068 0.994678 0.102792 uwb: 0.0 1248.23 1375.03 -imu_odom_: 1691062529.883041183 0.555455 -0.196325 9.91439 -0.0553937 -0.00319579 0.0735032 0 0.05 pose: 0.41819568 -3.91815 -3.72959 0 0.00693657 0.00321792 0.994806 0.101504 uwb: 0.49973558 1248.71 1375.05 -imu_odom_: 1691062529.899943236 0.550666 -0.146046 9.90002 -0.0543285 0 0.0585895 0 0.05 pose: 0.7088334 -3.91815 -3.72959 0 0.00713033 0.00253659 0.994819 0.101379 uwb: 0.0 1248.71 1375.05 -imu_odom_: 1691062529.915980574 0.521936 -0.179565 9.87369 -0.056459 -0.00319579 0.0543285 0 0.05 pose: 0.0 -3.91815 -3.72959 0 0.00713033 0.00253659 0.994819 0.101379 uwb: 0.0 1248.71 1375.05 -imu_odom_: 1691062529.930917551 0.47884 -0.21069 9.87369 -0.0553937 -0.00745685 0.0415453 0 0.02 pose: 0.41957222 -3.91815 -3.72959 0 0.00697324 0.00200706 0.994865 0.100947 uwb: 0.50086131 1250.17 1374.4 -imu_odom_: 1691062529.944912235 0.466869 -0.148441 9.85453 -0.0553937 -0.00426106 0.0340885 0 0 pose: 0.0 -3.91815 -3.72959 0 0.00697324 0.00200706 0.994865 0.100947 uwb: 0.0 1250.17 1374.4 -imu_odom_: 1691062529.959907248 0.466869 -0.160412 9.9096 -0.0575243 -0.00106526 0.0383495 0 0 pose: 0.0 -3.91815 -3.72959 0 0.00697324 0.00200706 0.994865 0.100947 uwb: 0.0 1250.17 1374.4 -imu_odom_: 1691062529.974932592 0.447716 -0.229843 9.92875 -0.056459 -0.00213053 0.0383495 0 0 pose: 0.20955280 -3.91815 -3.72959 0 0.00532693 0.00153593 0.994876 0.100949 uwb: 0.0 1250.17 1374.4 -imu_odom_: 1691062529.988915610 0.416591 -0.217872 9.89045 -0.0553937 -0.00532632 0.0383495 0 0 pose: 0.0 -3.91815 -3.72959 0 0.00532693 0.00153593 0.994876 0.100949 uwb: 0.49906481 1248.83 1375.23 -imu_odom_: 1691062530.10921091 0.497994 -0.189142 9.93833 -0.0553937 -0.00745685 0.0426106 0 0 pose: 0.0 -3.91815 -3.72959 0 0.00532693 0.00153593 0.994876 0.100949 uwb: 0.0 1248.83 1375.23 -imu_odom_: 1691062530.28914761 -0.292093 -0.160412 9.6606 -0.0607201 0.0681769 0.0500674 0 -0.02 pose: 0.73985237 -3.91815 -3.72959 0 0.00382136 0.000631093 0.994882 0.10097 uwb: 0.49996020 1246.75 1376.35 -imu_odom_: 1691062530.45968181 -0.902614 -0.205901 10.0341 -0.0649811 0.0500674 0.0788296 0 -0.02 pose: 0.0 -3.91815 -3.72959 0 0.00382136 0.000631093 0.994882 0.10097 uwb: 0.0 1246.75 1376.35 -imu_odom_: 1691062530.61908698 -1.06063 -0.356736 9.84735 -0.0660464 -0.0276969 0.100135 0 -0.02 pose: 0.0 -3.91815 -3.72959 0 0.00382136 0.000631093 0.994882 0.10097 uwb: 0.0 1246.75 1376.35 -imu_odom_: 1691062530.80024857 -0.222661 -0.275333 9.96467 -0.0543285 -0.0543285 0.0862864 0.04 0.02 pose: 0.8003506 -3.91815 -3.72959 0 0.00273907 0.000755851 0.99489 0.100929 uwb: 0.50188510 1244.23 1378.24 -imu_odom_: 1691062530.97018781 0.260968 0.035913 9.80904 -0.0553937 -0.0426106 0.0660464 0.05 0.02 pose: 0.0 -3.91815 -3.72959 0 0.00273907 0.000755851 0.99489 0.100929 uwb: 0.0 1244.23 1378.24 -imu_odom_: 1691062530.111030676 0.277727 0.0287304 9.72285 -0.0735032 0.00745685 0.0692422 0.05 0.02 pose: 0.68070189 -3.91815 -3.72959 0 -0.0035576 0.0015022 0.995025 0.0995547 uwb: 0.0 1244.23 1378.24 -imu_odom_: 1691062530.127967439 0.0742203 -0.500388 9.79228 -0.0617853 0.00426106 0.0543285 0.05 0.02 pose: 0.0 -3.91815 -3.72959 0 -0.0035576 0.0015022 0.995025 0.0995547 uwb: 0.49983194 1243.97 1378.57 -imu_odom_: 1691062530.144958447 -0.129287 -0.277727 9.84496 -0.0553937 -0.00958738 0.0585895 0.06 0.02 pose: 0.0 -3.91815 -3.72959 0 -0.0035576 0.0015022 0.995025 0.0995547 uwb: 0.0 1243.97 1378.57 -imu_odom_: 1691062530.161905125 0.0287304 -0.323217 10.1442 -0.0607201 -0.0223706 0.0713727 0.06 0.02 pose: 0.30974906 -3.91815 -3.72959 0 -0.00435125 0.00319244 0.995057 0.0991596 uwb: 0.0 1243.97 1378.57 -imu_odom_: 1691062530.177954716 0.237026 -0.158017 9.76595 -0.0490022 -0.0191748 0.0745685 0.09 0.02 pose: 0.43935433 -3.92353 -3.73193 0 -0.00808451 0.00141672 0.995086 0.0986739 uwb: 0.50007984 1244.58 1378.07 -imu_odom_: 1691062530.195954802 0.462081 -0.122104 10.1921 -0.0543285 -0.0181095 0.0660464 0.09 0.02 pose: 0.0 -3.92353 -3.73193 0 -0.00808451 0.00141672 0.995086 0.0986739 uwb: 0.0 1244.58 1378.07 -imu_odom_: 1691062530.212009934 0.129287 -0.169988 9.91439 -0.0426106 0.0213053 0.0628506 0.09 0.02 pose: 0.0 -3.92353 -3.73193 0 -0.00808451 0.00141672 0.995086 0.0986739 uwb: 0.0 1244.58 1378.07 -imu_odom_: 1691062530.228903534 0.184354 -0.519542 9.62708 -0.0426106 -0.0106526 0.0703074 0.1 0.05 pose: 0.7004635 -3.92732 -3.73358 0 -0.0080866 0.00213334 0.995097 0.0985465 uwb: 0.50111516 1244.66 1378.19 -imu_odom_: 1691062530.246997820 0.342371 -0.474052 9.46907 -0.04048 0.02024 0.0426106 0.11 0.02 pose: 0.0 -3.92732 -3.73358 0 -0.0080866 0.00213334 0.995097 0.0985465 uwb: 0.0 1244.66 1378.19 -imu_odom_: 1691062530.263891129 0.325611 -0.0814029 9.94791 -0.0458064 0.0426106 0.072438 0.11 0.02 pose: 0.68093521 -3.93131 -3.72441 0 -0.00825458 0.00121286 0.99518 0.097709 uwb: 0.0 1244.66 1378.19 -imu_odom_: 1691062530.279956760 0.100556 -0.141258 9.98622 -0.0340885 0.0223706 0.0756338 0.11 0.02 pose: 0.0 -3.93131 -3.72441 0 -0.00825458 0.00121286 0.99518 0.097709 uwb: 0.49818418 1244.43 1378.56 -imu_odom_: 1691062530.298070294 0.579397 -0.263362 10.24 -0.04048 -0.015979 0.0553937 0.11 0 pose: 0.0 -3.93131 -3.72441 0 -0.00825458 0.00121286 0.99518 0.097709 uwb: 0.0 1244.43 1378.56 -imu_odom_: 1691062530.315070343 1.00796 -0.373495 9.76116 -0.0660464 -0.0394148 0.0916127 0.11 0 pose: 0.32891279 -3.93131 -3.72441 0 -0.00815191 0.00214694 0.995219 0.097307 uwb: 0.0 1244.43 1378.56 -imu_odom_: 1691062530.329992741 1.12288 -0.208296 9.65821 -0.0735032 0.00319579 0.149137 0.1 0.02 pose: 0.45175783 -3.94047 -3.72843 0 -0.00546242 0.00154696 0.995312 0.0965473 uwb: 0.49863330 1242.55 1379.99 -imu_odom_: 1691062530.347138611 1.69031 -0.244209 10.2328 -0.0649811 -0.052198 0.158724 0.1 0.02 pose: 0.6147794 -3.94047 -3.72843 0 -0.00487863 0.00142654 0.995348 0.0962116 uwb: 0.0 1242.55 1379.99 -imu_odom_: 1691062530.363070962 1.61848 -0.035913 9.4978 -0.0543285 0.00426106 0.113983 0.1 0.02 pose: 0.0 -3.94047 -3.72843 0 -0.00487863 0.00142654 0.995348 0.0962116 uwb: 0.0 1242.55 1379.99 -imu_odom_: 1691062530.379882611 1.42216 -0.0742203 9.86411 -0.052198 0.0415453 0.0788296 0.09 0 pose: 0.41852825 -3.94451 -3.71928 0 -0.0004113410.000988182 0.99556 0.0941234 uwb: 0.50052605 1243.12 1380.15 -imu_odom_: 1691062530.397996437 0.550666 0.0550666 9.91199 -0.0596548 0.0351537 0.0340885 0.06 0.05 pose: 0.0 -3.94451 -3.71928 0 -0.0004113410.000988182 0.99556 0.0941234 uwb: 0.0 1243.12 1380.15 -imu_odom_: 1691062530.414213721 0.306458 -0.275333 9.85453 -0.0585895 -0.0106526 0.0191748 0.06 0.05 pose: 0.0 -3.94451 -3.71928 0 -0.0004113410.000988182 0.99556 0.0941234 uwb: 0.0 1243.12 1380.15 -imu_odom_: 1691062530.431192772 0.799663 -0.129287 10.1011 -0.0596548 -0.0255663 0.0181095 0.05 0.05 pose: 0.24933269 -3.94451 -3.71928 0 0.00117824 0.00176675 0.995587 0.0938149 uwb: 0.50064854 1240.96 1381.89 -imu_odom_: 1691062530.448867678 0.955286 -0.294487 9.68694 -0.0628506 -0.00639159 0.0617853 0.05 0.05 pose: 0.0 -3.94451 -3.71928 0 0.00117824 0.00176675 0.995587 0.0938149 uwb: 0.0 1240.96 1381.89 -imu_odom_: 1691062530.463154299 0.768539 -0.366313 9.87848 -0.0596548 0.0117179 0.0788296 0.05 0.05 pose: 0.33224624 -3.94451 -3.71928 0 0.00107153 0.00158019 0.995563 0.0940829 uwb: 0.0 1240.96 1381.89 -imu_odom_: 1691062530.479891287 0.555455 -0.215478 9.82341 -0.0500674 0.00319579 0.0681769 0.04 0.02 pose: 0.41925444 -3.95364 -3.72336 0 0.00489768 0.000100902 0.995588 0.0937044 uwb: 0.49919616 1242.64 1380.85 -imu_odom_: 1691062530.495861552 0.588974 -0.114922 9.92636 -0.052198 -0.00213053 0.0617853 0.04 0.02 pose: 0.6951556 -3.95364 -3.72336 0 0.00553904 -8.02295e-050.995594 0.093604 uwb: 0.0 1242.64 1380.85 -imu_odom_: 1691062530.519941771 0.490811 -0.215478 9.78031 -0.0585895 0.00639159 0.0692422 0.04 0.02 pose: 0.0 -3.95364 -3.72336 0 0.00553904 -8.02295e-050.995594 0.093604 uwb: 0.0 1242.64 1380.85 -imu_odom_: 1691062530.545874202 0.363919 -0.277727 9.80904 -0.0649811 0.0351537 0.0266316 0.04 0.02 pose: 0.33768243 -3.95364 -3.72336 0 0.00663949 0.000593885 0.995628 0.093174 uwb: 0.49961905 1241.41 1381.86 -imu_odom_: 1691062530.571035826 -1.37667 -0.011971 10.0078 -0.0553937 0.0660464 0.015979 0.06 0 pose: 0.42000104 -3.95364 -3.72336 0 0.00217632 -0.00116107 0.995654 0.0930972 uwb: 0.0 1241.41 1381.86 -imu_odom_: 1691062530.587873722 -1.13964 -0.579397 9.91439 -0.0735032 -0.0788296 0.0660464 0.06 0 pose: 0.0 -3.95364 -3.72336 0 0.00217632 -0.00116107 0.995654 0.0930972 uwb: 0.49998651 1240.39 1382.47 -imu_odom_: 1691062530.612869694 0.445322 -0.237026 9.80186 -0.0479369 -0.0607201 0.0383495 0.08 0.02 pose: 0.41999520 -3.9536 -3.72332 0 -0.00222331 -0.0009783510.995647 0.0931689 uwb: 0.0 1240.39 1382.47 -imu_odom_: 1691062530.637979698 0.399832 -0.023942 9.83777 -0.0735032 0.015979 0.0735032 0.08 0.02 pose: 0.8182865 -3.95364 -3.72336 0 -0.00117391 -0.00104143 0.995649 0.0931748 uwb: 0.50014984 1241.84 1381.81 -imu_odom_: 1691062530.662931049 -0.361524 -0.277727 9.76834 -0.0596548 0.0415453 0.0287621 0.11 0 pose: 0.23933232 -3.95364 -3.72336 0 0.000888975 -0.0005159810.995659 0.0930673 uwb: 0.0 1241.84 1381.81 -imu_odom_: 1691062530.688869604 0.162806 -0.0909797 9.65821 -0.0553937 -0.0607201 0.0617853 0.12 0 pose: 0.25979969 -3.96681 -3.7182 0 -0.0003294360.00112486 0.995683 0.0928093 uwb: 0.50036273 1242.46 1382.05 -imu_odom_: 1691062530.703855288 0.28491 -0.299275 9.64384 -0.0596548 -0.00532632 0.0649811 0.12 0 pose: 0.0 -3.96681 -3.7182 0 -0.0003294360.00112486 0.995683 0.0928093 uwb: 0.0 1242.46 1382.05 -imu_odom_: 1691062530.729878128 0.143652 0.0766145 9.32302 -0.0735032 0.036219 0.0468716 0.15 0 pose: 0.25024844 -3.96681 -3.7182 0 -0.00285449 0.00152992 0.995678 0.0928124 uwb: 0.49932741 1243.77 1381.89 -imu_odom_: 1691062530.754841436 0.162806 -0.3304 10.5225 -0.0500674 -0.0319579 0.0330232 0.15 0 pose: 0.0 -3.96681 -3.7182 0 -0.00285449 0.00152992 0.995678 0.0928124 uwb: 0.0 1243.77 1381.89 -imu_odom_: 1691062530.772844439 0.610521 -0.31364 10.0173 -0.052198 -0.0234358 0.0511327 0.14 0 pose: 0.40937656 -3.96681 -3.7182 0 -0.00495767 0.00174998 0.995708 0.0923982 uwb: 0.0 1243.77 1381.89 -imu_odom_: 1691062530.796017071 0.0335188 -0.351948 9.93594 -0.0543285 0.00958738 0.0447411 0.14 0 pose: 0.0 -3.96681 -3.7182 0 -0.00495767 0.00174998 0.995708 0.0923982 uwb: 0.50232255 1241.51 1383.49 -imu_odom_: 1691062530.818860149 0.715866 -0.0814029 10.082 -0.04048 -0.0255663 0.0330232 0.18 0.02 pose: 0.50931611 -3.97597 -3.72222 0 -0.00649509 0.000966228 0.995702 0.0923804 uwb: 0.0 1241.51 1383.49 -imu_odom_: 1691062530.844964648 -0.0311246 -0.447716 9.63666 -0.0649811 -0.0330232 0.0681769 0.18 0.02 pose: 0.0 -3.97597 -3.72222 0 -0.00649509 0.000966228 0.995702 0.0923804 uwb: 0.49680180 1241.04 1384.23 -imu_odom_: 1691062530.865886103 0.411803 -0.28491 10.1945 -0.0479369 0.0255663 0.0436758 0.14 0 pose: 0.40991609 -3.97998 -3.71306 0 -0.00692134 -5.34139e-050.995708 0.092296 uwb: 0.0 1241.04 1384.23 -imu_odom_: 1691062530.878840798 0.507571 -0.217872 9.83777 -0.0479369 0.0234358 0.052198 0.14 0 pose: 0.0 -3.97998 -3.71306 0 -0.00692134 -5.34139e-050.995708 0.092296 uwb: 0.50056979 1237.51 1386.81 -imu_odom_: 1691062530.902977887 0.0790087 -0.191536 10.07 -0.0628506 -0.0479369 0.0607201 0.14 0 pose: 0.46985707 -3.98914 -3.71708 0 -0.00672959 -0.00122041 0.995738 0.0919691 uwb: 0.0 1237.51 1386.81 -imu_odom_: 1691062530.920898356 0.395043 -0.411803 9.88326 -0.0660464 -0.00426106 0.0191748 0.14 0 pose: 0.0 -3.98914 -3.71708 0 -0.00672959 -0.00122041 0.995738 0.0919691 uwb: 0.0 1237.51 1386.81 -imu_odom_: 1691062530.943862464 0.158017 -0.234632 9.80426 -0.0692422 -0.0426106 0.0617853 0.14 0 pose: 0.36020879 -3.99317 -3.70793 0 -0.00498941 -0.00122338 0.995766 0.0917787 uwb: 0.50082353 1237.73 1387.17 -imu_odom_: 1691062530.967877355 0.110133 -0.153229 10.1825 -0.0553937 -0.0383495 0.0468716 0.15 0.02 pose: 0.41068019 -4.00232 -3.71196 0 -0.00587666 -0.0022936 0.995765 0.0917137 uwb: 0.0 1237.73 1387.17 -imu_odom_: 1691062530.994836655 0.234632 0.0646434 9.79468 -0.0553937 0.015979 0.036219 0.21 0 pose: 0.39947242 -4.00841 -3.71464 0 -0.00848152 -0.0003499240.995776 0.0914253 uwb: 0.49938573 1237.32 1388.02 -imu_odom_: 1691062531.10850667 0.100556 -0.172383 9.88326 -0.0788296 -0.00852212 0.0692422 0.21 0 pose: 0.0 -4.00841 -3.71464 0 -0.00848152 -0.0003499240.995776 0.0914253 uwb: 0.0 1237.32 1388.02 -imu_odom_: 1691062531.28899753 0.591368 -0.442927 10.0221 -0.0596548 0 0.015979 0.21 0 pose: 0.0 -4.00841 -3.71464 0 -0.00848152 -0.0003499240.995776 0.0914253 uwb: 0.50021989 1239.13 1387.93 -imu_odom_: 1691062531.52886653 0.61531 -0.25618 9.68215 -0.0713727 -0.0266316 0.0532632 0.22 0.02 pose: 0.8018088 -4.01147 -3.71599 0 -0.00850387 0.000457004 0.995775 0.091432 uwb: 0.0 1239.13 1387.93 -imu_odom_: 1691062531.78833964 0.071826 -0.560243 9.58638 -0.0511327 -0.00745685 0.0330232 0.2 -0.02 pose: 0.43017643 -4.0155 -3.70684 0 -0.00950465 0.00194012 0.995775 0.0913083 uwb: 0.49988456 1241.75 1386.86 -imu_odom_: 1691062531.100823414 0.368707 0.0694318 9.7875 -0.052198 0.00426106 0.052198 0.2 -0.02 pose: 0.0 -4.0155 -3.70684 0 -0.00950465 0.00194012 0.995775 0.0913083 uwb: 0.0 1241.75 1386.86 -imu_odom_: 1691062531.124012967 0.555455 -0.356736 9.93354 -0.0553937 -0.0415453 0.0308927 0.16 0.02 pose: 0.41917580 -4.02465 -3.71087 0 -0.00662389 -7.10886e-050.995801 0.0912989 uwb: 0.0 1241.75 1386.86 -imu_odom_: 1691062531.141890568 0.964863 0.0335188 10.0748 -0.0308927 -0.0127832 0.0255663 0.16 0.02 pose: 0.0 -4.02465 -3.71087 0 -0.00662389 -7.10886e-050.995801 0.0912989 uwb: 0.49939169 1240.32 1388.33 -imu_odom_: 1691062531.165831388 0.756568 -0.270545 9.61511 -0.0575243 -0.0255663 0.0511327 0.17 0 pose: 0.0 -4.02465 -3.71087 0 -0.00662389 -7.10886e-050.995801 0.0912989 uwb: 0.0 1240.32 1388.33 -imu_odom_: 1691062531.191872608 0.497994 -0.160412 9.87848 -0.0436758 -0.0106526 0.036219 0.17 0 pose: 0.81059902 -4.03784 -3.70576 0 -0.00265262 7.59268e-05 0.995806 0.0914491 uwb: 0.0 1240.32 1388.33 -imu_odom_: 1691062531.213862058 1.02711 -0.414197 10.0245 -0.0628506 -0.0276969 0.0553937 0.19 0 pose: 0.49982040 -4.04472 -3.7088 0 0.00231972 0.000895395 0.995815 0.0913572 uwb: 0.0 1240.32 1388.33 -imu_odom_: 1691062531.237830292 0.739808 0.0167594 10.1634 -0.0553937 -0.0479369 0.0426106 0.19 0 pose: 0.5933147 -4.04699 -3.7098 0 0.00291961 0.000605432 0.995818 0.0913094 uwb: 0.99907210 1240.98 1388.64 -imu_odom_: 1691062531.255870338 0.514753 -0.260968 10.137 -0.0649811 0.0213053 0.0511327 0.18 -0.02 pose: 0.40024537 -4.05102 -3.70065 0 0.00696912 0.0012335 0.995812 0.0911494 uwb: 0.0 1240.98 1388.64 -imu_odom_: 1691062531.279809700 0.342371 -0.241814 9.80665 -0.0372843 -0.0245011 0.0234358 0.18 -0.02 pose: 0.0 -4.05102 -3.70065 0 0.00696912 0.0012335 0.995812 0.0911494 uwb: 0.49985831 1241.26 1389.1 -imu_odom_: 1691062531.304990287 0.248997 -0.0047884 10.2041 -0.0873517 -0.0394148 0.072438 0.22 0 pose: 0.8006716 -4.05102 -3.70065 0 0.00656366 0.000460624 0.99582 0.0910989 uwb: 0.0 1241.26 1389.1 -imu_odom_: 1691062531.329806030 0.677559 -0.035913 10.4818 -0.0852212 -0.0511327 0.0415453 0.22 0 pose: 0.0 -4.05102 -3.70065 0 0.00656366 0.000460624 0.99582 0.0910989 uwb: 0.50103072 1240.86 1389.96 -imu_odom_: 1691062531.346806375 0.572214 -0.124498 9.89045 -0.0735032 0.0255663 0.0415453 0.17 -0.02 pose: 0.42116770 -4.06017 -3.70469 0 0.00350606 -1.19195e-050.995836 0.0910951 uwb: 0.0 1240.86 1389.96 -imu_odom_: 1691062531.367846241 0.289698 -0.237026 10.094 -0.0287621 0.00639159 0.02024 0.17 -0.02 pose: 0.0 -4.06017 -3.70469 0 0.00350606 -1.19195e-050.995836 0.0910951 uwb: 0.0 1240.86 1389.96 -imu_odom_: 1691062531.384848044 -0.035913 -0.131681 10.0317 -0.04048 -0.0394148 0.0383495 0.18 0 pose: 0.49877633 -4.07336 -3.69959 0 0.00590752 0.0020759 0.99585 0.0907922 uwb: 0.50028119 1242.46 1389.52 -imu_odom_: 1691062531.409800567 0.790087 -0.246603 9.58878 -0.0372843 0.00532632 0.0245011 0.18 0 pose: 0.0 -4.07336 -3.69959 0 0.00590752 0.0020759 0.99585 0.0907922 uwb: 0.0 1242.46 1389.52 -imu_odom_: 1691062531.434791004 0.433351 -0.138864 9.91439 -0.0617853 0.0127832 0.0543285 0.18 0 pose: 0.71969156 -4.08541 -3.69705 0 0.00530512 0.0019783 0.995818 0.0911803 uwb: 0.49959875 1241.3 1390.68 -imu_odom_: 1691062531.459902764 0.0287304 -0.0694318 9.85214 -0.0330232 0.00426106 0.0330232 0.18 0 pose: 0.6998804 -4.08655 -3.69448 0 0.00461947 0.00227732 0.995826 0.091132 uwb: 0.0 1241.3 1390.68 -imu_odom_: 1691062531.484805125 0.143652 -0.169988 9.77792 -0.0543285 -0.00426106 0.0532632 0.16 -0.02 pose: 0.43103393 -4.09288 -3.69728 0 0.000358983 0.00403012 0.995834 0.0910979 uwb: 0.50074782 1244.68 1389.29 -imu_odom_: 1691062531.502049865 1.02472 -0.227449 10.1155 -0.0490022 -0.0213053 0.0287621 0.16 -0.02 pose: 0.0 -4.09288 -3.69728 0 0.000358983 0.00403012 0.995834 0.0910979 uwb: 0.0 1244.68 1389.29 -imu_odom_: 1691062531.526813988 0.512359 -0.141258 9.52653 -0.056459 -0.00106526 0.0458064 0.19 0 pose: 0.32050485 -4.09973 -3.68938 0 -0.00136787 0.0038099 0.995845 0.0909746 uwb: 0.49831262 1243.6 1390.58 -imu_odom_: 1691062531.549799684 0.201113 -0.275333 10.003 -0.0500674 -0.0415453 0.0298274 0.19 0 pose: 0.0 -4.09973 -3.68938 0 -0.00136787 0.0038099 0.995845 0.0909746 uwb: 0.0 1243.6 1390.58 -imu_odom_: 1691062531.575802115 0.648829 -0.114922 10.4267 -0.0500674 -0.04048 0.0500674 0.24 0 pose: 0.43011525 -4.10888 -3.69342 0 0.00154992 0.00317746 0.995846 0.0909824 uwb: 0.0 1243.6 1390.58 -imu_odom_: 1691062531.591782299 0.948104 -0.390255 9.73722 -0.0671117 0.0213053 0.04048 0.24 0 pose: 0.0 -4.10888 -3.69342 0 0.00154992 0.00317746 0.995846 0.0909824 uwb: 0.49964250 1244.39 1391.09 -imu_odom_: 1691062531.615818778 0.603339 0.0383072 10.3022 -0.0479369 -0.0138484 0.0340885 0.18 0 pose: 0.47840811 -4.10888 -3.69342 0 0.00404404 0.00246402 0.995848 0.090911 uwb: 0.0 1244.39 1391.09 -imu_odom_: 1691062531.641784171 0.191536 -0.402226 9.66539 -0.0426106 -0.0266316 0.0351537 0.24 -0.02 pose: 0.0 -4.10888 -3.69342 0 0.00404404 0.00246402 0.995848 0.090911 uwb: 0.50052909 1244.25 1392.39 -imu_odom_: 1691062531.663798702 0.402226 -0.349553 9.44991 -0.0436758 -0.00745685 0.0426106 0.24 -0.02 pose: 0.33013193 -4.12203 -3.68829 0 0.0061325 0.00404698 0.995826 0.0909739 uwb: 0.0 1244.25 1392.39 -imu_odom_: 1691062531.679769262 0.138864 -0.270545 10.3046 -0.0458064 0.0191748 0.0394148 0.24 -0.02 pose: 0.0 -4.12203 -3.68829 0 0.0061325 0.00404698 0.995826 0.0909739 uwb: 0.49980873 1241.52 1394.9 -imu_odom_: 1691062531.703831405 0.0167594 -0.105345 10.4651 -0.0351537 0.0628506 0.0372843 0.18 0 pose: 0.8010215 -4.12207 -3.68832 0 0.0055724 0.00362556 0.995829 0.090992 uwb: 0.0 1241.52 1394.9 -imu_odom_: 1691062531.727767850 0.720655 -0.169988 10.1251 -0.0585895 0.00532632 0.0394148 0.26 0 pose: 0.46957138 -4.13118 -3.69245 0 0.00259345 0.000781459 0.995848 0.0909942 uwb: 0.49997789 1240.81 1396.05 -imu_odom_: 1691062531.744772861 0.572214 -0.0646434 9.32063 -0.0500674 0.00426106 0.036219 0.26 0 pose: 0.0 -4.13118 -3.69245 0 0.00259345 0.000781459 0.995848 0.0909942 uwb: 0.0 1240.81 1396.05 -imu_odom_: 1691062531.769769423 0.134075 -0.521936 9.76595 -0.0713727 -0.02024 0.0490022 0.18 0.02 pose: 0.40109405 -4.13531 -3.68335 0 -0.0008020690.0017008 0.995847 0.0910238 uwb: 0.0 1240.81 1396.05 -imu_odom_: 1691062531.794811771 0.227449 -0.0191536 10.0149 -0.0479369 -0.0149137 0.0340885 0.18 0.02 pose: 0.0 -4.13531 -3.68335 0 -0.0008020690.0017008 0.995847 0.0910238 uwb: 0.50086156 1240.73 1396.71 -imu_odom_: 1691062531.807820424 0.45011 -0.0742203 10.094 -0.052198 -0.0138484 0.0532632 0.18 0.02 pose: 0.0 -4.13531 -3.68335 0 -0.0008020690.0017008 0.995847 0.0910238 uwb: 0.0 1240.73 1396.71 -imu_odom_: 1691062531.831875568 0.548272 -0.131681 9.95748 -0.0447411 -0.0234358 0.0234358 0.18 -0.02 pose: 0.41942661 -4.14442 -3.68748 0 0.00165869 0.0019078 0.995847 0.0910115 uwb: 0.50020537 1244.24 1395.46 -imu_odom_: 1691062531.857833086 0.371101 -0.347159 9.94551 -0.072438 0.00319579 0.0585895 0.23 0 pose: 0.47993339 -4.15766 -3.68251 0 -0.0004669670.00301976 0.99585 0.0909613 uwb: 0.0 1244.24 1395.46 -imu_odom_: 1691062531.880868069 0.658405 -0.0957681 9.96467 -0.0426106 -0.00319579 0.0330232 0.23 0 pose: 0.31044032 -4.15766 -3.68251 0 0.00268786 0.00364354 0.995832 0.0910973 uwb: 0.50082656 1242.13 1397.45 -imu_odom_: 1691062531.897742134 0.481235 -0.181959 9.80426 -0.0671117 0.0394148 0.0628506 0.23 0 pose: 0.0 -4.15766 -3.68251 0 0.00268786 0.00364354 0.995832 0.0910973 uwb: 0.0 1242.13 1397.45 -imu_odom_: 1691062531.919805660 0.574608 -0.229843 9.94551 -0.0511327 0.015979 0.036219 0.18 0 pose: 0.7954803 -4.15766 -3.68251 0 0.00230651 0.00286116 0.995842 0.0910217 uwb: 0.0 1242.13 1397.45 -imu_odom_: 1691062531.944765766 0.634463 -0.172383 9.93115 -0.0585895 0.0287621 0.0458064 0.18 0 pose: 0.48939715 -4.17089 -3.67754 0 0.00398196 0.00129204 0.995858 0.0908284 uwb: 0.49875008 1243.82 1397.1 -imu_odom_: 1691062531.960803403 -0.11971 -0.227449 9.44273 -0.0447411 0.0500674 0.0340885 0.18 0 pose: 0.0 -4.17089 -3.67754 0 0.00398196 0.00129204 0.995858 0.0908284 uwb: 0.0 1243.82 1397.1 -imu_odom_: 1691062531.985869084 0.304064 -0.344765 9.44991 -0.0639159 -0.0149137 0.0553937 0.18 0 pose: 0.0 -4.17089 -3.67754 0 0.00398196 0.00129204 0.995858 0.0908284 uwb: 0.50102488 1239.74 1400.57 -imu_odom_: 1691062532.8878987 0.301669 -0.196325 9.8258 -0.0585895 -0.0479369 0.052198 0.18 0 pose: 0.39052205 -4.18 -3.68167 0 0.00676548 -0.0001597950.995853 0.090727 uwb: 0.0 1239.74 1400.57 -imu_odom_: 1691062532.26734719 0.864307 -0.146046 9.79707 -0.0500674 -0.0383495 0.052198 0.18 0 pose: 0.0 -4.18 -3.68167 0 0.00676548 -0.0001597950.995853 0.090727 uwb: 0.49881138 1239.38 1401.55 -imu_odom_: 1691062532.50860446 0.78051 -0.397437 9.93594 -0.0607201 0.0276969 0.0308927 0.24 0 pose: 0.64957229 -4.19324 -3.67671 0 0.00352753 -0.0007854020.995892 0.0904762 uwb: 0.0 1239.38 1401.55 -imu_odom_: 1691062532.73796276 0.452504 -0.299275 9.52892 -0.0479369 -0.00426106 0.0415453 0.23 0 pose: 0.23976696 -4.19324 -3.67671 0 0.0032362 -0.0003702230.995907 0.0903261 uwb: 0.0 1239.38 1401.55 -imu_odom_: 1691062532.99854418 0.179565 0.0215478 10.1227 -0.0490022 -0.00532632 0.04048 0.23 0 pose: 0.0 -4.19324 -3.67671 0 0.0032362 -0.0003702230.995907 0.0903261 uwb: 0.50195242 1240.7 1401.39 -imu_odom_: 1691062532.122808913 0.507571 0.0766145 10.058 -0.072438 -0.0181095 0.0543285 0.2 0 pose: 0.41996041 -4.20649 -3.67176 0 0.00530891 -0.00224145 0.995893 0.0903497 uwb: 0.0 1240.7 1401.39 -imu_odom_: 1691062532.146771321 0.45011 -0.25618 10.0078 -0.0490022 0.00106526 0.0308927 0.2 0 pose: 0.0 -4.20649 -3.67176 0 0.00530891 -0.00224145 0.995893 0.0903497 uwb: 0.49940347 1241.8 1401.63 -imu_odom_: 1691062532.163738714 0.28491 -0.308852 9.71567 -0.0575243 -0.00745685 0.0394148 0.21 -0.02 pose: 0.48149962 -4.20649 -3.67176 0 0.0026445 -0.0004764640.995914 0.0902689 uwb: 0.0 1241.8 1401.63 -imu_odom_: 1691062532.179715403 0.610521 -0.153229 9.991 -0.0703074 -0.0245011 0.056459 0.21 -0.02 pose: 0.0 -4.20649 -3.67176 0 0.0026445 -0.0004764640.995914 0.0902689 uwb: 0.49880561 1242.43 1401.88 -imu_odom_: 1691062532.202742517 0.538695 -0.126893 9.72764 -0.0500674 -0.0117179 0.0394148 0.21 -0.02 pose: 0.0 -4.20649 -3.67176 0 0.0026445 -0.0004764640.995914 0.0902689 uwb: 0.0 1242.43 1401.88 -imu_odom_: 1691062532.228849362 1.00317 -0.361524 9.78271 -0.056459 -0.0298274 0.0468716 0.23 0.02 pose: 0.48010266 -4.21973 -3.6668 0 0.00164334 -0.00156845 0.995916 0.0902525 uwb: 0.50029299 1239.98 1404.17 -imu_odom_: 1691062532.251891642 0.837971 -0.268151 10.1969 -0.0596548 -0.0276969 0.0500674 0.18 0.02 pose: 0.32943498 -4.22883 -3.67095 0 0.003043 -0.0007830970.995926 0.0901228 uwb: 0.0 1239.98 1404.17 -imu_odom_: 1691062532.267846457 0.675165 -0.102951 10.058 -0.0585895 -0.0319579 0.0596548 0.18 0.02 pose: 0.0 -4.22883 -3.67095 0 0.003043 -0.0007830970.995926 0.0901228 uwb: 0.0 1239.98 1404.17 -imu_odom_: 1691062532.292715869 0.397437 -0.201113 9.80904 -0.0468716 0.0138484 0.0458064 0.18 0 pose: 0.47993351 -4.24207 -3.66598 0 0.00762967 -0.0009037520.995913 0.0899891 uwb: 0.0 1239.98 1404.17 -imu_odom_: 1691062532.315719068 0.203507 -0.275333 9.77792 -0.056459 0.02024 0.0458064 0.18 0 pose: 0.0 -4.24207 -3.66598 0 0.00762967 -0.0009037520.995913 0.0899891 uwb: 0.0 1239.98 1404.17 -imu_odom_: 1691062532.341781876 -0.071826 -0.272939 9.25359 -0.0692422 0.036219 0.0511327 0.23 0.02 pose: 0.39002636 -4.24207 -3.66598 0 0.00984299 -9.92636e-050.995917 0.089734 uwb: 0.99972562 1240.73 1404.63 -imu_odom_: 1691062532.364769327 0.169988 -0.593762 9.8258 -0.0671117 0.0479369 0.0458064 0.23 0.02 pose: 0.0 -4.24207 -3.66598 0 0.00984299 -9.92636e-050.995917 0.089734 uwb: 0.0 1240.73 1404.63 -imu_odom_: 1691062532.381712806 0.0526724 -0.0957681 10.0963 -0.04048 0.0149137 0.0308927 0.18 0.02 pose: 0.48884315 -4.25121 -3.67004 0 0.00437415 -0.0001959970.995972 0.0895629 uwb: 0.50060795 1241.21 1405.44 -imu_odom_: 1691062532.405709627 0.337582 -0.337582 10.1203 -0.0852212 0.00106526 0.0660464 0.18 0.02 pose: 0.0 -4.25121 -3.67004 0 0.00437415 -0.0001959970.995972 0.0895629 uwb: 0.0 1241.21 1405.44 -imu_odom_: 1691062532.430709402 0.826 -0.251391 10.0149 -0.0756338 -0.0170442 0.0447411 0.18 -0.02 pose: 0.49082047 -4.26441 -3.66498 0 -0.000706462-0.00167197 0.995993 0.0894182 uwb: 0.49779653 1241.31 1406.42 -imu_odom_: 1691062532.453882046 0.366313 -0.572214 9.38288 -0.056459 0.0351537 0.0213053 0.18 -0.02 pose: 0.0 -4.26441 -3.66498 0 -0.000706462-0.00167197 0.995993 0.0894182 uwb: 0.0 1241.31 1406.42 -imu_odom_: 1691062532.469697165 0.177171 -0.1652 10.0365 -0.0330232 0.0298274 0.0255663 0.18 0 pose: 0.40916678 -4.26441 -3.66498 0 -0.00185197 -0.00376043 0.996012 0.089122 uwb: 0.0 1241.31 1406.42 -imu_odom_: 1691062532.493878011 0.335188 -0.411803 10.2927 -0.0415453 -0.00852212 0.0340885 0.18 0 pose: 0.0 -4.26441 -3.66498 0 -0.00185197 -0.00376043 0.996012 0.089122 uwb: 0.50087043 1242.07 1406.89 -imu_odom_: 1691062532.519044314 0.761356 0.0694318 10.094 -0.0426106 0.00958738 0.0500674 0.25 0 pose: 0.48074135 -4.27767 -3.66005 0 -0.00175739 -0.00552137 0.995984 0.0893458 uwb: 0.0 1242.07 1406.89 -imu_odom_: 1691062532.534698447 0.203507 -0.246603 9.62948 -0.0607201 0.00426106 0.0575243 0.25 0 pose: 0.0 -4.27767 -3.66005 0 -0.00175739 -0.00552137 0.995984 0.0893458 uwb: 0.49994593 1239.95 1408.99 -imu_odom_: 1691062532.559749551 0.0909797 -0.1652 9.68215 -0.0468716 0.00532632 0.0436758 0.23 0 pose: 0.40172701 -4.28679 -3.66415 0 -0.00270103 -0.00637738 0.995969 0.0894252 uwb: 0.0 1239.95 1408.99 -imu_odom_: 1691062532.576748734 0.68953 -0.19393 10.0533 -0.0617853 0.00213053 0.0553937 0.23 0 pose: 0.0 -4.28679 -3.66415 0 -0.00270103 -0.00637738 0.995969 0.0894252 uwb: 0.49995759 1239.67 1410.16 -imu_odom_: 1691062532.593754332 0.294487 -0.0814029 9.95748 -0.0543285 -0.0138484 0.0340885 0.18 -0.02 pose: 0.40776397 -4.29095 -3.65505 0 -0.0037113 -0.00400959 0.996001 0.089175 uwb: 0.0 1239.67 1410.16 -imu_odom_: 1691062532.618842475 0.198719 -0.392649 9.53611 -0.0607201 -0.00745685 0.0532632 0.18 -0.02 pose: 0.0 -4.29095 -3.65505 0 -0.0037113 -0.00400959 0.996001 0.089175 uwb: 0.0 1239.67 1410.16 -imu_odom_: 1691062532.635708377 0.220267 -0.0861913 10.0413 -0.0628506 -0.0628506 0.0351537 0.18 -0.02 pose: 0.0 -4.29095 -3.65505 0 -0.0037113 -0.00400959 0.996001 0.089175 uwb: 0.50122332 1238.54 1411.53 -imu_odom_: 1691062532.660959547 0.837971 -0.203507 10.1131 -0.0681769 -0.0319579 0.0543285 0.26 -0.02 pose: 0.41966877 -4.30004 -3.65922 0 -0.00364835 -0.00202136 0.996021 0.0890208 uwb: 0.0 1238.54 1411.53 -imu_odom_: 1691062532.687829326 0.629675 -0.179565 9.64863 -0.0596548 -0.00745685 0.0372843 0.23 -0.02 pose: 0.76234427 -4.3133 -3.6543 0 -0.00267241 -0.00158002 0.996052 0.0887166 uwb: 0.0 1238.54 1411.53 -imu_odom_: 1691062532.712682697 0.395043 -0.351948 9.60314 -0.0681769 -0.0266316 0.0458064 0.23 -0.02 pose: 0.0 -4.3133 -3.6543 0 -0.00267241 -0.00158002 0.996052 0.0887166 uwb: 0.0 1238.54 1411.53 -imu_odom_: 1691062532.737818086 0.335188 -0.0574608 9.80426 -0.0394148 -0.0319579 0.0340885 0.22 0.02 pose: 0.7876645 -4.3133 -3.6543 0 -0.00188265 -0.00147286 0.996053 0.0887266 uwb: 0.100143172 1240.22 1411.1 -imu_odom_: 1691062532.760736126 0.500388 -0.263362 10.2161 -0.0532632 -0.0266316 0.0468716 0.22 0.02 pose: 0.0 -4.3133 -3.6543 0 -0.00188265 -0.00147286 0.996053 0.0887266 uwb: 0.0 1240.22 1411.1 -imu_odom_: 1691062532.775704902 0.718261 -0.102951 10.319 -0.0458064 -0.0585895 0.0468716 0.19 0 pose: 0.51913301 -4.32657 -3.64939 0 -0.000213456-0.00299967 0.996054 0.0886931 uwb: 0.0 1240.22 1411.1 -imu_odom_: 1691062532.801818747 0.804452 -0.244209 10.4004 -0.0532632 -0.0255663 0.0426106 0.19 0 pose: 0.0 -4.32657 -3.64939 0 -0.000213456-0.00299967 0.996054 0.0886931 uwb: 0.49611085 1243.87 1409.92 -imu_odom_: 1691062532.817705901 0.390255 -0.0454898 9.56484 -0.0468716 -0.0340885 0.0468716 0.2 -0.02 pose: 0.46995354 -4.33565 -3.65357 0 0.00294805 -0.00163435 0.996059 0.0886324 uwb: 0.0 1243.87 1409.92 -imu_odom_: 1691062532.842819708 0.213084 -0.328006 10.0173 -0.0713727 0.0223706 0.0639159 0.2 -0.02 pose: 0.0 -4.33565 -3.65357 0 0.00294805 -0.00163435 0.996059 0.0886324 uwb: 0.50004508 1246.04 1409.48 -imu_odom_: 1691062532.867790320 0.464475 -0.186748 10.1011 -0.0585895 0.02024 0.0340885 0.17 0.02 pose: 0.75074861 -4.34891 -3.64866 0 0.00339567 -0.00108037 0.996096 0.0882087 uwb: 0.0 1246.04 1409.48 -imu_odom_: 1691062532.884783669 0.435745 -0.189142 10.0844 -0.0543285 -0.00958738 0.0553937 0.17 0.02 pose: 0.7882187 -4.34891 -3.64866 0 0.00322265 -0.0002986360.996095 0.0882331 uwb: 0.50236947 1245 1411 -imu_odom_: 1691062532.909649873 0.751779 -0.162806 10.07 -0.0394148 -0.00745685 0.0213053 0.18 0 pose: 0.0 -4.34891 -3.64866 0 0.00322265 -0.0002986360.996095 0.0882331 uwb: 0.0 1245 1411 -imu_odom_: 1691062532.932651614 0.292093 -0.416591 9.69652 -0.0713727 0.00852212 0.0575243 0.18 0 pose: 0.42043287 -4.36218 -3.64376 0 0.00205609 0.00106387 0.996098 0.0882249 uwb: 0.49749031 1244.33 1412.33 -imu_odom_: 1691062532.957709426 0.648829 -0.0383072 9.8665 -0.0415453 -0.0170442 0.0340885 0.25 0 pose: 0.39906432 -4.36822 -3.64654 0 0.00205211 -0.0006477410.996103 0.0881674 uwb: 0.0 1244.33 1412.33 -imu_odom_: 1691062532.982661081 0.885855 -0.0574608 10.0365 -0.0671117 -0.00958738 0.0575243 0.25 0 pose: 0.8063588 -4.37126 -3.64794 0 0.00275258 -0.0001095450.9961 0.0881906 uwb: 0.50058754 1245.15 1412.88 -imu_odom_: 1691062533.6769310 0.241814 -0.213084 9.75398 -0.0500674 0.036219 0.0415453 0.2 -0.02 pose: 0.23951908 -4.37126 -3.64794 0 0.00492253 0.00113683 0.996092 0.088177 uwb: 0.0 1245.15 1412.88 -imu_odom_: 1691062533.23823908 0.141258 -0.464475 10.0389 -0.0617853 0.00958738 0.0468716 0.2 -0.02 pose: 0.0 -4.37126 -3.64794 0 0.00492253 0.00113683 0.996092 0.088177 uwb: 0.0 1245.15 1412.88 -imu_odom_: 1691062533.48697117 0.521936 0.0574608 10.4148 -0.0298274 -0.015979 0.0394148 0.25 0.02 pose: 0.50130209 -4.38453 -3.64305 0 0.00311303 0.000949699 0.996118 0.087965 uwb: 0.50059342 1245.58 1413.61 -imu_odom_: 1691062533.73652569 0.531513 -0.21069 10.5129 -0.0756338 -0.00213053 0.0468716 0.22 0 pose: 0.0 -4.38453 -3.64305 0 0.00311303 0.000949699 0.996118 0.087965 uwb: 0.0 1245.58 1413.61 -imu_odom_: 1691062533.87925493 0.68953 -0.0430956 9.97903 -0.0351537 -0.0106526 0.0394148 0.22 0 pose: 0.41861313 -4.38453 -3.64305 0 0.00385172 0.00234266 0.996119 0.087905 uwb: 0.50004229 1249.61 1412.15 -imu_odom_: 1691062533.105805436 0.567426 -0.071826 9.8665 -0.0596548 -0.0170442 0.0543285 0.22 0 pose: 0.0 -4.38453 -3.64305 0 0.00385172 0.00234266 0.996119 0.087905 uwb: 0.0 1249.61 1412.15 -imu_odom_: 1691062533.128827014 0.253785 -0.181959 10.3214 -0.0479369 -0.00426106 0.0276969 0.19 0.02 pose: 0.0 -4.38453 -3.64305 0 0.00385172 0.00234266 0.996119 0.087905 uwb: 0.49828953 1250.09 1412.96 -imu_odom_: 1691062533.146639880 0.605733 -0.0766145 9.76355 -0.0596548 -0.00532632 0.0383495 0.19 0.02 pose: 0.56158152 -4.3978 -3.63816 0 0.00650143 0.00322844 0.996115 0.0877581 uwb: 0.0 1250.09 1412.96 -imu_odom_: 1691062533.170646331 0.280122 -0.114922 9.91439 -0.0617853 -0.0127832 0.0458064 0.19 0 pose: 0.0 -4.3978 -3.63816 0 0.00650143 0.00322844 0.996115 0.0877581 uwb: 0.0 1250.09 1412.96 -imu_odom_: 1691062533.195798349 0.392649 0.110133 10.0724 -0.0852212 0.00213053 0.0575243 0.2 0 pose: 0.33823096 -4.40919 -3.63735 0 0.00651445 0.00392051 0.996103 0.0878665 uwb: 0.50100471 1249.4 1414.26 -imu_odom_: 1691062533.209627395 1.06063 -0.294487 9.75398 -0.0692422 -0.00745685 0.0447411 0.18 0.02 pose: 0.0 -4.40919 -3.63735 0 0.00651445 0.00392051 0.996103 0.0878665 uwb: 0.0 1249.4 1414.26 -imu_odom_: 1691062533.226751404 0.56982 -0.306458 9.92875 -0.0468716 -0.0149137 0.0372843 0.18 0.02 pose: 0.56005915 -4.42015 -3.63746 0 0.0040895 0.00589457 0.996132 0.0875717 uwb: 0.49924610 1243.2 1418.66 -imu_odom_: 1691062533.251656110 0.773327 -0.435745 9.97424 -0.072438 -0.00958738 0.0490022 0.18 -0.02 pose: 0.0 -4.42015 -3.63746 0 0.0040895 0.00589457 0.996132 0.0875717 uwb: 0.0 1243.2 1418.66 -imu_odom_: 1691062533.275625523 0.509965 -0.268151 9.16261 -0.0628506 0.0191748 0.056459 0.18 -0.02 pose: 0.31000300 -4.42015 -3.63746 0 0.00575191 0.00337119 0.99614 0.0875222 uwb: 0.0 1243.2 1418.66 -imu_odom_: 1691062533.301802368 -0.248997 -0.138864 9.55047 -0.0340885 0.0426106 0.0298274 0.25 0 pose: 0.41979428 -4.43342 -3.63258 0 0.00601792 -0.0006370250.996172 0.0872105 uwb: 0.49994897 1242.49 1419.97 -imu_odom_: 1691062533.318628028 0.497994 -0.296881 10.0556 -0.056459 -0.0575243 0.04048 0.25 0 pose: 0.8023051 -4.43342 -3.63258 0 0.00505 -0.00038492 0.996174 0.0872498 uwb: 0.0 1242.49 1419.97 -imu_odom_: 1691062533.334755499 1.15161 -0.0526724 9.53611 -0.0575243 -0.0596548 0.0543285 0.23 -0.14 pose: 0.0 -4.43342 -3.63258 0 0.00505 -0.00038492 0.996174 0.0872498 uwb: 0.49964274 1244.25 1420.47 -imu_odom_: 1691062533.350736274 1.86269 -0.287304 10.1514 -0.0532632 -0.122505 0.0340885 0.23 -0.14 pose: 0.42097834 -4.4425 -3.63679 0 0.0047217 -0.00136229 0.996172 0.0872749 uwb: 0.0 1244.25 1420.47 -imu_odom_: 1691062533.368620008 1.91297 -0.0766145 9.47625 -0.0490022 -0.0191748 -0.0830906 0.23 -0.14 pose: 0.0 -4.4425 -3.63679 0 0.0047217 -0.00136229 0.996172 0.0872749 uwb: 0.0 1244.25 1420.47 -imu_odom_: 1691062533.385628235 1.75734 0.0909797 9.90481 -0.0596548 0.0479369 -0.162985 0.18 -0.35 pose: 0.0 -4.4425 -3.63679 0 0.0047217 -0.00136229 0.996172 0.0872749 uwb: 0.50020269 1241.39 1423.17 -imu_odom_: 1691062533.400613931 1.09415 0.0191536 10.1706 -0.0415453 0.00639159 -0.267381 0.18 -0.35 pose: 0.32884012 -4.4467 -3.62771 0 0.00923788 -0.00146467 0.9961 0.0877347 uwb: 0.0 1241.39 1423.17 -imu_odom_: 1691062533.416732069 0.73502 0.0814029 9.53371 -0.0617853 -0.00745685 -0.361125 0.1 -0.41 pose: 0.0 -4.4467 -3.62771 0 0.00923788 -0.00146467 0.9961 0.0877347 uwb: 0.0 1241.39 1423.17 -imu_odom_: 1691062533.429629321 0.873884 0.227449 10.1682 -0.052198 0.0149137 -0.414388 0.1 -0.41 pose: 0.34136902 -4.4467 -3.62771 0 0.0121763 -0.0007533260.995762 0.0911597 uwb: 0.0 1241.39 1423.17 -imu_odom_: 1691062533.445619136 1.00078 0.0957681 10.0389 -0.0596548 -0.0308927 -0.434628 0.1 -0.41 pose: 0.0 -4.4467 -3.62771 0 0.0121763 -0.0007533260.995762 0.0911597 uwb: 0.0 1241.39 1423.17 -imu_odom_: 1691062533.462685984 0.699107 -0.0622492 10.0245 -0.0607201 -0.00745685 -0.461259 0.11 -0.58 pose: 0.14902577 -4.4467 -3.62771 0 0.013154 0.000255827 0.995506 0.0937773 uwb: 0.0 1241.39 1423.17 -imu_odom_: 1691062533.478728587 0.907402 -0.356736 10.0485 -0.0543285 -0.0479369 -0.459129 0.11 -0.58 pose: 0.0 -4.4467 -3.62771 0 0.013154 0.000255827 0.995506 0.0937773 uwb: 0.100098575 1240.73 1424.6 -imu_odom_: 1691062533.494880555 0.64404 -0.225055 9.76834 -0.0649811 -0.0287621 -0.467651 0.11 -0.58 pose: 0.0 -4.4467 -3.62771 0 0.013154 0.000255827 0.995506 0.0937773 uwb: 0.0 1240.73 1424.6 -imu_odom_: 1691062533.511725463 0.981623 -0.146046 10.1562 -0.0617853 -0.0394148 -0.48363 0.07 -0.5 pose: 0.44955044 -4.45575 -3.63198 0 0.0156641 0.00376576 0.994441 0.104055 uwb: 0.0 1240.73 1424.6 -imu_odom_: 1691062533.528737190 0.885855 0.0023942 10.0533 -0.0703074 -0.036219 -0.48363 0.1 -0.73 pose: 0.0 -4.45575 -3.63198 0 0.0156641 0.00376576 0.994441 0.104055 uwb: 0.49858409 1242.15 1424.5 -imu_odom_: 1691062533.544604225 0.905008 -0.373495 9.92397 -0.0607201 -0.0340885 -0.502805 0.1 -0.73 pose: 0.0 -4.45575 -3.63198 0 0.0156641 0.00376576 0.994441 0.104055 uwb: 0.0 1242.15 1424.5 -imu_odom_: 1691062533.561606620 0.802058 -0.220267 9.70849 -0.0671117 -0.0149137 -0.526241 0.09 -0.73 pose: 0.67281350 -4.46 -3.62293 0 0.0186535 0.00236403 0.992464 0.121083 uwb: 0.0 1242.15 1424.5 -imu_odom_: 1691062533.577600227 0.629675 -0.122104 10.1299 -0.0681769 -0.0138484 -0.523045 0.09 -0.73 pose: 0.0 -4.46 -3.62293 0 0.0186535 0.00236403 0.992464 0.121083 uwb: 0.50068973 1239.88 1426.57 -imu_odom_: 1691062533.594599997 0.663194 -0.181959 9.97185 -0.0639159 -0.00213053 -0.484695 0.09 -0.73 pose: 0.32697652 -4.46 -3.62293 0 0.0203088 0.000586393 0.991325 0.12985 uwb: 0.0 1239.88 1426.57 -imu_odom_: 1691062533.610660681 0.730232 -0.521936 9.72525 -0.0671117 0.015979 -0.447411 0.05 -0.44 pose: 0.41996052 -4.46901 -3.62713 0 0.0172733 0.000141399 0.989823 0.141249 uwb: 0.0 1239.88 1426.57 -imu_odom_: 1691062533.627649660 0.658405 -0.328006 10.0006 -0.0543285 0.0138484 -0.395213 0.05 -0.44 pose: 0.8065922 -4.46906 -3.62717 0 0.0170687 -0.0006585670.989549 0.14318 uwb: 0.49999563 1240.69 1427.13 -imu_odom_: 1691062533.643600980 0.610521 -0.380678 9.88087 -0.0575243 -0.00319579 -0.358994 0.05 -0.44 pose: 0.0 -4.46906 -3.62717 0 0.0170687 -0.0006585670.989549 0.14318 uwb: 0.0 1240.69 1427.13 -imu_odom_: 1691062533.661595246 0.507571 -0.184354 9.78989 -0.056459 0.00213053 -0.322775 0.06 -0.5 pose: 0.40935061 -4.46901 -3.62713 0 0.0145984 -0.00384366 0.988289 0.151848 uwb: 0.0 1240.69 1427.13 -imu_odom_: 1691062533.678606390 0.579397 -0.260968 9.88566 -0.0490022 0.00745685 -0.292948 0.04 -0.32 pose: 0.0 -4.46901 -3.62713 0 0.0145984 -0.00384366 0.988289 0.151848 uwb: 0.50007437 1242.61 1427.05 -imu_odom_: 1691062533.693653038 0.593762 -0.328006 9.86411 -0.0649811 0.00532632 -0.270577 0.04 -0.32 pose: 0.0 -4.46901 -3.62713 0 0.0145984 -0.00384366 0.988289 0.151848 uwb: 0.0 1242.61 1427.05 -imu_odom_: 1691062533.710801836 0.632069 -0.21069 9.96946 -0.0479369 0 -0.251402 0.03 -0.26 pose: 0.26005068 -4.46906 -3.62717 0 0.0121193 -0.00307079 0.987616 0.156392 uwb: 0.0 1242.61 1427.05 -imu_odom_: 1691062533.725795405 0.636858 -0.354342 9.73243 -0.0532632 0.00213053 -0.219444 0.03 -0.26 pose: 0.0 -4.46906 -3.62717 0 0.0121193 -0.00307079 0.987616 0.156392 uwb: 0.0 1242.61 1427.05 -imu_odom_: 1691062533.742738013 0.572214 -0.265756 9.89284 -0.0543285 0.00958738 -0.194943 0.03 -0.26 pose: 0.31047838 -4.46906 -3.62717 0 0.0106019 -0.00380803 0.986863 0.161168 uwb: 0.49931027 1242.94 1427.62 -imu_odom_: 1691062533.758735412 0.567426 -0.328006 9.96946 -0.0500674 0.00958738 -0.183225 0.03 -0.23 pose: 0.42084127 -4.46901 -3.62713 0 0.00910328 -0.00405771 0.985993 0.166491 uwb: 0.0 1242.94 1427.62 -imu_odom_: 1691062533.775737807 0.596156 -0.129287 10.0149 -0.0585895 -0.0213053 -0.168312 0.03 -0.23 pose: 0.7890355 -4.46906 -3.62717 0 0.00864373 -0.00469369 0.985848 0.16735 uwb: 0.0 1242.94 1427.62 -imu_odom_: 1691062533.791625256 0.555455 -0.203507 9.84256 -0.0532632 0.0106526 -0.157659 0.03 -0.23 pose: 0.0 -4.46906 -3.62717 0 0.00864373 -0.00469369 0.985848 0.16735 uwb: 0.50054683 1238.03 1431.14 -imu_odom_: 1691062533.817582204 0.641646 -0.253785 9.83299 -0.056459 -0.015979 -0.131028 0.03 -0.23 pose: 0.40996888 -4.47329 -3.61809 0 0.00817345 -0.00217798 0.98514 0.171547 uwb: 0.0 1238.03 1431.14 -imu_odom_: 1691062533.840585701 0.380678 -0.373495 9.7851 -0.0596548 0.0149137 -0.118244 0.02 -0.17 pose: 0.0 -4.47329 -3.61809 0 0.00817345 -0.00217798 0.98514 0.171547 uwb: 0.49945901 1234.54 1433.72 -imu_odom_: 1691062533.856600890 0.150835 -0.213084 9.92636 -0.0500674 0.0170442 -0.15979 0.02 -0.17 pose: 0.33047623 -4.47334 -3.61813 0 0.00987576 -0.00365152 0.984642 0.174266 uwb: 0.0 1234.54 1433.72 -imu_odom_: 1691062533.880654295 0.529119 0.0646434 10.0341 -0.0575243 -0.0415453 -0.235423 0.03 -0.44 pose: 0.0 -4.47334 -3.61813 0 0.00987576 -0.00365152 0.984642 0.174266 uwb: 0.49982939 1231.78 1435.87 -imu_odom_: 1691062533.905573000 0.775721 -0.0814029 9.8258 -0.0575243 -0.00532632 -0.313188 0.03 -0.44 pose: 0.38979314 -4.47334 -3.61813 0 0.00675715 -0.00291956 0.983998 0.178025 uwb: 0.0 1231.78 1435.87 -imu_odom_: 1691062533.928692862 0.45011 -0.351948 9.81144 -0.0660464 -0.00532632 -0.34195 0.03 -0.35 pose: 0.41920807 -4.4733 -3.6181 0 0.00966505 -0.0004483050.982754 0.184663 uwb: 0.50001312 1232.05 1436.39 -imu_odom_: 1691062533.944675970 0.418985 -0.311246 9.85932 -0.056459 -0.0170442 -0.352603 0.03 -0.35 pose: 0.0 -4.4733 -3.6181 0 0.00966505 -0.0004483050.982754 0.184663 uwb: 0.0 1232.05 1436.39 -imu_odom_: 1691062533.968586180 0.603339 -0.0383072 9.97424 -0.0585895 -0.0181095 -0.394148 0.03 -0.53 pose: 0.39102970 -4.48237 -3.62243 0 0.00646637 -0.002558 0.981359 0.192056 uwb: 0.0 1232.05 1436.39 -imu_odom_: 1691062533.994567626 0.577003 -0.179565 10.0078 -0.0511327 -0.00213053 -0.449542 0.03 -0.53 pose: 0.0 -4.48237 -3.62243 0 0.00646637 -0.002558 0.981359 0.192056 uwb: 0.49918487 1231.96 1437.13 -imu_odom_: 1691062534.20629860 0.509965 -0.208296 9.82102 -0.0660464 -0.00106526 -0.46339 0.02 -0.5 pose: 0.32005880 -4.48237 -3.62243 0 0.00853637 -0.0001468160.979942 0.199099 uwb: 0.0 1231.96 1437.13 -imu_odom_: 1691062534.46583315 0.387861 -0.31364 9.85453 -0.056459 -0.0245011 -0.504935 0.02 -0.61 pose: 0.25992528 -4.48237 -3.62243 0 0.00937058 0.000383207 0.978637 0.205382 uwb: 0.50265545 1230.62 1438.32 -imu_odom_: 1691062534.72620179 0.519542 -0.0335188 10.0317 -0.0575243 -0.0138484 -0.552872 0.02 -0.61 pose: 0.0 -4.48237 -3.62243 0 0.00937058 0.000383207 0.978637 0.205382 uwb: 0.0 1230.62 1438.32 -imu_odom_: 1691062534.89690530 0.579397 -0.227449 9.71567 -0.0681769 -0.0213053 -0.551807 0.02 -0.67 pose: 0.24970040 -4.48237 -3.62243 0 0.00704197 -0.0004964030.977317 0.211664 uwb: 0.49812924 1232.71 1437.64 -imu_odom_: 1691062534.113557874 0.737414 -0.272939 10.0197 -0.0660464 -0.0213053 -0.573112 0.02 -0.67 pose: 0.0 -4.48237 -3.62243 0 0.00704197 -0.0004964030.977317 0.211664 uwb: 0.0 1232.71 1437.64 -imu_odom_: 1691062534.139617194 0.454898 -0.126893 9.991 -0.0575243 0.00106526 -0.615723 0.01 -0.73 pose: 0.51943072 -4.48237 -3.62243 0 0.00669385 0.000550964 0.974049 0.226236 uwb: 0.50012115 1231.76 1438.62 -imu_odom_: 1691062534.154614267 0.517148 -0.191536 9.79228 -0.0735032 -0.0181095 -0.632767 0.01 -0.73 pose: 0.0 -4.48237 -3.62243 0 0.00669385 0.000550964 0.974049 0.226236 uwb: 0.0 1231.76 1438.62 -imu_odom_: 1691062534.179582848 0.766145 -0.248997 10.1035 -0.0532632 -0.0170442 -0.66579 0.01 -0.79 pose: 0.42099011 -4.48237 -3.62243 0 0.00878551 -0.00132821 0.971021 0.238829 uwb: 0.49986159 1232.68 1438.5 -imu_odom_: 1691062534.203548476 0.699107 -0.169988 9.85453 -0.0649811 -0.00745685 -0.688161 0.01 -0.79 pose: 0.0 -4.48237 -3.62243 0 0.00878551 -0.00132821 0.971021 0.238829 uwb: 0.0 1232.68 1438.5 -imu_odom_: 1691062534.229550343 0.565032 -0.258574 9.84256 -0.0660464 -0.02024 -0.688161 0.01 -0.7 pose: 0.39938824 -4.48237 -3.62243 0 0.00671475 -0.0007218260.967751 0.251819 uwb: 0.50043905 1230.96 1439.89 -imu_odom_: 1691062534.252614215 0.402226 -0.110133 9.991 -0.0543285 0.00106526 -0.713727 0.01 -0.7 pose: 0.0 -4.48237 -3.62243 0 0.00671475 -0.0007218260.967751 0.251819 uwb: 0.0 1230.96 1439.89 -imu_odom_: 1691062534.277543425 0.471658 -0.205901 9.82341 -0.056459 -0.00852212 -0.716923 0.01 -0.7 pose: 0.49966619 -4.48237 -3.62243 0 0.0102716 -0.00216697 0.963038 0.269163 uwb: 0.49989950 1234.68 1438.58 -imu_odom_: 1691062534.294612318 0.605733 -0.263362 10.1682 -0.0553937 0.0308927 -0.737163 0.01 -0.7 pose: 0.0 -4.48237 -3.62243 0 0.0102716 -0.00216697 0.963038 0.269163 uwb: 0.0 1234.68 1438.58 -imu_odom_: 1691062534.319606272 0.497994 -0.143652 9.82102 -0.0649811 -0.0298274 -0.727576 0.01 -0.7 pose: 0.49040074 -4.48237 -3.62243 0 0.00666728 -0.0013256 0.957995 0.286703 uwb: 0.0 1234.68 1438.58 -imu_odom_: 1691062534.344535190 0.6608 -0.105345 9.85453 -0.0607201 -0.00852212 -0.752077 0.01 -0.7 pose: 0.0 -4.48237 -3.62243 0 0.00666728 -0.0013256 0.957995 0.286703 uwb: 0.49948246 1233.34 1439.75 -imu_odom_: 1691062534.360652458 0.553061 -0.0742203 9.7875 -0.0639159 -0.00958738 -0.761664 0 -0.79 pose: 0.41991979 -4.48237 -3.62243 0 0.00597587 -0.00130164 0.95326 0.302089 uwb: 0.0 1233.34 1439.75 -imu_odom_: 1691062534.386528335 0.416591 -0.241814 9.79228 -0.0585895 -0.0191748 -0.800014 0 -0.79 pose: 0.0 -4.48237 -3.62243 0 0.00597587 -0.00130164 0.95326 0.302089 uwb: 0.50000449 1234.46 1439.07 -imu_odom_: 1691062534.399532331 0.371101 -0.186748 9.88326 -0.056459 0.0127832 -0.819188 0 -0.79 pose: 0.48066867 -4.48237 -3.62243 0 0.00877926 0.00115074 0.947373 0.32001 uwb: 0.0 1234.46 1439.07 -imu_odom_: 1691062534.424521328 0.507571 -0.184354 9.83059 -0.0628506 -0.0213053 -0.815993 0 -0.79 pose: 0.0 -4.48237 -3.62243 0 0.00877926 0.00115074 0.947373 0.32001 uwb: 0.0 1234.46 1439.07 -imu_odom_: 1691062534.449520240 0.553061 -0.335188 9.70131 -0.0607201 -0.0127832 -0.810666 0.01 -1.06 pose: 0.73830464 -4.48222 -3.62231 0 0.00583315 -0.00128212 0.936977 0.349341 uwb: 0.49978285 1233.79 1439.67 -imu_odom_: 1691062534.464528103 0.502782 -0.277727 9.94551 -0.0479369 -0.00852212 -0.833037 0.01 -1.06 pose: 0.7014557 -4.48237 -3.62243 0 0.00579157 -0.00199194 0.935931 0.35213 uwb: 0.0 1233.79 1439.67 -imu_odom_: 1691062534.488526103 0.629675 -0.248997 10.0102 -0.0596548 -0.0255663 -0.833037 0 -0.85 pose: 0.0 -4.48237 -3.62243 0 0.00579157 -0.00199194 0.935931 0.35213 uwb: 0.49998700 1233.84 1439.77 -imu_odom_: 1691062534.514524470 0.514753 -0.198719 9.89284 -0.0585895 0.00426106 -0.869256 0 -0.85 pose: 0.40030982 -4.4866 -3.61337 0 0.00516511 -0.0045814 0.929714 0.368216 uwb: 0.0 1233.84 1439.77 -imu_odom_: 1691062534.539581419 0.311246 -0.306458 9.96706 -0.0671117 -0.015979 -0.834102 0 -0.82 pose: 0.42957603 -4.48628 -3.61311 0 0.00601315 -0.00254927 0.922464 0.386027 uwb: 0.50002783 1235.18 1439.51 -imu_odom_: 1691062534.565670487 0.555455 -0.272939 10.0604 -0.0532632 -0.00958738 -0.84582 0 -1.03 pose: 0.7043430 -4.4866 -3.61337 0 0.00533875 -0.00258199 0.921276 0.388864 uwb: 0.0 1235.18 1439.51 -imu_odom_: 1691062534.590498497 0.35913 -0.0742203 9.91439 -0.0649811 0.00745685 -0.861799 0 -0.91 pose: 0.44102587 -4.48626 -3.6131 0 0.00526709 -0.00472531 0.913548 0.406669 uwb: 0.49878835 1237.25 1438.75 -imu_odom_: 1691062534.606552770 0.533907 -0.272939 9.63187 -0.0649811 0.00319579 -0.853277 0 -0.91 pose: 0.0 -4.48626 -3.6131 0 0.00526709 -0.00472531 0.913548 0.406669 uwb: 0.0 1237.25 1438.75 -imu_odom_: 1691062534.623496548 0.54109 -0.263362 9.91678 -0.0607201 -0.0372843 -0.854342 0 -0.91 pose: 0.0 -4.48626 -3.6131 0 0.00526709 -0.00472531 0.913548 0.406669 uwb: 0.0 1237.25 1438.75 -imu_odom_: 1691062534.639548488 0.464475 -0.237026 9.72285 -0.0596548 -0.0234358 -0.870321 0 -0.91 pose: 0.48892504 -4.4866 -3.61337 0 0.00509231 -0.00471088 0.904408 0.426612 uwb: 0.49981784 1236.84 1438.92 -imu_odom_: 1691062534.655490770 0.428562 -0.169988 9.96467 -0.0575243 0.0149137 -0.888431 0 -0.91 pose: 0.0 -4.4866 -3.61337 0 0.00509231 -0.00471088 0.904408 0.426612 uwb: 0.0 1236.84 1438.92 -imu_odom_: 1691062534.672681569 0.560243 -0.122104 10.0676 -0.0543285 0 -0.887365 0 -0.91 pose: 0.31951642 -4.4866 -3.61337 0 0.00436927 -0.00381661 0.898122 0.439709 uwb: 0.0 1236.84 1438.92 -imu_odom_: 1691062534.688619768 0.47884 -0.213084 9.83538 -0.0660464 -0.0319579 -0.8863 0 -0.91 pose: 0.0 -4.4866 -3.61337 0 0.00436927 -0.00381661 0.898122 0.439709 uwb: 0.50007449 1236.92 1439.06 -imu_odom_: 1691062534.705526508 0.550666 -0.217872 9.83777 -0.0500674 -0.0127832 -0.909736 0 -1.2 pose: 0.0 -4.4866 -3.61337 0 0.00436927 -0.00381661 0.898122 0.439709 uwb: 0.0 1236.92 1439.06 -imu_odom_: 1691062534.721504954 0.632069 -0.107739 9.81862 -0.0553937 0.0117179 -0.909736 0 -1.2 pose: 0.42105135 -4.48655 -3.61333 0 0.00394868 -0.00185231 0.889375 0.457158 uwb: 0.0 1236.92 1439.06 -imu_odom_: 1691062534.737498857 0.500388 -0.169988 10.0269 -0.0639159 0.00213053 -0.884169 0 -1.2 pose: 0.0 -4.48655 -3.61333 0 0.00394868 -0.00185231 0.889375 0.457158 uwb: 0.50232013 1238.22 1438.73 -imu_odom_: 1691062534.751501724 0.234632 -0.260968 9.79707 -0.0585895 -0.0127832 -0.868191 0 -0.88 pose: 0.8001764 -4.4866 -3.61337 0 0.0046671 -0.00226941 0.887629 0.46053 uwb: 0.0 1238.22 1438.73 -imu_odom_: 1691062534.767494460 0.260968 -0.339977 9.82102 -0.0639159 -0.0351537 -0.878843 0 -0.88 pose: 0.0 -4.4866 -3.61337 0 0.0046671 -0.00226941 0.887629 0.46053 uwb: 0.0 1238.22 1438.73 -imu_odom_: 1691062534.784496275 0.557849 -0.107739 9.9527 -0.0500674 -0.00106526 -0.902279 0 -0.88 pose: 0.0 -4.4866 -3.61337 0 0.0046671 -0.00226941 0.887629 0.46053 uwb: 0.49855795 1243.66 1435.97 -imu_odom_: 1691062534.800498052 0.538695 -0.227449 9.97185 -0.0692422 -0.0127832 -0.902279 0 -1.11 pose: 0.46937923 -4.4866 -3.61337 0 0.00526749 -0.0008249540.877301 0.479911 uwb: 0.0 1243.66 1435.97 -imu_odom_: 1691062534.816503621 0.632069 -0.131681 9.83538 -0.0649811 -0.0138484 -0.888431 0 -0.91 pose: 0.0 -4.4866 -3.61337 0 0.00526749 -0.0008249540.877301 0.479911 uwb: 0.0 1243.66 1435.97 -imu_odom_: 1691062534.832496940 0.469264 -0.354342 9.72525 -0.0681769 -0.0149137 -0.8863 0 -0.91 pose: 0.31943185 -4.4866 -3.61337 0 0.00388282 -0.00072092 0.870147 0.492776 uwb: 0.50026989 1246.61 1434.1 -imu_odom_: 1691062534.848489093 0.529119 -0.167594 9.79228 -0.0532632 -0.0138484 -0.898018 0 -0.91 pose: 0.32036218 -4.4866 -3.61337 0 0.00587356 -0.00212127 0.86263 0.505796 uwb: 0.0 1246.61 1434.1 -imu_odom_: 1691062534.864493203 0.694318 -0.1652 10.0772 -0.052198 0.0149137 -0.912932 0 -0.91 pose: 0.0 -4.4866 -3.61337 0 0.00587356 -0.00212127 0.86263 0.505796 uwb: 0.0 1246.61 1434.1 -imu_odom_: 1691062534.880511896 0.653617 -0.0430956 9.81383 -0.0585895 -0.0319579 -0.875647 0 -0.91 pose: 0.31995680 -4.4866 -3.61337 0 0.00599178 -0.00263935 0.855017 0.518558 uwb: 0.50012991 1246.06 1434 -imu_odom_: 1691062534.895523259 0.517148 -0.426168 9.63906 -0.0575243 -0.0117179 -0.836233 0 -0.94 pose: 0.0 -4.4866 -3.61337 0 0.00599178 -0.00263935 0.855017 0.518558 uwb: 0.0 1246.06 1434 -imu_odom_: 1691062534.912553946 0.579397 -0.471658 9.86411 -0.052198 -0.00426106 -0.790426 0 -0.94 pose: 0.40977358 -4.48656 -3.61334 0 0.00954038 -0.00192882 0.844902 0.534832 uwb: 0.0 1246.06 1434 -imu_odom_: 1691062534.928562723 0.651223 -0.392649 10.0006 -0.0639159 -0.0117179 -0.723315 0 -0.94 pose: 0.0 -4.48656 -3.61334 0 0.00954038 -0.00192882 0.844902 0.534832 uwb: 0.0 1246.06 1434 -imu_odom_: 1691062534.944507047 0.533907 -0.356736 9.77074 -0.0585895 0.00213053 -0.657268 0 -0.67 pose: 0.6024726 -4.4866 -3.61337 0 0.00913937 -0.0023523 0.843493 0.537057 uwb: 0.0 1246.06 1434 -imu_odom_: 1691062534.970486749 0.378284 -0.397437 9.90481 -0.0553937 -0.0127832 -0.566721 0 -0.67 pose: 0.0 -4.4866 -3.61337 0 0.00913937 -0.0023523 0.843493 0.537057 uwb: 0.0 1246.06 1434 -imu_odom_: 1691062534.986491734 0.37589 -0.280122 9.9527 -0.0543285 0.00532632 -0.537959 0 -0.61 pose: 0.49090237 -4.4866 -3.61337 0 0.00679616 -0.00633298 0.832846 0.553427 uwb: 0.99898824 1246.89 1433.7 -imu_odom_: 1691062535.2593544 0.311246 -0.272939 9.90481 -0.0511327 -0.00106526 -0.486826 0 -0.61 pose: 0.0 -4.4866 -3.61337 0 0.00679616 -0.00633298 0.832846 0.553427 uwb: 0.0 1246.89 1433.7 -imu_odom_: 1691062535.17536083 0.411803 -0.248997 9.9503 -0.0607201 -0.02024 -0.42291 0 -0.41 pose: 0.0 -4.4866 -3.61337 0 0.00679616 -0.00633298 0.832846 0.553427 uwb: 0.0 1246.89 1433.7 -imu_odom_: 1691062535.34649893 0.59855 -0.423774 9.87129 -0.0628506 -0.0266316 -0.335558 0 -0.41 pose: 0.72956708 -4.4866 -3.61337 0 0.000783509 -0.00432342 0.820968 0.570958 uwb: 0.49985873 1246.13 1434.13 -imu_odom_: 1691062535.51481976 0.656011 -0.521936 9.88805 -0.0575243 -0.00958738 -0.254598 0 -0.2 pose: 0.0 -4.4866 -3.61337 0 0.000783509 -0.00432342 0.820968 0.570958 uwb: 0.0 1246.13 1434.13 -imu_odom_: 1691062535.67531878 0.624887 -0.45011 9.87848 -0.0543285 -0.00319579 -0.175769 0 -0.2 pose: 0.34017054 -4.4866 -3.61337 0 0.000863905 -0.00625831 0.817261 0.576233 uwb: 0.0 1246.13 1434.13 -imu_odom_: 1691062535.84586776 0.577003 -0.342371 9.97185 -0.0532632 -0.00958738 -0.0745685 0 -0.2 pose: 0.0 -4.4866 -3.61337 0 0.000863905 -0.00625831 0.817261 0.576233 uwb: 0.50035459 1245.63 1434.14 -imu_odom_: 1691062535.100589724 0.189142 -0.35913 9.69412 -0.0543285 0.0213053 0.0213053 0 -0.02 pose: 0.41986155 -4.4866 -3.61337 0 0.00261324 -0.00975677 0.814914 0.579494 uwb: 0.0 1245.63 1434.14 -imu_odom_: 1691062535.115466643 0.131681 -0.42138 10.0245 -0.0511327 0.0255663 0.0820254 0 -0.02 pose: 0.7953645 -4.4866 -3.61337 0 0.00185935 -0.00927184 0.814879 0.579553 uwb: 0.0 1245.63 1434.14 -imu_odom_: 1691062535.130468386 0.0766145 -0.287304 9.95509 -0.0553937 0.00106526 0.109722 0 -0.02 pose: 0.0 -4.4866 -3.61337 0 0.00185935 -0.00927184 0.814879 0.579553 uwb: 0.50106327 1244.13 1435.01 -imu_odom_: 1691062535.147473413 0.244209 -0.100556 9.90002 -0.0543285 -0.0266316 0.118244 0 0.05 pose: 0.37927965 -4.4866 -3.61337 0 -0.00154583 -0.00695568 0.815354 0.578919 uwb: 0.0 1244.13 1435.01 -imu_odom_: 1691062535.163486860 0.610521 -0.0383072 9.8282 -0.0585895 -0.0223706 0.116114 0 0.05 pose: 0.0 -4.4866 -3.61337 0 -0.00154583 -0.00695568 0.815354 0.578919 uwb: 0.0 1244.13 1435.01 -imu_odom_: 1691062535.178481019 0.596156 -0.296881 9.87369 -0.056459 0.0117179 0.120375 0 0.05 pose: 0.0 -4.4866 -3.61337 0 -0.00154583 -0.00695568 0.815354 0.578919 uwb: 0.49936300 1242.88 1435.47 -imu_odom_: 1691062535.192469308 0.378284 -0.332794 9.92875 -0.0479369 0.0223706 0.125701 0 0.05 pose: 0.24070624 -4.4866 -3.61337 0 -0.000870146-0.00513306 0.815908 0.578158 uwb: 0.0 1242.88 1435.47 -imu_odom_: 1691062535.207514213 0.275333 -0.270545 9.91199 -0.052198 -0.00532632 0.157659 0 0.08 pose: 0.0 -4.4866 -3.61337 0 -0.000870146-0.00513306 0.815908 0.578158 uwb: 0.0 1242.88 1435.47 -imu_odom_: 1691062535.224576986 0.368707 -0.237026 9.85932 -0.0585895 -0.0170442 0.189617 0 0.08 pose: 0.0 -4.4866 -3.61337 0 -0.000870146-0.00513306 0.815908 0.578158 uwb: 0.0 1242.88 1435.47 -imu_odom_: 1691062535.240560393 0.490811 -0.220267 9.90481 -0.052198 -0.00426106 0.198139 0 0.14 pose: 0.29962363 -4.4866 -3.61337 0 0.000461148 -0.00547186 0.816601 0.577177 uwb: 0.50104286 1241.65 1435.94 -imu_odom_: 1691062535.257594001 0.574608 -0.186748 9.91918 -0.056459 -0.00958738 0.196009 0 0.14 pose: 0.40075613 -4.4866 -3.61337 0 -0.00163388 -0.00249544 0.818064 0.575119 uwb: 0.0 1241.65 1435.94 -imu_odom_: 1691062535.273610947 0.629675 -0.160412 9.86172 -0.0543285 -0.0106526 0.177899 0 0.14 pose: 0.0 -4.4866 -3.61337 0 -0.00163388 -0.00249544 0.818064 0.575119 uwb: 0.0 1241.65 1435.94 -imu_odom_: 1691062535.290525566 0.553061 -0.162806 9.95509 -0.0543285 -0.00106526 0.157659 0 0.14 pose: 0.7892691 -4.4866 -3.61337 0 -0.000840247-0.00253289 0.818423 0.574609 uwb: 0.50050624 1243.86 1434.54 -imu_odom_: 1691062535.307601754 0.466869 -0.189142 9.9096 -0.0532632 0.00106526 0.135289 0 0.14 pose: 0.0 -4.4866 -3.61337 0 -0.000840247-0.00253289 0.818423 0.574609 uwb: 0.0 1243.86 1434.54 -imu_odom_: 1691062535.323455089 0.371101 -0.213084 9.92397 -0.0585895 0.00106526 0.120375 0 0.14 pose: 0.0 -4.4866 -3.61337 0 -0.000840247-0.00253289 0.818423 0.574609 uwb: 0.0 1243.86 1434.54 -imu_odom_: 1691062535.348506794 0.35913 -0.134075 9.90242 -0.052198 -0.00319579 0.0649811 0 0.02 pose: 0.49264942 -4.4866 -3.61337 0 0.00409693 -0.00297272 0.820449 0.571697 uwb: 0.49687821 1244.24 1434.33 -imu_odom_: 1691062535.363507370 0.392649 -0.0287304 10.0197 -0.0532632 0.0127832 0.04048 0 0 pose: 0.0 -4.4866 -3.61337 0 0.00409693 -0.00297272 0.820449 0.571697 uwb: 0.0 1244.24 1434.33 -imu_odom_: 1691062535.380616805 -0.505177 -0.136469 9.70609 -0.0532632 0.0884169 0.076699 0 0 pose: 0.72896353 -4.4866 -3.61337 0 0.00181426 0.00225972 0.82176 0.569826 uwb: 0.50163198 1246.46 1432.96 -imu_odom_: 1691062535.397504593 -1.06542 -0.59855 9.991 -0.0543285 0.00958738 0.11931 0.03 0.05 pose: 0.0 -4.4866 -3.61337 0 0.00181426 0.00225972 0.82176 0.569826 uwb: 0.0 1246.46 1432.96 -imu_odom_: 1691062535.414636484 -0.672771 -0.282516 9.83777 -0.0500674 -0.0500674 0.147006 0.03 0.05 pose: 0.33883191 -4.4866 -3.61337 0 -0.0006655160.0048094 0.822112 0.569304 uwb: 0.0 1246.46 1432.96 -imu_odom_: 1691062535.430637682 0.296881 -0.0766145 9.9096 -0.0511327 -0.0585895 0.164051 0.03 0.05 pose: 0.0 -4.4866 -3.61337 0 -0.0006655160.0048094 0.822112 0.569304 uwb: 0.49989379 1246.86 1432.79 -imu_odom_: 1691062535.447639792 0.378284 -0.0622492 9.84496 -0.0543285 -0.00745685 0.171508 0.07 0.17 pose: 0.42123519 -4.4866 -3.61337 0 -0.00142759 0.006787 0.823393 0.56743 uwb: 0.0 1246.86 1432.79 -imu_odom_: 1691062535.464566660 -0.0023942 -0.318429 9.86172 -0.0479369 0.0298274 0.172573 0.07 0.17 pose: 0.7936729 -4.4866 -3.61337 0 -0.0006198230.00684716 0.823693 0.566994 uwb: 0.0 1246.86 1432.79 -imu_odom_: 1691062535.481715758 -0.0885855 -0.418985 10.1299 -0.0490022 -0.00319579 0.173638 0.07 0.17 pose: 0.0 -4.4866 -3.61337 0 -0.0006198230.00684716 0.823693 0.566994 uwb: 0.49934259 1247.56 1432.26 -imu_odom_: 1691062535.497606715 0.0430956 -0.148441 9.85693 -0.0617853 -0.0383495 0.191748 0.07 0.17 pose: 0.33059303 -4.4866 -3.61337 0 -0.00227572 0.00714301 0.824928 0.565188 uwb: 0.0 1247.56 1432.26 -imu_odom_: 1691062535.513423595 0.351948 -0.299275 9.93115 -0.0532632 -0.0287621 0.2024 0.11 0.17 pose: 0.0 -4.4866 -3.61337 0 -0.00227572 0.00714301 0.824928 0.565188 uwb: 0.0 1247.56 1432.26 -imu_odom_: 1691062535.529444624 0.474052 -0.158017 10.2663 -0.0436758 -0.0106526 0.185356 0.11 0.17 pose: 0.0 -4.4866 -3.61337 0 -0.00227572 0.00714301 0.824928 0.565188 uwb: 0.49998420 1248.95 1431.19 -imu_odom_: 1691062535.545501817 0.143652 0.0454898 9.81623 -0.0394148 0.0138484 0.160855 0.11 0.17 pose: 0.32859530 -4.4866 -3.61337 0 -0.00435077 0.00701184 0.826292 0.563181 uwb: 0.0 1248.95 1431.19 -imu_odom_: 1691062535.562491679 0.184354 -0.181959 9.94073 -0.0553937 -0.0106526 0.172573 0.11 0.14 pose: 0.0 -4.4866 -3.61337 0 -0.00435077 0.00701184 0.826292 0.563181 uwb: 0.0 1248.95 1431.19 -imu_odom_: 1691062535.578486461 -0.0407014 -0.316035 9.77553 -0.0660464 0.00426106 0.164051 0.11 0.14 pose: 0.31954274 -4.49069 -3.60425 0 -0.0028791 0.00602472 0.827606 0.561269 uwb: 0.50003961 1245.41 1432.86 -imu_odom_: 1691062535.595420911 0.00957681 -0.342371 9.79707 -0.0585895 0.0149137 0.142745 0.1 0.08 pose: 0.42038943 -4.49069 -3.60425 0 -0.00628308 0.00728701 0.829073 0.559057 uwb: 0.0 1245.41 1432.86 -imu_odom_: 1691062535.611473729 0.373495 -0.122104 10.3573 -0.0532632 0.0117179 0.132093 0.1 0.08 pose: 0.0 -4.49069 -3.60425 0 -0.00628308 0.00728701 0.829073 0.559057 uwb: 0.0 1245.41 1432.86 -imu_odom_: 1691062535.628421011 0.639252 -0.177171 10.0078 -0.0617853 -0.0798948 0.137419 0.1 0.08 pose: 0.0 -4.49069 -3.60425 0 -0.00628308 0.00728701 0.829073 0.559057 uwb: 0.50008919 1244.48 1432.98 -imu_odom_: 1691062535.644421334 1.01993 -0.241814 9.56244 -0.0490022 -0.0436758 0.128897 0.13 0.08 pose: 0.7945770 -4.49069 -3.60425 0 -0.00714232 0.00724403 0.829295 0.558719 uwb: 0.0 1244.48 1432.98 -imu_odom_: 1691062535.660473277 0.964863 -0.246603 9.79468 -0.0447411 0.0170442 0.134223 0.08 0.05 pose: 0.0 -4.49069 -3.60425 0 -0.00714232 0.00724403 0.829295 0.558719 uwb: 0.0 1244.48 1432.98 -imu_odom_: 1691062535.676472433 1.21386 -0.253785 10.0533 -0.052198 -0.02024 0.152333 0.08 0.05 pose: 0.66051529 -4.4948 -3.59513 0 -0.00263009 0.00394511 0.831077 0.556137 uwb: 0.49856682 1245.55 1432.24 -imu_odom_: 1691062535.692471589 0.837971 -0.244209 9.45949 -0.0500674 0.0191748 0.156594 0.08 0.05 pose: 0.0 -4.4948 -3.59513 0 -0.00263009 0.00394511 0.831077 0.556137 uwb: 0.0 1245.55 1432.24 -imu_odom_: 1691062535.709415955 0.804452 -0.102951 10.1059 -0.0628506 0.0170442 0.148072 0.07 0.02 pose: 0.0 -4.4948 -3.59513 0 -0.00263009 0.00394511 0.831077 0.556137 uwb: 0.0 1245.55 1432.24 -imu_odom_: 1691062535.725465857 0.486023 -0.0215478 9.70131 -0.0415453 0.0127832 0.0916127 0.07 0.02 pose: 0.31957191 -4.4948 -3.59513 0 -0.0001476160.00201675 0.832057 0.554687 uwb: 0.0 1245.55 1432.24 -imu_odom_: 1691062535.741469387 0.773327 0.00718261 10.0461 -0.0575243 -0.0234358 0.056459 0.07 0.02 pose: 0.41024906 -4.4948 -3.59513 0 0.00305165 0.00202931 0.833056 0.553177 uwb: 0.50011252 1243.56 1433.12 -imu_odom_: 1691062535.758459249 0.92895 -0.205901 9.72525 -0.0617853 -0.0170442 0.0553937 0.07 0.02 pose: 0.0 -4.4948 -3.59513 0 0.00305165 0.00202931 0.833056 0.553177 uwb: 0.0 1243.56 1433.12 -imu_odom_: 1691062535.775476817 0.950498 -0.342371 9.93115 -0.0575243 0.00213053 0.0394148 0.07 0.02 pose: 0.0 -4.4948 -3.59513 0 0.00305165 0.00202931 0.833056 0.553177 uwb: 0.49998420 1242.9 1432.84 -imu_odom_: 1691062535.800580726 0.799663 -0.0933739 9.77553 -0.052198 0 0.0287621 0.05 0.05 pose: 0.6971396 -4.4948 -3.59513 0 0.0037918 0.00187381 0.833087 0.553125 uwb: 0.0 1242.9 1432.84 -imu_odom_: 1691062535.816397898 0.3304 -0.0622492 9.84735 -0.0543285 0.0788296 0.0308927 0.04 0.08 pose: 0.0 -4.4948 -3.59513 0 0.0037918 0.00187381 0.833087 0.553125 uwb: 0.0 1242.9 1432.84 -imu_odom_: 1691062535.842408229 -1.43173 -0.35913 10.0485 -0.0500674 0.0479369 0.0788296 0.04 0.08 pose: 0.75026502 -4.49893 -3.58602 0 0.00860827 -0.00110495 0.833098 0.553057 uwb: 0.50000753 1241.75 1433.44 -imu_odom_: 1691062535.869471968 -0.294487 -0.114922 9.83299 -0.0596548 -0.0873517 0.092678 0.09 0.05 pose: 0.34944474 -4.49889 -3.58599 0 0.00491024 0.00142128 0.833374 0.552686 uwb: 0.0 1241.75 1433.44 -imu_odom_: 1691062535.895405306 0.423774 -0.227449 9.55526 -0.0628506 -0.0234358 0.0916127 0.09 0.05 pose: 0.7010184 -4.49893 -3.58602 0 0.00457314 0.00165257 0.833476 0.552535 uwb: 0.50112452 1241.85 1433.62 -imu_odom_: 1691062535.922456213 0.047884 -0.0383072 10.161 -0.0511327 0.00639159 0.0447411 0.13 0.05 pose: 0.45986893 -4.50186 -3.57945 0 0.00204817 0.000146921 0.834145 0.551541 uwb: 0.0 1241.85 1433.62 -imu_odom_: 1691062535.938447786 0.474052 -0.3304 10.0461 -0.0703074 -0.0628506 0.0575243 0.13 0.05 pose: 0.0 -4.50186 -3.57945 0 0.00204817 0.000146921 0.834145 0.551541 uwb: 0.50005711 1244.83 1432.73 -imu_odom_: 1691062535.955389236 0.885855 -0.244209 9.59357 -0.0500674 -0.0575243 0.02024 0.1 0 pose: 0.0 -4.50186 -3.57945 0 0.00204817 0.000146921 0.834145 0.551541 uwb: 0.0 1244.83 1432.73 -imu_odom_: 1691062535.971419889 1.19231 -0.263362 9.73961 -0.0745685 -0.0276969 0.0245011 0.1 0 pose: 0.35028174 -4.503 -3.57689 0 0.000506678 0.00150902 0.834221 0.551428 uwb: 0.0 1244.83 1432.73 -imu_odom_: 1691062535.987436835 1.90818 -0.150835 10.4339 -0.0511327 -0.0713727 -0.076699 0.1 -0.32 pose: 0.0 -4.503 -3.57689 0 0.000506678 0.00150902 0.834221 0.551428 uwb: 0.50144240 1245.41 1432 -imu_odom_: 1691062536.4451487 1.42216 0.184354 9.47146 -0.052198 -0.0117179 -0.209857 0.1 -0.32 pose: 0.47983470 -4.503 -3.57689 0 0.00447362 -0.00244469 0.83387 0.551937 uwb: 0.0 1245.41 1432 -imu_odom_: 1691062536.21451852 1.13485 0.160412 9.75398 -0.072438 0.0106526 -0.287621 0.1 -0.32 pose: 0.0 -4.503 -3.57689 0 0.00447362 -0.00244469 0.83387 0.551937 uwb: 0.0 1245.41 1432 -imu_odom_: 1691062536.37388601 0.612916 -0.102951 9.6199 -0.0617853 0.0372843 -0.360059 0.05 -0.35 pose: 0.43034902 -4.50712 -3.56776 0 0.00878408 -0.00346443 0.830831 0.556445 uwb: 0.49833940 1245.72 1431.66 -imu_odom_: 1691062536.54387507 0.442927 -0.141258 10.0293 -0.0671117 0.0127832 -0.380299 0.05 -0.35 pose: 0.0 -4.50712 -3.56776 0 0.00878408 -0.00346443 0.830831 0.556445 uwb: 0.0 1245.72 1431.66 -imu_odom_: 1691062536.70495741 0.3304 -0.356736 9.96706 -0.0617853 -0.0149137 -0.383495 0.05 -0.35 pose: 0.0 -4.50712 -3.56776 0 0.00878408 -0.00346443 0.830831 0.556445 uwb: 0.0 1245.72 1431.66 -imu_odom_: 1691062536.87542769 0.608127 -0.265756 9.90481 -0.0553937 -0.02024 -0.38456 0.05 -0.55 pose: 0.6943692 -4.50716 -3.56779 0 0.00925221 -0.00303124 0.830053 0.5576 uwb: 0.49981808 1247.23 1430.82 -imu_odom_: 1691062536.103535804 0.651223 -0.047884 9.67976 -0.0628506 -0.0319579 -0.401605 0.03 -0.44 pose: 0.0 -4.50716 -3.56779 0 0.00925221 -0.00303124 0.830053 0.5576 uwb: 0.0 1247.23 1430.82 -imu_odom_: 1691062536.120664200 0.435745 0.0023942 9.69652 -0.0511327 0.00532632 -0.431432 0.03 -0.44 pose: 0.67226860 -4.50716 -3.56779 0 0.00782985 -0.00329718 0.822075 0.569315 uwb: 0.0 1247.23 1430.82 -imu_odom_: 1691062536.136548745 0.428562 -0.0646434 9.86411 -0.056459 -0.00852212 -0.435693 0.03 -0.44 pose: 0.0 -4.50716 -3.56779 0 0.00782985 -0.00329718 0.822075 0.569315 uwb: 0.50011264 1244.89 1431.96 -imu_odom_: 1691062536.153530736 0.457293 -0.234632 9.89284 -0.056459 -0.00639159 -0.434628 0.03 -0.44 pose: 0.0 -4.50716 -3.56779 0 0.00782985 -0.00329718 0.822075 0.569315 uwb: 0.0 1244.89 1431.96 -imu_odom_: 1691062536.169536604 0.500388 -0.241814 9.94312 -0.0553937 -0.0106526 -0.430367 0.03 -0.44 pose: 0.33050854 -4.50716 -3.56779 0 0.00818622 -0.00052896 0.817665 0.575636 uwb: 0.0 1244.89 1431.96 -imu_odom_: 1691062536.186422645 0.35913 -0.150835 9.65821 -0.056459 -0.0138484 -0.435693 0.05 -0.58 pose: 0.40863346 -4.50712 -3.56776 0 0.00531495 -0.00166588 0.812086 0.583512 uwb: 0.49879442 1244.13 1432.37 -imu_odom_: 1691062536.203400262 0.648829 -0.114922 9.93354 -0.052198 -0.0276969 -0.429302 0.05 -0.58 pose: 0.6905778 -4.50716 -3.56779 0 0.00487631 -0.00117001 0.811128 0.584847 uwb: 0.0 1244.13 1432.37 -imu_odom_: 1691062536.219527161 0.548272 -0.23942 9.94551 -0.0607201 -0.0170442 -0.381365 0.05 -0.58 pose: 0.0 -4.50716 -3.56779 0 0.00487631 -0.00117001 0.811128 0.584847 uwb: 0.0 1244.13 1432.37 -imu_odom_: 1691062536.236400954 0.761356 -0.488417 9.9096 -0.0596548 -0.00106526 -0.335558 0.03 -0.38 pose: 0.43084779 -4.50712 -3.56776 0 0.00580176 -0.00270089 0.805388 0.592714 uwb: 0.49968392 1241.91 1433.72 -imu_odom_: 1691062536.253497852 0.490811 -0.316035 9.75398 -0.056459 0.00319579 -0.297209 0.02 -0.32 pose: 0.0 -4.50712 -3.56776 0 0.00580176 -0.00270089 0.805388 0.592714 uwb: 0.0 1241.91 1433.72 -imu_odom_: 1691062536.270387393 0.61531 -0.148441 10.0078 -0.0511327 -0.00532632 -0.273773 0.02 -0.32 pose: 0.0 -4.50712 -3.56776 0 0.00580176 -0.00270089 0.805388 0.592714 uwb: 0.0 1241.91 1433.72 -imu_odom_: 1691062536.286371388 0.545878 -0.124498 9.84735 -0.0585895 -0.02024 -0.249272 0.02 -0.32 pose: 0.24982884 -4.50716 -3.56779 0 0.00507134 -0.00471213 0.8027 0.596343 uwb: 0.50068134 1241.64 1434.12 -imu_odom_: 1691062536.303412583 0.641646 -0.316035 9.93354 -0.0553937 -0.00958738 -0.232228 0.02 -0.26 pose: 0.0 -4.50716 -3.56779 0 0.00507134 -0.00471213 0.8027 0.596343 uwb: 0.0 1241.64 1434.12 -imu_odom_: 1691062536.319475320 0.59855 -0.28491 9.81623 -0.0553937 -0.00852212 -0.213053 0.02 -0.26 pose: 0.33927236 -4.51133 -3.55871 0 0.00643378 -0.0040681 0.799505 0.600611 uwb: 0.0 1241.64 1434.12 -imu_odom_: 1691062536.336396942 0.581791 -0.234632 9.96467 -0.052198 -0.00639159 -0.184291 0.02 -0.32 pose: 0.41038039 -4.51133 -3.55871 0 0.00650917 -0.00672231 0.796195 0.604968 uwb: 0.50074550 1242.01 1433.88 -imu_odom_: 1691062536.352404851 0.622492 -0.260968 9.84256 -0.0553937 -0.00958738 -0.16192 0.02 -0.32 pose: 0.0 -4.51133 -3.55871 0 0.00650917 -0.00672231 0.796195 0.604968 uwb: 0.0 1242.01 1433.88 -imu_odom_: 1691062536.367345352 0.483629 -0.246603 9.87608 -0.0596548 0.00532632 -0.149137 0.02 -0.32 pose: 0.0 -4.51133 -3.55871 0 0.00650917 -0.00672231 0.796195 0.604968 uwb: 0.0 1242.01 1433.88 -imu_odom_: 1691062536.381361059 0.423774 -0.25618 9.88805 -0.0511327 0.00106526 -0.151268 0.01 -0.17 pose: 0.7112844 -4.51133 -3.55871 0 0.00668712 -0.00601869 0.795712 0.605608 uwb: 0.50097882 1244.24 1432.55 -imu_odom_: 1691062536.405362861 0.52433 -0.21069 9.93594 -0.056459 -0.015979 -0.133158 0.01 -0.17 pose: 0.0 -4.51133 -3.55871 0 0.00668712 -0.00601869 0.795712 0.605608 uwb: 0.0 1244.24 1432.55 -imu_odom_: 1691062536.422369350 0.440533 -0.306458 9.96467 -0.0596548 0.0245011 -0.116114 0.01 -0.2 pose: 0.46797958 -4.51133 -3.55871 0 0.00533327 -0.00555417 0.792871 0.609341 uwb: 0.0 1244.24 1432.55 -imu_odom_: 1691062536.438422755 -0.246603 -0.289698 9.77553 -0.0500674 0.0628506 -0.167247 0.03 -0.14 pose: 0.0 -4.51133 -3.55871 0 0.00533327 -0.00555417 0.792871 0.609341 uwb: 0.49771534 1240.65 1434.13 -imu_odom_: 1691062536.454420165 -0.505177 0.134075 9.97424 -0.0383495 0.00745685 -0.282295 0.06 -0.23 pose: 0.0 -4.51133 -3.55871 0 0.00533327 -0.00555417 0.792871 0.609341 uwb: 0.0 1240.65 1434.13 -imu_odom_: 1691062536.471446486 -0.926556 0.433351 9.77074 -0.0447411 0.0298274 -0.285491 0.06 -0.23 pose: 0.72047403 -4.51133 -3.55871 0 0.00137242 -0.00133516 0.788639 0.614853 uwb: 0.0 1240.65 1434.13 -imu_odom_: 1691062536.488385315 -0.804452 -0.462081 9.93833 -0.0596548 -0.0234358 -0.18216 0.09 -0.17 pose: 0.0 -4.51133 -3.55871 0 0.00137242 -0.00133516 0.788639 0.614853 uwb: 0.50108673 1241.65 1433.25 -imu_odom_: 1691062536.505446050 -0.146046 -0.739808 9.90002 -0.056459 -0.0798948 -0.137419 0.09 -0.17 pose: 0.33138638 -4.51133 -3.55871 0 -0.0006199 0.00155589 0.785552 0.618793 uwb: 0.0 1241.65 1433.25 -imu_odom_: 1691062536.522443498 0.629675 -0.299275 9.71567 -0.0468716 -0.0458064 -0.102265 0.09 -0.17 pose: 0.0 -4.51133 -3.55871 0 -0.0006199 0.00155589 0.785552 0.618793 uwb: 0.0 1241.65 1433.25 -imu_odom_: 1691062536.538395121 0.368707 -0.124498 9.663 -0.0479369 0.0234358 -0.102265 0.12 -0.26 pose: 0.33995188 -4.51133 -3.55871 0 -0.00207052 0.00060544 0.783624 0.621232 uwb: 0.49922313 1237.01 1435.59 -imu_odom_: 1691062536.554386115 -0.0287304 0.071826 9.85932 -0.0468716 0.0213053 -0.112918 0.12 -0.26 pose: 0.0 -4.51133 -3.55871 0 -0.00207052 0.00060544 0.783624 0.621232 uwb: 0.0 1237.01 1435.59 -imu_odom_: 1691062536.571388229 0.0263362 -0.191536 10.0149 -0.0532632 0 -0.111853 0.12 -0.26 pose: 0.0 -4.51133 -3.55871 0 -0.00207052 0.00060544 0.783624 0.621232 uwb: 0.0 1237.01 1435.59 -imu_odom_: 1691062536.588342807 0.0742203 -0.0837971 9.92397 -0.0479369 0.0138484 -0.134223 0.1 -0.14 pose: 0.49832488 -4.51539 -3.54957 0 -0.00189863 0.00350917 0.781341 0.624092 uwb: 0.50055010 1239.65 1434.09 -imu_odom_: 1691062536.604400295 0.203507 -0.225055 9.81862 -0.0479369 0.00639159 -0.103331 0.1 -0.14 pose: 0.0 -4.51539 -3.54957 0 -0.00189863 0.00350917 0.781341 0.624092 uwb: 0.0 1239.65 1434.09 -imu_odom_: 1691062536.620340543 -0.124498 -0.272939 9.84256 -0.0809601 0.00426106 -0.0713727 0.15 -0.17 pose: 0.42000456 -4.50622 -3.54545 0 -0.00516056 0.00590271 0.779253 0.626661 uwb: 0.0 1239.65 1434.09 -imu_odom_: 1691062536.636359243 0.292093 -0.208296 10.4627 -0.056459 -0.04048 -0.0852212 0.15 -0.17 pose: 0.0 -4.50622 -3.54545 0 -0.00516056 0.00590271 0.779253 0.626661 uwb: 0.49988516 1241.84 1432.68 -imu_odom_: 1691062536.653333943 0.464475 -0.124498 9.72764 -0.0692422 -0.0298274 -0.0894822 0.15 -0.17 pose: 0.0 -4.50622 -3.54545 0 -0.00516056 0.00590271 0.779253 0.626661 uwb: 0.0 1241.84 1432.68 -imu_odom_: 1691062536.669359351 0.814029 -0.191536 9.9096 -0.0788296 -0.015979 -0.0639159 0.12 -0.11 pose: 0.6949233 -4.50626 -3.54548 0 -0.00586544 0.00615598 0.779006 0.626959 uwb: 0.0 1241.84 1432.68 -imu_odom_: 1691062536.685337513 0.746991 -0.368707 9.72764 -0.0713727 -0.0394148 -0.072438 0.17 -0.17 pose: 0.0 -4.50626 -3.54548 0 -0.00586544 0.00615598 0.779006 0.626959 uwb: 0.50003681 1238.23 1434.2 -imu_odom_: 1691062536.702331753 0.912191 -0.155623 10.2017 -0.0532632 -0.0223706 -0.0852212 0.17 -0.17 pose: 0.64994053 -4.51037 -3.53637 0 -0.00214246 0.00243883 0.776637 0.629941 uwb: 0.0 1238.23 1434.2 -imu_odom_: 1691062536.718379909 1.33118 -0.134075 10.1466 -0.0596548 -0.0213053 -0.056459 0.13 -0.17 pose: 0.0 -4.51037 -3.53637 0 -0.00214246 0.00243883 0.776637 0.629941 uwb: 0.0 1238.23 1434.2 -imu_odom_: 1691062536.735346735 1.25935 -0.47884 9.99819 -0.0532632 -0.015979 -0.0330232 0.13 -0.17 pose: 0.0 -4.51037 -3.53637 0 -0.00214246 0.00243883 0.776637 0.629941 uwb: 0.49936312 1237.82 1434.35 -imu_odom_: 1691062536.752327852 1.26653 -0.323217 9.67976 -0.0415453 -0.036219 -0.0340885 0.13 -0.17 pose: 0.33002441 -4.51447 -3.52725 0 0.000534246 2.80544e-05 0.775442 0.631419 uwb: 0.0 1237.82 1434.35 -imu_odom_: 1691062536.768330511 1.38385 -0.265756 9.58878 -0.0458064 -0.0106526 -0.04048 0.11 -0.17 pose: 0.32988151 -4.51447 -3.52725 0 0.00292712 -0.00256967 0.774611 0.632426 uwb: 0.0 1237.82 1434.35 -imu_odom_: 1691062536.784437287 0.936133 -0.138864 10.0916 -0.0426106 0.0415453 -0.0490022 0.11 -0.17 pose: 0.0 -4.51447 -3.52725 0 0.00292712 -0.00256967 0.774611 0.632426 uwb: 0.50063176 1234.99 1436.39 -imu_odom_: 1691062536.801378740 0.407014 -0.272939 9.78989 -0.052198 0.0319579 -0.0671117 0.11 -0.17 pose: 0.0 -4.51447 -3.52725 0 0.00292712 -0.00256967 0.774611 0.632426 uwb: 0.0 1234.99 1436.39 -imu_odom_: 1691062536.818383480 0.47884 -0.122104 10.0293 -0.0468716 -0.00852212 -0.103331 0.06 -0.11 pose: 0.50109839 -4.51447 -3.52725 0 0.00538874 -0.00450087 0.773238 0.634077 uwb: 0.0 1234.99 1436.39 -imu_odom_: 1691062536.834443010 0.682347 -0.0574608 9.79707 -0.056459 -0.0181095 -0.0948085 0.06 -0.11 pose: 0.0 -4.51447 -3.52725 0 0.00538874 -0.00450087 0.773238 0.634077 uwb: 0.49879150 1232.47 1437.2 -imu_odom_: 1691062536.850320555 0.797269 -0.320823 9.89284 -0.0553937 0.0117179 -0.076699 0.07 -0.08 pose: 0.41998998 -4.51447 -3.52725 0 0.00664685 -0.00258788 0.771471 0.636224 uwb: 0.0 1232.47 1437.2 -imu_odom_: 1691062536.866379501 0.761356 -0.347159 10.0269 -0.0575243 -0.0127832 -0.0639159 0.07 -0.08 pose: 0.0 -4.51447 -3.52725 0 0.00664685 -0.00258788 0.771471 0.636224 uwb: 0.0 1232.47 1437.2 -imu_odom_: 1691062536.883365867 0.56982 -0.174777 9.76116 -0.0458064 0.0255663 -0.0639159 0.07 -0.08 pose: 0.0 -4.51447 -3.52725 0 0.00664685 -0.00258788 0.771471 0.636224 uwb: 0.50000474 1229.57 1438.2 -imu_odom_: 1691062536.909320792 0.349553 -0.0861913 9.75637 -0.0585895 0.00106526 -0.0245011 0.04 -0.02 pose: 0.7015727 -4.51447 -3.52725 0 0.00685246 -0.00320586 0.771212 0.636534 uwb: 0.0 1229.57 1438.2 -imu_odom_: 1691062536.926315908 0.368707 -0.289698 10.0365 -0.0596548 0.02024 0.00426106 0.04 -0.05 pose: 0.0 -4.51447 -3.52725 0 0.00685246 -0.00320586 0.771212 0.636534 uwb: 0.49987641 1228.53 1438.06 -imu_odom_: 1691062536.952309621 -0.991199 -0.196325 10.0772 -0.0447411 0.0692422 -0.00106526 0.04 -0.05 pose: 0.74880116 -4.51854 -3.51811 0 0.00573766 -0.00142259 0.769184 0.639 uwb: 0.0 1228.53 1438.06 -imu_odom_: 1691062536.969422268 -1.03908 -0.248997 10.0245 -0.0585895 -0.0266316 0.0213053 0.05 -0.02 pose: 0.0 -4.51854 -3.51811 0 0.00573766 -0.00142259 0.769184 0.639 uwb: 0.0 1228.53 1438.06 -imu_odom_: 1691062536.986324933 -0.335188 -0.23942 9.93115 -0.052198 -0.0553937 0.00852212 0.05 -0.02 pose: 0.18037150 -4.51854 -3.51811 0 0.00380592 -0.0006643690.768976 0.639267 uwb: 0.49882358 1225.42 1439.59 -imu_odom_: 1691062537.11391812 0.785298 -0.311246 9.8282 -0.0553937 -0.0138484 0.00106526 0.13 -0.02 pose: 0.51948930 -4.51854 -3.51811 0 -0.0003140240.00255776 0.768472 0.639879 uwb: 0.0 1225.42 1439.59 -imu_odom_: 1691062537.34311338 0.217872 -0.215478 9.81862 -0.0468716 0.0266316 0.00213053 0.13 -0.02 pose: 0.0 -4.51854 -3.51811 0 -0.0003140240.00255776 0.768472 0.639879 uwb: 0.50165839 1226.16 1439.13 -imu_odom_: 1691062537.60373301 -0.0335188 -0.287304 9.63427 -0.0585895 -0.0415453 0.0308927 0.11 -0.05 pose: 0.7125968 -4.51854 -3.51811 0 9.894e-05 0.00193642 0.768385 0.639984 uwb: 0.0 1226.16 1439.13 -imu_odom_: 1691062537.77314175 0.299275 -0.512359 9.7851 -0.0617853 -0.0543285 0.00745685 0.14 -0.02 pose: 0.0 -4.51854 -3.51811 0 9.894e-05 0.00193642 0.768385 0.639984 uwb: 0.50005151 1224.56 1439.79 -imu_odom_: 1691062537.103294771 0.462081 -0.0023942 9.83299 -0.0543285 0.00319579 -0.00106526 0.12 -0.02 pose: 0.73865219 -4.52261 -3.50898 0 -0.00331655 0.00217744 0.767737 0.640753 uwb: 0.0 1224.56 1439.79 -imu_odom_: 1691062537.120363384 0.265756 -0.387861 10.003 -0.0511327 0.0351537 0.0106526 0.12 -0.02 pose: 0.0 -4.52261 -3.50898 0 -0.00331655 0.00217744 0.767737 0.640753 uwb: 0.0 1224.56 1439.79 -imu_odom_: 1691062537.146357686 0.169988 -0.0023942 9.83299 -0.0575243 -0.0213053 0.00426106 0.17 -0.05 pose: 0.43033168 -4.51751 -3.49578 0 -0.00222366 0.00209319 0.767233 0.641361 uwb: 0.49957905 1225.66 1439.1 -imu_odom_: 1691062537.173423480 0.146046 -0.117316 9.65821 -0.036219 -0.0266316 0.0117179 0.18 -0.05 pose: 0.36008398 -4.51748 -3.49575 0 -0.00291861 0.00423157 0.766843 0.641814 uwb: 0.0 1225.66 1439.1 -imu_odom_: 1691062537.199272545 0.459687 -0.225055 10.0796 -0.076699 0.0383495 0.0287621 0.18 -0.05 pose: 0.6956234 -4.51751 -3.49578 0 -0.00312651 0.0048557 0.766778 0.641886 uwb: 0.49983862 1228.28 1437.6 -imu_odom_: 1691062537.226334839 -0.0335188 -0.268151 9.74201 -0.0543285 0.00213053 0.0106526 0.18 -0.05 pose: 0.45958625 -4.52163 -3.48667 0 -0.00295448 0.00461063 0.766513 0.642206 uwb: 0.50320707 1228.9 1436.94 -imu_odom_: 1691062537.251281274 0.31364 -0.203507 10.3286 -0.0500674 -0.0255663 0.015979 0.18 -0.05 pose: 0.0 -4.52163 -3.48667 0 -0.00295448 0.00461063 0.766513 0.642206 uwb: 0.0 1228.9 1436.94 -imu_odom_: 1691062537.278452350 0.0885855 -0.320823 10.1035 -0.0276969 -0.00319579 0.00426106 0.18 -0.05 pose: 0.52008729 -4.52452 -3.48025 0 -0.00350465 0.00390424 0.766068 0.642739 uwb: 0.49525692 1228.4 1436.91 -imu_odom_: 1691062537.304425071 0.186748 0.00957681 9.44991 -0.0308927 0.0276969 0.0276969 0.15 -0.02 pose: 0.27171076 -4.52573 -3.47755 0 -0.00595048 0.00467855 0.765741 0.643105 uwb: 0.0 1228.4 1436.91 -imu_odom_: 1691062537.321300034 0.37589 -0.555455 9.98143 -0.0628506 -0.0383495 0.0394148 0.15 -0.02 pose: 0.8004685 -4.52573 -3.47755 0 -0.00568772 0.00557851 0.765711 0.643135 uwb: 0.0 1228.4 1436.91 -imu_odom_: 1691062537.338313819 0.560243 -0.316035 9.56962 -0.0575243 0.00532632 0.00639159 0.15 -0.02 pose: 0.0 -4.52573 -3.47755 0 -0.00568772 0.00557851 0.765711 0.643135 uwb: 0.50204342 1228.59 1436.33 -imu_odom_: 1691062537.364330869 0.806846 -0.311246 9.52653 -0.056459 -0.0276969 0.0500674 0.15 0 pose: 0.43020336 -4.52982 -3.46842 0 -0.00512354 0.00507472 0.765557 0.643328 uwb: 0.0 1228.59 1436.33 -imu_odom_: 1691062537.381281951 0.0263362 -0.509965 9.94791 -0.0500674 0.0138484 0.0276969 0.15 0 pose: 0.0 -4.52982 -3.46842 0 -0.00512354 0.00507472 0.765557 0.643328 uwb: 0.49921742 1227.37 1436.78 -imu_odom_: 1691062537.407341581 0.227449 0.0933739 9.74201 -0.0500674 0.00426106 0.0394148 0.15 0 pose: 0.41844729 -4.52069 -3.46434 0 -0.0036061 0.00210117 0.765533 0.643383 uwb: 0.0 1227.37 1436.78 -imu_odom_: 1691062537.433275514 0.311246 -0.378284 10.4938 -0.072438 -0.00958738 0.0351537 0.19 -0.02 pose: 0.36019481 -4.52478 -3.45521 0 -0.00353085 0.00458135 0.765494 0.643417 uwb: 0.49983861 1227.77 1436.63 -imu_odom_: 1691062537.450291632 0.687136 -0.126893 9.49301 -0.0575243 -0.0340885 0.00958738 0.19 -0.02 pose: 0.0 -4.52478 -3.45521 0 -0.00353085 0.00458135 0.765494 0.643417 uwb: 0.0 1227.77 1436.63 -imu_odom_: 1691062537.476403466 0.699107 -0.31364 9.68455 -0.0660464 -0.036219 0.0447411 0.22 -0.02 pose: 0.7006105 -4.52478 -3.45521 0 -0.00393093 0.00393155 0.765483 0.643432 uwb: 0.0 1227.77 1436.63 -imu_odom_: 1691062537.502379687 0.672771 -0.251391 10.4818 -0.0468716 -0.0575243 0.0223706 0.22 -0.02 pose: 0.0 -4.52478 -3.45521 0 -0.00393093 0.00393155 0.765483 0.643432 uwb: 0.0 1227.77 1436.63 -imu_odom_: 1691062537.528343075 0.25618 -0.155623 9.92875 -0.0543285 0.02024 0.0607201 0.2 0.02 pose: 0.43107828 -4.52886 -3.44608 0 -0.00276192 0.000660945 0.765306 0.64366 uwb: 0.100067756 1227.48 1436.99 -imu_odom_: 1691062537.553320715 0.442927 -0.229843 9.90721 -0.0553937 -0.00852212 0.0266316 0.2 0.02 pose: 0.0 -4.52886 -3.44608 0 -0.00276192 0.000660945 0.765306 0.64366 uwb: 0.0 1227.48 1436.99 -imu_odom_: 1691062537.570353748 0.426168 -0.0814029 9.73243 -0.0458064 -0.0127832 0.0426106 0.18 0 pose: 0.51844535 -4.53293 -3.43695 0 0.000789607 -0.00246393 0.765237 0.643743 uwb: 0.0 1227.48 1436.99 -imu_odom_: 1691062537.596346009 0.270545 -0.385466 9.86172 -0.0351537 0.0308927 0.0245011 0.18 0 pose: 0.0 -4.53293 -3.43695 0 0.000789607 -0.00246393 0.765237 0.643743 uwb: 0.49946531 1228.99 1436.17 -imu_odom_: 1691062537.621410850 0.363919 -0.225055 10.094 -0.0575243 -0.0138484 0.0671117 0.17 0 pose: 0.52102928 -4.53293 -3.43695 0 0.00200482 -0.00170966 0.765269 0.643706 uwb: 0.0 1228.99 1436.17 -imu_odom_: 1691062537.636292443 0.471658 -0.217872 10.6279 -0.0639159 -0.0245011 0.0458064 0.17 0 pose: 0.0 -4.53293 -3.43695 0 0.00200482 -0.00170966 0.765269 0.643706 uwb: 0.49930491 1227.04 1437.09 -imu_odom_: 1691062537.661304497 0.646434 0.0430956 9.69891 -0.0500674 -0.0223706 0.0415453 0.17 0 pose: 0.65856745 -4.53195 -3.41461 0 -0.00147695 0.000575624 0.765389 0.643566 uwb: 0.0 1227.04 1437.09 -imu_odom_: 1691062537.687280427 0.94571 -0.21069 9.98382 -0.0628506 0.00639159 0.0340885 0.17 0 pose: 0.0 -4.53195 -3.41461 0 -0.00147695 0.000575624 0.765389 0.643566 uwb: 0.50057646 1224.45 1438.63 -imu_odom_: 1691062537.713273854 0.229843 -0.138864 9.29908 -0.0511327 0.0340885 0.0479369 0.18 0 pose: 0.16001788 -4.53195 -3.41461 0 5.13205e-05 6.24915e-06 0.765412 0.64354 uwb: 0.0 1224.45 1438.63 -imu_odom_: 1691062537.736405112 0.699107 -0.497994 9.92875 -0.0639159 0.02024 0.0415453 0.18 0 pose: 0.51176383 -4.53603 -3.40548 0 0.00321085 -0.0009366110.765395 0.643552 uwb: 0.49962572 1225.23 1438.26 -imu_odom_: 1691062537.761295260 0.766145 -0.289698 10.2185 -0.056459 -0.0127832 0.0458064 0.18 0 pose: 0.0 -4.53603 -3.40548 0 0.00321085 -0.0009366110.765395 0.643552 uwb: 0.0 1225.23 1438.26 -imu_odom_: 1691062537.777285674 -0.0885855 -0.426168 9.66779 -0.0617853 0.0127832 0.052198 0.18 0 pose: 0.24869150 -4.53603 -3.40548 0 0.00175198 0.000246061 0.765451 0.643492 uwb: 0.50017108 1222.29 1439.1 -imu_odom_: 1691062537.803280268 -0.225055 0.0837971 9.69652 -0.0511327 0.0191748 0.0415453 0.22 0 pose: 0.48102482 -4.54011 -3.39635 0 0.00252542 -0.00321884 0.765535 0.643381 uwb: 0.0 1222.29 1439.1 -imu_odom_: 1691062537.829235491 0.0861913 -0.483629 9.6223 -0.0820254 0.0213053 0.052198 0.22 0 pose: 0.35870743 -4.54305 -3.38978 0 0.000228223 -0.0002367950.765599 0.643319 uwb: 0.49872454 1223.12 1437.89 -imu_odom_: 1691062537.855221919 0.270545 -0.395043 9.6199 -0.0436758 0.0170442 0.0490022 0.22 0 pose: 0.0 -4.54305 -3.38978 0 0.000228223 -0.0002367950.765599 0.643319 uwb: 0.0 1223.12 1437.89 -imu_odom_: 1691062537.880213850 -0.0574608 -0.138864 10.0437 -0.0234358 0.00532632 0.0340885 0.22 -0.02 pose: 0.6972566 -4.54419 -3.38722 0 -0.000597899-0.0002465690.765627 0.643285 uwb: 0.50051814 1225.43 1436.76 -imu_odom_: 1691062537.895214141 0.280122 0.0335188 9.99819 -0.04048 -0.0106526 0.0458064 0.22 -0.02 pose: 0.0 -4.54419 -3.38722 0 -0.000597899-0.0002465690.765627 0.643285 uwb: 0.0 1225.43 1436.76 -imu_odom_: 1691062537.920276649 0.497994 -0.225055 9.85932 -0.056459 0.015979 0.0340885 0.18 0 pose: 0.51981606 -4.53915 -3.37401 0 -0.00574151 1.95621e-05 0.765758 0.643103 uwb: 0.0 1225.43 1436.76 -imu_odom_: 1691062537.946377109 0.629675 -0.263362 9.87129 -0.0490022 0.0415453 0.0575243 0.18 0 pose: 0.0 -4.53915 -3.37401 0 -0.00574151 1.95621e-05 0.765758 0.643103 uwb: 0.50001360 1227.69 1435.5 -imu_odom_: 1691062537.972422449 0.138864 -0.0742203 10.0173 -0.0298274 0.0181095 0.0372843 0.18 -0.02 pose: 0.39993388 -4.53915 -3.37401 0 -0.00489411 0.00270986 0.765755 0.643108 uwb: 0.0 1227.69 1435.5 -imu_odom_: 1691062537.987261754 -0.0861913 -0.28491 9.54808 -0.0479369 0.02024 0.052198 0.18 -0.02 pose: 0.0 -4.53915 -3.37401 0 -0.00489411 0.00270986 0.765755 0.643108 uwb: 0.50108684 1224.57 1436.96 -imu_odom_: 1691062538.11208735 0.270545 -0.399832 9.50498 -0.0596548 0.0319579 0.0479369 0.17 0.02 pose: 0.51151011 -4.54324 -3.36488 0 -0.00235119 0.00111299 0.765875 0.642984 uwb: 0.0 1224.57 1436.96 -imu_odom_: 1691062538.37231916 0.387861 -0.237026 9.99579 -0.0426106 0.0149137 0.0596548 0.17 0.02 pose: 0.0 -4.54324 -3.36488 0 -0.00235119 0.00111299 0.765875 0.642984 uwb: 0.50003698 1224.93 1436.72 -imu_odom_: 1691062538.53220876 0.727837 -0.0981623 10.07 -0.0756338 -0.00745685 0.0468716 0.19 0 pose: 0.40072423 -4.54733 -3.35576 0 -0.00477982 0.00378677 0.765924 0.642902 uwb: 0.0 1224.93 1436.72 -imu_odom_: 1691062538.80258970 0.445322 -0.25618 9.3733 -0.0884169 0.00958738 0.0596548 0.19 0 pose: 0.0 -4.54733 -3.35576 0 -0.00477982 0.00378677 0.765924 0.642902 uwb: 0.49941876 1221.32 1438.14 -imu_odom_: 1691062538.105221450 0.45011 -0.131681 9.98622 -0.0649811 -0.0181095 0.0436758 0.23 0 pose: 0.50917707 -4.54231 -3.34254 0 -0.0035747 0.00134194 0.766156 0.642643 uwb: 0.0 1221.32 1438.14 -imu_odom_: 1691062538.132249920 0.531513 -0.517148 9.82102 -0.0649811 -0.0213053 0.0447411 0.23 0 pose: 0.60852481 -4.54641 -3.33342 0 0.000679651 -0.0005010150.766387 0.642379 uwb: 0.50046284 1223.7 1437.14 -imu_odom_: 1691062538.157228149 0.617704 -0.0430956 10.3884 -0.0127832 -0.0245011 0.0436758 0.23 0 pose: 0.0 -4.54641 -3.33342 0 0.000679651 -0.0005010150.766387 0.642379 uwb: 0.0 1223.7 1437.14 -imu_odom_: 1691062538.184202665 0.672771 0.0263362 10.2472 -0.0553937 -0.0319579 0.0426106 0.23 0.02 pose: 0.7069393 -4.54641 -3.33342 0 0.000465232 -0.00123231 0.766399 0.642364 uwb: 0.50192980 1221.32 1438.14 -imu_odom_: 1691062538.200205624 0.466869 -0.105345 9.68694 -0.0383495 -0.0127832 0.0490022 0.23 0.02 pose: 0.0 -4.54641 -3.33342 0 0.000465232 -0.00123231 0.766399 0.642364 uwb: 0.0 1221.32 1438.14 -imu_odom_: 1691062538.227234094 0.430956 -0.25618 9.86172 -0.04048 -0.0436758 0.0479369 0.24 0 pose: 0.51997950 -4.55052 -3.3243 0 0.00360355 -0.0024329 0.766461 0.642277 uwb: 0.49749976 1217.71 1439.53 -imu_odom_: 1691062538.252263943 0.380678 -0.0574608 9.73243 -0.0436758 -0.0191748 0.056459 0.24 0 pose: 0.0 -4.55052 -3.3243 0 0.00360355 -0.0024329 0.766461 0.642277 uwb: 0.0 1217.71 1439.53 -imu_odom_: 1691062538.269256442 0.574608 -0.0790087 10.2615 -0.0735032 -0.0330232 0.0490022 0.23 0.02 pose: 0.42919438 -4.55463 -3.31518 0 0.00553871 -0.0008147920.766534 0.64218 uwb: 0.0 1217.71 1439.53 -imu_odom_: 1691062538.295258333 0.672771 -0.287304 9.87848 -0.0543285 -0.0191748 0.0383495 0.23 0.02 pose: 0.0 -4.55463 -3.31518 0 0.00553871 -0.0008147920.766534 0.64218 uwb: 0.49903380 1218.46 1439.11 -imu_odom_: 1691062538.321271307 0.770933 -0.426168 9.6199 -0.0436758 0.00745685 0.04048 0.23 0 pose: 0.52067652 -4.54962 -3.30195 0 0.00508351 0.000693949 0.766743 0.641934 uwb: 0.0 1218.46 1439.11 -imu_odom_: 1691062538.344365823 0.316035 -0.373495 9.89524 -0.0671117 0.02024 0.056459 0.23 0 pose: 0.0 -4.54962 -3.30195 0 0.00508351 0.000693949 0.766743 0.641934 uwb: 0.49989414 1215.17 1440.2 -imu_odom_: 1691062538.360249792 0.35913 -0.277727 10.3501 -0.0607201 -0.0266316 0.0511327 0.18 -0.02 pose: 0.42985057 -4.55374 -3.29284 0 0.00674735 -0.00297603 0.766768 0.641882 uwb: 0.0 1215.17 1440.2 -imu_odom_: 1691062538.387247348 0.610521 -0.179565 9.85932 -0.0532632 -0.00958738 0.0330232 0.18 -0.02 pose: 0.0 -4.55374 -3.29284 0 0.00674735 -0.00297603 0.766768 0.641882 uwb: 0.50251891 1214.77 1440.34 -imu_odom_: 1691062538.412332026 0.248997 -0.270545 9.70609 -0.0394148 0.0298274 0.0319579 0.23 0 pose: 0.50023536 -4.55786 -3.28373 0 0.00355603 -0.00419619 0.766952 0.641681 uwb: 0.0 1214.77 1440.34 -imu_odom_: 1691062538.439304792 0.442927 -0.469264 9.64384 -0.0628506 -0.0106526 0.0575243 0.23 -0.02 pose: 0.60047550 -4.56198 -3.27462 0 0.00318852 -0.00294694 0.766867 0.641792 uwb: 0.0 1214.77 1440.34 -imu_odom_: 1691062538.465298809 0.304064 -0.299275 10.0868 -0.0447411 -0.0383495 0.0490022 0.23 -0.02 pose: 0.0 -4.56198 -3.27462 0 0.00318852 -0.00294694 0.766867 0.641792 uwb: 0.0 1214.77 1440.34 -imu_odom_: 1691062538.482190400 0.912191 0.0885855 9.93354 -0.0500674 -0.0234358 0.0596548 0.25 -0.02 pose: 0.6874576 -4.56198 -3.27462 0 0.00266481 -0.00342645 0.766908 0.641742 uwb: 0.99758056 1213.21 1441.05 -imu_odom_: 1691062538.498174402 1.24977 -0.174777 10.24 -0.0735032 -0.0468716 0.0937433 0.25 -0.02 pose: 0.0 -4.56198 -3.27462 0 0.00266481 -0.00342645 0.766908 0.641742 uwb: 0.0 1213.21 1441.05 -imu_odom_: 1691062538.515297556 1.38145 -0.277727 9.37809 -0.0532632 0.0191748 0.129962 0.25 -0.02 pose: 0.0 -4.56198 -3.27462 0 0.00266481 -0.00342645 0.766908 0.641742 uwb: 0.0 1213.21 1441.05 -imu_odom_: 1691062538.533240223 1.15401 -0.325611 9.67497 -0.0639159 -0.0213053 0.172573 0.14 0.23 pose: 0.53051360 -4.55699 -3.26139 0 0.000108655 -0.00368952 0.76716 0.641445 uwb: 0.49977456 1214.32 1440.38 -imu_odom_: 1691062538.547230271 1.35991 -0.287304 9.9096 -0.0671117 -0.0500674 0.226901 0.14 0.23 pose: 0.0 -4.55699 -3.26139 0 0.000108655 -0.00368952 0.76716 0.641445 uwb: 0.0 1214.32 1440.38 -imu_odom_: 1691062538.563234980 1.53947 -0.361524 9.70849 -0.0447411 0.0511327 0.298274 0.14 0.23 pose: 0.0 -4.55699 -3.26139 0 0.000108655 -0.00368952 0.76716 0.641445 uwb: 0.0 1214.32 1440.38 -imu_odom_: 1691062538.579287809 1.25217 -0.411803 10.2424 -0.052198 0.0532632 0.36219 0.11 0.35 pose: 0.50979537 -4.56112 -3.25228 0 0.00440082 -0.0066267 0.768309 0.64003 uwb: 0.49956167 1211.35 1441.13 -imu_odom_: 1691062538.596287307 0.794875 -0.332794 9.65582 -0.0575243 0.0777643 0.411192 0.1 0.38 pose: 0.0 -4.56112 -3.25228 0 0.00440082 -0.0066267 0.768309 0.64003 uwb: 0.0 1211.35 1441.13 -imu_odom_: 1691062538.612226104 0.497994 -0.536301 9.99579 -0.0490022 0.0372843 0.4815 0.1 0.38 pose: 0.63082664 -4.56519 -3.24314 0 0.0078873 -0.0108772 0.773317 0.633877 uwb: 0.0 1211.35 1441.13 -imu_odom_: 1691062538.629231143 0.505177 -0.3304 9.86172 -0.0490022 -0.0106526 0.54222 0.12 0.55 pose: 0.0 -4.56519 -3.24314 0 0.0078873 -0.0108772 0.773317 0.633877 uwb: 0.50057658 1212.43 1440.41 -imu_odom_: 1691062538.646221601 0.933739 -0.23942 9.69173 -0.0426106 0 0.60294 0.12 0.55 pose: 0.0 -4.56519 -3.24314 0 0.0078873 -0.0108772 0.773317 0.633877 uwb: 0.0 1212.43 1440.41 -imu_odom_: 1691062538.662225726 1.05345 -0.567426 9.75158 -0.052198 0.0138484 0.604005 0.12 0.55 pose: 0.33924919 -4.56519 -3.24314 0 0.00557312 -0.0112979 0.778005 0.628132 uwb: 0.0 1212.43 1440.41 -imu_odom_: 1691062538.679224349 0.648829 -0.184354 9.77792 -0.0490022 0.0149137 0.634898 0.07 0.5 pose: 0.41980644 -4.56501 -3.24302 0 0.0067524 -0.0128854 0.785192 0.619082 uwb: 0.50054742 1210.38 1441.08 -imu_odom_: 1691062538.697363874 0.306458 -0.196325 9.8665 -0.0607201 0.036219 0.656203 0.07 0.5 pose: 0.6997357 -4.56519 -3.24314 0 0.00707746 -0.0122595 0.786478 0.617456 uwb: 0.0 1210.38 1441.08 -imu_odom_: 1691062538.713167350 0.407014 -0.215478 10.2496 -0.0447411 0.0330232 0.616788 0.06 0.55 pose: 0.0 -4.56519 -3.24314 0 0.00707746 -0.0122595 0.786478 0.617456 uwb: 0.0 1210.38 1441.08 -imu_odom_: 1691062538.730153432 0.54109 -0.251391 10.1658 -0.0458064 -0.00852212 0.62318 0.06 0.55 pose: 0.43944267 -4.56922 -3.23398 0 0.00503874 -0.00818375 0.794552 0.60712 uwb: 0.50058825 1210.31 1440.93 -imu_odom_: 1691062538.747167512 0.878672 -0.40462 9.9503 -0.0660464 -0.00958738 0.633832 0.05 0.55 pose: 0.0 -4.56922 -3.23398 0 0.00503874 -0.00818375 0.794552 0.60712 uwb: 0.0 1210.31 1440.93 -imu_odom_: 1691062538.764207840 0.837971 -0.335188 9.64624 -0.0490022 0.00958738 0.586961 0.05 0.55 pose: 0.0 -4.56922 -3.23398 0 0.00503874 -0.00818375 0.794552 0.60712 uwb: 0.0 1210.31 1440.93 -imu_odom_: 1691062538.781153384 0.612916 0.0407014 9.78271 -0.052198 0.0127832 0.549676 0.05 0.47 pose: 0.24999519 -4.56927 -3.23401 0 0.00499863 -0.00728402 0.798989 0.601281 uwb: 0.49803930 1212.63 1439.84 -imu_odom_: 1691062538.797146719 0.627281 -0.0311246 9.95988 -0.0543285 0.00852212 0.518784 0.05 0.47 pose: 0.0 -4.56927 -3.23401 0 0.00499863 -0.00728402 0.798989 0.601281 uwb: 0.0 1212.63 1439.84 -imu_odom_: 1691062538.813144719 0.665588 -0.189142 9.93354 -0.0596548 0.00213053 0.469782 0.05 0.47 pose: 0.34049158 -4.56927 -3.23401 0 0.00683654 -0.00866412 0.80457 0.593755 uwb: 0.0 1212.63 1439.84 -imu_odom_: 1691062538.829212131 0.627281 -0.136469 9.85214 -0.0511327 -0.0127832 0.426106 0.04 0.38 pose: 0.40928692 -4.56927 -3.23401 0 0.0097452 -0.00675801 0.810176 0.586067 uwb: 0.49991164 1212.48 1440.51 -imu_odom_: 1691062538.846196463 0.648829 -0.124498 9.7851 -0.056459 0.00745685 0.392017 0.04 0.38 pose: 0.8062724 -4.56927 -3.23401 0 0.0101834 -0.00608575 0.811082 0.584812 uwb: 0.0 1212.48 1440.51 -imu_odom_: 1691062538.863272955 0.639252 -0.112527 9.88566 -0.0532632 -0.00106526 0.356864 0.04 0.38 pose: 0.0 -4.56927 -3.23401 0 0.0101834 -0.00608575 0.811082 0.584812 uwb: 0.0 1212.48 1440.51 -imu_odom_: 1691062538.888265183 0.610521 -0.138864 9.9096 -0.0479369 0.00639159 0.315318 0.04 0.29 pose: 0.42065512 -4.56922 -3.23398 0 0.0127475 -0.00293293 0.81526 0.578947 uwb: 0.50047742 1212.11 1440.72 -imu_odom_: 1691062538.906147772 0.486023 -0.201113 9.90721 -0.0585895 -0.00106526 0.307861 0.03 0.23 pose: 0.0 -4.56922 -3.23398 0 0.0127475 -0.00293293 0.81526 0.578947 uwb: 0.0 1212.11 1440.72 -imu_odom_: 1691062538.923136770 0.342371 -0.184354 9.89284 -0.0511327 0.0138484 0.235423 0.03 0.23 pose: 0.32883467 -4.57339 -3.2249 0 0.00938366 -0.00277327 0.817897 0.575282 uwb: 0.0 1212.11 1440.72 -imu_odom_: 1691062538.938188394 0.225055 0.0742203 9.97185 -0.0532632 0.0138484 0.167247 0.04 0.08 pose: 0.0 -4.57339 -3.2249 0 0.00938366 -0.00277327 0.817897 0.575282 uwb: 0.50050659 1210.67 1441.67 -imu_odom_: 1691062538.956230219 0.251391 0.148441 9.99819 -0.056459 -0.00958738 0.0916127 0.04 0.08 pose: 0.0 -4.57339 -3.2249 0 0.00938366 -0.00277327 0.817897 0.575282 uwb: 0.0 1210.67 1441.67 -imu_odom_: 1691062538.973229426 0.56982 -0.0670376 9.93115 -0.0639159 -0.0287621 0.0266316 0.04 0.08 pose: 0.32997207 -4.57339 -3.2249 0 0.00656446 -0.00108223 0.819859 0.572526 uwb: 0.0 1210.67 1441.67 -imu_odom_: 1691062538.989419618 1.00078 -0.208296 9.89045 -0.0553937 -0.0266316 -0.0681769 0.04 -0.11 pose: 0.34024660 -4.57339 -3.2249 0 0.00683239 0.00147906 0.820421 0.571717 uwb: 0.49924086 1205.57 1443.86 -imu_odom_: 1691062539.7436655 1.02951 0.225055 9.88326 -0.0468716 0.00213053 -0.184291 0.04 -0.11 pose: 0.0 -4.57339 -3.2249 0 0.00683239 0.00147906 0.820421 0.571717 uwb: 0.0 1205.57 1443.86 -imu_odom_: 1691062539.24410200 0.6608 0.122104 9.7444 -0.0713727 0.0223706 -0.24075 0.02 -0.23 pose: 0.0 -4.57339 -3.2249 0 0.00683239 0.00147906 0.820421 0.571717 uwb: 0.0 1205.57 1443.86 -imu_odom_: 1691062539.39252137 0.328006 -0.059855 9.85693 -0.0703074 0.0298274 -0.282295 0.02 -0.23 pose: 0.18006537 -4.57339 -3.2249 0 0.00852874 0.000692149 0.820132 0.57211 uwb: 0.49972212 1207.87 1442.74 -imu_odom_: 1691062539.55243434 0.306458 -0.440533 10.0461 -0.0607201 -0.0106526 -0.297209 0.02 -0.23 pose: 0.0 -4.57339 -3.2249 0 0.00852874 0.000692149 0.820132 0.57211 uwb: 0.0 1207.87 1442.74 -imu_odom_: 1691062539.72123071 0.277727 -0.203507 9.93354 -0.0543285 -0.0117179 -0.3036 0.02 -0.32 pose: 0.34236395 -4.57339 -3.2249 0 0.011513 0.000613607 0.818055 0.575024 uwb: 0.0 1207.87 1442.74 -imu_odom_: 1691062539.89246520 0.237026 -0.117316 9.86411 -0.056459 0.00106526 -0.267381 0.02 -0.32 pose: 0.0 -4.57339 -3.2249 0 0.011513 0.000613607 0.818055 0.575024 uwb: 0.50109874 1207.56 1443.09 -imu_odom_: 1691062539.106244273 0.191536 -0.153229 9.8689 -0.0596548 -0.00639159 -0.255663 0.02 -0.32 pose: 0.0 -4.57339 -3.2249 0 0.011513 0.000613607 0.818055 0.575024 uwb: 0.0 1207.56 1443.09 -imu_odom_: 1691062539.122304397 0.629675 -0.246603 9.97903 -0.052198 -0.0468716 -0.312122 0.02 -0.35 pose: 0.46828029 -4.57339 -3.2249 0 0.00850498 0.00156662 0.813709 0.581208 uwb: 0.0 1207.56 1443.09 -imu_odom_: 1691062539.140260192 0.706289 0.253785 9.8282 -0.0490022 -0.00426106 -0.365386 0.02 -0.35 pose: 0.0 -4.57339 -3.2249 0 0.00850498 0.00156662 0.813709 0.581208 uwb: 0.50186575 1208.9 1442.92 -imu_odom_: 1691062539.158236985 0.505177 -0.131681 9.85693 -0.0713727 0.00532632 -0.376038 0.02 -0.35 pose: 0.68028338 -4.57339 -3.2249 0 0.00606081 0.0020434 0.807112 0.590364 uwb: 0.0 1208.9 1442.92 -imu_odom_: 1691062539.172291489 0.526724 -0.143652 9.99579 -0.0585895 -0.00532632 -0.395213 0.02 -0.35 pose: 0.0 -4.57339 -3.2249 0 0.00606081 0.0020434 0.807112 0.590364 uwb: 0.0 1208.9 1442.92 -imu_odom_: 1691062539.189131463 0.308852 -0.399832 9.93354 -0.052198 -0.0138484 -0.363255 0.02 -0.41 pose: 0.0 -4.57339 -3.2249 0 0.00606081 0.0020434 0.807112 0.590364 uwb: 0.49871310 1207.31 1443.54 -imu_odom_: 1691062539.214239770 0.459687 -0.344765 9.9096 -0.0585895 -0.0106526 -0.266316 0.02 -0.41 pose: 0.34017961 -4.57339 -3.2249 0 0.00682713 5.54206e-05 0.802922 0.596044 uwb: 0.0 1207.31 1443.54 -imu_odom_: 1691062539.231285351 0.361524 -0.368707 9.89763 -0.0543285 0 -0.204531 0.01 -0.32 pose: 0.31906475 -4.57339 -3.2249 0 0.00501166 -0.00155997 0.799219 0.601017 uwb: 0.49940138 1210.1 1442.44 -imu_odom_: 1691062539.248287478 0.612916 -0.292093 9.9934 -0.0575243 -0.0255663 -0.215183 0.01 -0.32 pose: 0.0 -4.57339 -3.2249 0 0.00501166 -0.00155997 0.799219 0.601017 uwb: 0.0 1210.1 1442.44 -imu_odom_: 1691062539.265118703 0.387861 0.189142 9.64624 -0.0511327 0.015979 -0.316384 0.02 -0.41 pose: 0.52085454 -4.57339 -3.2249 0 0.00302216 -0.00463865 0.794997 0.606588 uwb: 0.0 1210.1 1442.44 -imu_odom_: 1691062539.283112119 0.361524 0.342371 9.95509 -0.0585895 -0.00213053 -0.377104 0.02 -0.41 pose: 0.0 -4.57339 -3.2249 0 0.00302216 -0.00463865 0.794997 0.606588 uwb: 0.49854688 1209.71 1442.62 -imu_odom_: 1691062539.297112378 0.385466 -0.110133 9.86411 -0.0692422 -0.00852212 -0.407996 0.02 -0.41 pose: 0.0 -4.57339 -3.2249 0 0.00302216 -0.00463865 0.794997 0.606588 uwb: 0.0 1209.71 1442.62 -imu_odom_: 1691062539.314185665 0.586579 -0.378284 9.94073 -0.056459 -0.0181095 -0.454868 0.01 -0.47 pose: 0.6913658 -4.57339 -3.2249 0 0.00324817 -0.00394279 0.79425 0.60757 uwb: 0.0 1209.71 1442.62 -imu_odom_: 1691062539.331232705 0.497994 -0.3304 9.9096 -0.056459 -0.0106526 -0.467651 0.01 -0.47 pose: 0.0 -4.57339 -3.2249 0 0.00324817 -0.00394279 0.79425 0.60757 uwb: 0.50134079 1210.97 1442.28 -imu_odom_: 1691062539.348105634 0.565032 0.0430956 9.99579 -0.0713727 -0.00213053 -0.459129 0.01 -0.47 pose: 0.65991512 -4.57757 -3.21582 0 0.00339165 -0.00239763 0.785264 0.619147 uwb: 0.0 1210.97 1442.28 -imu_odom_: 1691062539.365105428 0.509965 -0.0790087 9.77553 -0.0500674 0.00319579 -0.487891 0.01 -0.47 pose: 0.0 -4.57757 -3.21582 0 0.00339165 -0.00239763 0.785264 0.619147 uwb: 0.0 1210.97 1442.28 -imu_odom_: 1691062539.382158592 0.469264 0.00957681 10.0461 -0.0468716 -0.0170442 -0.529436 0.01 -0.47 pose: 0.0 -4.57757 -3.21582 0 0.00339165 -0.00239763 0.785264 0.619147 uwb: 0.49744738 1212.23 1441.94 -imu_odom_: 1691062539.398162429 0.517148 -0.1652 9.7851 -0.0660464 -0.00426106 -0.532632 0.01 -0.47 pose: 0.34919134 -4.57757 -3.21582 0 0.00474878 -0.00176039 0.779737 0.626087 uwb: 0.0 1212.23 1441.94 -imu_odom_: 1691062539.415154348 0.519542 -0.296881 9.90002 -0.0660464 -0.00426106 -0.545415 0.01 -0.73 pose: 0.42050647 -4.56851 -3.2116 0 0.00617202 -0.00121066 0.772286 0.635244 uwb: 0.0 1212.23 1441.94 -imu_odom_: 1691062539.431249761 0.59855 -0.131681 9.87848 -0.0553937 -0.0127832 -0.574178 0.01 -0.73 pose: 0.8004398 -4.56851 -3.2116 0 0.00567488 -0.00187664 0.770801 0.637048 uwb: 0.50168202 1208.73 1443.55 -imu_odom_: 1691062539.449244636 0.517148 -0.0407014 9.89045 -0.0585895 -0.0117179 -0.600809 0.01 -0.73 pose: 0.0 -4.56851 -3.2116 0 0.00567488 -0.00187664 0.770801 0.637048 uwb: 0.0 1208.73 1443.55 -imu_odom_: 1691062539.466439246 0.292093 -0.205901 9.8665 -0.0543285 -0.0138484 -0.62531 0.01 -0.61 pose: 0.43077809 -4.56833 -3.21148 0 0.00773822 -0.00126484 0.762223 0.647267 uwb: 0.0 1208.73 1443.55 -imu_odom_: 1691062539.493381688 0.519542 -0.184354 9.90002 -0.0479369 -0.0298274 -0.618919 0.01 -0.64 pose: 0.0 -4.56833 -3.21148 0 0.00773822 -0.00126484 0.762223 0.647267 uwb: 0.49970177 1204.13 1445.79 -imu_odom_: 1691062539.510309737 0.445322 -0.136469 9.9527 -0.0660464 0.0138484 -0.580569 0.01 -0.64 pose: 0.25083809 -4.56851 -3.2116 0 0.00608929 -0.00133845 0.756825 0.653588 uwb: 0.0 1204.13 1445.79 -imu_odom_: 1691062539.526150255 -0.220267 -0.306458 9.87129 -0.0596548 0.0500674 -0.545415 0.01 -0.7 pose: 0.0 -4.56851 -3.2116 0 0.00608929 -0.00133845 0.756825 0.653588 uwb: 0.50117748 1204.76 1445.12 -imu_odom_: 1691062539.543154423 -0.677559 -0.28491 9.85693 -0.0447411 -0.00213053 -0.593352 0.01 -0.7 pose: 0.0 -4.56851 -3.2116 0 0.00608929 -0.00133845 0.756825 0.653588 uwb: 0.0 1204.76 1445.12 -imu_odom_: 1691062539.560096180 -0.610521 0.124498 9.61511 -0.0490022 -0.00852212 -0.58483 0.05 -0.47 pose: 0.26114763 -4.56851 -3.2116 0 0.00543702 -0.00251001 0.751273 0.659964 uwb: 0.0 1204.76 1445.12 -imu_odom_: 1691062539.577082558 -0.634463 -0.351948 9.8689 -0.0756338 0.0298274 -0.487891 0.05 -0.47 pose: 0.42711215 -4.56846 -3.21157 0 0.00203141 0.000671164 0.742587 0.669747 uwb: 0.49864603 1206.36 1444.5 -imu_odom_: 1691062539.594135431 -0.268151 -0.73502 10.1275 -0.0671117 -0.0298274 -0.431432 0.05 -0.47 pose: 0.0 -4.56846 -3.21157 0 0.00203141 0.000671164 0.742587 0.669747 uwb: 0.0 1206.36 1444.5 -imu_odom_: 1691062539.611183053 0.229843 -0.301669 9.74919 -0.0575243 -0.0298274 -0.393083 0.07 -0.44 pose: 0.8009356 -4.56851 -3.2116 0 0.00163955 0.0013671 0.740909 0.671603 uwb: 0.0 1206.36 1444.5 -imu_odom_: 1691062539.628067357 0.208296 0.0383072 10.0197 -0.0628506 -0.0308927 -0.376038 0.07 -0.44 pose: 0.0 -4.56851 -3.2116 0 0.00163955 0.0013671 0.740909 0.671603 uwb: 0.50160911 1206.3 1444.38 -imu_odom_: 1691062539.645068317 0.155623 0.105345 9.5816 -0.0639159 -0.0127832 -0.390952 0.07 -0.44 pose: 0.0 -4.56851 -3.2116 0 0.00163955 0.0013671 0.740909 0.671603 uwb: 0.0 1206.3 1444.38 -imu_odom_: 1691062539.662124106 -0.0143652 -0.114922 9.9096 -0.0660464 -0.00852212 -0.377104 0.09 -0.41 pose: 0.50908388 -4.56851 -3.2116 0 -0.00293092 0.00282507 0.732101 0.681184 uwb: 0.0 1206.3 1444.38 -imu_odom_: 1691062539.678064948 0.23942 -0.45011 10.0748 -0.0479369 -0.0351537 -0.36432 0.09 -0.35 pose: 0.0 -4.56851 -3.2116 0 -0.00293092 0.00282507 0.732101 0.681184 uwb: 0.49689034 1205.15 1444.94 -imu_odom_: 1691062539.695120445 0.11971 -0.258574 10.0245 -0.0447411 -0.0298274 -0.32171 0.09 -0.35 pose: 0.66999135 -4.57262 -3.20249 0 -0.00405351 0.00633572 0.722416 0.691418 uwb: 0.0 1205.15 1444.94 -imu_odom_: 1691062539.712066577 0.363919 -0.311246 9.7037 -0.0585895 -0.0649811 -0.282295 0.1 -0.32 pose: 0.0 -4.57262 -3.20249 0 -0.00405351 0.00633572 0.722416 0.691418 uwb: 0.0 1205.15 1444.94 -imu_odom_: 1691062539.729077453 0.514753 -0.0694318 9.97424 -0.0681769 -0.0468716 -0.274838 0.1 -0.32 pose: 0.0 -4.57262 -3.20249 0 -0.00405351 0.00633572 0.722416 0.691418 uwb: 0.50245487 1205.33 1444.31 -imu_odom_: 1691062539.747089243 0.292093 -0.248997 9.84975 -0.052198 -0.0287621 -0.278034 0.1 -0.32 pose: 0.33992296 -4.57262 -3.20249 0 -0.00574576 0.00515805 0.718118 0.695878 uwb: 0.0 1205.33 1444.31 -imu_odom_: 1691062539.762189866 -0.0263362 0.117316 9.49301 -0.0479369 -0.0969391 -0.279099 0.12 -0.32 pose: 0.44025645 -4.57511 -3.19682 0 -0.00511892 0.00258909 0.713246 0.700891 uwb: 0.0 1205.33 1444.31 -imu_odom_: 1691062539.779198409 0.888249 -0.232238 10.4507 -0.0585895 -0.0894822 -0.275903 0.12 -0.32 pose: 0.6104643 -4.57669 -3.19336 0 -0.00487585 0.0030119 0.712566 0.701581 uwb: 0.50074877 1205.3 1444.24 -imu_odom_: 1691062539.797088876 1.24498 -0.0215478 9.21528 -0.0671117 -0.00319579 -0.223706 0.09 -0.29 pose: 0.0 -4.57669 -3.19336 0 -0.00487585 0.0030119 0.712566 0.701581 uwb: 0.0 1205.3 1444.24 -imu_odom_: 1691062539.814263071 1.01035 -0.778116 9.69652 -0.0490022 0.0181095 -0.178964 0.09 -0.26 pose: 0.43894990 -4.57669 -3.19336 0 -0.00139734 0.000863884 0.708025 0.706185 uwb: 0.0 1205.3 1444.24 -imu_odom_: 1691062539.831060465 1.07978 -0.35913 9.96946 -0.072438 -0.0372843 -0.149137 0.07 -0.26 pose: 0.0 -4.57669 -3.19336 0 -0.00139734 0.000863884 0.708025 0.706185 uwb: 0.49813565 1207.94 1442.83 -imu_odom_: 1691062539.848069300 1.2809 -0.153229 9.95988 -0.0340885 0.0330232 -0.192813 0.07 -0.26 pose: 0.0 -4.57669 -3.19336 0 -0.00139734 0.000863884 0.708025 0.706185 uwb: 0.0 1207.94 1442.83 -imu_odom_: 1691062539.863114219 0.701501 0.0670376 10.0341 -0.0511327 0.0181095 -0.215183 0.06 -0.2 pose: 0.24224341 -4.56756 -3.18928 0 -0.000927702-0.00138124 0.706226 0.707985 uwb: 0.0 1207.94 1442.83 -imu_odom_: 1691062539.880055393 0.497994 0.124498 9.91678 -0.056459 -0.00639159 -0.218379 0.06 -0.2 pose: 0.0 -4.56756 -3.18928 0 -0.000927702-0.00138124 0.706226 0.707985 uwb: 0.50168202 1206.01 1443.76 -imu_odom_: 1691062539.894059734 0.634463 -0.411803 9.991 -0.0628506 -0.0191748 -0.214118 0.06 -0.2 pose: 0.33754025 -4.56756 -3.18928 0 0.00158756 -0.00290899 0.703531 0.710657 uwb: 0.0 1206.01 1443.76 -imu_odom_: 1691062539.911100066 0.797269 -0.25618 9.7875 -0.0671117 0 -0.206661 0.05 -0.17 pose: 0.38992492 -4.57157 -3.18011 0 0.0034225 -0.00312976 0.699972 0.714155 uwb: 0.0 1206.01 1443.76 -imu_odom_: 1691062539.925135030 0.818817 -0.277727 10.1897 -0.0511327 0.00213053 -0.178964 0.05 -0.17 pose: 0.0 -4.57157 -3.18011 0 0.0034225 -0.00312976 0.699972 0.714155 uwb: 0.49820565 1205.41 1443.47 -imu_odom_: 1691062539.941050792 0.588974 -0.146046 9.80186 -0.0639159 -0.00106526 -0.154463 0.05 -0.17 pose: 0.0 -4.57157 -3.18011 0 0.0034225 -0.00312976 0.699972 0.714155 uwb: 0.0 1205.41 1443.47 -imu_odom_: 1691062539.957064836 0.646434 -0.222661 9.83059 -0.0426106 0.00106526 -0.152333 0.04 -0.17 pose: 0.7105850 -4.57162 -3.18014 0 0.00380024 -0.00372211 0.699345 0.714764 uwb: 0.0 1205.41 1443.47 -imu_odom_: 1691062539.975069919 0.677559 -0.112527 9.93115 -0.0553937 -0.00958738 -0.132093 0.04 -0.17 pose: 0.0 -4.57162 -3.18014 0 0.00380024 -0.00372211 0.699345 0.714764 uwb: 0.0 1205.41 1443.47 -imu_odom_: 1691062540.346795 0.500388 -0.272939 9.90002 -0.0500674 0.0170442 -0.106526 0.03 -0.14 pose: 0.46890149 -4.57162 -3.18014 0 0.00686114 -0.00582044 0.695759 0.718219 uwb: 0.50002257 1208.94 1441.95 -imu_odom_: 1691062540.27068469 -0.897826 -0.148441 9.63906 -0.04048 0.102265 -0.125701 0.04 -0.17 pose: 0.0 -4.57162 -3.18014 0 0.00686114 -0.00582044 0.695759 0.718219 uwb: 0.49850610 1206.67 1443.16 -imu_odom_: 1691062540.52054584 -1.17316 -0.196325 9.98382 -0.0553937 -0.0351537 -0.0980043 0.06 -0.11 pose: 0.59075231 -4.57162 -3.18014 0 0.00581558 -0.00520175 0.692303 0.721564 uwb: 0.0 1206.67 1443.16 -imu_odom_: 1691062540.77114484 0.440533 -0.538695 10.1586 -0.0585895 -0.0735032 -0.0468716 0.1 -0.14 pose: 0.0 -4.57162 -3.18014 0 0.00581558 -0.00520175 0.692303 0.721564 uwb: 0.0 1206.67 1443.16 -imu_odom_: 1691062540.100037817 0.430956 0.0047884 9.86172 -0.0351537 -0.00319579 -0.0788296 0.1 -0.14 pose: 0.52104715 -4.57162 -3.18014 0 0.00203964 -0.00195663 0.689663 0.724125 uwb: 0.0 1206.67 1443.16 -imu_odom_: 1691062540.116041367 0.577003 0.114922 10.4483 -0.0479369 -0.0234358 -0.0308927 0.1 -0.14 pose: 0.0 -4.57162 -3.18014 0 0.00203964 -0.00195663 0.689663 0.724125 uwb: 0.0 1206.67 1443.16 -imu_odom_: 1691062540.134109156 0.878672 -0.282516 9.35893 -0.0692422 -0.0245011 0.0511327 0.1 -0.08 pose: 0.48812954 -4.57568 -3.171 0 0.0034799 -0.0013324 0.687909 0.725787 uwb: 0.0 1206.67 1443.16 -imu_odom_: 1691062540.151038085 0.804452 -0.732626 9.56005 -0.0490022 0.0447411 0.052198 0.1 -0.08 pose: 0.0 -4.57568 -3.171 0 0.0034799 -0.0013324 0.687909 0.725787 uwb: 0.0 1206.67 1443.16 -imu_odom_: 1691062540.165092592 1.07978 -0.316035 10.556 -0.0479369 0.00639159 0.0713727 0.07 0.17 pose: 0.42989452 -4.57 -3.1685 0 0.00438947 -0.00413018 0.687861 0.725818 uwb: 0.0 1206.67 1443.16 -imu_odom_: 1691062540.181035480 0.897826 -0.0407014 9.66779 -0.0511327 0.00213053 0.18003 0.07 0.17 pose: 0.0 -4.57 -3.1685 0 0.00438947 -0.00413018 0.687861 0.725818 uwb: 0.150101299 1204.92 1443.44 -imu_odom_: 1691062540.196030240 1.1157 -0.464475 9.8282 -0.0639159 -0.00319579 0.309992 0.07 0.17 pose: 0.0 -4.57 -3.1685 0 0.00438947 -0.00413018 0.687861 0.725818 uwb: 0.0 1204.92 1443.44 -imu_odom_: 1691062540.212034081 0.909797 -0.696713 9.95988 -0.0479369 0.00745685 0.360059 0.05 0.29 pose: 0.6062648 -4.56653 -3.16698 0 0.00470745 -0.00460429 0.687929 0.725748 uwb: 0.0 1204.92 1443.44 -imu_odom_: 1691062540.229034753 0.878672 -0.282516 10.082 -0.0383495 0.00426106 0.406931 0.05 0.29 pose: 0.0 -4.56653 -3.16698 0 0.00470745 -0.00460429 0.687929 0.725748 uwb: 0.50059139 1203.13 1443.64 -imu_odom_: 1691062540.247088544 0.68953 -0.155623 9.79468 -0.0596548 0.0170442 0.50387 0.05 0.29 pose: 0.0 -4.56653 -3.16698 0 0.00470745 -0.00460429 0.687929 0.725748 uwb: 0.0 1203.13 1443.64 -imu_odom_: 1691062540.264091258 0.6608 -0.335188 9.8258 -0.0553937 0.015979 0.539024 0.04 0.38 pose: 0.45995112 -4.56653 -3.16698 0 0.00680157 -0.00786788 0.691104 0.72268 uwb: 0.0 1203.13 1443.64 -imu_odom_: 1691062540.279038189 0.428562 -0.349553 9.9096 -0.0426106 0.0149137 0.539024 0.04 0.35 pose: 0.0 -4.56653 -3.16698 0 0.00680157 -0.00786788 0.691104 0.72268 uwb: 0.49958814 1202.58 1443.45 -imu_odom_: 1691062540.295179685 0.356736 -0.0814029 9.96706 -0.0500674 0.00745685 0.545415 0.04 0.35 pose: 0.66943154 -4.57054 -3.15782 0 0.00717076 -0.0102347 0.701488 0.712572 uwb: 0.0 1202.58 1443.45 -imu_odom_: 1691062540.309151949 0.208296 -0.126893 9.79228 -0.056459 0.0213053 0.528371 0.04 0.35 pose: 0.0 -4.57054 -3.15782 0 0.00717076 -0.0102347 0.701488 0.712572 uwb: 0.0 1202.58 1443.45 -imu_odom_: 1691062540.326090502 0.275333 -0.0814029 9.85214 -0.0553937 0.00106526 0.486826 0.03 0.41 pose: 0.0 -4.57054 -3.15782 0 0.00717076 -0.0102347 0.701488 0.712572 uwb: 0.49983021 1202.5 1443.28 -imu_odom_: 1691062540.342185043 0.433351 -0.169988 9.99819 -0.0575243 -0.00426106 0.466586 0.03 0.41 pose: 0.31157546 -4.57054 -3.15782 0 0.0055603 -0.00757919 0.707048 0.707103 uwb: 0.0 1202.5 1443.28 -imu_odom_: 1691062540.359140803 0.438139 -0.0814029 9.75398 -0.0617853 0.00319579 0.474043 0.04 0.5 pose: 0.40988498 -4.57054 -3.15782 0 0.00401716 -0.00368062 0.713514 0.700619 uwb: 0.0 1202.5 1443.28 -imu_odom_: 1691062540.375130645 0.663194 -0.361524 10.058 -0.0447411 0.00213053 0.455933 0.04 0.5 pose: 0.0 -4.57054 -3.15782 0 0.00401716 -0.00368062 0.713514 0.700619 uwb: 0.0 1202.5 1443.28 -imu_odom_: 1691062540.393131940 0.617704 -0.0790087 9.84735 -0.052198 0.0106526 0.437824 0.04 0.5 pose: 0.0 -4.57054 -3.15782 0 0.00401716 -0.00368062 0.713514 0.700619 uwb: 0.0 1202.5 1443.28 -imu_odom_: 1691062540.408015293 0.59855 -0.011971 9.94551 -0.0628506 0.00319579 0.429302 0.02 0.32 pose: 0.7010484 -4.57054 -3.15782 0 0.00417182 -0.003011 0.714579 0.699536 uwb: 0.0 1202.5 1443.28 -imu_odom_: 1691062540.426086291 0.493206 -0.102951 9.86411 -0.0479369 0.0149137 0.378169 0.04 0.47 pose: 0.0 -4.57054 -3.15782 0 0.00417182 -0.003011 0.714579 0.699536 uwb: 0.100102822 1203.68 1442.79 -imu_odom_: 1691062540.441234746 0.490811 -0.071826 9.93833 -0.0543285 0.00319579 0.34408 0.04 0.47 pose: 0.66970278 -4.57054 -3.15782 0 0.00729862 -0.00179301 0.723833 0.689934 uwb: 0.0 1203.68 1442.79 -imu_odom_: 1691062540.459129884 0.509965 -0.0909797 9.78271 -0.0458064 0.00745685 0.316384 0.03 0.38 pose: 0.0 -4.57054 -3.15782 0 0.00729862 -0.00179301 0.723833 0.689934 uwb: 0.0 1203.68 1442.79 -imu_odom_: 1691062540.474015278 0.497994 -0.25618 9.95748 -0.0596548 0.00319579 0.309992 0.03 0.38 pose: 0.0 -4.57054 -3.15782 0 0.00729862 -0.00179301 0.723833 0.689934 uwb: 0.0 1203.68 1442.79 -imu_odom_: 1691062540.492125356 0.442927 -0.179565 9.92636 -0.052198 -0.00532632 0.294013 0.03 0.38 pose: 0.32976807 -4.57054 -3.15782 0 0.00846907 0.000910284 0.727311 0.686255 uwb: 0.49882404 1199.64 1444.19 -imu_odom_: 1691062540.507104368 0.54109 -0.201113 9.90481 -0.0500674 -0.00106526 0.272708 0.02 0.23 pose: 0.42982744 -4.57054 -3.15782 0 0.00644656 9.20931e-05 0.731227 0.682104 uwb: 0.0 1199.64 1444.19 -imu_odom_: 1691062540.525077374 0.497994 -0.105345 9.80904 -0.0575243 0 0.265251 0.02 0.23 pose: 0.7003193 -4.57054 -3.15782 0 0.0063221 -0.0005812050.731787 0.681504 uwb: 0.0 1199.64 1444.19 -imu_odom_: 1691062540.540061343 0.512359 -0.244209 9.93115 -0.0553937 -0.00213053 0.257794 0.02 0.23 pose: 0.0 -4.57054 -3.15782 0 0.0063221 -0.0005812050.731787 0.681504 uwb: 0.50098511 1197.97 1444.63 -imu_odom_: 1691062540.558053598 0.445322 -0.158017 9.90481 -0.052198 0 0.229032 0.02 0.26 pose: 0.40932794 -4.57256 -3.15325 0 0.00610338 -0.0009747480.734912 0.678135 uwb: 0.0 1197.97 1444.63 -imu_odom_: 1691062540.574048398 0.471658 -0.141258 9.91439 -0.052198 -0.00319579 0.213053 0.01 0.17 pose: 0.0 -4.57256 -3.15325 0 0.00610338 -0.0009747480.734912 0.678135 uwb: 0.0 1197.97 1444.63 -imu_odom_: 1691062540.591002407 0.47884 -0.0957681 9.95748 -0.056459 0 0.196009 0.01 0.17 pose: 0.0 -4.57256 -3.15325 0 0.00610338 -0.0009747480.734912 0.678135 uwb: 0.49868697 1195.88 1445.14 -imu_odom_: 1691062540.606996624 0.500388 -0.148441 9.86411 -0.056459 -0.00319579 0.184291 0.01 0.14 pose: 0.24941786 -4.57459 -3.14867 0 0.00515924 0.000426914 0.736475 0.676445 uwb: 0.0 1195.88 1445.14 -imu_odom_: 1691062540.624054458 0.505177 -0.205901 9.88566 -0.0553937 -0.00639159 0.175769 0.01 0.14 pose: 0.0 -4.57459 -3.14867 0 0.00515924 0.000426914 0.736475 0.676445 uwb: 0.0 1195.88 1445.14 -imu_odom_: 1691062540.640017469 0.531513 -0.172383 9.89763 -0.0532632 -0.00745685 0.164051 0.01 0.14 pose: 0.34001344 -4.57459 -3.14867 0 0.00684161 0.00134403 0.738281 0.674457 uwb: 0.50063514 1200.68 1442.38 -imu_odom_: 1691062540.657149088 0.54109 -0.117316 9.85932 -0.0532632 -0.00319579 0.147006 0.01 0.14 pose: 0.41012996 -4.57459 -3.14867 0 0.0061876 -0.00239399 0.740138 0.672422 uwb: 0.0 1200.68 1442.38 -imu_odom_: 1691062540.673138347 0.486023 -0.0909797 9.90721 -0.0553937 0 0.134223 0.01 0.14 pose: 0.7146973 -4.57459 -3.14867 0 0.00681563 -0.00204278 0.740391 0.672138 uwb: 0.0 1200.68 1442.38 -imu_odom_: 1691062540.690063193 0.464475 -0.160412 9.89284 -0.0553937 -0.00426106 0.112918 0.01 0.14 pose: 0.0 -4.57459 -3.14867 0 0.00681563 -0.00204278 0.740391 0.672138 uwb: 0.49948315 1196.86 1444.22 -imu_odom_: 1691062540.706197106 0.47884 -0.155623 9.88805 -0.0543285 -0.00532632 0.0969391 0 0.05 pose: 0.42898751 -4.57459 -3.14867 0 0.00582579 -2.41443e-060.741671 0.670738 uwb: 0.0 1196.86 1444.22 -imu_odom_: 1691062540.723265731 0.502782 -0.196325 9.9096 -0.056459 -0.00745685 0.0841559 0 0.08 pose: 0.0 -4.57459 -3.14867 0 0.00582579 -2.41443e-060.741671 0.670738 uwb: 0.0 1196.86 1444.22 -imu_odom_: 1691062540.738990470 0.517148 -0.143652 9.89763 -0.0543285 -0.00319579 0.072438 0 0.08 pose: 0.0 -4.57459 -3.14867 0 0.00582579 -2.41443e-060.741671 0.670738 uwb: 0.50020351 1194.07 1445.27 -imu_odom_: 1691062540.756043638 0.526724 -0.1652 9.94791 -0.056459 -0.00532632 0.0607201 0 0.02 pose: 0.22967079 -4.57459 -3.14867 0 0.00435968 -0.00128016 0.742093 0.670282 uwb: 0.0 1194.07 1445.27 -imu_odom_: 1691062540.770986195 0.529119 -0.196325 9.90242 -0.0543285 -0.00532632 0.0447411 0 0.02 pose: 0.0 -4.57459 -3.14867 0 0.00435968 -0.00128016 0.742093 0.670282 uwb: 0.0 1194.07 1445.27 -imu_odom_: 1691062540.785994954 0.469264 -0.141258 9.8689 -0.0532632 -0.00106526 0.0319579 0 0.02 pose: 0.0 -4.57459 -3.14867 0 0.00435968 -0.00128016 0.742093 0.670282 uwb: 0.49887071 1192.13 1446.13 -imu_odom_: 1691062540.799987633 0.390255 -0.169988 9.92636 -0.056459 0.00213053 0.036219 0 0 pose: 0.32957559 -4.57459 -3.14867 0 0.00624316 -0.00220831 0.74246 0.669857 uwb: 0.0 1192.13 1446.13 -imu_odom_: 1691062540.814992018 0.35913 -0.246603 9.90481 -0.056459 -0.00426106 0.0383495 0 0 pose: 0.40007123 -4.57459 -3.14867 0 0.00530972 -0.00207066 0.742526 0.669793 uwb: 0.0 1192.13 1446.13 -imu_odom_: 1691062540.830109268 0.380678 -0.222661 9.8665 -0.0532632 -0.00745685 0.0394148 0 0 pose: 0.0 -4.57459 -3.14867 0 0.00530972 -0.00207066 0.742526 0.669793 uwb: 0.50154506 1190.91 1446.5 -imu_odom_: 1691062540.845148358 0.438139 -0.155623 9.89045 -0.0543285 -0.00852212 0.0436758 0 0 pose: 0.6003445 -4.57459 -3.14867 0 0.00486501 -0.00163933 0.742521 0.669804 uwb: 0.0 1190.91 1446.5 -imu_odom_: 1691062540.859199365 0.464475 -0.148441 9.86411 -0.0553937 -0.00639159 0.0426106 0 0 pose: 0.0 -4.57459 -3.14867 0 0.00486501 -0.00163933 0.742521 0.669804 uwb: 0.0 1190.91 1446.5 -imu_odom_: 1691062540.874127048 0.457293 -0.150835 9.87129 -0.0543285 -0.00213053 0.036219 0 0 pose: 0.0 -4.57459 -3.14867 0 0.00486501 -0.00163933 0.742521 0.669804 uwb: 0.0 1190.91 1446.5 -imu_odom_: 1691062540.889002527 0.428562 -0.172383 9.86411 -0.056459 -0.00213053 0.0372843 0 0 pose: 0.44052778 -4.57459 -3.14867 0 0.00187812 1.94872e-06 0.74252 0.669822 uwb: 0.49931691 1186.66 1448.45 -imu_odom_: 1691062540.903074241 0.392649 -0.205901 9.92397 -0.0575243 -0.00532632 0.0394148 0 0 pose: 0.0 -4.57459 -3.14867 0 0.00187812 1.94872e-06 0.74252 0.669822 uwb: 0.0 1186.66 1448.45 -imu_odom_: 1691062540.918201115 0.416591 -0.172383 9.91439 -0.0553937 -0.00639159 0.0415453 0 0 pose: 0.0 -4.57459 -3.14867 0 0.00187812 1.94872e-06 0.74252 0.669822 uwb: 0.0 1186.66 1448.45 -imu_odom_: 1691062540.933023807 0.428562 -0.1652 9.85932 -0.0553937 -0.00532632 0.0394148 0 0 pose: 0.44036445 -4.57459 -3.14867 0 0.00467816 0.00119301 0.742516 0.669811 uwb: 0.49996437 1184.64 1449.08 -imu_odom_: 1691062540.947984446 0.414197 -0.191536 9.88326 -0.0553937 -0.00426106 0.04048 0 0 pose: 0.0 -4.57459 -3.14867 0 0.00467816 0.00119301 0.742516 0.669811 uwb: 0.0 1184.64 1449.08 -imu_odom_: 1691062540.961987041 0.430956 -0.189142 9.8665 -0.056459 -0.00532632 0.0372843 0 0 pose: 0.0 -4.57459 -3.14867 0 0.00467816 0.00119301 0.742516 0.669811 uwb: 0.0 1184.64 1449.08 -imu_odom_: 1691062540.977200241 0.40462 -0.203507 9.90721 -0.0553937 -0.00532632 0.0383495 0 0 pose: 0.43973159 -4.57459 -3.14867 0 0.00164147 0.0014211 0.742522 0.669818 uwb: 0.50004894 1183.73 1449.12 -imu_odom_: 1691062540.991983269 0.433351 -0.169988 9.90002 -0.0553937 -0.00745685 0.04048 0 0 pose: 0.0 -4.57459 -3.14867 0 0.00164147 0.0014211 0.742522 0.669818 uwb: 0.0 1183.73 1449.12 -imu_odom_: 1691062541.14031388 0.486023 -0.181959 9.91439 -0.0553937 -0.00426106 0.04048 0 0 pose: 0.0 -4.57459 -3.14867 0 0.00164147 0.0014211 0.742522 0.669818 uwb: 0.0 1183.73 1449.12 -imu_odom_: 1691062541.31125972 -0.287304 -0.201113 9.6606 -0.0575243 0.0703074 0.0415453 0 0 pose: 0.89970607 -4.57459 -3.14867 0 0.00381682 -0.00109661 0.742521 0.669811 uwb: 0.50173176 1184.03 1448.72 -imu_odom_: 1691062541.48119649 -1.13246 -0.191536 10.0916 -0.0607201 0.0500674 0.0607201 0.03 0.02 pose: 0.0 -4.57459 -3.14867 0 0.00381682 -0.00109661 0.742521 0.669811 uwb: 0.0 1184.03 1448.72 -imu_odom_: 1691062541.65132283 -1.12288 -0.316035 9.84496 -0.0607201 -0.0394148 0.0820254 0.03 0.02 pose: 0.24177398 -4.57459 -3.14867 0 0.0013479 0.00101392 0.742586 0.669749 uwb: 0.0 1184.03 1448.72 -imu_odom_: 1691062541.81953308 -0.071826 -0.299275 10.0245 -0.0532632 -0.0852212 0.0958738 0.04 0.02 pose: 0.0 -4.57459 -3.14867 0 0.0013479 0.00101392 0.742586 0.669749 uwb: 0.49934328 1181.65 1449.64 -imu_odom_: 1691062541.98939985 0.201113 -0.248997 9.65821 -0.0532632 -0.04048 0.092678 0.04 0.02 pose: 0.0 -4.57459 -3.14867 0 0.0013479 0.00101392 0.742586 0.669749 uwb: 0.0 1181.65 1449.64 -imu_odom_: 1691062541.116952950 0.28491 -0.11971 9.90002 -0.0617853 -0.00852212 0.092678 0.04 0.02 pose: 0.33866322 -4.57459 -3.14867 0 -0.00118059 0.00275929 0.743022 0.669261 uwb: 0.0 1181.65 1449.64 -imu_odom_: 1691062541.134018079 -0.181959 -0.323217 9.59835 -0.0649811 0.0117179 0.0798948 0.06 0 pose: 0.34951229 -4.57459 -3.14867 0 -0.00278262 0.00407859 0.743645 0.668556 uwb: 0.49896414 1180.79 1449.76 -imu_odom_: 1691062541.151008256 -0.117316 -0.0861913 10.0987 -0.0617853 -0.00958738 0.0660464 0.06 0 pose: 0.0 -4.57459 -3.14867 0 -0.00278262 0.00407859 0.743645 0.668556 uwb: 0.0 1180.79 1449.76 -imu_odom_: 1691062541.168952393 -0.0215478 -0.196325 9.72046 -0.0628506 -0.0372843 0.0884169 0.09 0.02 pose: 0.43981919 -4.57459 -3.14867 0 -0.00503792 0.00705107 0.744182 0.66792 uwb: 0.0 1180.79 1449.76 -imu_odom_: 1691062541.182947117 0.275333 -0.292093 9.93115 -0.0596548 -0.0255663 0.0969391 0.09 0.02 pose: 0.0 -4.57459 -3.14867 0 -0.00503792 0.00705107 0.744182 0.66792 uwb: 0.49929953 1182.98 1448.39 -imu_odom_: 1691062541.200946083 0.507571 -0.368707 9.9096 -0.0532632 -0.0298274 0.0820254 0.09 0.02 pose: 0.0 -4.57459 -3.14867 0 -0.00503792 0.00705107 0.744182 0.66792 uwb: 0.0 1182.98 1448.39 -imu_odom_: 1691062541.216949636 0.294487 -0.0790087 9.77074 -0.0585895 -0.0319579 0.0873517 0.11 0.02 pose: 0.7950739 -4.57459 -3.14867 0 -0.00558555 0.00743212 0.744307 0.667773 uwb: 0.0 1182.98 1448.39 -imu_odom_: 1691062541.234027597 0.354342 -0.110133 10.161 -0.056459 -0.0415453 0.0884169 0.11 0.02 pose: 0.0 -4.57459 -3.14867 0 -0.00558555 0.00743212 0.744307 0.667773 uwb: 0.49939286 1186.4 1446.72 -imu_odom_: 1691062541.252220505 0.246603 0.0622492 10.1059 -0.04048 -0.0234358 0.0639159 0.11 0.02 pose: 0.0 -4.57459 -3.14867 0 -0.00558555 0.00743212 0.744307 0.667773 uwb: 0.0 1186.4 1446.72 -imu_odom_: 1691062541.266222229 0.0933739 -0.222661 9.94073 -0.0468716 0.0170442 0.0777643 0.11 0.02 pose: 0.48991158 -4.56962 -3.13544 0 -0.00505531 0.00489984 0.745107 0.666908 uwb: 0.0 1186.4 1446.72 -imu_odom_: 1691062541.283098374 0.287304 -0.397437 9.87369 -0.0692422 0.0138484 0.0852212 0.11 0.02 pose: 0.0 -4.56962 -3.13544 0 -0.00505531 0.00489984 0.745107 0.666908 uwb: 0.50073149 1188.76 1445.78 -imu_odom_: 1691062541.300118882 0.758962 -0.342371 10.2424 -0.0500674 -0.0223706 0.0735032 0.11 0.02 pose: 0.65289853 -4.5737 -3.12631 0 -0.0031165 0.00676534 0.745965 0.665943 uwb: 0.0 1188.76 1445.78 -imu_odom_: 1691062541.316995318 0.995988 -0.047884 9.70609 -0.0692422 -0.00213053 0.145941 0.13 0.02 pose: 0.0 -4.5737 -3.12631 0 -0.0031165 0.00676534 0.745965 0.665943 uwb: 0.0 1188.76 1445.78 -imu_odom_: 1691062541.332938501 1.18513 -0.287304 9.92875 -0.0713727 -0.00639159 0.203466 0.13 0.02 pose: 0.0 -4.5737 -3.12631 0 -0.0031165 0.00676534 0.745965 0.665943 uwb: 0.49887957 1187.54 1446.15 -imu_odom_: 1691062541.351064332 1.75734 -0.464475 10.0245 -0.0394148 -0.0287621 0.140615 0.13 0.02 pose: 0.33910068 -4.5737 -3.12631 0 -0.00227322 0.00406386 0.746565 0.665296 uwb: 0.0 1187.54 1446.15 -imu_odom_: 1691062541.367131171 1.403 0.174777 9.82102 -0.0426106 0.0500674 0.0884169 0.11 0.02 pose: 0.33915318 -4.5737 -3.12631 0 0.000122093 0.00155381 0.748065 0.663624 uwb: 0.0 1187.54 1446.15 -imu_odom_: 1691062541.383989817 0.792481 0.11971 9.77792 -0.0511327 0.0245011 0.0777643 0.11 0.02 pose: 0.0 -4.5737 -3.12631 0 0.000122093 0.00155381 0.748065 0.663624 uwb: 0.50128853 1185.13 1446.95 -imu_odom_: 1691062541.402254469 0.433351 -0.143652 9.66539 -0.0660464 0.00532632 0.0383495 0.06 0.02 pose: 0.42924425 -4.57784 -3.11721 0 0.00363988 0.000639206 0.748872 0.662704 uwb: 0.0 1185.13 1446.95 -imu_odom_: 1691062541.417991461 0.586579 -0.260968 9.991 -0.04048 -0.0298274 -0.00213053 0.06 0.02 pose: 0.0 -4.57784 -3.11721 0 0.00363988 0.000639206 0.748872 0.662704 uwb: 0.0 1185.13 1446.95 -imu_odom_: 1691062541.435105586 0.770933 -0.203507 9.81144 -0.0596548 -0.0394148 0.00958738 0.06 0.02 pose: 0.0 -4.57784 -3.11721 0 0.00363988 0.000639206 0.748872 0.662704 uwb: 0.50159475 1183.11 1447.6 -imu_odom_: 1691062541.452923443 0.94571 -0.306458 9.98382 -0.0532632 -0.00852212 0.0490022 0.04 0.02 pose: 0.8027441 -4.57784 -3.11721 0 0.00358797 0.00143662 0.748867 0.66271 uwb: 0.0 1183.11 1447.6 -imu_odom_: 1691062541.469921494 0.699107 -0.464475 9.75637 -0.0500674 0.00106526 0.0458064 0.04 0.02 pose: 0.0 -4.57784 -3.11721 0 0.00358797 0.00143662 0.748867 0.66271 uwb: 0.0 1183.11 1447.6 -imu_odom_: 1691062541.485929130 0.586579 -0.0167594 9.97424 -0.0415453 -0.00639159 0.0319579 0.04 0.02 pose: 0.50917161 -4.57784 -3.11721 0 0.00572142 -0.00137972 0.748498 0.66311 uwb: 0.49800173 1186.68 1446.28 -imu_odom_: 1691062541.503924888 0.533907 -0.0383072 9.75877 -0.056459 -0.00319579 0.0351537 0.04 0.05 pose: 0.0 -4.57784 -3.11721 0 0.00572142 -0.00137972 0.748498 0.66311 uwb: 0.0 1186.68 1446.28 -imu_odom_: 1691062541.527977172 0.579397 -0.28491 9.991 -0.0532632 -0.00639159 0.0383495 0.03 0.02 pose: 0.0 -4.57784 -3.11721 0 0.00572142 -0.00137972 0.748498 0.66311 uwb: 0.49925870 1187.47 1445.97 -imu_odom_: 1691062541.554032743 -0.670376 -0.282516 9.74919 -0.0511327 0.0916127 0.0607201 0.04 0.05 pose: 0.60990469 -4.57784 -3.11721 0 0.00838095 -0.00143429 0.748479 0.663104 uwb: 0.0 1187.47 1445.97 -imu_odom_: 1691062541.569914681 -1.38145 -0.263362 10.2232 -0.0532632 0.0138484 0.0649811 0.04 0.05 pose: 0.0 -4.57784 -3.11721 0 0.00838095 -0.00143429 0.748479 0.663104 uwb: 0.0 1187.47 1445.97 -imu_odom_: 1691062541.595080161 -0.213084 -0.117316 10.2185 -0.0553937 -0.0820254 0.0607201 0.04 0.05 pose: 0.31078518 -4.57784 -3.11721 0 0.0064198 -0.00287513 0.748539 0.663053 uwb: 0.50013363 1191.03 1444.64 -imu_odom_: 1691062541.619998329 0.332794 -0.0383072 9.89284 -0.056459 -0.0415453 0.04048 0.09 0 pose: 0.41963757 -4.582 -3.10811 0 0.00261609 0.000322976 0.748868 0.662713 uwb: 0.0 1191.03 1444.64 -imu_odom_: 1691062541.645008948 -0.0143652 -0.294487 9.87369 -0.0703074 -0.0106526 0.0713727 0.09 0 pose: 0.43031166 -4.57291 -3.10395 0 0.00266302 0.00331256 0.748992 0.662566 uwb: 0.49931411 1188.37 1445.95 -imu_odom_: 1691062541.669082521 0.263362 -0.0814029 10.1754 -0.052198 -0.0532632 0.0394148 0.09 0 pose: 0.0 -4.57291 -3.10395 0 0.00266302 0.00331256 0.748992 0.662566 uwb: 0.0 1188.37 1445.95 -imu_odom_: 1691062541.686191105 0.438139 -0.225055 9.75637 -0.056459 -0.052198 0.0575243 0.11 0 pose: 0.7012819 -4.57291 -3.10395 0 0.0019859 0.00349853 0.749064 0.662485 uwb: 0.50266217 1190.61 1444.72 -imu_odom_: 1691062541.711059402 0.574608 -0.45011 10.4028 -0.0543285 0.0266316 0.0308927 0.11 0 pose: 0.0 -4.57291 -3.10395 0 0.0019859 0.00349853 0.749064 0.662485 uwb: 0.0 1190.61 1444.72 -imu_odom_: 1691062541.727912508 0.383072 -0.280122 10.3477 -0.0639159 0.00532632 0.0468716 0.12 -0.02 pose: 0.49122397 -4.57708 -3.09486 0 0.000455695 0.00516429 0.749283 0.66223 uwb: 0.49854709 1193.39 1443.69 -imu_odom_: 1691062541.751896255 -0.00957681-0.294487 10.2639 -0.0692422 -0.0213053 0.0532632 0.12 -0.02 pose: 0.0 -4.57708 -3.09486 0 0.000455695 0.00516429 0.749283 0.66223 uwb: 0.0 1193.39 1443.69 -imu_odom_: 1691062541.777958534 0.481235 -0.304064 9.91678 -0.0671117 -0.00532632 0.036219 0.16 -0.02 pose: 0.41933427 -4.57708 -3.09486 0 -0.0003312410.00125693 0.749298 0.662232 uwb: 0.50004905 1189.39 1445.06 -imu_odom_: 1691062541.801020111 0.296881 -0.301669 10.161 -0.056459 0 0.0330232 0.16 -0.02 pose: 0.0 -4.57708 -3.09486 0 -0.0003312410.00125693 0.749298 0.662232 uwb: 0.0 1189.39 1445.06 -imu_odom_: 1691062541.825950528 0.1652 -0.213084 9.77792 -0.0607201 0.00852212 0.0500674 0.13 0 pose: 0.41913011 -4.58125 -3.08577 0 -0.0027793 0.000685171 0.749417 0.662092 uwb: 0.49922371 1192.9 1443.6 -imu_odom_: 1691062541.850900193 0.45011 0.124498 9.82341 -0.056459 -0.0692422 0.0415453 0.13 0 pose: 0.0 -4.58125 -3.08577 0 -0.0027793 0.000685171 0.749417 0.662092 uwb: 0.0 1192.9 1443.6 -imu_odom_: 1691062541.868017526 0.603339 0.0023942 9.89045 -0.0639159 -0.00213053 0.0553937 0.14 0 pose: 0.48994950 -4.58125 -3.08577 0 -0.00487142 0.000297814 0.749371 0.662132 uwb: 0.0 1192.9 1443.6 -imu_odom_: 1691062541.893004813 0.3304 -0.366313 10.2304 -0.0820254 0.0319579 0.04048 0.14 0 pose: 0.0 -4.58125 -3.08577 0 -0.00487142 0.000297814 0.749371 0.662132 uwb: 0.50063525 1195.54 1442.24 -imu_odom_: 1691062541.917885359 0.167594 -0.409408 9.97664 -0.0394148 -0.0330232 0.0213053 0.18 -0.02 pose: 0.49053278 -4.57635 -3.07251 0 -0.00228394 0.00234942 0.749502 0.661993 uwb: 0.0 1195.54 1442.24 -imu_odom_: 1691062541.933877538 0.407014 -0.227449 10.2783 -0.0415453 -0.0138484 0.0447411 0.18 -0.02 pose: 0.0 -4.57635 -3.07251 0 -0.00228394 0.00234942 0.749502 0.661993 uwb: 0.50006072 1196.71 1441.77 -imu_odom_: 1691062541.958878533 0.794875 -0.0095768110.4603 -0.0415453 -0.0458064 0.0330232 0.22 0 pose: 0.75849327 -4.58053 -3.06342 0 -0.00415904 0.0002635 0.749433 0.662068 uwb: 0.0 1196.71 1441.77 -imu_odom_: 1691062541.980942694 0.335188 -0.0814029 9.23204 -0.0575243 -0.02024 0.056459 0.22 0 pose: 0.0 -4.58053 -3.06342 0 -0.00415904 0.0002635 0.749433 0.662068 uwb: 0.49991198 1197.5 1441.44 -imu_odom_: 1691062542.5927649 0.129287 -0.337582 9.6223 -0.0426106 -0.00106526 0.0308927 0.16 0 pose: 0.7002903 -4.58053 -3.06342 0 -0.00333341 5.57288e-05 0.74942 0.662087 uwb: 0.0 1197.5 1441.44 -imu_odom_: 1691062542.30870320 0.00957681 -0.148441 9.95509 -0.0266316 -0.0117179 0.0468716 0.19 0 pose: 0.48056155 -4.58471 -3.05434 0 -0.00105494 0.00166562 0.749484 0.66202 uwb: 0.49913334 1197.98 1441.48 -imu_odom_: 1691062542.44877005 0.237026 -0.414197 9.65103 -0.0223706 -0.00213053 0.0458064 0.19 0 pose: 0.0 -4.58471 -3.05434 0 -0.00105494 0.00166562 0.749484 0.66202 uwb: 0.0 1197.98 1441.48 -imu_odom_: 1691062542.68874756 0.608127 -0.009576819.71088 -0.0458064 0.0191748 0.0468716 0.19 0 pose: 0.0 -4.58471 -3.05434 0 -0.00105494 0.00166562 0.749484 0.66202 uwb: 0.0 1197.98 1441.48 -imu_odom_: 1691062542.92874842 0.347159 -0.272939 10.1538 -0.0628506 -0.0436758 0.072438 0.15 -0.02 pose: 0.63946853 -4.58889 -3.04525 0 -0.00411874 0.00372722 0.749528 0.66195 uwb: 0.49956796 1198.83 1441.33 -imu_odom_: 1691062542.106882693 0.184354 -0.270545 9.68455 -0.0479369 -0.0543285 0.0436758 0.15 -0.02 pose: 0.0 -4.58889 -3.04525 0 -0.00411874 0.00372722 0.749528 0.66195 uwb: 0.0 1198.83 1441.33 -imu_odom_: 1691062542.122971700 0.636858 -0.117316 10.0126 -0.0596548 -0.0543285 0.0383495 0.17 0 pose: 0.53999244 -4.58399 -3.03199 0 -0.00402587 0.00155143 0.749848 0.661596 uwb: 0.0 1198.83 1441.33 -imu_odom_: 1691062542.147863334 0.536301 -0.138864 10.0604 -0.052198 -0.0351537 0.0692422 0.17 0 pose: 0.0 -4.58399 -3.03199 0 -0.00402587 0.00155143 0.749848 0.661596 uwb: 0.50062953 1198.38 1441.35 -imu_odom_: 1691062542.170024617 0.131681 -0.105345 9.94791 -0.04048 0.0223706 0.0447411 0.17 0 pose: 0.8066814 -4.58399 -3.03199 0 -0.00312361 0.00113657 0.749848 0.661601 uwb: 0.0 1198.38 1441.35 -imu_odom_: 1691062542.197013448 0.277727 -0.0430956 10.0652 -0.0713727 -0.0117179 0.0607201 0.17 0 pose: 0.0 -4.58399 -3.03199 0 -0.00312361 0.00113657 0.749848 0.661601 uwb: 0.50117198 1193.63 1443.13 -imu_odom_: 1691062542.221007701 -0.0550666 -0.316035 9.38766 -0.0617853 0.00745685 0.04048 0.23 0.02 pose: 0.64216625 -4.58819 -3.02291 0 -0.0004997070.00302215 0.750193 0.661212 uwb: 0.0 1193.63 1443.13 -imu_odom_: 1691062542.235018176 0.134075 0.105345 10.0796 -0.0639159 -0.00213053 0.0553937 0.23 0.02 pose: 0.0 -4.58819 -3.02291 0 -0.0004997070.00302215 0.750193 0.661212 uwb: 0.49868137 1192.43 1443.54 -imu_odom_: 1691062542.251024941 0.715866 -0.416591 9.74679 -0.0713727 -0.0138484 0.0394148 0.18 0 pose: 0.55852044 -4.59239 -3.01384 0 -0.00240532 0.00678694 0.75038 0.660967 uwb: 0.0 1192.43 1443.54 -imu_odom_: 1691062542.277874367 0.56982 -0.383072 9.60793 -0.0511327 0.0319579 0.0436758 0.18 0 pose: 0.7901162 -4.59239 -3.01384 0 -0.0021904 0.00595785 0.750384 0.660971 uwb: 0.49915382 1189.29 1444.79 -imu_odom_: 1691062542.301848204 0.347159 -0.378284 9.64384 -0.056459 0.0213053 0.0426106 0.17 -0.02 pose: 0.34955029 -4.58628 -3.00326 0 -0.00188929 0.00281394 0.750429 0.660942 uwb: 0.0 1189.29 1444.79 -imu_odom_: 1691062542.319850674 0.0909797 0.0023942 10.0245 -0.0447411 -0.00639159 0.0319579 0.17 -0.02 pose: 0.0 -4.58628 -3.00326 0 -0.00188929 0.00281394 0.750429 0.660942 uwb: 0.0 1189.29 1444.79 -imu_odom_: 1691062542.343927169 0.411803 -0.25618 9.87369 -0.0479369 -0.0308927 0.0468716 0.19 0 pose: 0.41976307 -4.58983 -2.99559 0 -0.00366582 0.00301024 0.750403 0.660963 uwb: 0.50013374 1190.25 1444.87 -imu_odom_: 1691062542.369855882 0.371101 -0.0981623 9.84496 -0.0500674 -0.0138484 0.0319579 0.19 0 pose: 0.0 -4.58983 -2.99559 0 -0.00366582 0.00301024 0.750403 0.660963 uwb: 0.0 1190.25 1444.87 -imu_odom_: 1691062542.395011744 0.354342 -0.342371 9.75637 -0.0703074 0.0372843 0.0490022 0.18 -0.02 pose: 0.50005208 -4.59174 -2.99149 0 -0.0002433150.00251757 0.750402 0.660977 uwb: 0.50106699 1187.45 1445.85 -imu_odom_: 1691062542.412004550 0.316035 -0.304064 10.1849 -0.0383495 -0.015979 0.0372843 0.18 -0.02 pose: 0.0 -4.59174 -2.99149 0 -0.0002433150.00251757 0.750402 0.660977 uwb: 0.0 1187.45 1445.85 -imu_odom_: 1691062542.428845701 0.684742 0.0574608 10.2615 -0.0585895 -0.0149137 0.0500674 0.18 0 pose: 0.42148668 -4.59594 -2.98242 0 -0.00397966 0.000382958 0.750459 0.660905 uwb: 0.50144321 1189.42 1445.07 -imu_odom_: 1691062542.453844660 1.0343 -0.318429 10.2041 -0.0426106 -0.0394148 0.0415453 0.18 0 pose: 0.8058356 -4.59594 -2.98242 0 -0.00314966 0.000362604 0.75049 0.660874 uwb: 0.0 1189.42 1445.07 -imu_odom_: 1691062542.477846495 0.452504 -0.102951 9.9503 -0.0340885 0.00852212 0.0500674 0.18 0 pose: 0.33781754 -4.59258 -2.97323 0 -0.000137332-0.00169373 0.750537 0.660826 uwb: 0.49773353 1186.15 1446.02 -imu_odom_: 1691062542.503843743 0.19393 -0.136469 9.5792 -0.0372843 0.0138484 0.0372843 0.18 0 pose: 0.0 -4.59258 -2.97323 0 -0.000137332-0.00169373 0.750537 0.660826 uwb: 0.0 1186.15 1446.02 -imu_odom_: 1691062542.528847660 0.122104 -0.208296 10.2208 -0.0426106 0.0255663 0.0436758 0.17 0.02 pose: 0.8002945 -4.59108 -2.96914 0 0.000523718 -0.00111748 0.750565 0.660796 uwb: 0.49946297 1185.68 1446.01 -imu_odom_: 1691062542.546838756 0.469264 -0.268151 10.0054 -0.0628506 -0.036219 0.0426106 0.17 0.02 pose: 0.0 -4.59108 -2.96914 0 0.000523718 -0.00111748 0.750565 0.660796 uwb: 0.0 1185.68 1446.01 -imu_odom_: 1691062542.570977954 0.253785 -0.208296 10.3046 -0.0468716 -0.00852212 0.056459 0.2 0.02 pose: 0.51027704 -4.59529 -2.96007 0 -0.0005052150.00310999 0.750605 0.660744 uwb: 0.0 1185.68 1446.01 -imu_odom_: 1691062542.595969330 0.462081 0.0335188 10.2448 -0.0298274 -0.0223706 0.0319579 0.2 0.02 pose: 0.24016125 -4.59529 -2.96007 0 -0.00163118 0.00334653 0.750631 0.660712 uwb: 0.50053037 1182.07 1447.21 -imu_odom_: 1691062542.618827637 0.28491 -0.3304 9.87848 -0.0713727 -0.00639159 0.0532632 0.23 -0.02 pose: 0.40977434 -4.59951 -2.951 0 -0.00234296 0.00388474 0.750754 0.660566 uwb: 0.0 1182.07 1447.21 -imu_odom_: 1691062542.635824525 0.268151 -0.0981623 9.92875 -0.076699 -0.0234358 0.0447411 0.23 -0.02 pose: 0.0 -4.59951 -2.951 0 -0.00234296 0.00388474 0.750754 0.660566 uwb: 0.49943380 1183.51 1446.27 -imu_odom_: 1691062542.657839987 0.344765 -0.100556 10.2759 -0.0639159 -0.0436758 0.0543285 0.18 0 pose: 0.48976296 -4.59466 -2.93771 0 -0.00222845 0.00376506 0.750827 0.660485 uwb: 0.0 1183.51 1446.27 -imu_odom_: 1691062542.682812990 0.818817 -0.294487 9.94073 -0.0553937 -0.00532632 0.036219 0.18 0 pose: 0.0 -4.59466 -2.93771 0 -0.00222845 0.00376506 0.750827 0.660485 uwb: 0.50132947 1182.35 1446.77 -imu_odom_: 1691062542.707828572 0.682347 -0.229843 10.41 -0.0681769 0.0138484 0.0543285 0.2 0 pose: 0.37998311 -4.59887 -2.92865 0 0.000579179 0.00444513 0.750951 0.660342 uwb: 0.0 1182.35 1446.77 -imu_odom_: 1691062542.720930000 0.687136 -0.126893 9.83538 -0.0639159 -0.02024 0.0543285 0.2 0 pose: 0.0 -4.59887 -2.92865 0 0.000579179 0.00444513 0.750951 0.660342 uwb: 0.0 1182.35 1446.77 -imu_odom_: 1691062542.744825386 0.550666 -0.258574 9.58638 -0.0596548 0.0245011 0.0532632 0.18 -0.02 pose: 0.48976588 -4.59887 -2.92865 0 0.00313096 0.000461168 0.751095 0.660186 uwb: 0.49845971 1180.27 1447.26 -imu_odom_: 1691062542.768803014 0.500388 0.0023942 9.99579 -0.0490022 -0.00106526 0.0458064 0.18 -0.02 pose: 0.0 -4.59887 -2.92865 0 0.00313096 0.000461168 0.751095 0.660186 uwb: 0.0 1180.27 1447.26 -imu_odom_: 1691062542.785804861 0.457293 -0.35913 9.87608 -0.056459 -0.0436758 0.0596548 0.23 0.02 pose: 0.39128715 -4.6031 -2.91958 0 0.00424538 -0.00157484 0.751256 0.659996 uwb: 0.50050413 1181.8 1446.56 -imu_odom_: 1691062542.810805861 0.6608 0.0311246 9.87848 -0.0532632 -0.0490022 0.04048 0.23 0.02 pose: 0.0 -4.6031 -2.91958 0 0.00424538 -0.00157484 0.751256 0.659996 uwb: 0.0 1181.8 1446.56 -imu_odom_: 1691062542.835817651 0.548272 -0.148441 10.4339 -0.052198 -0.0394148 0.0511327 0.18 0 pose: 0.40923772 -4.59827 -2.90629 0 0.00527727 -0.00171122 0.751397 0.659827 uwb: 0.49831098 1177.41 1448.07 -imu_odom_: 1691062542.860828276 0.306458 -0.0742203 10.3837 -0.0468716 -0.0340885 0.0319579 0.19 0 pose: 0.41945101 -4.60126 -2.89988 0 0.00825731 -0.00432317 0.751483 0.659686 uwb: 0.0 1177.41 1448.07 -imu_odom_: 1691062542.885867481 1.09654 -0.153229 9.96946 -0.0671117 -0.0234358 0.0458064 0.19 0 pose: 0.0 -4.60126 -2.89988 0 0.00825731 -0.00432317 0.751483 0.659686 uwb: 0.50232980 1172.65 1449.75 -imu_odom_: 1691062542.901865496 0.6608 0.0646434 9.94791 -0.056459 -0.0234358 0.0479369 0.18 0.02 pose: 0.6996489 -4.6025 -2.89723 0 0.00800415 -0.00376317 0.751467 0.659712 uwb: 0.0 1172.65 1449.75 -imu_odom_: 1691062542.927814332 0.550666 -0.28491 9.37809 -0.0703074 -0.0383495 0.052198 0.18 0.02 pose: 0.0 -4.6025 -2.89723 0 0.00800415 -0.00376317 0.751467 0.659712 uwb: 0.49975461 1171.3 1449.74 -imu_odom_: 1691062542.952925281 0.332794 -0.198719 10.1394 -0.0468716 -0.0266316 0.0351537 0.19 0 pose: 0.49032582 -4.6025 -2.89723 0 0.00986618 -0.00396456 0.751471 0.65968 uwb: 0.0 1171.3 1449.74 -imu_odom_: 1691062542.976839331 0.383072 -0.414197 10.3884 -0.0596548 -0.0127832 0.052198 0.19 0 pose: 0.0 -4.6025 -2.89723 0 0.00986618 -0.00396456 0.751471 0.65968 uwb: 0.50005791 1168.87 1450.46 -imu_odom_: 1691062542.993909714 1.03908 -0.222661 9.58878 -0.0426106 -0.00426106 0.0340885 0.25 0 pose: 0.44026841 -4.60674 -2.88817 0 0.00823506 -0.00487004 0.751609 0.65954 uwb: 0.0 1168.87 1450.46 -imu_odom_: 1691062543.17837476 0.667982 -0.253785 10.4124 -0.0436758 -0.00106526 0.04048 0.25 0 pose: 0.0 -4.60674 -2.88817 0 0.00823506 -0.00487004 0.751609 0.65954 uwb: 0.0 1168.87 1450.46 -imu_odom_: 1691062543.42853355 0.536301 -0.0981623 9.8665 -0.0436758 -0.0149137 0.0468716 0.23 0 pose: 0.48931091 -4.60192 -2.87488 0 0.00538451 -0.00496592 0.75169 0.659476 uwb: 0.50008130 1166.85 1451.06 -imu_odom_: 1691062543.56904955 0.45011 -0.366313 9.76116 -0.0575243 -0.00213053 0.0585895 0.23 0 pose: 0.0 -4.60192 -2.87488 0 0.00538451 -0.00496592 0.75169 0.659476 uwb: 0.0 1166.85 1451.06 -imu_odom_: 1691062543.81775889 0.572214 -0.215478 9.80186 -0.0596548 -0.00532632 0.0426106 0.18 0 pose: 0.41162049 -4.60617 -2.86582 0 0.00753465 -0.00671669 0.751683 0.659447 uwb: 0.49871647 1168.33 1450.21 -imu_odom_: 1691062543.106791185 0.514753 -0.122104 10.2161 -0.0596548 0.00426106 0.0553937 0.18 0 pose: 0.0 -4.60617 -2.86582 0 0.00753465 -0.00671669 0.751683 0.659447 uwb: 0.0 1168.33 1450.21 -imu_odom_: 1691062543.119910114 0.612916 -0.447716 9.4164 -0.0553937 -0.0308927 0.0383495 0.18 0 pose: 0.38840582 -4.61041 -2.85677 0 0.00642542 -0.00613159 0.751829 0.659298 uwb: 0.0 1168.33 1450.21 -imu_odom_: 1691062543.135910466 0.529119 -0.21069 9.96467 -0.0553937 0.0213053 0.0490022 0.18 0 pose: 0.0 -4.61041 -2.85677 0 0.00642542 -0.00613159 0.751829 0.659298 uwb: 0.50139958 1165.95 1451.04 -imu_odom_: 1691062543.161957008 0.361524 -0.373495 9.9527 -0.0617853 0.00426106 0.0468716 0.25 -0.02 pose: 0.48115671 -4.61041 -2.85677 0 0.00598778 -0.00589366 0.751977 0.659136 uwb: 0.0 1165.95 1451.04 -imu_odom_: 1691062543.185768989 0.6608 -0.323217 9.4164 -0.0660464 0.0191748 0.0607201 0.25 -0.02 pose: 0.0 -4.61041 -2.85677 0 0.00598778 -0.00589366 0.751977 0.659136 uwb: 0.49892353 1169.6 1450.01 -imu_odom_: 1691062543.211806782 0.701501 -0.390255 9.71567 -0.0532632 -0.00639159 0.0415453 0.21 0 pose: 0.30856301 -4.60561 -2.84347 0 0.00426968 -0.00489711 0.752056 0.659067 uwb: 0.0 1169.6 1450.01 -imu_odom_: 1691062543.224897422 -0.0335188 -0.201113 9.53132 -0.0298274 0.00639159 0.0415453 0.21 0 pose: 0.0 -4.60561 -2.84347 0 0.00426968 -0.00489711 0.752056 0.659067 uwb: 0.0 1169.6 1450.01 -imu_odom_: 1691062543.248782022 0.129287 -0.270545 9.87369 -0.0426106 0.052198 0.0511327 0.18 0 pose: 0.50004928 -4.60986 -2.83442 0 0.00330926 -0.00768566 0.752265 0.658807 uwb: 0.50085129 1169.2 1450.16 -imu_odom_: 1691062543.271780906 0.529119 -0.1652 9.84256 -0.0543285 0.0276969 0.0532632 0.18 0 pose: 0.0 -4.60986 -2.83442 0 0.00330926 -0.00768566 0.752265 0.658807 uwb: 0.0 1169.2 1450.16 -imu_odom_: 1691062543.295778080 0.517148 -0.0742203 9.75158 -0.0649811 -0.00639159 0.0628506 0.25 0.02 pose: 0.38997485 -4.61412 -2.82537 0 0.00230584 -0.00750824 0.752325 0.658745 uwb: 0.49806320 1167.96 1450.42 -imu_odom_: 1691062543.312782847 0.869095 -0.289698 9.64863 -0.0607201 -0.00958738 0.0532632 0.25 0.02 pose: 0.0 -4.61412 -2.82537 0 0.00230584 -0.00750824 0.752325 0.658745 uwb: 0.0 1167.96 1450.42 -imu_odom_: 1691062543.337778019 0.85473 -0.347159 9.69173 -0.0553937 0.0191748 0.0372843 0.18 -0.02 pose: 0.47013848 -4.61838 -2.81632 0 0.00313377 -0.00400069 0.752556 0.658509 uwb: 0.50077546 1167.02 1450.3 -imu_odom_: 1691062543.362761235 0.328006 -0.114922 9.45231 -0.0458064 -0.00852212 0.0468716 0.18 -0.02 pose: 0.0 -4.61838 -2.81632 0 0.00313377 -0.00400069 0.752556 0.658509 uwb: 0.0 1167.02 1450.3 -imu_odom_: 1691062543.385888149 0.289698 -0.0981623 9.90242 -0.0532632 0.00106526 0.0383495 0.19 0 pose: 0.41004274 -4.60934 -2.81206 0 0.00555391 -0.00509916 0.752735 0.658281 uwb: 0.49978971 1168.55 1449.6 -imu_odom_: 1691062543.409766333 0.301669 0.0909797 10.1275 -0.04048 -0.0351537 0.0458064 0.19 0 pose: 0.0 -4.60934 -2.81206 0 0.00555391 -0.00509916 0.752735 0.658281 uwb: 0.0 1168.55 1449.6 -imu_odom_: 1691062543.433990988 0.407014 -0.215478 10.556 -0.0532632 0.00213053 0.0319579 0.23 -0.02 pose: 0.48979223 -4.61361 -2.80301 0 0.00497435 -0.00348788 0.752784 0.658239 uwb: 0.50120710 1164.07 1450.78 -imu_odom_: 1691062543.450784022 0.248997 -0.177171 9.37809 -0.0596548 0.00106526 0.0340885 0.23 -0.02 pose: 0.0 -4.61361 -2.80301 0 0.00497435 -0.00348788 0.752784 0.658239 uwb: 0.0 1164.07 1450.78 -imu_odom_: 1691062543.475766946 0.0790087 -0.37589 9.59117 -0.0713727 0.0170442 0.0543285 0.18 0.02 pose: 0.48057342 -4.61788 -2.79397 0 0.00413271 0.000235079 0.752804 0.658232 uwb: 0.50008719 1166.14 1450.34 -imu_odom_: 1691062543.500820156 0.296881 -0.0263362 9.63187 -0.0372843 -0.0117179 0.0468716 0.18 0.02 pose: 0.0 -4.61788 -2.79397 0 0.00413271 0.000235079 0.752804 0.658232 uwb: 0.0 1166.14 1450.34 -imu_odom_: 1691062543.516819633 0.964863 -0.232238 10.386 -0.0617853 -0.0308927 0.056459 0.18 0.02 pose: 0.40990275 -4.62215 -2.78493 0 0.000307036 0.00142995 0.752775 0.658276 uwb: 0.0 1166.14 1450.34 -imu_odom_: 1691062543.540757312 0.476446 -0.292093 10.0509 -0.0468716 -0.0106526 0.036219 0.18 0.02 pose: 0.0 -4.62215 -2.78493 0 0.000307036 0.00142995 0.752775 0.658276 uwb: 0.49936391 1164.46 1450.61 -imu_odom_: 1691062543.564747194 0.457293 -0.174777 10.137 -0.052198 0.0117179 0.056459 0.25 0 pose: 0.49032302 -4.61739 -2.77162 0 0.000121864 0.00356949 0.752956 0.658062 uwb: 0.0 1164.46 1450.61 -imu_odom_: 1691062543.589834526 0.289698 -0.0622492 10.0796 -0.0308927 0.015979 0.0532632 0.25 0 pose: 0.0 -4.61739 -2.77162 0 0.000121864 0.00356949 0.752956 0.658062 uwb: 0.50051299 1164.46 1450.61 -imu_odom_: 1691062543.605900206 0.567426 -0.246603 9.6199 -0.0511327 -0.0223706 0.0447411 0.19 0 pose: 0.81975592 -4.62167 -2.76258 0 0.00238965 0.00279386 0.753224 0.657754 uwb: 0.0 1164.46 1450.61 -imu_odom_: 1691062543.628758226 0.0861913 -0.325611 8.98065 -0.0596548 0.0319579 0.0458064 0.19 0 pose: 0.0 -4.62167 -2.76258 0 0.00238965 0.00279386 0.753224 0.657754 uwb: 0.49891770 1162.12 1451.56 -imu_odom_: 1691062543.645886941 0.373495 -0.217872 10.2544 -0.0543285 -0.00958738 0.0553937 0.19 -0.02 pose: 0.7022155 -4.62167 -2.76258 0 0.00265491 0.00209223 0.753238 0.65774 uwb: 0.0 1162.12 1451.56 -imu_odom_: 1691062543.670905153 0.672771 0.0981623 10.1682 -0.0447411 -0.0170442 0.0447411 0.19 -0.02 pose: 0.0 -4.62167 -2.76258 0 0.00265491 0.00209223 0.753238 0.65774 uwb: 0.0 1162.12 1451.56 -imu_odom_: 1691062543.687769932 0.512359 -0.275333 9.37809 -0.0894822 0.0138484 0.0639159 0.19 0 pose: 0.39920240 -4.62595 -2.75354 0 -0.0001772840.00156563 0.753344 0.657625 uwb: 0.49899353 1164.45 1450.61 -imu_odom_: 1691062543.703790407 0.143652 0.0502782 10.319 -0.052198 -0.0191748 0.0511327 0.19 0 pose: 0.0 -4.62595 -2.75354 0 -0.0001772840.00156563 0.753344 0.657625 uwb: 0.0 1164.45 1450.61 -imu_odom_: 1691062543.728890862 0.342371 -0.263362 10.1754 -0.0671117 -0.0372843 0.0607201 0.18 0 pose: 0.40966653 -4.6212 -2.74022 0 0.00172887 0.000502724 0.75349 0.657457 uwb: 0.50125667 1162.82 1451.03 -imu_odom_: 1691062543.752729675 0.624887 -0.229843 10.0796 -0.0511327 -0.0351537 0.0447411 0.18 0 pose: 0.0 -4.6212 -2.74022 0 0.00172887 0.000502724 0.75349 0.657457 uwb: 0.0 1162.82 1451.03 -imu_odom_: 1691062543.769730359 0.45011 0.0167594 9.97664 -0.056459 -0.00319579 0.056459 0.18 0 pose: 0.0 -4.6212 -2.74022 0 0.00172887 0.000502724 0.75349 0.657457 uwb: 0.0 1162.82 1451.03 -imu_odom_: 1691062543.793733365 0.447716 -0.0646434 10.0078 -0.0585895 -0.0181095 0.052198 0.25 0 pose: 0.34181310 -4.6212 -2.74022 0 0.000757268 0.000715409 0.753687 0.657233 uwb: 0.49923560 1160 1451.84 -imu_odom_: 1691062543.816745956 0.407014 -0.248997 9.37569 -0.0713727 0.0117179 0.0553937 0.23 0 pose: 0.81808481 -4.62971 -2.72212 0 0.00414674 0.00124505 0.754025 0.656831 uwb: 0.0 1160 1451.84 -imu_odom_: 1691062543.839802002 0.605733 -0.177171 10.0102 -0.0436758 -0.0426106 0.0500674 0.23 0 pose: 0.0 -4.62971 -2.72212 0 0.00414674 0.00124505 0.754025 0.656831 uwb: 0.50260114 1158 1452.42 -imu_odom_: 1691062543.866885039 0.229843 -0.416591 9.96706 -0.0500674 0.015979 0.0447411 0.25 0 pose: 0.7129771 -4.62971 -2.72212 0 0.00343733 0.000903024 0.754065 0.65679 uwb: 0.0 1158 1452.42 -imu_odom_: 1691062543.882873142 0.663194 0.0790087 9.81862 -0.0511327 -0.0511327 0.0415453 0.25 0 pose: 0.0 -4.62971 -2.72212 0 0.00343733 0.000903024 0.754065 0.65679 uwb: 0.49792612 1161.56 1451.16 -imu_odom_: 1691062543.907937434 0.440533 -0.146046 10.1945 -0.0511327 -0.0181095 0.0532632 0.23 -0.02 pose: 0.47106881 -4.62486 -2.70884 0 0.0032468 -0.00140389 0.754244 0.656585 uwb: 0.0 1161.56 1451.16 -imu_odom_: 1691062543.930723710 0.385466 -0.0335188 9.63427 -0.0426106 -0.0298274 0.0330232 0.23 -0.02 pose: 0.0 -4.62486 -2.70884 0 0.0032468 -0.00140389 0.754244 0.656585 uwb: 0.50114585 1160.41 1451.69 -imu_odom_: 1691062543.943761563 0.390255 -0.177171 10.2328 -0.0308927 -0.0149137 0.0426106 0.18 -0.02 pose: 0.42868158 -4.62911 -2.69979 0 0.00332552 -0.0004335830.754322 0.656496 uwb: 0.0 1160.41 1451.69 -imu_odom_: 1691062543.967772736 0.351948 -0.129287 9.94073 -0.0447411 -0.00426106 0.0458064 0.18 -0.02 pose: 0.45888985 -4.63342 -2.69077 0 0.00419662 0.0031342 0.75434 0.656464 uwb: 0.0 1160.41 1451.69 -imu_odom_: 1691062543.984865870 0.457293 -0.260968 9.74919 -0.0660464 0.00532632 0.0490022 0.18 -0.02 pose: 0.0 -4.63342 -2.69077 0 0.00419662 0.0031342 0.75434 0.656464 uwb: 0.49890604 1159.63 1452 -imu_odom_: 1691062544.9731265 0.0933739 -0.21069 9.68694 -0.0596548 0.015979 0.0458064 0.27 0.02 pose: 0.39001277 -4.63342 -2.69077 0 0.00160998 0.0036717 0.754417 0.656383 uwb: 0.0 1159.63 1452 -imu_odom_: 1691062544.33710070 0.545878 -0.167594 9.4571 -0.0490022 0.00319579 0.0479369 0.21 -0.02 pose: 0.34002828 -4.62872 -2.67743 0 -0.00095499 0.0041549 0.754492 0.656295 uwb: 0.50063261 1158.81 1452.21 -imu_odom_: 1691062544.56769912 0.366313 -0.311246 9.52892 -0.0468716 0.0181095 0.0458064 0.21 -0.02 pose: 0.0 -4.62872 -2.67743 0 -0.00095499 0.0041549 0.754492 0.656295 uwb: 0.0 1158.81 1452.21 -imu_odom_: 1691062544.82849415 0.31364 -0.380678 9.51695 -0.0532632 0.0287621 0.0447411 0.24 0 pose: 0.8157810 -4.62872 -2.67743 0 -0.0003439160.00365881 0.754518 0.65627 uwb: 0.49865826 1157.61 1452.56 -imu_odom_: 1691062544.97742114 -0.035913 -0.299275 10.0149 -0.0383495 0.0330232 0.0372843 0.24 0 pose: 0.0 -4.62872 -2.67743 0 -0.0003439160.00365881 0.754518 0.65627 uwb: 0.0 1157.61 1452.56 -imu_odom_: 1691062544.123741416 0.258574 -0.0047884 9.9527 -0.0330232 -0.00852212 0.0532632 0.21 0 pose: 0.46837123 -4.63304 -2.66841 0 -0.00175807 0.00106072 0.754625 0.656153 uwb: 0.0 1157.61 1452.56 -imu_odom_: 1691062544.146850837 0.0885855 -0.232238 9.75637 -0.036219 0.00639159 0.0319579 0.21 0 pose: 0.0 -4.63304 -2.66841 0 -0.00175807 0.00106072 0.754625 0.656153 uwb: 0.49989481 1155.24 1453.4 -imu_odom_: 1691062544.171973463 0.433351 -0.114922 9.75158 -0.0585895 -0.0276969 0.0532632 0.18 0 pose: 0.41297675 -4.63736 -2.65939 0 -0.00441424 0.00225915 0.754675 0.656079 uwb: 0.0 1155.24 1453.4 -imu_odom_: 1691062544.189708505 0.553061 -0.282516 9.79468 -0.0607201 0.0234358 0.0447411 0.18 0 pose: 0.0 -4.63736 -2.65939 0 -0.00441424 0.00225915 0.754675 0.656079 uwb: 0.50011063 1154.03 1453.74 -imu_odom_: 1691062544.213677687 0.402226 -0.0191536 9.92157 -0.0575243 0.02024 0.0543285 0.18 0 pose: 0.49911613 -4.63736 -2.65939 0 -0.00434046 0.00511726 0.754735 0.655996 uwb: 0.0 1154.03 1453.74 -imu_odom_: 1691062544.239711985 0.246603 -0.289698 10.0485 -0.0639159 0.0234358 0.0394148 0.18 0 pose: 0.0 -4.63736 -2.65939 0 -0.00434046 0.00511726 0.754735 0.655996 uwb: 0.49926195 1150.88 1454.89 -imu_odom_: 1691062544.262848529 0.521936 -0.102951 9.89524 -0.056459 0.0372843 0.0575243 0.19 0 pose: 0.41766926 -4.63267 -2.64605 0 -0.00144745 0.00353957 0.754893 0.655836 uwb: 0.0 1150.88 1454.89 -imu_odom_: 1691062544.279696688 0.280122 -0.213084 9.5816 -0.04048 0.00639159 0.0532632 0.19 0 pose: 0.0 -4.63267 -2.64605 0 -0.00144745 0.00353957 0.754893 0.655836 uwb: 0.50006689 1151.25 1454.67 -imu_odom_: 1691062544.292747959 0.620098 -0.160412 10.4459 -0.0436758 -0.00852212 0.0330232 0.18 0 pose: 0.49005190 -4.637 -2.63704 0 -0.00250461 0.00378778 0.755007 0.655701 uwb: 0.0 1151.25 1454.67 -imu_odom_: 1691062544.316745138 0.497994 -0.146046 10.3549 -0.0458064 -0.00213053 0.0607201 0.18 0 pose: 0.0 -4.637 -2.63704 0 -0.00250461 0.00378778 0.755007 0.655701 uwb: 0.0 1151.25 1454.67 -imu_odom_: 1691062544.341829559 0.502782 -0.0383072 10.5082 -0.0372843 -0.0138484 0.0415453 0.23 0 pose: 0.39031325 -4.64134 -2.62802 0 -0.00232988 0.00370213 0.755165 0.65552 uwb: 0.50043435 1148.81 1455.3 -imu_odom_: 1691062544.364804533 0.648829 -0.035913 10.3022 -0.0692422 -0.00532632 0.0575243 0.23 0 pose: 0.0 -4.64134 -2.62802 0 -0.00232988 0.00370213 0.755165 0.65552 uwb: 0.0 1148.81 1455.3 -imu_odom_: 1691062544.388670473 0.246603 -0.268151 9.50498 -0.0532632 -0.02024 0.0415453 0.19 0 pose: 0.39043573 -4.64134 -2.62802 0 0.00134872 0.0024346 0.755331 0.655338 uwb: 0.50018354 1146.03 1456.22 -imu_odom_: 1691062544.415880089 0.955286 -0.208296 9.64624 -0.0671117 -0.0117179 0.0372843 0.19 0 pose: 0.0 -4.64134 -2.62802 0 0.00134872 0.0024346 0.755331 0.655338 uwb: 0.0 1146.03 1456.22 -imu_odom_: 1691062544.433808782 0.31364 -0.0742203 9.71088 -0.0585895 -0.0170442 0.0415453 0.2 0.02 pose: 0.48078644 -4.63667 -2.61467 0 0.0045429 0.00186676 0.755482 0.655151 uwb: 0.50096806 1142.85 1457.23 -imu_odom_: 1691062544.456797171 0.502782 -0.316035 10.307 -0.0777643 -0.0330232 0.0500674 0.2 0.02 pose: 0.0 -4.63667 -2.61467 0 0.0045429 0.00186676 0.755482 0.655151 uwb: 0.0 1142.85 1457.23 -imu_odom_: 1691062544.482668442 0.773327 -0.265756 9.76595 -0.0479369 -0.036219 0.0447411 0.19 0 pose: 0.52128383 -4.64102 -2.60567 0 0.00458079 0.000571347 0.755479 0.655157 uwb: 0.49944277 1142.4 1457.2 -imu_odom_: 1691062544.505669372 1.26414 -0.0694318 10.2185 -0.0649811 -0.0117179 0.0351537 0.19 0 pose: 0.0 -4.64102 -2.60567 0 0.00458079 0.000571347 0.755479 0.655157 uwb: 0.0 1142.4 1457.2 -imu_odom_: 1691062544.523713847 0.366313 -0.153229 9.60554 -0.0511327 -0.00213053 0.036219 0.25 0 pose: 0.40811216 -4.64536 -2.59666 0 0.00403995 -0.00196826 0.755582 0.655039 uwb: 0.0 1142.4 1457.2 -imu_odom_: 1691062544.538706579 -0.0454898 -0.251391 9.97185 -0.0596548 -0.0138484 0.0575243 0.25 0 pose: 0.0 -4.64536 -2.59666 0 0.00403995 -0.00196826 0.755582 0.655039 uwb: 0.49933194 1139.65 1458.22 -imu_odom_: 1691062544.564651052 0.538695 -0.208296 10.1323 -0.0383495 -0.0117179 0.0383495 0.25 -0.02 pose: 0.47883243 -4.64969 -2.58765 0 0.00673349 -0.00415247 0.755552 0.655041 uwb: 0.0 1139.65 1458.22 -imu_odom_: 1691062544.586648733 0.380678 -0.126893 9.92875 -0.0649811 0.0319579 0.0575243 0.25 -0.02 pose: 0.0 -4.64969 -2.58765 0 0.00673349 -0.00415247 0.755552 0.655041 uwb: 0.50075516 1138.43 1458.54 -imu_odom_: 1691062544.599655967 -0.378284 -0.253785 9.73961 -0.0340885 0.0234358 0.0436758 0.18 0.02 pose: 0.33119450 -4.6449 -2.57434 0 0.00518169 -0.00331232 0.755635 0.654964 uwb: 0.0 1138.43 1458.54 -imu_odom_: 1691062544.622656605 -0.047884 -0.174777 9.78031 -0.0447411 0.00852212 0.0351537 0.18 0.02 pose: 0.45860705 -4.6449 -2.57434 0 0.00405604 -0.00229023 0.755771 0.654819 uwb: 0.0 1138.43 1458.54 -imu_odom_: 1691062544.647654408 0.445322 -0.31364 10.2568 -0.0511327 -0.0468716 0.0575243 0.25 0.02 pose: 0.29992464 -4.64917 -2.5653 0 0.00176706 1.86061e-05 0.755753 0.654855 uwb: 0.49962650 1136.03 1459.28 -imu_odom_: 1691062544.670707543 0.486023 -0.169988 10.0173 -0.0585895 -0.0351537 0.0575243 0.25 0.02 pose: 0.0 -4.64917 -2.5653 0 0.00176706 1.86061e-05 0.755753 0.654855 uwb: 0.0 1136.03 1459.28 -imu_odom_: 1691062544.696748257 0.112527 0.071826 10.659 -0.0500674 -0.0426106 0.0340885 0.18 -0.02 pose: 0.8129813 -4.64917 -2.5653 0 0.00145729 -0.0007577520.755801 0.654799 uwb: 0.49987440 1129.96 1460.82 -imu_odom_: 1691062544.722721311 0.577003 -0.181959 10.6805 -0.0628506 -0.0181095 0.0543285 0.18 -0.02 pose: 0.0 -4.64917 -2.5653 0 0.00145729 -0.0007577520.755801 0.654799 uwb: 0.0 1129.96 1460.82 -imu_odom_: 1691062544.738741498 0.682347 -0.167594 9.69891 -0.0458064 -0.00958738 0.04048 0.19 0.02 pose: 0.48878617 -4.65343 -2.55625 0 0.00318734 -0.00109123 0.756013 0.654548 uwb: 0.49938153 1129.66 1461.29 -imu_odom_: 1691062544.763648017 0.452504 -0.172383 9.42118 -0.0948085 -0.02024 0.0639159 0.19 0.02 pose: 0.0 -4.65343 -2.55625 0 0.00318734 -0.00109123 0.756013 0.654548 uwb: 0.0 1129.66 1461.29 -imu_odom_: 1691062544.786670529 0.0550666 -0.0383072 9.81383 -0.0809601 -0.0234358 0.0479369 0.18 0 pose: 0.50018354 -4.64866 -2.54294 0 0.00548441 -0.0021393 0.756102 0.654427 uwb: 0.50010480 1131.71 1460.86 -imu_odom_: 1691062544.802759835 0.526724 -0.225055 10.082 -0.0756338 -0.0127832 0.0468716 0.18 0 pose: 0.0 -4.64866 -2.54294 0 0.00548441 -0.0021393 0.756102 0.654427 uwb: 0.0 1131.71 1460.86 -imu_odom_: 1691062544.826688187 0.52433 -0.196325 10.2376 -0.0649811 -0.0383495 0.0383495 0.25 0 pose: 0.41083901 -4.64866 -2.54294 0 0.00391115 -0.0009528680.756323 0.654186 uwb: 0.49903738 1134.93 1459.95 -imu_odom_: 1691062544.851766191 0.651223 -0.251391 9.89524 -0.0692422 -0.00532632 0.0585895 0.25 0 pose: 0.0 -4.64866 -2.54294 0 0.00391115 -0.0009528680.756323 0.654186 uwb: 0.0 1134.93 1459.95 -imu_odom_: 1691062544.874642007 0.667982 -0.126893 9.80904 -0.0671117 -0.0117179 0.0479369 0.18 0 pose: 0.39927833 -4.65294 -2.5339 0 0.00409013 -0.00223851 0.756399 0.654094 uwb: 0.50043144 1132.84 1460.24 -imu_odom_: 1691062544.890696900 0.435745 -0.158017 9.90721 -0.0458064 0.0138484 0.0447411 0.18 0 pose: 0.0 -4.65294 -2.5339 0 0.00409013 -0.00223851 0.756399 0.654094 uwb: 0.0 1132.84 1460.24 -imu_odom_: 1691062544.906661675 0.536301 -0.0622492 10.0772 -0.076699 0.0181095 0.0415453 0.25 0 pose: 0.47968110 -4.65722 -2.52486 0 0.00705502 -0.00600306 0.756545 0.653876 uwb: 0.0 1132.84 1460.24 -imu_odom_: 1691062544.931633813 0.457293 -0.462081 9.52653 -0.0479369 0.052198 0.0543285 0.25 0 pose: 0.0 -4.65722 -2.52486 0 0.00705502 -0.00600306 0.756545 0.653876 uwb: 0.49920362 1128.88 1461.63 -imu_odom_: 1691062544.948619919 -0.186748 -0.536301 10.1083 -0.0468716 0.00745685 0.0351537 0.21 -0.02 pose: 0.39180937 -4.65247 -2.51154 0 0.00775328 -0.00391942 0.75661 0.653808 uwb: 0.0 1128.88 1461.63 -imu_odom_: 1691062544.972627889 -0.117316 -0.0550666 9.96467 -0.0543285 0.00958738 0.052198 0.21 -0.02 pose: 0.0 -4.65247 -2.51154 0 0.00775328 -0.00391942 0.75661 0.653808 uwb: 0.0 1128.88 1461.63 -imu_odom_: 1691062544.997646107 0.502782 -0.387861 9.61033 -0.0649811 0 0.036219 0.21 0 pose: 0.41795800 -4.65676 -2.50251 0 0.00455906 -0.00360064 0.756749 0.65368 uwb: 0.50064725 1128.39 1461.43 -imu_odom_: 1691062545.12662756 0.588974 -0.0287304 10.2424 -0.0458064 0.00426106 0.0213053 0.21 0 pose: 0.0 -4.65676 -2.50251 0 0.00455906 -0.00360064 0.756749 0.65368 uwb: 0.0 1128.39 1461.43 -imu_odom_: 1691062545.29643032 0.371101 -0.23942 9.77313 -0.0671117 -0.00745685 0.0436758 0.21 0 pose: 0.0 -4.65676 -2.50251 0 0.00455906 -0.00360064 0.756749 0.65368 uwb: 0.49984820 1130.82 1460.77 -imu_odom_: 1691062545.55634756 0.462081 -0.25618 9.43076 -0.0617853 -0.00213053 0.04048 0.18 -0.02 pose: 0.41141063 -4.65676 -2.50251 0 0.00182194 -0.0019516 0.756837 0.653598 uwb: 0.0 1130.82 1460.77 -imu_odom_: 1691062545.78639191 0.0933739 -0.220267 10.0748 -0.0735032 -0.0500674 0.0468716 0.23 0 pose: 0.74853723 -4.65772 -2.48411 0 0.000835912 -0.00469756 0.756755 0.653681 uwb: 0.50184310 1129.98 1460.88 -imu_odom_: 1691062545.102602837 0.325611 -0.411803 10.1394 -0.0511327 0.02024 0.0330232 0.23 0 pose: 0.0 -4.65772 -2.48411 0 0.000835912 -0.00469756 0.756755 0.653681 uwb: 0.0 1129.98 1460.88 -imu_odom_: 1691062545.125606397 0.486023 -0.316035 9.94312 -0.0639159 0.0245011 0.052198 0.26 -0.02 pose: 0.7139107 -4.65631 -2.48015 0 0.000447622 -0.0043156 0.756775 0.653661 uwb: 0.49866711 1132.35 1460.04 -imu_odom_: 1691062545.151671907 0.126893 -0.208296 10.2137 -0.036219 0.0500674 0.0308927 0.26 -0.02 pose: 0.0 -4.65631 -2.48015 0 0.000447622 -0.0043156 0.756775 0.653661 uwb: 0.0 1132.35 1460.04 -imu_odom_: 1691062545.165674226 0.304064 -0.225055 9.43794 -0.0426106 -0.0106526 0.0330232 0.18 -0.02 pose: 0.46912668 -4.66061 -2.47112 0 -0.00258933 -0.00409981 0.756794 0.653635 uwb: 0.0 1132.35 1460.04 -imu_odom_: 1691062545.189594709 0.605733 -0.0766145 9.50737 -0.036219 -0.0458064 0.0426106 0.18 -0.02 pose: 0.0 -4.66061 -2.47112 0 -0.00258933 -0.00409981 0.756794 0.653635 uwb: 0.50255762 1131.95 1460.15 -imu_odom_: 1691062545.206627189 0.512359 -0.0383072 9.8665 -0.052198 -0.0319579 0.0543285 0.25 0 pose: 0.48028783 -4.66061 -2.47112 0 -0.0034905 -0.00166139 0.756777 0.653662 uwb: 0.0 1131.95 1460.15 -imu_odom_: 1691062545.232895099 0.603339 0.117316 9.87608 -0.0585895 -0.0298274 0.0351537 0.25 0 pose: 0.0 -4.66061 -2.47112 0 -0.0034905 -0.00166139 0.756777 0.653662 uwb: 0.49720890 1133.13 1459.71 -imu_odom_: 1691062545.259767291 0.356736 -0.201113 9.98861 -0.0703074 -0.0181095 0.0511327 0.25 0 pose: 0.39910926 -4.66061 -2.47112 0 0.000179658 -0.0008662440.756829 0.653613 uwb: 0.0 1133.13 1459.71 -imu_odom_: 1691062545.275748401 0.979228 -0.23942 9.80426 -0.0585895 -0.0905475 0.0532632 0.25 0 pose: 0.0 -4.66061 -2.47112 0 0.000179658 -0.0008662440.756829 0.653613 uwb: 0.49979285 1134.42 1459.66 -imu_odom_: 1691062545.292744718 1.22104 -0.189142 9.72046 -0.0617853 0.00639159 0.106526 0.19 0.11 pose: 0.43153985 -4.65588 -2.45778 0 0.00306913 0.000282604 0.756857 0.653573 uwb: 0.0 1134.42 1459.66 -imu_odom_: 1691062545.310649500 0.751779 -0.428562 9.75637 -0.0660464 0.0170442 0.164051 0.19 0.11 pose: 0.0 -4.65588 -2.45778 0 0.00306913 0.000282604 0.756857 0.653573 uwb: 0.0 1134.42 1459.66 -imu_odom_: 1691062545.324578033 1.0343 -0.553061 9.39964 -0.0543285 0.00319579 0.204531 0.19 0.11 pose: 0.0 -4.65588 -2.45778 0 0.00306913 0.000282604 0.756857 0.653573 uwb: 0.49875168 1131.97 1460.24 -imu_odom_: 1691062545.341583682 1.18274 -0.19393 9.84975 -0.0607201 0.015979 0.308927 0.12 0.29 pose: 0.83797808 -4.66021 -2.44877 0 0.00448505 -0.00497572 0.758841 0.651241 uwb: 0.0 1131.97 1460.24 -imu_odom_: 1691062545.354578378 1.64482 -0.553061 9.75158 -0.0585895 0.0490022 0.373908 0.12 0.29 pose: 0.0 -4.66021 -2.44877 0 0.00448505 -0.00497572 0.758841 0.651241 uwb: 0.0 1131.97 1460.24 -imu_odom_: 1691062545.370633274 1.25217 -0.557849 9.92636 -0.0596548 -0.00106526 0.419714 0.12 0.29 pose: 0.0 -4.66021 -2.44877 0 0.00448505 -0.00497572 0.758841 0.651241 uwb: 0.0 1131.97 1460.24 -imu_odom_: 1691062545.387582345 0.991199 -0.174777 9.58399 -0.0319579 0.0181095 0.418649 0.14 0.55 pose: 0.8074986 -4.66026 -2.44879 0 0.00504648 -0.00543438 0.759544 0.650413 uwb: 0.50022448 1133.19 1459.92 -imu_odom_: 1691062545.403584745 0.677559 -0.0167594 9.84975 -0.0490022 0.015979 0.50387 0.14 0.55 pose: 0.0 -4.66026 -2.44879 0 0.00504648 -0.00543438 0.759544 0.650413 uwb: 0.0 1133.19 1459.92 -imu_odom_: 1691062545.419575188 0.847547 -0.687136 9.92875 -0.0735032 -0.00426106 0.619984 0.14 0.55 pose: 0.0 -4.66026 -2.44879 0 0.00504648 -0.00543438 0.759544 0.650413 uwb: 0.0 1133.19 1459.92 -imu_odom_: 1691062545.436577046 0.842759 -0.555455 9.98622 -0.0415453 0.00319579 0.624245 0.08 0.44 pose: 0.44989289 -4.66454 -2.43975 0 0.00727863 -0.00856304 0.764539 0.644479 uwb: 0.49993284 1138.06 1458.72 -imu_odom_: 1691062545.452568072 0.727837 0.117316 9.63666 -0.0308927 0.02024 0.638093 0.11 0.67 pose: 0.0 -4.66454 -2.43975 0 0.00727863 -0.00856304 0.764539 0.644479 uwb: 0.0 1138.06 1458.72 -imu_odom_: 1691062545.468570473 0.6608 -0.0909797 9.5792 -0.0607201 0.0191748 0.653007 0.11 0.67 pose: 0.65968562 -4.66882 -2.43072 0 0.00890524 -0.0104839 0.775561 0.631123 uwb: 0.0 1138.06 1458.72 -imu_odom_: 1691062545.485600037 0.447716 -0.225055 9.8282 -0.0458064 0.00745685 0.609331 0.11 0.67 pose: 0.0 -4.66882 -2.43072 0 0.00890524 -0.0104839 0.775561 0.631123 uwb: 0.49992992 1136.41 1459.04 -imu_odom_: 1691062545.501742134 0.519542 -0.203507 10.149 -0.0500674 0.00639159 0.588026 0.09 0.67 pose: 0.0 -4.66882 -2.43072 0 0.00890524 -0.0104839 0.775561 0.631123 uwb: 0.0 1136.41 1459.04 -imu_odom_: 1691062545.518707536 0.782904 -0.31364 10.2161 -0.0436758 0.015979 0.614658 0.09 0.67 pose: 0.32983260 -4.66882 -2.43072 0 0.00965644 -0.00797139 0.781747 0.62347 uwb: 0.0 1136.41 1459.04 -imu_odom_: 1691062545.534704687 0.785298 -0.418985 9.92397 -0.056459 0.00319579 0.631702 0.05 0.55 pose: 0.42113406 -4.65978 -2.42633 0 0.0082841 -0.00758278 0.789109 0.61415 uwb: 0.50008449 1139.34 1458.61 -imu_odom_: 1691062545.551692546 0.766145 -0.222661 9.62708 -0.0575243 0.0117179 0.615723 0.05 0.55 pose: 0.0 -4.65978 -2.42633 0 0.0082841 -0.00758278 0.789109 0.61415 uwb: 0.0 1139.34 1458.61 -imu_odom_: 1691062545.567582956 0.483629 -0.0957681 9.80426 -0.0500674 0.0138484 0.551807 0.05 0.55 pose: 0.0 -4.65978 -2.42633 0 0.0082841 -0.00758278 0.789109 0.61415 uwb: 0.0 1139.34 1458.61 -imu_odom_: 1691062545.584573440 0.553061 0.0909797 10.0341 -0.0585895 -0.00745685 0.504935 0.06 0.58 pose: 0.8046697 -4.65983 -2.42635 0 0.00828365 -0.00839075 0.790569 0.61226 uwb: 0.50218140 1139.36 1458.65 -imu_odom_: 1691062545.600568257 0.715866 -0.0814029 9.80426 -0.0607201 -0.00532632 0.4815 0.04 0.41 pose: 0.0 -4.65983 -2.42635 0 0.00828365 -0.00839075 0.790569 0.61226 uwb: 0.0 1139.36 1458.65 -imu_odom_: 1691062545.617625527 0.773327 -0.270545 9.98622 -0.0511327 -0.00426106 0.445281 0.04 0.41 pose: 0.65833531 -4.65983 -2.42635 0 0.0105359 -0.00645476 0.800856 0.598729 uwb: 0.0 1139.36 1458.65 -imu_odom_: 1691062545.633581557 0.61531 -0.19393 9.75398 -0.0490022 -0.00213053 0.415453 0.04 0.29 pose: 0.0 -4.65983 -2.42635 0 0.0105359 -0.00645476 0.800856 0.598729 uwb: 0.49934664 1140.58 1458.35 -imu_odom_: 1691062545.650623953 0.699107 -0.0861913 9.94312 -0.052198 0.00426106 0.386691 0.04 0.29 pose: 0.0 -4.65983 -2.42635 0 0.0105359 -0.00645476 0.800856 0.598729 uwb: 0.0 1140.58 1458.35 -imu_odom_: 1691062545.666718804 0.584185 -0.117316 9.84975 -0.0575243 -0.00106526 0.357929 0.04 0.29 pose: 0.32988509 -4.6642 -2.41735 0 0.0111672 -0.00731874 0.804854 0.593323 uwb: 0.0 1140.58 1458.35 -imu_odom_: 1691062545.683729702 0.6608 -0.181959 9.96946 -0.0500674 -0.00106526 0.316384 0.04 0.38 pose: 0.41142531 -4.6642 -2.41735 0 0.0114287 -0.00438118 0.808992 0.587692 uwb: 0.49696684 1139.46 1458.96 -imu_odom_: 1691062545.699772058 0.687136 -0.174777 9.86172 -0.0490022 -0.00426106 0.28336 0.04 0.38 pose: 0.8016657 -4.6642 -2.41735 0 0.0114758 -0.00516913 0.809646 0.586784 uwb: 0.0 1139.46 1458.96 -imu_odom_: 1691062545.716604180 0.670376 -0.0574608 9.9503 -0.0553937 0.00106526 0.258859 0.04 0.38 pose: 0.0 -4.6642 -2.41735 0 0.0114758 -0.00516913 0.809646 0.586784 uwb: 0.0 1139.46 1458.96 -imu_odom_: 1691062545.732559334 0.670376 -0.126893 9.82102 -0.056459 -0.00319579 0.230097 0.02 0.2 pose: 0.41868719 -4.6642 -2.41735 0 0.013665 -0.00531713 0.812566 0.582685 uwb: 0.50006699 1138.6 1459.03 -imu_odom_: 1691062545.758555142 0.672771 -0.155623 9.93115 -0.0553937 -0.00319579 0.18003 0.03 0.32 pose: 0.0 -4.6642 -2.41735 0 0.013665 -0.00531713 0.812566 0.582685 uwb: 0.0 1138.6 1459.03 -imu_odom_: 1691062545.771601750 0.646434 -0.19393 9.92157 -0.052198 0.00745685 0.154463 0.03 0.32 pose: 0.23974436 -4.6642 -2.41735 0 0.0135042 -0.0044735 0.813776 0.581005 uwb: 0.0 1138.6 1459.03 -imu_odom_: 1691062545.788603899 0.344765 -0.158017 9.87608 -0.0607201 0.015979 0.108657 0.02 0.05 pose: 0.0 -4.6642 -2.41735 0 0.0135042 -0.0044735 0.813776 0.581005 uwb: 0.50398083 1139.47 1459.01 -imu_odom_: 1691062545.802540307 0.232238 -0.009576819.93833 -0.0543285 0.00213053 0.0447411 0.02 0.05 pose: 0.0 -4.6642 -2.41735 0 0.0135042 -0.0044735 0.813776 0.581005 uwb: 0.0 1139.47 1459.01 -imu_odom_: 1691062545.819538082 0.280122 0.0790087 9.88326 -0.056459 -0.00958738 -0.0223706 0.02 0.05 pose: 0.38975338 -4.6642 -2.41735 0 0.0105957 -0.00565312 0.815145 0.579132 uwb: 0.0 1139.47 1459.01 -imu_odom_: 1691062545.832536861 0.409408 -0.0311246 9.89284 -0.0596548 -0.0149137 -0.0479369 0.02 -0.11 pose: 0.39984128 -4.6642 -2.41735 0 0.00865687 -0.00219197 0.815055 0.579315 uwb: 0.49825590 1136.28 1460.04 -imu_odom_: 1691062545.847535721 0.490811 -0.229843 9.8258 -0.0617853 -0.0117179 -0.0798948 0.02 -0.11 pose: 0.6004910 -4.6642 -2.41735 0 0.00850018 -0.00164455 0.814902 0.579535 uwb: 0.0 1136.28 1460.04 -imu_odom_: 1691062545.864594741 0.560243 -0.220267 9.84017 -0.0585895 -0.0266316 -0.117179 0.02 -0.11 pose: 0.0 -4.6642 -2.41735 0 0.00850018 -0.00164455 0.814902 0.579535 uwb: 0.0 1136.28 1460.04 -imu_odom_: 1691062545.880669760 0.840365 -0.112527 9.8282 -0.052198 -0.0255663 -0.177899 0.02 -0.26 pose: 0.39051749 -4.6642 -2.41735 0 0.00681779 -0.00348385 0.813441 0.581597 uwb: 0.49899375 1134.4 1461.06 -imu_odom_: 1691062545.897549420 0.679953 0.134075 9.74919 -0.0596548 0.0266316 -0.241815 0.02 -0.35 pose: 0.0 -4.6642 -2.41735 0 0.00681779 -0.00348385 0.813441 0.581597 uwb: 0.0 1134.4 1461.06 -imu_odom_: 1691062545.913692391 0.31364 0.0430956 9.90721 -0.0575243 0.0127832 -0.278034 0.02 -0.35 pose: 0.0 -4.6642 -2.41735 0 0.00681779 -0.00348385 0.813441 0.581597 uwb: 0.0 1134.4 1461.06 -imu_odom_: 1691062545.930553095 0.23942 -0.339977 9.83059 -0.0671117 -0.0149137 -0.280165 0.02 -0.35 pose: 0.23089011 -4.6642 -2.41735 0 0.00895401 -0.00361969 0.811829 0.583815 uwb: 0.50095066 1137.17 1460.07 -imu_odom_: 1691062545.946567161 0.31364 -0.387861 9.85214 -0.0607201 -0.0181095 -0.274838 0.02 -0.35 pose: 0.0 -4.6642 -2.41735 0 0.00895401 -0.00361969 0.811829 0.583815 uwb: 0.0 1137.17 1460.07 -imu_odom_: 1691062545.972554219 0.639252 0 9.95509 -0.0553937 -0.00745685 -0.306796 0.02 -0.35 pose: 0.34004590 -4.6642 -2.41735 0 0.0081795 -0.00132817 0.808762 0.588078 uwb: 0.0 1137.17 1460.07 -imu_odom_: 1691062545.987561828 0.73502 0.1652 9.95988 -0.0596548 -0.0117179 -0.320645 0.02 -0.44 pose: 0.32999884 -4.6642 -2.41735 0 0.00658173 -0.00146786 0.805619 0.592395 uwb: 0.50001742 1137.15 1460.03 -imu_odom_: 1691062546.4744796 0.466869 -0.179565 9.75398 -0.0607201 0.00213053 -0.372843 0.02 -0.44 pose: 0.0 -4.6642 -2.41735 0 0.00658173 -0.00146786 0.805619 0.592395 uwb: 0.0 1137.15 1460.03 -imu_odom_: 1691062546.21615710 0.474052 -0.201113 9.9503 -0.0639159 -0.0127832 -0.394148 0.02 -0.35 pose: 0.50056570 -4.6685 -2.40833 0 0.00795149 -0.0004063340.800037 0.599898 uwb: 0.0 1137.15 1460.03 -imu_odom_: 1691062546.38681150 0.428562 -0.248997 9.90481 -0.0681769 -0.00958738 -0.380299 0.02 -0.35 pose: 0.0 -4.6685 -2.40833 0 0.00795149 -0.0004063340.800037 0.599898 uwb: 0.50124819 1133.93 1460.95 -imu_odom_: 1691062546.54706010 0.610521 -0.208296 10.0413 -0.072438 -0.0181095 -0.387756 0.02 -0.35 pose: 0.0 -4.6685 -2.40833 0 0.00795149 -0.0004063340.800037 0.599898 uwb: 0.0 1133.93 1460.95 -imu_odom_: 1691062546.71651293 0.572214 -0.0694318 9.83299 -0.056459 -0.0181095 -0.419714 0.02 -0.61 pose: 0.8807301 -4.66855 -2.40835 0 0.00710716 -0.0006651020.798896 0.601427 uwb: 0.0 1133.93 1460.95 -imu_odom_: 1691062546.87527708 0.519542 -0.126893 10.0054 -0.0735032 -0.00958738 -0.432497 0.01 -0.44 pose: 0.0 -4.66855 -2.40835 0 0.00710716 -0.0006651020.798896 0.601427 uwb: 0.49974338 1130.32 1462.08 -imu_odom_: 1691062546.104947784 0.517148 -0.122104 9.97424 -0.056459 -0.00639159 -0.471912 0.01 -0.44 pose: 0.65993365 -4.66855 -2.40835 0 0.00726143 -0.00120568 0.790079 0.61296 uwb: 0.0 1130.32 1462.08 -imu_odom_: 1691062546.120543347 0.588974 -0.134075 9.91199 -0.0553937 -0.015979 -0.497478 0.01 -0.53 pose: 0.0 -4.66855 -2.40835 0 0.00726143 -0.00120568 0.790079 0.61296 uwb: 0.0 1130.32 1462.08 -imu_odom_: 1691062546.137586038 0.474052 -0.186748 9.74679 -0.0681769 -0.00958738 -0.495348 0.01 -0.53 pose: 0.0 -4.66855 -2.40835 0 0.00726143 -0.00120568 0.790079 0.61296 uwb: 0.49892678 1129.61 1462.65 -imu_odom_: 1691062546.153538863 0.42138 -0.407014 9.71088 -0.0617853 -0.00106526 -0.506001 0.01 -0.53 pose: 0.33058219 -4.66855 -2.40835 0 0.00813347 0.000571795 0.784892 0.619578 uwb: 0.0 1129.61 1462.65 -imu_odom_: 1691062546.170673130 0.387861 -0.19393 9.8689 -0.0788296 -0.02024 -0.517718 0.01 -0.73 pose: 0.40935182 -4.6685 -2.40833 0 0.00547521 -0.00140805 0.778026 0.628207 uwb: 0.0 1129.61 1462.65 -imu_odom_: 1691062546.188662783 0.423774 -0.155623 9.80186 -0.0500674 -0.00745685 -0.556068 0.01 -0.73 pose: 0.8025408 -4.66855 -2.40835 0 0.0047521 -0.00114876 0.776621 0.629949 uwb: 0.49747732 1128.38 1462.92 -imu_odom_: 1691062546.203568030 0.383072 0.0981623 9.81862 -0.0585895 -0.00852212 -0.5827 0.01 -0.73 pose: 0.0 -4.66855 -2.40835 0 0.0047521 -0.00114876 0.776621 0.629949 uwb: 0.0 1128.38 1462.92 -imu_odom_: 1691062546.220638719 0.605733 -0.160412 9.75637 -0.0585895 -0.0117179 -0.592287 0.01 -0.61 pose: 0.42003759 -4.6685 -2.40833 0 0.00390949 0.00212582 0.768659 0.639643 uwb: 0.0 1128.38 1462.92 -imu_odom_: 1691062546.237673827 0.699107 -0.023942 10.0509 -0.0585895 -0.0287621 -0.615723 0.01 -0.64 pose: 0.0 -4.6685 -2.40833 0 0.00390949 0.00212582 0.768659 0.639643 uwb: 0.50131241 1127.98 1463.03 -imu_odom_: 1691062546.253669232 0.342371 -0.292093 9.84735 -0.052198 -0.02024 -0.621049 0.01 -0.64 pose: 0.0 -4.6685 -2.40833 0 0.00390949 0.00212582 0.768659 0.639643 uwb: 0.0 1127.98 1463.03 -imu_odom_: 1691062546.270633472 0.457293 -0.177171 9.9096 -0.0692422 -0.0308927 -0.570982 0 -0.55 pose: 0.25130802 -4.66855 -2.40835 0 0.00591538 0.000558189 0.763495 0.645787 uwb: 0.0 1127.98 1463.03 -imu_odom_: 1691062546.286519802 0.603339 -0.464475 9.87369 -0.0681769 -0.0223706 -0.491087 0 -0.55 pose: 0.0 -4.66855 -2.40835 0 0.00591538 0.000558189 0.763495 0.645787 uwb: 0.49846599 1125.51 1463.56 -imu_odom_: 1691062546.302793433 0.696713 -0.445322 9.96706 -0.0543285 -0.00958738 -0.429302 0 -0.55 pose: 0.32947104 -4.66855 -2.40835 0 0.00464415 -0.00018605 0.756574 0.653891 uwb: 0.0 1125.51 1463.56 -imu_odom_: 1691062546.319673971 0.651223 -0.23942 9.91918 -0.0532632 0.00319579 -0.38243 0.01 -0.58 pose: 0.41147497 -4.66855 -2.40835 0 0.00347986 -0.00380855 0.749491 0.661994 uwb: 0.0 1125.51 1463.56 -imu_odom_: 1691062546.337670916 0.505177 -0.0550666 10.0006 -0.0585895 -0.00426106 -0.343015 0.01 -0.58 pose: 0.7821550 -4.66855 -2.40835 0 0.00400456 -0.00434836 0.748394 0.663228 uwb: 0.50081954 1122.25 1464.21 -imu_odom_: 1691062546.354783310 0.380678 -0.225055 9.80426 -0.0607201 0 -0.330232 0.01 -0.58 pose: 0.0 -4.66855 -2.40835 0 0.00400456 -0.00434836 0.748394 0.663228 uwb: 0.0 1122.25 1464.21 -imu_odom_: 1691062546.371527943 0.378284 -0.229843 9.84017 -0.056459 -0.0170442 -0.32384 0 -0.41 pose: 0.44168327 -4.66855 -2.40835 0 0.00400959 -0.00259264 0.742714 0.669592 uwb: 0.0 1122.25 1464.21 -imu_odom_: 1691062546.387520431 0.418985 -0.265756 9.81144 -0.0617853 -0.0181095 -0.286556 0 -0.29 pose: 0.0 -4.66855 -2.40835 0 0.00400959 -0.00259264 0.742714 0.669592 uwb: 0.50057456 1119.83 1464.91 -imu_odom_: 1691062546.403585829 0.648829 -0.318429 9.92397 -0.0596548 -0.0106526 -0.248207 0 -0.29 pose: 0.0 -4.66855 -2.40835 0 0.00400959 -0.00259264 0.742714 0.669592 uwb: 0.0 1119.83 1464.91 -imu_odom_: 1691062546.420520905 0.565032 -0.339977 9.92397 -0.052198 0 -0.225836 0 -0.26 pose: 0.24779374 -4.66855 -2.40835 0 0.00184074 -0.0020666 0.7398 0.672822 uwb: 0.0 1119.83 1464.91 -imu_odom_: 1691062546.436689253 0.52433 -0.244209 10.0006 -0.0553937 -0.00106526 -0.198139 0 -0.26 pose: 0.0 -4.66855 -2.40835 0 0.00184074 -0.0020666 0.7398 0.672822 uwb: 0.49960922 1118.22 1465.4 -imu_odom_: 1691062546.452501506 0.433351 -0.241814 9.87608 -0.056459 -0.00958738 -0.175769 0 -0.26 pose: 0.32115340 -4.66855 -2.40835 0 0.00176941 -0.00455567 0.736637 0.676271 uwb: 0.0 1118.22 1465.4 -imu_odom_: 1691062546.469651522 0.529119 -0.181959 9.94551 -0.056459 -0.00852212 -0.169377 0 -0.29 pose: 0.40823482 -4.66855 -2.40835 0 0.00228525 -0.00415582 0.733381 0.679802 uwb: 0.0 1118.22 1465.4 -imu_odom_: 1691062546.487771540 0.474052 -0.19393 9.85453 -0.0543285 -0.00319579 -0.154463 0 -0.29 pose: 0.8164522 -4.66855 -2.40835 0 0.00308454 -0.00394352 0.732797 0.680429 uwb: 0.49994170 1116.16 1465.79 -imu_odom_: 1691062546.502774486 0.459687 -0.23942 9.87848 -0.0585895 -0.00532632 -0.120375 0 -0.29 pose: 0.0 -4.66855 -2.40835 0 0.00308454 -0.00394352 0.732797 0.680429 uwb: 0.0 1116.16 1465.79 -imu_odom_: 1691062546.518653525 0.486023 -0.3304 9.9096 -0.0596548 -0.00958738 -0.0745685 0 -0.08 pose: 0.42108458 -4.66855 -2.40835 0 0.00208515 -0.00256 0.730142 0.683288 uwb: 0.0 1116.16 1465.79 -imu_odom_: 1691062546.532617934 0.4956 -0.37589 9.89045 -0.0553937 -0.0117179 -0.036219 0 -0.08 pose: 0.0 -4.66855 -2.40835 0 0.00208515 -0.00256 0.730142 0.683288 uwb: 0.50254606 1112.83 1466.3 -imu_odom_: 1691062546.547620880 0.612916 -0.296881 9.88805 -0.0543285 -0.0106526 0.00852212 0 -0.08 pose: 0.0 -4.66855 -2.40835 0 0.00208515 -0.00256 0.730142 0.683288 uwb: 0.0 1112.83 1466.3 -imu_odom_: 1691062546.563613951 0.634463 -0.220267 9.85693 -0.0532632 -0.00426106 0.0394148 0 -0.08 pose: 0.21959778 -4.66855 -2.40835 0 0.000914485 -0.00446993 0.729366 0.684109 uwb: 0.0 1112.83 1466.3 -imu_odom_: 1691062546.585485070 0.533907 -0.213084 9.91678 -0.0553937 0.00426106 0.0511327 0 -0.05 pose: 0.0 -4.66855 -2.40835 0 0.000914485 -0.00446993 0.729366 0.684109 uwb: 0.49885970 1113.19 1466.02 -imu_odom_: 1691062546.602554301 0.0047884 -0.215478 9.7851 -0.0575243 0.0394148 0.0298274 0 -0.05 pose: 0.29876403 -4.66855 -2.40835 0 0.00219751 -0.00651754 0.728988 0.684492 uwb: 0.0 1113.19 1466.02 -imu_odom_: 1691062546.616485462 -0.426168 -0.105345 9.94551 -0.0436758 0.0266316 -0.0617853 0.01 0.02 pose: 0.47943634 -4.66855 -2.40835 0 0.00288665 -0.00356813 0.729013 0.684484 uwb: 0.0 1113.19 1466.02 -imu_odom_: 1691062546.631489867 -0.6608 0.241814 9.84496 -0.0383495 0.015979 -0.138484 0.01 0.02 pose: 0.0 -4.66855 -2.40835 0 0.00288665 -0.00356813 0.729013 0.684484 uwb: 0.49918342 1111.5 1466.16 -imu_odom_: 1691062546.647558765 -0.737414 0.0670376 9.89763 -0.0703074 0.00532632 -0.0681769 0.01 0.02 pose: 0.0 -4.66855 -2.40835 0 0.00288665 -0.00356813 0.729013 0.684484 uwb: 0.0 1111.5 1466.16 -imu_odom_: 1691062546.664625954 -0.577003 -0.991199 9.79228 -0.0798948 -0.0372843 0.0447411 0.05 0.02 pose: 0.5940750 -4.66855 -2.40835 0 0.00246843 -0.00301892 0.728809 0.684706 uwb: 0.0 1111.5 1466.16 -imu_odom_: 1691062546.680488662 0.105345 -0.677559 9.82341 -0.0458064 -0.052198 0.052198 0.08 0 pose: 0.0 -4.66855 -2.40835 0 0.00246843 -0.00301892 0.728809 0.684706 uwb: 0.49944591 1111.03 1465.98 -imu_odom_: 1691062546.695548187 0.648829 -0.023942 9.84496 -0.0394148 -0.0117179 0.0692422 0.08 0 pose: 0.0 -4.66855 -2.40835 0 0.00246843 -0.00301892 0.728809 0.684706 uwb: 0.0 1111.03 1465.98 -imu_odom_: 1691062546.711541258 0.237026 0.0335188 9.56484 -0.0575243 0.0394148 0.0884169 0.08 0 pose: 0.63012200 -4.66855 -2.40835 0 -0.00191809 0.000108408 0.727084 0.686546 uwb: 0.0 1111.03 1465.98 -imu_odom_: 1691062546.728600573 -0.162806 -0.141258 10.07 -0.052198 0.00958738 0.0330232 0.08 0 pose: 0.0 -4.66855 -2.40835 0 -0.00191809 0.000108408 0.727084 0.686546 uwb: 0.50052789 1109.73 1465.93 -imu_odom_: 1691062546.745622558 -0.126893 -0.0837971 9.81862 -0.0639159 -0.0287621 0.036219 0.08 0 pose: 0.31097217 -4.67285 -2.39932 0 -0.0009331570.000487029 0.727395 0.686218 uwb: 0.0 1109.73 1465.93 -imu_odom_: 1691062546.761621462 0.414197 -0.423774 10.1682 -0.0660464 -0.0447411 0.0596548 0.09 0.02 pose: 0.43018090 -4.67285 -2.39932 0 -0.00285718 0.00413825 0.727478 0.686112 uwb: 0.0 1109.73 1465.93 -imu_odom_: 1691062546.778623323 0.488417 -0.339977 9.63906 -0.0543285 -0.0117179 0.0511327 0.09 0.02 pose: 0.0 -4.67285 -2.39932 0 -0.00285718 0.00413825 0.727478 0.686112 uwb: 0.49947216 1108.01 1465.92 -imu_odom_: 1691062546.794492155 0.268151 0.0622492 9.8665 -0.0458064 0.00106526 0.0458064 0.09 0.02 pose: 0.0 -4.67285 -2.39932 0 -0.00285718 0.00413825 0.727478 0.686112 uwb: 0.0 1108.01 1465.92 -imu_odom_: 1691062546.811745121 0.19393 -0.0191536 10.1754 -0.0660464 -0.00426106 0.0639159 0.14 0 pose: 0.7898544 -4.67285 -2.39932 0 -0.00301093 0.00324616 0.727532 0.686059 uwb: 0.0 1108.01 1465.92 -imu_odom_: 1691062546.827684238 0.474052 -0.335188 10.1993 -0.0415453 -0.02024 0.0383495 0.1 0 pose: 0.0 -4.67285 -2.39932 0 -0.00301093 0.00324616 0.727532 0.686059 uwb: 0.0 1108.01 1465.92 -imu_odom_: 1691062546.844733637 0.311246 -0.126893 9.54329 -0.0458064 0.015979 0.0191748 0.1 0 pose: 0.65994823 -4.66816 -2.38598 0 -0.00183664 0.00298841 0.727832 0.685747 uwb: 0.0 1108.01 1465.92 -imu_odom_: 1691062546.860559889 0.344765 -0.23942 9.74679 -0.0532632 0.0213053 0.0426106 0.11 0 pose: 0.0 -4.66816 -2.38598 0 -0.00183664 0.00298841 0.727832 0.685747 uwb: 0.0 1108.01 1465.92 -imu_odom_: 1691062546.877596456 1.12527 -0.258574 10.3214 -0.0553937 -0.0426106 0.0447411 0.11 0 pose: 0.0 -4.66816 -2.38598 0 -0.00183664 0.00298841 0.727832 0.685747 uwb: 0.99843684 1109.58 1465.29 -imu_odom_: 1691062546.893597402 1.31921 -0.0814029 9.69891 -0.0628506 -0.0287621 0.0745685 0.11 0 pose: 0.33171960 -4.66816 -2.38598 0 -0.00179266 0.00338226 0.727716 0.685868 uwb: 0.0 1109.58 1465.29 -imu_odom_: 1691062546.909467984 1.07021 -0.220267 9.69891 -0.0436758 0.0245011 0.1012 0.11 0 pose: 0.40909517 -4.66816 -2.38598 0 0.000518559 0.000206363 0.727951 0.685629 uwb: 0.0 1109.58 1465.29 -imu_odom_: 1691062546.926463721 1.04866 -0.493206 9.65342 -0.0479369 -0.0106526 0.112918 0.11 0 pose: 0.6893254 -4.66816 -2.38598 0 0.000965671 -0.0001813620.728097 0.685474 uwb: 0.50131242 1108.73 1465.34 -imu_odom_: 1691062546.942605530 0.849942 -0.160412 9.7444 -0.0479369 0.0213053 0.118244 0.11 0 pose: 0.0 -4.66816 -2.38598 0 0.000965671 -0.0001813620.728097 0.685474 uwb: 0.0 1108.73 1465.34 -imu_odom_: 1691062546.958607350 0.761356 0.00718261 9.96227 -0.0490022 0.0234358 0.0958738 0.07 0 pose: 0.42114874 -4.67249 -2.37697 0 0.00346874 -0.00300205 0.729142 0.684347 uwb: 0.0 1108.73 1465.34 -imu_odom_: 1691062546.974663999 0.811634 0.0023942 9.84017 -0.052198 -0.00532632 0.0532632 0.07 0.02 pose: 0.0 -4.67249 -2.37697 0 0.00346874 -0.00300205 0.729142 0.684347 uwb: 0.49932924 1108.27 1465.18 -imu_odom_: 1691062546.991613074 0.742203 -0.191536 9.67736 -0.0660464 0.00852212 0.0372843 0.07 0.02 pose: 0.0 -4.67249 -2.37697 0 0.00346874 -0.00300205 0.729142 0.684347 uwb: 0.0 1108.27 1465.18 -imu_odom_: 1691062547.8607645 0.715866 -0.306458 10.0173 -0.0553937 -0.0117179 0.0181095 0.07 0.05 pose: 0.23008814 -4.67249 -2.37697 0 0.00563956 -0.00304869 0.729472 0.683981 uwb: 0.0 1108.27 1465.18 -imu_odom_: 1691062547.25670172 0.806846 -0.246603 9.80186 -0.056459 -0.00958738 0.0138484 0.07 0.05 pose: 0.0 -4.67249 -2.37697 0 0.00563956 -0.00304869 0.729472 0.683981 uwb: 0.50051045 1109.9 1464.87 -imu_odom_: 1691062547.42500843 0.85473 -0.126893 9.98143 -0.056459 0.00958738 0.0245011 0.07 0.05 pose: 0.33059677 -4.67249 -2.37697 0 0.0076142 -0.00518054 0.729438 0.683985 uwb: 0.0 1109.9 1464.87 -imu_odom_: 1691062547.58493043 0.684742 -0.217872 9.77553 -0.0543285 0.00319579 0.0234358 0.06 0 pose: 0.34008688 -4.67249 -2.37697 0 0.00932355 -0.00788868 0.729162 0.684233 uwb: 0.0 1109.9 1464.87 -imu_odom_: 1691062547.74432747 0.553061 -0.153229 9.92397 -0.0468716 0.00106526 0 0.06 0 pose: 0.0 -4.67249 -2.37697 0 0.00932355 -0.00788868 0.729162 0.684233 uwb: 0.50023928 1106.17 1465.35 -imu_odom_: 1691062547.100570888 0.414197 -0.205901 9.80904 -0.0639159 -0.00106526 0.0649811 0.03 0 pose: 0.41750038 -4.67249 -2.37697 0 0.00985089 -0.00819631 0.728802 0.684604 uwb: 0.0 1106.17 1465.35 -imu_odom_: 1691062547.126450341 -0.311246 -0.395043 9.45949 -0.0458064 0.0756338 0.0607201 0.03 0 pose: 0.0 -4.67249 -2.37697 0 0.00985089 -0.00819631 0.728802 0.684604 uwb: 0.50048425 1106.93 1464.91 -imu_odom_: 1691062547.142456248 -1.00317 0.0502782 10.1538 -0.0351537 0.076699 0.0490022 0.06 0.02 pose: 0.8141776 -4.67249 -2.37697 0 0.00920909 -0.00767228 0.72888 0.684537 uwb: 0.0 1106.93 1464.91 -imu_odom_: 1691062547.169456483 -0.380678 -0.0933739 9.86172 -0.0543285 -0.0532632 0.0511327 0.08 0 pose: 0.0 -4.67249 -2.37697 0 0.00920909 -0.00767228 0.72888 0.684537 uwb: 0.0 1106.93 1464.91 -imu_odom_: 1691062547.194596624 0.294487 -0.198719 9.7444 -0.0617853 -0.0234358 0.0340885 0.08 0 pose: 0.86881960 -4.67676 -2.36793 0 0.00234543 -0.0009006870.729432 0.684049 uwb: 0.49935561 1104.41 1465.15 -imu_odom_: 1691062547.221590734 0.35913 -0.126893 9.87369 -0.0436758 -0.0255663 0.04048 0.12 -0.02 pose: 0.0 -4.67676 -2.36793 0 0.00234543 -0.0009006870.729432 0.684049 uwb: 0.0 1104.41 1465.15 -imu_odom_: 1691062547.246442440 -0.184354 -0.1652 9.91199 -0.0479369 0.00106526 0.036219 0.12 -0.02 pose: 0.32149469 -4.66772 -2.36365 0 0.000821629 0.0012361 0.729386 0.684101 uwb: 0.49980181 1102.33 1465.37 -imu_odom_: 1691062547.263435264 0.502782 -0.220267 10.0293 -0.0543285 -0.0703074 0.0351537 0.12 -0.02 pose: 0.0 -4.66772 -2.36365 0 0.000821629 0.0012361 0.729386 0.684101 uwb: 0.0 1102.33 1465.37 -imu_odom_: 1691062547.288456707 0.229843 -0.0933739 9.81862 -0.0607201 0.0138484 0.0276969 0.12 -0.02 pose: 0.51872356 -4.67199 -2.35461 0 5.64096e-05 0.00411104 0.729342 0.684137 uwb: 0.50024220 1099.85 1465.69 -imu_odom_: 1691062547.315510895 0.114922 -0.011971 9.47146 -0.0532632 -0.0511327 0.0617853 0.14 0.02 pose: 0.34978399 -4.67199 -2.35461 0 -0.00039822 0.00542785 0.729218 0.68426 uwb: 0.0 1099.85 1465.69 -imu_odom_: 1691062547.340487425 0.553061 -0.383072 9.97664 -0.0713727 -0.00319579 0.036219 0.14 0.02 pose: 0.0 -4.67199 -2.35461 0 -0.00039822 0.00542785 0.729218 0.68426 uwb: 0.49874898 1099.84 1465.67 -imu_odom_: 1691062547.357445835 0.265756 -0.148441 9.79707 -0.0532632 -0.00106526 0.0234358 0.15 0 pose: 0.6991246 -4.67199 -2.35461 0 -0.0004512420.00599757 0.729268 0.684202 uwb: 0.0 1099.84 1465.67 -imu_odom_: 1691062547.382446571 0.586579 0.0335188 10.0724 -0.0479369 -0.0117179 0.0490022 0.15 0 pose: 0.0 -4.67199 -2.35461 0 -0.0004512420.00599757 0.729268 0.684202 uwb: 0.50108213 1104.74 1464.74 -imu_odom_: 1691062547.409486177 0.339977 -0.25618 10.1131 -0.0575243 -0.0308927 0.0372843 0.17 -0.02 pose: 0.52056674 -4.67626 -2.34557 0 -0.00118429 0.00553065 0.72935 0.684117 uwb: 0.0 1104.74 1464.74 -imu_odom_: 1691062547.434495954 0.177171 -0.153229 9.30866 -0.04048 0.0340885 0.0426106 0.17 -0.02 pose: 0.0 -4.67626 -2.34557 0 -0.00118429 0.00553065 0.72935 0.684117 uwb: 0.49927977 1106.72 1464.07 -imu_odom_: 1691062547.461480731 -0.112527 -0.517148 9.64624 -0.0639159 0.00958738 0.056459 0.17 0 pose: 0.41996477 -4.67626 -2.34557 0 0.00033036 0.0051844 0.729378 0.684091 uwb: 0.0 1106.72 1464.07 -imu_odom_: 1691062547.477510261 0.318429 -0.0407014 9.8665 -0.0468716 -0.0458064 0.0245011 0.17 0 pose: 0.0 -4.67626 -2.34557 0 0.00033036 0.0051844 0.729378 0.684091 uwb: 0.49934686 1106.64 1463.73 -imu_odom_: 1691062547.504412504 0.105345 -0.0454898 9.92636 -0.092678 -0.0276969 0.0809601 0.15 -0.02 pose: 0.52194912 -4.6715 -2.33225 0 -0.00336018 0.00593299 0.729412 0.68404 uwb: 0.0 1106.64 1463.73 -imu_odom_: 1691062547.529427239 -0.186748 -0.361524 9.95988 -0.056459 0.0490022 0.036219 0.15 0 pose: 0.62716488 -4.67578 -2.32322 0 -0.00421053 0.00854988 0.729816 0.683577 uwb: 0.49993013 1108.29 1463.47 -imu_odom_: 1691062547.556458096 -0.169988 0.153229 9.95988 -0.0735032 0.0479369 0.0649811 0.15 0 pose: 0.0 -4.67578 -2.32322 0 -0.00421053 0.00854988 0.729816 0.683577 uwb: 0.0 1108.29 1463.47 -imu_odom_: 1691062547.581466414 0.349553 -0.237026 10.4531 -0.0479369 -0.0181095 0.0245011 0.17 0 pose: 0.8074698 -4.67578 -2.32322 0 -0.00514736 0.00891491 0.729798 0.683586 uwb: 0.50067966 1112.7 1462.31 -imu_odom_: 1691062547.597449281 0.258574 -0.0287304 9.71088 -0.0532632 -0.0138484 0.036219 0.17 0 pose: 0.0 -4.67578 -2.32322 0 -0.00514736 0.00891491 0.729798 0.683586 uwb: 0.0 1112.7 1462.31 -imu_odom_: 1691062547.623411853 0.727837 -0.0622492 9.80426 -0.0639159 -0.0596548 0.0447411 0.17 0 pose: 0.52019635 -4.68006 -2.31418 0 -0.00755195 0.011936 0.729944 0.683361 uwb: 0.0 1112.7 1462.31 -imu_odom_: 1691062547.647504707 0.349553 0.124498 10.8146 -0.0468716 -0.0276969 0.0447411 0.17 0 pose: 0.0 -4.68006 -2.31418 0 -0.00755195 0.011936 0.729944 0.683361 uwb: 0.49921562 1111.55 1462.86 -imu_odom_: 1691062547.663405331 0.395043 -0.25618 9.76595 -0.072438 -0.00958738 0.056459 0.16 -0.02 pose: 0.40931399 -4.67532 -2.30086 0 -0.00431353 0.0100416 0.729893 0.683474 uwb: 0.0 1111.55 1462.86 -imu_odom_: 1691062547.691402107 0.0742203 -0.316035 9.74919 -0.0490022 0.0394148 0.036219 0.16 -0.02 pose: 0.0 -4.67532 -2.30086 0 -0.00431353 0.0100416 0.729893 0.683474 uwb: 0.50126294 1110.67 1462.73 -imu_odom_: 1691062547.716402551 0.533907 -0.268151 9.69652 -0.0703074 -0.0106526 0.052198 0.17 0 pose: 0.48986265 -4.67532 -2.30086 0 -0.0001723890.00864135 0.730042 0.683347 uwb: 0.0 1110.67 1462.73 -imu_odom_: 1691062547.743403369 0.0407014 -0.0502782 9.70131 -0.0841559 0.0319579 0.0468716 0.2 0 pose: 0.44986975 -4.67962 -2.29183 0 -0.00323296 0.00739579 0.730087 0.683307 uwb: 0.49997972 1113.51 1462.12 -imu_odom_: 1691062547.769380522 0.378284 -0.670376 10.0604 -0.0585895 0.0276969 0.0287621 0.17 -0.02 pose: 0.24054065 -4.67962 -2.29183 0 -0.00301322 0.0063822 0.730185 0.683213 uwb: 0.0 1113.51 1462.12 -imu_odom_: 1691062547.796381632 0.162806 0.122104 10.2951 -0.0340885 0 0.0468716 0.23 0 pose: 0.28072895 -4.67488 -2.2785 0 -0.00468562 0.00762925 0.730192 0.683184 uwb: 0.49910770 1113.97 1462.22 -imu_odom_: 1691062547.813480322 0.711078 -0.584185 9.72764 -0.0266316 -0.0298274 0.0617853 0.23 0 pose: 0.0 -4.67488 -2.2785 0 -0.00468562 0.00762925 0.730192 0.683184 uwb: 0.0 1113.97 1462.22 -imu_odom_: 1691062547.838405814 0.59855 -0.222661 9.90721 -0.00319579 0.0351537 0.00852212 0.17 0 pose: 0.24864831 -4.67488 -2.2785 0 -0.00532355 0.00688005 0.73014 0.683242 uwb: 0.50012554 1114.03 1462.47 -imu_odom_: 1691062547.863387302 0.268151 -0.181959 9.55287 -0.0511327 0.00532632 0.0511327 0.17 0 pose: 0.0 -4.67488 -2.2785 0 -0.00532355 0.00688005 0.73014 0.683242 uwb: 0.0 1114.03 1462.47 -imu_odom_: 1691062547.890477070 0.241814 -0.148441 9.46667 -0.0458064 -0.0639159 0.0298274 0.24 -0.02 pose: 0.43996850 -4.67918 -2.26947 0 -0.00326738 0.00677227 0.730257 0.683132 uwb: 0.49934102 1115.7 1462.3 -imu_odom_: 1691062547.915524469 0.725443 -0.371101 9.59117 -0.0511327 -0.0181095 0.04048 0.24 -0.02 pose: 0.0 -4.67918 -2.26947 0 -0.00326738 0.00677227 0.730257 0.683132 uwb: 0.0 1115.7 1462.3 -imu_odom_: 1691062547.932522543 0.814029 -0.0885855 9.74919 -0.0340885 0.0436758 0.0234358 0.21 0 pose: 0.50046384 -4.68348 -2.26044 0 -0.00423571 0.0068835 0.730131 0.68326 uwb: 0.49979598 1117.69 1461.68 -imu_odom_: 1691062547.957522695 0.61531 -0.260968 10.0604 -0.0628506 0.0223706 0.0585895 0.21 0 pose: 0.0 -4.68348 -2.26044 0 -0.00423571 0.0068835 0.730131 0.68326 uwb: 0.0 1117.69 1461.68 -imu_odom_: 1691062547.974376989 0.526724 -0.213084 9.67736 -0.0511327 0.036219 0.04048 0.22 0 pose: 0.52085547 -4.67874 -2.24711 0 -0.0015078 0.00576493 0.730053 0.683365 uwb: 0.0 1117.69 1461.68 -imu_odom_: 1691062547.999490299 0.40462 -0.363919 9.60075 -0.0735032 -0.0149137 0.0692422 0.22 0 pose: 0.0 -4.67874 -2.24711 0 -0.0015078 0.00576493 0.730053 0.683365 uwb: 0.50024220 1116.49 1462.03 -imu_odom_: 1691062548.26360758 0.459687 -0.0837971 9.7851 -0.036219 0.0330232 0.0319579 0.22 0 pose: 0.42037597 -4.67874 -2.24711 0 0.000267536 0.00284154 0.73018 0.683249 uwb: 0.50179377 1114.55 1462.85 -imu_odom_: 1691062548.51489238 0.574608 -0.268151 9.96706 -0.0713727 0.00745685 0.0649811 0.22 0 pose: 0.41816534 -4.68304 -2.23808 0 -0.0003162380.000283719 0.730422 0.682996 uwb: 0.0 1114.55 1462.85 -imu_odom_: 1691062548.78409860 0.713472 -0.011971 9.76355 -0.0575243 -0.0149137 0.0585895 0.23 0 pose: 0.0 -4.68304 -2.23808 0 -0.0003162380.000283719 0.730422 0.682996 uwb: 0.49927697 1118.6 1461.93 -imu_odom_: 1691062548.103400685 0.339977 -0.222661 10.0485 -0.0841559 0.0287621 0.0553937 0.18 0 pose: 0.52180633 -4.67831 -2.22475 0 0.00267289 -0.00114117 0.730634 0.682763 uwb: 0.0 1118.6 1461.93 -imu_odom_: 1691062548.130512916 0.531513 -0.0814029 9.97424 -0.0798948 0.0117179 0.0607201 0.18 0 pose: 0.0 -4.67831 -2.22475 0 0.00267289 -0.00114117 0.730634 0.682763 uwb: 0.49987775 1118.19 1462.03 -imu_odom_: 1691062548.147476871 0.553061 -0.244209 10.3046 -0.0660464 -0.02024 0.0500674 0.18 0.02 pose: 0.71946104 -4.68262 -2.21573 0 0.0041938 -0.0001935180.731086 0.682273 uwb: 0.0 1118.19 1462.03 -imu_odom_: 1691062548.173356622 0.885855 -0.071826 10.0365 -0.0596548 -0.0490022 0.0458064 0.18 0.02 pose: 0.7931795 -4.68262 -2.21573 0 0.00423759 -0.00106106 0.731116 0.68224 uwb: 0.0 1118.19 1462.03 -imu_odom_: 1691062548.199640298 0.6608 -0.294487 9.54808 -0.056459 0.0458064 0.0383495 0.18 0.02 pose: 0.34911911 -4.68039 -2.20358 0 0.00698388 -0.00365053 0.731189 0.682129 uwb: 0.0 1118.19 1462.03 -imu_odom_: 1691062548.224483260 0.150835 -0.277727 9.6199 -0.0639159 0.00319579 0.052198 0.18 0.02 pose: 0.0 -4.68039 -2.20358 0 0.00698388 -0.00365053 0.731189 0.682129 uwb: 0.99946969 1116.57 1462.37 -imu_odom_: 1691062548.250413465 0.205901 -0.232238 9.91199 -0.0479369 0.0394148 0.0394148 0.18 0 pose: 0.32176016 -4.67792 -2.20239 0 0.006005 -0.00551796 0.731215 0.682098 uwb: 0.0 1116.57 1462.37 -imu_odom_: 1691062548.265383171 0.323217 -0.234632 9.9503 -0.0532632 -0.0149137 0.0543285 0.18 0 pose: 0.0 -4.67792 -2.20239 0 0.006005 -0.00551796 0.731215 0.682098 uwb: 0.0 1116.57 1462.37 -imu_odom_: 1691062548.289363747 0.390255 -0.318429 9.72046 -0.0479369 0.0234358 0.0266316 0.17 0 pose: 0.59850533 -4.68481 -2.18804 0 0.000892773 -0.00144402 0.731397 0.68195 uwb: 0.49910490 1118.66 1462.13 -imu_odom_: 1691062548.315534265 0.134075 -0.35913 10.1562 -0.0500674 0.0245011 0.0468716 0.17 0 pose: 0.0 -4.68481 -2.18804 0 0.000892773 -0.00144402 0.731397 0.68195 uwb: 0.0 1118.66 1462.13 -imu_odom_: 1691062548.331557091 0.328006 -0.122104 9.53611 -0.0479369 -0.0191748 0.0500674 0.17 0.02 pose: 0.50151094 -4.68314 -2.17459 0 -0.00413317 -0.0006712060.731357 0.681982 uwb: 0.50067976 1117.05 1462.57 -imu_odom_: 1691062548.358541874 0.296881 -0.131681 9.40442 -0.0809601 0.0372843 0.0639159 0.17 0.02 pose: 0.6985124 -4.68188 -2.17102 0 -0.00369442 -0.0001020580.731385 0.681954 uwb: 0.0 1117.05 1462.57 -imu_odom_: 1691062548.383361505 0.0502782 -0.294487 9.67736 -0.0415453 0.0532632 0.0319579 0.23 -0.02 pose: 0.16996619 -4.68188 -2.17102 0 -0.003085 0.00143496 0.731488 0.681846 uwb: 0.49932071 1115.34 1462.61 -imu_odom_: 1691062548.408348831 -0.0143652 -0.296881 9.55526 -0.0681769 -0.00426106 0.0553937 0.23 0 pose: 0.0 -4.68188 -2.17102 0 -0.003085 0.00143496 0.731488 0.681846 uwb: 0.0 1115.34 1462.61 -imu_odom_: 1691062548.431420358 0.536301 -0.296881 9.87608 -0.056459 0.00426106 0.0383495 0.23 0 pose: 0.50848411 -4.68622 -2.16201 0 -0.00630114 0.00528861 0.731599 0.681686 uwb: 0.50063019 1112.12 1463.47 -imu_odom_: 1691062548.457348522 0.620098 -0.557849 9.59117 -0.0617853 0.00319579 0.0553937 0.19 0 pose: 0.0 -4.68622 -2.16201 0 -0.00630114 0.00528861 0.731599 0.681686 uwb: 0.0 1112.12 1463.47 -imu_odom_: 1691062548.474339600 0.481235 -0.160412 10.0963 -0.0479369 -0.0106526 0.0308927 0.19 0 pose: 0.49023898 -4.69055 -2.15299 0 -0.00664726 0.003427 0.731724 0.68156 uwb: 0.0 1112.12 1463.47 -imu_odom_: 1691062548.491341177 0.639252 -0.378284 9.69412 -0.0777643 -0.0458064 0.0468716 0.19 0 pose: 0.0 -4.69055 -2.15299 0 -0.00664726 0.003427 0.731724 0.68156 uwb: 0.50044353 1112.62 1463.76 -imu_odom_: 1691062548.508353837 1.09415 -0.280122 9.69173 -0.0841559 -0.0596548 0.04048 0.16 -0.08 pose: 0.42988069 -4.68154 -2.14866 0 -0.00437286 0.000411464 0.731795 0.681511 uwb: 0.0 1112.62 1463.76 -imu_odom_: 1691062548.525406159 1.68552 -0.579397 9.67497 -0.0394148 0.00106526 -0.0990696 0.16 -0.08 pose: 0.0 -4.68154 -2.14866 0 -0.00437286 0.000411464 0.731795 0.681511 uwb: 0.49798208 1109.81 1464.56 -imu_odom_: 1691062548.542483855 1.75734 -0.0335188 10.1035 -0.0607201 0.0319579 -0.185356 0.19 -0.44 pose: 0.43029773 -4.68588 -2.13965 0 -0.00147456 -0.00355234 0.73101 0.682356 uwb: 0.0 1109.81 1464.56 -imu_odom_: 1691062548.558531762 1.21147 0.148441 9.62708 -0.0511327 -0.0415453 -0.255663 0.19 -0.44 pose: 0.0 -4.68588 -2.13965 0 -0.00147456 -0.00355234 0.73101 0.682356 uwb: 0.0 1109.81 1464.56 -imu_odom_: 1691062548.575522549 1.35512 0.141258 9.94791 -0.0490022 -0.0138484 -0.378169 0.19 -0.44 pose: 0.0 -4.68588 -2.13965 0 -0.00147456 -0.00355234 0.73101 0.682356 uwb: 0.50099474 1108.57 1464.75 -imu_odom_: 1691062548.592476880 1.34554 0.344765 10.1011 -0.0596548 -0.0170442 -0.427171 0.1 -0.44 pose: 0.7017788 -4.68588 -2.13965 0 -0.000982825-0.00385542 0.730469 0.682934 uwb: 0.0 1108.57 1464.75 -imu_odom_: 1691062548.607471083 0.948104 0.059855 10.0102 -0.0798948 0.0255663 -0.420779 0.1 -0.44 pose: 0.0 -4.68588 -2.13965 0 -0.000982825-0.00385542 0.730469 0.682934 uwb: 0.0 1108.57 1464.75 -imu_odom_: 1691062548.623469119 0.852336 -0.466869 9.72285 -0.0628506 0.0170442 -0.46339 0.1 -0.44 pose: 0.67057305 -4.69028 -2.13067 0 0.00558651 -0.00578232 0.721755 0.692101 uwb: 0.0 1108.57 1464.75 -imu_odom_: 1691062548.638529526 0.751779 -0.141258 10.0556 -0.0543285 0.00106526 -0.477238 0.1 -0.44 pose: 0.0 -4.69028 -2.13067 0 0.00558651 -0.00578232 0.721755 0.692101 uwb: 0.49965026 1102.85 1465.83 -imu_odom_: 1691062548.655494064 0.651223 -0.21069 10.0628 -0.0628506 0.0298274 -0.441019 0.08 -0.47 pose: 0.0 -4.69028 -2.13067 0 0.00558651 -0.00578232 0.721755 0.692101 uwb: 0.0 1102.85 1465.83 -imu_odom_: 1691062548.671499100 0.608127 -0.189142 9.77553 -0.0575243 0.0138484 -0.456998 0.08 -0.47 pose: 0.31008280 -4.69028 -2.13067 0 0.00690028 -0.00750406 0.716407 0.697608 uwb: 0.0 1102.85 1465.83 -imu_odom_: 1691062548.687311943 0.972046 -0.071826 9.79707 -0.0543285 0.00745685 -0.498544 0.07 -0.55 pose: 0.41009568 -4.68125 -2.12626 0 0.00846971 -0.00672628 0.709287 0.704837 uwb: 0.50117848 1101.93 1465.55 -imu_odom_: 1691062548.703307063 0.713472 0.023942 9.90721 -0.0692422 0.00426106 -0.527306 0.07 -0.55 pose: 0.0 -4.68125 -2.12626 0 0.00846971 -0.00672628 0.709287 0.704837 uwb: 0.0 1101.93 1465.55 -imu_odom_: 1691062548.720301349 0.610521 0.220267 10.1131 -0.0660464 -0.0319579 -0.543285 0.07 -0.55 pose: 0.0 -4.68125 -2.12626 0 0.00846971 -0.00672628 0.709287 0.704837 uwb: 0.0 1101.93 1465.55 -imu_odom_: 1691062548.736311926 0.933739 -0.241814 9.95988 -0.0660464 -0.0234358 -0.539024 0.06 -0.58 pose: 0.6822679 -4.68129 -2.12628 0 0.00906685 -0.00698421 0.707985 0.706134 uwb: 0.50001190 1103.2 1465.51 -imu_odom_: 1691062548.752309087 0.718261 -0.354342 9.82341 -0.0671117 -0.0181095 -0.514523 0.08 -0.7 pose: 0.0 -4.68129 -2.12628 0 0.00906685 -0.00698421 0.707985 0.706134 uwb: 0.0 1103.2 1465.51 -imu_odom_: 1691062548.768310623 0.873884 -0.380678 9.84017 -0.0692422 -0.0415453 -0.455933 0.08 -0.7 pose: 0.0 -4.68129 -2.12628 0 0.00906685 -0.00698421 0.707985 0.706134 uwb: 0.0 1103.2 1465.51 -imu_odom_: 1691062548.785313366 0.857124 -0.385466 9.90002 -0.0692422 0.00852212 -0.388822 0.06 -0.5 pose: 0.64996560 -4.68573 -2.11732 0 0.012635 -0.00768866 0.694772 0.719078 uwb: 0.49868493 1102.33 1465.42 -imu_odom_: 1691062548.801364773 0.531513 -0.342371 9.79228 -0.056459 0.00958738 -0.343015 0.06 -0.5 pose: 0.0 -4.68573 -2.11732 0 0.012635 -0.00768866 0.694772 0.719078 uwb: 0.0 1102.33 1465.42 -imu_odom_: 1691062548.818305689 0.509965 -0.105345 9.88326 -0.0596548 -0.0127832 -0.314253 0.06 -0.5 pose: 0.31994031 -4.68573 -2.11732 0 0.0119461 -0.0109743 0.689043 0.724539 uwb: 0.0 1102.33 1465.42 -imu_odom_: 1691062548.834389176 0.483629 -0.0885855 9.83777 -0.0607201 -0.0127832 -0.28123 0.04 -0.32 pose: 0.42993319 -4.68569 -2.1173 0 0.00979598 -0.00986624 0.683105 0.730188 uwb: 0.49988067 1099.47 1465.94 -imu_odom_: 1691062548.851482912 0.641646 -0.356736 10.0197 -0.0585895 -0.0117179 -0.245011 0.04 -0.32 pose: 0.8002080 -4.68573 -2.11732 0 0.00966069 -0.00910774 0.682168 0.731074 uwb: 0.0 1099.47 1465.94 -imu_odom_: 1691062548.868421786 0.663194 -0.347159 9.76595 -0.0585895 -0.00426106 -0.225836 0.04 -0.32 pose: 0.0 -4.68573 -2.11732 0 0.00966069 -0.00910774 0.682168 0.731074 uwb: 0.0 1099.47 1465.94 -imu_odom_: 1691062548.884289458 0.584185 -0.217872 9.95509 -0.056459 -0.00532632 -0.201335 0.03 -0.26 pose: 0.42114017 -4.68573 -2.11732 0 0.00717518 -0.0107815 0.677816 0.735118 uwb: 0.50077309 1100.63 1465.38 -imu_odom_: 1691062548.900441190 0.577003 -0.191536 9.87608 -0.0617853 0.00426106 -0.175769 0.03 -0.2 pose: 0.0 -4.68573 -2.11732 0 0.00717518 -0.0107815 0.677816 0.735118 uwb: 0.0 1100.63 1465.38 -imu_odom_: 1691062548.917471348 0.636858 -0.244209 9.83538 -0.0553937 -0.00532632 -0.162985 0.03 -0.2 pose: 0.0 -4.68573 -2.11732 0 0.00717518 -0.0107815 0.677816 0.735118 uwb: 0.0 1100.63 1465.38 -imu_odom_: 1691062548.934317188 0.656011 -0.208296 9.84496 -0.052198 -0.00319579 -0.160855 0.04 -0.23 pose: 0.22884585 -4.68573 -2.11732 0 0.00677285 -0.00853349 0.67586 0.736949 uwb: 0.50057186 1097.72 1465.71 -imu_odom_: 1691062548.950419632 0.586579 -0.21069 9.82102 -0.0628506 -0.00106526 -0.140615 0.04 -0.23 pose: 0.0 -4.68573 -2.11732 0 0.00677285 -0.00853349 0.67586 0.736949 uwb: 0.0 1097.72 1465.71 -imu_odom_: 1691062548.967354715 0.447716 -0.203507 9.97185 -0.0543285 -0.00319579 -0.135289 0.04 -0.23 pose: 0.34123311 -4.68573 -2.11732 0 0.00776341 -0.00931168 0.67326 0.739306 uwb: 0.0 1097.72 1465.71 -imu_odom_: 1691062548.984312837 0.624887 -0.244209 9.94073 -0.0585895 -0.0234358 -0.122505 0.02 -0.14 pose: 0.41925033 -4.69021 -2.10838 0 0.00649494 -0.00679458 0.670442 0.741903 uwb: 0.49863827 1096.45 1465.69 -imu_odom_: 1691062549.322539 0.787692 -0.25618 9.8665 -0.0607201 -0.0106526 -0.0990696 0.02 -0.14 pose: 0.8002372 -4.69021 -2.10838 0 0.00652698 -0.00765612 0.66996 0.742329 uwb: 0.0 1096.45 1465.69 -imu_odom_: 1691062549.27296537 0.68953 -0.208296 10.0102 -0.0511327 0.036219 -0.0841559 0.01 -0.14 pose: 0.24965452 -4.69021 -2.10838 0 0.00747421 -0.010006 0.668582 0.743533 uwb: 0.50055732 1094.78 1465.84 -imu_odom_: 1691062549.43343572 0.600945 -0.237026 9.84017 -0.0511327 0.015979 -0.0713727 0.01 -0.14 pose: 0.0 -4.69021 -2.10838 0 0.00747421 -0.010006 0.668582 0.743533 uwb: 0.0 1094.78 1465.84 -imu_odom_: 1691062549.60292366 0.663194 -0.23942 10.0556 -0.0628506 -0.0149137 -0.0447411 0.01 -0.02 pose: 0.0 -4.69021 -2.10838 0 0.00747421 -0.010006 0.668582 0.743533 uwb: 0.0 1094.78 1465.84 -imu_odom_: 1691062549.76402104 0.711078 -0.253785 9.85453 -0.0575243 -0.0106526 -0.0255663 0.01 -0.02 pose: 0.50090151 -4.69021 -2.10838 0 0.00802879 -0.0100131 0.666448 0.745441 uwb: 0.0 1094.78 1465.84 -imu_odom_: 1691062549.93435474 0.246603 -0.189142 9.68694 -0.0415453 0.0436758 0.0500674 0.02 0.14 pose: 0.0 -4.69021 -2.10838 0 0.00802879 -0.0100131 0.666448 0.745441 uwb: 0.0 1094.78 1465.84 -imu_odom_: 1691062549.110335855 -0.110133 -0.61531 10.0389 -0.056459 0.0234358 0.207727 0.02 0.14 pose: 0.0 -4.69021 -2.10838 0 0.00802879 -0.0100131 0.666448 0.745441 uwb: 0.0 1094.78 1465.84 -imu_odom_: 1691062549.126333603 0.146046 -0.842759 9.92636 -0.0617853 -0.0415453 0.285491 0.02 0.14 pose: 0.34035534 -4.69021 -2.10838 0 0.00804094 -0.0115602 0.665775 0.746019 uwb: 0.100046148 1094.71 1465.52 -imu_odom_: 1691062549.143334892 0.624887 -0.0981623 9.87369 -0.0340885 -0.02024 0.28336 0.01 0.2 pose: 0.41885379 -4.69016 -2.10836 0 0.0042454 -0.0101494 0.668381 0.743738 uwb: 0.0 1094.71 1465.52 -imu_odom_: 1691062549.159396509 0.61531 0.225055 9.97185 -0.0553937 0.00532632 0.315318 0.01 0.2 pose: 0.7074951 -4.69021 -2.10838 0 0.00490202 -0.00972753 0.669018 0.743167 uwb: 0.0 1094.71 1465.52 -imu_odom_: 1691062549.176333637 0.454898 -0.260968 9.83777 -0.0628506 0 0.309992 0.01 0.2 pose: 0.0 -4.69021 -2.10838 0 0.00490202 -0.00972753 0.669018 0.743167 uwb: 0.49853047 1092.65 1465.79 -imu_odom_: 1691062549.193283306 0.320823 -0.222661 9.89763 -0.0447411 0.00106526 0.287621 0.02 0.29 pose: 0.42925083 -4.69021 -2.10838 0 0.00543119 -0.00713505 0.67325 0.739361 uwb: 0.0 1092.65 1465.79 -imu_odom_: 1691062549.218388751 0.371101 -0.248997 9.91918 -0.0628506 -0.00426106 0.339819 0.02 0.29 pose: 0.0 -4.69021 -2.10838 0 0.00543119 -0.00713505 0.67325 0.739361 uwb: 0.0 1092.65 1465.79 -imu_odom_: 1691062549.233254927 0.287304 -0.222661 9.68455 -0.0490022 0.0181095 0.356864 0.02 0.29 pose: 0.23975624 -4.68124 -2.10397 0 0.00378839 -0.00533114 0.675595 0.737244 uwb: 0.49905251 1089.77 1466.18 -imu_odom_: 1691062549.249252383 -0.469264 -0.232238 9.67976 -0.0660464 0.0884169 0.376038 0.05 0.41 pose: 0.0 -4.68124 -2.10397 0 0.00378839 -0.00533114 0.675595 0.737244 uwb: 0.0 1089.77 1466.18 -imu_odom_: 1691062549.264322417 -0.952892 -0.301669 10.3262 -0.0458064 0.0490022 0.329167 0.05 0.41 pose: 0.0 -4.68124 -2.10397 0 0.00378839 -0.00533114 0.675595 0.737244 uwb: 0.0 1089.77 1466.18 -imu_odom_: 1691062549.281266544 -0.916979 0.117316 9.67736 -0.0575243 -0.0372843 0.273773 0.05 0.41 pose: 0.39952373 -4.68124 -2.10396 0 0.000600471 -0.00217669 0.680206 0.733017 uwb: 0.50122816 1089.31 1465.96 -imu_odom_: 1691062549.297482441 -0.158017 0.248997 9.94791 -0.0681769 -0.0585895 0.257794 0.06 0.26 pose: 0.31096654 -4.68124 -2.10396 0 -0.00188981 0.000688265 0.683514 0.729935 uwb: 0.0 1089.31 1465.96 -imu_odom_: 1691062549.314479355 0.316035 -0.292093 10.1083 -0.0490022 -0.0149137 0.231162 0.06 0.26 pose: 0.0 -4.68124 -2.10396 0 -0.00188981 0.000688265 0.683514 0.729935 uwb: 0.0 1089.31 1465.96 -imu_odom_: 1691062549.331422607 0.438139 -0.512359 10.0772 -0.0553937 0.0106526 0.206661 0.08 0.2 pose: 0.0 -4.68124 -2.10396 0 -0.00188981 0.000688265 0.683514 0.729935 uwb: 0.50089277 1086.37 1465.99 -imu_odom_: 1691062549.348342528 0.141258 -0.378284 10.0628 -0.0500674 -0.0266316 0.224771 0.08 0.2 pose: 0.43121067 -4.68349 -2.09915 0 -0.00339716 0.00180664 0.68683 0.726808 uwb: 0.0 1086.37 1465.99 -imu_odom_: 1691062549.364590214 0.0574608 -0.208296 9.52413 -0.0585895 -0.00532632 0.223706 0.08 0.2 pose: 0.0 -4.68349 -2.09915 0 -0.00339716 0.00180664 0.68683 0.726808 uwb: 0.0 1086.37 1465.99 -imu_odom_: 1691062549.381382979 0.426168 -0.263362 9.66779 -0.0330232 -0.015979 0.197074 0.12 0.17 pose: 0.7955128 -4.68562 -2.09498 0 -0.0037749 0.00113062 0.68731 0.726354 uwb: 0.50011991 1085.93 1465.88 -imu_odom_: 1691062549.398369977 0.402226 -0.117316 10.1011 -0.052198 -0.0213053 0.170442 0.12 0.17 pose: 0.0 -4.68562 -2.09498 0 -0.0037749 0.00113062 0.68731 0.726354 uwb: 0.0 1085.93 1465.88 -imu_odom_: 1691062549.413248693 0.292093 0.0143652 9.39724 -0.0468716 0.00213053 0.171508 0.12 0.17 pose: 0.0 -4.68562 -2.09498 0 -0.0037749 0.00113062 0.68731 0.726354 uwb: 0.0 1085.93 1465.88 -imu_odom_: 1691062549.428378222 0.169988 -0.229843 10.082 -0.052198 0.02024 0.178964 0.11 0.14 pose: 0.49115775 -4.68562 -2.09498 0 -0.00581803 0.00177597 0.690467 0.723339 uwb: 0.50126316 1082.62 1466.14 -imu_odom_: 1691062549.445258480 -0.0167594 -0.301669 9.91199 -0.0479369 0 0.171508 0.15 0.17 pose: 0.0 -4.68562 -2.09498 0 -0.00581803 0.00177597 0.690467 0.723339 uwb: 0.0 1082.62 1466.14 -imu_odom_: 1691062549.462276976 0.110133 -0.366313 9.96946 -0.0479369 0 0.151268 0.15 0.17 pose: 0.63832629 -4.69004 -2.08601 0 -0.0042102 0.00430082 0.693634 0.720302 uwb: 0.0 1082.62 1466.14 -imu_odom_: 1691062549.478253142 0.220267 -0.129287 10.2735 -0.0490022 -0.00426106 0.145941 0.12 0.14 pose: 0.0 -4.69004 -2.08601 0 -0.0042102 0.00430082 0.693634 0.720302 uwb: 0.49725307 1083.03 1466.1 -imu_odom_: 1691062549.494338966 0.703895 0.0143652 10.0437 -0.0436758 -0.076699 0.154463 0.12 0.14 pose: 0.0 -4.69004 -2.08601 0 -0.0042102 0.00430082 0.693634 0.720302 uwb: 0.0 1083.03 1466.1 -imu_odom_: 1691062549.511255970 1.25456 -0.071826 9.70131 -0.0607201 -0.0351537 0.169377 0.12 0.14 pose: 0.33887963 -4.68108 -2.08157 0 -0.00627206 0.00556519 0.695039 0.718923 uwb: 0.0 1083.03 1466.1 -imu_odom_: 1691062549.528250260 1.29526 -0.21069 9.76355 -0.0532632 0 0.185356 0.12 0.08 pose: 0.41985120 -4.68108 -2.08157 0 -0.00222926 0.00410749 0.696862 0.71719 uwb: 0.50091027 1080.91 1465.97 -imu_odom_: 1691062549.545369956 1.21147 -0.399832 9.52892 -0.052198 -0.0575243 0.176834 0.12 0.08 pose: 0.7059786 -4.68108 -2.08157 0 -0.00175098 0.00360817 0.697234 0.716832 uwb: 0.0 1080.91 1465.97 -imu_odom_: 1691062549.562362787 1.69988 -0.0981623 10.0963 -0.0447411 -0.0266316 0.153398 0.12 0.08 pose: 0.0 -4.68108 -2.08157 0 -0.00175098 0.00360817 0.697234 0.716832 uwb: 0.0 1080.91 1465.97 -imu_odom_: 1691062549.578287042 1.13485 -0.0023942 9.71328 -0.0607201 0.052198 0.148072 0.07 0.05 pose: 0.44047031 -4.68552 -2.07261 0 0.00161124 -7.26298e-050.699292 0.714834 uwb: 0.50027741 1081.69 1465.64 -imu_odom_: 1691062549.595356575 0.59855 -0.124498 9.95509 -0.0500674 0.0308927 0.109722 0.09 0.05 pose: 0.0 -4.68552 -2.07261 0 0.00161124 -7.26298e-050.699292 0.714834 uwb: 0.0 1081.69 1465.64 -imu_odom_: 1691062549.612358156 0.392649 -0.143652 9.81383 -0.0500674 -0.00958738 0.052198 0.09 0.05 pose: 0.0 -4.68552 -2.07261 0 0.00161124 -7.26298e-050.699292 0.714834 uwb: 0.0 1081.69 1465.64 -imu_odom_: 1691062549.627371902 0.766145 0.153229 9.9934 -0.0511327 -0.0223706 0.0426106 0.06 0.11 pose: 0.22931836 -4.68552 -2.07261 0 0.00320907 -0.0007716040.700084 0.714053 uwb: 0.50010825 1080.85 1465.6 -imu_odom_: 1691062549.643294990 0.672771 -0.337582 9.73243 -0.0671117 0.00532632 0.0681769 0.06 0.11 pose: 0.0 -4.68552 -2.07261 0 0.00320907 -0.0007716040.700084 0.714053 uwb: 0.0 1080.85 1465.6 -imu_odom_: 1691062549.659255408 0.612916 -0.435745 9.90242 -0.0553937 0.00745685 0.0585895 0.06 0.11 pose: 0.0 -4.68552 -2.07261 0 0.00320907 -0.0007716040.700084 0.714053 uwb: 0.0 1080.85 1465.6 -imu_odom_: 1691062549.676515675 0.536301 -0.11971 9.73004 -0.0490022 0.00745685 0.0809601 0.04 0.05 pose: 0.73960785 -4.68548 -2.07259 0 0.00428475 -0.00262423 0.700703 0.713436 uwb: 0.50009659 1082.48 1465.31 -imu_odom_: 1691062549.693390100 0.533907 -0.25618 10.0748 -0.0596548 0.00426106 0.122505 0.04 0.05 pose: 0.7139404 -4.68552 -2.07261 0 0.00496014 -0.00238689 0.700805 0.713332 uwb: 0.0 1082.48 1465.31 -imu_odom_: 1691062549.720386263 0.701501 -0.0885855 9.85453 -0.0511327 -0.0106526 0.103331 0.05 0.05 pose: 0.26995288 -4.68782 -2.06784 0 0.00488704 -0.0034213 0.701456 0.712688 uwb: 0.0 1082.48 1465.31 -imu_odom_: 1691062549.745340346 -0.102951 -0.215478 9.56962 -0.0639159 0.076699 0.117179 0.03 0.08 pose: 0.0 -4.68782 -2.06784 0 0.00488704 -0.0034213 0.701456 0.712688 uwb: 0.49866462 1083.7 1465.14 -imu_odom_: 1691062549.762341927 -1.06063 -0.337582 10.2615 -0.0639159 0.0735032 0.118244 0.06 0.05 pose: 0.0 -4.68782 -2.06784 0 0.00488704 -0.0034213 0.701456 0.712688 uwb: 0.0 1083.7 1465.14 -imu_odom_: 1691062549.788342132 -0.718261 -0.222661 9.69173 -0.0575243 -0.0713727 0.0958738 0.06 0.05 pose: 0.51950246 -4.68089 -2.05924 0 0.00491996 -0.00189477 0.702755 0.711413 uwb: 0.50007034 1082.94 1465.56 -imu_odom_: 1691062549.814288966 0.543484 -0.215478 9.25359 -0.0553937 -0.0458064 0.0948085 0.11 0.05 pose: 0.24925211 -4.68089 -2.05924 0 0.00268811 -5.68813e-050.703394 0.710796 uwb: 0.0 1082.94 1465.56 -imu_odom_: 1691062549.840250090 0.11971 -0.31364 9.75158 -0.0490022 0.00852212 0.0830906 0.1 0.02 pose: 0.44023409 -4.68085 -2.05922 0 0.0034599 -0.00190337 0.704261 0.70993 uwb: 0.49881628 1080.53 1466.15 -imu_odom_: 1691062549.866288208 -0.332794 -0.167594 10.0078 -0.0351537 -0.0351537 0.0873517 0.13 0.05 pose: 0.7004957 -4.68089 -2.05924 0 0.00281722 -0.00154331 0.704371 0.709825 uwb: 0.0 1080.53 1466.15 -imu_odom_: 1691062549.891330660 0.744597 -0.280122 10.1323 -0.0372843 -0.0127832 0.0788296 0.11 0.05 pose: 0.44994285 -4.68407 -2.05265 0 -0.0001880020.00127226 0.705108 0.709099 uwb: 0.49995368 1082.51 1465.5 -imu_odom_: 1691062549.909349489 0.399832 0 9.5792 -0.0372843 0.0276969 0.0798948 0.11 0.05 pose: 0.0 -4.68407 -2.05265 0 -0.0001880020.00127226 0.705108 0.709099 uwb: 0.0 1082.51 1465.5 -imu_odom_: 1691062549.926277576 0.0287304 -0.268151 9.50498 -0.052198 -0.00319579 0.106526 0.11 0.05 pose: 0.43061281 -4.68524 -2.05023 0 0.00236688 0.00100952 0.705711 0.708496 uwb: 0.50113775 1079.64 1465.88 -imu_odom_: 1691062549.949251991 0.464475 -0.0957681 9.56962 -0.0372843 -0.0372843 0.0798948 0.12 0.05 pose: 0.0 -4.68524 -2.05023 0 0.00236688 0.00100952 0.705711 0.708496 uwb: 0.0 1079.64 1465.88 -imu_odom_: 1691062549.974249529 0.361524 -0.167594 9.99819 -0.0436758 0.0340885 0.0916127 0.12 0.05 pose: 0.39902502 -4.68197 -2.04074 0 0.0036419 0.00187683 0.706436 0.707765 uwb: 0.50040572 1077.62 1466.29 -imu_odom_: 1691062550.247984 -0.0981623 -0.399832 10.1011 -0.0436758 0.0266316 0.0692422 0.17 0.02 pose: 0.0 -4.68197 -2.04074 0 0.0036419 0.00187683 0.706436 0.707765 uwb: 0.0 1077.62 1466.29 -imu_odom_: 1691062550.26212905 0.52433 -0.158017 9.93354 -0.0607201 0.0213053 0.104396 0.14 0.02 pose: 0.50995993 -4.68065 -2.03686 0 -0.00159066 0.00437033 0.707158 0.707041 uwb: 0.50055743 1075.64 1467.02 -imu_odom_: 1691062550.52474426 0.562637 -0.272939 9.97664 -0.0671117 0.00106526 0.0852212 0.14 0.02 pose: 0.0 -4.68065 -2.03686 0 -0.00159066 0.00437033 0.707158 0.707041 uwb: 0.0 1075.64 1467.02 -imu_odom_: 1691062550.77210950 0.442927 -0.124498 10.0628 -0.0543285 0.00319579 0.0820254 0.15 0.05 pose: 0.33022083 -4.68507 -2.02789 0 0.000298999 0.00220193 0.707878 0.706332 uwb: 0.49865890 1074.85 1467.27 -imu_odom_: 1691062550.103349690 -0.0670376 -0.162806 9.68455 -0.0575243 0.00426106 0.0745685 0.15 0.05 pose: 0.26120950 -4.68507 -2.02789 0 0.00141619 0.000599311 0.708293 0.705917 uwb: 0.0 1074.85 1467.27 -imu_odom_: 1691062550.120262324 0.433351 -0.0311246 10.3358 -0.0479369 -0.0255663 0.0681769 0.15 0.05 pose: 0.0 -4.68507 -2.02789 0 0.00141619 0.000599311 0.708293 0.705917 uwb: 0.0 1074.85 1467.27 -imu_odom_: 1691062550.146249701 0.538695 0 9.87848 -0.0617853 -0.0287621 0.0745685 0.15 0.05 pose: 0.25829891 -4.68507 -2.02789 0 0.00243752 0.00186446 0.708655 0.705548 uwb: 0.49953674 1072.78 1467.4 -imu_odom_: 1691062550.172192749 -0.00718261-0.184354 9.80186 -0.0671117 -0.0330232 0.072438 0.16 0.02 pose: 0.0 -4.68507 -2.02789 0 0.00243752 0.00186446 0.708655 0.705548 uwb: 0.0 1072.78 1467.4 -imu_odom_: 1691062550.189208333 0.610521 -0.0263362 10.3597 -0.0649811 0.00213053 0.0703074 0.16 0.02 pose: 0.42019251 -4.68044 -2.01453 0 0.00358306 0.00350131 0.70913 0.70506 uwb: 0.49916635 1071.16 1467.75 -imu_odom_: 1691062550.215188419 0.663194 -0.0191536 10.2975 -0.0639159 0.00213053 0.0500674 0.16 0.02 pose: 0.0 -4.68044 -2.01453 0 0.00358306 0.00350131 0.70913 0.70506 uwb: 0.0 1071.16 1467.75 -imu_odom_: 1691062550.241196212 0.622492 -0.0670376 9.94551 -0.0713727 -0.0181095 0.0617853 0.21 0.02 pose: 0.52150033 -4.68483 -2.00554 0 0.0042045 0.00388819 0.709735 0.704445 uwb: 0.50000628 1072.79 1467.47 -imu_odom_: 1691062550.267184173 0.533907 -0.23942 9.34217 -0.0639159 -0.00958738 0.052198 0.17 0.02 pose: 0.0 -4.68483 -2.00554 0 0.0042045 0.00388819 0.709735 0.704445 uwb: 0.0 1072.79 1467.47 -imu_odom_: 1691062550.284198007 0.234632 -0.0885855 10.2951 -0.056459 -0.00319579 0.052198 0.17 0.02 pose: 0.42807852 -4.68483 -2.00554 0 0.00774791 0.00171844 0.709998 0.704159 uwb: 0.50135950 1073.21 1467.5 -imu_odom_: 1691062550.310257420 0.110133 -0.296881 9.80665 -0.0543285 0.0308927 0.052198 0.2 0.02 pose: 0.0 -4.68483 -2.00554 0 0.00774791 0.00171844 0.709998 0.704159 uwb: 0.0 1073.21 1467.5 -imu_odom_: 1691062550.336333749 -0.205901 -0.102951 10.0628 -0.0383495 0.0585895 0.0458064 0.21 0 pose: 0.52019377 -4.68025 -1.99216 0 0.00711898 -0.00124452 0.710314 0.703848 uwb: 0.50129243 1071.62 1467.99 -imu_odom_: 1691062550.361274422 0.418985 -0.143652 10.6398 -0.0543285 0.00213053 0.0532632 0.21 0 pose: 0.62116328 -4.68466 -1.98318 0 0.00162777 0.00354963 0.710534 0.703652 uwb: 0.0 1071.62 1467.99 -imu_odom_: 1691062550.387286589 0.153229 0.011971 9.61272 -0.0468716 0.00852212 0.0490022 0.2 0 pose: 0.0 -4.68466 -1.98318 0 0.00162777 0.00354963 0.710534 0.703652 uwb: 0.49959215 1069.59 1468.43 -imu_odom_: 1691062550.404226929 0.318429 -0.390255 10.1083 -0.0617853 -0.0170442 0.0553937 0.2 0 pose: 0.8003250 -4.68466 -1.98318 0 0.00209803 0.00293237 0.710576 0.703611 uwb: 0.0 1069.59 1468.43 -imu_odom_: 1691062550.429230888 0.76375 -0.114922 9.73722 -0.052198 -0.0330232 0.052198 0.23 0 pose: 0.0 -4.68466 -1.98318 0 0.00209803 0.00293237 0.710576 0.703611 uwb: 0.49986630 1070.08 1468.88 -imu_odom_: 1691062550.451159188 0.363919 -0.155623 10.2807 -0.0681769 0.0223706 0.0703074 0.23 0 pose: 0.49860932 -4.6801 -1.96979 0 0.00185532 0.00392136 0.710777 0.703404 uwb: 0.0 1070.08 1468.88 -imu_odom_: 1691062550.477162022 0.486023 -0.198719 9.89763 -0.04048 0.0319579 0.0319579 0.18 0.02 pose: 0.0 -4.6801 -1.96979 0 0.00185532 0.00392136 0.710777 0.703404 uwb: 0.49960964 1069.24 1468.89 -imu_odom_: 1691062550.494164482 0.177171 -0.0454898 9.991 -0.0596548 -0.0234358 0.0585895 0.18 0.02 pose: 0.41051581 -4.68453 -1.96082 0 0.00270311 0.00189566 0.711013 0.703171 uwb: 0.0 1069.24 1468.89 -imu_odom_: 1691062550.520158276 0.411803 0.0263362 10.5082 -0.0585895 -0.0553937 0.0394148 0.19 0 pose: 0.0 -4.68453 -1.96082 0 0.00270311 0.00189566 0.711013 0.703171 uwb: 0.0 1069.24 1468.89 -imu_odom_: 1691062550.546167818 0.464475 -0.131681 10.4674 -0.0617853 -0.0308927 0.0585895 0.19 0 pose: 0.48918635 -4.68896 -1.95186 0 0.00189004 0.00161737 0.711165 0.703021 uwb: 0.49932968 1068.84 1469.04 -imu_odom_: 1691062550.571157779 0.713472 -0.1652 10.0365 -0.0426106 0.0127832 0.0340885 0.18 0.02 pose: 0.0 -4.68896 -1.95186 0 0.00189004 0.00161737 0.711165 0.703021 uwb: 0.0 1068.84 1469.04 -imu_odom_: 1691062550.588154697 0.354342 -0.237026 9.96706 -0.0543285 -0.0255663 0.0617853 0.18 0.02 pose: 0.43049041 -4.67999 -1.94743 0 0.00435755 0.0028591 0.71127 0.702899 uwb: 0.49980505 1069.26 1469.05 -imu_odom_: 1691062550.606170614 0.260968 -0.402226 9.84017 -0.0170442 0.0276969 0.0330232 0.19 0 pose: 0.0 -4.67999 -1.94743 0 0.00435755 0.0028591 0.71127 0.702899 uwb: 0.0 1069.26 1469.05 -imu_odom_: 1691062550.630159949 0.47884 0.035913 9.9503 -0.0490022 0.00639159 0.0639159 0.19 0 pose: 0.51962215 -4.68443 -1.93846 0 0.00579193 -0.0007891610.711423 0.70274 uwb: 0.50130992 1068.46 1469.26 -imu_odom_: 1691062550.656218488 0.509965 -0.241814 10.1131 -0.056459 -0.0223706 0.0468716 0.18 0 pose: 0.0 -4.68443 -1.93846 0 0.00579193 -0.0007891610.711423 0.70274 uwb: 0.0 1068.46 1469.26 -imu_odom_: 1691062550.672218281 0.158017 -0.272939 9.56244 -0.0532632 0.0468716 0.0628506 0.18 0 pose: 0.77039085 -4.6799 -1.92506 0 0.00432237 -0.00132913 0.711734 0.702435 uwb: 0.0 1068.46 1469.26 -imu_odom_: 1691062550.699148247 0.162806 -0.263362 9.85214 -0.0511327 0.0340885 0.0394148 0.18 -0.02 pose: 0.6943130 -4.6799 -1.92506 0 0.00358536 -0.0008767330.711793 0.70238 uwb: 0.49993046 1069.7 1469.22 -imu_odom_: 1691062550.724144915 0.270545 -0.323217 9.71806 -0.0830906 0.0319579 0.0607201 0.2 0 pose: 0.35986629 -4.68435 -1.91611 0 -7.0166e-05 0.00140578 0.711868 0.702312 uwb: 0.49742233 1066.42 1469.65 -imu_odom_: 1691062550.741208328 -0.0981623 -0.371101 9.83299 -0.0745685 0.0223706 0.0532632 0.2 0 pose: 0.0 -4.68435 -1.91611 0 -7.0166e-05 0.00140578 0.711868 0.702312 uwb: 0.0 1066.42 1469.65 -imu_odom_: 1691062550.766143168 0.342371 -0.0047884 10.5896 -0.0511327 -0.0138484 0.0372843 0.18 0 pose: 0.42060081 -4.68382 -1.90467 0 -0.00491802 0.00215425 0.712125 0.702032 uwb: 0.0 1066.42 1469.65 -imu_odom_: 1691062550.793167626 0.507571 -0.0622492 10.137 -0.0639159 -0.00745685 0.04048 0.18 0 pose: 0.0 -4.68382 -1.90467 0 -0.00491802 0.00215425 0.712125 0.702032 uwb: 0.50005003 1067.61 1469.22 -imu_odom_: 1691062550.818161087 0.107739 -0.122104 10.2927 -0.0575243 -0.0213053 0.0490022 0.2 0 pose: 0.51959298 -4.68303 -1.8963 0 -0.0001393450.00303249 0.712134 0.702037 uwb: 0.0 1067.61 1469.22 -imu_odom_: 1691062550.845315034 0.486023 -0.294487 9.83299 -0.0543285 0.0245011 0.0351537 0.2 0 pose: 0.0 -4.68303 -1.8963 0 -0.0001393450.00303249 0.712134 0.702037 uwb: 0.0 1067.61 1469.22 -imu_odom_: 1691062550.861459190 0.500388 -0.102951 9.95748 -0.0511327 -0.0117179 0.0383495 0.2 -0.02 pose: 0.32038666 -4.68431 -1.89375 0 -0.00137236 0.00431162 0.712199 0.701963 uwb: 0.0 1067.61 1469.22 -imu_odom_: 1691062550.888150009 1.02951 -0.205901 10.1418 -0.0415453 -0.0234358 0.04048 0.2 -0.02 pose: 0.36252898 -4.68876 -1.88479 0 0.000359212 0.00215968 0.712168 0.702006 uwb: 0.100115580 1067.59 1469.06 -imu_odom_: 1691062550.913152802 0.881066 -0.138864 10.058 -0.056459 -0.00958738 0.04048 0.19 0 pose: 0.0 -4.68876 -1.88479 0 0.000359212 0.00215968 0.712168 0.702006 uwb: 0.0 1067.59 1469.06 -imu_odom_: 1691062550.940220715 0.395043 -0.407014 9.31105 -0.0607201 0.00639159 0.052198 0.23 -0.02 pose: 0.6688526 -4.68876 -1.88479 0 0.000894274 0.00165806 0.712171 0.702003 uwb: 0.49901470 1067.19 1469.23 -imu_odom_: 1691062550.956138848 -0.172383 -0.356736 9.98382 -0.0479369 -0.00106526 0.04048 0.19 0 pose: 0.0 -4.68876 -1.88479 0 0.000894274 0.00165806 0.712171 0.702003 uwb: 0.0 1067.19 1469.23 -imu_odom_: 1691062550.983123059 0.203507 -0.0263362 10.1562 -0.0479369 0.00639159 0.04048 0.19 0 pose: 0.52124952 -4.68427 -1.87138 0 0.00377506 -0.00178295 0.712219 0.701945 uwb: 0.50012586 1064.33 1469.71 -imu_odom_: 1691062551.8244552 0.842759 -0.23942 10.0293 -0.0671117 0.0127832 0.0436758 0.23 0 pose: 0.0 -4.68427 -1.87138 0 0.00377506 -0.00178295 0.712219 0.701945 uwb: 0.0 1064.33 1469.71 -imu_odom_: 1691062551.35129611 0.395043 -0.0550666 10.252 -0.036219 0.0298274 0.04048 0.23 0 pose: 0.42899719 -4.68873 -1.86243 0 0.000482727 -0.0009167990.712326 0.701848 uwb: 0.50013465 1063.92 1469.69 -imu_odom_: 1691062551.61196904 0.21069 -0.320823 9.85932 -0.0372843 -0.0245011 0.0266316 0.23 0 pose: 0.51947344 -4.67978 -1.85797 0 0.00196157 4.19056e-05 0.71237 0.701801 uwb: 0.0 1063.92 1469.69 -imu_odom_: 1691062551.87117501 0.634463 -0.462081 10.0604 -0.0458064 -0.0287621 0.0628506 0.25 0.02 pose: 0.0 -4.67978 -1.85797 0 0.00196157 4.19056e-05 0.71237 0.701801 uwb: 0.50000638 1065.55 1469.4 -imu_odom_: 1691062551.112390069 0.543484 -0.126893 9.98861 -0.036219 -0.015979 0.0394148 0.25 0.02 pose: 0.53139878 -4.68424 -1.84902 0 0.000606627 0.00158487 0.712309 0.701864 uwb: 0.0 1065.55 1469.4 -imu_odom_: 1691062551.129279082 0.586579 0.023942 9.82341 -0.0426106 -0.0383495 0.0500674 0.19 0 pose: 0.0 -4.68424 -1.84902 0 0.000606627 0.00158487 0.712309 0.701864 uwb: 0.50112046 1067.6 1469.15 -imu_odom_: 1691062551.155179265 0.509965 -0.0383072 9.77792 -0.0426106 -0.0308927 0.0340885 0.19 0 pose: 0.61019473 -4.68223 -1.83066 0 0.00541559 -0.0005247180.712512 0.701639 uwb: 0.0 1067.6 1469.15 -imu_odom_: 1691062551.182114194 0.579397 -0.263362 9.77313 -0.0703074 -0.0191748 0.0681769 0.25 0 pose: 0.8053998 -4.68422 -1.82666 0 0.00620731 -0.0001293990.712491 0.701653 uwb: 0.49995973 1065.99 1469.62 -imu_odom_: 1691062551.207186112 0.263362 -0.366313 9.77553 -0.0596548 0.0127832 0.04048 0.18 0 pose: 0.44781114 -4.68422 -1.82666 0 0.00704914 -0.00207524 0.712729 0.701401 uwb: 0.0 1065.99 1469.62 -imu_odom_: 1691062551.234109667 0.919373 -0.131681 9.89045 -0.0596548 -0.0468716 0.0394148 0.23 0 pose: 0.0 -4.68422 -1.82666 0 0.00704914 -0.00207524 0.712729 0.701401 uwb: 0.49678665 1065.18 1469.76 -imu_odom_: 1691062551.250173333 0.76375 -0.011971 10.1394 -0.0553937 0.0170442 0.0426106 0.23 0 pose: 0.32075419 -4.68869 -1.81772 0 0.00500501 -0.00229421 0.712748 0.701398 uwb: 0.0 1065.18 1469.76 -imu_odom_: 1691062551.277168049 0.56982 -0.205901 10.422 -0.0713727 0.00532632 0.0607201 0.19 0 pose: 0.0 -4.68869 -1.81772 0 0.00500501 -0.00229421 0.712748 0.701398 uwb: 0.50134211 1065.2 1469.94 -imu_odom_: 1691062551.302330084 0.536301 -0.0837971 10.0006 -0.0692422 0.00213053 0.0436758 0.19 0 pose: 0.42948141 -4.68422 -1.8043 0 0.00766706 -0.00432045 0.712801 0.701311 uwb: 0.0 1065.2 1469.94 -imu_odom_: 1691062551.319257012 0.430956 -0.287304 9.68215 -0.0692422 0.00958738 0.0447411 0.19 0 pose: 0.0 -4.68422 -1.8043 0 0.00766706 -0.00432045 0.712801 0.701311 uwb: 0.0 1065.2 1469.94 -imu_odom_: 1691062551.344095615 0.440533 -0.158017 9.81862 -0.0585895 -0.00958738 0.0436758 0.18 0.02 pose: 0.52168709 -4.68422 -1.8043 0 0.00625141 -0.00345255 0.713004 0.701123 uwb: 0.0 1065.2 1469.94 -imu_odom_: 1691062551.370098164 0.565032 -0.268151 9.84496 -0.072438 0.0276969 0.0436758 0.18 0.02 pose: 0.0 -4.68422 -1.8043 0 0.00625141 -0.00345255 0.713004 0.701123 uwb: 0.0 1065.2 1469.94 -imu_odom_: 1691062551.395081714 0.553061 -0.280122 9.44273 -0.0596548 0.0138484 0.0436758 0.19 0 pose: 0.34789152 -4.6887 -1.79536 0 0.0042292 -0.00126501 0.713065 0.701084 uwb: 0.100139808 1065.62 1469.93 -imu_odom_: 1691062551.419135799 0.40462 -0.497994 9.59835 -0.0500674 0.04048 0.0330232 0.19 0 pose: 0.7030625 -4.6887 -1.79536 0 0.00408286 -0.00193182 0.713077 0.701071 uwb: 0.0 1065.62 1469.93 -imu_odom_: 1691062551.434078100 0.0430956 -0.325611 9.97424 -0.0340885 0.0149137 0.0372843 0.18 0 pose: 0.0 -4.6887 -1.79536 0 0.00408286 -0.00193182 0.713077 0.701071 uwb: 0.49823028 1068.12 1469.79 -imu_odom_: 1691062551.458143268 0.344765 -0.191536 10.3142 -0.0532632 0.0138484 0.0458064 0.18 0 pose: 0.50978807 -4.68424 -1.78194 0 0.0024871 -0.00620283 0.713131 0.700999 uwb: 0.0 1068.12 1469.79 -imu_odom_: 1691062551.485079364 0.703895 -0.474052 9.91199 -0.0511327 0.00639159 0.0436758 0.23 0 pose: 0.0 -4.68424 -1.78194 0 0.0024871 -0.00620283 0.713131 0.700999 uwb: 0.50123421 1072.26 1469.46 -imu_odom_: 1691062551.501079743 -0.047884 -0.306458 9.81862 -0.056459 0.0276969 0.04048 0.23 0 pose: 0.39040133 -4.68872 -1.773 0 -0.000596583-0.00450151 0.713117 0.70103 uwb: 0.0 1072.26 1469.46 -imu_odom_: 1691062551.518148409 0.687136 0.011971 10.5919 -0.0532632 -0.0553937 0.0415453 0.25 0 pose: 0.0 -4.68872 -1.773 0 -0.000596583-0.00450151 0.713117 0.70103 uwb: 0.0 1072.26 1469.46 -imu_odom_: 1691062551.544089421 0.893037 -0.155623 10.3669 -0.0617853 -0.0234358 0.056459 0.25 0 pose: 0.51942102 -4.68427 -1.75958 0 -0.00121039 -0.0045813 0.713195 0.70095 uwb: 0.49950476 1074.72 1469.09 -imu_odom_: 1691062551.571140716 0.826 -0.213084 10.0389 -0.0671117 -0.0117179 0.0426106 0.25 0 pose: 0.0 -4.68427 -1.75958 0 -0.00121039 -0.0045813 0.713195 0.70095 uwb: 0.0 1074.72 1469.09 -imu_odom_: 1691062551.596063312 0.885855 -0.260968 9.89524 -0.0628506 -0.015979 0.0447411 0.25 0 pose: 0.33101417 -4.68427 -1.75958 0 0.000870639 -0.00451717 0.713254 0.70089 uwb: 0.50004138 1075.53 1468.92 -imu_odom_: 1691062551.623061820 0.73502 -0.25618 9.93354 -0.0735032 -0.0149137 0.0458064 0.23 -0.02 pose: 0.0 -4.68427 -1.75958 0 0.000870639 -0.00451717 0.713254 0.70089 uwb: 0.0 1075.53 1468.92 -imu_odom_: 1691062551.648115947 0.521936 -0.423774 9.93833 -0.056459 -0.0383495 0.0276969 0.18 -0.02 pose: 0.53097007 -4.68875 -1.75064 0 0.00523788 -0.00797897 0.713367 0.700725 uwb: 0.49934728 1068.61 1469.81 -imu_odom_: 1691062551.675074792 0.804452 -0.258574 10.1011 -0.0500674 -0.00958738 0.0458064 0.18 -0.02 pose: 0.51787532 -4.6843 -1.73722 0 0.0075867 -0.0115884 0.713386 0.700635 uwb: 0.49974974 1066.51 1469.81 -imu_odom_: 1691062551.700191914 0.56982 0.0287304 10.4986 -0.0330232 0.0117179 0.036219 0.19 0 pose: 0.0 -4.6843 -1.73722 0 0.0075867 -0.0115884 0.713386 0.700635 uwb: 0.0 1066.51 1469.81 -imu_odom_: 1691062551.727071431 0.442927 -0.418985 9.4954 -0.0735032 0.052198 0.0436758 0.19 0 pose: 0.69118676 -4.68879 -1.72828 0 0.00939364 -0.0104577 0.713324 0.700693 uwb: 0.50007638 1064.42 1469.91 -imu_odom_: 1691062551.752117393 0.493206 -0.418985 9.67736 -0.056459 0.0372843 0.056459 0.2 0 pose: 0.7891261 -4.68879 -1.72828 0 0.00839791 -0.010292 0.713348 0.700684 uwb: 0.0 1064.42 1469.91 -imu_odom_: 1691062551.769056569 0.847547 -0.217872 9.86172 -0.0639159 -0.0447411 0.0394148 0.2 0 pose: 0.0 -4.68879 -1.72828 0 0.00839791 -0.010292 0.713348 0.700684 uwb: 0.0 1064.42 1469.91 -imu_odom_: 1691062551.794061409 0.191536 0.0335188 9.30866 -0.0713727 -0.00532632 0.0436758 0.22 0 pose: 0.44034218 -4.68435 -1.71486 0 0.00312755 -0.00979355 0.713576 0.700502 uwb: 0.50054593 1061.95 1470.12 -imu_odom_: 1691062551.821057875 0.380678 -0.0742203 9.73243 -0.0798948 -0.0426106 0.0490022 0.23 0 pose: 0.41944016 -4.68884 -1.70592 0 0.00440394 -0.00849176 0.713601 0.700488 uwb: 0.0 1061.95 1470.12 -imu_odom_: 1691062551.838050713 0.794875 -0.483629 9.48343 -0.0777643 0.0191748 0.0372843 0.23 0 pose: 0.0 -4.68884 -1.70592 0 0.00440394 -0.00849176 0.713601 0.700488 uwb: 0.50109713 1063.99 1469.78 -imu_odom_: 1691062551.863115632 0.481235 -0.143652 9.72285 -0.0372843 -0.00852212 0.036219 0.23 0 pose: 0.43989304 -4.68636 -1.69841 0 0.00427447 -0.00808389 0.713674 0.700419 uwb: 0.0 1063.99 1469.78 -imu_odom_: 1691062551.886058851 0.126893 -0.25618 9.95748 -0.0447411 -0.02024 0.0500674 0.27 0 pose: 0.0 -4.68636 -1.69841 0 0.00427447 -0.00808389 0.713674 0.700419 uwb: 0.49971183 1059.44 1470.14 -imu_odom_: 1691062551.911063399 0.215478 -0.143652 9.64624 -0.0426106 -0.00852212 0.0266316 0.19 0 pose: 0.48008138 -4.68744 -1.68647 0 0.00331565 -0.00404194 0.713743 0.700389 uwb: 0.0 1059.44 1470.14 -imu_odom_: 1691062551.928050405 0.61531 -0.311246 9.69652 -0.052198 -0.0117179 0.0468716 0.19 0 pose: 0.0 -4.68744 -1.68647 0 0.00331565 -0.00404194 0.713743 0.700389 uwb: 0.49877273 1060.71 1470.24 -imu_odom_: 1691062551.954037205 0.263362 -0.215478 9.40203 -0.0394148 0.02024 0.0340885 0.18 -0.02 pose: 0.41991554 -4.6889 -1.68356 0 0.00266475 -0.00347486 0.713677 0.700461 uwb: 0.0 1060.71 1470.24 -imu_odom_: 1691062551.981049420 0.229843 -0.521936 9.28232 -0.0585895 0.0266316 0.0532632 0.18 -0.02 pose: 0.8069746 -4.6889 -1.68356 0 0.00209091 -0.00276728 0.713664 0.700479 uwb: 0.49980516 1059.46 1470.25 -imu_odom_: 1691062552.6046386 0.385466 -0.167594 9.75398 -0.0436758 -0.0266316 0.0383495 0.2 0 pose: 0.17917054 -4.68572 -1.67394 0 0.000816821 -0.00119625 0.713634 0.700517 uwb: 0.0 1059.46 1470.25 -imu_odom_: 1691062552.32057106 0.0143652 -0.378284 9.87608 -0.0479369 -0.0127832 0.0394148 0.2 0 pose: 0.35054838 -4.68446 -1.67014 0 -0.00154337 -0.0009114810.713763 0.700385 uwb: 0.50296952 1062.76 1469.9 -imu_odom_: 1691062552.57121154 0.280122 -0.023942 9.99579 -0.0468716 0.0170442 0.0394148 0.17 -0.02 pose: 0.0 -4.68446 -1.67014 0 -0.00154337 -0.0009114810.713763 0.700385 uwb: 0.0 1062.76 1469.9 -imu_odom_: 1691062552.74044002 0.325611 -0.0861913 10.228 -0.072438 -0.00426106 0.0575243 0.17 -0.02 pose: 0.23994593 -4.68896 -1.6612 0 -0.0008766260.000584713 0.713757 0.700393 uwb: 0.49693549 1063.56 1469.67 -imu_odom_: 1691062552.99039223 0.277727 -0.186748 9.84256 -0.056459 0.0340885 0.0213053 0.21 0.02 pose: 0.51033355 -4.68896 -1.6612 0 -0.001118 0.00424511 0.713798 0.700338 uwb: 0.0 1063.56 1469.67 -imu_odom_: 1691062552.126031903 0.667982 -0.320823 9.73482 -0.0319579 -0.0394148 0.0245011 0.23 0 pose: 0.34919232 -4.68453 -1.64777 0 -0.00329404 0.00572844 0.713687 0.700433 uwb: 0.50138888 1062.75 1469.85 -imu_odom_: 1691062552.142194731 0.565032 -0.0383072 10.07 -0.0298274 -0.00852212 0.0330232 0.23 0 pose: 0.0 -4.68453 -1.64777 0 -0.00329404 0.00572844 0.713687 0.700433 uwb: 0.0 1062.75 1469.85 -imu_odom_: 1691062552.169043923 0.385466 -0.229843 10.0269 -0.0511327 -0.00426106 0.0585895 0.26 -0.02 pose: 0.7065914 -4.68453 -1.64777 0 -0.0028422 0.00506264 0.713653 0.700476 uwb: 0.0 1062.75 1469.85 -imu_odom_: 1691062552.194076474 0.452504 -0.124498 9.38288 -0.0543285 0.0149137 0.052198 0.26 -0.02 pose: 0.0 -4.68453 -1.64777 0 -0.0028422 0.00506264 0.713653 0.700476 uwb: 0.49830621 1058.61 1470.12 -imu_odom_: 1691062552.221019867 0.392649 -0.395043 9.76595 -0.0479369 0.0585895 0.0351537 0.23 -0.02 pose: 0.43942943 -4.68903 -1.63884 0 -0.0001284350.00230781 0.713573 0.700577 uwb: 0.0 1058.61 1470.12 -imu_odom_: 1691062552.237101326 0.126893 0.153229 10.2831 -0.0479369 0.00745685 0.0553937 0.23 -0.02 pose: 0.0 -4.68903 -1.63884 0 -0.0001284350.00230781 0.713573 0.700577 uwb: 0.50012898 1057.8 1470.36 -imu_odom_: 1691062552.264019054 0.00957681 -0.320823 9.79468 -0.0607201 0.0490022 0.052198 0.23 0.02 pose: 0.51081185 -4.68459 -1.62541 0 0.000742885 0.000888422 0.7138 0.700348 uwb: 0.0 1057.8 1470.36 -imu_odom_: 1691062552.290174137 0.0694318 -0.222661 10.2185 -0.0500674 0.0170442 0.0617853 0.23 0.02 pose: 0.44108595 -4.68459 -1.62541 0 -0.0017694 0.00223656 0.713894 0.700248 uwb: 0.50184384 1058.26 1470.66 -imu_odom_: 1691062552.315091489 0.143652 -0.0885855 9.83538 -0.0468716 -0.0138484 0.0340885 0.24 0 pose: 0.0 -4.68459 -1.62541 0 -0.0017694 0.00223656 0.713894 0.700248 uwb: 0.0 1058.26 1470.66 -imu_odom_: 1691062552.338030047 0.373495 -0.232238 9.56723 -0.0660464 0.0138484 0.0585895 0.24 0 pose: 0.51823707 -4.68909 -1.61648 0 -0.00576919 0.00612172 0.714146 0.699946 uwb: 0.49996275 1057.44 1470.81 -imu_odom_: 1691062552.363016519 0.222661 -0.272939 9.37809 -0.0585895 -0.0319579 0.0426106 0.18 0.02 pose: 0.0 -4.68909 -1.61648 0 -0.00576919 0.00612172 0.714146 0.699946 uwb: 0.0 1057.44 1470.81 -imu_odom_: 1691062552.380065648 0.684742 -0.160412 10.2376 -0.0628506 -0.00639159 0.0458064 0.18 0.02 pose: 0.24124084 -4.6936 -1.60756 0 -0.00525807 0.00738025 0.714155 0.699929 uwb: 0.49864160 1057.43 1470.74 -imu_odom_: 1691062552.405045120 0.414197 -0.19393 10.343 -0.0575243 0.02024 0.036219 0.21 0.02 pose: 0.48911948 -4.68918 -1.59412 0 -0.00628438 0.00449845 0.714304 0.699793 uwb: 0.0 1057.43 1470.74 -imu_odom_: 1691062552.430001552 1.0343 -0.131681 10.0533 -0.0798948 0.0191748 0.0532632 0.23 0 pose: 0.0 -4.68918 -1.59412 0 -0.00628438 0.00449845 0.714304 0.699793 uwb: 0.49812540 1054.11 1470.85 -imu_odom_: 1691062552.444007100 0.260968 -0.433351 9.39964 -0.0745685 0.0607201 0.0447411 0.23 0 pose: 0.34947521 -4.68918 -1.59412 0 -0.00351721 0.00290624 0.714312 0.699812 uwb: 0.0 1054.11 1470.85 -imu_odom_: 1691062552.468017736 0.521936 -0.474052 9.03093 -0.0585895 0.0213053 0.0458064 0.23 0 pose: 0.0 -4.68918 -1.59412 0 -0.00351721 0.00290624 0.714312 0.699812 uwb: 0.0 1054.11 1470.85 -imu_odom_: 1691062552.493009165 0.521936 -0.42138 9.53611 -0.0479369 0.0511327 0.0372843 0.18 0 pose: 0.6975214 -4.68918 -1.59412 0 -0.00307951 0.00247982 0.714348 0.69978 uwb: 0.50174760 1048.71 1470.94 -imu_odom_: 1691062552.514052630 0.78051 -0.0814029 9.67976 -0.0585895 0.0149137 0.0436758 0.18 0.02 pose: 0.0 -4.68918 -1.59412 0 -0.00307951 0.00247982 0.714348 0.69978 uwb: 0.0 1048.71 1470.94 -imu_odom_: 1691062552.527998683 0.612916 -0.0837971 10.0844 -0.0692422 0.0319579 0.0500674 0.18 0.02 pose: 0.38994061 -4.68477 -1.58069 0 -0.00382714 0.00046549 0.714472 0.699654 uwb: 0.50023397 1047.06 1471.14 -imu_odom_: 1691062552.552995071 0.0814029 -0.213084 9.6223 -0.0436758 0.0500674 0.0351537 0.18 0.02 pose: 0.0 -4.68477 -1.58069 0 -0.00382714 0.00046549 0.714472 0.699654 uwb: 0.0 1047.06 1471.14 -imu_odom_: 1691062552.569995787 0.253785 -0.102951 10.0485 -0.056459 -0.0127832 0.0458064 0.17 0.02 pose: 0.48053935 -4.68929 -1.57176 0 -0.003847 -0.00314825 0.714478 0.69964 uwb: 0.0 1047.06 1471.14 -imu_odom_: 1691062552.595116123 0.651223 -0.0670376 9.81623 -0.0532632 -0.04048 0.0490022 0.17 0.02 pose: 0.0 -4.68929 -1.57176 0 -0.003847 -0.00314825 0.714478 0.69964 uwb: 0.49903532 1044.61 1471.56 -imu_odom_: 1691062552.619137549 0.799663 -0.169988 10.6566 -0.0660464 -0.00532632 0.0543285 0.18 0 pose: 0.35954563 -4.68929 -1.57176 0 -0.00187742 -0.0025088 0.714537 0.69959 uwb: 0.0 1044.61 1471.56 -imu_odom_: 1691062552.634132057 0.519542 -0.126893 9.76595 -0.0511327 0.00213053 0.0340885 0.18 0 pose: 0.0 -4.68929 -1.57176 0 -0.00187742 -0.0025088 0.714537 0.69959 uwb: 0.50137429 1048.68 1471.07 -imu_odom_: 1691062552.658248850 0.287304 0.0263362 9.97185 -0.0681769 -0.0330232 0.052198 0.18 0 pose: 0.67306424 -4.6894 -1.5494 0 0.000475499 -0.0004119820.714677 0.699454 uwb: 0.0 1048.68 1471.07 -imu_odom_: 1691062552.683133539 0.308852 -0.0981623 9.63427 -0.0596548 -0.0319579 0.0383495 0.18 0 pose: 0.0 -4.6894 -1.5494 0 0.000475499 -0.0004119820.714677 0.699454 uwb: 0.49987234 1046.26 1471.81 -imu_odom_: 1691062552.708093179 0.423774 -0.217872 9.77074 -0.076699 -0.0106526 0.0468716 0.17 0 pose: 0.62815420 -4.69393 -1.54049 0 0.00336107 0.00129927 0.714824 0.699295 uwb: 0.0 1046.26 1471.81 -imu_odom_: 1691062552.734984951 0.646434 -0.339977 9.56484 -0.0596548 -0.0383495 0.0372843 0.2 0 pose: 0.42948442 -4.68827 -1.52953 0 0.00142495 0.000384208 0.71488 0.699245 uwb: 0.49858619 1045.45 1472.03 -imu_odom_: 1691062552.759986588 0.761356 -0.562637 9.46428 -0.0372843 0.0255663 0.0298274 0.2 0 pose: 0.6953632 -4.68953 -1.52704 0 0.00165044 -0.0003892490.714875 0.69925 uwb: 0.0 1045.45 1472.03 -imu_odom_: 1691062552.784969268 0.37589 0.0814029 10.0676 -0.0426106 0.015979 0.056459 0.22 -0.02 pose: 0.44939777 -4.68953 -1.52704 0 0.00202164 -0.00467939 0.714772 0.699339 uwb: 0.49949028 1042.13 1472.14 -imu_odom_: 1691062552.799062309 0.567426 0.0622492 10.6398 -0.0607201 -0.00319579 0.0479369 0.22 -0.02 pose: 0.0 -4.68953 -1.52704 0 0.00202164 -0.00467939 0.714772 0.699339 uwb: 0.0 1042.13 1472.14 -imu_odom_: 1691062552.822997409 0.54109 -0.1652 9.74919 -0.0649811 0.00852212 0.0532632 0.18 0 pose: 0.39075721 -4.68929 -1.51571 0 0.00420998 -0.00148981 0.714953 0.699158 uwb: 0.0 1042.13 1472.14 -imu_odom_: 1691062552.847024668 1.08218 -0.277727 9.88326 -0.0660464 0.0138484 0.0383495 0.18 0 pose: 0.0 -4.68929 -1.51571 0 0.00420998 -0.00148981 0.714953 0.699158 uwb: 0.49943488 1038.45 1472.77 -imu_odom_: 1691062552.863988055 0.0933739 -0.169988 9.45231 -0.0543285 0.0191748 0.0383495 0.18 -0.02 pose: 0.0 -4.68929 -1.51571 0 0.00420998 -0.00148981 0.714953 0.699158 uwb: 0.0 1038.45 1472.77 -imu_odom_: 1691062552.889991775 0.167594 -0.35913 9.74201 -0.0745685 0.0585895 0.0468716 0.18 -0.02 pose: 0.55038773 -4.68967 -1.50468 0 0.00662859 -0.00407962 0.715046 0.699034 uwb: 0.50098349 1039.72 1473.11 -imu_odom_: 1691062552.915092571 0.390255 -0.215478 9.98622 -0.0426106 0.0319579 0.0287621 0.19 -0.02 pose: 0.35890693 -4.69293 -1.49828 0 0.00263007 -0.0020866 0.715127 0.698987 uwb: 0.0 1039.72 1473.11 -imu_odom_: 1691062552.931962048 0.646434 -0.225055 10.0173 -0.0777643 0.0266316 0.0383495 0.19 -0.02 pose: 0.7004378 -4.6942 -1.49577 0 0.00202413 -0.00152705 0.715102 0.699016 uwb: 0.49964485 1036.43 1473.47 -imu_odom_: 1691062552.956169834 0.553061 -0.304064 9.75877 -0.0703074 0.00106526 0.04048 0.18 0 pose: 0.34965895 -4.68897 -1.49311 0 0.00126631 -0.00129141 0.715028 0.699093 uwb: 0.0 1036.43 1473.47 -imu_odom_: 1691062552.981175846 -0.296881 -0.220267 9.6223 -0.0788296 -0.00319579 0.0447411 0.18 0 pose: 0.0 -4.68897 -1.49311 0 0.00126631 -0.00129141 0.715028 0.699093 uwb: 0.50079976 1035.2 1473.7 -imu_odom_: 1691062552.998036574 0.497994 -0.160412 10.2592 -0.0596548 -0.0617853 0.0245011 0.18 0 pose: 0.7019543 -4.68529 -1.49124 0 0.00131421 -0.00201128 0.71503 0.69909 uwb: 0.0 1035.2 1473.7 -imu_odom_: 1691062553.22016007 0.881066 -0.318429 10.1538 -0.056459 -0.0191748 0.0319579 0.18 0 pose: 0.0 -4.68529 -1.49124 0 0.00131421 -0.00201128 0.71503 0.69909 uwb: 0.0 1035.2 1473.7 -imu_odom_: 1691062553.46974778 0.560243 -0.332794 9.46428 -0.0436758 -0.0490022 0.0511327 0.18 0 pose: 0.48986025 -4.68982 -1.48232 0 0.000293075 -0.00221759 0.715047 0.699073 uwb: 0.50145891 1031.07 1474.01 -imu_odom_: 1691062553.71090993 0.577003 -0.0885855 9.63666 -0.0426106 -0.0394148 0.0319579 0.18 0 pose: 0.0 -4.68982 -1.48232 0 0.000293075 -0.00221759 0.715047 0.699073 uwb: 0.0 1031.07 1474.01 -imu_odom_: 1691062553.97091511 0.751779 -0.124498 10.1442 -0.0553937 -0.0234358 0.0394148 0.23 -0.02 pose: 0.41010483 -4.69435 -1.47341 0 0.00291269 -0.0051908 0.714948 0.699152 uwb: 0.49914917 1030.67 1474.28 -imu_odom_: 1691062553.113074690 0.672771 -0.347159 9.4571 -0.0617853 0.0138484 0.02024 0.23 -0.02 pose: 0.0 -4.69435 -1.47341 0 0.00291269 -0.0051908 0.714948 0.699152 uwb: 0.0 1030.67 1474.28 -imu_odom_: 1691062553.139090082 0.126893 -0.203507 9.63427 -0.0628506 0.00958738 0.0553937 0.23 -0.05 pose: 0.49007616 -4.68996 -1.45996 0 0.00601026 -0.00624011 0.714935 0.699138 uwb: 0.49927165 1026.94 1474.38 -imu_odom_: 1691062553.164092307 0.548272 -0.373495 9.4547 -0.0553937 -0.0649811 0.0255663 0.23 -0.05 pose: 0.0 -4.68996 -1.45996 0 0.00601026 -0.00624011 0.714935 0.699138 uwb: 0.0 1026.94 1474.38 -imu_odom_: 1691062553.189979668 0.258574 -0.189142 9.8689 -0.0458064 0.00639159 0.0330232 0.23 0 pose: 0.41998571 -4.68996 -1.45996 0 0.00683781 -0.00782999 0.714857 0.699194 uwb: 0.50070946 1028.19 1474.55 -imu_odom_: 1691062553.214948938 0.483629 -0.0933739 10.2879 -0.0266316 -0.036219 0.0287621 0.2 -0.02 pose: 0.51124066 -4.68557 -1.44652 0 0.00372102 -0.00790977 0.71485 0.699223 uwb: 0.0 1028.19 1474.55 -imu_odom_: 1691062553.230970322 0.428562 -0.440533 9.43315 -0.0628506 0.00532632 0.0639159 0.2 -0.02 pose: 0.0 -4.68557 -1.44652 0 0.00372102 -0.00790977 0.71485 0.699223 uwb: 0.49796218 1025.27 1474.22 -imu_odom_: 1691062553.256076372 0.538695 -0.213084 9.92157 -0.036219 -0.00213053 0.0383495 0.19 0.02 pose: 0.25898152 -4.6901 -1.4376 0 0.00326174 -0.00552772 0.714792 0.699307 uwb: 0.0 1025.27 1474.22 -imu_odom_: 1691062553.280074764 0.270545 -0.208296 9.73961 -0.04048 0.0553937 0.0458064 0.19 0.02 pose: 0.40947782 -4.6901 -1.4376 0 0.00370986 -0.00463685 0.714859 0.699244 uwb: 0.49937956 1024.01 1473.95 -imu_odom_: 1691062553.297997366 0.299275 -0.169988 9.50259 -0.0394148 -0.036219 0.036219 0.19 0.02 pose: 0.0 -4.6901 -1.4376 0 0.00370986 -0.00463685 0.714859 0.699244 uwb: 0.0 1024.01 1473.95 -imu_odom_: 1691062553.321941512 0.584185 -0.162806 9.80904 -0.0596548 -0.00319579 0.0703074 0.23 -0.02 pose: 0.50026033 -4.68571 -1.42416 0 0.00315534 -0.00175393 0.714897 0.699221 uwb: 0.0 1024.01 1473.95 -imu_odom_: 1691062553.347027730 0.402226 -0.0646434 9.56723 -0.0553937 0.0181095 0.0447411 0.23 0 pose: 0.33961193 -4.69023 -1.41524 0 0.00472378 -0.00229587 0.715137 0.698965 uwb: 0.50051697 1020.7 1474.13 -imu_odom_: 1691062553.372136405 -0.35913 -0.296881 9.93594 -0.0617853 0.0447411 0.0553937 0.23 0 pose: 0.0 -4.69023 -1.41524 0 0.00472378 -0.00229587 0.715137 0.698965 uwb: 0.0 1020.7 1474.13 -imu_odom_: 1691062553.387944015 0.622492 0.0167594 10.4244 -0.0490022 -0.0553937 0.0298274 0.18 0 pose: 0.7011670 -4.69023 -1.41524 0 0.00473637 -0.0015428 0.715148 0.698955 uwb: 0.50175936 1014.51 1474.41 -imu_odom_: 1691062553.413056773 0.445322 -0.160412 10.1347 -0.0617853 -0.0426106 0.0639159 0.18 0 pose: 0.0 -4.69023 -1.41524 0 0.00473637 -0.0015428 0.715148 0.698955 uwb: 0.0 1014.51 1474.41 -imu_odom_: 1691062553.438051999 0.596156 -0.0837971 10.1754 -0.056459 -0.0213053 0.0330232 0.19 0 pose: 0.49976745 -4.69477 -1.40633 0 0.00299932 0.00198156 0.715291 0.698817 uwb: 0.49927749 1012.02 1474.53 -imu_odom_: 1691062553.462915111 0.440533 -0.237026 9.75637 -0.0681769 0.00319579 0.0458064 0.19 0 pose: 0.0 -4.69477 -1.40633 0 0.00299932 0.00198156 0.715291 0.698817 uwb: 0.0 1012.02 1474.53 -imu_odom_: 1691062553.476925620 0.351948 -0.0981623 10.1514 -0.056459 0.00852212 0.0351537 0.19 0 pose: 0.42014319 -4.6904 -1.39288 0 0.00400686 -0.00103673 0.715459 0.698643 uwb: 0.0 1012.02 1474.53 -imu_odom_: 1691062553.501062542 0.555455 -0.356736 9.99579 -0.076699 0.00745685 0.0607201 0.19 0 pose: 0.0 -4.6904 -1.39288 0 0.00400686 -0.00103673 0.715459 0.698643 uwb: 0.0 1012.02 1474.53 -imu_odom_: 1691062553.526923071 0.45011 -0.172383 10.0173 -0.0500674 0.00958738 0.0426106 0.22 0 pose: 0.47987160 -4.6904 -1.39288 0 0.00306284 -0.00119176 0.715468 0.698637 uwb: 0.100009193 1011.6 1474.47 -imu_odom_: 1691062553.542909750 0.42138 -0.292093 9.90721 -0.0553937 -0.0372843 0.0458064 0.22 0 pose: 0.0 -4.6904 -1.39288 0 0.00306284 -0.00119176 0.715468 0.698637 uwb: 0.0 1011.6 1474.47 -imu_odom_: 1691062553.569902144 0.787692 -0.0143652 10.343 -0.04048 -0.0703074 0.0351537 0.22 0 pose: 0.73978344 -4.69058 -1.37052 0 0.00183421 -0.00127885 0.715698 0.698407 uwb: 0.0 1011.6 1474.47 -imu_odom_: 1691062553.594901453 0.708684 -0.112527 10.2544 -0.0681769 -0.00106526 0.0500674 0.22 0 pose: 0.8126037 -4.69058 -1.37052 0 0.0028549 -0.00162934 0.715683 0.698418 uwb: 0.49998909 1008.29 1474.61 -imu_odom_: 1691062553.612025829 0.186748 -0.332794 10.1538 -0.0458064 -0.0340885 0.04048 0.23 0.02 pose: 0.0 -4.69058 -1.37052 0 0.0028549 -0.00162934 0.715683 0.698418 uwb: 0.0 1008.29 1474.61 -imu_odom_: 1691062553.636902649 0.407014 -0.184354 9.85453 -0.0553937 -0.0255663 0.0468716 0.23 0.02 pose: 0.43865666 -4.69377 -1.36426 0 0.00732589 -0.00363681 0.715724 0.698336 uwb: 0.49946123 1008.29 1474.44 -imu_odom_: 1691062553.662961203 0.411803 0 9.83538 -0.0479369 -0.00532632 0.0447411 0.23 0 pose: 0.42001196 -4.69205 -1.35211 0 0.00427522 -0.00171876 0.715807 0.698283 uwb: 0.0 1008.29 1474.44 -imu_odom_: 1691062553.688110125 0.720655 0.0215478 10.5225 -0.0596548 0.0308927 0.0511327 0.23 0 pose: 0.0 -4.69205 -1.35211 0 0.00427522 -0.00171876 0.715807 0.698283 uwb: 0.49998034 1008.3 1474.98 -imu_odom_: 1691062553.713028357 0.574608 -0.280122 9.84017 -0.0681769 0.02024 0.0426106 0.22 0 pose: 0.51207476 -4.69077 -1.34816 0 0.00742019 0.000431822 0.71594 0.698123 uwb: 0.0 1008.3 1474.98 -imu_odom_: 1691062553.738985420 0.366313 -0.363919 9.74201 -0.0500674 0.00106526 0.0447411 0.19 -0.02 pose: 0.0 -4.69077 -1.34816 0 0.00742019 0.000431822 0.71594 0.698123 uwb: 0.50027491 1007.46 1474.67 -imu_odom_: 1691062553.764907778 0.723049 -0.31364 9.9934 -0.0703074 -0.0255663 0.0436758 0.19 -0.02 pose: 0.32826995 -4.69532 -1.33926 0 0.00541829 -0.00191165 0.716002 0.698074 uwb: 0.0 1007.46 1474.67 -imu_odom_: 1691062553.780914872 0.248997 -0.222661 9.38527 -0.0340885 0.00852212 0.0234358 0.19 0.02 pose: 0.0 -4.69532 -1.33926 0 0.00541829 -0.00191165 0.716002 0.698074 uwb: 0.49848130 1007.47 1475.02 -imu_odom_: 1691062553.806896433 0.296881 -0.148441 10.2759 -0.0500674 -0.00106526 0.0511327 0.19 0.02 pose: 0.51080904 -4.69098 -1.3258 0 0.00407158 -0.00437449 0.716039 0.698034 uwb: 0.0 1007.47 1475.02 -imu_odom_: 1691062553.829049894 0.471658 0.126893 9.9096 -0.015979 -0.0245011 0.0319579 0.19 0 pose: 0.34878409 -4.69439 -1.31912 0 0.00229056 -0.00125553 0.716103 0.69799 uwb: 0.50031865 1006.23 1475.37 -imu_odom_: 1691062553.844931289 0.299275 -0.342371 9.38527 -0.0543285 0.0191748 0.0468716 0.19 0 pose: 0.6006962 -4.69553 -1.3169 0 0.00286125 -0.0008076730.716085 0.698007 uwb: 0.0 1006.23 1475.37 -imu_odom_: 1691062553.870035590 0.490811 0.136469 10.1442 -0.0458064 -0.0543285 0.0447411 0.19 -0.02 pose: 0.0 -4.69553 -1.3169 0 0.00286125 -0.0008076730.716085 0.698007 uwb: 0.0 1006.23 1475.37 -imu_odom_: 1691062553.886935401 0.842759 -0.344765 9.56005 -0.0628506 0.00319579 0.052198 0.19 -0.02 pose: 0.39037232 -4.69553 -1.3169 0 0.00340617 0.000673125 0.716092 0.697998 uwb: 0.49943498 1006.22 1475.18 -imu_odom_: 1691062553.912017828 0.667982 -0.316035 10.1227 -0.0575243 0.0458064 0.0394148 0.19 0 pose: 0.0 -4.69553 -1.3169 0 0.00340617 0.000673125 0.716092 0.697998 uwb: 0.0 1006.22 1475.18 -imu_odom_: 1691062553.935881773 0.454898 -0.134075 9.57441 -0.0788296 0.0372843 0.0511327 0.19 0 pose: 0.41974072 -4.69119 -1.30344 0 0.00552927 -0.0007299590.716199 0.697874 uwb: 0.50002409 1003.73 1474.69 -imu_odom_: 1691062553.962000698 0.395043 -0.337582 9.07881 -0.0862864 -0.0287621 0.0426106 0.23 0 pose: 0.41967074 -4.69441 -1.29715 0 0.00446982 0.000285981 0.716298 0.697781 uwb: 0.0 1003.73 1474.69 -imu_odom_: 1691062553.986877808 0.342371 -0.366313 9.34457 -0.0713727 0.00745685 0.0394148 0.23 0 pose: 0.7064749 -4.69575 -1.29454 0 0.0038258 -0.0001738890.716307 0.697774 uwb: 0.50115858 999.59 1474.68 -imu_odom_: 1691062554.11920282 0.37589 -0.328006 9.84735 -0.0500674 -0.00319579 0.036219 0.22 -0.02 pose: 0.43931286 -4.6989 -1.28839 0 -0.000587751-0.00197532 0.716334 0.697755 uwb: 0.0 999.59 1474.68 -imu_odom_: 1691062554.37935096 0.629675 -0.112527 10.5441 -0.0511327 -0.0223706 0.0287621 0.22 -0.02 pose: 0.0 -4.6989 -1.28839 0 -0.000587751-0.00197532 0.716334 0.697755 uwb: 0.49890131 997.516 1474.62 -imu_odom_: 1691062554.54934361 0.837971 -0.143652 9.56244 -0.0607201 0.00958738 0.0319579 0.22 0.02 pose: 0.51057288 -4.6947 -1.27466 0 -0.00016939 -0.00297712 0.716203 0.697885 uwb: 0.0 997.516 1474.62 -imu_odom_: 1691062554.79860473 0.234632 -0.392649 9.79947 -0.0500674 -0.0191748 0.0372843 0.22 0.02 pose: 0.0 -4.6947 -1.27466 0 -0.00016939 -0.00297712 0.716203 0.697885 uwb: 0.0 997.516 1474.62 -imu_odom_: 1691062554.105139472 0.342371 -0.169988 9.92875 -0.0511327 -0.0223706 0.0490022 0.19 0 pose: 0.25014187 -4.69598 -1.27218 0 0.000488691 -0.00358007 0.716149 0.697939 uwb: 0.0 997.516 1474.62 -imu_odom_: 1691062554.129922970 0.52433 -0.189142 9.50019 -0.036219 -0.00639159 0.0330232 0.19 0 pose: 0.0 -4.69598 -1.27218 0 0.000488691 -0.00358007 0.716149 0.697939 uwb: 0.99985299 997.516 1474.53 -imu_odom_: 1691062554.146860116 0.414197 -0.296881 9.48583 -0.0681769 0.0138484 0.0490022 0.19 0 pose: 0.49950216 -4.70054 -1.26328 0 8.02183e-05 -0.00110509 0.71621 0.697884 uwb: 0.0 997.516 1474.53 -imu_odom_: 1691062554.171878678 0.701501 -0.37589 9.4164 -0.0607201 -0.00958738 0.0276969 0.19 0 pose: 0.0 -4.70054 -1.26328 0 8.02183e-05 -0.00110509 0.71621 0.697884 uwb: 0.0 997.516 1474.53 -imu_odom_: 1691062554.195858701 0.277727 -0.174777 9.32302 -0.0639159 -0.00213053 0.0553937 0.19 0 pose: 0.41980497 -4.69164 -1.25872 0 0.000300209 -0.00309466 0.716192 0.697897 uwb: 0.50028667 994.619 1474.48 -imu_odom_: 1691062554.217852055 -0.0383072 -0.263362 9.84496 -0.0607201 0.0447411 0.0468716 0.19 0 pose: 0.40978705 -4.6962 -1.24982 0 -7.43706e-05-0.00257594 0.716255 0.697834 uwb: 0.0 994.619 1474.48 -imu_odom_: 1691062554.231858775 0.299275 -0.294487 9.96946 -0.0532632 -0.00852212 0.0223706 0.19 0 pose: 0.0 -4.6962 -1.24982 0 -7.43706e-05-0.00257594 0.716255 0.697834 uwb: 0.49931259 995.036 1474.25 -imu_odom_: 1691062554.254918374 0.203507 -0.385466 9.67018 -0.0330232 -0.0500674 0.0330232 0.19 0 pose: 0.0 -4.6962 -1.24982 0 -7.43706e-05-0.00257594 0.716255 0.697834 uwb: 0.0 995.036 1474.25 -imu_odom_: 1691062554.272850021 0.586579 -0.0574608 10.3262 -0.0330232 -0.015979 0.0330232 0.18 -0.02 pose: 0.7018672 -4.6962 -1.24982 0 -0.00072546 -0.00199223 0.716274 0.697816 uwb: 0.0 995.036 1474.25 -imu_odom_: 1691062554.296847251 0.548272 -0.246603 10.0149 -0.0596548 0.0106526 0.0617853 0.18 -0.02 pose: 0.0 -4.6962 -1.24982 0 -0.00072546 -0.00199223 0.716274 0.697816 uwb: 0.49999503 993.382 1474.35 -imu_odom_: 1691062554.322911060 0.430956 -0.0287304 9.85214 -0.0490022 0.00639159 0.052198 0.19 0 pose: 0.36993991 -4.69186 -1.23636 0 -0.00401209 -0.0002797090.716209 0.697874 uwb: 0.0 993.382 1474.35 -imu_odom_: 1691062554.348012741 0.861913 -0.390255 9.75637 -0.0628506 0.0149137 0.0426106 0.19 0.02 pose: 0.41026827 -4.69642 -1.22746 0 -0.00256937 -0.0006998340.716198 0.697892 uwb: 0.49909093 994.206 1474.74 -imu_odom_: 1691062554.373883483 0.227449 -0.201113 9.84975 -0.0628506 0.0298274 0.0681769 0.19 0.02 pose: 0.0 -4.69642 -1.22746 0 -0.00256937 -0.0006998340.716198 0.697892 uwb: 0.50112078 989.664 1474.4 -imu_odom_: 1691062554.386868579 0.584185 -0.213084 10.5153 -0.0756338 -0.0340885 0.0585895 0.19 0.02 pose: 0.0 -4.69642 -1.22746 0 -0.00256937 -0.0006998340.716198 0.697892 uwb: 0.0 989.664 1474.4 -imu_odom_: 1691062554.410847727 0.567426 -0.102951 9.80904 -0.0553937 -0.0287621 0.0436758 0.2 -0.02 pose: 0.49994253 -4.70098 -1.21856 0 0.000764029 -0.0005517040.716444 0.697644 uwb: 0.0 989.664 1474.4 -imu_odom_: 1691062554.428902739 -0.225055 -0.299275 9.88566 -0.0660464 0.04048 0.052198 0.2 -0.02 pose: 0.0 -4.70098 -1.21856 0 0.000764029 -0.0005517040.716444 0.697644 uwb: 0.49970922 989.662 1474.5 -imu_odom_: 1691062554.452840765 -0.0287304 -0.0670376 9.95748 -0.0596548 0.04048 0.0340885 0.22 -0.02 pose: 0.87972831 -4.69666 -1.2051 0 0.00206748 -0.0007611250.716873 0.6972 uwb: 0.0 989.662 1474.5 -imu_odom_: 1691062554.476837412 0.610521 -0.306458 10.3765 -0.0777643 -0.0106526 0.0553937 0.23 0.02 pose: 0.0 -4.69666 -1.2051 0 0.00206748 -0.0007611250.716873 0.6972 uwb: 0.50044124 992.974 1474.65 -imu_odom_: 1691062554.500841933 0.775721 -0.114922 9.81862 -0.0660464 0.00319579 0.0372843 0.23 0.02 pose: 0.33975490 -4.69969 -1.19922 0 -0.0005346770.00236886 0.71687 0.697203 uwb: 0.0 992.974 1474.65 -imu_odom_: 1691062554.525847372 0.572214 -0.294487 9.69412 -0.0607201 -0.0255663 0.0372843 0.25 0 pose: 0.8136246 -4.70124 -1.19621 0 -0.00029745 0.00152172 0.716916 0.697158 uwb: 0.49950799 991.732 1474.58 -imu_odom_: 1691062554.547894387 0.023942 -0.148441 9.49301 -0.0639159 0.00852212 0.0415453 0.25 0 pose: 0.0 -4.70124 -1.19621 0 -0.00029745 0.00152172 0.716916 0.697158 uwb: 0.0 991.732 1474.58 -imu_odom_: 1691062554.562877527 0.258574 -0.196325 9.87129 -0.076699 -0.0532632 0.0511327 0.18 0 pose: 0.46934923 -4.69692 -1.18274 0 0.00226712 -0.00209092 0.716977 0.69709 uwb: 0.0 991.732 1474.58 -imu_odom_: 1691062554.588985958 0.304064 -0.19393 10.0916 -0.0436758 -0.0149137 0.0372843 0.18 0 pose: 0.0 -4.69692 -1.18274 0 0.00226712 -0.00209092 0.716977 0.69709 uwb: 0.49987545 992.14 1474.99 -imu_odom_: 1691062554.610841073 0.155623 -0.349553 10.2927 -0.0532632 -0.00213053 0.0436758 0.19 0.05 pose: 0.45993791 -4.69692 -1.18274 0 0.000928668 -0.00186489 0.717006 0.697063 uwb: 0.0 992.14 1474.99 -imu_odom_: 1691062554.626823380 0.555455 -0.0263362 10.5848 -0.0330232 -0.0628506 0.0287621 0.19 0.05 pose: 0.0 -4.69692 -1.18274 0 0.000928668 -0.00186489 0.717006 0.697063 uwb: 0.50003003 993.796 1475.37 -imu_odom_: 1691062554.651968224 0.761356 0.0694318 10.0892 -0.0543285 -0.0479369 0.0532632 0.25 0 pose: 0.41933251 -4.69262 -1.16927 0 -0.00131268 0.00105037 0.717032 0.697038 uwb: 0.0 993.796 1475.37 -imu_odom_: 1691062554.676818800 0.723049 -0.0814029 9.28232 -0.0490022 0.0234358 0.0330232 0.25 0 pose: 0.0 -4.69262 -1.16927 0 -0.00131268 0.00105037 0.717032 0.697038 uwb: 0.50003003 994.207 1475.65 -imu_odom_: 1691062554.693943180 0.059855 -0.23942 10.0341 -0.0607201 0.0149137 0.0458064 0.21 0 pose: 0.38988828 -4.6972 -1.16038 0 0.000204179 0.000961438 0.717034 0.697038 uwb: 0.0 994.207 1475.65 -imu_odom_: 1691062554.717963450 0.608127 0.0694318 10.5201 -0.0607201 -0.0511327 0.0447411 0.21 0 pose: 0.0 -4.6972 -1.16038 0 0.000204179 0.000961438 0.717034 0.697038 uwb: 0.0 994.207 1475.65 -imu_odom_: 1691062554.741915184 0.770933 -0.1652 10.5991 -0.0649811 -0.0394148 0.056459 0.2 0 pose: 0.49146157 -4.70178 -1.15149 0 0.00356623 9.89515e-05 0.717073 0.696989 uwb: 0.49984629 992.549 1475.4 -imu_odom_: 1691062554.765905123 0.363919 -0.237026 9.69652 -0.036219 0.00852212 0.0330232 0.2 0 pose: 0.0 -4.70178 -1.15149 0 0.00356623 9.89515e-05 0.717073 0.696989 uwb: 0.0 992.549 1475.4 -imu_odom_: 1691062554.790812569 0.371101 -0.169988 9.97664 -0.0639159 -0.0117179 0.0479369 0.25 0 pose: 0.42003245 -4.69289 -1.14691 0 0.00595249 -0.0001204990.717177 0.696866 uwb: 0.50249149 992.131 1475.53 -imu_odom_: 1691062554.803867951 0.35913 -0.0071826110.1251 -0.0458064 -0.0266316 0.0351537 0.25 0 pose: 0.0 -4.69289 -1.14691 0 0.00595249 -0.0001204990.717177 0.696866 uwb: 0.0 992.131 1475.53 -imu_odom_: 1691062554.818805303 0.521936 -0.153229 9.47386 -0.072438 -0.00213053 0.0458064 0.25 0 pose: 0.0 -4.69289 -1.14691 0 0.00595249 -0.0001204990.717177 0.696866 uwb: 0.0 992.131 1475.53 -imu_odom_: 1691062554.844796202 0.258574 -0.155623 9.56484 -0.0372843 0.0191748 0.0266316 0.17 0 pose: 0.48082828 -4.69748 -1.13802 0 0.00416884 -0.0003331550.71725 0.696803 uwb: 0.49648365 989.647 1475.18 -imu_odom_: 1691062554.868842428 0.19393 -0.172383 10.1634 -0.0479369 0.00745685 0.0553937 0.2 0 pose: 0.70736168 -4.6991 -1.11985 0 0.00233524 0.0027424 0.717189 0.69687 uwb: 0.0 989.647 1475.18 -imu_odom_: 1691062554.894851117 0.459687 0.0263362 9.96227 -0.0340885 -0.0117179 0.0330232 0.2 0 pose: 0.0 -4.6991 -1.11985 0 0.00233524 0.0027424 0.717189 0.69687 uwb: 0.50108869 990.059 1475.35 -imu_odom_: 1691062554.917948630 0.184354 -0.241814 9.54808 -0.0660464 -0.0117179 0.0585895 0.17 0 pose: 0.8082001 -4.69776 -1.11566 0 0.00166711 0.00327001 0.717231 0.696825 uwb: 0.0 990.059 1475.35 -imu_odom_: 1691062554.935818740 0.416591 0.0407014 10.1442 -0.0532632 -0.0245011 0.0415453 0.17 0 pose: 0.0 -4.69776 -1.11566 0 0.00166711 0.00327001 0.717231 0.696825 uwb: 0.49980838 989.223 1475.59 -imu_odom_: 1691062554.960873174 0.658405 -0.282516 10.3525 -0.0639159 -0.00745685 0.0585895 0.19 0 pose: 0.49022791 -4.69776 -1.11566 0 0.00243643 0.00511774 0.7173 0.696741 uwb: 0.0 989.223 1475.59 -imu_odom_: 1691062554.984812951 0.746991 0.0646434 10.2927 -0.0617853 -0.0543285 0.0426106 0.19 0 pose: 0.0 -4.69776 -1.11566 0 0.00243643 0.00511774 0.7173 0.696741 uwb: 0.50065123 987.964 1476.05 -imu_odom_: 1691062555.7835512 0.579397 0.0502782 10.7835 -0.0788296 -0.0266316 0.0585895 0.27 -0.02 pose: 0.42934753 -4.70235 -1.10678 0 0.00283261 0.00490136 0.71748 0.696557 uwb: 0.0 987.964 1476.05 -imu_odom_: 1691062555.24945897 0.538695 -0.244209 9.44752 -0.0905475 -0.036219 0.0468716 0.27 -0.02 pose: 0.0 -4.70235 -1.10678 0 0.00283261 0.00490136 0.71748 0.696557 uwb: 0.50068626 988.794 1476.03 -imu_odom_: 1691062555.40791135 0.665588 -0.593762 9.92636 -0.0639159 0.0436758 0.04048 0.18 0 pose: 0.47110491 -4.69806 -1.0933 0 0.00656567 0.00211716 0.717662 0.696357 uwb: 0.0 988.794 1476.03 -imu_odom_: 1691062555.63960396 0.37589 -0.37589 9.80904 -0.0479369 0.0340885 0.0394148 0.18 0 pose: 0.0 -4.69806 -1.0933 0 0.00656567 0.00211716 0.717662 0.696357 uwb: 0.0 988.794 1476.03 -imu_odom_: 1691062555.80907753 0.122104 -0.146046 10.0796 -0.0383495 -0.00426106 0.0436758 0.18 0 pose: 0.0 -4.69806 -1.0933 0 0.00656567 0.00211716 0.717662 0.696357 uwb: 0.50045301 988.373 1476.23 -imu_odom_: 1691062555.105049059 0.505177 -0.126893 10.3022 -0.0532632 -0.00852212 0.0298274 0.24 0 pose: 0.40890343 -4.70266 -1.08442 0 0.00687624 -0.0005071130.717823 0.696191 uwb: 0.0 988.373 1476.23 -imu_odom_: 1691062555.129837229 0.64404 -0.112527 10.2783 -0.0575243 -0.0149137 0.0426106 0.21 0 pose: 0.72212478 -4.69839 -1.07094 0 0.00534758 -0.0002752330.717782 0.696247 uwb: 0.49770282 987.119 1476.43 -imu_odom_: 1691062555.143782999 0.366313 -0.287304 9.48343 -0.0617853 -0.0117179 0.0415453 0.21 0 pose: 0.0 -4.69839 -1.07094 0 0.00534758 -0.0002752330.717782 0.696247 uwb: 0.0 987.119 1476.43 -imu_odom_: 1691062555.167854311 0.895431 -0.189142 10.1466 -0.04048 -0.036219 0.04048 0.21 0 pose: 0.0 -4.69839 -1.07094 0 0.00534758 -0.0002752330.717782 0.696247 uwb: 0.0 987.119 1476.43 -imu_odom_: 1691062555.191762011 0.948104 -0.21069 10.1394 -0.0607201 -0.0170442 0.036219 0.17 0.02 pose: 0.7833814 -4.69839 -1.07094 0 0.00602681 -0.0007406390.717789 0.696235 uwb: 0.50027803 986.276 1476.76 -imu_odom_: 1691062555.208758363 0.296881 -0.1652 9.50977 -0.0468716 -0.0191748 0.0426106 0.17 0.02 pose: 0.0 -4.69839 -1.07094 0 0.00602681 -0.0007406390.717789 0.696235 uwb: 0.0 986.276 1476.76 -imu_odom_: 1691062555.232776597 0.071826 -0.486023 9.78271 -0.0553937 0.0394148 0.0447411 0.26 -0.02 pose: 0.38960838 -4.70299 -1.06206 0 0.00676849 -0.0024344 0.717819 0.696192 uwb: 0.49999221 983.351 1477 -imu_odom_: 1691062555.249767991 0.354342 0.00718261 10.3693 -0.0340885 -0.0372843 0.0266316 0.26 -0.02 pose: 0.0 -4.70299 -1.06206 0 0.00676849 -0.0024344 0.717819 0.696192 uwb: 0.0 983.351 1477 -imu_odom_: 1691062555.274842845 0.536301 -0.205901 10.2663 -0.0639159 -0.00532632 0.0553937 0.21 0 pose: 0.47924475 -4.70299 -1.06206 0 0.00909781 -0.00524437 0.717792 0.696178 uwb: 0.50153209 982.933 1477.03 -imu_odom_: 1691062555.300842499 0.754174 -0.167594 9.55287 -0.0500674 -0.00852212 0.0223706 0.23 -0.02 pose: 0.40019209 -4.69871 -1.04858 0 0.00594037 -0.00309652 0.717838 0.696177 uwb: 0.0 982.933 1477.03 -imu_odom_: 1691062555.324764490 0.459687 -0.294487 9.56005 -0.0511327 0.0106526 0.036219 0.23 -0.02 pose: 0.0 -4.69871 -1.04858 0 0.00594037 -0.00309652 0.717838 0.696177 uwb: 0.49915811 982.932 1477.05 -imu_odom_: 1691062555.349769933 0.349553 -0.0311246 9.83538 -0.0287621 0.0127832 0.0298274 0.18 0 pose: 0.43011171 -4.70331 -1.03971 0 0.00558566 -0.00487387 0.717887 0.69612 uwb: 0.0 982.932 1477.05 -imu_odom_: 1691062555.372775292 0.349553 -0.158017 10.4244 -0.052198 -0.015979 0.0596548 0.18 0 pose: 0.0 -4.70331 -1.03971 0 0.00558566 -0.00487387 0.717887 0.69612 uwb: 0.0 982.932 1477.05 -imu_odom_: 1691062555.388850636 0.0837971 -0.237026 9.63187 -0.0458064 -0.0298274 0.0394148 0.18 0 pose: 0.50045301 -4.69904 -1.02623 0 0.00469939 -0.00454198 0.717734 0.696287 uwb: 0.49785739 985.829 1477.45 -imu_odom_: 1691062555.414796336 0.493206 -0.304064 9.81383 -0.0479369 0.0308927 0.0479369 0.18 0 pose: 0.0 -4.69904 -1.02623 0 0.00469939 -0.00454198 0.717734 0.696287 uwb: 0.0 985.829 1477.45 -imu_odom_: 1691062555.439798571 0.241814 -0.162806 10.0365 -0.0426106 0.0319579 0.0415453 0.18 -0.02 pose: 0.47071129 -4.69904 -1.02623 0 0.0030062 -0.0004268870.71784 0.696202 uwb: 0.50036552 984.155 1477.61 -imu_odom_: 1691062555.464764643 0.174777 -0.215478 10.1706 -0.0713727 -0.0117179 0.0660464 0.18 -0.02 pose: 0.0 -4.69904 -1.02623 0 0.0030062 -0.0004268870.71784 0.696202 uwb: 0.0 984.155 1477.61 -imu_odom_: 1691062555.480852237 0.486023 -0.153229 10.1801 -0.056459 -0.0298274 0.0436758 0.18 0 pose: 0.42001504 -4.70364 -1.01735 0 0.000877711 -0.00128207 0.717926 0.696118 uwb: 0.49983765 983.719 1478.16 -imu_odom_: 1691062555.506783646 0.538695 -0.318429 9.9934 -0.072438 0.0340885 0.0575243 0.18 0 pose: 0.0 -4.70364 -1.01735 0 0.000877711 -0.00128207 0.717926 0.696118 uwb: 0.0 983.719 1478.16 -imu_odom_: 1691062555.531906038 0.299275 -0.0742203 10.2185 -0.0575243 0.0340885 0.0383495 0.19 0 pose: 0.49857192 -4.69937 -1.00387 0 -0.00135114 0.00174477 0.718177 0.695857 uwb: 0.50029552 985.795 1478.63 -imu_odom_: 1691062555.548761527 0.244209 -0.3304 9.94551 -0.076699 0.00532632 0.0585895 0.19 0 pose: 0.0 -4.69937 -1.00387 0 -0.00135114 0.00174477 0.718177 0.695857 uwb: 0.0 985.795 1478.63 -imu_odom_: 1691062555.573897335 0.737414 -0.191536 9.8258 -0.0607201 -0.0383495 0.0298274 0.18 0 pose: 0.43161659 -4.70398 -0.994993 0 -0.000476874-0.0001268290.718351 0.695681 uwb: 0.50198997 984.955 1478.72 -imu_odom_: 1691062555.596884319 0.0454898 -0.289698 9.59357 -0.0777643 0.00639159 0.0426106 0.18 0 pose: 0.0 -4.70398 -0.994993 0 -0.000476874-0.0001268290.718351 0.695681 uwb: 0.0 984.955 1478.72 -imu_odom_: 1691062555.622950176 0.577003 -0.260968 9.62708 -0.0681769 -0.056459 0.0351537 0.25 0.02 pose: 0.42000337 -4.70398 -0.994993 0 -0.00158922 0.000989675 0.718424 0.695603 uwb: 0.0 984.955 1478.72 -imu_odom_: 1691062555.647911873 0.723049 -0.270545 10.0604 -0.0703074 0.00106526 0.0436758 0.19 0 pose: 0.48273864 -4.69972 -0.981506 0 -0.00165368 -2.52391e-060.718378 0.695651 uwb: 0.49871482 983.293 1478.41 -imu_odom_: 1691062555.673777371 0.574608 -0.320823 9.34217 -0.0660464 0.015979 0.04048 0.19 0 pose: 0.0 -4.69972 -0.981506 0 -0.00165368 -2.52391e-060.718378 0.695651 uwb: 0.49982306 981.21 1478.26 -imu_odom_: 1691062555.687895210 0.0933739 -0.280122 9.59596 -0.0713727 0.0170442 0.0468716 0.19 0 pose: 0.0 -4.69972 -0.981506 0 -0.00165368 -2.52391e-060.718378 0.695651 uwb: 0.0 981.21 1478.26 -imu_odom_: 1691062555.705968015 0.584185 -0.0574608 10.5967 -0.0394148 -0.0596548 0.0351537 0.18 -0.02 pose: 0.74699023 -4.70434 -0.972634 0 0.000918563 -0.00577705 0.718396 0.69561 uwb: 0.0 981.21 1478.26 -imu_odom_: 1691062555.722893207 0.220267 -0.148441 9.26795 -0.0617853 0.0308927 0.0500674 0.18 -0.02 pose: 0.0 -4.70434 -0.972634 0 0.000918563 -0.00577705 0.718396 0.69561 uwb: 0.0 981.21 1478.26 -imu_odom_: 1691062555.746874110 0.543484 -0.292093 9.95509 -0.0532632 -0.00639159 0.04048 0.26 0.02 pose: 0.42984632 -4.70009 -0.959147 0 0.00137298 -0.00307896 0.718455 0.695565 uwb: 0.49935060 980.367 1478.41 -imu_odom_: 1691062555.763793760 0.797269 -0.529119 9.44513 -0.0671117 0 0.0436758 0.26 0.02 pose: 0.0 -4.70009 -0.959147 0 0.00137298 -0.00307896 0.718455 0.695565 uwb: 0.0 980.367 1478.41 -imu_odom_: 1691062555.788846741 0.483629 -0.191536 10.2759 -0.0372843 0.02024 0.0394148 0.18 0 pose: 0.7884851 -4.70009 -0.959147 0 0.00155057 -0.00384991 0.718456 0.69556 uwb: 0.49949934 979.948 1478.44 -imu_odom_: 1691062555.813751860 0.770933 0.0526724 10.2879 -0.0553937 0.0181095 0.052198 0.23 0 pose: 0.0 -4.70009 -0.959147 0 0.00155057 -0.00384991 0.718456 0.69556 uwb: 0.0 979.948 1478.44 -imu_odom_: 1691062555.836723387 0.519542 -0.1652 9.78031 -0.0458064 -0.0330232 0.0415453 0.18 0 pose: 0.66023821 -4.70932 -0.941408 0 0.00338251 -0.0042842 0.718506 0.695499 uwb: 0.50069215 979.517 1478.73 -imu_odom_: 1691062555.861717165 0.263362 0.00957681 9.93594 -0.072438 -0.0426106 0.0500674 0.18 0 pose: 0.0 -4.70932 -0.941408 0 0.00338251 -0.0042842 0.718506 0.695499 uwb: 0.0 979.517 1478.73 -imu_odom_: 1691062555.878825800 0.428562 -0.378284 9.75398 -0.0596548 -0.00213053 0.0500674 0.18 0.02 pose: 0.49004136 -4.70045 -0.936788 0 0.00641643 -0.00159515 0.718605 0.695387 uwb: 0.50098964 979.52 1478.66 -imu_odom_: 1691062555.894763197 0.507571 -0.126893 9.81862 -0.0543285 -0.0234358 0.0394148 0.18 0.02 pose: 0.0 -4.70045 -0.936788 0 0.00641643 -0.00159515 0.718605 0.695387 uwb: 0.0 979.52 1478.66 -imu_odom_: 1691062555.918869215 0.873884 -0.356736 9.52653 -0.0671117 -0.00958738 0.0298274 0.25 0 pose: 0.48957182 -4.70508 -0.92792 0 0.00629384 -0.0008625050.718719 0.695272 uwb: 0.0 979.52 1478.66 -imu_odom_: 1691062555.935764950 0.490811 -0.143652 9.62708 -0.0447411 0.0340885 0.0298274 0.25 0 pose: 0.0 -4.70508 -0.92792 0 0.00629384 -0.0008625050.718719 0.695272 uwb: 0.49953433 979.095 1478.8 -imu_odom_: 1691062555.961740398 0.648829 -0.351948 9.58638 -0.052198 -0.00852212 0.04048 0.18 -0.02 pose: 0.8193118 -4.70508 -0.92792 0 0.00650674 -0.00169905 0.718692 0.695296 uwb: 0.0 979.095 1478.8 -imu_odom_: 1691062555.987787589 0.397437 -0.23942 9.62469 -0.0628506 0.00426106 0.056459 0.25 0 pose: 0.0 -4.70508 -0.92792 0 0.00650674 -0.00169905 0.718692 0.695296 uwb: 0.50109171 976.982 1479.25 -imu_odom_: 1691062556.715526 0.380678 -0.222661 10.0389 -0.0713727 -0.0149137 0.0575243 0.18 -0.02 pose: 0.66968743 -4.70083 -0.914431 0 0.00507541 -0.00367194 0.718652 0.695342 uwb: 0.0 976.982 1479.25 -imu_odom_: 1691062556.25727390 0.150835 -0.201113 9.94551 -0.0500674 0.00745685 0.0447411 0.18 -0.02 pose: 0.0 -4.70083 -0.914431 0 0.00507541 -0.00367194 0.718652 0.695342 uwb: 0.49757746 977.812 1479.43 -imu_odom_: 1691062556.48703297 -0.0215478 -0.361524 9.78031 -0.0575243 -0.0106526 0.052198 0.25 0 pose: 0.55802332 -4.70873 -0.899284 0 0.000525207 -0.0002774380.718897 0.695116 uwb: 0.0 977.812 1479.43 -imu_odom_: 1691062556.65693819 0.823605 0.0191536 10.2975 -0.0660464 -0.056459 0.0458064 0.25 0 pose: 0.6987177 -4.71008 -0.896699 0 -9.72922e-05-2.70674e-060.718928 0.695084 uwb: 0.0 977.812 1479.43 -imu_odom_: 1691062556.89823173 0.459687 -0.0550666 10.2328 -0.0745685 -0.0170442 0.0596548 0.18 0 pose: 0.0 -4.71008 -0.896699 0 -9.72922e-05-2.70674e-060.718928 0.695084 uwb: 0.50051143 978.636 1479.77 -imu_odom_: 1691062556.106722412 0.409408 -0.299275 9.46667 -0.0873517 -0.0223706 0.0415453 0.18 0 pose: 0.41042008 -4.70122 -0.892069 0 0.00106204 9.87824e-05 0.719091 0.694915 uwb: 0.0 978.636 1479.77 -imu_odom_: 1691062556.131845976 0.342371 -0.117316 10.0389 -0.076699 0.0287621 0.0383495 0.2 0.02 pose: 0.0 -4.70122 -0.892069 0 0.00106204 9.87824e-05 0.719091 0.694915 uwb: 0.0 978.636 1479.77 -imu_odom_: 1691062556.157775932 0.270545 -0.414197 9.74919 -0.0543285 -0.00213053 0.0383495 0.2 0.02 pose: 0.42029218 -4.70585 -0.883208 0 0.00087887 0.000290365 0.71921 0.694792 uwb: 0.0 978.636 1479.77 -imu_odom_: 1691062556.181840833 0.177171 -0.23942 9.96467 -0.0660464 -0.052198 0.0426106 0.19 0 pose: 0.41990139 -4.70906 -0.877078 0 -0.00183567 0.00110129 0.719187 0.694813 uwb: 0.99990297 978.636 1479.77 -imu_odom_: 1691062556.207689712 -0.0023942 -0.177171 10.5896 -0.0426106 0.00106526 0.0308927 0.19 0 pose: 0.8032133 -4.71049 -0.874348 0 -0.00234896 0.00144555 0.719195 0.694803 uwb: 0.0 978.636 1479.77 -imu_odom_: 1691062556.231752863 0.28491 -0.342371 10.0126 -0.0490022 -0.02024 0.0340885 0.19 -0.02 pose: 0.41881647 -4.70496 -0.863338 0 -0.00484407 0.0043779 0.719124 0.694851 uwb: 0.49994857 976.549 1479.58 -imu_odom_: 1691062556.256701150 0.320823 -0.332794 9.4978 -0.0468716 -0.0394148 0.0500674 0.19 -0.02 pose: 0.0 -4.70496 -0.863338 0 -0.00484407 0.0043779 0.719124 0.694851 uwb: 0.0 976.549 1479.58 -imu_odom_: 1691062556.281764927 0.61531 -0.153229 9.65342 -0.036219 -0.0245011 0.0330232 0.19 -0.02 pose: 0.32028498 -4.70626 -0.860851 0 -0.00630402 0.00160218 0.719092 0.694884 uwb: 0.50031896 978.201 1480.15 -imu_odom_: 1691062556.297965681 0.706289 0.071826 9.9096 -0.0532632 -0.0138484 0.0426106 0.19 -0.02 pose: 0.0 -4.70626 -0.860851 0 -0.00630402 0.00160218 0.719092 0.694884 uwb: 0.0 978.201 1480.15 -imu_odom_: 1691062556.322773979 0.711078 -0.385466 9.69891 -0.0607201 0.04048 0.0223706 0.18 0 pose: 0.49163675 -4.7109 -0.851989 0 -0.00311312 -0.0009101510.719104 0.694895 uwb: 0.0 978.201 1480.15 -imu_odom_: 1691062556.338768250 0.0861913 -0.136469 9.89524 -0.052198 0.0372843 0.036219 0.18 0 pose: 0.0 -4.7109 -0.851989 0 -0.00311312 -0.0009101510.719104 0.694895 uwb: 0.0 978.201 1480.15 -imu_odom_: 1691062556.363832611 0.402226 -0.519542 10.3501 -0.0703074 -0.0191748 0.0553937 0.18 0.02 pose: 0.40860023 -4.70667 -0.838494 0 -0.00196113 -0.00208567 0.718954 0.695052 uwb: 0.0 978.201 1480.15 -imu_odom_: 1691062556.387756648 0.509965 -0.179565 10.0772 -0.0479369 -0.0181095 0.0276969 0.18 0 pose: 0.34090703 -4.70667 -0.838494 0 -0.00403924 -0.00330689 0.719074 0.694914 uwb: 0.100016836 974.835 1480.27 -imu_odom_: 1691062556.412670521 0.821211 -0.172383 9.43794 -0.0351537 0.0213053 0.02024 0.18 0 pose: 0.0 -4.70667 -0.838494 0 -0.00403924 -0.00330689 0.719074 0.694914 uwb: 0.0 974.835 1480.27 -imu_odom_: 1691062556.436702466 -0.452504 -0.124498 10.2927 -0.0372843 -0.0170442 0.0458064 0.18 0 pose: 0.7939099 -4.70667 -0.838494 0 -0.00318768 -0.00325079 0.719042 0.694952 uwb: 0.49999524 970.614 1480.64 -imu_odom_: 1691062556.453766483 0.263362 -0.186748 9.89284 -0.0532632 0.00213053 0.0660464 0.18 0 pose: 0.0 -4.70667 -0.838494 0 -0.00318768 -0.00325079 0.719042 0.694952 uwb: 0.0 970.614 1480.64 -imu_odom_: 1691062556.476687852 0.790087 -0.179565 9.93354 -0.0415453 -0.00852212 0.0532632 0.18 0 pose: 0.48935027 -4.70244 -0.825001 0 0.000245366 -0.00330607 0.718821 0.695187 uwb: 0.49867117 969.739 1481.15 -imu_odom_: 1691062556.502677304 1.02711 -0.201113 10.0293 -0.0458064 -0.02024 0.056459 0.18 0 pose: 0.0 -4.70244 -0.825001 0 0.000245366 -0.00330607 0.718821 0.695187 uwb: 0.0 969.739 1481.15 -imu_odom_: 1691062556.515671738 0.414197 0.0287304 10.1586 -0.0458064 -0.0191748 0.0415453 0.18 0 pose: 0.0 -4.70244 -0.825001 0 0.000245366 -0.00330607 0.718821 0.695187 uwb: 0.0 969.739 1481.15 -imu_odom_: 1691062556.539728764 0.146046 -0.105345 9.63906 -0.076699 0.0149137 0.0788296 0.17 0 pose: 0.40045464 -4.70707 -0.816136 0 -0.000669543-0.00077509 0.719053 0.694954 uwb: 0.50032187 969.32 1481.1 -imu_odom_: 1691062556.565711508 0.505177 -0.126893 9.84496 -0.0649811 0.00426106 0.04048 0.21 -0.02 pose: 0.78976563 -4.70581 -0.804188 0 0.00203819 -0.0002405040.719607 0.694378 uwb: 0.0 969.32 1481.1 -imu_odom_: 1691062556.578663945 0.222661 -0.292093 9.67497 -0.0649811 0.0191748 0.0607201 0.21 -0.02 pose: 0.0 -4.70581 -0.804188 0 0.00203819 -0.0002405040.719607 0.694378 uwb: 0.49953735 964.308 1480.5 -imu_odom_: 1691062556.602667309 -0.150835 -0.332794 10.0724 -0.052198 0.0149137 0.0394148 0.21 -0.02 pose: 0.0 -4.70581 -0.804188 0 0.00203819 -0.0002405040.719607 0.694378 uwb: 0.0 964.308 1480.5 -imu_odom_: 1691062556.628676592 0.435745 -0.289698 9.90002 -0.0692422 -0.0213053 0.0585895 0.17 0 pose: 0.8008218 -4.70285 -0.802635 0 0.00278754 -0.0002704190.719608 0.694375 uwb: 0.50001565 962.619 1480.51 -imu_odom_: 1691062556.643753063 0.356736 -0.248997 10.2783 -0.076699 -0.0298274 0.0617853 0.17 0 pose: 0.0 -4.70285 -0.802635 0 0.00278754 -0.0002704190.719608 0.694375 uwb: 0.0 962.619 1480.51 -imu_odom_: 1691062556.667759636 0.533907 -0.126893 10.228 -0.0692422 -0.0181095 0.0426106 0.17 0.02 pose: 0.38994676 -4.7075 -0.79378 0 0.00231506 0.000526757 0.719708 0.694273 uwb: 0.0 962.619 1480.51 -imu_odom_: 1691062556.693638263 1.09654 -0.258574 10.3286 -0.0735032 -0.0298274 0.0308927 0.25 0.02 pose: 0.48156633 -4.71214 -0.784927 0 -0.000683922-0.00103547 0.719927 0.694049 uwb: 0.50053769 960.914 1480.71 -imu_odom_: 1691062556.716641876 0 -0.296881 9.90002 -0.0639159 -0.0287621 0.0468716 0.25 0.02 pose: 0.0 -4.71214 -0.784927 0 -0.000683922-0.00103547 0.719927 0.694049 uwb: 0.0 960.914 1480.71 -imu_odom_: 1691062556.739671153 -0.0861913 -0.392649 9.58638 -0.0543285 -0.00213053 0.0394148 0.18 0 pose: 0.40815110 -4.70329 -0.780271 0 0.0015378 -0.00183371 0.719995 0.693976 uwb: 0.50202798 958.793 1480.79 -imu_odom_: 1691062556.756777166 0.35913 -0.0790087 10.0963 -0.0479369 -0.02024 0.0340885 0.18 0 pose: 0.0 -4.70329 -0.780271 0 0.0015378 -0.00183371 0.719995 0.693976 uwb: 0.0 958.793 1480.79 -imu_odom_: 1691062556.772778145 0.306458 -0.361524 9.84017 -0.0660464 -0.0117179 0.0511327 0.18 0 pose: 0.0 -4.70329 -0.780271 0 0.0015378 -0.00183371 0.719995 0.693976 uwb: 0.0 958.793 1480.79 -imu_odom_: 1691062556.789654927 0.560243 -0.0454898 10.0341 -0.0308927 -0.0862864 0.0340885 0.2 0 pose: 0.48128635 -4.70795 -0.771422 0 0.000424372 -0.00202354 0.720001 0.69397 uwb: 0.49841744 956.231 1481.03 -imu_odom_: 1691062556.805824184 0.622492 -0.102951 9.8689 -0.0617853 -0.0394148 0.0511327 0.2 0 pose: 0.0 -4.70795 -0.771422 0 0.000424372 -0.00202354 0.720001 0.69397 uwb: 0.0 956.231 1481.03 -imu_odom_: 1691062556.831701645 0.272939 -0.222661 10.0173 -0.0458064 -0.00319579 0.052198 0.25 0 pose: 0.81992148 -4.70611 -0.753444 0 0.00244124 -0.0011848 0.720065 0.693901 uwb: 0.49927779 955.379 1481.07 -imu_odom_: 1691062556.854650429 0.438139 -0.299275 9.81383 -0.0458064 0.0276969 0.0458064 0.25 0 pose: 0.0 -4.70611 -0.753444 0 0.00244124 -0.0011848 0.720065 0.693901 uwb: 0.0 955.379 1481.07 -imu_odom_: 1691062556.880795617 0.486023 -0.143652 10.173 -0.0468716 0.00426106 0.0372843 0.18 0 pose: 0.7865313 -4.70842 -0.749066 0 0.00182893 -0.0006902430.720101 0.693867 uwb: 0.50179467 956.185 1481.52 -imu_odom_: 1691062556.896640859 0.131681 -0.373495 9.06684 -0.0649811 -0.0319579 0.052198 0.18 -0.02 pose: 0.0 -4.70842 -0.749066 0 0.00182893 -0.0006902430.720101 0.693867 uwb: 0.0 956.185 1481.52 -imu_odom_: 1691062556.922779923 0.25618 -0.332794 9.19373 -0.0415453 -0.0276969 0.0458064 0.18 0.02 pose: 0.82951362 -4.71308 -0.740219 0 0.000452133 -0.0005541270.720277 0.693687 uwb: 0.49893948 953.217 1481.5 -imu_odom_: 1691062556.947721502 0.191536 0.0191536 10.0173 -0.0511327 0.00639159 0.0426106 0.18 -0.02 pose: 0.0 -4.71308 -0.740219 0 0.000452133 -0.0005541270.720277 0.693687 uwb: 0.0 953.217 1481.5 -imu_odom_: 1691062556.971653413 0.217872 -0.246603 10.2017 -0.0500674 -0.015979 0.0394148 0.18 -0.02 pose: 0.34033833 -4.7089 -0.726708 0 -0.00170239 0.000542794 0.720342 0.693616 uwb: 0.0 953.217 1481.5 -imu_odom_: 1691062556.994835220 0.768539 -0.28491 10.1466 -0.0841559 -0.02024 0.0436758 0.26 -0.02 pose: 0.40978721 -4.7089 -0.726708 0 -0.00352866 0.00328529 0.720351 0.693593 uwb: 0.49767376 948.171 1481.06 -imu_odom_: 1691062557.20696060 0.653617 -0.373495 10.0389 -0.0532632 -0.0447411 0.036219 0.26 -0.02 pose: 0.7016633 -4.7089 -0.726708 0 -0.00312949 0.0026176 0.720363 0.693585 uwb: 0.0 948.171 1481.06 -imu_odom_: 1691062557.36635214 0.294487 -0.0861913 9.92157 -0.0447411 -0.00213053 0.0511327 0.17 0 pose: 0.0 -4.7089 -0.726708 0 -0.00312949 0.0026176 0.720363 0.693585 uwb: 0.50143890 946.878 1481.22 -imu_odom_: 1691062557.53642655 0.483629 -0.426168 9.73482 -0.0617853 -0.0149137 0.0383495 0.17 0 pose: 0.48977320 -4.70472 -0.713198 0 -0.000799157-0.0009743630.720387 0.693571 uwb: 0.0 946.878 1481.22 -imu_odom_: 1691062557.79630362 0.378284 -0.732626 9.35415 0.00745685 -0.0298274 0.0181095 0.18 -0.02 pose: 0.0 -4.70472 -0.713198 0 -0.000799157-0.0009743630.720387 0.693571 uwb: 0.50140980 948.152 1481.25 -imu_odom_: 1691062557.102617647 0.234632 0.19393 10.0317 -0.00319579 -0.0862864 0.0596548 0.18 -0.02 pose: 0.35107960 -4.70939 -0.704353 0 -0.0015962 -0.00223199 0.720346 0.69361 uwb: 0.0 948.152 1481.25 -imu_odom_: 1691062557.119622464 1.02951 -0.0814029 9.93833 -0.0777643 -0.0553937 0.0958738 0.25 -0.02 pose: 0.0 -4.70939 -0.704353 0 -0.0015962 -0.00223199 0.720346 0.69361 uwb: 0.0 948.152 1481.25 -imu_odom_: 1691062557.144611877 0.981623 -0.270545 9.51695 -0.105461 -0.0106526 0.0671117 0.25 -0.02 pose: 0.47898830 -4.71405 -0.695509 0 0.000484035 -0.00186043 0.720543 0.693408 uwb: 0.49857503 945.165 1481.32 -imu_odom_: 1691062557.170682410 0.634463 -0.0790087 9.47864 -0.0873517 0.0170442 0.0127832 0.23 0 pose: 0.33957721 -4.71405 -0.695509 0 0.00265143 -0.00490767 0.720944 0.692971 uwb: 0.0 945.165 1481.32 -imu_odom_: 1691062557.185630562 0.603339 -0.282516 10.0868 -0.109722 0.0138484 0.0415453 0.23 0 pose: 0.0 -4.71405 -0.695509 0 0.00265143 -0.00490767 0.720944 0.692971 uwb: 0.49947329 942.232 1480.9 -imu_odom_: 1691062557.212609854 0.414197 -0.493206 9.82102 -0.0447411 0.015979 0.0394148 0.18 -0.02 pose: 0.7085754 -4.71405 -0.695509 0 0.00322161 -0.0048391 0.720874 0.693042 uwb: 0.0 942.232 1480.9 -imu_odom_: 1691062557.236620806 0.45011 -0.124498 9.94073 -0.0415453 -0.00532632 0.0394148 0.18 -0.02 pose: 0.0 -4.71405 -0.695509 0 0.00322161 -0.0048391 0.720874 0.693042 uwb: 0.50063403 939.672 1480.92 -imu_odom_: 1691062557.262657800 0.483629 -0.483629 10.228 -0.076699 -0.00745685 0.0458064 0.19 0 pose: 0.42041476 -4.70989 -0.681992 0 0.0036059 -0.00650507 0.720698 0.693209 uwb: 0.0 939.672 1480.92 -imu_odom_: 1691062557.278638367 -0.107739 -0.342371 9.62469 -0.0628506 0.0298274 0.0255663 0.19 0 pose: 0.0 -4.70989 -0.681992 0 0.0036059 -0.00650507 0.720698 0.693209 uwb: 0.49982910 939.66 1481.01 -imu_odom_: 1691062557.294648099 0.213084 -0.215478 10.5632 -0.0447411 -0.00745685 0.0276969 0.23 0 pose: 0.50942997 -4.71457 -0.673152 0 0.00203796 -0.00510343 0.720729 0.693195 uwb: 0.0 939.66 1481.01 -imu_odom_: 1691062557.320618890 0.775721 -0.3304 10.2687 -0.0500674 0.00213053 0.0298274 0.23 0 pose: 0.0 -4.71457 -0.673152 0 0.00203796 -0.00510343 0.720729 0.693195 uwb: 0.0 939.66 1481.01 -imu_odom_: 1691062557.345600429 0.59855 -0.325611 9.74919 -0.0447411 -0.0436758 0.0511327 0.23 0 pose: 0.40919527 -4.71041 -0.659637 0 -0.00117817 -0.00463431 0.720676 0.693256 uwb: 0.50058153 935.892 1480.45 -imu_odom_: 1691062557.359694359 1.00317 -0.225055 9.90481 -0.0617853 0.00319579 0.0383495 0.23 0 pose: 0.0 -4.71041 -0.659637 0 -0.00117817 -0.00463431 0.720676 0.693256 uwb: 0.0 935.892 1480.45 -imu_odom_: 1691062557.374746335 0.68953 -0.11971 9.81862 -0.0607201 -0.00532632 0.0372843 0.23 0 pose: 0.0 -4.71041 -0.659637 0 -0.00117817 -0.00463431 0.720676 0.693256 uwb: 0.49798300 933.403 1479.93 -imu_odom_: 1691062557.401603721 -0.160412 -0.426168 10.0006 -0.0553937 0.0319579 0.0330232 0.18 0 pose: 0.42015519 -4.71041 -0.659637 0 0.000592665 -0.00636727 0.720567 0.693356 uwb: 0.0 933.403 1479.93 -imu_odom_: 1691062557.425705373 0.234632 -0.220267 9.90481 -0.0447411 0.0106526 0.036219 0.18 0 pose: 0.73986571 -4.71215 -0.641315 0 0.00175961 -0.00684647 0.720546 0.693371 uwb: 0.50144771 935.928 1480.2 -imu_odom_: 1691062557.450584545 0.560243 -0.416591 10.3597 -0.0660464 -0.0415453 0.0500674 0.18 0 pose: 0.0 -4.71215 -0.641315 0 0.00175961 -0.00684647 0.720546 0.693371 uwb: 0.0 935.928 1480.2 -imu_odom_: 1691062557.473652033 0.299275 -0.265756 10.1299 -0.0458064 -0.0213053 0.0213053 0.18 0 pose: 0.8007927 -4.71091 -0.637281 0 0.00131073 -0.00610175 0.720542 0.693383 uwb: 0.50024323 935.515 1480.1 -imu_odom_: 1691062557.489597019 0.471658 -0.28491 9.88566 -0.0468716 0.00319579 0.0266316 0.18 0 pose: 0.0 -4.71091 -0.637281 0 0.00131073 -0.00610175 0.720542 0.693383 uwb: 0.0 935.515 1480.1 -imu_odom_: 1691062557.515600766 0.677559 -0.0909797 9.90002 -0.0191748 -0.00958738 0.0330232 0.25 0.02 pose: 0.47981949 -4.71558 -0.62844 0 -0.000183175-0.00687235 0.720574 0.693344 uwb: 0.0 935.515 1480.1 -imu_odom_: 1691062557.540637426 0.213084 -0.186748 10.0365 -0.0447411 0.0255663 0.056459 0.25 0.02 pose: 0.0 -4.71558 -0.62844 0 -0.000183175-0.00687235 0.720574 0.693344 uwb: 0.49950537 932.958 1480.05 -imu_odom_: 1691062557.567698378 0.296881 -0.0933739 9.50259 -0.0426106 0.0106526 0.0490022 0.21 0.02 pose: 0.40121883 -4.71558 -0.62844 0 0.00145276 -0.00459589 0.720389 0.693553 uwb: 0.0 932.958 1480.05 -imu_odom_: 1691062557.583570162 0.399832 -0.220267 9.98622 -0.0394148 -0.00213053 0.0500674 0.21 0.02 pose: 0.0 -4.71558 -0.62844 0 0.00145276 -0.00459589 0.720389 0.693553 uwb: 0.50129314 934.155 1480.67 -imu_odom_: 1691062557.610654154 0.679953 -0.009576819.84735 -0.0692422 -0.0245011 0.056459 0.23 -0.02 pose: 0.50954955 -4.7114 -0.614929 0 0.00167607 -0.0012564 0.720523 0.693428 uwb: 0.0 934.155 1480.67 -imu_odom_: 1691062557.636568075 0.246603 -0.320823 9.75398 -0.0617853 0.0245011 0.052198 0.23 -0.02 pose: 0.0 -4.7114 -0.614929 0 0.00167607 -0.0012564 0.720523 0.693428 uwb: 0.49877335 931.201 1480.37 -imu_odom_: 1691062557.661588402 0.19393 -0.227449 9.85214 -0.0543285 0.0127832 0.0585895 0.25 0 pose: 0.42918737 -4.71608 -0.606086 0 0.000899156 -2.44966e-050.720689 0.693258 uwb: 0.0 931.201 1480.37 -imu_odom_: 1691062557.684566063 0.25618 -0.232238 9.98143 -0.0490022 0.0117179 0.036219 0.25 0 pose: 0.52083905 -4.71192 -0.592569 0 -0.00062709 0.000624426 0.720961 0.692975 uwb: 0.49819298 931.161 1480.65 -imu_odom_: 1691062557.700635582 -0.0957681 -0.220267 9.64145 -0.0553937 -0.00426106 0.0415453 0.2 0 pose: 0.0 -4.71192 -0.592569 0 -0.00062709 0.000624426 0.720961 0.692975 uwb: 0.0 931.161 1480.65 -imu_odom_: 1691062557.723555789 0.45011 -0.339977 10.398 -0.0756338 -0.0245011 0.0596548 0.2 0 pose: 0.0 -4.71192 -0.592569 0 -0.00062709 0.000624426 0.720961 0.692975 uwb: 0.50044737 929.039 1480.51 -imu_odom_: 1691062557.748728354 0.679953 -0.122104 10.1945 -0.0756338 -0.0106526 0.0490022 0.25 0 pose: 0.63904770 -4.7166 -0.583734 0 -0.00506897 0.00370439 0.721096 0.692807 uwb: 0.0 929.039 1480.51 -imu_odom_: 1691062557.771841338 0.943315 -0.234632 9.74919 -0.056459 -0.0149137 0.0351537 0.25 0 pose: 0.0 -4.7166 -0.583734 0 -0.00506897 0.00370439 0.721096 0.692807 uwb: 0.0 929.039 1480.51 -imu_odom_: 1691062557.787578091 0.605733 -0.248997 9.60793 -0.0617853 -0.0138484 0.0330232 0.18 0 pose: 0.48183765 -4.72129 -0.5749 0 -0.00196235 0.000127246 0.721288 0.692633 uwb: 0.49939455 929.862 1480.75 -imu_odom_: 1691062557.810668618 0.770933 -0.31364 9.96227 -0.0756338 -0.0585895 0.052198 0.18 0 pose: 0.0 -4.72129 -0.5749 0 -0.00196235 0.000127246 0.721288 0.692633 uwb: 0.0 929.862 1480.75 -imu_odom_: 1691062557.827564069 1.01754 -0.167594 9.96227 -0.0479369 -0.0308927 0.0372843 0.25 0 pose: 0.38914773 -4.71245 -0.57021 0 0.00084538 -0.00305566 0.721253 0.692664 uwb: 0.50096067 929.808 1481.12 -imu_odom_: 1691062557.852564856 0.23942 -0.306458 9.74201 -0.0617853 0.015979 0.0532632 0.25 0 pose: 0.0 -4.71245 -0.57021 0 0.00084538 -0.00305566 0.721253 0.692664 uwb: 0.0 929.808 1481.12 -imu_odom_: 1691062557.878550813 0.320823 -0.215478 9.81144 -0.0383495 0.0149137 0.0351537 0.23 0 pose: 0.57888471 -4.71714 -0.561377 0 0.00120169 -0.0043974 0.721425 0.692478 uwb: 0.50059320 926.437 1480.74 -imu_odom_: 1691062557.904654593 0.354342 -0.260968 10.6901 -0.0436758 0.0213053 0.04048 0.18 0 pose: 0.0 -4.71714 -0.561377 0 0.00120169 -0.0043974 0.721425 0.692478 uwb: 0.0 926.437 1480.74 -imu_odom_: 1691062557.930616344 0.703895 -0.347159 9.80665 -0.0607201 -0.0170442 0.04048 0.22 0.02 pose: 0.25985957 -4.71424 -0.551877 0 -0.000143809-0.00182153 0.721394 0.692523 uwb: 0.49992825 926.85 1480.85 -imu_odom_: 1691062557.945609117 0.399832 -0.311246 9.61751 -0.0585895 0.0170442 0.0447411 0.22 0.02 pose: 0.0 -4.71424 -0.551877 0 -0.000143809-0.00182153 0.721394 0.692523 uwb: 0.0 926.85 1480.85 -imu_odom_: 1691062557.961550604 0.454898 -0.0191536 10.2328 -0.04048 -0.0266316 0.0340885 0.18 0 pose: 0.33093583 -4.71301 -0.547854 0 -0.0021469 -0.0007783930.721405 0.69251 uwb: 0.0 926.85 1480.85 -imu_odom_: 1691062557.976571958 0.167594 -0.366313 9.03093 -0.0553937 0.0127832 0.0447411 0.18 0 pose: 0.0 -4.71301 -0.547854 0 -0.0021469 -0.0007783930.721405 0.69251 uwb: 0.49994284 926.808 1481.13 -imu_odom_: 1691062558.3542209 0.596156 -0.196325 9.50737 -0.0372843 -0.0394148 0.0372843 0.18 0 pose: 0.64927562 -4.72018 -0.534357 0 -0.00267705 -0.00150885 0.721434 0.692477 uwb: 0.0 926.808 1481.13 -imu_odom_: 1691062558.28679490 0.217872 -0.105345 10.2831 -0.0607201 -0.02024 0.0458064 0.18 0 pose: 0.7988971 -4.72239 -0.530193 0 -0.00179829 -0.00188543 0.721427 0.692486 uwb: 0.50019952 926.356 1481.27 -imu_odom_: 1691062558.55547380 0.354342 -0.179565 9.57681 -0.0596548 -0.0276969 0.04048 0.21 -0.02 pose: 0.44118561 -4.71356 -0.5255 0 -0.000204176-0.0005236880.721467 0.692449 uwb: 0.0 926.356 1481.27 -imu_odom_: 1691062558.71597944 0.68953 -0.387861 9.90242 -0.0777643 -0.0149137 0.0479369 0.21 -0.02 pose: 0.0 -4.71356 -0.5255 0 -0.000204176-0.0005236880.721467 0.692449 uwb: 0.0 926.356 1481.27 -imu_odom_: 1691062558.97604904 0.814029 -0.347159 9.90481 -0.0383495 -0.0543285 0.0298274 0.25 -0.02 pose: 0.42918454 -4.71826 -0.51667 0 4.50814e-05 0.000149425 0.721522 0.692391 uwb: 0.49829223 925.487 1481.33 -imu_odom_: 1691062558.120543490 0.335188 -0.378284 9.75398 -0.0500674 0.00213053 0.0500674 0.25 -0.02 pose: 0.0 -4.71826 -0.51667 0 4.50814e-05 0.000149425 0.721522 0.692391 uwb: 0.0 925.487 1481.33 -imu_odom_: 1691062558.136703712 0.19393 -0.0670376 9.991 -0.0117179 -0.0149137 0.036219 0.19 0 pose: 0.48945546 -4.71688 -0.504615 0 -0.000397285-0.00262123 0.72152 0.692389 uwb: 0.50068954 925.861 1481.7 -imu_odom_: 1691062558.158592092 0.385466 -0.0574608 9.88566 -0.0490022 0.00745685 0.0553937 0.19 0 pose: 0.0 -4.71688 -0.504615 0 -0.000397285-0.00262123 0.72152 0.692389 uwb: 0.0 925.861 1481.7 -imu_odom_: 1691062558.174597744 0.837971 -0.268151 9.47625 -0.076699 0.0245011 0.0458064 0.2 0 pose: 0.0 -4.71688 -0.504615 0 -0.000397285-0.00262123 0.72152 0.692389 uwb: 0.0 925.861 1481.7 -imu_odom_: 1691062558.200601787 0.196325 -0.217872 10.0006 -0.0426106 0.0415453 0.0575243 0.2 0 pose: 0.46013952 -4.71882 -0.494318 0 0.001254 0.000464133 0.721642 0.692266 uwb: 0.0 925.861 1481.7 -imu_odom_: 1691062558.224520001 0.265756 -0.349553 10.0102 -0.0596548 0.056459 0.04048 0.19 0 pose: 0.34044345 -4.72207 -0.488207 0 -0.0007761930.00197259 0.721819 0.692078 uwb: 0.100125368 925.354 1482.19 -imu_odom_: 1691062558.250568375 0.0383072 -0.306458 9.94312 -0.0809601 0.0138484 0.0639159 0.19 0 pose: 0.8013763 -4.72352 -0.485492 0 -0.00174471 0.00194623 0.72182 0.692076 uwb: 0.0 925.354 1482.19 -imu_odom_: 1691062558.276514965 0.42138 -0.246603 9.64863 -0.0628506 -0.00745685 0.0308927 0.19 0 pose: 0.24038662 -4.72352 -0.485492 0 -0.00449452 0.00228087 0.721885 0.691995 uwb: 0.49886385 922.81 1481.93 -imu_odom_: 1691062558.301643205 0.651223 -0.320823 10.319 -0.0596548 -0.0394148 0.04048 0.2 0 pose: 0.25969047 -4.7147 -0.480786 0 -0.00571709 0.00257835 0.722007 0.691858 uwb: 0.0 922.81 1481.93 -imu_odom_: 1691062558.315503532 0.349553 -0.117316 10.1131 -0.056459 -0.0127832 0.0394148 0.2 0 pose: 0.0 -4.7147 -0.480786 0 -0.00571709 0.00257835 0.722007 0.691858 uwb: 0.0 922.81 1481.93 -imu_odom_: 1691062558.338591438 0.459687 -0.335188 9.89284 -0.0511327 -0.0298274 0.0447411 0.2 0 pose: 0.0 -4.7147 -0.480786 0 -0.00571709 0.00257835 0.722007 0.691858 uwb: 0.49986128 922.754 1482.28 -imu_odom_: 1691062558.364641270 0.696713 -0.131681 9.65342 -0.0575243 -0.00319579 0.036219 0.18 0 pose: 0.24912716 -4.7194 -0.471963 0 -0.00389919 0.000675763 0.721961 0.691923 uwb: 0.0 922.754 1482.28 -imu_odom_: 1691062558.387541942 0.328006 -0.234632 9.91199 -0.0596548 0.00852212 0.0447411 0.19 -0.02 pose: 0.39046895 -4.7194 -0.471963 0 -0.00182586 -0.0006886320.72198 0.691911 uwb: 0.0 922.754 1482.28 -imu_odom_: 1691062558.411574480 0.356736 -0.177171 10.2017 -0.0330232 0.0553937 0.0447411 0.19 -0.02 pose: 0.42058400 -4.71773 -0.459737 0 0.00072368 -0.0032155 0.721969 0.691917 uwb: 0.0 922.754 1482.28 -imu_odom_: 1691062558.428579592 -0.141258 -0.471658 9.52174 -0.0500674 -0.015979 0.0511327 0.19 -0.02 pose: 0.0 -4.71773 -0.459737 0 0.00072368 -0.0032155 0.721969 0.691917 uwb: 0.100071122 924.822 1482.87 -imu_odom_: 1691062558.453580384 0.162806 -0.105345 9.89284 -0.0436758 0.00426106 0.0372843 0.26 0.02 pose: 0.6937600 -4.71529 -0.458433 0 0.000241823 -0.00265854 0.721983 0.691905 uwb: 0.0 924.822 1482.87 -imu_odom_: 1691062558.469562996 0.921768 -0.189142 10.1107 -0.0692422 0.00639159 0.0468716 0.26 0.02 pose: 0.0 -4.71529 -0.458433 0 0.000241823 -0.00265854 0.721983 0.691905 uwb: 0.0 924.822 1482.87 -imu_odom_: 1691062558.495560623 0.591368 -0.260968 9.73243 -0.0639159 -0.0287621 0.0447411 0.23 -0.02 pose: 0.47979042 -4.72 -0.44961 0 -0.00164511 0.00190797 0.722088 0.691797 uwb: 0.49939464 925.139 1483.6 -imu_odom_: 1691062558.522569377 0.387861 -0.426168 10.2975 -0.0745685 -0.036219 0.056459 0.2 0 pose: 0.41017526 -4.72471 -0.440789 0 -0.00258538 0.00425265 0.722118 0.691752 uwb: 0.49863346 922.169 1483.23 -imu_odom_: 1691062558.547743113 1.1157 -0.184354 10.4651 -0.0543285 -0.0276969 0.0319579 0.2 0 pose: 0.0 -4.72471 -0.440789 0 -0.00258538 0.00425265 0.722118 0.691752 uwb: 0.0 922.169 1483.23 -imu_odom_: 1691062558.574520885 1.08457 -0.349553 10.0916 -0.0319579 0.0170442 0.0223706 0.23 0.02 pose: 0.43022571 -4.7206 -0.427258 0 -0.0009998240.000351745 0.722243 0.691638 uwb: 0.50061954 922.09 1483.72 -imu_odom_: 1691062558.590501164 0.301669 -0.0526724 9.7037 -0.0330232 0.015979 0.04048 0.23 0.02 pose: 0.0 -4.7206 -0.427258 0 -0.0009998240.000351745 0.722243 0.691638 uwb: 0.0 922.09 1483.72 -imu_odom_: 1691062558.617515459 0.42138 -0.304064 9.72046 -0.0266316 0.00106526 0.0511327 0.23 0 pose: 0.51075413 -4.7206 -0.427258 0 0.000488141 -0.00356238 0.722236 0.691637 uwb: 0.0 922.09 1483.72 -imu_odom_: 1691062558.642558247 0.416591 -0.0430956 9.84735 -0.0351537 -0.0234358 0.052198 0.23 0 pose: 0.0 -4.7206 -0.427258 0 0.000488141 -0.00356238 0.722236 0.691637 uwb: 0.49943840 922.479 1483.99 -imu_odom_: 1691062558.667491670 0.28491 -0.246603 9.69891 -0.04048 -0.0394148 0.036219 0.21 0 pose: 0.42897457 -4.71649 -0.413726 0 0.00113229 -0.00305126 0.72215 0.691729 uwb: 0.0 922.479 1483.99 -imu_odom_: 1691062558.681487028 0.581791 0.100556 10.1275 -0.0649811 -0.036219 0.0617853 0.21 0 pose: 0.0 -4.71649 -0.413726 0 0.00113229 -0.00305126 0.72215 0.691729 uwb: 0.49981169 921.985 1484.37 -imu_odom_: 1691062558.706553439 0.0933739 -0.328006 9.7851 -0.0671117 0.0308927 0.0532632 0.18 0 pose: 0.51973090 -4.7212 -0.404905 0 0.000787895 -0.0009712820.722337 0.69154 uwb: 0.0 921.985 1484.37 -imu_odom_: 1691062558.732502654 0.320823 -0.248997 9.83777 -0.0543285 -0.0117179 0.0639159 0.18 0 pose: 0.0 -4.7212 -0.404905 0 0.000787895 -0.0009712820.722337 0.69154 uwb: 0.50002460 919.822 1484.35 -imu_odom_: 1691062558.755494027 0.428562 -0.301669 9.80186 -0.0468716 0 0.0340885 0.2 0 pose: 0.82958685 -4.72294 -0.386216 0 -0.00417696 0.00158757 0.722753 0.691092 uwb: 0.0 919.822 1484.35 -imu_odom_: 1691062558.780478488 0.325611 -0.25618 9.52174 -0.0671117 0.00958738 0.0575243 0.2 0 pose: 0.0 -4.72294 -0.386216 0 -0.00417696 0.00158757 0.722753 0.691092 uwb: 0.0 919.822 1484.35 -imu_odom_: 1691062558.796492013 0.557849 -0.497994 9.72285 -0.0788296 -0.0138484 0.0543285 0.2 0 pose: 0.30023466 -4.72183 -0.38255 0 -0.00382947 0.000117018 0.72275 0.691099 uwb: 0.0 919.822 1484.35 -imu_odom_: 1691062558.822497515 0.555455 -0.0143652 10.1347 -0.056459 -0.00958738 0.0500674 0.2 0 pose: 0.0 -4.72183 -0.38255 0 -0.00382947 0.000117018 0.72275 0.691099 uwb: 0.0 919.822 1484.35 -imu_odom_: 1691062558.848541222 0.409408 -0.270545 10.1011 -0.052198 0.0213053 0.0351537 0.19 0 pose: 0.41963907 -4.72656 -0.373738 0 -0.00418436 -7.65562e-050.722971 0.690866 uwb: 0.0 919.822 1484.35 -imu_odom_: 1691062558.864484754 -0.0622492 -0.363919 9.68215 -0.0628506 0.00639159 0.0436758 0.19 0 pose: 0.0 -4.72656 -0.373738 0 -0.00418436 -7.65562e-050.722971 0.690866 uwb: 0.0 919.822 1484.35 -imu_odom_: 1691062558.890591165 0.371101 -0.155623 9.61033 -0.0511327 -0.0490022 0.0383495 0.19 0 pose: 0.51132284 -4.72248 -0.360196 0 -0.00251886 -0.0017609 0.723006 0.690834 uwb: 0.150157866 918.578 1484 -imu_odom_: 1691062558.915536253 0.653617 -0.246603 10.2089 -0.0543285 -0.0223706 0.0511327 0.17 0 pose: 0.34968854 -4.72248 -0.360196 0 -0.00111147 0.000291071 0.723017 0.69083 uwb: 0.0 918.578 1484 -imu_odom_: 1691062558.931534322 0.553061 -0.517148 9.22007 -0.056459 0.0617853 0.0372843 0.17 0 pose: 0.0 -4.72248 -0.360196 0 -0.00111147 0.000291071 0.723017 0.69083 uwb: 0.49792768 918.919 1484.55 -imu_odom_: 1691062558.957543032 0.0909797 -0.225055 9.32302 -0.0575243 0.0213053 0.0553937 0.18 0.02 pose: 0.6889479 -4.72248 -0.360196 0 -0.000603246-0.0002622950.723044 0.690802 uwb: 0.0 918.919 1484.55 -imu_odom_: 1691062558.983467749 0.287304 -0.371101 10.0509 -0.0436758 -0.0191748 0.04048 0.18 0.02 pose: 0.0 -4.72248 -0.360196 0 -0.000603246-0.0002622950.723044 0.690802 uwb: 0.50023458 916.78 1484.33 -imu_odom_: 1691062559.9482001 0.320823 -0.184354 9.92636 -0.052198 -0.00319579 0.0436758 0.19 0 pose: 0.42082022 -4.72722 -0.351388 0 -0.000852636-0.0021778 0.723147 0.69069 uwb: 0.0 916.78 1484.33 -imu_odom_: 1691062559.35590166 0.277727 0.0407014 9.61511 -0.0511327 0.0223706 0.0490022 0.19 0 pose: 0.0 -4.72722 -0.351388 0 -0.000852636-0.0021778 0.723147 0.69069 uwb: 0.49997213 913.337 1484.09 -imu_odom_: 1691062559.60615753 0.679953 -0.0909797 10.3406 -0.0617853 0.0372843 0.056459 0.19 0 pose: 0.50911802 -4.72315 -0.337844 0 -0.00422237 -0.0004110860.723263 0.690559 uwb: 0.0 913.337 1484.09 -imu_odom_: 1691062559.86480105 0.64404 -0.493206 9.68455 -0.0735032 0.0426106 0.0426106 0.2 -0.02 pose: 0.52022969 -4.72789 -0.32904 0 -0.00171704 0.00358031 0.723428 0.690389 uwb: 0.50250949 914.495 1484.94 -imu_odom_: 1691062559.102458345 0 -0.131681 10.0126 -0.0607201 -0.00639159 0.0500674 0.2 -0.02 pose: 0.0 -4.72789 -0.32904 0 -0.00171704 0.00358031 0.723428 0.690389 uwb: 0.0 914.495 1484.94 -imu_odom_: 1691062559.128529764 0.402226 -0.110133 9.92875 -0.0585895 -0.0276969 0.0479369 0.23 0 pose: 0.59960908 -4.72384 -0.315491 0 -0.00198422 0.00188746 0.723626 0.690187 uwb: 0.49922268 909.404 1484.2 -imu_odom_: 1691062559.154573476 0.244209 -0.28491 9.3709 -0.0394148 0.0223706 0.0298274 0.23 0 pose: 0.8070635 -4.72384 -0.315491 0 -0.00116375 0.00208291 0.723651 0.690162 uwb: 0.0 909.404 1484.2 -imu_odom_: 1691062559.179512445 0.234632 -0.198719 10.094 -0.0585895 0.0127832 0.052198 0.23 0 pose: 0.44044496 -4.72859 -0.306691 0 -0.00204065 0.00308836 0.723611 0.690198 uwb: 0.49828941 910.521 1485.27 -imu_odom_: 1691062559.193502847 0.553061 -0.476446 9.79228 -0.052198 -0.00639159 0.0394148 0.23 0 pose: 0.0 -4.72859 -0.306691 0 -0.00204065 0.00308836 0.723611 0.690198 uwb: 0.0 910.521 1485.27 -imu_odom_: 1691062559.218593762 0.368707 -0.280122 9.64624 -0.04048 0.0127832 0.0553937 0.18 -0.02 pose: 0.38929371 -4.72645 -0.299537 0 -0.00398952 0.00352348 0.723708 0.690085 uwb: 0.0 910.521 1485.27 -imu_odom_: 1691062559.235434973 0.732626 -0.0622492 10.2544 -0.076699 -0.00106526 0.0479369 0.18 -0.02 pose: 0.0 -4.72645 -0.299537 0 -0.00398952 0.00352348 0.723708 0.690085 uwb: 0.49991387 907.48 1485.11 -imu_odom_: 1691062559.260509556 0.225055 -0.550666 9.47625 -0.052198 0.0681769 0.0553937 0.2 -0.02 pose: 0.41932126 -4.72454 -0.293141 0 -0.00239806 0.000648126 0.723895 0.689906 uwb: 0.0 907.48 1485.11 -imu_odom_: 1691062559.287508399 0.0454898 -0.294487 10.0126 -0.0468716 0.00106526 0.0415453 0.2 -0.02 pose: 0.0 -4.72454 -0.293141 0 -0.00239806 0.000648126 0.723895 0.689906 uwb: 0.49983513 903.229 1484.37 -imu_odom_: 1691062559.312506571 0.366313 -0.244209 9.97185 -0.0756338 -0.0213053 0.0607201 0.19 0 pose: 0.52073426 -4.7293 -0.284345 0 -0.00734905 0.00224557 0.724033 0.689722 uwb: 0.0 903.229 1484.37 -imu_odom_: 1691062559.339448835 0.28491 -0.126893 10.2089 -0.0692422 0.00532632 0.0287621 0.19 0 pose: 0.0 -4.7293 -0.284345 0 -0.00734905 0.00224557 0.724033 0.689722 uwb: 0.50194370 900.68 1483.91 -imu_odom_: 1691062559.355438158 0.565032 -0.342371 9.64145 -0.0798948 0.0138484 0.04048 0.2 -0.02 pose: 0.31961147 -4.72526 -0.27079 0 -0.00474913 0.00154646 0.724205 0.689567 uwb: 0.0 900.68 1483.91 -imu_odom_: 1691062559.382487455 0.416591 -0.31364 9.96946 -0.0447411 0.02024 0.0383495 0.2 -0.02 pose: 0.0 -4.72526 -0.27079 0 -0.00474913 0.00154646 0.724205 0.689567 uwb: 0.49974180 897.62 1483.77 -imu_odom_: 1691062559.407434007 0.35913 -0.371101 10.3573 -0.0490022 -0.00958738 0.0330232 0.24 0.02 pose: 0.28127209 -4.72526 -0.27079 0 -0.00369657 0.00243629 0.72414 0.689638 uwb: 0.0 897.62 1483.77 -imu_odom_: 1691062559.434555339 0.435745 -0.395043 9.5385 -0.0490022 -0.0149137 0.0458064 0.23 0.02 pose: 0.15846126 -4.72526 -0.27079 0 -0.00349536 0.000984797 0.724139 0.689645 uwb: 0.49937433 901.737 1485.2 -imu_odom_: 1691062559.459503349 0.167594 -0.220267 9.81144 -0.036219 0.0223706 0.0415453 0.23 0.02 pose: 0.43991126 -4.73003 -0.261997 0 -0.00508312 -0.00242052 0.724059 0.689715 uwb: 0.0 901.737 1485.2 -imu_odom_: 1691062559.486482360 -0.122104 -0.42138 9.55287 -0.0490022 -0.00319579 0.0458064 0.23 -0.02 pose: 0.7058925 -4.73003 -0.261997 0 -0.00507343 -0.00313589 0.724071 0.6897 uwb: 0.49862480 900.847 1485.23 -imu_odom_: 1691062559.502532053 0.347159 -0.0574608 10.0149 -0.04048 -0.0245011 0.0351537 0.23 -0.02 pose: 0.0 -4.73003 -0.261997 0 -0.00507343 -0.00313589 0.724071 0.6897 uwb: 0.0 900.847 1485.23 -imu_odom_: 1691062559.529454485 0.897826 -0.184354 10.0772 -0.0649811 -0.00958738 0.0426106 0.23 -0.02 pose: 0.52137878 -4.72599 -0.248442 0 -0.00642317 -0.00197587 0.724148 0.689612 uwb: 0.49997803 897.346 1485.06 -imu_odom_: 1691062559.545562215 0.560243 -0.442927 9.68933 -0.0458064 0.0234358 0.0266316 0.23 -0.02 pose: 0.0 -4.72599 -0.248442 0 -0.00642317 -0.00197587 0.724148 0.689612 uwb: 0.0 897.346 1485.06 -imu_odom_: 1691062559.572559891 0.706289 -0.361524 9.991 -0.0735032 -0.00532632 0.056459 0.26 0.02 pose: 0.78931405 -4.7311 -0.228463 0 -0.00419127 -0.00289409 0.724129 0.689646 uwb: 0.50228493 897.287 1485.33 -imu_odom_: 1691062559.597575562 0.787692 -0.335188 9.60314 -0.0532632 -0.0458064 0.0234358 0.26 0.02 pose: 0.7895357 -4.72673 -0.226094 0 -0.00375216 -0.00357262 0.724172 0.6896 uwb: 0.0 897.287 1485.33 -imu_odom_: 1691062559.624423626 0.114922 -0.507571 9.64384 -0.0500674 0.0127832 0.04048 0.21 -0.02 pose: 0.44117990 -4.73015 -0.21977 0 -0.000549139-0.00734908 0.72412 0.689635 uwb: 0.50039216 897.2 1485.75 -imu_odom_: 1691062559.650450423 0.385466 -0.0885855 9.62469 -0.0308927 -0.00852212 0.04048 0.18 -0.02 pose: 0.0 -4.73015 -0.21977 0 -0.000549139-0.00734908 0.72412 0.689635 uwb: 0.0 897.2 1485.75 -imu_odom_: 1691062559.677399978 0.351948 -0.438139 9.36133 -0.0468716 0.0127832 0.0490022 0.25 0 pose: 0.52874861 -4.73492 -0.210968 0 -0.00161903 -0.00390786 0.724162 0.689617 uwb: 0.49724825 894.617 1485.39 -imu_odom_: 1691062559.702428773 0.474052 -0.0526724 9.95509 -0.0340885 -0.0213053 0.0511327 0.19 0 pose: 0.26949555 -4.73001 -0.205126 0 -0.0042628 -0.00452717 0.724247 0.689512 uwb: 0.0 894.617 1485.39 -imu_odom_: 1691062559.719464510 0.711078 -0.174777 10.1466 -0.0479369 -0.00745685 0.04048 0.19 0 pose: 0.8145295 -4.72746 -0.203744 0 -0.00346536 -0.00407361 0.724283 0.689482 uwb: 0.0 894.617 1485.39 -imu_odom_: 1691062559.745597757 0.486023 -0.177171 9.54808 -0.072438 -0.00532632 0.0639159 0.18 0.02 pose: 0.33919237 -4.73009 -0.198895 0 -0.000178452-0.0037666 0.724355 0.689417 uwb: 0.50141583 893.673 1485.64 -imu_odom_: 1691062559.772594850 0.811634 -0.28491 10.0365 -0.0575243 -0.052198 0.0458064 0.18 0.02 pose: 0.0 -4.73009 -0.198895 0 -0.000178452-0.0037666 0.724355 0.689417 uwb: 0.49864231 892.804 1485.54 -imu_odom_: 1691062559.788467807 0.979228 -0.0383072 9.97185 -0.0639159 0.00106526 0.0575243 0.19 0 pose: 0.8088133 -4.73223 -0.194954 0 0.000511898 -0.00348158 0.724422 0.689348 uwb: 0.0 892.804 1485.54 -imu_odom_: 1691062559.815433694 0.387861 -0.361524 10.1203 -0.0553937 0.0351537 0.0330232 0.19 0 pose: 0.0 -4.73223 -0.194954 0 0.000511898 -0.00348158 0.724422 0.689348 uwb: 0.0 892.804 1485.54 -imu_odom_: 1691062559.840402994 0.466869 -0.318429 9.68694 -0.0639159 0.00852212 0.0543285 0.2 0 pose: 0.52995017 -4.737 -0.186165 0 0.00483328 -0.00575135 0.724658 0.689068 uwb: 0.50005677 894.402 1486.37 -imu_odom_: 1691062559.857394110 0.56982 -0.497994 9.68933 -0.0735032 -0.0287621 0.052198 0.2 0 pose: 0.0 -4.737 -0.186165 0 0.00483328 -0.00575135 0.724658 0.689068 uwb: 0.0 894.402 1486.37 -imu_odom_: 1691062559.882446819 0.514753 -0.0837971 10.1634 -0.0575243 -0.0117179 0.0500674 0.2 0.02 pose: 0.42911172 -4.72821 -0.181389 0 0.00162939 -0.00553029 0.724706 0.689035 uwb: 0.50015301 890.499 1485.9 -imu_odom_: 1691062559.909480951 0.47884 -0.260968 10.2663 -0.0511327 -0.00319579 0.0330232 0.2 0.02 pose: 0.0 -4.72821 -0.181389 0 0.00162939 -0.00553029 0.724706 0.689035 uwb: 0.0 890.499 1485.9 -imu_odom_: 1691062559.934423711 0.409408 -0.323217 10.0197 -0.0735032 0.0127832 0.0607201 0.18 0.02 pose: 0.86022119 -4.73151 -0.160407 0 0.0011264 -0.00335983 0.724901 0.688844 uwb: 0.49987013 888.372 1485.44 -imu_odom_: 1691062559.961524337 0.308852 -0.232238 9.9527 -0.0511327 0 0.036219 0.23 0 pose: 0.8015514 -4.72899 -0.159039 0 0.000237172 -0.00350644 0.724961 0.688781 uwb: 0.0 888.372 1485.44 -imu_odom_: 1691062559.986385438 0.136469 -0.411803 10.1299 -0.0532632 -0.00745685 0.0447411 0.23 0 pose: 0.0 -4.72899 -0.159039 0 0.000237172 -0.00350644 0.724961 0.688781 uwb: 0.50032800 885.313 1485.13 -imu_odom_: 1691062560.13446111 0.565032 -0.174777 10.1538 -0.0458064 -0.0415453 0.0447411 0.21 -0.02 pose: 0.24064915 -4.72899 -0.159039 0 -0.00189452 -0.00312646 0.72508 0.688655 uwb: 0.0 885.313 1485.13 -imu_odom_: 1691062560.29391982 0.830788 -0.0526724 10.0317 -0.0692422 -0.0106526 0.0543285 0.21 -0.02 pose: 0.0 -4.72899 -0.159039 0 -0.00189452 -0.00312646 0.72508 0.688655 uwb: 0.49921396 885.232 1485.47 -imu_odom_: 1691062560.56390830 0.56982 -0.287304 9.98382 -0.0532632 -0.0191748 0.0426106 0.23 0.02 pose: 0.51909522 -4.73378 -0.150259 0 -0.00418165 -0.0009005760.725119 0.688611 uwb: 0.0 885.232 1485.47 -imu_odom_: 1691062560.82442130 1.01754 -0.402226 10.0437 -0.0479369 -0.0149137 0.0372843 0.23 0.02 pose: 0.0 -4.73378 -0.150259 0 -0.00418165 -0.0009005760.725119 0.688611 uwb: 0.50059641 883.059 1485.22 -imu_odom_: 1691062560.99446956 0.225055 -0.0742203 9.48583 -0.0543285 0.0127832 0.0458064 0.25 0 pose: 0.42924011 -4.72979 -0.13669 0 -1.99927e-05-0.00284847 0.725241 0.688489 uwb: 0.0 883.059 1485.22 -imu_odom_: 1691062560.125374308 0.35913 -0.277727 10.0269 -0.0713727 0.0340885 0.056459 0.25 0 pose: 0.0 -4.72979 -0.13669 0 -1.99927e-05-0.00284847 0.725241 0.688489 uwb: 0.49956691 885.908 1486.41 -imu_odom_: 1691062560.152529185 0.129287 -0.107739 10.0628 -0.0436758 0 0.0447411 0.25 0.02 pose: 0.52990361 -4.73458 -0.127913 0 0.00253845 -0.00613495 0.725239 0.688466 uwb: 0.0 885.908 1486.41 -imu_odom_: 1691062560.177517738 0.215478 -0.251391 10.2424 -0.0436758 0.00745685 0.0394148 0.19 0 pose: 0.43006839 -4.73937 -0.119136 0 -0.000587546-0.00269255 0.72544 0.68828 uwb: 0.50217712 884.655 1486.01 -imu_odom_: 1691062560.193473233 0.294487 -0.023942 9.991 -0.0596548 0.00745685 0.0458064 0.23 0.02 pose: 0.0 -4.73937 -0.119136 0 -0.000587546-0.00269255 0.72544 0.68828 uwb: 0.0 884.655 1486.01 -imu_odom_: 1691062560.219357422 0.0766145 -0.253785 9.36851 -0.036219 0.0298274 0.0245011 0.23 0.02 pose: 0.51978068 -4.73539 -0.105565 0 -0.00280928 0.00175479 0.725493 0.688221 uwb: 0.0 884.655 1486.01 -imu_odom_: 1691062560.243356722 0.462081 -0.11971 9.98861 -0.0245011 0 0.0447411 0.23 -0.02 pose: 0.0 -4.73539 -0.105565 0 -0.00280928 0.00175479 0.725493 0.688221 uwb: 0.49633550 883.844 1485.65 -imu_odom_: 1691062560.267351939 0.533907 0.0622492 10.0365 -0.02024 -0.0298274 0.0340885 0.23 -0.02 pose: 0.42004754 -4.73539 -0.105565 0 -0.00395216 0.00438362 0.725384 0.68832 uwb: 0.0 883.844 1485.65 -imu_odom_: 1691062560.284424719 0.526724 -0.428562 9.30387 -0.0511327 0.0138484 0.0500674 0.19 0 pose: 0.40977004 -4.73424 -0.093541 0 0.000735343 0.00441625 0.725381 0.688333 uwb: 0.50151800 884.138 1486.3 -imu_odom_: 1691062560.300417252 0.519542 -0.0311246 10.5752 -0.0639159 -0.0127832 0.0468716 0.19 0 pose: 0.0 -4.73424 -0.093541 0 0.000735343 0.00441625 0.725381 0.688333 uwb: 0.0 884.138 1486.3 -imu_odom_: 1691062560.326375810 1.00796 -0.316035 9.64624 -0.0671117 0.00319579 0.0532632 0.18 0 pose: 0.33065313 -4.73393 -0.0873812 0 0.00188054 0.00272678 0.72549 0.688225 uwb: 0.49955817 884.917 1486.8 -imu_odom_: 1691062560.351633549 0.905008 -0.344765 10.0461 -0.0628506 0.0319579 0.0426106 0.18 0 pose: 0.0 -4.73393 -0.0873812 0 0.00188054 0.00272678 0.72549 0.688225 uwb: 0.0 884.917 1486.8 -imu_odom_: 1691062560.377472533 0.275333 -0.23942 9.54808 -0.0841559 0.0511327 0.056459 0.18 0 pose: 0.51216297 -4.73974 -0.0767566 0 0.00375655 -0.00156677 0.725648 0.688054 uwb: 0.50126718 885.746 1487.09 -imu_odom_: 1691062560.400563657 0.40462 -0.280122 9.60554 -0.0894822 -0.0340885 0.0447411 0.18 0 pose: 0.0 -4.73974 -0.0767566 0 0.00375655 -0.00156677 0.725648 0.688054 uwb: 0.0 885.746 1487.09 -imu_odom_: 1691062560.416360790 0.608127 -0.579397 9.91678 -0.0575243 0.0266316 0.0351537 0.17 0.02 pose: 0.31855579 -4.74101 -0.0744464 0 0.000242704 -0.0006128120.725813 0.687891 uwb: 0.0 885.746 1487.09 -imu_odom_: 1691062560.432367032 1.26174 -0.40462 10.4818 -0.0713727 -0.0948085 0.0905475 0.17 0.02 pose: 0.0 -4.74101 -0.0744464 0 0.000242704 -0.0006128120.725813 0.687891 uwb: 0.49922278 879.78 1485.8 -imu_odom_: 1691062560.448342942 1.27372 -0.225055 9.66539 -0.0543285 -0.0447411 0.108657 0.17 0.02 pose: 0.0 -4.74101 -0.0744464 0 0.000242704 -0.0006128120.725813 0.687891 uwb: 0.0 879.78 1485.8 -imu_odom_: 1691062560.464332268 1.8579 -0.296881 10.1969 -0.0479369 -0.0468716 0.149137 0.15 0.2 pose: 0.23987926 -4.73224 -0.0696409 0 -0.00132984 -0.00268292 0.72583 0.687868 uwb: 0.0 879.78 1485.8 -imu_odom_: 1691062560.480355133 1.53468 -0.363919 9.34936 -0.0575243 -0.0809601 0.209857 0.15 0.2 pose: 0.0 -4.73224 -0.0696409 0 -0.00132984 -0.00268292 0.72583 0.687868 uwb: 0.49961357 878.372 1486.03 -imu_odom_: 1691062560.497465534 1.63763 -0.414197 10.082 -0.0415453 0 0.269512 0.15 0.41 pose: 0.72878079 -4.737 -0.0608772 0 0.0042351 -0.00944391 0.727967 0.685535 uwb: 0.0 878.372 1486.03 -imu_odom_: 1691062560.514517315 0.859518 -0.320823 9.83299 -0.0553937 0.0266316 0.372843 0.15 0.41 pose: 0.0 -4.737 -0.0608772 0 0.0042351 -0.00944391 0.727967 0.685535 uwb: 0.0 878.372 1486.03 -imu_odom_: 1691062560.530389984 0.80924 -0.622492 9.93594 -0.0596548 0.02024 0.46339 0.15 0.41 pose: 0.0 -4.737 -0.0608772 0 0.0042351 -0.00944391 0.727967 0.685535 uwb: 0.50102804 876.184 1485.77 -imu_odom_: 1691062560.546511424 0.806846 -0.560243 10.1849 -0.0415453 -0.0117179 0.488956 0.1 0.41 pose: 0.7153418 -4.73704 -0.0608714 0 0.00471131 -0.00994771 0.728524 0.684932 uwb: 0.0 876.184 1485.77 -imu_odom_: 1691062560.563452089 0.818817 -0.117316 9.69173 -0.0468716 -0.00958738 0.499609 0.09 0.47 pose: 0.0 -4.73704 -0.0608714 0 0.00471131 -0.00994771 0.728524 0.684932 uwb: 0.0 876.184 1485.77 -imu_odom_: 1691062560.580464207 1.06063 -0.0526724 10.2208 -0.036219 -0.0106526 0.515588 0.09 0.47 pose: 0.66995349 -4.73291 -0.047367 0 0.00613743 -0.0145646 0.737196 0.675494 uwb: 0.50015895 872.339 1484.92 -imu_odom_: 1691062560.596452366 0.948104 -0.414197 9.71328 -0.0585895 -0.0117179 0.540089 0.09 0.47 pose: 0.0 -4.73291 -0.047367 0 0.00613743 -0.0145646 0.737196 0.675494 uwb: 0.0 872.339 1484.92 -imu_odom_: 1691062560.613448735 0.758962 -0.572214 9.84496 -0.0617853 0.0149137 0.54435 0.08 0.5 pose: 0.0 -4.73291 -0.047367 0 0.00613743 -0.0145646 0.737196 0.675494 uwb: 0.0 872.339 1484.92 -imu_odom_: 1691062560.631450106 0.667982 -0.294487 9.98861 -0.0511327 -0.0117179 0.558199 0.08 0.5 pose: 0.33954241 -4.73291 -0.0473673 0 0.00910311 -0.0151823 0.742603 0.669498 uwb: 0.49848491 869.72 1484.54 -imu_odom_: 1691062560.645455385 0.761356 -0.0766145 9.68933 -0.0596548 -0.0191748 0.597613 0.07 0.58 pose: 0.42991965 -4.73762 -0.0385498 0 0.00783739 -0.0155263 0.749913 0.661308 uwb: 0.0 869.72 1484.54 -imu_odom_: 1691062560.660316927 0.881066 -0.308852 9.90481 -0.0340885 0.00106526 0.610397 0.07 0.58 pose: 0.5890605 -4.73762 -0.0385498 0 0.0083012 -0.0152146 0.750993 0.660083 uwb: 0.0 869.72 1484.54 -imu_odom_: 1691062560.677450952 0.593762 -0.395043 9.8665 -0.0426106 0.0394148 0.614658 0.07 0.58 pose: 0.0 -4.73762 -0.0385498 0 0.0083012 -0.0152146 0.750993 0.660083 uwb: 0.50004229 869.671 1484.72 -imu_odom_: 1691062560.694664012 0.885855 -0.263362 10.0173 -0.0500674 0.0149137 0.630637 0.05 0.5 pose: 0.40110241 -4.73758 -0.0385558 0 0.00817013 -0.0149003 0.758495 0.651457 uwb: 0.0 869.671 1484.72 -imu_odom_: 1691062560.709604298 1.00078 -0.277727 9.63427 -0.0500674 0.00745685 0.626375 0.05 0.47 pose: 0.0 -4.73758 -0.0385558 0 0.00817013 -0.0149003 0.758495 0.651457 uwb: 0.0 869.671 1484.72 -imu_odom_: 1691062560.724594163 0.395043 -0.160412 9.55047 -0.0607201 0.0596548 0.56246 0.05 0.47 pose: 0.0 -4.73758 -0.0385558 0 0.00817013 -0.0149003 0.758495 0.651457 uwb: 0.50110678 870.021 1485.1 -imu_odom_: 1691062560.741434795 0.0430956 0.0742203 10.2783 -0.0426106 0.00532632 0.465521 0.05 0.47 pose: 0.24225323 -4.73762 -0.0385498 0 0.010182 -0.0156822 0.76309 0.646022 uwb: 0.0 870.021 1485.1 -imu_odom_: 1691062560.758432914 0.481235 -0.0957681 9.84735 -0.0532632 -0.0191748 0.411192 0.06 0.53 pose: 0.0 -4.73762 -0.0385498 0 0.010182 -0.0156822 0.76309 0.646022 uwb: 0.0 870.021 1485.1 -imu_odom_: 1691062560.773420154 0.785298 -0.184354 10.0365 -0.0639159 -0.00532632 0.38243 0.06 0.53 pose: 0.0 -4.73762 -0.0385498 0 0.010182 -0.0156822 0.76309 0.646022 uwb: 0.49911195 868.223 1485.03 -imu_odom_: 1691062560.789325779 0.727837 -0.349553 9.73004 -0.0458064 0.0170442 0.347276 0.03 0.32 pose: 0.71743879 -4.74017 -0.0338793 0 0.0103005 -0.0112828 0.773063 0.634145 uwb: 0.0 868.223 1485.03 -imu_odom_: 1691062560.806431514 0.636858 -0.19393 9.90721 -0.0575243 0.02024 0.331297 0.03 0.32 pose: 0.0 -4.74017 -0.0338793 0 0.0103005 -0.0112828 0.773063 0.634145 uwb: 0.0 868.223 1485.03 -imu_odom_: 1691062560.822582410 0.368707 -0.167594 9.92875 -0.0553937 0.0127832 0.324906 0.03 0.32 pose: 0.0 -4.74017 -0.0338793 0 0.0103005 -0.0112828 0.773063 0.634145 uwb: 0.49979731 866.853 1485.05 -imu_odom_: 1691062560.839319508 0.56982 -0.244209 9.94551 -0.052198 0 0.297209 0.04 0.35 pose: 0.6968809 -4.74239 -0.0297599 0 0.0100218 -0.0118787 0.773746 0.633306 uwb: 0.0 866.853 1485.05 -imu_odom_: 1691062560.865375183 0.620098 -0.186748 9.87129 -0.0490022 0.00213053 0.264186 0.03 0.26 pose: 0.0 -4.74239 -0.0297599 0 0.0100218 -0.0118787 0.773746 0.633306 uwb: 0.0 866.853 1485.05 -imu_odom_: 1691062560.882314390 0.471658 -0.287304 9.95988 -0.0532632 -0.00852212 0.256729 0.03 0.26 pose: 0.66946352 -4.74239 -0.02976 0 0.0078387 -0.00760224 0.779596 0.626188 uwb: 0.50098138 865.509 1484.97 -imu_odom_: 1691062560.898319465 0.452504 -0.220267 9.8665 -0.0500674 0.00958738 0.192813 0.03 0.26 pose: 0.0 -4.74239 -0.02976 0 0.0078387 -0.00760224 0.779596 0.626188 uwb: 0.0 865.509 1484.97 -imu_odom_: 1691062560.915518817 0.356736 0.0670376 9.96706 -0.0500674 0 0.109722 0.03 0.26 pose: 0.0 -4.74239 -0.02976 0 0.0078387 -0.00760224 0.779596 0.626188 uwb: 0.0 865.509 1484.97 -imu_odom_: 1691062560.932309870 0.289698 0.0407014 9.9096 -0.0575243 -0.0127832 0.052198 0.03 0.26 pose: 0.24990012 -4.74239 -0.02976 0 0.00838708 -0.00615344 0.781328 0.624034 uwb: 0.49959316 867.087 1485.87 -imu_odom_: 1691062560.949321404 0.746991 -0.196325 9.97903 -0.0596548 -0.0287621 -0.015979 0.02 -0.05 pose: 0.51112763 -4.74239 -0.02976 0 0.00605998 -0.00244522 0.783194 0.621743 uwb: 0.0 867.087 1485.87 -imu_odom_: 1691062560.965331728 0.919373 -0.234632 9.85932 -0.0532632 -0.0330232 -0.0969391 0.02 -0.05 pose: 0.0 -4.74239 -0.02976 0 0.00605998 -0.00244522 0.783194 0.621743 uwb: 0.0 867.087 1485.87 -imu_odom_: 1691062560.982346762 0.962469 0.0502782 9.89763 -0.052198 0 -0.185356 0.02 -0.26 pose: 0.41893638 -4.74239 -0.02976 0 0.00854054 -0.00428794 0.782239 0.622905 uwb: 0.49936859 868.262 1486.58 -imu_odom_: 1691062560.998292342 0.411803 -0.0191536 9.81383 -0.0596548 0.0223706 -0.221575 0.02 -0.26 pose: 0.0 -4.74239 -0.02976 0 0.00854054 -0.00428794 0.782239 0.622905 uwb: 0.0 868.262 1486.58 -imu_odom_: 1691062561.15284047 0.0933739 -0.397437 10.0006 -0.0692422 0.0106526 -0.264186 0.02 -0.26 pose: 0.0 -4.74239 -0.02976 0 0.00854054 -0.00428794 0.782239 0.622905 uwb: 0.0 868.262 1486.58 -imu_odom_: 1691062561.31336662 0.258574 -0.344765 9.92636 -0.0585895 -0.015979 -0.278034 0.01 -0.26 pose: 0.7208540 -4.74239 -0.02976 0 0.00925467 -0.00435666 0.781727 0.623537 uwb: 0.49831580 866.975 1486.28 -imu_odom_: 1691062561.48564891 0.407014 -0.277727 9.8665 -0.056459 -0.00532632 -0.264186 0.02 -0.41 pose: 0.0 -4.74239 -0.02976 0 0.00925467 -0.00435666 0.781727 0.623537 uwb: 0.0 866.975 1486.28 -imu_odom_: 1691062561.66582014 0.591368 -0.134075 9.97903 -0.0639159 -0.0213053 -0.246076 0.02 -0.41 pose: 0.66047515 -4.74239 -0.0297601 0 0.00550199 -0.00236727 0.77584 0.630901 uwb: 0.0 866.975 1486.28 -imu_odom_: 1691062561.80431850 0.500388 -0.229843 9.86172 -0.0500674 0 -0.275903 0.02 -0.35 pose: 0.0 -4.74239 -0.0297601 0 0.00550199 -0.00236727 0.77584 0.630901 uwb: 0.50133728 866.021 1486.43 -imu_odom_: 1691062561.97415681 0.423774 -0.0454898 9.9527 -0.0500674 -0.0245011 -0.307861 0.02 -0.35 pose: 0.0 -4.74239 -0.0297601 0 0.00550199 -0.00236727 0.77584 0.630901 uwb: 0.0 866.021 1486.43 -imu_odom_: 1691062561.111295264 0.363919 -0.169988 9.74201 -0.0692422 -0.00745685 -0.324906 0.02 -0.35 pose: 0.33849256 -4.74239 -0.02976 0 0.00583297 -0.00286994 0.772667 0.634779 uwb: 0.0 866.021 1486.43 -imu_odom_: 1691062561.127299759 0.555455 -0.229843 10.07 -0.0649811 -0.00532632 -0.36432 0.02 -0.35 pose: 0.38858225 -4.74239 -0.02976 0 0.00435947 -0.0006686470.768373 0.639987 uwb: 0.50113313 865.527 1486.56 -imu_odom_: 1691062561.144283007 0.579397 -0.129287 9.81623 -0.0575243 -0.0191748 -0.38243 0.02 -0.35 pose: 0.7117840 -4.74239 -0.02976 0 0.00449044 -0.00138719 0.767453 0.641088 uwb: 0.0 865.527 1486.56 -imu_odom_: 1691062561.160284877 0.694318 -0.316035 9.88087 -0.056459 -0.00639159 -0.338754 0.02 -0.35 pose: 0.0 -4.74239 -0.02976 0 0.00449044 -0.00138719 0.767453 0.641088 uwb: 0.0 865.527 1486.56 -imu_odom_: 1691062561.177406072 0.529119 -0.550666 9.89524 -0.0628506 -0.00639159 -0.270577 0.02 -0.41 pose: 0.41871773 -4.74239 -0.02976 0 0.00668643 -0.0040076 0.762029 0.647496 uwb: 0.49885831 865.877 1486.95 -imu_odom_: 1691062561.194287246 0.526724 -0.423774 9.96946 -0.0532632 -0.0127832 -0.223706 0.01 -0.26 pose: 0.0 -4.74239 -0.02976 0 0.00668643 -0.0040076 0.762029 0.647496 uwb: 0.0 865.877 1486.95 -imu_odom_: 1691062561.210283283 0.4956 -0.301669 9.97424 -0.0596548 -0.00532632 -0.173638 0.01 -0.26 pose: 0.0 -4.74239 -0.02976 0 0.00668643 -0.0040076 0.762029 0.647496 uwb: 0.0 865.877 1486.95 -imu_odom_: 1691062561.226405309 0.452504 -0.225055 9.96227 -0.0596548 0.00426106 -0.145941 0.01 -0.17 pose: 0.25019764 -4.74717 -0.0209779 0 0.00492496 -0.00581777 0.759644 0.650294 uwb: 0.50036028 864.126 1486.66 -imu_odom_: 1691062561.243407514 0.433351 -0.308852 9.85932 -0.0553937 -0.0106526 -0.128897 0.01 -0.17 pose: 0.0 -4.74717 -0.0209779 0 0.00492496 -0.00581777 0.759644 0.650294 uwb: 0.0 864.126 1486.66 -imu_odom_: 1691062561.260475631 0.543484 -0.232238 9.88805 -0.0628506 -0.00958738 -0.107592 0.01 -0.17 pose: 0.31985074 -4.74717 -0.0209779 0 0.00248929 -0.00575531 0.757357 0.652971 uwb: 0.0 864.126 1486.66 -imu_odom_: 1691062561.276280350 0.548272 -0.311246 9.84496 -0.0575243 -0.00319579 -0.0916127 0.01 -0.14 pose: 0.43185916 -4.74717 -0.0209779 0 0.00226451 -0.00511949 0.755047 0.655647 uwb: 0.49976532 864.126 1486.66 -imu_odom_: 1691062561.293269723 0.47884 -0.227449 9.88566 -0.0543285 -0.00213053 -0.0820254 0.01 -0.14 pose: 0.0 -4.74717 -0.0209779 0 0.00226451 -0.00511949 0.755047 0.655647 uwb: 0.0 864.126 1486.66 -imu_odom_: 1691062561.309280341 0.442927 -0.258574 9.86172 -0.0553937 -0.00319579 -0.0745685 0.01 -0.14 pose: 0.0 -4.74717 -0.0209779 0 0.00226451 -0.00511949 0.755047 0.655647 uwb: 0.0 864.126 1486.66 -imu_odom_: 1691062561.326361582 0.517148 -0.222661 9.88566 -0.0553937 -0.00639159 -0.0671117 0.01 -0.14 pose: 0.6925355 -4.74717 -0.0209779 0 0.00228114 -0.00581481 0.754747 0.655986 uwb: 0.49849085 862.762 1486.62 -imu_odom_: 1691062561.351403802 0.466869 -0.28491 9.87608 -0.0575243 -0.00319579 -0.0532632 0 -0.08 pose: 0.0 -4.74717 -0.0209779 0 0.00228114 -0.00581481 0.754747 0.655986 uwb: 0.0 862.762 1486.62 -imu_odom_: 1691062561.378453110 0.363919 -0.325611 9.79468 -0.0607201 -0.00426106 -0.0841559 0.01 -0.11 pose: 0.66908452 -4.74717 -0.0209779 0 0.00210671 -0.00429491 0.752247 0.658864 uwb: 0.50027570 863.974 1487.2 -imu_odom_: 1691062561.404334970 0.289698 0.213084 9.96227 -0.0511327 -0.00532632 -0.211988 0.01 -0.11 pose: 0.23997555 -4.74717 -0.0209779 0 -0.000225536-0.00457111 0.75145 0.659774 uwb: 0.0 863.974 1487.2 -imu_odom_: 1691062561.431569471 0.462081 -0.23942 9.9934 -0.0585895 -0.0213053 -0.322775 0.01 -0.35 pose: 0.46027977 -4.74717 -0.0209779 0 -0.000950043-0.00167704 0.748485 0.663149 uwb: 0.49939493 866.88 1488.3 -imu_odom_: 1691062561.448417980 0.490811 -0.179565 9.7444 -0.0596548 -0.00639159 -0.357929 0.01 -0.35 pose: 0.6961227 -4.74717 -0.0209779 0 -0.000295072-0.00205149 0.747647 0.664093 uwb: 0.0 866.88 1488.3 -imu_odom_: 1691062561.475271595 0.490811 -0.198719 9.89284 -0.056459 0.00106526 -0.370712 0.01 -0.55 pose: 0.0 -4.74717 -0.0209779 0 -0.000295072-0.00205149 0.747647 0.664093 uwb: 0.50063734 866.392 1488.41 -imu_odom_: 1691062561.501538424 0.430956 -0.141258 9.97664 -0.0639159 -0.0149137 -0.4048 0.01 -0.55 pose: 0.37121783 -4.74713 -0.020984 0 0.00312715 -0.00243609 0.742955 0.66933 uwb: 0.0 866.392 1488.41 -imu_odom_: 1691062561.528336335 0.545878 -0.225055 9.74201 -0.0681769 -0.00213053 -0.452737 0.01 -0.64 pose: 0.53120444 -4.74714 -0.0209829 0 0.00454012 -8.28612e-050.735299 0.677727 uwb: 0.0 866.392 1488.41 -imu_odom_: 1691062561.554269525 0.562637 -0.179565 9.84496 -0.0585895 -0.0117179 -0.500674 0.01 -0.53 pose: 0.0 -4.74714 -0.0209829 0 0.00454012 -8.28612e-050.735299 0.677727 uwb: 0.0 866.392 1488.41 -imu_odom_: 1691062561.581321749 0.45011 -0.241814 9.78989 -0.0639159 -0.0213053 -0.533697 0.01 -0.53 pose: 0.34803804 -4.74717 -0.0209786 0 0.00539032 -0.00324432 0.729336 0.684127 uwb: 0.100242958 868.983 1488.99 -imu_odom_: 1691062561.597458358 0.565032 -0.248997 9.86411 -0.0617853 -0.0149137 -0.553937 0 -0.55 pose: 0.0 -4.74717 -0.0209786 0 0.00539032 -0.00324432 0.729336 0.684127 uwb: 0.0 868.983 1488.99 -imu_odom_: 1691062561.614291410 0.447716 -0.248997 9.81144 -0.0479369 -0.0127832 -0.567786 0 -0.55 pose: 0.53018661 -4.74717 -0.0209785 0 0.00457159 -0.00457309 0.719009 0.69497 uwb: 0.0 868.983 1488.99 -imu_odom_: 1691062561.640432249 0.440533 -0.217872 10.1562 -0.0607201 -0.0255663 -0.583765 0 -0.61 pose: 0.24930521 -4.74713 -0.0209844 0 0.00334091 -0.0045345 0.713775 0.700352 uwb: 0.49879998 870.604 1489.76 -imu_odom_: 1691062561.667314737 0.392649 -0.308852 10.0365 -0.0543285 0.00532632 -0.626375 0 -0.61 pose: 0.8075012 -4.74717 -0.0209785 0 0.00294325 -0.00393451 0.712013 0.702149 uwb: 0.0 870.604 1489.76 -imu_odom_: 1691062561.693364292 0.42138 -0.304064 9.95509 -0.052198 0.0117179 -0.64555 0 -0.67 pose: 0.44948315 -4.73825 -0.0161905 0 -0.000688425-0.00265784 0.70171 0.712458 uwb: 0.50068400 872.303 1490.25 -imu_odom_: 1691062561.720300734 0.366313 -0.136469 9.79468 -0.0490022 -0.0138484 -0.672182 0 -0.67 pose: 0.0 -4.73825 -0.0161905 0 -0.000688425-0.00265784 0.70171 0.712458 uwb: 0.0 872.303 1490.25 -imu_odom_: 1691062561.746308584 0.486023 -0.148441 9.79707 -0.0628506 -0.0138484 -0.687096 0 -0.79 pose: 0.52985997 -4.73825 -0.0161901 0 -0.00146984 -0.00159128 0.688409 0.725319 uwb: 0.49745260 871.013 1489.94 -imu_odom_: 1691062561.773334852 0.47884 -0.248997 9.83059 -0.0553937 -0.00426106 -0.710531 0 -1 pose: 0.26007850 -4.73825 -0.0161909 0 0.00114562 -0.00144829 0.681523 0.731795 uwb: 0.50120604 870.574 1489.87 -imu_odom_: 1691062561.799280874 0.280122 -0.0814029 9.93833 -0.0511327 -0.00745685 -0.739294 0 -1 pose: 0.7969729 -4.73841 -0.0161699 0 0.00121536 -0.00223949 0.679332 0.733827 uwb: 0.0 870.574 1489.87 -imu_odom_: 1691062561.816284829 0.344765 -0.275333 9.80426 -0.0649811 -0.0170442 -0.756338 0 -1.06 pose: 0.45002561 -4.73825 -0.0161899 0 0.00137697 -0.00151769 0.666572 0.745438 uwb: 0.0 870.574 1489.87 -imu_odom_: 1691062561.832393440 0.76375 -0.136469 10.0317 -0.0607201 -0.0276969 -0.765925 0 -1.06 pose: 0.0 -4.73825 -0.0161899 0 0.00137697 -0.00151769 0.666572 0.745438 uwb: 0.49937160 870.164 1489.69 -imu_odom_: 1691062561.858405081 0.675165 -0.328006 9.81383 -0.0553937 -0.0181095 -0.794687 0 -1.06 pose: 0.7063594 -4.73841 -0.0161699 0 0.000707897 -0.00137169 0.664475 0.747309 uwb: 0.0 870.164 1489.69 -imu_odom_: 1691062561.883382557 0.483629 -0.28491 9.8689 -0.0639159 -0.0127832 -0.775513 0 -1.06 pose: 0.0 -4.73841 -0.0161699 0 0.000707897 -0.00137169 0.664475 0.747309 uwb: 0.49996365 868.474 1489.16 -imu_odom_: 1691062561.900287936 0.481235 -0.248997 9.79468 -0.0479369 -0.015979 -0.790426 0 -0.97 pose: 0.33064153 -4.73841 -0.0161701 0 0.00145569 -0.00292116 0.654422 0.756122 uwb: 0.0 868.474 1489.16 -imu_odom_: 1691062561.925271536 0.471658 -0.107739 10.0556 -0.0490022 -0.0223706 -0.80747 0 -0.97 pose: 0.0 -4.73841 -0.0161701 0 0.00145569 -0.00292116 0.654422 0.756122 uwb: 0.50113021 868.413 1489.39 -imu_odom_: 1691062561.949228844 0.536301 -0.141258 9.76116 -0.0639159 -0.0245011 -0.801079 0 -1 pose: 0.50841254 -4.73841 -0.0161698 0 0.000290689 -0.00521419 0.63844 0.769654 uwb: 0.0 868.413 1489.39 -imu_odom_: 1691062561.972266894 0.612916 -0.28491 9.83059 -0.0660464 -0.0234358 -0.812797 0 -1 pose: 0.0 -4.73841 -0.0161698 0 0.000290689 -0.00521419 0.63844 0.769654 uwb: 0.49969241 864.665 1488.03 -imu_odom_: 1691062561.986284716 0.40462 -0.112527 9.7444 -0.0575243 -0.00319579 -0.820254 0 -1 pose: 0.0 -4.73841 -0.0161698 0 0.000290689 -0.00521419 0.63844 0.769654 uwb: 0.0 864.665 1488.03 -imu_odom_: 1691062562.3426326 0.452504 -0.146046 9.87848 -0.0585895 -0.0276969 -0.822384 0 -0.88 pose: 0.41974139 -4.73841 -0.0161697 0 0.00384133 -0.00295668 0.624732 0.780824 uwb: 0.0 864.665 1488.03 -imu_odom_: 1691062562.27216819 0.488417 -0.23942 9.97903 -0.0585895 -0.0276969 -0.84582 0 -0.88 pose: 0.0 -4.73841 -0.0161697 0 0.00384133 -0.00295668 0.624732 0.780824 uwb: 0.49958746 866.893 1488.25 -imu_odom_: 1691062562.51285831 0.610521 -0.208296 9.69173 -0.0617853 -0.0127832 -0.870321 0 -0.88 pose: 0.78042217 -4.73841 -0.0161697 0 0.00431484 -0.00297577 0.598299 0.801256 uwb: 0.0 866.893 1488.25 -imu_odom_: 1691062562.76344971 0.438139 -0.232238 9.72764 -0.0532632 -0.00852212 -0.873517 0 -1.17 pose: 0.41019600 -4.73825 -0.0161887 0 0.00445621 -0.00582223 0.583409 0.812145 uwb: 0.50003373 865.215 1487.69 -imu_odom_: 1691062562.100213916 0.481235 -0.311246 9.9934 -0.0585895 -0.00745685 -0.862864 0 -1.17 pose: 0.0 -4.73825 -0.0161887 0 0.00445621 -0.00582223 0.583409 0.812145 uwb: 0.0 865.215 1487.69 -imu_odom_: 1691062562.117224582 0.349553 -0.153229 9.84496 -0.0553937 -0.00213053 -0.873517 0 -0.91 pose: 0.6955104 -4.73841 -0.0161678 0 0.00397692 -0.00534437 0.580831 0.813997 uwb: 0.0 865.215 1487.69 -imu_odom_: 1691062562.141215434 0.229843 -0.0670376 9.91199 -0.0607201 -0.0276969 -0.859668 0 -0.91 pose: 0.0 -4.73841 -0.0161678 0 0.00397692 -0.00534437 0.580831 0.813997 uwb: 0.49984708 863.244 1486.53 -imu_odom_: 1691062562.164350605 0.612916 -0.205901 9.98622 -0.0639159 -0.0266316 -0.869256 0 -0.88 pose: 0.49084114 -4.73841 -0.016169 0 0.000624295 -0.00435891 0.562569 0.826739 uwb: 0.0 863.244 1486.53 -imu_odom_: 1691062562.190207972 0.332794 -0.0909797 9.97903 -0.0575243 -0.0170442 -0.891626 0 -0.88 pose: 0.0 -4.73841 -0.016169 0 0.000624295 -0.00435891 0.562569 0.826739 uwb: 0.50010956 864.044 1486.95 -imu_odom_: 1691062562.206213344 0.263362 -0.265756 9.56244 -0.0681769 -0.0213053 -0.864995 0 -0.88 pose: 0.39898232 -4.73841 -0.0161696 0 0.00129876 -0.00177742 0.547569 0.836758 uwb: 0.0 864.044 1486.95 -imu_odom_: 1691062562.233195288 0.488417 -0.265756 9.94312 -0.0628506 -0.0223706 -0.878843 0 -0.88 pose: 0.0 -4.73841 -0.0161696 0 0.00129876 -0.00177742 0.547569 0.836758 uwb: 0.49851427 863.308 1486.31 -imu_odom_: 1691062562.258189975 0.371101 -0.227449 9.98622 -0.0543285 -0.0213053 -0.904409 0 -0.94 pose: 0.50168152 -4.73841 -0.0161688 0 0.00210821 -0.0005983910.528114 0.849171 uwb: 0.0 863.308 1486.31 -imu_odom_: 1691062562.275199766 0.447716 -0.225055 9.90481 -0.0671117 -0.0266316 -0.913997 0 -0.94 pose: 0.0 -4.73841 -0.0161688 0 0.00210821 -0.0005983910.528114 0.849171 uwb: 0.50010664 866.197 1487.45 -imu_odom_: 1691062562.300187745 0.462081 -0.306458 9.73243 -0.0543285 -0.0181095 -0.915062 0 -0.94 pose: 0.42878241 -4.73841 -0.0161691 0 0.000431066 -0.0024711 0.51127 0.859416 uwb: 0.0 866.197 1487.45 -imu_odom_: 1691062562.316182910 0.452504 -0.260968 9.84975 -0.0585895 -0.0298274 -0.915062 0 -0.94 pose: 0.0 -4.73841 -0.0161691 0 0.000431066 -0.0024711 0.51127 0.859416 uwb: 0.0 866.197 1487.45 -imu_odom_: 1691062562.340193302 0.349553 -0.282516 9.85214 -0.0468716 -0.0468716 -0.910801 0 -1 pose: 0.42099845 -4.73841 -0.0161688 0 0.000240775 -0.00301798 0.49399 0.869462 uwb: 0.50008915 866.222 1487.36 -imu_odom_: 1691062562.367204992 0.768539 -0.107739 9.57441 -0.0756338 -0.0298274 -0.90654 0 -1 pose: 0.0 -4.73841 -0.0161688 0 0.000240775 -0.00301798 0.49399 0.869462 uwb: 0.0 866.222 1487.36 -imu_odom_: 1691062562.391195844 0.610521 -0.371101 10.0221 -0.0575243 0.02024 -0.902279 0 -0.94 pose: 0.40830907 -4.73841 -0.0161693 0 -0.000901417-0.00248841 0.476972 0.878914 uwb: 0.49989374 864.236 1486.27 -imu_odom_: 1691062562.416203072 0.507571 -0.260968 10.2089 -0.0703074 -0.0191748 -0.871386 0 -0.94 pose: 0.0 -4.73841 -0.0161693 0 -0.000901417-0.00248841 0.476972 0.878914 uwb: 0.0 864.236 1486.27 -imu_odom_: 1691062562.430219147 0.426168 -0.335188 9.73004 -0.056459 0.00106526 -0.896953 0 -1.03 pose: 0.93002646 -4.73826 -0.0161881 0 0.00186683 -0.00555142 0.438247 0.898835 uwb: 0.50003665 862.646 1485.41 -imu_odom_: 1691062562.455325242 0.344765 -0.0383072 9.88566 -0.0628506 -0.0191748 -0.917193 0 -1.03 pose: 0.0 -4.73826 -0.0161881 0 0.00186683 -0.00555142 0.438247 0.898835 uwb: 0.0 862.646 1485.41 -imu_odom_: 1691062562.480203855 0.545878 -0.328006 9.85214 -0.0639159 -0.0308927 -0.927845 0 -1.26 pose: 0.39122170 -4.73825 -0.0161894 0 0.00176542 -0.00316284 0.421482 0.906829 uwb: 0.50093491 861.851 1484.99 -imu_odom_: 1691062562.502337232 0.557849 -0.213084 9.85693 -0.0607201 -0.0266316 -0.942759 0 -1.26 pose: 0.0 -4.73825 -0.0161894 0 0.00176542 -0.00316284 0.421482 0.906829 uwb: 0.0 861.851 1484.99 -imu_odom_: 1691062562.526342665 0.61531 -0.129287 9.83538 -0.0681769 -0.0223706 -0.923584 0 -0.94 pose: 0.30901334 -4.73841 -0.0161696 0 0.00101706 -0.00592748 0.40784 0.913033 uwb: 0.49980333 861.159 1484.21 -imu_odom_: 1691062562.543459490 0.399832 -0.201113 10.0173 -0.052198 0.00532632 -0.92678 0 -0.94 pose: 0.0 -4.73841 -0.0161696 0 0.00101706 -0.00592748 0.40784 0.913033 uwb: 0.0 861.159 1484.21 -imu_odom_: 1691062562.568190240 0.476446 -0.308852 10.094 -0.0596548 -0.00958738 -0.939563 0 -1 pose: 0.47245596 -4.73841 -0.0161714 0 0.00454903 -0.00698712 0.386783 0.922133 uwb: 0.0 861.159 1484.21 -imu_odom_: 1691062562.585195073 0.505177 -0.215478 9.83538 -0.0692422 -0.0181095 -0.931041 0 -1 pose: 0.0 -4.73841 -0.0161714 0 0.00454903 -0.00698712 0.386783 0.922133 uwb: 0.50009789 860.443 1483.51 -imu_odom_: 1691062562.609180675 0.378284 -0.208296 9.75637 -0.0681769 -0.0127832 -0.935302 0 -0.94 pose: 0.51722901 -4.73836 -0.0161773 0 0.00206897 -0.00425292 0.363453 0.9316 uwb: 0.0 860.443 1483.51 -imu_odom_: 1691062562.633170360 0.560243 -0.21069 10.0461 -0.0585895 -0.0106526 -0.920388 0 -0.94 pose: 0.7117841 -4.73841 -0.0161712 0 0.00178757 -0.0036297 0.36022 0.932859 uwb: 0.50071618 860.976 1483.25 -imu_odom_: 1691062562.658179338 0.493206 -0.0837971 10.1011 -0.0575243 -0.0298274 -0.940628 0 -0.94 pose: 0.40857446 -4.73837 -0.0161763 0 0.00194518 -0.00448654 0.341738 0.939782 uwb: 0.0 860.976 1483.25 -imu_odom_: 1691062562.682170189 0.390255 -0.174777 9.78031 -0.0500674 -0.0426106 -0.975782 0 -0.94 pose: 0.0 -4.73837 -0.0161763 0 0.00194518 -0.00448654 0.341738 0.939782 uwb: 0.49861051 860.633 1482.86 -imu_odom_: 1691062562.699279722 0.373495 -0.205901 9.8665 -0.072438 -0.0266316 -0.960868 0 -0.94 pose: 0.32018036 -4.73841 -0.0161708 0 0.00413061 -0.00326345 0.32682 0.945072 uwb: 0.0 860.633 1482.86 -imu_odom_: 1691062562.724174084 0.797269 -0.47884 9.96227 -0.0575243 -0.00213053 -0.949151 0 -0.94 pose: 0.0 -4.73841 -0.0161708 0 0.00413061 -0.00326345 0.32682 0.945072 uwb: 0.49933379 860.659 1482.77 -imu_odom_: 1691062562.748218015 0.500388 -0.198719 10.1179 -0.0511327 0.0127832 -0.94489 0 -0.97 pose: 0.41997187 -4.73841 -0.0161708 0 0.00195974 -0.00171902 0.306818 0.951765 uwb: 0.0 860.659 1482.77 -imu_odom_: 1691062562.764173516 0.23942 -0.306458 9.73004 -0.0671117 -0.015979 -0.916127 0 -0.97 pose: 0.0 -4.73841 -0.0161708 0 0.00195974 -0.00171902 0.306818 0.951765 uwb: 0.0 860.659 1482.77 -imu_odom_: 1691062562.789323649 0.531513 -0.169988 9.68933 -0.056459 -0.00213053 -0.951281 0 -0.94 pose: 0.48012618 -4.73841 -0.0161708 0 0.0023717 -0.00444114 0.284303 0.958721 uwb: 0.49992582 860.322 1482.35 -imu_odom_: 1691062562.812156386 0.476446 -0.047884 9.95748 -0.0671117 -0.00426106 -0.933172 0 -0.94 pose: 0.0 -4.73841 -0.0161708 0 0.0023717 -0.00444114 0.284303 0.958721 uwb: 0.0 860.322 1482.35 -imu_odom_: 1691062562.828155634 -0.0263362 -0.19393 9.8665 -0.0735032 0.0298274 -0.893757 0 -0.94 pose: 0.40020138 -4.73841 -0.0161708 0 0.00418081 -0.00503267 0.265434 0.964107 uwb: 0.50055578 864.18 1483.18 -imu_odom_: 1691062562.845151427 -0.217872 -0.670376 10.0556 -0.0553937 0.0394148 -0.901214 0 -0.94 pose: 0.0 -4.73841 -0.0161708 0 0.00418081 -0.00503267 0.265434 0.964107 uwb: 0.0 864.18 1483.18 -imu_odom_: 1691062562.862220421 -0.0742203 -0.0766145 9.91439 -0.04048 0.0117179 -0.939563 0.03 -0.79 pose: 0.49933088 -4.73816 -0.0162072 0 0.00329269 -0.00082068 0.2425 0.970145 uwb: 0.0 864.18 1483.18 -imu_odom_: 1691062562.877214667 -0.548272 0.0335188 9.97664 -0.0532632 0.0383495 -0.871386 0.03 -0.79 pose: 0.0 -4.73816 -0.0162072 0 0.00329269 -0.00082068 0.2425 0.970145 uwb: 0.49986457 865.094 1483.17 -imu_odom_: 1691062562.893206624 -0.926556 -0.414197 10.0772 -0.076699 -0.0106526 -0.702009 0.03 -0.79 pose: 0.0 -4.73816 -0.0162072 0 0.00329269 -0.00082068 0.2425 0.970145 uwb: 0.0 865.094 1483.17 -imu_odom_: 1691062562.910145254 -0.47884 -0.885855 9.8665 -0.0671117 -0.0916127 -0.608266 0.09 -1 pose: 0.8015226 -4.73841 -0.0161722 0 0.00326605 6.71773e-05 0.238689 0.971091 uwb: 0.0 865.094 1483.17 -imu_odom_: 1691062562.927144546 0.531513 -0.0885855 10.1418 -0.0649811 -0.0990696 -0.570982 0.07 -0.73 pose: 0.0 -4.73841 -0.0161722 0 0.00326605 6.71773e-05 0.238689 0.971091 uwb: 0.50011831 867.298 1483.42 -imu_odom_: 1691062562.944207708 0.73502 0.184354 9.74679 -0.0639159 -0.0415453 -0.534763 0.07 -0.73 pose: 0.65047199 -4.73841 -0.0161726 0 0.00140065 0.00348623 0.214181 0.976787 uwb: 0.0 867.298 1483.42 -imu_odom_: 1691062562.960209872 0.713472 0.122104 10.3453 -0.0596548 -0.0351537 -0.533697 0.08 -0.53 pose: 0.0 -4.73841 -0.0161726 0 0.00140065 0.00348623 0.214181 0.976787 uwb: 0.0 867.298 1483.42 -imu_odom_: 1691062562.977203915 0.0885855 -0.258574 9.78271 -0.0426106 0.00426106 -0.551807 0.08 -0.53 pose: 0.0 -4.73841 -0.0161726 0 0.00140065 0.00348623 0.214181 0.976787 uwb: 0.49922588 871.092 1484.47 -imu_odom_: 1691062562.994143712 0.155623 -0.227449 9.91439 -0.0553937 0.00532632 -0.526241 0.08 -0.53 pose: 0.33935005 -4.73841 -0.0161726 0 0.00398248 0.000456497 0.204507 0.978857 uwb: 0.0 871.092 1484.47 -imu_odom_: 1691062563.9145833 0.289698 -0.308852 9.57202 -0.0543285 0.00532632 -0.480434 0.09 -0.53 pose: 0.41994855 -4.72955 -0.0114559 0 0.00285658 0.00290931 0.19261 0.981267 uwb: 0.0 871.092 1484.47 -imu_odom_: 1691062563.26144836 0.227449 -0.486023 9.90481 -0.0447411 0.0298274 -0.459129 0.09 -0.53 pose: 0.7063303 -4.72959 -0.011449 0 0.00215879 0.00310463 0.190805 0.981621 uwb: 0.50055873 869.408 1483.99 -imu_odom_: 1691062563.40138749 0.430956 -0.169988 9.94791 -0.0436758 0.0149137 -0.445281 0.09 -0.53 pose: 0.0 -4.72959 -0.011449 0 0.00215879 0.00310463 0.190805 0.981621 uwb: 0.0 869.408 1483.99 -imu_odom_: 1691062563.57202206 0.117316 -0.205901 10.1107 -0.0351537 0.0372843 -0.40267 0.1 -0.44 pose: 0.38931734 -4.72955 -0.0114559 0 0.000450267 0.00284734 0.181274 0.983428 uwb: 0.0 869.408 1483.99 -imu_odom_: 1691062563.71134582 0.603339 -0.349553 9.87848 -0.0607201 0.0234358 -0.392017 0.11 -0.41 pose: 0.0 -4.72955 -0.0114559 0 0.000450267 0.00284734 0.181274 0.983428 uwb: 0.0 869.408 1483.99 -imu_odom_: 1691062563.87254281 0.354342 -0.0143652 10.0413 -0.0436758 -0.056459 -0.409062 0.11 -0.41 pose: 0.0 -4.72955 -0.0114559 0 0.000450267 0.00284734 0.181274 0.983428 uwb: 0.50216865 871.128 1484.33 -imu_odom_: 1691062563.102242989 0.926556 0.0143652 10.0269 -0.0479369 -0.0798948 -0.380299 0.11 -0.41 pose: 0.23006852 -4.72959 -0.0114493 0 -5.65203e-050.00440334 0.176296 0.984327 uwb: 0.0 871.128 1484.33 -imu_odom_: 1691062563.118136957 1.30723 -0.0885855 9.86172 -0.0649811 -0.0490022 -0.32171 0.1 -0.41 pose: 0.0 -4.72959 -0.0114493 0 -5.65203e-050.00440334 0.176296 0.984327 uwb: 0.0 871.128 1484.33 -imu_odom_: 1691062563.135254367 1.38145 -0.433351 10.3645 -0.0458064 -0.0575243 -0.287621 0.1 -0.41 pose: 0.0 -4.72959 -0.0114493 0 -5.65203e-050.00440334 0.176296 0.984327 uwb: 0.49975385 872.373 1484.76 -imu_odom_: 1691062563.153187504 1.10852 -0.227449 9.77792 -0.0543285 -0.0223706 -0.259925 0.07 -0.35 pose: 0.72108766 -4.72074 -0.00679207 0 0.00260532 -0.00247989 0.162357 0.986726 uwb: 0.0 872.373 1484.76 -imu_odom_: 1691062563.169186463 1.10373 -0.160412 9.93354 -0.0447411 0.0276969 -0.246076 0.07 -0.35 pose: 0.0 -4.72074 -0.00679207 0 0.00260532 -0.00247989 0.162357 0.986726 uwb: 0.0 872.373 1484.76 -imu_odom_: 1691062563.186128596 0.94571 -0.162806 10.0676 -0.0617853 0.00426106 -0.236489 0.07 -0.35 pose: 0.0 -4.72074 -0.00679207 0 0.00260532 -0.00247989 0.162357 0.986726 uwb: 0.49723114 871.659 1484.03 -imu_odom_: 1691062563.203123809 0.754174 -0.0981623 9.97903 -0.0532632 0.0234358 -0.26312 0.05 -0.32 pose: 0.7999188 -4.72074 -0.00679207 0 0.00268749 -0.00334632 0.161176 0.986916 uwb: 0.0 871.659 1484.03 -imu_odom_: 1691062563.220178808 0.627281 -0.0526724 10.1083 -0.0511327 -0.00213053 -0.279099 0.05 -0.26 pose: 0.0 -4.72074 -0.00679207 0 0.00268749 -0.00334632 0.161176 0.986916 uwb: 0.0 871.659 1484.03 -imu_odom_: 1691062563.238127401 0.672771 -0.174777 9.65821 -0.0671117 -0.0138484 -0.257794 0.05 -0.26 pose: 0.66943183 -4.71193 -0.00206079 0 0.00492351 -0.00870895 0.151485 0.988409 uwb: 0.50080959 871.248 1483.88 -imu_odom_: 1691062563.256177487 0.837971 -0.378284 9.96467 -0.0596548 0.00532632 -0.24288 0.04 -0.26 pose: 0.0 -4.71193 -0.00206079 0 0.00492351 -0.00870895 0.151485 0.988409 uwb: 0.0 871.248 1483.88 -imu_odom_: 1691062563.272170322 0.744597 -0.306458 9.91918 -0.0617853 -0.00958738 -0.223706 0.04 -0.26 pose: 0.0 -4.71193 -0.00206079 0 0.00492351 -0.00870895 0.151485 0.988409 uwb: 0.49932805 870.543 1483.13 -imu_odom_: 1691062563.290174327 0.603339 -0.148441 9.86411 -0.0500674 0.0106526 -0.211988 0.04 -0.26 pose: 0.35991388 -4.71193 -0.00206111 0 0.00471677 -0.0112649 0.146159 0.989186 uwb: 0.0 870.543 1483.13 -imu_odom_: 1691062563.307186163 0.502782 -0.177171 9.9503 -0.0607201 0.00426106 -0.203466 0.04 -0.26 pose: 0.33946970 -4.71193 -0.00206111 0 0.00330624 -0.0123737 0.141709 0.989826 uwb: 0.0 870.543 1483.13 -imu_odom_: 1691062563.324160086 0.512359 -0.105345 9.9096 -0.0585895 -0.00958738 -0.198139 0.04 -0.26 pose: 0.0 -4.71193 -0.00206111 0 0.00330624 -0.0123737 0.141709 0.989826 uwb: 0.50019715 870.984 1483.17 -imu_odom_: 1691062563.351114036 0.687136 -0.301669 9.85693 -0.0660464 -0.0127832 -0.160855 0.03 -0.23 pose: 0.44024990 -4.71193 -0.00206111 0 0.00432921 -0.00823522 0.136394 0.990611 uwb: 0.0 870.984 1483.17 -imu_odom_: 1691062563.367167533 0.557849 -0.392649 9.91199 -0.0543285 0.0340885 -0.135289 0.03 -0.23 pose: 0.0 -4.71193 -0.00206111 0 0.00432921 -0.00823522 0.136394 0.990611 uwb: 0.0 870.984 1483.17 -imu_odom_: 1691062563.385110877 -0.907402 -0.31364 9.64384 -0.0383495 0.118244 -0.106526 0.04 -0.17 pose: 0.7125133 -4.71193 -0.00206111 0 0.00379941 -0.00877312 0.135692 0.990705 uwb: 0.49969844 873.904 1484.06 -imu_odom_: 1691062563.410114026 -1.54187 -0.198719 9.91439 -0.0415453 -0.0276969 -0.100135 0.06 -0.17 pose: 0.0 -4.71193 -0.00206111 0 0.00379941 -0.00877312 0.135692 0.990705 uwb: 0.0 873.904 1484.06 -imu_odom_: 1691062563.437111432 0.486023 0.0766145 10.2448 -0.0681769 -0.0894822 -0.0852212 0.09 -0.14 pose: 0.78828807 -4.7119 -0.0020669 0 0.000315144 -0.00468267 0.129343 0.991589 uwb: 0.50025547 875.607 1484.46 -imu_odom_: 1691062563.462111081 0.349553 -0.260968 10.1801 -0.0511327 0.0340885 -0.0788296 0.09 -0.11 pose: 0.0 -4.7119 -0.0020669 0 0.000315144 -0.00468267 0.129343 0.991589 uwb: 0.0 875.607 1484.46 -imu_odom_: 1691062563.489220186 -0.323217 -0.114922 9.98861 -0.0660464 -0.0266316 -0.0873517 0.09 -0.11 pose: 0.35022550 -4.69841 -0.00620807 0 0.00249514 -0.00458117 0.127189 0.991865 uwb: 0.49986468 874.439 1483.74 -imu_odom_: 1691062563.505256767 0.0383072 -0.232238 9.81144 -0.0585895 -0.0692422 -0.072438 0.11 -0.11 pose: 0.44083610 -4.69837 -0.00621371 0 0.00132314 -0.0004813270.124484 0.992221 uwb: 0.0 874.439 1483.74 -imu_odom_: 1691062563.532212468 0.509965 -0.25618 9.80186 -0.0607201 -0.0298274 -0.0809601 0.11 -0.11 pose: 0.7875240 -4.69841 -0.00620813 0 0.00115892 2.96639e-05 0.124045 0.992276 uwb: 0.49978301 874.011 1483.66 -imu_odom_: 1691062563.558158208 0.241814 -0.351948 10.2592 -0.036219 0.0138484 -0.0692422 0.11 -0.11 pose: 0.35117042 -4.69218 -0.00289579 0 -1.43561e-05-0.00230574 0.121979 0.99253 uwb: 0.0 874.011 1483.66 -imu_odom_: 1691062563.585161738 0.0311246 -0.196325 9.83059 -0.0479369 -0.0138484 -0.0553937 0.11 -0.11 pose: 0.0 -4.69218 -0.00289579 0 -1.43561e-05-0.00230574 0.121979 0.99253 uwb: 0.49997550 873.964 1483.84 -imu_odom_: 1691062563.610084977 0.574608 -0.244209 9.4571 -0.0553937 0.015979 -0.052198 0.13 -0.11 pose: 0.32920094 -4.68958 -0.00152391 0 -0.00140511 0.000632331 0.120255 0.992742 uwb: 0.0 873.964 1483.84 -imu_odom_: 1691062563.637086757 0.550666 -0.179565 9.76116 -0.076699 -0.00639159 -0.0308927 0.17 -0.11 pose: 0.44952415 -4.68334 0.00179207 0 -0.00117081 0.000309627 0.118175 0.992992 uwb: 0.49927555 873.203 1483.3 -imu_odom_: 1691062563.653235912 0.663194 -0.150835 9.78989 -0.072438 0.0170442 -0.0276969 0.17 -0.11 pose: 0.0 -4.68334 0.00179207 0 -0.00117081 0.000309627 0.118175 0.992992 uwb: 0.0 873.203 1483.3 -imu_odom_: 1691062563.680165657 0.380678 -0.153229 10.2161 -0.0532632 0.00532632 -0.0490022 0.19 -0.11 pose: 0.43150935 -4.68074 0.00316449 0 0.000297239 -0.00347621 0.116685 0.993163 uwb: 0.50025839 874.077 1483.41 -imu_odom_: 1691062563.705103186 0.220267 -0.519542 9.72764 -0.0628506 -0.0234358 -0.0245011 0.19 -0.11 pose: 0.8023686 -4.68074 0.00316449 0 0.000675995 -0.00272558 0.116331 0.993207 uwb: 0.0 874.077 1483.41 -imu_odom_: 1691062563.732262454 0.31364 0 10.0844 -0.0479369 -0.0372843 -0.0213053 0.17 -0.11 pose: 0.43843588 -4.67185 0.00780454 0 -0.000756817-0.0001518090.114703 0.9934 uwb: 0.49989384 873.708 1483.09 -imu_odom_: 1691062563.749087638 0.335188 -0.275333 9.76355 -0.0692422 0.00958738 -0.0117179 0.17 -0.11 pose: 0.0 -4.67185 0.00780454 0 -0.000756817-0.0001518090.114703 0.9934 uwb: 0.0 873.708 1483.09 -imu_odom_: 1691062563.773081702 0.6608 -0.347159 9.59835 -0.0543285 -0.00106526 -0.0255663 0.22 -0.08 pose: 0.7061556 -4.67189 0.0078104 0 -9.45245e-056.80638e-05 0.114489 0.993424 uwb: 0.50057045 873.81 1482.7 -imu_odom_: 1691062563.797078100 0.25618 -0.179565 10.2975 -0.0330232 -0.0170442 -0.0149137 0.22 -0.08 pose: 0.0 -4.67189 0.0078104 0 -9.45245e-056.80638e-05 0.114489 0.993424 uwb: 0.0 873.81 1482.7 -imu_odom_: 1691062563.822094665 0.0215478 -0.373495 9.75877 -0.04048 -0.00106526 0.00213053 0.15 -0.02 pose: 0.43966661 -4.65837 0.00368198 0 -9.98258e-050.000846204 0.113223 0.993569 uwb: 0.49874476 870.966 1481.56 -imu_odom_: 1691062563.849070780 0.241814 -0.0909797 10.1873 -0.0500674 -0.02024 0.0170442 0.15 -0.02 pose: 0.0 -4.65837 0.00368198 0 -9.98258e-050.000846204 0.113223 0.993569 uwb: 0.0 870.966 1481.56 -imu_odom_: 1691062563.865131859 0.543484 -0.167594 9.84017 -0.0585895 -0.0191748 0.00958738 0.17 -0.02 pose: 0.49043002 -4.64953 0.00835427 0 -0.0002817280.00222035 0.111874 0.99372 uwb: 0.0 870.966 1481.56 -imu_odom_: 1691062563.892068895 0.816423 -0.232238 10.2831 -0.0490022 0.00106526 -0.00213053 0.17 -0.02 pose: 0.0 -4.64953 0.00835427 0 -0.0002817280.00222035 0.111874 0.99372 uwb: 0.49969552 872.311 1481.58 -imu_odom_: 1691062563.917096542 0.608127 -0.234632 9.75637 -0.0585895 -0.0223706 0.0213053 0.16 0 pose: 0.52017470 -4.64953 0.00835427 0 0.00129991 0.00431144 0.111145 0.993794 uwb: 0.0 872.311 1481.58 -imu_odom_: 1691062563.941243719 0.40462 0.0311246 10.4267 -0.056459 0.0298274 0.0127832 0.16 0 pose: 0.42945619 -4.64067 0.0129966 0 0.00139823 -2.11479e-050.110402 0.993886 uwb: 0.50203159 871.921 1481.36 -imu_odom_: 1691062563.956349959 0.323217 -0.227449 10.1442 -0.0703074 0.0170442 0.0383495 0.16 0 pose: 0.41106225 -4.63441 0.0162632 0 0.00345418 -0.0007786070.109923 0.993934 uwb: 0.0 871.921 1481.36 -imu_odom_: 1691062563.981058840 0.550666 -0.380678 9.88326 -0.0649811 0.0106526 0.0138484 0.16 0 pose: 0.0 -4.63441 0.0162632 0 0.00345418 -0.0007786070.109923 0.993934 uwb: 0.0 871.921 1481.36 -imu_odom_: 1691062563.998339863 0.0622492 0.0909797 10.2711 -0.0319579 0 0.00745685 0.21 0 pose: 0.7114051 -4.6318 0.0176198 0 0.00289775 -0.0001984760.109918 0.993936 uwb: 0.0 871.921 1481.36 -imu_odom_: 1691062564.23078496 0.323217 -0.220267 9.72046 -0.0553937 -0.0255663 0.0138484 0.21 0 pose: 0.0 -4.6318 0.0176198 0 0.00289775 -0.0001984760.109918 0.993936 uwb: 0.99922484 871.616 1480.81 -imu_odom_: 1691062564.47261549 -0.0814029 -0.0263362 9.69652 -0.0468716 -0.0340885 0.0245011 0.21 -0.05 pose: 0.40016647 -4.62716 0.00876386 0 0.000784155 -0.0003934590.109482 0.993988 uwb: 0.0 871.616 1480.81 -imu_odom_: 1691062564.62260759 0.59855 -0.129287 10.0676 -0.0745685 -0.0330232 0.0340885 0.21 -0.05 pose: 0.0 -4.62716 0.00876386 0 0.000784155 -0.0003934590.109482 0.993988 uwb: 0.0 871.616 1480.81 -imu_odom_: 1691062564.78117399 0.445322 -0.342371 9.22246 -0.0681769 0.0138484 0.0138484 0.16 -0.02 pose: 0.41843504 -4.61833 0.0134649 0 0.000432266 0.00291449 0.108948 0.994043 uwb: 0.50030806 870.111 1479.73 -imu_odom_: 1691062564.93057113 0.600945 -0.158017 9.90481 -0.0617853 0.0617853 0.0138484 0.16 -0.02 pose: 0.0 -4.61833 0.0134649 0 0.000432266 0.00291449 0.108948 0.994043 uwb: 0.0 870.111 1479.73 -imu_odom_: 1691062564.117068097 0.727837 -0.335188 9.51695 -0.0735032 0.0181095 0.0276969 0.16 -0.02 pose: 0.0 -4.61833 0.0134649 0 0.000432266 0.00291449 0.108948 0.994043 uwb: 0.0 870.111 1479.73 -imu_odom_: 1691062564.143109210 0.502782 -0.153229 9.96227 -0.0543285 -0.00532632 0.0351537 0.16 0.02 pose: 0.39079313 -4.6095 0.0181551 0 0.000709713 0.00229825 0.108693 0.994072 uwb: 0.49982102 868.128 1478.77 -imu_odom_: 1691062564.157117416 0.31364 -0.186748 9.56005 -0.0830906 -0.02024 0.0490022 0.16 0.02 pose: 0.0 -4.6095 0.0181551 0 0.000709713 0.00229825 0.108693 0.994072 uwb: 0.0 868.128 1478.77 -imu_odom_: 1691062564.181161939 0.172383 -0.280122 9.72285 -0.0585895 -0.0308927 0.0191748 0.16 0 pose: 0.79761497 -4.60067 0.0228359 0 0.00135871 -0.00231099 0.108214 0.994124 uwb: 0.50243998 867.474 1477.88 -imu_odom_: 1691062564.205102929 0.141258 -0.339977 9.82341 -0.0798948 -0.0394148 0.0447411 0.16 0 pose: 0.0 -4.60067 0.0228359 0 0.00135871 -0.00231099 0.108214 0.994124 uwb: 0.0 867.474 1477.88 -imu_odom_: 1691062564.230117457 0.457293 -0.189142 9.44752 -0.052198 0.0532632 0.00639159 0.18 -0.02 pose: 0.39167389 -4.59183 0.0275143 0 -0.0002461280.000752521 0.108023 0.994148 uwb: 0.49732456 868.856 1477.75 -imu_odom_: 1691062564.254124066 0.847547 -0.531513 9.59117 -0.0809601 0.0255663 0.0553937 0.21 0 pose: 0.41891337 -4.58089 0.0219868 0 -6.6382e-06 0.000476166 0.107652 0.994188 uwb: 0.0 868.856 1477.75 -imu_odom_: 1691062564.269036366 0.217872 -0.433351 9.35654 -0.056459 0.04048 0.0234358 0.21 0 pose: 0.0 -4.58089 0.0219868 0 -6.6382e-06 0.000476166 0.107652 0.994188 uwb: 0.0 868.856 1477.75 -imu_odom_: 1691062564.285039411 0.577003 0.222661 10.6829 -0.0394148 -0.036219 0.0234358 0.21 0 pose: 0.0 -4.58089 0.0219868 0 -6.6382e-06 0.000476166 0.107652 0.994188 uwb: 0.49979477 869.36 1477.55 -imu_odom_: 1691062564.302035502 0.397437 -0.186748 9.52892 -0.0735032 0.0223706 0.0436758 0.18 0 pose: 0.6977563 -4.57831 0.0233476 0 -0.00044368 -4.22286e-050.107707 0.994183 uwb: 0.0 869.36 1477.55 -imu_odom_: 1691062564.320092590 0.821211 -0.366313 9.51935 -0.0596548 -0.0181095 0.0213053 0.18 0 pose: 0.0 -4.57831 0.0233476 0 -0.00044368 -4.22286e-050.107707 0.994183 uwb: 0.0 869.36 1477.55 -imu_odom_: 1691062564.337080806 0.663194 -0.0837971 10.1562 -0.0447411 0.0106526 0.0276969 0.18 0.02 pose: 0.54947911 -4.56947 0.0280162 0 -0.000398226-0.0002431810.107608 0.994193 uwb: 0.50009516 866.504 1476.54 -imu_odom_: 1691062564.361367393 0.308852 -0.117316 9.98622 -0.0585895 0.02024 0.0223706 0.2 -0.02 pose: 0.0 -4.56947 0.0280162 0 -0.000398226-0.0002431810.107608 0.994193 uwb: 0.0 866.504 1476.54 -imu_odom_: 1691062564.386106027 0.253785 -0.21069 9.73243 -0.0681769 -0.0117179 0.0436758 0.18 0 pose: 0.69324462 -4.56062 0.0326802 0 0.00189006 -0.0002754220.10715 0.994241 uwb: 0.0 866.504 1476.54 -imu_odom_: 1691062564.410174173 0.701501 -0.0383072 9.64863 -0.0447411 0.0149137 0.0127832 0.18 0 pose: 0.0 -4.56062 0.0326802 0 0.00189006 -0.0002754220.10715 0.994241 uwb: 0.0 866.504 1476.54 -imu_odom_: 1691062564.435045213 1.0343 -0.368707 9.58638 -0.072438 -0.0234358 0.04048 0.24 0 pose: 0.31829646 -4.54711 0.0284921 0 0.00139313 0.00144211 0.107103 0.994246 uwb: 0.100001535 866.329 1475.56 -imu_odom_: 1691062564.452174001 0.387861 -0.416591 9.85453 -0.036219 -0.0234358 0.0117179 0.24 0 pose: 0.0 -4.54711 0.0284921 0 0.00139313 0.00144211 0.107103 0.994246 uwb: 0.0 866.329 1475.56 -imu_odom_: 1691062564.469228420 0.962469 -0.0837971 10.4914 -0.0351537 -0.0585895 0.0245011 0.18 -0.05 pose: 0.49866029 -4.54711 0.0284921 0 0.000955329 -0.00246999 0.106787 0.994278 uwb: 0.0 866.329 1475.56 -imu_odom_: 1691062564.486046608 1.49877 -0.40462 9.79947 -0.0884169 -0.0735032 0.0181095 0.18 -0.05 pose: 0.0 -4.54711 0.0284921 0 0.000955329 -0.00246999 0.106787 0.994278 uwb: 0.49968978 866.972 1474.87 -imu_odom_: 1691062564.503065738 1.82438 -0.105345 9.51695 -0.0479369 -0.00958738 -0.13955 0.13 -0.29 pose: 0.42983540 -4.53826 0.0331451 0 0.000617978 -0.00670369 0.106353 0.994306 uwb: 0.0 866.972 1474.87 -imu_odom_: 1691062564.520164195 1.31921 0.323217 9.91199 -0.0500674 0.0372843 -0.235423 0.13 -0.29 pose: 0.0 -4.53826 0.0331451 0 0.000617978 -0.00670369 0.106353 0.994306 uwb: 0.0 866.972 1474.87 -imu_odom_: 1691062564.538160622 0.94571 0.148441 10.0892 -0.0617853 -0.0213053 -0.311057 0.13 -0.29 pose: 0.0 -4.53826 0.0331451 0 0.000617978 -0.00670369 0.106353 0.994306 uwb: 0.50132299 863.084 1472.83 -imu_odom_: 1691062564.555129006 0.905008 -0.0191536 9.73961 -0.0500674 -0.015979 -0.414388 0.11 -0.38 pose: 0.8065101 -4.53826 0.0331451 0 0.000809254 -0.00751435 0.105634 0.994376 uwb: 0.0 863.084 1472.83 -imu_odom_: 1691062564.568017010 0.833182 0.00957681 10.1897 -0.0543285 -0.0287621 -0.436758 0.1 -0.44 pose: 0.0 -4.53826 0.0331451 0 0.000809254 -0.00751435 0.105634 0.994376 uwb: 0.0 863.084 1472.83 -imu_odom_: 1691062564.586135344 0.799663 -0.220267 9.66539 -0.0798948 -0.0255663 -0.42291 0.1 -0.44 pose: 0.0 -4.53826 0.0331451 0 0.000809254 -0.00751435 0.105634 0.994376 uwb: 0.49874777 863.319 1472.02 -imu_odom_: 1691062564.603159724 1.15401 -0.347159 10.3118 -0.0596548 -0.0138484 -0.466586 0.09 -0.5 pose: 0.66911406 -4.52945 0.0378659 0 0.00501377 -0.0126297 0.0940959 0.99547 uwb: 0.0 863.319 1472.02 -imu_odom_: 1691062564.620131608 0.90022 -0.150835 9.70131 -0.0777643 -0.00213053 -0.478304 0.09 -0.5 pose: 0.0 -4.52945 0.0378659 0 0.00501377 -0.0126297 0.0940959 0.99547 uwb: 0.0 863.319 1472.02 -imu_odom_: 1691062564.638193362 0.964863 -0.0814029 9.99819 -0.056459 0.0532632 -0.4815 0.09 -0.5 pose: 0.32133830 -4.52945 0.0378659 0 0.00434885 -0.0156714 0.08651 0.996118 uwb: 0.49874194 865.162 1471.81 -imu_odom_: 1691062564.652075870 0.823605 -0.282516 9.87608 -0.072438 0.00532632 -0.507066 0.07 -0.5 pose: 0.45036417 -4.5206 0.0425933 0 0.00504397 -0.0193844 0.0749137 0.996989 uwb: 0.0 865.162 1471.81 -imu_odom_: 1691062564.669074585 0.538695 -0.0191536 10.07 -0.0639159 0.00745685 -0.525175 0.07 -0.5 pose: 0.6062971 -4.52064 0.0425999 0 0.00444751 -0.0195464 0.0732726 0.99711 uwb: 0.0 865.162 1471.81 -imu_odom_: 1691062564.686115880 0.804452 -0.282516 9.9503 -0.0596548 -0.0138484 -0.516653 0.07 -0.5 pose: 0.0 -4.52064 0.0425999 0 0.00444751 -0.0195464 0.0732726 0.99711 uwb: 0.50053263 864.938 1471.04 -imu_odom_: 1691062564.702999105 0.622492 -0.0191536 9.63187 -0.0575243 -0.0213053 -0.532632 0.07 -0.67 pose: 0.41859547 -4.51583 0.0338012 0 0.00289171 -0.0187797 0.0616497 0.997917 uwb: 0.0 864.938 1471.04 -imu_odom_: 1691062564.720998156 0.667982 -0.148441 9.71328 -0.0490022 -0.036219 -0.536893 0.05 -0.55 pose: 0.0 -4.51583 0.0338012 0 0.00289171 -0.0187797 0.0616497 0.997917 uwb: 0.0 864.938 1471.04 -imu_odom_: 1691062564.737102693 0.840365 -0.328006 9.91678 -0.0820254 -0.0170442 -0.502805 0.05 -0.55 pose: 0.0 -4.51583 0.0338012 0 0.00289171 -0.0187797 0.0616497 0.997917 uwb: 0.49941856 863.474 1469.96 -imu_odom_: 1691062564.755118951 0.845153 -0.493206 9.94312 -0.0553937 -0.0234358 -0.449542 0.05 -0.44 pose: 0.24904287 -4.51587 0.0338078 0 0.00426194 -0.0170413 0.0544918 0.99836 uwb: 0.0 863.474 1469.96 -imu_odom_: 1691062564.772085877 0.806846 -0.335188 9.89045 -0.0628506 0.00106526 -0.417584 0.05 -0.44 pose: 0.0 -4.51587 0.0338078 0 0.00426194 -0.0170413 0.0544918 0.99836 uwb: 0.50176628 862.838 1469.09 -imu_odom_: 1691062564.788990100 0.646434 -0.189142 9.74919 -0.0553937 0.00639159 -0.378169 0.05 -0.44 pose: 0.34096881 -4.51587 0.0338082 0 0.00219578 -0.0175646 0.045332 0.998815 uwb: 0.0 862.838 1469.09 -imu_odom_: 1691062564.815073792 0.505177 -0.177171 10.0485 -0.056459 -0.00639159 -0.333428 0.05 -0.47 pose: 0.43873052 -4.51587 0.0338082 0 0.000356928 -0.0169472 0.0355217 0.999225 uwb: 0.0 862.838 1469.09 -imu_odom_: 1691062564.832024095 0.0790087 -0.418985 9.4978 -0.0607201 0.015979 -0.34408 0.05 -0.47 pose: 0.7042600 -4.51587 0.0338082 0 0.000475925 -0.0162576 0.0342076 0.999282 uwb: 0.49963728 864.316 1468.59 -imu_odom_: 1691062564.849141217 -0.876278 -0.134075 10.2496 -0.0213053 0.0703074 -0.388822 0.08 -0.41 pose: 0.0 -4.51587 0.0338082 0 0.000475925 -0.0162576 0.0342076 0.999282 uwb: 0.0 864.316 1468.59 -imu_odom_: 1691062564.866143724 -1.16119 0.011971 10.0772 -0.0426106 -0.00213053 -0.305731 0.08 -0.23 pose: 0.53108517 -4.50704 0.0385006 0 0.000544338 -0.010281 0.02375 0.999665 uwb: 0.0 864.316 1468.59 -imu_odom_: 1691062564.883019949 -1.02951 -0.782904 9.64624 -0.0798948 -0.0255663 -0.199204 0.08 -0.23 pose: 0.0 -4.50704 0.0385006 0 0.000544338 -0.010281 0.02375 0.999665 uwb: 0.50053555 863.642 1467.85 -imu_odom_: 1691062564.899983667 0.220267 -0.797269 9.66779 -0.0490022 -0.0511327 -0.162985 0.08 -0.23 pose: 0.0 -4.50704 0.0385006 0 0.000544338 -0.010281 0.02375 0.999665 uwb: 0.0 863.642 1467.85 -imu_odom_: 1691062564.918014799 0.411803 -0.208296 9.94791 -0.0500674 -0.0447411 -0.153398 0.1 -0.2 pose: 0.23916492 -4.50704 0.0385005 0 0.000526704 -0.00799465 0.0199897 0.999768 uwb: 0.0 863.642 1467.85 -imu_odom_: 1691062564.935041803 0.42138 0.277727 10.1586 -0.0319579 -0.0117179 -0.155529 0.1 -0.2 pose: 0.0 -4.50704 0.0385005 0 0.000526704 -0.00799465 0.0199897 0.999768 uwb: 0.49943605 863.424 1467.08 -imu_odom_: 1691062564.952020978 0.0287304 0.201113 10.1586 -0.0490022 -0.00106526 -0.140615 0.1 -0.2 pose: 0.34962769 -4.50704 0.0385005 0 -0.00113568 -0.00616497 0.0163199 0.999847 uwb: 0.0 863.424 1467.08 -imu_odom_: 1691062564.970133771 0.792481 -0.548272 9.83059 -0.056459 -0.0532632 -0.153398 0.14 -0.23 pose: 0.34964228 -4.49819 0.0431418 0 0.0015688 -0.00451158 0.0129688 0.999904 uwb: 0.0 863.424 1467.08 -imu_odom_: 1691062564.984189806 0.490811 -0.215478 10.0389 -0.0532632 -0.0649811 -0.158724 0.14 -0.23 pose: 0.0 -4.49819 0.0431418 0 0.0015688 -0.00451158 0.0129688 0.999904 uwb: 0.50022641 864.528 1466.33 -imu_odom_: 1691062565.2026120 0.521936 -0.0023942 9.83059 -0.0436758 0.0223706 -0.135289 0.12 -0.14 pose: 0.41205100 -4.49584 0.0386935 0 -5.2573e-05 -0.00474291 0.00902045 0.999948 uwb: 0.0 864.528 1466.33 -imu_odom_: 1691062565.18095663 0.486023 -0.0383072 10.3477 -0.0479369 0 -0.106526 0.12 -0.14 pose: 0.0 -4.49584 0.0386935 0 -5.2573e-05 -0.00474291 0.00902045 0.999948 uwb: 0.0 864.528 1466.33 -imu_odom_: 1691062565.35092923 0.011971 -0.514753 10.0102 -0.0500674 0.0692422 -0.109722 0.12 -0.14 pose: 0.0 -4.49584 0.0386935 0 -5.2573e-05 -0.00474291 0.00902045 0.999948 uwb: 0.49945067 863.977 1465.19 -imu_odom_: 1691062565.53092853 0.172383 -0.174777 10.0221 -0.0426106 -0.0703074 -0.111853 0.13 -0.14 pose: 0.7944360 -4.49351 0.0343043 0 0.000786573 -0.00472805 0.00832233 0.999954 uwb: 0.0 863.977 1465.19 -imu_odom_: 1691062565.69972872 0.399832 -0.1652 9.73961 -0.0543285 -0.0308927 -0.1012 0.13 -0.14 pose: 0.0 -4.49351 0.0343043 0 0.000786573 -0.00472805 0.00832233 0.999954 uwb: 0.0 863.977 1465.19 -imu_odom_: 1691062565.86984423 0.565032 -0.19393 10.0437 -0.0458064 0.00213053 -0.0894822 0.14 -0.14 pose: 0.50964073 -4.48467 0.0389809 0 0.00252314 -0.00199355 0.00439664 0.999985 uwb: 0.49930490 859.788 1462.98 -imu_odom_: 1691062565.104014639 0.725443 -0.418985 10.0556 -0.0628506 -0.0351537 -0.0841559 0.13 -0.11 pose: 0.0 -4.48467 0.0389809 0 0.00252314 -0.00199355 0.00439664 0.999985 uwb: 0.0 859.788 1462.98 -imu_odom_: 1691062565.120953570 0.957681 -0.325611 9.39485 -0.0553937 0.02024 -0.0703074 0.12 -0.11 pose: 0.0 -4.48467 0.0389809 0 0.00252314 -0.00199355 0.00439664 0.999985 uwb: 0.0 859.788 1462.98 -imu_odom_: 1691062565.137962788 0.727837 -0.397437 9.91918 -0.0468716 0.0276969 -0.0255663 0.12 -0.11 pose: 0.67945002 -4.47585 0.0436985 0 0.00100518 -0.00362251 -8.39852e-050.999993 uwb: 0.50056189 858.699 1462.21 -imu_odom_: 1691062565.155018960 1.45567 -0.385466 9.71088 -0.0575243 -0.0884169 -0.00745685 0.1 -0.14 pose: 0.0 -4.47585 0.0436985 0 0.00100518 -0.00362251 -8.39852e-050.999993 uwb: 0.0 858.699 1462.21 -imu_odom_: 1691062565.169959260 1.30484 -0.102951 9.61511 -0.0447411 0.00426106 -0.0383495 0.1 -0.14 pose: 0.0 -4.47585 0.0436985 0 0.00100518 -0.00362251 -8.39852e-050.999993 uwb: 0.0 858.699 1462.21 -imu_odom_: 1691062565.186975477 1.20428 -0.287304 9.83299 -0.0575243 0.0372843 -0.0117179 0.1 -0.14 pose: 0.34987274 -4.47115 0.0348698 0 -0.000411218-0.00662749 -0.00136323 0.999977 uwb: 0.49902493 858.912 1461.51 -imu_odom_: 1691062565.204072479 0.414197 -0.28491 10.0987 -0.0596548 0.0351537 -0.052198 0.08 -0.11 pose: 0.40944962 -4.47115 0.0348698 0 -0.00045728 -0.0106412 -0.00259348 0.99994 uwb: 0.0 858.912 1461.51 -imu_odom_: 1691062565.221126318 0.430956 -0.0933739 9.90002 -0.0532632 -0.0372843 -0.105461 0.08 -0.11 pose: 0.7109971 -4.47115 0.0348698 0 -0.000675307-0.0098207 -0.00291748 0.999947 uwb: 0.0 858.912 1461.51 -imu_odom_: 1691062565.239069086 0.603339 0.0454898 9.61751 -0.0607201 -0.015979 -0.100135 0.08 -0.11 pose: 0.0 -4.47115 0.0348698 0 -0.000675307-0.0098207 -0.00291748 0.999947 uwb: 0.50164389 859.466 1461.14 -imu_odom_: 1691062565.253132123 0.849942 -0.318429 10.1562 -0.056459 -0.00319579 -0.0703074 0.07 -0.08 pose: 0.44983638 -4.46235 0.0396129 0 0.00196551 -0.00822034 -0.00588538 0.999947 uwb: 0.0 859.466 1461.14 -imu_odom_: 1691062565.268999849 0.845153 -0.47884 9.76355 -0.0596548 -0.00745685 -0.052198 0.05 -0.02 pose: 0.0 -4.46235 0.0396129 0 0.00196551 -0.00822034 -0.00588538 0.999947 uwb: 0.0 859.466 1461.14 -imu_odom_: 1691062565.283952690 0.684742 -0.196325 9.79947 -0.0500674 0.0170442 -0.0468716 0.05 -0.02 pose: 0.0 -4.46235 0.0396129 0 0.00196551 -0.00822034 -0.00588538 0.999947 uwb: 0.49973945 858.862 1460.24 -imu_odom_: 1691062565.301069524 0.584185 -0.0909797 9.9934 -0.0479369 0.00852212 -0.02024 0.05 -0.02 pose: 0.21012896 -4.46235 0.0396129 0 0.000783026 -0.00992943 -0.0069637 0.999926 uwb: 0.0 858.862 1460.24 -imu_odom_: 1691062565.325954275 0.562637 -0.260968 9.97664 -0.0532632 -0.00852212 -0.015979 0.05 0 pose: 0.0 -4.46235 0.0396129 0 0.000783026 -0.00992943 -0.0069637 0.999926 uwb: 0.49966946 854.317 1457.91 -imu_odom_: 1691062565.349941641 -0.296881 -0.246603 9.44034 -0.052198 0.0830906 -0.00745685 0.04 -0.05 pose: 0.65872293 -4.46232 0.0396068 0 2.60581e-06 -0.00970298 -0.00921543 0.99991 uwb: 0.0 854.317 1457.91 -imu_odom_: 1691062565.367083264 -1.04148 -0.196325 10.0628 -0.0532632 0.0468716 0.0149137 0.04 -0.05 pose: 0.7009938 -4.46235 0.0396127 0 -2.16537e-06-0.00869602 -0.00938004 0.999918 uwb: 0.0 854.317 1457.91 -imu_odom_: 1691062565.392062217 -0.787692 -0.160412 9.77553 -0.072438 -0.056459 0.0138484 0.08 -0.08 pose: 0.0 -4.46235 0.0396127 0 -2.16537e-06-0.00869602 -0.00938004 0.999918 uwb: 0.49981820 857.738 1458.23 -imu_odom_: 1691062565.418061338 0.517148 -0.143652 9.71567 -0.0692422 -0.02024 0.0117179 0.08 -0.08 pose: 0.34119051 -4.46235 0.0396127 0 4.5776e-05 -0.00410534 -0.00999025 0.999942 uwb: 0.0 857.738 1458.23 -imu_odom_: 1691062565.444000380 0.225055 -0.411803 9.44273 -0.0617853 0.0127832 0.00213053 0.11 -0.05 pose: 0.50978074 -4.45012 0.0379304 0 0.00160334 -0.00431286 -0.01068 0.999932 uwb: 0.49894618 853.329 1456.91 -imu_odom_: 1691062565.469947296 -0.0383072 -0.0383072 10.1514 -0.0511327 -0.0127832 -0.00213053 0.11 -0.05 pose: 0.0 -4.45012 0.0379304 0 0.00160334 -0.00431286 -0.01068 0.999932 uwb: 0.0 853.329 1456.91 -imu_odom_: 1691062565.494977578 0.153229 -0.0622492 9.97903 -0.0575243 0.00852212 0.00106526 0.12 -0.02 pose: 0.51885958 -4.44882 0.0354916 0 0.000810666 0.000185525 -0.0117041 0.999931 uwb: 0.49961405 850.949 1456.09 -imu_odom_: 1691062565.512090037 0.397437 -0.277727 9.7037 -0.0596548 -0.0266316 0.0181095 0.12 -0.02 pose: 0.0 -4.44882 0.0354916 0 0.000810666 0.000185525 -0.0117041 0.999931 uwb: 0.0 850.949 1456.09 -imu_odom_: 1691062565.536077986 0.280122 -0.162806 10.1394 -0.0553937 0.00213053 -0.00106526 0.13 -0.02 pose: 0.42142741 -4.43998 0.0401649 0 0.000403547 0.0016817 -0.0123741 0.999922 uwb: 0.49986778 854.585 1457.11 -imu_odom_: 1691062565.554148202 -0.0502782 -0.368707 9.43076 -0.0756338 0.0223706 0.0181095 0.13 -0.02 pose: 0.8018440 -4.43998 0.0401649 0 0.000767987 0.00242165 -0.0125367 0.999918 uwb: 0.0 854.585 1457.11 -imu_odom_: 1691062565.579060659 0.45011 -0.107739 10.1562 -0.0500674 -0.04048 0.00745685 0.14 -0.02 pose: 0.34039725 -4.43998 0.0401649 0 0.000557065 0.00578198 -0.0130587 0.999898 uwb: 0.49996694 853.45 1456.53 -imu_odom_: 1691062565.605234474 0.351948 -0.351948 10.3262 -0.0436758 -0.00532632 0.00426106 0.14 -0.02 pose: 0.0 -4.43998 0.0401649 0 0.000557065 0.00578198 -0.0130587 0.999898 uwb: 0.0 853.45 1456.53 -imu_odom_: 1691062565.629928491 0.0263362 -0.268151 9.27514 -0.076699 0.00852212 0.0276969 0.13 -0.02 pose: 0.8000940 -4.43998 0.0401649 0 0.000976287 0.00494381 -0.0131848 0.9999 uwb: 0.50129974 853.253 1455.77 -imu_odom_: 1691062565.656047769 0.399832 -0.150835 9.78031 -0.0607201 -0.0181095 0.0106526 0.13 -0.02 pose: 0.51857670 -4.42648 0.0359617 0 -0.0007954950.00391094 -0.0139734 0.999894 uwb: 0.0 853.253 1455.77 -imu_odom_: 1691062565.680051758 0.445322 -0.181959 10.2376 -0.0532632 0.00106526 0.0223706 0.17 -0.05 pose: 0.0 -4.42648 0.0359617 0 -0.0007954950.00391094 -0.0139734 0.999894 uwb: 0.49984445 852.268 1454.74 -imu_odom_: 1691062565.704020750 0.402226 -0.363919 10.2089 -0.0585895 0.00958738 0.0106526 0.18 -0.02 pose: 0.66044946 -4.41758 0.0405871 0 0.000948037 0.00109944 -0.0146414 0.999892 uwb: 0.0 852.268 1454.74 -imu_odom_: 1691062565.720920310 0.703895 -0.148441 9.59835 -0.0479369 0.0394148 0.00213053 0.18 -0.02 pose: 0.8003858 -4.41762 0.0405937 0 0.000139305 0.00106475 -0.0147579 0.999891 uwb: 0.0 852.268 1454.74 -imu_odom_: 1691062565.744924882 0.859518 -0.593762 10.0221 -0.076699 -0.0181095 0.0436758 0.15 0 pose: 0.0 -4.41762 0.0405937 0 0.000139305 0.00106475 -0.0147579 0.999891 uwb: 0.50119475 854.423 1454.86 -imu_odom_: 1691062565.770979998 0.464475 -0.260968 9.60554 -0.0532632 0.00213053 0.0117179 0.15 0 pose: 0.40883425 -4.40408 0.0364788 0 -0.00154757 -0.000940935-0.0152932 0.999881 uwb: 0.0 854.423 1454.86 -imu_odom_: 1691062565.784916171 0.167594 -0.263362 9.32542 -0.0543285 0.00958738 0.0276969 0.15 0 pose: 0.0 -4.40408 0.0364788 0 -0.00154757 -0.000940935-0.0152932 0.999881 uwb: 0.50125017 853.554 1453.47 -imu_odom_: 1691062565.807967362 0.37589 -0.426168 10.1682 -0.0383495 -0.0127832 0.015979 0.16 -0.02 pose: 0.48088763 -4.40408 0.0364788 0 -0.00203785 -0.00407125 -0.0156675 0.999867 uwb: 0.0 853.554 1453.47 -imu_odom_: 1691062565.831925563 0.526724 0.181959 10.386 -0.0340885 -0.0436758 0.0394148 0.19 0 pose: 0.30939558 -4.39526 0.0411734 0 -0.00386603 -0.00219986 -0.0159751 0.999862 uwb: 0.49689301 852.483 1452.73 -imu_odom_: 1691062565.850006861 0.445322 -0.447716 9.89524 -0.0490022 0.00106526 0.04048 0.19 0 pose: 0.0 -4.39526 0.0411734 0 -0.00386603 -0.00219986 -0.0159751 0.999862 uwb: 0.0 852.483 1452.73 -imu_odom_: 1691062565.872909897 0.160412 -0.270545 9.59596 -0.0298274 0.0213053 0.0234358 0.19 0 pose: 0.0 -4.39526 0.0411734 0 -0.00386603 -0.00219986 -0.0159751 0.999862 uwb: 0.49941865 851.552 1451.56 -imu_odom_: 1691062565.899023925 0.174777 -0.220267 10.173 -0.0458064 -0.0127832 0.04048 0.16 0 pose: 0.7948153 -4.39526 0.0411734 0 -0.003001 -0.0024979 -0.0159772 0.999865 uwb: 0.0 851.552 1451.56 -imu_odom_: 1691062565.922079199 0.679953 -0.150835 9.95988 -0.0639159 0.0213053 0.0287621 0.17 0 pose: 0.40989875 -4.38173 0.0370302 0 -0.00289882 -0.00208441 -0.0160211 0.999865 uwb: 0.0 851.552 1451.56 -imu_odom_: 1691062565.937911052 0.177171 -0.153229 9.991 -0.0649811 0.0266316 0.0607201 0.17 0 pose: 0.0 -4.38173 0.0370302 0 -0.00289882 -0.00208441 -0.0160211 0.999865 uwb: 0.49968988 850.917 1450.83 -imu_odom_: 1691062565.954944185 0.162806 -0.320823 9.79707 -0.0745685 0.0127832 0.0415453 0.17 0 pose: 0.0 -4.38173 0.0370302 0 -0.00289882 -0.00208441 -0.0160211 0.999865 uwb: 0.0 850.917 1450.83 -imu_odom_: 1691062565.979063956 0.514753 -0.059855 9.79228 -0.0596548 0.0266316 0.0319579 0.21 -0.02 pose: 0.48333161 -4.38173 0.0370302 0 -0.00182183 0.00163896 -0.0161614 0.999866 uwb: 0.50003109 850.273 1450.15 -imu_odom_: 1691062566.5038871 0.737414 -0.407014 9.72285 -0.0575243 0.0308927 0.0276969 0.2 -0.02 pose: 0.39746017 -4.36821 0.0328816 0 -0.00119462 0.00266201 -0.0160787 0.999866 uwb: 0.0 850.273 1450.15 -imu_odom_: 1691062566.29915169 0.579397 -0.0263362 9.81623 -0.0319579 0.015979 0.0447411 0.2 -0.02 pose: 0.34079388 -4.36821 0.0328816 0 -1.27464e-050.00233513 -0.0161577 0.999867 uwb: 0.50027903 850.466 1449.57 -imu_odom_: 1691062566.56937963 0.23942 0.00718261 10.1897 -0.0607201 -0.00958738 0.0308927 0.18 0 pose: 0.7973818 -4.36821 0.0328816 0 -0.0003904770.00176852 -0.016206 0.999867 uwb: 0.0 850.466 1449.57 -imu_odom_: 1691062566.71040375 0.581791 -0.122104 9.94791 -0.056459 -0.0106526 0.0330232 0.18 0 pose: 0.0 -4.36821 0.0328816 0 -0.0003904770.00176852 -0.016206 0.999867 uwb: 0.0 850.466 1449.57 -imu_odom_: 1691062566.95895675 0.418985 -0.148441 10.0437 -0.0873517 0.0351537 0.0532632 0.19 0 pose: 0.51043991 -4.35938 0.0375665 0 0.00149848 -0.000418002-0.0162889 0.999866 uwb: 0.49970747 852.144 1449.75 -imu_odom_: 1691062566.120009910 0.35913 -0.232238 10.0341 -0.0660464 0.0149137 0.0468716 0.19 0 pose: 0.0 -4.35938 0.0375665 0 0.00149848 -0.000418002-0.0162889 0.999866 uwb: 0.0 852.144 1449.75 -imu_odom_: 1691062566.143893455 0.648829 -0.198719 9.7851 -0.0639159 -0.0181095 0.0490022 0.17 -0.02 pose: 0.39823893 -4.34586 0.0334146 0 0.00351534 -0.00097567 -0.0163671 0.999859 uwb: 0.50255099 853.979 1449.46 -imu_odom_: 1691062566.168963405 0.397437 0.0311246 10.0437 -0.0479369 0.036219 0.0181095 0.17 -0.02 pose: 0.0 -4.34586 0.0334146 0 0.00351534 -0.00097567 -0.0163671 0.999859 uwb: 0.0 853.979 1449.46 -imu_odom_: 1691062566.184936417 0.368707 -0.339977 9.36612 -0.0820254 -0.0330232 0.0383495 0.19 -0.02 pose: 0.49058778 -4.33702 0.0380977 0 0.0024002 -0.000857313-0.0161204 0.999867 uwb: 0.50007202 855.868 1448.99 -imu_odom_: 1691062566.209997034 0.263362 -0.189142 9.88566 -0.0490022 -0.0426106 0.04048 0.19 -0.02 pose: 0.0 -4.33702 0.0380977 0 0.0024002 -0.000857313-0.0161204 0.999867 uwb: 0.0 855.868 1448.99 -imu_odom_: 1691062566.233937158 0.304064 -0.162806 9.96227 -0.0798948 0 0.0500674 0.18 0 pose: 0.48047067 -4.33234 0.0292633 0 0.00393744 -0.00140637 -0.0163164 0.999858 uwb: 0.49737432 855.756 1447.99 -imu_odom_: 1691062566.251000916 0.742203 -0.294487 9.47864 -0.0372843 -0.0308927 0.0213053 0.18 0 pose: 0.0 -4.33234 0.0292633 0 0.00393744 -0.00140637 -0.0163164 0.999858 uwb: 0.0 855.756 1447.99 -imu_odom_: 1691062566.275884214 0.4956 -0.227449 9.76355 -0.0500674 0.00319579 0.0298274 0.19 0 pose: 0.40936804 -4.3235 0.0339462 0 0.0024593 0.00134493 -0.01629 0.999863 uwb: 0.50350758 852.996 1445.85 -imu_odom_: 1691062566.300891460 0.622492 0.0742203 10.252 -0.0287621 -0.0426106 0.0234358 0.19 0 pose: 0.0 -4.3235 0.0339462 0 0.0024593 0.00134493 -0.01629 0.999863 uwb: 0.0 852.996 1445.85 -imu_odom_: 1691062566.325878875 0.383072 -0.141258 10.1825 -0.0543285 0.00426106 0.0511327 0.17 0 pose: 0.42947393 -4.31467 0.0386292 0 0.00165389 0.000637847 -0.0163922 0.999864 uwb: 0.49637398 856.288 1446.31 -imu_odom_: 1691062566.343881141 0.102951 -0.280122 10.3789 -0.0479369 -0.0234358 0.0276969 0.17 0 pose: 0.0 -4.31467 0.0386292 0 0.00165389 0.000637847 -0.0163922 0.999864 uwb: 0.0 856.288 1446.31 -imu_odom_: 1691062566.367924507 0.612916 -0.337582 9.92875 -0.072438 0.00426106 0.0458064 0.19 -0.05 pose: 0.50054740 -4.30115 0.0344712 0 0.00339043 -0.00204499 -0.0166312 0.999854 uwb: 0.0 856.288 1446.31 -imu_odom_: 1691062566.391873088 0.294487 0.0383072 9.96467 -0.0426106 -0.04048 0.0255663 0.19 -0.05 pose: 0.0 -4.30115 0.0344712 0 0.00339043 -0.00204499 -0.0166312 0.999854 uwb: 0.50011285 855.015 1444.93 -imu_odom_: 1691062566.416990868 0.416591 -0.213084 10.1083 -0.0628506 -0.0308927 0.052198 0.22 -0.02 pose: 0.65934426 -4.29231 0.0391494 0 0.00186536 -0.000401704-0.016623 0.99986 uwb: 0.0 855.015 1444.93 -imu_odom_: 1691062566.438871406 0.694318 -0.0526724 9.44752 -0.0458064 0.0170442 0.0213053 0.18 -0.02 pose: 0.42106002 -4.28763 0.0303108 0 0.000927588 -0.000804391-0.0165852 0.999862 uwb: 0.50049491 857.349 1444.3 -imu_odom_: 1691062566.454976533 -0.11971 -0.282516 10.1538 -0.0575243 0.0245011 0.0596548 0.18 -0.02 pose: 0.0 -4.28763 0.0303108 0 0.000927588 -0.000804391-0.0165852 0.999862 uwb: 0.0 857.349 1444.3 -imu_odom_: 1691062566.480862209 0.550666 -0.184354 10.3621 -0.0276969 -0.0319579 0.0255663 0.23 0.02 pose: 0.5889444 -4.28763 0.0303108 0 0.00122121 -0.00126946 -0.0166387 0.99986 uwb: 0.49923792 860.354 1444.25 -imu_odom_: 1691062566.505029815 0.833182 -0.349553 10.0293 -0.0649811 -0.0106526 0.0671117 0.23 0.02 pose: 0.0 -4.28763 0.0303108 0 0.00122121 -0.00126946 -0.0166387 0.99986 uwb: 0.0 860.354 1444.25 -imu_odom_: 1691062566.530856287 0.88346 0.0502782 10.0317 -0.0372843 -0.00745685 0.0351537 0.21 0.02 pose: 0.40102121 -4.27879 0.0349882 0 0.00179244 -0.00162334 -0.016679 0.999858 uwb: 0.0 860.354 1444.25 -imu_odom_: 1691062566.543858912 0.0885855 -0.0909797 9.83059 -0.0468716 0.0234358 0.052198 0.21 0.02 pose: 0.0 -4.27879 0.0349882 0 0.00179244 -0.00162334 -0.016679 0.999858 uwb: 0.0 860.354 1444.25 -imu_odom_: 1691062566.567852698 0.311246 -0.112527 9.92875 -0.0308927 0.0181095 0.0298274 0.17 0 pose: 0.49949165 -4.26528 0.0308256 0 0.00122744 -0.00656513 -0.01648 0.999842 uwb: 0.0 860.354 1444.25 -imu_odom_: 1691062566.584908582 0.356736 -0.0981623 9.93115 -0.0830906 0.0170442 0.0596548 0.17 0 pose: 0.0 -4.26528 0.0308256 0 0.00122744 -0.00656513 -0.01648 0.999842 uwb: 0.99993406 860.994 1443.56 -imu_odom_: 1691062566.610917040 0.105345 -0.342371 9.50498 -0.0671117 0.0213053 0.0458064 0.2 0 pose: 0.38936131 -4.25644 0.0355058 0 0.00294242 -0.00576664 -0.0164869 0.999843 uwb: 0.0 860.994 1443.56 -imu_odom_: 1691062566.635909996 0.308852 -0.428562 9.82102 -0.072438 0.00852212 0.0585895 0.2 0 pose: 0.0 -4.25644 0.0355058 0 0.00294242 -0.00576664 -0.0164869 0.999843 uwb: 0.0 860.994 1443.56 -imu_odom_: 1691062566.661860709 0.11971 -0.31364 9.96706 -0.0287621 -0.0170442 0.0266316 0.2 0.02 pose: 0.42280988 -4.25176 0.0266688 0 0.00338145 -0.00133778 -0.01638 0.999859 uwb: 0.0 860.994 1443.56 -imu_odom_: 1691062566.686000025 0.253785 -0.517148 9.90721 -0.0681769 -0.0117179 0.0468716 0.2 0.02 pose: 0.0 -4.25176 0.0266688 0 0.00338145 -0.00133778 -0.01638 0.999859 uwb: 0.100060483 862.773 1443.3 -imu_odom_: 1691062566.711902325 0.4956 -0.129287 9.9096 -0.0372843 -0.052198 0.0383495 0.18 0 pose: 0.49778553 -4.24292 0.0313505 0 -0.0002825710.00202855 -0.0161482 0.999868 uwb: 0.0 862.773 1443.3 -imu_odom_: 1691062566.727849380 0.632069 -0.196325 9.83538 -0.0692422 -0.0138484 0.0617853 0.18 0 pose: 0.0 -4.24292 0.0313505 0 -0.0002825710.00202855 -0.0161482 0.999868 uwb: 0.49919710 863.823 1442.64 -imu_odom_: 1691062566.749960317 0.711078 -0.191536 10.5177 -0.0458064 0.0575243 0.0308927 0.19 0 pose: 0.49995828 -4.23409 0.0360362 0 -0.00254803 0.00338611 -0.0161888 0.99986 uwb: 0.0 863.823 1442.64 -imu_odom_: 1691062566.774913901 1.09176 -0.0311246 9.81383 -0.0692422 -0.0223706 0.056459 0.19 0 pose: 0.0 -4.23409 0.0360362 0 -0.00254803 0.00338611 -0.0161888 0.99986 uwb: 0.50071946 859.961 1440.23 -imu_odom_: 1691062566.791907665 0.263362 -0.550666 9.59835 -0.0553937 0.036219 0.036219 0.19 0 pose: 0.40920472 -4.2294 0.0272017 0 -0.000992645-0.000567368-0.0160545 0.99987 uwb: 0.0 859.961 1440.23 -imu_odom_: 1691062566.815837873 0.138864 -0.514753 9.35893 -0.0596548 0.0245011 0.0479369 0.19 0 pose: 0.0 -4.2294 0.0272017 0 -0.000992645-0.000567368-0.0160545 0.99987 uwb: 0.0 859.961 1440.23 -imu_odom_: 1691062566.833838097 0.339977 -0.292093 9.89045 -0.0415453 -0.0234358 0.0372843 0.23 0 pose: 0.48174224 -4.22057 0.0318893 0 -0.000875495-0.00360886 -0.0159254 0.999866 uwb: 0.49945957 856.822 1438.15 -imu_odom_: 1691062566.859161777 0.21069 -0.275333 9.90002 -0.0809601 -0.00639159 0.0649811 0.23 0 pose: 0.0 -4.22057 0.0318893 0 -0.000875495-0.00360886 -0.0159254 0.999866 uwb: 0.0 856.822 1438.15 -imu_odom_: 1691062566.884842720 0.387861 -0.325611 9.90002 -0.0372843 -0.0117179 0.0372843 0.23 -0.02 pose: 0.40882558 -4.20705 0.0277475 0 -0.00326692 -1.73538e-05-0.0158368 0.999869 uwb: 0.49996412 856.225 1437.39 -imu_odom_: 1691062566.909010908 0.270545 -0.306458 10.0628 -0.0415453 -0.00319579 0.0511327 0.23 -0.02 pose: 0.0 -4.20705 0.0277475 0 -0.00326692 -1.73538e-05-0.0158368 0.999869 uwb: 0.0 856.225 1437.39 -imu_odom_: 1691062566.934824257 0.263362 -0.136469 10.1562 -0.0170442 -0.015979 0.036219 0.18 0 pose: 0.43163792 -4.19822 0.0324418 0 -0.00401482 0.00273742 -0.015527 0.999868 uwb: 0.49980371 856.856 1436.76 -imu_odom_: 1691062566.947819299 0.52433 -0.445322 9.58878 -0.0511327 -0.0340885 0.056459 0.18 0 pose: 0.0 -4.19822 0.0324418 0 -0.00401482 0.00273742 -0.015527 0.999868 uwb: 0.0 856.856 1436.76 -imu_odom_: 1691062566.964046624 0.742203 -0.0550666 10.1562 -0.0479369 -0.0340885 0.0468716 0.18 0 pose: 0.49850006 -4.19352 0.0236139 0 -0.00371818 0.00394585 -0.0154144 0.999866 uwb: 0.0 856.856 1436.76 -imu_odom_: 1691062566.989816810 0.905008 0.265756 10.4627 -0.0596548 0.0223706 0.0490022 0.18 0 pose: 0.0 -4.19352 0.0236139 0 -0.00371818 0.00394585 -0.0154144 0.999866 uwb: 0.49879462 859.825 1436.71 -imu_odom_: 1691062567.14872471 0.792481 -0.0885855 9.68215 -0.0703074 0.0106526 0.0426106 0.19 0 pose: 0.72902660 -4.17883 0.0314331 0 -8.05045e-050.000108683 -0.0151534 0.999885 uwb: 0.0 859.825 1436.71 -imu_odom_: 1691062567.40986509 0.447716 -0.387861 9.991 -0.0798948 -0.00213053 0.0649811 0.19 0 pose: 0.9081772 -4.17587 0.0330143 0 0.000121339 -0.000690984-0.0151397 0.999885 uwb: 0.50095282 858.238 1435.11 -imu_odom_: 1691062567.63814018 0.248997 -0.229843 10.0437 -0.0330232 -0.00426106 0.0276969 0.19 -0.02 pose: 0.42087927 -4.16476 0.0276033 0 -0.00245734 -0.00207296 -0.0147791 0.999886 uwb: 0.0 858.238 1435.11 -imu_odom_: 1691062567.86827012 0.0335188 -0.241814 10.1706 -0.0628506 -0.0383495 0.0575243 0.19 -0.02 pose: 0.0 -4.16476 0.0276033 0 -0.00245734 -0.00207296 -0.0147791 0.999886 uwb: 0.50132909 856.682 1433.43 -imu_odom_: 1691062567.112829350 0.730232 -0.0742203 10.1849 -0.0234358 -0.052198 0.036219 0.19 0 pose: 0.30849451 -4.16234 0.0288968 0 -0.00179104 0.000834546 -0.0148359 0.999888 uwb: 0.0 856.682 1433.43 -imu_odom_: 1691062567.125891181 0.416591 -0.320823 9.68933 -0.0532632 0 0.0649811 0.19 0 pose: 0.0 -4.16234 0.0288968 0 -0.00179104 0.000834546 -0.0148359 0.999888 uwb: 0.50031418 855.102 1431.87 -imu_odom_: 1691062567.149812644 0.351948 0.0454898 10.2759 -0.0319579 -0.0330232 0.0458064 0.2 0 pose: 0.47136566 -4.15352 0.0336059 0 -0.00090134 -0.000863489-0.014665 0.999892 uwb: 0.0 855.102 1431.87 -imu_odom_: 1691062567.174811729 0.42138 -0.0095768110.3477 -0.0735032 -0.0500674 0.0596548 0.2 0 pose: 0.0 -4.15352 0.0336059 0 -0.00090134 -0.000863489-0.014665 0.999892 uwb: 0.49949758 856.926 1431.43 -imu_odom_: 1691062567.190817408 0.701501 -0.208296 9.71567 -0.0628506 0.0181095 0.0426106 0.23 0 pose: 0.38904348 -4.14881 0.0247858 0 0.00176164 -0.000867635-0.0144222 0.999894 uwb: 0.0 856.926 1431.43 -imu_odom_: 1691062567.216888574 0.507571 -0.301669 9.70849 -0.0830906 0.0223706 0.0511327 0.23 0 pose: 0.0 -4.14881 0.0247858 0 0.00176164 -0.000867635-0.0144222 0.999894 uwb: 0.0 856.926 1431.43 -imu_odom_: 1691062567.241921198 0.572214 -0.35913 9.75398 -0.052198 -0.0447411 0.036219 0.18 -0.02 pose: 0.41112381 -4.13999 0.0295022 0 0.00200622 -0.00287514 -0.0141732 0.999893 uwb: 0.50005461 856.423 1430.42 -imu_odom_: 1691062567.268078983 0.538695 -0.323217 9.93115 -0.0681769 -0.036219 0.0458064 0.21 -0.02 pose: 0.42931943 -4.12645 0.0254073 0 -0.00193924 -0.00518543 -0.0140986 0.999885 uwb: 0.0 856.423 1430.42 -imu_odom_: 1691062567.283957213 0.402226 0.0430956 10.0054 -0.0319579 0.00852212 0.0351537 0.21 -0.02 pose: 0.0 -4.12645 0.0254073 0 -0.00193924 -0.00518543 -0.0140986 0.999885 uwb: 0.49882096 854.767 1429.12 -imu_odom_: 1691062567.310011464 0.177171 -0.268151 9.9096 -0.0841559 0.00532632 0.052198 0.22 0 pose: 0.7057770 -4.12645 0.0254073 0 -0.00263151 -0.00558474 -0.0140739 0.999882 uwb: 0.0 854.767 1429.12 -imu_odom_: 1691062567.334800858 0.335188 0.0047884 9.91918 -0.0394148 -0.0138484 0.0287621 0.22 0 pose: 0.0 -4.12645 0.0254073 0 -0.00263151 -0.00558474 -0.0140739 0.999882 uwb: 0.49864306 852.448 1427.34 -imu_odom_: 1691062567.357936634 0.31364 -0.213084 9.64863 -0.0745685 -0.00639159 0.0458064 0.21 0 pose: 0.43163508 -4.11764 0.0301302 0 -0.00293393 -0.00515187 -0.0139957 0.999884 uwb: 0.0 852.448 1427.34 -imu_odom_: 1691062567.375779374 0.545878 -0.227449 9.7851 -0.0223706 0.0245011 0.0223706 0.21 0 pose: 0.0 -4.11764 0.0301302 0 -0.00293393 -0.00515187 -0.0139957 0.999884 uwb: 0.50055041 853.281 1427.35 -imu_odom_: 1691062567.399822161 0.277727 -0.323217 10.0054 -0.0596548 -0.0138484 0.0532632 0.18 -0.02 pose: 0.49663072 -4.1041 0.0260404 0 -0.000695109-0.00167459 -0.0139953 0.9999 uwb: 0.0 853.281 1427.35 -imu_odom_: 1691062567.425819833 0.584185 -0.0047884 9.63666 -0.0415453 -0.00532632 0.0308927 0.18 -0.02 pose: 0.0 -4.1041 0.0260404 0 -0.000695109-0.00167459 -0.0139953 0.9999 uwb: 0.49946550 855.079 1426.97 -imu_odom_: 1691062567.450846624 0.323217 -0.332794 10.0293 -0.0596548 -0.0607201 0.04048 0.19 -0.02 pose: 0.42225583 -4.1041 0.0260404 0 -0.000840004-0.000959594-0.0140422 0.999901 uwb: 0.0 855.079 1426.97 -imu_odom_: 1691062567.475779506 -0.0861913 0.0143652 9.77553 -0.0713727 0.0138484 0.0490022 0.19 -0.02 pose: 0.0 -4.1041 0.0260404 0 -0.000840004-0.000959594-0.0140422 0.999901 uwb: 0.50224777 856.104 1426.4 -imu_odom_: 1691062567.491849930 0.339977 -0.292093 10.0341 -0.0671117 -0.0436758 0.0479369 0.18 0 pose: 0.49799853 -4.09056 0.0219492 0 -0.000123637-0.0010327 -0.0140434 0.999901 uwb: 0.0 856.104 1426.4 -imu_odom_: 1691062567.515781600 0.0837971 -0.234632 10.1083 -0.0479369 -0.00213053 0.0276969 0.18 0 pose: 0.0 -4.09056 0.0219492 0 -0.000123637-0.0010327 -0.0140434 0.999901 uwb: 0.0 856.104 1426.4 -imu_odom_: 1691062567.532780617 0.45011 -0.23942 9.90721 -0.072438 -0.0447411 0.0532632 0.26 -0.02 pose: 0.48993751 -4.08175 0.0266735 0 -0.00119204 0.00212181 -0.0138867 0.999901 uwb: 0.49950341 855.692 1425.17 -imu_odom_: 1691062567.557780577 0.596156 -0.0215478 9.90242 -0.0436758 -0.00106526 0.0351537 0.26 -0.02 pose: 0.0 -4.08175 0.0266735 0 -0.00119204 0.00212181 -0.0138867 0.999901 uwb: 0.0 855.692 1425.17 -imu_odom_: 1691062567.583823162 0.268151 -0.114922 9.84496 -0.0681769 0.0170442 0.0639159 0.24 0 pose: 0.74955842 -4.06821 0.0225854 0 2.30746e-05 0.000809068 -0.0139269 0.999903 uwb: 0.50098495 853.077 1423.13 -imu_odom_: 1691062567.596758128 0.416591 -0.3304 10.0604 -0.0500674 -0.02024 0.0436758 0.24 0 pose: 0.8133350 -4.06821 0.0225854 0 0.00050228 0.00151399 -0.0138275 0.999903 uwb: 0.0 853.077 1423.13 -imu_odom_: 1691062567.614979713 0.526724 -0.304064 9.54329 -0.0490022 0.00639159 0.0585895 0.18 0 pose: 0.0 -4.06821 0.0225854 0 0.00050228 0.00151399 -0.0138275 0.999903 uwb: 0.0 853.077 1423.13 -imu_odom_: 1691062567.637880716 0.423774 -0.191536 9.8258 -0.0266316 0.0298274 0.0340885 0.18 0 pose: 0.39295734 -4.0594 0.0273123 0 2.66509e-05 0.00170424 -0.0135055 0.999907 uwb: 0.49963757 850.18 1420.76 -imu_odom_: 1691062567.661916212 0.507571 -0.0837971 9.84975 -0.0884169 0.0138484 0.072438 0.18 0.02 pose: 0.0 -4.0594 0.0273123 0 2.66509e-05 0.00170424 -0.0135055 0.999907 uwb: 0.0 850.18 1420.76 -imu_odom_: 1691062567.687907176 0.593762 -0.234632 10.0006 -0.0649811 -0.00106526 0.0511327 0.18 0.02 pose: 0.40588589 -4.04586 0.0232359 0 0.00178419 -0.000948944-0.0133458 0.999909 uwb: 0.49915635 850.192 1419.57 -imu_odom_: 1691062567.711932756 0.380678 -0.19393 10.058 -0.0830906 0.04048 0.0511327 0.19 0 pose: 0.0 -4.04586 0.0232359 0 0.00178419 -0.000948944-0.0133458 0.999909 uwb: 0.0 850.192 1419.57 -imu_odom_: 1691062567.735750685 0.186748 -0.0909797 10.307 -0.0532632 0.00106526 0.0479369 0.19 0 pose: 0.49101659 -4.04586 0.0232359 0 0.00127309 -0.00333705 -0.0128821 0.999911 uwb: 0.50008378 849.732 1418.56 -imu_odom_: 1691062567.760809266 0.407014 0.0167594 9.84256 -0.0575243 -0.015979 0.0415453 0.19 0 pose: 0.0 -4.04586 0.0232359 0 0.00127309 -0.00333705 -0.0128821 0.999911 uwb: 0.0 849.732 1418.56 -imu_odom_: 1691062567.784928754 0.591368 -0.174777 9.81862 -0.0660464 0.0245011 0.0394148 0.19 0 pose: 0.40850776 -4.03705 0.0279794 0 0.00192459 0.000984168 -0.0126897 0.999917 uwb: 0.49809769 855.039 1419.8 -imu_odom_: 1691062567.801752201 0.368707 -0.292093 9.95748 -0.0617853 -0.00745685 0.0394148 0.19 0 pose: 0.0 -4.03705 0.0279794 0 0.00192459 0.000984168 -0.0126897 0.999917 uwb: 0.0 855.039 1419.8 -imu_odom_: 1691062567.826742537 0.280122 0.0383072 10.4148 -0.04048 -0.0106526 0.0426106 0.19 0 pose: 0.32043439 -4.02351 0.0239253 0 0.00418107 -7.39603e-05-0.0126594 0.999911 uwb: 0.50120368 859.667 1420.63 -imu_odom_: 1691062567.852748084 0.263362 0.148441 10.0604 -0.0596548 -0.0170442 0.0458064 0.19 0 pose: 0.42991730 -4.02351 0.0239253 0 0.00291762 -0.000388444-0.0126424 0.999916 uwb: 0.0 859.667 1420.63 -imu_odom_: 1691062567.876731958 0.191536 0.023942 10.0413 -0.0585895 0.0170442 0.0394148 0.19 0.02 pose: 0.41962230 -4.01129 0.0223393 0 0.00668243 0.00134105 -0.0125444 0.999898 uwb: 0.50078081 861.477 1420.09 -imu_odom_: 1691062567.893754598 0.749385 -0.339977 9.64624 -0.0585895 -0.0106526 0.0426106 0.19 0.02 pose: 0.6999732 -4.00996 0.0198723 0 0.00703092 0.00201722 -0.012548 0.999895 uwb: 0.0 861.477 1420.09 -imu_odom_: 1691062567.919743229 0.543484 -0.0143652 10.647 -0.04048 0.0213053 0.0532632 0.18 0.02 pose: 0.34006782 -4.00116 0.024622 0 0.00689594 0.00219267 -0.0125237 0.999895 uwb: 0.0 861.477 1420.09 -imu_odom_: 1691062567.942733183 0.751779 -0.260968 9.99819 -0.0532632 -0.0255663 0.0383495 0.18 0.02 pose: 0.0 -4.00116 0.024622 0 0.00689594 0.00219267 -0.0125237 0.999895 uwb: 0.49898428 861.443 1418.96 -imu_odom_: 1691062567.968734063 0.864307 -0.169988 10.094 -0.0596548 -0.0298274 0.0458064 0.25 0 pose: 0.48978585 -3.99543 0.0277166 0 0.00665572 -0.00220962 -0.0123259 0.999899 uwb: 0.0 861.443 1418.96 -imu_odom_: 1691062567.981857139 0.42138 -0.160412 9.59596 -0.0447411 -0.0138484 0.0426106 0.25 0 pose: 0.0 -3.99543 0.0277166 0 0.00665572 -0.00220962 -0.0123259 0.999899 uwb: 0.50125911 859.432 1417.7 -imu_odom_: 1691062568.5851805 0.272939 -0.0814029 9.70609 -0.052198 -0.0106526 0.0639159 0.18 0 pose: 0.0 -3.99543 0.0277166 0 0.00665572 -0.00220962 -0.0123259 0.999899 uwb: 0.0 859.432 1417.7 -imu_odom_: 1691062568.29863098 0.742203 -0.126893 10.1754 -0.0490022 0.00213053 0.0468716 0.18 0 pose: 0.47142398 -3.9876 0.0205761 0 0.00542741 -0.00334276 -0.0121187 0.999906 uwb: 0.49878891 863.273 1418.33 -imu_odom_: 1691062568.43739783 0.430956 0 9.70131 -0.0426106 -0.00106526 0.0394148 0.18 0 pose: 0.0 -3.9876 0.0205761 0 0.00542741 -0.00334276 -0.0121187 0.999906 uwb: 0.0 863.273 1418.33 -imu_odom_: 1691062568.67953477 0.337582 -0.0766145 9.71806 -0.0788296 -0.0138484 0.0543285 0.18 0 pose: 0.46873510 -3.97881 0.0253328 0 0.00620965 -0.00383589 -0.0118362 0.999903 uwb: 0.0 863.273 1418.33 -imu_odom_: 1691062568.92874115 0.114922 -0.205901 9.66779 -0.0852212 0.00106526 0.0585895 0.22 0 pose: 0.31204386 -3.96957 0.0225839 0 0.00672334 -0.00123083 -0.0116811 0.999908 uwb: 0.50038718 864.617 1417.93 -imu_odom_: 1691062568.114797825 -0.0143652 -0.347159 9.97424 -0.076699 -0.0255663 0.0532632 0.22 0 pose: 0.7997738 -3.96525 0.0213023 0 0.00632395 -0.000458289-0.0116098 0.999913 uwb: 0.0 864.617 1417.93 -imu_odom_: 1691062568.130937955 0.409408 -0.0814029 10.1754 -0.0287621 -0.0340885 0.0255663 0.19 0 pose: 0.0 -3.96525 0.0213023 0 0.00632395 -0.000458289-0.0116098 0.999913 uwb: 0.49938393 867.352 1418.19 -imu_odom_: 1691062568.147862897 0.998382 -0.481235 9.3302 -0.0713727 0.0170442 0.0553937 0.19 0 pose: 0.46923091 -3.95646 0.0260701 0 0.00472186 0.00206923 -0.011375 0.999922 uwb: 0.0 867.352 1418.19 -imu_odom_: 1691062568.172774202 0.667982 -0.227449 9.64384 -0.0138484 0.0884169 0.0245011 0.18 0 pose: 0.0 -3.95646 0.0260701 0 0.00472186 0.00206923 -0.011375 0.999922 uwb: 0.50062924 868.387 1417.45 -imu_odom_: 1691062568.197878575 0.3304 -0.0909797 9.80186 -0.0703074 0.04048 0.0639159 0.18 0 pose: 0.33081987 -3.95646 0.0260701 0 0.00420739 -0.000345285-0.011343 0.999927 uwb: 0.0 868.387 1417.45 -imu_odom_: 1691062568.222866582 0.409408 -0.296881 9.77074 -0.0649811 -0.0191748 0.0415453 0.18 0 pose: 0.41922282 -3.94532 0.0207398 0 0.00493464 0.00165562 -0.0111624 0.999924 uwb: 0.49941601 866.833 1416.05 -imu_odom_: 1691062568.247744056 0.531513 -0.21069 10.1155 -0.0798948 -0.00213053 0.0585895 0.18 0 pose: 0.6869077 -3.9429 0.0220529 0 0.00422853 0.00146333 -0.0111563 0.999928 uwb: 0.0 866.833 1416.05 -imu_odom_: 1691062568.271727352 0.407014 -0.169988 9.7444 -0.0692422 0.0127832 0.0426106 0.26 -0.02 pose: 0.42996404 -3.93673 0.0254093 0 0.00133844 -0.00139504 -0.0108984 0.999939 uwb: 0.49993513 869.633 1416.05 -imu_odom_: 1691062568.288863736 0.308852 -0.447716 10.1083 -0.0745685 0.00319579 0.0468716 0.26 -0.02 pose: 0.0 -3.93673 0.0254093 0 0.00133844 -0.00139504 -0.0108984 0.999939 uwb: 0.0 869.633 1416.05 -imu_odom_: 1691062568.314866079 0.560243 0.11971 9.88326 -0.0319579 -0.00426106 0.0255663 0.18 0 pose: 0.41119680 -3.92934 0.0180439 0 0.000902691 0.00119863 -0.0108063 0.99994 uwb: 0.0 869.633 1416.05 -imu_odom_: 1691062568.339854086 0.325611 -0.0742203 9.90721 -0.0628506 0.00319579 0.0394148 0.18 0 pose: 0.0 -3.92934 0.0180439 0 0.000902691 0.00119863 -0.0108063 0.99994 uwb: 0.49926435 872.396 1416.11 -imu_odom_: 1691062568.355855977 0.203507 -0.177171 9.79707 -0.0468716 0.00639159 0.0308927 0.21 0 pose: 0.50990350 -3.92055 0.0228231 0 0.00507487 0.00179865 -0.0109931 0.999925 uwb: 0.0 872.396 1416.11 -imu_odom_: 1691062568.380860899 -0.0311246 -0.208296 9.96467 -0.0617853 -0.0106526 0.0490022 0.21 0 pose: 0.0 -3.92055 0.0228231 0 0.00507487 0.00179865 -0.0109931 0.999925 uwb: 0.49941017 873.869 1415.19 -imu_odom_: 1691062568.406691756 0.21069 -0.380678 9.991 -0.0458064 0.00532632 0.0213053 0.21 0 pose: 0.41006813 -3.90864 0.0218427 0 0.00399522 0.00575728 -0.0109662 0.999915 uwb: 0.0 873.869 1415.19 -imu_odom_: 1691062568.431714469 0.35913 -0.433351 10.2975 -0.0468716 -0.0330232 0.0330232 0.21 0 pose: 0.0 -3.90864 0.0218427 0 0.00399522 0.00575728 -0.0109662 0.999915 uwb: 0.49996722 872.362 1413.65 -imu_odom_: 1691062568.455771259 0.694318 0.023942 9.95988 -0.0436758 0.00213053 0.0426106 0.21 -0.02 pose: 0.33896839 -3.90699 0.0188142 0 0.000940015 0.00630665 -0.0112513 0.999916 uwb: 0.0 872.362 1413.65 -imu_odom_: 1691062568.480705895 0.639252 -0.445322 9.9096 -0.056459 0.00745685 0.0276969 0.26 0.02 pose: 0.0 -3.90699 0.0188142 0 0.000940015 0.00630665 -0.0112513 0.999916 uwb: 0.50168791 869.725 1411.96 -imu_odom_: 1691062568.496699911 0.268151 -0.225055 10.1155 -0.0798948 -0.0138484 0.0415453 0.26 0.02 pose: 0.48062542 -3.8982 0.0235862 0 0.000360578 0.00301472 -0.0113194 0.999931 uwb: 0.0 869.725 1411.96 -imu_odom_: 1691062568.522760583 0.397437 -0.531513 9.44991 -0.0500674 -0.036219 0.0149137 0.19 0 pose: 0.0 -3.8982 0.0235862 0 0.000360578 0.00301472 -0.0113194 0.999931 uwb: 0.49883855 872.838 1412.09 -imu_odom_: 1691062568.547702511 0.756568 -0.488417 9.72046 -0.0788296 -0.0756338 0.0500674 0.19 0 pose: 0.42021149 -3.88464 0.0195689 0 -0.00165811 0.00299234 -0.0115139 0.999928 uwb: 0.0 872.838 1412.09 -imu_odom_: 1691062568.571703597 0.0263362 -0.507571 9.69891 -0.036219 0.0276969 0.0287621 0.21 -0.02 pose: 0.42861082 -3.87834 0.0229898 0 -0.0048666 -0.00068318 -0.0116165 0.99992 uwb: 0.49922644 872.055 1410.82 -imu_odom_: 1691062568.588722156 0.737414 -0.11971 10.149 -0.052198 -0.0138484 0.0383495 0.21 -0.02 pose: 0.0 -3.87834 0.0229898 0 -0.0048666 -0.00068318 -0.0116165 0.99992 uwb: 0.0 872.055 1410.82 -imu_odom_: 1691062568.614755705 0.895431 -0.203507 10.0604 -0.0351537 0.0447411 0.02024 0.18 -0.02 pose: 0.7070894 -3.87585 0.024336 0 -0.00511232 6.27074e-05 -0.011652 0.999919 uwb: 0.0 872.055 1410.82 -imu_odom_: 1691062568.639890992 0.562637 -0.21069 9.56723 -0.0703074 0.00532632 0.0639159 0.18 -0.02 pose: 0.0 -3.87585 0.024336 0 -0.00511232 6.27074e-05 -0.011652 0.999919 uwb: 0.50024719 870.562 1409.34 -imu_odom_: 1691062568.655686691 0.610521 -0.191536 10.0102 -0.052198 0.00319579 0.0447411 0.2 0 pose: 0.41944447 -3.87109 0.0155439 0 -0.00460915 -0.000313465-0.0118359 0.999919 uwb: 0.0 870.562 1409.34 -imu_odom_: 1691062568.679675528 0.529119 -0.220267 9.69412 -0.0575243 -0.0149137 0.0543285 0.2 0 pose: 0.0 -3.87109 0.0155439 0 -0.00460915 -0.000313465-0.0118359 0.999919 uwb: 0.50062049 870.51 1408.26 -imu_odom_: 1691062568.704786317 0.490811 -0.263362 9.86411 -0.0330232 0.0170442 0.0340885 0.18 0 pose: 0.50017719 -3.8623 0.0203059 0 -0.00257734 -0.00422872 -0.0117122 0.999919 uwb: 0.0 870.51 1408.26 -imu_odom_: 1691062568.729677207 0.457293 -0.0790087 9.98382 -0.0852212 0.0276969 0.072438 0.18 0 pose: 0.0 -3.8623 0.0203059 0 -0.00257734 -0.00422872 -0.0117122 0.999919 uwb: 0.50104629 869.044 1406.71 -imu_odom_: 1691062568.754673672 0.562637 -0.19393 9.95509 -0.0628506 -0.0276969 0.052198 0.18 0 pose: 0.41010605 -3.8535 0.0250703 0 -0.000844937-0.00605775 -0.0115458 0.999915 uwb: 0.0 869.044 1406.71 -imu_odom_: 1691062568.770789595 0.407014 -0.452504 9.6199 -0.0788296 0 0.0543285 0.18 0 pose: 0.0 -3.8535 0.0250703 0 -0.000844937-0.00605775 -0.0115458 0.999915 uwb: 0.0 869.044 1406.71 -imu_odom_: 1691062568.788690668 0.0454898 -0.246603 10.0149 -0.0447411 -0.0255663 0.0426106 0.18 0 pose: 0.50055050 -3.83995 0.02105 0 0.000336096 -0.00463369 -0.0111362 0.999927 uwb: 0.49859358 867.575 1405.19 -imu_odom_: 1691062568.813741962 0.181959 -0.282516 10.1035 -0.0575243 -0.0298274 0.0500674 0.18 0 pose: 0.0 -3.83995 0.02105 0 0.000336096 -0.00463369 -0.0111362 0.999927 uwb: 0.0 867.575 1405.19 -imu_odom_: 1691062568.829684065 0.452504 0.102951 9.70131 -0.0607201 -0.015979 0.0436758 0.25 -0.02 pose: 0.75940736 -3.82778 0.0196125 0 -0.00142023 -0.00199162 -0.0107386 0.999939 uwb: 0.49880647 865.083 1403.25 -imu_odom_: 1691062568.854660407 0.457293 -0.268151 9.99579 -0.0585895 0.00745685 0.0415453 0.25 -0.02 pose: 0.7015773 -3.82638 0.0170448 0 -0.000737584-0.00206233 -0.0107256 0.99994 uwb: 0.0 865.083 1403.25 -imu_odom_: 1691062568.877680404 0.272939 -0.447716 9.27753 -0.0649811 0.00958738 0.0415453 0.22 0 pose: 0.33902672 -3.8202 0.0204101 0 -0.00236058 -0.00248436 -0.0106793 0.999937 uwb: 0.50033468 864.94 1402.51 -imu_odom_: 1691062568.903727077 0.301669 -0.371101 9.79707 -0.0649811 -0.0458064 0.0553937 0.22 0 pose: 0.0 -3.8202 0.0204101 0 -0.00236058 -0.00248436 -0.0106793 0.999937 uwb: 0.0 864.94 1402.51 -imu_odom_: 1691062568.918673802 0.280122 0.059855 10.2568 -0.0479369 -0.052198 0.0553937 0.2 0 pose: 0.49066670 -3.81403 0.0152622 0 -0.0056818 0.000918606 -0.0104311 0.999929 uwb: 0.0 864.94 1402.51 -imu_odom_: 1691062568.935738441 0.739808 -0.241814 10.0245 -0.0500674 0.00852212 0.0394148 0.2 0 pose: 0.0 -3.81403 0.0152622 0 -0.0056818 0.000918606 -0.0104311 0.999929 uwb: 0.50015678 865.321 1401.38 -imu_odom_: 1691062568.961727369 0.342371 -0.361524 9.88326 -0.0596548 -0.0149137 0.0426106 0.18 0.02 pose: 0.32011364 -3.80404 0.0178323 0 -0.00388793 -0.000645755-0.0103163 0.999939 uwb: 0.0 865.321 1401.38 -imu_odom_: 1691062568.987851910 0.648829 -0.306458 10.0269 -0.056459 -0.0234358 0.056459 0.18 0.02 pose: 0.0 -3.80404 0.0178323 0 -0.00388793 -0.000645755-0.0103163 0.999939 uwb: 0.50241410 864.684 1399.8 -imu_odom_: 1691062569.12719470 0.730232 -0.270545 10.1203 -0.0479369 -0.00532632 0.0351537 0.2 0 pose: 0.52113469 -3.79781 0.0212288 0 -0.00555472 -0.00174522 -0.0100607 0.999932 uwb: 0.0 864.684 1399.8 -imu_odom_: 1691062569.38775189 0.37589 -0.107739 10.1682 -0.0500674 -0.0394148 0.0479369 0.2 0 pose: 0.0 -3.79781 0.0212288 0 -0.00555472 -0.00174522 -0.0100607 0.999932 uwb: 0.50001391 864.615 1398.85 -imu_odom_: 1691062569.61647619 0.835576 -0.205901 10.1514 -0.0213053 -0.0255663 0.0234358 0.19 -0.02 pose: 0.31843964 -3.79047 0.0138461 0 -0.00439245 -0.00400616 -0.010101 0.999931 uwb: 0.0 864.615 1398.85 -imu_odom_: 1691062569.78640225 0.131681 -0.19393 9.50259 -0.0639159 -0.0117179 0.0585895 0.19 -0.02 pose: 0.0 -3.79047 0.0138461 0 -0.00439245 -0.00400616 -0.010101 0.999931 uwb: 0.49935485 866.276 1398.52 -imu_odom_: 1691062569.103667318 0.543484 -0.371101 10.0461 -0.0511327 -0.00958738 0.0351537 0.19 0 pose: 0.58944351 -3.77679 0.0213131 0 -0.00172682 -0.00433688 -0.010049 0.999939 uwb: 0.0 866.276 1398.52 -imu_odom_: 1691062569.129668207 0.397437 -0.577003 9.4978 -0.056459 -0.0117179 0.0596548 0.19 0 pose: 0.0 -3.77679 0.0213131 0 -0.00172682 -0.00433688 -0.010049 0.999939 uwb: 0.49804246 867.284 1397.82 -imu_odom_: 1691062569.152644754 0.617704 -0.246603 9.94073 -0.0575243 0.00319579 0.0458064 0.19 0.02 pose: 0.32093614 -3.77291 0.0234324 0 -0.00464304 -0.00515823 -0.0100201 0.999926 uwb: 0.0 867.284 1397.82 -imu_odom_: 1691062569.169637944 0.593762 -0.100556 10.0149 -0.0745685 -0.00745685 0.0692422 0.19 0.02 pose: 0.0 -3.77291 0.0234324 0 -0.00464304 -0.00515823 -0.0100201 0.999926 uwb: 0.0 867.284 1397.82 -imu_odom_: 1691062569.194642871 0.19393 -0.435745 9.32063 -0.0596548 0.0660464 0.0223706 0.18 -0.02 pose: 0.49971940 -3.75935 0.0194555 0 -0.00439277 -0.00656486 -0.00965174 0.999922 uwb: 0.49991481 865.087 1396.31 -imu_odom_: 1691062569.219659172 -0.0263362 -0.414197 9.35415 -0.04048 0.0266316 0.0607201 0.21 0.02 pose: 0.0 -3.75935 0.0194555 0 -0.00439277 -0.00656486 -0.00965174 0.999922 uwb: 0.0 865.087 1396.31 -imu_odom_: 1691062569.243648305 0.136469 -0.047884 9.79228 -0.0149137 0.0181095 0.0255663 0.21 0.02 pose: 0.41945038 -3.75935 0.0194555 0 -0.00480883 -0.00278128 -0.00964139 0.999938 uwb: 0.50246377 865.773 1395.42 -imu_odom_: 1691062569.259644949 0.471658 -0.335188 9.62948 -0.0628506 -0.02024 0.0639159 0.21 0.02 pose: 0.0 -3.75935 0.0194555 0 -0.00480883 -0.00278128 -0.00964139 0.999938 uwb: 0.0 865.773 1395.42 -imu_odom_: 1691062569.283698535 0.339977 -0.325611 9.85214 -0.0308927 0.00745685 0.0351537 0.19 0 pose: 0.49001351 -3.74577 0.015484 0 -0.00341044 0.000441672 -0.00951977 0.999949 uwb: 0.49687588 866.045 1394.62 -imu_odom_: 1691062569.306670999 0.481235 -0.0287304 10.0724 -0.0426106 -0.0319579 0.0585895 0.27 -0.02 pose: 0.0 -3.74577 0.015484 0 -0.00341044 0.000441672 -0.00951977 0.999949 uwb: 0.0 866.045 1394.62 -imu_odom_: 1691062569.323664480 0.876278 -0.0837971 9.82341 -0.0543285 0 0.0383495 0.27 -0.02 pose: 0.32046367 -3.73968 0.0188209 0 -0.00468355 0.00203171 -0.00946961 0.999942 uwb: 0.49950068 866.691 1393.85 -imu_odom_: 1691062569.348647826 0.399832 -0.282516 9.32302 -0.0873517 0.0298274 0.0490022 0.27 -0.02 pose: 0.0 -3.73968 0.0188209 0 -0.00468355 0.00203171 -0.00946961 0.999942 uwb: 0.0 866.691 1393.85 -imu_odom_: 1691062569.371708657 0.162806 -0.196325 9.94551 -0.0490022 0.0543285 0.0298274 0.18 0 pose: 0.7011400 -3.737 0.0202869 0 -0.00399601 0.00165631 -0.00940263 0.999946 uwb: 0.50202339 867.269 1393.27 -imu_odom_: 1691062569.397676008 0.071826 -0.244209 9.89763 -0.0703074 -0.00319579 0.0543285 0.25 0 pose: 0.41054067 -3.72343 0.0163213 0 -0.00269751 -0.000243582-0.00922509 0.999954 uwb: 0.0 867.269 1393.27 -imu_odom_: 1691062569.412834760 0.821211 -0.380678 10.3214 -0.0532632 -0.0255663 0.0330232 0.25 0 pose: 0.0 -3.72343 0.0163213 0 -0.00269751 -0.000243582-0.00922509 0.999954 uwb: 0.0 867.269 1393.27 -imu_odom_: 1691062569.435740146 0.469264 -0.280122 9.64863 -0.0809601 -0.00319579 0.0532632 0.25 0 pose: 0.0 -3.72343 0.0163213 0 -0.00269751 -0.000243582-0.00922509 0.999954 uwb: 0.50028811 867.973 1392.32 -imu_odom_: 1691062569.452606471 0.486023 -0.280122 10.1323 -0.0713727 -0.0596548 0.0436758 0.21 0 pose: 0.47862775 -3.72343 0.0163213 0 -0.0033138 0.00438146 -0.00918736 0.999943 uwb: 0.0 867.973 1392.32 -imu_odom_: 1691062569.477616356 0.476446 -0.0933739 10.3238 -0.0479369 -0.0181095 0.0234358 0.21 0 pose: 0.0 -3.72343 0.0163213 0 -0.0033138 0.00438146 -0.00918736 0.999943 uwb: 0.50055350 869.708 1391.69 -imu_odom_: 1691062569.502679612 0.979228 -0.0861913 10.3645 -0.0468716 -0.015979 0.0319579 0.18 0 pose: 0.81067259 -3.70108 0.0171733 0 -0.00298712 -0.00024625 -0.00898823 0.999955 uwb: 0.0 869.708 1391.69 -imu_odom_: 1691062569.525713029 0.428562 -0.0047884 10.0604 -0.0607201 0.0234358 0.052198 0.18 -0.02 pose: 0.41985576 -3.70108 0.0171733 0 -0.000585825-0.00354675 -0.00922563 0.999951 uwb: 0.50123596 867.889 1390.31 -imu_odom_: 1691062569.550613256 0.351948 -0.146046 9.42358 -0.0436758 0.00852212 0.0308927 0.18 -0.02 pose: 0.0 -3.70108 0.0171733 0 -0.000585825-0.00354675 -0.00922563 0.999951 uwb: 0.0 867.889 1390.31 -imu_odom_: 1691062569.566610192 0.189142 -0.246603 9.81623 -0.0543285 -0.0127832 0.04048 0.23 0 pose: 0.7075562 -3.70108 0.0171733 0 9.13303e-05 -0.00331297 -0.00918352 0.999952 uwb: 0.0 867.889 1390.31 -imu_odom_: 1691062569.592628580 0.675165 -0.37589 10.1107 -0.0543285 -0.0149137 0.0170442 0.23 0 pose: 0.0 -3.70108 0.0171733 0 9.13303e-05 -0.00331297 -0.00918352 0.999952 uwb: 0.49628676 868.063 1389.79 -imu_odom_: 1691062569.615672205 0.411803 -0.213084 9.71567 -0.076699 -0.0266316 0.0553937 0.21 0 pose: 0.47862775 -3.6875 0.0132139 0 0.00241073 0.000328398 -0.00920085 0.999955 uwb: 0.0 868.063 1389.79 -imu_odom_: 1691062569.632612024 0.502782 -0.196325 10.1323 -0.0649811 -0.0276969 0.04048 0.21 0 pose: 0.0 -3.6875 0.0132139 0 0.00241073 0.000328398 -0.00920085 0.999955 uwb: 0.50062058 870.658 1389.95 -imu_odom_: 1691062569.648618000 0.445322 -0.196325 9.70609 -0.0458064 0.0245011 0.0319579 0.21 0 pose: 0.0 -3.6875 0.0132139 0 0.00241073 0.000328398 -0.00920085 0.999955 uwb: 0.0 870.658 1389.95 -imu_odom_: 1691062569.674818374 0.416591 -0.488417 9.46907 -0.0713727 0.0330232 0.0479369 0.18 0 pose: 0.42005116 -3.67874 0.0180222 0 0.000107443 -0.000666233-0.00943444 0.999955 uwb: 0.50231212 872.537 1389.97 -imu_odom_: 1691062569.689615780 0.390255 -0.294487 9.93115 -0.0298274 -0.00532632 0.0266316 0.18 0 pose: 0.0 -3.67874 0.0180222 0 0.000107443 -0.000666233-0.00943444 0.999955 uwb: 0.0 872.537 1389.97 -imu_odom_: 1691062569.716631005 0.620098 -0.304064 10.2927 -0.0617853 -0.0138484 0.0713727 0.18 0.02 pose: 0.82025890 -3.66516 0.014056 0 -0.00233425 -0.000759373-0.00929279 0.999954 uwb: 0.0 872.537 1389.97 -imu_odom_: 1691062569.740588057 0.90022 0.0023942 10.2185 -0.0383495 -0.0138484 0.0426106 0.19 0 pose: 0.0 -3.66516 0.014056 0 -0.00233425 -0.000759373-0.00929279 0.999954 uwb: 0.49733960 874.74 1390.14 -imu_odom_: 1691062569.766639401 0.835576 -0.191536 9.98622 -0.056459 0.0287621 0.0436758 0.19 0 pose: 0.34982050 -3.65639 0.0188627 0 -0.00334621 -0.00303351 -0.00892013 0.99995 uwb: 0.0 874.74 1390.14 -imu_odom_: 1691062569.782712164 0.198719 -0.177171 9.36851 -0.0479369 0.015979 0.0308927 0.19 0 pose: 0.0 -3.65639 0.0188627 0 -0.00334621 -0.00303351 -0.00892013 0.99995 uwb: 0.49995272 876.318 1389.9 -imu_odom_: 1691062569.808639851 0.0670376 -0.423774 9.7444 -0.0841559 0.0181095 0.0777643 0.18 0 pose: 0.7979074 -3.65639 0.0188627 0 -0.00284851 -0.00374441 -0.00891126 0.999949 uwb: 0.0 876.318 1389.9 -imu_odom_: 1691062569.825753781 0.761356 -0.148441 9.96946 -0.0649811 0.00426106 0.0426106 0.18 0 pose: 0.0 -3.65639 0.0188627 0 -0.00284851 -0.00374441 -0.00891126 0.999949 uwb: 0.49975148 877.92 1389.57 -imu_odom_: 1691062569.850735960 0.696713 -0.0885855 9.97185 -0.0777643 -0.0191748 0.0607201 0.19 0 pose: 0.48996685 -3.64281 0.0149113 0 -0.00126898 -0.00655611 -0.00887808 0.999938 uwb: 0.0 877.92 1389.57 -imu_odom_: 1691062569.872585305 0.567426 -0.0215478 10.331 -0.0255663 -0.00745685 0.0287621 0.19 0 pose: 0.77129196 -3.63041 0.0131211 0 -0.000670116-0.00657443 -0.00814431 0.999945 uwb: 0.49920320 878.922 1388.75 -imu_odom_: 1691062569.895628638 0.627281 -0.222661 10.2951 -0.0617853 -0.0287621 0.0458064 0.19 0 pose: 0.0 -3.63041 0.0131211 0 -0.000670116-0.00657443 -0.00814431 0.999945 uwb: 0.0 878.922 1388.75 -imu_odom_: 1691062569.921611738 0.577003 -0.0047884 9.98861 -0.0479369 -0.0138484 0.0394148 0.18 0.02 pose: 0.5906363 -3.62923 0.0109655 0 1.90867e-06 -0.0066744 -0.00817957 0.999944 uwb: 0.50006063 876.19 1386.8 -imu_odom_: 1691062569.944600242 0.320823 -0.141258 9.71567 -0.0617853 -0.0245011 0.0436758 0.18 0.02 pose: 0.0 -3.62923 0.0109655 0 1.90867e-06 -0.0066744 -0.00817957 0.999944 uwb: 0.0 876.19 1386.8 -imu_odom_: 1691062569.960598344 0.124498 -0.265756 10.2208 -0.056459 0.052198 0.036219 0.25 0.02 pose: 0.47005927 -3.62047 0.0157916 0 0.00143367 -0.00924353 -0.00820018 0.999923 uwb: 0.0 876.19 1386.8 -imu_odom_: 1691062569.986730473 0.560243 -0.593762 10.2615 -0.0735032 0.0287621 0.0585895 0.25 0.02 pose: 0.0 -3.62047 0.0157916 0 0.00143367 -0.00924353 -0.00820018 0.999923 uwb: 0.50137303 877.094 1386.3 -imu_odom_: 1691062570.11581705 0.373495 -0.181959 10.1921 -0.0351537 -0.0117179 0.0394148 0.21 0 pose: 0.47964267 -3.61171 0.0206169 0 0.00312777 -0.0063282 -0.00819279 0.999942 uwb: 0.0 877.094 1386.3 -imu_odom_: 1691062570.34697079 0.565032 -0.217872 9.9503 -0.052198 -0.0266316 0.0383495 0.21 0 pose: 0.0 -3.61171 0.0206169 0 0.00312777 -0.0063282 -0.00819279 0.999942 uwb: 0.50018607 876.799 1384.9 -imu_odom_: 1691062570.50584068 0.292093 0.059855 9.71328 -0.0213053 -0.00532632 0.036219 0.17 0.02 pose: 0.83084562 -3.59813 0.0166885 0 0.000461275 -0.00526585 -0.00796054 0.999954 uwb: 0.0 876.799 1384.9 -imu_odom_: 1691062570.76578254 0.131681 -0.457293 9.52653 -0.0639159 0.0383495 0.056459 0.17 0.02 pose: 0.7012568 -3.59813 0.0166885 0 0.00113247 -0.00483601 -0.00797482 0.999956 uwb: 0.49985073 872.082 1382.34 -imu_odom_: 1691062570.92573443 0.0622492 -0.356736 10.0533 -0.0351537 0.00426106 0.036219 0.19 0 pose: 0.0 -3.59813 0.0166885 0 0.00113247 -0.00483601 -0.00797482 0.999956 uwb: 0.0 872.082 1382.34 -imu_odom_: 1691062570.118581628 0.311246 -0.227449 9.9527 -0.0426106 -0.0511327 0.0479369 0.19 0 pose: 0.34868607 -3.58837 0.0138687 0 0.000269594 -0.00169209 -0.00777011 0.999968 uwb: 0.0 872.082 1382.34 -imu_odom_: 1691062570.143705258 0.550666 0.023942 10.1586 -0.0117179 -0.0266316 0.0394148 0.17 0 pose: 0.42003374 -3.57826 0.0162286 0 -0.0002369340.00184529 -0.00768696 0.999969 uwb: 0.50007822 869.038 1380.36 -imu_odom_: 1691062570.169575788 0.328006 -0.0622492 10.2879 -0.0287621 -0.0213053 0.0490022 0.17 0 pose: 0.0 -3.57826 0.0162286 0 -0.0002369340.00184529 -0.00768696 0.999969 uwb: 0.0 869.038 1380.36 -imu_odom_: 1691062570.194573720 0.6608 0.0766145 10.0078 -0.04048 0.0223706 0.0383495 0.17 0 pose: 0.50994160 -3.56603 0.0147843 0 0.0047705 0.00127502 -0.00756857 0.999959 uwb: 0.49816503 870.076 1379.5 -imu_odom_: 1691062570.220748434 0.356736 -0.253785 9.85932 -0.0543285 0 0.0394148 0.21 0 pose: 0.0 -3.56603 0.0147843 0 0.0047705 0.00127502 -0.00756857 0.999959 uwb: 0.0 870.076 1379.5 -imu_odom_: 1691062570.236571845 -0.0502782 -0.337582 9.70609 -0.0809601 -0.0287621 0.056459 0.21 0 pose: 0.33072666 -3.5622 0.0136799 0 0.00561139 -0.00018215 -0.0075728 0.999956 uwb: 0.50127688 872.338 1379.37 -imu_odom_: 1691062570.262598695 0.490811 -0.35913 9.92397 -0.0660464 -0.0170442 0.0383495 0.23 -0.02 pose: 0.41997541 -3.55344 0.0185167 0 0.00232889 0.00124079 -0.00745515 0.999969 uwb: 0.49887956 871.647 1378.15 -imu_odom_: 1691062570.288605422 0.826 -0.0383072 10.0461 -0.0681769 -0.0191748 0.0458064 0.23 -0.02 pose: 0.0 -3.55344 0.0185167 0 0.00232889 0.00124079 -0.00745515 0.999969 uwb: 0.0 871.647 1378.15 -imu_odom_: 1691062570.314631106 0.466869 -0.263362 9.48343 -0.0213053 0.0948085 0.0245011 0.23 0 pose: 0.43959427 -3.54994 0.0121757 0 0.00142244 -0.00241119 -0.00738352 0.999969 uwb: 0.0 871.647 1378.15 -imu_odom_: 1691062570.330557758 0.0766145 -0.387861 10.1442 -0.0543285 0.00958738 0.0553937 0.23 0 pose: 0.0 -3.54994 0.0121757 0 0.00142244 -0.00241119 -0.00738352 0.999969 uwb: 0.50081024 868.933 1376.39 -imu_odom_: 1691062570.356767469 0.505177 -0.42138 9.52413 -0.0426106 0.0149137 0.0372843 0.22 0 pose: 0.7143516 -3.54861 0.00976547 0 0.000851167 -0.00222515 -0.00743467 0.99997 uwb: 0.0 868.933 1376.39 -imu_odom_: 1691062570.381610539 0.275333 -0.213084 9.8689 -0.0426106 -0.00106526 0.0575243 0.22 0 pose: 0.0 -3.54861 0.00976547 0 0.000851167 -0.00222515 -0.00743467 0.99997 uwb: 0.50053319 868.548 1375.39 -imu_odom_: 1691062570.397564022 0.720655 -0.124498 9.96946 -0.0532632 0.0106526 0.0372843 0.2 0 pose: 0.42841849 -3.53985 0.0146046 0 -0.00194308 -0.000463258-0.00745161 0.99997 uwb: 0.0 868.548 1375.39 -imu_odom_: 1691062570.423556167 0.361524 -0.229843 9.42837 -0.0873517 0.02024 0.0553937 0.2 0 pose: 0.0 -3.53985 0.0146046 0 -0.00194308 -0.000463258-0.00745161 0.99997 uwb: 0.49993531 867.783 1374.42 -imu_odom_: 1691062570.449568144 0.00718261 -0.282516 9.91439 -0.0511327 -0.02024 0.0340885 0.23 -0.02 pose: 0.49992657 -3.52626 0.0106929 0 -0.0019701 0.000554376 -0.00725333 0.999972 uwb: 0.0 867.783 1374.42 -imu_odom_: 1691062570.475613368 0.675165 -0.289698 9.90002 -0.0703074 -0.0607201 0.0447411 0.23 -0.02 pose: 0.0 -3.52626 0.0106929 0 -0.0019701 0.000554376 -0.00725333 0.999972 uwb: 0.49889706 866.967 1373.61 -imu_odom_: 1691062570.501548934 0.730232 -0.0383072 10.0102 -0.0458064 -0.02024 0.0415453 0.21 -0.02 pose: 0.42976005 -3.51751 0.0155363 0 -0.0012919 0.00329794 -0.00707775 0.999969 uwb: 0.0 866.967 1373.61 -imu_odom_: 1691062570.518543293 0.186748 -0.411803 9.94791 -0.0809601 0.0223706 0.052198 0.21 -0.02 pose: 0.0 -3.51751 0.0155363 0 -0.0012919 0.00329794 -0.00707775 0.999969 uwb: 0.0 866.967 1373.61 -imu_odom_: 1691062570.534548398 0.25618 -0.339977 9.70609 -0.0287621 -0.0287621 0.0298274 0.17 -0.02 pose: 0.51022449 -3.50877 0.0203814 0 -0.00161823 0.000970981 -0.00705545 0.999973 uwb: 0.49943952 867.671 1372.66 -imu_odom_: 1691062570.559538456 0.620098 -0.21069 9.991 -0.0426106 0 0.0351537 0.17 -0.02 pose: 0.0 -3.50877 0.0203814 0 -0.00161823 0.000970981 -0.00705545 0.999973 uwb: 0.0 867.671 1372.66 -imu_odom_: 1691062570.585682839 0.545878 0.143652 10.1083 -0.0276969 -0.00213053 0.0308927 0.19 0 pose: 0.58980235 -3.49517 0.016481 0 -0.00232429 0.00120978 -0.00702302 0.999972 uwb: 0.50052151 868.753 1371.67 -imu_odom_: 1691062570.611680233 0.136469 -0.0383072 10.1945 -0.0628506 0.0308927 0.052198 0.19 0 pose: 0.0 -3.49517 0.016481 0 -0.00232429 0.00120978 -0.00702302 0.999972 uwb: 0.0 868.753 1371.67 -imu_odom_: 1691062570.637588968 -0.00718261-0.268151 9.8282 -0.0500674 0.0127832 0.0372843 0.19 0 pose: 0.44120706 -3.49182 0.0104265 0 0.000987185 -0.00133698 -0.00718315 0.999973 uwb: 0.50052152 868.711 1370.76 -imu_odom_: 1691062570.663526284 0.696713 -0.407014 10.0054 -0.052198 -0.0394148 0.0223706 0.19 0 pose: 0.8048194 -3.49033 0.00773338 0 0.0013419 -0.000486699-0.00713349 0.999974 uwb: 0.0 868.711 1370.76 -imu_odom_: 1691062570.689585215 0.550666 -0.227449 10.0892 -0.0639159 -0.00639159 0.0553937 0.19 0 pose: 0.0 -3.49033 0.00773338 0 0.0013419 -0.000486699-0.00713349 0.999974 uwb: 0.49997323 866.824 1368.91 -imu_odom_: 1691062570.705524408 0.260968 -0.124498 9.9934 -0.0692422 0.00958738 0.0330232 0.17 0.02 pose: 0.50862921 -3.48158 0.0125779 0 0.00124541 0.00342568 -0.00711936 0.999968 uwb: 0.0 866.824 1368.91 -imu_odom_: 1691062570.731576340 0.4956 -0.574608 9.50498 -0.0777643 0.015979 0.056459 0.17 0.02 pose: 0.0 -3.48158 0.0125779 0 0.00124541 0.00342568 -0.00711936 0.999968 uwb: 0.49984781 864.677 1366.82 -imu_odom_: 1691062570.757579567 0.296881 -0.339977 10.3046 -0.0266316 0.015979 0.0276969 0.2 -0.02 pose: 0.51943459 -3.46799 0.0086748 0 0.000187138 -0.000497123-0.00710111 0.999975 uwb: 0.0 864.677 1366.82 -imu_odom_: 1691062570.783516592 0.845153 -0.342371 10.1825 -0.0713727 -0.00852212 0.0703074 0.23 0 pose: 0.43034626 -3.45924 0.0135209 0 -0.00259879 0.000683315 -0.00695767 0.999972 uwb: 0.50037862 863.251 1364.79 -imu_odom_: 1691062570.809513403 0.73502 -0.136469 10.0389 -0.0479369 0.00426106 0.0447411 0.17 0 pose: 0.0 -3.45924 0.0135209 0 -0.00259879 0.000683315 -0.00695767 0.999972 uwb: 0.0 863.251 1364.79 -imu_odom_: 1691062570.834576663 0.232238 -0.260968 10.2999 -0.0607201 0.0436758 0.0500674 0.23 0 pose: 0.51007575 -3.45049 0.0183697 0 -0.00360944 -0.000917883-0.0066566 0.999971 uwb: 0.49836918 861.427 1362.89 -imu_odom_: 1691062570.849505603 0.308852 -0.217872 9.48343 -0.0479369 0.00745685 0.0340885 0.23 0 pose: 0.0 -3.45049 0.0183697 0 -0.00360944 -0.000917883-0.0066566 0.999971 uwb: 0.0 861.427 1362.89 -imu_odom_: 1691062570.876576829 0.476446 -0.31364 9.94551 -0.0745685 -0.0170442 0.0703074 0.19 0 pose: 0.25951024 -3.44564 0.00962632 0 -0.00271432 -0.00168148 -0.00657693 0.999973 uwb: 0.50051277 859.853 1361.33 -imu_odom_: 1691062570.902643926 0.42138 -0.0981623 10.1011 -0.052198 -0.00106526 0.04048 0.19 0 pose: 0.40989621 -3.4369 0.014481 0 -0.00235489 0.0011938 -0.00639499 0.999976 uwb: 0.0 859.853 1361.33 -imu_odom_: 1691062570.928569577 0.560243 -0.258574 9.73482 -0.0479369 -0.00213053 0.036219 0.23 0 pose: 0.26054556 -3.4369 0.014481 0 -0.00276249 -0.000602908-0.00610397 0.999977 uwb: 0.50243178 860.72 1360.96 -imu_odom_: 1691062570.944510811 0.011971 -0.275333 10.1011 -0.0511327 -0.0223706 0.0543285 0.23 0 pose: 0.0 -3.4369 0.014481 0 -0.00276249 -0.000602908-0.00610397 0.999977 uwb: 0.0 860.72 1360.96 -imu_odom_: 1691062570.970531829 0.328006 -0.0646434 10.1179 -0.0607201 -0.0276969 0.0447411 0.23 0.02 pose: 0.26087513 -3.4233 0.0106054 0 -0.000937317-0.00132796 -0.00610914 0.99998 uwb: 0.0 860.72 1360.96 -imu_odom_: 1691062570.996536223 0.612916 -0.129287 10.2639 -0.0628506 -0.0106526 0.0543285 0.23 0.02 pose: 0.0 -3.4233 0.0106054 0 -0.000937317-0.00132796 -0.00610914 0.99998 uwb: 0.49717636 859.751 1359.72 -imu_odom_: 1691062571.22688192 0.888249 -0.071826 10.2017 -0.0479369 0.0308927 0.0330232 0.23 0.02 pose: 0.42915343 -3.4233 0.0106054 0 -0.000658945-0.00138745 -0.00600172 0.999981 uwb: 0.49970495 858.816 1358.42 -imu_odom_: 1691062571.47605052 0.665588 -0.0550666 9.81862 -0.0756338 -0.0149137 0.0511327 0.23 0.02 pose: 0.0 -3.4233 0.0106054 0 -0.000658945-0.00138745 -0.00600172 0.999981 uwb: 0.0 858.816 1358.42 -imu_odom_: 1691062571.63615117 0.490811 -0.462081 10.1227 -0.0490022 0.0127832 0.0415453 0.21 0.02 pose: 0.51256056 -3.41456 0.0154697 0 0.00177677 -0.0037815 -0.00578656 0.999975 uwb: 0.0 858.816 1358.42 -imu_odom_: 1691062571.89493234 0.349553 -0.430956 9.42118 -0.0585895 -0.0223706 0.0500674 0.21 0.02 pose: 0.0 -3.41456 0.0154697 0 0.00177677 -0.0037815 -0.00578656 0.999975 uwb: 0.50012497 860.661 1358.31 -imu_odom_: 1691062571.115491799 0.0861913 -0.217872 9.76355 -0.02024 0.0223706 0.0340885 0.18 0 pose: 0.50801684 -3.40096 0.0116025 0 0.00282928 -0.00725309 -0.00569475 0.999953 uwb: 0.0 860.661 1358.31 -imu_odom_: 1691062571.141501739 0.435745 -0.354342 9.65821 -0.0735032 0.0181095 0.0596548 0.19 0 pose: 0.41873892 -3.39222 0.0164726 0 -3.2105e-05 -0.00491079 -0.00555152 0.999973 uwb: 0.50109614 861.66 1357.59 -imu_odom_: 1691062571.166479844 0.31364 -0.296881 9.52174 -0.0383495 0 0.0415453 0.19 0 pose: 0.27002111 -3.38735 0.00773967 0 -0.000556252-0.0025559 -0.00551908 0.999981 uwb: 0.0 861.66 1357.59 -imu_odom_: 1691062571.181549359 0.134075 -0.181959 10.1179 -0.0287621 -0.0308927 0.0500674 0.19 0 pose: 0.0 -3.38735 0.00773967 0 -0.000556252-0.0025559 -0.00551908 0.999981 uwb: 0.49879800 861.688 1356.59 -imu_odom_: 1691062571.208490808 0.433351 0.059855 10.4651 -0.036219 -0.0245011 0.0490022 0.19 0 pose: 0.25014852 -3.37862 0.0126133 0 -0.00262225 -0.00140554 -0.00532499 0.999981 uwb: 0.0 861.688 1356.59 -imu_odom_: 1691062571.233490495 0.608127 -0.0502782 10.082 -0.0287621 -0.0394148 0.0490022 0.17 -0.02 pose: 0.41108036 -3.37862 0.0126133 0 -0.00136192 0.00134692 -0.00517887 0.999985 uwb: 0.50108739 861.391 1355.51 -imu_odom_: 1691062571.259478270 0.407014 0.00957681 10.1514 -0.0500674 0.04048 0.0479369 0.17 -0.02 pose: 0.0 -3.37862 0.0126133 0 -0.00136192 0.00134692 -0.00517887 0.999985 uwb: 0.0 861.391 1355.51 -imu_odom_: 1691062571.275484544 0.0502782 -0.25618 10.0628 -0.0703074 -0.0340885 0.0511327 0.19 -0.05 pose: 0.51946969 -3.36501 0.00876342 0 0.00322142 -0.00141377 -0.00493551 0.999982 uwb: 0.49859093 858.989 1353.45 -imu_odom_: 1691062571.301486901 0.40462 -0.28491 9.80904 -0.0713727 -0.0458064 0.0660464 0.19 -0.05 pose: 0.0 -3.36501 0.00876342 0 0.00322142 -0.00141377 -0.00493551 0.999982 uwb: 0.0 858.989 1353.45 -imu_odom_: 1691062571.326495045 0.732626 -0.1652 10.0317 -0.0543285 -0.0191748 0.0308927 0.19 0.02 pose: 0.25912239 -3.35628 0.0136462 0 0.00469198 -8.62366e-05-0.00482136 0.999977 uwb: 0.50158902 860.278 1352.9 -imu_odom_: 1691062571.352549898 0.500388 -0.4956 9.27993 -0.0798948 0.0223706 0.0585895 0.19 0.02 pose: 0.33993391 -3.35628 0.0136462 0 0.00154214 -0.000195061-0.00443815 0.999989 uwb: 0.0 860.278 1352.9 -imu_odom_: 1691062571.378500342 -0.047884 -0.21069 9.75158 -0.00745685 0.0532632 0.0276969 0.19 0 pose: 0.8070069 -3.35628 0.0136462 0 0.00158914 -0.00106224 -0.00447206 0.999988 uwb: 0.50171734 860.011 1351.78 -imu_odom_: 1691062571.403635643 0.318429 -0.323217 9.73004 -0.0830906 0.0234358 0.0639159 0.23 0 pose: 0.0 -3.35628 0.0136462 0 0.00158914 -0.00106224 -0.00447206 0.999988 uwb: 0.0 860.011 1351.78 -imu_odom_: 1691062571.418482051 0.289698 -0.332794 9.83299 -0.0372843 0.0340885 0.0340885 0.23 0 pose: 0.49950377 -3.34267 0.00981495 0 -0.00100809 -0.00199766 -0.00432824 0.999988 uwb: 0.0 860.011 1351.78 -imu_odom_: 1691062571.445685979 0.445322 0.227449 10.0916 -0.0692422 -0.0117179 0.0596548 0.19 0 pose: 0.0 -3.34267 0.00981495 0 -0.00100809 -0.00199766 -0.00432824 0.999988 uwb: 0.49810680 860.665 1351.03 -imu_odom_: 1691062571.461584053 0.440533 -0.454898 9.61272 -0.0628506 0.00319579 0.0351537 0.19 0 pose: 0.50001123 -3.33395 0.0147085 0 -0.00312616 0.0028675 -0.00414909 0.999982 uwb: 0.0 860.665 1351.03 -imu_odom_: 1691062571.487611200 0.399832 -0.332794 9.87848 -0.0735032 -0.0181095 0.0468716 0.23 -0.02 pose: 0.0 -3.33395 0.0147085 0 -0.00312616 0.0028675 -0.00414909 0.999982 uwb: 0.49865508 861.387 1350.1 -imu_odom_: 1691062571.513500983 0.742203 -0.282516 9.9503 -0.0436758 -0.0511327 0.0308927 0.23 -0.02 pose: 0.43005468 -3.32034 0.0108869 0 -0.00184269 0.00274749 -0.00390956 0.999987 uwb: 0.0 861.387 1350.1 -imu_odom_: 1691062571.537465918 0.581791 -0.311246 9.85214 -0.0639159 -0.0181095 0.0415453 0.23 0 pose: 0.0 -3.32034 0.0108869 0 -0.00184269 0.00274749 -0.00390956 0.999987 uwb: 0.50038745 862.231 1349.75 -imu_odom_: 1691062571.562463563 0.493206 -0.0646434 9.69652 -0.0617853 0.0234358 0.0447411 0.23 0 pose: 0.42122956 -3.32034 0.0108869 0 -0.00501049 -6.69162e-05-0.00387894 0.99998 uwb: 0.0 862.231 1349.75 -imu_odom_: 1691062571.578451172 0.0766145 -0.438139 9.991 -0.0809601 0.0127832 0.0479369 0.19 0 pose: 0.0 -3.32034 0.0108869 0 -0.00501049 -6.69162e-05-0.00387894 0.99998 uwb: 0.50118947 862.804 1349.19 -imu_odom_: 1691062571.603519103 0.191536 -0.342371 10.1203 -0.0436758 -0.0266316 0.0340885 0.19 0 pose: 0.49835177 -3.30672 0.00707105 0 -0.00425365 -0.00484379 -0.00394113 0.999971 uwb: 0.0 862.804 1349.19 -imu_odom_: 1691062571.628465418 0.557849 -0.356736 10.4435 -0.0543285 -0.0245011 0.0394148 0.19 -0.02 pose: 0.0 -3.30672 0.00707105 0 -0.00425365 -0.00484379 -0.00394113 0.999971 uwb: 0.49822054 861.845 1348.06 -imu_odom_: 1691062571.654528146 0.536301 0.0670376 10.386 -0.0468716 0.0330232 0.0490022 0.19 -0.02 pose: 0.83993347 -3.28859 0.00933551 0 -0.0047893 -0.00328673 -0.00389936 0.999976 uwb: 0.0 861.845 1348.06 -imu_odom_: 1691062571.670509630 0.205901 -0.189142 9.92875 -0.0692422 -0.00745685 0.0500674 0.18 -0.02 pose: 0.0 -3.28859 0.00933551 0 -0.0047893 -0.00328673 -0.00389936 0.999976 uwb: 0.0 861.845 1348.06 -imu_odom_: 1691062571.696443451 -0.129287 -0.241814 9.90242 -0.0490022 0.00958738 0.0372843 0.18 -0.02 pose: 0.33054591 -3.28438 0.00815631 0 -0.00198163 -0.00258639 -0.0037518 0.999988 uwb: 0.0 861.845 1348.06 -imu_odom_: 1691062571.721445470 0.402226 -0.390255 9.9934 -0.0500674 -0.0553937 0.0266316 0.23 0.02 pose: 0.0 -3.28438 0.00815631 0 -0.00198163 -0.00258639 -0.0037518 0.999988 uwb: 0.100010995 861.389 1346.56 -imu_odom_: 1691062571.747440536 0.806846 -0.366313 9.56005 -0.0777643 -0.0138484 0.0511327 0.2 -0.02 pose: 0.41931053 -3.27567 0.01306 0 -0.00236534 0.000774122 -0.00377503 0.99999 uwb: 0.0 861.389 1346.56 -imu_odom_: 1691062571.763454393 0.59855 -0.105345 10.0173 -0.0703074 0.00426106 0.0330232 0.2 -0.02 pose: 0.0 -3.27567 0.01306 0 -0.00236534 0.000774122 -0.00377503 0.99999 uwb: 0.0 861.389 1346.56 -imu_odom_: 1691062571.789444501 0.533907 -0.246603 10.2663 -0.0777643 0.0106526 0.052198 0.22 0 pose: 0.51002919 -3.26205 0.00924793 0 -0.00435435 -0.00298082 -0.00377965 0.999979 uwb: 0.49966126 860.16 1345.25 -imu_odom_: 1691062571.814444771 0.897826 -0.426168 10.0341 -0.0319579 0.056459 0.0223706 0.22 0 pose: 0.34990520 -3.25593 0.0126894 0 -0.00248285 -0.0053975 -0.00366474 0.999976 uwb: 0.0 860.16 1345.25 -imu_odom_: 1691062571.830573827 0.64404 -0.0885855 10.3813 -0.0500674 0.00958738 0.052198 0.22 0 pose: 0.8035947 -3.25334 0.0141518 0 -0.00270145 -0.0058942 -0.0037341 0.999972 uwb: 0.49873674 858.653 1343.8 -imu_odom_: 1691062571.856559852 0.517148 -0.308852 9.28711 -0.0468716 0.0553937 0.0447411 0.21 -0.02 pose: 0.0 -3.25334 0.0141518 0 -0.00270145 -0.0058942 -0.0037341 0.999972 uwb: 0.0 858.653 1343.8 -imu_odom_: 1691062571.882507380 -0.23942 -0.0167594 9.6606 -0.0596548 0.0287621 0.0596548 0.23 0 pose: 0.40976504 -3.24843 0.00543664 0 -0.00238801 -0.00704938 -0.00376489 0.999965 uwb: 0.50157444 859.803 1343.56 -imu_odom_: 1691062571.907439697 0.232238 -0.0622492 9.39006 -0.0479369 0.00639159 0.0383495 0.23 0 pose: 0.44050428 -3.23972 0.0103402 0 -0.00315413 -0.00297407 -0.00344175 0.999985 uwb: 0.0 859.803 1343.56 -imu_odom_: 1691062571.933425139 0.512359 -0.474052 9.88566 -0.0884169 0.0149137 0.072438 0.21 0 pose: 0.7002945 -3.23972 0.0103402 0 -0.00264819 -0.00242525 -0.00344593 0.999988 uwb: 0.49958251 860.642 1343.21 -imu_odom_: 1691062571.959425162 1.69749 -0.289698 9.32542 -0.0692422 0.155529 0.036219 0.21 0 pose: 0.43914814 -3.22983 0.00758167 0 -0.00421149 -0.00168952 -0.00302922 0.999985 uwb: 0.0 860.642 1343.21 -imu_odom_: 1691062571.976422733 -0.799663 -0.311246 10.6901 -0.0873517 0.0138484 0.0511327 0.23 0.02 pose: 0.0 -3.22983 0.00758167 0 -0.00421149 -0.00168952 -0.00302922 0.999985 uwb: 0.50070826 861.859 1342.79 -imu_odom_: 1691062572.2411966 -0.153229 -0.122104 11.0038 -0.0468716 -0.1012 0.0575243 0.23 0.02 pose: 0.33008802 -3.22609 0.00654219 0 -0.0045002 -0.00145056 -0.00304989 0.999984 uwb: 0.0 861.859 1342.79 -imu_odom_: 1691062572.28432701 0.301669 0.0742203 10.2592 -0.0660464 -0.00958738 0.04048 0.18 -0.02 pose: 0.0 -3.22609 0.00654219 0 -0.0045002 -0.00145056 -0.00304989 0.999984 uwb: 0.0 861.859 1342.79 -imu_odom_: 1691062572.54570385 0.289698 -0.215478 10.1993 -0.0628506 -0.0287621 0.0490022 0.2 0 pose: 0.43062340 -3.21739 0.0114581 0 -0.00304736 0.000979483 -0.00273389 0.999991 uwb: 0.0 861.859 1342.79 -imu_odom_: 1691062572.71451301 0.342371 -0.234632 9.60793 -0.0713727 0.0319579 0.0415453 0.2 0 pose: 0.0 -3.21739 0.0114581 0 -0.00304736 0.000979483 -0.00273389 0.999991 uwb: 0.100003425 862.509 1342.04 -imu_odom_: 1691062572.87684477 0.0790087 -0.464475 10.1969 -0.036219 -0.036219 0.036219 0.2 0 pose: 0.52134505 -3.20376 0.00767476 0 -0.00124468 0.00320928 -0.00258918 0.999991 uwb: 0.0 862.509 1342.04 -imu_odom_: 1691062572.113422901 0.270545 -0.64404 10.1658 -0.0543285 0.00426106 0.0596548 0.19 0 pose: 0.0 -3.20376 0.00767476 0 -0.00124468 0.00320928 -0.00258918 0.999991 uwb: 0.0 862.509 1342.04 -imu_odom_: 1691062572.139470176 0.533907 -0.0191536 10.2113 -0.04048 -0.0255663 0.0394148 0.19 0.02 pose: 0.34003896 -3.20376 0.00767476 0 -0.00368735 0.00393189 -0.00253257 0.999982 uwb: 0.50052461 861.625 1340.79 -imu_odom_: 1691062572.156454042 0.0814029 -0.361524 9.991 -0.0639159 -0.0255663 0.0447411 0.19 0.02 pose: 0.0 -3.20376 0.00767476 0 -0.00368735 0.00393189 -0.00253257 0.999982 uwb: 0.0 861.625 1340.79 -imu_odom_: 1691062572.182469528 0.912191 -0.275333 10.0317 -0.056459 -0.052198 0.0532632 0.18 0.02 pose: 0.50910768 -3.19505 0.0125993 0 -0.00336099 0.00309123 -0.00234061 0.999987 uwb: 0.50063252 860.22 1339.15 -imu_odom_: 1691062572.208467515 0.790087 -0.258574 10.2256 -0.0532632 0.0127832 0.0383495 0.18 0.02 pose: 0.35924078 -3.18143 0.00882583 0 -0.00366123 0.000706167 -0.00214147 0.999991 uwb: 0.0 860.22 1339.15 -imu_odom_: 1691062572.225406176 0.102951 -0.232238 9.79468 -0.0372843 0.00852212 0.0383495 0.2 -0.02 pose: 0.0 -3.18143 0.00882583 0 -0.00366123 0.000706167 -0.00214147 0.999991 uwb: 0.49869017 869.968 1341.82 -imu_odom_: 1691062572.251523154 0.184354 -0.31364 9.38288 -0.0468716 -0.0117179 0.0330232 0.2 -0.02 pose: 0.6953367 -3.18143 0.00882583 0 -0.00360322 7.17799e-05 -0.00214848 0.999991 uwb: 0.0 869.968 1341.82 -imu_odom_: 1691062572.276547634 0.61531 -0.280122 9.86172 -0.0596548 -0.0308927 0.0575243 0.19 -0.02 pose: 0.0 -3.18143 0.00882583 0 -0.00360322 7.17799e-05 -0.00214848 0.999991 uwb: 0.49896140 870.477 1341.39 -imu_odom_: 1691062572.302438296 0.821211 -0.277727 9.97903 -0.0436758 -0.0138484 0.0340885 0.19 -0.02 pose: 0.43008976 -3.17273 0.0137573 0 -0.00314452 0.000783507 -0.00219373 0.999992 uwb: 0.0 870.477 1341.39 -imu_odom_: 1691062572.327395407 0.538695 -0.445322 9.84735 -0.0735032 -0.036219 0.0607201 0.19 -0.02 pose: 0.0 -3.17273 0.0137573 0 -0.00314452 0.000783507 -0.00219373 0.999992 uwb: 0.50072293 870.461 1340.53 -imu_odom_: 1691062572.344511971 0.244209 -0.229843 9.68694 -0.0553937 -0.0181095 0.0394148 0.19 -0.02 pose: 0.94963536 -3.1591 0.00998886 0 -0.00578722 -0.00441255 -0.00184514 0.999972 uwb: 0.0 870.461 1340.53 -imu_odom_: 1691062572.369383631 0.593762 -0.23942 9.95988 -0.0809601 -0.0127832 0.0671117 0.18 -0.02 pose: 0.0 -3.1591 0.00998886 0 -0.00578722 -0.00441255 -0.00184514 0.999972 uwb: 0.0 870.461 1340.53 -imu_odom_: 1691062572.385413822 0.646434 -0.308852 9.85453 -0.0671117 -0.0415453 0.036219 0.18 -0.02 pose: 0.7032986 -3.1591 0.00998886 0 -0.00552951 -0.00380636 -0.0018428 0.999976 uwb: 0.49937553 872.173 1340.52 -imu_odom_: 1691062572.402386606 0.385466 -0.179565 10.0772 -0.056459 0.0138484 0.0372843 0.19 0 pose: 0.0 -3.1591 0.00998886 0 -0.00552951 -0.00380636 -0.0018428 0.999976 uwb: 0.0 872.173 1340.52 -imu_odom_: 1691062572.428513499 0.411803 -0.351948 9.6199 -0.0553937 0.0298274 0.0394148 0.19 0 pose: 0.41979183 -3.14546 0.00623074 0 -0.00433942 -0.00602853 -0.00152634 0.999971 uwb: 0.50041670 872.762 1339.86 -imu_odom_: 1691062572.454501279 0.129287 -0.272939 10.3262 -0.0490022 0.00532632 0.0585895 0.2 -0.02 pose: 0.0 -3.14546 0.00623074 0 -0.00433942 -0.00602853 -0.00152634 0.999971 uwb: 0.0 872.762 1339.86 -imu_odom_: 1691062572.479383146 0.476446 -0.363919 9.95988 -0.0649811 0.00852212 0.0372843 0.2 -0.02 pose: 0.33011724 -3.13677 0.0111731 0 -0.00384948 -0.00491753 -0.00156285 0.999979 uwb: 0.50097958 872.23 1338.55 -imu_odom_: 1691062572.494370128 0.378284 0.102951 9.8665 -0.0490022 0.0138484 0.0394148 0.19 0 pose: 0.0 -3.13677 0.0111731 0 -0.00384948 -0.00491753 -0.00156285 0.999979 uwb: 0.0 872.23 1338.55 -imu_odom_: 1691062572.522385414 0.526724 -0.1652 9.7875 -0.0511327 -0.0117179 0.0351537 0.19 0 pose: 0.51981684 -3.12807 0.0161163 0 -0.00505677 -0.000817076-0.0013058 0.999986 uwb: 0.49856185 871.604 1337.51 -imu_odom_: 1691062572.547386272 0.462081 -0.237026 9.4571 -0.0873517 0.00958738 0.0479369 0.18 0.02 pose: 0.0 -3.12807 0.0161163 0 -0.00505677 -0.000817076-0.0013058 0.999986 uwb: 0.0 871.604 1337.51 -imu_odom_: 1691062572.573435005 -0.0837971 -0.244209 10.0221 -0.0447411 -0.00958738 0.0319579 0.23 0 pose: 0.40034502 -3.12313 0.00742521 0 -0.00420277 -0.00209697 -0.00135468 0.999988 uwb: 0.49997048 871.22 1336.74 -imu_odom_: 1691062572.590643145 0.605733 -0.519542 9.56005 -0.0671117 0.0191748 0.0458064 0.23 0 pose: 0.0 -3.12313 0.00742521 0 -0.00420277 -0.00209697 -0.00135468 0.999988 uwb: 0.0 871.22 1336.74 -imu_odom_: 1691062572.616438439 0.37589 -0.131681 9.94791 -0.00745685 0.0223706 0.0223706 0.25 -0.02 pose: 0.54029897 -3.11444 0.0123706 0 -0.0003002 -0.00202775 -0.00134408 0.999997 uwb: 0.0 871.22 1336.74 -imu_odom_: 1691062572.641579869 0.627281 -0.0622492 10.1394 -0.0255663 0.0149137 0.00426106 0.25 -0.02 pose: 0.60973056 -3.1008 0.00862458 0 0.00119613 0.000273309 -0.00158057 0.999998 uwb: 0.49922680 869.819 1335.09 -imu_odom_: 1691062572.667512528 0.272939 -0.213084 9.63666 -0.0660464 -0.0319579 0.0788296 0.21 0 pose: 0.0 -3.1008 0.00862458 0 0.00119613 0.000273309 -0.00158057 0.999998 uwb: 0.0 869.819 1335.09 -imu_odom_: 1691062572.693597133 0.493206 -0.323217 9.98143 -0.0553937 -0.0372843 0.02024 0.21 0 pose: 0.6976991 -3.1008 0.00862458 0 0.00163976 -0.000269518-0.00170291 0.999997 uwb: 0.50136746 869.874 1334.07 -imu_odom_: 1691062572.719574705 0.366313 0.0215478 10.5465 -0.0543285 0.0415453 0.0447411 0.23 0 pose: 0.0 -3.1008 0.00862458 0 0.00163976 -0.000269518-0.00170291 0.999997 uwb: 0.0 869.874 1334.07 -imu_odom_: 1691062572.736364337 0.244209 -0.3304 9.89045 -0.0713727 -0.00852212 0.0468716 0.23 0 pose: 0.52132463 -3.08716 0.00486929 0 0.00120322 -0.000151087-0.00159673 0.999998 uwb: 0.50037879 870.173 1333.3 -imu_odom_: 1691062572.761472811 -0.0407014 -0.158017 9.8665 -0.0436758 0.0138484 0.0319579 0.17 -0.02 pose: 0.0 -3.08716 0.00486929 0 0.00120322 -0.000151087-0.00159673 0.999998 uwb: 0.0 870.173 1333.3 -imu_odom_: 1691062572.783487529 0.282516 -0.344765 9.68694 -0.0607201 -0.0436758 0.0458064 0.17 -0.02 pose: 0.50971722 -3.07847 0.00980983 0 0.00168307 0.000306824 -0.00168291 0.999997 uwb: 0.49891765 870.429 1332.65 -imu_odom_: 1691062572.809338236 0.526724 -0.0287304 9.98382 -0.0692422 -0.0234358 0.0436758 0.18 -0.02 pose: 0.0 -3.07847 0.00980983 0 0.00168307 0.000306824 -0.00168291 0.999997 uwb: 0.0 870.429 1332.65 -imu_odom_: 1691062572.826533836 0.548272 -0.0023942 10.343 -0.0735032 -0.0266316 0.0426106 0.18 -0.02 pose: 0.40840605 -3.06978 0.0147491 0 0.000717987 0.00378398 -0.0017303 0.999991 uwb: 0.50193034 872.307 1332.14 -imu_odom_: 1691062572.852415749 0.454898 -0.117316 9.96706 -0.0532632 -0.0181095 0.04048 0.23 0 pose: 0.0 -3.06978 0.0147491 0 0.000717987 0.00378398 -0.0017303 0.999991 uwb: 0.0 872.307 1332.14 -imu_odom_: 1691062572.878353365 0.811634 -0.117316 10.0221 -0.036219 -0.00532632 0.0276969 0.25 0.02 pose: 0.48996712 -3.06484 0.00605384 0 0.00123888 0.00132455 -0.00161515 0.999997 uwb: 0.49716487 873.823 1331.66 -imu_odom_: 1691062572.895407809 0.507571 -0.059855 10.0963 -0.0383495 -0.0117179 0.0532632 0.25 0.02 pose: 0.0 -3.06484 0.00605384 0 0.00123888 0.00132455 -0.00161515 0.999997 uwb: 0.0 873.823 1331.66 -imu_odom_: 1691062572.921369924 0.380678 -0.158017 9.51456 -0.0607201 0.0394148 0.0468716 0.25 0 pose: 0.43072846 -3.05614 0.0109947 0 0.00382732 -0.00223323 -0.001621 0.999989 uwb: 0.49962635 874.174 1330.73 -imu_odom_: 1691062572.946339576 0.543484 -0.299275 9.34457 -0.0649811 -0.00213053 0.0585895 0.25 0 pose: 0.43001393 -3.04251 0.00724072 0 0.00557069 -0.0039147 -0.00158984 0.999976 uwb: 0.0 874.174 1330.73 -imu_odom_: 1691062572.963343857 0.263362 -0.378284 10.07 -0.0532632 -0.0266316 0.0553937 0.2 0 pose: 0.0 -3.04251 0.00724072 0 0.00557069 -0.0039147 -0.00158984 0.999976 uwb: 0.0 874.174 1330.73 -imu_odom_: 1691062572.989347094 0.52433 -0.203507 10.1107 -0.0916127 -0.0127832 0.0692422 0.2 0 pose: 0.50932058 -3.03382 0.0121851 0 0.00194326 -0.00269324 -0.00122173 0.999994 uwb: 0.50100582 871.643 1328.67 -imu_odom_: 1691062573.15343041 0.328006 -0.136469 10.1921 -0.0543285 0.00958738 0.0468716 0.25 0 pose: 0.0 -3.03382 0.0121851 0 0.00194326 -0.00269324 -0.00122173 0.999994 uwb: 0.0 871.643 1328.67 -imu_odom_: 1691062573.40439562 0.328006 -0.366313 10.058 -0.0617853 -0.00852212 0.0575243 0.25 0 pose: 0.61979812 -3.02252 0.00711055 0 0.00133306 -0.00221212 -0.0006645760.999996 uwb: 0.50007551 871.163 1327.35 -imu_odom_: 1691062573.66336645 0.395043 0.0191536 10.2592 -0.0276969 0.0223706 0.0319579 0.2 0 pose: 0.0 -3.02252 0.00711055 0 0.00133306 -0.00221212 -0.0006645760.999996 uwb: 0.0 871.163 1327.35 -imu_odom_: 1691062573.92479875 0.325611 -0.189142 10.2232 -0.0596548 -0.00532632 0.0447411 0.2 0 pose: 0.7006739 -3.02018 0.0084491 0 0.000727627 -0.0018372 -0.0006010130.999998 uwb: 0.50037888 872.074 1326.72 -imu_odom_: 1691062573.117539358 0.469264 -0.196325 9.74679 -0.0681769 -0.0127832 0.0436758 0.2 0 pose: 0.0 -3.02018 0.0084491 0 0.000727627 -0.0018372 -0.0006010130.999998 uwb: 0.0 872.074 1326.72 -imu_odom_: 1691062573.131503840 -0.155623 -0.311246 9.93115 -0.0671117 -0.0255663 0.0575243 0.2 0 pose: 0.52157846 -3.01149 0.0134078 0 0.00191813 0.000535719 -0.0005181770.999998 uwb: 0.49960602 872.226 1325.49 -imu_odom_: 1691062573.156406418 0.469264 -0.177171 10.0796 -0.0340885 -0.0468716 0.0372843 0.19 0 pose: 0.0 -3.01149 0.0134078 0 0.00191813 0.000535719 -0.0005181770.999998 uwb: 0.0 872.226 1325.49 -imu_odom_: 1691062573.183346418 0.407014 -0.179565 9.991 -0.0415453 -0.0287621 0.056459 0.25 0 pose: 0.48885312 -3.00653 0.00472447 0 0.000955162 0.000198107 -0.0003688690.999999 uwb: 0.50163003 873.97 1325.24 -imu_odom_: 1691062573.208330948 0.0957681 0.0454898 9.92636 -0.0553937 0.0223706 0.04048 0.25 0 pose: 0.0 -3.00653 0.00472447 0 0.000955162 0.000198107 -0.0003688690.999999 uwb: 0.0 873.97 1325.24 -imu_odom_: 1691062573.225335816 0.122104 -0.320823 10.2041 -0.0607201 -0.0234358 0.0468716 0.24 0 pose: 0.40027802 -2.99785 0.00968686 0 0.00174821 -0.00141778 -0.0002659950.999997 uwb: 0.49759368 863.249 1319.85 -imu_odom_: 1691062573.241359886 0.339977 -0.383072 9.73961 -0.0340885 0.036219 0.0351537 0.24 0 pose: 0.0 -2.99785 0.00968686 0 0.00174821 -0.00141778 -0.0002659950.999997 uwb: 0.0 863.249 1319.85 -imu_odom_: 1691062573.268463790 0.237026 -0.512359 9.48343 -0.0735032 0.0117179 0.0585895 0.26 -0.02 pose: 0.51948445 -2.9842 0.0059719 0 0.00304233 0.00316605 -7.08242e-050.99999 uwb: 0.0 863.249 1319.85 -imu_odom_: 1691062573.284468903 0.387861 -0.246603 9.88326 -0.0372843 -0.0170442 0.04048 0.26 -0.02 pose: 0.0 -2.9842 0.0059719 0 0.00304233 0.00316605 -7.08242e-050.99999 uwb: 0.49974309 861.376 1318.07 -imu_odom_: 1691062573.311379156 0.277727 -0.201113 10.2376 -0.0479369 -0.0415453 0.0490022 0.25 0 pose: 0.69099718 -2.97552 0.0109395 0 -0.00164828 0.00335132 0.000171025 0.999993 uwb: 0.0 861.376 1318.07 -imu_odom_: 1691062573.327317774 0.605733 -0.122104 9.74919 -0.0287621 0.00106526 0.0287621 0.25 0 pose: 0.8027200 -2.97552 0.0109395 0 -0.00111093 0.00382538 0.000211713 0.999992 uwb: 0.49944270 860.283 1316.79 -imu_odom_: 1691062573.354377932 0.749385 -0.28491 9.88566 -0.0585895 -0.00426106 0.052198 0.26 -0.02 pose: 0.0 -2.97552 0.0109395 0 -0.00111093 0.00382538 0.000211713 0.999992 uwb: 0.0 860.283 1316.79 -imu_odom_: 1691062573.379318132 0.490811 -0.234632 10.0892 -0.0447411 -0.0138484 0.036219 0.26 -0.02 pose: 0.34821671 -2.96188 0.00723577 0 0.00082463 0.00345532 0.000222676 0.999994 uwb: 0.50058886 860.445 1315.68 -imu_odom_: 1691062573.406311212 0.519542 -0.201113 9.63906 -0.0660464 -0.0106526 0.0458064 0.23 -0.02 pose: 0.52000358 -2.95574 0.0107519 0 -0.000213593-0.00174478 0.000351854 0.999998 uwb: 0.0 860.445 1315.68 -imu_odom_: 1691062573.431432523 0.610521 -0.0981623 9.8689 -0.0681769 -0.00745685 0.0681769 0.23 -0.02 pose: 0.0 -2.95574 0.0107519 0 -0.000213593-0.00174478 0.000351854 0.999998 uwb: 0.50014848 859.337 1314.47 -imu_odom_: 1691062573.458460891 0.617704 -0.308852 9.39485 -0.0713727 0.0213053 0.0223706 0.23 0.02 pose: 0.52114391 -2.94209 0.00705802 0 0.00176098 -0.00635133 0.000785214 0.999978 uwb: 0.0 859.337 1314.47 -imu_odom_: 1691062573.483348887 0.363919 -0.768539 9.26077 -0.0692422 0.0245011 0.0585895 0.2 0 pose: 0.0 -2.94209 0.00705802 0 0.00176098 -0.00635133 0.000785214 0.999978 uwb: 0.50060927 859.644 1313.78 -imu_odom_: 1691062573.510491288 0.411803 0.0885855 10.1011 -0.00532632 -0.0223706 0.0266316 0.2 0 pose: 0.33921658 -2.93955 0.00851483 0 -0.00130886 -0.00733367 0.00063866 0.999972 uwb: 0.0 859.644 1313.78 -imu_odom_: 1691062573.526328998 0.703895 -0.35913 9.61751 -0.0713727 -0.00426106 0.0628506 0.19 0 pose: 0.45137107 -2.92733 0.00730581 0 0.000112986 -0.00590205 0.000637372 0.999982 uwb: 0.50104674 859.765 1312.77 -imu_odom_: 1691062573.543302368 0.387861 -0.136469 9.88566 -0.0649811 -0.0106526 0.0415453 0.19 0 pose: 0.8012035 -2.9259 0.0048231 0 -0.000442865-0.00653494 0.000733179 0.999978 uwb: 0.0 859.765 1312.77 -imu_odom_: 1691062573.569370646 0.837971 -0.572214 9.48583 -0.0852212 -0.00106526 0.052198 0.18 -0.02 pose: 0.24799045 -2.92111 0.00757779 0 -0.000164178-0.0057693 0.000837868 0.999983 uwb: 0.0 859.765 1312.77 -imu_odom_: 1691062573.596394348 0.462081 -0.172383 10.0652 -0.0330232 -0.00639159 0.0351537 0.18 -0.02 pose: 0.0 -2.92111 0.00757779 0 -0.000164178-0.0057693 0.000837868 0.999983 uwb: 0.49999100 861.101 1311.98 -imu_odom_: 1691062573.621284385 0.727837 -0.225055 9.94551 -0.072438 -0.00319579 0.0458064 0.19 -0.02 pose: 0.53091980 -2.91101 0.0133799 0 -0.000243505-0.00562678 0.00094362 0.999984 uwb: 0.49729911 862.797 1311.83 -imu_odom_: 1691062573.648286214 0.486023 -0.0430956 9.67018 -0.0447411 0.0149137 0.0276969 0.19 -0.02 pose: 0.0 -2.91101 0.0133799 0 -0.000243505-0.00562678 0.00094362 0.999984 uwb: 0.0 862.797 1311.83 -imu_odom_: 1691062573.673309533 0.225055 -0.222661 9.84735 -0.0660464 -0.00639159 0.0436758 0.2 0 pose: 0.32046973 -2.90358 0.00612159 0 0.000185019 -0.00777151 0.000972123 0.999969 uwb: 0.50021264 863.485 1311 -imu_odom_: 1691062573.700332652 0.469264 -0.184354 10.1059 -0.0628506 -0.0426106 0.0479369 0.21 0 pose: 0.44868212 -2.89749 0.00962208 0 0.00160665 -0.00440189 0.000888106 0.999989 uwb: 0.0 863.485 1311 -imu_odom_: 1691062573.725285684 0.268151 -0.37589 9.8689 -0.0479369 0.0223706 0.0266316 0.21 0 pose: 0.0 -2.89749 0.00962208 0 0.00160665 -0.00440189 0.000888106 0.999989 uwb: 0.50124506 861.317 1308.62 -imu_odom_: 1691062573.742376003 0.464475 -0.11971 9.8689 -0.0585895 -0.00106526 0.0308927 0.23 -0.02 pose: 0.0 -2.89749 0.00962208 0 0.00160665 -0.00440189 0.000888106 0.999989 uwb: 0.0 861.317 1308.62 -imu_odom_: 1691062573.767261958 0.445322 -0.112527 10.2161 -0.0447411 -0.0127832 0.0319579 0.23 -0.02 pose: 0.59125213 -2.88125 0.0074201 0 0.000184964 -0.0005053190.000805941 1 uwb: 0.0 861.317 1308.62 -imu_odom_: 1691062573.784268283 0.64404 -0.225055 9.73243 -0.0500674 -0.0234358 0.0458064 0.21 -0.02 pose: 0.0 -2.88125 0.0074201 0 0.000184964 -0.0005053190.000805941 1 uwb: 0.49911315 861.645 1307.89 -imu_odom_: 1691062573.810394015 0.773327 -0.349553 10.4579 -0.0511327 0.00852212 0.0330232 0.21 -0.02 pose: 0.34827212 -2.88125 0.0074201 0 0.00357125 -0.00174534 0.0006659 0.999992 uwb: 0.0 861.645 1307.89 -imu_odom_: 1691062573.837287644 0.531513 -0.275333 9.56962 -0.0500674 0.0308927 0.0553937 0.25 0.02 pose: 0.7028904 -2.88125 0.0074201 0 0.00333954 -0.00247029 0.000690356 0.999991 uwb: 0.50067635 861.129 1306.88 -imu_odom_: 1691062573.862333711 0.158017 -0.0622492 9.57681 -0.0415453 0.0213053 0.0234358 0.25 0.02 pose: 0.0 -2.88125 0.0074201 0 0.00333954 -0.00247029 0.000690356 0.999991 uwb: 0.0 861.129 1306.88 -imu_odom_: 1691062573.879327788 0.471658 -0.215478 9.63427 -0.0756338 -0.0372843 0.0490022 0.2 0.05 pose: 0.43119808 -2.87258 0.0124007 0 0.000963165 -0.00557137 0.000711539 0.999984 uwb: 0.49860276 861.172 1306.07 -imu_odom_: 1691062573.905269200 0.112527 -0.275333 9.90242 -0.0287621 0.00852212 0.0245011 0.2 0.05 pose: 0.0 -2.87258 0.0124007 0 0.000963165 -0.00557137 0.000711539 0.999984 uwb: 0.0 861.172 1306.07 -imu_odom_: 1691062573.932273654 0.545878 -0.201113 9.94551 -0.0841559 -0.0138484 0.0447411 0.25 -0.02 pose: 0.51883992 -2.85893 0.00871063 0 -0.000179713-0.00379015 0.000709508 0.999993 uwb: 0.50198292 860.524 1304.67 -imu_odom_: 1691062573.957271600 0.409408 -0.0861913 10.1107 -0.04048 0.0106526 0.0319579 0.19 0 pose: 0.42982736 -2.85026 0.0136911 0 -0.000783077-0.00267393 0.000585322 0.999996 uwb: 0.0 860.524 1304.67 -imu_odom_: 1691062573.984382212 0.268151 -0.186748 10.1179 -0.0553937 -0.00639159 0.0490022 0.21 -0.02 pose: 0.0 -2.85026 0.0136911 0 -0.000783077-0.00267393 0.000585322 0.999996 uwb: 0.50129756 859.92 1303.2 -imu_odom_: 1691062574.10282504 0.517148 -0.296881 9.663 -0.0607201 -0.00639159 0.052198 0.19 0 pose: 0.52140930 -2.84528 0.00501886 0 0.00177176 -0.00245903 0.000562333 0.999995 uwb: 0.0 859.92 1303.2 -imu_odom_: 1691062574.37270339 1.0319 -0.114922 10.0796 -0.0447411 -0.00213053 0.0308927 0.19 0 pose: 0.0 -2.84528 0.00501886 0 0.00177176 -0.00245903 0.000562333 0.999995 uwb: 0.49795534 860.051 1302.22 -imu_odom_: 1691062574.63259586 0.639252 -0.134075 9.70131 -0.0862864 0.0436758 0.0692422 0.18 0.02 pose: 0.72852011 -2.82687 0.00736661 0 0.000333877 -0.00489496 0.000701414 0.999988 uwb: 0.0 860.051 1302.22 -imu_odom_: 1691062574.80312286 0.253785 -0.411803 9.80904 -0.0692422 0.0181095 0.0394148 0.18 0.02 pose: 0.8019911 -2.82295 0.00630758 0 0.000581149 -0.00541487 0.000818223 0.999985 uwb: 0.50011649 859.235 1301.22 -imu_odom_: 1691062574.106245537 0.3304 -0.337582 10.0652 -0.0617853 -0.00213053 0.0575243 0.18 0 pose: 0.0 -2.82295 0.00630758 0 0.000581149 -0.00541487 0.000818223 0.999985 uwb: 0.0 859.235 1301.22 -imu_odom_: 1691062574.133320282 0.684742 -0.117316 10.0006 -0.0308927 -0.0308927 0.0298274 0.18 0 pose: 0.35022036 -2.81813 0.00908003 0 -4.37104e-05-0.00505173 0.00108344 0.999987 uwb: 0.50049270 857.952 1299.86 -imu_odom_: 1691062574.149246071 0.507571 -0.31364 9.15543 -0.0830906 0 0.0511327 0.2 0.02 pose: 0.53007996 -2.81429 0.0112926 0 6.50935e-05 -0.0056081 0.0011851 0.999984 uwb: 0.0 857.952 1299.86 -imu_odom_: 1691062574.176248196 0.440533 -0.232238 9.73722 -0.0415453 -0.02024 0.0383495 0.2 0.02 pose: 0.0 -2.81429 0.0112926 0 6.50935e-05 -0.0056081 0.0011851 0.999984 uwb: 0.49927655 857.5 1298.78 -imu_odom_: 1691062574.201247312 0.158017 -0.232238 9.94791 -0.0639159 -0.0415453 0.0543285 0.23 0 pose: 0.24040192 -2.80063 0.00761695 0 -0.00151394 -0.00489801 0.00128061 0.999986 uwb: 0.0 857.5 1298.78 -imu_odom_: 1691062574.228268395 0.457293 0.0837971 10.0078 -0.0479369 -0.0170442 0.0372843 0.21 0.02 pose: 0.0 -2.80063 0.00761695 0 -0.00151394 -0.00489801 0.00128061 0.999986 uwb: 0.49863786 859.641 1298.99 -imu_odom_: 1691062574.253242430 0.608127 -0.035913 10.1562 -0.0436758 -0.0383495 0.0532632 0.21 0.02 pose: 0.51011403 -2.80063 0.00761695 0 -0.000326136-0.00128616 0.0014487 0.999998 uwb: 0.0 859.641 1298.99 -imu_odom_: 1691062574.280264095 0.316035 -0.205901 9.44034 -0.0649811 0.0181095 0.04048 0.21 0 pose: 0.44870553 -2.78843 0.00648332 0 0.00348121 -0.00394757 0.00159463 0.999985 uwb: 0.50053645 858.825 1297.35 -imu_odom_: 1691062574.305368204 0.349553 -0.35913 9.81862 -0.0394148 -0.0127832 0.036219 0.21 0 pose: 0.0 -2.78843 0.00648332 0 0.00348121 -0.00394757 0.00159463 0.999985 uwb: 0.0 858.825 1297.35 -imu_odom_: 1691062574.322442777 0.773327 -0.237026 10.1323 -0.0532632 -0.00639159 0.0553937 0.23 0.02 pose: 0.52125774 -2.77831 0.00894382 0 0.000314629 -0.0002918580.00156008 0.999999 uwb: 0.50199175 858.791 1296.09 -imu_odom_: 1691062574.348296409 0.826 -0.241814 10.1155 -0.0458064 0.015979 0.0298274 0.23 0.02 pose: 0.0 -2.77831 0.00894382 0 0.000314629 -0.0002918580.00156008 0.999999 uwb: 0.0 858.791 1296.09 -imu_odom_: 1691062574.375238456 0.368707 -0.241814 9.89284 -0.0692422 -0.0106526 0.0490022 0.25 0 pose: 0.42928205 -2.77208 0.0125352 0 0.000119126 -0.00433069 0.0015708 0.999989 uwb: 0.49785041 858.195 1294.68 -imu_odom_: 1691062574.391441015 0.270545 -0.442927 9.59357 -0.0458064 0.0181095 0.0319579 0.25 0 pose: 0.0 -2.77208 0.0125352 0 0.000119126 -0.00433069 0.0015708 0.999989 uwb: 0.0 858.195 1294.68 -imu_odom_: 1691062574.418432349 0.435745 -0.385466 9.88087 -0.0628506 0 0.056459 0.24 0 pose: 0.43144606 -2.76001 0.00795248 0 -0.0019239 -0.0006282930.0016407 0.999997 uwb: 0.0 858.195 1294.68 -imu_odom_: 1691062574.443637366 0.56982 -0.272939 10.0628 -0.0426106 0.00106526 0.0394148 0.19 0 pose: 0.0 -2.76001 0.00795248 0 -0.0019239 -0.0006282930.0016407 0.999997 uwb: 0.49976360 858.841 1293.99 -imu_odom_: 1691062574.460220228 0.514753 0.00718261 10.1323 -0.052198 0.00639159 0.0511327 0.23 0 pose: 0.34913836 -2.75599 0.0102752 0 -0.00445949 -0.00173327 0.00186466 0.999987 uwb: 0.0 858.841 1293.99 -imu_odom_: 1691062574.485298672 0.40462 -0.28491 9.43555 -0.0660464 0.00213053 0.0394148 0.23 0 pose: 0.0 -2.75599 0.0102752 0 -0.00445949 -0.00173327 0.00186466 0.999987 uwb: 0.50180802 858.941 1293.13 -imu_odom_: 1691062574.512511656 0.61531 -0.591368 9.63666 -0.0937433 -0.0415453 0.0617853 0.21 0.02 pose: 0.58943821 -2.74233 0.00661775 0 -0.0034142 -0.00113629 0.00194994 0.999992 uwb: 0.0 858.941 1293.13 -imu_odom_: 1691062574.537232544 0.320823 -0.325611 9.83059 -0.0298274 -0.00319579 0.0276969 0.18 0 pose: 0.7060986 -2.74233 0.00661775 0 -0.00415125 -0.0016377 0.00202804 0.999988 uwb: 0.49687924 857.129 1291.02 -imu_odom_: 1691062574.564206088 0.811634 -0.227449 10.0221 -0.0617853 -0.052198 0.0500674 0.23 0 pose: 0.44872886 -2.73367 0.011623 0 -0.00575846 -0.0005864830.00211984 0.999981 uwb: 0.0 857.129 1291.02 -imu_odom_: 1691062574.580217620 0.476446 -0.3304 9.40203 -0.0308927 0.0735032 0.0223706 0.23 0 pose: 0.0 -2.73367 0.011623 0 -0.00575846 -0.0005864830.00211984 0.999981 uwb: 0.0 857.129 1291.02 -imu_odom_: 1691062574.597232698 0.418985 -0.208296 10.0556 -0.0575243 -0.0223706 0.0628506 0.19 0 pose: 0.0 -2.73367 0.011623 0 -0.00575846 -0.0005864830.00211984 0.999981 uwb: 0.0 857.129 1291.02 -imu_odom_: 1691062574.623218154 0.493206 -0.361524 9.62708 -0.0511327 0.0308927 0.0330232 0.19 0 pose: 0.34116482 -2.73367 0.011623 0 -0.00579544 -0.00364604 0.00218926 0.999974 uwb: 0.100271485 856.987 1290.03 -imu_odom_: 1691062574.650277150 0.277727 0.0766145 10.2376 -0.0841559 0.00319579 0.0607201 0.18 0 pose: 0.33880543 -2.72001 0.00797395 0 -0.00564434 -0.00325131 0.00228482 0.999976 uwb: 0.0 856.987 1290.03 -imu_odom_: 1691062574.676348057 0.304064 -0.0981623 9.85693 -0.0660464 -0.00532632 0.0436758 0.18 0.02 pose: 0.45047581 -2.71382 0.0115562 0 -0.00504906 -0.00267117 0.00250621 0.999981 uwb: 0.49948362 855.712 1288.16 -imu_odom_: 1691062574.703329767 0.232238 -0.0766145 10.1969 -0.072438 -0.0490022 0.0426106 0.18 0.02 pose: 0.0 -2.71382 0.0115562 0 -0.00504906 -0.00267117 0.00250621 0.999981 uwb: 0.0 855.712 1288.16 -imu_odom_: 1691062574.728202019 0.344765 -0.177171 10.1155 -0.0575243 -0.0532632 0.0351537 0.2 0 pose: 0.7957790 -2.71135 0.0129837 0 -0.00444094 -0.00221643 0.002523 0.999984 uwb: 0.49857369 854.286 1286.62 -imu_odom_: 1691062574.755204144 0.976834 -0.328006 10.0628 -0.0468716 -0.0308927 0.0255663 0.2 0 pose: 0.0 -2.71135 0.0129837 0 -0.00444094 -0.00221643 0.002523 0.999984 uwb: 0.0 854.286 1286.62 -imu_odom_: 1691062574.780208218 0.430956 -0.102951 10.0556 -0.0692422 0.0234358 0.0468716 0.19 0.02 pose: 0.53017037 -2.69769 0.00934389 0 -0.0007664310.00043292 0.00259068 0.999996 uwb: 0.50016023 855.146 1286.16 -imu_odom_: 1691062574.807256715 0.395043 -0.222661 10.0006 -0.0436758 0.0170442 0.02024 0.23 0 pose: 0.51984035 -2.68903 0.0143554 0 0.000814965 -0.00168843 0.00239423 0.999995 uwb: 0.0 855.146 1286.16 -imu_odom_: 1691062574.823233833 0.227449 -0.641646 9.60554 -0.0713727 0.015979 0.0394148 0.23 0 pose: 0.0 -2.68903 0.0143554 0 0.000814965 -0.00168843 0.00239423 0.999995 uwb: 0.50184885 855.205 1285.42 -imu_odom_: 1691062574.850320535 0.509965 -0.215478 9.79707 -0.0213053 0.0138484 0.0234358 0.25 0 pose: 0.59997821 -2.67944 0.0083548 0 -0.00137709 0.00113374 0.00218972 0.999996 uwb: 0.0 855.205 1285.42 -imu_odom_: 1691062574.875186079 0.550666 -0.344765 9.95748 -0.0692422 0.0245011 0.0553937 0.25 0 pose: 0.7071777 -2.67537 0.0107098 0 -0.00111664 0.000504218 0.00213162 0.999997 uwb: 0.49729920 855.642 1284.56 -imu_odom_: 1691062574.902278906 0.00957681 0.0143652 9.7851 -0.0490022 0.0532632 0.0287621 0.21 0 pose: 0.44880469 -2.66916 0.0142975 0 -0.00231184 -0.00268305 0.00216497 0.999991 uwb: 0.0 855.642 1284.56 -imu_odom_: 1691062574.928283318 0.258574 -0.366313 9.62708 -0.052198 -0.0511327 0.0340885 0.21 0 pose: 0.0 -2.66916 0.0142975 0 -0.00231184 -0.00268305 0.00216497 0.999991 uwb: 0.50075227 854.755 1283.24 -imu_odom_: 1691062574.953305766 0.205901 -0.232238 9.64145 -0.0713727 -0.0266316 0.0458064 0.25 0 pose: 0.53097239 -2.6617 0.00705881 0 -0.00260873 0.00163725 0.0019482 0.999993 uwb: 0.0 854.755 1283.24 -imu_odom_: 1691062574.967364743 0.497994 -0.275333 9.991 -0.0607201 -0.0468716 0.0447411 0.25 0 pose: 0.0 -2.6617 0.00705881 0 -0.00260873 0.00163725 0.0019482 0.999993 uwb: 0.0 854.755 1283.24 -imu_odom_: 1691062574.983257284 0.23942 0.0287304 9.62708 -0.0415453 -0.00745685 0.0213053 0.17 0 pose: 0.39081425 -2.65305 0.0120617 0 -0.00249336 0.00211554 0.00206773 0.999993 uwb: 0.50104975 855.508 1282.99 -imu_odom_: 1691062575.9214743 0.418985 -0.232238 9.72046 -0.0830906 -0.00426106 0.0490022 0.17 0 pose: 0.6897374 -2.65305 0.0120617 0 -0.00181041 0.0023756 0.00200665 0.999994 uwb: 0.0 855.508 1282.99 -imu_odom_: 1691062575.34252069 0.490811 -0.122104 10.1011 -0.04048 0.0287621 0.0308927 0.18 0 pose: 0.34952626 -2.64311 0.00940492 0 -0.00127661 0.000114236 0.00204787 0.999997 uwb: 0.49866996 856.46 1282.34 -imu_odom_: 1691062575.59321184 0.0215478 -0.244209 9.64624 -0.0692422 0.00532632 0.0607201 0.18 0 pose: 0.0 -2.64311 0.00940492 0 -0.00127661 0.000114236 0.00204787 0.999997 uwb: 0.0 856.46 1282.34 -imu_odom_: 1691062575.76179069 0.387861 -0.203507 10.1778 -0.04048 -0.0298274 0.0394148 0.18 0 pose: 0.7129524 -2.63938 0.00840734 0 -0.000655333-0.0001998520.00201626 0.999998 uwb: 0.0 856.46 1282.34 -imu_odom_: 1691062575.100197683 0.639252 -0.222661 9.81383 -0.072438 -0.0372843 0.052198 0.18 0 pose: 0.0 -2.63938 0.00840734 0 -0.000655333-0.0001998520.00201626 0.999998 uwb: 0.0 856.46 1282.34 -imu_odom_: 1691062575.124183634 0.529119 -0.0311246 9.81623 -0.0490022 -0.0245011 0.0383495 0.2 0 pose: 0.49853294 -2.63073 0.0134119 0 0.000577375 0.000851081 0.00219955 0.999997 uwb: 0.100182843 855.594 1280.99 -imu_odom_: 1691062575.150168219 0.378284 -0.232238 10.0365 -0.0745685 -0.015979 0.0671117 0.23 0 pose: 0.16114485 -2.63073 0.0134119 0 0.000671981 -0.0009790270.00223829 0.999997 uwb: 0.0 855.594 1280.99 -imu_odom_: 1691062575.174179834 0.433351 -0.205901 10.1011 -0.0543285 -0.00852212 0.0330232 0.23 0 pose: 0.41871588 -2.61962 0.00828472 0 0.00266868 -0.00413914 0.00233108 0.999985 uwb: 0.49736054 855.366 1279.63 -imu_odom_: 1691062575.191212122 0.325611 -0.538695 9.80186 -0.0841559 0.00426106 0.0468716 0.23 0 pose: 0.0 -2.61962 0.00828472 0 0.00266868 -0.00413914 0.00233108 0.999985 uwb: 0.0 855.366 1279.63 -imu_odom_: 1691062575.216175953 0.244209 -0.11971 10.1682 -0.0532632 -0.015979 0.0426106 0.18 0 pose: 0.7115816 -2.61706 0.00976412 0 0.00220788 -0.0035876 0.00242868 0.999988 uwb: 0.0 855.366 1279.63 -imu_odom_: 1691062575.242360314 0.21069 -0.0909797 10.2161 -0.0585895 -0.00532632 0.0372843 0.23 0.02 pose: 0.50018073 -2.61706 0.00976412 0 -0.00139234 -0.0001678660.00263672 0.999996 uwb: 0.50078735 855.115 1278.33 -imu_odom_: 1691062575.267161117 0.596156 -0.251391 10.1706 -0.0596548 -0.0170442 0.0426106 0.23 0.02 pose: 0.0 -2.61706 0.00976412 0 -0.00139234 -0.0001678660.00263672 0.999996 uwb: 0.0 855.115 1278.33 -imu_odom_: 1691062575.293172242 1.02951 -0.0287304 10.3597 -0.0191748 -0.056459 0.0266316 0.21 0 pose: 0.42942504 -2.6034 0.00612701 0 -0.0002461410.00242002 0.00270839 0.999993 uwb: 0.50104692 855.452 1277.68 -imu_odom_: 1691062575.319178700 0.699107 -0.167594 9.8258 -0.072438 -0.02024 0.0532632 0.21 0 pose: 0.0 -2.6034 0.00612701 0 -0.0002461410.00242002 0.00270839 0.999993 uwb: 0.0 855.452 1277.68 -imu_odom_: 1691062575.336235778 0.289698 -0.471658 9.73961 -0.0607201 0.0127832 0.0340885 0.23 -0.02 pose: 0.50930918 -2.59474 0.0111427 0 0.000738632 0.000188424 0.00267722 0.999996 uwb: 0.50022739 854.603 1276.36 -imu_odom_: 1691062575.362221238 0.536301 -0.476446 9.5816 -0.0649811 -0.0415453 0.0511327 0.23 -0.02 pose: 0.0 -2.59474 0.0111427 0 0.000738632 0.000188424 0.00267722 0.999996 uwb: 0.0 854.603 1276.36 -imu_odom_: 1691062575.387171946 0.201113 -0.268151 9.89763 -0.0191748 0.0245011 0.0340885 0.18 0.02 pose: 0.51018412 -2.58108 0.00750549 0 0.000912868 -0.00434927 0.00272506 0.999986 uwb: 0.49849212 855.949 1276.14 -imu_odom_: 1691062575.401223051 0.459687 -0.0837971 10.3286 -0.0479369 0.0213053 0.0575243 0.18 0.02 pose: 0.0 -2.58108 0.00750549 0 0.000912868 -0.00434927 0.00272506 0.999986 uwb: 0.0 855.949 1276.14 -imu_odom_: 1691062575.426169968 0.591368 -0.126893 10.1203 -0.0426106 0.0308927 0.0319579 0.18 0.02 pose: 0.75013694 -2.57243 0.0125219 0 -0.000708682-0.00188111 0.00292163 0.999994 uwb: 0.50032655 855.861 1275.13 -imu_odom_: 1691062575.451149548 0.653617 -0.37589 9.7851 -0.0639159 0.0149137 0.0500674 0.18 0.02 pose: 0.0 -2.57243 0.0125219 0 -0.000708682-0.00188111 0.00292163 0.999994 uwb: 0.0 855.861 1275.13 -imu_odom_: 1691062575.474210696 0.890643 -0.179565 9.80186 -0.0287621 0.0149137 0.0287621 0.18 -0.02 pose: 0.7062446 -2.57243 0.0125219 0 -0.000265797-0.0023412 0.00289354 0.999993 uwb: 0.49873418 855.687 1274.3 -imu_odom_: 1691062575.490206190 0.0383072 -0.289698 9.63666 -0.0617853 -0.0213053 0.0660464 0.18 -0.02 pose: 0.0 -2.57243 0.0125219 0 -0.000265797-0.0023412 0.00289354 0.999993 uwb: 0.0 855.687 1274.3 -imu_odom_: 1691062575.516253770 0.653617 -0.306458 9.88566 -0.0458064 -0.0117179 0.036219 0.23 -0.02 pose: 0.48989737 -2.55876 0.00889154 0 -0.000820711-0.00561085 0.002927 0.99998 uwb: 0.0 855.687 1274.3 -imu_odom_: 1691062575.541132442 0.4956 -0.500388 9.94551 -0.0553937 -0.0298274 0.0617853 0.23 -0.02 pose: 0.40898664 -2.55011 0.0139121 0 -0.000981116-0.00640097 0.00303559 0.999974 uwb: 0.50212016 855.365 1273.17 -imu_odom_: 1691062575.558198269 0.565032 -0.169988 9.83299 -0.0553937 0.00213053 0.036219 0.21 0.02 pose: 0.42958544 -2.53912 0.00873045 0 -0.00419331 -0.00773945 0.00330701 0.999956 uwb: 0.0 855.365 1273.17 -imu_odom_: 1691062575.583199431 0.411803 -0.349553 9.7851 -0.0990696 -0.0319579 0.0671117 0.21 0.02 pose: 0.0 -2.53912 0.00873045 0 -0.00419331 -0.00773945 0.00330701 0.999956 uwb: 0.50028281 854.63 1271.68 -imu_odom_: 1691062575.608135557 0.416591 -0.579397 9.44752 -0.0607201 0.0426106 0.0245011 0.18 0 pose: 0.24035238 -2.53644 0.0102881 0 -0.00300903 -0.00733804 0.00336364 0.999963 uwb: 0.0 854.63 1271.68 -imu_odom_: 1691062575.633128845 0.146046 -0.246603 9.93833 -0.0415453 -0.0276969 0.0575243 0.18 0 pose: 0.0 -2.53644 0.0102881 0 -0.00300903 -0.00733804 0.00336364 0.999963 uwb: 0.50041113 854.941 1271.1 -imu_odom_: 1691062575.650122344 1.02951 -0.244209 10.2496 -0.0266316 -0.0319579 0.0223706 0.18 0 pose: 0.49030276 -2.5278 0.015316 0 -0.00655969 -0.00413466 0.00350569 0.999964 uwb: 0.0 854.941 1271.1 -imu_odom_: 1691062575.675254163 0.751779 -0.301669 9.61511 -0.0671117 0.0234358 0.0681769 0.18 0 pose: 0.0 -2.5278 0.015316 0 -0.00655969 -0.00413466 0.00350569 0.999964 uwb: 0.50022448 855.565 1270.5 -imu_odom_: 1691062575.702123012 0.536301 -0.0526724 10.1275 -0.0692422 -0.0298274 0.0436758 0.18 0 pose: 0.43936134 -2.52277 0.00667314 0 -0.00538764 -0.0051393 0.00364192 0.999966 uwb: 0.0 855.565 1270.5 -imu_odom_: 1691062575.727301202 0.399832 -0.581791 10.0485 -0.0809601 -0.00319579 0.056459 0.18 -0.02 pose: 0.43988922 -2.51413 0.0117055 0 -0.0028794 -0.00695794 0.00391313 0.999964 uwb: 0.49797007 855.124 1269.62 -imu_odom_: 1691062575.752176374 0.131681 -0.308852 9.92875 -0.0681769 -0.00745685 0.0553937 0.18 -0.02 pose: 0.8198398 -2.51413 0.0117055 0 -0.00373308 -0.00661572 0.00398775 0.999963 uwb: 0.0 855.124 1269.62 -imu_odom_: 1691062575.774163106 0.272939 -0.0861913 10.0533 -0.0649811 -0.0245011 0.0415453 0.18 0 pose: 0.41854964 -2.50172 0.0102811 0 -0.00558051 -0.00346009 0.0043515 0.999969 uwb: 0.49950704 856.051 1269.02 -imu_odom_: 1691062575.790111354 0.641646 -0.232238 9.75637 -0.052198 -0.0468716 0.0298274 0.18 0 pose: 0.0 -2.50172 0.0102811 0 -0.00558051 -0.00346009 0.0043515 0.999969 uwb: 0.0 856.051 1269.02 -imu_odom_: 1691062575.817238891 0.665588 -0.258574 10.003 -0.0649811 -0.0117179 0.0415453 0.23 0 pose: 0.37934980 -2.49589 0.0107689 0 -0.00349768 -0.00413724 0.00429252 0.999976 uwb: 0.0 856.051 1269.02 -imu_odom_: 1691062575.833244593 0.153229 -0.102951 9.76355 -0.036219 0.0223706 0.0330232 0.23 0 pose: 0.0 -2.49589 0.0107689 0 -0.00349768 -0.00413724 0.00429252 0.999976 uwb: 0.49908124 857.066 1268.82 -imu_odom_: 1691062575.860128607 0.320823 -0.383072 9.70849 -0.0777643 -0.0117179 0.0511327 0.26 -0.02 pose: 0.43133239 -2.49181 0.0131506 0 -0.00242553 -0.00525139 0.00425602 0.999974 uwb: 0.0 857.066 1268.82 -imu_odom_: 1691062575.885230970 0.155623 -0.258574 10.4267 -0.0394148 0 0.0276969 0.26 -0.02 pose: 0.0 -2.49181 0.0131506 0 -0.00242553 -0.00525139 0.00425602 0.999974 uwb: 0.50112857 856.64 1267.36 -imu_odom_: 1691062575.909119803 0.387861 -0.349553 9.87608 -0.0649811 -0.0223706 0.0394148 0.22 0 pose: 0.51986377 -2.47814 0.00955932 0 -0.00368935 -0.0005766430.00428401 0.999984 uwb: 0.0 856.64 1267.36 -imu_odom_: 1691062575.924186703 0.476446 -0.25618 9.53611 -0.0191748 -0.00106526 0.0276969 0.22 0 pose: 0.0 -2.47814 0.00955932 0 -0.00368935 -0.0005766430.00428401 0.999984 uwb: 0.49991825 856.01 1266.3 -imu_odom_: 1691062575.948243231 0.725443 -0.433351 10.0963 -0.0703074 -0.00745685 0.0543285 0.19 0 pose: 0.38955733 -2.4695 0.0146023 0 -0.00470184 -0.00095107 0.00419122 0.99998 uwb: 0.0 856.01 1266.3 -imu_odom_: 1691062575.973127736 0.560243 0.0287304 9.78031 -0.04048 0.0255663 0.0308927 0.19 0 pose: 0.0 -2.4695 0.0146023 0 -0.00470184 -0.00095107 0.00419122 0.99998 uwb: 0.50001742 856.623 1265.72 -imu_odom_: 1691062575.998108775 0.373495 -0.430956 9.81862 -0.0681769 -0.00958738 0.0458064 0.19 0 pose: 0.48941033 -2.45825 0.0095923 0 -0.00319623 -0.00348485 0.00423791 0.99998 uwb: 0.0 856.623 1265.72 -imu_odom_: 1691062576.24111445 -0.0742203 -0.0335188 9.72764 -0.0671117 0.0308927 0.052198 0.19 0.02 pose: 0.0 -2.45825 0.0095923 0 -0.00319623 -0.00348485 0.00423791 0.99998 uwb: 0.49977537 857.127 1264.78 -imu_odom_: 1691062576.50098076 0.442927 -0.40462 9.79947 -0.0735032 0.00639159 0.0266316 0.19 0.02 pose: 0.33170980 -2.45582 0.011009 0 -0.00513335 -0.00136625 0.00438077 0.999976 uwb: 0.0 857.127 1264.78 -imu_odom_: 1691062576.67154282 0.380678 -0.169988 10.4196 -0.0468716 -0.00426106 0.0330232 0.22 0 pose: 0.0 -2.45582 0.011009 0 -0.00513335 -0.00136625 0.00438077 0.999976 uwb: 0.0 857.127 1264.78 -imu_odom_: 1691062576.83097866 0.486023 -0.246603 9.56962 -0.0745685 0.00319579 0.0468716 0.22 0 pose: 0.50867932 -2.44214 0.00741937 0 -0.00623675 -0.0003607640.00430031 0.999971 uwb: 0.49973169 857.406 1264.27 -imu_odom_: 1691062576.100094577 0.356736 -0.423774 9.98622 -0.0340885 0.0117179 0.02024 0.22 0 pose: 0.0 -2.44214 0.00741937 0 -0.00623675 -0.0003607640.00430031 0.999971 uwb: 0.0 857.406 1264.27 -imu_odom_: 1691062576.125112367 0.141258 -0.414197 10.5919 -0.0660464 -0.0298274 0.072438 0.18 0 pose: 0.42927929 -2.43765 0.010047 0 -0.0056248 -0.0003593760.00416054 0.999975 uwb: 0.49889467 858.478 1263.93 -imu_odom_: 1691062576.142102661 0.902614 -0.356736 8.73644 -0.0340885 0.126766 0.0500674 0.18 0 pose: 0.8236604 -2.43351 0.0124615 0 -0.00591126 0.000323297 0.00430094 0.999973 uwb: 0.0 858.478 1263.93 -imu_odom_: 1691062576.166234146 0.993594 -0.481235 9.01417 -0.0543285 -0.00319579 0.0660464 0.18 0 pose: 0.0 -2.43351 0.0124615 0 -0.00591126 0.000323297 0.00430094 0.999973 uwb: 0.0 858.478 1263.93 -imu_odom_: 1691062576.193114957 0.390255 -0.009576819.44513 -0.0490022 0.04048 0.0266316 0.21 0 pose: 0.40809720 -2.43351 0.0124615 0 -0.00657186 0.000451561 0.00474589 0.999967 uwb: 0.50007291 858.487 1262.81 -imu_odom_: 1691062576.218284693 0.430956 -0.471658 9.48822 -0.0958738 0.0170442 0.072438 0.2 0 pose: 0.43974056 -2.41983 0.0088835 0 -0.00421125 -0.0003104830.00478163 0.99998 uwb: 0.0 858.487 1262.81 -imu_odom_: 1691062576.243088125 0.469264 -0.323217 9.50498 -0.0596548 -0.00319579 0.0415453 0.2 0 pose: 0.0 -2.41983 0.0088835 0 -0.00421125 -0.0003104830.00478163 0.99998 uwb: 0.50126865 859.474 1262.62 -imu_odom_: 1691062576.264141309 0.442927 -0.102951 10.2999 -0.0809601 0.00319579 0.0585895 0.22 -0.02 pose: 0.32175604 -2.4112 0.0139388 0 -0.00694221 -0.00100368 0.0051953 0.999962 uwb: 0.0 859.474 1262.62 -imu_odom_: 1691062576.278151879 0.428562 -0.301669 9.58878 -0.0447411 0 0.0276969 0.22 -0.02 pose: 0.0 -2.4112 0.0139388 0 -0.00694221 -0.00100368 0.0051953 0.999962 uwb: 0.50122782 859.117 1261.09 -imu_odom_: 1691062576.303223623 0.299275 -0.555455 9.03572 -0.0788296 0.00532632 0.0500674 0.17 0.02 pose: 0.52861318 -2.40385 0.0120226 0 -0.00457168 -0.00100107 0.00531845 0.999975 uwb: 0.0 859.117 1261.09 -imu_odom_: 1691062576.320188252 0.304064 -0.160412 9.9527 -0.0596548 -0.0234358 0.0394148 0.17 0.02 pose: 0.6938498 -2.39751 0.0103731 0 -0.00528367 -0.0006771720.00535655 0.999971 uwb: 0.0 859.117 1261.09 -imu_odom_: 1691062576.346187716 0.497994 -0.181959 10.228 -0.0628506 -0.0255663 0.0532632 0.18 0.02 pose: 0.0 -2.39751 0.0103731 0 -0.00528367 -0.0006771720.00535655 0.999971 uwb: 0.49892675 859.077 1260.08 -imu_odom_: 1691062576.371115680 1.32399 -0.0047884 10.386 -0.0468716 -0.0223706 0.0298274 0.24 0 pose: 0.43163285 -2.39751 0.0103731 0 -0.00503962 0.000190729 0.005515 0.999972 uwb: 0.49832888 859.243 1259.23 -imu_odom_: 1691062576.396097598 0.713472 -0.208296 9.72046 -0.0681769 -0.00639159 0.0511327 0.18 0.02 pose: 0.42862018 -2.38889 0.0154379 0 -0.00279094 -0.00367344 0.00550371 0.999974 uwb: 0.0 859.243 1259.23 -imu_odom_: 1691062576.420089385 0.289698 -0.124498 9.70131 -0.0340885 -0.00958738 0.0319579 0.18 0 pose: 0.0 -2.38889 0.0154379 0 -0.00279094 -0.00367344 0.00550371 0.999974 uwb: 0.0 859.243 1259.23 -imu_odom_: 1691062576.437089595 0.220267 -0.35913 10.082 -0.0617853 -0.00319579 0.0468716 0.18 0 pose: 0.31987202 -2.3752 0.0118811 0 -0.00190239 -0.00553175 0.00561148 0.999967 uwb: 0.49995042 859.31 1258.57 -imu_odom_: 1691062576.462072679 0.823605 -0.335188 9.54329 -0.0511327 -0.00319579 0.0266316 0.18 0 pose: 0.0 -2.3752 0.0118811 0 -0.00190239 -0.00553175 0.00561148 0.999967 uwb: 0.0 859.31 1258.57 -imu_odom_: 1691062576.487211502 0.658405 -0.555455 9.50737 -0.0671117 -0.0276969 0.0617853 0.18 0 pose: 0.41981253 -2.3752 0.0118811 0 -0.00183082 -0.00333955 0.00555978 0.999977 uwb: 0.50066203 860.369 1258.23 -imu_odom_: 1691062576.501182116 0.720655 -0.201113 9.94312 -0.0553937 -0.0255663 0.0394148 0.18 0 pose: 0.0 -2.3752 0.0118811 0 -0.00183082 -0.00333955 0.00555978 0.999977 uwb: 0.0 860.369 1258.23 -imu_odom_: 1691062576.526053792 0.222661 -0.251391 10.2137 -0.0372843 -0.00532632 0.0436758 0.18 0 pose: 0.48129397 -2.36152 0.00832385 0 -0.00424426 -0.00707956 0.00573085 0.99995 uwb: 0.50099451 859.852 1257.04 -imu_odom_: 1691062576.552341108 1.01514 -0.112527 9.91439 -0.0223706 -0.0170442 0.0266316 0.23 0 pose: 0.32840260 -2.35536 0.0119432 0 -0.00334201 -0.00540176 0.00578498 0.999963 uwb: 0.0 859.852 1257.04 -imu_odom_: 1691062576.578077509 0.543484 -0.3304 9.73004 -0.0458064 -0.00106526 0.0532632 0.23 0 pose: 0.0 -2.35536 0.0119432 0 -0.00334201 -0.00540176 0.00578498 0.999963 uwb: 0.50011374 858.731 1255.37 -imu_odom_: 1691062576.605206217 0.418985 -0.0742203 9.64863 -0.0415453 0.00958738 0.0383495 0.23 -0.02 pose: 0.7188437 -2.3529 0.0133925 0 -0.0029922 -0.00612859 0.00573569 0.99996 uwb: 0.0 858.731 1255.37 -imu_odom_: 1691062576.630098017 0.191536 -0.229843 9.85214 -0.0703074 -0.0127832 0.0479369 0.23 -0.02 pose: 0.0 -2.3529 0.0133925 0 -0.0029922 -0.00612859 0.00573569 0.99996 uwb: 0.50007291 859.387 1254.71 -imu_odom_: 1691062576.647093561 0.25618 -0.0814029 10.0078 -0.0426106 0.00852212 0.0415453 0.21 0 pose: 0.52841486 -2.3529 0.0133925 0 -0.003722 -0.00709511 0.00579485 0.999951 uwb: 0.0 859.387 1254.71 -imu_odom_: 1691062576.671100805 0.713472 -0.308852 10.0365 -0.0809601 -0.00958738 0.056459 0.21 0 pose: 0.0 -2.3529 0.0133925 0 -0.003722 -0.00709511 0.00579485 0.999951 uwb: 0.49970543 857.509 1252.88 -imu_odom_: 1691062576.698065318 0.572214 -0.251391 10.2352 -0.0500674 0 0.036219 0.21 0 pose: 0.50972924 -2.33921 0.00984227 0 -0.00148216 -0.00303802 0.00588869 0.999977 uwb: 0.0 857.509 1252.88 -imu_odom_: 1691062576.722125350 0.802058 -0.339977 9.53132 -0.0628506 0.0372843 0.04048 0.21 0 pose: 0.0 -2.33921 0.00984227 0 -0.00148216 -0.00303802 0.00588869 0.999977 uwb: 0.49878677 858.609 1252.47 -imu_odom_: 1691062576.740042488 0.234632 -0.0095768110.1418 -0.0191748 -0.0287621 0.0308927 0.2 0 pose: 0.41995252 -2.33059 0.014913 0 -0.00174738 -0.00533565 0.00608476 0.999966 uwb: 0.0 858.609 1252.47 -imu_odom_: 1691062576.763115306 0.0790087 -0.363919 9.7875 -0.0660464 -0.0468716 0.0639159 0.2 0 pose: 0.0 -2.33059 0.014913 0 -0.00174738 -0.00533565 0.00608476 0.999966 uwb: 0.0 858.609 1252.47 -imu_odom_: 1691062576.787256998 0.622492 -0.244209 9.71088 -0.052198 -0.0287621 0.0426106 0.23 0 pose: 0.51084040 -2.3169 0.0113702 0 -0.00195454 -0.0084246 0.00602473 0.999944 uwb: 0.50009624 857.43 1250.97 -imu_odom_: 1691062576.804186338 0.715866 0.136469 10.2208 -0.100135 -0.0500674 0.0617853 0.23 0 pose: 0.0 -2.3169 0.0113702 0 -0.00195454 -0.0084246 0.00602473 0.999944 uwb: 0.0 857.43 1250.97 -imu_odom_: 1691062576.830203009 0.342371 -0.0885855 9.89524 -0.127832 -0.02024 0.072438 0.18 -0.02 pose: 0.40975082 -2.30828 0.0164453 0 -0.00183646 -0.00690591 0.00627868 0.999955 uwb: 0.50129198 857.176 1249.38 -imu_odom_: 1691062576.855060978 0.282516 -0.368707 10.1131 -0.0660464 -0.0245011 0.0223706 0.18 -0.02 pose: 0.42096160 -2.3032 0.00783116 0 -0.000356753-0.0089381 0.00661147 0.999938 uwb: 0.0 857.176 1249.38 -imu_odom_: 1691062576.878025596 0.636858 -0.0454898 9.84256 -0.0458064 0.0276969 0.0330232 0.18 0 pose: 0.41853805 -2.29459 0.0129144 0 -0.00151098 -0.00566157 0.00667258 0.999961 uwb: 0.49931463 856.876 1248.4 -imu_odom_: 1691062576.895101633 0.694318 -0.392649 9.80904 -0.0671117 -0.0500674 0.0436758 0.18 0 pose: 0.0 -2.29459 0.0129144 0 -0.00151098 -0.00566157 0.00667258 0.999961 uwb: 0.0 856.876 1248.4 -imu_odom_: 1691062576.920101633 0.572214 -0.0981623 9.81623 -0.0458064 -0.0809601 0.0372843 0.18 -0.02 pose: 0.5994156 -2.29459 0.0129144 0 -0.000971445-0.00587868 0.00664957 0.99996 uwb: 0.0 856.876 1248.4 -imu_odom_: 1691062576.945095509 0.426168 -0.134075 10.4818 -0.0671117 -0.0756338 0.0479369 0.18 -0.02 pose: 0.0 -2.29459 0.0129144 0 -0.000971445-0.00587868 0.00664957 0.99996 uwb: 0.49920090 857.095 1247.52 -imu_odom_: 1691062576.970245122 -0.0143652 -0.407014 10.5273 -0.0468716 0.00639159 0.0234358 0.25 0.02 pose: 0.40996371 -2.28598 0.0179981 0 -8.9105e-05 -0.00835314 0.00661425 0.999943 uwb: 0.49934380 857.018 1246.65 -imu_odom_: 1691062576.996030810 0.696713 -0.146046 10.1945 -0.0330232 -0.036219 0.0308927 0.19 -0.02 pose: 0.50011958 -2.27228 0.0144695 0 0.00204214 -0.00700521 0.00661639 0.999951 uwb: 0.0 857.018 1246.65 -imu_odom_: 1691062577.13015273 0.557849 -0.366313 9.74919 -0.0479369 -0.00852212 0.0447411 0.19 -0.02 pose: 0.0 -2.27228 0.0144695 0 0.00204214 -0.00700521 0.00661639 0.999951 uwb: 0.0 857.018 1246.65 -imu_odom_: 1691062577.38091980 0.356736 -0.488417 10.3717 -0.0596548 0 0.04048 0.18 -0.02 pose: 0.60951810 -2.26472 0.0125183 0 0.000632582 -0.00818122 0.00641963 0.999946 uwb: 0.50013419 856.076 1245.31 -imu_odom_: 1691062577.55014907 0.603339 -0.0287304 9.67257 -0.036219 0.0287621 0.0308927 0.18 -0.02 pose: 0.8076785 -2.25859 0.0109357 0 -3.51082e-05-0.00768307 0.00642818 0.99995 uwb: 0.0 856.076 1245.31 -imu_odom_: 1691062577.80015203 0.21069 -0.325611 9.91678 -0.056459 -0.00319579 0.0415453 0.18 0.02 pose: 0.0 -2.25859 0.0109357 0 -3.51082e-05-0.00768307 0.00642818 0.99995 uwb: 0.49979301 856.945 1244.81 -imu_odom_: 1691062577.105161029 0.11971 -0.342371 9.42358 -0.0756338 -0.0106526 0.0500674 0.18 0.02 pose: 0.41940139 -2.25859 0.0109357 0 4.69079e-05 -0.00613511 0.00637139 0.999961 uwb: 0.0 856.945 1244.81 -imu_odom_: 1691062577.119071567 0.347159 -0.560243 9.79228 -0.0703074 -0.00639159 0.0500674 0.18 0.02 pose: 0.0 -2.25859 0.0109357 0 4.69079e-05 -0.00613511 0.00637139 0.999961 uwb: 0.0 856.945 1244.81 -imu_odom_: 1691062577.142229840 0.397437 -0.344765 9.64624 -0.0426106 -0.00106526 0.0330232 0.19 0 pose: 0.48008664 -2.24997 0.0160147 0 -0.00218307 -0.00205222 0.00655941 0.999974 uwb: 0.50322567 856.238 1243.57 -imu_odom_: 1691062577.167010819 0.371101 -0.593762 9.46188 -0.0639159 0.0138484 0.0447411 0.23 0 pose: 0.0 -2.24997 0.0160147 0 -0.00218307 -0.00205222 0.00655941 0.999974 uwb: 0.0 856.238 1243.57 -imu_odom_: 1691062577.192171228 0.557849 -0.225055 9.96467 -0.0511327 -0.02024 0.0532632 0.23 0 pose: 0.31188979 -2.23909 0.0108279 0 -0.00490151 -0.0006788420.00653471 0.999966 uwb: 0.49781567 854.918 1241.94 -imu_odom_: 1691062577.217051658 0.397437 -0.318429 9.84496 -0.0447411 -0.00213053 0.0415453 0.18 -0.02 pose: 0.7818680 -2.23628 0.0124846 0 -0.00570885 -0.0004946690.00655557 0.999962 uwb: 0.0 854.918 1241.94 -imu_odom_: 1691062577.242153446 0.447716 -0.217872 9.72764 -0.0607201 -0.00426106 0.056459 0.18 -0.02 pose: 0.0 -2.23628 0.0124846 0 -0.00570885 -0.0004946690.00655557 0.999962 uwb: 0.49884809 855.193 1241 -imu_odom_: 1691062577.259168533 0.426168 -0.380678 10.1347 -0.0628506 0.0340885 0.0447411 0.2 0.02 pose: 0.50052796 -2.22767 0.017568 0 -0.00555618 -0.00137415 0.00677243 0.999961 uwb: 0.0 855.193 1241 -imu_odom_: 1691062577.284030298 0.481235 -0.114922 9.78989 -0.076699 0.0149137 0.0681769 0.2 0.02 pose: 0.0 -2.22767 0.017568 0 -0.00555618 -0.00137415 0.00677243 0.999961 uwb: 0.49995634 854.926 1239.55 -imu_odom_: 1691062577.309011637 0.505177 -0.411803 10.0173 -0.0777643 0.0319579 0.0426106 0.2 -0.02 pose: 0.49211112 -2.22258 0.00895797 0 -0.00378268 -0.0007578640.00702324 0.999968 uwb: 0.0 854.926 1239.55 -imu_odom_: 1691062577.333005469 0.483629 -0.217872 9.8689 -0.0788296 0.0234358 0.052198 0.2 -0.02 pose: 0.0 -2.22258 0.00895797 0 -0.00378268 -0.0007578640.00702324 0.999968 uwb: 0.50067087 854.998 1238.49 -imu_odom_: 1691062577.350286535 0 -0.246603 9.71806 -0.04048 -0.0106526 0.0394148 0.22 0 pose: 0.41831647 -2.21397 0.0140482 0 -0.00341634 -0.00141301 0.00740767 0.999966 uwb: 0.0 854.998 1238.49 -imu_odom_: 1691062577.366123089 0.344765 -0.0670376 10.4962 -0.0436758 0.00639159 0.0351537 0.22 0 pose: 0.0 -2.21397 0.0140482 0 -0.00341634 -0.00141301 0.00740767 0.999966 uwb: 0.0 854.998 1238.49 -imu_odom_: 1691062577.384067937 0.447716 -0.426168 9.96467 -0.0532632 -0.052198 0.0447411 0.25 0 pose: 0.48862014 -2.20027 0.0105421 0 -0.00316157 -0.00190419 0.00757476 0.999965 uwb: 0.50180244 855.329 1237.94 -imu_odom_: 1691062577.407115677 0.339977 -0.28491 9.82341 -0.0511327 -0.0213053 0.0351537 0.25 0 pose: 0.0 -2.20027 0.0105421 0 -0.00316157 -0.00190419 0.00757476 0.999965 uwb: 0.0 855.329 1237.94 -imu_odom_: 1691062577.431063138 0.00957681 -0.411803 9.92875 -0.0660464 -0.0181095 0.0500674 0.23 0 pose: 0.34121458 -2.20027 0.0105421 0 -0.00221692 -0.00063703 0.00756341 0.999969 uwb: 0.49944304 854.979 1236.65 -imu_odom_: 1691062577.456983862 0.35913 -0.332794 9.84735 -0.0415453 -0.0426106 0.0372843 0.23 0 pose: 0.0 -2.20027 0.0105421 0 -0.00221692 -0.00063703 0.00756341 0.999969 uwb: 0.0 854.979 1236.65 -imu_odom_: 1691062577.473130725 0.73502 -0.150835 9.79468 -0.0639159 -0.0266316 0.0532632 0.18 -0.02 pose: 0.40881763 -2.19167 0.0156416 0 -0.00368375 0.00169426 0.00759039 0.999963 uwb: 0.49784776 854.116 1235.29 -imu_odom_: 1691062577.490155728 0.581791 -0.366313 9.77074 -0.0553937 0.0127832 0.0330232 0.18 -0.02 pose: 0.0 -2.19167 0.0156416 0 -0.00368375 0.00169426 0.00759039 0.999963 uwb: 0.0 854.116 1235.29 -imu_odom_: 1691062577.514011030 0.414197 -0.373495 10.0461 -0.0639159 0.00532632 0.0468716 0.18 0 pose: 0.48035787 -2.17797 0.0121396 0 -0.00619353 0.000844844 0.00767806 0.999951 uwb: 0.0 854.116 1235.29 -imu_odom_: 1691062577.538040151 0.905008 -0.347159 9.5385 -0.0447411 -0.0117179 0.0287621 0.18 0 pose: 0.0 -2.17797 0.0121396 0 -0.00619353 0.000844844 0.00767806 0.999951 uwb: 0.50066211 854.445 1234.3 -imu_odom_: 1691062577.562983577 0.672771 -0.59855 9.59835 -0.076699 -0.0308927 0.0681769 0.25 0 pose: 0.35108089 -2.16937 0.0172411 0 -0.00686168 -0.00124404 0.00770902 0.999946 uwb: 0.0 854.445 1234.3 -imu_odom_: 1691062577.576085094 0.703895 -0.213084 9.88087 -0.052198 -0.0298274 0.0372843 0.25 0 pose: 0.0 -2.16937 0.0172411 0 -0.00686168 -0.00124404 0.00770902 0.999946 uwb: 0.49992134 854.894 1233.58 -imu_odom_: 1691062577.599977143 0.198719 -0.328006 9.74201 -0.0458064 0.0127832 0.04048 0.17 0.02 pose: 0.46889043 -2.16427 0.00864041 0 -0.0086295 -0.00345027 0.00772227 0.999927 uwb: 0.0 854.894 1233.58 -imu_odom_: 1691062577.626060313 0.730232 -0.304064 10.3358 -0.00745685 -0.0298274 0.0223706 0.17 0.02 pose: 0.0 -2.16427 0.00864041 0 -0.0086295 -0.00345027 0.00772227 0.999927 uwb: 0.49956262 854.43 1232.51 -imu_odom_: 1691062577.650998489 0.488417 -0.363919 9.84017 -0.0490022 -0.0213053 0.0607201 0.18 0.02 pose: 0.38974412 -2.15567 0.0137432 0 -0.00899007 -0.00518109 0.00795604 0.999915 uwb: 0.0 854.43 1232.51 -imu_odom_: 1691062577.667976245 0.481235 -0.158017 9.93354 -0.0479369 0.00532632 0.0447411 0.18 0.02 pose: 0.0 -2.15567 0.0137432 0 -0.00899007 -0.00518109 0.00795604 0.999915 uwb: 0.0 854.43 1232.51 -imu_odom_: 1691062577.692035989 0.56982 -0.220267 9.99819 -0.072438 0.0191748 0.0553937 0.18 -0.02 pose: 0.50987515 -2.14707 0.0188489 0 -0.00734212 -0.005485 0.00783439 0.999927 uwb: 0.49978427 854.716 1231.6 -imu_odom_: 1691062577.716981165 0.888249 -0.169988 10.082 -0.0575243 -0.00745685 0.0394148 0.18 -0.02 pose: 0.0 -2.14707 0.0188489 0 -0.00734212 -0.005485 0.00783439 0.999927 uwb: 0.0 854.716 1231.6 -imu_odom_: 1691062577.739968826 0.488417 -0.397437 9.59596 -0.092678 -0.0191748 0.0681769 0.18 0 pose: 0.41020002 -2.14196 0.0102501 0 -0.00539744 -0.00437864 0.00811253 0.999943 uwb: 0.50251989 852.746 1229.38 -imu_odom_: 1691062577.764015446 -0.0646434 -0.457293 9.34457 -0.0532632 0.0330232 0.0255663 0.18 0 pose: 0.0 -2.14196 0.0102501 0 -0.00539744 -0.00437864 0.00811253 0.999943 uwb: 0.0 852.746 1229.38 -imu_odom_: 1691062577.782097950 0.73502 -0.0837971 10.2999 -0.0585895 -0.0266316 0.0479369 0.19 0.02 pose: 0.47959376 -2.13337 0.0153594 0 -0.00423108 -0.00731493 0.00831526 0.99993 uwb: 0.49619413 852.768 1228.46 -imu_odom_: 1691062577.805090861 1.1133 -0.270545 9.9934 -0.0298274 -0.0245011 0.0255663 0.19 0.02 pose: 0.0 -2.13337 0.0153594 0 -0.00423108 -0.00731493 0.00831526 0.99993 uwb: 0.0 852.768 1228.46 -imu_odom_: 1691062577.831025584 0.452504 -0.42138 9.75398 -0.0628506 -0.00213053 0.0681769 0.23 0 pose: 0.48008372 -2.11966 0.0118784 0 -0.00591893 -0.00457857 0.00843001 0.999936 uwb: 0.50296027 853.223 1228.2 -imu_odom_: 1691062577.856107831 0.804452 0.0742203 10.137 -0.0596548 -0.0223706 0.0458064 0.23 0 pose: 0.0 -2.11966 0.0118784 0 -0.00591893 -0.00457857 0.00843001 0.999936 uwb: 0.0 853.223 1228.2 -imu_odom_: 1691062577.874149213 0.308852 -0.572214 9.74679 -0.0553937 0.0340885 0.0596548 0.19 0.02 pose: 0.41055583 -2.11107 0.0169925 0 -0.00533097 -0.00737401 0.00841478 0.999923 uwb: 0.49956553 852.709 1227.25 -imu_odom_: 1691062577.898149754 0.272939 -0.42138 9.87369 -0.0330232 0.036219 0.0298274 0.19 0.02 pose: 0.0 -2.11107 0.0169925 0 -0.00533097 -0.00737401 0.00841478 0.999923 uwb: 0.0 852.709 1227.25 -imu_odom_: 1691062577.921245615 0.488417 -0.387861 9.92157 -0.0777643 -0.00958738 0.0532632 0.22 0 pose: 0.50979057 -2.09736 0.0135227 0 -0.00528826 -0.00707226 0.00883041 0.999922 uwb: 0.49983385 852.432 1225.94 -imu_odom_: 1691062577.948025813 0.509965 -0.186748 9.82102 -0.0319579 -0.0213053 0.0308927 0.22 0 pose: 0.41979510 -2.09736 0.0135227 0 -0.00740175 -0.00379367 0.00889448 0.999926 uwb: 0.0 852.432 1225.94 -imu_odom_: 1691062577.964004689 0.0837971 -0.258574 9.9934 -0.0575243 -0.00106526 0.0532632 0.19 0.05 pose: 0.42019757 -2.08501 0.012353 0 -0.0059845 -0.0049431 0.00887207 0.999931 uwb: 0.0 852.432 1225.94 -imu_odom_: 1691062577.988095640 0.351948 -0.0814029 9.94073 -0.0372843 0.0213053 0.0426106 0.19 0.05 pose: 0.0 -2.08501 0.012353 0 -0.0059845 -0.0049431 0.00887207 0.999931 uwb: 0.49964136 852.713 1225.08 -imu_odom_: 1691062578.13179639 0.383072 -0.399832 9.80186 -0.0756338 -0.00426106 0.0607201 0.25 0.02 pose: 0.6938791 -2.08365 0.0100579 0 -0.00587497 -0.0042475 0.00892298 0.999934 uwb: 0.0 852.713 1225.08 -imu_odom_: 1691062578.39095118 0.368707 -0.186748 9.71806 -0.0447411 0.00639159 0.0394148 0.25 0.02 pose: 0.0 -2.08365 0.0100579 0 -0.00587497 -0.0042475 0.00892298 0.999934 uwb: 0.50117253 851.72 1223.18 -imu_odom_: 1691062578.65154377 0.282516 -0.466869 10.1394 -0.0575243 -0.0298274 0.0458064 0.21 0 pose: 0.40995796 -2.07506 0.0151817 0 -0.00413569 -0.00165075 0.00910909 0.999949 uwb: 0.0 851.72 1223.18 -imu_odom_: 1691062578.81143755 0.749385 0.205901 9.87129 -0.0319579 -0.00745685 0.0394148 0.21 0 pose: 0.0 -2.07506 0.0151817 0 -0.00413569 -0.00165075 0.00910909 0.999949 uwb: 0.49722955 851.244 1222.21 -imu_odom_: 1691062578.107062733 0.351948 -0.11971 10.1155 -0.056459 0.0170442 0.0575243 0.18 -0.02 pose: 0.50144671 -2.06647 0.020311 0 -0.00390828 0.000406817 0.00931982 0.999949 uwb: 0.0 851.244 1222.21 -imu_odom_: 1691062578.127989059 0.864307 -0.217872 10.0892 -0.0383495 -0.00319579 0.0351537 0.18 -0.02 pose: 0.26890153 -2.06134 0.0117269 0 -0.00480913 0.000710161 0.00938059 0.999944 uwb: 0.50145255 851.111 1221.16 -imu_odom_: 1691062578.140926675 0.469264 -0.253785 9.85214 -0.0479369 0.04048 0.056459 0.18 -0.02 pose: 0.39962508 -2.05276 0.0168576 0 -0.00146312 0.000605128 0.00959896 0.999953 uwb: 0.0 851.111 1221.16 -imu_odom_: 1691062578.165098123 0.117316 -0.0383072 9.80426 -0.0319579 0.0426106 0.0223706 0.18 -0.02 pose: 0.0 -2.05276 0.0168576 0 -0.00146312 0.000605128 0.00959896 0.999953 uwb: 0.0 851.111 1221.16 -imu_odom_: 1691062578.182141211 0.260968 -0.222661 9.59835 -0.0735032 -0.0394148 0.052198 0.23 0 pose: 0.52140391 -2.04355 0.0145421 0 1.13917e-05 0.000776007 0.00946343 0.999955 uwb: 0.49889776 850.845 1219.9 -imu_odom_: 1691062578.208054356 0.225055 -0.550666 9.51695 -0.0479369 0.0138484 0.0223706 0.23 0 pose: 0.0 -2.04355 0.0145421 0 1.13917e-05 0.000776007 0.00946343 0.999955 uwb: 0.0 850.845 1219.9 -imu_odom_: 1691062578.232935957 0.308852 -0.42138 10.0676 -0.0575243 0.00213053 0.0607201 0.21 0.02 pose: 0.7890427 -2.03905 0.0134097 0 -0.0001181930.00142386 0.00951319 0.999954 uwb: 0.50084010 850.945 1219.34 -imu_odom_: 1691062578.256002950 0.368707 -0.289698 10.2472 -0.0287621 0.0223706 0.0276969 0.18 0.02 pose: 0.0 -2.03905 0.0134097 0 -0.0001181930.00142386 0.00951319 0.999954 uwb: 0.0 850.945 1219.34 -imu_odom_: 1691062578.279924459 0.397437 -0.301669 10.0365 -0.0628506 0.00106526 0.0649811 0.18 0 pose: 0.66976609 -2.03046 0.0185416 0 -0.00460412 0.00334781 0.00955393 0.999938 uwb: 0.49995351 850.34 1218.58 -imu_odom_: 1691062578.297054456 0.593762 -0.363919 9.46907 -0.0490022 0.0436758 0.0426106 0.18 0 pose: 0.0 -2.03046 0.0185416 0 -0.00460412 0.00334781 0.00955393 0.999938 uwb: 0.0 850.34 1218.58 -imu_odom_: 1691062578.321097581 0.299275 -0.280122 9.38527 -0.0585895 0.0298274 0.0596548 0.18 -0.02 pose: 0.57089297 -2.02083 0.0126481 0 -0.00505921 -0.00116617 0.00976346 0.999939 uwb: 0.0 850.34 1218.58 -imu_odom_: 1691062578.346937816 0.246603 -0.0837971 9.36133 -0.0490022 0.04048 0.0319579 0.18 -0.02 pose: 0.8176821 -2.01675 0.0150952 0 -0.00489906 -0.0002268970.00984866 0.999939 uwb: 0.0 850.34 1218.58 -imu_odom_: 1691062578.359909846 0.521936 -0.0646434 10.0102 -0.0745685 0.0287621 0.0692422 0.18 0.02 pose: 0.0 -2.01675 0.0150952 0 -0.00489906 -0.0002268970.00984866 0.999939 uwb: 0.0 850.34 1218.58 -imu_odom_: 1691062578.383982718 0.301669 -0.447716 9.91439 -0.0788296 0.0319579 0.0426106 0.18 0.02 pose: 0.47709154 -2.00817 0.020236 0 -0.00191661 0.00318821 0.010012 0.999943 uwb: 0.99987784 849.033 1216.82 -imu_odom_: 1691062578.408957645 0.56982 -0.35913 10.0341 -0.076699 -0.00958738 0.0575243 0.23 0 pose: 0.0 -2.00817 0.020236 0 -0.00191661 0.00318821 0.010012 0.999943 uwb: 0.0 849.033 1216.82 -imu_odom_: 1691062578.422922431 0.347159 -0.459687 9.53132 -0.056459 0.00319579 0.04048 0.23 0 pose: 0.38974127 -2.00303 0.0116594 0 -0.0043985 0.00296733 0.0102143 0.999934 uwb: 0.50083719 848.954 1215.72 -imu_odom_: 1691062578.446929975 0.40462 -0.299275 9.92157 -0.0553937 -0.0415453 0.052198 0.18 0.02 pose: 0.0 -2.00303 0.0116594 0 -0.0043985 0.00296733 0.0102143 0.999934 uwb: 0.0 848.954 1215.72 -imu_odom_: 1691062578.472924489 0.691924 -0.201113 10.3789 -0.0543285 -0.0223706 0.04048 0.18 0.02 pose: 0.39075035 -1.99445 0.0168042 0 -0.00575274 0.000921809 0.0104148 0.999929 uwb: 0.49963270 849.12 1214.69 -imu_odom_: 1691062578.485922767 0.646434 -0.134075 9.86411 -0.0458064 -0.036219 0.0415453 0.18 0 pose: 0.0 -1.99445 0.0168042 0 -0.00575274 0.000921809 0.0104148 0.999929 uwb: 0.0 849.12 1214.69 -imu_odom_: 1691062578.509920687 0.471658 -0.0742203 9.71328 -0.0639159 0.00426106 0.0394148 0.18 0 pose: 0.47938095 -1.98588 0.0219531 0 -0.00314638 -0.0036114 0.0105177 0.999933 uwb: 0.0 849.12 1214.69 -imu_odom_: 1691062578.535981696 0.380678 -0.134075 9.58399 -0.0671117 -0.0106526 0.0532632 0.21 0.02 pose: 0.0 -1.98588 0.0219531 0 -0.00314638 -0.0036114 0.0105177 0.999933 uwb: 0.50000600 849.385 1213.52 -imu_odom_: 1691062578.560970914 0.411803 -0.342371 9.59835 -0.0671117 0.00745685 0.0383495 0.21 0.02 pose: 0.39000666 -1.98073 0.0133814 0 0.000110709 -0.00340204 0.0105622 0.999938 uwb: 0.0 849.385 1213.52 -imu_odom_: 1691062578.579030963 0.610521 -0.244209 10.2232 -0.036219 -0.0234358 0.0383495 0.2 0 pose: 0.0 -1.98073 0.0133814 0 0.000110709 -0.00340204 0.0105622 0.999938 uwb: 0.50056304 849.558 1212.48 -imu_odom_: 1691062578.602900268 0.624887 -0.277727 9.86411 -0.056459 0.00852212 0.0383495 0.2 0 pose: 0.51125179 -1.97216 0.0185324 0 -0.00131541 -0.00236161 0.0106642 0.999939 uwb: 0.0 849.558 1212.48 -imu_odom_: 1691062578.625910390 0.727837 -0.265756 10.0389 -0.0468716 -0.0266316 0.0543285 0.18 0 pose: 0.0 -1.97216 0.0185324 0 -0.00131541 -0.00236161 0.0106642 0.999939 uwb: 0.49864986 849.94 1211.94 -imu_odom_: 1691062578.650920898 0.895431 -0.107739 10.1538 -0.0543285 -0.0490022 0.0394148 0.18 0 pose: 0.17978390 -1.97216 0.0185324 0 -0.00140516 -0.00418363 0.0106516 0.999934 uwb: 0.0 849.94 1211.94 -imu_odom_: 1691062578.673967184 0.351948 -0.289698 10.2208 -0.0372843 0.00106526 0.0415453 0.25 0 pose: 0.46891092 -1.95844 0.0151147 0 -0.00147852 -0.00909217 0.0108037 0.999899 uwb: 0.49879860 850.26 1211.1 -imu_odom_: 1691062578.686910341 0.47884 -0.25618 10.2304 -0.0415453 -0.0245011 0.0372843 0.25 0 pose: 0.0 -1.95844 0.0151147 0 -0.00147852 -0.00909217 0.0108037 0.999899 uwb: 0.0 850.26 1211.1 -imu_odom_: 1691062578.703946137 0.610521 -0.361524 9.4571 -0.0330232 0.0372843 0.0287621 0.19 0 pose: 0.52987326 -1.94987 0.0202701 0 -0.00120732 -0.00756534 0.0108163 0.999912 uwb: 0.0 850.26 1211.1 -imu_odom_: 1691062578.730125554 0.593762 -0.385466 9.81383 -0.0585895 0.0287621 0.0543285 0.19 0 pose: 0.0 -1.94987 0.0202701 0 -0.00120732 -0.00756534 0.0108163 0.999912 uwb: 0.50189585 849.752 1209.87 -imu_odom_: 1691062578.755929333 0.629675 -0.272939 10.082 -0.0340885 -0.0266316 0.0394148 0.23 0 pose: 0.8001543 -1.94987 0.0202701 0 -0.00181999 -0.00778619 0.0107783 0.99991 uwb: 0.0 849.752 1209.87 -imu_odom_: 1691062578.779915004 0.47884 -0.294487 9.80665 -0.0692422 -0.0436758 0.0458064 0.19 0 pose: 0.0 -1.94987 0.0202701 0 -0.00181999 -0.00778619 0.0107783 0.99991 uwb: 0.49870819 850.672 1209.74 -imu_odom_: 1691062578.803893967 0.462081 -0.282516 9.78271 -0.0735032 -0.0511327 0.0607201 0.21 0.02 pose: 0.69054280 -1.93614 0.0168562 0 -0.00339534 -0.0100814 0.0109517 0.999883 uwb: 0.0 850.672 1209.74 -imu_odom_: 1691062578.828905641 0.754174 -0.275333 10.1562 -0.0543285 -0.02024 0.0245011 0.21 0.02 pose: 0.23950674 -1.92758 0.0220148 0 -0.00373909 -0.00820075 0.011096 0.999898 uwb: 0.50098592 851.106 1208.75 -imu_odom_: 1691062578.851890390 0.497994 -0.189142 10.2879 -0.0468716 -0.0213053 0.0415453 0.25 0 pose: 0.24005503 -1.92242 0.0134493 0 -0.00373915 -0.00784233 0.0112066 0.999899 uwb: 0.0 851.106 1208.75 -imu_odom_: 1691062578.868884481 0.632069 -0.28491 9.71088 -0.0585895 0.0340885 0.0436758 0.25 0 pose: 0.0 -1.92242 0.0134493 0 -0.00373915 -0.00784233 0.0112066 0.999899 uwb: 0.0 851.106 1208.75 -imu_odom_: 1691062578.893874574 0.102951 -0.136469 9.91678 -0.0415453 0.0436758 0.056459 0.18 0 pose: 0.24064414 -1.91385 0.0186119 0 -0.00304387 -0.00922127 0.011076 0.999892 uwb: 0.49899983 850.819 1207.61 -imu_odom_: 1691062578.916977730 0.430956 -0.0646434 9.9934 -0.0628506 0.00852212 0.0458064 0.21 0 pose: 0.23918010 -1.91385 0.0186119 0 -0.00220585 -0.00879351 0.0111035 0.999897 uwb: 0.0 850.819 1207.61 -imu_odom_: 1691062578.943936711 0.730232 -0.414197 9.4164 -0.0884169 0.00745685 0.0596548 0.21 0 pose: 0.0 -1.91385 0.0186119 0 -0.00220585 -0.00879351 0.0111035 0.999897 uwb: 0.50179378 850.87 1206.4 -imu_odom_: 1691062578.959875926 0.426168 -0.442927 9.94073 -0.052198 0.0287621 0.0372843 0.2 0 pose: 0.41116835 -1.90529 0.0237737 0 -0.00119653 -0.00603672 0.0113529 0.999917 uwb: 0.0 850.87 1206.4 -imu_odom_: 1691062578.984884975 0.399832 0.023942 9.74201 -0.0617853 -0.0319579 0.0575243 0.2 0 pose: 0.0 -1.90529 0.0237737 0 -0.00119653 -0.00603672 0.0113529 0.999917 uwb: 0.49716831 850.005 1204.57 -imu_odom_: 1691062578.997979787 0.440533 -0.368707 9.44991 -0.0756338 -0.00106526 0.0500674 0.2 0 pose: 0.0 -1.90529 0.0237737 0 -0.00119653 -0.00603672 0.0113529 0.999917 uwb: 0.0 850.005 1204.57 -imu_odom_: 1691062579.21904799 0.577003 -0.059855 9.67976 -0.0351537 0.00426106 0.0276969 0.18 0 pose: 0.89933943 -1.89156 0.0203753 0 -0.00175965 -0.00514031 0.0119138 0.999914 uwb: 0.50019268 850.264 1203.47 -imu_odom_: 1691062579.44907342 0.466869 -0.184354 9.88805 -0.0596548 0.0245011 0.0394148 0.18 0 pose: 0.0 -1.89156 0.0203753 0 -0.00175965 -0.00514031 0.0119138 0.999914 uwb: 0.0 850.264 1203.47 -imu_odom_: 1691062579.71955279 -0.00718261-0.23942 9.87608 -0.0660464 0.0276969 0.0511327 0.23 0 pose: 0.38955758 -1.87783 0.0169924 0 0.00043334 -0.00481844 0.0117966 0.999919 uwb: 0.50041439 850.572 1203.05 -imu_odom_: 1691062579.88014654 0.248997 -0.306458 9.92157 -0.0607201 -0.0340885 0.0543285 0.23 0 pose: 0.0 -1.87783 0.0169924 0 0.00043334 -0.00481844 0.0117966 0.999919 uwb: 0.0 850.572 1203.05 -imu_odom_: 1691062579.104889466 0.294487 -0.136469 9.80665 -0.0415453 0.0266316 0.0245011 0.19 0 pose: 0.50175887 -1.86927 0.0221645 0 0.000299035 0.000308562 0.012004 0.999928 uwb: 0.0 850.572 1203.05 -imu_odom_: 1691062579.128915096 0.402226 -0.0646434 10.0916 -0.0649811 -0.0234358 0.0394148 0.19 0 pose: 0.0 -1.86927 0.0221645 0 0.000299035 0.000308562 0.012004 0.999928 uwb: 0.50021607 849.605 1201.04 -imu_odom_: 1691062579.146866365 0.275333 -0.430956 9.71567 -0.0298274 0.0351537 0.0223706 0.18 -0.02 pose: 0.33794245 -1.86927 0.0221645 0 0.00184984 0.00200172 0.0119373 0.999925 uwb: 0.0 849.605 1201.04 -imu_odom_: 1691062579.170847666 0.641646 -0.514753 9.83777 -0.072438 -0.00852212 0.0553937 0.18 -0.02 pose: 0.0 -1.86927 0.0221645 0 0.00184984 0.00200172 0.0119373 0.999925 uwb: 0.49992442 850.148 1200.68 -imu_odom_: 1691062579.196844517 0.869095 -0.347159 9.89763 -0.0468716 -0.0607201 0.0308927 0.18 0.02 pose: 0.41067553 -1.85554 0.018782 0 0.00105403 0.00177116 0.0118457 0.999928 uwb: 0.0 850.148 1200.68 -imu_odom_: 1691062579.209842214 0.531513 -0.416591 9.35175 -0.0490022 0.0191748 0.0532632 0.18 0.02 pose: 0.0 -1.85554 0.018782 0 0.00105403 0.00177116 0.0118457 0.999928 uwb: 0.0 850.148 1200.68 -imu_odom_: 1691062579.224858379 0.23942 -0.397437 9.95988 -0.0575243 0.0223706 0.0372843 0.17 0.02 pose: 0.54893228 -1.84698 0.023955 0 -0.00194777 -0.00294173 0.0119482 0.999922 uwb: 0.49918365 850.746 1200.24 -imu_odom_: 1691062579.250861938 0.0742203 -0.270545 9.30626 -0.0735032 -0.0234358 0.0511327 0.17 0.02 pose: 0.0 -1.84698 0.023955 0 -0.00194777 -0.00294173 0.0119482 0.999922 uwb: 0.0 850.746 1200.24 -imu_odom_: 1691062579.263957628 0.411803 -0.526724 9.78031 -0.0735032 0.00319579 0.0479369 0.18 0 pose: 0.8027500 -1.84698 0.023955 0 -0.00240344 -0.00216699 0.0119413 0.999923 uwb: 0.0 850.746 1200.24 -imu_odom_: 1691062579.286843221 0.617704 -0.390255 9.59357 -0.0500674 0.00958738 0.0319579 0.17 0 pose: 0.0 -1.84698 0.023955 0 -0.00240344 -0.00216699 0.0119413 0.999923 uwb: 0.49955696 850.182 1198.82 -imu_odom_: 1691062579.312855822 0.624887 -0.550666 9.52174 -0.0660464 0.0372843 0.04048 0.21 -0.02 pose: 0.68973507 -1.83325 0.0205759 0 -0.00526618 -0.00122808 0.012048 0.999913 uwb: 0.0 850.182 1198.82 -imu_odom_: 1691062579.333833189 0.605733 -0.280122 9.19852 -0.0458064 -0.00532632 0.0458064 0.21 -0.02 pose: 0.0 -1.83325 0.0205759 0 -0.00526618 -0.00122808 0.012048 0.999913 uwb: 0.50062437 850.666 1198.18 -imu_odom_: 1691062579.346842552 0.497994 -0.366313 9.67018 -0.0660464 0.00958738 0.0607201 0.18 0.02 pose: 0.0 -1.83325 0.0205759 0 -0.00526618 -0.00122808 0.012048 0.999913 uwb: 0.0 850.666 1198.18 -imu_odom_: 1691062579.363843645 0.61531 -0.191536 9.94312 -0.0490022 0.0149137 0.0383495 0.18 0.02 pose: 0.32005301 -1.83325 0.0205759 0 -0.00710909 -0.00294431 0.0120641 0.999898 uwb: 0.0 850.666 1198.18 -imu_odom_: 1691062579.385965715 0.42138 -0.296881 9.61511 -0.0553937 -0.0415453 0.052198 0.18 -0.02 pose: 0.44995123 -1.81952 0.0171974 0 -0.00618944 -0.00560033 0.0122116 0.999891 uwb: 0.50059812 851.652 1197.94 -imu_odom_: 1691062579.410856361 0.634463 -0.280122 10.0724 -0.0447411 -0.04048 0.0415453 0.18 -0.02 pose: 0.7034453 -1.81952 0.0171974 0 -0.00592246 -0.00507989 0.0122594 0.999894 uwb: 0.0 851.652 1197.94 -imu_odom_: 1691062579.435883205 0.622492 -0.299275 9.94791 -0.0830906 -0.00958738 0.0713727 0.19 0 pose: 0.39978263 -1.81096 0.022378 0 -0.00452623 -0.00680718 0.0123736 0.99989 uwb: 0.50232174 850.831 1196.52 -imu_odom_: 1691062579.451888918 0.308852 -0.023942 10.4722 -0.0713727 0.0234358 0.0607201 0.19 0 pose: 0.0 -1.81096 0.022378 0 -0.00452623 -0.00680718 0.0123736 0.99989 uwb: 0.0 850.831 1196.52 -imu_odom_: 1691062579.475832013 0.277727 -0.117316 9.64145 -0.0745685 0.0383495 0.0511327 0.18 0 pose: 0.41032557 -1.79723 0.0190136 0 -0.00368088 -0.00801283 0.0129183 0.999878 uwb: 0.49754753 850.519 1195.51 -imu_odom_: 1691062579.499822646 0.131681 -0.270545 9.90481 -0.0415453 -0.0287621 0.0383495 0.18 0 pose: 0.0 -1.79723 0.0190136 0 -0.00368088 -0.00801283 0.0129183 0.999878 uwb: 0.0 850.519 1195.51 -imu_odom_: 1691062579.523812404 0.852336 -0.225055 9.60793 -0.0649811 -0.0106526 0.0479369 0.18 0 pose: 0.30961215 -1.79723 0.0190136 0 -0.00265703 -0.00482681 0.0130491 0.9999 uwb: 0.49855369 849.743 1194.41 -imu_odom_: 1691062579.540946778 0.632069 -0.0837971 9.67018 -0.0532632 -0.0213053 0.0447411 0.18 0 pose: 0.0 -1.79723 0.0190136 0 -0.00265703 -0.00482681 0.0130491 0.9999 uwb: 0.0 849.743 1194.41 -imu_odom_: 1691062579.565826342 0.502782 -0.237026 10.1347 -0.0543285 0.0106526 0.036219 0.21 0 pose: 0.48972855 -1.78868 0.0242074 0 -0.0017263 -0.00630172 0.0131534 0.999892 uwb: 0.0 849.743 1194.41 -imu_odom_: 1691062579.589967172 0.174777 -0.584185 9.9096 -0.0340885 -0.036219 0.0298274 0.23 0 pose: 0.34003354 -1.77745 0.0193317 0 -0.00107578 -0.0042057 0.0131331 0.999904 uwb: 0.49986902 848.87 1192.74 -imu_odom_: 1691062579.613827731 0.433351 -0.371101 9.85693 -0.0585895 -0.0543285 0.0468716 0.23 0 pose: 0.0 -1.77745 0.0193317 0 -0.00107578 -0.0042057 0.0131331 0.999904 uwb: 0.0 848.87 1192.74 -imu_odom_: 1691062579.629964684 0.481235 0.179565 9.87608 -0.0479369 -0.0447411 0.0447411 0.19 0.02 pose: 0.7018412 -1.77494 0.0208585 0 -0.00152912 -0.00385604 0.0131021 0.999906 uwb: 0.50168887 849.424 1192.04 -imu_odom_: 1691062579.655818921 0.335188 -0.186748 9.72285 -0.0628506 0.0138484 0.0383495 0.19 0.02 pose: 0.0 -1.77494 0.0208585 0 -0.00152912 -0.00385604 0.0131021 0.999906 uwb: 0.0 849.424 1192.04 -imu_odom_: 1691062579.680824767 0.208296 -0.371101 9.95509 -0.0394148 -0.00426106 0.036219 0.19 0 pose: 0.48993270 -1.7664 0.0260531 0 -0.00415099 -0.00320452 0.0131422 0.9999 uwb: 0.50091893 849.229 1191.25 -imu_odom_: 1691062579.704894727 0.241814 -0.272939 9.91678 -0.0692422 0.0191748 0.0639159 0.19 0 pose: 0.0 -1.7664 0.0260531 0 -0.00415099 -0.00320452 0.0131422 0.9999 uwb: 0.0 849.229 1191.25 -imu_odom_: 1691062579.721854990 0.342371 -0.172383 10.0341 -0.0436758 -0.0532632 0.0468716 0.26 0.02 pose: 0.42057102 -1.7612 0.0175086 0 -0.00228657 -0.0003123290.0131351 0.999911 uwb: 0.49998567 849.482 1190.25 -imu_odom_: 1691062579.746845379 0.328006 -0.296881 10.1586 -0.04048 -0.00106526 0.04048 0.26 0.02 pose: 0.0 -1.7612 0.0175086 0 -0.00228657 -0.0003123290.0131351 0.999911 uwb: 0.0 849.482 1190.25 -imu_odom_: 1691062579.772815982 0.916979 -0.105345 10.1275 -0.0149137 -0.0298274 0.0181095 0.23 -0.02 pose: 0.48019471 -1.75266 0.0227036 0 -0.00245118 0.00358097 0.0134381 0.9999 uwb: 0.49876952 849.107 1188.68 -imu_odom_: 1691062579.798920742 0.531513 -0.332794 9.58399 -0.0447411 -0.00639159 0.056459 0.23 -0.02 pose: 0.0 -1.75266 0.0227036 0 -0.00245118 0.00358097 0.0134381 0.9999 uwb: 0.0 849.107 1188.68 -imu_odom_: 1691062579.815946917 0.565032 -0.42138 9.53132 -0.0415453 -0.00213053 0.0266316 0.23 0.02 pose: 0.42943408 -1.73892 0.0193624 0 -0.00327281 0.00281498 0.0133934 0.999901 uwb: 0.0 849.107 1188.68 -imu_odom_: 1691062579.840875186 0.493206 -0.588974 9.65821 -0.0660464 -0.0127832 0.0607201 0.23 0.02 pose: 0.0 -1.73892 0.0193624 0 -0.00327281 0.00281498 0.0133934 0.999901 uwb: 0.49865285 848.761 1188.1 -imu_odom_: 1691062579.857811534 0.47884 -0.162806 9.69173 -0.052198 0.00745685 0.0330232 0.23 0.02 pose: 0.52137484 -1.73037 0.0245604 0 -0.00389027 -0.00204441 0.0133563 0.999901 uwb: 0.0 848.761 1188.1 -imu_odom_: 1691062579.882803672 0.45011 -0.320823 9.72046 -0.092678 -0.0170442 0.0639159 0.23 0.02 pose: 0.0 -1.73037 0.0245604 0 -0.00389027 -0.00204441 0.0133563 0.999901 uwb: 0.50003525 848.908 1186.91 -imu_odom_: 1691062579.907817101 0.28491 -0.538695 9.53132 -0.056459 0.0596548 0.0234358 0.23 0.02 pose: 0.75808183 -1.71663 0.0212224 0 -0.00634951 -0.0008975250.0138214 0.999884 uwb: 0.0 848.908 1186.91 -imu_odom_: 1691062579.930950884 0.229843 -0.411803 9.75877 -0.036219 0.00745685 0.0575243 0.23 0.02 pose: 0.7050785 -1.71663 0.0212224 0 -0.00695186 -0.0002952560.0137659 0.999881 uwb: 0.49988068 848.807 1186.04 -imu_odom_: 1691062579.954801236 -0.0526724 -0.129287 9.80904 -0.00319579 0.0149137 0.0223706 0.2 0 pose: 0.41096427 -1.71091 0.0247106 0 -0.00881566 0.00362626 0.0138489 0.999859 uwb: 0.0 848.807 1186.04 -imu_odom_: 1691062579.979783166 0.150835 -0.476446 9.79947 -0.0830906 0.0234358 0.0617853 0.2 -0.02 pose: 0.0 -1.71091 0.0247106 0 -0.00881566 0.00362626 0.0138489 0.999859 uwb: 0.50119016 850.005 1186.55 -imu_odom_: 1691062579.994797289 0.521936 -0.459687 9.62469 -0.0415453 0.00852212 0.0319579 0.2 -0.02 pose: 0.0 -1.71091 0.0247106 0 -0.00881566 0.00362626 0.0138489 0.999859 uwb: 0.0 850.005 1186.55 -imu_odom_: 1691062580.17781170 0.318429 -0.162806 9.73482 -0.04048 0.00319579 0.056459 0.2 -0.02 pose: 0.31851312 -1.70289 0.0178887 0 -0.00757212 0.00654836 0.0137511 0.999855 uwb: 0.0 850.005 1186.55 -imu_odom_: 1691062580.42786436 0.347159 -0.301669 10.0102 -0.0308927 0.00213053 0.0298274 0.18 0 pose: 0.38993674 -1.69435 0.0230935 0 -0.00853498 0.00654148 0.0139275 0.999845 uwb: 0.49847790 849.637 1185.68 -imu_odom_: 1691062580.58780486 0.486023 -0.100556 9.35893 -0.0745685 -0.0127832 0.0458064 0.18 0 pose: 0.0 -1.69435 0.0230935 0 -0.00853498 0.00654148 0.0139275 0.999845 uwb: 0.0 849.637 1185.68 -imu_odom_: 1691062580.83779628 -0.0837971 -0.196325 9.48822 -0.0479369 0.0181095 0.0266316 0.18 0 pose: 0.56984616 -1.68306 0.02379 0 -0.00401578 0.00327813 0.013991 0.999889 uwb: 0.0 849.637 1185.68 -imu_odom_: 1691062580.106780716 0.105345 -0.356736 10.0341 -0.0447411 0.0298274 0.0415453 0.18 0 pose: 0.0 -1.68306 0.02379 0 -0.00401578 0.00327813 0.013991 0.999889 uwb: 0.0 849.637 1185.68 -imu_odom_: 1691062580.122778557 0.505177 -0.356736 10.1897 -0.052198 -0.0415453 0.0351537 0.18 -0.02 pose: 0.8019044 -1.6806 0.0197646 0 -0.00382708 0.00415435 0.0139423 0.999887 uwb: 0.100053147 849.378 1184.68 -imu_odom_: 1691062580.148865531 0.818817 -0.52433 9.25119 -0.0756338 -0.0276969 0.0426106 0.18 -0.02 pose: 0.0 -1.6806 0.0197646 0 -0.00382708 0.00415435 0.0139423 0.999887 uwb: 0.0 849.378 1184.68 -imu_odom_: 1691062580.173794095 0.0670376 -0.351948 9.63906 -0.0255663 -0.0127832 0.0234358 0.25 0 pose: 0.48065267 -1.67206 0.0249714 0 -0.00438675 0.00756208 0.0138389 0.999866 uwb: 0.49947829 850.997 1185.32 -imu_odom_: 1691062580.198921560 0.459687 -0.296881 10.2496 -0.036219 0.00106526 0.0319579 0.25 0 pose: 0.16124414 -1.67206 0.0249714 0 -0.0049207 0.00577996 0.0138253 0.999876 uwb: 0.0 850.997 1185.32 -imu_odom_: 1691062580.221917983 0.483629 -0.0742203 9.82341 -0.015979 0.00106526 0.0266316 0.21 0 pose: 0.49948704 -1.65832 0.02164 0 -0.00551017 0.00560296 0.0136226 0.999876 uwb: 0.50178228 849.856 1183.11 -imu_odom_: 1691062580.238773257 0.335188 -0.0191536 9.76834 -0.0798948 0.00958738 0.0713727 0.21 0 pose: 0.0 -1.65832 0.02164 0 -0.00551017 0.00560296 0.0136226 0.999876 uwb: 0.0 849.856 1183.11 -imu_odom_: 1691062580.262777601 0.90022 -0.162806 10.3118 -0.0308927 0.092678 0.0319579 0.18 -0.02 pose: 0.48863497 -1.64978 0.0268429 0 -0.0019359 0.0028138 0.013523 0.999903 uwb: 0.0 849.856 1183.11 -imu_odom_: 1691062580.287877944 0.545878 -0.1652 10.3525 -0.0788296 0.104396 0.0649811 0.27 -0.02 pose: 0.32976189 -1.64978 0.0268429 0 -0.0005232320.00173185 0.013573 0.999906 uwb: 0.49681267 850.047 1182.23 -imu_odom_: 1691062580.302762871 0.500388 -0.529119 9.87369 -0.0490022 -0.0617853 0.0138484 0.27 -0.02 pose: 0.0 -1.64978 0.0268429 0 -0.0005232320.00173185 0.013573 0.999906 uwb: 0.0 850.047 1182.23 -imu_odom_: 1691062580.325795749 0.191536 -0.138864 10.4172 -0.0735032 -0.0639159 0.0447411 0.27 -0.02 pose: 0.0 -1.64978 0.0268429 0 -0.0005232320.00173185 0.013573 0.999906 uwb: 0.50158979 849.691 1181.05 -imu_odom_: 1691062580.352923309 0.184354 -0.035913 9.91918 -0.0308927 -0.015979 0.0255663 0.18 -0.02 pose: 0.8038876 -1.64978 0.0268429 0 -0.0003577150.00140768 0.0136751 0.999905 uwb: 0.0 849.691 1181.05 -imu_odom_: 1691062580.378767927 0.37589 -0.162806 9.66779 -0.0830906 -0.0308927 0.0458064 0.2 0 pose: 0.39054634 -1.63604 0.0235081 0 -0.00111406 0.000207871 0.0137187 0.999905 uwb: 0.50023074 849.277 1179.62 -imu_odom_: 1691062580.395876640 0.940921 -0.363919 9.77313 -0.0458064 0.0330232 0.02024 0.2 0 pose: 0.0 -1.63604 0.0235081 0 -0.00111406 0.000207871 0.0137187 0.999905 uwb: 0.0 849.277 1179.62 -imu_odom_: 1691062580.420781580 0.474052 -0.294487 10.0317 -0.0713727 -0.00532632 0.0628506 0.18 0 pose: 0.51066284 -1.6275 0.0287124 0 0.00196762 0.00223186 0.0136027 0.999903 uwb: 0.50119024 848.814 1178.58 -imu_odom_: 1691062580.443813875 0.538695 -0.229843 9.8282 -0.0351537 -0.0319579 0.0447411 0.18 0 pose: 0.0 -1.6275 0.0287124 0 0.00196762 0.00223186 0.0136027 0.999903 uwb: 0.0 848.814 1178.58 -imu_odom_: 1691062580.467914170 0.3304 -0.201113 9.73722 -0.0703074 -0.0213053 0.0585895 0.25 0 pose: 0.42898210 -1.61375 0.0253749 0 0.0014658 -0.00110197 0.0135973 0.999906 uwb: 0.0 848.814 1178.58 -imu_odom_: 1691062580.483755107 0.948104 -0.201113 9.91199 -0.0468716 -0.0149137 0.0372843 0.25 0 pose: 0.0 -1.61375 0.0253749 0 0.0014658 -0.00110197 0.0135973 0.999906 uwb: 0.50078778 849.648 1178.54 -imu_odom_: 1691062580.509971571 0.672771 -0.244209 9.8258 -0.0798948 0.0287621 0.0703074 0.19 0.02 pose: 0.48097348 -1.61375 0.0253749 0 -0.000163333-0.00369333 0.0139336 0.999896 uwb: 0.0 849.648 1178.54 -imu_odom_: 1691062580.536928227 0.260968 -0.222661 10.2544 -0.0639159 0.015979 0.0426106 0.19 0.02 pose: 0.0 -1.61375 0.0253749 0 -0.000163333-0.00369333 0.0139336 0.999896 uwb: 0.49737262 849.546 1177.41 -imu_odom_: 1691062580.561948367 0.11971 -0.251391 10.1538 -0.0809601 0.0223706 0.0532632 0.18 0.02 pose: 0.39837989 -1.60001 0.0220479 0 -0.000184845-0.00456826 0.0141893 0.999889 uwb: 0.0 849.546 1177.41 -imu_odom_: 1691062580.577954083 0.251391 -0.435745 10.0556 -0.0351537 -0.00319579 0.0276969 0.18 0.02 pose: 0.0 -1.60001 0.0220479 0 -0.000184845-0.00456826 0.0141893 0.999889 uwb: 0.0 849.546 1177.41 -imu_odom_: 1691062580.602884688 0.646434 -0.282516 10.0173 -0.0543285 -0.0255663 0.0415453 0.18 0 pose: 0.53005426 -1.59148 0.0272625 0 -0.000904648-0.00222117 0.0145647 0.999891 uwb: 0.0 849.546 1177.41 -imu_odom_: 1691062580.629891216 0.3304 -0.148441 10.0796 -0.0426106 -0.0276969 0.0330232 0.18 0 pose: 0.0 -1.59148 0.0272625 0 -0.000904648-0.00222117 0.0145647 0.999891 uwb: 0.100184969 849.71 1176.27 -imu_odom_: 1691062580.654882192 0.694318 -0.198719 9.59357 -0.0639159 0.00106526 0.0372843 0.18 0 pose: 0.41132888 -1.58295 0.0324821 0 -0.00240794 -0.0001667160.0145956 0.999891 uwb: 0.0 849.71 1176.27 -imu_odom_: 1691062580.670734794 0.0766145 -0.31364 9.97185 -0.0415453 0.0149137 0.0340885 0.18 0 pose: 0.0 -1.58295 0.0324821 0 -0.00240794 -0.0001667160.0145956 0.999891 uwb: 0.49872002 851.187 1176.72 -imu_odom_: 1691062580.695766600 0.665588 -0.493206 10.1251 -0.0830906 0.0351537 0.0500674 0.18 -0.02 pose: 0.52127285 -1.57773 0.0239527 0 -0.000370858-0.00124042 0.0145124 0.999894 uwb: 0.0 851.187 1176.72 -imu_odom_: 1691062580.720783240 0.397437 -0.399832 10.4698 -0.0319579 0.00639159 0.0330232 0.18 -0.02 pose: 0.40831329 -1.5692 0.0291712 0 -0.00127873 -0.00157904 0.0144933 0.999893 uwb: 0.49858878 850.386 1175.17 -imu_odom_: 1691062580.736807037 0.198719 -0.169988 10.0078 -0.0447411 -0.0245011 0.052198 0.2 0 pose: 0.41915370 -1.55785 0.0243885 0 -0.00478624 -0.0013084 0.0145086 0.999882 uwb: 0.0 850.386 1175.17 -imu_odom_: 1691062580.753945790 0.560243 -0.241814 10.0652 -0.0426106 -0.0234358 0.0351537 0.2 0 pose: 0.0 -1.55785 0.0243885 0 -0.00478624 -0.0013084 0.0145086 0.999882 uwb: 0.0 850.386 1175.17 -imu_odom_: 1691062580.778826233 0.23942 -0.433351 9.39964 -0.0798948 0.00958738 0.0607201 0.18 0 pose: 0.7018997 -1.55545 0.02586 0 -0.00439085 -0.0007738630.0145557 0.999884 uwb: 0.50074695 850.035 1173.12 -imu_odom_: 1691062580.803812542 0.306458 -0.414197 9.92157 -0.0340885 -0.015979 0.04048 0.18 0 pose: 0.0 -1.55545 0.02586 0 -0.00439085 -0.0007738630.0145557 0.999884 uwb: 0.0 850.035 1173.12 -imu_odom_: 1691062580.817742919 0.280122 -0.198719 9.79947 -0.04048 -0.00852212 0.036219 0.19 0 pose: 0.33995776 -1.55545 0.02586 0 -0.0038222 -0.00121866 0.014658 0.999885 uwb: 0.0 850.035 1173.12 -imu_odom_: 1691062580.842797181 0.323217 -0.3304 9.76116 -0.02024 -0.0372843 0.0234358 0.19 0 pose: 0.0 -1.55545 0.02586 0 -0.0038222 -0.00121866 0.014658 0.999885 uwb: 0.50119316 850.519 1172.26 -imu_odom_: 1691062580.858788897 0.237026 -0.0574608 9.5816 -0.052198 -0.00958738 0.0585895 0.25 0 pose: 0.48021521 -1.5417 0.0225529 0 -0.00616208 0.00203669 0.0148562 0.999869 uwb: 0.0 850.519 1172.26 -imu_odom_: 1691062580.883731169 0.476446 -0.153229 9.77313 -0.056459 0.00106526 0.0426106 0.25 0 pose: 0.0 -1.5417 0.0225529 0 -0.00616208 0.00203669 0.0148562 0.999869 uwb: 0.49982826 850.741 1171.7 -imu_odom_: 1691062580.909740857 0.553061 -0.203507 10.0437 -0.0756338 0.0213053 0.0596548 0.21 -0.02 pose: 0.39918483 -1.53317 0.0277761 0 -0.0052282 0.00456048 0.0147264 0.999867 uwb: 0.0 850.741 1171.7 -imu_odom_: 1691062580.932741363 0.694318 -0.126893 10.2879 -0.0351537 -0.00213053 0.0330232 0.21 -0.02 pose: 0.0 -1.53317 0.0277761 0 -0.0052282 0.00456048 0.0147264 0.999867 uwb: 0.49890084 850.366 1170.02 -imu_odom_: 1691062580.949765207 0.354342 -0.402226 9.73722 -0.0266316 -0.0330232 0.0394148 0.18 0.02 pose: 0.42133811 -1.53317 0.0277761 0 -0.00254434 0.00233851 0.0149358 0.999882 uwb: 0.0 850.366 1170.02 -imu_odom_: 1691062580.975724149 0.624887 0.208296 10.477 -0.0649811 -0.0543285 0.0553937 0.18 0.02 pose: 0.0 -1.53317 0.0277761 0 -0.00254434 0.00233851 0.0149358 0.999882 uwb: 0.49983701 850.118 1169.1 -imu_odom_: 1691062581.1829497 0.837971 -0.514753 9.21768 -0.109722 0.0106526 0.0649811 0.22 0 pose: 0.47893489 -1.51942 0.0244758 0 -0.00156273 -0.0010494 0.0150335 0.999885 uwb: 0.0 850.118 1169.1 -imu_odom_: 1691062581.26698278 0.0861913 -0.122104 9.62948 -0.0181095 0.0351537 0.00852212 0.22 0 pose: 0.0 -1.51942 0.0244758 0 -0.00156273 -0.0010494 0.0150335 0.999885 uwb: 0.50009078 850.115 1168.22 -imu_odom_: 1691062581.49690913 0.533907 -0.148441 9.97424 -0.0692422 0.0276969 0.0671117 0.2 0 pose: 0.43060073 -1.51089 0.0297033 0 -0.000679332-0.00298484 0.0153275 0.999878 uwb: 0.0 850.115 1168.22 -imu_odom_: 1691062581.66826460 0.471658 -0.483629 9.62948 -0.0372843 -0.00319579 0.0372843 0.2 0 pose: 0.0 -1.51089 0.0297033 0 -0.000679332-0.00298484 0.0153275 0.999878 uwb: 0.0 850.115 1168.22 -imu_odom_: 1691062581.92989557 0.430956 0.160412 10.3813 -0.0607201 -0.0181095 0.0660464 0.25 0 pose: 0.49899421 -1.49714 0.0264146 0 -0.000736207-0.00186955 0.0152687 0.999881 uwb: 0.50171237 849.969 1166.91 -imu_odom_: 1691062581.118715480 0.591368 0.059855 10.2113 -0.0671117 -0.0213053 0.0447411 0.23 0.02 pose: 0.60264746 -1.48862 0.0316499 0 0.00125567 -0.00289585 0.0158231 0.99987 uwb: 0.0 849.969 1166.91 -imu_odom_: 1691062581.133695194 0.656011 -0.383072 9.23444 -0.0852212 0.0223706 0.0468716 0.23 0.02 pose: 0.0 -1.48862 0.0316499 0 0.00125567 -0.00289585 0.0158231 0.99987 uwb: 0.49676317 849.797 1165.64 -imu_odom_: 1691062581.157742997 0.177171 -0.23942 9.58878 -0.0543285 -0.00426106 0.0298274 0.23 0.02 pose: 0.0 -1.48862 0.0316499 0 0.00125567 -0.00289585 0.0158231 0.99987 uwb: 0.0 849.797 1165.64 -imu_odom_: 1691062581.182759934 0.268151 -0.418985 9.96706 -0.0713727 -0.04048 0.0436758 0.21 0 pose: 0.6772267 -1.48862 0.0316499 0 0.0018239 -0.00325632 0.015839 0.999868 uwb: 0.50120491 849.555 1164.17 -imu_odom_: 1691062581.205704739 0.150835 -0.198719 9.76355 -0.0490022 -0.0191748 0.0383495 0.18 0 pose: 0.39942113 -1.47486 0.0283744 0 0.00188927 -0.00440458 0.0159161 0.999862 uwb: 0.0 849.555 1164.17 -imu_odom_: 1691062581.222687756 0.677559 -0.438139 9.96706 -0.0692422 -0.0181095 0.0458064 0.18 0 pose: 0.0 -1.47486 0.0283744 0 0.00188927 -0.00440458 0.0159161 0.999862 uwb: 0.50069161 848.158 1161.97 -imu_odom_: 1691062581.246688604 0.397437 -0.186748 9.73961 -0.0298274 -0.0223706 0.0213053 0.18 0 pose: 0.0 -1.47486 0.0283744 0 0.00188927 -0.00440458 0.0159161 0.999872 uwb: 0.0 848.158 1161.97 -imu_odom_: 1691062581.270812235 0.612916 -0.277727 9.8282 -0.0490022 -0.00852212 0.036219 0.18 0 pose: 0.6117234 -1.47486 0.0283744 0 -0.000564855-0.0009931070.0158761 0.999873 uwb: 0.49936755 848.276 1161.56 -imu_odom_: 1691062581.287809834 0.799663 -0.339977 9.32063 -0.0479369 0.0106526 0.0298274 0.18 0 pose: 0.0 -1.47486 0.0283744 0 -0.000564855-0.0009931070.0158761 0.999873 uwb: 0.0 848.276 1161.56 -imu_odom_: 1691062581.312771358 0.454898 -0.237026 9.42358 -0.0756338 0.015979 0.0617853 0.27 0 pose: 0.40822295 -1.4611 0.0251004 0 -0.000751022-0.0007165930.0158546 0.999874 uwb: 0.0 848.276 1161.56 -imu_odom_: 1691062581.328702415 0.830788 -0.28491 10.331 -0.056459 -0.0138484 0.0330232 0.27 0 pose: 0.0 -1.4611 0.0251004 0 -0.000751022-0.0007165930.0158546 0.999874 uwb: 0.49984293 848.028 1160.42 -imu_odom_: 1691062581.354689360 0.462081 -0.440533 9.4954 -0.0479369 0.0181095 0.0500674 0.23 -0.02 pose: 0.90050354 -1.44407 0.0355794 0 -0.00207382 -0.0024761 0.0158387 0.999869 uwb: 0.0 848.028 1160.42 -imu_odom_: 1691062581.381723015 0.289698 -0.0694318 9.78031 -0.0436758 -0.02024 0.0255663 0.21 -0.02 pose: 0.34939543 -1.43883 0.027063 0 -0.00463508 -0.00309973 0.0159524 0.999857 uwb: 0.50017541 848.409 1159.74 -imu_odom_: 1691062581.406683372 0.490811 -0.462081 9.77074 -0.076699 0.00639159 0.0479369 0.21 -0.02 pose: 0.0 -1.43883 0.027063 0 -0.00463508 -0.00309973 0.0159524 0.999857 uwb: 0.0 848.409 1159.74 -imu_odom_: 1691062581.430709885 0.596156 -0.260968 9.34457 -0.0500674 -0.0191748 0.0308927 0.23 0 pose: 0.8073874 -1.43883 0.027063 0 -0.00394173 -0.00267751 0.0158966 0.999862 uwb: 0.49854803 848.286 1158.48 -imu_odom_: 1691062581.455731196 0.409408 -0.653617 9.65103 -0.0596548 0.00639159 0.0383495 0.23 0 pose: 0.0 -1.43883 0.027063 0 -0.00394173 -0.00267751 0.0158966 0.999862 uwb: 0.0 848.286 1158.48 -imu_odom_: 1691062581.470701578 0.533907 -0.23942 9.85932 -0.0266316 -0.00745685 0.0266316 0.18 0 pose: 0.50934469 -1.43031 0.0323054 0 -0.00474584 -0.00298126 0.0158373 0.999859 uwb: 0.50108825 848.528 1157.39 -imu_odom_: 1691062581.497802602 0.459687 -0.335188 10.1873 -0.0607201 -0.00958738 0.0660464 0.18 0 pose: 0.0 -1.43031 0.0323054 0 -0.00474584 -0.00298126 0.0158373 0.999859 uwb: 0.0 848.528 1157.39 -imu_odom_: 1691062581.513677664 -0.071826 -0.0742203 9.84735 -0.0319579 0.00106526 0.0436758 0.19 0 pose: 0.49083697 -1.41655 0.0290299 0 -0.00594496 -0.00438987 0.0157024 0.999849 uwb: 0.0 848.528 1157.39 -imu_odom_: 1691062581.529803247 0.622492 -0.186748 9.91918 -0.0575243 -0.0245011 0.0543285 0.19 0 pose: 0.0 -1.41655 0.0290299 0 -0.00594496 -0.00438987 0.0157024 0.999849 uwb: 0.50078202 847.82 1155.12 -imu_odom_: 1691062581.546694105 1.02232 -0.153229 9.95748 -0.0607201 0.0127832 0.0415453 0.19 0 pose: 0.0 -1.41655 0.0290299 0 -0.00594496 -0.00438987 0.0157024 0.999849 uwb: 0.0 847.82 1155.12 -imu_odom_: 1691062581.573705303 0.371101 -0.0143652 9.85693 -0.0735032 -0.00319579 0.0628506 0.18 0.02 pose: 0.42908716 -1.40804 0.0342707 0 -0.00586026 -0.00160887 0.0160431 0.999853 uwb: 0.49944338 847.527 1154.07 -imu_odom_: 1691062581.599739494 0.21069 -0.428562 9.77313 -0.0692422 0.0351537 0.0436758 0.19 0.05 pose: 0.68015187 -1.39681 0.0294456 0 -0.00184666 -0.0028459 0.0164902 0.999858 uwb: 0.0 847.527 1154.07 -imu_odom_: 1691062581.615740546 0.457293 -0.117316 10.003 -0.0575243 0.00319579 0.0372843 0.19 0.05 pose: 0.0 -1.39681 0.0294456 0 -0.00184666 -0.0028459 0.0164902 0.999858 uwb: 0.0 847.527 1154.07 -imu_odom_: 1691062581.641739156 0.533907 -0.191536 9.65103 -0.0415453 -0.0287621 0.0340885 0.18 0.02 pose: 0.7992506 -1.39428 0.0310052 0 -0.0023818 -0.00204812 0.0165087 0.999859 uwb: 0.50047580 847.826 1153.5 -imu_odom_: 1691062581.667683812 0.560243 -0.373495 9.45949 -0.0756338 -0.00958738 0.0426106 0.18 0.02 pose: 0.0 -1.39428 0.0310052 0 -0.0023818 -0.00204812 0.0165087 0.999859 uwb: 0.0 847.826 1153.5 -imu_odom_: 1691062581.693750959 0.146046 -0.248997 9.47386 -0.0458064 0.00639159 0.0372843 0.2 0.02 pose: 0.42122152 -1.38577 0.0362581 0 -0.00162065 -0.00143125 0.0165062 0.999861 uwb: 0.49931505 846.916 1151.75 -imu_odom_: 1691062581.720921686 0.107739 -0.464475 9.8282 -0.0649811 -0.0479369 0.0490022 0.2 0.02 pose: 0.0 -1.38577 0.0362581 0 -0.00162065 -0.00143125 0.0165062 0.999861 uwb: 0.50171237 847.109 1150.77 -imu_odom_: 1691062581.736669299 1.08218 -0.0502782 10.5848 -0.0308927 -0.0511327 0.0287621 0.18 -0.02 pose: 0.51982347 -1.37201 0.0330012 0 -0.00295292 -0.00391511 0.016491 0.999852 uwb: 0.0 847.109 1150.77 -imu_odom_: 1691062581.762791275 0.952892 -0.047884 10.0197 -0.0660464 -0.0394148 0.0543285 0.18 -0.02 pose: 0.0 -1.37201 0.0330012 0 -0.00295292 -0.00391511 0.016491 0.999852 uwb: 0.0 847.109 1150.77 -imu_odom_: 1691062581.779720338 0.363919 -0.447716 9.92875 -0.0479369 0.00745685 0.036219 0.25 0.02 pose: 0.53035473 -1.37201 0.0330012 0 -0.00391366 -0.00121861 0.016569 0.999854 uwb: 0.50035623 847.227 1150.65 -imu_odom_: 1691062581.806655709 0.565032 -0.42138 9.56244 -0.0479369 -0.0223706 0.0532632 0.25 0.02 pose: 0.0 -1.37201 0.0330012 0 -0.00391366 -0.00121861 0.016569 0.999854 uwb: 0.0 847.227 1150.65 -imu_odom_: 1691062581.832642945 0.0957681 -0.0957681 10.0676 -0.02024 0.00532632 0.0340885 0.23 0 pose: 0.57849350 -1.35825 0.0297462 0 -0.0043723 -0.00431902 0.0167368 0.999841 uwb: 0.49782767 846.038 1149.2 -imu_odom_: 1691062581.858707175 0.624887 -0.337582 9.59596 -0.0639159 -0.00639159 0.056459 0.25 0 pose: 0.45955814 -1.34974 0.035003 0 -0.00422597 -0.00323789 0.0168132 0.999844 uwb: 0.0 846.038 1149.2 -imu_odom_: 1691062581.884656789 0.232238 -0.146046 9.67497 -0.0415453 0.00426106 0.0426106 0.25 0 pose: 0.0 -1.34974 0.035003 0 -0.00422597 -0.00323789 0.0168132 0.999844 uwb: 0.50055746 845.65 1147.5 -imu_odom_: 1691062581.911770938 0.0047884 -0.440533 10.2352 -0.0266316 -0.0181095 0.0234358 0.23 0 pose: 0.7012290 -1.34974 0.035003 0 -0.00442032 -0.00392838 0.0168699 0.99984 uwb: 0.0 845.65 1147.5 -imu_odom_: 1691062581.927693246 0.481235 0.117316 10.3765 -0.0447411 -0.0340885 0.0532632 0.23 0 pose: 0.0 -1.34974 0.035003 0 -0.00442032 -0.00392838 0.0168699 0.99984 uwb: 0.50050788 845.379 1146.22 -imu_odom_: 1691062581.952832964 0.6608 0.011971 10.4004 -0.0340885 -0.0351537 0.0426106 0.25 0 pose: 0.52200788 -1.33597 0.0317566 0 -0.0036233 -0.00279765 0.0170134 0.999845 uwb: 0.0 845.379 1146.22 -imu_odom_: 1691062581.974643566 0.694318 0.00718261 10.2041 -0.0351537 -0.0170442 0.04048 0.25 0 pose: 0.0 -1.33597 0.0317566 0 -0.0036233 -0.00279765 0.0170134 0.999845 uwb: 0.49760018 845.318 1145.25 -imu_odom_: 1691062582.834369 0.220267 -0.1652 9.68933 -0.0575243 0.00106526 0.0319579 0.18 0 pose: 0.43941720 -1.32747 0.0370175 0 -0.00160021 -0.00211209 0.0169811 0.999852 uwb: 0.0 845.318 1145.25 -imu_odom_: 1691062582.17681483 0.248997 -0.0646434 9.7851 -0.0873517 -0.02024 0.0490022 0.18 0 pose: 0.0 -1.32747 0.0370175 0 -0.00160021 -0.00211209 0.0169811 0.999852 uwb: 0.0 845.318 1145.25 -imu_odom_: 1691062582.42783583 0.469264 -0.339977 9.90242 -0.0703074 -0.0777643 0.0415453 0.2 0 pose: 0.46863118 -1.3137 0.033774 0 0.0017471 -0.00425777 0.0169761 0.999845 uwb: 0.50171532 845.31 1144 -imu_odom_: 1691062582.68711620 0.550666 -0.150835 10.1251 -0.0500674 -0.0308927 0.0351537 0.2 0 pose: 0.0 -1.3137 0.033774 0 0.0017471 -0.00425777 0.0169761 0.999845 uwb: 0.0 845.31 1144 -imu_odom_: 1691062582.94744940 1.0343 -0.366313 10.0245 -0.0308927 -0.0117179 0.0223706 0.19 -0.02 pose: 0.43155159 -1.3137 0.033774 0 0.0015226 -0.00157549 0.0169859 0.999853 uwb: 0.49940846 844.726 1142.28 -imu_odom_: 1691062582.111744000 0.181959 -0.023942 10.094 -0.0436758 0.0447411 0.0490022 0.19 -0.02 pose: 0.0 -1.3137 0.033774 0 0.0015226 -0.00157549 0.0169859 0.999853 uwb: 0.0 844.726 1142.28 -imu_odom_: 1691062582.137680203 0.612916 -0.289698 9.7875 -0.0617853 0.00852212 0.0383495 0.21 0.02 pose: 0.50879940 -1.29994 0.0305301 0 0.00127228 -0.00585797 0.0168758 0.99984 uwb: 0.50045255 844.951 1141.58 -imu_odom_: 1691062582.164648826 0.4956 -0.0550666 10.094 -0.0383495 -0.00319579 0.0543285 0.23 0.02 pose: 0.60984243 -1.29143 0.0357868 0 -0.000220694-0.00730979 0.0167985 0.999832 uwb: 0.0 844.951 1141.58 -imu_odom_: 1691062582.189628727 0.31364 -0.306458 9.84496 -0.0351537 0.00958738 0.0319579 0.23 0.02 pose: 0.0 -1.29143 0.0357868 0 -0.000220694-0.00730979 0.0167985 0.999832 uwb: 0.49865602 845.3 1141.01 -imu_odom_: 1691062582.213619372 0.620098 -0.380678 9.991 -0.0703074 -0.00852212 0.0458064 0.23 0 pose: 0.7021040 -1.29143 0.0357868 0 0.000504643 -0.0070794 0.016846 0.999833 uwb: 0.0 845.3 1141.01 -imu_odom_: 1691062582.229631509 0.268151 -0.229843 9.53132 -0.0543285 0.0447411 0.0234358 0.23 0 pose: 0.0 -1.29143 0.0357868 0 0.000504643 -0.0070794 0.016846 0.999833 uwb: 0.50062462 845.422 1140.16 -imu_odom_: 1691062582.246710188 0.490811 -0.306458 9.95748 -0.0681769 -0.052198 0.04048 0.18 -0.02 pose: 0.51980314 -1.27767 0.0325393 0 0.000796092 -0.00460331 0.016916 0.999846 uwb: 0.0 845.422 1140.16 -imu_odom_: 1691062582.272703261 1.20668 -0.399832 9.89045 -0.0468716 -0.0351537 0.0319579 0.18 -0.02 pose: 0.0 -1.27767 0.0325393 0 0.000796092 -0.00460331 0.016916 0.999846 uwb: 0.50018423 845.531 1139.33 -imu_odom_: 1691062582.297822277 0.56982 -0.339977 10.0389 -0.0628506 0.0117179 0.04048 0.22 0.02 pose: 0.40998746 -1.26916 0.0377982 0 -0.00156287 -0.00401498 0.0168534 0.999849 uwb: 0.0 845.531 1139.33 -imu_odom_: 1691062582.321821671 0.428562 -0.136469 9.56962 -0.0276969 -0.0245011 0.0234358 0.22 0.02 pose: 0.0 -1.26916 0.0377982 0 -0.00156287 -0.00401498 0.0168534 0.999849 uwb: 0.50002675 846.074 1139.08 -imu_odom_: 1691062582.346654001 0.857124 -0.208296 9.78989 -0.0468716 0.00958738 0.0330232 0.18 0.02 pose: 0.41950964 -1.26916 0.0377982 0 -0.00350254 -0.0075618 0.0167651 0.999825 uwb: 0.0 846.074 1139.08 -imu_odom_: 1691062582.370601190 0.454898 -0.110133 9.39006 -0.0170442 0.00958738 0.0276969 0.18 0.02 pose: 0.0 -1.26916 0.0377982 0 -0.00350254 -0.0075618 0.0167651 0.999825 uwb: 0.50073836 845.928 1138 -imu_odom_: 1691062582.395884985 0.459687 -0.332794 10.0365 -0.0617853 0.00426106 0.0458064 0.18 0 pose: 0.49084579 -1.2554 0.0345492 0 -0.00282742 -0.00746108 0.01656 0.999831 uwb: 0.0 845.928 1138 -imu_odom_: 1691062582.412766221 0.071826 -0.225055 9.85453 -0.0436758 0.00852212 0.0319579 0.18 0 pose: 0.0 -1.2554 0.0345492 0 -0.00282742 -0.00746108 0.01656 0.999831 uwb: 0.0 845.928 1138 -imu_odom_: 1691062582.436606378 0.172383 -0.117316 9.84975 -0.0596548 0.0138484 0.052198 0.18 0 pose: 0.48909301 -1.2554 0.0345492 0 -0.000610745-0.00697009 0.0163673 0.999842 uwb: 0.49916057 846.486 1137.98 -imu_odom_: 1691062582.461603778 0.543484 0.0143652 10.0389 -0.0447411 -0.0308927 0.0276969 0.18 0 pose: 0.0 -1.2554 0.0345492 0 -0.000610745-0.00697009 0.0163673 0.999842 uwb: 0.0 846.486 1137.98 -imu_odom_: 1691062582.476605368 0.802058 -0.397437 9.59357 -0.0713727 -0.0319579 0.0490022 0.24 0 pose: 0.83978631 -1.24164 0.0312887 0 0.00139163 -0.00287017 0.0163715 0.999861 uwb: 0.49832938 846.736 1137.52 -imu_odom_: 1691062582.503591198 0.227449 -0.179565 9.92875 -0.04048 -0.036219 0.0245011 0.24 0 pose: 0.0 -1.24164 0.0312887 0 0.00139163 -0.00287017 0.0163715 0.999861 uwb: 0.0 846.736 1137.52 -imu_odom_: 1691062582.528644593 0.497994 -0.244209 10.0724 -0.0681769 -0.0447411 0.0490022 0.18 0 pose: 0.6126859 -1.24164 0.0312887 0 0.0010351 -0.00348543 0.0164017 0.999859 uwb: 0.50146747 846.837 1136.7 -imu_odom_: 1691062582.553614287 0.744597 0.00718261 9.90481 -0.0447411 -0.0170442 0.0330232 0.2 0 pose: 0.16892027 -1.23313 0.0365394 0 0.000647783 -0.00370446 0.0163845 0.999859 uwb: 0.0 846.837 1136.7 -imu_odom_: 1691062582.568597212 0.462081 -0.277727 9.54808 -0.0671117 0.0106526 0.0639159 0.2 0 pose: 0.0 -1.23313 0.0365394 0 0.000647783 -0.00370446 0.0163845 0.999859 uwb: 0.0 846.837 1136.7 -imu_odom_: 1691062582.593725561 0.416591 -0.215478 10.0437 -0.0447411 -0.0223706 0.0436758 0.2 0 pose: 0.0 -1.23313 0.0365394 0 0.000647783 -0.00370446 0.0163845 0.999859 uwb: 0.49942888 847.165 1135.93 -imu_odom_: 1691062582.619574562 0.383072 -0.272939 9.98382 -0.0649811 -0.0298274 0.052198 0.18 -0.02 pose: 0.50027173 -1.22788 0.0280286 0 -0.000407278-0.00497233 0.016341 0.999854 uwb: 0.0 847.165 1135.93 -imu_odom_: 1691062582.635589906 0.797269 -0.3304 9.65821 -0.036219 0.0117179 0.0351537 0.18 -0.02 pose: 0.0 -1.22788 0.0280286 0 -0.000407278-0.00497233 0.016341 0.999854 uwb: 0.49932096 846.865 1134.77 -imu_odom_: 1691062582.661703429 0.512359 -0.179565 9.93354 -0.0873517 0.036219 0.0713727 0.26 0 pose: 0.91941682 -1.2056 0.0300207 0 -0.00171395 -0.00201413 0.0166642 0.999858 uwb: 0.0 846.865 1134.77 -imu_odom_: 1691062582.687644881 0.483629 -0.25618 9.81144 -0.0649811 0.00745685 0.0458064 0.23 0.05 pose: 0.35111910 -1.19935 0.0338841 0 -0.000135358-0.00384679 0.0170472 0.999847 uwb: 0.50242990 846.868 1133.59 -imu_odom_: 1691062582.712732107 0.447716 -0.407014 9.83777 -0.0798948 0.0117179 0.0479369 0.23 0.05 pose: 0.0 -1.19935 0.0338841 0 -0.000135358-0.00384679 0.0170472 0.999847 uwb: 0.0 846.868 1133.59 -imu_odom_: 1691062582.738644104 0.112527 -0.316035 9.98622 -0.0543285 -0.00958738 0.056459 0.2 0 pose: 0.6881051 -1.1971 0.0352777 0 -0.000846851-0.00392631 0.0170711 0.999846 uwb: 0.0 846.868 1133.59 -imu_odom_: 1691062582.754637575 0.665588 -0.248997 10.4986 -0.0596548 -0.0170442 0.0394148 0.2 0 pose: 0.0 -1.1971 0.0352777 0 -0.000846851-0.00392631 0.0170711 0.999846 uwb: 0.0 846.868 1133.59 -imu_odom_: 1691062582.781601532 0.347159 0.0502782 9.87129 -0.0596548 0.0106526 0.0426106 0.23 0 pose: 0.52068390 -1.18333 0.0320381 0 -0.00556053 -0.00259421 0.0173231 0.999831 uwb: 0.99920190 846.476 1132.52 -imu_odom_: 1691062582.805567970 0.337582 -0.335188 9.81623 -0.0660464 0.0276969 0.04048 0.23 0 pose: 0.0 -1.18333 0.0320381 0 -0.00556053 -0.00259421 0.0173231 0.999831 uwb: 0.0 846.476 1132.52 -imu_odom_: 1691062582.830621366 0.45011 -0.215478 9.53371 -0.0681769 0.00319579 0.0585895 0.2 0 pose: 0.41992086 -1.18333 0.0320381 0 -0.00429254 -0.00216495 0.0174868 0.999836 uwb: 0.0 846.476 1132.52 -imu_odom_: 1691062582.855557229 0.474052 -0.332794 9.38048 -0.0639159 0.0138484 0.0340885 0.2 0 pose: 0.0 -1.18333 0.0320381 0 -0.00429254 -0.00216495 0.0174868 0.999836 uwb: 0.0 846.476 1132.52 -imu_odom_: 1691062582.871610488 0.42138 -0.059855 10.1562 -0.0351537 -0.0255663 0.0383495 0.19 0.02 pose: 0.50070628 -1.16956 0.0288085 0 -0.00362565 0.000362731 0.0175961 0.999839 uwb: 0.100051137 846.885 1131.47 -imu_odom_: 1691062582.888700541 0.658405 -0.158017 9.75637 -0.0532632 -0.0436758 0.052198 0.19 0.02 pose: 0.0 -1.16956 0.0288085 0 -0.00362565 0.000362731 0.0175961 0.999839 uwb: 0.0 846.885 1131.47 -imu_odom_: 1691062582.915568838 0.687136 -0.0670376 10.2448 -0.0575243 -0.0149137 0.0468716 0.25 0.02 pose: 0.49854228 -1.16106 0.0340796 0 -0.00360591 -0.00204175 0.0176861 0.999835 uwb: 0.0 846.885 1131.47 -imu_odom_: 1691062582.931620347 0.588974 -0.418985 9.55765 -0.0628506 -0.02024 0.0575243 0.25 0.02 pose: 0.0 -1.16106 0.0340796 0 -0.00360591 -0.00204175 0.0176861 0.999835 uwb: 0.49817773 846.272 1129.47 -imu_odom_: 1691062582.957550717 0.679953 -0.208296 10.6255 -0.0330232 -0.0298274 0.04048 0.23 0.02 pose: 0.69050535 -1.14729 0.0308586 0 -0.00155495 -0.00670195 0.0180227 0.999814 uwb: 0.0 846.272 1129.47 -imu_odom_: 1691062582.982719020 0.543484 -0.258574 10.1107 -0.0383495 -0.0255663 0.0426106 0.23 0.02 pose: 0.7073828 -1.14729 0.0308586 0 -0.00125625 -0.00746439 0.0180239 0.999809 uwb: 0.50061295 846.482 1128.83 -imu_odom_: 1691062583.7561558 0.526724 0.0814029 9.91199 -0.0511327 -0.0127832 0.0575243 0.21 0 pose: 0.44024845 -1.1388 0.0361371 0 -0.00163138 -0.0076614 0.018082 0.999806 uwb: 0.0 846.482 1128.83 -imu_odom_: 1691062583.22569567 0.430956 -0.215478 10.0556 -0.0468716 0.0170442 0.0511327 0.21 0 pose: 0.0 -1.1388 0.0361371 0 -0.00163138 -0.0076614 0.018082 0.999806 uwb: 0.49978763 847.161 1128.72 -imu_odom_: 1691062583.38610870 0.373495 -0.258574 10.2352 -0.0436758 0 0.0340885 0.18 0 pose: 0.0 -1.1388 0.0361371 0 -0.00163138 -0.0076614 0.018082 0.999806 uwb: 0.0 847.161 1128.72 -imu_odom_: 1691062583.64885093 0.651223 -0.423774 9.94791 -0.0703074 -0.0149137 0.0607201 0.18 0 pose: 0.46931667 -1.12503 0.0329282 0 0.000513894 -0.00520928 0.0183567 0.999818 uwb: 0.0 847.161 1128.72 -imu_odom_: 1691062583.90555612 0.342371 -0.289698 9.91918 -0.0585895 0.0213053 0.0383495 0.21 0 pose: 0.35234406 -1.12503 0.0329282 0 -0.00202114 -0.00613742 0.0186197 0.999806 uwb: 0.50030972 847.148 1127.82 -imu_odom_: 1691062583.115537851 0.924162 -0.246603 10.0916 -0.0852212 0 0.0490022 0.21 0 pose: 0.6903217 -1.12503 0.0329282 0 -0.00217167 -0.00537261 0.0186175 0.99981 uwb: 0.0 847.148 1127.82 -imu_odom_: 1691062583.140595625 0.861913 -0.059855 10.3406 -0.0532632 -0.0191748 0.036219 0.21 0 pose: 0.43749541 -1.11654 0.0382168 0 -0.00279505 -0.00574254 0.0187206 0.999804 uwb: 0.49844612 847.38 1127.17 -imu_odom_: 1691062583.165554241 0.861913 -0.258574 9.59357 -0.0617853 0.0213053 0.04048 0.18 0 pose: 0.0 -1.11654 0.0382168 0 -0.00279505 -0.00574254 0.0187206 0.999804 uwb: 0.0 847.38 1127.17 -imu_odom_: 1691062583.180539209 0.0814029 -0.169988 9.72285 -0.00958738 0.0916127 0.0245011 0.18 0 pose: 0.31019856 -1.10276 0.0350206 0 -0.0014346 -0.00854943 0.0186668 0.999788 uwb: 0.50003266 847.487 1126.63 -imu_odom_: 1691062583.206543953 0.253785 -0.440533 9.53371 -0.0798948 0.00639159 0.0575243 0.18 0.02 pose: 0.0 -1.10276 0.0350206 0 -0.0014346 -0.00854943 0.0186668 0.999788 uwb: 0.0 847.487 1126.63 -imu_odom_: 1691062583.230611012 0.555455 -0.387861 9.73482 -0.056459 -0.00958738 0.0458064 0.18 0.02 pose: 0.41999675 -1.10276 0.0350206 0 -0.00159094 -0.00730208 0.0186375 0.999798 uwb: 0.50177378 846.794 1124.74 -imu_odom_: 1691062583.246537700 0.368707 -0.112527 9.94551 -0.0415453 0.0117179 0.056459 0.18 0.02 pose: 0.0 -1.10276 0.0350206 0 -0.00159094 -0.00730208 0.0186375 0.999798 uwb: 0.0 846.794 1124.74 -imu_odom_: 1691062583.272711888 0.320823 -0.047884 10.1442 -0.0372843 -0.0266316 0.0351537 0.23 -0.05 pose: 0.49064756 -1.08899 0.0318228 0 -0.00452096 -0.00617615 0.01895 0.999791 uwb: 0.50094843 846.672 1123.95 -imu_odom_: 1691062583.299547234 0.342371 -0.0287304 9.97424 -0.0703074 -0.0213053 0.0394148 0.23 0.02 pose: 0.35089750 -1.0831 0.0354948 0 -0.00150421 -0.0041679 0.0189635 0.99981 uwb: 0.0 846.672 1123.95 -imu_odom_: 1691062583.315694113 0.397437 -0.215478 9.77074 -0.0553937 -0.0532632 0.0298274 0.23 0.02 pose: 0.0 -1.0831 0.0354948 0 -0.00150421 -0.0041679 0.0189635 0.99981 uwb: 0.0 846.672 1123.95 -imu_odom_: 1691062583.342542291 0.790087 -0.31364 9.88805 -0.0660464 -0.02024 0.0458064 0.25 0.02 pose: 0.7990175 -1.0805 0.0371173 0 -0.000902626-0.00378635 0.0189607 0.999813 uwb: 0.49897399 846.776 1122.98 -imu_odom_: 1691062583.367814716 0.964863 -0.100556 9.73004 -0.056459 0 0.0447411 0.25 0.02 pose: 0.0 -1.0805 0.0371173 0 -0.000902626-0.00378635 0.0189607 0.999813 uwb: 0.0 846.776 1122.98 -imu_odom_: 1691062583.393595185 0.414197 -0.107739 10.0509 -0.0617853 0.036219 0.0266316 0.23 0 pose: 0.42991849 -1.0805 0.0371173 0 -1.04833e-05-0.00252974 0.0189004 0.999818 uwb: 0.49890108 846.895 1121.57 -imu_odom_: 1691062583.418809572 0.368707 -0.241814 9.77313 -0.072438 0.00213053 0.0340885 0.23 0 pose: 0.0 -1.0805 0.0371173 0 -1.04833e-05-0.00252974 0.0189004 0.999818 uwb: 0.0 846.895 1121.57 -imu_odom_: 1691062583.444527337 0.462081 -0.428562 9.62708 -0.0383495 0.0245011 0.0308927 0.21 -0.02 pose: 0.50929237 -1.06673 0.0339263 0 0.000493328 -0.00621426 0.0189731 0.999801 uwb: 0.49960978 846.858 1120.3 -imu_odom_: 1691062583.469526200 0.792481 -0.426168 9.84735 -0.072438 -0.0106526 0.0468716 0.21 -0.02 pose: 0.52104270 -1.05824 0.0392208 0 -0.000435974-0.00200796 0.0187403 0.999822 uwb: 0.0 846.858 1120.3 -imu_odom_: 1691062583.495640893 0.502782 -0.217872 9.82341 -0.0383495 -0.02024 0.0340885 0.18 0 pose: 0.0 -1.05824 0.0392208 0 -0.000435974-0.00200796 0.0187403 0.999822 uwb: 0.49970602 846.962 1119.36 -imu_odom_: 1691062583.511521501 0.155623 -0.0622492 9.87129 -0.0500674 0.0117179 0.0490022 0.18 0 pose: 0.25823633 -1.04447 0.0360254 0 -0.00246421 -0.00270127 0.0186953 0.999819 uwb: 0.0 846.962 1119.36 -imu_odom_: 1691062583.538535041 0.344765 -0.0263362 10.0054 -0.0468716 -0.0213053 0.0266316 0.19 0 pose: 0.49970602 -1.03598 0.0413153 0 -0.000262379-0.0044733 0.0187034 0.999815 uwb: 0.50115550 846.527 1117.98 -imu_odom_: 1691062583.564630486 0.634463 -0.217872 10.2256 -0.0543285 -0.056459 0.0479369 0.19 -0.02 pose: 0.36013387 -1.03598 0.0413153 0 0.00244617 -0.00223059 0.018562 0.999822 uwb: 0.0 846.527 1117.98 -imu_odom_: 1691062583.581522807 0.591368 -0.0335188 9.67976 -0.0543285 -0.0191748 0.0276969 0.19 -0.02 pose: 0.0 -1.03598 0.0413153 0 0.00244617 -0.00223059 0.018562 0.999822 uwb: 0.49726204 846.06 1116.43 -imu_odom_: 1691062583.607521717 0.387861 -0.347159 9.68215 -0.0713727 0.015979 0.0447411 0.19 -0.02 pose: 0.7013751 -1.03598 0.0413153 0 0.00227665 -0.00309275 0.0185929 0.99982 uwb: 0.0 846.06 1116.43 -imu_odom_: 1691062583.633518295 0.40462 -0.225055 9.89045 -0.0394148 -0.00426106 0.0436758 0.19 -0.02 pose: 0.0 -1.03598 0.0413153 0 0.00227665 -0.00309275 0.0185929 0.99982 uwb: 0.50139172 846.331 1115.8 -imu_odom_: 1691062583.659514872 0.469264 -0.208296 9.86411 -0.052198 -0.0223706 0.0436758 0.17 -0.02 pose: 0.43145837 -1.02221 0.0381157 0 0.00266593 -0.00588983 0.0185904 0.999806 uwb: 0.0 846.331 1115.8 -imu_odom_: 1691062583.676556515 0.749385 -0.138864 10.0652 -0.0500674 0.00426106 0.0458064 0.17 -0.02 pose: 0.0 -1.02221 0.0381157 0 0.00266593 -0.00588983 0.0185904 0.999806 uwb: 0.49972061 846.622 1115.16 -imu_odom_: 1691062583.701566752 0.464475 -0.347159 10.2304 -0.0660464 0.0319579 0.0468716 0.2 0 pose: 0.51951741 -1.01372 0.0434039 0 0.000386636 -0.00294001 0.0187156 0.99982 uwb: 0.0 846.622 1115.16 -imu_odom_: 1691062583.727568578 0.562637 -0.11971 9.85453 -0.0809601 0.00745685 0.0649811 0.2 0 pose: 0.0 -1.01372 0.0434039 0 0.000386636 -0.00294001 0.0187156 0.99982 uwb: 0.50147046 846.512 1113.79 -imu_odom_: 1691062583.753640108 0.220267 -0.335188 9.8665 -0.0649811 0 0.0447411 0.19 0.02 pose: 0.42897939 -0.999943 0.0402085 0 0.000319407 -0.00614203 0.0188354 0.999804 uwb: 0.0 846.512 1113.79 -imu_odom_: 1691062583.778496357 0.442927 -0.588974 9.67736 -0.0703074 -0.00852212 0.0553937 0.23 0 pose: 0.51109181 -0.999943 0.0402085 0 0.000266264 -0.00537051 0.0192451 0.9998 uwb: 0.50008225 846.383 1113.05 -imu_odom_: 1691062583.803662915 0.586579 -0.169988 10.07 -0.0213053 -0.0308927 0.0298274 0.23 0 pose: 0.0 -0.999943 0.0402085 0 0.000266264 -0.00537051 0.0192451 0.9998 uwb: 0.0 846.383 1113.05 -imu_odom_: 1691062583.818616386 0.600945 -0.213084 9.62948 -0.056459 -0.0383495 0.0458064 0.23 0 pose: 0.25981412 -0.991462 0.0455078 0 -0.00136429 -0.00357488 0.019355 0.999805 uwb: 0.0 846.383 1113.05 -imu_odom_: 1691062583.833483530 0.430956 0.011971 10.0604 -0.0511327 -0.0106526 0.04048 0.19 0 pose: 0.48871103 -0.977682 0.0423295 0 -0.00090198 -0.00627227 0.0193866 0.999792 uwb: 0.49781033 846.492 1112.56 -imu_odom_: 1691062583.858495225 0.557849 -0.272939 9.90242 -0.0607201 0.00532632 0.0436758 0.19 0 pose: 0.0 -0.977682 0.0423295 0 -0.00090198 -0.00627227 0.0193866 0.999792 uwb: 0.0 846.492 1112.56 -imu_odom_: 1691062583.885764537 0.328006 -0.447716 9.84496 -0.0245011 -0.0585895 0.0287621 0.18 0 pose: 0.31029189 -0.977682 0.0423295 0 1.81567e-05 -0.00688663 0.0194294 0.999788 uwb: 0.50319992 846.426 1111.78 -imu_odom_: 1691062583.910518127 0.591368 -0.181959 9.8282 -0.0596548 -0.0245011 0.0500674 0.19 0.02 pose: 0.45229343 -0.966296 0.0376557 0 -0.0031479 -0.00615709 0.0193519 0.999789 uwb: 0.0 846.426 1111.78 -imu_odom_: 1691062583.937646283 0.593762 -0.0933739 9.79228 -0.0372843 -0.0255663 0.0340885 0.19 0.02 pose: 0.0 -0.966296 0.0376557 0 -0.0031479 -0.00615709 0.0193519 0.999789 uwb: 0.49726787 847.159 1111.86 -imu_odom_: 1691062583.963613696 0.555455 -0.268151 9.991 -0.0596548 -0.00319579 0.0447411 0.19 0 pose: 0.7863310 -0.963901 0.0391529 0 -0.00251848 -0.00668687 0.0193878 0.999787 uwb: 0.0 847.159 1111.86 -imu_odom_: 1691062583.990466832 0.723049 -0.234632 9.90002 -0.0468716 -0.0149137 0.056459 0.19 0 pose: 0.0 -0.963901 0.0391529 0 -0.00251848 -0.00668687 0.0193878 0.999787 uwb: 0.50041472 847.349 1111.52 -imu_odom_: 1691062584.6472848 0.514753 -0.308852 9.39245 -0.0660464 0.0276969 0.0553937 0.18 0 pose: 0.52156183 -0.955422 0.0444544 0 0.000906038 -0.00857626 0.0193988 0.999775 uwb: 0.0 847.349 1111.52 -imu_odom_: 1691062584.33469477 0.371101 -0.162806 9.5792 -0.0447411 0.00106526 0.0426106 0.18 0 pose: 0.0 -0.955422 0.0444544 0 0.000906038 -0.00857626 0.0193988 0.999775 uwb: 0.50221419 847.075 1110.29 -imu_odom_: 1691062584.59589133 -0.0167594 -0.435745 9.83777 -0.0298274 0.0266316 0.0255663 0.26 0 pose: 0.52696892 -0.941643 0.0412802 0 -0.00127467 -0.0102585 0.0197526 0.999751 uwb: 0.0 847.075 1110.29 -imu_odom_: 1691062584.86508768 0.562637 -0.385466 9.87848 -0.0511327 -0.02024 0.0575243 0.25 -0.02 pose: 0.43021895 -0.941643 0.0412802 0 -0.000887092-0.00607796 0.019806 0.999785 uwb: 0.49872618 846.907 1109 -imu_odom_: 1691062584.111543507 0.220267 -0.208296 9.91918 -0.02024 0.0245011 0.036219 0.25 -0.02 pose: 0.0 -0.941643 0.0412802 0 -0.000887092-0.00607796 0.019806 0.999785 uwb: 0.0 846.907 1109 -imu_odom_: 1691062584.128694811 0.536301 -0.162806 10.0748 -0.0660464 0.015979 0.0585895 0.21 0.02 pose: 0.25167145 -0.933169 0.0465883 0 -0.00191808 -0.0045237 0.0197523 0.999793 uwb: 0.49914906 846.419 1107.94 -imu_odom_: 1691062584.154511448 0.679953 -0.251391 9.83538 -0.0671117 0 0.0415453 0.21 0.02 pose: 0.0 -0.933169 0.0465883 0 -0.00191808 -0.0045237 0.0197523 0.999793 uwb: 0.0 846.419 1107.94 -imu_odom_: 1691062584.171462101 0.543484 -0.160412 10.2017 -0.0713727 -0.00958738 0.0628506 0.23 0 pose: 0.51870381 -0.919386 0.0434218 0 -0.00202311 -0.00321739 0.0199644 0.999793 uwb: 0.49957195 846.065 1106.39 -imu_odom_: 1691062584.196591624 0.797269 -0.316035 9.43315 -0.0713727 0.0458064 0.0234358 0.23 0 pose: 0.0 -0.919386 0.0434218 0 -0.00202311 -0.00321739 0.0199644 0.999793 uwb: 0.0 846.065 1106.39 -imu_odom_: 1691062584.223473054 0.138864 -0.47884 9.39485 -0.0436758 0.0213053 0.056459 0.23 0.02 pose: 0.43092765 -0.919386 0.0434218 0 -0.000842769-0.00636235 0.0201561 0.999776 uwb: 0.49970027 846.187 1106.11 -imu_odom_: 1691062584.249462344 0.19393 0.0023942 10.161 -0.00639159 -0.00319579 0.0276969 0.23 0.02 pose: 0.0 -0.919386 0.0434218 0 -0.000842769-0.00636235 0.0201561 0.999776 uwb: 0.0 846.187 1106.11 -imu_odom_: 1691062584.276472972 0.677559 -0.0957681 10.2615 -0.052198 -0.052198 0.0543285 0.23 -0.02 pose: 0.41842777 -0.905601 0.0402656 0 -0.00129877 -0.00761557 0.0201266 0.999768 uwb: 0.50014065 846.347 1105.21 -imu_odom_: 1691062584.301579164 0.54109 -0.0622492 10.0078 -0.0468716 0.00532632 0.0415453 0.18 0 pose: 0.53003419 -0.89713 0.0455799 0 0.000402211 -0.00434513 0.0202018 0.999786 uwb: 0.0 846.347 1105.21 -imu_odom_: 1691062584.328581626 0.665588 -0.0670376 9.89524 -0.052198 -0.00106526 0.036219 0.22 0 pose: 0.0 -0.89713 0.0455799 0 0.000402211 -0.00434513 0.0202018 0.999786 uwb: 0.49902365 846.491 1104.32 -imu_odom_: 1691062584.344568978 0.186748 -0.323217 9.83777 -0.0585895 0.0117179 0.0543285 0.22 0 pose: 0.52037201 -0.883345 0.0424274 0 0.0044568 -0.00711305 0.0203432 0.999758 uwb: 0.0 846.491 1104.32 -imu_odom_: 1691062584.371464699 0.758962 -0.184354 10.4052 -0.0735032 -0.0138484 0.0255663 0.19 -0.02 pose: 0.0 -0.883345 0.0424274 0 0.0044568 -0.00711305 0.0203432 0.999758 uwb: 0.50218216 846.162 1102.99 -imu_odom_: 1691062584.396532977 0.826 -0.560243 9.79707 -0.0745685 -0.015979 0.0479369 0.2 -0.02 pose: 0.62948194 -0.874876 0.0477449 0 0.00366299 -0.0100421 0.0202546 0.999738 uwb: 0.0 846.162 1102.99 -imu_odom_: 1691062584.423455528 -0.318429 -0.0622492 8.44914 -0.0191748 0.108657 0.0255663 0.2 -0.02 pose: 0.0 -0.874876 0.0477449 0 0.00366299 -0.0100421 0.0202546 0.999738 uwb: 0.49936196 845.635 1101.98 -imu_odom_: 1691062584.439512583 0.263362 -0.222661 9.15543 -0.0639159 0.203466 0.0596548 0.19 0 pose: 0.8064545 -0.874876 0.0477449 0 0.00288765 -0.0104941 0.0202957 0.999735 uwb: 0.0 845.635 1101.98 -imu_odom_: 1691062584.466549751 -0.37589 -0.426168 9.73722 -0.036219 0.0276969 0.0255663 0.19 0 pose: 0.0 -0.874876 0.0477449 0 0.00288765 -0.0104941 0.0202957 0.999735 uwb: 0.0 845.635 1101.98 -imu_odom_: 1691062584.491627362 1.29287 -0.442927 9.07402 -0.0340885 -0.0479369 0.0426106 0.18 0 pose: 0.51996371 -0.861089 0.0445912 0 0.0018595 -0.00561289 0.0202765 0.999777 uwb: 0.49908199 845.305 1100.65 -imu_odom_: 1691062584.516446867 0.667982 -0.0670376 10.1873 -0.0255663 0.0298274 0.0372843 0.18 0 pose: 0.0 -0.861089 0.0445912 0 0.0018595 -0.00561289 0.0202765 0.999777 uwb: 0.0 845.305 1100.65 -imu_odom_: 1691062584.530440248 0.225055 -0.0909797 10.1969 -0.0553937 0.0170442 0.0490022 0.2 -0.02 pose: 0.42967066 -0.852619 0.0499071 0 0.00101682 -0.00191208 0.0201818 0.999794 uwb: 0.49988109 845.768 1099.97 -imu_odom_: 1691062584.555551689 -0.0646434 0.0790087 10.1131 -0.0447411 0.0255663 0.0276969 0.2 -0.02 pose: 0.0 -0.852619 0.0499071 0 0.00101682 -0.00191208 0.0201818 0.999794 uwb: 0.0 845.768 1099.97 -imu_odom_: 1691062584.582609272 0.42138 -0.28491 9.95748 -0.0777643 0.00213053 0.0511327 0.24 0 pose: 0.47944850 -0.847304 0.0414365 0 0.00275994 -0.00484631 0.0202046 0.99978 uwb: 0.50088726 846.099 1099.56 -imu_odom_: 1691062584.607492356 0.414197 0.0742203 10.2831 -0.0426106 -0.0308927 0.0330232 0.24 0 pose: 0.0 -0.847304 0.0414365 0 0.00275994 -0.00484631 0.0202046 0.99978 uwb: 0.0 846.099 1099.56 -imu_odom_: 1691062584.624495213 0.512359 -0.203507 10.0556 -0.0692422 0.0181095 0.0575243 0.23 -0.02 pose: 0.40003378 -0.838834 0.0467516 0 0.00324666 -0.00122959 0.020122 0.999792 uwb: 0.50040604 845.826 1098.79 -imu_odom_: 1691062584.640486357 0.160412 -0.181959 10.0556 -0.0713727 0.00745685 0.0308927 0.23 -0.02 pose: 0.0 -0.838834 0.0467516 0 0.00324666 -0.00122959 0.020122 0.999792 uwb: 0.0 845.826 1098.79 -imu_odom_: 1691062584.667492319 0.0766145 -0.493206 10.0126 -0.0617853 0.00106526 0.0628506 0.25 0 pose: 0.52063157 -0.825047 0.0435951 0 0.00319803 -0.00176226 0.0202218 0.999789 uwb: 0.0 845.826 1098.79 -imu_odom_: 1691062584.683631034 0.201113 -0.337582 9.84496 -0.0298274 -0.0458064 0.04048 0.25 0 pose: 0.0 -0.825047 0.0435951 0 0.00319803 -0.00176226 0.0202218 0.999789 uwb: 0.50014649 845.648 1097.58 -imu_odom_: 1691062584.700503818 0.35913 -0.162806 9.83299 -0.0447411 -0.00532632 0.0383495 0.23 0 pose: 0.33999007 -0.825047 0.0435951 0 0.00170578 -0.0001878640.0203347 0.999792 uwb: 0.0 845.648 1097.58 -imu_odom_: 1691062584.717490052 0.840365 -0.37589 9.8689 -0.076699 -0.0223706 0.0713727 0.23 0 pose: 0.0 -0.825047 0.0435951 0 0.00170578 -0.0001878640.0203347 0.999792 uwb: 0.0 845.648 1097.58 -imu_odom_: 1691062584.744496305 0.723049 -0.138864 10.3765 -0.0468716 0.00532632 0.0479369 0.27 0.02 pose: 0.41977809 -0.816578 0.0489126 0 0.0002702 0.002202 0.0205561 0.999786 uwb: 0.49905865 845.563 1096.5 -imu_odom_: 1691062584.761679107 0.215478 -0.23942 9.39485 -0.0681769 -0.00958738 0.0617853 0.27 0.02 pose: 0.34010964 -0.802792 0.0457693 0 0.000738141 -0.0001585110.0208527 0.999782 uwb: 0.0 845.563 1096.5 -imu_odom_: 1691062584.786463615 0.306458 -0.174777 9.4571 -0.0436758 0.00639159 0.0383495 0.24 0 pose: 0.0 -0.802792 0.0457693 0 0.000738141 -0.0001585110.0208527 0.999782 uwb: 0.49971777 845.524 1095.41 -imu_odom_: 1691062584.809459761 0.277727 -0.339977 9.72285 -0.0958738 0.0255663 0.072438 0.24 0 pose: 0.44132476 -0.802792 0.0457693 0 0.000941956 0.00032251 0.0211219 0.999776 uwb: 0.0 845.524 1095.41 -imu_odom_: 1691062584.835597498 0.40462 -0.323217 9.42837 -0.0681769 0.0276969 0.0394148 0.18 0.02 pose: 0.40835439 -0.790721 0.0453701 0 -0.00107312 0.003558 0.0214827 0.999762 uwb: 0.49978193 845.554 1094.27 -imu_odom_: 1691062584.859421038 0.462081 -0.593762 10.1849 -0.0788296 -0.00426106 0.0500674 0.18 0.02 pose: 0.8022549 -0.788998 0.0426408 0 -0.00175635 0.00318705 0.0214793 0.999763 uwb: 0.0 845.554 1094.27 -imu_odom_: 1691062584.883490435 0.138864 -0.201113 10.2376 -0.0553937 -0.0138484 0.0543285 0.18 0 pose: 0.41938728 -0.780541 0.0479777 0 -0.00581729 0.001521 0.021589 0.999749 uwb: 0.50112640 845.409 1093.26 -imu_odom_: 1691062584.908447305 0.21069 -0.0837971 9.96227 -0.0617853 -0.00532632 0.0436758 0.18 0 pose: 0.0 -0.780541 0.0479777 0 -0.00581729 0.001521 0.021589 0.999749 uwb: 0.0 845.409 1093.26 -imu_odom_: 1691062584.935464932 0.509965 -0.186748 10.3573 -0.0628506 -0.0255663 0.0500674 0.21 0 pose: 0.49026267 -0.774587 0.0517382 0 -0.00259182 0.00475676 0.0218462 0.999747 uwb: 0.49975568 845.512 1092.46 -imu_odom_: 1691062584.961449848 1.10852 0.0335188 10.4746 -0.0340885 -0.0255663 0.0276969 0.18 -0.02 pose: 0.0 -0.774587 0.0517382 0 -0.00259182 0.00475676 0.0218462 0.999747 uwb: 0.0 845.512 1092.46 -imu_odom_: 1691062584.978451247 0.287304 -0.21069 9.42358 -0.0735032 -0.0149137 0.0585895 0.23 0 pose: 0.35031719 -0.766743 0.044866 0 -0.00127593 0.00113698 0.0219394 0.999758 uwb: 0.49780167 845.078 1091.07 -imu_odom_: 1691062585.4784970 0.383072 -0.354342 9.37569 -0.0703074 0.0106526 0.0394148 0.23 0 pose: 0.0 -0.766743 0.044866 0 -0.00127593 0.00113698 0.0219394 0.999758 uwb: 0.0 845.078 1091.07 -imu_odom_: 1691062585.31392842 0.505177 -0.395043 9.67497 -0.0617853 -0.0255663 0.0511327 0.18 0.02 pose: 0.42997105 -0.75829 0.0502102 0 -0.00130818 0.000947941 0.0219919 0.999757 uwb: 0.50033317 844.673 1089.86 -imu_odom_: 1691062585.47453982 0.402226 -0.301669 9.62708 -0.0585895 0.0255663 0.0426106 0.18 0.02 pose: 0.0 -0.75829 0.0502102 0 -0.00130818 0.000947941 0.0219919 0.999757 uwb: 0.0 844.673 1089.86 -imu_odom_: 1691062585.64398805 0.462081 -0.0861913 10.2496 -0.0639159 -0.0181095 0.0500674 0.2 0 pose: 0.51933090 -0.744494 0.0471044 0 -0.0048441 -0.0004387910.0221477 0.999743 uwb: 0.0 844.673 1089.86 -imu_odom_: 1691062585.82468792 0.59855 -0.428562 10.4076 -0.0106526 -0.0181095 0.036219 0.2 0 pose: 0.0 -0.744494 0.0471044 0 -0.0048441 -0.0004387910.0221477 0.999743 uwb: 0.50056653 844.493 1088.88 -imu_odom_: 1691062585.105420611 0.222661 -0.258574 9.88805 0.0170442 -0.0628506 0.0330232 0.19 0.02 pose: 0.44059573 -0.7392 0.0504549 0 -0.00357582 -0.00166559 0.0222184 0.999745 uwb: 0.0 844.493 1088.88 -imu_odom_: 1691062585.131407281 0.481235 -0.124498 10.0413 -0.0255663 -0.0607201 0.0532632 0.19 0.02 pose: 0.0 -0.7392 0.0504549 0 -0.00357582 -0.00166559 0.0222184 0.999745 uwb: 0.50029239 844.789 1087.81 -imu_odom_: 1691062585.156474104 0.459687 0.201113 10.0556 -0.1012 -0.0245011 0.0830906 0.25 0 pose: 0.5968499 -0.736044 0.0524532 0 -0.00329439 -0.00124137 0.0222019 0.999747 uwb: 0.0 844.789 1087.81 -imu_odom_: 1691062585.179448964 0.383072 -0.0430956 10.082 -0.0660464 -0.0426106 0.0500674 0.18 0 pose: 0.0 -0.736044 0.0524532 0 -0.00329439 -0.00124137 0.0222019 0.999747 uwb: 0.50016698 844.719 1086.96 -imu_odom_: 1691062585.205416385 0.603339 -0.0287304 9.77792 -0.0585895 0.0181095 0.0319579 0.18 0.02 pose: 0.74136553 -0.722249 0.0493601 0 0.00264909 -0.00212381 0.0229 0.999732 uwb: 0.0 844.719 1086.96 -imu_odom_: 1691062585.222508780 0.344765 -0.292093 10.0509 -0.0639159 -0.0213053 0.0479369 0.18 0.02 pose: 0.0 -0.722249 0.0493601 0 0.00264909 -0.00212381 0.0229 0.999732 uwb: 0.50144438 844.723 1085.89 -imu_odom_: 1691062585.248419622 0.25618 -0.232238 9.8689 -0.0745685 -0.0266316 0.0649811 0.25 0.02 pose: 0.49931246 -0.713808 0.0547218 0 0.00485028 -0.00316246 0.0229197 0.999721 uwb: 0.0 844.723 1085.89 -imu_odom_: 1691062585.275443670 0.469264 -0.198719 10.2496 -0.0511327 -0.0127832 0.0276969 0.25 -0.02 pose: 0.35914532 -0.709958 0.0486591 0 0.00258402 -0.0006628780.0232821 0.999725 uwb: 0.49881375 844.524 1084.59 -imu_odom_: 1691062585.291622927 0.316035 -0.201113 9.89284 -0.056459 -0.00958738 0.0447411 0.25 -0.02 pose: 0.0 -0.709958 0.0486591 0 0.00258402 -0.0006628780.0232821 0.999725 uwb: 0.0 844.524 1084.59 -imu_odom_: 1691062585.318579313 0.325611 -0.497994 9.78031 -0.0575243 0.0298274 0.0298274 0.25 0.02 pose: 0.7071498 -0.708445 0.0462813 0 0.00220705 -0.00128064 0.0232418 0.999727 uwb: 0.0 844.524 1084.59 -imu_odom_: 1691062585.344526319 0.174777 -0.292093 10.3262 -0.0415453 0.00745685 0.0617853 0.25 0.02 pose: 0.0 -0.708445 0.0462813 0 0.00220705 -0.00128064 0.0232418 0.999727 uwb: 0.49951661 844.231 1083.35 -imu_odom_: 1691062585.371403671 0.248997 -0.129287 10.1778 -0.0266316 0.0170442 0.0383495 0.25 0 pose: 0.42934701 -0.700008 0.051648 0 0.000357761 -0.00112631 0.023136 0.999732 uwb: 0.50100108 844.025 1082.76 -imu_odom_: 1691062585.396375127 0.399832 -0.0047884 10.1969 -0.0394148 -0.00213053 0.0617853 0.25 0 pose: 0.0 -0.700008 0.051648 0 0.000357761 -0.00112631 0.023136 0.999732 uwb: 0.0 844.025 1082.76 -imu_odom_: 1691062585.413497561 0.746991 -0.31364 9.73482 -0.0553937 0.0106526 0.0308927 0.23 -0.02 pose: 0.53000801 -0.686203 0.0485745 0 -0.00135076 0.00306152 0.0233295 0.999722 uwb: 0.0 844.025 1082.76 -imu_odom_: 1691062585.439393821 0.316035 -0.486023 9.97424 -0.0713727 0.0117179 0.0479369 0.23 -0.02 pose: 0.0 -0.686203 0.0485745 0 -0.00135076 0.00306152 0.0233295 0.999722 uwb: 0.49986950 844.162 1081.64 -imu_odom_: 1691062585.466435076 0.624887 -0.153229 9.91199 -0.0490022 -0.0607201 0.0308927 0.25 0 pose: 0.52074540 -0.677767 0.0539441 0 0.00270693 0.00303338 0.02358 0.999714 uwb: 0.0 844.162 1081.64 -imu_odom_: 1691062585.492384998 0.792481 -0.258574 10.1155 -0.0649811 -0.0149137 0.0436758 0.2 -0.02 pose: 0.42958032 -0.677767 0.0539441 0 -0.0002013880.00179057 0.0236109 0.99972 uwb: 0.49735262 844.576 1081.25 -imu_odom_: 1691062585.519419837 0.177171 -0.201113 9.74679 -0.0671117 0.0426106 0.0468716 0.25 0 pose: 0.0 -0.677767 0.0539441 0 -0.0002013880.00179057 0.0236109 0.99972 uwb: 0.50125773 843.9 1080.05 -imu_odom_: 1691062585.544638899 0.423774 -0.208296 10.0389 -0.0607201 0.0138484 0.0276969 0.2 0 pose: 0.52943932 -0.66396 0.0508824 0 -3.57441e-05-0.00255756 0.0236044 0.999718 uwb: 0.0 843.9 1080.05 -imu_odom_: 1691062585.561633010 0.574608 -0.217872 9.83059 -0.0468716 -0.0319579 0.0298274 0.2 0 pose: 0.0 -0.66396 0.0508824 0 -3.57441e-05-0.00255756 0.0236044 0.999718 uwb: 0.0 843.9 1080.05 -imu_odom_: 1691062585.587377615 0.363919 -0.308852 10.3741 -0.0383495 -0.0308927 0.0383495 0.18 0 pose: 0.62229884 -0.652524 0.0515434 0 0.000766912 -0.00406372 0.0234455 0.999717 uwb: 0.50072110 843.707 1078.78 -imu_odom_: 1691062585.614368124 0.648829 0.0957681 9.92157 -0.0671117 0.015979 0.0596548 0.18 0 pose: 0.7962180 -0.650154 0.0478209 0 0.000297401 -0.00358228 0.0234426 0.999719 uwb: 0.0 843.707 1078.78 -imu_odom_: 1691062585.630403600 0.399832 -0.311246 9.97664 -0.0671117 -0.0234358 0.0458064 0.2 0 pose: 0.44772934 -0.641718 0.053191 0 0.0014269 -0.00357805 0.0236993 0.999712 uwb: 0.50019614 843.502 1077.52 -imu_odom_: 1691062585.657355612 0.663194 -0.227449 9.77553 -0.056459 -0.0415453 0.0500674 0.2 0 pose: 0.0 -0.641718 0.053191 0 0.0014269 -0.00357805 0.0236993 0.999712 uwb: 0.0 843.502 1077.52 -imu_odom_: 1691062585.683500936 0.94571 -0.316035 10.0604 -0.0351537 0.0276969 0.0170442 0.18 0.02 pose: 0.42987488 -0.629512 0.0526447 0 -0.00013366 -0.00613359 0.0238936 0.999696 uwb: 0.49846378 843.184 1076.65 -imu_odom_: 1691062585.710377704 0.651223 -0.177171 10.0221 -0.0649811 -0.00639159 0.0575243 0.18 0.02 pose: 0.0 -0.629512 0.0526447 0 -0.00013366 -0.00613359 0.0238936 0.999696 uwb: 0.0 843.184 1076.65 -imu_odom_: 1691062585.735353243 0.347159 -0.0814029 9.77792 -0.0479369 -0.0138484 0.0287621 0.2 0 pose: 0.33047960 -0.62791 0.0501337 0 -6.96183e-05-0.00887049 0.0236614 0.999681 uwb: 0.50007365 843.215 1075.79 -imu_odom_: 1691062585.762353960 0.433351 -0.42138 9.45949 -0.0692422 0.0106526 0.04048 0.23 0 pose: 0.28045678 -0.619477 0.0555084 0 0.00123356 -0.00989272 0.0237827 0.999667 uwb: 0.0 843.215 1075.79 -imu_odom_: 1691062585.779465020 0.227449 -0.177171 10.319 -0.0245011 -0.0170442 0.0276969 0.23 0 pose: 0.0 -0.619477 0.0555084 0 0.00123356 -0.00989272 0.0237827 0.999667 uwb: 0.49963327 842.991 1074.39 -imu_odom_: 1691062585.806402158 0.68953 -0.328006 9.94551 -0.0617853 -0.0234358 0.0660464 0.26 0 pose: 0.23926495 -0.619477 0.0555084 0 0.00129644 -0.00805347 0.0236913 0.999686 uwb: 0.0 842.991 1074.39 -imu_odom_: 1691062585.831346199 0.756568 -0.138864 9.95509 -0.0532632 0.0266316 0.0458064 0.26 0 pose: 0.0 -0.619477 0.0555084 0 0.00129644 -0.00805347 0.0236913 0.999686 uwb: 0.50078235 843.121 1073.49 -imu_odom_: 1691062585.858347208 0.191536 -0.445322 9.99579 -0.0575243 0.0340885 0.04048 0.23 0 pose: 0.44035658 -0.60567 0.052449 0 -0.000486604-0.00608856 0.0237062 0.9997 uwb: 0.0 843.121 1073.49 -imu_odom_: 1691062585.874463761 0.0790087 0.0335188 10.0173 -0.0426106 -0.0234358 0.0394148 0.23 0 pose: 0.0 -0.60567 0.052449 0 -0.000486604-0.00608856 0.0237062 0.9997 uwb: 0.50129564 843.084 1072.51 -imu_odom_: 1691062585.901325655 0.545878 -0.241814 10.161 -0.0681769 -0.0223706 0.0639159 0.23 0.02 pose: 0.52070456 -0.597237 0.0578236 0 -0.000620887-0.0090276 0.0240454 0.99967 uwb: 0.0 843.084 1072.51 -imu_odom_: 1691062585.927452897 0.466869 -0.0263362 9.77074 -0.0660464 0.0170442 0.0479369 0.23 0.02 pose: 0.0 -0.597237 0.0578236 0 -0.000620887-0.0090276 0.0240454 0.99967 uwb: 0.49768801 842.861 1071.45 -imu_odom_: 1691062585.954448073 0.232238 -0.232238 9.59117 -0.0415453 -0.0287621 0.0298274 0.25 0 pose: 0.88971038 -0.583428 0.0547751 0 0.000515141 -0.00710675 0.0244787 0.999675 uwb: 0.0 842.861 1071.45 -imu_odom_: 1691062585.980393329 0.464475 -0.543484 9.30147 -0.0756338 -0.00319579 0.052198 0.18 0.02 pose: 0.6906136 -0.583428 0.0547751 0 0.000494063 -0.00650259 0.0244456 0.99968 uwb: 0.50019906 842.836 1070.47 -imu_odom_: 1691062586.7348842 0.471658 -0.208296 9.88326 -0.0468716 -0.0255663 0.0415453 0.18 0.02 pose: 0.0 -0.583428 0.0547751 0 0.000494063 -0.00650259 0.0244456 0.99968 uwb: 0.0 842.836 1070.47 -imu_odom_: 1691062586.23352823 0.464475 -0.172383 9.99819 -0.0735032 0.00213053 0.0585895 0.18 0 pose: 0.28064343 -0.575003 0.0601616 0 -0.000445518-0.00470051 0.024403 0.999691 uwb: 0.50279764 843.261 1069.79 -imu_odom_: 1691062586.50430829 0.76375 -0.179565 10.4507 -0.0639159 0.0426106 0.0372843 0.18 0 pose: 0.0 -0.575003 0.0601616 0 -0.000445518-0.00470051 0.024403 0.999691 uwb: 0.0 843.261 1069.79 -imu_odom_: 1691062586.66352275 0.296881 -0.402226 9.82102 -0.0628506 -0.0330232 0.0585895 0.2 0.02 pose: 0.52934018 -0.561191 0.0571233 0 0.000874115 -0.00356874 0.0246154 0.99969 uwb: 0.0 843.261 1069.79 -imu_odom_: 1691062586.93385952 0.440533 -0.253785 10.1227 -0.0383495 -0.00745685 0.0415453 0.2 0.02 pose: 0.0 -0.561191 0.0571233 0 0.000874115 -0.00356874 0.0246154 0.99969 uwb: 0.49772016 843.225 1068.82 -imu_odom_: 1691062586.118531815 0.462081 -0.361524 9.74201 -0.0468716 0.00106526 0.0596548 0.18 0 pose: 0.43126026 -0.561191 0.0571233 0 0.000901655 -0.00487579 0.0247398 0.999682 uwb: 0.0 843.225 1068.82 -imu_odom_: 1691062586.145378839 0.25618 0.0407014 9.94312 -0.0383495 -0.00532632 0.0500674 0.18 0 pose: 0.0 -0.561191 0.0571233 0 0.000901655 -0.00487579 0.0247398 0.999682 uwb: 0.49999208 843.229 1067.52 -imu_odom_: 1691062586.170394921 0.263362 -0.474052 9.56484 -0.0692422 0.0255663 0.0617853 0.2 0 pose: 0.43010535 -0.547376 0.0540944 0 -0.00201754 -0.00253136 0.0249348 0.999684 uwb: 0.49901506 843.294 1067 -imu_odom_: 1691062586.197375227 0.253785 -0.107739 9.53132 -0.0436758 -0.0276969 0.0458064 0.21 0.02 pose: 0.50879973 -0.538956 0.0594898 0 -0.00178272 -0.0007763460.025329 0.999677 uwb: 0.0 843.294 1067 -imu_odom_: 1691062586.213319421 0.802058 -0.263362 10.2687 -0.0415453 -0.0735032 0.0351537 0.21 0.02 pose: 0.0 -0.538956 0.0594898 0 -0.00178272 -0.0007763460.025329 0.999677 uwb: 0.0 843.294 1067 -imu_odom_: 1691062586.230437775 1.41737 -0.0742203 9.92397 -0.0298274 -0.0308927 0.0255663 0.21 0.02 pose: 0.0 -0.538956 0.0594898 0 -0.00178272 -0.0007763460.025329 0.999677 uwb: 0.50141238 843.486 1066.11 -imu_odom_: 1691062586.248481516 1.58017 -0.399832 10.2711 -0.056459 -0.00319579 -0.00319579 0.21 -0.11 pose: 0.67986369 -0.525137 0.0564824 0 -0.000910867-0.00101375 0.0255366 0.999673 uwb: 0.0 843.486 1066.11 -imu_odom_: 1691062586.262478692 1.81959 -0.196325 9.96706 -0.04048 0.00532632 -0.129962 0.21 -0.11 pose: 0.0 -0.525137 0.0564824 0 -0.000910867-0.00101375 0.0255366 0.999673 uwb: 0.0 843.486 1066.11 -imu_odom_: 1691062586.278313228 1.46765 0.282516 9.83777 -0.0511327 0.0394148 -0.214118 0.21 -0.11 pose: 0.0 -0.525137 0.0564824 0 -0.000910867-0.00101375 0.0255366 0.999673 uwb: 0.49934171 843.221 1065.42 -imu_odom_: 1691062586.293360616 1.26414 0.301669 9.89524 -0.0649811 0.0266316 -0.280165 0.12 -0.35 pose: 0.49010533 -0.516724 0.0618878 0 -0.000292853-0.00570153 0.0230147 0.999719 uwb: 0.0 843.221 1065.42 -imu_odom_: 1691062586.310319732 0.950498 -0.134075 9.85214 -0.072438 0.0181095 -0.358994 0.12 -0.35 pose: 0.0 -0.516724 0.0618878 0 -0.000292853-0.00570153 0.0230147 0.999719 uwb: 0.0 843.221 1065.42 -imu_odom_: 1691062586.324322158 0.90022 -0.0909797 9.5816 -0.0703074 0.0319579 -0.429302 0.1 -0.41 pose: 0.0 -0.516724 0.0618878 0 -0.000292853-0.00570153 0.0230147 0.999719 uwb: 0.49925129 843.301 1064.75 -imu_odom_: 1691062586.340360261 0.981623 -0.23942 9.88566 -0.0756338 0.00745685 -0.426106 0.1 -0.41 pose: 0.40948902 -0.51673 0.0618821 0 0.00116722 -0.00875122 0.0160861 0.999832 uwb: 0.0 843.301 1064.75 -imu_odom_: 1691062586.357304503 0.711078 -0.371101 9.64384 -0.0628506 -0.00639159 -0.434628 0.1 -0.41 pose: 0.0 -0.51673 0.0618821 0 0.00116722 -0.00875122 0.0160861 0.999832 uwb: 0.0 843.301 1064.75 -imu_odom_: 1691062586.375326663 0.751779 -0.136469 9.85693 -0.0543285 -0.0351537 -0.455933 0.08 -0.5 pose: 0.6089824 -0.516724 0.0618879 0 0.00132482 -0.00921837 0.0146573 0.999849 uwb: 0.49996291 843.351 1063.93 -imu_odom_: 1691062586.392307069 0.976834 -0.0885855 9.85932 -0.0607201 -0.0191748 -0.461259 0.08 -0.5 pose: 0.0 -0.516724 0.0618879 0 0.00132482 -0.00921837 0.0146573 0.999849 uwb: 0.0 843.351 1063.93 -imu_odom_: 1691062586.409358636 0.857124 -0.0981623 10.1275 -0.0543285 -0.02024 -0.479369 0.08 -0.5 pose: 0.0 -0.516724 0.0618879 0 0.00132482 -0.00921837 0.0146573 0.999849 uwb: 0.0 843.351 1063.93 -imu_odom_: 1691062586.426366165 0.826 -0.102951 9.80665 -0.0628506 -0.0245011 -0.496413 0.06 -0.5 pose: 0.48919832 -0.502882 0.0589945 0 0.000210724 -0.0128886 0.00307558 0.999912 uwb: 0.50181485 843.195 1063.03 -imu_odom_: 1691062586.442359647 0.797269 -0.222661 10.0533 -0.0511327 -0.00852212 -0.515588 0.06 -0.53 pose: 0.0 -0.502882 0.0589945 0 0.000210724 -0.0128886 0.00307558 0.999912 uwb: 0.0 843.195 1063.03 -imu_odom_: 1691062586.460370724 0.775721 -0.263362 9.80426 -0.0500674 -0.0138484 -0.534763 0.06 -0.53 pose: 0.68045865 -0.502882 0.0589945 0 0.00274355 -0.0189153 -0.0146052 0.999711 uwb: 0.0 843.195 1063.03 -imu_odom_: 1691062586.477359588 0.639252 -0.196325 9.60075 -0.0596548 0.0138484 -0.534763 0.06 -0.58 pose: 0.0 -0.502882 0.0589945 0 0.00274355 -0.0189153 -0.0146052 0.999711 uwb: 0.49751018 842.813 1062.08 -imu_odom_: 1691062586.491448924 0.797269 -0.0454898 10.1323 -0.0511327 0.00106526 -0.509196 0.06 -0.58 pose: 0.0 -0.502882 0.0589945 0 0.00274355 -0.0189153 -0.0146052 0.999711 uwb: 0.0 842.813 1062.08 -imu_odom_: 1691062586.507439198 0.708684 -0.383072 9.95509 -0.0681769 -0.00852212 -0.461259 0.06 -0.58 pose: 0.34048014 -0.502882 0.0589945 0 0.000351979 -0.018475 -0.024242 0.999535 uwb: 0.0 842.813 1062.08 -imu_odom_: 1691062586.522294392 0.435745 -0.462081 9.71328 -0.0490022 0.0138484 -0.423975 0.05 -0.5 pose: 0.40015931 -0.502882 0.0589945 0 0.000289361 -0.01746 -0.0349588 0.999236 uwb: 0.50033913 842.983 1061.53 -imu_odom_: 1691062586.538276208 0.622492 -0.237026 9.99579 -0.0447411 -0.00106526 -0.389887 0.05 -0.5 pose: 0.7075874 -0.502882 0.0589945 0 -0.000104644-0.0168482 -0.0365898 0.999188 uwb: 0.0 842.983 1061.53 -imu_odom_: 1691062586.554340559 0.617704 -0.141258 9.96227 -0.0628506 -0.0117179 -0.338754 0.05 -0.5 pose: 0.0 -0.502882 0.0589945 0 -0.000104644-0.0168482 -0.0365898 0.999188 uwb: 0.0 842.983 1061.53 -imu_odom_: 1691062586.571399126 0.579397 -0.280122 9.94791 -0.0617853 -0.0106526 -0.30147 0.04 -0.38 pose: 0.39825487 -0.498187 0.0620755 0 0.000472154 -0.0135777 -0.0448593 0.998901 uwb: 0.50247104 842.527 1060.29 -imu_odom_: 1691062586.588398198 0.545878 -0.40462 9.59835 -0.0617853 0.00426106 -0.271642 0.04 -0.38 pose: 0.0 -0.498187 0.0620755 0 0.000472154 -0.0135777 -0.0448593 0.998901 uwb: 0.0 842.527 1060.29 -imu_odom_: 1691062586.606405192 0.47884 -0.237026 9.96227 -0.0479369 0.00213053 -0.252468 0.04 -0.32 pose: 0.0 -0.498187 0.0620755 0 0.000472154 -0.0135777 -0.0448593 0.998901 uwb: 0.0 842.527 1060.29 -imu_odom_: 1691062586.623286439 0.565032 -0.158017 9.83777 -0.0575243 -0.0138484 -0.224771 0.03 -0.29 pose: 0.42121020 -0.494497 0.0644443 0 -0.0020496 -0.0106352 -0.0515511 0.998612 uwb: 0.49767059 842.557 1059.02 -imu_odom_: 1691062586.638337326 0.486023 -0.260968 9.87369 -0.0585895 -0.0117179 -0.20027 0.03 -0.26 pose: 0.0 -0.494497 0.0644443 0 -0.0020496 -0.0106352 -0.0515511 0.998612 uwb: 0.0 842.557 1059.02 -imu_odom_: 1691062586.655394143 0.672771 -0.328006 10.003 -0.0532632 -0.00958738 -0.190682 0.03 -0.26 pose: 0.32832441 -0.494497 0.0644444 0 -0.000505477-0.00874714 -0.0559607 0.998395 uwb: 0.0 842.557 1059.02 -imu_odom_: 1691062586.673295270 0.586579 -0.1652 9.75398 -0.0575243 -0.00958738 -0.170442 0.03 -0.23 pose: 0.0 -0.494497 0.0644444 0 -0.000505477-0.00874714 -0.0559607 0.998395 uwb: 0.49967709 842.568 1058.24 -imu_odom_: 1691062586.698391845 0.608127 -0.258574 9.91199 -0.0617853 -0.0106526 -0.143811 0.03 -0.23 pose: 0.33992893 -0.489019 0.0560785 0 -0.0013104 -0.0092919 -0.0598258 0.998165 uwb: 0.0 842.568 1058.24 -imu_odom_: 1691062586.715278925 0.457293 -0.237026 9.86411 -0.0617853 0.0170442 -0.129962 0.02 -0.17 pose: 0.35104932 -0.489024 0.0560736 0 -0.00275838 -0.0103209 -0.0631587 0.997946 uwb: 0.0 842.568 1058.24 -imu_odom_: 1691062586.732270122 -0.0885855 -0.344765 9.89524 -0.0479369 0.0490022 -0.18216 0.02 -0.17 pose: 0.6941718 -0.489019 0.0560785 0 -0.00264138 -0.00956538 -0.0637463 0.997917 uwb: 0.50103325 842.232 1057.74 -imu_odom_: 1691062586.749424348 -1.38145 0.263362 9.79228 -0.0181095 0.111853 -0.233293 0.02 -0.17 pose: 0.0 -0.489019 0.0560785 0 -0.00264138 -0.00956538 -0.0637463 0.997917 uwb: 0.0 842.232 1057.74 -imu_odom_: 1691062586.767417343 -1.54187 -0.227449 10.0652 -0.0639159 -0.00532632 -0.125701 0.07 -0.17 pose: 0.34005142 -0.489019 0.0560785 0 -0.00209772 -0.0052766 -0.0674264 0.997708 uwb: 0.0 842.232 1057.74 -imu_odom_: 1691062586.781387689 -0.430956 -0.593762 10.0772 -0.0873517 -0.129962 -0.092678 0.07 -0.17 pose: 0.0 -0.489019 0.0560785 0 -0.00209772 -0.0052766 -0.0674264 0.997708 uwb: 0.49947877 842.467 1057.96 -imu_odom_: 1691062586.798386468 0.471658 -0.37589 9.9096 -0.0532632 -0.0905475 -0.105461 0.07 -0.17 pose: 0.0 -0.489019 0.0560785 0 -0.00209772 -0.0052766 -0.0674264 0.997708 uwb: 0.0 842.467 1057.96 -imu_odom_: 1691062586.814256293 0.56982 -0.289698 9.68694 -0.0532632 0.00958738 -0.0841559 0.08 -0.11 pose: 0.49051072 -0.489019 0.0560785 0 -0.00288063 -0.00195482 -0.0717042 0.99742 uwb: 0.0 842.467 1057.96 -imu_odom_: 1691062586.831436184 0.0023942 -0.0814029 9.87608 -0.0649811 0.00319579 -0.072438 0.08 -0.11 pose: 0.0 -0.489019 0.0560785 0 -0.00288063 -0.00195482 -0.0717042 0.99742 uwb: 0.50072119 841.865 1056.93 -imu_odom_: 1691062586.848385092 0.21069 -0.356736 10.0317 -0.0575243 0.0127832 -0.0841559 0.1 -0.11 pose: 0.43046407 -0.480635 0.0615292 0 -0.00331857 -0.00248347 -0.0743676 0.997222 uwb: 0.0 841.865 1056.93 -imu_odom_: 1691062586.863383484 -0.0023942 -0.3304 9.92397 -0.0607201 0.015979 -0.102265 0.1 -0.11 pose: 0.0 -0.480635 0.0615292 0 -0.00331857 -0.00248347 -0.0743676 0.997222 uwb: 0.0 841.865 1056.93 -imu_odom_: 1691062586.879384257 0.035913 0.0790087 9.93833 -0.0575243 -0.0127832 -0.0777643 0.1 -0.11 pose: 0.0 -0.480635 0.0615292 0 -0.00331857 -0.00248347 -0.0743676 0.997222 uwb: 0.50048787 841.205 1056.08 -imu_odom_: 1691062586.894446518 0.414197 -0.323217 9.9096 -0.0585895 0.00426106 -0.0607201 0.11 -0.11 pose: 0.47948073 -0.475153 0.0531654 0 -0.00258248 0.00190151 -0.077394 0.996995 uwb: 0.0 841.205 1056.08 -imu_odom_: 1691062586.911381428 0.390255 -0.117316 10.3501 -0.0490022 0.0223706 -0.0873517 0.11 -0.11 pose: 0.0 -0.475153 0.0531654 0 -0.00258248 0.00190151 -0.077394 0.996995 uwb: 0.0 841.205 1056.08 -imu_odom_: 1691062586.925432267 0.105345 -0.102951 9.5792 -0.0596548 -0.00745685 -0.0639159 0.11 -0.11 pose: 0.0 -0.475153 0.0531654 0 -0.00258248 0.00190151 -0.077394 0.996995 uwb: 0.49802930 841.314 1055.88 -imu_odom_: 1691062586.941299758 0.337582 -0.380678 9.63427 -0.072438 0.0127832 -0.0553937 0.12 -0.14 pose: 0.46048010 -0.470645 0.0561243 0 -0.00135253 0.00231952 -0.0799444 0.996796 uwb: 0.0 841.314 1055.88 -imu_odom_: 1691062586.956370186 0.328006 -0.0861913 9.78031 -0.0660464 -0.00745685 -0.0671117 0.13 -0.08 pose: 0.6831476 -0.466791 0.0586488 0 -0.00206956 0.00255146 -0.0802689 0.996768 uwb: 0.0 841.314 1055.88 -imu_odom_: 1691062586.973389672 0.4956 -0.265756 9.42597 -0.0511327 -0.0458064 -0.0628506 0.13 -0.08 pose: 0.0 -0.466791 0.0586488 0 -0.00206956 0.00255146 -0.0802689 0.996768 uwb: 0.50196359 841.602 1055.63 -imu_odom_: 1691062586.987425346 0.80924 -0.023942 9.89763 -0.0532632 -0.00852212 -0.056459 0.13 -0.08 pose: 0.16176926 -0.466791 0.0586488 0 -0.00234461 0.00288311 -0.0810755 0.996701 uwb: 0.0 841.602 1055.63 -imu_odom_: 1691062587.3310919 1.07739 -0.325611 9.68455 -0.0553937 0.0511327 -0.0298274 0.13 -0.11 pose: 0.0 -0.466791 0.0586488 0 -0.00234461 0.00288311 -0.0810755 0.996701 uwb: 0.0 841.602 1055.63 -imu_odom_: 1691062587.18240193 1.04866 -0.442927 9.88566 -0.076699 0.0340885 -0.0106526 0.13 -0.11 pose: 0.0 -0.466791 0.0586488 0 -0.00234461 0.00288311 -0.0810755 0.996701 uwb: 0.0 841.602 1055.63 -imu_odom_: 1691062587.35324719 0.730232 -0.325611 9.78989 -0.056459 0.00852212 -0.0138484 0.09 -0.11 pose: 0.69799524 -0.461357 0.0502541 0 -0.0023592 -0.00262814 -0.0839677 0.996462 uwb: 0.49787768 841.243 1054.66 -imu_odom_: 1691062587.58294336 1.66397 0.148441 9.86172 -0.0351537 -0.0287621 -0.0415453 0.09 -0.11 pose: 0.0 -0.461357 0.0502541 0 -0.0023592 -0.00262814 -0.0839677 0.996462 uwb: 0.0 841.243 1054.66 -imu_odom_: 1691062587.74237366 1.01993 -0.0335188 9.93594 -0.0585895 0.00852212 -0.00852212 0.09 -0.11 pose: 0.0 -0.461357 0.0502541 0 -0.0023592 -0.00262814 -0.0839677 0.996462 uwb: 0.50085833 841.589 1055.01 -imu_odom_: 1691062587.92296859 1.23301 -0.426168 10.2783 -0.0532632 -0.0127832 0.015979 0.1 0 pose: 0.7128372 -0.461357 0.0502541 0 -0.00259324 -0.00325729 -0.0841583 0.996444 uwb: 0.0 841.589 1055.01 -imu_odom_: 1691062587.109235563 0.950498 -0.500388 9.52653 -0.0553937 -0.00426106 0.00213053 0.07 0.05 pose: 0.0 -0.461357 0.0502541 0 -0.00259324 -0.00325729 -0.0841583 0.996444 uwb: 0.0 841.589 1055.01 -imu_odom_: 1691062587.126329129 0.167594 0.0167594 9.74919 -0.0415453 0.0660464 0.0894822 0.07 0.05 pose: 0.74941222 -0.453 0.0557469 0 -0.00279228 -0.0104443 -0.0861004 0.996228 uwb: 0.49780482 841.64 1055.3 -imu_odom_: 1691062587.143440778 0.0861913 -0.54109 10.1275 -0.076699 0 0.248207 0.07 0.23 pose: 0.0 -0.453 0.0557469 0 -0.00279228 -0.0104443 -0.0861004 0.996228 uwb: 0.0 841.64 1055.3 -imu_odom_: 1691062587.160303946 0.409408 -0.869095 9.991 -0.0532632 -0.0276969 0.3036 0.07 0.23 pose: 0.0 -0.453 0.0557469 0 -0.00279228 -0.0104443 -0.0861004 0.996228 uwb: 0.0 841.64 1055.3 -imu_odom_: 1691062587.175238470 0.833182 -0.344765 9.98622 -0.0255663 -0.0319579 0.311057 0.07 0.23 pose: 0.33041555 -0.453 0.0557469 0 -0.0025796 -0.00849751 -0.0851129 0.996332 uwb: 0.50205116 841.531 1054.26 -imu_odom_: 1691062587.191238662 0.952892 0.0981623 9.72525 -0.0468716 -0.00852212 0.381365 0.04 0.32 pose: 0.41887128 -0.44753 0.0473741 0 -0.0049316 -0.00887319 -0.0798068 0.996759 uwb: 0.0 841.531 1054.26 -imu_odom_: 1691062587.206243763 0.878672 -0.196325 10.0389 -0.0649811 -0.00426106 0.44315 0.04 0.32 pose: 0.7126621 -0.447524 0.04738 0 -0.00443559 -0.00941486 -0.0785991 0.996852 uwb: 0.0 841.531 1054.26 -imu_odom_: 1691062587.223238463 0.751779 -0.526724 9.87608 -0.0532632 0.0127832 0.460194 0.04 0.32 pose: 0.0 -0.447524 0.04738 0 -0.00443559 -0.00941486 -0.0785991 0.996852 uwb: 0.50005340 841.391 1054 -imu_odom_: 1691062587.237403337 0.397437 -0.246603 9.77074 -0.0436758 0.0213053 0.485761 0.03 0.44 pose: 0.40873372 -0.44753 0.0473744 0 -0.00522145 -0.0119806 -0.0705032 0.997426 uwb: 0.0 841.391 1054 -imu_odom_: 1691062587.254221592 0.351948 -0.141258 9.991 -0.0479369 0.0117179 0.536893 0.03 0.44 pose: 0.0 -0.44753 0.0473744 0 -0.00522145 -0.0119806 -0.0705032 0.997426 uwb: 0.0 841.391 1054 -imu_odom_: 1691062587.268232186 0.418985 -0.332794 9.81862 -0.0500674 -0.00532632 0.557133 0.03 0.44 pose: 0.0 -0.44753 0.0473744 0 -0.00522145 -0.0119806 -0.0705032 0.997426 uwb: 0.0 841.391 1054 -imu_odom_: 1691062587.284232961 0.469264 -0.241814 10.0173 -0.0426106 0.00106526 0.540089 0.03 0.44 pose: 0.44993723 -0.43912 0.0527842 0 -0.00416714 -0.00753121 -0.0595542 0.998188 uwb: 0.49901514 841.726 1053.57 -imu_odom_: 1691062587.301230285 0.308852 -0.153229 9.82341 -0.0436758 0.0127832 0.525175 0.05 0.67 pose: 0.0 -0.43912 0.0527842 0 -0.00416714 -0.00753121 -0.0595542 0.998188 uwb: 0.0 841.726 1053.57 -imu_odom_: 1691062587.318227901 0.196325 -0.114922 9.65582 -0.0543285 0 0.518784 0.05 0.67 pose: 0.0 -0.43912 0.0527842 0 -0.00416714 -0.00753121 -0.0595542 0.998188 uwb: 0.0 841.726 1053.57 -imu_odom_: 1691062587.335294053 0.457293 -0.361524 9.9503 -0.0553937 -0.00745685 0.50387 0.05 0.67 pose: 0.23012489 -0.439113 0.0527902 0 -0.00285926 -0.00545164 -0.053858 0.99853 uwb: 0.50015255 841.703 1053.58 -imu_odom_: 1691062587.351338284 0.577003 -0.198719 9.9503 -0.056459 -0.015979 0.467651 0.05 0.67 pose: 0.0 -0.439113 0.0527902 0 -0.00285926 -0.00545164 -0.053858 0.99853 uwb: 0.0 841.703 1053.58 -imu_odom_: 1691062587.369337990 0.708684 0.011971 9.9096 -0.0447411 0.00106526 0.430367 0.05 0.67 pose: 0.34064059 -0.439113 0.0527902 0 -0.00219973 -0.00291042 -0.0457263 0.998947 uwb: 0.0 841.703 1053.58 -imu_odom_: 1691062587.384378672 0.708684 -0.191536 9.7851 -0.0543285 0.00106526 0.410127 0.03 0.35 pose: 0.44029256 -0.439113 0.0527902 0 -0.000962725-0.00543022 -0.0364766 0.999319 uwb: 0.49994549 841.813 1053.24 -imu_odom_: 1691062587.402323257 0.550666 -0.23942 9.93594 -0.0426106 0.00319579 0.367516 0.03 0.35 pose: 0.6953384 -0.439113 0.0527902 0 -0.000861026-0.00609837 -0.0351902 0.999362 uwb: 0.0 841.813 1053.24 -imu_odom_: 1691062587.426217970 0.486023 -0.0861913 9.75158 -0.0553937 -0.00639159 0.334493 0.02 0.32 pose: 0.0 -0.439113 0.0527902 0 -0.000861026-0.00609837 -0.0351902 0.999362 uwb: 0.0 841.813 1053.24 -imu_odom_: 1691062587.443223168 0.531513 -0.186748 10.0197 -0.0511327 0.0181095 0.333428 0.03 0.38 pose: 0.33112424 -0.439113 0.0527902 0 -0.00142195 -0.00764422 -0.0297045 0.999528 uwb: 0.0 841.813 1053.24 -imu_odom_: 1691062587.460215243 -0.153229 -0.318429 9.9527 -0.072438 0.0617853 0.378169 0.04 0.23 pose: 0.0 -0.439113 0.0527902 0 -0.00142195 -0.00764422 -0.0297045 0.999528 uwb: 0.0 841.813 1053.24 -imu_odom_: 1691062587.477210234 -0.993594 -0.442927 10.0652 -0.0607201 0.0575243 0.379234 0.04 0.23 pose: 0.41819758 -0.439113 0.0527902 0 0.00147242 -0.0050738 -0.0233971 0.999712 uwb: 0.100034886 841.811 1052.93 -imu_odom_: 1691062587.494214266 -0.914585 -0.222661 9.94312 -0.0458064 -0.0628506 0.328101 0.06 0.26 pose: 0.0 -0.439113 0.0527902 0 0.00147242 -0.0050738 -0.0233971 0.999712 uwb: 0.0 841.811 1052.93 -imu_odom_: 1691062587.511281876 -0.0670376 0.011971 9.81383 -0.0436758 -0.0820254 0.304666 0.06 0.26 pose: 0.0 -0.439113 0.0527902 0 0.00147242 -0.0050738 -0.0233971 0.999712 uwb: 0.0 841.811 1052.93 -imu_odom_: 1691062587.527272153 0.629675 -0.023942 10.1873 -0.052198 -0.0351537 0.312122 0.06 0.26 pose: 0.33998731 -0.439113 0.0527902 0 0.000966406 -0.00112152 -0.0178362 0.99984 uwb: 0.49999507 842.013 1052.55 -imu_odom_: 1691062587.545209446 0.476446 -0.237026 10.0197 -0.0639159 0.0127832 0.3036 0.1 0.32 pose: 0.42049866 -0.43222 0.0512695 0 0.00267564 -0.00119898 -0.0120997 0.999922 uwb: 0.0 842.013 1052.55 -imu_odom_: 1691062587.562262475 0.117316 -0.519542 9.80665 -0.0649811 0.00426106 0.289752 0.1 0.32 pose: 0.7996596 -0.425276 0.0498722 0 0.00196878 -0.00156769 -0.011042 0.999936 uwb: 0.0 842.013 1052.55 -imu_odom_: 1691062587.576263736 -0.325611 -0.215478 9.66779 -0.0692422 0.0245011 0.299339 0.1 0.32 pose: 0.0 -0.425276 0.0498722 0 0.00196878 -0.00156769 -0.011042 0.999936 uwb: 0.50087874 842.102 1051.91 -imu_odom_: 1691062587.592260137 0.00718261 -0.0790087 10.343 -0.0585895 -0.0170442 0.290817 0.09 0.2 pose: 0.40994987 -0.425283 0.0498662 0 -0.0002739780.000862823 -0.00577464 0.999983 uwb: 0.0 842.102 1051.91 -imu_odom_: 1691062587.607239282 0.373495 -0.234632 9.88566 -0.0436758 -0.0319579 0.26099 0.1 0.23 pose: 0.0 -0.425283 0.0498662 0 -0.0002739780.000862823 -0.00577464 0.999983 uwb: 0.0 842.102 1051.91 -imu_odom_: 1691062587.623307428 0.550666 -0.28491 10.058 -0.0500674 0.00319579 0.266316 0.1 0.23 pose: 0.0 -0.425283 0.0498662 0 -0.0002739780.000862823 -0.00577464 0.999983 uwb: 0.49742860 842.533 1052.38 -imu_odom_: 1691062587.638383691 0.275333 -0.438139 9.76834 -0.0681769 0.0298274 0.266316 0.1 0.23 pose: 0.23002865 -0.425276 0.0498722 0 -0.0002964120.00181163 -0.00299003 0.999994 uwb: 0.0 842.533 1052.38 -imu_odom_: 1691062587.655274273 0.0383072 -0.1652 10.1418 -0.0511327 0.0255663 0.225836 0.11 0.23 pose: 0.0 -0.425276 0.0498722 0 -0.0002964120.00181163 -0.00299003 0.999994 uwb: 0.0 842.533 1052.38 -imu_odom_: 1691062587.669262119 0.35913 -0.107739 9.75877 -0.0543285 -0.00639159 0.24288 0.11 0.23 pose: 0.0 -0.425276 0.0498722 0 -0.0002964120.00181163 -0.00299003 0.999994 uwb: 0.0 842.533 1052.38 -imu_odom_: 1691062587.685199899 0.562637 -0.306458 10.1418 -0.072438 -0.0298274 0.253533 0.11 0.17 pose: 0.31036208 -0.425276 0.0498722 0 -0.00198445 0.000333449 0.000503933 0.999998 uwb: 0.50098083 842.532 1052.23 -imu_odom_: 1691062587.701203008 0.682347 -0.574608 9.75398 -0.0351537 -0.0394148 0.186421 0.11 0.17 pose: 0.38959310 -0.416924 0.0553548 0 -0.0007820560.00269476 0.00442322 0.999986 uwb: 0.0 842.532 1052.23 -imu_odom_: 1691062587.718218997 1.06063 -0.172383 10.0221 -0.04048 -0.0543285 0.218379 0.11 0.17 pose: 0.0 -0.416924 0.0553548 0 -0.0007820560.00269476 0.00442322 0.999986 uwb: 0.0 842.532 1052.23 -imu_odom_: 1691062587.735324813 1.29287 -0.380678 9.92636 -0.0681769 0.0245011 0.308927 0.1 0.11 pose: 0.6947552 -0.416917 0.0553609 0 -0.0010703 0.00195024 0.00516554 0.999984 uwb: 0.49997173 842.283 1051.7 -imu_odom_: 1691062587.752267308 1.47243 -0.68953 10.1778 -0.0585895 -0.0468716 0.32384 0.1 0.11 pose: 0.0 -0.416917 0.0553609 0 -0.0010703 0.00195024 0.00516554 0.999984 uwb: 0.0 842.283 1051.7 -imu_odom_: 1691062587.768259626 1.32399 -0.337582 9.67018 -0.036219 -0.0298274 0.233293 0.1 0.11 pose: 0.0 -0.416917 0.0553609 0 -0.0010703 0.00195024 0.00516554 0.999984 uwb: 0.0 842.283 1051.7 -imu_odom_: 1691062587.786401654 1.4461 0.426168 10.1059 -0.0479369 0.0213053 0.168312 0.1 0.11 pose: 0.49000041 -0.411434 0.046998 0 -0.00223008 -0.00306755 0.00975637 0.999945 uwb: 0.50000965 842.419 1051.35 -imu_odom_: 1691062587.803401603 0.826 -0.0454898 9.60075 -0.0649811 0.0319579 0.143811 0.06 0.08 pose: 0.0 -0.411434 0.046998 0 -0.00223008 -0.00306755 0.00975637 0.999945 uwb: 0.0 842.419 1051.35 -imu_odom_: 1691062587.819333842 0.521936 -0.399832 10.1873 -0.056459 0.02024 0.0980043 0.06 0.08 pose: 0.68204239 -0.403067 0.0524743 0 -0.00146064 -0.00922081 0.016583 0.999819 uwb: 0.49878183 842.761 1050.94 -imu_odom_: 1691062587.836469989 0.64404 -0.296881 9.84256 -0.0511327 -0.0319579 0.0798948 0.06 0.08 pose: 0.0 -0.403067 0.0524743 0 -0.00146064 -0.00922081 0.016583 0.999819 uwb: 0.0 842.761 1050.94 -imu_odom_: 1691062587.853271911 0.837971 -0.102951 9.86411 -0.0511327 -0.00532632 0.104396 0.06 0.05 pose: 0.0 -0.403067 0.0524743 0 -0.00146064 -0.00922081 0.016583 0.999819 uwb: 0.0 842.761 1050.94 -imu_odom_: 1691062587.870176784 0.646434 -0.205901 9.98143 -0.0617853 0.00319579 0.129962 0.06 0.05 pose: 0.33011806 -0.403067 0.0524743 0 -0.00263116 -0.00968746 0.0177198 0.999793 uwb: 0.49989591 843.124 1050.82 -imu_odom_: 1691062587.887191024 0.670376 -0.282516 9.86411 -0.0490022 -0.00639159 0.107592 0.04 0.08 pose: 0.43751027 -0.403067 0.0524743 0 -0.000341696-0.0121606 0.019196 0.999742 uwb: 0.0 843.124 1050.82 -imu_odom_: 1691062587.904183390 0.732626 -0.143652 9.90721 -0.0490022 -0.0117179 0.103331 0.04 0.08 pose: 0.8134253 -0.403067 0.0524743 0 -0.00102894 -0.0125658 0.0194812 0.999731 uwb: 0.0 843.124 1050.82 -imu_odom_: 1691062587.920182707 0.600945 -0.162806 9.82341 -0.0553937 0.0138484 0.110787 0.04 0.08 pose: 0.0 -0.403067 0.0524743 0 -0.00102894 -0.0125658 0.0194812 0.999731 uwb: 0.50170702 843.827 1050.59 -imu_odom_: 1691062587.947183141 0.407014 -0.232238 9.83538 -0.0532632 0.00106526 0.123571 0.05 0.11 pose: 0.41871670 -0.403067 0.0524743 0 0.000698746 -0.0126181 0.0208704 0.999702 uwb: 0.0 843.827 1050.59 -imu_odom_: 1691062587.972290219 -0.430956 -0.289698 9.65103 -0.0543285 0.0745685 0.128897 0.04 0.08 pose: 0.0 -0.403067 0.0524743 0 0.000698746 -0.011783 0.0212159 0.999705 uwb: 0.50105665 843.812 1049.84 -imu_odom_: 1691062587.997192272 -1.1133 -0.296881 9.87848 -0.0532632 -0.0255663 0.125701 0.07 0.08 pose: 0.18796187 -0.403067 0.0524743 0 0.000365797 -0.00986978 0.0220075 0.999709 uwb: 0.0 843.812 1049.84 -imu_odom_: 1691062588.19340037 -0.158017 -0.227449 9.83777 -0.0575243 -0.0511327 0.113983 0.07 0.08 pose: 0.32014383 -0.389207 0.0496617 0 5.72217e-05 -0.00576569 0.0234286 0.999709 uwb: 0.49982886 843.684 1049.28 -imu_odom_: 1691062588.36165002 0.483629 -0.0742203 10.1035 -0.0479369 -0.0426106 0.108657 0.07 0.08 pose: 0.0 -0.389207 0.0496617 0 5.72217e-05 -0.00576569 0.0234286 0.999709 uwb: 0.0 843.684 1049.28 -imu_odom_: 1691062588.61166218 0.363919 0.0454898 9.95748 -0.0713727 0.0181095 0.11931 0.09 0.05 pose: 0.46977783 -0.389207 0.0496617 0 0.000543439 -0.00272388 0.0252629 0.999677 uwb: 0.0 843.684 1049.28 -imu_odom_: 1691062588.83153580 -0.110133 -0.368707 9.90481 -0.0639159 0.0319579 0.0873517 0.1 0.05 pose: 0.0 -0.389207 0.0496617 0 0.000543439 -0.00272388 0.0252629 0.999677 uwb: 0.49744909 843.434 1049.36 -imu_odom_: 1691062588.97151636 0.0670376 -0.158017 10.2855 -0.0649811 -0.0255663 0.0916127 0.1 0.05 pose: 0.34990911 -0.389207 0.0496617 0 0.00362098 -0.00176831 0.0265928 0.999638 uwb: 0.0 843.434 1049.36 -imu_odom_: 1691062588.114262704 0.447716 -0.143652 10.1155 -0.072438 -0.0255663 0.120375 0.1 0.05 pose: 0.0 -0.389207 0.0496617 0 0.00362098 -0.00176831 0.0265928 0.999638 uwb: 0.0 843.434 1049.36 -imu_odom_: 1691062588.139150178 0.268151 -0.222661 10.058 -0.072438 0.00745685 0.0894822 0.12 0.02 pose: 0.6018957 -0.389207 0.0496617 0 0.00335023 -0.00110935 0.0267354 0.999636 uwb: 0.50107131 843.133 1048.56 -imu_odom_: 1691062588.166202237 0.0814029 -0.395043 9.62708 -0.0468716 -0.0340885 0.0852212 0.12 0.02 pose: 0.0 -0.389207 0.0496617 0 0.00335023 -0.00110935 0.0267354 0.999636 uwb: 0.0 843.133 1048.56 -imu_odom_: 1691062588.191210744 0.620098 0.0023942 9.9503 -0.0617853 -0.00319579 0.0948085 0.13 0.05 pose: 0.53985710 -0.380861 0.0551709 0 0.00246813 0.0006963 0.0283399 0.999595 uwb: 0.50054635 842.972 1047.71 -imu_odom_: 1691062588.216173171 0.304064 -0.349553 10.4651 -0.056459 -0.00639159 0.0681769 0.17 0.02 pose: 0.53081904 -0.375313 0.0468515 0 0.00039097 0.00347134 0.0296172 0.999555 uwb: 0.0 842.972 1047.71 -imu_odom_: 1691062588.241285211 -0.134075 -0.217872 9.56484 -0.0553937 -0.015979 0.0798948 0.17 0.02 pose: 0.0 -0.375313 0.0468515 0 0.00039097 0.00347134 0.0296172 0.999555 uwb: 0.49807613 843.273 1047.47 -imu_odom_: 1691062588.265274712 0.758962 -0.363919 9.81862 -0.0660464 -0.0117179 0.0735032 0.14 0.02 pose: 0.67032422 -0.366999 0.0524088 0 -0.0010232 0.00520195 0.0309487 0.999507 uwb: 0.0 843.273 1047.47 -imu_odom_: 1691062588.282200878 0.512359 -0.31364 10.2376 -0.0543285 0.0436758 0.052198 0.14 0.02 pose: 0.0 -0.366999 0.0524088 0 -0.0010232 0.00520195 0.0309487 0.999507 uwb: 0.50012347 843.273 1046.72 -imu_odom_: 1691062588.298139535 0.713472 -0.234632 10.2735 -0.0532632 0.015979 0.0617853 0.14 0.02 pose: 0.0 -0.366999 0.0524088 0 -0.0010232 0.00520195 0.0309487 0.999507 uwb: 0.0 843.273 1046.72 -imu_odom_: 1691062588.316165200 -0.138864 -0.105345 10.4315 -0.0596548 0.036219 0.0756338 0.14 0.05 pose: 0.6994216 -0.366999 0.0524088 0 -0.00123294 0.00449733 0.0310659 0.999506 uwb: 0.0 843.273 1046.72 -imu_odom_: 1691062588.340292649 0.0263362 -0.316035 9.80665 -0.0575243 -0.00532632 0.0585895 0.14 0.05 pose: 0.0 -0.366999 0.0524088 0 -0.00123294 0.00449733 0.0310659 0.999506 uwb: 0.49980557 843.076 1045.89 -imu_odom_: 1691062588.366135259 0.160412 -0.143652 9.89524 -0.0543285 -0.0500674 0.0735032 0.15 0.02 pose: 0.41871968 -0.353143 0.0495576 0 -0.00222577 0.000883822 0.031539 0.9995 uwb: 0.0 843.076 1045.89 -imu_odom_: 1691062588.390155966 0.639252 -0.335188 9.81623 -0.0553937 -0.00213053 0.0426106 0.17 0.02 pose: 0.33018229 -0.353143 0.0495576 0 -0.00191698 0.00296081 0.0320208 0.999481 uwb: 0.50143879 843.081 1044.7 -imu_odom_: 1691062588.416151980 0.354342 -0.124498 9.91918 -0.0575243 0.00213053 0.0660464 0.17 0.02 pose: 0.42965635 -0.3448 0.0550716 0 -0.0008148780.00614135 0.0326362 0.999448 uwb: 0.0 843.081 1044.7 -imu_odom_: 1691062588.432418738 0.248997 -0.634463 9.76355 -0.072438 0.0191748 0.076699 0.17 0.02 pose: 0.0 -0.3448 0.0550716 0 -0.0008148780.00614135 0.0326362 0.999448 uwb: 0.50126380 842.758 1044.35 -imu_odom_: 1691062588.459138614 0.435745 -0.251391 9.61511 -0.0490022 -0.0149137 0.0617853 0.15 0 pose: 0.8066300 -0.3448 0.0550716 0 -0.00102557 0.00537095 0.0326466 0.999452 uwb: 0.0 842.758 1044.35 -imu_odom_: 1691062588.483148238 0.0837971 -0.502782 9.50259 -0.0426106 0.0308927 0.0500674 0.17 0 pose: 0.48126866 -0.33094 0.0522606 0 0.000412184 0.00358409 0.0331327 0.999444 uwb: 0.49709036 842.657 1043.63 -imu_odom_: 1691062588.509198207 0.768539 -0.0263362 10.0293 -0.036219 0.0245011 0.0351537 0.17 0 pose: 0.0 -0.33094 0.0522606 0 0.000412184 0.00358409 0.0331327 0.999444 uwb: 0.0 842.657 1043.63 -imu_odom_: 1691062588.523146392 0.0885855 -0.282516 9.49062 -0.0617853 0.00319579 0.0820254 0.18 0.02 pose: 0.44826327 -0.33094 0.0522606 0 -0.00164946 0.00183148 0.033651 0.999431 uwb: 0.50120256 842.5 1042.79 -imu_odom_: 1691062588.546216046 0.3304 -0.0909797 9.98143 -0.0458064 0.00319579 0.0468716 0.18 0.02 pose: 0.0 -0.33094 0.0522606 0 -0.00164946 0.00183148 0.033651 0.999431 uwb: 0.0 842.5 1042.79 -imu_odom_: 1691062588.564188632 0.746991 0.0694318 9.73482 -0.0479369 -0.0245011 0.0511327 0.21 0.02 pose: 0.47994167 -0.322616 0.0578018 0 -0.00123017 0.00202138 0.0338002 0.999426 uwb: 0.0 842.5 1042.79 -imu_odom_: 1691062588.580194368 0.80924 -0.306458 10.0556 -0.072438 -0.0234358 0.076699 0.21 0.02 pose: 0.0 -0.322616 0.0578018 0 -0.00123017 0.00202138 0.0338002 0.999426 uwb: 0.50006805 842.559 1042.19 -imu_odom_: 1691062588.598184744 1.53708 -0.323217 9.97903 -0.0713727 -0.0862864 0.0308927 0.21 0.02 pose: 0.0 -0.322616 0.0578018 0 -0.00123017 0.00202138 0.0338002 0.999426 uwb: 0.0 842.559 1042.19 -imu_odom_: 1691062588.616185911 1.37188 0.0837971 9.42837 -0.0703074 -0.0308927 -0.092678 0.12 -0.23 pose: 0.39104847 -0.308749 0.0550253 0 0.00146939 0.00250599 0.0341093 0.999414 uwb: 0.0 842.559 1042.19 -imu_odom_: 1691062588.630124763 1.66158 0.167594 10.3286 -0.0756338 -0.00319579 -0.157659 0.12 -0.23 pose: 0.0 -0.308749 0.0550253 0 0.00146939 0.00250599 0.0341093 0.999414 uwb: 0.49872066 842.538 1041.46 -imu_odom_: 1691062588.647241955 1.03669 0.0047884 9.68933 -0.0575243 -0.00852212 -0.259925 0.12 -0.23 pose: 0.0 -0.308749 0.0550253 0 0.00146939 0.00250599 0.0341093 0.999414 uwb: 0.0 842.538 1041.46 -imu_odom_: 1691062588.664249198 1.04148 -0.011971 9.50977 -0.0575243 0.0330232 -0.365386 0.1 -0.38 pose: 0.51936616 -0.308749 0.0550254 0 0.0014562 -0.00351672 0.0338627 0.999419 uwb: 0.0 842.538 1041.46 -imu_odom_: 1691062588.681180613 0.792481 -0.169988 9.80904 -0.0703074 0.0117179 -0.399474 0.14 -0.58 pose: 0.0 -0.308749 0.0550254 0 0.0014562 -0.00351672 0.0338627 0.999419 uwb: 0.50102465 842.466 1041.18 -imu_odom_: 1691062588.698182606 0.577003 -0.361524 10.0509 -0.0543285 -0.00319579 -0.430367 0.14 -0.58 pose: 0.65063823 -0.300483 0.060653 0 0.0031399 -0.00946664 0.0242872 0.999655 uwb: 0.0 842.466 1041.18 -imu_odom_: 1691062588.713174295 0.567426 -0.416591 9.81623 -0.0575243 0.0181095 -0.460194 0.14 -0.58 pose: 0.0 -0.300483 0.060653 0 0.0031399 -0.00946664 0.0242872 0.999655 uwb: 0.0 842.466 1041.18 -imu_odom_: 1691062588.730127583 0.545878 -0.136469 9.84735 -0.052198 0.0149137 -0.468716 0.08 -0.5 pose: 0.0 -0.300483 0.060653 0 0.0031399 -0.00946664 0.0242872 0.999655 uwb: 0.49888398 842.428 1040.75 -imu_odom_: 1691062588.744231798 0.950498 0.0742203 9.88805 -0.052198 0.00106526 -0.464455 0.08 -0.5 pose: 0.33964614 -0.294849 0.0523914 0 0.000725851 -0.00994555 0.0163837 0.999816 uwb: 0.0 842.428 1040.75 -imu_odom_: 1691062588.760292363 0.811634 -0.208296 10.0892 -0.0553937 0.00852212 -0.472977 0.06 -0.5 pose: 0.39012979 -0.290438 0.055392 0 0.00234081 -0.00983401 0.00652255 0.999928 uwb: 0.0 842.428 1040.75 -imu_odom_: 1691062588.774129723 0.751779 -0.150835 9.95509 -0.0575243 -0.0298274 -0.510262 0.06 -0.5 pose: 0.7058669 -0.286569 0.0579995 0 0.00223467 -0.0104801 0.00471665 0.999931 uwb: 0.50131338 842.425 1040.16 -imu_odom_: 1691062588.790317444 0.778116 -0.0550666 10.07 -0.056459 -0.0436758 -0.533697 0.06 -0.5 pose: 0.0 -0.286569 0.0579995 0 0.00223467 -0.0104801 0.00471665 0.999931 uwb: 0.0 842.425 1040.16 -imu_odom_: 1691062588.807318854 0.667982 -0.0383072 9.89284 -0.0607201 -0.0287621 -0.526241 0.07 -0.79 pose: 0.39026977 -0.286578 0.0579933 0 0.00353511 -0.014326 -0.00604239 0.999873 uwb: 0.0 842.425 1040.16 -imu_odom_: 1691062588.825133369 0.677559 -0.225055 9.71328 -0.0617853 -0.0394148 -0.536893 0.07 -0.79 pose: 0.0 -0.286578 0.0579933 0 0.00353511 -0.014326 -0.00604239 0.999873 uwb: 0.50116756 842.055 1039.38 -imu_odom_: 1691062588.839330034 0.699107 -0.155623 10.0748 -0.056459 -0.0138484 -0.550742 0.07 -0.79 pose: 0.0 -0.286578 0.0579933 0 0.00353511 -0.014326 -0.00604239 0.999873 uwb: 0.0 842.055 1039.38 -imu_odom_: 1691062588.857161173 0.888249 -0.186748 10.1682 -0.0671117 -0.00852212 -0.498544 0.04 -0.5 pose: 0.41098528 -0.286569 0.0579996 0 0.00292233 -0.0148493 -0.0178334 0.999726 uwb: 0.0 842.055 1039.38 -imu_odom_: 1691062588.873114704 0.56982 -0.383072 9.80426 -0.0575243 -0.0117179 -0.454868 0.04 -0.44 pose: 0.0 -0.286569 0.0579996 0 0.00292233 -0.0148493 -0.0178334 0.999726 uwb: 0.49860400 842.06 1038.5 -imu_odom_: 1691062588.891442221 0.579397 -0.263362 10.0724 -0.0585895 0.00213053 -0.413323 0.04 -0.44 pose: 0.32693628 -0.286569 0.0579996 0 0.00140859 -0.0165765 -0.0266549 0.999506 uwb: 0.0 842.06 1038.5 -imu_odom_: 1691062588.909284442 0.54109 -0.246603 9.7444 -0.0628506 0.015979 -0.358994 0.04 -0.41 pose: 0.0 -0.286569 0.0579996 0 0.00140859 -0.0165765 -0.0266549 0.999506 uwb: 0.0 842.06 1038.5 -imu_odom_: 1691062588.925269179 0.572214 -0.339977 10.0533 -0.0617853 0.00213053 -0.329167 0.04 -0.41 pose: 0.0 -0.286569 0.0579996 0 0.00140859 -0.0165765 -0.0266549 0.999506 uwb: 0.50001264 841.707 1037.86 -imu_odom_: 1691062588.943382629 0.464475 -0.251391 9.87848 -0.056459 0.00106526 -0.319579 0.04 -0.41 pose: 0.35287513 -0.286569 0.0579996 0 -0.000219307-0.0134735 -0.0345897 0.999311 uwb: 0.0 841.707 1037.86 -imu_odom_: 1691062588.960144307 0.545878 -0.141258 9.96467 -0.0649811 -0.0191748 -0.275903 0.03 -0.32 pose: 0.33879163 -0.286569 0.0579996 0 -0.00181904 -0.010648 -0.0409205 0.999104 uwb: 0.0 841.707 1037.86 -imu_odom_: 1691062588.974146154 0.608127 -0.299275 9.78989 -0.0671117 -0.00958738 -0.239684 0.03 -0.32 pose: 0.0 -0.286569 0.0579996 0 -0.00181904 -0.010648 -0.0409205 0.999104 uwb: 0.49867692 841.613 1037.15 -imu_odom_: 1691062588.991211143 0.629675 -0.433351 9.9527 -0.0596548 -0.00213053 -0.207727 0.03 -0.32 pose: 0.0 -0.286569 0.0579996 0 -0.00181904 -0.010648 -0.0409205 0.999104 uwb: 0.0 841.613 1037.15 -imu_odom_: 1691062589.4146446 0.557849 -0.299275 9.91918 -0.0628506 -0.00639159 -0.183225 0.03 -0.23 pose: 0.32875906 -0.286569 0.0579996 0 -0.000946429-0.00926681 -0.0462211 0.998888 uwb: 0.0 841.613 1037.15 -imu_odom_: 1691062589.21230978 0.459687 -0.179565 9.8258 -0.0543285 0.00532632 -0.165116 0.03 -0.23 pose: 0.0 -0.286569 0.0579996 0 -0.000946429-0.00926681 -0.0462211 0.998888 uwb: 0.50233707 841.343 1036.19 -imu_odom_: 1691062589.38208475 0.416591 -0.244209 9.83538 -0.0585895 -0.0117179 -0.151268 0.02 -0.23 pose: 0.15162008 -0.286569 0.0579996 0 -0.00246822 -0.0096061 -0.0482082 0.998788 uwb: 0.0 841.343 1036.19 -imu_odom_: 1691062589.56206437 0.608127 -0.217872 9.81862 -0.0585895 -0.00852212 -0.134223 0.02 -0.23 pose: 0.0 -0.286569 0.0579996 0 -0.00246822 -0.0096061 -0.0482082 0.998788 uwb: 0.0 841.343 1036.19 -imu_odom_: 1691062589.73216598 0.600945 -0.335188 9.87369 -0.0575243 -0.0127832 -0.107592 0.02 -0.23 pose: 0.0 -0.286569 0.0579996 0 -0.00246822 -0.0096061 -0.0482082 0.998788 uwb: 0.49865074 841.598 1035.26 -imu_odom_: 1691062589.87104415 0.636858 -0.323217 9.90242 -0.0575243 -0.00745685 -0.0862864 0.02 -0.17 pose: 0.46905172 -0.272687 0.0553035 0 -0.00277455 -0.00672518 -0.0532691 0.998554 uwb: 0.0 841.598 1035.26 -imu_odom_: 1691062589.104149574 0.586579 -0.251391 9.85453 -0.052198 0 -0.0671117 0.02 -0.17 pose: 0.0 -0.272687 0.0553035 0 -0.00277455 -0.00672518 -0.0532691 0.998554 uwb: 0.0 841.598 1035.26 -imu_odom_: 1691062589.120082693 0.562637 -0.181959 9.88326 -0.0543285 -0.00426106 -0.0532632 0.02 -0.17 pose: 0.0 -0.272687 0.0553035 0 -0.00277455 -0.00672518 -0.0532691 0.998554 uwb: 0.49946152 841.402 1034.15 -imu_odom_: 1691062589.137090813 0.565032 -0.21069 9.89045 -0.0585895 -0.00213053 -0.0394148 0.01 -0.11 pose: 0.50873289 -0.272687 0.0553035 0 -0.00388679 -0.00877243 -0.0573955 0.998305 uwb: 0.0 841.402 1034.15 -imu_odom_: 1691062589.153088094 0.76375 -0.277727 9.92157 -0.0575243 -0.00852212 -0.0415453 0.01 -0.11 pose: 0.0 -0.272687 0.0553035 0 -0.00388679 -0.00877243 -0.0573955 0.998305 uwb: 0.0 841.402 1034.15 -imu_odom_: 1691062589.170107005 0.596156 -0.167594 9.91439 -0.0532632 0.00319579 -0.0372843 0.01 -0.11 pose: 0.65002587 -0.272687 0.0553035 0 -3.9628e-05 -0.00850601 -0.0605352 0.99813 uwb: 0.49926903 841.103 1033.2 -imu_odom_: 1691062589.186084454 0.54109 -0.234632 9.89284 -0.0575243 -0.00426106 -0.00958738 0 -0.05 pose: 0.0 -0.272687 0.0553035 0 -3.9628e-05 -0.00850601 -0.0605352 0.99813 uwb: 0.0 841.103 1033.2 -imu_odom_: 1691062589.202079985 0.529119 -0.3304 9.90481 -0.0553937 -0.00852212 0.0138484 0 -0.05 pose: 0.0 -0.272687 0.0553035 0 -3.9628e-05 -0.00850601 -0.0605352 0.99813 uwb: 0.0 841.103 1033.2 -imu_odom_: 1691062589.217082758 0.584185 -0.304064 9.91199 -0.0543285 -0.00639159 0.0383495 0 -0.05 pose: 0.32000394 -0.272687 0.0553035 0 0.000830076 -0.00932442 -0.0617074 0.99805 uwb: 0.0 841.103 1033.2 -imu_odom_: 1691062589.231137103 0.536301 -0.282516 9.87129 -0.0553937 0.00532632 0.056459 0 0 pose: 0.0 -0.272687 0.0553035 0 0.000830076 -0.00932442 -0.0617074 0.99805 uwb: 0.50126387 840.791 1032.39 -imu_odom_: 1691062589.245080624 0.399832 -0.213084 9.89524 -0.0511327 0.00852212 0.0479369 0 0 pose: 0.40987126 -0.272687 0.0553035 0 -0.002818 -0.00841277 -0.0621375 0.998028 uwb: 0.0 840.791 1032.39 -imu_odom_: 1691062589.259074890 0.304064 -0.114922 9.88326 -0.052198 0 0.0394148 0 0 pose: 0.0 -0.272687 0.0553035 0 -0.002818 -0.00841277 -0.0621375 0.998028 uwb: 0.0 840.791 1032.39 -imu_odom_: 1691062589.273084906 0.318429 -0.141258 9.89284 -0.0575243 -0.00958738 0.0383495 0 0 pose: 0.6005250 -0.272687 0.0553035 0 -0.0031241 -0.00786696 -0.0620832 0.998035 uwb: 0.49860117 840.548 1032.15 -imu_odom_: 1691062589.288082721 0.447716 -0.246603 9.85932 -0.056459 -0.0138484 0.0330232 0 0 pose: 0.0 -0.272687 0.0553035 0 -0.0031241 -0.00786696 -0.0620832 0.998035 uwb: 0.0 840.548 1032.15 -imu_odom_: 1691062589.302141733 0.526724 -0.280122 9.91439 -0.0553937 -0.0106526 0.0351537 0 0 pose: 0.0 -0.272687 0.0553035 0 -0.0031241 -0.00786696 -0.0620832 0.998035 uwb: 0.0 840.548 1032.15 -imu_odom_: 1691062589.316137458 0.505177 -0.251391 9.88087 -0.056459 -0.00319579 0.0436758 0 0 pose: 0.0 -0.272687 0.0553035 0 -0.0031241 -0.00786696 -0.0620832 0.998035 uwb: 0.0 840.548 1032.15 -imu_odom_: 1691062589.330142515 0.469264 -0.208296 9.89524 -0.0543285 0.00213053 0.0458064 0 0 pose: 0.41992716 -0.272687 0.0553035 0 -0.0016576 -0.00418873 -0.0619608 0.998068 uwb: 0.50095473 840.398 1031.89 -imu_odom_: 1691062589.345141789 0.378284 -0.174777 9.90242 -0.0543285 -0.00106526 0.04048 0 0 pose: 0.0 -0.272687 0.0553035 0 -0.0016576 -0.00418873 -0.0619608 0.998068 uwb: 0.0 840.398 1031.89 -imu_odom_: 1691062589.359133430 0.387861 -0.167594 9.93833 -0.0543285 -0.00532632 0.0394148 0 0 pose: 0.0 -0.272687 0.0553035 0 -0.0016576 -0.00418873 -0.0619608 0.998068 uwb: 0.0 840.398 1031.89 -imu_odom_: 1691062589.373078409 0.440533 -0.232238 9.9096 -0.0553937 -0.0106526 0.0372843 0 0 pose: 0.43007056 -0.272687 0.0553035 0 -0.00235041 -0.00412345 -0.0620332 0.998063 uwb: 0.49994564 840.526 1031.43 -imu_odom_: 1691062589.395068108 0.493206 -0.253785 9.85453 -0.0575243 -0.00426106 0.0383495 0 0 pose: 0.0 -0.272687 0.0553035 0 -0.00235041 -0.00412345 -0.0620332 0.998063 uwb: 0.0 840.526 1031.43 -imu_odom_: 1691062589.412196094 0.201113 -0.31364 9.81862 -0.0628506 0.0266316 0.0234358 0 0 pose: 0.86980328 -0.272687 0.0553035 0 -0.00190726 -0.00377814 -0.0620048 0.998067 uwb: 0.0 840.526 1031.43 -imu_odom_: 1691062589.429074141 -0.23942 -0.059855 10.1514 -0.036219 0.0351537 -0.0756338 0 0 pose: 0.0 -0.272687 0.0553035 0 -0.00190726 -0.00377814 -0.0620048 0.998067 uwb: 0.50074475 840.967 1031.2 -imu_odom_: 1691062589.444134951 -1.45567 0.203507 9.46188 -0.0372843 0.0660464 -0.0585895 0 0 pose: 0.0 -0.272687 0.0553035 0 -0.00190726 -0.00377814 -0.0620048 0.998067 uwb: 0.0 840.967 1031.2 -imu_odom_: 1691062589.461075410 -1.17316 -0.612916 10.0748 -0.0617853 -0.0394148 0.0479369 0.04 0.05 pose: 0.7011424 -0.272687 0.0553035 0 -0.00204781 -0.00297695 -0.06206 0.998066 uwb: 0.0 840.967 1031.2 -imu_odom_: 1691062589.478068073 -0.105345 -0.773327 9.9503 -0.0607201 -0.0937433 0.0639159 0.05 0.02 pose: 0.0 -0.272687 0.0553035 0 -0.00204781 -0.00297695 -0.06206 0.998066 uwb: 0.0 840.967 1031.2 -imu_odom_: 1691062589.495128106 0.677559 -0.253785 10.0078 -0.0383495 -0.0383495 0.0671117 0.05 0.02 pose: 0.66075547 -0.272687 0.0553035 0 -0.0018084 0.00359536 -0.0636866 0.997962 uwb: 0.0 840.967 1031.2 -imu_odom_: 1691062589.512120478 0.306458 -0.047884 9.80665 -0.0596548 0.0319579 0.0862864 0.07 0.02 pose: 0.0 -0.272687 0.0553035 0 -0.0018084 0.00359536 -0.0636866 0.997962 uwb: 0.0 840.967 1031.2 -imu_odom_: 1691062589.529182844 -0.342371 -0.0790087 9.84017 -0.0585895 0.0351537 0.0649811 0.07 0.02 pose: 0.0 -0.272687 0.0553035 0 -0.0018084 0.00359536 -0.0636866 0.997962 uwb: 0.99905135 841.064 1031.33 -imu_odom_: 1691062589.546165008 -0.414197 -0.337582 9.7037 -0.052198 0.00319579 0.0447411 0.07 0.02 pose: 0.34969918 -0.272687 0.0553035 0 -0.00170911 0.00215558 -0.0631493 0.998 uwb: 0.0 841.064 1031.33 -imu_odom_: 1691062589.563116841 0.162806 -0.227449 10.1897 -0.0649811 -0.0181095 0.0575243 0.08 0.02 pose: 0.33997575 -0.272687 0.0553035 0 -0.0004255080.00531825 -0.0626984 0.998018 uwb: 0.0 841.064 1031.33 -imu_odom_: 1691062589.580116503 0.423774 -0.438139 9.72764 -0.0490022 -0.00639159 0.0479369 0.08 0.02 pose: 0.0 -0.272687 0.0553035 0 -0.0004255080.00531825 -0.0626984 0.998018 uwb: 0.49958984 840.97 1030.34 -imu_odom_: 1691062589.598065177 0.253785 -0.059855 9.96467 -0.072438 -0.00213053 0.0511327 0.1 0 pose: 0.42993931 -0.261283 0.056291 0 -0.00172225 0.00680692 -0.0624609 0.998023 uwb: 0.0 840.97 1030.34 -imu_odom_: 1691062589.615109170 0.035913 -0.282516 9.98382 -0.0649811 -0.00852212 0.0468716 0.1 0 pose: 0.0 -0.261283 0.056291 0 -0.00172225 0.00680692 -0.0624609 0.998023 uwb: 0.0 840.97 1030.34 -imu_odom_: 1691062589.631167696 0.347159 -0.234632 9.7851 -0.0500674 -0.0117179 0.0298274 0.1 0 pose: 0.0 -0.261283 0.056291 0 -0.00172225 0.00680692 -0.0624609 0.998023 uwb: 0.50027228 840.677 1029.82 -imu_odom_: 1691062589.649161574 0.287304 -0.433351 10.0413 -0.0426106 -0.0223706 0.0490022 0.11 0 pose: 0.7943520 -0.2588 0.0526215 0 -0.0009948990.00684097 -0.0624093 0.998027 uwb: 0.0 840.677 1029.82 -imu_odom_: 1691062589.666151612 -0.0047884 -0.488417 10.0293 -0.0351537 0.015979 0.0372843 0.11 0 pose: 0.0 -0.2588 0.0526215 0 -0.0009948990.00684097 -0.0624093 0.998027 uwb: 0.0 840.677 1029.82 -imu_odom_: 1691062589.680205958 1.0343 -0.227449 10.1442 -0.0553937 -0.0340885 0.036219 0.11 0 pose: 0.0 -0.2588 0.0526215 0 -0.0009948990.00684097 -0.0624093 0.998027 uwb: 0.49928362 840.764 1029.37 -imu_odom_: 1691062589.697122210 0.847547 0.023942 9.59596 -0.0617853 -0.00319579 0.0649811 0.1 0 pose: 0.51109813 -0.2588 0.0526215 0 -0.00129621 0.00675881 -0.0623319 0.998032 uwb: 0.0 840.764 1029.37 -imu_odom_: 1691062589.713031414 0.691924 -0.37589 9.81862 -0.0553937 0.02024 0.0681769 0.09 0 pose: 0.0 -0.2588 0.0526215 0 -0.00129621 0.00675881 -0.0623319 0.998032 uwb: 0.0 840.764 1029.37 -imu_odom_: 1691062589.730033702 0.957681 -0.354342 10.0437 -0.0585895 -0.015979 0.0777643 0.09 0 pose: 0.64877180 -0.250519 0.0582282 0 -0.00259387 0.00447733 -0.0620335 0.998061 uwb: 0.50070683 840.568 1028.83 -imu_odom_: 1691062589.746033024 1.28329 -0.0143652 9.96227 -0.052198 -0.00319579 0.0660464 0.08 -0.02 pose: 0.0 -0.250519 0.0582282 0 -0.00259387 0.00447733 -0.0620335 0.998061 uwb: 0.0 840.568 1028.83 -imu_odom_: 1691062589.763028020 1.1995 -0.196325 9.63666 -0.0436758 0.00319579 0.0575243 0.08 -0.02 pose: 0.0 -0.250519 0.0582282 0 -0.00259387 0.00447733 -0.0620335 0.998061 uwb: 0.0 840.568 1028.83 -imu_odom_: 1691062589.779046007 0.916979 -0.160412 10.0796 -0.0639159 0.0213053 0.0585895 0.08 -0.02 pose: 0.33994075 -0.244907 0.0499513 0 -0.00304354 0.00119431 -0.0614876 0.998102 uwb: 0.49944110 840.844 1028.21 -imu_odom_: 1691062589.796156495 0.64404 -0.363919 10.0509 -0.0585895 0.0213053 0.0287621 0.08 -0.02 pose: 0.41004916 -0.244907 0.0499513 0 -0.00251123 -0.00259777 -0.0610903 0.998126 uwb: 0.0 840.844 1028.21 -imu_odom_: 1691062589.812068615 0.373495 -0.138864 9.8258 -0.0479369 -0.015979 -0.0340885 0.08 -0.02 pose: 0.0 -0.244907 0.0499513 0 -0.00251123 -0.00259777 -0.0610903 0.998126 uwb: 0.0 840.844 1028.21 -imu_odom_: 1691062589.829048738 0.737414 0.00718261 9.76116 -0.0585895 -0.00532632 -0.0351537 0.08 -0.02 pose: 0.0 -0.244907 0.0499513 0 -0.00251123 -0.00259777 -0.0610903 0.998126 uwb: 0.50162260 840.677 1027.81 -imu_odom_: 1691062589.845170842 0.816423 -0.213084 10.0149 -0.0671117 -0.00213053 -0.00532632 0.04 0 pose: 0.8052012 -0.244907 0.0499513 0 -0.00294892 -0.00317508 -0.0611345 0.99812 uwb: 0.0 840.677 1027.81 -imu_odom_: 1691062589.862058222 0.550666 -0.392649 9.83538 -0.0490022 0.0340885 -0.00745685 0.06 0.02 pose: 0.0 -0.244907 0.0499513 0 -0.00294892 -0.00317508 -0.0611345 0.99812 uwb: 0.0 840.677 1027.81 -imu_odom_: 1691062589.878121122 0.3304 -0.225055 10.1203 -0.0479369 0.00426106 0.0479369 0.06 0.02 pose: 0.65083664 -0.244907 0.0499513 0 -0.00178976 -0.00588176 -0.0629332 0.997999 uwb: 0.49830952 840.416 1026.99 -imu_odom_: 1691062589.901083164 0.545878 -0.28491 9.95748 -0.0585895 -0.0255663 0.0777643 0.05 0 pose: 0.0 -0.244907 0.0499513 0 -0.00178976 -0.00588176 -0.0629332 0.997999 uwb: 0.0 840.416 1026.99 -imu_odom_: 1691062589.927180091 -0.0023942 -0.0981623 9.60793 -0.0479369 0.0692422 0.0575243 0.05 0 pose: 0.32901575 -0.236621 0.0555487 0 -0.00264882 -0.0048622 -0.0629575 0.998001 uwb: 0.49988148 840.252 1026.45 -imu_odom_: 1691062589.940058526 -0.837971 -0.150835 9.96467 -0.0490022 0.113983 0.0585895 0.05 0.02 pose: 0.42096833 -0.236621 0.0555487 0 -0.00240357 -0.00301092 -0.0624187 0.998043 uwb: 0.0 840.252 1026.45 -imu_odom_: 1691062589.956245084 -1.41497 -0.292093 9.94791 -0.056459 -0.00319579 0.0681769 0.05 0.02 pose: 0.5887135 -0.236621 0.0555487 0 -0.00227831 -0.00208124 -0.0623626 0.998049 uwb: 0.0 840.252 1026.45 -imu_odom_: 1691062589.981019988 -0.0981623 -0.215478 9.95988 -0.0575243 -0.0841559 0.0436758 0.09 0.05 pose: 0.0 -0.236621 0.0555487 0 -0.00227831 -0.00208124 -0.0623626 0.998049 uwb: 0.50021687 840.417 1026.28 -imu_odom_: 1691062590.3019602 0.727837 -0.260968 9.76355 -0.0596548 -0.0511327 0.0500674 0.09 0.05 pose: 0.31252326 -0.236621 0.0555487 0 -0.00198176 0.00112864 -0.0620427 0.998071 uwb: 0.0 840.417 1026.28 -imu_odom_: 1691062590.28029867 -0.289698 -0.110133 9.76116 -0.0585895 0.0245011 0.0490022 0.1 0.02 pose: 0.38700050 -0.231009 0.0472718 0 -0.00207086 -0.000588095-0.0618917 0.998081 uwb: 0.50115016 840.231 1026.02 -imu_odom_: 1691062590.53076003 -0.100556 -0.184354 9.7851 -0.0490022 -0.0149137 0.0447411 0.1 0.02 pose: 0.8048222 -0.231009 0.0472718 0 -0.00186762 0.000306061 -0.0618526 0.998083 uwb: 0.0 840.231 1026.02 -imu_odom_: 1691062590.78021231 0.328006 -0.25618 10.003 -0.0511327 -0.00426106 0.0436758 0.1 0.02 pose: 0.42008179 -0.225395 0.0510815 0 -0.0008895070.00451146 -0.0617006 0.998084 uwb: 0.50006530 840.278 1026.01 -imu_odom_: 1691062590.95030520 0.454898 0.0167594 9.84496 -0.0330232 0.0149137 0.0298274 0.1 0.02 pose: 0.0 -0.225395 0.0510815 0 -0.0008895070.00451146 -0.0617006 0.998084 uwb: 0.0 840.278 1026.01 -imu_odom_: 1691062590.120047784 0.160412 0.0550666 9.48343 -0.0596548 -0.0266316 0.0692422 0.12 0 pose: 0.41954517 -0.222735 0.0528878 0 -0.00122112 0.00266795 -0.061742 0.998088 uwb: 0.49848458 840.209 1025.74 -imu_odom_: 1691062590.145025384 -0.0694318 -0.301669 9.91199 -0.056459 0.00213053 0.0447411 0.12 0 pose: 0.0 -0.222735 0.0528878 0 -0.00122112 0.00266795 -0.061742 0.998088 uwb: 0.0 840.209 1025.74 -imu_odom_: 1691062590.170171554 0.531513 -0.0646434 10.149 -0.0511327 -0.0117179 0.056459 0.14 0 pose: 0.49994864 -0.217125 0.056698 0 0.000418516 0.00617224 -0.0613023 0.9981 uwb: 0.50315964 840.307 1025.29 -imu_odom_: 1691062590.187097725 -0.102951 -0.237026 9.76355 -0.0500674 0.0415453 0.0532632 0.14 0 pose: 0.0 -0.217125 0.056698 0 0.000418516 0.00617224 -0.0613023 0.9981 uwb: 0.0 840.307 1025.29 -imu_odom_: 1691062590.210997699 0.220267 -0.304064 10.2663 -0.0426106 -0.0830906 0.0479369 0.14 0.02 pose: 0.42072341 -0.214464 0.0585084 0 0.0015938 0.00590858 -0.06097 0.998121 uwb: 0.0 840.307 1025.29 -imu_odom_: 1691062590.234011656 0.52433 -0.114922 9.8689 -0.0468716 0.0500674 0.0607201 0.14 0.02 pose: 0.0 -0.214464 0.0585084 0 0.0015938 0.00590858 -0.06097 0.998121 uwb: 0.50049109 840.613 1025.24 -imu_odom_: 1691062590.260114712 0.725443 -0.265756 9.59357 -0.0607201 -0.0276969 0.0394148 0.2 0 pose: 0.46913931 -0.203332 0.0539942 0 0.000644069 0.00468987 -0.0606406 0.998148 uwb: 0.0 840.613 1025.24 -imu_odom_: 1691062590.273002774 0.0646434 -0.169988 9.60554 -0.0436758 0.0106526 0.036219 0.2 0 pose: 0.0 -0.203332 0.0539942 0 0.000644069 0.00468987 -0.0606406 0.998148 uwb: 0.49601436 840.588 1025.39 -imu_odom_: 1691062590.297088817 0.608127 -0.181959 10.307 -0.056459 0.0234358 0.0703074 0.14 0.02 pose: 0.38991118 -0.200571 0.0558774 0 0.000386972 0.00318032 -0.060665 0.998153 uwb: 0.0 840.588 1025.39 -imu_odom_: 1691062590.314026362 0.42138 -0.308852 10.3453 -0.0607201 0.00852212 0.0447411 0.14 0.02 pose: 0.8079718 -0.200571 0.0558774 0 0.000426302 0.00248469 -0.0605407 0.998163 uwb: 0.0 840.588 1025.39 -imu_odom_: 1691062590.338996087 0.737414 0.181959 10.0197 -0.052198 -0.056459 0.0639159 0.16 0.02 pose: 0.32943870 -0.193745 0.054589 0 -0.00114278 0.00068099 -0.0602523 0.998182 uwb: 0.50003613 840.573 1024.68 -imu_odom_: 1691062590.365055105 0.957681 -0.246603 10.2352 -0.0660464 -0.0181095 0.0415453 0.16 0.02 pose: 0.0 -0.193745 0.054589 0 -0.00114278 0.00068099 -0.0602523 0.998182 uwb: 0.0 840.573 1024.68 -imu_odom_: 1691062590.390057786 0.3304 0.047884 9.76595 -0.0617853 -0.0490022 0.0511327 0.16 0 pose: 0.9059352 -0.186673 0.0532585 0 -0.000479015-0.000173929-0.0601423 0.99819 uwb: 0.50049984 840.726 1023.95 -imu_odom_: 1691062590.415043844 -0.0909797 -0.339977 9.35175 -0.0798948 -0.0500674 0.0575243 0.15 0.02 pose: 0.49998947 -0.186673 0.0532584 0 0.000813725 -0.00421993 -0.0598779 0.998196 uwb: 0.0 840.726 1023.95 -imu_odom_: 1691062590.438049636 -0.0191536 -0.126893 10.2663 -0.0596548 0.0213053 0.0351537 0.15 0.02 pose: 0.0 -0.186673 0.0532584 0 0.000813725 -0.00421993 -0.0598779 0.998196 uwb: 0.50025487 840.782 1023.51 -imu_odom_: 1691062590.454986889 0.21069 -0.0981623 10.1538 -0.0820254 -0.015979 0.0788296 0.15 0.02 pose: 0.0 -0.186673 0.0532584 0 0.000813725 -0.00421993 -0.0598779 0.998196 uwb: 0.0 840.782 1023.51 -imu_odom_: 1691062590.467985484 0.435745 -0.474052 10.0293 -0.0820254 0.00426106 0.072438 0.17 0 pose: 0.72902371 -0.172799 0.0505191 0 0.00197449 0.00130369 -0.0594692 0.998227 uwb: 0.0 840.782 1023.51 -imu_odom_: 1691062590.492041487 0.816423 -0.059855 9.94312 -0.0575243 -0.00639159 0.0415453 0.17 0 pose: 0.0 -0.172799 0.0505191 0 0.00197449 0.00130369 -0.0594692 0.998227 uwb: 0.49944409 840.472 1022.7 -imu_odom_: 1691062590.517068083 0.244209 -0.311246 10.2089 -0.0660464 0.0149137 0.0458064 0.15 0.05 pose: 0.46054455 -0.163556 0.0486991 0 0.00138673 -0.000487167-0.0590558 0.998254 uwb: 0.0 840.472 1022.7 -imu_odom_: 1691062590.540975931 0.141258 -0.0143652 10.0389 -0.0308927 -0.0223706 0.0415453 0.15 0.05 pose: 0.0 -0.163556 0.0486991 0 0.00138673 -0.000487167-0.0590558 0.998254 uwb: 0.50004779 840.512 1022.13 -imu_odom_: 1691062590.564028094 0.40462 -0.442927 9.84496 -0.052198 -0.0266316 0.0532632 0.18 0.02 pose: 0.8015849 -0.158923 0.0477909 0 0.000906633 0.000260949 -0.0590316 0.998256 uwb: 0.0 840.512 1022.13 -imu_odom_: 1691062590.580972347 0.593762 -0.0933739 9.89763 -0.0447411 0.0181095 0.04048 0.18 0.02 pose: 0.0 -0.158923 0.0477909 0 0.000906633 0.000260949 -0.0590316 0.998256 uwb: 0.49977949 840.768 1022.24 -imu_odom_: 1691062590.605137134 0.699107 -0.253785 9.70849 -0.0681769 0.0170442 0.0628506 0.2 0 pose: 0.48947276 -0.158923 0.0477909 0 0.00109489 0.00304162 -0.0589011 0.998259 uwb: 0.0 840.768 1022.24 -imu_odom_: 1691062590.630966628 0.766145 -0.143652 10.4555 -0.0255663 -0.0330232 0.0276969 0.18 0.02 pose: 0.40033163 -0.145043 0.0450752 0 0.000249082 0.000528824 -0.058701 0.998275 uwb: 0.49989030 840.644 1021.69 -imu_odom_: 1691062590.644245784 0.469264 -0.0790087 9.72764 -0.0628506 -0.0117179 0.0692422 0.18 0.02 pose: 0.41928853 -0.145043 0.0450752 0 0.000583399 -0.00382486 -0.0586666 0.99827 uwb: 0.0 840.644 1021.69 -imu_odom_: 1691062590.669121309 0.588974 -0.11971 10.3813 -0.0394148 -0.036219 0.0426106 0.18 0.02 pose: 0.0 -0.145043 0.0450752 0 0.000583399 -0.00382486 -0.0586666 0.99827 uwb: 0.0 840.644 1021.69 -imu_odom_: 1691062590.694107950 0.68953 -0.0670376 10.1418 -0.0490022 0.0138484 0.0458064 0.16 -0.02 pose: 0.6016625 -0.145043 0.0450752 0 0.00116094 -0.00384829 -0.0585799 0.998275 uwb: 0.0 840.644 1021.69 -imu_odom_: 1691062590.708107760 0.112527 -0.035913 9.67736 -0.0553937 -0.015979 0.0553937 0.16 -0.02 pose: 0.0 -0.145043 0.0450752 0 0.00116094 -0.00384829 -0.0585799 0.998275 uwb: 0.0 840.644 1021.69 -imu_odom_: 1691062590.731998984 0.0383072 -0.059855 10.2161 -0.0426106 0.0117179 0.0426106 0.17 0 pose: 0.40041038 -0.131162 0.0423682 0 0.00332291 -0.00724352 -0.0584107 0.998261 uwb: 0.99981270 840.704 1020.69 -imu_odom_: 1691062590.755958745 0.76375 -0.335188 10.2855 -0.0692422 -0.0287621 0.0553937 0.17 0 pose: 0.0 -0.131162 0.0423682 0 0.00332291 -0.00724352 -0.0584107 0.998261 uwb: 0.0 840.704 1020.69 -imu_odom_: 1691062590.772965993 0.332794 -0.454898 9.68215 -0.0500674 0.0330232 0.0213053 0.24 0 pose: 0.38987909 -0.12287 0.0479584 0 0.00460919 -0.00655008 -0.0582468 0.99827 uwb: 0.50038902 840.646 1019.85 -imu_odom_: 1691062590.796958709 0.416591 -0.629675 9.36133 -0.0447411 0.04048 0.052198 0.24 0 pose: 0.0 -0.12287 0.0479584 0 0.00460919 -0.00655008 -0.0582468 0.99827 uwb: 0.0 840.646 1019.85 -imu_odom_: 1691062590.822970772 0.371101 -0.299275 9.77553 -0.0149137 0.0617853 0.0266316 0.22 -0.02 pose: 0.47976684 -0.117277 0.0396687 0 0.00252855 -0.00625205 -0.0580969 0.998288 uwb: 0.50019945 840.631 1019.15 -imu_odom_: 1691062590.843965675 0.627281 -0.428562 9.86411 -0.0585895 0.0170442 0.0660464 0.22 -0.02 pose: 0.0 -0.117277 0.0396687 0 0.00252855 -0.00625205 -0.0580969 0.998288 uwb: 0.0 840.631 1019.15 -imu_odom_: 1691062590.868024887 0.347159 0.0502782 10.2951 -0.0223706 0.00426106 0.0426106 0.18 -0.02 pose: 0.41109040 -0.108989 0.0452631 0 -0.000581173-0.00349127 -0.0580607 0.998307 uwb: 0.0 840.631 1019.15 -imu_odom_: 1691062590.885027177 0.442927 -0.100556 9.81383 -0.0639159 -0.00532632 0.0703074 0.18 -0.02 pose: 0.0 -0.108989 0.0452631 0 -0.000581173-0.00349127 -0.0580607 0.998307 uwb: 0.49916703 840.731 1018.15 -imu_odom_: 1691062590.909017852 0.392649 -0.0646434 9.73243 -0.0436758 -0.00639159 0.0340885 0.18 0 pose: 0.45873927 -0.103392 0.0369756 0 -0.00192306 -0.00236674 -0.0578827 0.998319 uwb: 0.0 840.731 1018.15 -imu_odom_: 1691062590.926996859 0.40462 -0.177171 9.86411 -0.0628506 0.00426106 0.0756338 0.18 0 pose: 0.0 -0.103392 0.0369756 0 -0.00192306 -0.00236674 -0.0578827 0.998319 uwb: 0.50143019 841.068 1016.85 -imu_odom_: 1691062590.951042655 0.746991 -0.265756 10.2687 -0.0735032 -0.0319579 0.0351537 0.18 0 pose: 0.42048426 -0.0951063 0.0425738 0 0.00242686 -0.00175933 -0.0576256 0.998334 uwb: 0.0 841.068 1016.85 -imu_odom_: 1691062590.977075717 1.27372 -0.174777 9.61272 -0.0788296 0.00213053 0.0436758 0.18 0 pose: 0.0 -0.0951063 0.0425738 0 0.00242686 -0.00175933 -0.0576256 0.998334 uwb: 0.50262010 841.467 1015.83 -imu_odom_: 1691062591.1948325 0.4956 -0.225055 9.89524 -0.036219 0 0.0266316 0.18 -0.02 pose: 0.42016637 -0.0812199 0.0398964 0 0.00201896 -0.00123821 -0.0573668 0.99835 uwb: 0.0 841.467 1015.83 -imu_odom_: 1691062591.28988730 0.773327 0.0167594 10.0533 -0.076699 -0.052198 0.0671117 0.19 0 pose: 0.50153519 -0.0812199 0.0398964 0 0.000248134 -0.00511655 -0.0573905 0.998339 uwb: 0.49535818 841.334 1014.16 -imu_odom_: 1691062591.44973766 0.632069 -0.296881 9.61751 -0.0713727 0.0149137 0.0426106 0.19 0 pose: 0.0 -0.0812199 0.0398964 0 0.000248134 -0.00511655 -0.0573905 0.998339 uwb: 0.0 841.334 1014.16 -imu_odom_: 1691062591.70970085 0.277727 -0.61531 9.68933 -0.0639159 0.0149137 0.0500674 0.25 0.02 pose: 0.24783365 -0.0673331 0.0372213 0 -0.000718468-0.00521915 -0.0573829 0.998338 uwb: 0.50049700 841.512 1013.17 -imu_odom_: 1691062591.96219209 0.502782 -0.260968 9.35415 -0.0266316 0.00639159 0.02024 0.25 0.02 pose: 0.43130434 -0.0673331 0.0372213 0 -0.001754 -0.00746492 -0.057048 0.998342 uwb: 0.0 841.512 1013.17 -imu_odom_: 1691062591.119987363 0.677559 -0.490811 9.72525 -0.0681769 0.00532632 0.0468716 0.19 -0.02 pose: 0.25019309 -0.0590565 0.0428335 0 -0.00281991 -0.00547303 -0.0570116 0.998355 uwb: 0.50068075 841.543 1012.06 -imu_odom_: 1691062591.144076035 0.909797 -0.21069 10.0341 -0.0298274 -0.0500674 0.0340885 0.19 -0.02 pose: 0.0 -0.0590565 0.0428335 0 -0.00281991 -0.00547303 -0.0570116 0.998355 uwb: 0.0 841.543 1012.06 -imu_odom_: 1691062591.161078327 0.301669 -0.191536 9.34696 -0.0490022 0.0340885 0.0596548 0.26 -0.02 pose: 0.25931574 -0.0534445 0.0345566 0 -0.00252209 -0.00414963 -0.0571546 0.998354 uwb: 0.0 841.543 1012.06 -imu_odom_: 1691062591.185924399 0.222661 -0.0694318 9.89763 -0.0415453 0.0127832 0.0287621 0.26 -0.02 pose: 0.0 -0.0534445 0.0345566 0 -0.00252209 -0.00414963 -0.0571546 0.998354 uwb: 0.0 841.543 1012.06 -imu_odom_: 1691062591.212004420 0.488417 -0.179565 9.98861 -0.0894822 0.015979 0.0447411 0.21 0.02 pose: 0.47038470 -0.0451667 0.0401671 0 -0.00305395 -0.00717163 -0.0570959 0.998338 uwb: 0.0 841.543 1012.06 -imu_odom_: 1691062591.227997914 0.167594 -0.440533 9.34217 -0.0436758 0.0266316 0.0308927 0.21 0.02 pose: 0.0 -0.0451667 0.0401671 0 -0.00305395 -0.00717163 -0.0570959 0.998338 uwb: 0.99864918 841.625 1010.52 -imu_odom_: 1691062591.253932695 0.0526724 -0.390255 9.95509 -0.0532632 0.00532632 0.0447411 0.18 -0.02 pose: 0.42975571 -0.0395551 0.03189 0 -0.000378188-0.00391292 -0.0571168 0.99836 uwb: 0.0 841.625 1010.52 -imu_odom_: 1691062591.276929157 0.31364 -0.169988 10.1849 -0.0276969 0.00852212 0.0319579 0.18 -0.02 pose: 0.0 -0.0395551 0.03189 0 -0.000378188-0.00391292 -0.0571168 0.99836 uwb: 0.50316555 842.024 1009.25 -imu_odom_: 1691062591.300950167 0.591368 -0.220267 10.1179 -0.0745685 -0.0138484 0.0628506 0.18 0 pose: 0.41930900 -0.0312776 0.0375009 0 -3.00347e-05-0.0017934 -0.0571244 0.998365 uwb: 0.0 842.024 1009.25 -imu_odom_: 1691062591.318045203 0.600945 -0.399832 9.34936 -0.0458064 0.0447411 0.0415453 0.18 0 pose: 0.0 -0.0312776 0.0375009 0 -3.00347e-05-0.0017934 -0.0571244 0.998365 uwb: 0.0 842.024 1009.25 -imu_odom_: 1691062591.342921606 -0.150835 -0.035913 9.67736 -0.0500674 0.0234358 0.0585895 0.18 0 pose: 0.82045147 -0.0145617 0.0306637 0 -0.000793591-0.00122728 -0.0568642 0.998381 uwb: 0.49746391 841.925 1007.87 -imu_odom_: 1691062591.365957441 0.56982 -0.184354 9.63666 -0.0276969 0.0255663 0.0383495 0.18 0 pose: 0.8934530 -0.0117756 0.026558 0 -0.000432827-0.000274401-0.0567793 0.998387 uwb: 0.0 841.925 1007.87 -imu_odom_: 1691062591.383931784 0.526724 -0.246603 10.2496 -0.072438 -0.0426106 0.0596548 0.25 0 pose: 0.0 -0.0117756 0.026558 0 -0.000432827-0.000274401-0.0567793 0.998387 uwb: 0.50056116 842.138 1006.2 -imu_odom_: 1691062591.407897382 0.217872 -0.430956 10.0676 -0.0553937 0.0191748 0.0319579 0.25 0 pose: 0.47014264 -0.0035019 0.0321745 0 0.000315271 -0.0014172 -0.0565603 0.998398 uwb: 0.0 842.138 1006.2 -imu_odom_: 1691062591.432899484 0.1652 -0.335188 10.3094 -0.0671117 -0.0106526 0.0703074 0.23 0 pose: 0.33903385 0.0003898180.026447 0 -0.0017162 -0.000356733-0.056547 0.998398 uwb: 0.49807053 842.571 1004.95 -imu_odom_: 1691062591.448918351 0.21069 -0.196325 9.72285 -0.0415453 -0.0149137 0.0415453 0.23 0 pose: 0.7082295 0.00211831 0.0239033 0 -0.00195369 0.000304074 -0.0564371 0.998404 uwb: 0.0 842.571 1004.95 -imu_odom_: 1691062591.474930710 0.311246 -0.110133 9.31823 -0.0692422 0.00213053 0.0628506 0.18 0.05 pose: 0.0 0.00211831 0.0239033 0 -0.00195369 0.000304074 -0.0564371 0.998404 uwb: 0.50227603 842.937 1004.38 -imu_odom_: 1691062591.499911521 0.464475 -0.102951 10.1754 -0.0660464 0.0276969 0.0415453 0.18 0.05 pose: 0.33938674 0.0103882 0.0295254 0 -0.00171969 0.00331332 -0.0561379 0.998416 uwb: 0.0 842.937 1004.38 -imu_odom_: 1691062591.522912650 0.596156 -0.213084 10.1179 -0.0852212 0.0234358 0.0607201 0.19 0 pose: 0.50993170 0.0202037 0.0276675 0 0.001924 0.00216833 -0.0557944 0.998438 uwb: 0.49889588 842.83 1003.98 -imu_odom_: 1691062591.548969631 0.876278 -0.105345 10.1323 -0.0607201 0.052198 0.0245011 0.24 -0.02 pose: 0.0 0.0202037 0.0276675 0 0.001924 0.00216833 -0.0557944 0.998438 uwb: 0.0 842.83 1003.98 -imu_odom_: 1691062591.573925361 0.505177 -0.0407014 10.07 -0.0894822 0.0106526 0.0692422 0.24 -0.02 pose: 0.31173592 0.0242837 0.0268954 0 0.00123545 -0.000329819-0.0556074 0.998452 uwb: 0.49855173 843.229 1002.46 -imu_odom_: 1691062591.589906898 0.251391 -0.502782 9.69173 -0.0745685 0.00639159 0.0490022 0.24 -0.02 pose: 0.0 0.0242837 0.0268954 0 0.00123545 -0.000329819-0.0556074 0.998452 uwb: 0.0 843.229 1002.46 -imu_odom_: 1691062591.615893008 0.634463 -0.158017 10.4938 -0.102265 -0.0298274 0.056459 0.21 0 pose: 0.48826835 0.0381801 0.0242707 0 0.00262843 -0.00227256 -0.0553432 0.998461 uwb: 0.0 843.229 1002.46 -imu_odom_: 1691062591.641120260 0.40462 -0.287304 9.77792 -0.107592 -0.0490022 0.0394148 0.22 0 pose: 0.35981060 0.0381801 0.0242707 0 0.00117799 -0.00457085 -0.0550738 0.998471 uwb: 0.50016453 843.306 1000.55 -imu_odom_: 1691062591.665948833 0.354342 -0.574608 9.99819 -0.0575243 -0.0426106 0.0149137 0.22 0 pose: 0.0 0.0381801 0.0242707 0 0.00117799 -0.00457085 -0.0550738 0.998471 uwb: 0.0 843.306 1000.55 -imu_odom_: 1691062591.682054902 0.73502 -0.191536 10.1754 -0.0394148 0.0266316 0.0319579 0.18 0 pose: 0.7093670 0.0381801 0.0242707 0 0.000470105 -0.00422969 -0.0550738 0.998473 uwb: 0.50101614 843.237 998.905 -imu_odom_: 1691062591.698047230 0.311246 -0.265756 9.48583 -0.0575243 0.00213053 0.0596548 0.18 0 pose: 0.0 0.0381801 0.0242707 0 0.000470105 -0.00422969 -0.0550738 0.998473 uwb: 0.0 843.237 998.905 -imu_odom_: 1691062591.723889851 0.213084 -0.356736 10.0676 -0.0308927 0.00426106 0.0223706 0.18 -0.02 pose: 0.50071574 0.052078 0.02166 0 -0.00343288 -0.00347018 -0.0554 0.998452 uwb: 0.50063407 843.8 997.682 -imu_odom_: 1691062591.746974099 0.201113 -0.402226 9.79707 -0.0596548 -0.0308927 0.0532632 0.18 -0.02 pose: 0.0 0.052078 0.02166 0 -0.00343288 -0.00347018 -0.0554 0.998452 uwb: 0.0 843.8 997.682 -imu_odom_: 1691062591.772903047 0.474052 -0.423774 9.7444 -0.0351537 0.02024 0.0319579 0.18 0 pose: 0.33066656 0.0603355 0.0273004 0 -0.00312974 -0.00174782 -0.0553406 0.998461 uwb: 0.50007704 844.184 996.328 -imu_odom_: 1691062591.798027640 0.237026 -0.481235 9.75158 -0.0532632 0.0287621 0.0490022 0.18 0 pose: 0.0 0.0603355 0.0273004 0 -0.00312974 -0.00174782 -0.0553406 0.998461 uwb: 0.0 844.184 996.328 -imu_odom_: 1691062591.820918819 0.586579 -0.275333 9.93833 -0.0543285 0.0106526 0.0308927 0.18 -0.02 pose: 0.48781339 0.0659759 0.019043 0 -0.00508472 0.00138446 -0.0553544 0.998453 uwb: 0.49994580 844.385 995.109 -imu_odom_: 1691062591.846027371 1.13006 -0.237026 10.1347 -0.0745685 -0.0287621 0.0511327 0.18 -0.02 pose: 0.0 0.0659759 0.019043 0 -0.00508472 0.00138446 -0.0553544 0.998453 uwb: 0.0 844.385 995.109 -imu_odom_: 1691062591.861943871 0.651223 -0.483629 9.25359 -0.0617853 0.0468716 0.02024 0.23 0 pose: 0.50395299 0.0742337 0.024683 0 -0.0075991 0.00227356 -0.0553401 0.998436 uwb: 0.0 844.385 995.109 -imu_odom_: 1691062591.885938633 0.260968 -0.701501 9.22486 -0.052198 0.0436758 0.0383495 0.23 0 pose: 0.0 0.0742337 0.024683 0 -0.0075991 0.00227356 -0.0553401 0.998436 uwb: 0.49929543 844.566 994.028 -imu_odom_: 1691062591.903945349 0.122104 -0.579397 10.0628 -0.0266316 -0.00426106 0.0234358 0.19 0.05 pose: 0.47734335 0.0881312 0.0220657 0 -0.00749941 -0.00225151 -0.0553612 0.998436 uwb: 0.0 844.566 994.028 -imu_odom_: 1691062591.927874783 0.749385 -0.237026 9.89763 -0.0585895 -0.0276969 0.0532632 0.19 0.05 pose: 0.0 0.0881312 0.0220657 0 -0.00749941 -0.00225151 -0.0553612 0.998436 uwb: 0.49953166 844.796 993.087 -imu_odom_: 1691062591.955025430 0.474052 -0.0143652 10.5441 -0.0191748 -0.00319579 0.0394148 0.23 -0.02 pose: 0.40941350 0.0881312 0.0220657 0 -0.0102225 -0.000113352-0.0555117 0.998406 uwb: 0.0 844.796 993.087 -imu_odom_: 1691062591.979027774 0.37589 -0.0191536 10.1083 -0.0426106 -0.00319579 0.0628506 0.23 -0.02 pose: 0.0 0.0881312 0.0220657 0 -0.0102225 -0.000113352-0.0555117 0.998406 uwb: 0.50075365 844.828 992.409 -imu_odom_: 1691062592.5227661 0.234632 0.150835 10.2137 -0.0468716 -0.0298274 0.0500674 0.2 -0.05 pose: 0.41974355 0.102028 0.0194439 0 -0.00861877 -0.00177272 -0.0554416 0.998423 uwb: 0.0 844.828 992.409 -imu_odom_: 1691062592.29885626 0.292093 -0.454898 9.83299 -0.076699 0.00639159 0.0553937 0.19 0 pose: 0.51013877 0.115926 0.0168282 0 -0.0030923 -0.00139802 -0.0551306 0.998473 uwb: 0.49962793 844.648 991.72 -imu_odom_: 1691062592.46872172 0.263362 -0.0861913 9.94073 -0.0532632 -0.0490022 0.0287621 0.19 0 pose: 0.0 0.115926 0.0168282 0 -0.0030923 -0.00139802 -0.0551306 0.998473 uwb: 0.0 844.648 991.72 -imu_odom_: 1691062592.71926482 0.555455 -0.342371 9.663 -0.0735032 -0.0639159 0.0468716 0.19 0 pose: 0.25961906 0.115926 0.0168282 0 -0.00204545 -0.000477721-0.0549725 0.998486 uwb: 0.49874429 845.011 991.197 -imu_odom_: 1691062592.97923388 0.670376 0.0263362 9.61272 -0.0543285 -0.0330232 0.0447411 0.18 0.02 pose: 0.42948163 0.12418 0.0224746 0 -0.00269988 1.42278e-05 -0.0548913 0.998489 uwb: 0.0 845.011 991.197 -imu_odom_: 1691062592.111865165 0.567426 -0.174777 9.8689 -0.0713727 -0.00532632 0.0575243 0.18 0.02 pose: 0.0 0.12418 0.0224746 0 -0.00269988 1.42278e-05 -0.0548913 0.998489 uwb: 0.0 845.011 991.197 -imu_odom_: 1691062592.135880345 0.857124 -0.150835 9.51456 -0.0447411 0 0.0287621 0.18 -0.02 pose: 0.48016070 0.129827 0.0142222 0 -0.00137984 -0.00437106 -0.0547255 0.998491 uwb: 0.50104246 844.975 989.837 -imu_odom_: 1691062592.152859600 0.320823 -0.474052 9.4164 -0.0809601 0.0117179 0.0415453 0.18 -0.02 pose: 0.0 0.129827 0.0142222 0 -0.00137984 -0.00437106 -0.0547255 0.998491 uwb: 0.0 844.975 989.837 -imu_odom_: 1691062592.168906760 0.423774 -0.265756 10.4842 -0.0511327 -0.0330232 0.0426106 0.23 0 pose: 0.38972464 0.143728 0.0116223 0 -0.00107226 -0.00681203 -0.0547796 0.998475 uwb: 0.50128452 845.359 988.777 -imu_odom_: 1691062592.184902589 0.306458 -0.162806 10.094 -0.0575243 -0.00745685 0.0458064 0.23 0 pose: 0.0 0.143728 0.0116223 0 -0.00107226 -0.00681203 -0.0547796 0.998475 uwb: 0.0 845.359 988.777 -imu_odom_: 1691062592.200844465 0.222661 -0.42138 10.1442 -0.0649811 -0.00532632 0.0458064 0.23 0 pose: 0.0 0.143728 0.0116223 0 -0.00107226 -0.00681203 -0.0547796 0.998475 uwb: 0.0 845.359 988.777 -imu_odom_: 1691062592.217912672 0.663194 -0.282516 9.75637 -0.052198 0.04048 0.02024 0.18 -0.02 pose: 0.49994296 0.15198 0.0172719 0 -0.00183195 -0.0026209 -0.054661 0.9985 uwb: 0.0 845.359 988.777 -imu_odom_: 1691062592.233962747 0.0766145 -0.059855 9.74919 -0.0468716 0.0351537 0.0372843 0.18 -0.02 pose: 0.0 0.15198 0.0172719 0 -0.00183195 -0.0026209 -0.054661 0.9985 uwb: 0.49761855 845.706 987.99 -imu_odom_: 1691062592.249852710 0.557849 -0.411803 10.1179 -0.0735032 -0.0394148 0.0447411 0.25 -0.02 pose: 0.41104385 0.157631 0.00902213 0 -0.00165625 -0.0015603 -0.054821 0.998494 uwb: 0.0 845.706 987.99 -imu_odom_: 1691062592.266847423 0.610521 -0.0430956 10.2424 -0.0287621 0.00745685 0.0223706 0.25 -0.02 pose: 0.0 0.157631 0.00902213 0 -0.00165625 -0.0015603 -0.054821 0.998494 uwb: 0.0 845.706 987.99 -imu_odom_: 1691062592.282848210 0.0574608 -0.0861913 9.20092 -0.0681769 -0.0127832 0.0436758 0.25 -0.02 pose: 0.0 0.157631 0.00902213 0 -0.00165625 -0.0015603 -0.054821 0.998494 uwb: 0.50106287 845.664 987.308 -imu_odom_: 1691062592.298901202 0.713472 -0.0622492 10.3525 -0.0628506 -0.0511327 0.0468716 0.18 0 pose: 0.6894186 0.157631 0.00902213 0 -0.00230265 -0.00205486 -0.0548028 0.998492 uwb: 0.0 845.664 987.308 -imu_odom_: 1691062592.314900240 0.481235 -0.136469 9.54089 -0.0490022 -0.0394148 0.0223706 0.18 0 pose: 0.0 0.157631 0.00902213 0 -0.00230265 -0.00205486 -0.0548028 0.998492 uwb: 0.0 845.664 987.308 -imu_odom_: 1691062592.330842699 0.720655 -0.454898 9.73243 -0.0841559 0.00213053 0.0394148 0.18 0 pose: 0.0 0.157631 0.00902213 0 -0.00230265 -0.00205486 -0.0548028 0.998492 uwb: 0.50071581 845.84 986.373 -imu_odom_: 1691062592.347838870 0.373495 -0.445322 9.82102 -0.0500674 0.00532632 0.0394148 0.23 0 pose: 0.49059575 0.165883 0.0146714 0 -0.000691103-0.00298327 -0.0548748 0.998489 uwb: 0.0 845.84 986.373 -imu_odom_: 1691062592.363956315 0.517148 -0.174777 9.74679 -0.036219 0.00745685 0.0266316 0.18 0 pose: 0.0 0.165883 0.0146714 0 -0.000691103-0.00298327 -0.0548748 0.998489 uwb: 0.0 845.84 986.373 -imu_odom_: 1691062592.379907815 0.320823 -0.347159 9.34936 -0.0756338 0.0191748 0.0543285 0.18 0 pose: 0.65940838 0.179784 0.0120654 0 -0.000737136-0.004647 -0.0550311 0.998474 uwb: 0.49989921 845.82 985.286 -imu_odom_: 1691062592.396859947 0.392649 -0.31364 10.1562 -0.052198 -0.00532632 0.0447411 0.18 0.02 pose: 0.0 0.179784 0.0120654 0 -0.000737136-0.004647 -0.0550311 0.998474 uwb: 0.0 845.82 985.286 -imu_odom_: 1691062592.413891699 0.687136 -0.227449 9.77074 -0.0447411 -0.00852212 0.036219 0.18 0.02 pose: 0.0 0.179784 0.0120654 0 -0.000737136-0.004647 -0.0550311 0.998474 uwb: 0.0 845.82 985.286 -imu_odom_: 1691062592.429826575 0.794875 -0.0550666 9.88805 -0.0511327 -0.0916127 0.076699 0.18 0.02 pose: 0.32045905 0.18543 0.00381178 0 -0.00153936 -0.00289623 -0.0549428 0.998484 uwb: 0.50004212 845.879 984.204 -imu_odom_: 1691062592.447013481 1.16837 -0.213084 9.65342 -0.0447411 -0.0447411 0.122505 0.21 -0.02 pose: 0.41923324 0.193683 0.00945875 0 -0.00119118 -0.00607603 -0.0546574 0.998486 uwb: 0.0 845.879 984.204 -imu_odom_: 1691062592.462834616 2.05901 -0.521936 9.99819 -0.0532632 -0.0639159 0.129962 0.21 -0.02 pose: 0.7210037 0.193683 0.00945875 0 -0.00118223 -0.00694539 -0.0543589 0.998497 uwb: 0.0 845.879 984.204 -imu_odom_: 1691062592.479005432 1.80762 -0.272939 9.78031 -0.0575243 -0.00213053 0.0830906 0.21 -0.02 pose: 0.0 0.193683 0.00945875 0 -0.00118223 -0.00694539 -0.0543589 0.998497 uwb: 0.49780228 845.99 982.721 -imu_odom_: 1691062592.493898554 1.52511 -0.047884 9.85932 -0.036219 0.0340885 0.02024 0.12 -0.02 pose: 0.41968820 0.201622 0.00800113 0 -0.00172957 -0.0117462 -0.0528783 0.99853 uwb: 0.0 845.99 982.721 -imu_odom_: 1691062592.509845679 0.732626 0.220267 9.94791 -0.0692422 0.0585895 0.0213053 0.13 0 pose: 0.0 0.201622 0.00800113 0 -0.00172957 -0.0117462 -0.0528783 0.99853 uwb: 0.0 845.99 982.721 -imu_odom_: 1691062592.525987914 0.560243 -0.241814 10.3262 -0.0649811 0.052198 0.0255663 0.13 0 pose: 0.0 0.201622 0.00800113 0 -0.00172957 -0.0117462 -0.0528783 0.99853 uwb: 0.50012961 846.355 980.863 -imu_odom_: 1691062592.542818722 0.799663 -0.493206 10.2592 -0.0532632 -0.0127832 -0.0138484 0.13 0 pose: 0.21909799 0.207593 0.00690722 0 -0.000690047-0.0128694 -0.0530992 0.998506 uwb: 0.0 846.355 980.863 -imu_odom_: 1691062592.559949633 0.849942 -0.213084 9.39485 -0.0511327 -0.0255663 0.00319579 0.13 0.02 pose: 0.0 0.207593 0.00690722 0 -0.000690047-0.0128694 -0.0530992 0.998506 uwb: 0.0 846.355 980.863 -imu_odom_: 1691062592.575826472 0.842759 -0.325611 9.80665 -0.0596548 0.0394148 0.0415453 0.13 0.02 pose: 0.0 0.207593 0.00690722 0 -0.000690047-0.0128694 -0.0530992 0.998506 uwb: 0.50240152 846.474 979.925 -imu_odom_: 1691062592.591941001 0.677559 -0.260968 10.2256 -0.0553937 -0.00426106 0.0479369 0.08 0 pose: 0.74911241 0.207593 0.00690722 0 -0.00261167 -0.0146094 -0.0540234 0.998429 uwb: 0.0 846.474 979.925 -imu_odom_: 1691062592.607942080 0.723049 -0.198719 9.65103 -0.052198 -0.0213053 0.04048 0.08 0 pose: 0.0 0.207593 0.00690722 0 -0.00261167 -0.0146094 -0.0540234 0.998429 uwb: 0.0 846.474 979.925 -imu_odom_: 1691062592.624941750 0.718261 -0.153229 9.80904 -0.052198 0.015979 0.0628506 0.08 0 pose: 0.0 0.207593 0.00690722 0 -0.00261167 -0.0146094 -0.0540234 0.998429 uwb: 0.50131369 846.724 979.14 -imu_odom_: 1691062592.640840463 0.758962 -0.385466 9.98143 -0.0639159 0.00958738 0.0671117 0.09 0.02 pose: 0.6999761 0.207593 0.00690722 0 -0.00284212 -0.0139485 -0.0539896 0.99844 uwb: 0.0 846.724 979.14 -imu_odom_: 1691062592.656874789 0.684742 -0.260968 10.0293 -0.056459 0.00213053 0.0340885 0.06 0 pose: 0.0 0.207593 0.00690722 0 -0.00284212 -0.0139485 -0.0539896 0.99844 uwb: 0.0 846.724 979.14 -imu_odom_: 1691062592.673875626 0.696713 -0.11971 9.75398 -0.0596548 -0.0117179 0.0287621 0.06 0 pose: 0.66059537 0.221503 0.0043346 0 -0.00261419 -0.0146374 -0.053553 0.998454 uwb: 0.49620990 846.916 978.621 -imu_odom_: 1691062592.689863290 0.768539 -0.23942 9.89045 -0.056459 0.00426106 0.0394148 0.06 0 pose: 0.0 0.221503 0.0043346 0 -0.00261419 -0.0146374 -0.053553 0.998454 uwb: 0.0 846.916 978.621 -imu_odom_: 1691062592.706941121 0.754174 -0.241814 9.99579 -0.0639159 -0.00106526 0.0490022 0.05 0.05 pose: 0.0 0.221503 0.0043346 0 -0.00261419 -0.0146374 -0.053553 0.998454 uwb: 0.0 846.916 978.621 -imu_odom_: 1691062592.722822335 0.653617 -0.174777 9.82341 -0.0436758 0.0149137 0.0511327 0.05 0.05 pose: 0.32933671 0.221503 0.0043346 0 -0.00163357 -0.015139 -0.0536822 0.998442 uwb: 0.50118245 847.096 977.693 -imu_odom_: 1691062592.739862544 0.37589 -0.25618 10.0365 -0.0649811 0.0245011 0.100135 0.06 0.08 pose: 0.41002894 0.221503 0.0043346 0 -0.00125038 -0.0161255 -0.0535187 0.998436 uwb: 0.0 847.096 977.693 -imu_odom_: 1691062592.755830667 0.356736 -0.385466 10.0078 -0.0532632 -0.0117179 0.116114 0.06 0.08 pose: 0.0 0.221503 0.0043346 0 -0.00125038 -0.0161255 -0.0535187 0.998436 uwb: 0.0 847.096 977.693 -imu_odom_: 1691062592.771846037 0.608127 -0.215478 9.88326 -0.0479369 -0.0266316 0.116114 0.06 0.08 pose: 0.0 0.221503 0.0043346 0 -0.00125038 -0.0161255 -0.0535187 0.998436 uwb: 0.50122327 846.868 977.114 -imu_odom_: 1691062592.788812168 0.852336 -0.184354 9.95988 -0.056459 -0.0117179 0.13955 0.03 0.08 pose: 0.7068298 0.221503 0.0043346 0 -0.00131313 -0.0153152 -0.0533049 0.99846 uwb: 0.0 846.868 977.114 -imu_odom_: 1691062592.805802506 0.778116 -0.323217 9.86172 -0.0585895 0.00532632 0.147006 0.04 0.14 pose: 0.0 0.221503 0.0043346 0 -0.00131313 -0.0153152 -0.0533049 0.99846 uwb: 0.0 846.868 977.114 -imu_odom_: 1691062592.821810293 0.677559 -0.299275 9.90002 -0.0532632 0.0127832 0.138484 0.04 0.14 pose: 0.66925137 0.221503 0.00433454 0 -0.00150969 -0.0138491 -0.0504989 0.998627 uwb: 0.49869764 847.276 976.493 -imu_odom_: 1691062592.837809914 0.493206 -0.21069 9.84256 -0.0553937 0.00319579 0.154463 0.04 0.14 pose: 0.0 0.221503 0.00433454 0 -0.00150969 -0.0138491 -0.0504989 0.998627 uwb: 0.0 847.276 976.493 -imu_odom_: 1691062592.854867330 0.545878 -0.287304 9.87129 -0.0585895 -0.00745685 0.166181 0.03 0.14 pose: 0.0 0.221503 0.00433454 0 -0.00150969 -0.0138491 -0.0504989 0.998627 uwb: 0.0 847.276 976.493 -imu_odom_: 1691062592.870807748 0.658405 -0.323217 9.93594 -0.052198 -0.0106526 0.155529 0.03 0.14 pose: 0.32060196 0.221503 0.00433454 0 -0.00345826 -0.0132618 -0.0487913 0.998715 uwb: 0.49983504 847.401 975.693 -imu_odom_: 1691062592.886811160 0.696713 -0.174777 9.90721 -0.0553937 -0.00532632 0.16192 0.01 0.11 pose: 0.41931782 0.221488 0.00432896 0 -0.00474212 -0.0117404 -0.04626 0.998849 uwb: 0.0 847.401 975.693 -imu_odom_: 1691062592.903798582 0.68953 -0.181959 9.87369 -0.0553937 0 0.169377 0.01 0.11 pose: 0.7061881 0.221503 0.00433453 0 -0.00412726 -0.0120815 -0.0458374 0.998867 uwb: 0.0 847.401 975.693 -imu_odom_: 1691062592.919806952 0.636858 -0.244209 9.93594 -0.0532632 0.00426106 0.167247 0.01 0.11 pose: 0.0 0.221503 0.00433453 0 -0.00412726 -0.0120815 -0.0458374 0.998867 uwb: 0.50062249 848.046 974.707 -imu_odom_: 1691062592.935804532 0.500388 -0.227449 9.84256 -0.056459 0.00639159 0.16192 0.01 0.14 pose: 0.41937323 0.221503 0.00433453 0 -0.00204689 -0.0115878 -0.0431965 0.998997 uwb: 0.0 848.046 974.707 -imu_odom_: 1691062592.951866273 0.466869 -0.248997 9.91439 -0.0553937 0.00106526 0.150202 0.01 0.11 pose: 0.0 0.221503 0.00433453 0 -0.00204689 -0.0115878 -0.0431965 0.998997 uwb: 0.0 848.046 974.707 -imu_odom_: 1691062592.967863561 0.474052 -0.189142 9.89284 -0.0553937 -0.00319579 0.133158 0.01 0.11 pose: 0.0 0.221503 0.00433453 0 -0.00204689 -0.0115878 -0.0431965 0.998997 uwb: 0.0 848.046 974.707 -imu_odom_: 1691062592.983800770 0.481235 -0.184354 9.87848 -0.0543285 -0.00426106 0.116114 0 0.08 pose: 0.23060045 0.221503 0.00433453 0 -0.00179869 -0.00919873 -0.0418286 0.999081 uwb: 0.49789853 848.229 974.057 -imu_odom_: 1691062592.999793392 0.567426 -0.225055 9.90002 -0.0543285 -0.0106526 0.1012 0 0.08 pose: 0.0 0.221503 0.00433453 0 -0.00179869 -0.00919873 -0.0418286 0.999081 uwb: 0.0 848.229 974.057 -imu_odom_: 1691062593.15791848 0.624887 -0.246603 9.88326 -0.056459 -0.00319579 0.0873517 0 0.08 pose: 0.31950537 0.221503 0.00433448 0 -0.00051113 -0.00637988 -0.040324 0.999166 uwb: 0.0 848.229 974.057 -imu_odom_: 1691062593.31866133 0.567426 -0.213084 9.85693 -0.0543285 -0.00532632 0.0735032 0 0.02 pose: 0.40974314 0.221503 0.00433448 0 -0.00106997 -0.00872493 -0.0391023 0.999197 uwb: 0.50017338 848.366 973.126 -imu_odom_: 1691062593.47791387 0.47884 -0.189142 9.88566 -0.056459 -0.00106526 0.0585895 0 0.02 pose: 0.6008754 0.221503 0.00433448 0 -0.000501908-0.00852407 -0.0390052 0.999203 uwb: 0.0 848.366 973.126 -imu_odom_: 1691062593.63818425 0.433351 -0.213084 9.87369 -0.0553937 0 0.0468716 0 0.02 pose: 0.0 0.221503 0.00433448 0 -0.000501908-0.00852407 -0.0390052 0.999203 uwb: 0.0 848.366 973.126 -imu_odom_: 1691062593.78817125 0.464475 -0.260968 9.88805 -0.0553937 -0.00426106 0.0383495 0 0.02 pose: 0.42017823 0.221503 0.00433448 0 0.000485723 -0.00496599 -0.0386363 0.999241 uwb: 0.50131959 848.464 972.051 -imu_odom_: 1691062593.93820198 0.426168 -0.229843 9.89763 -0.0543285 -0.00532632 0.0340885 0 0 pose: 0.0 0.221503 0.00433448 0 0.000485723 -0.00496599 -0.0386363 0.999241 uwb: 0.0 848.464 972.051 -imu_odom_: 1691062593.108862353 0.45011 -0.237026 9.9096 -0.0575243 -0.00532632 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 0.000485723 -0.00496599 -0.0386363 0.999241 uwb: 0.0 848.464 972.051 -imu_odom_: 1691062593.122806465 0.452504 -0.28491 9.88087 -0.056459 -0.00532632 0.0394148 0 0 pose: 0.21120028 0.221503 0.00433448 0 -0.000783121-0.00354306 -0.0386561 0.999246 uwb: 0.49890478 848.982 971.874 -imu_odom_: 1691062593.136775950 0.435745 -0.220267 9.88566 -0.0543285 -0.00319579 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.000783121-0.00354306 -0.0386561 0.999246 uwb: 0.0 848.982 971.874 -imu_odom_: 1691062593.151835895 0.462081 -0.217872 9.89763 -0.056459 -0.00532632 0.0415453 0 0 pose: 0.0 0.221503 0.00433448 0 -0.000783121-0.00354306 -0.0386561 0.999246 uwb: 0.0 848.982 971.874 -imu_odom_: 1691062593.165778257 0.399832 -0.25618 9.88087 -0.0553937 -0.00213053 0.0383495 0 0 pose: 0.29894740 0.221503 0.00433448 0 -0.00261614 -0.00201146 -0.038669 0.999247 uwb: 0.0 848.982 971.874 -imu_odom_: 1691062593.180890698 0.418985 -0.263362 9.84256 -0.0553937 -0.00319579 0.0383495 0 0 pose: 0.42951377 0.221503 0.00433448 0 -0.00096181 -0.00222023 -0.0386641 0.999249 uwb: 0.49960180 849.063 970.934 -imu_odom_: 1691062593.194864558 0.42138 -0.232238 9.89045 -0.056459 -0.00426106 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00096181 -0.00222023 -0.0386641 0.999249 uwb: 0.0 849.063 970.934 -imu_odom_: 1691062593.208859708 0.45011 -0.251391 9.91199 -0.0553937 -0.00745685 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00096181 -0.00222023 -0.0386641 0.999249 uwb: 0.0 849.063 970.934 -imu_odom_: 1691062593.222781364 0.454898 -0.232238 9.87848 -0.056459 -0.00745685 0.0383495 0 0 pose: 0.43086992 0.221503 0.00433448 0 -0.00148443 -0.00140556 -0.0386743 0.99925 uwb: 0.50139251 848.833 970.616 -imu_odom_: 1691062593.237923261 0.435745 -0.215478 9.90721 -0.0553937 -0.00319579 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00148443 -0.00140556 -0.0386743 0.99925 uwb: 0.0 848.833 970.616 -imu_odom_: 1691062593.252051109 0.47884 -0.237026 9.9096 -0.0553937 -0.00319579 0.0372843 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00148443 -0.00140556 -0.0386743 0.99925 uwb: 0.0 848.833 970.616 -imu_odom_: 1691062593.266953857 0.399832 -0.246603 9.90242 -0.056459 -0.00426106 0.0383495 0 0 pose: 0.43085826 0.221503 0.00433448 0 -0.000305613-0.00198828 -0.0386923 0.999249 uwb: 0.0 848.833 970.616 -imu_odom_: 1691062593.281948765 0.416591 -0.251391 9.91678 -0.0543285 -0.00532632 0.0415453 0 0 pose: 0.0 0.221503 0.00433448 0 -0.000305613-0.00198828 -0.0386923 0.999249 uwb: 0.49861896 848.618 970.848 -imu_odom_: 1691062593.296050074 0.452504 -0.234632 9.90721 -0.056459 -0.00852212 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.000305613-0.00198828 -0.0386923 0.999249 uwb: 0.0 848.618 970.848 -imu_odom_: 1691062593.310922783 0.440533 -0.23942 9.86411 -0.0543285 -0.00639159 0.0394148 0 0 pose: 0.44106290 0.221503 0.00433448 0 -0.00198852 -0.000845349-0.0386892 0.999249 uwb: 0.0 848.618 970.848 -imu_odom_: 1691062593.325951230 0.423774 -0.229843 9.8689 -0.056459 -0.00532632 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00198852 -0.000845349-0.0386892 0.999249 uwb: 0.49991970 848.767 970.329 -imu_odom_: 1691062593.339908758 0.428562 -0.248997 9.8689 -0.0553937 -0.00319579 0.0383495 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00198852 -0.000845349-0.0386892 0.999249 uwb: 0.0 848.767 970.329 -imu_odom_: 1691062593.353973319 0.414197 -0.248997 9.91918 -0.0532632 -0.00426106 0.0394148 0 0 pose: 0.43866266 0.221503 0.00433448 0 -0.00140703 -0.00121576 -0.0386867 0.99925 uwb: 0.0 848.767 970.329 -imu_odom_: 1691062593.367970219 0.442927 -0.232238 9.89045 -0.0543285 -0.00426106 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00140703 -0.00121576 -0.0386867 0.99925 uwb: 0.0 848.767 970.329 -imu_odom_: 1691062593.381915498 0.440533 -0.260968 9.91918 -0.0553937 -0.00532632 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00140703 -0.00121576 -0.0386867 0.99925 uwb: 0.49980888 848.936 970.088 -imu_odom_: 1691062593.396934904 0.442927 -0.25618 9.88087 -0.0553937 -0.00532632 0.0394148 0 0 pose: 0.42016656 0.221503 0.00433448 0 -0.0016997 -0.00157327 -0.0386899 0.999249 uwb: 0.0 848.936 970.088 -imu_odom_: 1691062593.412039179 0.430956 -0.227449 9.89763 -0.0553937 -0.00532632 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.0016997 -0.00157327 -0.0386899 0.999249 uwb: 0.0 848.936 970.088 -imu_odom_: 1691062593.425878007 0.42138 -0.244209 9.90242 -0.0543285 0 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.0016997 -0.00157327 -0.0386899 0.999249 uwb: 0.50251242 848.705 969.905 -imu_odom_: 1691062593.440759465 0.430956 -0.260968 9.84017 -0.0553937 -0.00639159 0.0372843 0 0 pose: 0.43979717 0.221503 0.00433448 0 -0.00116992 -0.00094845 -0.0386836 0.99925 uwb: 0.0 848.705 969.905 -imu_odom_: 1691062593.455756706 0.42138 -0.225055 9.92636 -0.0553937 -0.00213053 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00116992 -0.00094845 -0.0386836 0.99925 uwb: 0.0 848.705 969.905 -imu_odom_: 1691062593.469767897 0.445322 -0.260968 9.87129 -0.056459 -0.00532632 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00116992 -0.00094845 -0.0386836 0.99925 uwb: 0.49637913 848.969 969.683 -imu_odom_: 1691062593.483756339 0.440533 -0.241814 9.8665 -0.0553937 -0.00319579 0.0394148 0 0 pose: 0.43845851 0.221503 0.00433448 0 -0.00199031 -0.00168425 -0.0387045 0.999247 uwb: 0.0 848.969 969.683 -imu_odom_: 1691062593.497814193 0.447716 -0.232238 9.89763 -0.0553937 -0.00532632 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00199031 -0.00168425 -0.0387045 0.999247 uwb: 0.0 848.969 969.683 -imu_odom_: 1691062593.511810509 0.435745 -0.241814 9.87369 -0.0543285 -0.00532632 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00199031 -0.00168425 -0.0387045 0.999247 uwb: 0.0 848.969 969.683 -imu_odom_: 1691062593.525778828 0.447716 -0.253785 9.90481 -0.0553937 -0.00426106 0.0394148 0 0 pose: 0.41987784 0.221503 0.00433448 0 -0.000851665-0.00250869 -0.0387083 0.999247 uwb: 0.50127002 848.614 969.749 -imu_odom_: 1691062593.539746855 0.457293 -0.253785 9.91439 -0.0553937 -0.00426106 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.000851665-0.00250869 -0.0387083 0.999247 uwb: 0.0 848.614 969.749 -imu_odom_: 1691062593.553749005 0.433351 -0.217872 9.90481 -0.0553937 -0.00532632 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.000851665-0.00250869 -0.0387083 0.999247 uwb: 0.0 848.614 969.749 -imu_odom_: 1691062593.567804817 0.416591 -0.23942 9.88805 -0.0553937 -0.00426106 0.0383495 0 0 pose: 0.49989053 0.221503 0.00433448 0 -0.00054166 -0.00197993 -0.0386957 0.999249 uwb: 0.0 848.614 969.749 -imu_odom_: 1691062593.581812800 0.440533 -0.232238 9.85932 -0.0553937 -0.00639159 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00054166 -0.00197993 -0.0386957 0.999249 uwb: 0.50000135 848.641 969.617 -imu_odom_: 1691062593.596936323 0.423774 -0.222661 9.90002 -0.056459 -0.00426106 0.0383495 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00054166 -0.00197993 -0.0386957 0.999249 uwb: 0.0 848.641 969.617 -imu_odom_: 1691062593.610827647 0.457293 -0.258574 9.92397 -0.0543285 -0.00319579 0.04048 0 0 pose: 0.6005254 0.221503 0.00433448 0 -0.000836074-0.00145654 -0.0386985 0.99925 uwb: 0.0 848.641 969.617 -imu_odom_: 1691062593.624893376 0.397437 -0.220267 9.91918 -0.056459 -0.00532632 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.000836074-0.00145654 -0.0386985 0.99925 uwb: 0.49873271 848.758 969.641 -imu_odom_: 1691062593.639893533 0.459687 -0.225055 9.9096 -0.0553937 -0.00319579 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.000836074-0.00145654 -0.0386985 0.99925 uwb: 0.0 848.758 969.641 -imu_odom_: 1691062593.653861852 0.433351 -0.225055 9.88087 -0.0532632 -0.00319579 0.0394148 0 0 pose: 0.71209408 0.221503 0.00433448 0 -0.000674609-0.00106834 -0.0387021 0.99925 uwb: 0.0 848.758 969.641 -imu_odom_: 1691062593.668896715 0.409408 -0.241814 9.87369 -0.0553937 -0.00426106 0.0383495 0 0 pose: 0.0 0.221503 0.00433448 0 -0.000674609-0.00106834 -0.0387021 0.99925 uwb: 0.50116502 848.735 969.636 -imu_odom_: 1691062593.683732677 0.409408 -0.241814 9.90481 -0.0553937 -0.00426106 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.000674609-0.00106834 -0.0387021 0.99925 uwb: 0.0 848.735 969.636 -imu_odom_: 1691062593.697858483 0.414197 -0.229843 9.83777 -0.0553937 -0.00426106 0.04048 0 0 pose: 0.28939603 0.221503 0.00433448 0 -0.00101412 -0.000388685-0.0387074 0.99925 uwb: 0.0 848.735 969.636 -imu_odom_: 1691062593.711854217 0.454898 -0.251391 9.87848 -0.0553937 -0.00639159 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00101412 -0.000388685-0.0387074 0.99925 uwb: 0.0 848.735 969.636 -imu_odom_: 1691062593.725727168 0.445322 -0.227449 9.89284 -0.0553937 -0.00319579 0.0383495 0 0 pose: 0.43837394 0.221503 0.00433448 0 -0.00190115 -0.00108508 -0.0387089 0.999248 uwb: 0.50171623 848.48 969.447 -imu_odom_: 1691062593.739786771 0.45011 -0.213084 9.87369 -0.056459 -0.00426106 0.0415453 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00190115 -0.00108508 -0.0387089 0.999248 uwb: 0.0 848.48 969.447 -imu_odom_: 1691062593.753725051 0.459687 -0.23942 9.89284 -0.056459 -0.00532632 0.0383495 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00190115 -0.00108508 -0.0387089 0.999248 uwb: 0.0 848.48 969.447 -imu_odom_: 1691062593.767743824 0.433351 -0.232238 9.88805 -0.0553937 -0.00426106 0.0394148 0 0 pose: 0.49984387 0.221503 0.00433448 0 -0.000710636-0.00281239 -0.0387166 0.999246 uwb: 0.0 848.48 969.447 -imu_odom_: 1691062593.781799053 0.430956 -0.222661 9.87369 -0.056459 -0.00319579 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.000710636-0.00281239 -0.0387166 0.999246 uwb: 0.49803276 848.167 968.832 -imu_odom_: 1691062593.795790120 0.42138 -0.253785 9.89045 -0.0553937 -0.00426106 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.000710636-0.00281239 -0.0387166 0.999246 uwb: 0.0 848.167 968.832 -imu_odom_: 1691062593.809790228 0.45011 -0.241814 9.88566 -0.0543285 -0.00426106 0.0383495 0 0 pose: 0.6006421 0.221503 0.00433448 0 -0.000824416-0.00222231 -0.0387165 0.999247 uwb: 0.0 848.167 968.832 -imu_odom_: 1691062593.823790920 0.423774 -0.232238 9.92636 -0.0543285 -0.00319579 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.000824416-0.00222231 -0.0387165 0.999247 uwb: 0.49898644 848.147 968.69 -imu_odom_: 1691062593.837731532 0.447716 -0.253785 9.88805 -0.0543285 -0.00426106 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.000824416-0.00222231 -0.0387165 0.999247 uwb: 0.0 848.147 968.69 -imu_odom_: 1691062593.852784477 0.440533 -0.244209 9.93354 -0.0553937 -0.00319579 0.0394148 0 0 pose: 0.70072285 0.221503 0.00433448 0 -0.001375 -0.00148877 -0.0387289 0.999248 uwb: 0.0 848.147 968.69 -imu_odom_: 1691062593.866724507 0.430956 -0.25618 9.89045 -0.0543285 -0.00745685 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.001375 -0.00148877 -0.0387289 0.999248 uwb: 0.0 848.147 968.69 -imu_odom_: 1691062593.880788193 0.423774 -0.244209 9.90721 -0.0553937 -0.00532632 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.001375 -0.00148877 -0.0387289 0.999248 uwb: 0.0 848.147 968.69 -imu_odom_: 1691062593.894837298 0.454898 -0.251391 9.91199 -0.0553937 -0.00426106 0.0394148 0 0 pose: 0.28986558 0.221503 0.00433448 0 -0.00122743 -0.00131584 -0.0387285 0.999248 uwb: 0.0 848.147 968.69 -imu_odom_: 1691062593.909941280 0.430956 -0.253785 9.88566 -0.0532632 -0.00639159 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00122743 -0.00131584 -0.0387285 0.999248 uwb: 0.0 848.147 968.69 -imu_odom_: 1691062593.923738696 0.440533 -0.263362 9.89045 -0.0543285 -0.00426106 0.0394148 0 0 pose: 0.41987200 0.221503 0.00433448 0 -0.00201251 -0.00138465 -0.0387183 0.999247 uwb: 0.100232713 848.381 968.738 -imu_odom_: 1691062593.938924631 0.445322 -0.23942 9.89284 -0.0553937 -0.00532632 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00201251 -0.00138465 -0.0387183 0.999247 uwb: 0.0 848.381 968.738 -imu_odom_: 1691062593.953927413 0.438139 -0.232238 9.89284 -0.0553937 -0.00532632 0.0383495 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00201251 -0.00138465 -0.0387183 0.999247 uwb: 0.0 848.381 968.738 -imu_odom_: 1691062593.967740577 0.433351 -0.23942 9.92157 -0.0553937 -0.00319579 0.04048 0 0 pose: 0.44106290 0.221503 0.00433448 0 -0.000958746-0.00149708 -0.0387294 0.999248 uwb: 0.0 848.381 968.738 -imu_odom_: 1691062593.982866725 0.409408 -0.222661 9.91678 -0.056459 -0.00319579 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.000958746-0.00149708 -0.0387294 0.999248 uwb: 0.49949389 848.178 968.42 -imu_odom_: 1691062593.996793338 0.457293 -0.217872 9.89284 -0.0543285 -0.00426106 0.0383495 0 0 pose: 0.0 0.221503 0.00433448 0 -0.000958746-0.00149708 -0.0387294 0.999248 uwb: 0.0 848.178 968.42 -imu_odom_: 1691062594.11754708 0.411803 -0.25618 9.92397 -0.056459 0 0.0394148 0 0 pose: 0.28934354 0.221503 0.00433448 0 -0.00114718 -0.00134386 -0.0387292 0.999248 uwb: 0.0 848.178 968.42 -imu_odom_: 1691062594.26744952 0.411803 -0.232238 9.91918 -0.0553937 -0.00319579 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00114718 -0.00134386 -0.0387292 0.999248 uwb: 0.49763032 848.249 968.435 -imu_odom_: 1691062594.41881310 0.454898 -0.237026 9.90481 -0.0543285 -0.00852212 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00114718 -0.00134386 -0.0387292 0.999248 uwb: 0.0 848.249 968.435 -imu_odom_: 1691062594.55831257 0.459687 -0.229843 9.90481 -0.0553937 -0.00532632 0.0415453 0 0 pose: 0.14939495 0.221503 0.00433448 0 -0.000536533-0.00117608 -0.0387339 0.999249 uwb: 0.0 848.249 968.435 -imu_odom_: 1691062594.70777462 0.464475 -0.251391 9.90242 -0.056459 -0.00532632 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.000536533-0.00117608 -0.0387339 0.999249 uwb: 0.50003934 847.859 968.907 -imu_odom_: 1691062594.155748425 0.454898 -0.277727 9.84017 -0.0553937 -0.00106526 0.0394148 0 0 pose: 0.87959152 0.221503 0.00433448 0 -0.0021513 -0.00257994 -0.0387284 0.999244 uwb: 0.50204878 847.773 968.613 -imu_odom_: 1691062594.169686998 0.409408 -0.237026 9.89763 -0.052198 0 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.0021513 -0.00257994 -0.0387284 0.999244 uwb: 0.49921400 847.656 968.589 -imu_odom_: 1691062594.183750687 0.399832 -0.222661 9.90481 -0.0553937 -0.00213053 0.0394148 0 0 pose: 0.42984631 0.221503 0.00433448 0 -0.000831735-0.00230313 -0.0387367 0.999246 uwb: 0.0 847.656 968.589 -imu_odom_: 1691062594.197734757 0.418985 -0.213084 9.93833 -0.0543285 -0.00745685 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.000831735-0.00230313 -0.0387367 0.999246 uwb: 0.0 847.656 968.589 -imu_odom_: 1691062594.212791204 0.454898 -0.234632 9.90721 -0.0553937 -0.00639159 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.000831735-0.00230313 -0.0387367 0.999246 uwb: 0.0 847.656 968.589 -imu_odom_: 1691062594.226716653 0.428562 -0.248997 9.9096 -0.0553937 -0.00532632 0.0394148 0 0 pose: 0.42049910 0.221503 0.00433448 0 -0.00246336 -0.00190391 -0.0387247 0.999245 uwb: 0.49936565 847.698 968.736 -imu_odom_: 1691062594.241715938 0.440533 -0.263362 9.90002 -0.0553937 -0.00426106 0.0383495 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00246336 -0.00190391 -0.0387247 0.999245 uwb: 0.0 847.698 968.736 -imu_odom_: 1691062594.255772919 0.438139 -0.251391 9.88326 -0.0553937 -0.00639159 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00246336 -0.00190391 -0.0387247 0.999245 uwb: 0.0 847.698 968.736 -imu_odom_: 1691062594.269724907 0.438139 -0.229843 9.90002 -0.056459 -0.00532632 0.0394148 0 0 pose: 0.42018996 0.221503 0.00433448 0 -8.48264e-05-0.00143293 -0.0387234 0.999249 uwb: 0.49933648 848.292 968.582 -imu_odom_: 1691062594.284757731 0.452504 -0.253785 9.86411 -0.056459 -0.00532632 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -8.48264e-05-0.00143293 -0.0387234 0.999249 uwb: 0.0 848.292 968.582 -imu_odom_: 1691062594.299694896 0.428562 -0.253785 9.90002 -0.0553937 -0.00426106 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -8.48264e-05-0.00143293 -0.0387234 0.999249 uwb: 0.0 848.292 968.582 -imu_odom_: 1691062594.313751585 0.447716 -0.23942 9.88805 -0.056459 -0.00426106 0.0394148 0 0 pose: 0.43956391 0.221503 0.00433448 0 -0.00244222 -0.00191311 -0.0387317 0.999245 uwb: 0.0 848.292 968.582 -imu_odom_: 1691062594.328969895 0.435745 -0.232238 9.88805 -0.056459 -0.00319579 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00244222 -0.00191311 -0.0387317 0.999245 uwb: 0.50180380 848.556 967.672 -imu_odom_: 1691062594.342697026 0.423774 -0.222661 9.93594 -0.0543285 0 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00244222 -0.00191311 -0.0387317 0.999245 uwb: 0.0 848.556 967.672 -imu_odom_: 1691062594.356696552 0.407014 -0.234632 9.87608 -0.056459 -0.00213053 0.0394148 0 0 pose: 0.87086262 0.221503 0.00433448 0 -0.00094046 -0.00112349 -0.0387318 0.999249 uwb: 0.0 848.556 967.672 -imu_odom_: 1691062594.370690830 0.411803 -0.232238 9.89284 -0.056459 -0.00639159 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00094046 -0.00112349 -0.0387318 0.999249 uwb: 0.49918191 848.617 967.961 -imu_odom_: 1691062594.384697939 0.454898 -0.21069 9.92157 -0.0553937 -0.00639159 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00094046 -0.00112349 -0.0387318 0.999249 uwb: 0.0 848.617 967.961 -imu_odom_: 1691062594.399824381 0.435745 -0.251391 9.89045 -0.0553937 -0.00426106 0.0394148 0 0 pose: 0.41943168 0.221503 0.00433448 0 -0.000387716-0.00195154 -0.0387324 0.999248 uwb: 0.0 848.617 967.961 -imu_odom_: 1691062594.414820749 0.411803 -0.220267 9.84975 -0.0553937 -0.00532632 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.000387716-0.00195154 -0.0387324 0.999248 uwb: 0.0 848.617 967.961 -imu_odom_: 1691062594.428680870 0.435745 -0.213084 9.90481 -0.0553937 -0.00426106 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.000387716-0.00195154 -0.0387324 0.999248 uwb: 0.50102511 848.533 968.357 -imu_odom_: 1691062594.442744267 0.440533 -0.237026 9.92636 -0.0543285 -0.00532632 0.04048 0 0 pose: 0.43953474 0.221503 0.00433448 0 -0.000207707-0.00121129 -0.0387268 0.999249 uwb: 0.0 848.533 968.357 -imu_odom_: 1691062594.457734219 0.445322 -0.234632 9.88566 -0.0543285 -0.00639159 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.000207707-0.00121129 -0.0387268 0.999249 uwb: 0.0 848.533 968.357 -imu_odom_: 1691062594.471694083 0.426168 -0.246603 9.90242 -0.056459 -0.00426106 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.000207707-0.00121129 -0.0387268 0.999249 uwb: 0.49785785 848.678 968.25 -imu_odom_: 1691062594.485797435 0.433351 -0.237026 9.88805 -0.0543285 -0.00532632 0.0394148 0 0 pose: 0.43030711 0.221503 0.00433448 0 -0.000786272-0.00264966 -0.0387102 0.999247 uwb: 0.0 848.678 968.25 -imu_odom_: 1691062594.500680937 0.428562 -0.23942 9.92157 -0.0553937 -0.00426106 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.000786272-0.00264966 -0.0387102 0.999247 uwb: 0.0 848.678 968.25 -imu_odom_: 1691062594.514741417 0.457293 -0.244209 9.90002 -0.056459 -0.00532632 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.000786272-0.00264966 -0.0387102 0.999247 uwb: 0.0 848.678 968.25 -imu_odom_: 1691062594.528738028 0.433351 -0.253785 9.88566 -0.0553937 -0.00639159 0.0394148 0 0 pose: 0.43007380 0.221503 0.00433448 0 -0.00159494 -0.00262149 -0.0387093 0.999246 uwb: 0.50037474 848.317 967.759 -imu_odom_: 1691062594.543795641 0.447716 -0.234632 9.87848 -0.0575243 -0.00319579 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00159494 -0.00262149 -0.0387093 0.999246 uwb: 0.0 848.317 967.759 -imu_odom_: 1691062594.557792544 0.454898 -0.217872 9.91199 -0.056459 -0.00426106 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00159494 -0.00262149 -0.0387093 0.999246 uwb: 0.0 848.317 967.759 -imu_odom_: 1691062594.572717751 0.462081 -0.246603 9.88805 -0.0553937 -0.00532632 0.0383495 0 0 pose: 0.43003880 0.221503 0.00433448 0 -0.000113033-0.00277508 -0.0386999 0.999247 uwb: 0.50021725 848.626 967.687 -imu_odom_: 1691062594.587884148 0.418985 -0.241814 9.90721 -0.0543285 -0.00532632 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.000113033-0.00277508 -0.0386999 0.999247 uwb: 0.0 848.626 967.687 -imu_odom_: 1691062594.602749859 0.457293 -0.217872 9.89284 -0.0553937 -0.00426106 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.000113033-0.00277508 -0.0386999 0.999247 uwb: 0.0 848.626 967.687 -imu_odom_: 1691062594.616757552 0.435745 -0.19393 9.84975 -0.0553937 -0.00639159 0.0394148 0 0 pose: 0.44081798 0.221503 0.00433448 0 -0.000874667-0.00205142 -0.0387 0.999248 uwb: 0.0 848.626 967.687 -imu_odom_: 1691062594.631667302 0.438139 -0.246603 9.90721 -0.0543285 -0.00639159 0.0415453 0 0 pose: 0.0 0.221503 0.00433448 0 -0.000874667-0.00205142 -0.0387 0.999248 uwb: 0.50117676 848.631 967.55 -imu_odom_: 1691062594.645733615 0.442927 -0.237026 9.86411 -0.0553937 -0.00319579 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.000874667-0.00205142 -0.0387 0.999248 uwb: 0.0 848.631 967.55 -imu_odom_: 1691062594.660659114 0.409408 -0.237026 9.90242 -0.0553937 -0.00532632 0.04048 0 0 pose: 0.43837400 0.221503 0.00433448 0 -0.00124597 -0.0019986 -0.0386807 0.999249 uwb: 0.0 848.631 967.55 -imu_odom_: 1691062594.674799214 0.462081 -0.241814 9.87129 -0.0575243 -0.00532632 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00124597 -0.0019986 -0.0386807 0.999249 uwb: 0.50048848 848.659 967.417 -imu_odom_: 1691062594.689795290 0.428562 -0.237026 9.90481 -0.0553937 -0.00426106 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00124597 -0.0019986 -0.0386807 0.999249 uwb: 0.0 848.659 967.417 -imu_odom_: 1691062594.703662702 0.414197 -0.244209 9.91199 -0.0553937 -0.00532632 0.04048 0 0 pose: 0.43134828 0.221503 0.00433448 0 -0.00133232 -0.00173694 -0.0386709 0.99925 uwb: 0.0 848.659 967.417 -imu_odom_: 1691062594.718656737 0.433351 -0.222661 9.89763 -0.0543285 -0.00532632 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00133232 -0.00173694 -0.0386709 0.99925 uwb: 0.49906234 848.792 967.031 -imu_odom_: 1691062594.733657480 0.428562 -0.25618 9.89284 -0.0553937 -0.00426106 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00133232 -0.00173694 -0.0386709 0.99925 uwb: 0.0 848.792 967.031 -imu_odom_: 1691062594.747713003 0.438139 -0.222661 9.88805 -0.056459 -0.00958738 0.04048 0 0 pose: 0.44003346 0.221503 0.00433448 0 -0.0016461 -0.00112337 -0.0386582 0.999251 uwb: 0.0 848.792 967.031 -imu_odom_: 1691062594.762711121 0.457293 -0.234632 9.90242 -0.056459 -0.00852212 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.0016461 -0.00112337 -0.0386582 0.999251 uwb: 0.0 848.792 967.031 -imu_odom_: 1691062594.776710065 0.445322 -0.246603 9.92636 -0.0553937 -0.00426106 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.0016461 -0.00112337 -0.0386582 0.999251 uwb: 0.49841780 848.815 967.037 -imu_odom_: 1691062594.790857164 0.45011 -0.253785 9.90002 -0.0553937 -0.00532632 0.0394148 0 0 pose: 0.28858531 0.221503 0.00433448 0 -0.00114644 -0.00225768 -0.0386524 0.99925 uwb: 0.0 848.815 967.037 -imu_odom_: 1691062594.805747082 0.440533 -0.222661 9.88087 -0.0553937 -0.00426106 0.0383495 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00114644 -0.00225768 -0.0386524 0.99925 uwb: 0.0 848.815 967.037 -imu_odom_: 1691062594.820800612 0.447716 -0.227449 9.86411 -0.0543285 -0.00639159 0.0383495 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00114644 -0.00225768 -0.0386524 0.99925 uwb: 0.50000435 849.183 967.255 -imu_odom_: 1691062594.834825512 0.426168 -0.246603 9.91439 -0.0553937 -0.00426106 0.0394148 0 0 pose: 0.14992869 0.221503 0.00433448 0 -0.00140772 -0.00265759 -0.0386484 0.999248 uwb: 0.0 849.183 967.255 -imu_odom_: 1691062594.849654477 0.409408 -0.232238 9.9096 -0.0553937 -0.00319579 0.0383495 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00140772 -0.00265759 -0.0386484 0.999248 uwb: 0.0 849.183 967.255 -imu_odom_: 1691062594.863660420 0.457293 -0.234632 9.87369 -0.0553937 -0.00426106 0.0372843 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00140772 -0.00265759 -0.0386484 0.999248 uwb: 0.0 849.183 967.255 -imu_odom_: 1691062594.877720900 0.428562 -0.229843 9.89763 -0.0543285 -0.00426106 0.0394148 0 0 pose: 0.43169825 0.221503 0.00433448 0 -0.000761274-0.00226946 -0.0386648 0.999249 uwb: 0.50157924 849.136 967.245 -imu_odom_: 1691062594.922670342 0.42138 -0.225055 9.88326 -0.0553937 -0.00639159 0.0394148 0 0 pose: 0.86915358 0.221503 0.00433448 0 -0.000921111-0.00132656 -0.0386934 0.99925 uwb: 0.49981186 849.141 967.108 -imu_odom_: 1691062594.937643962 0.435745 -0.237026 9.87369 -0.0543285 -0.00426106 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.000921111-0.00132656 -0.0386934 0.99925 uwb: 0.0 849.141 967.108 -imu_odom_: 1691062594.951641447 0.433351 -0.251391 9.88566 -0.0553937 -0.00532632 0.0383495 0 0 pose: 0.0 0.221503 0.00433448 0 -0.000921111-0.00132656 -0.0386934 0.99925 uwb: 0.0 849.141 967.108 -imu_odom_: 1691062594.966698477 0.42138 -0.244209 9.85453 -0.0543285 -0.00426106 0.0394148 0 0 pose: 0.44904819 0.221503 0.00433448 0 -0.00197705 -0.00146106 -0.0386943 0.999248 uwb: 0.0 849.141 967.108 -imu_odom_: 1691062594.981704762 0.423774 -0.25618 9.87129 -0.0553937 -0.00532632 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00197705 -0.00146106 -0.0386943 0.999248 uwb: 0.49839447 849.089 967.234 -imu_odom_: 1691062594.995693789 0.409408 -0.232238 9.85453 -0.0543285 -0.00532632 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00197705 -0.00146106 -0.0386943 0.999248 uwb: 0.0 849.089 967.234 -imu_odom_: 1691062595.10649037 0.423774 -0.25618 9.90002 -0.0532632 -0.00426106 0.0394148 0 0 pose: 0.43993722 0.221503 0.00433448 0 -0.00217027 -0.000845842-0.0386972 0.999248 uwb: 0.0 849.089 967.234 -imu_odom_: 1691062595.24638358 0.426168 -0.248997 9.87369 -0.0553937 -0.00319579 0.0383495 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00217027 -0.000845842-0.0386972 0.999248 uwb: 0.50053517 848.786 967.168 -imu_odom_: 1691062595.38631179 0.428562 -0.234632 9.90721 -0.0553937 -0.00532632 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00217027 -0.000845842-0.0386972 0.999248 uwb: 0.0 848.786 967.168 -imu_odom_: 1691062595.53634841 0.426168 -0.205901 9.90721 -0.0575243 -0.00426106 0.04048 0 0 pose: 0.42996301 0.221503 0.00433448 0 -0.000905798-0.00143427 -0.0387063 0.999249 uwb: 0.0 848.786 967.168 -imu_odom_: 1691062595.68690999 0.430956 -0.244209 9.89763 -0.0553937 -0.00426106 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.000905798-0.00143427 -0.0387063 0.999249 uwb: 0.50062271 848.872 966.773 -imu_odom_: 1691062595.82643573 0.428562 -0.213084 9.91439 -0.0543285 -0.00532632 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.000905798-0.00143427 -0.0387063 0.999249 uwb: 0.0 848.872 966.773 -imu_odom_: 1691062595.97634694 0.462081 -0.232238 9.91918 -0.0553937 -0.00639159 0.0383495 0 0 pose: 0.44008894 0.221503 0.00433448 0 -0.000233384-0.00127567 -0.038701 0.99925 uwb: 0.0 848.872 966.773 -imu_odom_: 1691062595.111639472 0.411803 -0.234632 9.89763 -0.056459 -0.00426106 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.000233384-0.00127567 -0.038701 0.99925 uwb: 0.0 848.872 966.773 -imu_odom_: 1691062595.125635793 0.42138 -0.237026 9.88087 -0.0585895 -0.00532632 0.04048 0 0 pose: 0.0 0.221503 0.00433448 0 -0.000233384-0.00127567 -0.038701 0.99925 uwb: 0.49875327 848.864 967.599 -imu_odom_: 1691062595.140638580 0.438139 -0.260968 9.91199 -0.0553937 -0.00532632 0.04048 0 0 pose: 0.42993095 0.221503 0.00433448 0 -0.00137705 -0.000775448-0.0386943 0.99925 uwb: 0.0 848.864 967.599 -imu_odom_: 1691062595.155700570 0.440533 -0.253785 9.87129 -0.0553937 -0.00426106 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00137705 -0.000775448-0.0386943 0.99925 uwb: 0.0 848.864 967.599 -imu_odom_: 1691062595.169684350 0.440533 -0.234632 9.90002 -0.0553937 -0.00426106 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00137705 -0.000775448-0.0386943 0.99925 uwb: 0.50184470 848.789 967.721 -imu_odom_: 1691062595.184630850 0.426168 -0.23942 9.89763 -0.0543285 -0.00532632 0.0383495 0 0 pose: 0.44057890 0.221503 0.00433448 0 -0.0015101 -0.00168593 -0.0386891 0.999249 uwb: 0.0 848.789 967.721 -imu_odom_: 1691062595.198627462 0.445322 -0.258574 9.9096 -0.056459 -0.00532632 0.0383495 0 0 pose: 0.0 0.221503 0.00433448 0 -0.0015101 -0.00168593 -0.0386891 0.999249 uwb: 0.0 848.789 967.721 -imu_odom_: 1691062595.213690036 0.418985 -0.244209 9.87608 -0.056459 -0.00532632 0.0426106 0 0 pose: 0.0 0.221503 0.00433448 0 -0.0015101 -0.00168593 -0.0386891 0.999249 uwb: 0.0 848.789 967.721 -imu_odom_: 1691062595.228738028 0.426168 -0.220267 9.89524 -0.0553937 -0.00426106 0.04048 0 0 pose: 0.36927177 0.221503 0.00433448 0 -0.00194447 -0.00180531 -0.0387064 0.999247 uwb: 0.49946197 848.705 968.117 -imu_odom_: 1691062595.243732648 0.433351 -0.217872 9.83538 -0.0553937 -0.00532632 0.0394148 0 0 pose: 0.0 0.221503 0.00433448 0 -0.00194447 -0.00180531 -0.0387064 0.999247 uwb: 0.0 848.705 968.117 -imu_odom_: 1691062595.257635643 0.45011 -0.258574 9.87848 -0.0553937 -0.00532632 0.04048 0 0 pose: 0.6045503 0.221503 0.00433448 0 -0.00173401 -0.00124216 -0.0386966 0.999249 uwb: 0.0 848.705 968.117 diff --git a/Code/MowingRobot/Robot_ROS_APP/devel/.built_by b/Code/MowingRobot/Robot_ROS_APP/devel/.built_by deleted file mode 100644 index 2e212dd..0000000 --- a/Code/MowingRobot/Robot_ROS_APP/devel/.built_by +++ /dev/null @@ -1 +0,0 @@ -catkin_make \ No newline at end of file diff --git a/Code/MowingRobot/Robot_ROS_APP/devel/.catkin b/Code/MowingRobot/Robot_ROS_APP/devel/.catkin deleted file mode 100644 index 780709a..0000000 --- a/Code/MowingRobot/Robot_ROS_APP/devel/.catkin +++ /dev/null @@ -1 +0,0 @@ -/home/luoruidi/Desktop/ros_learn/C++_Merge_Ros/merge_ros/src \ No newline at end of file diff --git a/Code/MowingRobot/Robot_ROS_APP/devel/.rosinstall b/Code/MowingRobot/Robot_ROS_APP/devel/.rosinstall deleted file mode 100644 index eaa4d0d..0000000 --- a/Code/MowingRobot/Robot_ROS_APP/devel/.rosinstall +++ /dev/null @@ -1,2 +0,0 @@ -- setup-file: - local-name: /home/luoruidi/Desktop/ros_learn/C++_Merge_Ros/merge_ros/devel/setup.sh diff --git a/Code/MowingRobot/Robot_ROS_APP/devel/_setup_util.py b/Code/MowingRobot/Robot_ROS_APP/devel/_setup_util.py deleted file mode 100644 index f613583..0000000 --- a/Code/MowingRobot/Robot_ROS_APP/devel/_setup_util.py +++ /dev/null @@ -1,304 +0,0 @@ -#!/usr/bin/python3 -# -*- coding: utf-8 -*- - -# Software License Agreement (BSD License) -# -# Copyright (c) 2012, Willow Garage, Inc. -# All rights reserved. -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions -# are met: -# -# * Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. -# * Redistributions in binary form must reproduce the above -# copyright notice, this list of conditions and the following -# disclaimer in the documentation and/or other materials provided -# with the distribution. -# * Neither the name of Willow Garage, Inc. nor the names of its -# contributors may be used to endorse or promote products derived -# from this software without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; -# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER -# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. - -"""This file generates shell code for the setup.SHELL scripts to set environment variables.""" - -from __future__ import print_function - -import argparse -import copy -import errno -import os -import platform -import sys - -CATKIN_MARKER_FILE = '.catkin' - -system = platform.system() -IS_DARWIN = (system == 'Darwin') -IS_WINDOWS = (system == 'Windows') - -PATH_TO_ADD_SUFFIX = ['bin'] -if IS_WINDOWS: - # while catkin recommends putting dll's into bin, 3rd party packages often put dll's into lib - # since Windows finds dll's via the PATH variable, prepend it with path to lib - PATH_TO_ADD_SUFFIX.extend([['lib', os.path.join('lib', 'x86_64-linux-gnu')]]) - -# subfolder of workspace prepended to CMAKE_PREFIX_PATH -ENV_VAR_SUBFOLDERS = { - 'CMAKE_PREFIX_PATH': '', - 'LD_LIBRARY_PATH' if not IS_DARWIN else 'DYLD_LIBRARY_PATH': ['lib', os.path.join('lib', 'x86_64-linux-gnu')], - 'PATH': PATH_TO_ADD_SUFFIX, - 'PKG_CONFIG_PATH': [os.path.join('lib', 'pkgconfig'), os.path.join('lib', 'x86_64-linux-gnu', 'pkgconfig')], - 'PYTHONPATH': 'lib/python3/dist-packages', -} - - -def rollback_env_variables(environ, env_var_subfolders): - """ - Generate shell code to reset environment variables. - - by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH. - This does not cover modifications performed by environment hooks. - """ - lines = [] - unmodified_environ = copy.copy(environ) - for key in sorted(env_var_subfolders.keys()): - subfolders = env_var_subfolders[key] - if not isinstance(subfolders, list): - subfolders = [subfolders] - value = _rollback_env_variable(unmodified_environ, key, subfolders) - if value is not None: - environ[key] = value - lines.append(assignment(key, value)) - if lines: - lines.insert(0, comment('reset environment variables by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH')) - return lines - - -def _rollback_env_variable(environ, name, subfolders): - """ - For each catkin workspace in CMAKE_PREFIX_PATH remove the first entry from env[NAME] matching workspace + subfolder. - - :param subfolders: list of str '' or subfoldername that may start with '/' - :returns: the updated value of the environment variable. - """ - value = environ[name] if name in environ else '' - env_paths = [path for path in value.split(os.pathsep) if path] - value_modified = False - for subfolder in subfolders: - if subfolder: - if subfolder.startswith(os.path.sep) or (os.path.altsep and subfolder.startswith(os.path.altsep)): - subfolder = subfolder[1:] - if subfolder.endswith(os.path.sep) or (os.path.altsep and subfolder.endswith(os.path.altsep)): - subfolder = subfolder[:-1] - for ws_path in _get_workspaces(environ, include_fuerte=True, include_non_existing=True): - path_to_find = os.path.join(ws_path, subfolder) if subfolder else ws_path - path_to_remove = None - for env_path in env_paths: - env_path_clean = env_path[:-1] if env_path and env_path[-1] in [os.path.sep, os.path.altsep] else env_path - if env_path_clean == path_to_find: - path_to_remove = env_path - break - if path_to_remove: - env_paths.remove(path_to_remove) - value_modified = True - new_value = os.pathsep.join(env_paths) - return new_value if value_modified else None - - -def _get_workspaces(environ, include_fuerte=False, include_non_existing=False): - """ - Based on CMAKE_PREFIX_PATH return all catkin workspaces. - - :param include_fuerte: The flag if paths starting with '/opt/ros/fuerte' should be considered workspaces, ``bool`` - """ - # get all cmake prefix paths - env_name = 'CMAKE_PREFIX_PATH' - value = environ[env_name] if env_name in environ else '' - paths = [path for path in value.split(os.pathsep) if path] - # remove non-workspace paths - workspaces = [path for path in paths if os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE)) or (include_fuerte and path.startswith('/opt/ros/fuerte')) or (include_non_existing and not os.path.exists(path))] - return workspaces - - -def prepend_env_variables(environ, env_var_subfolders, workspaces): - """Generate shell code to prepend environment variables for the all workspaces.""" - lines = [] - lines.append(comment('prepend folders of workspaces to environment variables')) - - paths = [path for path in workspaces.split(os.pathsep) if path] - - prefix = _prefix_env_variable(environ, 'CMAKE_PREFIX_PATH', paths, '') - lines.append(prepend(environ, 'CMAKE_PREFIX_PATH', prefix)) - - for key in sorted(key for key in env_var_subfolders.keys() if key != 'CMAKE_PREFIX_PATH'): - subfolder = env_var_subfolders[key] - prefix = _prefix_env_variable(environ, key, paths, subfolder) - lines.append(prepend(environ, key, prefix)) - return lines - - -def _prefix_env_variable(environ, name, paths, subfolders): - """ - Return the prefix to prepend to the environment variable NAME. - - Adding any path in NEW_PATHS_STR without creating duplicate or empty items. - """ - value = environ[name] if name in environ else '' - environ_paths = [path for path in value.split(os.pathsep) if path] - checked_paths = [] - for path in paths: - if not isinstance(subfolders, list): - subfolders = [subfolders] - for subfolder in subfolders: - path_tmp = path - if subfolder: - path_tmp = os.path.join(path_tmp, subfolder) - # skip nonexistent paths - if not os.path.exists(path_tmp): - continue - # exclude any path already in env and any path we already added - if path_tmp not in environ_paths and path_tmp not in checked_paths: - checked_paths.append(path_tmp) - prefix_str = os.pathsep.join(checked_paths) - if prefix_str != '' and environ_paths: - prefix_str += os.pathsep - return prefix_str - - -def assignment(key, value): - if not IS_WINDOWS: - return 'export %s="%s"' % (key, value) - else: - return 'set %s=%s' % (key, value) - - -def comment(msg): - if not IS_WINDOWS: - return '# %s' % msg - else: - return 'REM %s' % msg - - -def prepend(environ, key, prefix): - if key not in environ or not environ[key]: - return assignment(key, prefix) - if not IS_WINDOWS: - return 'export %s="%s$%s"' % (key, prefix, key) - else: - return 'set %s=%s%%%s%%' % (key, prefix, key) - - -def find_env_hooks(environ, cmake_prefix_path): - """Generate shell code with found environment hooks for the all workspaces.""" - lines = [] - lines.append(comment('found environment hooks in workspaces')) - - generic_env_hooks = [] - generic_env_hooks_workspace = [] - specific_env_hooks = [] - specific_env_hooks_workspace = [] - generic_env_hooks_by_filename = {} - specific_env_hooks_by_filename = {} - generic_env_hook_ext = 'bat' if IS_WINDOWS else 'sh' - specific_env_hook_ext = environ['CATKIN_SHELL'] if not IS_WINDOWS and 'CATKIN_SHELL' in environ and environ['CATKIN_SHELL'] else None - # remove non-workspace paths - workspaces = [path for path in cmake_prefix_path.split(os.pathsep) if path and os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE))] - for workspace in reversed(workspaces): - env_hook_dir = os.path.join(workspace, 'etc', 'catkin', 'profile.d') - if os.path.isdir(env_hook_dir): - for filename in sorted(os.listdir(env_hook_dir)): - if filename.endswith('.%s' % generic_env_hook_ext): - # remove previous env hook with same name if present - if filename in generic_env_hooks_by_filename: - i = generic_env_hooks.index(generic_env_hooks_by_filename[filename]) - generic_env_hooks.pop(i) - generic_env_hooks_workspace.pop(i) - # append env hook - generic_env_hooks.append(os.path.join(env_hook_dir, filename)) - generic_env_hooks_workspace.append(workspace) - generic_env_hooks_by_filename[filename] = generic_env_hooks[-1] - elif specific_env_hook_ext is not None and filename.endswith('.%s' % specific_env_hook_ext): - # remove previous env hook with same name if present - if filename in specific_env_hooks_by_filename: - i = specific_env_hooks.index(specific_env_hooks_by_filename[filename]) - specific_env_hooks.pop(i) - specific_env_hooks_workspace.pop(i) - # append env hook - specific_env_hooks.append(os.path.join(env_hook_dir, filename)) - specific_env_hooks_workspace.append(workspace) - specific_env_hooks_by_filename[filename] = specific_env_hooks[-1] - env_hooks = generic_env_hooks + specific_env_hooks - env_hooks_workspace = generic_env_hooks_workspace + specific_env_hooks_workspace - count = len(env_hooks) - lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_COUNT', count)) - for i in range(count): - lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d' % i, env_hooks[i])) - lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d_WORKSPACE' % i, env_hooks_workspace[i])) - return lines - - -def _parse_arguments(args=None): - parser = argparse.ArgumentParser(description='Generates code blocks for the setup.SHELL script.') - parser.add_argument('--extend', action='store_true', help='Skip unsetting previous environment variables to extend context') - parser.add_argument('--local', action='store_true', help='Only consider this prefix path and ignore other prefix path in the environment') - return parser.parse_known_args(args=args)[0] - - -if __name__ == '__main__': - try: - try: - args = _parse_arguments() - except Exception as e: - print(e, file=sys.stderr) - sys.exit(1) - - if not args.local: - # environment at generation time - CMAKE_PREFIX_PATH = r'/home/luoruidi/Desktop/ros_learn/communicat_01/src/commu_01/devel;/opt/ros/noetic'.split(';') - else: - # don't consider any other prefix path than this one - CMAKE_PREFIX_PATH = [] - # prepend current workspace if not already part of CPP - base_path = os.path.dirname(__file__) - # CMAKE_PREFIX_PATH uses forward slash on all platforms, but __file__ is platform dependent - # base_path on Windows contains backward slashes, need to be converted to forward slashes before comparison - if os.path.sep != '/': - base_path = base_path.replace(os.path.sep, '/') - - if base_path not in CMAKE_PREFIX_PATH: - CMAKE_PREFIX_PATH.insert(0, base_path) - CMAKE_PREFIX_PATH = os.pathsep.join(CMAKE_PREFIX_PATH) - - environ = dict(os.environ) - lines = [] - if not args.extend: - lines += rollback_env_variables(environ, ENV_VAR_SUBFOLDERS) - lines += prepend_env_variables(environ, ENV_VAR_SUBFOLDERS, CMAKE_PREFIX_PATH) - lines += find_env_hooks(environ, CMAKE_PREFIX_PATH) - print('\n'.join(lines)) - - # need to explicitly flush the output - sys.stdout.flush() - except IOError as e: - # and catch potential "broken pipe" if stdout is not writable - # which can happen when piping the output to a file but the disk is full - if e.errno == errno.EPIPE: - print(e, file=sys.stderr) - sys.exit(2) - raise - - sys.exit(0) diff --git a/Code/MowingRobot/Robot_ROS_APP/devel/cmake.lock b/Code/MowingRobot/Robot_ROS_APP/devel/cmake.lock deleted file mode 100644 index e69de29..0000000 diff --git a/Code/MowingRobot/Robot_ROS_APP/devel/env.sh b/Code/MowingRobot/Robot_ROS_APP/devel/env.sh deleted file mode 100644 index 8aa9d24..0000000 --- a/Code/MowingRobot/Robot_ROS_APP/devel/env.sh +++ /dev/null @@ -1,16 +0,0 @@ -#!/usr/bin/env sh -# generated from catkin/cmake/templates/env.sh.in - -if [ $# -eq 0 ] ; then - /bin/echo "Usage: env.sh COMMANDS" - /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually." - exit 1 -fi - -# ensure to not use different shell type which was set before -CATKIN_SHELL=sh - -# source setup.sh from same directory as this file -_CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" > /dev/null && pwd) -. "$_CATKIN_SETUP_DIR/setup.sh" -exec "$@" diff --git a/Code/MowingRobot/Robot_ROS_APP/devel/local_setup.bash b/Code/MowingRobot/Robot_ROS_APP/devel/local_setup.bash deleted file mode 100644 index 7da0d97..0000000 --- a/Code/MowingRobot/Robot_ROS_APP/devel/local_setup.bash +++ /dev/null @@ -1,8 +0,0 @@ -#!/usr/bin/env bash -# generated from catkin/cmake/templates/local_setup.bash.in - -CATKIN_SHELL=bash - -# source setup.sh from same directory as this file -_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) -. "$_CATKIN_SETUP_DIR/setup.sh" --extend --local diff --git a/Code/MowingRobot/Robot_ROS_APP/devel/local_setup.sh b/Code/MowingRobot/Robot_ROS_APP/devel/local_setup.sh deleted file mode 100644 index c58f94e..0000000 --- a/Code/MowingRobot/Robot_ROS_APP/devel/local_setup.sh +++ /dev/null @@ -1,9 +0,0 @@ -#!/usr/bin/env sh -# generated from catkin/cmake/template/local_setup.sh.in - -# since this file is sourced either use the provided _CATKIN_SETUP_DIR -# or fall back to the destination set at configure time -: ${_CATKIN_SETUP_DIR:=/home/luoruidi/Desktop/ros_learn/C++_Merge_Ros/merge_ros/devel} -CATKIN_SETUP_UTIL_ARGS="--extend --local" -. "$_CATKIN_SETUP_DIR/setup.sh" -unset CATKIN_SETUP_UTIL_ARGS diff --git a/Code/MowingRobot/Robot_ROS_APP/devel/local_setup.zsh b/Code/MowingRobot/Robot_ROS_APP/devel/local_setup.zsh deleted file mode 100644 index e692acc..0000000 --- a/Code/MowingRobot/Robot_ROS_APP/devel/local_setup.zsh +++ /dev/null @@ -1,8 +0,0 @@ -#!/usr/bin/env zsh -# generated from catkin/cmake/templates/local_setup.zsh.in - -CATKIN_SHELL=zsh - -# source setup.sh from same directory as this file -_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd) -emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh" --extend --local' diff --git a/Code/MowingRobot/Robot_ROS_APP/devel/setup.bash b/Code/MowingRobot/Robot_ROS_APP/devel/setup.bash deleted file mode 100644 index ff47af8..0000000 --- a/Code/MowingRobot/Robot_ROS_APP/devel/setup.bash +++ /dev/null @@ -1,8 +0,0 @@ -#!/usr/bin/env bash -# generated from catkin/cmake/templates/setup.bash.in - -CATKIN_SHELL=bash - -# source setup.sh from same directory as this file -_CATKIN_SETUP_DIR=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" > /dev/null && pwd) -. "$_CATKIN_SETUP_DIR/setup.sh" diff --git a/Code/MowingRobot/Robot_ROS_APP/devel/setup.sh b/Code/MowingRobot/Robot_ROS_APP/devel/setup.sh deleted file mode 100644 index 8690e57..0000000 --- a/Code/MowingRobot/Robot_ROS_APP/devel/setup.sh +++ /dev/null @@ -1,96 +0,0 @@ -#!/usr/bin/env sh -# generated from catkin/cmake/template/setup.sh.in - -# Sets various environment variables and sources additional environment hooks. -# It tries it's best to undo changes from a previously sourced setup file before. -# Supported command line options: -# --extend: skips the undoing of changes from a previously sourced setup file -# --local: only considers this workspace but not the chained ones -# In plain sh shell which doesn't support arguments for sourced scripts you can -# set the environment variable `CATKIN_SETUP_UTIL_ARGS=--extend/--local` instead. - -# since this file is sourced either use the provided _CATKIN_SETUP_DIR -# or fall back to the destination set at configure time -: ${_CATKIN_SETUP_DIR:=/home/luoruidi/Desktop/ros_learn/C++_Merge_Ros/merge_ros/devel} -_SETUP_UTIL="$_CATKIN_SETUP_DIR/_setup_util.py" -unset _CATKIN_SETUP_DIR - -if [ ! -f "$_SETUP_UTIL" ]; then - echo "Missing Python script: $_SETUP_UTIL" - return 22 -fi - -# detect if running on Darwin platform -_UNAME=`uname -s` -_IS_DARWIN=0 -if [ "$_UNAME" = "Darwin" ]; then - _IS_DARWIN=1 -fi -unset _UNAME - -# make sure to export all environment variables -export CMAKE_PREFIX_PATH -if [ $_IS_DARWIN -eq 0 ]; then - export LD_LIBRARY_PATH -else - export DYLD_LIBRARY_PATH -fi -unset _IS_DARWIN -export PATH -export PKG_CONFIG_PATH -export PYTHONPATH - -# remember type of shell if not already set -if [ -z "$CATKIN_SHELL" ]; then - CATKIN_SHELL=sh -fi - -# invoke Python script to generate necessary exports of environment variables -# use TMPDIR if it exists, otherwise fall back to /tmp -if [ -d "${TMPDIR:-}" ]; then - _TMPDIR="${TMPDIR}" -else - _TMPDIR=/tmp -fi -_SETUP_TMP=`mktemp "${_TMPDIR}/setup.sh.XXXXXXXXXX"` -unset _TMPDIR -if [ $? -ne 0 -o ! -f "$_SETUP_TMP" ]; then - echo "Could not create temporary file: $_SETUP_TMP" - return 1 -fi -CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" $@ ${CATKIN_SETUP_UTIL_ARGS:-} >> "$_SETUP_TMP" -_RC=$? -if [ $_RC -ne 0 ]; then - if [ $_RC -eq 2 ]; then - echo "Could not write the output of '$_SETUP_UTIL' to temporary file '$_SETUP_TMP': may be the disk if full?" - else - echo "Failed to run '\"$_SETUP_UTIL\" $@': return code $_RC" - fi - unset _RC - unset _SETUP_UTIL - rm -f "$_SETUP_TMP" - unset _SETUP_TMP - return 1 -fi -unset _RC -unset _SETUP_UTIL -. "$_SETUP_TMP" -rm -f "$_SETUP_TMP" -unset _SETUP_TMP - -# source all environment hooks -_i=0 -while [ $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT ]; do - eval _envfile=\$_CATKIN_ENVIRONMENT_HOOKS_$_i - unset _CATKIN_ENVIRONMENT_HOOKS_$_i - eval _envfile_workspace=\$_CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE - unset _CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE - # set workspace for environment hook - CATKIN_ENV_HOOK_WORKSPACE=$_envfile_workspace - . "$_envfile" - unset CATKIN_ENV_HOOK_WORKSPACE - _i=$((_i + 1)) -done -unset _i - -unset _CATKIN_ENVIRONMENT_HOOKS_COUNT diff --git a/Code/MowingRobot/Robot_ROS_APP/devel/setup.zsh b/Code/MowingRobot/Robot_ROS_APP/devel/setup.zsh deleted file mode 100644 index 9f780b7..0000000 --- a/Code/MowingRobot/Robot_ROS_APP/devel/setup.zsh +++ /dev/null @@ -1,8 +0,0 @@ -#!/usr/bin/env zsh -# generated from catkin/cmake/templates/setup.zsh.in - -CATKIN_SHELL=zsh - -# source setup.sh from same directory as this file -_CATKIN_SETUP_DIR=$(builtin cd -q "`dirname "$0"`" > /dev/null && pwd) -emulate -R zsh -c 'source "$_CATKIN_SETUP_DIR/setup.sh"' diff --git a/Code/MowingRobot/Robot_ROS_APP/src/.idea/.gitignore b/Code/MowingRobot/Robot_ROS_APP/src/.idea/.gitignore deleted file mode 100644 index 13566b8..0000000 --- a/Code/MowingRobot/Robot_ROS_APP/src/.idea/.gitignore +++ /dev/null @@ -1,8 +0,0 @@ -# Default ignored files -/shelf/ -/workspace.xml -# Editor-based HTTP Client requests -/httpRequests/ -# Datasource local storage ignored files -/dataSources/ -/dataSources.local.xml diff --git a/Code/MowingRobot/Robot_ROS_APP/src/.idea/deployment.xml b/Code/MowingRobot/Robot_ROS_APP/src/.idea/deployment.xml deleted file mode 100644 index 538ef7e..0000000 --- a/Code/MowingRobot/Robot_ROS_APP/src/.idea/deployment.xml +++ /dev/null @@ -1,14 +0,0 @@ - - - - - - - - - - - - - - \ No newline at end of file diff --git a/Code/MowingRobot/Robot_ROS_APP/src/.idea/misc.xml b/Code/MowingRobot/Robot_ROS_APP/src/.idea/misc.xml deleted file mode 100644 index 79b3c94..0000000 --- a/Code/MowingRobot/Robot_ROS_APP/src/.idea/misc.xml +++ /dev/null @@ -1,4 +0,0 @@ - - - - \ No newline at end of file diff --git a/Code/MowingRobot/Robot_ROS_APP/src/.idea/modules.xml b/Code/MowingRobot/Robot_ROS_APP/src/.idea/modules.xml deleted file mode 100644 index f669a0e..0000000 --- a/Code/MowingRobot/Robot_ROS_APP/src/.idea/modules.xml +++ /dev/null @@ -1,8 +0,0 @@ - - - - - - - - \ No newline at end of file diff --git a/Code/MowingRobot/Robot_ROS_APP/src/.idea/src.iml b/Code/MowingRobot/Robot_ROS_APP/src/.idea/src.iml deleted file mode 100644 index f08604b..0000000 --- a/Code/MowingRobot/Robot_ROS_APP/src/.idea/src.iml +++ /dev/null @@ -1,2 +0,0 @@ - - \ No newline at end of file diff --git a/Code/MowingRobot/Robot_ROS_APP/src/.idea/vcs.xml b/Code/MowingRobot/Robot_ROS_APP/src/.idea/vcs.xml deleted file mode 100644 index 6c0b863..0000000 --- a/Code/MowingRobot/Robot_ROS_APP/src/.idea/vcs.xml +++ /dev/null @@ -1,6 +0,0 @@ - - - - - - \ No newline at end of file diff --git a/Code/MowingRobot/Robot_ROS_APP/src/CMakeLists.txt b/Code/MowingRobot/Robot_ROS_APP/src/CMakeLists.txt deleted file mode 100644 index 2016816..0000000 --- a/Code/MowingRobot/Robot_ROS_APP/src/CMakeLists.txt +++ /dev/null @@ -1 +0,0 @@ -/opt/ros/noetic/share/catkin/cmake/toplevel.cmake \ No newline at end of file diff --git a/Code/MowingRobot/Robot_ROS_APP/src/ros_merge_test/Map/01.png b/Code/MowingRobot/Robot_ROS_APP/src/ros_merge_test/Map/01.png deleted file mode 100644 index 03cb282..0000000 Binary files a/Code/MowingRobot/Robot_ROS_APP/src/ros_merge_test/Map/01.png and /dev/null differ diff --git a/Code/MowingRobot/Robot_ROS_APP/src/ros_merge_test/Map/02.png b/Code/MowingRobot/Robot_ROS_APP/src/ros_merge_test/Map/02.png deleted file mode 100644 index b12fc6e..0000000 Binary files a/Code/MowingRobot/Robot_ROS_APP/src/ros_merge_test/Map/02.png and /dev/null differ diff --git a/Code/MowingRobot/Robot_ROS_APP/src/ros_merge_test/Map/03.png b/Code/MowingRobot/Robot_ROS_APP/src/ros_merge_test/Map/03.png deleted file mode 100644 index d631b20..0000000 Binary files a/Code/MowingRobot/Robot_ROS_APP/src/ros_merge_test/Map/03.png and /dev/null differ diff --git a/Code/MowingRobot/Robot_ROS_APP/src/ros_merge_test/Map/04.png b/Code/MowingRobot/Robot_ROS_APP/src/ros_merge_test/Map/04.png deleted file mode 100644 index 9cadab1..0000000 Binary files a/Code/MowingRobot/Robot_ROS_APP/src/ros_merge_test/Map/04.png and /dev/null differ diff --git a/Code/MowingRobot/Robot_ROS_APP/src/ros_merge_test/Map/05.png b/Code/MowingRobot/Robot_ROS_APP/src/ros_merge_test/Map/05.png deleted file mode 100644 index 8da3fb1..0000000 Binary files a/Code/MowingRobot/Robot_ROS_APP/src/ros_merge_test/Map/05.png and /dev/null differ diff --git a/Code/MowingRobot/Robot_ROS_APP/src/ros_merge_test/Map/06.png b/Code/MowingRobot/Robot_ROS_APP/src/ros_merge_test/Map/06.png deleted file mode 100644 index c243e7b..0000000 Binary files a/Code/MowingRobot/Robot_ROS_APP/src/ros_merge_test/Map/06.png and /dev/null differ diff --git a/Code/MowingRobot/Robot_ROS_APP/src/ros_merge_test/Map/08.png b/Code/MowingRobot/Robot_ROS_APP/src/ros_merge_test/Map/08.png deleted file mode 100644 index b27412e..0000000 Binary files a/Code/MowingRobot/Robot_ROS_APP/src/ros_merge_test/Map/08.png and /dev/null differ diff --git a/Code/MowingRobot/Robot_ROS_APP/src/ros_merge_test/Map/09.png b/Code/MowingRobot/Robot_ROS_APP/src/ros_merge_test/Map/09.png deleted file mode 100644 index 41d492a..0000000 Binary files a/Code/MowingRobot/Robot_ROS_APP/src/ros_merge_test/Map/09.png and /dev/null differ diff --git a/Code/MowingRobot/Robot_ROS_APP/src/ros_merge_test/Map/10.png b/Code/MowingRobot/Robot_ROS_APP/src/ros_merge_test/Map/10.png deleted file mode 100644 index 71af52a..0000000 Binary files a/Code/MowingRobot/Robot_ROS_APP/src/ros_merge_test/Map/10.png and /dev/null differ diff --git a/Code/MowingRobot/Robot_ROS_APP/src/ros_merge_test/Map/11.png b/Code/MowingRobot/Robot_ROS_APP/src/ros_merge_test/Map/11.png deleted file mode 100644 index 2ca7060..0000000 Binary files a/Code/MowingRobot/Robot_ROS_APP/src/ros_merge_test/Map/11.png and /dev/null differ diff --git a/Code/MowingRobot/Robot_ROS_APP/src/ros_merge_test/Map/12.png b/Code/MowingRobot/Robot_ROS_APP/src/ros_merge_test/Map/12.png deleted file mode 100644 index c1b634f..0000000 Binary files a/Code/MowingRobot/Robot_ROS_APP/src/ros_merge_test/Map/12.png and /dev/null differ diff --git a/Code/MowingRobot/Robot_ROS_APP/src/ros_merge_test/Map/13.png b/Code/MowingRobot/Robot_ROS_APP/src/ros_merge_test/Map/13.png deleted file mode 100644 index 32adf52..0000000 Binary files a/Code/MowingRobot/Robot_ROS_APP/src/ros_merge_test/Map/13.png and /dev/null differ diff --git a/Code/MowingRobot/Robot_ROS_APP/src/ros_merge_test/Map/output_image.png b/Code/MowingRobot/Robot_ROS_APP/src/ros_merge_test/Map/output_image.png deleted file mode 100644 index 2a5e92e..0000000 Binary files a/Code/MowingRobot/Robot_ROS_APP/src/ros_merge_test/Map/output_image.png and /dev/null differ diff --git a/Code/MowingRobot/Robot_ROS_APP/src/ros_merge_test/include/mapping.h b/Code/MowingRobot/Robot_ROS_APP/src/ros_merge_test/include/mapping.h deleted file mode 100644 index dcb928a..0000000 --- a/Code/MowingRobot/Robot_ROS_APP/src/ros_merge_test/include/mapping.h +++ /dev/null @@ -1,31 +0,0 @@ -#include -#include -#include -#include "uwb.h" - -#ifndef MAPPING_H -#define MAPPING_H - -namespace uwb_slam{ - class Mapping - { - public: - const double PIXEL_SCALE = 5.0; - const int AREA_SIZE = 2000; - Mapping() {}; - void Run(); - bool check_uwb_point(); - void feed_uwb_data(const cv::Point2d & data); - void process(); - std::mutex mMutexMap; - std::shared_ptr uwb_; - - private: - std::queue mv_uwb_point_; - bool read_uwb_ = false; - cv::Mat img; - cv::Point2d cur_point = {-1,-1}; - }; -} - -#endif diff --git a/Code/MowingRobot/Robot_ROS_APP/src/ros_merge_test/include/senddata.h b/Code/MowingRobot/Robot_ROS_APP/src/ros_merge_test/include/senddata.h deleted file mode 100644 index ff8f9bc..0000000 --- a/Code/MowingRobot/Robot_ROS_APP/src/ros_merge_test/include/senddata.h +++ /dev/null @@ -1,29 +0,0 @@ -#include -#include -#include -#include -#include -#include -#include "uwb.h" -#ifndef SENDDATA_H -#define SENDDATA_H - -namespace uwb_slam{ -class Senddata{ - public: - Senddata(){}; - void publishOdometry( std::shared_ptruwb); - void Run(std::shared_ptruwb); - void odomCB(const nav_msgs::Odometry& odom); - - std::mutex mMutexSend; - private: - ros::Publisher position_pub_; - ros::Subscriber odom_sub_; - ros::NodeHandle nh_; - nav_msgs::Odometry odom_;//odom的消息类型 - nav_msgs::Odometry sub_odom_;//odom的消息类型 -}; -} - -#endif \ No newline at end of file diff --git a/Code/MowingRobot/Robot_ROS_APP/src/ros_merge_test/include/uwb.h b/Code/MowingRobot/Robot_ROS_APP/src/ros_merge_test/include/uwb.h deleted file mode 100644 index 5754498..0000000 --- a/Code/MowingRobot/Robot_ROS_APP/src/ros_merge_test/include/uwb.h +++ /dev/null @@ -1,36 +0,0 @@ -#include -#include -#include -#include -#include -#include -#include "type.h" -#include -#include -#ifndef __UWB_H__ -#define __UWB_H__ - - -namespace uwb_slam{ - -class Uwb -{ -public: - Uwb(); - void Run(); - bool checknewdata(); - void feed_imu_odom_pose_data(); - void UartUSBRead(); - -public: - int pre_seq = -1; - int cur_seq = -1; - uint8_t tmpdata[13]; - float x, y, theta, distance; - - Uwb_data uwb_data_; - std::mutex mMutexUwb; -}; -}; - -#endif diff --git a/Code/MowingRobot/Robot_ROS_APP/src/ros_merge_test/src/align.cpp b/Code/MowingRobot/Robot_ROS_APP/src/ros_merge_test/src/align.cpp deleted file mode 100644 index 73d8d1d..0000000 --- a/Code/MowingRobot/Robot_ROS_APP/src/ros_merge_test/src/align.cpp +++ /dev/null @@ -1,154 +0,0 @@ -/******************** (C) COPYRIGHT 2023 UPBot ********************************** -* File Name : align.cpp -* Current Version : V1.0 -* Date of Issued : 2023.12.13 zhanli@review -* Comments : 传感器数据对齐 -********************************************************************************/ -#include "align.h" - -namespace uwb_slam{ - - void Align::Run() - { - tmp = ros::Time::now(); - ros::Time tmp1 = ros::Time::now(); - ros::Time tmp2 = ros::Time::now(); - - // 这个地方分别订阅了原始IMU、轮式里程计、里程计(推测是UWB) - wheel_odom_sub_= nh_.subscribe("wheel_odom",10,&Align::wheel_odomCB,this); - imu_sub_ = nh_.subscribe("raw_imu",10,&Align::imuCB,this); - odom_sub_ = nh_.subscribe("odom",10,&Align::odomCB,this); - - std::ofstream outfile("data.txt",std::ofstream::out); - if(outfile.is_open()) - { - img1 = cv::Mat(200, 200, CV_8UC1, cv::Scalar(255,255,255)); - cv::imshow("Image1", img1); - int key2 = cv::waitKey(0); - // if(key2 =='w'){ - // bool write_data_ = true; - // } - - // int count=0; - // while(write_data_){ - while(1){ - - int key3 = cv::waitKey(1); - if(key3 == 'w'){ - break; - } - if(tmp!=imu_odom_.imu_data_.imu_t_) - { - // outfile <<"imu_odom_: "<< "imu_timestamp "<<"imu_linear_acc_x_y_z "<<"imu_angular_x_y_z "<< - // "odom_vxy "<<"odom_angle_v_ "<<"\n"; - // if(tmp1!=uwb_->uwb_data_.uwb_t_&& tmp2!=odom_tmp_){ - outfile << std::left << std::setw(12)<<"imu_odom_: "<< std::setw(10)<< imu_odom_.imu_data_.imu_t_.sec << '.' <uwb_data_.uwb_t_-tmp1).sec<<'.'<uwb_data_.uwb_t_-tmp1).nsec << std::setw(9) - <uwb_data_.x_ << std::setw(9)<uwb_data_.y_<<"\n"; - tmp1 = uwb_->uwb_data_.uwb_t_; - tmp2 = odom_tmp_; - // } - // else if(tmp1!=uwb_->uwb_data_.uwb_t_){ - // outfile <<"imu_odom_: "<< imu_odom_.imu_data_.imu_t_ <<"*" - // <uwb_data_.uwb_t_<<"*"<uwb_data_.x_<<"*"<uwb_data_.y_<<"\n"; - // tmp1 = uwb_->uwb_data_.uwb_t_; - // } - // else if(tmp2!=odom_tmp_){ - // outfile <<"imu_odom_: "<< imu_odom_.imu_data_.imu_t_ <<"*" - // <uwb_data_.uwb_t_; - - // if(count>300) - // break; - } - } - - outfile.close(); - std::cout<< "Data written to file." << std::endl; - } - else{ - std::cout<<"file can not open"< -#include -#include -#include "senddata.h" - - -/**--------------------------------------------------------------------- -* Function : main -* Description : 多传感器融合定位的入口函数 -* Date : 2023/12/13 zhanli@review -*---------------------------------------------------------------------**/ -int main(int argc, char** argv) -{ - // Initialize the ROS node - ros::init(argc, argv, "locate_info_pub_node"); - - std::shared_ptr mp = std::make_shared(); - std::shared_ptr uwb = std::make_shared(); - std::shared_ptr sender = std::make_shared(); - std::shared_ptr align = std::make_shared(); - - mp->uwb_ = uwb; - align->uwb_ = uwb; - - // uwb serried read - std::thread uwb_trd([&uwb]() { - uwb->Run(); - }); - - // 建图部分暂时没有使用到 - /*std::thread map_trd([&mp]() { - mp->Run(); - });*/ - - std::thread sender_trd([&sender, uwb]() { - sender->Run(uwb); - }); - - std::thread align_trd([&align]() { - align->Run(); - }); - - // Start the ROS node's main loop - ros::spin(); -} diff --git a/Code/MowingRobot/Robot_ROS_APP/src/ros_merge_test/src/mapping.cpp b/Code/MowingRobot/Robot_ROS_APP/src/ros_merge_test/src/mapping.cpp deleted file mode 100644 index a277f48..0000000 --- a/Code/MowingRobot/Robot_ROS_APP/src/ros_merge_test/src/mapping.cpp +++ /dev/null @@ -1,89 +0,0 @@ -#include "mapping.h" -#include -#include -#include -#include - -namespace uwb_slam -{ - bool Mapping::check_uwb_point() - { - //std::unique_lock lock(mMutexMap); - return !mv_uwb_point_.empty(); - } - - void Mapping::feed_uwb_data(const cv::Point2d & data) - { - //std::unique_lock lock(mMutexMap); - mv_uwb_point_.push(data); - } - - void Mapping::process() - { - { - //std::unique_lock lock(mMutexMap); - //std::cout << "SIZE: " <(pix_y,pix_x)= 0; - - //cv::imshow("Image",img); - } - - - void Mapping::Run() - { - int realWidth = AREA_SIZE / PIXEL_SCALE; - int realHeight = AREA_SIZE / PIXEL_SCALE; - - img = cv::Mat(realHeight, realWidth, CV_8UC1, cv::Scalar(255,255,255)); - - for (int j=0;j(j,i)= 128; - - for (int j=199+8;j<210;j+=1) - for (int i=199+8;i<210;i+=1) - img.at(j,i)= 0; - - cv::imshow("Image",img); - - while(1) - { - // 这个地方会持续阻塞 - int key = cv::waitKey(0); - if (key == 'q') { - read_uwb_ = true; - std::cout << "non" << key << std::endl; - //cv::destroyAllWindows(); - } - - while(read_uwb_ ) // 按下空格键 - { - int key2 = cv::waitKey(1); - if (key2 == 'q' ) { - //TODO: save - - std::string pngimage = "/home/firefly/Project_Ros/src/ros_merge_test/Map/output_image.png";//保存的图片文件路径 - cv::imwrite(pngimage, img); - read_uwb_ = false; - break; - } - - this->feed_uwb_data(cv::Point2d(uwb_->x ,uwb_->y)); - - if(check_uwb_point()){ - process(); - } - } - } - } -} // namespace uwb_slam - diff --git a/Code/MowingRobot/Robot_ROS_APP/src/ros_merge_test/src/senddata.cpp b/Code/MowingRobot/Robot_ROS_APP/src/ros_merge_test/src/senddata.cpp deleted file mode 100644 index 5e1e628..0000000 --- a/Code/MowingRobot/Robot_ROS_APP/src/ros_merge_test/src/senddata.cpp +++ /dev/null @@ -1,83 +0,0 @@ -/******************** (C) COPYRIGHT 2023 UPBot ********************************** -* File Name : senddata.cpp -* Current Version : V1.0 -* Date of Issued : 2023.12.13 zhanli@review -* Comments : UWB数据的发送 -********************************************************************************/ -#include "senddata.h" -namespace uwb_slam{ - -/**--------------------------------------------------------------------- -* Function : Senddata::Run -* Description : UWB位置发布以及odm数据的订阅 -* Date : 2023/12/13 zhanli@review -*---------------------------------------------------------------------**/ -void Senddata::Run(std::shared_ptruwb){ - // 初始化了一个名为loop_rate的ros::Rate对象,频率设置为10赫兹 - ros::Rate loop_rate(10); - // 初始化一个ROS发布者，用于发布nav_msgs::Odometry类型的消息 - // 主题被设置为"uwb_odom"，队列大小为50 - position_pub_ = nh_.advertise("uwb_odom", 50); - // 初始化了一个ROS订阅者，用于订阅"odom"主题。它指定了当在该主题上接收到 - // 消息时，将调用Senddata类的odomCB回调函数。队列大小被设置为10 - odom_sub_ = nh_.subscribe("odom", 10, &Senddata::odomCB,this); - - while(ros::ok()){ - // 按照10Hz频率发布uwb信息 - publishOdometry(uwb); - ros::spinOnce(); - // 用于控制循环速率 - loop_rate.sleep(); - } -} - -void Senddata::odomCB(const nav_msgs::Odometry& odom){ - // 这个地方接收的是轮速里程计的信息 - // 包含位置和姿态 - sub_odom_ = odom; - return; -} - -/**--------------------------------------------------------------------- -* Function : Senddata::publishOdometry -* Description : 发布UWB里程计数据，这里读取的数据到底是什么，依旧存在疑问 -* Date : 2023/12/13 zhanli@review -*---------------------------------------------------------------------**/ -void Senddata::publishOdometry(std::shared_ptr uwb) -{ - - std::mutex mMutexSend; - - ros::Time current_time = ros::Time::now(); - - // 设置 Odometry 消息的头部信息 - odom_.header.stamp = current_time; // 这个地方获取的时间是否会存在问题? - odom_.header.frame_id = "odom"; // 设置坐标系为 "map" - odom_.child_frame_id = "base_link"; // 设置坐标系为 "base_link" - - // 填充 Odometry 消息的位置信息 - odom_.pose.pose.position.x = uwb->x; - odom_.pose.pose.position.y = uwb->y; - odom_.pose.pose.position.z = 0.0; - - - // 填充 Odometry 消息的姿态信息（使用四元数来表示姿态） - // tf2::Quaternion quat; - // quat.setRPY(0, 0, uwb->theta); - - // 设置了 yaw 角度，其他 roll 和 pitch 设置为 0 - // odom.pose.pose.orientation.x = quat.x(); - // odom.pose.pose.orientation.y = quat.y(); - // odom.pose.pose.orientation.z = quat.z(); - // odom.pose.pose.orientation.w = quat.w(); - - // 从里程计拿到姿态信息 - odom_.pose.pose.orientation.x = sub_odom_.pose.pose.orientation.x; - odom_.pose.pose.orientation.y = sub_odom_.pose.pose.orientation.y; - odom_.pose.pose.orientation.z = sub_odom_.pose.pose.orientation.z; - odom_.pose.pose.orientation.w = sub_odom_.pose.pose.orientation.w; - - // 发布 Odometry 消息 - position_pub_.publish(odom_); -} -} // namespace uwb_slam \ No newline at end of file diff --git a/Code/MowingRobot/Robot_ROS_APP/src/ros_merge_test/src/uwb.cpp b/Code/MowingRobot/Robot_ROS_APP/src/ros_merge_test/src/uwb.cpp deleted file mode 100644 index c2f8fc7..0000000 --- a/Code/MowingRobot/Robot_ROS_APP/src/ros_merge_test/src/uwb.cpp +++ /dev/null @@ -1,68 +0,0 @@ -/******************** (C) COPYRIGHT 2023 UPBot ********************************** -* File Name : uwb.cpp -* Current Version : V1.0 -* Date of Issued : 2023.12.13 zhanli@review -* Comments : UWB数据驱动, 负责从串口读取USB并发布出去，这个代码可能存在以下 - 改进：1) 创建固定的串口读取对象serial_port 2) 修改代码为异步 - 读取。3) 确认串口数据的长度 -********************************************************************************/ -#include "uwb.h" -#include - -#define PI acos(-1) - -namespace uwb_slam{ - - // - Uwb::Uwb(){ - } - - void Uwb::Run() { - while(1){ - // 这个地方不控制速率? - // UartUSBRead 这个地方本身就是同步读取串口，是阻塞的函数 - this->UartUSBRead(); - } - } - - /**--------------------------------------------------------------------- - * Function : UartUSBRead - * Description : 通过串口读取数据，目前这段代码存在部分问题：1) 每次都重复创建 - * 串口读取对象，可能会影响性能。 - * Date : 2023/12/13 zhanli@review - *---------------------------------------------------------------------**/ - void Uwb::UartUSBRead() - { - try { - boost::asio::io_service io; - boost::asio::serial_port serial(io, "/dev/ttyUSB0"); // 替换成你的串口设备路径 - - serial.set_option(boost::asio::serial_port_base::baud_rate(115200)); // 设置波特率 - serial.set_option(boost::asio::serial_port_base::character_size(8)); // 设置数据位 - serial.set_option(boost::asio::serial_port_base::parity(boost::asio::serial_port_base::parity::none)); // 设置校验位 - serial.set_option(boost::asio::serial_port_base::stop_bits(boost::asio::serial_port_base::stop_bits::one)); // 设置停止位 - - uint8_t tmpdata[12]; - // 读取串口数据 - size_t bytesRead = boost::asio::read(serial, boost::asio::buffer(tmpdata, 12)); - - // UWB获取的数据是半径R和角度Theta - memcpy(&this->distance, &tmpdata[3], sizeof(distance)); - memcpy(&this->theta, &tmpdata[7], sizeof(theta)); - - // 这个地方是为了把UWB的坐标移动到图像的中心位置 2023/12/13@李瑞瑞 - this->uwb_data_.x_ = cosf(theta / 180*PI)*distance + 1000; - this->uwb_data_.y_ = sinf(theta / 180*PI)*distance + 1000; - // 获取此时的系统时间戳 - this->uwb_data_.uwb_t_ = ros::Time::now(); - - std::cout << "theta: " << theta << " distance: " << distance << std::endl; - - } catch (const std::exception& ex) { - std::cerr << "[ERR]: uwb.cpp::Uart USB read data exception: " - << ex.what() << std::endl; - } - } -}; - - diff --git a/Code/MowingRobot/obj_dec/README.md b/Code/MowingRobot/obj_dec/README.md deleted file mode 100644 index 188772b..0000000 --- a/Code/MowingRobot/obj_dec/README.md +++ /dev/null @@ -1,15 +0,0 @@ -使用方法： - -```shell -# 进入工作目录 -cd ~/obj_dec -# 编译 -catkin_make -# 引入环境变量 -source ./devel/setup.bash -# 启动ros核心节点 -roscore -# 运行 -rosrun rknn_yolov5_demo main -``` - diff --git a/Code/MowingRobot/obj_dec/src/rknn_yolov5_demo/CMakeLists.txt b/Code/MowingRobot/obj_dec/src/rknn_yolov5_demo/CMakeLists.txt deleted file mode 100644 index 08e5887..0000000 --- a/Code/MowingRobot/obj_dec/src/rknn_yolov5_demo/CMakeLists.txt +++ /dev/null @@ -1,80 +0,0 @@ -cmake_minimum_required(VERSION 3.0.2) -project(rknn_yolov5_demo) - -find_package(catkin REQUIRED COMPONENTS - roscpp - std_msgs - message_generation -) - - -find_package(OpenCV REQUIRED) -find_package(Threads REQUIRED) - -add_message_files( - FILES - dis_info.msg - dis_info_array.msg -) -generate_messages( - DEPENDENCIES - std_msgs -) - - -catkin_package( - - CATKIN_DEPENDS roscpp std_msgs message_runtime - -) - - -include_directories( -include - ${catkin_INCLUDE_DIRS} - ${OpenCV_INCLUDE_DIRS} - /home/firefly/obj_dec/src/runtime/RK3588/Linux/librknn_api/include - /home/firefly/obj_dec/src/3rdparty/rga/RK3588/include -) - -add_library( - head - include/rknn_yolov5_demo/detection.h - include/rknn_yolov5_demo/postprocess.h - include/rknn_yolov5_demo/preprocess.h - include/rknn_yolov5_demo/ranging.h - include/rknn_yolov5_demo/Timer.h - # include/rknn_yolov5_demo/pub_info.h - src/detection.cc - src/postprocess.cc - src/preprocess.cc - src/ranging.cc - # src/pub_info.cc -) - -add_dependencies(head ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) -target_link_libraries(head - ${catkin_LIBRARIES} - -) -add_executable(main src/main.cc) -add_executable(sub_dis src/sub_dis.cc) -add_dependencies(main ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) -add_dependencies(sub_dis ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) - -target_link_libraries(sub_dis -${catkin_LIBRARIES} -) -target_link_libraries(main -head -${catkin_LIBRARIES} -${OpenCV_LIBS} -Threads::Threads -/home/firefly/obj_dec/src/librknnrt.so -/home/firefly/obj_dec/src/librga.so -/home/firefly/obj_dec/src/libopencv_highgui.so -) - - - - diff --git a/Code/MowingRobot/obj_dec/src/rknn_yolov5_demo/include/rknn_yolov5_demo/pub_info.h b/Code/MowingRobot/obj_dec/src/rknn_yolov5_demo/include/rknn_yolov5_demo/pub_info.h deleted file mode 100644 index 697980c..0000000 --- a/Code/MowingRobot/obj_dec/src/rknn_yolov5_demo/include/rknn_yolov5_demo/pub_info.h +++ /dev/null @@ -1,32 +0,0 @@ -#ifndef PUB_INFO_H -#define PUB_INFO_H -#include -#include -#include "rknn_yolov5_demo/dis_info.h" -#include "rknn_yolov5_demo/dis_info_array.h" -#include "rknn_yolov5_demo/ranging.h" - -class Pub_info{ - public: - Pub_info(){ - dis_pub_ = nh_.advertise("ceju_info",10); - thread_1 = std::thread(&Pub_info::pub_dis,this); - // thread_2 = std::thread(&Pub_info::) - - }; - ~Pub_info(){ - thread_1.join(); - } - void pub_dis(); - public: - ros::NodeHandle nh_; - ros::Publisher dis_pub_; - rknn_yolov5_demo::dis_info_array dis_array_; - rknn_yolov5_demo::dis_info data; - std::thread thread_1; - // std::thread thread_2; - - - -}; -#endif \ No newline at end of file diff --git a/Code/MowingRobot/obj_dec/src/rknn_yolov5_demo/msg/dis_info_array.msg b/Code/MowingRobot/obj_dec/src/rknn_yolov5_demo/msg/dis_info_array.msg deleted file mode 100644 index 3b9e9b3..0000000 --- a/Code/MowingRobot/obj_dec/src/rknn_yolov5_demo/msg/dis_info_array.msg +++ /dev/null @@ -1 +0,0 @@ -rknn_yolov5_demo/dis_info[] dis \ No newline at end of file diff --git a/Code/MowingRobot/obj_dec/src/rknn_yolov5_demo/src/pub_info.cc b/Code/MowingRobot/obj_dec/src/rknn_yolov5_demo/src/pub_info.cc deleted file mode 100644 index a8c95fb..0000000 --- a/Code/MowingRobot/obj_dec/src/rknn_yolov5_demo/src/pub_info.cc +++ /dev/null @@ -1,28 +0,0 @@ -#include "rknn_yolov5_demo/pub_info.h" - - -void Pub_info::pub_dis() -{ - Ranging ranging; - ros::Rate loop_rate(10); - - while(ros::ok()){ - std::vector result = ranging.get_range(); - cv::Mat info = result[2]; - for(int i=0;i(i,0); - data.width = info.at(i,1); - data.height = info.at(i,2); - data.angle = info.at(i,3); - dis_array_.dis.push_back(data); - } - dis_pub_.publish(dis_array_); - loop_rate.sleep(); - - } - - - -} - diff --git a/Code/MowingRobot/PIBot_ROS/.gitignore b/Code/MowingRobot/pibot_ros/.gitignore similarity index 100% rename from Code/MowingRobot/PIBot_ROS/.gitignore rename to Code/MowingRobot/pibot_ros/.gitignore diff --git a/Code/MowingRobot/PIBot_ROS/.pibot_init_env.sh.swp b/Code/MowingRobot/pibot_ros/.pibot_init_env.sh.swp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/.pibot_init_env.sh.swp rename to Code/MowingRobot/pibot_ros/.pibot_init_env.sh.swp diff --git a/Code/MowingRobot/PIBot_ROS/README_BAK.md b/Code/MowingRobot/pibot_ros/README.md similarity index 96% rename from Code/MowingRobot/PIBot_ROS/README_BAK.md rename to Code/MowingRobot/pibot_ros/README.md index 8c58a8c..7da2f32 100644 --- a/Code/MowingRobot/PIBot_ROS/README_BAK.md +++ b/Code/MowingRobot/pibot_ros/README.md @@ -1,6 +1,6 @@ # PIBOT ROS Workspace v2.0 -## 安装ROS +## install ros ```shell cd ~/pibot_ros/ ./pibot_install_ros.sh diff --git a/Code/MowingRobot/pibot_ros/a.out b/Code/MowingRobot/pibot_ros/a.out new file mode 100755 index 0000000..4d1ce65 Binary files /dev/null and b/Code/MowingRobot/pibot_ros/a.out differ diff --git a/Code/MowingRobot/PIBot_ROS/pibot_add_upstart.sh b/Code/MowingRobot/pibot_ros/pibot_add_upstart.sh similarity index 100% rename from Code/MowingRobot/PIBot_ROS/pibot_add_upstart.sh rename to Code/MowingRobot/pibot_ros/pibot_add_upstart.sh diff --git a/Code/MowingRobot/PIBot_ROS/pibot_ap.sh b/Code/MowingRobot/pibot_ros/pibot_ap.sh similarity index 100% rename from Code/MowingRobot/PIBot_ROS/pibot_ap.sh rename to Code/MowingRobot/pibot_ros/pibot_ap.sh diff --git a/Code/MowingRobot/PIBot_ROS/pibot_clear_rosproc.sh b/Code/MowingRobot/pibot_ros/pibot_clear_rosproc.sh similarity index 100% rename from Code/MowingRobot/PIBot_ROS/pibot_clear_rosproc.sh rename to Code/MowingRobot/pibot_ros/pibot_clear_rosproc.sh diff --git a/Code/MowingRobot/PIBot_ROS/pibot_create_swap.sh b/Code/MowingRobot/pibot_ros/pibot_create_swap.sh similarity index 100% rename from Code/MowingRobot/PIBot_ROS/pibot_create_swap.sh rename to Code/MowingRobot/pibot_ros/pibot_create_swap.sh diff --git a/Code/MowingRobot/PIBot_ROS/pibot_init_env.sh b/Code/MowingRobot/pibot_ros/pibot_init_env.sh similarity index 100% rename from Code/MowingRobot/PIBot_ROS/pibot_init_env.sh rename to Code/MowingRobot/pibot_ros/pibot_init_env.sh diff --git a/Code/MowingRobot/PIBot_ROS/pibot_install_ros.sh b/Code/MowingRobot/pibot_ros/pibot_install_ros.sh similarity index 100% rename from Code/MowingRobot/PIBot_ROS/pibot_install_ros.sh rename to Code/MowingRobot/pibot_ros/pibot_install_ros.sh diff --git a/Code/MowingRobot/PIBot_ROS/pibot_remove_upstart.sh b/Code/MowingRobot/pibot_ros/pibot_remove_upstart.sh similarity index 100% rename from Code/MowingRobot/PIBot_ROS/pibot_remove_upstart.sh rename to Code/MowingRobot/pibot_ros/pibot_remove_upstart.sh diff --git a/Code/MowingRobot/PIBot_ROS/pibot_upstart/pibot.service b/Code/MowingRobot/pibot_ros/pibot_upstart/pibot.service similarity index 100% rename from Code/MowingRobot/PIBot_ROS/pibot_upstart/pibot.service rename to Code/MowingRobot/pibot_ros/pibot_upstart/pibot.service diff --git a/Code/MowingRobot/PIBot_ROS/pibot_upstart/pibot_restart.sh b/Code/MowingRobot/pibot_ros/pibot_upstart/pibot_restart.sh similarity index 100% rename from Code/MowingRobot/PIBot_ROS/pibot_upstart/pibot_restart.sh rename to Code/MowingRobot/pibot_ros/pibot_upstart/pibot_restart.sh diff --git a/Code/MowingRobot/PIBot_ROS/pibot_upstart/pibot_start.sh b/Code/MowingRobot/pibot_ros/pibot_upstart/pibot_start.sh similarity index 100% rename from Code/MowingRobot/PIBot_ROS/pibot_upstart/pibot_start.sh rename to Code/MowingRobot/pibot_ros/pibot_upstart/pibot_start.sh diff --git a/Code/MowingRobot/PIBot_ROS/pibot_upstart/pibot_stop.sh b/Code/MowingRobot/pibot_ros/pibot_upstart/pibot_stop.sh similarity index 100% rename from Code/MowingRobot/PIBot_ROS/pibot_upstart/pibot_stop.sh rename to Code/MowingRobot/pibot_ros/pibot_upstart/pibot_stop.sh diff --git a/Code/MowingRobot/PIBot_ROS/pibot_upstart/pibotenv b/Code/MowingRobot/pibot_ros/pibot_upstart/pibotenv similarity index 100% rename from Code/MowingRobot/PIBot_ROS/pibot_upstart/pibotenv rename to Code/MowingRobot/pibot_ros/pibot_upstart/pibotenv diff --git a/Code/MowingRobot/PIBot_ROS/pibot_view_env.sh b/Code/MowingRobot/pibot_ros/pibot_view_env.sh similarity index 100% rename from Code/MowingRobot/PIBot_ROS/pibot_view_env.sh rename to Code/MowingRobot/pibot_ros/pibot_view_env.sh diff --git a/Code/MowingRobot/PIBot_ROS/pypibot/pypibot/__init__.py b/Code/MowingRobot/pibot_ros/pypibot/pypibot/__init__.py old mode 100644 new mode 100755 similarity index 95% rename from Code/MowingRobot/PIBot_ROS/pypibot/pypibot/__init__.py rename to Code/MowingRobot/pibot_ros/pypibot/pypibot/__init__.py index aa21836..a7b4ef9 --- a/Code/MowingRobot/PIBot_ROS/pypibot/pypibot/__init__.py +++ b/Code/MowingRobot/pibot_ros/pypibot/pypibot/__init__.py @@ -1,17 +1,17 @@ -#!/usr/bin/python -# -*- coding: utf-8 -*- -import pypibot.assistant -import pypibot.log as Logger -import pypibot.err -log=Logger.log -import sys -def createNamedLog(name): - return Logger.NamedLog(name) -class Object(): - pass -isDebug="-d" in sys.argv - -import platform -isWindows=False -if platform.system()=='Windows': - isWindows=True +#!/usr/bin/python +# -*- coding: utf-8 -*- +import pypibot.assistant +import pypibot.log as Logger +import pypibot.err +log=Logger.log +import sys +def createNamedLog(name): + return Logger.NamedLog(name) +class Object(): + pass +isDebug="-d" in sys.argv + +import platform +isWindows=False +if platform.system()=='Windows': + isWindows=True diff --git a/Code/MowingRobot/PIBot_ROS/pypibot/pypibot/assistant.py b/Code/MowingRobot/pibot_ros/pypibot/pypibot/assistant.py old mode 100644 new mode 100755 similarity index 96% rename from Code/MowingRobot/PIBot_ROS/pypibot/pypibot/assistant.py rename to Code/MowingRobot/pibot_ros/pypibot/pypibot/assistant.py index 94683b0..a3e6555 --- a/Code/MowingRobot/PIBot_ROS/pypibot/pypibot/assistant.py +++ b/Code/MowingRobot/pibot_ros/pypibot/pypibot/assistant.py @@ -1,234 +1,234 @@ -#!/usr/bin/python -# -*- coding: utf-8 -*- -import os, sys, inspect -import datetime -import signal -import threading -import time -# function: get directory of current script, if script is built -# into an executable file, get directory of the excutable file -def current_file_directory(): - path = os.path.realpath(sys.path[0]) # interpreter starter's path - if os.path.isfile(path): # starter is excutable file - path = os.path.dirname(path) - path = os.path.abspath(path) # return excutable file's directory - else: # starter is python script - caller_file = inspect.stack()[0][1] # function caller's filename - path = os.path.abspath(os.path.dirname(caller_file))# return function caller's file's directory - if path[-1]!=os.path.sep:path+=os.path.sep - return path - -"""格式化字符串""" -def formatString(string,*argv): - string=string%argv - if string.find('$(scriptpath)')>=0: - string=string.replace('$(scriptpath)',current_file_directory()) - if string.find('$(filenumber2)')>=0: - i=0 - path="" - while True: - path=string.replace('$(scriptpath)',"%02d"%i) - if not os.path.lexists(path):break - i+=1 - string=path - #8位日期（20140404） - if string.find('$(Date8)')>=0: - now=datetime.datetime.now() - string=string.replace('$(Date8)', now.strftime("%Y%m%d")) - #6位日期（140404） - if string.find('$(Date6)')>=0: - now=datetime.datetime.now() - string=string.replace('$(Date6)', now.strftime("%y%m%d")) - #6位时间（121212） - if string.find('$(Time6)')>=0: - now=datetime.datetime.now() - string=string.replace('$(Time6)', now.strftime("%H%M%S")) - #4位时间（1212） - if string.find('$(Time4)')>=0: - now=datetime.datetime.now() - string=string.replace('$(Time4)', now.strftime("%H%M")) - #文件编号2位（必须在最后） - if string.find('$(filenumber2)')>=0: - i=0 - path="" - while True: - path=string.replace('$(filenumber2)',"%02d"%i) - if not os.path.lexists(path):break - i+=1 - string=path - #文件编号3位（必须在最后） - if string.find('$(filenumber3)')>=0: - i=0 - path="" - while True: - path=string.replace('$(filenumber3)',"%03d"%i) - if not os.path.lexists(path):break - i+=1 - string=path - return string - -""" - 取得进程列表 - 格式：(PID,cmd) -""" -def getProcessList(): - processList = [] - try: - for line in os.popen("ps xa"): - fields = line.split() - # spid = fields[0] - pid = 0 - try:pid = int(fields[0]) - except:None - cmd = line[27:-1] - # print "PS:%d,%s"%(npid,process) - if pid != 0 and len(cmd) > 0: - processList.append((pid, cmd)) - except Exception as e: - print("getProcessList except:%s" % (e)) - return processList -def killCommand(cmd): - try: - processList = getProcessList() - for p in processList: - if p[1].find(cmd) != -1: - pid = p[0] - os.kill(pid, signal.SIGKILL) - except Exception as e: - print("killCommand ‘%s’ except:%s" % (cmd,e)) - -def check_pid(pid): - """ Check For the existence of a unix pid. """ - if pid == 0:return False - try: - os.kill(pid, 0) - except OSError: - return False - else: - return True - -SF=formatString - -#全局异常捕获 -def excepthook(excType, excValue, tb): - '''''write the unhandle exception to log''' - from log import log - import traceback - log.e('Unhandled Error: %s',''.join(traceback.format_exception(excType, excValue, tb))) - sys.exit(-1) - #sys.__excepthook__(type, value, trace) - #sys.__excepthook__(excType, excValue, tb) - -_defaultGlobalExcept=sys.excepthook - -def enableGlobalExcept(enable=True): - if enable: - sys.excepthook = excepthook - else: - sys.excepthook=_defaultGlobalExcept -# 默认启动全局异常处理 -enableGlobalExcept() -#创建线程 -def createThread(name,target,args=(),autoRun=True,daemon=True): - from log import log - def threadProc(): - log.i("thread %s started!",name) - try: - target(*args) - log.i("thread %s ended!",name) - except Exception as e: - log.e("thread %s crash!err=%s",name,e) - thd=threading.Thread(name=name,target=threadProc) - thd.setDaemon(daemon) - if autoRun:thd.start() - return thd - - -#定时器 -class Timer(): - def __init__(self, timer_proc, args=(),first=0,period=0,name="Timer"): - self.name=name - self.first=first - self.period=period - self.args=args - self.timer_proc=timer_proc - self.thdWork=None - self.stopFlag=False - from log import NamedLog - self.log=NamedLog(name) - def run(self): - if self.first>0: - time.sleep(self.first) - try: - self.timer_proc(*self.args) - except Exception as e: - self.log.error("timer proc crash!err=%s",e) - while self.period>0 and not self.stopFlag: - time.sleep(self.period) - try: - self.timer_proc(*self.args) - except Exception as e: - self.log.error("timer proc crash!err=%s",e) - def start(self): - if self.isAlive(): - self.log.d("already running!") - return True - self.stopFlag=False - self.thdWork=threading.Thread(name=self.name,target=self.run) - self.thdWork.setDaemon(True) - self.thdWork.start() - def stop(self,timeout=3): - if self.isAlive(): - self.stopFlag=True - try: - self.thdWork.join(timeout) - except Exception as e: - self.log.e("stop timeout!") - - def isAlive(self): - return self.thdWork and self.thdWork.isAlive() -#计时器 -class Ticker(): - def __init__(self): - self.reset() - # 片段,可以判断时长是否在一个特定毫秒段内 - self.section=[] - def reset(self): - self.tick=time.time() - self.end=0 - def stop(self): - self.end=time.time() - @property - def ticker(self): - if self.end==0: - return int((time.time()-self.tick)*1000) - else: - return int((self.end-self.tick)*1000) - def addSection(self,a,b): - a,b=int(a),int(b) - assert a=a and tick<=b: - return True - return False - def __call__(self): - return self.ticker -def waitExit(): - import log - log.log.i("start waiting to exit...") - try: - while(True): - time.sleep(1) - except Exception as e: - log.log.w("recv exit sign!") - -def is_python3(): - return sys.hexversion > 0x03000000 +#!/usr/bin/python +# -*- coding: utf-8 -*- +import os, sys, inspect +import datetime +import signal +import threading +import time +# function: get directory of current script, if script is built +# into an executable file, get directory of the excutable file +def current_file_directory(): + path = os.path.realpath(sys.path[0]) # interpreter starter's path + if os.path.isfile(path): # starter is excutable file + path = os.path.dirname(path) + path = os.path.abspath(path) # return excutable file's directory + else: # starter is python script + caller_file = inspect.stack()[0][1] # function caller's filename + path = os.path.abspath(os.path.dirname(caller_file))# return function caller's file's directory + if path[-1]!=os.path.sep:path+=os.path.sep + return path + +"""格式化字符串""" +def formatString(string,*argv): + string=string%argv + if string.find('$(scriptpath)')>=0: + string=string.replace('$(scriptpath)',current_file_directory()) + if string.find('$(filenumber2)')>=0: + i=0 + path="" + while True: + path=string.replace('$(scriptpath)',"%02d"%i) + if not os.path.lexists(path):break + i+=1 + string=path + #8位日期（20140404） + if string.find('$(Date8)')>=0: + now=datetime.datetime.now() + string=string.replace('$(Date8)', now.strftime("%Y%m%d")) + #6位日期（140404） + if string.find('$(Date6)')>=0: + now=datetime.datetime.now() + string=string.replace('$(Date6)', now.strftime("%y%m%d")) + #6位时间（121212） + if string.find('$(Time6)')>=0: + now=datetime.datetime.now() + string=string.replace('$(Time6)', now.strftime("%H%M%S")) + #4位时间（1212） + if string.find('$(Time4)')>=0: + now=datetime.datetime.now() + string=string.replace('$(Time4)', now.strftime("%H%M")) + #文件编号2位（必须在最后） + if string.find('$(filenumber2)')>=0: + i=0 + path="" + while True: + path=string.replace('$(filenumber2)',"%02d"%i) + if not os.path.lexists(path):break + i+=1 + string=path + #文件编号3位（必须在最后） + if string.find('$(filenumber3)')>=0: + i=0 + path="" + while True: + path=string.replace('$(filenumber3)',"%03d"%i) + if not os.path.lexists(path):break + i+=1 + string=path + return string + +""" + 取得进程列表 + 格式：(PID,cmd) +""" +def getProcessList(): + processList = [] + try: + for line in os.popen("ps xa"): + fields = line.split() + # spid = fields[0] + pid = 0 + try:pid = int(fields[0]) + except:None + cmd = line[27:-1] + # print "PS:%d,%s"%(npid,process) + if pid != 0 and len(cmd) > 0: + processList.append((pid, cmd)) + except Exception as e: + print("getProcessList except:%s" % (e)) + return processList +def killCommand(cmd): + try: + processList = getProcessList() + for p in processList: + if p[1].find(cmd) != -1: + pid = p[0] + os.kill(pid, signal.SIGKILL) + except Exception as e: + print("killCommand ‘%s’ except:%s" % (cmd,e)) + +def check_pid(pid): + """ Check For the existence of a unix pid. """ + if pid == 0:return False + try: + os.kill(pid, 0) + except OSError: + return False + else: + return True + +SF=formatString + +#全局异常捕获 +def excepthook(excType, excValue, tb): + '''''write the unhandle exception to log''' + from log import log + import traceback + log.e('Unhandled Error: %s',''.join(traceback.format_exception(excType, excValue, tb))) + sys.exit(-1) + #sys.__excepthook__(type, value, trace) + #sys.__excepthook__(excType, excValue, tb) + +_defaultGlobalExcept=sys.excepthook + +def enableGlobalExcept(enable=True): + if enable: + sys.excepthook = excepthook + else: + sys.excepthook=_defaultGlobalExcept +# 默认启动全局异常处理 +enableGlobalExcept() +#创建线程 +def createThread(name,target,args=(),autoRun=True,daemon=True): + from log import log + def threadProc(): + log.i("thread %s started!",name) + try: + target(*args) + log.i("thread %s ended!",name) + except Exception as e: + log.e("thread %s crash!err=%s",name,e) + thd=threading.Thread(name=name,target=threadProc) + thd.setDaemon(daemon) + if autoRun:thd.start() + return thd + + +#定时器 +class Timer(): + def __init__(self, timer_proc, args=(),first=0,period=0,name="Timer"): + self.name=name + self.first=first + self.period=period + self.args=args + self.timer_proc=timer_proc + self.thdWork=None + self.stopFlag=False + from log import NamedLog + self.log=NamedLog(name) + def run(self): + if self.first>0: + time.sleep(self.first) + try: + self.timer_proc(*self.args) + except Exception as e: + self.log.error("timer proc crash!err=%s",e) + while self.period>0 and not self.stopFlag: + time.sleep(self.period) + try: + self.timer_proc(*self.args) + except Exception as e: + self.log.error("timer proc crash!err=%s",e) + def start(self): + if self.isAlive(): + self.log.d("already running!") + return True + self.stopFlag=False + self.thdWork=threading.Thread(name=self.name,target=self.run) + self.thdWork.setDaemon(True) + self.thdWork.start() + def stop(self,timeout=3): + if self.isAlive(): + self.stopFlag=True + try: + self.thdWork.join(timeout) + except Exception as e: + self.log.e("stop timeout!") + + def isAlive(self): + return self.thdWork and self.thdWork.isAlive() +#计时器 +class Ticker(): + def __init__(self): + self.reset() + # 片段,可以判断时长是否在一个特定毫秒段内 + self.section=[] + def reset(self): + self.tick=time.time() + self.end=0 + def stop(self): + self.end=time.time() + @property + def ticker(self): + if self.end==0: + return int((time.time()-self.tick)*1000) + else: + return int((self.end-self.tick)*1000) + def addSection(self,a,b): + a,b=int(a),int(b) + assert a=a and tick<=b: + return True + return False + def __call__(self): + return self.ticker +def waitExit(): + import log + log.log.i("start waiting to exit...") + try: + while(True): + time.sleep(1) + except Exception as e: + log.log.w("recv exit sign!") + +def is_python3(): + return sys.hexversion > 0x03000000 diff --git a/Code/MowingRobot/PIBot_ROS/pypibot/pypibot/configer.py b/Code/MowingRobot/pibot_ros/pypibot/pypibot/configer.py old mode 100644 new mode 100755 similarity index 97% rename from Code/MowingRobot/PIBot_ROS/pypibot/pypibot/configer.py rename to Code/MowingRobot/pibot_ros/pypibot/pypibot/configer.py index 7bb3b9f..a837ed1 --- a/Code/MowingRobot/PIBot_ROS/pypibot/pypibot/configer.py +++ b/Code/MowingRobot/pibot_ros/pypibot/pypibot/configer.py @@ -1,56 +1,56 @@ -#!/usr/bin/python -# -*- coding: utf-8 -*- - -import ConfigParser -from log import PLOG -import os -def getdefaultfilename(): - pass -def openconfiger(filename): - return configer(filename) -class configer: - def __init__(self,fullfilepath): - self._filepath=fullfilepath - if not os.path.isdir(os.path.dirname(fullfilepath)): - os.makedirs(os.path.dirname(fullfilepath)) - self._conf=ConfigParser.ConfigParser() - if os.path.isfile(fullfilepath): - try: - self._conf.readfp(open(fullfilepath,"r")) - except Exception,e: - PLOG.error("配置文件'%s'打开失败,err=%s"%(self._filepath,e)) - def save(self): - try: - self._conf.write(open(self._filepath,"w")) - except Exception,e: - PLOG.error("配置文件'%s'保存失败,err=%s"%(self._filepath,e)) - - def changeConfValue(self,section,option,value): - if self._conf.has_section(section): - self._conf.set(section,option,value) - else: - self._conf.add_section(section) - self._conf.set(section,option,value) - - def _readvalue(self,fn,section,option,default): - result=default - if self._conf.has_section(section): - if self._conf.has_option(section,option): - result=fn(section,option) - PLOG.debug("Option[%s][%s]=%s"%(section,option,str(result))) - else: - self._conf.set(section,option,str(default)) - result=default - else: - self._conf.add_section(section) - self._conf.set(section,option,str(default)) - result=default - return result - def getstr(self,section,option,default=""): - return self._readvalue(self._conf.get, section, option, default) - def getint(self,section,option,default=0): - return self._readvalue(self._conf.getint, section, option, default) - def getfloat(self,section,option,default=0.0): - return self._readvalue(self._conf.getfloat, section, option, default) - def getboolean(self,section,option,default=False): - return self._readvalue(self._conf.getboolean, section, option, default) +#!/usr/bin/python +# -*- coding: utf-8 -*- + +import ConfigParser +from log import PLOG +import os +def getdefaultfilename(): + pass +def openconfiger(filename): + return configer(filename) +class configer: + def __init__(self,fullfilepath): + self._filepath=fullfilepath + if not os.path.isdir(os.path.dirname(fullfilepath)): + os.makedirs(os.path.dirname(fullfilepath)) + self._conf=ConfigParser.ConfigParser() + if os.path.isfile(fullfilepath): + try: + self._conf.readfp(open(fullfilepath,"r")) + except Exception,e: + PLOG.error("配置文件'%s'打开失败,err=%s"%(self._filepath,e)) + def save(self): + try: + self._conf.write(open(self._filepath,"w")) + except Exception,e: + PLOG.error("配置文件'%s'保存失败,err=%s"%(self._filepath,e)) + + def changeConfValue(self,section,option,value): + if self._conf.has_section(section): + self._conf.set(section,option,value) + else: + self._conf.add_section(section) + self._conf.set(section,option,value) + + def _readvalue(self,fn,section,option,default): + result=default + if self._conf.has_section(section): + if self._conf.has_option(section,option): + result=fn(section,option) + PLOG.debug("Option[%s][%s]=%s"%(section,option,str(result))) + else: + self._conf.set(section,option,str(default)) + result=default + else: + self._conf.add_section(section) + self._conf.set(section,option,str(default)) + result=default + return result + def getstr(self,section,option,default=""): + return self._readvalue(self._conf.get, section, option, default) + def getint(self,section,option,default=0): + return self._readvalue(self._conf.getint, section, option, default) + def getfloat(self,section,option,default=0.0): + return self._readvalue(self._conf.getfloat, section, option, default) + def getboolean(self,section,option,default=False): + return self._readvalue(self._conf.getboolean, section, option, default) diff --git a/Code/MowingRobot/PIBot_ROS/pypibot/pypibot/daemon.py b/Code/MowingRobot/pibot_ros/pypibot/pypibot/daemon.py old mode 100644 new mode 100755 similarity index 96% rename from Code/MowingRobot/PIBot_ROS/pypibot/pypibot/daemon.py rename to Code/MowingRobot/pibot_ros/pypibot/pypibot/daemon.py index 1ff78dc..1de9afa --- a/Code/MowingRobot/PIBot_ROS/pypibot/pypibot/daemon.py +++ b/Code/MowingRobot/pibot_ros/pypibot/pypibot/daemon.py @@ -1,140 +1,140 @@ -#!/usr/bin/env python -# -*- coding: utf-8 -*- - -import sys, os, time, atexit -from signal import SIGTERM - -def check_pid(pid): - """ Check For the existence of a unix pid. """ - if pid == 0:return False - try: - os.kill(pid, 0) - except OSError: - return False - else: - return True - -class daemon: - """ - A generic daemon class. - - Usage: subclass the Daemon class and override the run() method - """ - def __init__(self, pidfile, stdin='/dev/null', stdout='/dev/null', stderr='/dev/null'): - self.stdin = stdin - self.stdout = stdout - self.stderr = stderr - self.pidfile = pidfile - - def daemonize(self): - """ - do the UNIX double-fork magic, see Stevens' "Advanced - Programming in the UNIX Environment" for details (ISBN 0201563177) - http://www.erlenstar.demon.co.uk/unix/faq_2.html#SEC16 - """ - try: - pid = os.fork() - if pid > 0: - # exit first parent - sys.exit(0) - except OSError, e: - sys.stderr.write("fork #1 failed: %d (%s)\n" % (e.errno, e.strerror)) - sys.exit(1) - - # decouple from parent environment - os.chdir("/") - os.setsid() - os.umask(0) - - # do second fork - try: - pid = os.fork() - if pid > 0: - # exit from second parent - sys.exit(0) - except OSError, e: - sys.stderr.write("fork #2 failed: %d (%s)\n" % (e.errno, e.strerror)) - sys.exit(1) - - # redirect standard file descriptors - sys.stdout.flush() - sys.stderr.flush() - si = file(self.stdin, 'r') - so = file(self.stdout, 'a+') - se = file(self.stderr, 'a+', 0) - os.dup2(si.fileno(), sys.stdin.fileno()) - os.dup2(so.fileno(), sys.stdout.fileno()) - os.dup2(se.fileno(), sys.stderr.fileno()) - - # write pidfile - atexit.register(self.delpid) - pid = str(os.getpid()) - file(self.pidfile, 'w+').write("%s\n" % pid) - - def delpid(self): - os.remove(self.pidfile) - - def start(self): - """ - Start the daemon - """ - # Check for a pidfile to see if the daemon already runs - try: - pf = file(self.pidfile, 'r') - pid = int(pf.read().strip()) - pf.close() - except IOError: - pid = None - - if pid and check_pid(pid): - message = "pidfile %s already exist. Daemon already running?\n" - sys.stderr.write(message % self.pidfile) - sys.exit(1) - print("daemon start...") - # Start the daemon - self.daemonize() - self.run() - - def stop(self): - """ - Stop the daemon - """ - # Get the pid from the pidfile - try: - pf = file(self.pidfile, 'r') - pid = int(pf.read().strip()) - pf.close() - except IOError: - pid = None - - if not pid: - message = "pidfile %s does not exist. Daemon not running?\n" - sys.stderr.write(message % self.pidfile) - return # not an error in a restart - - # Try killing the daemon process - try: - while 1: - os.kill(pid, SIGTERM) - time.sleep(0.1) - except OSError, err: - err = str(err) - if err.find("No such process") > 0: - if os.path.exists(self.pidfile): - os.remove(self.pidfile) - else: - print(str(err)) - sys.exit(1) - - def restart(self): - """ - Restart the daemon - """ - self.stop() - self.start() - - def run(self): - """ - You should override this method when you subclass Daemon. It will be called after the process has been - daemonized by start() or restart(). - """ +#!/usr/bin/env python +# -*- coding: utf-8 -*- + +import sys, os, time, atexit +from signal import SIGTERM + +def check_pid(pid): + """ Check For the existence of a unix pid. """ + if pid == 0:return False + try: + os.kill(pid, 0) + except OSError: + return False + else: + return True + +class daemon: + """ + A generic daemon class. + + Usage: subclass the Daemon class and override the run() method + """ + def __init__(self, pidfile, stdin='/dev/null', stdout='/dev/null', stderr='/dev/null'): + self.stdin = stdin + self.stdout = stdout + self.stderr = stderr + self.pidfile = pidfile + + def daemonize(self): + """ + do the UNIX double-fork magic, see Stevens' "Advanced + Programming in the UNIX Environment" for details (ISBN 0201563177) + http://www.erlenstar.demon.co.uk/unix/faq_2.html#SEC16 + """ + try: + pid = os.fork() + if pid > 0: + # exit first parent + sys.exit(0) + except OSError, e: + sys.stderr.write("fork #1 failed: %d (%s)\n" % (e.errno, e.strerror)) + sys.exit(1) + + # decouple from parent environment + os.chdir("/") + os.setsid() + os.umask(0) + + # do second fork + try: + pid = os.fork() + if pid > 0: + # exit from second parent + sys.exit(0) + except OSError, e: + sys.stderr.write("fork #2 failed: %d (%s)\n" % (e.errno, e.strerror)) + sys.exit(1) + + # redirect standard file descriptors + sys.stdout.flush() + sys.stderr.flush() + si = file(self.stdin, 'r') + so = file(self.stdout, 'a+') + se = file(self.stderr, 'a+', 0) + os.dup2(si.fileno(), sys.stdin.fileno()) + os.dup2(so.fileno(), sys.stdout.fileno()) + os.dup2(se.fileno(), sys.stderr.fileno()) + + # write pidfile + atexit.register(self.delpid) + pid = str(os.getpid()) + file(self.pidfile, 'w+').write("%s\n" % pid) + + def delpid(self): + os.remove(self.pidfile) + + def start(self): + """ + Start the daemon + """ + # Check for a pidfile to see if the daemon already runs + try: + pf = file(self.pidfile, 'r') + pid = int(pf.read().strip()) + pf.close() + except IOError: + pid = None + + if pid and check_pid(pid): + message = "pidfile %s already exist. Daemon already running?\n" + sys.stderr.write(message % self.pidfile) + sys.exit(1) + print("daemon start...") + # Start the daemon + self.daemonize() + self.run() + + def stop(self): + """ + Stop the daemon + """ + # Get the pid from the pidfile + try: + pf = file(self.pidfile, 'r') + pid = int(pf.read().strip()) + pf.close() + except IOError: + pid = None + + if not pid: + message = "pidfile %s does not exist. Daemon not running?\n" + sys.stderr.write(message % self.pidfile) + return # not an error in a restart + + # Try killing the daemon process + try: + while 1: + os.kill(pid, SIGTERM) + time.sleep(0.1) + except OSError, err: + err = str(err) + if err.find("No such process") > 0: + if os.path.exists(self.pidfile): + os.remove(self.pidfile) + else: + print(str(err)) + sys.exit(1) + + def restart(self): + """ + Restart the daemon + """ + self.stop() + self.start() + + def run(self): + """ + You should override this method when you subclass Daemon. It will be called after the process has been + daemonized by start() or restart(). + """ diff --git a/Code/MowingRobot/PIBot_ROS/pypibot/pypibot/err.py b/Code/MowingRobot/pibot_ros/pypibot/pypibot/err.py old mode 100644 new mode 100755 similarity index 96% rename from Code/MowingRobot/PIBot_ROS/pypibot/pypibot/err.py rename to Code/MowingRobot/pibot_ros/pypibot/pypibot/err.py index d812de9..e2a218e --- a/Code/MowingRobot/PIBot_ROS/pypibot/pypibot/err.py +++ b/Code/MowingRobot/pibot_ros/pypibot/pypibot/err.py @@ -1,58 +1,58 @@ -#!/usr/bin/python -# -*- coding: utf-8 -*- - -# 异常类 -class PibotError(Exception): - def __init__(self, errcode, errmsg): - self.errcode = errcode - self.errmsg = errmsg - #Exception.__init__(self,self.__str__()) - - def msg(self, msg): - if not msg is None:return PibotError(self.errcode, msg) - return PibotError(8,"unknow error") - def __str__(self): - return "PibotError:%s(%d)"%(self.errmsg,self.errcode) - @property - def message(self): - return str(self) -# 声明 -# 成功 -success=PibotError(0,"null") -# 通用失败 -fail=PibotError(1,"fail") -# 参数无效 -invalidParameter=PibotError(2,"invalid parameter") -# 不支持 -noSupport=PibotError(3,"no support") -# 不存在 -noExist=PibotError(4,"no exist") -# 超时 -timeout=PibotError(5,"timeout") -# 繁忙 -busy=PibotError(6,"busy") -# 缺少参数 -missParameter=PibotError(7,"miss parameter") -# 系统错误(通用错误) -systemError=PibotError(8,"system error") -# 密码错误 -invalidPassword=PibotError(9,"invalid password") -# 编码失败 -encodeFailed=PibotError(10,"encode failed") -# 数据库操作失败 -dbOpertationFailed=PibotError(11,"db error") -# 已占用 -occupied=PibotError(12,"occupied") -# session不存在 -noSession = PibotError(13,'cannot find session') -#没有找到 -noFound = PibotError(14, "no found") -#已经存在 -existed = PibotError(15, "existed") -#已经锁定 -locked = PibotError(16, "locked") -#已经过期 -expired = PibotError(17, "is expired") -#无效的参数 -invalidParameter = PibotError(18, "invalid parameter") - +#!/usr/bin/python +# -*- coding: utf-8 -*- + +# 异常类 +class PibotError(Exception): + def __init__(self, errcode, errmsg): + self.errcode = errcode + self.errmsg = errmsg + #Exception.__init__(self,self.__str__()) + + def msg(self, msg): + if not msg is None:return PibotError(self.errcode, msg) + return PibotError(8,"unknow error") + def __str__(self): + return "PibotError:%s(%d)"%(self.errmsg,self.errcode) + @property + def message(self): + return str(self) +# 声明 +# 成功 +success=PibotError(0,"null") +# 通用失败 +fail=PibotError(1,"fail") +# 参数无效 +invalidParameter=PibotError(2,"invalid parameter") +# 不支持 +noSupport=PibotError(3,"no support") +# 不存在 +noExist=PibotError(4,"no exist") +# 超时 +timeout=PibotError(5,"timeout") +# 繁忙 +busy=PibotError(6,"busy") +# 缺少参数 +missParameter=PibotError(7,"miss parameter") +# 系统错误(通用错误) +systemError=PibotError(8,"system error") +# 密码错误 +invalidPassword=PibotError(9,"invalid password") +# 编码失败 +encodeFailed=PibotError(10,"encode failed") +# 数据库操作失败 +dbOpertationFailed=PibotError(11,"db error") +# 已占用 +occupied=PibotError(12,"occupied") +# session不存在 +noSession = PibotError(13,'cannot find session') +#没有找到 +noFound = PibotError(14, "no found") +#已经存在 +existed = PibotError(15, "existed") +#已经锁定 +locked = PibotError(16, "locked") +#已经过期 +expired = PibotError(17, "is expired") +#无效的参数 +invalidParameter = PibotError(18, "invalid parameter") + diff --git a/Code/MowingRobot/PIBot_ROS/pypibot/pypibot/log.py b/Code/MowingRobot/pibot_ros/pypibot/pypibot/log.py old mode 100644 new mode 100755 similarity index 97% rename from Code/MowingRobot/PIBot_ROS/pypibot/pypibot/log.py rename to Code/MowingRobot/pibot_ros/pypibot/pypibot/log.py index c031d4a..a172493 --- a/Code/MowingRobot/PIBot_ROS/pypibot/pypibot/log.py +++ b/Code/MowingRobot/pibot_ros/pypibot/pypibot/log.py @@ -1,259 +1,259 @@ -#!/usr/bin/python -# -*- coding: utf-8 -*- -import sys,os -import datetime -import threading -import pypibot.assistant as assistant -import platform -if assistant.is_python3(): - import _thread -else: - import thread -import traceback -""" -%a Locale’s abbreviated weekday name. -%A Locale’s full weekday name. -%b Locale’s abbreviated month name. -%B Locale’s full month name. -%c Locale’s appropriate date and time representation. -%d Day of the month as a decimal number [01,31]. -%H Hour (24-hour clock) as a decimal number [00,23]. -%I Hour (12-hour clock) as a decimal number [01,12]. -%j Day of the year as a decimal number [001,366]. -%m Month as a decimal number [01,12]. -%M Minute as a decimal number [00,59]. -%p Locale’s equivalent of either AM or PM. (1) -%S Second as a decimal number [00,61]. (2) -%U Week number of the year (Sunday as the first day of the week) as a decimal number [00,53]. All days in a new year preceding the first Sunday are considered to be in week 0. (3) -%w Weekday as a decimal number [0(Sunday),6]. -%W Week number of the year (Monday as the first day of the week) as a decimal number [00,53]. All days in a new year preceding the first Monday are considered to be in week 0. (3) -%x Locale’s appropriate date representation. -%X Locale’s appropriate time representation. -%y Year without century as a decimal number [00,99]. -%Y Year with century as a decimal number. -%Z Time zone name (no characters if no time zone exists). -%% A literal '%' character. - -""" -isWindows=False -if platform.system()=='Windows': - isWindows=True -defaultEncodeing="utf8" -if "-utf8" in sys.argv: - defaultEncodeing="utf-8" -if "-gbk" in sys.argv: - defaultEncodeing="gbk" - -TRACE=5 -DEBUG=4 -INFORMATION=3 -WARNING=2 -ERROR=1 -NONE=0 - -MAX_MSG_SIZE = 4096 - -def getLevelFromString(level): - level=level.lower() - if level=='t' or level=='trace':return 5 - elif level=='d' or level=='debug':return 4 - elif level=='i' or level=='info':return 3 - elif level=='w' or level=='wran':return 2 - elif level=='e' or level=='error':return 1 - else :return 0 -def getLevelString(level): - if level==TRACE:return "T" - elif level==DEBUG:return "D" - elif level==INFORMATION:return "I" - elif level==WARNING:return "W" - elif level==ERROR:return "E" - else:return "N" -class PibotLog: - def __init__(self): - self.isEnableControlLog=True - self.fileTemple=None - self.filePath="" - self.level=5 - self._lock=threading.RLock() - self.fd=None - self.fd_day=-1 - def setLevel(self,level): - self.level=getLevelFromString(level) - def enableControllog(self,enable): - self.isEnableControlLog=enable - def enableFileLog(self,fileName): - self.fileTemple=fileName - self.updateFilelog() - def updateFilelog(self): - fn=assistant.SF(self.fileTemple) - if fn!=self.filePath: - self.i("new log file:%s",fn) - if self.fd: - self.fd.close() - self.fd=None - self.fd_day=-1 - self.filePath="" - try: - path=os.path.dirname(fn) - if path!="" and not os.path.isdir(path):os.makedirs(path) - self.fd=open(fn,mode="w") - try: - linkfn = fn.split(".log.", 1)[0] + ".INFO" - if os.path.exists(linkfn): - os.remove(linkfn) - (filepath, tempfilename) = os.path.split(fn) - os.symlink(tempfilename, linkfn) - except: - pass - self.fd_day=datetime.datetime.now().day - self.filePath=fn - except Exception as e: - print("open file fail!file=%s,err=%s"%(fn,e)) - def _output(self,level,msg,args): - if self.level0: - t=[] - for arg in args: - if isinstance(arg,Exception): - t.append(traceback.format_exc(arg).decode('utf-8')) - elif isinstance(arg,bytes) : - t.append(arg.decode('utf-8')) - else: - t.append(arg) - args=tuple(t) - try: - msg=msg%args - except: - try: - for arg in args: - msg=msg+str(arg)+" " - except Exception as e: - msg=msg+"==LOG ERROR==>%s"%(e) - if len(msg)>MAX_MSG_SIZE:msg=msg[0:MAX_MSG_SIZE] - now=datetime.datetime.now() - msg=msg+"\r\n" - if assistant.is_python3(): - id = _thread.get_ident() - else: - id = thread.get_ident() - s="[%s] %04d-%02d-%02d %02d:%02d:%02d.%03d (0x%04X):%s"%(getLevelString(level),now.year,now.month,now.day,now.hour,now.minute,now.second,now.microsecond/1000,(id>>8)&0xffff,msg) - prefix='' - suffix='' - if not isWindows: - suffix='\033[0m' - if level==TRACE: - prefix='\033[0;37m' - elif level==DEBUG: - prefix='\033[1m' - elif level==INFORMATION: - prefix='\033[0;32m' - elif level==WARNING: - prefix='\033[0;33m' - elif level==ERROR: - prefix='\033[0;31m' - else: - pass - self._lock.acquire() - try: - if self.isEnableControlLog: - sys.stdout.write((prefix+s+suffix)) - if self.fd: - if self.fd_day!=now.day: - self.updateFilelog() - if assistant.is_python3(): - self.fd.write(s) - else: - self.fd.write(s.encode('utf-8')) - self.fd.flush() - finally: - self._lock.release() - except Exception as e: - if assistant.is_python3(): - print(e) - else: - print("PibotLog._output crash!err=%s"%traceback.format_exc(e)) - - def trace(self,msg,*args): - self._output(TRACE,msg,args) - def t(self,msg,*args): - self._output(TRACE,msg,args) - def debug(self,msg,*args): - self._output(DEBUG, msg,args) - def d(self,msg,*args): - self._output(DEBUG, msg,args) - def info(self,msg,*args): - self._output(INFORMATION, msg,args) - def i(self,msg,*args): - self._output(INFORMATION, msg,args) - def warn(self,msg,*args): - self._output(WARNING, msg,args) - def w(self,msg,*args): - self._output(WARNING, msg,args) - def error(self,msg,*args): - self._output(ERROR, msg,args) - def e(self,msg,*args): - self._output(ERROR, msg,args) - def _log(self,level,msg,args): - self._output(level, msg,args) - def createNamedLog(self,name): - return NamedLog(name) -log=PibotLog() -class NamedLog: - def __init__(self,name=None): - global log - self.name='' - if name: - self.name='['+name+']' - self.log=log - def trace(self,msg,*args): - msg=self.name+msg - self.log._log(TRACE,msg,args) - def t(self,msg,*args): - msg=self.name+msg - self.log._log(TRACE,msg,args) - def debug(self,msg,*args): - msg=self.name+msg - self.log._log(DEBUG, msg,args) - def d(self,msg,*args): - msg=self.name+msg - self.log._log(DEBUG, msg,args) - def info(self,msg,*args): - msg=self.name+msg - self.log._log(INFORMATION, msg,args) - def i(self,msg,*args): - msg=self.name+msg - self.log._log(INFORMATION, msg,args) - def warn(self,msg,*args): - msg=self.name+msg - self.log._log(WARNING, msg,args) - def w(self,msg,*args): - msg=self.name+msg - self.log._log(WARNING, msg,args) - def error(self,msg,*args): - msg=self.name+msg - self.log._log(ERROR, msg,args) - def e(self,msg,*args): - msg=self.name+msg - self.log._log(ERROR, msg,args) - -if __name__ == "__main__": - log.trace("1%s","hello") - log.debug("2%d",12) - try: - raise Exception("EXC") - except Exception as e: - log.info("3%s",e) - log.warn("1") - log.error("1") - #log.enableFileLog("$(scriptpath)test_$(Date8)_$(filenumber2).log") - log.trace("1") - log.debug("1") - log.info("1") - log.warn("1") - log.error("1") - log=NamedLog("test") - log.d("1") - log.i("1") - log.warn("1") - log.error("1=%d,%s",100,e) +#!/usr/bin/python +# -*- coding: utf-8 -*- +import sys,os +import datetime +import threading +import pypibot.assistant as assistant +import platform +if assistant.is_python3(): + import _thread +else: + import thread +import traceback +""" +%a Locale’s abbreviated weekday name. +%A Locale’s full weekday name. +%b Locale’s abbreviated month name. +%B Locale’s full month name. +%c Locale’s appropriate date and time representation. +%d Day of the month as a decimal number [01,31]. +%H Hour (24-hour clock) as a decimal number [00,23]. +%I Hour (12-hour clock) as a decimal number [01,12]. +%j Day of the year as a decimal number [001,366]. +%m Month as a decimal number [01,12]. +%M Minute as a decimal number [00,59]. +%p Locale’s equivalent of either AM or PM. (1) +%S Second as a decimal number [00,61]. (2) +%U Week number of the year (Sunday as the first day of the week) as a decimal number [00,53]. All days in a new year preceding the first Sunday are considered to be in week 0. (3) +%w Weekday as a decimal number [0(Sunday),6]. +%W Week number of the year (Monday as the first day of the week) as a decimal number [00,53]. All days in a new year preceding the first Monday are considered to be in week 0. (3) +%x Locale’s appropriate date representation. +%X Locale’s appropriate time representation. +%y Year without century as a decimal number [00,99]. +%Y Year with century as a decimal number. +%Z Time zone name (no characters if no time zone exists). +%% A literal '%' character. + +""" +isWindows=False +if platform.system()=='Windows': + isWindows=True +defaultEncodeing="utf8" +if "-utf8" in sys.argv: + defaultEncodeing="utf-8" +if "-gbk" in sys.argv: + defaultEncodeing="gbk" + +TRACE=5 +DEBUG=4 +INFORMATION=3 +WARNING=2 +ERROR=1 +NONE=0 + +MAX_MSG_SIZE = 4096 + +def getLevelFromString(level): + level=level.lower() + if level=='t' or level=='trace':return 5 + elif level=='d' or level=='debug':return 4 + elif level=='i' or level=='info':return 3 + elif level=='w' or level=='wran':return 2 + elif level=='e' or level=='error':return 1 + else :return 0 +def getLevelString(level): + if level==TRACE:return "T" + elif level==DEBUG:return "D" + elif level==INFORMATION:return "I" + elif level==WARNING:return "W" + elif level==ERROR:return "E" + else:return "N" +class PibotLog: + def __init__(self): + self.isEnableControlLog=True + self.fileTemple=None + self.filePath="" + self.level=5 + self._lock=threading.RLock() + self.fd=None + self.fd_day=-1 + def setLevel(self,level): + self.level=getLevelFromString(level) + def enableControllog(self,enable): + self.isEnableControlLog=enable + def enableFileLog(self,fileName): + self.fileTemple=fileName + self.updateFilelog() + def updateFilelog(self): + fn=assistant.SF(self.fileTemple) + if fn!=self.filePath: + self.i("new log file:%s",fn) + if self.fd: + self.fd.close() + self.fd=None + self.fd_day=-1 + self.filePath="" + try: + path=os.path.dirname(fn) + if path!="" and not os.path.isdir(path):os.makedirs(path) + self.fd=open(fn,mode="w") + try: + linkfn = fn.split(".log.", 1)[0] + ".INFO" + if os.path.exists(linkfn): + os.remove(linkfn) + (filepath, tempfilename) = os.path.split(fn) + os.symlink(tempfilename, linkfn) + except: + pass + self.fd_day=datetime.datetime.now().day + self.filePath=fn + except Exception as e: + print("open file fail!file=%s,err=%s"%(fn,e)) + def _output(self,level,msg,args): + if self.level0: + t=[] + for arg in args: + if isinstance(arg,Exception): + t.append(traceback.format_exc(arg).decode('utf-8')) + elif isinstance(arg,bytes) : + t.append(arg.decode('utf-8')) + else: + t.append(arg) + args=tuple(t) + try: + msg=msg%args + except: + try: + for arg in args: + msg=msg+str(arg)+" " + except Exception as e: + msg=msg+"==LOG ERROR==>%s"%(e) + if len(msg)>MAX_MSG_SIZE:msg=msg[0:MAX_MSG_SIZE] + now=datetime.datetime.now() + msg=msg+"\r\n" + if assistant.is_python3(): + id = _thread.get_ident() + else: + id = thread.get_ident() + s="[%s] %04d-%02d-%02d %02d:%02d:%02d.%03d (0x%04X):%s"%(getLevelString(level),now.year,now.month,now.day,now.hour,now.minute,now.second,now.microsecond/1000,(id>>8)&0xffff,msg) + prefix='' + suffix='' + if not isWindows: + suffix='\033[0m' + if level==TRACE: + prefix='\033[0;37m' + elif level==DEBUG: + prefix='\033[1m' + elif level==INFORMATION: + prefix='\033[0;32m' + elif level==WARNING: + prefix='\033[0;33m' + elif level==ERROR: + prefix='\033[0;31m' + else: + pass + self._lock.acquire() + try: + if self.isEnableControlLog: + sys.stdout.write((prefix+s+suffix)) + if self.fd: + if self.fd_day!=now.day: + self.updateFilelog() + if assistant.is_python3(): + self.fd.write(s) + else: + self.fd.write(s.encode('utf-8')) + self.fd.flush() + finally: + self._lock.release() + except Exception as e: + if assistant.is_python3(): + print(e) + else: + print("PibotLog._output crash!err=%s"%traceback.format_exc(e)) + + def trace(self,msg,*args): + self._output(TRACE,msg,args) + def t(self,msg,*args): + self._output(TRACE,msg,args) + def debug(self,msg,*args): + self._output(DEBUG, msg,args) + def d(self,msg,*args): + self._output(DEBUG, msg,args) + def info(self,msg,*args): + self._output(INFORMATION, msg,args) + def i(self,msg,*args): + self._output(INFORMATION, msg,args) + def warn(self,msg,*args): + self._output(WARNING, msg,args) + def w(self,msg,*args): + self._output(WARNING, msg,args) + def error(self,msg,*args): + self._output(ERROR, msg,args) + def e(self,msg,*args): + self._output(ERROR, msg,args) + def _log(self,level,msg,args): + self._output(level, msg,args) + def createNamedLog(self,name): + return NamedLog(name) +log=PibotLog() +class NamedLog: + def __init__(self,name=None): + global log + self.name='' + if name: + self.name='['+name+']' + self.log=log + def trace(self,msg,*args): + msg=self.name+msg + self.log._log(TRACE,msg,args) + def t(self,msg,*args): + msg=self.name+msg + self.log._log(TRACE,msg,args) + def debug(self,msg,*args): + msg=self.name+msg + self.log._log(DEBUG, msg,args) + def d(self,msg,*args): + msg=self.name+msg + self.log._log(DEBUG, msg,args) + def info(self,msg,*args): + msg=self.name+msg + self.log._log(INFORMATION, msg,args) + def i(self,msg,*args): + msg=self.name+msg + self.log._log(INFORMATION, msg,args) + def warn(self,msg,*args): + msg=self.name+msg + self.log._log(WARNING, msg,args) + def w(self,msg,*args): + msg=self.name+msg + self.log._log(WARNING, msg,args) + def error(self,msg,*args): + msg=self.name+msg + self.log._log(ERROR, msg,args) + def e(self,msg,*args): + msg=self.name+msg + self.log._log(ERROR, msg,args) + +if __name__ == "__main__": + log.trace("1%s","hello") + log.debug("2%d",12) + try: + raise Exception("EXC") + except Exception as e: + log.info("3%s",e) + log.warn("1") + log.error("1") + #log.enableFileLog("$(scriptpath)test_$(Date8)_$(filenumber2).log") + log.trace("1") + log.debug("1") + log.info("1") + log.warn("1") + log.error("1") + log=NamedLog("test") + log.d("1") + log.i("1") + log.warn("1") + log.error("1=%d,%s",100,e) diff --git a/Code/MowingRobot/PIBot_ROS/pypibot/pypibot/mapconvert.py b/Code/MowingRobot/pibot_ros/pypibot/pypibot/mapconvert.py old mode 100644 new mode 100755 similarity index 100% rename from Code/MowingRobot/PIBot_ROS/pypibot/pypibot/mapconvert.py rename to Code/MowingRobot/pibot_ros/pypibot/pypibot/mapconvert.py diff --git a/Code/MowingRobot/PIBot_ROS/pypibot/pypibot/proxy.py b/Code/MowingRobot/pibot_ros/pypibot/pypibot/proxy.py old mode 100644 new mode 100755 similarity index 100% rename from Code/MowingRobot/PIBot_ROS/pypibot/pypibot/proxy.py rename to Code/MowingRobot/pibot_ros/pypibot/pypibot/proxy.py diff --git a/Code/MowingRobot/PIBot_ROS/pypibot/transport/dataholder.py b/Code/MowingRobot/pibot_ros/pypibot/transport/dataholder.py old mode 100644 new mode 100755 similarity index 96% rename from Code/MowingRobot/PIBot_ROS/pypibot/transport/dataholder.py rename to Code/MowingRobot/pibot_ros/pypibot/transport/dataholder.py index 51796a2..743f68e --- a/Code/MowingRobot/PIBot_ROS/pypibot/transport/dataholder.py +++ b/Code/MowingRobot/pibot_ros/pypibot/transport/dataholder.py @@ -1,240 +1,240 @@ -import struct - -params_size=29 - -# main board -class MessageID: - ID_GET_VERSION = 0 - ID_SET_ROBOT_PARAMETER = 1 - ID_GET_ROBOT_PARAMETER = 2 - ID_INIT_ODOM = 3 - ID_SET_VEL = 4 - ID_GET_ODOM = 5 - ID_GET_PID_DEBUG = 6 - ID_GET_IMU = 7 - ID_GET_ENCODER_COUNT = 8 - ID_SET_MOTOR_PWM = 9 - -class RobotMessage: - def pack(self): - return b'' - - def unpack(self): - return True - -class RobotFirmwareInfo(RobotMessage): - def __init__(self): - self.version = '' - self.build_time = '' - - def unpack(self, data): - try: - upk = struct.unpack('16s16s', bytes(data)) - except: - return False - [self.version, self.build_time] = upk - return True - -class RobotImuType: - IMU_TYPE_GY65 = 49 - IMU_TYPE_GY85 = 69 - IMU_TYPE_GY87 = 71 - -class RobotModelType: - MODEL_TYPE_2WD_DIFF = 1 - MODEL_TYPE_4WD_DIFF = 2 - MODEL_TYPE_3WD_OMNI = 101 - MODEL_TYPE_4WD_OMNI = 102 - MODEL_TYPE_4WD_MECANUM = 201 - -class RobotParameters(): - def __init__(self, wheel_diameter=0, \ - wheel_track=0, \ - encoder_resolution=0, \ - do_pid_interval=0, \ - kp=0, \ - ki=0, \ - kd=0, \ - ko=0, \ - cmd_last_time=0, \ - max_v_liner_x=0, \ - max_v_liner_y=0, \ - max_v_angular_z=0, \ - imu_type=0, \ - motor_ratio=0, \ - model_type=0, \ - motor_nonexchange_flag=255, \ - encoder_nonexchange_flag=255, \ - ): - self.wheel_diameter = wheel_diameter - self.wheel_track = wheel_track - self.encoder_resolution = encoder_resolution - self.do_pid_interval = do_pid_interval - self.kp = kp - self.ki = ki - self.kd = kd - self.ko = ko - self.cmd_last_time = cmd_last_time - self.max_v_liner_x = max_v_liner_x - self.max_v_liner_y = max_v_liner_y - self.max_v_angular_z = max_v_angular_z - self.imu_type = imu_type - self.motor_ratio = motor_ratio - self.model_type = model_type - self.motor_nonexchange_flag = motor_nonexchange_flag - self.encoder_nonexchange_flag = encoder_nonexchange_flag - reserve=b'\xff' - self.reserve=b'' - for i in range(64-params_size): - self.reserve+=reserve -robotParam = RobotParameters() - -class GetRobotParameters(RobotMessage): - def __init__(self): - self.param = robotParam - - def unpack(self, data): - #print(bytes(data), len(bytes(data))) - upk = struct.unpack('<3H1B8H1B1H3B%ds'%(64-params_size), bytes(data)) - - [self.param.wheel_diameter, - self.param.wheel_track, - self.param.encoder_resolution, - self.param.do_pid_interval, - self.param.kp, - self.param.ki, - self.param.kd, - self.param.ko, - self.param.cmd_last_time, - self.param.max_v_liner_x, - self.param.max_v_liner_y, - self.param.max_v_angular_z, - self.param.imu_type, - self.param.motor_ratio, - self.param.model_type, - self.param.motor_nonexchange_flag, - self.param.encoder_nonexchange_flag, - self.param.reserve] = upk - return True - -class SetRobotParameters(RobotMessage): - def __init__(self): - self.param = robotParam - - def pack(self): - data = [self.param.wheel_diameter, - self.param.wheel_track, - self.param.encoder_resolution, - self.param.do_pid_interval, - self.param.kp, - self.param.ki, - self.param.kd, - self.param.ko, - self.param.cmd_last_time, - self.param.max_v_liner_x, - self.param.max_v_liner_y, - self.param.max_v_angular_z, - self.param.imu_type, - self.param.motor_ratio, - self.param.model_type, - self.param.motor_nonexchange_flag, - self.param.encoder_nonexchange_flag, - self.param.reserve] - - print(data) - pk = struct.pack('<3H1B8H1B1H3B%ds'%(64-(3*2+1+8*2+1+2+3)), *data) - return pk - - def unpack(self, data): - return True - -class RobotVel(RobotMessage): - def __init__(self): - self.v_liner_x = 0 - self.v_liner_y = 0 - self.v_angular_z = 0 - - def pack(self): - data = [self.v_liner_x, - self.v_liner_y, - self.v_angular_z] - pk = struct.pack('3h', *data) - return pk - - def unpack(self, data): - return True - -#todo the rest of the message classes -class RobotOdom(RobotMessage): - def __init__(self): - self.v_liner_x = 0 - self.v_liner_y = 0 - self.v_angular_z = 0 - self.x = 0 - self.y = 0 - self.yaw = 0 - - def unpack(self, data): - try: - upk = struct.unpack('<3H2l1H', bytes(data)) - except: - return False - [self.v_liner_x, - self.v_liner_y, - self.v_angular_z, - self.x, - self.y, - self.yaw] = upk - return True - -class RobotPIDData(RobotMessage): - pass - -class RobotIMU(RobotMessage): - def __init__(self): - self.imu = [0]*9 - - def unpack(self, data): - try: - upk = struct.unpack('<9f', bytes(data)) - except: - return False - - self.imu = upk - return True - -class RobotEncoderCount(RobotMessage): - def __init__(self): - self.encoder = [0]*4 - - def unpack(self, data): - try: - upk = struct.unpack('<4f', bytes(data)) - except: - return False - - self.encoder = upk - return True - -class RobotMotorPWM(RobotMessage): - def __init__(self): - self.pwm = [0]*4 - - def pack(self): - pk = struct.pack('4h', *self.pwm) - return pk - - def unpack(self, data): - return True - -BoardDataDict = {MessageID.ID_GET_VERSION:RobotFirmwareInfo(), - MessageID.ID_GET_ROBOT_PARAMETER:GetRobotParameters(), - MessageID.ID_SET_ROBOT_PARAMETER:SetRobotParameters(), - MessageID.ID_SET_VEL:RobotVel(), - MessageID.ID_GET_ODOM:RobotOdom(), - MessageID.ID_GET_PID_DEBUG: RobotPIDData(), - MessageID.ID_GET_IMU: RobotIMU(), - MessageID.ID_GET_ENCODER_COUNT: RobotEncoderCount(), - MessageID.ID_SET_MOTOR_PWM: RobotMotorPWM(), - } - +import struct + +params_size=29 + +# main board +class MessageID: + ID_GET_VERSION = 0 + ID_SET_ROBOT_PARAMETER = 1 + ID_GET_ROBOT_PARAMETER = 2 + ID_INIT_ODOM = 3 + ID_SET_VEL = 4 + ID_GET_ODOM = 5 + ID_GET_PID_DEBUG = 6 + ID_GET_IMU = 7 + ID_GET_ENCODER_COUNT = 8 + ID_SET_MOTOR_PWM = 9 + +class RobotMessage: + def pack(self): + return b'' + + def unpack(self): + return True + +class RobotFirmwareInfo(RobotMessage): + def __init__(self): + self.version = '' + self.build_time = '' + + def unpack(self, data): + try: + upk = struct.unpack('16s16s', bytes(data)) + except: + return False + [self.version, self.build_time] = upk + return True + +class RobotImuType: + IMU_TYPE_GY65 = 49 + IMU_TYPE_GY85 = 69 + IMU_TYPE_GY87 = 71 + +class RobotModelType: + MODEL_TYPE_2WD_DIFF = 1 + MODEL_TYPE_4WD_DIFF = 2 + MODEL_TYPE_3WD_OMNI = 101 + MODEL_TYPE_4WD_OMNI = 102 + MODEL_TYPE_4WD_MECANUM = 201 + +class RobotParameters(): + def __init__(self, wheel_diameter=0, \ + wheel_track=0, \ + encoder_resolution=0, \ + do_pid_interval=0, \ + kp=0, \ + ki=0, \ + kd=0, \ + ko=0, \ + cmd_last_time=0, \ + max_v_liner_x=0, \ + max_v_liner_y=0, \ + max_v_angular_z=0, \ + imu_type=0, \ + motor_ratio=0, \ + model_type=0, \ + motor_nonexchange_flag=255, \ + encoder_nonexchange_flag=255, \ + ): + self.wheel_diameter = wheel_diameter + self.wheel_track = wheel_track + self.encoder_resolution = encoder_resolution + self.do_pid_interval = do_pid_interval + self.kp = kp + self.ki = ki + self.kd = kd + self.ko = ko + self.cmd_last_time = cmd_last_time + self.max_v_liner_x = max_v_liner_x + self.max_v_liner_y = max_v_liner_y + self.max_v_angular_z = max_v_angular_z + self.imu_type = imu_type + self.motor_ratio = motor_ratio + self.model_type = model_type + self.motor_nonexchange_flag = motor_nonexchange_flag + self.encoder_nonexchange_flag = encoder_nonexchange_flag + reserve=b'\xff' + self.reserve=b'' + for i in range(64-params_size): + self.reserve+=reserve +robotParam = RobotParameters() + +class GetRobotParameters(RobotMessage): + def __init__(self): + self.param = robotParam + + def unpack(self, data): + #print(bytes(data), len(bytes(data))) + upk = struct.unpack('<3H1B8H1B1H3B%ds'%(64-params_size), bytes(data)) + + [self.param.wheel_diameter, + self.param.wheel_track, + self.param.encoder_resolution, + self.param.do_pid_interval, + self.param.kp, + self.param.ki, + self.param.kd, + self.param.ko, + self.param.cmd_last_time, + self.param.max_v_liner_x, + self.param.max_v_liner_y, + self.param.max_v_angular_z, + self.param.imu_type, + self.param.motor_ratio, + self.param.model_type, + self.param.motor_nonexchange_flag, + self.param.encoder_nonexchange_flag, + self.param.reserve] = upk + return True + +class SetRobotParameters(RobotMessage): + def __init__(self): + self.param = robotParam + + def pack(self): + data = [self.param.wheel_diameter, + self.param.wheel_track, + self.param.encoder_resolution, + self.param.do_pid_interval, + self.param.kp, + self.param.ki, + self.param.kd, + self.param.ko, + self.param.cmd_last_time, + self.param.max_v_liner_x, + self.param.max_v_liner_y, + self.param.max_v_angular_z, + self.param.imu_type, + self.param.motor_ratio, + self.param.model_type, + self.param.motor_nonexchange_flag, + self.param.encoder_nonexchange_flag, + self.param.reserve] + + print(data) + pk = struct.pack('<3H1B8H1B1H3B%ds'%(64-(3*2+1+8*2+1+2+3)), *data) + return pk + + def unpack(self, data): + return True + +class RobotVel(RobotMessage): + def __init__(self): + self.v_liner_x = 0 + self.v_liner_y = 0 + self.v_angular_z = 0 + + def pack(self): + data = [self.v_liner_x, + self.v_liner_y, + self.v_angular_z] + pk = struct.pack('3h', *data) + return pk + + def unpack(self, data): + return True + +#todo the rest of the message classes +class RobotOdom(RobotMessage): + def __init__(self): + self.v_liner_x = 0 + self.v_liner_y = 0 + self.v_angular_z = 0 + self.x = 0 + self.y = 0 + self.yaw = 0 + + def unpack(self, data): + try: + upk = struct.unpack('<3H2l1H', bytes(data)) + except: + return False + [self.v_liner_x, + self.v_liner_y, + self.v_angular_z, + self.x, + self.y, + self.yaw] = upk + return True + +class RobotPIDData(RobotMessage): + pass + +class RobotIMU(RobotMessage): + def __init__(self): + self.imu = [0]*9 + + def unpack(self, data): + try: + upk = struct.unpack('<9f', bytes(data)) + except: + return False + + self.imu = upk + return True + +class RobotEncoderCount(RobotMessage): + def __init__(self): + self.encoder = [0]*4 + + def unpack(self, data): + try: + upk = struct.unpack('<4f', bytes(data)) + except: + return False + + self.encoder = upk + return True + +class RobotMotorPWM(RobotMessage): + def __init__(self): + self.pwm = [0]*4 + + def pack(self): + pk = struct.pack('4h', *self.pwm) + return pk + + def unpack(self, data): + return True + +BoardDataDict = {MessageID.ID_GET_VERSION:RobotFirmwareInfo(), + MessageID.ID_GET_ROBOT_PARAMETER:GetRobotParameters(), + MessageID.ID_SET_ROBOT_PARAMETER:SetRobotParameters(), + MessageID.ID_SET_VEL:RobotVel(), + MessageID.ID_GET_ODOM:RobotOdom(), + MessageID.ID_GET_PID_DEBUG: RobotPIDData(), + MessageID.ID_GET_IMU: RobotIMU(), + MessageID.ID_GET_ENCODER_COUNT: RobotEncoderCount(), + MessageID.ID_SET_MOTOR_PWM: RobotMotorPWM(), + } + diff --git a/Code/MowingRobot/PIBot_ROS/pypibot/transport/main.py b/Code/MowingRobot/pibot_ros/pypibot/transport/main.py old mode 100644 new mode 100755 similarity index 97% rename from Code/MowingRobot/PIBot_ROS/pypibot/transport/main.py rename to Code/MowingRobot/pibot_ros/pypibot/transport/main.py index 6bd5515..27c8ca2 --- a/Code/MowingRobot/PIBot_ROS/pypibot/transport/main.py +++ b/Code/MowingRobot/pibot_ros/pypibot/transport/main.py @@ -1,115 +1,115 @@ -import platform -import sys -sys.path.append("..") -import pypibot -from pypibot import log -from transport import Transport -from dataholder import MessageID -import params -import time -import signal - -#for linux -port="/dev/pibot" - -#for windows -#port="com3" - -pypibot.assistant.enableGlobalExcept() -#log.enableFileLog(log_dir + "ros_$(Date8)_$(filenumber2).log") -log.setLevel("i") - -run_flag = True - -def exit(signum, frame): - global run_flag - run_flag = False - -if __name__ == '__main__': - signal.signal(signal.SIGINT, exit) - - mboard = Transport(port, params.pibotBaud) - if not mboard.start(): - log.error("can not open %s"%port) - sys.exit() - - DataHolder = mboard.getDataHolder() - - for num in range(0,3): - log.info("****************get robot version*****************") - boardVersion = DataHolder[MessageID.ID_GET_VERSION] - p = mboard.request(MessageID.ID_GET_VERSION) - if p: - log.info("firmware version:%s buildtime:%s\r\n"%(boardVersion.version.decode(), boardVersion.build_time.decode())) - break - else: - log.error('read firmware version err\r\n') - import time - time.sleep(1) - if num == 2: - log.error('please check connection or baudrate\r\n') - sys.exit() - - # get robot parameter - robotParam = DataHolder[MessageID.ID_GET_ROBOT_PARAMETER] - p = mboard.request(MessageID.ID_GET_ROBOT_PARAMETER) - if p: - log.info("model_type:%d wheel_diameter:%d wheel_track:%d encoder_resolution:%d" \ - %(robotParam.param.model_type, \ - robotParam.param.wheel_diameter, \ - robotParam.param.wheel_track, \ - robotParam.param.encoder_resolution - )) - - log.info("do_pid_interval:%d kp:%d ki:%d kd:%d ko:%d" \ - %(robotParam.param.do_pid_interval, \ - robotParam.param.kp, \ - robotParam.param.ki, \ - robotParam.param.kd, \ - robotParam.param.ko)) - - log.info("cmd_last_time:%d imu_type:%d" \ - %(robotParam.param.cmd_last_time,\ - robotParam.param.imu_type - )) - - log.info("max_v:%d %d %d\r\n" \ - %(robotParam.param.max_v_liner_x,\ - robotParam.param.max_v_liner_y, \ - robotParam.param.max_v_angular_z - )) - - log.info("motor flag:%d encoder flag: %d\r\n" \ - %(robotParam.param.motor_nonexchange_flag,\ - robotParam.param.encoder_nonexchange_flag - )) - else: - log.error('get params err\r\n') - quit(1) - - log.info("****************get odom&imu*****************") - while run_flag: - robotOdom = DataHolder[MessageID.ID_GET_ODOM] - p = mboard.request(MessageID.ID_GET_ODOM) - if p: - log.info('request get odom success, vx=%d vy=%d vangular=%d, x=%d y=%d yaw=%d'%(robotOdom.v_liner_x, \ - robotOdom.v_liner_y, \ - robotOdom.v_angular_z, \ - robotOdom.x, \ - robotOdom.y, \ - robotOdom.yaw)) - else: - log.error('get odom err') - quit(1) - - robotIMU = DataHolder[MessageID.ID_GET_IMU].imu - p = mboard.request(MessageID.ID_GET_IMU) - if p: - log.info('get imu success, imu=[%f %f %f %f %f %f %f %f %f]'%(robotIMU[0], robotIMU[1], robotIMU[2], \ - robotIMU[3], robotIMU[4], robotIMU[5], \ - robotIMU[6], robotIMU[7], robotIMU[8])) - else: - log.error('get imu err') - quit(1) - - time.sleep(0.1) +import platform +import sys +sys.path.append("..") +import pypibot +from pypibot import log +from transport import Transport +from dataholder import MessageID +import params +import time +import signal + +#for linux +port="/dev/pibot" + +#for windows +#port="com3" + +pypibot.assistant.enableGlobalExcept() +#log.enableFileLog(log_dir + "ros_$(Date8)_$(filenumber2).log") +log.setLevel("i") + +run_flag = True + +def exit(signum, frame): + global run_flag + run_flag = False + +if __name__ == '__main__': + signal.signal(signal.SIGINT, exit) + + mboard = Transport(port, params.pibotBaud) + if not mboard.start(): + log.error("can not open %s"%port) + sys.exit() + + DataHolder = mboard.getDataHolder() + + for num in range(0,3): + log.info("****************get robot version*****************") + boardVersion = DataHolder[MessageID.ID_GET_VERSION] + p = mboard.request(MessageID.ID_GET_VERSION) + if p: + log.info("firmware version:%s buildtime:%s\r\n"%(boardVersion.version.decode(), boardVersion.build_time.decode())) + break + else: + log.error('read firmware version err\r\n') + import time + time.sleep(1) + if num == 2: + log.error('please check connection or baudrate\r\n') + sys.exit() + + # get robot parameter + robotParam = DataHolder[MessageID.ID_GET_ROBOT_PARAMETER] + p = mboard.request(MessageID.ID_GET_ROBOT_PARAMETER) + if p: + log.info("model_type:%d wheel_diameter:%d wheel_track:%d encoder_resolution:%d" \ + %(robotParam.param.model_type, \ + robotParam.param.wheel_diameter, \ + robotParam.param.wheel_track, \ + robotParam.param.encoder_resolution + )) + + log.info("do_pid_interval:%d kp:%d ki:%d kd:%d ko:%d" \ + %(robotParam.param.do_pid_interval, \ + robotParam.param.kp, \ + robotParam.param.ki, \ + robotParam.param.kd, \ + robotParam.param.ko)) + + log.info("cmd_last_time:%d imu_type:%d" \ + %(robotParam.param.cmd_last_time,\ + robotParam.param.imu_type + )) + + log.info("max_v:%d %d %d\r\n" \ + %(robotParam.param.max_v_liner_x,\ + robotParam.param.max_v_liner_y, \ + robotParam.param.max_v_angular_z + )) + + log.info("motor flag:%d encoder flag: %d\r\n" \ + %(robotParam.param.motor_nonexchange_flag,\ + robotParam.param.encoder_nonexchange_flag + )) + else: + log.error('get params err\r\n') + quit(1) + + log.info("****************get odom&imu*****************") + while run_flag: + robotOdom = DataHolder[MessageID.ID_GET_ODOM] + p = mboard.request(MessageID.ID_GET_ODOM) + if p: + log.info('request get odom success, vx=%d vy=%d vangular=%d, x=%d y=%d yaw=%d'%(robotOdom.v_liner_x, \ + robotOdom.v_liner_y, \ + robotOdom.v_angular_z, \ + robotOdom.x, \ + robotOdom.y, \ + robotOdom.yaw)) + else: + log.error('get odom err') + quit(1) + + robotIMU = DataHolder[MessageID.ID_GET_IMU].imu + p = mboard.request(MessageID.ID_GET_IMU) + if p: + log.info('get imu success, imu=[%f %f %f %f %f %f %f %f %f]'%(robotIMU[0], robotIMU[1], robotIMU[2], \ + robotIMU[3], robotIMU[4], robotIMU[5], \ + robotIMU[6], robotIMU[7], robotIMU[8])) + else: + log.error('get imu err') + quit(1) + + time.sleep(0.1) diff --git a/Code/MowingRobot/PIBot_ROS/pypibot/transport/params.py b/Code/MowingRobot/pibot_ros/pypibot/transport/params.py old mode 100644 new mode 100755 similarity index 97% rename from Code/MowingRobot/PIBot_ROS/pypibot/transport/params.py rename to Code/MowingRobot/pibot_ros/pypibot/transport/params.py index d87367f..c4dd80d --- a/Code/MowingRobot/PIBot_ROS/pypibot/transport/params.py +++ b/Code/MowingRobot/pibot_ros/pypibot/transport/params.py @@ -1,75 +1,75 @@ -import dataholder -import os -from dataholder import RobotImuType -from dataholder import RobotModelType - -pibotModel = os.environ['PIBOT_MODEL'] -boardType = os.environ['PIBOT_BOARD'] -pibotBaud = os.environ['PIBOT_DRIVER_BAUDRATE'] - -print(pibotModel) -print(boardType) -print(pibotBaud) - -pibotParam = dataholder.RobotParameters() - -if pibotModel == "apollo" and boardType == "arduino": - pibotParam = dataholder.RobotParameters(65, 175, 44, 10, \ - 75, 2500, 0, 10, \ - 250, 40, 0, 200, \ - RobotImuType.IMU_TYPE_GY85, 90, \ - RobotModelType.MODEL_TYPE_2WD_DIFF) -elif pibotModel == "apollo" and boardType == "stm32f1": - pibotParam = dataholder.RobotParameters(65, 175, 44, 10, \ - 320, 2700, 0, 10, \ - 250, 50, 0, 200, \ - RobotImuType.IMU_TYPE_GY87, 90, \ - RobotModelType.MODEL_TYPE_2WD_DIFF) -elif pibotModel == "apollo" and boardType == "stm32f4": - pibotParam = dataholder.RobotParameters(65, 175, 44, 10, \ - 320, 2700, 0, 10, \ - 250, 40, 0, 200, \ - RobotImuType.IMU_TYPE_GY87, 90, \ - RobotModelType.MODEL_TYPE_2WD_DIFF) -elif pibotModel == "zeus" and boardType == "stm32f4": - pibotParam = dataholder.RobotParameters(58, 230, 44, 10, \ - 320, 2700, 0, 10, \ - 250, 50, 50, 250, \ - RobotImuType.IMU_TYPE_GY87, 90, \ - RobotModelType.MODEL_TYPE_3WD_OMNI) -elif pibotModel == "hades" and boardType == "stm32f4": - pibotParam = dataholder.RobotParameters(76, 470, 44, 10, \ - 320, 2700, 0, 10, \ - 250, 50, 50, 250, \ - RobotImuType.IMU_TYPE_GY87, 90, \ - RobotModelType.MODEL_TYPE_4WD_MECANUM) -elif pibotModel == "hadesX" and boardType == "stm32f4": - pibotParam = dataholder.RobotParameters(150, 565, 44, 10, \ - 250, 2750, 0, 10, \ - 250, 50, 50, 250, \ - RobotImuType.IMU_TYPE_GY87, 72, \ - RobotModelType.MODEL_TYPE_4WD_MECANUM) -elif pibotModel == "hera" and boardType == "stm32f4": - pibotParam = dataholder.RobotParameters(82, 338, 44, 10, \ - 320, 2700, 0, 10, \ - 250, 50, 50, 250, \ - RobotImuType.IMU_TYPE_GY87, 90, \ - RobotModelType.MODEL_TYPE_4WD_DIFF) -elif pibotModel == "apolloX" and boardType == "arduino": - pibotParam = dataholder.RobotParameters(96, 350, 68, 10, \ - 75, 2500, 0, 10, \ - 250, 40, 0, 200, \ - RobotImuType.IMU_TYPE_GY85, 90, \ - RobotModelType.MODEL_TYPE_2WD_DIFF) -elif pibotModel == "apolloX" and boardType == "stm32f1": - pibotParam = dataholder.RobotParameters(96, 350, 68, 10, \ - 250, 1200, 0, 10, \ - 250, 50, 0, 200, \ - RobotImuType.IMU_TYPE_GY87, 90, \ - RobotModelType.MODEL_TYPE_2WD_DIFF) -elif pibotModel == "apolloX" and boardType == "stm32f4": - pibotParam = dataholder.RobotParameters(96, 350, 68, 10, \ - 250, 1200, 0, 10, \ - 250, 50, 0, 200, \ - RobotImuType.IMU_TYPE_GY87, 90, \ +import dataholder +import os +from dataholder import RobotImuType +from dataholder import RobotModelType + +pibotModel = os.environ['PIBOT_MODEL'] +boardType = os.environ['PIBOT_BOARD'] +pibotBaud = os.environ['PIBOT_DRIVER_BAUDRATE'] + +print(pibotModel) +print(boardType) +print(pibotBaud) + +pibotParam = dataholder.RobotParameters() + +if pibotModel == "apollo" and boardType == "arduino": + pibotParam = dataholder.RobotParameters(65, 175, 44, 10, \ + 75, 2500, 0, 10, \ + 250, 40, 0, 200, \ + RobotImuType.IMU_TYPE_GY85, 90, \ + RobotModelType.MODEL_TYPE_2WD_DIFF) +elif pibotModel == "apollo" and boardType == "stm32f1": + pibotParam = dataholder.RobotParameters(65, 175, 44, 10, \ + 320, 2700, 0, 10, \ + 250, 50, 0, 200, \ + RobotImuType.IMU_TYPE_GY87, 90, \ + RobotModelType.MODEL_TYPE_2WD_DIFF) +elif pibotModel == "apollo" and boardType == "stm32f4": + pibotParam = dataholder.RobotParameters(65, 175, 44, 10, \ + 320, 2700, 0, 10, \ + 250, 40, 0, 200, \ + RobotImuType.IMU_TYPE_GY87, 90, \ + RobotModelType.MODEL_TYPE_2WD_DIFF) +elif pibotModel == "zeus" and boardType == "stm32f4": + pibotParam = dataholder.RobotParameters(58, 230, 44, 10, \ + 320, 2700, 0, 10, \ + 250, 50, 50, 250, \ + RobotImuType.IMU_TYPE_GY87, 90, \ + RobotModelType.MODEL_TYPE_3WD_OMNI) +elif pibotModel == "hades" and boardType == "stm32f4": + pibotParam = dataholder.RobotParameters(76, 470, 44, 10, \ + 320, 2700, 0, 10, \ + 250, 50, 50, 250, \ + RobotImuType.IMU_TYPE_GY87, 90, \ + RobotModelType.MODEL_TYPE_4WD_MECANUM) +elif pibotModel == "hadesX" and boardType == "stm32f4": + pibotParam = dataholder.RobotParameters(150, 565, 44, 10, \ + 250, 2750, 0, 10, \ + 250, 50, 50, 250, \ + RobotImuType.IMU_TYPE_GY87, 72, \ + RobotModelType.MODEL_TYPE_4WD_MECANUM) +elif pibotModel == "hera" and boardType == "stm32f4": + pibotParam = dataholder.RobotParameters(82, 338, 44, 10, \ + 320, 2700, 0, 10, \ + 250, 50, 50, 250, \ + RobotImuType.IMU_TYPE_GY87, 90, \ + RobotModelType.MODEL_TYPE_4WD_DIFF) +elif pibotModel == "apolloX" and boardType == "arduino": + pibotParam = dataholder.RobotParameters(96, 350, 68, 10, \ + 75, 2500, 0, 10, \ + 250, 40, 0, 200, \ + RobotImuType.IMU_TYPE_GY85, 90, \ + RobotModelType.MODEL_TYPE_2WD_DIFF) +elif pibotModel == "apolloX" and boardType == "stm32f1": + pibotParam = dataholder.RobotParameters(96, 350, 68, 10, \ + 250, 1200, 0, 10, \ + 250, 50, 0, 200, \ + RobotImuType.IMU_TYPE_GY87, 90, \ + RobotModelType.MODEL_TYPE_2WD_DIFF) +elif pibotModel == "apolloX" and boardType == "stm32f4": + pibotParam = dataholder.RobotParameters(96, 350, 68, 10, \ + 250, 1200, 0, 10, \ + 250, 50, 0, 200, \ + RobotImuType.IMU_TYPE_GY87, 90, \ RobotModelType.MODEL_TYPE_2WD_DIFF) \ No newline at end of file diff --git a/Code/MowingRobot/PIBot_ROS/pypibot/transport/set_default_params.py b/Code/MowingRobot/pibot_ros/pypibot/transport/set_default_params.py old mode 100644 new mode 100755 similarity index 96% rename from Code/MowingRobot/PIBot_ROS/pypibot/transport/set_default_params.py rename to Code/MowingRobot/pibot_ros/pypibot/transport/set_default_params.py index 096b17c..e5acccb --- a/Code/MowingRobot/PIBot_ROS/pypibot/transport/set_default_params.py +++ b/Code/MowingRobot/pibot_ros/pypibot/transport/set_default_params.py @@ -1,90 +1,90 @@ -import platform -import sys -sys.path.append("..") -import pypibot -from pypibot import log -from transport import Transport -from dataholder import MessageID -import params - -#for linux -port="/dev/pibot" - -#for windows -#port="com3" - -pypibot.assistant.enableGlobalExcept() -#log.enableFileLog(log_dir + "ros_$(Date8)_$(filenumber2).log") -log.setLevel("i") - -if __name__ == '__main__': - mboard = Transport(port, params.pibotBaud) - if not mboard.start(): - log.error("can not open %s"%port) - sys.exit() - - DataHolder = mboard.getDataHolder() - - for num in range(0,3): - log.info("****************get robot version*****************") - boardVersion = DataHolder[MessageID.ID_GET_VERSION] - p = mboard.request(MessageID.ID_GET_VERSION) - if p: - log.info("firmware version:%s buildtime:%s\r\n"%(boardVersion.version.decode(), boardVersion.build_time.decode())) - break - else: - log.error('read firmware version err\r\n') - import time - time.sleep(1) - if num == 2: - log.error('please check connection or baudrate\r\n') - sys.exit() - - # set robot parameter - log.info("****************set robot parameter*****************") - - DataHolder[MessageID.ID_SET_ROBOT_PARAMETER].param = params.pibotParam - - p = mboard.request(MessageID.ID_SET_ROBOT_PARAMETER) - if p: - log.info('set parameter success') - else: - log.error('set parameter err') - quit(1) - - # get robot parameter - robotParam = DataHolder[MessageID.ID_GET_ROBOT_PARAMETER] - p = mboard.request(MessageID.ID_GET_ROBOT_PARAMETER) - if p: - log.info("model_type:%d wheel_diameter:%d wheel_track:%d encoder_resolution:%d" \ - %(robotParam.param.model_type, \ - robotParam.param.wheel_diameter, \ - robotParam.param.wheel_track, \ - robotParam.param.encoder_resolution - )) - - log.info("do_pid_interval:%d kp:%d ki:%d kd:%d ko:%d" \ - %(robotParam.param.do_pid_interval, \ - robotParam.param.kp, \ - robotParam.param.ki, \ - robotParam.param.kd, \ - robotParam.param.ko)) - - log.info("cmd_last_time:%d imu_type:%d" \ - %(robotParam.param.cmd_last_time,\ - robotParam.param.imu_type - )) - - log.info("max_v:%d %d %d\r\n" \ - %(robotParam.param.max_v_liner_x,\ - robotParam.param.max_v_liner_y, \ - robotParam.param.max_v_angular_z - )) - - log.info("motor flag:%d encoder flag: %d\r\n" \ - %(robotParam.param.motor_nonexchange_flag,\ - robotParam.param.encoder_nonexchange_flag - )) - else: - log.error('get param err\r\n') +import platform +import sys +sys.path.append("..") +import pypibot +from pypibot import log +from transport import Transport +from dataholder import MessageID +import params + +#for linux +port="/dev/pibot" + +#for windows +#port="com3" + +pypibot.assistant.enableGlobalExcept() +#log.enableFileLog(log_dir + "ros_$(Date8)_$(filenumber2).log") +log.setLevel("i") + +if __name__ == '__main__': + mboard = Transport(port, params.pibotBaud) + if not mboard.start(): + log.error("can not open %s"%port) + sys.exit() + + DataHolder = mboard.getDataHolder() + + for num in range(0,3): + log.info("****************get robot version*****************") + boardVersion = DataHolder[MessageID.ID_GET_VERSION] + p = mboard.request(MessageID.ID_GET_VERSION) + if p: + log.info("firmware version:%s buildtime:%s\r\n"%(boardVersion.version.decode(), boardVersion.build_time.decode())) + break + else: + log.error('read firmware version err\r\n') + import time + time.sleep(1) + if num == 2: + log.error('please check connection or baudrate\r\n') + sys.exit() + + # set robot parameter + log.info("****************set robot parameter*****************") + + DataHolder[MessageID.ID_SET_ROBOT_PARAMETER].param = params.pibotParam + + p = mboard.request(MessageID.ID_SET_ROBOT_PARAMETER) + if p: + log.info('set parameter success') + else: + log.error('set parameter err') + quit(1) + + # get robot parameter + robotParam = DataHolder[MessageID.ID_GET_ROBOT_PARAMETER] + p = mboard.request(MessageID.ID_GET_ROBOT_PARAMETER) + if p: + log.info("model_type:%d wheel_diameter:%d wheel_track:%d encoder_resolution:%d" \ + %(robotParam.param.model_type, \ + robotParam.param.wheel_diameter, \ + robotParam.param.wheel_track, \ + robotParam.param.encoder_resolution + )) + + log.info("do_pid_interval:%d kp:%d ki:%d kd:%d ko:%d" \ + %(robotParam.param.do_pid_interval, \ + robotParam.param.kp, \ + robotParam.param.ki, \ + robotParam.param.kd, \ + robotParam.param.ko)) + + log.info("cmd_last_time:%d imu_type:%d" \ + %(robotParam.param.cmd_last_time,\ + robotParam.param.imu_type + )) + + log.info("max_v:%d %d %d\r\n" \ + %(robotParam.param.max_v_liner_x,\ + robotParam.param.max_v_liner_y, \ + robotParam.param.max_v_angular_z + )) + + log.info("motor flag:%d encoder flag: %d\r\n" \ + %(robotParam.param.motor_nonexchange_flag,\ + robotParam.param.encoder_nonexchange_flag + )) + else: + log.error('get param err\r\n') quit(1) \ No newline at end of file diff --git a/Code/MowingRobot/PIBot_ROS/pypibot/transport/test_motors.py b/Code/MowingRobot/pibot_ros/pypibot/transport/test_motors.py old mode 100644 new mode 100755 similarity index 96% rename from Code/MowingRobot/PIBot_ROS/pypibot/transport/test_motors.py rename to Code/MowingRobot/pibot_ros/pypibot/transport/test_motors.py index d5e0daa..2c118f2 --- a/Code/MowingRobot/PIBot_ROS/pypibot/transport/test_motors.py +++ b/Code/MowingRobot/pibot_ros/pypibot/transport/test_motors.py @@ -1,122 +1,122 @@ -import platform -import sys -sys.path.append("..") -import pypibot -from pypibot import log -from transport import Transport -from dataholder import MessageID -import params -import signal - -#for linux -port="/dev/pibot" - -#for windows -#port="com3" - -pypibot.assistant.enableGlobalExcept() -#log.enableFileLog(log_dir + "ros_$(Date8)_$(filenumber2).log") -log.setLevel("i") - -run_flag = True - -def exit(signum, frame): - global run_flag - run_flag = False - -if __name__ == '__main__': - signal.signal(signal.SIGINT, exit) - - mboard = Transport(port, params.pibotBaud) - if not mboard.start(): - log.error("can not open %s"%port) - sys.exit() - - pwm=[0]*4 - for i in range(len(sys.argv)-1): - pwm[i] = int(sys.argv[i+1]) - - DataHolder = mboard.getDataHolder() - - for num in range(0,3): - log.info("****************get robot version*****************") - boardVersion = DataHolder[MessageID.ID_GET_VERSION] - p = mboard.request(MessageID.ID_GET_VERSION) - if p: - log.info("firmware version:%s buildtime:%s\r\n"%(boardVersion.version.decode(), boardVersion.build_time.decode())) - break - else: - log.error('read firmware version err\r\n') - import time - time.sleep(1) - if num == 2: - log.error('please check connection or baudrate\r\n') - sys.exit() - - # get robot parameter - robotParam = DataHolder[MessageID.ID_GET_ROBOT_PARAMETER] - p = mboard.request(MessageID.ID_GET_ROBOT_PARAMETER) - if p: - log.info("model_type:%d wheel_diameter:%d wheel_track:%d encoder_resolution:%d" \ - %(robotParam.param.model_type, \ - robotParam.param.wheel_diameter, \ - robotParam.param.wheel_track, \ - robotParam.param.encoder_resolution - )) - - log.info("do_pid_interval:%d kp:%d ki:%d kd:%d ko:%d" \ - %(robotParam.param.do_pid_interval, \ - robotParam.param.kp, \ - robotParam.param.ki, \ - robotParam.param.kd, \ - robotParam.param.ko)) - - log.info("cmd_last_time:%d imu_type:%d" \ - %(robotParam.param.cmd_last_time,\ - robotParam.param.imu_type - )) - - log.info("max_v:%d %d %d\r\n" \ - %(robotParam.param.max_v_liner_x,\ - robotParam.param.max_v_liner_y, \ - robotParam.param.max_v_angular_z - )) - - log.info("motor flag:%d encoder flag: %d\r\n" \ - %(robotParam.param.motor_nonexchange_flag,\ - robotParam.param.encoder_nonexchange_flag - )) - else: - log.error('get params err\r\n') - quit(1) - - DataHolder[MessageID.ID_SET_MOTOR_PWM].pwm = pwm - - p = mboard.request(MessageID.ID_SET_MOTOR_PWM) - if p: - log.info('set pwm success') - else: - log.error('set pwm err') - quit(1) - - log.info("****************get encoder count*****************") - while run_flag: - robotEncoder = DataHolder[MessageID.ID_GET_ENCODER_COUNT].encoder - p = mboard.request(MessageID.ID_GET_ENCODER_COUNT) - if p: - log.info('encoder count: %s'%(('\t\t').join([str(x) for x in robotEncoder]))) - else: - log.error('get encoder count err') - quit(1) - - import time - time.sleep(0.5) - - DataHolder[MessageID.ID_SET_MOTOR_PWM].pwm = [0]*4 - - p = mboard.request(MessageID.ID_SET_MOTOR_PWM) - if p: - log.info('set pwm success') - else: - log.error('set pwm err') +import platform +import sys +sys.path.append("..") +import pypibot +from pypibot import log +from transport import Transport +from dataholder import MessageID +import params +import signal + +#for linux +port="/dev/pibot" + +#for windows +#port="com3" + +pypibot.assistant.enableGlobalExcept() +#log.enableFileLog(log_dir + "ros_$(Date8)_$(filenumber2).log") +log.setLevel("i") + +run_flag = True + +def exit(signum, frame): + global run_flag + run_flag = False + +if __name__ == '__main__': + signal.signal(signal.SIGINT, exit) + + mboard = Transport(port, params.pibotBaud) + if not mboard.start(): + log.error("can not open %s"%port) + sys.exit() + + pwm=[0]*4 + for i in range(len(sys.argv)-1): + pwm[i] = int(sys.argv[i+1]) + + DataHolder = mboard.getDataHolder() + + for num in range(0,3): + log.info("****************get robot version*****************") + boardVersion = DataHolder[MessageID.ID_GET_VERSION] + p = mboard.request(MessageID.ID_GET_VERSION) + if p: + log.info("firmware version:%s buildtime:%s\r\n"%(boardVersion.version.decode(), boardVersion.build_time.decode())) + break + else: + log.error('read firmware version err\r\n') + import time + time.sleep(1) + if num == 2: + log.error('please check connection or baudrate\r\n') + sys.exit() + + # get robot parameter + robotParam = DataHolder[MessageID.ID_GET_ROBOT_PARAMETER] + p = mboard.request(MessageID.ID_GET_ROBOT_PARAMETER) + if p: + log.info("model_type:%d wheel_diameter:%d wheel_track:%d encoder_resolution:%d" \ + %(robotParam.param.model_type, \ + robotParam.param.wheel_diameter, \ + robotParam.param.wheel_track, \ + robotParam.param.encoder_resolution + )) + + log.info("do_pid_interval:%d kp:%d ki:%d kd:%d ko:%d" \ + %(robotParam.param.do_pid_interval, \ + robotParam.param.kp, \ + robotParam.param.ki, \ + robotParam.param.kd, \ + robotParam.param.ko)) + + log.info("cmd_last_time:%d imu_type:%d" \ + %(robotParam.param.cmd_last_time,\ + robotParam.param.imu_type + )) + + log.info("max_v:%d %d %d\r\n" \ + %(robotParam.param.max_v_liner_x,\ + robotParam.param.max_v_liner_y, \ + robotParam.param.max_v_angular_z + )) + + log.info("motor flag:%d encoder flag: %d\r\n" \ + %(robotParam.param.motor_nonexchange_flag,\ + robotParam.param.encoder_nonexchange_flag + )) + else: + log.error('get params err\r\n') + quit(1) + + DataHolder[MessageID.ID_SET_MOTOR_PWM].pwm = pwm + + p = mboard.request(MessageID.ID_SET_MOTOR_PWM) + if p: + log.info('set pwm success') + else: + log.error('set pwm err') + quit(1) + + log.info("****************get encoder count*****************") + while run_flag: + robotEncoder = DataHolder[MessageID.ID_GET_ENCODER_COUNT].encoder + p = mboard.request(MessageID.ID_GET_ENCODER_COUNT) + if p: + log.info('encoder count: %s'%(('\t\t').join([str(x) for x in robotEncoder]))) + else: + log.error('get encoder count err') + quit(1) + + import time + time.sleep(0.5) + + DataHolder[MessageID.ID_SET_MOTOR_PWM].pwm = [0]*4 + + p = mboard.request(MessageID.ID_SET_MOTOR_PWM) + if p: + log.info('set pwm success') + else: + log.error('set pwm err') quit(1) \ No newline at end of file diff --git a/Code/MowingRobot/PIBot_ROS/pypibot/transport/transport.py b/Code/MowingRobot/pibot_ros/pypibot/transport/transport.py old mode 100644 new mode 100755 similarity index 96% rename from Code/MowingRobot/PIBot_ROS/pypibot/transport/transport.py rename to Code/MowingRobot/pibot_ros/pypibot/transport/transport.py index 4d9a8e3..c38d5ba --- a/Code/MowingRobot/PIBot_ROS/pypibot/transport/transport.py +++ b/Code/MowingRobot/pibot_ros/pypibot/transport/transport.py @@ -1,197 +1,197 @@ -import sys -sys.path.append("..") -import pypibot -from pypibot import log -from pypibot import assistant - -import serial -import threading -import struct -import time -from dataholder import MessageID, BoardDataDict -FIX_HEAD = 0x5a - -class Recstate(): - WAITING_HD = 0 - WAITING_MSG_ID = 1 - RECEIVE_LEN = 2 - RECEIVE_PACKAGE = 3 - RECEIVE_CHECK = 4 - -def checksum(d): - sum = 0 - if assistant.is_python3(): - for i in d: - sum += i - sum = sum&0xff - else: - for i in d: - sum += ord(i) - sum = sum&0xff - return sum - - -class Transport: - def __init__(self, port, baudrate=921600): - self._Port = port - self._Baudrate = baudrate - self._KeepRunning = False - self.receive_state = Recstate.WAITING_HD - self.rev_msg = [] - self.rev_data = [] - self.wait_event = threading.Event() - - def getDataHolder(self): - return BoardDataDict - - def start(self): - try: - self._Serial = serial.Serial(port=self._Port, baudrate=self._Baudrate, timeout=0.2) - self._KeepRunning = True - self._ReceiverThread = threading.Thread(target=self._Listen) - self._ReceiverThread.setDaemon(True) - self._ReceiverThread.start() - return True - except: - return False - - def Stop(self): - self._KeepRunning = False - time.sleep(0.1) - self._Serial.close() - - def _Listen(self): - while self._KeepRunning: - if self.receiveFiniteStates(self._Serial.read()): - self.packageAnalysis() - - def receiveFiniteStates(self, s): - if len(s) == 0: - return False - val = s[0] - val_int = val - if not assistant.is_python3(): - val_int = ord(val) - - if self.receive_state == Recstate.WAITING_HD: - if val_int == FIX_HEAD: - log.trace('got head') - self.rev_msg = [] - self.rev_data =[] - self.rev_msg.append(val) - self.receive_state = Recstate.WAITING_MSG_ID - elif self.receive_state == Recstate.WAITING_MSG_ID: - log.trace('got msg id') - self.rev_msg.append(val) - self.receive_state = Recstate.RECEIVE_LEN - elif self.receive_state == Recstate.RECEIVE_LEN: - log.trace('got len:%d', val_int) - self.rev_msg.append(val) - if val_int == 0: - self.receive_state = Recstate.RECEIVE_CHECK - else: - self.receive_state = Recstate.RECEIVE_PACKAGE - elif self.receive_state == Recstate.RECEIVE_PACKAGE: - # if assistant.is_python3(): - # self.rev_data.append((chr(val)).encode('latin1')) - # else: - self.rev_data.append(val) - r = False - if assistant.is_python3(): - r = len(self.rev_data) == int(self.rev_msg[-1]) - else: - r = len(self.rev_data) == ord(self.rev_msg[-1]) - - if r: - self.rev_msg.extend(self.rev_data) - self.receive_state = Recstate.RECEIVE_CHECK - elif self.receive_state == Recstate.RECEIVE_CHECK: - log.trace('got check') - self.receive_state = Recstate.WAITING_HD - if val_int == checksum(self.rev_msg): - log.trace('got a complete message') - return True - else: - self.receive_state = Recstate.WAITING_HD - - # continue receiving - return False - - def packageAnalysis(self): - if assistant.is_python3(): - in_msg_id = int(self.rev_msg[1]) - else: - in_msg_id = ord(self.rev_msg[1]) - if assistant.is_python3(): - log.debug("recv body:" + " ".join("{:02x}".format(c) for c in self.rev_data)) - r = BoardDataDict[in_msg_id].unpack(bytes(self.rev_data)) - else: - log.debug("recv body:" + " ".join("{:02x}".format(ord(c)) for c in self.rev_data)) - r = BoardDataDict[in_msg_id].unpack(''.join(self.rev_data)) - if r: - self.res_id = in_msg_id - if in_msg_id<100: - self.set_response() - else:#notify - log.debug('msg %d'%self.rev_msg[4],'data incoming') - pass - else: - log.debug ('error unpacking pkg') - - def request(self, id, timeout=0.5): - if not self.write(id): - log.debug ('Serial send error!') - return False - if self.wait_for_response(timeout): - if id == self.res_id: - log.trace ('OK') - else: - log.error ('Got unmatched response!') - else: - log.error ('Request got no response!') - return False - # clear response - self.res_id = None - return True - - def write(self, id): - cmd = self.make_command(id) - if assistant.is_python3(): - log.d("write:" + " ".join("{:02x}".format(c) for c in cmd)) - else: - log.d("write:" + " ".join("{:02x}".format(ord(c)) for c in cmd)) - self._Serial.write(cmd) - return True - - def wait_for_response(self, timeout): - self.wait_event.clear() - return self.wait_event.wait(timeout) - - def set_response(self): - self.wait_event.set() - - def make_command(self, id): - #print(DataDict[id]) - data = BoardDataDict[id].pack() - l = [FIX_HEAD, id, len(data)] - head = struct.pack("3B", *l) - body = head + data - - if assistant.is_python3(): - return body + chr(checksum(body)).encode('latin1') - else: - return body + chr(checksum(body)) - - -if __name__ == '__main__': - - mboard = Transport('com10') - if not mboard.start(): - import sys - sys.exit() - - p = mboard.request(MessageID.ID_GET_VERSION) - log.i("result=%s"%p) - print('Version =[',mboard.getDataHolder()[MessageID.ID_GET_VERSION].version.decode(), mboard.getDataHolder()[MessageID.ID_GET_VERSION].build_time.decode(),"]\r\n") - - +import sys +sys.path.append("..") +import pypibot +from pypibot import log +from pypibot import assistant + +import serial +import threading +import struct +import time +from dataholder import MessageID, BoardDataDict +FIX_HEAD = 0x5a + +class Recstate(): + WAITING_HD = 0 + WAITING_MSG_ID = 1 + RECEIVE_LEN = 2 + RECEIVE_PACKAGE = 3 + RECEIVE_CHECK = 4 + +def checksum(d): + sum = 0 + if assistant.is_python3(): + for i in d: + sum += i + sum = sum&0xff + else: + for i in d: + sum += ord(i) + sum = sum&0xff + return sum + + +class Transport: + def __init__(self, port, baudrate=921600): + self._Port = port + self._Baudrate = baudrate + self._KeepRunning = False + self.receive_state = Recstate.WAITING_HD + self.rev_msg = [] + self.rev_data = [] + self.wait_event = threading.Event() + + def getDataHolder(self): + return BoardDataDict + + def start(self): + try: + self._Serial = serial.Serial(port=self._Port, baudrate=self._Baudrate, timeout=0.2) + self._KeepRunning = True + self._ReceiverThread = threading.Thread(target=self._Listen) + self._ReceiverThread.setDaemon(True) + self._ReceiverThread.start() + return True + except: + return False + + def Stop(self): + self._KeepRunning = False + time.sleep(0.1) + self._Serial.close() + + def _Listen(self): + while self._KeepRunning: + if self.receiveFiniteStates(self._Serial.read()): + self.packageAnalysis() + + def receiveFiniteStates(self, s): + if len(s) == 0: + return False + val = s[0] + val_int = val + if not assistant.is_python3(): + val_int = ord(val) + + if self.receive_state == Recstate.WAITING_HD: + if val_int == FIX_HEAD: + log.trace('got head') + self.rev_msg = [] + self.rev_data =[] + self.rev_msg.append(val) + self.receive_state = Recstate.WAITING_MSG_ID + elif self.receive_state == Recstate.WAITING_MSG_ID: + log.trace('got msg id') + self.rev_msg.append(val) + self.receive_state = Recstate.RECEIVE_LEN + elif self.receive_state == Recstate.RECEIVE_LEN: + log.trace('got len:%d', val_int) + self.rev_msg.append(val) + if val_int == 0: + self.receive_state = Recstate.RECEIVE_CHECK + else: + self.receive_state = Recstate.RECEIVE_PACKAGE + elif self.receive_state == Recstate.RECEIVE_PACKAGE: + # if assistant.is_python3(): + # self.rev_data.append((chr(val)).encode('latin1')) + # else: + self.rev_data.append(val) + r = False + if assistant.is_python3(): + r = len(self.rev_data) == int(self.rev_msg[-1]) + else: + r = len(self.rev_data) == ord(self.rev_msg[-1]) + + if r: + self.rev_msg.extend(self.rev_data) + self.receive_state = Recstate.RECEIVE_CHECK + elif self.receive_state == Recstate.RECEIVE_CHECK: + log.trace('got check') + self.receive_state = Recstate.WAITING_HD + if val_int == checksum(self.rev_msg): + log.trace('got a complete message') + return True + else: + self.receive_state = Recstate.WAITING_HD + + # continue receiving + return False + + def packageAnalysis(self): + if assistant.is_python3(): + in_msg_id = int(self.rev_msg[1]) + else: + in_msg_id = ord(self.rev_msg[1]) + if assistant.is_python3(): + log.debug("recv body:" + " ".join("{:02x}".format(c) for c in self.rev_data)) + r = BoardDataDict[in_msg_id].unpack(bytes(self.rev_data)) + else: + log.debug("recv body:" + " ".join("{:02x}".format(ord(c)) for c in self.rev_data)) + r = BoardDataDict[in_msg_id].unpack(''.join(self.rev_data)) + if r: + self.res_id = in_msg_id + if in_msg_id<100: + self.set_response() + else:#notify + log.debug('msg %d'%self.rev_msg[4],'data incoming') + pass + else: + log.debug ('error unpacking pkg') + + def request(self, id, timeout=0.5): + if not self.write(id): + log.debug ('Serial send error!') + return False + if self.wait_for_response(timeout): + if id == self.res_id: + log.trace ('OK') + else: + log.error ('Got unmatched response!') + else: + log.error ('Request got no response!') + return False + # clear response + self.res_id = None + return True + + def write(self, id): + cmd = self.make_command(id) + if assistant.is_python3(): + log.d("write:" + " ".join("{:02x}".format(c) for c in cmd)) + else: + log.d("write:" + " ".join("{:02x}".format(ord(c)) for c in cmd)) + self._Serial.write(cmd) + return True + + def wait_for_response(self, timeout): + self.wait_event.clear() + return self.wait_event.wait(timeout) + + def set_response(self): + self.wait_event.set() + + def make_command(self, id): + #print(DataDict[id]) + data = BoardDataDict[id].pack() + l = [FIX_HEAD, id, len(data)] + head = struct.pack("3B", *l) + body = head + data + + if assistant.is_python3(): + return body + chr(checksum(body)).encode('latin1') + else: + return body + chr(checksum(body)) + + +if __name__ == '__main__': + + mboard = Transport('com10') + if not mboard.start(): + import sys + sys.exit() + + p = mboard.request(MessageID.ID_GET_VERSION) + log.i("result=%s"%p) + print('Version =[',mboard.getDataHolder()[MessageID.ID_GET_VERSION].version.decode(), mboard.getDataHolder()[MessageID.ID_GET_VERSION].build_time.decode(),"]\r\n") + + diff --git a/Code/MowingRobot/PIBot_ROS/ros_package/abseil-cpp.tar.gz b/Code/MowingRobot/pibot_ros/ros_package/abseil-cpp.tar.gz similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_package/abseil-cpp.tar.gz rename to Code/MowingRobot/pibot_ros/ros_package/abseil-cpp.tar.gz diff --git a/Code/MowingRobot/PIBot_ROS/ros_package/astra.tar.gz b/Code/MowingRobot/pibot_ros/ros_package/astra.tar.gz similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_package/astra.tar.gz rename to Code/MowingRobot/pibot_ros/ros_package/astra.tar.gz diff --git a/Code/MowingRobot/PIBot_ROS/ros_package/cartographer.tar.gz b/Code/MowingRobot/pibot_ros/ros_package/cartographer.tar.gz similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_package/cartographer.tar.gz rename to Code/MowingRobot/pibot_ros/ros_package/cartographer.tar.gz diff --git a/Code/MowingRobot/PIBot_ROS/ros_package/cartographer_ros.tar.gz b/Code/MowingRobot/pibot_ros/ros_package/cartographer_ros.tar.gz similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_package/cartographer_ros.tar.gz rename to Code/MowingRobot/pibot_ros/ros_package/cartographer_ros.tar.gz diff --git a/Code/MowingRobot/PIBot_ROS/ros_package/ceres-solver.tar.gz b/Code/MowingRobot/pibot_ros/ros_package/ceres-solver.tar.gz similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_package/ceres-solver.tar.gz rename to Code/MowingRobot/pibot_ros/ros_package/ceres-solver.tar.gz diff --git a/Code/MowingRobot/PIBot_ROS/ros_package/frontier_exploration.tar.gz b/Code/MowingRobot/pibot_ros/ros_package/frontier_exploration.tar.gz similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_package/frontier_exploration.tar.gz rename to Code/MowingRobot/pibot_ros/ros_package/frontier_exploration.tar.gz diff --git a/Code/MowingRobot/PIBot_ROS/ros_package/protobuf.tar.gz b/Code/MowingRobot/pibot_ros/ros_package/protobuf.tar.gz similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_package/protobuf.tar.gz rename to Code/MowingRobot/pibot_ros/ros_package/protobuf.tar.gz diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/.catkin_workspace b/Code/MowingRobot/pibot_ros/ros_ws/.catkin_workspace similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/.catkin_workspace rename to Code/MowingRobot/pibot_ros/ros_ws/.catkin_workspace diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/.gitignore b/Code/MowingRobot/pibot_ros/ros_ws/src/.gitignore similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/.gitignore rename to Code/MowingRobot/pibot_ros/ros_ws/src/.gitignore diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/CMakeLists.txt b/Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/CMakeLists.txt new file mode 100644 index 0000000..7c776e9 --- /dev/null +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/CMakeLists.txt @@ -0,0 +1,60 @@ +cmake_minimum_required(VERSION 3.0.2) +project(FollowingCar) + +find_package(catkin REQUIRED COMPONENTS + roscpp + rospy + std_msgs + message_generation + geometry_msgs +) + +# 寻找OpenCV库 +find_package(OpenCV REQUIRED) +# 查找 Boost 库 +find_package(Boost REQUIRED) + +# catkin_package( +# # INCLUDE_DIRS include +# # LIBRARIES FollowingCar +# # CATKIN_DEPENDS roscpp rospy std_msgs +# # DEPENDS system_lib +# CATKIN_DEPENDS message_runtime std_msgs geometry_msgs +# ) + + +include_directories( +# include + ${OpenCV_INCLUDE_DIRS} + ${catkin_INCLUDE_DIRS} + include +) + +add_library(${PROJECT_NAME} SHARED + src/system.cpp + src/uwb.cpp + src/mapping.cpp + src/align.cpp + src/Mat.cpp + src/lighthouse.cpp + # src/read_sensor_data.cpp + include/senddata.h src/senddata.cpp) + + +add_message_files( + DIRECTORY msg + FILES + RawImu.msg + dis_info_array.msg + dis_info.msg + +) +generate_messages(DEPENDENCIES std_msgs geometry_msgs) + +catkin_package(CATKIN_DEPENDS message_runtime std_msgs geometry_msgs) +add_executable(${PROJECT_NAME}_node src/main.cpp) + + +target_link_libraries(${PROJECT_NAME}_node ${catkin_LIBRARIES} ${OpenCV_LIBS} ${Boost_LIBRARIES} pthread ${PROJECT_NAME}) + + diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/include/Mat.h b/Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/include/Mat.h new file mode 100644 index 0000000..f8cc745 --- /dev/null +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/include/Mat.h @@ -0,0 +1,83 @@ +/******************** (C) COPYRIGHT 2022 Geek************************************ +* File Name : Mat.h +* Current Version : V1.0 +* Author : logzhan +* Date of Issued : 2022.09.14 +* Comments : �����ľ������ +********************************************************************************/ +/* Header File Including -----------------------------------------------------*/ +#ifndef _H_MAT_ +#define _H_MAT_ + +#define MAT_MAX 15 //�������ܴ����������� + + +#include +#define _USE_MATH_DEFINES +#include + +class Mat +{ +public: + Mat(); + Mat(int setm,int setn,int kind);//kind=1��λ��kind=0�����,��������ʼ�����ݡ� + void Init(int setm,int setn,int kind);//kind=1��λ��kind=0�����,��������ʼ�����ݡ� + + void Zero(void); + //��Щ�ؼ�����Ӧ����Ϊprivate�ġ�����Ϊ�˷��㣬��Ҳ������public + int m;//���� + int n;//���� + double mat[MAT_MAX][MAT_MAX];//������������ + + //����ľ��� + Mat SubMat(int a,int b,int lm,int ln);//��ȡ����һ���� + void FillSubMat(int a,int b,Mat s);//����Ӿ��� + + //����ר�� + double absvec();//����������ij��ȡ����Ǹ���Ԫ�صľ���ֵ�� + double Sqrt();//�������ȵ�ƽ�� + friend Mat operator ^(Mat a,Mat b);//��� + + //���� + friend Mat operator *(double k,Mat a); + friend Mat operator *(Mat a,double k); + friend Mat operator /(Mat a,double k); + friend Mat operator *(Mat a,Mat b); + friend Mat operator +(Mat a,Mat b); + friend Mat operator -(Mat a,Mat b); + friend Mat operator ~(Mat a);//ת�� + friend Mat operator /(Mat a,Mat b);//a*inv(b) + friend Mat operator %(Mat a,Mat b);//inv(a)*b + + //MAT inv();//����� + +private: + // Ϊ���ø�˹��Ԫ��������һЩ���� + // �������� + void RowExchange(int a, int b); + // ijһ�г���ϵ�� + void RowMul(int a,double k); + // ��ijһ�мӼ���һ�еı��� + void RowAdd(int a,int b, double k); + // �������� + void ColExchange(int a, int b); + // ijһ�г���ϵ�� + void ColMul(int a,double k); + // ��ijһ�мӼ���һ�еı��� + void ColAdd(int a,int b,double k); + + +}; + + + + + + +#endif + + + + + + diff --git a/Code/MowingRobot/Robot_ROS_APP/src/ros_merge_test/include/align.h b/Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/include/align.h similarity index 72% rename from Code/MowingRobot/Robot_ROS_APP/src/ros_merge_test/include/align.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/include/align.h index c75e0f2..2ef0d39 100644 --- a/Code/MowingRobot/Robot_ROS_APP/src/ros_merge_test/include/align.h +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/include/align.h @@ -1,41 +1,44 @@ -#include -#include -#include -#include -#include -#include -#include "ros_merge_test/RawImu.h" -#include "type.h" -#include "uwb.h" -#include - -#ifndef ALIGN_H -#define AlIGN_H -namespace uwb_slam{ - class Align - { - public: - Align(){}; - void Run(); - void wheel_odomCB(const nav_msgs::Odometry& wheel_odom); - void imuCB(const ros_merge_test::RawImu& imu); - void odomCB(const nav_msgs::Odometry& odom); - - public: - ros::NodeHandle nh_; - ros::Subscriber wheel_odom_sub_; - ros::Subscriber imu_sub_; - ros::Subscriber odom_sub_; - - Imu_odom_pose_data imu_odom_; - Uwb_data uwb_data_; - ros::Time tmp ; - - ros::Time odom_tmp_ ; - bool write_data_ = false; - cv::Mat img1; - std::queue> data_queue; - std::shared_ptr uwb_; - }; -}; -#endif +#include +#include +#include +#include +#include +#include +#include +#include "FollowingCar/RawImu.h" +#include "type.h" +#include "uwb.h" +#include "lighthouse.h" +#include "Mat.h" + +#ifndef ALIGN_H +#define AlIGN_H +namespace uwb_slam{ + class Align + { + public: + Align(){ + + }; + void Run(); + void wheel_odomCB(const nav_msgs::Odometry& wheel_odom); + void imuCB(const FollowingCar::RawImu& imu); + void odomCB(const nav_msgs::Odometry& odom); + + public: + ros::NodeHandle nh_; + ros::Subscriber wheel_odom_sub_; + ros::Subscriber imu_sub_; + ros::Subscriber odom_sub_; + Imu_odom_pose_data imu_odom_; + Uwb_data uwb_data_; + ros::Time imuDataRxTime, uwbDataRxTime, odomDataRxTime; + ros::Time odom_tmp_ ; + bool write_data_ = false; + cv::Mat img1; + std::queue> data_queue; + std::shared_ptr uwb_; + std::shared_ptr lighthouse_; + }; +}; +#endif diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/include/lighthouse.h b/Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/include/lighthouse.h new file mode 100644 index 0000000..333f9e5 --- /dev/null +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/include/lighthouse.h @@ -0,0 +1,29 @@ +#include +#include +#include +#include +#include +#include +#include "type.h" +#include +#include +#ifndef __LIGHTHOUSE_H__ +#define __LIGHTHOUSE_H__ + +namespace uwb_slam{ +class Lighthouse{ +public: + Lighthouse(); + ~Lighthouse(); + void Run(); + void UDPRead(); + // Listen PORT + int PORT = 12345; + int UdpSocket = -1; + + LightHouseData data; + + std::mutex mMutexLighthouse; +}; +}; +#endif diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/include/mapping.h b/Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/include/mapping.h new file mode 100644 index 0000000..ac39d27 --- /dev/null +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/include/mapping.h @@ -0,0 +1,40 @@ +#include +#include +#include +#include "uwb.h" +#include "align.h" + +#ifndef MAPPING_H +#define MAPPING_H + + +namespace uwb_slam{ + class Mapping + { + public: + const double PIXEL_SCALE = 1.0; //xiangsudian cm + const int AREA_SIZE = 1000; //map size cm + Mapping() {}; + void Run(); + bool checkQueue(); + void feedPos(const cv::Point2d & imuPosData, const cv::Point2d & uwbPosData, const cv::Point2d & syncPosData); + void process(); + std::mutex mMutexMap; + std::shared_ptr uwb_; + std::shared_ptr align_; + + private: + int realWidth, realHeight; + std::queue> posDataQueue; + std::vector posData = std::vector(3, {-1, -1}); + //cv::Point2d imuPoint = {-1,-1}; + // std::queue posDataQueue; + + + bool readPos = false; + cv::Mat img; + }; + +} + +#endif diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/include/read_sensor_data.h b/Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/include/read_sensor_data.h new file mode 100644 index 0000000..61a7df3 --- /dev/null +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/include/read_sensor_data.h @@ -0,0 +1,34 @@ +#include +#include "nav_msgs/Odometry.h" +#include "geometry_msgs/Twist.h" +#include "sensor_msgs/Imu.h" +#include "geometry_msgs/PoseStamped.h" +#include "geometry_msgs/PoseWithCovarianceStamped.h" +#include +#include "type.h" +#include "uwb.h" + + +#ifndef READ_SENSOR_DATA_H +#define READ_SENSOR_DATA_H + +namespace uwb_slam{ + typedef boost::shared_ptr OdomConstPtr; + typedef boost::shared_ptr ImuConstPtr; + class Read_sensor_data + { + public: + Read_sensor_data(); + + void Run(int argc, char* argv[]); + //void set_uwb(Uwb * uwb); + void imu_call_back(const ImuConstPtr& imu); + void odom_call_back(const OdomConstPtr& odom); + + private: + ros::Subscriber imu_sub_; + ros::Subscriber odom_sub_; + + }; +} +#endif \ No newline at end of file diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/include/senddata.h b/Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/include/senddata.h new file mode 100644 index 0000000..3994793 --- /dev/null +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/include/senddata.h @@ -0,0 +1,50 @@ +#include +#include +#include +#include +#include +#include +#include "uwb.h" +#include +#include "FollowingCar/dis_info.h" +#include "FollowingCar/dis_info_array.h" + +#ifndef SENDDATA_H +#define SENDDATA_H + + +namespace uwb_slam{ + + class Senddata + { + public: + Senddata(){}; + void publishOdometry( std::shared_ptruwb); + void Run(std::shared_ptruwb); + void odomCB(const nav_msgs::Odometry& odom); + void stereoCB(const FollowingCar::dis_info_array::ConstPtr& stereo); + + std::shared_ptr uwb_; + + + std::mutex mMutexSend; + + private: + ros::Publisher position_pub_; + ros::Publisher cmd_vel_pub_; + ros::Subscriber odom_sub_; + ros::Subscriber obstacles_sub_; + ros::NodeHandle nh_; + + nav_msgs::Odometry odom_;//odom的消息类型 + nav_msgs::Odometry sub_odom_;//odom的消息类型 + geometry_msgs::Twist cmd_vel_; + + bool flag_ = 0; + + + }; + +} + +#endif \ No newline at end of file diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/include/system.h b/Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/include/system.h new file mode 100644 index 0000000..848f92b --- /dev/null +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/include/system.h @@ -0,0 +1,32 @@ +#include +#include +#include "mapping.h" +#include "uwb.h" +#include "senddata.h" +// #include "align.h" +#include + +#ifndef SYSTEM_H +#define SYSTEM_H + +namespace uwb_slam{ + class System{ + + public: + System() { + } + void Run(); + public: + + std::shared_ptrMapping_; + std::shared_ptrUwb_; + std::shared_ptrSender_; + std::shared_ptrAlign_; + std::shared_ptrLighthouse_; + + // Uwb* Uwb_ ; + // Senddata* Sender_; + // Mapping* Mapping_; + }; +} +#endif diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/include/type.h b/Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/include/type.h new file mode 100644 index 0000000..53b77e2 --- /dev/null +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/include/type.h @@ -0,0 +1,50 @@ +#include +#include +#ifndef TYPE_H +#define TYPE_H + +namespace uwb_slam{ +struct Imu_data +{ + ros::Time imu_t_; + double a_[3]; + double g_[3]; + double m_[3]; + Imu_data(){}; + Imu_data(double ax,double ay,double az, double gx, double gy, double gz, double mx, double my, double mz) + :a_{ax,ay,az},g_{gx,gy,gz},m_{mx,my,mz}{}; +}; + + + +struct Imu_odom_pose_data +{ + Imu_data imu_data_; + double pose_[3]; + double quat_[4]; + double vxy_; + double angle_v_; + Imu_odom_pose_data(){}; + Imu_odom_pose_data( Imu_data imu_data,double x,double y,double z, double qw, double qx, double qy, double qz,double vxy, double angle_v):imu_data_(imu_data),pose_{x,y,z},quat_{qw,qx,qy,qz},vxy_(vxy),angle_v_(angle_v){}; +}; + +struct Uwb_data +{ + float x_,y_; + ros::Time uwb_t_; + Uwb_data(){}; + Uwb_data(float x,float y,float t):x_(x),y_(y),uwb_t_(t){}; +}; + +struct LightHouseData +{ + float x_,y_,z_; + float qw_,qx_,qy_,qz_; + ros::Time lighthouse_t_; + LightHouseData(){}; + LightHouseData(float x,float y,float z, float qw, float qx, float qy, float qz, float t): + x_(x),y_(y),z_(z),qw_(qw), qx_(qx), qy_(qy), qz_(qz), lighthouse_t_(t){}; +}; + +} +#endif \ No newline at end of file diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/include/uwb.h b/Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/include/uwb.h new file mode 100644 index 0000000..7d1a939 --- /dev/null +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/include/uwb.h @@ -0,0 +1,60 @@ +#include +#include +#include +#include +#include +#include +#include "type.h" +#include +#include +#ifndef UWB_H +#define UWB_H + +#define PI acos(-1) +namespace uwb_slam{ + + class Uwb + { + public: + Uwb(); + void Run(); + bool checknewdata(); + void feed_imu_odom_pose_data(); + void Serread(); + + + + public: + int pre_seq = -1; + int cur_seq = -1; + int AnchorNum = 3; + int AnchorPos[3][3]={ + -240, 400, 113,\ + 240, 400, 113,\ + -400, -240, 113 + };//基站坐标，序号+三维坐标 + int d[3]; + int aoa[3]; + + // std::queue v_buffer_imu_odom_pose_data_; + + + Uwb_data uwb_data_; + // ros_merge_test::RawImu sub_imu_; + // std::queue imu_odom_queue_; + // std::queue uwb_data_queue_; + std::mutex mMutexUwb; + //boost::asio::io_service io; + //boost::asio::serial_port s_port; + + // Imu_odom_pose_data imu_odom_pose_data_; + }; + +}; + + + + + + +#endif diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_msgs/msg/RawImu.msg b/Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/msg/RawImu.msg similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_msgs/msg/RawImu.msg rename to Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/msg/RawImu.msg diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_building_msgs/msg/dis_info.msg b/Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/msg/dis_info.msg similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_building_msgs/msg/dis_info.msg rename to Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/msg/dis_info.msg diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/msg/dis_info_array.msg b/Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/msg/dis_info_array.msg new file mode 100644 index 0000000..39ec3cf --- /dev/null +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/msg/dis_info_array.msg @@ -0,0 +1 @@ +FollowingCar/dis_info[] dis \ No newline at end of file diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/package.xml b/Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/package.xml new file mode 100644 index 0000000..eed5c12 --- /dev/null +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/package.xml @@ -0,0 +1,73 @@ + + + FollowingCar + 0.0.0 + The FollowingCar package + + + + + luoruidi + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + roscpp + rospy + std_msgs + geometry_msgs + message_generation + + roscpp + rospy + std_msgs + roscpp + rospy + std_msgs + message_runtime + geometry_msgs + + + + + + + + diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/src/Mat.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/src/Mat.cpp new file mode 100644 index 0000000..4192cb5 --- /dev/null +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/src/Mat.cpp @@ -0,0 +1,368 @@ +/******************** (C) COPYRIGHT 2022 Geek************************************ +* File Name : Mat.cpp +* Current Version : V1.0 +* Author : logzhan +* Date of Issued : 2022.09.14 +* Comments : ��������� +********************************************************************************/ +/* Header File Including -----------------------------------------------------*/ +#include "Mat.h" + +double mind(double a,double b) +{ + double c = a; + if(b < c){ + c = b; + } + return c; +} + +int mini(int a,int b) +{ + int c=a; + if(bm = setm; + this->n = setn; + if((kind==0)||(kind==1)) + { + memset(mat,0,MAT_MAX*MAT_MAX*sizeof(double)); + } + + if(kind==1) + { + int x; + //Cԭ�е�max min�ᵼ�����������Ա������и��������Ķ�����Ҫֱ�ӷŵ�max���档 + int xend = mini(this->m, this->n); + for(x=0;x < xend;x++){ + mat[x][x] = 1; + } + } +} +void Mat::Zero() { + +} + +Mat Mat::SubMat(int a,int b,int lm,int ln) +{ + + int aend=a+lm-1; + int bend=b+ln-1; + + + Mat s(lm,ln,-1); + int x,y; + for(x=0;xs) + { + p=xb; + s=sxb; + } + } + //ͬʱ�任������� + if(x!=p) + { + a.ColExchange(x,p); + b.ColExchange(x,p); + } + + //��һ�й�һ + double k=1/b.mat[x][x];//��һ�䲻ҪǶ�׵����������У��������Ϊ���²�ͬ�����¼������ + a.ColMul(x,k); + b.ColMul(x,k); + + //�������й��� + for(xb=0;xbs) + { + p=xb; + s=sxb; + } + } + //ͬʱ�任������� + if(x!=p) + { + a.RowExchange(x,p); + b.RowExchange(x,p); + } + + //��һ�й�һ + double k=1/a.mat[x][x];//��һ�䲻ҪǶ�׵����������У��������Ϊ���²�ͬ�����¼������ + a.RowMul(x,k); + b.RowMul(x,k); + + //�������й��� + for(xb=0;xbuwb_data_.uwb_t_; + + outfile << imuDataRxTime << "," << odomDataRxTime << "," << uwbDataRxTime <<","\ + << imu_odom_.imu_data_.a_[0] << "," << imu_odom_.imu_data_.a_[1] << "," << imu_odom_.imu_data_.a_[2] << ","\ + << imu_odom_.imu_data_.g_[0] << "," << imu_odom_.imu_data_.g_[1] << "," << imu_odom_.imu_data_.g_[2] << ","\ + << imu_odom_.imu_data_.m_[0] << "," << imu_odom_.imu_data_.m_[1] << "," << imu_odom_.imu_data_.m_[2] << ","\ + << imu_odom_.quat_[0] << "," << imu_odom_.quat_[0] << "," << imu_odom_.quat_[0] << "," << imu_odom_.quat_[0] << ","\ + << imu_odom_.vxy_ << "," << imu_odom_.angle_v_ << ","\ + << imu_odom_.pose_[0] << "," << imu_odom_.pose_[1] << ","\ + << lighthouse_->data.x_ << "," << lighthouse_->data.y_ << "," << lighthouse_->data.z_ << ","\ + << lighthouse_->data.qw_ << "," << lighthouse_->data.qx_ << "," << lighthouse_->data.qy_ << "," << lighthouse_->data.qz_ << ","\ + << uwb_->d[0] << "," << uwb_->d[1] << "," << uwb_->d[2] << "\n"; + } + } + // outfile.close(); + // std::cout<< "Data written to file." << std::endl; + } + + + + void Align::wheel_odomCB(const nav_msgs::Odometry& wheel_odom) + { + imu_odom_.vxy_= wheel_odom.twist.twist.linear.x; + imu_odom_.angle_v_ = wheel_odom.twist.twist.angular.z; + // imu_odom_.pose_[0] = wheel_odom.pose.pose.position.x; + // imu_odom_.pose_[1] = wheel_odom.pose.pose.position.y; + // imu_odom_.pose_[2] = wheel_odom.pose.pose.position.z; + // imu_odom_.quat_[0] = wheel_odom.pose.pose.orientation.x; + // imu_odom_.quat_[1] = wheel_odom.pose.pose.orientation.y; + // imu_odom_.quat_[2] = wheel_odom.pose.pose.orientation.z; + // imu_odom_.quat_[3] = wheel_odom.pose.pose.orientation.w; + return; + } + void Align::imuCB(const FollowingCar::RawImu& imu) + { + imu_odom_.imu_data_.imu_t_ = imu.header.stamp; + imu_odom_.imu_data_.a_[0] = imu.raw_linear_acceleration.x; + imu_odom_.imu_data_.a_[1] = imu.raw_linear_acceleration.y; + imu_odom_.imu_data_.a_[2] = imu.raw_linear_acceleration.z; + + imu_odom_.imu_data_.g_[0] = imu.raw_angular_velocity.x; + imu_odom_.imu_data_.g_[1] = imu.raw_angular_velocity.y; + imu_odom_.imu_data_.g_[2] = imu.raw_angular_velocity.z; + + imu_odom_.imu_data_.m_[0] = imu.raw_magnetic_field.x; + imu_odom_.imu_data_.m_[1] = imu.raw_magnetic_field.y; + imu_odom_.imu_data_.m_[2] = imu.raw_magnetic_field.z; + + return; + } + + void Align::odomCB(const nav_msgs::Odometry& odom) + { + odom_tmp_ = odom.header.stamp; + imu_odom_.pose_[0] = odom.pose.pose.position.x; + imu_odom_.pose_[1] = odom.pose.pose.position.y; + imu_odom_.pose_[2] = odom.pose.pose.position.z; + imu_odom_.quat_[0] = odom.pose.pose.orientation.w; + imu_odom_.quat_[1] = odom.pose.pose.orientation.x; + imu_odom_.quat_[2] = odom.pose.pose.orientation.y; + imu_odom_.quat_[3] = odom.pose.pose.orientation.z; + } + +}; + + + diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/src/lighthouse.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/src/lighthouse.cpp new file mode 100644 index 0000000..562b494 --- /dev/null +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/src/lighthouse.cpp @@ -0,0 +1,79 @@ +#include "lighthouse.h" +#include +#include + +namespace uwb_slam{ + Lighthouse::Lighthouse(){ + std::cout << "Start Run. " << std::endl; + + // 创建UDP套接字 + UdpSocket = socket(AF_INET, SOCK_DGRAM, 0); + if (UdpSocket == -1) { + std::cerr << "Error creating UDP socket." << std::endl; + return; + } + + std::cout << "Creating UDP socket sucess. " << std::endl; + + // 设置套接字地址结构 + sockaddr_in udpAddress; + std::memset(&udpAddress, 0, sizeof(udpAddress)); + udpAddress.sin_family = AF_INET; + udpAddress.sin_addr.s_addr = htonl(INADDR_ANY); + udpAddress.sin_port = htons(PORT); + + // 将套接字绑定到地址 + if (bind(UdpSocket, (struct sockaddr*)&udpAddress, sizeof(udpAddress)) == -1) { + std::cerr << "Error binding UDP socket." << std::endl; + close(UdpSocket); + } + } + + Lighthouse::~Lighthouse(){ + close(UdpSocket); + } + + void Lighthouse::Run() { + while(1){ + // 这是一个阻塞线程 + this->UDPRead(); + } + } + + void Lighthouse::UDPRead(){ + char buffer[1024]; + ssize_t bytesRead = recvfrom(UdpSocket, buffer, sizeof(buffer), 0, nullptr, nullptr); + if (bytesRead == -1) { + std::cerr << "Error receiving data." << std::endl; + return; + } + + std::string data(buffer); + + float x,y,z,qw,qx,qy,qz; + + qw = 1.0; + + sscanf(data.c_str(),"%f %f %f %f %f %f",&x,&y,&z,&qx,&qy,&qz); + + mMutexLighthouse.lock(); + + this->data.x_ = x; + this->data.y_ = y; + this->data.z_ = z; + + this->data.qw_ = qw; + this->data.qx_ = qx; + this->data.qy_ = qy; + this->data.qz_ = qz; + + + + mMutexLighthouse.unlock(); + + // 打印接收到的消息 + buffer[bytesRead] = '\0'; + //std::cout << "Received: " << buffer << std::endl; + + } +}; \ No newline at end of file diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/src/main.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/src/main.cpp new file mode 100644 index 0000000..bed1c0f --- /dev/null +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/src/main.cpp @@ -0,0 +1,65 @@ +#include "../include/system.h" +#include "../include/uwb.h" +#include "../include/lighthouse.h" +#include "Mat.h" + + +#include +#include +#include +#include "senddata.h" + + + +int main(int argc, char** argv) +{ + ros::init(argc, argv, "locate_info_pub_node"); // Initialize the ROS node + + std::shared_ptr system = std::make_shared(); + std::shared_ptr mp = std::make_shared(); + std::shared_ptr uwb = std::make_shared(); + std::shared_ptr sender = std::make_shared(); + std::shared_ptr align = std::make_shared(); + std::shared_ptr lighthouse = std::make_shared(); + + + system->Mapping_ = mp; + system->Uwb_ = uwb; + system->Sender_ = sender; + system->Align_ = align; + system->Lighthouse_ = lighthouse; + + mp->uwb_ = system->Uwb_; + mp->align_ = system->Align_; + align->uwb_ = system->Uwb_; + align->lighthouse_ = system->Lighthouse_; + sender->uwb_ = system->Uwb_; + // // control data fllow in system + // std::thread rose_trd ([&system]() { + // system->Run(); + // }); + + // uwb serried read + std::thread uwb_trd([&uwb]() { + uwb->Run(); + }); + + // build map + // std::thread map_trd ([&mp]() { + // mp->Run(); + // }); + + std::thread sender_trd ([&sender, uwb]() { + sender->Run(uwb); + }); + + // std::thread align_trd ([&align]() { + // align->Run(); + // }); + + // std::thread lighthouse_trd ([&lighthouse]() { + // lighthouse->Run(); + // }); + + ros::spin(); +} diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/src/mapping.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/src/mapping.cpp new file mode 100644 index 0000000..d9555b3 --- /dev/null +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/src/mapping.cpp @@ -0,0 +1,149 @@ +#include "mapping.h" +#include +#include // 包含 usleep() 函数所在的头文件 +#include +#include + +namespace uwb_slam +{ + bool Mapping::checkQueue() + { + //std::unique_lock lock(mMutexMap); + return !posDataQueue.empty(); + } + + void Mapping::feedPos(const cv::Point2d & imuPosData, const cv::Point2d & uwbPosData, const cv::Point2d & syncPosData) + { + //std::unique_lock lock(mMutexMap); + posDataQueue.push({imuPosData, uwbPosData, syncPosData}); + + } + + + void Mapping::process() + { + { + + //std::unique_lock lock(mMutexMap); + //std::cout << "SIZE: " <(imuPosPointY, imuPosPointX) = 0; + img.at(imuPosPointY, imuPosPointX) = cv::Vec3b(0,0,255); //imu trace is red + img.at(uwbPosPointY, uwbPosPointX) = cv::Vec3b(0,255,0); //uwb trace is green + img.at(syncPosPointY, syncPosPointX) = cv::Vec3b(255,0,0); //sync trace is blue + } + + + void Mapping::Run() + { + + //int key = cv::waitKey(0);//等待用户按下按键 + //std::cout << key << std::endl; + realWidth = AREA_SIZE / PIXEL_SCALE; + realHeight = AREA_SIZE / PIXEL_SCALE; + + img = cv::Mat(realHeight, realWidth, CV_8UC3, cv::Scalar(255,255,255)); + //cankao + for (int j=0;j(j,i)= cv::Vec3b(0,0,0); + + for (int j=realHeight/2-1; j<=realHeight/2+1; j+=1) + for (int i=realWidth/2-1; i<=realWidth/2+1; i+=1) + img.at(j,i)= cv::Vec3b(0,0,0); + int i = 0, j = 0; + img.at(j,i)= cv::Vec3b(0,0,0); + + + + cv::imshow("Image",img); + + // bool printFlag = 0; + // std::ofstream outfile("data.txt",std::ofstream::out); + // if(outfile.is_open()) { + // std::cout << "start saving data" << key << std::endl; + // printFlag = 1; + // } else { + // std::cout<<"file can not open"<feed_uwb_data(cv::Point2d(uwb_->x,uwb_->y)); + readPos = true; + std::cout << "non" << key << std::endl; + cv::destroyAllWindows(); + } + */ + while(1){ + int key = cv::waitKey(0); + if (key == 'q' ) { + readPos = true; + std::cout << "start mapping" << key << std::endl; + + //cv::destroyAllWindows(); + } + while( readPos )//按下空格键 + { + int key2 = cv::waitKey(1); + if (key2 == 'q') { + //TODO: save + + std::string pngimage="/home/firefly/Project_Ros11/Project_Ros1/src/FollowingCar/Map/output_image.png";//保存的图片文件路径 + cv::imwrite(pngimage,img); + readPos = false; + + // outfile.close(); + // printFlag = 0; + // std::cout<< "Data written to file." << std::endl; + + break; + } + + //this->feedPos(cv::Point2d(align_->imuPos.mat[0][0], align_->imuPos.mat[1][0]), cv::Point2d(align_->uwbPos.mat[0][0], align_->uwbPos.mat[1][0]), cv::Point2d(align_->syncPos.mat[0][0], align_->syncPos.mat[1][0])); + //this->feedPos(cv::Point2d(uwb_->x, uwb_->y)); + + //uwb xieru + //std::cout << "cur_SEQ: " <cur_seq << std::endl; + + if(checkQueue()) + { + //std::cout << " start process" << std::endl; + process(); + //std::cout << " end process" << std::endl; + + } + } + // std::cout << "out" << key << std::endl; + + } + + + + //std::string pngimage="../Map/pngimage.png";//保存的图片文件路径 + //cv::imwrite(pngimage,img); + + /*ros 发送图片给导航 */ + } +} // namespace uwb_slam + diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/src/read_sensor_data.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/src/read_sensor_data.cpp new file mode 100644 index 0000000..e74d0cd --- /dev/null +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/src/read_sensor_data.cpp @@ -0,0 +1,30 @@ +#include + +namespace uwb_slam { + + + //void Read_sensor_data::set_uwb(){} + + + void Read_sensor_data::imu_call_back(const ImuConstPtr& imu){ + Imu_data d1= Imu_data(imu->linear_acceleration.x,imu->linear_acceleration.y,imu->linear_acceleration.z, + imu->angular_velocity.x,imu->angular_velocity.y,imu->angular_velocity.z); + + } + void Read_sensor_data::odom_call_back(const OdomConstPtr& odom){ + Odom_data d1 = Odom_data(odom->pose.pose.position.x, odom->pose.pose.position.y, odom->pose.pose.position.z, + odom->pose.pose.orientation.w,odom->pose.pose.orientation.x, odom->pose.pose.orientation.y, odom->pose.pose.orientation.z, + odom->header.stamp,odom->twist.twist.linear.x,odom->twist.twist.linear.y,odom->twist.twist.angular.z); + + } + void Read_sensor_data::Run(int argc, char* argv[]){ + + ros::init(argc, argv, "imu_odom"); + // 创建一个节点句柄 + ros::NodeHandle nh; + //imu_sub_ = nh.subscribe("imu/data_raw", 1000, this->imu_call_back); + //odom_sub_ =nh.subscribe("odom", 1000,odom_call_back); + ros::spin(); + } + +} diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/src/senddata.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/src/senddata.cpp new file mode 100644 index 0000000..2f659aa --- /dev/null +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/src/senddata.cpp @@ -0,0 +1,147 @@ +#include "senddata.h" + +#define angleLimit 20 +#define disLimit 200 + +namespace uwb_slam +{ + void Senddata::Run(std::shared_ptruwb){ + + ros::Rate loop_rate(10); + // position_pub_=nh_.advertise("uwb_odom",50); + cmd_vel_pub_ = nh_.advertise("cmd_vel",50); + obstacles_sub_ = nh_.subscribe("ceju_info",1,boost::bind(&Senddata::stereoCB,this,_1)); + // odom_sub_=nh_.subscribe("odom",10,&Senddata::odomCB,this); + while(ros::ok()){ + // publishOdometry(uwb); + if (flag_) + { + cmd_vel_.linear.x = 0; + cmd_vel_.angular.z = -1; + for (int i = 0; i < 17; ++i) { + cmd_vel_pub_.publish(cmd_vel_); + loop_rate.sleep(); + } + + cmd_vel_.linear.x = 0.2; + cmd_vel_.angular.z = 0; + for (int i = 0; i < 20; ++i) { + cmd_vel_pub_.publish(cmd_vel_); + loop_rate.sleep(); + } + + cmd_vel_.linear.x = 0; + cmd_vel_.angular.z = 1; + for (int i = 0; i < 16; ++i) { + cmd_vel_pub_.publish(cmd_vel_); + loop_rate.sleep(); + } + + cmd_vel_.linear.x = 0; + cmd_vel_.angular.z = 0; + flag_ = 0; + } + else if(abs(uwb->aoa[0]) > 180 || abs(uwb->d[0]) > 2000) + { + cmd_vel_.angular.z = 0; + cmd_vel_.linear.x = 0; + } + else if(uwb->aoa[0] > angleLimit && uwb->aoa[0] <= 180) + { + float angularSpeed = (float)uwb->aoa[0] / 100 + 1; + cmd_vel_.angular.z = angularSpeed; + cmd_vel_.linear.x = 0; + } + else if(uwb->aoa[0] < -angleLimit) + { + float angularSpeed = (float)uwb->aoa[0] / 100 - 1; + cmd_vel_.angular.z = angularSpeed; + cmd_vel_.linear.x = 0; + } + else if(uwb->d[0] > disLimit) + { + float lineSpeed = (float)uwb->d[0] / 1000 + 0.1; + cmd_vel_.angular.z = 0; + cmd_vel_.linear.x = lineSpeed; + } + else if(uwb->d[0] < disLimit - 30) + { + cmd_vel_.angular.z = 0; + cmd_vel_.linear.x = -0.2; + } + else + { + cmd_vel_.angular.z = 0; + cmd_vel_.linear.x = 0; + } + cmd_vel_pub_.publish(cmd_vel_); + ros::spinOnce(); + loop_rate.sleep(); + } + + + } + // void Senddata::odomCB(const nav_msgs::Odometry& odom){ + // sub_odom_ = odom; + // return; + // } + void Senddata::stereoCB(const FollowingCar::dis_info_array::ConstPtr& stereo) + { + for (const auto& obstacle_info :stereo->dis) + { + float distance = obstacle_info.distance; + // float width = obstacle_info.width; + // float height = obstacle_info.height; + // float angle = obstacle_info.angle; + + // if(distance>5&&distance<45&&cmd_vel_.linear.x!=0) + if(distance>5&&distance<45) + { + flag_ = 1; + } + } + + return; + } + + // void Senddata::publishOdometry(std::shared_ptruwb) + // { + + // std::mutex mMutexSend; + // ros::Time current_time = ros::Time::now(); + + // // 设置 Odometry 消息的头部信息 + // odom_.header.stamp = current_time; + // odom_.header.frame_id = "odom"; // 设置坐标系为 "map" + // odom_.child_frame_id = "base_link"; // 设置坐标系为 "base_link" + + // // 填充 Odometry 消息的位置信息 + // odom_.pose.pose.position.x = uwb->uwb_data_.x_; + // odom_.pose.pose.position.y = uwb->uwb_data_.y_; + // odom_.pose.pose.position.z = 0.0; + + + // // 填充 Odometry 消息的姿态信息（使用四元数来表示姿态） + // // tf2::Quaternion quat; + // // quat.setRPY(0, 0, uwb->theta); // 设置了 yaw 角度，其他 roll 和 pitch 设置为 0 + // // odom.pose.pose.orientation.x = quat.x(); + // // odom.pose.pose.orientation.y = quat.y(); + // // odom.pose.pose.orientation.z = quat.z(); + // // odom.pose.pose.orientation.w = quat.w(); + + // odom_.pose.pose.orientation.x = sub_odom_.pose.pose.orientation.x; + // odom_.pose.pose.orientation.y = sub_odom_.pose.pose.orientation.y; + // odom_.pose.pose.orientation.z = sub_odom_.pose.pose.orientation.z; + // odom_.pose.pose.orientation.w = sub_odom_.pose.pose.orientation.w; + + // // 发布 Odometry 消息 + // position_pub_.publish(odom_); + + + // } + + + + + +} // namespace uwb_slam \ No newline at end of file diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/src/system.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/src/system.cpp new file mode 100644 index 0000000..44f5878 --- /dev/null +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/src/system.cpp @@ -0,0 +1,15 @@ +#include "../include/system.h" +//#include "" + + +namespace uwb_slam{ + + void System::Run() + { + while(1){ + + } + + } + +} \ No newline at end of file diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/src/uwb.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/src/uwb.cpp new file mode 100644 index 0000000..2db72c5 --- /dev/null +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/FollowingCar/src/uwb.cpp @@ -0,0 +1,121 @@ +#include "uwb.h" +#include +#include "Mat.h" + + +#define CARHEIGHT 20 +#define DISINDEX 3 +#define AOAINDEX 15 +#define DATALENGTH 27 + +namespace uwb_slam{ + Uwb::Uwb(){ + + } + + void Uwb::Run() { + + while(1){ + this->Serread(); + + } + + + } + + + void Uwb::Serread(){ + try { + boost::asio::io_service io; + boost::asio::serial_port serial(io, "/dev/ttyUSB1"); // 替换成你的串口设备路径 + + serial.set_option(boost::asio::serial_port_base::baud_rate(115200)); // 设置波特率 + serial.set_option(boost::asio::serial_port_base::character_size(8)); // 设置数据位 + serial.set_option(boost::asio::serial_port_base::parity(boost::asio::serial_port_base::parity::none)); // 设置校验位 + serial.set_option(boost::asio::serial_port_base::stop_bits(boost::asio::serial_port_base::stop_bits::one)); // 设置停止位 + + uint8_t tmpdata[DATALENGTH]; + // std::cerr << "befor read" << std::endl; + size_t bytesRead = boost::asio::read(serial, boost::asio::buffer(tmpdata, sizeof(tmpdata))); // 读取串口数据 + // std::cerr << "after read" << std::endl; + this->uwb_data_.uwb_t_ = ros::Time::now(); + + for (int i=0;i< bytesRead;i++) + { + std::cout << std::hex<(tmpdata[i]) << " "; + } + std::cout << std::endl; + + memcpy(&this->d[0], &tmpdata[DISINDEX], sizeof(d[0])); + memcpy(&this->d[1], &tmpdata[DISINDEX + sizeof(d[0])], sizeof(d[0])); + memcpy(&this->d[2], &tmpdata[DISINDEX + sizeof(d[0]) * 2], sizeof(d[0])); + memcpy(&this->aoa[0], &tmpdata[AOAINDEX], sizeof(aoa[0])); + memcpy(&this->aoa[1], &tmpdata[AOAINDEX + sizeof(aoa[0])], sizeof(aoa[0])); + memcpy(&this->aoa[2], &tmpdata[AOAINDEX + sizeof(aoa[0]) * 2], sizeof(aoa[0])); + + //std::cout << "d:" << d[0] << " " << d[1] << " " << d[2] << std::endl; + + // if(abs(d[0]) > 2000 || abs(d[1]) > 2000 || abs(d[2]) > 2000) { + // return; + // } + // for(int i=0; i<3; i++) + // { + // this->d[i] = sqrt(this->d[i] * this->d[i] - (AnchorPos[i][2] - CARHEIGHT) * (AnchorPos[i][2] - CARHEIGHT)); + // } + + std::cout<<"d: "<d[0]<<" aoa: "<aoa[0]< lock(mMutexUwb); +// return !v_buffer_imu_odom_pose_data_.empty(); +// } + +// void Uwb::Run() { +// while(1) +// { +// if(checknewdata()) +// { +// { +// std::unique_lock lock(mMutexUwb); +// Imu_odom_pose_data imu_odom_pose_data = v_buffer_imu_odom_pose_data_.front(); +// v_buffer_imu_odom_pose_data_.pop(); +// } + + + +// } +// } + + + +// } + +// void Uwb::feed_imu_odom_pose_data(const Imu_odom_pose_data& imu_odom_pose_data){ +// std::unique_lock lock(mMutexUwb); +// v_buffer_imu_odom_pose_data_.push(imu_odom_pose_data); +// } + diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/arbotix_ros/.gitignore b/Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/.gitignore similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/arbotix_ros/.gitignore rename to Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/.gitignore diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/arbotix_ros/LICENSE b/Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/LICENSE similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/arbotix_ros/LICENSE rename to Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/LICENSE diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/arbotix_ros/README.md b/Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/README.md similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/arbotix_ros/README.md rename to Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/README.md diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix/CHANGELOG.rst b/Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix/CHANGELOG.rst similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix/CHANGELOG.rst rename to Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix/CHANGELOG.rst diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix/CMakeLists.txt b/Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix/CMakeLists.txt similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix/CMakeLists.txt rename to Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix/CMakeLists.txt diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix/package.xml b/Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix/package.xml similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix/package.xml rename to Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix/package.xml diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_controllers/CHANGELOG.rst b/Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_controllers/CHANGELOG.rst similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_controllers/CHANGELOG.rst rename to Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_controllers/CHANGELOG.rst diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_controllers/CMakeLists.txt b/Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_controllers/CMakeLists.txt similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_controllers/CMakeLists.txt rename to Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_controllers/CMakeLists.txt diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_controllers/bin/gripper_controller b/Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_controllers/bin/gripper_controller similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_controllers/bin/gripper_controller rename to Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_controllers/bin/gripper_controller diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_controllers/bin/gripper_controller.py b/Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_controllers/bin/gripper_controller.py old mode 100644 new mode 100755 similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_controllers/bin/gripper_controller.py rename to Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_controllers/bin/gripper_controller.py diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_controllers/bin/one_side_gripper_controller.py b/Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_controllers/bin/one_side_gripper_controller.py old mode 100644 new mode 100755 similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_controllers/bin/one_side_gripper_controller.py rename to Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_controllers/bin/one_side_gripper_controller.py diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_controllers/bin/parallel_gripper_action_controller.py b/Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_controllers/bin/parallel_gripper_action_controller.py old mode 100644 new mode 100755 similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_controllers/bin/parallel_gripper_action_controller.py rename to Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_controllers/bin/parallel_gripper_action_controller.py diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_controllers/bin/parallel_gripper_controller.py b/Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_controllers/bin/parallel_gripper_controller.py old mode 100644 new mode 100755 similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_controllers/bin/parallel_gripper_controller.py rename to Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_controllers/bin/parallel_gripper_controller.py diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_controllers/bin/parallel_single_servo_controller.py b/Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_controllers/bin/parallel_single_servo_controller.py old mode 100644 new mode 100755 similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_controllers/bin/parallel_single_servo_controller.py rename to Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_controllers/bin/parallel_single_servo_controller.py diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_controllers/package.xml b/Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_controllers/package.xml similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_controllers/package.xml rename to Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_controllers/package.xml diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_firmware/CHANGELOG.rst b/Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_firmware/CHANGELOG.rst similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_firmware/CHANGELOG.rst rename to Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_firmware/CHANGELOG.rst diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_firmware/CMakeLists.txt b/Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_firmware/CMakeLists.txt similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_firmware/CMakeLists.txt rename to Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_firmware/CMakeLists.txt diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_firmware/package.xml b/Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_firmware/package.xml similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_firmware/package.xml rename to Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_firmware/package.xml diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_firmware/src/diff_controller.h b/Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_firmware/src/diff_controller.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_firmware/src/diff_controller.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_firmware/src/diff_controller.h diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_firmware/src/ros.h b/Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_firmware/src/ros.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_firmware/src/ros.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_firmware/src/ros.h diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_firmware/src/ros.ino b/Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_firmware/src/ros.ino similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_firmware/src/ros.ino rename to Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_firmware/src/ros.ino diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_firmware/src/user_hooks.h b/Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_firmware/src/user_hooks.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_firmware/src/user_hooks.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_firmware/src/user_hooks.h diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_msgs/CHANGELOG.rst b/Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_msgs/CHANGELOG.rst similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_msgs/CHANGELOG.rst rename to Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_msgs/CHANGELOG.rst diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_msgs/CMakeLists.txt b/Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_msgs/CMakeLists.txt similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_msgs/CMakeLists.txt rename to Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_msgs/CMakeLists.txt diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_msgs/msg/Analog.msg b/Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_msgs/msg/Analog.msg similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_msgs/msg/Analog.msg rename to Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_msgs/msg/Analog.msg diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_msgs/msg/Digital.msg b/Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_msgs/msg/Digital.msg similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_msgs/msg/Digital.msg rename to Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_msgs/msg/Digital.msg diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_msgs/package.xml b/Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_msgs/package.xml similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_msgs/package.xml rename to Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_msgs/package.xml diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_msgs/srv/Enable.srv b/Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_msgs/srv/Enable.srv similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_msgs/srv/Enable.srv rename to Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_msgs/srv/Enable.srv diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_msgs/srv/Relax.srv b/Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_msgs/srv/Relax.srv similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_msgs/srv/Relax.srv rename to Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_msgs/srv/Relax.srv diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_msgs/srv/SetSpeed.srv b/Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_msgs/srv/SetSpeed.srv similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_msgs/srv/SetSpeed.srv rename to Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_msgs/srv/SetSpeed.srv diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_msgs/srv/SetupChannel.srv b/Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_msgs/srv/SetupChannel.srv similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_msgs/srv/SetupChannel.srv rename to Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_msgs/srv/SetupChannel.srv diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_python/CHANGELOG.rst b/Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_python/CHANGELOG.rst similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_python/CHANGELOG.rst rename to Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_python/CHANGELOG.rst diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_python/CMakeLists.txt b/Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_python/CMakeLists.txt similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_python/CMakeLists.txt rename to Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_python/CMakeLists.txt diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_python/bin/arbotix_driver b/Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_python/bin/arbotix_driver similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_python/bin/arbotix_driver rename to Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_python/bin/arbotix_driver diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_python/bin/arbotix_gui b/Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_python/bin/arbotix_gui similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_python/bin/arbotix_gui rename to Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_python/bin/arbotix_gui diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_python/bin/arbotix_terminal b/Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_python/bin/arbotix_terminal similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_python/bin/arbotix_terminal rename to Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_python/bin/arbotix_terminal diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_python/demos/diagnostics.yaml b/Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_python/demos/diagnostics.yaml similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_python/demos/diagnostics.yaml rename to Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_python/demos/diagnostics.yaml diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_python/mainpage.dox b/Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_python/mainpage.dox similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_python/mainpage.dox rename to Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_python/mainpage.dox diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_python/package.xml b/Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_python/package.xml similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_python/package.xml rename to Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_python/package.xml diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_python/setup.py b/Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_python/setup.py old mode 100644 new mode 100755 similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_python/setup.py rename to Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_python/setup.py diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/__init__.py b/Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/__init__.py old mode 100644 new mode 100755 similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/__init__.py rename to Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/__init__.py diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/arbotix.py b/Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/arbotix.py old mode 100644 new mode 100755 similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/arbotix.py rename to Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/arbotix.py diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/ax12.py b/Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/ax12.py old mode 100644 new mode 100755 similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/ax12.py rename to Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/ax12.py diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/controllers.py b/Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/controllers.py old mode 100644 new mode 100755 similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/controllers.py rename to Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/controllers.py diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/diff_controller.py b/Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/diff_controller.py old mode 100644 new mode 100755 similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/diff_controller.py rename to Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/diff_controller.py diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/follow_controller.py b/Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/follow_controller.py old mode 100644 new mode 100755 similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/follow_controller.py rename to Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/follow_controller.py diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/io.py b/Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/io.py old mode 100644 new mode 100755 similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/io.py rename to Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/io.py diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/joints.py b/Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/joints.py old mode 100644 new mode 100755 similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/joints.py rename to Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/joints.py diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/linear_controller.py b/Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/linear_controller.py old mode 100644 new mode 100755 similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/linear_controller.py rename to Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/linear_controller.py diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/publishers.py b/Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/publishers.py old mode 100644 new mode 100755 similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/publishers.py rename to Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/publishers.py diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/servo_controller.py b/Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/servo_controller.py old mode 100644 new mode 100755 similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/servo_controller.py rename to Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_python/src/arbotix_python/servo_controller.py diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_sensors/CHANGELOG.rst b/Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_sensors/CHANGELOG.rst similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_sensors/CHANGELOG.rst rename to Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_sensors/CHANGELOG.rst diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_sensors/CMakeLists.txt b/Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_sensors/CMakeLists.txt similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_sensors/CMakeLists.txt rename to Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_sensors/CMakeLists.txt diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_sensors/bin/ir_ranger.py b/Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_sensors/bin/ir_ranger.py old mode 100644 new mode 100755 similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_sensors/bin/ir_ranger.py rename to Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_sensors/bin/ir_ranger.py diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_sensors/bin/max_sonar.py b/Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_sensors/bin/max_sonar.py old mode 100644 new mode 100755 similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_sensors/bin/max_sonar.py rename to Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_sensors/bin/max_sonar.py diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_sensors/package.xml b/Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_sensors/package.xml similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_sensors/package.xml rename to Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_sensors/package.xml diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_sensors/setup.py b/Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_sensors/setup.py old mode 100644 new mode 100755 similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_sensors/setup.py rename to Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_sensors/setup.py diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_sensors/src/arbotix_sensors/__init__.py b/Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_sensors/src/arbotix_sensors/__init__.py old mode 100644 new mode 100755 similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_sensors/src/arbotix_sensors/__init__.py rename to Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_sensors/src/arbotix_sensors/__init__.py diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_sensors/src/arbotix_sensors/sensors.py b/Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_sensors/src/arbotix_sensors/sensors.py old mode 100644 new mode 100755 similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/arbotix_ros/arbotix_sensors/src/arbotix_sensors/sensors.py rename to Code/MowingRobot/pibot_ros/ros_ws/src/arbotix_ros/arbotix_sensors/src/arbotix_sensors/sensors.py diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/common_utils/CMakeLists.txt b/Code/MowingRobot/pibot_ros/ros_ws/src/common_utils/CMakeLists.txt similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/common_utils/CMakeLists.txt rename to Code/MowingRobot/pibot_ros/ros_ws/src/common_utils/CMakeLists.txt diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/common_utils/include/common_utils/common_utils.h b/Code/MowingRobot/pibot_ros/ros_ws/src/common_utils/include/common_utils/common_utils.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/common_utils/include/common_utils/common_utils.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/common_utils/include/common_utils/common_utils.h diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/common_utils/package.xml b/Code/MowingRobot/pibot_ros/ros_ws/src/common_utils/package.xml similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/common_utils/package.xml rename to Code/MowingRobot/pibot_ros/ros_ws/src/common_utils/package.xml diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/common_utils/src/common_utils.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/common_utils/src/common_utils.cpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/common_utils/src/common_utils.cpp rename to Code/MowingRobot/pibot_ros/ros_ws/src/common_utils/src/common_utils.cpp diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/imu_complementary_filter/CHANGELOG.rst b/Code/MowingRobot/pibot_ros/ros_ws/src/imu_complementary_filter/CHANGELOG.rst similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/imu_complementary_filter/CHANGELOG.rst rename to Code/MowingRobot/pibot_ros/ros_ws/src/imu_complementary_filter/CHANGELOG.rst diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/imu_complementary_filter/CMakeLists.txt b/Code/MowingRobot/pibot_ros/ros_ws/src/imu_complementary_filter/CMakeLists.txt similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/imu_complementary_filter/CMakeLists.txt rename to Code/MowingRobot/pibot_ros/ros_ws/src/imu_complementary_filter/CMakeLists.txt diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/imu_complementary_filter/include/imu_complementary_filter/complementary_filter.h b/Code/MowingRobot/pibot_ros/ros_ws/src/imu_complementary_filter/include/imu_complementary_filter/complementary_filter.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/imu_complementary_filter/include/imu_complementary_filter/complementary_filter.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/imu_complementary_filter/include/imu_complementary_filter/complementary_filter.h diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/imu_complementary_filter/include/imu_complementary_filter/complementary_filter_ros.h b/Code/MowingRobot/pibot_ros/ros_ws/src/imu_complementary_filter/include/imu_complementary_filter/complementary_filter_ros.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/imu_complementary_filter/include/imu_complementary_filter/complementary_filter_ros.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/imu_complementary_filter/include/imu_complementary_filter/complementary_filter_ros.h diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/imu_complementary_filter/launch/complementary_filter.launch b/Code/MowingRobot/pibot_ros/ros_ws/src/imu_complementary_filter/launch/complementary_filter.launch similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/imu_complementary_filter/launch/complementary_filter.launch rename to Code/MowingRobot/pibot_ros/ros_ws/src/imu_complementary_filter/launch/complementary_filter.launch diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/imu_complementary_filter/package.xml b/Code/MowingRobot/pibot_ros/ros_ws/src/imu_complementary_filter/package.xml similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/imu_complementary_filter/package.xml rename to Code/MowingRobot/pibot_ros/ros_ws/src/imu_complementary_filter/package.xml diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/imu_complementary_filter/src/complementary_filter.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/imu_complementary_filter/src/complementary_filter.cpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/imu_complementary_filter/src/complementary_filter.cpp rename to Code/MowingRobot/pibot_ros/ros_ws/src/imu_complementary_filter/src/complementary_filter.cpp diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/imu_complementary_filter/src/complementary_filter_node.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/imu_complementary_filter/src/complementary_filter_node.cpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/imu_complementary_filter/src/complementary_filter_node.cpp rename to Code/MowingRobot/pibot_ros/ros_ws/src/imu_complementary_filter/src/complementary_filter_node.cpp diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/imu_complementary_filter/src/complementary_filter_ros.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/imu_complementary_filter/src/complementary_filter_ros.cpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/imu_complementary_filter/src/complementary_filter_ros.cpp rename to Code/MowingRobot/pibot_ros/ros_ws/src/imu_complementary_filter/src/complementary_filter_ros.cpp diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/imu_filter/CMakeLists.txt b/Code/MowingRobot/pibot_ros/ros_ws/src/imu_filter/CMakeLists.txt similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/imu_filter/CMakeLists.txt rename to Code/MowingRobot/pibot_ros/ros_ws/src/imu_filter/CMakeLists.txt diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/imu_filter/README.md b/Code/MowingRobot/pibot_ros/ros_ws/src/imu_filter/README.md similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/imu_filter/README.md rename to Code/MowingRobot/pibot_ros/ros_ws/src/imu_filter/README.md diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/imu_filter/cfg/MyStuff.cfg b/Code/MowingRobot/pibot_ros/ros_ws/src/imu_filter/cfg/MyStuff.cfg similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/imu_filter/cfg/MyStuff.cfg rename to Code/MowingRobot/pibot_ros/ros_ws/src/imu_filter/cfg/MyStuff.cfg diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/imu_filter/cfg/MyStuff2.cfg b/Code/MowingRobot/pibot_ros/ros_ws/src/imu_filter/cfg/MyStuff2.cfg similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/imu_filter/cfg/MyStuff2.cfg rename to Code/MowingRobot/pibot_ros/ros_ws/src/imu_filter/cfg/MyStuff2.cfg diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/imu_filter/package.xml b/Code/MowingRobot/pibot_ros/ros_ws/src/imu_filter/package.xml similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/imu_filter/package.xml rename to Code/MowingRobot/pibot_ros/ros_ws/src/imu_filter/package.xml diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/imu_filter/src/Madgwick_filter.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/imu_filter/src/Madgwick_filter.cpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/imu_filter/src/Madgwick_filter.cpp rename to Code/MowingRobot/pibot_ros/ros_ws/src/imu_filter/src/Madgwick_filter.cpp diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/imu_filter/src/Mahony_filter.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/imu_filter/src/Mahony_filter.cpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/imu_filter/src/Mahony_filter.cpp rename to Code/MowingRobot/pibot_ros/ros_ws/src/imu_filter/src/Mahony_filter.cpp diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/imu_filter/src/bias_calculator.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/imu_filter/src/bias_calculator.cpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/imu_filter/src/bias_calculator.cpp rename to Code/MowingRobot/pibot_ros/ros_ws/src/imu_filter/src/bias_calculator.cpp diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/imu_filter_madgwick/CHANGELOG.rst b/Code/MowingRobot/pibot_ros/ros_ws/src/imu_filter_madgwick/CHANGELOG.rst similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/imu_filter_madgwick/CHANGELOG.rst rename to Code/MowingRobot/pibot_ros/ros_ws/src/imu_filter_madgwick/CHANGELOG.rst diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/imu_filter_madgwick/CMakeLists.txt b/Code/MowingRobot/pibot_ros/ros_ws/src/imu_filter_madgwick/CMakeLists.txt similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/imu_filter_madgwick/CMakeLists.txt rename to Code/MowingRobot/pibot_ros/ros_ws/src/imu_filter_madgwick/CMakeLists.txt diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/imu_filter_madgwick/COPYING b/Code/MowingRobot/pibot_ros/ros_ws/src/imu_filter_madgwick/COPYING similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/imu_filter_madgwick/COPYING rename to Code/MowingRobot/pibot_ros/ros_ws/src/imu_filter_madgwick/COPYING diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/imu_filter_madgwick/Makefile b/Code/MowingRobot/pibot_ros/ros_ws/src/imu_filter_madgwick/Makefile similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/imu_filter_madgwick/Makefile rename to Code/MowingRobot/pibot_ros/ros_ws/src/imu_filter_madgwick/Makefile diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/imu_filter_madgwick/cfg/ImuFilterMadgwick.cfg b/Code/MowingRobot/pibot_ros/ros_ws/src/imu_filter_madgwick/cfg/ImuFilterMadgwick.cfg similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/imu_filter_madgwick/cfg/ImuFilterMadgwick.cfg rename to Code/MowingRobot/pibot_ros/ros_ws/src/imu_filter_madgwick/cfg/ImuFilterMadgwick.cfg diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/imu_filter_madgwick/imu_filter_nodelet.xml b/Code/MowingRobot/pibot_ros/ros_ws/src/imu_filter_madgwick/imu_filter_nodelet.xml similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/imu_filter_madgwick/imu_filter_nodelet.xml rename to Code/MowingRobot/pibot_ros/ros_ws/src/imu_filter_madgwick/imu_filter_nodelet.xml diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/imu_filter_madgwick/include/imu_filter_madgwick/imu_filter.h b/Code/MowingRobot/pibot_ros/ros_ws/src/imu_filter_madgwick/include/imu_filter_madgwick/imu_filter.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/imu_filter_madgwick/include/imu_filter_madgwick/imu_filter.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/imu_filter_madgwick/include/imu_filter_madgwick/imu_filter.h diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/imu_filter_madgwick/include/imu_filter_madgwick/imu_filter_nodelet.h b/Code/MowingRobot/pibot_ros/ros_ws/src/imu_filter_madgwick/include/imu_filter_madgwick/imu_filter_nodelet.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/imu_filter_madgwick/include/imu_filter_madgwick/imu_filter_nodelet.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/imu_filter_madgwick/include/imu_filter_madgwick/imu_filter_nodelet.h diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/imu_filter_madgwick/include/imu_filter_madgwick/imu_filter_ros.h b/Code/MowingRobot/pibot_ros/ros_ws/src/imu_filter_madgwick/include/imu_filter_madgwick/imu_filter_ros.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/imu_filter_madgwick/include/imu_filter_madgwick/imu_filter_ros.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/imu_filter_madgwick/include/imu_filter_madgwick/imu_filter_ros.h diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/imu_filter_madgwick/include/imu_filter_madgwick/stateless_orientation.h b/Code/MowingRobot/pibot_ros/ros_ws/src/imu_filter_madgwick/include/imu_filter_madgwick/stateless_orientation.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/imu_filter_madgwick/include/imu_filter_madgwick/stateless_orientation.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/imu_filter_madgwick/include/imu_filter_madgwick/stateless_orientation.h diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/imu_filter_madgwick/include/imu_filter_madgwick/world_frame.h b/Code/MowingRobot/pibot_ros/ros_ws/src/imu_filter_madgwick/include/imu_filter_madgwick/world_frame.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/imu_filter_madgwick/include/imu_filter_madgwick/world_frame.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/imu_filter_madgwick/include/imu_filter_madgwick/world_frame.h diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/imu_filter_madgwick/package.xml b/Code/MowingRobot/pibot_ros/ros_ws/src/imu_filter_madgwick/package.xml similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/imu_filter_madgwick/package.xml rename to Code/MowingRobot/pibot_ros/ros_ws/src/imu_filter_madgwick/package.xml diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/imu_filter_madgwick/sample/ardrone_imu.bag b/Code/MowingRobot/pibot_ros/ros_ws/src/imu_filter_madgwick/sample/ardrone_imu.bag similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/imu_filter_madgwick/sample/ardrone_imu.bag rename to Code/MowingRobot/pibot_ros/ros_ws/src/imu_filter_madgwick/sample/ardrone_imu.bag diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/imu_filter_madgwick/sample/phidgets_imu_upside_down.bag b/Code/MowingRobot/pibot_ros/ros_ws/src/imu_filter_madgwick/sample/phidgets_imu_upside_down.bag similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/imu_filter_madgwick/sample/phidgets_imu_upside_down.bag rename to Code/MowingRobot/pibot_ros/ros_ws/src/imu_filter_madgwick/sample/phidgets_imu_upside_down.bag diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/imu_filter_madgwick/sample/sparkfun_razor.bag b/Code/MowingRobot/pibot_ros/ros_ws/src/imu_filter_madgwick/sample/sparkfun_razor.bag similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/imu_filter_madgwick/sample/sparkfun_razor.bag rename to Code/MowingRobot/pibot_ros/ros_ws/src/imu_filter_madgwick/sample/sparkfun_razor.bag diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/imu_filter_madgwick/src/imu_filter.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/imu_filter_madgwick/src/imu_filter.cpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/imu_filter_madgwick/src/imu_filter.cpp rename to Code/MowingRobot/pibot_ros/ros_ws/src/imu_filter_madgwick/src/imu_filter.cpp diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/imu_filter_madgwick/src/imu_filter_node.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/imu_filter_madgwick/src/imu_filter_node.cpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/imu_filter_madgwick/src/imu_filter_node.cpp rename to Code/MowingRobot/pibot_ros/ros_ws/src/imu_filter_madgwick/src/imu_filter_node.cpp diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/imu_filter_madgwick/src/imu_filter_nodelet.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/imu_filter_madgwick/src/imu_filter_nodelet.cpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/imu_filter_madgwick/src/imu_filter_nodelet.cpp rename to Code/MowingRobot/pibot_ros/ros_ws/src/imu_filter_madgwick/src/imu_filter_nodelet.cpp diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/imu_filter_madgwick/src/imu_filter_ros.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/imu_filter_madgwick/src/imu_filter_ros.cpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/imu_filter_madgwick/src/imu_filter_ros.cpp rename to Code/MowingRobot/pibot_ros/ros_ws/src/imu_filter_madgwick/src/imu_filter_ros.cpp diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/imu_filter_madgwick/src/stateless_orientation.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/imu_filter_madgwick/src/stateless_orientation.cpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/imu_filter_madgwick/src/stateless_orientation.cpp rename to Code/MowingRobot/pibot_ros/ros_ws/src/imu_filter_madgwick/src/stateless_orientation.cpp diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/imu_filter_madgwick/test/madgwick_test.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/imu_filter_madgwick/test/madgwick_test.cpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/imu_filter_madgwick/test/madgwick_test.cpp rename to Code/MowingRobot/pibot_ros/ros_ws/src/imu_filter_madgwick/test/madgwick_test.cpp diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/imu_filter_madgwick/test/stateless_orientation_test.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/imu_filter_madgwick/test/stateless_orientation_test.cpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/imu_filter_madgwick/test/stateless_orientation_test.cpp rename to Code/MowingRobot/pibot_ros/ros_ws/src/imu_filter_madgwick/test/stateless_orientation_test.cpp diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/imu_filter_madgwick/test/test_helpers.h b/Code/MowingRobot/pibot_ros/ros_ws/src/imu_filter_madgwick/test/test_helpers.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/imu_filter_madgwick/test/test_helpers.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/imu_filter_madgwick/test/test_helpers.h diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/.gitignore b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/.gitignore similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/.gitignore rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/.gitignore diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/.travis.rosinstall b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/.travis.rosinstall similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/.travis.rosinstall rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/.travis.rosinstall diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/.travis.rosinstall.melodic b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/.travis.rosinstall.melodic similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/.travis.rosinstall.melodic rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/.travis.rosinstall.melodic diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/.travis.yml b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/.travis.yml similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/.travis.yml rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/.travis.yml diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/README.md b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/README.md similarity index 62% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/README.md rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/README.md index 62ee1ac..eae5963 100644 --- a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/README.md +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/README.md @@ -1,17 +1,11 @@ # ipa_coverage_planning -> 更新 ： 林跃杭、詹力 2024/02/04 -> -> 更新日志：2024/01/31@林跃杭： 在代码中订阅小车控制服务，通过摄像头结点传输的障碍物信息，执行简单的90°的避障行为。 +Algorithms for floor plan segmentation and systematic coverage driving patterns. -### 一、概述 +If you find this software useful in your work, please cite our corresponding papers: +- R. Bormann, F. Jordan, W. Li, J. Hampp, and M. Hägele. Room Segmentation: Survey, Implementation, and Analysis. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2016. https://ieeexplore.ieee.org/abstract/document/7487234 , https://publica.fraunhofer.de/entities/publication/0bf23149-75d5-4601-bfce-992d91698862/details +- R. Bormann, F. Jordan, J. Hampp, and M. Hägele. Indoor coverage path planning: Survey, implementation, analysis. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pages 1718–1725, May 2018. https://ieeexplore.ieee.org/abstract/document/8460566 , https://publica.fraunhofer.de/entities/publication/f537c15d-4cbe-4672-9d86-6e756a9ce71b/details -#### 1.1 代码功能 - -​ 机器人全覆盖路径规划算法，这个算法的来源仓库地址: [GitHub](https://github.com/ipa320/ipa_coverage_planning)。机器人的全覆盖算法可以用于割草机器人的草坪全覆盖，这个路径规划库在`pibot_ros`的原始仓库是没有提供的。 - -​ 全路径规划算法分为服务端和客户端，服务端可以理解为一个路径规划器，我们把地图提供给服务端，服务端给出全覆盖规划的结果。服务端有一个地图读取数据功能，如果这部分读取的修改为固定值，那么实际上是不需要客户端的。 - -#### 1.3 ROS 版本支持 +## ROS Distro Support | | Indigo | Jade | Kinetic | Melodic | Noetic | |:-------:|:------:|:----:|:-------:|:-------:|:-------:| @@ -19,24 +13,25 @@ | Status | not supported | not supported | EOL | supported | supported | | Version | [version](http://repositories.ros.org/status_page/ros_indigo_default.html?q=ipa_coverage_planning) | [version](http://repositories.ros.org/status_page/ros_jade_default.html?q=ipa_coverage_planning) | [version](http://repositories.ros.org/status_page/ros_kinetic_default.html?q=ipa_coverage_planning) | [version](http://repositories.ros.org/status_page/ros_melodic_default.html?q=ipa_coverage_planning) | [version](http://repositories.ros.org/status_page/ros_noetic_default.html?q=ipa_coverage_planning) +## Travis - Continuous Integration -## 二、快速开始 +Status: [![Build Status](https://travis-ci.org/ipa320/ipa_coverage_planning.svg?branch=indigo_dev)](https://travis-ci.org/ipa320/ipa_coverage_planning) -1. 初始化机器人并启动`turtlebot3`的仿真。在使用`pibot`底盘时 -1. 开始房间探索行为服务端 +## Quick start - ```shell +1. Bring up your robot or launch the turtlebot3 simulation + +1. Start the room exploration action server: + + ``` roslaunch ipa_room_exploration room_exploration_action_server.launch ``` -​ 3.开始房间探索行为客户端 -```shell -roslaunch ipa_room_exploration room_exploration_client.launch robot_env:=your-robot-env use_test_maps:=false -``` +1. Start the room exploration action client: -### 三、参考文献 + ``` + roslaunch ipa_room_exploration room_exploration_client.launch robot_env:=your-robot-env use_test_maps:=false + ``` -- R. Bormann, F. Jordan, W. Li, J. Hampp, and M. Hägele. Room Segmentation: Survey, Implementation, and Analysis. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2016. https://ieeexplore.ieee.org/abstract/document/7487234 , https://publica.fraunhofer.de/entities/publication/0bf23149-75d5-4601-bfce-992d91698862/details -- R. Bormann, F. Jordan, J. Hampp, and M. Hägele. Indoor coverage path planning: Survey, implementation, analysis. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pages 1718–1725, May 2018. https://ieeexplore.ieee.org/abstract/document/8460566 , https://publica.fraunhofer.de/entities/publication/f537c15d-4cbe-4672-9d86-6e756a9ce71b/details diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_building_msgs/CHANGELOG.rst b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_building_msgs/CHANGELOG.rst similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_building_msgs/CHANGELOG.rst rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_building_msgs/CHANGELOG.rst diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_building_msgs/CMakeLists.txt b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_building_msgs/CMakeLists.txt similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_building_msgs/CMakeLists.txt rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_building_msgs/CMakeLists.txt diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_building_msgs/action/FindRoomSequenceWithCheckpoints.action b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_building_msgs/action/FindRoomSequenceWithCheckpoints.action similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_building_msgs/action/FindRoomSequenceWithCheckpoints.action rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_building_msgs/action/FindRoomSequenceWithCheckpoints.action diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_building_msgs/action/MapSegmentation.action b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_building_msgs/action/MapSegmentation.action similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_building_msgs/action/MapSegmentation.action rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_building_msgs/action/MapSegmentation.action diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_building_msgs/action/RoomExploration.action b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_building_msgs/action/RoomExploration.action similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_building_msgs/action/RoomExploration.action rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_building_msgs/action/RoomExploration.action diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_building_msgs/msg/RoomInformation.msg b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_building_msgs/msg/RoomInformation.msg similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_building_msgs/msg/RoomInformation.msg rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_building_msgs/msg/RoomInformation.msg diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_building_msgs/msg/RoomSequence.msg b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_building_msgs/msg/RoomSequence.msg similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_building_msgs/msg/RoomSequence.msg rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_building_msgs/msg/RoomSequence.msg diff --git a/Code/MowingRobot/obj_dec/src/rknn_yolov5_demo/msg/dis_info.msg b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_building_msgs/msg/dis_info.msg similarity index 100% rename from Code/MowingRobot/obj_dec/src/rknn_yolov5_demo/msg/dis_info.msg rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_building_msgs/msg/dis_info.msg diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_building_msgs/msg/dis_info_array.msg b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_building_msgs/msg/dis_info_array.msg similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_building_msgs/msg/dis_info_array.msg rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_building_msgs/msg/dis_info_array.msg diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_building_msgs/package.xml b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_building_msgs/package.xml similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_building_msgs/package.xml rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_building_msgs/package.xml diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_building_msgs/srv/CheckCoverage.srv b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_building_msgs/srv/CheckCoverage.srv similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_building_msgs/srv/CheckCoverage.srv rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_building_msgs/srv/CheckCoverage.srv diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_building_msgs/srv/ExtractAreaMapFromLabeledMap.srv b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_building_msgs/srv/ExtractAreaMapFromLabeledMap.srv similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_building_msgs/srv/ExtractAreaMapFromLabeledMap.srv rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_building_msgs/srv/ExtractAreaMapFromLabeledMap.srv diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/CMakeLists.txt b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/CMakeLists.txt similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/CMakeLists.txt rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/CMakeLists.txt diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/cfg/BuildingNavigation.cfg b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/cfg/BuildingNavigation.cfg similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/cfg/BuildingNavigation.cfg rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/cfg/BuildingNavigation.cfg diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/common/include/ipa_building_navigation/A_star_pathplanner.h b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/common/include/ipa_building_navigation/A_star_pathplanner.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/common/include/ipa_building_navigation/A_star_pathplanner.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/common/include/ipa_building_navigation/A_star_pathplanner.h diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/common/include/ipa_building_navigation/concorde_TSP.h b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/common/include/ipa_building_navigation/concorde_TSP.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/common/include/ipa_building_navigation/concorde_TSP.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/common/include/ipa_building_navigation/concorde_TSP.h diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/common/include/ipa_building_navigation/contains.h b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/common/include/ipa_building_navigation/contains.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/common/include/ipa_building_navigation/contains.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/common/include/ipa_building_navigation/contains.h diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/common/include/ipa_building_navigation/distance_matrix.h b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/common/include/ipa_building_navigation/distance_matrix.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/common/include/ipa_building_navigation/distance_matrix.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/common/include/ipa_building_navigation/distance_matrix.h diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/common/include/ipa_building_navigation/genetic_TSP.h b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/common/include/ipa_building_navigation/genetic_TSP.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/common/include/ipa_building_navigation/genetic_TSP.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/common/include/ipa_building_navigation/genetic_TSP.h diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/common/include/ipa_building_navigation/maximal_clique_finder.h b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/common/include/ipa_building_navigation/maximal_clique_finder.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/common/include/ipa_building_navigation/maximal_clique_finder.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/common/include/ipa_building_navigation/maximal_clique_finder.h diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/common/include/ipa_building_navigation/nearest_neighbor_TSP.h b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/common/include/ipa_building_navigation/nearest_neighbor_TSP.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/common/include/ipa_building_navigation/nearest_neighbor_TSP.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/common/include/ipa_building_navigation/nearest_neighbor_TSP.h diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/common/include/ipa_building_navigation/node.h b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/common/include/ipa_building_navigation/node.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/common/include/ipa_building_navigation/node.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/common/include/ipa_building_navigation/node.h diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/common/include/ipa_building_navigation/set_cover_solver.h b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/common/include/ipa_building_navigation/set_cover_solver.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/common/include/ipa_building_navigation/set_cover_solver.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/common/include/ipa_building_navigation/set_cover_solver.h diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/common/include/ipa_building_navigation/timer.h b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/common/include/ipa_building_navigation/timer.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/common/include/ipa_building_navigation/timer.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/common/include/ipa_building_navigation/timer.h diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/common/include/ipa_building_navigation/trolley_position_finder.h b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/common/include/ipa_building_navigation/trolley_position_finder.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/common/include/ipa_building_navigation/trolley_position_finder.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/common/include/ipa_building_navigation/trolley_position_finder.h diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/common/include/ipa_building_navigation/tsp_solver_defines.h b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/common/include/ipa_building_navigation/tsp_solver_defines.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/common/include/ipa_building_navigation/tsp_solver_defines.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/common/include/ipa_building_navigation/tsp_solver_defines.h diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/common/include/ipa_building_navigation/tsp_solvers.h b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/common/include/ipa_building_navigation/tsp_solvers.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/common/include/ipa_building_navigation/tsp_solvers.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/common/include/ipa_building_navigation/tsp_solvers.h diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/common/src/A_star_pathplanner.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/common/src/A_star_pathplanner.cpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/common/src/A_star_pathplanner.cpp rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/common/src/A_star_pathplanner.cpp diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/common/src/concorde_TSP.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/common/src/concorde_TSP.cpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/common/src/concorde_TSP.cpp rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/common/src/concorde_TSP.cpp diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/common/src/genetic_TSP.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/common/src/genetic_TSP.cpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/common/src/genetic_TSP.cpp rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/common/src/genetic_TSP.cpp diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/common/src/maximal_clique_finder.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/common/src/maximal_clique_finder.cpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/common/src/maximal_clique_finder.cpp rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/common/src/maximal_clique_finder.cpp diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/common/src/nearest_neighbor_TSP.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/common/src/nearest_neighbor_TSP.cpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/common/src/nearest_neighbor_TSP.cpp rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/common/src/nearest_neighbor_TSP.cpp diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/common/src/node.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/common/src/node.cpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/common/src/node.cpp rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/common/src/node.cpp diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/common/src/set_cover_solver.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/common/src/set_cover_solver.cpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/common/src/set_cover_solver.cpp rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/common/src/set_cover_solver.cpp diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/common/src/trolley_position_finder.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/common/src/trolley_position_finder.cpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/common/src/trolley_position_finder.cpp rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/common/src/trolley_position_finder.cpp diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/package.xml b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/package.xml similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/package.xml rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/package.xml diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/readme.md b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/readme.md similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/readme.md rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/readme.md diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/ros/include/ipa_building_navigation/dynamic_reconfigure_client.h b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/ros/include/ipa_building_navigation/dynamic_reconfigure_client.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/ros/include/ipa_building_navigation/dynamic_reconfigure_client.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/ros/include/ipa_building_navigation/dynamic_reconfigure_client.h diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/ros/include/ipa_building_navigation/room_sequence_planning_action_server.h b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/ros/include/ipa_building_navigation/room_sequence_planning_action_server.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/ros/include/ipa_building_navigation/room_sequence_planning_action_server.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/ros/include/ipa_building_navigation/room_sequence_planning_action_server.h diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/ros/launch/room_sequence_planning_action_server.launch b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/ros/launch/room_sequence_planning_action_server.launch similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/ros/launch/room_sequence_planning_action_server.launch rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/ros/launch/room_sequence_planning_action_server.launch diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/ros/launch/room_sequence_planning_action_server_params.yaml b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/ros/launch/room_sequence_planning_action_server_params.yaml similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/ros/launch/room_sequence_planning_action_server_params.yaml rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/ros/launch/room_sequence_planning_action_server_params.yaml diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/ros/src/boosttest.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/ros/src/boosttest.cpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/ros/src/boosttest.cpp rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/ros/src/boosttest.cpp diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/ros/src/room_sequence_planning_action_client.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/ros/src/room_sequence_planning_action_client.cpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/ros/src/room_sequence_planning_action_client.cpp rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/ros/src/room_sequence_planning_action_client.cpp diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/ros/src/room_sequence_planning_action_server.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/ros/src/room_sequence_planning_action_server.cpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/ros/src/room_sequence_planning_action_server.cpp rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/ros/src/room_sequence_planning_action_server.cpp diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/ros/src/room_sequence_planning_evaluation.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/ros/src/room_sequence_planning_evaluation.cpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/ros/src/room_sequence_planning_evaluation.cpp rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/ros/src/room_sequence_planning_evaluation.cpp diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/ros/src/tester.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/ros/src/tester.cpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/ros/src/tester.cpp rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/ros/src/tester.cpp diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/ros/test/room_sequence_planning_action_client.launch b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/ros/test/room_sequence_planning_action_client.launch similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/ros/test/room_sequence_planning_action_client.launch rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/ros/test/room_sequence_planning_action_client.launch diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/ros/test/room_sequence_planning_evaluation.launch b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/ros/test/room_sequence_planning_evaluation.launch similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/ros/test/room_sequence_planning_evaluation.launch rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_building_navigation/ros/test/room_sequence_planning_evaluation.launch diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_coverage_planning/CMakeLists.txt b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_coverage_planning/CMakeLists.txt similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_coverage_planning/CMakeLists.txt rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_coverage_planning/CMakeLists.txt diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_coverage_planning/package.xml b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_coverage_planning/package.xml similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_coverage_planning/package.xml rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_coverage_planning/package.xml diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/CHANGELOG.rst b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/CHANGELOG.rst similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/CHANGELOG.rst rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/CHANGELOG.rst diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/CMakeLists.txt b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/CMakeLists.txt similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/CMakeLists.txt rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/CMakeLists.txt diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/cfg/CoverageMonitor.cfg b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/cfg/CoverageMonitor.cfg similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/cfg/CoverageMonitor.cfg rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/cfg/CoverageMonitor.cfg diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/cfg/RoomExploration.cfg b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/cfg/RoomExploration.cfg similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/cfg/RoomExploration.cfg rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/cfg/RoomExploration.cfg diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/cmake/FindGUROBI.cmake b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/cmake/FindGUROBI.cmake similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/cmake/FindGUROBI.cmake rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/cmake/FindGUROBI.cmake diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/common/include/ipa_room_exploration/boustrophedon_explorator.h b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/common/include/ipa_room_exploration/boustrophedon_explorator.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/common/include/ipa_room_exploration/boustrophedon_explorator.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/common/include/ipa_room_exploration/boustrophedon_explorator.h diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/common/include/ipa_room_exploration/convex_sensor_placement_explorator.h b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/common/include/ipa_room_exploration/convex_sensor_placement_explorator.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/common/include/ipa_room_exploration/convex_sensor_placement_explorator.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/common/include/ipa_room_exploration/convex_sensor_placement_explorator.h diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/common/include/ipa_room_exploration/energy_functional_explorator.h b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/common/include/ipa_room_exploration/energy_functional_explorator.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/common/include/ipa_room_exploration/energy_functional_explorator.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/common/include/ipa_room_exploration/energy_functional_explorator.h diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/common/include/ipa_room_exploration/fast_math.h b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/common/include/ipa_room_exploration/fast_math.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/common/include/ipa_room_exploration/fast_math.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/common/include/ipa_room_exploration/fast_math.h diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/common/include/ipa_room_exploration/flow_network_explorator.h b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/common/include/ipa_room_exploration/flow_network_explorator.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/common/include/ipa_room_exploration/flow_network_explorator.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/common/include/ipa_room_exploration/flow_network_explorator.h diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/common/include/ipa_room_exploration/grid.h b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/common/include/ipa_room_exploration/grid.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/common/include/ipa_room_exploration/grid.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/common/include/ipa_room_exploration/grid.h diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/common/include/ipa_room_exploration/grid_point_explorator.h b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/common/include/ipa_room_exploration/grid_point_explorator.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/common/include/ipa_room_exploration/grid_point_explorator.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/common/include/ipa_room_exploration/grid_point_explorator.h diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/common/include/ipa_room_exploration/histogram.h b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/common/include/ipa_room_exploration/histogram.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/common/include/ipa_room_exploration/histogram.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/common/include/ipa_room_exploration/histogram.h diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/common/include/ipa_room_exploration/meanshift2d.h b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/common/include/ipa_room_exploration/meanshift2d.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/common/include/ipa_room_exploration/meanshift2d.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/common/include/ipa_room_exploration/meanshift2d.h diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/common/include/ipa_room_exploration/nanoflann.hpp b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/common/include/ipa_room_exploration/nanoflann.hpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/common/include/ipa_room_exploration/nanoflann.hpp rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/common/include/ipa_room_exploration/nanoflann.hpp diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/common/include/ipa_room_exploration/neural_network_explorator.h b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/common/include/ipa_room_exploration/neural_network_explorator.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/common/include/ipa_room_exploration/neural_network_explorator.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/common/include/ipa_room_exploration/neural_network_explorator.h diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/common/include/ipa_room_exploration/neuron_class.h b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/common/include/ipa_room_exploration/neuron_class.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/common/include/ipa_room_exploration/neuron_class.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/common/include/ipa_room_exploration/neuron_class.h diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/common/include/ipa_room_exploration/room_rotator.h b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/common/include/ipa_room_exploration/room_rotator.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/common/include/ipa_room_exploration/room_rotator.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/common/include/ipa_room_exploration/room_rotator.h diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/common/include/ipa_room_exploration/timer.h b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/common/include/ipa_room_exploration/timer.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/common/include/ipa_room_exploration/timer.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/common/include/ipa_room_exploration/timer.h diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/common/include/ipa_room_exploration/voronoi.hpp b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/common/include/ipa_room_exploration/voronoi.hpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/common/include/ipa_room_exploration/voronoi.hpp rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/common/include/ipa_room_exploration/voronoi.hpp diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/common/src/boustrophedon_explorator.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/common/src/boustrophedon_explorator.cpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/common/src/boustrophedon_explorator.cpp rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/common/src/boustrophedon_explorator.cpp diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/common/src/convex_sensor_placement_explorator.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/common/src/convex_sensor_placement_explorator.cpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/common/src/convex_sensor_placement_explorator.cpp rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/common/src/convex_sensor_placement_explorator.cpp diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/common/src/energy_functional_explorator.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/common/src/energy_functional_explorator.cpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/common/src/energy_functional_explorator.cpp rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/common/src/energy_functional_explorator.cpp diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/common/src/flow_network_explorator.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/common/src/flow_network_explorator.cpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/common/src/flow_network_explorator.cpp rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/common/src/flow_network_explorator.cpp diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/common/src/grid_point_explorator.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/common/src/grid_point_explorator.cpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/common/src/grid_point_explorator.cpp rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/common/src/grid_point_explorator.cpp diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/common/src/meanshift2d.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/common/src/meanshift2d.cpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/common/src/meanshift2d.cpp rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/common/src/meanshift2d.cpp diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/common/src/neural_network_explorator.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/common/src/neural_network_explorator.cpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/common/src/neural_network_explorator.cpp rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/common/src/neural_network_explorator.cpp diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/common/src/room_rotator.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/common/src/room_rotator.cpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/common/src/room_rotator.cpp rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/common/src/room_rotator.cpp diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/package.xml b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/package.xml similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/package.xml rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/package.xml diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/readme.md b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/readme.md similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/readme.md rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/readme.md diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/config/cleaning_costmap_params.yaml b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/config/cleaning_costmap_params.yaml similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/config/cleaning_costmap_params.yaml rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/config/cleaning_costmap_params.yaml diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/config/costmap_common_params.yaml b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/config/costmap_common_params.yaml similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/config/costmap_common_params.yaml rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/config/costmap_common_params.yaml diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/config/costmap_common_params_burger.yaml b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/config/costmap_common_params_burger.yaml similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/config/costmap_common_params_burger.yaml rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/config/costmap_common_params_burger.yaml diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/config/costmap_common_params_waffle.yaml b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/config/costmap_common_params_waffle.yaml similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/config/costmap_common_params_waffle.yaml rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/config/costmap_common_params_waffle.yaml diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/config/costmap_common_params_waffle_pi.yaml b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/config/costmap_common_params_waffle_pi.yaml similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/config/costmap_common_params_waffle_pi.yaml rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/config/costmap_common_params_waffle_pi.yaml diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/config/global_costmap_params.yaml b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/config/global_costmap_params.yaml similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/config/global_costmap_params.yaml rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/config/global_costmap_params.yaml diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/include/ipa_room_exploration/coverage_check_server.h b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/include/ipa_room_exploration/coverage_check_server.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/include/ipa_room_exploration/coverage_check_server.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/include/ipa_room_exploration/coverage_check_server.h diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/include/ipa_room_exploration/dynamic_reconfigure_client.h b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/include/ipa_room_exploration/dynamic_reconfigure_client.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/include/ipa_room_exploration/dynamic_reconfigure_client.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/include/ipa_room_exploration/dynamic_reconfigure_client.h diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/include/ipa_room_exploration/fov_to_robot_mapper.h b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/include/ipa_room_exploration/fov_to_robot_mapper.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/include/ipa_room_exploration/fov_to_robot_mapper.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/include/ipa_room_exploration/fov_to_robot_mapper.h diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/include/ipa_room_exploration/room_exploration_action_server.h b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/include/ipa_room_exploration/room_exploration_action_server.h similarity index 98% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/include/ipa_room_exploration/room_exploration_action_server.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/include/ipa_room_exploration/room_exploration_action_server.h index 84e63fb..9669503 100644 --- a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/include/ipa_room_exploration/room_exploration_action_server.h +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/include/ipa_room_exploration/room_exploration_action_server.h @@ -300,18 +300,25 @@ protected: private: void turn(int lr,int time);//rad/s ,0.1s - void gostraight(int time);// 0.1s + void gostraight(float v,int time);// 0.1s void publishZeroVelocity();//Publishes a velocity command of zero to the base bool flag_=0; + bool flag_ultra_=0; + bool flag_collid_=0; + public: enum PlanningMode {PLAN_FOR_FOOTPRINT=1, PLAN_FOR_FOV=2}; ros::Subscriber obstacles_sub_; ros::Subscriber cmd_vel_sub_; + ros::Subscriber ultrasonic_sub_; + ros::Subscriber collid_sub_; void stereo_CB(const ipa_building_msgs::dis_info_array::ConstPtr& flag); + void ultrasonic_CB(const std_msgs::String::ConstPtr& ul_dis); + void collid_CB(const std_msgs::String::ConstPtr& flag); void cmd_CB(const geometry_msgs::Twist::ConstPtr& cmd_vel); diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/launch/amcl.launch b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/launch/amcl.launch similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/launch/amcl.launch rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/launch/amcl.launch diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/launch/clean_work.launch b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/launch/clean_work.launch similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/launch/clean_work.launch rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/launch/clean_work.launch diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/launch/cob_map_accessibility_analysis.launch b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/launch/cob_map_accessibility_analysis.launch similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/launch/cob_map_accessibility_analysis.launch rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/launch/cob_map_accessibility_analysis.launch diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/launch/cob_map_accessibility_analysis_params.yaml b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/launch/cob_map_accessibility_analysis_params.yaml similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/launch/cob_map_accessibility_analysis_params.yaml rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/launch/cob_map_accessibility_analysis_params.yaml diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/launch/coverage_check_server.launch b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/launch/coverage_check_server.launch similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/launch/coverage_check_server.launch rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/launch/coverage_check_server.launch diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/launch/coverage_monitor_server.launch b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/launch/coverage_monitor_server.launch similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/launch/coverage_monitor_server.launch rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/launch/coverage_monitor_server.launch diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/launch/coverage_monitor_server_params.yaml b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/launch/coverage_monitor_server_params.yaml similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/launch/coverage_monitor_server_params.yaml rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/launch/coverage_monitor_server_params.yaml diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/launch/gazebo.launch b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/launch/gazebo.launch similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/launch/gazebo.launch rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/launch/gazebo.launch diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/launch/room_exploration_action_server.launch b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/launch/room_exploration_action_server.launch similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/launch/room_exploration_action_server.launch rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/launch/room_exploration_action_server.launch diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/launch/room_exploration_action_server_params.yaml b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/launch/room_exploration_action_server_params.yaml similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/launch/room_exploration_action_server_params.yaml rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/launch/room_exploration_action_server_params.yaml diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/launch/talkerUltraSound.launch b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/launch/talkerUltraSound.launch similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/launch/talkerUltraSound.launch rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/launch/talkerUltraSound.launch diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/launch/turtlebot3_navigation.launch b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/launch/turtlebot3_navigation.launch similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/launch/turtlebot3_navigation.launch rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/launch/turtlebot3_navigation.launch diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/maps/sim.pgm b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/maps/sim.pgm similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/maps/sim.pgm rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/maps/sim.pgm diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/maps/sim.yaml b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/maps/sim.yaml similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/maps/sim.yaml rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/maps/sim.yaml diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/rviz/turtlebot3_karto.rviz b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/rviz/turtlebot3_karto.rviz similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/rviz/turtlebot3_karto.rviz rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/rviz/turtlebot3_karto.rviz diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/rviz/turtlebot3_navigation.rviz b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/rviz/turtlebot3_navigation.rviz similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/rviz/turtlebot3_navigation.rviz rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/rviz/turtlebot3_navigation.rviz diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/src/coverage_check_server.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/src/coverage_check_server.cpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/src/coverage_check_server.cpp rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/src/coverage_check_server.cpp diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/src/coverage_check_server_main.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/src/coverage_check_server_main.cpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/src/coverage_check_server_main.cpp rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/src/coverage_check_server_main.cpp diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/src/coverage_monitor_server.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/src/coverage_monitor_server.cpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/src/coverage_monitor_server.cpp rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/src/coverage_monitor_server.cpp diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/src/fov_to_robot_mapper.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/src/fov_to_robot_mapper.cpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/src/fov_to_robot_mapper.cpp rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/src/fov_to_robot_mapper.cpp diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/src/next_goal.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/src/next_goal.cpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/src/next_goal.cpp rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/src/next_goal.cpp diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/src/room_exploration_action_client.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/src/room_exploration_action_client.cpp similarity index 94% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/src/room_exploration_action_client.cpp rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/src/room_exploration_action_client.cpp index fc8eeb2..f508352 100644 --- a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/src/room_exploration_action_client.cpp +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/src/room_exploration_action_client.cpp @@ -67,14 +67,15 @@ int main(int argc, char **argv) } else { - std::string env_pack_path; - priv_nh.param("env_pack", env_pack_path, "ipa_room_segmentation"); - std::string file_name; - priv_nh.param("image", file_name, "map.pgm"); + // std::string env_pack_path; + // priv_nh.param("env_pack", env_pack_path, "ipa_room_segmentation"); + // std::string file_name; + // priv_nh.param("image", file_name, "map.pgm"); std::string map_name; priv_nh.param("robot_env", map_name, "lab_ipa"); - - image_path = env_pack_path + "/envs/" + map_name + "/" + file_name; + // image_path = env_pack_path + "/envs/" + map_name + "/" + file_name; + // --------------------修改地图路径------------------------------------------------------ + image_path = "/home/firefly/pibot_ros/ros_ws/src/map/" + map_name + ".png"; } cv::Mat map_flipped = cv::imread(image_path, 0);//读入灰度图片 diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/src/room_exploration_action_server.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/src/room_exploration_action_server.cpp similarity index 97% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/src/room_exploration_action_server.cpp rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/src/room_exploration_action_server.cpp index 730b27d..0f4cd11 100644 --- a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/src/room_exploration_action_server.cpp +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/src/room_exploration_action_server.cpp @@ -198,6 +198,8 @@ RoomExplorationServer::RoomExplorationServer(ros::NodeHandle nh, std::string nam path_pub_ = node_handle_.advertise("coverage_path", 10000); cmd_vel_pub_ = node_handle_.advertise("cmd_vel", 10); obstacles_sub_ = node_handle_.subscribe("stereo_msg",1,boost::bind(&RoomExplorationServer::stereo_CB,this,_1)); + // ultrasonic_sub_ = node_handle_.subscribe("ultrasonic_msg",1,boost::bind(&RoomExplorationServer::ultrasonic_CB,this,_1)); + // collid_sub_ = node_handle_.subscribe("collid_msg",1,boost::bind(&RoomExplorationServer::collid_CB,this,_1)); cmd_vel_sub_ = node_handle_.subscribe("cmd_vel",1,boost::bind(&RoomExplorationServer::cmd_CB,this,_1)); cancel_pub_ = node_handle_.advertise("/move_base/cancel", 10); //Start action server @@ -736,24 +738,48 @@ void RoomExplorationServer::navigateExplorationPath(const std::vector15&&distance<35&&cmd_vel_.linear.x!=0) - if(distance>5&&distance<45) + // if(distance>5&&distance<45&&cmd_vel_.linear.x!=0) + if(distance>10&&distance<45) { - // ROS_INFO("distance: %.2f ", distance); flag_ = 1; - // std::cout<<"distance===="< + + + diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/test/room_exploration_evaluation.launch b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/test/room_exploration_evaluation.launch similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/test/room_exploration_evaluation.launch rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/test/room_exploration_evaluation.launch diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/worlds/sim.world b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/worlds/sim.world similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/worlds/sim.world rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_exploration/ros/worlds/sim.world diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/CMakeLists.txt b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/CMakeLists.txt similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/CMakeLists.txt rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/CMakeLists.txt diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/cfg/RoomSegmentation.cfg b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/cfg/RoomSegmentation.cfg similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/cfg/RoomSegmentation.cfg rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/cfg/RoomSegmentation.cfg diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/classifier_models/semantic_hallway_SVM.xml b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/classifier_models/semantic_hallway_SVM.xml similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/classifier_models/semantic_hallway_SVM.xml rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/classifier_models/semantic_hallway_SVM.xml diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/classifier_models/semantic_hallway_boost.xml b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/classifier_models/semantic_hallway_boost.xml similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/classifier_models/semantic_hallway_boost.xml rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/classifier_models/semantic_hallway_boost.xml diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/classifier_models/semantic_room_SVM.xml b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/classifier_models/semantic_room_SVM.xml similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/classifier_models/semantic_room_SVM.xml rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/classifier_models/semantic_room_SVM.xml diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/classifier_models/semantic_room_boost.xml b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/classifier_models/semantic_room_boost.xml similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/classifier_models/semantic_room_boost.xml rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/classifier_models/semantic_room_boost.xml diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/classifier_models/vrf_conditional_field_weights.txt b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/classifier_models/vrf_conditional_field_weights.txt similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/classifier_models/vrf_conditional_field_weights.txt rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/classifier_models/vrf_conditional_field_weights.txt diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/classifier_models/vrf_doorway_boost.xml b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/classifier_models/vrf_doorway_boost.xml similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/classifier_models/vrf_doorway_boost.xml rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/classifier_models/vrf_doorway_boost.xml diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/classifier_models/vrf_hallway_boost.xml b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/classifier_models/vrf_hallway_boost.xml similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/classifier_models/vrf_hallway_boost.xml rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/classifier_models/vrf_hallway_boost.xml diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/classifier_models/vrf_room_boost.xml b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/classifier_models/vrf_room_boost.xml similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/classifier_models/vrf_room_boost.xml rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/classifier_models/vrf_room_boost.xml diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/test_maps/160_160.png b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/test_maps/160_160.png similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/test_maps/160_160.png rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/test_maps/160_160.png diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/test_maps/250_250.png b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/test_maps/250_250.png similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/test_maps/250_250.png rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/test_maps/250_250.png diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/test_maps/300_300.png b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/test_maps/300_300.png similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/test_maps/300_300.png rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/test_maps/300_300.png diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/test_maps/400_400.png b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/test_maps/400_400.png similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/test_maps/400_400.png rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/test_maps/400_400.png diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/test_maps/500_500.png b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/test_maps/500_500.png similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/test_maps/500_500.png rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/test_maps/500_500.png diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/test_maps/a.png b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/test_maps/a.png similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/test_maps/a.png rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/test_maps/a.png diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/test_maps/blank.png b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/test_maps/blank.png similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/test_maps/blank.png rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/test_maps/blank.png diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/test_maps/quellen.txt b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/test_maps/quellen.txt similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/test_maps/quellen.txt rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/test_maps/quellen.txt diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/test_maps/test1.png b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/test_maps/test1.png similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/test_maps/test1.png rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/test_maps/test1.png diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/Freiburg52_scan_furnitures_hallway_training.png b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/Freiburg52_scan_furnitures_hallway_training.png similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/Freiburg52_scan_furnitures_hallway_training.png rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/Freiburg52_scan_furnitures_hallway_training.png diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/Freiburg52_scan_furnitures_room_training.png b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/Freiburg52_scan_furnitures_room_training.png similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/Freiburg52_scan_furnitures_room_training.png rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/Freiburg52_scan_furnitures_room_training.png diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/Freiburg52_scan_hallway_training.png b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/Freiburg52_scan_hallway_training.png similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/Freiburg52_scan_hallway_training.png rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/Freiburg52_scan_hallway_training.png diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/Freiburg52_scan_room_training.png b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/Freiburg52_scan_room_training.png similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/Freiburg52_scan_room_training.png rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/Freiburg52_scan_room_training.png diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/lab_a_hallway_training_map.png b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/lab_a_hallway_training_map.png similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/lab_a_hallway_training_map.png rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/lab_a_hallway_training_map.png diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/lab_d_room_training_map.png b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/lab_d_room_training_map.png similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/lab_d_room_training_map.png rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/lab_d_room_training_map.png diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/lab_intel_furnitures_room_training_map.png b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/lab_intel_furnitures_room_training_map.png similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/lab_intel_furnitures_room_training_map.png rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/lab_intel_furnitures_room_training_map.png diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/lab_intel_hallway_training_map.png b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/lab_intel_hallway_training_map.png similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/lab_intel_hallway_training_map.png rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/lab_intel_hallway_training_map.png diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/lab_ipa_hallway_training_map.png b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/lab_ipa_hallway_training_map.png similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/lab_ipa_hallway_training_map.png rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/lab_ipa_hallway_training_map.png diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/lab_ipa_room_training_map.png b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/lab_ipa_room_training_map.png similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/lab_ipa_room_training_map.png rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/lab_ipa_room_training_map.png diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/original_maps/Fr101_original.png b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/original_maps/Fr101_original.png similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/original_maps/Fr101_original.png rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/original_maps/Fr101_original.png diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/original_maps/Fr52_original.png b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/original_maps/Fr52_original.png similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/original_maps/Fr52_original.png rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/original_maps/Fr52_original.png diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/original_maps/NLB_original.png b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/original_maps/NLB_original.png similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/original_maps/NLB_original.png rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/original_maps/NLB_original.png diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/original_maps/lab_c_furnitures_original.png b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/original_maps/lab_c_furnitures_original.png similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/original_maps/lab_c_furnitures_original.png rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/original_maps/lab_c_furnitures_original.png diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/original_maps/lab_d_furnitures_original.png b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/original_maps/lab_d_furnitures_original.png similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/original_maps/lab_d_furnitures_original.png rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/original_maps/lab_d_furnitures_original.png diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/original_maps/lab_intel_original.png b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/original_maps/lab_intel_original.png similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/original_maps/lab_intel_original.png rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/original_maps/lab_intel_original.png diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/original_maps/lab_ipa_original.png b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/original_maps/lab_ipa_original.png similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/original_maps/lab_ipa_original.png rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/original_maps/lab_ipa_original.png diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/original_maps/office_e_original.png b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/original_maps/office_e_original.png similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/original_maps/office_e_original.png rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/original_maps/office_e_original.png diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/original_maps/office_h_original.png b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/original_maps/office_h_original.png similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/original_maps/office_h_original.png rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/original_maps/office_h_original.png diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/training_maps/training_Fr101.png b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/training_maps/training_Fr101.png similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/training_maps/training_Fr101.png rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/training_maps/training_Fr101.png diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/training_maps/training_Fr52.png b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/training_maps/training_Fr52.png similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/training_maps/training_Fr52.png rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/training_maps/training_Fr52.png diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/training_maps/training_NLB_furniture.png b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/training_maps/training_NLB_furniture.png similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/training_maps/training_NLB_furniture.png rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/training_maps/training_NLB_furniture.png diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/training_maps/training_intel.png b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/training_maps/training_intel.png similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/training_maps/training_intel.png rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/training_maps/training_intel.png diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/training_maps/training_lab_c_furnitures.png b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/training_maps/training_lab_c_furnitures.png similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/training_maps/training_lab_c_furnitures.png rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/training_maps/training_lab_c_furnitures.png diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/training_maps/training_lab_d_furniture.png b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/training_maps/training_lab_d_furniture.png similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/training_maps/training_lab_d_furniture.png rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/training_maps/training_lab_d_furniture.png diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/training_maps/training_lab_ipa.png b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/training_maps/training_lab_ipa.png similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/training_maps/training_lab_ipa.png rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/training_maps/training_lab_ipa.png diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/training_maps/training_office_e.png b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/training_maps/training_office_e.png similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/training_maps/training_office_e.png rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/training_maps/training_office_e.png diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/training_maps/training_office_h.png b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/training_maps/training_office_h.png similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/training_maps/training_office_h.png rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/training_maps/training_office_h.png diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/voronoi_maps/Fr101_voronoi.png b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/voronoi_maps/Fr101_voronoi.png similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/voronoi_maps/Fr101_voronoi.png rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/voronoi_maps/Fr101_voronoi.png diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/voronoi_maps/Fr52_voronoi.png b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/voronoi_maps/Fr52_voronoi.png similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/voronoi_maps/Fr52_voronoi.png rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/voronoi_maps/Fr52_voronoi.png diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/voronoi_maps/NLB_voronoi.png b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/voronoi_maps/NLB_voronoi.png similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/voronoi_maps/NLB_voronoi.png rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/voronoi_maps/NLB_voronoi.png diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/voronoi_maps/lab_c_furnitures_voronoi.png b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/voronoi_maps/lab_c_furnitures_voronoi.png similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/voronoi_maps/lab_c_furnitures_voronoi.png rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/voronoi_maps/lab_c_furnitures_voronoi.png diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/voronoi_maps/lab_d_furnitures_voronoi.png b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/voronoi_maps/lab_d_furnitures_voronoi.png similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/voronoi_maps/lab_d_furnitures_voronoi.png rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/voronoi_maps/lab_d_furnitures_voronoi.png diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/voronoi_maps/lab_intel_voronoi.png b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/voronoi_maps/lab_intel_voronoi.png similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/voronoi_maps/lab_intel_voronoi.png rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/voronoi_maps/lab_intel_voronoi.png diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/voronoi_maps/lab_ipa_voronoi.png b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/voronoi_maps/lab_ipa_voronoi.png similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/voronoi_maps/lab_ipa_voronoi.png rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/voronoi_maps/lab_ipa_voronoi.png diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/voronoi_maps/office_e_voronoi.png b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/voronoi_maps/office_e_voronoi.png similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/voronoi_maps/office_e_voronoi.png rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/voronoi_maps/office_e_voronoi.png diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/voronoi_maps/office_h_voronoi.png b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/voronoi_maps/office_h_voronoi.png similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/voronoi_maps/office_h_voronoi.png rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/voronoi_maps/office_h_voronoi.png diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/voronoi_node_maps/Fr101_voronoi_nodes.png b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/voronoi_node_maps/Fr101_voronoi_nodes.png similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/voronoi_node_maps/Fr101_voronoi_nodes.png rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/voronoi_node_maps/Fr101_voronoi_nodes.png diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/voronoi_node_maps/Fr52_voronoi_nodes.png b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/voronoi_node_maps/Fr52_voronoi_nodes.png similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/voronoi_node_maps/Fr52_voronoi_nodes.png rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/voronoi_node_maps/Fr52_voronoi_nodes.png diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/voronoi_node_maps/NLB_voronoi_nodes.png b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/voronoi_node_maps/NLB_voronoi_nodes.png similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/voronoi_node_maps/NLB_voronoi_nodes.png rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/voronoi_node_maps/NLB_voronoi_nodes.png diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/voronoi_node_maps/lab_c_furnitures_voronoi_nodes.png b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/voronoi_node_maps/lab_c_furnitures_voronoi_nodes.png similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/voronoi_node_maps/lab_c_furnitures_voronoi_nodes.png rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/voronoi_node_maps/lab_c_furnitures_voronoi_nodes.png diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/voronoi_node_maps/lab_d_furnitures_voronoi_nodes.png b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/voronoi_node_maps/lab_d_furnitures_voronoi_nodes.png similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/voronoi_node_maps/lab_d_furnitures_voronoi_nodes.png rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/voronoi_node_maps/lab_d_furnitures_voronoi_nodes.png diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/voronoi_node_maps/lab_intel_voronoi_nodes.png b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/voronoi_node_maps/lab_intel_voronoi_nodes.png similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/voronoi_node_maps/lab_intel_voronoi_nodes.png rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/voronoi_node_maps/lab_intel_voronoi_nodes.png diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/voronoi_node_maps/lab_ipa_voronoi_nodes.png b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/voronoi_node_maps/lab_ipa_voronoi_nodes.png similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/voronoi_node_maps/lab_ipa_voronoi_nodes.png rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/voronoi_node_maps/lab_ipa_voronoi_nodes.png diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/voronoi_node_maps/office_e_voronoi_nodes.png b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/voronoi_node_maps/office_e_voronoi_nodes.png similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/voronoi_node_maps/office_e_voronoi_nodes.png rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/voronoi_node_maps/office_e_voronoi_nodes.png diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/voronoi_node_maps/office_h_voronoi_nodes.png b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/voronoi_node_maps/office_h_voronoi_nodes.png similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/voronoi_node_maps/office_h_voronoi_nodes.png rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/files/training_maps/voronoi_random_field_training/voronoi_node_maps/office_h_voronoi_nodes.png diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/include/ipa_room_segmentation/abstract_voronoi_segmentation.h b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/include/ipa_room_segmentation/abstract_voronoi_segmentation.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/include/ipa_room_segmentation/abstract_voronoi_segmentation.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/include/ipa_room_segmentation/abstract_voronoi_segmentation.h diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/include/ipa_room_segmentation/adaboost_classifier.h b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/include/ipa_room_segmentation/adaboost_classifier.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/include/ipa_room_segmentation/adaboost_classifier.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/include/ipa_room_segmentation/adaboost_classifier.h diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/include/ipa_room_segmentation/clique_class.h b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/include/ipa_room_segmentation/clique_class.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/include/ipa_room_segmentation/clique_class.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/include/ipa_room_segmentation/clique_class.h diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/include/ipa_room_segmentation/contains.h b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/include/ipa_room_segmentation/contains.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/include/ipa_room_segmentation/contains.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/include/ipa_room_segmentation/contains.h diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/include/ipa_room_segmentation/cv_boost_loader.h b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/include/ipa_room_segmentation/cv_boost_loader.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/include/ipa_room_segmentation/cv_boost_loader.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/include/ipa_room_segmentation/cv_boost_loader.h diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/include/ipa_room_segmentation/distance_segmentation.h b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/include/ipa_room_segmentation/distance_segmentation.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/include/ipa_room_segmentation/distance_segmentation.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/include/ipa_room_segmentation/distance_segmentation.h diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/include/ipa_room_segmentation/evaluation_segmentation.h b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/include/ipa_room_segmentation/evaluation_segmentation.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/include/ipa_room_segmentation/evaluation_segmentation.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/include/ipa_room_segmentation/evaluation_segmentation.h diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/include/ipa_room_segmentation/fast_math.h b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/include/ipa_room_segmentation/fast_math.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/include/ipa_room_segmentation/fast_math.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/include/ipa_room_segmentation/fast_math.h diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/include/ipa_room_segmentation/features.h b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/include/ipa_room_segmentation/features.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/include/ipa_room_segmentation/features.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/include/ipa_room_segmentation/features.h diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/include/ipa_room_segmentation/meanshift2d.h b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/include/ipa_room_segmentation/meanshift2d.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/include/ipa_room_segmentation/meanshift2d.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/include/ipa_room_segmentation/meanshift2d.h diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/include/ipa_room_segmentation/morphological_segmentation.h b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/include/ipa_room_segmentation/morphological_segmentation.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/include/ipa_room_segmentation/morphological_segmentation.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/include/ipa_room_segmentation/morphological_segmentation.h diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/include/ipa_room_segmentation/raycasting.h b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/include/ipa_room_segmentation/raycasting.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/include/ipa_room_segmentation/raycasting.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/include/ipa_room_segmentation/raycasting.h diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/include/ipa_room_segmentation/room_class.h b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/include/ipa_room_segmentation/room_class.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/include/ipa_room_segmentation/room_class.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/include/ipa_room_segmentation/room_class.h diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/include/ipa_room_segmentation/timer.h b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/include/ipa_room_segmentation/timer.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/include/ipa_room_segmentation/timer.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/include/ipa_room_segmentation/timer.h diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/include/ipa_room_segmentation/voronoi_random_field_features.h b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/include/ipa_room_segmentation/voronoi_random_field_features.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/include/ipa_room_segmentation/voronoi_random_field_features.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/include/ipa_room_segmentation/voronoi_random_field_features.h diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/include/ipa_room_segmentation/voronoi_random_field_segmentation.h b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/include/ipa_room_segmentation/voronoi_random_field_segmentation.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/include/ipa_room_segmentation/voronoi_random_field_segmentation.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/include/ipa_room_segmentation/voronoi_random_field_segmentation.h diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/include/ipa_room_segmentation/voronoi_segmentation.h b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/include/ipa_room_segmentation/voronoi_segmentation.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/include/ipa_room_segmentation/voronoi_segmentation.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/include/ipa_room_segmentation/voronoi_segmentation.h diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/include/ipa_room_segmentation/wavefront_region_growing.h b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/include/ipa_room_segmentation/wavefront_region_growing.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/include/ipa_room_segmentation/wavefront_region_growing.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/include/ipa_room_segmentation/wavefront_region_growing.h diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/src/abstract_voronoi_segmentation.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/src/abstract_voronoi_segmentation.cpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/src/abstract_voronoi_segmentation.cpp rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/src/abstract_voronoi_segmentation.cpp diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/src/adaboost_classifier.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/src/adaboost_classifier.cpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/src/adaboost_classifier.cpp rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/src/adaboost_classifier.cpp diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/src/clique_class.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/src/clique_class.cpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/src/clique_class.cpp rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/src/clique_class.cpp diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/src/contains.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/src/contains.cpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/src/contains.cpp rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/src/contains.cpp diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/src/cv_boost_loader.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/src/cv_boost_loader.cpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/src/cv_boost_loader.cpp rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/src/cv_boost_loader.cpp diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/src/distance_segmentation.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/src/distance_segmentation.cpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/src/distance_segmentation.cpp rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/src/distance_segmentation.cpp diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/src/evaluation_segmentation.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/src/evaluation_segmentation.cpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/src/evaluation_segmentation.cpp rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/src/evaluation_segmentation.cpp diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/src/features.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/src/features.cpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/src/features.cpp rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/src/features.cpp diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/src/meanshift2d.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/src/meanshift2d.cpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/src/meanshift2d.cpp rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/src/meanshift2d.cpp diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/src/morphological_segmentation.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/src/morphological_segmentation.cpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/src/morphological_segmentation.cpp rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/src/morphological_segmentation.cpp diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/src/raycasting.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/src/raycasting.cpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/src/raycasting.cpp rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/src/raycasting.cpp diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/src/room_class.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/src/room_class.cpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/src/room_class.cpp rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/src/room_class.cpp diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/src/segmentation_tester.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/src/segmentation_tester.cpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/src/segmentation_tester.cpp rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/src/segmentation_tester.cpp diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/src/voronoi_random_field_features.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/src/voronoi_random_field_features.cpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/src/voronoi_random_field_features.cpp rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/src/voronoi_random_field_features.cpp diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/src/voronoi_random_field_segmentation.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/src/voronoi_random_field_segmentation.cpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/src/voronoi_random_field_segmentation.cpp rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/src/voronoi_random_field_segmentation.cpp diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/src/voronoi_segmentation.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/src/voronoi_segmentation.cpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/src/voronoi_segmentation.cpp rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/src/voronoi_segmentation.cpp diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/src/wavefront_region_growing.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/src/wavefront_region_growing.cpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/src/wavefront_region_growing.cpp rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/common/src/wavefront_region_growing.cpp diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/package.xml b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/package.xml similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/package.xml rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/package.xml diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/readme.md b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/readme.md similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/readme.md rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/readme.md diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/ros/include/ipa_room_segmentation/dynamic_reconfigure_client.h b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/ros/include/ipa_room_segmentation/dynamic_reconfigure_client.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/ros/include/ipa_room_segmentation/dynamic_reconfigure_client.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/ros/include/ipa_room_segmentation/dynamic_reconfigure_client.h diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/ros/include/ipa_room_segmentation/room_segmentation_server.h b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/ros/include/ipa_room_segmentation/room_segmentation_server.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/ros/include/ipa_room_segmentation/room_segmentation_server.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/ros/include/ipa_room_segmentation/room_segmentation_server.h diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/ros/launch/room_segmentation_action_server.launch b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/ros/launch/room_segmentation_action_server.launch similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/ros/launch/room_segmentation_action_server.launch rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/ros/launch/room_segmentation_action_server.launch diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/ros/launch/room_segmentation_action_server_params.yaml b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/ros/launch/room_segmentation_action_server_params.yaml similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/ros/launch/room_segmentation_action_server_params.yaml rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/ros/launch/room_segmentation_action_server_params.yaml diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/ros/src/evaluation_numeric_properties.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/ros/src/evaluation_numeric_properties.cpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/ros/src/evaluation_numeric_properties.cpp rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/ros/src/evaluation_numeric_properties.cpp diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/ros/src/room_segmentation_client.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/ros/src/room_segmentation_client.cpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/ros/src/room_segmentation_client.cpp rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/ros/src/room_segmentation_client.cpp diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/ros/src/room_segmentation_server.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/ros/src/room_segmentation_server.cpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/ros/src/room_segmentation_server.cpp rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/ros/src/room_segmentation_server.cpp diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/ros/test/room_segmentation_action_client.launch b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/ros/test/room_segmentation_action_client.launch similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/ros/test/room_segmentation_action_client.launch rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/ros/test/room_segmentation_action_client.launch diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/ros/test/room_segmentation_evaluation.launch b/Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/ros/test/room_segmentation_evaluation.launch similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/ros/test/room_segmentation_evaluation.launch rename to Code/MowingRobot/pibot_ros/ros_ws/src/ipa_coverage_planning/ipa_room_segmentation/ros/test/room_segmentation_evaluation.launch diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/laserscan_to_pointcloud/CMakeLists.txt b/Code/MowingRobot/pibot_ros/ros_ws/src/laserscan_to_pointcloud/CMakeLists.txt similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/laserscan_to_pointcloud/CMakeLists.txt rename to Code/MowingRobot/pibot_ros/ros_ws/src/laserscan_to_pointcloud/CMakeLists.txt diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/laserscan_to_pointcloud/config/default_scan_shadow_filter.yaml b/Code/MowingRobot/pibot_ros/ros_ws/src/laserscan_to_pointcloud/config/default_scan_shadow_filter.yaml similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/laserscan_to_pointcloud/config/default_scan_shadow_filter.yaml rename to Code/MowingRobot/pibot_ros/ros_ws/src/laserscan_to_pointcloud/config/default_scan_shadow_filter.yaml diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/laserscan_to_pointcloud/launch/laserscan_to_pointcloud_shadow_filtered.launch b/Code/MowingRobot/pibot_ros/ros_ws/src/laserscan_to_pointcloud/launch/laserscan_to_pointcloud_shadow_filtered.launch similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/laserscan_to_pointcloud/launch/laserscan_to_pointcloud_shadow_filtered.launch rename to Code/MowingRobot/pibot_ros/ros_ws/src/laserscan_to_pointcloud/launch/laserscan_to_pointcloud_shadow_filtered.launch diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/laserscan_to_pointcloud/package.xml b/Code/MowingRobot/pibot_ros/ros_ws/src/laserscan_to_pointcloud/package.xml similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/laserscan_to_pointcloud/package.xml rename to Code/MowingRobot/pibot_ros/ros_ws/src/laserscan_to_pointcloud/package.xml diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/laserscan_to_pointcloud/src/laserscan_to_pointcloud.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/laserscan_to_pointcloud/src/laserscan_to_pointcloud.cpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/laserscan_to_pointcloud/src/laserscan_to_pointcloud.cpp rename to Code/MowingRobot/pibot_ros/ros_ws/src/laserscan_to_pointcloud/src/laserscan_to_pointcloud.cpp diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot/CMakeLists.txt b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot/CMakeLists.txt similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot/CMakeLists.txt rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot/CMakeLists.txt diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot/cfg/CalibrateAngular.cfg b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot/cfg/CalibrateAngular.cfg similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot/cfg/CalibrateAngular.cfg rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot/cfg/CalibrateAngular.cfg diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot/cfg/CalibrateLinear.cfg b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot/cfg/CalibrateLinear.cfg similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot/cfg/CalibrateLinear.cfg rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot/cfg/CalibrateLinear.cfg diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot/include/pibot/msg_definition.h b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot/include/pibot/msg_definition.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot/include/pibot/msg_definition.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot/include/pibot/msg_definition.h diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot/include/pibot/pibot_facade.h b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot/include/pibot/pibot_facade.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot/include/pibot/pibot_facade.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot/include/pibot/pibot_facade.h diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot/include/pibot/utils.h b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot/include/pibot/utils.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot/include/pibot/utils.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot/include/pibot/utils.h diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot/launch/navigation_multi_demo.launch b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot/launch/navigation_multi_demo.launch similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot/launch/navigation_multi_demo.launch rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot/launch/navigation_multi_demo.launch diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot/launch/start_amcl.launch b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot/launch/start_amcl.launch similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot/launch/start_amcl.launch rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot/launch/start_amcl.launch diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot/launch/start_carto.launch b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot/launch/start_carto.launch similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot/launch/start_carto.launch rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot/launch/start_carto.launch diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot/launch/start_carto_without_odom.launch b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot/launch/start_carto_without_odom.launch similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot/launch/start_carto_without_odom.launch rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot/launch/start_carto_without_odom.launch diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot/launch/start_gmapping.launch b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot/launch/start_gmapping.launch similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot/launch/start_gmapping.launch rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot/launch/start_gmapping.launch diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot/launch/stop_carto.launch b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot/launch/stop_carto.launch similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot/launch/stop_carto.launch rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot/launch/stop_carto.launch diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot/launch/stop_gmapping.launch b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot/launch/stop_gmapping.launch similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot/launch/stop_gmapping.launch rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot/launch/stop_gmapping.launch diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot/launch/t_cartographer.launch b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot/launch/t_cartographer.launch similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot/launch/t_cartographer.launch rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot/launch/t_cartographer.launch diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot/launch/t_cartographer_without_odom.launch b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot/launch/t_cartographer_without_odom.launch similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot/launch/t_cartographer_without_odom.launch rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot/launch/t_cartographer_without_odom.launch diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot/launch/t_gmapping.launch b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot/launch/t_gmapping.launch similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot/launch/t_gmapping.launch rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot/launch/t_gmapping.launch diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot/package.xml b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot/package.xml similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot/package.xml rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot/package.xml diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot/scripts/calibrate_angular.py b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot/scripts/calibrate_angular.py old mode 100644 new mode 100755 similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot/scripts/calibrate_angular.py rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot/scripts/calibrate_angular.py diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot/scripts/calibrate_linear.py b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot/scripts/calibrate_linear.py old mode 100644 new mode 100755 similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot/scripts/calibrate_linear.py rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot/scripts/calibrate_linear.py diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot/scripts/get_pos_demo.py b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot/scripts/get_pos_demo.py old mode 100644 new mode 100755 similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot/scripts/get_pos_demo.py rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot/scripts/get_pos_demo.py diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot/scripts/killall_carto.sh b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot/scripts/killall_carto.sh similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot/scripts/killall_carto.sh rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot/scripts/killall_carto.sh diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot/scripts/killall_hector_mapping.sh b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot/scripts/killall_hector_mapping.sh similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot/scripts/killall_hector_mapping.sh rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot/scripts/killall_hector_mapping.sh diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot/scripts/launch_demo.py b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot/scripts/launch_demo.py old mode 100644 new mode 100755 similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot/scripts/launch_demo.py rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot/scripts/launch_demo.py diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot/scripts/marker_server.py b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot/scripts/marker_server.py old mode 100644 new mode 100755 similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot/scripts/marker_server.py rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot/scripts/marker_server.py diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot/scripts/navigation_goal.py b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot/scripts/navigation_goal.py old mode 100644 new mode 100755 similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot/scripts/navigation_goal.py rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot/scripts/navigation_goal.py diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot/scripts/navigation_multi_goals.py b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot/scripts/navigation_multi_goals.py old mode 100644 new mode 100755 similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot/scripts/navigation_multi_goals.py rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot/scripts/navigation_multi_goals.py diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot/scripts/teleop_twist_keyboard.py b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot/scripts/teleop_twist_keyboard.py old mode 100644 new mode 100755 similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot/scripts/teleop_twist_keyboard.py rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot/scripts/teleop_twist_keyboard.py diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot/scripts/transform_utils.py b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot/scripts/transform_utils.py old mode 100644 new mode 100755 similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot/scripts/transform_utils.py rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot/scripts/transform_utils.py diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot/src/main.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot/src/main.cpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot/src/main.cpp rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot/src/main.cpp diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot/src/pibot_facade.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot/src/pibot_facade.cpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot/src/pibot_facade.cpp rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot/src/pibot_facade.cpp diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_3dsensor/.gitignore b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_3dsensor/.gitignore similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_3dsensor/.gitignore rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_3dsensor/.gitignore diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_3dsensor/CMakeLists.txt b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_3dsensor/CMakeLists.txt similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_3dsensor/CMakeLists.txt rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_3dsensor/CMakeLists.txt diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_3dsensor/calibration/depth_PS1080_PrimeSense.yaml b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_3dsensor/calibration/depth_PS1080_PrimeSense.yaml similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_3dsensor/calibration/depth_PS1080_PrimeSense.yaml rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_3dsensor/calibration/depth_PS1080_PrimeSense.yaml diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_3dsensor/calibration/rgb_PS1080_PrimeSense.yaml b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_3dsensor/calibration/rgb_PS1080_PrimeSense.yaml similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_3dsensor/calibration/rgb_PS1080_PrimeSense.yaml rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_3dsensor/calibration/rgb_PS1080_PrimeSense.yaml diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_3dsensor/config/astra_camera.yaml b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_3dsensor/config/astra_camera.yaml similarity index 96% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_3dsensor/config/astra_camera.yaml rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_3dsensor/config/astra_camera.yaml index 1ec970f..ee5d175 100644 --- a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_3dsensor/config/astra_camera.yaml +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_3dsensor/config/astra_camera.yaml @@ -1,27 +1,27 @@ -image_width: 640 -image_height: 480 -camera_name: camera -camera_matrix: - rows: 3 - cols: 3 - data: [577.54679, 0. , 310.24326, - 0. , 578.63325, 253.65539, - 0. , 0. , 1. ] -camera_model: plumb_bob -distortion_model: plumb_bob -distortion_coefficients: - rows: 1 - cols: 5 - data: [0.125197, -0.196591, 0.006816, -0.006225, 0.000000] -rectification_matrix: - rows: 3 - cols: 3 - data: [1., 0., 0., - 0., 1., 0., - 0., 0., 1.] -projection_matrix: - rows: 3 - cols: 4 - data: [590.55457, 0. , 306.57339, 0. , - 0. , 592.83978, 256.43008, 0. , - 0. , 0. , 1. , 0. ] +image_width: 640 +image_height: 480 +camera_name: camera +camera_matrix: + rows: 3 + cols: 3 + data: [577.54679, 0. , 310.24326, + 0. , 578.63325, 253.65539, + 0. , 0. , 1. ] +camera_model: plumb_bob +distortion_model: plumb_bob +distortion_coefficients: + rows: 1 + cols: 5 + data: [0.125197, -0.196591, 0.006816, -0.006225, 0.000000] +rectification_matrix: + rows: 3 + cols: 3 + data: [1., 0., 0., + 0., 1., 0., + 0., 0., 1.] +projection_matrix: + rows: 3 + cols: 4 + data: [590.55457, 0. , 306.57339, 0. , + 0. , 592.83978, 256.43008, 0. , + 0. , 0. , 1. , 0. ] diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_3dsensor/config/astra_depth.yaml b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_3dsensor/config/astra_depth.yaml similarity index 97% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_3dsensor/config/astra_depth.yaml rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_3dsensor/config/astra_depth.yaml index 9ff93fb..277e4ad 100644 --- a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_3dsensor/config/astra_depth.yaml +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_3dsensor/config/astra_depth.yaml @@ -1,20 +1,20 @@ -image_width: 640 -image_height: 480 -camera_name: depth_Astra_Orbbec -camera_matrix: - rows: 3 - cols: 3 - data: [582.795354, 0.000000, 326.415982, 0.000000, 584.395006, 249.989410, 0.000000, 0.000000, 1.000000] -distortion_model: plumb_bob -distortion_coefficients: - rows: 1 - cols: 5 - data: [-0.068613, 0.174404, 0.001015, 0.006240, 0.000000] -rectification_matrix: - rows: 3 - cols: 3 - data: [1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000] -projection_matrix: - rows: 3 - cols: 4 - data: [586.186035, 0.000000, 329.702427, 0.000000, 0.000000, 590.631409, 250.167765, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000] +image_width: 640 +image_height: 480 +camera_name: depth_Astra_Orbbec +camera_matrix: + rows: 3 + cols: 3 + data: [582.795354, 0.000000, 326.415982, 0.000000, 584.395006, 249.989410, 0.000000, 0.000000, 1.000000] +distortion_model: plumb_bob +distortion_coefficients: + rows: 1 + cols: 5 + data: [-0.068613, 0.174404, 0.001015, 0.006240, 0.000000] +rectification_matrix: + rows: 3 + cols: 3 + data: [1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000] +projection_matrix: + rows: 3 + cols: 4 + data: [586.186035, 0.000000, 329.702427, 0.000000, 0.000000, 590.631409, 250.167765, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000] diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_3dsensor/launch/astra.launch b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_3dsensor/launch/astra.launch similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_3dsensor/launch/astra.launch rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_3dsensor/launch/astra.launch diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_3dsensor/launch/d435i.launch b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_3dsensor/launch/d435i.launch similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_3dsensor/launch/d435i.launch rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_3dsensor/launch/d435i.launch diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_3dsensor/launch/kinectV1.launch b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_3dsensor/launch/kinectV1.launch similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_3dsensor/launch/kinectV1.launch rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_3dsensor/launch/kinectV1.launch diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_3dsensor/launch/xtion.launch b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_3dsensor/launch/xtion.launch similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_3dsensor/launch/xtion.launch rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_3dsensor/launch/xtion.launch diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_3dsensor/package.xml b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_3dsensor/package.xml similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_3dsensor/package.xml rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_3dsensor/package.xml diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_bringup/CMakeLists.txt b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_bringup/CMakeLists.txt similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_bringup/CMakeLists.txt rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_bringup/CMakeLists.txt diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_bringup/cfg/pibot_parameter.cfg b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_bringup/cfg/pibot_parameter.cfg similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_bringup/cfg/pibot_parameter.cfg rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_bringup/cfg/pibot_parameter.cfg diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_bringup/config/joystick-holonomic.config.yaml b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_bringup/config/joystick-holonomic.config.yaml similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_bringup/config/joystick-holonomic.config.yaml rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_bringup/config/joystick-holonomic.config.yaml diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_bringup/config/joystick.config.yaml b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_bringup/config/joystick.config.yaml similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_bringup/config/joystick.config.yaml rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_bringup/config/joystick.config.yaml diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_bringup/include/pibot_bringup/base_driver.h b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_bringup/include/pibot_bringup/base_driver.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_bringup/include/pibot_bringup/base_driver.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_bringup/include/pibot_bringup/base_driver.h diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_bringup/include/pibot_bringup/base_driver_config.h b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_bringup/include/pibot_bringup/base_driver_config.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_bringup/include/pibot_bringup/base_driver_config.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_bringup/include/pibot_bringup/base_driver_config.h diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_bringup/include/pibot_bringup/data_holder.h b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_bringup/include/pibot_bringup/data_holder.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_bringup/include/pibot_bringup/data_holder.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_bringup/include/pibot_bringup/data_holder.h diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_bringup/include/pibot_bringup/dataframe.h b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_bringup/include/pibot_bringup/dataframe.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_bringup/include/pibot_bringup/dataframe.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_bringup/include/pibot_bringup/dataframe.h diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_bringup/include/pibot_bringup/queue.h b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_bringup/include/pibot_bringup/queue.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_bringup/include/pibot_bringup/queue.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_bringup/include/pibot_bringup/queue.h diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_bringup/include/pibot_bringup/serial_transport.h b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_bringup/include/pibot_bringup/serial_transport.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_bringup/include/pibot_bringup/serial_transport.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_bringup/include/pibot_bringup/serial_transport.h diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_bringup/include/pibot_bringup/serial_transport2.h b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_bringup/include/pibot_bringup/serial_transport2.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_bringup/include/pibot_bringup/serial_transport2.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_bringup/include/pibot_bringup/serial_transport2.h diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_bringup/include/pibot_bringup/simple_dataframe.h b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_bringup/include/pibot_bringup/simple_dataframe.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_bringup/include/pibot_bringup/simple_dataframe.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_bringup/include/pibot_bringup/simple_dataframe.h diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_bringup/include/pibot_bringup/simple_dataframe_master.h b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_bringup/include/pibot_bringup/simple_dataframe_master.h similarity index 95% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_bringup/include/pibot_bringup/simple_dataframe_master.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_bringup/include/pibot_bringup/simple_dataframe_master.h index 60e935d..6c92fb5 100644 --- a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_bringup/include/pibot_bringup/simple_dataframe_master.h +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_bringup/include/pibot_bringup/simple_dataframe_master.h @@ -1,32 +1,32 @@ -#ifndef PIBOT_SIMPLE_DATAFRAME_MASTER_H_ -#define PIBOT_SIMPLE_DATAFRAME_MASTER_H_ - -#include "simple_dataframe.h" -#include - -class Transport; -class Simple_dataframe : public Dataframe -{ -public: - Simple_dataframe(Transport* trans=0); - ~Simple_dataframe(); - void register_notify(const MESSAGE_ID id, Notify* _nf) { - } - - bool data_recv(unsigned char c); - bool data_parse(); - bool init(); - bool interact(const MESSAGE_ID id); -private: - bool recv_proc(); -private: - bool send_message(const MESSAGE_ID id); - bool send_message(const MESSAGE_ID id, unsigned char* data, unsigned char len); - bool send_message(Message* msg); -private: - Message active_rx_msg; - - RECEIVE_STATE recv_state; - Transport* trans; -}; +#ifndef PIBOT_SIMPLE_DATAFRAME_MASTER_H_ +#define PIBOT_SIMPLE_DATAFRAME_MASTER_H_ + +#include "simple_dataframe.h" +#include + +class Transport; +class Simple_dataframe : public Dataframe +{ +public: + Simple_dataframe(Transport* trans=0); + ~Simple_dataframe(); + void register_notify(const MESSAGE_ID id, Notify* _nf) { + } + + bool data_recv(unsigned char c); + bool data_parse(); + bool init(); + bool interact(const MESSAGE_ID id); +private: + bool recv_proc(); +private: + bool send_message(const MESSAGE_ID id); + bool send_message(const MESSAGE_ID id, unsigned char* data, unsigned char len); + bool send_message(Message* msg); +private: + Message active_rx_msg; + + RECEIVE_STATE recv_state; + Transport* trans; +}; #endif \ No newline at end of file diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_bringup/include/pibot_bringup/transport.h b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_bringup/include/pibot_bringup/transport.h similarity index 94% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_bringup/include/pibot_bringup/transport.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_bringup/include/pibot_bringup/transport.h index 495fd2e..f136984 100644 --- a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_bringup/include/pibot_bringup/transport.h +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_bringup/include/pibot_bringup/transport.h @@ -1,30 +1,30 @@ -#ifndef TRANSPORT_H_ -#define TRANSPORT_H_ - -#include -#include -#include -#include -#include -#include -#include -#include -#include - -typedef std::vector Buffer; - -class Transport -{ -public: - virtual ~Transport(){} - virtual bool init()=0; - virtual void set_timeout(int t)=0; - virtual bool is_timeout()=0; - virtual Buffer read() = 0; - - virtual void write(Buffer &data) = 0; -}; - - - -#endif /* TRANSPORT_BASE_H_ */ +#ifndef TRANSPORT_H_ +#define TRANSPORT_H_ + +#include +#include +#include +#include +#include +#include +#include +#include +#include + +typedef std::vector Buffer; + +class Transport +{ +public: + virtual ~Transport(){} + virtual bool init()=0; + virtual void set_timeout(int t)=0; + virtual bool is_timeout()=0; + virtual Buffer read() = 0; + + virtual void write(Buffer &data) = 0; +}; + + + +#endif /* TRANSPORT_BASE_H_ */ diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_bringup/include/pibot_bringup/variable_queue.h b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_bringup/include/pibot_bringup/variable_queue.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_bringup/include/pibot_bringup/variable_queue.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_bringup/include/pibot_bringup/variable_queue.h diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_bringup/launch/apollo_bringup_smoother.launch b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_bringup/launch/apollo_bringup_smoother.launch similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_bringup/launch/apollo_bringup_smoother.launch rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_bringup/launch/apollo_bringup_smoother.launch diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_bringup/launch/bringup.launch b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_bringup/launch/bringup.launch similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_bringup/launch/bringup.launch rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_bringup/launch/bringup.launch diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_bringup/launch/bringup_with_imu.launch b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_bringup/launch/bringup_with_imu.launch similarity index 78% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_bringup/launch/bringup_with_imu.launch rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_bringup/launch/bringup_with_imu.launch index 1899147..43eb274 100644 --- a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_bringup/launch/bringup_with_imu.launch +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_bringup/launch/bringup_with_imu.launch @@ -1,9 +1,3 @@ - @@ -25,13 +19,7 @@ - - + imu/accelerometer_bias: {x: 0.005436, y: 0.014684, z: -0.395418} @@ -48,10 +36,12 @@ - + + + + - + @@ -73,22 +63,16 @@ - - + - + - diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_bringup/launch/joystick.launch b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_bringup/launch/joystick.launch similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_bringup/launch/joystick.launch rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_bringup/launch/joystick.launch diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_bringup/launch/keyboard_teleop.launch b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_bringup/launch/keyboard_teleop.launch similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_bringup/launch/keyboard_teleop.launch rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_bringup/launch/keyboard_teleop.launch diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_bringup/launch/model.launch b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_bringup/launch/model.launch similarity index 88% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_bringup/launch/model.launch rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_bringup/launch/model.launch index c38414c..7c7cb93 100644 --- a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_bringup/launch/model.launch +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_bringup/launch/model.launch @@ -1,12 +1,10 @@ + - - + diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_bringup/launch/robot.launch b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_bringup/launch/robot.launch similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_bringup/launch/robot.launch rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_bringup/launch/robot.launch diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_bringup/launch/usb_camera.launch b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_bringup/launch/usb_camera.launch similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_bringup/launch/usb_camera.launch rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_bringup/launch/usb_camera.launch diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_bringup/launch/usb_camera_old.launch b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_bringup/launch/usb_camera_old.launch similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_bringup/launch/usb_camera_old.launch rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_bringup/launch/usb_camera_old.launch diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_bringup/launch/view_model.launch b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_bringup/launch/view_model.launch similarity index 94% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_bringup/launch/view_model.launch rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_bringup/launch/view_model.launch index 916352f..e23818b 100644 --- a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_bringup/launch/view_model.launch +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_bringup/launch/view_model.launch @@ -1,7 +1,7 @@ - - - + + + diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_bringup/package.xml b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_bringup/package.xml similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_bringup/package.xml rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_bringup/package.xml diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_bringup/scripts/odom_ekf.py b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_bringup/scripts/odom_ekf.py old mode 100644 new mode 100755 similarity index 79% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_bringup/scripts/odom_ekf.py rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_bringup/scripts/odom_ekf.py index 938dafd..9db038d --- a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_bringup/scripts/odom_ekf.py +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_bringup/scripts/odom_ekf.py @@ -8,6 +8,19 @@ Created for the Pi Robot Project: http://www.pirobot.org Copyright (c) 2012 Patrick Goebel. All rights reserved. + + This program is free software; you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation; either version 2 of the License, or + (at your option) any later version.5 + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details at: + + http://www.gnu.org/licenses/gpl.html + """ import rospy diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_bringup/src/base_driver.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_bringup/src/base_driver.cpp similarity index 93% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_bringup/src/base_driver.cpp rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_bringup/src/base_driver.cpp index 8366987..c01808e 100644 --- a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_bringup/src/base_driver.cpp +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_bringup/src/base_driver.cpp @@ -66,7 +66,7 @@ void BaseDriver::init_cmd_odom() frame->interact(ID_INIT_ODOM); ROS_INFO_STREAM("subscribe cmd topic on [" << bdg.cmd_vel_topic << "]"); - cmd_vel_sub = nh.subscribe(bdg.cmd_vel_topic, 1000, &BaseDriver::cmd_vel_callback, this); + cmd_vel_sub = nh.subscribe(bdg.cmd_vel_topic, 1, &BaseDriver::cmd_vel_callback, this); ROS_INFO_STREAM("advertise odom topic on [" << bdg.odom_topic << "]"); odom_pub = nh.advertise(bdg.odom_topic, 50); @@ -114,14 +114,6 @@ void BaseDriver::init_pid_debug() } } -/**---------------------------------------------------------------------- -* Function : init_imu -* Description : 初始化IMU,创建话题raw_imu，设置50个缓存的队列大小, raw_imu - 会在pibot_imu里面做校准处理然后发布为imu/data_raw提供给ROS - 中的其他节点使用 -* Author : pibot -* Review : 2023/04/22 zhanli，Add Description. -*---------------------------------------------------------------------**/ void BaseDriver::init_imu() { raw_imu_pub = nh.advertise("raw_imu", 50); diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_bringup/src/base_driver_config.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_bringup/src/base_driver_config.cpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_bringup/src/base_driver_config.cpp rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_bringup/src/base_driver_config.cpp diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_bringup/src/data_holder.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_bringup/src/data_holder.cpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_bringup/src/data_holder.cpp rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_bringup/src/data_holder.cpp diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_bringup/src/main.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_bringup/src/main.cpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_bringup/src/main.cpp rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_bringup/src/main.cpp diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_bringup/src/serial_transport.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_bringup/src/serial_transport.cpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_bringup/src/serial_transport.cpp rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_bringup/src/serial_transport.cpp diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_bringup/src/serial_transport2.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_bringup/src/serial_transport2.cpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_bringup/src/serial_transport2.cpp rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_bringup/src/serial_transport2.cpp diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_bringup/src/simple_dataframe_master.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_bringup/src/simple_dataframe_master.cpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_bringup/src/simple_dataframe_master.cpp rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_bringup/src/simple_dataframe_master.cpp diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_bringup/src/uwb.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_bringup/src/uwb.cpp new file mode 100644 index 0000000..70dd2c7 --- /dev/null +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_bringup/src/uwb.cpp @@ -0,0 +1,101 @@ +#include +#include //ROS已经内置了的串口包 +#include +#include +#include +#include + +serial::Serial ser; //声明串口对象 +float uwb_x; +float uwb_y; + +char data_string[2][7];//字符串形式存串口读取的x,y 在用函数转为浮点型数据 +int main (int argc, char** argv) +{ + //初始化节点 + ros::init(argc, argv, "uwb_serial"); + //声明节点句柄 + ros::NodeHandle nh; + //发布UWB话题 + ros::Publisher uwb_publisher = nh.advertise("/uwb/data", 10); + + try + { + //设置串口属性，并打开串口 + ser.setPort("/dev/ttyS1"); + ser.setBaudrate(115200); + serial::Timeout to = serial::Timeout::simpleTimeout(1000); + ser.setTimeout(to); + ser.open(); + } + catch (serial::IOException& e) + { + ROS_ERROR_STREAM("Unable to open port "); + return -1; + } + //检测串口是否已经打开，并给出提示信息 + if(ser.isOpen()) + { + ROS_INFO_STREAM("Serial Port initialized"); + } + else + { + return -1; + } + + //指定循环的频率 + ros::Rate loop_rate(100); + + //处理从串口来的uwb数据 + while(ros::ok()) + { + //串口缓存字符数 + size_t n = ser.available(); + if(n != 0) + { + uint8_t tmpdata[30]; + ser.read(tmpdata,n);//tmpdata 参数缓存 data_size 数据长度 + //读取uwb的x,y + for (int i = 0,j =0; i< n; i++) + { + j=0; + if(tmpdata[i]=='x') + { + i++;//去掉首字母 + while(tmpdata[i]!=',') + { + data_string[0][j]=tmpdata[i]; + i++; + j++; + } + } + if(tmpdata[i]=='y') + { + i++;//去掉首字母 + while(tmpdata[i]!=',') + { + data_string[1][j]=tmpdata[i]; + i++; + j++; + } + } + } + } + //把字符串转化为浮点数 + uwb_x = atof(data_string[0])/100.0;//x + uwb_y = atof(data_string[1])/100.0;//y + + aimibot::Uwb uwb_data; + uwb_data.uwb_x = uwb_x; + uwb_data.uwb_y = uwb_y; + uwb_publisher.publish(uwb_data); + + //处理ROS的信息，比如订阅消息,并调用回调函数 + ros::spinOnce(); + loop_rate.sleep(); + } + //关闭串口 + ser.close(); + return 0; +} + diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_description/CMakeLists.txt b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_description/CMakeLists.txt similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_description/CMakeLists.txt rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_description/CMakeLists.txt diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_description/launch/demo_urdf.launch b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_description/launch/demo_urdf.launch similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_description/launch/demo_urdf.launch rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_description/launch/demo_urdf.launch diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_description/launch/gazebo.launch b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_description/launch/gazebo.launch similarity index 95% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_description/launch/gazebo.launch rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_description/launch/gazebo.launch index 89fbc55..5d2b734 100644 --- a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_description/launch/gazebo.launch +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_description/launch/gazebo.launch @@ -1,20 +1,20 @@ - - - - - + + + + + \ No newline at end of file diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_description/manifest.xml b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_description/manifest.xml similarity index 91% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_description/manifest.xml rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_description/manifest.xml index 4c16984..cfa06c4 100644 --- a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_description/manifest.xml +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_description/manifest.xml @@ -1,6 +1,6 @@ - - pi_bot.SLDASM - - me - BSD + + pi_bot.SLDASM + + me + BSD \ No newline at end of file diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_description/meshes/base/apolloX_base.stl b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_description/meshes/base/apolloX_base.stl similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_description/meshes/base/apolloX_base.stl rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_description/meshes/base/apolloX_base.stl diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_description/meshes/base/apollo_base.stl b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_description/meshes/base/apollo_base.stl similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_description/meshes/base/apollo_base.stl rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_description/meshes/base/apollo_base.stl diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_description/meshes/base/hades_base.stl b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_description/meshes/base/hades_base.stl similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_description/meshes/base/hades_base.stl rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_description/meshes/base/hades_base.stl diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_description/meshes/base/hera_base.stl b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_description/meshes/base/hera_base.stl similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_description/meshes/base/hera_base.stl rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_description/meshes/base/hera_base.stl diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_description/meshes/base/zeus_base.stl b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_description/meshes/base/zeus_base.stl similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_description/meshes/base/zeus_base.stl rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_description/meshes/base/zeus_base.stl diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_description/meshes/sensor/astra.dae b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_description/meshes/sensor/astra.dae similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_description/meshes/sensor/astra.dae rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_description/meshes/sensor/astra.dae diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_description/meshes/sensor/astra.jpg b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_description/meshes/sensor/astra.jpg similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_description/meshes/sensor/astra.jpg rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_description/meshes/sensor/astra.jpg diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_description/meshes/sensor/d435i.dae b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_description/meshes/sensor/d435i.dae similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_description/meshes/sensor/d435i.dae rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_description/meshes/sensor/d435i.dae diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_description/meshes/sensor/rplidar.dae b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_description/meshes/sensor/rplidar.dae similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_description/meshes/sensor/rplidar.dae rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_description/meshes/sensor/rplidar.dae diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_description/meshes/sensor/xtion.dae b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_description/meshes/sensor/xtion.dae similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_description/meshes/sensor/xtion.dae rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_description/meshes/sensor/xtion.dae diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_description/meshes/sensor/xtion.jpg b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_description/meshes/sensor/xtion.jpg similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_description/meshes/sensor/xtion.jpg rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_description/meshes/sensor/xtion.jpg diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_description/package.xml b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_description/package.xml similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_description/package.xml rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_description/package.xml diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_description/urdf.rviz b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_description/urdf.rviz similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_description/urdf.rviz rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_description/urdf.rviz diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_description/urdf/accessories/camera.urdf.xacro b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_description/urdf/accessories/camera.urdf.xacro similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_description/urdf/accessories/camera.urdf.xacro rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_description/urdf/accessories/camera.urdf.xacro diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_description/urdf/accessories/lidar.urdf.xacro b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_description/urdf/accessories/lidar.urdf.xacro similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_description/urdf/accessories/lidar.urdf.xacro rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_description/urdf/accessories/lidar.urdf.xacro diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_description/urdf/apollo.urdf.xacro b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_description/urdf/apollo.urdf.xacro similarity index 97% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_description/urdf/apollo.urdf.xacro rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_description/urdf/apollo.urdf.xacro index 013c2d5..a1de043 100644 --- a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_description/urdf/apollo.urdf.xacro +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_description/urdf/apollo.urdf.xacro @@ -1,58 +1,58 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_description/urdf/apolloX.urdf.xacro b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_description/urdf/apolloX.urdf.xacro similarity index 97% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_description/urdf/apolloX.urdf.xacro rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_description/urdf/apolloX.urdf.xacro index fc38261..c22ec97 100644 --- a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_description/urdf/apolloX.urdf.xacro +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_description/urdf/apolloX.urdf.xacro @@ -1,67 +1,67 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_description/urdf/components/pibot_board.urdf.xacro b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_description/urdf/components/pibot_board.urdf.xacro similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_description/urdf/components/pibot_board.urdf.xacro rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_description/urdf/components/pibot_board.urdf.xacro diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_description/urdf/components/pibot_pillar.urdf.xacro b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_description/urdf/components/pibot_pillar.urdf.xacro similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_description/urdf/components/pibot_pillar.urdf.xacro rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_description/urdf/components/pibot_pillar.urdf.xacro diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_description/urdf/components/pibot_properties.xacro b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_description/urdf/components/pibot_properties.xacro similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_description/urdf/components/pibot_properties.xacro rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_description/urdf/components/pibot_properties.xacro diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_description/urdf/demo_urdf.urdf b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_description/urdf/demo_urdf.urdf similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_description/urdf/demo_urdf.urdf rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_description/urdf/demo_urdf.urdf diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_description/urdf/hades.urdf.xacro b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_description/urdf/hades.urdf.xacro similarity index 96% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_description/urdf/hades.urdf.xacro rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_description/urdf/hades.urdf.xacro index 33c1030..ec7a2d8 100644 --- a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_description/urdf/hades.urdf.xacro +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_description/urdf/hades.urdf.xacro @@ -1,46 +1,46 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_description/urdf/hera.urdf.xacro b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_description/urdf/hera.urdf.xacro similarity index 96% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_description/urdf/hera.urdf.xacro rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_description/urdf/hera.urdf.xacro index 4c64e41..2e61cde 100644 --- a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_description/urdf/hera.urdf.xacro +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_description/urdf/hera.urdf.xacro @@ -1,46 +1,46 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_description/urdf/pibot.urdf.xacro b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_description/urdf/pibot.urdf.xacro similarity index 97% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_description/urdf/pibot.urdf.xacro rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_description/urdf/pibot.urdf.xacro index 96177e1..109bf6f 100644 --- a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_description/urdf/pibot.urdf.xacro +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_description/urdf/pibot.urdf.xacro @@ -1,39 +1,39 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_description/urdf/pibot.xacro b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_description/urdf/pibot.xacro similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_description/urdf/pibot.xacro rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_description/urdf/pibot.xacro diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_description/urdf/zeus.urdf.xacro b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_description/urdf/zeus.urdf.xacro similarity index 97% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_description/urdf/zeus.urdf.xacro rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_description/urdf/zeus.urdf.xacro index 1adb1b7..ad10ca2 100644 --- a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_description/urdf/zeus.urdf.xacro +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_description/urdf/zeus.urdf.xacro @@ -1,46 +1,46 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_imu/CMakeLists.txt b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_imu/CMakeLists.txt similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_imu/CMakeLists.txt rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_imu/CMakeLists.txt diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_imu/include/pibot_imu/pibot_imu.h b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_imu/include/pibot_imu/pibot_imu.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_imu/include/pibot_imu/pibot_imu.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_imu/include/pibot_imu/pibot_imu.h diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_imu/launch/imu_ahrs.launch b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_imu/launch/imu_ahrs.launch similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_imu/launch/imu_ahrs.launch rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_imu/launch/imu_ahrs.launch diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_imu/package.xml b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_imu/package.xml similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_imu/package.xml rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_imu/package.xml diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_imu/scripts/simple_magnometer_calibration b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_imu/scripts/simple_magnometer_calibration similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_imu/scripts/simple_magnometer_calibration rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_imu/scripts/simple_magnometer_calibration diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_imu/src/pibot_imu.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_imu/src/pibot_imu.cpp similarity index 97% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_imu/src/pibot_imu.cpp rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_imu/src/pibot_imu.cpp index 109af78..46b07a6 100644 --- a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_imu/src/pibot_imu.cpp +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_imu/src/pibot_imu.cpp @@ -1,8 +1,5 @@ #include "pibot_imu/pibot_imu.h" - - -// 订阅节点: raw_imu 这个话题是 PibotIMU::PibotIMU(ros::NodeHandle nh, ros::NodeHandle pnh): // Members default values nh_(nh), @@ -19,12 +16,9 @@ PibotIMU::PibotIMU(ros::NodeHandle nh, ros::NodeHandle pnh): pnh_.param("imu/use_magnetometer", use_magnetometer_, use_magnetometer_); pnh_.param("imu/perform_calibration", perform_calibration_, perform_calibration_); - // 功能2 ：原始IMU的减零偏操作 // 订阅pibot_driver串口读取原始imu数据 - // 当raw_imu有数据时会调用rawCallback raw_sub_ = nh_.subscribe("raw_imu", 5, &PibotIMU::rawCallback, this); - // 功能3 ：接收IMU校准服务的校准请求 // 创建一个服务,用于接收运行中的校准请求, 可以rosservice命令查看 imu_cal_srv_ = nh_.advertiseService("imu/calibrate_imu", &PibotIMU::calibrateCallback, this); @@ -101,7 +95,6 @@ void PibotIMU::rawCallback(const pibot_msgs::RawImuConstPtr& raw_msg) static int taken_samples; - // 功能1： 静态零偏校准 if (taken_samples < calibration_samples_) { acceleration_bias_["x"] += raw_msg->raw_linear_acceleration.x; acceleration_bias_["y"] += raw_msg->raw_linear_acceleration.y; @@ -147,7 +140,6 @@ void PibotIMU::rawCallback(const pibot_msgs::RawImuConstPtr& raw_msg) imu_msg->linear_acceleration.y = raw_msg->raw_linear_acceleration.y - acceleration_bias_["y"]; imu_msg->linear_acceleration.z = raw_msg->raw_linear_acceleration.z - acceleration_bias_["z"]; imu_msg->linear_acceleration_covariance = linear_acc_covar_; - imu_pub_.publish(imu_msg); } diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_imu/src/pibot_imu_node.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_imu/src/pibot_imu_node.cpp new file mode 100644 index 0000000..27e564d --- /dev/null +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_imu/src/pibot_imu_node.cpp @@ -0,0 +1,12 @@ +#include "pibot_imu/pibot_imu.h" + +int main(int argc, char **argv) +{ + ros::init(argc, argv, "pibot_imu"); + ros::NodeHandle nh, pnh("~"); + PibotIMU pibot_imu(nh, pnh); + + ros::spin(); + + return 0; +} diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_lidar/CMakeLists.txt b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_lidar/CMakeLists.txt similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_lidar/CMakeLists.txt rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_lidar/CMakeLists.txt diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_lidar/launch/astra.launch b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_lidar/launch/astra.launch similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_lidar/launch/astra.launch rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_lidar/launch/astra.launch diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_lidar/launch/astra_pro.launch b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_lidar/launch/astra_pro.launch similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_lidar/launch/astra_pro.launch rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_lidar/launch/astra_pro.launch diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_lidar/launch/eai-g4.launch b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_lidar/launch/eai-g4.launch similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_lidar/launch/eai-g4.launch rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_lidar/launch/eai-g4.launch diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_lidar/launch/eai-x4.launch b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_lidar/launch/eai-x4.launch similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_lidar/launch/eai-x4.launch rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_lidar/launch/eai-x4.launch diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_lidar/launch/kinectV1.launch b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_lidar/launch/kinectV1.launch similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_lidar/launch/kinectV1.launch rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_lidar/launch/kinectV1.launch diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_lidar/launch/kinectV2.launch b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_lidar/launch/kinectV2.launch similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_lidar/launch/kinectV2.launch rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_lidar/launch/kinectV2.launch diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_lidar/launch/rplidar-a2m7.launch b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_lidar/launch/rplidar-a2m7.launch similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_lidar/launch/rplidar-a2m7.launch rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_lidar/launch/rplidar-a2m7.launch diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_lidar/launch/rplidar-a3.launch b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_lidar/launch/rplidar-a3.launch similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_lidar/launch/rplidar-a3.launch rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_lidar/launch/rplidar-a3.launch diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_lidar/launch/rplidar-s1.launch b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_lidar/launch/rplidar-s1.launch similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_lidar/launch/rplidar-s1.launch rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_lidar/launch/rplidar-s1.launch diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_lidar/launch/rplidar.launch b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_lidar/launch/rplidar.launch similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_lidar/launch/rplidar.launch rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_lidar/launch/rplidar.launch diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_lidar/launch/xtion.launch b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_lidar/launch/xtion.launch similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_lidar/launch/xtion.launch rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_lidar/launch/xtion.launch diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_lidar/package.xml b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_lidar/package.xml similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_lidar/package.xml rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_lidar/package.xml diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_msgs/CMakeLists.txt b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_msgs/CMakeLists.txt similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_msgs/CMakeLists.txt rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_msgs/CMakeLists.txt diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_msgs/msg/Action.msg b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_msgs/msg/Action.msg similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_msgs/msg/Action.msg rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_msgs/msg/Action.msg diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_msgs/msg/NaviStatus.msg b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_msgs/msg/NaviStatus.msg similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_msgs/msg/NaviStatus.msg rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_msgs/msg/NaviStatus.msg diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_msgs/msg/PointArray.msg b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_msgs/msg/PointArray.msg similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_msgs/msg/PointArray.msg rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_msgs/msg/PointArray.msg diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_msgs/msg/Pose.msg b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_msgs/msg/Pose.msg similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_msgs/msg/Pose.msg rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_msgs/msg/Pose.msg diff --git a/Code/MowingRobot/Robot_ROS_APP/src/ros_merge_test/msg/RawImu.msg b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_msgs/msg/RawImu.msg similarity index 100% rename from Code/MowingRobot/Robot_ROS_APP/src/ros_merge_test/msg/RawImu.msg rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_msgs/msg/RawImu.msg diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_msgs/msg/RelocateResult.msg b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_msgs/msg/RelocateResult.msg similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_msgs/msg/RelocateResult.msg rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_msgs/msg/RelocateResult.msg diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_msgs/msg/RobotState.msg b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_msgs/msg/RobotState.msg similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_msgs/msg/RobotState.msg rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_msgs/msg/RobotState.msg diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_msgs/package.xml b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_msgs/package.xml similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_msgs/package.xml rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_msgs/package.xml diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_msgs/srv/ActionParams.srv b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_msgs/srv/ActionParams.srv similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_msgs/srv/ActionParams.srv rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_msgs/srv/ActionParams.srv diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_msgs/srv/ManualLocation.srv b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_msgs/srv/ManualLocation.srv similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_msgs/srv/ManualLocation.srv rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_msgs/srv/ManualLocation.srv diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_msgs/srv/MappingParams.srv b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_msgs/srv/MappingParams.srv similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_msgs/srv/MappingParams.srv rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_msgs/srv/MappingParams.srv diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_msgs/srv/NaviParams.srv b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_msgs/srv/NaviParams.srv similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_msgs/srv/NaviParams.srv rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_msgs/srv/NaviParams.srv diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_msgs/srv/Relocation.srv b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_msgs/srv/Relocation.srv similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_msgs/srv/Relocation.srv rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_msgs/srv/Relocation.srv diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_msgs/srv/SetMapParams.srv b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_msgs/srv/SetMapParams.srv similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_msgs/srv/SetMapParams.srv rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_msgs/srv/SetMapParams.srv diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_msgs/srv/SetPoseParams.srv b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_msgs/srv/SetPoseParams.srv similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_msgs/srv/SetPoseParams.srv rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_msgs/srv/SetPoseParams.srv diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_navigation/CMakeLists.txt b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/CMakeLists.txt similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_navigation/CMakeLists.txt rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/CMakeLists.txt diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_navigation/config/frontier_exploration.yaml b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/config/frontier_exploration.yaml similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_navigation/config/frontier_exploration.yaml rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/config/frontier_exploration.yaml diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_navigation/configuration_files/lidar_2d_v0.2.lua b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/configuration_files/lidar_2d_v0.2.lua similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_navigation/configuration_files/lidar_2d_v0.2.lua rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/configuration_files/lidar_2d_v0.2.lua diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_navigation/configuration_files/lidar_2d_v0.2_odom.lua b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/configuration_files/lidar_2d_v0.2_odom.lua similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_navigation/configuration_files/lidar_2d_v0.2_odom.lua rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/configuration_files/lidar_2d_v0.2_odom.lua diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_navigation/configuration_files/lidar_2d_v0.2_odom_imu.lua b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/configuration_files/lidar_2d_v0.2_odom_imu.lua similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_navigation/configuration_files/lidar_2d_v0.2_odom_imu.lua rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/configuration_files/lidar_2d_v0.2_odom_imu.lua diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_navigation/configuration_files/lidar_2d_v1.0.lua b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/configuration_files/lidar_2d_v1.0.lua similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_navigation/configuration_files/lidar_2d_v1.0.lua rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/configuration_files/lidar_2d_v1.0.lua diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_navigation/configuration_files/lidar_2d_v1.0_odom.lua b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/configuration_files/lidar_2d_v1.0_odom.lua similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_navigation/configuration_files/lidar_2d_v1.0_odom.lua rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/configuration_files/lidar_2d_v1.0_odom.lua diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_navigation/configuration_files/lidar_2d_v1.0_odom_imu.lua b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/configuration_files/lidar_2d_v1.0_odom_imu.lua similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_navigation/configuration_files/lidar_2d_v1.0_odom_imu.lua rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/configuration_files/lidar_2d_v1.0_odom_imu.lua diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_navigation/launch/cartographer.launch b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/launch/cartographer.launch similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_navigation/launch/cartographer.launch rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/launch/cartographer.launch diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_navigation/launch/cartographer_with_odom.launch b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/launch/cartographer_with_odom.launch similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_navigation/launch/cartographer_with_odom.launch rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/launch/cartographer_with_odom.launch diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_navigation/launch/depth_camera_gmapping.launch b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/launch/depth_camera_gmapping.launch similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_navigation/launch/depth_camera_gmapping.launch rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/launch/depth_camera_gmapping.launch diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_navigation/launch/depth_camera_nav.launch b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/launch/depth_camera_nav.launch similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_navigation/launch/depth_camera_nav.launch rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/launch/depth_camera_nav.launch diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_navigation/launch/frontier_exploration.launch b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/launch/frontier_exploration.launch similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_navigation/launch/frontier_exploration.launch rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/launch/frontier_exploration.launch diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_navigation/launch/gmapping.launch b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/launch/gmapping.launch similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_navigation/launch/gmapping.launch rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/launch/gmapping.launch diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_navigation/launch/hector_mapping.launch b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/launch/hector_mapping.launch similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_navigation/launch/hector_mapping.launch rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/launch/hector_mapping.launch diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_navigation/launch/hector_mapping_without_odom.launch b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/launch/hector_mapping_without_odom.launch similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_navigation/launch/hector_mapping_without_odom.launch rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/launch/hector_mapping_without_odom.launch diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_navigation/launch/include/amcl.launch.xml b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/launch/include/amcl.launch.xml similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_navigation/launch/include/amcl.launch.xml rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/launch/include/amcl.launch.xml diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_navigation/launch/include/geotiff_mapper.launch.xml b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/launch/include/geotiff_mapper.launch.xml similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_navigation/launch/include/geotiff_mapper.launch.xml rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/launch/include/geotiff_mapper.launch.xml diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_navigation/launch/include/gmapping.launch.xml b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/launch/include/gmapping.launch.xml similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_navigation/launch/include/gmapping.launch.xml rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/launch/include/gmapping.launch.xml diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_navigation/launch/include/hector_imu_attitude_to_tf.launch.xml b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/launch/include/hector_imu_attitude_to_tf.launch.xml similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_navigation/launch/include/hector_imu_attitude_to_tf.launch.xml rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/launch/include/hector_imu_attitude_to_tf.launch.xml diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_navigation/launch/include/hector_mapping.launch.xml b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/launch/include/hector_mapping.launch.xml similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_navigation/launch/include/hector_mapping.launch.xml rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/launch/include/hector_mapping.launch.xml diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_navigation/launch/include/hector_mapping_without_odom.launch.xml b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/launch/include/hector_mapping_without_odom.launch.xml similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_navigation/launch/include/hector_mapping_without_odom.launch.xml rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/launch/include/hector_mapping_without_odom.launch.xml diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_navigation/launch/include/karto_mapping.launch.xml b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/launch/include/karto_mapping.launch.xml similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_navigation/launch/include/karto_mapping.launch.xml rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/launch/include/karto_mapping.launch.xml diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_navigation/launch/include/move_base.launch.xml b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/launch/include/move_base.launch.xml similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_navigation/launch/include/move_base.launch.xml rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/launch/include/move_base.launch.xml diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_navigation/launch/include/rgbd_amcl.launch.xml b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/launch/include/rgbd_amcl.launch.xml similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_navigation/launch/include/rgbd_amcl.launch.xml rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/launch/include/rgbd_amcl.launch.xml diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_navigation/launch/include/rgbd_gmapping.launch.xml b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/launch/include/rgbd_gmapping.launch.xml similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_navigation/launch/include/rgbd_gmapping.launch.xml rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/launch/include/rgbd_gmapping.launch.xml diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_navigation/launch/include/rgbd_move_base.launch.xml b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/launch/include/rgbd_move_base.launch.xml similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_navigation/launch/include/rgbd_move_base.launch.xml rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/launch/include/rgbd_move_base.launch.xml diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_navigation/launch/karto_slam.launch b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/launch/karto_slam.launch similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_navigation/launch/karto_slam.launch rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/launch/karto_slam.launch diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_navigation/launch/nav.launch b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/launch/nav.launch similarity index 92% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_navigation/launch/nav.launch rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/launch/nav.launch index 7b16655..e9faaac 100644 --- a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_navigation/launch/nav.launch +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/launch/nav.launch @@ -7,7 +7,7 @@ - + diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_navigation/launch/save_map.launch b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/launch/save_map.launch similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_navigation/launch/save_map.launch rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/launch/save_map.launch diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_navigation/launch/view_cartographer.launch b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/launch/view_cartographer.launch similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_navigation/launch/view_cartographer.launch rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/launch/view_cartographer.launch diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_navigation/launch/view_nav.launch b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/launch/view_nav.launch similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_navigation/launch/view_nav.launch rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/launch/view_nav.launch diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/maps/160.yaml b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/maps/160.yaml new file mode 100644 index 0000000..deaf5ee --- /dev/null +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/maps/160.yaml @@ -0,0 +1,7 @@ +image: 160_160.png +resolution: 0.050000 +origin: [-10.000000, -10.000000, 0.000000] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.196 + diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/maps/160_160.png b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/maps/160_160.png new file mode 100644 index 0000000..4c1dfbe Binary files /dev/null and b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/maps/160_160.png differ diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/maps/400_400.png b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/maps/400_400.png new file mode 100644 index 0000000..dd6b454 Binary files /dev/null and b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/maps/400_400.png differ diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/maps/9.png b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/maps/9.png new file mode 100644 index 0000000..99fcce4 --- /dev/null +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/maps/9.png @@ -0,0 +1,4 @@ +P5 +400 400 +255 + \ No newline at end of file diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/maps/9.yaml b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/maps/9.yaml new file mode 100644 index 0000000..a5a03fa --- /dev/null +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/maps/9.yaml @@ -0,0 +1,7 @@ +image: test1.png +resolution: 0.050000 +origin: [-10.000000, -10.000000, 0.000000] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.196 + diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/maps/a.pgm b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/maps/a.pgm new file mode 100644 index 0000000..feadafe --- /dev/null +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/maps/a.pgm @@ -0,0 +1,5 @@ +P5 +# CREATOR: map_saver.cpp 0.050 m/pix +1984 1984 +255 + \ No newline at end of file diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/maps/a.yaml b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/maps/a.yaml new file mode 100644 index 0000000..fa610f6 --- /dev/null +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/maps/a.yaml @@ -0,0 +1,7 @@ +image: a.pgm +resolution: 0.050000 +origin: [-50.000000, -50.000000, 0.000000] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.196 + diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_navigation/maps/blank.pgm b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/maps/blank.pgm similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_navigation/maps/blank.pgm rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/maps/blank.pgm diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_navigation/maps/blank.yaml b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/maps/blank.yaml similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_navigation/maps/blank.yaml rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/maps/blank.yaml diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_navigation/maps/my_lab.pgm b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/maps/my_lab.pgm similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_navigation/maps/my_lab.pgm rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/maps/my_lab.pgm diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_navigation/maps/my_lab.yaml b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/maps/my_lab.yaml similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_navigation/maps/my_lab.yaml rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/maps/my_lab.yaml diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/maps/sim.pgm b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/maps/sim.pgm new file mode 100644 index 0000000..cfb5c7d --- /dev/null +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/maps/sim.pgm @@ -0,0 +1,5 @@ +P5 +# CREATOR: map_saver.cpp 0.050 m/pix +1984 1984 +255 + \ No newline at end of file diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/maps/sim.yaml b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/maps/sim.yaml new file mode 100644 index 0000000..c4fd1ab --- /dev/null +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/maps/sim.yaml @@ -0,0 +1,7 @@ +image: sim.pgm +resolution: 0.050000 +origin: [-50.000000, -50.000000, 0.000000] +negate: 0 +occupied_thresh: 0.65 +free_thresh: 0.196 + diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/maps/test1.png b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/maps/test1.png new file mode 100644 index 0000000..96325bb Binary files /dev/null and b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/maps/test1.png differ diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_navigation/package.xml b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/package.xml similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_navigation/package.xml rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/package.xml diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_navigation/params/costmap_common_params_apollo.yaml b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/params/costmap_common_params_apollo.yaml similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_navigation/params/costmap_common_params_apollo.yaml rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/params/costmap_common_params_apollo.yaml diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_navigation/params/costmap_common_params_apolloX.yaml b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/params/costmap_common_params_apolloX.yaml similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_navigation/params/costmap_common_params_apolloX.yaml rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/params/costmap_common_params_apolloX.yaml diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_navigation/params/costmap_common_params_apolloXL.yaml b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/params/costmap_common_params_apolloXL.yaml similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_navigation/params/costmap_common_params_apolloXL.yaml rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/params/costmap_common_params_apolloXL.yaml diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_navigation/params/costmap_common_params_hades.yaml b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/params/costmap_common_params_hades.yaml similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_navigation/params/costmap_common_params_hades.yaml rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/params/costmap_common_params_hades.yaml diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_navigation/params/costmap_common_params_hadesX.yaml b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/params/costmap_common_params_hadesX.yaml similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_navigation/params/costmap_common_params_hadesX.yaml rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/params/costmap_common_params_hadesX.yaml diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_navigation/params/costmap_common_params_hera.yaml b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/params/costmap_common_params_hera.yaml similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_navigation/params/costmap_common_params_hera.yaml rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/params/costmap_common_params_hera.yaml diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_navigation/params/costmap_common_params_zeus.yaml b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/params/costmap_common_params_zeus.yaml similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_navigation/params/costmap_common_params_zeus.yaml rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/params/costmap_common_params_zeus.yaml diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_navigation/params/dwa_local_planner_params_apollo.yaml b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/params/dwa_local_planner_params_apollo.yaml similarity index 97% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_navigation/params/dwa_local_planner_params_apollo.yaml rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/params/dwa_local_planner_params_apollo.yaml index 3313f0c..f10afd8 100644 --- a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_navigation/params/dwa_local_planner_params_apollo.yaml +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/params/dwa_local_planner_params_apollo.yaml @@ -1,8 +1,10 @@ DWAPlannerROS: # Robot Configuration Parameters - Kobuki - max_vel_x: 0.1 - min_vel_x: -0.1 + max_vel_x: 0.2 + # min_vel_x: -0.35 + min_vel_x: 0 + max_vel_y: 0 min_vel_y: 0 diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_navigation/params/dwa_local_planner_params_apolloX.yaml b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/params/dwa_local_planner_params_apolloX.yaml similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_navigation/params/dwa_local_planner_params_apolloX.yaml rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/params/dwa_local_planner_params_apolloX.yaml diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_navigation/params/dwa_local_planner_params_apolloXL.yaml b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/params/dwa_local_planner_params_apolloXL.yaml similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_navigation/params/dwa_local_planner_params_apolloXL.yaml rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/params/dwa_local_planner_params_apolloXL.yaml diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_navigation/params/dwa_local_planner_params_hades.yaml b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/params/dwa_local_planner_params_hades.yaml similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_navigation/params/dwa_local_planner_params_hades.yaml rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/params/dwa_local_planner_params_hades.yaml diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_navigation/params/dwa_local_planner_params_hadesX.yaml b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/params/dwa_local_planner_params_hadesX.yaml similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_navigation/params/dwa_local_planner_params_hadesX.yaml rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/params/dwa_local_planner_params_hadesX.yaml diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_navigation/params/dwa_local_planner_params_hera.yaml b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/params/dwa_local_planner_params_hera.yaml similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_navigation/params/dwa_local_planner_params_hera.yaml rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/params/dwa_local_planner_params_hera.yaml diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_navigation/params/dwa_local_planner_params_zeus.yaml b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/params/dwa_local_planner_params_zeus.yaml similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_navigation/params/dwa_local_planner_params_zeus.yaml rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/params/dwa_local_planner_params_zeus.yaml diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_navigation/params/global_costmap_params.yaml b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/params/global_costmap_params.yaml similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_navigation/params/global_costmap_params.yaml rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/params/global_costmap_params.yaml diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_navigation/params/global_planner_params.yaml b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/params/global_planner_params.yaml similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_navigation/params/global_planner_params.yaml rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/params/global_planner_params.yaml diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_navigation/params/local_costmap_params.yaml b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/params/local_costmap_params.yaml similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_navigation/params/local_costmap_params.yaml rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/params/local_costmap_params.yaml diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_navigation/params/move_base_params.yaml b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/params/move_base_params.yaml similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_navigation/params/move_base_params.yaml rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/params/move_base_params.yaml diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_navigation/rviz/demo_2d.rviz b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/rviz/demo_2d.rviz similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_navigation/rviz/demo_2d.rviz rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/rviz/demo_2d.rviz diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_navigation/rviz/new.rviz b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/rviz/new.rviz similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_navigation/rviz/new.rviz rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/rviz/new.rviz diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_navigation/rviz/view_navigation.rviz b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/rviz/view_navigation.rviz similarity index 70% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_navigation/rviz/view_navigation.rviz rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/rviz/view_navigation.rviz index f7fb909..938a4ce 100644 --- a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_navigation/rviz/view_navigation.rviz +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_navigation/rviz/view_navigation.rviz @@ -4,14 +4,16 @@ Panels: Name: Displays Property Tree Widget: Expanded: + - /Status1 + - /Grid1 - /RobotModel1 - /TF1/Frames1 - /TF1/Tree1 + - /Map1 - /Global Map1/Planner1 - /Local Map1/Planner1 - - /Odometry1 Splitter Ratio: 0.5 - Tree Height: 481 + Tree Height: 441 - Class: rviz/Selection Name: Selection - Class: rviz/Tool Properties @@ -20,17 +22,20 @@ Panels: - /2D Nav Goal1 - /Publish Point1 Name: Tool Properties - Splitter Ratio: 0.588679016 + 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: LaserScan + SyncSource: "" +Preferences: + PromptSaveOnExit: true +Toolbars: + toolButtonStyle: 2 Visualization Manager: Class: "" Displays: @@ -40,7 +45,7 @@ Visualization Manager: Color: 160; 160; 164 Enabled: true Line Style: - Line Width: 0.0299999993 + Line Width: 0.029999999329447746 Value: Lines Name: Grid Normal Cell Count: 0 @@ -50,7 +55,7 @@ Visualization Manager: Z: 0 Plane: XY Plane Cell Count: 10 - Reference Frame: + Reference Frame: map Value: true - Alpha: 1 Class: rviz/RobotModel @@ -62,12 +67,11 @@ Visualization Manager: Expand Link Details: false Expand Tree: false Link Tree Style: Links in Alphabetic Order - base_link: + base_footprint: Alpha: 1 Show Axes: false Show Trail: false - Value: true - laser_link: + base_link: Alpha: 1 Show Axes: false Show Trail: false @@ -79,19 +83,38 @@ Visualization Manager: Value: true Visual Enabled: true - Class: rviz/TF - Enabled: false + Enabled: true + Filter (blacklist): "" + Filter (whitelist): "" Frame Timeout: 15 Frames: All Enabled: false + base_footprint: + Value: true + base_link: + Value: true + imu_link: + Value: true + map: + Value: true + odom: + Value: true + Marker Alpha: 1 Marker Scale: 1 Name: TF Show Arrows: true Show Axes: true Show Names: false Tree: - {} + map: + odom: + base_link: + base_footprint: + {} + imu_link: + {} Update Interval: 0 - Value: false + Value: true - Alpha: 1 Autocompute Intensity Bounds: true Autocompute Value Bounds: @@ -107,15 +130,13 @@ Visualization Manager: Enabled: true Invert Rainbow: false Max Color: 255; 255; 255 - Max Intensity: 47 Min Color: 0; 0; 0 - Min Intensity: 47 Name: LaserScan Position Transformer: XYZ Queue Size: 10 Selectable: true Size (Pixels): 3 - Size (m): 0.0500000007 + Size (m): 0.05000000074505806 Style: Squares Topic: /scan Unreliable: false @@ -137,22 +158,20 @@ Visualization Manager: Enabled: false Invert Rainbow: false Max Color: 255; 255; 255 - Max Intensity: 4096 Min Color: 0; 0; 0 - Min Intensity: 0 Name: Bumper Hit Position Transformer: XYZ Queue Size: 10 Selectable: true Size (Pixels): 3 - Size (m): 0.0799999982 + Size (m): 0.07999999821186066 Style: Spheres Topic: /mobile_base/sensors/bumper_pointcloud Unreliable: false Use Fixed Frame: true Use rainbow: true Value: false - - Alpha: 0.699999988 + - Alpha: 0.699999988079071 Class: rviz/Map Color Scheme: map Draw Behind: false @@ -164,7 +183,7 @@ Visualization Manager: Value: true - Class: rviz/Group Displays: - - Alpha: 0.699999988 + - Alpha: 0.699999988079071 Class: rviz/Map Color Scheme: costmap Draw Behind: true @@ -179,11 +198,11 @@ Visualization Manager: Class: rviz/Path Color: 255; 0; 0 Enabled: true - Head Diameter: 0.300000012 - Head Length: 0.200000003 - Length: 0.300000012 + Head Diameter: 0.30000001192092896 + Head Length: 0.20000000298023224 + Length: 0.30000001192092896 Line Style: Lines - Line Width: 0.0299999993 + Line Width: 0.029999999329447746 Name: Planner Offset: X: 0 @@ -191,9 +210,10 @@ Visualization Manager: Z: 0 Pose Color: 255; 85; 255 Pose Style: None - Radius: 0.0299999993 - Shaft Diameter: 0.100000001 - Shaft Length: 0.100000001 + Queue Size: 10 + Radius: 0.029999999329447746 + Shaft Diameter: 0.10000000149011612 + Shaft Length: 0.10000000149011612 Topic: /move_base/DWAPlannerROS/global_plan Unreliable: false Value: true @@ -201,7 +221,7 @@ Visualization Manager: Name: Global Map - Class: rviz/Group Displays: - - Alpha: 0.699999988 + - Alpha: 0.699999988079071 Class: rviz/Map Color Scheme: costmap Draw Behind: false @@ -216,11 +236,11 @@ Visualization Manager: Class: rviz/Path Color: 0; 12; 255 Enabled: true - Head Diameter: 0.300000012 - Head Length: 0.200000003 - Length: 0.300000012 + Head Diameter: 0.30000001192092896 + Head Length: 0.20000000298023224 + Length: 0.30000001192092896 Line Style: Lines - Line Width: 0.0299999993 + Line Width: 0.029999999329447746 Name: Planner Offset: X: 0 @@ -228,13 +248,14 @@ Visualization Manager: Z: 0 Pose Color: 255; 85; 255 Pose Style: None - Radius: 0.0299999993 - Shaft Diameter: 0.100000001 - Shaft Length: 0.100000001 + Queue Size: 10 + Radius: 0.029999999329447746 + Shaft Diameter: 0.10000000149011612 + Shaft Length: 0.10000000149011612 Topic: /move_base/DWAPlannerROS/local_plan Unreliable: false Value: true - - Alpha: 0.800000012 + - Alpha: 0.800000011920929 Autocompute Intensity Bounds: true Autocompute Value Bounds: Max Value: 10 @@ -249,15 +270,13 @@ Visualization Manager: Enabled: false Invert Rainbow: false Max Color: 255; 255; 255 - Max Intensity: 291.600006 Min Color: 0; 0; 0 - Min Intensity: 65.5999985 Name: Cost Cloud Position Transformer: XYZ Queue Size: 10 Selectable: true Size (Pixels): 3 - Size (m): 0.0399999991 + Size (m): 0.03999999910593033 Style: Flat Squares Topic: /move_base/DWAPlannerROS/cost_cloud Unreliable: false @@ -279,15 +298,13 @@ Visualization Manager: Enabled: false Invert Rainbow: false Max Color: 255; 255; 255 - Max Intensity: 3845.65991 Min Color: 0; 0; 0 - Min Intensity: 5.65999985 Name: Trajectory Cloud Position Transformer: XYZ Queue Size: 10 Selectable: true Size (Pixels): 3 - Size (m): 0.0399999991 + Size (m): 0.03999999910593033 Style: Flat Squares Topic: /move_base/DWAPlannerROS/trajectory_cloud Unreliable: false @@ -297,17 +314,18 @@ Visualization Manager: Enabled: true Name: Local Map - Alpha: 1 - Arrow Length: 0.200000003 - Axes Length: 0.300000012 - Axes Radius: 0.00999999978 + Arrow Length: 0.20000000298023224 + Axes Length: 0.30000001192092896 + Axes Radius: 0.009999999776482582 Class: rviz/PoseArray Color: 0; 192; 0 Enabled: false - Head Length: 0.0700000003 - Head Radius: 0.0299999993 + Head Length: 0.07000000029802322 + Head Radius: 0.029999999329447746 Name: Amcl Particle Swarm - Shaft Length: 0.230000004 - Shaft Radius: 0.00999999978 + Queue Size: 10 + Shaft Length: 0.23000000417232513 + Shaft Radius: 0.009999999776482582 Shape: Arrow (Flat) Topic: /particlecloud Unreliable: false @@ -317,11 +335,11 @@ Visualization Manager: Class: rviz/Path Color: 25; 255; 0 Enabled: true - Head Diameter: 0.300000012 - Head Length: 0.200000003 - Length: 0.300000012 + Head Diameter: 0.30000001192092896 + Head Length: 0.20000000298023224 + Length: 0.30000001192092896 Line Style: Lines - Line Width: 0.0299999993 + Line Width: 0.029999999329447746 Name: Full Plan Offset: X: 0 @@ -329,13 +347,14 @@ Visualization Manager: Z: 0 Pose Color: 255; 85; 255 Pose Style: None - Radius: 0.0299999993 - Shaft Diameter: 0.100000001 - Shaft Length: 0.100000001 + Queue Size: 10 + Radius: 0.029999999329447746 + Shaft Diameter: 0.10000000149011612 + Shaft Length: 0.10000000149011612 Topic: /move_base/GlobalPlanner/plan Unreliable: false Value: true - - Angle Tolerance: 0.100000001 + - Angle Tolerance: 0.10000000149011612 Class: rviz/Odometry Covariance: Orientation: @@ -347,7 +366,7 @@ Visualization Manager: Scale: 1 Value: true Position: - Alpha: 0.300000012 + Alpha: 0.30000001192092896 Color: 204; 51; 204 Scale: 1 Value: true @@ -355,20 +374,45 @@ Visualization Manager: Enabled: true Keep: 1 Name: Odometry - Position Tolerance: 0.100000001 + Position Tolerance: 0.10000000149011612 + Queue Size: 10 Shape: Alpha: 1 Axes Length: 1 - Axes Radius: 0.100000001 + Axes Radius: 0.10000000149011612 Color: 255; 25; 0 - Head Length: 0.300000012 - Head Radius: 0.100000001 + Head Length: 0.30000001192092896 + Head Radius: 0.10000000149011612 Shaft Length: 1 - Shaft Radius: 0.0500000007 + Shaft Radius: 0.05000000074505806 Value: Arrow Topic: /odom Unreliable: false Value: true + - Alpha: 1 + Buffer Length: 1 + Class: rviz/Path + Color: 25; 255; 0 + Enabled: true + Head Diameter: 0.30000001192092896 + Head Length: 0.20000000298023224 + Length: 0.30000001192092896 + Line Style: Lines + Line Width: 0.029999999329447746 + Name: Path + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: None + Queue Size: 10 + Radius: 0.029999999329447746 + Shaft Diameter: 0.10000000149011612 + Shaft Length: 0.10000000149011612 + Topic: /room_exploration/room_exploration_server/coverage_path + Unreliable: false + Value: true Enabled: true Global Options: Background Color: 48; 48; 48 @@ -382,7 +426,10 @@ Visualization Manager: Hide Inactive Objects: true - Class: rviz/Select - 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/Measure @@ -392,29 +439,28 @@ Visualization Manager: Value: true Views: Current: - Angle: -4.68503332 + Angle: -7.8250322341918945 Class: rviz/TopDownOrtho Enable Stereo Rendering: - Stereo Eye Separation: 0.0599999987 + Stereo Eye Separation: 0.05999999865889549 Stereo Focal Distance: 1 Swap Stereo Eyes: false Value: false Invert Z Axis: false Name: Current View - Near Clip Distance: 0.00999999978 - Scale: 91.187973 + Near Clip Distance: 0.009999999776482582 + Scale: 60.616512298583984 Target Frame: - Value: TopDownOrtho (rviz) - X: 0.143957004 - Y: 0.922994018 + X: 0.1439570039510727 + Y: 0.9229940176010132 Saved: ~ Window Geometry: Displays: collapsed: false - Height: 704 + Height: 667 Hide Left Dock: false Hide Right Dock: true - QMainWindow State: 000000ff00000000fd0000000400000000000002300000026cfc0200000005fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003a0000026c000000c600ffffff000000010000010f0000026efc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007300000000430000026e0000009e00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a00000024400fffffffb0000000800540069006d00650100000000000004500000000000000000000001ca0000026c00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + QMainWindow State: 000000ff00000000fd00000004000000000000023000000245fc0200000005fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b00000245000000c700ffffff000000010000010f0000026efc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007300000000430000026e000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a00000035c00fffffffb0000000800540069006d00650100000000000004500000000000000000000003320000024500000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 Selection: collapsed: false Time: @@ -423,6 +469,6 @@ Window Geometry: collapsed: false Views: collapsed: true - Width: 1024 - X: 65 + Width: 1384 + X: 534 Y: 27 diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_simulator/CMakeLists.txt b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_simulator/CMakeLists.txt similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_simulator/CMakeLists.txt rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_simulator/CMakeLists.txt diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_simulator/launch/bringup.launch b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_simulator/launch/bringup.launch similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_simulator/launch/bringup.launch rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_simulator/launch/bringup.launch diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_simulator/launch/bringup_turtlebot.launch b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_simulator/launch/bringup_turtlebot.launch similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_simulator/launch/bringup_turtlebot.launch rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_simulator/launch/bringup_turtlebot.launch diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_simulator/launch/nav.launch b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_simulator/launch/nav.launch similarity index 96% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_simulator/launch/nav.launch rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_simulator/launch/nav.launch index 32ae2a7..a2146e0 100644 --- a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_simulator/launch/nav.launch +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_simulator/launch/nav.launch @@ -5,7 +5,7 @@ - + diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_simulator/launch/nav_turtlebot.launch b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_simulator/launch/nav_turtlebot.launch similarity index 96% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_simulator/launch/nav_turtlebot.launch rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_simulator/launch/nav_turtlebot.launch index f0956af..6bcb7e4 100644 --- a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_simulator/launch/nav_turtlebot.launch +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_simulator/launch/nav_turtlebot.launch @@ -5,7 +5,7 @@ - + diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_simulator/maps/blank_map.pgm b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_simulator/maps/blank_map.pgm similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_simulator/maps/blank_map.pgm rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_simulator/maps/blank_map.pgm diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_simulator/maps/blank_map.yaml b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_simulator/maps/blank_map.yaml similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_simulator/maps/blank_map.yaml rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_simulator/maps/blank_map.yaml diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_simulator/maps/blank_map_with_obstacle.pgm b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_simulator/maps/blank_map_with_obstacle.pgm similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_simulator/maps/blank_map_with_obstacle.pgm rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_simulator/maps/blank_map_with_obstacle.pgm diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_simulator/maps/blank_map_with_obstacle.yaml b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_simulator/maps/blank_map_with_obstacle.yaml similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_simulator/maps/blank_map_with_obstacle.yaml rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_simulator/maps/blank_map_with_obstacle.yaml diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_simulator/maps/test_map.pgm b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_simulator/maps/test_map.pgm similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_simulator/maps/test_map.pgm rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_simulator/maps/test_map.pgm diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_simulator/maps/test_map.yaml b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_simulator/maps/test_map.yaml similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_simulator/maps/test_map.yaml rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_simulator/maps/test_map.yaml diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_simulator/package.xml b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_simulator/package.xml similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_simulator/package.xml rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_simulator/package.xml diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_simulator/params/arbotix.yaml b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_simulator/params/arbotix.yaml similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_simulator/params/arbotix.yaml rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_simulator/params/arbotix.yaml diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_simulator/params/costmap_common_params.yaml b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_simulator/params/costmap_common_params.yaml similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_simulator/params/costmap_common_params.yaml rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_simulator/params/costmap_common_params.yaml diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_simulator/params/dwa_local_planner_params.yaml b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_simulator/params/dwa_local_planner_params.yaml similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_simulator/params/dwa_local_planner_params.yaml rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_simulator/params/dwa_local_planner_params.yaml diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_simulator/params/global_costmap_params.yaml b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_simulator/params/global_costmap_params.yaml similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_simulator/params/global_costmap_params.yaml rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_simulator/params/global_costmap_params.yaml diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_simulator/params/global_planner_params.yaml b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_simulator/params/global_planner_params.yaml similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_simulator/params/global_planner_params.yaml rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_simulator/params/global_planner_params.yaml diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_simulator/params/local_costmap_params.yaml b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_simulator/params/local_costmap_params.yaml similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_simulator/params/local_costmap_params.yaml rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_simulator/params/local_costmap_params.yaml diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_simulator/params/move_base_params.yaml b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_simulator/params/move_base_params.yaml similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_simulator/params/move_base_params.yaml rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_simulator/params/move_base_params.yaml diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_slam_3d/CMakeLists.txt b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_slam_3d/CMakeLists.txt similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_slam_3d/CMakeLists.txt rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_slam_3d/CMakeLists.txt diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_slam_3d/config/mapping.rviz b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_slam_3d/config/mapping.rviz similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_slam_3d/config/mapping.rviz rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_slam_3d/config/mapping.rviz diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_slam_3d/config/navigation.rviz b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_slam_3d/config/navigation.rviz similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_slam_3d/config/navigation.rviz rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_slam_3d/config/navigation.rviz diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_slam_3d/launch/astra.launch b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_slam_3d/launch/astra.launch similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_slam_3d/launch/astra.launch rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_slam_3d/launch/astra.launch diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_slam_3d/launch/d435i.launch b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_slam_3d/launch/d435i.launch similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_slam_3d/launch/d435i.launch rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_slam_3d/launch/d435i.launch diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_slam_3d/launch/kinectV1.launch b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_slam_3d/launch/kinectV1.launch similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_slam_3d/launch/kinectV1.launch rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_slam_3d/launch/kinectV1.launch diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_slam_3d/launch/rtabmap.launch b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_slam_3d/launch/rtabmap.launch similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_slam_3d/launch/rtabmap.launch rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_slam_3d/launch/rtabmap.launch diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_slam_3d/launch/view.launch b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_slam_3d/launch/view.launch similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_slam_3d/launch/view.launch rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_slam_3d/launch/view.launch diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_slam_3d/launch/xtion.launch b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_slam_3d/launch/xtion.launch similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_slam_3d/launch/xtion.launch rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_slam_3d/launch/xtion.launch diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_slam_3d/package.xml b/Code/MowingRobot/pibot_ros/ros_ws/src/pibot_slam_3d/package.xml similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/pibot_slam_3d/package.xml rename to Code/MowingRobot/pibot_ros/ros_ws/src/pibot_slam_3d/package.xml diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/rplidar_ros/CHANGELOG.rst b/Code/MowingRobot/pibot_ros/ros_ws/src/rplidar_ros/CHANGELOG.rst similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/rplidar_ros/CHANGELOG.rst rename to Code/MowingRobot/pibot_ros/ros_ws/src/rplidar_ros/CHANGELOG.rst diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/rplidar_ros/CMakeLists.txt b/Code/MowingRobot/pibot_ros/ros_ws/src/rplidar_ros/CMakeLists.txt similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/rplidar_ros/CMakeLists.txt rename to Code/MowingRobot/pibot_ros/ros_ws/src/rplidar_ros/CMakeLists.txt diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/rplidar_ros/LICENSE b/Code/MowingRobot/pibot_ros/ros_ws/src/rplidar_ros/LICENSE similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/rplidar_ros/LICENSE rename to Code/MowingRobot/pibot_ros/ros_ws/src/rplidar_ros/LICENSE diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/rplidar_ros/README.md b/Code/MowingRobot/pibot_ros/ros_ws/src/rplidar_ros/README.md similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/rplidar_ros/README.md rename to Code/MowingRobot/pibot_ros/ros_ws/src/rplidar_ros/README.md diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/rplidar_ros/launch/rplidar.launch b/Code/MowingRobot/pibot_ros/ros_ws/src/rplidar_ros/launch/rplidar.launch similarity index 98% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/rplidar_ros/launch/rplidar.launch rename to Code/MowingRobot/pibot_ros/ros_ws/src/rplidar_ros/launch/rplidar.launch index 4154781..7ad006b 100644 --- a/Code/MowingRobot/PIBot_ROS/ros_ws/src/rplidar_ros/launch/rplidar.launch +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/rplidar_ros/launch/rplidar.launch @@ -1,10 +1,10 @@ - - - - - - - - - - + + + + + + + + + + diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/rplidar_ros/launch/rplidar_a3.launch b/Code/MowingRobot/pibot_ros/ros_ws/src/rplidar_ros/launch/rplidar_a3.launch similarity index 98% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/rplidar_ros/launch/rplidar_a3.launch rename to Code/MowingRobot/pibot_ros/ros_ws/src/rplidar_ros/launch/rplidar_a3.launch index 32b0d35..d4dcc3e 100644 --- a/Code/MowingRobot/PIBot_ROS/ros_ws/src/rplidar_ros/launch/rplidar_a3.launch +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/rplidar_ros/launch/rplidar_a3.launch @@ -1,10 +1,10 @@ - - - - - - - - - - + + + + + + + + + + diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/rplidar_ros/launch/rplidar_s1.launch b/Code/MowingRobot/pibot_ros/ros_ws/src/rplidar_ros/launch/rplidar_s1.launch similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/rplidar_ros/launch/rplidar_s1.launch rename to Code/MowingRobot/pibot_ros/ros_ws/src/rplidar_ros/launch/rplidar_s1.launch diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/rplidar_ros/launch/rplidar_s1_tcp.launch b/Code/MowingRobot/pibot_ros/ros_ws/src/rplidar_ros/launch/rplidar_s1_tcp.launch similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/rplidar_ros/launch/rplidar_s1_tcp.launch rename to Code/MowingRobot/pibot_ros/ros_ws/src/rplidar_ros/launch/rplidar_s1_tcp.launch diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/rplidar_ros/launch/test_rplidar.launch b/Code/MowingRobot/pibot_ros/ros_ws/src/rplidar_ros/launch/test_rplidar.launch similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/rplidar_ros/launch/test_rplidar.launch rename to Code/MowingRobot/pibot_ros/ros_ws/src/rplidar_ros/launch/test_rplidar.launch diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/rplidar_ros/launch/test_rplidar_a3.launch b/Code/MowingRobot/pibot_ros/ros_ws/src/rplidar_ros/launch/test_rplidar_a3.launch similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/rplidar_ros/launch/test_rplidar_a3.launch rename to Code/MowingRobot/pibot_ros/ros_ws/src/rplidar_ros/launch/test_rplidar_a3.launch diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/rplidar_ros/launch/view_rplidar.launch b/Code/MowingRobot/pibot_ros/ros_ws/src/rplidar_ros/launch/view_rplidar.launch similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/rplidar_ros/launch/view_rplidar.launch rename to Code/MowingRobot/pibot_ros/ros_ws/src/rplidar_ros/launch/view_rplidar.launch diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/rplidar_ros/launch/view_rplidar_a3.launch b/Code/MowingRobot/pibot_ros/ros_ws/src/rplidar_ros/launch/view_rplidar_a3.launch similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/rplidar_ros/launch/view_rplidar_a3.launch rename to Code/MowingRobot/pibot_ros/ros_ws/src/rplidar_ros/launch/view_rplidar_a3.launch diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/rplidar_ros/launch/view_rplidar_s1.launch b/Code/MowingRobot/pibot_ros/ros_ws/src/rplidar_ros/launch/view_rplidar_s1.launch similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/rplidar_ros/launch/view_rplidar_s1.launch rename to Code/MowingRobot/pibot_ros/ros_ws/src/rplidar_ros/launch/view_rplidar_s1.launch diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/rplidar_ros/launch/view_rplidar_s1_tcp.launch b/Code/MowingRobot/pibot_ros/ros_ws/src/rplidar_ros/launch/view_rplidar_s1_tcp.launch similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/rplidar_ros/launch/view_rplidar_s1_tcp.launch rename to Code/MowingRobot/pibot_ros/ros_ws/src/rplidar_ros/launch/view_rplidar_s1_tcp.launch diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/rplidar_ros/package.xml b/Code/MowingRobot/pibot_ros/ros_ws/src/rplidar_ros/package.xml similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/rplidar_ros/package.xml rename to Code/MowingRobot/pibot_ros/ros_ws/src/rplidar_ros/package.xml diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/rplidar_ros/rplidar_A1.png b/Code/MowingRobot/pibot_ros/ros_ws/src/rplidar_ros/rplidar_A1.png similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/rplidar_ros/rplidar_A1.png rename to Code/MowingRobot/pibot_ros/ros_ws/src/rplidar_ros/rplidar_A1.png diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/rplidar_ros/rplidar_A2.png b/Code/MowingRobot/pibot_ros/ros_ws/src/rplidar_ros/rplidar_A2.png similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/rplidar_ros/rplidar_A2.png rename to Code/MowingRobot/pibot_ros/ros_ws/src/rplidar_ros/rplidar_A2.png diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/rplidar_ros/rviz/rplidar.rviz b/Code/MowingRobot/pibot_ros/ros_ws/src/rplidar_ros/rviz/rplidar.rviz similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/rplidar_ros/rviz/rplidar.rviz rename to Code/MowingRobot/pibot_ros/ros_ws/src/rplidar_ros/rviz/rplidar.rviz diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/rplidar_ros/scripts/create_udev_rules.sh b/Code/MowingRobot/pibot_ros/ros_ws/src/rplidar_ros/scripts/create_udev_rules.sh similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/rplidar_ros/scripts/create_udev_rules.sh rename to Code/MowingRobot/pibot_ros/ros_ws/src/rplidar_ros/scripts/create_udev_rules.sh diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/rplidar_ros/scripts/delete_udev_rules.sh b/Code/MowingRobot/pibot_ros/ros_ws/src/rplidar_ros/scripts/delete_udev_rules.sh similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/rplidar_ros/scripts/delete_udev_rules.sh rename to Code/MowingRobot/pibot_ros/ros_ws/src/rplidar_ros/scripts/delete_udev_rules.sh diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/rplidar_ros/scripts/rplidar.rules b/Code/MowingRobot/pibot_ros/ros_ws/src/rplidar_ros/scripts/rplidar.rules similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/rplidar_ros/scripts/rplidar.rules rename to Code/MowingRobot/pibot_ros/ros_ws/src/rplidar_ros/scripts/rplidar.rules diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/README.txt b/Code/MowingRobot/pibot_ros/ros_ws/src/rplidar_ros/sdk/README.txt similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/README.txt rename to Code/MowingRobot/pibot_ros/ros_ws/src/rplidar_ros/sdk/README.txt diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/include/rplidar.h b/Code/MowingRobot/pibot_ros/ros_ws/src/rplidar_ros/sdk/include/rplidar.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/include/rplidar.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/rplidar_ros/sdk/include/rplidar.h diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/include/rplidar_cmd.h b/Code/MowingRobot/pibot_ros/ros_ws/src/rplidar_ros/sdk/include/rplidar_cmd.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/include/rplidar_cmd.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/rplidar_ros/sdk/include/rplidar_cmd.h diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/include/rplidar_driver.h b/Code/MowingRobot/pibot_ros/ros_ws/src/rplidar_ros/sdk/include/rplidar_driver.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/include/rplidar_driver.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/rplidar_ros/sdk/include/rplidar_driver.h diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/include/rplidar_protocol.h b/Code/MowingRobot/pibot_ros/ros_ws/src/rplidar_ros/sdk/include/rplidar_protocol.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/include/rplidar_protocol.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/rplidar_ros/sdk/include/rplidar_protocol.h diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/include/rptypes.h b/Code/MowingRobot/pibot_ros/ros_ws/src/rplidar_ros/sdk/include/rptypes.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/include/rptypes.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/rplidar_ros/sdk/include/rptypes.h diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/arch/linux/arch_linux.h b/Code/MowingRobot/pibot_ros/ros_ws/src/rplidar_ros/sdk/src/arch/linux/arch_linux.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/arch/linux/arch_linux.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/rplidar_ros/sdk/src/arch/linux/arch_linux.h diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/arch/linux/net_serial.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/rplidar_ros/sdk/src/arch/linux/net_serial.cpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/arch/linux/net_serial.cpp rename to Code/MowingRobot/pibot_ros/ros_ws/src/rplidar_ros/sdk/src/arch/linux/net_serial.cpp diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/arch/linux/net_serial.h b/Code/MowingRobot/pibot_ros/ros_ws/src/rplidar_ros/sdk/src/arch/linux/net_serial.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/arch/linux/net_serial.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/rplidar_ros/sdk/src/arch/linux/net_serial.h diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/arch/linux/net_socket.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/rplidar_ros/sdk/src/arch/linux/net_socket.cpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/arch/linux/net_socket.cpp rename to Code/MowingRobot/pibot_ros/ros_ws/src/rplidar_ros/sdk/src/arch/linux/net_socket.cpp diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/arch/linux/thread.hpp b/Code/MowingRobot/pibot_ros/ros_ws/src/rplidar_ros/sdk/src/arch/linux/thread.hpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/arch/linux/thread.hpp rename to Code/MowingRobot/pibot_ros/ros_ws/src/rplidar_ros/sdk/src/arch/linux/thread.hpp diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/arch/linux/timer.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/rplidar_ros/sdk/src/arch/linux/timer.cpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/arch/linux/timer.cpp rename to Code/MowingRobot/pibot_ros/ros_ws/src/rplidar_ros/sdk/src/arch/linux/timer.cpp diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/arch/linux/timer.h b/Code/MowingRobot/pibot_ros/ros_ws/src/rplidar_ros/sdk/src/arch/linux/timer.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/arch/linux/timer.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/rplidar_ros/sdk/src/arch/linux/timer.h diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/arch/macOS/arch_macOS.h b/Code/MowingRobot/pibot_ros/ros_ws/src/rplidar_ros/sdk/src/arch/macOS/arch_macOS.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/arch/macOS/arch_macOS.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/rplidar_ros/sdk/src/arch/macOS/arch_macOS.h diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/arch/macOS/net_serial.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/rplidar_ros/sdk/src/arch/macOS/net_serial.cpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/arch/macOS/net_serial.cpp rename to Code/MowingRobot/pibot_ros/ros_ws/src/rplidar_ros/sdk/src/arch/macOS/net_serial.cpp diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/arch/macOS/net_serial.h b/Code/MowingRobot/pibot_ros/ros_ws/src/rplidar_ros/sdk/src/arch/macOS/net_serial.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/arch/macOS/net_serial.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/rplidar_ros/sdk/src/arch/macOS/net_serial.h diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/arch/macOS/net_socket.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/rplidar_ros/sdk/src/arch/macOS/net_socket.cpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/arch/macOS/net_socket.cpp rename to Code/MowingRobot/pibot_ros/ros_ws/src/rplidar_ros/sdk/src/arch/macOS/net_socket.cpp diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/arch/macOS/thread.hpp b/Code/MowingRobot/pibot_ros/ros_ws/src/rplidar_ros/sdk/src/arch/macOS/thread.hpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/arch/macOS/thread.hpp rename to Code/MowingRobot/pibot_ros/ros_ws/src/rplidar_ros/sdk/src/arch/macOS/thread.hpp diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/arch/macOS/timer.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/rplidar_ros/sdk/src/arch/macOS/timer.cpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/arch/macOS/timer.cpp rename to Code/MowingRobot/pibot_ros/ros_ws/src/rplidar_ros/sdk/src/arch/macOS/timer.cpp diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/arch/macOS/timer.h b/Code/MowingRobot/pibot_ros/ros_ws/src/rplidar_ros/sdk/src/arch/macOS/timer.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/arch/macOS/timer.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/rplidar_ros/sdk/src/arch/macOS/timer.h diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/arch/win32/arch_win32.h b/Code/MowingRobot/pibot_ros/ros_ws/src/rplidar_ros/sdk/src/arch/win32/arch_win32.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/arch/win32/arch_win32.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/rplidar_ros/sdk/src/arch/win32/arch_win32.h diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/arch/win32/net_serial.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/rplidar_ros/sdk/src/arch/win32/net_serial.cpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/arch/win32/net_serial.cpp rename to Code/MowingRobot/pibot_ros/ros_ws/src/rplidar_ros/sdk/src/arch/win32/net_serial.cpp diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/arch/win32/net_serial.h b/Code/MowingRobot/pibot_ros/ros_ws/src/rplidar_ros/sdk/src/arch/win32/net_serial.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/arch/win32/net_serial.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/rplidar_ros/sdk/src/arch/win32/net_serial.h diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/arch/win32/net_socket.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/rplidar_ros/sdk/src/arch/win32/net_socket.cpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/arch/win32/net_socket.cpp rename to Code/MowingRobot/pibot_ros/ros_ws/src/rplidar_ros/sdk/src/arch/win32/net_socket.cpp diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/arch/win32/timer.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/rplidar_ros/sdk/src/arch/win32/timer.cpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/arch/win32/timer.cpp rename to Code/MowingRobot/pibot_ros/ros_ws/src/rplidar_ros/sdk/src/arch/win32/timer.cpp diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/arch/win32/timer.h b/Code/MowingRobot/pibot_ros/ros_ws/src/rplidar_ros/sdk/src/arch/win32/timer.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/arch/win32/timer.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/rplidar_ros/sdk/src/arch/win32/timer.h diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/arch/win32/winthread.hpp b/Code/MowingRobot/pibot_ros/ros_ws/src/rplidar_ros/sdk/src/arch/win32/winthread.hpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/arch/win32/winthread.hpp rename to Code/MowingRobot/pibot_ros/ros_ws/src/rplidar_ros/sdk/src/arch/win32/winthread.hpp diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/hal/abs_rxtx.h b/Code/MowingRobot/pibot_ros/ros_ws/src/rplidar_ros/sdk/src/hal/abs_rxtx.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/hal/abs_rxtx.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/rplidar_ros/sdk/src/hal/abs_rxtx.h diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/hal/assert.h b/Code/MowingRobot/pibot_ros/ros_ws/src/rplidar_ros/sdk/src/hal/assert.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/hal/assert.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/rplidar_ros/sdk/src/hal/assert.h diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/hal/byteops.h b/Code/MowingRobot/pibot_ros/ros_ws/src/rplidar_ros/sdk/src/hal/byteops.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/hal/byteops.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/rplidar_ros/sdk/src/hal/byteops.h diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/hal/event.h b/Code/MowingRobot/pibot_ros/ros_ws/src/rplidar_ros/sdk/src/hal/event.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/hal/event.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/rplidar_ros/sdk/src/hal/event.h diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/hal/locker.h b/Code/MowingRobot/pibot_ros/ros_ws/src/rplidar_ros/sdk/src/hal/locker.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/hal/locker.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/rplidar_ros/sdk/src/hal/locker.h diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/hal/socket.h b/Code/MowingRobot/pibot_ros/ros_ws/src/rplidar_ros/sdk/src/hal/socket.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/hal/socket.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/rplidar_ros/sdk/src/hal/socket.h diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/hal/thread.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/rplidar_ros/sdk/src/hal/thread.cpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/hal/thread.cpp rename to Code/MowingRobot/pibot_ros/ros_ws/src/rplidar_ros/sdk/src/hal/thread.cpp diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/hal/thread.h b/Code/MowingRobot/pibot_ros/ros_ws/src/rplidar_ros/sdk/src/hal/thread.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/hal/thread.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/rplidar_ros/sdk/src/hal/thread.h diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/hal/types.h b/Code/MowingRobot/pibot_ros/ros_ws/src/rplidar_ros/sdk/src/hal/types.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/hal/types.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/rplidar_ros/sdk/src/hal/types.h diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/hal/util.h b/Code/MowingRobot/pibot_ros/ros_ws/src/rplidar_ros/sdk/src/hal/util.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/hal/util.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/rplidar_ros/sdk/src/hal/util.h diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/rplidar_driver.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/rplidar_ros/sdk/src/rplidar_driver.cpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/rplidar_driver.cpp rename to Code/MowingRobot/pibot_ros/ros_ws/src/rplidar_ros/sdk/src/rplidar_driver.cpp diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/rplidar_driver_TCP.h b/Code/MowingRobot/pibot_ros/ros_ws/src/rplidar_ros/sdk/src/rplidar_driver_TCP.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/rplidar_driver_TCP.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/rplidar_ros/sdk/src/rplidar_driver_TCP.h diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/rplidar_driver_impl.h b/Code/MowingRobot/pibot_ros/ros_ws/src/rplidar_ros/sdk/src/rplidar_driver_impl.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/rplidar_driver_impl.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/rplidar_ros/sdk/src/rplidar_driver_impl.h diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/rplidar_driver_serial.h b/Code/MowingRobot/pibot_ros/ros_ws/src/rplidar_ros/sdk/src/rplidar_driver_serial.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/rplidar_driver_serial.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/rplidar_ros/sdk/src/rplidar_driver_serial.h diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/sdkcommon.h b/Code/MowingRobot/pibot_ros/ros_ws/src/rplidar_ros/sdk/src/sdkcommon.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/rplidar_ros/sdk/src/sdkcommon.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/rplidar_ros/sdk/src/sdkcommon.h diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/rplidar_ros/src/client.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/rplidar_ros/src/client.cpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/rplidar_ros/src/client.cpp rename to Code/MowingRobot/pibot_ros/ros_ws/src/rplidar_ros/src/client.cpp diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/rplidar_ros/src/node.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/rplidar_ros/src/node.cpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/rplidar_ros/src/node.cpp rename to Code/MowingRobot/pibot_ros/ros_ws/src/rplidar_ros/src/node.cpp diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/simple_follower/CMakeLists.txt b/Code/MowingRobot/pibot_ros/ros_ws/src/simple_follower/CMakeLists.txt similarity index 97% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/simple_follower/CMakeLists.txt rename to Code/MowingRobot/pibot_ros/ros_ws/src/simple_follower/CMakeLists.txt index 88fc168..eacd60c 100644 --- a/Code/MowingRobot/PIBot_ROS/ros_ws/src/simple_follower/CMakeLists.txt +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/simple_follower/CMakeLists.txt @@ -1,192 +1,192 @@ -cmake_minimum_required(VERSION 2.8.3) -project(simple_follower) - -## Find catkin macros and libraries -## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) -## is used, also find other catkin packages -find_package(catkin REQUIRED COMPONENTS - roscpp - rospy - std_msgs - sensor_msgs - geometry_msgs - message_generation -) - -## System dependencies are found with CMake's conventions -# find_package(Boost REQUIRED COMPONENTS system) - - -## Uncomment this if the package has a setup.py. This macro ensures -## modules and global scripts declared therein get installed -## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html -# catkin_python_setup() - -################################################ -## Declare ROS messages, services and actions ## -################################################ - -## To declare and build messages, services or actions from within this -## package, follow these steps: -## * Let MSG_DEP_SET be the set of packages whose message types you use in -## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). -## * In the file package.xml: -## * add a build_depend tag for "message_generation" -## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET -## * If MSG_DEP_SET isn't empty the following dependency has been pulled in -## but can be declared for certainty nonetheless: -## * add a run_depend tag for "message_runtime" -## * In this file (CMakeLists.txt): -## * add "message_generation" and every package in MSG_DEP_SET to -## find_package(catkin REQUIRED COMPONENTS ...) -## * add "message_runtime" and every package in MSG_DEP_SET to -## catkin_package(CATKIN_DEPENDS ...) -## * uncomment the add_*_files sections below as needed -## and list every .msg/.srv/.action file to be processed -## * uncomment the generate_messages entry below -## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) - -## Generate messages in the 'msg' folder - add_message_files( - FILES - position.msg - ) - -## Generate services in the 'srv' folder -# add_service_files( -# FILES -# Service1.srv -# Service2.srv -# ) - -## Generate actions in the 'action' folder -# add_action_files( -# FILES -# Action1.action -# Action2.action -# ) - -## Generate added messages and services with any dependencies listed here - generate_messages( - DEPENDENCIES - std_msgs - sensor_msgs - geometry_msgs - ) - -################################################ -## Declare ROS dynamic reconfigure parameters ## -################################################ - -## To declare and build dynamic reconfigure parameters within this -## package, follow these steps: -## * In the file package.xml: -## * add a build_depend and a run_depend tag for "dynamic_reconfigure" -## * In this file (CMakeLists.txt): -## * add "dynamic_reconfigure" to -## find_package(catkin REQUIRED COMPONENTS ...) -## * uncomment the "generate_dynamic_reconfigure_options" section below -## and list every .cfg file to be processed - -## Generate dynamic reconfigure parameters in the 'cfg' folder -# generate_dynamic_reconfigure_options( -# cfg/DynReconf1.cfg -# cfg/DynReconf2.cfg -# ) - -################################### -## catkin specific configuration ## -################################### -## The catkin_package macro generates cmake config files for your package -## Declare things to be passed to dependent projects -## INCLUDE_DIRS: uncomment this if you package contains header files -## LIBRARIES: libraries you create in this project that dependent projects also need -## CATKIN_DEPENDS: catkin_packages dependent projects also need -## DEPENDS: system dependencies of this project that dependent projects also need -catkin_package( -# INCLUDE_DIRS include -# LIBRARIES simple_follower - CATKIN_DEPENDS roscpp rospy std_msgs message_runtime -# DEPENDS system_lib -) - -########### -## Build ## -########### - -## Specify additional locations of header files -## Your package locations should be listed before other locations -# include_directories(include) -include_directories( - ${catkin_INCLUDE_DIRS} -) - -## Declare a C++ library -# add_library(simple_follower -# src/${PROJECT_NAME}/simple_follower.cpp -# ) - -## Add cmake target dependencies of the library -## as an example, code may need to be generated before libraries -## either from message generation or dynamic reconfigure -# add_dependencies(simple_follower ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) - -## Declare a C++ executable -# add_executable(simple_follower_node src/simple_follower_node.cpp) - -## Add cmake target dependencies of the executable -## same as for the library above -# add_dependencies(simple_follower_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) - -## Specify libraries to link a library or executable target against -# target_link_libraries(simple_follower_node -# ${catkin_LIBRARIES} -# ) - -############# -## Install ## -############# - -# all install targets should use catkin DESTINATION variables -# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html - -## Mark executable scripts (Python etc.) for installation -## in contrast to setup.py, you can choose the destination -# install(PROGRAMS -# scripts/my_python_script -# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -# ) - -## Mark executables and/or libraries for installation -# install(TARGETS simple_follower simple_follower_node -# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} -# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} -# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} -# ) - -## Mark cpp header files for installation -# install(DIRECTORY include/${PROJECT_NAME}/ -# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} -# FILES_MATCHING PATTERN "*.h" -# PATTERN ".svn" EXCLUDE -# ) - -## Mark other files for installation (e.g. launch and bag files, etc.) -# install(FILES -# # myfile1 -# # myfile2 -# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} -# ) - -############# -## Testing ## -############# - -## Add gtest based cpp test target and link libraries -# catkin_add_gtest(${PROJECT_NAME}-test test/test_simple_follower.cpp) -# if(TARGET ${PROJECT_NAME}-test) -# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) -# endif() - -## Add folders to be run by python nosetests -# catkin_add_nosetests(test) +cmake_minimum_required(VERSION 2.8.3) +project(simple_follower) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED COMPONENTS + roscpp + rospy + std_msgs + sensor_msgs + geometry_msgs + message_generation +) + +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +# catkin_python_setup() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend tag for "message_generation" +## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependency has been pulled in +## but can be declared for certainty nonetheless: +## * add a run_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder + add_message_files( + FILES + position.msg + ) + +## Generate services in the 'srv' folder +# add_service_files( +# FILES +# Service1.srv +# Service2.srv +# ) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here + generate_messages( + DEPENDENCIES + std_msgs + sensor_msgs + geometry_msgs + ) + +################################################ +## Declare ROS dynamic reconfigure parameters ## +################################################ + +## To declare and build dynamic reconfigure parameters within this +## package, follow these steps: +## * In the file package.xml: +## * add a build_depend and a run_depend tag for "dynamic_reconfigure" +## * In this file (CMakeLists.txt): +## * add "dynamic_reconfigure" to +## find_package(catkin REQUIRED COMPONENTS ...) +## * uncomment the "generate_dynamic_reconfigure_options" section below +## and list every .cfg file to be processed + +## Generate dynamic reconfigure parameters in the 'cfg' folder +# generate_dynamic_reconfigure_options( +# cfg/DynReconf1.cfg +# cfg/DynReconf2.cfg +# ) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if you package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( +# INCLUDE_DIRS include +# LIBRARIES simple_follower + CATKIN_DEPENDS roscpp rospy std_msgs message_runtime +# DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +# include_directories(include) +include_directories( + ${catkin_INCLUDE_DIRS} +) + +## Declare a C++ library +# add_library(simple_follower +# src/${PROJECT_NAME}/simple_follower.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(simple_follower ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Declare a C++ executable +# add_executable(simple_follower_node src/simple_follower_node.cpp) + +## Add cmake target dependencies of the executable +## same as for the library above +# add_dependencies(simple_follower_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Specify libraries to link a library or executable target against +# target_link_libraries(simple_follower_node +# ${catkin_LIBRARIES} +# ) + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +# install(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables and/or libraries for installation +# install(TARGETS simple_follower simple_follower_node +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${PROJECT_NAME}/ +# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +# FILES_MATCHING PATTERN "*.h" +# PATTERN ".svn" EXCLUDE +# ) + +## Mark other files for installation (e.g. launch and bag files, etc.) +# install(FILES +# # myfile1 +# # myfile2 +# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# catkin_add_gtest(${PROJECT_NAME}-test test/test_simple_follower.cpp) +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/simple_follower/launch/laser_follower.launch b/Code/MowingRobot/pibot_ros/ros_ws/src/simple_follower/launch/laser_follower.launch similarity index 97% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/simple_follower/launch/laser_follower.launch rename to Code/MowingRobot/pibot_ros/ros_ws/src/simple_follower/launch/laser_follower.launch index 5c48954..2c4bcec 100644 --- a/Code/MowingRobot/PIBot_ROS/ros_ws/src/simple_follower/launch/laser_follower.launch +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/simple_follower/launch/laser_follower.launch @@ -1,4 +1,4 @@ - - - - + + + + diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/simple_follower/launch/nodes/follower.launch b/Code/MowingRobot/pibot_ros/ros_ws/src/simple_follower/launch/nodes/follower.launch similarity index 98% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/simple_follower/launch/nodes/follower.launch rename to Code/MowingRobot/pibot_ros/ros_ws/src/simple_follower/launch/nodes/follower.launch index 1103af5..4081dae 100644 --- a/Code/MowingRobot/PIBot_ROS/ros_ws/src/simple_follower/launch/nodes/follower.launch +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/simple_follower/launch/nodes/follower.launch @@ -1,13 +1,13 @@ - - - - - - - - - - - - - + + + + + + + + + + + + + diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/simple_follower/launch/nodes/laserTracker.launch b/Code/MowingRobot/pibot_ros/ros_ws/src/simple_follower/launch/nodes/laserTracker.launch similarity index 98% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/simple_follower/launch/nodes/laserTracker.launch rename to Code/MowingRobot/pibot_ros/ros_ws/src/simple_follower/launch/nodes/laserTracker.launch index 7f21ccf..41272e7 100644 --- a/Code/MowingRobot/PIBot_ROS/ros_ws/src/simple_follower/launch/nodes/laserTracker.launch +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/simple_follower/launch/nodes/laserTracker.launch @@ -1,8 +1,8 @@ - - - - - - - - + + + + + + + + diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/simple_follower/launch/nodes/visualTracker.launch b/Code/MowingRobot/pibot_ros/ros_ws/src/simple_follower/launch/nodes/visualTracker.launch similarity index 97% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/simple_follower/launch/nodes/visualTracker.launch rename to Code/MowingRobot/pibot_ros/ros_ws/src/simple_follower/launch/nodes/visualTracker.launch index 73dd9d0..af1d5cd 100644 --- a/Code/MowingRobot/PIBot_ROS/ros_ws/src/simple_follower/launch/nodes/visualTracker.launch +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/simple_follower/launch/nodes/visualTracker.launch @@ -1,17 +1,17 @@ - - - - - upper : [0, 120, 100] - lower : [9, 255, 255] - - - - pictureHeight: 480 - pictureWidth: 640 - - verticalAngle: 0.43196898986859655 - horizontalAngle: 0.5235987755982988 - - - + + + + + upper : [0, 120, 100] + lower : [9, 255, 255] + + + + pictureHeight: 480 + pictureWidth: 640 + + verticalAngle: 0.43196898986859655 + horizontalAngle: 0.5235987755982988 + + + diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/simple_follower/launch/visual_follower.launch b/Code/MowingRobot/pibot_ros/ros_ws/src/simple_follower/launch/visual_follower.launch similarity index 97% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/simple_follower/launch/visual_follower.launch rename to Code/MowingRobot/pibot_ros/ros_ws/src/simple_follower/launch/visual_follower.launch index 5c4025e..6ac1565 100644 --- a/Code/MowingRobot/PIBot_ROS/ros_ws/src/simple_follower/launch/visual_follower.launch +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/simple_follower/launch/visual_follower.launch @@ -1,4 +1,4 @@ - - - - + + + + diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/simple_follower/msg/position.msg b/Code/MowingRobot/pibot_ros/ros_ws/src/simple_follower/msg/position.msg similarity index 94% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/simple_follower/msg/position.msg rename to Code/MowingRobot/pibot_ros/ros_ws/src/simple_follower/msg/position.msg index 67dde10..1401606 100644 --- a/Code/MowingRobot/PIBot_ROS/ros_ws/src/simple_follower/msg/position.msg +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/simple_follower/msg/position.msg @@ -1,3 +1,3 @@ -float32 angleX -float32 angleY -float32 distance +float32 angleX +float32 angleY +float32 distance diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/simple_follower/package.xml b/Code/MowingRobot/pibot_ros/ros_ws/src/simple_follower/package.xml similarity index 97% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/simple_follower/package.xml rename to Code/MowingRobot/pibot_ros/ros_ws/src/simple_follower/package.xml index a37c8b6..c3d1db2 100644 --- a/Code/MowingRobot/PIBot_ROS/ros_ws/src/simple_follower/package.xml +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/simple_follower/package.xml @@ -1,61 +1,61 @@ - - - simple_follower - 0.0.0 - Makes a mobile robot follow a target. either using rgb-d or laser range finder - - - - - clemens - - - - - - TODO - - - - - - - - - - - - - - - - - - - message_generation - - - - - - catkin - roscpp - rospy - std_msgs - sensor_msgs - geometry_msgs - message_runtime - message_generation - roscpp - rospy - std_msgs - sensor_msgs - geometry_msgs - - - - - - - - + + + simple_follower + 0.0.0 + Makes a mobile robot follow a target. either using rgb-d or laser range finder + + + + + clemens + + + + + + TODO + + + + + + + + + + + + + + + + + + + message_generation + + + + + + catkin + roscpp + rospy + std_msgs + sensor_msgs + geometry_msgs + message_runtime + message_generation + roscpp + rospy + std_msgs + sensor_msgs + geometry_msgs + + + + + + + + diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/simple_follower/parameters/PID_param.yaml b/Code/MowingRobot/pibot_ros/ros_ws/src/simple_follower/parameters/PID_param.yaml similarity index 94% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/simple_follower/parameters/PID_param.yaml rename to Code/MowingRobot/pibot_ros/ros_ws/src/simple_follower/parameters/PID_param.yaml index c03fd6a..319528a 100644 --- a/Code/MowingRobot/PIBot_ROS/ros_ws/src/simple_follower/parameters/PID_param.yaml +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/simple_follower/parameters/PID_param.yaml @@ -1,3 +1,3 @@ -P: [0.7, 0.6] -I: [0.07,0.04] -D: [0.00, 0.000] +P: [0.7, 0.6] +I: [0.07,0.04] +D: [0.00, 0.000] diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/simple_follower/scripts/follower.py b/Code/MowingRobot/pibot_ros/ros_ws/src/simple_follower/scripts/follower.py old mode 100644 new mode 100755 similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/simple_follower/scripts/follower.py rename to Code/MowingRobot/pibot_ros/ros_ws/src/simple_follower/scripts/follower.py diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/simple_follower/scripts/laserTracker.py b/Code/MowingRobot/pibot_ros/ros_ws/src/simple_follower/scripts/laserTracker.py old mode 100644 new mode 100755 similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/simple_follower/scripts/laserTracker.py rename to Code/MowingRobot/pibot_ros/ros_ws/src/simple_follower/scripts/laserTracker.py diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/simple_follower/scripts/testCode.py b/Code/MowingRobot/pibot_ros/ros_ws/src/simple_follower/scripts/testCode.py old mode 100644 new mode 100755 similarity index 96% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/simple_follower/scripts/testCode.py rename to Code/MowingRobot/pibot_ros/ros_ws/src/simple_follower/scripts/testCode.py index 9f77b59..0e0f7ef --- a/Code/MowingRobot/PIBot_ROS/ros_ws/src/simple_follower/scripts/testCode.py +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/simple_follower/scripts/testCode.py @@ -1,114 +1,114 @@ -import numpy as np -import copy -from unsafe_runaway import * -import time -from nose.tools import assert_raises - - - - -class mockup: - pass - - -def makeLaserData(): - laser_data = mockup() - laser_data.range_max = 5.6 - laser_data.angle_min = -2.1 - laser_data.angle_increment = 0.06136 - laser_data.ranges = list(1+np.random.rand(69)*5) - return laser_data - -class Test_simpleTracker: - - - def setUp(self): - self.tracker = simpleTracker() - - def test_ignor_first_scan(self): - laser_data = makeLaserData() - tracker = simpleTracker() - assert_raises(UserWarning, self.tracker.registerScan,laser_data) - - def test_unmuted(self): - laser_data = makeLaserData() - backup = copy.copy(laser_data) - try: - angle, distance = self.tracker.registerScan(laser_data) - except: - pass - assert backup.ranges == laser_data.ranges - #print(laser_data.ranges) - #print('angle: {}, dist: {}'.format(angle, distance)) - - def test_nan(self): - laser_data = makeLaserData() - assert_raises(UserWarning, self.tracker.registerScan,laser_data) - laser_data.ranges[12] = float('nan') - angle, dist=self.tracker.registerScan(laser_data) - #print('angle: {}, dist: {}'.format(angle, dist)) - - def test_only_nan(self): - laser_data = makeLaserData() - laser_data.ranges = [float('nan') for _ in laser_data.ranges] - assert_raises(UserWarning, self.tracker.registerScan,laser_data) - assert_raises(UserWarning, self.tracker.registerScan,laser_data) - - - - def test_real_real_min(self): - laser_data = makeLaserData() - laser_data.ranges[-1]=0.5 #real min - assert_raises(UserWarning, self.tracker.registerScan,laser_data) - laser_data.ranges[-1]=0.6 - laser_data.ranges[42]=0.1 #fake min - ang, dist = self.tracker.registerScan(laser_data) - assert dist == 0.6 - #print('ang: {}, target: {}'.format(ang, (laser_data.angle_min+ 23*laser_data.angle_increment))) - assert ang == laser_data.angle_min+ 68*laser_data.angle_increment - - -class Test_PID: - def setUp(self): - pass - - def test_convergence(self): - self.pid = simplePID([0,30], 0.8, 0.001, 0.0001) - x =np.array([23, 12]) - for i in range(20): - update= self.pid.update(x) - print('added {} to current x {}'.format(update, x)) - x = x+update - time.sleep(0.1) - assert np.all(abs(x-[0,30])<=0.01) - - def test_convergence_differentParamShape(self): - self.pid = simplePID([0,30],0.8, 0.001, 0.0001) - x =np.array([23, 12]) - for i in range(20): - update= self.pid.update(x) - print('added {} to current x {}'.format(update, x)) - x = x+update - time.sleep(0.1) - assert np.all(abs(x-[0,30])<=0.01) - - - def test_raises_unequal_param_shape_at_creation(self): - assert_raises(TypeError, simplePID, [0,30],[0.8, 0.7, 0.1], 0.001, 0.0001) - assert_raises(TypeError, simplePID, [0,30],[0.8, 0.7], 0.001, 0.0001) - assert_raises(TypeError, simplePID, 0,[0.8, 0.7], 0.001, 0.0001) - assert_raises(TypeError, simplePID, 0, [0.8, 0.7], [0.001, 0.001], [0.0001, 0,0001]) - _ = simplePID([0,30],[0.8, 0.7], [0.001, 0.001], [0.0001, 0.0001]) - _ = simplePID([0,30],0.8, 0.001, 0.0001) - _ = simplePID(0,0.8, 0.001, 0.0001) - - def test_raise_incompatable_input(self): - self.pid = simplePID([0,30], 0.8, 0.001, 0.0001) - _ = assert_raises(TypeError, self.pid.update, 3) - x =np.array([23, 12]) - for i in range(50): - update= self.pid.update(x) - print('added {} to current x {}'.format(update, x)) - x = x+update - time.sleep(0.1) - assert np.all(abs(x-[0,30])<=0.001) +import numpy as np +import copy +from unsafe_runaway import * +import time +from nose.tools import assert_raises + + + + +class mockup: + pass + + +def makeLaserData(): + laser_data = mockup() + laser_data.range_max = 5.6 + laser_data.angle_min = -2.1 + laser_data.angle_increment = 0.06136 + laser_data.ranges = list(1+np.random.rand(69)*5) + return laser_data + +class Test_simpleTracker: + + + def setUp(self): + self.tracker = simpleTracker() + + def test_ignor_first_scan(self): + laser_data = makeLaserData() + tracker = simpleTracker() + assert_raises(UserWarning, self.tracker.registerScan,laser_data) + + def test_unmuted(self): + laser_data = makeLaserData() + backup = copy.copy(laser_data) + try: + angle, distance = self.tracker.registerScan(laser_data) + except: + pass + assert backup.ranges == laser_data.ranges + #print(laser_data.ranges) + #print('angle: {}, dist: {}'.format(angle, distance)) + + def test_nan(self): + laser_data = makeLaserData() + assert_raises(UserWarning, self.tracker.registerScan,laser_data) + laser_data.ranges[12] = float('nan') + angle, dist=self.tracker.registerScan(laser_data) + #print('angle: {}, dist: {}'.format(angle, dist)) + + def test_only_nan(self): + laser_data = makeLaserData() + laser_data.ranges = [float('nan') for _ in laser_data.ranges] + assert_raises(UserWarning, self.tracker.registerScan,laser_data) + assert_raises(UserWarning, self.tracker.registerScan,laser_data) + + + + def test_real_real_min(self): + laser_data = makeLaserData() + laser_data.ranges[-1]=0.5 #real min + assert_raises(UserWarning, self.tracker.registerScan,laser_data) + laser_data.ranges[-1]=0.6 + laser_data.ranges[42]=0.1 #fake min + ang, dist = self.tracker.registerScan(laser_data) + assert dist == 0.6 + #print('ang: {}, target: {}'.format(ang, (laser_data.angle_min+ 23*laser_data.angle_increment))) + assert ang == laser_data.angle_min+ 68*laser_data.angle_increment + + +class Test_PID: + def setUp(self): + pass + + def test_convergence(self): + self.pid = simplePID([0,30], 0.8, 0.001, 0.0001) + x =np.array([23, 12]) + for i in range(20): + update= self.pid.update(x) + print('added {} to current x {}'.format(update, x)) + x = x+update + time.sleep(0.1) + assert np.all(abs(x-[0,30])<=0.01) + + def test_convergence_differentParamShape(self): + self.pid = simplePID([0,30],0.8, 0.001, 0.0001) + x =np.array([23, 12]) + for i in range(20): + update= self.pid.update(x) + print('added {} to current x {}'.format(update, x)) + x = x+update + time.sleep(0.1) + assert np.all(abs(x-[0,30])<=0.01) + + + def test_raises_unequal_param_shape_at_creation(self): + assert_raises(TypeError, simplePID, [0,30],[0.8, 0.7, 0.1], 0.001, 0.0001) + assert_raises(TypeError, simplePID, [0,30],[0.8, 0.7], 0.001, 0.0001) + assert_raises(TypeError, simplePID, 0,[0.8, 0.7], 0.001, 0.0001) + assert_raises(TypeError, simplePID, 0, [0.8, 0.7], [0.001, 0.001], [0.0001, 0,0001]) + _ = simplePID([0,30],[0.8, 0.7], [0.001, 0.001], [0.0001, 0.0001]) + _ = simplePID([0,30],0.8, 0.001, 0.0001) + _ = simplePID(0,0.8, 0.001, 0.0001) + + def test_raise_incompatable_input(self): + self.pid = simplePID([0,30], 0.8, 0.001, 0.0001) + _ = assert_raises(TypeError, self.pid.update, 3) + x =np.array([23, 12]) + for i in range(50): + update= self.pid.update(x) + print('added {} to current x {}'.format(update, x)) + x = x+update + time.sleep(0.1) + assert np.all(abs(x-[0,30])<=0.001) diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/simple_follower/scripts/visualTracker.py b/Code/MowingRobot/pibot_ros/ros_ws/src/simple_follower/scripts/visualTracker.py old mode 100644 new mode 100755 similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/simple_follower/scripts/visualTracker.py rename to Code/MowingRobot/pibot_ros/ros_ws/src/simple_follower/scripts/visualTracker.py diff --git a/Code/MowingRobot/Robot_ROS_APP/src/ros_merge_test/CMakeLists.txt b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_location/CMakeLists.txt similarity index 80% rename from Code/MowingRobot/Robot_ROS_APP/src/ros_merge_test/CMakeLists.txt rename to Code/MowingRobot/pibot_ros/ros_ws/src/upbot_location/CMakeLists.txt index 668049f..fee63c4 100644 --- a/Code/MowingRobot/Robot_ROS_APP/src/ros_merge_test/CMakeLists.txt +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_location/CMakeLists.txt @@ -1,5 +1,5 @@ cmake_minimum_required(VERSION 3.0.2) -project(ros_merge_test) +project(upbot_location) find_package(catkin REQUIRED COMPONENTS roscpp @@ -16,30 +16,36 @@ find_package(Boost REQUIRED) # catkin_package( # # INCLUDE_DIRS include -# # LIBRARIES ros_merge_test +# # LIBRARIES upbot_location # # CATKIN_DEPENDS roscpp rospy std_msgs # # DEPENDS system_lib # CATKIN_DEPENDS message_runtime std_msgs geometry_msgs # ) + include_directories( # include -${OpenCV_INCLUDE_DIRS} -${catkin_INCLUDE_DIRS} + ${OpenCV_INCLUDE_DIRS} + ${catkin_INCLUDE_DIRS} include ) add_library(${PROJECT_NAME} SHARED + src/system.cpp src/uwb.cpp src/mapping.cpp src/align.cpp + src/Mat.cpp + src/lighthouse.cpp + # src/read_sensor_data.cpp include/senddata.h src/senddata.cpp) add_message_files( DIRECTORY msg FILES - RawImu.msg + RawImu.msg + ) generate_messages(DEPENDENCIES std_msgs geometry_msgs) diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_location/include/Mat.h b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_location/include/Mat.h new file mode 100644 index 0000000..f8cc745 --- /dev/null +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_location/include/Mat.h @@ -0,0 +1,83 @@ +/******************** (C) COPYRIGHT 2022 Geek************************************ +* File Name : Mat.h +* Current Version : V1.0 +* Author : logzhan +* Date of Issued : 2022.09.14 +* Comments : �����ľ������ +********************************************************************************/ +/* Header File Including -----------------------------------------------------*/ +#ifndef _H_MAT_ +#define _H_MAT_ + +#define MAT_MAX 15 //�������ܴ����������� + + +#include +#define _USE_MATH_DEFINES +#include + +class Mat +{ +public: + Mat(); + Mat(int setm,int setn,int kind);//kind=1��λ��kind=0�����,��������ʼ�����ݡ� + void Init(int setm,int setn,int kind);//kind=1��λ��kind=0�����,��������ʼ�����ݡ� + + void Zero(void); + //��Щ�ؼ�����Ӧ����Ϊprivate�ġ�����Ϊ�˷��㣬��Ҳ������public + int m;//���� + int n;//���� + double mat[MAT_MAX][MAT_MAX];//������������ + + //����ľ��� + Mat SubMat(int a,int b,int lm,int ln);//��ȡ����һ���� + void FillSubMat(int a,int b,Mat s);//����Ӿ��� + + //����ר�� + double absvec();//����������ij��ȡ����Ǹ���Ԫ�صľ���ֵ�� + double Sqrt();//�������ȵ�ƽ�� + friend Mat operator ^(Mat a,Mat b);//��� + + //���� + friend Mat operator *(double k,Mat a); + friend Mat operator *(Mat a,double k); + friend Mat operator /(Mat a,double k); + friend Mat operator *(Mat a,Mat b); + friend Mat operator +(Mat a,Mat b); + friend Mat operator -(Mat a,Mat b); + friend Mat operator ~(Mat a);//ת�� + friend Mat operator /(Mat a,Mat b);//a*inv(b) + friend Mat operator %(Mat a,Mat b);//inv(a)*b + + //MAT inv();//����� + +private: + // Ϊ���ø�˹��Ԫ��������һЩ���� + // �������� + void RowExchange(int a, int b); + // ijһ�г���ϵ�� + void RowMul(int a,double k); + // ��ijһ�мӼ���һ�еı��� + void RowAdd(int a,int b, double k); + // �������� + void ColExchange(int a, int b); + // ijһ�г���ϵ�� + void ColMul(int a,double k); + // ��ijһ�мӼ���һ�еı��� + void ColAdd(int a,int b,double k); + + +}; + + + + + + +#endif + + + + + + diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_location/include/align.h b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_location/include/align.h new file mode 100644 index 0000000..28eda90 --- /dev/null +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_location/include/align.h @@ -0,0 +1,55 @@ +#include +#include +#include +#include +#include +#include +#include +#include "upbot_location/RawImu.h" +#include "type.h" +#include "uwb.h" +#include "lighthouse.h" +#include "Mat.h" + +#ifndef ALIGN_H +#define AlIGN_H +namespace uwb_slam{ + class Align + { + public: + Align(){ + imuPos.Init(2, 1, 0); + uwbPos.Init(2, 1, 0); + syncPos.Init(2, 1, 0); + imuStartPos.Init(2, 1, 0); + Rotate.Init(2,2,0); + uwbStartPos.Init(2,1,0); + }; + void Run(); + void wheel_odomCB(const nav_msgs::Odometry& wheel_odom); + void imuCB(const upbot_location::RawImu& imu); + void odomCB(const nav_msgs::Odometry& odom); + + public: + ros::NodeHandle nh_; + ros::Subscriber wheel_odom_sub_; + ros::Subscriber imu_sub_; + ros::Subscriber odom_sub_; + Imu_odom_pose_data imu_odom_; + Uwb_data uwb_data_; + ros::Time imuDataRxTime, uwbDataRxTime, odomDataRxTime; + Mat imuStartPos; + Mat imuPos; + Mat uwbPos; + Mat syncPos; + Mat Rotate; + Mat uwbStartPos; + ros::Time odom_tmp_ ; + bool write_data_ = false; + cv::Mat img1; + std::queue> data_queue; + std::shared_ptr uwb_; + std::shared_ptr lighthouse_; + }; +}; +#endif diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_location/include/lighthouse.h b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_location/include/lighthouse.h new file mode 100644 index 0000000..333f9e5 --- /dev/null +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_location/include/lighthouse.h @@ -0,0 +1,29 @@ +#include +#include +#include +#include +#include +#include +#include "type.h" +#include +#include +#ifndef __LIGHTHOUSE_H__ +#define __LIGHTHOUSE_H__ + +namespace uwb_slam{ +class Lighthouse{ +public: + Lighthouse(); + ~Lighthouse(); + void Run(); + void UDPRead(); + // Listen PORT + int PORT = 12345; + int UdpSocket = -1; + + LightHouseData data; + + std::mutex mMutexLighthouse; +}; +}; +#endif diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_location/include/mapping.h b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_location/include/mapping.h new file mode 100644 index 0000000..ac39d27 --- /dev/null +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_location/include/mapping.h @@ -0,0 +1,40 @@ +#include +#include +#include +#include "uwb.h" +#include "align.h" + +#ifndef MAPPING_H +#define MAPPING_H + + +namespace uwb_slam{ + class Mapping + { + public: + const double PIXEL_SCALE = 1.0; //xiangsudian cm + const int AREA_SIZE = 1000; //map size cm + Mapping() {}; + void Run(); + bool checkQueue(); + void feedPos(const cv::Point2d & imuPosData, const cv::Point2d & uwbPosData, const cv::Point2d & syncPosData); + void process(); + std::mutex mMutexMap; + std::shared_ptr uwb_; + std::shared_ptr align_; + + private: + int realWidth, realHeight; + std::queue> posDataQueue; + std::vector posData = std::vector(3, {-1, -1}); + //cv::Point2d imuPoint = {-1,-1}; + // std::queue posDataQueue; + + + bool readPos = false; + cv::Mat img; + }; + +} + +#endif diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_location/include/read_sensor_data.h b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_location/include/read_sensor_data.h new file mode 100644 index 0000000..61a7df3 --- /dev/null +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_location/include/read_sensor_data.h @@ -0,0 +1,34 @@ +#include +#include "nav_msgs/Odometry.h" +#include "geometry_msgs/Twist.h" +#include "sensor_msgs/Imu.h" +#include "geometry_msgs/PoseStamped.h" +#include "geometry_msgs/PoseWithCovarianceStamped.h" +#include +#include "type.h" +#include "uwb.h" + + +#ifndef READ_SENSOR_DATA_H +#define READ_SENSOR_DATA_H + +namespace uwb_slam{ + typedef boost::shared_ptr OdomConstPtr; + typedef boost::shared_ptr ImuConstPtr; + class Read_sensor_data + { + public: + Read_sensor_data(); + + void Run(int argc, char* argv[]); + //void set_uwb(Uwb * uwb); + void imu_call_back(const ImuConstPtr& imu); + void odom_call_back(const OdomConstPtr& odom); + + private: + ros::Subscriber imu_sub_; + ros::Subscriber odom_sub_; + + }; +} +#endif \ No newline at end of file diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_location/include/senddata.h b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_location/include/senddata.h new file mode 100644 index 0000000..efef283 --- /dev/null +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_location/include/senddata.h @@ -0,0 +1,37 @@ +#include +#include +#include +#include +#include +#include +#include "uwb.h" +#ifndef SENDDATA_H +#define SENDDATA_H + + +namespace uwb_slam{ + + class Senddata + { + public: + Senddata(){}; + void publishOdometry( std::shared_ptruwb); + void Run(std::shared_ptruwb); + void odomCB(const nav_msgs::Odometry& odom); + + + std::mutex mMutexSend; + private: + ros::Publisher position_pub_; + ros::Subscriber odom_sub_; + ros::NodeHandle nh_; + nav_msgs::Odometry odom_;//odom的消息类型 + nav_msgs::Odometry sub_odom_;//odom的消息类型 + + + + }; + +} + +#endif \ No newline at end of file diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_location/include/system.h b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_location/include/system.h new file mode 100644 index 0000000..848f92b --- /dev/null +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_location/include/system.h @@ -0,0 +1,32 @@ +#include +#include +#include "mapping.h" +#include "uwb.h" +#include "senddata.h" +// #include "align.h" +#include + +#ifndef SYSTEM_H +#define SYSTEM_H + +namespace uwb_slam{ + class System{ + + public: + System() { + } + void Run(); + public: + + std::shared_ptrMapping_; + std::shared_ptrUwb_; + std::shared_ptrSender_; + std::shared_ptrAlign_; + std::shared_ptrLighthouse_; + + // Uwb* Uwb_ ; + // Senddata* Sender_; + // Mapping* Mapping_; + }; +} +#endif diff --git a/Code/MowingRobot/Robot_ROS_APP/src/ros_merge_test/include/type.h b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_location/include/type.h similarity index 67% rename from Code/MowingRobot/Robot_ROS_APP/src/ros_merge_test/include/type.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/upbot_location/include/type.h index d92ef27..93b8358 100644 --- a/Code/MowingRobot/Robot_ROS_APP/src/ros_merge_test/include/type.h +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_location/include/type.h @@ -18,14 +18,13 @@ struct Imu_data struct Imu_odom_pose_data { - Imu_data imu_data_; - double pose_[3]; /* 位置信息 */ - double quat_[4]; /* 姿态信息(四元数) */ + Imu_data imu_data_; + double pose_[3]; + double quat_[4]; double vxy_; double angle_v_; Imu_odom_pose_data(){}; - Imu_odom_pose_data( Imu_data imu_data,double x,double y,double z, double qw, double qx, - double qy, double qz,double vxy, double angle_v):imu_data_(imu_data),pose_{x,y,z},quat_{qw,qx,qy,qz},vxy_(vxy),angle_v_(angle_v){}; + Imu_odom_pose_data( Imu_data imu_data,double x,double y,double z, double qw, double qx, double qy, double qz,double vxy, double angle_v):imu_data_(imu_data),pose_{x,y,z},quat_{qw,qx,qy,qz},vxy_(vxy),angle_v_(angle_v){}; }; /*struct Odom_data @@ -44,7 +43,7 @@ struct Imu_odom_pose_data }; */ -struct Uwb_data +struct Uwb_data { float x_,y_; ros::Time uwb_t_; @@ -52,6 +51,18 @@ struct Uwb_data Uwb_data(float x,float y,float t):x_(x),y_(y),uwb_t_(t){}; }; +struct LightHouseData +{ + float x_,y_,z_; + float qw_,qx_,qy_,qz_; + ros::Time lighthouse_t_; + LightHouseData(){}; + LightHouseData(float x,float y,float z, float qw, float qx, float qy, float qz, float t): + x_(x),y_(y),z_(z),qw_(qw), qx_(qx), qy_(qy), qz_(qz), lighthouse_t_(t){}; +}; + + + /*struct Imu_odom_pose_data { Imu_data imu_data_; diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_location/include/uwb.h b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_location/include/uwb.h new file mode 100644 index 0000000..4718fed --- /dev/null +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_location/include/uwb.h @@ -0,0 +1,58 @@ +#include +#include +#include +#include +#include +#include +#include "type.h" +#include +#include +#ifndef UWB_H +#define UWB_H + +#define PI acos(-1) +namespace uwb_slam{ + + class Uwb + { + public: + Uwb(); + void Run(); + bool checknewdata(); + void feed_imu_odom_pose_data(); + void Serread(); + + + + public: + int pre_seq = -1; + int cur_seq = -1; + int AnchorNum = 3; + int AnchorPos[3][3]={-240, 400, 113,\ + 240, 400, 113,\ + -400, -240, 113};//基站坐标，序号+三维坐标 + uint8_t tmpdata[13]; + int d[3]; + + // std::queue v_buffer_imu_odom_pose_data_; + + + Uwb_data uwb_data_; + // ros_merge_test::RawImu sub_imu_; + // std::queue imu_odom_queue_; + // std::queue uwb_data_queue_; + std::mutex mMutexUwb; + //boost::asio::io_service io; + //boost::asio::serial_port s_port; + + // Imu_odom_pose_data imu_odom_pose_data_; + }; + +}; + + + + + + +#endif diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_location/msg/RawImu.msg b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_location/msg/RawImu.msg new file mode 100644 index 0000000..3c5ad41 --- /dev/null +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_location/msg/RawImu.msg @@ -0,0 +1,7 @@ +Header header +bool accelerometer +bool gyroscope +bool magnetometer +geometry_msgs/Vector3 raw_linear_acceleration +geometry_msgs/Vector3 raw_angular_velocity +geometry_msgs/Vector3 raw_magnetic_field diff --git a/Code/MowingRobot/Robot_ROS_APP/src/ros_merge_test/package.xml b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_location/package.xml similarity index 95% rename from Code/MowingRobot/Robot_ROS_APP/src/ros_merge_test/package.xml rename to Code/MowingRobot/pibot_ros/ros_ws/src/upbot_location/package.xml index dee5884..346644a 100644 --- a/Code/MowingRobot/Robot_ROS_APP/src/ros_merge_test/package.xml +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_location/package.xml @@ -1,8 +1,8 @@ - ros_merge_test + upbot_location 0.0.0 - The ros_merge_test package + The upbot_location package @@ -19,7 +19,7 @@ - + diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_location/src/Mat.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_location/src/Mat.cpp new file mode 100644 index 0000000..4192cb5 --- /dev/null +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_location/src/Mat.cpp @@ -0,0 +1,368 @@ +/******************** (C) COPYRIGHT 2022 Geek************************************ +* File Name : Mat.cpp +* Current Version : V1.0 +* Author : logzhan +* Date of Issued : 2022.09.14 +* Comments : ��������� +********************************************************************************/ +/* Header File Including -----------------------------------------------------*/ +#include "Mat.h" + +double mind(double a,double b) +{ + double c = a; + if(b < c){ + c = b; + } + return c; +} + +int mini(int a,int b) +{ + int c=a; + if(bm = setm; + this->n = setn; + if((kind==0)||(kind==1)) + { + memset(mat,0,MAT_MAX*MAT_MAX*sizeof(double)); + } + + if(kind==1) + { + int x; + //Cԭ�е�max min�ᵼ�����������Ա������и��������Ķ�����Ҫֱ�ӷŵ�max���档 + int xend = mini(this->m, this->n); + for(x=0;x < xend;x++){ + mat[x][x] = 1; + } + } +} +void Mat::Zero() { + +} + +Mat Mat::SubMat(int a,int b,int lm,int ln) +{ + + int aend=a+lm-1; + int bend=b+ln-1; + + + Mat s(lm,ln,-1); + int x,y; + for(x=0;xs) + { + p=xb; + s=sxb; + } + } + //ͬʱ�任������� + if(x!=p) + { + a.ColExchange(x,p); + b.ColExchange(x,p); + } + + //��һ�й�һ + double k=1/b.mat[x][x];//��һ�䲻ҪǶ�׵����������У��������Ϊ���²�ͬ�����¼������ + a.ColMul(x,k); + b.ColMul(x,k); + + //�������й��� + for(xb=0;xbs) + { + p=xb; + s=sxb; + } + } + //ͬʱ�任������� + if(x!=p) + { + a.RowExchange(x,p); + b.RowExchange(x,p); + } + + //��һ�й�һ + double k=1/a.mat[x][x];//��һ�䲻ҪǶ�׵����������У��������Ϊ���²�ͬ�����¼������ + a.RowMul(x,k); + b.RowMul(x,k); + + //�������й��� + for(xb=0;xbuwb_data_.uwb_t_) { + std::cout << "uwb received" << std::endl; + + Rotate.mat[0][0] = cos(roll); + Rotate.mat[0][1] = -sin(roll); + Rotate.mat[1][0] = sin(roll); + Rotate.mat[1][1] = cos(roll); + + uwbPos.mat[0][0] = uwb_->uwb_data_.x_; + uwbPos.mat[1][0] = uwb_->uwb_data_.y_; + + uwbPos = uwbPos - Rotate * uwbStartPos; + + predPos = F * syncPos + detPos; + Z = H * uwbPos; + P = F * P * (~F) + Q; + Kg = P * (~H) / (H * P * (~H) + R); + syncPos = predPos + Kg * (Z - H * predPos); + P = (I - Kg * H) * P; + uwbDataRxTime = uwb_->uwb_data_.uwb_t_; + } else { + syncPos = syncPos + detPos; + } + imuDataRxTime = imu_odom_.imu_data_.imu_t_; + odomDataRxTime = odom_tmp_; + + std::cout << "syncPos:" << syncPos.mat[0][0] << " " << syncPos.mat[1][0]; + std::cout << " uwbPos:" << uwbPos.mat[0][0] << " " << uwbPos.mat[1][0]; + std::cout << " imuPos:" << imuPos.mat[0][0] << " " << imuPos.mat[1][0]; + std::cout << " lightHousePos:" << lighthouse_->data.x_ << " " << lighthouse_->data.y_ << std::endl; + + + outfile << imuDataRxTime << "," << odomDataRxTime << "," << uwbDataRxTime <<","\ + << imu_odom_.imu_data_.a_[0] << "," << imu_odom_.imu_data_.a_[1] << "," << imu_odom_.imu_data_.a_[2] << ","\ + << imu_odom_.imu_data_.w_[0] << "," << imu_odom_.imu_data_.w_[1] << "," << imu_odom_.imu_data_.w_[2] << ","\ + << qx << "," << qy << "," << qz << "," << qw << ","\ + << imu_odom_.vxy_ << "," <data.x_ << "," << lighthouse_->data.y_ << "," << lighthouse_->data.z_ << ","\ + << uwb_->d[0] << "," << uwb_->d[1] << "," << uwb_->d[2] << "\n"; + } + + } + + // outfile.close(); + // std::cout<< "Data written to file." << std::endl; + } + + + + void Align::wheel_odomCB(const nav_msgs::Odometry& wheel_odom) + { + imu_odom_.vxy_= wheel_odom.twist.twist.linear.x; + imu_odom_.angle_v_ = wheel_odom.twist.twist.angular.z; + // imu_odom_.pose_[0] = wheel_odom.pose.pose.position.x; + // imu_odom_.pose_[1] = wheel_odom.pose.pose.position.y; + // imu_odom_.pose_[2] = wheel_odom.pose.pose.position.z; + // imu_odom_.quat_[0] = wheel_odom.pose.pose.orientation.x; + // imu_odom_.quat_[1] = wheel_odom.pose.pose.orientation.y; + // imu_odom_.quat_[2] = wheel_odom.pose.pose.orientation.z; + // imu_odom_.quat_[3] = wheel_odom.pose.pose.orientation.w; + + + return; + } + void Align::imuCB(const upbot_location::RawImu& imu) + { + imu_odom_.imu_data_.imu_t_ = imu.header.stamp; + imu_odom_.imu_data_.a_[0] = imu.raw_linear_acceleration.x; + imu_odom_.imu_data_.a_[1] = imu.raw_linear_acceleration.y; + imu_odom_.imu_data_.a_[2] = imu.raw_linear_acceleration.z; + + imu_odom_.imu_data_.w_[0] = imu.raw_angular_velocity.x; + imu_odom_.imu_data_.w_[1] = imu.raw_angular_velocity.y; + imu_odom_.imu_data_.w_[2] = imu.raw_angular_velocity.z; + + return; + } + + void Align::odomCB(const nav_msgs::Odometry& odom) + { + odom_tmp_ = odom.header.stamp; + imu_odom_.pose_[0] = odom.pose.pose.position.x; + imu_odom_.pose_[1] = odom.pose.pose.position.y; + imu_odom_.pose_[2] = odom.pose.pose.position.z; + imu_odom_.quat_[0] = odom.pose.pose.orientation.x; + imu_odom_.quat_[1] = odom.pose.pose.orientation.y; + imu_odom_.quat_[2] = odom.pose.pose.orientation.z; + imu_odom_.quat_[3] = odom.pose.pose.orientation.w; + } + + + + + + + + + + + +}; + + + diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_location/src/lighthouse.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_location/src/lighthouse.cpp new file mode 100644 index 0000000..562b494 --- /dev/null +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_location/src/lighthouse.cpp @@ -0,0 +1,79 @@ +#include "lighthouse.h" +#include +#include + +namespace uwb_slam{ + Lighthouse::Lighthouse(){ + std::cout << "Start Run. " << std::endl; + + // 创建UDP套接字 + UdpSocket = socket(AF_INET, SOCK_DGRAM, 0); + if (UdpSocket == -1) { + std::cerr << "Error creating UDP socket." << std::endl; + return; + } + + std::cout << "Creating UDP socket sucess. " << std::endl; + + // 设置套接字地址结构 + sockaddr_in udpAddress; + std::memset(&udpAddress, 0, sizeof(udpAddress)); + udpAddress.sin_family = AF_INET; + udpAddress.sin_addr.s_addr = htonl(INADDR_ANY); + udpAddress.sin_port = htons(PORT); + + // 将套接字绑定到地址 + if (bind(UdpSocket, (struct sockaddr*)&udpAddress, sizeof(udpAddress)) == -1) { + std::cerr << "Error binding UDP socket." << std::endl; + close(UdpSocket); + } + } + + Lighthouse::~Lighthouse(){ + close(UdpSocket); + } + + void Lighthouse::Run() { + while(1){ + // 这是一个阻塞线程 + this->UDPRead(); + } + } + + void Lighthouse::UDPRead(){ + char buffer[1024]; + ssize_t bytesRead = recvfrom(UdpSocket, buffer, sizeof(buffer), 0, nullptr, nullptr); + if (bytesRead == -1) { + std::cerr << "Error receiving data." << std::endl; + return; + } + + std::string data(buffer); + + float x,y,z,qw,qx,qy,qz; + + qw = 1.0; + + sscanf(data.c_str(),"%f %f %f %f %f %f",&x,&y,&z,&qx,&qy,&qz); + + mMutexLighthouse.lock(); + + this->data.x_ = x; + this->data.y_ = y; + this->data.z_ = z; + + this->data.qw_ = qw; + this->data.qx_ = qx; + this->data.qy_ = qy; + this->data.qz_ = qz; + + + + mMutexLighthouse.unlock(); + + // 打印接收到的消息 + buffer[bytesRead] = '\0'; + //std::cout << "Received: " << buffer << std::endl; + + } +}; \ No newline at end of file diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_location/src/main.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_location/src/main.cpp new file mode 100644 index 0000000..14f98fc --- /dev/null +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_location/src/main.cpp @@ -0,0 +1,65 @@ +#include "../include/system.h" +#include "../include/uwb.h" +#include "../include/lighthouse.h" +#include "Mat.h" + + +#include +#include +#include +#include "senddata.h" + + + +int main(int argc, char** argv) +{ + ros::init(argc, argv, "locate_info_pub_node"); // Initialize the ROS node + + std::shared_ptr system = std::make_shared(); + std::shared_ptr mp = std::make_shared(); + std::shared_ptr uwb = std::make_shared(); + std::shared_ptr sender = std::make_shared(); + std::shared_ptr align = std::make_shared(); + std::shared_ptr lighthouse = std::make_shared(); + + + system->Mapping_ = mp; + system->Uwb_ = uwb; + system->Sender_ = sender; + system->Align_ = align; + system->Lighthouse_ = lighthouse; + + mp->uwb_ = system->Uwb_; + mp->align_ = system->Align_; + align->uwb_ = system->Uwb_; + align->lighthouse_ = system->Lighthouse_; + + // // control data fllow in system + // std::thread rose_trd ([&system]() { + // system->Run(); + // }); + + // uwb serried read + std::thread uwb_trd([&uwb]() { + uwb->Run(); + }); + + // build map + std::thread map_trd ([&mp]() { + mp->Run(); + }); + + std::thread sender_trd ([&sender, uwb]() { + sender->Run(uwb); + }); + + std::thread align_trd ([&align]() { + align->Run(); + }); + + std::thread lighthouse_trd ([&lighthouse]() { + lighthouse->Run(); + }); + + ros::spin(); +} diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_location/src/mapping.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_location/src/mapping.cpp new file mode 100644 index 0000000..a6240b7 --- /dev/null +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_location/src/mapping.cpp @@ -0,0 +1,149 @@ +#include "mapping.h" +#include +#include // 包含 usleep() 函数所在的头文件 +#include +#include + +namespace uwb_slam +{ + bool Mapping::checkQueue() + { + //std::unique_lock lock(mMutexMap); + return !posDataQueue.empty(); + } + + void Mapping::feedPos(const cv::Point2d & imuPosData, const cv::Point2d & uwbPosData, const cv::Point2d & syncPosData) + { + //std::unique_lock lock(mMutexMap); + posDataQueue.push({imuPosData, uwbPosData, syncPosData}); + + } + + + void Mapping::process() + { + { + + //std::unique_lock lock(mMutexMap); + //std::cout << "SIZE: " <(imuPosPointY, imuPosPointX) = 0; + img.at(imuPosPointY, imuPosPointX) = cv::Vec3b(0,0,255); //imu trace is red + img.at(uwbPosPointY, uwbPosPointX) = cv::Vec3b(0,255,0); //uwb trace is green + img.at(syncPosPointY, syncPosPointX) = cv::Vec3b(255,0,0); //sync trace is blue + } + + + void Mapping::Run() + { + + //int key = cv::waitKey(0);//等待用户按下按键 + //std::cout << key << std::endl; + realWidth = AREA_SIZE / PIXEL_SCALE; + realHeight = AREA_SIZE / PIXEL_SCALE; + + img = cv::Mat(realHeight, realWidth, CV_8UC3, cv::Scalar(255,255,255)); + //cankao + for (int j=0;j(j,i)= cv::Vec3b(0,0,0); + + for (int j=realHeight/2-1; j<=realHeight/2+1; j+=1) + for (int i=realWidth/2-1; i<=realWidth/2+1; i+=1) + img.at(j,i)= cv::Vec3b(0,0,0); + int i = 0, j = 0; + img.at(j,i)= cv::Vec3b(0,0,0); + + + + cv::imshow("Image",img); + + // bool printFlag = 0; + // std::ofstream outfile("data.txt",std::ofstream::out); + // if(outfile.is_open()) { + // std::cout << "start saving data" << key << std::endl; + // printFlag = 1; + // } else { + // std::cout<<"file can not open"<feed_uwb_data(cv::Point2d(uwb_->x,uwb_->y)); + readPos = true; + std::cout << "non" << key << std::endl; + cv::destroyAllWindows(); + } + */ + while(1){ + int key = cv::waitKey(0); + if (key == 'q' ) { + readPos = true; + std::cout << "start mapping" << key << std::endl; + + //cv::destroyAllWindows(); + } + while( readPos )//按下空格键 + { + int key2 = cv::waitKey(1); + if (key2 == 'q') { + //TODO: save + + std::string pngimage="/home/firefly/Project_Ros11/Project_Ros1/src/upbot_location/Map/output_image.png";//保存的图片文件路径 + cv::imwrite(pngimage,img); + readPos = false; + + // outfile.close(); + // printFlag = 0; + // std::cout<< "Data written to file." << std::endl; + + break; + } + + this->feedPos(cv::Point2d(align_->imuPos.mat[0][0], align_->imuPos.mat[1][0]), cv::Point2d(align_->uwbPos.mat[0][0], align_->uwbPos.mat[1][0]), cv::Point2d(align_->syncPos.mat[0][0], align_->syncPos.mat[1][0])); + //this->feedPos(cv::Point2d(uwb_->x, uwb_->y)); + + //uwb xieru + //std::cout << "cur_SEQ: " <cur_seq << std::endl; + + if(checkQueue()) + { + //std::cout << " start process" << std::endl; + process(); + //std::cout << " end process" << std::endl; + + } + } + // std::cout << "out" << key << std::endl; + + } + + + + //std::string pngimage="../Map/pngimage.png";//保存的图片文件路径 + //cv::imwrite(pngimage,img); + + /*ros 发送图片给导航 */ + } +} // namespace uwb_slam + diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_location/src/read_sensor_data.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_location/src/read_sensor_data.cpp new file mode 100644 index 0000000..e74d0cd --- /dev/null +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_location/src/read_sensor_data.cpp @@ -0,0 +1,30 @@ +#include + +namespace uwb_slam { + + + //void Read_sensor_data::set_uwb(){} + + + void Read_sensor_data::imu_call_back(const ImuConstPtr& imu){ + Imu_data d1= Imu_data(imu->linear_acceleration.x,imu->linear_acceleration.y,imu->linear_acceleration.z, + imu->angular_velocity.x,imu->angular_velocity.y,imu->angular_velocity.z); + + } + void Read_sensor_data::odom_call_back(const OdomConstPtr& odom){ + Odom_data d1 = Odom_data(odom->pose.pose.position.x, odom->pose.pose.position.y, odom->pose.pose.position.z, + odom->pose.pose.orientation.w,odom->pose.pose.orientation.x, odom->pose.pose.orientation.y, odom->pose.pose.orientation.z, + odom->header.stamp,odom->twist.twist.linear.x,odom->twist.twist.linear.y,odom->twist.twist.angular.z); + + } + void Read_sensor_data::Run(int argc, char* argv[]){ + + ros::init(argc, argv, "imu_odom"); + // 创建一个节点句柄 + ros::NodeHandle nh; + //imu_sub_ = nh.subscribe("imu/data_raw", 1000, this->imu_call_back); + //odom_sub_ =nh.subscribe("odom", 1000,odom_call_back); + ros::spin(); + } + +} diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_location/src/senddata.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_location/src/senddata.cpp new file mode 100644 index 0000000..c6681ae --- /dev/null +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_location/src/senddata.cpp @@ -0,0 +1,64 @@ +#include "senddata.h" + + +namespace uwb_slam +{ + void Senddata::Run(std::shared_ptruwb){ + + ros::Rate loop_rate(10); + position_pub_=nh_.advertise("uwb_odom",50); + odom_sub_=nh_.subscribe("odom",10,&Senddata::odomCB,this); + while(ros::ok()){ + publishOdometry(uwb); + ros::spinOnce(); + loop_rate.sleep(); + } + + + } + void Senddata::odomCB(const nav_msgs::Odometry& odom){ + sub_odom_ = odom; + return; + } + + void Senddata::publishOdometry(std::shared_ptruwb) + { + + std::mutex mMutexSend; + ros::Time current_time = ros::Time::now(); + + // 设置 Odometry 消息的头部信息 + odom_.header.stamp = current_time; + odom_.header.frame_id = "odom"; // 设置坐标系为 "map" + odom_.child_frame_id = "base_link"; // 设置坐标系为 "base_link" + + // 填充 Odometry 消息的位置信息 + odom_.pose.pose.position.x = uwb->uwb_data_.x_; + odom_.pose.pose.position.y = uwb->uwb_data_.y_; + odom_.pose.pose.position.z = 0.0; + + + // 填充 Odometry 消息的姿态信息（使用四元数来表示姿态） + // tf2::Quaternion quat; + // quat.setRPY(0, 0, uwb->theta); // 设置了 yaw 角度，其他 roll 和 pitch 设置为 0 + // odom.pose.pose.orientation.x = quat.x(); + // odom.pose.pose.orientation.y = quat.y(); + // odom.pose.pose.orientation.z = quat.z(); + // odom.pose.pose.orientation.w = quat.w(); + + odom_.pose.pose.orientation.x = sub_odom_.pose.pose.orientation.x; + odom_.pose.pose.orientation.y = sub_odom_.pose.pose.orientation.y; + odom_.pose.pose.orientation.z = sub_odom_.pose.pose.orientation.z; + odom_.pose.pose.orientation.w = sub_odom_.pose.pose.orientation.w; + + // 发布 Odometry 消息 + position_pub_.publish(odom_); + + + } + + + + + +} // namespace uwb_slam \ No newline at end of file diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_location/src/system.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_location/src/system.cpp new file mode 100644 index 0000000..44f5878 --- /dev/null +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_location/src/system.cpp @@ -0,0 +1,15 @@ +#include "../include/system.h" +//#include "" + + +namespace uwb_slam{ + + void System::Run() + { + while(1){ + + } + + } + +} \ No newline at end of file diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_location/src/uwb.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_location/src/uwb.cpp new file mode 100644 index 0000000..2a17887 --- /dev/null +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_location/src/uwb.cpp @@ -0,0 +1,171 @@ +#include "uwb.h" +#include +#include "Mat.h" + + +#define CARHEIGHT 20 + +namespace uwb_slam{ + Mat A; + Mat b; + Mat uwbPos; + // + Uwb::Uwb(){ + for(int i=0; i<3; i++) + { + + for(int j=0; j<3; j++) + { + std::cout<AnchorPos[0][0]-this->AnchorPos[i+1][0]); + A.mat[i][1] = -2*(this->AnchorPos[0][1]-this->AnchorPos[i+1][1]); + + } + // for(int i=0; i<2; i++) + // { + // for(int j=0; j<2; j++) + // { + // std::cout<Serread(); + // std::cout<<"s"<x<uwb_data_.uwb_t_ = ros::Time::now(); + + // for (int i=0;i< bytesRead;i++) + // { + // std::cout << std::hex<(tmpdata[i]) << " "; + // } + // std::cout << std::endl; + memcpy(&this->d[0], &tmpdata[3], sizeof(uint16_t)); + memcpy(&this->d[1], &tmpdata[5], sizeof(uint16_t)); + memcpy(&this->d[2], &tmpdata[7], sizeof(uint16_t)); + // std::cout << "d:" << d[0] << " " << d[1] << " " << d[2] << std::endl; + if(abs(d[0]) > 2000 || abs(d[1]) > 2000 || abs(d[2]) > 2000) { + return; + } + for(int i=0; i<3; i++) + { + this->d[i] = sqrt(this->d[i] * this->d[i] - (AnchorPos[i][2] - CARHEIGHT) * (AnchorPos[i][2] - CARHEIGHT)); + } + d[0] = ((((4.9083e-07 * d[0]) - 4.6166e-04) * d[0]) + 1.0789) * d[0] + 5.4539; + d[1] = ((((-4.1679e-07 * d[1]) + 5.0999e-04) * d[1]) + 0.7930) * d[1] + 29.8296; + d[2] = ((((2.3514e-07 * d[2]) - 1.8277e-04) * d[2]) + 0.9935) * d[2] + 9.8852; + for(int i=0; i<2; i++) + { + b.mat[i][0] = (this->d[0]*this->d[0]-this->d[i+1]*this->d[i+1])\ + -(this->AnchorPos[0][0]*this->AnchorPos[0][0]-this->AnchorPos[i+1][0]*this->AnchorPos[i+1][0])\ + -(this->AnchorPos[0][1]*this->AnchorPos[0][1]-this->AnchorPos[i+1][1]*this->AnchorPos[i+1][1]); + } + Mat AT=~A; + uwbPos=(AT*A)%AT*b; + this->uwb_data_.x_ = uwbPos.mat[0][0]; + this->uwb_data_.y_ = uwbPos.mat[1][0]; + //std::cout << "uwbPos:" << this->uwb_data_.x_ << " " << this->uwb_data_.y_ << std::endl; + + + // uwb_data_queue_.push(uwb_data_); + + //std::cout << "uwb_data_: " << uwb_data_.uwb_t_<< std::endl; + // cur_seq = static_cast(tmpdata[3]); + //std::cout << "****** cur _ sequence: " << cur_seq << "x: " << x << " y: " << y <(tmpdata[3]); + + // std::cout << "theta: " << theta << " distance: " << distance << std::endl; + //std::cout std::endl; + } catch (const std::exception& ex) { + std::cerr << "Exception: " << ex.what() << std::endl; + } + + + + } + + + void fusion() + { + + } + + + + + + +}; + +// bool Uwb::checknewdata() +// { +// std::unique_lock lock(mMutexUwb); +// return !v_buffer_imu_odom_pose_data_.empty(); +// } + +// void Uwb::Run() { +// while(1) +// { +// if(checknewdata()) +// { +// { +// std::unique_lock lock(mMutexUwb); +// Imu_odom_pose_data imu_odom_pose_data = v_buffer_imu_odom_pose_data_.front(); +// v_buffer_imu_odom_pose_data_.pop(); +// } + + + +// } +// } + + + +// } + +// void Uwb::feed_imu_odom_pose_data(const Imu_odom_pose_data& imu_odom_pose_data){ +// std::unique_lock lock(mMutexUwb); +// v_buffer_imu_odom_pose_data_.push(imu_odom_pose_data); +// } + diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_vision/CMakeLists.txt b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_vision/CMakeLists.txt new file mode 100644 index 0000000..13b4f1c --- /dev/null +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_vision/CMakeLists.txt @@ -0,0 +1,78 @@ +cmake_minimum_required(VERSION 3.0.2) +project(upbot_vision) + +find_package(catkin REQUIRED COMPONENTS + roscpp + std_msgs + message_generation +) + + +find_package(OpenCV REQUIRED) +find_package(Threads REQUIRED) + +add_message_files( + FILES + dis_info.msg + dis_info_array.msg +) +generate_messages( + DEPENDENCIES + std_msgs +) + + +catkin_package( + + CATKIN_DEPENDS roscpp std_msgs message_runtime + +) + + +include_directories( +include + ${catkin_INCLUDE_DIRS} + ${OpenCV_INCLUDE_DIRS} + /home/firefly/pibot_ros/runtime/RK3588/Linux/librknn_api/include + /home/firefly/pibot_ros/third_party/rga/RK3588/include +) + +add_library( + head + include/upbot_vision/detection.h + include/upbot_vision/postprocess.h + include/upbot_vision/preprocess.h + include/upbot_vision/ranging.h + include/upbot_vision/Timer.h + src/detection.cc + src/postprocess.cc + src/preprocess.cc + src/ranging.cc +) + +add_dependencies(head ${${PROJECT_NAME}_EXPORTED_TARGETS} upbot_vision_generate_messages_cpp ${catkin_EXPORTED_TARGETS}) +target_link_libraries(head + ${catkin_LIBRARIES} + +) +add_executable(main src/main.cc) +# add_executable(sub_dis src/sub_dis.cc) +add_dependencies(main ${${PROJECT_NAME}_EXPORTED_TARGETS} upbot_vision_generate_messages_cpp ${catkin_EXPORTED_TARGETS}) +# add_dependencies(sub_dis ${${PROJECT_NAME}_EXPORTED_TARGETS} upbot_vision_generate_messages_cpp ${catkin_EXPORTED_TARGETS}) + +# target_link_libraries(sub_dis +# ${catkin_LIBRARIES} +# ) +target_link_libraries(main +head +${catkin_LIBRARIES} +${OpenCV_LIBS} +Threads::Threads +/home/firefly/pibot_ros/third_party/so/libopencv_highgui.so +/home/firefly/pibot_ros/third_party/so/librga.so +/home/firefly/pibot_ros/third_party/so/librknnrt.so +) + + + + diff --git a/Code/MowingRobot/obj_dec/src/rknn_yolov5_demo/include/rknn_yolov5_demo/Timer.h b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_vision/include/upbot_vision/Timer.h similarity index 100% rename from Code/MowingRobot/obj_dec/src/rknn_yolov5_demo/include/rknn_yolov5_demo/Timer.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/upbot_vision/include/upbot_vision/Timer.h diff --git a/Code/MowingRobot/obj_dec/src/rknn_yolov5_demo/include/rknn_yolov5_demo/detection.h b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_vision/include/upbot_vision/detection.h similarity index 80% rename from Code/MowingRobot/obj_dec/src/rknn_yolov5_demo/include/rknn_yolov5_demo/detection.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/upbot_vision/include/upbot_vision/detection.h index 4f9ac8f..9a8036b 100644 --- a/Code/MowingRobot/obj_dec/src/rknn_yolov5_demo/include/rknn_yolov5_demo/detection.h +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_vision/include/upbot_vision/detection.h @@ -6,9 +6,9 @@ #define _BASETSD_H #include "rknn_api.h" -#include "rknn_yolov5_demo/preprocess.h" -#include "rknn_yolov5_demo/postprocess.h" -#include "rknn_yolov5_demo/Timer.h" +#include "upbot_vision/preprocess.h" +#include "upbot_vision/postprocess.h" +#include "upbot_vision/Timer.h" #define PERF_WITH_POST 1 @@ -24,7 +24,7 @@ private: int img_channel = 0; const float nms_threshold = NMS_THRESH; // 默认的NMS阈值 const float box_conf_threshold = BOX_THRESH; // 默认的置信度阈值 - char* model_name = "/home/firefly/obj_dec/src/rknn_yolov5_demo/model/RK3588/yolov5s-640-640.rknn"; + char* model_name = "/home/firefly/pibot_ros/ros_ws/src/upbot_vision/model/RK3588/yolov5s-640-640.rknn"; cv::Mat orig_img; rknn_input_output_num io_num; diff --git a/Code/MowingRobot/obj_dec/src/rknn_yolov5_demo/include/rknn_yolov5_demo/postprocess.h b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_vision/include/upbot_vision/postprocess.h similarity index 88% rename from Code/MowingRobot/obj_dec/src/rknn_yolov5_demo/include/rknn_yolov5_demo/postprocess.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/upbot_vision/include/upbot_vision/postprocess.h index de3c288..855ecea 100644 --- a/Code/MowingRobot/obj_dec/src/rknn_yolov5_demo/include/rknn_yolov5_demo/postprocess.h +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_vision/include/upbot_vision/postprocess.h @@ -1,5 +1,5 @@ -#ifndef _RKNN_YOLOV5_DEMO_POSTPROCESS_H_ -#define _RKNN_YOLOV5_DEMO_POSTPROCESS_H_ +#ifndef _upbot_vision_POSTPROCESS_H_ +#define _upbot_vision_POSTPROCESS_H_ #include #include @@ -39,4 +39,4 @@ int post_process(int8_t *input0, int8_t *input1, int8_t *input2, int model_in_h, detect_result_group_t *group); void deinitPostProcess(); -#endif //_RKNN_YOLOV5_DEMO_POSTPROCESS_H_ +#endif //_upbot_vision_POSTPROCESS_H_ diff --git a/Code/MowingRobot/obj_dec/src/rknn_yolov5_demo/include/rknn_yolov5_demo/preprocess.h b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_vision/include/upbot_vision/preprocess.h similarity index 74% rename from Code/MowingRobot/obj_dec/src/rknn_yolov5_demo/include/rknn_yolov5_demo/preprocess.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/upbot_vision/include/upbot_vision/preprocess.h index 3320b9b..54e69a9 100644 --- a/Code/MowingRobot/obj_dec/src/rknn_yolov5_demo/include/rknn_yolov5_demo/preprocess.h +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_vision/include/upbot_vision/preprocess.h @@ -1,5 +1,5 @@ -#ifndef _RKNN_YOLOV5_DEMO_PREPROCESS_H_ -#define _RKNN_YOLOV5_DEMO_PREPROCESS_H_ +#ifndef _upbot_vision_PREPROCESS_H_ +#define _upbot_vision_PREPROCESS_H_ #include #include "im2d.h" @@ -7,10 +7,10 @@ #include "opencv2/core/core.hpp" #include "opencv2/imgcodecs.hpp" #include "opencv2/imgproc.hpp" -#include "rknn_yolov5_demo/postprocess.h" +#include "upbot_vision/postprocess.h" void letterbox(const cv::Mat &image, cv::Mat &padded_image, BOX_RECT &pads, const float scale, const cv::Size &target_size, const cv::Scalar &pad_color = cv::Scalar(128, 128, 128)); int resize_rga(rga_buffer_t &src, rga_buffer_t &dst, const cv::Mat &image, cv::Mat &resized_image, const cv::Size &target_size); -#endif //_RKNN_YOLOV5_DEMO_PREPROCESS_H_ +#endif //_upbot_vision_PREPROCESS_H_ diff --git a/Code/MowingRobot/obj_dec/src/rknn_yolov5_demo/include/rknn_yolov5_demo/ranging.h b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_vision/include/upbot_vision/ranging.h similarity index 95% rename from Code/MowingRobot/obj_dec/src/rknn_yolov5_demo/include/rknn_yolov5_demo/ranging.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/upbot_vision/include/upbot_vision/ranging.h index 2f1cd33..3af5a21 100644 --- a/Code/MowingRobot/obj_dec/src/rknn_yolov5_demo/include/rknn_yolov5_demo/ranging.h +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_vision/include/upbot_vision/ranging.h @@ -1,80 +1,80 @@ -#pragma once - -#include -#include - -#include -#include -#include "rknn_yolov5_demo/detection.h" -#include - - -using namespace cv; - -class Ranging -{ -private: - // rknn_handle hdx; - cv::VideoCapture vcapture; - Detection yolov5s; - - /* new stereo - Mat cam_matrix_left = (Mat_(3, 3) << - 4.809895643547006e+02, 0, 0, - 0,4.807599168204821e+02, 0, - 3.362108165786334e+02, 2.298502481932070e+02, 1); - Mat cam_matrix_right = (Mat_(3, 3) << - 4.903260126250775e+02, 0, 0, - 0,4.900310486342847e+02, 0, - 3.230124997386542e+02, 2.346297967642670e+02, 1); - Mat distortion_l = (Mat_(1, 5) <<0.113688825569154,-0.106166584327678, 0, - 0, 0); - - Mat distortion_r = (Mat_(1, 5) <<0.121425307936153,-0.141892782717707, 0, - 0, 0); - Mat rotate = (Mat_(3, 3) << - 0.999996295879846, 8.723884080433472e-04, 0.002578209660240, - -8.682590894537506e-04,0.999998339366207, -0.001602308016931, - -0.002579603213718,0.001600063527818,0.999995392711370); - Mat trans = (Mat_(3, 1) << - -60.348359844102470,-0.030699794141365, 0.495248628081046); -*/ - Mat cam_matrix_left = (Mat_(3, 3) << - 4.869084743604942e+02, 0, 0, - 0,4.859921620798602e+02, 0, - 2.813183643903652e+02, 2.267657091677993e+02, 1); - Mat cam_matrix_right = (Mat_(3, 3) << - 4.859133331805883e+02, 0, 0, - 0,4.850356748771951e+02, 0, - 2.970046483040089e+02, 2.324763397214774e+02, 1); - Mat distortion_l = (Mat_(1, 5) <<0.121235284781974,-0.161097849662596, 0, - 0, 0); - - Mat distortion_r = (Mat_(1, 5) <<0.105479235005840,-0.120347246815955, 0, - 0, 0); - Mat rotate = (Mat_(3, 3) << - 0.999921984818601, 3.753847738839353e-04, -0.012485325894835, - -4.085449515452996e-04, 0.999996396040715, -0.002653487630467, - 0.012484284819374, 0.002658381435011,0.999918534502034); - Mat trans = (Mat_(3, 1) << - -60.319997608188590, -0.019664800882533, -0.638993708428792); - - cv::Mat mapX1, mapX2, mapY1, mapY2, q, Z; - - int imgw, imgh; - detect_result_group_t detect_result_group; - cv::Mat info; - cv::Mat empty; - - - -public: - Ranging(){}; - Ranging(int index, int imgw, int imgh); - void rectifyImage(cv::Mat &oriImgL, cv::Mat &oriImgR); - void getInfo(cv::Mat &imgl, cv::Mat &imgr, cv::Mat &detBoxes, cv::Mat &info); - std::vector pic2cam(int u, int v); - std::vector muban(cv::Mat &left_image, cv::Mat &right_image, const int *coordinates); - std::vector get_range(); - void horizon_estimate(cv::Mat& img, cv::Mat& bboxs,int k); -}; +#pragma once + +#include +#include + +#include +#include +#include "upbot_vision/detection.h" +#include + + +using namespace cv; + +class Ranging +{ +private: + // rknn_handle hdx; + cv::VideoCapture vcapture; + Detection yolov5s; + + /* new stereo + Mat cam_matrix_left = (Mat_(3, 3) << + 4.809895643547006e+02, 0, 0, + 0,4.807599168204821e+02, 0, + 3.362108165786334e+02, 2.298502481932070e+02, 1); + Mat cam_matrix_right = (Mat_(3, 3) << + 4.903260126250775e+02, 0, 0, + 0,4.900310486342847e+02, 0, + 3.230124997386542e+02, 2.346297967642670e+02, 1); + Mat distortion_l = (Mat_(1, 5) <<0.113688825569154,-0.106166584327678, 0, + 0, 0); + + Mat distortion_r = (Mat_(1, 5) <<0.121425307936153,-0.141892782717707, 0, + 0, 0); + Mat rotate = (Mat_(3, 3) << + 0.999996295879846, 8.723884080433472e-04, 0.002578209660240, + -8.682590894537506e-04,0.999998339366207, -0.001602308016931, + -0.002579603213718,0.001600063527818,0.999995392711370); + Mat trans = (Mat_(3, 1) << + -60.348359844102470,-0.030699794141365, 0.495248628081046); +*/ + Mat cam_matrix_left = (Mat_(3, 3) << + 4.869084743604942e+02, 0, 0, + 0,4.859921620798602e+02, 0, + 2.813183643903652e+02, 2.267657091677993e+02, 1); + Mat cam_matrix_right = (Mat_(3, 3) << + 4.859133331805883e+02, 0, 0, + 0,4.850356748771951e+02, 0, + 2.970046483040089e+02, 2.324763397214774e+02, 1); + Mat distortion_l = (Mat_(1, 5) <<0.121235284781974,-0.161097849662596, 0, + 0, 0); + + Mat distortion_r = (Mat_(1, 5) <<0.105479235005840,-0.120347246815955, 0, + 0, 0); + Mat rotate = (Mat_(3, 3) << + 0.999921984818601, 3.753847738839353e-04, -0.012485325894835, + -4.085449515452996e-04, 0.999996396040715, -0.002653487630467, + 0.012484284819374, 0.002658381435011,0.999918534502034); + Mat trans = (Mat_(3, 1) << + -60.319997608188590, -0.019664800882533, -0.638993708428792); + + cv::Mat mapX1, mapX2, mapY1, mapY2, q, Z; + + int imgw, imgh; + detect_result_group_t detect_result_group; + cv::Mat info; + cv::Mat empty; + + + +public: + Ranging(){}; + Ranging(int index, int imgw, int imgh); + void rectifyImage(cv::Mat &oriImgL, cv::Mat &oriImgR); + void getInfo(cv::Mat &imgl, cv::Mat &imgr, cv::Mat &detBoxes, cv::Mat &info); + std::vector pic2cam(int u, int v); + std::vector muban(cv::Mat &left_image, cv::Mat &right_image, const int *coordinates); + std::vector get_range(); + void horizon_estimate(cv::Mat& img, cv::Mat& bboxs,int k); +}; diff --git a/Code/MowingRobot/obj_dec/src/rknn_yolov5_demo/model/RK3588/yolov5s-640-640.rknn b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_vision/model/RK3588/yolov5s-640-640.rknn similarity index 100% rename from Code/MowingRobot/obj_dec/src/rknn_yolov5_demo/model/RK3588/yolov5s-640-640.rknn rename to Code/MowingRobot/pibot_ros/ros_ws/src/upbot_vision/model/RK3588/yolov5s-640-640.rknn diff --git a/Code/MowingRobot/obj_dec/src/rknn_yolov5_demo/model/bus.jpg b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_vision/model/bus.jpg similarity index 100% rename from Code/MowingRobot/obj_dec/src/rknn_yolov5_demo/model/bus.jpg rename to Code/MowingRobot/pibot_ros/ros_ws/src/upbot_vision/model/bus.jpg diff --git a/Code/MowingRobot/obj_dec/src/rknn_yolov5_demo/model/coco_80_labels_list.txt b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_vision/model/coco_80_labels_list.txt similarity index 100% rename from Code/MowingRobot/obj_dec/src/rknn_yolov5_demo/model/coco_80_labels_list.txt rename to Code/MowingRobot/pibot_ros/ros_ws/src/upbot_vision/model/coco_80_labels_list.txt diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_vision/msg/dis_info.msg b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_vision/msg/dis_info.msg new file mode 100644 index 0000000..fc9a9af --- /dev/null +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_vision/msg/dis_info.msg @@ -0,0 +1,4 @@ +float32 distance +float32 width +float32 height +float32 angle diff --git a/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_vision/msg/dis_info_array.msg b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_vision/msg/dis_info_array.msg new file mode 100644 index 0000000..fae3856 --- /dev/null +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_vision/msg/dis_info_array.msg @@ -0,0 +1 @@ +upbot_vision/dis_info[] dis \ No newline at end of file diff --git a/Code/MowingRobot/obj_dec/src/rknn_yolov5_demo/package.xml b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_vision/package.xml similarity index 94% rename from Code/MowingRobot/obj_dec/src/rknn_yolov5_demo/package.xml rename to Code/MowingRobot/pibot_ros/ros_ws/src/upbot_vision/package.xml index 4d3a144..036e992 100644 --- a/Code/MowingRobot/obj_dec/src/rknn_yolov5_demo/package.xml +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_vision/package.xml @@ -1,8 +1,8 @@ - rknn_yolov5_demo + upbot_vision 0.0.0 - The rknn_yolov5_demo package + The upbot_vision package @@ -19,7 +19,7 @@ - + diff --git a/Code/MowingRobot/obj_dec/src/rknn_yolov5_demo/src/detection.cc b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_vision/src/detection.cc similarity index 99% rename from Code/MowingRobot/obj_dec/src/rknn_yolov5_demo/src/detection.cc rename to Code/MowingRobot/pibot_ros/ros_ws/src/upbot_vision/src/detection.cc index 4836761..b8ecf6e 100644 --- a/Code/MowingRobot/obj_dec/src/rknn_yolov5_demo/src/detection.cc +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_vision/src/detection.cc @@ -1,4 +1,4 @@ -#include "rknn_yolov5_demo/detection.h" +#include "upbot_vision/detection.h" #include diff --git a/Code/MowingRobot/obj_dec/src/rknn_yolov5_demo/src/main.cc b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_vision/src/main.cc similarity index 76% rename from Code/MowingRobot/obj_dec/src/rknn_yolov5_demo/src/main.cc rename to Code/MowingRobot/pibot_ros/ros_ws/src/upbot_vision/src/main.cc index f2a6b77..95b37b8 100644 --- a/Code/MowingRobot/obj_dec/src/rknn_yolov5_demo/src/main.cc +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_vision/src/main.cc @@ -1,84 +1,85 @@ -#include -#include -#include -#include -#include "rknn_yolov5_demo/ranging.h" -#include -#include -#include -#include -#include "opencv2/imgcodecs/imgcodecs.hpp" -#include -#include -#include "rknn_yolov5_demo/dis_info.h" -#include "rknn_yolov5_demo/dis_info_array.h" - -#define ANGLE_TO_RADIAN(angle) ((angle)*3141.59 / 180000) - -Ranging r(11, 640, 480); -std::queue> frameInfo; -std::mutex g_mutex; - -void *ranging(void *args) // ranging线程 -{ - ros::Publisher dis_pub_; - ros::NodeHandle nh; - dis_pub_ = nh.advertise("ceju_info",10); - while (true) - { - // std::cout<<" ************ enter ranging *********** "< result = r.get_range(); - cv ::Mat info = result[2]; - rknn_yolov5_demo::dis_info_array dis_array; - if(!info.empty()) - { - for(int i=0;i(i,0)>0&&info.at(i,0)<200) - { - rknn_yolov5_demo::dis_info data; - data.distance = info.at(i,0); - data.width = info.at(i,1); - data.height = info.at(i,2); - data.angle = info.at(i,3); - dis_array.dis.push_back(data); - std::cout< +#include +#include +#include +#include "upbot_vision/ranging.h" +#include +#include +#include +#include +#include "opencv2/imgcodecs/imgcodecs.hpp" +#include +#include +#include "upbot_vision/dis_info.h" +#include "upbot_vision/dis_info_array.h" + +#define ANGLE_TO_RADIAN(angle) ((angle)*3141.59 / 180000) + +Ranging r(11, 640, 480); +std::queue> frameInfo; +std::mutex g_mutex; + +void *ranging(void *args) // ranging线程 +{ + ros::Publisher dis_pub_; + ros::NodeHandle nh; + // <>内为自定义ros消息类型 存储障碍物信息包括与障碍物的距离、障碍物宽度、高度和与障碍物之间的夹角 + dis_pub_ = nh.advertise("ceju_info",10); + while (true) + { + /*进入测距并发布障碍物信息*/; + std::vector result = r.get_range(); + cv ::Mat info = result[2]; + upbot_vision::dis_info_array dis_array; + if(!info.empty()) + { + for(int i=0;i(i,0)>0&&info.at(i,0)<200) + { + upbot_vision::dis_info data; + data.distance = info.at(i,0); + data.width = info.at(i,1); + data.height = info.at(i,2); + data.angle = info.at(i,3); + dis_array.dis.push_back(data); + std::cout< #include @@ -22,7 +22,7 @@ #include #include #include -#define LABEL_NALE_TXT_PATH "/home/firefly/obj_dec/src/rknn_yolov5_demo/model/coco_80_labels_list.txt" +#define LABEL_NALE_TXT_PATH "/home/firefly/pibot_ros/ros_ws/src/upbot_vision/model/coco_80_labels_list.txt" static char *labels[OBJ_CLASS_NUM]; diff --git a/Code/MowingRobot/obj_dec/src/rknn_yolov5_demo/src/preprocess.cc b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_vision/src/preprocess.cc similarity index 98% rename from Code/MowingRobot/obj_dec/src/rknn_yolov5_demo/src/preprocess.cc rename to Code/MowingRobot/pibot_ros/ros_ws/src/upbot_vision/src/preprocess.cc index 8fe09d6..f194342 100644 --- a/Code/MowingRobot/obj_dec/src/rknn_yolov5_demo/src/preprocess.cc +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_vision/src/preprocess.cc @@ -12,7 +12,7 @@ // See the License for the specific language governing permissions and // limitations under the License. -#include "rknn_yolov5_demo/preprocess.h" +#include "upbot_vision/preprocess.h" void letterbox(const cv::Mat &image, cv::Mat &padded_image, BOX_RECT &pads, const float scale, const cv::Size &target_size, const cv::Scalar &pad_color) { diff --git a/Code/MowingRobot/obj_dec/src/rknn_yolov5_demo/src/ranging.cc b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_vision/src/ranging.cc similarity index 93% rename from Code/MowingRobot/obj_dec/src/rknn_yolov5_demo/src/ranging.cc rename to Code/MowingRobot/pibot_ros/ros_ws/src/upbot_vision/src/ranging.cc index d994a6e..96589c2 100644 --- a/Code/MowingRobot/obj_dec/src/rknn_yolov5_demo/src/ranging.cc +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_vision/src/ranging.cc @@ -1,392 +1,399 @@ -#include -#include -#include -#include -#include "rknn_yolov5_demo/ranging.h" -#include -#include - -#include -#include -#include -#include "opencv2/core.hpp" -#include "opencv2/imgcodecs.hpp" -#include "opencv2/imgproc.hpp" - -#include -#include -#include -#include -#include -#include -#include -#include -// #include - - -using namespace cv; -void Ranging::rectifyImage(Mat &oriImgL, Mat &oriImgR) //重映射函数 -{ - remap(oriImgL, oriImgL, mapX1, mapX2, cv::INTER_LINEAR); - remap(oriImgR, oriImgR, mapY1, mapY2, cv::INTER_LINEAR); -} - -std::vector Ranging::pic2cam(int u, int v) //像素坐标转相机坐标 -{ - //(u,v)->(x,y)"(loc[0],loc[1])" - std::vector loc; - loc.push_back((u - cam_matrix_right.at(0, 2)) * q.at(2, 3) / cam_matrix_right.at(0, 0)); - loc.push_back((v - cam_matrix_right.at(1, 2)) * q.at(2, 3) / cam_matrix_right.at(1, 1)); - return loc; -} - -std::vector Ranging::muban(Mat &left_image, Mat &right_image, const int *coordinates) //模板匹配 -{ - int x1 = coordinates[0], y1 = coordinates[1], x2 = coordinates[2], y2 = coordinates[3]; - Mat tpl = right_image.rowRange(max(y1 - 2, 0), min(y2 + 2, 479)).colRange(x1, x2); //获取目标框 - Mat target = left_image.rowRange(max(y1 - 20, 0), min(y2 + 20, 479)).colRange(0, 639); //待匹配图像，极线约束，只需要同水平区域 - int th = tpl.rows, tw = tpl.cols; - Mat result; - - matchTemplate(target, tpl, result, TM_CCOEFF_NORMED); //匹配方法：归一化相关系数即零均值归一化互相关 - double minVal, maxVal; - Point minLoc, maxLoc; - minMaxLoc(result, &minVal, &maxVal, &minLoc, &maxLoc); //得到匹配点坐标 - Point tl = maxLoc, br; - - br.x = min(maxLoc.x + tw, 639); //转为像素坐标系 - br.y = min(maxLoc.y + th, 479); //转为像素坐标系 - ////展示匹配结果 - // br.x = min(maxLoc.x + tw, 319); - // br.y = min(maxLoc.y + th, 239); - //rectangle(target, tl, br, (0, 255, 0), 3); - //imshow("match-", target); - //waitKey(2); - - std::vector maxloc; - maxloc.push_back(maxLoc.x); - maxloc.push_back(maxLoc.y); - return maxloc; -} - -void Ranging::horizon_estimate(Mat& img, Mat& bboxs,int k) -{ - //保证摄像头与地面平行 - int x1 = bboxs.at(k, 0); - int x2 = bboxs.at(k, 2); - int y1 = bboxs.at(k, 1); - int y2 = bboxs.at(k, 3); - float Conf = bboxs.at(k, 4); - int cls = bboxs.at(k, 5); - float Y_B, Y_H; - cv::Mat edge, grayImage; - std::vector idx; - cv::Mat tpl = img.rowRange(y1, min(y2+5,479)).colRange(x1, x2); // 取感兴趣范围 - //Mat target = left_image.rowRange(max(y1 - 20, 0), min(y2 + 20, 479)).colRange(0, 639); - cv::Mat Z = Mat::zeros(2, tpl.cols, CV_32FC1); - cvtColor(tpl, grayImage, COLOR_BGR2GRAY); - GaussianBlur(grayImage,grayImage,Size(5,5),0); - Canny(grayImage, edge, 120, 180, 3); //提取边缘，获取与地面接触点 - //cv::imshow("1",edge); - //cv::waitKey(1); - float cluster[650]; - for (int i = 0;i<650;i++) - { - cluster[i] = 0; - } - int y_b, y_h; - int j = 0; - for (int i = 0; i < x2-x1; i++) - { - //Mat temp = edge.rowRange(max(y1, 0), min(y2 + 4, 479)).colRange(x1, x2); - Mat temp = edge.col(i); //取第i列 - // std::cout << "temp: " < point_b = pic2cam(x1 + i, 240); //转为相机坐标系 - std::vector point_H = pic2cam(320, 240); - float alfa = atan((point_b[0] - point_H[0]) / q.at(2, 3)); - if (idx.size() < 1) - { - Z.at(0, i) = 0; - Z.at(1, i) = alfa; - continue; - } - int y_b = idx[idx.size() - 1].y + y1; // - y_b = int(y_b + y_b*0.03); - int y_h = 240; - point_b = pic2cam(x1 + i, y_b); //转为相机坐标系 - point_H = pic2cam(320, y_h); - Y_B = point_b[1]; - Y_H = point_H[1]; - - float H_c = 60; //摄像头离地高度，单位mm - float theta = 0; //摄像头与地面夹角，弧度 - float d = (1/cos(theta)* cos(theta)) * q.at(2, 3) * H_c / (Y_B - Y_H)- H_c*tan(theta); - alfa = atan((point_b[0] - point_H[0]) / q.at(2, 3)); - //cout << "d: " << d << endl; - if (d > 700) - {d = 0;} - Z.at(0, i) = d/cos(alfa); - Z.at(1, i) = alfa; - } - - this->Z = Z.clone(); -} - -void Ranging::getInfo(Mat &imgL, Mat &imgR, Mat &detBoxes, Mat &info) -{ - Mat imgGrayL, imgGrayR; - cvtColor(imgL, imgGrayL, COLOR_BGR2GRAY); - cvtColor(imgR, imgGrayR, COLOR_BGR2GRAY); - Mat imgR_weight = imgR.clone(); - Mat infoRow; - for (uchar i = 0; i < detBoxes.rows; i++) - { - int x1 = detBoxes.at(i, 0); - int y1 = detBoxes.at(i, 1); - int x2 = detBoxes.at(i, 2); - int y2 = detBoxes.at(i, 3); - - float Conf = detBoxes.at(i, 4); - - if (x1 > 600 || x2 < 50 || y1 < 5 || y2 > 475 || x1 < 2 || x2 > 590 || abs(x2 - x1) > 550) //当目标框偏左、偏右或者过大，略去该物体 - { - continue; - } - - // rectangle(imgR, Point(int(x1), int(y1)), - // Point(int(x2), int(y2)), Scalar(0, 0, 255)); //绘制目标框 - - int coordinates[4] = {x1, y1, x2, y2}; - std::vector disp_pixel = muban(imgGrayL, imgGrayR, coordinates); //模板匹配 - float disp_pixel_x = disp_pixel[0] - x1; //ˮ计算水平视差 - float disp_pixel_y = disp_pixel[1] - y1; // - disp_pixel_x = (int)(disp_pixel_x + disp_pixel_x * 0.12); //0.12为模板匹配产生的误差，为经验值，通过拟合得到 - - //Mat disp_matrix = Mat(1, 1, CV_32F, Scalar(disp_pixel_x)), disp_pixel_xyz; - Mat disp_matrix = Mat(imgGrayL.rows, imgGrayL.cols, CV_32F, Scalar(disp_pixel_x)); //定义视差矩阵，所有值均为水平视差，方便转换为三维坐标，并具有水平距离信息 - Mat threed_pixel_xyz, threedImage; - reprojectImageTo3D(disp_matrix, threedImage, q, false); //2d->3d - threed_pixel_xyz = threedImage.mul(threedImage); //每一像素点求平方， - std::vector channels; - split(threed_pixel_xyz.clone(), channels); - threed_pixel_xyz = channels[0] + channels[1] + channels[2]; //计算欧式距离 - threed_pixel_xyz.forEach([](float &value, const int *position) { value = sqrt(value); }); // 获得距离d - - int mid_pixel = int((x1 + x2) / 2); - std::vector mid = pic2cam(imgGrayR.cols / 2, imgGrayR.rows); //计算角度，从像素坐标转为相机坐标 - std::vector loc_tar = pic2cam(mid_pixel, imgGrayR.rows); - float alfa = atan((loc_tar[0] - mid[0]) / q.at(2, 3)); - - - if (disp_pixel_x > 240) // 距离太近，视差过大 - { - char cm[15]; - //sprintf(cm, "cannot match !"); - // sprintf(cm, "%d , %.2f", cls,Conf); - putText(imgR, cm, Point((x1), (y1)), FONT_HERSHEY_PLAIN, 2.2, Scalar(0, 0, 255), 2); - infoRow = (Mat_(1, 4) << -1, -1, -1, -1); - infoRow.copyTo(info.row(i)); - continue; - } - else - { - float median = threed_pixel_xyz.at((int)(y1 + y2) / 2, (int)(x1 + x2) / 2); - - std::vector ltPoint = pic2cam(x1, y1); - std::vector rbPoint = pic2cam(x2, y2); - float xx1 = ltPoint[0], yy1 = ltPoint[1], xx2 = rbPoint[0], yy2 = rbPoint[1]; //计算宽高 - float f = q.at(2, 3); - float f1 = sqrt(xx1 * xx1 + yy1 * yy1 + f * f); //推导得出 - //float w1 = median * sqrt((xx1 - xx2) * (xx1 - xx2) / 4) / f1; - float h1 = median * sqrt((yy1 - yy2) * (yy1 - yy2) / 4) / f1; - float f2 = sqrt(xx2 * xx2 + yy2 * yy2 + f * f); - //float w2 = median * sqrt((xx2 - xx1) * (xx2 - xx1) / 4) / f2; - float h2 = median * sqrt((yy2 - yy1) * (yy2 - yy1) / 4) / f2; - float w1 = sqrt(pow((threedImage.at(y2, x1)[0] - threedImage.at(y2, x2)[0]), 2) + - pow((threedImage.at(y2, x1)[1] - threedImage.at(y2, x2)[1]), 2) + - pow((threedImage.at(y2, x1)[2] - threedImage.at(y2, x2)[2]), 2)); - - w1 = w1 / 10; - h1 = (h1 + h2) / 10; - median /= 10; - if (median > 120) //过远测距误差较大 - { - //char tf[9]; - //sprintf(tf, "Too far!"); - char cm[15]; - //sprintf(cm, "cannot match !"); - // sprintf(cm, "%d , %.2f", cls,Conf); - putText(imgR, cm, Point((x1), (y1)), FONT_HERSHEY_PLAIN, 2.2, Scalar(0, 0, 255), 2); - infoRow = (Mat_(1, 4) << -1, -1, -1, -1); - infoRow.copyTo(info.row(i)); - continue; - } - // ��ͼ���ϻ�����Ϣ - // char dc[50], wh[50]; - // std::string cname = className[cls + 1]; - // sprintf(dc, "dis:%.2fcm %d", median, cls); - // sprintf(wh, "W: %.2fcm H: %.2fcm alfa: %2f", w1, h1, alfa); - // putText(imgR, dc, Point(x1, y2), FONT_HERSHEY_PLAIN, 1.5, Scalar(0, 0, 255), 2); - // putText(imgR, wh, Point(x1, y1), FONT_HERSHEY_PLAIN, 1.5, Scalar(0, 0, 255), 1.5); - - - //返回数据 - infoRow = (Mat_(1, 4) << median, w1, h1, alfa); - infoRow.copyTo(info.row(i)); - }; - } - // cv::imshow("kk",imgR); - // cv::waitKey(1); - -} - -Ranging::Ranging(int index, int imgw, int imgh) : //初始化 - mapX1(imgh, imgw, CV_64F), //初始化矩阵 ，用于计算无畸变和修正转换映射。 - mapX2(imgh, imgw, CV_64F), - mapY1(imgh, imgw, CV_64F), - mapY2(imgh, imgw, CV_64F), - q(4, 4, CV_64F), - imgw(imgw), - imgh(imgh) -{ - // Z = Mat::zeros(2, 1, CV_32FC1); - vcapture = cv::VideoCapture(index); - //vcapture.set(CAP_PROP_FOURCC, CAP_OPENCV_MJPEG); - vcapture.set(cv::CAP_PROP_FPS, 30); - vcapture.set(cv::CAP_PROP_FRAME_WIDTH, imgw * 2); - vcapture.set(cv::CAP_PROP_FRAME_HEIGHT, imgh); - vcapture.set(cv::CAP_PROP_BUFFERSIZE, 1); - - - auto imgSize = Size(imgw, imgh); - Mat r1(3, 3, CV_64F), r2(3, 3, CV_64F), p1(3, 4, CV_64F), p2(3, 4, CV_64F); - - stereoRectify(cam_matrix_left.t(), distortion_l, cam_matrix_right.t(), distortion_r, - imgSize, rotate.t(), trans, r1, r2, p1, p2, q);//立体校正 - - initUndistortRectifyMap(cam_matrix_left.t(), distortion_l, r1, p1, imgSize, CV_32F, mapX1, mapX2);//计算无畸变和修正转换映射 - initUndistortRectifyMap(cam_matrix_right.t(), distortion_r, r2, p2, imgSize, CV_32F, mapY1, mapY2);//计算无畸变和修正转换映射 - - // RKNN_Create(&hdx, modelPath); // 初始化检测模型 - std::cout<< " ******************* CAMERA initialization ********************" << std::endl; - -} - - - - -std::vector Ranging::get_range() -{ - - double rang_old, rang_now; - // rang_old = ros::Time::now().toSec(); //测试运行时间 - Mat frame, lframe, rframe; - // vcapture.read(frame); //获取视频帧 - vcapture >> frame; - - // cv::imshow("frame",frame); - - if (!frame.empty()) - { - int64 t = getTickCount(); - Mat lframe(frame.colRange(0, imgw).clone()); //拷贝左图 - Mat rframe(frame.colRange(imgw, imgw * 2).clone()); //拷贝右图 - - rectifyImage(lframe, rframe); // - - cv::Mat Rframe = rframe.clone(); - - detect_result_group = yolov5s.outputParse(Rframe); - - if (detect_result_group.count<=0) - { - std::cout<<"detect nothing"<name, "person") == 0 || strcmp(det_result->name, "bottle") == 0|| strcmp(det_result->name, "cup") == 0) - if(strcmp(det_result->name, "vase") == 0|| strcmp(det_result->name, "suitcase") == 0) - { - count++; - sprintf(text, "%s %.1f%%", det_result->name, det_result->prop * 100); - // printf("%s @ (%d %d %d %d) %f\n", det_result->name, det_result->box.left, det_result->box.top, - // det_result->box.right, det_result->box.bottom, det_result->prop); - - int xmin = det_result->box.left; - int ymin = det_result->box.top; - int xmax = det_result->box.right; - int ymax = det_result->box.bottom; - - rectangle(Rframe, cv::Point(xmin, ymin), cv::Point(xmax, ymax), cv::Scalar(256, 0, 0, 256), 3); - putText(Rframe, text, cv::Point(xmin, ymin + 12), cv::FONT_HERSHEY_SIMPLEX, 0.4, cv::Scalar(255, 255, 255)); - - // (x,y) (x,y) conf - detBoxes.at(count-1, 0) = xmin; - detBoxes.at(count-1, 1) = ymin; - detBoxes.at(count-1, 2) = xmax; - detBoxes.at(count-1, 3) = ymax; - detBoxes.at(count-1, 4) = det_result->prop; - // detBoxes.at(i, 0) = xmin; - // detBoxes.at(i, 1) = ymin; - // detBoxes.at(i, 2) = xmax; - // detBoxes.at(i, 3) = ymax; - // detBoxes.at(i, 4) = det_result->prop; - } - // 实验测试，过滤过大的误检框*/ - // float ratio = (xmax - xmin) * (ymax - ymin) / 308480.; - // if (ratio > 0.7) - // { - // detBoxes.at(i, 5) = -1; - // continue; - // } - } - Mat finalBoxes(detBoxes, Range(0, count), Range::all()); - Mat info(count, 4, CV_32F); // 存储测距信息，存储格式：距离d，宽w，高h，角度α - // Mat info(detect_result_group.count, 4, CV_32F); // 存储测距信息，存储格式：距离d，宽w，高h，角度α - if (count) - // if (detect_result_group.count) - { - getInfo(lframe, rframe, finalBoxes, info); - // getInfo(lframe, rframe, detBoxes, info); - - for(int i=0; i(i, 0); - // float w1 = info.at(i, 1); - // float h1 = info.at(i, 2); - // float alfa = info.at(i, 3); - - int x1 = finalBoxes.at(i,0); - int y1 = finalBoxes.at(i,1); - int x2 = finalBoxes.at(i,2); - int y2 = finalBoxes.at(i,3); - - char dc[50], wh[50]; - sprintf(dc, "dis:%.2fcm ", median); - // sprintf(wh, "W: %.2fcm H: %.2fcm ", w1, h1); - putText(Rframe, dc, Point(x1, y2), cv::FONT_HERSHEY_SIMPLEX, 0.4, cv::Scalar(255, 255, 255)); - // putText(Rframe, wh, Point(x1, y1), cv::FONT_HERSHEY_SIMPLEX, 0.4, cv::Scalar(255, 255, 255)); - } - } - t = getTickCount() - t; - char fps[50]; - sprintf(fps, "fps: %d", int(1 / (t / getTickFrequency()))); - putText(Rframe, fps, Point(20, 20), FONT_HERSHEY_PLAIN, 1, Scalar(0, 0, 255), 1.5); - - cv::imshow("k",Rframe); - cv::waitKey(1); - return std::vector{rframe, detBoxes, info}; - } - return std::vector{empty}; -} - - +#include +#include +#include +#include +#include "upbot_vision/ranging.h" +#include +#include + +#include +#include +#include +#include "opencv2/core.hpp" +#include "opencv2/imgcodecs.hpp" +#include "opencv2/imgproc.hpp" + +#include +#include +#include +#include +#include +#include +#include +#include +// #include + + +using namespace cv; +void Ranging::rectifyImage(Mat &oriImgL, Mat &oriImgR) //重映射函数 +{ + remap(oriImgL, oriImgL, mapX1, mapX2, cv::INTER_LINEAR); + remap(oriImgR, oriImgR, mapY1, mapY2, cv::INTER_LINEAR); +} + +std::vector Ranging::pic2cam(int u, int v) //像素坐标转相机坐标 +{ + //(u,v)->(x,y)"(loc[0],loc[1])" + std::vector loc; + loc.push_back((u - cam_matrix_right.at(0, 2)) * q.at(2, 3) / cam_matrix_right.at(0, 0)); + loc.push_back((v - cam_matrix_right.at(1, 2)) * q.at(2, 3) / cam_matrix_right.at(1, 1)); + return loc; +} + +std::vector Ranging::muban(Mat &left_image, Mat &right_image, const int *coordinates) //模板匹配 +{ + int x1 = coordinates[0], y1 = coordinates[1], x2 = coordinates[2], y2 = coordinates[3]; + Mat tpl = right_image.rowRange(max(y1 - 2, 0), min(y2 + 2, 479)).colRange(x1, x2); //获取目标框 + Mat target = left_image.rowRange(max(y1 - 20, 0), min(y2 + 20, 479)).colRange(0, 639); //待匹配图像，极线约束，只需要同水平区域 + int th = tpl.rows, tw = tpl.cols; + Mat result; + + matchTemplate(target, tpl, result, TM_CCOEFF_NORMED); //匹配方法：归一化相关系数即零均值归一化互相关 + double minVal, maxVal; + Point minLoc, maxLoc; + minMaxLoc(result, &minVal, &maxVal, &minLoc, &maxLoc); //得到匹配点坐标 + Point tl = maxLoc, br; + + br.x = min(maxLoc.x + tw, 639); //转为像素坐标系 + br.y = min(maxLoc.y + th, 479); //转为像素坐标系 + ////展示匹配结果 + // br.x = min(maxLoc.x + tw, 319); + // br.y = min(maxLoc.y + th, 239); + //rectangle(target, tl, br, (0, 255, 0), 3); + //imshow("match-", target); + //waitKey(2); + + std::vector maxloc; + maxloc.push_back(maxLoc.x); + maxloc.push_back(maxLoc.y); + return maxloc; +} + +void Ranging::horizon_estimate(Mat& img, Mat& bboxs,int k) +{ + //保证摄像头与地面平行 + int x1 = bboxs.at(k, 0); + int x2 = bboxs.at(k, 2); + int y1 = bboxs.at(k, 1); + int y2 = bboxs.at(k, 3); + float Conf = bboxs.at(k, 4); + int cls = bboxs.at(k, 5); + float Y_B, Y_H; + cv::Mat edge, grayImage; + std::vector idx; + cv::Mat tpl = img.rowRange(y1, min(y2+5,479)).colRange(x1, x2); // 取感兴趣范围 + //Mat target = left_image.rowRange(max(y1 - 20, 0), min(y2 + 20, 479)).colRange(0, 639); + cv::Mat Z = Mat::zeros(2, tpl.cols, CV_32FC1); + cvtColor(tpl, grayImage, COLOR_BGR2GRAY); + GaussianBlur(grayImage,grayImage,Size(5,5),0); + Canny(grayImage, edge, 120, 180, 3); //提取边缘，获取与地面接触点 + //cv::imshow("1",edge); + //cv::waitKey(1); + float cluster[650]; + for (int i = 0;i<650;i++) + { + cluster[i] = 0; + } + int y_b, y_h; + int j = 0; + for (int i = 0; i < x2-x1; i++) + { + //Mat temp = edge.rowRange(max(y1, 0), min(y2 + 4, 479)).colRange(x1, x2); + Mat temp = edge.col(i); //取第i列 + // std::cout << "temp: " < point_b = pic2cam(x1 + i, 240); //转为相机坐标系 + std::vector point_H = pic2cam(320, 240); + float alfa = atan((point_b[0] - point_H[0]) / q.at(2, 3)); + if (idx.size() < 1) + { + Z.at(0, i) = 0; + Z.at(1, i) = alfa; + continue; + } + int y_b = idx[idx.size() - 1].y + y1; // + y_b = int(y_b + y_b*0.03); + int y_h = 240; + point_b = pic2cam(x1 + i, y_b); //转为相机坐标系 + point_H = pic2cam(320, y_h); + Y_B = point_b[1]; + Y_H = point_H[1]; + + float H_c = 60; //摄像头离地高度，单位mm + float theta = 0; //摄像头与地面夹角，弧度 + float d = (1/cos(theta)* cos(theta)) * q.at(2, 3) * H_c / (Y_B - Y_H)- H_c*tan(theta); + alfa = atan((point_b[0] - point_H[0]) / q.at(2, 3)); + //cout << "d: " << d << endl; + if (d > 700) + {d = 0;} + Z.at(0, i) = d/cos(alfa); + Z.at(1, i) = alfa; + } + + this->Z = Z.clone(); +} + +void Ranging::getInfo(Mat &imgL, Mat &imgR, Mat &detBoxes, Mat &info) +{ + Mat imgGrayL, imgGrayR; + cvtColor(imgL, imgGrayL, COLOR_BGR2GRAY); + cvtColor(imgR, imgGrayR, COLOR_BGR2GRAY); + Mat imgR_weight = imgR.clone(); + Mat infoRow; + for (uchar i = 0; i < detBoxes.rows; i++) + { + int x1 = detBoxes.at(i, 0); + int y1 = detBoxes.at(i, 1); + int x2 = detBoxes.at(i, 2); + int y2 = detBoxes.at(i, 3); + + float Conf = detBoxes.at(i, 4); + + if (x1 > 600 || x2 < 50 || y1 < 5 || y2 > 475 || x1 < 2 || x2 > 590 || abs(x2 - x1) > 550) //当目标框偏左、偏右或者过大，略去该物体 + { + continue; + } + + // rectangle(imgR, Point(int(x1), int(y1)), + // Point(int(x2), int(y2)), Scalar(0, 0, 255)); //绘制目标框 + + int coordinates[4] = {x1, y1, x2, y2}; + std::vector disp_pixel = muban(imgGrayL, imgGrayR, coordinates); //模板匹配 + float disp_pixel_x = disp_pixel[0] - x1; //ˮ计算水平视差 + float disp_pixel_y = disp_pixel[1] - y1; // + disp_pixel_x = (int)(disp_pixel_x + disp_pixel_x * 0.12); //0.12为模板匹配产生的误差，为经验值，通过拟合得到 + + //Mat disp_matrix = Mat(1, 1, CV_32F, Scalar(disp_pixel_x)), disp_pixel_xyz; + Mat disp_matrix = Mat(imgGrayL.rows, imgGrayL.cols, CV_32F, Scalar(disp_pixel_x)); //定义视差矩阵，所有值均为水平视差，方便转换为三维坐标，并具有水平距离信息 + Mat threed_pixel_xyz, threedImage; + reprojectImageTo3D(disp_matrix, threedImage, q, false); //2d->3d + threed_pixel_xyz = threedImage.mul(threedImage); //每一像素点求平方， + std::vector channels; + split(threed_pixel_xyz.clone(), channels); + threed_pixel_xyz = channels[0] + channels[1] + channels[2]; //计算欧式距离 + threed_pixel_xyz.forEach([](float &value, const int *position) { value = sqrt(value); }); // 获得距离d + + int mid_pixel = int((x1 + x2) / 2); + std::vector mid = pic2cam(imgGrayR.cols / 2, imgGrayR.rows); //计算角度，从像素坐标转为相机坐标 + std::vector loc_tar = pic2cam(mid_pixel, imgGrayR.rows); + float alfa = atan((loc_tar[0] - mid[0]) / q.at(2, 3)); + + + if (disp_pixel_x > 240) // 距离太近，视差过大 + { + char cm[15]; + //sprintf(cm, "cannot match !"); + // sprintf(cm, "%d , %.2f", cls,Conf); + putText(imgR, cm, Point((x1), (y1)), FONT_HERSHEY_PLAIN, 2.2, Scalar(0, 0, 255), 2); + infoRow = (Mat_(1, 4) << -1, -1, -1, -1); + infoRow.copyTo(info.row(i)); + continue; + } + else + { + float median = threed_pixel_xyz.at((int)(y1 + y2) / 2, (int)(x1 + x2) / 2); + + std::vector ltPoint = pic2cam(x1, y1); + std::vector rbPoint = pic2cam(x2, y2); + float xx1 = ltPoint[0], yy1 = ltPoint[1], xx2 = rbPoint[0], yy2 = rbPoint[1]; //计算宽高 + float f = q.at(2, 3); + float f1 = sqrt(xx1 * xx1 + yy1 * yy1 + f * f); //推导得出 + //float w1 = median * sqrt((xx1 - xx2) * (xx1 - xx2) / 4) / f1; + float h1 = median * sqrt((yy1 - yy2) * (yy1 - yy2) / 4) / f1; + float f2 = sqrt(xx2 * xx2 + yy2 * yy2 + f * f); + //float w2 = median * sqrt((xx2 - xx1) * (xx2 - xx1) / 4) / f2; + float h2 = median * sqrt((yy2 - yy1) * (yy2 - yy1) / 4) / f2; + float w1 = sqrt(pow((threedImage.at(y2, x1)[0] - threedImage.at(y2, x2)[0]), 2) + + pow((threedImage.at(y2, x1)[1] - threedImage.at(y2, x2)[1]), 2) + + pow((threedImage.at(y2, x1)[2] - threedImage.at(y2, x2)[2]), 2)); + + w1 = w1 / 10; + h1 = (h1 + h2) / 10; + median /= 10; + if (median > 120) //过远测距误差较大 + { + //char tf[9]; + //sprintf(tf, "Too far!"); + char cm[15]; + //sprintf(cm, "cannot match !"); + // sprintf(cm, "%d , %.2f", cls,Conf); + putText(imgR, cm, Point((x1), (y1)), FONT_HERSHEY_PLAIN, 2.2, Scalar(0, 0, 255), 2); + infoRow = (Mat_(1, 4) << -1, -1, -1, -1); + infoRow.copyTo(info.row(i)); + continue; + } + // ��ͼ���ϻ�����Ϣ + // char dc[50], wh[50]; + // std::string cname = className[cls + 1]; + // sprintf(dc, "dis:%.2fcm %d", median, cls); + // sprintf(wh, "W: %.2fcm H: %.2fcm alfa: %2f", w1, h1, alfa); + // putText(imgR, dc, Point(x1, y2), FONT_HERSHEY_PLAIN, 1.5, Scalar(0, 0, 255), 2); + // putText(imgR, wh, Point(x1, y1), FONT_HERSHEY_PLAIN, 1.5, Scalar(0, 0, 255), 1.5); + + + //返回数据 + infoRow = (Mat_(1, 4) << median, w1, h1, alfa); + infoRow.copyTo(info.row(i)); + }; + } + // cv::imshow("kk",imgR); + // cv::waitKey(1); + +} + +Ranging::Ranging(int index, int imgw, int imgh) : //初始化 + mapX1(imgh, imgw, CV_64F), //初始化矩阵 ，用于计算无畸变和修正转换映射。 + mapX2(imgh, imgw, CV_64F), + mapY1(imgh, imgw, CV_64F), + mapY2(imgh, imgw, CV_64F), + q(4, 4, CV_64F), + imgw(imgw), + imgh(imgh) +{ + // Z = Mat::zeros(2, 1, CV_32FC1); + vcapture = cv::VideoCapture(index); + //vcapture.set(CAP_PROP_FOURCC, CAP_OPENCV_MJPEG); + vcapture.set(cv::CAP_PROP_FPS, 30); + vcapture.set(cv::CAP_PROP_FRAME_WIDTH, imgw * 2); + vcapture.set(cv::CAP_PROP_FRAME_HEIGHT, imgh); + vcapture.set(cv::CAP_PROP_BUFFERSIZE, 1); + + + auto imgSize = Size(imgw, imgh); + Mat r1(3, 3, CV_64F), r2(3, 3, CV_64F), p1(3, 4, CV_64F), p2(3, 4, CV_64F); + + stereoRectify(cam_matrix_left.t(), distortion_l, cam_matrix_right.t(), distortion_r, + imgSize, rotate.t(), trans, r1, r2, p1, p2, q);//立体校正 + + initUndistortRectifyMap(cam_matrix_left.t(), distortion_l, r1, p1, imgSize, CV_32F, mapX1, mapX2);//计算无畸变和修正转换映射 + initUndistortRectifyMap(cam_matrix_right.t(), distortion_r, r2, p2, imgSize, CV_32F, mapY1, mapY2);//计算无畸变和修正转换映射 + + // RKNN_Create(&hdx, modelPath); // 初始化检测模型 + std::cout<< " ******************* CAMERA initialization ********************" << std::endl; + +} + + + + +std::vector Ranging::get_range() +{ + + double rang_old, rang_now; + // rang_old = ros::Time::now().toSec(); //测试运行时间 + Mat frame, lframe, rframe; + // vcapture.read(frame); //获取视频帧 + vcapture >> frame; + + // cv::imshow("frame",frame); + + if (!frame.empty()) + { + int64 t = getTickCount(); + Mat lframe(frame.colRange(0, imgw).clone()); //拷贝左图 + Mat rframe(frame.colRange(imgw, imgw * 2).clone()); //拷贝右图 + + rectifyImage(lframe, rframe); // + + cv::Mat Rframe = rframe.clone(); + + detect_result_group = yolov5s.outputParse(Rframe); + + if (detect_result_group.count<=0) + { + std::cout<<"detect nothing"<name, "vase") == 0 || strcmp(det_result->name, "suitcase") == 0) + if(strcmp(det_result->name, "vase") == 0|| strcmp(det_result->name, "suitcase") == 0|| + // strcmp(det_result->name, "mouse") == 0|| strcmp(det_result->name, "keyboard") == 0|| + // strcmp(det_result->name, "mouse") == 0|| strcmp(det_result->name, "bowl") == 0|| + strcmp(det_result->name, "cup") == 0|| strcmp(det_result->name, "bottle")==0) + { + count++; + sprintf(text, "%s %.1f%%", det_result->name, det_result->prop * 100); + // printf("%s @ (%d %d %d %d) %f\n", det_result->name, det_result->box.left, det_result->box.top, + // det_result->box.right, det_result->box.bottom, det_result->prop); + + int xmin = det_result->box.left; + int ymin = det_result->box.top; + int xmax = det_result->box.right; + int ymax = det_result->box.bottom; + + rectangle(Rframe, cv::Point(xmin, ymin), cv::Point(xmax, ymax), cv::Scalar(256, 0, 0, 256), 3); + putText(Rframe, text, cv::Point(xmin, ymin + 12), cv::FONT_HERSHEY_SIMPLEX, 0.4, cv::Scalar(255, 255, 255)); + + // (x,y) (x,y) conf + detBoxes.at(count-1, 0) = xmin; + detBoxes.at(count-1, 1) = ymin; + detBoxes.at(count-1, 2) = xmax; + detBoxes.at(count-1, 3) = ymax; + detBoxes.at(count-1, 4) = det_result->prop; + // detBoxes.at(i, 0) = xmin; + // detBoxes.at(i, 1) = ymin; + // detBoxes.at(i, 2) = xmax; + // detBoxes.at(i, 3) = ymax; + // detBoxes.at(i, 4) = det_result->prop; + } + // 实验测试，过滤过大的误检框*/ + // float ratio = (xmax - xmin) * (ymax - ymin) / 308480.; + // if (ratio > 0.7) + // { + // detBoxes.at(i, 5) = -1; + // continue; + // } + } + Mat finalBoxes(detBoxes, Range(0, count), Range::all()); + Mat info(count, 4, CV_32F); // 存储测距信息，存储格式：距离d，宽w，高h，角度α + // Mat info(detect_result_group.count, 4, CV_32F); // 存储测距信息，存储格式：距离d，宽w，高h，角度α + if (count) + // if (detect_result_group.count) + { + // getInfo(lframe, rframe, finalBoxes, info); + getInfo(lframe, rframe, finalBoxes, info); + + for(int i=0; i(i, 0); + // float w1 = info.at(i, 1); + // float h1 = info.at(i, 2); + // float alfa = info.at(i, 3); + + int x1 = finalBoxes.at(i,0); + int y1 = finalBoxes.at(i,1); + int x2 = finalBoxes.at(i,2); + int y2 = finalBoxes.at(i,3); + + // int x1 = detBoxes.at(i,0); + // int y1 = detBoxes.at(i,1); + // int x2 = detBoxes.at(i,2); + // int y2 = detBoxes.at(i,3); + char dc[50], wh[50]; + sprintf(dc, "dis:%.2fcm ", median); + // sprintf(wh, "W: %.2fcm H: %.2fcm ", w1, h1); + putText(Rframe, dc, Point(x1, y2), cv::FONT_HERSHEY_SIMPLEX, 0.4, cv::Scalar(255, 255, 255)); + // putText(Rframe, wh, Point(x1, y1), cv::FONT_HERSHEY_SIMPLEX, 0.4, cv::Scalar(255, 255, 255)); + } + } + t = getTickCount() - t; + char fps[50]; + sprintf(fps, "fps: %d", int(1 / (t / getTickFrequency()))); + putText(Rframe, fps, Point(20, 20), FONT_HERSHEY_PLAIN, 1, Scalar(0, 0, 255), 1.5); + + cv::imshow("k",Rframe); + cv::waitKey(1); + return std::vector{rframe, detBoxes, info}; + } + return std::vector{empty}; +} + + diff --git a/Code/MowingRobot/obj_dec/src/rknn_yolov5_demo/src/sub_dis.cc b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_vision/src/sub_dis.cc similarity index 78% rename from Code/MowingRobot/obj_dec/src/rknn_yolov5_demo/src/sub_dis.cc rename to Code/MowingRobot/pibot_ros/ros_ws/src/upbot_vision/src/sub_dis.cc index b432e7f..b0aca3e 100644 --- a/Code/MowingRobot/obj_dec/src/rknn_yolov5_demo/src/sub_dis.cc +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/upbot_vision/src/sub_dis.cc @@ -1,8 +1,12 @@ -#include "ros/ros.h" -#include "rknn_yolov5_demo/dis_info.h" -#include "rknn_yolov5_demo/dis_info_array.h" +/* + 单元测试：测试双目检测得到的障碍物信息是否通过话题发出 +*/ -void doMsg(const rknn_yolov5_demo::dis_info_array::ConstPtr& ceju_msg){ +#include "ros/ros.h" +#include "upbot_vision/dis_info.h" +#include "upbot_vision/dis_info_array.h" + +void doMsg(const upbot_vision::dis_info_array::ConstPtr& ceju_msg){ for (const auto& obstacle_info : ceju_msg->dis) { @@ -36,7 +40,7 @@ int main(int argc, char *argv[]) setlocale(LC_ALL,""); ros::init(argc,argv,"sub_dis"); ros::NodeHandle nh; - ros::Subscriber sub = nh.subscribe("ceju_info",10,doMsg); + ros::Subscriber sub = nh.subscribe("ceju_info",10,doMsg); ros::spin();//循环读取接收的数据，并调用回调函数处理 diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/.gitignore b/Code/MowingRobot/pibot_ros/ros_ws/src/ydlidar-1.2.1/.gitignore similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/.gitignore rename to Code/MowingRobot/pibot_ros/ros_ws/src/ydlidar-1.2.1/.gitignore diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/CMakeLists.txt b/Code/MowingRobot/pibot_ros/ros_ws/src/ydlidar-1.2.1/CMakeLists.txt similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/CMakeLists.txt rename to Code/MowingRobot/pibot_ros/ros_ws/src/ydlidar-1.2.1/CMakeLists.txt diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/README.md b/Code/MowingRobot/pibot_ros/ros_ws/src/ydlidar-1.2.1/README.md similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/README.md rename to Code/MowingRobot/pibot_ros/ros_ws/src/ydlidar-1.2.1/README.md diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/launch/f4.launch b/Code/MowingRobot/pibot_ros/ros_ws/src/ydlidar-1.2.1/launch/f4.launch similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/launch/f4.launch rename to Code/MowingRobot/pibot_ros/ros_ws/src/ydlidar-1.2.1/launch/f4.launch diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/launch/f4_view.launch b/Code/MowingRobot/pibot_ros/ros_ws/src/ydlidar-1.2.1/launch/f4_view.launch similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/launch/f4_view.launch rename to Code/MowingRobot/pibot_ros/ros_ws/src/ydlidar-1.2.1/launch/f4_view.launch diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/launch/g4.launch b/Code/MowingRobot/pibot_ros/ros_ws/src/ydlidar-1.2.1/launch/g4.launch similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/launch/g4.launch rename to Code/MowingRobot/pibot_ros/ros_ws/src/ydlidar-1.2.1/launch/g4.launch diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/launch/g4_view.launch b/Code/MowingRobot/pibot_ros/ros_ws/src/ydlidar-1.2.1/launch/g4_view.launch similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/launch/g4_view.launch rename to Code/MowingRobot/pibot_ros/ros_ws/src/ydlidar-1.2.1/launch/g4_view.launch diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/launch/lidar.launch b/Code/MowingRobot/pibot_ros/ros_ws/src/ydlidar-1.2.1/launch/lidar.launch similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/launch/lidar.launch rename to Code/MowingRobot/pibot_ros/ros_ws/src/ydlidar-1.2.1/launch/lidar.launch diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/launch/lidar.rviz b/Code/MowingRobot/pibot_ros/ros_ws/src/ydlidar-1.2.1/launch/lidar.rviz similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/launch/lidar.rviz rename to Code/MowingRobot/pibot_ros/ros_ws/src/ydlidar-1.2.1/launch/lidar.rviz diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/launch/lidar_rviz.launch b/Code/MowingRobot/pibot_ros/ros_ws/src/ydlidar-1.2.1/launch/lidar_rviz.launch similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/launch/lidar_rviz.launch rename to Code/MowingRobot/pibot_ros/ros_ws/src/ydlidar-1.2.1/launch/lidar_rviz.launch diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/launch/lidar_view.launch b/Code/MowingRobot/pibot_ros/ros_ws/src/ydlidar-1.2.1/launch/lidar_view.launch similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/launch/lidar_view.launch rename to Code/MowingRobot/pibot_ros/ros_ws/src/ydlidar-1.2.1/launch/lidar_view.launch diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/launch/x4.launch b/Code/MowingRobot/pibot_ros/ros_ws/src/ydlidar-1.2.1/launch/x4.launch similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/launch/x4.launch rename to Code/MowingRobot/pibot_ros/ros_ws/src/ydlidar-1.2.1/launch/x4.launch diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/launch/x4_view.launch b/Code/MowingRobot/pibot_ros/ros_ws/src/ydlidar-1.2.1/launch/x4_view.launch similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/launch/x4_view.launch rename to Code/MowingRobot/pibot_ros/ros_ws/src/ydlidar-1.2.1/launch/x4_view.launch diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/package.xml b/Code/MowingRobot/pibot_ros/ros_ws/src/ydlidar-1.2.1/package.xml similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/package.xml rename to Code/MowingRobot/pibot_ros/ros_ws/src/ydlidar-1.2.1/package.xml diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/sdk/CMakeLists.txt b/Code/MowingRobot/pibot_ros/ros_ws/src/ydlidar-1.2.1/sdk/CMakeLists.txt similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/sdk/CMakeLists.txt rename to Code/MowingRobot/pibot_ros/ros_ws/src/ydlidar-1.2.1/sdk/CMakeLists.txt diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/sdk/include/locker.h b/Code/MowingRobot/pibot_ros/ros_ws/src/ydlidar-1.2.1/sdk/include/locker.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/sdk/include/locker.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/ydlidar-1.2.1/sdk/include/locker.h diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/sdk/include/serial.h b/Code/MowingRobot/pibot_ros/ros_ws/src/ydlidar-1.2.1/sdk/include/serial.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/sdk/include/serial.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/ydlidar-1.2.1/sdk/include/serial.h diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/sdk/include/thread.h b/Code/MowingRobot/pibot_ros/ros_ws/src/ydlidar-1.2.1/sdk/include/thread.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/sdk/include/thread.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/ydlidar-1.2.1/sdk/include/thread.h diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/sdk/include/v8stdint.h b/Code/MowingRobot/pibot_ros/ros_ws/src/ydlidar-1.2.1/sdk/include/v8stdint.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/sdk/include/v8stdint.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/ydlidar-1.2.1/sdk/include/v8stdint.h diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/sdk/include/ydlidar_driver.h b/Code/MowingRobot/pibot_ros/ros_ws/src/ydlidar-1.2.1/sdk/include/ydlidar_driver.h similarity index 96% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/sdk/include/ydlidar_driver.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/ydlidar-1.2.1/sdk/include/ydlidar_driver.h index ec5da24..a94ce93 100644 --- a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/sdk/include/ydlidar_driver.h +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/ydlidar-1.2.1/sdk/include/ydlidar_driver.h @@ -1,280 +1,280 @@ -#ifndef YDLIDAR_DRIVER_H -#define YDLIDAR_DRIVER_H - -#include "locker.h" -#include "serial.h" -#include "thread.h" - -#if !defined(__cplusplus) -#ifndef __cplusplus -#error "The YDLIDAR SDK requires a C++ compiler to be built" -#endif -#endif -#if !defined(_countof) -#define _countof(_Array) (int)(sizeof(_Array) / sizeof(_Array[0])) -#endif - -#define LIDAR_CMD_STOP 0x65 -#define LIDAR_CMD_SCAN 0x60 -#define LIDAR_CMD_FORCE_SCAN 0x61 -#define LIDAR_CMD_RESET 0x80 -#define LIDAR_CMD_FORCE_STOP 0x00 -#define LIDAR_CMD_GET_EAI 0x55 -#define LIDAR_CMD_GET_DEVICE_INFO 0x90 -#define LIDAR_CMD_GET_DEVICE_HEALTH 0x92 -#define LIDAR_ANS_TYPE_DEVINFO 0x4 -#define LIDAR_ANS_TYPE_DEVHEALTH 0x6 -#define LIDAR_CMD_SYNC_BYTE 0xA5 -#define LIDAR_CMDFLAG_HAS_PAYLOAD 0x80 -#define LIDAR_ANS_SYNC_BYTE1 0xA5 -#define LIDAR_ANS_SYNC_BYTE2 0x5A -#define LIDAR_ANS_TYPE_MEASUREMENT 0x81 -#define LIDAR_RESP_MEASUREMENT_SYNCBIT (0x1<<0) -#define LIDAR_RESP_MEASUREMENT_QUALITY_SHIFT 2 -#define LIDAR_RESP_MEASUREMENT_CHECKBIT (0x1<<0) -#define LIDAR_RESP_MEASUREMENT_ANGLE_SHIFT 1 - -#define LIDAR_CMD_RUN_POSITIVE 0x06 -#define LIDAR_CMD_RUN_INVERSION 0x07 -#define LIDAR_CMD_SET_AIMSPEED_ADDMIC 0x09 -#define LIDAR_CMD_SET_AIMSPEED_DISMIC 0x0A -#define LIDAR_CMD_SET_AIMSPEED_ADD 0x0B -#define LIDAR_CMD_SET_AIMSPEED_DIS 0x0C -#define LIDAR_CMD_GET_AIMSPEED 0x0D - -#define LIDAR_CMD_SET_SAMPLING_RATE 0xD0 -#define LIDAR_CMD_GET_SAMPLING_RATE 0xD1 -#define LIDAR_STATUS_OK 0x0 -#define LIDAR_STATUS_WARNING 0x1 -#define LIDAR_STATUS_ERROR 0x2 - -#define PackageSampleMaxLngth 0x100 -typedef enum { - CT_Normal = 0, - CT_RingStart = 1, - CT_Tail, -}CT; -#define Node_Default_Quality (10<<2) -#define Node_Sync 1 -#define Node_NotSync 2 -#define PackagePaidBytes 10 -#define PH 0x55AA - -#if defined(_WIN32) -#pragma pack(1) -#endif - -struct node_info { - uint8_t sync_quality; - uint16_t angle_q6_checkbit; - uint16_t distance_q2; -} __attribute__((packed)) ; - -struct PackageNode { - uint8_t PakageSampleQuality; - uint16_t PakageSampleDistance; -}__attribute__((packed)); - -struct node_package { - uint16_t package_Head; - uint8_t package_CT; - uint8_t nowPackageNum; - uint16_t packageFirstSampleAngle; - uint16_t packageLastSampleAngle; - uint16_t checkSum; - PackageNode packageSample[PackageSampleMaxLngth]; -} __attribute__((packed)) ; - -struct node_packages { - uint16_t package_Head; - uint8_t package_CT; - uint8_t nowPackageNum; - uint16_t packageFirstSampleAngle; - uint16_t packageLastSampleAngle; - uint16_t checkSum; - uint16_t packageSampleDistance[PackageSampleMaxLngth]; -} __attribute__((packed)) ; - - -struct device_info{ - uint8_t model; - uint16_t firmware_version; - uint8_t hardware_version; - uint8_t serialnum[16]; -} __attribute__((packed)) ; - -struct device_health { - uint8_t status; - uint16_t error_code; -} __attribute__((packed)) ; - -struct sampling_rate { - uint8_t rate; -} __attribute__((packed)) ; - -struct scan_frequency { - uint32_t frequency; -} __attribute__((packed)) ; - -struct scan_rotation { - uint8_t rotation; -} __attribute__((packed)) ; - -struct cmd_packet { - uint8_t syncByte; - uint8_t cmd_flag; - uint8_t size; - uint8_t data; -} __attribute__((packed)) ; - -struct lidar_ans_header { - uint8_t syncByte1; - uint8_t syncByte2; - uint32_t size:30; - uint32_t subType:2; - uint8_t type; -} __attribute__((packed)); - -struct scanDot { - uint8_t quality; - float angle; - float dist; -}; - - -//! A struct for returning configuration from the YDLIDAR -struct LaserConfig { - //! Start angle for the laser scan [rad]. 0 is forward and angles are measured clockwise when viewing YDLIDAR from the top. - float min_angle; - //! Stop angle for the laser scan [rad]. 0 is forward and angles are measured clockwise when viewing YDLIDAR from the top. - float max_angle; - //! Scan resolution [rad]. - float ang_increment; - //! Scan resoltuion [s] - float time_increment; - //! Time between scans - float scan_time; - //! Minimum range [m] - float min_range; - //! Maximum range [m] - float max_range; - //! Range Resolution [m] - float range_res; -}; - - -//! A struct for returning laser readings from the YDLIDAR -struct LaserScan { - //! Array of ranges - std::vector ranges; - //! Array of intensities - std::vector intensities; - //! Self reported time stamp in nanoseconds - uint64_t self_time_stamp; - //! System time when first range was measured in nanoseconds - uint64_t system_time_stamp; - //! Configuration of scan - LaserConfig config; -}; - -using namespace std; -using namespace serial; - - -namespace ydlidar{ - - class YDlidarDriver - { - public: - static YDlidarDriver* singleton(){ - return _impl; - } - static void initDriver(){ - _impl = new YDlidarDriver; - } - static void done(){ - if(_impl){ - delete _impl; - _impl = NULL; - } - } - - result_t connect(const char * port_path, uint32_t baudrate); - void disconnect(); - const std::string getSDKVersion(); - void setIntensities(const bool isintensities); - result_t getHealth(device_health & health, uint32_t timeout = DEFAULT_TIMEOUT); - result_t getDeviceInfo(device_info & info, uint32_t timeout = DEFAULT_TIMEOUT); - result_t startScan(bool force = false, uint32_t timeout = DEFAULT_TIMEOUT) ; - result_t stop(); - result_t grabScanData(node_info * nodebuffer, size_t & count, uint32_t timeout = DEFAULT_TIMEOUT) ; - result_t ascendScanData(node_info * nodebuffer, size_t count); - void simpleScanData(std::vector * scan_data , node_info *buffer, size_t count); - - result_t reset(uint32_t timeout = DEFAULT_TIMEOUT); - result_t startMotor(); - result_t stopMotor(); - result_t getScanFrequency(scan_frequency & frequency, uint32_t timeout = DEFAULT_TIMEOUT); - result_t setScanFrequencyAdd(scan_frequency & frequency, uint32_t timeout = DEFAULT_TIMEOUT); - result_t setScanFrequencyDis(scan_frequency & frequency, uint32_t timeout = DEFAULT_TIMEOUT); - result_t setScanFrequencyAddMic(scan_frequency & frequency, uint32_t timeout = DEFAULT_TIMEOUT); - result_t setScanFrequencyDisMic(scan_frequency & frequency, uint32_t timeout = DEFAULT_TIMEOUT); - result_t getSamplingRate(sampling_rate & rate, uint32_t timeout = DEFAULT_TIMEOUT); - result_t setSamplingRate(sampling_rate & rate, uint32_t timeout = DEFAULT_TIMEOUT); - result_t setRotationPositive(scan_rotation & rotation, uint32_t timeout = DEFAULT_TIMEOUT); - result_t setRotationInversion(scan_rotation & rotation, uint32_t timeout = DEFAULT_TIMEOUT); - - protected: - YDlidarDriver(); - virtual ~YDlidarDriver(); - - result_t createThread(); - result_t waitPackage(node_info * node, uint32_t timeout = DEFAULT_TIMEOUT); - result_t waitScanData(node_info * nodebuffer, size_t & count, uint32_t timeout = DEFAULT_TIMEOUT); - int cacheScanData(); - result_t sendCommand(uint8_t cmd, const void * payload = NULL, size_t payloadsize = 0); - result_t waitResponseHeader(lidar_ans_header * header, uint32_t timeout = DEFAULT_TIMEOUT); - result_t waitForData(size_t data_count,uint32_t timeout = -1, size_t * returned_size = NULL); - result_t getData(uint8_t * data, size_t size); - result_t sendData(const uint8_t * data, size_t size); - void disableDataGrabbing(); - void setDTR(); - void clearDTR(); - - - public: - bool isConnected; - bool isScanning; - - enum { - DEFAULT_TIMEOUT = 2000, - MAX_SCAN_NODES = 2048, - }; - enum { - YDLIDAR_F4=1, - YDLIDAR_T1=2, - YDLIDAR_F2=3, - YDLIDAR_S4=4, - YDLIDAR_G4=5, - YDLIDAR_X4=6, - }; - node_info scan_node_buf[2048]; - size_t scan_node_count; - Locker _scanning_lock; - Event _dataEvent; - Locker _lock; - Thread _thread; - - private: - static int PackageSampleBytes; - static YDlidarDriver* _impl; - serial::Serial *_serial; - bool m_intensities; - int _sampling_rate; - uint32_t _baudrate; - bool isSupportMotorCtrl; - - }; -} - -#endif // YDLIDAR_DRIVER_H +#ifndef YDLIDAR_DRIVER_H +#define YDLIDAR_DRIVER_H + +#include "locker.h" +#include "serial.h" +#include "thread.h" + +#if !defined(__cplusplus) +#ifndef __cplusplus +#error "The YDLIDAR SDK requires a C++ compiler to be built" +#endif +#endif +#if !defined(_countof) +#define _countof(_Array) (int)(sizeof(_Array) / sizeof(_Array[0])) +#endif + +#define LIDAR_CMD_STOP 0x65 +#define LIDAR_CMD_SCAN 0x60 +#define LIDAR_CMD_FORCE_SCAN 0x61 +#define LIDAR_CMD_RESET 0x80 +#define LIDAR_CMD_FORCE_STOP 0x00 +#define LIDAR_CMD_GET_EAI 0x55 +#define LIDAR_CMD_GET_DEVICE_INFO 0x90 +#define LIDAR_CMD_GET_DEVICE_HEALTH 0x92 +#define LIDAR_ANS_TYPE_DEVINFO 0x4 +#define LIDAR_ANS_TYPE_DEVHEALTH 0x6 +#define LIDAR_CMD_SYNC_BYTE 0xA5 +#define LIDAR_CMDFLAG_HAS_PAYLOAD 0x80 +#define LIDAR_ANS_SYNC_BYTE1 0xA5 +#define LIDAR_ANS_SYNC_BYTE2 0x5A +#define LIDAR_ANS_TYPE_MEASUREMENT 0x81 +#define LIDAR_RESP_MEASUREMENT_SYNCBIT (0x1<<0) +#define LIDAR_RESP_MEASUREMENT_QUALITY_SHIFT 2 +#define LIDAR_RESP_MEASUREMENT_CHECKBIT (0x1<<0) +#define LIDAR_RESP_MEASUREMENT_ANGLE_SHIFT 1 + +#define LIDAR_CMD_RUN_POSITIVE 0x06 +#define LIDAR_CMD_RUN_INVERSION 0x07 +#define LIDAR_CMD_SET_AIMSPEED_ADDMIC 0x09 +#define LIDAR_CMD_SET_AIMSPEED_DISMIC 0x0A +#define LIDAR_CMD_SET_AIMSPEED_ADD 0x0B +#define LIDAR_CMD_SET_AIMSPEED_DIS 0x0C +#define LIDAR_CMD_GET_AIMSPEED 0x0D + +#define LIDAR_CMD_SET_SAMPLING_RATE 0xD0 +#define LIDAR_CMD_GET_SAMPLING_RATE 0xD1 +#define LIDAR_STATUS_OK 0x0 +#define LIDAR_STATUS_WARNING 0x1 +#define LIDAR_STATUS_ERROR 0x2 + +#define PackageSampleMaxLngth 0x100 +typedef enum { + CT_Normal = 0, + CT_RingStart = 1, + CT_Tail, +}CT; +#define Node_Default_Quality (10<<2) +#define Node_Sync 1 +#define Node_NotSync 2 +#define PackagePaidBytes 10 +#define PH 0x55AA + +#if defined(_WIN32) +#pragma pack(1) +#endif + +struct node_info { + uint8_t sync_quality; + uint16_t angle_q6_checkbit; + uint16_t distance_q2; +} __attribute__((packed)) ; + +struct PackageNode { + uint8_t PakageSampleQuality; + uint16_t PakageSampleDistance; +}__attribute__((packed)); + +struct node_package { + uint16_t package_Head; + uint8_t package_CT; + uint8_t nowPackageNum; + uint16_t packageFirstSampleAngle; + uint16_t packageLastSampleAngle; + uint16_t checkSum; + PackageNode packageSample[PackageSampleMaxLngth]; +} __attribute__((packed)) ; + +struct node_packages { + uint16_t package_Head; + uint8_t package_CT; + uint8_t nowPackageNum; + uint16_t packageFirstSampleAngle; + uint16_t packageLastSampleAngle; + uint16_t checkSum; + uint16_t packageSampleDistance[PackageSampleMaxLngth]; +} __attribute__((packed)) ; + + +struct device_info{ + uint8_t model; + uint16_t firmware_version; + uint8_t hardware_version; + uint8_t serialnum[16]; +} __attribute__((packed)) ; + +struct device_health { + uint8_t status; + uint16_t error_code; +} __attribute__((packed)) ; + +struct sampling_rate { + uint8_t rate; +} __attribute__((packed)) ; + +struct scan_frequency { + uint32_t frequency; +} __attribute__((packed)) ; + +struct scan_rotation { + uint8_t rotation; +} __attribute__((packed)) ; + +struct cmd_packet { + uint8_t syncByte; + uint8_t cmd_flag; + uint8_t size; + uint8_t data; +} __attribute__((packed)) ; + +struct lidar_ans_header { + uint8_t syncByte1; + uint8_t syncByte2; + uint32_t size:30; + uint32_t subType:2; + uint8_t type; +} __attribute__((packed)); + +struct scanDot { + uint8_t quality; + float angle; + float dist; +}; + + +//! A struct for returning configuration from the YDLIDAR +struct LaserConfig { + //! Start angle for the laser scan [rad]. 0 is forward and angles are measured clockwise when viewing YDLIDAR from the top. + float min_angle; + //! Stop angle for the laser scan [rad]. 0 is forward and angles are measured clockwise when viewing YDLIDAR from the top. + float max_angle; + //! Scan resolution [rad]. + float ang_increment; + //! Scan resoltuion [s] + float time_increment; + //! Time between scans + float scan_time; + //! Minimum range [m] + float min_range; + //! Maximum range [m] + float max_range; + //! Range Resolution [m] + float range_res; +}; + + +//! A struct for returning laser readings from the YDLIDAR +struct LaserScan { + //! Array of ranges + std::vector ranges; + //! Array of intensities + std::vector intensities; + //! Self reported time stamp in nanoseconds + uint64_t self_time_stamp; + //! System time when first range was measured in nanoseconds + uint64_t system_time_stamp; + //! Configuration of scan + LaserConfig config; +}; + +using namespace std; +using namespace serial; + + +namespace ydlidar{ + + class YDlidarDriver + { + public: + static YDlidarDriver* singleton(){ + return _impl; + } + static void initDriver(){ + _impl = new YDlidarDriver; + } + static void done(){ + if(_impl){ + delete _impl; + _impl = NULL; + } + } + + result_t connect(const char * port_path, uint32_t baudrate); + void disconnect(); + const std::string getSDKVersion(); + void setIntensities(const bool isintensities); + result_t getHealth(device_health & health, uint32_t timeout = DEFAULT_TIMEOUT); + result_t getDeviceInfo(device_info & info, uint32_t timeout = DEFAULT_TIMEOUT); + result_t startScan(bool force = false, uint32_t timeout = DEFAULT_TIMEOUT) ; + result_t stop(); + result_t grabScanData(node_info * nodebuffer, size_t & count, uint32_t timeout = DEFAULT_TIMEOUT) ; + result_t ascendScanData(node_info * nodebuffer, size_t count); + void simpleScanData(std::vector * scan_data , node_info *buffer, size_t count); + + result_t reset(uint32_t timeout = DEFAULT_TIMEOUT); + result_t startMotor(); + result_t stopMotor(); + result_t getScanFrequency(scan_frequency & frequency, uint32_t timeout = DEFAULT_TIMEOUT); + result_t setScanFrequencyAdd(scan_frequency & frequency, uint32_t timeout = DEFAULT_TIMEOUT); + result_t setScanFrequencyDis(scan_frequency & frequency, uint32_t timeout = DEFAULT_TIMEOUT); + result_t setScanFrequencyAddMic(scan_frequency & frequency, uint32_t timeout = DEFAULT_TIMEOUT); + result_t setScanFrequencyDisMic(scan_frequency & frequency, uint32_t timeout = DEFAULT_TIMEOUT); + result_t getSamplingRate(sampling_rate & rate, uint32_t timeout = DEFAULT_TIMEOUT); + result_t setSamplingRate(sampling_rate & rate, uint32_t timeout = DEFAULT_TIMEOUT); + result_t setRotationPositive(scan_rotation & rotation, uint32_t timeout = DEFAULT_TIMEOUT); + result_t setRotationInversion(scan_rotation & rotation, uint32_t timeout = DEFAULT_TIMEOUT); + + protected: + YDlidarDriver(); + virtual ~YDlidarDriver(); + + result_t createThread(); + result_t waitPackage(node_info * node, uint32_t timeout = DEFAULT_TIMEOUT); + result_t waitScanData(node_info * nodebuffer, size_t & count, uint32_t timeout = DEFAULT_TIMEOUT); + int cacheScanData(); + result_t sendCommand(uint8_t cmd, const void * payload = NULL, size_t payloadsize = 0); + result_t waitResponseHeader(lidar_ans_header * header, uint32_t timeout = DEFAULT_TIMEOUT); + result_t waitForData(size_t data_count,uint32_t timeout = -1, size_t * returned_size = NULL); + result_t getData(uint8_t * data, size_t size); + result_t sendData(const uint8_t * data, size_t size); + void disableDataGrabbing(); + void setDTR(); + void clearDTR(); + + + public: + bool isConnected; + bool isScanning; + + enum { + DEFAULT_TIMEOUT = 2000, + MAX_SCAN_NODES = 2048, + }; + enum { + YDLIDAR_F4=1, + YDLIDAR_T1=2, + YDLIDAR_F2=3, + YDLIDAR_S4=4, + YDLIDAR_G4=5, + YDLIDAR_X4=6, + }; + node_info scan_node_buf[2048]; + size_t scan_node_count; + Locker _scanning_lock; + Event _dataEvent; + Locker _lock; + Thread _thread; + + private: + static int PackageSampleBytes; + static YDlidarDriver* _impl; + serial::Serial *_serial; + bool m_intensities; + int _sampling_rate; + uint32_t _baudrate; + bool isSupportMotorCtrl; + + }; +} + +#endif // YDLIDAR_DRIVER_H diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/sdk/src/common.h b/Code/MowingRobot/pibot_ros/ros_ws/src/ydlidar-1.2.1/sdk/src/common.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/sdk/src/common.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/ydlidar-1.2.1/sdk/src/common.h diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/sdk/src/impl/list_ports/list_ports_linux.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/ydlidar-1.2.1/sdk/src/impl/list_ports/list_ports_linux.cpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/sdk/src/impl/list_ports/list_ports_linux.cpp rename to Code/MowingRobot/pibot_ros/ros_ws/src/ydlidar-1.2.1/sdk/src/impl/list_ports/list_ports_linux.cpp diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/sdk/src/impl/list_ports/list_ports_osx.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/ydlidar-1.2.1/sdk/src/impl/list_ports/list_ports_osx.cpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/sdk/src/impl/list_ports/list_ports_osx.cpp rename to Code/MowingRobot/pibot_ros/ros_ws/src/ydlidar-1.2.1/sdk/src/impl/list_ports/list_ports_osx.cpp diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/sdk/src/impl/list_ports/list_ports_win.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/ydlidar-1.2.1/sdk/src/impl/list_ports/list_ports_win.cpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/sdk/src/impl/list_ports/list_ports_win.cpp rename to Code/MowingRobot/pibot_ros/ros_ws/src/ydlidar-1.2.1/sdk/src/impl/list_ports/list_ports_win.cpp diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/sdk/src/impl/unix/unix.h b/Code/MowingRobot/pibot_ros/ros_ws/src/ydlidar-1.2.1/sdk/src/impl/unix/unix.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/sdk/src/impl/unix/unix.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/ydlidar-1.2.1/sdk/src/impl/unix/unix.h diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/sdk/src/impl/unix/unix_serial.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/ydlidar-1.2.1/sdk/src/impl/unix/unix_serial.cpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/sdk/src/impl/unix/unix_serial.cpp rename to Code/MowingRobot/pibot_ros/ros_ws/src/ydlidar-1.2.1/sdk/src/impl/unix/unix_serial.cpp diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/sdk/src/impl/unix/unix_serial.h b/Code/MowingRobot/pibot_ros/ros_ws/src/ydlidar-1.2.1/sdk/src/impl/unix/unix_serial.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/sdk/src/impl/unix/unix_serial.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/ydlidar-1.2.1/sdk/src/impl/unix/unix_serial.h diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/sdk/src/impl/unix/unix_timer.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/ydlidar-1.2.1/sdk/src/impl/unix/unix_timer.cpp similarity index 94% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/sdk/src/impl/unix/unix_timer.cpp rename to Code/MowingRobot/pibot_ros/ros_ws/src/ydlidar-1.2.1/sdk/src/impl/unix/unix_timer.cpp index 1c78d83..0be8222 100644 --- a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/sdk/src/impl/unix/unix_timer.cpp +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/ydlidar-1.2.1/sdk/src/impl/unix/unix_timer.cpp @@ -1,18 +1,18 @@ -#if !defined(_WIN32) -#include "unix_timer.h" - -namespace impl{ - uint64_t f_getus() { - struct timespec t; - t.tv_sec = t.tv_nsec = 0; - clock_gettime(CLOCK_MONOTONIC, &t); - return t.tv_sec*1000000LL + t.tv_nsec/1000; - } - uint32_t f_getms() { - struct timespec t; - t.tv_sec = t.tv_nsec = 0; - clock_gettime(CLOCK_MONOTONIC, &t); - return t.tv_sec*1000L + t.tv_nsec/1000000L; - } -} +#if !defined(_WIN32) +#include "unix_timer.h" + +namespace impl{ + uint64_t f_getus() { + struct timespec t; + t.tv_sec = t.tv_nsec = 0; + clock_gettime(CLOCK_MONOTONIC, &t); + return t.tv_sec*1000000LL + t.tv_nsec/1000; + } + uint32_t f_getms() { + struct timespec t; + t.tv_sec = t.tv_nsec = 0; + clock_gettime(CLOCK_MONOTONIC, &t); + return t.tv_sec*1000L + t.tv_nsec/1000000L; + } +} #endif \ No newline at end of file diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/sdk/src/impl/unix/unix_timer.h b/Code/MowingRobot/pibot_ros/ros_ws/src/ydlidar-1.2.1/sdk/src/impl/unix/unix_timer.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/sdk/src/impl/unix/unix_timer.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/ydlidar-1.2.1/sdk/src/impl/unix/unix_timer.h diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/sdk/src/impl/windows/win.h b/Code/MowingRobot/pibot_ros/ros_ws/src/ydlidar-1.2.1/sdk/src/impl/windows/win.h similarity index 93% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/sdk/src/impl/windows/win.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/ydlidar-1.2.1/sdk/src/impl/windows/win.h index 6e5d8a8..0d25852 100644 --- a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/sdk/src/impl/windows/win.h +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/ydlidar-1.2.1/sdk/src/impl/windows/win.h @@ -1,11 +1,11 @@ -#pragma once - -#include -#include -#include -#include -#include -#include - -#include "win_timer.h" - +#pragma once + +#include +#include +#include +#include +#include +#include + +#include "win_timer.h" + diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/sdk/src/impl/windows/win_serial.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/ydlidar-1.2.1/sdk/src/impl/windows/win_serial.cpp similarity index 95% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/sdk/src/impl/windows/win_serial.cpp rename to Code/MowingRobot/pibot_ros/ros_ws/src/ydlidar-1.2.1/sdk/src/impl/windows/win_serial.cpp index 737631a..1dfe8e8 100644 --- a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/sdk/src/impl/windows/win_serial.cpp +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/ydlidar-1.2.1/sdk/src/impl/windows/win_serial.cpp @@ -1,747 +1,747 @@ -#if defined(_WIN32) - -#include "win_serial.h" - -namespace serial { - - static inline void set_common_props(DCB *dcb) { - dcb->fBinary = TRUE; - dcb->fAbortOnError = FALSE; - dcb->fNull = FALSE; - dcb->fErrorChar = FALSE; - - if (dcb->fDtrControl == DTR_CONTROL_HANDSHAKE){ - dcb->fDtrControl = DTR_CONTROL_DISABLE; - } - - if (dcb->fRtsControl != RTS_CONTROL_HANDSHAKE){ - dcb->fRtsControl = RTS_CONTROL_DISABLE; - } - } - - static inline void set_baudrate(DCB *dcb, unsigned long baudrate) { - // setup baud rate - switch (baudrate) { -#ifdef CBR_0 - case 0: dcb->BaudRate = CBR_0; break; -#endif -#ifdef CBR_50 - case 50: dcb->BaudRate = CBR_50; break; -#endif -#ifdef CBR_75 - case 75: dcb->BaudRate = CBR_75; break; -#endif -#ifdef CBR_110 - case 110: dcb->BaudRate = CBR_110; break; -#endif -#ifdef CBR_134 - case 134: dcb->BaudRate = CBR_134; break; -#endif -#ifdef CBR_150 - case 150: dcb->BaudRate = CBR_150; break; -#endif -#ifdef CBR_200 - case 200: dcb->BaudRate = CBR_200; break; -#endif -#ifdef CBR_300 - case 300: dcb->BaudRate = CBR_300; break; -#endif -#ifdef CBR_600 - case 600: dcb->BaudRate = CBR_600; break; -#endif -#ifdef CBR_1200 - case 1200: dcb->BaudRate = CBR_1200; break; -#endif -#ifdef CBR_1800 - case 1800: dcb->BaudRate = CBR_1800; break; -#endif -#ifdef CBR_2400 - case 2400: dcb->BaudRate = CBR_2400; break; -#endif -#ifdef CBR_4800 - case 4800: dcb->BaudRate = CBR_4800; break; -#endif -#ifdef CBR_7200 - case 7200: dcb->BaudRate = CBR_7200; break; -#endif -#ifdef CBR_9600 - case 9600: dcb->BaudRate = CBR_9600; break; -#endif -#ifdef CBR_14400 - case 14400: dcb->BaudRate = CBR_14400; break; -#endif -#ifdef CBR_19200 - case 19200: dcb->BaudRate = CBR_19200; break; -#endif -#ifdef CBR_28800 - case 28800: dcb->BaudRate = CBR_28800; break; -#endif -#ifdef CBR_57600 - case 57600: dcb->BaudRate = CBR_57600; break; -#endif -#ifdef CBR_76800 - case 76800: dcb->BaudRate = CBR_76800; break; -#endif -#ifdef CBR_38400 - case 38400: dcb->BaudRate = CBR_38400; break; -#endif -#ifdef CBR_115200 - case 115200: dcb->BaudRate = CBR_115200; break; -#endif -#ifdef CBR_128000 - case 128000: dcb->BaudRate = CBR_128000; break; -#endif -#ifdef CBR_153600 - case 153600: dcb->BaudRate = CBR_153600; break; -#endif -#ifdef CBR_230400 - case 230400: dcb->BaudRate = CBR_230400; break; -#endif -#ifdef CBR_256000 - case 256000: dcb->BaudRate = CBR_256000; break; -#endif -#ifdef CBR_460800 - case 460800: dcb->BaudRate = CBR_460800; break; -#endif -#ifdef CBR_921600 - case 921600: dcb->BaudRate = CBR_921600; break; -#endif - default: - // Try to blindly assign it - dcb->BaudRate = baudrate; - } - } - - static inline void set_databits(DCB *dcb, serial::bytesize_t bytesize) { - switch (bytesize) { - case serial::fivebits: - dcb->ByteSize = 5; - break; - case serial::sixbits: - dcb->ByteSize = 6; - break; - case serial::sevenbits: - dcb->ByteSize = 7; - break; - case serial::eightbits: - dcb->ByteSize = 8; - break; - default: - dcb->ByteSize = 8; - break; - } - } - - static inline void set_parity(DCB *dcb, serial::parity_t parity) { - dcb->fParity = TRUE; - switch (parity) { - case serial::parity_none: - dcb->Parity = NOPARITY; - dcb->fParity = FALSE; - break; - case serial::parity_odd: - dcb->Parity = ODDPARITY; - break; - case serial::parity_even: - dcb->Parity = EVENPARITY; - break; - case serial::parity_mark: - dcb->Parity = MARKPARITY; - break; - case serial::parity_space: - dcb->Parity = SPACEPARITY; - break; - default: - dcb->Parity = NOPARITY; - dcb->fParity = FALSE; - break; - } - } - - static inline void set_stopbits(DCB *dcb, serial::stopbits_t stopbits) { - switch (stopbits) { - case serial::stopbits_one: - dcb->StopBits = ONESTOPBIT; - break; - case serial::stopbits_one_point_five: - dcb->StopBits = ONE5STOPBITS; - break; - case serial::stopbits_two: - dcb->StopBits = TWOSTOPBITS; - break; - default: - dcb->StopBits = ONESTOPBIT; - break; - } - } - - static inline void set_flowcontrol(DCB *dcb, serial::flowcontrol_t flowcontrol) { - dcb->fInX = FALSE; - dcb->fOutX = FALSE; - dcb->fOutxCtsFlow = FALSE; - if (dcb->fRtsControl == RTS_CONTROL_HANDSHAKE){ - dcb->fRtsControl = RTS_CONTROL_DISABLE; - } - switch (flowcontrol) { - case serial::flowcontrol_none: - break; - case serial::flowcontrol_software: - dcb->fInX = TRUE; - dcb->fOutX = TRUE; - break; - case serial::flowcontrol_hardware: - dcb->fOutxCtsFlow = TRUE; - dcb->fRtsControl = RTS_CONTROL_HANDSHAKE; - break; - default: - break; - } - } - - inline wstring _prefix_port_if_needed(const wstring &input){ - static wstring windows_com_port_prefix = L"\\\\.\\"; - if (input.compare(windows_com_port_prefix) != 0) { - return windows_com_port_prefix + input; - } - return input; - } - - Serial::SerialImpl::SerialImpl (const string &port, unsigned long baudrate, - bytesize_t bytesize, - parity_t parity, stopbits_t stopbits, - flowcontrol_t flowcontrol) - : port_ (port.begin(), port.end()), fd_ (INVALID_HANDLE_VALUE), is_open_ (false), - baudrate_ (baudrate), parity_ (parity), - bytesize_ (bytesize), stopbits_ (stopbits), flowcontrol_ (flowcontrol) - { - if (port_.empty () == false){ - open (); - } - read_mutex = CreateMutex(NULL, false, NULL); - write_mutex = CreateMutex(NULL, false, NULL); - memset(&_wait_o, 0, sizeof(_wait_o)); - - _wait_o.hEvent = CreateEvent(NULL, TRUE, FALSE, NULL); - } - - Serial::SerialImpl::~SerialImpl () { - this->close(); - CloseHandle(_wait_o.hEvent); - CloseHandle(read_mutex); - CloseHandle(write_mutex); - } - - bool Serial::SerialImpl::open () { - if (port_.empty ()) { - return false; - } - if (is_open_ == true) { - return true; - } - - wstring port_with_prefix = _prefix_port_if_needed(port_); - LPCWSTR lp_port = port_with_prefix.c_str(); - fd_ = CreateFileW(lp_port, - GENERIC_READ | GENERIC_WRITE, - 0, - 0, - OPEN_EXISTING, - FILE_ATTRIBUTE_NORMAL, - 0); - - if (fd_ == INVALID_HANDLE_VALUE) { - DWORD errno_ = GetLastError(); - switch (errno_) { - case ERROR_FILE_NOT_FOUND: - default: - return false; - - } - } - - - - if(reconfigurePort()) - { - is_open_ = true; - return true; - } - ::CloseHandle(fd_); - return false; - - } - - bool Serial::SerialImpl::reconfigurePort () { - if (fd_ == INVALID_HANDLE_VALUE) { - // Can only operate on a valid file descriptor - return false; - } - - DCB dcb; - if (!getDcb(&dcb)){ - return false; - } - - set_common_props(&dcb); - set_baudrate(&dcb, baudrate_); - set_databits(&dcb, bytesize_); - set_parity(&dcb, parity_); - set_stopbits(&dcb, stopbits_); - set_flowcontrol(&dcb, flowcontrol_); - - if (!setDcb(&dcb)){ - return false; - } - - setTimeout(timeout_); - - return true; - - } - - void Serial::SerialImpl::close () { - ResetEvent(_wait_o.hEvent); - if (is_open_ == true) { - if (fd_ != INVALID_HANDLE_VALUE) { - ::CancelIo(fd_); - int ret; - ret = CloseHandle(fd_); - } - fd_ = INVALID_HANDLE_VALUE; - is_open_ = false; - } - } - - bool Serial::SerialImpl::isOpen () const{ - return is_open_; - } - - size_t Serial::SerialImpl::available () { - if (!is_open_) { - return 0; - } - COMSTAT cs; - DWORD error; - if (ClearCommError(fd_, &error, &cs) && error >0) { - PurgeComm(fd_, PURGE_RXABORT | PURGE_RXCLEAR); - return 0; - } - return static_cast(cs.cbInQue); - } - - bool Serial::SerialImpl::waitReadable (uint32_t /*timeout*/) { - return false; - } - - void Serial::SerialImpl::waitByteTimes (size_t /*count*/) { - return ; - } - - size_t Serial::SerialImpl::waitfordata(size_t data_count, uint32_t timeout, size_t * returned_size) { - if (!is_open_) { - return 0; - } - size_t length = 0; - if (returned_size==NULL) returned_size=(size_t *)&length; - *returned_size = 0; - - if ( is_open_) { - size_t queue_remaining = available(); - if (queue_remaining >= data_count) { - *returned_size = queue_remaining; - return 0; - } - } - - COMSTAT stat; - DWORD error; - DWORD msk,lengths; - while ( is_open_ ) - { - msk = 0; - SetCommMask(fd_, EV_RXCHAR | EV_ERR ); - if(!WaitCommEvent(fd_, &msk, &_wait_o)) - { - if(GetLastError() == ERROR_IO_PENDING) - { - if (WaitForSingleObject(_wait_o.hEvent, timeout) == WAIT_TIMEOUT) { - *returned_size =0; - return -1; - } - - GetOverlappedResult(fd_, &_wait_o, &lengths, TRUE); - - ::ResetEvent(_wait_o.hEvent); - }else{ - ClearCommError(fd_, &error, &stat); - *returned_size = stat.cbInQue; - return -2; - } - } - - if(msk & EV_ERR){ - // FIXME: may cause problem here - ClearCommError(fd_, &error, &stat); - } - - if(msk & EV_RXCHAR){ - ClearCommError(fd_, &error, &stat); - if(stat.cbInQue >= data_count){ - *returned_size = stat.cbInQue; - return 0; - } - } - } - *returned_size=0; - return -2; - } - - - size_t Serial::SerialImpl::read (uint8_t *buf, size_t size){ - if (!is_open_) { - return 0; - } - DWORD bytes_read; - if (!ReadFile(fd_, buf, static_cast(size), &bytes_read, NULL)) { - if(GetLastError() == ERROR_IO_PENDING) { - if(!GetOverlappedResult(fd_, NULL, &bytes_read, FALSE)){ - if(GetLastError() != ERROR_IO_INCOMPLETE){ - return 0; - } - } - } - return 0; - } - return (size_t) (bytes_read); - } - - size_t Serial::SerialImpl::write (const uint8_t *data, size_t length) { - if (is_open_ == false) { - return 0; - } - if (data == NULL || length ==0) return 0; - DWORD error; - if(ClearCommError(fd_, &error, NULL) && error > 0){ - PurgeComm(fd_, PURGE_TXABORT | PURGE_TXCLEAR); - } - DWORD bytes_written; - if (!WriteFile(fd_, data, static_cast(length), &bytes_written, NULL)) { - return 0; - } - return (size_t) (bytes_written); - } - - void Serial::SerialImpl::setPort (const string &port) { - port_ = wstring(port.begin(), port.end()); - } - - string Serial::SerialImpl::getPort () const { - return string(port_.begin(), port_.end()); - } - - void Serial::SerialImpl::setTimeout (serial::Timeout &timeout) { - timeout_ = timeout; - if(fd_ == INVALID_HANDLE_VALUE){ - return; - } - // Setup timeouts - COMMTIMEOUTS timeouts = {0}; - timeouts.ReadIntervalTimeout = timeout_.inter_byte_timeout; - timeouts.ReadTotalTimeoutConstant = timeout_.read_timeout_constant; - timeouts.ReadTotalTimeoutMultiplier = timeout_.read_timeout_multiplier; - timeouts.WriteTotalTimeoutConstant = timeout_.write_timeout_constant; - timeouts.WriteTotalTimeoutMultiplier = timeout_.write_timeout_multiplier; - if (!SetCommTimeouts(fd_, &timeouts)) { - return; - } - - } - - serial::Timeout Serial::SerialImpl::getTimeout () const { - return timeout_; - } - - - bool Serial::SerialImpl::setDcb(DCB *dcb) { - if (!::SetCommState(fd_, dcb)) { - return false; - } - return true; - } - - bool Serial::SerialImpl::getDcb(DCB *dcb) { - ::ZeroMemory(dcb, sizeof(DCB)); - dcb->DCBlength = sizeof(DCB); - - if (!::GetCommState(fd_, dcb)) { - return false; - } - return true; - } - - - - bool Serial::SerialImpl::setBaudrate (unsigned long baudrate){ - DCB dcb; - if (!getDcb(&dcb)){ - return false; - } - baudrate_ = baudrate; - set_baudrate(&dcb, baudrate); - - return setDcb(&dcb); - } - - unsigned long Serial::SerialImpl::getBaudrate () const { - return baudrate_; - } - - bool Serial::SerialImpl::setBytesize (serial::bytesize_t bytesize) { - - DCB dcb; - if (!getDcb(&dcb)){ - return false; - } - bytesize_ = bytesize; - set_databits(&dcb, bytesize); - - return setDcb(&dcb); - } - - serial::bytesize_t Serial::SerialImpl::getBytesize () const { - return bytesize_; - } - - bool Serial::SerialImpl::setParity (serial::parity_t parity) { - - DCB dcb; - if(!getDcb(&dcb)){ - return false; - } - parity_ = parity; - set_parity(&dcb, parity); - - return setDcb(&dcb); - } - - serial::parity_t Serial::SerialImpl::getParity () const { - return parity_; - } - - bool Serial::SerialImpl::setStopbits (serial::stopbits_t stopbits) { - - DCB dcb; - if (!getDcb(&dcb)){ - return false; - } - stopbits_ = stopbits; - set_stopbits(&dcb, stopbits); - - return setDcb(&dcb); - } - - serial::stopbits_t Serial::SerialImpl::getStopbits () const { - return stopbits_; - } - - bool Serial::SerialImpl::setFlowcontrol (serial::flowcontrol_t flowcontrol) { - - DCB dcb; - if (!getDcb(&dcb)){ - return false; - } - flowcontrol_ = flowcontrol; - set_flowcontrol(&dcb, flowcontrol); - - return setDcb(&dcb); - } - - serial::flowcontrol_t Serial::SerialImpl::getFlowcontrol () const { - return flowcontrol_; - } - - void Serial::SerialImpl::flush () { - if (is_open_ == false) { - return; - } - //FlushFileBuffers (fd_); - PurgeComm(fd_, PURGE_TXABORT | PURGE_RXABORT | PURGE_TXCLEAR | PURGE_RXCLEAR ); - } - - void Serial::SerialImpl::flushInput () { - return; - } - - void Serial::SerialImpl::flushOutput () { - return; - } - - void Serial::SerialImpl::sendBreak (int duration) { - if (!setBreak(true)){ - return ; - } - - ::Sleep(duration); - - if (!setBreak(false)){ - return ; - } - - } - - bool Serial::SerialImpl::setBreak (bool level) { - if (is_open_ == false) { - return false; - } - if (level) { - //EscapeCommFunction (fd_, SETBREAK); - //::SetCommBreak(fd_); - if(::SetCommBreak(fd_) == FALSE){ - return false; - } - } else { - //::ClearCommBreak(fd_); - //EscapeCommFunction (fd_, CLRBREAK); - if(::ClearCommBreak(fd_) == FALSE){ - return false; - } - } - return true; - } - - bool Serial::SerialImpl::setRTS (bool level) { - if (is_open_ == false) { - return false; - } - if (level) { - //EscapeCommFunction (fd_, SETRTS); - if(EscapeCommFunction (fd_, SETRTS) == FALSE){ - return false; - } - } else { - //EscapeCommFunction (fd_, CLRRTS); - if(EscapeCommFunction (fd_, CLRRTS) == FALSE){ - return false; - } - } - return true; - } - - bool Serial::SerialImpl::setDTR (bool level) { - if (is_open_ == false) { - return false; - } - if (level) { - //EscapeCommFunction (fd_, SETDTR); - if(EscapeCommFunction (fd_, SETDTR) == FALSE){ - return false; - } - } else { - //EscapeCommFunction (fd_, CLRDTR); - if(EscapeCommFunction (fd_, CLRDTR) == FALSE){ - return false; - } - } - return true; - } - - bool Serial::SerialImpl::waitForChange () { - if (is_open_ == false) { - return false; - } - DWORD dwCommEvent; - - if (!SetCommMask(fd_, EV_CTS | EV_DSR | EV_RING | EV_RLSD)) { - // Error setting communications mask - return false; - } - - if (!WaitCommEvent(fd_, &dwCommEvent, NULL)) { - // An error occurred waiting for the event. - return false; - } else { - // Event has occurred. - return true; - } - } - - bool Serial::SerialImpl::getCTS () { - if (is_open_ == false) { - return false; - } - DWORD dwModemStatus; - if (!GetCommModemStatus(fd_, &dwModemStatus)) { - return false; - } - - return (MS_CTS_ON & dwModemStatus) != 0; - } - - bool Serial::SerialImpl::getDSR () { - if (is_open_ == false) { - return false; - } - DWORD dwModemStatus; - if (!GetCommModemStatus(fd_, &dwModemStatus)) { - return false; - } - - return (MS_DSR_ON & dwModemStatus) != 0; - } - - bool Serial::SerialImpl::getRI() { - if (is_open_ == false) { - return false; - } - DWORD dwModemStatus; - if (!GetCommModemStatus(fd_, &dwModemStatus)) { - return false; - } - - return (MS_RING_ON & dwModemStatus) != 0; - } - - bool Serial::SerialImpl::getCD() - { - if (is_open_ == false) { - return false; - } - DWORD dwModemStatus; - if (!GetCommModemStatus(fd_, &dwModemStatus)) { - // Error in GetCommModemStatus; - return false; - } - - return (MS_RLSD_ON & dwModemStatus) != 0; - } - - int Serial::SerialImpl::readLock() { - if (WaitForSingleObject(read_mutex, INFINITE) != WAIT_OBJECT_0) { - return 1; - } - return 0; - } - - int Serial::SerialImpl::readUnlock() { - if (!ReleaseMutex(read_mutex)) { - return 1; - } - return 0; - } - - int Serial::SerialImpl::writeLock() { - if (WaitForSingleObject(write_mutex, INFINITE) != WAIT_OBJECT_0) { - return 1; - } - return 0; - } - - int Serial::SerialImpl::writeUnlock() { - if (!ReleaseMutex(write_mutex)) { - return 1; - } - return 0; - } -} -#endif // #if defined(_WIN32) - +#if defined(_WIN32) + +#include "win_serial.h" + +namespace serial { + + static inline void set_common_props(DCB *dcb) { + dcb->fBinary = TRUE; + dcb->fAbortOnError = FALSE; + dcb->fNull = FALSE; + dcb->fErrorChar = FALSE; + + if (dcb->fDtrControl == DTR_CONTROL_HANDSHAKE){ + dcb->fDtrControl = DTR_CONTROL_DISABLE; + } + + if (dcb->fRtsControl != RTS_CONTROL_HANDSHAKE){ + dcb->fRtsControl = RTS_CONTROL_DISABLE; + } + } + + static inline void set_baudrate(DCB *dcb, unsigned long baudrate) { + // setup baud rate + switch (baudrate) { +#ifdef CBR_0 + case 0: dcb->BaudRate = CBR_0; break; +#endif +#ifdef CBR_50 + case 50: dcb->BaudRate = CBR_50; break; +#endif +#ifdef CBR_75 + case 75: dcb->BaudRate = CBR_75; break; +#endif +#ifdef CBR_110 + case 110: dcb->BaudRate = CBR_110; break; +#endif +#ifdef CBR_134 + case 134: dcb->BaudRate = CBR_134; break; +#endif +#ifdef CBR_150 + case 150: dcb->BaudRate = CBR_150; break; +#endif +#ifdef CBR_200 + case 200: dcb->BaudRate = CBR_200; break; +#endif +#ifdef CBR_300 + case 300: dcb->BaudRate = CBR_300; break; +#endif +#ifdef CBR_600 + case 600: dcb->BaudRate = CBR_600; break; +#endif +#ifdef CBR_1200 + case 1200: dcb->BaudRate = CBR_1200; break; +#endif +#ifdef CBR_1800 + case 1800: dcb->BaudRate = CBR_1800; break; +#endif +#ifdef CBR_2400 + case 2400: dcb->BaudRate = CBR_2400; break; +#endif +#ifdef CBR_4800 + case 4800: dcb->BaudRate = CBR_4800; break; +#endif +#ifdef CBR_7200 + case 7200: dcb->BaudRate = CBR_7200; break; +#endif +#ifdef CBR_9600 + case 9600: dcb->BaudRate = CBR_9600; break; +#endif +#ifdef CBR_14400 + case 14400: dcb->BaudRate = CBR_14400; break; +#endif +#ifdef CBR_19200 + case 19200: dcb->BaudRate = CBR_19200; break; +#endif +#ifdef CBR_28800 + case 28800: dcb->BaudRate = CBR_28800; break; +#endif +#ifdef CBR_57600 + case 57600: dcb->BaudRate = CBR_57600; break; +#endif +#ifdef CBR_76800 + case 76800: dcb->BaudRate = CBR_76800; break; +#endif +#ifdef CBR_38400 + case 38400: dcb->BaudRate = CBR_38400; break; +#endif +#ifdef CBR_115200 + case 115200: dcb->BaudRate = CBR_115200; break; +#endif +#ifdef CBR_128000 + case 128000: dcb->BaudRate = CBR_128000; break; +#endif +#ifdef CBR_153600 + case 153600: dcb->BaudRate = CBR_153600; break; +#endif +#ifdef CBR_230400 + case 230400: dcb->BaudRate = CBR_230400; break; +#endif +#ifdef CBR_256000 + case 256000: dcb->BaudRate = CBR_256000; break; +#endif +#ifdef CBR_460800 + case 460800: dcb->BaudRate = CBR_460800; break; +#endif +#ifdef CBR_921600 + case 921600: dcb->BaudRate = CBR_921600; break; +#endif + default: + // Try to blindly assign it + dcb->BaudRate = baudrate; + } + } + + static inline void set_databits(DCB *dcb, serial::bytesize_t bytesize) { + switch (bytesize) { + case serial::fivebits: + dcb->ByteSize = 5; + break; + case serial::sixbits: + dcb->ByteSize = 6; + break; + case serial::sevenbits: + dcb->ByteSize = 7; + break; + case serial::eightbits: + dcb->ByteSize = 8; + break; + default: + dcb->ByteSize = 8; + break; + } + } + + static inline void set_parity(DCB *dcb, serial::parity_t parity) { + dcb->fParity = TRUE; + switch (parity) { + case serial::parity_none: + dcb->Parity = NOPARITY; + dcb->fParity = FALSE; + break; + case serial::parity_odd: + dcb->Parity = ODDPARITY; + break; + case serial::parity_even: + dcb->Parity = EVENPARITY; + break; + case serial::parity_mark: + dcb->Parity = MARKPARITY; + break; + case serial::parity_space: + dcb->Parity = SPACEPARITY; + break; + default: + dcb->Parity = NOPARITY; + dcb->fParity = FALSE; + break; + } + } + + static inline void set_stopbits(DCB *dcb, serial::stopbits_t stopbits) { + switch (stopbits) { + case serial::stopbits_one: + dcb->StopBits = ONESTOPBIT; + break; + case serial::stopbits_one_point_five: + dcb->StopBits = ONE5STOPBITS; + break; + case serial::stopbits_two: + dcb->StopBits = TWOSTOPBITS; + break; + default: + dcb->StopBits = ONESTOPBIT; + break; + } + } + + static inline void set_flowcontrol(DCB *dcb, serial::flowcontrol_t flowcontrol) { + dcb->fInX = FALSE; + dcb->fOutX = FALSE; + dcb->fOutxCtsFlow = FALSE; + if (dcb->fRtsControl == RTS_CONTROL_HANDSHAKE){ + dcb->fRtsControl = RTS_CONTROL_DISABLE; + } + switch (flowcontrol) { + case serial::flowcontrol_none: + break; + case serial::flowcontrol_software: + dcb->fInX = TRUE; + dcb->fOutX = TRUE; + break; + case serial::flowcontrol_hardware: + dcb->fOutxCtsFlow = TRUE; + dcb->fRtsControl = RTS_CONTROL_HANDSHAKE; + break; + default: + break; + } + } + + inline wstring _prefix_port_if_needed(const wstring &input){ + static wstring windows_com_port_prefix = L"\\\\.\\"; + if (input.compare(windows_com_port_prefix) != 0) { + return windows_com_port_prefix + input; + } + return input; + } + + Serial::SerialImpl::SerialImpl (const string &port, unsigned long baudrate, + bytesize_t bytesize, + parity_t parity, stopbits_t stopbits, + flowcontrol_t flowcontrol) + : port_ (port.begin(), port.end()), fd_ (INVALID_HANDLE_VALUE), is_open_ (false), + baudrate_ (baudrate), parity_ (parity), + bytesize_ (bytesize), stopbits_ (stopbits), flowcontrol_ (flowcontrol) + { + if (port_.empty () == false){ + open (); + } + read_mutex = CreateMutex(NULL, false, NULL); + write_mutex = CreateMutex(NULL, false, NULL); + memset(&_wait_o, 0, sizeof(_wait_o)); + + _wait_o.hEvent = CreateEvent(NULL, TRUE, FALSE, NULL); + } + + Serial::SerialImpl::~SerialImpl () { + this->close(); + CloseHandle(_wait_o.hEvent); + CloseHandle(read_mutex); + CloseHandle(write_mutex); + } + + bool Serial::SerialImpl::open () { + if (port_.empty ()) { + return false; + } + if (is_open_ == true) { + return true; + } + + wstring port_with_prefix = _prefix_port_if_needed(port_); + LPCWSTR lp_port = port_with_prefix.c_str(); + fd_ = CreateFileW(lp_port, + GENERIC_READ | GENERIC_WRITE, + 0, + 0, + OPEN_EXISTING, + FILE_ATTRIBUTE_NORMAL, + 0); + + if (fd_ == INVALID_HANDLE_VALUE) { + DWORD errno_ = GetLastError(); + switch (errno_) { + case ERROR_FILE_NOT_FOUND: + default: + return false; + + } + } + + + + if(reconfigurePort()) + { + is_open_ = true; + return true; + } + ::CloseHandle(fd_); + return false; + + } + + bool Serial::SerialImpl::reconfigurePort () { + if (fd_ == INVALID_HANDLE_VALUE) { + // Can only operate on a valid file descriptor + return false; + } + + DCB dcb; + if (!getDcb(&dcb)){ + return false; + } + + set_common_props(&dcb); + set_baudrate(&dcb, baudrate_); + set_databits(&dcb, bytesize_); + set_parity(&dcb, parity_); + set_stopbits(&dcb, stopbits_); + set_flowcontrol(&dcb, flowcontrol_); + + if (!setDcb(&dcb)){ + return false; + } + + setTimeout(timeout_); + + return true; + + } + + void Serial::SerialImpl::close () { + ResetEvent(_wait_o.hEvent); + if (is_open_ == true) { + if (fd_ != INVALID_HANDLE_VALUE) { + ::CancelIo(fd_); + int ret; + ret = CloseHandle(fd_); + } + fd_ = INVALID_HANDLE_VALUE; + is_open_ = false; + } + } + + bool Serial::SerialImpl::isOpen () const{ + return is_open_; + } + + size_t Serial::SerialImpl::available () { + if (!is_open_) { + return 0; + } + COMSTAT cs; + DWORD error; + if (ClearCommError(fd_, &error, &cs) && error >0) { + PurgeComm(fd_, PURGE_RXABORT | PURGE_RXCLEAR); + return 0; + } + return static_cast(cs.cbInQue); + } + + bool Serial::SerialImpl::waitReadable (uint32_t /*timeout*/) { + return false; + } + + void Serial::SerialImpl::waitByteTimes (size_t /*count*/) { + return ; + } + + size_t Serial::SerialImpl::waitfordata(size_t data_count, uint32_t timeout, size_t * returned_size) { + if (!is_open_) { + return 0; + } + size_t length = 0; + if (returned_size==NULL) returned_size=(size_t *)&length; + *returned_size = 0; + + if ( is_open_) { + size_t queue_remaining = available(); + if (queue_remaining >= data_count) { + *returned_size = queue_remaining; + return 0; + } + } + + COMSTAT stat; + DWORD error; + DWORD msk,lengths; + while ( is_open_ ) + { + msk = 0; + SetCommMask(fd_, EV_RXCHAR | EV_ERR ); + if(!WaitCommEvent(fd_, &msk, &_wait_o)) + { + if(GetLastError() == ERROR_IO_PENDING) + { + if (WaitForSingleObject(_wait_o.hEvent, timeout) == WAIT_TIMEOUT) { + *returned_size =0; + return -1; + } + + GetOverlappedResult(fd_, &_wait_o, &lengths, TRUE); + + ::ResetEvent(_wait_o.hEvent); + }else{ + ClearCommError(fd_, &error, &stat); + *returned_size = stat.cbInQue; + return -2; + } + } + + if(msk & EV_ERR){ + // FIXME: may cause problem here + ClearCommError(fd_, &error, &stat); + } + + if(msk & EV_RXCHAR){ + ClearCommError(fd_, &error, &stat); + if(stat.cbInQue >= data_count){ + *returned_size = stat.cbInQue; + return 0; + } + } + } + *returned_size=0; + return -2; + } + + + size_t Serial::SerialImpl::read (uint8_t *buf, size_t size){ + if (!is_open_) { + return 0; + } + DWORD bytes_read; + if (!ReadFile(fd_, buf, static_cast(size), &bytes_read, NULL)) { + if(GetLastError() == ERROR_IO_PENDING) { + if(!GetOverlappedResult(fd_, NULL, &bytes_read, FALSE)){ + if(GetLastError() != ERROR_IO_INCOMPLETE){ + return 0; + } + } + } + return 0; + } + return (size_t) (bytes_read); + } + + size_t Serial::SerialImpl::write (const uint8_t *data, size_t length) { + if (is_open_ == false) { + return 0; + } + if (data == NULL || length ==0) return 0; + DWORD error; + if(ClearCommError(fd_, &error, NULL) && error > 0){ + PurgeComm(fd_, PURGE_TXABORT | PURGE_TXCLEAR); + } + DWORD bytes_written; + if (!WriteFile(fd_, data, static_cast(length), &bytes_written, NULL)) { + return 0; + } + return (size_t) (bytes_written); + } + + void Serial::SerialImpl::setPort (const string &port) { + port_ = wstring(port.begin(), port.end()); + } + + string Serial::SerialImpl::getPort () const { + return string(port_.begin(), port_.end()); + } + + void Serial::SerialImpl::setTimeout (serial::Timeout &timeout) { + timeout_ = timeout; + if(fd_ == INVALID_HANDLE_VALUE){ + return; + } + // Setup timeouts + COMMTIMEOUTS timeouts = {0}; + timeouts.ReadIntervalTimeout = timeout_.inter_byte_timeout; + timeouts.ReadTotalTimeoutConstant = timeout_.read_timeout_constant; + timeouts.ReadTotalTimeoutMultiplier = timeout_.read_timeout_multiplier; + timeouts.WriteTotalTimeoutConstant = timeout_.write_timeout_constant; + timeouts.WriteTotalTimeoutMultiplier = timeout_.write_timeout_multiplier; + if (!SetCommTimeouts(fd_, &timeouts)) { + return; + } + + } + + serial::Timeout Serial::SerialImpl::getTimeout () const { + return timeout_; + } + + + bool Serial::SerialImpl::setDcb(DCB *dcb) { + if (!::SetCommState(fd_, dcb)) { + return false; + } + return true; + } + + bool Serial::SerialImpl::getDcb(DCB *dcb) { + ::ZeroMemory(dcb, sizeof(DCB)); + dcb->DCBlength = sizeof(DCB); + + if (!::GetCommState(fd_, dcb)) { + return false; + } + return true; + } + + + + bool Serial::SerialImpl::setBaudrate (unsigned long baudrate){ + DCB dcb; + if (!getDcb(&dcb)){ + return false; + } + baudrate_ = baudrate; + set_baudrate(&dcb, baudrate); + + return setDcb(&dcb); + } + + unsigned long Serial::SerialImpl::getBaudrate () const { + return baudrate_; + } + + bool Serial::SerialImpl::setBytesize (serial::bytesize_t bytesize) { + + DCB dcb; + if (!getDcb(&dcb)){ + return false; + } + bytesize_ = bytesize; + set_databits(&dcb, bytesize); + + return setDcb(&dcb); + } + + serial::bytesize_t Serial::SerialImpl::getBytesize () const { + return bytesize_; + } + + bool Serial::SerialImpl::setParity (serial::parity_t parity) { + + DCB dcb; + if(!getDcb(&dcb)){ + return false; + } + parity_ = parity; + set_parity(&dcb, parity); + + return setDcb(&dcb); + } + + serial::parity_t Serial::SerialImpl::getParity () const { + return parity_; + } + + bool Serial::SerialImpl::setStopbits (serial::stopbits_t stopbits) { + + DCB dcb; + if (!getDcb(&dcb)){ + return false; + } + stopbits_ = stopbits; + set_stopbits(&dcb, stopbits); + + return setDcb(&dcb); + } + + serial::stopbits_t Serial::SerialImpl::getStopbits () const { + return stopbits_; + } + + bool Serial::SerialImpl::setFlowcontrol (serial::flowcontrol_t flowcontrol) { + + DCB dcb; + if (!getDcb(&dcb)){ + return false; + } + flowcontrol_ = flowcontrol; + set_flowcontrol(&dcb, flowcontrol); + + return setDcb(&dcb); + } + + serial::flowcontrol_t Serial::SerialImpl::getFlowcontrol () const { + return flowcontrol_; + } + + void Serial::SerialImpl::flush () { + if (is_open_ == false) { + return; + } + //FlushFileBuffers (fd_); + PurgeComm(fd_, PURGE_TXABORT | PURGE_RXABORT | PURGE_TXCLEAR | PURGE_RXCLEAR ); + } + + void Serial::SerialImpl::flushInput () { + return; + } + + void Serial::SerialImpl::flushOutput () { + return; + } + + void Serial::SerialImpl::sendBreak (int duration) { + if (!setBreak(true)){ + return ; + } + + ::Sleep(duration); + + if (!setBreak(false)){ + return ; + } + + } + + bool Serial::SerialImpl::setBreak (bool level) { + if (is_open_ == false) { + return false; + } + if (level) { + //EscapeCommFunction (fd_, SETBREAK); + //::SetCommBreak(fd_); + if(::SetCommBreak(fd_) == FALSE){ + return false; + } + } else { + //::ClearCommBreak(fd_); + //EscapeCommFunction (fd_, CLRBREAK); + if(::ClearCommBreak(fd_) == FALSE){ + return false; + } + } + return true; + } + + bool Serial::SerialImpl::setRTS (bool level) { + if (is_open_ == false) { + return false; + } + if (level) { + //EscapeCommFunction (fd_, SETRTS); + if(EscapeCommFunction (fd_, SETRTS) == FALSE){ + return false; + } + } else { + //EscapeCommFunction (fd_, CLRRTS); + if(EscapeCommFunction (fd_, CLRRTS) == FALSE){ + return false; + } + } + return true; + } + + bool Serial::SerialImpl::setDTR (bool level) { + if (is_open_ == false) { + return false; + } + if (level) { + //EscapeCommFunction (fd_, SETDTR); + if(EscapeCommFunction (fd_, SETDTR) == FALSE){ + return false; + } + } else { + //EscapeCommFunction (fd_, CLRDTR); + if(EscapeCommFunction (fd_, CLRDTR) == FALSE){ + return false; + } + } + return true; + } + + bool Serial::SerialImpl::waitForChange () { + if (is_open_ == false) { + return false; + } + DWORD dwCommEvent; + + if (!SetCommMask(fd_, EV_CTS | EV_DSR | EV_RING | EV_RLSD)) { + // Error setting communications mask + return false; + } + + if (!WaitCommEvent(fd_, &dwCommEvent, NULL)) { + // An error occurred waiting for the event. + return false; + } else { + // Event has occurred. + return true; + } + } + + bool Serial::SerialImpl::getCTS () { + if (is_open_ == false) { + return false; + } + DWORD dwModemStatus; + if (!GetCommModemStatus(fd_, &dwModemStatus)) { + return false; + } + + return (MS_CTS_ON & dwModemStatus) != 0; + } + + bool Serial::SerialImpl::getDSR () { + if (is_open_ == false) { + return false; + } + DWORD dwModemStatus; + if (!GetCommModemStatus(fd_, &dwModemStatus)) { + return false; + } + + return (MS_DSR_ON & dwModemStatus) != 0; + } + + bool Serial::SerialImpl::getRI() { + if (is_open_ == false) { + return false; + } + DWORD dwModemStatus; + if (!GetCommModemStatus(fd_, &dwModemStatus)) { + return false; + } + + return (MS_RING_ON & dwModemStatus) != 0; + } + + bool Serial::SerialImpl::getCD() + { + if (is_open_ == false) { + return false; + } + DWORD dwModemStatus; + if (!GetCommModemStatus(fd_, &dwModemStatus)) { + // Error in GetCommModemStatus; + return false; + } + + return (MS_RLSD_ON & dwModemStatus) != 0; + } + + int Serial::SerialImpl::readLock() { + if (WaitForSingleObject(read_mutex, INFINITE) != WAIT_OBJECT_0) { + return 1; + } + return 0; + } + + int Serial::SerialImpl::readUnlock() { + if (!ReleaseMutex(read_mutex)) { + return 1; + } + return 0; + } + + int Serial::SerialImpl::writeLock() { + if (WaitForSingleObject(write_mutex, INFINITE) != WAIT_OBJECT_0) { + return 1; + } + return 0; + } + + int Serial::SerialImpl::writeUnlock() { + if (!ReleaseMutex(write_mutex)) { + return 1; + } + return 0; + } +} +#endif // #if defined(_WIN32) + diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/sdk/src/impl/windows/win_serial.h b/Code/MowingRobot/pibot_ros/ros_ws/src/ydlidar-1.2.1/sdk/src/impl/windows/win_serial.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/sdk/src/impl/windows/win_serial.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/ydlidar-1.2.1/sdk/src/impl/windows/win_serial.h diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/sdk/src/impl/windows/win_timer.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/ydlidar-1.2.1/sdk/src/impl/windows/win_timer.cpp similarity index 94% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/sdk/src/impl/windows/win_timer.cpp rename to Code/MowingRobot/pibot_ros/ros_ws/src/ydlidar-1.2.1/sdk/src/impl/windows/win_timer.cpp index 5a38e9a..a6732fc 100644 --- a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/sdk/src/impl/windows/win_timer.cpp +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/ydlidar-1.2.1/sdk/src/impl/windows/win_timer.cpp @@ -1,27 +1,27 @@ -#if defined(_WIN32) -#include "win_timer.h" -#include -#pragma comment(lib, "Winmm.lib") - -namespace impl{ - - static LARGE_INTEGER _current_freq; - - void HPtimer_reset() { - BOOL ans=QueryPerformanceFrequency(&_current_freq); - _current_freq.QuadPart/=1000; - } - - uint32_t getHDTimer() { - LARGE_INTEGER current; - QueryPerformanceCounter(¤t); - - return (uint32_t)(current.QuadPart/_current_freq.QuadPart); - } - - BEGIN_STATIC_CODE(timer_cailb) { - HPtimer_reset(); - }END_STATIC_CODE(timer_cailb) - -} +#if defined(_WIN32) +#include "win_timer.h" +#include +#pragma comment(lib, "Winmm.lib") + +namespace impl{ + + static LARGE_INTEGER _current_freq; + + void HPtimer_reset() { + BOOL ans=QueryPerformanceFrequency(&_current_freq); + _current_freq.QuadPart/=1000; + } + + uint32_t getHDTimer() { + LARGE_INTEGER current; + QueryPerformanceCounter(¤t); + + return (uint32_t)(current.QuadPart/_current_freq.QuadPart); + } + + BEGIN_STATIC_CODE(timer_cailb) { + HPtimer_reset(); + }END_STATIC_CODE(timer_cailb) + +} #endif \ No newline at end of file diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/sdk/src/impl/windows/win_timer.h b/Code/MowingRobot/pibot_ros/ros_ws/src/ydlidar-1.2.1/sdk/src/impl/windows/win_timer.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/sdk/src/impl/windows/win_timer.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/ydlidar-1.2.1/sdk/src/impl/windows/win_timer.h diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/sdk/src/serial.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/ydlidar-1.2.1/sdk/src/serial.cpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/sdk/src/serial.cpp rename to Code/MowingRobot/pibot_ros/ros_ws/src/ydlidar-1.2.1/sdk/src/serial.cpp diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/sdk/src/ydlidar_driver.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/ydlidar-1.2.1/sdk/src/ydlidar_driver.cpp similarity index 96% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/sdk/src/ydlidar_driver.cpp rename to Code/MowingRobot/pibot_ros/ros_ws/src/ydlidar-1.2.1/sdk/src/ydlidar_driver.cpp index d49c093..bef530f 100644 --- a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/sdk/src/ydlidar_driver.cpp +++ b/Code/MowingRobot/pibot_ros/ros_ws/src/ydlidar-1.2.1/sdk/src/ydlidar_driver.cpp @@ -1,1153 +1,1153 @@ -/* -* YDLIDAR SYSTEM -* YDLIDAR DRIVER -* -* Copyright 2015 - 2018 EAI TEAM -* http://www.eaibot.com -* -*/ -#include "common.h" -#include "ydlidar_driver.h" -using namespace impl; - -namespace ydlidar{ - - YDlidarDriver* YDlidarDriver::_impl = NULL; - int YDlidarDriver::PackageSampleBytes = 2; - - YDlidarDriver::YDlidarDriver(): - _serial(0) { - isConnected = false; - isScanning = false; - m_intensities = false; - _baudrate = 115200; - isSupportMotorCtrl=true; - _sampling_rate=2; - } - - YDlidarDriver::~YDlidarDriver(){ - { - ScopedLocker l(_scanning_lock); - isScanning = false; - } - - _thread.join(); - - if(_serial){ - if(_serial->isOpen()){ - _serial->close(); - } - } - if(_serial){ - delete _serial; - _serial = NULL; - } - } - - result_t YDlidarDriver::connect(const char * port_path, uint32_t baudrate) { - _baudrate = baudrate; - if(!_serial){ - _serial = new serial::Serial(port_path, _baudrate, serial::Timeout::simpleTimeout(DEFAULT_TIMEOUT)); - } - - { - ScopedLocker l(_lock); - if(!_serial->open()){ - return RESULT_FAIL; - } - } - - isConnected = true; - - clearDTR(); - - return RESULT_OK; - } - - - void YDlidarDriver::setDTR() { - if (!isConnected){ - return ; - } - - if(_serial){ - _serial->setDTR(1); - } - - } - - void YDlidarDriver::clearDTR() { - if (!isConnected){ - return ; - } - - if(_serial){ - _serial->setDTR(0); - } - } - - result_t YDlidarDriver::startMotor() { - ScopedLocker l(_lock); - if(isSupportMotorCtrl){ - setDTR(); - delay(500); - }else{ - clearDTR(); - delay(500); - } - return RESULT_OK; - } - - result_t YDlidarDriver::stopMotor() { - ScopedLocker l(_lock); - if(isSupportMotorCtrl){ - clearDTR(); - delay(500); - }else{ - setDTR(); - delay(500); - } - return RESULT_OK; - } - - void YDlidarDriver::disconnect() { - if (!isConnected){ - return ; - } - stop(); - - if(_serial){ - if(_serial->isOpen()){ - _serial->close(); - } - } - isConnected = false; - } - - - void YDlidarDriver::disableDataGrabbing() { - { - ScopedLocker l(_scanning_lock); - isScanning = false; - } - _thread.join(); - } - - - result_t YDlidarDriver::sendCommand(uint8_t cmd, const void * payload, size_t payloadsize) { - uint8_t pkt_header[10]; - cmd_packet * header = reinterpret_cast(pkt_header); - uint8_t checksum = 0; - - if (!isConnected) { - return RESULT_FAIL; - } - if (payloadsize && payload) { - cmd |= LIDAR_CMDFLAG_HAS_PAYLOAD; - } - - header->syncByte = LIDAR_CMD_SYNC_BYTE; - header->cmd_flag = cmd; - sendData(pkt_header, 2) ; - - if (cmd & LIDAR_CMDFLAG_HAS_PAYLOAD) { - checksum ^= LIDAR_CMD_SYNC_BYTE; - checksum ^= cmd; - checksum ^= (payloadsize & 0xFF); - - for (size_t pos = 0; pos < payloadsize; ++pos) { - checksum ^= ((uint8_t *)payload)[pos]; - } - - uint8_t sizebyte = payloadsize; - sendData(&sizebyte, 1); - - sendData((const uint8_t *)payload, sizebyte); - - sendData(&checksum, 1); - } - return RESULT_OK; - } - - result_t YDlidarDriver::sendData(const uint8_t * data, size_t size) { - if (!isConnected) { - return RESULT_FAIL; - } - - if (data == NULL || size ==0) { - return RESULT_FAIL; - } - return _serial->write(data, size); - } - - result_t YDlidarDriver::getData(uint8_t * data, size_t size) { - if (!isConnected) { - return RESULT_FAIL; - } - result_t ans = _serial->read(data, size); - return ans; - } - - result_t YDlidarDriver::waitResponseHeader(lidar_ans_header * header, uint32_t timeout) { - int recvPos = 0; - uint32_t startTs = getms(); - uint8_t recvBuffer[sizeof(lidar_ans_header)]; - uint8_t *headerBuffer = reinterpret_cast(header); - uint32_t waitTime; - - while ((waitTime=getms() - startTs) <= timeout) { - size_t remainSize = sizeof(lidar_ans_header) - recvPos; - size_t recvSize; - - result_t ans = waitForData(remainSize, timeout - waitTime, &recvSize); - if (ans != RESULT_OK){ - return ans; - } - - if(recvSize > remainSize) recvSize = remainSize; - - ans = getData(recvBuffer, recvSize); - if (ans == RESULT_FAIL){ - return RESULT_FAIL; - } - - for (size_t pos = 0; pos < recvSize; ++pos) { - uint8_t currentByte = recvBuffer[pos]; - switch (recvPos) { - case 0: - if (currentByte != LIDAR_ANS_SYNC_BYTE1) { - continue; - } - break; - case 1: - if (currentByte != LIDAR_ANS_SYNC_BYTE2) { - recvPos = 0; - continue; - } - break; - } - headerBuffer[recvPos++] = currentByte; - - if (recvPos == sizeof(lidar_ans_header)) { - return RESULT_OK; - } - } - } - return RESULT_FAIL; - } - - result_t YDlidarDriver::waitForData(size_t data_count, uint32_t timeout, size_t * returned_size) { - size_t length = 0; - if (returned_size==NULL) { - returned_size=(size_t *)&length; - } - return _serial->waitfordata(data_count, timeout, returned_size); - } - - result_t YDlidarDriver::getHealth(device_health & health, uint32_t timeout) { - result_t ans; - if (!isConnected) { - return RESULT_FAIL; - } - - disableDataGrabbing(); - { - ScopedLocker l(_lock); - if ((ans = sendCommand(LIDAR_CMD_GET_DEVICE_HEALTH)) != RESULT_OK) { - return ans; - } - lidar_ans_header response_header; - if ((ans = waitResponseHeader(&response_header, timeout)) != RESULT_OK) { - return ans; - } - - if (response_header.type != LIDAR_ANS_TYPE_DEVHEALTH) { - return RESULT_FAIL; - } - - if (response_header.size < sizeof(device_health)) { - return RESULT_FAIL; - } - - if (waitForData(response_header.size, timeout) != RESULT_OK) { - return RESULT_FAIL; - } - - getData(reinterpret_cast(&health), sizeof(health)); - } - return RESULT_OK; - } - - - result_t YDlidarDriver::getDeviceInfo(device_info & info, uint32_t timeout) { - result_t ans; - if (!isConnected) { - return RESULT_FAIL; - } - - disableDataGrabbing(); - { - ScopedLocker l(_lock); - if ((ans = sendCommand(LIDAR_CMD_GET_DEVICE_INFO)) != RESULT_OK) { - return ans; - } - - lidar_ans_header response_header; - if ((ans = waitResponseHeader(&response_header, timeout)) != RESULT_OK) { - return ans; - } - - if (response_header.type != LIDAR_ANS_TYPE_DEVINFO) { - return RESULT_FAIL; - } - - if (response_header.size < sizeof(lidar_ans_header)) { - return RESULT_FAIL; - } - - if (waitForData(response_header.size, timeout) != RESULT_OK) { - return RESULT_FAIL; - } - getData(reinterpret_cast(&info), sizeof(info)); - } - - return RESULT_OK; - } - - - void YDlidarDriver::setIntensities(const bool isintensities){ - m_intensities = isintensities; - if(m_intensities){ - PackageSampleBytes = 3; - }else{ - PackageSampleBytes = 2; - } - } - - result_t YDlidarDriver::startScan(bool force, uint32_t timeout ) { - result_t ans; - if (!isConnected) { - return RESULT_FAIL; - } - if (isScanning) { - return RESULT_OK; - } - - stop(); - startMotor(); - - { - ScopedLocker l(_lock); - if ((ans = sendCommand(force?LIDAR_CMD_FORCE_SCAN:LIDAR_CMD_SCAN)) != RESULT_OK) { - return ans; - } - - lidar_ans_header response_header; - if ((ans = waitResponseHeader(&response_header, timeout)) != RESULT_OK) { - return ans; - } - - if (response_header.type != LIDAR_ANS_TYPE_MEASUREMENT) { - return RESULT_FAIL; - } - - if (response_header.size < sizeof(node_info)) { - return RESULT_FAIL; - } - isScanning = true; - ans = this->createThread(); - return ans; - } - return RESULT_OK; - } - - result_t YDlidarDriver::createThread() { - _thread = CLASS_THREAD(YDlidarDriver, cacheScanData); - if (_thread.getHandle() == 0) { - return RESULT_FAIL; - } - - return RESULT_OK; - } - - result_t YDlidarDriver::stop() { - disableDataGrabbing(); - { - ScopedLocker l(_lock); - sendCommand(LIDAR_CMD_FORCE_STOP); - } - - stopMotor(); - - return RESULT_OK; - } - - int YDlidarDriver::cacheScanData() { - node_info local_buf[128]; - size_t count = 128; - node_info local_scan[MAX_SCAN_NODES]; - size_t scan_count = 0; - result_t ans; - memset(local_scan, 0, sizeof(local_scan)); - waitScanData(local_buf, count); - - while(isScanning) { - if ((ans=waitScanData(local_buf, count)) != RESULT_OK) { - if (ans != RESULT_TIMEOUT) { - fprintf(stderr, "exit scanning thread!!\n"); - { - ScopedLocker l(_scanning_lock); - isScanning = false; - } - return RESULT_FAIL; - - } - } - for (size_t pos = 0; pos < count; ++pos) { - if (local_buf[pos].sync_quality & LIDAR_RESP_MEASUREMENT_SYNCBIT) { - if ((local_scan[0].sync_quality & LIDAR_RESP_MEASUREMENT_SYNCBIT)) { - _lock.lock();//timeout lock, wait resource copy - memcpy(scan_node_buf, local_scan, scan_count*sizeof(node_info)); - scan_node_count = scan_count; - _dataEvent.set(); - _lock.unlock(); - } - scan_count = 0; - } - local_scan[scan_count++] = local_buf[pos]; - if (scan_count == _countof(local_scan)){ - scan_count-=1; - } - } - } - { - ScopedLocker l(_scanning_lock); - isScanning = false; - } - return RESULT_OK; - } - - result_t YDlidarDriver::waitPackage(node_info * node, uint32_t timeout) { - int recvPos = 0; - uint32_t startTs = getms(); - uint32_t size = (m_intensities)?sizeof(node_package):sizeof(node_packages); - uint8_t* recvBuffer = new uint8_t[size]; - - uint32_t waitTime; - - static node_package package; - static node_packages packages; - - static uint16_t package_Sample_Index = 0; - static uint16_t IntervalSampleAngle = 0; - static uint16_t IntervalSampleAngle_LastPackage = 0; - static uint16_t FirstSampleAngle = 0; - static uint16_t LastSampleAngle = 0; - static uint16_t CheckSun = 0; - - static uint16_t CheckSunCal = 0; - static uint16_t SampleNumlAndCTCal = 0; - static uint16_t LastSampleAngleCal = 0; - static bool CheckSunResult = true; - static uint16_t Valu8Tou16 = 0; - - uint8_t *packageBuffer = (m_intensities)?(uint8_t*)&package.package_Head:(uint8_t*)&packages.package_Head; - uint8_t package_Sample_Num = 0; - - int32_t AngleCorrectForDistance; - - int package_recvPos = 0; - - if(package_Sample_Index == 0) { - recvPos = 0; - while ((waitTime=getms() - startTs) <= timeout) { - size_t remainSize = PackagePaidBytes - recvPos; - size_t recvSize; - result_t ans = waitForData(remainSize, timeout-waitTime, &recvSize); - if (ans != RESULT_OK){ - delete[] recvBuffer; - return ans; - } - - if (recvSize > remainSize){ - recvSize = remainSize; - } - - getData(recvBuffer, recvSize); - - for (size_t pos = 0; pos < recvSize; ++pos) { - uint8_t currentByte = recvBuffer[pos]; - switch (recvPos) { - case 0: - if(currentByte==(PH&0xFF)){ - - }else{ - continue; - } - break; - case 1: - CheckSunCal = PH; - if(currentByte==(PH>>8)){ - - }else{ - recvPos = 0; - continue; - } - break; - case 2: - SampleNumlAndCTCal = currentByte; - if ((currentByte == CT_Normal) || (currentByte == CT_RingStart)){ - - } else { - recvPos = 0; - continue; - } - break; - case 3: - SampleNumlAndCTCal += (currentByte*0x100); - package_Sample_Num = currentByte; - break; - case 4: - if (currentByte & LIDAR_RESP_MEASUREMENT_CHECKBIT) { - FirstSampleAngle = currentByte; - } else { - recvPos = 0; - continue; - } - break; - case 5: - FirstSampleAngle += currentByte*0x100; - CheckSunCal ^= FirstSampleAngle; - FirstSampleAngle = FirstSampleAngle>>1; - break; - case 6: - if (currentByte & LIDAR_RESP_MEASUREMENT_CHECKBIT) { - LastSampleAngle = currentByte; - } else { - recvPos = 0; - continue; - } - break; - case 7: - LastSampleAngle = currentByte*0x100 + LastSampleAngle; - LastSampleAngleCal = LastSampleAngle; - LastSampleAngle = LastSampleAngle>>1; - if(package_Sample_Num == 1){ - IntervalSampleAngle = 0; - }else{ - if(LastSampleAngle < FirstSampleAngle){ - if((FirstSampleAngle > 270*64) && (LastSampleAngle < 90*64)){ - IntervalSampleAngle = (360*64 + LastSampleAngle - FirstSampleAngle)/(package_Sample_Num-1); - IntervalSampleAngle_LastPackage = IntervalSampleAngle; - } else{ - IntervalSampleAngle = IntervalSampleAngle_LastPackage; - } - } else{ - IntervalSampleAngle = (LastSampleAngle -FirstSampleAngle)/(package_Sample_Num-1); - IntervalSampleAngle_LastPackage = IntervalSampleAngle; - } - } - break; - case 8: - CheckSun = currentByte; - break; - case 9: - CheckSun += (currentByte*0x100); - break; - } - packageBuffer[recvPos++] = currentByte; - } - - if (recvPos == PackagePaidBytes ){ - package_recvPos = recvPos; - break; - } - } - - if(PackagePaidBytes == recvPos){ - startTs = getms(); - recvPos = 0; - while ((waitTime=getms() - startTs) <= timeout) { - size_t remainSize = package_Sample_Num*PackageSampleBytes - recvPos; - size_t recvSize; - result_t ans =waitForData(remainSize, timeout-waitTime, &recvSize); - if (ans != RESULT_OK){ - delete[] recvBuffer; - return ans; - } - - if (recvSize > remainSize){ - recvSize = remainSize; - } - - getData(recvBuffer, recvSize); - - for (size_t pos = 0; pos < recvSize; ++pos) { - if(m_intensities){ - if(recvPos%3 == 2){ - Valu8Tou16 += recvBuffer[pos]*0x100; - CheckSunCal ^= Valu8Tou16; - }else if(recvPos%3 == 1){ - Valu8Tou16 = recvBuffer[pos]; - }else{ - CheckSunCal ^= recvBuffer[pos]; - } - }else{ - if(recvPos%2 == 1){ - Valu8Tou16 += recvBuffer[pos]*0x100; - CheckSunCal ^= Valu8Tou16; - }else{ - Valu8Tou16 = recvBuffer[pos]; - } - } - - packageBuffer[package_recvPos+recvPos] = recvBuffer[pos]; - recvPos++; - } - - if(package_Sample_Num*PackageSampleBytes == recvPos){ - package_recvPos += recvPos; - break; - } - } - if(package_Sample_Num*PackageSampleBytes != recvPos){ - delete[] recvBuffer; - return RESULT_FAIL; - } - } else { - delete[] recvBuffer; - return RESULT_FAIL; - } - CheckSunCal ^= SampleNumlAndCTCal; - CheckSunCal ^= LastSampleAngleCal; - - if(CheckSunCal != CheckSun){ - CheckSunResult = false; - }else{ - CheckSunResult = true; - } - - } - uint8_t package_CT; - if(m_intensities){ - package_CT = package.package_CT; - }else{ - package_CT = packages.package_CT; - } - - if(package_CT == CT_Normal){ - (*node).sync_quality = Node_Default_Quality + Node_NotSync; - } else{ - (*node).sync_quality = Node_Default_Quality + Node_Sync; - } - - if(CheckSunResult == true){ - if(m_intensities){ - (*node).sync_quality = package.packageSample[package_Sample_Index].PakageSampleQuality; - (*node).distance_q2 = package.packageSample[package_Sample_Index].PakageSampleDistance; - }else{ - (*node).distance_q2 = packages.packageSampleDistance[package_Sample_Index]; - } - if((*node).distance_q2/4 != 0){ - AngleCorrectForDistance = (int32_t)(((atan(((21.8*(155.3 - ((*node).distance_q2/4)) )/155.3)/((*node).distance_q2/4)))*180.0/3.1415) * 64.0); - }else{ - AngleCorrectForDistance = 0; - } - if((FirstSampleAngle + IntervalSampleAngle*package_Sample_Index + AngleCorrectForDistance) < 0){ - (*node).angle_q6_checkbit = ((FirstSampleAngle + IntervalSampleAngle*package_Sample_Index + AngleCorrectForDistance + 360*64)<<1) + LIDAR_RESP_MEASUREMENT_CHECKBIT; - }else{ - if((FirstSampleAngle + IntervalSampleAngle*package_Sample_Index + AngleCorrectForDistance) > 360*64){ - (*node).angle_q6_checkbit = ((FirstSampleAngle + IntervalSampleAngle*package_Sample_Index + AngleCorrectForDistance - 360*64)<<1) + LIDAR_RESP_MEASUREMENT_CHECKBIT; - }else{ - (*node).angle_q6_checkbit = ((FirstSampleAngle + IntervalSampleAngle*package_Sample_Index + AngleCorrectForDistance)<<1) + LIDAR_RESP_MEASUREMENT_CHECKBIT; - } - } - }else{ - (*node).sync_quality = Node_Default_Quality + Node_NotSync; - (*node).angle_q6_checkbit = LIDAR_RESP_MEASUREMENT_CHECKBIT; - (*node).distance_q2 = 0; - } - - package_Sample_Index++; - uint8_t nowPackageNum; - if(m_intensities){ - nowPackageNum = package.nowPackageNum; - }else{ - nowPackageNum = packages.nowPackageNum; - } - if(package_Sample_Index >= nowPackageNum){ - package_Sample_Index = 0; - } - delete[] recvBuffer; - return RESULT_OK; - } - - result_t YDlidarDriver::waitScanData(node_info * nodebuffer, size_t & count, uint32_t timeout) { - if (!isConnected) { - count = 0; - return RESULT_FAIL; - } - - size_t recvNodeCount = 0; - uint32_t startTs = getms(); - uint32_t waitTime; - result_t ans; - - while ((waitTime = getms() - startTs) <= timeout && recvNodeCount < count) { - node_info node; - if ((ans = this->waitPackage(&node, timeout - waitTime)) != RESULT_OK) { - return ans; - } - nodebuffer[recvNodeCount++] = node; - - if (recvNodeCount == count) { - return RESULT_OK; - } - } - count = recvNodeCount; - return RESULT_FAIL; - } - - - result_t YDlidarDriver::grabScanData(node_info * nodebuffer, size_t & count, uint32_t timeout) { - switch (_dataEvent.wait(timeout)) { - case Event::EVENT_TIMEOUT: - count = 0; - return RESULT_TIMEOUT; - case Event::EVENT_OK: - { - if(scan_node_count == 0) { - return RESULT_FAIL; - } - size_t size_to_copy = min(count, scan_node_count); - ScopedLocker l(_lock); - memcpy(nodebuffer, scan_node_buf, size_to_copy*sizeof(node_info)); - count = size_to_copy; - scan_node_count = 0; - } - return RESULT_OK; - default: - count = 0; - return RESULT_FAIL; - } - - } - - void YDlidarDriver::simpleScanData(std::vector *scan_data , node_info *buffer, size_t count) { - scan_data->clear(); - for (int pos = 0; pos < (int)count; ++pos) { - scanDot dot; - if (!buffer[pos].distance_q2) continue; - dot.quality = (buffer[pos].sync_quality>>LIDAR_RESP_MEASUREMENT_QUALITY_SHIFT); - dot.angle = (buffer[pos].angle_q6_checkbit >> LIDAR_RESP_MEASUREMENT_ANGLE_SHIFT)/64.0f; - dot.dist = buffer[pos].distance_q2/4.0f; - scan_data->push_back(dot); - } - } - - result_t YDlidarDriver::ascendScanData(node_info * nodebuffer, size_t count) { - float inc_origin_angle = (float)360.0/count; - node_info *tmpbuffer = new node_info[count]; - int i = 0; - - for (i = 0; i < (int)count; i++) { - if(nodebuffer[i].distance_q2 == 0) { - continue; - } else { - while(i != 0) { - i--; - float expect_angle = (nodebuffer[i+1].angle_q6_checkbit >> LIDAR_RESP_MEASUREMENT_ANGLE_SHIFT)/64.0f - inc_origin_angle; - if (expect_angle < 0.0f) expect_angle = 0.0f; - uint16_t checkbit = nodebuffer[i].angle_q6_checkbit & LIDAR_RESP_MEASUREMENT_CHECKBIT; - nodebuffer[i].angle_q6_checkbit = (((uint16_t)(expect_angle * 64.0f)) << LIDAR_RESP_MEASUREMENT_ANGLE_SHIFT) + checkbit; - } - break; - } - } - - if (i == (int)count){ - return RESULT_FAIL; - } - - for (i = (int)count - 1; i >= 0; i--) { - if(nodebuffer[i].distance_q2 == 0) { - continue; - } else { - while(i != ((int)count - 1)) { - i++; - float expect_angle = (nodebuffer[i-1].angle_q6_checkbit >> LIDAR_RESP_MEASUREMENT_ANGLE_SHIFT)/64.0f + inc_origin_angle; - if (expect_angle > 360.0f) expect_angle -= 360.0f; - uint16_t checkbit = nodebuffer[i].angle_q6_checkbit & LIDAR_RESP_MEASUREMENT_CHECKBIT; - nodebuffer[i].angle_q6_checkbit = (((uint16_t)(expect_angle * 64.0f)) << LIDAR_RESP_MEASUREMENT_ANGLE_SHIFT) + checkbit; - } - break; - } - } - - float frontAngle = (nodebuffer[0].angle_q6_checkbit >> LIDAR_RESP_MEASUREMENT_ANGLE_SHIFT)/64.0f; - for (i = 1; i < (int)count; i++) { - if(nodebuffer[i].distance_q2 == 0) { - float expect_angle = frontAngle + i * inc_origin_angle; - if (expect_angle > 360.0f) expect_angle -= 360.0f; - uint16_t checkbit = nodebuffer[i].angle_q6_checkbit & LIDAR_RESP_MEASUREMENT_CHECKBIT; - nodebuffer[i].angle_q6_checkbit = (((uint16_t)(expect_angle * 64.0f)) << LIDAR_RESP_MEASUREMENT_ANGLE_SHIFT) + checkbit; - } - } - - size_t zero_pos = 0; - float pre_degree = (nodebuffer[0].angle_q6_checkbit >> LIDAR_RESP_MEASUREMENT_ANGLE_SHIFT)/64.0f; - - for (i = 1; i < (int)count ; ++i) { - float degree = (nodebuffer[i].angle_q6_checkbit >> LIDAR_RESP_MEASUREMENT_ANGLE_SHIFT)/64.0f; - if (zero_pos == 0 && (pre_degree - degree > 180)) { - zero_pos = i; - break; - } - pre_degree = degree; - } - - for (i = (int)zero_pos; i < (int)count; i++) { - tmpbuffer[i-zero_pos] = nodebuffer[i]; - } - for (i = 0; i < (int)zero_pos; i++) { - tmpbuffer[i+(int)count-zero_pos] = nodebuffer[i]; - } - - memcpy(nodebuffer, tmpbuffer, count*sizeof(node_info)); - delete[] tmpbuffer; - - return RESULT_OK; - } - - - result_t YDlidarDriver::reset(uint32_t timeout) { - UNUSED(timeout); - result_t ans; - if (!isConnected){ - return RESULT_FAIL; - } - ScopedLocker l(_lock); - if ((ans = sendCommand(LIDAR_CMD_RESET))!= RESULT_OK) { - return ans; - } - return RESULT_OK; - } - - result_t YDlidarDriver::getScanFrequency(scan_frequency & frequency, uint32_t timeout){ - result_t ans; - if (!isConnected) { - return RESULT_FAIL; - } - - disableDataGrabbing(); - { - ScopedLocker l(_lock); - if ((ans = sendCommand(LIDAR_CMD_GET_AIMSPEED)) != RESULT_OK) { - return ans; - } - - lidar_ans_header response_header; - if ((ans = waitResponseHeader(&response_header, timeout)) != RESULT_OK) { - return ans; - } - - if (response_header.type != LIDAR_ANS_TYPE_DEVINFO) { - return RESULT_FAIL; - } - - if (response_header.size != 4) { - return RESULT_FAIL; - } - - if (waitForData(response_header.size, timeout) != RESULT_OK) { - return RESULT_FAIL; - } - - getData(reinterpret_cast(&frequency), sizeof(frequency)); - } - return RESULT_OK; - } - - result_t YDlidarDriver::setScanFrequencyAdd(scan_frequency & frequency, uint32_t timeout){ - result_t ans; - if (!isConnected) { - return RESULT_FAIL; - } - - disableDataGrabbing(); - { - ScopedLocker l(_lock); - if ((ans = sendCommand(LIDAR_CMD_SET_AIMSPEED_ADD)) != RESULT_OK) { - return ans; - } - - lidar_ans_header response_header; - if ((ans = waitResponseHeader(&response_header, timeout)) != RESULT_OK) { - return ans; - } - - if (response_header.type != LIDAR_ANS_TYPE_DEVINFO) { - return RESULT_FAIL; - } - - if (response_header.size != 4) { - return RESULT_FAIL; - } - - if (waitForData(response_header.size, timeout) != RESULT_OK) { - return RESULT_FAIL; - } - - getData(reinterpret_cast(&frequency), sizeof(frequency)); - } - return RESULT_OK; - } - - result_t YDlidarDriver::setScanFrequencyDis(scan_frequency & frequency, uint32_t timeout){ - result_t ans; - if (!isConnected) { - return RESULT_FAIL; - } - - disableDataGrabbing(); - { - ScopedLocker l(_lock); - if ((ans = sendCommand(LIDAR_CMD_SET_AIMSPEED_DIS)) != RESULT_OK) { - return ans; - } - - lidar_ans_header response_header; - if ((ans = waitResponseHeader(&response_header, timeout)) != RESULT_OK) { - return ans; - } - - if (response_header.type != LIDAR_ANS_TYPE_DEVINFO) { - return RESULT_FAIL; - } - - if (response_header.size != 4) { - return RESULT_FAIL; - } - - if (waitForData(response_header.size, timeout) != RESULT_OK) { - return RESULT_FAIL; - } - - getData(reinterpret_cast(&frequency), sizeof(frequency)); - } - return RESULT_OK; - } - - result_t YDlidarDriver::setScanFrequencyAddMic(scan_frequency & frequency, uint32_t timeout){ - result_t ans; - if (!isConnected) { - return RESULT_FAIL; - } - - disableDataGrabbing(); - { - ScopedLocker l(_lock); - if ((ans = sendCommand(LIDAR_CMD_SET_AIMSPEED_ADDMIC)) != RESULT_OK) { - return ans; - } - - lidar_ans_header response_header; - if ((ans = waitResponseHeader(&response_header, timeout)) != RESULT_OK) { - return ans; - } - - if (response_header.type != LIDAR_ANS_TYPE_DEVINFO) { - return RESULT_FAIL; - } - - if (response_header.size != 4) { - return RESULT_FAIL; - } - - if (waitForData(response_header.size, timeout) != RESULT_OK) { - return RESULT_FAIL; - } - - getData(reinterpret_cast(&frequency), sizeof(frequency)); - } - return RESULT_OK; - } - - result_t YDlidarDriver::setScanFrequencyDisMic(scan_frequency & frequency, uint32_t timeout){ - result_t ans; - if (!isConnected) { - return RESULT_FAIL; - } - - disableDataGrabbing(); - { - ScopedLocker l(_lock); - if ((ans = sendCommand(LIDAR_CMD_SET_AIMSPEED_DISMIC)) != RESULT_OK) { - return ans; - } - - lidar_ans_header response_header; - if ((ans = waitResponseHeader(&response_header, timeout)) != RESULT_OK) { - return ans; - } - - if (response_header.type != LIDAR_ANS_TYPE_DEVINFO) { - return RESULT_FAIL; - } - - if (response_header.size != 4) { - return RESULT_FAIL; - } - - if (waitForData(response_header.size, timeout) != RESULT_OK) { - return RESULT_FAIL; - } - - getData(reinterpret_cast(&frequency), sizeof(frequency)); - } - return RESULT_OK; - } - - result_t YDlidarDriver::getSamplingRate(sampling_rate & rate, uint32_t timeout){ - result_t ans; - if (!isConnected) { - return RESULT_FAIL; - } - - disableDataGrabbing(); - { - ScopedLocker l(_lock); - if ((ans = sendCommand(LIDAR_CMD_GET_SAMPLING_RATE)) != RESULT_OK) { - return ans; - } - - lidar_ans_header response_header; - if ((ans = waitResponseHeader(&response_header, timeout)) != RESULT_OK) { - return ans; - } - - if (response_header.type != LIDAR_ANS_TYPE_DEVINFO) { - return RESULT_FAIL; - } - - if (response_header.size != 1) { - return RESULT_FAIL; - } - - if (waitForData(response_header.size, timeout) != RESULT_OK) { - return RESULT_FAIL; - } - - getData(reinterpret_cast(&rate), sizeof(rate)); - _sampling_rate=rate.rate; - } - return RESULT_OK; - } - - - result_t YDlidarDriver::setSamplingRate(sampling_rate & rate, uint32_t timeout){ - result_t ans; - if (!isConnected) { - return RESULT_FAIL; - } - disableDataGrabbing(); - { - ScopedLocker l(_lock); - if ((ans = sendCommand(LIDAR_CMD_SET_SAMPLING_RATE)) != RESULT_OK) { - return ans; - } - - lidar_ans_header response_header; - if ((ans = waitResponseHeader(&response_header, timeout)) != RESULT_OK) { - return ans; - } - - if (response_header.type != LIDAR_ANS_TYPE_DEVINFO) { - return RESULT_FAIL; - } - - if (response_header.size != 1) { - return RESULT_FAIL; - } - - if (waitForData(response_header.size, timeout) != RESULT_OK) { - return RESULT_FAIL; - } - getData(reinterpret_cast(&rate), sizeof(rate)); - _sampling_rate=rate.rate; - } - return RESULT_OK; - } - - const std::string YDlidarDriver::getSDKVersion(){ - return SDKVerision; - } - - result_t YDlidarDriver::setRotationPositive(scan_rotation & roation, uint32_t timeout){ - result_t ans; - if (!isConnected) { - return RESULT_FAIL; - } - disableDataGrabbing(); - { - ScopedLocker l(_lock); - if ((ans = sendCommand(LIDAR_CMD_RUN_POSITIVE)) != RESULT_OK) { - return ans; - } - - lidar_ans_header response_header; - if ((ans = waitResponseHeader(&response_header, timeout)) != RESULT_OK) { - return ans; - } - - if (response_header.type != LIDAR_ANS_TYPE_DEVINFO) { - return RESULT_FAIL; - } - - if (response_header.size != 1) { - return RESULT_FAIL; - } - - if (waitForData(response_header.size, timeout) != RESULT_OK) { - return RESULT_FAIL; - } - getData(reinterpret_cast(&roation), sizeof(roation)); - } - return RESULT_OK; - } - - result_t YDlidarDriver::setRotationInversion(scan_rotation & roation, uint32_t timeout){ - result_t ans; - if (!isConnected) { - return RESULT_FAIL; - } - disableDataGrabbing(); - { - ScopedLocker l(_lock); - if ((ans = sendCommand(LIDAR_CMD_RUN_INVERSION)) != RESULT_OK) { - return ans; - } - - lidar_ans_header response_header; - if ((ans = waitResponseHeader(&response_header, timeout)) != RESULT_OK) { - return ans; - } - - if (response_header.type != LIDAR_ANS_TYPE_DEVINFO) { - return RESULT_FAIL; - } - - if (response_header.size != 1) { - return RESULT_FAIL; - } - - if (waitForData(response_header.size, timeout) != RESULT_OK) { - return RESULT_FAIL; - } - getData(reinterpret_cast(&roation), sizeof(roation)); - } - return RESULT_OK; - } - - -} +/* +* YDLIDAR SYSTEM +* YDLIDAR DRIVER +* +* Copyright 2015 - 2018 EAI TEAM +* http://www.eaibot.com +* +*/ +#include "common.h" +#include "ydlidar_driver.h" +using namespace impl; + +namespace ydlidar{ + + YDlidarDriver* YDlidarDriver::_impl = NULL; + int YDlidarDriver::PackageSampleBytes = 2; + + YDlidarDriver::YDlidarDriver(): + _serial(0) { + isConnected = false; + isScanning = false; + m_intensities = false; + _baudrate = 115200; + isSupportMotorCtrl=true; + _sampling_rate=2; + } + + YDlidarDriver::~YDlidarDriver(){ + { + ScopedLocker l(_scanning_lock); + isScanning = false; + } + + _thread.join(); + + if(_serial){ + if(_serial->isOpen()){ + _serial->close(); + } + } + if(_serial){ + delete _serial; + _serial = NULL; + } + } + + result_t YDlidarDriver::connect(const char * port_path, uint32_t baudrate) { + _baudrate = baudrate; + if(!_serial){ + _serial = new serial::Serial(port_path, _baudrate, serial::Timeout::simpleTimeout(DEFAULT_TIMEOUT)); + } + + { + ScopedLocker l(_lock); + if(!_serial->open()){ + return RESULT_FAIL; + } + } + + isConnected = true; + + clearDTR(); + + return RESULT_OK; + } + + + void YDlidarDriver::setDTR() { + if (!isConnected){ + return ; + } + + if(_serial){ + _serial->setDTR(1); + } + + } + + void YDlidarDriver::clearDTR() { + if (!isConnected){ + return ; + } + + if(_serial){ + _serial->setDTR(0); + } + } + + result_t YDlidarDriver::startMotor() { + ScopedLocker l(_lock); + if(isSupportMotorCtrl){ + setDTR(); + delay(500); + }else{ + clearDTR(); + delay(500); + } + return RESULT_OK; + } + + result_t YDlidarDriver::stopMotor() { + ScopedLocker l(_lock); + if(isSupportMotorCtrl){ + clearDTR(); + delay(500); + }else{ + setDTR(); + delay(500); + } + return RESULT_OK; + } + + void YDlidarDriver::disconnect() { + if (!isConnected){ + return ; + } + stop(); + + if(_serial){ + if(_serial->isOpen()){ + _serial->close(); + } + } + isConnected = false; + } + + + void YDlidarDriver::disableDataGrabbing() { + { + ScopedLocker l(_scanning_lock); + isScanning = false; + } + _thread.join(); + } + + + result_t YDlidarDriver::sendCommand(uint8_t cmd, const void * payload, size_t payloadsize) { + uint8_t pkt_header[10]; + cmd_packet * header = reinterpret_cast(pkt_header); + uint8_t checksum = 0; + + if (!isConnected) { + return RESULT_FAIL; + } + if (payloadsize && payload) { + cmd |= LIDAR_CMDFLAG_HAS_PAYLOAD; + } + + header->syncByte = LIDAR_CMD_SYNC_BYTE; + header->cmd_flag = cmd; + sendData(pkt_header, 2) ; + + if (cmd & LIDAR_CMDFLAG_HAS_PAYLOAD) { + checksum ^= LIDAR_CMD_SYNC_BYTE; + checksum ^= cmd; + checksum ^= (payloadsize & 0xFF); + + for (size_t pos = 0; pos < payloadsize; ++pos) { + checksum ^= ((uint8_t *)payload)[pos]; + } + + uint8_t sizebyte = payloadsize; + sendData(&sizebyte, 1); + + sendData((const uint8_t *)payload, sizebyte); + + sendData(&checksum, 1); + } + return RESULT_OK; + } + + result_t YDlidarDriver::sendData(const uint8_t * data, size_t size) { + if (!isConnected) { + return RESULT_FAIL; + } + + if (data == NULL || size ==0) { + return RESULT_FAIL; + } + return _serial->write(data, size); + } + + result_t YDlidarDriver::getData(uint8_t * data, size_t size) { + if (!isConnected) { + return RESULT_FAIL; + } + result_t ans = _serial->read(data, size); + return ans; + } + + result_t YDlidarDriver::waitResponseHeader(lidar_ans_header * header, uint32_t timeout) { + int recvPos = 0; + uint32_t startTs = getms(); + uint8_t recvBuffer[sizeof(lidar_ans_header)]; + uint8_t *headerBuffer = reinterpret_cast(header); + uint32_t waitTime; + + while ((waitTime=getms() - startTs) <= timeout) { + size_t remainSize = sizeof(lidar_ans_header) - recvPos; + size_t recvSize; + + result_t ans = waitForData(remainSize, timeout - waitTime, &recvSize); + if (ans != RESULT_OK){ + return ans; + } + + if(recvSize > remainSize) recvSize = remainSize; + + ans = getData(recvBuffer, recvSize); + if (ans == RESULT_FAIL){ + return RESULT_FAIL; + } + + for (size_t pos = 0; pos < recvSize; ++pos) { + uint8_t currentByte = recvBuffer[pos]; + switch (recvPos) { + case 0: + if (currentByte != LIDAR_ANS_SYNC_BYTE1) { + continue; + } + break; + case 1: + if (currentByte != LIDAR_ANS_SYNC_BYTE2) { + recvPos = 0; + continue; + } + break; + } + headerBuffer[recvPos++] = currentByte; + + if (recvPos == sizeof(lidar_ans_header)) { + return RESULT_OK; + } + } + } + return RESULT_FAIL; + } + + result_t YDlidarDriver::waitForData(size_t data_count, uint32_t timeout, size_t * returned_size) { + size_t length = 0; + if (returned_size==NULL) { + returned_size=(size_t *)&length; + } + return _serial->waitfordata(data_count, timeout, returned_size); + } + + result_t YDlidarDriver::getHealth(device_health & health, uint32_t timeout) { + result_t ans; + if (!isConnected) { + return RESULT_FAIL; + } + + disableDataGrabbing(); + { + ScopedLocker l(_lock); + if ((ans = sendCommand(LIDAR_CMD_GET_DEVICE_HEALTH)) != RESULT_OK) { + return ans; + } + lidar_ans_header response_header; + if ((ans = waitResponseHeader(&response_header, timeout)) != RESULT_OK) { + return ans; + } + + if (response_header.type != LIDAR_ANS_TYPE_DEVHEALTH) { + return RESULT_FAIL; + } + + if (response_header.size < sizeof(device_health)) { + return RESULT_FAIL; + } + + if (waitForData(response_header.size, timeout) != RESULT_OK) { + return RESULT_FAIL; + } + + getData(reinterpret_cast(&health), sizeof(health)); + } + return RESULT_OK; + } + + + result_t YDlidarDriver::getDeviceInfo(device_info & info, uint32_t timeout) { + result_t ans; + if (!isConnected) { + return RESULT_FAIL; + } + + disableDataGrabbing(); + { + ScopedLocker l(_lock); + if ((ans = sendCommand(LIDAR_CMD_GET_DEVICE_INFO)) != RESULT_OK) { + return ans; + } + + lidar_ans_header response_header; + if ((ans = waitResponseHeader(&response_header, timeout)) != RESULT_OK) { + return ans; + } + + if (response_header.type != LIDAR_ANS_TYPE_DEVINFO) { + return RESULT_FAIL; + } + + if (response_header.size < sizeof(lidar_ans_header)) { + return RESULT_FAIL; + } + + if (waitForData(response_header.size, timeout) != RESULT_OK) { + return RESULT_FAIL; + } + getData(reinterpret_cast(&info), sizeof(info)); + } + + return RESULT_OK; + } + + + void YDlidarDriver::setIntensities(const bool isintensities){ + m_intensities = isintensities; + if(m_intensities){ + PackageSampleBytes = 3; + }else{ + PackageSampleBytes = 2; + } + } + + result_t YDlidarDriver::startScan(bool force, uint32_t timeout ) { + result_t ans; + if (!isConnected) { + return RESULT_FAIL; + } + if (isScanning) { + return RESULT_OK; + } + + stop(); + startMotor(); + + { + ScopedLocker l(_lock); + if ((ans = sendCommand(force?LIDAR_CMD_FORCE_SCAN:LIDAR_CMD_SCAN)) != RESULT_OK) { + return ans; + } + + lidar_ans_header response_header; + if ((ans = waitResponseHeader(&response_header, timeout)) != RESULT_OK) { + return ans; + } + + if (response_header.type != LIDAR_ANS_TYPE_MEASUREMENT) { + return RESULT_FAIL; + } + + if (response_header.size < sizeof(node_info)) { + return RESULT_FAIL; + } + isScanning = true; + ans = this->createThread(); + return ans; + } + return RESULT_OK; + } + + result_t YDlidarDriver::createThread() { + _thread = CLASS_THREAD(YDlidarDriver, cacheScanData); + if (_thread.getHandle() == 0) { + return RESULT_FAIL; + } + + return RESULT_OK; + } + + result_t YDlidarDriver::stop() { + disableDataGrabbing(); + { + ScopedLocker l(_lock); + sendCommand(LIDAR_CMD_FORCE_STOP); + } + + stopMotor(); + + return RESULT_OK; + } + + int YDlidarDriver::cacheScanData() { + node_info local_buf[128]; + size_t count = 128; + node_info local_scan[MAX_SCAN_NODES]; + size_t scan_count = 0; + result_t ans; + memset(local_scan, 0, sizeof(local_scan)); + waitScanData(local_buf, count); + + while(isScanning) { + if ((ans=waitScanData(local_buf, count)) != RESULT_OK) { + if (ans != RESULT_TIMEOUT) { + fprintf(stderr, "exit scanning thread!!\n"); + { + ScopedLocker l(_scanning_lock); + isScanning = false; + } + return RESULT_FAIL; + + } + } + for (size_t pos = 0; pos < count; ++pos) { + if (local_buf[pos].sync_quality & LIDAR_RESP_MEASUREMENT_SYNCBIT) { + if ((local_scan[0].sync_quality & LIDAR_RESP_MEASUREMENT_SYNCBIT)) { + _lock.lock();//timeout lock, wait resource copy + memcpy(scan_node_buf, local_scan, scan_count*sizeof(node_info)); + scan_node_count = scan_count; + _dataEvent.set(); + _lock.unlock(); + } + scan_count = 0; + } + local_scan[scan_count++] = local_buf[pos]; + if (scan_count == _countof(local_scan)){ + scan_count-=1; + } + } + } + { + ScopedLocker l(_scanning_lock); + isScanning = false; + } + return RESULT_OK; + } + + result_t YDlidarDriver::waitPackage(node_info * node, uint32_t timeout) { + int recvPos = 0; + uint32_t startTs = getms(); + uint32_t size = (m_intensities)?sizeof(node_package):sizeof(node_packages); + uint8_t* recvBuffer = new uint8_t[size]; + + uint32_t waitTime; + + static node_package package; + static node_packages packages; + + static uint16_t package_Sample_Index = 0; + static uint16_t IntervalSampleAngle = 0; + static uint16_t IntervalSampleAngle_LastPackage = 0; + static uint16_t FirstSampleAngle = 0; + static uint16_t LastSampleAngle = 0; + static uint16_t CheckSun = 0; + + static uint16_t CheckSunCal = 0; + static uint16_t SampleNumlAndCTCal = 0; + static uint16_t LastSampleAngleCal = 0; + static bool CheckSunResult = true; + static uint16_t Valu8Tou16 = 0; + + uint8_t *packageBuffer = (m_intensities)?(uint8_t*)&package.package_Head:(uint8_t*)&packages.package_Head; + uint8_t package_Sample_Num = 0; + + int32_t AngleCorrectForDistance; + + int package_recvPos = 0; + + if(package_Sample_Index == 0) { + recvPos = 0; + while ((waitTime=getms() - startTs) <= timeout) { + size_t remainSize = PackagePaidBytes - recvPos; + size_t recvSize; + result_t ans = waitForData(remainSize, timeout-waitTime, &recvSize); + if (ans != RESULT_OK){ + delete[] recvBuffer; + return ans; + } + + if (recvSize > remainSize){ + recvSize = remainSize; + } + + getData(recvBuffer, recvSize); + + for (size_t pos = 0; pos < recvSize; ++pos) { + uint8_t currentByte = recvBuffer[pos]; + switch (recvPos) { + case 0: + if(currentByte==(PH&0xFF)){ + + }else{ + continue; + } + break; + case 1: + CheckSunCal = PH; + if(currentByte==(PH>>8)){ + + }else{ + recvPos = 0; + continue; + } + break; + case 2: + SampleNumlAndCTCal = currentByte; + if ((currentByte == CT_Normal) || (currentByte == CT_RingStart)){ + + } else { + recvPos = 0; + continue; + } + break; + case 3: + SampleNumlAndCTCal += (currentByte*0x100); + package_Sample_Num = currentByte; + break; + case 4: + if (currentByte & LIDAR_RESP_MEASUREMENT_CHECKBIT) { + FirstSampleAngle = currentByte; + } else { + recvPos = 0; + continue; + } + break; + case 5: + FirstSampleAngle += currentByte*0x100; + CheckSunCal ^= FirstSampleAngle; + FirstSampleAngle = FirstSampleAngle>>1; + break; + case 6: + if (currentByte & LIDAR_RESP_MEASUREMENT_CHECKBIT) { + LastSampleAngle = currentByte; + } else { + recvPos = 0; + continue; + } + break; + case 7: + LastSampleAngle = currentByte*0x100 + LastSampleAngle; + LastSampleAngleCal = LastSampleAngle; + LastSampleAngle = LastSampleAngle>>1; + if(package_Sample_Num == 1){ + IntervalSampleAngle = 0; + }else{ + if(LastSampleAngle < FirstSampleAngle){ + if((FirstSampleAngle > 270*64) && (LastSampleAngle < 90*64)){ + IntervalSampleAngle = (360*64 + LastSampleAngle - FirstSampleAngle)/(package_Sample_Num-1); + IntervalSampleAngle_LastPackage = IntervalSampleAngle; + } else{ + IntervalSampleAngle = IntervalSampleAngle_LastPackage; + } + } else{ + IntervalSampleAngle = (LastSampleAngle -FirstSampleAngle)/(package_Sample_Num-1); + IntervalSampleAngle_LastPackage = IntervalSampleAngle; + } + } + break; + case 8: + CheckSun = currentByte; + break; + case 9: + CheckSun += (currentByte*0x100); + break; + } + packageBuffer[recvPos++] = currentByte; + } + + if (recvPos == PackagePaidBytes ){ + package_recvPos = recvPos; + break; + } + } + + if(PackagePaidBytes == recvPos){ + startTs = getms(); + recvPos = 0; + while ((waitTime=getms() - startTs) <= timeout) { + size_t remainSize = package_Sample_Num*PackageSampleBytes - recvPos; + size_t recvSize; + result_t ans =waitForData(remainSize, timeout-waitTime, &recvSize); + if (ans != RESULT_OK){ + delete[] recvBuffer; + return ans; + } + + if (recvSize > remainSize){ + recvSize = remainSize; + } + + getData(recvBuffer, recvSize); + + for (size_t pos = 0; pos < recvSize; ++pos) { + if(m_intensities){ + if(recvPos%3 == 2){ + Valu8Tou16 += recvBuffer[pos]*0x100; + CheckSunCal ^= Valu8Tou16; + }else if(recvPos%3 == 1){ + Valu8Tou16 = recvBuffer[pos]; + }else{ + CheckSunCal ^= recvBuffer[pos]; + } + }else{ + if(recvPos%2 == 1){ + Valu8Tou16 += recvBuffer[pos]*0x100; + CheckSunCal ^= Valu8Tou16; + }else{ + Valu8Tou16 = recvBuffer[pos]; + } + } + + packageBuffer[package_recvPos+recvPos] = recvBuffer[pos]; + recvPos++; + } + + if(package_Sample_Num*PackageSampleBytes == recvPos){ + package_recvPos += recvPos; + break; + } + } + if(package_Sample_Num*PackageSampleBytes != recvPos){ + delete[] recvBuffer; + return RESULT_FAIL; + } + } else { + delete[] recvBuffer; + return RESULT_FAIL; + } + CheckSunCal ^= SampleNumlAndCTCal; + CheckSunCal ^= LastSampleAngleCal; + + if(CheckSunCal != CheckSun){ + CheckSunResult = false; + }else{ + CheckSunResult = true; + } + + } + uint8_t package_CT; + if(m_intensities){ + package_CT = package.package_CT; + }else{ + package_CT = packages.package_CT; + } + + if(package_CT == CT_Normal){ + (*node).sync_quality = Node_Default_Quality + Node_NotSync; + } else{ + (*node).sync_quality = Node_Default_Quality + Node_Sync; + } + + if(CheckSunResult == true){ + if(m_intensities){ + (*node).sync_quality = package.packageSample[package_Sample_Index].PakageSampleQuality; + (*node).distance_q2 = package.packageSample[package_Sample_Index].PakageSampleDistance; + }else{ + (*node).distance_q2 = packages.packageSampleDistance[package_Sample_Index]; + } + if((*node).distance_q2/4 != 0){ + AngleCorrectForDistance = (int32_t)(((atan(((21.8*(155.3 - ((*node).distance_q2/4)) )/155.3)/((*node).distance_q2/4)))*180.0/3.1415) * 64.0); + }else{ + AngleCorrectForDistance = 0; + } + if((FirstSampleAngle + IntervalSampleAngle*package_Sample_Index + AngleCorrectForDistance) < 0){ + (*node).angle_q6_checkbit = ((FirstSampleAngle + IntervalSampleAngle*package_Sample_Index + AngleCorrectForDistance + 360*64)<<1) + LIDAR_RESP_MEASUREMENT_CHECKBIT; + }else{ + if((FirstSampleAngle + IntervalSampleAngle*package_Sample_Index + AngleCorrectForDistance) > 360*64){ + (*node).angle_q6_checkbit = ((FirstSampleAngle + IntervalSampleAngle*package_Sample_Index + AngleCorrectForDistance - 360*64)<<1) + LIDAR_RESP_MEASUREMENT_CHECKBIT; + }else{ + (*node).angle_q6_checkbit = ((FirstSampleAngle + IntervalSampleAngle*package_Sample_Index + AngleCorrectForDistance)<<1) + LIDAR_RESP_MEASUREMENT_CHECKBIT; + } + } + }else{ + (*node).sync_quality = Node_Default_Quality + Node_NotSync; + (*node).angle_q6_checkbit = LIDAR_RESP_MEASUREMENT_CHECKBIT; + (*node).distance_q2 = 0; + } + + package_Sample_Index++; + uint8_t nowPackageNum; + if(m_intensities){ + nowPackageNum = package.nowPackageNum; + }else{ + nowPackageNum = packages.nowPackageNum; + } + if(package_Sample_Index >= nowPackageNum){ + package_Sample_Index = 0; + } + delete[] recvBuffer; + return RESULT_OK; + } + + result_t YDlidarDriver::waitScanData(node_info * nodebuffer, size_t & count, uint32_t timeout) { + if (!isConnected) { + count = 0; + return RESULT_FAIL; + } + + size_t recvNodeCount = 0; + uint32_t startTs = getms(); + uint32_t waitTime; + result_t ans; + + while ((waitTime = getms() - startTs) <= timeout && recvNodeCount < count) { + node_info node; + if ((ans = this->waitPackage(&node, timeout - waitTime)) != RESULT_OK) { + return ans; + } + nodebuffer[recvNodeCount++] = node; + + if (recvNodeCount == count) { + return RESULT_OK; + } + } + count = recvNodeCount; + return RESULT_FAIL; + } + + + result_t YDlidarDriver::grabScanData(node_info * nodebuffer, size_t & count, uint32_t timeout) { + switch (_dataEvent.wait(timeout)) { + case Event::EVENT_TIMEOUT: + count = 0; + return RESULT_TIMEOUT; + case Event::EVENT_OK: + { + if(scan_node_count == 0) { + return RESULT_FAIL; + } + size_t size_to_copy = min(count, scan_node_count); + ScopedLocker l(_lock); + memcpy(nodebuffer, scan_node_buf, size_to_copy*sizeof(node_info)); + count = size_to_copy; + scan_node_count = 0; + } + return RESULT_OK; + default: + count = 0; + return RESULT_FAIL; + } + + } + + void YDlidarDriver::simpleScanData(std::vector *scan_data , node_info *buffer, size_t count) { + scan_data->clear(); + for (int pos = 0; pos < (int)count; ++pos) { + scanDot dot; + if (!buffer[pos].distance_q2) continue; + dot.quality = (buffer[pos].sync_quality>>LIDAR_RESP_MEASUREMENT_QUALITY_SHIFT); + dot.angle = (buffer[pos].angle_q6_checkbit >> LIDAR_RESP_MEASUREMENT_ANGLE_SHIFT)/64.0f; + dot.dist = buffer[pos].distance_q2/4.0f; + scan_data->push_back(dot); + } + } + + result_t YDlidarDriver::ascendScanData(node_info * nodebuffer, size_t count) { + float inc_origin_angle = (float)360.0/count; + node_info *tmpbuffer = new node_info[count]; + int i = 0; + + for (i = 0; i < (int)count; i++) { + if(nodebuffer[i].distance_q2 == 0) { + continue; + } else { + while(i != 0) { + i--; + float expect_angle = (nodebuffer[i+1].angle_q6_checkbit >> LIDAR_RESP_MEASUREMENT_ANGLE_SHIFT)/64.0f - inc_origin_angle; + if (expect_angle < 0.0f) expect_angle = 0.0f; + uint16_t checkbit = nodebuffer[i].angle_q6_checkbit & LIDAR_RESP_MEASUREMENT_CHECKBIT; + nodebuffer[i].angle_q6_checkbit = (((uint16_t)(expect_angle * 64.0f)) << LIDAR_RESP_MEASUREMENT_ANGLE_SHIFT) + checkbit; + } + break; + } + } + + if (i == (int)count){ + return RESULT_FAIL; + } + + for (i = (int)count - 1; i >= 0; i--) { + if(nodebuffer[i].distance_q2 == 0) { + continue; + } else { + while(i != ((int)count - 1)) { + i++; + float expect_angle = (nodebuffer[i-1].angle_q6_checkbit >> LIDAR_RESP_MEASUREMENT_ANGLE_SHIFT)/64.0f + inc_origin_angle; + if (expect_angle > 360.0f) expect_angle -= 360.0f; + uint16_t checkbit = nodebuffer[i].angle_q6_checkbit & LIDAR_RESP_MEASUREMENT_CHECKBIT; + nodebuffer[i].angle_q6_checkbit = (((uint16_t)(expect_angle * 64.0f)) << LIDAR_RESP_MEASUREMENT_ANGLE_SHIFT) + checkbit; + } + break; + } + } + + float frontAngle = (nodebuffer[0].angle_q6_checkbit >> LIDAR_RESP_MEASUREMENT_ANGLE_SHIFT)/64.0f; + for (i = 1; i < (int)count; i++) { + if(nodebuffer[i].distance_q2 == 0) { + float expect_angle = frontAngle + i * inc_origin_angle; + if (expect_angle > 360.0f) expect_angle -= 360.0f; + uint16_t checkbit = nodebuffer[i].angle_q6_checkbit & LIDAR_RESP_MEASUREMENT_CHECKBIT; + nodebuffer[i].angle_q6_checkbit = (((uint16_t)(expect_angle * 64.0f)) << LIDAR_RESP_MEASUREMENT_ANGLE_SHIFT) + checkbit; + } + } + + size_t zero_pos = 0; + float pre_degree = (nodebuffer[0].angle_q6_checkbit >> LIDAR_RESP_MEASUREMENT_ANGLE_SHIFT)/64.0f; + + for (i = 1; i < (int)count ; ++i) { + float degree = (nodebuffer[i].angle_q6_checkbit >> LIDAR_RESP_MEASUREMENT_ANGLE_SHIFT)/64.0f; + if (zero_pos == 0 && (pre_degree - degree > 180)) { + zero_pos = i; + break; + } + pre_degree = degree; + } + + for (i = (int)zero_pos; i < (int)count; i++) { + tmpbuffer[i-zero_pos] = nodebuffer[i]; + } + for (i = 0; i < (int)zero_pos; i++) { + tmpbuffer[i+(int)count-zero_pos] = nodebuffer[i]; + } + + memcpy(nodebuffer, tmpbuffer, count*sizeof(node_info)); + delete[] tmpbuffer; + + return RESULT_OK; + } + + + result_t YDlidarDriver::reset(uint32_t timeout) { + UNUSED(timeout); + result_t ans; + if (!isConnected){ + return RESULT_FAIL; + } + ScopedLocker l(_lock); + if ((ans = sendCommand(LIDAR_CMD_RESET))!= RESULT_OK) { + return ans; + } + return RESULT_OK; + } + + result_t YDlidarDriver::getScanFrequency(scan_frequency & frequency, uint32_t timeout){ + result_t ans; + if (!isConnected) { + return RESULT_FAIL; + } + + disableDataGrabbing(); + { + ScopedLocker l(_lock); + if ((ans = sendCommand(LIDAR_CMD_GET_AIMSPEED)) != RESULT_OK) { + return ans; + } + + lidar_ans_header response_header; + if ((ans = waitResponseHeader(&response_header, timeout)) != RESULT_OK) { + return ans; + } + + if (response_header.type != LIDAR_ANS_TYPE_DEVINFO) { + return RESULT_FAIL; + } + + if (response_header.size != 4) { + return RESULT_FAIL; + } + + if (waitForData(response_header.size, timeout) != RESULT_OK) { + return RESULT_FAIL; + } + + getData(reinterpret_cast(&frequency), sizeof(frequency)); + } + return RESULT_OK; + } + + result_t YDlidarDriver::setScanFrequencyAdd(scan_frequency & frequency, uint32_t timeout){ + result_t ans; + if (!isConnected) { + return RESULT_FAIL; + } + + disableDataGrabbing(); + { + ScopedLocker l(_lock); + if ((ans = sendCommand(LIDAR_CMD_SET_AIMSPEED_ADD)) != RESULT_OK) { + return ans; + } + + lidar_ans_header response_header; + if ((ans = waitResponseHeader(&response_header, timeout)) != RESULT_OK) { + return ans; + } + + if (response_header.type != LIDAR_ANS_TYPE_DEVINFO) { + return RESULT_FAIL; + } + + if (response_header.size != 4) { + return RESULT_FAIL; + } + + if (waitForData(response_header.size, timeout) != RESULT_OK) { + return RESULT_FAIL; + } + + getData(reinterpret_cast(&frequency), sizeof(frequency)); + } + return RESULT_OK; + } + + result_t YDlidarDriver::setScanFrequencyDis(scan_frequency & frequency, uint32_t timeout){ + result_t ans; + if (!isConnected) { + return RESULT_FAIL; + } + + disableDataGrabbing(); + { + ScopedLocker l(_lock); + if ((ans = sendCommand(LIDAR_CMD_SET_AIMSPEED_DIS)) != RESULT_OK) { + return ans; + } + + lidar_ans_header response_header; + if ((ans = waitResponseHeader(&response_header, timeout)) != RESULT_OK) { + return ans; + } + + if (response_header.type != LIDAR_ANS_TYPE_DEVINFO) { + return RESULT_FAIL; + } + + if (response_header.size != 4) { + return RESULT_FAIL; + } + + if (waitForData(response_header.size, timeout) != RESULT_OK) { + return RESULT_FAIL; + } + + getData(reinterpret_cast(&frequency), sizeof(frequency)); + } + return RESULT_OK; + } + + result_t YDlidarDriver::setScanFrequencyAddMic(scan_frequency & frequency, uint32_t timeout){ + result_t ans; + if (!isConnected) { + return RESULT_FAIL; + } + + disableDataGrabbing(); + { + ScopedLocker l(_lock); + if ((ans = sendCommand(LIDAR_CMD_SET_AIMSPEED_ADDMIC)) != RESULT_OK) { + return ans; + } + + lidar_ans_header response_header; + if ((ans = waitResponseHeader(&response_header, timeout)) != RESULT_OK) { + return ans; + } + + if (response_header.type != LIDAR_ANS_TYPE_DEVINFO) { + return RESULT_FAIL; + } + + if (response_header.size != 4) { + return RESULT_FAIL; + } + + if (waitForData(response_header.size, timeout) != RESULT_OK) { + return RESULT_FAIL; + } + + getData(reinterpret_cast(&frequency), sizeof(frequency)); + } + return RESULT_OK; + } + + result_t YDlidarDriver::setScanFrequencyDisMic(scan_frequency & frequency, uint32_t timeout){ + result_t ans; + if (!isConnected) { + return RESULT_FAIL; + } + + disableDataGrabbing(); + { + ScopedLocker l(_lock); + if ((ans = sendCommand(LIDAR_CMD_SET_AIMSPEED_DISMIC)) != RESULT_OK) { + return ans; + } + + lidar_ans_header response_header; + if ((ans = waitResponseHeader(&response_header, timeout)) != RESULT_OK) { + return ans; + } + + if (response_header.type != LIDAR_ANS_TYPE_DEVINFO) { + return RESULT_FAIL; + } + + if (response_header.size != 4) { + return RESULT_FAIL; + } + + if (waitForData(response_header.size, timeout) != RESULT_OK) { + return RESULT_FAIL; + } + + getData(reinterpret_cast(&frequency), sizeof(frequency)); + } + return RESULT_OK; + } + + result_t YDlidarDriver::getSamplingRate(sampling_rate & rate, uint32_t timeout){ + result_t ans; + if (!isConnected) { + return RESULT_FAIL; + } + + disableDataGrabbing(); + { + ScopedLocker l(_lock); + if ((ans = sendCommand(LIDAR_CMD_GET_SAMPLING_RATE)) != RESULT_OK) { + return ans; + } + + lidar_ans_header response_header; + if ((ans = waitResponseHeader(&response_header, timeout)) != RESULT_OK) { + return ans; + } + + if (response_header.type != LIDAR_ANS_TYPE_DEVINFO) { + return RESULT_FAIL; + } + + if (response_header.size != 1) { + return RESULT_FAIL; + } + + if (waitForData(response_header.size, timeout) != RESULT_OK) { + return RESULT_FAIL; + } + + getData(reinterpret_cast(&rate), sizeof(rate)); + _sampling_rate=rate.rate; + } + return RESULT_OK; + } + + + result_t YDlidarDriver::setSamplingRate(sampling_rate & rate, uint32_t timeout){ + result_t ans; + if (!isConnected) { + return RESULT_FAIL; + } + disableDataGrabbing(); + { + ScopedLocker l(_lock); + if ((ans = sendCommand(LIDAR_CMD_SET_SAMPLING_RATE)) != RESULT_OK) { + return ans; + } + + lidar_ans_header response_header; + if ((ans = waitResponseHeader(&response_header, timeout)) != RESULT_OK) { + return ans; + } + + if (response_header.type != LIDAR_ANS_TYPE_DEVINFO) { + return RESULT_FAIL; + } + + if (response_header.size != 1) { + return RESULT_FAIL; + } + + if (waitForData(response_header.size, timeout) != RESULT_OK) { + return RESULT_FAIL; + } + getData(reinterpret_cast(&rate), sizeof(rate)); + _sampling_rate=rate.rate; + } + return RESULT_OK; + } + + const std::string YDlidarDriver::getSDKVersion(){ + return SDKVerision; + } + + result_t YDlidarDriver::setRotationPositive(scan_rotation & roation, uint32_t timeout){ + result_t ans; + if (!isConnected) { + return RESULT_FAIL; + } + disableDataGrabbing(); + { + ScopedLocker l(_lock); + if ((ans = sendCommand(LIDAR_CMD_RUN_POSITIVE)) != RESULT_OK) { + return ans; + } + + lidar_ans_header response_header; + if ((ans = waitResponseHeader(&response_header, timeout)) != RESULT_OK) { + return ans; + } + + if (response_header.type != LIDAR_ANS_TYPE_DEVINFO) { + return RESULT_FAIL; + } + + if (response_header.size != 1) { + return RESULT_FAIL; + } + + if (waitForData(response_header.size, timeout) != RESULT_OK) { + return RESULT_FAIL; + } + getData(reinterpret_cast(&roation), sizeof(roation)); + } + return RESULT_OK; + } + + result_t YDlidarDriver::setRotationInversion(scan_rotation & roation, uint32_t timeout){ + result_t ans; + if (!isConnected) { + return RESULT_FAIL; + } + disableDataGrabbing(); + { + ScopedLocker l(_lock); + if ((ans = sendCommand(LIDAR_CMD_RUN_INVERSION)) != RESULT_OK) { + return ans; + } + + lidar_ans_header response_header; + if ((ans = waitResponseHeader(&response_header, timeout)) != RESULT_OK) { + return ans; + } + + if (response_header.type != LIDAR_ANS_TYPE_DEVINFO) { + return RESULT_FAIL; + } + + if (response_header.size != 1) { + return RESULT_FAIL; + } + + if (waitForData(response_header.size, timeout) != RESULT_OK) { + return RESULT_FAIL; + } + getData(reinterpret_cast(&roation), sizeof(roation)); + } + return RESULT_OK; + } + + +} diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/src/ydlidar_client.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/ydlidar-1.2.1/src/ydlidar_client.cpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/src/ydlidar_client.cpp rename to Code/MowingRobot/pibot_ros/ros_ws/src/ydlidar-1.2.1/src/ydlidar_client.cpp diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/src/ydlidar_node.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/ydlidar-1.2.1/src/ydlidar_node.cpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/src/ydlidar_node.cpp rename to Code/MowingRobot/pibot_ros/ros_ws/src/ydlidar-1.2.1/src/ydlidar_node.cpp diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/startup/initenv.sh b/Code/MowingRobot/pibot_ros/ros_ws/src/ydlidar-1.2.1/startup/initenv.sh similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/startup/initenv.sh rename to Code/MowingRobot/pibot_ros/ros_ws/src/ydlidar-1.2.1/startup/initenv.sh diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/test/CMakeLists.txt b/Code/MowingRobot/pibot_ros/ros_ws/src/ydlidar-1.2.1/test/CMakeLists.txt similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/test/CMakeLists.txt rename to Code/MowingRobot/pibot_ros/ros_ws/src/ydlidar-1.2.1/test/CMakeLists.txt diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/test/laser_test.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/ydlidar-1.2.1/test/laser_test.cpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/test/laser_test.cpp rename to Code/MowingRobot/pibot_ros/ros_ws/src/ydlidar-1.2.1/test/laser_test.cpp diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/test/laser_test.h b/Code/MowingRobot/pibot_ros/ros_ws/src/ydlidar-1.2.1/test/laser_test.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/test/laser_test.h rename to Code/MowingRobot/pibot_ros/ros_ws/src/ydlidar-1.2.1/test/laser_test.h diff --git a/Code/MowingRobot/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/test/main.cpp b/Code/MowingRobot/pibot_ros/ros_ws/src/ydlidar-1.2.1/test/main.cpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/ros_ws/src/ydlidar-1.2.1/test/main.cpp rename to Code/MowingRobot/pibot_ros/ros_ws/src/ydlidar-1.2.1/test/main.cpp diff --git a/Code/MowingRobot/PIBot_ROS/rules/56-orbbec-usb.rules b/Code/MowingRobot/pibot_ros/rules/56-orbbec-usb.rules similarity index 100% rename from Code/MowingRobot/PIBot_ROS/rules/56-orbbec-usb.rules rename to Code/MowingRobot/pibot_ros/rules/56-orbbec-usb.rules diff --git a/Code/MowingRobot/PIBot_ROS/rules/98-pibot-usb.rules b/Code/MowingRobot/pibot_ros/rules/98-pibot-usb.rules similarity index 100% rename from Code/MowingRobot/PIBot_ROS/rules/98-pibot-usb.rules rename to Code/MowingRobot/pibot_ros/rules/98-pibot-usb.rules diff --git a/Code/MowingRobot/PIBot_ROS/rules/99-realsense-libusb.rules b/Code/MowingRobot/pibot_ros/rules/99-realsense-libusb.rules similarity index 100% rename from Code/MowingRobot/PIBot_ROS/rules/99-realsense-libusb.rules rename to Code/MowingRobot/pibot_ros/rules/99-realsense-libusb.rules diff --git a/Code/MowingRobot/pibot_ros/runtime/RK3588/Linux/librknn_api/aarch64/librknn_api.so b/Code/MowingRobot/pibot_ros/runtime/RK3588/Linux/librknn_api/aarch64/librknn_api.so new file mode 120000 index 0000000..7299993 --- /dev/null +++ b/Code/MowingRobot/pibot_ros/runtime/RK3588/Linux/librknn_api/aarch64/librknn_api.so @@ -0,0 +1 @@ +librknnrt.so \ No newline at end of file diff --git a/Code/MowingRobot/obj_dec/src/librknnrt.so b/Code/MowingRobot/pibot_ros/runtime/RK3588/Linux/librknn_api/aarch64/librknnrt.so similarity index 100% rename from Code/MowingRobot/obj_dec/src/librknnrt.so rename to Code/MowingRobot/pibot_ros/runtime/RK3588/Linux/librknn_api/aarch64/librknnrt.so diff --git a/Code/MowingRobot/obj_dec/src/runtime/RK3588/Linux/librknn_api/include/rknn_api.h b/Code/MowingRobot/pibot_ros/runtime/RK3588/Linux/librknn_api/include/rknn_api.h old mode 100644 new mode 100755 similarity index 100% rename from Code/MowingRobot/obj_dec/src/runtime/RK3588/Linux/librknn_api/include/rknn_api.h rename to Code/MowingRobot/pibot_ros/runtime/RK3588/Linux/librknn_api/include/rknn_api.h diff --git a/Code/MowingRobot/obj_dec/src/runtime/RK3588/Linux/librknn_api/include/rknn_matmul_api.h b/Code/MowingRobot/pibot_ros/runtime/RK3588/Linux/librknn_api/include/rknn_matmul_api.h similarity index 100% rename from Code/MowingRobot/obj_dec/src/runtime/RK3588/Linux/librknn_api/include/rknn_matmul_api.h rename to Code/MowingRobot/pibot_ros/runtime/RK3588/Linux/librknn_api/include/rknn_matmul_api.h diff --git a/Code/MowingRobot/obj_dec/src/runtime/RK3588/Linux/rknn_server/aarch64/usr/bin/restart_rknn.sh b/Code/MowingRobot/pibot_ros/runtime/RK3588/Linux/rknn_server/aarch64/usr/bin/restart_rknn.sh old mode 100644 new mode 100755 similarity index 100% rename from Code/MowingRobot/obj_dec/src/runtime/RK3588/Linux/rknn_server/aarch64/usr/bin/restart_rknn.sh rename to Code/MowingRobot/pibot_ros/runtime/RK3588/Linux/rknn_server/aarch64/usr/bin/restart_rknn.sh diff --git a/Code/MowingRobot/obj_dec/src/runtime/RK3588/Linux/rknn_server/aarch64/usr/bin/rknn_server b/Code/MowingRobot/pibot_ros/runtime/RK3588/Linux/rknn_server/aarch64/usr/bin/rknn_server old mode 100644 new mode 100755 similarity index 100% rename from Code/MowingRobot/obj_dec/src/runtime/RK3588/Linux/rknn_server/aarch64/usr/bin/rknn_server rename to Code/MowingRobot/pibot_ros/runtime/RK3588/Linux/rknn_server/aarch64/usr/bin/rknn_server diff --git a/Code/MowingRobot/obj_dec/src/runtime/RK3588/Linux/rknn_server/aarch64/usr/bin/start_rknn.sh b/Code/MowingRobot/pibot_ros/runtime/RK3588/Linux/rknn_server/aarch64/usr/bin/start_rknn.sh old mode 100644 new mode 100755 similarity index 100% rename from Code/MowingRobot/obj_dec/src/runtime/RK3588/Linux/rknn_server/aarch64/usr/bin/start_rknn.sh rename to Code/MowingRobot/pibot_ros/runtime/RK3588/Linux/rknn_server/aarch64/usr/bin/start_rknn.sh diff --git a/Code/MowingRobot/obj_dec/src/runtime/init.rknn_server.rc b/Code/MowingRobot/pibot_ros/runtime/init.rknn_server.rc similarity index 100% rename from Code/MowingRobot/obj_dec/src/runtime/init.rknn_server.rc rename to Code/MowingRobot/pibot_ros/runtime/init.rknn_server.rc diff --git a/Code/MowingRobot/PIBot_ROS/third_party/build.sh b/Code/MowingRobot/pibot_ros/third_party/build.sh similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/build.sh rename to Code/MowingRobot/pibot_ros/third_party/build.sh diff --git a/Code/MowingRobot/PIBot_ROS/third_party/create_ap/.gitignore b/Code/MowingRobot/pibot_ros/third_party/create_ap/.gitignore similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/create_ap/.gitignore rename to Code/MowingRobot/pibot_ros/third_party/create_ap/.gitignore diff --git a/Code/MowingRobot/PIBot_ROS/third_party/create_ap/LICENSE b/Code/MowingRobot/pibot_ros/third_party/create_ap/LICENSE similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/create_ap/LICENSE rename to Code/MowingRobot/pibot_ros/third_party/create_ap/LICENSE diff --git a/Code/MowingRobot/PIBot_ROS/third_party/create_ap/Makefile b/Code/MowingRobot/pibot_ros/third_party/create_ap/Makefile similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/create_ap/Makefile rename to Code/MowingRobot/pibot_ros/third_party/create_ap/Makefile diff --git a/Code/MowingRobot/PIBot_ROS/third_party/create_ap/README.md b/Code/MowingRobot/pibot_ros/third_party/create_ap/README.md similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/create_ap/README.md rename to Code/MowingRobot/pibot_ros/third_party/create_ap/README.md diff --git a/Code/MowingRobot/PIBot_ROS/third_party/create_ap/bash_completion b/Code/MowingRobot/pibot_ros/third_party/create_ap/bash_completion similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/create_ap/bash_completion rename to Code/MowingRobot/pibot_ros/third_party/create_ap/bash_completion diff --git a/Code/MowingRobot/PIBot_ROS/third_party/create_ap/config_ap.sh b/Code/MowingRobot/pibot_ros/third_party/create_ap/config_ap.sh similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/create_ap/config_ap.sh rename to Code/MowingRobot/pibot_ros/third_party/create_ap/config_ap.sh diff --git a/Code/MowingRobot/PIBot_ROS/third_party/create_ap/create_ap b/Code/MowingRobot/pibot_ros/third_party/create_ap/create_ap similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/create_ap/create_ap rename to Code/MowingRobot/pibot_ros/third_party/create_ap/create_ap diff --git a/Code/MowingRobot/PIBot_ROS/third_party/create_ap/create_ap.conf b/Code/MowingRobot/pibot_ros/third_party/create_ap/create_ap.conf similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/create_ap/create_ap.conf rename to Code/MowingRobot/pibot_ros/third_party/create_ap/create_ap.conf diff --git a/Code/MowingRobot/PIBot_ROS/third_party/create_ap/create_ap.openrc b/Code/MowingRobot/pibot_ros/third_party/create_ap/create_ap.openrc similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/create_ap/create_ap.openrc rename to Code/MowingRobot/pibot_ros/third_party/create_ap/create_ap.openrc diff --git a/Code/MowingRobot/PIBot_ROS/third_party/create_ap/create_ap.service.template b/Code/MowingRobot/pibot_ros/third_party/create_ap/create_ap.service.template similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/create_ap/create_ap.service.template rename to Code/MowingRobot/pibot_ros/third_party/create_ap/create_ap.service.template diff --git a/Code/MowingRobot/PIBot_ROS/third_party/create_ap/howto/realtek.md b/Code/MowingRobot/pibot_ros/third_party/create_ap/howto/realtek.md similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/create_ap/howto/realtek.md rename to Code/MowingRobot/pibot_ros/third_party/create_ap/howto/realtek.md diff --git a/Code/MowingRobot/PIBot_ROS/third_party/create_ap/lnxrouter b/Code/MowingRobot/pibot_ros/third_party/create_ap/lnxrouter similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/create_ap/lnxrouter rename to Code/MowingRobot/pibot_ros/third_party/create_ap/lnxrouter diff --git a/Code/MowingRobot/PIBot_ROS/third_party/iai_kinect2/LICENSE b/Code/MowingRobot/pibot_ros/third_party/iai_kinect2/LICENSE similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/iai_kinect2/LICENSE rename to Code/MowingRobot/pibot_ros/third_party/iai_kinect2/LICENSE diff --git a/Code/MowingRobot/PIBot_ROS/third_party/iai_kinect2/README.md b/Code/MowingRobot/pibot_ros/third_party/iai_kinect2/README.md similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/iai_kinect2/README.md rename to Code/MowingRobot/pibot_ros/third_party/iai_kinect2/README.md diff --git a/Code/MowingRobot/PIBot_ROS/third_party/iai_kinect2/iai_kinect2/CMakeLists.txt b/Code/MowingRobot/pibot_ros/third_party/iai_kinect2/iai_kinect2/CMakeLists.txt similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/iai_kinect2/iai_kinect2/CMakeLists.txt rename to Code/MowingRobot/pibot_ros/third_party/iai_kinect2/iai_kinect2/CMakeLists.txt diff --git a/Code/MowingRobot/PIBot_ROS/third_party/iai_kinect2/iai_kinect2/package.xml b/Code/MowingRobot/pibot_ros/third_party/iai_kinect2/iai_kinect2/package.xml similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/iai_kinect2/iai_kinect2/package.xml rename to Code/MowingRobot/pibot_ros/third_party/iai_kinect2/iai_kinect2/package.xml diff --git a/Code/MowingRobot/PIBot_ROS/third_party/iai_kinect2/kinect2_bridge/CMakeLists.txt b/Code/MowingRobot/pibot_ros/third_party/iai_kinect2/kinect2_bridge/CMakeLists.txt similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/iai_kinect2/kinect2_bridge/CMakeLists.txt rename to Code/MowingRobot/pibot_ros/third_party/iai_kinect2/kinect2_bridge/CMakeLists.txt diff --git a/Code/MowingRobot/PIBot_ROS/third_party/iai_kinect2/kinect2_bridge/README.md b/Code/MowingRobot/pibot_ros/third_party/iai_kinect2/kinect2_bridge/README.md similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/iai_kinect2/kinect2_bridge/README.md rename to Code/MowingRobot/pibot_ros/third_party/iai_kinect2/kinect2_bridge/README.md diff --git a/Code/MowingRobot/PIBot_ROS/third_party/iai_kinect2/kinect2_bridge/data/196605135147/calib_color.yaml b/Code/MowingRobot/pibot_ros/third_party/iai_kinect2/kinect2_bridge/data/196605135147/calib_color.yaml similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/iai_kinect2/kinect2_bridge/data/196605135147/calib_color.yaml rename to Code/MowingRobot/pibot_ros/third_party/iai_kinect2/kinect2_bridge/data/196605135147/calib_color.yaml diff --git a/Code/MowingRobot/PIBot_ROS/third_party/iai_kinect2/kinect2_bridge/data/196605135147/calib_depth.yaml b/Code/MowingRobot/pibot_ros/third_party/iai_kinect2/kinect2_bridge/data/196605135147/calib_depth.yaml similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/iai_kinect2/kinect2_bridge/data/196605135147/calib_depth.yaml rename to Code/MowingRobot/pibot_ros/third_party/iai_kinect2/kinect2_bridge/data/196605135147/calib_depth.yaml diff --git a/Code/MowingRobot/PIBot_ROS/third_party/iai_kinect2/kinect2_bridge/data/196605135147/calib_ir.yaml b/Code/MowingRobot/pibot_ros/third_party/iai_kinect2/kinect2_bridge/data/196605135147/calib_ir.yaml similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/iai_kinect2/kinect2_bridge/data/196605135147/calib_ir.yaml rename to Code/MowingRobot/pibot_ros/third_party/iai_kinect2/kinect2_bridge/data/196605135147/calib_ir.yaml diff --git a/Code/MowingRobot/PIBot_ROS/third_party/iai_kinect2/kinect2_bridge/data/196605135147/calib_pose.yaml b/Code/MowingRobot/pibot_ros/third_party/iai_kinect2/kinect2_bridge/data/196605135147/calib_pose.yaml similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/iai_kinect2/kinect2_bridge/data/196605135147/calib_pose.yaml rename to Code/MowingRobot/pibot_ros/third_party/iai_kinect2/kinect2_bridge/data/196605135147/calib_pose.yaml diff --git a/Code/MowingRobot/PIBot_ROS/third_party/iai_kinect2/kinect2_bridge/data/299150235147/calib_color.yaml b/Code/MowingRobot/pibot_ros/third_party/iai_kinect2/kinect2_bridge/data/299150235147/calib_color.yaml similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/iai_kinect2/kinect2_bridge/data/299150235147/calib_color.yaml rename to Code/MowingRobot/pibot_ros/third_party/iai_kinect2/kinect2_bridge/data/299150235147/calib_color.yaml diff --git a/Code/MowingRobot/PIBot_ROS/third_party/iai_kinect2/kinect2_bridge/data/299150235147/calib_ir.yaml b/Code/MowingRobot/pibot_ros/third_party/iai_kinect2/kinect2_bridge/data/299150235147/calib_ir.yaml similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/iai_kinect2/kinect2_bridge/data/299150235147/calib_ir.yaml rename to Code/MowingRobot/pibot_ros/third_party/iai_kinect2/kinect2_bridge/data/299150235147/calib_ir.yaml diff --git a/Code/MowingRobot/PIBot_ROS/third_party/iai_kinect2/kinect2_bridge/data/299150235147/calib_pose.yaml b/Code/MowingRobot/pibot_ros/third_party/iai_kinect2/kinect2_bridge/data/299150235147/calib_pose.yaml similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/iai_kinect2/kinect2_bridge/data/299150235147/calib_pose.yaml rename to Code/MowingRobot/pibot_ros/third_party/iai_kinect2/kinect2_bridge/data/299150235147/calib_pose.yaml diff --git a/Code/MowingRobot/PIBot_ROS/third_party/iai_kinect2/kinect2_bridge/include/kinect2_bridge/kinect2_definitions.h b/Code/MowingRobot/pibot_ros/third_party/iai_kinect2/kinect2_bridge/include/kinect2_bridge/kinect2_definitions.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/iai_kinect2/kinect2_bridge/include/kinect2_bridge/kinect2_definitions.h rename to Code/MowingRobot/pibot_ros/third_party/iai_kinect2/kinect2_bridge/include/kinect2_bridge/kinect2_definitions.h diff --git a/Code/MowingRobot/PIBot_ROS/third_party/iai_kinect2/kinect2_bridge/launch/kinect2_bridge.launch b/Code/MowingRobot/pibot_ros/third_party/iai_kinect2/kinect2_bridge/launch/kinect2_bridge.launch similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/iai_kinect2/kinect2_bridge/launch/kinect2_bridge.launch rename to Code/MowingRobot/pibot_ros/third_party/iai_kinect2/kinect2_bridge/launch/kinect2_bridge.launch diff --git a/Code/MowingRobot/PIBot_ROS/third_party/iai_kinect2/kinect2_bridge/nodelet_plugins.xml b/Code/MowingRobot/pibot_ros/third_party/iai_kinect2/kinect2_bridge/nodelet_plugins.xml similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/iai_kinect2/kinect2_bridge/nodelet_plugins.xml rename to Code/MowingRobot/pibot_ros/third_party/iai_kinect2/kinect2_bridge/nodelet_plugins.xml diff --git a/Code/MowingRobot/PIBot_ROS/third_party/iai_kinect2/kinect2_bridge/package.xml b/Code/MowingRobot/pibot_ros/third_party/iai_kinect2/kinect2_bridge/package.xml similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/iai_kinect2/kinect2_bridge/package.xml rename to Code/MowingRobot/pibot_ros/third_party/iai_kinect2/kinect2_bridge/package.xml diff --git a/Code/MowingRobot/PIBot_ROS/third_party/iai_kinect2/kinect2_bridge/src/kinect2_bridge.cpp b/Code/MowingRobot/pibot_ros/third_party/iai_kinect2/kinect2_bridge/src/kinect2_bridge.cpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/iai_kinect2/kinect2_bridge/src/kinect2_bridge.cpp rename to Code/MowingRobot/pibot_ros/third_party/iai_kinect2/kinect2_bridge/src/kinect2_bridge.cpp diff --git a/Code/MowingRobot/PIBot_ROS/third_party/iai_kinect2/kinect2_calibration/CMakeLists.txt b/Code/MowingRobot/pibot_ros/third_party/iai_kinect2/kinect2_calibration/CMakeLists.txt similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/iai_kinect2/kinect2_calibration/CMakeLists.txt rename to Code/MowingRobot/pibot_ros/third_party/iai_kinect2/kinect2_calibration/CMakeLists.txt diff --git a/Code/MowingRobot/PIBot_ROS/third_party/iai_kinect2/kinect2_calibration/README.md b/Code/MowingRobot/pibot_ros/third_party/iai_kinect2/kinect2_calibration/README.md similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/iai_kinect2/kinect2_calibration/README.md rename to Code/MowingRobot/pibot_ros/third_party/iai_kinect2/kinect2_calibration/README.md diff --git a/Code/MowingRobot/PIBot_ROS/third_party/iai_kinect2/kinect2_calibration/include/kinect2_calibration/kinect2_calibration_definitions.h b/Code/MowingRobot/pibot_ros/third_party/iai_kinect2/kinect2_calibration/include/kinect2_calibration/kinect2_calibration_definitions.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/iai_kinect2/kinect2_calibration/include/kinect2_calibration/kinect2_calibration_definitions.h rename to Code/MowingRobot/pibot_ros/third_party/iai_kinect2/kinect2_calibration/include/kinect2_calibration/kinect2_calibration_definitions.h diff --git a/Code/MowingRobot/PIBot_ROS/third_party/iai_kinect2/kinect2_calibration/package.xml b/Code/MowingRobot/pibot_ros/third_party/iai_kinect2/kinect2_calibration/package.xml similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/iai_kinect2/kinect2_calibration/package.xml rename to Code/MowingRobot/pibot_ros/third_party/iai_kinect2/kinect2_calibration/package.xml diff --git a/Code/MowingRobot/PIBot_ROS/third_party/iai_kinect2/kinect2_calibration/patterns/chess5x7x0.03.pdf b/Code/MowingRobot/pibot_ros/third_party/iai_kinect2/kinect2_calibration/patterns/chess5x7x0.03.pdf similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/iai_kinect2/kinect2_calibration/patterns/chess5x7x0.03.pdf rename to Code/MowingRobot/pibot_ros/third_party/iai_kinect2/kinect2_calibration/patterns/chess5x7x0.03.pdf diff --git a/Code/MowingRobot/PIBot_ROS/third_party/iai_kinect2/kinect2_calibration/patterns/chess5x7x0.03.svg b/Code/MowingRobot/pibot_ros/third_party/iai_kinect2/kinect2_calibration/patterns/chess5x7x0.03.svg similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/iai_kinect2/kinect2_calibration/patterns/chess5x7x0.03.svg rename to Code/MowingRobot/pibot_ros/third_party/iai_kinect2/kinect2_calibration/patterns/chess5x7x0.03.svg diff --git a/Code/MowingRobot/PIBot_ROS/third_party/iai_kinect2/kinect2_calibration/patterns/chess7x9x0.025.pdf b/Code/MowingRobot/pibot_ros/third_party/iai_kinect2/kinect2_calibration/patterns/chess7x9x0.025.pdf similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/iai_kinect2/kinect2_calibration/patterns/chess7x9x0.025.pdf rename to Code/MowingRobot/pibot_ros/third_party/iai_kinect2/kinect2_calibration/patterns/chess7x9x0.025.pdf diff --git a/Code/MowingRobot/PIBot_ROS/third_party/iai_kinect2/kinect2_calibration/patterns/chess7x9x0.025.svg b/Code/MowingRobot/pibot_ros/third_party/iai_kinect2/kinect2_calibration/patterns/chess7x9x0.025.svg similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/iai_kinect2/kinect2_calibration/patterns/chess7x9x0.025.svg rename to Code/MowingRobot/pibot_ros/third_party/iai_kinect2/kinect2_calibration/patterns/chess7x9x0.025.svg diff --git a/Code/MowingRobot/PIBot_ROS/third_party/iai_kinect2/kinect2_calibration/patterns/chess9x11x0.02.pdf b/Code/MowingRobot/pibot_ros/third_party/iai_kinect2/kinect2_calibration/patterns/chess9x11x0.02.pdf similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/iai_kinect2/kinect2_calibration/patterns/chess9x11x0.02.pdf rename to Code/MowingRobot/pibot_ros/third_party/iai_kinect2/kinect2_calibration/patterns/chess9x11x0.02.pdf diff --git a/Code/MowingRobot/PIBot_ROS/third_party/iai_kinect2/kinect2_calibration/patterns/chess9x11x0.02.svg b/Code/MowingRobot/pibot_ros/third_party/iai_kinect2/kinect2_calibration/patterns/chess9x11x0.02.svg similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/iai_kinect2/kinect2_calibration/patterns/chess9x11x0.02.svg rename to Code/MowingRobot/pibot_ros/third_party/iai_kinect2/kinect2_calibration/patterns/chess9x11x0.02.svg diff --git a/Code/MowingRobot/PIBot_ROS/third_party/iai_kinect2/kinect2_calibration/scripts/convert_calib_pose_to_urdf_format.py b/Code/MowingRobot/pibot_ros/third_party/iai_kinect2/kinect2_calibration/scripts/convert_calib_pose_to_urdf_format.py old mode 100644 new mode 100755 similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/iai_kinect2/kinect2_calibration/scripts/convert_calib_pose_to_urdf_format.py rename to Code/MowingRobot/pibot_ros/third_party/iai_kinect2/kinect2_calibration/scripts/convert_calib_pose_to_urdf_format.py diff --git a/Code/MowingRobot/PIBot_ROS/third_party/iai_kinect2/kinect2_calibration/src/kinect2_calibration.cpp b/Code/MowingRobot/pibot_ros/third_party/iai_kinect2/kinect2_calibration/src/kinect2_calibration.cpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/iai_kinect2/kinect2_calibration/src/kinect2_calibration.cpp rename to Code/MowingRobot/pibot_ros/third_party/iai_kinect2/kinect2_calibration/src/kinect2_calibration.cpp diff --git a/Code/MowingRobot/PIBot_ROS/third_party/iai_kinect2/kinect2_registration/CMakeLists.txt b/Code/MowingRobot/pibot_ros/third_party/iai_kinect2/kinect2_registration/CMakeLists.txt similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/iai_kinect2/kinect2_registration/CMakeLists.txt rename to Code/MowingRobot/pibot_ros/third_party/iai_kinect2/kinect2_registration/CMakeLists.txt diff --git a/Code/MowingRobot/PIBot_ROS/third_party/iai_kinect2/kinect2_registration/README.md b/Code/MowingRobot/pibot_ros/third_party/iai_kinect2/kinect2_registration/README.md similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/iai_kinect2/kinect2_registration/README.md rename to Code/MowingRobot/pibot_ros/third_party/iai_kinect2/kinect2_registration/README.md diff --git a/Code/MowingRobot/PIBot_ROS/third_party/iai_kinect2/kinect2_registration/cmake/CheckOpenCLICDLoader.cmake b/Code/MowingRobot/pibot_ros/third_party/iai_kinect2/kinect2_registration/cmake/CheckOpenCLICDLoader.cmake similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/iai_kinect2/kinect2_registration/cmake/CheckOpenCLICDLoader.cmake rename to Code/MowingRobot/pibot_ros/third_party/iai_kinect2/kinect2_registration/cmake/CheckOpenCLICDLoader.cmake diff --git a/Code/MowingRobot/PIBot_ROS/third_party/iai_kinect2/kinect2_registration/cmake/FindOpenCL.cmake b/Code/MowingRobot/pibot_ros/third_party/iai_kinect2/kinect2_registration/cmake/FindOpenCL.cmake similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/iai_kinect2/kinect2_registration/cmake/FindOpenCL.cmake rename to Code/MowingRobot/pibot_ros/third_party/iai_kinect2/kinect2_registration/cmake/FindOpenCL.cmake diff --git a/Code/MowingRobot/PIBot_ROS/third_party/iai_kinect2/kinect2_registration/cmake/kinect2_registration.cmake.in b/Code/MowingRobot/pibot_ros/third_party/iai_kinect2/kinect2_registration/cmake/kinect2_registration.cmake.in similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/iai_kinect2/kinect2_registration/cmake/kinect2_registration.cmake.in rename to Code/MowingRobot/pibot_ros/third_party/iai_kinect2/kinect2_registration/cmake/kinect2_registration.cmake.in diff --git a/Code/MowingRobot/PIBot_ROS/third_party/iai_kinect2/kinect2_registration/include/internal/CL/cl.hpp b/Code/MowingRobot/pibot_ros/third_party/iai_kinect2/kinect2_registration/include/internal/CL/cl.hpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/iai_kinect2/kinect2_registration/include/internal/CL/cl.hpp rename to Code/MowingRobot/pibot_ros/third_party/iai_kinect2/kinect2_registration/include/internal/CL/cl.hpp diff --git a/Code/MowingRobot/PIBot_ROS/third_party/iai_kinect2/kinect2_registration/include/kinect2_registration/kinect2_console.h b/Code/MowingRobot/pibot_ros/third_party/iai_kinect2/kinect2_registration/include/kinect2_registration/kinect2_console.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/iai_kinect2/kinect2_registration/include/kinect2_registration/kinect2_console.h rename to Code/MowingRobot/pibot_ros/third_party/iai_kinect2/kinect2_registration/include/kinect2_registration/kinect2_console.h diff --git a/Code/MowingRobot/PIBot_ROS/third_party/iai_kinect2/kinect2_registration/include/kinect2_registration/kinect2_registration.h b/Code/MowingRobot/pibot_ros/third_party/iai_kinect2/kinect2_registration/include/kinect2_registration/kinect2_registration.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/iai_kinect2/kinect2_registration/include/kinect2_registration/kinect2_registration.h rename to Code/MowingRobot/pibot_ros/third_party/iai_kinect2/kinect2_registration/include/kinect2_registration/kinect2_registration.h diff --git a/Code/MowingRobot/PIBot_ROS/third_party/iai_kinect2/kinect2_registration/package.xml b/Code/MowingRobot/pibot_ros/third_party/iai_kinect2/kinect2_registration/package.xml similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/iai_kinect2/kinect2_registration/package.xml rename to Code/MowingRobot/pibot_ros/third_party/iai_kinect2/kinect2_registration/package.xml diff --git a/Code/MowingRobot/PIBot_ROS/third_party/iai_kinect2/kinect2_registration/src/depth_registration.cl b/Code/MowingRobot/pibot_ros/third_party/iai_kinect2/kinect2_registration/src/depth_registration.cl similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/iai_kinect2/kinect2_registration/src/depth_registration.cl rename to Code/MowingRobot/pibot_ros/third_party/iai_kinect2/kinect2_registration/src/depth_registration.cl diff --git a/Code/MowingRobot/PIBot_ROS/third_party/iai_kinect2/kinect2_registration/src/depth_registration_cpu.cpp b/Code/MowingRobot/pibot_ros/third_party/iai_kinect2/kinect2_registration/src/depth_registration_cpu.cpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/iai_kinect2/kinect2_registration/src/depth_registration_cpu.cpp rename to Code/MowingRobot/pibot_ros/third_party/iai_kinect2/kinect2_registration/src/depth_registration_cpu.cpp diff --git a/Code/MowingRobot/PIBot_ROS/third_party/iai_kinect2/kinect2_registration/src/depth_registration_cpu.h b/Code/MowingRobot/pibot_ros/third_party/iai_kinect2/kinect2_registration/src/depth_registration_cpu.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/iai_kinect2/kinect2_registration/src/depth_registration_cpu.h rename to Code/MowingRobot/pibot_ros/third_party/iai_kinect2/kinect2_registration/src/depth_registration_cpu.h diff --git a/Code/MowingRobot/PIBot_ROS/third_party/iai_kinect2/kinect2_registration/src/depth_registration_opencl.cpp b/Code/MowingRobot/pibot_ros/third_party/iai_kinect2/kinect2_registration/src/depth_registration_opencl.cpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/iai_kinect2/kinect2_registration/src/depth_registration_opencl.cpp rename to Code/MowingRobot/pibot_ros/third_party/iai_kinect2/kinect2_registration/src/depth_registration_opencl.cpp diff --git a/Code/MowingRobot/PIBot_ROS/third_party/iai_kinect2/kinect2_registration/src/depth_registration_opencl.h b/Code/MowingRobot/pibot_ros/third_party/iai_kinect2/kinect2_registration/src/depth_registration_opencl.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/iai_kinect2/kinect2_registration/src/depth_registration_opencl.h rename to Code/MowingRobot/pibot_ros/third_party/iai_kinect2/kinect2_registration/src/depth_registration_opencl.h diff --git a/Code/MowingRobot/PIBot_ROS/third_party/iai_kinect2/kinect2_registration/src/kinect2_registration.cpp b/Code/MowingRobot/pibot_ros/third_party/iai_kinect2/kinect2_registration/src/kinect2_registration.cpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/iai_kinect2/kinect2_registration/src/kinect2_registration.cpp rename to Code/MowingRobot/pibot_ros/third_party/iai_kinect2/kinect2_registration/src/kinect2_registration.cpp diff --git a/Code/MowingRobot/PIBot_ROS/third_party/iai_kinect2/kinect2_viewer/CMakeLists.txt b/Code/MowingRobot/pibot_ros/third_party/iai_kinect2/kinect2_viewer/CMakeLists.txt similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/iai_kinect2/kinect2_viewer/CMakeLists.txt rename to Code/MowingRobot/pibot_ros/third_party/iai_kinect2/kinect2_viewer/CMakeLists.txt diff --git a/Code/MowingRobot/PIBot_ROS/third_party/iai_kinect2/kinect2_viewer/README.md b/Code/MowingRobot/pibot_ros/third_party/iai_kinect2/kinect2_viewer/README.md similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/iai_kinect2/kinect2_viewer/README.md rename to Code/MowingRobot/pibot_ros/third_party/iai_kinect2/kinect2_viewer/README.md diff --git a/Code/MowingRobot/PIBot_ROS/third_party/iai_kinect2/kinect2_viewer/package.xml b/Code/MowingRobot/pibot_ros/third_party/iai_kinect2/kinect2_viewer/package.xml similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/iai_kinect2/kinect2_viewer/package.xml rename to Code/MowingRobot/pibot_ros/third_party/iai_kinect2/kinect2_viewer/package.xml diff --git a/Code/MowingRobot/PIBot_ROS/third_party/iai_kinect2/kinect2_viewer/src/viewer.cpp b/Code/MowingRobot/pibot_ros/third_party/iai_kinect2/kinect2_viewer/src/viewer.cpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/iai_kinect2/kinect2_viewer/src/viewer.cpp rename to Code/MowingRobot/pibot_ros/third_party/iai_kinect2/kinect2_viewer/src/viewer.cpp diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/.gitattributes b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/.gitattributes similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/.gitattributes rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/.gitattributes diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/.github/ISSUE_TEMPLATE.md b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/.github/ISSUE_TEMPLATE.md similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/.github/ISSUE_TEMPLATE.md rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/.github/ISSUE_TEMPLATE.md diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/.gitignore b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/.gitignore similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/.gitignore rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/.gitignore diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/APACHE20 b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/APACHE20 similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/APACHE20 rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/APACHE20 diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/CMakeLists.txt b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/CMakeLists.txt similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/CMakeLists.txt rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/CMakeLists.txt diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/CONTRIB b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/CONTRIB similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/CONTRIB rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/CONTRIB diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/GPL2 b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/GPL2 similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/GPL2 rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/GPL2 diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/README.md b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/README.md similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/README.md rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/README.md diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/cmake_modules/CheckOpenCLICDLoader.cmake b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/cmake_modules/CheckOpenCLICDLoader.cmake similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/cmake_modules/CheckOpenCLICDLoader.cmake rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/cmake_modules/CheckOpenCLICDLoader.cmake diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/cmake_modules/FindGLFW3.cmake b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/cmake_modules/FindGLFW3.cmake similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/cmake_modules/FindGLFW3.cmake rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/cmake_modules/FindGLFW3.cmake diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/cmake_modules/FindLibUSB.cmake b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/cmake_modules/FindLibUSB.cmake similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/cmake_modules/FindLibUSB.cmake rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/cmake_modules/FindLibUSB.cmake diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/cmake_modules/FindOpenCL.cmake b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/cmake_modules/FindOpenCL.cmake similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/cmake_modules/FindOpenCL.cmake rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/cmake_modules/FindOpenCL.cmake diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/cmake_modules/FindOpenNI2.cmake b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/cmake_modules/FindOpenNI2.cmake similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/cmake_modules/FindOpenNI2.cmake rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/cmake_modules/FindOpenNI2.cmake diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/cmake_modules/FindTegraJPEG.cmake b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/cmake_modules/FindTegraJPEG.cmake similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/cmake_modules/FindTegraJPEG.cmake rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/cmake_modules/FindTegraJPEG.cmake diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/cmake_modules/FindTurboJPEG.cmake b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/cmake_modules/FindTurboJPEG.cmake similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/cmake_modules/FindTurboJPEG.cmake rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/cmake_modules/FindTurboJPEG.cmake diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/cmake_modules/GenerateResources.cmake b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/cmake_modules/GenerateResources.cmake similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/cmake_modules/GenerateResources.cmake rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/cmake_modules/GenerateResources.cmake diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/cmake_modules/SetupLibfreenect2Threading.cmake b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/cmake_modules/SetupLibfreenect2Threading.cmake similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/cmake_modules/SetupLibfreenect2Threading.cmake rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/cmake_modules/SetupLibfreenect2Threading.cmake diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/depends/INSTALL-windows.txt b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/depends/INSTALL-windows.txt similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/depends/INSTALL-windows.txt rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/depends/INSTALL-windows.txt diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/depends/LICENSES.txt b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/depends/LICENSES.txt similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/depends/LICENSES.txt rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/depends/LICENSES.txt diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/depends/download_debs_trusty.sh b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/depends/download_debs_trusty.sh similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/depends/download_debs_trusty.sh rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/depends/download_debs_trusty.sh diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/depends/install_glfw.sh b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/depends/install_glfw.sh similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/depends/install_glfw.sh rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/depends/install_glfw.sh diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/depends/install_libusb.sh b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/depends/install_libusb.sh similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/depends/install_libusb.sh rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/depends/install_libusb.sh diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/depends/install_libusb_vs2013.cmd b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/depends/install_libusb_vs2013.cmd similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/depends/install_libusb_vs2013.cmd rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/depends/install_libusb_vs2013.cmd diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/depends/install_libusb_vs2015.cmd b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/depends/install_libusb_vs2015.cmd similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/depends/install_libusb_vs2015.cmd rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/depends/install_libusb_vs2015.cmd diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/depends/install_ubuntu.sh b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/depends/install_ubuntu.sh similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/depends/install_ubuntu.sh rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/depends/install_ubuntu.sh diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/depends/make_release_msvc.cmd b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/depends/make_release_msvc.cmd similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/depends/make_release_msvc.cmd rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/depends/make_release_msvc.cmd diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/doc/CMakeLists.txt b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/doc/CMakeLists.txt similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/doc/CMakeLists.txt rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/doc/CMakeLists.txt diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/doc/Doxyextra.css b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/doc/Doxyextra.css similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/doc/Doxyextra.css rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/doc/Doxyextra.css diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/doc/Doxyfile.in b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/doc/Doxyfile.in similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/doc/Doxyfile.in rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/doc/Doxyfile.in diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/doc/mainpage.dox b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/doc/mainpage.dox similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/doc/mainpage.dox rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/doc/mainpage.dox diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/examples/CMakeLists.txt b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/examples/CMakeLists.txt similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/examples/CMakeLists.txt rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/examples/CMakeLists.txt diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/examples/Protonect.cpp b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/examples/Protonect.cpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/examples/Protonect.cpp rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/examples/Protonect.cpp diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/examples/viewer.cpp b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/examples/viewer.cpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/examples/viewer.cpp rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/examples/viewer.cpp diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/examples/viewer.h b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/examples/viewer.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/examples/viewer.h rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/examples/viewer.h diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/freenect2.cmake.in b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/freenect2.cmake.in similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/freenect2.cmake.in rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/freenect2.cmake.in diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/freenect2.pc.in b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/freenect2.pc.in similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/freenect2.pc.in rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/freenect2.pc.in diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/freenect2Version.cmake.in b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/freenect2Version.cmake.in similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/freenect2Version.cmake.in rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/freenect2Version.cmake.in diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/include/internal/CL/cl.hpp b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/include/internal/CL/cl.hpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/include/internal/CL/cl.hpp rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/include/internal/CL/cl.hpp diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/include/internal/libfreenect2/allocator.h b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/include/internal/libfreenect2/allocator.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/include/internal/libfreenect2/allocator.h rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/include/internal/libfreenect2/allocator.h diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/include/internal/libfreenect2/async_packet_processor.h b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/include/internal/libfreenect2/async_packet_processor.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/include/internal/libfreenect2/async_packet_processor.h rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/include/internal/libfreenect2/async_packet_processor.h diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/include/internal/libfreenect2/data_callback.h b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/include/internal/libfreenect2/data_callback.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/include/internal/libfreenect2/data_callback.h rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/include/internal/libfreenect2/data_callback.h diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/include/internal/libfreenect2/depth_packet_processor.h b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/include/internal/libfreenect2/depth_packet_processor.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/include/internal/libfreenect2/depth_packet_processor.h rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/include/internal/libfreenect2/depth_packet_processor.h diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/include/internal/libfreenect2/depth_packet_stream_parser.h b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/include/internal/libfreenect2/depth_packet_stream_parser.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/include/internal/libfreenect2/depth_packet_stream_parser.h rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/include/internal/libfreenect2/depth_packet_stream_parser.h diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/include/internal/libfreenect2/logging.h b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/include/internal/libfreenect2/logging.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/include/internal/libfreenect2/logging.h rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/include/internal/libfreenect2/logging.h diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/include/internal/libfreenect2/packet_processor.h b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/include/internal/libfreenect2/packet_processor.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/include/internal/libfreenect2/packet_processor.h rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/include/internal/libfreenect2/packet_processor.h diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/include/internal/libfreenect2/protocol/command.h b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/include/internal/libfreenect2/protocol/command.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/include/internal/libfreenect2/protocol/command.h rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/include/internal/libfreenect2/protocol/command.h diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/include/internal/libfreenect2/protocol/command_transaction.h b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/include/internal/libfreenect2/protocol/command_transaction.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/include/internal/libfreenect2/protocol/command_transaction.h rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/include/internal/libfreenect2/protocol/command_transaction.h diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/include/internal/libfreenect2/protocol/response.h b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/include/internal/libfreenect2/protocol/response.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/include/internal/libfreenect2/protocol/response.h rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/include/internal/libfreenect2/protocol/response.h diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/include/internal/libfreenect2/protocol/usb_control.h b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/include/internal/libfreenect2/protocol/usb_control.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/include/internal/libfreenect2/protocol/usb_control.h rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/include/internal/libfreenect2/protocol/usb_control.h diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/include/internal/libfreenect2/resource.h b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/include/internal/libfreenect2/resource.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/include/internal/libfreenect2/resource.h rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/include/internal/libfreenect2/resource.h diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/include/internal/libfreenect2/rgb_packet_processor.h b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/include/internal/libfreenect2/rgb_packet_processor.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/include/internal/libfreenect2/rgb_packet_processor.h rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/include/internal/libfreenect2/rgb_packet_processor.h diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/include/internal/libfreenect2/rgb_packet_stream_parser.h b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/include/internal/libfreenect2/rgb_packet_stream_parser.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/include/internal/libfreenect2/rgb_packet_stream_parser.h rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/include/internal/libfreenect2/rgb_packet_stream_parser.h diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/include/internal/libfreenect2/threading.h b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/include/internal/libfreenect2/threading.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/include/internal/libfreenect2/threading.h rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/include/internal/libfreenect2/threading.h diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/include/internal/libfreenect2/usb/event_loop.h b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/include/internal/libfreenect2/usb/event_loop.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/include/internal/libfreenect2/usb/event_loop.h rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/include/internal/libfreenect2/usb/event_loop.h diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/include/internal/libfreenect2/usb/transfer_pool.h b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/include/internal/libfreenect2/usb/transfer_pool.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/include/internal/libfreenect2/usb/transfer_pool.h rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/include/internal/libfreenect2/usb/transfer_pool.h diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/include/libfreenect2/color_settings.h b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/include/libfreenect2/color_settings.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/include/libfreenect2/color_settings.h rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/include/libfreenect2/color_settings.h diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/include/libfreenect2/config.h.in b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/include/libfreenect2/config.h.in similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/include/libfreenect2/config.h.in rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/include/libfreenect2/config.h.in diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/include/libfreenect2/frame_listener.hpp b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/include/libfreenect2/frame_listener.hpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/include/libfreenect2/frame_listener.hpp rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/include/libfreenect2/frame_listener.hpp diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/include/libfreenect2/frame_listener_impl.h b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/include/libfreenect2/frame_listener_impl.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/include/libfreenect2/frame_listener_impl.h rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/include/libfreenect2/frame_listener_impl.h diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/include/libfreenect2/led_settings.h b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/include/libfreenect2/led_settings.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/include/libfreenect2/led_settings.h rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/include/libfreenect2/led_settings.h diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/include/libfreenect2/libfreenect2.hpp b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/include/libfreenect2/libfreenect2.hpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/include/libfreenect2/libfreenect2.hpp rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/include/libfreenect2/libfreenect2.hpp diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/include/libfreenect2/logger.h b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/include/libfreenect2/logger.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/include/libfreenect2/logger.h rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/include/libfreenect2/logger.h diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/include/libfreenect2/packet_pipeline.h b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/include/libfreenect2/packet_pipeline.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/include/libfreenect2/packet_pipeline.h rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/include/libfreenect2/packet_pipeline.h diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/include/libfreenect2/registration.h b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/include/libfreenect2/registration.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/include/libfreenect2/registration.h rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/include/libfreenect2/registration.h diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/platform/android/README.md b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/platform/android/README.md similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/platform/android/README.md rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/platform/android/README.md diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/platform/android/jni/Android.mk b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/platform/android/jni/Android.mk similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/platform/android/jni/Android.mk rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/platform/android/jni/Android.mk diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/platform/android/jni/Application.mk b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/platform/android/jni/Application.mk similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/platform/android/jni/Application.mk rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/platform/android/jni/Application.mk diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/platform/android/jni/examples.mk b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/platform/android/jni/examples.mk similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/platform/android/jni/examples.mk rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/platform/android/jni/examples.mk diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/platform/android/jni/libfreenect2.mk b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/platform/android/jni/libfreenect2.mk similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/platform/android/jni/libfreenect2.mk rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/platform/android/jni/libfreenect2.mk diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/platform/android/libfreenect2/config.h b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/platform/android/libfreenect2/config.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/platform/android/libfreenect2/config.h rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/platform/android/libfreenect2/config.h diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/platform/linux/udev/90-kinect2.rules b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/platform/linux/udev/90-kinect2.rules similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/platform/linux/udev/90-kinect2.rules rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/platform/linux/udev/90-kinect2.rules diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/platform/windows/tracing/Readme.tracing.txt b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/platform/windows/tracing/Readme.tracing.txt similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/platform/windows/tracing/Readme.tracing.txt rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/platform/windows/tracing/Readme.tracing.txt diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/platform/windows/tracing/starttrace.bat b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/platform/windows/tracing/starttrace.bat similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/platform/windows/tracing/starttrace.bat rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/platform/windows/tracing/starttrace.bat diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/platform/windows/tracing/stoptrace.bat b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/platform/windows/tracing/stoptrace.bat similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/platform/windows/tracing/stoptrace.bat rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/platform/windows/tracing/stoptrace.bat diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/platform/windows/tracing/timestamp.bat b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/platform/windows/tracing/timestamp.bat similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/platform/windows/tracing/timestamp.bat rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/platform/windows/tracing/timestamp.bat diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/src/allocator.cpp b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/src/allocator.cpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/src/allocator.cpp rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/src/allocator.cpp diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/src/command_transaction.cpp b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/src/command_transaction.cpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/src/command_transaction.cpp rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/src/command_transaction.cpp diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/src/cpu_depth_packet_processor.cpp b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/src/cpu_depth_packet_processor.cpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/src/cpu_depth_packet_processor.cpp rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/src/cpu_depth_packet_processor.cpp diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/src/cuda_depth_packet_processor.cu b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/src/cuda_depth_packet_processor.cu similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/src/cuda_depth_packet_processor.cu rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/src/cuda_depth_packet_processor.cu diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/src/cuda_kde_depth_packet_processor.cu b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/src/cuda_kde_depth_packet_processor.cu similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/src/cuda_kde_depth_packet_processor.cu rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/src/cuda_kde_depth_packet_processor.cu diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/src/depth_packet_processor.cpp b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/src/depth_packet_processor.cpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/src/depth_packet_processor.cpp rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/src/depth_packet_processor.cpp diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/src/depth_packet_stream_parser.cpp b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/src/depth_packet_stream_parser.cpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/src/depth_packet_stream_parser.cpp rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/src/depth_packet_stream_parser.cpp diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/src/event_loop.cpp b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/src/event_loop.cpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/src/event_loop.cpp rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/src/event_loop.cpp diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/src/flextGL.cpp b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/src/flextGL.cpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/src/flextGL.cpp rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/src/flextGL.cpp diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/src/flextGL.h b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/src/flextGL.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/src/flextGL.h rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/src/flextGL.h diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/src/frame_listener_impl.cpp b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/src/frame_listener_impl.cpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/src/frame_listener_impl.cpp rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/src/frame_listener_impl.cpp diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/src/libfreenect2.cpp b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/src/libfreenect2.cpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/src/libfreenect2.cpp rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/src/libfreenect2.cpp diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/src/logging.cpp b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/src/logging.cpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/src/logging.cpp rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/src/logging.cpp diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/src/opencl_depth_packet_processor.cl b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/src/opencl_depth_packet_processor.cl similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/src/opencl_depth_packet_processor.cl rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/src/opencl_depth_packet_processor.cl diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/src/opencl_depth_packet_processor.cpp b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/src/opencl_depth_packet_processor.cpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/src/opencl_depth_packet_processor.cpp rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/src/opencl_depth_packet_processor.cpp diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/src/opencl_kde_depth_packet_processor.cl b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/src/opencl_kde_depth_packet_processor.cl similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/src/opencl_kde_depth_packet_processor.cl rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/src/opencl_kde_depth_packet_processor.cl diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/src/opencl_kde_depth_packet_processor.cpp b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/src/opencl_kde_depth_packet_processor.cpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/src/opencl_kde_depth_packet_processor.cpp rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/src/opencl_kde_depth_packet_processor.cpp diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/src/opengl_depth_packet_processor.cpp b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/src/opengl_depth_packet_processor.cpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/src/opengl_depth_packet_processor.cpp rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/src/opengl_depth_packet_processor.cpp diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/src/openni2/ColorStream.cpp b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/src/openni2/ColorStream.cpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/src/openni2/ColorStream.cpp rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/src/openni2/ColorStream.cpp diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/src/openni2/ColorStream.hpp b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/src/openni2/ColorStream.hpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/src/openni2/ColorStream.hpp rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/src/openni2/ColorStream.hpp diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/src/openni2/DepthStream.cpp b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/src/openni2/DepthStream.cpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/src/openni2/DepthStream.cpp rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/src/openni2/DepthStream.cpp diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/src/openni2/DepthStream.hpp b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/src/openni2/DepthStream.hpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/src/openni2/DepthStream.hpp rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/src/openni2/DepthStream.hpp diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/src/openni2/DeviceDriver.cpp b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/src/openni2/DeviceDriver.cpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/src/openni2/DeviceDriver.cpp rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/src/openni2/DeviceDriver.cpp diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/src/openni2/IrStream.cpp b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/src/openni2/IrStream.cpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/src/openni2/IrStream.cpp rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/src/openni2/IrStream.cpp diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/src/openni2/IrStream.hpp b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/src/openni2/IrStream.hpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/src/openni2/IrStream.hpp rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/src/openni2/IrStream.hpp diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/src/openni2/Registration.cpp b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/src/openni2/Registration.cpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/src/openni2/Registration.cpp rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/src/openni2/Registration.cpp diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/src/openni2/Registration.hpp b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/src/openni2/Registration.hpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/src/openni2/Registration.hpp rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/src/openni2/Registration.hpp diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/src/openni2/Utility.cpp b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/src/openni2/Utility.cpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/src/openni2/Utility.cpp rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/src/openni2/Utility.cpp diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/src/openni2/Utility.hpp b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/src/openni2/Utility.hpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/src/openni2/Utility.hpp rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/src/openni2/Utility.hpp diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/src/openni2/VideoStream.cpp b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/src/openni2/VideoStream.cpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/src/openni2/VideoStream.cpp rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/src/openni2/VideoStream.cpp diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/src/openni2/VideoStream.hpp b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/src/openni2/VideoStream.hpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/src/openni2/VideoStream.hpp rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/src/openni2/VideoStream.hpp diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/src/packet_pipeline.cpp b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/src/packet_pipeline.cpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/src/packet_pipeline.cpp rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/src/packet_pipeline.cpp diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/src/registration.cpp b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/src/registration.cpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/src/registration.cpp rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/src/registration.cpp diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/src/resource.cpp b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/src/resource.cpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/src/resource.cpp rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/src/resource.cpp diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/src/rgb_packet_processor.cpp b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/src/rgb_packet_processor.cpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/src/rgb_packet_processor.cpp rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/src/rgb_packet_processor.cpp diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/src/rgb_packet_stream_parser.cpp b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/src/rgb_packet_stream_parser.cpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/src/rgb_packet_stream_parser.cpp rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/src/rgb_packet_stream_parser.cpp diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/src/shader/debug.fs b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/src/shader/debug.fs similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/src/shader/debug.fs rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/src/shader/debug.fs diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/src/shader/default.vs b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/src/shader/default.vs similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/src/shader/default.vs rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/src/shader/default.vs diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/src/shader/filter1.fs b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/src/shader/filter1.fs similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/src/shader/filter1.fs rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/src/shader/filter1.fs diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/src/shader/filter2.fs b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/src/shader/filter2.fs similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/src/shader/filter2.fs rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/src/shader/filter2.fs diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/src/shader/stage1.fs b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/src/shader/stage1.fs similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/src/shader/stage1.fs rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/src/shader/stage1.fs diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/src/shader/stage2.fs b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/src/shader/stage2.fs similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/src/shader/stage2.fs rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/src/shader/stage2.fs diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/src/tegra_jpeg_rgb_packet_processor.cpp b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/src/tegra_jpeg_rgb_packet_processor.cpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/src/tegra_jpeg_rgb_packet_processor.cpp rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/src/tegra_jpeg_rgb_packet_processor.cpp diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/src/tinythread/tinythread.cpp b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/src/tinythread/tinythread.cpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/src/tinythread/tinythread.cpp rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/src/tinythread/tinythread.cpp diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/src/tinythread/tinythread.h b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/src/tinythread/tinythread.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/src/tinythread/tinythread.h rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/src/tinythread/tinythread.h diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/src/transfer_pool.cpp b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/src/transfer_pool.cpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/src/transfer_pool.cpp rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/src/transfer_pool.cpp diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/src/turbo_jpeg_rgb_packet_processor.cpp b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/src/turbo_jpeg_rgb_packet_processor.cpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/src/turbo_jpeg_rgb_packet_processor.cpp rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/src/turbo_jpeg_rgb_packet_processor.cpp diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/src/usb_control.cpp b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/src/usb_control.cpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/src/usb_control.cpp rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/src/usb_control.cpp diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/src/vaapi_rgb_packet_processor.cpp b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/src/vaapi_rgb_packet_processor.cpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/src/vaapi_rgb_packet_processor.cpp rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/src/vaapi_rgb_packet_processor.cpp diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/src/vt_rgb_packet_processor.cpp b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/src/vt_rgb_packet_processor.cpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/src/vt_rgb_packet_processor.cpp rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/src/vt_rgb_packet_processor.cpp diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/tools/generate_resources.cpp b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/tools/generate_resources.cpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/tools/generate_resources.cpp rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/tools/generate_resources.cpp diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/tools/mkcontrib.py b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/tools/mkcontrib.py old mode 100644 new mode 100755 similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/tools/mkcontrib.py rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/tools/mkcontrib.py diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/tools/streamer_recorder/CMakeLists.txt b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/tools/streamer_recorder/CMakeLists.txt similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/tools/streamer_recorder/CMakeLists.txt rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/tools/streamer_recorder/CMakeLists.txt diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/tools/streamer_recorder/PracticalSocket.cpp b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/tools/streamer_recorder/PracticalSocket.cpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/tools/streamer_recorder/PracticalSocket.cpp rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/tools/streamer_recorder/PracticalSocket.cpp diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/tools/streamer_recorder/ProtonectSR.cpp b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/tools/streamer_recorder/ProtonectSR.cpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/tools/streamer_recorder/ProtonectSR.cpp rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/tools/streamer_recorder/ProtonectSR.cpp diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/tools/streamer_recorder/README.md b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/tools/streamer_recorder/README.md similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/tools/streamer_recorder/README.md rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/tools/streamer_recorder/README.md diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/tools/streamer_recorder/blender_viewer/blender_viewer.blend b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/tools/streamer_recorder/blender_viewer/blender_viewer.blend similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/tools/streamer_recorder/blender_viewer/blender_viewer.blend rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/tools/streamer_recorder/blender_viewer/blender_viewer.blend diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/tools/streamer_recorder/blender_viewer/scripts/main.py b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/tools/streamer_recorder/blender_viewer/scripts/main.py old mode 100644 new mode 100755 similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/tools/streamer_recorder/blender_viewer/scripts/main.py rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/tools/streamer_recorder/blender_viewer/scripts/main.py diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/tools/streamer_recorder/include/PracticalSocket.h b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/tools/streamer_recorder/include/PracticalSocket.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/tools/streamer_recorder/include/PracticalSocket.h rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/tools/streamer_recorder/include/PracticalSocket.h diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/tools/streamer_recorder/include/config.h b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/tools/streamer_recorder/include/config.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/tools/streamer_recorder/include/config.h rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/tools/streamer_recorder/include/config.h diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/tools/streamer_recorder/include/msdirent.h b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/tools/streamer_recorder/include/msdirent.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/tools/streamer_recorder/include/msdirent.h rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/tools/streamer_recorder/include/msdirent.h diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/tools/streamer_recorder/include/recorder.h b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/tools/streamer_recorder/include/recorder.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/tools/streamer_recorder/include/recorder.h rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/tools/streamer_recorder/include/recorder.h diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/tools/streamer_recorder/include/streamer.h b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/tools/streamer_recorder/include/streamer.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/tools/streamer_recorder/include/streamer.h rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/tools/streamer_recorder/include/streamer.h diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/tools/streamer_recorder/recorder.cpp b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/tools/streamer_recorder/recorder.cpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/tools/streamer_recorder/recorder.cpp rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/tools/streamer_recorder/recorder.cpp diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/tools/streamer_recorder/streamer.cpp b/Code/MowingRobot/pibot_ros/third_party/libfreenect2/tools/streamer_recorder/streamer.cpp similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libfreenect2/tools/streamer_recorder/streamer.cpp rename to Code/MowingRobot/pibot_ros/third_party/libfreenect2/tools/streamer_recorder/streamer.cpp diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libuvc/.gitattributes b/Code/MowingRobot/pibot_ros/third_party/libuvc/.gitattributes similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libuvc/.gitattributes rename to Code/MowingRobot/pibot_ros/third_party/libuvc/.gitattributes diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libuvc/.gitignore b/Code/MowingRobot/pibot_ros/third_party/libuvc/.gitignore similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libuvc/.gitignore rename to Code/MowingRobot/pibot_ros/third_party/libuvc/.gitignore diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libuvc/.travis.yml b/Code/MowingRobot/pibot_ros/third_party/libuvc/.travis.yml similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libuvc/.travis.yml rename to Code/MowingRobot/pibot_ros/third_party/libuvc/.travis.yml diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libuvc/CMakeLists.txt b/Code/MowingRobot/pibot_ros/third_party/libuvc/CMakeLists.txt similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libuvc/CMakeLists.txt rename to Code/MowingRobot/pibot_ros/third_party/libuvc/CMakeLists.txt diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libuvc/LICENSE.txt b/Code/MowingRobot/pibot_ros/third_party/libuvc/LICENSE.txt similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libuvc/LICENSE.txt rename to Code/MowingRobot/pibot_ros/third_party/libuvc/LICENSE.txt diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libuvc/README.md b/Code/MowingRobot/pibot_ros/third_party/libuvc/README.md similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libuvc/README.md rename to Code/MowingRobot/pibot_ros/third_party/libuvc/README.md diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libuvc/cameras/isight_imac.txt b/Code/MowingRobot/pibot_ros/third_party/libuvc/cameras/isight_imac.txt similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libuvc/cameras/isight_imac.txt rename to Code/MowingRobot/pibot_ros/third_party/libuvc/cameras/isight_imac.txt diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libuvc/cameras/isight_macbook.txt b/Code/MowingRobot/pibot_ros/third_party/libuvc/cameras/isight_macbook.txt similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libuvc/cameras/isight_macbook.txt rename to Code/MowingRobot/pibot_ros/third_party/libuvc/cameras/isight_macbook.txt diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libuvc/cameras/logitech_hd_pro_920.txt b/Code/MowingRobot/pibot_ros/third_party/libuvc/cameras/logitech_hd_pro_920.txt similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libuvc/cameras/logitech_hd_pro_920.txt rename to Code/MowingRobot/pibot_ros/third_party/libuvc/cameras/logitech_hd_pro_920.txt diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libuvc/cameras/ms_lifecam_show.txt b/Code/MowingRobot/pibot_ros/third_party/libuvc/cameras/ms_lifecam_show.txt similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libuvc/cameras/ms_lifecam_show.txt rename to Code/MowingRobot/pibot_ros/third_party/libuvc/cameras/ms_lifecam_show.txt diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libuvc/cameras/quickcampro9000.txt b/Code/MowingRobot/pibot_ros/third_party/libuvc/cameras/quickcampro9000.txt similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libuvc/cameras/quickcampro9000.txt rename to Code/MowingRobot/pibot_ros/third_party/libuvc/cameras/quickcampro9000.txt diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libuvc/cameras/quickcampro9000_builtin_ctrls.txt b/Code/MowingRobot/pibot_ros/third_party/libuvc/cameras/quickcampro9000_builtin_ctrls.txt similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libuvc/cameras/quickcampro9000_builtin_ctrls.txt rename to Code/MowingRobot/pibot_ros/third_party/libuvc/cameras/quickcampro9000_builtin_ctrls.txt diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libuvc/cameras/quickcampro9000_extra_ctrls.txt b/Code/MowingRobot/pibot_ros/third_party/libuvc/cameras/quickcampro9000_extra_ctrls.txt similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libuvc/cameras/quickcampro9000_extra_ctrls.txt rename to Code/MowingRobot/pibot_ros/third_party/libuvc/cameras/quickcampro9000_extra_ctrls.txt diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libuvc/changelog.txt b/Code/MowingRobot/pibot_ros/third_party/libuvc/changelog.txt similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libuvc/changelog.txt rename to Code/MowingRobot/pibot_ros/third_party/libuvc/changelog.txt diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libuvc/cmake/FindJpegPkg.cmake b/Code/MowingRobot/pibot_ros/third_party/libuvc/cmake/FindJpegPkg.cmake similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libuvc/cmake/FindJpegPkg.cmake rename to Code/MowingRobot/pibot_ros/third_party/libuvc/cmake/FindJpegPkg.cmake diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libuvc/cmake/FindLibUSB.cmake b/Code/MowingRobot/pibot_ros/third_party/libuvc/cmake/FindLibUSB.cmake similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libuvc/cmake/FindLibUSB.cmake rename to Code/MowingRobot/pibot_ros/third_party/libuvc/cmake/FindLibUSB.cmake diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libuvc/cmake/FindOpenCVPkg.cmake b/Code/MowingRobot/pibot_ros/third_party/libuvc/cmake/FindOpenCVPkg.cmake similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libuvc/cmake/FindOpenCVPkg.cmake rename to Code/MowingRobot/pibot_ros/third_party/libuvc/cmake/FindOpenCVPkg.cmake diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libuvc/doxygen.conf b/Code/MowingRobot/pibot_ros/third_party/libuvc/doxygen.conf similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libuvc/doxygen.conf rename to Code/MowingRobot/pibot_ros/third_party/libuvc/doxygen.conf diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libuvc/include/libuvc/libuvc.h b/Code/MowingRobot/pibot_ros/third_party/libuvc/include/libuvc/libuvc.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libuvc/include/libuvc/libuvc.h rename to Code/MowingRobot/pibot_ros/third_party/libuvc/include/libuvc/libuvc.h diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libuvc/include/libuvc/libuvc_config.h.in b/Code/MowingRobot/pibot_ros/third_party/libuvc/include/libuvc/libuvc_config.h.in similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libuvc/include/libuvc/libuvc_config.h.in rename to Code/MowingRobot/pibot_ros/third_party/libuvc/include/libuvc/libuvc_config.h.in diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libuvc/include/libuvc/libuvc_internal.h b/Code/MowingRobot/pibot_ros/third_party/libuvc/include/libuvc/libuvc_internal.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libuvc/include/libuvc/libuvc_internal.h rename to Code/MowingRobot/pibot_ros/third_party/libuvc/include/libuvc/libuvc_internal.h diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libuvc/include/utlist.h b/Code/MowingRobot/pibot_ros/third_party/libuvc/include/utlist.h similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libuvc/include/utlist.h rename to Code/MowingRobot/pibot_ros/third_party/libuvc/include/utlist.h diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libuvc/libuvc.pc.in b/Code/MowingRobot/pibot_ros/third_party/libuvc/libuvc.pc.in similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libuvc/libuvc.pc.in rename to Code/MowingRobot/pibot_ros/third_party/libuvc/libuvc.pc.in diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libuvc/libuvcConfig.cmake b/Code/MowingRobot/pibot_ros/third_party/libuvc/libuvcConfig.cmake similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libuvc/libuvcConfig.cmake rename to Code/MowingRobot/pibot_ros/third_party/libuvc/libuvcConfig.cmake diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libuvc/src/ctrl-gen.c b/Code/MowingRobot/pibot_ros/third_party/libuvc/src/ctrl-gen.c similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libuvc/src/ctrl-gen.c rename to Code/MowingRobot/pibot_ros/third_party/libuvc/src/ctrl-gen.c diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libuvc/src/ctrl-gen.py b/Code/MowingRobot/pibot_ros/third_party/libuvc/src/ctrl-gen.py old mode 100644 new mode 100755 similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libuvc/src/ctrl-gen.py rename to Code/MowingRobot/pibot_ros/third_party/libuvc/src/ctrl-gen.py diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libuvc/src/ctrl.c b/Code/MowingRobot/pibot_ros/third_party/libuvc/src/ctrl.c similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libuvc/src/ctrl.c rename to Code/MowingRobot/pibot_ros/third_party/libuvc/src/ctrl.c diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libuvc/src/device.c b/Code/MowingRobot/pibot_ros/third_party/libuvc/src/device.c similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libuvc/src/device.c rename to Code/MowingRobot/pibot_ros/third_party/libuvc/src/device.c diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libuvc/src/diag.c b/Code/MowingRobot/pibot_ros/third_party/libuvc/src/diag.c similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libuvc/src/diag.c rename to Code/MowingRobot/pibot_ros/third_party/libuvc/src/diag.c diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libuvc/src/example.c b/Code/MowingRobot/pibot_ros/third_party/libuvc/src/example.c similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libuvc/src/example.c rename to Code/MowingRobot/pibot_ros/third_party/libuvc/src/example.c diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libuvc/src/frame-mjpeg.c b/Code/MowingRobot/pibot_ros/third_party/libuvc/src/frame-mjpeg.c similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libuvc/src/frame-mjpeg.c rename to Code/MowingRobot/pibot_ros/third_party/libuvc/src/frame-mjpeg.c diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libuvc/src/frame.c b/Code/MowingRobot/pibot_ros/third_party/libuvc/src/frame.c similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libuvc/src/frame.c rename to Code/MowingRobot/pibot_ros/third_party/libuvc/src/frame.c diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libuvc/src/init.c b/Code/MowingRobot/pibot_ros/third_party/libuvc/src/init.c similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libuvc/src/init.c rename to Code/MowingRobot/pibot_ros/third_party/libuvc/src/init.c diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libuvc/src/misc.c b/Code/MowingRobot/pibot_ros/third_party/libuvc/src/misc.c similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libuvc/src/misc.c rename to Code/MowingRobot/pibot_ros/third_party/libuvc/src/misc.c diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libuvc/src/stream.c b/Code/MowingRobot/pibot_ros/third_party/libuvc/src/stream.c similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libuvc/src/stream.c rename to Code/MowingRobot/pibot_ros/third_party/libuvc/src/stream.c diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libuvc/src/test.c b/Code/MowingRobot/pibot_ros/third_party/libuvc/src/test.c similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libuvc/src/test.c rename to Code/MowingRobot/pibot_ros/third_party/libuvc/src/test.c diff --git a/Code/MowingRobot/PIBot_ROS/third_party/libuvc/standard-units.yaml b/Code/MowingRobot/pibot_ros/third_party/libuvc/standard-units.yaml similarity index 100% rename from Code/MowingRobot/PIBot_ROS/third_party/libuvc/standard-units.yaml rename to Code/MowingRobot/pibot_ros/third_party/libuvc/standard-units.yaml diff --git a/Code/MowingRobot/obj_dec/src/3rdparty/rga/RK3588/include/GrallocOps.h b/Code/MowingRobot/pibot_ros/third_party/rga/RK3588/include/GrallocOps.h similarity index 100% rename from Code/MowingRobot/obj_dec/src/3rdparty/rga/RK3588/include/GrallocOps.h rename to Code/MowingRobot/pibot_ros/third_party/rga/RK3588/include/GrallocOps.h diff --git a/Code/MowingRobot/obj_dec/src/3rdparty/rga/RK3588/include/RgaApi.h b/Code/MowingRobot/pibot_ros/third_party/rga/RK3588/include/RgaApi.h similarity index 100% rename from Code/MowingRobot/obj_dec/src/3rdparty/rga/RK3588/include/RgaApi.h rename to Code/MowingRobot/pibot_ros/third_party/rga/RK3588/include/RgaApi.h diff --git a/Code/MowingRobot/obj_dec/src/3rdparty/rga/RK3588/include/RgaMutex.h b/Code/MowingRobot/pibot_ros/third_party/rga/RK3588/include/RgaMutex.h similarity index 100% rename from Code/MowingRobot/obj_dec/src/3rdparty/rga/RK3588/include/RgaMutex.h rename to Code/MowingRobot/pibot_ros/third_party/rga/RK3588/include/RgaMutex.h diff --git a/Code/MowingRobot/obj_dec/src/3rdparty/rga/RK3588/include/RgaSingleton.h b/Code/MowingRobot/pibot_ros/third_party/rga/RK3588/include/RgaSingleton.h similarity index 100% rename from Code/MowingRobot/obj_dec/src/3rdparty/rga/RK3588/include/RgaSingleton.h rename to Code/MowingRobot/pibot_ros/third_party/rga/RK3588/include/RgaSingleton.h diff --git a/Code/MowingRobot/obj_dec/src/3rdparty/rga/RK3588/include/RgaUtils.h b/Code/MowingRobot/pibot_ros/third_party/rga/RK3588/include/RgaUtils.h similarity index 100% rename from Code/MowingRobot/obj_dec/src/3rdparty/rga/RK3588/include/RgaUtils.h rename to Code/MowingRobot/pibot_ros/third_party/rga/RK3588/include/RgaUtils.h diff --git a/Code/MowingRobot/obj_dec/src/3rdparty/rga/RK3588/include/RockchipRga.h b/Code/MowingRobot/pibot_ros/third_party/rga/RK3588/include/RockchipRga.h similarity index 100% rename from Code/MowingRobot/obj_dec/src/3rdparty/rga/RK3588/include/RockchipRga.h rename to Code/MowingRobot/pibot_ros/third_party/rga/RK3588/include/RockchipRga.h diff --git a/Code/MowingRobot/obj_dec/src/3rdparty/rga/RK3588/include/drmrga.h b/Code/MowingRobot/pibot_ros/third_party/rga/RK3588/include/drmrga.h similarity index 100% rename from Code/MowingRobot/obj_dec/src/3rdparty/rga/RK3588/include/drmrga.h rename to Code/MowingRobot/pibot_ros/third_party/rga/RK3588/include/drmrga.h diff --git a/Code/MowingRobot/obj_dec/src/3rdparty/rga/RK3588/include/im2d.h b/Code/MowingRobot/pibot_ros/third_party/rga/RK3588/include/im2d.h similarity index 100% rename from Code/MowingRobot/obj_dec/src/3rdparty/rga/RK3588/include/im2d.h rename to Code/MowingRobot/pibot_ros/third_party/rga/RK3588/include/im2d.h diff --git a/Code/MowingRobot/obj_dec/src/3rdparty/rga/RK3588/include/im2d.hpp b/Code/MowingRobot/pibot_ros/third_party/rga/RK3588/include/im2d.hpp similarity index 100% rename from Code/MowingRobot/obj_dec/src/3rdparty/rga/RK3588/include/im2d.hpp rename to Code/MowingRobot/pibot_ros/third_party/rga/RK3588/include/im2d.hpp diff --git a/Code/MowingRobot/obj_dec/src/3rdparty/rga/RK3588/include/im2d_buffer.h b/Code/MowingRobot/pibot_ros/third_party/rga/RK3588/include/im2d_buffer.h similarity index 100% rename from Code/MowingRobot/obj_dec/src/3rdparty/rga/RK3588/include/im2d_buffer.h rename to Code/MowingRobot/pibot_ros/third_party/rga/RK3588/include/im2d_buffer.h diff --git a/Code/MowingRobot/obj_dec/src/3rdparty/rga/RK3588/include/im2d_common.h b/Code/MowingRobot/pibot_ros/third_party/rga/RK3588/include/im2d_common.h similarity index 100% rename from Code/MowingRobot/obj_dec/src/3rdparty/rga/RK3588/include/im2d_common.h rename to Code/MowingRobot/pibot_ros/third_party/rga/RK3588/include/im2d_common.h diff --git a/Code/MowingRobot/obj_dec/src/3rdparty/rga/RK3588/include/im2d_expand.h b/Code/MowingRobot/pibot_ros/third_party/rga/RK3588/include/im2d_expand.h similarity index 100% rename from Code/MowingRobot/obj_dec/src/3rdparty/rga/RK3588/include/im2d_expand.h rename to Code/MowingRobot/pibot_ros/third_party/rga/RK3588/include/im2d_expand.h diff --git a/Code/MowingRobot/obj_dec/src/3rdparty/rga/RK3588/include/im2d_mpi.h b/Code/MowingRobot/pibot_ros/third_party/rga/RK3588/include/im2d_mpi.h similarity index 100% rename from Code/MowingRobot/obj_dec/src/3rdparty/rga/RK3588/include/im2d_mpi.h rename to Code/MowingRobot/pibot_ros/third_party/rga/RK3588/include/im2d_mpi.h diff --git a/Code/MowingRobot/obj_dec/src/3rdparty/rga/RK3588/include/im2d_single.h b/Code/MowingRobot/pibot_ros/third_party/rga/RK3588/include/im2d_single.h similarity index 100% rename from Code/MowingRobot/obj_dec/src/3rdparty/rga/RK3588/include/im2d_single.h rename to Code/MowingRobot/pibot_ros/third_party/rga/RK3588/include/im2d_single.h diff --git a/Code/MowingRobot/obj_dec/src/3rdparty/rga/RK3588/include/im2d_task.h b/Code/MowingRobot/pibot_ros/third_party/rga/RK3588/include/im2d_task.h similarity index 100% rename from Code/MowingRobot/obj_dec/src/3rdparty/rga/RK3588/include/im2d_task.h rename to Code/MowingRobot/pibot_ros/third_party/rga/RK3588/include/im2d_task.h diff --git a/Code/MowingRobot/obj_dec/src/3rdparty/rga/RK3588/include/im2d_type.h b/Code/MowingRobot/pibot_ros/third_party/rga/RK3588/include/im2d_type.h similarity index 100% rename from Code/MowingRobot/obj_dec/src/3rdparty/rga/RK3588/include/im2d_type.h rename to Code/MowingRobot/pibot_ros/third_party/rga/RK3588/include/im2d_type.h diff --git a/Code/MowingRobot/obj_dec/src/3rdparty/rga/RK3588/include/im2d_version.h b/Code/MowingRobot/pibot_ros/third_party/rga/RK3588/include/im2d_version.h similarity index 100% rename from Code/MowingRobot/obj_dec/src/3rdparty/rga/RK3588/include/im2d_version.h rename to Code/MowingRobot/pibot_ros/third_party/rga/RK3588/include/im2d_version.h diff --git a/Code/MowingRobot/obj_dec/src/3rdparty/rga/RK3588/include/rga.h b/Code/MowingRobot/pibot_ros/third_party/rga/RK3588/include/rga.h similarity index 100% rename from Code/MowingRobot/obj_dec/src/3rdparty/rga/RK3588/include/rga.h rename to Code/MowingRobot/pibot_ros/third_party/rga/RK3588/include/rga.h diff --git a/Code/MowingRobot/obj_dec/src/3rdparty/rga/RK3588/lib/Linux/aarch64/librga.a b/Code/MowingRobot/pibot_ros/third_party/rga/RK3588/lib/Linux/aarch64/librga.a similarity index 100% rename from Code/MowingRobot/obj_dec/src/3rdparty/rga/RK3588/lib/Linux/aarch64/librga.a rename to Code/MowingRobot/pibot_ros/third_party/rga/RK3588/lib/Linux/aarch64/librga.a diff --git a/Code/MowingRobot/obj_dec/src/3rdparty/rga/RK3588/lib/Linux/aarch64/librga.so b/Code/MowingRobot/pibot_ros/third_party/rga/RK3588/lib/Linux/aarch64/librga.so similarity index 100% rename from Code/MowingRobot/obj_dec/src/3rdparty/rga/RK3588/lib/Linux/aarch64/librga.so rename to Code/MowingRobot/pibot_ros/third_party/rga/RK3588/lib/Linux/aarch64/librga.so diff --git a/Code/MowingRobot/pibot_ros/third_party/so/libopencv_highgui.so b/Code/MowingRobot/pibot_ros/third_party/so/libopencv_highgui.so new file mode 120000 index 0000000..d4d2ae4 --- /dev/null +++ b/Code/MowingRobot/pibot_ros/third_party/so/libopencv_highgui.so @@ -0,0 +1 @@ +/usr/local/lib/libopencv_highgui.so \ No newline at end of file diff --git a/Code/MowingRobot/obj_dec/src/librga.so b/Code/MowingRobot/pibot_ros/third_party/so/librga.so similarity index 100% rename from Code/MowingRobot/obj_dec/src/librga.so rename to Code/MowingRobot/pibot_ros/third_party/so/librga.so diff --git a/Code/MowingRobot/obj_dec/src/runtime/RK3588/Linux/librknn_api/aarch64/librknnrt.so b/Code/MowingRobot/pibot_ros/third_party/so/librknnrt.so similarity index 100% rename from Code/MowingRobot/obj_dec/src/runtime/RK3588/Linux/librknn_api/aarch64/librknnrt.so rename to Code/MowingRobot/pibot_ros/third_party/so/librknnrt.so diff --git a/Code/MowingRobot/test_map/.vscode/settings.json b/Code/MowingRobot/test_map/.vscode/settings.json new file mode 100644 index 0000000..762c82d --- /dev/null +++ b/Code/MowingRobot/test_map/.vscode/settings.json @@ -0,0 +1,64 @@ +{ + "files.associations": { + "array": "cpp", + "bitset": "cpp", + "string_view": "cpp", + "initializer_list": "cpp", + "utility": "cpp", + "functional": "cpp", + "cctype": "cpp", + "clocale": "cpp", + "cmath": "cpp", + "cstdarg": "cpp", + "cstddef": "cpp", + "cstdio": "cpp", + "cstdlib": "cpp", + "cstring": "cpp", + "ctime": "cpp", + "cwchar": "cpp", + "cwctype": "cpp", + "atomic": "cpp", + "*.tcc": "cpp", + "chrono": "cpp", + "complex": "cpp", + "condition_variable": "cpp", + "cstdint": "cpp", + "deque": "cpp", + "list": "cpp", + "unordered_map": "cpp", + "vector": "cpp", + "exception": "cpp", + "algorithm": "cpp", + "iterator": "cpp", + "map": "cpp", + "memory": "cpp", + "memory_resource": "cpp", + "numeric": "cpp", + "optional": "cpp", + "random": "cpp", + "ratio": "cpp", + "set": "cpp", + "string": "cpp", + "system_error": "cpp", + "tuple": "cpp", + "type_traits": "cpp", + "fstream": "cpp", + "iomanip": "cpp", + "iosfwd": "cpp", + "iostream": "cpp", + "istream": "cpp", + "limits": "cpp", + "mutex": "cpp", + "new": "cpp", + "ostream": "cpp", + "sstream": "cpp", + "stdexcept": "cpp", + "streambuf": "cpp", + "thread": "cpp", + "cinttypes": "cpp", + "typeindex": "cpp", + "typeinfo": "cpp", + "variant": "cpp", + "bit": "cpp" + } +} \ No newline at end of file diff --git a/Code/MowingRobot/test_map/.vscode/tasks.json b/Code/MowingRobot/test_map/.vscode/tasks.json new file mode 100644 index 0000000..05054c5 --- /dev/null +++ b/Code/MowingRobot/test_map/.vscode/tasks.json @@ -0,0 +1,28 @@ +{ + "tasks": [ + { + "type": "cppbuild", + "label": "C/C++: g++ build active file", + "command": "/usr/bin/g++", + "args": [ + "-fdiagnostics-color=always", + "-g", + "${file}", + "-o", + "${fileDirname}/${fileBasenameNoExtension}" + ], + "options": { + "cwd": "${fileDirname}" + }, + "problemMatcher": [ + "$gcc" + ], + "group": { + "kind": "build", + "isDefault": true + }, + "detail": "Task generated by Debugger." + } + ], + "version": "2.0.0" +} \ No newline at end of file diff --git a/Code/MowingRobot/test_map/CMakeLists.txt b/Code/MowingRobot/test_map/CMakeLists.txt new file mode 100644 index 0000000..d206b3a --- /dev/null +++ b/Code/MowingRobot/test_map/CMakeLists.txt @@ -0,0 +1,21 @@ +# 声明要求的 cmake 最低版本 +cmake_minimum_required(VERSION 2.8) + +# 声明一个 cmake 工程 +project(test) + +find_package(OpenCV REQUIRED) +# 设置编译模式 +set(CMAKE_CXX_STANDARD 11) + +# 添加一个可执行程序 +# 语法：add_executable( 程序名 源代码文件 ） + +set(SOURCES + src/main.cpp +) +add_executable(test ${SOURCES}) + + +include_directories(${OpenCV_INCLUDE_DIRS}) +target_link_libraries(test ${OpenCV_LIBS}) \ No newline at end of file diff --git a/Code/MowingRobot/Robot_ROS_APP/src/ros_merge_test/Map/07.png b/Code/MowingRobot/test_map/map/07.png similarity index 100% rename from Code/MowingRobot/Robot_ROS_APP/src/ros_merge_test/Map/07.png rename to Code/MowingRobot/test_map/map/07.png diff --git a/Code/MowingRobot/test_map/map/test.png b/Code/MowingRobot/test_map/map/test.png new file mode 100644 index 0000000..d8c41e9 Binary files /dev/null and b/Code/MowingRobot/test_map/map/test.png differ diff --git a/Code/MowingRobot/test_map/src/main.cpp b/Code/MowingRobot/test_map/src/main.cpp new file mode 100644 index 0000000..8427ded --- /dev/null +++ b/Code/MowingRobot/test_map/src/main.cpp @@ -0,0 +1,123 @@ +#include +#include + +int main(int argc, char **argv){ + + /* 生成一张像素点为0.05的空白图 + cv::Mat image = cv::Mat(400, 400, CV_8UC1, cv::Scalar(0)); + + cv::Rect whiteRect(150, 150, 100, 100); + cv::rectangle(image, whiteRect, cv::Scalar(255), cv::FILLED); + cv::imshow(" Image", image); + cv::imwrite("output.png", image); + + cv::waitKey(0); + return 0; + */ + // char *input_path = argv[0]; + // char *output_path = argv[1]; + // 读取PNG图片 + // cv::Mat image = cv::imread("../map/07.png"); + // cv::Mat image = cv::imread("/home/xxx/test_map/map/test.png"); + // cv::Mat image = cv::imread(input_path,1); + + // 保存输出图像的路径 + // std::string output_directory = argv[2]; + std::string input_image_name = argv[1]; + std::string output_image_name = argv[2]; + + // 拼接输出图像的完整路径 + std::string input_path = "/home/xxx/test_map/map/" + input_image_name + ".png"; + std::string output_path = "/home/xxx/test_map/map/" + output_image_name + ".png"; + cv::Mat image = cv::imread(input_path); + + // 检查图像是否成功加载 + if (image.empty()) { + std::cerr << "Error: Unable to load input image." << std::endl; + return -1; + } + + + cv::Mat kernel = cv::getStructuringElement(cv::MORPH_RECT, cv::Size(5, 5)); + cv::Mat closedImage; + + cv::morphologyEx(image, closedImage, cv::MORPH_OPEN, kernel); + + cv::bitwise_not(closedImage, closedImage); + + cv::Mat erodedImage; + cv::dilate(closedImage, erodedImage, kernel); + + // 将图像转换为灰度图 + cv::Mat grayImage; + cv::cvtColor(erodedImage, grayImage, cv::COLOR_BGR2GRAY); + + // 对灰度图进行阈值分割，得到二值图像 + cv::Mat binaryImage; + cv::threshold(grayImage, binaryImage, 128, 255, cv::THRESH_BINARY); + + cv::Mat edges; + cv::Canny(binaryImage, edges, 50, 150); + + // 使用Hough线变换检测直线 + std::vector lines; + cv::HoughLines(edges, lines, 1, CV_PI / 180, 100); + + // 绘制检测到的直线 + cv::Mat result_clone = edges.clone(); + for (size_t i = 0; i < lines.size(); ++i) { + float rho = lines[i][0]; + float theta = lines[i][1]; + double a = cos(theta); + double b = sin(theta); + double x0 = a * rho; + double y0 = b * rho; + cv::Point pt1(cvRound(x0 + 1000 * (-b)), cvRound(y0 + 1000 * (a))); + cv::Point pt2(cvRound(x0 - 1000 * (-b)), cvRound(y0 - 1000 * (a))); + cv::line(result_clone, pt1, pt2, cv::Scalar(255), 1, cv::LINE_AA); + } + + // 查找图像中的轮廓 + std::vector> contours; + std::vector hierarchy; + cv::findContours(edges, contours, hierarchy, cv::RETR_TREE, cv::CHAIN_APPROX_NONE); + // std::cout<4){ + for (int i = 0; i < contours.size(); ++i) { + if (hierarchy[i][2] != -1 && hierarchy[i+1][2] != -1) { + cv::drawContours(whiteBackground, contours, i, cv::Scalar(0), cv::FILLED); + cv::drawContours(whiteBackground, contours, i+1, cv::Scalar(255), cv::FILLED); + } + } + }else{ + for (int i = 0; i < contours.size(); ++i) { + if (hierarchy[i][2] != -1 ) { + cv::drawContours(whiteBackground, contours, i, cv::Scalar(0), cv::FILLED); + } + } + } + + + // 显示结果 + cv::bitwise_not(whiteBackground, whiteBackground); + + cv::imshow("final output", whiteBackground); + cv::imwrite(output_path, whiteBackground); + + cv::waitKey(0); + return 0; + + +} \ No newline at end of file diff --git a/Docs/2.PIbot-ROS安装.md b/Docs/2.PIbot-ROS安装.md index ddf203d..d0edcaa 100644 --- a/Docs/2.PIbot-ROS安装.md +++ b/Docs/2.PIbot-ROS安装.md @@ -52,6 +52,11 @@ sudo apt-get install ros-noetic-libdlib sudo apt-get install ros-noetic-cob-navigation sudo apt-get install coinor-* +# 要运行pibot还得安装 +#导航相关 +sudo apt-get install ros-noetic-navigation +#定位相关 +sudo apt-get install ros-noetic-robot-pose-ekf # 进入到Pibot的ROS的工作空间 cd ~/pibot_ros/ros_ws # 编译代码