IMU

# 融合数据：带朝向
sub = glove.imu_data_palm().subscribe()
imu = await sub.recv_async()
print(f"朝向: {imu.orientation}")            # 四元数 (x, y, z, w)
print(f"角速度: {imu.angular_velocity}")      # rad/s
print(f"线加速度: {imu.linear_acceleration}") # m/s²

# 原始数据：仅角速度与线加速度
sub = glove.imu_palm().subscribe()
raw = await sub.recv_async()
print(f"角速度: {raw.angular_velocity}, 线加速度: {raw.linear_acceleration}")

{
  "header": {
    "seq": 500,
    "timestamp_us": 1709876543210,
    "frame_id": ""
  },
  "orientation": {
    "x": 0.0,
    "y": 0.0,
    "z": 0.0,
    "w": 1.0
  },
  "orientation_covariance": [-1, 0, 0, 0, 0, 0, 0, 0, 0],
  "angular_velocity": {
    "x": 0.01,
    "y": -0.02,
    "z": 0.005
  },
  "angular_velocity_covariance": [0, 0, 0, 0, 0, 0, 0, 0, 0],
  "linear_acceleration": {
    "x": 0.1,
    "y": -0.05,
    "z": 9.8
  },
  "linear_acceleration_covariance": [0, 0, 0, 0, 0, 0, 0, 0, 0]
}