| adis16475_imu: | |
| base_frame_id: box_base | |
| child_frame_id: adis16475_imu | |
| rotation: | |
| w: 0.005251232714324072 | |
| x: 0.7046754024829419 | |
| y: -0.7094799413019802 | |
| z: -0.006573779782016809 | |
| translation: | |
| x: -0.015846751421098565 | |
| y: 0.19322607669094574 | |
| z: 0.07956850717224997 | |
| alphasense_base: | |
| base_frame_id: box_base | |
| child_frame_id: alphasense_base | |
| rotation: | |
| w: 0.541225186106887 | |
| x: -0.45494336062045815 | |
| y: -0.4544944669145965 | |
| z: -0.5417901956430607 | |
| translation: | |
| x: 0.04600713143181777 | |
| y: -0.0032140911178705073 | |
| z: -0.3751986320280252 | |
| alphasense_front_center: | |
| base_frame_id: box_base | |
| child_frame_id: alphasense_front_center | |
| rotation: | |
| w: 0.541225186106887 | |
| x: -0.45494336062045815 | |
| y: -0.4544944669145965 | |
| z: -0.5417901956430607 | |
| translation: | |
| x: 0.04600713143181777 | |
| y: -0.0032140911178705073 | |
| z: -0.3751986320280252 | |
| alphasense_front_left: | |
| base_frame_id: box_base | |
| child_frame_id: alphasense_front_left | |
| rotation: | |
| w: 0.5368758638762299 | |
| x: -0.45974498896225247 | |
| y: -0.45019665401233916 | |
| z: -0.5456389141431761 | |
| translation: | |
| x: 0.10008743117500188 | |
| y: -0.005044106160423112 | |
| z: -0.3759478344493785 | |
| alphasense_front_right: | |
| base_frame_id: box_base | |
| child_frame_id: alphasense_front_right | |
| rotation: | |
| w: 0.5415552717416523 | |
| x: -0.45428021832487614 | |
| y: -0.45594501981218066 | |
| z: -0.5407971059426985 | |
| translation: | |
| x: -0.008591409149567839 | |
| y: -0.004939215486247553 | |
| z: -0.3747769505103547 | |
| alphasense_imu: | |
| base_frame_id: box_base | |
| child_frame_id: alphasense_imu | |
| rotation: | |
| w: 0.9992675697949326 | |
| x: -0.00720142304148732 | |
| y: -0.036738890418011295 | |
| z: -0.007919431365965667 | |
| translation: | |
| x: -0.3022307436356707 | |
| y: 0.061798150722505 | |
| z: -0.08410765585489798 | |
| alphasense_left: | |
| base_frame_id: box_base | |
| child_frame_id: alphasense_left | |
| rotation: | |
| w: 0.7629309956447421 | |
| x: -0.6464698403272188 | |
| y: 0.0035455747661431447 | |
| z: 0.0006858071159475156 | |
| translation: | |
| x: -0.2991991707202636 | |
| y: -0.040493099699673664 | |
| z: -0.15557014858322163 | |
| alphasense_right: | |
| base_frame_id: box_base | |
| child_frame_id: alphasense_right | |
| rotation: | |
| w: 0.0024233744493068338 | |
| x: 0.007051890013999862 | |
| y: -0.6356317567377696 | |
| z: -0.7719563899145896 | |
| translation: | |
| x: 0.3005096713964913 | |
| y: -0.05350472559028527 | |
| z: -0.06790435993644765 | |
| anymal_imu: | |
| base_frame_id: base | |
| child_frame_id: anymal_imu | |
| rotation: | |
| w: 3.749399456654644e-33 | |
| x: -6.123233995736766e-17 | |
| y: -1.0 | |
| z: -6.123233995736766e-17 | |
| translation: | |
| x: -0.25565 | |
| y: -0.0025499999999999785 | |
| z: 0.07672 | |
| ap20_imu: | |
| base_frame_id: box_base | |
| child_frame_id: ap20_imu | |
| rotation: | |
| w: 0.7118234995434812 | |
| x: 0.7023441372038522 | |
| y: 0.002839101058711715 | |
| z: -0.003458025191722333 | |
| translation: | |
| x: -0.0019815872862082684 | |
| y: 0.002909799597334762 | |
| z: 0.10495166375034842 | |
| box_base: | |
| base_frame_id: base | |
| child_frame_id: box_base | |
| rotation: | |
| w: 4.0026794885936924e-05 | |
| x: -0.9999999991989279 | |
| y: 0.0 | |
| z: 0.0 | |
| translation: | |
| x: -0.0764038 | |
| y: -0.036122437224394885 | |
| z: 0.2802761091673168 | |
| cpt7_imu: | |
| base_frame_id: box_base | |
| child_frame_id: cpt7_imu | |
| rotation: | |
| w: 1.0 | |
| x: -0.0 | |
| y: -0.0 | |
| z: -0.0 | |
| translation: | |
| x: 0.0 | |
| y: 0.0 | |
| z: 0.0 | |
| depth_camera_front_lower: | |
| base_frame_id: base | |
| child_frame_id: depth_camera_front_lower | |
| rotation: | |
| w: 0.1853242209410057 | |
| x: -0.682120823997394 | |
| y: -0.6827000055661541 | |
| z: -0.1851669976040512 | |
| translation: | |
| x: 0.025244004785019813 | |
| y: -0.28748365097540396 | |
| z: -0.23806593024678288 | |
| depth_camera_front_upper: | |
| base_frame_id: base | |
| child_frame_id: depth_camera_front_upper | |
| rotation: | |
| w: 0.4306894486036953 | |
| x: -0.5608677721283586 | |
| y: -0.560580238989435 | |
| z: -0.43091035808363254 | |
| translation: | |
| x: 0.024957449516778196 | |
| y: -0.0829849350915826 | |
| z: -0.3905787382352799 | |
| depth_camera_left: | |
| base_frame_id: base | |
| child_frame_id: depth_camera_left | |
| rotation: | |
| w: -0.40524782131784814 | |
| x: -0.9141898919041819 | |
| y: -0.0050937542777571565 | |
| z: -0.002257991301008538 | |
| translation: | |
| x: 0.0242061858130713 | |
| y: 0.07137107769940886 | |
| z: -0.06013160430595553 | |
| depth_camera_rear_lower: | |
| base_frame_id: base | |
| child_frame_id: depth_camera_rear_lower | |
| rotation: | |
| w: -0.1818562220566243 | |
| x: 0.6753182459089098 | |
| y: -0.6923967447153604 | |
| z: -0.1773705983227687 | |
| translation: | |
| x: 0.01771644477911219 | |
| y: -0.291914920763388 | |
| z: -0.2333051716531234 | |
| depth_camera_rear_upper: | |
| base_frame_id: base | |
| child_frame_id: depth_camera_rear_upper | |
| rotation: | |
| w: -0.4288525438138612 | |
| x: 0.5606297691810952 | |
| y: -0.567966630879787 | |
| z: -0.42331272574704876 | |
| translation: | |
| x: 0.023834299957984015 | |
| y: -0.08981592717100904 | |
| z: -0.38913513060622656 | |
| depth_camera_right: | |
| base_frame_id: base | |
| child_frame_id: depth_camera_right | |
| rotation: | |
| w: 0.0020469741271627595 | |
| x: -0.004486598891874416 | |
| y: -0.9097731195609077 | |
| z: 0.41507656071105803 | |
| translation: | |
| x: 0.025687060614725817 | |
| y: 0.06953460693100322 | |
| z: -0.06164976363236345 | |
| hdr_front: | |
| base_frame_id: box_base | |
| child_frame_id: hdr_front | |
| rotation: | |
| w: 0.4970495903927929 | |
| x: -0.499305922637098 | |
| y: -0.5005829735777374 | |
| z: -0.5030427286761467 | |
| translation: | |
| x: 0.04836030494808155 | |
| y: -0.10282483832595525 | |
| z: -0.36926064730524666 | |
| hdr_left: | |
| base_frame_id: box_base | |
| child_frame_id: hdr_left | |
| rotation: | |
| w: 0.6981144475823984 | |
| x: -0.7106446365240748 | |
| y: 0.06071950908492229 | |
| z: 0.06271809844673303 | |
| translation: | |
| x: -0.3123877547915767 | |
| y: -0.1040746815988313 | |
| z: -0.0946004294028184 | |
| hdr_right: | |
| base_frame_id: box_base | |
| child_frame_id: hdr_right | |
| rotation: | |
| w: -0.05968925863378414 | |
| x: 0.06271504848629056 | |
| y: -0.701622990300235 | |
| z: -0.7072688276598 | |
| translation: | |
| x: 0.2984670188513917 | |
| y: -0.1021873680871323 | |
| z: -0.007282571655555148 | |
| hesai_lidar: | |
| base_frame_id: box_base | |
| child_frame_id: hesai_lidar | |
| rotation: | |
| w: -0.004419949690193552 | |
| x: -0.7093301791430758 | |
| y: 0.7048516039326548 | |
| z: 0.003921407292290494 | |
| translation: | |
| x: -0.04461184951630229 | |
| y: 0.3022381420105506 | |
| z: -0.01253994548350209 | |
| livox_imu: | |
| base_frame_id: box_base | |
| child_frame_id: livox_imu | |
| rotation: | |
| w: 0.9999514279010147 | |
| x: -0.007862897821623277 | |
| y: 0.0001266741714154213 | |
| z: -0.005941433347507674 | |
| translation: | |
| x: -0.309334506793968 | |
| y: 0.02772866572054537 | |
| z: 0.15059851991550668 | |
| livox_lidar: | |
| base_frame_id: box_base | |
| child_frame_id: livox_lidar | |
| rotation: | |
| w: 0.9999743041039169 | |
| x: -0.006935301181255335 | |
| y: 0.0015623437878433857 | |
| z: -0.0009229362387923458 | |
| translation: | |
| x: -0.30263164816469024 | |
| y: 0.04875595821861217 | |
| z: 0.1098417136717083 | |
| stim320_imu: | |
| base_frame_id: box_base | |
| child_frame_id: stim320_imu | |
| rotation: | |
| w: -0.005861732683034935 | |
| x: -0.999969253444768 | |
| y: -0.005117285966486087 | |
| z: 0.0009724399227390018 | |
| translation: | |
| x: -0.28505604358365294 | |
| y: -0.07158336465343071 | |
| z: 0.15961588385259787 | |
| velodyne_lidar: | |
| base_frame_id: base | |
| child_frame_id: velodyne_lidar | |
| rotation: | |
| w: 2.220446049250313e-16 | |
| x: 0.0 | |
| y: 0.0 | |
| z: -1.0 | |
| translation: | |
| x: -0.31 | |
| y: -1.376676550535194e-16 | |
| z: -0.1585 | |
| zed2i_base: | |
| base_frame_id: box_base | |
| child_frame_id: zed2i_base | |
| rotation: | |
| w: 0.9962118648543207 | |
| x: -0.006581941621942168 | |
| y: 0.08669318635449509 | |
| z: -0.0016999434304889223 | |
| translation: | |
| x: -0.40482353372271573 | |
| y: 0.047230058607942466 | |
| z: -0.06326319217368467 | |
| zed2i_left: | |
| base_frame_id: box_base | |
| child_frame_id: zed2i_left | |
| rotation: | |
| w: 0.5376457335765262 | |
| x: -0.4560279507472064 | |
| y: -0.45330473617163086 | |
| z: -0.5454267957009725 | |
| translation: | |
| x: 0.10794130666130296 | |
| y: -0.07812765789668064 | |
| z: -0.3950964183927077 | |
| zed2i_right: | |
| base_frame_id: box_base | |
| child_frame_id: zed2i_right | |
| rotation: | |
| w: 0.5373115821826182 | |
| x: -0.45720033826192996 | |
| y: -0.4523183402260819 | |
| z: -0.5455934690231464 | |
| translation: | |
| x: -0.012769940823864567 | |
| y: -0.07826319215076401 | |
| z: -0.39482353374563656 | |