timestamp_ns
int64
1,700,000,000B
1,700,000,003B
header.stamp_sec
int64
1.7B
1.7B
header.stamp_nsec
int64
0
990M
header.frame_id
large_stringclasses
2 values
orientation.x
float64
0
0
orientation.y
float64
0
0
orientation.z
float64
0
0.05
orientation.w
float64
1
1
angular_velocity.x
float64
-0.01
0.02
angular_velocity.y
float64
-0.01
0.01
angular_velocity.z
float64
-0
0
linear_acceleration.x
float64
-0.12
0.12
linear_acceleration.y
float64
-0.09
0.07
linear_acceleration.z
float64
9.76
9.87
1,700,000,001,000,000,000
1,700,000,001
0
imu_link
0
0
0.029385
0.999568
0.018394
0.005241
0.000541
0.005154
-0.021226
9.835489
1,700,000,001,010,000,000
1,700,000,001
10,000,000
imu_link
0
0
0.029639
0.999561
0.019635
0.004767
0.000235
0.004488
-0.011863
9.776288
1,700,000,001,020,000,000
1,700,000,001
20,000,000
imu_link
0
0
0.029891
0.999553
0.017888
0.006438
0.000242
-0.020516
-0.012769
9.793868
1,700,000,001,030,000,000
1,700,000,001
30,000,000
imu_link
0
0
0.030142
0.999546
0.019273
0.005916
-0.00062
-0.015551
-0.003602
9.801187
1,700,000,001,040,000,000
1,700,000,001
40,000,000
imu_link
0
0
0.030392
0.999538
0.02067
0.004528
-0.002413
-0.007822
-0.024323
9.801767
1,700,000,001,050,000,000
1,700,000,001
50,000,000
imu_link
0
0
0.030641
0.99953
0.017435
0.00518
-0.000286
0.000466
0.005636
9.801895
1,700,000,001,060,000,000
1,700,000,001
60,000,000
imu_link
0
0
0.030888
0.999523
0.019957
0.003917
0.000699
-0.020637
-0.031853
9.821591
1,700,000,001,070,000,000
1,700,000,001
70,000,000
imu_link
0
0
0.031134
0.999515
0.019349
0.005947
-0.001731
-0.001287
-0.019853
9.803253
1,700,000,001,080,000,000
1,700,000,001
80,000,000
imu_link
0
0
0.031379
0.999508
0.019371
0.00692
-0.001104
-0.023225
-0.026324
9.846957
1,700,000,001,090,000,000
1,700,000,001
90,000,000
imu_link
0
0
0.031623
0.9995
0.019774
0.006384
-0.000324
-0.022027
-0.020064
9.792619
1,700,000,001,100,000,000
1,700,000,001
100,000,000
imu_link
0
0
0.031866
0.999492
0.019303
0.005009
-0.001706
-0.047821
-0.024263
9.791952
1,700,000,001,110,000,000
1,700,000,001
110,000,000
imu_link
0
0
0.032107
0.999484
0.017127
0.005794
0.000272
-0.05003
-0.020089
9.799546
1,700,000,001,120,000,000
1,700,000,001
120,000,000
imu_link
0
0
0.032347
0.999477
0.020083
0.00731
0.00042
-0.043951
-0.03889
9.826716
1,700,000,001,130,000,000
1,700,000,001
130,000,000
imu_link
0
0
0.032586
0.999469
0.020398
0.006097
-0.000521
-0.035838
-0.028195
9.826336
1,700,000,001,140,000,000
1,700,000,001
140,000,000
imu_link
0
0
0.032823
0.999461
0.021308
0.004304
-0.000425
-0.046932
-0.032111
9.825816
1,700,000,001,150,000,000
1,700,000,001
150,000,000
imu_link
0
0
0.03306
0.999453
0.017591
0.003853
-0.000782
-0.042258
-0.030562
9.829041
1,700,000,001,160,000,000
1,700,000,001
160,000,000
imu_link
0
0
0.033294
0.999446
0.019671
0.005709
-0.000245
-0.071379
-0.038515
9.791697
1,700,000,001,170,000,000
1,700,000,001
170,000,000
imu_link
0
0
0.033528
0.999438
0.018923
0.003601
0.000559
-0.061212
-0.030212
9.830983
1,700,000,001,180,000,000
1,700,000,001
180,000,000
imu_link
0
0
0.03376
0.99943
0.020624
0.003393
-0.000012
-0.055798
-0.023922
9.809727
1,700,000,001,190,000,000
1,700,000,001
190,000,000
imu_link
0
0
0.033991
0.999422
0.020629
0.003992
-0.001022
-0.058315
-0.043298
9.77873
1,700,000,001,200,000,000
1,700,000,001
200,000,000
imu_link
0
0
0.034221
0.999414
0.018464
0.003335
0.001461
-0.05974
-0.020591
9.764385
1,700,000,001,210,000,000
1,700,000,001
210,000,000
imu_link
0
0
0.034449
0.999406
0.018855
0.00462
0.000058
-0.058465
-0.024919
9.787197
1,700,000,001,220,000,000
1,700,000,001
220,000,000
imu_link
0
0
0.034676
0.999399
0.020144
0.004864
0.000807
-0.058255
-0.035177
9.815563
1,700,000,001,230,000,000
1,700,000,001
230,000,000
imu_link
0
0
0.034901
0.999391
0.021181
0.00298
-0.00186
-0.08233
-0.05647
9.830035
1,700,000,001,240,000,000
1,700,000,001
240,000,000
imu_link
0
0
0.035125
0.999383
0.020515
0.003542
-0.000893
-0.067464
-0.025374
9.845952
1,700,000,001,250,000,000
1,700,000,001
250,000,000
imu_link
0
0
0.035348
0.999375
0.022049
0.005612
0.001136
-0.070596
-0.038348
9.789699
1,700,000,001,260,000,000
1,700,000,001
260,000,000
imu_link
0
0
0.035569
0.999367
0.020441
0.004989
0.000635
-0.082105
-0.027465
9.822793
1,700,000,001,270,000,000
1,700,000,001
270,000,000
imu_link
0
0
0.035789
0.999359
0.01821
0.003736
-0.000556
-0.067611
-0.030294
9.816816
1,700,000,001,280,000,000
1,700,000,001
280,000,000
imu_link
0
0
0.036008
0.999352
0.021345
0.003819
0.001351
-0.08985
-0.020479
9.84458
1,700,000,001,290,000,000
1,700,000,001
290,000,000
imu_link
0
0
0.036225
0.999344
0.020372
0.003536
-0.001303
-0.078895
-0.03589
9.788131
1,700,000,001,300,000,000
1,700,000,001
300,000,000
imu_link
0
0
0.03644
0.999336
0.020855
0.003399
0.000249
-0.081414
-0.039323
9.845951
1,700,000,001,310,000,000
1,700,000,001
310,000,000
imu_link
0
0
0.036655
0.999328
0.019792
0.002552
-0.00125
-0.082266
-0.041149
9.788351
1,700,000,001,320,000,000
1,700,000,001
320,000,000
imu_link
0
0
0.036867
0.99932
0.0198
0.004205
0.001059
-0.079321
-0.035787
9.774266
1,700,000,001,330,000,000
1,700,000,001
330,000,000
imu_link
0
0
0.037079
0.999312
0.018815
0.003465
0.000379
-0.075816
-0.039876
9.793099
1,700,000,001,340,000,000
1,700,000,001
340,000,000
imu_link
0
0
0.037288
0.999305
0.018628
0.002711
0.000217
-0.074757
-0.029817
9.807355
1,700,000,001,350,000,000
1,700,000,001
350,000,000
imu_link
0
0
0.037497
0.999297
0.019338
0.002312
0.000311
-0.091121
-0.047133
9.815058
1,700,000,001,360,000,000
1,700,000,001
360,000,000
imu_link
0
0
0.037704
0.999289
0.01867
0.002369
0.001438
-0.094503
-0.039435
9.815464
1,700,000,001,370,000,000
1,700,000,001
370,000,000
imu_link
0
0
0.037909
0.999281
0.019802
0.002791
-0.000118
-0.103396
-0.06355
9.772763
1,700,000,001,380,000,000
1,700,000,001
380,000,000
imu_link
0
0
0.038113
0.999273
0.021295
0.001541
-0.00038
-0.080836
-0.069605
9.817919
1,700,000,001,390,000,000
1,700,000,001
390,000,000
imu_link
0
0
0.038315
0.999266
0.021119
0.004415
-0.000336
-0.101617
-0.052297
9.803475
1,700,000,001,400,000,000
1,700,000,001
400,000,000
imu_link
0
0
0.038516
0.999258
0.019552
0.002618
0.000365
-0.076055
-0.04346
9.845074
1,700,000,001,410,000,000
1,700,000,001
410,000,000
imu_link
0
0
0.038715
0.99925
0.020566
0.002034
-0.00049
-0.064241
-0.035749
9.795855
1,700,000,001,420,000,000
1,700,000,001
420,000,000
imu_link
0
0
0.038913
0.999243
0.019559
0.00264
0.000425
-0.087772
-0.044381
9.815572
1,700,000,001,430,000,000
1,700,000,001
430,000,000
imu_link
0
0
0.03911
0.999235
0.018048
0.002154
0.000084
-0.116961
-0.038441
9.79036
1,700,000,001,440,000,000
1,700,000,001
440,000,000
imu_link
0
0
0.039304
0.999227
0.019026
0.001535
-0.000047
-0.105164
-0.037195
9.783156
1,700,000,001,450,000,000
1,700,000,001
450,000,000
imu_link
0
0
0.039497
0.99922
0.019435
0.000136
-0.001959
-0.09598
-0.055967
9.824486
1,700,000,001,460,000,000
1,700,000,001
460,000,000
imu_link
0
0
0.039689
0.999212
0.01928
0.002161
0.000948
-0.099335
-0.048464
9.807932
1,700,000,001,470,000,000
1,700,000,001
470,000,000
imu_link
0
0
0.039879
0.999205
0.019529
0.003088
-0.000431
-0.110667
-0.058323
9.788134
1,700,000,001,480,000,000
1,700,000,001
480,000,000
imu_link
0
0
0.040068
0.999197
0.018613
0.001342
0.000039
-0.12482
-0.063977
9.793339
1,700,000,001,490,000,000
1,700,000,001
490,000,000
imu_link
0
0
0.040255
0.999189
0.018235
0.002136
-0.001536
-0.103068
-0.03676
9.79648
1,700,000,001,500,000,000
1,700,000,001
500,000,000
imu_link
0
0
0.04044
0.999182
0.020609
0.000942
0.00206
-0.096103
-0.046527
9.807051
1,700,000,001,510,000,000
1,700,000,001
510,000,000
imu_link
0
0
0.040624
0.999175
0.017866
0.000719
0.000397
-0.102205
-0.060606
9.811398
1,700,000,001,520,000,000
1,700,000,001
520,000,000
imu_link
0
0
0.040806
0.999167
0.020017
0.002814
0.000529
-0.094247
-0.054323
9.829748
1,700,000,001,530,000,000
1,700,000,001
530,000,000
imu_link
0
0
0.040986
0.99916
0.017908
0.001404
-0.000571
-0.085922
-0.067158
9.803642
1,700,000,001,540,000,000
1,700,000,001
540,000,000
imu_link
0
0
0.041165
0.999152
0.0191
0.000959
0.000076
-0.100873
-0.02976
9.806606
1,700,000,001,550,000,000
1,700,000,001
550,000,000
imu_link
0
0
0.041342
0.999145
0.020243
0.001407
0.00059
-0.098709
-0.044313
9.833306
1,700,000,001,560,000,000
1,700,000,001
560,000,000
imu_link
0
0
0.041518
0.999138
0.019368
0.001215
0.000886
-0.109737
-0.049872
9.828806
1,700,000,001,570,000,000
1,700,000,001
570,000,000
imu_link
0
0
0.041692
0.999131
0.018049
0.001246
-0.002931
-0.092684
-0.037169
9.815787
1,700,000,001,580,000,000
1,700,000,001
580,000,000
imu_link
0
0
0.041864
0.999123
0.018757
0.001293
-0.001162
-0.093029
-0.085818
9.775531
1,700,000,001,590,000,000
1,700,000,001
590,000,000
imu_link
0
0
0.042035
0.999116
0.020445
0.00072
0.000408
-0.10315
-0.035773
9.800319
1,700,000,001,600,000,000
1,700,000,001
600,000,000
imu_link
0
0
0.042204
0.999109
0.017987
0.000592
-0.001365
-0.078937
-0.048295
9.789953
1,700,000,001,610,000,000
1,700,000,001
610,000,000
imu_link
0
0
0.042371
0.999102
0.018023
0.000251
-0.000106
-0.096646
-0.057137
9.828487
1,700,000,001,620,000,000
1,700,000,001
620,000,000
imu_link
0
0
0.042537
0.999095
0.016835
0.001544
-0.000412
-0.090746
-0.043639
9.790006
1,700,000,001,630,000,000
1,700,000,001
630,000,000
imu_link
0
0
0.042701
0.999088
0.016232
0.000575
0.000736
-0.105944
-0.045442
9.819267
1,700,000,001,640,000,000
1,700,000,001
640,000,000
imu_link
0
0
0.042863
0.999081
0.017977
-0.000051
-0.000483
-0.086739
-0.043617
9.781915
1,700,000,001,650,000,000
1,700,000,001
650,000,000
imu_link
0
0
0.043024
0.999074
0.018841
0.000047
0.000353
-0.080395
-0.035183
9.845887
1,700,000,001,660,000,000
1,700,000,001
660,000,000
imu_link
0
0
0.043183
0.999067
0.018227
0.000004
-0.000729
-0.079962
-0.048784
9.812615
1,700,000,001,670,000,000
1,700,000,001
670,000,000
imu_link
0
0
0.04334
0.99906
0.017619
0.000639
-0.000375
-0.090219
-0.04366
9.81006
1,700,000,001,680,000,000
1,700,000,001
680,000,000
imu_link
0
0
0.043495
0.999054
0.018593
-0.000626
-0.001655
-0.07687
-0.046196
9.785304
1,700,000,001,690,000,000
1,700,000,001
690,000,000
imu_link
0
0
0.043649
0.999047
0.016746
-0.000557
0.00062
-0.093158
-0.060162
9.811043
1,700,000,001,700,000,000
1,700,000,001
700,000,000
imu_link
0
0
0.043801
0.99904
0.017503
-0.002422
-0.000364
-0.077503
-0.046741
9.818197
1,700,000,001,710,000,000
1,700,000,001
710,000,000
imu_link
0
0
0.043952
0.999034
0.017796
0.000779
0.000203
-0.100818
-0.049473
9.809907
1,700,000,001,720,000,000
1,700,000,001
720,000,000
imu_link
0
0
0.0441
0.999027
0.016611
0.000484
-0.000558
-0.082055
-0.044896
9.799442
1,700,000,001,730,000,000
1,700,000,001
730,000,000
imu_link
0
0
0.044247
0.999021
0.017445
0.000102
0.000102
-0.066954
-0.04287
9.790904
1,700,000,001,740,000,000
1,700,000,001
740,000,000
imu_link
0
0
0.044392
0.999014
0.016869
-0.001646
0.000438
-0.08052
-0.058115
9.799247
1,700,000,001,750,000,000
1,700,000,001
750,000,000
imu_link
0
0
0.044536
0.999008
0.018625
-0.002162
0.001472
-0.083128
-0.051425
9.812193
1,700,000,001,760,000,000
1,700,000,001
760,000,000
imu_link
0
0
0.044677
0.999001
0.016476
-0.001032
0.001454
-0.066956
-0.045116
9.812367
1,700,000,001,770,000,000
1,700,000,001
770,000,000
imu_link
0
0
0.044817
0.998995
0.01582
-0.002044
0.000455
-0.070696
-0.037732
9.797113
1,700,000,001,780,000,000
1,700,000,001
780,000,000
imu_link
0
0
0.044955
0.998989
0.014611
-0.001295
-0.001593
-0.049291
-0.049637
9.806062
1,700,000,001,790,000,000
1,700,000,001
790,000,000
imu_link
0
0
0.045091
0.998983
0.018378
-0.001746
0.001435
-0.070419
-0.046387
9.83638
1,700,000,001,800,000,000
1,700,000,001
800,000,000
imu_link
0
0
0.045226
0.998977
0.015472
-0.001143
-0.000408
-0.056341
-0.049942
9.818652
1,700,000,001,810,000,000
1,700,000,001
810,000,000
imu_link
0
0
0.045359
0.998971
0.014972
-0.001943
0.000009
-0.070189
-0.063622
9.823065
1,700,000,001,820,000,000
1,700,000,001
820,000,000
imu_link
0
0
0.04549
0.998965
0.016311
0.000139
0.000495
-0.045633
-0.046122
9.796879
1,700,000,001,830,000,000
1,700,000,001
830,000,000
imu_link
0
0
0.045619
0.998959
0.015533
-0.000935
0.00052
-0.041168
-0.035229
9.832602
1,700,000,001,840,000,000
1,700,000,001
840,000,000
imu_link
0
0
0.045746
0.998953
0.013956
-0.000323
0.00084
-0.059149
-0.040348
9.782884
1,700,000,001,850,000,000
1,700,000,001
850,000,000
imu_link
0
0
0.045872
0.998947
0.014339
-0.001617
0.000079
-0.030525
-0.049761
9.786955
1,700,000,001,860,000,000
1,700,000,001
860,000,000
imu_link
0
0
0.045995
0.998942
0.013418
-0.001362
0.000003
-0.031241
-0.050329
9.817041
1,700,000,001,870,000,000
1,700,000,001
870,000,000
imu_link
0
0
0.046117
0.998936
0.013961
-0.000133
-0.000098
-0.047213
-0.048731
9.806316
1,700,000,001,880,000,000
1,700,000,001
880,000,000
imu_link
0
0
0.046237
0.99893
0.01379
-0.002683
0.001382
-0.039251
-0.066986
9.792116
1,700,000,001,890,000,000
1,700,000,001
890,000,000
imu_link
0
0
0.046356
0.998925
0.01391
-0.002178
0.000004
-0.035523
-0.03275
9.811234
1,700,000,001,900,000,000
1,700,000,001
900,000,000
imu_link
0
0
0.046472
0.99892
0.013148
-0.002167
0.00069
-0.013714
-0.068437
9.769969
1,700,000,001,910,000,000
1,700,000,001
910,000,000
imu_link
0
0
0.046587
0.998914
0.014537
-0.002089
0.000963
-0.023168
-0.048675
9.830381
1,700,000,001,920,000,000
1,700,000,001
920,000,000
imu_link
0
0
0.046699
0.998909
0.013431
-0.002364
0.001473
-0.022143
-0.050022
9.823956
1,700,000,001,930,000,000
1,700,000,001
930,000,000
imu_link
0
0
0.04681
0.998904
0.012768
-0.002711
-0.001507
-0.046323
-0.058143
9.786259
1,700,000,001,940,000,000
1,700,000,001
940,000,000
imu_link
0
0
0.046919
0.998899
0.014743
-0.002959
-0.000364
-0.02859
-0.052118
9.859148
1,700,000,001,950,000,000
1,700,000,001
950,000,000
imu_link
0
0
0.047027
0.998894
0.011751
-0.002724
-0.0016
-0.027135
-0.062118
9.807662
1,700,000,001,960,000,000
1,700,000,001
960,000,000
imu_link
0
0
0.047132
0.998889
0.012971
-0.00405
0.000855
-0.020153
-0.041063
9.817324
1,700,000,001,970,000,000
1,700,000,001
970,000,000
imu_link
0
0
0.047236
0.998884
0.010981
-0.003136
0.000365
-0.017413
-0.035719
9.809787
1,700,000,001,980,000,000
1,700,000,001
980,000,000
imu_link
0
0
0.047337
0.998879
0.013166
-0.003167
0.00075
-0.000149
-0.04294
9.840636
1,700,000,001,990,000,000
1,700,000,001
990,000,000
imu_link
0
0
0.047437
0.998874
0.011032
-0.001515
-0.001058
0.016197
-0.021393
9.78544