yiliao2026/feedback_logs/20260623_155159/feedback.csv

wall_time,imu_ready,odom_ready,voltage_ready,robotpose_ready,robotvel_ready,voltage_v,imu_orientation_x,imu_orientation_y,imu_orientation_z,imu_orientation_w,imu_yaw_rad,imu_angular_velocity_x,imu_angular_velocity_y,imu_angular_velocity_z,imu_linear_acceleration_x,imu_linear_acceleration_y,imu_linear_acceleration_z,odom_pose_x,odom_pose_y,odom_yaw_rad,odom_twist_vx,odom_twist_vy,odom_twist_wz,robotpose_x,robotpose_y,robotpose_z,robotvel_x,robotvel_y,robotvel_z
2026-06-23T15:51:59.398,1,1,0,1,1,,-0.005427504889667034,-0.0010973586468026042,2.9429435016936623e-05,0.9982979893684387,7.067070066130657e-05,0.0005328800179995596,-0.003463720204308629,0.0,0.0023925735149532557,-0.10886209458112717,9.833477020263672,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0
2026-06-23T15:51:59.597,1,1,0,1,1,,-0.005423158872872591,-0.0011169030331075191,3.0419292670558207e-05,0.9982980489730835,7.284950799803716e-05,-0.0010657600359991193,0.0,0.0,0.009570294059813023,-0.12441382557153702,9.816729545593262,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0
2026-06-23T15:51:59.797,1,1,1,1,1,10.475000381469727,-0.005439150147140026,-0.0011188025819137692,3.1841449526837096e-05,0.998297929763794,7.574536637530886e-05,0.0010657600359991193,-0.0010657600359991193,0.0,-0.028710881248116493,-0.09689922630786896,9.826299667358398,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0
2026-06-23T15:51:59.997,1,1,1,1,1,10.475000381469727,-0.00546016450971365,-0.0011422346578910947,3.343395292176865e-05,0.9982977509498596,7.922786504444155e-05,-0.0007993200561031699,-0.0029308400116860867,0.0,0.03469231724739075,-0.11364724487066269,9.774859428405762,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0
2026-06-23T15:52:00.197,1,1,1,1,1,10.475000381469727,-0.005509080830961466,-0.0011964984005317092,3.496868521324359e-05,0.998297393321991,8.300174506222527e-05,0.0005328800179995596,0.0007993200561031699,0.0,-0.031103456392884254,-0.12441382557153702,9.807158470153809,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0
2026-06-23T15:52:00.397,1,1,1,1,1,10.48799991607666,-0.005523615051060915,-0.0011653281981125474,3.665582335088402e-05,0.998297393321991,8.606070830949126e-05,0.0010657600359991193,-0.003996599931269884,0.0,0.007177720312029123,-0.10527323186397552,9.814336776733398,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0
2026-06-23T15:52:00.597,1,1,1,1,1,10.48799991607666,-0.005623076111078262,-0.0011698815505951643,3.791200651903637e-05,0.998296856880188,8.885178312259605e-05,-0.0013322000158950686,-0.0002664400089997798,0.0,0.02631830796599388,-0.14355440437793732,9.784429550170898,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0
2026-06-23T15:52:00.797,1,1,1,1,1,10.48799991607666,-0.00563821941614151,-0.001179262762889266,3.945137359551154e-05,0.9982967972755432,9.206650032293241e-05,0.0010657600359991193,-0.0005328800179995596,0.0,-0.044262610375881195,-0.11723610013723373,9.828691482543945,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0
2026-06-23T15:52:00.998,1,1,1,1,1,10.470999717712402,-0.005548836197704077,-0.0011604360770434141,4.1429779230384156e-05,0.9982972741127014,9.559686826512463e-05,0.0002664400089997798,-0.003463720204308629,0.0,0.032299742102622986,-0.10407694429159164,9.820318222045898,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0
2026-06-23T15:52:01.197,1,1,1,1,1,10.470999717712402,-0.005568485241383314,-0.0011851090239360929,4.273794547771104e-05,0.9982971549034119,9.85291397782451e-05,-0.0005328800179995596,0.0005328800179995596,0.0,-0.028710881248116493,-0.10886209458112717,9.802373886108398,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0
2026-06-23T15:52:01.397,1,1,1,1,1,10.470999717712402,-0.005619491450488567,-0.0011736444430425763,4.4063126551918685e-05,0.998296856880188,0.00010116701006030676,0.0015986401122063398,-0.0031972802244126797,0.0,-0.004785147029906511,-0.10288066416978836,9.825102806091309,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0
2026-06-23T15:52:01.597,1,1,1,1,1,10.475000381469727,-0.005618685856461525,-0.0011227552313357592,4.580157110467553e-05,0.9982969164848328,0.00010406421470841725,-0.0007993200561031699,-0.0010657600359991193,0.0,0.015551728196442127,-0.14355440437793732,9.826299667358398,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0
2026-06-23T15:52:01.797,1,1,1,1,1,10.475000381469727,-0.005722184665501118,-0.0010656215017661452,4.7339573939098045e-05,0.9982963800430298,0.00010671345905561613,0.0013322000158950686,-0.0002664400089997798,0.0,-0.05144033208489418,-0.13518039882183075,9.797588348388672,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0
2026-06-23T15:52:01.997,1,1,1,1,1,10.475000381469727,-0.005704686511307955,-0.001101202331483364,4.860985427512787e-05,0.9982964396476746,0.0001096183830182608,0.0,-0.0037301601842045784,0.0,0.045458897948265076,-0.11843238770961761,9.816729545593262,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0
2026-06-23T15:52:02.197,1,1,1,1,1,10.491000175476074,-0.005614022724330425,-0.001123330439440906,5.00372625538148e-05,0.9982969760894775,0.0001125171850794507,0.0005328800179995596,0.0015986401122063398,0.0,-0.01315915398299694,-0.13039524853229523,9.802373886108398,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0
2026-06-23T15:52:02.397,1,1,1,1,1,10.491000175476074,-0.0055749742314219475,-0.0010808194056153297,5.162119850865565e-05,0.9982972145080566,0.00011511794709157112,0.0015986401122063398,-0.002397960051894188,0.0,-0.028710881248116493,-0.09689922630786896,9.828691482543945,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0
2026-06-23T15:52:02.597,1,1,1,1,1,10.491000175476074,-0.005558968987315893,-0.0010848228121176362,5.310881897457875e-05,0.9982973337173462,0.00011809805557930501,-0.0013322000158950686,-0.0015986401122063398,0.0,0.033496029675006866,-0.12680639326572418,9.821514129638672,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0
2026-06-23T15:52:02.797,1,1,1,1,1,10.470000267028809,-0.005503734108060598,-0.0010965288383886218,5.4329495469573885e-05,0.9982975721359253,0.00012054430318869347,0.0013322000158950686,-0.0002664400089997798,0.0,-0.044262610375881195,-0.12202125042676926,9.844244003295898,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0
2026-06-23T15:52:02.997,1,1,1,1,1,10.470000267028809,-0.005435676779597998,-0.0010326514020562172,5.5637723562540486e-05,0.9982980489730835,0.00012231264126683102,0.0005328800179995596,-0.0026644000317901373,0.0,0.031103456392884254,-0.09331036359071732,9.829888343811035,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0
2026-06-23T15:52:03.198,1,1,1,1,1,10.470000267028809,-0.0054906923323869705,-0.0011011437745764852,5.697794767911546e-05,0.9982976317405701,0.0001258542891726168,0.0002664400089997798,0.0015986401122063398,0.0,-0.03469231724739075,-0.11245095729827881,9.804766654968262,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0
2026-06-23T15:52:03.397,1,1,1,1,1,10.473999977111816,-0.005577136762440205,-0.0010035126470029354,5.857084033777937e-05,0.9982972145080566,0.00012813592632482292,0.0005328800179995596,-0.0015986401122063398,0.0,-0.043066322803497314,-0.1064695194363594,9.810748100280762,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0
2026-06-23T15:52:03.597,1,1,1,1,1,10.473999977111816,-0.005576310679316521,-0.000981606892310083,6.033317185938358e-05,0.9982973337173462,0.00013140863263523273,-0.0010657600359991193,-0.0021315200719982386,0.0,0.009570294059813023,-0.12321753799915314,9.790410995483398,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0
2026-06-23T15:52:03.797,1,1,1,1,1,10.473999977111816,-0.005647916346788406,-0.001014787470921874,6.144717917777598e-05,0.998296856880188,0.00013414819766396493,0.0007993200561031699,0.0002664400089997798,0.0,-0.04067374765872955,-0.12321753799915314,9.833477020263672,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0
2026-06-23T15:52:03.997,1,1,1,1,1,10.470000267028809,-0.00566604221239686,-0.0009780226973816752,6.262267561396584e-05,0.9982967972755432,0.00013611532940390486,0.0002664400089997798,-0.003463720204308629,0.0,0.022729448974132538,-0.1315915435552597,9.826299667358398,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0
2026-06-23T15:52:04.197,1,1,1,1,1,10.470000267028809,-0.005626209545880556,-0.0009727850556373596,6.400040729204193e-05,0.9982970356941223,0.00013872928170648331,-0.0007993200561031699,0.0007993200561031699,0.0,0.009570294059813023,-0.12800268828868866,9.821514129638672,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0
2026-06-23T15:52:04.397,1,1,1,1,1,10.470000267028809,-0.0056287869811058044,-0.0009769322350621223,6.533891428261995e-05,0.9982970356941223,0.00014145344604960737,0.0013322000158950686,-0.0021315200719982386,0.0,-0.021533161401748657,-0.09570293873548508,9.803569793701172,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0
2026-06-23T15:52:04.598,1,1,1,1,1,10.47599983215332,-0.005598385818302631,-0.0009893509559333324,6.6730375692714e-05,0.9982972145080566,0.0001443113158679443,-0.0005328800179995596,-0.0021315200719982386,0.0,0.044262610375881195,-0.11603981256484985,9.865777015686035,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0
2026-06-23T15:52:04.798,1,1,1,1,1,10.47599983215332,-0.005608265288174152,-0.0009642608929425478,6.826502794865519e-05,0.9982971549034119,0.00014711350203218819,0.0002664400089997798,0.0005328800179995596,0.0,-0.03469231724739075,-0.11245095729827881,9.859795570373535,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0
2026-06-23T15:52:04.997,1,1,1,1,1,10.47599983215332,-0.0056824651546776295,-0.0009795806836336851,6.930570816621184e-05,0.9982967376708984,0.00014950847818296373,-0.0002664400089997798,-0.0031972802244126797,0.0,0.031103456392884254,-0.12800268828868866,9.826299667358398,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0
2026-06-23T15:52:05.197,1,1,1,1,1,10.47599983215332,-0.005631959065794945,-0.0009814746445044875,7.112276216503233e-05,0.9982970356941223,0.00015305883055747547,-0.0013322000158950686,0.0,0.0,-0.010766580700874329,-0.12202125042676926,9.808355331420898,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0
2026-06-23T15:52:05.397,1,1,1,1,1,10.47599983215332,-0.005635721608996391,-0.0011066470760852098,7.168718730099499e-05,0.9982967972755432,0.00015560407012703306,0.0002664400089997798,-0.0015986401122063398,0.0,0.027514595538377762,-0.0813474953174591,9.823906898498535,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0
2026-06-23T15:52:05.597,1,1,1,1,1,10.47599983215332,-0.005626545287668705,-0.0009812578791752458,7.263414590852335e-05,0.9982970356941223,0.00015606338980969322,-0.0005328800179995596,0.0005328800179995596,0.0,0.0023925735149532557,-0.12441382557153702,9.795195579528809,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0
2026-06-23T15:52:05.797,1,1,1,1,1,10.47599983215332,-0.005531854461878538,-0.0009697991772554815,7.480059866793454e-05,0.9982975721359253,0.00016007638943172056,0.0018650800921022892,-0.0013322000158950686,0.0,-0.04785146936774254,-0.10407694429159164,9.810748100280762,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0
2026-06-23T15:52:05.997,1,1,1,1,1,10.47599983215332,-0.005622965283691883,-0.0010650020558387041,7.559336518170312e-05,0.9982969760894775,0.000162906564888265,-0.0005328800179995596,-0.002397960051894188,0.0,0.033496029675006866,-0.1196286752820015,9.826299667358398,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0
2026-06-23T15:52:06.197,1,1,1,1,1,10.47599983215332,-0.005560711026191711,-0.000846799579448998,7.678309339098632e-05,0.9982975125312805,0.0001627225916395007,0.0005328800179995596,0.0013322000158950686,0.0,-0.04067374765872955,-0.12441382557153702,9.813139915466309,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0
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2026-06-23T15:52:06.597,1,1,1,1,1,10.494999885559082,-0.005668711382895708,-0.001009503030218184,7.926987746031955e-05,0.9982967376708984,0.00016971522918113265,-0.0015986401122063398,-0.0005328800179995596,0.0,0.011962867341935635,-0.14714327454566956,9.795195579528809,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0
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2026-06-23T15:52:43.197,1,1,1,1,1,10.402999877929688,0.0025204692501574755,0.002406349405646324,0.04081841930747032,0.9974724054336548,0.08153471091192656,-0.059682562947273254,-0.1041780412197113,-0.037290945649147034,0.6747057437896729,0.07895492762327194,9.176715850830078,3.390813112258911,-0.1998893767595291,0.07576043903827667,-0.5360000133514404,0.0,-0.037290945649147034,3.390813112258911,-0.1998893767595291,0.07576043903827667,-0.5360000133514404,0.0,-0.037290945649147034
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2026-06-23T15:53:13.197,1,1,1,1,1,10.449999809265137,-0.004680184181779623,-0.0036566446069628,0.08978064358234406,0.9942503571510315,0.17953951936640417,-0.0015986401122063398,0.007193880155682564,0.0,0.022729448974132538,-0.19619102776050568,9.815532684326172,0.5359068512916565,0.12972015142440796,0.12787914276123047,0.0,0.0,0.0,0.5359068512916565,0.12972015142440796,0.12787914276123047,0.0,0.0,0.0
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2026-06-23T15:53:14.197,1,1,1,1,1,10.416000366210938,-0.004697612952440977,-0.0030015527736395597,0.08995786309242249,0.9942364692687988,0.17988770936871495,0.0010657600359991193,0.0018650800921022892,0.0,-0.011962867341935635,-0.0945066511631012,9.788018226623535,0.5359068512916565,0.12972015142440796,0.12821175158023834,0.0,0.0,0.0,0.5359068512916565,0.12972015142440796,0.12821175158023834,0.0,0.0,0.0
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2026-06-23T15:53:31.198,1,1,1,1,1,10.444999694824219,-0.004994090646505356,-0.0017356902826577425,0.07874297350645065,0.9951890110969543,0.15740187638775543,0.0,0.0010657600359991193,0.0,0.009570294059813023,-0.11723610013723373,9.770073890686035,0.508672297000885,0.12958255410194397,0.10551338642835617,0.0,0.0,0.0,0.508672297000885,0.12958255410194397,0.10551338642835617,0.0,0.0,0.0
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