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Fiducial format [writelog] The format for each fiducial message is: count (int): number of fiducials to follow list of fiducials; for each fiducial: id (int): fiducial ID x (float): relative X position, in meters y (float): relative Y position, in meters z (float): relative Z position, in meters roll (float): relative roll orientation, in radians pitch (float): relative pitch orientation, in radians yaw (float): relative yaw orientation, in radians ux (float): uncertainty in relative X position, in meters uy (float): uncertainty in relative Y position, in meters uz (float): uncertainty in relative Z position, in meters uroll (float): uncertainty in relative roll orientation, in radians upitch (float): uncertainty in relative pitch orientation, in radians uyaw (float): uncertainty in relative yaw orientation, in radians