# ground truth trajectory
# file: umbrella
# timestamp tx ty tz qx qy qz qw
1730866605.8491137 -3.071484 1.520040 0.514861 0.638984 -0.088561 0.763445 0.031746
1730866605.8824589 -3.069577 1.520816 0.525383 0.640170 -0.088112 0.762478 0.032342
1730866605.9158032 -3.067338 1.521431 0.535407 0.641303 -0.088834 0.761489 0.031206
1730866605.9491482 -3.064389 1.521459 0.544067 0.643085 -0.090029 0.759719 0.034107
1730866605.9824924 -3.061351 1.521676 0.551996 0.644417 -0.086801 0.758973 0.033958
1730866606.0158374 -3.058475 1.521601 0.559052 0.645609 -0.087126 0.757885 0.034763
1730866606.0491817 -3.055289 1.521302 0.565582 0.647547 -0.087222 0.756177 0.035665
1730866606.0825267 -3.051820 1.520752 0.571382 0.650130 -0.090978 0.753489 0.036169
1730866606.1158707 -3.047400 1.520703 0.576144 0.653135 -0.088571 0.751300 0.033444
1730866606.1492169 -3.042948 1.520201 0.579600 0.653655 -0.090612 0.750560 0.034428
1730866606.1825624 -3.037849 1.519805 0.582058 0.657070 -0.093917 0.747204 0.033534
1730866606.2159085 -3.032242 1.519495 0.583773 0.658887 -0.094666 0.745636 0.030536
1730866606.2492537 -3.026854 1.518902 0.584023 0.660734 -0.099773 0.743295 0.031443
1730866606.2825997 -3.021089 1.518498 0.583137 0.663438 -0.101299 0.740666 0.031660
1730866606.3159449 -3.015285 1.518194 0.581342 0.665950 -0.101897 0.738307 0.032099
1730866606.3492911 -3.009368 1.518072 0.578245 0.669627 -0.102241 0.734940 0.031768
1730866606.3826363 -3.003178 1.518243 0.574728 0.671834 -0.102958 0.732746 0.033507
1730866606.4159822 -2.997323 1.518984 0.570754 0.675014 -0.102861 0.729978 0.030142
1730866606.4493275 -2.991673 1.519636 0.566036 0.677953 -0.102063 0.727369 0.029942
1730866606.4826734 -2.986084 1.520188 0.560633 0.680646 -0.103035 0.724736 0.029373
1730866606.5160184 -2.980763 1.520854 0.554246 0.683591 -0.103324 0.721970 0.028061
1730866606.5493643 -2.974954 1.521323 0.547196 0.685808 -0.099198 0.720405 0.029055
1730866606.5827096 -2.968827 1.521582 0.539287 0.689140 -0.101677 0.716811 0.030486
1730866606.6160555 -2.962537 1.522163 0.530930 0.692011 -0.101728 0.714232 0.025394
1730866606.6494005 -2.956317 1.522217 0.522124 0.694691 -0.102645 0.711514 0.024821
1730866606.6827462 -2.949899 1.521751 0.512920 0.697384 -0.103892 0.708763 0.022757
1730866606.7160912 -2.943569 1.520904 0.503741 0.700342 -0.104556 0.705824 0.020056
1730866606.7494371 -2.937712 1.519849 0.493602 0.703546 -0.106213 0.702400 0.019402
1730866606.7827818 -2.932327 1.518863 0.483059 0.705968 -0.105576 0.700019 0.020898
1730866606.8494725 -2.922894 1.517945 0.463436 0.710234 -0.103931 0.695949 0.020530
1730866606.8828185 -2.918343 1.517350 0.454788 0.713911 -0.106409 0.691847 0.018876
1730866606.9161632 -2.913075 1.516317 0.447039 0.714991 -0.108914 0.690377 0.017468
1730866606.9495089 -2.907465 1.514570 0.439753 0.716783 -0.114633 0.687591 0.017307
1730866606.9828537 -2.901963 1.512731 0.432130 0.719412 -0.114847 0.684805 0.017305
1730866607.0161994 -2.896643 1.510112 0.423789 0.723484 -0.119690 0.679447 0.024421
1730866607.0495441 -2.891638 1.508306 0.416255 0.725114 -0.118201 0.677989 0.023844
1730866607.0828898 -2.886324 1.506334 0.408459 0.728802 -0.118034 0.673976 0.025917
1730866607.1162343 -2.880414 1.504410 0.401278 0.730315 -0.118908 0.672076 0.028558
1730866607.1495793 -2.874016 1.502286 0.394465 0.734541 -0.122050 0.666751 0.031547
1730866607.1829231 -2.867346 1.500642 0.388212 0.737771 -0.122848 0.662999 0.032183
1730866607.2162681 -2.860873 1.499292 0.382145 0.739658 -0.123336 0.660640 0.035353
1730866607.2496119 -2.854367 1.498430 0.376224 0.742311 -0.125956 0.657165 0.035267
1730866607.2829566 -2.847445 1.497791 0.370314 0.745637 -0.125620 0.653495 0.034476
1730866607.3163004 -2.840574 1.496945 0.364185 0.747394 -0.125693 0.651340 0.036875
1730866607.3496451 -2.833041 1.496168 0.358276 0.751520 -0.123018 0.647079 0.037050
1730866607.3829887 -2.825551 1.494914 0.352147 0.754227 -0.123642 0.643551 0.041191
1730866607.4163334 -2.817122 1.493628 0.346770 0.756253 -0.122545 0.641263 0.042967
1730866607.4496772 -2.808740 1.492415 0.342351 0.757873 -0.125881 0.638343 0.047955
1730866607.4830217 -2.800589 1.491788 0.338416 0.760164 -0.127938 0.635141 0.048770
1730866607.5163653 -2.792494 1.491208 0.334289 0.762056 -0.129919 0.632441 0.049100
1730866607.5497100 -2.785257 1.491181 0.330654 0.763284 -0.129279 0.631167 0.048083
1730866607.5830536 -2.778146 1.491218 0.326434 0.766987 -0.126556 0.627467 0.044717
1730866607.6163981 -2.771647 1.490641 0.322404 0.766749 -0.128071 0.627073 0.049734
1730866607.6497412 -2.765420 1.490315 0.317982 0.769942 -0.127746 0.623109 0.051047
1730866607.6830857 -2.760107 1.490069 0.313828 0.770095 -0.124633 0.623340 0.053555
1730866607.7164292 -2.754634 1.489433 0.309461 0.771288 -0.125801 0.621487 0.055150
1730866607.7497735 -2.749497 1.488893 0.304612 0.773852 -0.127308 0.618147 0.053288
1730866607.7831168 -2.745626 1.488524 0.299473 0.773909 -0.127135 0.617890 0.055794
1730866607.8164613 -2.742007 1.488453 0.293928 0.774080 -0.126469 0.617481 0.059357
1730866607.8498044 -2.738177 1.488643 0.287661 0.775141 -0.126306 0.616487 0.056108
1730866607.8831487 -2.734980 1.488973 0.281701 0.773580 -0.126542 0.618132 0.058940
1730866607.9164917 -2.731640 1.489428 0.275141 0.772823 -0.126799 0.619036 0.058823
1730866607.9498360 -2.728845 1.489849 0.267779 0.772234 -0.129378 0.619213 0.059084
1730866607.9831793 -2.726158 1.490284 0.259152 0.771545 -0.128147 0.620583 0.056341
1730866608.0165231 -2.724426 1.490343 0.249814 0.769872 -0.127294 0.622707 0.057703
1730866608.0498662 -2.723109 1.490468 0.239533 0.769116 -0.125317 0.624127 0.056755
1730866608.0832105 -2.722098 1.490461 0.228543 0.767296 -0.124371 0.626847 0.053402
1730866608.1165535 -2.721715 1.490247 0.217568 0.765357 -0.124477 0.629041 0.055150
1730866608.1499002 -2.721408 1.490351 0.205721 0.763899 -0.125217 0.630763 0.054015
1730866608.1832457 -2.721372 1.490288 0.193632 0.761339 -0.125404 0.633860 0.053460
1730866608.2165921 -2.721056 1.490359 0.181368 0.758188 -0.126951 0.637632 0.049592
1730866608.2499378 -2.720825 1.490098 0.168554 0.756638 -0.130128 0.638978 0.047665
1730866608.2832842 -2.721000 1.489665 0.155583 0.753887 -0.131414 0.642024 0.046792
1730866608.3166296 -2.721289 1.488957 0.142591 0.750535 -0.132276 0.645923 0.044535
1730866608.3499761 -2.721740 1.487784 0.129697 0.749974 -0.135672 0.645994 0.042710
1730866608.3833215 -2.722668 1.486612 0.117315 0.747512 -0.135322 0.649020 0.041068
1730866608.4166679 -2.722736 1.485101 0.106568 0.742673 -0.137219 0.654199 0.040382
1730866608.4500134 -2.722061 1.483492 0.096806 0.739963 -0.142499 0.656346 0.036855
1730866608.4833598 -2.721345 1.481743 0.087293 0.737582 -0.146397 0.658137 0.037368
1730866608.5167053 -2.720781 1.480284 0.078340 0.733965 -0.146814 0.662149 0.036047
1730866608.5500515 -2.719875 1.478746 0.069864 0.730978 -0.147076 0.665260 0.038327
1730866608.5833969 -2.718581 1.477334 0.061221 0.729236 -0.147931 0.666782 0.041622
1730866608.6167431 -2.716100 1.476597 0.053051 0.727216 -0.146350 0.669335 0.041583
1730866608.6500885 -2.713580 1.476356 0.045628 0.723888 -0.145598 0.673025 0.042702
1730866608.6834350 -2.711208 1.476768 0.039143 0.721638 -0.147506 0.675108 0.041361
1730866608.7167799 -2.708660 1.477192 0.032827 0.718775 -0.146411 0.678385 0.041462
1730866608.7501264 -2.705306 1.477935 0.025850 0.717620 -0.143383 0.680437 0.038329
1730866608.7834716 -2.701361 1.478371 0.018582 0.716625 -0.144198 0.681328 0.038050
1730866608.8168178 -2.696663 1.478904 0.011157 0.716271 -0.140283 0.682522 0.037940
1730866608.8501630 -2.691749 1.479782 0.004141 0.714625 -0.137922 0.684702 0.038366
1730866608.8835092 -2.686391 1.480988 -0.002511 0.713967 -0.135456 0.686044 0.035315
1730866608.9168544 -2.680960 1.482049 -0.008849 0.712303 -0.135178 0.687829 0.035260
1730866608.9502006 -2.675187 1.483219 -0.015341 0.711252 -0.133419 0.689384 0.032691
1730866608.9835455 -2.669262 1.484044 -0.021913 0.710256 -0.131212 0.690831 0.032753
1730866609.0168917 -2.662612 1.484407 -0.028577 0.708759 -0.130514 0.692555 0.031531
1730866609.0502367 -2.656038 1.484834 -0.035276 0.708101 -0.130909 0.693110 0.032490
1730866609.0835829 -2.649321 1.485354 -0.041954 0.705933 -0.127831 0.695871 0.032893
1730866609.1169279 -2.642887 1.485897 -0.048285 0.704167 -0.128875 0.697615 0.029561
1730866609.1502736 -2.636902 1.486517 -0.054153 0.703611 -0.128041 0.698433 0.026986
1730866609.1836183 -2.630861 1.486925 -0.060027 0.702126 -0.126201 0.700376 0.023797
1730866609.2169642 -2.624886 1.486937 -0.065452 0.700019 -0.124868 0.702824 0.020480
1730866609.2503090 -2.618653 1.486202 -0.070895 0.697296 -0.125516 0.705459 0.018769
1730866609.2836547 -2.612626 1.484956 -0.076760 0.697071 -0.128360 0.705137 0.019929
1730866609.3169992 -2.607313 1.483732 -0.082552 0.695195 -0.128757 0.706938 0.019086
1730866609.3503449 -2.603736 1.482389 -0.088523 0.693843 -0.131046 0.707747 0.022436
1730866609.3836894 -2.601749 1.481896 -0.093957 0.691222 -0.127961 0.710825 0.023792
1730866609.4170351 -2.600658 1.481602 -0.098543 0.687783 -0.126768 0.714288 0.026019
1730866609.4503796 -2.599691 1.481604 -0.102408 0.685451 -0.127007 0.716470 0.026414
1730866609.4837253 -2.598535 1.481685 -0.105796 0.681478 -0.126316 0.720362 0.026654
1730866609.5170698 -2.597774 1.482214 -0.108750 0.677419 -0.126518 0.724146 0.026630
1730866609.5504155 -2.597243 1.483016 -0.111760 0.672933 -0.125721 0.728516 0.024896
1730866609.5837600 -2.596895 1.483807 -0.115452 0.669131 -0.125632 0.732018 0.025098
1730866609.6171055 -2.596702 1.484403 -0.119828 0.664713 -0.125034 0.736162 0.024266
1730866609.6504500 -2.596758 1.484956 -0.124987 0.661149 -0.125739 0.739222 0.024961
1730866609.6837955 -2.597355 1.485827 -0.130876 0.657117 -0.125728 0.742765 0.026263
1730866609.7171400 -2.598604 1.486996 -0.137286 0.653220 -0.126515 0.746087 0.025526
1730866609.7504854 -2.599962 1.488160 -0.143910 0.648061 -0.125613 0.750733 0.025276
1730866609.7838297 -2.601243 1.489219 -0.151274 0.644173 -0.124246 0.754323 0.024509
1730866609.8171751 -2.602873 1.489958 -0.159269 0.639622 -0.125111 0.758068 0.023723
1730866609.8505194 -2.604928 1.490519 -0.167765 0.634515 -0.125375 0.762293 0.024115
1730866609.8838649 -2.607566 1.491324 -0.176924 0.630004 -0.124110 0.766272 0.022786
1730866609.9172089 -2.610789 1.491917 -0.186322 0.624068 -0.125910 0.770881 0.020704
1730866609.9505541 -2.613746 1.492489 -0.196433 0.619332 -0.126788 0.774640 0.016909
1730866609.9838984 -2.616428 1.492725 -0.207607 0.614166 -0.127608 0.778620 0.016340
1730866610.0172436 -2.619141 1.492764 -0.219631 0.609394 -0.126235 0.782560 0.017428
1730866610.0505879 -2.621923 1.492831 -0.231979 0.605275 -0.125238 0.785911 0.017361
1730866610.0839331 -2.624357 1.492883 -0.244253 0.601422 -0.124258 0.789035 0.016580
1730866610.1172774 -2.626798 1.492865 -0.256285 0.597835 -0.124137 0.791814 0.014620
1730866610.1506233 -2.629012 1.492593 -0.267922 0.593766 -0.124328 0.794835 0.014863
1730866610.1839683 -2.631136 1.492277 -0.279368 0.591349 -0.125180 0.796507 0.014614
1730866610.2173142 -2.633338 1.491892 -0.290284 0.588917 -0.125901 0.798216 0.013326
1730866610.2506592 -2.635264 1.491464 -0.300756 0.586310 -0.126721 0.799976 0.014871
1730866610.2840052 -2.636960 1.491357 -0.310814 0.583303 -0.125441 0.802339 0.016554
1730866610.3173499 -2.638793 1.491530 -0.320469 0.581136 -0.126008 0.803795 0.017814
1730866610.3506958 -2.640751 1.492136 -0.329568 0.580219 -0.125584 0.804534 0.017335
1730866610.3840406 -2.643079 1.493187 -0.338243 0.577712 -0.125433 0.806378 0.016418
1730866610.4173865 -2.645707 1.494584 -0.347004 0.577717 -0.123764 0.806635 0.016326
1730866610.4507313 -2.648774 1.495955 -0.355489 0.575403 -0.121312 0.808676 0.015398
1730866610.4840770 -2.651609 1.497439 -0.363489 0.573922 -0.116408 0.810483 0.013386
1730866610.5174217 -2.654358 1.498571 -0.371407 0.574000 -0.117235 0.810285 0.014775
1730866610.5507674 -2.657232 1.499805 -0.379104 0.572797 -0.115965 0.811330 0.014111
1730866610.5841122 -2.660401 1.500929 -0.386806 0.572113 -0.116135 0.811799 0.013487
1730866610.6174579 -2.663979 1.501889 -0.393937 0.571403 -0.115589 0.812386 0.012911
1730866610.6508024 -2.668349 1.502568 -0.400836 0.568570 -0.115074 0.814460 0.011845
1730866610.6841481 -2.672625 1.502849 -0.408017 0.568560 -0.115033 0.814489 0.010698
1730866610.7508383 -2.684840 1.502519 -0.424390 0.561461 -0.119028 0.818805 0.012330
1730866610.7841825 -2.690517 1.502718 -0.431970 0.560666 -0.115954 0.819802 0.011528
1730866610.8175280 -2.696571 1.502959 -0.439597 0.557769 -0.114521 0.821975 0.011625
1730866610.8842180 -2.710029 1.504433 -0.454889 0.551496 -0.115779 0.826031 0.010981
1730866610.9509079 -2.724079 1.506773 -0.469995 0.544707 -0.114583 0.830735 0.006646
1730866610.9842525 -2.730356 1.507314 -0.478060 0.542609 -0.116692 0.831821 0.005746
1730866611.0175977 -2.736260 1.507767 -0.486293 0.538927 -0.117677 0.834076 0.005137
1730866611.0509422 -2.741744 1.508364 -0.495447 0.537794 -0.117194 0.834876 0.005041
1730866611.0842874 -2.746878 1.508940 -0.505108 0.535866 -0.117478 0.836066 0.006272
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1730866611.2510128 -2.762783 1.511955 -0.551044 0.528872 -0.116129 0.840622 0.012803
1730866611.2843585 -2.764263 1.512949 -0.558410 0.527471 -0.114839 0.841692 0.011846
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1730866611.3510487 -2.764223 1.514390 -0.572199 0.524082 -0.116763 0.843604 0.006121
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1730866611.5177732 -2.744826 1.513790 -0.615711 0.523755 -0.123884 0.842811 -0.001899
1730866611.5844631 -2.731098 1.512495 -0.635808 0.523192 -0.126057 0.842840 0.000306
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1730866611.6844983 -2.713216 1.509793 -0.666213 0.525493 -0.128568 0.841026 0.001447
1730866611.7178428 -2.707825 1.508923 -0.676029 0.527817 -0.124710 0.840153 0.000238
1730866611.7511880 -2.703004 1.507546 -0.685564 0.529459 -0.124023 0.839220 0.000951
1730866611.7845323 -2.698383 1.505593 -0.694671 0.532309 -0.126669 0.837014 0.003093
1730866611.8512220 -2.690384 1.500841 -0.711665 0.538133 -0.125910 0.833380 0.006073
1730866611.9179111 -2.683393 1.495221 -0.726312 0.547163 -0.128747 0.826930 0.014945
1730866611.9512563 -2.680896 1.493543 -0.732399 0.551537 -0.129590 0.823806 0.018905
1730866611.9846005 -2.679055 1.492690 -0.737076 0.555374 -0.128061 0.821448 0.019573
1730866612.0179455 -2.677828 1.492368 -0.740236 0.560083 -0.127591 0.818372 0.017136
1730866612.0846348 -2.675119 1.491006 -0.746018 0.571393 -0.128319 0.810430 0.015745
1730866612.1513250 -2.673203 1.489111 -0.750970 0.583602 -0.130463 0.801207 0.021344
1730866612.1846702 -2.672783 1.488714 -0.752643 0.590663 -0.131463 0.795804 0.023048
1730866612.2180161 -2.672928 1.489161 -0.753088 0.595644 -0.127832 0.792735 0.020945
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