I also tried to inspect the camera and pelvis poses with this script:

#!/usr/bin/env python3
import os, sys, glob
import numpy as np
from scipy.spatial.transform import Rotation as R

def inspect(folder, num=5):
    files = sorted(glob.glob(os.path.join(folder, '*.npy')))
    for i, fn in enumerate(files[:num]):
        st = np.load(fn, allow_pickle=True).item()

        # --- robot pelvis pose ---
        pos = st['robot.position']    # [x,y,z]
        ori = st['robot.orientation'] # [qx, qy, qz, qw]
        # quaternion → roll,pitch,yaw (XYZ order)
        yaw, pitch, roll = R.from_quat(ori).as_euler('xyz', degrees=True)

        print(f"Frame {i:02d}:")
        print(f"  pelvis pos  = {pos}")
        print(f"  pelvis quat = {ori}")
        print(f"    → yaw={yaw:.1f}°, pitch={pitch:.1f}°, roll={roll:.1f}°")

        # --- front‑left camera pose ---
        lpos = st['robot.front_camera.left.position']
        lori = st['robot.front_camera.left.orientation']
        lyaw, lroll, lpitch = R.from_quat(lori).as_euler('xyz', degrees=True)

        print(f"  left_cam pos  = {lpos}")
        print(f"  left_cam quat = {lori}")
        print(f"    → yaw={lyaw:.1f}°, pitch={lpitch:.1f}°, roll={lroll:.1f}°\n")

if __name__ == '__main__':
    if len(sys.argv) < 2:
        print("Usage: inspect_poses.py /path/to/state/common [num]")
        sys.exit(1)
    folder = sys.argv[1]
    n = int(sys.argv[2]) if len(sys.argv) >= 3 else 5
    inspect(folder, n)

Here is the output poses looks like:

Frame 00:
  pelvis pos  = [5.4326077  1.480456   0.89978415]
  pelvis quat = [-0.60124445 -0.0496252   0.00937337  0.7974676 ]
    → yaw=-74.2°, pitch=-3.9°, roll=4.3°
  left_cam pos  = [5.4134827 1.3234565 1.5877136]
  left_cam quat = [0.14522518 0.03468003 0.46331394 0.8735257 ]
    → yaw=16.7°, pitch=55.3°, roll=-4.2°

Frame 01:
  pelvis pos  = [5.45036    1.454494   0.89073324]
  pelvis quat = [-0.5955652  -0.03004646 -0.02199892  0.8024433 ]
    → yaw=-73.2°, pitch=-4.3°, roll=0.0°
  left_cam pos  = [5.4792056 1.2796501 1.5740039]
  left_cam quat = [0.12579517 0.06471152 0.4566957  0.87830347]
    → yaw=16.3°, pitch=54.9°, roll=-0.1°

Frame 02:
  pelvis pos  = [5.4474874 1.4359913 0.8983594]
  pelvis quat = [-0.5996183  -0.04258631  0.00797266  0.79911244]
    → yaw=-73.9°, pitch=-3.4°, roll=3.7°
  left_cam pos  = [5.436813  1.2832778 1.5874357]
  left_cam quat = [0.1437008  0.04063591 0.46687832 0.87162113]
    → yaw=16.8°, pitch=55.8°, roll=-3.6°

Frame 03:
  pelvis pos  = [5.464168   1.410502   0.89311504]
  pelvis quat = [-0.59272975 -0.02316233 -0.02408022  0.80470806]
    → yaw=-72.7°, pitch=-3.8°, roll=-0.6°
  left_cam pos  = [5.50138   1.2387488 1.5767653]
  left_cam quat = [0.12537655 0.07176535 0.45946556 0.8763686 ]
    → yaw=16.6°, pitch=55.4°, roll=0.6°

Frame 04:
  pelvis pos  = [5.4613914  1.393059   0.89995414]
  pelvis quat = [-0.5937561  -0.0420683   0.00791878  0.8035056 ]
    → yaw=-73.0°, pitch=-3.3°, roll=3.6°
  left_cam pos  = [5.4491277 1.2404357 1.589024 ]
  left_cam quat = [0.15034977 0.04489502 0.46656916 0.8704554 ]
    → yaw=17.7°, pitch=55.8°, roll=-3.6°

Frame 05:
  pelvis pos  = [5.478156   1.3668003  0.89282936]
  pelvis quat = [-0.5884418  -0.02326836 -0.02318755  0.80787206]
    → yaw=-72.1°, pitch=-3.7°, roll=-0.6°
  left_cam pos  = [5.512831  1.1954929 1.5767248]
  left_cam quat = [0.13065347 0.07397007 0.4595439  0.87537277]
    → yaw=17.3°, pitch=55.5°, roll=0.5°

Frame 06:
  pelvis pos  = [5.47564    1.3492122  0.89912117]
  pelvis quat = [-0.58975875 -0.04152986  0.00889522  0.8064619 ]
    → yaw=-72.5°, pitch=-3.2°, roll=3.6°
  left_cam pos  = [5.4619393 1.1980287 1.5884812]
  left_cam quat = [0.15423779 0.04672498 0.46719363 0.8693432 ]
    → yaw=18.2°, pitch=55.9°, roll=-3.6°

Frame 07:
  pelvis pos  = [5.492297   1.3233619  0.89278436]
  pelvis quat = [-0.5846974  -0.02374238 -0.02316433  0.81057304]
    → yaw=-71.6°, pitch=-3.8°, roll=-0.6°
  left_cam pos  = [5.5251617 1.1513902 1.5766025]
  left_cam quat = [0.13441014 0.0756807  0.45895034 0.8749691 ]
    → yaw=17.7°, pitch=55.4°, roll=0.5°

Frame 08:
  pelvis pos  = [5.4395328 1.1726946 0.9128863]
  pelvis quat = [-0.58225167 -0.05871826 -0.03061322  0.8103073 ]
    → yaw=-71.5°, pitch=-7.5°, roll=1.1°
  left_cam pos  = [5.459193  0.972769  1.5895728]
  left_cam quat = [0.07686653 0.01451034 0.43834335 0.8953972 ]
    → yaw=8.7°, pitch=52.0°, roll=-2.4°

Frame 09:
  pelvis pos  = [5.1709037  0.40616372 0.8784326 ]
  pelvis quat = [-0.5817613  -0.03748764 -0.0475782   0.81110096]
    → yaw=-71.2°, pitch=-6.7°, roll=-1.9°
  left_cam pos  = [5.1995206  0.19402751 1.5510699 ]
  left_cam quat = [0.15760946 0.09943439 0.43228364 0.88227147]
    → yaw=21.4°, pitch=52.6°, roll=2.2°

Frame 10:
  pelvis pos  = [ 4.843637   -0.52303386  0.86828196]
  pelvis quat = [-0.58496475 -0.06824323 -0.03088782  0.80759215]
    → yaw=-72.0°, pitch=-8.4°, roll=1.7°
  left_cam pos  = [ 4.8089294  -0.74426967  1.5376933 ]
  left_cam quat = [0.22418417 0.104461   0.41450927 0.8757919 ]
    → yaw=28.6°, pitch=50.6°, roll=-0.2°

Frame 11:
  pelvis pos  = [ 4.7932353  -0.7578174   0.88864833]
  pelvis quat = [-0.5682634  -0.01940878 -0.02912475  0.822102  ]
    → yaw=-69.3°, pitch=-3.7°, roll=-1.5°
  left_cam pos  = [ 4.8299794 -0.9343781  1.5710982]
  left_cam quat = [0.14693902 0.09111173 0.4563595  0.87283653]
    → yaw=19.9°, pitch=55.5°, roll=1.4°

Frame 12:
  pelvis pos  = [ 4.791199  -0.7785286  0.9010407]
  pelvis quat = [-0.5698849  -0.04374313  0.00933388  0.82050633]
    → yaw=-69.7°, pitch=-3.5°, roll=3.7°
  left_cam pos  = [ 4.767294  -0.9315761  1.589711 ]
  left_cam quat = [0.17781354 0.05802883 0.4637486  0.86599785]
    → yaw=21.3°, pitch=55.6°, roll=-3.7°

Frame 13:
  pelvis pos  = [ 4.675636  -1.1175425  0.8649857]
  pelvis quat = [-0.5661777  -0.04887764 -0.06653962  0.8201379 ]
    → yaw=-69.0°, pitch=-8.9°, roll=-3.1°
  left_cam pos  = [ 4.7002106 -1.360176   1.5273954]
  left_cam quat = [0.16915962 0.11268716 0.4113096  0.8885443 ]
    → yaw=23.2°, pitch=50.4°, roll=3.5°

Frame 14:
  pelvis pos  = [ 4.308636  -2.0280828  0.8939282]
  pelvis quat = [-0.5690869  -0.05238187 -0.02625805  0.82018703]
    → yaw=-69.6°, pitch=-6.7°, roll=1.0°
  left_cam pos  = [ 4.292539  -2.2300637  1.5700983]
  left_cam quat = [0.20210406 0.09659911 0.43156505 0.87382734]
    → yaw=25.9°, pitch=52.5°, roll=-0.3°

Frame 15:
  pelvis pos  = [ 3.9522903  -2.9653516   0.88362974]
  pelvis quat = [-0.567222   -0.068616   -0.01404656  0.8205813 ]
    → yaw=-69.5°, pitch=-7.4°, roll=3.2°
  left_cam pos  = [ 3.9114394 -3.1655793  1.5592787]
  left_cam quat = [0.20179096 0.07249442 0.42968768 0.8771508 ]
    → yaw=24.6°, pitch=51.6°, roll=-2.7°

Frame 16:
  pelvis pos  = [ 3.5914612 -3.8964107  0.8955004]
  pelvis quat = [-0.5705406  -0.07284185 -0.00901412  0.81798303]
    → yaw=-70.0°, pitch=-7.4°, roll=4.0°
  left_cam pos  = [ 3.5602386 -4.0897875  1.5736538]
  left_cam quat = [0.14651619 0.02911737 0.43866333 0.88614875]
    → yaw=16.6°, pitch=52.0°, roll=-4.4°

Frame 17:
  pelvis pos  = [ 3.233225  -4.826101   0.8763114]
  pelvis quat = [-0.57506335 -0.08505743 -0.01724022  0.81349254]
    → yaw=-70.8°, pitch=-9.1°, roll=4.1°
  left_cam pos  = [ 3.1928456 -5.0394692  1.5479548]
  left_cam quat = [0.1565638  0.03241086 0.4241505  0.8913662 ]
    → yaw=17.9°, pitch=50.2°, roll=-4.3°

Frame 18:
  pelvis pos  = [ 3.161516  -5.1018085  0.8852617]
  pelvis quat = [-0.53404975 -0.02158688 -0.03018543  0.8446382 ]
    → yaw=-64.6°, pitch=-3.9°, roll=-1.6°
  left_cam pos  = [ 3.1863585 -5.2831874  1.5669848]
  left_cam quat = [0.17443858 0.10541077 0.45135322 0.8687577 ]
    → yaw=23.5°, pitch=55.2°, roll=1.5°

Frame 19:
  pelvis pos  = [ 3.0846918  -5.136536    0.91035527]
  pelvis quat = [-0.2692753  -0.00606472  0.01496157  0.96292794]
    → yaw=-31.2°, pitch=-0.2°, roll=1.8°
  left_cam pos  = [ 3.0264492 -5.244462   1.6054964]
  left_cam quat = [0.40905192 0.21553624 0.44387338 0.7675917 ]
    → yaw=55.1°, pitch=59.1°, roll=-1.8°

Frame 20:
  pelvis pos  = [ 2.3843637 -5.587253   0.9053845]
  pelvis quat = [-0.2755322  -0.05898843 -0.00856183  0.9594421 ]
    → yaw=-32.1°, pitch=-6.8°, roll=0.9°
  left_cam pos  = [ 2.281017  -5.751145   1.5841485]
  left_cam quat = [0.37234658 0.16590165 0.4118621  0.8149873 ]
    → yaw=48.1°, pitch=52.7°, roll=-2.1°

Frame 21:
  pelvis pos  = [ 1.5388921 -6.1077447  0.8814295]
  pelvis quat = [-0.2734641  -0.053072   -0.03141687  0.959903  ]
    → yaw=-31.7°, pitch=-6.8°, roll=-1.8°
  left_cam pos  = [ 1.4303553 -6.2923875  1.5540276]
  left_cam quat = [0.42698464 0.22472489 0.3797641  0.78927946]
    → yaw=57.7°, pitch=52.3°, roll=1.7°

Frame 22:
  pelvis pos  = [ 1.0461131 -6.415566   0.8871706]
  pelvis quat = [-0.19237079 -0.02415398 -0.00361342  0.98101836]
    → yaw=-22.2°, pitch=-2.8°, roll=0.1°
  left_cam pos  = [ 0.9438829 -6.540064   1.5744194]
  left_cam quat = [0.48977405 0.26147762 0.39370042 0.7326328 ]
    → yaw=67.4°, pitch=56.4°, roll=-0.1°

Frame 23:
  pelvis pos  = [ 0.89514655 -6.407361    0.9154554 ]
  pelvis quat = [-5.0629381e-02 -3.5981998e-02  2.9124905e-04  9.9806905e-01]
    → yaw=-5.8°, pitch=-4.1°, roll=0.2°
  left_cam pos  = [ 0.76367015 -6.5146823   1.600625  ]
  left_cam quat = [0.53329927 0.2708926  0.37594464 0.70772505]
    → yaw=73.5°, pitch=55.2°, roll=-1.0°

Frame 24:
  pelvis pos  = [-0.01330299 -6.4889665   0.88581264]
  pelvis quat = [-0.05006837 -0.05676309 -0.0161603   0.99700046]
    → yaw=-5.7°, pitch=-6.6°, roll=-1.5°
  left_cam pos  = [-0.18561889 -6.6077204   1.5599537 ]
  left_cam quat = [0.5811479  0.2957126  0.32945916 0.6828454 ]
    → yaw=81.4°, pitch=52.5°, roll=1.2°

Frame 25:
  pelvis pos  = [-0.8182122  -6.5697813   0.82908916]
  pelvis quat = [ 0.06000724 -0.02988176  0.02209275  0.99750596]
    → yaw=6.8°, pitch=-3.6°, roll=2.3°
  left_cam pos  = [-0.9774853 -6.5951357  1.5162941]
  left_cam quat = [0.6817943 0.3452405 0.3130267 0.563897 ]
    → yaw=99.7°, pitch=55.5°, roll=-2.1°

Frame 26:
  pelvis pos  = [-1.006083  -6.4645376  0.8899288]
  pelvis quat = [ 0.26145515 -0.04402149 -0.00670948  0.9641879 ]
    → yaw=30.4°, pitch=-4.7°, roll=-2.1°
  left_cam pos  = [-1.198689  -6.477456   1.5688969]
  left_cam quat = [0.75408375 0.39687392 0.22741444 0.47130826]
    → yaw=116.9°, pitch=54.4°, roll=1.8°

Frame 27:
  pelvis pos  = [-1.8046268 -5.9858103  0.8885565]
  pelvis quat = [ 0.26201543 -0.0567352   0.00939928  0.9633487 ]
    → yaw=30.5°, pitch=-6.6°, roll=-0.7°
  left_cam pos  = [-2.0095694 -5.9549584  1.5633216]
  left_cam quat = [0.7913476  0.39727062 0.19829597 0.42026618]
    → yaw=124.6°, pitch=52.7°, roll=1.2°

Frame 28:
  pelvis pos  = [-2.5975125 -5.5389285  0.8121703]
  pelvis quat = [ 0.3384589  -0.05784325 -0.00448281  0.939191  ]
    → yaw=39.8°, pitch=-6.1°, roll=-2.7°
  left_cam pos  = [-2.807413  -5.5167904  1.4857525]
  left_cam quat = [0.79272014 0.40538415 0.18662788 0.4152451 ]
    → yaw=125.9°, pitch=53.0°, roll=2.3°

Frame 29:
  pelvis pos  = [-2.6720002 -5.443769   0.9087683]
  pelvis quat = [ 0.6156025  -0.00909406  0.01316859  0.7878943 ]
    → yaw=76.0°, pitch=-1.8°, roll=0.5°
  left_cam pos  = [-2.773201  -5.3364105  1.5990539]
  left_cam quat = [0.8699818  0.4761766  0.0658081  0.10980323]
    → yaw=165.3°, pitch=57.5°, roll=-0.6°

Frame 30:
  pelvis pos  = [-2.8046272  -4.6573043   0.88394743]
  pelvis quat = [ 0.6102187  -0.02180986  0.06454273  0.78929824]
    → yaw=75.2°, pitch=-6.5°, roll=4.3°
  left_cam pos  = [-2.8708913 -4.477069   1.5632012]
  left_cam quat = [0.89404684 0.43666407 0.07200526 0.06942646]
    → yaw=169.2°, pitch=52.4°, roll=-3.9°

Frame 31:
  pelvis pos  = [-3.0356512 -3.682539   0.8951969]
  pelvis quat = [ 0.60988164 -0.02596644  0.06624088  0.7892923 ]
    → yaw=75.1°, pitch=-7.0°, roll=4.2°
  left_cam pos  = [-3.115963  -3.5100594  1.5749485]
  left_cam quat = [0.8878456  0.43054366 0.10538454 0.12351722]
    → yaw=161.9°, pitch=52.5°, roll=-4.6°

Frame 32:
  pelvis pos  = [-3.27203    -2.7047868   0.89484924]
  pelvis quat = [ 0.6118188  -0.02469369  0.06696092  0.7877717 ]
    → yaw=75.4°, pitch=-6.9°, roll=4.3°
  left_cam pos  = [-3.3524592 -2.5359528  1.5755017]
  left_cam quat = [0.8850976  0.4301536  0.11504579 0.13540496]
    → yaw=160.1°, pitch=52.7°, roll=-5.0°

Frame 33:
  pelvis pos  = [-3.513713  -1.7240181  0.8961189]
  pelvis quat = [ 0.61238426 -0.03248627  0.05806574  0.78775537]
    → yaw=75.5°, pitch=-7.0°, roll=3.0°
  left_cam pos  = [-3.6135268 -1.5636324  1.5762477]
  left_cam quat = [0.8812093  0.42876136 0.11754277 0.16067845]
    → yaw=157.4°, pitch=52.7°, roll=-4.0°

Frame 34:
  pelvis pos  = [-3.7489488 -0.7858431  0.8492742]
  pelvis quat = [ 0.6257035  -0.04241502  0.03741702  0.77800775]
    → yaw=77.6°, pitch=-6.5°, roll=0.3°
  left_cam pos  = [-3.8678517  -0.62807757  1.5269421 ]
  left_cam quat = [0.8865714  0.438652   0.07142662 0.12835047]
    → yaw=163.1°, pitch=52.8°, roll=-0.8°

Frame 35:
  pelvis pos  = [-3.7916248 -0.3707106  0.8990324]
  pelvis quat = [ 0.7152323  -0.03108657  0.05993894  0.6956175 ]
    → yaw=91.4°, pitch=-7.4°, roll=2.2°
  left_cam pos  = [-3.8252776  -0.16529368  1.5735195 ]
  left_cam quat = [ 0.89794034  0.43502107 -0.01701628 -0.06457714]
    → yaw=-172.5°, pitch=51.6°, roll=-1.5°

Frame 36:
  pelvis pos  = [-3.7749228   0.59848356  0.90155154]
  pelvis quat = [ 0.70676136 -0.01974037  0.06757794  0.7039403 ]
    → yaw=90.0°, pitch=-7.1°, roll=3.9°
  left_cam pos  = [-3.8176894   0.78220814  1.5817558 ]
  left_cam quat = [0.8953131  0.4400949  0.06106592 0.03165311]
    → yaw=173.6°, pitch=52.6°, roll=-4.7°

Frame 37:
  pelvis pos  = [-3.7662475   1.598868    0.90362763]
  pelvis quat = [ 0.708188   -0.03101113  0.05309968  0.703341  ]
    → yaw=90.3°, pitch=-6.8°, roll=1.8°
  left_cam pos  = [-3.8371794  1.7764171  1.5831174]
  left_cam quat = [0.8941342  0.44117865 0.05411161 0.05438128]
    → yaw=171.7°, pitch=52.7°, roll=-2.8°

Frame 38:
  pelvis pos  = [-3.7570894   2.6099746   0.89214605]
  pelvis quat = [ 0.71255964 -0.04507303  0.03712142  0.69917756]
    → yaw=91.1°, pitch=-6.7°, roll=-0.7°
  left_cam pos  = [-3.8545423  2.787672   1.5683029]
  left_cam quat = [0.89511305 0.4414009  0.02976809 0.05524257]
    → yaw=172.8°, pitch=52.5°, roll=-0.3°

Frame 39:
  pelvis pos  = [-3.7444515  3.6068192  0.8766073]
  pelvis quat = [ 0.70943594 -0.05501145  0.03033277  0.70196456]
    → yaw=90.7°, pitch=-6.9°, roll=-2.0°
  left_cam pos  = [-3.8442588  3.7987652  1.5485127]
  left_cam quat = [ 0.89755905  0.44051898 -0.01771159  0.00413543]
    → yaw=-179.5°, pitch=52.3°, roll=2.0°

Frame 40:
  pelvis pos  = [-3.7398295   4.482668    0.85865575]
  pelvis quat = [ 0.7228658  -0.04678193  0.00979379  0.68933344]
    → yaw=92.8°, pitch=-4.5°, roll=-3.1°
  left_cam pos  = [-3.8563702  4.643545   1.5360023]
  left_cam quat = [ 0.8886116   0.4575377  -0.0108502   0.03018157]
    → yaw=177.5°, pitch=54.4°, roll=2.7°

Frame 41:
  pelvis pos  = [-3.6338449   5.3086762   0.88936967]
  pelvis quat = [ 0.73760027 -0.01310133  0.0662044   0.6718565 ]
    → yaw=95.1°, pitch=-6.6°, roll=4.0°
  left_cam pos  = [-3.6473756  5.497595   1.569361 ]
  left_cam quat = [ 0.89438957  0.4439505   0.0136565  -0.0528089 ]
    → yaw=-175.3°, pitch=52.6°, roll=-4.1°

Frame 42:
  pelvis pos  = [-3.5260544  6.298579   0.8959396]
  pelvis quat = [ 0.73607427 -0.01533043  0.06932563  0.6731668 ]
    → yaw=94.9°, pitch=-7.0°, roll=4.1°
  left_cam pos  = [-3.5473366  6.4870667  1.5758519]
  left_cam quat = [ 0.8959852   0.44220555  0.03538978 -0.02030699]
    → yaw=-179.7°, pitch=52.5°, roll=-4.7°

Frame 43:
  pelvis pos  = [-3.4269457  7.299672   0.8959248]
  pelvis quat = [ 0.7391229  -0.01791184  0.06591224  0.67009854]
    → yaw=95.4°, pitch=-7.0°, roll=3.6°
  left_cam pos  = [-3.4562826  7.485544   1.5762575]
  left_cam quat = [ 0.89559823  0.4431316   0.03830399 -0.00842625]
    → yaw=178.9°, pitch=52.7°, roll=-4.4°

Frame 44:
  pelvis pos  = [-3.3306     8.306407   0.8984628]
  pelvis quat = [ 0.7344657  -0.0287443   0.05529653  0.6757782 ]
    → yaw=94.7°, pitch=-6.9°, roll=1.9°
  left_cam pos  = [-3.386983   8.489222   1.5779194]
  left_cam quat = [0.89567    0.44245037 0.03928879 0.02166341]
    → yaw=175.8°, pitch=52.7°, roll=-2.9°

Frame 45:
  pelvis pos  = [-3.2441256  9.312887   0.8878519]
  pelvis quat = [ 0.7353941  -0.04415406  0.03969891  0.6750332 ]
    → yaw=94.9°, pitch=-6.8°, roll=-0.7°
  left_cam pos  = [-3.327941  9.498668  1.563664]
  left_cam quat = [0.8969826  0.4413188  0.01347688 0.02186927]
    → yaw=177.1°, pitch=52.4°, roll=-0.3°

Frame 46:
  pelvis pos  = [-3.1633477  10.304873    0.88335216]
  pelvis quat = [ 0.73441404 -0.05156362  0.03122523  0.6760194 ]
    → yaw=94.9°, pitch=-6.6°, roll=-1.9°
  left_cam pos  = [-3.2429137 10.503112   1.5561318]
  left_cam quat = [ 0.8949212   0.4414773  -0.04472925 -0.04704365]
    → yaw=-172.9°, pitch=52.7°, roll=2.2°

Frame 47:
  pelvis pos  = [-3.0768633  11.314096    0.87748003]
  pelvis quat = [ 0.73131925 -0.05066627  0.0322401   0.6793862 ]
    → yaw=94.3°, pitch=-6.7°, roll=-1.7°
  left_cam pos  = [-3.154126  11.51275    1.5504053]
  left_cam quat = [ 0.894734    0.44137654 -0.04568416 -0.05050487]
    → yaw=-172.5°, pitch=52.7°, roll=2.1°

Frame 48:
  pelvis pos  = [-3.0003169 12.312742   0.8860576]
  pelvis quat = [ 0.72757596 -0.03411331  0.04732387  0.68354225]
    → yaw=93.5°, pitch=-6.6°, roll=0.9°
  left_cam pos  = [-3.0438838 12.510925   1.5621394]
  left_cam quat = [ 0.89374727  0.44107595 -0.03462376 -0.07395275]
    → yaw=-170.6°, pitch=52.5°, roll=-0.2°

Frame 49:
  pelvis pos  = [-2.9249597  13.309183    0.88629246]
  pelvis quat = [ 0.72369057 -0.03177981  0.07083607  0.6857436 ]
    → yaw=92.9°, pitch=-8.4°, roll=3.0°
  left_cam pos  = [-2.9532723 13.521723   1.5588155]
  left_cam quat = [ 0.90219766  0.428732    0.00402948 -0.0470318 ]
    → yaw=-175.3°, pitch=50.7°, roll=-2.7°

Frame 50:
  pelvis pos  = [-2.883586  13.601278   0.8796311]
  pelvis quat = [ 0.9511582  -0.00372786  0.03181743  0.30703706]
    → yaw=144.2°, pitch=-3.6°, roll=0.7°
  left_cam pos  = [-2.801861  13.746352   1.5655875]
  left_cam quat = [ 0.7877502   0.41874143 -0.20557845 -0.40229693]
    → yaw=-126.3°, pitch=55.6°, roll=-0.7°

Frame 51:
  pelvis pos  = [-2.5457742 13.712113   0.8905469]
  pelvis quat = [0.9732971  0.01816661 0.06637461 0.21899097]
    → yaw=154.4°, pitch=-7.0°, roll=3.7°
  left_cam pos  = [-2.3845031 13.8231735  1.56872  ]
  left_cam quat = [ 0.7462126   0.3841647  -0.21522216 -0.4992631 ]
    → yaw=-114.2°, pitch=52.2°, roll=-3.6°

Frame 52:
  pelvis pos  = [-1.6598892  14.120973    0.89768916]
  pelvis quat = [0.9720442  0.02209776 0.06470887 0.22462071]
    → yaw=153.7°, pitch=-6.7°, roll=4.2°
  left_cam pos  = [-1.5138128 14.233993   1.5789744]
  left_cam quat = [ 0.7696826   0.40593132 -0.18690337 -0.45593378]
    → yaw=-121.1°, pitch=52.9°, roll=-4.7°

Frame 53:
  pelvis pos  = [-0.7627527  14.551024    0.89872605]
  pelvis quat = [0.97225565 0.01540897 0.06651828 0.22373377]
    → yaw=153.9°, pitch=-7.0°, roll=3.5°
  left_cam pos  = [-0.62195104 14.675728    1.579083  ]
  left_cam quat = [ 0.7814022   0.40711468 -0.17927378 -0.43764052]
    → yaw=-123.7°, pitch=52.7°, roll=-4.4°

Frame 54:
  pelvis pos  = [-8.2191601e-03  1.4946357e+01  8.0669212e-01]
  pelvis quat = [ 0.99763256 -0.02233442  0.04524305  0.04672752]
    → yaw=174.7°, pitch=-5.3°, roll=-2.3°
  left_cam pos  = [ 0.15106118 15.069453    1.483256  ]
  left_cam quat = [ 0.672276   0.3271988 -0.3133665 -0.5854804]
    → yaw=-96.8°, pitch=53.8°, roll=2.2°

Frame 55:
  pelvis pos  = [ 0.05878829 14.918925    0.88892347]
  pelvis quat = [ 0.9128874   0.04479768  0.00922069 -0.40564114]
    → yaw=-132.2°, pitch=-3.0°, roll=4.3°
  left_cam pos  = [ 0.17468145 14.825005    1.5788577 ]
  left_cam quat = [-0.28878218 -0.19240619  0.42938635  0.83379376]
    → yaw=-40.4°, pitch=56.0°, roll=-4.2°

Frame 56:
  pelvis pos  = [ 0.4824245  14.439165    0.88007754]
  pelvis quat = [ 0.9124854   0.00692326  0.0553934  -0.40528265]
    → yaw=-132.0°, pitch=-6.1°, roll=-1.9°
  left_cam pos  = [ 0.6767327 14.365293   1.5546505]
  left_cam quat = [-0.310802   -0.1360176   0.42655787  0.838421  ]
    → yaw=-39.6°, pitch=53.2°, roll=2.1°

Frame 57:
  pelvis pos  = [ 1.1405426  13.704932    0.89308834]
  pelvis quat = [ 0.91524553  0.03691873  0.046081   -0.39854637]
    → yaw=-133.0°, pitch=-6.5°, roll=1.8°
  left_cam pos  = [ 1.3055227 13.59332    1.5702782]
  left_cam quat = [-0.280444   -0.148419    0.41689056  0.8517777 ]
    → yaw=-37.0°, pitch=52.5°, roll=-1.1°

Frame 58:
  pelvis pos  = [ 1.7996193 12.997553   0.8350826]
  pelvis quat = [ 0.8738105   0.04714888  0.04712106 -0.48167598]
    → yaw=-122.4°, pitch=-7.3°, roll=2.1°
  left_cam pos  = [ 1.9411231 12.844311   1.5094379]
  left_cam quat = [-0.19018267 -0.10324162  0.42330393  0.87976444]
    → yaw=-25.0°, pitch=51.7°, roll=-1.2°

Frame 59:
  pelvis pos  = [ 2.0420847 12.407661   0.8768924]
  pelvis quat = [ 0.80812025  0.03699165  0.05321491 -0.58544123]
    → yaw=-108.1°, pitch=-7.4°, roll=-0.1°
  left_cam pos  = [ 2.1913896 12.265624   1.5520183]
  left_cam quat = [-0.217067   -0.11685754  0.42152715  0.8726632 ]
    → yaw=-28.5°, pitch=51.9°, roll=-1.2°

Frame 60:
  pelvis pos  = [ 2.3571727  11.46095     0.88427204]
  pelvis quat = [ 0.810338    0.02312966  0.0542286  -0.58298934]
    → yaw=-108.4°, pitch=-6.6°, roll=-1.5°
  left_cam pos  = [ 2.506133  11.3125725  1.5581093]
  left_cam quat = [-0.1464884  -0.05761842  0.43960497  0.88429   ]
    → yaw=-18.1°, pitch=52.6°, roll=1.5°

Frame 61:
  pelvis pos  = [ 2.67204   10.508283   0.8806352]
  pelvis quat = [ 0.8100356   0.02263918  0.05515754 -0.58334166]
    → yaw=-108.4°, pitch=-6.6°, roll=-1.6°
  left_cam pos  = [ 2.8179743 10.354092   1.5538287]
  left_cam quat = [-0.12467805 -0.04241866  0.44175652  0.88741606]
    → yaw=-15.0°, pitch=52.7°, roll=2.0°

Frame 62:
  pelvis pos  = [2.9899054  9.547114   0.89083034]
  pelvis quat = [ 0.81309116  0.0354447   0.04264002 -0.5794897 ]
    → yaw=-109.1°, pitch=-6.3°, roll=0.5°
  left_cam pos  = [3.1107888 9.38707   1.5676125]
  left_cam quat = [-0.10962073 -0.05364605  0.44176257  0.888792  ]
    → yaw=-14.0°, pitch=52.8°, roll=0.1°

Frame 63:
  pelvis pos  = [3.165184  9.051849  0.8860577]
  pelvis quat = [ 0.70919746  0.039738    0.00646991 -0.7038594 ]
    → yaw=-90.5°, pitch=-3.7°, roll=2.7°
  left_cam pos  = [3.2043447 8.894056  1.5729561]
  left_cam quat = [ 0.03476458 -0.00612685  0.46436083  0.8849423 ]
    → yaw=3.2°, pitch=55.3°, roll=-2.5°

Frame 64:
  pelvis pos  = [3.186577   9.023542   0.88896954]
  pelvis quat = [ 0.71012753  0.02101257  0.02144089 -0.70343274]
    → yaw=-90.5°, pitch=-3.4°, roll=-0.0°
  left_cam pos  = [3.2687    8.876634  1.5744877]
  left_cam quat = [-0.01621978 -0.00934982  0.46756262  0.8837617 ]
    → yaw=-2.1°, pitch=55.8°, roll=-0.1°

Frame 65:
  pelvis pos  = [3.1895423  9.003912   0.90415126]
  pelvis quat = [ 0.7096127   0.04078292 -0.00308916 -0.70340383]
    → yaw=-90.6°, pitch=-3.0°, roll=3.6°
  left_cam pos  = [3.2234924 8.8578    1.5939046]
  left_cam quat = [ 0.01831603 -0.02502827  0.4701689   0.8820314 ]
    → yaw=0.5°, pitch=56.1°, roll=-3.5°

Frame 66:
  pelvis pos  = [3.2157588  8.98815    0.88830996]
  pelvis quat = [ 0.7071097   0.01979148  0.01780871 -0.70660245]
    → yaw=-90.0°, pitch=-3.0°, roll=0.2°
  left_cam pos  = [3.2946067 8.845375  1.5750848]
  left_cam quat = [-0.01235534 -0.00908672  0.47064507  0.88218933]
    → yaw=-1.7°, pitch=56.2°, roll=-0.3°

Frame 67:
  pelvis pos  = [3.2181304  8.971364   0.90384924]
  pelvis quat = [-0.7058804  -0.03906614  0.00354658  0.707244  ]
    → yaw=-90.0°, pitch=-2.9°, roll=3.5°
  left_cam pos  = [3.2519395 8.826787  1.5939332]
  left_cam quat = [ 0.02252657 -0.02162647  0.47152877  0.8812976 ]
    → yaw=1.1°, pitch=56.3°, roll=-3.4°

ROS topic / bag support ?? #35

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