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- self.particles = np.zeros((self.num_particles, 3))
- self.particles[:, 0] = np.random.normal(init_pose[0], self.init_pos_dev, len(self.particles))
- self.particles[:, 1] = np.random.normal(init_pose[1], self.init_pos_dev, len(self.particles))
- self.particles[:, 2] = np.random.normal(init_pose[2], self.init_ang_dev, len(self.particles))
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