diff --git a/CMakeLists.txt b/CMakeLists.txt
index d58fbb8..6d5dee0 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -13,7 +13,7 @@ endif()
 
 # Rerun:
 include(FetchContent)
-FetchContent_Declare(rerun_sdk URL https://github.com/rerun-io/rerun/releases/download/0.22.0/rerun_cpp_sdk.zip)
+FetchContent_Declare(rerun_sdk URL https://github.com/rerun-io/rerun/releases/download/0.23.0/rerun_cpp_sdk.zip)
 FetchContent_MakeAvailable(rerun_sdk)
 
 # VRS:
diff --git a/README.md b/README.md
index 6da39c6..d5439ae 100644
--- a/README.md
+++ b/README.md
@@ -29,8 +29,8 @@ If you choose not to use pixi, you will need to install a few things yourself be
 The Rerun C++ SDK works by connecting to an awaiting Rerun Viewer over TCP.
 
 If you need to install the viewer, follow the [installation guide](https://www.rerun.io/docs/getting-started/installing-viewer). Two of the more common ways to install the Rerun Viewer are:
-* Via cargo: `cargo install rerun-cli@0.22.0 --locked`
-* Via pip: `pip install rerun-sdk==0.22.0`
+* Via cargo: `cargo install rerun-cli@0.23.0 --locked`
+* Via pip: `pip install rerun-sdk==0.23.0`
 
 After you have installed it, you should be able to type `rerun` in your terminal to start the viewer.
 
diff --git a/src/imu_player.cpp b/src/imu_player.cpp
index 88d7c9e..00f9bf0 100644
--- a/src/imu_player.cpp
+++ b/src/imu_player.cpp
@@ -99,21 +99,15 @@ namespace rerun_vrs {
 
     void IMUPlayer::log_accelerometer(const std::array<float, 3>& accelMSec2) {
         _rec->log(_entity_path + "/accelerometer", rerun::Arrows3D::from_vectors({accelMSec2}));
-        _rec->log(_entity_path + "/accelerometer/x", rerun::Scalar(accelMSec2[0]));
-        _rec->log(_entity_path + "/accelerometer/y", rerun::Scalar(accelMSec2[1]));
-        _rec->log(_entity_path + "/accelerometer/z", rerun::Scalar(accelMSec2[2]));
+        _rec->log(_entity_path + "/accelerometer", rerun::Scalars(accelMSec2));
     }
 
     void IMUPlayer::log_gyroscope(const std::array<float, 3>& gyroRadSec) {
-        _rec->log(_entity_path + "/gyroscope/x", rerun::Scalar(gyroRadSec[0]));
-        _rec->log(_entity_path + "/gyroscope/y", rerun::Scalar(gyroRadSec[1]));
-        _rec->log(_entity_path + "/gyroscope/z", rerun::Scalar(gyroRadSec[2]));
+        _rec->log(_entity_path + "/gyroscope", rerun::Scalars(gyroRadSec));
     }
 
     void IMUPlayer::log_magnetometer(const std::array<float, 3>& magTesla) {
-        _rec->log(_entity_path + "/magnetometer/x", rerun::Scalar(magTesla[0]));
-        _rec->log(_entity_path + "/magnetometer/y", rerun::Scalar(magTesla[1]));
-        _rec->log(_entity_path + "/magnetometer/z", rerun::Scalar(magTesla[2]));
+        _rec->log(_entity_path + "/magnetometer", rerun::Scalars(magTesla));
     }
 
     bool might_contain_imu_data(const vrs::StreamId& id) {