Add IMU layout

data/models/a07ab938d9029ef1.json

@@ -1,7 +1,27 @@
 {
   "created_at": "2026-05-29T08:27:25Z",
   "id": "a07ab938d9029ef1",
+  "imus": [
+    {
+      "enabled": true,
+      "frame_id": "imu_link",
+      "id": "f7ddb6d2c3c1c5cf",
+      "name": "IMU test",
+      "rate_hz": 100,
+      "source": "onboard",
+      "topic": "imu/data"
+    }
+  ],
   "layout": {
+    "imuPoses": {
+      "f7ddb6d2c3c1c5cf": {
+        "x": 196.14886948882076,
+        "y": 0.1286840744156286,
+        "yaw_deg": 0,
+        "z": 0.1
+      }
+    },
+    "imuPosesFrame": "robot",
     "lidarPoses": {
       "02c4b7f4de7bd639": {
         "theta_deg": 45,
@@ -200,5 +220,5 @@
     }
   ],
   "name": "Mặc định",
-  "updated_at": "2026-05-29T08:39:03Z"
+  "updated_at": "2026-05-29T10:09:07Z"
 }

data/models/ea89e39c835c0557.json

@@ -1,7 +1,27 @@
 {
   "created_at": "2026-05-29T08:40:51Z",
   "id": "ea89e39c835c0557",
+  "imus": [
+    {
+      "enabled": true,
+      "frame_id": "imu_link",
+      "id": "719a21772e114466",
+      "name": "IMU",
+      "rate_hz": 100,
+      "source": "external",
+      "topic": "imu/data"
+    }
+  ],
   "layout": {
+    "imuPoses": {
+      "719a21772e114466": {
+        "x": 0.06910131801805619,
+        "y": 0.8135664703630141,
+        "yaw_deg": 0,
+        "z": 0.1
+      }
+    },
+    "imuPosesFrame": "robot",
     "lidarPoses": {
       "40235913b52d8101": {
         "theta_deg": -135,
@@ -173,5 +193,5 @@
     }
   ],
   "name": "T800",
-  "updated_at": "2026-05-29T08:44:03Z"
+  "updated_at": "2026-05-29T10:11:49Z"
 }

data/state.json

@@ -1,21 +1,23 @@
 {
-  "active_layout_id": "a07ab938d9029ef1",
+  "active_layout_id": "ea89e39c835c0557",
   "layouts": [
     {
       "created_at": "2026-05-29T08:27:25Z",
       "id": "a07ab938d9029ef1",
+      "imu_count": 1,
       "lidar_count": 3,
       "model": "bicycle",
       "name": "Mặc định",
-      "updated_at": "2026-05-29T08:39:03Z"
+      "updated_at": "2026-05-29T10:09:07Z"
     },
     {
       "created_at": "2026-05-29T08:40:51Z",
       "id": "ea89e39c835c0557",
+      "imu_count": 1,
       "lidar_count": 2,
       "model": "diff",
       "name": "T800",
-      "updated_at": "2026-05-29T08:44:03Z"
+      "updated_at": "2026-05-29T10:11:49Z"
     }
   ],
   "version": 3