yiliao2026/feedback_logs/20260623_194803/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
2026-06-23T19:48:04.208,1,0,0,0,0,,-0.007242389023303986,-0.0019249141914770007,0.07010980695486069,-0.9958202838897705,-0.14006949037812672,0.0007993200561031699,0.0013322000158950686,0.0,0.0011962867574766278,0.11603981256484985,9.786822319030762,,,,,,,,,,,,
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2026-06-23T19:48:07.009,1,1,1,1,1,11.765000343322754,-0.007107665296643972,-0.002092483453452587,0.07010647654533386,-0.9958211779594421,-0.14006125855082083,0.0018650800921022892,0.0026644000317901373,0.0,-0.07416977733373642,0.11364724487066269,9.758111000061035,1.5055279731750488,0.8454000353813171,-0.08944004377256196,0.0,0.0,0.0,1.5055279731750488,0.8454000353813171,-6.372625350952148,0.0,0.0,0.0
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2026-06-23T19:48:08.009,1,1,1,1,1,11.758000373840332,-0.007107656914740801,-0.0018662160728126764,0.07010483741760254,-0.9958217144012451,-0.1400609711654744,0.0010657600359991193,0.002397960051894188,0.0,-0.07177720218896866,0.10527323186397552,9.758111000061035,1.5055279731750488,0.8454000353813171,-0.08944004377256196,0.0,0.0,0.0,1.5055279731750488,0.8454000353813171,-6.372625350952148,0.0,0.0,0.0
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2026-06-23T19:48:08.609,1,1,1,1,1,11.753999710083008,-0.007165828719735146,-0.0019529637647792697,0.07010446488857269,-0.9958211183547974,-0.14005878549388537,0.0029308400116860867,0.0010657600359991193,0.0,-0.0693846344947815,0.12800268828868866,9.752129554748535,1.5055279731750488,0.8454000353813171,-0.08944004377256196,0.0,0.0,0.0,1.5055279731750488,0.8454000353813171,-6.372625350952148,0.0,0.0,0.0
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2026-06-23T19:48:09.209,1,1,1,1,1,11.767999649047852,0.007045046426355839,0.001894353423267603,-2.1704031496483367e-06,0.9982867240905762,2.235840679537568e-05,0.0010657600359991193,-0.0013322000158950686,0.0,-0.04665518179535866,0.14116182923316956,9.746148109436035,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0
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2026-06-23T19:48:11.609,1,1,1,1,1,11.776000022888184,0.006823068950325251,0.0022412531543523073,-3.1873064472165424e-06,0.998287558555603,2.4220996201771406e-05,0.0013322000158950686,0.002397960051894188,0.0,-0.06340319663286209,0.11005838215351105,9.779644012451172,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0
2026-06-23T19:48:11.809,1,1,1,1,1,11.776000022888184,-0.007118832785636187,-0.0012736504431813955,0.07010657340288162,-0.9958224296569824,-0.14007235583035826,0.0010657600359991193,-0.0015986401122063398,0.0,0.004785147029906511,0.13039524853229523,9.797588348388672,1.5055279731750488,0.8454000353813171,-0.08944004377256196,0.0,0.0,0.0,1.5055279731750488,0.8454000353813171,-6.372625350952148,0.0,0.0,0.0
2026-06-23T19:48:12.009,1,1,1,1,1,11.776000022888184,-0.007212229073047638,-0.0011862078681588173,0.0701058954000473,-0.9958218932151794,-0.1400718709911998,0.005328800063580275,0.0002664400089997798,0.0,0.04785146936774254,0.08972150832414627,9.948320388793945,1.5055279731750488,0.8454000353813171,-0.08944004377256196,0.0,0.0,0.0,1.5055279731750488,0.8454000353813171,-6.372625350952148,0.0,0.0,0.0
2026-06-23T19:48:12.209,1,1,1,1,1,11.776000022888184,0.006952614523470402,0.0028164610266685486,-3.7196732591837645e-06,0.9982852339744568,3.1737449399758324e-05,0.003463720204308629,0.0021315200719982386,0.0,-0.06818834692239761,0.1196286752820015,9.791606903076172,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0
2026-06-23T19:48:12.409,1,1,1,1,1,11.78600025177002,-0.007509001065045595,-0.0009819016559049487,0.07010529190301895,-0.9958199858665466,-0.14007260976402258,0.0,0.002397960051894188,0.0,-0.021533161401748657,0.13637669384479523,9.877739906311035,1.5055279731750488,0.8454000353813171,-0.08944004377256196,0.0,0.0,0.0,1.5055279731750488,0.8454000353813171,-6.372625350952148,0.0,0.0,0.0
2026-06-23T19:48:12.609,1,1,1,1,1,11.776000022888184,0.0070352377369999886,0.0030390419997274876,-2.671018137334613e-06,0.9982839822769165,3.7428588023064026e-05,0.0018650800921022892,0.0029308400116860867,0.0,-0.04067374765872955,0.08493635803461075,9.792803764343262,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0
2026-06-23T19:48:12.809,1,1,1,1,1,11.776000022888184,-0.007736839819699526,-0.0012590192491188645,0.07010363042354584,-0.995818018913269,-0.14006447897658225,0.0029308400116860867,0.0002664400089997798,0.0,-0.033496029675006866,0.13637669384479523,9.786822319030762,1.5055279731750488,0.8454000353813171,-0.08944004377256196,0.0,0.0,0.0,1.5055279731750488,0.8454000353813171,-6.372625350952148,0.0,0.0,0.0
2026-06-23T19:48:13.009,1,1,1,1,1,11.776000022888184,0.007396169006824493,0.003249232191592455,-9.709389132694923e-07,0.9982807040214539,4.6126175621544236e-05,0.0,0.0013322000158950686,0.0,-0.03588860109448433,0.10886209458112717,9.743755340576172,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0
2026-06-23T19:48:13.209,1,1,1,1,1,11.776000022888184,0.007538455538451672,0.0032147825695574284,-1.1494455520733027e-06,0.9982796907424927,4.617500902106077e-05,0.0029308400116860867,-0.0010657600359991193,0.0,-0.04665518179535866,0.12919896841049194,9.765288352966309,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0
2026-06-23T19:48:13.417,1,1,1,1,1,11.74899959564209,0.00762202451005578,0.003390267724171281,-3.0218907340895385e-06,0.9982784986495972,4.5649079630779275e-05,0.0013322000158950686,-0.0015986401122063398,0.0,-0.17106901109218597,0.12082496285438538,9.752129554748535,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0
2026-06-23T19:48:13.609,1,1,1,1,1,11.74899959564209,-0.007771323900669813,-0.0013995117042213678,0.07010437548160553,-0.9958175420761108,-0.1400637673309744,0.0018650800921022892,0.003463720204308629,0.0,-0.06101062521338463,0.12321753799915314,9.816729545593262,1.5055279731750488,0.8454000353813171,-0.08944004377256196,0.0,0.0,0.0,1.5055279731750488,0.8454000353813171,-6.372625350952148,0.0,0.0,0.0
2026-06-23T19:48:13.810,1,1,1,1,1,11.74899959564209,0.0076516903936862946,0.0031890138052403927,-2.9286393328220583e-06,0.9982789158821106,4.29563684918689e-05,0.0007993200561031699,-0.0015986401122063398,0.0,-0.05861805006861687,0.09331036359071732,9.766485214233398,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0
2026-06-23T19:48:14.009,1,1,1,1,1,11.779999732971191,-0.00796088669449091,-0.0015513909747824073,0.07010465115308762,-0.9958158135414124,-0.1400612869327026,0.0031972802244126797,0.0029308400116860867,0.0,-0.09570293873548508,0.12082496285438538,9.756915092468262,1.5055279731750488,0.8454000353813171,-0.08944004377256196,0.0,0.0,0.0,1.5055279731750488,0.8454000353813171,-6.372625350952148,0.0,0.0,0.0
2026-06-23T19:48:14.209,1,1,1,1,1,11.779999732971191,-0.007991703227162361,-0.001567519037052989,0.07010538130998611,-0.9958155155181885,-0.1400623782560056,0.004263040143996477,0.0018650800921022892,0.0,-0.08732893317937851,0.1315915435552597,9.778448104858398,1.5055279731750488,0.8454000353813171,-0.08944004377256196,0.0,0.0,0.0,1.5055279731750488,0.8454000353813171,-6.372625350952148,0.0,0.0,0.0
2026-06-23T19:48:14.409,1,1,1,1,1,11.779999732971191,0.007879556156694889,0.0032130598556250334,-2.325588411622448e-06,0.9982771277427673,4.599275729856512e-05,-0.0031972802244126797,-0.003463720204308629,0.0,-0.1447506994009018,0.44142982363700867,9.900468826293945,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0
2026-06-23T19:48:14.609,1,1,1,1,1,11.776000022888184,0.007840320467948914,0.0031008077785372734,-3.472781145319459e-06,0.9982777833938599,4.16898545320551e-05,0.0018650800921022892,-0.0010657600359991193,0.0,-0.07416977733373642,0.009570294059813023,9.776055335998535,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0
2026-06-23T19:48:14.812,1,1,1,1,1,11.776000022888184,0.00712667778134346,0.0034211224410682917,-4.991453351976816e-06,0.9982820749282837,3.879762592120113e-05,-0.0013322000158950686,0.0010657600359991193,0.0,-0.11245095729827881,0.056225478649139404,9.698296546936035,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0
2026-06-23T19:48:15.009,1,1,1,1,1,11.776000022888184,-0.007143085356801748,-0.001711729564704001,0.07001135498285294,-0.9958283305168152,-0.13987576307812602,0.002397960051894188,0.0037301601842045784,0.0,-0.05144033208489418,0.16628386080265045,9.783232688903809,1.5055279731750488,0.8454000353813171,-0.089048083628519,0.0,0.0,0.0,1.5055279731750488,0.8454000353813171,-6.3722333908081055,0.0,0.0,0.0
2026-06-23T19:48:15.209,1,1,1,1,1,11.776000022888184,0.007723771966993809,0.0031188230495899916,-4.38189499618602e-06,0.9982786178588867,3.9430218981155956e-05,0.0013322000158950686,-0.0029308400116860867,0.0,-0.02512202225625515,0.17106901109218597,9.749736785888672,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0
2026-06-23T19:48:15.409,1,1,1,1,1,11.609999656677246,0.007524680811911821,0.0028999338392168283,-4.801631348527735e-06,0.9982808232307434,3.4055972824350554e-05,-0.0015986401122063398,-0.0021315200719982386,0.0,-0.016748014837503433,0.13518039882183075,9.777251243591309,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0
2026-06-23T19:48:15.608,1,1,1,1,1,11.59000015258789,-0.007203211076557636,-0.001806669170036912,0.07001224905252457,-0.9958276748657227,-0.1398760053080154,0.0010657600359991193,-0.0005328800179995596,0.0,-0.056225478649139404,0.09809551388025284,9.791606903076172,1.5055279731750488,0.8454000353813171,-0.089048083628519,0.0,0.0,0.0,1.5055279731750488,0.8454000353813171,-6.3722333908081055,0.0,0.0,0.0
2026-06-23T19:48:15.809,1,1,1,1,1,11.59000015258789,-0.006931700743734837,-0.001575371017679572,0.07001306861639023,-0.9958299398422241,-0.1398818965697767,-0.0005328800179995596,-0.0031972802244126797,0.0,0.0023925735149532557,0.10527323186397552,9.778448104858398,1.5055279731750488,0.8454000353813171,-0.089048083628519,0.0,0.0,0.0,1.5055279731750488,0.8454000353813171,-6.3722333908081055,0.0,0.0,0.0
2026-06-23T19:48:16.009,1,1,1,1,1,11.59000015258789,-0.006882976274937391,-0.0015587960369884968,0.07001299411058426,-0.9958302974700928,-0.1398821597931479,0.002397960051894188,0.0021315200719982386,0.0,-0.028710881248116493,0.12202125042676926,9.802373886108398,1.5055279731750488,0.8454000353813171,-0.089048083628519,0.0,0.0,0.0,1.5055279731750488,0.8454000353813171,-6.3722333908081055,0.0,0.0,0.0
2026-06-23T19:48:16.209,1,1,1,1,1,11.59000015258789,-0.0070455437526106834,-0.0015509959775954485,0.0700133889913559,-0.9958291053771973,-0.1398823889186025,0.003463720204308629,0.0010657600359991193,0.0,-0.055029191076755524,0.13518039882183075,9.725811004638672,1.5055279731750488,0.8454000353813171,-0.089048083628519,0.0,0.0,0.0,1.5055279731750488,0.8454000353813171,-6.3722333908081055,0.0,0.0,0.0
2026-06-23T19:48:16.409,1,1,1,1,1,11.645000457763672,-0.007428591139614582,-0.0017716848524287343,0.0700109526515007,-0.9958261847496033,-0.13987286454113892,0.004795920103788376,0.00452948035672307,0.0,0.007177720312029123,0.12919896841049194,9.765288352966309,1.5055279731750488,0.8454000353813171,-0.089048083628519,0.0,0.0,0.0,1.5055279731750488,0.8454000353813171,-6.3722333908081055,0.0,0.0,0.0
2026-06-23T19:48:16.608,1,1,1,1,1,11.645000457763672,-0.007508397568017244,-0.0019121058285236359,0.07001135498285294,-0.9958252906799316,-0.13987132582614714,0.0037301601842045784,0.002397960051894188,0.0,-0.11245095729827881,0.12441382557153702,9.748540878295898,1.5055279731750488,0.8454000353813171,-0.089048083628519,0.0,0.0,0.0,1.5055279731750488,0.8454000353813171,-6.3722333908081055,0.0,0.0,0.0
2026-06-23T19:48:16.809,1,1,1,1,1,11.645000457763672,0.007543541491031647,0.002599273342639208,-5.8162008826911915e-06,0.9982814788818359,2.760341436061178e-05,0.0005328800179995596,-0.0026644000317901373,0.0,-0.010766580700874329,0.11484352499246597,9.727007865905762,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0
2026-06-23T19:48:17.009,1,1,1,1,1,11.597999572753906,0.007546217180788517,0.0026785985101014376,-5.447090188681614e-06,0.9982812404632568,2.955154034503205e-05,0.0013322000158950686,0.002397960051894188,0.0,-0.06101062521338463,0.138769268989563,9.760503768920898,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0
2026-06-23T19:48:17.209,1,1,1,1,1,11.597999572753906,0.007555411197245121,0.00246842997148633,-5.576922831096454e-06,0.998281717300415,2.6165645548089594e-05,0.0013322000158950686,-0.0015986401122063398,0.0,-0.056225478649139404,0.14355440437793732,9.776055335998535,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0
2026-06-23T19:48:17.409,1,1,1,1,1,11.597999572753906,-0.007371443323791027,-0.0018838054966181517,0.0700123980641365,-0.995826244354248,-0.13987445791684455,-0.0021315200719982386,-0.0010657600359991193,0.0,-0.016748014837503433,0.11245095729827881,9.760503768920898,1.5055279731750488,0.8454000353813171,-0.089048083628519,0.0,0.0,0.0,1.5055279731750488,0.8454000353813171,-6.3722333908081055,0.0,0.0,0.0
2026-06-23T19:48:17.609,1,1,1,1,1,11.62600040435791,-0.007425129413604736,-0.0017754350556060672,0.07001354545354843,-0.9958259463310242,-0.13987800717414314,0.0029308400116860867,0.0007993200561031699,0.0,-0.06579577177762985,0.12082496285438538,9.774859428405762,1.5055279731750488,0.8454000353813171,-0.089048083628519,0.0,0.0,0.0,1.5055279731750488,0.8454000353813171,-6.3722333908081055,0.0,0.0,0.0
2026-06-23T19:48:17.809,1,1,1,1,1,11.62600040435791,0.007418292108923197,0.002293832367286086,-5.570391749643022e-06,0.9982832074165344,2.2911221113903383e-05,0.0015986401122063398,-0.0013322000158950686,0.0,0.01315915398299694,0.132787823677063,9.819121360778809,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0
2026-06-23T19:48:18.008,1,1,1,1,1,11.62600040435791,0.0073567950166761875,0.002547977026551962,-4.860507488047006e-06,0.9982830286026001,2.7785925888671243e-05,0.0015986401122063398,0.005861680023372173,0.0,-0.056225478649139404,0.033496029675006866,9.762896537780762,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0,0.5400000214576721,0.20000000298023224,0.0,0.0,0.0,0.0
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2026-06-23T19:48:22.808,1,1,1,1,1,11.61299991607666,0.03530944138765335,-0.009982495568692684,0.46602100133895874,0.8821040987968445,0.9679301229694532,0.0021315200719982386,-0.0013322000158950686,0.0,0.07177720218896866,-0.06579577177762985,9.712652206420898,0.5402864217758179,0.20009742677211761,1.004993200302124,0.0,0.0,0.0,0.5402864217758179,0.20009742677211761,1.004993200302124,0.0,0.0,0.0
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2026-06-23T19:48:28.008,1,1,1,1,1,11.586999893188477,-0.00440229894593358,-0.03640409931540489,-0.9379580616950989,0.33987465500831604,-2.445226785649757,0.1433447301387787,-0.17904768884181976,1.6085233688354492,0.48688870668411255,1.4582735300064087,9.717437744140625,1.5057616233825684,0.8457702994346619,-2.387742280960083,0.0,0.0,1.6085233688354492,1.5057616233825684,0.8457702994346619,-2.387742280960083,0.0,0.0,1.6085233688354492
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2026-06-23T19:48:28.809,1,1,1,1,1,11.602999687194824,0.026333162561058998,0.010725483298301697,0.9919960498809814,0.10843650996685028,2.9224171020213285,0.6591725945472717,-0.26004543900489807,1.7209343910217285,-0.22968704998493195,0.5179921388626099,9.762896537780762,0.5391494631767273,0.20048795640468597,-2.981916729603903,0.0,0.0,1.7209343910217285,0.5391494631767273,0.20048795640468597,3.3012685775756836,0.0,0.0,1.7209343910217285
2026-06-23T19:48:29.008,1,1,1,1,1,11.602999687194824,0.025022227317094803,0.03421248495578766,0.9973971247673035,-0.005512807052582502,-3.132232741613083,-0.39939358830451965,0.19157037138938904,0.8302603363990784,0.6136950850486755,1.3218969106674194,9.799981117248535,0.5391494631767273,0.20048795640468597,-2.6065018812762664,0.0,0.0,0.8302603363990784,0.5391494631767273,0.20048795640468597,3.6766834259033203,0.0,0.0,0.8302603363990784
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2026-06-23T19:48:30.009,1,1,1,1,1,11.618000030517578,-0.005002962425351143,-0.013672832399606705,-0.4530128538608551,0.889492392539978,-0.9394292356038288,-0.0037301601842045784,0.005861680023372173,0.21881014108657837,-0.056225478649139404,-0.11364724487066269,9.908843040466309,1.5057616233825684,0.8457702994346619,-0.7945637106895446,0.0,0.0,0.21881014108657837,1.5057616233825684,0.8457702994346619,-0.7945637106895447,0.0,0.0,0.21881014108657837
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