help with python program

Real world data problem: You were just hired by a large tech company which involves satellite navigation using Inertial Measurement Units (IMU). An IMU consists of a 3 axis accelerometer and a 3 axis gyroscope. For example 3dm-g5-10 datasheet 84000095_rev_L.pdf But of course, that is a commercial IMU that you can buy off the shelf, your company makes much more precise devices to meet the needs of precision applications. Your job is to receive the raw IMU data and calculate and plot the position, orientation and velocity of the satellite as a function of time. The "Pose" consists of 6 dimension positions: - 3 linear: x,y,z in meters - 3 angular: roll, pitch, yaw in radians The "Twist" consists of 6 dimension velocities: - 3 linear: vx,vy,vz in m/s - 3 angular: v_roll, v_pitch, v_yaw radians/sec The axis are defined as: - x forward - y left - zup - roll = rotation about x axis - pitch = rotation about y axis - yaw = rotation about z axis The IMU produces analog voltages corresponding to the linear acceleration in x,y,z and the angular velocities in roll, pitch and yaw. The data is converted to a digital ADC value which must be scaled to real value floats using a calibration table. The calibration table is given as a json file. The data from the IMU comes in samples with an associated timestamp and the 6 measured values. Inputs: - IMU calibration data - Filename "cal.json" - all values are floats - data is a JSON file dictionary - "a_x_scale" "a_y_scale" "a_z_scale" "v_roll_scale" "v_pitch_scale" "v_yaw_scale" - for accelerations: a_x=ADC_value*a_x_scale [m/s2] - for gyros: v_roll=ADC_value a_roll*scale [rad/sec] - IMU data in comma separated format: - Filename "imu.csv" ,,,,,, ln - ADC values are signed integer ADC values - First row will be column labels Output: - A csv file containing - p,x,y,z, roll , pitch >, yaw vx,vy,vz,vroll , vpitch ,vyaw,ax,a_y,az, a_roll>,>,\ n - all floats in scientific notation with 6 decimal accuracy - first row should be column labels - A plot of the linear pose and twist values with 3 subplots - Plot of the linear Pose x,y,z - Plot of linear Twist velocities vx,vy,vz - Plot of linear accelerations a_x,a_y,a_z - A plot of the angular pose and twist values with 3 subplots - Plot of the angular Pose roll, pitch, yaw - Plot of angular velocities v_roll, v_pitch, v_yaw - Plot of angular accelerations a_roll, a_pitch, a_yaw - ./hw07.py > It must: - Save the data to - Display the plots to the screen - AND save the graphs as '_linear.png', '_angular.png' Angluar