%YAML:1.0
---
in_accel:
   scale: [ 1., 0., 0., 0., 1., 0., 0., 0., 1. ]
   drift: [ 0., 0., 0. ]
   noise: [ 1.6925432397973516e-02, 1.6735310195561025e-02,
       1.7452487504590969e-02 ]
   bias: [ 1.9031356589714596e-04, 1.6996777864587261e-04,
       5.4490537096493644e-04 ]
in_gyro:
   scale: [ 1., 0., 0., 0., 1., 0., 0., 0., 1. ]
   drift: [ 0., 0., 0. ]
   noise: [ 1.0848026158819934e-03, 1.2466367883501759e-03,
       1.1003229919806443e-03 ]
   bias: [ 2.3404834136742844e-05, 2.3596771567764949e-05,
       1.4970418056326829e-05 ]
ex_left_to_imu:
   rotation: [ -6.4662000000000001e-03, -9.9994994000000004e-01,
       -7.6356499999999999e-03, 9.9997908999999996e-01,
       -6.4656599999999998e-03, -9.5580000000000003e-05,
       4.6199999999999998e-05, -7.6361099999999998e-03,
       9.9997084000000003e-01 ]
   translation: [ 5.3364600000000003e-03, -4.3029220000000000e-02,
       2.3031240000000001e-02 ]