{
  "configById": {
    "Image!cam0": { "imageMode": { "imageTopic": "/ego/camera/0" } },
    "Image!cam1": { "imageMode": { "imageTopic": "/ego/camera/1" } },
    "3D!orientation": {
      "followTf": "world",
      "scene": { "enableStats": false },
      "transforms": {
        "frame:world": { "visible": true },
        "frame:ego/imu/0": { "visible": true }
      },
      "topics": { "/tf": { "visible": true } },
      "layers": {},
      "cameraState": {
        "distance": 3,
        "perspective": true,
        "phi": 60,
        "thetaOffset": 45,
        "target": [0, 0, 0],
        "targetOffset": [0, 0, 0],
        "fovy": 45,
        "near": 0.01,
        "far": 5000
      }
    },
    "Plot!quat": {
      "title": "IMU orientation (quat)",
      "paths": [
        { "value": "/ego/imu/0/quat.x", "enabled": true, "timestampMethod": "receiveTime" },
        { "value": "/ego/imu/0/quat.y", "enabled": true, "timestampMethod": "receiveTime" },
        { "value": "/ego/imu/0/quat.z", "enabled": true, "timestampMethod": "receiveTime" },
        { "value": "/ego/imu/0/quat.w", "enabled": true, "timestampMethod": "receiveTime" }
      ],
      "showLegend": true, "legendDisplay": "floating",
      "isSynced": true, "xAxisVal": "timestamp"
    },
    "Plot!accel": {
      "title": "IMU accel (m/s^2)",
      "paths": [
        { "value": "/ego/imu/0/raw.samples[0].linear_acceleration.x", "enabled": true, "timestampMethod": "receiveTime" },
        { "value": "/ego/imu/0/raw.samples[0].linear_acceleration.y", "enabled": true, "timestampMethod": "receiveTime" },
        { "value": "/ego/imu/0/raw.samples[0].linear_acceleration.z", "enabled": true, "timestampMethod": "receiveTime" }
      ],
      "showLegend": true, "legendDisplay": "floating",
      "isSynced": true, "xAxisVal": "timestamp"
    },
    "Plot!gyro": {
      "title": "IMU gyro (rad/s)",
      "paths": [
        { "value": "/ego/imu/0/raw.samples[0].angular_velocity.x", "enabled": true, "timestampMethod": "receiveTime" },
        { "value": "/ego/imu/0/raw.samples[0].angular_velocity.y", "enabled": true, "timestampMethod": "receiveTime" },
        { "value": "/ego/imu/0/raw.samples[0].angular_velocity.z", "enabled": true, "timestampMethod": "receiveTime" }
      ],
      "showLegend": true, "legendDisplay": "floating",
      "isSynced": true, "xAxisVal": "timestamp"
    }
  },
  "globalVariables": {},
  "userNodes": {},
  "playbackConfig": { "speed": 1 },
  "layout": {
    "first": {
      "first": "Image!cam0",
      "second": "Image!cam1",
      "direction": "row",
      "splitPercentage": 50
    },
    "second": {
      "first": {
        "first": "3D!orientation",
        "second": "Plot!quat",
        "direction": "row",
        "splitPercentage": 50
      },
      "second": {
        "first": "Plot!accel",
        "second": "Plot!gyro",
        "direction": "row",
        "splitPercentage": 50
      },
      "direction": "column",
      "splitPercentage": 55
    },
    "direction": "column",
    "splitPercentage": 40
  }
}