obvious one is the trajectory of the robot which be like a pose in space so a position velocity orientation angular velocity over time of the robot and we do this with our visual inertial odometry system I'll show one slide after this we also have several I am use and so accelerometer gyroscope which is super useful for propagating you know short term data it really only works to integrate the IMU for a matter of at least the accelerometer for maybe a second beyond that on a drone and with the sort of size and and cost